C3I21T11 Eng

C3I21T11 Electromechanical Automation
Operating instructions Compax3 I21T11
Positioning via CANopen according to

DS402
192-120106N14
C3I21T11
Release as from R09-63 September 2014
We reserve the right to make technical changes. 29.09.14 14:02 C3I21T11 192-120106N14 - September 2014
The data correspond to the current status at the time of printing.
Introduction C3I21T11
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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 of
directors: 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. Positioning via CANopen
http://www.Parker.com/Literature/Electromechanical Europe/user
guides/C3I21T11.chm
2 C3I21T11 192-120106N14 - September 2014

Parker EME Device assignment
Inhalt
1. Introduction ...........................................................................................11
1.1 Device assignment ................................................................................ 11
1.2 Scope of delivery ................................................................................... 11
1.3 Type specification plate ........................................................................ 13
1.4 Packaging, transport, storage .............................................................. 14
1.5 Safety instructions ................................................................................. 15
1.5.1. General hazards ............................................................................................... 15
1.5.2. Safety-conscious working .............................................................................. 15
1.5.3. Special safety instructions ............................................................................. 16
1.6 Warranty conditions .............................................................................. 17
1.7 Conditions of utilization ........................................................................ 18
1.7.1. Conditions of utilization for CE-conform operation ..................................... 18
1.7.1.1 Conditions of utilization mains filter ...................................................... 18
1.7.1.2 Conditions of utilization for cables / motor filter .................................... 19
1.7.1.3 Additional conditions of utilization ......................................................... 20
1.7.2. Conditions of utilization for UL certification Compax3S ............................. 21
1.7.3. Conditions of utilization for UL approval Compax3M .................................. 22
1.7.4. Conditions of utilization for UL approval PSUP ........................................... 23
1.7.5. Conditions of utilization for UL certification Compax3H ............................. 24
1.7.6. Current on the mains PE (leakage current) ................................................... 25
1.7.7. Supply networks .............................................................................................. 25
2. Compax3 Xxx I21T11 Introduction .......................................................26

3. Compax3 device description ................................................................28
3.1 Meaning of the status LEDs - Compax3 axis controller ..................... 28
3.2 Meaning of the status LEDs - PSUP (mains module) .......................... 29
3.3 Connections of Compax3S ................................................................... 30
3.3.1. Compax3S connectors .................................................................................... 30
3.3.2. Connector and pin assignment C3S .............................................................. 31
3.3.3. Control voltage 24VDC / enable connector X4 C3S ..................................... 33
3.3.4. Motor / Motor brake C3S connector X3 ......................................................... 34
3.3.5. Compax3Sxxx V2 ............................................................................................. 35
3.3.5.1 Main voltage supply C3S connector X1 ................................................ 35
3.3.5.2 Braking resistor / high voltage DC C3S connector X2 .......................... 36
3.3.6. Compax3Sxxx V4 ............................................................................................. 37
3.3.6.1 Power supply connector X1 for 3AC 400VAC/480VAC-C3S
devices .................................................................................................. 37
3.3.6.2 Braking resistor / high voltage supply connector X2 for 3AC
400VAC/480VAC_C3S devices ............................................................ 38
3.3.6.3 Connection of the power voltage of 2 C3S 3AC devices ...................... 38
3.4 Installation instructions Compax3M .................................................... 39
3.5 PSUP/Compax3M Connections ............................................................ 41
3.5.1. Front connector ............................................................................................... 41
3.5.2. Connections on the device bottom ................................................................ 42
3.5.3. Connections of the axis combination............................................................ 43
3.5.4. Control voltage 24VDC PSUP (mains module) ............................................. 44
3.5.5. Mains supply PSUP (mains module) X41 ...................................................... 45
3.5.6. Braking resistor / temperature switch PSUP (mains module) .................... 47
C3I21T11 192-120106N14 - September 2014 3

3.5.6.1 Temperature switch PSUP (mains module).......................................... 48

3.5.7. Motor / motor brake Compax3M (axis controller) ........................................ 49
3.5.7.1 Measurement of the motor temperature of Compax3M (axis
controller) .............................................................................................. 50
3.5.8. X14 Safety technology option S1 for Compax3M (axis controller)............. 50
3.5.9. Safety technology option S3 for Compax3M (axis controller) .................... 50
3.6 Connections of Compax3H ................................................................... 51
3.6.1. Compax3H plugs/connections ....................................................................... 51
3.6.2. Connection of the power voltage ................................................................... 52
3.6.3. Compax3H connections front plate ............................................................... 53
3.6.4. Plug and pin assignment C3H ........................................................................ 54
3.6.5. Motor / Motor brake C3H ................................................................................. 56
3.6.6. Control voltage 24 VDC C3H........................................................................... 57
3.6.7. Mains connection Compax3H......................................................................... 57
3.6.8. Braking resistor / supply voltage C3H ........................................................... 58
3.6.8.1 Connect braking resistor C3H ............................................................... 58
3.6.8.2 Power supply voltage DC C3H ............................................................. 58
3.6.8.3 Connection of the power voltage of 2 C3H 3AC devices...................... 58
3.7 Communication interfaces .................................................................... 59
3.7.1. RS232 / RS485 interface (plug X10) ............................................................... 59
3.7.2. Communication Compax3M ........................................................................... 60
3.7.2.1 PC - PSUP (Mains module) .................................................................. 60
3.7.2.2 Communication in the axis combination (connector X30, X31) ............ 60
3.7.2.3 Adjusting the basic address .................................................................. 61
3.7.2.4 Setting the axis function ........................................................................ 61
3.7.3. CANopen connector X23 Interface I21 .......................................................... 62
3.7.3.1 Setting baud rate and Node-ID ............................................................. 62
3.7.3.2 Function of the Bus LEDs ..................................................................... 63
3.8 Signal interfaces .................................................................................... 64
3.8.1. Resolver / Feedback (connector X13) ............................................................ 64
3.8.2. Analogue / encoder (plug X11) ....................................................................... 66
3.8.2.1 Wiring of analog interfaces ................................................................... 66
3.8.2.2 Connections of the encoder interface ................................................... 66
3.8.3. Digital inputs/outputs (plug X12) ................................................................... 67
3.8.3.1 Connection of the digital Outputs/Inputs ............................................... 68
3.8.3.2 Logic proximity switch types ................................................................. 68
3.9 Mounting and dimensions..................................................................... 69
3.9.1. Mounting and dimensions Compax3S .......................................................... 69
3.9.1.1 Mounting and dimensions Compax3S0xxV2 ........................................ 69
3.9.1.2 Mounting and dimensions Compax3S100V2 and S0xxV4 ................... 70
3.9.1.3 Mounting and dimensions Compax3S150V2 and S150V4................... 71
3.9.1.4 Mounting and dimensions Compax3S300V4........................................ 72
3.9.2. Mounting and dimensions PSUP/C3M ........................................................... 73
3.9.2.1 Mounting and dimensions PSUP10/C3M050D6, C3M100D6,
C3M150D6 ............................................................................................ 73
3.9.2.2 Mounting and dimensions PSUP20/PSUP30/C3M300D6 .................... 74
3.9.2.3 With upper mounting, the housing design may be different ................. 74
3.9.3. Mounting and dimensions C3H ...................................................................... 75
3.9.3.1 Mounting distances, air currents Compax3H050V4 ............................. 76
3.9.3.2 Mounting distances, air currents Compax3H090V4 ............................. 76
3.9.3.3 Mounting distances, air currents Compax3H1xxV4 .............................. 77
3.10 Safety function - STO (=safe torque off) .............................................. 78
3.10.1. General Description ......................................................................................... 78
3.10.1.1 Important terms and explanations ........................................................ 78
3.10.1.2 Intended use ......................................................................................... 79
4 C3I21T11 192-120106N14 - September 2014

3.10.1.3 Advantages of using the "safe torque off" safety function. ................... 79
3.10.1.4 Devices with the STO (=safe torque off) safety function ...................... 80
3.10.2. STO (= safe torque off) with Compax3S ........................................................ 81
3.10.2.1 STO Principle (= Safe Torque Off) with Compax3S ............................. 81
3.10.2.2 Conditions of utilization STO (=safe torque off) Safety function ........... 83
3.10.2.3 Notes on the STO function.................................................................... 83
3.10.2.4 STO application example (= safe torque off) ........................................ 84
3.10.2.5 Technical Characteristics STO Compax3S .......................................... 91
3.10.3. STO (= safe torque off) with Compax3m (Option S1)................................... 92
3.10.3.1 Safety switching circuits ........................................................................ 92
3.10.3.2 Safety notes for the STO function in the Compax3M ........................... 93
3.10.3.3 Conditions of utilization for the STO function with Compax3M............. 93
3.10.3.4 STO delay times ................................................................................... 94
3.10.3.5 Compax3M STO application description .............................................. 95
3.10.3.6 STO function test .................................................................................. 99
3.10.3.7 Technical details of the Compax3M S1 option ................................... 101
4. Setting up Compax3 ............................................................................ 102

4.1 Configuration ....................................................................................... 102
4.1.1. Selection of the supply voltage used .......................................................... 103
4.1.2. Motor selection .............................................................................................. 104
4.1.3. Optimize motor reference point and switching frequency of the
motor current ................................................................................................. 104
4.1.4. Ballast resistor ............................................................................................... 107
4.1.5. General drive .................................................................................................. 107
4.1.6. Defining the reference system ..................................................................... 108
4.1.6.1 Measure reference .............................................................................. 108
4.1.6.2 Machine Zero ...................................................................................... 111
4.1.6.3 Travel Limit Settings ........................................................................... 128
4.1.6.4 Change assignment direction reversal / limit switches ....................... 131
4.1.6.5 Change initiator logic .......................................................................... 131
4.1.7. Defining jerk / ramps ..................................................................................... 132
4.1.7.1 Speed for positioning and velocity control .......................................... 132
4.1.7.2 Acceleration for positioning and velocity control ................................. 132
4.1.7.3 Acceleration / deceleration for positioning .......................................... 132
4.1.7.4 Jerk limit for positioning ...................................................................... 132
4.1.7.5 Ramp upon error and de-energize ...................................................... 133
4.1.7.6 Jerk for STOP, MANUAL and error .................................................... 134
4.1.8. Limit and monitoring settings ...................................................................... 134
4.1.8.1 Current (Torque) Limit......................................................................... 134
4.1.8.2 Positioning window - Position reached ............................................... 135
4.1.8.3 Following error limit ............................................................................. 136
4.1.8.4 Maximum operating speed.................................................................. 136
4.1.9. Encoder simulation ....................................................................................... 137
4.1.9.1 Encoder bypass with Feedback module F12 (for direct drives).......... 137
4.1.10. I/O Assignment .............................................................................................. 138
4.1.11. Position mode in reset operation ................................................................. 139
4.1.12. Reg-related positioning / defining ignore zone .......................................... 140
4.1.13. Write into set table ......................................................................................... 141
4.1.13.1 Programmable status bits (PSBs) ....................................................... 141
4.1.14. Motion functions ............................................................................................ 143
4.1.14.1 MoveAbs and MoveRel ....................................................................... 143
4.1.14.2 Reg-related positioning (RegSearch, RegMove) ................................ 144
4.1.14.3 Electronic gearbox (Gearing) .............................................................. 148
4.1.14.4 Speed specification (Velocity) ............................................................. 150
4.1.14.5 Stop command (Stop) ......................................................................... 150
4.1.15. Error response ............................................................................................... 150
C3I21T11 192-120106N14 - September 2014 5

4.1.16. Configuration name / comments .................................................................. 150

4.1.17. Dynamic positioning ..................................................................................... 151
4.2 Configuring the signal Source ............................................................ 152
4.2.1. Signal source of the load feedback system ................................................ 152
4.2.2. Select signal source for Gearing ................................................................. 152
4.2.2.1 Signal source HEDA ........................................................................... 153
4.2.2.2 Encoder A/B 5V, step/direction or SSI feedback as signal source ..... 154
4.2.2.3 +/-10V analog speed setpoint value as signal source ........................ 155
4.3 Load control ......................................................................................... 157
4.3.1. Configuration of load control ....................................................................... 158
4.3.2. Error: Position difference between load mounted and motor
feedback too high .......................................................................................... 159
4.3.3. Load control signal image ............................................................................ 159
4.4 Optimization ......................................................................................... 160
4.4.1. Optimization window ..................................................................................... 160
4.4.2. Scope .............................................................................................................. 161
4.4.2.1 Monitor information ............................................................................. 161
4.4.2.2 User interface ...................................................................................... 162
4.4.2.3 Example: Setting the Oscilloscope ..................................................... 166
4.4.3. Controller optimization ................................................................................. 168
4.4.3.1 Introduction ......................................................................................... 169
4.4.3.2 Configuration ....................................................................................... 171
4.4.3.3 Automatic controller design................................................................. 187
4.4.3.4 Setup and optimization of the control ................................................. 199
4.4.4. Signal filtering with external command value ............................................ 228
4.4.4.1 Signal filtering for external setpoint specification and electronic
gearbox ............................................................................................... 229
4.4.5. Input simulation ............................................................................................. 230
4.4.5.1 Calling up the input simulation ............................................................ 230
4.4.5.2 Operating Principle ............................................................................. 230
4.4.6. Setup mode .................................................................................................... 231
4.4.6.1 Motion objects in Compax3................................................................. 232
4.4.7. Load identification ......................................................................................... 233
4.4.7.1 Principle .............................................................................................. 233
4.4.7.2 Boundary conditions ........................................................................... 233
4.4.7.3 Process of the automatic determination of the load characteristic
value (load identification) .................................................................... 234
4.4.7.4 Tips ..................................................................................................... 235
4.4.8. Alignment of the analog inputs .................................................................... 235
4.4.8.1 Offset alignment .................................................................................. 235
4.4.8.2 Gain alignment .................................................................................... 236
4.4.8.3 Signal processing of the analog inputs ............................................... 236
4.4.9. C3 ServoSignalAnalyzer ............................................................................... 237
4.4.9.1 ServoSignalAnalyzer - function range ................................................ 237
4.4.9.2 Signal analysis overview ..................................................................... 238
4.4.9.3 Installation and activation of the ServoSignalAnalyzer ....................... 239
4.4.9.4 Analyses in the time range.................................................................. 241
4.4.9.5 Measurement of frequency spectra .................................................... 244
4.4.9.6 Measurement of frequency responses ............................................... 247
4.4.9.7 Overview of the user interface ............................................................ 253
4.4.9.8 Basics of frequency response measurement...................................... 266
4.4.10. ProfileViewer for the optimization of the motion profile ........................... 271
4.4.10.1 Mode 1: Time and maximum values are deduced from Compax3
input values ......................................................................................... 271
4.4.10.2 Mode 2: Compax3 input values are deduced from times and
maximum values ................................................................................. 272
4.4.11. Turning the motor holding brake on and off............................................... 273
6 C3I21T11 192-120106N14 - September 2014

5. Positioning & Control via CANopen................................................... 274

5.1 CANopen - Configuration .................................................................... 274
5.1.1. Operating Modes ........................................................................................... 275
5.1.2. Error Reaction on Bus Failure ...................................................................... 275
5.1.3. Baud rate ........................................................................................................ 275
5.1.4. Transmission cycle time ............................................................................... 275
5.2 Operating mode: Profile Position Mode ............................................. 275
5.2.1. Slave in Position Mode - Direct Positioning ............................................... 276
5.2.2. Control word 1 (Control word 1) 0x6040 (o1100.3) (Profile position
mode) .............................................................................................................. 278
5.2.3. Status word 1 (Status word) (op 1,-2, profile position mode, set
selection) ........................................................................................................ 279
5.3 Operating mode: Profile Velocity Mode ............................................. 280
5.3.1. Slave in Velocity Mode - velocity control .................................................... 280
5.3.2. Control word 1 (Control word 1) 0x6040 (o1100.3) (Profile velocity
mode) .............................................................................................................. 281
5.3.3. Status word 1 (Status word) (op 3, Profile velocity mode) ........................ 281
5.4 Operating mode: Positioning with set selection ............................... 282
5.4.1. Slave with set selection ................................................................................ 283
5.4.1.1 Layout of the set table......................................................................... 284
5.4.2. Control word 1 (Control word 1) 0x6040 (o1100.3) (Positioning via
set selection) .................................................................................................. 285
5.4.3. Control word 2 (Set selection) ...................................................................... 286
5.4.4. Status word 1 (Status word) (op 1,-2, profile position mode, set
selection) ........................................................................................................ 286
5.4.5. Control word 2 (set selection) ...................................................................... 286
5.5 Machine zero operating mode (Homing) ............................................ 287
5.5.1. Control word 1 (Control word 1) 0x6040 (o1100.3) (homing mode).......... 287
5.5.2. Status word 1 (Status word) (op 3, homing mode)..................................... 288
5.6 Manual operation operating mode (Jogging) .................................... 289
5.6.1. Control word 1 (Control word 1) 0x6040 (o1100.3) (manual mode) .......... 289
5.6.2. Status word 1 (Status word) (op -1, jogging mode) ................................... 290
5.7 “Interpolated Position Mode” operating mode .................................. 290
5.7.1. Control word 1 (Control word 1) 0x6040 (o1100.3) (interpolated
position mode) ............................................................................................... 291
5.7.2. Status word 1 (Status word) (op 7, ip mode) .............................................. 291
5.7.3. Interpolation ................................................................................................... 292
5.7.3.1 Interpolation method ........................................................................... 292
5.7.3.2 Structure image in the interpolation mode .......................................... 294
5.8 Operating mode: Cyclic Synchronous Position Mode...................... 295
5.8.1. Control word 1 (Control word 1) 0x6040 (o1100.3) (cyclic
synchronous mode) op 8,9,10 ...................................................................... 296
5.8.2. Status word 1 (Status word) (op 8, ip mode) .............................................. 296
5.8.3. Synchronizations method ............................................................................. 297
5.9 State machine....................................................................................... 298
5.10 Acyclic parameter channel.................................................................. 300
5.10.1. Service Data Objects (SDO) .......................................................................... 300
5.10.1.1 CiA405_SDO_Error (Abort Code): UDINT .......................................... 300
5.10.2. Object Up-/Download via CANopen ............................................................. 301
5.11 CANopen communication profile ....................................................... 302
5.11.1. Object types ................................................................................................... 303
5.11.2. Communication objects ................................................................................ 303
C3I21T11 192-120106N14 - September 2014 7

5.11.2.1 CAN communication objects overview sorted according to CAN

No........................................................................................................ 304
5.11.2.2 Identity Object (0x1018) ...................................................................... 306
5.12 CANopen objects ................................................................................. 307
5.12.1. Standardized and manufacturer-specific objects sorted according to
CAN No. (I21T11) ............................................................................................ 308
5.12.2. Standardised and manufacturer-specific objects sorted according to
object names (I21T11) ................................................................................... 316
5.12.3. Data formats of the bus objects ................................................................... 324
5.12.3.1 Integer formats .................................................................................... 324
5.12.3.2 Unsigned - Formats ............................................................................ 324
5.12.3.3 Fixed point format E2_6 ...................................................................... 324
5.12.3.4 Fixed point format C4_3...................................................................... 325
5.12.3.5 Bus format Y2 and Y4 ......................................................................... 325
5.12.3.6 Bit sequence V2 .................................................................................. 326
5.12.3.7 Byte string OS ..................................................................................... 326
6. Communication ................................................................................... 327

6.1 Compax3 communication variants ..................................................... 327
6.1.1. PC <-> Compax3 (RS232) .............................................................................. 328
6.1.2. PC <-> Compax3 (RS485) .............................................................................. 329
6.1.3. PC <-> C3M device combination (USB) ....................................................... 330
6.1.4. USB-RS485 Moxa Uport 1130 adapter ......................................................... 331
6.1.5. ETHERNET-RS485 NetCOM 113 adapter ..................................................... 332
6.1.6. Modem MB-Connectline MDH 500 / MDH 504 ............................................. 333
6.1.7. C3 settings for RS485 two wire operation................................................... 334
6.1.8. C3 settings for RS485 four wire operation .................................................. 335
6.2 COM port protocol ............................................................................... 336
6.2.1. RS485 settings values ................................................................................... 336
6.2.2. ASCII - record ................................................................................................. 336
6.2.3. Binary record ................................................................................................. 337
6.3 Remote diagnosis via Modem............................................................. 341
6.3.1. Structure ......................................................................................................... 341
6.3.2. Configuration of local modem 1 ................................................................... 342
6.3.3. Configuration of remote modem 2 ............................................................... 343
6.3.4. Recommendations for preparing the modem operation ........................... 343
7. Status values ....................................................................................... 344

7.1 D/A-Monitor .......................................................................................... 344
8. Error ..................................................................................................... 345

9. Order code ........................................................................................... 346
9.1 Order code device: Compax3 ............................................................. 347
9.2 Order code for mains module: PSUP ................................................. 348
9.3 Order code for accessories................................................................. 348
9.3.1. Order code for feedback cables ................................................................... 349
9.3.2. Order Code braking resistors ....................................................................... 349
9.3.3. Order code mains filter (C3S) ....................................................................... 350
9.3.4. Order code capacitor module ....................................................................... 350
9.3.5. Interface cable order code ............................................................................ 351
9.3.6. Order Code input/output terminals (PIO) .................................................... 351
9.3.7. Order note....................................................................................................... 352
8 C3I21T11 192-120106N14 - September 2014

10. Compax3 Accessories ........................................................................ 353

10.1 Parker servo motors ............................................................................ 353
10.1.1. Direct drives ................................................................................................... 353
10.1.1.1 Transmitter systems for direct drives .................................................. 354
10.1.1.2 Linear motors ...................................................................................... 355
10.1.1.3 Torque motors ..................................................................................... 355
10.1.2. Rotary servo motors ...................................................................................... 355
10.2 EMC measures ..................................................................................... 356
10.2.1. Mains filter ...................................................................................................... 356
10.2.1.1 Mains filter NFI01/01 ........................................................................... 357
10.2.1.2 Mains filter NFI01/02 ........................................................................... 357
10.2.1.3 Mains filter for NFI01/03...................................................................... 358
10.2.1.4 Mains filter NFI02/0x ........................................................................... 358
10.2.1.5 Mains filter NFI03/01& NFI03/03 ........................................................ 359
10.2.1.6 Mains filter NFI03/02 ........................................................................... 360
10.2.2. Motor output filter .......................................................................................... 361
10.2.2.1 Motor output filter MDR01/04 .............................................................. 361
10.2.2.4 Wiring of the motor output filter ........................................................... 362
10.2.3. Mains chokes ................................................................................................. 363
10.2.3.1 Mains filter for PSUP30....................................................................... 363
10.3 Connections to the motor ................................................................... 364
10.3.1. Resolver cable ............................................................................................... 365
10.3.2. SinCos© cable ................................................................................................ 366
10.3.3. EnDat cable .................................................................................................... 366
10.3.4. Motor cable ..................................................................................................... 367
10.3.4.1 Connection of terminal box MH145 & MH205 .................................... 367
10.3.5. Encoder cable ................................................................................................ 368
10.4 External braking resistors ................................................................... 369
10.4.1. Permissible braking pulse powers of the braking resistors ..................... 370
10.4.1.1 Calculation of the BRM cooling time ................................................... 370
10.4.1.2 Permissible braking pulse power: BRM08/01 with C3S015V4 /
C3S038V4 ........................................................................................... 371
10.4.1.3 Permissible braking pulse power: BRM08/01 with C3S025V2 ........... 372
10.4.1.15 Permissible braking pulse power: BRM11/01 with C3H0xxV4 ........... 378
10.4.1.16 Permissible braking pulse power: BRM12/01 with C3H1xxV4 ........... 378
10.4.1.17 Permissible braking pulse power: BRM13/01 with PSUP10D6 .......... 379
10.4.1.18 Permissible braking pulse power: BRM14/01 with PSUP10D6 .......... 379
10.4.2. Dimensions of the braking resistors ........................................................... 379
10.4.2.1 BRM8/01braking resistors................................................................... 379
10.4.2.2 BRM5/01 braking resistor ................................................................... 379
10.4.2.3 Braking resistor BRM5/02, BRM9/01 & BRM10/01 ............................ 380
10.4.2.4 Braking resistor BRM4/0x and BRM10/02 .......................................... 380
C3I21T11 192-120106N14 - September 2014 9

10.4.2.5 Braking resistor BRM11/01 & BRM12/01 ........................................... 381

10.4.2.6 Ballast resistor BRM13/01 & BRM14/01 ............................................. 381
10.5 Capacitor module C4 ........................................................................... 382
10.6 Operator control module BDM ............................................................ 383
10.7 EAM06: terminal block for inputs and outputs .................................. 383
10.8 Interface cable ...................................................................................... 386
10.8.1. RS232 - cable / SSK1 ..................................................................................... 386
10.8.2. RS485 cable to Pop / SSK27 ......................................................................... 387
10.8.3. I/O-interface X12 / X22 / SSK22 .................................................................... 388
10.8.4. Ref X11 / SSK21 ............................................................................................. 388
10.8.5. Encoder coupling of 2 Compax3 axes / SSK29 .......................................... 389
10.8.6. Modem cable SSK31 ...................................................................................... 390
10.8.7. Adapter cable SSK32/20................................................................................ 390
10.9 Options M1x ......................................................................................... 391
10.9.1. Digital input/output option M12 (I12) ........................................................... 391
10.9.1.1 Assignment of the X22 connector ....................................................... 391
10.9.1.2 Connections of digital inputs and outputs M10 & M12 ....................... 391
10.9.2. HEDA (motion bus) - Option M11 ................................................................. 392
10.9.3. Option M10 = HEDA (M11) & I/Os (M12) .................................................... 393
10.10 Analog current inputs and voltage inputs (Option M21) .................. 394
10.10.1. Connector assignment Option M21 X20 ...................................................... 394
10.10.1.1 Wiring of the analog current inputs ..................................................... 394
10.10.2. Connector assignment Option M21 X21 ...................................................... 395
10.10.2.1 Wiring of the analog voltage inputs ..................................................... 395
10.11 CAN - plug BUS10/01 ........................................................................... 396
11. Technical Data ..................................................................................... 397

12. Index..................................................................................................... 414
10 C3I21T11 192-120106N14 - September 2014

1. Introduction
In this chapter you can read about:
Device assignment .......................................................................................................... 11
Scope of delivery ............................................................................................................. 11
Type specification plate ................................................................................................... 13
Packaging, transport, storage .......................................................................................... 14
Safety instructions ........................................................................................................... 15
Warranty conditions ......................................................................................................... 17
Conditions of utilization .................................................................................................... 18
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)
 I21 T11
1.2 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
C3I21T11 192-120106N14 - September 2014 11

 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
12 C3I21T11 192-120106N14 - September 2014

Parker EME Type specification plate
1.3 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)
C3I21T11 192-120106N14 - September 2014 13

1.4 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 397, see on page 408)). 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 13)
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 410). 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
14 C3I21T11 192-120106N14 - September 2014

Parker EME Safety instructions
1.5 Safety instructions

General hazards .............................................................................................................. 15
Safety-conscious working ................................................................................................ 15
Special safety instructions ............................................................................................... 16
1.5.1. 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.
1.5.2. 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.
C3I21T11 192-120106N14 - September 2014 15

1.5.3. 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.
16 C3I21T11 192-120106N14 - September 2014

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
1.6 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 69, see
on page 75)
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.
C3I21T11 192-120106N14 - September 2014 17

1.7 Conditions of utilization

Conditions of utilization for CE-conform operation ........................................................... 18
Conditions of utilization for UL certification Compax3S .................................................... 21
Conditions of utilization for UL approval Compax3M ........................................................ 22
Conditions of utilization for UL approval PSUP ................................................................ 23
Conditions of utilization for UL certification Compax3H .................................................... 24
Current on the mains PE (leakage current) ...................................................................... 25
Supply networks .............................................................................................................. 25
1.7.1. 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,...).
1.7.1.1 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
18 C3I21T11 192-120106N14 - September 2014

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)
1.7.1.2 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 361) 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 361) 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:
C3I21T11 192-120106N14 - September 2014 19

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.
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.
1.7.1.3 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.
20 C3I21T11 192-120106N14 - September 2014

1.7.2. 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 346,
see on page 348), 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 399,
see on page 400)
 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
C3I21T11 192-120106N14 - September 2014 21

1.7.3. 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 400)
 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)
22 C3I21T11 192-120106N14 - September 2014

1.7.4. 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!
C3I21T11 192-120106N14 - September 2014 23

1.7.5. 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 400)
 This device is provided with Solid State Short Circuit (output) Protection.
24 C3I21T11 192-120106N14 - September 2014

1.7.6. 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.
1.7.7. 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.
C3I21T11 192-120106N14 - September 2014 25

Compax3 Xxx I21T11 Introduction C3I21T11
2. Compax3 Xxx I21T11

Introduction
Due to its high functionality, the Positioning version of Compax3 forms an ideal
basis for many applications in high-performance motion automation.
Up to 31 motion profiles with the motion functions:
 Absolute or relative positioning,
 electronic gearbox,
 register-related positioning,
 speed control,
 Stop - Set
 ...
can be created with the help of the PC software.
Via different operating modes:
 Speed Control
 Direct positioning
 Positioning with set selection
the motion functions can be triggered via the bus.
A number of different transfer telegrams, which can be conveniently adjusted with

the Compax3 ServoManager), can be used to adjust cyclic bus communication to
the requirements of specific applications.
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.
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 383) for
Compax3S/F makes it possible to exchange devices quickly without requiring a
PC.
26 C3I21T11 192-120106N14 - September 2014

Configuration Configuration is made with a PC with the help of the Compax3 ServoManager.
CANopen ratings
Profile  Motion Control CiADS402
Baud rate [kBit/s]  20, 50, 100, 125, 250, 500, 800, 1000
EDS file  C3.EDS
Service data object  SDO1
Process data objects  PDO1
 PDO2
Synchronicity precision of the SYNC  maximum jitter: +/-25µs
telegram  Typical cycle times: >= 1ms
Deviations from the CANopen Device  For the velocity mode profile the setpoint
Profile DSP402 acceleration is also applicable when
braking.
 Only one rotation speed is possible for
machine zero run start (objects 0x6099.1
and .2 are the same).
C3I21T11 192-120106N14 - September 2014 27

Compax3 device description C3I21T11
3. Compax3 device description

Meaning of the status LEDs - Compax3 axis controller .................................................... 28
Meaning of the status LEDs - PSUP (mains module) ....................................................... 29
Connections of Compax3S .............................................................................................. 30
Installation instructions Compax3M ................................................................................. 39
PSUP/Compax3M Connections ....................................................................................... 41
Connections of Compax3H .............................................................................................. 51
Communication interfaces ............................................................................................... 59
Signal interfaces .............................................................................................................. 63
Mounting and dimensions ................................................................................................ 69
Safety function - STO (=safe torque off)........................................................................... 78
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.
28 C3I21T11 192-120106N14 - September 2014

Parker EME Meaning of the status LEDs - PSUP (mains module)
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.
C3I21T11 192-120106N14 - September 2014 29

3.3 Connections of Compax3S

Compax3S connectors .................................................................................................... 30
Connector and pin assignment C3S................................................................................. 31
Control voltage 24VDC / enable connector X4 C3S ......................................................... 33
Motor / Motor brake C3S connector X3 ............................................................................ 34
Compax3Sxxx V2 ............................................................................................................ 35
Compax3Sxxx V4 ............................................................................................................ 37
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
30 C3I21T11 192-120106N14 - September 2014

Parker EME Connections of Compax3S
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!
C3I21T11 192-120106N14 - September 2014 31

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.
32 C3I21T11 192-120106N14 - September 2014

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 78) 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
C3I21T11 192-120106N14 - September 2014 33

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
34 C3I21T11 192-120106N14 - September 2014

3.3.5. Compax3Sxxx V2
Main voltage supply C3S connector X1 ........................................................................... 35
Braking resistor / high voltage DC C3S connector X2 ...................................................... 36
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 21), 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
C3I21T11 192-120106N14 - September 2014 35

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
36 C3I21T11 192-120106N14 - September 2014

3.3.6. Compax3Sxxx V4
Power supply connector X1 for 3AC 400VAC/480VAC-C3S devices ............................... 37
Braking resistor / high voltage supply connector X2 for 3AC 400VAC/480VAC_C3S devices
........................................................................................................................................ 38
Connection of the power voltage of 2 C3S 3AC devices .................................................. 38
3.3.6.1 Power supply connector X1 for 3AC

400VAC/480VAC-C3S devices
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!
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.
C3I21T11 192-120106N14 - September 2014 37

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
38 C3I21T11 192-120106N14 - September 2014

Parker EME Installation instructions Compax3M
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.
C3I21T11 192-120106N14 - September 2014 39

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 43).
 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 60).
 Connecting the signal and fieldbus connectors. Details (see on page 63).
 Connection of mains power supply Details (see on page 45) ballast resistor
details (see on page 47) and motor details (see on page 49).
 Connecting the configuration interface to the PC. Details (see on page 60).
40 C3I21T11 192-120106N14 - September 2014

Parker EME PSUP/Compax3M Connections
3.5 PSUP/Compax3M Connections

Front connector ............................................................................................................... 41
Connections on the device bottom ................................................................................... 42
Connections of the axis combination................................................................................ 43
Control voltage 24VDC PSUP (mains module) ................................................................ 44
Mains supply PSUP (mains module) X41......................................................................... 45
Braking resistor / temperature switch PSUP (mains module) ........................................... 47
Motor / motor brake Compax3M (axis controller) ............................................................. 49
X14 Safety technology option S1 for Compax3M (axis controller) .................................... 50
Safety technology option S3 for Compax3M (axis controller) ........................................... 50
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
C3I21T11 192-120106N14 - September 2014 41

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)
42 C3I21T11 192-120106N14 - September 2014

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.
C3I21T11 192-120106N14 - September 2014 43

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
44 C3I21T11 192-120106N14 - September 2014

3.5.5. Mains supply PSUP (mains module) X41

Device protection By cyclically switching on and off the power voltage, the input current
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!
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
C3I21T11 192-120106N14 - September 2014 45

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 363)
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
46 C3I21T11 192-120106N14 - September 2014

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
C3I21T11 192-120106N14 - September 2014 47

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.
48 C3I21T11 192-120106N14 - September 2014

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
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)


C3I21T11 192-120106N14 - September 2014 49

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.
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.
50 C3I21T11 192-120106N14 - September 2014

Parker EME Connections of Compax3H
3.6 Connections of Compax3H

Compax3H plugs/connections ......................................................................................... 51
Connection of the power voltage...................................................................................... 52
Compax3H connections front plate .................................................................................. 53
Plug and pin assignment C3H ......................................................................................... 54
Motor / Motor brake C3H ................................................................................................. 56
Control voltage 24 VDC C3H ........................................................................................... 57
Mains connection Compax3H .......................................................................................... 57
Braking resistor / supply voltage C3H .............................................................................. 58
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.
C3I21T11 192-120106N14 - September 2014 51

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)
52 C3I21T11 192-120106N14 - September 2014

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.
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
C3I21T11 192-120106N14 - September 2014 53

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!
54 C3I21T11 192-120106N14 - September 2014

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
Please note The RS232 programming interface under the upper dummy cover is only available if the X10 jumper at
the controller is fitted.
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
C3I21T11 192-120106N14 - September 2014 55

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 52)
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 53)

1 BR WH 4 Br1
2 GND BK 5 Br2

1.6A
proof)
56 C3I21T11 192-120106N14 - September 2014

3.6.6. Control voltage 24 VDC C3H

Connection of control voltage 24VDC figure (see on page 53)
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 52)
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
C3I21T11 192-120106N14 - September 2014 57

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 52)
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 52)
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.
58 C3I21T11 192-120106N14 - September 2014

Parker EME Communication interfaces
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 52)
3.7 Communication interfaces

RS232 / RS485 interface (plug X10) ................................................................................ 59
Communication Compax3M............................................................................................. 60
CANopen connector X23 Interface I21............................................................................. 62
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
C3I21T11 192-120106N14 - September 2014 59

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) ............................................................................................. 60
Communication in the axis combination (connector X30, X31) ......................................... 60
Adjusting the basic address ............................................................................................. 61
Setting the axis function................................................................................................... 61
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 392)) 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
60 C3I21T11 192-120106N14 - September 2014

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.
C3I21T11 192-120106N14 - September 2014 61

3.7.3. 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 396).
3.7.3.1 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!
62 C3I21T11 192-120106N14 - September 2014

3.7.3.2 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.
C3I21T11 192-120106N14 - September 2014 63

3.8 Signal interfaces

Resolver / Feedback (connector X13) .............................................................................. 64
Analogue / encoder (plug X11) ........................................................................................ 66
Digital inputs/outputs (plug X12) ...................................................................................... 67
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)
64 C3I21T11 192-120106N14 - September 2014

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 365) can be found in the accessories chapter of the
device description.
SinCos© cables (see on page 366) can be found in the accessories chapter of the
device description.
EnDat - cable GBK38 (EnDat2.1) and GBK56 (EnDat2.2) (see on page 349, see
on page 366)
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).
C3I21T11 192-120106N14 - September 2014 65

3.8.2. Analogue / encoder (plug X11)

PIN X11 Reference
High Density Sub D
Encoders SSI
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 405)
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 235)!
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)
66 C3I21T11 192-120106N14 - September 2014

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

Pin Input / High density/Sub D
X12 Output
1 O +24 V DC output (max. 400mA)
2 O0 No error
3 O1 Position / speed / gear synchronization
attained (max. 100 mA)
Only for "fixed
assignment"
4 O2 Power stage without current (max.
100mA) Functions are
5 O3 Axis energized with a setpoint of 0 available, if "Fixed
(max. 100 mA) assignment" was
6 I0="1": Quit (positive edge) / activate the axis selected for the I/O
I0="0" Axis disable with delay assignment in the
configuration wizard
7 I1 no Stop
8 I2 JOG +
9 I3 JOG -
10 I4 Reg input
11 I 24V input for the digital outputs Pins 2 to 5
12 I5 Limit switch 1
14 I7 Machine zero initiator
15 O GND24V
All inputs and outputs have 24V level.
Maximum capacitive loading of the outputs: 30nF (max. 2 Compax3 inputs can be
connected)
Input-/Output extension
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.
In operation via CANopenthe inputs I0 ... I3 as well as the outputs O0 ... O3 can be
freely assigned as an option.
Configurable via the C3 ServoManager (configuration: Operating mode / I/O
assignment)
C3I21T11 192-120106N14 - September 2014 67

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.
68 C3I21T11 192-120106N14 - September 2014

Parker EME Mounting and dimensions
3.9 Mounting and dimensions

Mounting and dimensions Compax3S .............................................................................. 69
Mounting and dimensions PSUP/C3M ............................................................................. 73
Mounting and dimensions C3H ........................................................................................ 75
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
C3I21T11 192-120106N14 - September 2014 69

3.9.1.2 Mounting and dimensions Compax3S100V2 and

S0xxV4
Mounting:
Stated in mm

convection:
70 C3I21T11 192-120106N14 - September 2014

3.9.1.3 Mounting and dimensions Compax3S150V2 and

S150V4
Mounting:
Stated in mm

convection:
C3I21T11 192-120106N14 - September 2014 71

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!
72 C3I21T11 192-120106N14 - September 2014

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
C3I21T11 192-120106N14 - September 2014 73

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:
74 C3I21T11 192-120106N14 - September 2014

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.
C3I21T11 192-120106N14 - September 2014 75

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
76 C3I21T11 192-120106N14 - September 2014

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
C3I21T11 192-120106N14 - September 2014 77

3.10 Safety function - STO (=safe torque off)

General Description ......................................................................................................... 78
STO (= safe torque off) with Compax3S .......................................................................... 81
STO (= safe torque off) with Compax3m (Option S1) ....................................................... 92
3.10.1. General Description

Important terms and explanations .................................................................................... 78
Intended use.................................................................................................................... 79
Advantages of using the "safe torque off" safety function. ................................................ 79
Devices with the STO (=safe torque off) safety function ................................................... 80
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.
78 C3I21T11 192-120106N14 - September 2014

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.
C3I21T11 192-120106N14 - September 2014 79

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.
80 C3I21T11 192-120106N14 - September 2014

3.10.2. STO (= safe torque off) with Compax3S

STO Principle (= Safe Torque Off) with Compax3S ......................................................... 81
Conditions of utilization STO (=safe torque off) Safety function........................................ 83
Notes on the STO function............................................................................................... 83
STO application example (= safe torque off) .................................................................... 84
Technical Characteristics STO Compax3S ...................................................................... 91
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.
C3I21T11 192-120106N14 - September 2014 81

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.
82 C3I21T11 192-120106N14 - September 2014

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).
C3I21T11 192-120106N14 - September 2014 83

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 136, see on page 150).
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.
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.
84 C3I21T11 192-120106N14 - September 2014

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

Safety door closed
Feedback X4.5
S6
Compax3S S6
X3
S5
Energize *
Controller
X12.4 Feedback
Not-Stop
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 / Ackn = I0 (X12/6)
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.
C3I21T11 192-120106N14 - September 2014 85

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: ............................................................................................................... 90
Access to the hazardous area ......................................................................................... 91

Safe torque off basic function .......................................................................................... 86
Access to the hazardous area ......................................................................................... 87
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.
86 C3I21T11 192-120106N14 - September 2014

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).
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 78).
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
C3I21T11 192-120106N14 - September 2014 87

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
88 C3I21T11 192-120106N14 - September 2014

Circuit:
control: Control word
status: Status word
+24V
Compax3S SPS
X3 PLC
status status.6
1
Controller
&
Fieldbus
Feedback status.3
Energize
status status.6
1
Enable X4.3 status.3
Feedback X4.4
control
Feedback X4.5
S4
&
S5
&
control
Zustandswechsel in:
Change state to:
"Operation
0 1 Enable"
motor 1 0
"Switch On
Disabled"
Compax3S Gefahrenbereich
X3 motor Danger Zone
Controller
Fieldbus
Feedback
Schutztür geschlossen
Energize Safety door closed
Enable X4.3
S6
Feedback X4.4
S6
Feedback X4.5
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
C3I21T11 192-120106N14 - September 2014 89

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

outputs Q3 and Q4.
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.
90 C3I21T11 192-120106N14 - September 2014

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

on page 78).

inputs
24V control voltage
control voltage
C3I21T11 192-120106N14 - September 2014 91

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

Safety switching circuits................................................................................................... 92
Safety notes for the STO function in the Compax3M........................................................ 93
Conditions of utilization for the STO function with Compax3M ......................................... 93
STO delay times .............................................................................................................. 94
Compax3M STO application description .......................................................................... 95
STO function test ............................................................................................................. 99
Technical details of the Compax3M S1 option ............................................................... 101
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.
92 C3I21T11 192-120106N14 - September 2014

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 99). 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).
C3I21T11 192-120106N14 - September 2014 93

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
94 C3I21T11 192-120106N14 - September 2014

3.10.3.5 Compax3M STO application description

STO function with safety switching device via Compax3M inputs ..................................... 95
STO function with safety switching device for T11 applications with fieldbusses .............. 96
Emergency stop and protective door monitoring without external safety switching device.98
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 131)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
C3I21T11 192-120106N14 - September 2014 95

STO function with safety switching device for T11 applications with
fieldbusses
Energize and deenergize circuitry .................................................................................... 96
Function description for fieldbus applications with T11 devices: ....................................... 97
Energize and deenergize circuitry

+24V
Compax3M
X3 motor
Gefahrenbereich
Energize
Danger Zone
STO1/ X14.1 motor
STO-GND X14.2

Safety door closed
STO-GND X14.4
S1
Compax3M S1
X3
Energize
STO1/ X14.1 * * Not-Stop

STO-GND X14.2 & & Emergency
switch off
STO2/ X14.3
STO-GND X14.4 S3 S4
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
96 C3I21T11 192-120106N14 - September 2014

* With Profibus I20T11:

Status change in:
0 -> 1 SB1 (speed)
SC1 (positioning)
1 -> 0 SA2
* for T11 devices with CANopen, DeviceNet, Ethernet Powerlink or Ethercat:
Status change in:
0 -> 1 Operation enable
1 -> 0 Switch on disabled
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.

outputs Q3 and Q4.
Function description for fieldbus applications with T11 devices:
When opening the safety door or after actuating the emergency power-off switch, it
is ensured via output Q3 and the external control that the Compax3M servo drives
will enter the following state immediately:
 "SA2"
(for Profibus) or (braking ramp followed by
 "Switched On Disabled" software switch-off)
for fieldbusses based on the CANopen profile
In the programmable Compax3 devices (T30, T40), this switch-off is realized with
the MC_power function module. Then after the delay time set on the
UE410-MU3T5 safety control, the STO function in the drives is triggered via the Q4
output. The servo drives are afterwards 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 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” safety function can 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 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.
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.
C3I21T11 192-120106N14 - September 2014 97

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

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
98 C3I21T11 192-120106N14 - September 2014

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.
C3I21T11 192-120106N14 - September 2014 99

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
100 C3I21T11 192-120106N14 - September 2014

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 13) and the circuitry
Test mark MFS 09029 examples (see on page 92)
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
C3I21T11 192-120106N14 - September 2014 101

Setting up Compax3 C3I21T11
4. Setting up Compax3
Configuration ................................................................................................................. 102
Configuring the signal Source ........................................................................................ 152
Load control................................................................................................................... 157
Optimization .................................................................................................................. 160
4.1 Configuration
Selection of the supply voltage used .............................................................................. 103
Motor selection .............................................................................................................. 104
Optimize motor reference point and switching frequency of the motor current................ 104
Ballast resistor ............................................................................................................... 107
General drive ................................................................................................................. 107
Defining the reference system ....................................................................................... 108
Defining jerk / ramps ...................................................................................................... 132
Limit and monitoring settings ......................................................................................... 134
Encoder simulation ........................................................................................................ 137
I/O Assignment .............................................................................................................. 138
Position mode in reset operation.................................................................................... 139
Reg-related positioning / defining ignore zone ............................................................... 140
Write into set table ......................................................................................................... 140
Motion functions ............................................................................................................ 143
Error response............................................................................................................... 150
Configuration name / comments .................................................................................... 150
Dynamic positioning ...................................................................................................... 151
The general proceeding in order to operate an empty-running motor is described

here (see on page 103).
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
102 C3I21T11 192-120106N14 - September 2014

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 386)).
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.
C3I21T11 192-120106N14 - September 2014 103

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 273).
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 353) (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.
104 C3I21T11 192-120106N14 - September 2014

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
C3I21T11 192-120106N14 - September 2014 105

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*
Ipeak 10Arms 20Arms 30Arms 60Arms
(<5s)
16kHz Inom 3.8Arms 7.5Arms 10Arms 20Arms
Ipeak 7.5Arms 15Arms 20Arms 40Arms
(<5s)
Ipeak 5Arms 7.5Arms 10Arms 22Arms
(<5s)
106 C3I21T11 192-120106N14 - September 2014

frequency*
8kHz Inom 4Arms 8Arms 12.5Arms 25Arms
(<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 405), 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 369).
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 233).
Minimum moment of inertia / minimum load
C3I21T11 192-120106N14 - September 2014 107

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
108 C3I21T11 192-120106N14 - September 2014

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.
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.
C3I21T11 192-120106N14 - September 2014 109

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
*
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).
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 108)) 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.
110 C3I21T11 192-120106N14 - September 2014

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 111) 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.

Positioning after homing run .......................................................................................... 111
Absolute encoder........................................................................................................... 112
Operation with MultiTurn emulation ............................................................................... 113
Store absolute position in the feedback ......................................................................... 113
Machine zero modes overview....................................................................................... 114
Homing modes with home switch (on X12/14) ............................................................... 116
Machine zero modes without home switch ..................................................................... 122
Adjusting the machine zero proximity switch .................................................................. 126
Machine zero speed and acceleration............................................................................ 127
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:
C3I21T11 192-120106N14 - September 2014 111

Without positioning after homing run The position reached is not exactly on
0, as the drive brakes when detecting the home and stops:
If the homing mode is active, there will always be a homing run with the first start
after each configuration download (with the aid of the C3 ServoManager) Homing
run (see on page 140).
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 122)" 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".
112 C3I21T11 192-120106N14 - September 2014

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 das
"Referenziert" gesetzt (Zustandswort Bit 12 oder Ausgang M.A8) 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.
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)!
C3I21T11 192-120106N14 - September 2014 113

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 ...30 116), MN-M 21, 22 (see on page 117)
with reversal switches: MN-M 23, 24, 25, 26 (see on page 118),
Machine home switch
MN-M 27, 28, 29, 30 (see on page 118)
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 ... 14 119), MN-M 5, 6 (see on page 120)
(possibly an initiator
with reversal switches: MN-M 7, 8, 9, 10 (see on page 121),
adjustment (see on page
MN-M 11,12,13, 14 (see on page 121)
126) is required)
MN-M 35: on the actual position (see on page 122)
MN-M 128, 129: by moving to block (see on page 122)
Without machine zero
With limit switch as machine zero: MN-M 17, 18 (see on page
initiator on X12/14:
Without motor reference point 123)
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 124), MN-M
130, 131 (see on page 124)
With limit switch as machine zero: MN-M 1, 2 (see on page
125), MN-M 132, 133 (see on page 126)
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.
114 C3I21T11 192-120106N14 - September 2014

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 131) 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 131) 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 131)).
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 131)).
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.
C3I21T11 192-120106N14 - September 2014 115

Homing modes with home switch (on X12/14)

Without motor reference point ........................................................................................ 116
With motor reference point............................................................................................. 119
Without motor reference point

Without direction reversal switches ................................................................................ 116
With direction reversal switches ..................................................................................... 117
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
116 C3I21T11 192-120106N14 - September 2014

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 131) 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).
C3I21T11 192-120106N14 - September 2014 117

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

118 C3I21T11 192-120106N14 - September 2014

With motor reference point

Without direction reversal switches ................................................................................ 119
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
C3I21T11 192-120106N14 - September 2014 119

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!

120 C3I21T11 192-120106N14 - September 2014

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

C3I21T11 192-120106N14 - September 2014 121

Machine zero modes without home switch

Without motor reference point ........................................................................................ 122
With motor reference point............................................................................................. 124
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!

122 C3I21T11 192-120106N14 - September 2014

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

Stromschwelle”.
Caution!

C3I21T11 192-120106N14 - September 2014 123

With motor reference point

Machine zero only from motor reference ........................................................................ 124
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
124 C3I21T11 192-120106N14 - September 2014


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
C3I21T11 192-120106N14 - September 2014 125

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 reference offset

0
1
1: Machine reference offset
126 C3I21T11 192-120106N14 - September 2014

The machine reference offset is used to determine the actual reference point for
positioning.
That is: Zero point = Machine zero + Machine zero offset
Note: If the machine zero proximity switch is at the positive end of the travel range,
the machine zero offset must be = 0 or negative.
A change in the machine reference offset does not take effect until the next
machine reference run.
Machine zero speed and acceleration

With these values you can define the motion profile of the machine zero run.
C3I21T11 192-120106N14 - September 2014 127

4.1.6.3 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
128 C3I21T11 192-120106N14 - September 2014

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.
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 345) 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!
C3I21T11 192-120106N14 - September 2014 129

Behavior with software end limits of a referenced axis

Position within Position outside Position outside
target outside target outside and aiming in the target within and aiming in the
opposite direction of the travel direction of the travel range
range
JOG +/-  Positioning up to the end  No positioning  Positioning
limits  No Error
 No Error
MoveAbs,  No positioning  No positioning  Positioning
MoveRel,  Error  Error
RegSearch,
RegMove
Gearing  Positioning up to the end  No positioning  No positioning
limits  Error  Error
 Error
Velocity  Positioning up to the end  No positioning  Positioning
limits  Error
 Error
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 131) can be changed!
130 C3I21T11 192-120106N14 - September 2014

Please note: The limit switches must be positioned so that they cannot be released towards the
side to be limited.
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 The direction of the movement is verified in the event of fixed I/O assignment.
Only the direction towards the travel range is allowed.
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).
4.1.6.4 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
4.1.6.5 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.
C3I21T11 192-120106N14 - September 2014 131

4.1.7. Defining jerk / ramps

Speed for positioning and velocity control ...................................................................... 132
Acceleration for positioning and velocity control ............................................................. 132
Acceleration / deceleration for positioning ...................................................................... 132
Jerk limit for positioning ................................................................................................. 132
Ramp upon error and de-energize ................................................................................. 133
Jerk for STOP, MANUAL and error ................................................................................ 134
4.1.7.1 Speed for positioning and velocity control

Standard speed for all positionings and motion functions.
The value can be changed during operation via the bus or via the motion sets.
This setting is not relevant for the "rotation speed" operating mode.
4.1.7.2 Acceleration for positioning and velocity control

Standard acceleration for all positionings and motion functions.
4.1.7.3 Acceleration / deceleration for positioning

Standard deceleration for all positionings and motion functions.
If "0" is entered, the acceleration value is accepted as deceleration.
4.1.7.4 Jerk limit for positioning

Standard jerk for all positionings and motion functions.
In the operating modes:

 Speed control
 Velocity and
 Gearing
the jerk is not limited.
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.
132 C3I21T11 192-120106N14 - September 2014

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.
Jerk
Unit: Unit/s3 Range: 0 ... 10 000 000 Standard value:
1 000 000
STOP delay
After a STOP signal, the drive applies the brakes with the delay that is set (2).
Please observe:
The configured STOP ramp is limited. The STOP ramp will not be smaller than the
deceleration set in the last motion set.
NO STOP: control.3 = "0" (Quick Stop: Transition 11 of the State machine (see on
page 298))
4.1.7.5 Ramp upon error and de-energize
Ramp (delay) upon error and "De-energize"
C3I21T11 192-120106N14 - September 2014 133

3: Deceleration on error (status.3 = "1"), Disable Voltage (control.1 = "0" transition

9 of the status machine) and Enable Operation (CW.3 = "0" transition 5 of the
status machine).
Please observe:
The configured error ramp is limited. The error ramp will not be smaller than the
deceleration set in the last motion set.
Manual acceleration/deceleration and speed control

You can set the motion profile for moving with JOG+ or JOG- here.
- -
-
-
1: Manual acceleration / Deceleration

2: Manual speed control
+: Manual+ (control.4 ="1")
-: Manual- (control.5 ="1")
Only in "Manual operating mode” (CANopen-No.CAN No. 0x6060 (object 1100.5) =
-1)
4.1.7.6 Jerk for STOP, MANUAL and error

The jerk set here applies for:
 the STOP ramp
 Manual motion
 The ramp for the machine reference run
Description of jerk (see on page 132)
Jerk
Unit: Unit/s3 Range: 0 ... 10 000 000 Standard value:
1 000 000
4.1.8. Limit and monitoring settings

Current (Torque) Limit ................................................................................................... 134
Positioning window - Position reached ........................................................................... 135
Following error limit ....................................................................................................... 136
Maximum operating speed............................................................................................. 136
4.1.8.1 Current (Torque) Limit

The current required by the speed controller is limited to the current limit.
134 C3I21T11 192-120106N14 - September 2014

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 (state / status word 1 Bit 10 = "1") and O1 (X12/3)
Linkage to the setpoint value
The signal “position reached” can be linked to the setpoint value.
In addition, the internal setpoint value generation is evaluated.
It applies: The positioning window is only evaluated with a constant internal
setpoint value.
Position reached
Gearing
with: Signal “position reached” monitors synchronicity.
RegSearch / Signal §position reached” is set if

RegMove  RegSearch was terminated without a reg being found
or
 Reg was found and RegMove executed.
Velocity Signal “position reached” turns into “velocity reached”.
STOP Signal “position reached” shows that the drive is at a standstill.
C3I21T11 192-120106N14 - September 2014 135

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

2: Following Error Time
ERROR: Malfunction (state - / status word 1 Bit 3) and O0 (X12/2)
ACKN: Control word 1 Bit 7 or I0 (X12/6)
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.
136 C3I21T11 192-120106N14 - September 2014

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)
C3I21T11 192-120106N14 - September 2014 137

4.1.10. I/O Assignment

 For intra-device inputs I0 .. I3 as well as the outputs O0 ... O3 you can choose
between fixed or free assignment (see below).
 Control via CANopen does not require an M option (M10 / M12).
 If an M option is available, 12 inputs/outputs (ports) are freely assignable. These
can be configured as inputs or outputs by groups of four and be activated or read
via Object 121.2 and Object 133.3.
 The signal inputs I4 ... I7 are fixedly assigned
If the respective functions are not needed, these inputs can also be used for
control.
I5 and I6 can, for example, be used as free inputs if the limit switch function is
deactivated.
Assignment of the intra-device inputs and outputs

Pin Input / High density/Sub D
X12 Output
1 O +24 V DC output (max. 400mA)
2 O0 No error
3 O1 Position / speed / gear synchronization
attained (max. 100 mA)
Only for "fixed
assignment"
4 O2 Power stage without current (max.
100mA) Functions are
5 O3 Axis energized with a setpoint of 0 available, if "Fixed
(max. 100 mA) assignment" was
6 I0="1": Quit (positive edge) / activate the axis selected for the I/O
I0="0" Axis disable with delay assignment in the
configuration wizard
7 I1 no Stop
8 I2 JOG +
9 I3 JOG -
10 I4 Reg input
11 I 24V input for the digital outputs Pins 2 to 5
14 I7 Machine zero initiator
15 O GND24V
All inputs and outputs have 24V level.
Maximum capacitive loading of the outputs: 30nF (max. 2 Compax3 inputs can be
connected)
Input-/Output extension
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.
138 C3I21T11 192-120106N14 - September 2014

For intra-device inputs I0 .. I3 as well as the outputs O0 ... O3 you can choose
between fixed or free assignment.
With fixed assignment of the intra-device inputs I0 ... I3, the respective functions
can either be triggered via the inputs or via CANopen
It applies:
With "guiding via interface" (control word 1 bit 11 = "0")
 Enable Voltage: I0 ="1" UND Control word 1 Bit 1 ="1"
 Ackn is triggered via control word 1 bit 7 - ackn via I0 is not possible.
 Stop is active, if I1 = "0"
 Manual+ and Manual- Inputs I2, I3 do not have a function.
With " No guiding via interface" (control word 1 bit 11 = "1")

Control word is not effective:
 Energize motor / ackn: I0 ="1"
 Stop is active, if I1 = "0"
 Manual+ and Manual- via Inputs I2, I3.
Status word
 The status word is always updated
 O0 corresponds to status word 1 Bit 3
 O1 corresponds to status word 1 bit 10
 O3 corresponds to the status "operation enable"
4.1.11. Position mode in reset operation

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.
In the help file you can find examples for the functioning of the individual
positioning modes.
C3I21T11 192-120106N14 - September 2014 139

4.1.12. Reg-related positioning / defining ignore zone

These settings are only required in connection with the function “reg-related
positioning (see on page 144)“.
Within the reg window a reg signal will be ignored.
The reg window is defined by
 Beginning of the ignore zone and
 End of the ignore zone
.
Beginning and end of the ignore zone are absolute values and therefore are also
valid with negative position values.
This reg window is valid for all reg position sets.
Allow higher deceleration for RegMove
If the deceleration set in the RegMove motion set is too low, the target position is
not reached. Compax3 reports error (see on page 147).
By allowing for a higher deceleration, Compax3 sets the jerk and the deceleration
so that the target is reached without direction reversal.
Function:
Start Reg
v
RegSearch
RegMove
StartIgnore StopIgnore t
Regf
POS
Start Start signal for reg positioning

RegSearch: Positioning for reg search
RegMove: Positioning according to reg
StartIgnore: Reg window: Beginning of the ignore zone
StopIgnore: Reg window: End of the ignore zone
Reg: Reg signal (I4 on X12/10)
Regf Signal: Reg detected
(Status word 1 Bit 15)
POS: Signal: Position reached
(Ausgang A1: X12/3 oder Zustandswort 1 Bit 9)
140 C3I21T11 192-120106N14 - September 2014

4.1.13. Write into set table

The motion sets are stored in a set table.
The table rows define always one motion set, in the columns the respective motion
parameters of a motion set are stored.
Motion parameters
Machine reference
run
Set 1
Set 2
...
Set 31
Exact description (see on page 284).
31 motion sets are possible.
The motion set to be executed is selected via Statuswort 2.
For the motion sets different motion functions with different motion parameters are
available:
 Empty: empty motion set
 MoveAbs (see on absolute positioning

page 143):
 MoveRel (see on relative Positioning

page 143):
 Gearing (see on electronic gearbox

page 148):
 RegSearch (see Registration mark-related positioning

on page 144): (uses 2 motion sets: RegSearch and RegMove)
 Velocity (see on Velocity control

page 150):
 Stop: Stop movement
For each motion set you can define programmable status bits (PSBs), which will
then be put out after the termination of the motion set.
Homing run A start signal at address = 0 (motion set 0) triggers a machine zero run.
4.1.13.1 Programmable status bits (PSBs)

The successful execution of a motion set can be queried via the PSBs.
PSBs: Bit 12, 13 and 14 of status word 2.
C3I21T11 192-120106N14 - September 2014 141

Definition of the
pattern: The settings for the PSBs are made in the respective motion set
You can set 3 assignments for the respective bits:
X: no change Output / Bit is not influenced
0: Inactive Output / Bit is set to 0
1: Active Output / Bit is set to 1 resp. 24VDC
Storage of the PSBs (see on page 284).
142 C3I21T11 192-120106N14 - September 2014

4.1.14. Motion functions

MoveAbs and MoveRel .................................................................................................. 143
Reg-related positioning (RegSearch, RegMove) ............................................................ 144
Electronic gearbox (Gearing) ......................................................................................... 148
Speed specification (Velocity) ........................................................................................ 150
Stop command (Stop) .................................................................................................... 150
4.1.14.1 MoveAbs and MoveRel

A motion set defines a complete motion with all settable parameters.
t
3
t
4
1: Target position
2: Travel speed
3: Maximum Acceleration
4: Maximum deceleration
5: Maximum Jerk (see on page 132)
C3I21T11 192-120106N14 - September 2014 143

Motion functions
MoveAbs: Absolute positioning.
MoveRel: Relative positioning
Target position / distance

Target position of the chosen unit of measure.
Distance with MoveRel
Speed
Speed in length unit/s
Acceleration
Acceleration in unit/s2
Deceleration
Deceleration in unit/s2
Jerk
Jerk in unit/s3
You can optimize the motion profile data with the "ProfilViewer" (see on page
271) software tool!
4.1.14.2 Reg-related positioning (RegSearch, RegMove)

For registration mark-related positioning, 2 motions are defined.
RegSearch Search movements: Relative Positioning in order to search for an external signal -
of a reg
This may, for example, be a reg on a product.
RegMove The external signal interrupts the search movement and the second movement by
the predefined offset follows without transition. The drive comes to a standstill at
the position of the mark signal + the configured offset.
Accuracy of the reg detection : <1µs
Please note:
The reg restriction window is the same for all reg motion sets!
144 C3I21T11 192-120106N14 - September 2014

Example 1: Reg comes after the reg restriction window

Start Reg
v
RegSearch
RegMove
Regf
POS
1 active
2 active
Start Start signal for reg positioning (Control word 1 Bit 4)

StartIgnore: Reg ignore window: (see on page 140) Beginning of the ignore zone
StopIgnore: Reg ignore window: End of the ignore zone
Regf: Signal: Reg detected
1 Programmable status bits of RegSearch (only for positioning with set selection)
2 Programmable status bits of RegMove (only for positioning with set selection)
Example 2: Reg within the reg restriction window

Start Reg
v
RegSearch
Regf
POS
C3I21T11 192-120106N14 - September 2014 145


The reg is ignored; the drive moves to the target position from the RegSearch
motion set.
Example 3: Reg is missing or comes after termination of the

RegSearch motion set
Start
v
RegSearch
Regf
POS
2
The drive moves to the target position from the RegSearch motion set
146 C3I21T11 192-120106N14 - September 2014

Example 4: Reg comes before the reg restriction window

Start Reg
v
RegSearch
RegMove
Regf
POS
1 active
2 active

As from the mark, the drive moves on relatively by the offset defined in RegMove
and then stops at that position (same behavior as in example 1).
Example 5: The registration mark comes after the reg restriction

window, registration mark can, however, not be reached without
direction reversal
Start Reg
v
RegSearch
RegMove
Regf
POS
1 active
Error active
C3I21T11 192-120106N14 - September 2014 147


Error Output A0: X12/2 or Status word 1 Bit 3
Position reached can be activated for a short period, if the position window was not
linked to the command value.
With "Allow higher deceleration for RegMove (see on page 140)", Compax3 sets
the required deceleration.
4.1.14.3 Electronic gearbox (Gearing)

The motion function “Gearing” (electronic gearbox) moves Compax3 synchronously
with a leading axis.
A 1:1 synchronism or any transmission ratio can be selected via the gear factor.
A negative sign - which means reversal of direction - is permitted.
Function: Electronic gearbox (Gearing)
148 C3I21T11 192-120106N14 - September 2014

The position of a master axis can be detected via:

 +/-10V analog input
 Step / direction input (X11/6, 7, 8, 12)
 the encoder input (X11/6, 7, 8, 12) or
 HEDA, if Compax3 is used as master drive.
The master signal detection is configured under synchronization.
Settings of the “Gearing” motion function
Gearing numerator / Transmission ratio slave / master
Gearing The transmission ratio (gear factor) can be entered in “Gearing numerator” (at
denominator: “Gearing denominator” = 1).
You will obtain an exact image of a non-integral transmission ratio by entering the
value integrally as a fraction with numerator (integral) and denominator (integral).
Long-term drifts can only be avoided by using integral values.
That is:
Slave Gearing
numerator
=
Master Gearing
denominator
Acceleration Here you can define the acceleration for the drive to reach the desired
synchronism.
Dynamic change of You can switch dynamically between 2 gearing motion sets with different gear
the gear factor factors.
The set acceleration counts as deceleration if the gear factor is reduced.
Dynamic switching between the gearing motion function and positioning functions
(MoveAbs, MoveRel, RegSearch) is possible.
Synchronicity: With the "Gear reached" signal(Ausgang A1: X12/3 oder Zustandswort 1 Bit 9), the
reaching of the synchronicity is displayed.
The signal “Gear reached” is reset if the synchronicity is exited.
The programmable status bits (PSBs) are activated via the signal “Gear reached”.
Limiting effects If the synchronicity is lost temporarily due to limitations, the resulting position
difference is made up afterwards.
Note: Jerk is not limited.
C3I21T11 192-120106N14 - September 2014 149

4.1.14.4 Speed specification (Velocity)

This motion function is defined by velocity and acceleration.
An active motion set is interrupted by:
 Stop or
 Start of a different set.
As soon as the setpoint speed is reached, “speed reached” (Ausgang A1: X12/3
oder Zustandswort 1 Bit 9) as well as the defined status bits (PSBs) are activated.
Note: Position control is active, i.e. the following error caused by limitations will be made
up.
Jerk is not limited.
4.1.14.5 Stop command (Stop)

The Stop set interrupts the current motion set (Stop with interruption).
This motion function is defined by the deceleration and the jerk of the drive when
coming to a standstill.
As soon as the drive is at standstill “position reached” (Ausgang A1: X12/3 oder
Zustandswort 1 Bit 9) as well as the defined status bits (PSBs) are activated.
Note: The stop command (as motion function) is not effective during the machine zero
run.
4.1.15. Error response

Under "configuring: Error reaction" you can change the error reaction for individual
errors (see on page 345) (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.
4.1.16. 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.
150 C3I21T11 192-120106N14 - September 2014

4.1.17. Dynamic positioning

You can change over to a new motion set during a positioning process.
All motion parameters of the new data record become valid
Hint The new motion set address must not equal 0.
Example: MoveAbs (Target position POS1) is interrupted by a new MoveAbs with target
position (POS 5)
Pos 1
Pos 5
V1
V5 t
START
-1- -5- t
The following dynamic transitions are supported:

Motion function in progress Possible dynamic change to the motion
function:
MoveAbs, MoveRel, RegSearch, MoveAbs, MoveRel, Velocity, RegSearch, Gearing
RegMove, Velocity
Gearing MoveAbs, MoveRel, RegSearch, Gearing (other
gearing factor)
Stop -
Prerequisite: Prerequisite for dynamic positioning is:

Control word 1 Bit 5 = "1" (Change set immediately)
C3I21T11 192-120106N14 - September 2014 151

4.2 Configuring the signal Source

Signal source of the load feedback system .................................................................... 152
Select signal source for Gearing .................................................................................... 152
4.2.1. Signal source of the load feedback system

Configuration of the load control (see on page 157) (Dual Loop Option)
4.2.2. Select signal source for Gearing

Signal source HEDA ...................................................................................................... 153
Encoder A/B 5V, step/direction or SSI feedback as signal source .................................. 154
+/-10V analog speed setpoint value as signal source .................................................... 155
Here the signal source is configured for the motion function “Gearing” (electronic
gearbox).
Available are:
Gearing input signal source

 The HEDA real-time bus (M10 or M11 option) directly from a Compax3 master
axis
 an encoder signal A/B 5V
 a step/direction signal 5V
 a velocity as analog value +/-10V
 SSI feedback (X11)
HEDA operating mode: HEDA-Master
Under signal source gearing "not configured" must be set!

If an existing HEDA option (M10 or M11) is not used as signal source, you can
transmit the following signals for a slave axis via HEDA (HEDA-Master) :
 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
152 C3I21T11 192-120106N14 - September 2014

Parker EME Configuring the signal Source
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
4.2.2.1 Signal source HEDA

Signal source is a Compax3 master axis in which the HEDA operating mode
“HEDA master” is set.
Please enter besides the desired error reaction an individual HEDA axis address in
the range from 1 ...32.
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)).
If required the direction of rotation of the master axis read in can be changed.
C3I21T11 192-120106N14 - September 2014 153

4.2.2.2 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
 Increments per revolution of the master axis
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
154 C3I21T11 192-120106N14 - September 2014

Parker EME Configuring the signal Source
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
Detailed structure image (see on page 228, see on page 229)
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
4.2.2.3 +/-10V analog speed setpoint value as signal source

Via Analogkanal 0 (X11/9 und X11/11) the speed of the master is read in.
From this value a position is internally derived, from which then the motion of the
drive is derived with reference to the transmission ratio.
Without limitation effect applies:
Velocity of the master * (Gearing numerator / gearing denominator) = velocity of
the slave
Signal processing of the analog input 0
B: Continuative structure image (see on page 228)

The reference to the master is established with the velocity at 10V.
C3I21T11 192-120106N14 - September 2014 155

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!
156 C3I21T11 192-120106N14 - September 2014

Parker EME Load control
4.3 Load control

Configuration of load control .......................................................................................... 158
Error: Position difference between load mounted and motor feedback too high ............. 159
Load control signal image .............................................................................................. 159
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 412) 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

 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
C3I21T11 192-120106N14 - September 2014 157

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 159).
 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 159) 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 159) 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
159) (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).
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Parker EME Load control
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 307)
C3I21T11 192-120106N14 - September 2014 159

4.4 Optimization
 Select the entry "Optimization" in the tree.
 Open the optimization window by clicking on the "Optimization Tool" button.
Optimization window ...................................................................................................... 160
Scope ............................................................................................................................ 161
Controller optimization ................................................................................................... 168
Signal filtering with external command value ................................................................. 228
Input simulation ............................................................................................................. 230
Setup mode ................................................................................................................... 231
Load identification.......................................................................................................... 233
Alignment of the analog inputs ....................................................................................... 235
C3 ServoSignalAnalyzer ................................................................................................ 237
ProfileViewer for the optimization of the motion profile ................................................... 271
Turning the motor holding brake on and off.................................................................... 273
4.4.1. Optimization window

Layout and functions of the optimization window
Segmentation Functions (TABs)
Window1:  Oscilloscope (see on page 161)
Window 2:  Optimization: Controller optimization
 D/A Monitor (see on page 344): 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 231) with load
identification (see on page 233)
 Parameters for commissioning, test movements (relative &
absolute) and for load identification.
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Parker EME Optimization
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 ........................................................................................................ 161
User interface ................................................................................................................ 162
Example: Setting the Oscilloscope................................................................................. 166
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
C3I21T11 192-120106N14 - September 2014 161

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: ............................................................................. 163
Setting the time basis XDIV ........................................................................................... 163
Settings for channels 1..4 .............................................................................................. 164
Trigger settings .............................................................................................................. 165
Special functions ........................................................................................................... 165
162 C3I21T11 192-120106N14 - September 2014

1: Operating mode switch (see on page 163) (Single / Normal / Auto / Roll)
2: Setting the time basis (see on page 163)
3: Starting / Stopping the measurement (prerequisites are valid channel sources
and if necessary valid trigger settings.)
4: Setting channel (see on page 164) (Channels 1 ...4)
5: Special functions (see on page 165) (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 165)
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.
C3I21T11 192-120106N14 - September 2014 163

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.
164 C3I21T11 192-120106N14 - September 2014

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.
C3I21T11 192-120106N14 - September 2014 165

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
166 C3I21T11 192-120106N14 - September 2014

C3I21T11 192-120106N14 - September 2014 167

4.4.3. Controller optimization

Introduction.................................................................................................................... 169
Configuration ................................................................................................................. 171
Automatic controller design............................................................................................ 187
Setup and optimization of the control ............................................................................. 199
168 C3I21T11 192-120106N14 - September 2014

4.4.3.1 Introduction
Basic structure of the control with Compax3 .................................................................. 169
Proceeding during configuration, setup and optimization ............................................... 169
Software for supporting the configuration, setup and optimization.................................. 170
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
-...
C3I21T11 192-120106N14 - September 2014 169

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:
170 C3I21T11 192-120106N14 - September 2014

4.4.3.2 Configuration
Control path ................................................................................................................... 171
Motor parameters relevant for the control ...................................................................... 172
Mass inertia ................................................................................................................... 172
Nominal point data......................................................................................................... 172
Saturation values ........................................................................................................... 174
Quality of different feedback systems ............................................................................ 174
Typical problems of a non optimized control .................................................................. 175
Feedback error compensation ....................................................................................... 176
Commutation settings .................................................................................................... 177
I²t - monitoring of the motor............................................................................................ 177
Relevant application parameters.................................................................................... 180
Asynchronous Motors .................................................................................................... 183
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.
C3I21T11 192-120106N14 - September 2014 171

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) .................. 173
Calculation of the reference current from the characteristic line. .................................... 173
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.
172 C3I21T11 192-120106N14 - September 2014

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.
M [Nm] M [Nm]
I= • 85,5 =
EMK KT
or for linear motors

M [Nm] 2 M [Nm]
I= • =
EMKυ 3 Kf
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.
C3I21T11 192-120106N14 - September 2014 173

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).
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
228, see on page 229).
Quality of different feedback systems

Interface ........................................................................................................................ 174
Resolution ..................................................................................................................... 174
Noise ............................................................................................................................. 175
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.
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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 ...................................................................................... 175
Increased following error ............................................................................................... 175
Instable behavior ........................................................................................................... 176
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
1) Following error
3) Actual velocity
C3I21T11 192-120106N14 - September 2014 175

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.
176 C3I21T11 192-120106N14 - September 2014

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: ............................................................................................... 177
Motor pulse usage ......................................................................................................... 179
Reference point 2: Increased torque thanks to additional cooling................................... 179
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.
C3I21T11 192-120106N14 - September 2014 177

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
178 C3I21T11 192-120106N14 - September 2014


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
C3I21T11 192-120106N14 - September 2014 179


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................................... 180
External Moment of Inertia ............................................................................................. 182
Limit and monitoring settings ......................................................................................... 183
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) ...................................................................................... 180
Reduction of the current ripple ....................................................................................... 181
Motor parameters .......................................................................................................... 181
Changing the switching frequency and the reference point ............................................ 182
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
180 C3I21T11 192-120106N14 - September 2014

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.................................................................................................................. 181
Other motor ................................................................................................................... 181
Motor types supported ................................................................................................... 182
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.
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.
C3I21T11 192-120106N14 - September 2014 181

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.
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!
182 C3I21T11 192-120106N14 - September 2014

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 ......................................................................................... 183
Replacement switching diagram - data for a phase........................................................ 183
Slip Frequency .............................................................................................................. 184
Saturation behavior ....................................................................................................... 184
Cut-off frequency for the field weakening range ............................................................. 185
Rotor time constant ....................................................................................................... 185
Determination of the commutation settings .................................................................... 185
Asynchronous motors: Extension of the controller structure ........................................... 186
Type specification plate data

On the 2nd. wizard page of the Compax3 MotorManager, the type specification
plate data must be entered.
Replacement switching diagram - data for a phase
This data can be obtained from the manufacturer or be determined by
measurement.
C3I21T11 192-120106N14 - September 2014 183

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
P
f S ⋅ 60 − N Nenn ⋅
2 ⋅ f ⋅1000 =  f − N P 
f 2 [mHz (el.)] = S S Nenn ⋅  ⋅1000
f S ⋅ 60  120 
P
f S ⋅ 60 − N Nenn ⋅
f 2 [Pr omille] = 2 ⋅1000
f S ⋅ 60
f s ⋅ 60 ⋅ 2
N Nenn
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)
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)
184 C3I21T11 192-120106N14 - September 2014

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.
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.
C3I21T11 192-120106N14 - September 2014 185

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
e jρ
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
186 C3I21T11 192-120106N14 - September 2014

4.4.3.3 Automatic controller design

Dynamics of a control .................................................................................................... 187
Cascade control............................................................................................................. 193
Rigidity .......................................................................................................................... 194
Automated controller design .......................................................................................... 196
Controller coefficients .................................................................................................... 197
Dynamics of a control
Structure of a control ..................................................................................................... 187
Oscillating plant ............................................................................................................. 187
Stability, attenuation ...................................................................................................... 187
Velocity, bandwidth ........................................................................................................ 188
Setpoint and disturbance behavior of a control loop....................................................... 191
Response ...................................................................................................................... 193
Limitation behavior ........................................................................................................ 193
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: ............................................................... 188
Stability problem in the low-frequency range: ................................................................. 188
In general, two stability problems may occur in a servo drive control:
C3I21T11 192-120106N14 - September 2014 187

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
Velocity, bandwidth
P-TE - Symbol ............................................................................................................... 189
Step response of a delay component ............................................................................. 189
Approximation of a well-attenuated control loop ............................................................. 189
Frequency response of the P-TE component (value and phase) .................................... 190
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.
188 C3I21T11 192-120106N14 - September 2014

P-TE - Symbol
Κp,TE
W(t) X(t)
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.
C3I21T11 192-120106N14 - September 2014 189

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.
Frequency response of the P-TE component (value and phase)
Cut-off frequency
1
f0 = = 0,0795 Hz
2π ⋅ TE
190 C3I21T11 192-120106N14 - September 2014

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 .......................................................................................................... 191
Disturbance behavior ..................................................................................................... 191
Test functions ................................................................................................................ 192
Characteristics of a control loop setpoint response ........................................................ 192
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
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.
C3I21T11 192-120106N14 - September 2014 191

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
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
192 C3I21T11 192-120106N14 - September 2014

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 ....................................................................................... 193
Cascade structure of Compax3...................................................................................... 194
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.
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
C3I21T11 192-120106N14 - September 2014 193

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 ............................................................................................................... 194
Dynamic stiffness .......................................................................................................... 194
Correlation between the terms introduced...................................................................... 196
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.
Dynamic stiffness
Traditional generation of a disturbance torque/force jerk ................................................ 195
Electronic simulation of a disturbance torque jerk with the disturbance current jerk........ 195
Disturbance jerk response ............................................................................................. 195
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):
− ∆M L
∆x
194 C3I21T11 192-120106N14 - September 2014

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.
Disturbance jerk response
1: Compensation torque of the controller

2: Simulated disturbance torque
3: Actual speed
4: Following error
5: Settling Time
C3I21T11 192-120106N14 - September 2014 195

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"....................................................................................................................... 197
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.
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).
196 C3I21T11 192-120106N14 - September 2014

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.
Controller coefficients
Velocity Loop P Term .................................................................................................... 197
D-term of the KD velocity controller ............................................................................... 198
P-term KV position loop ................................................................................................. 198
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
St [%]
KI =
100 ⋅ TEGD
⇒ K I ~ St
TEGD: The replacement time constant of the closed velocity loop.

St Rigidity
Velocity Loop P Term

St [%] Tm[%] 100 30 + 0,14 ⋅ Dp[%]
K PV = ⋅ ⋅ TN ⋅ ⋅
100 ⋅ TEGD 100 EMK [%] 20
⇒ K PV ~ St ∧ K PV ~ Tm / EMK ∧ K PV = fLIN (Dp )

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
C3I21T11 192-120106N14 - September 2014 197

D-term of the KD velocity controller

Dterm[%]
KD = ⋅ K D _ 100%
100
⇒ K D ~ Dterm
KD_100% The defined 100% coefficient

:
Dterm D term
P-term KV position loop

St [%] 20
KV = ⋅ ⋅ TX
100 ⋅ TEGD 30 + 0,14 ⋅ Dp[%]
⇒ KV ~ St [%] ∧ KV = fLIN (1/ Dp[%])

TX: The position integration time constant of the motor.
St Rigidity
Dp Damping
fLIN(): Linear function (straight) between 1/attenuation and KV
198 C3I21T11 192-120106N14 - September 2014

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........................................................................................................................ 199
Advanced ...................................................................................................................... 205
Commissioning window ................................................................................................. 220
Proceeding during controller optimization ...................................................................... 222
Standard
Standard cascade structure ........................................................................................... 200
Standard optimization parameters ................................................................................. 201
Control signal limitations ................................................................................................ 201
Feedforward channels ................................................................................................... 203
Control signal filter / filter of actual acceleration value .................................................... 205
C3I21T11 192-120106N14 - September 2014 199

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 228) !
Complementary structure for load control (see on page 159).
Compax3 controller structures (see on page 200, see on page 205, see on page
207).
200 C3I21T11 192-120106N14 - September 2014

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 ................................................................................... 202
Limitation of the setpoint current .................................................................................... 202
Limitation of the control voltage ..................................................................................... 203
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.
C3I21T11 192-120106N14 - September 2014 201

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)=
202 C3I21T11 192-120106N14 - September 2014

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.
Feedforward channels
Influence of the feedforward measures .......................................................................... 203
Motion cycle without feedforward control ....................................................................... 204
Motion cycle with feedforward measures ....................................................................... 204
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
C3I21T11 192-120106N14 - September 2014 203

Motion cycle without feedforward control
Motion cycle with feedforward measures
Velocity feedforward
Velocity and acceleration feedforward
Velocity, acceleration and current feedforward
Velocity, acceleration , current and jerk feedforward
204 C3I21T11 192-120106N14 - September 2014

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 228, see on page 229).)
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).......................................................................... 205
Extended cascade structure (structure variant 2 with disturbance variable observer) ..... 207
Optimization parameter Advanced ................................................................................. 208
EMC feedforward........................................................................................................... 209
Motor parameters .......................................................................................................... 209
Filter "External Command Interface" .............................................................................. 209
Voltage decoupling ........................................................................................................ 209
Load control................................................................................................................... 209
Luenberg observer ........................................................................................................ 209
Commutation settings of the automatic commutation ..................................................... 212
Notch filter ..................................................................................................................... 216
Saturation behavior ....................................................................................................... 218
Control measures for drives involving friction ................................................................. 219
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
C3I21T11 192-120106N14 - September 2014 205


HEDA.
the coupling:
description)
description)

207).
Symbol Description
Kp,TN PI-block

B
d
Addition block
red Status objects
206 C3I21T11 192-120106N14 - September 2014

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)

207).
C3I21T11 192-120106N14 - September 2014 207

Symbol Description
Kp,TN PI-block

B
d
Addition block
red Status objects
Optimization parameter Advanced
208 C3I21T11 192-120106N14 - September 2014

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 228, see on page
229)
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 ..................................................................................................... 209
Signal flow chart Luenberg observer .............................................................................. 210
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
Qx
QvD =
TAR
C3I21T11 192-120106N14 - September 2014 209

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
QvI = Qa ⋅ TAR
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
210 C3I21T11 192-120106N14 - September 2014

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.
C3I21T11 192-120106N14 - September 2014 211

Commutation settings of the automatic commutation

Display of the commutation error in incremental feedback systems ............................... 212
Prerequisites for the automatic commutation ................................................................. 213
Course of the automatic commutation function .............................................................. 213
Other ............................................................................................................................. 216
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.
212 C3I21T11 192-120106N14 - September 2014

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.
C3I21T11 192-120106N14 - September 2014 213

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
214 C3I21T11 192-120106N14 - September 2014

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
C3I21T11 192-120106N14 - September 2014 215

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 .................................................................................................. 216
Wrongly set notch filter .................................................................................................. 216
Frequency response of the notch filter. .......................................................................... 217
Parameterization by 3 objects. ....................................................................................... 217
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.
216 C3I21T11 192-120106N14 - September 2014

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:
5000000
O 2150.x ≥
2π ⋅ O 2210.17[ µs ]
x = 1 or x = 4
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).
O 2150.1 / 4
O 2150.x ≤
4
x = 2 or x = 5
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 ] 
− 
 20 
O 2150.x = 1 − 10
x = 3 or x = 6
D [dB]: The desired attenuation at the center frequency in dB
C3I21T11 192-120106N14 - September 2014 217

Saturation behavior
Current jerk response .................................................................................................... 218
Current jerk response with the activated saturation characteristic line............................ 218
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.
218 C3I21T11 192-120106N14 - September 2014

Control measures for drives involving friction

Deadband following error ............................................................................................... 219
Friction compensation.................................................................................................... 220
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).
C3I21T11 192-120106N14 - September 2014 219

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.......................................................................................................... 220
Setpoint generation ....................................................................................................... 220
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 ........................................................................................... 220
External setpoint generation .......................................................................................... 222
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.
220 C3I21T11 192-120106N14 - September 2014

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
M [Nm] − M L [Nm]
a[rps ²] = A
2π ⋅ J ges [kgm ²]
am [ s ²] = F m[N ] −[kgF []N ]
A L
ges
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:
C3I21T11 192-120106N14 - September 2014 221

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 ................................................................. 223
Controller optimization disturbance and setpoint behavior (standard) ............................ 224
Controller optimization disturbance and setpoint behavior (advanced) ........................... 226
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).
222 C3I21T11 192-120106N14 - September 2014

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
C3I21T11 192-120106N14 - September 2014 223

Controller optimization disturbance and setpoint behavior (standard)

Controller optimization standard .................................................................................... 224
Controller optimization of toothed belt drive ................................................................... 225
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”
224 C3I21T11 192-120106N14 - September 2014

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
C3I21T11 192-120106N14 - September 2014 225

Controller optimization disturbance and setpoint behavior (advanced)

Controller optimization Advanced .................................................................................. 226
Flow chart controller optimization of a direct drive.......................................................... 227
Controller optimization guiding transmission behavior.................................................... 228
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
226 C3I21T11 192-120106N14 - September 2014

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
C3I21T11 192-120106N14 - September 2014 227

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:
228 C3I21T11 192-120106N14 - September 2014

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
Control structure (see on page 200, see on page 205, see on page 207)
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
Number: Object number of the filter characteristic
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 307).
C3I21T11 192-120106N14 - September 2014 229

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 ....................................................................................... 230
Operating Principle ........................................................................................................ 230
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.
230 C3I21T11 192-120106N14 - September 2014

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 233)
 Setup of the load control (see on page 157)
Activating the commissioning mode

By activating the setup mode, the device function 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 the device function 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).
C3I21T11 192-120106N14 - September 2014 231

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)
232 C3I21T11 192-120106N14 - September 2014

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 ........................................................................................................................ 233
Boundary conditions ...................................................................................................... 233
Process of the automatic determination of the load characteristic value (load identification)234
Tips ............................................................................................................................... 235
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.
C3I21T11 192-120106N14 - September 2014 233

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.
234 C3I21T11 192-120106N14 - September 2014

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 233).
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

Offset alignment ............................................................................................................ 235
Gain alignment .............................................................................................................. 236
Signal processing of the analog inputs........................................................................... 236
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
4.4.8.1 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.
C3I21T11 192-120106N14 - September 2014 235

4.4.8.2 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.
4.4.8.3 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 228)
236 C3I21T11 192-120106N14 - September 2014

4.4.9. C3 ServoSignalAnalyzer
ServoSignalAnalyzer - function range ............................................................................ 237
Signal analysis overview ................................................................................................ 238
Installation and activation of the ServoSignalAnalyzer ................................................... 239
Analyses in the time range............................................................................................. 241
Measurement of frequency spectra ................................................................................ 244
Measurement of frequency responses ........................................................................... 247
Overview of the user interface ....................................................................................... 253
Basics of frequency response measurement ................................................................. 266
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
239).
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.
C3I21T11 192-120106N14 - September 2014 237

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 239) 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
Controller and Signal Processing Display of the

Steuerung & Signalverarbeitung measurement
Anzeige der Messung
Signal Upload
Generator C3-Software-
Oscilloscope
Superimposed +
überlagertes System S
System Input G(f) Output
Ausgangs
open/closed Eingangs
Signal u(t) Signal y(t)
Loop
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.
238 C3I21T11 192-120106N14 - September 2014

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.
C3I21T11 192-120106N14 - September 2014 239

 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.
240 C3I21T11 192-120106N14 - September 2014

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:
C3I21T11 192-120106N14 - September 2014 241

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.
242 C3I21T11 192-120106N14 - September 2014

Max permitted speed

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.
C3I21T11 192-120106N14 - September 2014 243

4.4.9.5 Measurement of frequency spectra
Please note that you require a license key (see on page 239, see on page 237)
for this application!

Functionality of the measurement .................................................................................. 244
Leak effect and windowing............................................................................................. 245
Functionality of the measurement

Measurement of the spectral analysis
Controller & Signal Pocessing Amplitude spectrum
Steuerung & Signal- V(f) Amplitudenspektrum
Verarbeitung
Signal u(t) Upload

C3-Software-
Oscilloscope
System S1 System S2
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
244 C3I21T11 192-120106N14 - September 2014

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.
C3I21T11 192-120106N14 - September 2014 245

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
246 C3I21T11 192-120106N14 - September 2014

4.4.9.6 Measurement of frequency responses
Please note that you require a license key (see on page 239, see on page 237)
for this application!

Safety instructions concerning the frequency response measurement ........................... 247
Functionality of the measurement .................................................................................. 247
Open/Closed Loop frequency response measurement .................................................. 249
Excitation Signal ............................................................................................................ 250
Non-linearities and their effects...................................................................................... 250
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
V(f) Amplitude spectrum

Signal Processing Aplitudenspektrum
Signalauswertung ϕ(f) Phase spectrum
Phasenspektrum
Signal C3 Software- Upload

Generator Oscilloscope
Superimposed +
überlagertes System S
System Input G(S) Output
Ausgangs
open/closed Eingangs
Signal u(t) Signal y(t)
Loop
C3I21T11 192-120106N14 - September 2014 247

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.
Y (s )
G (s ) =
U (s )
y (t ) →
F
Y (s )
with
u (t ) →
F
U (s )
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.
248 C3I21T11 192-120106N14 - September 2014

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 251), 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.
C3I21T11 192-120106N14 - September 2014 249

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 250).
Non-linearities and their effects

Attenuation of the excitation amplitude .......................................................................... 251
Shifting the working point into a linear range.................................................................. 251
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 267)).
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
250 C3I21T11 192-120106N14 - September 2014

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.
C3I21T11 192-120106N14 - September 2014 251

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
v
v
±Vstimulatio
±Vstimulation
vtest move
vtest move
t
t static 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.
252 C3I21T11 192-120106N14 - September 2014

4.4.9.7 Overview of the user interface
(1) Selection of the signal or system to be measured (see on page 253)

(2) Frequency settings (see on page 257)
(3) Other settings (see on page 259)
(4) Operating and status field (see on page 262)
(5) Display of the measurement result (see on page 264)
(6) Display of the measurement point at the cursor position (see on page 265)

Selection of the signal or system to be measured. ......................................................... 253
Frequency settings ........................................................................................................ 257
Speed control ................................................................................................................ 258
Other settings ................................................................................................................ 259
Operating and status field .............................................................................................. 262
Display of the measurement result................................................................................. 264
Display of the measurement point at the cursor position ................................................ 265
Selection of the signal or system to be measured.

Current control ............................................................................................................... 253
Mechanical system ........................................................................................................ 254
Position control .............................................................................................................. 255
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
C3I21T11 192-120106N14 - September 2014 253

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
254 C3I21T11 192-120106N14 - September 2014

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

C3I21T11 192-120106N14 - September 2014 255

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
256 C3I21T11 192-120106N14 - September 2014


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 244)
 During the measurement of frequency spectrum and noise frequency response
this results automatically from the bandwidth and is only displayed as an
information.
C3I21T11 192-120106N14 - September 2014 257

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

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

258 C3I21T11 192-120106N14 - September 2014

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

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
C3I21T11 192-120106N14 - September 2014 259

(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 262).
Comparison of two frequency spectra without and with cumulation
260 C3I21T11 192-120106N14 - September 2014

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.
C3I21T11 192-120106N14 - September 2014 261

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
262 C3I21T11 192-120106N14 - September 2014

(5) Different settings and options

Functions available in a pull-down menu:
Open superimposed control loops (see on page 249)
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 245)

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.
C3I21T11 192-120106N14 - September 2014 263

Display of the measurement result

Frequency spectra
Bode diagrams: Value and phase
264 C3I21T11 192-120106N14 - September 2014

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.
C3I21T11 192-120106N14 - September 2014 265

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 ....................................................................... 266
Linear Systems (LTI System)......................................................................................... 267
Mechanical system ........................................................................................................ 268
Resonance points and their causes ............................................................................... 269
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 Electro Torque
Strom Motor Drehmoment
Input Eingangs Ouput Ausgangs
Signal
System Signal
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.
266 C3I21T11 192-120106N14 - September 2014

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
C3I21T11 192-120106N14 - September 2014 267

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
268 C3I21T11 192-120106N14 - September 2014

Resonance points and their causes

Rotary two mass system ................................................................................................ 269
Linear two mass system ................................................................................................ 270
Toothed belt drive as two mass system ......................................................................... 270
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
M1 M2
J1 J2
D
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
G⋅π ⋅ (rA4 − rI4 )

rA
2⋅ π ⋅ G 3
D= ∫ ⋅ r ⋅ dr =
rI
l 2⋅ l
1 D 1 1 1
f A Re s = ⋅ f Re s = ⋅ D ⋅  + 
2 ⋅π J2 2 ⋅π  J1 J 2 
C3I21T11 192-120106N14 - September 2014 269

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
1 D 1  1 1 
f A Re s = ⋅ f Re s = ⋅ D ⋅  + 
2 ⋅π m2 2 ⋅π m
 1 m 2 
D Rigidity in [N/m]
m1 e.g. motor mass
m2 e.g. load mass
Toothed belt drive as two mass system
Motor bewegte Masse

Getriebe
Zahnriemen
D1 D2
Masse
l1 m2
l2
lAchse
Antriebszahnrad
270 C3I21T11 192-120106N14 - September 2014

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.
Fmax
Dspez = ; l 2 = 2 ⋅ l Achse − l1
0,004
Dspez Dspez 2 ⋅ Dspez
D1 = ; D2 = ; D = D1 + D2 =
l1 l2  l 
l1 ⋅  2 − 1 
 l Achse 
fA Re s =
1
⋅
D
fRe s =
1  1
⋅ D ⋅  +
(rZahnrad )2 
2 
2π m2 2π  m2 J1 ⋅ (iGetriebe ) 
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 .............. 271
Mode 2: Compax3 input values are deduced from times and maximum values.............. 272
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
C3I21T11 192-120106N14 - September 2014 271

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%
272 C3I21T11 192-120106N14 - September 2014

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
 the control word
 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:
 Acknowledge (after error) with the control word
 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.
C3I21T11 192-120106N14 - September 2014 273

Positioning & Control via CANopen C3I21T11
5. Positioning & Control via

CANopen
<Bus system_C_D> - Configuration ............................................................................... 274
Operating mode: Profile Position Mode .......................................................................... 275
Operating mode: Profile Velocity Mode .......................................................................... 280
Operating mode: Positioning with set selection .............................................................. 282
Machine zero operating mode (Homing) ........................................................................ 287
Manual operation operating mode (Jogging) .................................................................. 288
“Interpolated Position Mode” operating mode ................................................................ 290
Operating mode: Cyclic Synchronous Position Mode ..................................................... 295
State machine ............................................................................................................... 298
Acyclic parameter channel ............................................................................................. 300
CANopen communication profile.................................................................................... 302
CANopen objects........................................................................................................... 307
5.1 CANopen - Configuration

Operating Modes ........................................................................................................... 275
Error Reaction on Bus Failure........................................................................................ 275
Baud rate....................................................................................................................... 275
Transmission cycle time ................................................................................................ 275
Following are described the input windows of the CANopen configuration wizard.
Can be called up in the tree (Compax3 ServoManager, left window) under
"configure communication".

 Slave in Velocity Mode - Velocity control:The nominal rotation speed is
specified via CANopen and the actual values are read back.
 Slave in Position Mode - Direct positioning: The nominal position is specified
via CANopen and the actual values are read back.
 Slave with set selection: activation of motion sets stored in an array via
CANopen.
 Slave on C3 powerPLmC: The device under consideration receives its travel
commands via CANopen from the C3 powerPLmC master and is integrated into
the C3 powerPLmC via the DriveInterface.
Other input of this wizard window is reduced with this selection, since the
corresponding settings are made by the "C3 powerPLmC" master.
Further operation modes are switched dynamically:

 Machine zero (Homing)
 Manual operation (Jogging)
 Interpolated Position Mode (Target position = 0x60C1.1)
 Cyclic Synchronous Position Mode (Target position = 0x607A)
 Cyclic Synchronous Velocity Mode (setpoint mode = 0x60FF) (description on
demand)
 Cyclic Synchronous Torque Mode (setpoint moment= 0x6071) (description on
demand)
274 C3I21T11 192-120106N14 - September 2014

Parker EME Operating mode: Profile Position Mode
5.1.1. Operating Modes

The operation modes are set via 0x6060 (Object 1100.5 )
0x6060 Operating mode
-2 Positioning with set selection (see on page 283)
-1 Manual mode (see on page 288)
1 Profile position mode (see on page 275)
3 Profile velocity mode (see on page 280)
6 Homing Mode (see on page 287)
7 Interpolated Position Mode (see on page 290) *
8 Cyclic Synchronous Position Mode (see on page 295) *
9 Cyclic Synchronous Velocity Mode (description on demand)*
10 Cyclic Synchronous Torque Mode (description on demand)*
* Operating mode is not supported with DeviceNet!
5.1.2. Error Reaction on Bus Failure

Here you can adjust how Compax3 will respond to a fieldbus error (see on page
345):
 No response
 Downramp / stop
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
5.1.4. 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.
5.2 Operating mode: Profile Position Mode

Slave in Position Mode - Direct Positioning .................................................................... 276
Control word 1 (Control word 1) 0x6040 (o1100.3) (Profile position mode) .................... 278
Status word 1 (Status word) (op 1,-2, profile position mode, set selection)..................... 279
C3I21T11 192-120106N14 - September 2014 275

5.2.1. Slave in Position Mode - Direct Positioning

The communication between Master and Compax3 is made via the
Prozess-Daten-Objekte (PDOs)
Procedure:
Selection of the motion function: Bit 15, 13, 6 of the control word 1
Start of the motion function: Bit 4 of the control word 1
Specification of the motion parameters: Objects of the PDOs
Setting operating mode BA CAN No. 0x6060 (object 1100.5) = 1
CANopen – Master -> Compax3
Possible assignment:
Designation <Bus_NO> Object No. Assigne Assignment
d words
Control word (control word 1) 0x6040 1100.3 1 optional
Target position Y4 (position command value) 0x607A / 1100.6 2 optional
(3 decimal places)* 0x2044
Profile velocity (1 decimal place)* 0x202C / 1100.14 1 optional
0x2068
Profile velocity (3 decimal places)* 0x6081 / 1100.7 2 optional
0x2046
Profile acceleration (no decimal place) 0x202D 1111.10 1 optional
Profile acceleration (no decimal place) 0x6083 1111.3 2 optional
Profile deceleration (no decimal place) 0x205D 1111.16 1 optional
Profile deceleration (no decimal place) 0x6084 1111.4 2 optional
Dig. Outputs (0-3) (Digital outputs O0 ... O3) 0x6300.1 140.3 1 optional
Dig. outputs M1x option 0x6300.2 133.3 1 optional
(digital outputs of the M10/M12 option)
Operating mode (Operating mode) 0x6060 1100.5 1 optional
Interpolation data (Interpolation input) 0x60C1.1 3921.1 2 optional
* The values are transmitted as int16 (1 word) or int32 (2 words).

With 1 decimal place: Divide value by 10.
With 3 decimal places: Divide value by 1000.
Example:
PLC Value Compax3 value
1000 1.000 (3 decimal places)
10 1.0 (1 decimal place)
Layout of the control word.
Profile velocity, Profile acceleration and Profile deceleration are available twice with
the same function, they differ only in the word width.
You should therefore only use one of these two values depending on the desired
precision.
276 C3I21T11 192-120106N14 - September 2014

Caution: The meaning of “Target position Y4” changes depending on the motion function
(can be set via the operating mode 1100.5 Mode 0 ... 2):
With the motion function Gearing applies:

With Gearing: Target position Y4 (position = Gearing numerator
command value)
In reg-related positioning (see on page 144) (RegMove, RegSearch)

With RegSearch: Target position Y4 (position = RegSearch - value
command value)
With RegMove: Target position Y4 (position = RegMove - value
command value)
In the speed control positioning mode (Velocity)

With Velocity: Target position Y4 (position = Speed setpoint value
command value)
The values for StartIgnore (CAN 0x2066; (Object 3300.8) and StopIgnore (CAN
0x2067; (Object 3300.9) can be set via the configuration with the aid of the
ServoManager or via SDO.
Compax3 -> CANopen – Master
Designation <Bus_NO> Object No. Assigne Assignmen
d words t
Status word (Status word 1) 0x6041 1000.3 1 optional
Position actual value (3 decimal places)* 0x6064 680.5 2 optional
Velocity actual value 0x606C 681.5 2 optional
(3 decimal places)*
Velocity actual value Y2 ( 0x2023 681.7 1 optional
(1 decimal place)*
Torque actual value 0x6077 683.1 1 optional
Follow error actual value 0x60F4 680.6 1
Dig. inputs (0-7) I7 0x6100.1 120.3 1 optional
Dig. inputs M1x option 0x6100.2 121.2 1 optional
(Digital outputs of the M10/M12 option)
Operating mode display 0x6061 1000.5 1 optional
LastError (current Compax3 errors) 0x603F/ 550.1 1 optional
0x201D.1
Example:
Layout of the Status word.
For values not transferred the standard values defined in the configuration wizard
are valid!
The jerk can be changed for example via SDO (0x2005 & 0x2006).
C3I21T11 192-120106N14 - September 2014 277

5.2.2. Control word 1 (Control word 1) 0x6040 (o1100.3) (Profile

position mode)
Bit Shutdown Switch on EINSCHALT Disable Quick stop Disable Enable Reset Fault
EN & voltage operation operation
aktivieren
0 0 0 0 0 0 0 0
1 X 0 1 X X 0 1 X
2 1 1 1 X 0 1 1 X
3 1 1 1 0 1 1 1 X
7 0 1 1 X X 1 1 X
Transiti 2,6,8 3 3+4 7,9,10,12 7,10,11 5 4.16 15
ons
Bit Description
4 ="1": New set-point (Start)
5 ="1": Change set immediately (dynamic Positioning (see on page 151))
6 Setting of the positioning mode (see below)
8 ="1": Stop (Stop without termination)(for Velocity and Gearing: Stop with termination)
9 Reserved
10 Reserved
6 0 1 0 1 0 1 0 1
11 ="0": Remote Control: Control word active, i.e. control CANopen
="1": Local Control: Control word inactive, i.e. the control word is not read; direct control via inputs (see on page 139) possible.
12 factory use
13 0 0 1 1 0 0 1 1
14 ="1": Endless (continuous operation)in normal operation (="0") homing is required
15 0 0 0 0 1 1 1 1
6,13,15 MoveAbs MoveRel MoveAdd Velocity Gearing RegMove RegSearch factory use
Change operating mode:

When changing the operating mode (via Mode 0 ... 2) will trigger a "Stop", if the
drive is still moving.
Changing from "Profile Velocity" to another operating mode is only possible in
currentless state.
Selection of the positioning mode in the "direct positioning" operating mode

Mode 0 Mode1 Mode2 Function
Bit 15 Bit 13 Bit 6
0 0 0 MoveAbs (see on page 143): Absolute
positioning
0 0 1 MoveRel (see on page 143): Relative
positioning
0 1 0 MoveAdd: * Additive Positioning
0 1 1 Velocity (see on page 150): Speed control
1 0 0 Gearing (see on page 148): Electronic
Gearbox
1 0 1 RegMove (see on page 144): Reg-related
positioning
1 1 0 RegSearch (see on page 144): Reg-related
positioning
1 1 1 Reserved
The setpoint specification is made via target position Y4 (0x2044 / 0x607A,
object 1100.6)
278 C3I21T11 192-120106N14 - September 2014

5.2.3. Status word 1 (Status word) (op 1,-2, profile position mode,
set selection)
Bit NOT READY Switch On Ready to Switched on Operation Quick stop Fault Fault
TO SWITCH Disabled Switch on enabled active Reaction
ON Active
0 Ready to
0 0 1 1 1 1 1 0
switch on
1 Switched on
0 0 0 1 1 1 1 0
2 Operation
0 0 0 0 1 1 1 0
enable
3 Fault
0 0 0 0 0 0 1 1
4 Voltage
x x x x x x x x
enable
5 Quick stop
x x 1 1 0 0 x x
6 Switch On
0 1 0 0 0 0 0 0
Disabled
7 -
x x x x x x x x
Description
8 ="1": Speed=0 (drive motionless)
9 ="1": Remote (parameters can be changed via CANopen)
Description
10 ="1": Target reached (corresponds to Position / Speed / Gearing reached)
11 ="1": Internal limit active
12 ="1": Setpoint acknowledge (new setpoint value is accepted)
13 ="1": Following error (following error)
14 ="0"
15 ="1": Registration found (Registration mark detected)
C3I21T11 192-120106N14 - September 2014 279

5.3 Operating mode: Profile Velocity Mode

Slave in Velocity Mode - velocity control ........................................................................ 280
Control word 1 (Control word 1) 0x6040 (o1100.3) (Profile velocity mode) ..................... 281
Status word 1 (Status word) (op 3, Profile velocity mode) .............................................. 281
5.3.1. Slave in Velocity Mode - velocity control

Designation <Bus_NO> Object No. Assigned Assignment
words
Target velocity (setpoint speed) 0x60FF / 1100.13 2 optional
(3 decimal places)* 0x2044
Dig. Outputs (0-3) (Digital outputs O0 ... O3) 0x6300.1 140.3 1 optional
Designation <Bus_NO> Object No. Assigned Assignmen
words t
Velocity actual value (actual velocity) 0x606C 681.5 2 optional
(3 decimal places)*
Torque actual value (actual torque value) 0x6077 683.1 1 optional
Dig. inputs (0-7) I0 (Digital inputs I0 ... I7) 0x6100.1 120.3 1 optional
Operating mode display (operating mode display) 0x6061 1000.5 1 optional
LastError (current Compax3 errors) 0x603F/ 550.1 1 optional
0x201D.1

Example:
280 C3I21T11 192-120106N14 - September 2014

Parker EME Operating mode: Profile Velocity Mode
5.3.2. Control word 1 (Control word 1) 0x6040 (o1100.3) (Profile

velocity mode)
aktivieren
0 0 0 0 0 0 0 0
1 X 0 1 X X 0 1 X
2 1 1 1 X 0 1 1 X
3 1 1 1 0 1 1 1 X
7 0 1 1 X X 1 1 X
Transiti 2,6,8 3 3+4 7,9,10,12 7,10,11 5 4.16 15
ons
Bit Description
4 Reserved
5 Reserved
6 Reserved
8 ="1": Stop (Stop without termination)
9 Reserved
10 Reserved

12 factory use
13 factory use
14 factory use
15 factory use
5.3.3. Status word 1 (Status word) (op 3, Profile velocity mode)

ON Active
0 Ready to
0 0 1 1 1 1 1 0
switch on
1 Switched on
0 0 0 1 1 1 1 0
2 Operation
0 0 0 0 1 1 1 0
enable
3 Fault
0 0 0 0 0 0 1 1
4 Voltage
x x x x x x x x
enable
5 Quick stop
x x 1 1 0 0 x x
6 Switch On
0 1 0 0 0 0 0 0
Disabled
7 -
x x x x x x x x
Description
Description
12 ="1": Speed=0
13 ="0"
14 ="0"
15 ="0"
C3I21T11 192-120106N14 - September 2014 281

5.4 Operating mode: Positioning with set selection

Slave with set selection ................................................................................................. 283
Control word 1 (Control word 1) 0x6040 (o1100.3) (Positioning via set selection) .......... 285
Control word 2 (Set selection)........................................................................................ 286
Status word 1 (Status word) (op 1,-2, profile position mode, set selection)..................... 286
Control word 2 (set selection) ........................................................................................ 286
282 C3I21T11 192-120106N14 - September 2014

Parker EME Operating mode: Positioning with set selection
5.4.1. Slave with set selection

The communication between Master and Compax3 is made via the of the telegram
Procedure:
Defining the motion sets with the Compax3 ServoManager or via the acyclic
channel.
Selecting the desired motion set via control word 2
Start the motion with control word 1 Bit 4.
Setting operating mode BA CAN No. 0x6060 (object 1100.5) = -2
words
Controlword2 (control word 2) 0x201B 1100.4 1 optional
Digital Outputs (0-3) (Digital outputs O0 ... O3) 0x6300.1 140.3 1 optional
words
Status word2 (status word 2) 0x201C 1000.4 1 optional
Position actual value 0x6064 680.5 2 optional
(3 decimal places)*
Velocity actual value (Actual velocity) 0x606C 681.5 2 optional
(3 decimal places)*
Velocity actual value 0x2023 681.7 1 optional
(1 decimal place)*
Torque actual value (actual torque value) 0x6077 683.1 1 optional
Follow error actual value (Following error) 0x60F4 680.6 1 optional
Dig. inputs (0-7) I0 (Digital inputs I0 ... I7) 0x6100.1 120.3 1 optional
Operating mode display (operating mode display) 0x6061 1000.5 1 optional
LastError (current Compax3 errors) 0x603F/ 550.1 optional
0x201D.1
Example:
C3I21T11 192-120106N14 - September 2014 283

Defining sets: Please use the Compax3 ServoManager or the acyclic channel in order to enter
the motion sets.
Layout of the Set table (see on page 284).
5.4.1.1 Layout of the set table

General layout of the table ............................................................................................. 284
Assignment of the different motion functions.................................................................. 284
Definition of the states of the programmable status bits (PSBs): .................................... 285
The motion sets are memorized in an object table. The table has 9 columns and 32
rows.
A motion set is stored in a table row.
The assignment of the columns depends on the motion function.
General layout of the table

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
Set 1 Row 1 Row 1 Row 1 Row 1 Row 1 Row 1 Row 1 Row 1 Row 1
"Array_Col1 "Array_Col "Array_Col "Array_Col "Array_Col5 "Array_Col6 "Array_Col "Array_Col8 "Array_Col9_
_Row1" 2_Row1" 3_Row1" 4_Row1" _Row1" _Row1" 7_Row1" _Row1" Row1"
(1901.1) (1902.1) (1903.1) (1904.1) (1905.1) (1906.1) (1907.1) (1908.1) (1909.1)
set no. 2 ... ... ... ... ... ... ... ... ...
Set 3 ... ... ... ... ... ... ... ... ...
... ... ... ... ... ... ... ... ... ...
Set 31 Row 31 Row 31 Row 31 Row 31 Row 31 Row 31 Row 31 Row 31 Row 31
"Array_Col1 "Array_Col "Array_Col "Array_Col "Array_Col5 "Array_Col6 "Array_Col "Array_Col8 "Array_Col9_
_Row31" 2_Row31" 3_Row31" 4_Row31" _Row31" _Row31" 7_Row31" _Row31" Row31"
(1901.31) (1902.31) (1903.31) (1904.31) (1905.31) (1906.31) (1907.31) (1908.31) (1909.31)
You will find the respective object number in brackets.
Assignment of the different motion functions

The columns 3 and 9 are reserved.
Motion-functi Column 1 Column 2 Column 4 Column 5 Column 6 Column 7 Column 8
ons Type: REAL Type: REAL Type: INT Type: INT Type: DINT Type: DINT Type: DINT
Objects Objects Objects Objects Objects Objects Objects
O1901 O1902 O1904 O1905 O1906 O1907 O1908
Positions Speed ProgrammierS Mode Acceleration Deceleration / Jerk

tatusbits s denominator
(PSBs)
MoveAbs
(see on page Target
Speed PSBs 1 (for MoveAbs) Accel Decel Jerk
143) position
MoveRel (see
on page 143) Distance Speed PSBs 2 (for MoveRel) Accel Decel Jerk
Gearing (see
on page 148) - Numerator PSBs 3 (for Gearing) Accel Denominator -
RegSearch
(see on page
Distance Speed PSBs 4 (for RegSearch) Accel Decel Jerk
144)
RegMove
(see on page
Offset Speed PSBs 5 (for RegMove) - - -
144)
Velocity (see
on page 150) - Speed PSBs 6 (for Velocity) Accel - -
STOP
- - PSBs 7 (for Stop) - Decel Jerk
284 C3I21T11 192-120106N14 - September 2014

Parker EME Operating mode: Positioning with set selection
Definition of the states of the programmable status bits (PSBs):

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
factory use Enable2 Enable1 Enable0 factory use PSB2 PSB1 PSB0
PSB2 PSB1 PSB0
="1": Set PSB
="0": leave PSB unchanged
The Bits 0 ... 2 monitor the states of the status bits at the end of a motion set, if the
bits were enabled via the respective Enable.
If Enable is set to "0", the respective PSB remains unchanged at the end of the
motion set.
PSB0: Status word 2 Bit 12
5.4.2. Control word 1 (Control word 1) 0x6040 (o1100.3)

(Positioning via set selection)
aktivieren
0 0 0 0 0 0 0 0
1 X 0 1 X X 0 1 X
2 1 1 1 X 0 1 1 X
3 1 1 1 0 1 1 1 X
7 0 1 1 X X 1 1 X
Transiti 2,6,8 3 3+4 7,9,10,12 7,10,11 5 4.16 15
ons
Bit Description
4 ="1": New set-point (Start)
5 ="1": Change set immediately1)(dynamic Positioning (see on page 151))
6 Reserved
8 ="1": Stop (Stop without termination)(for Velocity and Gearing: Stop with termination)
9 Reserved
10 Reserved

12 factory use
13 factory use
14 ="1": Endless (continuous operation)in normal operation (="0") homing is required
15 factory use
1)
With Bit 5 ="0" no dynamic change of record is possible - not even to a STOP
record.
Only after the end of the record (position reached), the next record will be
accepted.
The motion set is selected via Control Word 2.
C3I21T11 192-120106N14 - September 2014 285

5.4.3. Control word 2 (Set selection)

In the "Positioning with set selection" operating mode, the address of the motion set is specified via
control word 2
Bit Description
0 Address 0 for set selection
5 ... 15 factory use
5.4.4. Status word 1 (Status word) (op 1,-2, profile position mode,
set selection)
ON Active
0 Ready to
0 0 1 1 1 1 1 0
switch on
1 Switched on
0 0 0 1 1 1 1 0
2 Operation
0 0 0 0 1 1 1 0
enable
3 Fault
0 0 0 0 0 0 1 1
4 Voltage
x x x x x x x x
enable
5 Quick stop
x x 1 1 0 0 x x
6 Switch On
0 1 0 0 0 0 0 0
Disabled
7 -
x x x x x x x x
Description
Description
12 ="1": Setpoint acknowledge (new setpoint value is accepted)
14 ="0"
15 ="1": Registration found (Registration mark detected)
5.4.5. Control word 2 (set selection)

Status word 2 in the "Positioning with set selection" operating mode contains the selected set
number as well as the PSBs.
Bit Description
0 Address 0 of the current set
5 ... 11 factory use
12 Programmable status bit 0 (PSB0)
15 factory use
286 C3I21T11 192-120106N14 - September 2014

Parker EME Machine zero operating mode (Homing)
5.5 Machine zero operating mode (Homing)

The operating mode switching to “Homing" takes place during operation (via the
bus) and is not supported by the configuration in the ServoManager.
0x6040 (o1100.3).4 ="1" Homing operation start (activate machine zero run)
0x6040 (o1100.3).8 ="1" Stop (Stop with termination)
Machine zero mode (see on page 111)
5.5.1. Control word 1 (Control word 1) 0x6040 (o1100.3) (homing

mode)
aktivieren
0 0 0 0 0 0 0 0
1 X 0 1 X X 0 1 X
2 1 1 1 X 0 1 1 X
3 1 1 1 0 1 1 1 X
7 0 1 1 X X 1 1 X
Transiti 2,6,8 3 3+4 7,9,10,12 7,10,11 5 4.16 15
ons
Bit Description
4 ="1": Homing operation start(activate machine reference run)
5 Reserved
6 Reserved
8 ="1": Stop (Stop with termination)
9 Reserved
10 Reserved

12 factory use
13 factory use
14 factory use
15 factory use
C3I21T11 192-120106N14 - September 2014 287

5.5.2. Status word 1 (Status word) (op 3, homing mode)

ON Active
0 Ready to
0 0 1 1 1 1 1 0
switch on
1 Switched on
0 0 0 1 1 1 1 0
2 Operation
0 0 0 0 1 1 1 0
enable
3 Fault
0 0 0 0 0 0 1 1
4 Voltage
x x x x x x x x
enable
5 Quick stop
x x 1 1 0 0 x x
6 Switch On
0 1 0 0 0 0 0 0
Disabled
7 -
x x x x x x x x
Description
Description
12 ="1": Homing attained (referenced)
13 ="1": Homing error
14 ="0"
15 ="0"
288 C3I21T11 192-120106N14 - September 2014

Parker EME Manual operation operating mode (Jogging)
5.6 Manual operation operating mode (Jogging)

Setting operating mode BA CAN No. 0x6060 (object 1100.5) = -1
The operating mode switching to “Jogging" takes place during operation (via the
bus) and is not supported by the configuration in the ServoManager.
0x6040 (o1100.3).4 ="1" Jog+ (Manual+)
0x6040 (o1100.3).5 ="1" Jog- (Manual-)
0x6040 (o1100.3).8 ="1" Halt (Stop without termination)
5.6.1. Control word 1 (Control word 1) 0x6040 (o1100.3) (manual

mode)
aktivieren
0 0 0 0 0 0 0 0
1 X 0 1 X X 0 1 X
2 1 1 1 X 0 1 1 X
3 1 1 1 0 1 1 1 X
7 0 1 1 X X 1 1 X
Transiti 2,6,8 3 3+4 7,9,10,12 7,10,11 5 4.16 15
ons
Bit Description
4 ="1": Jog+(Manual+)
5 ="1": Jog-(Manual-)
6 Reserved
9 Reserved
10 Reserved

12 factory use
13 factory use
14 factory use
15 factory use
C3I21T11 192-120106N14 - September 2014 289

5.6.2. Status word 1 (Status word) (op -1, jogging mode)

ON Active
0 Ready to
0 0 1 1 1 1 1 0
switch on
1 Switched on
0 0 0 1 1 1 1 0
2 Operation
0 0 0 0 1 1 1 0
enable
3 Fault
0 0 0 0 0 0 1 1
4 Voltage
x x x x x x x x
enable
5 Quick stop
x x 1 1 0 0 x x
6 Switch On
0 1 0 0 0 0 0 0
Disabled
7 -
x x x x x x x x
Description
Description
12 ="0"
13 ="0"
14 ="0"
15 ="0"
5.7 “Interpolated Position Mode” operating mode

The operating mode switching to "Interpolated Position Mode" takes place during
operation (via the bus) and is not supported by the configuration in the
ServoManager.
The target position of the "Interpolated Position mode" is preset via bus object
0x60C1.1 (o3921.1) "Interpolation data". This bus object can be mapped to the
telegram in the "Position Mode".
Normalization of the bus object via wizard or O201.11 (0x2021.11) (Standard: 1000
Inc. / Unit)
The "Interpolated Position Mode" operating mode works in SYNC operation; the
cycle time is preset via bus object 0x60C2; please respect the ratings (see on
page 27).
Gearing is not possible in the "interpolated" operating mode.
0x6040 (o1100.3).4 ="1" Enable ip mode
290 C3I21T11 192-120106N14 - September 2014

Parker EME “Interpolated Position Mode” operating mode
5.7.1. Control word 1 (Control word 1) 0x6040 (o1100.3)

(interpolated position mode)
aktivieren
0 0 0 0 0 0 0 0
1 X 0 1 X X 0 1 X
2 1 1 1 X 0 1 1 X
3 1 1 1 0 1 1 1 X
7 0 1 1 X X 1 1 X
Transiti 2,6,8 3 3+4 7,9,10,12 7,10,11 5 4.16 15
ons
Bit Description
4 ="1": Enable interpolated position mode (ip mode)
5 Reserved
6 Reserved
9 Reserved
10 Reserved

12 factory use
13 factory use
14 factory use
15 factory use
5.7.2. Status word 1 (Status word) (op 7, ip mode)

ON Active
0 Ready to
0 0 1 1 1 1 1 0
switch on
1 Switched on
0 0 0 1 1 1 1 0
2 Operation
0 0 0 0 1 1 1 0
enable
3 Fault
0 0 0 0 0 0 1 1
4 Voltage
x x x x x x x x
enable
5 Quick stop
x x 1 1 0 0 x x
6 Switch On
0 1 0 0 0 0 0 0
Disabled
7 -
x x x x x x x x
Description
Description
12 ="1": ip mode active
13 ="0"
14 ="0"
15 ="0"
C3I21T11 192-120106N14 - September 2014 291

5.7.3. Interpolation
Interpolation method ...................................................................................................... 292
Structure image in the interpolation mode ...................................................................... 294
In the "Interpolated Position Mode" and "Cyclic Synchronous Position Mode”
operating modes, the input signal is interpolated. The method of interpolation is
defined via object o3925.1
5.7.3.1 Interpolation method

Linear Interpolation (o3925.1 = 0 or o3925.1 = -1) ......................................................... 292
Quadratic interpolation (o3925.1=-2) ............................................................................. 293
Cubical interpolation (o3925.1=-3) ................................................................................. 293
Linear interpolation of position and Speed setpoint value (o3925.1=-4; (as from R09-20))294
Setting the interpolation method via object 3925.1 (CANopen No.: 0x60C0.0)
 0=linear Interpolation (Default)
 -1=linear Interpolation
 -2=Quadratic Interpolation
 -3=Cubical (Spline-) Interpolation
 -4 linear with speed setpoint value
Caution! Do only switch while the drive is deactivated!
Linear Interpolation (o3925.1 = 0 or o3925.1 = -1)

With the transmitted position and the position in the previous bus cycle, a straight
of the Y(t)=a*t + b is calculated. The speed within a bus cycle remains constant.
This method is only implemented for the PLL synchronization.
 Advantage: Support of a reset value range
 Disadvantage: During the transition to a new bus cycle, a speed leap (or
acceleration peak) may occur => filtering required.
Example:
292 C3I21T11 192-120106N14 - September 2014

Parker EME “Interpolated Position Mode” operating mode
Quadratic interpolation (o3925.1=-2)

With the aid of the position received last and the positions from the two previous
bus cycles, the polynomial coefficients of the polynomial
Y(t) = a * t^2 + b * t + c are determined. The speed within a bus cycle is a first order
function, i.e. the acceleration is constant.
 Advantage: Consistent course of speed
Example:
Cubical interpolation (o3925.1=-3)

With the aid of the last position received, and the three previous values, the
polynomial coefficients of the polynomial
Y(t) = a * t^3 + b * t^2 + c* are determined. The speed within a bus cycle can
change quadratically, i.e. the acceleration is a first order function.
 Advantages: Consistent course of speed and acceleration => best signal quality
 Disadvantages: This method may lead to overshoot on the interpolated outputs.
Example:
C3I21T11 192-120106N14 - September 2014 293

Linear interpolation of position and Speed setpoint value (o3925.1=-4;

(as from R09-20))
Linear interpolation of interpolator setpoint inputs for position (position source
depends on the DS402 mode of operation) and speed (speed source is O3925.20
= 0x2098). Normalization via Wizard or O201.14 (0x2021.14). Standard: 1000
Inc./Units/.
The acceleration is derived from the speed.
 Advantage: Good signal quality, as the position quantization does not influence
the speed and acceleration setpoint values.
 Disadvantages: 2 process data must be transmitted.
Example:
5.7.3.2 Structure image in the interpolation mode

The structure image shows the signal paths for interpolation mode (Interpolated
Position Mode and Cyclic Synchronous Position Mode) and activated load control.
2010.7 T
682.1 682.4
3925.21
1)
201 a
Interpolation (3925.1)
Fine-Interpolation
a .15
Bus-Master
2010.6 T 681.1 681.4 Load Control Structure

3925.20
1) 2)
201 v
v .14
3921.1 680.12
3921.11 680.4
7 201 x Controller Mechanics
x Motor
8 .11
Structure
1100.6 3925.24
1100.5 (Operation Mode)
1) Can only be switched on with Ethernet Powerlink and linear interpolation

(0x60C0 = 0 or 0x60C0 = -1) in the interpolation module with o1141.10 Bit
0="1", otherwise, the speed and acceleration are determined in the
interpolation module.
2) The transmitted speed is used for linear interpolation with speed setpoint
value (0x60C0 = -4).
294 C3I21T11 192-120106N14 - September 2014

Parker EME Operating mode: Cyclic Synchronous Position Mode
Detailed structure images:

 There are several structure variants for the “controller structure (see on page
200, see on page 205, see on page 207)“.
 Load Control Structure (see on page 159).
5.8 Operating mode: Cyclic Synchronous Position Mode

The operating mode switching to "Cyclic Synchronous Position" takes place during
operation (via the bus) and is not supported by the configuration in the
ServoManager.
The target position of the "Cyclic Synchronous Position" is preset via the bus object
0x607A (o1100.6) "Target position". This bus object can be found on the telegram
in the "Position Mode".
Normalization of the bus object via wizard or O201.11 (0x2021.11) (Standard: 1000
Inc. / Unit)
The "Cyclic Synchronous Position" operating mode works in SYNC operation; the
cycle time is preset via bus object 0x60C2; please respect the ratings (see on
page 27).
Gearing is not possible in the "Cyclic Synchronous Position" operating mode.
The input signal isinterpolated (see on page 292).
h)
Torque offset (60B2
+
Target Position Velocity + Torque
position M
control control control
(607Ah)
S
Torque actual value
(6077h)
Velocity actual value
(606Ch)
Position actual value
(6064h)
C3I21T11 192-120106N14 - September 2014 295

5.8.1. Control word 1 (Control word 1) 0x6040 (o1100.3) (cyclic

synchronous mode) op 8,9,10
aktivieren
0 0 0 0 0 0 0 0
1 X 0 1 X X 0 1 X
2 1 1 1 X 0 1 1 X
3 1 1 1 0 1 1 1 X
7 0 1 1 X X 1 1 X
Transiti 2,6,8 3 3+4 7,9,10,12 7,10,11 5 4.16 15
ons
Bit Description
4 Reserved
5 Reserved
6 Reserved
9 Reserved
10 Reserved

12 factory use
13 factory use
14 factory use
15 factory use
5.8.2. Status word 1 (Status word) (op 8, ip mode)

ON Active
0 Ready to
0 0 1 1 1 1 1 0
switch on
1 Switched on
0 0 0 1 1 1 1 0
2 Operation
0 0 0 0 1 1 1 0
enable
3 Fault
0 0 0 0 0 0 1 1
4 Voltage
x x x x x x x x
enable
5 Quick stop
x x 1 1 0 0 x x
6 Switch On
0 1 0 0 0 0 0 0
Disabled
7 -
x x x x x x x x
Description
Description
10 ="0"
12 ="0": Target ignore ="1": Target accepted
14 ="0"
15 ="0"
296 C3I21T11 192-120106N14 - September 2014

Parker EME Operating mode: Cyclic Synchronous Position Mode
5.8.3. Synchronizations method

A PLL Synchronization is used. Thereby the system clock of the slave device is
adjusted / synchronized to the system clock of the master with the aid of a phase
control loop. This ensures that all devices are running in the same time frame.
Advantages: Exact synchronization of the setpoint acceptance from the master,
synchronized acquisition of the actual values
Disadvantages: Relatively high requirements for the periodicity of the
sync-telegram, i.e. the jitter must be small. For interpolation with Compax3, the
maximum permitted jitter is:
 42µs for Synchronization period 125us and 250us
 125µs for Synchronization period 500us
 300µs for Synchronization period superior 500us
If the master allows only a vague synchronization (high jitter), it is possible to use
Compax3 as SYNC generator: use the CANopen communication parameter 1005.0
(for details please refer to the DS402 specifications).
Please note with EtherCAT (I31): If the master allows only a vague
synchronization (high jitter), the Sync generation in the EtherCAT should be
switched to DistributedClock (DC).
Caution! Simultaneous operation with HEDA slave is not possible!

Errors caused by bus cycle times different from the specified value are not
reported!
Process data transmission takes also place with the synch pulse. A different data
update is not permitted.
C3I21T11 192-120106N14 - September 2014 297

5.9 State machine
Power 13 17
Disabled
Fault Fault
Start
Reaction 2 Active Reaction 1 Active
status: xxxx xxxx x0xx 1111
0 14 18
Not Ready to
Fault 2 Fault 1
Switch On
status: xxxx xxxx x0xx 0000 status: xxxx xxxx x0xx 1000 status: xxxx xxxx x0xx 1111
1
15 19
1
icontrol: xxxx xxxxxixxx xxxx 1
icontrol: xxxx xxxxxixxx xxxx
Switch On 0 0
9 Disabled
control: control:
xxxx xxxx 0xxx xx0x status: xxxx xxxx x1xx 0000 xxxx xxxx 0xxx xx0x
control: control: 12 1 1
2 xxxx xxxx 0xxx x110 xxxx xxxx 0xxx xx0x
0 0
xxxx xxxx 0xxx x01x
7
Ready to
Switch on
8 status: xxxx xxxx x01x 0001
control:
xxxx xxxx 0xxx x110 6 control: Fault
xxxx xxxx 0xxx x110
control: control:
xxxx xxxx 0xxx x111 3 xxxx xxxx 0xxx xx0x
xxxx xxxx 0xxx x01x
10
Switched on
4 status: xxxx xxxx x01x 0011
control: 5
xxxx xxxx 0xxx 1111 control:
xxxx xxxx 0xxx 0111
11
Operation control: xxxx xxxx 0xxx x01x
Quick Stop
Enable Activ
status: xxxx xxxx x01x 0111 control: xxxx xxxx 0xxx 1111 status: xxxx xxxx x00x 0111
Power 16
Enabled Motor Powered
, , , ... : Status transitions
Transition : Other than with the DS402, “Downramp takes place with STOP
ramp” (0x605B=1)!
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Parker EME State machine
Status values:
Designation Explanation
Not Ready to Switch On Control voltage switched on
Initialization
Brake closed
Not ready to turn on
Switch On Disable Initialization completed
Parameter values can be changed
Power supply voltage switched off
Travel commands not possible
Ready to Switch on Power supply voltage can be switched on
Switched on Power supply voltage switched on
Motor de-energized
Operation enable Motor powered
Compax3 is ready for carrying out travel commands
Quick Stop active The "Quick Stop" function has been executed
Motor powered
Fault reaction 1 active A fault has occurred
The motor is stopped with the ERROR_decel and
ERROR_jerk ramp and remains energized.
Fault 1 Error state, motor energized, error can be read
A positive flank is expected at FAULT RESET
Fault reaction 2 active A fault has occurred
The motor is stopped with the ERROR_decel and
ERROR_jerk ramp and is deenergized at standstill.
Fault 2 Error state, motor deenergized, error can be read
A positive flank is expected at FAULT RESET
Function of the device status LEDs (see on page 28)
Transitions:
For various transitions, for which Compax3 leaves the status "Operation Enable"
(travel commands may be active), various ramps can be set. That is:
Transition associated ramp objects
5, 11 STOP_decel (Object 1113.1), STOP_jerk ((Object 1113.2)
8 Standard value different from DS402! Compax3 Standard value =
Downramp with STOP ramp (0x605B=1)
FSTOP1_decel (Object 1116.1), FSTOP1_jerk (Object 1116.2)
9 FSTOP3_decel (Object 1118.1), FSTOP3_jerk (Object 1118.2)
13.17 ERROR_decel (Object 1125.1), ERROR_jerk (Object 1125.2)
C3I21T11 192-120106N14 - September 2014 299

5.10 Acyclic parameter channel

Service Data Objects (SDO) .......................................................................................... 300
Object Up-/Download via CANopen ............................................................................... 301
5.10.1. 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 CANopen 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.
5.10.1.1 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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Parker EME Acyclic parameter channel
5.10.2. Object Up-/Download via CANopen

The up-/download takes place via the CANopen 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
CANopen 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.

CANopen 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
C3I21T11 192-120106N14 - September 2014 301

5.11 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 ratings
Baud rate [kBit/s]  20, 50, 100, 125, 250, 500, 800, 1000
EDS file  C3.EDS
 PDO2
braking.
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Parker EME CANopen communication profile
5.11.1. 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.
5.11.2. Communication objects

General note:
Every CAN object which is created as array (with subindex) contains the number of
entries in subindex 0.
C3I21T11 192-120106N14 - September 2014 303

5.11.2.1 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 306) -
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
304 C3I21T11 192-120106N14 - September 2014

Parker EME CANopen communication profile

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
C3I21T11 192-120106N14 - September 2014 305


5.11.2.2 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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Parker EME CANopen objects
5.12 CANopen objects

setting objects to Please note that certain objects are not valid (read by Compax3) immediately after
valid a change. This is described in the heading "Valid after".
These objects are converted to internal variables by Compax3 with the command
"Set objects to valid".
saving objects It should also be noted that modified objects are not permanently stored, i.e. the
permanently changes are lost after the power (24 VDC) is turned off.
The object "save objects permanently" can be used to save objects in a flash
memory so that they are retained even if the power fails.
Standardized and manufacturer-specific objects sorted according to CAN No. (I21T11) 308
Standardised and manufacturer-specific objects sorted according to object names (I21T11)
...................................................................................................................................... 316
Data formats of the bus objects ..................................................................................... 324
C3I21T11 192-120106N14 - September 2014 307

5.12.1. Standardized and manufacturer-specific objects sorted

according to CAN No. (I21T11)
No. Object name Object Bus No Bus Valid
format
84.2 DeviceSupervision_ThisDevice Device number in the C3M combination U16 -
84.3 DeviceSupervision_DeviceCounter Number of devices in the C3M U16 -
combination
84.4 DeviceSupervision_DeviceAdr Current RS485 address of the C3M U16 -
84.5 DeviceSupervision_OperatingTime Hours of operation of the PSUP in s U32 -
85.1 Diagnostics_DeviceState PSUP operating state V2 Immed
iately
85.2 Diagnostics_DCbus_Voltage PSUP DC intermediate voltage I16 -
85.3 Diagnostics_DCbus_Current PSUP intermediate current I16 -
85.4 Diagnostics_TemperatureHeatSink PSUP heat dissipator temperature I16 -
85.5 Diagnostics_RectifierLoad PSUP usage in % I16 -
85.7 Diagnostics_ChopperOn_Voltage Chopper Switch-on threshold in V I16 -
85.8 Diagnostics_ChopperOff_Voltage Chopper Switch-off threshold in V I16 -
85.9 Diagnostics_DCbus_VoltageMax Reduced DC bus voltage in V I16 -
86.1 ErrorHistoryPointer_LastEntry Pointer to current error U16 -
87.1 ErrorHistoryNumber_1 Error 1 U16 -
88.1 ErrorHistoryTime_1 Error point in time 1 U32 -
110.1 Switch_DeviceFunction Value of the function switch on C3M U16 -
120.2 DigitalInput_Value Status of digital inputs V2 -
170.2 AnalogInput0_Gain Gain analog input 0 C4_3 VP
170.3 AnalogInput0_FilterCoefficient Filter of analog input 0 I16 VP
170.4 AnalogInput0_Offset Analog input Offset 0 I16 Immed
iately
171.4 AnalogInput1_Offset Analog input offset 1 I16 Immed
iately
280.3 Resolver_LevelAdaption Resolver signal scaling I16 Immed
iately
280.5 Resolver_ExcitationLevel Resolver excitation level U16 Immed
iately
295.10 SSI_Feedback_Incr_Position SSI feedback position (Increments) I32 -
295.12 SSI_Feedback_PositionGreat Rotation position I32 -
410.6 LimitPosition_LoadControlMaxPosDiff Position difference load-motor (error C4_3 VP
threshold)
620.6 EncoderEmulation_Offset Zero pulse offset encoder emulation C4_3 VP
620.7 EncoderEmulation_SetEmulationZero Encoder simulation teaching zero pulse I16 Immed
iately
620.10 EncoderEmulation_Setpoint_without_offset Demand position of encoder simulation C4_3 -
(without offset)
634.6 AnalogOutput0_Offset_Hardware Offset value for the D/A monitor 0 I16 VP
634.7 AnalogOutput0_Gain_Hardware Additional gain factor for the D/A C4_3 VP
monitor 0
635.6 AnalogOutput1_Offset_Hardware Offset value for the D/A Monitor 1 I16 VP
monitor 1
670.2 StatusTorqueForce_ActualTorque Status of actual torque I32 -
670.4 StatusTorqueForce_ActualForce Status of actual force I32 -
680.12 StatusPosition_DemandController Status demand position without C4_3 -
absolute reference
680.14 StatusPosition_FeedbackAbsolute Feedback absolute position in feedback I32 -
increments
680.20 StatusPosition_LoadControlDeviation Position difference load-motor C4_3 -
(unfiltered)
680.21 StatusPosition_LoadControlDeviationMax Maximum position difference load-motor C4_3 -
680.22 StatusPosition_LoadControlDeviationFiltered Position difference load-motor (filtered) C4_3 -
680.23 StatusPosition_LoadControlActual Actual position of the load C4_3 -
681.10 StatusSpeed_DemandSpeedController Status demand speed controller input C4_3 -
681.11 StatusSpeed_FeedForwardSpeed Status speed feed forward C4_3 -
308 C3I21T11 192-120106N14 - September 2014


format
681.12 StatusSpeed_ActualScaled Filtered actual speed in per cent C4_3 -
681.13 StatusSpeed_DemandScaled Setpoint speed of the setpoint generator C4_3 -
681.20 StatusSpeed_LoadControl Speed of the load feedback (unfiltered) C4_3 -
681.21 StatusSpeed_LoadControlFiltered Speed of the load feedback (filtered) C4_3 -
681.24 StatusSpeed_PositiveLimit Positive speed limit currently effective C4_3 -
681.25 StatusSpeed_NegativeLimit Negative speed limit currently effective C4_3 -
682.5 StatusAccel_Actual Status of actual acceleration unfiltered I32 -
682.6 StatusAccel_ActualFilter Status of filtered actual acceleration I32 -
682.7 StatusAccel_FeedForwardAccel Status acceleration feed forward C4_3 -
683.5 StatusDevice_ObservedDisturbance Status of observed disturbance C4_3 -
683.6 StatusDevice_BallastResistorLoad Status of long-term braking resistor C4_3 -
utilization
683.7 StatusDevice_BallastResistorDynamicLoad Status of short-term braking resistor C4_3 -
utilization
683.11 StatusDevice_BallastResistorONThreshold Braking resistor switch-on voltage C4_3 -
683.12 StatusDevice_BallastResistorOFFThreshold Braking resistor switch-off voltage C4_3 -
684.4 StatusTemperature_TmotResistance Status of motor temperature resistance U16 -
value
685.2 StatusVoltage_BusVoltage Status DC bus voltage E2_6 -
688.1 StatusCurrent_Reference Status of setpoint current RMS (torque E2_6 -
forming)
688.2 StatusCurrent_Actual Status of actual current RMS (torque E2_6 -
producing)
688.8 StatusCurrent_ControlDeviationIq Status control deviation current control C4_3 -
RMS
688.9 StatusCurrent_PhaseU Status of current phase U C4_3 -
688.10 StatusCurrent_PhaseV Status of current phase V C4_3 -
688.11 StatusCurrent_ReferenceVoltageUq Status of current control control signal C4_3 -
688.13 StatusCurrent_ReferenceJerk Status of demand jerk setpoint I32 -
generator
688.14 StatusCurrent_FeedForwordCurrentJerk Status of current & jerk feedforward C4_3 -
688.17 StatusCurrent_FieldWeakeningFactor Reciprocal of the field weakening factor C4_3 -
FF
688.18 StatusCurrent_ReferenceDINT Demand current rms I32 -
688.19 StatusCurrent_ActualDINT Actual current rms I32 -
688.22 StatusCurrent_ReferenceVoltageVector Provided voltage pointer C4_3 -
688.29 StatusCurrent_VoltageUq Provided voltage of quadrature current C4_3 -
controller
688.30 StatusCurrent_VoltageUd Provided voltage of direct current C4_3 -
controller
688.31 StatusCurrent_DecouplingVoltageUd Signal decoupling of direct current C4_3 -
controller
688.32 StatusCurrent_FeedForwardbackEMF Signal EMC feed forward C4_3 -
688.33 StatusCurrent_PositiveLimit Positive current limit effective at present I32 -
688.34 StatusCurrent_NegativeLimit Negative current limit effective at I32 -
present
690.5 StatusAutocommutation_Itterations Current increase steps automatic U16 -
commutation
692.1 StatusFeedback_FeedbackSineDSP Status of sine in signal processing I32 -
692.2 StatusFeedback_FeedbackCosineDSP Status of cosine in signal processing I32 -
692.3 StatusFeedback_EncoderSine Status of analog input sine I32 -
692.4 StatusFeedback_EncoderCosine Status of analog input cosine I32 -
692.5 StatusFeedback_FeedbackVoltage[Vpp] Status of feedback level C4_3 -
692.9 StatusFeedback_ResolverLevel Status resolver level C4_3 -
692.10 StatusFeedback_RefChannel Status feedback index track I16 -
692.21 StatusFeedback_FeedbackSineDSPvolts Status of sine in signal processing C4_3 -
692.22 StatusFeedback_FeedbackCosineDSPvolts Status of cosine in signal processing C4_3 -
692.23 StatusFeedback_EncoderSineVolts Status of analog input sine (Volt) C4_3 -
692.24 StatusFeedback_EncoderCosineVolts Status of analog input cosine (Volt) C4_3 -
699.4 StatusJerk_DemandValue Status of demand jerk setpoint I32 -
generator
820.3 CANopen_Node_ID CANopen_Node_ID U16 -
C3I21T11 192-120106N14 - September 2014 309


format
820.23 CANopen_SyncPulseCounter Captured sync pulses I32 Immed
iately
820.27 CANopen_SyncErrorCounter Error counter for CANSync, Powerlink, I32 Immed
EtherCat iately
820.28 CANopen_SyncPeriod Current period duration of the sync C4_3 -
signal
990.1 Delay_MasterDelay Setpoint delay for bus master I16 Immed
iately
1111.1 POSITION_position Target position C4_3 Immed
iately
1111.2 POSITION_speed Speed for positioning C4_3 Immed
iately
1111.13 POSITION_direction Manipulation of the motion direction in I32 Immed
reset mode iately
1127.3 SPEED_speed Setpoint speed in speed control C4_3 Immed
operating mode iately
1130.13 HOMING_edge_position Distance MN (zero) initiator - motor zero C4_3 Immed
iately
1152.20 RegMove_ParametersModified Status RegMove I16 Immed
iately
1211.13 PG2POSITION_direction Manipulation of the motion direction in I32 Immed
reset mode iately
1252.20 PG2RegMove_ParametersModified Status RegMove I16 Immed
iately
2010.20 FeedForward_EMF EMC feed forward U16 VP
2011.4 FeedForwardExternal_FilterSpeed_us Filter time constant ext. speed U16 VP
2011.5 FeedForwardExternal_FilterAccel_us Filter time constant ext. Acceleration U16 VP
2020.6 ExternalSignal_Speed_Munits Speed value of the external signal C4_3 -
source
2020.7 ExternalSignal_Accel_Munits Acceleration of the external signal I32 -
source
2100.10 ControllerTuning_FilterSpeed2 Filter actual velocity 2 U16 VP
2100.11 ControllerTuning_FilterAccel2 Filter actual acceleration 2 U16 VP
2100.20 ControllerTuning_FilterSpeed_us Control signal filter of velocity control U16 VP
2100.21 ControllerTuning_FilterAccel_us Filter - Actual acceleration U16 VP
2107.1 TrackingfilterPhysicalSource_TRFSpeed Time constant tracking filter physical U16 VP
source
2109.1 TrackingfilterHEDA_TRFSpeed Time constant tracking filter I16 VP
HEDA-process position
2110.3 TrackingfilterSG1_FilterSpeed Filter effect of speed filter setpoint U16 VP
encoder
2110.4 TrackingfilterSG1_AccelFilter Filter effect of acceleration filter setpoint U16 VP
encoder
2110.6 TrackingfilterSG1_FilterSpeed_us Filter time constant velocity setpoint U16 VP
generator
2110.7 TrackingfilterSG1_AccelFilter_us Filter time constant acceleration U16 VP
setpoint generator
2120.1 SpeedObserver_TimeConstant Rapidity of the speed monitor U32 VP
2120.5 SpeedObserver_DisturbanceFilter Time constant disturbance filter U32 VP
2120.7 SpeedObserver_DisturbanceAdditionEnable Switch to enable disturbance I16 VP
compensation
2150.1 NotchFilter_FrequencyFilter1 Center frequency of notch filter 1 I16 VP
2150.2 NotchFilter_BandwidthFilter1 Bandwidth of notch filter 1 I16 VP
2150.3 NotchFilter_DepthFilter1 Depth of notch filter 1 I32 VP
2190.1 AutoCommutationControl_Ramptime Ramp slope current slope AK U16 VP
2190.2 AutoCommutationControl_InitialCurrent Start current of automatic commutation U16 VP
2190.3 AutoCommutationControl_PositionThreshold Motion limit for automatic commutation U16 VP
2190.4 AutoCommutationControl_MotionReduction Motion reduction Automatic U16 VP
commutation
2190.7 AutoCommutationControl_StandstillThreshold Optimization of the standstill threshold U16 VP
2190.8 AutoCommutationControl_PeakCurrent Reduction of the peak current U16 VP
310 C3I21T11 192-120106N14 - September 2014


format
2190.10 AutoCommutationControl_Reset Reset automatic commutation U16 Immed
iately
2200.3 PositionController_ProportionalPart Optimization parameters for the position U16 VP
controller P component (KV factor)
2200.11 PositionController_TrackingErrorFilter Following error filter of the position U16 VP
controller
2200.20 PositionController_DeadBand Deadband of position controller C4_3 VP
2200.21 PositionController_FrictionCompensation Friction compensation I32 VP
2200.24 PositionController_TrackingErrorFilter_us Time constant following error filter of U16 VP
position controller
2200.25 PositionController_IntegralPart I term of position controller U16 VP
2201.2 LoadControl_Command Load control command mode I16 Immed
iately
2201.3 LoadControl_Status Load control status bits I16 -
2201.11 LoadControl_FilterLaggingPart Time constant of position difference U32 VP
filter
2201.12 LoadControl_VelocityFilter Time constant of the load-speed filter I16 VP
2201.13 LoadControl_VelocityLimit Load control intervention speed I16 VP
limitation
2210.4 SpeedController_P_Part_Gain P term quantifier U16 VP
2210.5 SpeedController_I_Part_Gain Weighting "I" term U16 VP
2210.17 SpeedController_ActualBandwidth Replacement time constant for the I32 -
velocity control
2220.5 Q_CurrentController_CurrentControlProportio Current Loop - "P" Term I16 VP
nalPart
2220.6 Q_CurrentController_CurrentControlIntegralP Current Loop I term I16 VP
art
2220.20 Q_CurrentController_Inductance Parameter motor inductance I16 VP
2220.21 Q_CurrentController_Resistance Parameter motor resistance I16 VP
2220.22 Q_CurrentController_BackEMF Parameter motor force constant I16 VP
2220.27 Q_CurrentController_StructureSelection Structure switch of current control I16 VP
2230.20 D_CurrentController_Ld_Lq_Ratio Ratio direct to quadrature inductance U16 VP
2230.24 D_CurrentController_VoltageDecouplingEnabl Activation of the voltage decoupling I16 VP
e
2240.2 Magnetisierungsstromregler_Imrn_DemandV Magnetization current quantifier (ASM) I16 VP
alueTuning
2240.4 Magnetisierungsstromregler_Damping Magnetization current controller I16 VP
attenuation(ASM)
2240.7 Magnetisierungsstromregler_Bandwidth Magnetization current controller I16 VP
bandwidth (ASM)
2240.9 Magnetisierungsstromregler_SlipFrequency Slip frequency quantifier (ASM) I16 VP
2240.10 Magnetisierungsstromregler_RotorTimeConst Motor Time Constant quantifier I16 VP
ant
2240.11 Magnetisierungsstromregler_Field weakening Reference speed quantifier (ASM) I16 VP
speed
3920.7 HEDA_SignalProcessing_OutputGreat Output of the Heda Tracking Filter C4_3 -
3921.5 FBI_SignalProcessing0_OutputFBIncr Interpolation output position CanSync, I32 -
PowerLink, EtherCat in Fbincr.
3921.7 FBI_SignalProcessing0_OutputGreat Interpolation output position CanSync, Y4 -
PowerLink, EtherCat in Mrev - free
running.
3921.8 FBI_SignalProcessing0_Source Switching the position source of the I16 Immed
interpolator iately
3925.22 FBI_Interpolation_VelocityStatus Speed output value for C4_3 -
CanSync/EthernetPowerLink/EtherCat
3925.23 FBI_Interpolation_AccelStatus Acceleration output value for I32 -
3925.24 FBI_Interpolation_PositionStatus Interpolation position input value for I32 -
1111.8 POSITION_resetpositon_mode Continuous mode 0 U16 Immed
iately
820.8 CANopen_ComCyclePeriod Sync bus cycle time CANSync, 0x1006, U32 Immed
Powerlink, EtherCat 0x60C2 iately
1130.7 HOMING_edge_sensor_distance Initiator adjustment 0x2000 C4_3 Immed
iately
C3I21T11 192-120106N14 - September 2014 311


format
1113.2 STOP_jerk Jerk for STOP 0x2001 U32 Immed
iately
1116.1 FSTOP1_decel Deceleration for FSTOP1 0x2002 U32 Immed
iately
1116.2 FSTOP1_jerk Jerk for FSTOP1 0x2003 U32 Immed
iately
iately
1111.5 POSITION_jerk_accel Acceleration jerk for positioning 0x2005 U32 Immed
iately
1111.6 POSITION_jerk_decel Deceleration jerk for positioning 0x2006 U32 Immed
iately
1128.1 JOG_accel Acceleration for JOG +/- 0x2007 U32 Immed
iately
1128.3 JOG_speed Speed for Manual +/- 0x2008 C4_3 Immed
iately
402.1 Limit_SpeedPositive maximum permissible positive speed 0x2009 I16 VP
402.2 Limit_SpeedNegative maximum permissible negative speed 0x200A I16 VP
402.3 Limit_CurrentPositive maximum permissible positive current 0x200B I16 VP
402.4 Limit_CurrentNegative maximum permissible negative current 0x200C I16 VP
1118.1 FSTOP3_decel Deceleration for FSTOP3 0x200D U32 Immed
iately
682.4 StatusAccel_DemandValue Status demand acceleration 0x200E I32 -
685.1 StatusVoltage_AuxiliaryVoltage Status of auxiliary voltage 0x200F E2_6 -
1128.2 JOG_jerk Jerk for Manual +/- 0x2010 U32 Immed
iately
683.2 StatusDevice_ActualDeviceLoad Status of device load 0x2011 E2_6 -
683.3 StatusDevice_ActualMotorLoad Status of long-term motor utilization 0x2012 E2_6 -
684.2 StatusTemperature_Motor Status of motor temperature 0x2013 I16 -
684.1 StatusTemperature_PowerStage Status of power output stage 0x2014 U16 -
temperature
1125.2 ERROR_jerk Jerk upon Error 0x2015 U32 Immed
iately
210.10 ValidParameter_Global setting objects to valid 0x2016.10 U16 Immed
iately
20.1 ObjectDir_Objekts-->FLASH Store objects permanently (bus) 0x2017 I16 Immed
iately
1125.1 ERROR_decel Deceleration upon error 0x2018 U32 Immed
iately
634.4 AnalogOutput0_DemandValue Setpoint for analog output 0 0x2019 I16 Immed
iately
635.4 AnalogOutput1_DemandValue Setpoint for analog output 1 0x201A I16 Immed
iately
1100.4 DeviceControl_Controlword_2 Control word 2 0x201B V2 Immed
iately
1000.4 DeviceState_Statusword_2 Status word 2 0x201C V2 Immed
iately
200.1 NormFactorY2_Speed Normalization factor for Y2 speeds 0x2020.1 V2 Immed
iately
200.3 NormFactorY2_Voltage Normalization factor for Y2 voltages 0x2020.3 V2 Immed
iately
200.7 NormFactorY2_ActualValue3 Normalization factor for 1000.8 0x2020.7 V2 Immed
iately
201.11 NormFactorY4_FBI_SignalProcessing_Positio Normalization factor for bus 0x2021.11 V2 Immed
n interpolation iately
CANSync/EthernetPowerLink
201.12 NormFactorY4_DemandValue8 Normalization factor for 1100.13 0x2021.12 V2 Immed
iately
201.14 NormFactorY4_FBI_SignalProcessing_Speed Normalization factor for 3925.20 0x2021.14 V2 Immed
iately
201.15 NormFactorY4_FBI_SignalProcessing_Accel Normalization factor for 3925.21 0x2021.15 V2 Immed
iately
201.2 NormFactorY4_Position Scaling factor for Y4 positions 0x2021.2 V2 Immed
iately
iately
312 C3I21T11 192-120106N14 - September 2014


format
iately
680.8 StatusPosition_ActualY4 Status of actual position in bus format 0x2022/0x6 I32 -
Y4 064
681.7 StatusSpeed_ActualFilteredY2 Status of the actual filtered speed 0x2023 Y2 -
speed in the Y2 format
685.3 StatusVoltage_AnalogInput0 Status of analog input 0 0x2025 Y2 -
681.6 StatusSpeed_Error Status control deviation of speed 0x2027 C4_3 -
1100.6 DeviceControl_DemandValue1 Device demand value A 0x202A/0x2 Y4 Immed
044/0x607A iately
1100.7 DeviceControl_DemandValue2 Device demand value D 0x202B/0x2 Y4 Immed
046/0x6081 iately
1100.14 DeviceControl_DemandValue2_Y2 Device demand value 0x202C/0x2 Y2 Immed
068 iately
1111.10 POSITION_accel_U16 Acceleration for positioning in U16 0x202D U16 Immed
Format iately
3921.1 FBI_SignalProcessing0_Input_Y4 Interpolation input CanSync, PowerLink 0x2050/0x6 I32 Immed
0C1.1 iately
3921.2 FBI_SignalProcessing0_ResetDistance Upper modulo limit CANSYNC, 0x2051 I32 Immed
Powerlink, EtherCAT in Mrev iately
1111.16 POSITION_decel_U16 Deceleration for Positioning in U16 0x205D U16 Immed
Format iately
820.24 CANopen_SyncMode Configuration of the bus 0x205E I16 Immed
synchronization process iately
2201.1 LoadControl_Enable Activate load control 0x205F I16 Immed
iately
3300.8 TouchProbe_IgnoreZone_Start Beginning of Registration lock-out zone 0x2066 C4_3 Immed
(StartIgnore) iately
3300.9 TouchProbe_IgnoreZone_End End of Registration lock-out zone 0x2067 C4_3 Immed
(StopIgnore) iately
1100.13 DeviceControl_DemandValue8 Nominal value 0x206A/0x6 Y4 Immed
0FF iately
402.6 Limit_CurrentFine Factor for the current limits 0x2093 I16 Immed
iately
683.8 StatusDevice_MotorCurrent Motor current in per thousand of the 0x2094 I16 -
actual current limit
2020.1 ExternalSignal_Position Position from external signal source 0x2095.1 C4_3 -
680.32 StatusPosition_EncoderIncrements5V Encoder position 0 (5V) in increments 0x2095.3 I32 Immed
iately
2110.1 TrackingfilterSG1_TRFSpeed Time constant tracking filter setpoint 0x2096 I16 VP
encoder
1141.10 GEAR_FFW_mode Control bits for feedforward with source 0x2097 U16 Immed
CANSync/EthernetPowerLink/EtherCat iately
3925.20 FBI_Interpolation_VelocityInput Velocity specification GEARING 0x2098 I32 Immed
CanSync/EthernetPowerLink/EtherCat iately
3925.21 FBI_Interpolation_AccelInput Acceleration specification GEARING 0x2099 I32 Immed
1.21 Device_FirmwareRelease Version of firmware package 0x20FF I32 Immed
iately
2100.2 ControllerTuning_Stiffness Stiffness (speed controller) 0x2100.2/0x U16 VP
2100.1
2100.3 ControllerTuning_Damping damping (rotation speed controller) 0x2100.3 U16 VP
2100.4 ControllerTuning_Inertia Inertia 0x2100.4 U16 VP
2100.5 ControllerTuning_FilterSpeed Filter-actual velocity 0x2100.5 U16 VP
2100.6 ControllerTuning_FilterAccel Filter - Actual acceleration 0x2100.6 U16 VP
2100.7 ControllerTuning_SpeedDFactor D-component of speed controller 0x2100.7 U16 VP
2100.8 ControllerTuning_CurrentBandwidth Current regulator bandwidth 0x2100.8 U16 VP
2100.9 ControllerTuning_CurrentDamping Current loop - Damping 0x2100.9 U16 VP
2010.1 FeedForward_Speed Velocity Feed Forward 0x2101.1 U16 VP
2010.2 FeedForward_Accel Acceleration feedforward 0x2101.2 U16 VP
2010.4 FeedForward_Current Current feed-forward 0x2101.4 U16 VP
2010.5 FeedForward_Jerk Jerk feed-forward 0x2101.5 U16 VP
2011.1 FeedForwardExternal_FilterSpeed External Speed Feed Forward Filter 0x2102.1 U16 VP
Time Constant
C3I21T11 192-120106N14 - September 2014 313


format
2011.2 FeedForwardExternal_FilterAccel External Acceleration Feed Forward 0x2102.2 U16 VP
Filter Time Constant
3921.3 FBI_SignalProcessing0_ResetDistanceLow Lower modulo limit CanSync, 0x2103.1 I32 Immed
PowerLink, EtherCat in Mrev iately
3921.9 FBI_SignalProcessing0_ResetDistance_Incr Modulo limit CanSync, PowerLink, 0x2103.1 I32 Immed
EtherCat in Fbincr iately
3921.10 FBI_SignalProcessing0_ResetDistanceLow_I Lower modulo limit CanSync, 0x2103.2 I32 Immed
ncr PowerLink, EtherCat in Fbincr iately
3921.11 FBI_SignalProcessing0_IncrModuloEnable Selection switch Modulo limit CanSync, 0x2103.3 I32 Immed
PowerLink, EtherCat iately
680.5 StatusPosition_Actual Status actual position 0x2104 C4_3 -
681.26 StatusSpeed_ActualUnitrpmORmps Status of actual speed filtered in 1/min 0x2105 C4_3 -
or m/s
1900.1 Pointer_Row pointer to table row 0x2300 U16 Immed
iately
1901.1 Col01_Row01 variable Column 1 Row 1 0x2301.1 Y4 Immed
iately
iately
1903.1 Col03_Row01 variable Column 3 Row 1 0x2303.1 I16 Immed
iately
iately
iately
iately
iately
iately
iately
1910.1 Indirect_Col01 indirect table access Column 1 0x2311 Y4 Immed
iately
550.1 ErrorHistory_LastError current error (n) 0x603F/0x2 U16 -
01D.1
1100.3 DeviceControl_Controlword_1 STW control word 0x6040 V2 Immed
iately
1000.3 DeviceState_Statusword_1 status word ZSW 0x6041 V2 Immed
iately
1100.20 DeviceControl_QuickStopMode Quick Stop operating mode 0x605A I16 Immed
iately
1116.3 FSTOP1_mode Operating mode switch for CiA DS402 0x605B I16 Immed
transition 8 iately
1123.3 OperationDisable_mode Operating mode switch for CiA DS402 0x605C I16 Immed
transition 5 iately
1100.5 DeviceControl_OperationMode Operating mode (Nominal value) 0x6060 I16 Immed
iately
1000.5 DeviceState_ActualOperationMode operating mode display 0x6061 I16 Immed
iately
420.2 PositioningAccuracy_FollowingErrorWindow Following error limit 0x6065 C4_3 VP
420.3 PositioningAccuracy_FollowingErrorTimeout Following Error Time 0x6066 U16 Immed
iately
420.1 PositioningAccuracy_Window positioning window for position reached 0x6067 C4_3 VP
420.7 PositioningAccuracy_WindowTime In Position Window Time 0x6068 U16 Immed
iately
681.5 StatusSpeed_Actual Status actual speed unfiltered 0x6069 C4_3 -
681.4 StatusSpeed_DemandValue Status demand speed of setpoint 0x606B C4_3 -
generator
681.9 StatusSpeed_ActualFiltered Status actual speed filtered 0x606C C4_3 -
1100.23 DeviceControl_TargetTorque Demand torque or force DS402 opmode 0x6071 I16 Immed
10 iately
402.7 Limit_MaxTorque Torque limit or force limit 0x6072 U16 Immed
iately
314 C3I21T11 192-120106N14 - September 2014


format
670.9 StatusTorqueForce_RatedTorqueForce Reference torque or from the reference 0x6076 U32 -
force
683.1 StatusDevice_ActualCurrent Status of actual current value 0x6077 (not E2_6 -
EtherCAT
with
mapping via
master)
683.13 StatusDevice_ActualTorqueDS402 Actual torque or force DS402 opmode 0x6077 I16 -
10 (only
EtherCAT
with
mapping via
master)
685.5 StatusVoltage_BusVoltageC43 Status DC bus voltage C4_3 0x6079 C4_3 -
1130.5 HOMING_home_offset Machine Zero Offset 0x607C C4_3 Immed
iately
410.3 LimitPosition_Negative Negative SW travel limit 0x607D.1 C4_3 Immed
iately
410.2 LimitPosition_Positive Positive Travel Limit 0x607D.2 C4_3 Immed
iately
1111.3 POSITION_accel Acceleration for positioning 0x6083 U32 Immed
iately
1127.1 SPEED_accel Acceleration / deceleration in speed 0x6083 U32 Immed
control operating mode iately
1111.4 POSITION_decel Deceleration for positioning 0x6084 U32 Immed
iately
1113.1 STOP_decel Deceleration upon STOP 0x6085 U32 Immed
iately
1130.4 HOMING_mode adjusting the machine reference mode 0x6098 U16 Immed
iately
1130.3 HOMING_speed speed for machine reference run 0x6099.1 C4_3 Immed
iately
1130.1 HOMING_accel Acceleration / deceleration homing run 0x609A U32 Immed
iately
1100.24 DeviceControl_TorqueOffset Offset Demand torque or force DS402 0x60B2 I16 Immed
opmode 10 iately
3925.1 FBI_Interpolation_SubModeSelect Interpolation method 0x60C0 I16 Immed
iately
680.6 StatusPosition_FollowingError Status of tracking error 0x60F4 C4_3 -
680.4 StatusPosition_DemandValue Status demand position 0x60FC C4_3 -
120.3 DigitalInput_DebouncedValue Status of digital inputs 0x6100.1 V2 -
121.2 DigitalInputAddition_Value input word of I/O option 0x6100.2 V2 -
133.3 DigitalOutputAddition_Value output word for I/O option 0x6300.2 V2 Immed
iately
C3I21T11 192-120106N14 - September 2014 315

5.12.2. Standardised and manufacturer-specific objects sorted

according to object names (I21T11)
format
1.21 Device_FirmwareRelease Version of firmware package 0x20FF I32 Immed
iately
20.1 ObjectDir_Objekts-->FLASH Store objects permanently (bus) 0x2017 I16 Immed
iately
84.2 DeviceSupervision_ThisDevice Device number in the C3M combination U16 -
84.3 DeviceSupervision_DeviceCounter Number of devices in the C3M U16 -
combination
84.4 DeviceSupervision_DeviceAdr Current RS485 address of the C3M U16 -
84.5 DeviceSupervision_OperatingTime Hours of operation of the PSUP in s U32 -
85.1 Diagnostics_DeviceState PSUP operating state V2 Immed
iately
85.2 Diagnostics_DCbus_Voltage PSUP DC intermediate voltage I16 -
85.3 Diagnostics_DCbus_Current PSUP intermediate current I16 -
85.4 Diagnostics_TemperatureHeatSink PSUP heat dissipator temperature I16 -
85.5 Diagnostics_RectifierLoad PSUP usage in % I16 -
85.7 Diagnostics_ChopperOn_Voltage Chopper Switch-on threshold in V I16 -
85.8 Diagnostics_ChopperOff_Voltage Chopper Switch-off threshold in V I16 -
85.9 Diagnostics_DCbus_VoltageMax Reduced DC bus voltage in V I16 -
86.1 ErrorHistoryPointer_LastEntry Pointer to current error U16 -
87.1 ErrorHistoryNumber_1 Error 1 U16 -
88.1 ErrorHistoryTime_1 Error point in time 1 U32 -
110.1 Switch_DeviceFunction Value of the function switch on C3M U16 -
120.2 DigitalInput_Value Status of digital inputs V2 -
120.3 DigitalInput_DebouncedValue Status of digital inputs 0x6100.1 V2 -
121.2 DigitalInputAddition_Value input word of I/O option 0x6100.2 V2 -
133.3 DigitalOutputAddition_Value output word for I/O option 0x6300.2 V2 Immed
iately
170.4 AnalogInput0_Offset Analog input Offset 0 I16 Immed
iately
171.4 AnalogInput1_Offset Analog input offset 1 I16 Immed
iately
200.1 NormFactorY2_Speed Normalization factor for Y2 speeds 0x2020.1 V2 Immed
iately
200.3 NormFactorY2_Voltage Normalization factor for Y2 voltages 0x2020.3 V2 Immed
iately
200.7 NormFactorY2_ActualValue3 Normalization factor for 1000.8 0x2020.7 V2 Immed
iately
201.2 NormFactorY4_Position Scaling factor for Y4 positions 0x2021.2 V2 Immed
iately
iately
iately
201.11 NormFactorY4_FBI_SignalProcessing_Positio Normalization factor for bus 0x2021.11 V2 Immed
n interpolation iately
iately
201.14 NormFactorY4_FBI_SignalProcessing_Speed Normalization factor for 3925.20 0x2021.14 V2 Immed
iately
201.15 NormFactorY4_FBI_SignalProcessing_Accel Normalization factor for 3925.21 0x2021.15 V2 Immed
iately
210.10 ValidParameter_Global setting objects to valid 0x2016.10 U16 Immed
iately
280.3 Resolver_LevelAdaption Resolver signal scaling I16 Immed
iately
316 C3I21T11 192-120106N14 - September 2014


format
280.5 Resolver_ExcitationLevel Resolver excitation level U16 Immed
iately
295.10 SSI_Feedback_Incr_Position SSI feedback position (Increments) I32 -
295.12 SSI_Feedback_PositionGreat Rotation position I32 -
402.1 Limit_SpeedPositive maximum permissible positive speed 0x2009 I16 VP
402.2 Limit_SpeedNegative maximum permissible negative speed 0x200A I16 VP
402.3 Limit_CurrentPositive maximum permissible positive current 0x200B I16 VP
402.4 Limit_CurrentNegative maximum permissible negative current 0x200C I16 VP
402.6 Limit_CurrentFine Factor for the current limits 0x2093 I16 Immed
iately
402.7 Limit_MaxTorque Torque limit or force limit 0x6072 U16 Immed
iately
410.2 LimitPosition_Positive Positive Travel Limit 0x607D.2 C4_3 Immed
iately
410.3 LimitPosition_Negative Negative SW travel limit 0x607D.1 C4_3 Immed
iately
410.6 LimitPosition_LoadControlMaxPosDiff Position difference load-motor (error C4_3 VP
threshold)
420.1 PositioningAccuracy_Window positioning window for position reached 0x6067 C4_3 VP
420.2 PositioningAccuracy_FollowingErrorWindow Following error limit 0x6065 C4_3 VP
420.3 PositioningAccuracy_FollowingErrorTimeout Following Error Time 0x6066 U16 Immed
iately
420.7 PositioningAccuracy_WindowTime In Position Window Time 0x6068 U16 Immed
iately
550.1 ErrorHistory_LastError current error (n) 0x603F/0x2 U16 -
01D.1
620.6 EncoderEmulation_Offset Zero pulse offset encoder emulation C4_3 VP
620.7 EncoderEmulation_SetEmulationZero Encoder simulation teaching zero pulse I16 Immed
iately
620.10 EncoderEmulation_Setpoint_without_offset Demand position of encoder simulation C4_3 -
(without offset)
634.4 AnalogOutput0_DemandValue Setpoint for analog output 0 0x2019 I16 Immed
iately
634.6 AnalogOutput0_Offset_Hardware Offset value for the D/A monitor 0 I16 VP
monitor 0
635.4 AnalogOutput1_DemandValue Setpoint for analog output 1 0x201A I16 Immed
iately
635.6 AnalogOutput1_Offset_Hardware Offset value for the D/A Monitor 1 I16 VP
monitor 1
670.2 StatusTorqueForce_ActualTorque Status of actual torque I32 -
670.4 StatusTorqueForce_ActualForce Status of actual force I32 -
670.9 StatusTorqueForce_RatedTorqueForce Reference torque or from the reference 0x6076 U32 -
force
680.4 StatusPosition_DemandValue Status demand position 0x60FC C4_3 -
680.5 StatusPosition_Actual Status actual position 0x2104 C4_3 -
680.6 StatusPosition_FollowingError Status of tracking error 0x60F4 C4_3 -
680.8 StatusPosition_ActualY4 Status of actual position in bus format 0x2022/0x6 I32 -
Y4 064
680.12 StatusPosition_DemandController Status demand position without C4_3 -
absolute reference
680.14 StatusPosition_FeedbackAbsolute Feedback absolute position in feedback I32 -
increments
680.20 StatusPosition_LoadControlDeviation Position difference load-motor C4_3 -
(unfiltered)
680.21 StatusPosition_LoadControlDeviationMax Maximum position difference load-motor C4_3 -
680.22 StatusPosition_LoadControlDeviationFiltered Position difference load-motor (filtered) C4_3 -
680.23 StatusPosition_LoadControlActual Actual position of the load C4_3 -
680.32 StatusPosition_EncoderIncrements5V Encoder position 0 (5V) in increments 0x2095.3 I32 Immed
iately
681.4 StatusSpeed_DemandValue Status demand speed of setpoint 0x606B C4_3 -
generator
681.5 StatusSpeed_Actual Status actual speed unfiltered 0x6069 C4_3 -
C3I21T11 192-120106N14 - September 2014 317


format
681.6 StatusSpeed_Error Status control deviation of speed 0x2027 C4_3 -
681.7 StatusSpeed_ActualFilteredY2 Status of the actual filtered speed 0x2023 Y2 -
speed in the Y2 format
681.9 StatusSpeed_ActualFiltered Status actual speed filtered 0x606C C4_3 -
681.10 StatusSpeed_DemandSpeedController Status demand speed controller input C4_3 -
681.11 StatusSpeed_FeedForwardSpeed Status speed feed forward C4_3 -
681.12 StatusSpeed_ActualScaled Filtered actual speed in per cent C4_3 -
681.13 StatusSpeed_DemandScaled Setpoint speed of the setpoint generator C4_3 -
681.20 StatusSpeed_LoadControl Speed of the load feedback (unfiltered) C4_3 -
681.21 StatusSpeed_LoadControlFiltered Speed of the load feedback (filtered) C4_3 -
681.24 StatusSpeed_PositiveLimit Positive speed limit currently effective C4_3 -
681.25 StatusSpeed_NegativeLimit Negative speed limit currently effective C4_3 -
681.26 StatusSpeed_ActualUnitrpmORmps Status of actual speed filtered in 1/min 0x2105 C4_3 -
or m/s
682.4 StatusAccel_DemandValue Status demand acceleration 0x200E I32 -
682.5 StatusAccel_Actual Status of actual acceleration unfiltered I32 -
682.6 StatusAccel_ActualFilter Status of filtered actual acceleration I32 -
682.7 StatusAccel_FeedForwardAccel Status acceleration feed forward C4_3 -
683.1 StatusDevice_ActualCurrent Status of actual current value 0x6077 (not E2_6 -
EtherCAT
with
mapping via
master)
683.2 StatusDevice_ActualDeviceLoad Status of device load 0x2011 E2_6 -
683.3 StatusDevice_ActualMotorLoad Status of long-term motor utilization 0x2012 E2_6 -
683.5 StatusDevice_ObservedDisturbance Status of observed disturbance C4_3 -
683.6 StatusDevice_BallastResistorLoad Status of long-term braking resistor C4_3 -
utilization
683.7 StatusDevice_BallastResistorDynamicLoad Status of short-term braking resistor C4_3 -
utilization
683.8 StatusDevice_MotorCurrent Motor current in per thousand of the 0x2094 I16 -
actual current limit
683.11 StatusDevice_BallastResistorONThreshold Braking resistor switch-on voltage C4_3 -
683.12 StatusDevice_BallastResistorOFFThreshold Braking resistor switch-off voltage C4_3 -
683.13 StatusDevice_ActualTorqueDS402 Actual torque or force DS402 opmode 0x6077 I16 -
10 (only
EtherCAT
with
mapping via
master)
684.1 StatusTemperature_PowerStage Status of power output stage 0x2014 U16 -
temperature
684.2 StatusTemperature_Motor Status of motor temperature 0x2013 I16 -
684.4 StatusTemperature_TmotResistance Status of motor temperature resistance U16 -
value
685.1 StatusVoltage_AuxiliaryVoltage Status of auxiliary voltage 0x200F E2_6 -
685.2 StatusVoltage_BusVoltage Status DC bus voltage E2_6 -
685.5 StatusVoltage_BusVoltageC43 Status DC bus voltage C4_3 0x6079 C4_3 -
688.1 StatusCurrent_Reference Status of setpoint current RMS (torque E2_6 -
forming)
688.2 StatusCurrent_Actual Status of actual current RMS (torque E2_6 -
producing)
688.8 StatusCurrent_ControlDeviationIq Status control deviation current control C4_3 -
RMS
688.9 StatusCurrent_PhaseU Status of current phase U C4_3 -
688.10 StatusCurrent_PhaseV Status of current phase V C4_3 -
688.11 StatusCurrent_ReferenceVoltageUq Status of current control control signal C4_3 -
688.13 StatusCurrent_ReferenceJerk Status of demand jerk setpoint I32 -
generator
688.14 StatusCurrent_FeedForwordCurrentJerk Status of current & jerk feedforward C4_3 -
688.17 StatusCurrent_FieldWeakeningFactor Reciprocal of the field weakening factor C4_3 -
FF
318 C3I21T11 192-120106N14 - September 2014


format
688.18 StatusCurrent_ReferenceDINT Demand current rms I32 -
688.19 StatusCurrent_ActualDINT Actual current rms I32 -
688.22 StatusCurrent_ReferenceVoltageVector Provided voltage pointer C4_3 -
688.29 StatusCurrent_VoltageUq Provided voltage of quadrature current C4_3 -
controller
688.30 StatusCurrent_VoltageUd Provided voltage of direct current C4_3 -
controller
688.31 StatusCurrent_DecouplingVoltageUd Signal decoupling of direct current C4_3 -
controller
688.32 StatusCurrent_FeedForwardbackEMF Signal EMC feed forward C4_3 -
688.33 StatusCurrent_PositiveLimit Positive current limit effective at present I32 -
688.34 StatusCurrent_NegativeLimit Negative current limit effective at I32 -
present
690.5 StatusAutocommutation_Itterations Current increase steps automatic U16 -
commutation
692.1 StatusFeedback_FeedbackSineDSP Status of sine in signal processing I32 -
692.2 StatusFeedback_FeedbackCosineDSP Status of cosine in signal processing I32 -
692.3 StatusFeedback_EncoderSine Status of analog input sine I32 -
692.4 StatusFeedback_EncoderCosine Status of analog input cosine I32 -
692.5 StatusFeedback_FeedbackVoltage[Vpp] Status of feedback level C4_3 -
692.9 StatusFeedback_ResolverLevel Status resolver level C4_3 -
692.10 StatusFeedback_RefChannel Status feedback index track I16 -
692.21 StatusFeedback_FeedbackSineDSPvolts Status of sine in signal processing C4_3 -
692.22 StatusFeedback_FeedbackCosineDSPvolts Status of cosine in signal processing C4_3 -
692.23 StatusFeedback_EncoderSineVolts Status of analog input sine (Volt) C4_3 -
692.24 StatusFeedback_EncoderCosineVolts Status of analog input cosine (Volt) C4_3 -
699.4 StatusJerk_DemandValue Status of demand jerk setpoint I32 -
generator
820.3 CANopen_Node_ID CANopen_Node_ID U16 -
820.8 CANopen_ComCyclePeriod Sync bus cycle time CANSync, 0x1006, U32 Immed
Powerlink, EtherCat 0x60C2 iately
820.23 CANopen_SyncPulseCounter Captured sync pulses I32 Immed
iately
820.24 CANopen_SyncMode Configuration of the bus 0x205E I16 Immed
synchronization process iately
820.27 CANopen_SyncErrorCounter Error counter for CANSync, Powerlink, I32 Immed
EtherCat iately
820.28 CANopen_SyncPeriod Current period duration of the sync C4_3 -
signal
990.1 Delay_MasterDelay Setpoint delay for bus master I16 Immed
iately
1000.3 DeviceState_Statusword_1 status word ZSW 0x6041 V2 Immed
iately
1000.4 DeviceState_Statusword_2 Status word 2 0x201C V2 Immed
iately
1000.5 DeviceState_ActualOperationMode operating mode display 0x6061 I16 Immed
iately
1100.3 DeviceControl_Controlword_1 STW control word 0x6040 V2 Immed
iately
1100.4 DeviceControl_Controlword_2 Control word 2 0x201B V2 Immed
iately
1100.5 DeviceControl_OperationMode Operating mode (Nominal value) 0x6060 I16 Immed
iately
1100.6 DeviceControl_DemandValue1 Device demand value A 0x202A/0x2 Y4 Immed
044/0x607A iately
1100.7 DeviceControl_DemandValue2 Device demand value D 0x202B/0x2 Y4 Immed
046/0x6081 iately
1100.13 DeviceControl_DemandValue8 Nominal value 0x206A/0x6 Y4 Immed
0FF iately
1100.14 DeviceControl_DemandValue2_Y2 Device demand value 0x202C/0x2 Y2 Immed
068 iately
1100.20 DeviceControl_QuickStopMode Quick Stop operating mode 0x605A I16 Immed
iately
1100.23 DeviceControl_TargetTorque Demand torque or force DS402 opmode 0x6071 I16 Immed
10 iately
C3I21T11 192-120106N14 - September 2014 319


format
1100.24 DeviceControl_TorqueOffset Offset Demand torque or force DS402 0x60B2 I16 Immed
opmode 10 iately
1111.1 POSITION_position Target position C4_3 Immed
iately
1111.2 POSITION_speed Speed for positioning C4_3 Immed
iately
1111.3 POSITION_accel Acceleration for positioning 0x6083 U32 Immed
iately
1111.4 POSITION_decel Deceleration for positioning 0x6084 U32 Immed
iately
1111.5 POSITION_jerk_accel Acceleration jerk for positioning 0x2005 U32 Immed
iately
1111.6 POSITION_jerk_decel Deceleration jerk for positioning 0x2006 U32 Immed
iately
1111.8 POSITION_resetpositon_mode Continuous mode 0 U16 Immed
iately
1111.10 POSITION_accel_U16 Acceleration for positioning in U16 0x202D U16 Immed
Format iately
1111.13 POSITION_direction Manipulation of the motion direction in I32 Immed
reset mode iately
1111.16 POSITION_decel_U16 Deceleration for Positioning in U16 0x205D U16 Immed
Format iately
1113.1 STOP_decel Deceleration upon STOP 0x6085 U32 Immed
iately
1113.2 STOP_jerk Jerk for STOP 0x2001 U32 Immed
iately
1116.1 FSTOP1_decel Deceleration for FSTOP1 0x2002 U32 Immed
iately
iately
1116.3 FSTOP1_mode Operating mode switch for CiA DS402 0x605B I16 Immed
transition 8 iately
1118.1 FSTOP3_decel Deceleration for FSTOP3 0x200D U32 Immed
iately
iately
1123.3 OperationDisable_mode Operating mode switch for CiA DS402 0x605C I16 Immed
transition 5 iately
1125.1 ERROR_decel Deceleration upon error 0x2018 U32 Immed
iately
1125.2 ERROR_jerk Jerk upon Error 0x2015 U32 Immed
iately
1127.1 SPEED_accel Acceleration / deceleration in speed 0x6083 U32 Immed
control operating mode iately
1127.3 SPEED_speed Setpoint speed in speed control C4_3 Immed
operating mode iately
1128.1 JOG_accel Acceleration for JOG +/- 0x2007 U32 Immed
iately
1128.2 JOG_jerk Jerk for Manual +/- 0x2010 U32 Immed
iately
1128.3 JOG_speed Speed for Manual +/- 0x2008 C4_3 Immed
iately
1130.1 HOMING_accel Acceleration / deceleration homing run 0x609A U32 Immed
iately
1130.3 HOMING_speed speed for machine reference run 0x6099.1 C4_3 Immed
iately
1130.4 HOMING_mode adjusting the machine reference mode 0x6098 U16 Immed
iately
1130.5 HOMING_home_offset Machine Zero Offset 0x607C C4_3 Immed
iately
1130.7 HOMING_edge_sensor_distance Initiator adjustment 0x2000 C4_3 Immed
iately
1130.13 HOMING_edge_position Distance MN (zero) initiator - motor zero C4_3 Immed
iately
1141.10 GEAR_FFW_mode Control bits for feedforward with source 0x2097 U16 Immed
CANSync/EthernetPowerLink/EtherCat iately
320 C3I21T11 192-120106N14 - September 2014


format
1152.20 RegMove_ParametersModified Status RegMove I16 Immed
iately
1211.13 PG2POSITION_direction Manipulation of the motion direction in I32 Immed
reset mode iately
1252.20 PG2RegMove_ParametersModified Status RegMove I16 Immed
iately
1900.1 Pointer_Row pointer to table row 0x2300 U16 Immed
iately
iately
iately
iately
iately
iately
iately
iately
iately
iately
1910.1 Indirect_Col01 indirect table access Column 1 0x2311 Y4 Immed
iately
2010.1 FeedForward_Speed Velocity Feed Forward 0x2101.1 U16 VP
2010.2 FeedForward_Accel Acceleration feedforward 0x2101.2 U16 VP
2010.4 FeedForward_Current Current feed-forward 0x2101.4 U16 VP
2010.5 FeedForward_Jerk Jerk feed-forward 0x2101.5 U16 VP
2010.20 FeedForward_EMF EMC feed forward U16 VP
2011.1 FeedForwardExternal_FilterSpeed External Speed Feed Forward Filter 0x2102.1 U16 VP
Time Constant
2011.2 FeedForwardExternal_FilterAccel External Acceleration Feed Forward 0x2102.2 U16 VP
Filter Time Constant
2011.4 FeedForwardExternal_FilterSpeed_us Filter time constant ext. speed U16 VP
2011.5 FeedForwardExternal_FilterAccel_us Filter time constant ext. Acceleration U16 VP
2020.1 ExternalSignal_Position Position from external signal source 0x2095.1 C4_3 -
2020.6 ExternalSignal_Speed_Munits Speed value of the external signal C4_3 -
source
2020.7 ExternalSignal_Accel_Munits Acceleration of the external signal I32 -
source
2100.2 ControllerTuning_Stiffness Stiffness (speed controller) 0x2100.2/0x U16 VP
2100.1
2100.3 ControllerTuning_Damping damping (rotation speed controller) 0x2100.3 U16 VP
2100.4 ControllerTuning_Inertia Inertia 0x2100.4 U16 VP
2100.5 ControllerTuning_FilterSpeed Filter-actual velocity 0x2100.5 U16 VP
2100.6 ControllerTuning_FilterAccel Filter - Actual acceleration 0x2100.6 U16 VP
2100.7 ControllerTuning_SpeedDFactor D-component of speed controller 0x2100.7 U16 VP
2100.8 ControllerTuning_CurrentBandwidth Current regulator bandwidth 0x2100.8 U16 VP
2100.9 ControllerTuning_CurrentDamping Current loop - Damping 0x2100.9 U16 VP
2100.10 ControllerTuning_FilterSpeed2 Filter actual velocity 2 U16 VP
2100.11 ControllerTuning_FilterAccel2 Filter actual acceleration 2 U16 VP
2100.20 ControllerTuning_FilterSpeed_us Control signal filter of velocity control U16 VP
2100.21 ControllerTuning_FilterAccel_us Filter - Actual acceleration U16 VP
2107.1 TrackingfilterPhysicalSource_TRFSpeed Time constant tracking filter physical U16 VP
source
2109.1 TrackingfilterHEDA_TRFSpeed Time constant tracking filter I16 VP
HEDA-process position
2110.1 TrackingfilterSG1_TRFSpeed Time constant tracking filter setpoint 0x2096 I16 VP
encoder
C3I21T11 192-120106N14 - September 2014 321


format
2110.3 TrackingfilterSG1_FilterSpeed Filter effect of speed filter setpoint U16 VP
encoder
2110.4 TrackingfilterSG1_AccelFilter Filter effect of acceleration filter setpoint U16 VP
encoder
2110.6 TrackingfilterSG1_FilterSpeed_us Filter time constant velocity setpoint U16 VP
generator
2110.7 TrackingfilterSG1_AccelFilter_us Filter time constant acceleration U16 VP
setpoint generator
2120.1 SpeedObserver_TimeConstant Rapidity of the speed monitor U32 VP
2120.5 SpeedObserver_DisturbanceFilter Time constant disturbance filter U32 VP
2120.7 SpeedObserver_DisturbanceAdditionEnable Switch to enable disturbance I16 VP
compensation
2190.1 AutoCommutationControl_Ramptime Ramp slope current slope AK U16 VP
2190.2 AutoCommutationControl_InitialCurrent Start current of automatic commutation U16 VP
2190.3 AutoCommutationControl_PositionThreshold Motion limit for automatic commutation U16 VP
2190.4 AutoCommutationControl_MotionReduction Motion reduction Automatic U16 VP
commutation
2190.7 AutoCommutationControl_StandstillThreshold Optimization of the standstill threshold U16 VP
2190.8 AutoCommutationControl_PeakCurrent Reduction of the peak current U16 VP
2190.10 AutoCommutationControl_Reset Reset automatic commutation U16 Immed
iately
2200.3 PositionController_ProportionalPart Optimization parameters for the position U16 VP
controller P component (KV factor)
2200.11 PositionController_TrackingErrorFilter Following error filter of the position U16 VP
controller
2200.20 PositionController_DeadBand Deadband of position controller C4_3 VP
2200.21 PositionController_FrictionCompensation Friction compensation I32 VP
2200.24 PositionController_TrackingErrorFilter_us Time constant following error filter of U16 VP
position controller
2200.25 PositionController_IntegralPart I term of position controller U16 VP
2201.1 LoadControl_Enable Activate load control 0x205F I16 Immed
iately
2201.2 LoadControl_Command Load control command mode I16 Immed
iately
2201.3 LoadControl_Status Load control status bits I16 -
2201.11 LoadControl_FilterLaggingPart Time constant of position difference U32 VP
filter
2201.12 LoadControl_VelocityFilter Time constant of the load-speed filter I16 VP
2201.13 LoadControl_VelocityLimit Load control intervention speed I16 VP
limitation
2210.4 SpeedController_P_Part_Gain P term quantifier U16 VP
2210.5 SpeedController_I_Part_Gain Weighting "I" term U16 VP
2210.17 SpeedController_ActualBandwidth Replacement time constant for the I32 -
velocity control
2220.5 Q_CurrentController_CurrentControlProportio Current Loop - "P" Term I16 VP
nalPart
2220.6 Q_CurrentController_CurrentControlIntegralP Current Loop I term I16 VP
art
2220.20 Q_CurrentController_Inductance Parameter motor inductance I16 VP
2220.21 Q_CurrentController_Resistance Parameter motor resistance I16 VP
2220.22 Q_CurrentController_BackEMF Parameter motor force constant I16 VP
2220.27 Q_CurrentController_StructureSelection Structure switch of current control I16 VP
2230.20 D_CurrentController_Ld_Lq_Ratio Ratio direct to quadrature inductance U16 VP
2230.24 D_CurrentController_VoltageDecouplingEnabl Activation of the voltage decoupling I16 VP
e
2240.2 Magnetisierungsstromregler_Imrn_DemandV Magnetization current quantifier (ASM) I16 VP
alueTuning
322 C3I21T11 192-120106N14 - September 2014


format
2240.4 Magnetisierungsstromregler_Damping Magnetization current controller I16 VP
attenuation(ASM)
2240.7 Magnetisierungsstromregler_Bandwidth Magnetization current controller I16 VP
bandwidth (ASM)
2240.9 Magnetisierungsstromregler_SlipFrequency Slip frequency quantifier (ASM) I16 VP
2240.10 Magnetisierungsstromregler_RotorTimeConst Motor Time Constant quantifier I16 VP
ant
2240.11 Magnetisierungsstromregler_Field weakening Reference speed quantifier (ASM) I16 VP
speed
3300.8 TouchProbe_IgnoreZone_Start Beginning of Registration lock-out zone 0x2066 C4_3 Immed
(StartIgnore) iately
3300.9 TouchProbe_IgnoreZone_End End of Registration lock-out zone 0x2067 C4_3 Immed
(StopIgnore) iately
3920.7 HEDA_SignalProcessing_OutputGreat Output of the Heda Tracking Filter C4_3 -
3921.1 FBI_SignalProcessing0_Input_Y4 Interpolation input CanSync, PowerLink 0x2050/0x6 I32 Immed
0C1.1 iately
3921.2 FBI_SignalProcessing0_ResetDistance Upper modulo limit CANSYNC, 0x2051 I32 Immed
Powerlink, EtherCAT in Mrev iately
3921.3 FBI_SignalProcessing0_ResetDistanceLow Lower modulo limit CanSync, 0x2103.1 I32 Immed
PowerLink, EtherCat in Mrev iately
3921.5 FBI_SignalProcessing0_OutputFBIncr Interpolation output position CanSync, I32 -
PowerLink, EtherCat in Fbincr.
3921.7 FBI_SignalProcessing0_OutputGreat Interpolation output position CanSync, Y4 -
PowerLink, EtherCat in Mrev - free
running.
3921.8 FBI_SignalProcessing0_Source Switching the position source of the I16 Immed
interpolator iately
3921.9 FBI_SignalProcessing0_ResetDistance_Incr Modulo limit CanSync, PowerLink, 0x2103.1 I32 Immed
EtherCat in Fbincr iately
3921.10 FBI_SignalProcessing0_ResetDistanceLow_I Lower modulo limit CanSync, 0x2103.2 I32 Immed
ncr PowerLink, EtherCat in Fbincr iately
3921.11 FBI_SignalProcessing0_IncrModuloEnable Selection switch Modulo limit CanSync, 0x2103.3 I32 Immed
PowerLink, EtherCat iately
3925.1 FBI_Interpolation_SubModeSelect Interpolation method 0x60C0 I16 Immed
iately
3925.20 FBI_Interpolation_VelocityInput Velocity specification GEARING 0x2098 I32 Immed
3925.21 FBI_Interpolation_AccelInput Acceleration specification GEARING 0x2099 I32 Immed
3925.22 FBI_Interpolation_VelocityStatus Speed output value for C4_3 -
3925.23 FBI_Interpolation_AccelStatus Acceleration output value for I32 -
3925.24 FBI_Interpolation_PositionStatus Interpolation position input value for I32 -
A detailed object list can be found in the corresponding online help.
C3I21T11 192-120106N14 - September 2014 323

5.12.3. Data formats of the bus objects

Integer formats .............................................................................................................. 324
Unsigned - Formats ....................................................................................................... 324
Fixed point format E2_6................................................................................................. 324
Fixed point format C4_3 ................................................................................................ 325
Bus format Y2 and Y4.................................................................................................... 325
Bit sequence V2 ............................................................................................................ 326
Byte string OS ............................................................................................................... 326
5.12.3.1 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
5.12.3.2 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
5.12.3.3 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
324 C3I21T11 192-120106N14 - September 2014

5.12.3.4 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
5.12.3.5 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
 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
C3I21T11 192-120106N14 - September 2014 325

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
5.12.3.6 Bit sequence V2

The V2 bus format is a bit sequence with a length of 16 bits.
5.12.3.7 Byte string OS

Octet string OS: String with variable length.
326 C3I21T11 192-120106N14 - September 2014

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 ................................................................................. 327
COM port protocol ......................................................................................................... 336
Remote diagnosis via Modem ........................................................................................ 341
6.1 Compax3 communication variants

PC <-> Compax3 (RS232) ............................................................................................. 328
PC <-> Compax3 (RS485) ............................................................................................. 329
PC <-> C3M device combination (USB) ......................................................................... 330
USB-RS485 Moxa Uport 1130 adapter .......................................................................... 331
ETHERNET-RS485 NetCOM 113 adapter ..................................................................... 332
Modem MB-Connectline MDH 500 / MDH 504 ............................................................... 333
C3 settings for RS485 two wire operation ...................................................................... 334
C3 settings for RS485 four wire operation...................................................................... 335
Overview of all possible communication modes between Compax3 devices and a
PC.
C3I21T11 192-120106N14 - September 2014 327

Communication C3I21T11
6.1.1. PC <-> Compax3 (RS232)

PC <-> Compax3 (RS232): Connections to a device
328 C3I21T11 192-120106N14 - September 2014

6.1.2. PC <-> Compax3 (RS485)

PC <-> Compax3 (RS485)
C3I21T11 192-120106N14 - September 2014 329

6.1.3. PC <-> C3M device combination (USB)

PC <-> C3M device combination
330 C3I21T11 192-120106N14 - September 2014

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:
C3I21T11 192-120106N14 - September 2014 331

6.1.5. ETHERNET-RS485 NetCOM 113 adapter
Manufacturer link: http://www.vscom.de/666.htm

(http://www.vscom.de/666.htm)
332 C3I21T11 192-120106N14 - September 2014

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.
C3I21T11 192-120106N14 - September 2014 333

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
334 C3I21T11 192-120106N14 - September 2014

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
C3I21T11 192-120106N14 - September 2014 335

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 411)
Wiring RS232: SSK1 (see on page 386)

RS485: as SSK27 (see on page 387) / RS485 is activated by +5V on X10/1.
USB: SSK33/03 (only for Compax3M)
RS485 settings values ................................................................................................... 336
ASCII - record................................................................................................................ 336
Binary record ................................................................................................................. 337
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 59).
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)
336 C3I21T11 192-120106N14 - September 2014

Parker EME COM port protocol
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 345).
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.
C3I21T11 192-120106N14 - September 2014 337

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
338 C3I21T11 192-120106N14 - September 2014

Parker EME COM port protocol
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)
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
C3I21T11 192-120106N14 - September 2014 339

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.
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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Parker EME Remote diagnosis via Modem
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........................................................................................................................ 341
Configuration of local modem 1 ..................................................................................... 342
Configuration of remote modem 2.................................................................................. 343
Recommendations for preparing the modem operation .................................................. 343
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
C3I21T11 192-120106N14 - September 2014 341

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 390) 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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Parker EME Remote diagnosis via Modem
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).
C3I21T11 192-120106N14 - September 2014 343

Status values C3I21T11
7. Status values
D/A-Monitor ................................................................................................................... 344
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.
7.1 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.
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Parker EME D/A-Monitor
8. Error
Standard error reactions:
Reaction 2: Downramp with "de-energize" then apply brake (see on page 273)
and finally de-energize.
For errors with standard reaction 2 the error reaction can be changed (see on
page 150).
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.
C3I21T11 192-120106N14 - September 2014 345

Order code C3I21T11
9. Order code
Order code device: Compax3 ........................................................................................ 347
Order code for mains module: PSUP ............................................................................. 348
Order code for accessories ............................................................................................ 348
346 C3I21T11 192-120106N14 - September 2014

Parker EME Order code device: Compax3
9.1 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
C3I21T11 192-120106N14 - September 2014 347

Order code C3I21T11
9.2 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
9.3 Order code for accessories

Order code for feedback cables ..................................................................................... 349
Order Code braking resistors ......................................................................................... 349
Order code mains filter (C3S) ........................................................................................ 350
Order code capacitor module......................................................................................... 350
Interface cable order code ............................................................................................. 350
Order Code input/output terminals (PIO)........................................................................ 351
Order note ..................................................................................................................... 352
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
348 C3I21T11 192-120106N14 - September 2014

Parker EME Order code for accessories
9.3.1. 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 352)
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
9.3.2. 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
C3I21T11 192-120106N14 - September 2014 349

Order code C3I21T11
9.3.3. 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
9.3.4. Order code capacitor module

Order code capacitor module
for C3S300V4 1100µF Module C4
350 C3I21T11 192-120106N14 - September 2014

Parker EME Order code for accessories
9.3.5. 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
9.3.6. 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
C3I21T11 192-120106N14 - September 2014 351

Order code C3I21T11
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
9.3.7. 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
352 C3I21T11 192-120106N14 - September 2014

Parker EME Parker servo motors
10. Compax3 Accessories

Parker servo motors ...................................................................................................... 353
EMC measures .............................................................................................................. 356
Connections to the motor............................................................................................... 364
External braking resistors .............................................................................................. 369
Capacitor module C4 ..................................................................................................... 382
Operator control module BDM ....................................................................................... 383
EAM06: terminal block for inputs and outputs ................................................................ 383
Interface cable ............................................................................................................... 386
Options M1x .................................................................................................................. 391
Analog current inputs and voltage inputs (Option M21) .................................................. 394
CAN - plug BUS10/01 .................................................................................................... 396
10.1 Parker servo motors

Direct drives .................................................................................................................. 353
Rotary servo motors ...................................................................................................... 355
10.1.1. Direct drives

Transmitter systems for direct drives ............................................................................. 354
Linear motors ................................................................................................................ 355
Torque motors ............................................................................................................... 355
C3I21T11 192-120106N14 - September 2014 353

Compax3 Accessories C3I21T11
10.1.1.1 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 354) 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.
354 C3I21T11 192-120106N14 - September 2014

Parker EME Parker servo motors
10.1.1.2 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
10.1.1.3 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.
10.1.2. 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!
C3I21T11 192-120106N14 - September 2014 355

10.2 EMC measures

Mains filter ..................................................................................................................... 356
Motor output filter........................................................................................................... 361
Mains chokes ................................................................................................................ 363
10.2.1. 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
356 C3I21T11 192-120106N14 - September 2014

Parker EME EMC measures
10.2.1.1 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
C3I21T11 192-120106N14 - September 2014 357

10.2.1.3 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
10.2.1.4 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
358 C3I21T11 192-120106N14 - September 2014

10.2.1.5 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
C3I21T11 192-120106N14 - September 2014 359

for PSUP10D6
360 C3I21T11 192-120106N14 - September 2014

10.2.2. 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 ......................................................................................... 361
Wiring of the motor output filter ...................................................................................... 362
10.2.2.1 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
C3I21T11 192-120106N14 - September 2014 361

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
10.2.2.4 Wiring of the motor output filter

Compax3 MDR Motor
PE
PE
U1 U2
U
V V1 V2 M
W W1 W2
Br+ + +
Br- - -
362 C3I21T11 192-120106N14 - September 2014

10.2.3. Mains chokes

Mains filters serve for reducing the low-frequency interferences on the mains side.
10.2.3.1 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
C3I21T11 192-120106N14 - September 2014 363

10.3 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............................................................................................................... 365
SinCos© cable............................................................................................................... 366
EnDat cable ................................................................................................................... 366
Motor cable.................................................................................................................... 367
Encoder cable ............................................................................................................... 368
364 C3I21T11 192-120106N14 - September 2014

Parker EME Connections to the motor
10.3.1. 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 348).
C3I21T11 192-120106N14 - September 2014 365

10.3.2. 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 348).
10.3.3. 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
366 C3I21T11 192-120106N14 - September 2014

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 348).
10.3.4. 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
10.3.4.1 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).
C3I21T11 192-120106N14 - September 2014 367

10.3.5. 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 348)
368 C3I21T11 192-120106N14 - September 2014

Parker EME External braking resistors
10.4 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 ............................................. 370
Dimensions of the braking resistors ............................................................................... 379
Ballast resistors Compax3

Ballast resistor (see on page Device Nominal Power
369)
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
C3I21T11 192-120106N14 - September 2014 369

10.4.1. Permissible braking pulse powers of the braking resistors

Calculation of the BRM cooling time .............................................................................. 370
Permissible braking pulse power: BRM08/01 with C3S015V4 / C3S038V4 .................... 371
Permissible braking pulse power: BRM08/01 with C3S025V2........................................ 372
Permissible braking pulse power: BRM11/01 with C3H0xxV4 ........................................ 378
Permissible braking pulse power: BRM12/01 with C3H1xxV4 ........................................ 378
Permissible braking pulse power: BRM13/01 with PSUP10D6 ....................................... 379
Permissible braking pulse power: BRM14/01 with PSUP10D6 ....................................... 379
The diagrams show the permissible braking pulse powers of the braking resistors
in operation with the assigned Compax3.
10.4.1.1 Calculation of the BRM cooling time
BRM04/01 (230V_3AC)
10000 F=20
F=10
F=5
F=2 F=1 F=0.5
PBdyn [W]
1000
100
0 0,5 1 1,5 2 2,5 3 3,5 4
Braking time [s]
370 C3I21T11 192-120106N14 - September 2014

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 = cooling time
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 = cooling time
time
5 * 0.5s = 2.5s
10.4.1.2 Permissible braking pulse power: BRM08/01 with

C3S015V4 / C3S038V4
BRM08/01 (480V)
10000
F=100
F=50
F=10 F=5 F=2 F=1 F=0.5
F=20
1000
PBdyn [W]
100
10
0 0,5 1 1,5 2 2,5 3
Braking time [s]
C3I21T11 192-120106N14 - September 2014 371


C3S025V2
BRM08/01 (230V)
10000
F=10 F=5 F=2 F=1 F=0.5

PBdyn [W]
1000
100
0 0,5 1 1,5 2 2,5 3
Braking time [s]

C3S100V2
BRM09/01 (230V_3AC)
10000
F=20
F=10
F=5
F=2 F=1 F=0.5
PBdyn [W]
1000
100
0 0,5 1 1,5 2 2,5 3 3,5 4
Braking time [s]
372 C3I21T11 192-120106N14 - September 2014


C3S150V4
BRM10/01 (400/480V)
100000
F=100
F=50
F=20 F=10 F=5 F=2 F=1 F=0.5
10000
PBdyn [W]
1000
100
0 0,5 1 1,5 2 2,5 3
Braking time [s]

C3S150V4
BRM10/02 (400/480V)
100000
F=10 F=5 F=2 F=1 F=0.5

PBdyn [W]
10000
1000
0 0,5 1 1,5 2 2,5 3
Braking time [s]
C3I21T11 192-120106N14 - September 2014 373


C3S063V2
BRM05/01 (230V)
10000
F=20 F=10
F=5 F=2 F=1 F=0.5

PBdyn [W]
1000
100
0 0,5 1 1,5 2 2,5 3
Braking time [s]

C3S075V4
BRM05/01 (400/480V)
100000
F=100 F=50 F=20
10000
F=10 F=5 F=2 F=1 F=0.5
PBdyn [W]
1000
100
0 0,5 1 1,5 2 2,5 3
Braking time [s]
374 C3I21T11 192-120106N14 - September 2014


C3S075V4
BRM05/02 (400/480V)
100000
F=50
F=100 F=20
10000 F=10 F=5 F=2 F=1 F=0.5

PBdyn [W]
1000
100
0 0,5 1 1,5 2 2,5 3
Braking time [s]

C3S150V2
BRM04/01 (230V_3AC)
10000 F=20
F=10
F=5
F=2 F=1 F=0.5
PBdyn [W]
1000
100
0 0,5 1 1,5 2 2,5 3 3,5 4
Braking time [s]
C3I21T11 192-120106N14 - September 2014 375


C3S300V4
BRM04/01 (400V)
100000
F=100
F=50
F=20
F=10 F=5 F=2 F=1 F=0.5
10000
PBdyn [W]
1000
100
0 0,5 1 1,5 2 2,5 3
Braking time [s]

C3S150V2
BRM04/02 (230V)
10000
F=20
F=10
F=5 F=2 F=1 F=0.5

PBdyn [W]
1000
0 0,5 1 1,5 2 2,5 3 3,5 4
Braking time [s]
376 C3I21T11 192-120106N14 - September 2014


C3S300V4
BRM04/02 (400V)
100000
F=100
F=50
F=10 F=5 F=2 F=1 F=0.5
F=20
PBdyn [W]
10000
1000
0 0,5 1 1,5 2 2,5 3
Braking time [s]

C3S300V4
BRM04/03 (400V)
100000
F=100
F=50
F=20
F=10
PBdyn [W]
F=5 F=2 F=1 F=0.5
10000
1000
0 0,5 1 1,5 2 2,5 3 3,5 4
Braking time [s]
C3I21T11 192-120106N14 - September 2014 377


C3H0xxV4
BRM11/01 (400V/480V)
100000
F=50 F=20 F=10 F=5 F=2 F=1 F=0.5

PBdyn [W]
10000
1000
0 0,5 1 1,5 2 2,5 3 3,5 4
Braking time [s]

C3H1xxV4
BRM12/01 (400V/480V)
100000
F=50 F=20 F=10 F=5 F=2 F=1 F=0.5
PBdyn [W]
10000
1000
0 0,5 1 1,5 2 2,5 3 3,5 4
Braking time [s]
378 C3I21T11 192-120106N14 - September 2014


PSUP10D6
on request

PSUP10D6
on request
10.4.2. Dimensions of the braking resistors

BRM8/01braking resistors.............................................................................................. 379
BRM5/01 braking resistor .............................................................................................. 379
Braking resistor BRM5/02, BRM9/01 & BRM10/01 ........................................................ 380
Braking resistor BRM4/0x and BRM10/02 ...................................................................... 380
Braking resistor BRM11/01 & BRM12/01 ....................................................................... 381
Ballast resistor BRM13/01 & BRM14/01 ........................................................................ 381
10.4.2.1 BRM8/01braking resistors

5,4
40
20
225 10
240
Stated in mm
10.4.2.2 BRM5/01 braking resistor

73
101
222
245
12
6,5
48
Stated in mm
C3I21T11 192-120106N14 - September 2014 379

10.4.2.3 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
10.4.2.4 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
380 C3I21T11 192-120106N14 - September 2014

10.4.2.5 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
10.4.2.6 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
C3I21T11 192-120106N14 - September 2014 381

10.5 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
382 C3I21T11 192-120106N14 - September 2014

Parker EME Operator control module BDM
10.6 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).
10.7 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/..
C3I21T11 192-120106N14 - September 2014 383

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
384 C3I21T11 192-120106N14 - September 2014

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
C3I21T11 192-120106N14 - September 2014 385

10.8 Interface cable

RS232 - cable / SSK1 .................................................................................................... 386
RS485 cable to Pop / SSK27 ......................................................................................... 387
I/O-interface X12 / X22 / SSK22 .................................................................................... 388
Ref X11 / SSK21 ........................................................................................................... 388
Encoder coupling of 2 Compax3 axes / SSK29 .............................................................. 389
Modem cable SSK31 ..................................................................................................... 390
Adapter cable SSK32/20 ............................................................................................... 390
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
10.8.1. 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
386 C3I21T11 192-120106N14 - September 2014

Parker EME Interface cable
10.8.2. 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
C3I21T11 192-120106N14 - September 2014 387

10.8.3. 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
10.8.4. 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
388 C3I21T11 192-120106N14 - September 2014

Parker EME Interface cable
10.8.5. 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
C3I21T11 192-120106N14 - September 2014 389

10.8.6. 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 348)
10.8.7. Adapter cable SSK32/20
390 C3I21T11 192-120106N14 - September 2014

Parker EME Options M1x
10.9 Options M1x

Digital input/output option M12 (I12) .............................................................................. 391
HEDA (motion bus) - Option M11 .................................................................................. 392
Option M10 = HEDA (M11) & I/Os (M12) ..................................................................... 393
10.9.1. Digital input/output option M12 (I12)

Option M12 (or M10: with HEDA) offers 8 digital 24V inputs and 4 digital outputs on
X22.
10.9.1.1 Assignment of the X22 connector
Pin Input/Output I/O /X22 Configurable in the C3

X22/ High density/Sub D ServoManager *:
1 n.c. factory use
2 O0/I0 Output 0 / Input 0 - adjustable *
3 O1/I1 Output 1 / Input 1 - adjustable
11 I 24 VDC power supply (not 24VDC)
15 I GND24V
* Configurable as input or output in the wizard window “I/O assignment” in groups of 4.
All inputs and outputs do have 24 V level.

Maximum load on an output: 100mA
Maximum capacitive load: 50nF (max. 4 Compax3 inputs)
Caution! The 24 VDC power supply (X22/11) must be supplied from an

external source and must be protected by a 1.2 A delayed fuse!
10.9.1.2 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.
C3I21T11 192-120106N14 - September 2014 391

10.9.2. 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
 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)
HEDA-wiring:
HEDA-Master
SSK28/..
SSK28/..
BUS07/01 SSK28/.. BUS07/01
Layout of SSK28 (see on page 350, see on page 389)
392 C3I21T11 192-120106N14 - September 2014

Parker EME Options M1x
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
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)
10.9.3. Option M10 = HEDA (M11) & I/Os (M12)

The M10 option includes the M12 input/output option and the HEDA M11 option.
C3I21T11 192-120106N14 - September 2014 393

10.10 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 ........................................................................ 394
Connector assignment Option M21 X21 ........................................................................ 395
10.10.1. 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
10.10.1.1 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
394 C3I21T11 192-120106N14 - September 2014

Parker EME Analog current inputs and voltage inputs (Option M21)
10.10.2. 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.
10.10.2.1 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!
C3I21T11 192-120106N14 - September 2014 395

10.11 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
396 C3I21T11 192-120106N14 - September 2014

Parker EME CAN - plug BUS10/01
11. 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)
C3I21T11 192-120106N14 - September 2014 397

Technical Data C3I21T11

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
398 C3I21T11 192-120106N14 - September 2014


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
C3I21T11 192-120106N14 - September 2014 399

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 382)”.
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 382)”.
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.
400 C3I21T11 192-120106N14 - September 2014


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
C3I21T11 192-120106N14 - September 2014 401


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

402 C3I21T11 192-120106N14 - September 2014


frequency
frequency*
(<5s)
Ipeak 7.5Arms 15Arms 20Arms 40Arms
(<5s)
Ipeak 5Arms 7.5Arms 10Arms 22Arms
(<5s)
frequency*
8kHz Inom 4Arms 8Arms 12.5Arms 25Arms
(<5s)
16kHz Inom 3Arms 5.5Arms 8Arms 15Arms
(<5s)
32kHz Inom 2Arms 2.5Arms 4Arms 8.5Arms
(<5s)

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

Ipeak (<5s) 40.5Arms 105Arms 105Arms 126Arms
Ipeak (<5s) 24Arms 60Arms 60Arms 72Arms
C3I21T11 192-120106N14 - September 2014 403

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
404 C3I21T11 192-120106N14 - September 2014

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 354) 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


C3I21T11 192-120106N14 - September 2014 405

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
406 C3I21T11 192-120106N14 - September 2014

Ballast resistors Compax3

Ballast resistor (see on page Device Nominal Power
369)
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 69, see on page 75)
C3I21T11 192-120106N14 - September 2014 407

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 69, see on page 75)
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

on page 78).

inputs
24V control voltage
control voltage
408 C3I21T11 192-120106N14 - September 2014

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 13) and the circuitry
Test mark MFS 09029 examples (see on page 92)
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
C3I21T11 192-120106N14 - September 2014 409

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 18)
EMC disturbance immunity Industrial area limit values in accordance with
EN 61 800-3
410 C3I21T11 192-120106N14 - September 2014

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 157) possible.
C3I21T11 192-120106N14 - September 2014 411

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
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.
CANopen ratings
Baud rate [kBit/s]  20, 50, 100, 125, 250, 500, 800, 1000
EDS file  C3.EDS
 PDO2
braking.
412 C3I21T11 192-120106N14 - September 2014

Functions
Operating modes:  Speed control
 Direct positioning (position control)
 Positioning with set selection
Speed control  Cyclic predefined Setpoint value
 Up to 2 cyclic actual values
Direct positioning  Cyclic predefined Setpoint value
 Cyclic actual values
 Different motion functions
Positioning with set selection  up to 31 motion sets possible.
 Different motion functions
Motion functions  Absolute positioning
 Relative positioning
 Electronic Gearbox (Gearing)
 Reg-related positioning
(exactitude < 1µs)
 Speed control
 Stop - Set
 Defining status bits for the sequence
control
 Specification of speed, acceleration,
deceleration and jerk
 Different machine zero modes
 Absolute / continuous operation
Actual position  Encoder simulation
 Resolution: 1 - 16384 increments /
revolution
Signal monitor  2 channels ±10 V analog
 Resolution: 8 Bit
C3I21T11 192-120106N14 - September 2014 413

Index C3I21T11
12. Index
Ballastwiderstand / Leistungsspannung
( Stecker X2 bei 1AC
Linear interpolation of position and Speed 230VAC/240VAC-Geräten • 36
setpoint value (o3925.1=-4 • 294 Basic functions: • 90
Basic structure of the control with Compax3 •
+ 169
Basics of frequency response measurement •
+/-10V analog speed setpoint value as signal
266
source • 155
Baud rate • 275
< Bedeutung der Status-LEDs - PSUP
(Netzmodul) • 29
<Bus system_C_D> - Configuration • 274 Begrenzung der Sollgeschwindigkeit • 202
A Begrenzung des Sollstroms • 202
Beispiel
Absolute encoder • 112 Elektronisches Getriebe mit Lageerfassung
Absolutposition im Geber speichern • 113 über Encoder • 154
Acceleration / deceleration for positioning • 132 Beschaltung der analogen
Acceleration for positioning and velocity control Spannungseingänge • 395
• 132 Beschaltung der analogen Stromeingänge •
Access to the hazardous area • 87, 91 394
Activation • 239 Bestellhinweis Kabel • 352
Adapterkabel SSK32/20 • 390 Bestellschlüssel Ein-/Ausgangsklemmen (PIO)
Additional conditions of utilization • 20 • 351
Adjusting the basic address • 61 Bestellschlüssel Feedbackkabel • 349
Adjusting the machine zero proximity switch • Bestellschlüssel Kondensatormodul • 350
126 Bestellschlüssel Netzfilter (C3S) • 350
Advanced • 205 Bestellschlüssel Zubehör • 348
Advantages of using the • 79 Betriebsart
Alignment of the analog inputs • 235 Cyclic Synchronous Position Mode • 295
Allgemeine Gefahren • 15 Positionieren duch Satzanwahl • 282
Analog Inputs/Outputs • 344 Profile Position Mode • 275
Analoge Strom- und Spannungseingänge Profile Velocity Mode • 280
(Option M21) • 394 Betriebsart Interpolated Position Mode • 290
Analogue / encoder (plug X11) • 66 Betriebsart Maschinennull (Homing) • 287
Analyses in the time range • 241 Betriebsarten • 275
Application parameters • 170 Bewegungsobjekte in Compax3 • 232
Applikationsbeispiel STO (= Sicher Bewegungszyklus ohne Vorsteuerung • 204
abgeschaltetes Moment) • 84 Binary record • 337
Approximation of a well-attenuated control loop Bit sequence V2 • 326
• 189 Boundary conditions • 233
ASCII - record • 336 Brake delay times • 273
Assignment of the different motion functions • Braking resistor / high voltage DC C3S
284 connector X2 • 36
Assignment of the X22 connector • 391 Braking resistor / high voltage supply
Asynchronmotoren • 183 connector X2 for 3AC
Asynchronous motors 400VAC/480VAC_C3S devices • 38
Extension of the controller structure • 186 Braking resistor / high voltage supply plug X2
Attenuation of the excitation amplitude • 251 for 3AC 230VAC/240VAC devices • 36
Aufbau der Satztabelle • 284 Braking resistor / supply voltage C3H • 58
Automated controller design • 196 Braking resistor / temperature switch PSUP
Automatic controller design • 187 (mains module) • 47
Azyklischer Parameterkanal • 300 Braking resistor BRM11/01 & BRM12/01 • 381
Braking resistor BRM4/0x and BRM10/02 • 380
B Braking resistor BRM5/02, BRM9/01 &
Ballast resistor • 36, 107, 405 BRM10/01 • 380
Ballast resistor BRM13/01 & BRM14/01 • 381 BRM10/02 • 369, 373, 380
BRM5/01 braking resistor • 379
414 C3I21T11 192-120106N14 - September 2014

BRM8/01braking resistors • 379 Configuration of load control • 158

Busformat Y2 und Y4 • 325 Configuration of local modem 1 • 342
Byte string OS • 326 Configuration of remote modem 2 • 343
Configuring the signal Source • 152
C Connect braking resistor C3H • 58
C3 ServoSignalAnalyzer • 237 Connection of a braking resistor • 36, 38
C3 settings for RS485 four wire operation • Connection of terminal box MH145 & MH205 •
335 367
C3 settings for RS485 two wire operation • 334 Connection of the digital Outputs/Inputs • 68
Calculation of the BRM cooling time • 370 Connection of the power voltage • 52
Calculation of the reference current from the Connection of the power voltage of 2 C3H 3AC
characteristic line. • 173 devices • 58
Calling up the input simulation • 230 Connection of the power voltage of 2 C3S 3AC
CAN - plug BUS10/01 • 396 devices • 38
CAN communication objects overview sorted Connections of Compax3H • 51
according to CAN No. • 304 Connections of Compax3S • 30
CANopen communication profile • 302 Connections of digital inputs and outputs M10
CANopen connector X23 Interface I21 • 62 & M12 • 391
CANopen objects • 307 Connections of the axis combination • 43
Capacitors • 14 Connections of the encoder interface • 66
Cascade control • 193 Connections on the device bottom • 42
Cascade structure of Compax3 • 194 Connections to the motor • 364
Change assignment direction reversal / limit Connector assignment Option M21 X20 • 394
switches • 131 Connector assignment Option M21 X21 • 395
Change initiator logic • 131 Control path • 171
Changing the switching frequency and the Control sctructures • 200, 205, 207
reference point • 182 Control signal filter / filter of actual acceleration
Characteristics of a control loop setpoint value • 205
response • 192 Control signal limitations • 201
CiA405_SDO_Error (Abort Code) Control voltage 24 VDC • 33
UDINT • 300 Control voltage 24 VDC C3H • 57
Circuit layout overview • 84 Control voltage 24VDC / enable connector X4
Circuit: • 85, 89 C3S • 33
COM port protocol • 336 Control voltage 24VDC PSUP (mains module)
Communication • 327 • 44
Communication Compax3M • 60 Control word 1 (Control word 1) 0x6040
Communication interfaces • 59 (o1100.3) (cyclic synchronous mode) op
Communication objects • 303 8,9,10 • 296
Commutation settings of the automatic Control word 1 (Control word 1) 0x6040
commutation • 212 (o1100.3) (homing mode) • 287
Compax3 communication variants • 327 Control word 1 (Control word 1) 0x6040
Compax3 device description • 28 (o1100.3) (interpolated position mode) • 291
Compax3 Xxx I21T11 Introduction • 26 Control word 1 (Control word 1) 0x6040
Compax3H connections front plate • 53 (o1100.3) (manual mode) • 289
Compax3H plugs/connections • 51 Control word 1 (Control word 1) 0x6040
Compax3M STO application description • 95 (o1100.3) (Positioning via set selection) •
Compax3S connectors • 30 285
Compax3Sxxx V2 • 35 Control word 1 (Control word 1) 0x6040
Compax3Sxxx V4 • 37 (o1100.3) (Profile position mode) • 278
Conditions of utilization • 18 Control word 1 (Control word 1) 0x6040
Conditions of utilization for cables / motor filter (o1100.3) (Profile velocity mode) • 281
• 19 Controller coefficients • 197
Conditions of utilization for CE-conform Controller optimization • 168
operation • 18 Controller optimization Advanced • 226
Conditions of utilization for the STO function Controller optimization disturbance and
with Compax3M • 93 setpoint behavior (advanced) • 226
Conditions of utilization for UL approval Controller optimization disturbance and
Compax3M • 22 setpoint behavior (standard) • 224
Conditions of utilization mains filter • 18 Controller optimization guiding transmission
Conditions of utilization STO (=safe torque off) behavior • 228
Safety function • 83 Controller optimization of toothed belt drive •
Configuration name / comments • 150 225
C3I21T11 192-120106N14 - September 2014 415

Index C3I21T11
Controller optimization standard • 224 Electronic gearbox (Gearing) • 148

Correlation between the terms introduced • Electronic simulation of a disturbance torque
196 jerk with the disturbance current jerk • 195
Course of the automatic commutation function EMC feedforward • 209
• 213 EMC measures • 356
Cubical interpolation (o3925.1=-3) • 293 Emergency stop and protective door
Current (Torque) Limit • 134 monitoring without external safety switching
Current control • 253 device. • 98
Current jerk response • 218 Encoder A/B 5V, step/direction or SSI
Current jerk response with the activated feedback as signal source • 154
saturation characteristic line • 218 Encoder bypass with Feedback module F12
Cut-off frequency for the field weakening range (for direct drives) • 137
• 185 Encoder cable • 368
Encoderkopplung von 2 Compax3 - Achsen /
D SSK29 • 389
D/A-Monitor • 344 Encodernachbildung • 137
Data formats of the bus objects • 324 EnDat - Kabel • 366
Deadband following error • 219 Energize and deenergize circuitry • 96
Debouncing Error
Limit switch, machine zero and input 0 • 131 Position difference between load mounted and
Defining jerk / ramps • 132 motor feedback too high • 159
Defining the reference system • 108 Error response • 150
Definition of the states of the programmable Ersatzschaltbild - Daten für eine Phase • 183
status bits (PSBs): • 285 ETHERNET-RS485 NetCOM 113 adapter •
Demand behavior • 191 332
Description of jerk • 132 Example
Determination of the commutation settings • Setting the Oscilloscope • 166
185 Example 1
Devices with the STO (=safe torque off) safety Reg comes after the reg restriction window •
function • 80 145
Digital inputs/outputs • 68 Example 2
Digitale Ein-/Ausgänge (Stecker X12) • 67 Reg within the reg restriction window • 145
Digitale Ein-/Ausgangsoption M12 (I12) • 391 Example 3
Dimensions of the braking resistors • 379 Reg is missing or comes after termination of
Direktantriebe • 353 the RegSearch motion set • 146
Display of the commutation error in Example 4
incremental feedback systems • 212 Reg comes before the reg restriction window •
Display of the measurement point at the cursor 147
position • 265 Example 5
Display of the measurement result • 264 The registration mark comes after the reg
Distinction between signals and systems • 266 restriction window, registration mark can,
Disturbance behavior • 191 however, not be reached without direction
Disturbance jerk response • 195 reversal • 147
D-term of the KD velocity controller • 198 Excitation Signal • 250
Dynamic positioning • 151 Extended cascade (structure variant 1) • 205
Dynamic stiffness • 194 Extended cascade structure (structure variant
Dynamics of a control • 187 2 with disturbance variable observer) • 207
External braking resistors • 369
E External Moment of Inertia • 182
external position correction • 157
E/A - Belegung • 138
External setpoint generation • 222
E/A-Schnittstelle X12 / X22 / SSK22 • 388
EAM06 F
Klemmenblock für Ein- und Ausgänge • 383
Effect of the notch filter • 216 Feedback error compensation • 176
Eingangssimulation • 230 Feedforward channels • 203
Einleitung • 11, 169 Fehler • 345
Einsatzbedingungen für die UL-Zulassung Fehlerreaktion bei Busausfall • 275
Compax3H • 24 Ferrite • 34
Einsatzbedingungen für die UL-Zulassung Filter • 209
Compax3S • 21 Fixed point format C4_3 • 325
Einsatzbedingungen für die UL-Zulassung Fixed point format E2_6 • 324
PSUP • 23
416 C3I21T11 192-120106N14 - September 2014

Flow chart controller optimization of a direct Kommunikation im Achsverbund (Stecker X30,

drive • 227 X31) • 60
Following Error (Position Error) • 180 Kommutierungseinstellungen • 177
Following error limit • 136 Kondensatormodul ModulC4 • 382
Fremdmotor • 181 Konfiguration • 102, 171
Frequency response of the notch filter. • 217
Frequency settings • 257 L
Frequenzgang des P-TE Gliedes (Betrag und Lastidentifikation • 220, 233
Phase) • 190 Lastregelung • 157, 209
Front connector • 41 Leak effect and windowing • 245
Function description for fieldbus applications LEDs • 28, 29
with T11 devices: • 97 Level • 68
Function of the Bus LEDs • 63 Limit and monitoring settings • 134, 183
Function principle of the automatic Limitation behavior • 193
commutation with movement • 214 Limitation of the control voltage • 203
Functionality of the measurement • 244, 247 Linear Interpolation (o3925.1 = 0 or o3925.1 =
-1) • 292
G
Linear motors • 355
Gain alignment • 236 Linear Systems (LTI System) • 267
Gebersysteme für Direktantriebe • 354 Linear two mass system • 270
General Description • 78 Linearized motor characteristic lien for different
General drive • 107 operating points • 178
General layout of the table • 284 Load control signal image • 159
Gerätezuordnung • 11 Logic proximity switch types • 68
Luenberg observer • 209
H
M
Hardware-Endgrenzen • 130
HEDA (motion bus) - Option M11 • 392 Machine Zero • 111
Homing modes with home switch (on X12/14) • Machine zero modes overview • 114
116 Machine zero modes without home switch •
122
I Machine zero only from motor reference • 124
I²t - monitoring of the motor • 177 Machine zero speed and acceleration • 127
Identity Object (0x1018) • 306 Main flow chart of the controller optimization •
Ignore zone (example) • 140 223
Important terms and explanations • 78 Main voltage supply C3S connector X1 • 35
Inbetriebnahme Compax3 • 102 Mains connection Compax3H • 57
Inbetriebnahmefenster • 220 Mains filter • 356
Increased following error • 175 Mains filter for NFI01/03 • 358
Influence of the feedforward measures • 203 Mains filter for PSUP30 • 363
Instable behavior • 176 Mains filter NFI01/01 • 357
Installation instructions Compax3M • 39 Mains filter NFI01/02 • 357
Installation und Freischaltung des Mains filter NFI02/0x • 358
ServoSignalAnalyzers • 239 Mains filter NFI03/01& NFI03/03 • 359
Integer formats • 324 Mains filter NFI03/02 • 360
Intended use • 79 Mains supply PSUP (mains module) X41 • 45
Interface • 174 Manual operation operating mode (Jogging) •
Interface cable • 386 289
Interface cable order code • 351 Mass inertia • 172
Internal setpoint generation • 220 Maximum operating speed • 136
Interpolation • 292 Meaning of the status LEDs - Compax3 axis
Interpolationsverfahren • 292 controller • 28
Introduction observer • 209 Measure reference • 108
Measurement of frequency responses • 247
J Measurement of frequency spectra • 244
Measurement of the motor temperature of
Jerk for STOP, MANUAL and error • 134
Compax3M (axis controller) • 50
Jerk limit for positioning • 132
Mechanical system • 254, 268
Jerk value • 132
MN-M 1,2
K Limit switch as machine zero • 125
MN-M 11...14
C3I21T11 192-120106N14 - September 2014 417

Index C3I21T11
With direction reversal switches on the Motor output filter MDR01/02 • 362
negative side • 121 Motor output filter MDR01/04 • 361
MN-M 128/129 Motor parameters • 181, 209
Stromschwelle while moving to block • 122 Motor parameters relevant for the control • 172
MN-M 130, 131 Motor pulse usage • 179
Acquire absolute position via distance coding • Motor reference point • 182
124 Motor selection • 104
MN-M 132, 133 Motor types supported • 182
Determine absolute position via distance Mounting and dimensions • 69
coding with direction reversal switches • Mounting and dimensions C3H • 75
126 Mounting and dimensions Compax3S • 69
MN-M 17,18 Mounting and dimensions Compax3S0xxV2 •
Limit switch as machine zero • 123 69
MN-M 19,20 Mounting and dimensions Compax3S100V2
MN-Initiator = 1 on the positive side • 116 and S0xxV4 • 70
MN-M 21,22 Mounting and dimensions Compax3S150V2
MN Initiator = 1 on the negative side • 117 and S150V4 • 71
MN-M 23...26 Mounting and dimensions Compax3S300V4 •
Direction reversal switches on the positive side 72
• 118 Mounting and dimensions PSUP/C3M • 73
MN-M 27...30 Mounting and dimensions
Direction reversal switches on the negative PSUP10/C3M050D6, C3M100D6,
side • 118 C3M150D6 • 73
MN-M 3,4 Mounting and dimensions
MN-Initiator = 1 on the positive side • 119 PSUP20/PSUP30/C3M300D6 • 74
MN-M 33,34 Mounting distances, air currents
MN at motor zero point • 124 Compax3H050V4 • 76
MN-M 35 Mounting distances, air currents
MN (machine zero) at the current position • Compax3H090V4 • 76
122 Mounting distances, air currents
MN-M 5,6 Compax3H1xxV4 • 77
MN-Initiator = 1 auf der negativen Seite • 120 MoveAbs und MoveRel • 143
MN-M 7...10
Direction reversal switches on the positive side N
• 121 Netzdrosseln • 363
Mode 1 Noise • 175
Time and maximum values are deduced from Nominal point • 178
Compax3 input values • 271 Nominal point data • 172
Mode 2 Non-linearities and their effects • 250
Compax3 input values are deduced from times Notch filter • 216
and maximum values • 272 Note on error switch-off • 84
Modem cable SSK31 • 390 Notes on the STO function • 83
Modem MB-Connectline MDH 500 / MDH 504
• 333 O
Monitor information • 161
Object types • 303
Motion cycle with feedforward measures • 204
Object Up-/Download via CANopen • 301
Motion functions • 143
Offset alignment • 235
Motion profile at jerk-controlled setpoint
Open/Closed Loop frequency response
generation • 221
measurement • 249
Motion set • 232
Operating and status field • 262
Motor - Dauerauslastung: • 177
Operating Principle • 230
Motor / Motor brake C3S connector X3 • 34
Operation with MultiTurn emulation • 113
Motor / motor brake Compax3M (axis
Operator control module BDM • 383
controller) • 49
Optimierung • 160
Motor / Motorbremse C3H • 56
Optimization parameter Advanced • 208
Motor cable • 367
Optimization window • 160
Motor characteristic line of a synchronous
Optimize motor reference point and switching
servo motor (torque via velocity) • 173
frequency of the motor current • 104
Motor Connection • 34
Option M10 = HEDA (M11) & I/Os (M12) •
Motor holding brake • 34
393
Motor output filter • 361
Options M1x • 391
Motor output filter MDR01/01 • 361
Order code • 346
418 C3I21T11 192-120106N14 - September 2014

Order Code braking resistors • 349 Process of the automatic determination of the
Order code device load characteristic value (load identification)
Compax3 • 347 • 234
Order code for mains module ProfileViewer for the optimization of the motion
PSUP • 348 profile • 271
Oscillating plant • 187 Programmable status bits (PSBs) • 141
Oscilloscope operating mode switch: • 163 PSUP/Compax3M Connections • 41
Other • 216 P-TE - Symbol • 189
Other settings • 259 P-term KV position loop • 198
Overview of the user interface • 253
Q
P
Quadratic interpolation (o3925.1=-2) • 293
Parameterization by 3 objects. • 217 Quality of different feedback systems • 174
Parker Motor • 181
Parker Servomotoren • 353 R
Path optimized positioning • 139 Ramp upon error and de-energize • 133
PC - PSUP (Mains module) • 60 Recommendations for preparing the modem
PC <-> C3M device combination (USB) • 330 operation • 343
PC <-> Compax3 (RS232) • 328 Reduction of the current ripple • 181
PC <-> Compax3 (RS485) • 329 Ref X11 / SSK21 • 388
Permissible braking pulse power Reference point 1
BRM04/01 with C3S150V2 • 375 higher velocity at reduced torque • 178
BRM04/01 with C3S300V4 • 376 Reference point 2
BRM04/02 with C3S150V2 • 376 Increased torque thanks to additional cooling •
BRM04/02 with C3S300V4 • 377 179
BRM04/03 with C3S300V4 • 377 Regelungsmaßnahmen für reibungsbehaftete
BRM05/01 with C3S063V2 • 374 Antriebe • 219
BRM05/01 with C3S075V4 • 374 Reg-related positioning (RegSearch,
BRM05/02 with C3S075V4 • 375 RegMove) • 144
BRM08/01 with C3S015V4 / C3S038V4 • 371 Reg-related positioning / defining ignore zone •
BRM08/01 with C3S025V2 • 372 140
BRM09/01 with C3S100V2 • 372 Reibungskompensation • 220
BRM10/01 with C3S150V4 • 373 Relevant application parameters • 180
BRM10/02 with C3S150V4 • 373 Remote diagnosis via Modem • 341
BRM11/01 with C3H0xxV4 • 378 Resolution • 174
BRM12/01 with C3H1xxV4 • 378 Resolver • 64
BRM13/01 with PSUP10D6 • 379 Resolver / Feedback (connector X13) • 64
BRM14/01 with PSUP10D6 • 379 Resolver cable • 365
Permissible braking pulse powers of the Resonance points and their causes • 269
braking resistors • 370 Response • 193
Plug assignment Compax3S0xx V2 • 33, 34, Rigidity • 194
35, 36, 59, 64 Rotary servo motors • 355
Position control • 255 Rotary two mass system • 269
Position correction • 157 Rotor time constant • 185
Position measurement external • 157 RS232 - Kabel / SSK1 • 386
Position mode in reset operation • 139 RS232 / RS485 interface (plug X10) • 59
Positioning & Control via CANopen • 274 RS232 plug assignment • 59
Positioning after homing run • 111 RS485 - Kabel zu Pop / SSK27 • 387
Positioning window - Position reached • 135 RS485 plug assignment • 59
Power supply • 35 RS485 settings values • 336
Power supply connector X1 for 3AC
400VAC/480VAC-C3S devices • 37 S
Power supply plug X1 for 1 AC
Safe torque off • 78
230VAC/240VAC devices • 35
Safe torque off basic function • 86
Power supply plug X1 for 3AC
Safe torque off description • 86, 90
230VAC/240VAC devices • 35
Safe torque off layout with bus • 88
Power supply voltage DC C3H • 58
Safety function - STO (=safe torque off) • 78
Prerequisites for the automatic commutation •
Safety instructions • 15
213
Safety instructions concerning the frequency
Principle • 233
response measurement • 247
Proceeding during controller optimization • 222
Safety notes for the STO function in the
Compax3M • 93
C3I21T11 192-120106N14 - September 2014 419

Index C3I21T11
Safety switching circuits • 92 Standardised and manufacturer-specific

Safety technology option S3 for Compax3M objects sorted according to object names
(axis controller) • 50 (I21T11) • 316
Safety-conscious working • 15 Standardized and manufacturer-specific
Sättigungsverhalten • 184, 218 objects sorted according to CAN No.
Saturation values • 174 (I21T11) • 308
Satztabelle beschreiben • 141 State machine • 298
Scope • 161 Static stiffness • 194
Scope of delivery • 11 Status LEDs • 28, 29
Selection of the signal or system to be Status values • 344
measured. • 253 Statuswort 1 (Statusword) (op -1, jogging
Selection of the supply voltage used • 103 mode) • 290
Service Data Objekts (SDO) • 300 Statuswort 1 (Statusword) (op 1,-2, profile
ServoSignalAnalyzer - function range • 237 position mode, Satzanwahl) • 279, 286
Setpoint and disturbance behavior of a control Statuswort 1 (Statusword) (op 3, Homing
loop • 191 mode) • 288
Setpoint generation • 220 Statuswort 1 (Statusword) (op 3, Profile
Setting baud rate and Node-ID • 62 velocity mode) • 281
Setting the axis function • 61 Statuswort 1 (Statusword) (op 7, ip mode) •
Setting the time basis XDIV • 163 291
Settings for channels 1..4 • 164 Statuswort 1 (Statusword) (op 8, csp mode) •
Setup and optimization of the control • 199 296
Setup mode • 231 Statuswort 2 (Satzanwahl) • 286
Shifting the working point into a linear range • Stecker- und Pinbelegung C3H • 54
251 Stecker- und Pinbelegung C3S • 31
Signal analysis overview • 238 Step response of a delay component • 189
Signal processing of the analog input 0 • 155 Step response of the velocity loop depending
Signal processing of the analog inputs • 236 on the optimization parameter • 197
Signal source of the load feedback system • STO (= safe torque off) with Compax3m
152 (Option S1) • 92
Signalfilterung bei externer Sollwertvorgabe • STO (= safe torque off) with Compax3S • 81
228 STO delay times • 82, 94
Signalfilterung bei externer Sollwertvorgabe STO function test • 99
und elektronischem Getriebe • 229 STO function with safety switching device for
Signalflussplan Luenberger-Beobachter • 210 T11 applications with fieldbusses • 96
Signalquelle für Gearing wählen • 152 STO function with safety switching device via
Signalquelle HEDA • 153 Compax3M inputs • 95
Signalschnittstellen • 64 STO Principle (= Safe Torque Off) with
SinCos© cable • 366 Compax3S • 81
Slave in Position Mode - Direct Positioning • STO Test-Protokoll-Vorschlag
276 (Sicherheitsoption S1) • 100
Slave in Velocity Mode - velocity control • 280 Stop command (Stop) • 150
Slave with set selection • 283 Storage • 14
Slip • 157 Strom auf dem Netz-PE (Ableitstrom) • 25
Slip Frequency • 184 Structure • 341
Software end limits • 128 Structure of a cascade control • 193
Software zur Unterstützung der Konfiguration, Structure of a control • 187
Inbetriebnahme und Optimierung • 170 Struturbild im Interpolations - Betrieb • 294
Special functions • 165 Supply networks • 25
Special safety instructions • 16 Switching frequency of the motor current /
Speed control • 258 motor reference point • 180
Speed for positioning and velocity control • 132 Synchronisationsverfahren • 297
Speed specification (Velocity) • 150
Stability problem in the high-frequency range: • T
188 Teach machine zero • 122
Stability problem in the low-frequency range: • Technical Characteristics STO Compax3S •
188 87, 91
Stability, attenuation • 187 Technische Daten • 397
Standard • 199 Technische Daten der Compax3M S1-Option •
Standard cascade structure • 200 101
Standard optimization parameters • 201 Temperature switch PSUP (mains module) •
48
420 C3I21T11 192-120106N14 - September 2014

Test functions • 192 X14 Safety technology option S1 for

The calculation of the physically possible Compax3M (axis controller) • 50
acceleration • 221 X2 • 36
Time frame signal source master • 156 X3 • 34
Time function and power density spectrum of X4 • 33
Compax3 setpoint generator with different
jerk settings • 222 Z
Tips • 235 Zubehör Compax3 • 353
Too high overshoot on velocity • 175
Toothed belt drive as two mass system • 270
Toroidal core ferrite • 34
Torque motors • 355
Tracking filter • 228
Traditional generation of a disturbance
torque/force jerk • 195
Transmission cycle time • 275
Travel Limit Settings • 128
Trigger settings • 165
Turning the motor holding brake on and off •
273
Type specification plate • 13
Type specification plate data • 183
Typical problems of a non optimized control •
175
U
Unsigned - Formats • 324
Usage in accordance with intended purpose •
15
USB - RS232 converter • 59
USB-RS485 Adapter Moxa Uport 1130 • 331
User interface • 162
V
Velocity Loop P Term • 197
Velocity, bandwidth • 188
Verpackung, Transport, Lagerung • 14
Voltage decoupling • 209
Vorgehen bei der Konfiguration,
Inbetriebnahme und Optimierung • 169
W
Warranty conditions • 17
Wiring of analog interfaces • 66
Wiring of the motor output filter • 362
With direction reversal switches • 117, 120,
125
With motor reference point • 119, 124
With upper mounting, the housing design may
be different • 74
Without direction reversal switches • 116, 119
Without motor reference point • 116, 122
Wrongly set notch filter • 216
X
X1 • 35
X10 • 59
X11 • 66
X12 • 67
X13 • 64
C3I21T11 192-120106N14 - September 2014 421

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C3I21T11 Electromechanical Automation

Operating instructions Compax3 I21T11

Positioning via CANopen according to

Italy: Parker Hannifin Manufacturing Srl • SSD SBC • Electromechanical Automation •

USA: Parker Hannifin Corporation • Electromechanical Automation

Status of the Manuals:

2 C3I21T11 192-120106N14 - September 2014

2. Compax3 Xxx I21T11 Introduction .......................................................26

C3I21T11 192-120106N14 - September 2014 3

3.5.6.1 Temperature switch PSUP (mains module).......................................... 48

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4. Setting up Compax3 ............................................................................ 102

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4.1.16. Configuration name / comments .................................................................. 150

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5. Positioning & Control via CANopen................................................... 274

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5.11.2.1 CAN communication objects overview sorted according to CAN

6. Communication ................................................................................... 327

7. Status values ....................................................................................... 344

8. Error ..................................................................................................... 345

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10. Compax3 Accessories ........................................................................ 353

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10.4.2.5 Braking resistor BRM11/01 & BRM12/01 ........................................... 381

11. Technical Data ..................................................................................... 397

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1.1 Device assignment

With the supplement:

1.2 Scope of delivery

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 Device accessories for Compax3M

 Device accessories for PSUP

 Device accessories for Compax3H

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1.3 Type specification plate

2 S025: Single axis device, nominal device current in 100mA (025=2.5A)

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1.4 Packaging, transport, storage

First device checkup

Please note in the

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1.5 Safety instructions

1.5.1. General hazards

1.5.2. Safety-conscious working

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1.5.3. Special safety instructions

Attention - hot surface!

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Please note in the

1.6 Warranty conditions

Note on exchange of options

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1.7 Conditions of utilization

1.7.1. Conditions of utilization for CE-conform operation

Operation of devices only in the state in which they are delivered.

1.7.1.1 Conditions of utilization mains filter

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Connection length: Connection between mains filter and device: