C3T40 Eng PDF

C3T40 Electromechanical Automation
Operating instructions Compax3 IxxT40: Cam
Programmable motion control

according to IEC61131-3
192-120108N13
C3IxxT40
Release as from R09-63 Oktober 2014
Technische Änderungen vorbehalten. 13.10.14 13:07 192-120108N13 Compax3T40_eng 2014-10

Daten entsprechen dem technischen Stand zum Zeitpunkt der Drucklegung.
Introduction C3T40
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We checked the contents of this publication for compliance with the associated
hard and software. We can, however, not exclude discrepancies and do therefore
not accept any liability for the exact compliance. The information in this publication
is regularly checked, necessary corrections will be part of the subsequent
publications.
Production site:
Parker Hannifin Manufacturing Germany GmbH & Co. KG
Electromechanical Automation Europe [EME]
Robert-Bosch-Strasse 22
77656 Offenburg (Germany)
Tel.: + 49 (0781) 509-0
Fax: + 49 (0781) 509-98176
Internet: www.parker.com/eme http://www.parker.com/eme
E-mail: [email protected] mailto:[email protected]
Parker Hannifin GmbH - registered office: Bielefeld HRB 35489
Management Board: Ellen Raahede Secher, Dr.-Ing. Hans-Jürgen Haas, Günter Schrank, Kees Veraart - Chairman of the board:
Hansgeorg Greuner
Italy: Parker Hannifin Manufacturing Srl • SSD SBC • Electromechanical Automation •

Via Gounod, 1
I-20092 Cinisello Balsamo (MI), Italy
Tel.: +39 (0)2 361081 • Fax: +39 (0)2 36108400
E-mail: [email protected] mailto:[email protected] •
Internet: www.parker.com/eme http://www.parker.com/eme
USA: Parker Hannifin Corporation • Electromechanical Automation

5500 Business Park Drive • Rohnert Park, CA 94928
Phone #: (800) 358-9068 • FAX #: (707) 584-3715
E-mail: [email protected] mailto:[email protected] • Internet:
www.compumotor.com http://www.compumotor.com
Status of the Manuals:

Help and PDFs are updated simultaneously. In case of doubt the HTML help
shows the actual state in comparison to PDF edition.
For additional HTLM help please refer to our website. Cam with function modules based
on PLCopen http://www.Parker.com/Literature/Electromechanical Europe/user
guides/C3T40.chm
2 192-120108N13 Compax3T40_eng 2014-10

Parker EME Device assignment
Inhalt
1. Introduction ...........................................................................................14
1.1 Device assignment ................................................................................ 14
1.2 ProfiNet Certificate ................................................................................ 15
1.3 Scope of delivery ................................................................................... 16
1.4 Type specification plate ........................................................................ 17
1.5 Packaging, transport, storage .............................................................. 18
1.6 Safety instructions ................................................................................. 19
1.6.1. General hazards ............................................................................................... 19
1.6.2. Safety-conscious working .............................................................................. 19
1.6.3. Special safety instructions ............................................................................. 20
1.7 Warranty conditions .............................................................................. 21
1.8 Conditions of utilization ........................................................................ 22
1.8.1. Conditions of utilization for CE-conform operation ..................................... 22
1.8.1.1 Conditions of utilization mains filter ...................................................... 22
1.8.1.2 Conditions of utilization for cables / motor filter .................................... 23
1.8.1.3 Additional conditions of utilization ......................................................... 24
1.8.2. Conditions of utilization for UL certification Compax3S ............................. 25
1.8.3. Conditions of utilization for UL approval Compax3M .................................. 26
1.8.4. Conditions of utilization for UL approval PSUP ........................................... 27
1.8.5. Conditions of utilization for UL certification Compax3H ............................. 28
1.8.6. Current on the mains PE (leakage current) ................................................... 29
1.8.7. Supply networks .............................................................................................. 29
2. Positioning with IEC61131-3 .................................................................30

3. Compax3 device description ................................................................33
3.1 Meaning of the status LEDs - Compax3 axis controller ..................... 33
3.2 Meaning of the status LEDs - PSUP (mains module) .......................... 34
3.3 Connections of Compax3S ................................................................... 35
3.3.1. Compax3S connectors .................................................................................... 35
3.3.2. Connector and pin assignment C3S .............................................................. 36
3.3.3. Control voltage 24VDC / enable connector X4 C3S ..................................... 38
3.3.4. Motor / Motor brake C3S connector X3 ......................................................... 39
3.3.5. Compax3Sxxx V2 ............................................................................................. 40
3.3.5.1 Main voltage supply C3S connector X1 ................................................ 40
3.3.5.2 Braking resistor / high voltage DC C3S connector X2 .......................... 41
3.3.6. Compax3Sxxx V4 ............................................................................................. 42
3.3.6.1 Power supply connector X1 for 3AC 400VAC/480VAC-C3S
devices .................................................................................................. 42
3.3.6.2 Braking resistor / high voltage supply connector X2 for 3AC
400VAC/480VAC_C3S devices ............................................................ 43
3.3.6.3 Connection of the power voltage of 2 C3S 3AC devices ...................... 43
3.4 Installation instructions Compax3M .................................................... 44
3.5 PSUP/Compax3M Connections ............................................................ 46
3.5.1. Front connector ............................................................................................... 46
3.5.2. Connections on the device bottom ................................................................ 47
3.5.3. Connections of the axis combination............................................................ 48
3.5.4. Control voltage 24VDC PSUP (mains module) ............................................. 49
3.5.5. Mains supply PSUP (mains module) X41 ...................................................... 49
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Introduction C3T40
3.5.6. Braking resistor / temperature switch PSUP (mains module) .................... 52

3.5.6.1 Temperature switch PSUP (mains module).......................................... 53
3.5.7. Motor / motor brake Compax3M (axis controller) ........................................ 53
3.5.7.1 Measurement of the motor temperature of Compax3M (axis
controller) .............................................................................................. 54
3.5.8. X14 Safety technology option S1 for Compax3M (axis controller)............. 55
3.5.9. Safety technology option S3 for Compax3M (axis controller) .................... 55
3.6 Connections of Compax3H ................................................................... 56
3.6.1. Compax3H plugs/connections ....................................................................... 56
3.6.2. Connection of the power voltage ................................................................... 57
3.6.3. Compax3H connections front plate ............................................................... 59
3.6.4. Plug and pin assignment C3H ........................................................................ 59
3.6.5. Motor / Motor brake C3H ................................................................................. 61
3.6.6. Control voltage 24 VDC C3H........................................................................... 62
3.6.7. Mains connection Compax3H......................................................................... 62
3.6.8. Braking resistor / supply voltage C3H ........................................................... 63
3.6.8.1 Connect braking resistor C3H ............................................................... 63
3.6.8.2 Power supply voltage DC C3H ............................................................. 63
3.6.8.3 Connection of the power voltage of 2 C3H 3AC devices...................... 63
3.7 Communication interfaces .................................................................... 64
3.7.1. RS232 / RS485 interface (plug X10) ............................................................... 64
3.7.2. Communication Compax3M ........................................................................... 65
3.7.2.1 PC - PSUP (Mains module) .................................................................. 65
3.7.2.2 Communication in the axis combination (connector X30, X31) ............ 65
3.7.2.3 Adjusting the basic address .................................................................. 66
3.7.2.4 Setting the axis function ........................................................................ 66
3.7.3. Profibus connector X23 on Interface I20 ....................................................... 67
3.7.3.1 Adjusting the bus address (Profibus I20) .............................................. 67
3.7.3.2 Function of the Bus LEDs (Profibus I20) .............................................. 67
3.7.4. Profinet connector X23, X24 on Interface I32 ............................................... 67
3.7.4.1 Adjusting the bus address (Profinet I32) ............................................... 68
3.7.4.2 Function of the Bus LEDs (Profinet I32) ............................................... 68
3.7.5. CANopen connector X23 Interface I21 .......................................................... 69
3.7.5.1 Setting baud rate and Node-ID ............................................................. 69
3.7.5.2 Function of the Bus LEDs ..................................................................... 70
3.7.6. DeviceNet connector X23................................................................................ 71
3.7.6.1 Adjusting the bus address..................................................................... 71
3.7.6.2 Function of the Bus LEDs ..................................................................... 72
3.7.7. Ethernet Powerlink (Option I30) / EtherCAT (option I31) X23, X24 ............. 72
3.7.7.1 Set Ethernet Powerlink (option I30) bus address ................................. 73
3.7.7.2 Set EtherCAT (option I31) bus address ................................................ 73
3.7.7.3 Meaning of the Bus LEDs (Ethernet Powerlink) ................................... 73
3.7.7.4 Meaning of the Bus LEDs (EtherCAT) .................................................. 74
3.8 Signal interfaces .................................................................................... 76
3.8.1. Resolver / Feedback (connector X13) ............................................................ 76
3.8.2. Analogue / encoder (plug X11) ....................................................................... 78
3.8.2.1 Wiring of analog interfaces ................................................................... 78
3.8.2.2 Connections of the encoder interface ................................................... 78
3.8.3. Digital inputs/outputs (plug X12) ................................................................... 79
3.8.3.1 Connection of the digital Outputs/Inputs ............................................... 80
3.8.3.2 Logic proximity switch types ................................................................. 80
3.9 Mounting and dimensions..................................................................... 81
3.9.1. Mounting and dimensions Compax3S .......................................................... 81
3.9.1.1 Mounting and dimensions Compax3S0xxV2 ........................................ 81
3.9.1.2 Mounting and dimensions Compax3S100V2 and S0xxV4 ................... 82
3.9.1.3 Mounting and dimensions Compax3S150V2 and S150V4................... 83
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3.9.1.4 Mounting and dimensions Compax3S300V4........................................ 84

3.9.2. Mounting and dimensions PSUP/C3M ........................................................... 85
3.9.2.1 Mounting and dimensions PSUP10/C3M050D6, C3M100D6,
C3M150D6 ............................................................................................ 85
3.9.2.2 Mounting and dimensions PSUP20/PSUP30/C3M300D6 .................... 86
3.9.2.3 With upper mounting, the housing design may be different ................. 86
3.9.3. Mounting and dimensions C3H ...................................................................... 87
3.9.3.1 Mounting distances, air currents Compax3H050V4 ............................. 88
3.9.3.2 Mounting distances, air currents Compax3H090V4 ............................. 88
3.9.3.3 Mounting distances, air currents Compax3H1xxV4 .............................. 89
3.10 Safety function - STO (=safe torque off) .............................................. 90
3.10.1. General Description ......................................................................................... 90
3.10.1.1 Important terms and explanations ........................................................ 90
3.10.1.2 Intended use ......................................................................................... 91
3.10.1.3 Advantages of using the "safe torque off" safety function. ................... 91
3.10.1.4 Devices with the STO (=safe torque off) safety function ...................... 92
3.10.2. STO (= safe torque off) with Compax3S ........................................................ 93
3.10.2.1 STO Principle (= Safe Torque Off) with Compax3S ............................. 93
3.10.2.2 Conditions of utilization STO (=safe torque off) Safety function ........... 95
3.10.2.3 Notes on the STO function.................................................................... 95
3.10.2.4 STO application example (= safe torque off) ........................................ 96
3.10.2.5 Technical Characteristics STO Compax3S ........................................ 102
3.10.3. STO (= safe torque off) with Compax3m (Option S1)................................. 103
3.10.3.1 Safety switching circuits ...................................................................... 103
3.10.3.2 Safety notes for the STO function in the Compax3M ......................... 104
3.10.3.3 Conditions of utilization for the STO function with Compax3M........... 104
3.10.3.4 STO delay times ................................................................................. 105
3.10.3.5 Compax3M STO application description ............................................ 106
3.10.3.6 STO function test ................................................................................ 109
3.10.3.7 Technical details of the Compax3M S1 option ................................... 111
4. Setting up Compax3 ............................................................................ 112

4.1 Configuration ....................................................................................... 112
4.1.1. Selection of the supply voltage used .......................................................... 113
4.1.2. Motor selection .............................................................................................. 114
4.1.3. Optimize motor reference point and switching frequency of the
motor current ................................................................................................. 114
4.1.4. Ballast resistor ............................................................................................... 117
4.1.5. General drive .................................................................................................. 117
4.1.6. Defining the reference system ..................................................................... 118
4.1.6.1 Measure reference .............................................................................. 118
4.1.6.2 Machine Zero ...................................................................................... 121
4.1.6.3 Positioning after homing run ............................................................... 137
4.1.6.4 Travel Limit Settings ........................................................................... 138
4.1.6.5 Change assignment direction reversal / limit switches ....................... 141
4.1.6.6 Change initiator logic .......................................................................... 141
4.1.7. Defining jerk / ramps ..................................................................................... 142
4.1.7.1 Ramp upon error and stromlos schalten............................................. 142
4.1.8. Limit and monitoring settings ...................................................................... 142
4.1.8.1 Current (Torque) Limit......................................................................... 142
4.1.8.2 Positioning window - Position reached ............................................... 142
4.1.8.3 Following error limit ............................................................................. 143
4.1.8.4 Maximum operating speed.................................................................. 143
4.1.9. Encoder simulation ....................................................................................... 144
4.1.9.1 Encoder bypass with Feedback module F12 (for direct drives).......... 144
4.1.10. Recipe table .................................................................................................... 145
4.1.11. Error response ............................................................................................... 145
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Introduction C3T40
4.1.12. Configuration name / comments .................................................................. 146

4.2 Configuring the signal source ............................................................ 147
4.2.1. Signal source of the load feedback system ................................................ 147
4.2.2. Physical Source ............................................................................................. 147
4.2.2.1 Encoder A/B 5V, step/direction or SSI feedback as signal source ..... 147
4.2.2.2 +/-10V Master speed .......................................................................... 149
4.2.3. Internal virtual master ................................................................................... 150
4.2.4. Fieldbus master ............................................................................................. 150
4.2.5. HEDA Master signal source .......................................................................... 151
4.3 Load control ......................................................................................... 152
4.3.1. Configuration of load control ....................................................................... 153
4.3.2. Error: Position difference between load mounted and motor
feedback too high .......................................................................................... 154
4.3.3. Load control signal image ............................................................................ 154
4.4 Optimization ......................................................................................... 155
4.4.1. Optimization window ..................................................................................... 155
4.4.2. Scope .............................................................................................................. 156
4.4.2.1 Monitor information ............................................................................. 156
4.4.2.2 User interface ...................................................................................... 157
4.4.2.3 Example: Setting the Oscilloscope ..................................................... 161
4.4.3. Controller optimization ................................................................................. 163
4.4.3.1 Introduction ......................................................................................... 163
4.4.3.2 Configuration ....................................................................................... 165
4.4.3.3 Automatic controller design................................................................. 181
4.4.3.4 Setup and optimization of the control ................................................. 193
4.4.4. Signal filtering with external command value ............................................ 222
4.4.4.1 Signal filtering for external setpoint specification and electronic
gearbox ............................................................................................... 223
4.4.4.2 Signal filtering for external setpoint specification and electronic
cam ..................................................................................................... 224
4.4.5. Input simulation ............................................................................................. 225
4.4.5.1 Calling up the input simulation ............................................................ 225
4.4.5.2 Operating Principle ............................................................................. 225
4.4.6. Setup mode .................................................................................................... 226
4.4.6.1 Motion objects in Compax3................................................................. 227
4.4.6.2 Commissioning the load control .......................................................... 228
4.4.7. Load identification ......................................................................................... 229
4.4.7.1 Principle .............................................................................................. 229
4.4.7.2 Boundary conditions ........................................................................... 229
4.4.7.3 Process of the automatic determination of the load characteristic
value (load identification) .................................................................... 230
4.4.7.4 Tips ..................................................................................................... 231
4.4.8. Alignment of the analog inputs .................................................................... 231
4.4.8.1 Signal processing of the analog inputs ............................................... 232
4.4.8.2 Offset alignment .................................................................................. 232
4.4.8.3 Gain alignment .................................................................................... 232
4.4.9. C3 ServoSignalAnalyzer ............................................................................... 233
4.4.9.1 ServoSignalAnalyzer - function range ................................................ 233
4.4.9.2 Signal analysis overview ..................................................................... 234
4.4.9.3 Installation and activation of the ServoSignalAnalyzer ....................... 235
4.4.9.4 Analyses in the time range.................................................................. 237
4.4.9.5 Measurement of frequency spectra .................................................... 240
4.4.9.6 Measurement of frequency responses ............................................... 243
4.4.9.7 Overview of the user interface ............................................................ 249
4.4.9.8 Basics of frequency response measurement...................................... 262
4.4.10. ProfileViewer for the optimization of the motion profile ........................... 267
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4.4.10.1 Mode 1: Time and maximum values are deduced from Compax3
input values ......................................................................................... 267
4.4.10.2 Mode 2: Compax3 input values are deduced from times and
maximum values ................................................................................. 268
4.4.11. Turning the motor holding brake on and off............................................... 269
5. Motion control ..................................................................................... 270

5.1 Programming based on IEC61131-3 ................................................... 270
5.1.1. Compax3 ServoManager: IEC61131-3 programming ................................. 271
5.1.2. Prerequisites .................................................................................................. 271
5.1.3. CoDeSys / Compax3 target system (Target Package) ............................... 271
5.1.3.1 Program development and test ........................................................... 272
5.1.3.2 Recipe management ........................................................................... 272
5.1.4. Languages supported ................................................................................... 272
5.1.5. Function range supported ............................................................................ 272
5.1.5.1 Operators supported ........................................................................... 273
5.1.5.2 Standard functions supported ............................................................. 274
5.1.5.3 Standard function modules supported ................................................ 274
5.1.6. Data types supported .................................................................................... 275
5.1.7. Retain Variables ............................................................................................. 275
5.1.8. Recipe table with 9 columns and 32 (120) lines ......................................... 275
5.1.9. Maximum program size ................................................................................. 276
5.1.10. Cycle time ....................................................................................................... 276
5.1.11. Access to the Compax3 object directory .................................................... 276
5.1.12. Compilation, debugging and down/upload of IEC61131 programs.......... 277
5.1.13. General rules / timing .................................................................................... 277
5.1.14. Library constants ........................................................................................... 279
5.2 Status diagrams ................................................................................... 280
5.2.1. Compax3 status diagram .............................................................................. 280
5.2.2. Virtual Master ................................................................................................. 281
5.2.2.1 Status diagram of the virtual master ................................................... 281
5.3 Control functions ................................................................................. 282
5.3.1. Activation of the drive (MC_Power) ............................................................. 282
5.3.2. Stop (MC_Stop) .............................................................................................. 284
5.3.2.1 MC_Stop: Example 1 .......................................................................... 286
5.3.2.2 MC_Stop: Example 2 .......................................................................... 287
5.3.3. Opening the brake (C3_OpenBrake) ............................................................ 287
5.4 Reading values..................................................................................... 288
5.4.1. Reading the current position (MC_ReadActualPosition) .......................... 288
5.4.2. Read access to the (C3_ReadArray) array .................................................. 290
5.4.3. Reading the device status (MC_ReadStatus) ............................................. 291
5.5 Positioning functions (standard) ........................................................ 292
5.5.1. Value range for positioning parameters ...................................................... 292
5.5.2. Absolute positioning (MC_MoveAbsolute) ................................................. 293
5.5.2.1 Position mode in reset operation ........................................................ 296
5.5.2.2 Description of jerk ............................................................................... 297
5.5.3. Relative positioning (MC_MoveRelative) .................................................... 298
5.5.4. Additive positioning (MC_MoveAdditive).................................................... 301
5.5.5. Endless positioning (MC_MoveVelocity) .................................................... 303
5.5.6. Manual operation (C3_Jog)........................................................................... 305
5.5.7. Machine zero (MC_Home) ............................................................................. 307
5.5.8. Electronic gearbox (MC_GearIn) .................................................................. 309
5.6 Current setting operation (C3_Current) ............................................. 312
5.7 Torque / force control (C3_TorqueControl) ....................................... 313
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Introduction C3T40
5.8 Superimposed motion ......................................................................... 315

5.8.1. Dynamic positioning ..................................................................................... 315
5.8.2. Superimposed positioning (C3_MoveSuperImposed) ............................... 316
5.8.3. Zero point shift caused by superimposed positioning
(C3_ShiftPosition) .......................................................................................... 322
5.8.4. Stop module for superimposed movement (C3_StopSuperImposed) ..... 326
5.9 Cam Control ......................................................................................... 327
5.9.1. Introduction: Electronic cam control ........................................................... 327
5.9.1.1 Function principle ................................................................................ 328
5.9.2. Overview ......................................................................................................... 329
5.9.3. Basics ............................................................................................................. 329
5.9.3.1 Cam types ........................................................................................... 329
5.9.3.2 Cam parameters / terms ..................................................................... 330
5.9.3.3 Basic procedure .................................................................................. 332
5.9.4. Generating cams ............................................................................................ 332
5.9.4.1 Introduction to the CamDesigner (example) ....................................... 333
5.9.4.2 Cam functions of the Compax3 ServoManager / motion laws ............ 337
5.9.5. Cam function structure ................................................................................. 340
5.9.5.1 Function modules of the cam .............................................................. 340
5.9.5.2 Signal image ....................................................................................... 341
5.9.5.3 Cam reference systems ...................................................................... 345
5.9.6. Master signal source ..................................................................................... 351
5.9.6.1 Setting the position of the selected master source
(C3_SetMaster) ................................................................................... 351
5.9.6.2 Recording the position of the selected master source
(C3_MasterControl) ............................................................................ 352
5.9.6.3 Control of the cam generator (C3_CamTableSelect) ......................... 356
5.9.6.4 Reset curve generator (C3_CamReset) ............................................. 360
5.9.6.5 Configure reset distance of the position of the selected master
source (C3_MasterConfig) .................................................................. 362
5.9.6.6 Master signal phase shift (C3_Phasing) ............................................. 364
5.9.7. Alignment of the slave axis .......................................................................... 369
5.9.7.1 Start cam / coupling ............................................................................ 369
5.9.7.2 Exiting the active curve with coupling movement (C3_CamOut)........ 379
5.9.8. 10 Steps for cam generation......................................................................... 384
5.9.8.1 Step 1: C3 ServoManager .................................................................. 384
5.9.8.2 Step 2: Connect motor. ....................................................................... 384
5.9.8.3 Step 3: Supply & I/O wiring ................................................................. 384
5.9.8.4 Step 4: RS232 connection & C3 ServoManager ................................ 384
5.9.8.5 Step 5: Set Compax3 device type ...................................................... 384
5.9.8.6 Step 6: Configuration .......................................................................... 384
5.9.8.7 Step 7: Selecting Master signal source .............................................. 385
5.9.8.8 Step 8: Generating the cam ................................................................ 385
5.9.8.9 Step 9: Create IEC program ............................................................... 385
5.9.8.10 Step 10: Starting and monitoring cam ................................................ 385
5.9.9. Cam applications ........................................................................................... 386
5.9.9.1 Example 1: Single start of a closed cam ............................................. 386
5.9.9.2 Example 2: Change between single start of an open cam and
POSA .................................................................................................. 388
5.9.9.3 Example 3: Single Start for run through curve 5 times ....................... 390
5.9.9.4 Example 4: Composing curves ........................................................... 392
5.9.9.5 Example 5: Cyclic operation with event-triggered change of curve .... 394
5.9.9.6 Example 6: Operation with curve segments and standstill area ......... 396
5.9.9.7 Example 7: Curve operation with slave reg synchronization .............. 397
5.9.9.8 Example 8: Curve operation with master reg synchronization ........... 399
5.9.9.9 Example case of damage ................................................................... 401
5.9.9.10 Application note: Drift .......................................................................... 403
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5.10 Cam switching mechanism ................................................................. 405

5.10.1. Cam switching mechanism function overview ........................................... 405
5.10.1.1 Example of cam function..................................................................... 406
5.10.1.2 Examples of a cam cycle .................................................................... 406
5.10.2. Redirect the fast cams directly to the physical output
(C3_OutputSelect) ......................................................................................... 408
5.10.3. Objects of the cam switching mechanism .................................................. 409
5.10.4. Behavior of the switch-on/switch-off anticipation ..................................... 410
5.10.4.1 Behavior depending on the travel direction ........................................ 410
5.10.4.2 Switching behavior with reset operation ............................................. 412
5.10.4.3 Switch-on anticipation is corrected via reset distance ........................ 412
5.10.4.4 Note: No switching operation with overlapping cams ......................... 413
5.10.5. Hysteresis ....................................................................................................... 413
5.10.6. CoDeSys-Project for the configuration of the cams .................................. 414
5.10.7. Example: Working with fast cams ............................................................... 414
5.11 Error handling ...................................................................................... 416
5.11.1. Acknowledging errors (MC_Reset) .............................................................. 416
5.11.2. Reading axis errors (MC_ReadAxisError) ................................................... 417
5.11.3. Set error reaction (C3_SetErrorReaction) ................................................... 418
5.11.3.1 Error reaction of IEC61131-3 modules with Release < R5-0 ............. 418
5.11.4. Switching off error messages (C3_ErrorMask) .......................................... 419
5.12 Process image...................................................................................... 420
5.12.1. Reading digital inputs (C3_Input) ................................................................ 420
5.12.2. Write digital outputs (C3_Output) ................................................................ 420
5.12.3. Reading/writing optional inputs/outputs..................................................... 421
5.12.3.1 C3_IOAddition_0 ................................................................................. 421
5.12.3.2 C3_IOAddition_1 ................................................................................. 421
5.12.3.3 C3_IOAddition_2 ................................................................................. 422
5.12.4. Memorizing the signals with the trigger event (C3_TouchProbe) ............ 423
5.12.5. Integration of Parker I/Os (PIOs) .................................................................. 426
5.12.5.1 Initializing the PIOs (PIO_Init) ............................................................. 426
5.12.5.2 Reading the PIO inputs 0-15 (PIO_Inputx...y) .................................... 427
5.12.5.3 Writing the PIO outputs 0-15 (PIO_Outputx...y) ................................. 428
5.12.5.4 Example: Compax3 as CANopen Master with PIOs .......................... 428
5.13 Interface to C3 powerPLmC ................................................................ 431
5.13.1. Interface module "PLmC_Interface" ............................................................ 431
5.13.2. Cyclic data channel for C3T30 and C3T40 .................................................. 432
5.13.3. Example: C3 powerPLmC Program & Compax3 Program ........................ 434
5.14 IEC examples........................................................................................ 436
5.14.1. Example in CFC: Using Compax3-specific function modules and
Compax3 objects ........................................................................................... 436
5.14.2. Example in CFC: Positioning 1..................................................................... 437
5.14.3. Example in CFC: Positioning 2..................................................................... 438
5.14.4. Example in CFC: Positioning with set selection ........................................ 439
5.14.5. Example in CFC: Cycle mode ....................................................................... 440
5.14.6. Example in ST: Cycle mode with a Move module ...................................... 440
5.15 Profibus: Simulate Profidrive profile (C3_ProfiDrive_Statemachine)
............................................................................................................... 442
5.16 Emulate CanOpen DS402 (C3_DS402_Statemachine) ...................... 444
6. Communication ................................................................................... 445

6.1 Compax3 communication variants ..................................................... 445
6.1.1. PC <-> Compax3 (RS232) .............................................................................. 446
6.1.2. PC <-> Compax3 (RS485) .............................................................................. 447
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Introduction C3T40
6.1.3. PC <-> C3M device combination (USB) ....................................................... 448

6.1.4. USB-RS485 Moxa Uport 1130 adapter ......................................................... 449
6.1.5. ETHERNET-RS485 NetCOM 113 adapter ..................................................... 450
6.1.6. Modem MB-Connectline MDH 500 / MDH 504 ............................................. 451
6.1.7. C3 settings for RS485 two wire operation................................................... 452
6.1.8. C3 settings for RS485 four wire operation .................................................. 453
6.2 COM port protocol ............................................................................... 454
6.2.1. RS485 settings values ................................................................................... 454
6.2.2. ASCII - record ................................................................................................. 454
6.2.3. Binary record ................................................................................................. 455
6.3 Remote diagnosis via Modem............................................................. 459
6.3.1. Structure ......................................................................................................... 459
6.3.2. Configuration of local modem 1 ................................................................... 460
6.3.3. Configuration of remote modem 2 ............................................................... 461
6.3.4. Recommendations for preparing the modem operation ........................... 461
6.4 Profibus/Profinet .................................................................................. 462
6.4.1. Typical application with Bus and IEC61131 ................................................ 462
6.4.2. Profibus / Profinet configuration.................................................................. 462
6.4.2.1 Configuration of the process-data channel ......................................... 463
6.4.2.2 PKW parameter channel ..................................................................... 464
6.4.2.3 Error Reaction on Bus Failure............................................................. 464
6.4.3. Cyclic process data channel ........................................................................ 464
6.4.3.1 Control and status word ...................................................................... 464
6.4.4. Acyclic parameter channel ........................................................................... 465
6.4.4.1 Parameter access with DPV0: Required data channel ....................... 465
6.4.4.2 Data formats of the bus objects .......................................................... 470
6.5 CANopen............................................................................................... 473
6.5.1. CANopen - Configuration.............................................................................. 473
6.5.1.1 CANopen Operating Mode.................................................................. 473
6.5.1.3 Baud rate............................................................................................. 474
6.5.1.4 Possible PDO assignment .................................................................. 474
6.5.1.5 Transmission cycle time...................................................................... 475
6.5.2. Supporting IEC modules ............................................................................... 475
6.5.2.1 This module is used to determine the status of the CANopen
NMT status machine (C3_CANopen_State) ....................................... 475
6.5.2.2 This module is used to determine the status during Nodeguarding
(C3_CANopen_GuardingState) .......................................................... 476
6.5.2.3 Insert new CANopen node (C3_CANopen_AddNode) ....................... 477
6.5.2.4 Establishing PDO connection between 2 CANopen nodes
(C3_CANopen_ConfigNode) .............................................................. 478
6.5.2.5 Sending NMT messages (C3_CANopen_NMT) ................................. 479
6.5.2.6 Reading an object in another node (C3_CANopen_SDO_Read4) .... 480
6.5.2.7 Writing an object in another node (C3_CANopen_SDO_Write4) ....... 481
6.5.3. CANopen communication profile ................................................................. 482
6.5.3.1 Object types ........................................................................................ 483
6.5.3.2 Communication objects....................................................................... 483
6.5.4. Acyclic parameter channel ........................................................................... 487
6.5.4.1 Service Data Objects (SDO) ............................................................... 487
6.5.4.2 Object Up-/Download via RS232 / RS485 .......................................... 488
6.5.4.3 Data formats of the bus objects .......................................................... 488
6.6 DeviceNet.............................................................................................. 489
6.6.1. DeviceNet Configuration ............................................................................... 489
6.6.2. DeviceNet object classes .............................................................................. 490
6.6.2.1 Overview of the DeviceNet object classes.......................................... 491
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6.6.3. Data formats of the bus objects ................................................................... 491

6.7 Ethernet Powerlink / EtherCAT ........................................................... 492
6.7.1. Configuring Ethernet Powerlink / EtherCAT ............................................... 492
6.7.1.1 CN Controlled Node (Slave) ............................................................... 492
6.7.1.2 Slave with configuration via Master .................................................... 492
6.7.1.4 Possible PDO assignment .................................................................. 492
6.8 HEDA Bus ............................................................................................. 493
6.8.1. HEDA standard mode .................................................................................... 494
6.8.1.2 HEDA-Master ...................................................................................... 495
6.8.1.3 HEDA-Slave ........................................................................................ 495
6.8.2. HEDA expansion (HEDA advanced) ............................................................ 496
6.8.2.1 The possibilities of the HEDA expansion ............................................ 496
6.8.2.2 Technical data of the HEDA interface / overview ............................... 496
6.8.2.3 Definitions ........................................................................................... 497
6.8.2.4 Calling up the HEDA wizard in the C3 ServoManager ....................... 497
6.8.2.5 Configuration of the HEDA communication ........................................ 497
6.8.3. Coupling objects ............................................................................................ 513
6.9 Normalization factors .......................................................................... 514
7. Compax3 - Objects .............................................................................. 515

7.1 Object overview sorted by object no. (T40) ....................................... 516
7.2 T40 Objects for the Process Data Channel / the Messages ............. 527
7.3 Object overview sorted by object groups (T40) ................................ 529
7.3.1. C3 Objects ...................................................................................................... 529
7.3.2. C3Array Objects ............................................................................................. 531
7.3.3. C3Cam Objects .............................................................................................. 532
7.3.4. C3Plus Objects .............................................................................................. 533
7.3.5. C3 objects (without CoDeSys objects) ........................................................ 536
8. Status values ....................................................................................... 540

8.1 D/A-Monitor .......................................................................................... 540
9. Error ..................................................................................................... 541

10. Order code ........................................................................................... 542
10.1 Order code device: Compax3 ............................................................. 543
10.2 Order code for mains module: PSUP ................................................. 544
10.3 Order code for accessories................................................................. 544
10.3.1. Order code for feedback cables ................................................................... 545
10.3.2. Order Code braking resistors ....................................................................... 545
10.3.3. Order code mains filter (C3S) ....................................................................... 546
10.3.4. Order code capacitor module ....................................................................... 546
10.3.5. Interface cable order code ............................................................................ 547
10.3.6. Order Code input/output terminals (PIO) .................................................... 547
10.3.7. Order note....................................................................................................... 548
11. Compax3 Accessories ........................................................................ 549

11.1 Parker servo motors ............................................................................ 549
11.1.1. Direct drives ................................................................................................... 549
11.1.1.1 Transmitter systems for direct drives .................................................. 550
11.1.1.2 Linear motors ...................................................................................... 551
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Introduction C3T40
11.1.1.3 Torque motors ..................................................................................... 551

11.1.2. Rotary servo motors ...................................................................................... 551
11.2 EMC measures ..................................................................................... 552
11.2.1. Mains filter ...................................................................................................... 552
11.2.1.1 Mains filter NFI01/01 ........................................................................... 553
11.2.1.2 Mains filter NFI01/02 ........................................................................... 553
11.2.1.3 Mains filter for NFI01/03...................................................................... 554
11.2.1.4 Mains filter NFI02/0x ........................................................................... 554
11.2.1.5 Mains filter NFI03/01& NFI03/03 ........................................................ 555
11.2.1.6 Mains filter NFI03/02 ........................................................................... 556
11.2.2. Motor output filter .......................................................................................... 557
11.2.2.1 Motor output filter MDR01/04 .............................................................. 557
11.2.2.4 Wiring of the motor output filter ........................................................... 558
11.2.3. Mains chokes ................................................................................................. 559
11.2.3.1 Mains filter for PSUP30....................................................................... 559
11.3 Connections to the motor ................................................................... 560
11.3.1. Resolver cable ............................................................................................... 561
11.3.2. SinCos© cable ................................................................................................ 562
11.3.3. EnDat cable .................................................................................................... 562
11.3.4. Motor cable ..................................................................................................... 563
11.3.4.1 Connection of terminal box MH145 & MH205 .................................... 563
11.3.5. Encoder cable ................................................................................................ 564
11.4 External braking resistors ................................................................... 565
11.4.1. Permissible braking pulse powers of the braking resistors ..................... 566
11.4.1.1 Calculation of the BRM cooling time ................................................... 566
11.4.1.2 Permissible braking pulse power: BRM08/01 with C3S015V4 /
C3S038V4 ........................................................................................... 567
11.4.1.3 Permissible braking pulse power: BRM08/01 with C3S025V2 ........... 567
11.4.1.15 Permissible braking pulse power: BRM11/01 with C3H0xxV4 ........... 573
11.4.1.16 Permissible braking pulse power: BRM12/01 with C3H1xxV4 ........... 574
11.4.1.17 Permissible braking pulse power: BRM13/01 with PSUP10D6 .......... 574
11.4.1.18 Permissible braking pulse power: BRM14/01 with PSUP10D6 .......... 574
11.4.2. Dimensions of the braking resistors ........................................................... 574
11.4.2.1 BRM8/01braking resistors................................................................... 574
11.4.2.2 BRM5/01 braking resistor ................................................................... 575
11.4.2.3 Braking resistor BRM5/02, BRM9/01 & BRM10/01 ............................ 575
11.4.2.4 Braking resistor BRM4/0x and BRM10/02 .......................................... 576
11.4.2.5 Braking resistor BRM11/01 & BRM12/01 ........................................... 576
11.4.2.6 Ballast resistor BRM13/01 & BRM14/01 ............................................. 577
11.5 Capacitor module C4 ........................................................................... 578
11.6 Operator control module BDM ............................................................ 579
11.7 EAM06: terminal block for inputs and outputs .................................. 579
12 192-120108N13 Compax3T40_eng 2014-10

11.8 Interface cable ...................................................................................... 582

11.8.1. RS232 - cable / SSK1 ..................................................................................... 582
11.8.2. RS485 cable to Pop / SSK27 ......................................................................... 583
11.8.3. I/O-interface X12 / X22 / SSK22 .................................................................... 584
11.8.4. Ref X11 / SSK21 ............................................................................................. 584
11.8.5. Encoder coupling of 2 Compax3 axes / SSK29 .......................................... 585
11.8.6. Modem cable SSK31 ...................................................................................... 586
11.8.7. Adapter cable SSK32/20................................................................................ 586
11.9 Options M1x ......................................................................................... 587
11.9.1. Input/output option M12 ................................................................................ 587
11.9.1.1 Assignment of the X22 connector ....................................................... 587
11.9.2. HEDA (motion bus) - Option M11 ................................................................. 588
11.9.3. Option M10 = HEDA (M11) & I/Os (M12) .................................................... 589
11.9.4. Analog current inputs and voltage inputs (Option M21) ........................... 590
11.9.4.1 Connector assignment Option M21 X20 ............................................. 590
11.9.4.2 Connector assignment Option M21 X21 ............................................. 591
11.9.4.3 Layout of the analog inputs of Option M21 ......................................... 591
11.10 Profibus plug BUS08/01 ...................................................................... 592
11.11 CAN - plug BUS10/01 ........................................................................... 593
11.12 PIO: External Inputs/Outputs .............................................................. 594
11.12.1. Order Code input/output terminals (PIO) .................................................... 594
12. Technical Data ..................................................................................... 595

13. Index..................................................................................................... 613
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Introduction C3T40
1. Introduction
In this chapter you can read about:
Device assignment .......................................................................................................... 14
ProfiNet Certificate .......................................................................................................... 15
Scope of delivery ............................................................................................................. 16
Type specification plate ................................................................................................... 17
Packaging, transport, storage .......................................................................................... 18
Safety instructions ........................................................................................................... 19
Warranty conditions ......................................................................................................... 21
Conditions of utilization .................................................................................................... 22
1.1 Device assignment

This manual is valid for the following devices:
 Compax3S025V2 + supplement
 Compax3H050V4 + supplement
 Compax3M050D6 + supplement - Safety Option S1
 PSUP10D6
 PSUP20D6
 PSUP30D6
With the supplement:

 F10 (Resolver)
 F11 (SinCos©)
 F12 (linear and rotary direct drives)
 I11 T40: Cam via I/Os / RS232 / RS485
 I20 T40: Cam via Profibus
 I21 T40: Cam via CANopen
 I22 T40: Cam via DeviceNet
 I30 T40: Cam via Ethernet Powerlink

 I31 T40: Cam via EtherCAT
 I32 T40: Cam via Profinet
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Parker EME ProfiNet Certificate
1.2 ProfiNet Certificate
192-120108N13 Compax3T40_eng 2014-10 15

Introduction C3T40
1.3 Scope of delivery

The following items are furnished with the device:
 Manuals*
 Installation manual (German, English, French)
 Compax3 DVD
 Startup Guide (German / English)
*Comprehensiveness of documentation depends on device type
 Device accessories
Device accessories for Compax3S
 Cable clamps in different sizes for large area shielding of the motor cable, the
screw for the cable clamp as well as
 the mating plug connectors for the Compax3S plug connectors X1, X2, X3, and
X4
 a toroidal core ferrite for one cable of the motor holding brake
 Lacing cord
 Device accessories for Compax3M

 Cable clamps in different sizes for large area shielding of the motor cable, the
screw for the cable clamp as well as
 the matching plug for the Compax3M connectors X14, X15, X43
 a toroidal core ferrite for a cable of the motor holding brake
 an interface cable (SSK28/23) for communication within the axis combination
 With safety option S3: Mating plugs X28 and connection cable X26 / X27
 Device accessories for PSUP

 Matching plug for the PSUP connectors X9, X40, X41
 2 bus terminal connectors (BUS07/01) for mains module and the last axis
controller in the combination
 Device accessories for Compax3H

 Mating connector for X3 and X4
 SSK32/20: RS232 adapter cable (programming port C3HxxxV4 - SSK1 - PC)
 VBK17/01: SubD jumper mounted
16 192-120108N13 Compax3T40_eng 2014-10

Parker EME Type specification plate
1.4 Type specification plate

The present device type is defined by the type specification plate (on the housing):
Compax3 - Type
specification plate
(example):
Explanation:
Type designation:
1
The complete order designation of the device (2, 5, 6, 9, 8).
C3: Abbreviation for Compax3
2 S025: Single axis device, nominal device current in 100mA (025=2.5A)

M050: Multi-axis device, nominal device current in 100mA (050=5A)
H050: High power device, nominal device current in 1A (050=50A)
D6: Designation nominal supply
V2: Mains supply voltage (2=230VAC/240VAC, 4=400VAC/480VAC)
3 Unique number of the particular device
Nominal supply voltage
4 Power Input: Input supply data
Power Output: Output data
Designation of the feedback system
F10: Resolver
5
F11: SinCos© / Single- or Multiturn
F12: Feedback module for direct drives
Device interface
I10: Analog, step/direction and encoder input
I11 / I12: Digital Inputs / Outputs and RS232 / RS485
6
I20: Profibus DP / I21: CANopen / I22: DeviceNet /
I30: Ethernet Powerlink / I31: EtherCAT / I32: Profinet
C20: integrated controller C3 powerPLmC, Linux & Web server
7 Date of factory test
Options
8 Mxx: I/O extension, HEDA
Sx: optional safety technology on C3M
Technology function
T10: Servo controller
T11: Positioning
9
T20: Pressure / Volume flow rate
T30: Motion control in accordance with IEC61131-3
T40: Electronic cam
10 CE compliance
11 Certified safety technology (corresponding to the logo displayed)
12 UL certified (corresponding to the logo displayed)
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Introduction C3T40
1.5 Packaging, transport, storage

Packaging material and transport
Caution!
The packaging material is inflammable, if it is disposed of improperly by burning,
lethal fumes may develop.
The packaging material must be kept and reused in the case of a return shipment.
Improper or faulty packaging may lead to transport damages.
Make sure to transport the drive always in a safe manner and with the aid of
suitable lifting equipment (Weight (see on page 595, see on page 606)). Do never
use the electric connections for lifting. Before the transport, a clean, level surface
should be prepared to place the device on. The electric connections may not be
damaged when placing the device.
First device checkup

 Check the device for signs of transport damages.
 Please verify, if the indications on the Type identification plate (see on page 17)
correspond to your requirements.
 Check if the consignment is complete.
Disposal
This product contains materials that fall under the special disposal regulation from
1996, which corresponds to the EC directory 91/689/EEC for dangerous disposal
material. We recommend to dispose of the respective materials in accordance with
the respectively valid environmental laws. The following table states the materials
suitable for recycling and the materials which have to be disposed of separately.
suitable for
Material Disposal
recycling
Metal yes no
Plastic materials yes no
Circuit boards no yes
Please dispose of the circuit boards according to one of the following methods:
 Burning at high temperatures (at least 1200°C) in an incineration plant licensed in
accordance with part A or B of the environmental protection act.
 Disposal via a technical waste dump which is allowed to take on electrolytic
aluminum condensers. Do under no circumstances dump the circuit boards at a
place near a normal waste dump.
Storage
If you do not wish to mount and install the device immediately, make sure to store it
in a dry and clean environment (see on page 608). Make sure that the device is
not stored near strong heat sources and that no metal chippings can get into the
device.
Please note in the

event of storage >1 Forming the capacitors
year:
Forming the capacitors only required with 400VAC axis controllers and PSUP
mains module
If the device was stored longer than one year, the intermediate capacitors must be
re-formed!
Forming sequence:
 Remove all electric connections
 Supply the device with 230VAC single phase for 30 minutes
 via the L1 and L2 terminals on the device or
 multi axis devices via L1 and L2 on the PSUP mains module
18 192-120108N13 Compax3T40_eng 2014-10

Parker EME Safety instructions
1.6 Safety instructions

General hazards .............................................................................................................. 19
Safety-conscious working ................................................................................................ 19
Special safety instructions ............................................................................................... 20
1.6.1. General hazards

General Hazards on Non-Compliance with the Safety Instructions
The device described in this manual is designed in accordance with the latest
technology and is safe in operation. Nevertheless, the device can entail certain
hazards if used improperly or for purposes other than those explicitly intended.
Electronic, moving and rotating components can
 constitute a hazard for body and life of the user, and
 cause material damage
Designated use
The device is designed for operation in electric power drive systems (VDE0160).
Motion sequences can be automated with this device. Several motion sequences
can be can combined by interconnecting several of these devices. Mutual
interlocking functions must be incorporated for this purpose.
1.6.2. Safety-conscious working

This device may be operated only by qualified personnel.
Qualified personnel in the sense of these operating instructions consists of:
 Persons who, by virtue to their training, experience and instruction, and their
knowledge of pertinent norms, specifications, accident prevention regulations and
operational relationships, have been authorized by the officer responsible for the
safety of the system to perform the required task and in the process are capable
of recognizing potential hazards and avoiding them (definition of technical
personnel according to VDE105 or IEC364),
 Persons who have a knowledge of first-aid techniques and the local emergency
rescue services.
 persons who have read and will observe the safety instructions.
 Those who have read and observe the manual or help (or the sections pertinent
to the work to be carried out).
This applies to all work relating to setting up, commissioning, configuring,
programming, modifying the conditions of utilization and operating modes, and to
maintenance work.
This manual and the help information must be available close to the device during
the performance of all tasks.
192-120108N13 Compax3T40_eng 2014-10 19

Introduction C3T40
1.6.3. Special safety instructions

Caution!
Due to movable machine parts and high voltages, the device can pose a lethal
danger. Danger of electric shock in the case of non-respect of the following
instructions. The device corresponds to DIN EN 61800-3, i.e. it is subject to
limited sale. The device can emit disturbances in certain local environments. In
this case, the user is liable to take suitable measures.
 Check that all live terminals are secured against contact. Perilous voltage levels
of up to 850V occur.
 Do not bypass power direct current
Be cautious when performing configuration downloads with master - slave couplings (electronic gear,
cam) Deactivate the drive before starting the configuration download: Master and Slave axis.
Caution!
Due to movable machine parts and high voltages, the device can pose a lethal
danger. Danger of electric shock in the case of non-respect of the following
instructions. The device corresponds to DIN EN 61800-3, i.e. it is subject to
limited sale. The device can emit disturbances in certain local environments. In
this case, the user is liable to take suitable measures.
 The device must be permanently grounded due to high earth leakage currents.
 The drive motor must be grounded with a suitable protective lead.
 The devices are equipped with high voltage DC condensers. Before removing the
protective cover, the discharging time must be awaited. After switching off the
supply voltage, it may take up to 10 minutes (with additional capacity modules it
may take up to 30 minutes) to discharge the capacitors.
Danger of electric shock in case of non respect.
 Before you can work on the device, the supply voltage must be switched off at the
L1, L2 and L3 clamps. Wait at least 10 minutes so that the power direct current
may sink to a secure value (<50V). Check with the aid of a voltmeter, if the
voltage at the DC+ and DC- clamps has fallen to a value below 50V.
Danger of electric shock in case of non respect.
 Do never perform resistance tests with elevated voltages (over 690V) on the
wiring without separating the circuit to be tested from the drive.
 Please exchange devices only in currentless state and, in an axis system, only in
a defined original state.
 If the axis controller is replaced, it is absolutely necessary to transfer the
configuration determining the correct operation of the drive to the device, before
the device is put into operation. Depending on the operation mode, a machine
zero run will be necessary.
 The device contains electrostatically sensitive components. Please heed the
electrostatic protection measures while working at/with the device as well as
during installation and maintenance.
 Operation of the PSUP30 only with line choke.
Attention - hot surface!

The heat dissipater can reach very high temperatures (>70°C)
Protective seals
Caution!
The user is responsible for protective covers and/or additional safety measures in
order to prevent damages to persons and electric accidents.
20 192-120108N13 Compax3T40_eng 2014-10

Parker EME Warranty conditions
Please note in the

event of storage >1 Forming the capacitors
year:
Forming the capacitors only required with 400VAC axis controllers and PSUP
mains module
If the device was stored longer than one year, the intermediate capacitors must be
re-formed!
Forming sequence:
 Remove all electric connections
 Supply the device with 230VAC single phase for 30 minutes
 via the L1 and L2 terminals on the device or
 multi axis devices via L1 and L2 on the PSUP mains module
1.7 Warranty conditions

 The device must not be opened.
 Do not make any modifications to the device, except for those described in the
manual.
 Make connections to the inputs, outputs and interfaces only in the manner
described in the manual.
 Fix the devices according to the mounting instructions. (see on page 81, see
on page 87)
We cannot provide any guarantee for other mounting methods.
Note on exchange of options

Device options must be exchanged in the factory to ensure hardware and software
compatibility.
 When installing the device, make sure the heat dissipators of the device receive
sufficient air and respect the recommended mounting distances of the devices
with integrated ventilator fans in order to ensure free circulation of the cooling air.
 Make sure that the mounting plate is not exposed to external temperature
influences.
192-120108N13 Compax3T40_eng 2014-10 21

Introduction C3T40
1.8 Conditions of utilization

Conditions of utilization for CE-conform operation ........................................................... 22
Conditions of utilization for UL certification Compax3S .................................................... 25
Conditions of utilization for UL approval Compax3M ........................................................ 26
Conditions of utilization for UL approval PSUP ................................................................ 27
Conditions of utilization for UL certification Compax3H .................................................... 28
Current on the mains PE (leakage current) ...................................................................... 29
Supply networks .............................................................................................................. 29
1.8.1. Conditions of utilization for CE-conform operation

- Industry and trade -
The EC guidelines for electromagnetic compatibility 2004/108/EC and for electrical
operating devices for utilization within certain voltage limits 2006/95/EC are fulfilled
when the following boundary conditions are observed:
Operation of devices only in the state in which they are delivered.
In order to ensure contact protection, all mating plugs must be present on the
device connections even if they are not wired.
Please respect the specifications of the manual, especially the technical
characteristics (mains connection, circuit breakers, output data, ambient
conditions,...).
1.8.1.1 Conditions of utilization mains filter
Mains filter: A mains filter is required in the mains input line if the motor cable exceeds a certain
length. Filtering can be provided centrally at the system mains input or separately
for each device or with C3M for each axis system.
Use of the devices in a commercial and residential area (limit value class in
accordance with EN 61800-3)
The following mains filters are available for independent utilization:
Device: Limit value Motor cable length Mains filter
Compax3S class Order No.:
S0xxV2 C2 < 10 m without
C2 > 10 m, < 100 m NFI01/01
S1xxV2, C2 < 10 m without
S0xxV4, S150V4 C2 > 10 m, < 100 m NFI01/02
S300V4 C3 < 10 m without
C2, C3 > 10 m, < 100 m NFI01/03
Device: Limit value Motor cable length Mains filter
Compax3H class Order No.:
H050V4 C2 < 10 m without
C2 > 10 m, < 50 m NFI02/01
H090V4 C2 < 10 m without
C2 > 10 m, < 50 m NFI02/02
H1xxV4 C2 < 10 m without
C2 > 10 m, < 50 m NFI02/03
22 192-120108N13 Compax3T40_eng 2014-10

Parker EME Conditions of utilization
Use of the devices in the industrial area (limit values class C3 in accordance
with EN 61800-3)
The following mains filters are available for independent utilization:
Device: PSU Limit value Reference: Axis system Mains filter
class with motor cable Order No.:
P10 C3 < 6 x 10 m NFI03/01
P10 C3 < 6 x 50 m NFI03/02
P20 C3 < 6 x 50 m NFI03/03
P30 C3 < 6 x 50 m NFI03/03
Connection length: Connection between mains filter and device:

unshielded: < 0.5 m
shielded < 5 (fully shielded on ground - e.g. ground of control cabinet)
1.8.1.2 Conditions of utilization for cables / motor filter
Motor and Feedback Operation of the devices only with motor and feedback cables whose plugs contain
cable: a special full surface area screening.
Compax3S motor < 100 m (the cable should not be rolled up!)
cable A motor output filter (see on page 557) is required for motor cables >20 m:
 MDR01/04 (max. 6.3 A rated motor current)
 MDR01/01 (max. 16 A rated motor current)
Compax3H motor A motor output filter is required for motor cables >50m. Please contact us.
cable
Compax3M motor <80m per axis (the cable must not be rolled up!)
cable The entire length of the motor cable per axis combination may not exceed 300m.
A motor output filter (see on page 557) is required for motor cables >20 m:
Shielding connection of the motor cable

The cable must be fully-screened and connected to the Compax3 housing. Use the
cable clamps/shield connecting terminals furnished with the device.
The shield of the cable must also be connected with the motor housing. The fixing
(via plug or screw in the terminal box) depends on the motor type.
Feedback cable < 100 m

Compax3S,
Compax3H &
Compax3F:
Compax3M encoder < 80m

cable:
Cable für Corresponding to the specifications of the terminal clamp with a temperature range
Compax3S, of up to 60°C.
Compax3M
Cable für Compax3H Corresponding to the specifications of the terminal clamp with a temperature range
of up to 75°C.
192-120108N13 Compax3T40_eng 2014-10 23

Introduction C3T40
Cable installation:  Signal lines and power lines should be installed as far apart as possible.
 Signal lines should never pass close to excessive sources of interference
(motors, transformers, contactors etc.).
 Do not place mains filter output cable parallel to the load cable.
1.8.1.3 Additional conditions of utilization
Motors: Operation with standard motors.
Control: Use only with aligned controller (to avoid control loop oscillation).
Grounding: Connect the filter housing and the device to the cabinet frame, making sure that the
contact area is adequate and that the connection has low resistance and low
inductance.
Never mount the filter housing and the device on paint-coated surfaces!
Compax3S300V4 For CE and UL conform operation of the Compax3S300V4, a mains filter is
compulsory:
 400 VAC / 0.740 mH certified in accordance with EN 61558-1 bzw. 61558-2-2
 We offer the mains filter as an accessory: LIR01/01
Accessories: Make sure to use only the accessories recommended by Parker
Connect all cable shields at both ends, ensuring large contact areas!
Warning:
This is a product in the restricted sales distribution class according to EN
61800-3. In a domestic area this product can cause radio frequency
disturbance, in which case the user may be required to implement
appropriate remedial measures.
24 192-120108N13 Compax3T40_eng 2014-10

1.8.2. Conditions of utilization for UL certification Compax3S

UL certification for Compax3S
conform to UL:  according to UL508C
Certified  E-File_No.: E235342
The UL certification is documented by a "UL" logo on the

device (type specification plate).
“UL” logo:
Conditions of utilization
 The devices are only to be installed in a degree of contamination 2 environment
(maximum).
 The devices must be appropriately protected (e.g. by a switching cabinet).
 The X2 terminals are not suitable for field wiring.
 Tightening torque of the field wiring terminals ( green Phoenix plugs)
 C3S0xxV2 0.57 - 0.79Nm 5 - 7Lb.in
 C3S1xxV2, 0.57 - 0.79Nm 5 - 7Lb.in
C3S0xxV4, C3S150V4
 C3S300V4 1.25 - 1.7Nm 11 - 15Lb.in
 Temperature rating of field installed conductors shall be at least 60°C. Use
copper lines only
Please use the cables described in the accessories chapter (see on page 542,
see on page 544), they feature a temperature rating of at least 60°C.
 Maximum Surrounding Air Temperature: 45°C.
 Motor over temperature monitoring is only supported, if the external temperature
sensor is connected.
 Suitable for use on a circuit capable of delivering at least 5000 symmetrical
amperes effectively and 480 Volts when protected with fuses.
Fuses:
In addition to the main fuse, the devices must be equipped with a S201K, S203K,
S271K or S273K circuit breaker with K characteristic made by ABB.
 C3S025V2: ABB, nom 480V 10A, 6kA
 C3S063V2: ABB, nom 480V, 16A, 6kA
 C3S100V2: ABB, nom 480V, 16A, 6kA
 C3S150V2: ABB, nom 480V, 20A, 6kA
 C3S015V4: ABB, nom 480V, 6A, 6kA
 C3S038V4: ABB, nom 480V, 10A, 6kA
 C3S075V4: ABB, nom 480V, 16A, 6kA
 C3S150V4: ABB, nom 480V, 20A, 6kA
 C3S300V4: ABB, nom 480V, 25A, 6kA
CAUTION
Risk of electric shock.
Discharge time of the bus capacitor is 10 minutes.
 The drive provides internal motor overload protection.
This must be set so that 200% of the motor nominal current are not exceeded.
 Cable cross-sections
 Mains input: corresponding to the recommended fuses.
 Motor cable: corresponding to the Nominal output currents (see on page 597,
see on page 598)
 Maximum cross-section limited by the terminals mm / AWG
2
 C3S0xxV2 2.5mm AWG 12

2
 C3S1xxV2, 4.0mm2 AWG 10

C3S0xxV4, C3S150V4
 C3S300V4 6.0mm2 AWG 7
192-120108N13 Compax3T40_eng 2014-10 25

Introduction C3T40
1.8.3. Conditions of utilization for UL approval Compax3M
UL approval for Compax3M

Conform to UL:  in accordance with UL508C
The UL approval is documented by a
“UL” logo on the device (type
specification plate).
(maximum).
Device X43: Motor connector X15: Temperature monitoring

C3M050-150 0.5Nm (4.43Lb.in) 0.22Nm (1.95Lb.in)
C3M300 1.2Nm (10.62Lb.in) 0.22Nm (1.95Lb.in)

copper lines only
 Control voltage supply (24VDC) only permissible with "class 2" power supply.
 Compax3M may only be operated with a mains module of the PSUP series.
 Motor Over Temperature sensing is not provided by the drive unless the external
temperature sensor is connected.
Caution!
The drive provides internal motor overload protection.
see on page 598)
 Maximum cross-section limited by the terminals mm / AWG
2
Line cross-sections of the power connections (on the device bottoms)

Compax3 device: Cross-section: Minimum... Maximum [with conductor sleeve]
M050, M100, M150 0.25 ... 4 mm2 (AWG: 23 ... 11)
M300 0.5 ... 6 mm2 (AWG: 20 ... 10)
26 192-120108N13 Compax3T40_eng 2014-10

1.8.4. Conditions of utilization for UL approval PSUP
UL approval for mains modules PSUP

UL approval PSUP30 in preparation!
(maximum).
Device X40: Ballast resistor X41: Mains connector X9: 24VDC

1.2 Nm
PSUP10 0.5 Nm (4.43Lb.in) 1.2 Nm (10.62Lb.in)
(10.62Lb.in)
1.2 Nm
PSUP20 0.5 Nm (4.43Lb.in) 1.7 Nm (15Lb.in)
(10.62Lb.in)
PSUP30 UL approval in preparation
copper lines only
 Control voltage supply (24VDC) only permissible with "class 2" power supply.
 Suitable for use on a circuit capable of delivering not more than 5000 rms
symmetrical amperes and 480 volts maximum and protected by (see below).
 The devices need a "branch circuit protection".
PSUP10D6
Measure for line and device protection:
Maximum fuse rating per MCB miniature circuit breaker (K characteristic) 25A in
device accordance with UL category DIVQ
(ABB) S203UP-K25 (480VAC)
PSUP20D6
Maximum fuse rating per Cable protection measure:
device MCB (K characteristic) with a rating of 50A / 4xxVAC
2 special purpose fuses in line (depending on the input voltage).
are required (ABB) S203U-K50 (440VAC)
Device protection measure:
Fuses 80A / 700VAC per supply leg in accordance with UL
category JFHR2:
Bussmann 170M1366 or 170M1566D
Caution!
192-120108N13 Compax3T40_eng 2014-10 27

Introduction C3T40
1.8.5. Conditions of utilization for UL certification Compax3H

UL certification for Compax3H
Conform to UL:  according to UL508C

“UL” logo:
(maximum).
 Tightening Torque of the Field Wiring Terminals.
Terminal clamps - max. line cross sections

The line cross sections must correspond to the locally valid safety regulations. The
local regulations have always priority.
Power clamps
(minimum/maximum section)
C3H050V4 2.5 / 16mm2
Massive Multiwire
C3H090V4 16 / 50mm2 25 / 50mm2
C3H1xxV4 25 / 95mm2 35 / 95mm2
The standard connection clamps of Compax3H090V4 and Compax3H1xxV4

are not suitable for flat line bars.
Temperature rating of field installed conductors shall be at least 75°C. Do

only use copper lines.
 Motor overtemperature monitoring is only supported, if the external temperature
sensor is connected.
 Suitable for use on a circuit capable of delivering not more than 18000A
symmetrical amperes effectively when protected with fuses as follows:
Device Protection data
C3H050V4 480 VAC 80 A
C3H090V4 480 VAC 100 A
C3H125V4 480 VAC 160 A
C3H155V4 480 VAC 200 A
Caution!
Upon removing power to the equipment, please wait at least 10 minutes
before accessing the device to ensure internal voltage levels are less than
50VDC.
 The drive provides internal motor overload protection.
see on page 598)
 This device is provided with Solid State Short Circuit (output) Protection.
28 192-120108N13 Compax3T40_eng 2014-10

1.8.6. Current on the mains PE (leakage current)

This product can cause a direct current in the protective lead. If a residual current
device (RCD) is used for protection in the event of direct or indirect contact, only a
type B (all current sensitive) RCD is permitted on the current supply side of this
product . Otherwise, a different protective measure must be taken, such as
Caution! separation from the environment by doubled or enforced insulation or separation
from the mains power supply by means of a transformer.
Please heed the connection instructions of the RCD supplier.
Mains filters do have high leakage currents due to their internal capacity. An
internal mains filter is usually integrated into the servo controllers. Additional
discharge currents are caused by the capacities of the motor cable and the motor
winding. Due to the high clock frequency of the power output stage, the leakage
currents do have high-frequency components. Please check if the FI protection
switch is suitable for the individual application.
If an external mains filter is used, an additional leakage current will be produced.
The figure of the leakage current depends on the following factors:
 Length and properties of the motor cable
 Switching frequency
 Operation with or without external mains filter
 Motor cable with or without shield network
 Motor housing grounding (how and where)
Remark:
 The leakage current is important with respect to the handling and usage safety of
the device.
 A pulsing leakage current occurs if the supply voltage is switched on.
Please note:
The device must be operated with effective grounding connection, which must
comply with the local regulations for high leakage currents (>3.5 mA).
Due to the high leakage currents it is not advisable to operate the servo drive with
an earth leakage circuit breaker.
1.8.7. Supply networks

This product is designed for fixed connection to TN networks (TN-C, TN-C-S or
TN-S). Please note that the line-earth voltage may not exceed 300VAC.
 When grounding the neutral conductor, mains
voltages of up to 480VAC are permitted.
 When grounding an external conductor (delta

mains, two-phase mains), mains voltages (external
conductor voltages) of up to 240VAC are
permitted.
Devices which are to be connected to an IT network must be provided with a

separating transformer. Then the devices are operated locally as in a TN network.
The secondary sided center of the separating transformer must be grounded and
connected to the PE connector of the device.
192-120108N13 Compax3T40_eng 2014-10 29

Positioning with IEC61131-3 C3T40
2. Positioning with IEC61131-3
IEC 61131-3 Due to its high functionality, Compax3 in the version “IEC 61131-3 - Positioning
Programming with function modules based on PLCopen” forms an ideal basis for many
applications in high-performance motion automation.
A standard with general applicability was created with Standard IEC 61131-3. The
programming system is equipped with a series of functions in addition to the
compliant editor. The Motion Control functions specified in PLCopen are also
provided by Parker as a library with the device and control software.
The graphical program editor supports the following functions:

 Ladder diagram
 Function block diagram (structurally-guided)
 Function block diagram (free graphical editor)
The text-oriented editor supports programming in

 Instruction list
 Structured text
Programming of Compax3 based on IEC 61131-3 is also made considerably easier

by a series of additional functions. This includes in particular Syntax Coloring,
multi-level undo/redo and context-sensitive input help.
Cam control T40 Rising rationalization pressure and an increasing degree of automation in process
engineering demand modern and flexible drive concepts. The introduction of digital
and communicating control devices was an important step towards the
decentralization of control and regulation tasks. An increasing number of
mechanical construction components can be replaced by programmable servo
drives.
Process
Process
30 192-120108N13 Compax3T40_eng 2014-10

In particular mechanical cam switching mechanisms and discontinuous shafts

maintained until today their fields of application in many areas of machine
construction. Mechanical cam switching mechanisms offer, besides complex
motion profiles, a high positioning accuracy and rigid coupling between master and
slave drive. Their drawbacks are, however, the long changeover times and the
limitation to a defined profile.
In this respect the Compax3 T40 electronic cam offers considerable time
advantages, above all when changing between small batch sizes or with a wide
range of products. The decentralization of the drive performance can reduce size,
costs and maintenance effort considerably.
The switching command between different motion profiles takes only seconds - no
fitter or wrench is required.
Large, mechanically coupled drive systems can be divided into small, independent
drives. The dynamic and stationary behavior of every drive can be individually set
and optimized.
Compax3 is able to simulate mechanical cams and cam switching mechanisms
electronically.
This helps to realize discontinuous material supply, flying knife and similar drive
applications with distributed drive performance.
The compact servo controller processes the signals of a master axis and controls a
servo drive via the desired motion profile, which is defined in the form of an
interpolation point memory.
The cam function modules and the CamDesigner make it easy to launch cam
applications in the IEC program.
Interfaces with Independent of your motion automation you can access Compax3 externally via
superordinate different interfaces (e.g. with the superordinate control):
controllers  via RS232 / RS485
 via digital Inputs/Outputs (Interface I11)
 via Profibus (Interface I20)
 via Profinet (Interface I32)
 via CANopen (Interface I21)
 via Ethernet Powerlink (interface I30)
 via EtherCAT (interface I31)
Profibus (I20) The higher-level control system communicates with Compax3 via Profibus or
&Profinet (I32) Profinet.
functions A number of different cyclic transfer telegrams (which can be conveniently adjusted
with the Compax3 ServoManager) can be used to adjust bus communication to the
requirements of specific applications.
In addition to the cyclic data channel, parameter access is also possible via a
DPV1 master or using the parameter channel with a DPV0 master.
CANopen (I21 - The higher level control system communicates with Compax3 via CANopen.
functions) Via various cyclic process data objects (which can be comfortably set with the
Compax3 ServoManager) the bus communication can be adapted to the
application requirements.
Apart from the cyclic process data objects, acyclic parameter access is possible via
service data objects.
DeviceNet (I22 The higher level control system communicates with Compax3 via DeviceNet.
functions) Cyclic I/O messages (which can be conveniently adjusted with the Compax3
ServoManager) can be used to adjust bus communication to the requirements of
specific applications.
Besides the cyclic data, acyclic access to objects is possible via Explicit Messages.
Compax3 control High-performance control technology and openness for various sender systems
technology are fundamental requirements for a fast and high-quality automation of movement.
192-120108N13 Compax3T40_eng 2014-10 31

Positioning with IEC61131-3 C3T40
Model / standards / The structure and size of the device are of considerable importance. High-quality
auxiliary material electronics are a fundamental requirement for the particularly small and compact
form of the Compax3 devices. All connectors are located on the front of the
Compax3S.
Partly integrated mains filters permit connection of motor cables up to a certain

length without requiring additional measures. EMC compatibility is within the limits
set by EN 61800-3, Class A. The Compax3 is CE-conform.
The intuitive user interface familiar from many applications, together with the
oscilloscope function, wizards and online help, simplifies making and modifying
settings via the PC.
The optional Operator control module (BDM01/01) (see on page 579) for
Compax3S/F makes it possible to exchange devices quickly without requiring a
PC.
Configuration Configuration is made with a PC with the help of the Compax3 ServoManager.
32 192-120108N13 Compax3T40_eng 2014-10

Parker EME Meaning of the status LEDs - Compax3 axis controller
3. Compax3 device description

Meaning of the status LEDs - Compax3 axis controller .................................................... 33
Meaning of the status LEDs - PSUP (mains module) ....................................................... 34
Connections of Compax3S .............................................................................................. 35
Installation instructions Compax3M ................................................................................. 44
PSUP/Compax3M Connections ....................................................................................... 46
Connections of Compax3H .............................................................................................. 56
Communication interfaces ............................................................................................... 64
Signal interfaces .............................................................................................................. 75
Mounting and dimensions ................................................................................................ 81
Safety function - STO (=safe torque off)........................................................................... 90
3.1 Meaning of the status LEDs - Compax3 axis controller

Device status LEDs Right LED (red) Left LED (green)
Voltages missing off off
During the booting sequence alternately flashing
 No configuration present. flashes slowly off
 SinCos© feedback not detected.
 Compax3 IEC61131-3 program not
compatible with Compax3 Firmware.
 no Compax3 IEC61131-3 program
 Hall signals invalid.
Axis powerless off flashes slowly

Power supplied to axis; commutation calibration off flashes quickly
running
Axis powered off on
Axis in error state / error present / axis powered flashes quickly on
(error reaction 1)
Axis in error state / error present / axis not on off
powered
(error reaction 2)
Compax3 faulty: Please contact us on on
Note on Compax3H: The internal device status LEDs are only connected to the external housing LEDs,
if the RS232 jumper at X10 is fitted to the control and the upper dummy cover is
fitted.
192-120108N13 Compax3T40_eng 2014-10 33

Compax3 device description C3T40
3.2 Meaning of the status LEDs - PSUP (mains module)

PSUP Status LEDs Left LED (green) Right LED (red)
Control voltage 24 VDC is missing off off
Error of mains module* off on
Address assignment CPU active or incorrect wiring flashes quickly -
Address assignment CPU completed flashes slowly -
Device state: INIT
flashes flashes quickly
Mains voltage is missing or built up
Device state: ERROR
flashes on
One or multiple errors occured
Device state: RUN on off
Device in bootloader state flashes slowly flashes slowly
*can be read out in each axis controller
Caution!
When the control voltage is missing there is no indication whether or not high
voltage supply is available.
34 192-120108N13 Compax3T40_eng 2014-10

Parker EME Connections of Compax3S
3.3 Connections of Compax3S

Compax3S connectors .................................................................................................... 35
Connector and pin assignment C3S................................................................................. 36
Control voltage 24VDC / enable connector X4 C3S ......................................................... 38
Motor / Motor brake C3S connector X3 ............................................................................ 39
Compax3Sxxx V2 ............................................................................................................ 40
Compax3Sxxx V4 ............................................................................................................ 42
3.3.1. Compax3S connectors
LED1 LED2
X20
X1
X10
X21
X2
X11
X22
X23
X3
X24
X12
LED3
X4
X13 S24
X1 AC Supply X20 HEDA in Option M21

(Option M10, M11) inputs
X2 Ballast / DC power voltage X21 HEDA out Option M21
(Option M10, M11) inputs
X3 Motor / Brake X22 Inputs Outputs (Option M10/12)
X4 24VDC / Enable X23/ Bus (Option) Connector type
X24 depends on the bus
system!
X10 RS232/RS485 S24 Bus settings
X11 Analog/Encoder LED1 Device status LEDs
X12 Inputs/Outputs LED2 HEDA LEDs
X13 Motor position feedback LED3 Bus LEDs
192-120108N13 Compax3T40_eng 2014-10 35

Caution - Risk of Electric Shock!

Always switch devices off before wiring them!
Dangerous voltages are still present until 10 min. after switching off the power
supply.
Caution!
Attention - PE connection!
PE connection with 10mm2 via a grounding screw at the bottom of the device.

Line cross sections of the line connections X1, X2, X3

Compax3 device: Cross-section: Minimum... Maximum[mm2]
S025V2, S063V2 0.25 ... 2.5 (AWG: 24 ... 12)
S100V2, S150V2 0.25 ... 4 (AWG: 24 ... 10)
S015V4, S038V4, S075V4, S150V4
S300V4 0.5 ... 6 (AWG: 20 ... 7)
3.3.2. Connector and pin assignment C3S

Overview:
AC - Versorgung
X1 Compax3
AC - Supply
DC - Versorgung RS232
X4 (24VDC) X10 PC
DC - Supply SSK1
Freigabe 24VDC
X4/3
Enable 24VDC
Further information on the assignment of the plug mounted at the particular

device can be found below!
36 192-120108N13 Compax3T40_eng 2014-10

In detail: The fitting of the different plugs depends on the extension level of Compax3. In
part, the assignment depends on the Compax3 option implemented.
Compax3 1AC
X10/1 X10/1 X10/1 X20/1
Power supply RS485 +5V RS485 +5V EnableRS232 0V Rx
X20/2
RxD X10/2 res. X10/2 RxD X10/2 Rx/
X1/1 X1
X10: RS485 zweidraht

X20/3
X10: RS485 vierdraht

L TxD/ X10/3 TxD_RxD/ X10/3 TxD X10/3 Lx
X1/2 X20/4
option M11(M10=+I/Os)
N res. X10/4 res. X10/4 DTR X10/4 res.
X20: HEDA in
X1/3 X20/5
PE GND X10/5 GND X10/5 GND X10/5 res.
X20/6
X10: RS232
res. X10/6 res. X10/6 DSR X10/6 Lx/
X20/7
TxD X10/7 TxD_RxD/ X10/7 RTS X10/7 res.
Compax3 3AC X20/8
RxD/ X10/8 res. X10/8 CTS X10/8 res.
Power supply
+5V X10/9 +5V X10/9 +5V X10/9
X1/1 X21/1
L1 X1 Tx
X1/2 X21/2
X22/1 X22/1 X11/1 Tx/
L2 +24Vout +24Vout Output +24V X21/3
HEDA-motionbus
X1/3 X22 /2 X22 /2 X11/2 Lx
L3 Uin3+ Iin0+ Ain1- X21/4
res.
X21: HEDA out

X1/4 X22 /3 X22 /3 X11/3
X21: Input option M21
option M21
PE GND GND D/A-channel1 X21/5
X22 /4 X22 /4 res.
X11/4
Uin3- Iin0- D/A-channel0 X21/6
Lx/
X22 /5 X22 /5 X11/5
+24Vout +24Vout +5V X21/7
res.
X22 /6 X22 /6 X11/6
Uin4+ Iin1+ A/ X21/8
res.
Ballast resistor (1AC)
X11: Analog/Encoder
X22 /7 X22 /7 X11/7
GND GND A
X2/1 X2 X22 /8 X22 /8 X11/8 X23/1
res. Uin4- Iin1- B Tx+
Ethernet Powerlink (I30), EtherCAT (I31), Profiner (I32)

X2/2 X22 /9 X22 /9 X11/9 X23/2
-R +24V0ut +24V0ut Ain0+ Tx-
X20: Input
X2/3 X22 /10 X22 /10 X11/10 X23/3

PE Uin5+ Iin2+ Ain1+ Rx+
X23: Ethernet in
X2/4 X22 /11 X22 /11 X11/11 X23/4
GND GND Ain0- res.
+R X23/5
X22 /12 X22 /12 X11/12 res.
X2/5 Uin5- Iin2- B/
res. X23/6
X22 /13 X11/13 Rx-
+24Vin N/
X22 /14 X11/14 X23/7
GND in res.
N
Ballast resistor (3AC) X22 /15&16 X11/15 X23/8
Shield res.
GND
X2/1 X2 X24/1
+R X12/1 Tx+
X22/1
X2/2 res. Output+24V X24/2
-R Tx-
option M12(M10=+HEDA)
X22 /2 X12/2
X2/3 O0/I0 Output 0 X24/3
PE Rx+
X24: Ethernet out

X22 /3 X12/3
+HV X12/4 res.
X12: Digital Inputs/Outputs
X22 /4
-HV res.
X22 /5 X12/5
O3/I3 Output 3 X24/6
Rx-
X22 /6 X12/6
O4/I4 Input 0 X24/7
res.
X22 /7 X12/7
O5/I5 Input 1 X24/8
res.
X22 /8 X12/8
Motor/Brake O6/I6 Input 2
X22 /9 X12/9 X23/1
O7/I7 Input 3 res.
X3/1 X3 X12/10
U X22 /10 X23/2
O8/I8 Input 4 res.
X23: Profibus I20
X3/2
X22: Input/Output
V X22 /11 X12/11 X23/3

Input24VDC Input+24V Data line-B
X3/3 X12/12
W X22 /12 X23/4
O9/I9 Input 5 RTS
X3/4
PE X22 /13 X12/13 X23/5
O10/I10 Input 6 GND
X3/5 X23/6
Br+ X22 /14 X12/14 +5V
X3/6 O11/I11 Input 7 or (MN-INI)
Br- X22 /15 X12/15 res. X23/7
InputGND GND24V
X23/8
Data line-A
X23/9
res.
X13/1 X13/1 res. X13/1
Sense- res.
X13/2 X13/2 res. X13/2 X23/1
Sense+ res. res.
24VDC Control voltage/ X13/3 X13/3 X13/3 X23/2
X13: Feedback DirectDrive F12
GND
X23: CANopen I21
Hall1 GND CAN_L

Enable
X13/4 X13/4 REF+Resolver X13/4 X23/3
GNDfb
X13: Feedback SinCos F11
X4 Vcc(+5V) Vcc(+8V)
X4/1 X13/5 X23/4
+24V Input X13/5 +5V X13/5 +5V res.
+5V
X4/2 X13/6 X13/6 X13/6 X23/5
GND24V Hall2 CLKfbk CLKfbk SHIELD
X4/3
F10
Enable_in X13/7 X13/7 X13/7 X23/6

Sin-/A- SIN- SIN- res.
X4/4 X23/7
X13/8 X13/8 SIN+ X13/8 CAN_H
Enable_out_a Sin+/A+ SIN+
X13: Resolver
X4/5 X13/9 X13/9 X13/9 X23/8

Enable_out_b Hall3 CLKfbk/ CLKfbk/ res.
X13/10 X13/10 X13/10 X23/9
Tmot Tmot Tmot res.
X23: DeviceNet I22
X13/11 X13/11 COS- X13/11 X23/1

COS-/B- COS- -VDC
X13/12 X13/12 COS+ X13/12 X23/2
COS+/B+ COS+ CAN_L
X13/13 X13/13 res. X13/13 X23/3
N+ DATAfbk Shield
X13/14 X13/14 res. X13/14 X23/4
N- DATAfbk/ CAN_H
X13/15 X13/15 REF-Resolver X13/15 X23/5
GND(Vcc) GND(Vcc) +VDC
The jumper drawn in at X4 (at the left side in red) is used to enable the device for
testing purposes. During operation, the enable input is in most cases switched
externally.
192-120108N13 Compax3T40_eng 2014-10 37

3.3.3. Control voltage 24VDC / enable connector X4 C3S

PIN Description
1 +24V (supply) Line cross sections:
2 Gnd24V minimum: 0.25mm2
3 Enable_in maximum: 2.5mm2
4 Enable_out_a
(AWG: 24 ... 12)
5 Enable_out_b
Control voltage 24VDC Compax3S and Compax3H

Controller type Compax3
Voltage range 21 - 27VDC
Current drain of the device 0.8 A
Total current drain 0.8 A + Total load of the digital outputs + current
for the motor holding brake
Ripple 0.5Vpp
Requirement according to safe extra yes
low voltage (SELV)
Short-circuit proof conditional (internally protected with 3.15AT)
Hardware - enable (input X4/3 = 24VDC)
This input is used as safety interrupt for the power output stage.
Tolerance range: 18.0V - 33.6V / 720Ω
"Safe torque off (X4/3=0V)

For implementation of the "safety torque off" safety feature in accordance with the
“protection against unexpected start-up” described in EN1037. Observe
instructions in the corresponding chapter (see on page 90) with the circuitry
examples!
The energy supply to the drive is reliably shut off, the motor has no torque.
A relay contact is located between X4/4 and X4/5 (normally closed contact)
Enable_out_a - Enable_out_b Power output
stage is
Contact opened activated
Contact closed disabled
Series connection of these contacts permits certain determination of whether all
drives are de-energized.
Relay contact data:

Switching voltage (AC/DC): 100mV - 60V
Switching current: 10mA - 0.3A
Switching power: 1mW...7W
38 192-120108N13 Compax3T40_eng 2014-10

3.3.4. Motor / Motor brake C3S connector X3

PIN Designation Motor cable lead designation*
1 U (motor) U / L1 / C / L+ 1 U1
2 V (motor) V / L2 2 V2
3 W (motor) W / L3 / D / L- 3 W3
4 PE (motor) YE / GN YE / GN YE / GN
5 BR+ Motor holding brake WH 4 Br1
6 BR- Motor holding brake BK 5 Br2
* depending on the cable type
Requirements for motor cable

< 100m (the cable should not be rolled up!)

The cable must be fully-screened and connected to the Compax3 housing. Use the
cable clamps/shield connecting terminals furnished with the device.
The shield of the cable must also be connected with the motor housing. The fixing
(via plug or screw in the terminal box) depends on the motor type.
Attention - Please wire the motor holding brake!

Connect the brake only on motors which have a holding brake! Otherwise make
no brake connections at all.
Requirements cables for motor holding brake

If a motor holding brake is present, one cable of the motor holding brake must be
fed on the device side through the toroidal core ferrite provided as accessory
ZBH0x/xx (63Ω @1MHz, di=5.1mm), in order to ensure error-free switching on
and off of the motor holding brake.
Motor holding brake output

Motor holding brake output Compax3
Voltage range 21 – 27VDC
Maximum output current (short circuit
1.6A
proof)
Motor cable
192-120108N13 Compax3T40_eng 2014-10 39

3.3.5. Compax3Sxxx V2
Main voltage supply C3S connector X1 ........................................................................... 40
Braking resistor / high voltage DC C3S connector X2 ...................................................... 41
3.3.5.1 Main voltage supply C3S connector X1

Device protection
By cyclically switching on and off the power voltage, the input current
limitation can be overloaded, which will cause a device error.
Therefore please wait at least 2 minutes after switching off before you switch
the device on again!
Power supply plug X1 for 1 AC 230VAC/240VAC devices

PIN Designation
1 L
2 N
3 PE
Mains connection Compax3S0xxV2 1AC

Controller type S025V2 S063V2
Continuous working voltage Single phase 230VAC/240VAC
80-253VAC / 50-60Hz
Receiver current consumption 6Arms 13Arms
Maximum fuse rating per device 10 A (automatic 16A (automatic circuit
circuit breaker K) breaker K)
* for UL conform operation (see on page 25), a miniature circuit breaker, K
characteristic, Type S203 is to be used.

supply.
Power supply plug X1 for 3AC 230VAC/240VAC devices

PIN Designation
1 L1
2 L2
3 L3
4 PE

Supply voltage Three phase 3* 230VAC/240VAC
80-253VAC / 50-60Hz
Input current 10Arms 13Arms
Maximum fuse rating per device 16A 20A
MCB miniature circuit breaker, K characteristic
40 192-120108N13 Compax3T40_eng 2014-10

Caution!
The 3AC V2 devices must only be operated with three phases!

supply.
3.3.5.2 Braking resistor / high voltage DC C3S connector X2

The energy generated during braking operation is absorbed by the Compax3
storage capacity.
If this capacity is too small, the braking energy must be drained via a braking
resistor.
Braking resistor / high voltage supply plug X2 for 1AC

230VAC/240VAC devices
PIN Designation
1 factory use
2 - braking resistor (not short-circuit protected!)
3 PE
4 + braking resistor (not short-circuit protected!)
5 factory use
Braking operation Compax3S0xxV2 1AC

Capacitance / storable energy 560µF / 15Ws 1120µF / 30Ws
Minimum braking- resistance 100Ω 56Ω
Recommended nominal power rating 20 ... 60W 60 ... 180W
Maximum continuous current 8A 15A
Caution!
The power voltage DC of two Compax3 1AC V2 devices (230VAC/240VAC
devices) must not be connected.
Braking resistor / high voltage supply plug X2 for 3AC

230VAC/240VAC devices
PIN Description
1 + Braking resistor no short-circuit
2 - Braking resistor protection!
3 PE
4 + DC high voltage supply
5 - DC high voltage supply

Connection of a braking resistor

Minimum line cross section: 1.5mm2
Maximum line length: 2m
Maximum output voltage: 400VDC
192-120108N13 Compax3T40_eng 2014-10 41

3.3.6. Compax3Sxxx V4
Power supply connector X1 for 3AC 400VAC/480VAC-C3S devices ............................... 42
Braking resistor / high voltage supply connector X2 for 3AC 400VAC/480VAC_C3S devices
........................................................................................................................................ 43
Connection of the power voltage of 2 C3S 3AC devices .................................................. 43
3.3.6.1 Power supply connector X1 for 3AC

400VAC/480VAC-C3S devices
Device protection
limitation can be overloaded, which will cause a device error.
Therefore please wait at least 2 minutes after switching off before you switch
the device on again!
PIN Designation
1 L1
2 L2
3 L3
4 PE
Mains connection Compax3SxxxV4 3AC

Controller type S015V4 S038V4 S075V4 S150V4 S300V4
Continuous working Three phase 3*400VAC/480VAC
voltage 80-528VAC / 50-60Hz
Receiver current 3Aeff 6Arms 10Arms 16Arms 22Arms
consumption
Maximum fuse rating per 6A 10A 16A 20A 25A
device MCB miniature circuit breaker, K characteristic D*
Caution! The 3AC V4 devices must only be operated with three phases!

supply.
42 192-120108N13 Compax3T40_eng 2014-10

3.3.6.2 Braking resistor / high voltage supply connector X2

for 3AC 400VAC/480VAC_C3S devices
PIN Description
1 + Braking resistor no short-circuit
protection!
2 - Braking resistor
3 PE
4 + DC high voltage supply
5 - DC high voltage supply
Braking operation Compax3SxxxV4 3AC

Capacity / storable energy 400V / 235µF 235µF 470µF 690µF 1230µF
480V 37 / 21 Ws 37 / 21 Ws 75 / 42 Ws 110 / 61 Ws 176 / 98 Ws
Minimum ballast - resistance 100 Ω 100 Ω 56 Ω 47 Ω 15 Ω
Recommended nominal power 60 ... 60 ... 250W 60 ... 500 60 ... 1000 60 ... 1000
rating 100W W W W
Maximum continuous current 10A 10A 15A 20A 30A
Connection of a braking resistor

Minimum line cross section: 1.5 mm2
Maximum output voltage: 800 VDC
3.3.6.3 Connection of the power voltage of 2 C3S 3AC

devices
Caution!
The power voltage DC of the single phase Compax3 servo axes must not be
connected!
In order to improve the conditions during brake operation, the DC power voltage of
2 servo axes may be connected.
The capacity as well as the storable energy are increased; furthermore the braking
energy of one servo axis may be utilized by a second servo axis, depending on the
application.
It is not permitted to connect the power voltage in order to use one brake
circuit for two servo axes, as this function cannot be ensured reliably.
Note the following:
Caution! In case of non-compliance with the following instructions, the

device may be destroyed!
 You can only connect two similar servo axes (same power supply; same rated
currents)
 Connected servo axes must always be fed separately via the AC power supply.
If the external pre-fuse of one of the servo axes takes action, the second servo axis
must also be disconnected automatically.
Please connect as follows:

Servo axis 1 X2/4 to servo axis 2 X2/4
Servo axis 1 X2/5 to servo axis 2 X2/5
192-120108N13 Compax3T40_eng 2014-10 43

3.4 Installation instructions Compax3M

General introductory notes
 Operation of the Compax3M multi-axis combination is only possible in connection
with a PSUP (mains module).
 Axis controllers are aligned at the right of the mains module.
 Arrangement within the multi-axis combination sorted by power (with the same
device types according to device utilization), the axis controller with the highest
power is placed directly at the right of the mains module.
e.g. first the device type with high utilization, at the right of this, the same device
type with a lower utilization.
 Max. 15 Compax3M (axis controllers) per PSUP (mains module) are permitted
(please respect the total capacity of max. 2400µF for PSUP10, max. 5000µF for
PSUP20).
 The continuation of the current rail connection outside the axis combination is not
permitted and will lead to a loss of the CE and UL approbation.
 External components may not be connected to the rail system.
Required tools:
 Allen key M5 for fixing the devices in the control cabinet.
 Crosstip screwdriver M4 for connection rails of the DC rail modules.
 Crosstip screwdriver M5 for grounding screw of the device.
 Flat-bladed screwdriver 0.4x2.5 / 0.6x3.5 / 1.0x4.0 for wiring and mounting of the
phoenix clamps.
44 192-120108N13 Compax3T40_eng 2014-10

Parker EME Installation instructions Compax3M
Order of installation
 Fixing the devices in the control cabinet.
 Predrilling the mounting plate in the control cabinet according to the
specifications. Dimensions. Fit M5 screws loosely in the bores.
 Fit device on the upper screws and place on lower screw. Tighten screws of all
devices. The tightening torque depends on the screw type (e.g. 5.9Nm for M5
screw DIN 912 8.8).
 Connection of the internal supply voltage.
The Compax3M axis controllers are connected to the supply voltages via the rail
modules. Details (see on page 48).
 Deblocking the yellow protective cover with a flat-bladed screwdriver on the
upper surface (click mechanism). Remove the closing devices (contact
protection) that are not required from between the devices.
 Connecting the rail modules, beginning with the mains module.
For this, loosen crosshead screws (5 screws at the right in the mains module,
all 10 screws in the next axis controller), push the rails one after the other
against to the left and tighten screws. Proceed accordingly for all adjacent axis
controllers in the combination.
Max. tightening torque: 1.5Nm.
 Close all protective covers. The protective covers must latch audibly.
Please note:
Insufficiently fixed screw connections of the DC power voltage rails may lead to the
destruction of the devices.
Protective seals

In order to secure the contact protection against the alive rails, it is absolutely
necessary to respect the following:
 Insert the yellow plastic comb at the left or right of the rails.
Make sure that the yellow plastic combs are placed at the left of the first device
and at the right of the last device in the system and have not been removed.
 Setup of the devices only with closed protective covers.
 Connect protective earth to mains module (M5 crosshead screw on front of

device bottom).
 Connecting the internal communication. Details (see on page 65).
 Connecting the signal and fieldbus connectors. Details (see on page 75).
 Connection of mains power supply Details (see on page 49) ballast resistor
details (see on page 52) and motor details (see on page 53).
 Connecting the configuration interface to the PC. Details (see on page 65).
192-120108N13 Compax3T40_eng 2014-10 45

3.5 PSUP/Compax3M Connections

Front connector ............................................................................................................... 46
Connections on the device bottom ................................................................................... 47
Connections of the axis combination................................................................................ 48
Control voltage 24VDC PSUP (mains module) ................................................................ 49
Mains supply PSUP (mains module) X41......................................................................... 49
Braking resistor / temperature switch PSUP (mains module) ........................................... 52
Motor / motor brake Compax3M (axis controller) ............................................................. 53
X14 Safety technology option S1 for Compax3M (axis controller) .................................... 55
Safety technology option S3 for Compax3M (axis controller) ........................................... 55
3.5.1. Front connector

P PSUP Mains module
LED1 Status LEDs Mains module
S1 Basic address
X3 Configuration interface (USB)
X9 Supply voltage 24VDC
LED1 LED2 LED3
M Axis controller
X20
LED2 Status LEDs of the axis
S1 S10 S10 Function
X21 X11 Analog/Encoder
X12 Inputs/Outputs
X3 X11
X22 X13 Motor position feedback
X23
X14 Safety technology (Option S1)
(replaced by X28 with Option S3)
X12
X24
X15 Motor temperature monitoring
LED4
X13 S24 LED3 HEDA LEDs

X20 HEDA in (Option)
X21 HEDA out (Option)
X22 Inputs Outputs (Option M10/12)
X14 X23 Bus (option) connector type depends on the bus
system!
X9
X24 Bus (option) depends on the bus system!
X15
LED4 Bus LEDs
S24 Bus settings
1 Behind the yellow protective covers you can find the

1
rails for the supply voltage connection.
 Supply voltage 24VDC
M  DC power voltage supply

P
46 192-120108N13 Compax3T40_eng 2014-10

Parker EME PSUP/Compax3M Connections
3.5.2. Connections on the device bottom

supply.
Caution!
Attention - PE connection!

P Mains module PSUP

X40 Ballast resistor
X41 Mains supply VAC/PE
1 Central ground connection for the axis system,
with 10mm2 to the ground screw on the housing.
4 Fan*
M Axis controller
X43 Motor / Brake
2 Fixing for motor shield clamp
4 Fan*
3 optionally, the axis controller features a ground screw
on the housing, if the grounding is not possible via the
back plate.
* is internally supplied.
Line cross-sections of the power connections (on the device bottoms)

Compax3 device: Cross-section: Minimum... Maximum [with conductor sleeve]
M050, M100, M150 0.25 ... 4 mm2 (AWG: 23 ... 11)
M300 0.5 ... 6 mm2 (AWG: 20 ... 10)
PSUP10 Mains supply: 0.5 ... 6 mm2 (AWG: 20 ... 10)
Braking resistor: 0.25 ... 4 mm2 (AWG: 23 ... 11)
PSUP20 & PSUP30 Mains supply: 0.5 ... 16 mm2 (AWG: 20 ... 6)
Braking resistor: 0.25 ... 4 mm2 (AWG: 23 ... 11)
192-120108N13 Compax3T40_eng 2014-10 47

3.5.3. Connections of the axis combination

The axis controllers are connected to the supply voltages via rails.
 Supply voltage 24VDC
 DC power voltage supply
The rails can be found behind the yellow protective covers. In order to connect the
rails of the devices, you may have to remove the yellow plastic device inserted at
the side.
CAUTION: Risk of Electric Shock

Please note before opening:
 Warning - Possible risk of electric shock; disconnect power before removing
cover.
 Caution! - Dangerous electric voltage! Respect discharge time.

supply.
Caution!
Protective seals

In order to secure the contact protection against the alive rails, it is absolutely
necessary to respect the following:
 Insert the yellow plastic comb at the left or right of the rails.
Make sure that the yellow plastic combs are placed at the left of the first device
and at the right of the last device in the system and have not been removed.
 Setup of the devices only with closed protective covers.
1 24VDC
2 GND24V
3 -HV DC
4 PE
5 +HV DC
Note: External components may not be connected to the rail system.
48 192-120108N13 Compax3T40_eng 2014-10

Maximum capacity in the axis system:

 PSUP10: 2400 µF
 PSUP20 & PSUP30: 5000 µF
Reference value for the required capacity in an axis system

100 µF per kW of the temporal medium value of the total power (transmissions +
power dissipation) in the axis system.
Example: PSUP20 (1175 µF) with one axis controller (440 µF)
Total power 15 kW, 100 µF/kW => 1500 µF required in the axis system.
Axis system: 1615 µF are sufficient.
Protective seals
Caution!
The user is responsible for protective covers and/or additional safety measures in
order to prevent damages to persons and electric accidents.
3.5.4. Control voltage 24VDC PSUP (mains module)

Connector X9
Pin Designation Line cross sections:

1 +24 V minimum: 0.5mm2 with conductor sleeve
2 GND24V maximum: 6mm2 with conductor sleeve
(AWG: 20 ... 10)
Control voltage 24 VDC PSUP

Device type PSUP
Ripple 0.5Vpp
Requirement according to safe extra
yes (class 2 mains module)
low voltage (SELV)
PSUP10: 0.2A
Current drain PSUP
PSUP20 / PSUP30: 0.3A
C3M050D6: 0.85
3M100D6: 0.85A
C3M150D6: 0.85A
Electric current drain Compax3M
C3M300D6: 1.0 A
+ Total load of the digital outputs + current for
the motor holding brake
3.5.5. Mains supply PSUP (mains module) X41

Device protection
limitation can be overloaded, which may cause damage to the device.
Wait at least one minute between two switching on processes!
Operation of the PSUP30 only with mains filter!
192-120108N13 Compax3T40_eng 2014-10 49

Connector X41
Pin Designation
PE Earth conductor
L3 Phase 3
L2 Phase 2
L1 Phase 1
Mains connection PSUP10D6

Device type PSUP10 230V 400V 480V
230VAC ±10% 400VAC ±10% 480VAC ±10%
Supply voltage
50-60Hz 50-60Hz 50-60Hz
Rated voltage 3AC 230V 3AC 400V 3AC 480V
Input current 22Arms 22Arms 18Arms
Output Voltage 325VDC ±10% 565VDC ±10% 680VDC ±10%
Output power 6kW 10 kW 10 kW
Pulse power (<5s) 12kW 20kW 20kW
Heat dissipation 60W 60W 60W
Recommendation: (ABB) S203UP-K25 (480VAC)

Supply voltage 230VAC ±10% 400VAC ±10% 480VAC ±10%
50-60Hz 50-60Hz 50-60Hz
Output power 12kW 20kW 20kW
2 special purpose fuses in (depending on the input voltage)
line are required Recommendation: (ABB) S203U-K50 (440VAC)
Circuit breakers 80A / 700VAC per supply leg in
accordance with UL category JFHR2
Requirement: Bussmann 170M1366 or 170M1566D
50 192-120108N13 Compax3T40_eng 2014-10

PSUP30D6 Mains connection

50-60Hz 50-60Hz 50-60Hz
Caution!
Only three-phase operation of the PSUP devices is permitted!
The PSUP30 mains module may only be operated with mains filter (see on
page 559)
Required mains filter for the PSUP30: 0.45 mH / 55 A
We offer the following mains filters:
 LCG-0055-0.45 mH (WxDxH: 180 mm x 140 mm x 157 mm; 10 kg)
 LCG-0055-0.45 mH-UL (with UL approval) (WxDxH: 180 mm x 170 mm x
157 mm; 15 kg)
Dimensional drawing: LCG-0055-0.45 mH
192-120108N13 Compax3T40_eng 2014-10 51

Dimensional drawing: LCG-0055-0.45 mH-UL

supply.
3.5.6. Braking resistor / temperature switch PSUP (mains module)

The energy generated during braking operation must be dissipated via a braking
resistor.
Connector X40
Pin Description
+R + Braking resistor
short-circuit proof!
-R - Braking resistor
PE PE
T1R Temperature Switch
T2R Temperature Switch
Braking operation PSUPxxD6 (mains module)

Device type PSUP10 PSUP20 PSUP30
Capacitance / storable 550 µF/ 1175 µF/ 1175 µF/
energy 92 Ws at 400 V 197 Ws at 400 V 197 Ws at 400 V
53 Ws at 480 V 114 Ws at 480 V 114 Ws at 480 V
Minimum braking- 27 Ω 15 Ω 10 Ω
resistance
Recommended 500 ... 1500 W 500 ... 3500 W 500 ... 5000 W
nominal power rating
Pulse power rating for 22 kW 40 kW 60 kW
1s
Maximum permissible 13 A 15 A 15 A
continuous current
Maximum capacity in the axis system:

 PSUP10: 2400 µF
 PSUP20 & PSUP30: 5000 µF
52 192-120108N13 Compax3T40_eng 2014-10

Reference value for the required capacity in an axis system

100 µF per kW of the temporal medium value of the total power (transmissions +
power dissipation) in the axis system.
Example: PSUP20 (1175 µF) with one axis controller (440 µF)
Total power 15 kW, 100 µF/kW => 1500 µF required in the axis system.
Axis system: 1615 µF are sufficient.
Connection of a braking resistor on PSUP (mains module)

Minimum line cross section: 1.5 mm2
Maximum intermediate circuit voltage: 810 VDC
Switch-on threshold: 780 VDC
Hysteresis 20 VDC
Braking operation Compax3MxxxD6 (axis controller)

Device type M050 M100 M150 M300
Compax3
Capacity/ 110µF/ 220µF/ 220µF/ 440µF/
storable energy 18Ws at 400V 37Ws at 400V 37Ws at 400V 74Ws at 400V
10Ws at 480V 21Ws at 480V 21Ws at 480V 42Ws at 480V
3.5.6.1 Temperature switch PSUP (mains module)
Connector X40 Pin T1R, T2R

Temperature monitoring:
The temperature switch (normally closed contact) must be connected, unless an
error message will be issued.
Temperature switch/relay
No galvanic separation, the temperature sensor (normally closed contact) must
comply with the safe separation according to EN 60664.
If there is no temperature monitoring due to the connected braking resistor, the
T1R and T2R connections must be connected by a jumper.
Caution!
Without temperature monitoring, the braking resistor might be destroyed.
3.5.7. Motor / motor brake Compax3M (axis controller)

Connector X43
BR- Motor holding brake * BK 5 Br2
BR+ Motor holding brake * WH 4 Br1
PE PE (motor) YE / GN YE / GN YE / GN
W W (motor) W / L3 / D / L- 3 U3
V V (motor) V / L2 2 U2
U U (motor) U / L1 / C / L+ 1 U1
192-120108N13 Compax3T40_eng 2014-10 53

Compax3M motor <80m per axis (the cable must not be rolled up!)
cable The entire length of the motor cable per axis combination may not exceed 300m.

The cable must be fully-screened and connected to the
Compax3 housing. Use the cable clamps/shield connecting
terminals furnished with the device.
The shield of the cable must also be connected with the motor
housing. The fixing (via plug or screw in the terminal box)
depends on the motor type.
Motor cables can be found in the accessories chapter of the device description.

1.6A
proof)


3.5.7.1 Measurement of the motor temperature of Compax3M

(axis controller)
Connector X15
The acquisition of the motor temperature by the axis controller can either take
place via the connection of X15 (Tmot) or via the feedback cable and the
corresponding connection on X13 PIN10.
Pin Description
1 +5V
2 Sensor
The temperature acquisition on X15 Tmot can not be connected at the same
time as X13 Pin 10.
54 192-120108N13 Compax3T40_eng 2014-10

3.5.8. X14 Safety technology option S1 for Compax3M (axis

controller)
Connector X14 (Not available with Safety option S3)
Pin Description
1 STO1/ +24VDC
2 STO-GND GND
3 STO2/ +24VDC
4 STO-GND GND
Note!
If the Compax3M axis controller features a safety option, these connections must
also be wired, otherwise it is not possible to set up the axis.
3.5.9. Safety technology option S3 for Compax3M (axis

controller)
For a description of the S3 safety option, please refer to the following manuals:
 192-120210 Installation Manual Safety Option S3 for Compax3M
 192-120211 Programming Manual Safety Option S3 for Compax3M
 192-120212 Description of the Standard I/O Profile R0110001xx for Option S3
(Compax3M)
These manuals can be found on the Compax3 DVD in the “"Safety_Option_S3”
folder.
192-120108N13 Compax3T40_eng 2014-10 55

3.6 Connections of Compax3H

Compax3H plugs/connections ......................................................................................... 56
Connection of the power voltage...................................................................................... 57
Compax3H connections front plate .................................................................................. 58
Plug and pin assignment C3H ......................................................................................... 59
Motor / Motor brake C3H ................................................................................................. 61
Control voltage 24 VDC C3H ........................................................................................... 62
Mains connection Compax3H .......................................................................................... 62
Braking resistor / supply voltage C3H .............................................................................. 63
3.6.1. Compax3H plugs/connections

The following figure is an example for all sizes.
The fitting of the different controller plugs depends on the extension level of
Compax3.
(1): Dummy cover with display of the external device
status LEDs.
(2): lower clamp cover, fixed by 2 screws at the device
1 bottom.
(3): RS232 programming interface
Connection to the PC via adapter cable SSK32/20
3
(furnished with the device) and standard RS232 cable
SSK1.
(4): Control
(5): Power connections
4 2
Dangerous voltages are still present until 5 minutes after switching off the
power supply!
Caution!
If the control voltage is missing and if the X10-X10 jumper is not fitted (VBK17/01)
on the control part, the availability of power voltage is not displayed.
PE connection
Attention hot surface!

Metal parts can heat up to a temperature of 90°C during operation.
56 192-120108N13 Compax3T40_eng 2014-10

Parker EME Connections of Compax3H
3.6.2. Connection of the power voltage

The terminal block of the drive can be found under the front cover. It is secured
with 2 screws at the bottom of the device. Remove the bottom cover in order to
access the connection clamps.
Make sure that all live parts are covered by the housing after installation.
Illustration of the connection clamps exemplarily for all sizes:
2
1
L1, L2, L3: 3 phase mains connection

M1, M2, M3: Motor connections
DC+, DC-: DC link voltage
(1) DBR+ and DBR-: Connection of external braking resistor
(2) AUX1, AUX2: only with C3H1xxV4 external supply (AC) for device ventilator L,
N
 All shields must be connected via a cable joint to the cable feed through plate.
 Braking resistor and cable must be shielded if they are not installed in a control
cabinet.
 The standard connection clamps of C3H090V4 and C3H1xxV4 are not suitable
for flat line bars.
Attention: The MOT/TEMP connection is not supported by the Compax3H050; do
therefore not wire this connection!
Terminal clamps - max. line cross sections

The line cross sections must correspond to the locally valid safety regulations. The
local regulations have always priority.
Power clamps
(minimum/maximum section)
C3H050V4 2.5 / 16mm2
Massive Multiwire
C3H090V4 16 / 50mm2 25 / 50mm2
C3H1xxV4 25 / 95mm2 35 / 95mm2
The standard connection clamps of Compax3H090V4 and Compax3H1xxV4

are not suitable for flat line bars.
Cover plate for cable feed through
The cable feed through holes have the following dimensions:
C3H050V4 28.6mm for M20, PG16 and ½” NPT (America).
37.3mm for M32, PG29 and 1” NPT (America).
C3H090V4 22.8mm for M20, PG16 and ½” NPT (America).

28.6mm for M25, PG21 and ¾” NPT (America).
47.3mm for M40, PG36 and 1¼” NPT (America).
54.3mm for M50, PG42and 1½” NPT (America).
C3H1xxV4 22.8mm for M20, PG16 and ½” NPT (America)
28.6mm for M25, PG21 and ¾” NPT (America)
192-120108N13 Compax3T40_eng 2014-10 57

Recommended tightening torques

High voltage supply Ballast resistor Grounding
C3H050V4 4Nm / 35lb-in 4Nm / 35lb-in 4.5Nm / 40lb-in
C3H090V4 6-8Nm / 53-70lb-in 6-8Nm / 53-70lb-in 6-8Nm / 53-70lb-in
C3H1xxV4 15-20Nm / 132-177lb-in 0.7Nm / 6.1lb-in 42Nm / 375lb-in
cable glands
Use metallic cable joints permitting a 360° shielding in order to comply with the
EMC directive.
1
2
1: Cable feed through plate

2: metallic joint with 360° shielding for EMC compliant design
The device must be grounded without interruption according to EN 61800-5-1. The
mains supply lines must be protected with a suitable fuse or a circuit breaker (FI
switches or earth fault fuses are not recommended).
For installation in accordance with EN 61800-5-1 mm Europe:
 For grounding without interruption, two separate protective leads ( cross-section)
²
or one lead (>10mm cross-section) are required. Each protective lead must meet
²
the requirements according to EN 60204.
58 192-120108N13 Compax3T40_eng 2014-10

3.6.3. Compax3H connections front plate

Communication and signal interfaces
Showcase front plate of the control (number of connectors depends on the
extension level of the Compax3)
LED2 X20 X21 LED3
X22 X23 S24
LED1
X10 X11 X12 X13
X4 X3
X3 Motor brake X20 HEDA in (Option)

X4 24VDC X21 HEDA out (Option)
RS232/RS485 with jumper to the
X10 X22 Inputs Outputs (Option M10/12)
programming interface
Connector type
X11 Analog/Encoder X23 Bus (Option) depends on the bus
system!
X12 Inputs/Outputs S24 Bus settings
X13 Motor position feedback LED1 Device status LEDs
LED2 HEDA LEDs
LED3 Bus LEDs
Note on Compax3H: The internal device status LEDs are only connected to the external housing LEDs,
if the RS232 jumper at X10 is fitted to the control and the upper dummy cover is
fitted.
The RS232 programming interface under the upper dummy cover is only available
if the X10 jumper at the controller is fitted.
3.6.4. Plug and pin assignment C3H

Overview
AC - Versorgung
Compax3
AC - Supply
DC - Versorgung RS232
X4 (24VDC) PC
DC - Supply SSK1
Further information on the assignment of the plug mounted at the particular

device can be found below!
192-120108N13 Compax3T40_eng 2014-10 59

In detail: The fitting of the different plugs depends on the extension level of Compax3. In
part, the assignment depends on the Compax3 option implemented.
X20/1
RS485 +5V X10/1 RS485 +5V X10/1 EnableRS232 0V X10/1 Rx
X20/2
RxD X10/2 res. X10/2 RxD X10/2 Rx/
X10: RS485 zweidraht

X20/3
TxD/ X10/3 TxD_RxD/ X10/3 X10/3
X10: RS485 vierdraht

TxD Lx
X20/4
option M11(M10=+I/Os)
RS232 Programming Port res. X10/4 res. X10/4 DTR X10/4 res.
X20: HEDA in
X20/5
GND X10/5 GND X10/5 GND X10/5 res.
X20/6
res. X10/6 res. X10/6 X10/6
X10: RS232
DSR Lx/
X20/7
TxD X10/7 TxD_RxD/ X10/7 RTS X10/7 res.
X20/8
RxD/ X10/8 res. X10/8 CTS X10/8 res.
Fan xxx VAC(C3H1xxV4) +5V X10/9 +5V X10/9 +5V X10/9

X21/1
Tx
X21/2
AUX1 L X22/1 X22/1 X11/1 Tx/
+24Vout +24Vout Output+24V X21/3
AUX2 N Lx
HEDA-motionbus
X22 /2 X22 /2 X11/2
Uin3+ Iin0+ Ain1- X21/4
X21: HEDA out

X22 /3 X22 /3 X11/3 res.
X21: Input option M21
option M21
GND GND D/A-channel1 X21/5
res.
X22 /4 X22 /4 X11/4
Uin3- Iin0- D/A-channel0 X21/6
Lx/
X22 /5 X22 /5 X11/5
Compax3 3AC +24Vout +24Vout +5V X21/7
res.
Power supply X22 /6 X22 /6 X11/6 X21/8
Uin4+ Iin1+ A/ res.
X11: Analog/Encoder
L1 X22 /7 X22 /7 X11/7
GND GND A
L1
L2
X22 /8 X22 /8 X11/8 X23/1
Uin4- Iin1- B Tx+
Ethernet Powerlink (I30), EtherCAT (I31), Profiner (I32)

L2 X22 /9 X22 /9 X11/9 X23/2
L3 +24V0ut +24V0ut Ain0+ Tx-
L3
X20: Input
Uin5+
X22 /10
Iin2+
X22 /10 X11/10 Rx+
X23/3
PE Ain1+
X23: Ethernet in
PE X22 /11 X22 /11 X11/11 X23/4
GND GND Ain0- res.
Uin5-
X22 /12
Iin2-
X22 /12 X11/12 res.
X23/5
B/
X22 /13 X11/13 X23/6
+24Vin N/ Rx-
DC power voltage X22 /14 X11/14 X23/7
GND in res.
N
X22 /15&16 X11/15 X23/8
DC+ DC+ Shield GND
res.
DC- DC-
X24/1
X22/1 X12/1 Tx+
res. Output+24V X24/2
X22/2 X12/2 Tx-
option M12(M10=+HEDA)
O0/I0 Output0 X24/3

Rx+
X24: Ethernet out

X22/3 X12/3
Motor O1/I1 Output1 X24/4
X12/4 res.
X22/4
X12: Digital Inputs/Outputs
O2/I2 Output2 res.

X24/5
M1/U X22/5 X12/5
U O3/I3 Output3 X24/6
M2/V Rx-
X22/6 X12/6
V O4/I4 Input0 res.
X24/7
M3/W X22/7 X12/7
W O5/I5 Input1 res.
X24/8
PE X22/8 X12/8
PE O6/I6 Input2
X22/9 X12/9 X23/1
O7/I7 Input3 res.
X22/10 X12/10 X23/2
O8/I8 Input4 res.
X23: Profibus I20
X22: Input/Output
X12/11
Input24VDC X22/11 Input+24V Data line-B
X23/3
X22/12 X12/12 X23/4
O9/I9 Input5 RTS
X22/13 X12/13 GND
X23/5
O10/I10 Input6
24VDC Control voltage X22/14 X12/14 X23/6
O11/I11 Input7 or (MN-INI) +5V
X4 X22/15 X12/15 res. X23/7
X4/1 NC InputGND GND24V X23/8
X4/2 GND24V Data line- A
X23/9
X4/3 +24V res.
X13/1
Sense- X13/1 res. X13/1 res.
X13/2
Sense+ X13/2 res. X13/2 res. X23/1
res.
X13/3
Hall1 X13/3 GND X13/3 X23/2
X13: Feedback DirectDrive F12
GND
X23: CANopen I21
CAN_ L
Motor Brake
Vcc(+5V) X13/4 Vcc(+8V) X13/4 REF+Resolver X13/4 X23/3
X13: Feedback SinCos F 11
GNDfb
X3
X3/1 BR +5V X13/5 +5V X13/5 +5V X13/5 res.
X23/4
X13/6 X23/5
X3/2 GND Hall2 X13/6 CLKfbk X13/6 CLKfbk SHIELD
F10
X13/7 X23/6
Sin-/A- X13/7 SIN- X13/7 SIN- res.
X13/8 X23/7
Sin+/A+ X13/8 SIN+ X13/8 SIN+ CAN_H
X13: Resolver
X13/9 X23/8
Ballast resistor Hall3 X13/9 CLKfbk/ X13/9 CLKfbk/ res.
X13/10 X23/9
Tmot X13/10 Tmot X13/10 Tmot res.
DBR+
X23: DeviceNet I22
X13/11
+DBR COS-/B- X13/11 COS- X13/11 COS-
-VDC
X23/1
DBR- -DBR X13/12
COS+/B+ X13/12 COS+ X13/12 COS+ CAN_ L
X23/2
X13/13
N+ X13/13 DATAfbk X13/13 res. Shield
X23/3
X13/14 X13/14 res. X13/14 X23/4
N- DATAfbk/ CAN_H
X13/15
GND(Vcc) X13/15 GND(Vcc) X13/15 REF-Resolver +VDC
X23/5
The RS232 programming interface under the upper dummy cover is only available if the X10 jumper at
the controller is fitted.
Please note C3H1xxV4 uses a ventilator fan which must be externally supplied via separate connections. The
ventilator fan is available in two versions for single phase feed: 220/240VAC; 110/120VAC
60 192-120108N13 Compax3T40_eng 2014-10

3.6.5. Motor / Motor brake C3H

cable
The motor cable should be fully shielded and connected to the Compax3
housing.
The shield of the motor cable must also be connected with the motor
housing. The fixing (via plug or screw in the terminal box) depends on the
motor type. Motor connection clamps figure (see on page 57)
M1/U U (motor) U / L1 / C / L+ 1 U1
M2/V V (motor) V / L2 2 U2
M3/W W (motor) W / L3 / D / L- 3 U3
PE PE (motor) YE / GN YE / GN YE / GN
cable
The motor cable should be fully shielded and connected to the Compax3 housing.
The shield of the motor cable must also be connected with the motor housing. The
fixing (via plug or screw in the terminal box) depends on the motor type.


Connection of motor brake X3 figure (see on page 58)

1 BR WH 4 Br1
2 GND BK 5 Br2

1.6A
proof)
192-120108N13 Compax3T40_eng 2014-10 61

3.6.6. Control voltage 24 VDC C3H

Connection of control voltage 24VDC figure (see on page 58)
Connector Descripti
X4 Pin on
1 NC NC
2 GND24V GND
3 +24 V 24 VDC (power supply)

Ripple 0.5Vpp
low voltage (SELV)
3.6.7. Mains connection Compax3H

Device protection
Avoid permanent switching on and off so that the charging connection is not
overloaded. Therefore wait at least 1 minute before switching on the device
again.
Connection of mains voltage figure (see on page 57)
Mains connection Compax3HxxxV4 3*400VAC

Device type Compax3 H050V4 H090V4 H125V4 H155V4
Continuous working Three-phase 3*400VAC
Receiver current
66Arms 95Arms 143Arms 164Arms
consumption
Output current 50Arms 90Arms 125Arms 155Arms
Maximum input fuse
80A 100A 160A 200A
rating per device
Recommended line
JDDZ Class K5 or H
protection in accordance
JDRX Class H
with UL

Receiver current
consumption
Maximum input fuse
80A 100A 160A 200A
rating per device
Recommended line
JDDZ Class K5 or H
JDRX Class H
with UL
62 192-120108N13 Compax3T40_eng 2014-10

3.6.8. Braking resistor / supply voltage C3H

The energy generated during braking operation is absorbed by the Compax3
storage capacity.
If this capacity is too small, the braking energy must be drained via a braking
resistor.
3.6.8.1 Connect braking resistor C3H

Connection of braking resistor figure (see on page 57)
PIN Designation
DBR+ + Braking resistor
DBR- - Braking resistor
Braking operation of Compax3HxxxV4

Controller type H050V4 H090V4 H125V4 H155V4
Capacitance / storable energy 2600 µF 3150 µF 5000 µF 5000 µF
400V / 480V 602 / 419 Ws 729 / 507 Ws 1158 / 806 Ws 1158 / 806 Ws
Minimum braking- resistance 24 Ω 15 Ω 8Ω 8Ω
Maximum continuous current 11 A 17 A 31 A 31 A
Minimum line cross section: 2.5mm2
Maximum output voltage: 830VDC
3.6.8.2 Power supply voltage DC C3H

Connection of power voltage DC -figure (see on page 57)
PIN Description
DC+ + DC high voltage supply
DC- - DC high voltage supply
Warning!
Do not connect any braking resistor on DC+/DC- .
3.6.8.3 Connection of the power voltage of 2 C3H 3AC

devices
In order to improve the conditions during brake operation, the DC power voltage of
2 servo axes may be connected.
The capacity as well as the storable energy are increased; furthermore the braking
energy of one servo axis may be utilized by a second servo axis, depending on the
application.
It is not permitted to connect the power voltage in order to use one brake
circuit for two servo axes, as this function cannot be ensured reliably.
Note the following:
Caution! In case of non-compliance with the following instructions, the

device may be destroyed!
 You can only connect two similar servo axes (same power supply; same rated
currents)
 Connected servo axes must always be fed separately via the AC power supply.
 If the external pre-fuse of one of the servo axes takes action, the second servo
axis must also be disconnected automatically.
192-120108N13 Compax3T40_eng 2014-10 63

Please connect as follows:

Servo axis 1 DC+ with servo axis 2 DC+
Servo axis 1 DC- with servo axis 2 DC-
- figure (see on page 57)
3.7 Communication interfaces

RS232 / RS485 interface (plug X10) ................................................................................ 64
Communication Compax3M............................................................................................. 65
Profibus connector X23 on Interface I20 .......................................................................... 67
Profinet connector X23, X24 on Interface I32................................................................... 67
CANopen connector X23 Interface I21............................................................................. 69
DeviceNet Stecker X23.................................................................................................... 71
Ethernet Powerlink (Option I30) / EtherCAT (option I31) X23, X24 .................................. 72
3.7.1. RS232 / RS485 interface (plug X10)

Interface selectable by contact functions assignment of X10/1:
X10/1=0V RS232
X10/1=5V RS485
PIN X10 RS232 (Sub D)
1 (Enable RS232) 0V
2 RxD
3 TxD
4 DTR
5 GND
6 DSR
7 RTS
8 CTS
9 +5V
RS485 two wire (Sub D)
PIN X10
Pin 1 and 9 jumpered externally
1 Enable RS485 (+5V)
2 res.
3 TxD_RxD/
4 res.
5 GND
6 res.
7 TxD_RxD
8 res.
9 +5V
RS485 four wire (Sub D)
PIN X10
Pin 1 and 9 externally jumpered
1 Enable RS485 (+5V)
2 RxD
3 TxD/
4 res.
5 GND
6 res.
7 TxD
8 RxD/
9 +5V
64 192-120108N13 Compax3T40_eng 2014-10

Parker EME Communication interfaces
USB - RS232/RS485 converter

The following USB - RS232 converters were tested:
 ATEN UC 232A
 USB GMUS-03 (available under several company names)
 USB / RS485: Moxa Uport 1130
http://www.moxa.com/product/UPort_1130_1130I.htm
 Ethernet/RS232/RS485: NetCom 113 http://www.vscom.de/666.htm
 Exsys Adapter USB to RS232 with FTDI processor (Windows 7)
3.7.2. Communication Compax3M

PC - PSUP (Mains module) ............................................................................................. 65
Communication in the axis combination (connector X30, X31) ......................................... 65
Adjusting the basic address ............................................................................................. 66
Setting the axis function................................................................................................... 66
3.7.2.1 PC - PSUP (Mains module)
Connector X3
USB2.0
Connect your PC to the USB sleeve X3 of the mains module via an USB cable
(SSK33/03).
3.7.2.2 Communication in the axis combination (connector

X30, X31)
The communication in the axis combination is implemented via a SSK28 cable and
double RJ45 sleeves on the device top.
Beginning with the PSUP (mains module) the connection is always made from X30
to X31 of the next device. On the first device (X31) and the last device (X30) in the
multi-axis combination, a bus termination plug (BUS07/01 (see on page 589)) is
required.
Orientation to the back
side PSUP (Mains module)
X30 out
X31 in
res. factory use
Compax3M (axis)
X30 out
X31 in
res. factory use
Orientation to the front

plate
192-120108N13 Compax3T40_eng 2014-10 65

3.7.2.3 Adjusting the basic address

On the mains module, the basic address of the device combination is set in steps
of 16 with the aid of the first three dip switches.
The mains module contains the set basic address while the axes placed at the right
in the combination contain the following addresses.
Switch S1
Address setting
Basic addresses
Switch Value upon ON
1 16
2 32
3 64
Settings:
left: OFF
right: ON
Settable value range: 0, 16, 32, 48, 64, 80, 96, 112
Address of the 1st axis = basic address+1
The addresses of the axis controllers are newly assigned after PowerOn.
Example:
Basic address = 48; mains module with 6 axis controllers in the combination
1. Axis right: Address = 49
...
3.7.2.4 Setting the axis function
Switch S10
Function settings for T30 and T40
The value of switch S10 on the axis controller is stored in object O110.1
C3plus.Switch_DeviceFunction and can be evaluated with the aid of a program.
This helps realize a more simple function selection.
66 192-120108N13 Compax3T40_eng 2014-10

3.7.3. Profibus connector X23 on Interface I20

Pin X23 Profibus (Sub D)
1 factory use
2 factory use
3 Data line B
4 RTS
5 GND
6 +5V
7 factory use
8 Data line A
9 factory use
The assignment corresponds to Profibus standard EN 50170.

Wiring (see on page 592).
3.7.3.1 Adjusting the bus address (Profibus I20)

Address setting
Values:
1: 20; 2: 21; 3: 22; ... 7: 26; 8: reserved
Settings:
left: OFF
right: ON
(The address is set to 0 in the illustration to the left)
Range of values: 1 ...127

Address 0 is set internally to address 126.
3.7.3.2 Function of the Bus LEDs (Profibus I20)

Function of the LEDs (under X23)
Green LED (left) Red LED (right) Description
alternately flashing Field bus program missing
off flashing Device is not initialized
on flashing Bus operation mode (no DATA exchange)
on off Bus operation mode (DATA exchange)
on on Bus error
3.7.4. Profinet connector X23, X24 on Interface I32

RJ45 (X23) RJ45 (X24)
Pin in out
1 Tx + Tx +
2 Tx - Tx -
3 Rx + Rx +
4 - factory use
5 - factory use
6 Rx - Rx -
7 - factory use
8 - factory use
Wiring with Ethernet Crossover cable Cat5e (from X24 to X23 of the next device
without termination); for this, we offer our SSK28 (see on page 546, see on page
585) interface cable.
192-120108N13 Compax3T40_eng 2014-10 67

3.7.4.1 Adjusting the bus address (Profinet I32)

With Profinet, the bus nodes are identified by name. This name is assigned during
setup with the aid of a configuration tool (Engineering Tool).
In order to identify each device during this phase, a blinking check can be used.
The Profinet node currently worked on in the configuration tool is made to identify
itself optically (see LED description // C3 xxx LED flashes green).
With the aid of the address switch, it is possible to allocate a non-ambiguous name
to each Compax3 in a network, without using a configuration tool.
Address setting
Settings:
left: OFF
right: ON
Address switch Device name used
0 The device name used is the name assigned with the aid of the
configuration tool.
(standard settings)
1 Device name - "compax3-001"
...
255 Device name - “compax3-255”
3.7.4.2 Function of the Bus LEDs (Profinet I32)

Function of the LEDs
LED2 (left) LED1 (right) Description
flashing green - Bus operation mode (no DATA exchange)
illuminated green - Bus operation mode (DATA exchange)
flashing green The blinking check in the
PROFINET-IO-Controller projecting was
activated in order to locate the node optically.
illuminated red Communication Error (Data exchange
terminated).
illuminated green flashing red Faulty Profinet configuration (PPO C3 <> PPO
Master)
flashing red flashing red  Troubleshoot if:
 Address switch S24 = 0:
Set S24 to unequal to zero and switch
devices off/on
 Set address switch S24 = 255:
Object 860.3 (IpAdr) to the desired IP
address, then write flash, then switch
device off/on
Alternately flashing red Fieldbus Interface in the boot loader mode (no
valid Firmware available).
Alternately flashing red/green Firmware is written into the FLASH during the
firmware update (caution, do not switch off
device).
68 192-120108N13 Compax3T40_eng 2014-10

3.7.5. CANopen connector X23 Interface I21

Pin X23 CANopen (Sub D)
1 factory use
2 CAN_L CAN Low
3 GNDfb Opto-isolated GND-supply
4 factory use
5 SHIELD Shield optional
6 factory use
7 CAN_H CAN High
8 factory use
9 factory use
The assignment corresponds to CANopen DS301.

At the beginning and end of the device chain a terminating resistor of 120Ω is
required between CAN_L and CAN_H
Wiring (see on page 593).
3.7.5.1 Setting baud rate and Node-ID

Proceeding:
 Switch off 24VDC
 Switch 8 must be set to ON
 Set Baud rate with switches 1...7:
0:= 20kbits/s
1:= 50kbit/s
2:= 100kbit/s
3:= 125kbit/s
4:= 250kbit/s
5:= 500kbit/s
6:= 800kbit/s
7...127:= 1Mbit/s
 switch on 24VDC and wait until both LEDs above the DIP switch are blinking
simultaneously
 With switch 1...7 set Node ID:
Values: 1: 20; 2: 21; 3: 22; ... 7: 26;
value range: 1 ...127
 Switch 8: = OFF
 Compax3 is now ready to operate
Position of the switch

left: OFF
right: ON
Note:
The baud rate can also be set in the C3 ServoManager. After switching on,
the last setting made is valid!
192-120108N13 Compax3T40_eng 2014-10 69

3.7.5.2 Function of the Bus LEDs

LED red
No. Signal Status Description
1 off No Error
The bus is operating
2 Single flash Warning
At least one of the error counters of the CAN
controller has reached the warning level.
Cannot send Bootup Message.
3 Double flash Error Node Guarding Error
4 Triple flash Error Sync Error
Buffer overflow (0x8110)
5 on Bus not active
If several errors occur at once, the error with the most significant number is
reported.
LED green
Signal Status Description
Single flash Stop The bus is in STOPPED state
blinks (permanently) pre-operation The bus is ready to operate
al (Pre-Operational)
on operational The bus is operating (operational)
Single flash On
200ms 1s
Off
Double flash On
200ms 200ms 1s
Off
Triple flash On
200ms 200ms 1s
Off
CANopen states
Power On
Initialisation
10, 11
Pre-Operational
8
7
Stopped
6 8 6
7
Operational
6: Start Remote Node

7: Stop Remote Node
8: Enter Pre-Operational State
10: Reset Node
11: Reset Communication
The "Initialization" state is no fixed state but only a transition state.
70 192-120108N13 Compax3T40_eng 2014-10

3.7.6. DeviceNet connector X23

Pin X23 DeviceNet (Open Plug Phoenix MSTB 2.5/5-GF5.08 ABGY AU)
1 V- Mass
2 CAN- CAN Low
3 Shield Shield
4 CAN+ CAN High
5 V+ not required, internal supply
A mating plug is included in the delivery.
If Compax3 is used as first or last device in the fieldbus network, a terminal
resistance of 121 Ω is required. This is integrated between Pin 2 and Pin 4.
Additional information on the DeviceNet wiring can be found under
www.odva.org http://www.odva.org.
Please do also heed the instructions in the DeviceNet master manual.
3.7.6.1 Adjusting the bus address

Address setting (NA: Node Address)
Values:
1: 20; 2: 21; 3: 22; ... 6: 25reserved
Settings:
left: OFF
right: ON
(The address is set to 2 in the illustration)
Range of values: 1 ... 63
Address 0 is set internally to address 63.

Data Rate setting (DR):
Data Rate [kBit/s] S24_7 S24_8
125 left: OFF left: OFF
250 right: ON left: OFF
500 left: OFF right: ON
factory use right: ON right: ON
Bear in mind that the maximum cable length depends on the Data rate:
Data Rate Maximum length
500kbit/s 100m
250kbit/s 250m
125kbit/s 500m
192-120108N13 Compax3T40_eng 2014-10 71

3.7.6.2 Function of the Bus LEDs

LED (red)
No. Signal Status Description
1 off No Error The bus is operating
2 Single flash Warning at least one of the error counters of the CAN
controller has reached the warning level.
3 Double flash Error Communication Fault
4 Triple flash Error Double Mac ID
5 on Error Bus Off
If several errors occur at once, the error with the most significant number is
reported.
LED green
Signal Status Description
Single flash On-line Online, not at the master (not allocated)
Not
Connected
blinks (permanently) On-line Online, at the master (allocated)
Connected
on On-line I/O Messages allocated
I/O Connected
Single flash On
200ms 1s
Off
Double flash On
200ms 200ms 1s
Off
Triple flash On
200ms 200ms 1s
Off
3.7.7. Ethernet Powerlink (Option I30) / EtherCAT (option I31) X23,

X24
RJ45 (X23) RJ45 (X24)
Pin in out
1 Tx + Tx +
2 Tx - Tx -
3 Rx + Rx +
4 - factory use
5 - factory use
6 Rx - Rx -
7 - factory use
8 - factory use
Wiring with Ethernet Crossover cable Cat5e (from X24 to X23 of the next device
without termination); for this, we offer our SSK28 (see on page 546, see on page
585) interface cable.
Meaning of the RJ45 LEDs (only for Ethernet Powerlink, I30)

Green LED (top): connection established (RPT_LINK/RX)
Yellow LED (bottom): Traffic (exchange of data) (Transmit / Receive Data)
(RPT_ERR)
72 192-120108N13 Compax3T40_eng 2014-10

3.7.7.1 Set Ethernet Powerlink (option I30) bus address

Address setting
Values:
1: 20; 2: 21; 3: 22; ... 7: 26; 8: 27
Settings:
left: OFF
right: ON
(The address is set to 0 in the illustration)
Range of values: 1 ... 239
3.7.7.2 Set EtherCAT (option I31) bus address

Automatic address assignment with EtherCAT
3.7.7.3 Meaning of the Bus LEDs (Ethernet Powerlink)

Red LED (right): Ethernet Powerlink error
LED is influenced by the transitions of the NMT - status diagram (for further details,
please refer to the Ethernet Powerlink Specification
http://divapps.parker.com/divapps/eme/EME/downloads/compax3/EPL/epl2.0-
ds-v-1-0-0.pdf)
Error LED Transition
off => on NMT_CT11,NMT_GT6,NMT_MT6
on => off NMT_CT6, NMT_GT2, NMT_CT3, NMT_MT5
Green LED (left): Ethernet Powerlink Status

LED indicates the states of the NMT - status diagram (for further details, please
refer to the Ethernet Powerlink Specification
http://divapps.parker.com/divapps/eme/EME/downloads/compax3/EPL/epl2.0-
ds-v-1-0-0.pdf)
Status LED Status
off off NMT_GS_OFF, NMT_GS_INITIALISATION,
NMT_CS_NOT_ACTIVE / NMT_MS_NOT_ACTIVE
flickering flickering NMT_CS_BASIC_ETHERNET
single flash Single NMT_CS_PRE_OPERATIONAL_1 /
flash NMT_MS_PRE_OPERATIONAL_1
double flash Double NMT_CS_PRE_OPERATIONAL_2 /
flash NMT_MS_PRE_OPERATIONAL_2
triple flash Triple NMT_CS_READY_TO_OPERATE /
flash NMT_MS_READY_TO_OPERATE
on on NMT_CS_OPERATIONAL / NMT_MS_OPERATIONAL
blinking flashing NMT_CS_STOPPED
192-120108N13 Compax3T40_eng 2014-10 73

3.7.7.4 Meaning of the Bus LEDs (EtherCAT)

Red LED (right): EtherCAT error
LED is influenced by the transitions of the status diagram
Error LED Error Description
Off No Error
Flickering Boot error Error during initialization
Blinking Invalid configuration
Single Flash Unsolicited change of Slave changed the status independently
status
Double Flash Application Watchdog Watchdog
Timeout
On PDI Watchdog Timeout
Green LED (left): EtherCAT Status

LED shows the states of the status diagram
Status LED Status Description
Off INITIALIZATION Initialization
Blinking PRE-OPERATIONAL Ready
Single Flash SAFE-OPERATIONAL Master reads values
On OPERATIONAL Operation
Status diagram
Power On
Initialisation
1
2
Pre-Operational
4
3 Safe- 8
7 5 Operational
6
Operational 9
Transition Action
1 Start mailbox communication
2 Stop mailbox communication
3 Start input update
4 Stop input update
5 Start output update
6 Stop output update
7 Stop output update, stop input update
8 Stop input update, stop mailbox communication
9 Stop output update, stop input update, stop mailbox communication
74 192-120108N13 Compax3T40_eng 2014-10

Meaning of the LED states

50 ms
on
flickering
off
on
blinking 200 200
(ERR) ms ms
off
on
blinking 200 200
(RUN) ms ms
off
on
single flash 200 1000 200
(ERR) ms ms ms
off
on
single flash 200 1000 200
(RUN) ms ms ms
off
on
double flash 200 200 200 1000
(ERR) ms ms ms ms
off
192-120108N13 Compax3T40_eng 2014-10 75

3.8 Signal interfaces

Resolver / Feedback (connector X13) .............................................................................. 76
Analogue / encoder (plug X11) ........................................................................................ 78
Digital inputs/outputs (plug X12) ...................................................................................... 79
3.8.1. Resolver / Feedback (connector X13)
Assignment with feedback F10 (Resolver)

PIN X13 Feedback /X13 High Density /Sub D
Resolver (F10)
1 factory use
2 factory use
3 GND
4 REF-Resolver+
5 +5V (for temperature sensor)
6 factory use
7 SIN-
8 SIN+
9 factory use
10 Tmot*
11 COS-
12 COS+
13 factory use
14 factory use
15 REF-Resolver-
Assignment with feedback F11 (SinCos)

SinCos (F11)
1 factory use
2 factory use
3 GND
4 Vcc (+8V with Compax3S & Compax3H; +10 V with Compax3M
5 res+5 V (for temperature sensor)
6 factory use
7 SIN-
8 SIN+
9 factory use
10 Tmot*
11 COS-
12 COS+
13 DATAfbk
14 DATAfbk/
15 GND (Vcc)
76 192-120108N13 Compax3T40_eng 2014-10

Parker EME Signal interfaces
Assignment with feedback F12 (EnDat)

EnDat 2.1 & 2.2 with EnDat 2.1 fully digital EnDat 2.2 fully digital
incremental track (Endat21) (Endat02, Endat22)
(Endat01, Endat02) (cable length max. 90 m) (cable length max. 25 m)
1 Sense -* factory use
2 Sense +* factory use
3 factory use
4 Vcc (+5 V) * max. 350 mA load
5 +5 V (for temperature sensor)
6 CLKfbk
7 SIN- / A- (Encoder) factory use
8 SIN+ / A+ (Encoder) factory use
9 CLKfbk/
10 Tmot*
11 COS- / B- (Encoder) factory use
12 COS+ / B+ (Encoder) factory use
13 DATAfbk
14 DATAfbk/
15 GND (Vcc)
*X13 Pin10 Tmot may not be connected at the same time as X15 (on Compaxx3M).
Resolver cables (see on page 561) can be found in the accessories chapter of the
device description.
SinCos© cables (see on page 562) can be found in the accessories chapter of the
device description.
EnDat - cable GBK38 (EnDat2.1) and GBK56 (EnDat2.2) (see on page 545, see
on page 562)
Incremental Feedback (optionally with hall sensors)

PIN X13 Feedback option F12 / X13 High Density /Sub D
1 Sense -*
2 Sense +*
3 Hall1 (digital)
4 Vcc (+5V)* max. 350 mA load
5 +5 V (for temperature sensorsand Hall sensors)
6 Hall2 (digital)
7 SIN-, A- (Encoder) or analog Hall sensor
8 SIN+, A+, (Encoder) or analog Hall sensor
9 Hall3 (digital)
10 Tmot*
11 COS-, B- (Encoder) or analog Hall sensor
12 COS+, B+ (Encoder) or analog Hall sensor
13 N+
14 N-
15 GND (Vcc)
*X13 Pin10 Tmot may not be connected at the same time as X15 (on Compaxx3M).
Note on F12:
*+5V (Pin 4) is measured and controlled directly at the end of the line via Sense+
and Sense-.
Cable length max.: 100m
Caution!
 Pin 4 and Pin 5 must under no circumstances be connected!
 Plug in or pull out feedback connector only in switched off state (24VDC switched
off).
192-120108N13 Compax3T40_eng 2014-10 77

3.8.2. Analogue / encoder (plug X11)

PIN X11 Reference
High Density Sub D
Encoders SSI (see on
page 149)
1 +24V (output) max. 70mA
2 Ain1 -; analog input - (14Bits; max. +/-10V)
3 D/A monitor channel 1 (±10V, 8-bit resolution)
4 D/A monitor channel 0 (±10V, 8-bit resolution)
5 +5 V (output for encoder) max. 150 mA
6 - Input: steps RS422 (5V - level) A/ (Input / -simulation) Clock-
7 + Input: steps RS422 (5V - level) A/ (Input / -simulation) Clock+
8 + Input: direction RS422 (5V - level) B Input / -simulation)
9 Ain0 +: analog input + (14Bits; max. +/-10V)
10 Ain1 +: analog input + (14Bits; max. +/-10V)
11 Ain0 -: analog input- (14Bits; max. +/-10V)
12 - Input: direction RS422 (5V - level) B/ input / -simulation)
13 factory use N/ input / -simulation) DATA-
14 factory use N input / -simulation) DATA+
15 GND
Technical Data X11 (see on page 603)
3.8.2.1 Wiring of analog interfaces

Output Input
Compax3 Compax3
2.2KΩ
10nF
X11/4 X11/9 10KΩ
332Ω X11/3 Ain+
10KΩ
Ain-
+/-10V/1mA X11/11
(max: 3mA) 2.2KΩ 10nF
2.5V
X11/15
Perform an offset adjustment (see on page 231)!
Structure image of the internal signal processing of the analog inputs,

Ain1 (X11/10 and X11/2) has the same wiring!
3.8.2.2 Connections of the encoder interface

Compax3
+5V
1KΩ
ABN
121Ω RS422
10nF Transceiver
ABN
1KΩ
GND
The input connection is available in triple (for A & /A, B & /B, N & /N)
78 192-120108N13 Compax3T40_eng 2014-10

Parker EME Signal interfaces
3.8.3. Digital inputs/outputs (plug X12)

Pin Input/output I/O /X12
X12/ High density/Sub D
1 Output +24 V DC output (max. 400mA)
2 O0 Output 0 (max. 100 mA)
6 I0 Input 0
7 I1 Input 1
8 I2 Input 2
9 I3 Input 3
10 I4 Input 4
11 I 24V input for the digital outputs Pins 2 to 5
12 I5 Input 5 or limit or direction reversal switch
13 I6 Input 6 or limit or direction reversal switch
14 I7 Input 7 or home switch
15 Output GND24V
All inputs and outputs have 24V level.
Maximum capacitive loading of the outputs: 30nF (max. 2 Compax3 inputs)
Note:
The inputs and outputs are freely programmable using an IEC61131-3 program.
Input 7 is planned as home switch, the inputs 5 and 6 as limit switches or direction
reversal switches.
If no limit switches are used and these are switched off (in the C3 ServoManager
under configuration), the inputs 5 and 6 can be freely assigned.
The same applies for input 7: A machine zero mode without home switch allows to
freely assign input 7.
Optimization The display of the digital inputs in the optimization window of the C3 ServoManager
window display does not correspond to the physical status (24Volt=on, 0Volt=off) but to the logic
status: if the function of an input or output is inverted (e.g. limit switch, negatively
switching), the corresponding display (LED symbol in the optimization window) is
OFF with 24Volts at the input and ON with 0 Volts at the input.
192-120108N13 Compax3T40_eng 2014-10 79

3.8.3.1 Connection of the digital Outputs/Inputs

Wiring of digital outputs Status of digital inputs
Compax3 SPS/PLC Compax3

24V F1 F2 X12/1 SPS/
X12/1 F2 F1 24V
PLC
X12/11
100K Ω
22K Ω
X12/6
X12/2
22K Ω
10nF 22KΩ 10K Ω
18.2K Ω
0V X12/15 0V
X12/15
The circuit example is valid for all digital outputs! The circuit example is valid for all digital inputs!
The outputs are short circuit proof; a short circuit Signal level:
generates an error.  > 9.15V = "1" (38.2% of the control voltage applied)
 < 8.05V = "0" (33.5% of the control voltage applied)
F1: Delayed action fuse

F2: Quick action electronic fuse; can be reset by switching the 24 VDC supply off and on again.
3.8.3.2 Logic proximity switch types

Type 1 2 3 4
Transistor switch PNP PNP NPN NPN
Logic (N.O.) (N.C) (N.O.) (N.C)
“active high" “active low" “active low" “active high"
Description of logic Compax3 sees a Compax3 sees a Compax3 sees a Compax3 sees a
logical “1” upon logical “0” upon logical “0” upon logical “1” upon
activation activation" activation" activation
Fail safe logic no yes Only conditional 1) no
Instruction for pull - - Rmin=3k3 Rmin=3k3
up resistor in the Rmax=10k Rmax=10k
2) 2)
initiator
Connections Initiator Compax3 Initiator
X12/1 (+24 VDC) X12/1 (+24 VDC)
X12/X (Input) X12/X (Input)
X12/15 (GND) X12/15 (GND)
1)
When the connection between transistor emitter of the initiator and X12/15
(GND24V of the Compax3 )is lost, it can not be guaranteed, that the Compax3
detects a logical „0".
2)
The INSOR NPN types INHE5212 and INHE5213 manufactured by Schönbuch
Electronic do correspond to this specification.
80 192-120108N13 Compax3T40_eng 2014-10

Parker EME Mounting and dimensions
3.9 Mounting and dimensions

Mounting and dimensions Compax3S .............................................................................. 81
Mounting and dimensions PSUP/C3M ............................................................................. 85
Mounting and dimensions C3H ........................................................................................ 87
3.9.1. Mounting and dimensions Compax3S

3.9.1.1 Mounting and dimensions Compax3S0xxV2
Mounting:
3 socket head screws M5
Stated in mm
Please respect an appropriate mounting gap in order to ensure sufficient

convection:
 At the side: 15mm
 At the top and below: at least 100mm
192-120108N13 Compax3T40_eng 2014-10 81

3.9.1.2 Mounting and dimensions Compax3S100V2 and

S0xxV4
Mounting:
Stated in mm

convection:
82 192-120108N13 Compax3T40_eng 2014-10

3.9.1.3 Mounting and dimensions Compax3S150V2 and

S150V4
Mounting:
Stated in mm

convection:
192-120108N13 Compax3T40_eng 2014-10 83

3.9.1.4 Mounting and dimensions Compax3S300V4
Mounting:
Stated in mm

convection:
Compax3S300V4 is force-ventilated via a fan integrated into the heat

dissipator!
84 192-120108N13 Compax3T40_eng 2014-10

3.9.2. Mounting and dimensions PSUP/C3M

Ventilation: During operation, the device radiates heat (power loss). Please provide for a
sufficient mounting distance below and above the device in order to ensure free
circulation of the cooling air. Please do also respect the recommended distances of
other devices. Make sure that the mounting plate is not exhibited to other
temperature influences than that of the devices mounted on this very plate. The
devices must be mounted vertically on a level surface. Make sure that all devices
are sufficiently fixed.
3.9.2.1 Mounting and dimensions PSUP10/C3M050D6,

C3M100D6, C3M150D6
The devices are force-ventilated via a ventilator fan fixed to the lower part of
the heat dissipator!
Mounting spacing: At the top and below: at least 100mm
Information on PSUP10D6/C3M050D6, C3M100D6, C3M150D6
Mounting:
50,5mm
263mm
90°
400mm
360mm
46mm
50mm
Tolerances: DIN ISO 2768-f
192-120108N13 Compax3T40_eng 2014-10 85

3.9.2.2 Mounting and dimensions

PSUP20/PSUP30/C3M300D6
Information on PSUP20/PSUP30/C3M300D6
Mounting:
101mm
50,5mm 50,5mm
263mm
90°
400mm
360mm
100mm 96mm
Tolerances: DIN ISO 2768-f
3.9.2.3 With upper mounting, the housing design may be

different
Mounting:
86 192-120108N13 Compax3T40_eng 2014-10

3.9.3. Mounting and dimensions C3H

The devices must be mounted vertically on a level surface in the control cabinet.
Dimensions:
(1): Electronics
(2): Head dissipator
H H1 D W W1
C3H050V4 453mm 440mm 245mm 252mm 150mm
C3H090V4 668.6mm 630mm 312mm 257mm 150mm
C3H1xxV4 720mm 700mm 355mm 257mm 150mm
Mounting:4 screws M6
Ventilation: During operation, the device radiates heat (power loss). Please provide for a
sufficient mounting distance below and above the device in order to ensure free
circulation of the cooling air. Please do also respect the recommended distances of
other devices. Make sure that the mounting plate is not exhibited to other
temperature influences than that of the devices mounted on this very plate.
If two or more devices are combined, the mounting distances are added.
192-120108N13 Compax3T40_eng 2014-10 87

3.9.3.1 Mounting distances, air currents Compax3H050V4

I J K
M
in mm
I J K L M
C3H050V4 15 5 25 70 70
3.9.3.2 Mounting distances, air currents Compax3H090V4

I J
K
M
in mm
I J K L M
C3H090V4 0 0 25 70 70
88 192-120108N13 Compax3T40_eng 2014-10

3.9.3.3 Mounting distances, air currents Compax3H1xxV4

I J
K
M
in mm
I J K L M
C3H1xxV4 0 0 25 70 70
192-120108N13 Compax3T40_eng 2014-10 89

3.10 Safety function - STO (=safe torque off)

General Description ......................................................................................................... 90
STO (= safe torque off) with Compax3S .......................................................................... 93
STO (= safe torque off) with Compax3m (Option S1) ..................................................... 103
3.10.1. General Description

Important terms and explanations .................................................................................... 90
Intended use.................................................................................................................... 91
Advantages of using the "safe torque off" safety function. ................................................ 91
Devices with the STO (=safe torque off) safety function ................................................... 92
The present documentation assumes a basic knowledge of our drive controllers as

well as an understanding of safety-oriented machine design. References to
standards and other regulations are only rudimentarily expressed.
For complementary information, we recommend the respective technical literature.
3.10.1.1 Important terms and explanations

Term Explanation
Safety category 3 in accordance Definition according to standard:
with EN ISO 13849-1 Circuit with safety function against individual errors.
Some, but not all errors are detected.
An accumulation of errors may lead to a loss of the safety function.
The remaining risk is accepted.
The determination of the safety category required for an application (risk analysis) lies within the
responsibility of the machine manufacturer.
It can take place according to the method described in EN ISO 13849-1, appendix A.
With the "safe torque off", the energy supply of the drive is safely interrupted according to EN
1037, paragraph 4.1.
"Safe torque off" The drive is not to be able to produce a torque and thus dangerous movements (see EN 1037,
paragraph 5.3.1.3).
or abbreviated: The standstill position must not be monitored.
If an external force effect, e.g. a drop of hanging loads, is possible with the "safe torque off",
STO=Safe torque off additional measures to safely prevent those must be provided (e.g. additional mechanical brakes).
The following measures are appropriate for a "safe torque off":
Contactor between mains and drive system (mains contactor)
Contactor between power section and motor (motor contactor)
Safe blocking of the power semiconductor control (start inhibitor)
Start inhibitor Safe blocking of the power semiconductor control.
With the aid of this function, you can obtain a "safe torque off".
Stop categories according to EN60204-1 (9.2.2)

Stop Safety function Requirement System Remark
category behavior
0 Safe torque off Stopping by immediately Uncontrolled Uncontrolled stop is the stopping of a machine
(STO) switching off the energy stop movement by switching off the energy of the machine
supply of the machine drive drive elements.
elements Available brakes and/or other mechanical stopping
components are applied.
1 Safe stop 1 Stop where the energy of the Controlled Controlled stop is the stopping of a machine movement
(SS1) machine drive elements is stop by for instance resetting the electrical command signal
maintained in order to reach a to zero, as soon as the stop signal has been detected
stop. The energy supply is by the controller, the electrical energy for the machine
only interrupted, if the drive elements remains however during the stopping
standstill is attained. procedure.
2 Safe stop 2 Stop where the energy to the Controlled This category is not covered.
(SS2) machine drive elements is stop
maintained.
90 192-120108N13 Compax3T40_eng 2014-10

Parker EME Safety function - STO (=safe torque off)
3.10.1.2 Intended use

The Compax3 drive controller supports the "safe torque off" (STO) safety function,
with protection against unexpected startup according to the requirements of EN
ISO 13849-1, category 3 to PLe and EN 1037.
Together with the external safety control device, the "safe stop 1" (SS1) safety
function according to the requirements of EN ISO 13849-1 category 3 can be used.
As the function is however realized with the aid of an individually settable time
delay on the safety switching device, you must take into account that, due to an
error in the drive system during the active braking phase, the axis trundles to a stop
unguided or may even accelerate actively in the worst case until the expiry of the
preset switch-off time.
According to a risk evaluation which must be carried out according to the machine
standard 98/37/EG and 2006/42/EG or EN ISO 12100, EN ISO 13849-1 and EN
ISO 14121-1, the machine manufacturer must project the safety system for the
entire machine including all integrated components. This does also include the
electrical drives.
Qualified personnel
Projecting, installation and setup require a detailed understanding of this
description.
Standards and accident prevention regulation associated with the application must
be known and respected as well as risks, protective and emergency measures.
3.10.1.3 Advantages of using the "safe torque off" safety

function.
Safety category 3 in accordance with EN ISO 13849-1
Requirements Use of the safe torque off function Conventional solution: Use of external switching
performance feature elements
Reduced switching Simple wiring, certified application examples Two safety-oriented power contactors in series
overhead Grouping of drive controllers on a mains contactor connection are required.
is possible.
Use in the production Extremely high operating cycles thanks to almost This performance feature cannot be reached with
process wear-free technology (low-voltage relay and conventional technology.
electronic switch). The "safe torque off" status is
High operating cycles, attained due to the use of wear-free electronic
high reliability, low wear switches (IGBTs).
Use in the production Drive controller remains performance- and When using power contactors in the supply, a long
process control-oriented in connected state. waiting time for the energy discharge of the DC link
No significant waiting times due to restart. circuit is required.
High reaction speed, fast When using two power contactors on the motor side,
restart the reaction times may increase, you must however
take into consideration other disadvantages:
a) Securing that switching takes only place in
powerless state (Direct current! Constant electric arcs
must be prevented).
b) Increased overhead for EMC conform wiring.
Emergency-stop function According to the German version of the standard: Switch-off via mechanical switching elements is
Permitted without control of mechanical power required
switching elements 1)
1) According to the preface of the German version of the EN 60204-1/11.98,
electronic equipment for emergency-stop devices are also permitted, if they comply
with the safety categories as described in EN ISO 13849-1.
192-120108N13 Compax3T40_eng 2014-10 91

3.10.1.4 Devices with the STO (=safe torque off) safety

function
The STO (Safe torque off) safety function is implemented in the

following devices:
Compax3 technology function
 I10T10, I11T11, I12T11,
 I10T20, I20T20, I32T20
 I11T30, I20T30, I21T30, I22T30, I30T30, I31T30, I32T30,
I11T40, I20T40, I21T40, I22T40, I30T40, I31T40, I32T40
I11T70, I20T70, I32T70
 I20T11, I21T11, I22T11, I30T11, I31T11, I32T11
 C10T11, C10T30, C10T40,
C13T11, C13T30, C13T40,
C20T11, C20T30, C20T40
with the device power / series
S025V2, S063V2, S100V2, S150V2, S015V4, S038V4, S075V4, S150V4,
S300V4
M050D6, M100D6, M150D6, M300D6,
and is only valid with the stated conditions of utilization.
92 192-120108N13 Compax3T40_eng 2014-10

3.10.2. STO (= safe torque off) with Compax3S

STO Principle (= Safe Torque Off) with Compax3S ......................................................... 93
Conditions of utilization STO (=safe torque off) Safety function........................................ 95
Notes on the STO function............................................................................................... 95
STO application example (= safe torque off) .................................................................... 96
Technical Characteristics STO Compax3S .................................................................... 102
3.10.2.1 STO Principle (= Safe Torque Off) with Compax3S

To ensure safe protection against a motor starting up unexpectedly, the flow of
current to the motor and thus to the power output stage must be prevented.
This is accomplished for Compax3S with two measures independent of each other
(Channel 1 and 2), without disconnecting the drive from the power supply:
Channel 1:
Activation of the power output stage can be disabled in the Compax3 controller by
means of a digital input or with a fieldbus interface (depending on the Compax3
device type) (deactivation of the energize input).
Channel 2:
The power supply for optocouplers and drivers of power output stage signals is
disconnected by a safety relay activated by the enable input "ENAin"(X4/3) and
equipped with force-directed contacts. This prevents control signals from being
transferred to the power output stage.
The STO (= Safe Torque Off) safety function in accordance with EN ISO
13849-1: 2008 PLd or PLe, Kat.3 is only possible when using both channels
via an external safety switching device
Please note the application examples!
Circuit diagram illustrating working principle:

Channel 1 Channel 2
Controller ENAin
Energize Feedback L1 L2 L3
Feedback (Enable)
X4/3 X4/4 X4/5 X1/1 X1/2 X1/3

power
Compax3 supply
safety relay
Feedback
power
supply
motor
controller
Notes
 In normal operation of Compax3, 24VDC of power is supplied to the "Enable"
input (X4/3). The control of the drive takes then place via the digital inputs/outputs
or via the fieldbus.
192-120108N13 Compax3T40_eng 2014-10 93

STO delay times
Input Channel 1
(Energize)
Speed
Feedback
Channel 1
t_deceleration
(configurable in Compax3)
Input Channel 2
(ENAin)
t_delay_time
(configurable in UE410)
Feedback
Channel 2
t_delay_relay_ch2
The deceleration time t_deceleration depends on the configuration of the
Compax3. It must be configured so that oscillation free bringing to standstill is
possible, depending on the mechanical load. The delay time t_delay_time must be
set in the safety control device UE410 so that t_delay_time > t_deceleration.
Only after the elapsing of the relay delay t_delay_relay_ch2, the STO function is
completely activated. The relay delay time t_deay_relay_ch2 is 15 ms.
94 192-120108N13 Compax3T40_eng 2014-10

3.10.2.2 Conditions of utilization STO (=safe torque off) Safety

function
 STO can only be implemented in Compax3 with a corresponding safety switching
device considering the application examples.
 Safety functions must be tested 100%.
 The Compax3S and the safety switching device used must be mounted in a
protected way (IP54 mounting cabinet).
 Only qualified staff members are permitted to install the STO (=safe torque off)
function and place it in service.
 For all applications in which the first channel of the “Safe torque off” is
implemented by means of a PLC, care must be taken that the part of the program
that is responsible for current flowing to or not flowing to the drive is programmed
with the greatest possible care. The Safe Torque off application example of
Compax3 with fieldbus should be considered.
The designer and operator responsible for the system and machine must refer
programmers who are involved to these safety-related points.
 Terminal X4/2 (GND 24 V and at the same time the reference point for the safety
relay bobbin) must be connected with the PE protective lead. This is the only way
to ensure protection against incorrect operation through earth faults (EN60204-1
Section 9.4.3)!
 All conditions necessary for CE-conform operation must be observed.
 When using an external safety switching device with adjustable delay time, (as
illustrated in the STO application example), it must be ensured that the delay time
cannot be adjusted by persons not authorized to do so (for example by applying a
lead seal). With the UE410-MU3T5 safety switching device, this is not necessary,
if the anti manipulation measures are respected.
 The adjustable delay time on the safety switching device must be set to a value
greater than the duration of the braking ramp controlled by the Compax3 with
maximum load and maximum speed.
If the setting range for the specified Emergency power-off module is not sufficient,
the Emergency power-off module must be replaced by another equivalent
module.
 All safety-related external leads (for example the control lead for the safety relay
and feedback contact) must absolutely be laid so they are protected, for example
in a cable duct. Short circuits and crossed wires must be reliably excluded!
 If there are external forces operating on the drive axes, additional measures are
required (for example additional brakes). Please note in particular the effects of
gravity on suspended loads!
3.10.2.3 Notes on the STO function

 It should be noted in connection with the STO (= safe torque off) application
example illustrated here that after the Emergency stop switch has been activated,
no galvanic isolation in accordance with EN 60204-1 Section 5.5 is guaranteed.
This means that the entire system must be disconnected from the mains power
supply with an additional main switch or mains power contactor for repair jobs.
Please note in this regard that even after the power is disconnected, dangerous
electrical voltages may still be present in the Compax3 drive for about 10
minutes.
 During the active braking phase of Stop category 1 (controlled bringing to a stop
with safely monitored delay time according to EN60204-1) or safe stop 1, faulty
function must be expected. If an error in the drive system or mains failure occurs
during the active braking phase, the axis may trundle to a stop unguided or might
even actively accelerate until the expiry of the defined switch-off time.
 Please note that the control of the drive via Energize (Energize input or fieldbus
interface) is not executed in all operating conditions. The following restrictions
apply when the set-up window of the C3 ServoManager is used:
 If the setup mode is switched on, the fieldbus interface and the energize input
are blocked.
 the energize input can be ignored if the input simulator is activated (depending
on the settings).
192-120108N13 Compax3T40_eng 2014-10 95

Note on error switch-off

If the "safe torque off" function of Compax3 is required or used for
a machine or system, the two errors:
 “Motor_Stalled” (Motor stalled) and
 “Tracking” (following error)
are not to be switched off (see on page 143, see on page 419, see on
page 418, see on page 145).
3.10.2.4 STO application example (= safe torque off)

The application example described here corresponds to Stop Category 1 as
defined by EN60204-1.
Together with the external safety switching device, the "Safe Stop 1”(SS1) safety
function can also be implemented.
A Stop Category 0 in accordance with EN 60204-1 can be implemented, for

example by setting the delay time on the Emergency power-off module as well as
on the Compax3 (delay time for "switch to currentless") to 0. The Compax3M will
then be turned off immediately in 2 channels and will therefore not be able to
generate any more torque. Please take into consideration that the motor will not
brake and a coasting down of the motor may result in hazards. If this is the case,
the STO function in stop category 0 is not permitted.
Safe torque off without bus option

Circuit layout overview ..................................................................................................... 96
Circuit: ............................................................................................................................. 97
Safe torque off description ............................................................................................... 98
Circuit layout overview

 2 Compax3 devices (the circuit example is also valid for one or multiple devices,
if it is adapted accordingly)
 1 Emergency Power-off module (UE410-MU3T5 manufactured by Sick)
With adjustable delayed deactivation of the Compax3 enable input ENAin.
The time must be set so that all axes are at a standstill before the Compax3
controllers are deactivated.
 The operating instructions of the UE410-MU3T5 safety switching device must be
observed.
 1 emergency power-off switch
 Hazardous area accessible via a safety door with safety door switch S6.
 1 pushbutton per Compax3
 For the Energize input on Compax3, a debouncing time > 3 ms must be
configured
 1 relay per Compax3
The relay must be dimensioned so that it has a lifetime of at least 20 years, taking
the cycle time into consideration. If this is not the case, the relays must be
exchanged for new relays after expiration of the lifetime.
96 192-120108N13 Compax3T40_eng 2014-10

Circuit:
+24V
Compax3S
X3 motor
MC_Power S4
Energize* Gefahrenbereich
Status Enable
Error Axis Danger Zone
X12.4 motor
Controller
Feedback
K1 Enable X4.3
Feedback X4.4 Schutztür geschlossen

Safety door closed
Feedback X4.5
S6
Compax3S S6
X3
MC_Power S5
Energize*
Status Enable
Error Axis
X12.4
Controller Not-Stop
Feedback
K2 Enable X4.3 Emergency
switch off
Feedback X4.4
Feedback X4.5
Q4 Q3 I4 I3 I2 I1
Delay
Time 4 5
EN S1
K1 3 6
2 7
K2 A1 1 8 X1
0 9
S3 X2
S2
FUNCTION
S2
A2 UE410-MU
GND24V
*Energize = I0 (X12/6) (debounced digital input)

Instead of the safety switching device manufactured by Sick mentioned above, you
may use other safety switching devices.
The safety switching device must however provide the following features:
 1 normally open contact is required for switching off channel 1
(as an alternative, a safe semiconductor output is possible)
 1 off-delayed normally open safety contact is required for switching off channel 2
(as an alternative, a safe semiconductor output with adjustable delay time for the
high_to_low_edge is possible).
 1 one-channel monitoring circuit where the feedback contacts of channels 1 and
2 can be integrated for simultaneous monitoring, is required.
At the same time it must be possible to integrate a one-channel start button for
activation of the safety switching device into the circuit.
A new start may only be successful, if it is ensured, that channels 1 and 2 are
switched off.
 1 two-channel connection for emergency power off and/or safety door contacts
with cross fault monitoring is required.
 The safety switching device must feature performance PL e. The I/Os must at
least correspond to category 3.
Switches and buttons:
1 N/C (S4, S5) per Guide Device to a currentless state
device:
S6: closed when the safety door is closed
S2: Activate safety switching device
192-120108N13 Compax3T40_eng 2014-10 97

Caution! Module UET410-MU3T5 modulates regularly test switching signals (OSSD) on

outputs Q3 and Q4.
We recommend to use a filter > 3 ms for signal Q3 in the PLC.
If different safety switching devices are used, please make sure that the pulse
width of the test pulses is not wider than 700µs. The safety switching device used
can only send test pulses (active low) with high level.
Safe torque off description
Basic functions: ............................................................................................................. 101
Access to the hazardous area ....................................................................................... 102

Safe torque off basic function .......................................................................................... 98
Access to the hazardous area ......................................................................................... 99
Safe torque off basic function
Compax3 devices disabled by:

Channel 1: Energize input to “0” by safety switching device output Q3
Channel 2: Enable input ENAin to “0” by safety switching device output Q4
Activate safety switching device

Before the Compax3 can be placed into operation, the safety switching device
must be activated by a pulse to Input S2.
Prerequisite:
 S2 closed
 Safety door closed
 K1 and K2 energized
 K1: receives current if Compax3 Device 1 is currentless (output = "1" in
currentless state) = Channel 1 feedback
 K2: receives current if Compax3 device 2 is currentless (output = “1” in the
currentless state) = channel 1 feedback
 The feedback contact of all Compax3 devices must be closed (channel 2).
Energize Compax3 (Motor and power output stage)

 With the safety switching device, the Compax3 devices are enabled via the
energize input and the Enable input ENAin. (If an error is still present in the
Compax3, it must be acknowledged - the ackn function depends on the Compax3
device type)
 The motors are energized with current.
Summary: Compax3 is only energized if the feedback functions are capable of
functioning via two channels.
98 192-120108N13 Compax3T40_eng 2014-10

Access to the hazardous area
Actuate emergency power-off switch

Due to the interruption on two channels at the emergency power-off switch, the
safety switching device is deactivated - output Q3 is immediately “0”.
Channel 1: Via the Energize input, the Compax3 devices receive the command to
guide the drive to a currentless state (using the ramp configured in the C3
ServoManager for "drive disable").
Channel 1 feedback 1: The "Controller Feedback" Compax3 outputs supply
current to Relays K1 and K2.
Channel 2: After the delay time set in the safety switching device, (this time must
be set so that all drives are stopped after it has elapsed) the output Q4 = “0”, which
in turn deactivates the Enable inputs ENAin of the Compax3 devices.
Channel 2 feedback: Via the series circuit of all feedback contacts, the “Safe
Torque-off” status (all Compax3 devices without current) is reported.
Only if the drives are all at a standstill, the safety door may be opened and the
hazardous area may be accessed.
If the safety door is opened during operation and the emergency-power-off switch
was not triggered before, the Compax3 drives will also trigger the stop ramp.
Caution! The drives may still move.
If danger to life and limb of a person entering cannot be excluded,
the machine must be protected by additional measures (e.g. a safety
door locking).
Safe torque off with bus option

Safe torque off layout with bus ......................................................................................... 99
Circuit: ........................................................................................................................... 100
Safe torque off description ............................................................................................. 101
Safe torque off layout with bus

 2 Compax3 devices (the circuit example is also valid for one or multiple devices,
if it is adapted accordingly)
 1 Emergency Power-off module (UE410-MU3T5 manufactured by Sick)
With adjustable delayed deactivation of the Compax3 enable input ENAin.
The time must be set so that all axes are at a standstill before the Compax3
controllers are deactivated.
 The operating instructions of the UE410-MU3T5 safety switching device must be
observed.
 1 emergency power-off switch
 Hazardous area accessible via a safety door with safety door switch S6.
 1 pushbutton per Compax3
192-120108N13 Compax3T40_eng 2014-10 99

Circuit:
Designation Bus device I20 additional bus
devices
control: Control word CW Controlword
status: Status word SW Status word
+24V
Compax3S
S4 SPS
& PLC
X3
Energize* control
MC_Power
Controller status
Enable Status
Axis Error Feedback status &
Enable X4.3
Feedback X4.4
S5
Feedback X4.5
&
control
motor
Compax3S Gefahrenbereich
X3 motor Danger Zone
Energize*
MC_Power Schutztür geschlossen

Enable Status Controller Safety door closed
Axis Error Feedback
X4.3
S6
Feedback X4.4
Feedback X4.5 S6
Not-Stop
Emergency
switch off
Q4 Q3 I4 I3 I2 I1
Delay
Time 4 5
EN 3 6 S1
2 7
A1 1 8 X1
0 9
S3 X2
S2
FUNCTION
S2
A2 UE410-MU
GND24V
* Energize: free selection in the “control”

Controller Feedback Option: free choice in “status”
100 192-120108N13 Compax3T40_eng 2014-10

Instead of the safety switching device manufactured by Sick mentioned above, you
may use other safety switching devices.
The safety switching device must however provide the following features:
 1 normally open contact is required for switching off channel 1
(as an alternative, a safe semiconductor output is possible)
 1 off-delayed normally open safety contact is required for switching off channel 2
(as an alternative, a safe semiconductor output with adjustable delay time for the
high_to_low_edge is possible).
 1 one-channel monitoring circuit where the feedback contacts of channels 1 and
2 can be integrated for simultaneous monitoring, is required.
At the same time it must be possible to integrate a one-channel start button for
activation of the safety switching device into the circuit.
A new start may only be successful, if it is ensured, that channels 1 and 2 are
switched off.
 1 two-channel connection for emergency power off and/or safety door contacts
with cross fault monitoring is required.
 The safety switching device must feature performance PL e. The I/Os must at
least correspond to category 3.
Switches and buttons:
1 N/C (S4, S5) per Guide Device to a currentless state
device:
S6: closed when the safety door is closed
S2: Activate safety switching device
Caution! Module UET410-MU3T5 modulates regularly test switching signals (OSSD) on

outputs Q3 and Q4.
We recommend to use a filter > 3 ms for signal Q3 in the PLC.
If different safety switching devices are used, please make sure that the pulse
width of the test pulses is not wider than 700µs. The safety switching device used
can only send test pulses (active low) with high level.
Safe torque off description
Basic functions:
Compax3 devices disabled by:

Channel 1: Energize deactivated by PLC and safety switching device output Q3.
Channel 2: Enable input to “0” by safety switching device output Q4.
Activate safety switching device

Before the Compax3 can be placed into operation, the safety switching device
must be activated by a pulse to Input S2.
Prerequisite:
 S2 closed
 Safety door closed: only then the safety door monitor will enable the safety
switching device on two channels
 Feedback activated via PLC (Controller feedback channel 1: motor not energized)
 The feedback contact of all Compax3 devices must be closed (channel 2).
Energize Compax3 (Motor and power output stage)

 The PLC enables the Compax3 devices by means of the control word and the
safety switching device enables the Compax3 devices by means of the Enable
input. (If an error is still present on the Compax3, it must be acknowledged
before)
 The motors are energized with current.
Summary: Compax3 is only energized if the feedback functions are capable of
functioning via two channels.
192-120108N13 Compax3T40_eng 2014-10 101

Access to the hazardous area
Actuate emergency power-off switch

Due to the interruption on two channels at the emergency stop switch, the safety
switching device is deactivated - output Q is immediately “0”.
The PLC evaluates this and responds as follows:
Channel 1: The Compax3 devices receive via the control word the command to
guide the drive to currentless state (vi the ramp for "deenergizing" configured in the
C3 ServoManager).
Channel 1 feedback: The Compax3 feedback via the status word is evaluated by
the PLC and passed on to the safety switching device via the Compax3 Feedback
(X4.4 and X4.5).
Channel 2: After the delay time set in the safety switching device, (this time must
be set so that all drives are stopped after it has elapsed) the output Q4 = “0”, which
in turn deactivates the Enable inputs ENAin of the Compax3 devices.
Channel 2 feedback: Via the series circuit of all feedback contacts, the “Safe
Torque-off” status (all Compax3 devices without current) is reported.
Only if the drives are all at a standstill, the safety door may be opened and the
hazardous area may be accessed.
If the safety door is opened during operation and the emergency-power-off switch
was not triggered before, the Compax3 drives will also trigger the stop ramp.
Caution! The drives may still move.
If danger to life and limb of a person entering cannot be excluded,
the machine must be protected by additional measures (e.g. a safety
door locking).
3.10.2.5 Technical Characteristics STO Compax3S
Safety technology Compax3S

Safe torque-off in accordance with EN  For implementation of the “protection
ISO 13849: 2008, Category 3, PL d/e against unexpected start-up” function
Certified. described in EN1037.
Test mark IFA 1003004  Please note the circuitry examples (see
on page 90).
Compax3S STO (=safe torque off)

Nominal voltage of the 24 V
inputs
Required isolation of the Grounded protective extra low voltage, PELV
24V control voltage
Protection of the STO 1A
control voltage
Grouping of safety level <500 000 STO cycles per year are assumed.
 STO switch-off via internal safety relay & digital
input: PL e, PFHd=2.98E-8
 STO switch-off via internal safety relay & fieldbus:
PL d, PFHd=1.51E-7 (is applicable for a MTTFd=15
years of the external PLC)
 Lifetime: 20 Years
102 192-120108N13 Compax3T40_eng 2014-10

3.10.3. STO (= safe torque off) with Compax3m (Option S1)

Safety switching circuits................................................................................................. 103
Safety notes for the STO function in the Compax3M...................................................... 104
Conditions of utilization for the STO function with Compax3M ....................................... 104
STO delay times ............................................................................................................ 105
Compax3M STO application description ........................................................................ 106
STO function test ........................................................................................................... 109
Technical details of the Compax3M S1 option ............................................................... 111
3.10.3.1 Safety switching circuits

The current flow in the motor windings is controlled by a power semiconductor
bridge (6-fold IGBT). A processor circuit and PWM circuit will switch the IGBT with
rotary field orientation. Between control logic and power module, optocouplers are
used for potential separation.
On the Compax3M drive controller with S1 option, the X14 (STO) connector can be
found on the front plate. 2 optocouplers are controlled on two channels via the
STO1/ and STO2/ terminals of this connector. When requesting the STO via an
external safety switching device, the two auxiliary voltage supply channels of the
power stage control circuits are switched off on two channels. Therefore the power
transistors (IGBTs) for the motor current can not longer be switched on.
The hardware monitor detects the failure of the optocoupler circuit of a channel by
always checking both channels for similarity. If the hardware monitor detects a
discrepancy for a defined time (ax. 20s), the error will be stored in the hardware
memory. The processor signals this error externally via the 0x5493 error code. An
activation of the coupler supply can then only take place via a hardware reset
(switching off and on again) of the device.
+5V Controller Compax3M ...S1
Software
PWM
Hardware
X14.1 STO1/ Monitor
X14.2 STO-GND *
X14.3 STO2/
6 IGBT
X14.4 STO-GND Driver
* Potential separation with optocoupler.
192-120108N13 Compax3T40_eng 2014-10 103

3.10.3.2 Safety notes for the STO function in the Compax3M

 It should be noted in connection with the STO application examples illustrated
here that after the Emergency stop switch has been activated, no galvanic
isolation in accordance with EN 60204-1 Section 5.5 is guaranteed. This means
that the entire system must be disconnected from the mains power supply with an
additional main switch or mains power contactor for repair jobs. Please note in
this regard that even after the power is disconnected, dangerous electrical
voltages may still be present in the Compax3 drive for about 10 minutes.
 During the active braking phase of Stop category 1 (controlled bringing to a stop
with safely monitored delay time according to EN60204-1) or safe stop 1, faulty
function must be expected. If an error in the drive system occurs during the active
braking phase, the axis may trundle to an unguided stop or might even actively
accelerate until the expiry of the defined switch-off time.
 For synchronous motors operated in the field weakening range, the operation of
the STO function may lead to over speed and destructive, life-threatening over
voltages as well as explosions in the servo drive. Therefore, NEVER use the STO
function with synchronous drives in the field-weakening range.
 It is important to note that if the drive is being activated (Energize) by the USB /
RS485 interface, it may not be possible to execute switch-off by a controlled
braking ramp. For example, this is true when the set-up window of the C3
ServoManager is used. If set-up mode is turned on or with the input simulator, the
digital I/O interface and fieldbus interface are automatically disabled.
Maintenance
When using the S1 option, a protocol describing the orderly working of the safety
function must be made upon the setup and in defined maintenance intervals (see
protocol proposal).
3.10.3.3 Conditions of utilization for the STO function with

Compax3M
 The STO safety function must be tested and protocoled as described (see on
page 109). The safety function must be requested at least once a week. In safety
door applications, the weekly testing interval must not be observed, as you can
assume that the safety doors will be opened several times during the operation of
the machine.
 The Compax3M with integrated STO safety function as well as the utilized safety
switching devices must be mounted protected (IP54 control cabinet).
 Only qualified staff members are permitted to install the STO function and place it
in service.
 The X9/2 (GND24V) terminal on the PSUPxx mains module must be connected
to the PE protective lead. This is the only way to ensure protection against
incorrect operation through earth faults (EN60204-1 Section 9.4.3)!
 When using an external safety switching device with adjustable delay time, (as
illustrated in the STO application example), it must be ensured that the delay time
cannot be adjusted by persons not authorized to do so (for example by applying a
lead seal). With the UE410-MU3T5 safety switching device, this is not necessary,
if the anti manipulation measures are respected.
 The adjustable delay time on the safety switching device must be set to a value
greater than the duration of the braking ramp controlled by the Compax3 with
maximum load and maximum speed.
 All conditions necessary for CE-conform operation must be observed.
 If there are external forces operating on the drive axes, additional measures are
required (for example additional brakes). Please note in particular the effects of
gravity on suspended loads! This must be respected above all for vertical axes
without self-locking mechanical devices or weight balance.
 When using synchronous motors, a short movement over a small angle is
possible, if two errors occur simultaneously in the power section. This depends
on the number of pole pairs of the motor (rotary types: 2 poles = 180°, 4 poles =
90°, 6 poles = 60°, 8 poles = 45 °, Linear motors: 180° electrically).
104 192-120108N13 Compax3T40_eng 2014-10

3.10.3.4 STO delay times
Input
Energize
Speed
t_deceleration
(Configurable in Drive)
Input
STO1/, STO2/
t_delay_time
(Configurable in UE410)
Torqueless
Motor
t_delay_STO ≤3ms
192-120108N13 Compax3T40_eng 2014-10 105

3.10.3.5 Compax3M STO application description

STO function with safety switching device via Compax3M inputs ................................... 106
STO function description ............................................................................................... 107
Emergency stop and protective door monitoring without external safety switching device.108
STO function with safety switching device via Compax3M inputs
+24V
Compax3M
X3 motor
S4
Gefahrenbereich
Energize
Danger Zone
STO1/ X14.1 motor
STO-GND X14.2
STO2/ X14.3 Schutztür geschlossen

Safety door closed
STO-GND X14.4
S1
Compax3M S1
X3
S3
Energize
STO1/ X14.1
Not-Stop
STO-GND X14.2 Emergency
switch off
STO2/ X14.3
STO-GND X14.4
Q4 Q3 I4 I3 I2 I1
Delay
Time 4 5
EN 3 6 S1
2 7
A1 1 8 X1
0 9
S3 X2
S2
FUNCTION
S2
A2 UE410-MU
GND24V
Recommendation Energize = I0 (X12/6) (debounceable digital input)

The acknowledgement S2 via the safety control UE410-MU3T5 is only necessary,
if after the disabling of the STO function, a danger to any person or to the machine
could arise by automatic starting. During the Configuration des Compax3M (see
on page 141)you must see to a debouncing time >3ms being configured for the
Energize input.
The operating instructions of the UE410-MU3T5 safety control must be observed.
The Compax3M devices and the UE410-MU3T5 safety control must be mounted in
the same control cabinet.
1 N.C. (S3, S4) per device Guide Device to a currentless state
S1 closed when the safety door is closed
S2 Activate safety switching device
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STO function description

When opening the protective door or after actuating the emergency stop switch, the
signal of the "energize" input of the Compax3M drive modules is interrupted via the
Q3 output on the UE410-MU3T5 safety control. This triggers an immediate braking
ramp on the drives. Then after the delay time set on the UE410-MU4T5 safety
control, the STO function in the drives is triggered via the Q4 output. The servo
drives are then in safe torqueless state. The delay time must be set on the safety
control so that the braking ramp in the drives has run off and the drives are at
standstill when the delay time has elapsed.
The described application example corresponds to the stop category 1 according to

EN 60204-1. Together with the external safety switching device, the "Safe Stop 1"
safety function can also be implemented.
A Stop Category 0 in accordance with EN 60204-1 can be implemented, for
example by setting the delay time on the safety switching device to 0. The
Compax3M will then be turned off immediately in 2 channels and will not be able to
generate any more torque. Please take into consideration that the motor will not
brake and a coasting down of the motor may result in hazards. If this is the case,
the STO function in stop category 0 is not permitted.
Depending on the interface Ixx or technology function Txx of the Compax3M, the
"energize" input can be a digital input or for instance a defined bit of a fieldbus
control word (see the overview table below).
In the I10T10, I11T11, I12T11, I2xT11 and I3xT11 devices, the ackn input is
assigned fixed.
Interface/Technology "Energize" Ackn
I10T10 Digital input I0 (X12/6) I2 (X12/8)
I11T11 Digital input I2 (X12/8) (Energize & Ackn identical)
I12T11
Digital input I0 (X12/6) (Energize & Ackn identical)
I2xT11, I3xT11
I2xT11, I3xT11 Applications with fieldbusses
I11T30 and I11T40 Debounced digital input defined in the IEC program,
which leads to the enable input of the MCpower
function module
I2xT30, I2xT40, I3xT30 Bit defined in the IEC program (debounced digital input
and I3xT40 or via fieldbus) which is linked to the enable input of
the MCpower function module
C1xT30 and C1xT40 Debounced digital input defined in the IEC program,
C20T30 and C20T40 which leads to the enable inputs of several MCpower
function modules for different axes. The information is
passed on to the individual axes via the CANbus.
The acknowledement via the safety control UE410-MU3T5 is only necessary, if

after the disabling of the STO function, a danger to any person or to the machine
could arise due to automatic startup..
192-120108N13 Compax3T40_eng 2014-10 107

Emergency stop and protective door monitoring without external

safety switching device.
With Compax3M, a 2-channel protective door monitoring switch or a 2 channel
emergency power-off switch can be directly connected. The figure below visualizes
an application with 2 channel protective door monitoring switch.
The Compax3M drive modules with PSUPxx mains rectifier must be located in a
protected area (IP54 control cabinet). Outside this protected area, the line guiding
to the external switches must be separated channelwise or must be especially
protected (blinded).
It is also permitted to use one acknowledgement switch for both servo drives at a
time. In both cases the acknowledgement does only correspond to category B,
therefore this acknowledgement should not be used if there is any possibility of
stepping in the dangerous area. In this case, an external acknowledgement device
must be used.
+24V
Compax3M
X3 motor
S4
Gefahrenbereich
Energize
Danger Zone
STO1/ X14.1 motor
STO-GND X14.2
STO2/ X14.3 Schutztür geschlossen

Safety door closed
STO-GND X14.4
S1
Compax3M S1
X3
S3
Energize
STO1/ X14.1
STO-GND X14.2
STO2/ X14.3
STO-GND X14.4
GND24V
108 192-120108N13 Compax3T40_eng 2014-10

3.10.3.6 STO function test

The STO function must be checked in the event of:
 Commissioning
 After each exchange of any equipment within the system
 After each intervention into the system wiring
 In defined maintenance intervals (at least once per week) and after a longer
standstill of the machine
If the STO function was triggered by opening a protective door and if this door is
opened several times a week, the weekly testing interval is not required.
The check must be made by qualified personnel adhering to all necessary safety
precautions.
The following testing steps must be performed:

STO Action, activity Expected reaction and effect
Test
1 24V DC voltage on
terminal X14.1 and X14.3
2 Switch on power and 24V supply voltage No error must be present
3 Configuring the device No error must be present
4 Testing active STO on terminal X14.1 Error message 0x5492 must be
and X14.3: present 1)
Remove 24V DC on terminal X14.1 and
X14.3 at the same time
5 Re-apply 24V DC voltage on terminals No error must be present
X14.1 and X14.3 and then acknowledge
error
6 Then switch off and on again 24V voltage No error must be present
supply
1) In order to automate the test, it is sufficient here to monitor the general error
output with an external logic.
A manual check of the torqueless drive is here also sufficient.
The triggering of the STO can also be made by actuating the emergency stop
switch. During the automated test, the STO can also be triggered via the contacts
of an external relay
Following the test steps
The performance of the individual test steps of the STO function must be logged. A
protocol specimen can be found in the following section.
Depending on the machine version, additional or other test steps may be required.
192-120108N13 Compax3T40_eng 2014-10 109

STO test protocol specimen (Safety Option S1)

General information:
Project/machine:
Servo axis:
Name of the tester:
STO function test:

Test specification according to the
Compax3 release:
STO function test steps 1-6: o successfully tested
Acknowledgement safety switching device: o successfully tested

o is not used
Safe stop 1: o successfully tested

o is not used
Initial acceptance on: Repeat check on:
Signature of the tester Signature of the tester
110 192-120108N13 Compax3T40_eng 2014-10

3.10.3.7 Technical details of the Compax3M S1 option
Safety technology Compax3M

Safe torque-off in accordance with EN  Please respect the stated safety
ISO 13849-1: 2007, Category 3, PL=e technology on the type designation
Certified. plate (see on page 17) and the circuitry
Test mark MFS 09029 examples (see on page 103)
Compax3M S1 Option: Signal inputs for connector X14

Nominal voltage of the inputs 24V
Required isolation of the 24V control Grounded protective extra low voltage, PELV
voltage
Protection of the STO control voltage 1A
Number of inputs 2
Signal inputs via optocoupler Low = 0...7V DC or open
High = 15...30V DC
Iin at 24V DC: 8mA
STO1/ Low = STO activated
High = STO deactivated
Reaction time max. 3ms
Switch-off time with unequal input 20 s
statuses (max. error reaction time)
Grouping of safety level  Category 3
 PL=e
(according to table 4 in EN ISO 13849-1
this corresponds to SIL 3)
 PFHd=4.29E-8
 Lifetime: 20 years
192-120108N13 Compax3T40_eng 2014-10 111

Setting up Compax3 C3T40
4. Setting up Compax3
Configuration ................................................................................................................. 112
Configuring the signal source ........................................................................................ 147
Load control................................................................................................................... 152
Optimization .................................................................................................................. 155
4.1 Configuration
Selection of the supply voltage used .............................................................................. 113
Motor selection .............................................................................................................. 114
Optimize motor reference point and switching frequency of the motor current................ 114
Ballast resistor ............................................................................................................... 117
General drive ................................................................................................................. 117
Defining the reference system ....................................................................................... 118
Defining jerk / ramps ...................................................................................................... 142
Limit and monitoring settings ......................................................................................... 142
Encoder simulation ........................................................................................................ 144
Recipe table .................................................................................................................. 145
Error response............................................................................................................... 145
Configuration name / comments .................................................................................... 146
The general proceeding in order to operate an empty-running motor is described

here (see on page 113).
Configurations sequence:
Installation of the C3
ServoManager The Compax3 ServoManager can be installed directly from the Compax3
DVD. Click on the corresponding hyperlink resp. start the installation
program "C3Mgr_Setup_V.....exe" and follow the instructions.
PC requirements
Recommendation:
Operating system: MS Windows XP SP3 / MS Vista (32 Bit) / Windows 7 (32 Bit / 64 Bit)
Browser: MS Internet Explorer 8.x or higher
Processor: Intel / AMD Multi core processor >=2GHz
RAM memory: >= 1024MB
Hard disk: >= 20GB available memory
Drive: DVD drive (for installation)
Monitor: Resolution 1024x768 or higher
Graphics card: on onboard graphics (for performance reasons)
Interface: USB 2.0
112 192-120108N13 Compax3T40_eng 2014-10

Parker EME Configuration
Minimum requirements:
Operating system: MS Windows XP SP2 / MS Windows 2000 as from SP4
Browser: MS Internet Explorer 6.x
Processor: >=1.5GHz
RAM memory: 512MB
Hard disk: 10GB available memory
Drive: DVD drive
Monitor: Resolution 1024x768 or higher
Graphics card: on onboard graphics (for performance reasons)
Interface: USB
Note:
 For the installation of the software you need administrator authorization on the
target computer.
 Several applications running in parallel, reduce the performance and operability.
 Especially customer applications, exchanging standard system components
(drivers) in order to improve their own performance, may have a strong influence
on the communication performance or even render normal use impossible.
 Operation under virtual machines such as Vware Workstation 6/ MS Virtual PC is
not possible.
 Onboard graphics card solutions reduce the system performance by up to 20%
and cannot be recommended.
 Operation with notebooks in current-saving mode may lead, in individual cases,
to communication problems.
Connection Your PC is connected with Compax3 via a RS232 cable (SSK1 (see on page
between PC and 582)).
Compax3 Start the Compax3 ServoManager and make the setting for the selected interface
in the "Options Communication settings RS232/RS485..." menu.
Device Selection In the menu tree under device selection you can read the device type of the
connected device (Online Device Identification) or select a device type (Device
Selection Wizard).
Configuration Then you can double click on "Configuration" to start the configuration wizard. The
wizard will lead you through all input windows of the configuration.
Input quantities will be described in the following chapters, in the same order in
which you are queried about them by the configuration wizard.
In the device online help, we show you at this place an animation of a test
setup with the aim to move an unloaded motor.
 Simple and independent of the Compax3 device variant*
 Without overhead for configuration
 Without special knowledge in programming
* for device specific functions, please refer to the corresponding device description.
Due to continuous optimization, individual monitor displays may have changed.

This does however hardly influence the general proceeding.
4.1.1. Selection of the supply voltage used

Please select the mains voltage for the operation of Compax3.
This influences the choice of motors available.
192-120108N13 Compax3T40_eng 2014-10 113

4.1.2. Motor selection

The selection of motors can be broken down into:
 Motors that were purchased in Europe and
 Motors that were purchased in the USA.
 You will find non-standard motors under "Additional motors" and
 under "User-defined motors" you can select motors set up with the C3
MotorManager.
For motors with holding brake SMHA or MHA brake delay times can be entered.
For this see Brake delay times (see on page 269).
Pleas note the following equivalence that applies regarding terms concerning
linear motors:
 Rotary motors / linear motors
 Revolutions ≡ Pitch
 Rotation speed (velocity)≡ Speed
 Torque ≡ Power
 Moment of inertia ≡ Load
Notes on direct drives (see on page 549) (Linear and Torque - Motors)
4.1.3. Optimize motor reference point and switching frequency of

the motor current
Optimization of the The motor reference point is defined by the reference current and the reference
motor reference (rotational) speed.
point Standard settings are:
 Reference current = nominal current
 Reference (rotational) speed = nominal (rotational) speed
These settings are suitable for most cases.
The motors can, however, be operated with different reference points for special
applications.
 By reducing the reference (rotational) speed, the reference current can be

increased. This results in more torque with a reduced speed.
 For applications where the reference current is only required cyclically with long
enough breaks in between, you may use a reference current higher than I0. The
limit value is however reference current = max. 1.33*I0. The reference velocity
must also be reduced.
The peak current is not changed from Release R09-20, it remains fixed to the
value taken from the motor library.
With exception of R09-20, the peak current was also adapted with the changing
of the reference current.
The possible settings or limits result from the respective motor characteristics.
Caution!
Wrong reference values (too high) can cause the motor to switch off during
operation (because of too high temperature) or even cause damage to the motor.
114 192-120108N13 Compax3T40_eng 2014-10

Optimization of the The switching frequency of the power output stage is preset to optimize the
switching frequency operation of most motors.
It may, however, be useful to increase the switching frequency especially with
direct drives in order to reduce the noise of the motors. Please note that the power
output stage must be operated with reduced nominal currents in the case of
increased switching frequencies.
The switching frequency may only be increased.
Caution!
By increasing the motor current switching frequency, the nominal current and the
peak current are reduced.
This must already be observed in the planning stage of the plant!
The preset motor current switching frequency depends on the performance variant
of the Compax3 device.
The respective Compax3 devices can be set as follows:
Resulting nominal and peak currents depending on the switching

frequency
Compax3S0xxV2 at 1*230VAC/240VAC
Switching S025V2 S063V2
frequency*
16kHz Inom 2.5Arms 6.3Arms

Ipeak (<5s) 5.5Arms 12.6Arms

frequency*
8kHz Inom - 15Arms
Ipeak (<5s) - 30Arms
16kHz Inom 10Arms 12.5Arms
Ipeak (<5s) 20Arms 25Arms

32kHz Inom 8Arms 10Arms
Compax3S0xxV4 at 3*400VAC
Switching S015V4 S038V4 S075V4 S150V4 S300V4
frequency*
8kHz Inom - - - 15Arms 30Arms
Ipeak (<5s) - - - 30Arms 60Arms
16kHz Inom 1.5Arms 3.8Arms 7.5Arms 10.0Arms 26Arms

Ipeak (<5s) 4.5Arms 9.0Arms 15.0Arms 20.0Arms 52Arms
192-120108N13 Compax3T40_eng 2014-10 115

frequency*
8kHz Inom - - - 13.9Arms 30Arms
16kHz Inom 1.5Arms 3.8Arms 6.5Arms 8.0Arms 21.5Arms

The values marked with grey are the pre-set values (standard values)!
*corresponds to the frequency of the motor current

frequency
Compax3HxxxV4 at 3*400VAC
Switching H050V4 H090V4 H125V4 H155V4
frequency*
8kHz Inom 50Arms 90Arms 125Arms 155Arms
Ipeak (<5s) 75Arms 135Arms 187.5Ar 232.5Ar
ms ms

Ipeak (<5s) 49.5Arms 112.5Ar 123Arms 150Arms
ms

Ipeak (<5s) 28.5Arms 67.5Arms 73.5Arms 88.5Arms
frequency*
ms

Ipeak (<5s) 40.5Arms 105Arms 105Arms 126Arms
Ipeak (<5s) 24Arms 60Arms 60Arms 72Arms

frequency
Compax3MxxxD6 at 3*400VAC
Switching M050D6 M100D6 M150D6 M300D6
frequency*
16kHz Inom 3.8Arms 7.5Arms 10Arms 20Arms
Ipeak (<5s) 5Arms 7.5Arms 10Arms 22Arms
116 192-120108N13 Compax3T40_eng 2014-10

frequency*
8kHz Inom 4Arms 8Arms 12.5Arms 25Arms
Ipeak 8Arms 16Arms 25Arms 50Arms
(<5s)
16kHz Inom 3Arms 5.5Arms 8Arms 15Arms
(<5s)
32kHz Inom 2Arms 2.5Arms 4Arms 8.5Arms
(<5s)
4.1.4. Ballast resistor

If the regenerative brake output exceeds the amount of energy that can be
stored by the servo controller (see on page 603), then an error will be
generated. To ensure safe operation, it is then necessary to either
 reduce the accelerations resp. the decelerations,
 or to use an external ballast resistor (see on page 565).
Please select the connected ballast resistor or enter the characteristic values of
your ballast resistor directly.
Please note that with resistance values greater than specified, the power
output from the servo drive can no longer be dissipated in the braking
resistor.
4.1.5. General drive

External moment of inertia / load
The external moment of inertia is required for adjusting the servo controller. The
more accurately the moment of inertia of the system is known, the better is the
stability and the shorter is the settle-down time of the control loop.
It is important to specify the minimum and maximum moment of inertia for best
possible behavior under varying load.
If you do not know the moment of inertia, click on "Unknown: using default values".
You have then the possibility to determine the moment of inertia by means of
automatic load identification (see on page 229).
Minimum moment of inertia / minimum load
192-120108N13 Compax3T40_eng 2014-10 117

Maximum moment of inertia / maximum load
Enter minimum = maximum moment of inertia when the load does not vary.
4.1.6. Defining the reference system

The reference system for positioning is defined by:
 a unit,
 the travel distance per motor revolution,
 a machine zero point with true zero,
 positive and negative end limits.
4.1.6.1 Measure reference

You can select from among the following for the unit:
 mm,
Unit  increments *
 angle degrees or
 Inch.
The unit of measure is always [mm] for linear motors.
The unit "increments" is valid only for position values!

Speed, acceleration and jerk are specified in this case in revolutions/s,
revolutions/s2 and revolutions/s3 (resp. pitch/s, pitch/s2, pitch/s3 for linear motors).
Travel distance per The measure reference to the motor is created with the value:
motor revolution / "travel distance per motor revolution / pitch" in the selected unit.
pitch
Input as numerator You can enter the "travel distance per motor revolution" as a fraction (numerator
and denominator divided by denominator). This is useful in the case of continuous operation mode or
in reset mode if the value cannot be specified as a rational number. Long term
drifts can be avoided by integer numerators and denominators.
118 192-120108N13 Compax3T40_eng 2014-10

Example 1:
Rotary table control
144°
7
70
M
4
Unit: Grade
Gear transmission ratio 70:4 => 4 load revolutions = 70 motor revolutions
Travel distance per motor revolution = 4/70 * 360° = 20.571 428 5 ...° (number
cannot be represented exactly)
Instead of this number, you have the option of entering it exactly as a numerator
and denominator:
Travel distance per motor revolution = 144/7
This will not result in any drift in continuous operation mode or in reset mode, even
with relatively long motion in one direction.
Example 2:
Conveyor belt
7 7 4 10mm
M
4
Unit: mm
Gear transmission ratio 7:4 => 4 load revolutions = 7 motor revolutions
Number of pinions: 12
Tooth separation: 10mm
Travel path per motor revolution = 4/7 * 12 * 10mm = 68.571 428 5 ... mm (this
number cannot be expressed exactly)
Instead of this number, you have the option of entering it exactly as a numerator
and denominator:
Travel distance per motor revolution = 480/7 mm
For "travel distance per motor revolution" that can be represented exactly, enter 1
as the denominator.
Travel distance per motor revolution /-pitch

Numerator
Unit: Unit Range: depends on the unit selected Standard value: depends
on the unit selected
Resolution: 0.000 000 1 (7 decimal places)
Unit Division Standard value
Increments* 10 ... 1 000 000 1024
mm 0.010 000 0 ... 2000.000 000 0 1.000 000 0
Grade 0.010 000 0 ... 720.000 000 0 360.000 000 0
Inch 0.010 000 .. 2000.000 000 1.000 000
Denominator
Unit: - Range: 1 ... 1 000 000 Standard value: 1
Integer value
*

192-120108N13 Compax3T40_eng 2014-10 119

Invert Motor Rotation/Direction Polarity

Unit: - Range: no / yes Standard value: no
Reverse direction inverts the sense of rotation, i.e. the direction of movement of the motor
is reversed in the case of equal setpoint.
Reset mode Reset mode is available for applications in which the positioning range repeats;
some examples are: Rotary table applications, belt conveyor. ...
After the reset travel distance (exactly specifiable as numerator and denominator
(see on page 118)) the position values in Compax3 are reset to 0.
Example:
Conveyor belt (from the "Conveyor belt" example) with reset path
300 mm
7 7 4 10mm
M
4
A reset path of 300 mm can be entered directly with numerator = 300 mm and
denominator = 1.
Reset mode is not possible for linear motors.
Reset distance
Numerator
Unit: Unit Range: depends on the unit selected Standard value: depends
on the unit selected
Unit Division Standard value
Increments 10 ... 1 000 000 0
mm 1 ... 2000 0
Grade 1 ... 720 0
Denominator
Unit: - Range: 1 ... 1 000 000 Standard value: 0
Integer value
Turn off reset mode

Reset mode is turned off for numerator = 0 and denominator = 0.
120 192-120108N13 Compax3T40_eng 2014-10

4.1.6.2 Machine Zero
The Compax3 machine zero modes are adapted to the CANopen profile for Motion
Control CiADS402.
Position reference Essentially, you can select between operation with or without machine reference.
point The reference point for positioning is determined by using the machine reference
and the machine reference offset.
Machine reference run

In a homing run the drive normally (see on page 121) moves to the position value
0 immediately after finding the home switch. The position value 0 is defined via the
homing offset (see on page 307).
A machine reference run is required each time after turning on the system for
operation with machine reference.
Please note:
During homing run the software end limits are not monitored.

Positioning after homing run .......................................................................................... 121
Absolute encoder........................................................................................................... 122
Operation with MultiTurn emulation ............................................................................... 122
Store absolute position in the feedback ......................................................................... 123
Machine zero modes overview....................................................................................... 124
Homing modes with home switch (on X12/14) ............................................................... 126
Machine zero modes without home switch ..................................................................... 132
Adjusting the machine zero proximity switch .................................................................. 136
Machine zero speed and acceleration............................................................................ 136
Positioning after homing run

The positioning made after the home switch has been found can be switched off.
For this enter in the “machine zero” window in the configuration wizard “no” under
“approach MN point after MN run”.
Example Homing (MN) mode 20 (Home on homing (MN) switch) with T40 by
homing offset 0
With positioning after homing run The motor stands then on 0:
192-120108N13 Compax3T40_eng 2014-10 121

Without positioning after homing run The position reached is not exactly on
0, as the drive brakes when detecting the home and stops:
Absolute encoder
Using a SinCos© or EnDat Multiturn absolute value sensor as feedback system, the
absolute position can be read in over the entire travel range when switching on the
Compax3. This means that a machine zero run is not necessary after the switching
on (feedback may not be shifted by the absolute range while switched off).
In this case the reference only needs to be established once
 at initial commissioning time
 after an exchange of motor / feedback system
 after a mechanical modification and
 after an exchange of device (Compax3); does not apply for the "Store absolute
position in feedback" function.
 after a configuration download
by carrying out a machine zero run.
The homing mode 35 "MN at the current position (see on page 132)" is
appropriate for this, because it is therewith possible to operate without proximity
switch, but any other homing mode is possible too - if the hardware prerequisites
are fulfilled.
When you have once re-established the reference, reset the machine zero run
mode to "without machine zero run".
Operation with MultiTurn emulation

You can simulate the function of a Multiturn over the entire travel distance by the
aid of a Multiturn emulation. A resolver or a SinCos© / EnDat Singleturn feedback is
sufficient as a feedback signal from the motor.
It differs from the physical Multiturn in the way that the motor may not be moved by
more than half a turn if Compax3 (24VDC) is switched off - unless the absolute
position is lost.
Besides that, the Multiturn emulation offers the same function as the physical
Multiturn feedback.
You can switch on the Multiturn emulation directly in the wizard.
You can assign the maximum permissible motor angle via the Multiturn validity
window
If Compax3 states after switching on that this value is not exceeded, then this
displayed via a status. The status can be read in the IEC61131-3 program in object
3310.1 "C3.Multiturnemulation_Status" ("0": Angle in the window; "-1": angle was
outside the window) is applied.
Compax3 restores nevertheless the absolute position, the motor angle is correct,
the absolute position may however not be correct, if the motor was moved by more
than the validity window while currentless.
122 192-120108N13 Compax3T40_eng 2014-10

Attention: In this case, the drive is considered “not referenced” and the software end limit
monitoring is inactive!
Machine reference For a unique machine zero run the same conditions apply as for the use of an
run absolute encoder (Multiturn).
Store absolute position in the feedback

With SinCos© or EnDat feedback systems, the absolute position can be memorized
in the feedback; therefore the Compax3 device can be exchanged without loss of
position.
The function is possible with Multiturn absolute value feedback systems and in
combination with the "Multiturn emulation" function and is activated by selecting
"Store absolute position: in the position feedback” (Configuration wizard: Reference
system).
The standard setting valid up to now is "Store absolute position: in the device".
Read / write position value
The writing process into the position feedback takes place upon a successful
machine zero run.
After PowerOn of Compax3, the position value of the position feedback is read out.
Please note:
 Other data stored in the feedback are overwritten!
 The motor may not move away from the homing position by more than +/-2048
revolutions (motor position upon completed homing mode), otherwise, the motor
position will be lost after PowerOff/On
(->endless instructions with only one travel direction or with one stroke bigger
than 2048 motor revolutions are not permitted in this operating mode)!
192-120108N13 Compax3T40_eng 2014-10 123

Machine zero modes overview

Selection of the machine zero modes (MN-M)
Without motor reference point without direction reversal switches: MN-M 19, 20 (see on page
MN-M 19 ...30 126), MN-M 21, 22 (see on page 127)
with reversal switches: MN-M 23, 24, 25, 26 (see on page 128),
Machine home switch
MN-M 27, 28, 29, 30 (see on page 128)
on X12/14:
MN-M 3 ... 14, 19 ... 30 With motor reference point without direction reversal switches: MN-M 3, 4 (see on page
MN-M 3 ... 14 129), MN-M 5, 6 (see on page 130)
(possibly an initiator
with reversal switches: MN-M 7, 8, 9, 10 (see on page 131),
adjustment (see on page
MN-M 11,12,13, 14 (see on page 131)
136) is required)
MN-M 35: on the actual position (see on page 132)
MN-M 128, 129: by moving to block (see on page 132)
Without machine zero
With limit switch as machine zero: MN-M 17, 18 (see on page
initiator on X12/14:
Without motor reference point 133)
MN-M 1, 2, 17, 18, 33 ..
35, 128, 129, 130 ... 133 MN-M 17, 18, 35, 128, 129 Only motor reference: MN-M 33, 34 (see on page 134), MN-M
130, 131 (see on page 134)
With limit switch as machine zero: MN-M 1, 2 (see on page
135), MN-M 132, 133 (see on page 136)
Definition of terms / explanations:

Motor zero point Zero pulse of the feedback
Motor feedback systems such as resolvers or SinCos© / EnDat give
one pulse per revolution.
Some motor feedback systems of direct drives do also have a zero
pulse, which is generated once or in defined intervals.
By interpreting the motor zero point (generally in connection with the
machine zero initiator) the machine zero can be defined more
exactly.
Machine zero initiator: For creating the mechanical reference
Has a defined position within or on the edge of the travel range.
Direction reversal Initiators on the edge of the travel range, which are used only with a
switches: machine zero run in order to detect the end of the travel range.
In some cases, the function “direction reversal via Stromschwelle” is
also possible, then you will need no initiator, Compax3 detects the
end of the travel range via the threshold. Please observe the
respective notes.
During operation, the direction reversal switches are often used as
limit switches.
124 192-120108N13 Compax3T40_eng 2014-10

Example axis with the initiator signals

4
- +
1 2 3
10
11
12
13
14
1: Direction reversal / end switch on the negative end of the travel range
(the assignment of the reversal / end switch inputs (see on page 141) to travel range
side can be changed).
2: Machine zero initiator (can, in this example, be released to 2 sides)
3: Direction reversal / end switch on the positive end of the travel range
(the assignment of the reversal / end switch inputs (see on page 141) to travel range
side can be changed).
4: Positive direction of movement
5: Signals of the motor zero point (zero pulse of the motor feedback)
6: Signal of the machine zero initiator
(without inversion of the initiator logic (see on page 141)).
7: Signal of the direction reversal resp. end switch on the positive end of the travel range
(without inversion of the initiator logic).
8: Signal of the direction reversal / resp. end switch on the negative end of the travel range
(without inversion of the initiator logic).
9: Signal of the machine zero initiator
(with inversion of the initiator logic (see on page 141)).
10: Signal of the direction reversal resp. end switch on the positive end of the travel range
(with inversion of the initiator logic).
11: Signal of the direction reversal / end switch on the negative end of the travel range
(with inversion of the initiator logic).
12: Logic state of the home switch (independent of the inversion)
13: Logic state of the direction reversal resp. end switch on the positive end of the travel
range (independent of the inversion)
14: Logic state of the direction reversal resp. end switch on the negative end of the travel
range (independent of the inversion)
The following principle images of the individual machine zero modes always refer
to the logic state (12, 13, 14) of the switches.
192-120108N13 Compax3T40_eng 2014-10 125

Homing modes with home switch (on X12/14)

Without motor reference point ........................................................................................ 126
With motor reference point............................................................................................. 129
Without motor reference point

Without direction reversal switches ................................................................................ 126
With direction reversal switches ..................................................................................... 127
Without direction reversal switches
MN-M 19,20: MN-Initiator = 1 on the positive side

The MN initiator can be positioned at any location within the travel range. The
travel range is then divided into 2 contiguous ranges: one range with deactivated
MN initiator (left of the MN initiator) and one range with activated MN initiator (right
of the MN initiator).
When the MN initiator is inactive (signal = 0) the search for the machine reference
is in the positive travel direction.
Without motor zero MN-M 19: The negative edge of the MN proximity switch is taken directly as MN
point, without (the motor zero point remains without consideration).
direction reversal MN-M 20: The positive edge of the MN proximity switch is used directly as MN (the
switches motor zero point remains without consideration).
19
19
20
20
1
1: logic state
126 192-120108N13 Compax3T40_eng 2014-10

MN-M 21,22: MN Initiator = 1 on the negative side

MN initiator (positive part of the travel range) and one range with activated MN
initiator (negative part of the travel range).
is in the negative travel direction.
Without motor zero MN-M 21: The negative edge of the MN proximity switch is taken directly as MN
point, without (the motor zero point remains without consideration).
direction reversal MN-M 22: The positive edge of the MN proximity switch is used directly as MN (the
switches motor zero point remains without consideration).
21
21
22
22
1
1: logic state
With direction reversal switches

Machine zero modes with a home switch which is activated in the middle of the
travel range and can be deactivated to both sides.
The assignment of the direction reversal switches (see on page 141) can be
changed.
Function Reversal via Stromschwelle

If no direction reversal switches are available, the reversal of direction can also be
performed during the machine zero run via the function “direction reversal via
Stromschwelle”.
The drive drives against the mechanical end stop.
When the adjustable Stromschwelle is reached, the drive is decelerated and
changes the direction of movement.
Caution!
Wrong settings can cause hazard for man and machine.
It is therefore essential to respect the following:

 Choose a low machine zero speed.
 Set the machine zero acceleration to a high value, so that the drive changes
direction quickly, the value must, however, not be so high that the limit threshold
is already reached by accelerating or decelerating (without mechanical limitation).
 The mechanical limitation as well as the load drain must be set so that they can
absorb the resulting kinetic energy.
 With a bad feedback signal or high controller gain (fast controller or high inertia or
mass) the machine zero might not be detected.
In this case it is necessary to use the control signal filter (O2100.20) or the
velocity filter (O2100.10).
192-120108N13 Compax3T40_eng 2014-10 127

MN-M 23...26: Direction reversal switches on the positive side

Without motor zero point, with direction reversal switches
24 26
23 25
23 26
24 25
23 25
24 26
1: Logic state of the home switch

2: Logic state of the direction reversal switch
MN-M 27...30: Direction reversal switches on the negative side

Without motor zero point, with direction reversal switches
30 28
29 27
30 27
29 28
29 27
30 28

128 192-120108N13 Compax3T40_eng 2014-10

With motor reference point

Without direction reversal switches ................................................................................ 129
Without direction reversal switches
MN-M 3,4: MN-Initiator = 1 on the positive side

MN initiator (left of the MN initiator) and one range with activated MN initiator (right
of the MN initiator).
is in the positive travel direction.
With motor zero MN-M 3: The 1st motor zero point at MN initiator = "0" is used as MN.
point, without MN-M 4: The 1st motor reference point with MN initiator = "1" is used as the MN.
direction reversal
switches
3
3
4
4
1
2
1: Motor zero point
192-120108N13 Compax3T40_eng 2014-10 129

MN-M 5,6: MN Initiator = 1 on the negative side

travel range is then divided into 2 continuous ranges: one range with deactivated
MN initiator (positive part of the travel range) and one range with activated MN
initiator (negative part of the travel range).
is in the negative travel direction.
With motor zero point, MN-M 5: The 1st motor reference point with MN initiator = "0" is used as the MN.
without direction MN-M 6: The 1st motor reference point with MN initiator = "1" is used as the MN.
reversal switches
5
6
6
1
2
1: Motor zero point

changed.

Stromschwelle”.
Caution!

130 192-120108N13 Compax3T40_eng 2014-10

MN-M 7...10: Direction reversal switches on the positive side

With motor zero Machine zero modes with a home switch which is activated in the middle of the
point, with direction travel range and can be deactivated to both sides.
reversal switches
8 10
7 9
7 10
8 9
7 9
8 10
1
1: Motor zero point

MN-M 11...14: With direction reversal switches on the negative side

With motor zero Machine zero modes with a home switch which is activated in the middle of the
point, with direction travel range and can be deactivated to both sides.
reversal switches
14 12
13 11
14 11
13 12
13 11
14 12
1
1: Motor zero point

192-120108N13 Compax3T40_eng 2014-10 131

Machine zero modes without home switch

Without motor reference point ........................................................................................ 132
With motor reference point............................................................................................. 134
Without motor reference point
MN-M 35: MN (machine zero) at the current position

The current position when the MN run is activated is used as an MN.
35
Please note: Due to encoder noise it is possible that a value <> 0 is set when teaching to 0.
If end limits = 0, an end limit error may occur during homing run.
MN-M 128/129: Stromschwelle while moving to block

Without a MN (machine zero) initiator, an end of travel region (block) is used as
MN (machine zero).
For this the Stromschwelle is evaluated if the drive pushes against the end of the
travel region. When the adjusted current is exceeded, the Homing is set. During the
homing run (MN), the error reaction "following error" is deactivated.
Please observe:
The machine zero offset must be set so that the zero point (reference point) for
positioning lies within the travel range.
MN-M 128: Travel in the positive direction to the end of the travel region
MN-M 129: Travel in the negative direction to the end of the travel region
Caution!

132 192-120108N13 Compax3T40_eng 2014-10

MN-M 17,18: Limit switch as machine zero
17
18
1

Stromschwelle”.
Caution!

192-120108N13 Compax3T40_eng 2014-10 133

With motor reference point

Machine zero only from motor reference ........................................................................ 134
Machine zero only from motor reference
MN-M 33,34: MN at motor zero point

The motor reference point is now evaluated (no MN initiator):
Without home MN-M 33: For a MN run, starting from the current position, the next motor zero
switch point in the negative travel direction is taken as the MN.
MN-M 34: For a MN run, starting from the current position, the next motor zero
point in the positive travel direction is taken as the MN.
33
34
1
1: Motor zero point
MN-M 130, 131: Acquire absolute position via distance coding

Only for motor feedback with distance coding (the absolute position can be
determined via the distance value).
Compax3 determines the absolute position from the distance of two signals and
then stops the movement (does not automatically move to position 0).
1: Signals of the distance coding
134 192-120108N13 Compax3T40_eng 2014-10


changed.

Stromschwelle”.
Caution!

MN-M 1,2: Limit switch as machine zero
End switch on the negative side
2
1: Motor zero point
End switch on the positive side:
2
1: Motor zero point
192-120108N13 Compax3T40_eng 2014-10 135

MN-M 132, 133: Determine absolute position via distance coding with
direction reversal switches
Only for motor feedback with distance coding (the absolute position can be
determined via the distance value).
Compax3 determines the absolute position from the distance of two signals and
then stops the movement (does not automatically move to position 0).
133 133
132 132
1: Signals of the distance coding

2: Logic state of the direction reversal switches
Adjusting the machine zero proximity switch

This is helpful in some cases with homing modes that work with the home switch
and motor reference point.
If the motor reference point happens to coincide with the position of the MN
initiator, there is a possibility that small movements in the motor position will cause
the machine reference point to shift by one motor revolution (to the next motor
reference point).
Via status value “Distance MN sensor - motor zero”, (O1130.13) you can check if
the distance between machine home sensor and motor zero point is too short.
1
- +
1: Motor zero point

A solution to this problem is to move the MN initiator by means of software. This is
done using the value initiator adjustment.
Initiator adjustment
Unit: Range: -180 ... 180 Standard value: 0
Motor angle in degrees
Move the machine reference initiator using software
As an aid you can use the status value “distance MN sensor - motor zero” in the
“Positions” chapter under “status values“
Machine zero speed and acceleration

With these values you can define the motion profile of the machine zero run.
136 192-120108N13 Compax3T40_eng 2014-10

4.1.6.3 Positioning after homing run

The positioning made after the home switch has been found can be switched off.
For this enter in the “machine zero” window in the configuration wizard “no” under
“approach MN point after MN run”.
Example Homing (MN) mode 20 (Home on homing (MN) switch) with T40 by
homing offset 0
With positioning after homing run The motor stands then on 0:
Without positioning after homing run The position reached is not exactly on
0, as the drive brakes when detecting the home and stops:
192-120108N13 Compax3T40_eng 2014-10 137

4.1.6.4 Travel Limit Settings
Software end limits
The error reaction when reaching the software end limits can be set:
Possible settings for the error reaction are:
 No response
 Downramp / stop
 Downramp / stromlos schalten (standard settings)
If "no reaction" was set, no software limits must be entered.
Software end limits:

The travel range is defined via the negative and positive end limits.
0
1 2
1: negative end limit

2: positive end limit
Software end limit in absolute operating mode

The positioning is restricted to the range between the travel limits.
A positioning order aiming at a target outside the travel range is not executed.
1 2
Gearing, ...
V
Jog

The reference is the position reference point that was defined with the machine
reference and the machine reference offset.
Software end limits in reset mode

The reset mode does not support software end limits
Software end limit in continuous mode

Each individual positioning is confined within the travel limits.
A positioning order aiming at a target outside the software end limits is not
executed.
The reference is the respective current position.
138 192-120108N13 Compax3T40_eng 2014-10

Error when A software end limit error is triggered, if the position value exceeds an end limit.
disregarding the For this, the position setpoint value is evaluated in energized state; in currentless
software end limits state, the actual position value is evaluated.
Hysteresis in disabled state:

If the axis stands currentless at an end limit, another error may be reported due to
position jitter after acknowledging the end limit error. To avoid this, a hysteresis
surrounding the end limits was integrated (size corresponds to the size of the
positioning window).
Only if the distance between axis and the end limits was larger than the positioning
window, another end limit error will be detected
Error codes (see on page 541) of the end limit errors:

0x7323 Error when disregarding the positive software end limit.
0x7324 Error when disregarding the negative software end limit.
Activating / deactivating the end limit error:

In the C3 ServoManager under configuration: End limits, the error can be
(de)activated.
For IEC-programmable devices with the "C3_ErrorMask" module.
Behavior after the The end limits are not active after switching on. The end limits do not refer to the
system is turned on position reference point until after a machine reference run.
During homing run the end limits are not monitored.
With a Multiturn encoder or with active Multiturn emulation, the limit is valid
immediately after switching on.
Behavior outside the

travel range 1. If the software end limit errors are deactivated, all movements are
possible.
2. If the software end limit errors are activated:

After disregarding the software end limits, an error is triggered. First of all, this error
must be acknowledged.
Then a direction block is activated: only motion commands in the direction of the
travel range are executed. These will not trigger another error.
Motion commands inciting a movement in the opposite direction of the travel range
are blocked and will trigger another error.
Error Error
1 2
Notes on special feedback systems (Feedback F12)

During automatic commutation, the end limit monitoring is deactivated!
192-120108N13 Compax3T40_eng 2014-10 139

Behavior with software end limits of a referenced axis

Position within Position outside Position outside
target outside target outside and aiming target within and aiming
in the opposite direction in the direction of the
of the travel range travel range
JOG +/-  Positioning up to the end  No positioning  Positioning
limits  No Error
 No Error
MC_MoveAbsolute,  No positioning  No positioning  Positioning
MC_MoveRelative,  Error  Error
MC_MoveAdditive,
C3_MoveSuperImposed
MC_GearIn,  Positioning up to the end  No positioning  No positioning
MC_Cam... limits, from these on  Error  Error
C3_Cam... braking with the error
ramp.
The end limit is
exceeded
 Error
MC_MoveVelocity  Positioning up to the end  No positioning  Positioning
limits  Error
 Error
MC_Home  No monitoring of the software end limits
The software end limit error can be deactivated in general via the configuration or
separately for each end limit via the C3_Error_Mask (see on page 419)module.
Hardware end limits
The error reaction when reaching the hardware end limits can be set:
 No response
 Downramp / stop
Hardware end limits are realized with the aid of end switches.
These are connected to X12/12 (input 5) and X12/13 (input 6) and can be
(de)activated separately in the C3 ServoManager under Configuration: End limits.
After a limit switch has been detected, the drive decelerates with the ramp values
set for errors (error code 0x54A0 at X12/12 active, 0x54A1 at X12/13 active) and
the motor is switched to currentless.
Please make sure that after the detection of the end switch there is enough travel
path left up to the limit stop.
3 4
1: Limit switch E5 (X12/12)

2: Limit switch E6 (X12/13)
3: Limit switch position E5 (X12/12)
4: Limit switch position E6 (X12/13)
The assignment of the limit switches (see on page 141) can be changed!
Please note: The limit switches must be positioned so that they cannot be released towards the
side to be limited.
140 192-120108N13 Compax3T40_eng 2014-10

Limit switch / Limit switches functioning as direction reversal switches during homing run, will not
direction reversal trigger a limit switch error.
switch
Behavior in the case The error can be acknowledged with activated limit switch.
of an active limit The drive can then be moved out of the end switch range with a normal positioning.
switch Both directions of movement are possible.
A direction block can be programmed in the IEC program with the aid of the limit
switch bits or the error message.
(De)activate limit The limit switch error can be deactivated in general via the configuration or
switch errors separately for each limit switch via the C3_Error_Mask module (see on page
419).
Debouncing: Limit switch, machine zero and input 0
A majority gate is used for debouncing.
The signal is sampled every 0.5ms
The debounce time determines the number of scans the majority gate will perform.
If the level of more than half of the signals was changed, the internal status will
change.
The debounce time can be set in the configuration wizard within the range of 0 ...
20ms.
The value 0 deactivates the debouncing.
If the debouncing time is stated, the input I0 can be debounced as well (checkbox
below).
4.1.6.5 Change assignment direction reversal / limit switches

If this function is not activated, the direction reversal / end switches are assigned
as follows:
Direction reversal / limit switch on I5 (X12/12): negative side of the travel range
Direction reversal /limit switch on I6 (X12/13): positive side of the travel range
Change assignment If this function is activated, the direction reversal / limit switches are assigned as
of direction reversal follows:
/ limit switch is Direction reversal / limit switch on I5 (X12/12): positive side of the travel range
activated Direction reversal / limit switch on I6 (X12/13): negative side of the travel range
4.1.6.6 Change initiator logic

The initiator logic of the limit switches (this does also apply for the direction
reversal switches) and the machine zero initiator can be changed separately.
 Limit switch E5 low active
 Limit switch E6 low active
 Home switch E7 low active
In the basic settings the inversion is deactivated, so that the signals are “high
active”.
With this setting the inputs I5 to I7 can even be switched within their logic, if they
are not used as direction reversal/limit switches or machine zero.
 No response
 Downramp / stop
192-120108N13 Compax3T40_eng 2014-10 141

4.1.7. Defining jerk / ramps
4.1.7.1 Ramp upon error and stromlos schalten
Ramp (delay) upon error and "stromlos schalten"
3: Deceleration upon error and upon deactivation of MC_Power (see on page 282)
Please observe:
The configured error ramp is limited. The error ramp will not be smaller than the
deceleration set in the last motion set.
4.1.8. Limit and monitoring settings

Current (Torque) Limit ................................................................................................... 142
Positioning window - Position reached ........................................................................... 142
Following error limit ....................................................................................................... 143
Maximum operating speed............................................................................................. 143
4.1.8.1 Current (Torque) Limit

The current required by the speed controller is limited to the current limit.
4.1.8.2 Positioning window - Position reached

Position reached indicates that the target position is located within the position
window.
In addition to the position window, a position window time is supported. If the actual
position goes inside the position window, the position window time is started. If the
actual position is still inside the position window after the position window time,
"Position reached" is set.
If the actual position leaves the position window within the position window time,
the position window time is started again.
When the actual position leaves the position window with Position reached = "1",
Position reached is immediately reset to "0".
Position monitoring is active even if the position leaves the position window
because of measures taken externally.
1: Position Window
2: In Position Window Time
3: Setpoint position reached (== object 420.6
C3.PositioningAccuracy_PositionReached)
142 192-120108N13 Compax3T40_eng 2014-10

4.1.8.3 Following error limit

The error reaction upon a following error can be set:
 No response
 Downramp / stop
The following error is a dynamic error.

The dynamic difference between the setpoint position and the actual position
during a positioning is called the following error. Do not confuse this with the static
difference which is always 0; the target position is always reached exactly.
The change of position over time can be specified exactly using the parameters
jerk, acceleration and speed. The integrated Setpoint value generator calculates
the course of the target position. Because of the delay in the feedback loop, the
actual position does not follow the target position exactly. This difference is referred
to as the following error.
Disadvantages When working with a number of servo drives (for example Master controller and
caused by a slave controller), following errors lead to problems due to the dynamic position
following error differences, and a large following error can lead to positioning overshoot.
Error message If the following error exceeds the specified following error limit, the “following error
time” then expires. If the following error is even greater than the following error limit
at the end of the following error time, an error is reported.
If the following error falls short of the following error limit, a new following error time
is then started.
Minimizing the The following error can be minimized with the help of the extended (advanced)
following error control parameters, in particular with the feed forward parameters.
1: Following error limit [parameterized unit]

2: Following Error Time
ERROR: Error output of positioning modules
ACKN: Ackn with MC_Reset module
4.1.8.4 Maximum operating speed

The speed limitation is deduced from the maximum operating speed. In order to
ensure control margins, the speed is limited to a higher value.
The speed setpoint value is actively limited to 1.1 times the given value.
If the speed actual value exceeds the preset maximum speed by 21% (=”switching
off limit speed”), error 0x7310 is triggered.
192-120108N13 Compax3T40_eng 2014-10 143

4.1.9. Encoder simulation

You can make use of a permanently integrated encoder simulation feature to make
the actual position value available to additional servo drives or other automation
components.
Position of zero pulse:
Before R09-40 the zero pulse is coupled fixedly to the motor zero point (zero
crossing of the feedback position without absolute reference). This resulted in a
unequivocal and repeatable zero pulse position at all feedback devices (Resolver,
SinCos(R), EnDat, analogue Hallsensors, at C3Fluid: SSI-feedback system,
analogue feedback).
With R09-40 the zero pulse is adjustable in the range of -180...180 (object 0620.6)
- furthermore teaching of the zero pulse for the actual motor position is possible by
writing 0620.7 with -1 or by entering ":TEACH_ENCSIM_ZERO" in the entry field of
the optimization window.
Zero pulse with multiple pole feedback sensor:
With these feedback systems the simulation does not refer to the mechanical motor
position but to the feedback position, this means the correct quantity of A/B pulses
is put out to a motor revolution respectively to a motor pitch, however the zero
pulse output multiply occurs within one motor revolution respectively within one
motor pitch. (Quantity=figure pair of feedback pole=feedback pole figure/2).
At linear feedback systems 50mm correspond to a virtual motor revolution.
Caution!  The encoder simulation (A/B) is not possible at the same time as the encoder
input, der SSI-Schnittstelle resp. the step/direction input.
The same interface is used here.
 A direction reversal configured in the C3 ServoManager does not affect the
encoder simulation.
The direction of rotation of the encoder simulation can, however, be changed via
the feedback direction in the MotorManager.
Simulated Encoder Output Resolution

Unit: Increments per Range: 4 - 16384 Standard value: 1024
revolution / pitch
Any resolution can be set
Limit frequency: 620kHz (track A or B) i.e. , with:
Increments per revolution max. Velocity
1024 36000 rpm

4096 9000 rpm
16384 2250 rpm
4.1.9.1 Encoder bypass with Feedback module F12 (for

direct drives)
If the feedback module F12 is used, the encoder signals can be placed directly
(Bypass) to the encoder interface (X11: same assignment as encoder simulation)
for further use. Sine/Cosine signals are directly converted into encoder signals,
however no additional zero pulse is generated; an available zero pulse will be
transmitted.
The advantage is, that the limit frequency** is 5MHz instead of 620kHz (track A or
B).
The direction of rotation is only defined via the encoder wiring; a direction inversion
configured in the C3 ServoManager does not have any consequence.
** Limit frequency = 1MHz for Compax3M (higher bandwidths on request)
144 192-120108N13 Compax3T40_eng 2014-10

4.1.10. Recipe table

If you would like to work with the Recipe table (see on page 275),(e.g. for
memorizing variable machine data) you can make preassignments in it with
Compax3 ServoManager.
Note:
The recipe array can also be loaded separately into the device (>button on the right
side).
4.1.11. Error response

Under "configuring: Error reaction" you can change the error reaction for individual
errors (see on page 541) (the error no. which can be influenced is displayed).
 No response
 Downramp / stop
Note on Compax3H:
The error reaction upon the "low voltage DC" error (0x3222) is fixed to
"downramp/deenergize" for Compax3H.
192-120108N13 Compax3T40_eng 2014-10 145

4.1.12. Configuration name / comments

Here you can name the current configuration as well as write a comment.
Then you can download the configuration settings or, in T30 or T40 devices,
perform a complete Download (with IEC program and curve).
Caution!
Deactivate the drive before downloading the configuration software!
Please note!
Incorrect configuration settings entail danger when activating the drive.
Therefore take special safety precautions to protect the travel range of
the system.
Mechanical limit values!

Observe the limit values of the mechanical components!
Ignoring the limit values can lead to destruction of the mechanical
components.
146 192-120108N13 Compax3T40_eng 2014-10

Parker EME Configuring the signal source
4.2 Configuring the signal source
Possible master signal sources

Under the tree entry “Configuring the signal source” of the C3 ServoManager you
can configure the signal sources for Master - Slave applications.
The master signal source can then be selected in the IEC program with the aid of
the C3_MasterControl (see on page 352) module via the input “Master”.
The following signal sources are available:
 Physical source
- analog value above +/-10V
- Encoder signal A/B (5V)
- Step/Direction signal (5V)
- SSI - Geber
 Internal virtual master (see on page 281) (IEC program) (only T40)
 HEDA
Note on Compax3 firmware versions < 2.05

The "use as current signal source" CheckBox can be found in the signal source
configuration wizards.
This CheckBox is only relevant for the Compax3 firmware versions <V2.05; it is
used to define the signal source for the CoDeSys program.
Otherwise, the signal source is directly selected at the IEC module.

Signal source of the load feedback system .................................................................... 147
Physical Source ............................................................................................................. 147
Internal virtual master .................................................................................................... 150
Fieldbus master ............................................................................................................. 150
HEDA Master signal source ........................................................................................... 151
4.2.1. Signal source of the load feedback system

Configuration of the load control (see on page 152) (Dual Loop Option)
4.2.2. Physical Source

Encoder A/B 5V, step/direction or SSI feedback as signal source .................................. 147
+/-10V Master speed ..................................................................................................... 149
4.2.2.1 Encoder A/B 5V, step/direction or SSI feedback as

signal source
Caution!  The encoder simulation (A/B) is not possible at the same time as the encoder
input, der SSI-Schnittstelle resp. the step/direction input.
The same interface is used here.
 A direction reversal configured in the C3 ServoManager does not affect the
encoder simulation.
The direction of rotation of the encoder simulation can, however, be changed via
the feedback direction in the MotorManager.
The dimensional reference to the master is established via the following settings:
 Travel path per motor revolution (or pitch for linear motors) master axis numerator
With denominator = 1 the value can be entered directly.
Long-term drift can be avoided by entering non-integral values integrally as a
fraction with numerator and denominator.
 Travel per motor revolution (or pitch of linear motors) master axis denominator
192-120108N13 Compax3T40_eng 2014-10 147

 Increments per revolution of the master axis

If required the direction of rotation of the master axis read in can be changed.
Example: Electronic gearbox with position detection via encoder
Reference to master The reference to the master axis is established via the increments per revolution
axis and the travel path per revolution of the master axis (corresponds to the
circumference of the measuring wheel).
That is:
Master_I Travel Distance per Master Axis revolution
MasterPos = I_M * Travel Distance per Master Axis revolution - (1)
Denominator
MasterPos: Master Position
Master_I: master increments read in
I_M: Increments per revolution of the master axis
External signal Encoder with 1024 increments per master revolution and a circumference of the
source measuring wheel of 40mm.
Settings: Travel path per revolution of the master axis numerator = 40

Travel path per revolution of the master axis denominator = 1
Increments per revolution of the master axis = 1024
Configuration Reference system of Slave axis: Unit of measure [mm]

wizard: Travel path per revolution numerator = 1
Travel path per revolution denominator = 1
Gearing: Gearing numerator = 2

Gearing denominator = 1
This results in the following interrelations:

If the measuring wheel moves by 40mm (1 master revolution), the slave axis will
move by 80mm.
Gearing
numerator
Slave unit = MasterPos * (2)
Gearing
denominator
(1) set into (2) and with numerical values results with 1024 increments read in (=1
Master revolution):
1 40mm 2
Slave unit = 1024 * * * = 80mm
1024 1 1
Master - Position = +40mm => Slave - Position = +80mm
Structure:
Master Z1 MasterPos Gearing Slave - N2 Slave_U Load
numerator
Gearbox
N1 Gearing Units Z2 to motor
denominator
148 192-120108N13 Compax3T40_eng 2014-10

Detailed structure image (see on page 222, see on page 223, see on page 224)
with:
Z1 Travel Distance per Master Axis revolution Entry in the "configuration
MD = * Travel Distance per Master Axis revolution of the signal source"
N1 wizard
- Denominator
Travel path per revolution slave axis

Z2 Entry in the "configuration
numerator
SD = * of the signal source"
Travel path per revolution slave axis
N2 wizard
denominator
MD: Feed of the master axis
SD: Feed of the slave axis
SSI configuration
Notes on the SSI sensor (see on page 149)
 With Multiturn: Number of sensor rotations with absolute reference
 Word length: Gives the telegram length of the sensor.
 Baud rate/step: Max. Transmission rate of the path measurement system.
 Gray code: Sensor gray code coded yes/no (if no binary coded).
Note:
The absolute position is not evaluated!
It is available in the objects 680.24 (load position) and 680.25 (master position)
(C3T30, C3T40).
General requirements for supported SSI feedbacks

 Baud rate: 350k ... 5MBaud
 Word length: 8 ... 32 Bit
 Binary or gray code (start value = 0)
 Initialization time after PowerOn: < 1,1s
 Signal layout:
The most significant bit must be transmitted the first!

Caution! Feedback systems, transmitting data containing error or status bits are
not supported!
 Examples of supported SSI feedback systems:
 IVO / GA241 SSI;
 Thalheim / ATD 6S A 4 Y1;
 Hübner Berlin / AMG75;
 Stegmann / ATM60 & ATM90;
 Inducoder / SingleTurn: EAS57 & Multiturn: EAMS57
4.2.2.2 +/-10V Master speed

Via Analogkanal 0 (X11/9 und X11/11) the speed of the master is read in.
From this value a position is internally derived.
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Signal processing of the analog input 0
B: Continuative structure image (see on page 222)

The reference to the master is established with the velocity at 10V.
Time frame signal source master

Averaging and a following filter (interpolation) can help to avoid steps caused by
discrete signals.
If the external signal is analog, there is no need to enter a value here (Value = 0).
For discrete signals e.g. from a PLC, the scanning time (or cycle time) of the signal
source is entered.
T t
This function is only available if the analog interface +/-10V is used!
4.2.3. Internal virtual master

Only Compax3 T40!
The reset distance of the virtual master is only used for resetting the displayed
value (Object680.2).
The travel per motor revolution of the master axis (numerator/denominator) is set to
1 for a virtual master.
4.2.4. Fieldbus master

Only for Compax3 with the following fieldbusses:
 CanOpen
 Ethernet Powerlink
 EtherCAT
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4.2.5. HEDA Master signal source

Please choose if the virtual master of the HEDA master is transmitted via the
HEDA.
If yes, the input “travel per revolution” is not necessary, as a positioning signal is
already present.
Here the dimensional reference to the master position is established.

Compax3 T30 / T40 Compax3 T11 / T30 / T40
1)
Channel 1 Channel 1 Conﬁguration:
Signal Source:
HEDA-Master
HEDA-Slave
Channel 2
HEDA
Channel 3 2)
Channel 4
The position value are transferred via channel 1.
1) Select the position value to be transferred on the Compax3 HEDA-Master

(Target position value, actual position value, external position value or position
value of the virtual Master)).
2)By specifying the source under "Configuration: Configuration of the signal

source:HEDA", most of the reference values are pre-set.
 Standard source
Position value of the rotative drives
Travel path per motor revolution master axis numerator
With denominator = 1 the value can be entered directly.
Long-term drift can be avoided by entering non-integral values integrally as a
fraction with numerator and denominator.
 Position value of virtual master of Compax3 T40
 Position value of linear motor (mm)
Please enter pitch length in mm
 Position value of linear motor (inch)
Please enter pitch length in inch
 Position value of hydraulic cylinder - linear feedback (metric)
of Compax3F
 Position value of hydraulic cylinder - linear feedback (imperial)
of Compax3F
 Position value of hydraulic cylinder - rotary feedback
of Compax3F
1) Select the position value to be transferred on the Compax3 HEDA-Master

(Target position value, actual position value, external position value or position
value of the virtual Master)).
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4.3 Load control

Configuration of load control .......................................................................................... 153
Error: Position difference between load mounted and motor feedback too high ............. 154
Load control signal image .............................................................................................. 154
The load control can be activated via an additional feedback system for the
acquisition of the actual position of the load.
This helps for example compensate the slip between material and roller or
non-linearities of the mechanic parts.
The load position is set to the demand position.
Please note:
 This function is not available in the C3I10T10 and C3I11T11 devices.
 As a sensor signal, Encoder (see on page 610) with A/B track, Step/Direction
signal or SSI - sensor is supported.
 This controller structure improves the stationary precision at the load after the
decay of all control movements.
An increase of the dynamic precision (faster transient response) can in general
not be reached with the "load control" structure variant.
Notes on the SSI sensor (see on page 149)

 With Multiturn: Number of sensor rotations with absolute reference
 Word length: Gives the telegram length of the sensor.
 Baud rate/step: Max. Transmission rate of the path measurement system.
 Gray code: Sensor gray code coded yes/no (if no binary coded).
Note:
The absolute position is not evaluated!
It is available in the objects 680.24 (load position) and 680.25 (master position)
(C3T30, C3T40).
General requirements for supported SSI feedbacks

 Baud rate: 350k ... 5MBaud
 Word length: 8 ... 32 Bit
 Binary or gray code (start value = 0)
 Initialization time after PowerOn: < 1,1s
 Signal layout:
The most significant bit must be transmitted the first!

Caution! Feedback systems, transmitting data containing error or status bits are
not supported!
 Examples of supported SSI feedback systems:
 IVO / GA241 SSI;
 Thalheim / ATD 6S A 4 Y1;
 Hübner Berlin / AMG75;
 Stegmann / ATM60 & ATM90;
 Inducoder / SingleTurn: EAS57 & Multiturn: EAMS57
152 192-120108N13 Compax3T40_eng 2014-10

Parker EME Load control
4.3.1. Configuration of load control

Configuration in the "configure signal source" wizard under "load
feedback system":
 The selection of the feedback signal activates the acquisition and the signals are
available as status values (see on page 154).
 Rotatory or linear feedback systems are supported.
 Input values for rotatory feedback systems:
 Increments per feedback revolution (physical, without quadruplication)
 Direction reversal
Attention!With wrong sense of direction and active load control, you will get a
positive feedback; the motor will accelerate in an uncontrolled way
Solution: Before the load control is activated, the signals must be checked with
the aid of the status values (see on page 154) and secured against wrong
sense of direction by configuring a "maximum difference to motor position”
(O410.6).
 Load travel per feedback revolution: Is used for establishing the measure
reference between load- and motor position.
The value can be configured very precisely by entering numerator and
denominator.
 Input values for linear feedback system
 Feedback resolution (physical, without quadruplication)
Position difference, which corresponds to a cycle duration of the feedback
signal.
 Direction reversal
Attention!With wrong sense of direction and active load control, you will get a
positive feedback; the motor will accelerate in an uncontrolled way
Solution: Before the load control is activated, the signals must be checked with
the aid of the status values (see on page 154) and secured against wrong
sense of direction by configuring a "maximum difference to motor position”
(O410.6).
 Scaling factor for an additional adaptation of the feedback signal (is normally
not required = 1)
 Maximum difference tot he motor position
Upon exceeding this value, Compax3 will report error 7385hex (see on page
154) (29573dec)
 Intervention limitation (O2201.13 in % of the reference velocity or reference
speed);
only active with position controller I component switched off (O2200.25=0)
You can use this specification in order to limit position correction intervention, i.e.
to limit the velocity correction factor resulting from the position difference. This
can be especially sensible during the acceleration phase, if the material slips
because of too high corrective velocities.
 Activate / Deactivate load control
Attention!
The load control is immediately active after the configuration download!
Please do only activate after checking the load position signal (scaling,
direction, value).
192-120108N13 Compax3T40_eng 2014-10 153

Alignment of the There is an Alignment of the position values of motor and load under the
load control: following operating conditions (Load position = Motor position):
 During a Machine zero run the load control is deactivated until the position value
0 (defined via the machine zero offset) was approached.
Then an alignment of the position values is performed and the load control is
activated.
 After switching on Compax3.
 When writing "1" into object 2201.2
 When activating the load control.
Continuous mode
In continuous operation (object 1111.8 <> 0) an alignment of the position values of
motor and load (load position = motor position) takes place upon each new
positioning command.
Application: e.g. roller feed
4.3.2. Error: Position difference between load mounted and motor

feedback too high
The (unfiltered) position difference between motor feedback and load feedback has
exceeded the "maximum difference to motor position" value (O410.6)
The load position in the position controller is deactivated.
In order to re-activate the function (after eliminating the cause of the error), you
have the following possibilities:
 Activate function in configuration and perform configuration download or enter
True (-1) into O2201.1
 Perform Ackn and/or Homing (function becomes effective after homing run).
Caution!
The position difference is aligned to zero when switched on again, i.e. the original
position reference is lost. Therefore it is advisable to approach the reference point
again in this case (Machine zero run or Homing).
4.3.3. Load control signal image

682.4
680.4 680.6 680.23 681.20 681.21
681.4 T
T
target speed current load

KPx control
motor mechanics
speed
position control
T
2201.12
680.8 off on
680.5 motor +1 -1 load
680.13
position load feedback position
direction inversion
(configuration)
T
680.22 680.20
2201.1 =1 (active)
=0 (inactive)
2201.11
Description of the objects (see on page 515)
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Parker EME Optimization
4.4 Optimization
 Select the entry "Optimization" in the tree.
 Open the optimization window by clicking on the "Optimization Tool" button.
Optimization window ...................................................................................................... 155
Scope ............................................................................................................................ 156
Controller optimization ................................................................................................... 163
Signal filtering with external command value ................................................................. 222
Input simulation ............................................................................................................. 225
Setup mode ................................................................................................................... 226
Load identification.......................................................................................................... 229
Alignment of the analog inputs ....................................................................................... 231
C3 ServoSignalAnalyzer ................................................................................................ 233
ProfileViewer for the optimization of the motion profile ................................................... 267
Turning the motor holding brake on and off.................................................................... 269
4.4.1. Optimization window

Layout and functions of the optimization window
Segmentation Functions (TABs)
Window1:  Oscilloscope (see on page 156)
Window 2:  Optimization: Controller optimization
 D/A Monitor (see on page 540): Output of status values via 2
analog outputs
 Scope Settings
Window 3:  Status Display
 Compax3 Error History
Window 4:  Status values
 Commissioning: Setup mode (see on page 226) with load
identification (see on page 229)
 Parameters for commissioning, test movements (relative &
absolute) and for load identification.
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4.4.2. Scope
The integrated oscilloscope function features a 4-channel oscilloscope for the
display and measurement of signal images (digital and analog) consisting of a
graphic display and a user interface.
Special feature:
In the single mode you can close the ServoManager after the activation of the
measurement and disconnect the PC from Compax3 and upload the measurement
into the ServoManager later.
Monitor information ........................................................................................................ 156
User interface ................................................................................................................ 157
Example: Setting the Oscilloscope................................................................................. 161
4.4.2.1 Monitor information
1: Display of the trigger information

2: Display of the operating mode and the zoom setting
 2a: Green indicates, that a measurement is active (a measurement can be
started or stopped by clicking here).
 2b: Active channel: The active channel can be changed sequentially by clicking
here (only with valid signal source).
3: Trigger point for Single and Normal operating mode
4: Channel information: Type of display and trigger setting; choice of the active
channel
5: X-DIV: X deviation set
6: Single channel sources
156 192-120108N13 Compax3T40_eng 2014-10

Cursor modes -functions

Depending on the operating mode, different cursor functions are available within
the osci monitor.
The functions can be changed sequentially by pressing on the right mouse button.
Cursor Symbol Function
Set Marker 1
the measurement values of the active channel as well as the Y
difference to marker 2 are displayed
Set Marker 2
Delete and hide marker
Move offset of the active channel.

The yellow symbol indicates that the scrolling is active.
Set trigger level and pretrigger
In the ROLL operating mode, marker functions and set trigger level positions are
not available.
4.4.2.2 User interface

Oscilloscope operating mode switch: ............................................................................. 158
Setting the time basis XDIV ........................................................................................... 158
Settings for channels 1..4 .............................................................................................. 159
Trigger settings .............................................................................................................. 160
Special functions ........................................................................................................... 160
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1: Operating mode switch (see on page 158) (Single / Normal / Auto / Roll)
2: Setting the time basis (see on page 158)
3: Starting / Stopping the measurement (prerequisites are valid channel sources
and if necessary valid trigger settings.)
4: Setting channel (see on page 159) (Channels 1 ...4)
5: Special functions (see on page 160) (Color settings; memorizing settings and
measurement values)
6: Loading a measurement from Compax3: in the single mode you can close the
ServoManager after the activation of the measurement and disconnect the PC from
Compax3 and upload the measurement later.
7: Setting triggering (see on page 160)
8: Copy osci display to clipboard
9: Zoom of the osci display (1, 2, 4, 8, 16 fold) with the possibility to shift the zoom
window (<,>)
Oscilloscope operating mode switch:

Oscilloscope operating mode switch:
Selection of the desired operating mode: SINGLE, NORMAL; AUTO and ROLL by
clicking on this button.
Changing the operating mode is also permitted during a measurement. The current
measurement is interrupted and started again with the changed settings.
The following operating modes are possible:
Operating mode Short description
SINGLE Single measurements of 1-4 channels with trigger on a freely
selectable channel
NORMAL Like Single, but after each trigger event, the measurement is
started again.
AUTO No Trigger. Continuous measuring value recording with the
selected scanning time or XDIV setting
ROLL Continuous measuring value recording of 1 .. 4 channels with
selectable scanning time and a memory depth of 2000 measuring
values per channel.
With SINGLE / NORMAL / AUTO, the measurement is made in Compax3 and is
then loaded into the PC and displayed.
With ROLL, the measuring values are loaded into the PC and displayed
continuously.
Setting the time basis XDIV

Setting the time basis XDIV
Depending on the selected operating mode, the time basis can be changed via the
arrow keys.
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For the operating modes SINGLE, NORMAL and AUTO, the following XDIV
time settings are possible:
XDIV Scanning time Samples DIV/TOTAL Measuring time
0.5 ms 125 us 4/40 5 ms
1.0 ms 125 µs 8/80 10 ms
2.0 ms 125 µs 16/160 20 ms
5.0 ms 125 µs 40/400 50 ms
10.0 ms 125 µs 80/800 100 ms
20.0 ms 1 ms 20/200 200 ms
50.0 ms 1 ms 50/500 500 ms
100.0 ms 2 ms 50/500 1s
200.0 ms 2.5 ms 80/800 2s
500.0 ms 10 ms 50/500 5s
1s 12.50 ms 80/800 10 s
2s 25.00 ms 80/800 20 s
5s 62.50 ms 80/800 50s
10s 125.00 ms 80/800 100 s
For the operating ROLL, the following XDIV time settings are possible:
XDIV Scanning time Samples DIV/TOTAL
400 ms 2 ms 200/2000
1s 5 ms 200/2000
2s 10 ms 200/2000
4s 20 ms 200/2000
10 s 50 ms 200/2000
20 s 100 ms 200/2000
40 s 200 ms 200/2000
100 s 500 ms 200/2000
200 s 1s 200/2000
Changing the time basis is also permitted during an OSCI measuring sequence.
This means, however, that the current measurement is interrupted and started
again with the changed settings.
Settings for channels 1..4
1: Select channel color

2: Open menu for channel-specific settings
 Resetting channel CH 1..4: All channel settings are deleted.
Please note: Channels can only be filled with sources one after the other. It is, for
example, not possible to start a measurement which has only a signal source for
channel 2!
 Select channel color:Here you can change the color of the channel.
 Show/hide channel:Hide/show display of the channel.
 Change logic display mask:Mask bits in logic display.
 Autoscale:Calculating YDIV and offset: The program calculates the best settings
for YDIV and channel offset in order to display the complete signal values
optimally.
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3: Set signal source with object name, number and if necessary unit
 Define source: Draw the desired status object with the mouse (drag & drop) from
the "Status value" window (right at the bottom) into this area.
Multiple oscilloscope in Compax3M: select device in addition to the object.
4: Set Channel offset to 0
5: Select channel display (GND, DC, AC, DIG)
 DC:Display of the measurement values with constant component
 AC:Display of the measurement values without constant component
 DIG:Display of the individual bits of an INT signal source.
The displayed bits can be defined via the logic display mask.
 GND:A straight line is drawn on the zero line.
6: Set Y-amplification (YDIV)

Change of the Y amplification YDIV in the stages 1, 2, 5 over all decades.
Arrow upwards increases YDIV, arrow downwards diminishes YDIV.
The standard value is 1 per DIV.
The measurement value of the channel at the cursor cross is displayed.
Trigger settings
Select trigger channel: Buttons C1, C2, C3, C4

Select trigger mode: DC, AC, DG
Selecting the trigger edge: Rising_/ or falling \\_.
The pretrigger as well as the trigger level are set by clicking on the trigger cursor
( ) directly in the OSCI display.
Special functions
Menu with special oscilloscope functions such as memorizing or loading settings.

Functions:
 Select background color:Adapt background color to personal requirements.
 Select grid color:Adapt grid color to personal requirements.
 Memorize OSCI settings in file: The settings can be memorized in a file on any
drive. The file ending is *.OSC.
 The format corresponds to an INI file and is presented in the appendix.
 Open OSCI settings from file:Loading a memorized set of settings. The file
ending is *.OSC.
 Memorizing OSCI settings in the project:Up to four sets of OSCI settings can
be memorized in the current C3 ServoManager project. .
 Open OSCI settings from project:If settings were memorized in the project,
they can be read in again.
 Memorize OSCI measurement in file:Corresponds to memorizing the setting;
the measurement values of the measurement are stored in addition. Thus it is
possible to memorize and read measurements completely with settings. The file
ending is *.OSM.
 Export measure samples to csv file:e.g. for reading into Excel.
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4.4.2.3 Example: Setting the Oscilloscope
SINGLE measurement with 2 channels and logic trigger on digital

inputs
The order of the steps is not mandatory, but provides a help for better
understanding.
As a rule, all settings can be changed during a measurement. This will lead to an
automatic interruption of the current measurement and to a re-start of the
measurement with the new settings:
Assumption: A test movement in the commissioning mode is active.
1.) Select OSCI operating mode
2.) Select Time basis XDIV
3.) Select channel 1 signal source digital inputs 120.2 from status tree with
the aid of Drag & Drop
4.) Select channel 2 (filtered actual speed) via "Drag and drop" from the
status tree
5.) Set trigger to channel 1 and DG.

Input of the mask in HEX
Triggering a rising edge to input I1.
BIT 0 (value 1) = I0
BIT 1 (value 2) = I1
BIT 2 (value 4) = I2 etc.
Trigger to input I0 I1 I2 I3 I4 I5 I6 I7
Trigger mask in hex 1 2 4 8 10 20 40 80
The masks can also be combined so that the trigger is only active, if several inputs
are active. Example: Triggering to I2 and I5 and I6 -> 4h + 20h + 40h = 64h
The mask for input I1 is in this case 2.
Select rising edge.
NOTE: If the trigger mask DG (digital) is selected for a channel, the display mode
of the trigger channel is automatically set to DIG display.
6.) Start measurement
7.) Set pretrigger in the OSCI window

Note: There is no level for the DIG trigger. The the event limit determines the mask
If a trigger event occurs, the measurement values are captured until the
measurement is completed.
Afterwards, the measurement values are read from the Compax3 and displayed.
The display mask of trigger channel 1 was not yet limited, therefore it shows all 16
bit tracks (b0...b15). In order to limit it to 8 bit tracks, you must call up the menu for
channel 1 via [CH1] and select "change logic of display mask [H].
Limit the display mask to 8 bit tracks with Mask FFh.
In the display the bit tracks b0 to b7 are now shown:
Example: Only b0 and b1 are to be displayed: Set display mask to 03
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162 192-120108N13 Compax3T40_eng 2014-10

4.4.3. Controller optimization

Introduction.................................................................................................................... 163
Configuration ................................................................................................................. 165
Automatic controller design............................................................................................ 181
Setup and optimization of the control ............................................................................. 193
4.4.3.1 Introduction
Basic structure of the control with Compax3 .................................................................. 163
Proceeding during configuration, setup and optimization ............................................... 163
Software for supporting the configuration, setup and optimization.................................. 164
Basic structure of the control with Compax3

Compax3 is an intelligent servo drive for different applications and dynamic motion
sequences.
Basic structure of a control with the Compax3e servo drive
As shown in the above figure, the programmed motion sequences are generated
by the internal Compax3 setpoint generator. The setpoint position as well as the
other status values of the feedforward control are made available to the position
controller in order to keep the following error as small as possible.
For the control, Compax3 requires on the one hand the actual position and on the
other hand the commutation position, which represents the reference between the
mechanic feedback position and the motor magnet.
Proceeding during configuration, setup and optimization
Application and drive specific properties

Motor parameters (disturbance variables)
Automatic Setup
Stable Optimized
Configuration controller design +
control control
Optimization
Application
Application requirements (targets) e.g.
parameters
-Minimized following error during the entire
positioning (e.g. cam operation)
-Minimized following error in the target position
-Overshoot free access to target position
-Fast settling to target position
-...
192-120108N13 Compax3T40_eng 2014-10 163

Overview of the processes during configuration and setup of the Compax3

drive system
The controller presettings are calculated from the configured motor and application
parameters with the aid of the automatic controller design which runs in the
background.
These controller presettings provide normally for a stable and robust control. Due
to continually rising application requirements, this presetting is often not sufficient,
so that further optimization of the control behavior is necessary.
This manual describes the setup and optimization procedure for Compax3.
In order to better understand the correlations and interactions, we will describe in
the first step the individual correlations and physical values, that are required for
the configuration and the prespecification of the control loops. In the following, the
manual will then describe the function blocks for the optimization implemented in
the servo drive as well as the setup tool.
Software for supporting the configuration, setup and optimization
The entry of the motor and application parameters is made with the C3
ServoManager2 (C3Mgr2.exe):
The configuration requires:
Application parameters
The wizard guided entry of the application parameters takes place directly in the
ServoManager.
Carefully verify the entries and default values in order to detect entry errors
in the run-up.
After the configuration download, the drive can be set up and be optimized if needs
be. For this, please open the optimization window of the ServoManager:
164 192-120108N13 Compax3T40_eng 2014-10

4.4.3.2 Configuration
Control path ................................................................................................................... 165
Motor parameters relevant for the control ...................................................................... 166
Mass inertia ................................................................................................................... 166
Nominal point data......................................................................................................... 166
Saturation values ........................................................................................................... 167
Quality of different feedback systems ............................................................................ 168
Typical problems of a non optimized control .................................................................. 169
Feedback error compensation ....................................................................................... 170
Commutation settings .................................................................................................... 171
I²t - monitoring of the motor............................................................................................ 171
Relevant application parameters.................................................................................... 174
Asynchronous Motors .................................................................................................... 177
Control path
For the motors, the knowledge of the mathematical model is a prerequisite.
Mathematically idealized model of the control path:
motor ML application
U MA - MB a n
KT
I 1
-
T=L/R 1/ R 2π
Jges
JMot JExt
UEMK
KT 2π
U: Control voltage
UEMK: electromagnetically generated voltage in the motor
T: electric time constant of the motor winding
L: Winding Inductance
R: Winding Resistance
MA: Drive torque of the motor
ML: Load torque
MB: Acceleration torque
I: Actual current r.m.s. (torque-producing)
KT: Torque constant
Jmot: Motor mass moment of inertia
Jext: external mass moment of inertia
Jtotal: Total mass moment of inertia
a: Acceleration
n: Velocity
Explanation:
The motor is controlled by the servo drive with control voltage U. During motion of
the motor, an internal back e.m.f. UEMC is induced. This antagonizes the control
voltage and is therefore deduced in the motor model. The difference is available for
the acceleration of the motor.
The first order delay component represents the delaying property of the motor
winding with the time constant T=L/R. According to Ohm's Law, a current I=U/R
results.
The drive torque of the motor is calculated by multiplying the current with the motor
torque constant KT. This is antagonized by the load torque of the machine.
The remaining acceleration torque accelerates the motor.
The resulting acceleration depends on the total mass moment of inertia (= motor +
load moment of inertia).
The integration of the acceleration (sum of the acceleration over time) results in the
velocity of the motor, which influences the amplitude of the induced EMC voltage.
192-120108N13 Compax3T40_eng 2014-10 165

Motor parameters relevant for the control

All motor parameters relevant for the control quality will be explained below.
Wizard guided entry of the motor parameters in the MotorManager.
Electromotoric countercheck EMC

A non-energized synchronous motor induces an induction voltage, the so-called
EMC voltage during an armature movement.
The EMC constant (motor EMC) states the value of the induced voltage subject to
velocity.
The EMC constant corresponds to the motor torque constant KT, which represents
the correlation between the torque-producing current and the drive torque, however
in a different unit.
The EMC voltage antagonizes the control voltage of the servo drive.
As the control voltage of the drive is not unlimited, it must be taken into
consideration that the drive may approach the voltage limit at high velocities and
therefore high EMC voltages.
The EMC constant is important with respect to the velocity control design.
The motor EMC is entered in the "motor characteristics" wizard window of the
MotorManager. You may choose between different units. Please note the
information on the motor type specification plate.
Mass inertia
The mass moment of inertia (moment of inertia) is also an important motor
parameter for the design of the velocity control loop. For the velocity control design,
this parameter is effective in correlation with the external mass moment of inertia of
the load. The external load is entered in the C3 ServoManager. With the "load
identification" function of the C3 ServoManager, the mass inertia can be
determined, if it is not yet known.
Nominal point data

Motor characteristic line of a synchronous servo motor (torque via velocity) .................. 167
Calculation of the reference current from the characteristic line. .................................... 167
The nominal point data can be found in the velocity characteristic line of the motor.
The prespecified nominal point can be changed in the 2nd wizard page of the C3
ServoManager configuration with the aid of "activate change of reference point" via
the reference velocity and the reference current.
166 192-120108N13 Compax3T40_eng 2014-10

Motor characteristic line of a synchronous servo motor (torque via velocity)

SMH 60 30 1.4 ...2ID...4: 3000rpm at 400VAC
3.5
[Nm]
3 S3 20%65°C DT
2
2.5
2
S3 50%65°C DT
S1 105°C DT
1.5
S1 65°C DT
1
1
0.5
0
0 500 1000 1500 2000 2500 3000
[1/min]
1: Nominal point
2: Forbidden range
Calculation of the reference current from the characteristic line.
or for linear motors
In the MotorManager, a motor can be defined for different operating modes (230V,
400V and 480V) without having to create several entities.
Additional parameters of a motor are:
 Standstill current [mArms]
 Pulse current [in % of the nominal current]
The pulse current can be provided by the Compax3 for the duration of the pulse
current time (as far as the device current permits). The thermal pulse load of the
motor rises due to the pulse current. This pulse load is monitored by the i²t
monitoring in the Compax3.
Saturation values
A motor may show a saturation behavior at higher currents due to iron saturation.
This results in the reduction of the winding inductance at higher currents. As the
inductance value of the winding enters directly into the P term of the current
controller, the saturation at higher currents will result in too fast current control.
This behavior can be counter steered with saturation values (entered in the "motor
characteristics" wizard window of the MotorManager).
192-120108N13 Compax3T40_eng 2014-10 167

Consideration of the saturation values with the aid of a linear characteristic

line
L 100% Entered value of the nominal inductance

Lmin Minimum winding inductance [% of the nominal inductance].
Value to which the inductance of the winding sinks at Ifinal.
lbeg End of the saturation [% of the nominal inductance].
lfinal Beginning of the saturation [% of the nominal inductance].
For the determination of the saturation values please see chapter 0 (see on page
222, see on page 223, see on page 224).
Quality of different feedback systems

Interface ........................................................................................................................ 168
Resolution ..................................................................................................................... 168
Noise ............................................................................................................................. 169
The controller quality depends to a great extent on the signal quality of the position
feedback and its signal acquisition. It is therefore important to select a suitable
measurement system for the individual application.
In the rotary range, a resolver is mostly used for reasons of economics. The single
pole resolver provides one sine/cosine period per revolution. In very demanding
applications, the performance of the resolver is often not satisfactory, so that a
SinCos feedback with a higher resolution must be used. The typical resolution of a
SinCos feedback is 1024 periods/revolution.
Other position feedbacks which are often used in the linear range, differ with
respect to the reading principle. High-quality optical position measuring systems
offer the highest resolution and accuracy.
Interface
An additional distinctive feature is the electric interface between servo drive and
feedback. Analog sine/cosine signals or digital encoder signals (RS422 standard)
are used to transmit the incremental position information. Due to the high
interpolation rate (approx. 14 bits) of the Compax3 servo controller, an analog
sine/cosine signal is in most cases preferable to digital encoder signals.
Resolution
The less precise the resolution, the higher the quantization noise on the velocity
signal.
168 192-120108N13 Compax3T40_eng 2014-10

Noise
The feedbacks have different levels of analog noise, which have a negative effect
on the control. The noise can be dampened with the aid of filters in the actual value
acquisition, however at the cost of the controller bandwidth.
For comparison, the noise of the actual velocity value at standstill of two different
feedbacks is displayed.
Resolver: 1 period/revolution SinCos: 1024periods/revolution
Typical problems of a non optimized control

Too high overshoot on velocity ...................................................................................... 169
Increased following error ............................................................................................... 169
Instable behavior ........................................................................................................... 170
Upon first setup of a control, the controller is normally not able to meet all
application requirements at once. Typical problems may be:
Too high overshoot on velocity
1) Actual velocity
2) Setpoint velocity
Increased following error
Increased following error when approaching the target position or the reduction of
the following error takes too long
192-120108N13 Compax3T40_eng 2014-10 169

1) Following error
3) Actual velocity
Instable behavior
2) Actual velocity
3) Following error
Feedback error compensation

Feedbacks with sine/cosine tracks may have different errors. The feedback error
compensation supported by Compax3 eliminates offset and gain errors on both
tracks online.
The feedback error compensation is activated in the MotorManager:

"Feedback system" wizard under "feedback error compensation".
Without compensation With compensation
top: Actual current value Scale:

bottom: Actual speed value Current = 50mA/Div
Speed = 0.2mm/s/Div
Time = 3.8ms/Div
Type of motor: Parker LMDT 1200-1 ironless linear motor

Linear encoder: Renishaw RGH 24B with 20µm resolution
Servo drive: Compax3
In order to accept the changes in the MotorManager in the project, the individual
configuration pages must be clicked through. In order to make the changes made
in the MotorManager effective in the device, the configuration download in the
C3Manager must be executed.
In the event of formal errors, the feedback error compensation may however be
disadvantageous; therefore it is switched off as a default.
170 192-120108N13 Compax3T40_eng 2014-10

Commutation settings
Another prerequisite for a good control quality is the correct motor commutation of
the motor. This comprises several settings.
 The commutation angle describes the relation of the feedback position with
respect to the motor pole pair position.
 Commutation direction reversal describes the correlation between the position of
the feedback and the commutation position.
 Feedback direction reversal describes the direction correlation between the
defined positive direction of the drive and the feedback position.
 If the commutation direction does not match the defined direction of rotation, this
will result in a subsequent error with the error message "following error" or "motor
stalled".
 A faulty commutation angle value results in increased current and following error.
Therefore the voltage limit is reached faster. If the value of the commutation error
exceeds 90°, the motor will spin due to the positive feedback effect.
These 3 settings can be automatically acquired with the MotorManager.
With the aid of the automatic commutation acquisition, the commutation settings
can be determined and plausibility checks can be made. You will be guided
through the individual wizard pages and the MotorManager will issue a prompt to
define the positive direction of the drive. The wizard pages supporting the user
depend on the feedback system as well as on the motor type (linear or rotary).
This function is activated in the MotorManager:

"Feedback system" wizard under "automatic commutation settings".
Note The motor should be operated without load (=> no load torque e.g. weight force of
a z-axis).
Additional setting of the commutation for incremental feedback:
This function is activated in the MotorManager:
"Feedback system" wizard under "feedback resolution".
In the event of an incremental feedback (Sine/cosine or RS424 encoder) the
commutation must be defined in addition, in order to find the position reference to
the winding.
 Automatic commutation with movement
 Commutation with digital hall sensors
I²t - monitoring of the motor

Motor continuous usage: ............................................................................................... 171
Motor pulse usage ......................................................................................................... 173
Reference point 2: Increased torque thanks to additional cooling................................... 173
With the I²t - monitoring, the motor is protected against overload or thermal
destruction. For this, knowledge on the load bearing capacity of the motor is
required. This information van be taken from the manufacturer documentation
(motor parameters). Compax3 monitored:
 Continuous usage of the motor (motor usage)
 Pulse usage of the motor (motor pulse usage)
Motor continuous usage:

This kind of monitoring watches over the continually deliverable torque (continuous
current). This continuous current depends on the velocity and is acquired online
from the linearization of the motor characteristic line.
192-120108N13 Compax3T40_eng 2014-10 171

Linearized motor characteristic lien for different operating points
Nominal point
3.5
[A]
3 S3 20%65°C DT
2
2.5
2
S3 50%65°C DT
S1 105°C DT
I0 S1 65°C DT
1
IN
1
0.5
0
0 500 1000 1500 2000 2500 3000
[1/min] nN
I0: Standstill current
1: Nominal point
IN: Nominal current (defined in the MotorManager)
nN: Nominal Speed
2: Forbidden range
For monitoring the continuous utilization, the linearized characteristic line between
I0 und IN / nN is used as a threshold.
Reference point 1: higher velocity at reduced torque

3.5
[A]
3 S3 20%65°C DT
2
2.5
2
S3 50%65°C DT
S1 105°C DT
I0 S1 65°C DT
I1 1
rp1
0.5
0
0 500 1000 1500 2000 2500 3000
[1/min] n1
172 192-120108N13 Compax3T40_eng 2014-10


rp1: Reference point 1 (defined in the C3 ServoManager)
I1: Reference current to reference point 1
n1: Reference velocity to reference point 1
2: Forbidden range
For monitoring the continuous usage, the linearized characteristic line between I0
and I1 / n1 is used as a threshold.
Motor pulse usage
This monitoring watches over the duration of the defined pulse current. The
permitted duration for the pulse current is defined by the pulse current time
constant.
If the acceleration current exceeds the nominal current for a defined time t1, a
sufficient break time t2 is required. If the current remains in average above the
nominal current, the "monitoring motor pulse usage" [0x7180] error is triggered.
Upon a high pulse usage, the error will occur almost without delay.
Current cycle:
Reference point 2: Increased torque thanks to additional cooling

3.5
[A]
3 S3 20%65°C DT
2
2.5
rp2
I2 2
S3 50%65°C DT
S1 105°C DT
I0 S1 65°C DT
0.5
0
0 500 1000 1500 2000 2500 3000
[1/min] n2
192-120108N13 Compax3T40_eng 2014-10 173


1: Nominal point
rp2: Reference point 2 (defined in the C3 ServoManager)
I2: Reference current to reference point 2
n2: Reference velocity to reference point 2
2: Forbidden range
In order to monitor the continuous usage, the velocity-idenpendent current limit I2 is
used.
If a r.m.s. current over the valid straight flows continually in the motor, the I²t
monitoring will issue the "effective motor current monitoring" error message
[0x5F48]. The period of time until the error occurs depends on the thermal time
constant of the motor defined in the motor parameters. The electronic temperature
monitoring simulates approximately the temperature behavior of the motor. By
defining a reference point different from the motor nominal data, the I²t monitoring
of the motor can be adapted to changed thermal ambient conditions (e.g. air
stream caused by a ventilator fan).
Relevant application parameters

Switching frequency of the motor current / motor reference point................................... 174
External Moment of Inertia ............................................................................................. 177
Limit and monitoring settings ......................................................................................... 177
Application parameters relevant for the control (C3 ServoManager)
Compax3 is configured with the aid of the C3 ServoManager. Here you can make
application dependant settings. Among these are also parameters, that are
relevant for the control. They will be explained below.
Switching frequency of the motor current / motor reference point

Following Error (Position Error) ...................................................................................... 174
Reduction of the current ripple ....................................................................................... 175
Motor parameters .......................................................................................................... 175
Changing the switching frequency and the reference point ............................................ 176
The higher the switching frequency, the better the quality of the current control. The
higher switching frequency reduces the dead time of the current control path as
well as the current control noise. Furthermore, thermal losses caused by current
ripple are reduced at higher switching frequencies.
Following Error (Position Error)

Too high following error (position error) during a movement
1) Setpoint Position
2) Position deviation = following error
3) Effective position
174 192-120108N13 Compax3T40_eng 2014-10

Reduction of the current ripple

Reduction of the current ripple of the phase current due to the higher switching
frequency
1: Current ripple
2: Phase current
3: PWM control
Hint Please note that a high switching frequency means also high switching losses in
the power output stage of the controller. For this reason, you must consider
derated data of the servo controller for the drive design with higher switching
frequencies.
Motor parameters
Parker Motor.................................................................................................................. 175
Other motor ................................................................................................................... 176
Motor types supported ................................................................................................... 176
Parker Motor
If a Parker motor is used for the application, the parameters are already contained
in the installed software. You can just select one of the available motors from the
first configuration page.
192-120108N13 Compax3T40_eng 2014-10 175

Other motor
When using a motor from a different manufacturer, you will have to enter the
relevant data. This process is supported by the MotorManager software tool, which
can be called up from the ServoManager:
After double clicking on "new", the individual motor parameters are queried by the
MotorManager.
Be careful to respect the units of the individual parameters when making

your entries!
Furthermore you can use the MotorManager to edit motors already available. In
addition, the import and export of motor data entities in XML format is supported.
Motor types supported

Compax3 supports the following motor types:
 Permanently excited synchronous rotary motors
 Permanently excited synchronous linear motors
 Asynchronous rotary motors
In general, rotary and linear motors do have the same signal flow chart. The
difference consists solely in the basic physical values, which refer to circular
movement resp. the linear motion laws of physics. For this, the following analogies
can be established:
Rotary drive [unit] Linear drive [unit]
Travel x [rev] Path x [m]
Mass moment of inertia J [kgm²] Mass m [kg]
Velocity n [rps] Velocity v [m/s]
Angular velocity ω [1/s]
Torque constant Kt [Nm/Arms] Force constant KF [N/Arms]
Torque M [Nm] Force F [N]
For reasons of clarity, we will in the following refer to the rotary motor, which
will represent both drive types.
An asynchronous motor is set up in the same way as a synchronous motor. The
only differences are varying motor parameters.
Changing the switching frequency and the reference point

The switching frequency and the reference point are activated in the
ServoManager: "Motor reference point" wizard
A reference point differing from the nominal data may also be entered on the
wizard page displayed above.
Please activate "activate changing the reference point", then you may enter the
new reference velocity as well as the new reference current.
Motor reference point

A reference point differing from the nominal data may also be entered on the
wizard page displayed above.
Please activate "activate changing the reference point", then you may enter the
new reference velocity as well as the new reference current.
176 192-120108N13 Compax3T40_eng 2014-10

External Moment of Inertia

The external mass moment of inertia is set against the moment of inertia of the
rotor to form the total moment of inertia. The total moment of inertia is used for the
controller design.
If you do not know or have only a vague knowledge of the external mass moment
of inertia, the mass inertia can be determined via the load identification.
Configuration of an unknown external mass inertia:

The load identification is activated in the ServoManager:
Wizard "External moment of inertia" “unknown: Using default values”.
The correct values can be determined later via the load identification!
Limit and monitoring settings
On the "limit and monitoring settings" wizard page, you can set among others the
current and velocity limits in % of the nominal values. The nominal values are
motor parameters resulting from the motor library or from shifting the reference
point on the "motor reference point" wizard page.
Limit and Monitoring Settings wizard page:
1: Current (Torque) Limit

2: Velocity limit
Asynchronous Motors
Type specification plate data ......................................................................................... 177
Replacement switching diagram - data for a phase........................................................ 178
Slip Frequency .............................................................................................................. 178
Saturation behavior ....................................................................................................... 179
Cut-off frequency for the field weakening range ............................................................. 179
Rotor time constant ....................................................................................................... 179
Determination of the commutation settings .................................................................... 180
Asynchronous motors: Extension of the controller structure ........................................... 180
Type specification plate data

On the 2nd. wizard page of the Compax3 MotorManager, the type specification
plate data must be entered.
192-120108N13 Compax3T40_eng 2014-10 177

Replacement switching diagram - data for a phase

This data can be obtained from the manufacturer or be determined by
measurement.
U1: Nominal phase voltage

R1: Stator leg resistance
X1σ=2πfL1σ: Leak reactance (for f=50Hz mains frequency)
L1σ: Stator leakage inductance
Xh=2πfLH: Main reactance (for f=50Hz mains frequency)
LΗ: Main field inductance
X2σ'=2πfL2σ: Referenced leak reactance (for f=50Hz mains frequency)
L2σ: Rotor leak inductance
R2': Referenced carriage resistance
ImR: Magnetizing current
Slip Frequency
The slip frequency is stated in [Hz electrical] or in [‰] and can be determined as
follows
f2[mHz (electrical)]= (fs*60-Nnominal*P/2)/N
Whereas P = value before the point of the term è

fs: Synchronous nominal frequency (dimensioning base)
NNom: Nominal speed in rpm
f2: Slip frequency in mHz (electrical)
178 192-120108N13 Compax3T40_eng 2014-10

Saturation behavior
The saturation of the main field inductance can be considered with the help of the
following characteristic.
Activate the "consider saturation values" checkbox.
LHmax/% v. LH
Pa[%]
(Lhmax)
z.B 160%
1)
100%
Pb[%] (Sbeg) ImR/ % v. ImRN

z.B. 70% 100% (Send)
1) Nominal point in the basic speed range

Lhmax: max. main field inductance
Sbeg: Beginning of Saturation
Send: End of Saturation
Cut-off frequency for the field weakening range

The statement of the cut-off speed defines the beginning of the field weakening
operation. From the cut-off speed on, the magnetization current and thus the force
constant of the motor are reduced inversely proportional to the speed; the motor is
operated in the field weakening range. In the field weakening range, the shaft
power produced remains constant.
12000 60
10000 50
8000 40
Moment M/Nm
Power P/W
6000 30
4000 20
2000
1 2 10
0 0
0 1000 2000 3000 4000
n/rpm P=f(n)
M=f(n)
1: Basic speed range
2: Field weakening range
Rotor time constant
If the value of the rotor time constant is not known, it can be approximated
automatically.
192-120108N13 Compax3T40_eng 2014-10 179

Determination of the commutation settings

On the last wizard page of the Compax3 MotorManager, the commutation settings
(feedback direction reversal and commutation direction reversal) can be
determined automatically.
Asynchronous motors: Extension of the controller structure
Structure of the magnetization current controller and determination of the

slip frequency:
2240.2 Demand current r.m.s.
(torque-producing)
Kp, TN
KM -
iq
2 jρ
e
2240.4/7 Attenuation/bandwidth
/3
magnetization current controller
Kp, TN Kp, TN
- -
2240.11
Reference speed
TR
2240.2 Demand value magnetization
current controller
imR id
Acquisition of actual value

Magnetization current controller
iq
688.19 Actual current r.m.s.
(torque producing)
2240.10
Rotor time constant TR
n
ρ
2240.9
Slip frequency ε
ω2
1
imR
TR ε2
Determination of the slip frequency
180 192-120108N13 Compax3T40_eng 2014-10

4.4.3.3 Automatic controller design

Dynamics of a control .................................................................................................... 181
Cascade control............................................................................................................. 187
Rigidity .......................................................................................................................... 188
Automated controller design .......................................................................................... 190
Controller coefficients .................................................................................................... 192
Dynamics of a control
Structure of a control ..................................................................................................... 181
Oscillating plant ............................................................................................................. 181
Stability, attenuation ...................................................................................................... 181
Velocity, bandwidth ........................................................................................................ 183
Setpoint and disturbance behavior of a control loop....................................................... 185
Response ...................................................................................................................... 187
Limitation behavior ........................................................................................................ 187
A change in the input value of a dynamic transmission element causes a change of
its output value. The change of the output value is however not immediately
effective, but takes a certain time, the transient response. The course of the
transient response is characteristic for certain kinds of transmission behavior.
For this reason, a complete description of the transmission properties of a control
comprises the stationary behavior (all setpoint, actual and disturbance values in
settled state), as well as the dynamic behavior.
Structure of a control
Z
W Controller - Regelstrecke X
- Regler Control Process
X
Regler / Control
Parameter
The basic task of a control is the generation and maintaining of a desired state or
sequence in spite of interfering disturbances. It is essential that the effects of the
disturbances are balanced with the correct force and at the correct time. In the
above figure, the setpoint value W represents the desired state and the disturbance
value Z represents the interfering disturbance. The actual value X represents the
generated and maintained state.
Oscillating plant
Oscillating control paths are control paths that respond with attenuated or
unattenuated oscillation to an abrupt change in the setpoint value. Part of this class
are for instance:
 Linear actuators with toothed belts, as a toothed belt represents an elasticity.
 A mechanic shaft with an external mass moment of inertia, as the shaft
represents an elasticity due to its torsional properties.
In general this kind of elasticity is due to a high ratio between JLoad/JMotor, as the
shaft is normally not designed for this high external load and which may lead to a
considerable distortion.
Stability, attenuation
Stability problem in the high-frequency range: ............................................................... 182
Stability problem in the low-frequency range: ................................................................. 182
In general, two stability problems may occur in a servo drive control:
192-120108N13 Compax3T40_eng 2014-10 181

Stability problem in the high-frequency range:

The "control structure" figure shows that the reverse effect in the control loop
(negative feedback) is a prerequisite for the functioning of a control system. Due to
the delay in signal transmission, the effect of the negative feedback is diminished
or even compensated. The reason is that the corrective measures of the controller
are also delayed in the event of delayed signal transmission. This results in a
typical oscillating course of the control variable. In the worst case, the deviation of
the control variable and the effect of the corrective measures get in phase, if the
delays reach a defined value. The negative feedback passes into positive
feedback. If the product of the gain factors of all control loop components is higher
than 1, the oscillation amplitude will continually rise.
In this case the control loop is unstable. In the total gain of 1 the oscillation keeps
its amplitude and the control loop is within the limits of stability. The transient
response can be characterized by the attenuation and the transient time (velocity).
Step response of a stable controller and of a controller approaching the stability limit
Rugged Rugged Stability limit

Well attenuated Poorly attenuated not attenuated
W: Setpoint value
x: Actual value
Stability problem in the low-frequency range:

In this case the controller was set for a very inert control path, while the actual
control path is much more dynamic. The controller reacts to a disturbance variable
with a much too strong corrective measure so that the disturbance variable is
overcompensated and even an increasing oscillation may be the result. In this case
the mechanic system of the control path may be destroyed.
Velocity jerk response (low-frequency stability limit)
1: Setpoint speed value

2: Actual speed value
182 192-120108N13 Compax3T40_eng 2014-10

Velocity, bandwidth
P-TE - Symbol ............................................................................................................... 183
Step response of a delay component ............................................................................. 183
Approximation of a well-attenuated control loop ............................................................. 183
Frequency response of the P-TE component (value and phase) .................................... 185
A well attenuated control loop can, under certain conditions, be approximated in
order to simplify the controller design with a first order delay component (P-TE
component) with the replacement time constant TE and the total gain Kp. A P-TE
component represents a first order delay component and is a simple dynamic basic
component.
P-TE - Symbol
Step response of a delay component

Step response of a first order delay component with Kp=1 and TE=2.0s
1.2
T
X ( t , TE)
S
1
0.8 P-TE
0.6
0.4
TE
0.2
0
0 1 2 3 4 5 6 7 t
T: Tangent
S: Input jerk
P-TE: Output value of the P-TE component
TE: Time constant of the P-TE component
The definition of the delay time constant is displayed in the above figure. The time
of intersection of the tangent and the jerk function itself is by definition the delay
time constant (called filter time constant for filters) of a P-TE component. At this
point in time the value of the step response is approx. 63% of the final value. In
practice the step response corresponds, for instance, to the voltage charge curve
of a capacitor.
Approximation of a well-attenuated control loop

The approximation of a well-attenuated control loop is based on the sameness of
the control surface of the ideal first order delay component (P-T1 component) and
the approximated system (P-TE component).
The control surface is a measure for the velocity of a system and is defined in the
following figure. If the surface of the approximated system corresponds to the
surface of the ideal system, the approximated system can be described, up to a
certain frequency, with the transmission function of the P-T1 component.
192-120108N13 Compax3T40_eng 2014-10 183

Determination of the control surface from the transmission behavior of a P-TE component.
1: Control surface of the approximated system 2: Control surface of the ideal P-T1 component
The velocity of a dynamic system can also be described in the frequency range. In
the frequency range, the system behavior is analyzed to sinusoidal inputs signals
of different frequencies (frequency response).
Input and output signals of a dynamic transmission component at a defined
frequency f=f1
The bode diagram represents the behavior of a dynamic system (in our case of the
P-TE component) against the input signal frequency with respect to amplitude and
phase.
184 192-120108N13 Compax3T40_eng 2014-10

Frequency response of the P-TE component (value and phase)
Cut-off frequency
is the frequency where the input signal is attenuated by 3dB (-3dB attenuation).
The phase shift between the output and the input is -45° at this frequency.
Precisely this cut-off frequency is called the bandwidth of a control loop.
Setpoint and disturbance behavior of a control loop
Demand behavior .......................................................................................................... 185
Disturbance behavior ..................................................................................................... 186
Test functions ................................................................................................................ 186
Characteristics of a control loop setpoint response ........................................................ 186
The setpoint behavior is the behavior of the control loop for the setpoint variable W.
We assume that the disturbance variable Z=0.
The disturbance behavior describes the behavior of the control loop for disturbance
variable Z. In this case, we assume, in analogy to the setpoint behavior, that the
setpoint variable W=0.
Demand behavior
Z=0!
W X
Controller Control Process
Regler Regelstrecke
-
W: Setpoint value
X: Actual value
Z: Disturbance variable
192-120108N13 Compax3T40_eng 2014-10 185

Disturbance behavior
Z X
Control Process
Regelstrecke
-
Controller W=0!
Regler
W: Setpoint value
X: Actual value
Z: Disturbance variable
In order to examine the disturbance and setpoint behavior, the Compax3 setup
software offers 4 jerk functions.
Test functions
Test functions for the analysis of disturbance and setpoint behavior of the control
loops
1: 4 jerk functions
The properties of the setpoint behavior of the velocity controller can be acquired
from the velocity jerk response.
Characteristics of a control loop setpoint response
186 192-120108N13 Compax3T40_eng 2014-10

TSr: Response time. (Time elapsing until the control variable reaches one of the
+-5% tolerance limits for the first time)
TS: Settling time. (Time elapsing until the control variable ultimately enters the
+-5% range)
Vm: maximum overshoot width
1 Tolerance range +-5%
2 Setpoint value
Response
The response of the controller is the behavior of the actual value with respect to the
calculated profile of the setpoint generator. The kinematic status variables, speed,
acceleration and jerk are fed into the cascade as feedforward signals. The
feedforward signals work with calculated factors and contribute to an improved
contour constancy due to the minimization of the following error.
Compax3 servo controller structure

Setpoint generator
r
jw
t
aw Feed Foward Control
nw Vorsteuerung
iw , j w
a aw , n w
t
t
v xw P-Position Controller PID-Speed Controller PI-Current Controller

P-Positionsregler PID-Drehzahlregler PI-Stromregler
s
i
t
Signal Acquistion
Setpoint position
n Signalerfassung
Speed
x
Acceleration
Deceleration
Acceleration jerk
Deceleration jerk
x: Position actual value n: Actual (rotational) speed i: Actual current

value
xw: Setpoint position value nw: Velocity setpoint value jw: Jerk setpoint value
aw: Acceleration setpoint value
Limitation behavior
Each control variable is limited by the control (actuating) element. If the control
variable demanded by the controller is within the linear range (without limitation),
the control loop shows the behavior defined by the design. If the controller
demands however a higher control variable than permitted by the limitation, the
control variable is limited and the controller slows down.
Hint You should therefore make sure that the control variable (output) of the controller
does not remain within the limitation or only for a very short time.
Cascade control
Structure of a cascade control ....................................................................................... 188
Cascade structure of Compax3...................................................................................... 188
In drive technology, a cascading structure with several controllers (normally 3) is
often used. This improves the control behavior. For this, additional sensors must be
fixed within the control path. You will get the structure of a cascade control.
192-120108N13 Compax3T40_eng 2014-10 187

Structure of a cascade control

Z
W2 Controller1 W1 Controller 2 Process Part 1 X1 Process Part 2 X2
Regler 1 Regler 2 Streckenteil 1 Steckenteil 2
Process / Prozess
W1 Setpoint value (setpoint) for the superposed controller 2
W2 Setpoint value (setpoint) for the subordinate controller 1
X2: Actual variable (actual value) for controller 2
X1: Actual variable (actual value) for controller 1
The cascade control offers the following advantages:
 Disturbances occurring within the control path, can be compensated in the
subordinate control loop. Therefore they must not pass through the entire control
path and are thus compensated earlier.
 The delay times within the path can be reduced for the superposed controller.
 The limitation of the intermediate variables can be made by the control variable
limitation of the superposed controller rather easily .
 The effects of the non-linearity for the superposed controllers can be reduced by
the subordinate control loops.
In the Compax3 servo drive, a triple cascade control is implemented with the
following controllers - position controller, velocity controller and current controller.
Cascade structure of Compax3
Xw Position Controller Speed Controller Current Controller

Motor
Positionsregler Drehzahlregelung Stromregelung
X n i
Rigidity
Static stiffness ............................................................................................................... 188
Dynamic stiffness .......................................................................................................... 189
Correlation between the terms introduced...................................................................... 190
The stiffness of a drive represents an important characteristic. The faster the
disturbance variable can be compensated in the velocity control path and the
smaller the oscillation caused, the higher the stiffness of the drive. With regard to
stiffness, we distinguish static and dynamic stiffness.
Static stiffness
The static stiffness of a direct drive is comparable with the spring rate D of a
mechanical spring, and indicates the excursion of the spring in the event of a
constant interference force. It is the ratio between the constant force FDmax of the
motor and a position difference. Due to the I term in the velocity controller, the
static stiffness is therefore infinitely high in theory, as the I term is integrated until
the control difference vanishes. In a digital control the static stiffness is above all
limited by the finite resolution of the position signal (the error must be at least one
quantization step, so that it can be detected by the reading system) and by
numerical resolution. Additional effects are for instance mechanical stiffness of the
mechanic components in the control path (e.g. load connection, guiding system) as
well as measurement errors of the measurement system.
188 192-120108N13 Compax3T40_eng 2014-10

Dynamic stiffness
Traditional generation of a disturbance torque/force jerk ................................................ 189
Electronic simulation of a disturbance torque jerk with the disturbance current jerk........ 189
Disturbance jerk response ............................................................................................. 190
The dynamic stiffness is described by the ratio between the change in load torque
or in load force and the resulting position deviation (following error):
The higher this ratio (=dynamic stiffness), the higher the necessary change is load
torque in order to generate a defined following error.
The dynamic stiffness can be acquired from the disturbance jerk response.
Traditional generation of a disturbance torque/force jerk
FG FM
In settled state of the control, the motor force FM corresponds exactly to the load
force FG=m×g.
If the cord is cut through, the load force is eliminated abruptly and the controller
must first of all settle to the new situation.
In order to simulate this load jerk electronically, a disturbance current jerk is fed to
the Compax3 as a variable proportional to the disturbance torque at the velocity
controller output.
Electronic simulation of a disturbance torque jerk with the disturbance

current jerk
1 1
KT
Xw Position Controller Speed Controller Current Controller

Motor
Positionsregler Drehzahlregelung Stromregelung
X n i
1:
Feeding in of a disturbance current jerk, which corresponds to a disturbance torque jerk.
The maximum amplitude an the settling time of the following error decline with
rising dynamic stiffness. The settling behavior of the following error is furthermore a
measure for the attenuation and the bandwidth of the control.
192-120108N13 Compax3T40_eng 2014-10 189

Disturbance jerk response
1: Compensation torque of the controller

2: Simulated disturbance torque
3: Actual speed
4: Following error
5: Settling Time
Correlation between the terms introduced

The introduced terms:
 Stability
 Damping
 Velocity
 Bandwidth
 Setpoint and disturbance behavior
 Control variable limitation
 Replacement time constant
 Rigidity
are related as follows:
 A well-attenuated control features a stable control behavior.
 The velocity of a control loop is a measure for the reaction rate of the controller to
the disturbance variable (disturbance behavior) as well as to the setpoint variable
(setpoint behavior).
 The faster the control, the higher its bandwidth.
 The term replacement time constant is an approximation and is only valid in a
defined scope1. In this scope, the control is always stable and well-attenuated.
 If the controller does not work in the linear range, but the control variable of the
controller is within the limitation, the control slows down and the control difference
rises.
 The stiffness represents the bandwidth of the velocity control. The higher the
stiffness value of the velocity control, the higher the bandwidth of the velocity
controller and the stiffer the drive.
Automated controller design

Step response of the velocity loop depending on the optimization parameter "attenuation" and
"stiffness"....................................................................................................................... 191
The controller design takes place after the configuration immediately before the
configuration download into the device. The controller coefficients are preassigned
according to the design method of cross-ratios so that a stable control is achieved.
The automatic, robust controller design calculates the P and I terms of the
individual controllers (current, velocity, position) on the basis of the configured
motor and application parameters.
190 192-120108N13 Compax3T40_eng 2014-10

Please observe: Faulty motor and application parameters may lead under certain circumstances to
instable controllers.
The controller parameters are not directly available for the optimization. Instead,
they can be changed with the aid of the following optimization parameters:
Optimization of the current controller  Current loop bandwidth in %
dynamics:  "Attenuation of current loop" in %
Optimization of the velocity loop  "Stiffness" in %
dynamics:  "Attenuation" in %
 Velocity loop - "D" term in %
The bandwidth parameter states the actually effective % of the calculated default
velocity. The default bandwidth of the current controller is fixed to approx.
fGR=531Hz. In reverse this signifies that each motor delivers the same step
response. The prerequisite is, of course, that you keep out of the control signal
limitation (voltage limitation). The attenuation characterizes the controller's
tendency to oscillate with respect to an excitation signal (see below). The stiffness
(of the velocity loop, corresponds to the bandwidth of the current loop) describes
the velocity of the velocity loop (see below).
Step response of the velocity loop depending on the optimization parameter

"attenuation" and "stiffness"
Attenuation = 100% Stiffness = 100%
1: Setpoint value
2: Actual value (stiffness = 200%)
5: Actual value (attenuation = 500%)
The D-term parameter ( of the velocity loop) activates existing control oscillations of
drives with elastic coupling (e.g. toothed belt drives). The D-term is not
automatically designed and must therefore be set manually.
The position controller is automatically adapted depending on the stiffness of the
velocity loop.
192-120108N13 Compax3T40_eng 2014-10 191

Controller coefficients
Velocity Loop P Term .................................................................................................... 192
D-term of the KD velocity controller ............................................................................... 192
P-term KV position loop ................................................................................................. 192
Dependence of the controller coefficients from the optimization objects
The controller coefficients are influenced by the optimization objects such as
"stiffness" and/or "attenuation". The dependency is displayed below.
I-term KI in the velocity loop
TEGD: The replacement time constant of the closed velocity loop.

St Rigidity
Velocity Loop P Term

TN: The mechanical integration time constant of the motor.
fLIN(): Linear function (straight) between attenuation and KPV
Tm Moment of Inertia
St Rigidity
Dp Damping
D-term of the KD velocity controller
KD_100% The defined 100% coefficient

:
Dterm D term
P-term KV position loop

TX: The position integration time constant of the motor.
St Rigidity
Dp Damping
fLIN(): Linear function (straight) between 1/attenuation and KV
192 192-120108N13 Compax3T40_eng 2014-10

4.4.3.4 Setup and optimization of the control

For the setup and optimization of the control loops, the optimization window is
available.
The Compax3 control functionality is divided into 2 sections, standard and
advanced; the advanced functionality does however incorporate the entire standard
functionality. The switching can be made in the optimization window.
Switching between standard and advanced
Note: The listed objects are not up to date!

Standard........................................................................................................................ 193
Advanced ...................................................................................................................... 199
Commissioning window ................................................................................................. 214
Proceeding during controller optimization ...................................................................... 216
Standard
Standard cascade structure ........................................................................................... 194
Standard optimization parameters ................................................................................. 195
Control signal limitations ................................................................................................ 195
Feedforward channels ................................................................................................... 197
Control signal filter / filter of actual acceleration value .................................................... 199
192-120108N13 Compax3T40_eng 2014-10 193

Standard cascade structure

Manual or external Manual or external
2210.14 demant Velocity 2220.2 demant current
a‘
2010.5
t
688.13
2210 Demand jerk 2220.3
.19
a
2010.4
t
682.4
Demand acceleration
v
682.7 Acceleration feedforward
681.4
t Demand Velocity Velocity controller 688.14
2100.2 Stiffness Feedforwaed
Velocity 2010.2 current & jerk Current Controller
2100.3 Damping 2220.1
feedforward 2100.8 Bandwidth
2100.4 Inertia
681.11 688.18 2100.9 Attenuation 688.11
2010.1 Demand
demand Voltage control
680.4 681.10 velocity Kp,TN
2210.5 KI 2100.20 T current r.m.s. signal
p Demand position
t KPx KPv
2210.4
Demand
680.6 2210.1 velocity 681.6 Synchronous Asynchronous 688.19 2220.4
Following error Control deviation Actual current r.m.s.
KPv
Motor Motor (torque producing)
of velocity
1 imR*
T 2100.7
680.8 682.6
Actual Value Monitoring

Position_Actual Actual acceleration
T
Istwerterfassung
(units) actual filtered
2210.2 velocity
680.5
Position_Actual 2100.20
(incr)
682.5 Actual acceleration
unfiltered
681.9
actual velocity 2100.21
filtered 681.5 Actual velocity
unfiltered

The framed objects are coupling objects for Compax3 - Compax3 coupling via
HEDA.
Please note that the corresponding controller components must be deactivated for
the coupling:
When coupling the velocity (O2219.14): O100.1 or O100.2=1063 (see object
description)
When coupling via current (O2220.2): O100.1 or O100.2=1031 (see object
description)
O100.1 is only copied into O100.2 upon activation of the controller, the controller
can be influenced in active state with the aid of O100.2.
Changing objects O100.1 and O100.2 may cause the control to be deactivated!
Protect dangerous areas!
External command value

During external setpoint specification, please respect the structure images for
electronic cams or gearboxes for signal filtering with external setpoint
specification (see on page 222) !
Complementary structure for load control (see on page 154).
Compax3 controller structures (see on page 194, see on page 199, see on page
201).
194 192-120108N13 Compax3T40_eng 2014-10

Symbol Description
Kp Proportional term
signal is multiplied with Kp
T1 First order delay component (P-T1 term)
KI Integration block (I-block)
Kp,TN PI-block
Limitation block (signal limitation)
f Notch filter (band elimination filter)

B
d
Addition block
blue Optimization objects
description (simple pointer line)
red Status objects
description (pointer line with vertical stroke)
Standard optimization parameters
The above figure shows the parameters for the standard group. With the aid of
these parameters, you can optimize the standard cascade structure.
Control signal limitations

Limitation of the setpoint velocity ................................................................................... 196
Limitation of the setpoint current .................................................................................... 196
Limitation of the control voltage ..................................................................................... 196
The cascade structure shows that a limitation block is available in the control signal
sector of each controller. The limitations of the position and velocity loops are
calculated from the set limitations in the configuration and the motor parameters of
the selected motor.
192-120108N13 Compax3T40_eng 2014-10 195

Limitation of the setpoint velocity

Limitation of the setpoint velocity in the control signal sector of the position loop:
This limitation value is calculated from the maximum mechanical velocity of the
motor and the set value in the configuration in % of the nominal velocity. The
smaller of the two values is used for the limitation.
Example
MotorManager
maximum mechanical velocity of the motor: nmax=3100rpm
Rated speed of the motor: nN=2500rpm
C3 ServoManager
Max. Operating velocity: nbmax=200% of nN
=> 5000rpm
Velocity limitation value = 3100rpm

MIN(nmax, nbmax*nN/100)=
Limitation of the setpoint current

Limitation of the setpoint current in the control signal sector of the velocity loop:
This limitation value is calculated from the device peak current, the pulse current of
the motor and the set value in the configuration in % of the nominal current. The
smaller of the three values is used for the current limitation.
Example
Device
C3 S063 V2 F10 T30 M00 device peak current: IGmax=12.6Arms
MotorManager
Rated current of the motor: IN=5.5Arms
Peak Current: Iimp=300 %IN
=> 16.5Arms
C3 ServoManager
Current (Torque) Limit: Ibmax=200% of IN
=> 11Arms
Current limitation value = 11Arms

MIN(IGmax, Iimp*IN/100, Ibmax*IN/100)=
Limitation of the control voltage

Limitation of the control voltage in the control signal sector of the current loop:
This limitation is fixed and cannot be influenced by the user. The limitation value
depends on the DC voltage of the device.
Please note! In the event of highly dynamic motion cycles it is necessary to make sure not to
enter the control signal limitation (or, if so only for a very short time) as the drive is
then not in the position to follow the set dynamics due to the slow drive physics and
the limited control signal range.
196 192-120108N13 Compax3T40_eng 2014-10

Feedforward channels
Influence of the feedforward measures .......................................................................... 197
Motion cycle without feedforward control ....................................................................... 197
Motion cycle with feedforward measures ....................................................................... 198
The feedforward channels are used for the specific influence of the guiding
behavior of a control. The calculated and evaluated status variables are coupled
into the corresponding places within the controller cascade. In practice, the
feedforward control offers the following advantages:
 Minimal following error
 Improves the transient response
 Gives greater dynamic range with lower maximum current
The Compax3 servo drive disposes of four feedforward measures (see in the
standard cascade structure):
 Velocity Feed Forward
 Acceleration feed-forward
 Current feed-forward
 Jerk feed-forward
The above order represents at the same time the effectiveness of the individual
feedforward measures. The influence of the jerk feedforward may be, depending
on the profile and the motor, negligibly small.
Please note! But the principle of feedforward control fails in limiting the motor current or the
motor speed during the acceleration phase!
Influence of the feedforward measures

Following error minimization by feedforward control / course of the setpoint
generator signals
xws: Position setpoint value of the setpoint generator

nws: Velocity setpoint - setpoint generator
aws: Acceleration setpoint value setpoint generator
rws: Jerk setpoint value setpoint generator
Motion cycle without feedforward control
192-120108N13 Compax3T40_eng 2014-10 197

Motion cycle with feedforward measures
Velocity feedforward
Velocity and acceleration feedforward
Velocity, acceleration and current feedforward
Velocity, acceleration , current and jerk feedforward
198 192-120108N13 Compax3T40_eng 2014-10

Control signal filter / filter of actual acceleration value

The filters in the Compax3 firmware are implemented as P-T1 filters (first order
deceleration component see chapter 0 (see on page 222, see on page 223, see on
page 224).)
The two "control signal filter (velocity loop)" (Object 2100.20) and "acceleration
value filter" (Object 2100.21) are set in µs. The value range for these filters is 63...
8 300 000µs. Depending on the replacement time constant of the closed velocity
loop, we can make recommendations for the setting.
Setting recommendation for "control signal filter (velocity loop)":

O2100.20 ≤ O2210.17[µs] / 5 for O2210.17 ≥ 10 000µs
O2100.20 ≤ O2210.17[µs] / 3 - 1333µs for 4000µs ≤ O2210.17 < 10 000µs
O2210.20 = 0 for O2210.17 < 4000µs

O2210.17: Object replacement time constant of the velocity loop in µs.
O2100.20: Object control signal filter (velocity loop) in µs.
Please note! It cannot be excluded that the filter may have a destabilizing effect even though set
according to the above recommendation. In this case the filter time constant must
be reduced.
Advanced
Extended cascade (structure variant 1).......................................................................... 199
Extended cascade structure (structure variant 2 with disturbance variable observer) ..... 201
Optimization parameter Advanced ................................................................................. 202
EMC feedforward........................................................................................................... 203
Motor parameters .......................................................................................................... 203
Filter "External Command Interface" .............................................................................. 203
Voltage decoupling ........................................................................................................ 203
Load control................................................................................................................... 203
Luenberg observer ........................................................................................................ 203
Commutation settings of the automatic commutation ..................................................... 206
Notch filter ..................................................................................................................... 210
Saturation behavior ....................................................................................................... 212
Control measures for drives involving friction ................................................................. 213
Extended cascade (structure variant 1)

a‘
2010.5
t
688.13
.19
a
2010.4
t
682.4
Demand acceleration
v
682.7 Acceleration feedforward
681.4
Velocity 2010.2 current & jerk Current Controller
2100.3 Damping 2220.1 2010
feedforward 2150.1-.6 2100.8 Bandwidth
2100.4 Inertia .20
681.11 688.18 NotchFilter 2100.9 Attenuation 688.11
2010.1 Demand 2100.10 T Voltage control
demand Kp,TN
680.4 681.10 velocity
2210.5 KI fB
2100.20 T current r.m.s. signal
p Demand position fB
d
t KPx KPv d
f
2210.4 f
Demand
KPv
of velocity
1 imR*
T T 2100.7
680.8 682.6
Position_Actual Actual acceleration Beobachter

T T Observer
Istwerterfassung

2210.2 velocity
680.5
Position_Actual 2100.20 2100.10 2120.1>125 µs
(incr)
2120.1<125 µs unfiltered
681.9
actual velocity 2100.21 2100.11 2120.1>125 µs
192-120108N13 Compax3T40_eng 2014-10 199


HEDA.
the coupling:
description)
description)

201).
Symbol Description
Kp,TN PI-block

B
d
Addition block
red Status objects
200 192-120108N13 Compax3T40_eng 2014-10

Extended cascade structure (structure variant 2 with disturbance variable

observer)
a‘
2010.5
t
688.13
.19
a
2010.4
t
682.4
Demand acceleration
v
681.4
Velocity current & jerk Current Controller
2100.3 Damping 2220.1 2010
feedforward 2150.1-.6 2100.8 Bandwidth
2100.4 Inertia .20
681.11 688.18 NotchFilter 2100.9 Attenuation 688.11
2010.1 Demand 2100.10 T Voltage control
demand Kp,TN
680.4 681.10 velocity fB
2100.20 T current r.m.s. signal
p Demand position fB
d
t KPx KPv d
f
2210.4 f
Demand
KPv
of velocity
T
1 imR*
T T 2100.7
680.8 682.6 2120.5

Position_Actual Actual acceleration Beobachter
T T Observer
Istwerterfassung
2210.2 velocity
680.5
Position_Actual 2100.20 2100.10 2120.1>125 µs
(incr)
681.9
actual velocity 2100.21 2100.11 2120.1>125 µs

HEDA.
the coupling:
description)
description)

201).
192-120108N13 Compax3T40_eng 2014-10 201

Symbol Description
Kp,TN PI-block

B
d
Addition block
red Status objects
Optimization parameter Advanced
202 192-120108N13 Compax3T40_eng 2014-10

Current controller
The current controller works with a P component in the feedback; this results in
very low overshoot.
With the aid of object 2220.27 (Bit 0 = “1”), it is possible to switch to P component
in the forward path.
EMC feedforward
The EMC feedforward compensates the electromagnetically generated back e.m.f.
of the motor UEMC. This signal is proportional to velocity and is deduced from the
setpoint velocity of the setpoint generator.
Motor parameters
Furthermore you can re-optimize the motor parameters inductance, resistance and
EMC (or Kt) in the advanced mode. The LdLqRatio parameter is the ratio of the
smallest and the highest inductance value of the winding, measured during one
motor revolution.
Filter "External Command Interface"
Signal filtering with external command value (see on page 222, see on page
223, see on page 224)
Voltage decoupling
In the current control path there is a velocity and current proportional voltage
disturbance variable, which must be compensated by the current loop. Due to
limited controller dynamics, this disturbance variable can not always be entirely
compensated by the current loop. The influence of this disturbance variable may
however be minimized by activating the voltage decoupling.
Load control
If a second position feedback is available for the acquisition of the load position,
the load control can be activated.
For more detailed information on the load control see device help for
T30/T40 devices in the setup chapter Compax3\\load control.
Luenberg observer
Introduction observer ..................................................................................................... 203
Signal flow chart Luenberg observer .............................................................................. 204
Introduction observer
A high signal quality of the actual signal value is of high significance in the control
of the motor velocity n or the motor speed v. By means of oversampling and
transmitter error compensation, a high-quality position signal can be produced for
speed determination. As a rule the motor speed is determined by numeric
differentiation of the motor position. In this case the quantization noise QvD of the
digital speed signal depends on the quantisation Qx of the position signal and the
sampling time TAR of the digital control loop:
Quantization speed signal QvD
192-120108N13 Compax3T40_eng 2014-10 203

The quantisation of the speed signal is inversely proportional to the sampling time
TAR. Hence the demands for the lowest possible sampling time and the minimum
quantization noise oppose each other in the determination of speed by numeric
differentiation. The noise superimposed by the digital speed signal may be reduced
by the low-pass filter, however this is always at the cost of the stability margin of
the digital control loop. An alternative method is to determine the speed by
integration of the acceleration. The dependence of the quantisation noise QvD of
the digital speed signal on the quantisation Qx of the position signal and the
sampling time TAR of the digital control loop is shown by the following correlation.
Quantization speed signal QvI
The observer technology offers the advantage that the velocity can be calculated
with the aid of integration. The idea of the observer principle is to connect a
mathematical model of the control path parallel to the section observed and with
the same transfer behavior. In this case, the controller also has the intermediate
variables (state variables) of the control path available. However in the presence of
model deviations (in structure or parameters), different signal values occur
between the model and the control path. For this reason, the technique cannot be
employed in this way in practice. However, the model contains the measurable
output signal of the control section as a redundant quantity. By comparing the two
variables, a tracking control can be used to adapt the model state variables to the
state variables of the control path. As the model deviations have become minor in
this case due to the simple mechanical drive train, the observer now has an
efficient aid available to increase the signal quality. Increase in signal quality in the
observer means that the noise components decrease, and the dynamics improve
as the observed speed is feedforward-controlled undelayed by the current and is
not just calculated delayed from the position signal using simple differentiation.
Signal flow chart Luenberg observer

ML
Regelstrecke / controlled system
I(t) MA - MB 1 a(t) n(t) x(t)

KT 2π ⋅ J G e s
Beobachter / observer
Nachführregler / tracking controller
h0
-
h1 h2
-MLB
1
KT 2π ⋅ J G e s a (t)
nB(t)
B xB(t)
Modell / model
204 192-120108N13 Compax3T40_eng 2014-10

I(t): Torque-forming motor current

Kt: Torque constant
ML(t): External disturbance torque
Jtotal: Total mass moment of inertia (motor + load)
a(t): Acceleration
n(t): Velocity
x(t): Position
Index b: Observed signal quantities
h0…h2: Controller coefficients of the tracking controller
The figure shows that an additional I element is connected for interference

compensation to correct external disturbance forces in the observer. Therefore the
speed and the acceleration observed are statically precise. The same applies to
the output of the integrator in the tracking controller which is a statically precise
determination of an external interference torque ML. For this reason, the I
component is not required in the speed controller for some applications, and the
entire control can be set up as a state cascade control. This increases the
bandwidth of the speed and position controlled member by factor 2. For this reason
this increases the interference stiffness of the drive and the following error behavior
improve.
Note The use of the speed monitor with interference compensation (=> no I-term in the
speed control) needs an active position control. Without this superimposed control
the axis drifts, even with a speed setpoint value of 0!
Here the quantization of the speed signal is proportional to the sampling time TAR,
hence there is no longer any conflict between the requirements for minimum
sampling time and minimum quantization noise. For the integral velocity
acquisition, the motor current variable, which is proportional to the acceleration,
can be used. This approach is particularly advantageous in direct drive
engineering; due to the absence of a mechanical drive train, there is a very good
match between the mathematical model of the observer and the real physical
control section in the fundamental frequency range of the control. This applies in
particular to direct drive systems with fixed moving masses, as otherwise the
mismatch between model and the physical drive system has a destabilizing
influence on the transfer behavior of the speed control. A remedy is to increase the
observer dynamics, however this increases the noise of the observed signals.
Therefore in the case of variable moving masses a compromise has to be found
between the dynamics of the observer and the maximum stiffness of the drive.
192-120108N13 Compax3T40_eng 2014-10 205

Commutation settings of the automatic commutation

Display of the commutation error in incremental feedback systems ............................... 206
Prerequisites for the automatic commutation ................................................................. 207
Course of the automatic commutation function .............................................................. 207
Other ............................................................................................................................. 210
Permanently excited synchronous motors can only be operated with an absolute
feedback system (at least for electric motor rotation). The reason is the necessary
commutation information (position assignment of the magnet field generated by the
motor to the motor magnets). Without the commutation information, there is
inevitably the possibility of a positive feedback between position and velocity loop
("running away" of the motor) or of bad motor efficiency (reduced force constant).
Digital hall sensors are the most common aid to prevent this. Due to the
mechanical design it is however impossible or very hard to integrate these sensors
in some motors. The Compax3 automatic commutation function (in the F12 direct
drive device) described below allows however to use incremental feedback
systems without hall sensors.
The functionality implemented in the servo drive establishes the necessary
reference between motor stator field and permanent magnetic field without
additional aids.
The incremental feedback devices are, in contrast to absolute feedback devices,
able to acquire relative distances. It is true that any position can be approached
from a starting point, there would be however no consistency between these
position values and a fixed virtual absolute system. Other than with an absolute
feedback, the correlation between rotor and stator is lost if the position acquisition
is switched off ("the position acquisition zero is lost"). When switching on, the
actual position is randomly taken as zero. A commutation angle error can therefore
absolutely not be excluded. Even a system adjusted before, would show an
angular error, for example after a current failure. Therefore the angular error
occurring randomly upon each new switching on must always be compensated in
an incremental system.
Display of the commutation error in incremental feedback systems

∆ε = 0 (adjusted) ∆ε ≠ 0 (not adjusted)
Rotor was turned in switched-off state.
206 192-120108N13 Compax3T40_eng 2014-10

blue: ideal position

red: unfavorable position
PM: magnetic flux of the permanent magnets
iS: Current pointer
∆ε Commutation error
I’: ideal position
iq: Quadrature current (torque forming)
The automatic commutation function (AK) in Compax3 uses the position dependent
sinusoidal torque course of permanently excited AC synchronous motors. If the
motor windings are energized with DC voltage for instance, the motor develops a
sinusoidal torque depending on the rotor position, which can be used for example
by evaluating the resulting movement in order to determine the correct motor
commutation.
The automatic commutation with movement in the Compax3 has the following
properties:
 The motor movement occurring during the commutation is, with correctly
parameterized function, very small. It is typically in the range smaller than 10°
electrical revolution (=10°/motor poles physically or 10°/360°*motor pitch for a
linear motor).
 The precision of the acquired commutation angle depends on the external
conditions, however lies normally in the range better than 5° electrical revolution.
 The time until the termination of the commutation acquisition is typically below
10s.
Prerequisites for the automatic commutation

 A movement of the motor must be permitted. The movement actually occurring
depends greatly on the motor (friction conditions) itself, as well as on the load
moved (inertia).
 Applications requiring a motor brake, i.e. applications where active load torques
are applied at the motor (e.g. vertical actuator, slope) are not permitted.
 Due to the function principle, high static friction or load torques will deteriorate the
result of automatic commutation.
 When performing automatic commutation, a motion of at least ±180° must be
electrically possible (no mechanic limitation)! The implemented automatic
commutation function with motion cannot be used for applications with limit or
reversal switches.
 With the exception of missing commutation information, the controller/motor
combination is configured and ready for operation (parameters correctly assigned
for the drive/linear motor). Feedback direction and effective direction of the field
of rotation must be identical (automatic commutation performed in the
MotorManager).
Course of the automatic commutation function

If "automatic commutation with movement" is selected as source of commutation,
the automatic commutation sequence runs once if the power stage is enabled. If
the power stage is enabled or disabled afterwards, the automatic commutation will
be left out. If an error occurs during the execution, the automatic commutation is
aborted. A new "attempt to enable" the power stage will trigger a new automatic
commutation.
192-120108N13 Compax3T40_eng 2014-10 207

Function principle of the automatic commutation with movement

The implemented method with movement is based on the sinusoidal dependence
of the provided motor currents and the resulting movement on the effective
commutation error. The acceleration performed by the motor (-> movement) in the
event of constantly maintained current is a measure for the actual change in the
commutation angle in the way that it disappears upon a change of exactly 0° and
is, for other angles, the acceleration and its direction in dependence of the sign and
value of the angular error (-180° .. 180°).
Acceleration torque depending on the commutation error.
∆ε: Commutation error

Μ/Μµαξ normalized acceleration torque
Searching for the torque maxima (phase 1)
If the sum of the actual and the estimated error angle is ±90° electrically, the motor
torque is maximal for the provided current. If you gradually increase the provided
motor current, the motor will, from a defined value on, surpass its friction torque
and exceed a motion threshold defined by O2190.3:
Illustration of the first phase
1): Motion threshold O2190.3

2): Waiting for standstill
O2190.2: Starting current
208 192-120108N13 Compax3T40_eng 2014-10

Latching of the motor (phase 2)
Here, the drive is brought to the position with the provided motor torque=0, where
the angular error is either +-180° or 0°.
Current rise in the second phase.
O2190.1: Rising time of latching current

1) Maximum current from controller or motor
2) Monitoring on 5° electrical movement
3) Monitoring on 60° electrical movement
Motion reduction:
It is possible, to considerably reduce the motor movement occurring during the fine
angle search with the aid of the "motion reduction" parameter (O2190.4).
Please respect also that the acquired commutation result may be slightly worse
than without this measure.
Hint As a current well above the nominal motor current is provided here, there may be
saturation effects on iron core motors, which might lead to an instable current loop
(-> highly frequent "creaking noises" during the automatic commutation). This can
be avoided by activating the saturation characteristic line in the motor data.
Test for positive feedback (phase 3)
Here it is verified, if the motor performs a motion in the expected positive direction
in the event of positive current in the torque maximum. The same motion threshold
(defined via O2190.3) as in phase 1 is valid. The test is repeated several times.
A current course in ramp form is specified (target: minimum motion). The break
between the tests varies with he current rise time O2191.1.
Illustration of the third phase
1): Waiting for standstill

tp Waiting for standstill
192-120108N13 Compax3T40_eng 2014-10 209

Other
 During the sequence (time according to parameterization>>1s) the automatic
commutation is externally visualized by a LED blinking code (green permanent
and red blinking).
 Device errors will lead to an abort of the automatic commutation.
 During automatic commutation, no motion commands are accepted.
 The controller cascade entirely deactivated during automatic commutation, with
the exception of the current loop.
 In multi-axis applications, the axes to be automatically commutated must be
awaited (output of the MC_Power block must deliver "True")!
 The automatic commutation is only started if the drive is at standstill.
 After the occurring and acknowledgement of a feedback error or a configuration
change of the feedback system, the automatic commutation must be performed
again, as it might be that the position entrainment in the servo controller is
interrupted (commutation information is lost).
Notch filter
Effect of the notch filter .................................................................................................. 210
Wrongly set notch filter .................................................................................................. 210
Frequency response of the notch filter. .......................................................................... 211
Parameterization by 3 objects. ....................................................................................... 211
Notch filters are small-band band elimination filters which slope in a wedge form
towards the center frequency. The attenuation of this center frequency is extremely
high in most cases. With the aid of the notch filters it is possible to purposefully
eliminate the effects of mechanical resonance frequencies. With this, the
mechanical resonance point is not activated itself, but the excitation of this point of
resonance is avoided by the control.
Effect of the notch filter
Resonance Notch filter Result

As can be seen in the figure, the notch filter is only useful in cases where the set
frequency of the notch filter is exactly the same as the disturbing frequency. The
notch filter as well as the resonance point are very narrowband. If the resonance
point does only minimally change (e.g. by changing the masses involved), it is not
sufficiently activated by the notch filter.
Wrongly set notch filter
In the Compax3, two notch filters which are independent of each other are
implemented.
210 192-120108N13 Compax3T40_eng 2014-10

Frequency response of the notch filter.
Center frequency = 500Hz

Bandwidth = 50Hz
Depth = 0.99 (-40dB)
Parameterization by 3 objects.
This defines the frequency at which the notch filter attenuation is highest. In
practice it shows that notch filters can only sensibly be used if the distance
between the controller bandwidth (velocity loop) and the center frequency is long
enough (at least factor 5). This permits to deduce the following recommendation:
Obj2210.17: Replacement time constant of the velocity loop in µs
Note: If this distance is too small, the stability of the control can be very negatively
influenced!
This defines the width of the notch filter.
The value refers to the entire frequency band, where the attenuation of the filter is
higher than (-)3dB.
In practice it shows that even if there is enough distance towards the control, it can
be negatively influenced by too high bandwidths (higher than 1/4 of the center
frequency).
With this the size of the attenuation of the filter must be at the position of the center
frequency. One stands here for complete attenuation (-∞ dB) and zero for no
attenuation.
D [dB]: The desired attenuation at the center frequency in dB
192-120108N13 Compax3T40_eng 2014-10 211

Saturation behavior
Current jerk response .................................................................................................... 212
Current jerk response with the activated saturation characteristic line............................ 212
Saturation can be stated with the aid of current jerk responses at different current
height.
Current jerk response

Current jerk response of a motor to 2 different currents (1Arms / 2Arms)
1) Actual current
2) Setpoint current
In the above figure we can see from the settling response that the drive shows a
distinctive tendency to oscillate at doubled current. The saturation characteristic
line, which is used to linearly reduce the P-term of the current loop depending on
the current, helps against such a saturation behavior.
If you respect the saturation for the above example with the aid of the saturation
characteristic line, the tendency to oscillate of the current loop can again be
activated.
Current jerk response with the activated saturation characteristic line
The parameterization of the characteristic line is made in the MotorManager.
Note:  In order to accept the changes in the MotorManager in the project, the
entire configuration must be confirmed.
 In order to make the changes from the MotorManager effective in the device, the
configuration download must be executed.
212 192-120108N13 Compax3T40_eng 2014-10

Control measures for drives involving friction

Deadband following error ............................................................................................... 213
Friction compensation.................................................................................................... 214
Some drives, which involve much friction due to their guiding system, may show
permanent oscillation at standstill. The transition between static friction (standstill)
and kinetic friction (very low speed) is very steep. The controller can not longer
follow the friction characteristic line at this position. The I-term integrates until the
control variable pulls free the drive and the drive moves too far. This procedure is
repeated in the opposite direction and a control oscillation occurs (so-called limit
cycle). In order to eliminate this control oscillation, the following control functions
were implemented:
 Deadband following error (Obj. 2200.20)
 Filter following error (Obj. 2200.24)
 Friction compensation (Obj. 2200.21)
Deadband following error
Deadband/filter following error in the position loop

2010.1 Velocity feed-forward
KVv
2200.20 Deadband –
2200.24 Filter - Tracking Error Tracking Error
T1
KPx
-
680.6 Position Tracking error
680.5 Actual Position
The deadband does no longer supply a velocity setpoint value (zero) for the
subordinate velocity loop at small following error. The integrator of the velocity loop
stops integrating and the system comes to a standstill.
In order to prevent that the velocity loop is excited by the noise on the following
error, the following error should be filtered before the deadband, which will lead,
however, to delays in the position loop. The deadband to be set depends on the
friction behavior (amplitude of the limit cycle) and on the noise on the following
error (the noise must remain within the deadband).
192-120108N13 Compax3T40_eng 2014-10 213

Friction compensation
The activation of the friction compensation (end of the velocity loop)

f(nSG, n, O2200.21, Obj. 2200.20)
Filter tracking error

688.14 Current &
jerk feed-forward RMS
2100.2 Stiffness
2100.3 Damping
KI
T
Kpv
- - -
681.10 Setpoint Speed 681.6 Speed Kpv
2100.7 Velocity loop - "D" term
Tracking error
KD
The friction compensation helps the control to surmount static friction at low
setpoint speeds. The non linear characteristic line is partly compensated by this
and a smaller deadband can be chosen, which will increase the position accuracy.
The amplitude of the friction compensation depends on the application and must be
calculated if needed. If the value is set too high, corrective movements may result
and the tendency to oscillate is increased.
Commissioning window
Load identification.......................................................................................................... 214
Setpoint generation ....................................................................................................... 214
With the aid of the setup window, the drive can be set up in a simple way.
Load identification
If you do not know the mass moment of inertia, it can be determined. For this, you
click on the corresponding button (see setup window no. 13). After the following
parameter entry, the identification can be started via the same button.
 For more detailed information on the load identification, see the device help,
chapter "load identification".
 This measurement requires the correct EMC or torque constant value Kt.
Setpoint generation
Internal setpoint generation ........................................................................................... 214
External setpoint generation .......................................................................................... 216
The setpoints for the control loops are provided in two different ways - internally or
externally. The setpoint generation depends on the technology option of the device.
Internal setpoint generation

The internal setpoint generation can be used for the technology options >T10. In
this case, the internal setpoint generator generates the entire motion profile with
position, velocity, acceleration and jerk.
214 192-120108N13 Compax3T40_eng 2014-10

Motion profile at jerk-controlled setpoint generation
xW Position
nW Velocity
aW Acceleration
jW Jerk
The drive cannot move randomly through hard profiles, as certain physical limits
exist for the acceleration ability due to the motor physics and the limitation of the
control variable. You must therefore make sure that the set movement corresponds
to the real physics of the motor and of the servo drive.
As a support you can take the following physical correlation.
The calculation of the physically possible acceleration

rotary drives Linear drives
MA: Drive torque of the motor FA: Drive force of a linear motor
ML: Load torque of the motor FL: Load force of a linear motor
Jtotal: entire mass moment of inertia mtotal: Total mass of a linear motor
a: possible acceleration
The generation of the setpoint profile is jerk-controlled and jerk-limited by the
specification of the jerk.
In practice, jerk-limited setpoint generation is important if the items to be moved
must be handled gently. In addition, the service life of the mechanical guiding
system will be extended. A separate setting of jerk and slope of the deceleration
phase also permits overshoot-free positioning in the target position. For this
reason, it is common practice to use higher values for acceleration and jerk in the
acceleration phase than in the deceleration phase. In consequence a higher cycle
rate can be achieved.
An additional important reason for the jerk limitation is the excitation of higher
frequencies due to the too high jerk in the power density spectrum of the velocity
function.
Jerk=1000°/s3 Jerk=1000000°/s3
Time function:
192-120108N13 Compax3T40_eng 2014-10 215

Time function and power density spectrum of Compax3 setpoint generator

with different jerk settings
Power density over the frequency
The profile can be simply calculated and displayed for control purposes.
External setpoint generation

During external setpoint generation, the necessary feedforward signals are
calculated from the external setpoint with the aid of numerical differentiation and
final filtering.
Hint For more detailed information on the external setpoint generation see device help
for T11/T30/T40 devices in the "setup" chapter Compax3\\optimization\\controller
dynamics\\signal filtering at external setpoint specification"
Test Move
In order to evaluate the behavior of the drive, test movements can be defined. For
this you jump into the parameter entry either with the aid of the “enter setup/test
movement parameters” or by selecting the parameter tab. Via the “setup settings”
menu you access the settings for the desired test movement.
The desired motion profile can be set via the parameters in the following window.
Proceeding during controller optimization

Main flow chart of the controller optimization ................................................................. 217
Controller optimization disturbance and setpoint behavior (standard) ............................ 218
Controller optimization disturbance and setpoint behavior (advanced) ........................... 220
If the control behavior is not sufficient for the present application, an optimization is
required. We recommend the following approach:
Overview on the approach to setup + optimization

 At first, the disturbance and setpoint behavior of the velocity loop at standstill and
at different displacement velocities is optimized (stiffness, attenuation, filter).
 After that, the necessary motion profiles are set via the setup tool and the desired
guiding behavior in the entire velocity range is set via the feedforward control
(motion profiles, feedforward).
216 192-120108N13 Compax3T40_eng 2014-10

Main flow chart of the controller optimization

Start
Configuration of the application

Optimization of the error and
setpoint behavior
yes
Is a LCB actuator used?
Default:
no 1. Switch on advanced mode
2. Set bandwidth of current control to30%
3. Set stiffness to 70%
4. Set control signal filter to3000µs (only if no gear is present)
5. Activate VP and switch to standard
Energize
see chapter
“stability , attenuation”
Flash is a failure-save emory

no
Smooth, stable behavior?
Reduce stiffness (Obj. 2100.2) gradually by up to 80%.

yes Store into flash with Write Flash (WF)
yes
Smooth, stable behavior
Optimizing the stiffness: no

1. Standstill
• Increase stiffness until drive hums, then reduce by
20%
2. Move slowly over the the positioning range Check consistency of the entire system :
• Increase stiffness until drive hums, then reduce by • Wiring
10% • Acquisition of the feedback system
3. Move quickly (e.g. operating speed) over the • Configuration (motor type, mass inertia, path/
positioning range motor revolution)
• Check behavior and reduce stiffness further if • ...
necessary
no
Further optimization necessary?
yes
See chapter “oscillating plants”
yes
Is the controlled system oscillating ?
no See chapter Standard

“Controller optimization of toothed belt drive”
Is the controlled system a direct drive? yes

(Torque motor, linear motor, PowerRod)
no See chapter Advanced

“Controller optimization direct drive”
See chapter Standard
“Controller optimization standard”
See chapter Standard Optimization of the

“Controller optimization guiding behavior” respon se behavior
End
192-120108N13 Compax3T40_eng 2014-10 217

Controller optimization disturbance and setpoint behavior (standard)

Controller optimization standard .................................................................................... 218
Controller optimization of toothed belt drive ................................................................... 219
Controller optimization standard
„Controller optimization standard

“
Select speed jerk response in the setup window /

tab “parameter), select the size of the jerk and
define jerk.
Respect the setpoint speed and the actual speed
Setpoint speed
Actual speed
Incrase attenuatin
Increase stiffness (Obj. 2100.2)

Adapt control signal filter according to the setting
rule (see chapter “control signal filter /...”)
(if needs be, change attenuation (Obj. 2100.3)
Setpoint speed
Actual speed
yes
no
Stabilize controller with the aid of: Setpoint speed

• Decrease stiffness (Obj. 2100.2)
• or/also reduce filter 2 speed actual value
(Obj. 2100.10) Actual speed
• or/also increase attenuation (Obj. 2100.3)
Additional filtering required? no

(e.g. in the event of loud noise) Setpoint speed Actual speed Setpoint speed Actual speed
yes
Increase control signal filter of speed control

(Obj. 2100.20)
Followingerror
Please note that a stronger filtering may destabilize Move over the entire positioning range, verify the
the control loop Please try to find a compromise settings and correct if necessary.
between the signal quality (filtering ) and the Store settings with WF!
controller speed (stiffness )
yes
Further optimization necessary?
no
“Controller
optimization
Main diagram Advanced”
218 192-120108N13 Compax3T40_eng 2014-10

Controller optimization of toothed belt drive

• The stiffness of a drive able to oscillate can be increased by using the
D-component. If the D-component is too large, the control is
destabilized.
“Controller optimization toothed belt drive” • Due to the twofold position differentiation, the D-component is rather
disturbed and may excite the control loop in the higher-frequency
range. The filtering of the d-component with the aid of the “filter2 of
actual acceleration value” can activate the higher-frequency
components at the cost of the dynamics.
• Set absolute positioning in the setup window and move over • The correct combination of the3 parameters will lead to the best
control results.
the entire positioning range at a low speed.
• The D-component is set in%. The value range: 0...4000000%.
• Increase stiffness up to the tendency to oscillate and adapt • Values up to 5000 are common.
control signal filter (see chapter “control signal filter/..”)
Increase D-component (Obj. 2100.7) of the speed

controller (in steps of 100%..500%) in order to
suppress the tendency to oscillate.
no
yes
Increase stiffness (Obj. 2100.2)

and adapt control signal filter according to the setting
rule (see chapter “control signal filter/...”)
yes
no
Increase filter 2 of actual acceleration value (Obj.

2100.11) in order to attenuate the higher-frequency
excitation of the speed controller caused by the
disturbed D component.
Please note: The filtering delays the signal and may
destabilize the control loop.
yes
no
The following measures can be helpful :

• Further increase filter 2 of actual acceleration value
or reduce again.
• Reduce D-component
• Reduce stiffness
• Reduce control signal filter (speed controller)
Store settings with WF.
Main diagram
192-120108N13 Compax3T40_eng 2014-10 219

Controller optimization disturbance and setpoint behavior (advanced)

Controller optimization Advanced .................................................................................. 220
Flow chart controller optimization of a direct drive.......................................................... 221
Controller optimization guiding transmission behavior.................................................... 222
Controller optimization Advanced
„Controller optimization Advanced“
Observer technology
Observer time constant (Obj. 2120.1) >=125µs
(the higher the value, the slower the observer)

tab “parameter”, select the size of the jerk and
specify the jerk.
1.) Vary “observer time constant” (Obj. 2120.1)

increase “stiffness” (Obj. 2100.2) until the optimum is
reached
2.) In systems with high friction, reduce “attenuation”

(Obj. 2100.3) and increase “stiffness” (Obj. 2100.2)
until the optimum is reached.
3.) In the event of optimization to speed constancy,

increase “attenuation” (Obj. 2100.3) and reduce
“stiffness” as far as necessary (Obj. 2100.2) until the
optimum is reached.
4.) Disturbance (Obj. 2120.7) in connection with the

“filter of observed disturbance” (Obj. 2120.5)
may cause further improvements.
yes
no
Stabilize controller with the aid of:

• or/also reduce observer time constant (Obj. 2120.1)
• or/also reduce control signal filter (Obj. 2120.1)
• or/also modify attenuation (Obj. 2100.3)
• Vary filter of observed disturbance (Obj. 2120.5) or switch off
disburbance (reduce stiffness before!)
Move over the entire positioning range, verify the

settings and correct if necessary.
Store settings with WF!
Main diagram
220 192-120108N13 Compax3T40_eng 2014-10

Flow chart controller optimization of a direct drive

“Controller optimization direct
drive”
See chapters:
-“Control measures for
drives iinvolving friction”
yes
Is it a PowerRod?
no
Default settings for PowerRod:

Status controller with disturbance torque 1.) “following error filter” (Obj. 2200.24) = 1470µs
-“Observer time constant” (Obj. 2120.1) >=125µs 2.) “following error dead zone” (Obj. 2200.20) = 0.025 mm
(the higher the value, the slower the observer) 3.) “Friction feedforward” (Obj. 2200.21) = 0 mA
- “Activate disturbance value” (Obj. 2120.7)=1
Vary the default settings if needs be.
“Controller
optimization
tab “parameter), select the size of the jerk and
standard”
define jerk.
1.) “Observer time constant” (Obj. 2120.1) and Vary filter of

observed disturbance (Obj. 2120.5) increase “stiffness” (Obj.
2100.2) until the optimum is reached
2.) In systems with high friction, reduce “attenuation” (Obj.

2100.3) and increase “stiffness” (Obj. 2100.2) until the
optimum is reached.
3.) In the event of optimization to speed constancy,

increase “attenuation” (Obj. 2100.3) and reduce “stiffness” as
far as necessary (Obj. 2100.2) until the optimum is reached.
yes
no
Stabilize controller with the aid of:

• or/also reduce observer time constant (Obj. 2120.1)
• or/also reduce control signal filter (Obj. 2120.1)
• or/also modify attenuation (Obj. 2100.3)
Move over the entire positioning range, verify

the settings and correct if necessary.
Store settings with WF!
Main diagram
192-120108N13 Compax3T40_eng 2014-10 221

Controller optimization guiding transmission behavior
Controller optimization guiding behavior
Specify travel parameters (20% of the final speed)

and activate movement cycle
Evaluation of the signals with the aid of the software

oscilloscope :
Recommendation(signals):
1.) Setpoint speed of setpoint generator (Obj. 681.4)
2.) Actual speed filtered (Obj. 681.9)
3.) Target current r.m.s.( torque-producing ) (Obj. 688.18)
4.) Following error (Obj. 680.6)
yes Control result OK?

(Following error...)
no
yes Reduce acceleration/deceleration or

Current threshold?
increase current threshold.
no
Setpoint velocity Actual velocity
Optimization with the feedforward Following error

parameters: Setpoint current
1.) Acceleration feed-forward
2.) Current feed-forward
3.) Jerk feed-forward
Setpoint velocity Actual velocity Setpoint velocity Actual velocity

yes
Final speed reached?
no
Following error Setpoint current Following error Setpoint current
Acceleration feed Acceleration feed
forward=100% forward=90%
Increase setpoint speed by 10%-20%
Main diagram
4.4.4. Signal filtering with external command value

The command signal read in from an external source (via HEDA or physical input)
can be optimized via different filters.
For this the following filter structure is available:
222 192-120108N13 Compax3T40_eng 2014-10

4.4.4.1 Signal filtering for external setpoint specification and

electronic gearbox
Does not apply for Compax3I11T11!
2020.2 speed 2020.3 accel if v,a exist* 682.4
C3SM
680.25 Wizard
SSI accel
accel
Control structure
680.10
true
2011.4 2011.5 2110.7
681.4
2(v,a)
+/-10V
TRF 2020.1(x) speed
B Physical speed
3(x,v,a)
true
2107.1 1141.4 TRF 2110.6
685.3 3920.7
3920.1 SG1 680.12
HEDA TRF 1(x) 2

Structure x
2110.1
HEDA 6 D E position
4 5
of Gearing a
2000.2, .5, .8 2109.1
v
RS
Virtual 3(x,v,a)
1141.7 (x) 680.4
Master
1141.8 (v)
3921.1 3921.7(x)
3(x,v,a)*
CANSync
Inter-
PowerLink
EtherCat
polator
3925.1
"virtual Master" and Busmaster only with T30 & T40.

* Speed v and acceleration a are only present in the event of linear interpolation
(method of interpolation: O3925.1 - 0x60C0) if they are provided by an external
source.
In quadratic or cubic interpolation, v and a are emulated.
B: Structure image of the signal processing,
D/E: Structure of Gearing (see on page 310)
Control structure (see on page 194, see on page 199, see on page 201)
Symbols
Tracking filter
TRF The displayed filter influences all outputs of the tracking filter.
Number: Object number of the filter characteristic
2110.1
Differentiator
Output signal = d(input signal)/dt
The output signal is the derivation (gradient) of the input signal
Filter
Interpolation
Linear Interpolation.
interpolation
Values in the 500µs grid are converted into the more exact time
500µs => 125µs grid of 125µs.
Note:
 A jerk setpoint generator is not required for external setpoint specification.
 The description of the objects can be found in the object list (see on page 515).
192-120108N13 Compax3T40_eng 2014-10 223

4.4.4.2 Signal filtering for external setpoint specification and

electronic cam
Only Compax3 T40!
2020.2 speed 2020.3 accel 682.4
C3SM
680.25 Wizard
SSI accel
accel
Control structure
680.10
2011.4 2011.5 2110.7
681.4
+/-10V
TRF 2020.1(x) speed
B Physical speed
2107.1 3021.1 TRF 2110.6

685.3 3920.7
3920.1 SG1 680.12
HEDA TRF 0
Structure 2110.1
HEDA 2 D E position
1 5
of Cam
2000.2 2109.1
RS
Virtual
3021.2 680.4
Master
3921.1 3921.7(x)
CANSync
Inter-
PowerLink
EtherCat
polator
3925.1
B: Structure image of the signal processing,

D/E: Structure of Cam (see on page 341)
Control structure (see on page 194, see on page 199, see on page 201)
Symbols
Tracking filter
TRF The displayed filter influences all outputs of the tracking filter.
2110.1
Differentiator
Filter
Interpolation
Linear Interpolation.
interpolation
Values in the 500µs grid are converted into the more exact time
500µs => 125µs grid of 125µs.
Note:
 A jerk setpoint generator is not required for external setpoint specification.
 The description of the objects can be found in the object list (see on page 515).
224 192-120108N13 Compax3T40_eng 2014-10

4.4.5. Input simulation

Function: The input simulation is used for the performance of tests without the complete
input/output hardware being necessary.
The digital inputs (standard and inputs of M10/M12 option) as well as the analog
inputs are supported.
The following operating modes are available for digital inputs:
 The physical inputs are deactivated, the digital inputs are only influenced via the
input simulation.
 The digital inputs and the physical inputs are logically or-linked.
This necessitates very careful action, as the required function is, above all with
low-active signals, no longer available.
The pre-setting of an analog input value is always made in addition to the physical
analog input.
The function of the inputs depends on the Compax3 device type; please refer to
the respective online help or the manual.
The input simulation is only possible if the connection with Compax3 is

active and if the commissioning mode is deactivated!

Calling up the input simulation ....................................................................................... 225
Operating Principle ........................................................................................................ 225
4.4.5.1 Calling up the input simulation

Open the optimization window (double click in the C3 ServoManager tree entry:
Optimization).
Activate the Tab “Setup” in the right lower window.
Clicking on the following button will open a menu; please select the input
simulation.
4.4.5.2 Operating Principle

Window Compax3 InputSimulator:
1. Row:Standard Inputs E7 ... E0 = “0” button not pressed; = “1” switch pressed
2. Row: Optional digital inputs (M10 / M12)
Green field: port 4 is defined as input
Red field: port 4 is defined as output
the least significant input is always on the right side
3. Row: If the button “deactivating physical inputs” is pressed, all physical, digital
inputs are deactivated; only the input simulation is active.
If both sources (physical and simulated inputs) are active, they are or-linked!
Caution!
Please consider the effects of the or-linking; above all on low-active
functions.
4. Row:Simulation of the analog inputs 0 and 1 in steps of 100mV.

The set value is added to the value on the physical input.
After the input simulation has been called up, all simulated inputs are on “0”.
When the input simulation is left, the physical inputs become valid.
192-120108N13 Compax3T40_eng 2014-10 225

4.4.6. Setup mode

The setup mode is used for moving an axis independent of the system control
The following functions are possible:
 Homing run
 Manual+ / Manual-
 Activation / deactivation of the motor holding brake.
 Acknowledging errors
 Defining and activating a test movement
 Activating the digital outputs.
 Automatic determination of the load characteristic value (see on page 229)
 Setup (see on page 227) of the load control (see on page 152)
Activating the commissioning mode

By activating the setup mode, das Steuerungsprogramm (IEC-Programm) is
deactivated; the system function of the device is no longer available.
Access via an interface (RS232/RS485, Profibus, CANopen,...) and via digital
inputs is deactivated. (if necessary, acyclic communication ways are nevertheless
possible (e.g. Profibus PKW channel)
Caution!
The safety functions are not always guaranteed during the setup mode!
This will for instance lead to the fact that the axis may trundle to a stop if
the Emergency stop button is pressed (interruption of the 24 V on C3S
X4.3), which requires special caution with z axes!
 In the Commissioning window (left at the bottom) the commissioning mode is

activated.
 Then parameterize the desired test movement in the Parameter window.
You can accept changed configuration settings into the current project.
 Now energize drive in the commissioning window and start the test movement.
Caution! Safeguard the travel range before energizing!
Deactivating the commissioning mode

If the setup mode is left, the drive is deactivated and the das
Steuerungsprogramm (IEC-Programm) is re-activated.
Note:  The parameters of the commissioning window are saved with the project and are
loaded into Compax3 if the commissioning mode is activated (see explanation
below).
226 192-120108N13 Compax3T40_eng 2014-10

4.4.6.1 Motion objects in Compax3

The motion objects in Compax3 describe the active motion set.
The motion objects can be influenced via different interfaces.
The following table describes the correlations:
Source active motion objects Compax3 device
==> describe
<== read
==>  With the "accept entry" button.
Commissioning
 The current project gets a motion set.
(working with the commissioning Download by activating the motion Active motion
window) <==  On the 1st. Opening the objects:
commissioning window of a new  Position [O1111.1]
project for the first time.  Speed [O1111.2]
 Activated via the "Upload settings  Acceleration
from device" button (bottom at the left [O1111.3]
side).  Deceleration
==>  C3IxxT11: via an activated motion

[O1111.4]
Compax3 ServoManager project  jerk* [O1111.5]
set
 C3I2xT11: via a configuration
(Acceleration)
 Jerk* [O1111.6]
download
(Deceleration)
* for IxxT11 -
<== For Compax3 I2xT11: devices, both jerk
 via a configuration upload values are identical
 in the commissioning window via
"accept configuration"
==>  Changing the motion objects directly

Fieldbus (Compax3 I2xTxx)
<==  Reading the motion objects
==>  via positioning modules

IEC61131-3 program
(Compax3 IxxT30, IxxT40)
192-120108N13 Compax3T40_eng 2014-10 227

4.4.6.2 Commissioning the load control

If a load control was configured, the following buttons are displayed in the
Commissioning window :
1 Status of the load control - yellow => off; green => on

2 Activate / Deactivate load control
3 Alignment of the position values of motor and load
(Load position = Motor position)
Only if the load control is deactivated!
Please note the explanations for the Load control (see on page 152)!
228 192-120108N13 Compax3T40_eng 2014-10

4.4.7. Load identification

Automatic determination of the load characteristic value:
 of the mass moment of inertia with rotary systems
 of the mass with linear systems.

Principle ........................................................................................................................ 229
Boundary conditions ...................................................................................................... 229
Process of the automatic determination of the load characteristic value (load identification)230
Tips ............................................................................................................................... 231
4.4.7.1 Principle
The load characteristic value is automatically determined.
For this it is necessary to excite the system additionally with a signal (excitation
signal = noise).
The excitation signal is fed into the control loop. The control loop dampens the
excitation signal. Therefore, the superimposed control loop is set so slowly by
reducing the stiffness, that the measurement is not influenced.
A superimposed test movement is additionally possible. This helps to eliminate
possible mechanical effects such as rubbing caused by friction.
4.4.7.2 Boundary conditions

If the control is instable before the beginning of the measurement, please reduce
the stiffness (in the optimization window at the left bottom)
The following factors can disturb a measurement:
 Systems with high friction (e.g. linear actuators with sliding guide)
Here, the systems where the static friction is considerably higher than the kinetic
friction (slip-stick effect) are especially problematic.
 Systems with significant slack points (play)
 Systems with "too light" or susceptible to oscillation bearing of the total drive
(rack).
Formation of rack resonances. (e.g. with gantries,...)
 Non constant disturbance forces which influence the speed development. (e.g.
extremely strong slot moments)
The effects of the factors one to three on the measurement can be reduced by
using a test movement.
Caveat emptor (exclusion of warranty)

Due to multiple possibilities for disturbing influences of a real control path, we
cannot accept any liability for secondary damages caused by faultily determined
values. Therefore it is essential to verify all values automatically determined before
loading them into the control loop.
192-120108N13 Compax3T40_eng 2014-10 229

4.4.7.3 Process of the automatic determination of the load

characteristic value (load identification)
 Please click on "unknown: default values are used" in the configuration wizard in
the "External moment of inertia" window.
 After the configuration download, you can enter directly, that the optimization
window is to be opened.
 In the Commissioning window (left at the bottom) change to commissioning
mode.
 Finally enter the values of the excitation signal and of the test movement in the
parameter window.
Parameters of the excitation signal:
 Amplitude of the excitation signal in % of the motor reference current
Only an amplitude value causing a distinct disturbance can give a usable result.
 permissible following error
In order to avoid a following error caused by the excitation signal, the
permissible following error must be increased for the measurement if
necessary.
 Selection of the test movement: inactive, reverse, continuous
 Parameterizing of the test movement if necessary
 Now energize drive and open load identification window in the commissioning
window.
Caution! Safeguard the travel range before energizing!
 Starting the load identification.
Caution! The drive will perform a jerky movement during load identification!
 After the measurement, the values can be accepted. Depending on the

application, 2 measurements for minimum external load and maximum external
load are recommended.
230 192-120108N13 Compax3T40_eng 2014-10

4.4.7.4 Tips
Tip Problem Measures
1 Speed too low Increase maximum speed and adapt travel
(with reverse operation) range*
2 Speed too low Increase maximum speed
(with continuous operation)
3 Test movement missing A test movement is important for drives with
high friction or with mechanical slack points
(play).
4 No error detected Please note the boundary conditions (see
on page 229).
5 Speed too low and amplitude of Increase amplitude of the excitation signal;
the excitation signal too small increase maximum speed and adapt travel
(with reverse operation) range*
6  Speed too low and Increase amplitude of the excitation signal;
 amplitude of the excitation increase maximum speed.
signal too small
(with continuous operation)
7  Test movement missing  Increase amplitude of the excitation signal
 amplitude of the excitation or / and
signal too small  activate an appropriate test movement
8 amplitude of the excitation Increase the amplitude of the excitation
signal too small signal.
9 Following error occurred Increase the parameter "permissible

following error" or decrease the amplitude of
the excitation signal.
*if the travel range is too short, the speed is not increased, as the drive does not
reach the maximum speed.
4.4.8. Alignment of the analog inputs

Signal processing of the analog inputs........................................................................... 232
Offset alignment ............................................................................................................ 232
Gain alignment .............................................................................................................. 232
There are two possibilities to align the analog inputs in the optimization window:
 Wizard-guided under commissioning: Commissioning functions (click on the
yellow triangle with the left mouse button:
Attention”
This wizard guided automatic alignment does not work if you bridge Ain+ with
Ground for the alignment!
In this case, please make a manual alignment as described below.
or
 by directly entering under optimization: Analog Input
192-120108N13 Compax3T40_eng 2014-10 231

4.4.8.1 Signal processing of the analog inputs

Precise
interpolation
B
T
config
Analog 0 685.3
X11/9 + Actual
value
X11/11- monitoring +
170.2 170.4 170.3
Analog 1 685.4
X11/10+ Actual
value
X11/2- monitoring +
171.2 171.4 171.3

B: Continuative structure image (see on page 222)
4.4.8.2 Offset alignment

Performing an offset alignment when working with the ±10V analog interface in the
optimization window under optimization: Analog input Offset [170.4].
Enter the offset value for 0V input voltage.
The currently entered value is shown in the status value "analog input" (optimizing
window at the top right) (unit: 1 ≡ 10V). Enter this value directly with the same sign
as offset value.
The status value "analogue input" shows the corrected value.
4.4.8.3 Gain alignment

Performing an offset alignment when working with the ±10V analog interface in the
optimization window under optimization: Analog input: Gain [170.2].
A gain factor of 1 has been entered as default value.
The currently entered value is shown in the status value “analog input” (optimizing
window at the top right).
The status value "analogue input" shows the corrected value.
232 192-120108N13 Compax3T40_eng 2014-10

4.4.9. C3 ServoSignalAnalyzer
ServoSignalAnalyzer - function range ............................................................................ 233
Signal analysis overview ................................................................................................ 234
Installation and activation of the ServoSignalAnalyzer ................................................... 235
Analyses in the time range............................................................................................. 237
Measurement of frequency spectra ................................................................................ 240
Measurement of frequency responses ........................................................................... 243
Overview of the user interface ....................................................................................... 249
Basics of frequency response measurement ................................................................. 262
4.4.9.1 ServoSignalAnalyzer - function range

The function range of the ServoSignalAnalyzer is divided into 2 units:
Analysis in the time range

This part of the function is freely available within the Compax3 ServoManager.
The Compax3 ServoManager is part of the Compax3 servo drive delivery range.
Analysis in the frequency range

This part of the function requires a license key which you can buy (see on page
235).
The license is a company license and must only be bought once per company.
For each PC you need however an individual key, which you can request
individually.
192-120108N13 Compax3T40_eng 2014-10 233

4.4.9.2 Signal analysis overview

The ServoSignalAnalyzer offers three basic methods of analyzing systems:
 Analysis in the time range by measuring the step response
 Spectral analysis of individual signals
 Measurement of frequency response (Bode diagram) of the position control or of
individual parts of the control as well as of the control path
These functions are available in the Compax3 ServoManager after the activation
(see on page 235) with the aid of a system-dependent key.
You do not require expensive and complex measurement equipment -> a
Compax3 device and a PC will do!
Basic structure of the signal analysis
Systems / signals
Depending on the kind of measurement, the SignalAnalyzer can help analyze the
most different signals and systems.
Signal generator
This allows to inject different excitation signals (step, sine and noise signals) into
the control loop.
Superposed system
For different analyses, superposed systems must be manipulated in order to allow
a measurement. After the measurement, the changes made for this purpose are
reset
C3 software oscilloscope
With the aid of the software oscilloscope, the contents of different objects can be
registered and be loaded into the PC for further analysis.
Control and signal processing
The control of the entire measurement as well as the processing of the uploaded
sample data are made in the PC.
234 192-120108N13 Compax3T40_eng 2014-10

4.4.9.3 Installation and activation of the ServoSignalAnalyzer

 Compax3 with up-to-date controller board (CTP 17)
 Firmware version R06-0 installed
 Execution of the C3 ServoManager Setup (on CD)

 If the firmware is too old => update with the aid of the firmware from the CD
Activation
In order to being able to use the analysis functions in the frequency range (for
example frequency response measurement), a software activation is required.
Please observe:
The activation is only valid for the PC on which it was performed!
Caution!: If the PC disposes of network adapters which are removed at times (e.g.
PCMIA cards or notebook docking stations), these adapters should be removed
before generating the key!
In order to activate the ServoSignalAnalyzer, please follow these steps:

 Start the Compax3 ServoManager.
 Select the Select the C3 ServoSignalAnalyzer in the function tree under

optimization.
In the right part of the window you can see the note that no key file was found.
 A double click on the preselected C3 ServoSignalAnalyzer will generate a
system-dependent key.
192-120108N13 Compax3T40_eng 2014-10 235

 Acknowledge with OK and enter the key, which is on your clipboard, into an
e-mail, which you please send to [email protected]
(mailto:[email protected]).
 After receipt of the reply, copy the attached file "C3_SSA.KEY" into the C3
ServoManager directory (C:\\Programs\\Parker Hannifin\\C3Mgr2\\).
 => the software is activated.
236 192-120108N13 Compax3T40_eng 2014-10

4.4.9.4 Analyses in the time range

Selection and parameterization of the desired analysis function
Exemplary step function
step Value = Step Size

The following functions are available:
192-120108N13 Compax3T40_eng 2014-10 237

Position demand value step: For analysis of the demand value behavior of
the position control
Step value < (admissible motion range / 2)
=> even a 100% overshoot does not incite an error message
Speed demand value step: For analysis of the demand value behavior of the
speed control
The position control is switched off during the measurement, this might lead in
exceptional cases to a slow drift of the position.
Furthermore you should make sure that the selected speed step value corresponds
to the parameterized admissible motion range.
Step value < (admissible motion range / time of measurement)
with time of measurement > 2s
Current demand value step: For analysis of the demand value behavior of the
current control
The current setpoint jerk is set at the end of the oscilloscope recording time, but is
reset to 0 after max. 50mS.
Caution!
 Many systems are not stable without control!
 Position as well as speed control are switched off
during measurement =>
no measurement on z-axes!
Disturbance torque / force step response: For analysis of the disturbance

value behavior of the control
The step of an external disturbance force is simulated and the reaction of the
controller is registered.
Shaker function
For this, a sine signal is injected to the current which is used to excite the mechanic
system. This allows to analyze the oscillation behavior - what oscillates at which
frequency.
Basic settings of the analysis functions:

Maximum torque / maximum current / maximum speed (display):
This is used as a lead for the selection of a suitable step value and indicates which
maximum step value is possible.
Step value:
Gives the value of a step.
Permissible motion range (+/-):
 Indication, in which position window the axis may move during the analysis.
 This range is not left even in the event of an error.
 If the drive approaches the limits of the motion range, the controller will
decelerate so that the drive will come to a standstill within the permitted motion
range. The maximum permitted velocity is used to calculate the deceleration
ramp, therefore the drive stops even before reaching the range limits and reports
an error.
 Please make sure that a sufficiently large movement is set for the measurement
and that it will be reduced by a high maximum permitted velocity.
 The motion range monitoring is especially important during current step
responses, as position as well as speed control are deactivated during the
measurement.
Max permitted speed
238 192-120108N13 Compax3T40_eng 2014-10

When exceeding this value, an error is triggered, the controller decelerates and
reports an error.
When measuring the velocity setpoint jerk, the maximum permitted velocity is set to
twice the step height.
Setting and automatic start of the oscilloscope:
After pressing "accept entries", the parameters of the oscilloscope (such as
scanning time and the assignment of the individual channels) are automatically set
to default values according to the respective step value.
When starting the step function, the oscilloscope is automatically started.
Start of the measurement
The start of the step function is made with the aid of the highlighted button.
192-120108N13 Compax3T40_eng 2014-10 239

4.4.9.5 Measurement of frequency spectra
Please note that you require a license key (see on page 235, see on page 233)
for this application!

Functionality of the measurement .................................................................................. 240
Leak effect and windowing............................................................................................. 241
Functionality of the measurement

Measurement of the spectral analysis
During the spectral analysis of scanned signals with the aid of the discrete Fourier
transformation, a so-called frequency resolution (Df) results, Df being =fA/N,
independently of the scanning frequency (fA) and of the number of measurement
values used (N).
The spectra of scanned signals are only defined for frequencies, which are an
integer multiple of this frequency resolution.
Interpretation of the frequency spectrum
240 192-120108N13 Compax3T40_eng 2014-10

Leak effect and windowing

If frequencies not corresponding to the frequency resolution are present in the
analyzed spectrum, the so-called leak effect can be caused.
Display of the leak effect with the aid of a 16 point discrete Fourier transformation
Complete oscillation period in the scanning Non complete oscillation period in the scanning
period period
Envelope with leak effect

Envelope without leak effect
Sine at 200Hz without windowing

Consequence of the leak effect shown at the example of a sine signal.
(fA=4000Hz; N=500; => ∆f=8Hz
f0=200Hz = 25*∆f frequency corresponds to the frequency-resolution
The sine frequency is exactly on a multiple of the frequency resolution (200Hz /

8Hz=25). The spectrum is clearly separated and there are no leak effects visible.
192-120108N13 Compax3T40_eng 2014-10 241

Sine at 204Hz
∆f=8Hz / f0=204Hz = 25.5⋅∆f / frequency does not correspond to the frequency

resolution!
The sine frequency has only minimally changed, due to which it does, however, no
longer match the frequency resolution (204Hz/8Hz=25.5) => leak effect
Two consequences are visible:
The spectrum is faded in the ranges at the right and at the left of the sine
frequency. In this range, an amplitude is displayed, even though these
frequencies are not contained in the real signal.
 The height of the peak of the sine frequency is reduced, => it seems as if the
signal energy is leaking out and distributing over the spectrum. This explains the
term leak effect.
Windowing
With the aid of the windowing, leak effects can be avoided. There are many
different kinds of windowing, who do all have the same restrictions.
 windowing reduces the total energy of the analyzed signal, which results in a
reduced amplitude of all measured frequencies.
 Individual frequency peaks do not appear so sharp and narrow as with
measurements without windowing.
Sine at 200Hz and 204Hz with Hanning windowing
242 192-120108N13 Compax3T40_eng 2014-10

4.4.9.6 Measurement of frequency responses
Please note that you require a license key (see on page 235, see on page 233)
for this application!

Safety instructions concerning the frequency response measurement ........................... 243
Functionality of the measurement .................................................................................. 243
Open/Closed Loop frequency response measurement .................................................. 245
Excitation Signal ............................................................................................................ 246
Non-linearities and their effects...................................................................................... 246
Safety instructions concerning the frequency response measurement

During the measurement of the frequency response, the control is changed and
influenced in multiple ways. You should therefore respect the following notes:
 During the measurement, the entire system is excited via a broad frequency
spectrum. This might damage especially sensitive components (such as lenses)
The risk increases with the extent of the excitation. In addition, natural
mechanical frequencies may cause an increased excitation of individual
components.
 The measurement of the frequency response can only be made in the setup
mode with energized controller.
 During the current measurement (between start and stop of the measurement),
no write flash may be executed.
 In the event of a break in communication during the measurement, the controller
must be switched off and then on again in order to reestablish the original status.
 Changes of the controller parameters during the measurement are not permitted.
Those may be overwritten by standard values when the measurement is
terminated.
Functionality of the measurement

Basic structure of a frequency response measurement
192-120108N13 Compax3T40_eng 2014-10 243

In general, the analysis of the dynamic behavior of a system is made by analyzing

the input and output signals.
If you transform the input signal as well as the output signal of a system into the
range (Fourier transformation) and then divide the output signal by the input signal,
you get the complex frequency response of the system.
with
A problem are, however, superimposed systems (the control)
Course of the measurement
 Superimposed controls are switched of (open Loop) or attenuated
 The excitation signal is injected in front of the system to be measured with the aid
of the signal generator. Wait, until the system settled.
 Execution of the measurement: Registration of input and output signal with the
aid of the oscilloscope.
 Upload of the measurement values from the controller into the PC.
 Processing of the measurement values into a frequency response
 If a cumulated measurement is configured: Averaging over several frequency
responses.
During cumulated measurement, an average is taken over all measurements in the
result memory and the result is then put out.
244 192-120108N13 Compax3T40_eng 2014-10

Open/Closed Loop frequency response measurement

In order to be able to analyze the transmission behavior of subordinate systems
(such as for example speed control, current control or mechanical system), the
influence of the superposed controls on the measurement must be avoided.
Influence of a superposed system on the frequency response measured

In the simplest case, the superposed controls are switched off completely (Open
Loop) This provides the best measurement results due to the elimination of any
influence caused by the superposed controls.
This is, however, rarely possible for reasons of safety or feasibility.
Caution!
 Many systems are not stable without control!
 Position as well as speed control are switched off
during measurement =>
no measurement on z-axes!
If you want to analyze for example the mechanic system of a z-axis, the position
control as well as the speed control must remain active.
In systems subject to friction it may be necessary in order to improve the quality of
the measurement, to move the system with a superimposed speed (see on
page 247), which is however only possible with a closed loop measurement.
Influence of an active superposed control on the result of the measurement
At the left without, at the right with the influence of the superposed control
In order to attenuate the influence of the superposed controls, the controller

bandwidth is reduced to such an extent, that their influence on the measurement is
negligible.
192-120108N13 Compax3T40_eng 2014-10 245

Excitation Signal
In order to be able to analyze the behavior of the system at individual frequencies,
it is necessary that these frequencies can be measured in the input signal as well
as in the output signal. For this, a signal generator excites all frequencies to be
measured. For this applies, that the signal noise distance of the measurement is
the larger, the larger the excitation of the system.
High noise distance => low influence of disturbances on the measurement.
For this, an excitation signal is injected in front of the system to be measured.
The power (amplitude) of the excitation signal can be set.

Start with a small amplitude and increase the amplitude slowly during the current
measurement until the result of the measurement shows the desired quality.
Influence of the excitation amplitude on the quality of the measurement

results
Left: Too small amplitude of the excitation signal (7.3mA)

Right: Suitable amplitude of the excitation signal (73mA)
In the case of non-linearities in the system, an increase in the excitation may

however lead to a decline of the quality of the measurement (see on page 246).
Non-linearities and their effects

Attenuation of the excitation amplitude .......................................................................... 247
Shifting the working point into a linear range.................................................................. 247
Non-linearities in mechanical systems are for example due to friction, backlash or
position-dependent transmissions (cams and crankshaft drives). In general, the
frequency response is only defined for linear systems (see 7.2 (see on page 263)).
What happens in the frequency range in the event of a non-linear system, is shown
below.
Signal amplitude too high => non-linearity in the signal range
246 192-120108N13 Compax3T40_eng 2014-10

Due to the non-linear transmission behavior of the system, many "new" frequencies
were generated in the output signal. In the frequency response, only one change of
the frequency present in the input signal can be displayed meaningfully.
=> The frequencies generated in the spectrum of the output signal lead to a
deterioration of the measured frequency response.
There are however two possibilities to make successful measurements of
frequency responses in spite of non-linearities present:
Attenuation of the excitation amplitude
Signal amplitude too small => no non-linearity in the signal range
The signal range is reduced so that approximately linear conditions are valid. The
results of the measurement will then display the dynamic behavior at the working
point.
Example cam drive:

If the drive moves considerably (e.g. 180°) during the measurement, the behavior
of the system will change greatly over this range => caused by non-linearities in the
signal range.
An inexact measurement is the result.
If the excitation is reduced so that the drive will move only by a few degrees, the
behavior of the system at this working point will be approximately constant.
An exact measurement is the result.
Shifting the working point into a linear range
Signal amplitude large with offset => no non-linearity in the signal range
For this, the signal range is shifted so that approximately linear conditions are valid
=> the results of the measurement show the dynamic behavior at the working point.
192-120108N13 Compax3T40_eng 2014-10 247

Example rubbing caused by friction:

In systems subject to a distinct transition between rubbing caused by friction and
sliding friction, the rubbing force will reduce abruptly as soon as the drive is moved
(v>0). With a motor at standstill, the excitation signal will cause a multiple passing
through the range of rubbing friction during measurement. Due to the non-linearity
in the signal range, the resulting measurement will be inexact.
If the drive moves, however, fast enough during the measurement, so that the
speed will not become zero during the measurement, the system remains in sliding
friction and a precise measurement can be obtained.
Optimal measurement with rubbing friction
Vtest move: Speed of the test movement

Vstimulation: Speed of the excitation signal
static friction: Static friction
Example backlash: (for example in gearboxes)

Here, non-linearities are caused, if the tooth edges will turn from one side to the
other during measurement. The reason for this is a change of the sign of the force
transmitted by the gearbox.
In order to avoid this, you can try to transmit a constant torque by keeping a
constant speed and to avoid a change of the sign during the measurement by
choosing a relatively small excitation amplitude.
248 192-120108N13 Compax3T40_eng 2014-10

4.4.9.7 Overview of the user interface
(1) Selection of the signal or system to be measured (see on page 249)

(2) Frequency settings (see on page 253)
(3) Other settings (see on page 255)
(4) Operating and status field (see on page 258)
(5) Display of the measurement result (see on page 260)
(6) Display of the measurement point at the cursor position (see on page 261)

Selection of the signal or system to be measured. ......................................................... 249
Frequency settings ........................................................................................................ 253
Speed control ................................................................................................................ 253
Other settings ................................................................................................................ 255
Operating and status field .............................................................................................. 258
Display of the measurement result................................................................................. 260
Display of the measurement point at the cursor position ................................................ 261
Selection of the signal or system to be measured.

Current control ............................................................................................................... 249
Mechanical system ........................................................................................................ 250
Position control .............................................................................................................. 251
With the aid of the tree structure, you may select what you want to measure. Here,
the selection is made, if a frequency spectrum or a frequency response is to be
measured.
The shown structures are simplified in such as all feedbacks are displayed without
special transmission behavior. This is surely not the case in reality, serves however
a better overview.
Current control
Closed current control

Shows the dynamic behavior of the closed current control.
=> How a signal on the current demand value is transmitted to the current actual
value.
(response)
Signal Frequency
generator response
measurement
f: disturbance torque
desired Position Velocity Current 1 actual

Kt
- - -
2*Pi*J position
position controller controller controller TeM
current controlled velocity controlled position
actual current system system controlled
actual velocity system
actual position
192-120108N13 Compax3T40_eng 2014-10 249

Signal generator Signal Generator

Position controller Lageregler
actual position Lageistwert
desired position Lagesollwert
Velocity controller Geschwindigkeitsregler
actual velocity Geschwindigkeitsistwert
Current controller Stromregler
actual current Stromistwert
current controlled system Stromregelstrecke
f: disturbance torque Störmoment
velocity controlled system Geschwindigkeitsregelstrecke
position controlled system Lageregelstrecke
Frequency response measurement Frequenzgangmessung
Application:
During the optimization of the current control for verification

 for the design of superposed controllers.
Mechanical system
Current to velocity
Shows the dynamic behavior between the measured current actual value and the
velocity actual value
Signal Frequency
generator response
measurement

Kt
- - -
2*Pi*J position
actual position

Reflects the transmission behavior between the acceleration at the motor and the
acceleration at the load to be moved.
Application:
 for the analysis of the dynamic behavior of the mechanic system
250 192-120108N13 Compax3T40_eng 2014-10

Current to position
Shows the dynamic behavior between current actual value and position actual
value.
Signal Frequency
generator response
measurement

Kt
- - -
2*Pi*J position
actual position

Application:
 for the analysis of the dynamic behavior of the mechanic system
Position control
Closed position control

Shows the dynamic behavior of the closed position control.
=> How a signal on the position demand value is transmitted to the position actual
value.
Signal Frequency
generator response
measurement

Kt
- - -
2*Pi*J position
actual position

192-120108N13 Compax3T40_eng 2014-10 251

Application:
For the design of superposed controllers or systems.

 For the verification of the obtained controller speed during optimization
 for the revision of the controller design of the position control
open position control

Shows the dynamic behavior of all components in the position control loop, but
without closing it.
Signal Frequency
generator response
measurement

Kt
- - -
2*Pi*J position
actual position

Application:
 For the graphic design of the position control.
Compliance of Position control

Shows the dynamic disturbance value behavior of the position control.
=> which dynamic influence does a disturbance torque have on the following error.
The disturbance toque is injected as disturbance current => this corresponds to the
effect of a disturbance torque f
Signal Frequency
generator response
measurement

Kt
- - -
2*Pi*J position
actual position
252 192-120108N13 Compax3T40_eng 2014-10


Application:
 Verification of the dynamic disturbance value behavior of the position control.
 Which following error generates a sinusoidal disturbance torque / disturbance
current with the frequency fZ ?
 The frequency response of the compliance corresponds to the disturbance step
response in the time range
Frequency settings
(1) start frequency

 This is the smallest frequency at which is still measured. During the measurement
of frequency spectrum and noise frequency response this results automatically
from the bandwidth and is only displayed as an information.
(2) End (bandwidth)
 This corresponds to the highest frequency which is measured. Start frequency as
well as the frequency resolution can be varied with the aid of the bandwidth for
frequency spectrum and noise frequency response.
(3) Frequency resolution (see on page 240)
 During the measurement of frequency spectrum and noise frequency response
this results automatically from the bandwidth and is only displayed as an
information.
Speed control
Closed velocity control

Shows the dynamic behavior of the closed velocity control.
=> How a signal on the velocity demand value is transmitted to the velocity actual
value.
Signal Frequency
generator response
measurement

Kt
- - -
2*Pi*J position
actual position
192-120108N13 Compax3T40_eng 2014-10 253


Application:
 During the optimization of the velocity control for verification
 For the design of superposed controllers.
Open velocity control

Shows the dynamic behavior of all components in the velocity control loop, but
without closing it.
Signal Frequency
generator response
measurement

Kt
- - -
2*Pi*J position
actual position

Application:
For the graphic design of the velocity control.
Compliance of velocity control

Shows the dynamic disturbance value behavior of the velocity control.
=> which dynamic influence does a disturbance torque have on the control
deviation of the velocity control.
The disturbance toque is injected as disturbance current => this corresponds to the
effect of a disturbance torque f
Signal Frequency
generator response
measurement

Kt
- - -
2*Pi*J position
actual position
254 192-120108N13 Compax3T40_eng 2014-10


Application:
 Verification of the disturbance value behavior of the velocity control
 Which velocity deviation generates a sinusoidal disturbance torque / disturbance
current with the frequency fZ ?
 The frequency response of the compliance corresponds to the disturbance step
response in the time range
Other settings
192-120108N13 Compax3T40_eng 2014-10 255

(1) Excitation
Serves to set the excitation signal of the frequency response measurement.
(2) Permissible following error (only for frequency response measurement)
The resulting following error is increased by the injection of the excitation signal
during the frequency response measurement. In order to allow for this, the
permissible following error window can be enlarged so that the measurement can
be made. After the end of the measurement, this is reset to the original value.
(3) Selection of the kind of analysis of the measurement results
Depending on the fact whether frequency spectra or frequency responses are
measured, the following types of analyses are available:
For frequency spectra:

 (a) Spectrum
 (b) Spectrum cumulated
 (c) cascade diagram
For frequency responses:

 (d) noise frequency response
 (d) noise frequency response cumulated
Non cumulated measurement (a & d)

The measured data are displayed directly. This is especially suitable if you wish to
analyze the effects of changes on the measurement results directly and promptly.
The disadvantage is however a smaller noise distance (quality) and an increased
sensitiveness of the measurement towards unique disturbances.
Cumulated measurement (b & e)

An average is taken from all measurements in the result memory. This reduces the
influence of random signals and disturbances extremely (improvement of the
quality). The number of measurements from which the average is taken, is set with
the Size of the result memory (see on page 258).
Comparison of two frequency spectra without and with cumulation
256 192-120108N13 Compax3T40_eng 2014-10

Cascade diagram (c)

Frequency spectra are displayed subject to time. The information on the value of
the signal is color-coded.
Cascade diagrams of the velocity signal during an acceleration process
This kind of display is suitable for the analysis of temporal changes in the
measured spectrum.
192-120108N13 Compax3T40_eng 2014-10 257

Operating and status field
(1) Start and Stop of the measurement

(2) Status display
Current status of the measurement or of the controller (if no measurement is taking
place).
(3) Progress of the registration of the signals in the controller
The time of registration of the signals in the controller itself can, depending on the
bandwidth and the kind of measurement, take up to one minute.
(4) status of the activity of the different partitions of the measurement
a: Registration of the measurement in the controller

b: Upload of the measurement from the controller to the PC
c: Processing the measurement in the PC
258 192-120108N13 Compax3T40_eng 2014-10

(5) Different settings and options

Functions available in a pull-down menu:
Open superimposed control loops (see on page 245)
accept load force

This serves, when opening the velocity controller, to accept the load which the
controller has provided at the time of switching off => a z-axis does not drop down
abruptly.
Measurement synchronous to the test movement

If this option is selected, it is ensured during the measurement, that the sampling
does not take place in the turning point during a movement.
Unless frequencies are generated due to the deceleration/acceleration of the drive,
which influence the measurement.
Result memory
In the result memory, the results of the N last measurements are kept.
This is important for the display of the cumulated measurement and for the
cascade diagram. The larger the memory, the "older" the results still used. When
the contents is deleted, all old measurements are discarded and do no longer
influence the new results.
Windowing (see on page 241)

Here you can select different windowing modes for the measurement of frequency
spectra. As default, no window is used.
Save measure to file

The currently displayed measurement result is stored and can be uploaded later
into the ServoSignalAnalyzer. This does, however, not apply to the cascade
diagram display.
Open measure from file

Here you can reload the measurements memorized before. You have the
possibility to load up to four measurements subsequently and display them
together in a graphic display.
Copy measurement to clipboard as graphic display.

The currently displayed measurement result is copied as pixel graphic (e.g. BMP)
to the clipboard.
192-120108N13 Compax3T40_eng 2014-10 259

Display of the measurement result

Frequency spectra
Bode diagrams: Value and phase
260 192-120108N13 Compax3T40_eng 2014-10

By clicking with the left mouse button on the legend, this can be shifted by 90°.
By clicking on the color bar, the color of the respective graph can be modified.
Cascade diagrams
By clicking with the left mouse button on the color scale, you can change between
autoscale mode and fixscale mode.
AutoScaleMode:
In this mode, the scaling of the color scale is adapted automatically so that all
values can be displayed.
FixScaleMode:
Here, the scaling is fixed.
=> If, for instance, a considerably higher value than before is to be displayed, it is
simply displayed like the former maximum (red).
Display of the measurement point at the cursor position
The cursor is set by clicking on the left mouse button. All measurement data of the
selected cursor position (frequency) are displayed in the "cursor" operating field.
192-120108N13 Compax3T40_eng 2014-10 261

4.4.9.8 Basics of frequency response measurement
In the drive and control technology, the display of signals and systems in the
frequency range is often the best possibility to solve different tasks.
Distinction between signals and systems ....................................................................... 262
Linear Systems (LTI System)......................................................................................... 263
Mechanical system ........................................................................................................ 264
Resonance points and their causes ............................................................................... 265
Distinction between signals and systems

Defined objects and their interactions that can be combined to a whole by a
plausible distinction from their environment (i.e. the complex reality) are called a
system.
Example electric motor

This consists of a multitude of different components, but the function and the
behavior of a motor can be described as a whole without describing each individual
component and their interactions separately.
If the motor is energized, it will generate a torque at the motor shaft.
Current is therefore a signal, which causes at the input of the system motor a
change of its torque output signal.
In order to register and process such signals in the controller, they are digitized and
read in with the so-called scanning frequency (fA). Thus the physical signal was
converted into a finite sequence of numbers, which can be processed in the
controller.
262 192-120108N13 Compax3T40_eng 2014-10

Linear Systems (LTI System)

Further explanations are based on the concept of so-called linear systems. This
means that doubling the input value means that the portion of the output value
influenced by it is also doubled. This, for instance, is not the case in the event of
influence due to limitations, friction and backlash.
=> those are called non-linear systems, which can not be analyzed with the
methods described here (or only with difficulties).
One of the most important properties of linear systems is that a sine signal, which
is put through a linear system, is still a sine signal at the output, which differs from
the input signal only in value and phase.
When a signal passes a LTI system, no new frequencies are generated.
Input and output signals of a linear system
If you know the value (V(f0)) as well as the phase position (u(f0)) for all
frequencies, the LTI system is completely defined.
Such a graph of value and phase position in dependence of the frequency, is called
frequency response or bode diagram.
=> only LTI systems can be analyzed with the aid of frequency responses.
Frequency response / bode diagram
192-120108N13 Compax3T40_eng 2014-10 263

The frequency response shows the amplification (value) and the phase shift
(phase), which a signal is submitted to when passing through a system.
The displayed bode diagram allows the following conclusions:
If a sine with 60Hz and an amplitude of 1A is present at the input, a sine delayed
by 94° and an amplitude of 0.01m/s will result at the output.
Mechanical system
Frequency response of a mechanic system: Current - velocity of a motor
The outlined course at the end of the measurement range does not permit
statements on the system measured due to disturbances. Due to the attenuation of
the signals increasing with the frequency, the sensitiveness of the measurement to
disturbances (signal to noise ratio) increases with a rising frequency. The value as
well as the phase response of the displayed frequency response are "disturbed" at
the same intensity, this shows, that disturbances are the reason.
The value response consists basically of a straight, which declines with a slope of
-20dB/decade (-20dB/decade => per tenfold increase of the frequency, the value
decreases also by factor ten.
The phase response remains however almost constantly at -90° over a relatively
large range.
In control technology, this is called integrating behavior (I-behavior).
the I-behavior can be explained as follows.
The measured current is proportional to the motor force and thus also to the
acceleration of the driven mass. As the velocity is calculated from the integrated
acceleration, the measured system looks as follows:
1
Kt 2*Pi*J
velocity controlled
system
Input value is the current actual value, output value is the velocity actual value
264 192-120108N13 Compax3T40_eng 2014-10

Resonance points and their causes

Rotary two mass system ................................................................................................ 265
Linear two mass system ................................................................................................ 266
Toothed belt drive as two mass system ......................................................................... 266
Mechanical system with a resonance point
fARes: Anti resonance frequency

fRes: Resonance frequency
The displayed change of the frequency response (resonance point), has its cause
in a so-called two mass system (caused by the elastic coupling of two masses).
Hint As, upon closer examination, each mechanic coupling shows a certain elasticity, it
is no the question if there is a resonance point, but at which frequency it is and how
well it is attenuated.
Rotary two mass system
The shown system corresponds for instance to a motor with a flywheel coupled via
a shaft. Hereby J1 corresponds to the motor moment of inertia and J2 to the
moment of inertia of the flywheel.
Calculation of the resonance frequencies in the rotary system with a hollow

shaft as elastic coupling element
192-120108N13 Compax3T40_eng 2014-10 265

Shear modulus of the material used [N/m²]

G
(e.g. approx. 80750N/mm² for steel)
D Torsional rigidity in [m/rad]
rA Outer radius of the hollow shaft
rI Inner radius of the hollow shaft
l Length of the hollow shaft
Linear two mass system
Resonance frequencies in the linear system
D Rigidity in [N/m]
m1 e.g. motor mass
m2 e.g. load mass
Toothed belt drive as two mass system
In toothed belt drives, the toothed belt is the elastic coupling element. Its rigidity
depends directly on the lengths I1 and I2 and changes in dependence of the
position of the moved mass.
266 192-120108N13 Compax3T40_eng 2014-10

D Total spring constant of the toothed belt drive

Dspez Specific spring constant of the toothed belt used
D1 Spring rate of the belt length I1
D2 Spring rate of the belt length I2
iGearbox Transmission ratio of the gearbox

lAxis Length of the axis
J1 Moment of inertia of motor and gearbox
m2 translatory moved mass
rToothed Radius of the drive pinion
wheel
Here you can find examples as a movie in the help file.
4.4.10. ProfileViewer for the optimization of the motion profile

Mode 1: Time and maximum values are deduced from Compax3 input values .............. 267
Mode 2: Compax3 input values are deduced from times and maximum values.............. 268
You will find the ProfilViewer in the Compax3 ServoManager under the "Tools"
Menu:
4.4.10.1 Mode 1: Time and maximum values are deduced from

Compax3 input values
 The motion profile is calculated from Position, Speed, Acceleration, Deceleration,
Acceleration Jerk and Deceleration Jerk
 As a result you will get, besides a graphical display, the following characteristic
values of the profile:
 Times for the acceleration, deceleration and constant phase
 Maximum values for acceleration, deceleration and speed
192-120108N13 Compax3T40_eng 2014-10 267

4.4.10.2 Mode 2: Compax3 input values are deduced from

times and maximum values
 A jerk-limited motion profile is calculated from the positioning time and the
maximum speed / acceleration
 As a result you will get, besides a graphical display, the following characteristic
values of the profile:
 the parameters Position, Speed, Acceleration, Deceleration, Acceleration Jerk
and Deceleration Jerk
 Times for the acceleration, deceleration and constant phase
 Maximum values for acceleration, deceleration and speed
Set deceleration and acceleration phase

The profile can be defined more exactly by entering the segmentation into
deceleration and acceleration phase.
When setting 50% and 50%, a symmetrical design will result, the values for
triangular operation are calculated, which is limited by the maximum speed.
The total of the percentage values may not exceed 100.
The percentage entries refer to the total positioning time.
Example:
35% 30%
100%
268 192-120108N13 Compax3T40_eng 2014-10

4.4.11. Turning the motor holding brake on and off

Compax3 controls the holding brake of the motor and the power output stage. The
time behavior can be set.
Application:
With an axis that is subject to momentum when it is halted (e. g. for a z-axis) the
drive can be switched on and off such that no movement of the load takes place.
The drive thereby remains energized during the holding brake response time. This
is adjustable.
The power output stage current is de-energized by:
 Error or
 by deactivating the MC_Power module
 the ServoManager
Thereafter the motor is braked to zero rotation speed on the set ramp.
When zero speed is reached, the motor is de-energized with the delay "brake
closing delay time".
powered 1
Motor
de-energized 2
t
Open 3
Brake
Engage 4
5 t
1: Motor powered
2: Motor de-energized
3: Open brake
4: Engage the brake
5: Brake closing delay time
The power output stage is enabled by:
 Quit (acknowledge) (after error) with the MC_Reset module
 by activating the MC_Power module
 the ServoManager
The motor is energized with the delay "delay time for brake release”:
brake closing delay time > 0 brake closing delay time < 0
1 powered 1
Motor
2 de-energized 2
t t
3 Open 3
Brake
4 Engage 4
5 t 6 t
1: Motor powered
2: Motor de-energized
3: Open brake
4: Engage the brake
5: Delay time for brake release (positive value)
6: Delay time for brake release (negative value)
A negative value (6) can be used to energize the motor and then to release the
brake after the given time.
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Motion control C3T40
5. Motion control
Programming based on IEC61131-3 .............................................................................. 270
Status diagrams............................................................................................................. 280
Control functions............................................................................................................ 282
Reading values .............................................................................................................. 288
Positioning functions (standard) ..................................................................................... 292
Superimposed motion .................................................................................................... 315
Cam Control .................................................................................................................. 327
Cam switching mechanism ............................................................................................ 405
Error handling ................................................................................................................ 416
Process image............................................................................................................... 420
Interface to C3 powerPLmC........................................................................................... 431
IEC examples ................................................................................................................ 436
Profibus: Simulate Profidrive profile (C3_ProfiDrive_Statemachine)............................... 442
Emulate CanOpen DS402 (C3_DS402_Statemachine) ................................................. 444
5.1 Programming based on IEC61131-3

Compax3 ServoManager: IEC61131-3 programming..................................................... 271
Prerequisites ................................................................................................................. 271
CoDeSys / Compax3 target system (Target Package) ................................................... 271
Languages supported .................................................................................................... 272
Function range supported .............................................................................................. 272
Data types supported..................................................................................................... 275
Retain Variables ............................................................................................................ 275
Recipe table with 9 columns and 32 (120) lines ............................................................. 275
Maximum program size ................................................................................................. 275
Cycle time...................................................................................................................... 276
Access to the Compax3 object directory ........................................................................ 276
Compilation, debugging and down/upload of IEC61131 programs ................................. 277
General rules / timing..................................................................................................... 277
Library constants ........................................................................................................... 279
270 192-120108N13 Compax3T40_eng 2014-10

Parker EME Programming based on IEC61131-3
5.1.1. Compax3 ServoManager: IEC61131-3 programming

In the function directory of the Compa3 ServoManager, you can find the
“IEC61131-3 programming category with IEC61131-3 functions:
 IEC61131-3 settings
Input of the setpoint cycle time and specification of the error reaction upon cycle
timeout
 IEC61131-3 CoDeSys development environment
Starting CoDeSys
 IEC61131-3 Debugger
Starting the Debugger
 Link IEC61131-3 Project.
Link external IEC project to the active Compax3 project. When editing the IEC
project, the external project is also edited. This makes it possible to use the same
IEC project with several Compax3 projects.
 Import IEC61131-3 Project.
Integrate external IEC project into the active Compax3 project.
 Export IEC61131-3 Project.
Export IEC project from the active Compax3 project.
5.1.2. Prerequisites
 Installation of the CoDeSys programming tool.
 Installation of necessary Target Packages (target systems):
 Bring up the "InstallTarget" program (program group "3S Software": "CoDeSys
V2.3")
 Select the target file; file name from “Open”; file name: "Compax3.tnf".
 The selected target can be installed with "Install".
5.1.3. CoDeSys / Compax3 target system (Target Package)
Targets for Compax3 servo axes

Beginning with Compax3 software version V2.0, two Compax3 targets are included
with delivery (containing module and object descriptions).
 CoDeSys for C3 T30: for Compax3 T30 (as per Compax3 Software version
V2.0)
 CoDeSys for C3 T40: for Compax3 T40 (as per Compax3 Software version
V2.0)
The old target is still available for programs that were created earlier (created with
Compax3 software version < V2.0).
 CoDeSys for Compax3: for Compax3 T30
This programs are thus still capable of running.
When migrating to a new target, you must be certain that the module and object
names have been changed.
Edit the appropriate parts of the IEC program accordingly.
Targets for Compax3F hydraulic axes

 CoDeSys for C3F T30: for Compax3 T30
 CoDeSys for C3F T40: for Compax3 T40
192-120108N13 Compax3T40_eng 2014-10 271

5.1.3.1 Program development and test

Program CoDeSys is the development environment for control systems which will help you
development develop Compax3 IEC61131 programs. CoDeSys is called up from the Compax3
ServoManager (under “programming: IEC61131-3 CoDeSys development
environment")
The IEC program can be integrated into the C3 ServoManager project or exported
again from the project as required.
When CoDeSys is brought up, the IEC program stored in the project is opened. If
the project does not contains an IEC program, a selection dialog appears.
Download to After the IEC61131 program has been developed and compiled with CoDeSys, it is
Compax3 downloaded to Compax3 by means of the ServoManager (in “Download: PC ->
Compax3").
Program test For testing your program directly with Compax3, you may use the Compax3
IEC61131-3 debugger (the debug functions of CoDeSys are not supported in
conjunction with Compax3). The debugger is called up from the ServoManager
(under Programming: IEC61131-3 debugger). It automatically accesses the last
IEC61131-3 program in the ServoManager to be loaded into Compax3 with
"Download: IEC61131-3" and makes its modules and variables available in the
project tree.
The data from Compax3 are read via the instruction “log in”. Please note in this
regard that the interface to Compax3 can only be assigned once: Online functions
in the ServoManager such as Upload, Download, Status display in the Optimization
window or oscilloscope functions are not possible simultaneously. These functions
interrupt the connection between debugger and Compax3 automatically.
5.1.3.2 Recipe management

The recipe management function in CoDeSys is not supported in conjunction with
Compax3. Please use the recipe table available in Compax3 (also see in the
configuration wizard).
5.1.4. Languages supported

 IL (Instruction List)
 ST (Structured Text)
 FBD (Function block diagram)
 CFC (continuous function chart editor)
 LD (Ladder diagram)
5.1.5. Function range supported

Operators supported ...................................................................................................... 273
Standard functions supported ........................................................................................ 274
Standard function modules supported............................................................................ 274
272 192-120108N13 Compax3T40_eng 2014-10

5.1.5.1 Operators supported

IL FBP / CFC / SFC ST
LD(N)
ST(N)
AND(N) AND AND(N)

OR(N) OR OR(N)
XOR(N) XOR XOR(N)
NOT NOT NOT
ADD ADD +
SUB SUB -
MUL MUL *
DIV DIV /
GT GT >
GE GE >=
EQ EQ =
NE NE <>
LE LE <=
LT LT <
RET RET RETURN
MOVE
:=
CAL(C/N)
JMP(C/N)
CASE
DO
ELSE
ELSIF
END_CASE
END_FOR
END_IF
END_REPEAT
END_WHILE
EXIT
FOR
IF
REPEAT
THEN
TO
UNTIL
WHILE
192-120108N13 Compax3T40_eng 2014-10 273

5.1.5.2 Standard functions supported
Bit manipulation functions

SHL, SHR, ROL, ROR
Numeric functions
ABS, SQRT, SIN, COS
Functions for type conversion

Type conversions X=Source data type, Y=Target data type
x_TO_y
TRUNC
Functions for selection

MIN Not for BOOL /WORD / DWORD
MAX Not for BOOL /WORD / DWORD
LIMIT Not for BOOL /WORD / DWORD
SEL Not for BOOL /WORD / DWORD
5.1.5.3 Standard function modules supported
FlipFlops
RS, SR,
Trigger
R_TRIG, F_TRIG,
Numerator
CTU, CTD, CTUD,
Timer
TON, TOF, TP,
maximum 8 pieces, time resolution 0.5ms
(the number of timers required is displayed in the CoDeSys output window during
compilation)
PID Controller function block
274 192-120108N13 Compax3T40_eng 2014-10

5.1.6. Data types supported

The following data types are available for IEC61131-3 programming:
Name Division Format
BOOL Status values: TRUE or FALSE Logical variable.
INT -32768...32767 16-bit integer: Fixed point number without places after the decimal
DINT -2147483648...2147483647 32 bit integer: Fixed point number without places after the decimal
REAL 32-bit floating point: 16 bits before the decimal and 16 bits after the
decimal
WORD 0...65535 16-bit bit sequence (no range of values)
DWORD 0...4294967295 32-bit bit sequence (no range of values)
TIME 0...4194.3035s 32 Bit - Format (resolution: 0.5 ms)
ENUM User-defined type of enumeration (local enumerations are not supported)
Altogether 500 16-bit variables are available. These include BOOL, INT, and
WORD.
Altogether 150 32-bit variables are available. These include
DINT,DWORD,TIME,REAL.
The number of the required variables is displayed in the CoDeSys output window
during compilation.
5.1.7. Retain Variables

6 retain variables (variables that are safe from power failure) are available
 3x16-bit retain-variables
 3x32-bit retain-variables
5.1.8. Recipe table with 9 columns and 32 (120) lines

An array, i.e. a table with 9 columns and 32 rows for direct access and additional
88 rows for indirect access, is available to store values.
This table is freely assignable and can be used for example to store position sets
or for recipe management.
In addition, this table can be used to exchange data with an external control system
or a POP, for example.
The layout of the table is as follows:

Column 1 Column 2 Column 3 Column 4 Column 5 Column 6 Column 7 Column 8 Column 9
Type: Type: Type: Type: Type: Type: Type: Type: Type:
REAL REAL INT INT INT DINT DINT DINT DINT
objects objects objects objects objects objects objects objects objects
O1901 O1902 O1903 O1904 O1905 O1906 O1907 O1908 O1909
Row 1 Row 1 Row 1 Row 1 Row 1 Row 1 Row 1 Row 1 Row 1
"C3Array.Col01_R "C3Array.Col02_R "C3Array.Col03_R "C3Array.Col04 "C3Array.Col05 "C3Array.Col06 "C3Array.Col07 "C3Array.Col08 "C3Array.Col09
ow01" ow01" ow01" _Row01" _Row01" _Row01" _Row01" _Row01" _Row01"
(1901.1) (1902.1) (1903.1) (1904.1) (1905.1) (1906.1) (1907.1) (1908.1) (1909.1)
... ... ... ... ... ... ... ... ...
... ... ... ... ... ... ... ... ...
... ... ... ... ... ... ... ... ...
Row 32 Row 32 Row 32 Row 32 Row 32 Row 32 Row 32 Row 32 Row 32
"C3Array.Col01_R "C3Array.Col02_R "C3Array.Col03_R "C3Array.Col04 "C3Array.Col05 "C3Array.Col06 "C3Array.Col07 "C3Array.Col08 "C3Array.Col09
ow32" ow32" ow32" _Row32" _Row32" _Row32" _Row32" _Row32" _Row32"
(1901.32) (1902.32) (1903.32) (1904.32) (1905.32) (1906.32) (1907.32) (1908.32) (1909.32)
In addition to direct access to the first 32 table rows, indirect access to the 120
rows of the complete table is possible via pointer addressing.
To do this, the table pointer "C3ArrayPointer_Row" (Object 1900.1) must be set to
the desired row.
This offers access to Columns 1 through 9 of the referenced rows through
"C3Array_Indirect_Col1" to "C3Array_Indirect_Col9" (objects 1910.1 to 1910.9).
192-120108N13 Compax3T40_eng 2014-10 275

5.1.9. Maximum program size

Up to 6000 (IL) instructions are possible
Note! Please note, that integrated function modules do also require program memory.
The required program memory can therefore increase due to a Targets update,
even without any program changes.
The number of instructions generated is displayed in the CoDeSys output window

by the Compax3 compiler during interpretation.
5.1.10. Cycle time

Minimal cycle time: 1ms.
The cycle time can be adjusted with the Compax3 ServoManager when
downloading IEC61131-3 programs.
It is possible to optimize later in the optimization display of the Compax3
ServoManager. The cycle time is displayed there in increments of 500 µs (2 = 1
ms; 3 = 1.5 ms; etc.).
The IEC61131-3 program is stopped cycle time of 0.
5.1.11. Access to the Compax3 object directory

All Compax3 objects are encapsulated in the "C3" program module.
Access to Compax3 objects (see on page 515) in CoDeSys:
Compax3 objects are divided into groups:

C3. Compax3 - Objects
C3Array. Variable (Recipe) List
C3Pop. Objects for the Parker Operator Panel Pop.
C3Cam. Objects for the T40 cam control.
Do only use the objects described in this help; the additional
objects are for internal use only!
C3Plus. Additional objects that are generally not required.
C3Scope. Objects for programming the oscilloscope function.
For internal use only!
The object name reveals the group assignment.
In general, it
applies: Objects that are not described here are reserved objects!
276 192-120108N13 Compax3T40_eng 2014-10

5.1.12. Compilation, debugging and down/upload of IEC61131

programs
 Compiling IEC61131-3 programs in CoDeSys
 Downloading or uploading of IEC61131-3 programs with the Compax3
ServoManager.
 The debugger is called up from the C3 ServoManager under “Programming:
IEC61131-3 debugger” called up.
Note:
Before compiling you have to enter for which Compax3 versions the compilation is
to be executed.
Please note that when selecting “all versions” not all functions are available, only
the minimal range of functions is supported.
Only if the latest firmware version was selected (and the corresponding firmware is
loaded in the target Compax3) all functions described here are supported.
5.1.13. General rules / timing

General rules
Positioning Within an IEC cycle, only one positioning module may be activated!
If 2 positioning modules are activated within one IEC cycle, it is not defined which
one is executed.
Status of the  The outputs "Done", "InVelocity", "Error", "ErrorID" and "CommandAborted" reset
outputs with the falling edge of the "Execute" input.
 If the "Execute" input goes back to FALSE again before the module action (for
example positioning) has been completed ("pulse to Execute"), the corresponding
outputs (for example “Done”)is set upon termination for precisely ONE cycle.
 The outputs "Done" and "Error" are never simultaneously TRUE.
 If the instance of a function module receives a new "Execute" signal before the
function ends, the module will not show any response (no "Done" and no
"Command Aborted") in reference to the previous action.
Input parameters  Parameters are accepted with the rising edge of the "Execute" signal.
 To be able to accept modified parameters, the module must be triggered again
with an "Execute" signal.
Missing input  If an input parameter is missing, the previous value of this instance will be used in
parameters accordance with IEC61131-3.
 On the 1st. callup, the standard value is used.
Position and  "Position" is a value that is defined for a reference system, i.e. a specific position
distance value is a fixed location in the reference system.
 "Distance" is the difference between 2 positions.
Sign  "Velocity", "Acceleration", "Deceleration" and "Jerk" are always positive variables.
 "Position" and "Distance" may be positive or negative.
Error handling  All function modules have an "Error" output that can be activated by a module
during a module sequence.
 The ErrorID (error number) can be read by an axis error with the
"MC_ReadAxisError" module.
192-120108N13 Compax3T40_eng 2014-10 277

Behavior of the The "Done" output is set if the function module has been successfully executed.
"Done" - output If one positioning process is interrupted by a second If one positioning process is
interrupted by a second before it is complete, the first function block no “Done”
Behavior of the "CommandAborted" is set if a positioning process is interrupted by a second

"CommandAborted" positioning process is interrupted by "MC_Stop" or MC_Power.
output The reset behavior of "CommandAborted" is the same as "Done".
If "CommandAborted" occurs, the other outputs will be reset.
Value range of the Please note that the limits are specified in revolutions.
movement To convert to the configured unit, multiply the min/max values by the "travel
parameters distance per motor revolution".
Linear motors With a configured linear motor, all revolution data must be replaced by pitch.
To convert to the configured unit, the min/max values must be multiplied by the
pitch length (see the technical data for the motor).
278 192-120108N13 Compax3T40_eng 2014-10

5.1.14. Library constants

The following global constants are declared in the PLCopen function module
library:
Name Type Description
For power supply of the axis inputs/outputs of modules:
Axis_Ref_LocalAxis INT Local axis
for Compax3F: Main axis
Axis_Ref_LocalAxisAux INT Only for Compax3F: Local auxiliary axis
Axis_Ref_Virtual INT virtual Master (only with T40)
AXIS_REF_LocalCam INT Local Cam axis (physically present axis)
For the selection of the master signal source:

AXIS_REF_Physical INT for +/-10V analog input, step / direction input
5V or Encoder A/B input 5V (depending on
the configuration of the physical source under
signal source)
Axis_Ref_Virtual INT virtual Master
Axis_Ref_HEDA INT HEDA
Axis_Ref_Additional INT reserved (additional sources)
Axis_Ref_CAN INT reserved (CAN)
Axis_Ref_FieldBus INT reserved (CAN)
General constants
MC_Direction_Positive INT For supply of the Direction input of the
MC_MoveVelocity module (for positive
rotational direction)
MC_Direction_Negative INT For supply of the Direction input of the
MC_MoveVelocity module (for negative
rotational direction)
MC_Direction_Current INT For supply of the Direction input of the
MC_MoveVelocity module (retaining the last
rotational direction to be selected)
Direction_Memory INT (Variable) The MC_MoveVelocity modules instances
store the last direction parameter in this
variable. This variable can only be used by
Motion Control modules and must not be
overwritten!
OutputSelect_C3Output INT for the C3_OutputSelect module:

Assignment of the source for the respective
output to module "C3_Output".
OutputSelect_FastCam INT for the C3_OutputSelect module:
Assignment of the source for the respective
output to the respective fast cam.
Reset positioning mode
All directions INT C3_all_direction
Positive direction INT MC_positive_direction
Shortest path INT MC_shortest_way
Negative direction INT MC_negative_direction
Actual direction INT MC_current_direction
192-120108N13 Compax3T40_eng 2014-10 279

5.2 Status diagrams

Compax3 status diagram ............................................................................................... 280
Virtual Master ................................................................................................................ 281
5.2.1. Compax3 status diagram

MC_CamIn(Slave)
MC_Phasing(Slave)
MC_MoveSuperimposed(Slave)
C3_CamIn(Slave)
C3_Current
MC_GearIn(Slave)
MC_CamIn(Slave)
C3_CamIn(Slave)
C3_Current
Synchronized MC_GearIn(Slave)
Error
Motion C3_CamOut(Slave)
MC_GearIn(Slave) MC_Stop MC_GearIn(Slave)
MC_MoveAbsolute
MC_MoveRelative MC_MoveSuperimposed
MC_MoveAdditive C3_TorqueControl
MC_MoveSuperimposed MC_MoveVelocity
MC_MoveAbsolute
MC_MoveRelative
MC_MoveAdditive
Continuous
Discrete Motion C3_TorqueControl
MC_MoveVelocity Motion
MC_Stop MC_Stop
Stopping
Error Error
Done
MC_MoveRelative Error MC_Power.Enable
MC_MoveAdditive =FALSE
MC_MoveAbsolute
MC_MoveSuperimposed
not MC_Stop.Done
Reaction 2
Reaction 1
powered
powered AND NOT
MC_Stop.Execute
ErrorStop
C3_TorqueControl
MC_Stop MC_Reset MC_Move Velocity
MC_Stop
Error Error
MC_Reset
Homing Done
MC_Home powered
Standstill
MC_Power.
not powered Enable = TRUE
MC_Power.Enable = FALSE
280 192-120108N13 Compax3T40_eng 2014-10

Parker EME Status diagrams
5.2.2. Virtual Master

5.2.2.1 Status diagram of the virtual master
MC_MoveAbsolute
MC_MoveRelative
MC_MoveAdditive MC_MoveVelocity
MC_MoveAbsolute; MC_MoveRelative; MC_MoveAdditive

Continuous
Discrete Motion
Motion
MC_MoveVelocity
MC_Stop MC_Stop
Stopping
MC_Stop.Done
MC_MoveAbsolute Done
AND NOT
MC_MoveRelative
MC_Stop.Execute
MC_MoveAdditive
MC_Stop
MC_Move
Velocity
MC_Stop
Done
Homing Standstill
MC_Home
Create a program for the virtual axis.

The virtual axis supports the function modules listed in the status diagram.
To do so, the input/output variable "Axis" is assigned to the constant
"AXIS_REF_Virtual".
The position value of the virtual axis can be used as master signal source.
Note: Please note that the virtual axis is only available for function modules listed in the
status diagram.
192-120108N13 Compax3T40_eng 2014-10 281

5.3 Control functions

Activation of the drive (MC_Power) ................................................................................ 282
Stop (MC_Stop) ............................................................................................................. 284
Opening the brake (C3_OpenBrake).............................................................................. 287
5.3.1. Activation of the drive (MC_Power)

FB name MC_Power
Transition into the "Standstill: disable" state or "Standstill: powered"
VAR_IN_OUT
Axis INT Achs-ID (Bibliothekskonstanten)
VAR_INPUT
Enable BOOL Activates the module;
A rising edge on the input activates the drive, a falling edge
deactivates the drive with the ramp defined for errors (see
on page 142).
Please observe:
The configured error ramp is limited. The error ramp
will not be smaller than the deceleration set in the last
motion set.
VAR_OUTPUT
Status BOOL State of the power output stage (TRUE=drive activated,
FALSE=drive deactivated)
Error BOOL Error when activating or deactivating the drive
282 192-120108N13 Compax3T40_eng 2014-10

Parker EME Control functions
Notes:
 If the input parameter “Enable” is set to “TRUE”, all enables of the drive are set.
The command is only accepted if the axis is not yet or still active (Output “State” =
FALSE). Furthermore, the device may not be in error state.
 All enables will be reset if the input parameter "Enable" = FALSE, the axis
decelerates with the configured error ramp to speed = 0 - the “state” output
remains on “TRUE” during downramping.
 Compax3 Servo: During automatic commutation, the output “State" is not set to
TRUE for activation, but rather not until after automatic commutation has been
successfully completed.
 Compax3 Servo: With Asynchronous motors, the output “State" is not set to
TRUE for activation, but rather not until after the magnetization current has been
successfully built up.
 An enable is denied until the intermediate circuit is loaded, this may take up to 2s
when switching on Compax3H for the first time.
 In the Compax3M, an enable is denied if the mains module is in the initialization
phase (e.g. the intermediate circuit is not yet completely loaded) or the
communication between axis and axis combination is not active.
 If the drive is in error state (error reaction 1: controller active) and the enable of
the MC_Power is deactivated, the drive is deactivated (error reaction 2).
 C3 powerPLmC Note: This module is also available as group function block. You
can then trigger this function for the entire Compax3 group.
 The “Error” output is generated, if activation is not possible. Possible cause:
Device in error state, activation of a different IEC module after execution of the
MC_Power.
 The “Error” output is generated, if deactivation is not possible. Possible cause:
Activation of a different IEC module after execution of MC_Power.
 Compax3 Servo: On motors with brake, the configured braking delay for opening
the brake leads to a temporal delay of the “state” output with reference to control
of the “enable” input.
Note on sequencer programming (see on page 284)

 Input False on the enable input interrupts a stop sequence triggered by a rising
edge on the Execute input of the MC_Stop.
 The axis is also in “Standstill” state after PowerOff (however deactivated), but the
Done output of MC_Stop is not set.
 In sequencers, a sole query of the MC_Stop.Done output is not sufficient for
standstill acquisition, in addition, the MC-ReadStatus.Standstill or
MC_Power.Status signals must be linked. See also description of module
MC_Stop.
MC_Power
Enable : BOOL Status : BOOL

Axis : (VAR_IN_OUT) Error : BOOL
192-120108N13 Compax3T40_eng 2014-10 283

5.3.2. Stop (MC_Stop)

FB name MC_Stop
Stops the current movement
Please note: Only one instance of MC_Stop is permitted per axis!
VAR_IN_OUT
VAR_INPUT
Execute BOOL Stops the movement
Deceleration DINT Value of deceleration (always positive) [Units/s²]
Range of values: 0.24 rev/s² ... 1000000 rev/s²
Please observe:
The configured STOP ramp is limited. The STOP
ramp will not be smaller than the deceleration set in
the last motion set.
Jerk DINT Value of the deceleration jerk [Units/s³] (always positive)

value range: 30 rev/s³ ... 125000000 rev/s³
Please note:
The STOP deceleration is limited. It is limited to the
deceleration of the latest motion set.
VAR_OUTPUT
Done BOOL Movement stopped
Error BOOL Error while stopping positioning
284 192-120108N13 Compax3T40_eng 2014-10

Note:
 As long as the "Execute" input is set, the axis remains in the "Stopping" status (as
long as the axis is activated) and is unable to execute any additional movement
commands!
 If the axis is deactivated by setting the Enable signal of the "MC_Power" module
to FALSE, the Stopping state will then be exited.
 If the enable signal of the "MC_Power" module is set to TRUE again, the axis
goes back to the "Stopping" state again if the Execute input of the "MC_Stop"
module is still TRUE.
 Compax3 T40 note: Curve operation upon STOP: The master position and the
curve are not influenced by a STOP of the axis.
The acquisition and cam generation continue; this means that the curve output is
available in the event of an average.
If the curve is to restarted after the STOP without consideration of the previous
history, the “C3_CamReset (see on page 360)“ module must be executed after
stop.
Note on sequencer programming

 In sequencers, a sole query of the done output is not sufficient for standstill
acquisition, as it can be reported with a considerable delay. In addition, the
MC-ReadStatus.Standstill or MC_Power.Status signals must be linked.
Example 1: PowerOff during a stop sequence:
 Input False on the enable input of MC_Power interrupts a stop sequence
triggered by a rising edge on the Execute input.
 The Stop module goes on in the background “without function” in the “Standstill
(not powered)” states and is only continued by reactivating the axis with the
MC_Power module when the “Standstill (powered)” state is reached.
 The Done output message is delayed until the “Standstill (powered) state is
reached.
Example 2: Device error during a stop sequence:
 A device error interrupts a stop sequence triggered by a rising edge on the
Execute input.
 The axis is temporarily in “Errorstop” state and will only pass into “Standstill” state
after acknowledging the error with MC_Reset (upon error reaction 2 not powered
at first).
 The Stop module goes on in the background “without function” in the “Errorstop”
and “Standstill (not powered)” states and is only continued by acknowledging the
error (error reaction 1) (upon error reaction 2 followed by reactivation of the axis
with MC_Power) when the “Standstill (powered)” state is reached.
 The Done output message is delayed until the “Standstill (powered) state is
reached.
MC_Stop
Execute : BOOL Done : BOOL

Deceleration : DINT Error : BOOL
Jerk : DINT
Axis : (VAR_IN_OUT)

MC_Stop: Example 1 ..................................................................................................... 286
MC_Stop: Example 2 ..................................................................................................... 287
192-120108N13 Compax3T40_eng 2014-10 285

5.3.2.1 MC_Stop: Example 1

The following illustration shows an example of how the MC_Stop module interrupts
and stops a movement that is in progress.
If a positioning module is interrupted by the MC_Stop module, it reports "Command
Aborted" and can no longer be executed as long as the MC_Stop module is active.
If the MC_Stop module is inactive (no "Execute" signal), the function module can
be executed again.
Timing Diagram: MC_Stop.
Execute
Done
Velocity
Stopping
Standstill
Note: If a positioning is to follow immediately after the stop, this can take place with the
falling edge of the done output at the earliest:
MC_Stop MC_MoveRelative
stopAxis Execute Done Execute Done

Command
400 Deceleration Error 6000. 0 Distance
Aborted
4000 Jerk 500. 0 Velocity Error
AXIS_REF_ Axis 100 Acceleration

LocalAxis
100 Deceleration
1000 Jerk
1000 JerkDecel
AXIS_REF_LocalAxis Axis
286 192-120108N13 Compax3T40_eng 2014-10

5.3.2.2 MC_Stop: Example 2
MC_MoveRelative MC_Stop
go Execute Done stopAxis Execute Done

Command
6000. 0 Distance 400 Deceleration Error
Aborted
500. 0 Velocity Error 4000 Jerk
100 Acceleration AXIS_REF_ Axis

LocalAxis
100 Deceleration
1000 Jerk
1000 JerkDecel
AXIS_REF_LocalAxis Axis
MC_Stop.
1
Execute (Stop Axis)
0
1 t
Done (Stopp)
0
t
MC_MoveRelative.
1
Execute (go)
0
Command- 1 t
Aborted 0
Bewegungsablauf t
Moving diagram
Velocity
5.3.3. Opening the brake (C3_OpenBrake)

FB name C3_OpenBrake
Opening the motor holding brake - works only with no current (standstill - not powered)
VAR_INPUT
OpenBrake BOOL "TRUE" opens the motor holding brake
When current is being supplied to the drive, the input has no function.
C3_OpenBrake
OpenBrake : BOOL
192-120108N13 Compax3T40_eng 2014-10 287

5.4 Reading values

Reading the current position (MC_ReadActualPosition)................................................. 288
Read access to the (C3_ReadArray) array .................................................................... 290
Reading the device status (MC_ReadStatus) ................................................................ 291
5.4.1. Reading the current position (MC_ReadActualPosition)

FB name MC_ReadActualPosition
Reading the current axis position
VAR_IN_OUT
VAR_INPUT
Enable BOOL Activates the module, continuous reading of the axis
position as long as Enable=TRUE
VAR_OUTPUT
Done BOOL Position value available
Error BOOL Error while reading the position
Position REAL Axis position
Note: -
MC_ReadActualPosition
Enable : BOOL Done : BOOL

Position : REAL
288 192-120108N13 Compax3T40_eng 2014-10

Parker EME Reading values
You can read the current position of the axis with this module.
As long as the input parameter "Enable" = TRUE, the current parameter value will
be supplied cyclically (see on page 432) to the output parameter "Position".
The status of the input parameter must be present for at least one module call.
The following illustration shows the behavior of parameters in the
MC_ReadActualPosition function module.
go Enable Done
AXIS_REF_LocalAxis Axis Error
Position
1
Enable
0
1 t
Done
0
1
Position
0
192-120108N13 Compax3T40_eng 2014-10 289

5.4.2. Read access to the (C3_ReadArray) array

FB name C3_ReadArray
This module is used for simplified read access to the array (recipe table).
VAR_INPUT
Enable BOOL The desired rows can be read with the Enable input (after
selecting "Row").
Row INT Desired table row (1 ...120).
This input works with object 1900.1, please respect this, if
you access object 1900.1 directly in addition.
VAR_OUTPUT
Error BOOL The output Error signalizes that there was an error during
reading out the array
(non existing row selected on the Row Input).
Col1 – Col9 REAL The individual columns of the array can be accessed
INT through outputs Col1 through Col9.
DINT
Notes: - Rows will be read cyclically as long as Enable = TRUE.
C3_ReadArray
Enable : BOOL Error : BOOL

Row : INT Col1 : REAL
Col2 : REAL
Col3 : INT
Col4 : INT
Col5 : INT
Col6 : DINT
Col7 : DINT
Col8 : DINT
Col9 : DINT
290 192-120108N13 Compax3T40_eng 2014-10

Parker EME Reading values
5.4.3. Reading the device status (MC_ReadStatus)

FB name MC_ReadStatus
Specifies the current status according to the PLCopen status machine
VAR_IN_OUT
VAR_INPUT
Enable BOOL Activates the module; continuous outputs of output
parameters as long as Enable=TRUE
VAR_OUTPUT
Done BOOL Status values available
Error BOOL Error while executing module
Errorstop BOOL Error stop function. The motor brakes as specified by the
stop ramp and is de-energized;
Stopping BOOL The motor is stopped;
Standstill BOOL The motor is stopped;
DiscreteMotion BOOL Individual movement;
ContinuousMotion BOOL Continuous positioning;
Homing BOOL Machine reference is approached;
SynchronizedMoti BOOL Synchronous motion
on
Note: See also in the status diagram.
192-120108N13 Compax3T40_eng 2014-10 291

5.5 Positioning functions (standard)

Value range for positioning parameters ......................................................................... 292
Absolute positioning (MC_MoveAbsolute)...................................................................... 293
Relative positioning (MC_MoveRelative) ....................................................................... 298
Additive positioning (MC_MoveAdditive) ........................................................................ 301
Endless positioning (MC_MoveVelocity) ........................................................................ 303
Manual operation (C3_Jog) ........................................................................................... 305
Machine zero (MC_Home) ............................................................................................. 307
Electronic gearbox (MC_GearIn) ................................................................................... 309
Stromstellbetrieb (C3_Current) ...................................................................................... 312
Momenten- / Kraftregelung (C3_TorqueControl) ............................................................ 312
5.5.1. Value range for positioning parameters

With virtual Master other limit values apply

Speed [Rev/s], [pitch/s] 0.00001157 ... 16 000
Acceleration / deceleration Rev/s2], [pitch/s2] 1.91 ... 8 000 000
Acceleration / deceleration jerk: Rev/s3], [pitch/s3] 239 ... 1 000 000 000
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Parker EME Positioning functions (standard)
5.5.2. Absolute positioning (MC_MoveAbsolute)

FB name MC_MoveAbsolute
Absolute positioning to a specified position.
VAR_IN_OUT
VAR_INPUT
Execute BOOL Starts the sequences of the module with positive edge
Position REAL Absolute target position of the movement to be executed
(configured unit [units] ) (positive and negative direction)
1
-Value range-
Velocity REAL Value of maximum speed (always positive) (not necessarily
2
reached) -value range -
3
[Units/s ]
4
Acceleration DINT Value of acceleration (always positive) [Units/s² ] -value
5
range-
6
Deceleration DINT Value of deceleration (always positive) [Units/s² ] -value
7
range-
8
Jerk DINT Value of the acceleration jerk (see on page 297) [Units/s³ ]
9
(always positive) -value range-
10
JerkDecel DINT Value of the deceleration jerk [Units/s³ ] (always positive)
11
-value range-
VAR_OUTPUT
Done BOOL Specified setpoint position on the setpoint generator output

is reached
CommandAborted BOOL Positioning aborted

1
Target position: [Rev], [Pitch]-4 000 000...4 000 000
2
Speed for positioning: [Rev/s], [pitch/s]0.00001157 ...2000
3
The unit "increments" is valid only for position values!Speed, acceleration and jerk are specified in this case in revolutions/s,
4
5
Acceleration for positioning: Rev/s2], [pitch/s2]0.24...1 000 000
6
7
Deceleration for positioning: Rev/s2], [pitch/s2]0.24...1 000 000
8
9
Acceleration jerk for positioning:Rev/s3], [pitch/s3]30...125 000 000
10
11
Deceleration jerk for positioning:Rev/s3], [pitch/s3]30...125 000 000
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Notes:
 Continuous operation can be selected via object 1111.8
"C3Plus.Position_restposition_mode" <> 0; setpoint value and actual value are
then set to 0 before each positioning.
 You can optimize the motion profile data with the "ProfilViewer" (see on page
267) software tool!
Notes on T40 (Cam):

 If a SuperImposed movement is started during an absolute movement, the
absolute position is not accessed, but the absolute position plus the position
entered in the SuperImposed.
 The same applies if a SuperImposed movement is already being executed and
an absolute movement is started, then the absolute position is not accessed but
the sum of both values.
 After the SuperImposed movement has been finished, the absolute position is
accessed with the next absolute movement.
MC_MoveAbsolute

Position : REAL CommandAborted : BOOL
Velocity : REAL Error : BOOL
Acceleration : DINT
Deceleration : DINT
Jerk : DINT
JerkDecel : DINT
Axis : (VAR_IN_OUT)
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The following illustration shows two examples for the combination of two
MC_MoveAbsolute modules.
 The left part (a) of the time diagram shows a case in which the second Function
block after the first function block is executed.
If the 1st. function block has reached position 60, the “Done” output will issue the
execution command to the second function module, which then moves to Position
100.
 The right part (b) of the diagram shows a case in which the second function block
is executed during execution of the 1st. function block. The 1st The first function
module is automatically interrupted.
The 2nd. function module moves directly to position 100 whether or not position
60 of the first Function block was already reached.
1. Instanz 2. Instanz
First motion Second motion
MC_MoveAbsolute MC_MoveAbsolute
go Execute Done Execute Done

OR
Command Command
60. 0 Position 100. 0 Position
Aborted Aborted
300. 0 Velocity Error 200. 0 Velocity Error
100 Acceleration 100 Acceleration
100 Deceleration 100 Deceleration
1000 Jerk 1000 Jerk
1000 JerkDecel 1000 JerkDecel
AXIS_REF_LocalAxis Axis AXIS_REF_ Axis

LocalAxis
Test
1. Instanz
First motion
a b
1
Execute (go)
0
1 t
Done
0
Command- 1 t
Aborted 0
2. Instanz t
Second motion
1
Execute (Test)
0
1 t
Done
0
Bewegungsablauf t
Moving diagram
300
Velocity 200
0
100
t
absolute Position 60
absolute position
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5.5.2.1 Position mode in reset operation

Setting the positioning mode in reset mode ................................................................... 296
In reset operation (activated by the configured reset distance), additional
positioning functions are possible for absolute positionings (can be set under
configuration in the “Positioning options / positioning profiles” window only in bus
mode “Positioning” or “Profile selection”):
All directions Standard positioning mode
Positive direction Positioning only in positive direction
Shortest path Positioning on the shortest path
Negative direction Positioning only in negative direction
Actual direction Positioning by keeping the actual direction of travel
Dynamic positioning
In dynamic positioning, a decision concerning the positioning travel is not taken on
the basis of the actual position, but on the basis of the braking position resulting
from the motion parameters.
Please observe:  In the event of positioning specifications below zero and higher than or
equal to the reset distance, this function is deactivated.
The positioning target must for instance be in the range between 0..359.999999°
for a reset distance of 360°.
 The positioning functions are neither effective in test movements nor in an
automatic positioning after homing travel (if this was not deactivated in the
configuration).
 In the event of “shortest path”, the motion is not defined for a positioning by a
travel of half the reset distance.
Setting the positioning mode in reset mode

The positioning modes in reset operation are configured via object 1111.13
(C3Plus.POSITION_direction):
Mode Value IEC constant
All directions 0 C3_all_direction
Positive direction 1 MC_positive_direction
Shortest path 2 MC_shortest_way
Negative direction 3 MC_negative_direction
Actual direction 4 MC_current_direction
Setting the desired value must take place in the IEC initialization routine, as a
configuration download by the C3 ServoManager would reset the value to 0 (due to
downwards compatibility).
Example:
C3Plus.POSITION_direction:=MC_Direction_Positive;
In the help file you can find examples for the functioning of the individual
positioning modes.
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5.5.2.2 Description of jerk

Jerk
The jerk (marked with “4” in the drawing below) describes the change in
acceleration (derivation of the acceleration)
The maximum change in acceleration is limited via the jerk limitation.
A motion process generally starts from a standstill, accelerates constantly at the
specified acceleration to then move at the selected speed to the target position.
The drive is brought to a stop before the target position with the delay that has
been set in such a manner as to come to a complete stop at the target position. To
reach the set acceleration and deceleration, the drive must change the acceleration
(from 0 to the set value or from the set value to 0).
This change in speed is limited by the maximum jerk.
Without jerk According to VDI2143 the jerk is defined (other than here) as the jump in
according to acceleration (infinite value of the jerk function).
VDI2143 This means that positionings with Compax3 are without jerk according to VDI2143,
as the value of the jerk function is limited.
Motion sequence
t
2
t
3
1: Position
2: Speed
3: Acceleration
4: Jerk
High changes in acceleration (high jerks) often have negative effects on the
mechanical systems involved. There is a danger that mechanical resonance points
will be excited or that impacts will be caused by existing mechanical slack points.
You can reduce these problems to a minimum by specifying the maximum jerk.
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5.5.3. Relative positioning (MC_MoveRelative)

FB name MC_MoveRelative
Relative positioning by a specified distance.
VAR_IN_OUT
VAR_INPUT
Distance REAL Relative distance of the movement to be executed
12
(configured unit [units]) -value range-
Velocity REAL Value of the maximum speed (always positive)
13 14
(not necessarily reached) [units/s ] -value range-
15
Acceleration DINT Value of acceleration (always positive)[Units/s² ] -value
16
range-
17
18
range-
Jerk DINT Value of the acceleration jerk (see on page 297)
19 20
[Units/s³ ] (always positive) -value range-
21
22
-value range-
VAR_OUTPUT
Done BOOL Specified setpoint distance on the setpoint generator output
is reached
Note:
 In the case of dynamic positioning (module is called during a positioning process)
the specified position is added to the current actual position.
 Continuous operation can be selected via object 1111.8
"C3Plus.Position_restposition_mode" <> 0; setpoint value and actual value are
then set to 0 before each positioning.
 You can optimize the motion profile data with the "ProfilViewer" (see on page
267) software tool!
12
13
14
15
16
17
18
19
20
21
22
298 192-120108N13 Compax3T40_eng 2014-10

MC_MoveRelative

Distance : REAL CommandAborted : BOOL
Acceleration : DINT
Deceleration : DINT
Jerk : DINT
JerkDecel : DINT
Axis : (VAR_IN_OUT)
The following illustration shows two examples of the combination of two

MC_MoveRelative modules.
 The left part (a) of the time diagram shows a case in which the second function
module is executed after the first function module.
If the first function module has reached 60 units, the "Done" output gives the
execution command to the second function module, which then moves an
addition 40 units.
 The right part (b) of the diagram shows a case in which the second function
module is activated while the first function module is being executed. Because
the second module is started during the execution of the first function module, the
first function module is automatically interrupted.
The second function module immediately moves an additional 40 units whether or
not the 60 units of the first function were already reached.
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MC_MoveRelative MC_MoveRelative
go Execute Done Execute Done

OR
Command Command
60. 0 Distance 40. 0 Distance
Aborted Aborted
300. 0 Velocity Error 200. 0 Velocity Error
100 Acceleration 100 Acceleration
100 Deceleration 100 Deceleration
1000 Jerk 1000 Jerk
1000 JerkDecel 1000 JerkDecel

LocalAxis
Test
1. Instanz
First motion
a b
1
Execute (go)
0
1 t
Done
0
Command- 1 t
Aborted 0
2. Instanz t
Second motion
1
Execute (Test)
0
1 t
Done
0
Bewegungsablauf t
Moving diagram
300
Velocity 200
0
100
t
relative Position
relative position
300 192-120108N13 Compax3T40_eng 2014-10

5.5.4. Additive positioning (MC_MoveAdditive)

FB name MC_MoveAdditive
Adds a relative distance to the target position of a positioning process in progress.
VAR_IN_OUT
VAR_INPUT
23
Distance REAL Relative distance -value range-
Velocity REAL Value of the maximum speed (always positive) (not
24 25
necessarily reached) [units/s ] -value range-
26
Acceleration DINT Value of acceleration (always positive)[Units/s² ] -value
27
range-
28
29
range-
30 31
[Units/s³ ] (always positive) -value range-
32
33
-value range-
VAR_OUTPUT
Done BOOL Specified distance has been reached
Error BOOL Error during positioning
Note:
In the case of dynamic positioning (module is called during a positioning process)
the specified position is added to the current target position.
MC_MoveAdditive

Distance : REAL CommandAborted : BOOL
Acceleration : DINT
Deceleration : DINT
Jerk : DINT
JerkDecel : DINT
Axis : (VAR_IN_OUT)
23
24
25
26
27
28
29
30
31
32
33
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The following illustration shows two examples of the combination of a

MC_MoveAbsolute and an MC_MoveAddititve module.
module is executed after the first function module.
After the first function module has traveled to Position 60, the "Done" output gives
the execution command to the second FB, which then moves on another 40 units.
 The right part (b) of the diagram shows a case in which the second function
module is activated while the first FB is being executed. Because the second
module is started during the execution of the first FB, the first FB is automatically
interrupted.
The second function module adds the missing units that are still lacking for the
first module and the moves an additional 40 units with the new predefined
settings.
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5.5.5. Endless positioning (MC_MoveVelocity)

FB name MC_MoveVelocity
Endless controlled positioning with adjustable speed
VAR_IN_OUT
VAR_INPUT
34
Velocity REAL Value of the maximum speed (always positive) [Units/s ]
Range of values: 0 rev/s ... 2000 rev/s
Acceleration DINT Value of the acceleration and deceleration (always positive)
35
[Units/s² ]
Range of values: 0.24 rev/s² ... 1000000 rev/s²
Direction INT Selection: positive direction, negative direction, current
direction; library constants (see on page 279)
VAR_OUTPUT
InVelocity BOOL Specified target speed on the setpoint output is reached
CommandAborted BOOL Execution interrupted
Error BOOL Error during positioning
Note:
 To be able to stop the drive, the function module must be interrupted by another
positioning function module or positioning must be stopped by calling the
MC_Stop function module.
 A positioning to the end limit follows.
MC_MoveVelocity
Execute : BOOL InVelocity : BOOL

Velocity : REAL CommandAborted : BOOL
Acceleration : DINT Error : BOOL
Direction : INT
Axis : (VAR_IN_OUT)
34
35
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Example
The following illustration shows two examples of the combination of two
MC_MoveVelocity modules.
module (block) is executed after the first function module.
After the first function module has accelerated to a speed of 3000, the
"InVelocity" output, AND-linked with the "Next" signal issues the execution
command to the second FB, which then slows to a speed of 2000.
 The right part (b) of the diagram shows a case in which the second FB is
activated while the first function module is being executed. Because the second
module (block) is started during the execution of the first FB, the first FB is
automatically interrupted.
During the acceleration of the first module (block), the second module slows
again similarly to a speed of 2000 without the speed of the first module having
been reached.
MC_MoveVelocity MC_MoveVelocity
Test
OR
go Run InVelocity Run InVelocity Finish

Command Command
3000 Velocity
Aborted
& 2000 Velocity
Aborted
100 Acceleration Error 100 Acceleration Error
"MC_Direction_
"MC_Direction_Positive" Direction Positive" Direction

LocalAxis
Next
1. Instanz
First motion
a b
1
Execute (go)
0
1 t
Velocity
0
1 t
Command Aborted
0
1 t
Next
0
2. Instanz t
Second motion
1
Test
0
1 t
Finish = InVelocity
0
Bewegung
3000 t
Motion
2000
Velocity
304 192-120108N13 Compax3T40_eng 2014-10

5.5.6. Manual operation (C3_Jog)

FB name C3_Jog
Traveling along the axis in manual mode (in the "standstill" state)
VAR_IN_OUT
VAR_INPUT
JogForward BOOL JogForward = TRUE makes the axis move in positive
direction.
JogBackward BOOL JogBackward = TRUE makes the axis move in negative
36
direction.-value range-
37 38
Velocity REAL Speed value [Units/s ]-value range-
39 40
Acceleration DINT Value of the acceleration [Units/s² ]-value range-
41 42
Deceleration DINT Value of deceleration with stop [Units/s² ]-value range-
Jerk DINT Value of the acceleration and deceleration jerk (see on
43 44
page 297) [Units/s³ ] -value range-
VAR_OUTPUT
Busy BOOL Module is active (manual operation in progress)
Error BOOL Error during manual operation or faulty parameter when
starting manual operation
Note:
 The axis must be in the "standstill" state in order to start manual operation
(Jogging Mode).
 Start: When starting manual operation, the output Busy is set to TRUE.
 Stop: The axis is brought to a standstill if the respective input (JogForward or
JogBackward) is set to FALSE again
 As soon as manual operation is stopped, the output Busy is set to FALSE.
Further commands can only be executed after this feedback.
C3_Jog
JogForward : BOOL Busy : BOOL

JogBackward : BOOL Error : BOOL
Velocity : REAL Axis : INT (VAR_IN_OUT)
Acceleration : DINT
Deceleration : DINT
Jerk : DINT
Axis : INT (VAR_IN_OUT)
36
37
38
39
40
41
42
43
44
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Example: Manual movement via digital inputs.
1
0 C3_Jog
C3_INPUT
I0: JogForward Busy

I1: JogBackward Error
I2: 20 Velocity Axis
I3: 100 Acceleration
I4: 100 Deceleration
I5: 1000 Jerk
I6: AXIS_REF_LocalAxis Axis
I7:
2
MC_POWER
Enable Status
AXIS_REF_LocalAxis Axis Error
Axis
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5.5.7. Machine zero (MC_Home)

FB name MC_Home
Predefined search for the machine reference point
VAR_IN_OUT
VAR_INPUT
Position REAL Position on the machine zero point (configured unit [units] )
= Machine zero Offset
VAR_OUTPUT
Done BOOL Referencing process completed
CommandAborted BOOL Referencing process aborted
Error BOOL Error while searching for machine reference point
Note:
This module gives the command to search for the machine reference point; not for
"zero" position. The type of search function (machine reference mode) can be
adjusted with the configuration or with the object "HOMING_mode" (Object
1130.4).
.
Objects that are connected with the machine reference point:
 C3Plus.HOMING_speed (Object 1130.3)
 C3Plus.HOMING_accel (Object 1130.1)
C3Plus.HOMING_mode (Object 1130.4)
 C3Plus.HOMING_edge_sensor_distance (Object 1130.7)
MC_Home

Position : REAL CommandAborted : BOOL
The Compax3 machine zero modes are adapted to the CANopen profile for Motion
Control CiADS402.
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Position reference Essentially, you can select between operation with or without machine reference.
point The reference point for positioning is determined by using the machine reference
and the machine reference offset.
Machine reference run

In a homing run the drive normally moves to the position value 0 immediately after
finding the home switch. The position value 0 is defined via the homing offset.
A machine reference run is required each time after turning on the system for
operation with machine reference.
Please note:
During homing run the software end limits are not monitored.
Machine reference offset

0
1
1: Machine Zero point

The machine reference offset is used to determine the actual reference point for
positioning.
That is: Machine zero point = - Machine zero Offset
A change in the machine reference offset does not take effect until the next
machine reference run.
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5.5.8. Electronic gearbox (MC_GearIn)

FB name MC_GearIn
Controlled speed and position synchronicity with adjustable transmission ratio
VAR_IN_OUT
Master INT Constant for the master signal source (see on page 279)
Configuration (see on page 147) of the signal sources
Slave INT Achs-ID (Bibliothekskonstanten)
VAR_INPUT
RatioNumerator REAL Transmission ratio of numerator
Please use integer values in order to avoid drift!
RatioDenominator INT Transmission ratio of denominator
Please use integer values in order to avoid drift!
Acceleration DINT Value of acceleration / deceleration (always positive) until
45
the synchronism is reached [Units/s²] -value range-
VAR_OUTPUT
InGear BOOL Synchronicity achieved
CommandAborted BOOL Command aborted
 The device is not ready to operate when the
Execute is issued
 Another module of the MC_GearIn has interrupted
(in gear operation or quasi parallelly in the same
IEC cycle)
 The gear command was not accepted by the
setpoint generator because
 The selected master source was not configured
(signal source)
 The command cannot be accepted in the current
device status (not "standstill powered", "Discrete
Motion", "Continuous Motion" or "Synchronized
Motion"
 The nominator of the gear factor (O1141.1) equals
zero
Error BOOL Error while executing module:
 Input Slave unequal AXIS_REF_LocalAxis
 Input Acceleration smaller than or equal to zero
 Input RatioDenumerator equals zero
 Input Master unequal to AXIS_REF_Physical,
AXIS_REF_HEDA or AXIS_REF_Virtual (only T40)
 The device changes to "Error Stop" error status
while gearing is running
45
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Note:
 Behavior: The drive accelerates (with Acceleration) until the master speed is
reached - the module will report synchronicity with "InGear". Position losses
during acceleration to master speed are not made up.
 The transmission ratio can be changed at any time with a positive edge on
Execute. InGear is reset until synchronicity is achieved again.
 For example, if speed synchronicity is not achieved because of limiting effects,
the position difference that arises will be made up (by the active position
controller).
 Acceleration / deceleration to the set transmission ratio takes place without a jerk
limit.
 Please use integer values for the numerator and denominator of the transmission
ratio in order to avoid drift.
 If the master and slave units do not correspond, this fact must be considered for
the transmission ratio.
 Example (see on page 148)
MC_GearIn
Master : AXIS_REF Master : AXIS_REF

Slave : AXIS_REF Slave : AXIS_REF
Execute : BOOL InGear : BOOL
RatioNumerator : REAL CommandAborted : BOOL
RatioDenominator : INT Error : BOOL
Acceleration : DINT
Structure of the "electronic gearing" function
MC_GearIn
Master
RatioNumerator
RatioDenominator
Direction
Source Gearing
-1 / +1 MD 1/SD
numerator
D denominator E
MD
1141.7 C3.Gear_actual_masterposition
1141.8 C3.Gear_actual_master_speed
Gearing structure
D: / E: additional structure (see on page 222)
Note:  Direction -1 / +1 with direction reversal (under signal source configuration) factor
-1 is applied.
 The "virtual master" source is not available with Compax3 T30.
310 192-120108N13 Compax3T40_eng 2014-10

Example:
1. Instanz
First motion
MC_GearIn
MyMaster
Master Master
MySlave
Slave Slave
Execute InGear
Command
Aborted
100 RatioNumerator Error 2. Instanz
Second motion
100 RatioDenominator
MC_GearIn
100 Acceleration
Master Master
Slave Slave
Execute InGear
Command
Aborted
100 RatioNumerator Error
100 RatioDenominator
100 Acceleration
1. Instanz
First motion
1
First Execute
0
1 t
First InGear
0
t
Ratio reached
2. Instanz
Second motion
1
Second Execute
0
1 t
SecondInGear 0
Ratio reached
t
Bewegungsablauf
motion
MySlave Velocity
If Execute shows "0" InGear as well shows "0".

If Execute goes to "0" before InGear goes to "1" then InGear for one cycle is set to
"1" after synchronicity is reached
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5.6 Current setting operation (C3_Current)

FB name C3_Current
Current control. Speed and position controllers are switched off.
The system controls to the specified current.
The current setting can be made with the module input or with an analog input.
VAR_IN_OUT
Axis INT Axis-ID (Library constants)
VAR_INPUT
Current INT Current to be set in [mA]
Mode INT 0 = The current read during Execute on the Current input is
set.
3 = After Execute, the Current input is read again in each
cycle and the corresponding current is set (Execute must
be permanently present for this mode).
VAR_OUTPUT
InCurrent BOOL Specified current set
Error BOOL Error
Note:
 The current feedforward (optimization parameter) is set to 100% to operate
C3_Current.
 The status “current control” must be aborted with MC_Stop before new
positionings are possible.
C3_Current
Execute : BOOL InCurrent : BOOL

Current : INT CommandAborted : BOOL
Mode : INT Error : BOOL
Axis : (VAR_IN_OUT)
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Parker EME Torque / force control (C3_TorqueControl)
5.7 Torque / force control (C3_TorqueControl)

FB name C3_TorqueControl
Torque / force control with speed limitation.
The module can be started from the "Discrete Motion" and "Continuous Motion" states. The
position control is deactivated during this operating mode.
VAR_IN_OUT
Axis INT Axis-ID (Library constants)
VAR_INPUT
Torque DINT Command torque [mNm] or command force [mN]
(limit value, not necessarily reached)
If the configured velocity setpoint value is reached, the
drive will move at this speed. The torque or force setpoint
value is not reached.
TorqueRamp DINT Value of the torque-force ramp (always positive) [mNm/s]
[mN/s]
Velocity REAL Value of the maximum speed (always positive)(not
46 47
necessarily reached) [units/s ] -value range-
If the command torque or the command force is not
reached, the drive will move with this speed.
Acceleration DINT Value of maximum acceleration (always positive)
48 49
[Units/s² ] -value range-
Deceleration DINT Value of maximum deceleration (always positive)
50 51
[Units/s² ] -value range-
Direction INT Selection of the permitted direction (positive direction
"MC_Direction_Positive” or negative direction
"MC_Direction_Negative") (library constant)
The movement into the other direction is blocked, a speed
of 0 is commanded!
VAR_OUTPUT
InTorque BOOL Specified torque or specified force (setpoint or limitation
value) reached
CommandAborted BOOL Module sequence is interrupted
Note:
 The movement is limited by the set maximum speed or by the command
torque/command force.
 The setpoint values for velocity, acceleration and deceleration are always
positive.
The direction of movement depends on the "Direction" Input.
 The torque ramp “TorqueRamp” must always be entered as a positive value. The
force direction results from the sign of the “Torque” torque/force setpoint value.
 There is no torque/force acquisition. Actual torque or actual force is acquired from
the quadrature current and the motor parameters.
 Due to suspension of the motion in the direction not yet approved (input
"Direction") by changing to speed control it should be observed that, for "clean"
46
47
48
49
50
51
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resp. "proper" torque or force setpoint value (=Current Setpoint value) with force
demand at standstill or with small speeds, it might be necessary to smooth the
speed control output by activating or increasing the control signal filter of velocity
control (O2100.20). If the filter is used a reduction of the stiffness might be
necessary (bandwidth of the speed controller) (see chapter controller optimization
in help).
 Behavior on
 Stop: (MC_Stop) => immediate switching to position control; this means entire
torque (or entire force)!
 C3 Error => depending on the error reaction (1) switching to position control,
this means entire torque (or entire force)!
 Change from positioning to velocity control (MC_MoveVelocity) in torque/force
control => Torque/force limitation value is equal to the torque/force setpoint
value, output “InTorque” is immediately set.
 The module can also be used for defined braking, e.g. for unwinders.
 The command torque or the command force has then the opposite sign than the
direction (direction)
 If there is no counter torque or no counter force, so that braking is not possible,
the drive will decelerate to 0 in a torque/force controlled manner.
 The module is not suitable for ballscrew actuators and for gearings with high
ration. Please contact us.
Force control via ETH and Force sensor

 On the Compax3 - DVD under "\Examples\ForceControl Template_T44" directory
you find an application example (T44) for force control via ETH and force sensor.
 Please observe the installation instruction for installing a Template.
 You need Option M21 with analog inputs.
Wiring of the Force Sensors:
314 192-120108N13 Compax3T40_eng 2014-10

Parker EME Superimposed motion
5.8 Superimposed motion

Dynamic positioning ...................................................................................................... 315
Superimposed positioning (C3_MoveSuperImposed) .................................................... 316
Zero point shift caused by superimposed positioning (C3_ShiftPosition) ........................ 322
Stop module for superimposed movement (C3_StopSuperImposed) ............................. 326
5.8.1. Dynamic positioning

Dynamic positioning processes can be performed with the modules
MC_MoveAbsolute, MC_MoveRelative and MC_MoveAdditive. The speed can be
altered dynamically with MC_MoveVelocity.
In the state: “Discrete Motion”
If another, second positioning process is activated in the "Discrete Motion (see on
page 280)" state, Positioning activated, then the 1st. Positioning is aborted. The
transition to the new destination occurs dynamically, i.e. without any intervening
stop.
In "Continuous Motion" state
If a positioning process (MC_MoveAbsolute, MC_MoveRelative or
MC_MoveAdditive) or a MC_MoveVelocity is activated in the "Continuous Motion
(see on page 280)" state, the active function module will then be interrupted. All
input variables of the new positioning process will then be taken over.
Superimposed positioning
Please note also the difference to superimposed positioning (see on page 316)
with C3_MoveSuperImposed.
Here, the movement of the active function module is executed until the end.
192-120108N13 Compax3T40_eng 2014-10 315

5.8.2. Superimposed positioning (C3_MoveSuperImposed)

FB name C3_MoveSuperImposed
Temporal superimposing of an active positioning with an additional relative
distance. Depending on the operating mode, the motion parameters can be
changed during a movement.
The positioning process that is currently underway is not interrupted by
C3_MoveSuperImposed; it is superimposed instead.
VAR_IN_OUT
Axis INT Axis ID; constant: AXIS_REF_LocalAxis
VAR_INPUT
Execute BOOL Starts the sequences of the module with positive edge.
In the "SUPERIMPOSED_ABSOLUTE_CONT” mode, the
module inputs are read, as long as “Execute” remains
“TRUE”.
Distance REAL Distance for the superimposed Positionierung (positive
and negative direction).
During a superimposed Positionierung in
 "SUPERIMPOSED_ABSOLUTE"
 "SUPERIMPOSED_ABSOLUTE_CONT"
the “distance” is considered to be an absolute Lageziel
with reference to the start position of the superimposed
Positionierung (point in time of the first rising “Execute”
edge where no superimposed positioning is active). For
details please refer to input “Mode”.
With negative PhaseShift distance of applications with
linked curves or when using the output
C3_CamtableSelect.EndOfSegment as trigger for the
C3_CamtableSelect.Execute, please note that due to the
phasing no negative change of cams may result (sum
speed Master signal source and Phasing at beginning of
segment) always higher or equal zero).
In configured unit [Units] -value range- 52
Velocity REAL Value of the maximum speed difference compared to the
actual master speed (always positive)(not necessarily
53
reached) [units/s] -value range-
In the "SUPERIMPOSED_RELATIVE” operating mode,
the specification of a speed <=zero is not permitted.
In the other operating modes, a negative value will
be set to 0.
Acceleration DINT Value of acceleration (always positive)[Units/s²]
54
<Wertebereich>
55
<Wertebereich>
Jerk DINT Value of the acceleration jerk (see on page 297) [Units/s³]
56
(always positive) <Wertebereich>
JerkDecel DINT Value of the deceleration jerk [Units/s³] (always positive)
57
<Wertebereich>
52
53
Speed for positioning: 0; 0.00001157 rev/s...2000 rev/s
54
55
56
57
316 192-120108N13 Compax3T40_eng 2014-10

Mode INT
Open or "SUPERIMPOSED_RELATIVE":
With a rising edge on the Execute, a relative
superimposed Positionierung, based on the value on
input "Distance” is executed at that point in time (this
does also apply if a superimposed Positionierung is
already active.
"SUPERIMPOSED_ABSOLUTE":
Upon a not active superimposed Positionierung, a
relative Positionierung starts on the “Execute” with a
rising edge.
With a rising edge on the “Execute” during an active
superimposed Positionierung (output “Busy” is set), the
Positionierungdistance based on the start points of the
superimposed Positionierung is interpreted to be
absolute.
"SUPERIMPOSED_ABSOLUTE_CONT":
corresponds to the "SUPERIMPOSED_ABSOLUTE”
mode, however as long as the input "Execute" is equal
"TRUE" the module inputs with rising edge at the input
"Execute" are not accepted in each IEC cycle for the
effective superimposed Positionierung.
ATTENTION!
PositionResetMode = "TRUE" may only be used as
from Compax3-Firmware R09-0!
Hint
The "SUPERIMPOSED_RELATIVE” operating
mode corresponds to the function of the formerly
used MC_MoveSuperImposed module
PositionResetMode BOOL Open or "FALSE": The demand position O680.3
(DemandValue3) is not reset.
"TRUE": With each new Positionierung (rising edge
on “Execute”), the Lageziel O680.3
(DemandValue3) is reset to zero.
ATTENTION!
VAR_OUTPUT
Done BOOL Additional distance was added to the current
positioning
Busy BOOL Superimposed motion is performed
192-120108N13 Compax3T40_eng 2014-10 317

Notes:
 The values Velocity, Acceleration, Deceleration, Jerk, JerkDecel are only valid for
the superimposed movement. The values resulting from the superimposition will
set on the axis, which is not taken into consideration for the status values .
 Upon a MC_Stop of the local axis (AXIS_REF_LocalAxis), the movement in
progress as well as the superimposed movement are interrupted.
The module C3_StopSuperImposed does only interrupt the superimposed
movement.
 The module can also be operated in the PLCopen “Standstill” state .
 The module does not interrupt any active command.
 “Position reached” (Object 420.6) is not influenced by the additional movement
caused by C3_MoveSuperImposed.
 If no alignment of the SuperImposed movement with the main profile generator
takea place the movement realized by C3_MoveSuperImposed acts as an Offset
(in "CouplinMode" 1 or 2) when coupling with C3_CamIn. This alignment is made
via Firmware <=R09-20 at C3_CamOut (all DecouplingModes),
MC_MoveAbsolute (with finished superimposed movement) MC-Stop or device
error with error stop ramp (with active superimposed movement of MC_Home.
With Firmware >= R09-20 the alignment is additionally made at MC_Stop and
finished superimposed movement, at error stop without ramp, the superimposed
movement carried out since the last alignment can then be seen in 0680.24.
 This module cannot be operated with C3_ShiftPosition and MC_/C3_Phasing at a
time.
 It is possible to change modes (“Mode”) during a superimposed Positionierung in
progress.
 If a second instance. is activated in an active module with “Execute”, the instance
in progress is aborted (“CommandAborted” output is set) and the second nstance
acts as upon a new start of a superimposed Positionierung ).
 With a falling edge on the “Execute” in the
SUPERIMPOSED_ABSOLUTE_CONT” mode, the positioning is aborted upon a
zero “Velocity” specification (if the überlagterte_Geschwindigkeit has reached
zero) , as it can never reach its target.
 With a falling edge on "Execute" in "SUPERIMPOSED_ABSOLUTE_CONT"
mode the Vüberlagterte_Geschwindigkeit is finished with the parameters pending
at the time. Is the "Velocity" demand equal zero (if the actual displacement target
speed has reached the value zero), the überlagterte_Geschwindigkeit is aborted
as it can never reach its target. A (new) rising edge on "Execute" starts, as in
"SUPERIMPOSED_RELATIVE" mode, a new quasi-absolute relative imposed
überlagterte_Geschwindigkeit.
 In the "SUPERIMPOSED_ABSOLUTE_CONT” mode, the sum of the specified
motion parameters is internally calculated; positive value monitoring takes only
place once with each rising “Execute” edge. Exception is the "Velocity" demand
at which negative value internally become zero.
 Frequent changes of the Lageziel within a superimposed Positionierung may lead
to imprecisions in the Positionierung in the “PositionResetMode” input is not set
to “TRUE”!
place once with each rising “Execute” edge.
 If the speed is reduced to zero at the end of a Positionierung during setpoint
generation, no new values for speed, deceleration and jerk are accepted in the
absolute operating modes “SUPERIMPOSED_ABSOLUTE” or
"SUPERIMPOSED_ABSOLUTE_CONT" with unchanged Lageziel (input
"Distance".
318 192-120108N13 Compax3T40_eng 2014-10

 The position of the module in the structure image (see on page 513).
 The output "error" is reported if
 the axis is in an impermissible state with a rising edge at the “Execute” input
(not active, in error state, during reference run, stops or is in stop state
(MC_Stop))
 The superimposed movement stops or was stopped (by
C3_StopSuperImposed) with a rising edge on the “Execute” input
 The module was issued with invalid parameters (“Velocity” <= 0 in "Mode"
SUPERIMPOSED_RELATIVE), acceleration values or jerks <= 0, input “Axis”
unequal to “AXIS_REF_LOCALAXIS”, invalid operating mode (“Mode”)) upon a
rising edge on the “Execute” input
 An attempt to start the module (rising edge on the “Execute” input) is made
during another superimposed movement (C3_ShiftPosition, MC_/C3_Phasing).
 The axis changes into error state during a superimposed movement in progress
 The “CommandAborted” output is reported if an interruption of the superimposed

Positionierung occurred caused by
 another module instance
 Stops the superimposed movement by stop on the axis (MC_Stop)
 Stops the superimposed movement (C3_StopSuperImposed)
 superimposed speed zero with falling edge on the “Execute” of the
superimposed positioning is not yet completed in the
"SUPERIMPOSED_ABSOLUTE_CONT” mode or if the superimposed travel
command was rejected by the firmware.

C3_MoveSuperImposed

Distance : REAL Busy : BOOL
Deceleration : DINT
Jerk : DINT
JerkDecel : DINT
Mode : INT
PositionResetMode: BOOL
Axis : VAR_IN_OUT
192-120108N13 Compax3T40_eng 2014-10 319

Example 1 Mode Superimposed_Relative

MC_MoveRelative C3_MoveSuperImposed
go_REL Execute Done go_SUP Execute : BOOL Done : BOOL

Command 10
50 Distance Distance : REAL Busy : BOOL
Aborted
100 Command
300. 0 Velocity Error Velocity : REAL
Aborted : BOOL
100 Acceleration 50 Acceleration : DINT Error : BOOL
100 Deceleration 50 Deceleration : DINT
1000 Jerk 1000 Jerk : DINT
1000 JerkDecel 1000 JerkDecel : DINT

Superimposed
AXIS_REF_LocalAxis Axis Mode : INT
_Relative
FALSE PositionResetMode: BOOL
1. Instanz: MC_MoveRelative AXIS_REF_ Axis : VAR_IN_OUT

LocalAxis
First motion
1
Execute (go_REL)
0
1 t
Done
0
2. Instanz C3_MoveSuperImposed
t
Second motion
1
Execute (go_SUP) 0
1 t
Done 0
1 t
Busy
0
Command- 1
t
Aborted 0
Bewegungsablauf t
Moving diagram 400
300
Velocity
200
100
0
t
70
Zielposition
Target position 50
0
1 2 3 4 5 6 7 8 9 10 11 12 13
t
70
Distance
50
0
1 2 3 4 5 6 7 8 9 10 11 12 13
t
320 192-120108N13 Compax3T40_eng 2014-10

Example 2 Mode Superimposed_Absolute

MC_MoveRelative C3_MoveSuperImposed
go_REL Execute Done go_SUP Execute : BOOL Done : BOOL

Command
50 Distance Distance : REAL Busy : BOOL
Aborted
Command
300. 0 Velocity Error Velocity : REAL
Aborted : BOOL
100 Acceleration 50 Acceleration : DINT Error : BOOL
100 Deceleration 50 Deceleration : DINT
1000 Jerk 1000 Jerk : DINT
1000 JerkDecel 1000 JerkDecel : DINT

Superimposed
AXIS_REF_LocalAxis Axis Mode : INT
_Absolute
FALSE PositionResetMode: BOOL
AXIS_REF_ Axis : VAR_IN_OUT

LocalAxis
MC_MoveRelative
1
Execute (go_REL)
0
1 t
Done
0
t
C3_MoveSuperImposed
1
Execute (go_SUP)
0
t
Eingang/Input 200
Velocity 100
0
20
t
Eingang/Input
Distance 10
0
1
Busy
0
t
Done* 1
0
t
Bewegungsablauf 500
Moving diagram 400
300
Velocity
200
100
0
t
80
Zielposition 60
Target position
0
t
80
Position
0
t
* "Done" for a IEC cycle
192-120108N13 Compax3T40_eng 2014-10 321

5.8.3. Zero point shift caused by superimposed positioning

(C3_ShiftPosition)
FB name C3_ShiftPosition
Time-related shifting of the reference point by an additional relative distance.
Depending on the operating mode, the motion parameters can be changed during
a movement.
The system zero point shifts by the stated distance. The drive performs a physical
movement, this is however not displayed.
The positioning being executed at that time is not interrupted by C3_ShiftPosition,
but superimposed.
Application: Reg synchronization on the slave side.
VAR_IN_OUT
Axis INT Axis ID; constant: AXIS_REF_LocalAxis
VAR_INPUT
Execute BOOL Starts sequence of the module upon a positive edge; in the
“SUPERIMPOSED_ABSOLUTE_CONT” operating mode
cyclic update of the positioning parameters as long as the
“Execute” remains “TRUE”.
Distance REAL Distance for the superimposed Positionierung (positive and
negative direction).
During a superimposed Positionierung in
the “distance” is considered to be an absolute Lageziel with
reference to the start position of the superimposed
Positionierung (point in time of the first rising “Execute”
edge where no superimposed positioning is active). For
details please refer to input “Mode”.
58
In configured unit [Units] -value range-
59
In the "SUPERIMPOSED_RELATIVE” operating mode, the
specification of a speed <=zero is not permitted.
In the other operating modes, a negative value will be set to
0.
60
<Wertebereich>
61
<Wertebereich>
62
63
<Wertebereich>
58
59
60
61
62
63
322 192-120108N13 Compax3T40_eng 2014-10

Mode INT
With a rising edge on the Execute, a relative superimposed
Positionierung, based on the value on input "Distance” is
executed at that point in time (this does also apply if a
superimposed Positionierung is already active.
Upon a not active superimposed Positionierung, a
relative Positionierung starts on the “Execute” with a rising
edge.
superimposed Positionierung (output “Busy” is set), the
Positionierungdistance based on the start points of the
superimposed Positionierung is interpreted to be absolute.
corresponds to the "SUPERIMPOSED_ABSOLUTE” mode,
however as long as the input "Execute" is equal "TRUE" the
module inputs with rising edge at the input "Execute" are
not accepted in each IEC cycle for the effective
superimposed Positionierung.
ATTENTION!
PositionResetMode = "TRUE" may only be used as from
Compax3-Firmware R09-0!
"TRUE": With each new Positionierung (rising edge
on “Execute”), the Lageziel O680.3 (DemandValue3)
is reset to zero.
ATTENTION!
PositionResetMode = "TRUE" may only be used as from
Compax3-Firmware R09-0!
VAR_OUTPUT
Done BOOL Additional distance was added to the current positioning
Busy BOOL Superimposed motion is performed
Notes:
 The values Velocity, Acceleration, Deceleration, Jerk, JerkDecel are only valid for
the superimposed movement. The values resulting from the superimposition will
set on the axis, which is not taken into consideration for the status values .
 Upon a MC_Stop of the local axis (AXIS_REF_LocalAxis), the movement in
progress as well as the superimposed movement are interrupted.
The module C3_StopSuperImposed does only interrupt the superimposed
movement.
 The module can also be operated in the PLCopen “Standstill” state (no change
in the position display).
 The module does not interrupt any active command.
 “Position reached” (Object 420.6) is not influenced by the additional movement
caused by C3_MoveSuperImposed.
 If no alignment of the SuperImposed movement with the main profile generator
takea place the movement realized by C3_MoveSuperImposed acts as an Offset
(in "CouplinMode" 1 or 2) when coupling with C3_CamIn. This alignment is made
via Firmware <=R09-20 at C3_CamOut (all DecouplingModes),
MC_MoveAbsolute (with finished superimposed movement) MC-Stop or device
error with error stop ramp (with active superimposed movement of MC_Home.
With Firmware >= R09-20 the alignment is additionally made at MC_Stop and
finished superimposed movement, at error stop without ramp, the superimposed
movement carried out since the last alignment can then be seen in 0680.24.
192-120108N13 Compax3T40_eng 2014-10 323

 This module cannot be operated with MC_/C3_MoveSuperImposed and

MC_/C3_Phasing at a time.
 It is possible to change modes (“Mode”) during a superimposed Positionierung in
progress.
acts as upon a new start of a superimposed Positionierung ).
zero “Velocity” specification (if the überlagterte_Geschwindigkeit has reached
zero) , as it can never reach its target.
mode the Vüberlagterte_Geschwindigkeit is finished with the parameters pending
at the time. Is the "Velocity" demand equal zero (if the actual displacement target
speed has reached the value zero), the überlagterte_Geschwindigkeit is aborted
as it can never reach its target. A (new) rising edge on "Execute" starts, as in
überlagterte_Geschwindigkeit.
 Frequent changes of the Lageziel within a superimposed Positionierung may lead
to imprecisions in the Positionierung in the “PositionResetMode” input is not set
to “TRUE”!
 If the speed is reduced to zero at the end of a Positionierung during setpoint
generation, no new values for speed, deceleration and jerk are accepted in the
absolute operating modes “SUPERIMPOSED_ABSOLUTE” or
"SUPERIMPOSED_ABSOLUTE_CONT" with unchanged Lageziel (input
"Distance".
(MC_Stop))
during another superimposed movement (MC_/C3_MoveSuperImposed,
MC_/C3_Phasing).

Positionierung occurred caused by

324 192-120108N13 Compax3T40_eng 2014-10

C3_ShiftPosition

Distance : REAL Busy : BOOL
Deceleration : DINT
Jerk : DINT
JerkDecel : DINT
Axis : (VAR_IN_OUT)
C3_ShiftPosition
go_REL Execute : BOOL Done : BOOL

100 Distance : REAL Busy : BOOL
50 Velocity : REAL CommandAborted : BOOL
200 Acceleration : DINT Error : BOOL
200 Deceleration : DINT
1000 Jerk : DINT
1000 JerkDecel : DINT
AXIS_REF_LocalAxis Axis : (VAR_IN_OUT)
1
Execute (go_REL)
0
1 t
Done
0
1 t
Busy
0
Anzeige t
Readout 1
Lage
Position 0
t
Bewegung
Motion 50
Velocity
0
t
100
relative Position
192-120108N13 Compax3T40_eng 2014-10 325

5.8.4. Stop module for superimposed movement

(C3_StopSuperImposed)
FB name C3_StopSuperImposed
Stop current superimposed position (C3_MoveSuperImposed, C3_ShiftPosition) or
C3_Phasing.
Please note:Only one instance of C3_StopSuperImposed is permitted!
VAR_INPUT
Execute BOOL Stops the movement
<Wertebereich> 64
Please observe:
The configured STOP ramp is limited. The STOP
ramp will not be smaller than the deceleration set in
the last motion set.
[Units/s³] (always positive) <Wertebereich> 65
VAR_OUTPUT
Done BOOL Stop move
Error BOOL Error while stopping positioning
Note:
As long as the "Execute" input is set, the profile generator executing the
superimposed movements or the phase shift in "Stopping" status and is unable to
execute any additional movement commands! (The modules
C3_MoveSuperImposed, C3_ShiftPosition or C3_Phasing set the
“CommandAborted” output upon detection of the “Stop command” and
acknowledge the trial to start in Stop state by setting the “error” output).
The module may only be used as from Compax3-Firmware R09-0!
64
65
326 192-120108N13 Compax3T40_eng 2014-10

Parker EME Cam Control
5.9 Cam Control

Introduction: Electronic cam control ............................................................................... 327
Overview ....................................................................................................................... 329
Basics............................................................................................................................ 329
Generating cams ........................................................................................................... 332
Cam function structure................................................................................................... 340
Master signal source...................................................................................................... 350
Alignment of the slave axis ............................................................................................ 368
10 Steps for cam generation .......................................................................................... 384
Cam applications ........................................................................................................... 386
5.9.1. Introduction: Electronic cam control

Rising rationalization pressure and an increasing degree of automation in process
engineering demand modern and flexible drive concepts.
The introduction of digital and communicating control devices was an important
step towards the decentralization of control and regulation tasks. An increasing
number of mechanical construction components can be replaced by programmable
servo drives.
In particular mechanical cam switching mechanisms and discontinuous shafts
maintained until today their fields of application in many areas of machine
construction.
Mechanical cam switching mechanisms offer, besides complex motion profiles, a
high positioning accuracy and rigid coupling between master and slave drive.
Their drawbacks are, however, the long changeover times and the limitation to a
defined profile.
In this respect the Compax3 T40 electronic cam offers considerable time
advantages, above all when changing between small batch sizes or with a wide
range of products.
The decentralization of the drive performance can reduce size, costs and
maintenance effort considerably.
Compax3 allows to implement in an axis module all control and drive functions for
a flexible and cost-effective solution of complex motion sequences and
synchronization tasks with the aid of powerful IEC61131-3 modules.
The switching command between different motion profiles takes only seconds - no
fitter or wrench is required.
Large, mechanically coupled drive systems can be divided into small, independent
drives. The dynamic and stationary behavior of every drive can be individually set
and optimized.
Mechanical Electronically
Process
Process
192-120108N13 Compax3T40_eng 2014-10 327

Compax3 is able to simulate mechanical cams as well as cam switching

mechanisms electronically.
This helps to realize discontinuous material supply, flying knife and similar drive
applications with distributed drive performance.
The compact servo controller processes the position signals of a master axis and
controls a servo motor, torque motor or a direct-drive linear actuator via the desired
motion profile, which is defined in the form of an interpolation point memory. The
combination of drive, control and power unit in one device offers many advantages:
 Fast and easy commissioning.
 fast and stable control.
 feedforward control measures result in reduced need for peak torque and
improved response behavior - therefore following errors are avoided.
 central digital control from the setpoint generator to the power output stage.
 lower wiring overhead and thus substantially reduced fault liability.

Function principle .......................................................................................................... 328
5.9.1.1 Function principle

Coupling and decoupling ............................................................................................... 328
Reg synchronization ...................................................................................................... 329
Slave
Master
Slave
90° 180° 270° 360°

Master
Depending on the angle setting of a leading axis (master), the following axis (slave)
is moved according to a user-defined motion profile. The master position moves
within a defined value range; the master clock distance, and moves through it
cyclically. Each cycle corresponds to a revolution of the cam or a repetition cycle of
any complex movement. Via the master position, a sequence of interpolation points
with up to 10000 non-equidistant interpolation points is addressed. Compax3
interpolates linarly between the interpolation points. Those position setpoint values
are used to form the feedforward signals for the subordinate controller cascades of
the following axis. This feedforward of speed and acceleration is used to reduce
the following error of the following axis as fas as possible.
Coupling and decoupling

An important function for complex plants is the coupling and decoupling of
individual drives, triggered by an external control signal. During the coupling, the
following axis (slave) is synchronized via a defined motion profile to the position of
the leading axis (master). This can take place from any start position with a
continuous, jump free speed course. Upon decoupling, the slave leaves the
synchronous operation and is brought definedly to a standstill. The coupling or
decoupling can take place with a running or stationary master axis.
328 192-120108N13 Compax3T40_eng 2014-10

Reg synchronization
In the packaging and print industry, a synchronization of following slave axes to
print marks is required, for example in order to balance material slip or for an
alignment according to existing prints. The error is compensated up to the next
mark by correcting the master position acquired in the slave or by correcting the
slave position by the determined slip between the product and the print mark
button.
5.9.2. Overview
T40 Functions: Cam
General  Cam control function
 Programming based on IEC61131-3
 Position of selected master signal source
via:
 Encoder, Step / direction
or +/-10V analog
 HEDA
 Virtual Master
Cam memory  10 000 interpolation points
(master/slave in 24 bit format)
saved failure save.
 Distance of interpolation points can be
adapted to curve (non equidistant
interpolation points)
 Linear interpolation between points
Linking curve segments  Up to 20 cam segments can be
produced.
 Virtually random cam links (forwards)
 Freely programmable, event-triggered
curve branching.
 Scalable cam segments and complete
cam profiles
Coupling and decoupling functions  With the aid of a quadratic function.
 By means of a change-over function
 Without overspeeding by coupling over
several master cycles.
 Virtually free set-up of the coupling and
decoupling movement
 Master-guided coupling movement.
 Random standstill position
Reg synchronization  Master or slave oriented (simultaneous,
cam-independent).
 Highly precise mark recognition
(accuracy < 1 µs)
Cam generation with renowned Nolte  Standard or extended range of functions
tool.  Evaluation of the motion profiles.
5.9.3. Basics
Cam types ..................................................................................................................... 329
Cam parameters / terms ................................................................................................ 330
Basic procedure............................................................................................................. 332
5.9.3.1 Cam types

There are two principal curve types:
192-120108N13 Compax3T40_eng 2014-10 329

Closed curve
The start and end positions of the Slave are identical. I.e. the Slave moves always
within the same position range.
Slave
ST
MT Master
ST: Slave clock distance

MT: Master clock distance
Open curve
The start and end positions of the Slave are not identical. I.e. the Slave moves in
one direction, as at the end of the curve the actual position of the Slave is
compared to the start position of the curve.
Slave
ST
MT Master

In applications with open curves (“infinite applications”), reset operation should be

activated on the slave side (reset distance to be specified under “reference system”
in the configuration wizard).
5.9.3.2 Cam parameters / terms

Example:
Slave
Schnitt Schnittausfall Schnitt

cut Auskoppeln without cut Einkoppeln cut
decoupling coupling
ST
S0 MT MA MB ME MS Master

ME: Coupling position
MS: Synchronous position
MA: Decoupling position
MB: Braking position
S0: Standstill position of the Slave
330 192-120108N13 Compax3T40_eng 2014-10

Master clock distance (MT)

The Master clock distance is the distance which the master runs, i.e. after which
the cycle is repeated. This distance is stated in the physical unit of the Master.
After this distance, the curve is repeated.
Slave clock distance (ST)

The Slave clock distance is the distance which the Slave runs, stated in the
physical unit of the Slave.
Coupling position (ME)

Master position, where the coupling sequence starts.
Synchronous position (MS)

The coupling sequence is finished, if the master has reached the synchronous
position MS, i.e. at the master position MS the slave is synchronous to the curve
(MS > MT possible).
Decoupling position (MA)

Via the decoupling position MA the decoupling sequence can be started in a
defined fashion from a certain master position (MA) on (dependent on the
decoupling operating mode selected).
Braking position (MB)

At this master position, the slave comes to a standstill after decoupling (MB > MT
possible).
Standstill position Slave (S0)

Target position of the slave axis after decoupling.
Back stop
The back stop can be enabled if required (IEC module C3_MasterControl (see on
page 352)).
It ensures that a backwards movement of the master will not incite an axis
movement of the slave.
Example:
Pos
2
3 4
t
1: Master signal after back stop

2: Master signal before back stop
3: Backwards movement of the master
4: Forwards movement of the master corresponding to the backwards movement.
192-120108N13 Compax3T40_eng 2014-10 331

Note: The negative distance difference caused by the backwards movement of the
master (3) must be traveled in positive direction (4), before it can be effective as a
movement.
5.9.3.3 Basic procedure

When implementing a standard cam application, the following steps are necessary:
 Create curve and load into Compax3.
 Setting the master position detection
 Establish relationship between master position read in and curve.
 Select curve.
 Start curve operation in a defined fashion.
 Establish relationship with slave position (coupling).
 Finish curve operation in a defined fashion (decoupling).
5.9.4. Generating cams

Introduction to the CamDesigner (example) ................................................................... 333
Cam functions of the Compax3 ServoManager / motion laws ........................................ 337
The curve creation software "C3 CamDesigner" is a separate program and must
therefore be installed separately.
You will find the program on the Compax3 CD.
Please note:
The CamDesigner must be installed in a folder, whose name does not contain any
blanks.
This problem occurs above all when working with english Windows versions
(...\Program Files\...).
332 192-120108N13 Compax3T40_eng 2014-10

5.9.4.1 Introduction to the CamDesigner (example)

Prerequisite:
Compax3 is configured
Compax3 ServoManager is installed (can be found on the Compax3 CD).
C3 CamDesigner is installed (can be found on the Compax3 CD).
Settings:
 Travel distance per motor revolution = 360°
 Reset distance = 360°
In the "Configuration" wizard in the "reference system" window
 Travel path per revolution of the physical source: Numerator = 360, Denominator
=1
in the "signal sources" wizard windows: "Physical source"
 Signal source: Encoder A/B 5V
Procedure:
Starting the CamDesigner: Nagivation tree of the Compax3 ServoManager under
"cam": "Modify cam with CamDesigner"
The transfer window from Compax3 ServoManager to CamDesigner will open:
192-120108N13 Compax3T40_eng 2014-10 333

Here you can enter:

 Axis name
 Number of interpolation points to be calculated per curve,
 Signal source "Encoder A/B 5V" and
 "Dwell-to-dwell motion law".
Do not change the default settings:
 180 points and
 the “modified sine line according to Neklutin” (russian mathematician)
At first the display is empty; the motion sequence can be entered.

This is made via the menu: File: New sequence.
In the dialog box you can select the the axis name of your choice, here “axis”
The display looks as follows:
334 192-120108N13 Compax3T40_eng 2014-10

Now the curve can be created:

The BASIC version of the CamDesigner offers three tools:
 Drawing -> Dwell
 Drawing -> straight line
 Drawing -> point
With the aid of these tools the known sections of a motion sequence, in general
dwells or sections with constant speed, are entered. Please select a tool.
Now you can position the respective section per mouse click or enter it with the
keyboard. Click into the “enter” field. In the dialog box you can make the following
entries depending on the tool selected:
 Tool dwell:
 a. Path coordinate 0 Degrees
 b. Clock angle beginning 0 Degrees
 c. Clock angle end 30 Degrees
 Tool dwell:
 c. Clock angle end 120 Degrees
 Tool straight line:
 a. Path coordinate beginning 110 Degrees
 c. Path coordinate end 30 Degrees
 d. Clock angle end 270 Degrees
 Tool interpolation point:
 b. Clock angle 3600 Degrees
 and as an option
 c. Speed 0 rad/s
 d. Acceleration 0 rad/s²
The display looks as follows
192-120108N13 Compax3T40_eng 2014-10 335

The dashed sections are now calculated by the CamDesigner.

The transitions from dwell to motion are always calculated via a 5th order
polynomial (in the BASIC version)
For the transitions dwell-to-dwell, the preselected motion law is used. This can also
be changed retrospectively in the header data (menu: edit: Header data). The
header data mask also states the cycle time (cycles per minute).
Via the “show motion diagram” icon the result is displayed:
Displayed are the sequences for position, speed and acceleration, in physical units
and with respect to the cycle time entered.
This window can be left via the X Icon.
If necessary, you can make modifications (motion laws, cycle time, etc.)
After the optimization the curve progression you can leave the CamDesigner via
"file": "Exit"
The following dialog queries if the Cam Download is to take place immediately. The
download can also be executed later via "Download": "Cam - curve data".
336 192-120108N13 Compax3T40_eng 2014-10

5.9.4.2 Cam functions of the Compax3 ServoManager /

motion laws
Description of the cam wizard
192-120108N13 Compax3T40_eng 2014-10 337

1 Name of the cam project being used in the CamDesigner.

2 Reset distance (=clock distance) of the master = length of the X axis in the
CamDesigner.
The entry fields are inactive, if motion profiles were already created in the
CamDesigner.
The values can, however, be modified in the header data of the CamDesigner.
Attention:
Cam interpolation points may need to be adapted or deleted, if they are
redundant due to a smaller clock distance!.
Decimal numbers must be converted into integers as numerator and
denominator values. Please note, that max. 3 decimal places are considered
for numerator/denominator.
3 If the master clock distance has more than 3 decimal places, a drift is created.
If the Compax3 ServoManager states this, you can avoid this drift by using an
alternative master clock distance.
Use another unit for the alternative master clock distance, instead of [mm] or
[degrees] rather use [product cycles] or [%], so that you have an integer.
This unit is then valid for all master-related values (ME, MS, status values, ...)
as well as for the curve.
Create the curve for this alternative master clock distance and you will get ad
drift free curve operation.
The input field will become inactive, if motion sequences were already created
in the CamDesigner. The alternative clock distance can also be manipulated in
the header data mask of the CamDesigner.
Example:
Master:Direct-driven indexing table with 7 work stations;
Path/revolution = 360°
Reset distance = 360°
Slave:One of the work stations
Path/revolution = 360/7° master degree; cannot be displayed as clock resp.
master reset distance (drift)!
Better: alternative clock distance for example 360 slave degrees.
4 Selection of the signal source which is used as default value for the master
source (Input AXIS_REF_Local_Cam on the IEC block C3_MasterControl). An
entry is required.
You can choose between configured signal sources.
The source can be changed afterwards with the input master of the IEC block
C3_MasterControl.
5 The maximum speed is used as axis dimensioning for the display of the motion
profile as well as a limit value for the motion sequence..
At +/-10V as signal source, the value 10V is used (the entry field is
deactivated).
This value can also be manipulated in the header data mask of the
CamDesigner.
Please note: The value is converted into steps/min by the CamDesigner;
therefore a slight difference in this value caused by rounding is possible after
the return from the CamDesigner.
6 If the license file is installed: Switching between Advanced and Basic version of
the CamDesigner.
7 Interpolation point reduction
deactivated: The curve is stored in equidistant interpolation points
(corresponding to the stated number of interpolation points)
Activation: The equidistant interpolation points are reduced (resulting in the
creation of not equidistant interpolation points).
The interpolation points are removed so that the resulting error is smaller than
the interpolation tolerance stated (linear interpolation is respected).
8 Interpolation tolerance (see 7).
338 192-120108N13 Compax3T40_eng 2014-10

9 Maximum number of interpolation points per curve. Value range 18..3600.

Without activated interpolation point reduction, a curve has this number of
interpolation points.
If the reduction is activated, the actual number of interpolation points may
(depending on the tolerance selected) be smaller. Please respect that this
value also constitutes the "basic grid" for the interpolation point reduction.
The number of interpolation points can also be manipulated in the header data
mask of the CamDesigner.
10 Here the dwell-to-dwell interpolation method is selected. The following motion
laws are possible in the BasicVersion of the CamDesigner:
• 3 Sloping Sine Line according to Helling-Bestehorn
• 4 5th order polynomial
• 5 Modified acceleration trapezoid
• 6 Modified Sine Line according to Neklutin
• 7 Simple sine (disadvantageous jerk)
• 11 11th. order polynomial
• 12 Squared parabola (disadvantageous jerk)
• 28 8th. order polynomial (disadvantageous jerk)
• 30 low-noise cosine combination
• 31 3th order polynomial (disadvantageous jerk)
• 32 4th order polynomial
• 33 6th order polynomial (disadvantageous jerk)
• 34 7th. order polynomial
• 38 mirrored sine
• 47 harmonic combination
For all other interpolations, the 5th order polynomial is used in the basic version. In
the "Advanced Version", all methods of interpolation (also in combination) are
possible in general. A detailed description of the methods not mentioned here, can
be found in the CamDesinger help.
The dwell-to-dwell motion law can also be specified in the header data mask of the
CamDesigner.
11 If the option "always calculate motion diagrams" is activated, the CamDesigner
will calculate the interpolated motion sequence and the acceleration sequence
after each change.
This option can also be de-/activated in the header data mask of the
CamDesigner.
12 Modular grid for graphic cam input.
These values determine to which master/slave grid the curve elements placed
with the aid of the mouse are brought ("caught"). The grid of the master (x)-axis
must be smaller than the configured clock distance.
These values can also be de-/activated in the input mask of the CamDesigner
for curve points.
13 Here are displayed status resp. error messages and notes.
14 Starting the CamDesigner.
This must be installed from the Compax3 CD beforehand.
After the return from the CamDesigner it is necessary to perform a curve data
download in order to load the changes into Compax3 (even if the curves
themselves were not modified).
15 Cancel. Closing the window, the changes are discarded.
Detailed information on the topic of "motion laws" can be found in the online help of
the device.
192-120108N13 Compax3T40_eng 2014-10 339

5.9.5. Cam function structure

Function modules of the cam ......................................................................................... 340
Signal image.................................................................................................................. 341
Cam reference systems ................................................................................................. 345
5.9.5.1 Function modules of the cam

C3_CamOut
Execute
C3_CamIn
Execute
C3_MasterControl Execute
C3_CamTableSelect MC_CamIn
StartSource Execute Execute
Master Setpoint
Cam
Position generator
Functions of the individual modules:

Master Position:
 Detection of the master position
 Alignment / adjustment of the master position signal
For this the following IEC modules are available
 C3_MasterControl:
 Select source
 activate detection
 activate master back stop (only rising master signals are accepted)
 C3_SetMaster: Define start position for the master signal.
 C3_MasterConfig: Define master reset distance (independent of the curve reseet
distance).
 MC_Phasing: Additional master distance which is added to the master signal and
which causes a slave movement.
Cam: Curve generation and control
 Selection of the curve
 Setting: run through curve once or cyclically
 Enable the master signal to the curve
 Definition of the master reference: relative or absolute.
 Specification of the master and slave segment distance.
 Specification of another MasterOffset with absolute reference or a starting delay
with relative reference.
This is made via the "C3_CamTableSelect2 IEC module".
Setpoint generator: Coupling and decoupling curves
 Enable the curve slave position.
 Alignment / adjustment of the curve slave position to the actual slave position.
For this the following IEC modules are available
 MC_CamIn: Coupling with relative slave reference.
 C3_CamIn: Coupling with absolute slave reference with coupling function, master
coupling position and master synchronous position
 C3_CamOut: Decoupling with absolute slave reference with coupling function,
master decoupling position, master braking position and slave standstill position.
340 192-120108N13 Compax3T40_eng 2014-10

5.9.5.2 Signal image
Displayed are 2 different signal plans, which differ in their master reference:
 absolute master reference
 relative master reference
Displayed are:
 the master signal processing,
 the function of the individual IEC function modules as well as
 the status objects made available for the commissioning or processing.
Symbols Please make yourself familiar with the Symbols of the signal image (see on page
344).
Abbreviations: RV: Reset distance of the virtual master (from C3 ServoManager wizard
"signal source")
RM Cam: Reset distance of the master from curve
RS: Reset distance of the slave (from C3 ServoManger Wizard
"configuration: Reference system)
MD: Feed of the master axis
SD: Feed of the slave axis
Signal image with absolute master reference

3030.1 C3Cam. 3030.24 C3Cam. 3032.24 C3Cam.
StatusMaster_ StatusMaster_ StatusOutput_
Position PositionCamUnits CurvePositionUnits
C3_CamTableSelect
LastSegment
C3_MasterConfig LastSegment
Execute C3_CamTableSelect *1) Master Slave *1)
Nominator Cycle Cycle
MasterOffset
Denominator
RM
Cam
1/MD
MD 1/MD MD SD
+
3022.6 C3Cam.Manipulation_ +
OffsetMasterposition_Units
C3_SetMaster
+ Value
+ Execute
1/MD
StartValue SH
3022.1C3Cam. 3030.13 C3Cam
Manipulation_ StatusMaster_ =0 MC_CamIn
Offset InputSum C3_CamIn
Masterposition
C3_CamOut
Direction
Source
False
-1 / +1 *1) *1) *1)
S1 *2) *1)
open
S
S2 +
D BackStop
+
+
Setpoint-
generator E
True M
close
MD 1 1
StartValue =0
3022.3 C3Cam.Manipulation_
Mastercycle SD
ScalefactorMasterGlobal
S2= open
3032.4 C3Cam.
C3_MasterControl StatusOutput_
StartValue =0
Enable AbsolutePositionGreat
C3_CamTableSelect
Master
3021.1 C3Cam. BackStop Execute
only if
SignalSource C3_CamReset
_Select *1) *3) *1) *2) *3) Execute
MC_Phasing
PhaseShift
Cam structure absolute
3030.12 C3Cam.StatusMaster_PhasingSum
192-120108N13 Compax3T40_eng 2014-10 341

Note: Direction -1 / +1 with direction reversal (under signal source configuration) factor -1
is applied.
Switches S1 & S2:
S1: Enable master acquisition; status switch in object 3030.7

O3030.7 = 0: switch open
O3030.7 = -2: switch closed, stop at the end of the cycle
O3030.7 = 2: switch closed, stop at the end of the cycle - single operation (run
through curve once)
O3030.7 = 4: switch closed, periodic operation (run through curve cyclically)
S2: Enable cam input; status switch in object 3030.17

O3030.17 = 3: switch closed, single operation (run through curve once)
C3_CamReset function
*1) Set output to zero
*2) Open switch
*3) Quick stop MC_Phasing
Signal image with relative master reference

3030.1 C3Cam. 3030.24 C3Cam. 3032.24 C3Cam.
StatusMaster_ Position StatusMaster_ StatusOutput_
PositionCamUnits CurvePositionUnits
C3_CamTableSelect
Execute C3_CamTableSelect
LastSegment
C3_CamTableSelect
C3_MasterConfig MasterOffset Master Slave
*1) *1)
Execute Cycle Cycle
Nominator
Denominator a without
b>a with
RM b MasterOffset
Cam MD SD
1/MD MD
3022.6 C3Cam.Manipulation_ C3_SetMaster
OffsetMasterposition_Units Value
++ Execute
3030.13 C3Cam 1/MD
StatusMaster_
3022.1C3Cam. InputSum
Manipulation_ StartValue MC_CamIn
Offset =0 C3_CamIn
Masterposition
C3_CamOut
Direction
Source
False
-1 / +1
S1 *1)
*1)
*1) *1)
close
open
D BackStop
True +
Setpoint-
generator E
S2 *2)
M
StartValue =0
3022.3 C3Cam.Manipulation_ MD 1 1
ScalefactorMasterGlobal Mastercycle SD
C3_MasterControl
StartValue =0
Enable C3_CamTableSelect
Master Execute
3021.1 C3Cam. BackStop
C3_CamReset
SignalSource *1) *3) *1) *2) *3) Execute
_Select
MC_Phasing
PhaseShift
Cam structure relative
3030.12 C3Cam.StatusMaster_PhasingSum
342 192-120108N13 Compax3T40_eng 2014-10

Note: Direction -1 / +1 with direction reversal (under signal source configuration) factor -1
is applied.
Switches S1 & S2:
S1: Enable master acquisition; status switch in object 3030.7

O3030.7 = -2: switch closed, stop at the end of the cycle
O3030.7 = 2: switch closed, stop at the end of the cycle - single operation (run
through curve once)
S2: Enable cam input; status switch in object 3030.17

O3030.17 = 3: switch closed, single operation (run through curve once)
C3_CamReset function
*1) Set output to zero
*2) Open switch
*3) Quick stop MC_Phasing
192-120108N13 Compax3T40_eng 2014-10 343

Symbols of the signal image

Symbol Description
a Point of addition:
b +
+
d
d=a+b+c
+
c
c Point of multiplication:
b c=a*b
a
a Comparison:
If b >= a, then output active
b b >a
Integrator
Output signal = ∫(Input signal)*dt
The output signal is the integral (sum over time) of the input
signal
StartValue=0 "Start value=0" will set the output to 0; this is triggered by
activating “Execute” of an IEC module.
Differentiator
S
Non-linear curve function Slave / Master
Slave-Position = f (Master-Position)
M
Closed control loop

Control-
loop
Input: Setpoint Position
Output: Effective position
Reset function
Output signal is reset to 0 after value "R".
Value R can be taken in the signal image.
Setpoint generator
Setpoint-
generator
Generates the desired setpoint process (e. g. when coupling
into a curve)
C3_CamTableSelect IEC function module

MasterCycle with module name and input values
SlaveCycle
Back stop
BackStop Prevents a declining master signal
(Function of C3_MasterControl (see on page 352))
Sampling-holding-function (SH: Sample & Hold)
SH
The input value of the SH member is written to the output with
t trigger signal t.
344 192-120108N13 Compax3T40_eng 2014-10

5.9.5.3 Cam reference systems

Relative master reference without offset ........................................................................ 345
Relative master reference with 180° offset ..................................................................... 346
Absolute master reference without offset ....................................................................... 347
Absolute master reference with 180° offset .................................................................... 348
Relative slave reference ................................................................................................ 348
Absolute slave reference ............................................................................................... 350
For a cam application it is necessary to adapt the curve values (positions) to the
master and slave positions.
There are different possibilites to do this:
 relative master reference
 without offset
 with offset
 absolute master reference
 without offset
 with offset
The "Slave Cam output" setpoint signal from the curve is only related to the current
physical slave position by the selected coupling function. A distinction is made
between:
 relative slave reference and
 absolute slave reference
Relative master reference without offset

Slave Cam output
Cam from
CamDesigner
Master Cam input

0°
360°
Master signal
0° 360° 360°
Start Source Start

C3_MasterControl C3_CamTableSelect
360°
Master signal Master Cam Input
0° 360° 360°
Master Cam input: Master signal at the curve input

(C3Cam.StatusMaster_PositionCamUnits o3030.24)
Master signal: Master signal of the acquisition (C3Cam.StatusMaster_Position
o3030.1)
Slave: Signal at the curve output (C3Cam.StatusOutput_CurvePositionUnits
o3032.24)
192-120108N13 Compax3T40_eng 2014-10 345

Note:  With a relative master reference, a given curve is processed generally from the
beginning, independent of the start delay (=offset).
 The C3_CamTableSelect.Offset input is not to be wired!
Relative master reference with 180° offset
Slave Cam output

Cam from
CamDesigner
Master Cam input

0°
360°
Master signal
0° 180° 360° 180° 360°
Start Source
C3_MasterControl
Start
C3_CamTableSelect
Master Cam Input

360°
Master signal
0° 360° 360°

o3030.1)
o3032.24)
Note:  With a relative master reference, a given curve is processed generally from the
beginning, independent of the start delay (=offset).
 The offset is here used as start delay.
 The start of the C3_CamTableSelect can be at any position; it must however be
before the start offset is reached.
346 192-120108N13 Compax3T40_eng 2014-10

Absolute master reference without offset
Slave Cam output

Cam from
CamDesigner
Master Cam input

0°
360°
Master signal
0° 180° 0° 360°
Start Source Start

C3_MasterControl C3_CamTableSelect
Master Cam Input Master Cam Input

360°
Master signal
0° 360° 360°

o3030.1)
o3032.24)
Hint  Only with absolute master reference, a given curve can be started at any position.
This position corresponds to the offset value if the events "Start Source
C3_MasterControl" and "Start C3_CamTableSelect" take place at the same point
in time. Alternatively, you can preset the start value of the master position
acquisition with the C3_SetMaster.
Typical application: Shifting an open, s-shaped curve in the master reference
system.
192-120108N13 Compax3T40_eng 2014-10 347

Absolute master reference with 180° offset
Slave Cam output

Cam from
CamDesigner
180° 0° 180° Master Cam input 360°

Master signal
0° 360°
Start Source
C3_MasterControl
Start
C3_CamTableSelect
Master Cam Input Master signal

360°
180°

o3030.1)
o3032.24)
Hint  Only with absolute master reference, a given curve can be started at any position.
This position corresponds to the offset value if the events "Start Source
C3_MasterControl" and "Start C3_CamTableSelect" take place at the same point
in time. Alternatively, you can preset the start value of the master position
acquisition with the C3_SetMaster.
Typical application: Shifting an open, s-shaped curve in the master reference
system.
 The offset is added to the current value of the master signal at the start time of
CamTableSelect.
Relative slave reference

Relative slave reference can be established with MC_CamIn.
See also application example 1 (see on page 386)
348 192-120108N13 Compax3T40_eng 2014-10

Relative slave reference example 1

Example 1: MC_CamIn is started before or upon the curve start and the
master position acquisition:
540°
Slave Cam output

physical Slave
Master Cam input
180° 0°
360°
Start Source
C3_MasterControl,
MC_CamIn &
Start
C3_CamTableSelect

o3030.1)
o3032.24)
Relative slave reference example 2

Example 1: MC_CamIn is started after the curve start and the master position
acquisition:
Slave Cam output
physical Slave
Master Cam input

0°
360°
MC_CamIn.Execute
Start Source
C3_MasterControl,
Start
C3_CamTableSelect
pre Cam Cam
192-120108N13 Compax3T40_eng 2014-10 349

1: Alignment of the current slave setpoint position from the curve with the current
setpoint position from the history of the Execute of the MC_CamIn

o3030.1)
o3032.24)
Note: If a closed curve is combined with absolute master reference, an entry with
MC_CamIn at a master position > 0 will lead to a backwards movement of the axis
with reference to the start point.
Absolute slave reference

Absolute reference can be established by coupling in with a coupling movement
(Mode 1 or 2)
360°
Slave Cam output
physical Slave
Master Cam input

0° 0°
360°
Start Source C3_MasterControl

& Start C3_CamTableSelect

o3030.1)
o3032.24)
Note: The reference point and the curve zero point are always identical for absolute slave
reference with C3_CamIn.
350 192-120108N13 Compax3T40_eng 2014-10

5.9.6. Master signal source

Setting the position of the selected master source (C3_SetMaster) ............................... 351
Recording the position of the selected master source (C3_MasterControl) .................... 352
Control of the cam generator (C3_CamTableSelect)...................................................... 356
Reset curve generator (C3_CamReset) ......................................................................... 360
Configure reset distance of the position of the selected master source (C3_MasterConfig)362
Master signal phase shift (C3_Phasing)......................................................................... 364
5.9.6.1 Setting the position of the selected master source
(C3_SetMaster)
FB name C3_SetMaster
Setting the master position
VAR_IN_OUT
Sub INT Achs-ID (Bibliothekskonstanten)
VAR_INPUT
Execute BOOL Start setting sequence
Value REAL Start value
VAR_OUTPUT
Done BOOL Setting sequence finished successfully
Error BOOL Setting the master failed
Note:
 Setting the value is possible:
 without having selected a curve.
 during master position acquisition.
 The SetMaster function can only be executed, if the axis is not synchronized (not
in "Synchronized Motion")
 SetMaster intrrupts the connection with the curve generator (see in the signal
image (see on page 341)).
 If the "Value" is greater than the current reset distance, the value is allowed for in
the reset distance.
C3_SetMaster

Value : REAL Error : BOOL
Timing for Execute / Done:
IEC-cycle
"Done" comes immediately after the execution of the module.
192-120108N13 Compax3T40_eng 2014-10 351

5.9.6.2 Recording the position of the selected master source

(C3_MasterControl)
FB name C3_MasterControl
Start and Stop of the master detection
VAR_IN_OUT
VAR_INPUT
Enable BOOL Starting the module
Acquisition is started or stopped depending on the Mode
StartMode INT Selecting the Start Mode
1: Start of the detection with rising edge of the enable
2: Fast start after external event (Impulse). Defined by
“StartSource” and “StartMask”, , does start within 0.5ms.
3: Start of the acquisition with the next encoder zero pulse,
after the start of the modules (Enable = TRUE)
StartSource pointer Specification of an object (see example) for starting the
acquisition.
Only relevant with StartMode 2.
The address operator ADR () must be used to select an
object.
The scanned signal must have the INT or WORD formate.
StartMask WORD Binary mask for and-linking the source (logical UND( in
order to select a bit from the source object (e.g. a digital
input).
Only relevant with StartMode 2.
StopMode INT Selection of the Stop mode
1: Stops the acquisition with falling edge of the Enable
2: Stops the detection at the end of the master clock
distance. Defined via the curve or via C3_MasterConfig
(see on page 362).
Periodic BOOL False: run through curve once
Stops the acquisition at the end of the master clock distance
(defined via the curve or via C3_MasterConfig)
True: Cyclic run
BackStop BOOL False: Backstop not active
True: Back stop active
Linking of curves of the use of output
C3_CamtableSelect.EndOfSegment as trigger for
C3_CamtableSelect.Execute with various
C3_CamTableSelect-modules, only functions safely with
forward moving Master!
Master INT Axis- ID of the Master signal source (see on page 279)
AXIS_REF_HEDA: HEDA
AXIS_REF_Physical: +/-10V, Step/Direction / Encoder
AXIS_REF_Virtual: virtual master
VAR_OUTPUT
Status BOOL Shows that the master position acquisition is running
EndOfProfile BOOL Impulse at the end of the configured master cycle
Busy BOOL Waiting for an external event
Error BOOL Command was aborted; error when starting the detection
352 192-120108N13 Compax3T40_eng 2014-10

Note:
 With linked curves or use of output C3_CamtableSelect.EndOfSegment as trigger
for C3_CamtableSelect.Execute:
In case the Master (due to noise or process-related) can also run backward, the
back stop (BackStop=TRUE) must be activated. As precaution we recommend to
always activate it when linking!
 In case there is more than one Master signal source configurated, you can
change the signal sources by means of the Axis-ID.
The change is possible at standstill and with running Master (take care of the
similar speeds).
 With enable = active, the "Periodic" and "Master" inputs are always accepted.
 With the transition Enable low to high the StartMode is evaluated.
 With the transition Enable high to low the StopMode is evaluated.
 Only one module controlling the detection is allowed in the project.
 Enable and StartSource must have different sources.
 For drift free operation in single operation on the master acquisition side (input
"Periodic" = FALSE) or upon multiple stops of the the master acquisition at the
end of the cycle (StopMode=2), the "LastSegment" input must be = TRUE in the
(last) curve (C3_CamTableSelect module). Furthermore, the sum of the individual
master segment lengths must be equal to the master clock distance or its integer
multiple for several linked curves (sum master cycle until LastSegment = n *
Master clock distance (n=1,2,...)). In the event of a single curve, the Mastercycle
input must be open or the "Mastercycle" input must correspond to the master
clock distance. See example 1: Single start of a closed cam
C3_MasterControl
Enable : BOOL Status : BOOL

StartMode : INT EndOfProfile : BOOL
StartSource : DWORD Busy : BOOL
StartMask : WORD Error : BOOL
StopMode : INT Slave : AXIS_REF
Periodic : BOOL
BackStop : BOOL
Master : INT
Slave : AXIS_REF
192-120108N13 Compax3T40_eng 2014-10 353

Example 1:  Enable of the master position acquisition with input I0.

 Start of the detection with an external event = rising edge at the I1 input.
Input I1 is selected via the object "C3.DigitalInput_Value”.
The input I1 is placed on Bit 1 (counting from 0), as a result the input "StartMask”
receives the value 2.
 Detection runs in single mode.
C3_MasterControl
C3_INPUT
I0: Enable : BOOL Status : BOOL

I1: 2 StartMode : INT EndOfProfile : BOOL
I2: ADR (C3.DigitalInput_Value) StartSource : DWORD Busy : BOOL
I3: 2 StartMask : WORD Error : BOOL
I4: 1 StopMode : INT
I5: FALSE Periodic : BOOL
I6: TRUE BackStop : BOOL
I7: AXIS_REF_Physical Master : INT
AXIS_REF_LocalAxis Slave: INT
360°
Masterposition
0
1 t
Enable
0
1 t
I1
0
Status 1 t
0
t
EndOfProfile 1
0
t
Busy 1
0
354 192-120108N13 Compax3T40_eng 2014-10

Example 2:  StopMode=2: Acquisition stops at the end of the master clock distance
 If "Enable" is deactivated within the master clock distance and is re-activated
before the end of the master clock distance, the acquisition will continue
undisturbed.
C3_MasterControl
C3_INPUT
I0: Enable : BOOL Status : BOOL

I1: 1 StartMode : INT EndOfProfile : BOOL
I2: StartSource : DWORD Busy : BOOL
I3: StartMask : WORD Error : BOOL
I4: 2 StopMode : INT
I5: TRUE Periodic : BOOL
I6: TRUE BackStop : BOOL
I7: AXIS_REF_Physical Master : INT
AXIS_REF_LocalAxis Slave: INT
360°
Masterposition
0
1 t
Enable
0
Cam operation with STOP or Error

The master position and the curve are not influenced by a STOP or an error of the
axis.
The detection and the curve generation continue; this means that the curve output
is also available in the case of an error.
If the curve is to be restarted after a STOP or an error without consideration of the
previous history, the “C3_CamReset (see on page 360)“ module must be executed
after stop or error before the first calling up of a “C3_CamTableSelect“.
Example:
192-120108N13 Compax3T40_eng 2014-10 355

5.9.6.3 Control of the cam generator (C3_CamTableSelect)

FB name C3_CamTableSelect
Control of the curve generator
VAR_IN_OUT
Master INT Axis ID; constant: AXIS_REF_LocalCam
VAR_INPUT
Execute BOOL Curve selection with positive edge
CamTable INT Curve number (beginning with 1)
Periodic BOOL =FALSE: run through curve once (Single operation)
is only evaluated in the last curve segment (it is therefore also
possible to link several curves without gaps with “Periodic” =
FALSE - cam operation is only left after the last curve).
=TRUE: cyclic curve passage (Periodic operation)
MasterAbsolute BOOL Select master reference of the curve
FASLE = relative
TRUE = absolute
Mastercycle REAL Value of the master segment distance [physical units] 3
decimal places are considered.
Slavecycle REAL Value of the slave segment distance [physical units] 3
decimal places are considered.
MasterOffset REAL Absolute operation:
Offset at the start of the master position acquisition
relative mode:
Start delay, the master position acquisition starts if the
master signal exceeds this value positively, see in the
signal image (see on page 341).
If the input is open or upon input value -999, the

curve starts with Execute (without delay)
LastSegment BOOL Resets the display, see in the signal image (see on page
341) and is used as reference signal for coupling.
Must be set on the last segment within the master clock distance
for driftless operation in single operation on the master side (see
module C3_MasterControl and example 1: Single start of a closed
cam)
VAR_OUTPUT
Done BOOL Change of curves finished
Busy BOOL Waiting for change of cams
EndOfSegment BOOL Impulse at the end of a curve even if no Execute is present
Error BOOL Command aborted
Error when selecting a curve or during master connection
356 192-120108N13 Compax3T40_eng 2014-10

Note:
 If the inputs “Mastercycle” and “Slavecycle” are not assigned or 0, the master
cycle out of the configuration is adopted and the highest feed of the selected
curve is taken as slave cycle (see curve types (see on page 329)).
 If the MasterAbsolute input stands on TRUE (absolute), the switch to the curve
generator is closed with the CamTableSelect and the curve aligns to the master
position detection.
The MasterOffset functions as Offset for the master position acquisition;
Input not assigned means MasterOffset = 0.
 If the MasterAbsolute input stands on FALSE (relative), the switch to the curve
generator is closed with the CamTableSelect and the curve does not align but
begins on the master side at 0.
The MasterOffset works as start delay; the curve starts only when the master
(O3030.1) has traveled further than this value in the positive direction. If the
master offset is larger than the effective master position, the curve start will only
take place in the next master cycle (after its reset).
 If the curve runs in single mode, only direct coupling with MC_CamIn is sensible.
 If the curve runs in single mode and the master runs periodically, it is only
sensible to have the curve run relative to the master.
 After running through the curve in single mode, the drive changes from the
“Synchronized Motion” state back to the “Standstill” state, i.e. after a SingleStart a
positioning is possible.
 An Execute during a curve cycle leads to a curve change at the end of the curve
cycle. The “MasterAbsolute” and "MasterOffset" inputs are not evaluated. If the
status of the “Periodic” input of the segment currently in progress was FALSE
(single operation), a curve change will nevertheless be executed.
Please note: If an Execute signal follows an Execute (rising edge) (e.g. by
bouncing an input), another change of curve is already triggered.
 With relative master reference (MasterAbsoute=FALSE) with start delay, the
change of curve is already executed (Done=TRUE), if the master signal has not
yet reached the Masteroffset (start delay).
 In the event of error message 0xFFE2: Error in the IEC61131-3 program
sequence. Function module was called with incorrect parameters:
CamTable<1 or CamTable>C3Cam.StatusData_SegmentsInFlash
 If the curve is to restarted after a STOP or an error without consideration of the
previous history, the “C3_CamReset (see on page 360)“ module must be
executed after stop. The execution of the C3_CamReset turns all outputs of the
C3_CamTAbleSelect to FALSE. With the limited version of "C3_CamTableSelect"
its instances must at least once be executed according after the C3_CamReset
(with Execute-input value FALSE)!.
 After C3_CamReset was executed, all instances of C3_CamTableSelect.Execute
= FALSE must be executed as well in order to finish the reset - operation.
Limitations when linking curves or with use of output
C3_CamtableSelect.EndOfSegment as trigger for
C3_CamtableSelect.Execute
 When using several C3_CamTableSelects in order to link curves, the same curve
may not be used twice after the first curve segment.
 Cam links only work with moved Master!
 If the Master (due to noise or process-related) can also run backward, the back
stop at the C3_MasterControl must be activated. As precaution we recommend
to always activate it when linking!
If not a negative Master movement at the beginning of a curve leads to a
negative curve change (which is interpreted from the component as positive
change) and the curve process does not correspond to the desired result (even
with Periodic=FALSE, curves are run repeatedly or are not run)!
 When using the the C3_Phasing no negative curve change shall be generated
(sum speed Master source and Phasing (at the beginning of the curve) should
always be bigger or even Zero).
Ideally the C3_Phasing is used and phasing speed with negative phase shift is
dynamically limited for the actual master speed (-> the negative phasing speed
results in maximum curve standstill and no reverse movement)!
192-120108N13 Compax3T40_eng 2014-10 357

C3_CamTableSelect

CamTable : INT Busy : BOOL
Periodic : BOOL EndOfSegment : BOOL
MasterAbsolute : BOOL Error : BOOL
Mastercycle : REAL Master : AXIS_REF
Slavecycle : REAL Slave : AXIS_REF
MasterOffset : REAL
LastSegment : BOOL
Master : AXIS_REF
Slave : AXIS_REF
Example / Timing diagram

CTS1 CTS2
C3_CamTableSelect C3_CamTableSelect
I1 Execute : BOOL Done : BOOL I2 Execute : BOOL Done : BOOL

1 CamTable : INT Busy : BOOL 2 CamTable : INT Busy : BOOL
FALSE Periodic : BOOL EndOfSegment : BOOL FALSE Periodic : BOOL EndOfSegment : BOOL
TRUE MasterAbsolute : BOOL Error : BOOL TRUE MasterAbsolute : BOOL Error : BOOL
Mastercycle : REAL Master : AXIS_REF Mastercycle : REAL Master : AXIS_REF
Slavecycle : REAL Slave : AXIS_REF Slavecycle : REAL Slave : AXIS_REF
MasterOffset : REAL MasterOffset : REAL
TRUE LastSegment : BOOL TRUE LastSegment : BOOL
AXIS_REF_LocalCam Master : AXIS_REF AXIS_REF_LocalCam Master : AXIS_REF
AXIS_REF_LocalAxis Slave : AXIS_REF AXIS_REF_LocalAxis Slave : AXIS_REF
3032.24
C3Cam.Status Output_
CurvePositionUnits
t
1
CTS1.Execute
0
t
1
CTS1.Done
0
t
1
CTS1.EndofSegment
0
t
1
CTS2.Execute
0
t
1
CTS2.Busy
0
t
1
CTS2.Done
0
t
1
CTS2.EndofSegment
0
t
358 192-120108N13 Compax3T40_eng 2014-10

Cam operation with STOP or Error

The master position and the curve are not influenced by a STOP or an error of the
axis.
The detection and the curve generation continue; this means that the curve output
is also available in the case of an error.
If the curve is to be restarted after a STOP or an error without consideration of the
previous history, the “C3_CamReset (see on page 360)“ module must be executed
after stop or error before the first calling up of a “C3_CamTableSelect“.
Example:
192-120108N13 Compax3T40_eng 2014-10 359

5.9.6.4 Reset curve generator (C3_CamReset)

FB name C3_CamReset
Resetting the curve generator into its original status after PowerOn and after
abortion of the curve operation (e.g. by STOP or Error)
Please note: Only one instance of C3_CamReset is required per axis!
VAR_IN_OUT
Axis INT Axis ID (Library constants)
VAR_INPUT
Execute BOOL Resetting the curve with a rising edge on this input
VAR_OUTPUT
Done BOOL Cam generator reset is executed
Error BOOL Error while resetting the cam generator
Note:
 C3_CamReset cuts the connection to the cam generator (S2 is opened), stops a
C3_Phasing in progress and resets the status objects O3030.x (not O3030.1,
O3030.5, O3030.6, O3030.7, O3030.8), O3031.x, O3032.x (signal image (see
on page 341)).
The master position acquisition (controlled via C3_MasterControl) is NOT
influenced.
 C3_CamReset must be executed before the repeated operation of a
“C3_CamTableSelect” module upon a new start of the curve (output “Done” must
be waited for). With the limited version of "C3_CamTableSelect" its instances
must at least once be executed according after the C3_CamReset (with
Execute-input value FALSE).
 After C3_CamReset was executed, all instances of C3_CamTableSelect.Execute
= FALSE must be executed as well in order to finish the reset - operation.
 Using C3_CamReset in a device featuring a firmware older than R08-3 will lead
to device error “8190 CamCommand: Unknown command or no T40. After
acknowledging the error, a correct restart of the curve is also possible, the curve
status objects are however not reset!
 Output “Error” is set if the module is triggered while camming (State
“Synchronized Motion”) is still active or if an invalid “Axis” input value is present.
The execution of the C3_CamReset turns all outputs of the
C3_CamTAbleSelect to FALSE.
360 192-120108N13 Compax3T40_eng 2014-10

“Done” will come up one cycle after execution of the module.
192-120108N13 Compax3T40_eng 2014-10 361

5.9.6.5 Configure reset distance of the position of the

selected master source (C3_MasterConfig)
FB name C3_MasterConfig
Configure reset distance of the position of selected master
(does not influence the curve, only in the display object)
VAR_IN_OUT
VAR_INPUT
Execute BOOL Start configuration
Numerator DINT Numerator of the reset distance to master position
acquisition
Denominator DINT Numerator of the reset distance for the position of
selected master source
(automatically 1 with alternative master clock
distance)
The reset distance is disabled with:
Numerator = 0 and Denominator = 1
thus the display is no longer reset.
VAR_OUTPUT
Done BOOL Configuration finished successfully
Error BOOL Configuration of the master failed
Note:
 Module can be executed with running master.
 Write Flash is not executed, the changed values of the reset distance are lost
when switching off.
 The reset distance defined via the module deactivates the previously valid reset
distance of the curve, see in the signal image (see on page 341).
 For linked curves (see on page 392) the sum of all master segments (Numerator
/ Denominator) is entered as reset distance.
 The output "error" is set if
 the "Counter" is bigger than 8388607 and if der "Denominator" is Zero or bigger
8388607.
 TravelDistanceMaster_Denominator * "Counter" / set GreatesrCommonDevider
(TravelDistanceMaster_Denominator*"Numerator",TravelDistanceMaster_Nume
rator*"Denominator") bigger as 8388607. This check is made for all configurable
signal sources (different TravelDistanceMaster-values).
 The drive reports Errors "0x8199" or "0x819b".
C3_MasterConfig

Numerator : DINT Error : BOOL
Denominator : DINT Slave : AXIS_REF
Slave : AXIS_REF
362 192-120108N13 Compax3T40_eng 2014-10

IEC-cycle
"Done" comes immediately after the execution of the module.
192-120108N13 Compax3T40_eng 2014-10 363

5.9.6.6 Master signal phase shift (C3_Phasing)

FB name C3_Phasing
Time-related superimposition of the master position with an additional relative
distance (PhaseShift). Depending on the operating mode, the motion parameters
can be changed during a movement.
With this, only the master signal affecting the slave via the cam is influenced, the
master acquisition itself remains unchanged.
PhaseShift influences the master signal before the curve; the slave moves by the
resulting distance after the curve.
Application: Reg synchronization on the master side.
VAR_IN_OUT
Slave INT Axis ID; constant: AXIS_REF_LocalAxis
VAR_INPUT
Execute BOOL Starts sequence of the module upon a positive edge;
in the “SUPERIMPOSED_ABSOLUTE_CONT”
operating mode cyclic update of the positioning
parameters as long as the “Execute” remains
“TRUE”.
PhaseShift REAL Distance for the superimposed Shift (positive and negative
direction).
During a superimposed Shift in
the “distance” is considered to be an absolute Shift target
with reference to the start position of the superimposed
Shift (point in time of the first rising “Execute” edge where
no superimposed positioning is active). For details please
refer to input “Mode”.
In configured unit [Units] -value range- 66
67
In the "SUPERIMPOSED_RELATIVE” operating mode, the
specification of a speed <=zero is not permitted.
In the other operating modes, a negative value will
be set to 0.
68
<Wertebereich>
69
<Wertebereich>
70
71
<Wertebereich>
66
67
68
69
70
71
364 192-120108N13 Compax3T40_eng 2014-10

Mode INT
With a rising edge on the Execute, a relative superimposed
Shift, based on the value on input "PhaseShift” is executed
at that point in time (this does also apply if a superimposed
Shift is already active.
Upon a not active superimposed Shift, a relative Shift
starts on the “Execute” with a rising edge.
superimposed Shift (output “Busy” is set), the
Shiftdistance based on the start points of the superimposed
Shift is interpreted to be absolute.
corresponds to the "SUPERIMPOSED_ABSOLUTE” mode,
however as long as the input "Execute" is equal "TRUE"
the module inputs with rising edge at the input "Execute"
are not accepted in each IEC cycle for the effective
superimposed Shift.
ATTENTION!
Hint
The "SUPERIMPOSED_RELATIVE” operating mode
corresponds to the function of the former
MC_Phasing module
"TRUE": With each new Shift (rising edge on
“Execute”), the Shift target O680.3 (DemandValue3)
is reset to zero.
ATTENTION!
IgnoreSlaveDirectio BOOL Open or "FALSE": With direction reversal of the axis
n (Slave) the motion direction of the motor shaft
remains identical to the one without direction reversal
- however on the side of load (resp. in turned
slave-reference system) it is inverted.
"TRUE": as from firmware >R09-20: With direction
reversal of the axis (Slave) the motion direction of the
motor shaft changes compared to the one without
direction reversal - however on the side of load (resp.
in turned slave-reference system) it is not identical.
Firmware <=R09-20: No Phasing executed!
VAR_OUTPUT
Done BOOL Phase shift executed
Busy BOOL Phase shift is being executed
CommandAborted BOOL Phase shift aborted
192-120108N13 Compax3T40_eng 2014-10 365

Notes:
 The values PhaseShift, Velocity, Acceleration, Deceleration, Jerk, JerkDecel are
only valid for the superimposed phase shift; on the axis, the values resulting from
the superimposition in the master path corresponding to the effective CAM
sequence are set, which will be taken into consideration in the status values.
 Upon a MC_Stop of the local axis (AXIS_REF_LocalAxis), the phase shift is not
interrupted. If the shift is to be stopped, the C3_StopSuperImposed must be
used.
 The module can only be used in cam operation.
 C3_Phasing does not interrupt an active command.
 The input "IgnoreSlaveDirection" is only accepted with finished phase shift.
 When using C3_Phasings in applications with linked curves or when using the
output C3_CamtableSelect.EndOfSegment as trigger for the
C3_CamtableSelect.Execute, no negative change of cams may be generated
(sum speed Master signal source and Phasing (at beginning of segment) always
higher or equal zero). Ideally the phase speed is limited dynamically to the
negative actual Master Speed (-> negative Phasing speed results in maximum
curve standstill)!
 This module cannot be operated with MC_/C3_MoveSuperImposed and
C3_ShiftPosition at a time.
 It is possible to change modes (“Mode”) during a superimposed Shift in progress.
acts as upon a new start of a superimposed Shift ).
zero “Velocity” specification (if the Shift speed has reached zero) , as it can never
reach its target.
mode the VShift speed is finished with the parameters pending at the time. Is the
"Velocity" demand equal zero (if the actual displacement target speed has
reached the value zero), the Shift speed is aborted as it can never reach its
target. A (new) rising edge on "Execute" starts, as in
Shift speed.
 Frequent changes of the Shift target within a superimposed Shift may lead to
imprecisions in the Shift in the “PositionResetMode” input is not set to “TRUE”!
 If the speed is reduced to zero at the end of a Shift during setpoint generation, no
new values for speed, deceleration and jerk are accepted in the absolute
operating modes “SUPERIMPOSED_ABSOLUTE” or
"SUPERIMPOSED_ABSOLUTE_CONT" with unchanged Shift target (input
"PhaseShift".
366 192-120108N13 Compax3T40_eng 2014-10

(MC_Stop))
during another superimposed movement (MC_/C3_MoveSuperImposed,
C3_ShiftPosition).

Shift occurred caused by

C3_Phasing

PhaseShift : REAL CommandAborted : BOOL
Acceleration : DINT Busy : BOOL
Deceleration : DINT
Jerk : DINT
JerkDecel : DINT
Mode : INT
PositionResetMode : BOOL
IgnoreSlaveDirection : BOOL
192-120108N13 Compax3T40_eng 2014-10 367

C3_Phasing

PhaseShift : REAL CommandAborted : BOOL
Acceleration : DINT Busy : BOOL
Deceleration : DINT
Jerk : DINT
JerkDecel : DINT
Mode : INT
PositionResetMode : BOOL
IgnoreSlaveDirection : BOOL
phase shift master position "seen" by slave
360
Position
0
phase velocity physical master position
Velocity
master velocity
0
t
Execute
0
t
Done
0
t
Busy
0
t
368 192-120108N13 Compax3T40_eng 2014-10

5.9.7. Alignment of the slave axis

Start cam / coupling ....................................................................................................... 369
Exiting the active curve with coupling movement (C3_CamOut) .................................... 379
5.9.7.1 Start cam / coupling
Starting a selected curve (MC_CamIn)

FB name MC_CamIn
Synchronization of the axis with the output of the curve generator without coupling
movement
VAR_IN_OUT
Sub INT Achs-ID (Bibliothekskonstanten)
VAR_INPUT
Execute BOOL Curve start with positive edge
VAR_OUTPUT
InSync BOOL Synchronous operation active
Error in the cam operation
EndOfProfile BOOL End of a cam cycle.
A pulse with the length of an IEC cycle indicates the end
of each cam cycle.
Suitable for setting up a loop counter.
Note:
 Curve alignment:
 Execute is followed by immediate coupling; the current curve setpoint value is
adapted to the current slave setpoint value. This adapts the curve to the current
position.
 In order to avoid velocity jumps, the master should be at a standstill or the curve
should have an initial gradient (slope) of 0.
 MC_CamIn can also be started by a C3_CamTableSelect, if the curve setpoint
value does not jump after the start of the C3_CamTableSelect example 6:
Operation with curve segments and standstill area (see on page 396).
MC_CamIn
Execute : BOOL InSync : BOOL

Master : AXIS_REF CommandAborted : BOOL
Slave : AXIS_REF Error : BOOL
EndOfProfile : BOOL
Master : AXIS_REF
Slave : AXIS_REF
192-120108N13 Compax3T40_eng 2014-10 369

Direct coupling with MC_CamIn

S MT
ST
Sa
MC_CamIn.Execute
Sa: current slave position

370 192-120108N13 Compax3T40_eng 2014-10

Starting a selected curve with coupling movement (C3_CamIn)
FB name C3_CamIn
Synchronization of the axis to the output of the curve generator with adjustable coupling
movement
VAR_IN_OUT
VAR_INPUT
Execute BOOL Curve start with positive edge
CouplingMode INT 0 = coupling without coupling movement, after the
master having traveled over the coupling position (ME)
in positive direction.
1 = coupling via quadratic function;
the master coupling position (ME) is calculated.
2 = coupling via changeover function
CouplingPosition REAL Master coupling position (ME) in master units
(is taken into consideration with CouplingMode = 0 and
2
with CouplingMode = 1, the coupling position is
calculated)
Value range: 0 ... n*MT
SyncPosition REAL Master synchronous position (MS) in master units
(not relevant with CouplingMode = 0)
Value range:
CouplingMode 1: 0 ... MT or 0 ... Master reset distance
CouplingMode 2: 0 ... n*MT
VAR_OUTPUT
InSync BOOL Synchronous operation active
EndOfProfile BOOL End of a slave cam cycle.,
A pulse with the length of a IEC cycle indicates the end
of each master cam cycle .
Suitable for setting up a loop counter.
192-120108N13 Compax3T40_eng 2014-10 371

Note:
 Master coupling position (ME) and master synchronized position (MS):
 With CouplingMode = 0: ME is taken into consideration, MS not relevant.
 With CouplingMode = 1: ME is calculated internally, MS is taken into
consideration.
 With CouplingMode = 2: ME is taken into consideration, MS is taken into
consideration.
 With CouplingMode =1 the curve must be constantly rising at the Master
synchronous position (MS).
 Position MS must be inferior to the configured or equal to the configured master
reset distance for quadratic coupling, otherwise an incorrect gradient will be
calculated (MS is corrected when calculating the gradient in the value range of
the master reset distance).
 If the master synchronous position MS is superior to the master clock distance
MT, the coupling process will be distributed over several master cycles.
 Before or during coupling with "CouplingMode" 1 or 2 finished/active
MC_/C3_MoveSuperImposed the curve position is not reached in the
synchronous position MS (phase lift for the sum of the SuperImposed movement
since the last alignment to zero, alignment conditions see
C3_MoveSuperImposed, sum value as from Firmware > R09-20 in 0680.34).
Coupling in is executed as if no superimposed movement were present.
 If the master runs backwards after the beginning of the coupling movement, the
slave will again be at its original position after reaching the coupling position.
 Coupling from concatenated curves is possible in the “change-over” mode, if the
backstop is activated or if the master does not run backwards; it is however not
possible with quadratic coupling. It is assumed that the curve active at the point in
time when the coupling command is given, is continuously repeated.
 With changeover, the coupling function depends on the current curve.
 The relevant master position for coupling position ME and synchronized position
MS is object 3030.24 (=sum of the master distances up to LastSegment=True;
value range 0..MT). Without LastSegment set on the C3_CamTableSelect
module, coupling in is only possible with the first starting of the curve (after
master position enable)!
 Before C3_CamIn is executed, a curve must be selected with
C3_CamTableSelect.
C3_CamIn
Execute : BOOL InSync : BOOL

CouplingMode : INT CommandAborted : BOOL
CouplingPosition : REAL Error : BOOL
SyncPosition : REAL EndOfProfile : BOOL
1
Execute
0
1 t
InSync
0
1 t
Masterzyklus
0
Slavezyklus 1 t
0
ME MS t
EndOfProfile 1
0
372 192-120108N13 Compax3T40_eng 2014-10

Example with CouplingMode = 1 and C3_CamTableSelect: Periodic = TRUE.

Quadratic coupling (CouplingMode = 1) ......................................................................... 373
Direct coupling (CouplingMode = 0) ............................................................................... 375
Change-over (CouplingMode = 2) .................................................................................. 376
Quadratic coupling (CouplingMode = 1)

The quadratic coupling results in a quadratic position course of the slave axis
without velocity superelevation:
The synchronous position with master reference (MS) is ideally stated within the
hind range of the master clock distance, so that the coupling movement takes
place within one single cycle.
For this, the start position (activating the coupling sequence with C3_CamIn:
Execute) must also be near the curve zero point.
The master-related coupling position (ME) is calculated from the slope of the curve
in the synchronization point and the actual slave position (Sa) so that it results in a
quadratic position course.
For this, there must be a positive slope (gradient) at the synchronization position.
The master speed must be positive, i.e. the master position must be rising.
Coupling via a slave clock distance
SS
e(M)
1 ST
Sa MT
0
ME MS M
0 M
SS: Slave synchronization position
Sa: Current slave position before start of curve
Me: Master coupling position calculated from MS, slope in MS/SS and Sa
MS: Master synchronous position
e(M): quadratic coupling function
1: Gradient triangle: determines the duration of the coupling sequence (the steeper,
the faster the coupling process)
192-120108N13 Compax3T40_eng 2014-10 373

Coupling over several slave clock distances

If the curve has a very flat slope in the synchronization point (MS/SS), or if the
current Slave position Sa is behind the Slave synchronization position, or with a
master synchronization position MS larger than the master clock distance MT, the
coupling sequence takes place over several master cycles.
1 e(M)
S
MT
Sa
SS
ST
0
ME MS M
0 M

Me: Master coupling position calculated from MS, slope in MS/SS and Sa
MS: Master synchronous position
e(M): quadratic coupling function
1: The slave setpoint value is reset at this position in the display.
374 192-120108N13 Compax3T40_eng 2014-10

Direct coupling (CouplingMode = 0)
S MT
ST
Sa
ME M
C3_CamIn.Execute
Sa: current slave position

After Execute of C3_CamIn the slave will only couple in from the master coupling
position ME.
In order to avoid velocity jumps, the curve should have an initial gradient (slope) of
0.
192-120108N13 Compax3T40_eng 2014-10 375

Change-over (CouplingMode = 2)
When using the change-over-function, the curve setpoint value is permanently
displayed during coupling, while the current slave position is permanently hidden.
Overspeeding and pull-out movement are possible.
By specifying the master-related coupling and synchronization position in master
units, the coupling curve is mapped to a range of any length of the curve. This
means that it is no longer fixedly coupled to the curve cycle.
Algorithm of the change-over function
The normalized coupling function begins at the value 0 and end at the value 1 and
rises continually in between. It is a 5th. order function.
The coupling curve does not produce a direct slave setpoint value but produces a
factor KE for the weighting of the current curve setpoint value resp. the current
slave position Sa (position at the start of the coupling sequence).
The course of the coupling curve depends on the slave position Sa and the course
of the curve in synchronized operation.
The weighting is made according to the following function:
Coupling curve = SK * KE + S0 * (1 - KE)
with:
S0 = standstill position
SK = current curve setpoint value
KA = control variable between 0 ... 1.0 (between ME and MS)
Example: Change-over function over a curve cycle
S
SS MT
ST
Sa
ME MS M
ME: Master coupling position = 30°
MS: Master synchronized position = 340°
MT: Master clock distance = 360°
The slope (speed) of the coupling sequence shows a clear overspeeding in
comparison with the synchronized run.
376 192-120108N13 Compax3T40_eng 2014-10

Example: Change-over function over several curve cycles
MT
SS
ST
Sa
0 ME MS M

ME: Master coupling position = 60°
MS: Master synchronized position = 700°
1: The slave setpoint value is reset at this position in the display.
192-120108N13 Compax3T40_eng 2014-10 377

Change-over function KE:
378 192-120108N13 Compax3T40_eng 2014-10

5.9.7.2 Exiting the active curve with coupling movement

(C3_CamOut)
FB name C3_CamOut
Decouple the active curve with adjustable coupling movement
VAR_IN_OUT
VAR_INPUT
Execute BOOL Activate the decoupling process with a positive edge
DecouplingMode INT 0 = decoupling without coupling movement, after the
master having traveled over the decoupling position
MA in positive direction.
(MB and S0 not relevant)
1 = decoupling via quadratic function;
the master braking position (MB) is calculated
2 = decoupling via changeover function
DecouplingPosition REAL Master decoupling position in Master units (MA)
Range of values:
DecouplingMode 1:
0 ... MT or 0 ... Master reset distance
DecouplingMode 2:
0 ... MT
BrakingPosition REAL Master braking position in master units (MB)
(is taken into consideration with CouplingMode = 2
with CouplingMode = 1, the braking position is
calculated).
MB must be > than MA.
Value range: 0 ... n*MT
StandstillPosition REAL Slave standstill position in Slave units (S0)
During DecouplingMode 1 S0 should be > SA (=curve
point at the "Master position MA).
VAR_OUTPUT
Done BOOL Decoupling complete
InSync BOOL Wait for decoupling position
EndOfProfile BOOL End of the cam cycle.
192-120108N13 Compax3T40_eng 2014-10 379

Note:
 Decoupling is not possible during coupling.
 Master decoupling position (MA) and Master braking position (MB)
 With DecouplingMode 0: MA is taken into consideration, MB not relevant.
 With DecouplingMode 1: MA is taken into consideration; MB is calculated.
 With DecouplingMode 2: MA is taken into consideration; MB is taken into
consideration.
 The Slave standstill position is not taken into consideration with DecouplingMode
= 0.
 With DecouplingMode =1 the curve must be constantly rising at the Master
decoupling position (MA).
 The relevant master position for decoupling position MA and braking position MB
is object 3030.24 (value range 0..MT (=sum of the master distances up to
LastSegment=True)). Without LastSegment set on the C3_CamTableSelect
module, decoupling in is not possible!
 Position MA must be within the limits of MT, otherwise decoupling will not be
executed.
 Position MA must be inferior to the configured or equal to the configured master
reset distance for quadratic coupling, otherwise an incorrect gradient will be
calculated (MA is corrected when calculating the gradient in the value range of
the master reset distance).
 if the master runs backwards after the beginning of the decoupling movement, the
curve is accessed again after reaching the decoupling position.
 With changeover, the decoupling function depends on the current curve.
 The is no upper limit for synchronous position S0, even with active reset function.
Decoupling via a slave distance > ST is therefore possible.
 Try to avoid decoupling with active C3_MoveSuperImposed as the Position S0 at
the end of the decoupling is not reached (the decoupling is carried out with the
available sum of the SuperImposed movement at the beginning) and a following
error of the drive (jump for the traveled SuperImposed movmement since the
Execute on C3_CamOut) may occur.
 The sum of the SuperImposed movements since the last alignment to zero is
deleted when the decoupling process is finished.
 A superimposed movement executed via the C3_MoveSuperImposed from
coupling in until the point in time of decoupling, is entirely or partly reversed upon
quadratic decoupling or decoupling with change-over if no reset function was
configured for the axis reference system.
 The StandstillPosition S0 is corrected internally during quadratic decoupling by
multiple addition of the reset distance or the curve stroke with reference to the
curve amplitude, so that a positive distance results for the decoupling sequence.
 Decoupling from concatenated curves is in general possible if the backstop is
activated or if the master will not run backwards, with quadratic decoupling
however only with the following restrictions:
 The decoupling command must be triggered for several consecutive curves
without Last Segment=True in the first curve (after a curve with
LastSegment=True) and position MA must be within this curve.
 The decoupling command must be triggered for several consecutive curves with
LastSegment=True in the curve to be decoupled; position MA must also be
within this curve.
 The relevant master position for decoupling position and braking position is object
3030.24.
 In the event of error message 0xFFE2: Error in the IEC61131-3 program
sequence. Function module was called with incorrect parameters:
DecouplingMode=2 and BrakingPosition <= DecouplingPosition
380 192-120108N13 Compax3T40_eng 2014-10

C3_CamOut

DecouplingMode : INT InSync : BOOL
DecouplingPosition : REAL Error : BOOL
BrakingPosition : REAL EndOfProfile : BOOL
StandstillPosition : REAL Master : AXIS_REF
Master : AXIS_REF Slave : AXIS_REF
Slave : AXIS_REF
1
Execute
0
1 t
Done
0
InSync 1 t
0
1
t
Masterzyklus
0
S0 t
Slavezyklus 1
0
MA MB t
EndOfProfile 1
0
Example with DecouplingMode = 1 and C3_CamTableSelect: Periodic = TRUE.

Direct decoupling (CouplingMode = 0) ........................................................................... 381
Quadratic decoupling (CouplingMode = 1) ..................................................................... 382
Decoupling with change-over function (DecouplingMode = 2) ........................................ 383
Direct decoupling (CouplingMode = 0)

With direct decoupling, the curve operation is immediately terminated with the
Execute.
In order to avoid speed jumps, the master should be at a standstill during direct
decoupling or should be decoupled at a point, where the slope is 0 (constant slave
position).
192-120108N13 Compax3T40_eng 2014-10 381

Direct decoupling (CouplingMode = 0)

The quadratic decoupling results in a quadratic position course of the slave axis
without velocity superelevation or direction change.
The braking position (MB) is calculated from the slope of the curve at the
decoupling point and the standstill position (S0) so that a quadratic position course
is the result.
Standstill position < slave position
If the standstill position is inferior to the slave position at the beginning of the
decoupling, it is corrected so that a positive travel results for the decoupling
process. In this case, the decoupling process will only be completed in the
following cycle.
The executed correction for S0 will be as follows:
 In slave axis reset operation, the reset distance will be added to S0 until the
above condition is no longer fulfilled.
 Without a configured slave axis reset distance, the cam feed (open curve) or the
maximum curve value (closed curve) of the curve active during execution of the
CamOut module will be added to S0 until the above condition is no longer
fulfilled. Therefore quadratic decoupling is only of limited use in such a “correction
case” without reset operation. Decoupling is executed, the desired decoupling
position does however no longer correspond to S0 (or its multiple).
If a superimposed movement is executed by a C3_MoveSuperImposed in active
curve mode (after coupling), its distance in negative curve direction will be
completely reversed upon decoupling, if no slave axis reset operation is active. If
no slave axis reset operation is active, only a relative correction takes place in
superimposed movement in positive curve direction, as reverse movements during
decoupling must be prevented (for this, S0 is internally modified corresponding to
the above correction instructions). In active reset function, the decoupling distance
is only influenced in the range between 0..reset distance and the reset demand
position of the axis corresponds, as desired, to the (reset) specification for the
decoupling position S0 if decoupling is completed.
There must be a positive slope (gradient) at the decoupling position.

Decoupling over several master clock distances
If the slope (gradient) of the curve in the decoupling point is very flat, the
decoupling sequence will take several master clock distances.
S0
a(M)
ST
1 MT
Sa
0
MA MB M
M
0
382 192-120108N13 Compax3T40_eng 2014-10

S0: Slave standstill position

Sa: Effective slave position at the master decoupling position
MA: Master decoupling position
MB: Master braking position
a(M): quadratic decoupling function
1: Gradient triangle: determines the duration of the decoupling sequence (the
steeper, the faster the decoupling process)
Decoupling with change-over function (DecouplingMode = 2)

The standstill position is continually displayed during decoupling, while the curve is
continually hidden.
Overspeeding and pull-out movement are possible.
By the specification of the master-related decoupling and braking position in master
units, the decoupling curve is mapped on any length of the curve.
If a superimposed movement is executed by a C3_MoveSuperImposed in active
curve mode (after coupling), its distance will be completely reversed upon
decoupling, if no slave axis reset operation is active. With activated reset function,
the decoupling distance is only influenced in the range 0 .. reset distance and the
reset demand position of the axis correspond to the (reset) specification for the
decoupling position S0 if decoupling is completed.
Algorithm of the change-over function
The normalized coupling function corresponds to the coupling function, but it is run
trough in inverse direction during decoupling. It provides factor KA, which is used
for the weighting.
The course of the decoupling curve depends on the standstill position and the
course of the curve in synchronized operation.
The weighting is made according to the following function:
Decoupling curve = SK * KA + S0 * (1 - KA)
with:
S0 = standstill position
SK = current curve setpoint value
KA = control variable between 1.0 ... 0 (between MA and MB)
Example: Decoupling with the changeover-function
S
MT
ST
S0
0
MA MB M
S0: Slave standstill position
MA: Master decoupling position = 60°
MB: Master braking position 680°
192-120108N13 Compax3T40_eng 2014-10 383

5.9.8. 10 Steps for cam generation

Step 1: C3 ServoManager ............................................................................................. 384
Step 2: Connect motor. .................................................................................................. 384
Step 3: Supply & I/O wiring ............................................................................................ 384
Step 4: RS232 connection & C3 ServoManager ............................................................ 384
Step 5: Set Compax3 device type .................................................................................. 384
Step 6: Configuration ..................................................................................................... 384
Step 7: Selecting Master signal source .......................................................................... 385
Step 8: Generating the cam ........................................................................................... 385
Step 9: Create IEC program .......................................................................................... 385
Step 10: Starting and monitoring cam ............................................................................ 385
Example:
 Electronic Cam with 2 standstill areas,
 Master signal is the internal virtual master.
5.9.8.1 Step 1: C3 ServoManager

 Install Compax3 ServoManager (Compax3-CD 840-100005) on your PC (it is
recommended to un-install all previous versions beforehand).
 Install CamDesigner (Compax3-CD 840-100005).
 You need a RS232 cable (SSK1/xx) for the connection PC - Compax3 X10.
5.9.8.2 Step 2: Connect motor.

 Motor cable to Compax3 X3
 Feedback cable to Compax3 X13.
5.9.8.3 Step 3: Supply & I/O wiring

 AC supply (1 or 3 phase) to X1
 DC supply to X4
 Device enable by 24VDC on X4/Pin3
 The following digital inputs must be assigned:
Input 0 - Pin X12/6 24V = Enable of the power output stage
Input 1 - Pin X12/7 24V = Start machine zero
Input 2 - Pin X12/8 24V = Start virtual master
0V = Stop virtual master
Input 4 - Pin X12/10 24V = select and start curve
Input 5 - Pin X12/12 24V = curve coupling
Input 6 - Pin X12/13 24V = curve decoupling
Input 7 - Pin X12/14 24V = Reset (ackn.)
5.9.8.4 Step 4: RS232 connection & C3 ServoManager

 Establish RS232 connection (cable SSk1/xx) between PC and C3 X10.
 Start C3 ServoManager
5.9.8.5 Step 5: Set Compax3 device type

 Compax3 device selection wizard, select type
or
 Type online identification
5.9.8.6 Step 6: Configuration

Start configuration in the C3 ServoManager and configure Compax3.
 Set motor
 Ballast resistor
 External moment of inertia
384 192-120108N13 Compax3T40_eng 2014-10

 Reference System
 Unit: Grade
 Travel distance per motor revolution numerator = 360°
 Travel distance per revolution Denominator = 1
 Reset distance numerator = 360°
 Reset distance denominator = 1
 Machine zero = mode 34
 Limit sensor
 Jerk/Ramps
 Monitoring / Limits: Following error to 5°
 Encoder simulation
 Variable (Recipe) List
5.9.8.7 Step 7: Selecting Master signal source

 Open entry of signal source (left side of the tree)
 Select master signal source: virtual master
 Enter units and reset distance (360°)
 Rs485 settings
load configuration into Compax3.
5.9.8.8 Step 8: Generating the cam

Call up/process curve with the aid of the CamEditor
 Enter axis name
 Select signal source of virtual master
 Enter number of interpolation points: 360
 Enter motion law: dwell-to-dwell: "Modified Sine Line according to Neklutin"
 Start CamDesigner
 Under Menu File: New sequence. Select axis name
 Add 2 standstill areas: 0/360; 0/310; 50/360 (Path coordinate/clock angle)
 View path-time-diagram and optimize curve if needs be
 End CamDesigner via Menu:File:End
 Download of the curve into Compax3
5.9.8.9 Step 9: Create IEC program

 Start IEC development environment (in the tree on the left side under
Programming: IEC61131-3 development environment
 File, enter new project name
 Set target system: CoDeSys for C3 T40
 Open program example "cd\exambles\\10StepsToCam" in CFC.
 Save project
 Project translate everything
 Download of the IEC program into Compax3 (in the C3 ServoManager in the tree
on the left side under Download: IEC61131-3)
5.9.8.10 Step 10: Starting and monitoring cam

Input 0 - Pin X12/6 24V = energize Compax3
Input 1 - Pin X12/7 24V = Starting the homing run
Input 2 - Pin X12/8 24V = Start virtual master
0V = Stop virtual master
Input 4 - Pin X12/10 24V = select and start curve
Input 5 - Pin X12/12 24V = curve coupling
Input 6 - Pin X12/13 24V = curve decoupling
Input 7 - Pin X12/14 24V = Reset (ackn.)
Control status values in the IEC61131-3 - Debugger or in the oscilloscope

(optimization window) (e.g. C3Cam.STATUSMASTER_Position, )
192-120108N13 Compax3T40_eng 2014-10 385

5.9.9. Cam applications

You will find the applications described below as CoDeSys project on the Compax3
CD in the \Examples file.
Th following application descriptions can also be found on the CD in the

"\Examples" file:
C3T40_A1003 Cutting on the fly with Start/Stop operating mode, registration
mark reference, separation function, phase correction
C3T40_A1004 Flying knife with fixed blade circumference and variable product
length
C3T40_A1005 Sync gate, registration mark reference, synchronous motion,
automatic or manual travel back to start position.
C3T40_A1007 PID controller for IEC61131-3; operating P, PD, PI, PID are
possible
C3T40_A1015 Gearing with Stop/Start and Phase correction
The ZIP files contain the German and English description as well as the related
projects.
Example 1: Single start of a closed cam ........................................................................ 386
Example 2: Change between single start of an open cam and POSA ............................ 388
Example 3: Single Start for run through curve 5 times ................................................... 390
Example 4: Composing curves ...................................................................................... 392
Example 5: Cyclic operation with event-triggered change of curve................................. 394
Example 6: Operation with curve segments and standstill area...................................... 396
Example 7: Curve operation with slave reg synchronization........................................... 397
Example 8: Curve operation with master reg synchronization ........................................ 399
Example case of damage .............................................................................................. 401
Application note: Drift..................................................................................................... 403
5.9.9.1 Example 1: Single start of a closed cam

Task:
 Closed cam (forwards and backwards) with standstill area at the beginning and at
the end.
 Digital input starts run through curve once.
 Connection to virtual master.
Corresponding files: CamExample01.C3P (Compax3 project on the Compax3 CD:\Examples\Example1)

CamExample01.pro (CoDeSys project on the Compax3 CD:\Examples\Example1)
Control interface: Input Function

I0 Energize axis, homing, curve generator, starting and coupling axis
I1 Enable master detection
I2 Starting detection in single mode
I3 Start of the virtual master
I4 Free
I5 Free
I6 Free
I7 Free
386 192-120108N13 Compax3T40_eng 2014-10

Solution:
192-120108N13 Compax3T40_eng 2014-10 387

 The curve is activated after the homing run (Home.Done to CTS1).

 After that the axis is synchronized via CS1.Done at CI1. Now the master
detection can be started.
 Input I1 enables the master acquisition, which will wait for the external event
(Input I2)
In order to do this, the C3_MasterControl module: is assigned to following value:
ADR(C3.DigitalInput_Value).
In order to select the 3rd. bit from this value the input StartMask receives the
value 4.
 The master acquisition runs in Single Mode and the curve generator
(C3_CamTableSelect) in the Periodic, this means that the switch between the
curve generator and detection is always closed, see in the signal image (see on
page 341). With the external event (input I2) a curve cycle is run through.
Signal image:
C3_MasterControl (Single Mode)
C3_CamTableSelect (Periodic Mode)
1
Masterposition
0
1 t
C3_MasterControl.
Enable 0
1 t
externes Ereignis
external event 0
C3_CamTableSelect. 1 t
Execute 0
t
MC_CamIn. 1
Execute 0
t
Slaveposition 1
0
5.9.9.2 Example 2: Change between single start of an open

cam and POSA
Task:
 Open curve with standstill range at the beginning and at the end
 Digital input starts run through curve once
 Digital input starts positioning movement on slave cycle
 Connection to encoder
Corresponding files: CamExample02.C3P (Compax3 project on the Compax3 CD:\\xamples\Example2)


I0 Energize axis, homing, curve generator, starting and coupling axis
I1 Starting detection in single mode
I2 Start of the absolute movement
I3 Free
I4 Free
I5 Free
I6 Free
I7 Free
388 192-120108N13 Compax3T40_eng 2014-10

Solution:
192-120108N13 Compax3T40_eng 2014-10 389

Explanation:
 The repeated turning up of the single start during the run through curve must not
disturb the operation.
 Single start during positioning must not disturb, curve must not start:
This is prevented by the fact that the enable of the master position acquisition is
only started, if the drive is in the "Synchronized Motion" state.
 If a positioning is executed, the axis is in the "discrete Motion" state. When
MC-CamIn is executed, the axis will switch into the "Synchronized Motion" state;
the axis is now synchronous with the curve generator.
 Master detection is started with an external event (input I1).
In order to do this the C3_MasterControl module: is assigned to following value:
ADR(C3.DigitalInput_Value = object for the digital inputs).
In order to select the 2nd. Bit from this value the input StartMask receives the
value 2.
 The axis is coupled after Homing (MC_CamIn), then the curve generator
(C3_CamTableSelect) starts, after that the master position acquisition is started
via the external input (C3_MasterControl).
As the output Home.Done is permanently present, this output must be put to CI1
with an edge module. This ensures that CI1 (MC_CamIn) can be activated again.
 The absolute movement is not executed in the "Synchronized Motion " status
(MC_MoveAbsolut reports an error), so this is automatically blocked.
5.9.9.3 Example 3: Single Start for run through curve 5 times

Task:
 Open curve without standstill area
 Coupling / decoupling with change-over function
 Digital input for the start of 5 curve cycles (incl. coupling and decoupling cycle)


I0 Energize axis, Homing
I1 Enable and start of the master position detection
I2 Start of the curve cycle
I3 Free
I4 Free
I5 Free
I6 Free
390 192-120108N13 Compax3T40_eng 2014-10

Solution:
Explanation:
 Coupling from 0 on (CamIn.CouplingPosition = 0), decoupling on 360°
(CamOut.StandstillPosition = 360°).
 The curve generator (C3_CamTableSelect) is started in relative Mode with the
Input I2.
 with MasterOffset = 0, the next zero crossing is waited for if the master is already
running.
 The busy output of CTS1 starts the coupling sequence before the selected curve
is active. Only if the master position has exceeded the value 0
(CTS1.MasterOffset = 0, CTS1.MasterAbsolute = TRUE), the curve starts to run
and CTS1.Done will become TRUE.
 After the 3rd. “EndOfSegment” pulse of the C3_CamTableSelect module runs
through the 4th. curve. The change of cam to the single mode is then triggered
with the counter module. This will become active at the end of the 4th curve, so
that the curve is run through 4 times.
 If the change into the 5th. curve cycle was effected, the Done output will come up
at this module (CTS2), which triggers the decoupling sequence.
192-120108N13 Compax3T40_eng 2014-10 391

5.9.9.4 Example 4: Composing curves

 3 curves (ramp-up curve, straight line, ramp-down curve) with the same master
clock distance
 digital input for single start of a curve sequence, after that standstill until the
repeated start of the 3-curve sequence.


I2 Coupling and curve start
I3 Free
I4 Free
I5 Free
I6 Free
392 192-120108N13 Compax3T40_eng 2014-10

Solution:
192-120108N13 Compax3T40_eng 2014-10 393

Explanation:
 The entire curve line is 720° long, the reset distance in the slave axis
configuration stands on 720° (Configuration: Reference system).
 The change of cams is triggered with the Done of the curve activated before
(CTS1 ... CTS3). The Done output follows, if the change into the respective curve
has been executed.
 The axis is synchronized with input I2 (CamIn) and at the same time the 1st.
curve generator (CTS1) is started.
This ensures that no increments are lost with running master.
Design of a curve:
720° 180°
Curve 3
540° 360° 0°
Curve 2
Position Reset Distance Slave
180° 0°
Curve 1
0°
360° 720° 1080°
CTS1.Execute (I2)
CamIn.Execute
CTS1.Done -> CTS2.Execute
CTS2.Done -> CTS3.Execute
CTS3.Done
Position Reset Distance Master
Position Reset Distance Slave: Reset distance slave

Position Reset Distance Master: Reset distance Master = time axis in the Cam
Designer
5.9.9.5 Example 5: Cyclic operation with event-triggered

change of curve
 2 curves with the same clock distances: S-curve without standstill area and
straight line
 digital input for quadratic coupling and decoupling
 digital input for switching of curve
 Master reference must be kept with exactly the same increments during the
change
 The master position acquisition must continue in decoupled state
394 192-120108N13 Compax3T40_eng 2014-10



I2 Selection of cam
I3 Coupling / Decoupling
I4 Free
I5 Free
I6 Free
Solution:
Explanations:
 Via Input I2 either curve 1 (CTS1) or curve 2 (CTS2) is activated, both in the
absolute mode (MasterAbsolute=TRUE).
 The detection starts with I1 (MasterControl).
 Coupling in takes place with rising edge of I3, decoupling takes place with falling
edge of I3.
192-120108N13 Compax3T40_eng 2014-10 395

5.9.9.6 Example 6: Operation with curve segments and

standstill area
 Via a master cycle, a slave feed with following standstill is to take place from a
master position of 30° on; from a master position of 230° on, the slave is to
return. This sequence is to be repeated cyclically.


I3 Free
I4 Free
I5 Free
I6 Free
Solution:
396 192-120108N13 Compax3T40_eng 2014-10

Boundary conditions:
 After the coupling of the axis, the curve generator (CST1) is started in relative
mode with an offset of 30°.
The start of the curve takes only place, if a master position of 30° is reached.
 The feed takes place via 100 master degrees (C3_CamTableSelect module):
Mastercycle = 100).
 With the falling edge of EndofSegment of the CamTableSelect module (CTS1),
the next movement will be triggered via CamIn2.
 CamIn2 starts via “InSynch the 2nd. C3_CamTableSelect (CTS2), whose curve
will reset the slave to its previous position via the master position range between
100° and 230°.
 The sequence can be repeated with "EndofSegment" of this module.
Special feature:
 In this example, the curve shall be run through entirely, therefore MC_CamIn is
started before C3_CamTableSelect. This is only possible with MC_CamIn.
Signal image:
C3_MasterControl (Periodic Mode)
C3_CamTableSelect (Single Mode)
Masterposition
(3030.1) 230°
Masterposition Kurve 30°

(3030.24) 0°
t
C3_MasterControl. 1
Enable
0
1 t
MC_CamIn1.
Execute 0
Start 1 t
C3_CamTableSelect 0
1. Kurve, Offset 30°
t
Slaveposition 1
0
t
MC_CamIn2. 1
Execute 0
t
Start 1
C3_CamTableSelect 0
2. Kurve, Offset 230°
t
5.9.9.7 Example 7: Curve operation with slave reg

synchronization
The slave position in the curve mode is to be corrected in dependence of a
registration mark: Slave-oriented reg synchronization.
Corresponding files: Slave_Markenkorrektur_Example.C3P (Compax3 Project on Compax3

CD:\Examples\Example7)
Slave_Markenkorrektur_Example.pro (CoDeSys Project on the Compax3
CD:\\Examples\\Example7)
192-120108N13 Compax3T40_eng 2014-10 397


I0 Energize axis, homing, select curve, starting and coupling axis (static)
I1 Enable and start of the master position acquisition (static)
I2 Start virtual master
I3 Reg enable (static)
I4 Reg input (edge)
I5 Free
I6 Free
I7 Free
Solution:
398 192-120108N13 Compax3T40_eng 2014-10

 Setpoint position of the registration mark: 90°
 Ignore zone of the reg detection: 180° - 360°
curve
5.9.9.8 Example 8: Curve operation with master reg

synchronization
The master position in the curve mode is to be corrected in dependence of a
registration mark: Master oriented reg synchronization.
Corresponding files: Master_Markenkorrektur.C3P (Compax3 Project auf Compax3

Master_Markenkorrektur.pro (CoDeSys Project on the Compax3
Control interface: input Function

I0 Energize axis, homing, select curve, starting and coupling axis (static)
E1 Enable master acquisition (static)
E2 Start virtual master
E3 Reg enable (static)
E4 Reg input (edge)
E5 free
E6 free
E7 free
192-120108N13 Compax3T40_eng 2014-10 399

Solution:
400 192-120108N13 Compax3T40_eng 2014-10

 Setpoint position of the registration mark: 90°.
 Slave standstill at 180°.
 The object C3Cam.StatusMaster_PositionCamUnits (o3030.24) is used as
source for the C3_Touchprobe module and is set against the reg setpoint
position.
 The adjustment movement is made via MC_Phasing (new C3_Phasing) (see the
signal image (see on page 341) of the cam).
curve
5.9.9.9 Example case of damage

The axis should work in curve mode.
The master should be stopped in the case of an axis error. After the elimination
and acknowledgement of the error, the axis shall synchronize and normal operation
shall be resumed.
Corresponding files: CamExampleHav.C3P (Compax3 Project on the Compax3

CD:\Examples\Examples_Haverie)
CamExampleHav.pro (CoDeSys Project on the Compax3
CD:\Examples\Examples_Haverie)

I0 Energize axis
I3 Coupling / Decoupling
I4 Free
I5 Error acknowledgement
I6 Homing
192-120108N13 Compax3T40_eng 2014-10 401

Solution:
402 192-120108N13 Compax3T40_eng 2014-10

 The ReadStatus module helps detect, if the axis is in the error state.
An error will trigger the stop of the virtual axis, the curve cycle will stop, the curve
generator (C3_CamTableSelect) will continue.
 After the stop of the master, the axis will also be at a standstill.
 The error is acknowledged via input I5; the axis will be energized again (see also
the "AND" module at the input of MC_Power).
 If the axis is energized again and input I5 is present, the axis is moved to the
current position of the curve output (MC_moveAbsolute) and at the end of the
movement it is coupled again with MC_CamIn.
 The output "InSync" of the MC_CamIn (camin2) will re-start the virtual master and
the cycle is continued.
5.9.9.10 Application note: Drift

Correct scaling of the reference values helps prevent drift.
For this, it is necessary to consider the conversions of the position signal:
Gear box
Master Master Slave Slave Load
ST
revolution Z1 units units N2 revolution N3 revolution
N1 Z2 Z3
MT
Master / Slave / Load revolution: Master / Slave / Load revolutions:

Master / Slave units: Master / Slave - revolutions
Gear box: Gearbox
That is:
Z1 Travel distance per revolution master axis
numerator
=
N1 Travel distance per motor revolution master axis
denominator
(configured in the Compax3 ServoManager under "signal source")
Z2 Travel distance per revolution slave axis

numerator
=
N2 Travel distance per revolution Slave axis
Denominator
(configured in the Compax3 ServoManager under "configuration")
Z3 Motor
= transmission
N3 ratio Load
"Position Reset" Distance - Master

MT: Master clock Axis (M_Units)
distance "Position Reset" Distance - Master
Axis (Denominator)
MT is rounded to 3 decimal places.
Numerical Example:
Product: 314.871 long
14 products are to be transported per load revolution via a curve.
Gearbox: Motor/Load = 6949673 / 43890 => i = 158.3429...
1. Variant (with drift)

Load revolutions = (number of the products) * (length of a product) * (reciprocal of
the travel path per motor revolution slave axis) * (gearbox load / motor)
N2 43890
Load revolutions = 14 * 314,871mm * *
Z2 6949673
192-120108N13 Compax3T40_eng 2014-10 403

43890 Z2 193475634.66
14 * 314,871mm * 694967 = =
N2 6949673
3
This factor can not be expressed exactly in Compax3; the max. entry allowed in the
Compax3 ServoManager:
1934756
69496
which causes drift.
2. Variant (without drift)

Slave clock distance = 1 product cycle
For this, the curve is created scaled to 1.
N2 43890
Load revolutions = 14 * 1mm * * 694967
Z2
3
43890 Z2 614460
14 * 1mm * 694967 = =
N2 6949673
3
This factor for the path per motor revolution can be expressed, no drift is
generated!
404 192-120108N13 Compax3T40_eng 2014-10

Parker EME Cam switching mechanism
5.10 Cam switching mechanism
Please observe:
In the C3 powerPLmC, the "cam switching mechanism" function can only be
programmed for a Compax3 slave axis with the T40 technology function.

Cam switching mechanism function overview ................................................................ 405
Redirect the fast cams directly to the physical output (C3_OutputSelect) ....................... 408
Objects of the cam switching mechanism ...................................................................... 409
Behavior of the switch-on/switch-off anticipation ............................................................ 410
Hysteresis...................................................................................................................... 413
CoDeSys-Project for the configuration of the cams ........................................................ 414
Example: Working with fast cams .................................................................................. 414
5.10.1. Cam switching mechanism function overview

Example of cam function ............................................................................................... 406
Examples of a cam cycle ............................................................................................... 406
Up to 36 cams can be programmed. They are divided into 2 cam types:
Serial cams
 32 serial cams (Cam 0 ... 31) of which a cam is brought up once every 0.5 ms.
Thecycle timeof the cams is: (Highest active serial cam +1) * 0.5ms..
Example: if cam 17 is the highest cam enabled, this results in a cycle time of: 18 *
0.5ms = 9ms
 If no fast cams are used, the numberof the serial cams per cycle (0.5ms) can be
increased up to 4:
The setting is made via object 3701.6. It applies:
Cycle time = number of the serial cams *0.5ms / O3701.6 with the value range
O3701.6 = 1, 2, 3, 4.
Fast cams
 4 fast cams with a cycle time of 500µs (125µs per cam).
 When using fast cams, there is a cycle time of 0.5ms per cam for serial cams.
 With the C3_OutputSelect (see on page 408) module the fast cams can be put
directly and without delay, independently of the cycle time of the IEC program, on
the digital outputs O0 ... O3.
Cam functions
 Switching-on and switching-off position of each cam individually.
 Cams with compensation for dead time, with switching-on and switching-off
anticipation for each cam.
 Individually adjustable cam source.
 Enable for each individual cam.
 Adjustable switching hysteresis for actual position value as a cam source.
 The outputs of the cams are objects.
192-120108N13 Compax3T40_eng 2014-10 405

5.10.1.1 Example of cam function

Example of cam function (without switching-on and switching-off
anticipation)
SlavePosition
SwitchFast1_PositionOff
SwitchFast1_PositionOn
SwitchFast0_PositionOff
SwitchFast0_PositionOn
1
SwitchFast1
1
SwitchFast0
5.10.1.2 Examples of a cam cycle

Example 1: Working cycles for:
 3 fast cams and
 3 serial cams
1,5ms
1 1 2 3 1
2 1 2 3 1 2 3 1 2 3 1 2 3
500µs
1: Serial cams
2: Fast cams

 no fast cams,
 8 serial cams and
 reduced cycle time (object O3701.6 = 3)
1,5ms
1 2 3 4 5 6 7 8 1 2 3
500µs
406 192-120108N13 Compax3T40_eng 2014-10


 no fast cams,
 8 serial cams and
 reduced cycle time (object O3701.6 = 4)
1ms
1 2 3 4 5 6 7 8 1 2 3 4 5 6 7
500µs
192-120108N13 Compax3T40_eng 2014-10 407

5.10.2. Redirect the fast cams directly to the physical output

(C3_OutputSelect)
FB name C3_OutputSelect
Select source for digital outputs
VAR_INPUT
Execute BOOL Activates the module with a rising edge
O0 INT Constant for source for the digital output 0
VAR_OUTPUT
Done BOOL Source selection executed
Note:
 The source selection for the outputs is executed with a rising edge of Execute.
 Application for fast cams:
the fast cams are put directly and without delay to the digital outputs, independent
of the cycle time of the IEC program.
 OutputSelect_C3Output allows to access the respective output directly via the
IEC program (e.g. with the aid of C3_Output).
 OutputSelect_FastCamSwitch puts the respective fast cam to the output. The
assignment is fixed, i.e. cam 0 would be put on O0, cam 1 would be put on output
O1, etc.
Example:
C3_OutputSelect
Execute: BOOL Done: BOOL

OutputSelect_C3Output O0: INT
OutputSelect_FastCamSwitch O1: INT
OutputSelect_FastCamSwitch O2 : INT
OutputSelect_C3Output O3 : INT
 Source: output 0: C3_Output

 Source output 1: Fast cam 1
 Source output 2: Fast cam 2
 Source output 3: C3_Output
408 192-120108N13 Compax3T40_eng 2014-10

5.10.3. Objects of the cam switching mechanism
Object designations Unit Objects for serial cams Objects for fast cams valid
from
Source Cam 0: O3730.1 Cam 0: O3710.1 VP*
="1": Actual position ... ... ... ...
="2": Setpoint position Cam 31: O3761.1 Cam 3: O3713.1
="3": Virtual Master
="5": Master position (3030.1)
Switching-on position defined unit Cam 0: O3730.2 Cam 0: O3710.2 VP*
for ... ... ... ...
positions Cam 31: O3761.2 Cam 3: O3713.2
Switching-off position defined unit Cam 0: O3730.3 Cam 0: O3710.3 VP*
for ... ... ... ...
positions Cam 31: O3761.3 Cam 3: O3713.3
Switch-on anticipation 1 ≡ 500µs Cam 0: O3730.4 Cam 0: O3710.4 imme

... ... ... ... diately
Cam 31: O3761.4 Cam 3: O3713.4
Switch-off anticipation 1 ≡ 500µs Cam 0: O3730.5 Cam 0: O3710.5 imme

... ... ... ... diately
Cam 31: O3761.5 Cam 3: O3713.5
Output Cam 0: O3701.3 Bit 0 Cam 0: O3700.3 Bit 0 imme

(the given object bit contains the ... ... ... ... diately
cam switch status for further use) Cam 15 O3701.3 Bit15 Cam 3: O3700.3 Bit 3
Cam 16 O3701.5 Bit 0
... ...
Cam 31: O3701.5 Bit15
Enable Cam 0: O3701.2 Bit 0 Cam 0: O3700.2 Bit 0 imme
... ... ... ... diately
Cam 15 O3701.2 Bit15 Cam 3: O3700.2 Bit 3
Cam 16 O3701.4 Bit 0
... ...
Cam 31: O3701.4 Bit15
Hysteresis defined unit With source = actual position: O3705.1 VP*
for With source = Master position: O3705.5
positions
The exact description of the objects can be found in the object directory (see on
page 515).
The command VP (set objects to valid) can be executed as

 global VP - for all objects or
 selective VP - only objects of the cam switching mechanism -
Global VP: Write into object 210.11 with value <> 0

Selective VP: Write into object 210.9 with value <> 0
(C3Plus.ValidParameter_CamControlledSwitches:=True)
The selective VP is executed faster and constitutes a smaller temporal strain!
Scheme of the object assignment example of the serial cam 0
192-120108N13 Compax3T40_eng 2014-10 409

Signals Source Enable

O3730.1 O3701.2 Bit 0
T
tOff Output
tOn
0 O3701.3 Bit 0
t
speed>0
speed<0
tOn tOff
O3730.2
O3730.3
O3730.4
O3730.5
O3705.1
Notes:
 You can write directly into a serial cam switch output that is not enabled (e. g.
cam 0 => object3701.3 bit 0).
 After deactivating the cam, the last output status is kept. You can then define the
status by directly writing into the object.
5.10.4. Behavior of the switch-on/switch-off anticipation

The switching-on and switching-off behavior of the actuating elements (delayed
switching, reaction time) can be compensated via a reaction time (switching-on/off
anticipation) that can be parametered for each individual cam.
Compax3 will calculate a corrected switching-on/ or off position by multiplying the
reaction time with the current speed, so that the actuating element will switch at the
actual switching position due to its delay; the actuating element delay is
compensated.
5.10.4.1 Behavior depending on the travel direction

T
tOff
tOn
0
t
speed>0
speed<0
tOn tOff
tOn: Switch-on anticipation

tOff: Switch-off anticipation
410 192-120108N13 Compax3T40_eng 2014-10

For the switching behavior depending on the position applies therefore:
Example: switching behavior at positive speed (speed>0)

Pos_tOn Pos_tOff
speed>0
0
SwitchOn* SwitchOff*
SwitchOn SwitchOff
SwitchOn: Switching-on position

SwitchOn*: corrected switching-on position
SwitchOff: Switching-off position
SwitchOff*: corrected switching-off position
Pos_tOn: position difference calculated from the switch-on anticipation
Pos_tOff: position difference calculated from the switch-off anticipation
Example: switching behavior at negative speed (speed<0)

Pos_tOff Pos_tOn
speed<0
0
SwitchOff* SwitchOn*
SwitchOn SwitchOff

N.B.! The switching-on resp. switching-off anticipation are exchanged with negative
speed, as the cam
 switches on at the switching-off position
and
 switches off at the switching-on position!
192-120108N13 Compax3T40_eng 2014-10 411

5.10.4.2 Switching behavior with reset operation

When leaving the positioning area, the positions are corrected accordingly.
The switching-off position may be smaller than the switching-on position:
tOn_1
SwitchOn_1
SwitchOn_1*
tOff_1
SwitchOff_1
SwitchOff_1*

Note: With reset mode of the selected source, the switching position is limited to the
area:
0 <= switching position < reset distance
i.e. That means that values < zero become zero, values > than the reset distance
will become the reset distance-1LSB.
5.10.4.3 Switch-on anticipation is corrected via reset distance

SwitchOn_1*
tOff_0 tOn_1 tOff_1

SwitchOff_0 tOn_0
SwitchOff_1
SwitchOff_0* SwitchOff_1*
SwitchOn_0
SwitchOn_0*
SwitchOn_1

For cam_1 and _2
412 192-120108N13 Compax3T40_eng 2014-10

5.10.4.4 Note: No switching operation with overlapping cams

If it occurs that for example the switching-off position is < the switching-on position
due to a movement caused by the reaction time compensation, no switching will
take place. This case must be eliminated by choosing appropriate cam positions.
Pos_tOff
Pos_tOn
SwitchOff*
SwitchOn*
speed>0
0
SwitchOn SwitchOff

Please observe:
The position difference for the compensation of the switching delay rises with the
speed.
5.10.5. Hysteresis
In order to avoid jitter of cams at the limits of the switching area (only relevant as
source of cam with actual values) a switching hysteresis (the same for all cams)
can be defined.
Hysterese Hysterese
SwitchOn SwitchOff
1
speed<0
speed>0
0
SwitchOff* SwitchOn* SwitchOn* SwitchOff*

SwitchOn*: switching-on position corrected by the hysteresis
SwitchOff*: switching-off position corrected by the hysteresis
The hysteresis is preset as a position value.
Please observe: The hysteresis influences the switching-on and switching-off anticipation
You should therefore set this value at the lowest possible level.
192-120108N13 Compax3T40_eng 2014-10 413

5.10.6. CoDeSys-Project for the configuration of the cams

You will find a CoDeSys project for the configuration of the cams with the following
functions on the Compax3 CD under
..\Examples\CamSwitch\CamSwitch_Template.pro:
Configuration of the cam switching mechanism via IEC61131-3 in ST (structured
text):
1.) Initializing some "example cams" (Module "Init_Cam_Switch")
 Configuration of sequential cams,
 Configuration of fast cams,
 Configuration of the hystereses,
 Activation of (fast) cams,
 Resetting outputs,
 Triggering selective VP
Global variables determine, which functions are used or are relevant:

CAMsourceActual - True: Actual position is used as master source
CAMfast - True: fast cams are being used
CAMnumber_per_cycle - 1..4: Number of cams implemented/500µs)
2.) Use of the cams in the IEC (Module "PLC_PRG")
 Execute module "Init_Cam_Switch" once,
 logic query with cams,
 logic combination with cams,
 Output of cams via digital outputs,
 Deactivating individual cams,
 Manupulating deactivated cams
5.10.7. Example: Working with fast cams

Setting 2 fast cams to the Compax3 outputs O2 and O3.
Related programs:  ..\Examples\CamSwitch\2_schnelle_Nocken.C3P

 \Examples\CamSwitch\2_schnelle_Nocken.pro
Assignment: O0 = 1: Drive energized

O1 = 1: Machine zero approached
O2 = 1 fast cam 2 (170° ... 190°)
O3 = 1 fast cam 3 (290° ... 310°)
I0: Energize Drive
I1: Start searching machine zero
I2: Start of a 360° positioning (reset distance = 360°)
414 192-120108N13 Compax3T40_eng 2014-10

Solution:
ST Part
Note:
 With C3_OutputSelect the outputs O2 and O3 are assigned to the fast cams.
Compax3 puts automatically the fast cams 2 and 3 to the outputs O2 and O3.
 The cam objects are set once after switching-on.
192-120108N13 Compax3T40_eng 2014-10 415

5.11 Error handling

Acknowledging errors (MC_Reset) ................................................................................ 416
Reading axis errors (MC_ReadAxisError) ...................................................................... 417
Set error reaction (C3_SetErrorReaction) ...................................................................... 418
Switching off error messages (C3_ErrorMask) ............................................................... 419
5.11.1. Acknowledging errors (MC_Reset)

FB name MC_Reset
Acknowledges errors (transition from "Errorstop" status to "Standstill" status).
VAR_IN_OUT
VAR_INPUT
Execute BOOL Activates the module if there is a positive edge
VAR_OUTPUT
Done BOOL Error successfully acknowledged, axis is in the "Standstill"
state again
Error BOOL Acknowledge failed /not possible
ErrorID WORD Error description, according to error history
Note:
 After the error is successfully acknowledged, the power must be supplied to the
power output stage again by a rising edge on the enable input of the MC_Power
power module.
 The execution of the module may influence the MC_Stop (see on page 284)
module outputs.
MC_Reset

ErrorID : WORD
416 192-120108N13 Compax3T40_eng 2014-10

Parker EME Error handling
5.11.2. Reading axis errors (MC_ReadAxisError)

FB name MC_ReadAxisError
This function module displays axis errors.
VAR_IN_OUT
VAR_INPUT
Enable BOOL Activates the module
VAR_OUTPUT
Done BOOL Output values available
Error BOOL Compax3 in error state
ErrorID WORD Current error description
Note: -
MC_ReadAxisError
Enable : BOOL Done : BOOL

ErrorID : WORD
192-120108N13 Compax3T40_eng 2014-10 417

5.11.3. Set error reaction (C3_SetErrorReaction)

FB name C3_SetErrorReaction
This module is used to define the error reaction.
Note: The error reaction (see on page 541) cannot be changed for errors with standard
reaction 5 (switch immediately to currentless (without ramp), close brake).
VAR_INPUT
Execute BOOL The defined error reaction is set for the selected error
ErrorID WORD Error number [hexadecimal] for which the error
reaction should be set, e.g. 0x6281 for cycle time
exceeded
Reaction INT Error response:
0: no reaction, error is deactivated.
1: Downramp actual speed; remain in position control
state
2: Downramp the actual speed; then switch off
controller
VAR_OUTPUT
Done BOOL The defined error reaction was set
Note:
Error list (see on page 541)
 The error reaction settings from the configuration wizard are overwritten.
 The setting of the error mask is made internally via a C3 object. If the objects are
saved permanently, the setting is memorized after Power off.
Please note:
 The C3_ErrorMask overwrites (depending on the calling-up order) the settings.
 The corresponding error reaction is valid for both axes (of Compax3F) as the case
may be.
 The module will overwrite the settings made via the C3 ServoManager.
 If the ErrorID has an invalid error number, no change is effected.
C3_SetErrorReaction

ErrorID : WORD Error: BOOL
Reaction : INT
5.11.3.1 Error reaction of IEC61131-3 modules with Release <

R5-0
A changed error reaction (see on page 418, see on page 145) of the errors with
reaction 2 (to reaction 1 or 0) is only considered at the "ERROR” output of the
IEC61131-3 modules from targets of the Compax3 - Release R5-0.
Install the new targets and recompile your IEC program.
418 192-120108N13 Compax3T40_eng 2014-10

Parker EME Error handling
5.11.4. Switching off error messages (C3_ErrorMask)

FB name C3_ErrorMask
This module is used to switch off error messages.
Selection between error reactions 2 and 0
VAR_INPUT
Execute BOOL The selected error mask is activated
Disable_PLC BOOL TRUE is used to switch off error 0x6281.
Disable_HEDA BOOL TRUE is used to switch off HEDA errors.
Disable_Fieldbus BOOL TRUE is used to switch off the errors 0x8120 and
0x8121.
Disable_MotorStalled BOOL TRUE is used to switch off error 0x7121.
Disable_Tracking BOOL TRUE is used to switch off error 0x7320.
Disable_IOShortCircut BOOL TRUE is used to switch off error 0x5380.
Disable_IOAddSupply BOOL TRUE is used to switch off error 0x5117.
Disable_BusVoltageLow BOOL Error 0x3222 is switched off with TRUE.
Switch off only for commissioning!
Note on Compax3H:
always on FALSE, as operation <420VDC is not
possible.
Disable_E5LimitSwitch BOOL TRUE is used to switch off error 0x54A0.
Disable_E6LimitSwitch BOOL TRUE is used to switch off error 0x54A1.
Disable_SoftwareLimit_Pos BOOL TRUE is used to switch off error 0x7323.*
Disable_SoftwareLimit_Neg BOOL TRUE is used to switch off error 0x7324.*
Error list (see on page 541)
Notes:
 The setting of the error mask is made internally with a C3 object. If the objects
are saved permanently, the setting is memorized after Power off.
Please note:
 In the active module, the given errors can no longer be changed to error reaction
1.
 With open inputs, the respective error is active, therefore you should assign the
error messages you wish to eliminate with TRUE.
 The module will overwrite the settings made via the C3 ServoManager.
 * During operation with reset distance, these errors are active with a limit of
8 000 000; you should therefore switch off the errors in this operating mode by
assignment to TRUE (with open input, a corresponding error is active).
192-120108N13 Compax3T40_eng 2014-10 419

5.12 Process image

Reading digital inputs (C3_Input) ................................................................................... 420
Write digital outputs (C3_Output) ................................................................................... 420
Reading/writing optional inputs/outputs.......................................................................... 420
Memorizing the signals with the trigger event (C3_TouchProbe).................................... 423
Integration of Parker I/Os (PIOs).................................................................................... 426
5.12.1. Reading digital inputs (C3_Input)

FB name C3_Input
Used to generate a process image of the digital inputs.
VAR_INPUT
I0 ... I7 BOOL Displays the logic status of the respective input (with low
active inputs, the physical statuses are negated).
Notes: the module should always be brought up at the beginning of the processing
cycle.
C3_I nput
I0: BOOL
I1: BOOL
I2: BOOL
I3: BOOL
I4: BOOL
I5: BOOL
I6: BOOL
I7: BOOL
5.12.2. Write digital outputs (C3_Output)

FB name C3_Output
Used to generate a process image of the digital outputs.
VAR_OUTPUT
O0 ... O3 BOOL Displays the status of the respective output.
Notes: the module should always be brought up at the end of the processing cycle.
C3_O utput
O0: BOOL
O1: BOOL
O2 : BOOL
O3 : BOOL
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Parker EME Process image
5.12.3. Reading/writing optional inputs/outputs

C3_IOAddition_0 ........................................................................................................... 421
C3_IOAddition_1 ........................................................................................................... 421
C3_IOAddition_2 ........................................................................................................... 422
5.12.3.1 C3_IOAddition_0
FB name C3_IOAddition_0
Is used to create a process image of the optional digital inputs/outputs.
VAR_INPUT
I0 ... I3 BOOL Displays the status of the respective input.
Please note that the group of 4 may be assigned as inputs or outputs (see on
page 587). You may only use either inputs or outputs exclusively.
Notes: The module should always be brought up at the beginning (inputs) or end
(outputs) of the processing cycle.
C3_IOAddition_0
OutputEnable : BOOL I0 : BOOL

O0 : BOOL I1 : BOOL
O1 : BOOL I2 : BOOL
O2 : BOOL I3 : BOOL
O3 : BOOL Error : BOOL
VAR_INPUT
cycle.
C3_IOAddition_1

O4 : BOOL I5 : BOOL
O5 : BOOL I6 : BOOL
O6 : BOOL I7 : BOOL
192-120108N13 Compax3T40_eng 2014-10 421

VAR_INPUT
cycle.
C3_IOAddition_2

O8 : BOOL I9 : BOOL
O9 : BOOL I10 : BOOL
O10 : BOOL I11 : BOOL
422 192-120108N13 Compax3T40_eng 2014-10

5.12.4. Memorizing the signals with the trigger event

(C3_TouchProbe)
FB name C3_TouchProbe
Memorizing signals / objects with the trigger event
- replaces the MC_TouchProbe module -
VAR_IN_OUT
Axis INT Axis ID (Library constants)
VAR_INPUT
Execute BOOL Activates the module if there is a rising edge
SignalSource Pointer Selects the signal to be scanned.
The ADR () Operator must be used imperatively.
The signal scanned must be in the REAL or the INT
format.
FallingEdge BOOL If TRUE, it is triggered in the falling edge.
The logical status after a possible input inversion is
respected.
TriggerInput INT Selects the trigger input.
Constant TouchProbeInputx (see note)
ExpectedValue REAL Value at which the trigger event is expected.
Tolerance REAL Tolerance interval around ExpectedValue, where the
trigger event is accepted (always positive) (with
reference to the signal source).
StartIgnore REAL The beginning of the range in which the trigger event
will not be acknowledged with Done or Error (with
reference to the signal source).
StopIgnore REAL The end of the range in which the trigger event will not
be acknowledged with Done or Error (with reference to
the signal source).
EnableIgnoreZone BOOL Activate IgnoreZone.
Abort BOOL Deactivate module.
VAR_OUTPUT
Done BOOL Trigger event occurred within the tolerance interval and
the signal was detected.
RecordedSignal_ Real REAL Value scanned at the time of the trigger event, if the
source is available in the coDeSys "REAL format.
Please respect the format information of the signal
source (SignalSource)
RecordedSignal_ INT INT Value scanned at the time of the trigger event, if the
source is available in the coDeSys "INT" format.
Please respect the format information of the signal
source (SignalSource)
Busy BOOL Module active and no scanning signal occurred outside
the IgnoreZone.
Error BOOL Error while executing module.
Note:
 Temporal precision of signal recording: <1µs
 TriggerInput: Trigger-input:
via the constants "TouchProbeInput0" ... "TouchProbeInput7" (X12/6 - X12/14)
the trigger signal input is selected.
 Attention!
Only max. one entity of the module can be active as the hardware resources
are only available once!
Several entities being activated one after the other are permitted.
192-120108N13 Compax3T40_eng 2014-10 423

C3_TouchProbe

Abort : BOOL RecordedSignal_Real : REAL
TriggerInput : INT RecordedSignal_INT : INT
FallingEdge : BOOL Error : BOOL
ExpectedValue : REAL Busy : BOOL
Tolerance : REAL
StartIgnore : REAL
StopIgnore : REAL
EnableIgnoreZone : BOOL
SignalSource : Pointer
Axis : (Var_IN_OUT)
Example: Scanning the actual position, triggered via Input I0

Probe
C3_TouchProbe
inp.I1 Execute : BOOL Done : BOOL

inp.I7 Abort : BOOL RecordedSignal_Real : REAL
TouchProbeInput0 TriggerInput : INT RecordedSignal_INT : INT
FALSE FallingEdge : BOOL Error : BOOL
500 ExpectedValue : REAL Busy : BOOL
100 Tolerance : REAL
100 StartIgnore : REAL
300 StopIgnore : REAL
TRUE EnableIgnoreZone : BOOL
ADR(C3.StatusPosition_Actual) SignalSource : Pointer
AXIS_REF_LocalAxis Axis : (Var_IN_OUT)
Sampling Points
TRUE
Execute
FALSE
TRUE
t
Busy
FALSE
TRUE
t
Triggerinput
Signal FALSE
TRUE
t
Done
FALSE
t
Error TRUE
FALSE
t
RecordedSignal
4
Axis Signal
1
+ Tolerance
ExpectedValue 3
- Tolerance
1
StopIgnore
2
StartIgnore
1
t
424 192-120108N13 Compax3T40_eng 2014-10

1: Area where a module error is generated.

2: Ignore Zone: Area where no module error and no Done is generated.
The ranges 2 and 3 may not overlap. If they do, the ignore zone in range 3 is
not effective.
3: ExpectedValueZone: Trigger signal in the permissible value range; this is
confirmed with Done=TRUE.
4: RecordedSignal; is updated with every active edge of the TriggerInput signal
upon Execute = TRUE.
 If the value of the signal (SignalSource) during the Trigger event is in the
permissible value range between (ExpectedValue - Tolerance) and
(ExpectedValue + Tolerance), this is confirmed with Done = TRUE; the
RecordedSignal is updated.
 If the value of the signal (SignalSource) during the Trigger Event is between
StartIgnore and StopIgnore (Ignore zone), the module will report neither error nor
Done, the RecordedSignal is however updated.
 If the value of the signal (SignalSource) during the Trigger Event is outside the
permissible value range and outside the zone between StartIgnore and
StopIgnore (Ignore zone), the module will report an error, the RecordesSignal is
updated.
 Within this range, the signals are read in with a temporal exactitude of <1µs
(determined by linear interpolation).
 If a Trigger Signal occurs at Execute = False, the RecordedSignal is not updated.
 If no Trigger Signal comes up, Busy remains active until the module is reset to
the original state with Abort.
 More examples with C3_Touchprobe (example 7 (see on page 397) and
example 8 (see on page 399)).
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5.12.5. Integration of Parker I/Os (PIOs)

In order to integrate PIOs via CANopen, the CANopen operating mode "Master for
PIOs (see on page 473, see on page 474)" must be configured.
Initializing the PIOs (PIO_Init) ........................................................................................ 426
Reading the PIO inputs 0-15 (PIO_Inputx...y) ................................................................ 427
Writing the PIO outputs 0-15 (PIO_Outputx...y) ............................................................. 428
Example: Compax3 as CANopen Master with PIOs ....................................................... 428
5.12.5.1 Initializing the PIOs (PIO_Init)

FB name PIO_Init
Initialization of the PIOs
VAR_IN_OUT
Device INT PIO - ID (Address)
VAR_INPUT
Execute BOOL Activates the module if there is a positive edge
VAR_OUTPUT
Done BOOL Initialization executed
Error BOOL An error occurred during initialization
ErrorCode WORD 1 = no Parker device
Additional errors can be found in the error list (see on
page 541).
AbortCode DWORD SDO abort code (see on page 487)
Note: Please execute this module at the beginning of the IEC program.
PIO_Init

Device : INT Error : BOOL
ErrorCode : WORD
AbortCode : DWORD
426 192-120108N13 Compax3T40_eng 2014-10

5.12.5.2 Reading the PIO inputs 0-15 (PIO_Inputx...y)

FB name PIO_Input0_15
Is used for reading the respective inputs
VAR_INPUT
Note: For the additional inputs, the following modules are available
PIO_Input16_31
PIO_Input32_47 and
PIO_Input48_63.
Please execute this module at the beginning of the IEC program (After PIO_INIT).
PIO_Input0_15
I0: BOOL
I1: BOOL
I2: BOOL
I3: BOOL
I4: BOOL
I5: BOOL
I6: BOOL
I7: BOOL
I8: BOOL
I9: BOOL
I10 : BOOL
I11 : BOOL
I12 : BOOL
I13 : BOOL
I14 : BOOL
I15 : BOOL
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5.12.5.3 Writing the PIO outputs 0-15 (PIO_Outputx...y)

FB name PIO_Output0_15
Is used for writing on the respective outputs
VAR_INPUT
Note: For the additional outputs, the following modules are available
PIO_Output16_31
PIO_Output32_47and
PIO_Output48_63.
Please execute this module at the end of the IEC program.
PIO_Output0_15
O0 : BOOL
O1 : BOOL
O2 : BOOL
O3 : BOOL
O4 : BOOL
O5 : BOOL
O6 : BOOL
O7 : BOOL
O8 : BOOL
O9 : BOOL
O10 : BOOL
O11 : BOOL
O12 : BOOL
O13 : BOOL
O14 : BOOL
O15 : BOOL
5.12.5.4 Example: Compax3 as CANopen Master with PIOs

 Compax3 control via PIOs.
 Configuration of the PIO connection with the C3 ServoManager.
 Initializing the PIO connection with the PIO_Init module
 Control of Compax3 via the digital PIOs and
 setpoint assignment via the analog PIOs
Related programs:  ..\Examples\C3_with_PIOs\\T30_MasterPIO_ID2.C3P

 ..\Examples\C3_with_PIOs\\C3_PIO_CONNECTION_TEST.pro
Test setup: A PIO-347 for CANopen with:

 1 PIO-602 (24V DC feed)
 2 PIO-402 (8 digital inputs) for operation wired to a switch box
 6 PIO-504 (24 digital outputs)
 1 PIO-468 (4 analog inputs)
 1 PIO-550 (2 analog outputs) analog output 0 is wired with analog input 0 for
setpoint definition
 1 PIO-600 (Bus terminal)
 a 24V power supply unit
 a C3 S025 F10 I21 T30 M11 with power- and 24V-cable
 a motor SMH 60 60 1.4...4 with motor- and resolver cable
 a CAN-bus cable for the connection of the Compax3 with the PIO coupler.
 a serial cable for the connection of the Compax3 with the PC
 a switch box for the operation of the 8 digital inputs of the PIOs.
428 192-120108N13 Compax3T40_eng 2014-10

Settings:  Baud rate = 1Mbit

 Node address of the PIO = 5 (setting via the address switch on the device)
 Node address of the C3 = 2 (setting via the address switch on the device)
Control interface: Digital Function Digital Function

input output
0 Energize axis 0 Axis is energized
1 Travel to MN (home) 1 MN (home) is accessed
2 Start MoveVelocity 2 Setpoint speed reached
3 Stop 3 Stop is present
4 JOG + 4 Manual function active
5 JOG - 5 MoveVelocity aborted
6 Free 6 Global module error display
7 Error reset 7 Error is present
Analog input Analog output
0 Setpoint speed Setpoint speed specification
Additional Compax3 settings:

 Array_Col03_Row01=1; activates the PIO_Init module
 Array_Col03_Row02=5; address of the PIO
 Array_Col03_Row03=10; Default for the analog output0 ==> setpoint speed
specification
If these values are stored in the Compax3, the PIO will be automatically initialized
after Power On and started for PDO data exchange with Compax3.
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Solution:
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Parker EME Interface to C3 powerPLmC
5.13 Interface to C3 powerPLmC

Interface module "PLmC_Interface" ............................................................................... 431
Cyclic data channel for C3T30 and C3T40..................................................................... 432
Example: C3 powerPLmC Program & Compax3 Program ............................................. 433
5.13.1. Interface module "PLmC_Interface"

The interface between a central IEC61131-3 user program on C3 powerPLmC and
a local IEC61131-3 user program on a Compax3 servo axis T30 or T40 is created
with the program module "PLmC_interface".
The " PLmC_Interface" module must be called up in each Compax3 T30

which is operated as a slave on a C3 powerPLmC.
With Compax3 T40 this is only necessary, if the slave axis is programmed
directly (not with operating mode: “Slave on C3 powerPLmC) (Cam
programming on C3 powerPLmC)“)
The call-up must take place cyclically!
The module can be found in the "C3_PLmC_interface.lib" library, which must be
integrated manually via the library manager, if required.
FB name PLmC_Interface
Interface module for the control of C3 powerPLmC
VAR_OUTPUT
O0 BOOL Status of the digital output O0 on the C3 powerPLmC side
LocalEnable BOOL Enable for the local IEC61131-3 program
LocalEnable switches to FALSE for one cycle, if a
command for this axis is activated on the C3 powerPLmC.
This helps to avoid that the axis will receive different
commands at a time.
Event1 ... Event8 factory use
EventParameter factory use
Note:
 The execution of all local motion functions should be coupled with the
LocalEnable output.
 Via the outputs O0...O3, the outputs set by C3 powerPLmC can be set out via the
physical outputs with the aid of C3_Output.
192-120108N13 Compax3T40_eng 2014-10 431

Recipe array line Please note that the last 16 lines of the recipe array (C3Array.ColXX_Row17 to
17... 32 assigned C3Array.ColXX_Row32) are reserved for the communication with C3 powerPLmC.
PLmC_Interface
5.13.2. Cyclic data channel for C3T30 and C3T40

An additional communication channel (besides the one established by the Drive
Interface which is not freely assignable) can be established between the programs
of the C3 powerPLmC and a Compax3 axis via a freely usable cyclic data channel.
To do this, the assignment of the channel is defined on the side of the C3
powerPLmC in the controller configuration for the respective axis. The assignment
is always bidirectional.
The following options are available for the communication between the two
programs.
2x INT:
Assignment of the cyclic channel with 2 INT variables
Mapping to Compax3 objects

C3.PLmCToC3_INT1 / C3.PLmCToC3_INT2 from PLmC to Compax3
C3.C3ToPLmC_INT1 / C3.C3ToPLmC_INT2 from Compax3 to PLmC
Mapping to power PLmC variables

"Axis name".PLmCToC3_INT1 from PLmC to Compax3
"Axis name".PLmCToC3_INT2 from PLmC to Compax3
"Axis name".C3ToPLmC_INT1 from Compax3 to PLmC
"Axis name".C3ToPLmC_INT2 from Compax3 to PLmC
1x DINT:
Assignment of the cyclic channel with one DINT variable

C3.PLmCToC3_DINT from PLmC to Compax3
C3.C3ToPLmC_DINT from Compax3 to PLmC

Axis name".PLmCToC3_DINT from PLmC to Compax3
"Axis name".C3ToPLmC_DINT from Compax3 to PLmC
432 192-120108N13 Compax3T40_eng 2014-10

1x REAL:
Assignment of the cyclic channel with one REAL variable

C3.PLmCToC3_REAL from PLmC to Compax3
C3.C3ToPLmC_REAL from Compax3 to PLmC

"Axis name".PLmCToC3_REAL from PLmC to Compax3
"Axis name".C3ToPLmC_REAL from Compax3 to PLmC
Note: The use of INT or DINT variables is especially suitable for implementing a
user-defined control word / status word between C3 powerPLmC IEC61131-3
program and Compax3 IEC61131-3 program.
Configuration of the data channel
Note: If the cyclic data channel is not required, it can also be assigned to the actual
position of the axis. This is then provided by the "MC_ReadActualPosition (see
on page 288)" module. Therefore the value must not be continually read via the
acyclic channel if the module is used; this reduces the bus load and the IEC cycle
time.
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5.13.3. Example: C3 powerPLmC Program & Compax3 Program

Task:  Implementation of a mark synchronization in a Compaxa3 servo axis.
 Control of the program via the C3 powerPLmC via a user-defined control word /
status word.
Main program on Compax3 (module PLC_PRG)
Cyclic call-up of the interface to powerPLmC in the PLC_PRG module

In CFC:
In ST:
Local Compax3 Program in the LocalProgram module
434 192-120108N13 Compax3T40_eng 2014-10

Program on C3 powerPLmC
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5.14 IEC examples

Example in CFC: Using Compax3-specific function modules and Compax3 objects ...... 436
Example in CFC: Positioning 1 ...................................................................................... 437
Example in CFC: Positioning 2 ...................................................................................... 438
Example in CFC: Positioning with set selection.............................................................. 439
Example in CFC: Cycle mode ........................................................................................ 440
Example in ST: Cycle mode with a Move module ........ Fehler! Textmarke nicht definiert.
5.14.1. Example in CFC: Using Compax3-specific function

modules and Compax3 objects
 Read in the process image of the digital inputs with the InputStatus module.
 Generate a process image of the digital outputs with the OutputStatus module.
 Digital input I0, used for counting an external event. The event is only detected as
an event if
 The I0 input is at TRUE for at least 0.5 seconds and
 The voltage on analog input 0 exceeds the threshold value of 3.5 volts.
 When 5 of these events have been counted, the digital output is set to O0. At the
same time, the program prevents additional events on the I0 from being counted.
The counter state can be reset again with Input I1 as soon as it reaches a value
of 5.
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Parker EME IEC examples
5.14.2. Example in CFC: Positioning 1

 Input I7 enables the power output stage
 Input I0 starts an absolute positioning process with fixed parameters
 Input I6 is used to stop the movement
 After positioning is complete, there will be a return to Position 0 as soon as Input
I1 has been activated
192-120108N13 Compax3T40_eng 2014-10 437

5.14.3. Example in CFC: Positioning 2

 Input I0 starts an absolute positioning process
 If an event (I1) occurs during the positioning, the target position will be moved
back by 20 ("MoveAdditive")
 If an event occurs while positioning is not in progress, it has no effect
438 192-120108N13 Compax3T40_eng 2014-10

5.14.4. Example in CFC: Positioning with set selection

 The position, speed and ramps can be stored in the array (table) (for example
input with the Compax3 ServoManager)
 The desired set can be selected with inputs I1 through I5 (binary coded)
 Input I0 starts the positioning (absolute positioning)
 Positioning that is in progress can be stopped with Input I6
192-120108N13 Compax3T40_eng 2014-10 439

5.14.5. Example in CFC: Cycle mode

Example a: Cycle mode
 Input I0 starts cyclical positioning. During this process, two positions are
approached in alternation.
 Input I6 stops cycle mode
5.14.6. Example in ST: Cycle mode with a Move module

Input I2 enables the power output stage.
 Input I0 starts cycle mode. Two positions are approached alternately.
 There is a pause of 1 second after the first position is reached.
 There is a pause of 1.5 seconds after the second position is reached.
 Input I1 stops cycle mode.
440 192-120108N13 Compax3T40_eng 2014-10

192-120108N13 Compax3T40_eng 2014-10 441

5.15 Profibus: Simulate Profidrive profile

(C3_ProfiDrive_Statemachine)
The function module can be found in the "C3_Profiles_lib" library and must be
integrated via the library manager before use.
Notes on the use:
 The input values coming from the master control via the Profibus can be changed
before they are transmitted to the Statemachine (e.g. I/Os).
 In the simplest case, the control word and the motion parameters (which may
come from the Profibus) are manipulated by the IEC program.
 If the Statemachine is active, all motions must be executed via the Statemachine.
Motions such as for example MoveAbsolute, MoveRelative; MoveAdditive;
MoveVelocity; Gearing, Reg-related positioning are possible. Or with Compax3F:
Force/pressure regulating.
 With the "control via PLC" bit (CW1 bit 10 = 1), the Statemachine takes the
control for the drive (is active). This means that no functions concerning the
device status (such as Power, MoveX) by other function/program modules are
permitted. If "no control" is selected (CW1 bit 10 = 0), the device status can be
changed via function/program modules.
 The Profidrive Statemachine works independently from the Profibus. I.e. it can
also be used in connection with other busses.
 The Profidrive Statemachine contains states, which cannot be mapped to the
PLCopen status machine.
FB name C3_ProfiDrive_Statemachine
With the aid of the Profibus function module, the PROFIdrive profile can be
simulated. The profile is described in the help of the Compax3 I20T11 technology
function (set operation is however not possible).
The inputs of the module can be assigned as required.
VAR_IN_OUT
-- -- --
VAR_INPUT
CW1 WORD Control word according to Profidrive (see below)
CWadd INT additional control word: the following functions
can be triggered in the positioning mode
0: no action
1: NOP (No Operation)
2: Stop
3: Homing
Execution takes place with the "activate motion
order" of CW1. The value must be reset to zero
after the execution!
OperationMode INT Operating mode after Profidrive
1: Speed control
2: Positioning
Position REAL Position setpoint value for all positioning
commands (MoveAbs, MoveRel, MoveAdd,
RegSearch, RegMove preparation)
Velocity REAL Setpoint speed in operating mode 1 (speed
control) and for MoveVelocity (not for positioning)
VelocityForPosition REAL Setpoint travel speed for positioning
VelocityForJog REAL Speed for manual (JOG)
Acceleration DINT Setpoint acceleration
Deceleration DINT Setpoint deceleration
DecelerationForStop DINT Deceleration for Stop
Jerk DINT Setpoint jerk
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Parker EME Profibus: Simulate Profidrive profile (C3_ProfiDrive_Statemachine)
Master INT Constant for the master signal source (see on

page 279)
Configuration (see on page 147) of the signal
sources
RatioNumerator REAL Numerator for Gearing
RatioDenominator INT Denominator for Gearing
PositionForRegMove REAL Position for RegMove, necessary if RegSearch is
executed and registration is detected.
Note: The input is connected to the
PositionOfRegMove output in the simplest case.
VelocityForRegMove REAL Speed for RegMove, necessary if RegSearch is
executed and registration is detected
VelocityOfRegMove output in the simplest case.
CStatus1ForRegMove WORD - do not use -
Command status 1 for RegMove end; necessary
if RegSearch is executed and registration is
detected
CStatus2ForRegMove WORD reserved!
ShortRampForRegMove BOOL Permits the Compax3 to calculate individual
parameters for the RegMove positioning, if the set
parameters would not reach the target.
RegMoveMode INT reserved!
IgnoreZoneStart REAL Mark-related positioning: Beginning of lock-out
zone
IgnoreZoneStop REAL Mark-related positioning: End of lock-out zone
PositionReachedMode BOOL Mode for the generation of the PositionReached
in the status word (CW1.10).
TRUE: link to setpoint value
DisablePositiveDirection BOOL Block for positive direction
DisableNegativeDirection BOOL Block for negative direction
LimitErrorExtern BOOL reserved!
Override REAL reserved!
CStatus1In WORD reserved!
W
CStatus2In WORD reserved!
VAR_OUTPUT
ZSW1 WORD Status word after Profidrive
OperationModeActual INT Active operating mode
PositionOfRegMove REAL Position transmitted to the RegMove command
(cache memory)
Note: The output is connected to the
PositionForRegMove input in the simplest case.
VelocityOfRegMove REAL Velocity transmitted to the RegMove command
(cache memory)
VelocityForRegMove output in the simplest case.
CStatus2OfRegMove WORD reserved!
StatusMotor_off BOOL Motor is currentless (TRUE)
StatusMotor_standstill BOOL Status motor is energized at standstill (setpoint
value) (TRUE)
CStatus1 WORD reserved!
CStatus2 WORD reserved!
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Notes:
 You can call up directly the help for the Compax3 Profidrive device (I20T11) via
the help installer (C3 ServoManager "?" Start C3 ServoManager Help Installer...)
(select and open in the left window).
 On the Compax3 CD you will find an application example with additional
explanations for the use of this module:
C3 CD - directory....\Examples\Profidrive with T30T40\
5.16 Emulate CanOpen DS402 (C3_DS402_Statemachine)

 The function module can be found in the "C3_Profiles_lib" library and must be
integrated via the library manager before use.
 The module, implementing as with T11 (I21, I22, I30, I31) a DS402
Statemachine, can be operated with the Bus CANopen, DeviceNet, Ethernet
Powerlink, EtherCAT.
 The DS402 Statemachine contains states, which cannot be mapped to the
PLCopen status machine.
 The input values coming from the master control via the Bus can be changed
before they are transmitted to the Statemachine (e.g. I/Os).
 In the simplest case, the control word and the motion parameters (which may
come from the Bus) are manipulated by the IEC program.
 With the input "Enable" the Statemachine takes the control for the drive (is
active). This means that no functions concerning the device status (such as
Power, MoveX) by other function/program modules are permitted. If the
Statemachine is active, all motions must be executed via the Statemachine.
Motions such as for example MoveAbsolut, MoveRelativ; MoveAdditiv;
MoveVelocity; Gearing, Reg-related positioning are possible. If the Enable input
is inactive, the device status can be changed vis PLC-Open Function-/Program
modules.
Description of the module available on request!
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Parker EME Compax3 communication variants
6. Communication
Here you will find the description of the fieldbus interfaces, which can be configured
in the Compax3 ServoManager under the tree entry "configuring the
communication".
Please note: The configuration of the process data (Mapping) is made wizard-guided with the
Compax3 ServoManager.
If you perform the mapping directly via the master, you must go through this
fieldbus wizard once; the Compax3 ServoManager will perform the necessary
initializations.
Compax3 communication variants ................................................................................. 445
COM port protocol ......................................................................................................... 454
Remote diagnosis via Modem ........................................................................................ 459
Profibus/Profinet ............................................................................................................ 462
CANopen ....................................................................................................................... 473
DeviceNet ...................................................................................................................... 489
Ethernet Powerlink / EtherCAT ...................................................................................... 492
HEDA Bus ..................................................................................................................... 493
Normalization factors ..................................................................................................... 514
6.1 Compax3 communication variants

PC <-> Compax3 (RS232) ............................................................................................. 446
PC <-> Compax3 (RS485) ............................................................................................. 447
PC <-> C3M device combination (USB) ......................................................................... 448
USB-RS485 Moxa Uport 1130 adapter .......................................................................... 449
ETHERNET-RS485 NetCOM 113 adapter ..................................................................... 450
Modem MB-Connectline MDH 500 / MDH 504 ............................................................... 451
C3 settings for RS485 two wire operation ...................................................................... 452
C3 settings for RS485 four wire operation...................................................................... 453
Overview of all possible communication modes between Compax3 devices and a
PC.
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6.1.1. PC <-> Compax3 (RS232)

PC <-> Compax3 (RS232): Connections to a device
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6.1.2. PC <-> Compax3 (RS485)

PC <-> Compax3 (RS485)
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6.1.3. PC <-> C3M device combination (USB)

PC <-> C3M device combination
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6.1.4. USB-RS485 Moxa Uport 1130 adapter
The serial UPort 1130 USB adapter offers a simple and comfortable method of
connecting an RS-422 or RS-485 device to your laptop or PC. The UPort 1130 is
connected to the USB port of your computer and complements your workstation
with a DB9 RS-422/485 serial interface. For simple installation and configuration,
Windows drivers are already integrated. The UPort 1130 can be used with new or
legacy serial devices and supports both 2- and 4-wire RS-485. It is especially
suited for mobile, instrumentation and point-of-sale (POS) applications.
Manufacturer link http://www.moxa.com/product/UPort_1130_1130I.htm
Connection plan for Compax3S:
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6.1.5. ETHERNET-RS485 NetCOM 113 adapter
Manufacturer link: http://www.vscom.de/666.htm

(http://www.vscom.de/666.htm)
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DIP Switch settings NetCom 113 for two-wire operation:

1ON 2ON 3off 4off (Mode: RS485 by ART (2 wire without Echo)
Communication settings C3S/C3M:

Object Function Value
810.1 Protocol 16 (two wire)
810.2 Baud rate 115200
810.3 NodeAddress 1..254
810.4 Multicast Address
Connection plan NetCom113 <-> C3S :
Connection plan NetCom113 <-> C3M X31:
6.1.6. Modem MB-Connectline MDH 500 / MDH 504

With the modems MDH500 and MDH504 manufactured by MB-Connectline, you
can establish an independent connection. A virtual COM port is generated and the
communication with the PC as well as the Compax3 takes place via RS232 or
RS485.
It is not necessary to make any modem settings on the Compax3.
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6.1.7. C3 settings for RS485 two wire operation

C3 ServoManager RS485 wizard settings:
download with configuration in RS232 mode°!

810.1 Protocol 16 (two wire)
810.2 Baud rate 115200
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6.1.8. C3 settings for RS485 four wire operation

C3 ServoManager RS485 wizard settings:
download with configuration in RS232 mode

810.1 Protocol 0 (4 wire)
810.2 Baud rate 115200
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6.2 COM port protocol

You can communicate with Compax3 in order to read or write objects via plug X10
( or X3 on the mains module of Compax3M) on the front via a COM port (max. 32
nodes).
As a rule 2 records are possible:
 ASCII record: simple communication with Compax3
 Binary record: fast and secure communication with Compax3 by the aid of block
securing.
Switching between the ASCII and the binary record via automatic record
detection.
Interface settings (see on page 609)
Wiring RS232: SSK1 (see on page 582)

RS485: as SSK27 (see on page 583) / RS485 is activated by +5V on X10/1.
USB: SSK33/03 (only for Compax3M)
RS485 settings values ................................................................................................... 454
ASCII - record................................................................................................................ 454
Binary record ................................................................................................................. 455
6.2.1. RS485 settings values

If “Master=Pop” is selected, only the settings compatible with the Pops (Parker
Operator Panels) made by Parker are possible.
Please note that the connected Pop has the same RS485 setting values.
You can test this with the "PopDesigner" software.
"Master=General" makes all Compax3 settings possible.

Multicast Address You can use this address to allow the master to access multiple devices
simultaneously.
Device Address The device address of the connected Compax3 can be set here.
Baud rate Adjust the transfer speed (baud rate) to the master.
Cable type Please choose between two-wire and four-wire RS485 (see on page 64).
Protocol Adjust the protocol settings to the settings of your master.
6.2.2. ASCII - record

The general layout of a command string for Compax3 is as follows:
[Adr] command CR
Adr RS232: no address
RS485: Compax3 address in the range 0 ... 99
Address settings can be made in the C3 ServoManager under "RS485 settings"
Command valid Compax3 command
CR End sign (carriage return)
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Command A command consists of the representable ASCII characters (0x21 .. 0x7E). Small
letters are converted automatically into capitals and blanks (0x20) are deleted, if
they are not placed between two quotation marks.
Separator between places before and after the decimal is the decimal point (0x2E).
A numeric value can be given in the Hex-format if it is preceded by the “$” sign.
Values can be requested in the Hex-format if the CR is preceded additionally by
the “$” sign.
Answer strings All commands requesting a numeric value from Compax3 are acknowledged with
the respective numeric value in the ASCII format followed by a CR without
preceding command repetition and following statement of unit. The length of these
answer strings differs depending on the value.
Commands requesting an Info-string (e.g. software version), are only
acknowledged with the respective ASCII character sequence followed by a CR,
without preceding command repetition. The length of these answer strings is here
constant.
Commands transferring a value to Compax3 or triggering a function in Compax3
are acknowledged by:
>CR
if the value can be accepted resp. if the function can be executed at that point in
time.
If this is not the case or if the command syntax was invalid, the command is
acknowledged with
!xxxxCR
.
The 4 digit error number xxxx is given in the HEX format; you will find the meaning
in the appendix (see on page 541).
RS485 answer string When using RS485, each answer string is preceded by a “*“" (ASCII - character:
0x2A).
Compax3 commands
Read object
RS232: O [$] Index , [$] Subindex [$]
RS485: Address O [$] Index , [$] Subindex [$]
The optional "$" after the subindex stands for "hex-output" which means that an
object value can also be requested in hex;
For example "O $0192.2$": (Object 402.2)
Write object
RS232: O [$] Index , [$] Subindex = [$] Value [ ; Value2 ; Value3 ; ...]
RS485: Address O [$] Index , [$] Subindex = [$] Value [ ; Value2 ; Value3 ; ...]
The optional “$” preceding Index, Subindex and value stands for “Hex-input” which
means that Index, Subindex and the value to be transferred can also be entered in
hex (e.g. O $0192.2=$C8).
6.2.3. Binary record

The binary record with block securing is based on 5 different telegrams:
 2 request telegrams which the control sends to Compax3 and
 3 response telegrams which Compax3 returns to the control.
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Telegram layout
Basic structure:
Start code Address Number of data bytes - 1 Data Block securing
SZ A L D0 D1 ... Dn Crc(Hi) Crc(Lo)
The start code defines the frame type and is composed as follows:
Bit 7 6 5 4 3 2 1 0
Frame type Frame identification PLC Gateway Address
RdObj read object 1 0 1 0 x 1 x x
WrObj write object 1 1 0 0 x 1 x x
Rsp response 0 0 0 0 0 1 0 1
Ack positive command acknowledgement 0 0 0 0 0 1 1 0
Nak Negative command acknowledgement 0 0 0 0 0 1 1 1
Bits 7, 6, 5 and 4 of the start code form the telegram identification; Bit 2 is always
“1”.
Bits 3, 1 and 0 have different meanings for the request and response telegrams.
The address is only necessary for RS484.
Request telegrams
-> Compax3
 the address bit (Bit 0 = 1 ) shows if the start code is followed by an address
(only for RS485; for RS232 Bit 0 = 0)
 the gateway bit (Bit 1 = 1) shows if the message is to be passed on.
(Please set Bit 1 = 0, as this function is not yet available)
 the PLC bit (Bit 3 = 1 ) allows access to objects in the PLC/Pop format
U16, U32: for integer formats (see bus formats: Ix, Ux, V2)
IEEE 32Bit Floating Point: for non integer formats (bus formats: E2_6, C4_3, Y2,
Y4; without scaling)
With Bit 3 = 0 the objects are transmitted in the DSP format.
DSP formats:
24 Bit = 3 Bytes: Integer INT24 or Fractional FRACT24
48 Bit = 6 Bytes: Real REAL48 (3 Byte Int, 3 Byte Fract) / Double Integer DINT48
/ Double Fractional DFRACT48
Response telegram
Compax3 ->
 Bits 0 and 1 are used to identify the response
 Bit 3 is always 0
The maximum number of data bytes in the request telegram is 256, in the response
telegram 253.
The block securing (CRC16) is made via the CCITT table algorithm for all
characters.
After receiving the start code, the timeout monitoring is activated in order to avoid
that Compax3 waits in vain for further codes (e.g. connection interrupted) The
timeout period between 2 codes received is fixed to 5ms (5 times the code time at
9600Baud)
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Write object - WrObj telegram

SZ Adr L D0 D1 D2 D3 ... Dn Crc(Hi) Crc(Lo)
0xCX n Index(Hi) Index(Lo) Subindex Value 0x.. 0x..
Describing an object by a value.
Positive acknowledgement - Ack-telegram

SZ L D0 D1 Crc(Hi) Crc(Lo)
0x06 1 0 0 0x.. 0x..
Answer from Compax3 if a writing process was successful, i.e. the function could
be executed and is completed in itself.
Negative acknowledgement - Nak - telegram

SZ L D0 D1 Crc(Hi) Crc(Lo)
0x07 1 F-No.(Hi) F-No.(Lo) 0x.. 0x..
Answer from Compax3 if access to the object was denied (e.g. function cannot be
executed at that point in time or object has no reading access). The error no. is
coded according to the DriveCom profile resp. the CiA Device Profile DSP 402.
Read object - RdObj - telegram

SZ Adr L D0 D1 D2 D3 D4 D5 ... Dn Crc(Hi) Crc(Lo)
0xAX n Index1(Hi) Index1(Lo) Subindex1 Index2(Hi) Index2(L Subindex2 ... ... 0x.. 0x..
o)
Reading one or several objects
Answer - Rsp - telegram

SZ L D0 ... Dx-1 Dx ... Dy-1 Dy-D.. D ... D.. D ... Dn Crc(Hi) Crc(Lo)
0x05 n Value1 Value 2 Value 3 Value .. Value n 0x.. 0x..
Answer from Compax3 if the object can be read.
If the object has no reading access, Compax3 answers with the Nak - telegram.
Example:
Reading object "StatusPositionActual" (o680.5):
Request: A5 03 02 02 A8 05 E1 46
Response: 05 05 FF FF FF FF FE 2D 07 B4
Writing into an Array (o1901.1 = 2350)

Request: C5 02 08 07 6D 01 00 09 2E 00 00 00 95 D5
Response: 06 01 00 00 BA 87
Block securing:
Checksum calculation for the CCITT table algorithm
The block securing for all codes is performed via the following function and the
corresponding table:
The “CRC16” variable is set to “0” before sending a telegram.
Function call:
CRC16 = UpdateCRC16(CRC16, Character);
This function is called up for each Byte (Character) of the telegram.

The result forms the last two bytes of the telegram
Compax3 checks the CRC value on receipt and reports CRC error in the case of a
deviation.
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Function const unsigned int _P CRC16_table[256] = {

0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7,
0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef,
0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6,
0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de,
0x2462, 0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485,
0xa56a, 0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d,
0x3653, 0x2672, 0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4,
0xb75b, 0xa77a, 0x9719, 0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc,
0x48c4, 0x58e5, 0x6886, 0x78a7, 0x0840, 0x1861, 0x2802, 0x3823,
0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b,
0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50, 0x3a33, 0x2a12,
0xdbfd, 0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a,
0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41,
0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49,
0x7e97, 0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70,
0xff9f, 0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78,
0x9188, 0x81a9, 0xb1ca, 0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f,
0x1080, 0x00a1, 0x30c2, 0x20e3, 0x5004, 0x4025, 0x7046, 0x6067,
0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, 0xe37f, 0xf35e,
0x02b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 0x6277, 0x7256,
0xb5ea, 0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d,
0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
0xa7db, 0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c,
0x26d3, 0x36f2, 0x0691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634,
0xd94c, 0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab,
0x5844, 0x4865, 0x7806, 0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3,
0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a,
0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1, 0x1ad0, 0x2ab3, 0x3a92,
0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, 0x9de8, 0x8dc9,
0x7c26, 0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0x0cc1,
0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8,
0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0
};
unsigned int UpdateCRC16(unsigned int crc,unsigned char wert) {
unsigned int crc16;
crc16 = (CRC16_table[(crc >> 8) & 0x00FF] ^ (crc << 8)

^ (unsigned int)(value));
return crc16;
}
You will find this function on the Compax3 DVD under RS232_485\\Function
UpdateCRC16.txt!
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6.3 Remote diagnosis via Modem

Caution!
As the transmission via modem may be very slow and interference-prone, the
operation of the Compax3 ServoManager via modem connection is on your
own risk!
The function setup mode as well as the ROLL mode of the oscilloscope are
not available for remote diagnosis!
It is not recommended to use the logic analyzer in the Compax3 IEC61131-3
debugger due to the limited bandwidth.
Requirements:
For modem operation, a direct and stable telephone connection is required.
Operation via a company-internal telephone system is not recommended.
Structure........................................................................................................................ 459
Configuration of local modem 1 ..................................................................................... 460
Configuration of remote modem 2.................................................................................. 461
Recommendations for preparing the modem operation.................................................. 461
6.3.1. Structure
Layout and configuration of a modem connection ServoManager -
Compax3:
machine
PC Release PC
> R5-0
7
Compax3 Compax3 Compax3
ServoManager
5 konfig ServoManager
konfig 3 konfig
Modem 1 Modem 2 konfig
Phone
X10
1 2 4 SSK31 6 9 8
Release
> R4-5
konfig konfig < R5-0
Release < R5-0 Release < R4-5
PC (115200Baud)
ATE0 cr
10 ATQ1 cr 11
Hyper-
Compax3.ini
terminal
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The green part of the drawing shows the proceeding for Compax3 release versions
< R5-0!
The proceeding for Compax3 release versions < R5-0 is described in an
application example (.../modem/C3_Appl_A1016_language.pdf on the Compax3
CD).
Connection Compax3 ServoManager <=> Compax3
The Compax3 ServoManager (1) establishes a RS232 connection with modem 1
(PC internal or external).
Modem 1 dials modem 2 via a telephone connection (3).
Modem 2 communicates with Compax3 (6) via RS232.
Configuration
Modem 1 is configured via the Compax3 ServoManager (1)
Modem 2 can be configured via Compax3 (on place), triggered by putting SSK31
(see on page 586) on X10. For this, the device must be configured before. This can
be made locally before the system / machine is delivered with the aid of the
Compax3 ServoManager (8).
6.3.2. Configuration of local modem 1

 Menu "Options: Communication settings RS232/RS485..." must be opened
 Select "Connection via Modem"
 Under "name" you can enter a name for the connection
 Enter the target telephone number.
Note: If an ISDN telephone system is operated within a company network, an
additional "0" may be required in order to get out of the local system into the
company network before reaching the outside line with an additional "0".
 The timeout periods are set to reasonable standard values according to our
experience.
 Select the modem type.
 For "user-defined modem", additional settings are only required, if the modem
does not support standard AT commands.
Then you can enter special AT commands.
 Hint:When operating the local modem on a telephone system, it may be
necessary to make a blind dialing. Here, the modem does not wait for the
dialing tone.
 Select the COM interface where the modem is connected.
 Close the window and establish the connection with button (open/close COM
port).
 The connection is interrupted when the COM port is closed.

dialing tone.
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6.3.3. Configuration of remote modem 2

Settings in Compax3 under "configure communication: Modem settings":
 Modem initialization = "ON": After the SSK31 modem cable has been connected,
Compax3 initializes the modem
 Modem initialization after Power On = "ON": After Power on of Compax3, the
device initializes the modem
 Modem check = "ON": a modem check is performed
 The timeout periods are set to reasonable standard values according to our
experience.
dialing tone.
 In the following wizard window, a specific download of the modem configuration
can be made.
Note:
If a configuration download is interrupted, the original settings in the non volatile
memory of the Compax3 are still available.
You have to finish the communication on the PC side and to reset the Compax3 via
the 24V supply before you can start a new trial.
Reinitialization of the remote modem 2

Remove cable on Compax3 X10 and connect again!
6.3.4. Recommendations for preparing the modem operation

Preparations:
 Settings in Compax3 under "configure communication: Modem settings":
 Modem initialization: "ON"
 Modem initialization after Power On: "ON"
 Modem check: "ON"
 Deposit SSK31 cable in the control cabinet.
 Install modem in the control cabinet and connect to telephone line.
Remote diagnosis required:

 On site:
 Connect modem to Compax3 X10 via SSK31
 Modem is automatically initialized
 Local:
 Connect modem to telephone line
 Establish cable connection to modem (COM interface)
 Select "connection via modem" under "options: communication settings
RS232/RS485...".
 Select modem under "selection"
 Enter telephone number
 Select COM interface (PC - modem)
 Establish connection with button (open/close COM port).
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6.4 Profibus/Profinet
The Profibus option is available on the Compax3 devices C3I20Txx!
The Profibus option is available on the Compax3 devices C3I32Txx!
Notes on the configuration of the Profibus master / Profinet controller

Before configuring the Profibus master / Profinet controller (e.g. S7), you will have
to configure the Compax3 axis.
In the Profibus/Profinet window (see on page 462) of the configuration wizard

you will receive the status message “Profibus/Profinet Telegram” with the
information on the telegram which can be set in the master (PPO type).

Typical application with Bus and IEC61131 ................................................................... 462
Profibus / Profinet configuration ..................................................................................... 462
Cyclic process data channel .......................................................................................... 464
Acyclic parameter channel ............................................................................................. 465
6.4.1. Typical application with Bus and IEC61131

We recommend the following procedure to control the IEC61131-3 program via
Profibus/Profinet:
 Use the control word (DeviceControl_Controlword_1) to control the PLCopen
function modules (Execute, Enable) to activate the modules via Profibus/Profinet.
 The logical module outputs can be placed on the status word
(DeviceState_Statusword_1).
 Place the control word and the status word on the cyclic process data channel.
 Connect variable module outputs of your IEC61131-3 program with the recipe
array.
 For rapid access, the values from the first 5 rows of the recipe array can be
placed in the cyclic channel.
 Additional values of the recipe array can be written acyclically.
Now you can use the bus to assign values, to activate function modules with the
control word and to read the current status with the control word.
6.4.2. Profibus / Profinet configuration

Configuration of the process-data channel ..................................................................... 463
PKW parameter channel ................................................................................................ 464
Error Reaction on Bus Failure........................................................................................ 464
DCP fieldbus configuration wizard animation shown with Profibus as an example:
Due to continuous optimization, individual monitor displays may have changed.

This does however hardly influence the general proceeding.
Following are described the input windows of the Profibus/Profinet configuration

wizard.
Can be called up in the tree (Compax3 ServoManager, left window) under
"configure communication".
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6.4.2.1 Configuration of the process-data channel

You can use the Process Data Channel (PZD) to exchange actual and Setpoint
values cyclically between the Compax3 and the Profibus master / Profinet
controller.
Adjusting the cyclic PZD:
The PZD is adjusted separately for the following transfer directions:
 Profibus-Master / Profinet controller ⇒ Compax3 (PAD)
 Compax3 ⇒ Profibus-Master / Profinet controller (PED)

set separately.
Maximum size of the process-data channel:

8 words (16 bytes) PAD and
8 words (16 bytes) PED
The objects that can be put on the process data channel can be found in the
" Compax3 Objects (see on page 515)"!
Assignment of the process data channel

Assignment of the process data channel is automated in Compax3 ServoManager.
You select the objects which you want to put one after the other to the process
input data (PED: Compax3 => PLC) and to the process output data (PAD: PLC =>
Compax3).
ServoManager continuously checks areas of the PZD that are free and enables
additional input options correspondingly.
PPO type / PKW Depending on the configuration that is set, the resulting PPO type is displayed in
type, telegram size the "Profibus telegram" wizard window (in the status line of the wizard window).
You can use this value for the configuration of the Profibus master.
With Profinet, you can read out the PKW type and the telegram size for setting in
the Profinet Controller.
Assignment of the When data is read out of the Process Data Channel (PZD), the word width of the
PZD individual objects must be carefully noted.
Example: Assignment:
Object Word width Assignment Address
POSITION_position 2 AW(n) & AW(n+1) AD(n)
POSITION_speed 2 AW(n+2) & AW(n+3) AD(n+2)
AnalogOutput0_DemandValue 1 AW(n+4) AW(n+4)
AnalogOutput1_DemandValue 1 AW(n+5) AW(n+5)
Array_Col1_Row1 2 AW(n+6) & AW(n+7) AD(n+6)
PLC Compax3
0 2 4 6 8 10 12 14 16 Byte
AW(n) AW(n+1) AW(n+2) AW(n+3) AW(n+4) AW(n+5) AW(n+6) AW(n+7)
Compax3 PLC
0 2 4 6 8 10 12 14 16 Byte
EW(n) EW(n+1) EW(n+2) EW(n+3) EW(n+4) EW(n+5) EW(n+6) EW(n+7)
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Communication C3T40
6.4.2.2 PKW parameter channel

Parameter access with DPV0
In addition to cyclic data exchange, you can use the PKW mechanism for acyclic
access to parameters.
The PKW mechanism is implemented for Profibus master / Profinet controller
without DPV1 functionality.
PKW: Parameter identification value
You can select between:

 no PKW - without acyclic parameter access.
 PKW - parameter access via a PKW length of 8 bytes.
PKW structure
PKW
Octet1 Octet2 Octet 3 Octet 4 Octet5 Octet6 Octet 7 Octet 8
PKE IND PWE
0 2 4 8
Additional information on the structure of the PKW (see on page 465)
6.4.2.3 Error Reaction on Bus Failure

Here you can adjust how Compax3 will respond to a fieldbus error (see on page
541):
 No response
 Downramp / stop
6.4.3. Cyclic process data channel

The structure of the PZD is defined in the configuration menu: "Profibus/Profinet
telegram" of the ServoManager.
6.4.3.1 Control and status word

The cyclic process data channel contains a control word and a status word both,
freely available and 16 bits in size:
Control word: Profibus-Master / Profinet controller ⇒ Compax3
Status word: Compax3 ⇒ Profibus-Master / Profinet controller
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6.4.4. Acyclic parameter channel

Compax3 supports parameter access with DPV1.
The available parameters or objects can be found here (see on page 515).
Parameter access with DPV0: Required data channel ................................................... 465
Data formats of the bus objects ..................................................................................... 470
6.4.4.1 Parameter access with DPV0: Required data channel

You can use the PKW mechanism for acyclic access to parameters in cyclic data
exchange as well. This is made available to make it possible for the
master/controller to have access to the important device parameters without DPV1
functionality.
The master/controller formulates an order in the PKW mechanism. Compax3
processes the order and formulates the response.
PKW structure:
Byte 1 Octet 2 Octet 3 Octet 4 Octet 5 Octet 6 Octet 7 Octet 8
PKE IND PWE
PKE: Parameter identification (1st and 2nd byte) (see below)
IND: subindex* (3rd byte), 4th byte is reserved
PWE: Parameter value (5th through 8th byte or 5th through 12th byte with expanded PKW)
PKE structure:
Byte 1 Octet 2
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
AK SPM PNU
AK: Order or response identification (value range 0 ... 15)
SPM: reserved
PNU: Parameter number
*Reference to the subindex

The information for PNU subindex (parameter number) also applies to PROFIdrive
profile Version 3, i.e., that the subindex is counted starting at 0, while for
PROFIdrive profile Version 2 the subindex is counted starting at 1:
DPV1-
[0..n-1]
Client (V3)
PKW- [1..n] Drive

-1 (V3)
Client (V2)
[0..n- 1]
The result of this is as follows:
Profibus master based on PROFIdrive profile Version 3

The subindex of the Profibus No. (PNU) specified in the object list is directly valid.
Example: Example: PNU object forward speed control = 400.1 (as specified).
Profibus master based on PROFIdrive profile Version 2

The subindex of the Profibus No. (PNU) specified in the object list must be
incremented by 1.
Example: PNU object forward speed control = 400.2
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Communication C3T40
Order and response processing

Order/response identifications are defined so that it is apparent from the
identification which fields of the PKW interface (IND, PWE) also need to be
evaluated. To this may be added the distinction between parameter value and
parameter description.
Order Order Master/Controller → Compax3 response identification

identificatio Compax3 → Master/Controller
n
0 No order 0
1 Request parameter value 1.2
2 Change parameter value (word) 1
3 Change parameter value (double word) 2
6 Request parameter value (array) 4.5
7 Change parameter value (array of word) 4
8 Change parameter value (array of double 5
word)
9 Request number of array elements 6
14 Change object 14
15 Request object 15
Response identifications 7 and 8 are used for negative acknowledgements for
problems.
Sequence
 The master/controller transfers an order to a Compax3.
 The master/controller repeats this order at least until a response is received from
Compax3.
This procedure ensures the transfer of orders / responses on the user level.
 Only one order is ever being processed at a time.
 Compax3 continues to make the response available until the master/controller
formulates a new order.
 For responses containing parameter values, Compax3 always responds upon
repetition with the current value (cyclic processing). This applies to all responses
to the orders “Request parameter value”, “Request parameter value (Array)” and
“Request object”.
 The PWE transfer of word sizes takes place with byte 7 and 8, while the transfer
of double word sizes takes place with byte 5 through 8.
Explanation of response identification

Response Compax3 → Master/Controller response
identificatio
n
0 No response
1 Transfer value (word)
2 Transfer parameter value (double word)
4 Transfer parameter value (array of word)
5 Transfer parameter value (array of double word)
7 Order cannot be executed (with error No. (see on page 541))
8 No user level for PKW interface
9 factory use
10 factory use
14 Object value transferred
15 Object value transferred
466 192-120108N13 Compax3T40_eng 2014-10

Example: Changing the stiffness

Task:
Parameter / object change via PKW (DPV0)
The object "stiffness" will be set to 200%
Object stiffness: PNU 402.2; valid after VP
Format UNSIGNED 16 == 1 word == order identification = 2 == "Change parameter
value (word)"
The master sends to Compax3:
PLC - Compax3
Octet 1 Octet 2 Octet 3 Octet 4 Octet 5 Octet 6 Octet 7 Octet 8
PKE IND PWE
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Subindex - MSB LSB
AK PNU
2 0 402 3 0 200
0 0 1 0 0 0 0 1 1 0 0 1 0 0 1 0
0x21 0x92 0x3 0x0 0x0 0x0 0x0 0xC8
Compax3 responds with the same content, except with response identification = 1:
Compax3 - PLC
PKE IND PWE
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Subindex - MSB LSB
AK PNU
1 0 402 3 200
0 0 0 1 0 0 0 1 1 0 0 1 0 0 1 0
0x11 0x92 0x3 0x0 0x0 0x0 0x0 0xC8
If no additional object needs to be changed, the new value can be set to valid with
VP:
Object: Set objects to valid PNU 338.10 (because of DPV0 the Subindex must be
incremented by one (see on page 465))
PLC - Compax3
PKE IND PWE
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Subindex - MSB LSB
AK PNU
2 0 338 11 1
0 0 1 0 0 0 0 1 0 1 0 1 0 0 1 0
0x21 0x52 0xB 0x0 0x0 0x0 0x0 0x1
Compax3 - PLC
PKE IND PWE
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Subindex - MSB LSB
AK PNU
1 0 338 11 1
0 0 0 1 0 0 0 1 0 1 0 1 0 0 1 0
0x11 0x52 0xB 0x0 0x0 0x0 0x0 0x1
Reading back the object set objects to valid makes it possible to check whether the
command was performed. Byte 8 will the contain the value 0.
The change can be stored and will not be lost even if with a power failure by using
the object "Save objects permanently".
Object: Save objects permanently PNU 339
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Communication C3T40
PLC - Compax3
PKE IND PWE
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Subindex - MSB LSB
AK PNU
2 0 339 0 1
0 0 1 0 0 0 0 1 0 1 0 1 0 0 1 1
0x21 0x53 0x0 0x0 0x0 0x0 0x0 0x1
Compax3 - PLC
PKE IND PWE
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Subindex - MSB LSB
AK PNU
1 0 339 0 1
0 0 0 1 0 0 0 1 0 1 0 1 0 0 1 1
0x11 0x53 0x0 0x0 0x0 0x0 0x0 0x1
Object Upload/download via Profibus/Profinet

All settings of Compax3 can be read using the Profibus/Profinet and written back to
Compax3. This makes it easy to replace a device, for example.
Condition:
468 192-120108N13 Compax3T40_eng 2014-10

Compax3 must be configured (once running through the configuration wizard

followed by a download is enough; the configuration settings are, however, not
relevant)
To implement this, the PKW mechanism has been changed.
Structure of modified PKW:
Byte 1 Octet 2 Octet 3 Octet 4 Octet 5 Octet 6 Octet 7 Octet 8
PKE IND PWE
PKE: Parameter identification (1st and 2nd byte) (see below)
IND: object index (3rd byte high 4th byte low)
PWE: Parameter value (5th to 8th byte)
Structure of modified PKE:

Byte 1 Octet 2
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
AK=14 or 15 SPM DF DPZ SI
AK: Order or response identification
SPM: reserved
DF: Data format (DF=1 constant)
DPZ: data buffer access
SI: object subindex
Data buffer access:

For each object, 16 bytes must be read or written Since the size of the PWE
channel is 4 bytes, each object must be read or written 4 times.
Sequence for reading / writing and object:

DPZ=0: Object byte 1 ... 4 can be read / is being written
Order executed
DPZ=1 Object byte 5...8 can be read / is being written
The data will either be read fro the PWE or written into the PWE.
Access algorithm for reading objects

 Object 20.2 written with value 0 (object 20.2 is a counter that specifies the next
object to be read; the starting value is 0).
 Read object index and subindex in object 20.5.
Format I32 of Object 20.5:
Not assigned Index (high byte) Index (low byte) Subindex

 Read the object with the index and subindex read in object 20.5 and in save it in
a table with the following structure: Index (2Byte), Subindex (1Byte), Contents
(16Byte).
 Read the next object-Index and subindex in object 20.5.
 ....
This must be performed until index = 0xFFFF and until subindex = 0xFF.
Writing objects
Write the entire table to Compax3. Each index and subindex is written with the
value stored in the table.
It should be noted in this regard that each time an object is written, the internal
buffer must first be written with DPZ=1, 2, 3 and then the entire order is written with
DPZ0.
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Communication C3T40
6.4.4.2 Data formats of the bus objects

Integer formats .............................................................................................................. 470
Unsigned - Formats ....................................................................................................... 470
Fixed point format E2_6................................................................................................. 470
Fixed point format C4_3 ................................................................................................ 471
Bus format Y2 and Y4.................................................................................................... 471
Bit sequence V2 ............................................................................................................ 472
Byte string OS ............................................................................................................... 472
Integer formats
Twos complement representation;
The highest order bit (MSB) is the bit after the sign bit (VZ) in the first byte.
VZ == 0: positive numbers and zero; VZ == 1: negative numbers
Type Bit 8 7 6 5 4 3 2 1
Integer 8 VZ 26 25 24 23 22 21 20
length: 1 Byte
Integer 16 MSB VZ 214 213 212 211 210 29 28
Length: 1 Word LSB 27 26 25 24 23 22 21 20
Integer 32 MSB VZ 230 229 228 227 226 225 224
Length: 2 Words 223 222 221 220 219 218 217 216
215 214 213 212 211 210 29 28
LSB 27 26 25 24 23 22 21 20
Unsigned - Formats
Type Bit 8 7 6 5 4 3 2 1
Unsigned 8 27 26 25 24 23 22 21 20
Length: 1 Byte
Unsigned 16 MSB 215 214 213 212 211 210 29 28
Length: 1 Word LSB 27 26 25 24 23 22 21 20
Unsigned 32 MSB 231 230 229 228 227 226 225 224
Length: 2 Words 223 222 221 220 219 218 217 216
215 214 213 212 211 210 29 28
LSB 27 26 25 24 23 22 21 20
Fixed point format E2_6

Linear fixed point value with six binary places after the decimal point. 0
corresponds to 0, 256 corresponds to 214 (0x4000).
Twos complement representation;
MSB is the bit after the sign bit
VZ == 0: positive numbers and zero;
VZ == 1: negative numbers
Type Bit 8 7 6 5 4 3 2 1
E2_6 MSB VZ 28 27 26 25 24 23 22
Length: 1 Word LSB 21 20 2-1 2-2 2-3 2-4 2-5 2-6
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Fixed point format C4_3

Linear fixed point value with three decimal places after the decimal point. 0
corresponds to 0 and 0,001 corresponds to 20 (0x0000 0001).
Structure like data type Integer32, value of the bits reduced by a factor of 1000.
Length: 2 Words
Bus format Y2 and Y4

Structure:
 Y2 like data type Integer16
 Y4 like data type Integer32
The values can be adjusted by a normalization factor.

The following rules apply:
 Normalization factor for Y2: Object 200.1, ... 200.5
 Normalization factor for Y4: Object 201.1, ... 201.5
There are different normalization factors for individual values
1. Y2 - normalization factors
 Object 200.1: NormFactorY2_Speed: Normalization factor for Y2 speeds
 Object 200.2: NormFactorY2_Position: Normalization factor for Y2 positions
 Object 200.3: NormFactorY2_Voltage: Normalization factor for Y2 voltages
 Object 200.4: Normalization factor for 1100.8 (T30, T40)
 Object 200.5: NormFactorY2_Array_Col2: Normalization factor for Column 2 of
the recipe array
 Object 200.7 Normalization factor for 1000.8
 Object 200.11: Normalization factor for Y2 currents (638.35 ... 638.40) (T30, T40)
2. Y4 - normalization factors
 Object 201.1: NormFactorY4_Speed: Normalization factor for Y4 speeds
 Object 201.2: NormFactorY4_Position: Normalization factor for Y4 positions
 Object 201.3: NormFactorY4_Voltage: Normalization factor for Y4 voltages
 Object 201.4: NormFactorY4_Array_Col1: Normalization factor for Column 1 of
the recipe array
 Object 201.5: Normalization factor for 1100.6
 Object 201.6: Normalization factor for 1100.7
 Object 201.7 Normalization factor for 1000.6 (T30, T40)
 Object 201.11: Normalization factor for bus interpolation
CANSync/EthernetPowerLink
 1100.6 = DeviceControl_DemandValue1 (DS 402 : Target position 0x607A in
the "Cyclic Synchronous Position" Operation Mode)
 3921.1 = FBI_SignalProcessing0_Input (DS 402 : Interpolation data record
0x60C1.1 in the "Interpolated Position" Operation Mode) (resulting in 3921.6 =
FBI_SignalProcessing0_Output and
 3921.7 = FBI_SignalProcessing0_OutputGreat)
 Object 201.12: Normalization factor for 1100.13 = DeviceControl_DemandValue8
(DS 402: Target Velocity 0x60FF in "Profile velocity (pv)" and "cyclic synchronous
velocity (csv)" Operation Mode)
 Object 201.13: Normalization factor for 1000.13 = DeviceState_ActualValue8
(T30, T40)
 Object 201.14: Normalization factor for 3925.20 = FBR_InterpolationAccelInput
 Object 201.15: Normalization factor for 3925.21 = FBR_InterpolationAccelInput
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Communication C3T40
Meaning of the  Bit 5: Meaning of the normalization factor:

normalization  Bit 5 = "0": decimal factors 1, 1/10, 1/100, ..
factors Bit 4 ... Bit 0: Normalization factor
# Bit 4...0 Factor dec (Bit 5 = 0) yy0x xxxx

0 00000 100 1
1 00001 10–1 0.1
2 00010 10–2 0.01
3 00011 10–3 0.001
4 00100 10–4 0.0001
5 00101 10–5 0.00001
6 00110 10–6 0.000001
7 00111 10–7 0.0000001
8 01000 10–8 0.00000001
9 01001 10–9 0.000000001
 Bit 5 = "1": binary factors 1, 1/2, 1/4, 1/8, ...

Bit 4 ... Bit 0: Normalization factor
# Bit 4...0 Factor bin (Bit 5 = 1) yy1x xxxx

32 00000 20 1
33 00001 2–1 0.5
34 00010 2–2 0.25
35 00011 2–3 0.125
36 00100 2–4 0.0625
37 00101 2–5 0.03125
38 00110 2–6 0.015625
39 00111 2–7 0.0078125
40 01000 2–8 0.00390625
41 01001 2–9 0.001953125
42 01010 2–10 0.0009765625
43 01011 2–11 0.00048828125
44 01100 2–12 0.000244140625
45 01101 2–13 0.0001220703125
46 01110 2–14 0.00006103515625
47 01111 2–15 0.000030517578125
48 10000 2–16 0.0000152587890625
49 10001 2–17 0.00000762939453125
50 10010 2–18 0.000003814697265625
51 10011 2–19 0.0000019073486328125
52 10100 2–20 0.00000095367431640625
53 10101 2–21 0.000000476837158203125
54 10110 2–22 0.0000002384185791015625
55 10111 2–23 0.00000011920928955078125
56 11000 2–24 0.000000059604644775390625
 Bit 15 ... Bit 6: reserved
Bit sequence V2
The V2 bus format is a bit sequence with a length of 16 bits.
Byte string OS
Octet string OS: String with variable length.
You can find the modules on the Compax3 DVD or in the internet under
http:/www.compax3.info/startup http://www.compax3.info/startup.
You will find a description of these function modules in the help file !
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6.5 CANopen
The CANopen option is available with the Compax3 devices C3I21Txx!

CANopen - Configuration............................................................................................... 473
Supporting IEC modules ................................................................................................ 475
CANopen communication profile.................................................................................... 482
Acyclic parameter channel ............................................................................................. 487
6.5.1. CANopen - Configuration

CANopen Operating Mode............................................................................................. 473
Baud rate....................................................................................................................... 474
Possible PDO assignment ............................................................................................. 474
Transmission cycle time ................................................................................................ 475
Following are described the input windows of the CANopen configuration wizard.
6.5.1.1 CANopen Operating Mode

CANopen Operating Modes:
 Slave on C3 powerPLmC:
Compax3 as Slave on C3 powerPLmC integrated via the DriveInterface
Note for C3I21T40: The cam programming is made in the slave axis
 Slave
Compax3 is Slave of a CANopen Master; the CANopen configuration is made via
the ServoManager
 Slave with configuration via Master
Compax3 is Slave of a CANopen Master; the CANopen configuration is made via
the Master
 Master for PIOs
Compax3 as CANopen Master only for the operation of external digital and
analog PIOs (Parker Input and Output modules).
Please note: The device cannot be operated with an additional CANopen Master!
 Slave on C3 powerPLmC (Cam programming on C3 powerPLmC)
Operating mode only available with I21T40!
The programming of the device (C3I21T40) is only made on the C3 powerPLmC.
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Communication C3T40
C3 Master PIO
In the "C3 Master PIO" operating mode, the input window for the CANopen PIO
mapping is following:
Please state, how many words the process image of the PIOs will need, 1.. 4
words are possible.
The process image is transmitted via the process data objects as follows:
Digital Inputs: RPDO1
Analog Inputs: RPDO2
Digital Outputs: TPDO1
Analog Outputs: TPDO2
The inputs and outputs are stored in objects (O150.x ... O153.x).
Object 150.x: Digital Inputs
Object 151.x: Digital Outputs
Object 152.x: Analog Inputs
Object 153.x: Analog Outputs
The digital inputs and outputs can be read or written into in the IEC program via
modules (see on page 426) in order to get an exact process image. Modules:
PIO_Input0_15, PIO_Input16_31, PIO_Input32_47, PIO_Input48_63,
PIO_Output0_15, PIO_Output16_31, PIO_Output32_47, PIO_Output48_63.
Before that, you must execute some initializations; this can be made with the aid of
the PIO_INIT (see on page 426) module.

541):
 No response
 Downramp / stop
6.5.1.3 Baud rate

Selecting the Baud rate.
Bear in mind that the maximum cable length depends on the Baud rate:
Baud rate Maximum length
1Mbit/s 25m
800kbit/s 50m
500kbit/s 100 m
250kbit/s 250m
125kbit/s 500m
100kbit/s 700m
50kbit/s 1000m
20kbit/s 2500m
6.5.1.4 Possible PDO assignment

Via the process data objects (PDOs) actual values and Setpoint values are
continually exchanged between Compax3 and the CANopen client.
4 cyclic PDOs are possible, they are configured with the help of the Compax3
ServoManager:
The PDOs are set separately for the transmission directions
 CANopen - Client ⇒ Compax3 (RPDO) (max. 16 words)
 Compax3 ⇒ CANopen - Client (TPDO) (max. 16 words)

set separately.
The objects that can be put on the process data channel can be found in the "
Compax3 Objects (see on page 515)"!
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Parker EME CANopen
6.5.1.5 Transmission cycle time

For the TPDOs a transmission cycle time can be set in each case.
This time specifies the time intervals at which Compax3 applies the cyclic data new
to the respective PDO.
The minimum value is thereby 1ms.
6.5.2. Supporting IEC modules

This module is used to determine the status of the CANopen NMT status machine
(C3_CANopen_State) .................................................................................................... 475
This module is used to determine the status during Nodeguarding (C3_CANopen_GuardingState)
...................................................................................................................................... 476
Insert new CANopen node (C3_CANopen_AddNode) ................................................... 477
Establishing PDO connection between 2 CANopen nodes (C3_CANopen_ConfigNode)478
Sending NMT messages (C3_CANopen_NMT) ............................................................. 479
Reading an object in another node (C3_CANopen_SDO_Read4) ................................. 480
Writing an object in another node (C3_CANopen_SDO_Write4) .................................... 481
6.5.2.1 This module is used to determine the status of the

CANopen NMT status machine (C3_CANopen_State)
FB name C3_CANopen_State
This module is used to determine the status of the CANopen NMT status machine
VAR_INPUT
Enable BOOL Activating the module
VAR_OUTPUT
Stopped BOOL CANopen node is in "Stopped" state
Operational BOOL CANopen node is in the "Operational" state
(communication via process data and service data
objects is possible)
PreOperational BOOL CANopen node is in the "PreOperational" state
(communication via process data and service data
objects is possible)
C3_CANopen_State
Enable : BOOL Stopped : BOOL

Operational : BOOL
PreOperational : BOOL
CANopen states
Power On
Initialisation
10, 11
Pre-Operational
8
7
Stopped
6 8 6
7
Operational
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Communication C3T40
6: Start Remote Node

7: Stop Remote Node
8: Enter Pre-Operational State
10: Reset Node
11: Reset Communication
The "Initialization" state is no fixed state but only a transition state.
6.5.2.2 This module is used to determine the status during

Nodeguarding (C3_CANopen_GuardingState)
FB name C3_CANopen_GuardingState
This module is used to determine the status during Nodeguarding
VAR_INPUT
Enable BOOL Activating the module
VAR_OUTPUT
GuardingStarted BOOL The NMT master started the Nodeguarding procedure
LostGuarding BOOL The node did not receive a Nodeguarding RTR telegram
from the NMT master during the Guarding time.
LostConnection BOOL The node did not receive a RTR telegram from the NMT
Master during the "Node Life Time" (GuardingTime *
LifeTimeFactor) and therefore considers the connection
as interrupted.
C3_CANopen_GuardingState
Enable : BOOL GuardingStarted : BOOL

LostGuarding : BOOL
LostConnection : BOOL
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Parker EME CANopen
6.5.2.3 Insert new CANopen node (C3_CANopen_AddNode)

FB name C3_CANopen_AddNode
This module inserts a new CANopen node into the management list of the NMT master with
the stated Node Guarding parameters and the current CANopen status
PRE_OPERATIONAL.
VAR_INPUT
Execute BOOL Activating the module
Device INT Node-ID (1 ... 127)
GuardTime INT Guard time = 0
LifeTimeFactor INT Life Time Factor = 0
VAR_OUTPUT
Done BOOL Function executed without error
Error BOOL Error occurred
ErrorCode WORD You will find the error code in the Compax3 error list
(see on page 541).
AbortCode DWORD CANopen SDO abort code (see on page 487) upon
error 65377
C3 CANopen stack error (see on page 479) no. upon
error 65376
MyNode_ID INT Own Node_ID (NMT master)
Note: Compax3 must be CANopen master.
C3_CANopen_AddNode

GuardTime : INT ErrorCode : WORD
LifeTimeFactor : INT AbortCode : DWORD
MyNode_ID : INT
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Communication C3T40
6.5.2.4 Establishing PDO connection between 2 CANopen

nodes (C3_CANopen_ConfigNode)
FB name C3_CANopen_ConfigNode
This module establishes a PDO connection between two CANopen nodes.
To do this, the module changes the COB-Ids of the 2nd node (RemoteDevice) to the
COB-Ids of the 1st. node (ReferenceDevice).
VAR_INPUT
ReferenceDevice INT Node ID of the 1st. node (1 ... 127)
RemoteDevice INT Node ID of the 2nd. node (1 ... 127)
ReferenceTxPDO INT TxPDO number of the 1st. node (1 ... 4)
RemoteRxPDO INT TxPDO number of the 2nd. node (1 ... 4)
ReferenceRxPDO INT TxPDO number of the 1st. node (1 ... 4)
RemoteTxPDO INT TxPDO number of the 2nd. node (1 ... 4)
"0" do not establish connection
VAR_OUTPUT
(see on page 541).
error 65377
error 65376
C3_CANopen_ConfigNode

ReferenceDevice : INT Error : BOOL
RemoteDevice : INT ErrorCode : WORD
ReferenceTxPDO : INT AbortCode : DWORD
RemoteRxPDO : INT
ReferenceRxPDO: INT
RemoteTxPDO : INT
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Parker EME CANopen
6.5.2.5 Sending NMT messages (C3_CANopen_NMT)

FB name C3_CANopen_NMT
This module allows to send NMT messages.
VAR_INPUT
Device INT Node ID (0 ... 127)
0 = NMT-message is valid for all nodes
State INT State which the node must take on:
START_REMOTE_NODE
STOP_REMOTE_NODE
ENTER_PRE_OPERATIONAL
RESET_NODE
RESET_COMMUNICATION
(these are no constants; please enter therefore
directly)
VAR_OUTPUT
ErrorCode WORD CANopen-Stack error no.
1 = not sufficient memory
2 = node is not in the management list
3 = node is already in the management list
4 = nodes are in the wrong state
11 = network object not available
12 = node 0 was selected
65378 = C3 has no master functionality
C3_CANopen_NMT

State : INT ErrorCode : WORD
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6.5.2.6 Reading an object in another node

(C3_CANopen_SDO_Read4)
FB name C3_CANopen_SDO_Read4
This module allows to read an object with a max. length of 4 bytes in another node via
SDO.
VAR_INPUT
Device INT Node ID of the other node (1 ... 127)
Index WORD Object Index (CAN-No.)
Subindex WORD Object Subindex (CAN-No.)
VAR_OUTPUT
Data DWORD Object data read in
Length WORD Data length in Byte
(see on page 541).
error 65377
error 65376
C3_CANopen_SDO_Read4
Execute : BOOL Data : DWORD

Device : INT Length : WORD
Index : WORD Done : BOOL
Subindex : WORD Error : BOOL
ErrorCode : WORD
AbortCode : DWORD
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6.5.2.7 Writing an object in another node

(C3_CANopen_SDO_Write4)
FB name C3_CANopen_SDO_Write4
This module allows to read an object with a max. length of 4 bytes in another node via
SDO.
VAR_INPUT
Device INT Node ID of the other node (1 ... 127)
Index WORD Object Index
Subindex WORD Object subindex
Data DWORD Object data which must be written
Length WORD Data length in Byte
VAR_OUTPUT
(see on page 541).
error 65377
error 65376
C3_CANopen_SDO_Write4

Index : WORD ErrorCode : WORD
Subindex : WORD AbortCode : DWORD
Data : DWORD
Length : WORD
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6.5.3. CANopen communication profile

The CANopen communication objects described in this chapter are either set
to sensible standard values or they are set under menu control with the help
of the ServoManager.
The communication objects described below must be modified only for
special deviating settings.
 CAN is an open system which has been standardized in the ISO 11898 and OSI
reference model ISO 7498.
 CAN is Multi-Master compatible.
 Data transmission takes place with up to 8 Bytes useful data.
 The CAN objects are designated with an 11 Bit identifier (ID or COB-ID: CAN
Object identifier). The identifier specifies the priority of the objects (the smaller the
value of the object ID is, the higher is the priority level of the object).
 The COB-ID consists of the function code and the node ID:
Structure of the COB-ID

Bit 10 9 8 7 6 5 4 3 2 1 0
Function code NodeID (1 ... 127)

NodeID: The Compax3 device address is used here as standard value
CANopen characteristics (I21)

Baud rate [kBit/s]  20, 50, 100, 125, 250, 500, 800, 1000
EDS file  C3.EDS
Service data object  SDO1
Process data objects  PDO1, ... PDO4
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6.5.3.1 Object types

The following table shows the preset COB-IDs:
Communicati Functi COB - COB - Defined Description
on object on Identifier Identifier in
type code (dec) (hex) Index...
Broadcast objects
NMT 0000b 0 0h - Network management and identifier assignment
SYNC 0001b 128 80h 1005h CANSYNC
TIME 0010b 256 100h 1012h TIME is not implemented in Compax3.
Point to point objects
EMCY 0001b 129-255 81h-FFh 1014h Error messages
T-PDO1 0011b 385-511 181h-1FFh 1800h Assignment via Index 1A00h Transmit process data object
(Compax3) max. 8 Byte
T-PDO2 0101b 641-767 281h-2FFh 1801h Assignment via Index 1A01h
T-PDO3 0111b 897-1023 381h-3FFh 1802h Assignment via Index 1A02h
T-PDO4 1001b 1153-1279 481h-1279h 1803h Assignment via Index 1A03h
R-PDO1 0100b 513-639 201h-27Fh 1400h Assignment via Index 1600h Receive process data objects
(Compax3) max. 8 Byte
R-PDO2 0110b 769-895 301h-37Fh 1401h Assignment via Index 1601h
T-SDO1 1011b 1409-1535 581h-5FFh 1200h Transmit service data object 1
T-SDO2 -* -* - 1201h Transmit service data object 2
R-SDO1 1100b 1537-1663 601h-67Fh 1200h Receive service data object 1
R-SDO2 -* -* - 1201h Receive service data object 2
Node guard 1110b 1793-1919 701h-77Fh 100Eh Check bus subscribers.
* The SDO2 are not activated.

The standard value of the COB-ID for an object is calculated as follows: COB-ID =
(Function code * 128) + Device address
The standard values of the COB-Ids can be changed via communication objects
via SDOs.
Application of the communication object types
Transmission of real time data (faster transmission because higher priority)
T-PDO Transmit process data object: Compax3 reply.

R-PDO Receive process data object: send to Compax3.
Once only transmission, e. g. of parameters or program lines

T-SDO Transmit service data object: Compax3 reply.
R-SDO Receive service data object: send to Compax3.
6.5.3.2 Communication objects

General note:
Every CAN object which is created as array (with subindex) contains the number of
entries in subindex 0.
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CAN communication objects overview sorted according to CAN No.
CAN-No Name Bus format Standard value Minimum Maximum Acce

value value ss
0x1000 Device Type Unsigned32 0x00020192 0x00000000 0xFFFFFFFF const
0x1001 Error Register Unsigned8 0x00 0x00 0xFF ro
0x1005 COB-ID SYNC Unsigned32 0x80000080 0x00000001 0xFFFFFFFF rw
0x1006 Communication Cycle Period Unsigned32 0x00000000 0x00000000 0xFFFFFFFF rw
0x1007 Synchronous Window Length Unsigned32 0x00000000 0x00000000 0xFFFFFFFF rw
0x1008 Manufacturer Device Name Visible_String C3xxxxxxxxxxxxxxxxx const
x
0x1009 Manufacturer Hardware Version Visible_String CTPxxxxxxxxLEIxxxx const
xxxx
0x100A Manufacturer Software Version Visible_String V const
xxxxxxxxxxxxxxxxxxx
0x100C Guard Time Unsigned16 0x0000 0x0 0xFFFF rw
0x100D Life Time Factor Unsigned8 0x00 0x0 0xFF rw
0x1014 COB-ID EMCY Unsigned32 0x000000FF 0x00000001 0xFFFFFFFF rw
0x1015 Inhibit Time Emergency Unsigned16 0x0 0x0 0xFFFF rw
0x1018 Identity Object (see on page 486) -
0x1018.1 Vendor Id Unsigned32 0x0 0x0 0xFFFFFFFF ro
0x1018.2 Product Code Unsigned32 0x0 0x0 0xFFFFFFFF ro
0x1018.3 Revision number Unsigned32 0x0 0x0 0xFFFFFFFF ro
0x1018.4 Serial number Unsigned32 0x0 0x0 0xFFFFFFFF ro
0x1200 Server SDO1 Parameter -
0x1200.1 SDO1: COB-ID Client -> Server Unsigned32 0x0000067F 0x00000001 0xFFFFFFFF ro
0x1200.2 SDO1: COB-ID Server -> Client Unsigned32 0x000005FF 0x00000001 0xFFFFFFFF ro
0x1200.3 Node ID of the SDO1 client Unsigned8 0x00 0x00 0xFF rw
0x1201 Server SDO2 Parameter -
0x1201.1 SDO2: COB-ID Client -> Server Unsigned32 0x800006E0 0x00000001 0xFFFFFFFF rw
0x1201.2 SDO2: COB-ID Server -> Client Unsigned32 0x800006E0 0x00000001 0xFFFFFFFF rw
0x1201.3 Node ID of the SDO2 Client Unsigned8 0x00 0x00 0xFF rw
0x1400 Receive PDO1 communication -
parameters
0x1400.1 RPDO1: COB-ID Unsigned32 0x0000027F 0x00000001 0xFFFFFFFF rw
0x1400.2 RPDO1: Transmission Type Unsigned8 0xFE 0x00 0xFF rw
0x1400.3 RPDO1: Inhibit Time Unsigned16 0x0000 0x0000 0xFFFF rw
0x1400.5 RPDO1: Event Timer Unsigned16 0x0 0x0 0xFFFF rw
parameters
0x1401.1 RPDO2: COB-ID Unsigned32 0x0000037F 0x00000001 0xFFFFFFFF rw
parameter
0x1402.1 RPDO3: COB-ID Unsigned32 0x0000047f 0x0 0xFFFFFFFF rw
parameter
0x1403.1 RPDO4: COB-ID Unsigned32 0x0000057f 0x0 0xFFFFFFFF rw
0x1600 Receive PDO1 mapping parameter -
0x1600.1 RPDO1 Mapping Entry 1 Unsigned32 0x00000000 0x00000000 0xFFFFFFFF rw
0x1600.2 RPDO1 mapping entry 2 Unsigned32 0x00000000 0x00000000 0xFFFFFFFF rw
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0x1800 Transmit PDO1 communication -
parameter
0x1800.1 TPDO1: COB-ID Unsigned32 0x000001FF 0x00000001 0xFFFFFFFF rw
0x1800.2 TPDO1: Transmission Type Unsigned8 0xFE 0x00 0xFF rw
0x1800.3 TPDO1: Inhibit Time Unsigned16 0x0000 0x0000 0xFFFF rw
0x1800.5 TPDO1: Event Timer Unsigned16 0x0 0x0 0xFFFF rw
parameter
0x1801.1 TPDO2: COB-ID Unsigned32 0x000002FF 0x00000001 0xFFFFFFFF rw
parameter
0x1802.1 TPDO3: COB-ID Unsigned32 0x000003ff 0x0 0xFFFFFFFF rw
parameter
0x1803.1 TPDO4: COB-ID Unsigned32 0x000004ff 0x0 0xFFFFFFFF rw
0x1A00 Transmit PDO1 mapping parameter -
0x1A00.1 TPDO1 mapping entry 1 Unsigned32 0x00000000 0x00000000 0xFFFFFFFF rw
0x1A00.2 TPDO1 Mapping Entry 2 Unsigned32 0x00000000 0x00000000 0xFFFFFFFF rw
TPDO2 Mapping Entry 5 Unsigned32 0x00000000 0x00000000 0xFFFFFFFF rw
0x1A01.5
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Identity Object (0x1018)

This object is composed as follows:
Vendor-ID (0x1018.1)
Is stored in the FBI-EEPROM binarily from addr. 56...59 (low...high). Current value
= 0x02000089.
Product-Code (0x1018.2)
Is composed of the part of the order code "Faa lbb Tcc Mdd" to 0xaabbccdd, i.e.
the device with the order code C3S025V2F10I21T40M11 has the product code
0x10214011.
The product code is hex coded, but can be read decimally.
Revision number (0x1018.3)
Is composed of 5 digits of the software version no. of the DSP software and 3 digits
of the SV no. of the FBI software, i.e. the device with the DSP SV no. 01.08.02 and
the FBI SV no. 1.21 has the revision no. 0x10802121.
Serial number (0x1018.4)
Is stored in the CTP-EEPROM as a 10 digit ASCII string from addr. 56...65 (series
number of the device). A C3 with the series number 1423440001 has the serial
number 0x54D7F881.
The description of the CANopen communication objects can be found in the
corresponding help file.
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6.5.4. Acyclic parameter channel

Service Data Objects (SDO) .......................................................................................... 487
Object Up-/Download via RS232 / RS485 ...................................................................... 488
6.5.4.1 Service Data Objects (SDO)

Asynchronous access to the object directory of Compax3 is implemented with the
help of the SDOs. The SDOs serve for parameter configuration and status
interrogation. Access to an individual object takes place via the RS232 / RS485
index and subindex of the object directory.
Attention!
A SDO is a confirmed service, therefore the SDO reply telegram must always
be awaited before a new telegram may be transmitted.
CiA405_SDO_Error (Abort Code): UDINT

In the case of an incorrect SDO transmission, the error cause is returned via the
"abort code".
Abort Code Description
0x0503 0000 ”Toggle Bit” was not alternated
0x0504 0000 SDO Protocol ”time out”
0x0504 0001 Client/server command designator invalid or unknown
0x0504 0002 Unknown block size (block mode only)
0x0504 0003 Unknown block number (block mode only)
0x0504 0004 CRC error (block mode only)
0x0504 0005 Outside of memory
0x0601 0000 Access to this object is not supported
0x0601 0001 Attempted read access to a write only object
0x0601 0002 Attempted write access to a read only object
0x0602 0000 The object does not exist in the object directory
0x0604 0041 Object cannot be mapped in a PDO
0x0604 0042 Size and number of “mapped” objects exceeds max. PDO length
0x0604 0043 General parameter incompatibility
0x0604 0047 General incompatibility in the device
0x0606 0000 Access infringement due to a hardware error
0x0607 0010 Data type does not fit, length of the service parameter does not fit
0x0607 0012 Data type does not fit, length of the service parameter too large
0x0607 0013 Data type does not fit, length of the service parameter too small
0x0609 0011 Subindex does not exist
0x0609 0030 Outside parameter value range (only for write access operations)
0x0609 0031 Parameter value too large
0x0609 0032 Parameter value too small
0x0609 0036 Maximum value smaller than minimum value
0x0800 0000 General error
0x0800 0020 Date cannot be transmitted or saved
0x0800 0021 Date cannot be transmitted or saved due to local device management
0x0800 0022 Date cannot be transmitted or stored due to device status
0x0800 0023 Dynamic generation of the object directory is impossible or no object
directory exists (the object directory is created from a file and an error
occurs due to a defective file)
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6.5.4.2 Object Up-/Download via RS232 / RS485

The up-/download takes place via the RS232 / RS485 objects C3_Request (Index
0x2200) and C3_Response (Index 0x2201). These have the data type octet string
with a length of 20 bytes (octets). Write/read of a C3 object is carried out by writing
of C3_Request with the corresponding data. When a C3 object is read, the data
appear in the C3_Response object .
Meaning of the data from C3_Request

Byte 1 Octet 2 Octet 3 Octet 4 Octet 5 Octet 6 ... ... Octet 19 Octet 20
Request header C3 object data (write)
AK Subindex Index D1 D2 ... ... D15 D16
AK: Job identifier; 3=read, 4= write
OD1..OD16: Object data; OD1 = High, OD16 = Low
Meaning of the data from C3_Response

Byte 1 Octet 2 Octet 3 Octet 4 Octet 5 Octet 6 ... ... Octet 19 Octet 20
Reply header C3 object data (read)
- - - - OD1 OD2 ... ... OD15 OD16
OD1..OD16: Object data; OD1 = High, OD16 = Low
Upload
RS232 / RS485 O1 O2 O3 O4 O5 O6 O7 O8 ... O 20
Access Object C3 object request/reply C3 object data
1. Write C3 object 20.2 with the value 0
Write 0x2200.0 4 2 0 20 0 0 0 x ... x
2. read next C3 object index/subindex in C3 object 20.5
Write 0x2200.0 3 5 0 20 x x x x ... x
Read 0x2201.0 x x x x I_hi I_lo Subi x ... x
3. read the C3 object with the in index/subindex read in the C3 object 20.5
Write 0x2200.0 3 Subi I_hi I_lo x x x x ... x
Read 0x2201.0 x x x x D1 D2 D3 D4 ... D16
4. Store C3 object index, subindex and data D1...D16 in table
5. Repeat steps 2 to 4 until I_hi = I_lo = Subi = 0xFF
Download: Write the entire table of C3 objects.

RS232 / RS485 O1 O2 O3 O4 O5 O6 O7 O8 ... O 20
Access Object C3 object request/reply C3 object data
1. Write C3 object from the table
Write 0x2200.0 4 Subi I_hi I_lo D1 D2 D3 D4 ... D16
2. Repeat step 1 until the end of the table
6.5.4.3 Data formats of the bus objects

Data formats of the bus objects (see on page 470)
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6.6 DeviceNet
Please note:
A changed assignment (mapping) of the Input/Output Message is accepted

with Power off / Power on!
The length of the Input / Output Message is adapted to the real assignment
(mapping) (2 ... 32).
Statement of Conformance
http://www.compax3.de/C3_DeviceNet_Statement_of_Conformance.pdf (in
the Internet)
Address or Baud rate settings (see on page 71)
Pin assignment (see on page 71)

DeviceNet Configuration ................................................................................................ 489
DeviceNet object classes ............................................................................................... 490
6.6.1. DeviceNet Configuration

Following are described the input windows of the configuration wizard.


541):
 No response
 Downramp / stop
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6.6.2. DeviceNet object classes

The DeviceNet object classes described in this chapter are either set to
sensible standard values or they are set under menu control with the help of
the ServoManager.
The communication objects described below must be modified only for
special deviating settings.

Overview of the DeviceNet object classes ..................................................................... 491
DeviceNet characteristics (I22)

DeviceNet  Predefined Master/Slave Connection Set
 Standard 2.0 Group-2-Slave
 Fieldbus I/O Data or Process Data
(Polled, COS/Cyclic I/O and Bit Strobe)
Implemented object classes  Identify, Message Router, DeviceNet,
Assembly, Connection, Acknowledge
Handler
Baud rate [kBit/s]  125, 250, 500
permissible cable length  up to 500m on 125Bit/s,
 up to 200m on 250Bit/s,
Max. Number of participants  63 Slave
Insulation  Isolated Device Physical Layer
EDS file  C3_DeviceNet.EDS
Conformance (file in the Internet)  Statement of Conformance
http://www.compax3.de/C3_DeviceNet
_Statement_of_Conformance.pdf
Further information:  Application example
(C3I22_DeviceNet.ZIP) on the Compax3
CD in the "\Examples" directory"
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6.6.2.1 Overview of the DeviceNet object classes

Object name Class Instance Description
ID ID
Identify 0x01 1 Mandatory
Message Router 0x02 1 Mandatory
DeviceNet 0x03 1 Mandatory
Assembly 0x04 101-103 I/O Messages
Connection 0x05 1 Explicit Messages
2 Polled I/O Data
3 Bit Strobe
4 Change of State (COS), Cyclic I/O Data
Acknowledge Handler 0x2B 1 Necessary for connection class ID 05hex, instance ID 04
Image of I/O Data 0x64 1 Manufacturer-specific object class image of I/O data
C3 object 0x65 20-3300 Manufacturer-specific object class C3 object
Detailed information on the topic of "object classes" can be found in the online help
of the device.
6.6.3. Data formats of the bus objects

Data formats of the bus objects (see on page 470)
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6.7 Ethernet Powerlink / EtherCAT
The Ethernet Powerlink option is available with the Compax3 devices

C3I30Txx!
The EtherCAT option is available on the Compax3 devices C3I31Txx!

Configuring Ethernet Powerlink / EtherCAT ................................................................... 492
6.7.1. Configuring Ethernet Powerlink / EtherCAT

CN Controlled Node (Slave) .......................................................................................... 492
Slave mit Konfiguration via Master................................................................................. 492
Possible PDO assignment ............................................................................................. 492
The Ethernet Powerlink or Ethercat configuration is made in a wizard. Can be

called up in the tree (Compax3 ServoManager, left window) under "configure
communication".
6.7.1.1 CN Controlled Node (Slave)

Compax3 is the slave of an Ethernet / EtherCAT master; the bus configuration is
made via the ServoManager
6.7.1.2 Slave with configuration via Master

Select "Slave mit Konfiguration via Master” if you make the operating mode setting
and mapping via the master.
Then run through the wizard completely.

541):
 No response
 Downramp / stop
6.7.1.4 Possible PDO assignment

Via the process data objects (RPDO and TPDO), actual values and Setpoint values
are cyclically exchanged between Compax3 and the Ethernet Powerlink Controlled
Nodes (Slaves). Please note that they put more strain on the fieldbus
communication that the the transmission via SDO:
The cyclic PDOs are configured with the aid of the Compax3 ServoManager:
The PDOs are set separately for the transmission directions
 Slave ⇒ Compax3 (RPDO)
 Compax3 ⇒ Slave (TPDO)
The objects that can be put on the process data channel can be found in the "
Compax3 Objects (see on page 515)"!
Acyclic data can be transmitted via SDO.
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6.8 HEDA Bus
HEDA: High Efficiency Data Access: Option M10 or M11

 Real-time data transfer
 High-stage axis synchronization
 fixed transfer rate of 10MBit/s
 Jitter < 300ns (Bus) which results in a high synchronicity
 Peer-to-Peer communication
 maximum cable length 50m (greater lengths on request)
 1 Master / 31 Slave: Individual HEDA axis address in the range between /1...32
 fixed cycle time of 0.5ms
 Synchronization of the scanning grid of the digital control loops
and of the setpoint generation
 cyclic data exchange
 acyclic data exchange of time-uncritical values
HEDA wiring (see on page 588)
Function of the HEDA LEDs

Green LED (left)
HEDA module energized
Red LED (right)
Error in the receive area
Possible causes:
 at the Master
 no slave sending back
 Wrong cabling
 Terminal plug is missing
 several masters are sending in the same slot
 at the slave
 several masters in the system
 no master active
 no transmission from one or several receive slots (neither by the master nor by
another slave)
The configuration may take place in two different ways:

 HEDA standard: Simple Master -> Slave communication
 HEDA advanced: Extensive communication Master <-> Slave and Slave <->
Slave.
HEDA standard mode .................................................................................................... 494
HEDA expansion (HEDA advanced) .............................................................................. 496
Coupling objects ............................................................................................................ 513
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6.8.1. HEDA standard mode

HEDA-Master ................................................................................................................ 495
HEDA-Slave .................................................................................................................. 495
The HEDA option (option M10 or M11) can be used to send 4 process values in the
"HEDA standard" operating mode from master to slave. A return transmission from
Slave to Master is possible with "HEDA advanced".
First choose, if Compax3 is HEDA Master or HEDA Slave:

 HEDA Master in order to send process values
 HEDA Slave in order to receive process values
Please respect that only 1 HEDA station can be Master.
Principle:
Compax3 T30 / T40 Compax3 T30 / T40
1)
Channel 1 Channel 1 Conﬁguration:
Communication:
HEDA-Master
HEDA-Slave
Channel 2 Channel 2
HEDA
Channel 3 Channel 3 2)
Channel 4 Channel 4
1) Configuration in HEDA-Master of the process values placed in the four HEDA

channels.
2) In the HEDA-Slave the process value of the four channels are assigned to
objects.

541):
 No response
 Downramp / stop
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6.8.1.2 HEDA-Master
You can transmit 4 process values (one process value per channel) with max. 7
words (one process value per channel).
The 1st. process value (takes 3 words) is reserved for the axis synchronization.
You may choose between:
 Setpoint position value (Object 2000.1)
 Actual position (Object 2200.2)
 Setpoint position value from virtual Master (object 2000.2)
 External position value (Object 2020.1)
Signal read into the master via <Analog channel_C3_C3F>, Encoder input or
step/direction input.
Principle:
Compax3 HEDA Compax3 HEDA Compax3
Master Slave Slave

Encoder
Step / Direction
+/-10V
Attention in the case of a configuration download with master-slave

coupling (electronic gearbox, cam)
Switch Compax3 to currentless before starting the configuration download:
Master and Slave axis
 Position from virtual Master (object 2000.2)
Additional 3 process values with altogether max. 4 words data can be transmitted.
You can make your choice between the Compax3 PD objects.
Note: Please use the coupling objects (see on page 513) for axis coupling.
6.8.1.3 HEDA-Slave
In the HEDA slave, the transmitted process values are read.
The transferred process values can be assigned to objects in the configuration
wizard (e.g. array objects).
Objects with appropriate data width (corresponding to the process values read in)
must be assigned.
The 1st process value is used as input process value (object 3920.1: HEDA
SignalProcessing Input) for axis synchronization. The target for the process values
2, 3, 4 can be selected from a list in the configuration wizard.
The Measure reference for the Master position is selected under Configuration:
Configuration of the signal source: HEDA (see on page 151).
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6.8.2. HEDA expansion (HEDA advanced)

The possibilities of the HEDA expansion........................................................................ 496
Technical data of the HEDA interface / overview ........................................................... 496
Definitions...................................................................................................................... 497
Calling up the HEDA wizard in the C3 ServoManager.................................................... 497
Configuration of the HEDA communication .................................................................... 497
6.8.2.1 The possibilities of the HEDA expansion

The HEDA option (option M10 or M11) can be used to exchange process values in
the "HEDA advanced" operating mode.
 from Slave to Master
 from Slave to Master and
 from Slave to Slave.
6.8.2.2 Technical data of the HEDA interface / overview

General HEDA data
 Synchronous, bidirectional, deterministic real-time bus.
 Bus access via time sharing (slots), Master/Slave, Producer/Consumer.
((synchronization exactitude <1µs).
 Bus cycle time 500µs, distributed into 20 time slots à 25µs.
 18 slots cyclic transmitting and receiving data channels (Slot 0 .. 17).
 2 slots reserved for acyclic communication.
 Telegrams (frames) with max. 7 words à 16 bit can be sent and received in a slot.
 Freely configurable assignment of the cyclic transmit(Tx)/receive(rx)-slots to the
stations.
 The transmitting and receiving data are freely definable via mapping tables.
 Master-Slave as well as Slave-Slave communication (cross-communication) are
possible.
 A master=>slave frame in slot x can be received by every slave.
 A master=>slave frame (cross-communication) in slot x can be received by every
station.
Compax3-specific HEDA data:

 The Compaxa3 system cycle time is synchronized with the bus cycle time.
 System cycle time 500µs, distributed into 4 position control cycles à 125µs.
 For system-immanent reasons, only one slot is able to send and receive during
the same position control cycle (every 125µs).
 Transmit- and receive slot can differ within one position controller cycle.
 The Master can receive frames from max. 4 Slaves received.
Principle:
4 18
4 4 4
Receive Transmit Transmit Transmit
HEDA Master HEDA Slave HEDA Slave HEDA Slave
Transmit Receive Receive Receive
4 4 4 4
18
Displayed are the number of the possible telegrams (Frames).
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Parker EME HEDA Bus
6.8.2.3 Definitions
DSP Format Objects with this format:
 are not reset
 are not limited:
they have a value range between -223 and 223-1
 are suitable as coupling objects
If the DSP Format is not selected, the objects are transmitted in
the described formats (see on page 515). Please note that
the Bus formats Y2 and Y4 (see on page 471) are set against
the normalization factors.
Frame Telegram of process values with a data width of 7 words.
Mapping Image of process data on a communication channel (slot)
Mapping table Overview of process values that can be put on a
communication channel (slot).
Coupling objects Are suitable as master signals for electronic coupling and must
be in the DSP format.
Receive Received
Slot communication channel
Transmit Send
Process data Objects, which are suitable for use in the cyclic data channel.
6.8.2.4 Calling up the HEDA wizard in the C3 ServoManager

The "HEDA Advanced" wizard can be found in the C3 ServoManager tree under
communication.
Please observe:
The "HEDA advanced" wizard settings overwrite the settings of the HEDA
standard wizard!
6.8.2.5 Configuration of the HEDA communication

Data transfer Master - Slave and back ........................................................................... 498
Example: Communication Master - Slave and back ....................................................... 505
Data transfer from Slave to Slave. ................................................................................. 508
Error Reaction on Bus Failure

541):
 No response
 Downramp / stop
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Communication C3T40
Data transfer Master - Slave and back

Setting the HEDA master............................................................................................... 500
Setting the HEDA slave ................................................................................................. 503
In standard applications the master sends process values to the slaves and reads
the answers from the slaves.
S0 S0
S1 S1
S2 S2
** S3 * S3
S4 S4
S5 S5
S6 S6
S7 S7
S8 S8
S9 S9
S10 S10
S11 S11
S12 S12
S13 S13
S14 S14
S15 S15
S16 S16
S17 S17
Mapping Table
F1 F2 F3 F4 F1 F2 F3 F4 F1 F2 F3 F4 F1 F2 F3 F4
Mapping Table
S17 S17
S16 S16
S15 S15
S14 S14
S13 S13
S12 ** S12
S11 S11
S10 S10
S9 S9
S8 S8
S7 S7
S6 S6
S5 S5
S4 S4
S3 S3
S2 S2
S1 S1
S0 S0
* only one of the assigned slots per frame group may be activated on the slave
transmit side (this is blocked by the C3 ServoManager)
* only one of the assigned slots per frame group may be activated on the master or
slave receive side (this is blocked by the C3 ServoManager)
Print version available on the Internet
http://divapps.parker.com/divapps/eme/EME/downloads/compax3/HEDA-Formulare/HE
DA-Standard.pdf
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Parker EME HEDA Bus
S0 S0
S1 S1
S2 S2
S3 S3
S4 S4
S5 S5
S6 S6
S7 S7
S8 S8
S9 S9
S10 S10
S11 S11
S12 S12
S13 S13
S14 S14
S15 S15
S16 S16
S17 S17
Mapping Table
Mapping Table
S17 S17
S16 S16
S15 S15
S14 S14
S13 S13
S12 S12
S11 S11
S10 S10
S9 S9
S8 S8
S7 S7
S6 S6
S5 S5
S4 S4
S3 S3
S2 S2
S1 S1
S0 S0
Functionality:
The master can send 4 different frames (F1,... F4). A frame can be sent from
several slots:
Frame: F1 F2 F3 F4
possible slots: 0 ... 2 3 ... 7 8 ... 12 13 ... 17
Each frame is assigned a mapping table number.
The individual slaves read in the slot from where their relevant data are sent.
It is necessary to define a mapping table in the slave, stating where the individual
process data are to be written (e.g. into an array-object).
The assignment of the mapping table is made via the mapping table number which
is transferred via HEDA.
For this reason, the receive mapping table number and the transfer mapping table
number must always be the same.
Important: Receive-Mapping table number = Transmit-Mapping-Table-Number
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Communication C3T40
Setting the HEDA master

HEDA master settings:
 activate HEDA Master

 Axis address = 0
 Setting the error reaction (from Compax3) at bus failure:
 activated: Compax3 switches to error state in the case of a bus error.
 deactivated: Compax3 will ignore a bus error.
 By activating “Master setpoint delay (SG1), actualization takes place at the same
time on the master and on the slave (by a delay on the master setpoint value).
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Parker EME HEDA Bus
Master transmission slots (Transmit Slots)
Important:
For standard applications (data transfer master - slave and back) all slots in
the master must be transmitting.
 for this reason you should activate all transmit slots (0...17, in the lower area of
the wizard window).
 Please assign, according to your requirements, a mapping table to each of the 4
transmit frames.
The contents of the transmit mapping table is defined in the next wizard window.
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Communication C3T40
Master receive slots

Activate the receive slots from which the slave sends data (corresponding to the
settings in the slave).
In each of the 125µs cycles (slot 0...2, slot 3...7, slot 8...12, slot 13...17) data can
be received only via one slot, see also the HEDA communication structure (see
on page 498).
The assignment of the data is made via the mapping table number (which was
defined in the slave), this number is also received.
In the Wizard window "Receive Mapping table", it is defined under this mapping
table number where the data received are to be written to.
Master Transmit Mapping Table (max. 4)

Here the transmit mapping tables, which were assigned to the max. assigned to 4
transmit 125µs cycles.
Procedure:
 Selection of the corresponding transmit mapping table.
 Selection of the Compax3 objects to be transmitted.
 The assignment of the mapping table is permanently identified and displayed.
 Up to 7 words are possible.
 How many words are used by an object (see on page 515) depends on the bus
format (see on page 470) / DSP format
Note: For axis coupling, please use the coupling objects (see on page 513) in the DSP
format (see on page 497) (selected by clicking on the DSP switch).
Please make sure that the DSP switch is activated on the master and the slave
side in DSP format.
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Parker EME HEDA Bus
Master Receive Mapping Table (max. 4)

Please select the mapping table number, which was defined in the slave (under
transmit mapping table).
Please enter now, where the received data are to be written. (e. B. on an array
object).
Please use the data formats as defined in the mapping table of the slave.
Note: For axis coupling, please use the coupling object (see on page 513) O3920.1 in
the DSP format (see on page 497) as an input (selection by clicking on the DSP
switch).
side in DSP format.
Setting the HEDA slave
HEDA slave settings:

 Activating the HEDA Slave
 Assigning the axis address = 0 (can be changed by clicking)
 Setting the error reaction (from Compax3) at bus failure:
 activated: Compax3 switches to error state in the case of a bus error.
 deactivated: Compax3 will ignore a bus error.
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Communication C3T40
Slave receive slots

Activate the receive slots, from where the slave is to receive the data.
In each of the four 125µs cycles (slot 0...2, slot 3...7, slot 8...12, slot 13...17) data
can be received only via one slot, see also the HEDA communication structure
(see on page 498).
The assignment of the data is made via the mapping table number (which was
defined in the master), this number is also received.
In the Wizard window "Receive Mapping table", it is defined under this mapping
table number where the data received are to be written to.
Slave transmission slots (Transmit Slots)

Activate the transmit slots, from where the slave is to send the data.
In each of the four 125µs cycles (slot 0...2, slot 3...7, slot 8...12, slot 13...17) data
can be transmitted only via one slot, see also the HEDA communication
structure (see on page 498).
Please make sure, that no other slave can send on this slot.
Now you can assign a mapping table to each individual activated slot.
Please consider, that transmit mapping table numbers are only used once in
one transmit/receive range.
The contents of the transmit mapping table is defined in the next wizard window.
Slave Transmit Mapping table

Here the transmit mapping tables, which were assigned to the transmit slots
activated before, are defined.
Procedure:
 Selection of the corresponding transmit mapping table.
 Selection of the Compax3 objects to be transmitted.
 The assignment of the mapping table is permanently identified and displayed.
 Up to 7 words are possible.
 How many words are used by an object (see on page 515) depends on the bus
format (see on page 470).
Note: For axis coupling, please use the coupling objects (see on page 513) in the DSP
format (see on page 497) (selected by clicking on the DSP switch).
side in DSP format.
Slave Receive Mapping table

Please select the mapping table number, which was defined in the master (under
transmit mapping table).
Please enter now, where the received data are to be written.
Please use the data formats as defined in the mapping table of the master.
Note: For axis coupling, please use the coupling object (see on page 513) O3920.1 in
the DSP format (see on page 497) as an input (selection by clicking on the DSP
switch).
side in DSP format.
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Parker EME HEDA Bus
Example: Communication Master - Slave and back

HEDA communication structure:
S0 S0
S1 S1
S2 S2
S3 S3
S4 S4
S5 S5
S6 S6
S7 S7
S8 S8
S9 S9
S10 S10
S11 S11
S12 S12
S13 S13
S14 S14
S15 S15
S16 S16
S17 S17
Mapping Table 1 6 7 8
1 2 4 5 Mapping Table
S17 S17
S16 S16
S15 S15
S14 S14
S13 S13
S12 S12
S11 S11
S10 S10
S9 S9
S8 S8
S7 S7
S6 S6
S5 S5
S4 S4
S3 S3
S2 S2
S1 S1
S0 S0
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Communication C3T40
Master and Slave 1 to 3 (from left to right).

Task:
Master Transmit
 Master sends on:
 Slot 0...2: Mapping table 1
Slave Receive
 Slave 1 reads on:
 Slot 2: Mapping table 1
 Slot 3: Mapping table 2 and
 Slave 2 reads on:
 Slot 13: Mapping table 5.
 Slave 3 reads on
 Slot 9: Mapping table 4.
Slave Transmit
 Slave 1 sends on:
Master Receive
 Master receives on:
C3 ServoManger settings:
Slot - settings Master:
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Parker EME HEDA Bus
Example for transmit mapping table 1 on the master or slave
Slot settings slave 1:
Example for receive mapping table 1 at slave 1 (is also valid for slave 3, master)
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Communication C3T40
Data transfer from Slave to Slave.

HEDA communication structure with data transfer from Slave to Slave:
S0 S0
S1 S1
S2 S2
S3 S3
S4 S4
S5 S5
S6 S6
S7 S7
S8 S8
S9 S9
S10 S10
S11 S11
S12 S12
S13 S13
S14 S14
S15 S15
S16 S16
S17 S17
Mapping Table

S10
S11
S12
S13
S14
S15
S16
S17
S0
S1
S2
S3
S4
S5
S6
S7
S8
S9
Mapping Table
S17 S17
S16 S16
S15 S15
S14 S14
S13 S13
S12 S12
S11 S11
S10 S10
S9 S9
S8 S8
S7 S7
S6 S6
S5 S5
S4 S4
S3 S3
S2 S2
S1 S1
S0 S0
Print version available on the Internet

http://divapps.parker.com/divapps/eme/EME/downloads/compax3/HEDA-Formulare/HE
DA_adv.pdf
If a transmit slot of the HEDA master is not assigned, the master will pass the
received data directly on to the slaves (independent of his reading from this slot or
not).
I.e. if a transmit slot of the master where a slave is sending is disabled, the data will
be passed on and can be received from any slave on this slot.
It is, however, valid:
All transmit slots must send!

This is also true, if a slave sends on this slot.
Please note:
Please ensure that all slots are used for transmission, the C3 ServoManager
cannot verify this fact!
In order to verify this, please use the HEDA communication structure.
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Parker EME HEDA Bus
Example 1: Communication Master - Slave and Slave - Slave.
Task:
MT3
MT2
MT1
Master Slave 1 MT3 Slave 2 MT4 Slave 3
MT5
MT6
MT7
MT1 ... MT7: Mapping table 1... 7

Step-by-step setting of the HEDA communications:
Firstly, activate all transmit slots of the master in order to ensure that all transmit
slots of the master are sending:
S0 S0
S1 S1
S2 S2
S3 S3
S4 S4
S5 S5
S6 S6
S7 S7
S8 S8
S9 S9
S10 S10
S11 S11
S12 S12
S13 S13
S14 S14
S15 S15
S16 S16
S17 S17
Mapping Table
1 2 3

S10
S11
S12
S13
S14
S15
S16
S17
S0
S1
S2
S3
S4
S5
S6
S7
S8
S9
Mapping Table
S17 S17
S16 S16
S15 S15
S14 S14
S13 S13
S12 S12
S11 S11
S10 S10
S9 S9
S8 S8
S7 S7
S6 S6
S5 S5
S4 S4
S3 S3
S2 S2
S1 S1
S0 S0
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Communication C3T40
The mapping tables are now distributed to different slots:

Mapping Table Slot
MT1 1 Slave transmit range
MT2 4
MT3 11
MT4 16
MT5 2 (& 0, 1) Master transmit
MT6 9 (& 8, 10, 12) range
MT7 13 (& 14, 15, 17)
Note: The transmit slots where a slave-slave communication is taking place (Slot 11 &
16), must be deactivated in the master!
Otherwise, the master would overwrite the data of the slave.
This results in the following image:
S0 S0
S1 S1
S2 S2
S3 S3
S4 S4
S5 S5
S6 S6
S7 S7
S8 S8
S9 S9
S10 S10
S11 S11
S12 S12
S13 S13
S14 S14
S15 S15
S16 S16
S17 S17
Mapping Table
1 2 3 4
Transmit
1 2 3

S10
S11
S12
S13
S14
S15
S16
S17
S0
S1
S2
S3
S4
S5
S6
S7
S8
S9
5 6 7 Mapping Table
Transmit
switch off
S17 S17
S16 S16
S15 S15
S14 S14
S13 S13
S12 S12
S11 S11
S10 S10
S9 S9
S8 S8
S7 S7
S6 S6
S5 S5
S4 S4
S3 S3
S2 S2
S1 S1
S0 S0
set all slots except slave->slave relation
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Parker EME HEDA Bus
The following objects are transmitted:

TRANSMIT (send) RECEIVE
Mapping Source Objects Ta
Table rge
t
1 S1 C3Array.Col01Row01 (1901.1) M C3Array.Col01Row01 (1901.1)
2 S1 C3Plus.DeviceState_Statusword1 (1000.3) M C3Array.Col03Row01 (1903.1)
3 S1 C3Plus.ProfileGenerators_SG1Position (2000.1) M C3Array.Col01Row02 (1902.1)
S2 C3Plus.HEDA_SignalProcessing_Input (3920.1)
4 S2 C3Plus.PositionController_DemandValue (2200.1) S3 C3Plus.HEDA_SignalProcessing_Input (3920.1)
5 M C3Plus.ProfilGenerators_PG2Position (2000.2) S1 C3Plus.HEDA_SignalProcessing_Input (3920.1)
S2 C3Array.Col01Row05 (1901.5)
S3 C3Array.Col01Row05 (1901.5)
6 M C3Plus.DeviceControl_Controlword1 (1100.3) S1 C3Plus.DeviceControl_Controlword1 (1100.3)
7 M C3Array.Col06Row01 (1906.1) S1 C3Array.Col06Row01 (1906.1)
M: Master
S1, S2, S3: Slave 1 ... 3
Word form for the objects to be transmitted on the internet
http://divapps.parker.com/divapps/eme/EME/downloads/compax3/HEDA-For
mulare/communications-table.doc.
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Communication C3T40
Example 2: 4-axis application with HEDA
“Task:
 four-axis processing machine
 Setting the steps via virtual master
 Forwards and backwards movement with the master (closed curve)
 Linearized feed movement with Slave 1 = rotating blade (open curve)
 Position synchronous operation of slave 2 with respect to slave 1 with slip
correction (use of C3_Shift_Position, only T40)
 Fixed position assignment of a turning axis slave 3 to slave 2 with consideration
of the correction movement of slave 2
Virtual 360
Master C3.StatusPosition_DemandValue2 o680.2
0
C3Plus.ProfileGenerators_PG2Position o2000.2
HEDA_SignalProcessing_Input o3920.1
100 100 100 360
0 360 0 360 0 100 0 100
Setpoint
Setpoint Setpoint Setpoint Setpoint
Generator Generator Generator Generator
C3_ShiftPosition
C3Plus.ProfileGenerators_SG1Position o2000.1
C3Plus.PositionController_DemandValue o2200.1
Control Control Control Control

Loop Loop Loop Loop
C3Plus.PositionController_ActualValue o2200.2
Master Slave 1 Slave 2 Slave 3

Gearbox: i=10 Gearbox: i=5 Gearbox: i=3 Gearbox: i=7
Travel Distance per Travel Distance per Travel Distance per Travel Distance per
Revol: 127/10 Revol: 233/5 Revol: 100/3 Revol: 360/7
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Parker EME HEDA Bus
Master / Slave Configuration of the reference system

Configuration Master Slave 1 Slave 2 Slave 3
Travel distance per motor revolution
 Numerator 127 233 100 360
 Denominator 10 5 3 7
Reset distance
 Numerator 100 100 100 360
 Denominator 1 1 1 1
Signal source (Master axis)
 Virtual Master
 Reset distance 360
 Use as current signal source yes
Source HEDA (Slave axis)
 "Virtual master" as HEDA Master yes no no
 Path per motor revolution of the HEDA Master
 Numerator not 233 100
 Denominator required 5 3
 Create cams with the CamDesinger
 Distance Counter Reset Position - 360 360 100 100
Numerator 1 1 1 1
 Distance Counter Reset Position -
Denominator
The C3 ServoManager projects (configuration) can be found on the Compax3

CD:...\Examples\HEDA\Master.c3p, slave1.c3p, slave2.c3p, slave3.c3p
6.8.3. Coupling objects

Coupling objects (framed objects) are suitable as master signal for electronic
coupling and should be in the DSP Format (see on page 497).
C3_MoveSu perImposed 680.4 C3. C3_S hiftP osition
PositionController_
*
Distance StatusPosition_ Distance
DemandValue
2200.2 C3Plus.
2020.1 C3.External
C 3S M
ActualValue
680.10 Signal_Position
W iz ar d RS
2011.4 3021.2 C3Cam
681.4 C3.
.SignalSource_
StatusSpeed_
Position
DemandValue
TRF
B Physical 990.1
Direction
C3.Delay
+/-10 V -1 / +1
2107.1 _Master
3920.7 Delay
* 0,5 ms
3920.1 C3Plus. SD
HEDA_Signal TRF Structure + +
Control-
Processing_Input
HEDA
of Cam or + + loop
2109.1 Gearing Direction

-1 / +1 Direction
Virtual 2000.10 C3Plus.Profil
Generator_SG1PositionSum
* -1 / +1 SD
Mas ter 2000.2 C3Plus.Profile
Generators_PG2Position
3921.1
Direction
2200.1 C3Plus.Position
Controller_DemandValue
*
CAN Sync -1 / +1
Inter-
Po werLin k
EtherC at
polator 2000.1 C3Plus.Profil * 681.9 C3.Status RS
Generators_SG1Position Speed_
3921.7 C3Plus.FBI_Signal 680.5 C3.Status
ActualFilter
Processing0_OutputGreat Position_Actual
Input value for HEDA couplings is object 3920.1.
Note: * These values are not even reset by a home run.

Direction -1 / +1: With direction inversion (in the configuration wizard) these
coupling values are inverted, relative to the drive direction (factor -1).
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Communication C3T40
6.9 Normalization factors

Under “configuring communication: normalization factors Y2/Y4", you can change
the validation for individual objects (objects in the Y2 and Y4 format) via scaling
factors.
In the wizard window, the object numbers that can be influenced are displayed at
the right side of the factors.
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Parker EME Normalization factors
7. Compax3 - Objects
Compax3 objects are encapsulated in the "C3, C3Array, ..." modules in the
IEC61131-3 programming environment (CoDeSys).
Enter the object names before the "." and the corresponding list of objects
will appear.
Objects that are not described here are reserved objects!
Note on searching objects:

 If the object number is known, you can enter it directly in the index.
 In addition you can find the CoDeSys name of the objects in the index.
Note on bus numbers (PNU, CAN-No.):

The bus numbers of the array can be found in the description on column 1, line 1
(Object 1901.1)

Object overview sorted by object no. (T40) .................................................................... 515
T40 Objects for the Process Data Channel / the Messages ........................................... 527
Object overview sorted by object groups (T40) .............................................................. 529
Please note that certain objects are not valid (read by Compax3) immediately after
setting objects to a change. This is described in the heading "Valid after".
valid These objects are converted to internal variables from the Compax3 "VP"
command (write in object 210.10 with value <> 0).
saving objects It should also be noted that modified objects are not permanently stored in the
permanently Compax3, i.e. the changes are lost after the power (24 VDC) is turned off.
The object "Save objects permanently" (write in object 20.11 with value <> 0)" can
be used to save objects in a flash memory so they are retained even if the power
fails.
Please note the following:
 The IEC cycle time increases considerably (to approx. 1.5 seconds) during
memorization.
 We therefore recommend NOT to execute this function during time-sensitive
parts of the IEC program.
 PLC cycle time monitoring is deactivated when accessing this object.
 Perform this command only when needed. The write cycles of the memory
module are limited (up to 100 000 cycles).
 The function is edge triggered and is executed upon a rising edge.
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Compax3 - Objects C3T40
7.1 Object overview sorted by object no. (T40)

No. Object name Object I20,I32 I21,I30,I31 Format PD Valid Device
Bus no Bus no assignment
I11 Bus
1.0 Device_Device I16 no - False
1.15 Device_ProfileID Profibus profile number 965 OS no - False True
1.21 Device_FirmwareRelease Version of firmware package 0x20FF I32 no Immediat False True
ely
20.1 ObjectDir_Objekts-->FLASH Store objects permanently (bus) 339 0x2017 I16 no Immediat False True
ely
20.10 C3.ObjectDir_ReadObjects reading objects from Flash I16 no Immediat True True
ely
20.11 C3.ObjectDir_WriteObjects saving objects permanently I16 no Immediat True True
ely
50.1 C3Plus.PLC_DemandCycleTime cycle time specification 352 0x201F.1 U16 no Immediat True True
ely
50.3 C3Plus.PLC_ActualCycleTime Status of cycle time of the control 353 0x201F.2 U16 no - False True
program
50.4 C3Plus.PLC_ActualCycleTimeMax Status of maximum cycle time 354 0x201F.3 U16 no Immediat False True
ely
84.2 DeviceSupervision_ThisDevice Device number in the C3M U16 no - True True
combination
84.3 DeviceSupervision_DeviceCounter Number of devices in the C3M U16 no - True True
combination
84.4 DeviceSupervision_DeviceAdr Current RS485 address of the C3M U16 no - True True
84.5 DeviceSupervision_OperatingTime Hours of operation of the PSUP in s U32 no - True True
85.1 Diagnostics_DeviceState PSUP operating state V2 no Immediat True True
ely
85.2 C3Plus.Diagnostics_DCbus_Voltage PSUP DC intermediate voltage I16 no - True True
85.3 C3Plus.Diagnostics_DCbus_Current PSUP intermediate current I16 no - True True
85.4 C3Plus.Diagnostics_TemperatureHeatSink PSUP heat dissipator temperature I16 no - True True
85.5 C3Plus.Diagnostics_RectifierLoad PSUP usage in % I16 no - True True
85.7 Diagnostics_ChopperOn_Voltage Chopper Switch-on threshold in V I16 no - True True
85.8 Diagnostics_ChopperOff_Voltage Chopper Switch-off threshold in V I16 no - True True
85.9 Diagnostics_DCbus_VoltageMax Reduced DC bus voltage in V I16 no - True True
86.1 ErrorHistoryPointer_LastEntry Pointer to current error U16 no - True True
87.1 ErrorHistoryNumber_1 Error 1 U16 no - True True
88.1 ErrorHistoryTime_1 Error point in time 1 U32 no - True True
100.1 C3Plus.Controller_ControlwordDemand Controller control word setpoint value U16 no Immediat True True
ely
100.2 C3Plus.Controller_Controlword Controller control word actual value U16 yes Immediat True True
ely
110.1 C3Plus.Switch_DeviceFunction Value of the function switch on C3M U16 no - True True
120.2 C3.DigitalInput_Value Status of digital inputs V2 yes - True True
120.3 DigitalInput_DebouncedValue Status of digital inputs 21 0x6100.1 V2 yes - True True
120.7 C3.DigitalInput_DebounceTime Debounce time for dig. Inputs I16 no Immediat True True
ely
120.8 C3.DigitalInput_DebounceMask Debounce mask for dig. Inputs I16 no Immediat True True
ely
121.2 C3.DigitalInputAddition_Value input word of I/O option 175 0x6100.2 V2 yes - True True
133.2 C3.DigitalOutputAddition_Error error in I/O option 351 0x6300.4 V2 no - True True
133.3 C3.DigitalOutputAddition_Value output word for I/O option 176 0x6300.2 V2 yes Immediat True True
ely
133.4 C3.DigitalOutputAddition_Enable activating input/output option 350 0x6300.3 V2 no Immediat True True
M10/M12 ely
140.3 C3.DigitalOutputWord_DemandState Command value of the digital outputs 22 0x6300.1 V2 yes Immediat False True
ely
150.1 C3Plus.RemoteDigInput_I0_15 Digital PIO inputs 0...15 0x2080.1 V2 yes Immediat False True
ely
ely
ely
ely
151.1 C3Plus.RemoteDigOutput_O0_15 Digital PIO outputs 0...15 0x2081.1 V2 yes Immediat False True
ely
ely
ely
ely
152.1 C3Plus.RemoteAnalogInput_I0 PIO analog input 0 0x2082.1 I16 yes Immediat False True
ely
ely
ely
ely
153.1 C3Plus.RemoteAnalogOutput_O0 PIO analog output 0 0x2083.1 I16 yes Immediat False True
ely
ely
ely
ely
170.2 AnalogInput0_Gain Gain analog input 0 C4_3 no VP True True
170.3 C3Plus.AnalogInput0_FilterCoefficient Filter of analog input 0 I16 no VP True True
170.4 AnalogInput0_Offset Analog input Offset 0 I16 no Immediat True True
ely
516 192-120108N13 Compax3T40_eng 2014-10

Parker EME Object overview sorted by object no. (T40)

I11 Bus
171.4 AnalogInput1_Offset Analog input offset 1 I16 no Immediat True True
ely
190.1 C3Plus.M2x_InputControl_Enable_Inputs_X20 Enable analog inputs X20 M2x I16 no VP True True
191.1 C3.M2x_Input0_Gain User gain M2x Input 0 C4_3 no VP True True
191.2 C3.M2x_Input0_Offset User offset M2x Input 0 Y2 no VP True True
191.3 C3Plus.M2x_Input0_FilterCoefficient Filter time constant M2x Input 0 I16 no VP True True
200.1 NormFactorY2_Speed Normalization factor for Y2 speeds 355.1 0x2020.1 V2 no Immediat False True
ely
200.3 NormFactorY2_Voltage Normalization factor for Y2 voltages 355.3 0x2020.3 V2 no Immediat False True
ely
200.4 NormFactorY2_DemandValue3 Normalization factor for 1100.8 355.4 0x2020.4 V2 no Immediat False True
ely
200.5 NormFactorY2_Array_Col2 Normalization factor recipe arrays 355.5 0x2020.5 V2 no Immediat False True
column 2 ely
ely
200.7 NormFactorY2_ActualValue3 Normalization factor for 1000.8 355.7 0x2020.7 V2 no Immediat False True
ely
ely
200.9 NormFactorY2_DemandValue2_Y2 Normalization factor for 0x2020.9 V2 no Immediat False True
[email protected] ely
200.10 NormFactorY2_ActualValue2_Y2 Normalization factor for 1000.14 V2 no Immediat False True
ely
200.11 NormFactorY2_Current Normalization factor for Y2 currents 355.11 0x2020.11 V2 no Immediat False True
ely
201.1 NormFactorY4_Speed Scaling factor for Y4 speeds 356.1 0x2021.1 V2 no Immediat False True
ely
201.2 C3Plus.NormFactorY4_Position Scaling factor for Y4 positions 356.2 0x2021.2 V2 no Immediat False True
ely
201.3 NormFactorY4_Voltage Scaling factor for Y4 voltages 356.3 0x2021.3 V2 no Immediat False True
ely
201.4 NormFactorY4_Array_Col1 Scaling factor recipe arrays column 1 356.4 0x2021.4 V2 no Immediat False True
ely
ely
ely
ely
ely
201.11 NormFactorY4_FBI_SignalProcessing_Position Normalization factor for bus 356.11 0x2021.11 V2 no Immediat False True
interpolation ely
ely
ely
201.14 NormFactorY4_FBI_SignalProcessing_Speed Normalization factor for 3925.20 0x2021.14 V2 no Immediat False True
ely
201.15 NormFactorY4_FBI_SignalProcessing_Accel Normalization factor for 3925.21 0x2021.15 V2 no Immediat False True
ely
210.1 C3Plus.ValidParameter_CurrentController Set current controller to valid U16 no Immediat True True
ely
210.2 C3Plus.ValidParameter_FiltersRSDP Set filter parameter to valid U16 no Immediat True True
ely
210.3 C3Plus.ValidParameter_SpeedController Set parameter velocity U16 no Immediat True True
controller/velocity observer to valid. ely
210.4 C3Plus.ValidParameter_PositionController Set position controller to valid U16 no Immediat True True
ely
210.5 C3Plus.ValidParameter_FeedForward Set feedforward parameters to valid. U16 no Immediat True True
ely
210.6 C3.ValidParameter_Limits setting limit values to valid. U16 no Immediat True True
ely
210.8 C3Plus.ValidParameter_Autocommutation Set position auto commutation U16 no Immediat True True
parameters to valid ely
210.9 C3Plus.ValidParameter_CamControlledSwitche Set cam switching mechanism 338.9 0x2016.9 U16 no Immediat False True
s parameters to valid ely
210.10 C3.ValidParameter_Global setting objects to valid 338.10 0x2016.10 U16 no Immediat True True
ely
230.23 C3Plus.ProjectData_DSPFirmwareVersion DSP firmware version U32 no Immediat True True
ely
280.3 Resolver_LevelAdaption Resolver signal scaling I16 no Immediat True True
ely
192-120108N13 Compax3T40_eng 2014-10 517


I11 Bus
280.5 Resolver_ExcitationLevel Resolver excitation level U16 no Immediat True True
ely
295.10 SSI_Feedback_Incr_Position SSI feedback position (Increments) I32 no - True True
295.11 C3Plus.SSI_Feedback_Absolut_Position I32 no - True True
295.12 C3Plus.SSI_Feedback_PositionGreat Rotation position I32 no - True True
402.1 C3.Limit_SpeedPositive maximum permissible positive speed 317 0x2009 I16 no VP True True
402.2 C3.Limit_SpeedNegative maximum permissible negative 318 0x200A I16 no VP True True
speed
402.3 C3.Limit_CurrentPositive maximum permissible positive 319 0x200B I16 no VP True True
current
402.4 C3.Limit_CurrentNegative maximum permissible negative 320 0x200C I16 no VP True True
current
402.6 C3Plus.Limit_CurrentFine Factor for the current limits 465 0x2093 I16 yes Immediat True True
ely
402.7 C3Plus.Limit_MaxTorque Torque limit or force limit 0x6072 U16 yes Immediat True True
ely
410.2 C3.LimitPosition_Positive Positive Travel Limit 321 0x607D.2 C4_3 no Immediat True True
ely
410.3 C3.LimitPosition_Negative Negative SW travel limit 322 0x607D.1 C4_3 no Immediat True True
ely
410.6 C3.LimitPosition_LoadControlMaxPosDiff Position difference load-motor (error C4_3 no VP True True
threshold)
420.1 C3.PositioningAccuracy_Window positioning window for position 328 0x6067 C4_3 no VP True True
reached
420.2 C3.PositioningAccuracy_FollowingErrorWindow Following error limit 330 0x6065 C4_3 no VP True True
420.3 C3.PositioningAccuracy_FollowingErrorTimeout Following Error Time 331 0x6066 U16 no Immediat True True
ely
420.6 C3.PositioningAccuracy_PositionReached Position reached I32 no - True True
420.7 C3.PositioningAccuracy_WindowTime In Position Window Time 329 0x6068 U16 no Immediat True True
ely
550.1 C3Plus.ErrorHistory_LastError current error (n) 115/947.0 0x603F/0x U16 yes - True True
201D.1
550.2 ErrorHistory_1 Error (n-1) in the error history 947.1 0x201D.2 U16 no - False True
620.6 C3Plus.EncoderEmulation_Offset Zero pulse offset encoder emulation C4_3 no VP True True
620.7 C3Plus.EncoderEmulation_SetEmulationZero Encoder simulation teaching zero I16 no Immediat True True
pulse ely
620.10 C3Plus.EncoderEmulation_Setpoint_without_off Demand position of encoder C4_3 no - True True
set simulation (without offset)
634.4 C3.AnalogOutput0_DemandValue Setpoint for analog output 0 24 0x2019 I16 yes Immediat True True
ely
634.6 AnalogOutput0_Offset_Hardware Offset value for the D/A monitor 0 I16 no VP True True
634.7 AnalogOutput0_Gain_Hardware Additional gain factor for the D/A C4_3 no VP True True
monitor 0
635.4 C3.AnalogOutput1_DemandValue Setpoint for analog output 1 103 0x201A I16 yes Immediat True True
ely
635.6 AnalogOutput1_Offset_Hardware Offset value for the D/A Monitor 1 I16 no VP True True
monitor 1
670.1 C3Plus.StatusTorqueForce_SetpointTorque Status of setpoint torque I32 no - True True
670.2 C3Plus.StatusTorqueForce_ActualTorque Status of actual torque 209 I32 yes - True True
670.3 C3Plus.StatusTorqueForce_SetpointForce Status of setpoint force I32 no - True True
670.4 C3Plus.StatusTorqueForce_ActualForce Status of actual force I32 no - True True
670.9 C3Plus.StatusTorqueForce_RatedTorqueForce Reference torque or from the 0x6076 U32 no - True True
reference force
677.11 C3Plus.StatusPressureForce_ForceDemandVal Demand force controller C4_3 no - True True
ue
677.12 C3Plus.StatusPressureForce_ForceActualValue Actual force controller C4_3 no - True True
677.13 C3Plus.StatusPressureForce_ForceError Control deviation of force controller C4_3 no - True True
677.20 C3Plus.StatusPressureForce_ControllerIpart Status of I-term of pressure or C4_3 no - True True
force/torque control
677.21 C3Plus.StatusPressureForce_ControllerPpart Status of P-term of pressure or C4_3 no - True True
677.22 C3Plus.StatusPressureForce_ControllerDpart Status of D-term of pressure or C4_3 no - True True
677.23 C3Plus.StatusPressureForce_ControllerVpart Status of speed feedback of pressure C4_3 no - True True
or force/torque control
677.24 C3Plus.StatusPressureForce_ControllerFFWpar Status actual torque/force injection C4_3 no - True True
t force/torque controller
677.27 C3Plus.StatusPressureForce_ControllerOut Status of total control signal pressure C4_3 no - True True
680.1 C3.StatusPosition_DemandValue1 Position command value of Profile 0 0x2052 Y4 yes - True True
transmitter1
680.2 C3.StatusPosition_DemandValue2 Status demand position virtual 202 0x2042 Y4 yes - False True
master
680.3 C3.StatusPosition_DemandValue3 Status of setpoint position of 0 0 Y4 no - False True
Superimposed motion
680.4 C3.StatusPosition_DemandValue Status demand position 323 0x60FC C4_3 yes - True True
680.5 C3.StatusPosition_Actual Status actual position 28 0x2104 C4_3 yes - True True
680.6 C3.StatusPosition_FollowingError Status of tracking error 100 0x60F4 C4_3 yes - True True
680.8 StatusPosition_ActualY4 Status of actual position in bus format 119 0x2022/0x I32 yes - False True
Y4 6064
680.10 C3.StatusPosition_EncoderInput5V Status of encoder input 0 (5V) 0x2095.2 C4_3 yes - True True
680.11 C3.StatusPosition_EncoderInput24V Status of encoder input 0 (24V) C4_3 yes - True True
680.12 C3.StatusPosition_DemandController Status demand position without C4_3 no - True True
absolute reference
680.13 C3.StatusPosition_ActualController Status actual position without C4_3 no - True True
absolute reference
680.14 StatusPosition_FeedbackAbsolute Feedback absolute position in I32 no - True True
feedback increments
680.18 C3.StatusPosition_ActualNotReset Status actual position (not reset) C4_3 yes - True True
680.20 StatusPosition_LoadControlDeviation Position difference load-motor C4_3 no - True True
(unfiltered)
680.21 C3.StatusPosition_LoadControlDeviationMax Maximum position difference C4_3 no - True True
load-motor
518 192-120108N13 Compax3T40_eng 2014-10


I11 Bus
680.22 C3.StatusPosition_LoadControlDeviationFiltere Position difference load-motor C4_3 no - True True
d (filtered)
680.23 C3.StatusPosition_LoadControlActual Actual position of the load C4_3 no - True True
680.24 C3Plus.StatusPosition_SSI_AbsolutPosition_Lo AbsolutPosition of the SSI-feedback C4_3 no - True True
adUnits load unit
680.25 C3Plus.StatusPosition_SSI_AbsolutPosition_M AbsolutPosition of the SSI-feedback C4_3 no - True True
asterUnits master unit
680.30 C3.StatusPosition_Referenced Status of axis referenced I16 no - True True
680.32 C3Plus.StatusPosition_EncoderIncrements5V Encoder position 0 (5V) in increments 0x2095.3 I32 yes Immediat True True
ely
680.36 C3Plus.StatusPosition_SuperImposedPositionS Status of position sum C4_3 yes - False True
um MoveSuperImposed
681.1 C3.StatusSpeed_DemandValue1 Speed setpoint value of profile 0x2053 Y4 yes - True True
generator 1
681.2 C3.StatusSpeed_DemandValue2 Status demand speed virtual master 203 0x2043 Y4 yes - False True
681.3 C3.StatusSpeed_DemandValue3 Speed of a superimposed motion or Y4 no - False True
of phasing
681.4 C3.StatusSpeed_DemandValue Status demand speed of setpoint 324 0x606B C4_3 yes - True True
generator
681.5 C3.StatusSpeed_Actual Status actual speed unfiltered 0x6069 C4_3 yes - True True
681.6 C3.StatusSpeed_Error Status control deviation of speed 101 0x2027 C4_3 yes - True True
681.7 StatusSpeed_ActualFilteredY2 Status of the actual filtered speed 6 0x2023 Y2 yes - False True
speed in the Y2 format
681.8 StatusSpeed_ActualFilteredY4 Status of the actual filtered peed in 117 0x2024 Y4 yes - False True
the Y4 format
681.9 C3.StatusSpeed_ActualFiltered Status actual speed filtered 8 0x606C C4_3 yes - True True
681.10 C3.StatusSpeed_DemandSpeedController Status demand speed controller input C4_3 yes - True True
681.11 C3.StatusSpeed_FeedForwardSpeed Status speed feed forward C4_3 no - True True
681.12 C3.StatusSpeed_ActualScaled Filtered actual speed in per cent C4_3 no - True True
681.13 C3.StatusSpeed_DemandScaled Setpoint speed of the setpoint C4_3 no - True True
generator
681.20 C3.StatusSpeed_LoadControl Speed of the load feedback C4_3 no - True True
(unfiltered)
681.21 C3.StatusSpeed_LoadControlFiltered Speed of the load feedback (filtered) C4_3 no - True True
681.24 C3.StatusSpeed_PositiveLimit Positive speed limit currently effective C4_3 no - True True
681.25 C3.StatusSpeed_NegativeLimit Negative speed limit currently C4_3 no - True True
effective
681.26 C3.StatusSpeed_ActualUnitrpmORmps Status of actual speed filtered in 226 0x2105 C4_3 yes - True True
1/min or m/s
682.3 C3.StatusAccel_DemandValue3 Acceleration of a superimposed I32 no - False True
motion or of phasing
682.4 C3.StatusAccel_DemandValue Status demand acceleration 325 0x200E I32 no - True True
682.5 C3.StatusAccel_Actual Status of actual acceleration I32 no - True True
unfiltered
682.6 C3.StatusAccel_ActualFilter Status of filtered actual acceleration I32 no - True True
682.7 StatusAccel_FeedForwardAccel Status acceleration feed forward C4_3 no - True True
683.1 C3.StatusDevice_ActualCurrent Status of actual current value 112 0x6077 E2_6 yes - True True
(not
EtherCAT
with
mapping
via
master)
683.2 C3.StatusDevice_ActualDeviceLoad Status of device load 334 0x2011 E2_6 no - True True
683.3 C3.StatusDevice_ActualMotorLoad Status of long-term motor utilization 335 0x2012 E2_6 no - True True
683.4 C3.StatusDevice_DynamicMotorLoad Status of short-term motor load E2_6 no - True True
683.5 C3.StatusDevice_ObservedDisturbance Status of observed disturbance C4_3 no - True True
683.6 StatusDevice_BallastResistorLoad Status of long-term braking resistor C4_3 no - True True
utilization
683.7 StatusDevice_BallastResistorDynamicLoad Status of short-term braking resistor C4_3 no - True True
utilization
683.8 C3Plus.StatusDevice_MotorCurrent Motor current in per thousand of the 0x2094 I16 yes - False True
actual current limit
683.9 C3.StatusDevice_ActualDeviceLoadLowFreque Status of device utilization at small E2_6 no - True True
ncy electrical turning frequency
683.11 StatusDevice_BallastResistorONThreshold Braking resistor switch-on voltage C4_3 no - True True
683.12 StatusDevice_BallastResistorOFFThreshold Braking resistor switch-off voltage C4_3 no - True True
683.13 StatusDevice_ActualTorqueDS402 Actual torque or force DS402 0x6077 I16 yes - False True
opmode 10 (only
EtherCAT
with
mapping
via
master)
684.1 C3.StatusTemperature_PowerStage Status of power output stage 337 0x2014 U16 no - True True
temperature
684.2 C3.StatusTemperature_Motor Status of motor temperature 336 0x2013 I16 no - True True
684.4 C3Plus.StatusTemperature_TmotResistance Status of motor temperature U16 no - True True
resistance value
685.1 C3.StatusVoltage_AuxiliaryVoltage Status of auxiliary voltage 326 0x200F E2_6 no - True True
685.2 C3.StatusVoltage_BusVoltage Status DC bus voltage 327 E2_6 no - True True
685.3 C3.StatusVoltage_AnalogInput0 Status of analog input 0 23 0x2025 Y2 yes - True True
685.5 StatusVoltage_BusVoltageC43 Status DC bus voltage C4_3 0x6079 C4_3 yes - False True
685.6 C3.StatusVoltage_M2xAnalogInput0 Filtered actual value of the M2x Y2 yes - True True
voltage input 0
voltage input 1
voltage input 2
voltage input 3
voltage input 4
192-120108N13 Compax3T40_eng 2014-10 519


I11 Bus
voltage input 5
688.1 C3.StatusCurrent_Reference Status of setpoint current RMS E2_6 no - True True
(torque forming)
688.2 C3.StatusCurrent_Actual Status of actual current RMS (torque E2_6 yes - True True
producing)
688.8 StatusCurrent_ControlDeviationIq Status control deviation current C4_3 no - True True
control RMS
688.9 StatusCurrent_PhaseU Status of current phase U C4_3 no - True True
688.10 StatusCurrent_PhaseV Status of current phase V C4_3 no - True True
688.11 StatusCurrent_ReferenceVoltageUq Status of current control control C4_3 no - True True
signal
688.13 C3.StatusCurrent_ReferenceJerk Status of demand jerk setpoint I32 no - True True
generator
688.14 StatusCurrent_FeedForwordCurrentJerk Status of current & jerk feedforward C4_3 no - True True
688.17 C3Plus.StatusCurrent_FieldWeakeningFactor Reciprocal of the field weakening C4_3 no - True True
factor FF
688.18 C3.StatusCurrent_ReferenceDINT Demand current rms I32 no - True True
688.19 C3.StatusCurrent_ActualDINT Actual current rms 230 I32 yes - True True
688.22 StatusCurrent_ReferenceVoltageVector Provided voltage pointer C4_3 no - True True
688.29 StatusCurrent_VoltageUq Provided voltage of quadrature C4_3 no - True True
current controller
688.30 StatusCurrent_VoltageUd Provided voltage of direct current C4_3 no - True True
controller
688.31 StatusCurrent_DecouplingVoltageUd Signal decoupling of direct current C4_3 no - True True
controller
688.32 StatusCurrent_FeedForwardbackEMF Signal EMC feed forward C4_3 no - True True
688.33 C3.StatusCurrent_PositiveLimit Positive current limit effective at I32 no - True True
present
688.34 C3.StatusCurrent_NegativeLimit Negative current limit effective at I32 no - True True
present
688.35 C3.StatusCurrent_M2xAnalogInput0 Filtered actual value of the M2x Y2 yes - True True
current input 0
current input 1
current input 2
current input 3
current input 4
current input 5
689.1 StatusHeda_RxPD Receive string OS no - False True
689.2 StatusHeda_TxPD Transmit string OS no - False True
690.5 StatusAutocommutation_Itterations Current increase steps automatic U16 no - True True
commutation
692.1 StatusFeedback_FeedbackSineDSP Status of sine in signal processing I32 yes - True True
692.2 StatusFeedback_FeedbackCosineDSP Status of cosine in signal processing I32 yes - True True
692.3 StatusFeedback_EncoderSine Status of analog input sine I32 no - True True
692.4 StatusFeedback_EncoderCosine Status of analog input cosine I32 no - True True
692.5 StatusFeedback_FeedbackVoltage[Vpp] Status of feedback level C4_3 yes - True True
692.9 StatusFeedback_ResolverLevel Status resolver level C4_3 no - True True
692.10 StatusFeedback_RefChannel Status feedback index track I16 no - True True
692.21 StatusFeedback_FeedbackSineDSPvolts Status of sine in signal processing C4_3 yes - True True
692.22 StatusFeedback_FeedbackCosineDSPvolts Status of cosine in signal processing C4_3 yes - True True
692.23 StatusFeedback_EncoderSineVolts Status of analog input sine (Volt) C4_3 no - True True
692.24 StatusFeedback_EncoderCosineVolts Status of analog input cosine (Volt) C4_3 no - True True
699.4 StatusJerk_DemandValue Status of demand jerk setpoint I32 no - True True
generator
814.10 C3Plus.SafetyMonitor_OperatingState Status S3 U16 no - True
814.11 C3Plus.SafetyMonitor_AlarmCode Alarm no. S3 U16 no - True
814.12 C3Plus.SafetyMonitor_ErrorCode Error no. S3 U16 no - True
814.13 C3Plus.SafetyMonitor_DiagnosticsBits0_15 DiagnoseBits0_15 S3 U16 no - True
814.20 SafetyMonitor_ProcessData Total process data S3 OS no - True
814.21 C3Plus.SafetyMonitor_ProcessData_U16_1 Process data U16_1 of S3 (first 2 U16 no - True
Bytes)
814.22 C3Plus.SafetyMonitor_ProcessData_U16_2 Process data U16_2 of S3 (Byte 3 U16 no - True
and 4)
and 6)
and 8)
Bytes)
814.26 C3Plus.SafetyMonitor_ProcessData_U32_2 Process data U32_2 of S3 (Byte 5 to U32 no - True
8)
6)
820.3 C3Plus.CANopen_Node_ID CANopen_Node_ID U16 no - False True
820.8 C3Plus.CANopen_ComCyclePeriod Sync bus cycle time CANSync, 0x1006, U32 no Immediat False True
Powerlink, EtherCat 0x60C2 ely
820.9 C3Plus.CANopen_State Status of the fieldbus state machine U16 no - False True
820.23 C3Plus.CANopen_SyncPulseCounter Captured sync pulses I32 no Immediat False True
ely
820.24 CANopen_SyncMode Configuration of the bus 0x205E I16 no Immediat False True
synchronization process ely
820.27 CANopen_SyncErrorCounter Error counter for CANSync, I32 no Immediat False True
Powerlink, EtherCat ely
520 192-120108N13 Compax3T40_eng 2014-10


I11 Bus
820.28 C3Plus.CANopen_SyncPeriod Current period duration of the sync C4_3 no - False True
signal
830.1 Profibus_Protocol PPO-type selection switch U16 no Immediat False True
ely
830.2 Profibus_Baudrate Baud rate U32 no - False True
830.3 Profibus_NodeAddress Node address 918 U16 no - False True
830.4 Profibus_TelegramSelect Telegram selection switch 922 U16 no Immediat False True
ely
830.6 Profibus_StandardSignalTable List of Profidrive standard signals 923.x U16 no - False True
900.1 C3Plus.HEDA_State Status HEDA I16 no Immediat False True
ely
900.12 HEDA_CRC_ErrorCounter Error counter CRC (HEDA) U32 no Immediat False True
ely
900.13 HEDA_SyncErrorCounter Error counter Sync (HEDA) U32 no Immediat False True
ely
950.1 FBI_RxPD_Mapping_Object_1 1. Object of the setpoint PZD 915.0 U16 no Immediat False True
(Profibus) ely
950.2 FBI_RxPD_Mapping_Object_2 2. object of the Setpoint value PZD 915.1 U16 no Immediat False True
ely
ely
ely
ely
ely
ely
ely
951.1 FBI_TxPD_Mapping_Object_1 1. object of actual value PZD 916.0 U16 no Immediat False True
ely
ely
ely
ely
ely
ely
ely
ely
990.1 Delay_MasterDelay Setpoint delay for bus master I16 no Immediat True True
ely
1000.3 C3Plus.DeviceState_Statusword_1 status word ZSW 2 0x6041 V2 yes Immediat False True
ely
1000.4 C3Plus.DeviceState_Statusword_2 Status word 2 4 0x201C V2 yes Immediat False True
ely
1000.5 C3Plus.DeviceState_ActualOperationMode operating mode display 128 0x6061 I16 yes Immediat False True
ely
1100.1 C3Plus.DeviceControl_CommandOnRequest Control command 108 0x2028 I16 yes Immediat True True
ely
1100.3 C3Plus.DeviceControl_Controlword_1 STW control word 1 0x6040 V2 yes Immediat False True
ely
1100.4 C3Plus.DeviceControl_Controlword_2 Control word 2 3 0x201B V2 yes Immediat False True
ely
1100.5 C3Plus.DeviceControl_OperationMode Operating mode (Nominal value) 127/930 0x6060 I16 yes Immediat False True
ely
1100.24 C3Plus.DeviceControl_TorqueOffset Offset Demand torque or force 0x60B2 I16 yes Immediat True True
DS402 opmode 10 ely
1111.1 C3Plus.POSITION_position Target position 27 C4_3 yes Immediat True True
(Profibus ely
only)
1111.2 C3Plus.POSITION_speed Speed for positioning 111 C4_3 yes Immediat True True
ely
1111.3 C3Plus.POSITION_accel Acceleration for positioning 114 0x6083 U32 yes Immediat True True
ely
1111.4 C3Plus.POSITION_decel Deceleration for positioning 178/312 0x6084 U32 yes Immediat True True
ely
1111.5 C3Plus.POSITION_jerk_accel Acceleration jerk for positioning 313 0x2005 U32 no Immediat True True
ely
1111.6 C3Plus.POSITION_jerk_decel Deceleration jerk for positioning 314 0x2006 U32 no Immediat True True
ely
1111.8 C3Plus.POSITION_resetpositon_mode Continuous mode 0 0 U16 no Immediat True True
ely
1111.9 POSITION_speed_Y2 Speed for Positioning in Y2 Format 110 Y2 yes Immediat False True
ely
1111.11 POSITION_position_Y4 118 Y4 yes Immediat False True
ely
1111.13 C3Plus.POSITION_direction Manipulation of the motion direction I32 no Immediat True True
in reset mode ely
1111.17 C3Plus.POSITION_turnaround Direction inversion - lock U16 no Immediat True True
ely
1127.3 C3Plus.SPEED_speed Setpoint speed in speed control 7 C4_3 yes Immediat True True
operating mode ely
1130.1 C3Plus.HOMING_accel Acceleration / deceleration homing 300 0x609A U32 no Immediat True True
run ely
1130.2 C3Plus.HOMING_jerk jerk for machine reference run 357 0x201E U32 no Immediat True True
ely
1130.3 C3Plus.HOMING_speed speed for machine reference run 301 0x6099.1 C4_3 no Immediat True True
ely
192-120108N13 Compax3T40_eng 2014-10 521


I11 Bus
1130.4 C3Plus.HOMING_mode adjusting the machine reference 302 0x6098 U16 no Immediat True True
mode ely
1130.7 C3Plus.HOMING_edge_sensor_distance Initiator adjustment 304 0x2000 C4_3 no Immediat True True
ely
1130.13 HOMING_edge_position Distance MN (zero) initiator - motor C4_3 no Immediat True True
zero ely
1141.4 C3Plus.GEAR_mode Source selection Gearing 0x2055 U16 no Immediat True True
ely
1141.7 GEAR_actual_masterposition Position input value for Gearing 0x2058 C4_3 no - True True
1141.8 GEAR_actual_master_speed Master speed for Gearing C4_3 no - True True
1141.10 GEAR_FFW_mode Control bits for feedforward with 0x2097 U16 no Immediat False True
source ely
CANSync/EthernetPowerLink/EtherC
at
1200.1 C3Plus.PG2Control_CommandOnRequest Control of virtual Master 200 0x2040 I16 yes Immediat False True
ely
1211.13 C3Plus.PG2POSITION_direction Manipulation of the motion direction I32 no Immediat True True
in reset mode ely
1900.1 C3Array.Pointer_Row pointer to table row 180 0x2300 U16 yes Immediat True True
ely
1901.1 C3Array.Col01_Row01 variable Column 1 Row 1 130/341.1 0x2301.1 Y4 yes Immediat True True
ely
1901.2 C3Array.Col01_Row02 Variable Column 1 Row 2 131/341.2 0x2301.2 Y4 yes Immediat True True
ely
ely
ely
ely
ely
ely
ely
ely
ely
1903.1 C3Array.Col03_Row01 variable Column 3 Row 1 140/343.1 0x2303.1 I16 yes Immediat True True
ely
1903.2 C3Array.Col03_Row02 Variable Column 3 Row 2 141/343.2 0x2303.2 I16 yes Immediat True True
ely
ely
ely
ely
ely
ely
1904.3 C3Array.Col04_Row03 Variable Column 4Row 3 147/344.3 0x2304.3 I16 yes Immediat True True
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
522 192-120108N13 Compax3T40_eng 2014-10


I11 Bus
ely
ely
ely
ely
ely
ely
ely
1910.1 C3Array.Indirect_Col01 indirect table access Column 1 181 0x2311 Y4 yes Immediat True True
ely
1910.2 C3Array.Indirect_Col02 Indirect table access Column 2 182 0x2312 Y2 yes Immediat True True
ely
1910.3 C3Array.Indirect_Col03 Indirect table access Column 3 183 0x2313 I16 yes Immediat True True
ely
ely
ely
ely
ely
ely
ely
2000.1 C3Plus.ProfilGenerators_SG1Position Position value of the setpoint encoder 0x2060 C4_3 yes - True True
2000.2 C3Plus.ProfilGenerators_PG2Position Position value of the setpoint encoder 0x2061 C4_3 yes - False True
of the virtual axis
2000.4 ProfilGenerators_SG1Speed Speed of the setpoint encoder 0x2063 I32 yes - True True
2000.5 ProfilGenerators_PG2Speed Speed of the virtual axis 0x2064 I32 yes - False True
2000.8 ProfilGenerators_PG2Accel Acceleration of the virtual axis I32 no - False True
2000.10 C3Plus.ProfilGenerators_SG1PositionSum Position sum value of the setpoint C4_3 yes - False True
encoder
2010.1 C3.FeedForward_Speed Velocity Feed Forward 400.1 0x2101.1 U16 no VP True True
2010.2 C3.FeedForward_Accel Acceleration feedforward 400.2 0x2101.2 U16 no VP True True
2010.4 C3.FeedForward_Current Current feed-forward 400.4 0x2101.4 U16 no VP True True
2010.5 C3.FeedForward_Jerk Jerk feed-forward 400.5 0x2101.5 U16 no VP True True
2010.19 C3Plus.FeedForward_UserCurrent Additive Current I32 yes Immediat True True
ely
2010.20 FeedForward_EMF EMC feed forward U16 yes VP True True
2010.21 FeedForward_Valve Valve feedforward U16 no VP True True
2010.23 C3.FeedForward_Speed_FFW Speed feedforward (A1) C4_3 no VP True True
2010.24 C3.FeedForward_Accel_FFW Acceleration feedforward (A1) C4_3 no VP True True
2010.25 C3Plus.FeedForward_GainUserCurrent Gain factor for additive user current C4_3 no Immediat True True
ely
2011.1 C3.FeedForwardExternal_FilterSpeed External Speed Feed Forward Filter 401.1 0x2102.1 U16 no VP True True
Time Constant
2011.2 C3.FeedForwardExternal_FilterAccel External Acceleration Feed Forward 401.2 0x2102.2 U16 no VP True True
Filter Time Constant
2011.4 C3.FeedForwardExternal_FilterSpeed_us Filter time constant ext. speed U16 no VP True True
2011.5 C3.FeedForwardExternal_FilterAccel_us Filter time constant ext. Acceleration U16 no VP True True
2020.1 C3.ExternalSignal_Position Position from external signal source 0x2095.1 C4_3 yes - True True
2020.2 C3.ExternalSignal_Speed speed from external signal source C4_3 yes - True True
2020.6 C3Plus.ExternalSignal_Speed_Munits Speed value of the external signal C4_3 yes - True True
source
2020.7 C3Plus.ExternalSignal_Accel_Munits Acceleration of the external signal I32 yes - True True
source
2050.8 FeedForward_2_Valve Valve feedforward auxiliary axis U16 no VP True True
2050.9 C3.FeedForward_2_Speed_FFW Speed feedforward (A2) C4_3 no VP True True
2050.10 C3.FeedForward_2_Accel_FFW Acceleration feedforward (A2) C4_3 no VP True True
2100.2 C3.ControllerTuning_Stiffness Stiffness (speed controller) 402.2 0x2100.2/ U16 no VP True True
0x2100.1
2100.3 C3.ControllerTuning_Damping damping (rotation speed controller) 402.3 0x2100.3 U16 no VP True True
2100.4 C3.ControllerTuning_Inertia Inertia 402.4 0x2100.4 U16 no VP True True
2100.5 C3.ControllerTuning_FilterSpeed Filter-actual velocity 402.5 0x2100.5 U16 no VP True True
2100.6 C3.ControllerTuning_FilterAccel Filter - Actual acceleration 402.6 0x2100.6 U16 no VP True True
2100.7 C3.ControllerTuning_SpeedDFactor D-component of speed controller 402.7 0x2100.7 U16 no VP True True
2100.8 C3.ControllerTuning_CurrentBandwidth Current regulator bandwidth 402.8 0x2100.8 U16 no VP True True
2100.9 C3.ControllerTuning_CurrentDamping Current loop - Damping 402.9 0x2100.9 U16 no VP True True
2100.10 C3.ControllerTuning_FilterSpeed2 Filter actual velocity 2 U16 no VP True True
2100.11 C3.ControllerTuning_FilterAccel2 Filter actual acceleration 2 U16 no VP True True
2100.20 C3.ControllerTuning_FilterSpeed_us Control signal filter of velocity control U16 no VP True True
2100.21 C3.ControllerTuning_FilterAccel_us Filter - Actual acceleration U16 no VP True True
2107.1 C3Plus.TrackingfilterPhysicalSource_TRFSpee Time constant tracking filter physical U16 no VP True True
d source
2109.1 C3Plus.TrackingfilterHEDA_TRFSpeed Time constant tracking filter I16 no VP True True
HEDA-process position
2110.1 C3Plus.TrackingfilterSG1_TRFSpeed Time constant tracking filter setpoint 0x2096 I16 no VP True True
encoder
2110.3 C3Plus.TrackingfilterSG1_FilterSpeed Filter effect of speed filter setpoint U16 no VP True True
encoder
2110.4 C3Plus.TrackingfilterSG1_AccelFilter Filter effect of acceleration filter U16 no VP True True
setpoint encoder
2110.6 C3Plus.TrackingfilterSG1_FilterSpeed_us Filter time constant velocity setpoint U16 no VP True True
generator
192-120108N13 Compax3T40_eng 2014-10 523


I11 Bus
2110.7 C3Plus.TrackingfilterSG1_AccelFilter_us Filter time constant acceleration U16 no VP True True
setpoint generator
2120.1 SpeedObserver_TimeConstant Rapidity of the speed monitor U32 no VP True True
2120.5 SpeedObserver_DisturbanceFilter Time constant disturbance filter U32 no VP True True
2120.7 SpeedObserver_DisturbanceAdditionEnable Switch to enable disturbance I16 no VP True True
compensation
2150.1 C3Plus.NotchFilter_FrequencyFilter1 Center frequency of notch filter 1 I16 no VP True True
2150.2 C3Plus.NotchFilter_BandwidthFilter1 Bandwidth of notch filter 1 I16 no VP True True
2150.3 C3Plus.NotchFilter_DepthFilter1 Depth of notch filter 1 I32 no VP True True
2190.1 AutoCommutationControl_Ramptime Ramp slope current slope AK U16 no VP True True
2190.2 AutoCommutationControl_InitialCurrent Start current of automatic U16 no VP True True
commutation
2190.3 AutoCommutationControl_PositionThreshold Motion limit for automatic U16 no VP True True
commutation
2190.4 AutoCommutationControl_MotionReduction Motion reduction Automatic U16 no VP True True
commutation
2190.7 AutoCommutationControl_StandstillThreshold Optimization of the standstill U16 no VP True True
threshold
2190.8 AutoCommutationControl_PeakCurrent Reduction of the peak current U16 no VP True True
2190.10 AutoCommutationControl_Reset Reset automatic commutation U16 no Immediat True True
ely
2200.1 C3Plus.PositionController_DemandValue Position setpoint value (sequentially) C4_3 yes - True True
2200.2 C3Plus.PositionController_ActualValue Position actual value (sequentially) C4_3 yes - True True
2200.3 PositionController_ProportionalPart Optimization parameters for the U16 no VP True True
position controller P component (KV
factor)
2200.11 C3Plus.PositionController_TrackingErrorFilter Following error filter of the position U16 no VP True True
controller
2200.20 C3Plus.PositionController_DeadBand Deadband of position controller C4_3 no VP True True
2200.21 PositionController_FrictionCompensation Friction compensation I32 no VP True True
2200.24 PositionController_TrackingErrorFilter_us Time constant following error filter of U16 no VP True True
position controller
2200.25 PositionController_IntegralPart I term of position controller U16 no VP True True
2201.1 C3Plus.LoadControl_Enable Activate load control 0x205F I16 no Immediat True True
ely
2201.2 C3Plus.LoadControl_Command Load control command mode I16 no Immediat True True
ely
2201.3 LoadControl_Status Load control status bits I16 no - True True
2201.11 C3Plus.LoadControl_FilterLaggingPart Time constant of position difference U32 no VP True True
filter
2201.12 C3Plus.LoadControl_VelocityFilter Time constant of the load-speed filter I16 no VP True True
2201.13 C3Plus.LoadControl_VelocityLimit Load control intervention speed I16 no VP True True
limitation
2210.1 SpeedController_DemandValue Velocity setpoint value I32 yes - True True
2210.2 SpeedController_ActualValue Actual (rotational) speed I32 yes - True True
2210.4 SpeedController_P_Part_Gain P term quantifier U16 no VP True True
2210.5 SpeedController_I_Part_Gain Weighting "I" term U16 no VP True True
2210.14 SpeedController_DemandValueAdditive Manual or external velocity I32 yes Immediat True True
specification ely
2210.17 SpeedController_ActualBandwidth Replacement time constant for the I32 no - True True
velocity control
2210.19 C3Plus.SpeedController_ScalingDemandValue Scaling for manual or external C4_3 no Immediat True True
Additive velocity specification ely
2215.5 C3Plus.PressureForceController_Proportional_ P-term of force/pressure control 420 C4_3 no VP True True
Part_Kp
2215.6 C3Plus.PressureForceController_Integration_P I-term of force/pressure control 421 C4_3 no VP True True
art_KI
2215.7 C3Plus.PressureForceController_InsideWindow Internal window I-term of 422 C4_3 no VP True True
_IPart force/pressure control
2215.8 C3Plus.PressureForceController_OutsideWindo External window I-term of 423 C4_3 no VP True True
w_IPart force/pressure control
2215.9 C3Plus.PressureForceController_SpeedFeedba Speed feedback of force/pressure 424 C4_3 no VP True True
ck_Kvp_or_DampingFactor control, damping term of force control
2215.10 C3Plus.PressureForceController_PressureForc Force/pressure injection C4_3 no VP True True
e_Disturbance_KFFWp
2215.13 C3Plus.PressureForceController_SpeedFeedba Signal limitation of speed feedback 425 U16 no VP True True
ck_Limit
2220.1 Q_CurrentController_Q_DemandValue Quadrature Current CommandValue I16 yes - True True
2220.2 Q_CurrentController_Q_DemandValueAdditive Manual or external cross current I16 yes Immediat True True
specification ely
2220.3 C3Plus.Q_CurrentController_Scaling_Q_Dema Scaling for manual or external current I16 no Immediat True True
ndValueAdditive specification ely
2220.4 Q_CurrentController_Q_ActualValue Cross-flow actual value I16 yes - True True
2220.5 Q_CurrentController_CurrentControlProportiona Current Loop - "P" Term I16 no VP True True
lPart
2220.6 Q_CurrentController_CurrentControlIntegralPart Current Loop I term I16 no VP True True
2220.20 Q_CurrentController_Inductance Parameter motor inductance I16 no VP True True
2220.21 Q_CurrentController_Resistance Parameter motor resistance I16 no VP True True
2220.22 Q_CurrentController_BackEMF Parameter motor force constant I16 no VP True True
2220.27 Q_CurrentController_StructureSelection Structure switch of current control I16 no VP True True
2230.20 D_CurrentController_Ld_Lq_Ratio Ratio direct to quadrature inductance U16 no VP True True
2230.24 D_CurrentController_VoltageDecouplingEnable Activation of the voltage decoupling I16 no VP True True
2240.2 Magnetisierungsstromregler_Imrn_DemandValu Magnetization current quantifier I16 no VP True True
eTuning (ASM)
2240.4 Magnetisierungsstromregler_Damping Magnetization current controller I16 no VP True True
attenuation(ASM)
2240.7 Magnetisierungsstromregler_Bandwidth Magnetization current controller I16 no VP True True
bandwidth (ASM)
524 192-120108N13 Compax3T40_eng 2014-10


I11 Bus
2240.9 Magnetisierungsstromregler_SlipFrequency Slip frequency quantifier (ASM) I16 no VP True True
2240.10 Magnetisierungsstromregler_RotorTimeConstan Motor Time Constant quantifier I16 no VP True True
t
2240.11 Magnetisierungsstromregler_Field weakening Reference speed quantifier (ASM) I16 no VP True True
speed
3021.1 C3Cam.SignalSource_Select Source of master position U16 no Immediat False True
ely
3021.2 C3Cam.SignalSource_Position Status of position of selected master C4_3 yes - False True
signal source
3021.10 C3Cam.SignalSource_InputAdditional CAM Master position C4_3 yes Immediat False True
ely
3022.1 C3Cam.Manipulation_OffsetMasterposition Master position offset C4_3 no Immediat False True
ely
3022.3 C3Cam.Manipulation_ScalefactorMasterGlobal Global scaling factor for the master C4_3 no Immediat False True
speed ely
3022.6 C3Cam.Manipulation_OffsetMasterposition_Unit Offset Master position C4_3 no Immediat False True
s ely
3030.1 C3Cam.StatusMaster_Position Reset master position 207 0x2410 C4_3 yes - False True
3030.7 C3Cam.StatusMaster_Enable Status: Enable of master acquisition U16 no - False True
3030.12 C3Cam.StatusMaster_PhasingSum Added up position sum of the C4_3 no - False True
master-side phasing
3030.13 StatusMaster_InputSum Free running master position after C4_3 yes - False True
MP enable
3030.14 C3Cam.StatusMaster_BackstopDistance Integrated negative master distance C4_3 yes - False True
with active back stop
3030.17 C3Cam.StatusMaster_EnableCam Status: Enable of cam input U16 no - False True
3030.22 C3Cam.StatusMaster_SpeedUnits Master speed [Units/s] C4_3 no - False True
3030.24 C3Cam.StatusMaster_PositionCamUnits Master position at the beginning of C4_3 yes - False True
the curve
3031.4 C3Cam.StatusData_ActualCurve Current curve number I16 no - False True
3032.1 C3Cam.StatusOutput_Position Slave position C4_3 yes - False True
3032.4 C3Cam.StatusOutput_AbsolutePositionGreat Slave position (free running) C4_3 yes - False True
3032.24 C3Cam.StatusOutput_CurvePositionUnits End of curve 208 0x2411 C4_3 yes - False True
3310.1 C3.Multiturnemulation_Status Status of Multiturn emulation I16 no - True True
3700.2 C3Cam.ControlledSwitchesFast_Enable enable fast cams 500.2 0x2400.2 U16 no Immediat False True
ely
3700.3 C3Cam.ControlledSwitchesFast_Output output for fast cams 204/500.3 0x2400.3 U16 yes Immediat False True
ely
3701.2 C3Cam.ControlledSwitches_Enable0 enable of cam group 0 501.2 0x2401.2 U16 no Immediat False True
ely
3701.3 C3Cam.ControlledSwitches_Output0 output of cam group 0 205/501.3 0x2401.3 U16 yes Immediat False True
ely
ely
ely
3701.6 C3Cam.ControlledSwitches_NumberPerCycle Number of cams in one cycle U16 no Immediat False True
ely
3705.1 C3Cam.ControlledSwitchesHysteresis_ActualP Hysteresis for cam switching C4_3 no VP False True
osition mechanism, source "current position"
3705.2 C3Cam.ControlledSwitchesHysteresis_Demand C4_3 no VP False True
Position
3705.4 C3Cam.ControlledSwitchesHysteresis_Fieldbus C4_3 no VP False True
Position
3705.5 C3Cam.ControlledSwitchesHysteresis_Masterp Hysteresis for cam switching C4_3 no VP False True
osition mechanism, source "master position"
3705.6 C3Cam.ControlledSwitchesHysteresis_CAMPos C4_3 no VP False True
ition
3710.1 C3Cam.ControlledSwitchFast0_Source source of fast cam 502.1 0x2402.1 I16 no VP False True
3710.2 C3Cam.ControlledSwitchFast0_PositionOn switch-on position for fast cam 503.1 0x2403.1 C4_3 no VP False True
3710.3 C3Cam.ControlledSwitchFast0_PositionOff switch-off position for fast cam 504.1 0x2404.1 C4_3 no VP False True
3710.4 C3Cam.ControlledSwitchFast0_TimeOn switch-on anticipation of fast cam 505.1 0x2405.1 I16 no Immediat False True
ely
3710.5 C3Cam.ControlledSwitchFast0_TimeOff switch-off anticipation of fast cam 506.1 0x2406.1 I16 no Immediat False True
ely
3730.1 C3Cam.ControlledSwitch00_Source source of cam 507.1 0x2407.1 I16 no VP False True
3730.2 C3Cam.ControlledSwitch00_PositionOn switch-on position of cam 508.1 0x2408.1 C4_3 no VP False True
3730.3 C3Cam.ControlledSwitch00_PositionOff switch-off position of cam 509.1 0x2409.1 C4_3 no VP False True
3730.4 C3Cam.ControlledSwitch00_TimeOn switch-on anticipation of cam 510.1 0x240A.1 I16 no Immediat False True
ely
3730.5 C3Cam.ControlledSwitch00_TimeOff switch-off anticipation of cam 511.1 0x240B.1 I16 no Immediat False True
ely
3920.1 C3Plus.HEDA_SignalProcessing_Input Process input signal Slave C4_3 yes Immediat True True
ely
3920.7 C3Plus.HEDA_SignalProcessing_OutputGreat Output of the Heda Tracking Filter C4_3 no - True True
3921.1 FBI_SignalProcessing0_Input_Y4 Interpolation input CanSync, 0x2050/0x I32 yes Immediat False True
PowerLink 60C1.1 ely
3921.2 C3Plus.FBI_SignalProcessing0_ResetDistance Upper modulo limit CANSYNC, 0x2051 I32 no Immediat False True
Powerlink, EtherCAT in Mrev ely
3921.3 FBI_SignalProcessing0_ResetDistanceLow Lower modulo limit CanSync, 0x2103.1 I32 no Immediat False True
PowerLink, EtherCat in Mrev ely
3921.5 FBI_SignalProcessing0_OutputFBIncr Interpolation output position I32 no - False True
CanSync, PowerLink, EtherCat in
Fbincr.
3921.7 C3Plus.FBI_SignalProcessing0_OutputGreat Interpolation output position Y4 no - False True
Mrev - free running.
3921.8 C3Plus.FBI_SignalProcessing0_Source Switching the position source of the I16 no Immediat False True
interpolator ely
3921.9 C3Plus.FBI_SignalProcessing0_ResetDistance Modulo limit CanSync, PowerLink, 0x2103.1 I32 no Immediat False True
_Incr EtherCat in Fbincr ely
3921.10 FBI_SignalProcessing0_ResetDistanceLow_Inc Lower modulo limit CanSync, 0x2103.2 I32 no Immediat False True
r PowerLink, EtherCat in Fbincr ely
3921.11 C3Plus.FBI_SignalProcessing0_IncrModuloEna Selection switch Modulo limit 0x2103.3 I32 no Immediat False True
ble CanSync, PowerLink, EtherCat ely
192-120108N13 Compax3T40_eng 2014-10 525


I11 Bus
3925.1 C3Plus.FBI_Interpolation_SubModeSelect Interpolation method 0x60C0 I16 no Immediat False True
ely
3925.20 FBI_Interpolation_VelocityInput Velocity specification GEARING 0x2098 I32 yes Immediat False True
CanSync/EthernetPowerLink/EtherC ely
at
3925.21 FBI_Interpolation_AccelInput Acceleration specification GEARING 0x2099 I32 yes Immediat False True
at
3925.22 FBI_Interpolation_VelocityStatus Speed output value for C4_3 no - False True
CanSync/EthernetPowerLink/EtherC
at
3925.23 FBI_Interpolation_AccelStatus Acceleration output value for I32 no - False True
at
3925.24 FBI_Interpolation_PositionStatus Interpolation position input value for I32 no - False True
at
526 192-120108N13 Compax3T40_eng 2014-10

Parker EME T40 Objects for the Process Data Channel / the Messages
7.2 T40 Objects for the Process Data Channel / the

Messages
No. Object name Object PNU PZD CAN No PD Bus Word

format length
121.2 input word of I/O option C3.DigitalInputAddition_Value 175 PED 0x6100.2 TPDO V2 1
133.3 output word for I/O option C3.DigitalOutputAddition_Value 176 PED/PAD 0x6300.2 R/TPDO V2 1
140.3 Command value of the digital outputs C3.DigitalOutputWord_DemandState 22 PED/PAD 0x6300.1 R/TPDO V2 1
2020.1 Position from external signal source C3.ExternalSignal_Position PED 0x2095.1 TPDO C4_3 2
3925.20 Velocity specification GEARING C3.FBI_Interpolation_VelocityInput PED/PAD 0x2098 R/TPDO I32 2
CanSync/EthernetPowerLink/EtherCat
120.3 Status of digital inputs C3.DigitalInput_DebouncedValue 21 PED 0x6100.1 TPDO V2 1
3925.21 Acceleration specification GEARING C3.FBI_Interpolation_AccelInput PED/PAD 0x2099 R/TPDO I32 2
CanSync/EthernetPowerLink/EtherCat
3921.1 Interpolation input CanSync, PowerLink C3.FBI_SignalProcessing0_Input_Y4 PED/PAD 0x2050/0x R/TPDO I32 2
60C1.1
688.19 Actual current rms C3.StatusCurrent_ActualDINT 230 PED TPDO I32 2
683.1 Status of actual current value C3.StatusDevice_ActualCurrent 112 PED 0x6077 TPDO E2_6 1
(not
EtherCAT
with
mapping
via
master)
683.13 Actual torque or force DS402 opmode 10 C3.StatusDevice_ActualTorqueDS402 PED 0x6077 TPDO I16 1
(only
EtherCAT
with
mapping
via
master)
681.26 Status of actual speed filtered in 1/min or m/s C3.StatusSpeed_ActualUnitrpmORmps 226 PED 0x2105 TPDO C4_3 2
680.5 Status actual position C3.StatusPosition_Actual 28 PED 0x2104 TPDO C4_3 2
680.4 Status demand position C3.StatusPosition_DemandValue 323 PED 0x60FC TPDO C4_3 2
680.1 Position command value of Profile C3.StatusPosition_DemandValue1 0 PED 0x2052 TPDO Y4 2
transmitter1
680.2 Status demand position virtual master C3.StatusPosition_DemandValue2 202 PED 0x2042 TPDO Y4 2
680.10 Status of encoder input 0 (5V) C3.StatusPosition_EncoderInput5V PED 0x2095.2 TPDO C4_3 2
680.6 Status of tracking error C3.StatusPosition_FollowingError 100 PED 0x60F4 TPDO C4_3 2
681.5 Status actual speed unfiltered C3.StatusSpeed_Actual PED 0x6069 TPDO C4_3 2
681.9 Status actual speed filtered C3.StatusSpeed_ActualFiltered 8 PED 0x606C TPDO C4_3 2
681.7 Status of the actual filtered speed speed in C3.StatusSpeed_ActualFilteredY2 6 PED 0x2023 TPDO Y2 1
the Y2 format
681.8 Status of the actual filtered peed in the Y4 C3.StatusSpeed_ActualFilteredY4 117 PED 0x2024 TPDO Y4 2
format
681.4 Status demand speed of setpoint generator C3.StatusSpeed_DemandValue 324 PED 0x606B TPDO C4_3 2
681.1 Speed setpoint value of profile generator 1 C3.StatusSpeed_DemandValue1 PED 0x2053 TPDO Y4 2
681.2 Status demand speed virtual master C3.StatusSpeed_DemandValue2 203 PED 0x2043 TPDO Y4 2
681.6 Status control deviation of speed C3.StatusSpeed_Error 101 PED 0x2027 TPDO C4_3 2
685.3 Status of analog input 0 C3.StatusVoltage_AnalogInput0 23 PED 0x2025 TPDO Y2 1
685.4 Status of analog input 1 C3.StatusVoltage_AnalogInput1 102 PED 0x2026 TPDO Y2 1
685.5 Status DC bus voltage C4_3 C3.StatusVoltage_BusVoltageC43 PED 0x6079 TPDO C4_3 2
1901.1 variable Column 1 Row 1 C3Array.Col01_Row01 130/341.1 PED/PAD 0x2301.1 R/TPDO Y4 2
1901.2 Variable Column 1 Row 2 C3Array.Col01_Row02 131/341.2 PED/PAD 0x2301.2 R/TPDO Y4 2
1903.1 variable Column 3 Row 1 C3Array.Col03_Row01 140/343.1 PED/PAD 0x2303.1 R/TPDO I16 1
1903.2 Variable Column 3 Row 2 C3Array.Col03_Row02 141/343.2 PED/PAD 0x2303.2 R/TPDO I16 1
1904.3 Variable Column 4Row 3 C3Array.Col04_Row03 147/344.3 PED/PAD 0x2304.3 R/TPDO I16 1
1905.5 Variable Column 5Row 5 C3Array.Col05_Row05 154/345.5 PED/PAD 0x2305.5 R/TPDO I16 1
192-120108N13 Compax3T40_eng 2014-10 527

No. Object name Object PNU PZD CAN No PD Bus Word

format length
1910.1 indirect table access Column 1 C3Array.Indirect_Col01 181 PED/PAD 0x2311 R/TPDO Y4 2
1910.2 Indirect table access Column 2 C3Array.Indirect_Col02 182 PED/PAD 0x2312 R/TPDO Y2 1
1910.3 Indirect table access Column 3 C3Array.Indirect_Col03 183 PED/PAD 0x2313 R/TPDO I16 1
1900.1 pointer to table row C3Array.Pointer_Row 180 PED/PAD 0x2300 R/TPDO U16 1
3701.3 output of cam group 0 C3Cam.ControlledSwitches_Output0 205/501.3 PED/PAD 0x2401.3 R/TPDO U16 1
3701.5 output of cam group 1 C3Cam.ControlledSwitches_Output1 206/501.5 PED/PAD 0x2401.5 R/TPDO U16 1
3700.3 output for fast cams C3Cam.ControlledSwitchesFast_Output 204/500.3 PED/PAD 0x2400.3 R/TPDO U16 1
402.6 Factor for the current limits C3Plus.Limit_CurrentFine 465 PED/PAD 0x2093 R/TPDO I16 1
3030.1 Reset master position C3Cam.StatusMaster_Position 207 PED 0x2410 TPDO C4_3 2
3032.24 End of curve C3Cam.StatusOutput_CurvePositionUnits 208 PED 0x2411 TPDO C4_3 2
1100.1 Control command C3Plus.DeviceControl_CommandOnRequest 108 PED/PAD 0x2028 R/TPDO I16 1
1100.3 STW control word C3Plus.DeviceControl_Controlword_1 1 PED/PAD 0x6040 R/TPDO V2 1
1100.4 Control word 2 C3Plus.DeviceControl_Controlword_2 3 PED/PAD 0x201B R/TPDO V2 1
1100.5 Operating mode (Nominal value) C3Plus.DeviceControl_OperationMode 127/930 PED/PAD 0x6060 R/TPDO I16 1
1100.24 Offset Demand torque or force DS402 C3Plus.DeviceControl_TorqueOffset PED/PAD 0x60B2 R/TPDO I16 1
opmode 10
1000.5 operating mode display C3Plus.DeviceState_ActualOperationMode 128 PED/PAD 0x6061 R/TPDO I16 1
1000.3 status word ZSW C3Plus.DeviceState_Statusword_1 2 PED/PAD 0x6041 R/TPDO V2 1
1000.4 Status word 2 C3Plus.DeviceState_Statusword_2 4 PED/PAD 0x201C R/TPDO V2 1
550.1 current error (n) C3Plus.ErrorHistory_LastError 115/947.0 PED 0x603F/0x TPDO U16 1
201D.1
402.7 Torque limit or force limit C3Plus.Limit_MaxTorque PED/PAD 0x6072 R/TPDO U16 1
1200.1 Control of virtual Master C3Plus.PG2Control_CommandOnRequest 200 PED/PAD 0x2040 R/TPDO I16 1
1111.3 Acceleration for positioning C3Plus.POSITION_accel 114 PED/PAD 0x6083 R/TPDO U32 2
1111.4 Deceleration for positioning C3Plus.POSITION_decel 178/312 PED/PAD 0x6084 R/TPDO U32 2
1111.1 Target position C3Plus.POSITION_position 27 PED/PAD R/TPDO C4_3 2
(Profibus
only)
1111.11 C3Plus.POSITION_position_Y4 118 PED/PAD R/TPDO Y4 2
1111.2 Speed for positioning C3Plus.POSITION_speed 111 PED/PAD R/TPDO C4_3 2
1111.9 Speed for Positioning in Y2 Format C3Plus.POSITION_speed_Y2 110 PED/PAD R/TPDO Y2 1
2000.2 Position value of the setpoint encoder of the C3Plus.ProfilGenerators_PG2Position PED 0x2061 TPDO C4_3 2
virtual axis
2000.5 Speed of the virtual axis C3Plus.ProfilGenerators_PG2Speed PED 0x2064 TPDO I32 2
2000.1 Position value of the setpoint encoder C3Plus.ProfilGenerators_SG1Position PED 0x2060 TPDO C4_3 2
2000.4 Speed of the setpoint encoder C3Plus.ProfilGenerators_SG1Speed PED 0x2063 TPDO I32 2
152.1 PIO analog input 0 C3Plus.RemoteAnalogInput_I0 PED/PAD 0x2082.1 R/TPDO I16 1
153.1 PIO analog output 0 C3Plus.RemoteAnalogOutput_O0 PED/PAD 0x2083.1 R/TPDO I16 1
150.1 Digital PIO inputs 0...15 C3Plus.RemoteDigInput_I0_15 PED/PAD 0x2080.1 R/TPDO V2 1
151.1 Digital PIO outputs 0...15 C3Plus.RemoteDigOutput_O0_15 PED/PAD 0x2081.1 R/TPDO V2 1
1127.3 Setpoint speed in speed control operating C3Plus.SPEED_speed 7 PED/PAD R/TPDO C4_3 2
mode
683.8 Motor current in per thousand of the actual C3Plus.StatusDevice_MotorCurrent PED 0x2094 TPDO I16 1
current limit
680.8 Status of actual position in bus format Y4 C3Plus.StatusPosition_ActualY4 119 PED 0x2022/0x TPDO I32 2
6064
680.32 Encoder position 0 (5V) in increments C3Plus.StatusPosition_EncoderIncrements5 PED/PAD 0x2095.3 R/TPDO I32 2
V
670.2 Status of actual torque C3Plus.StatusTorqueForce_ActualTorque 209 PED TPDO I32 2
634.4 Setpoint for analog output 0 C3.AnalogOutput0_DemandValue 24 PED/PAD 0x2019 R/TPDO I16 1
635.4 Setpoint for analog output 1 C3.AnalogOutput1_DemandValue 103 PED/PAD 0x201A R/TPDO I16 1
528 192-120108N13 Compax3T40_eng 2014-10

Parker EME Object overview sorted by object groups (T40)
7.3 Object overview sorted by object groups (T40)

C3 Objects..................................................................................................................... 529
C3Array Objects ............................................................................................................ 531
C3Cam Objects ............................................................................................................. 532
C3Plus Objects .............................................................................................................. 533
C3 objects (without CoDeSys objects) ........................................................................... 536
7.3.1. C3 Objects
I11 Bus
634.4 C3.AnalogOutput0_DemandValue Setpoint for analog output 0 24 0x2019 I16 yes Immediat True True
ely
635.4 C3.AnalogOutput1_DemandValue Setpoint for analog output 1 103 0x201A I16 yes Immediat True True
ely
2100.8 C3.ControllerTuning_CurrentBandwidth Current regulator bandwidth 402.8 0x2100.8 U16 no VP True True
2100.9 C3.ControllerTuning_CurrentDamping Current loop - Damping 402.9 0x2100.9 U16 no VP True True
2100.3 C3.ControllerTuning_Damping damping (rotation speed controller) 402.3 0x2100.3 U16 no VP True True
2100.6 C3.ControllerTuning_FilterAccel Filter - Actual acceleration 402.6 0x2100.6 U16 no VP True True
2100.21 C3.ControllerTuning_FilterAccel_us Filter - Actual acceleration U16 no VP True True
2100.11 C3.ControllerTuning_FilterAccel2 Filter actual acceleration 2 U16 no VP True True
2100.5 C3.ControllerTuning_FilterSpeed Filter-actual velocity 402.5 0x2100.5 U16 no VP True True
2100.20 C3.ControllerTuning_FilterSpeed_us Control signal filter of velocity control U16 no VP True True
2100.10 C3.ControllerTuning_FilterSpeed2 Filter actual velocity 2 U16 no VP True True
2100.4 C3.ControllerTuning_Inertia Inertia 402.4 0x2100.4 U16 no VP True True
2100.7 C3.ControllerTuning_SpeedDFactor D-component of speed controller 402.7 0x2100.7 U16 no VP True True
2100.2 C3.ControllerTuning_Stiffness Stiffness (speed controller) 402.2 0x2100.2/ U16 no VP True True
0x2100.1
120.8 C3.DigitalInput_DebounceMask Debounce mask for dig. Inputs I16 no Immediat True True
ely
120.7 C3.DigitalInput_DebounceTime Debounce time for dig. Inputs I16 no Immediat True True
ely
120.2 C3.DigitalInput_Value Status of digital inputs V2 yes - True True
121.2 C3.DigitalInputAddition_Value input word of I/O option 175 0x6100.2 V2 yes - True True
133.4 C3.DigitalOutputAddition_Enable activating input/output option 350 0x6300.3 V2 no Immediat True True
M10/M12 ely
133.2 C3.DigitalOutputAddition_Error error in I/O option 351 0x6300.4 V2 no - True True
133.3 C3.DigitalOutputAddition_Value output word for I/O option 176 0x6300.2 V2 yes Immediat True True
ely
140.3 C3.DigitalOutputWord_DemandState Command value of the digital outputs 22 0x6300.1 V2 yes Immediat False True
ely
2020.1 C3.ExternalSignal_Position Position from external signal source 0x2095.1 C4_3 yes - True True
2020.2 C3.ExternalSignal_Speed speed from external signal source C4_3 yes - True True
2050.10 C3.FeedForward_2_Accel_FFW Acceleration feedforward (A2) C4_3 no VP True True
2050.9 C3.FeedForward_2_Speed_FFW Speed feedforward (A2) C4_3 no VP True True
2010.2 C3.FeedForward_Accel Acceleration feedforward 400.2 0x2101.2 U16 no VP True True
2010.24 C3.FeedForward_Accel_FFW Acceleration feedforward (A1) C4_3 no VP True True
2010.4 C3.FeedForward_Current Current feed-forward 400.4 0x2101.4 U16 no VP True True
2010.5 C3.FeedForward_Jerk Jerk feed-forward 400.5 0x2101.5 U16 no VP True True
2010.1 C3.FeedForward_Speed Velocity Feed Forward 400.1 0x2101.1 U16 no VP True True
2010.23 C3.FeedForward_Speed_FFW Speed feedforward (A1) C4_3 no VP True True
2011.2 C3.FeedForwardExternal_FilterAccel External Acceleration Feed Forward 401.2 0x2102.2 U16 no VP True True
Filter Time Constant
2011.5 C3.FeedForwardExternal_FilterAccel_us Filter time constant ext. Acceleration U16 no VP True True
2011.1 C3.FeedForwardExternal_FilterSpeed External Speed Feed Forward Filter 401.1 0x2102.1 U16 no VP True True
Time Constant
2011.4 C3.FeedForwardExternal_FilterSpeed_us Filter time constant ext. speed U16 no VP True True
402.4 C3.Limit_CurrentNegative maximum permissible negative 320 0x200C I16 no VP True True
current
402.3 C3.Limit_CurrentPositive maximum permissible positive 319 0x200B I16 no VP True True
current
402.2 C3.Limit_SpeedNegative maximum permissible negative 318 0x200A I16 no VP True True
speed
402.1 C3.Limit_SpeedPositive maximum permissible positive speed 317 0x2009 I16 no VP True True
410.6 C3.LimitPosition_LoadControlMaxPosDiff Position difference load-motor (error C4_3 no VP True True
threshold)
410.3 C3.LimitPosition_Negative Negative SW travel limit 322 0x607D.1 C4_3 no Immediat True True
ely
410.2 C3.LimitPosition_Positive Positive Travel Limit 321 0x607D.2 C4_3 no Immediat True True
ely
3310.1 C3.Multiturnemulation_Status Status of Multiturn emulation I16 no - True True
192-120108N13 Compax3T40_eng 2014-10 529


I11 Bus
20.10 C3.ObjectDir_ReadObjects reading objects from Flash I16 no Immediat True True
ely
20.11 C3.ObjectDir_WriteObjects saving objects permanently I16 no Immediat True True
ely
420.3 C3.PositioningAccuracy_FollowingErrorTimeout Following Error Time 331 0x6066 U16 no Immediat True True
ely
420.2 C3.PositioningAccuracy_FollowingErrorWindow Following error limit 330 0x6065 C4_3 no VP True True
420.6 C3.PositioningAccuracy_PositionReached Position reached I32 no - True True
420.1 C3.PositioningAccuracy_Window positioning window for position 328 0x6067 C4_3 no VP True True
reached
420.7 C3.PositioningAccuracy_WindowTime In Position Window Time 329 0x6068 U16 no Immediat True True
ely
682.5 C3.StatusAccel_Actual Status of actual acceleration I32 no - True True
unfiltered
682.6 C3.StatusAccel_ActualFilter Status of filtered actual acceleration I32 no - True True
682.4 C3.StatusAccel_DemandValue Status demand acceleration 325 0x200E I32 no - True True
682.3 C3.StatusAccel_DemandValue3 Acceleration of a superimposed I32 no - False True
motion or of phasing
688.2 C3.StatusCurrent_Actual Status of actual current RMS (torque E2_6 yes - True True
producing)
688.19 C3.StatusCurrent_ActualDINT Actual current rms 230 I32 yes - True True
current input 0
current input 1
current input 2
current input 3
current input 4
current input 5
688.34 C3.StatusCurrent_NegativeLimit Negative current limit effective at I32 no - True True
present
688.33 C3.StatusCurrent_PositiveLimit Positive current limit effective at I32 no - True True
present
688.1 C3.StatusCurrent_Reference Status of setpoint current RMS E2_6 no - True True
(torque forming)
688.18 C3.StatusCurrent_ReferenceDINT Demand current rms I32 no - True True
688.13 C3.StatusCurrent_ReferenceJerk Status of demand jerk setpoint I32 no - True True
generator
683.1 C3.StatusDevice_ActualCurrent Status of actual current value 112 0x6077 E2_6 yes - True True
(not
EtherCAT
with
mapping
via
master)
683.2 C3.StatusDevice_ActualDeviceLoad Status of device load 334 0x2011 E2_6 no - True True
683.9 C3.StatusDevice_ActualDeviceLoadLowFreque Status of device utilization at small E2_6 no - True True
ncy electrical turning frequency
683.3 C3.StatusDevice_ActualMotorLoad Status of long-term motor utilization 335 0x2012 E2_6 no - True True
683.4 C3.StatusDevice_DynamicMotorLoad Status of short-term motor load E2_6 no - True True
683.5 C3.StatusDevice_ObservedDisturbance Status of observed disturbance C4_3 no - True True
680.5 C3.StatusPosition_Actual Status actual position 28 0x2104 C4_3 yes - True True
680.13 C3.StatusPosition_ActualController Status actual position without C4_3 no - True True
absolute reference
680.18 C3.StatusPosition_ActualNotReset Status actual position (not reset) C4_3 yes - True True
680.12 C3.StatusPosition_DemandController Status demand position without C4_3 no - True True
absolute reference
680.4 C3.StatusPosition_DemandValue Status demand position 323 0x60FC C4_3 yes - True True
680.1 C3.StatusPosition_DemandValue1 Position command value of Profile 0 0x2052 Y4 yes - True True
transmitter1
680.2 C3.StatusPosition_DemandValue2 Status demand position virtual 202 0x2042 Y4 yes - False True
master
680.3 C3.StatusPosition_DemandValue3 Status of setpoint position of 0 0 Y4 no - False True
Superimposed motion
680.11 C3.StatusPosition_EncoderInput24V Status of encoder input 0 (24V) C4_3 yes - True True
680.10 C3.StatusPosition_EncoderInput5V Status of encoder input 0 (5V) 0x2095.2 C4_3 yes - True True
680.6 C3.StatusPosition_FollowingError Status of tracking error 100 0x60F4 C4_3 yes - True True
680.23 C3.StatusPosition_LoadControlActual Actual position of the load C4_3 no - True True
680.22 C3.StatusPosition_LoadControlDeviationFiltere Position difference load-motor C4_3 no - True True
d (filtered)
680.21 C3.StatusPosition_LoadControlDeviationMax Maximum position difference C4_3 no - True True
load-motor
680.30 C3.StatusPosition_Referenced Status of axis referenced I16 no - True True
681.5 C3.StatusSpeed_Actual Status actual speed unfiltered 0x6069 C4_3 yes - True True
681.9 C3.StatusSpeed_ActualFiltered Status actual speed filtered 8 0x606C C4_3 yes - True True
681.12 C3.StatusSpeed_ActualScaled Filtered actual speed in per cent C4_3 no - True True
681.26 C3.StatusSpeed_ActualUnitrpmORmps Status of actual speed filtered in 226 0x2105 C4_3 yes - True True
1/min or m/s
681.13 C3.StatusSpeed_DemandScaled Setpoint speed of the setpoint C4_3 no - True True
generator
681.10 C3.StatusSpeed_DemandSpeedController Status demand speed controller input C4_3 yes - True True
681.4 C3.StatusSpeed_DemandValue Status demand speed of setpoint 324 0x606B C4_3 yes - True True
generator
681.1 C3.StatusSpeed_DemandValue1 Speed setpoint value of profile 0x2053 Y4 yes - True True
generator 1
681.2 C3.StatusSpeed_DemandValue2 Status demand speed virtual master 203 0x2043 Y4 yes - False True
681.3 C3.StatusSpeed_DemandValue3 Speed of a superimposed motion or Y4 no - False True
of phasing
681.6 C3.StatusSpeed_Error Status control deviation of speed 101 0x2027 C4_3 yes - True True
681.11 C3.StatusSpeed_FeedForwardSpeed Status speed feed forward C4_3 no - True True
530 192-120108N13 Compax3T40_eng 2014-10


I11 Bus
681.20 C3.StatusSpeed_LoadControl Speed of the load feedback C4_3 no - True True
(unfiltered)
681.21 C3.StatusSpeed_LoadControlFiltered Speed of the load feedback (filtered) C4_3 no - True True
681.25 C3.StatusSpeed_NegativeLimit Negative speed limit currently C4_3 no - True True
effective
681.24 C3.StatusSpeed_PositiveLimit Positive speed limit currently effective C4_3 no - True True
684.2 C3.StatusTemperature_Motor Status of motor temperature 336 0x2013 I16 no - True True
684.1 C3.StatusTemperature_PowerStage Status of power output stage 337 0x2014 U16 no - True True
temperature
685.1 C3.StatusVoltage_AuxiliaryVoltage Status of auxiliary voltage 326 0x200F E2_6 no - True True
685.2 C3.StatusVoltage_BusVoltage Status DC bus voltage 327 E2_6 no - True True
voltage input 0
voltage input 1
voltage input 2
voltage input 3
voltage input 4
voltage input 5
210.10 C3.ValidParameter_Global setting objects to valid 338.10 0x2016.10 U16 no Immediat True True
ely
210.6 C3.ValidParameter_Limits setting limit values to valid. U16 no Immediat True True
ely
7.3.2. C3Array Objects

I11 Bus
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
192-120108N13 Compax3T40_eng 2014-10 531


I11 Bus
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
1910.1 C3Array.Indirect_Col01 indirect table access Column 1 181 0x2311 Y4 yes Immediat True True
ely
1910.2 C3Array.Indirect_Col02 Indirect table access Column 2 182 0x2312 Y2 yes Immediat True True
ely
ely
ely
ely
ely
ely
ely
ely
1900.1 C3Array.Pointer_Row pointer to table row 180 0x2300 U16 yes Immediat True True
ely
7.3.3. C3Cam Objects

I11 Bus
3730.3 C3Cam.ControlledSwitch00_PositionOff switch-off position of cam 509.1 0x2409.1 C4_3 no VP False True
3730.2 C3Cam.ControlledSwitch00_PositionOn switch-on position of cam 508.1 0x2408.1 C4_3 no VP False True
3730.1 C3Cam.ControlledSwitch00_Source source of cam 507.1 0x2407.1 I16 no VP False True
3730.5 C3Cam.ControlledSwitch00_TimeOff switch-off anticipation of cam 511.1 0x240B.1 I16 no Immediat False True
ely
3730.4 C3Cam.ControlledSwitch00_TimeOn switch-on anticipation of cam 510.1 0x240A.1 I16 no Immediat False True
ely
ely
ely
3701.6 C3Cam.ControlledSwitches_NumberPerCycle Number of cams in one cycle U16 no Immediat False True
ely
ely
ely
3700.2 C3Cam.ControlledSwitchesFast_Enable enable fast cams 500.2 0x2400.2 U16 no Immediat False True
ely
3700.3 C3Cam.ControlledSwitchesFast_Output output for fast cams 204/500.3 0x2400.3 U16 yes Immediat False True
ely
3705.1 C3Cam.ControlledSwitchesHysteresis_ActualP Hysteresis for cam switching C4_3 no VP False True
osition mechanism, source "current position"
3705.6 C3Cam.ControlledSwitchesHysteresis_CAMPos C4_3 no VP False True
ition
3705.2 C3Cam.ControlledSwitchesHysteresis_Demand C4_3 no VP False True
Position
3705.4 C3Cam.ControlledSwitchesHysteresis_Fieldbus C4_3 no VP False True
Position
3705.5 C3Cam.ControlledSwitchesHysteresis_Masterp Hysteresis for cam switching C4_3 no VP False True
osition mechanism, source "master position"
3710.3 C3Cam.ControlledSwitchFast0_PositionOff switch-off position for fast cam 504.1 0x2404.1 C4_3 no VP False True
3710.2 C3Cam.ControlledSwitchFast0_PositionOn switch-on position for fast cam 503.1 0x2403.1 C4_3 no VP False True
3710.1 C3Cam.ControlledSwitchFast0_Source source of fast cam 502.1 0x2402.1 I16 no VP False True
3710.5 C3Cam.ControlledSwitchFast0_TimeOff switch-off anticipation of fast cam 506.1 0x2406.1 I16 no Immediat False True
ely
532 192-120108N13 Compax3T40_eng 2014-10


I11 Bus
3710.4 C3Cam.ControlledSwitchFast0_TimeOn switch-on anticipation of fast cam 505.1 0x2405.1 I16 no Immediat False True
ely
3022.1 C3Cam.Manipulation_OffsetMasterposition Master position offset C4_3 no Immediat False True
ely
3022.6 C3Cam.Manipulation_OffsetMasterposition_Unit Offset Master position C4_3 no Immediat False True
s ely
3022.3 C3Cam.Manipulation_ScalefactorMasterGlobal Global scaling factor for the master C4_3 no Immediat False True
speed ely
3021.10 C3Cam.SignalSource_InputAdditional CAM Master position C4_3 yes Immediat False True
ely
3021.2 C3Cam.SignalSource_Position Status of position of selected master C4_3 yes - False True
signal source
3021.1 C3Cam.SignalSource_Select Source of master position U16 no Immediat False True
ely
3031.4 C3Cam.StatusData_ActualCurve Current curve number I16 no - False True
3030.14 C3Cam.StatusMaster_BackstopDistance Integrated negative master distance C4_3 yes - False True
with active back stop
3030.7 C3Cam.StatusMaster_Enable Status: Enable of master acquisition U16 no - False True
3030.17 C3Cam.StatusMaster_EnableCam Status: Enable of cam input U16 no - False True
3030.12 C3Cam.StatusMaster_PhasingSum Added up position sum of the C4_3 no - False True
master-side phasing
3030.1 C3Cam.StatusMaster_Position Reset master position 207 0x2410 C4_3 yes - False True
3030.24 C3Cam.StatusMaster_PositionCamUnits Master position at the beginning of C4_3 yes - False True
the curve
3030.22 C3Cam.StatusMaster_SpeedUnits Master speed [Units/s] C4_3 no - False True
3032.4 C3Cam.StatusOutput_AbsolutePositionGreat Slave position (free running) C4_3 yes - False True
3032.24 C3Cam.StatusOutput_CurvePositionUnits End of curve 208 0x2411 C4_3 yes - False True
3032.1 C3Cam.StatusOutput_Position Slave position C4_3 yes - False True
7.3.4. C3Plus Objects

I11 Bus
820.8 C3Plus.CANopen_ComCyclePeriod Sync bus cycle time CANSync, 0x1006, U32 no Immediat False True
Powerlink, EtherCat 0x60C2 ely
820.3 C3Plus.CANopen_Node_ID CANopen_Node_ID U16 no - False True
820.9 C3Plus.CANopen_State Status of the fieldbus state machine U16 no - False True
820.28 C3Plus.CANopen_SyncPeriod Current period duration of the sync C4_3 no - False True
signal
820.23 C3Plus.CANopen_SyncPulseCounter Captured sync pulses I32 no Immediat False True
ely
100.2 C3Plus.Controller_Controlword Controller control word actual value U16 yes Immediat True True
ely
100.1 C3Plus.Controller_ControlwordDemand Controller control word setpoint value U16 no Immediat True True
ely
1100.1 C3Plus.DeviceControl_CommandOnRequest Control command 108 0x2028 I16 yes Immediat True True
ely
1100.3 C3Plus.DeviceControl_Controlword_1 STW control word 1 0x6040 V2 yes Immediat False True
ely
1100.4 C3Plus.DeviceControl_Controlword_2 Control word 2 3 0x201B V2 yes Immediat False True
ely
1100.5 C3Plus.DeviceControl_OperationMode Operating mode (Nominal value) 127/930 0x6060 I16 yes Immediat False True
ely
1100.24 C3Plus.DeviceControl_TorqueOffset Offset Demand torque or force 0x60B2 I16 yes Immediat True True
DS402 opmode 10 ely
1000.5 C3Plus.DeviceState_ActualOperationMode operating mode display 128 0x6061 I16 yes Immediat False True
ely
1000.3 C3Plus.DeviceState_Statusword_1 status word ZSW 2 0x6041 V2 yes Immediat False True
ely
1000.4 C3Plus.DeviceState_Statusword_2 Status word 2 4 0x201C V2 yes Immediat False True
ely
85.3 C3Plus.Diagnostics_DCbus_Current PSUP intermediate current I16 no - True True
85.2 C3Plus.Diagnostics_DCbus_Voltage PSUP DC intermediate voltage I16 no - True True
85.5 C3Plus.Diagnostics_RectifierLoad PSUP usage in % I16 no - True True
85.4 C3Plus.Diagnostics_TemperatureHeatSink PSUP heat dissipator temperature I16 no - True True
620.6 C3Plus.EncoderEmulation_Offset Zero pulse offset encoder emulation C4_3 no VP True True
620.7 C3Plus.EncoderEmulation_SetEmulationZero Encoder simulation teaching zero I16 no Immediat True True
pulse ely
620.10 C3Plus.EncoderEmulation_Setpoint_without_off Demand position of encoder C4_3 no - True True
set simulation (without offset)
550.1 C3Plus.ErrorHistory_LastError current error (n) 115/947.0 0x603F/0x U16 yes - True True
201D.1
2020.7 C3Plus.ExternalSignal_Accel_Munits Acceleration of the external signal I32 yes - True True
source
2020.6 C3Plus.ExternalSignal_Speed_Munits Speed value of the external signal C4_3 yes - True True
source
3925.1 C3Plus.FBI_Interpolation_SubModeSelect Interpolation method 0x60C0 I16 no Immediat False True
ely
3921.11 C3Plus.FBI_SignalProcessing0_IncrModuloEna Selection switch Modulo limit 0x2103.3 I32 no Immediat False True
ble CanSync, PowerLink, EtherCat ely
3921.7 C3Plus.FBI_SignalProcessing0_OutputGreat Interpolation output position Y4 no - False True
Mrev - free running.
3921.2 C3Plus.FBI_SignalProcessing0_ResetDistance Upper modulo limit CANSYNC, 0x2051 I32 no Immediat False True
Powerlink, EtherCAT in Mrev ely
3921.9 C3Plus.FBI_SignalProcessing0_ResetDistance Modulo limit CanSync, PowerLink, 0x2103.1 I32 no Immediat False True
_Incr EtherCat in Fbincr ely
3921.8 C3Plus.FBI_SignalProcessing0_Source Switching the position source of the I16 no Immediat False True
interpolator ely
192-120108N13 Compax3T40_eng 2014-10 533


I11 Bus
2010.25 C3Plus.FeedForward_GainUserCurrent Gain factor for additive user current C4_3 no Immediat True True
ely
2010.19 C3Plus.FeedForward_UserCurrent Additive Current I32 yes Immediat True True
ely
1141.4 C3Plus.GEAR_mode Source selection Gearing 0x2055 U16 no Immediat True True
ely
3920.1 C3Plus.HEDA_SignalProcessing_Input Process input signal Slave C4_3 yes Immediat True True
ely
3920.7 C3Plus.HEDA_SignalProcessing_OutputGreat Output of the Heda Tracking Filter C4_3 no - True True
900.1 C3Plus.HEDA_State Status HEDA I16 no Immediat False True
ely
1130.1 C3Plus.HOMING_accel Acceleration / deceleration homing 300 0x609A U32 no Immediat True True
run ely
1130.7 C3Plus.HOMING_edge_sensor_distance Initiator adjustment 304 0x2000 C4_3 no Immediat True True
ely
1130.2 C3Plus.HOMING_jerk jerk for machine reference run 357 0x201E U32 no Immediat True True
ely
1130.4 C3Plus.HOMING_mode adjusting the machine reference 302 0x6098 U16 no Immediat True True
mode ely
1130.3 C3Plus.HOMING_speed speed for machine reference run 301 0x6099.1 C4_3 no Immediat True True
ely
402.6 C3Plus.Limit_CurrentFine Factor for the current limits 465 0x2093 I16 yes Immediat True True
ely
402.7 C3Plus.Limit_MaxTorque Torque limit or force limit 0x6072 U16 yes Immediat True True
ely
2201.2 C3Plus.LoadControl_Command Load control command mode I16 no Immediat True True
ely
2201.1 C3Plus.LoadControl_Enable Activate load control 0x205F I16 no Immediat True True
ely
2201.11 C3Plus.LoadControl_FilterLaggingPart Time constant of position difference U32 no VP True True
filter
2201.12 C3Plus.LoadControl_VelocityFilter Time constant of the load-speed filter I16 no VP True True
2201.13 C3Plus.LoadControl_VelocityLimit Load control intervention speed I16 no VP True True
limitation
201.2 C3Plus.NormFactorY4_Position Scaling factor for Y4 positions 356.2 0x2021.2 V2 no Immediat False True
ely
1200.1 C3Plus.PG2Control_CommandOnRequest Control of virtual Master 200 0x2040 I16 yes Immediat False True
ely
1211.13 C3Plus.PG2POSITION_direction Manipulation of the motion direction I32 no Immediat True True
in reset mode ely
50.3 C3Plus.PLC_ActualCycleTime Status of cycle time of the control 353 0x201F.2 U16 no - False True
program
50.4 C3Plus.PLC_ActualCycleTimeMax Status of maximum cycle time 354 0x201F.3 U16 no Immediat False True
ely
50.1 C3Plus.PLC_DemandCycleTime cycle time specification 352 0x201F.1 U16 no Immediat True True
ely
1111.3 C3Plus.POSITION_accel Acceleration for positioning 114 0x6083 U32 yes Immediat True True
ely
1111.4 C3Plus.POSITION_decel Deceleration for positioning 178/312 0x6084 U32 yes Immediat True True
ely
1111.13 C3Plus.POSITION_direction Manipulation of the motion direction I32 no Immediat True True
in reset mode ely
1111.5 C3Plus.POSITION_jerk_accel Acceleration jerk for positioning 313 0x2005 U32 no Immediat True True
ely
1111.6 C3Plus.POSITION_jerk_decel Deceleration jerk for positioning 314 0x2006 U32 no Immediat True True
ely
1111.1 C3Plus.POSITION_position Target position 27 C4_3 yes Immediat True True
(Profibus ely
only)
1111.8 C3Plus.POSITION_resetpositon_mode Continuous mode 0 0 U16 no Immediat True True
ely
1111.2 C3Plus.POSITION_speed Speed for positioning 111 C4_3 yes Immediat True True
ely
1111.17 C3Plus.POSITION_turnaround Direction inversion - lock U16 no Immediat True True
ely
2200.2 C3Plus.PositionController_ActualValue Position actual value (sequentially) C4_3 yes - True True
2200.20 C3Plus.PositionController_DeadBand Deadband of position controller C4_3 no VP True True
2200.1 C3Plus.PositionController_DemandValue Position setpoint value (sequentially) C4_3 yes - True True
2200.11 C3Plus.PositionController_TrackingErrorFilter Following error filter of the position U16 no VP True True
controller
2215.7 C3Plus.PressureForceController_InsideWindow Internal window I-term of 422 C4_3 no VP True True
_IPart force/pressure control
2215.6 C3Plus.PressureForceController_Integration_P I-term of force/pressure control 421 C4_3 no VP True True
art_KI
2215.8 C3Plus.PressureForceController_OutsideWindo External window I-term of 423 C4_3 no VP True True
w_IPart force/pressure control
2215.10 C3Plus.PressureForceController_PressureForc Force/pressure injection C4_3 no VP True True
e_Disturbance_KFFWp
2215.5 C3Plus.PressureForceController_Proportional_ P-term of force/pressure control 420 C4_3 no VP True True
Part_Kp
534 192-120108N13 Compax3T40_eng 2014-10


I11 Bus
2215.9 C3Plus.PressureForceController_SpeedFeedba Speed feedback of force/pressure 424 C4_3 no VP True True
ck_Kvp_or_DampingFactor control, damping term of force control
2215.13 C3Plus.PressureForceController_SpeedFeedba Signal limitation of speed feedback 425 U16 no VP True True
ck_Limit
2000.2 C3Plus.ProfilGenerators_PG2Position Position value of the setpoint encoder 0x2061 C4_3 yes - False True
of the virtual axis
2000.1 C3Plus.ProfilGenerators_SG1Position Position value of the setpoint encoder 0x2060 C4_3 yes - True True
2000.10 C3Plus.ProfilGenerators_SG1PositionSum Position sum value of the setpoint C4_3 yes - False True
encoder
230.23 C3Plus.ProjectData_DSPFirmwareVersion DSP firmware version U32 no Immediat True True
ely
2220.3 C3Plus.Q_CurrentController_Scaling_Q_Dema Scaling for manual or external current I16 no Immediat True True
ndValueAdditive specification ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
814.11 C3Plus.SafetyMonitor_AlarmCode Alarm no. S3 U16 no - True
814.12 C3Plus.SafetyMonitor_ErrorCode Error no. S3 U16 no - True
814.10 C3Plus.SafetyMonitor_OperatingState Status S3 U16 no - True
Bytes)
and 4)
and 6)
and 8)
Bytes)
8)
6)
1127.3 C3Plus.SPEED_speed Setpoint speed in speed control 7 C4_3 yes Immediat True True
operating mode ely
2210.19 C3Plus.SpeedController_ScalingDemandValue Scaling for manual or external C4_3 no Immediat True True
Additive velocity specification ely
295.11 C3Plus.SSI_Feedback_Absolut_Position I32 no - True True
295.12 C3Plus.SSI_Feedback_PositionGreat Rotation position I32 no - True True
688.17 C3Plus.StatusCurrent_FieldWeakeningFactor Reciprocal of the field weakening C4_3 no - True True
factor FF
683.8 C3Plus.StatusDevice_MotorCurrent Motor current in per thousand of the 0x2094 I16 yes - False True
actual current limit
680.32 C3Plus.StatusPosition_EncoderIncrements5V Encoder position 0 (5V) in increments 0x2095.3 I32 yes Immediat True True
ely
680.24 C3Plus.StatusPosition_SSI_AbsolutPosition_Lo AbsolutPosition of the SSI-feedback C4_3 no - True True
adUnits load unit
680.25 C3Plus.StatusPosition_SSI_AbsolutPosition_M AbsolutPosition of the SSI-feedback C4_3 no - True True
asterUnits master unit
680.36 C3Plus.StatusPosition_SuperImposedPositionS Status of position sum C4_3 yes - False True
um MoveSuperImposed
677.22 C3Plus.StatusPressureForce_ControllerDpart Status of D-term of pressure or C4_3 no - True True
677.24 C3Plus.StatusPressureForce_ControllerFFWpar Status actual torque/force injection C4_3 no - True True
t force/torque controller
677.20 C3Plus.StatusPressureForce_ControllerIpart Status of I-term of pressure or C4_3 no - True True
677.27 C3Plus.StatusPressureForce_ControllerOut Status of total control signal pressure C4_3 no - True True
677.21 C3Plus.StatusPressureForce_ControllerPpart Status of P-term of pressure or C4_3 no - True True
677.23 C3Plus.StatusPressureForce_ControllerVpart Status of speed feedback of pressure C4_3 no - True True
192-120108N13 Compax3T40_eng 2014-10 535


I11 Bus
677.12 C3Plus.StatusPressureForce_ForceActualValue Actual force controller C4_3 no - True True
677.11 C3Plus.StatusPressureForce_ForceDemandVal Demand force controller C4_3 no - True True
ue
677.13 C3Plus.StatusPressureForce_ForceError Control deviation of force controller C4_3 no - True True
684.4 C3Plus.StatusTemperature_TmotResistance Status of motor temperature U16 no - True True
resistance value
670.4 C3Plus.StatusTorqueForce_ActualForce Status of actual force I32 no - True True
670.2 C3Plus.StatusTorqueForce_ActualTorque Status of actual torque 209 I32 yes - True True
670.9 C3Plus.StatusTorqueForce_RatedTorqueForce Reference torque or from the 0x6076 U32 no - True True
reference force
670.3 C3Plus.StatusTorqueForce_SetpointForce Status of setpoint force I32 no - True True
670.1 C3Plus.StatusTorqueForce_SetpointTorque Status of setpoint torque I32 no - True True
110.1 C3Plus.Switch_DeviceFunction Value of the function switch on C3M U16 no - True True
2109.1 C3Plus.TrackingfilterHEDA_TRFSpeed Time constant tracking filter I16 no VP True True
HEDA-process position
2107.1 C3Plus.TrackingfilterPhysicalSource_TRFSpee Time constant tracking filter physical U16 no VP True True
d source
2110.4 C3Plus.TrackingfilterSG1_AccelFilter Filter effect of acceleration filter U16 no VP True True
setpoint encoder
2110.7 C3Plus.TrackingfilterSG1_AccelFilter_us Filter time constant acceleration U16 no VP True True
setpoint generator
2110.3 C3Plus.TrackingfilterSG1_FilterSpeed Filter effect of speed filter setpoint U16 no VP True True
encoder
2110.6 C3Plus.TrackingfilterSG1_FilterSpeed_us Filter time constant velocity setpoint U16 no VP True True
generator
2110.1 C3Plus.TrackingfilterSG1_TRFSpeed Time constant tracking filter setpoint 0x2096 I16 no VP True True
encoder
210.8 C3Plus.ValidParameter_Autocommutation Set position auto commutation U16 no Immediat True True
parameters to valid ely
210.9 C3Plus.ValidParameter_CamControlledSwitche Set cam switching mechanism 338.9 0x2016.9 U16 no Immediat False True
s parameters to valid ely
210.1 C3Plus.ValidParameter_CurrentController Set current controller to valid U16 no Immediat True True
ely
210.5 C3Plus.ValidParameter_FeedForward Set feedforward parameters to valid. U16 no Immediat True True
ely
210.2 C3Plus.ValidParameter_FiltersRSDP Set filter parameter to valid U16 no Immediat True True
ely
210.4 C3Plus.ValidParameter_PositionController Set position controller to valid U16 no Immediat True True
ely
210.3 C3Plus.ValidParameter_SpeedController Set parameter velocity U16 no Immediat True True
controller/velocity observer to valid. ely
7.3.5. C3 objects (without CoDeSys objects)

I11 Bus
170.4 AnalogInput0_Offset Analog input Offset 0 I16 no Immediat True True
ely
171.4 AnalogInput1_Offset Analog input offset 1 I16 no Immediat True True
ely
monitor 0
634.6 AnalogOutput0_Offset_Hardware Offset value for the D/A monitor 0 I16 no VP True True
monitor 1
635.6 AnalogOutput1_Offset_Hardware Offset value for the D/A Monitor 1 I16 no VP True True
2190.2 AutoCommutationControl_InitialCurrent Start current of automatic U16 no VP True True
commutation
2190.4 AutoCommutationControl_MotionReduction Motion reduction Automatic U16 no VP True True
commutation
2190.8 AutoCommutationControl_PeakCurrent Reduction of the peak current U16 no VP True True
2190.3 AutoCommutationControl_PositionThreshold Motion limit for automatic U16 no VP True True
commutation
2190.1 AutoCommutationControl_Ramptime Ramp slope current slope AK U16 no VP True True
2190.10 AutoCommutationControl_Reset Reset automatic commutation U16 no Immediat True True
ely
2190.7 AutoCommutationControl_StandstillThreshold Optimization of the standstill U16 no VP True True
threshold
820.27 CANopen_SyncErrorCounter Error counter for CANSync, I32 no Immediat False True
Powerlink, EtherCat ely
820.24 CANopen_SyncMode Configuration of the bus 0x205E I16 no Immediat False True
synchronization process ely
2230.20 D_CurrentController_Ld_Lq_Ratio Ratio direct to quadrature inductance U16 no VP True True
2230.24 D_CurrentController_VoltageDecouplingEnable Activation of the voltage decoupling I16 no VP True True
990.1 Delay_MasterDelay Setpoint delay for bus master I16 no Immediat True True
ely
1.0 Device_Device I16 no - False
1.21 Device_FirmwareRelease Version of firmware package 0x20FF I32 no Immediat False True
ely
1.15 Device_ProfileID Profibus profile number 965 OS no - False True
84.4 DeviceSupervision_DeviceAdr Current RS485 address of the C3M U16 no - True True
84.3 DeviceSupervision_DeviceCounter Number of devices in the C3M U16 no - True True
combination
84.5 DeviceSupervision_OperatingTime Hours of operation of the PSUP in s U32 no - True True
84.2 DeviceSupervision_ThisDevice Device number in the C3M U16 no - True True
combination
85.8 Diagnostics_ChopperOff_Voltage Chopper Switch-off threshold in V I16 no - True True
85.7 Diagnostics_ChopperOn_Voltage Chopper Switch-on threshold in V I16 no - True True
536 192-120108N13 Compax3T40_eng 2014-10


I11 Bus
85.9 Diagnostics_DCbus_VoltageMax Reduced DC bus voltage in V I16 no - True True
85.1 Diagnostics_DeviceState PSUP operating state V2 no Immediat True True
ely
120.3 DigitalInput_DebouncedValue Status of digital inputs 21 0x6100.1 V2 yes - True True
550.2 ErrorHistory_1 Error (n-1) in the error history 947.1 0x201D.2 U16 no - False True
87.1 ErrorHistoryNumber_1 Error 1 U16 no - True True
86.1 ErrorHistoryPointer_LastEntry Pointer to current error U16 no - True True
88.1 ErrorHistoryTime_1 Error point in time 1 U32 no - True True
3925.21 FBI_Interpolation_AccelInput Acceleration specification GEARING 0x2099 I32 yes Immediat False True
at
3925.23 FBI_Interpolation_AccelStatus Acceleration output value for I32 no - False True
at
3925.24 FBI_Interpolation_PositionStatus Interpolation position input value for I32 no - False True
at
3925.20 FBI_Interpolation_VelocityInput Velocity specification GEARING 0x2098 I32 yes Immediat False True
at
3925.22 FBI_Interpolation_VelocityStatus Speed output value for C4_3 no - False True
at
950.1 FBI_RxPD_Mapping_Object_1 1. Object of the setpoint PZD 915.0 U16 no Immediat False True
(Profibus) ely
ely
ely
ely
ely
ely
ely
ely
3921.1 FBI_SignalProcessing0_Input_Y4 Interpolation input CanSync, 0x2050/0x I32 yes Immediat False True
PowerLink 60C1.1 ely
3921.5 FBI_SignalProcessing0_OutputFBIncr Interpolation output position I32 no - False True
Fbincr.
3921.3 FBI_SignalProcessing0_ResetDistanceLow Lower modulo limit CanSync, 0x2103.1 I32 no Immediat False True
PowerLink, EtherCat in Mrev ely
3921.10 FBI_SignalProcessing0_ResetDistanceLow_Inc Lower modulo limit CanSync, 0x2103.2 I32 no Immediat False True
r PowerLink, EtherCat in Fbincr ely
ely
ely
ely
ely
ely
ely
ely
ely
2050.8 FeedForward_2_Valve Valve feedforward auxiliary axis U16 no VP True True
2010.20 FeedForward_EMF EMC feed forward U16 yes VP True True
2010.21 FeedForward_Valve Valve feedforward U16 no VP True True
1141.8 GEAR_actual_master_speed Master speed for Gearing C4_3 no - True True
1141.7 GEAR_actual_masterposition Position input value for Gearing 0x2058 C4_3 no - True True
1141.10 GEAR_FFW_mode Control bits for feedforward with 0x2097 U16 no Immediat False True
source ely
CANSync/EthernetPowerLink/EtherC
at
900.12 HEDA_CRC_ErrorCounter Error counter CRC (HEDA) U32 no Immediat False True
ely
900.13 HEDA_SyncErrorCounter Error counter Sync (HEDA) U32 no Immediat False True
ely
1130.13 HOMING_edge_position Distance MN (zero) initiator - motor C4_3 no Immediat True True
zero ely
2201.3 LoadControl_Status Load control status bits I16 no - True True
2240.7 Magnetisierungsstromregler_Bandwidth Magnetization current controller I16 no VP True True
bandwidth (ASM)
2240.4 Magnetisierungsstromregler_Damping Magnetization current controller I16 no VP True True
attenuation(ASM)
2240.11 Magnetisierungsstromregler_Field weakening Reference speed quantifier (ASM) I16 no VP True True
speed
2240.2 Magnetisierungsstromregler_Imrn_DemandValu Magnetization current quantifier I16 no VP True True
eTuning (ASM)
2240.10 Magnetisierungsstromregler_RotorTimeConstan Motor Time Constant quantifier I16 no VP True True
t
2240.9 Magnetisierungsstromregler_SlipFrequency Slip frequency quantifier (ASM) I16 no VP True True
200.10 NormFactorY2_ActualValue2_Y2 Normalization factor for 1000.14 V2 no Immediat False True
ely
ely
192-120108N13 Compax3T40_eng 2014-10 537


I11 Bus
ely
200.5 NormFactorY2_Array_Col2 Normalization factor recipe arrays 355.5 0x2020.5 V2 no Immediat False True
column 2 ely
200.11 NormFactorY2_Current Normalization factor for Y2 currents 355.11 0x2020.11 V2 no Immediat False True
ely
200.9 NormFactorY2_DemandValue2_Y2 Normalization factor for 0x2020.9 V2 no Immediat False True
[email protected] ely
ely
ely
200.1 NormFactorY2_Speed Normalization factor for Y2 speeds 355.1 0x2020.1 V2 no Immediat False True
ely
200.3 NormFactorY2_Voltage Normalization factor for Y2 voltages 355.3 0x2020.3 V2 no Immediat False True
ely
ely
ely
ely
201.4 NormFactorY4_Array_Col1 Scaling factor recipe arrays column 1 356.4 0x2021.4 V2 no Immediat False True
ely
ely
ely
ely
201.15 NormFactorY4_FBI_SignalProcessing_Accel Normalization factor for 3925.21 0x2021.15 V2 no Immediat False True
ely
201.11 NormFactorY4_FBI_SignalProcessing_Position Normalization factor for bus 356.11 0x2021.11 V2 no Immediat False True
interpolation ely
201.14 NormFactorY4_FBI_SignalProcessing_Speed Normalization factor for 3925.20 0x2021.14 V2 no Immediat False True
ely
201.1 NormFactorY4_Speed Scaling factor for Y4 speeds 356.1 0x2021.1 V2 no Immediat False True
ely
201.3 NormFactorY4_Voltage Scaling factor for Y4 voltages 356.3 0x2021.3 V2 no Immediat False True
ely
20.1 ObjectDir_Objekts-->FLASH Store objects permanently (bus) 339 0x2017 I16 no Immediat False True
ely
1111.11 POSITION_position_Y4 118 Y4 yes Immediat False True
ely
1111.9 POSITION_speed_Y2 Speed for Positioning in Y2 Format 110 Y2 yes Immediat False True
ely
2200.21 PositionController_FrictionCompensation Friction compensation I32 no VP True True
2200.25 PositionController_IntegralPart I term of position controller U16 no VP True True
2200.3 PositionController_ProportionalPart Optimization parameters for the U16 no VP True True
position controller P component (KV
factor)
2200.24 PositionController_TrackingErrorFilter_us Time constant following error filter of U16 no VP True True
position controller
830.2 Profibus_Baudrate Baud rate U32 no - False True
830.3 Profibus_NodeAddress Node address 918 U16 no - False True
830.1 Profibus_Protocol PPO-type selection switch U16 no Immediat False True
ely
830.6 Profibus_StandardSignalTable List of Profidrive standard signals 923.x U16 no - False True
830.4 Profibus_TelegramSelect Telegram selection switch 922 U16 no Immediat False True
ely
2000.8 ProfilGenerators_PG2Accel Acceleration of the virtual axis I32 no - False True
2000.5 ProfilGenerators_PG2Speed Speed of the virtual axis 0x2064 I32 yes - False True
2000.4 ProfilGenerators_SG1Speed Speed of the setpoint encoder 0x2063 I32 yes - True True
2220.22 Q_CurrentController_BackEMF Parameter motor force constant I16 no VP True True
2220.6 Q_CurrentController_CurrentControlIntegralPart Current Loop I term I16 no VP True True
2220.5 Q_CurrentController_CurrentControlProportiona Current Loop - "P" Term I16 no VP True True
lPart
2220.20 Q_CurrentController_Inductance Parameter motor inductance I16 no VP True True
2220.4 Q_CurrentController_Q_ActualValue Cross-flow actual value I16 yes - True True
2220.1 Q_CurrentController_Q_DemandValue Quadrature Current CommandValue I16 yes - True True
2220.2 Q_CurrentController_Q_DemandValueAdditive Manual or external cross current I16 yes Immediat True True
specification ely
2220.21 Q_CurrentController_Resistance Parameter motor resistance I16 no VP True True
2220.27 Q_CurrentController_StructureSelection Structure switch of current control I16 no VP True True
280.5 Resolver_ExcitationLevel Resolver excitation level U16 no Immediat True True
ely
280.3 Resolver_LevelAdaption Resolver signal scaling I16 no Immediat True True
ely
814.20 SafetyMonitor_ProcessData Total process data S3 OS no - True
2210.17 SpeedController_ActualBandwidth Replacement time constant for the I32 no - True True
velocity control
2210.2 SpeedController_ActualValue Actual (rotational) speed I32 yes - True True
2210.1 SpeedController_DemandValue Velocity setpoint value I32 yes - True True
2210.14 SpeedController_DemandValueAdditive Manual or external velocity I32 yes Immediat True True
specification ely
2210.5 SpeedController_I_Part_Gain Weighting "I" term U16 no VP True True
2210.4 SpeedController_P_Part_Gain P term quantifier U16 no VP True True
2120.7 SpeedObserver_DisturbanceAdditionEnable Switch to enable disturbance I16 no VP True True
compensation
2120.5 SpeedObserver_DisturbanceFilter Time constant disturbance filter U32 no VP True True
2120.1 SpeedObserver_TimeConstant Rapidity of the speed monitor U32 no VP True True
295.10 SSI_Feedback_Incr_Position SSI feedback position (Increments) I32 no - True True
538 192-120108N13 Compax3T40_eng 2014-10


I11 Bus
682.7 StatusAccel_FeedForwardAccel Status acceleration feed forward C4_3 no - True True
690.5 StatusAutocommutation_Itterations Current increase steps automatic U16 no - True True
commutation
688.8 StatusCurrent_ControlDeviationIq Status control deviation current C4_3 no - True True
control RMS
688.31 StatusCurrent_DecouplingVoltageUd Signal decoupling of direct current C4_3 no - True True
controller
688.32 StatusCurrent_FeedForwardbackEMF Signal EMC feed forward C4_3 no - True True
688.14 StatusCurrent_FeedForwordCurrentJerk Status of current & jerk feedforward C4_3 no - True True
688.9 StatusCurrent_PhaseU Status of current phase U C4_3 no - True True
688.10 StatusCurrent_PhaseV Status of current phase V C4_3 no - True True
688.11 StatusCurrent_ReferenceVoltageUq Status of current control control C4_3 no - True True
signal
688.22 StatusCurrent_ReferenceVoltageVector Provided voltage pointer C4_3 no - True True
688.30 StatusCurrent_VoltageUd Provided voltage of direct current C4_3 no - True True
controller
688.29 StatusCurrent_VoltageUq Provided voltage of quadrature C4_3 no - True True
current controller
683.13 StatusDevice_ActualTorqueDS402 Actual torque or force DS402 0x6077 I16 yes - False True
opmode 10 (only
EtherCAT
with
mapping
via
master)
683.7 StatusDevice_BallastResistorDynamicLoad Status of short-term braking resistor C4_3 no - True True
utilization
683.6 StatusDevice_BallastResistorLoad Status of long-term braking resistor C4_3 no - True True
utilization
683.12 StatusDevice_BallastResistorOFFThreshold Braking resistor switch-off voltage C4_3 no - True True
683.11 StatusDevice_BallastResistorONThreshold Braking resistor switch-on voltage C4_3 no - True True
692.4 StatusFeedback_EncoderCosine Status of analog input cosine I32 no - True True
692.24 StatusFeedback_EncoderCosineVolts Status of analog input cosine (Volt) C4_3 no - True True
692.3 StatusFeedback_EncoderSine Status of analog input sine I32 no - True True
692.23 StatusFeedback_EncoderSineVolts Status of analog input sine (Volt) C4_3 no - True True
692.2 StatusFeedback_FeedbackCosineDSP Status of cosine in signal processing I32 yes - True True
692.22 StatusFeedback_FeedbackCosineDSPvolts Status of cosine in signal processing C4_3 yes - True True
692.1 StatusFeedback_FeedbackSineDSP Status of sine in signal processing I32 yes - True True
692.21 StatusFeedback_FeedbackSineDSPvolts Status of sine in signal processing C4_3 yes - True True
692.5 StatusFeedback_FeedbackVoltage[Vpp] Status of feedback level C4_3 yes - True True
692.10 StatusFeedback_RefChannel Status feedback index track I16 no - True True
692.9 StatusFeedback_ResolverLevel Status resolver level C4_3 no - True True
689.1 StatusHeda_RxPD Receive string OS no - False True
689.2 StatusHeda_TxPD Transmit string OS no - False True
699.4 StatusJerk_DemandValue Status of demand jerk setpoint I32 no - True True
generator
3030.13 StatusMaster_InputSum Free running master position after C4_3 yes - False True
MP enable
680.8 StatusPosition_ActualY4 Status of actual position in bus format 119 0x2022/0x I32 yes - False True
Y4 6064
680.14 StatusPosition_FeedbackAbsolute Feedback absolute position in I32 no - True True
feedback increments
680.20 StatusPosition_LoadControlDeviation Position difference load-motor C4_3 no - True True
(unfiltered)
681.7 StatusSpeed_ActualFilteredY2 Status of the actual filtered speed 6 0x2023 Y2 yes - False True
speed in the Y2 format
681.8 StatusSpeed_ActualFilteredY4 Status of the actual filtered peed in 117 0x2024 Y4 yes - False True
the Y4 format
685.5 StatusVoltage_BusVoltageC43 Status DC bus voltage C4_3 0x6079 C4_3 yes - False True
A detailed object list can be found in the corresponding online help.
192-120108N13 Compax3T40_eng 2014-10 539

Status values C3T40
8. Status values
D/A-Monitor ................................................................................................................... 540
A list of the status values supports you in optimization and commissioning.

Open the optimization function in the C3 ServoManager (double-click on
optimization in the tree)
You will find the available status values in the lower right part of the window under
selection (TAB) “Status values”.
You can pull them into the oscilloscope (upper part of the left side) or into the
status display (upper part of the right side) by the aid of the mouse (drag and drop).
The status values are divided into 2 groups (user levels):
standard: here you can find all important status values
advanced:Advanced status values, require a better knowledge
Switching of the The user level can be changed in the optimization window (left hand side lower part
user level under selection (TAB) "optimization") with the following button.
8.1 D/A-Monitor
A part of the status values can be output via the D/A monitor channel 0 (X11/4) and
channel 1 (X11/3).In the following status list under D/A monitor output: possible /
not possible).
The reference for the output voltage can be entered individually in the reference
unit of the status value.
Example: Output Object 2210.2: (actual speed unfiltered)

In order to get an output voltage of 10V at 3000prm , please enter rev/s
(=3000rpm) as "value of the signal at 10V".
Hint
The unit of measurement of the D/A monitor values differs from the unit of
measurement of the status values.
Additional information on the topic of "status values" can be found in the online
help of the device.
540 192-120108N13 Compax3T40_eng 2014-10

Parker EME D/A-Monitor
9. Error
Standard error reactions:
Reaction 2: Downramp with "de-energize" then apply brake (see on page 269)
and finally de-energize.
For errors with standard reaction 2 the error reaction can be changed (see on
page 418, see on page 145).
Reaction 5: de-energize immediately (without ramps), apply brake.
Caution! A Z-axis may drop down due to the brake delay times
Pending errors can be acknowledged with Quit!

Object 550.1 displays error:
value 1 means "no error".
The errors as well as the error history can be viewed in the C3 ServoManager
under optimization (at the top right of the optimization window).
Detailed information on the topic of the "error list" can be found in the online help of
the device.
192-120108N13 Compax3T40_eng 2014-10 541

Order code C3T40
10. Order code

Order code device: Compax3 ........................................................................................ 543
Order code for mains module: PSUP ............................................................................. 544
Order code for accessories ............................................................................................ 544
542 192-120108N13 Compax3T40_eng 2014-10

Parker EME Order code device: Compax3
10.1 Order code device: Compax3

Example: C3S025V2F10I10T10M00 C3
Device type: Compax3
Single axis S --
Highpower H --
Multi-axis device M
Device currents static/dynamic; supply voltage
2.5A / 5A ; 230VAC (single phase) S 025 V2 --
6.3 A / 12.6 A ; 230VAC (1 phase) S 063 V2 --
10A / 20A ; 230VAC (three phase) S 100 V2 --
15A / 30A ; 230VAC (three phase) S 150 V2 --
1.5A / 4.5A ; 400VAC (three phase) S 015 V4 --
3.8 A / 7.5 A ; 400VAC (3 phase) S 038 V4 --
7.5 A / 15.0 A ; 400VAC (3 phase) S 075 V4 --
15.0 A / 30.0 A ; 400VAC (3 phase) S 150 V4 --
30.0 A / 60.0 A ; 400VAC (3 phase) S 300 V4 --
50A / 75A ; 400VAC (three phase) H 050 V4 --
90A / 135A ; 400VAC (three phase) H 090 V4 --
125A / 187.5A ; 400VAC (three phase)* H 125 V4 --
155A / 232.5A ; 400VAC (three phase)* H 155 V4 --
5.0A / 10,0A ; 400VAC (three phase) M 050 D6
10A / 20A ; 400VAC (three phase) M 100 D6
15A / 30A ; 400VAC (three phase) M 150 D6
60A 30A / ; 400VAC (three phase) M 300 D6
Feedback:
Resolver F10
SinCos© (Hiperface) F11
Encoder, Sine-cosine with/without hall F12
Interface:
Step/direction / analogue input I10 T10 M00
Positioning with inputs/outputs I11 T11 M00
Positioning via I/Os or RS232 / RS485/USB I12
Profibus DP V0/V1/V2 (12Mbaud) I20
CANopen I21
DeviceNet I22
Ethernet Powerlink I30
EtherCAT I31
Profinet I32
C3 powerPLmC (Multi-axis control) C20 M00
Technology functions:
Positioning T11
Motion control programmable according to IEC61131-3 T30
Motion control programmable according to IEC61131-3 &
T40
electronic cam extension
Options:
no additional supplement M00
Expansion 12 digital I/Os & HEDA (Motionbus) M10
HEDA (Motionbus) M11
Expansion, 12 digital I/Os M12
Safety technology only C3M:
Safe torque off M D6 S1
Extended safety technology M D6 S3
*external voltage supply for ventilator fan required. Available in two versions for single phase feed:
Standard: 220/240VAC: 140W, on request: 110/120VAC: 130W
192-120108N13 Compax3T40_eng 2014-10 543

Order code C3T40
10.2 Order code for mains module: PSUP

Example: PSUP10D6USBM00 PSU P D6 USB M00
Power module P
Nominal power; supply voltage
10kW; 400 VAC (3-phase) 10 D6
20kW; 400 VAC (3-phase) 20 D6
30kW; 400 VAC (3-phase) 30 D6
Interface:
USB connection USB
Options:
no additional supplement M00
10.3 Order code for accessories

Order code for feedback cables ..................................................................................... 545
Order Code braking resistors ......................................................................................... 545
Order code mains filter (C3S) ........................................................................................ 546
Order code capacitor module......................................................................................... 546
Interface cable order code ............................................................................................. 546
Order Code input/output terminals (PIO)........................................................................ 547
Order note ..................................................................................................................... 548
Order Code connection set for Compax3S

The corresponding connection sets are furnished with the device. /
for C3S0xxV2 ZBH 02/01 ZBH 0 2 / 0 1
for C3S0xxV4 / S150V4 / S1xxV2 ZBH 02/02 ZBH 0 2 / 0 2
for C3S300V4 ZBH 02/03 ZBH 0 2 / 0 3
Order code for PSUP/Compax3M connection set

The corresponding connection sets are furnished with the device. /
for C3M050D6, C3M100D6, C3M150D6 ZBH 04/01 ZBH 0 4 / 0 1
for C3M300D6 ZBH 04/02 ZBH 0 4 / 0 2
for PSUP10 ZBH 04/03 ZBH 0 4 / 0 3
PSUP20, PSUP30 ZBH 04/04 ZBH 0 4 / 0 4
544 192-120108N13 Compax3T40_eng 2014-10

Parker EME Order code for accessories
10.3.1. Order code for feedback cables

/
for resolver (2 for MH / SMH motors REK 4 2 / ... ...(1
for resolver (2 for MH / SMH motors (cable chain compatible) REK 4 1 / ... ...(1
for SinCos© – feedback (2 for MH / SMH motors (cable chain compatible) GBK 2 4 /
.. ...(1
(2
for EnDat 2.1 for MH / SMH motors (cable chain compatible) GBK 3 8 / .. ...(1
(2
for EnDat 2.2 for MH / SMH motors (cable chain compatible) GBK 5 6 / .. ...(1
Encoder – Compax3 GBK 2 3 / ... ...(1
for LXR linear motors (cable chain compatible) GBK 3 3 / ... ...(1
for BLMA linear motors (cable chain compatible) GBK 3 2 / ... ...(1
(x
Note on cable (see on page 548)
Motor cable order code (2

/
for SMH / MH56 / MH70 / MH105(3 (1.5mm2; up to 13.8A) MOK 5 5 / ... ...(1
(3
for SMH / MH56 / MH70 / MH105 (1.5mm2; up to 13.8A) (cable chain compatible) MOK 5 4 / ... ...(1
(3
for SMH / MH56 / MH70 / MH105 (2.5mm2; up to 18.9A) MOK 5 6 / ... ...(1
(3
(4
for MH145 / MH205 (1.5mm2; up to 13.8A) MOK 6 0 / ... ...(1
(4
for MH145 / MH205 (1.5mm2; up to 13.8A) (cable chain compatible) MOK 6 3 / ... ...(1
(4
(4
(4
for MH145 / MH205 (6mm2; up to 32.3A) (cable chain compatible) MOK 6 1 / ... ...(1
(4
(x
10.3.2. Order Code braking resistors

Order Code braking resistors
/
for C3S063V2 or C3S075V4 56Ω / 0.18kWcont. BRM 0 5 / 0 1
for C3S075V4 56Ω / 0.57kWcont. BRM 0 5 / 0 2
for C3S025V2 or C3S038V4 100Ω / 60Wcont. BRM 0 8 / 0 1
4/01:15Ω / 0.57kWcont.
for C3S150V2, C3S300V4 and PSUP20D6 BRM 0 4 / 0 ...
4/02:15Ω / 0.74kWcont.
for C3S300V4 and PSUP20D6 4/03:15Ω / 1.5kWcont.
for C3H0xxV4 27Ω / 3.5kWcont. BRM 1 1 / 0 1
for PSUP10D6 and
30Ω / 0.5kWcont. BRM 1 3 / 0 1
PSUP20D6 / PSUP30D6 (2x30Ω parallel)
for PSUP10D6 (2x15Ω in series),
15Ω / 0.5kWcont. BRM 1 4 / 0 1
PSUP20D6, PSUP30D6
for C3H1xxV4, PSUP30D6 18Ω / 4.5kWcont. BRM 1 2 / 0 1
192-120108N13 Compax3T40_eng 2014-10 545

Order code C3T40
10.3.3. Order code mains filter (C3S)

Order code mains filter Compax3S
/
for C3S025V2 or S063V2 NFI 0 1 / 0 1
for C3S0xxV4, S150V4 or S1xxV2 NFI 0 1 / 0 2
for C3S300V4 NFI 0 1 / 0 3
Order code mains filter Compax3H

/
for C3H050V4 NFI 0 2 / 0 1
for C3H090V4 NFI 0 2 / 0 2
for C3H1xxV4 NFI 0 2 / 0 3
Order Code mains filter PSUP

/
Reference axis combination 3x480V 25A
for PSUP10 NFI 0 3 / 0 1
6x10m motor cable length
for PSUP20 & PSUP30 NFI 0 3 / 0 3
Order code for mains filters

for PSUP30 Mains filter LCG-0055-0.45 mH
for PSUP30 Mains filter with UL approval LCG-0055-0.45 mH-UL
Order code for motor output filter (for Compax3S, Compx3M >20m motor cable)
/
up to 6,3 A rated motor current MDR 0 1 / 0 4
Up to 16 A rated motor current MDR 0 1 / 0 1
Up to 30A A rated motor current MDR 0 1 / 0 2
10.3.4. Order code capacitor module

Order code capacitor module
for C3S300V4 1100µF Module C4
546 192-120108N13 Compax3T40_eng 2014-10

Parker EME Order code for accessories
10.3.5. Interface cable order code

Order code for interface cables and connectors
/
PC – Compax3 (RS232) SSK 0 1 / ... ...(1
PC – PSUP (USB) SSK 3 3 / ... ...
on X11 (Ref/Analog) and X13 with C3F001D2 with flying leads SSK 2 1 / ... ...(1
on X12 / X22 (digital I/Os) with flying leads SSK 2 2 / ... ...(1
on X11 (Ref /Analog) for I/O terminal block SSK 2 3 / ... ...(1
on X12 / X22 (digital I/Os) for I/O terminal block SSK 2 4 / ... ...(1
PC  POP (RS232) SSK 2 5 / ... ...(1
Compax3  POP (RS485) for several C3H on request SSK 2 7 / ../ ...(6
Compax3 HEDA  Compax3 HEDA or PC  C3powerPLmC
Compax3 I30  Compax3 I30 or C3M-multi-axis communication SSK 2 8 / ../ ...(5
Profinet, EtherCAT, Ethernet Powerlink
Compax3 X11  Compax3 X11 (encoder coupling of 2 axes) SSK 2 9 / ... ...(1
Compax3 X10  Modem SSK 3 1 / ...
Compax3H adapter cable  SSK01 (length 15cm, delivered with the device) SSK 3 2 / 2 0
Compax3H X10 RS232 connection control  Programming interface (delivered with the device) VBK 1 7 / 0 1
Bus terminal connector (for the 1st and last Compax3 in the HEDA Bus/or multi-axis system) BUS 0 7 / 0 1
Profibus cable (2 non prefabricated SSL 0 1 ... ...(7
Profibus connector BUS 0 8 / 0 1
CAN bus cable (2 non prefabricated SSL 0 2 ... ...(7
CAN bus connector BUS 1 0 / 0 1
(x
Order Code operating module

/
Operating module (for Compax3S and Compax3F) BDM 0 1 / 0 1
Order Code terminal block

/
for I/Os without luminous indicator for X11, X12, X22 EAM 0 6 / 0 1
for I/Os with luminous indicator for X12, X22 EAM 0 6 / 0 2
10.3.6. Order Code input/output terminals (PIO)

Order Code decentralized input terminals
PIO 2DI 24VDC 3.0ms 2-channel digital input terminal PIO 4 0 0

PIO 2AI DC ±10V differential 2 channel analog input terminal (±10 V differential input) PIO 4 5 6
input
PIO 4AI 0-10VDC S.E. 4 channel analog input terminal (0-10V signal voltage) PIO 4 6 8
PIO 2AI 0-20mA differential 2-channel analog input terminal (0-20mA differential input) PIO 4 8 0
input
192-120108N13 Compax3T40_eng 2014-10 547

Order code C3T40
Order Code decentralized output terminals
PIO 2DO 24VDC 0.5A 2 channel digital output terminal (output voltage 0.5A) PIO 5 0 1
PIO 2AO 0-10VDC 2 channel analog output terminal (0-10V signal voltage) PIO 5 5 0
PIO 2AO 0-20mA 2-channel analog output terminal (0-20mA signal voltage) PIO 5 5 2
PIO 2AO DC ±10V 2-channel analog output terminal (±10V signal voltage) PIO 5 5 6
Order Code CANopen Fieldbus Coupler
CANopen Standard max. Vectorial sum current for bus terminals 1650mA at 5V PIO 3 3 7
CANopen ECO max. Vectorial sum current for bus terminals 650mA at 5V PIO 3 4 7
10.3.7. Order note

(1
Length code 1
Length [m] 1.0 2.5 5.0 7.5 10.0 12.5 15.0 20.0 25.0 30.0 35.0 40.0 45.0 50.0
Code 01 02 03 04 05 06 07 08 09 10 11 12 13 14
Other adaptation can be developed on request!
Example:
SSK01/09: Length 25m
(2
Colors according to DESINA
(3
with motor connector
(4
with cable eye for motor terminal box
5
length code 2 for SSK28
Length [m] 0.17 0.25 0.5 1.0 3.0 5.0 10.0
Order code 23 20 21 01 22 03 05
(6
Order code: SSK27/nn/..
Length A (Pop - 1. Compax3) variable (the last two numbers according to the
length code for cable, for example SSK27/nn/01)
Length B (1. Compax3 - 2. Compax3 - ... - n. Compax3) fixed 50 cm (only if there is
more than 1 Compax3, i.e. nn greater than 01)
Number n (the last two digits)
Examples include:
SSK27/05/.. for connecting from Pop to 5 Compax3.
SSK27/01/.. for connecting from Pop to one Compax3
MOK55 and MOK54 can also be used for linear motors LXR406, LXR412 and
BLMA.
(7
sold by the meter: Length in meters (order in number of items)
(x
548 192-120108N13 Compax3T40_eng 2014-10

Parker EME Parker servo motors
11. Compax3 Accessories

Parker servo motors ...................................................................................................... 549
EMC measures .............................................................................................................. 552
Connections to the motor............................................................................................... 560
External braking resistors .............................................................................................. 565
Capacitor module C4 ..................................................................................................... 578
Operator control module BDM ....................................................................................... 579
EAM06: terminal block for inputs and outputs ................................................................ 579
Interface cable ............................................................................................................... 582
Options M1x .................................................................................................................. 587
Profibus plug BUS08/01 ................................................................................................ 592
CAN - plug BUS10/01 .................................................................................................... 593
PIO: External Inputs/Outputs ......................................................................................... 594
11.1 Parker servo motors

Direct drives .................................................................................................................. 549
Rotary servo motors ...................................................................................................... 551
11.1.1. Direct drives

Transmitter systems for direct drives ............................................................................. 550
Linear motors ................................................................................................................ 551
Torque motors ............................................................................................................... 551
192-120108N13 Compax3T40_eng 2014-10 549

Compax3 Accessories C3T40
11.1.1.1 Transmitter systems for direct drives

The Feedback option F12 makes it possible to operate linear motors as well as
torque motors. Compax3 supports the following transmitter systems:
Special Feedback
Systems Option F12
Analog hall sensors  Sine-Cosine signal (max. 5Vpp*; typical 1Vpp) 90°
offset
 U-V signal (max. 5Vpp*; typical 1Vpp) 120° offset.
Encoder  Sine-Cosine (max. 5Vpp*; typical 1Vpp) (max.

(linear or rotary) 400kHz) or
 TTL (RS422) (max. 5MHz; track A or B)
 Bypass function for encoder signals
(limit frequency** 5MHz, track A or B)
with the following modes of commutation:
 Automatic commutation (see on page 550) or
 U, V, W or R, S, T commutation signals (NPN open
collector) e.g. digital hall sensors, incremental
encoders made by Hengstler (F series with electrical
ordering variant 6)
EnDat*** with  EnDat 2.1 or EnDat 2.2 (Endat01, Endat02) feedback
incremental (Sine -  linear or rotary
Cosine) track  max. 400kHz Sine-Cosine
EnDat 2.2*** (fully  EnDat 2.2 (Endat01, Endat02) feedback

digital)  linear or rotary
 max. Cable length: 25 m
EnDat2.1***(fully digital)  EnDat 2.1 without incremental track

 Supported types: EQI11xx, ECI11xx, ECI11x
Distance coded  Distance coding with 1 VSS interface

feedback systems  Distance coding with RS422 - Interface (Encoder)
*Max. differential input between SIN- (X13/7) and SIN+ (X13/8).
*** Digital, bidirectional interface
The motor performs automatic commutation after:
 Power on,
 A configuration download or
 An IEC program download
The time duration (typically 5-10 sec) of automatic commutation can be optimized
with the start current (see in the optimization display of the C3 ServoManager;
given as a percentage of the reference current). Note that values that are too high
will cause Error 0x73A6 to be triggered.
Typically the motor moves by 4% of the pitch length or, with rotary direct drives 4%
of 360°/number of pole pairs - maximum 50%.
Note the following conditions for automatic commutation
 During automatic commutation the end limits are not monitored.
 Actively working load torques are not permitted during automatic commutation.
 Static friction deteriorates the effect of automatic commutation.
 With the exception of missing commutation information, the controller/motor
combination is configured and ready for operation (parameters correctly assigned
for the linear motor/drive). The transmitter and the direction of the field of rotation
in effect must match.
 The auto-commutating function must be adapted to fit the mechanics if necessary
during commissioning.
550 192-120108N13 Compax3T40_eng 2014-10

Parker EME Parker servo motors
11.1.1.2 Linear motors

Parker offers you a number of systems of linear motor drives:
Feed force Stroke length:
Linear motors (continuous/dynamic)
LMDT ironless linear servo 26 ... 1463N almost any
motors:
LMI iron-cored linear servo 52 ... 6000N 64 ... 999mm
motors:
LXR Series Linear Motors 315N / 1000N up to 3m
Linear motor module BLMA: 605N / 1720N up to 6m
11.1.1.3 Torque motors

Parker offers you an extensive range of torque motors that can be adapted to your
application. Please contact us for information.
Additional information can be found on the Internet http://www.parker.com/eme
in the direct drives section.
11.1.2. Rotary servo motors

Parker offers you an extensive range of servo motors that can be adapted to your
application. Please contact us for information.
Additional information can be found on the Internet
http://www.parker.com/eme/smh
or on the DVD supplied in the documentations file.
Suitable servo motors for Compax3H are available on request!
192-120108N13 Compax3T40_eng 2014-10 551

11.2 EMC measures

Mains filter ..................................................................................................................... 552
Motor output filter........................................................................................................... 557
Mains chokes ................................................................................................................ 559
11.2.1. Mains filter

For radio disturbance suppression and for complying with the emission limit values
for CE conform operationwe offer mains filters:
Observe the maximum permitted length of the connection between the mains filter
and the device:
 unshielded <0.5m;
 shielded: <5m (fully shielded on ground e.g. ground of control cabinet)
Order code mains filter Compax3S

/
for C3S025V2 or S063V2 NFI 0 1 / 0 1
for C3S0xxV4, S150V4 or S1xxV2 NFI 0 1 / 0 2
for C3S300V4 NFI 0 1 / 0 3
Order Code mains filter PSUP

/
for PSUP20 & PSUP30 NFI 0 3 / 0 3
Order code for mains filters

for PSUP30 Mains filter LCG-0055-0.45 mH
for PSUP30 Mains filter with UL approval LCG-0055-0.45 mH-UL
Order code mains filter Compax3H

/
for C3H050V4 NFI 0 2 / 0 1
for C3H090V4 NFI 0 2 / 0 2
for C3H1xxV4 NFI 0 2 / 0 3
552 192-120108N13 Compax3T40_eng 2014-10

Parker EME EMC measures
11.2.1.1 Mains filter NFI01/01
for Compax3 S025 V2 and Compax3 S063 V2

Dimensional drawing:
55,5
L L
88,9±0,4
I O
79,5
101
N A
E D
50,8±0,3
Ø 4
85,4
5,2 x 4
116
139
for Compax3 S0xx V4, Compax3 S150 V4 and Compax3 S1xx V2

65
6,6
L L
I O
111
140
125
N A
E D
70±0,3
151 Ø4
177
Stated in mm
192-120108N13 Compax3T40_eng 2014-10 553

11.2.1.3 Mains filter for NFI01/03
for Compax3 S300

64
6,6
L L
145 ±0,5
I O
129
159
N A
E D
115±0,3
217 Ø4
240
Stated in mm
11.2.1.4 Mains filter NFI02/0x
Filter for mounting below theCompax3 Hxxx V4 housing

T
T1
M6
H1 HFU
H
H1
H2
BFU
B1
B
Filter type Dimensions Fixing Centers Distances Weight Groundi Connectio

ng n clamp
clamp
W H2 H D W1 H1 D1 BFU HFU
mm mm mm kg
C3H050V4 NFI02/01 233 515 456 70 186 495 40 150 440 4.3 M6 16mm2
C3H090V4 NFI02/02 249 715 649 95 210 695 40 150 630 8.5 M8 50mm2
C3H1xxV4 NFI02/03 249 830 719 110 150 700 15.0 M10 95mm2
554 192-120108N13 Compax3T40_eng 2014-10

11.2.1.5 Mains filter NFI03/01& NFI03/03
for PSUP10D6 and PSUP20D6

Bottom view
F
H
G
D
Side view Front view

A
C
I I
PE PE
Coined Earthing
E
Symbol on both
B
sides
Top view
L1 L1
L2 L2
L3 L3
Line Terminals Label Load Terminals
Filter type Weight GND(I) Connection clamp

A B C D I F G H kg
NFI03/01 240 50 85 270 0.8 30 255 5.4 1.5 M5 10mm2
NFI03/03 220 85 90 250 1.0 60 235 5.4 2.4 M6 16mm2
Stated in mm
192-120108N13 Compax3T40_eng 2014-10 555

for PSUP10D6
556 192-120108N13 Compax3T40_eng 2014-10

11.2.2. Motor output filter

We offer motor output filters for disturbance suppression when the motor
connecting cables are long (>20m):
Order code for motor output filter (for Compax3S, Compx3M >20m motor cable)
/
up to 6,3 A rated motor current MDR 0 1 / 0 4
Up to 16 A rated motor current MDR 0 1 / 0 1
Up to 30A A rated motor current MDR 0 1 / 0 2
Larger motor output filters are available on request!
Motor output filter MDR01/04 ......................................................................................... 557
Wiring of the motor output filter ...................................................................................... 558
11.2.2.1 Motor output filter MDR01/04
up to 6.3A nominal motor current (3.6mH)

U1 V1 W1 + - U2 V2 W2 + -
170
5
90 40
54
120 95
Stated in mm
Up to 16 A nominal motor current (2mH)

U1 V1 W1 + - U2 V2 W2 + -
195
6
113 50
67
150 95
Stated in mm
192-120108N13 Compax3T40_eng 2014-10 557

up to 30A nominal motor current (1.1mH)

U1 V1 W1 + - U2 V2 W2 + -
195
6
136 57
76
180 110
Weight: 5.8kg
Stated in mm
11.2.2.4 Wiring of the motor output filter

Compax3 MDR Motor
PE
PE
U1 U2
U
V V1 V2 M
W W1 W2
Br+ + +
Br- - -
558 192-120108N13 Compax3T40_eng 2014-10

11.2.3. Mains chokes

Mains filters serve for reducing the low-frequency interferences on the mains side.
11.2.3.1 Mains filter for PSUP30

Required mains filter for the PSUP30: 0.45 mH / 55 A
We offer the following mains filters:
 LCG-0055-0.45 mH (WxDxH: 180 mm x 140 mm x 157 mm; 10 kg)
 LCG-0055-0.45 mH-UL (with UL approval) (WxDxH: 180 mm x 170 mm x
157 mm; 15 kg)
Dimensional drawing: LCG-0055-0.45 mH
Dimensional drawing: LCG-0055-0.45 mH-UL
192-120108N13 Compax3T40_eng 2014-10 559

11.3 Connections to the motor

Under the designation "REK.." (resolver cables) and "MOK.."(motor cables) we can
deliver motor connecting cables in various lengths to order. If you wish to make up
your own cables, please consult the cable plans shown below:
Motor cable order code (2

/
for SMH / MH56 / MH70 / MH105(3 (1.5mm2; up to 13.8A) MOK 5 5 / ... ...(1
(3
(3
for SMH / MH56 / MH70 / MH105 (2.5mm2; up to 18.9A) MOK 5 6 / ... ...(1
(3
(4
(4
(4
(4
(4
(4
(x
/
for resolver (2 for MH / SMH motors REK 4 2 / ... ...(1
for resolver (2 for MH / SMH motors (cable chain compatible) REK 4 1 / ... ...(1
for SinCos© – feedback (2 for MH / SMH motors (cable chain compatible) GBK 2 4 /
.. ...(1
for EnDat 2.1 (2 for MH / SMH motors (cable chain compatible) GBK 3 8 / .. ...(1
for EnDat 2.2 (2 for MH / SMH motors (cable chain compatible) GBK 5 6 / .. ...(1
Encoder – Compax3 GBK 2 3 / ... ...(1
for LXR linear motors (cable chain compatible) GBK 3 3 / ... ...(1
for BLMA linear motors (cable chain compatible) GBK 3 2 / ... ...(1
(x
Resolver cable............................................................................................................... 561
SinCos© cable............................................................................................................... 562
EnDat cable ................................................................................................................... 562
Motor cable.................................................................................................................... 563
Encoder cable ............................................................................................................... 564
560 192-120108N13 Compax3T40_eng 2014-10

Parker EME Connections to the motor
11.3.1. Resolver cable

REK42/..
27mm
Pin 1
Lötseite / solder side
Compax3 (X13) Resolver Crimpseite / crimp side
Lötseite YE YE
SIN+ 8 2x0,25 2 SIN+
solder side
GN GN
SIN- 7 1 SIN- Codiernut S = 20°
15 5 BN 2x0,25 BN
COS+ 12 11 9
14 10 4 COS+ 8
12
13 9 3 COS- 11
WH WH
12 COS- 1 7
12 8 2 BU BU 10
11 7 1 REFres+ 4 2x0,25 10 Ref+ 6
6 RD RD 2
REFres- 15 7 Ref-
PK PK 3 5
+5V 5 2x0,25 8 +Temp 4 11
GY GY
Tmot 10 9 -Temp
Schirm auf Schirmanbindungselement

Screen at screen contact
1 NC 3
NC
23 mm NC
2 NC 4
3 NC 2 mm 6 mm 5
NC
6 NC 6
NC
9 NC
13 NC
14 NC
The same cable (with changed conductor coloring) is available under the
designation REK41/.. in a version which is suitable for cable chain systems.
You can find the length code in the Chapter Order Code Accessories (see on
page 544).
192-120108N13 Compax3T40_eng 2014-10 561

11.3.2. SinCos© cable

GBK24/..: Cable chain compatible
27mm
Pin 1
Lötseite / solder side
Crimpseite / crimp side
Compax3 (X13) SinCos
BU 2x0,25 BU 11 12 1
SIN+ 8 1 SIN+ 10 2
Lötseite VT VT
SIN- 7 2 SIN- 16 13
solder side BN BN 9 3
COS+ 12 2x0,25 11 COS+
GN GN 8 4
15 5 COS- 11 12 COS- 15 14
14 10 4 PK 2x0,25 PK 7
6
17 5
13 9 3 DATA 13 3 +485
12 8 2 DATA 14
GY GY
13 -485
11 7 1 RD RD
6 2x0,25
+5Vfil 5 8 K1
BK BK
Tmot 10 9 K2
BN 0,5 BN
+8Vref 4 10 +V
WH 0,5 WH
GND 15 7 GND
NC 4 Schirm auf Schirmanbindungselement

NC 5 Screen at screen contact
NC 6
1 NC 14
NC
2 NC NC 15
3 NC NC 16
6 NC 23 mm
NC 17
9 NC
2 mm 6 mm
You can find the length code in the Chapter Order Code Accessories (see on
page 544).
11.3.3. EnDat cable

GBK38/..: (cable chain compatible) for EnDat2.1
27mm
Compax3 (X13) Feedback

Pin 1 Sense+ 2 BU 0,5 BU
1 Up(sens.)
WH 0,5 WH
Sense- 1 4 0V(sens.)
Lötseite BN BN
VCCTemp 5 2x0,14 5 PTC Lötseite / Crimpseite
solder side GN GN
Temp 10 6 PTC BU/BK
VT VT BU 0,5
CLK 6 2x0,14 8 Clock+ WH/GN 0,5
YE YE
15 5 CLK/ 9 9 Clock- YE/BK
11 1 RD/BK
10 10 2
14 4 BN/GN 0,5 BN/GN 12
9 VCC 4 7 +V 16 13
13 3 YE 9 3
8 GND 15 WH/GN 0,5 WH/GN
10 0V 17
12 2 15 14
7 VT 8 4
11 1 BU/BK BU/BK WH
6
COS+ 12 12 B+
7 5
0,14
COS- 11 RD/BK 0,14 RD/BK
13 B- GN/BK 6
GY
GN/BK 0,14 GN/BK BN/GN 0,5 BN
SIN+ 8 15 A+
GN
YE/BK 0,14 YE/BK PK
SIN- 7 16 A-
GY GY
DATA 13 2x0,14 14 Data+
PK PK
DATA/ 14 17 Data-
SW SW
BU BU

Screen at sceen contact
3 NC NC 2,3,11
562 192-120108N13 Compax3T40_eng 2014-10

Parker EME Connections to the motor
GBK56/..: (cable chain compatible) for EnDat2.2 (cable plan on request)

You will find the length code in the accessories order code (see on page 544).
11.3.4. Motor cable

Cross-section / max. Motor connector Motor terminal box
permanent load SMH motors MH145, MH205
MH56, MH70, MH105
standard cable chain standard cable chain
compatible compatible
1.5 mm2 / up to 13.8 A MOK55 MOK54 MOK60 MOK63
2.5 mm2 / up to 18.9 A MOK56 MOK57 MOK59 MOK64
6 mm2 / up to 32.3 A - - - MOK61
10 mm2 / up to 47.3 A -- - MOK62
11.3.4.1 Connection of terminal box MH145 & MH205

F E G
C B A
Terminal Assignment
A Phase U
B Phase V
C Phase W
E Protective earth terminal
F Brake (+ red for MH205)
G Brake (- blue for MH205)
Additional designations can be found on the connection cable clamping board -
motor (internal).
192-120108N13 Compax3T40_eng 2014-10 563

11.3.5. Encoder cable

GBK23/..: Connection Compax3 - Encoder
32mm
Pin 1
Compax3 (X11) Encoder
Lötseite GN GN
solder side A 7 2x0,14 A
Lötseite / Crimpseite
6 YE YE B
A/ P A
15 5 GY GY N Z R B
10 B 8 2x0,14 D
14 4
9 PK PK M Y S C
13 3 B/ 12 E
8 X T
12 2 RD RD
7 N 14 2x0,14 G L D
11 1
6
13 BU BU H
N/ K W U E
15 WH WH K V
GND J F
BN 2x0,5 BN H G
+5V 5 M
Screen at screen contact
NC U NC C
NC V NC F
1 NC
NC W NC J
2 NC
NC X NC L
3 NC
NC Y NC N
4 NC
23 mm NC Z NC P
9 NC
NC R
10 NC 2 mm 6 mm
NC S
11 NC
NC T
You can find the length code in the Order Code Accessories (see on page 544)
564 192-120108N13 Compax3T40_eng 2014-10

Parker EME External braking resistors
11.4 External braking resistors
Danger!
Hazards when handling ballast resistors!
Housing temperature up to 200°C!
Dangerous voltage!
The device may be operated only in the mounted state!
The external braking resistors must be installed such that protection against
contact is ensured (IP20).
Install the connecting leads at the bottom.
The braking resistors must be grounded.
We recommend to use a thrust washer for the BRM13 and BRM14.
Observe the instructions on the resistors (warning plate).
Please note that the length of the supply cable must not exceed 2m!

Permissible braking pulse powers of the braking resistors ............................................. 566
Dimensions of the braking resistors ............................................................................... 574
Ballast resistors Compax3

Ballast resistor (see on page Device Nominal Power
565)
BRM08/01 (100 Ω) Compax3S025V2 60 W
Compax3S015V4
Compax3S038V4
BRM05/01 (56 Ω) Compax3S063V2 180 W
Compax3S075V4
BRM05/02 (56 Ω) Compax3S075V4 570 W
BRM10/01 (47 Ω) Compax3S150V4 570 W
BRM10/02 (47 Ω) Compax3S150V4 1500 kW
BRM04/01 (15 Ω) Compax3S150V2 570 W
Compax3S300V4
PSUP20D6
BRM04/02 (15 Ω) Compax3S150V2 740 W
Compax3S300V4
PSUP20D6
BRM04/03 (15 Ω) Compax3S300V4 1500 W
PSUP20D6
BRM09/01 (22 Ω) Compax3S100V2 570 W
BRM11/01 (27 Ω) Compax3H0xxV4 3500 W
BRM13/01 (30 Ω) PSUP10D6 500 W
PSUP20D6**
PSUP30D6**
BRM14/01 (15 Ω) PSUP10D6* 500 W
PSUP20D6
PSUP30D6
PSUP30D6
*for PSUP10D6 2x15Ω in series
**for PSUP20D6 and PSUP30D6 2x30Ω parallel
192-120108N13 Compax3T40_eng 2014-10 565

11.4.1. Permissible braking pulse powers of the braking resistors

Calculation of the BRM cooling time .............................................................................. 566
Permissible braking pulse power: BRM08/01 with C3S015V4 / C3S038V4 .................... 567
Permissible braking pulse power: BRM08/01 with C3S025V2........................................ 567
Permissible braking pulse power: BRM11/01 with C3H0xxV4 ........................................ 573
Permissible braking pulse power: BRM12/01 with C3H1xxV4 ........................................ 574
Permissible braking pulse power: BRM13/01 with PSUP10D6 ....................................... 574
Permissible braking pulse power: BRM14/01 with PSUP10D6 ....................................... 574
The diagrams show the permissible braking pulse powers of the braking resistors
in operation with the assigned Compax3.
11.4.1.1 Calculation of the BRM cooling time
F = Factor
Cooling time = F * braking time
Example 1: For a braking time of 1s, a braking power of 1kW is required. The
Diagram shows the following:
The required values can be found in the range between characteristic F = 0.5 and
F = 1. In order to achieve operating safety, please select the higher factor, this
means that the required cooling time is 1s.
F * Braking time = cooling time
1 * 1s = 1s
Example 2: For a braking time of 0.5s, a braking power of 3kW is required. The
Diagram shows the following:
The required values can be found in the range between characteristic F = 2 and F
= 5. In order to achieve operating safety, please select the higher factor, this
means that the required cooling time is 2.5s.
F * Braking time = cooling time
5 * 0.5s = 2.5s
566 192-120108N13 Compax3T40_eng 2014-10

11.4.1.2 Permissible braking pulse power: BRM08/01 with

C3S015V4 / C3S038V4

C3S025V2
192-120108N13 Compax3T40_eng 2014-10 567


C3S100V2

C3S150V4
568 192-120108N13 Compax3T40_eng 2014-10


C3S150V4

C3S063V2
192-120108N13 Compax3T40_eng 2014-10 569


C3S075V4

C3S075V4
570 192-120108N13 Compax3T40_eng 2014-10


C3S150V2

C3S300V4
192-120108N13 Compax3T40_eng 2014-10 571


C3S150V2

C3S300V4
572 192-120108N13 Compax3T40_eng 2014-10


C3S300V4

C3H0xxV4
192-120108N13 Compax3T40_eng 2014-10 573


C3H1xxV4

PSUP10D6
on request

PSUP10D6
on request
11.4.2. Dimensions of the braking resistors

BRM8/01braking resistors.............................................................................................. 574
BRM5/01 braking resistor .............................................................................................. 575
Braking resistor BRM5/02, BRM9/01 & BRM10/01 ........................................................ 575
Braking resistor BRM4/0x and BRM10/02 ...................................................................... 576
Braking resistor BRM11/01 & BRM12/01 ....................................................................... 576
Ballast resistor BRM13/01 & BRM14/01 ........................................................................ 577
11.4.2.1 BRM8/01braking resistors

5,4
40
20
225 10
240
Stated in mm
574 192-120108N13 Compax3T40_eng 2014-10

11.4.2.2 BRM5/01 braking resistor

73
101
222
245
12
6,5
48
Stated in mm
11.4.2.3 Braking resistor BRM5/02, BRM9/01 & BRM10/01

92
120
250 64
330
12
6,5
95 97
1
64
96 98
Stated in mm
192-120108N13 Compax3T40_eng 2014-10 575

11.4.2.4 Braking resistor BRM4/0x and BRM10/02

92
120
A C
B
12
6,5
95 97
1
C
96 98
1: thermal overcurrent relay
BRM4/01 BRM4/02 BRM4/03 & BRM10/02
A mm 250 300 540
B mm 330 380 620
C mm 64 64 64
11.4.2.5 Braking resistor BRM11/01 & BRM12/01

490 H
380
Ø10,5 B2
B1
BRM11/01 BRM12/02
W mm 330
W1 mm 295
W2 mm 270
H mm 260
Weight kg 6.0 7.0
576 192-120108N13 Compax3T40_eng 2014-10

11.4.2.6 Ballast resistor BRM13/01 & BRM14/01

303
2
A
C
3
54±0,2
60
74
°
,2
,2
°
74
A A-A
26±0,2
337
17
10
17
10
5,4
30
5,4
10
10
1,4
1
C (5 : 1)
Stated in mm
192-120108N13 Compax3T40_eng 2014-10 577

11.5 Capacitor module C4

Order code capacitor module
for C3S300V4 1100µF Module C4
Technical Data
Type Capacity Cable length
Module C4 1100µF ~30 cm
Module C4 A B C C1 D I F G H
mm
430 190 90 120 370 15 18 30 ∅6
578 192-120108N13 Compax3T40_eng 2014-10

Parker EME Operator control module BDM
11.6 Operator control module BDM

Order Code operating module
/
Operating module (for Compax3S and Compax3F) BDM 0 1 / 0 1
Flexible service and maintenance
Functions:
 Mobile or stationary handling: can remain on the unit for display and diagnostic
purposes, or can be plugged into any unit.
 Can be plugged in while in operation
 Power supply via Compax3 servo control
 Display with 2 times 16 places.
 Menu-driven operation using 4 keys.
 Displays and changing of values.
 Display of Compax3 messages.
 Duplication of device properties and IEC61131-3 program to another Compax3
with identical hardware.
 Additional information can be found int he BDM manual This can be found on the
Compax3 CD or on our Homepage: BDM-manual
(http://divapps.parker.com/divapps/EME/EME/Literature_List/dokumentatio
nen/BDM.pdf).
11.7 EAM06: terminal block for inputs and outputs

Order Code terminal block
/
for I/Os without luminous indicator for X11, X12, X22 EAM 0 6 / 0 1
for I/Os with luminous indicator for X12, X22 EAM 0 6 / 0 2
The terminal block EAM06/.. can be used to route the Compax3 plug connector
X11 or X12 for further wiring to a terminal strip and to a Sub-D plug connector.
Via a supporting rail (Design: or ) the terminal unit can be attached to a
mounting rail in the switch cabinet.
EAM06/ is available in 2 variants:
 EAM06/01: Terminal block for X11, X12, X22 without luminous indicator
 EAM06/02: Terminal block for X12, X22 with luminous indicator
Corresponding connecting cables EAM06 - Compax3 are available:
 from X11 - EAM06/01: SSK23/..
 from X12, X22 - EAM06/xx: SSK24/..
192-120108N13 Compax3T40_eng 2014-10 579

EAM6/01: Terminal block without luminous indicator for X11, X12 or X22
Figure similar
Width: 67.5mm
EAM6/02: Terminal block with luminous indicator for X12, X22
Figure similar
Width: 67.5mm
580 192-120108N13 Compax3T40_eng 2014-10

Parker EME EAM06: terminal block for inputs and outputs
Cable plan SSK23/..: X11 to EAM 06/01
Compax3 I/O Modul

Pin 1 Pin 1
1 WH WH 1
2 BN BN 2
3 GN GN 3
Lötseite
4 YE YE 4
solder side Lötseite
5 GY GY 5
6 PK PK 6
15 5 1
10 BU BU 9
14 4 7 7 2
RD RD 10
13 9 3 8 8 11
3
BK BK
12 8 2 9 9 12 4
11 7 1 10 VT VT 10 13 5
6 GYPK GYPK 6
11 11 14
RDBU RDBU 7
12 12 15
WHGN WHGN 8
13 13
14 BNGN BNGN 14
15 WHYE WHYE 15
YEBN YEBN
WHGY WHGY
GYBN GYBN
23 mm
2 mm 6 mm
Cable plan SSK24/..: X12 to EAM 06/xx
Pin 1 Compax3 I/O Modul Pin 1

1 WH WH 1
2 BN BN 2
3 GN GN 3
Lötseite YE YE
solder side 4 4 Lötseite
5 GY GY 5
6 PK PK 6
6 9 1
11 1 7 BU BU 7
7 2
12 2 RD RD 10
8 8 8 3
13 9 3 BK BK 11
9 9 4
14 4 VT VT 12
10 10 10 5
15 5 13
11 GYPK GYPK 11 6
14
RDBU RDBU 15 7
12 12
WHGN WHGN 8
13 13
14 BNGN BNGN 14
15 WHYE WHYE 15
YEBN YEBN
WHGY WHGY
GYBN GYBN
23 mm
2 mm 6 mm
192-120108N13 Compax3T40_eng 2014-10 581

11.8 Interface cable

RS232 - cable / SSK1 .................................................................................................... 582
RS485 cable to Pop / SSK27 ......................................................................................... 583
I/O-interface X12 / X22 / SSK22 .................................................................................... 584
Ref X11 / SSK21 ........................................................................................................... 584
Encoder coupling of 2 Compax3 axes / SSK29 .............................................................. 585
Modem cable SSK31 ..................................................................................................... 586
Adapter cable SSK32/20 ............................................................................................... 586
Order code for interface cables and connectors

/
PC – Compax3 (RS232) SSK 0 1 / ... ...(1
PC – PSUP (USB) SSK 3 3 / ... ...
on X11 (Ref/Analog) and X13 with C3F001D2 with flying leads SSK 2 1 / ... ...(1
on X12 / X22 (digital I/Os) with flying leads SSK 2 2 / ... ...(1
on X11 (Ref /Analog) for I/O terminal block SSK 2 3 / ... ...(1
on X12 / X22 (digital I/Os) for I/O terminal block SSK 2 4 / ... ...(1
PC  POP (RS232) SSK 2 5 / ... ...(1
Compax3  POP (RS485) for several C3H on request SSK 2 7 / ../ ...(6
Compax3 I30  Compax3 I30 or C3M-multi-axis communication SSK 2 8 / ../ ...(5
Compax3 X11  Compax3 X11 (encoder coupling of 2 axes) SSK 2 9 / ... ...(1
Compax3 X10  Modem SSK 3 1 / ...
Compax3H adapter cable  SSK01 (length 15cm, delivered with the device) SSK 3 2 / 2 0
Compax3H X10 RS232 connection control  Programming interface (delivered with the device) VBK 1 7 / 0 1
Bus terminal connector (for the 1st and last Compax3 in the HEDA Bus/or multi-axis system) BUS 0 7 / 0 1
Profibus cable (2 non prefabricated SSL 0 1 ... ...(7
Profibus connector BUS 0 8 / 0 1
CAN bus cable (2 non prefabricated SSL 0 2 ... ...(7
CAN bus connector BUS 1 0 / 0 1
(x
11.8.1. RS232 - cable / SSK1

SSK1/..
X10 <--- --->PC
6 1 1 6
9 5 5 9
n.c. 1
RxD 2 2 RxD
TxD 3 3 TxD
DTR 4 4 DTR
DSR 6 6 DSR
GND 5 5 GND
RTS 7 7 RTS
CTS 8 8 CTS
+5V 9
7 x 0,25mm + Schirm/Shield
582 192-120108N13 Compax3T40_eng 2014-10

Parker EME Interface cable
11.8.2. RS485 cable to Pop / SSK27

SSK27: Connection Pop - Compax3 - Compax3 - ...
Länge / Length B
Länge / Length A
Compax3_n
Länge / Length B
Pin 1
Pin 1
Compax3_2
Pin 1
Compax3_1
Pin 1
15 8
CHA+ 14 X2 BN BN
7 TxD_RxD Lötseite
CHA- 6 X3 YE YE solder side
3 TxD_RxD
GND 5 X4 WH WH
5 GND 1
6
GN 2
1 1 7
3
8
Schirm großflächig auf Gehäuse legen 4
9
Place sheath over large area of housing Schirm großflächig auf Gehäuse legen 5
Place sheath over large area of housing
1-4 NC
1 Brücke /
7 - 13 NC RD
15 NC 9 Bridge
NC 2,4,6,8
26 mm Lötseite
R21 nur im letzten Stecker
solder side
R21 only on the last connector
4 mm 6 mm
BN 7 TxD_RxD
1
YE 6
3 TxD_RxD
GN
2
7
WH 5 GND 3
8
4
9
Schirm großflächig auf Gehäuse legen 5
Place sheath over large area of housing
1 Brücke /
RD
9 Bridge
NC 2,4,6,8
R21 = 220 Ohm

(6
Order code: SSK27/nn/..
Length A (Pop - 1. Compax3) variable (the last two numbers according to the
length code for cable, for example SSK27/nn/01)
Length B (1. Compax3 - 2. Compax3 - ... - n. Compax3) fixed 50 cm (only if there is
more than 1 Compax3, i.e. nn greater than 01)
Number n (the last two digits)
Examples include:
SSK27/05/.. for connecting from Pop to 5 Compax3.
SSK27/01/.. for connecting from Pop to one Compax3
192-120108N13 Compax3T40_eng 2014-10 583

11.8.3. I/O-interface X12 / X22 / SSK22

SSK22/..: Cable for X12 / X22 with flying leads
Pin 1 Compax3
1 WH WH
2 BN BN
Lötseite 3 GN GN
solder side 4 YE YE
5 GY GY
6 6 PK PK
11 1 BU BU
7 7
12 2 RD RD
8 8
13 3
9 9 BK BK
14 4
10 VT VT
15 5 10
11 GYPK GYPK
12 RDBU RDBU
13 WHGN WHGN
14 BNGN BNGN
15 WHYE WHYE
YEBN YEBN
WHGY WHGY
GYBN GYBN
Screen
23 mm
2 mm 6 mm
11.8.4. Ref X11 / SSK21

SSK21/..: Cable for X11 with flying leads
Pin 1 Compax3
1 WH WH
2 BN BN
3 GN GN
Lötseite 4 YE YE
solder side 5 GY GY
6 PK PK
15 5 7 BU BU
10 RD RD
14 4 8
9
13 3 9 BK BK
8
12 2 VT VT
7 10
11 1 GYPK GYPK
6 11
12 RDBU RDBU
13 WHGN WHGN
14 BNGN BNGN
15 WHYE WHYE
YEBN YEBN
WHGY WHGY
GYBN GYBN
Screen
23 mm
2 mm 6 mm
584 192-120108N13 Compax3T40_eng 2014-10

Parker EME Interface cable
11.8.5. Encoder coupling of 2 Compax3 axes / SSK29

SSK29/..: Cable from Compax3 X11 to Compax3 X11
Pin 1 Pin 1
von Compax3 (X11) zu Compax3 (X11)

from Compax3 (X11) to Compax3 (X11)
Lötseite YE 2x0,25 YE Lötseite
A 7 7 A
solder side GN GN solder side
A/ 6 6 A/
15 8 BN 2x0,25 BN 8 15
5 B B 5
10 10
14 4 12 WH WH 12 14 4
9 B/ B/ 9
13 8 3 BU 2x0,25 BU 13 8 3
N 14 14 N
12 7 2 12 7 2
13 RD RD 13
11 6 1 N/ N/ 11 6 1
PK 2x0,25 PK
GY GY
Schirm großflächig auf Gehäuse legen Schirm großflächig auf Gehäuse legen
Place sheath over large area of housing Place sheath over large area of housing
1 NC 23 mm NC 1
2 NC NC 2
3 NC 2 mm 6 mm NC 3
4 NC NC 4
5 NC NC 5
9 NC NC 9
10 NC NC 10
11 NC NC 11
15 NC NC 15

Compax3 I30  Compax3 I30 or C3M-multi axis communication

Layout of SSK28:
1 WH/OG WH/OG 3
2x0,14
2 OG OG 6
3 WH/GN WH/GN 1
2x0,14
GN GN
6 2
4 BU BU 7
2x0,14
WH/BU WH/BU 8
5
7 WH/BN WH/BN 4
2x0,14
8 BN BN 5
Pin 8 Schirm großflächig auf Gehäuse legen

Pin 7 Place sheath over large area of housing
Pin 6
Pin 5
Pin 4
Pin 3
Pin 2
Pin 1
192-120108N13 Compax3T40_eng 2014-10 585

11.8.6. Modem cable SSK31

SSK31/..
Pin 1 Pin 1
Lötseite Lötseite
solder side Compax3 (X10) solder side
Modem
BN BN
1 6 RxD 2 2 TxD 1 6
2 7 YE YE 2 7
3 TxD 3 3 RxD 3
8 WH WH 8
4 9 GND 5 5 GND 4 9
5 5
GN GN
Schirm großflächig auf Gehäuse legen Schirm großflächig auf Gehäuse legen
Place sheath over large area of housing Place sheath over large area of housing
4 brücken (Litze 0,25) brücken (Litze 0,25) 4
8 connect (wire 0,25) connect (wire 0,25) 8
26 mm
1,6,7,9 NC NC 1,6,7,9
4 mm 6 mm
You can find the length code in the Order Code Accessories (see on page 544)
11.8.7. Adapter cable SSK32/20
586 192-120108N13 Compax3T40_eng 2014-10

Parker EME Options M1x
11.9 Options M1x

Input/output option M12 ................................................................................................. 587
HEDA (motion bus) - Option M11 .................................................................................. 588
Option M10 = HEDA (M11) & I/Os (M12) ..................................................................... 589
Analog current inputs and voltage inputs (Option M21) .................................................. 590
11.9.1. Input/output option M12

An optional input/output extension is available for Compax3. This option is named
M12 and offers 12 digital 24V inputs/outputs (Ports) on X22.
The use of the option as inputs or outputs is programmable in groups of 4 (via the
object 133.4).
The outputs are written via the object 133.3 "Output word for the I/O option"; this
applies only for the ports defined as output.
The inputs are read via the object 121.2 " Input word for the I/O option"; all ports
are being read, also the outputs.
11.9.1.1 Assignment of the X22 connector
Pin Input/output I/O /X22 Access via IEC

X22/ High density/Sub D module:
1 n.c. factory use
2 O0/I0 Output 0 / Input 0 - adjustable C3_IOAddition_0 (see
3 O1/I1 Output 1 / Input 1 - adjustable on page 421)
4 O2/I2 Output 2 / Input 2 - adjustable
7 O5/I5 Output 5 / Input 5 - adjustable on page 421)
11 I 24 VDC power supply on page 422)
(not 24VDC)
15 I GND24V
The assignment can be adjusted.
All inputs and outputs have 24V level.
Maximum load on an output: 100mA
Maximum capacitive load: 50nF (max. 4 Compax3 inputs)
Caution! The 24VDC power supply (X22/11) must be supplied from an

external source and must be protected by a 1.2A delayed fuse!
192-120108N13 Compax3T40_eng 2014-10 587

Connections of digital inputs and outputs M10 & M12

Input wiring of digital inputs Output wiring of digital outputs
SPS/PLC Compax3 Compax3
24VDC 24VDC SPS/
X22/11 X22/11 24VDC PLC
100KΩ
22KΩ
X22/6
X12/2
22KΩ
10nF 22KΩ 10KΩ
22KΩ
F1 F1
X22/15
X22/15
The outputs are short circuit proof; a short circuit generates an error.
F1: Quick action electronic fuse; can be reset by switching the 24VDC supply off
and on again.
11.9.2. HEDA (motion bus) - Option M11

RJ45 (X20) RJ45 (X21)
Pin HEDA in HEDA out
1 Rx Tx
2 Rx/ Tx/
3 Lx Lx
4 - factory use
5 - factory use
6 Lx/ Lx/
7 - factory use
8 - factory use
Function of the HEDA LEDs

Green LED (left)
HEDA module energized
Red LED (right)
Error in the receive area
Possible causes:
 at the Master
 no slave sending back
 Wrong cabling
 several masters are sending in the same slot
 at the slave
 several masters in the system
 no master active
 no transmission from one or several receive slots (neither by the master nor by
another slave)
588 192-120108N13 Compax3T40_eng 2014-10

HEDA-wiring:
HEDA-Master
SSK28/..
SSK28/..
BUS07/01 SSK28/.. BUS07/01
Layout of SSK28 (see on page 546, see on page 585)
Design of the HEDA bus terminator BUS 07/01:
Pin 8
Pin 7
Pin 6
Pin 5
Pin 4
Pin 3
Pin 2
Pin 1
Jumpers: 1-7, 2-8, 3-4, 5-6
11.9.3. Option M10 = HEDA (M11) & I/Os (M12)

The M10 option includes the M12 input/output option and the HEDA M11 option.
192-120108N13 Compax3T40_eng 2014-10 589

11.9.4. Analog current inputs and voltage inputs (Option M21)

With the Option M21 three analog current voltage & voltage inputs (0...20 mA) and
(-10...+10 V) are available
Connector assignment Option M21 X20 ........................................................................ 590
Connector assignment Option M21 X21 ........................................................................ 591
Layout of the analog inputs of Option M21 ..................................................................... 591
11.9.4.1 Connector assignment Option M21 X20
X20: Current inputs (0 ... 20 mA)

Pin Name Function Internal input
channel
1 +24Vout Sensor supply 0 (output) 1)
2 in0+ Current input 0 + (0 ... 20 mA)
AI0
3 GND Sensor supply 0 (output) 1)
4 in0- Current input 0 - (0 ... 20 mA)
5 +24Vout Sensor supply 1 (output) 24 VDC out 1)
6 iin1+ Current input 1 + (0 ... 20 mA)
AI1
10 in2+ Current input 2 + (0 ... 20 mA)
AI2
13 +24Vin Sensor supply input 24 VDC in Supply for pin
14 GND in Sensor supply input 1/3, 5/7 and
9/11.2)
15 Shield Shield connection
16 Shield Shield connection
Input resistor 250 Ω
1)
For sensor supply - optional; the differential inputs may also be used. Supply
takes also place via X20 pin 13 and 14.
2)
Only required if these voltage outputs are used for the sensor supply
Wiring of the analog current inputs

Input IN0
Compax3
200KΩ
10pF
X1/4 200KΩ
In0-
250Ω 200KΩ
In0+
X1/3
200KΩ
IN0 to IN3 do have the same wiring!

Pin assignment X1
590 192-120108N13 Compax3T40_eng 2014-10

11.9.4.2 Connector assignment Option M21 X21
X21: Voltage inputs (-10 V... +10 V)

Pin Name Function Internal input channel
2 in3 + Voltage input 3 + (-10 V... +10 V)

AI0
4 in3 - Voltage input 3 - (-10... +10 V)
5 24 VDC out Sensor supply 4 (output) 1)
AI1
9 24 VDC out Sensor supply 5 (output) 1)
AI2
Input resistor 554 kΩ
1)
For sensor supply - optional; the differential inputs may also be used. Supply
takes also place via X20 pin 13 and 14.
Wiring of the analog voltage inputs

Input IN4
Compax3
47KΩ
1nF
X21/2 200KΩ
In3+
200KΩ
In3-
X21/2
47KΩ
IN4 (X21/6 und X21/8) und IN5 (X21/10 und

X21/12) do have the same wiring!
11.9.4.3 Layout of the analog inputs of Option M21
685.35
Option M21
l/min,bar
X2x/2 +
X2x/4 - +
V,A
IN(x-1) 19x.2 19x.3 19x.1 config

The assignment depends on the input channel
+ - Offset Amplificatio Filter Measuring
n value in
units
IN0 X20.2 X20.4 191.2 191.1 191.3 688.35
IN1 X20.6 X20.8 192.2 192.1 192.3 688.36
IN2 X20.10 X20.12 193.2 193.1 193.3 688.37
IN3 X21.2 X21.4 194.2 194.1 194.3 685.9
IN4 X21.6 X21.8 195.2 195.1 195.3 685.10
IN5 X21.10 X21.10 196.2 196.1 196.3 685.11
192-120108N13 Compax3T40_eng 2014-10 591

11.10 Profibus plug BUS08/01

We offer a Profibus plug and special cable as sold be the meter for Profibus wiring:
 Profibus cable: SSL02/.. not prefabricated (color according to DESINA).
 Profibus plug: BUS8/01 with 2 cable inputs (for one incoming A1, B1 and one
continuing Profibus cable- A2, B2 -) and screw terminals as well as a switch for
activating the terminal resistor.
The terminal resistor must be activated on the first and on the last node (= switch
setting ON).
ON
OFF
592 192-120108N13 Compax3T40_eng 2014-10

Parker EME CAN - plug BUS10/01
11.11 CAN - plug BUS10/01

We offer a CAN plug and special cable in any length to order for the CAN-bus
wiring:
 CAN cable: SSL02/.. not prefabricated (color according to DESINA).
 CAN plug: BUS10/01 with 2 cable inputs and screw terminals as well as a switch
for activating the terminal resistor.
The terminal resistor must be activated on the first and on the last station
(=switch setting ON).
Note for integrated C3 powerPLmC (Compax3 interface designation "C1x")

 The CAN bus of the C3 powerPLmC does already contain a terminal resistor.
 Therefore it applies for the C3 powerPLmC:
Put switch to OFF
wire C3 powerPLmC always at the end of the CAN bus!
CAN wiring
Kabel abisolieren max.
10mm 7mm 5mm
Cable stripping
X2
S c ha ltb ild
Federleiste
Circ uit D iagra m
D-Sub female
1
X1
2
Printklemme
Print terminal
CAN-GND 1 3
CAN-L 2 4
CAN-H 3 5
120 Ohm
R1
OFF 0,25W
CAN-L 4 ON
6
OFF ON
S1
CAN-H 5 7
CAN-GND 6 8
Kabelschirm Gehäuseschirm
Shielding on cable Shielding on housing
192-120108N13 Compax3T40_eng 2014-10 593

11.12 PIO: External Inputs/Outputs

Additional external digital and analog inputs and outputs can be integrated via
CANopen.
For this purpose we offer the Parker I/O system (PIO).
PIO offers the convenience of exceptionally simple installation. The individual
modules can be installed and removed without any tools.
Available modules:
11.12.1. Order Code input/output terminals (PIO)

Order Code decentralized input terminals

PIO 2AI DC ±10V differential 2 channel analog input terminal (±10 V differential input) PIO 4 5 6
input
PIO 4AI 0-10VDC S.E. 4 channel analog input terminal (0-10V signal voltage) PIO 4 6 8
PIO 2AI 0-20mA differential 2-channel analog input terminal (0-20mA differential input) PIO 4 8 0
input
Order Code decentralized output terminals
PIO 2AO 0-10VDC 2 channel analog output terminal (0-10V signal voltage) PIO 5 5 0
PIO 2AO 0-20mA 2-channel analog output terminal (0-20mA signal voltage) PIO 5 5 2
PIO 2AO DC ±10V 2-channel analog output terminal (±10V signal voltage) PIO 5 5 6
Order Code CANopen Fieldbus Coupler
CANopen Standard max. Vectorial sum current for bus terminals 1650mA at 5V PIO 3 3 7
CANopen ECO max. Vectorial sum current for bus terminals 650mA at 5V PIO 3 4 7
For additional information please refer to our catalog
http://apps.parker.com/divapps/eme/EME/Literature_List/dokumentationen/PI
O_Prospekt%20dt.pdf.
594 192-120108N13 Compax3T40_eng 2014-10

Parker EME PIO: External Inputs/Outputs
12. Technical Data

Continuous working voltage Single phase 230VAC/240VAC
80-253VAC / 50-60Hz
Receiver current consumption 6Arms 13Arms
Maximum fuse rating per device 10 A (automatic 16A (automatic circuit
circuit breaker K) breaker K)

Supply voltage Three phase 3* 230VAC/240VAC
80-253VAC / 50-60Hz
Input current 10Arms 13Arms
Maximum fuse rating per device 16A 20A
MCB miniature circuit breaker, K characteristic
Mains connection Compax3SxxxV4 3AC

Continuous working Three phase 3*400VAC/480VAC
Receiver current 3Aeff 6Arms 10Arms 16Arms 22Arms
consumption
Maximum fuse rating per 6A 10A 16A 20A 25A
device MCB miniature circuit breaker, K characteristic D*

230VAC ±10% 400VAC ±10% 480VAC ±10%
Supply voltage
50-60Hz 50-60Hz 50-60Hz
Output power 6kW 10 kW 10 kW
Recommendation: (ABB) S203UP-K25 (480VAC)
192-120108N13 Compax3T40_eng 2014-10 595

Technical Data C3T40

50-60Hz 50-60Hz 50-60Hz
PSUP30D6 Mains connection

50-60Hz 50-60Hz 50-60Hz

Receiver current
consumption
Maximum input fuse
80A 100A 160A 200A
rating per device
Recommended line
JDDZ Class K5 or H
JDRX Class H
with UL
596 192-120108N13 Compax3T40_eng 2014-10


Receiver current
consumption
Maximum input fuse
80A 100A 160A 200A
rating per device
Recommended line
JDDZ Class K5 or H
JDRX Class H
with UL

Ripple 0.5Vpp
low voltage (SELV)
Control voltage 24 VDC PSUP

Device type PSUP
Ripple 0.5Vpp
Requirement according to safe extra
yes (class 2 mains module)
low voltage (SELV)
PSUP10: 0.2A
Current drain PSUP
PSUP20 / PSUP30: 0.3A
C3M050D6: 0.85
3M100D6: 0.85A
C3M150D6: 0.85A
Electric current drain Compax3M
C3M300D6: 1.0 A
+ Total load of the digital outputs + current for
the motor holding brake
Output data Compax3S0xx at 1*230VAC/240VAC

Output voltage 3x 0-240V 3x 0-240V
Nominal output current 2.5Arms 6.3Arms
Pulse current for 5s 5.5Arms 12.6Arms
Power 1kVA 2.5kVA
Switching frequency 16kHz 16kHz
Power loss for In 30W 60W
192-120108N13 Compax3T40_eng 2014-10 597

Output data Compax3S1xx at 3*230VAC/240VAC

Output voltage 3x 0-240V 3x 0-240V
Nominal output current 10Arms 15Arms
Pulse current for 5s 20Arms 30Arms
Power 4kVA 6kVA
Switching frequency 16kHz 8kHz
Power loss for In 80W 130W
Output data Compax3Sxxx at 3*400VAC

Output voltage 3x 0-400V
Nominal output current 1.5Arms 3.8Arms 7.5Arms 15Arms 30Arms
Pulse current for 5s 4.5Arms 9.0Arms 15Arms 30Arms 60Arms*
Power 1kVA 2.5kVA 5kVA 10kVA 20kVA
Switching frequency 16kHz 16kHz 16kHz 8kHz 8kHz
Power loss for In 60W 80W 120W 160W 350W
* With cyclic peak currents (S8 or S9 operation), the device utilization (683.2) may
not be > 70%; otherwise it is necessary to use a condenser module “C4Module
(see on page 578)”.
Output data Compax3Sxxx at 3*480VAC

Nominal output current 1.5Arms 3.8Arms 6.5Arms 13.9Arms 30Arms
Pulse current for 5s 4.5Arms 7.5Arms 15Arms 30Arms 60Arms*
Power 1.25kVA 3.1kVA 6.2kVA 11.5kVA 25kVA
Switching frequency 16kHz 16kHz 16kHz 8kHz 8kHz
Power loss for In 60W 80W 120W 160W 350W
* With cyclic peak currents (S8 or S9 operation), the device utilization (683.2) may
not be > 70%; otherwise it is necessary to use a condenser module “C4Module
(see on page 578)”.
Output data Compax3Mxxx at 3*230VAC

Device type Compax3 M050D6 M100D6 M150D6 M300D6
Input Voltage 325VDC ±10%
Output Voltage 3x 0-230V (0...500Hz)
Output nominal current 5Arms 10Arms 15Arms 30Arms
Pulse current for 5s* 10Arms 20Arms 30Arms 60Arms
Power 2kVA 4kVA 6kVA 12kVA
Switching frequency of the motor
8kHz 8kHz 8kHz 8kHz
current
Heat dissipation for In 70W+** 90W+** 120W+** 270W+**
* Turning frequency for pulse current: f>5 Hz; with an electrical turning frequency of f<5 Hz, the
maximum pulse current time is 100ms
** Maximum additional losses with option card 5 W.
598 192-120108N13 Compax3T40_eng 2014-10


Output nominal current 5Arms 10Arms 15Arms 30Arms
Power 3.33kVA 6.66kVA 10kVA 20kVA
8kHz 8kHz 8kHz 8kHz
current

Output nominal current 4Arms 8Arms 12.5Arms 25Arms
Power 3.33kVA 6.66kVA 10kVA 20kVA
8kHz 8kHz 8kHz 8kHz
current
Output data Compax3Hxxx at 3*400VAC

Nominal output current 50Arms 90Arms 125Arms 155Arms
Pulse current for 5s * 75Arms 135Arms 187.5Arms 232.5Arms
Switching frequency 8kHz 8kHz 8kHz 8kHz
Power loss for In 880W 900W 1690W 1970W
* during low speeds, the overload time is reduced to 1s. Limit:
< 2.5 electric rev/s (= actual revolutions/s * number of pole pairs) resp. >2.5 pitch/s
Output data Compax3Hxxx at 3*480VAC

Nominal output current 43Arms 85Arms 110Arms 132Arms
Pulse current for 5s* 64.5Arms 127.5Arms 165Arms 198Arms
Switching frequency 8kHz 8kHz 8kHz 8kHz
Power loss for In 850W 1103W 1520W 1800W
* during low speeds, the overload time is reduced to 1s. Limit:
< 2.5 electric rev/s (= actual revolutions/s * number of pole pairs) resp. >2.5 pitch/s
192-120108N13 Compax3T40_eng 2014-10 599


frequency
frequency*


frequency*
8kHz Inom - 15Arms
Ipeak (<5s) - 30Arms
16kHz Inom 10Arms 12.5Arms

32kHz Inom 8Arms 10Arms
frequency*
8kHz Inom - - - 15Arms 30Arms

frequency*
8kHz Inom - - - 13.9Arms 30Arms
16kHz Inom 1.5Arms 3.8Arms 6.5Arms 8.0Arms 21.5Arms

600 192-120108N13 Compax3T40_eng 2014-10


frequency
frequency*
Ipeak (<5s) 5Arms 7.5Arms 10Arms 22Arms
frequency*
8kHz Inom 4Arms 8Arms 12.5Arms 25Arms
16kHz Inom 3Arms 5.5Arms 8Arms 15Arms
32kHz Inom 2Arms 2.5Arms 4Arms 8.5Arms

frequency
frequency*
Ipeak (<5s) 75Arms 135Arms 187.5Ar 232.5Ar
ms ms

ms

Ipeak (<5s) 28.5Arms 67.5Arms 73.5Arms 88.5Arms
frequency*
ms

192-120108N13 Compax3T40_eng 2014-10 601

Resolution of the motor position

For option F10: Resolver  Position resolution: 16 Bits (= 0.005°)
 Absolute accuracy: ±0.167°
For option F11: SinCos©  Position resolution: 13.5 Bits / Encoder sine period
=> 0.03107°/encoder resolution
For option F12:  Maximum position resolution
 Linear: 24 Bits per motor magnet spacing
 Rotary: 24 Bits per motor revolution
 For 1Vss Sine-Cosine encoders (e.g. EnDat):
13.5 bits / graduation of the scale of the encoder
 For RS 422 encoders: 4x encoder resolution
 Accuracy of the feedback zero pulse acquisition =
accuracy of the feedback resolution.
 Resolution for analog hall sensors with 1Vpp signal:
13.5 Bits / motor magnet spacing
Accuracy
The exactitude of the position signal is above all determined by the exactitude of
the feedback system used.
Supported Motor and Feedback Systems

Motors  Sinusoidally commutated synchronous motors
Direct drives  Maximum electrical turning frequency: 1000Hz*
 Linear motors  Max. velocity on 8 pole motors: 15 000min .
-1
 Torque motors  General max. speed:

60*1000/number of pole pairs in [min-1].
 Max. number of poles = 600
 Sinusoidal commutated asynchronous motors
 Maximum electrical turning frequency: 1000Hz
 Max. velocity: 60*1000/number of pole pairs - slip in
[min-1].
 Field weakening: typically up to triple (higher on
request).
 Temperature sensor: KTY84-130
(insulated in accordance with EN60664-1 or
IEC60664-1)
 3 phase synchronous direct drives
Position encoder Option F10: Resolver
(Feedback)
LTN: RE-21-1-A05, RE-15-1-B04

Tamagawa: TS2610N171E64, TS2620N21E11, TS2640N321E64,


TS2660N31E64
Tyco (AMP)  V23401-T2009-B202
Option F11: SinCos©
 Rotary feedback with HIPERFACE® interface:
 Singleturn (SICK|Stegmann)
 Multiturn (SICK|Stegmann) Absolute position up to
4096 motor revolutions.
 For example: SRS50, SRM50, SKS36, SKM36,
SEK52, SEK52, SEL52, SEK37, SEL37, SEK160,
SEK90
* higher values on request
602 192-120108N13 Compax3T40_eng 2014-10

Special Feedback
Systems Option F12
Analog hall sensors  Sine-Cosine signal (max. 5Vpp*; typical 1Vpp) 90°
offset
 U-V signal (max. 5Vpp*; typical 1Vpp) 120° offset.
Encoder  Sine-Cosine (max. 5Vpp*; typical 1Vpp) (max.

(linear or rotary) 400kHz) or
 TTL (RS422) (max. 5MHz; track A or B)
 Bypass function for encoder signals
(limit frequency** 5MHz, track A or B)
with the following modes of commutation:
 Automatic commutation (see on page 550) or
 U, V, W or R, S, T commutation signals (NPN open
collector) e.g. digital hall sensors, incremental
encoders made by Hengstler (F series with electrical
ordering variant 6)
EnDat*** with  EnDat 2.1 or EnDat 2.2 (Endat01, Endat02) feedback
incremental (Sine -  linear or rotary
Cosine) track  max. 400kHz Sine-Cosine
EnDat 2.2*** (fully  EnDat 2.2 (Endat01, Endat02) feedback

digital)  linear or rotary
EnDat2.1***(fully digital)  EnDat 2.1 without incremental track

 Supported types: EQI11xx, ECI11xx, ECI11x
Distance coded  Distance coding with 1 VSS interface

feedback systems  Distance coding with RS422 - Interface (Encoder)
*Max. differential input between SIN- (X13/7) and SIN+ (X13/8).
*** Digital, bidirectional interface
Feedback error compensation

Feedback error compensation  Automatic feedback error compensation (offset &
amplification) for analog hall sensors and
sine-cosine encoder can be activated in the
MotorManager.

1.6A
proof)
Securing of brake Compax3M 3.15A


192-120108N13 Compax3T40_eng 2014-10 603

Braking operation Compax3SxxxV4 3AC

Capacity / storable energy 400V / 235µF 235µF 470µF 690µF 1230µF
480V 37 / 21 Ws 37 / 21 Ws 75 / 42 Ws 110 / 61 Ws 176 / 98 Ws
Minimum ballast - resistance 100 Ω 100 Ω 56 Ω 47 Ω 15 Ω
Recommended nominal power 60 ... 60 ... 250W 60 ... 500 60 ... 1000 60 ... 1000
rating 100W W W W
Maximum continuous current 10A 10A 15A 20A 30A
Braking operation Compax3MxxxD6 (axis controller)

Device type M050 M100 M150 M300
Compax3
Capacity/ 110µF/ 220µF/ 220µF/ 440µF/
storable energy 18Ws at 400V 37Ws at 400V 37Ws at 400V 74Ws at 400V
10Ws at 480V 21Ws at 480V 21Ws at 480V 42Ws at 480V
Braking operation of Compax3HxxxV4

Capacitance / storable energy 2600 µF 3150 µF 5000 µF 5000 µF
400V / 480V 602 / 419 Ws 729 / 507 Ws 1158 / 806 Ws 1158 / 806 Ws
Minimum braking- resistance 24 Ω 15 Ω 8Ω 8Ω
Maximum continuous current 11 A 17 A 31 A 31 A
Braking operation PSUPxxD6 (mains module)

Device type PSUP10 PSUP20 PSUP30
Capacitance / storable 550 µF/ 1175 µF/ 1175 µF/
energy 92 Ws at 400 V 197 Ws at 400 V 197 Ws at 400 V
53 Ws at 480 V 114 Ws at 480 V 114 Ws at 480 V
Minimum braking- 27 Ω 15 Ω 10 Ω
resistance
Recommended 500 ... 1500 W 500 ... 3500 W 500 ... 5000 W
nominal power rating
Pulse power rating for 22 kW 40 kW 60 kW
1s
Maximum permissible 13 A 15 A 15 A
continuous current
604 192-120108N13 Compax3T40_eng 2014-10

Ballast resistors Compax3

Ballast resistor (see on page Device Nominal Power
565)
BRM08/01 (100 Ω) Compax3S025V2 60 W
Compax3S015V4
Compax3S038V4
BRM05/01 (56 Ω) Compax3S063V2 180 W
Compax3S075V4
BRM05/02 (56 Ω) Compax3S075V4 570 W
BRM10/01 (47 Ω) Compax3S150V4 570 W
BRM10/02 (47 Ω) Compax3S150V4 1500 kW
BRM04/01 (15 Ω) Compax3S150V2 570 W
Compax3S300V4
PSUP20D6
BRM04/02 (15 Ω) Compax3S150V2 740 W
Compax3S300V4
PSUP20D6
BRM04/03 (15 Ω) Compax3S300V4 1500 W
PSUP20D6
BRM09/01 (22 Ω) Compax3S100V2 570 W
BRM13/01 (30 Ω) PSUP10D6 500 W
PSUP20D6**
PSUP30D6**
BRM14/01 (15 Ω) PSUP10D6* 500 W
PSUP20D6
PSUP30D6
PSUP30D6
*for PSUP10D6 2x15Ω in series
**for PSUP20D6 and PSUP30D6 2x30Ω parallel
Size / weight Compax3S

Controller type Dimensions Weight [kg]
HxWxD [mm]
Compax3S025V2 191 x 84 x 172 2.0
Compax3S063V2 191 x 100 x 172 2.5
Compax3S015V4 248 x 84 x 172 3.1
Compax3S100V2 248 x 115 x 172 4.3
Compax3S150V2 248 x 158 x 172 6.8
Compax3S038V4 248 x 100 x 172 3.5
Compax3S075V4 248 x 115 x 172 4.3
Compax3S150V4 248 x 158 x 172 6.8
Compax3S300V4 380 x 175 x 172 10.9
Minimum mounting distance: 15mm at the sides, above & below 100mm
Protection type IP20
Drawings, Mounting (see on page 81, see on page 87)
192-120108N13 Compax3T40_eng 2014-10 605

Size / weight PSUP/Compax3M

Dimensions HxWxD Weight
Device type
[mm] [kg]
PSUP10D6 360 x 50 x 263 3.95
PSUP20D6 & PSUP30D6 360 x 100 x 263 6.3
Compax3M050D6 360 x 50 x 263 3.5
Compax3M100D6 360 x 50 x 263 3.6
Compax3M150D6 360 x 50 x 263 3.6
Compax3M300D6 360 x 100 x 263 5.25
Protection type IP20
Size / weight Compax3H

Mounting (see on page 81, see on page 87)
Controller type Dimensions Weight [kg]
HxWxD [mm]
Compax3H050V4 453 x 252 x 245 17.4
Compax3H090V4 668.6 x 257 x 312 32.5
Compax3H125V4 720 x 257 x 355 41
Compax3H155V4 720 x 257 x 355 41
Protection class IP20 when mounted in a control cabinet (not for
Compax3H1xxxV4)
Mounting
Digital Inputs/outputs
Digital Inputs  8 digital inputs
 Input resistor 22 kΩ
 Signal level
 > 9.15V = "1" (38.2% of the control
voltage applied)
 < 8.05V = "0" (33.5% of the control
voltage applied)
Digital Outputs  4 digital outputs

 Load max. 100mA
Safety technology Compax3S

Safe torque-off in accordance with EN  For implementation of the “protection
ISO 13849: 2008, Category 3, PL d/e against unexpected start-up” function
Certified. described in EN1037.
Test mark IFA 1003004  Please note the circuitry examples (see
on page 90).
Compax3S STO (=safe torque off)

Nominal voltage of the 24 V
inputs
Required isolation of the Grounded protective extra low voltage, PELV
24V control voltage
Protection of the STO 1A
control voltage
Grouping of safety level <500 000 STO cycles per year are assumed.
 STO switch-off via internal safety relay & digital
input: PL e, PFHd=2.98E-8
 STO switch-off via internal safety relay & fieldbus:
PL d, PFHd=1.51E-7 (is applicable for a MTTFd=15
years of the external PLC)
 Lifetime: 20 Years
606 192-120108N13 Compax3T40_eng 2014-10

Safety technology Compax3M

Safe torque-off in accordance with EN  Please respect the stated safety
ISO 13849-1: 2007, Category 3, PL=e technology on the type designation
Certified. plate (see on page 17) and the circuitry
Test mark MFS 09029 examples (see on page 103)
Compax3M S1 Option: Signal inputs for connector X14

Nominal voltage of the inputs 24V
Required isolation of the 24V control Grounded protective extra low voltage, PELV
voltage
Protection of the STO control voltage 1A
Number of inputs 2
Signal inputs via optocoupler Low = 0...7V DC or open
High = 15...30V DC
Iin at 24V DC: 8mA
Switch-off time with unequal input 20 s
statuses (max. error reaction time)
Grouping of safety level  Category 3
 PL=e
(according to table 4 in EN ISO 13849-1
this corresponds to SIL 3)
 PFHd=4.29E-8
 Lifetime: 20 years
UL certification for Compax3S

conform to UL:  according to UL508C

“UL” logo:
UL approval for Compax3M

Insulation requirements
Enclosure rating Protection class in accordance with EN 60664-1
Protection against human contact
In accordance with EN 61800-5-1
with dangerous voltages
Voltage category III in accordance with
Overvoltage category
EN 60664-1
Degree of contamination 2 in accordance with
Degree of contamination
EN 60664-1 and EN 61800-5-1
192-120108N13 Compax3T40_eng 2014-10 607

Environmental conditions Compax3S and Compax3H

General ambient conditions In accordance with EN 60 721-3-1 to 3-3
Climate (temperature/humidity/barometric
pressure): Class 3K3
Permissible ambient temperature:
Operation 0 to +45 °C class 3K3

storage –25 to +70 °C class 2K3
transport –25 to +70 °C class 2K3
Tolerated humidity: no condensation
Operation <= 85% class 3K3 (Relative humidity)
storage <= 95% class 2K3
transport <= 95% class 2K3
Elevation of operating site <=1000m above sea level for 100% load ratings
<=2000m above sea level for 1% / 100m power
reduction
please inquire for greater elevations
Mechanic resonances: EN 60068-2-6 (sinusoidal excitation)
Sealing Protection type IP20 in accordance with

EN 60 529
Cooling Compax3S and Compax3H

Cooling mode: C3S025V2 ... S150V4: Convection
C3S300V4 & C3H: Forced air ventilation with
fan in the heat dissipator
Air flow rate:459m³/h (C3H)
Supply: C3S300V4, C3H050, C3H090 internal
C3H125, C3H155 external
220/240VAC: 140W, 2.5µF, Stator - 62Ω
Optionally on request:
110/120VAC: 130W, 10µF, Stator - 16Ω
Circuit breaker:3A
EMC limit values Compax3S and Compax3H

EMC interference emission Limit values in accordance with EN 61 800-3,
Limit value class C3/C4 without additional
mains filter:
Information on C2 limit value classes (see on
page 22)
EMC disturbance immunity Industrial area limit values in accordance with
EN 61 800-3
608 192-120108N13 Compax3T40_eng 2014-10

Ambient conditions PSUP/Compax3M

General ambient conditions In accordance with EN 60 721-3-1 to 3-3
Climate (temperature/humidity/barometric
pressure): Class 3K3
Permissible ambient temperature:
Operation 0 to +40 °C Class 3K3

storage -25 to +70 °C
transport -25 to +70 °C
Tolerated humidity: no condensation
Operation <= 85% class 3K3 (Relative humidity)
storage <= 95%
transport <= 95%
Elevation of operating site <=1000m above sea level for 100% load ratings
<=2000m above sea level for 1% / 100m power
reduction
please inquire for greater elevations
Sealing Protection type IP20 in accordance with
EN 60 529
Mechanic resonances: Class 2M3, 20m/s2;8-200Hz
Cooling PSUP/Compax3M
Cooling mode: Forced air ventilation with fan in the heat
dissipator
EMV limit values PSUP/Compax3M

EMC interference emission Limit values in accordance with EN 61 800-3,
Limit value class C3 with mains filter.
EMC disturbance immunity Industrial area limit values in accordance with
EN 61 800-3
EC directives and applied harmonized EC norms

EC low voltage directive EN 61800-5-1, Standard for electric power
2006/95/EG drives with settable speed; requirements to
electric safety
EN 60664-1, isolation coordinates for electrical
equipment in low-voltage systems
EN 60204-1, machinery norm partly applied
EC-EMC-directive EN 61800-3, EMC standard
2004/108/EC Product standard for variable speed drives
COM ports
RS232  115200 baud
 Word length: 8 bits, 1 start bit, 1 stop bit
 Hardware handshake XON, XOFF
RS485 (2 or 4-wire)  9600, 19200, 38400, 57600 or 115200
baud
 Word length 7/8 bit, 1 start bit, 1 stop bit
 Parity (can be switched off) even/odd
 2 or 4-wire
USB (Compax3M)  USB 2.0 Full Speed compatible
Load position control

Dual Loop Option  2. Feedback system for load position control
(see on page 152) possible.
192-120108N13 Compax3T40_eng 2014-10 609

Signal interfaces
Signal inputs / signal sources Encoder input track A/B (RS422)

 up to max. 10MHz
 Internal quadrature of the resolution
 Step / direction input (24V level)
Max. 300kHz at ≥50Ω source impedance

and minimum pulse width of 1.6µs.
 +/-10V analog input
14Bit; 62.5µs scanning rate.
 SSI - feedback (see on page 149)
Signal outputs  Encoder simulation
 1...16384 increments/revolution or pitch
 Limit frequency** 620kHz (track A or B)
 Bypass function for encoder feedback
with feedback module F12 (Limit
frequency* 5MHz, track A or B).
Signal transmission HEDA (Option M10 or M11)
Transfer of process values:
 from Master to Slave,
 from Slave to Master and
 from Slave to Slave.
IEC6113-3 functions
General  Programming based on IEC61131-3
 Up to 6000 instructions
 650 16 bit variables
 200 32 bit variables
 Recipe table with 288 variables
 3x16-bit retain-variable
 3x32-bit retain-variable
PLCOpen function modules  Positioning: absolute, relative, additive,
continuous
 Electronic Gearbox (Gearing)
 Machine Zero
 Stop, activating the drive, quit
 Position, device status, reading axis error
IEC61131-3 standard modules  Up to 8 timers (TON, TOF, TP)
 Triggers (R_TRIG, F_TRIG)
 Flip-flops (RS, SR)
 Counters (CTU, CTD, CTUD)
Device-specific function modules  generates an input process image
 Generates an output process image
 Access to recipe table
Inputs/Outputs  8 digital inputs (24V level)
 4 digital outputs (24-V level)
 Optional addition of 12 inputs/outputs
610 192-120108N13 Compax3T40_eng 2014-10

T40 Functions: Cam

General  Cam control function
 Programming based on IEC61131-3
 Position of selected master signal source
via:
 Encoder, Step / direction
or +/-10V analog
 HEDA
 Virtual Master
Cam memory  10 000 interpolation points
(master/slave in 24 bit format)
saved failure save.
 Distance of interpolation points can be
adapted to curve (non equidistant
interpolation points)
 Linear interpolation between points
Linking curve segments  Up to 20 cam segments can be
produced.
 Virtually random cam links (forwards)
 Freely programmable, event-triggered
curve branching.
 Scalable cam segments and complete
cam profiles
Coupling and decoupling functions  With the aid of a quadratic function.
 By means of a change-over function
 Without overspeeding by coupling over
several master cycles.
 Virtually free set-up of the coupling and
decoupling movement
 Master-guided coupling movement.
 Random standstill position
Reg synchronization  Master or slave oriented (simultaneous,
cam-independent).
 Highly precise mark recognition
(accuracy < 1 µs)
Cam generation with renowned Nolte  Standard or extended range of functions
tool.  Evaluation of the motion profiles.
Profibus ratings (I20)

Profile  PROFIdrive Profile drive system V3
DP Versions  DPV0/DPV1
Baud rate  up to 12 MHz
Profibus ID  C320
Device master file  PAR_C320.GSD
(can be found on the Compax3 - DVD)
Communication  Simatic S7-300/400 - modules for
Simatic <-> Compax3 Compax3 I20 and a corresponding help
file can be found on the Compax3 CD in
the folder: ..\Profibus\S7-moduls\
192-120108N13 Compax3T40_eng 2014-10 611

Profinet Characteristics (I32)

Profile  PROFIdrive profile drive technology V4.1
Profinet Version  Profinet IO (RT)
Transmission mode  100BASE-TX (Full Duplex)
Profinet ID  C332
Device master file  GSDML-V2.1-Parker-Compax3-yyyymmd
d.xml
(can be found on the Compax3 DVD)
Communication  Simatic S7-300/400 - modules for
Simatic <-> Compax3 Compax3 I32 and a corresponding help
file can be found on the Compax3 CD in
the folder..\Profibus\S7-moduls\
(the same modules as with Profibus)
CANopen characteristics (I21)

Baud rate [kBit/s]  20, 50, 100, 125, 250, 500, 800, 1000
EDS file  C3.EDS
Service data object  SDO1
Process data objects  PDO1, ... PDO4
DeviceNet characteristics (I22)

DeviceNet  Predefined Master/Slave Connection Set
 Standard 2.0 Group-2-Slave
 Fieldbus I/O Data or Process Data
(Polled, COS/Cyclic I/O and Bit Strobe)
Implemented object classes  Identify, Message Router, DeviceNet,
Assembly, Connection, Acknowledge
Handler
Baud rate [kBit/s]  125, 250, 500
permissible cable length  up to 500m on 125Bit/s,
Max. Number of participants  63 Slave
Insulation  Isolated Device Physical Layer
EDS file  C3_DeviceNet.EDS
Conformance (file in the Internet)  Statement of Conformance
http://www.compax3.de/C3_DeviceNet
_Statement_of_Conformance.pdf
Further information:  Application example
(C3I22_DeviceNet.ZIP) on the Compax3
CD in the "\Examples" directory"
Ethernet Powerlink (I30) / EtherCAT characteristics (I31)

Baud rate  100MBits (FastEthernet)
Bus file 
Ethernet Powerlink:  C3_EPL_cn.EDS
EtherCAT:  C3_EtherCAT_xx.XML
Service data object  SDO
Mapping objects  16 Words (16x16Bit)
Cycle time  >=1ms
Synchronicity accuracy  maximum jitter: +/-25µs
612 192-120108N13 Compax3T40_eng 2014-10

13. Index
Automatic controller design • 181
+
B
+/-10V Master speed • 149
Back stop • 331
1 Ballast resistor • 41, 117, 603
10 Steps for cam generation • 384 Ballast resistor BRM13/01 & BRM14/01 • 577
Basic functions: • 101
A Basic procedure • 332
Basic structure of the control with Compax3 •
Absolute encoder • 122
163
Absolute master reference with 180° offset •
Basics • 329
348
Basics of frequency response measurement •
Absolute master reference without offset • 347
262
Absolute positioning (MC_MoveAbsolute) •
Baud rate • 474
293
Begrenzung der Sollgeschwindigkeit • 196
Absolute slave reference • 350
Begrenzung des Sollstroms • 196
Access to the Compax3 object directory • 276
Begriffsdefinitionen • 497
Access to the hazardous area • 99, 102
Behavior depending on the travel direction •
Accessories Compax3 • 549
410
Acknowledging errors (MC_Reset) • 416
Behavior of the switch-on/switch-off
Activation • 235
anticipation • 410
Activation of the drive (MC_Power) • 282
Bewegungszyklus ohne Vorsteuerung • 197
Acyclic parameter channel • 465, 487
Binary record • 455
Adapter cable SSK32/20 • 586
Bit sequence V2 • 472
Additional conditions of utilization • 24
Boundary conditions • 229
Additive positioning (MC_MoveAdditive) • 301
Brake delay times • 269
Adjusting the basic address • 66
Braking position (MB) • 331
Adjusting the bus address • 71
Braking resistor / high voltage DC C3S
Adjusting the bus address (Profibus I20) • 67
connector X2 • 41
Adjusting the bus address (Profinet I32) • 68
Braking resistor / high voltage supply
Adjusting the machine zero proximity switch •
connector X2 for 3AC
136
400VAC/480VAC_C3S devices • 43
Advanced • 199
Braking resistor / high voltage supply plug X2
Advantages of using the • 91
for 1AC 230VAC/240VAC devices • 41
Aktive Kurve mit Koppelbewegung beenden
Braking resistor / high voltage supply plug X2
(C3_CamOut) • 379
for 3AC 230VAC/240VAC devices • 41
Alignment of the analog inputs • 231
Braking resistor / supply voltage C3H • 63
Alignment of the slave axis • 369
Braking resistor / temperature switch PSUP
Allgemeine Gefahren • 19
(mains module) • 52
Analog current inputs and voltage inputs
Braking resistor BRM11/01 & BRM12/01 • 576
(Option M21) • 590
Braking resistor BRM4/0x and BRM10/02 • 576
Analog Inputs/Outputs • 540
Braking resistor BRM5/02, BRM9/01 &
Analogue / encoder (plug X11) • 78
BRM10/01 • 575
Analyses in the time range • 237
BRM10/02 • 565, 569, 576
Application note
BRM5/01 braking resistor • 575
Drift • 403
BRM8/01braking resistors • 574
Application parameters • 164
Busformat Y2 und Y4 • 471
Approximation of a well-attenuated control loop
Byte string OS • 472
• 183
ASCII - record • 454 C
Assignment of the process data channel • 463
Assignment of the X22 connector • 587 C3 • 421, 422
Asynchronous motors C3 Master PIO • 474
Extension of the controller structure • 180 C3 Objects • 529
Asynchronous Motors • 177 C3 objects (without CoDeSys objects) • 536
Attenuation of the excitation amplitude • 247 C3 ServoSignalAnalyzer • 233
Automated controller design • 190
192-120108N13 Compax3T40_eng 2014-10 613

Index C3T40
C3 settings for RS485 four wire operation • CANopen states • 475

453 Capacitor module C4 • 578
C3 settings for RS485 two wire operation • 452 Capacitors • 18
C3_CamIn • 371 Cascade control • 187
C3_CamOut • 379 Cascade structure of Compax3 • 188
C3_CamTableSelect • 356 Change assignment direction reversal / limit
C3_CANopen_AddNode • 477 switches • 141
C3_CANopen_ConfigNode • 478 Change initiator logic • 141
C3_CANopen_GuardingState • 476 Change-over (CouplingMode = 2) • 376
C3_CANopen_NMT • 479 Changing the switching frequency and the
C3_CANopen_SDO_Read4 • 480 reference point • 176
C3_CANopen_SDO_Write4 • 481 Characteristics of a control loop setpoint
C3_CANopen_State • 475 response • 186
C3_ErrorMask • 419 CiA405_SDO_Error (Abort Code)
C3_Input • 420 UDINT • 487
C3_IOAddition_0 • 421 Circuit layout overview • 96
C3_IOAddition_1 • 421 Circuit: • 97, 100
C3_IOAddition_2 • 422 Closed curve • 330
C3_Jog • 305 CN Controlled Node (Slave) • 492
C3_MasterConfig • 362 CoDeSys / Compax3 target system (Target
C3_MasterControl • 352 Package) • 271
C3_MoveSuperImposed • 316 CoDeSys-Project for the configuration of the
C3_OpenBrake • 287 cams • 414
C3_Output • 420 COM port protocol • 454
C3_OutputSelect • 408 Commissioning the load control • 228
C3_Phasing • 364 Commissioning window • 214
C3_ProfiDrive_Statemachine • 442 Communication • 445
C3_ReadArray • 290 Communication Compax3M • 65
C3_SetErrorReaction • 418 Communication in the axis combination
C3_SetMaster • 351 (connector X30, X31) • 65
C3_ShiftPosition • 322 Communication interfaces • 64
C3_StopSuperImposed • 326 Communication objects • 483
C3_TouchProbe • 423 Commutation settings • 171
C3Array Objects • 531 Commutation settings of the automatic
C3Cam Objects • 532 commutation • 206
C3Plus Objects • 533 Compax3 - Objekte • 515
Calculation of the BRM cooling time • 566 Compax3 communication variants • 445
Calculation of the reference current from the Compax3 device description • 33
characteristic line. • 167 Compax3 ServoManager
Calling up the HEDA wizard in the C3 IEC61131-3 programming • 271
ServoManager • 497 Compax3 status diagram • 280
Calling up the input simulation • 225 Compax3H connections front plate • 59
Cam - Funktionen des Compax3 Compax3H plugs/connections • 56
ServoManagers / Bewegungsgesetze • 337 Compax3M STO application description • 106
Cam applications • 386 Compax3S connectors • 35
Cam Control • 327 Compax3Sxxx V2 • 40
Cam function structure • 340 Compax3Sxxx V4 • 42
Cam operation with STOP or Error • 355, 359 Compilation, debugging and down/upload of
Cam parameters / terms • 330 IEC61131 programs • 277
Cam reference systems • 345 Conditions of utilization • 22
Cam switching mechanism • 405 Conditions of utilization for cables / motor filter
Cam switching mechanism function overview • • 23
405 Conditions of utilization for CE-conform
Cam types • 329 operation • 22
CAN - plug BUS10/01 • 593 Conditions of utilization for the STO function
CAN communication objects overview sorted with Compax3M • 104
according to CAN No. • 484 Conditions of utilization for UL approval
CANopen • 473 Compax3M • 26
CANopen - Configuration • 473 Conditions of utilization for UL approval PSUP
CANopen communication profile • 482 • 27
CANopen connector X23 Interface I21 • 69 Conditions of utilization for UL certification
CANopen Operating Mode • 473 Compax3H • 28
614 192-120108N13 Compax3T40_eng 2014-10

Conditions of utilization for UL certification Controller optimization guiding transmission

Compax3S • 25 behavior • 222
Conditions of utilization mains filter • 22 Controller optimization of toothed belt drive •
Conditions of utilization STO (=safe torque off) 219
Safety function • 95 Controller optimization standard • 218
Configuration name / comments • 146 Correlation between the terms introduced •
Configuration of load control • 153 190
Configuration of local modem 1 • 460 Coupling and decoupling • 328
Configuration of remote modem 2 • 461 Coupling objects • 513
Configuration of the HEDA communication • Coupling position (ME) • 331
497 Course of the automatic commutation function
Configuration of the process-data channel • • 207
463 Current (Torque) Limit • 142
Configure reset distance of the position of the Current control • 249
selected master source (C3_MasterConfig) • Current jerk response • 212
362 Current jerk response with the activated
Configuring Ethernet Powerlink / EtherCAT • saturation characteristic line • 212
492 Current on the mains PE (leakage current) • 29
Configuring the signal source • 147 Current setting operation (C3_Current) • 312
Connect braking resistor C3H • 63 Cut-off frequency for the field weakening range
Connection of a braking resistor • 41, 43 • 179
Connection of terminal box MH145 & MH205 • Cycle time • 276
563 Cyclic data channel for C3T30 and C3T40 •
Connection of the digital Outputs/Inputs • 80 432
Connection of the power voltage • 57 Cyclic process data channel • 464
Connection of the power voltage of 2 C3H 3AC
devices • 63 D
Connection of the power voltage of 2 C3S 3AC D/A-Monitor • 540
devices • 43 Data formats of the bus objects • 470, 488, 491
Connections of Compax3H • 56 Data transfer from Slave to Slave. • 508
Connections of Compax3S • 35 Data transfer Master - Slave and back • 498
Connections of digital inputs and outputs M10 Data types supported • 275
& M12 • 588 Deadband following error • 213
Connections of the axis combination • 48 Debouncing
Connections of the encoder interface • 78 Limit switch, machine zero and input 0 • 141
Connections on the device bottom • 47 Decoupling position (MA) • 331
Connections to the motor • 560 Decoupling with change-over function
Connector and pin assignment C3S • 36 (DecouplingMode = 2) • 383
Connector assignment Option M21 X20 • 590 Defining jerk / ramps • 142
Connector assignment Option M21 X21 • 591 Defining the reference system • 118
Control and status word • 464 Demand behavior • 185
Control functions • 282 Description of jerk • 297
Control of the cam generator Description of the cam wizard • 337
(C3_CamTableSelect) • 356 Determination of the commutation settings •
Control path • 165 180
Control sctructures • 194, 199, 201 DeviceNet • 489
Control signal filter / filter of actual acceleration DeviceNet Configuration • 489
value • 199 DeviceNet connector X23 • 71
Control signal limitations • 195 DeviceNet object classes • 490
Control voltage 24 VDC • 38 Devices with the STO (=safe torque off) safety
Control voltage 24 VDC C3H • 62 function • 92
Control voltage 24VDC / enable connector X4 Digital inputs/outputs (plug X12) • 79
C3S • 38 Digital inputs/outputs • 80
Control voltage 24VDC PSUP (mains module) Dimensions of the braking resistors • 574
• 49 Direct coupling (CouplingMode = 0) • 375
Controller coefficients • 192 Direct decoupling (CouplingMode = 0) • 381,
Controller optimization • 163 382
Controller optimization Advanced • 220 Direct drives • 549
Controller optimization disturbance and Display of the commutation error in
setpoint behavior (advanced) • 220 incremental feedback systems • 206
Controller optimization disturbance and Display of the measurement point at the cursor
setpoint behavior (standard) • 218 position • 261
192-120108N13 Compax3T40_eng 2014-10 615

Index C3T40
Display of the measurement result • 260 Setting the Oscilloscope • 161

Distinction between signals and systems • 262 switching behavior at negative speed
Disturbance behavior • 186 (speed<0) • 411
Disturbance jerk response • 190 switching behavior at positive speed (speed>0)
D-term of the KD velocity controller • 192 • 411
Dynamic positioning • 315 Working with fast cams • 414
Dynamic stiffness • 189 Example 1
Dynamics of a control • 181 Communication Master - Slave and Slave -
Slave. • 509
E Single start of a closed cam • 386
EAM06 Example 2
terminal block for inputs and outputs • 579 4-axis application with HEDA • 512
Effect of the notch filter • 210 Change between single start of an open cam
Einleitung • 14 and POSA • 388
Electronic gearbox (MC_GearIn) • 309 Example 3
Electronic simulation of a disturbance torque Single Start for run through curve 5 times • 390
jerk with the disturbance current jerk • 189 Example 4
EMC feedforward • 203 Composing curves • 392
EMC measures • 552 Example 5
Emergency stop and protective door Cyclic operation with event-triggered change of
monitoring without external safety switching curve • 394
device. • 108 Example 6
Emulate CanOpen DS402 Operation with curve segments and standstill
(C3_DS402_Statemachine) • 444 area • 396
Encoder A/B 5V, step/direction or SSI Example 7
feedback as signal source • 147 Curve operation with slave reg synchronization
Encoder bypass with Feedback module F12 • 397
(for direct drives) • 144 Example 8
Encoder cable • 564 Curve operation with master reg
Encoder coupling of 2 Compax3 axes / SSK29 synchronization • 399
• 585 Example case of damage • 401
Encodernachbildung • 144 Example in CFC
EnDat - cable • 562 Cycle mode • 440
Endless positioning (MC_MoveVelocity) • 303 Positioning 1 • 437
Error Positioning 2 • 438
Position difference between load mounted and Positioning with set selection • 439
motor feedback too high • 154 Using Compax3-specific function modules and
Error handling • 416 Compax3 objects • 436
Error reaction of IEC61131-3 modules with Example in ST
Release < R5-0 • 418 Cycle mode with a Move module • 440
Error Reaction on Bus Failure • 474, 489, 492, Example of cam function • 406
494, 497 Examples of a cam cycle • 406
Error response • 145 Excitation Signal • 246
Ersatzschaltbild - Daten für eine Phase • 178 Extended cascade (structure variant 1) • 199
Establishing PDO connection between 2 Extended cascade structure (structure variant
CANopen nodes 2 with disturbance variable observer) • 201
(C3_CANopen_ConfigNode) • 478 External braking resistors • 565
EtherCAT (Option I31) Bus-Adresse einstellen External Moment of Inertia • 177
• 73 external position correction • 152
Ethernet Powerlink (Option I30) / EtherCAT External setpoint generation • 216
(option I31) X23, X24 • 72 F
Ethernet Powerlink / EtherCAT • 492
ETHERNET-RS485 NetCOM 113 adapter • Feedback error compensation • 170
450 Feedforward channels • 197
Example Fehler • 541
C3 powerPLmC Program & Compax3 Program Fehlerreaktion bei Busausfall • 464
• 434 Ferrite • 39
Changing the stiffness • 467 Fieldbus master • 150
Communication Master - Slave and back • 505 Filter • 203
Compax3 as CANopen Master with PIOs • 428 Fixed point format C4_3 • 471
Electronic gearbox with position detection via Fixed point format E2_6 • 470
encoder • 148
616 192-120108N13 Compax3T40_eng 2014-10

Flow chart controller optimization of a direct Interface • 168

drive • 221 Interface cable • 582
Following Error (Position Error) • 174 Interface cable order code • 547
Following error limit • 143 Interface module • 431
Fremdmotor • 176 Interface to C3 powerPLmC • 431
Frequency response of the notch filter. • 211 Internal setpoint generation • 214
Frequency settings • 253 Internal virtual master • 150
Frequenzgang des P-TE Gliedes (Betrag und Introduction • 163
Phase) • 185 Electronic cam control • 327
Front connector • 46 Introduction observer • 203
Function modules of the cam • 340 Introduction to the CamDesigner (example) •
Function of the Bus LEDs • 70, 72 333
Function of the Bus LEDs (Profibus I20) • 67
Function of the Bus LEDs (Profinet I32) • 68 J
Function principle • 328 Jerk value • 297
Function principle of the automatic
commutation with movement • 208 K
Function range supported • 272
Konfiguration • 112, 165
Functionality of the measurement • 240, 243
Konformität • 489
G Kurvengenerator rücksetzen (C3_CamReset) •
360
Gain alignment • 232
General Description • 90 L
General drive • 117
Languages supported • 272
General rules / timing • 277
Lastidentifikation • 214
Generating cams • 332
Lastregelung • 152, 203
Gerätezuordnung • 14
Layout of the analog inputs of Option M21 •
GSD - File • 611
591
H Leak effect and windowing • 241
LEDs • 33, 34
Hardware end limits • 140 Level • 80
HEDA (motion bus) - Option M11 • 588 Library constants • 279
HEDA Bus • 493 Limit and monitoring settings • 142, 177
HEDA expansion (HEDA advanced) • 496 Limitation behavior • 187
HEDA Master signal source • 151 Limitation of the control voltage • 196
HEDA Standard • 494 Linear motors • 551
HEDA-Master • 495 Linear Systems (LTI System) • 263
HEDA-Slave • 495 Linear two mass system • 266
Homing modes with home switch (on X12/14) • Linearized motor characteristic lien for different
126 operating points • 172
Hysteresis • 413 Load control signal image • 154
I Load identification • 229
Logic proximity switch types • 80
I/O-interface X12 / X22 / SSK22 • 584 Luenberg observer • 203
I²t - monitoring of the motor • 171
Identity Object (0x1018) • 486 M
IEC examples • 436 Machine Zero • 121
Important terms and explanations • 90 Machine zero (MC_Home) • 307
Increased following error • 169 Machine zero modes overview • 124
Influence of the feedforward measures • 197 Machine zero modes without home switch •
Initializing the PIOs (PIO_Init) • 426 132
Input simulation • 225 Machine zero only from motor reference • 134
Input/output option M12 • 587 Machine zero speed and acceleration • 136
Insert new CANopen node Main flow chart of the controller optimization •
(C3_CANopen_AddNode) • 477 217
Instable behavior • 170 Main voltage supply C3S connector X1 • 40
Installation instructions Compax3M • 44 Mains chokes • 559
Installation und Freischaltung des Mains connection Compax3H • 62
ServoSignalAnalyzers • 235 Mains filter • 552
Integer formats • 470 Mains filter for NFI01/03 • 554
Integration of Parker I/Os (PIOs) • 426 Mains filter for PSUP30 • 559
Intended use • 91
192-120108N13 Compax3T40_eng 2014-10 617

Index C3T40
Mains filter NFI01/01 • 553 MN-M 17,18

Mains filter NFI01/02 • 553 Limit switch as machine zero • 133
Mains filter NFI02/0x • 554 MN-M 19,20
Mains filter NFI03/01& NFI03/03 • 555 MN-Initiator = 1 on the positive side • 126
Mains filter NFI03/02 • 556 MN-M 21,22
Mains supply PSUP (mains module) X41 • 49 MN Initiator = 1 on the negative side • 127
Manual operation (C3_Jog) • 305 MN-M 23...26
Mass inertia • 166 Direction reversal switches on the positive side
Master clock distance (MT) • 331 • 128
master oriented reg synchronization • 399 MN-M 27...30
Master Receive Mapping Table (max. 4) • 503 Direction reversal switches on the negative
Master receive slots • 502 side • 128
Master signal phase shift (C3_Phasing) • 364 MN-M 3,4
Master signal source • 351 MN-Initiator = 1 on the positive side • 129
Master transmission slots (Transmit Slots) • MN-M 33,34
501 MN at motor zero point • 134
Master Transmit Mapping Table (max. 4) • 502 MN-M 35
Masterposition erfassen (C3_MasterControl) • MN (machine zero) at the current position •
352 132
Maximum operating speed • 143 MN-M 5,6
Maximum program size • 276 MN-Initiator = 1 auf der negativen Seite • 130
MC_CamIn • 369 MN-M 7...10
MC_GearIn • 309 Direction reversal switches on the positive side
MC_Home • 307 • 131
MC_MoveAbsolute • 293 Mode 1
MC_MoveAdditive • 301 Time and maximum values are deduced from
MC_MoveRelative • 298 Compax3 input values • 267
MC_MoveVelocity • 303 Mode 2
MC_ReadActualPosition • 288 Compax3 input values are deduced from times
MC_ReadAxisError • 417 and maximum values • 268
MC_ReadStatus • 291 Modem cable SSK31 • 586
MC_Reset • 416 Modem MB-Connectline MDH 500 / MDH 504
MC_Stop • 284 • 451
Example 1 • 286 Monitor information • 156
Example 2 • 287 Motion control • 270
Meaning of the Bus LEDs (EtherCAT) • 74 Motion cycle with feedforward measures • 198
Meaning of the Bus LEDs (Ethernet Powerlink) Motion objects in Compax3 • 227
• 73 Motion profile at jerk-controlled setpoint
Meaning of the status LEDs - Compax3 axis generation • 215
controller • 33 Motion set • 227
Measure reference • 118 Motor - Dauerauslastung: • 171
Measurement of frequency responses • 243 Motor / Motor brake C3H • 61
Measurement of frequency spectra • 240 Motor / Motor brake C3S connector X3 • 39
Measurement of the motor temperature of Motor / motor brake Compax3M (axis
Compax3M (axis controller) • 54 controller) • 53
Mechanical system • 250, 264 Motor cable • 563
Memorizing the signals with the trigger event Motor characteristic line of a synchronous
(C3_TouchProbe) • 423 servo motor (torque via velocity) • 167
MN-M 1,2 Motor Connection • 39
Limit switch as machine zero • 135 Motor holding brake • 39
MN-M 11...14 Motor output filter • 557
With direction reversal switches on the Motor output filter MDR01/01 • 557
negative side • 131 Motor output filter MDR01/02 • 558
MN-M 128/129 Motor output filter MDR01/04 • 557
Stromschwelle while moving to block • 132 Motor parameters • 175, 203
MN-M 130, 131 Motor parameters relevant for the control • 166
Acquire absolute position via distance coding • Motor pulse usage • 173
134 Motor reference point • 176
MN-M 132, 133 Motor selection • 114
Determine absolute position via distance Motor types supported • 176
coding with direction reversal switches • Mounting and dimensions • 81
136 Mounting and dimensions C3H • 87
618 192-120108N13 Compax3T40_eng 2014-10

Mounting and dimensions Compax3S • 81 Options M1x • 587

Mounting and dimensions Compax3S0xxV2 • Order and response processing • 466
81 Order code • 542
Mounting and dimensions Compax3S100V2 Order Code braking resistors • 545
and S0xxV4 • 82 Order code capacitor module • 546
Mounting and dimensions Compax3S150V2 Order code device
and S150V4 • 83 Compax3 • 543
Mounting and dimensions Compax3S300V4 • Order code for accessories • 544
84 Order code for feedback cables • 545
Mounting and dimensions PSUP/C3M • 85 Order code for mains module
Mounting and dimensions PSUP • 544
PSUP10/C3M050D6, C3M100D6, Order Code input/output terminals (PIO) • 547,
C3M150D6 • 85 594
Mounting and dimensions Order code mains filter (C3S) • 546
PSUP20/PSUP30/C3M300D6 • 86 Order note cable • 548
Mounting distances, air currents Oscillating plant • 181
Compax3H050V4 • 88 Oscilloscope operating mode switch: • 158
Mounting distances, air currents Other • 210
Compax3H090V4 • 88 Other settings • 255
Mounting distances, air currents Overview • 329
Compax3H1xxV4 • 89 Overview of the DeviceNet object classes •
491
N Overview of the user interface • 249
Noise • 169
P
Nominal point • 172
Nominal point data • 166 Packaging, transport, storage • 18
Non-linearities and their effects • 246 Parameter access with DPV0
Normalization factors • 514 Required data channel • 465
Notch filter • 210 Parameterization by 3 objects. • 211
Note Parker Motor • 175
No switching operation with overlapping cams Parker servo motors • 549
• 413 Path optimized positioning • 296
Note on error switch-off • 96 PC - PSUP (Mains module) • 65
Notes on the STO function • 95 PC <-> C3M device combination (USB) • 448
PC <-> Compax3 (RS232) • 446
O PC <-> Compax3 (RS485) • 447
Object overview sorted by object groups (T40) Permissible braking pulse power
• 529 BRM04/01 with C3S150V2 • 571
Object overview sorted by object no. (T40) • BRM04/01 with C3S300V4 • 571
516 BRM04/02 with C3S150V2 • 572
Object types • 483 BRM04/02 with C3S300V4 • 572
Object Up-/Download via RS232 / RS485 • 488 BRM04/03 with C3S300V4 • 573
Object Upload/download via Profibus/Profinet • BRM05/01 with C3S063V2 • 569
468 BRM05/01 with C3S075V4 • 570
Objects of the cam switching mechanism • 409 BRM05/02 with C3S075V4 • 570
Offset alignment • 232 BRM08/01 with C3S015V4 / C3S038V4 • 567
Open curve • 330 BRM08/01 with C3S025V2 • 567
Open/Closed Loop frequency response BRM09/01 with C3S100V2 • 568
measurement • 245 BRM10/01 with C3S150V4 • 568
Opening the brake (C3_OpenBrake) • 287 BRM10/02 with C3S150V4 • 569
Operating and status field • 258 BRM11/01 with C3H0xxV4 • 573
Operating Principle • 225 BRM12/01 with C3H1xxV4 • 574
Operation with MultiTurn emulation • 122 BRM13/01 with PSUP10D6 • 574
Operator control module BDM • 579 BRM14/01 with PSUP10D6 • 574
Operators supported • 273 Permissible braking pulse powers of the
Optimierung • 155 braking resistors • 566
Optimization parameter Advanced • 202 Physical Source • 147
Optimization window • 155 PIO
Optimize motor reference point and switching External Inputs/Outputs • 594
frequency of the motor current • 114 PIO_Init • 426
Option M10 = HEDA (M11) & I/Os (M12) • PIO_Inputx...y • 427
589 PIO_Outputx...y • 428
192-120108N13 Compax3T40_eng 2014-10 619

Index C3T40
PKW parameter channel • 464 Reading digital inputs (C3_Input) • 420

Plug and pin assignment C3H • 59 Reading the current position
Plug assignment Compax3S0xx V2 • 38, 39, (MC_ReadActualPosition) • 288
40, 41, 64, 76 Reading the device status (MC_ReadStatus) •
Position control • 251 291
Position correction • 152 Reading the PIO inputs 0-15 (PIO_Inputx...y) •
Position measurement external • 152 427
Position mode in reset operation • 296 Reading values • 288
Positioning after homing run • 121, 137 Reading/writing optional inputs/outputs • 421
Positioning functions (standard) • 292 Recipe management • 272
Positioning window - Position reached • 142 Recipe table • 145
Positioning with IEC61131-3 • 30 Recipe table with 9 columns and 32 (120) lines
Possible PDO assignment • 474, 492 • 275
Power supply • 40 Recommendations for preparing the modem
Power supply connector X1 for 3AC operation • 461
400VAC/480VAC-C3S devices • 42 Redirect the fast cams directly to the physical
Power supply plug X1 for 1 AC output (C3_OutputSelect) • 408
230VAC/240VAC devices • 40 Reduction of the current ripple • 175
Power supply plug X1 for 3AC Ref X11 / SSK21 • 584
230VAC/240VAC devices • 40 Reference point 1
Power supply voltage DC C3H • 63 higher velocity at reduced torque • 172
Prerequisites • 271 Reference point 2
Prerequisites for the automatic commutation • Increased torque thanks to additional cooling •
207 173
Principle • 229 Reg synchronization • 329
Proceeding during configuration, setup and Regelungsmaßnahmen für reibungsbehaftete
optimization • 163 Antriebe • 213
Proceeding during controller optimization • 216 Reibungskompensation • 214
Process image • 420 Relative master reference with 180° offset •
Process of the automatic determination of the 346
load characteristic value (load identification) Relative master reference without offset • 345
• 230 Relative positioning (MC_MoveRelative) • 298
Profibus Relative slave reference • 348
Simulate Profidrive profile Relative slave reference example 1 • 349
(C3_ProfiDrive_Statemachine) • 442 Relative slave reference example 2 • 349
Profibus / Profinet configuration • 462 Relevant application parameters • 174
Profibus connector X23 on Interface I20 • 67 Remote diagnosis via Modem • 459
Profibus plug BUS08/01 • 592 Resolution • 168
Profibus/Profinet • 462 Resolver • 76
Profidrive profile • 442 Resolver / Feedback (connector X13) • 76
ProfileViewer for the optimization of the motion Resolver cable • 561
profile • 267 Resonance points and their causes • 265
Profinet Certifikat • 15 Response • 187
Profinet connector X23, X24 on Interface I32 • Retain Variables • 275
67 Rigidity • 188
Program development and test • 272 Rotary servo motors • 551
Programming based on IEC61131-3 • 270 Rotary two mass system • 265
PSUP/Compax3M Connections • 46 Rotor time constant • 179
P-TE - Symbol • 183 RS232 - Kabel / SSK1 • 582
P-term KV position loop • 192 RS232 / RS485 interface (plug X10) • 64
RS232 plug assignment • 64
Q RS485 cable to Pop / SSK27 • 583
Quadratic coupling (CouplingMode = 1) • 373 RS485 plug assignment • 64
Quality of different feedback systems • 168 RS485 settings values • 454
R S
Ramp upon error and stromlos schalten • 142 Safe torque off • 90
Read access to the (C3_ReadArray) array • Safe torque off basic function • 98
290 Safe torque off description • 98, 101
Reading an object in another node Safe torque off layout with bus • 99
(C3_CANopen_SDO_Read4) • 480 Safe torque off with bus option • 99
Reading axis errors (MC_ReadAxisError) • 417 Safe torque off without bus option • 96
620 192-120108N13 Compax3T40_eng 2014-10

Safety function - STO (=safe torque off) • 90 Slave Receive Mapping table • 504
Safety instructions • 19 Slave receive slots • 504
Safety instructions concerning the frequency Slave transmission slots (Transmit Slots) • 504
response measurement • 243 Slave Transmit Mapping table • 504
Safety notes for the STO function in the Slave with configuration via Master • 492
Compax3M • 104 Slave-oriented reg synchronization • 397
Safety switching circuits • 103 Slip • 152
Safety technology option S3 for Compax3M Slip Frequency • 178
(axis controller) • 55 Software end limits • 138
Safety-conscious working • 19 Software for supporting the configuration,
Sättigungsverhalten • 179, 212 setup and optimization • 164
Saturation values • 167 Special functions • 160
Scope • 156 Special safety instructions • 20
Scope of delivery • 16 Speed control • 253, 303
Selection of the signal or system to be SSI - Konfiguration • 149
measured. • 249 Stability problem in the high-frequency range: •
Selection of the supply voltage used • 113 182
Sending NMT messages (C3_CANopen_NMT) Stability problem in the low-frequency range: •
• 479 182
Service Data Objekts (SDO) • 487 Stability, attenuation • 181
ServoSignalAnalyzer - function range • 233 Standard • 193
Set error reaction (C3_SetErrorReaction) • 418 Standard cascade structure • 194
Set Ethernet Powerlink (option I30) bus Standard function modules supported • 274
address • 73 Standard functions supported • 274
Setpoint and disturbance behavior of a control Standard optimization parameters • 195
loop • 185 Standstill position Slave (S0) • 331
Setpoint generation • 214 Start cam / coupling • 369
Setting baud rate and Node-ID • 69 Starting a selected curve (MC_CamIn) • 369
Setting the axis function • 66 starting a selected curve with coupling
Setting the HEDA master • 500 movement (C3_CamIn) • 371
Setting the HEDA slave • 503 Static stiffness • 188
Setting the position of the selected master Status diagram of the virtual master • 281
source (C3_SetMaster) • 351 Status diagrams • 280
Setting the positioning mode in reset mode • Status LEDs • 33, 34
296 Status LEDs - PSUP • 34
Setting the time basis XDIV • 158 Status values • 540
Setting up Compax3 • 112 Step 1
Settings for channels 1..4 • 159 C3 ServoManager • 384
Setup and optimization of the control • 193 Step 10
Setup mode • 226 Starting and monitoring cam • 385
Shifting the working point into a linear range • Step 2
247 Connect motor. • 384
Signal analysis overview • 234 Step 3
Signal filtering for external setpoint Supply & I/O wiring • 384
specification and electronic cam • 224 Step 4
Signal filtering for external setpoint RS232 connection & C3 ServoManager • 384
specification and electronic gearbox • 223 Step 5
Signal filtering with external command value • Set Compax3 device type • 384
222 Step 6
Signal image • 341 Configuration • 384
Signal image with absolute master reference • Step 7
341 Selecting Master signal source • 385
Signal image with relative master reference • Step 8
342 Generating the cam • 385
Signal interfaces • 76 Step 9
Signal processing of the analog input 0 • 150 Create IEC program • 385
Signal processing of the analog inputs • 232 Step response of a delay component • 183
Signal source of the load feedback system • Step response of the velocity loop depending
147 on the optimization parameter • 191
Signalflussplan Luenberger-Beobachter • 204 STO (= safe torque off) with Compax3m
SinCos© cable • 562 (Option S1) • 103
Slave clock distance (ST) • 331 STO (= safe torque off) with Compax3S • 93
192-120108N13 Compax3T40_eng 2014-10 621

Index C3T40
STO application example (= safe torque off) • Time function and power density spectrum of
96 Compax3 setpoint generator with different
STO delay times • 94, 105 jerk settings • 216
STO function description • 107 Tips • 231
STO function test • 109 Too high overshoot on velocity • 169
STO function with safety switching device via Toothed belt drive as two mass system • 266
Compax3M inputs • 106 Toroidal core ferrite • 39
STO Principle (= Safe Torque Off) with Torque motors • 551
Compax3S • 93 Tracking filter • 222
STO test protocol specimen (Safety Option S1) Traditional generation of a disturbance
• 110 torque/force jerk • 189
Stop (MC_Stop) • 284 Transmission cycle time • 475
Stop module for superimposed movement Transmitter systems for direct drives • 550
(C3_StopSuperImposed) • 326 Travel Limit Settings • 138
Storage • 18 Trigger settings • 160
Store absolute position in the feedback • 123 Turning the motor holding brake on and off •
Structure • 459 269
Structure of a cascade control • 188 Type specification plate • 17
Structure of a control • 181 Type specification plate data • 177
Superimposed motion • 315 Typical application with Bus and IEC61131 •
superimposed motion/shift • 316, 322, 326, 462
364 Typical problems of a non optimized control •
Superimposed positioning 169
(C3_MoveSuperImposed) • 316
Supply networks • 29 U
Supporting IEC modules • 475 Unsigned - Formats • 470
Switching behavior with reset operation • 412 Usage in accordance with intended purpose •
Switching frequency of the motor current / 19
motor reference point • 174 USB - RS232 converter • 64
Switching off error messages (C3_ErrorMask) USB-RS485 Adapter Moxa Uport 1130 • 449
• 419 User interface • 157
Switch-on anticipation is corrected via reset
distance • 412 V
Symbols of the signal image • 344
Value range for positioning parameters • 292
Synchronous position (MS) • 331
Velocity Loop P Term • 192
T Velocity, bandwidth • 183
Virtual Master • 281
T40 Objects for the Process Data Channel / Voltage decoupling • 203
the Messages • 527
Teach machine zero • 132 W
Technical Characteristics STO Compax3S •
Warranty conditions • 21
102
Wiring of analog interfaces • 78
Technical data of the HEDA interface /
Wiring of the analog current inputs • 590
overview • 496
Wiring of the analog voltage inputs • 591
Technical details of the Compax3M S1 option •
Wiring of the motor output filter • 558
111
With direction reversal switches • 127, 130,
Technische Daten • 595
135
Temperature switch PSUP (mains module) •
With motor reference point • 129, 134
53
With upper mounting, the housing design may
Test functions • 186
be different • 86
The calculation of the physically possible
Without direction reversal switches • 126, 129
acceleration • 215
Without motor reference point • 126, 132
The possibilities of the HEDA expansion • 496
Write digital outputs (C3_Output) • 420
This module is used to determine the status
Writing an object in another node
during Nodeguarding
(C3_CANopen_SDO_Write4) • 481
(C3_CANopen_GuardingState) • 476
Writing the PIO outputs 0-15 (PIO_Outputx...y)
This module is used to determine the status of
• 428
the CANopen NMT status machine
Wrongly set notch filter • 210
(C3_CANopen_State) • 475
Time frame signal source master • 150 X
X1 • 40
622 192-120108N13 Compax3T40_eng 2014-10

X10 • 64
X11 • 78
X12 • 79
X13 • 76
X14 Safety technology option S1 for
Compax3M (axis controller) • 55
X2 • 41
X3 • 39
X4 • 38
Z
Zero point shift caused by superimposed
positioning (C3_ShiftPosition) • 322
192-120108N13 Compax3T40_eng 2014-10 623

Index C3T40
624 192-120108N13 Compax3T40_eng 2014-10

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C3T40 Electromechanical Automation

Operating instructions Compax3 IxxT40: Cam

Programmable motion control

Technische Änderungen vorbehalten. 13.10.14 13:07 192-120108N13 Compax3T40_eng 2014-10

Italy: Parker Hannifin Manufacturing Srl • SSD SBC • Electromechanical Automation •

USA: Parker Hannifin Corporation • Electromechanical Automation

Status of the Manuals:

2 192-120108N13 Compax3T40_eng 2014-10

2. Positioning with IEC61131-3 .................................................................30

192-120108N13 Compax3T40_eng 2014-10 3

3.5.6. Braking resistor / temperature switch PSUP (mains module) .................... 52

4 192-120108N13 Compax3T40_eng 2014-10

3.9.1.4 Mounting and dimensions Compax3S300V4........................................ 84

4. Setting up Compax3 ............................................................................ 112

192-120108N13 Compax3T40_eng 2014-10 5

4.1.12. Configuration name / comments .................................................................. 146

6 192-120108N13 Compax3T40_eng 2014-10

5. Motion control ..................................................................................... 270

192-120108N13 Compax3T40_eng 2014-10 7

5.8 Superimposed motion ......................................................................... 315

8 192-120108N13 Compax3T40_eng 2014-10

5.10 Cam switching mechanism ................................................................. 405

6. Communication ................................................................................... 445

192-120108N13 Compax3T40_eng 2014-10 9

6.1.3. PC <-> C3M device combination (USB) ....................................................... 448

10 192-120108N13 Compax3T40_eng 2014-10

6.6.3. Data formats of the bus objects ................................................................... 491

7. Compax3 - Objects .............................................................................. 515

8. Status values ....................................................................................... 540

9. Error ..................................................................................................... 541

11. Compax3 Accessories ........................................................................ 549

192-120108N13 Compax3T40_eng 2014-10 11

11.1.1.3 Torque motors ..................................................................................... 551

12 192-120108N13 Compax3T40_eng 2014-10

11.8 Interface cable ...................................................................................... 582

12. Technical Data ..................................................................................... 595

192-120108N13 Compax3T40_eng 2014-10 13

1.1 Device assignment

With the supplement:

 I11 T40: Cam via I/Os / RS232 / RS485

 I20 T40: Cam via Profibus

 I21 T40: Cam via CANopen

 I22 T40: Cam via DeviceNet

 I30 T40: Cam via Ethernet Powerlink

 I32 T40: Cam via Profinet

14 192-120108N13 Compax3T40_eng 2014-10

1.2 ProfiNet Certificate

192-120108N13 Compax3T40_eng 2014-10 15

1.3 Scope of delivery

 Device accessories for Compax3M

 Device accessories for PSUP

 Device accessories for Compax3H

16 192-120108N13 Compax3T40_eng 2014-10

1.4 Type specification plate

2 S025: Single axis device, nominal device current in 100mA (025=2.5A)

192-120108N13 Compax3T40_eng 2014-10 17

1.5 Packaging, transport, storage

First device checkup

Please note in the