C3FI20T11 Eng
C3FI20T11 Eng
C3FI20T11 Eng
Hydraulics Controller
192-121104 N03
C3FI20T11 /
Release as from R09-63 C3FI32T11
Oktober 2014
We reserve the right to make technical changes. 06.10.14 16:16 192-121104N03 2014-10 C3FI20I32T11 eng
The data correspond to the current status at the time of printing.
Introduction Steuern über Profibus & Profinet
____________________________
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trademarks of Microsoft Corporation.
Nonwarranty clause
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: sales.automation@parker.com mailto:EM-Motion@parker.com
Parker Hannifin GmbH - registered office: Bielefeld HRB 35489
Management Board: Ellen Raahede Secher, Dr.-Ing. Hans-Jürgen Haas, Günter Schrank, Kees Veraart - Chairman of the board:
Hansgeorg Greuner
Inhalt
1. Introduction .............................................................................................8
1.1 Device assignment .................................................................................. 8
1.1.1. Scope of delivery ............................................................................................... 8
1.1.2. Type specification plate Compax3 Fluid ......................................................... 8
1.2 ProfiNet Certificate ................................................................................ 10
1.3 Safety instructions ................................................................................. 11
1.3.1. General hazards ............................................................................................... 11
1.3.2. Safety-conscious working .............................................................................. 11
1.3.3. Special safety instructions ............................................................................. 11
1.4 Warranty conditions .............................................................................. 12
1.5 Conditions of utilization for CE-conform operation ............................ 12
1. Introduction
In this chapter you can read about:
Device assignment ............................................................................................................8
ProfiNet Certificate .......................................................................................................... 10
Safety instructions ........................................................................................................... 11
Warranty conditions ......................................................................................................... 12
Conditions of utilization for CE-conform operation ........................................................... 12
Explanation:
1 Type designation: The complete order designation of the device (2, 6 - 9...)
(category no.)
2 C3F001D2 C3: Abbreviation for Compax3
F =Fluid: Hydraulics Controller
001: +/-10V and 0..20mA outputs (16 Bit)
D2: 24VDC device
3 Unique number of the particular device
4 Supply voltage 24 VDC
5 Date of factory test
6 Designation of the F12: Feedback Module
feedback system
7 Device interface I11 / I12: Digital Inputs / Outputs and RS232 / RS485
I20: Profibus DP / I21: CANopen / I22: DeviceNet /
I30: Ethernet Powerlink / I31: EtherCAT / I32: Profinet
8 Technology function T11: Positioning / pressure/force control
T30: Motion control in accordance with IEC61131-3
T40: Electronic cam
9 Options Mxx:
10 CE compliance
11 UL certification PD2 (see on page 250)
(degree of pollution)
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.
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.
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
61000-6-4. In a domestic area this product can cause radio frequency
disturbance, in which case the user may be required to implement
appropriate remedial measures.
Compax3F: Compax3F is another member of the Parker Hannifin servo drive family.
Electrohydraulic Compax3F was especially designed to meet the requirements of electrohydraulic
servo drive systems for the control of position and force of hydraulic axes.
Technical data
Motion control with motion profiles, suitable for position and force/pressure control
for up to 2 axes.
Setpoint generator
Jerk-limited ramps.
Travel data in increments, mm, inch.
Specification of speed, acceleration, delay and jerk factor.
Force/pressure data in N, bar, psi.
Monitoring functions
Voltage range.
Following error monitoring.
Hard and Software limit switch
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.
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 234) for
Compax3S/F makes it possible to exchange devices quickly without requiring a
PC.
Configuration Configuration is made with a PC with the help of the Compax3 ServoManager.
X1 Analog Inputs
X2 Analog Outputs
X3 24 VDC power supply
X10 RS232/RS485
X11 2. Feedback Type
X12 Inputs/Outputs
X13 1. Feedback Type
Caution!
Always switch devices off before wiring them!
The fitting of the different plugs depends on the extension level of Compax3. In
part, the assignment depends on the Compax3 option implemented.
Compax3F
RS485 +5V X10/1 RS485 +5V X10/1 EnableRS232 0V X10/1 Rx X20/1
X1 RxD X10/2 res. X10/2 RxD X10/2 Rx/ X20/2
X20: HEDA in
X1/1
24V GND X10/5 GND X10/5 GND X10/5 res. X20/5
X10: RS232
X1/2 GND res. X10/6 res. X10/6 DSR X10/6 Lx/ X20/6
TxD X10/7 TxD_RxD/ X10/7 RTS X10/7 res. X20/7
X1/3 IN0+
X10/8
X1/4
RxD/ X10/8 res. X10/8 CTS res. X20/8
IN0- X10/9
+5V X10/9 +5V X10/9 +5V
X1/5 24V
X1/6 GND X11: 2.Feedback system Tx X21/1
X1/7 IN1+ X11/1 Tx/ X21/2
24V 24V
X1/8 IN1- X11/2 Lx X21/3
X1/9 X11/3 res. X21/4
A- INIT- Clock-
DA - Monitor
X11/7
Start/Stop
res. X21/8
X1/13 24V A+ INIT+ Clock+
X11/8
SSI
X1/14 GND B+ STSP+
X1/15 IN3+ X11/9
X1/16 IN3- X11/10 res.
X22/1
X1/20 IN5-
N+ DATA+ X11/14 O3/I3
X22/5
GND GND GND GND X11/15 O4/I4
X22/6
X22/7
O5/I5
X22/8
X12/1 O6/I6
Output+24V X22/9
X12/2 O7/I7
Output0 X22/10
X2 Output1
X12/3 O8/I8
X12: Digital Inputs/Outputs
X22/11
X12/4 Input24VDC
Analog Output Output2 X22/12
X12/5 O9/I9
Output3 X22/13
X2/1 X12/6 O10/I10
I/U out0 Input0 X22/14
X2/2 GND0 X12/7 O11/I11
Input1 X22/15
X2/3 I/U out1 X12/8 InputGND
Input2
X2/4 GND1 X12/9
Input3
X2/5 I/U out2 X12/10
Input4
X2/6 GND2 X12/11
Input+24V
X12/12
X2/7 I/U out3 Input5
X12/13 res. X23/1
X2/8 GND3 Input6
X12/14 res. X23/2
X2/9 Iout0 Input7 or (MN-INI)
Data line-B X23/3
X23: Profibus
X12/15
X2/10 GND GND24V
RTS X23/4
X2/11 Iout1 X13: 1.Feedback system GND X23/5
X2/12 GND +5V X23/6
+24V +24V X13/1
Sense+ Sense+ Sense+ X13/2 res. X23/7
X3 X13/6
RS422 Encoder
EnDat 2.1
10pF
X1/4 200KΩ
In0-
250Ω 200KΩ
In0+
X1/3
200KΩ
1nF
X1/17 100KΩ
In4+
100KΩ
In4-
X1/18
22.1KΩ 1nF
2.5V
X2/1 I/Uout0
+/-100mA*
+/-10V 0...20mA*
(10mA) X2/2 GND0 X2/10 GND
Aout0 to Aout3 do have the same wiring! Iout0 and Iout1 (X2/11 and X2/12) have the same
Pin assignment (see on page 22) X2 wiring!
3 Aout1
4 Aout0
7 A+ INIT+ Clock+
8 B+ STSP+
10
11
12 B- STSP-
13 N- DATA-
14 N+ DATA+
Update rate[µs] = length [m] /sonic speed [m/s] * 1000000 +maybe latency
period of the feedback[µs]
For the UpdateRate, only the multiple of 250µs is evaluated.
Example:
1.5m / 2600m/s =576.9µs => maybe + latency period of the feedback and all as
multiple of 250µs => 750µs
The input connection is available in triple (for A & /A, B & /B, N & /N)
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)
Update rate[µs] = length [m] /sonic speed [m/s] * 1000000 +maybe latency
period of the feedback[µs]
For the UpdateRate, only the multiple of 250µs is evaluated.
Example:
1.5m / 2600m/s =576.9µs => maybe + latency period of the feedback and all as
multiple of 250µs => 750µs
The input connection is available in triple (for A & /A, B & /B, N & /N)
Values:
1: 20; 2: 21; 3: 22; ... 7: 26; 8: reserved
Settings:
left: OFF
right: ON
(The address is set to 0 in the illustration to the left)
Address setting
Settings:
left: OFF
right: ON
Address switch Device name used
0 The device name used is the name assigned with the aid of the
configuration tool.
(standard settings)
1 Device name - "compax3-001"
...
255 Device name - “compax3-255”
Stated in mm
4. Setting up Compax3
In this chapter you can read about:
Configuration ................................................................................................................... 32
Configuring the signal Source .......................................................................................... 87
Optimization .................................................................................................................... 92
4.1 Configuration
In this chapter you can read about:
C3HydraulicsManager ..................................................................................................... 34
Compax3F structure image.............................................................................................. 35
Drive configuration........................................................................................................... 36
Configuring drive1 ........................................................................................................... 36
Configuring drive2 ........................................................................................................... 38
Sensors ........................................................................................................................... 38
Valve configuration .......................................................................................................... 41
Defining the reference system ......................................................................................... 43
Defining jerk / ramps ........................................................................................................ 64
Limit and monitoring settings of force............................................................................... 67
Limit and monitoring settings ........................................................................................... 69
Encoder simulation .......................................................................................................... 72
I/O Assignment ................................................................................................................ 73
Reg-related positioning / defining ignore zone ................................................................. 75
Write into set table ........................................................................................................... 75
Motion functions .............................................................................................................. 78
PresureForceAbsolute ..................................................................................................... 85
Release calculations ........................................................................................................ 85
Configuration name / comments ...................................................................................... 86
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
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 238)).
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.
4.1.1. C3HydraulicsManager
In this chapter you can read about:
Function description ........................................................................................................ 34
Structure of the databases ............................................................................................... 34
Ventil configuration
PA PB P0 PT 0 ... 20mA
Control 1
± 100mA X2/11
1
Auxiliary axis
1
PressureForce
Control 2 Conditioning Chain 3 10V/10mA X 2/7
PA PB P0 PT 0 ... 20mA
Pos Feedback 1
RS422 (TTL)
Start/Stop X11
SSI
Configuration
Pos Feedback 0
RS422 (TTL)
Start/Stop
SSI X13
SinusCosinus
EnDat 2.1
Configuration
I0
0 ... 20mA X1/3_4
I1
0 ... 20mA X1/7_8
Configuration
I2
0 ... 20mA X1/11_12
I3
0 ... 20mA X1/15_16
(pA2-pB2) / F2
I4
±10V X1/19_20
(pA1-pB1) / F1
I5
±10V X1/17_18
Components of Compax3F:
4 controllers for 2 axes
Main axis position controller (Main axis: Pos Control 1)
Main axis pressure difference / force controller (Main axis: PressureForce
Control 1)
Auxiliary axis position controller (Auxiliary axis: Pos Control 2)
Auxiliary axis pressure difference / force controller (Auxiliary axis:
PressureForce Control 2)
4 Conditioning Chains for the linearization of the valves and cylinders
The axis assignment is made via the valve configuration (Valve configuration)
For the linearization, pressures can be made available to the Conditioning
Chains (fixed or measured pressures: pA, pB, p0, pT).
The Conditioning Chains are fixedly connected to the analog outputs.
Interfaces for actual position values
Pos Feedback 1 or configurable analog interface for the auxiliary axis
(Configuration switch)
Pos Feedback 2 or configurable analog interface for the main axis
(Configuration switch)
6 analog interfaces for pressures or force (or position)
Assignment to the axis via configuration
Assignment to the Conditioning Chain via the configuration (axis assignment,
valve assignment)
Setpoint specification via Motion sets
Static (1), (2), or dynamic (3) switching via Motion sets
A B
SSI:
Resolution in µm / bit
Update rate: Necessary updating time of the actual value in µs.
Word length: Gives the telegram length of the sensor.
Gray code: Sensor gray code coded yes/no.
Synchronous system: Sensor sends data synchronously to Compax3F step
yes/no
Baud rate/step: Max. Transmission rate of the path measurement system.
Start-Stop:
Velocity of sound: Speed, at which the mechanical wave moves within the range
of the wave guide (e.g. 2830 m/s).
Update rate: Necessary updating time of the actual value in µs.
Analog:
Selection of the C3f analog interface
4.1.6. Sensors
Force or pressure sensors are required for the control of force or pressure.
Altogether 6 analog inputs are available for the integration of the pressure and
force sensors for the drives 1 and 2 (if no analog input is used as position feedback
system).
Inputs that are not utilized can be used in an IEC61131-3 program (for example as
setpoint input).
Interface:
Select the interface where the sensor is connected. Only the freely available
inputs are displayed.
p
2
1 3 4
I, U
(1) pressure min.: Enter the minimum pressure.
(2) pressure max.: Enter the maximum pressure.
(3) Sensor signal min.: Enter the minimum signal of the pressure sensor.
(4) Sensor signal max.: Enter the maximum signal of the pressure sensor.
Constant pressure: If the pressure is constant, a pressure sensor is not
necessary. You can then specify a constant pressure value instead.
A B
P T
I
p
If a force sensor is used for force control, the following parameters must be
entered:
Interface:
Select the interface where the sensor is connected. Only the freely available
inputs are displayed.
F
2
3
4 I, U
• ...
• High dynamics, high repeatability
• VCD® Dynamics, highest precision
• D*FP
• …
• ...
Pressure valves
Pressure control valves
• PE
• …
Pressure reducing valves
• RE
• ...
Flow-control valves
• ...
• TDL
• ...
Other valves
Input values:
Drive:
Hereby you can define the assignment of the selected valve to a specific drive.
This dialog comes only up, if 2 drives were selected.
Absolute feedback
system For positioning operation of two axes with a Compax3F, we recommend an
absolute feedback system.
Thus the homing run after switching on, which is only possible in coupled state for
2 axes and may lead to difficulties with defined referencing the auxiliary axis is not
necessary.
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.
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.
Without positioning after homing run The position reached is not exactly on
0, as the drive brakes when detecting the home and stops:
Please note:
The home of the auxiliary axis is automatically set, by coupling the auxiliary
axis to the main axis for the homing run!
Absolute feedback
system For positioning operation of two axes with a Compax3F, we recommend an
absolute feedback system.
Thus the homing run after switching on, which is only possible in coupled state for
2 axes and may lead to difficulties with defined referencing the auxiliary axis is not
necessary.
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 63) 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 63) 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 63)).
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 63)).
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.
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
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
24 26
23 25
23 26
24 25
23 25
24 26
30 28
29 27
30 27
29 28
29 27
30 28
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
2: Logic state of the home switch
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
2: Logic state of the home switch
8 10
7 9
7 10
8 9
7 9
8 10
1
14 12
13 11
14 11
13 12
13 11
14 12
1
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.
Please observe: The following error must be greater than the axis offset in the starting status
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!
Wrong settings can cause hazard for man and machine.
17
18
1
1: Logic state of the direction reversal switch
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
2
1: Motor zero point
2: Logic state of the direction reversal switch
2
1: Motor zero point
2: Logic state of the direction reversal switch
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
- +
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“
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.
Both the software and the hardware end limits are the same for the main axis
and the auxiliary axis!
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)
Gearing, ...
V
Jog
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.
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.
1 2
1: negative end limit
2: positive end limit
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 Both directions of movement are possible.
A direction block can be programmed in the IEC program with the aid of the limit
switch bits or the error message.
(De)activate limit The limit switch error can be deactivated in general via the configuration or
switch errors separately for each limit switch via the C3_Error_Mask module.
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
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.
If the debouncing time is stated, the input I0 can be debounced as well (checkbox
below).
Description of jerk
Jerk
The jerk (marked with “4” in the drawing below) describes the change in
acceleration (derivation of the acceleration)
The maximum change in acceleration is limited via the jerk limitation.
A motion process generally starts from a standstill, accelerates constantly at the
specified acceleration to then move at the selected speed to the target position.
The drive is brought to a stop before the target position with the delay that has
been set in such a manner as to come to a complete stop at the target position. To
reach the set acceleration and deceleration, the drive must change the acceleration
(from 0 to the set value or from the set value to 0).
This change in speed is limited by the maximum jerk.
Without jerk According to VDI2143 the jerk is defined (other than here) as the jump in
according to acceleration (infinite value of the jerk function).
VDI2143 This means that positionings with Compax3 are without jerk according to VDI2143,
as the value of the jerk function is limited.
Motion sequence
t
2
t
3
1: Position
2: Speed
3: Acceleration
4: Jerk
High changes in acceleration (high jerks) often have negative effects on the
mechanical systems involved. There is a danger that mechanical resonance points
will be excited or that impacts will be caused by existing mechanical slack points.
You can reduce these problems to a minimum by specifying the maximum jerk.
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: CW.3 = "0" (disable operation), CW.4 = "0" (STOP) or Input I1 (X12/7)
3: Deceleration upon error (malfunction) (ZSW.3 = "1"), OUT1 (CW.0 = "0") and
OUT3 (CW.2 = "0")
Please observe:
The configured error ramp is limited. The error ramp will not be smaller than the
deceleration set in the last motion set.
- -
-
-
Jerk
Unit: Unit/s3 Range: 0 ... 10 000 000 Standard value:
1 000 000
Please note:
Limit and monitoring settings are the same for the main axis as well as for
the auxiliary axis!
1: Force window
2: Force window time
3: Setpoint force reached (== object ForceAccuracy_ForceReached)
Linkage to the setpoint value
The signal “force attained” can be linked to the setpoint value.
In addition, the internal setpoint value generation is evaluated.
It applies: The force window is only evaluated with a constant internal
setpoint value.
A B
P = Q . Dp
P T
The corner power limitation can only be activated, if at least one pressure sensor
for pA or pB and p0 was parameterized before.
Note:
Currently, the corner power is calculated; which must however, if necessary, be
limited in the IEC program!
The corner power can be read from the objects C3.HydraulicPower_Axis1,
C3.HydraulicPower_Axis2 and C3.HydraulicPower_Sum.
The unit is [W]; this means that the standardization is only correct for the metric
system.
The hydraulic power is calculated from the units bar and I/min according to the
following equation:
∆p[bar ] ⋅ Q[l / min]
P[kW ] =
600
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
with:
Gearing Signal “position reached” monitors synchronicity.
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.
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.
1024 30m/s
4096 7,5m/s
16384 1,8m/s
* or with a rotary feedback travel per feedback rotation
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.
Functions I2: Manual+ and I3: Manual- only with control word 1 bit 10 = "0"
(see below)!
With fixed assignment of the intra-device inputs I0 ... I3, the respective functions
can either be triggered via the inputs or via RS232 / RS485
It applies:
With "guiding via interface" (control word 1 bit 10 = "1")
Energize motor I0 ="1" AND Control word 1 Bit 2 ="1" (OUT3)
Ackn is triggered via control word 1 bit 7 - ackn via I0 is not possible.
Stop is active, if I1 = "0" OR control word 1 Bit 4 ="0" (Stop)
Manual+ and Manual- Inputs I2, I3 do not have a function.
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 status SB1 /SC1
v
RegSearch
RegMove
StartIgnore StopIgnore t
Regf
POS
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.
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 191).
t
3
t
4
1: Target position
2: Travel speed
3: Maximum Acceleration
4: Maximum deceleration
5: Maximum Jerk (see on page 64)
Motion functions
MoveAbs: Absolute positioning.
MoveRel: Relative positioning
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
152) software tool!
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.
Please note:
The reg restriction window is the same for all reg motion sets!
v
RegSearch
RegMove
StartIgnore StopIgnore t
Regf
POS
1 active
2 active
Start Start signal for reg positioning (M.E5 an X22/13 oder STW.13)
RegSearch: Positioning for reg search
RegMove: Positioning according to reg
StartIgnore: Reg ignore window: (see on page 75) Beginning of the ignore zone
StopIgnore: Reg ignore window: End of the ignore zone
Reg: Reg signal (I4 on X12/10)
Regf: Signal: Reg detected
()
POS: Signal: Position reached
(Ausgang A1: X12/3 oder Zustandswort 1 Bit 9)
1 Programmable status bits of RegSearch (only for positioning with set selection)
2 Programmable status bits of RegMove (only for positioning with set selection)
v
RegSearch
StartIgnore StopIgnore t
Regf
POS
Start Start signal for reg positioning (M.E5 an X22/13 oder STW.13)
RegSearch: Positioning for reg search
RegMove: Positioning according to reg
StartIgnore: Reg ignore window: (see on page 75) Beginning of the ignore zone
StopIgnore: Reg ignore window: End of the ignore zone
Reg: Reg signal (I4 on X12/10)
Regf: Signal: Reg detected
()
POS: Signal: Position reached
(Ausgang A1: X12/3 oder Zustandswort 1 Bit 9)
1 Programmable status bits of RegSearch (only for positioning with set selection)
2 Programmable status bits of RegMove (only for positioning with set selection)
The reg is ignored; the drive moves to the target position from the RegSearch
motion set.
v
RegSearch
StartIgnore StopIgnore t
Regf
POS
2
Start Start signal for reg positioning (M.E5 an X22/13 oder STW.13)
RegSearch: Positioning for reg search
RegMove: Positioning according to reg
StartIgnore: Reg ignore window: (see on page 75) Beginning of the ignore zone
StopIgnore: Reg ignore window: End of the ignore zone
Reg: Reg signal (I4 on X12/10)
Regf: Signal: Reg detected
()
POS: Signal: Position reached
(Ausgang A1: X12/3 oder Zustandswort 1 Bit 9)
1 Programmable status bits of RegSearch (only for positioning with set selection)
2 Programmable status bits of RegMove (only for positioning with set selection)
The drive moves to the target position from the RegSearch motion set
v
RegSearch
RegMove
StartIgnore StopIgnore t
Regf
POS
1 active
2 active
Start Start signal for reg positioning (M.E5 an X22/13 oder STW.13)
RegSearch: Positioning for reg search
RegMove: Positioning according to reg
StartIgnore: Reg ignore window: (see on page 75) Beginning of the ignore zone
StopIgnore: Reg ignore window: End of the ignore zone
Reg: Reg signal (I4 on X12/10)
Regf: Signal: Reg detected
()
POS: Signal: Position reached
(Ausgang A1: X12/3 oder Zustandswort 1 Bit 9)
1 Programmable status bits of RegSearch (only for positioning with set selection)
2 Programmable status bits of RegMove (only for positioning with set selection)
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).
v
RegSearch
RegMove
StartIgnore StopIgnore t
Regf
POS
1 active
Error active
Start Start signal for reg positioning (M.E5 an X22/13 oder STW.13)
RegSearch: Positioning for reg search
RegMove: Positioning according to reg
StartIgnore: Reg ignore window: (see on page 75) Beginning of the ignore zone
StopIgnore: Reg ignore window: End of the ignore zone
Reg: Reg signal (I4 on X12/10)
Regf: Signal: Reg detected
()
POS: Signal: Position reached
(Ausgang A1: X12/3 oder Zustandswort 1 Bit 9)
1 Programmable status bits of RegSearch (only for positioning with set selection)
2 Programmable status bits of RegMove (only for positioning with set selection)
Error
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 75)", Compax3 sets
the required deceleration.
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: Position control is active, i.e. the following error caused by limitations will be made
up.
Jerk is not limited.
Note: The stop command (as motion function) is not effective during the machine zero
run.
4.1.17. PresureForceAbsolute
Input of a control set for the control of a difference pressure or a force.
FA − FB A
= pA − B ⋅ pB = pA − α ⋅ pB
Differential pressure:
AA AA
Force:
F = FA − FB
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.
Here the signal source is configured for the motion function “Gearing” (electronic
gearbox).
Available are:
Step / Direction
+/-10V
The dimensional reference to the master is established via the following settings:
Travel path per motor revolution master axis numerator = 50mm or with a rotary
feedback system: Travel per feedback revolution.
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.
If required the direction of rotation of the master axis read in can be changed.
T t
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.
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
If required the direction of rotation of the master axis read in can be changed.
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.
(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
Structure:
Master Z1 MasterPos Gearing Slave - N2 Slave_U Load
numerator
Gearbox
N1 Gearing Units Z2 to motor
denominator
4.3 Optimization
Select the entry "Optimization" in the tree.
Open the optimization window by clicking on the "Optimization Tool" button.
In this chapter you can read about:
Optimization window ........................................................................................................ 92
Scope .............................................................................................................................. 93
Controller Tuning ........................................................................................................... 100
Input simulation ............................................................................................................. 149
Setup mode ................................................................................................................... 150
ProfileViewer for the optimization of the motion profile ................................................... 152
4.3.2. 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.
In this chapter you can read about:
Monitor information .......................................................................................................... 93
User interface .................................................................................................................. 94
Example: Setting the Oscilloscope................................................................................... 98
In the ROLL operating mode, marker functions and set trigger level positions are
not available.
1: Operating mode switch (see on page 95) (Single / Normal / Auto / Roll)
2: Setting the time basis (see on page 95)
3: Starting / Stopping the measurement (prerequisites are valid channel sources
and if necessary valid trigger settings.)
4: Setting channel (see on page 96) (Channels 1 ...4)
5: Special functions (see on page 97) (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 97)
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 (<,>)
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.
Depending on the selected operating mode, the time basis can be changed via the
arrow keys.
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.
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.
Trigger settings
(
) directly in the OSCI display.
Special functions
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
ATTENTION:
In the open loop operation, the drive axis might drift, as the position
controller is deactivated!
With the aid of the jog+/- function, the axis can be moved.
The setpoint generator- (681.4 or 681.2) and the actual speed (681.9 or 681.14)
must have the same sign (shown in the roll mode of the oscilloscope).
A = cylinder at limit A
B = cylinder at limit B
1 = valve position
The pressure signals should be well filtered (smooth). (Optimization Analog
input InX Filter)
If those conditions are fulfilled, the pressure compensation can be activated under
(Optimization Output Chain PressureCompensation).
b) characteristics compensation
The control behavior of valves with bent characteristic lines or overlap can be
considerably improved if the valve characteristics are stored in the controller and
are used for the compensation. The characteristic is integrated into the respective
valve data via the C3HydraulicsManager and is loaded into the controller via the
C3ServoManager. The activation of the characteristic line is made via optimization
Output Chain Characteristic Flow.
If the valve characteristic line is activated, the behavior between control signal and
speed should be mainly linear.
(Doubling of the setpoint speed Doubling of the resulting speed in the open
control loop).
c) Deadband compensation
If for valves with overlap or gap no adequate characteristics are available, they can
be optimized with the aid of the deadband compensation. The corresponding
values are set in (Optimization Output Chain Deadband ...).
Afterwards, the axis is moved for example with the aid of the jog function in the
setup window. When comparing the setpoint speed and the actual speed you have
distinguish between four different cases:
Setpoint speed>actual speed, positive travel direction:
The open loop gain is too small Optimization Output chain X
increase Gain factor positive.
Setpoint speed< actual speed, positive travel direction:
The open loop gain is too high Optimization Output chain X
decrease Gain factor positive.
Setpoint speed> actual speed, negative travel direction:
The open loop gain is too small Optimization Output chain X
increase Gain factor negative.
Setpoint speed < actual speed, negative travel direction:
The open loop gain is too high Optimization Output chain X
decrease Gain factor negative.
Now the axis must move in open loop with the preset speed.
Filter alignment
Especially when using feedback systems with low resolution, a filter alignment is
necessary. With high resolution systems, this step might not be necessary.
Oscilloscope settings:
Actual speed (filtered)
The Parameter Optimization Controller dynamic Filter 2 speed actual value is
increased until there are no longer any spikes in the speed signal during the open
loop movement of the axis.
Controller optimization
Now the control loop of the axis can be closed. Before you should Save settings
(see on page 100).
Then the axis can be switched into the preoperational mode (power-off) in order to
change then to closed loop operation. Switching between open and closed loop
operation is only possible in this state.
ATTENTION: In order to limit the speed of the axis, the control signal
range for the valve control can be limited with the aid of the output
limitation. Settings: Optimization Output Chain X Upper Limit or
Lower Limit. The limitation should not be set too small, as this would
put into effect an additional non-linearity (limitation) in the distance,
which complicates the controller alignment.
Oscilloscope settings:
Following error
Actual speed
Setpoint speed
Control structure
680.10
true
2011.4 2011.5 2110.7
681.4
2(v,a)
+/-10V
TRF 2020.1(x) speed
Physical speed
3(x,v,a)
true
2107.1 1141.4 TRF 2110.6
3920.7
3920.1 SG1 680.12
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
* 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
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 199).
Control structure
680.10
true
2011.4 2011.5 2110.7
681.4
2(v,a)
+/-10V
TRF 2020.1(x) speed
Physical speed
3(x,v,a)
true
2107.1 1141.4 TRF 2110.6
3920.7
3920.1 SG1 680.12
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
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 199).
+
v
+
t
Speed
Acceleration
681.5
Actual value
monitoring
2100.11 2100.6
Deceleration
Acceleration jerk
Deceleration jerk
2100.10 2100.5
Only internal: Due to structure, the following error is, as from R07,
filtered with the sum time constant actual velocity value filter 1 + actual
velocity value 2 + time constant of following filter + user filter 2200.24.
CAN No. - PD Object: no
Profibus No. (PNU) - Bus format: U16
K Fs
2250.17/18
698.6
2250.14
2250.22
Disturbance Offset
2251.21 698.5
2250.15/16 698.2
KFi
+
Kp T X
- +
2250.13
698.1 2250.24=0: +1 / =1: -1
Error in units
Bar, psi or N
698.4
2100.10 2100.5
2250.8/19 698.3
2250.20 681.5
K Fv T T
K Fs
2251.17/18
698.16
2251.14
2251.22
Disturbance Offset
2251.21 698.15
2251.15/16 698.12
KFi
+
Kp T X
- +
2251.13
698.11 2251.24=0: +1 / =1: -1
Error in units
Bar, psi or N
2101.7 2101.4
2251.8/19 698.13
2251.20
KFv T T
In order to linearize the valve as well as the entire control path 4 linearization
chains (conditioning chains => output signal conditioning) are available.
Objects of the The setting of the Conditioning Chains is made via objects in the Optimization
conditioning chains window (see on page 92).
The "x" in the objects given in the signal image depends on the conditioning chains
to be parameterized:
x = 0,1,2,3 = Conditioning Chain No.
In the Compax3F structure image you can see how the Conditioning Chains are
integrated in the total structure.
Below you can find the descriptions of the individual objects.
In this chapter you can read about:
Conditioning Chain Symbols .......................................................................................... 137
Object 2400.3: Upper limit ............................................................................................. 137
Object 2400.4: Lower limit ............................................................................................. 137
Object 2400.6: Output Offset ......................................................................................... 137
Object 2400.7: Default value (inactive chain 0) ............................................................ 138
Object 2401.4: Gain factor positive ................................................................................ 138
Object 2401.5: Gain factor negative ............................................................................... 138
Object 2401.6: Inversion [on/off] .................................................................................... 138
Object 2401.7: Gain factor positive (Force-/Pressure Control) ....................................... 139
Object 2401.8: Gain factor negative (Force-/Pressure Control) ...................................... 139
Object 2402.1: Pressure Compensation [on/off] ............................................................. 139
Object 2403.1: Characteristic flow [on/off] ...................................................................... 139
Object 2405.1: Deadband [on/off] .................................................................................. 140
Object 2405.2: Deadband A-Side .................................................................................. 140
Object 2405.3: Deadband B-Side .................................................................................. 140
Object 2405.4: Deadband Threshold ............................................................................. 140
24x3.2
Deadband
No signal is transmitted in a range definable by objects.
General
All parameters are changed in the optimization window in the optimization field via
the object tree in the lower left window.
Click on the object in the object tree (1).
Enter new value in the command line (2) and press Return.
Set value to valid with CP (3).
Attention: Entry of the values must be terminated with a Return and must be set
to valid via VP (3)!
The changed objects are permanently stored with WF (4).
Attention:When writing the data into the flash, control oscillations may occur due
to increased processor load!
=> Switch drive to currentless / PowerOff state before
Procedure
In this chapter you can read about:
Parameters for manual movement/jogging mode and test movement ............................ 142
Limit valve set value ...................................................................................................... 143
Move drive controlled..................................................................................................... 143
Check sense of direction ............................................................................................... 143
Set valve offset .............................................................................................................. 144
Check connection assignment of the pressure sensors ................................................. 144
Check input offset or zero of the pressure sensors ........................................................ 144
Direction dependent gain ............................................................................................... 144
Optimization of position controller .................................................................................. 144
Optimization of pressure/Force Controller ...................................................................... 147
Tip:
In order to avoid a fast, uncontrolled movement of the drive during the setup, the
valve outputs should at first be limited!
Attention:
The drive does not reach its maximum power due to the limitation of the valve
outputs.
As soon as the drive is stably positioned in the control loop, the limitation can be
lifted.
Move drive controlled
In the optimization window ⇒ setup field ⇒ setup.
Select "controlled movement" operating mode.
Energize drive (2).
Move the drive to both sides (3).
Does the axis move?
No:
Valve positive overlap? -> activate valve characteristic line or set deadband
compensation.
Check control value limitation -> increase control value limitation.
Control signal gain too small -> increase parameter control signal gain.
3
2
Tip:
Check, if the control signals to the valves (status values -> valve outputs -> output
signal0..3) change.
Check sense of direction
Select "controlled movement" operating mode
Move drive into both directions.
Are the directions of the setpoint and of the actual position the same?
No: Switch on valve inversion(s): Inversion [on/off] = 1 (in the optimization tree
under output chain:)
Is the direction of the actual position identical with the desired direction in the
machine?
No: Change sense of direction of the feedback in the configuration
Attention:
If the values are too high, the drive might move uncontrolled at high speed!
With activated valve inversion, the offset does also work in the opposite direction!
(In the optimization tree under output chain)
Approach additional positions and check setting.
Check connection assignment of the pressure sensors
Check if the correct pressure is displayed when moving the cylinder.
No:
Check connections and configuration of the pressure sensors.
No:
In the optimization window ⇒ optimization field ⇒ optimization
Adapt zero for analog input offset.
Attention:
If several valves are used for a drive, the direction dependent gain must be set
individually for each valve.
Optimization of position controller
In this chapter you can read about:
Filter .............................................................................................................................. 145
Set control parameters .................................................................................................. 146
Feedforwards (advanced) .............................................................................................. 147
Filter
In this chapter you can read about:
Set position (only analog feedback) ............................................................................... 145
Set filter for speed- and acceleration actual value .......................................................... 145
Close control loop .......................................................................................................... 145
Depending on the feedback type, the actual signals for position, speed and
acceleration are disturbed with different intensity. A strong noise on the signals
influences the achievable quality of control negatively.
Attention:
Too high filter constants distort the signals and have a negative effect on the
control quality!
3
2
Proportional factor KP
Increase Kp (2200.38/2260.22) at lowest speed up to the stability limit.
Value will be preassigned by the configuration.
Acceleration and jerk must be adapted to the potential of the axis.
Deceleration and jerk_deceleration must be adapted to the potential of the axis.
Compensate unbalances with direction-dependant gain
Check settings at 50% Vmax and reduce if needs be.
Check settings at Vmax and reduce if needs be.
Integrator KI
Increase KI (2200.37/2260.21), so that the following error becomes minimal and
the axis does not overshoot.
Value will be preassigned by the configuration.
Set inner window (2200.30) so that the axis does not readjust constantly (only
sensible larger than feedback resolution!).
Set outer window (2200.31) so that possible overshoot is reduced.
Limit maximum I term (2200.32 and 2200.33).
Check settings at 50% Vmax and reduce if needs be.
Check settings at Vmax and reduce if needs be.
Speed feedback
The feedback of the speed can increase the natural frequency, i.e. the dynamic of
the hydraulic drive.
Prerequisite:
Speed filter set correctly (Filter for Speed and Acceleration actual value (see on
page 145)).
Increase speed feedback (2100.13) at lowest speed up to the stability limit.
Check settings at 50% Vmax and reduce if needs be.
Check settings at Vmax and reduce if needs be.
Acceleration feedback
The feedback of the acceleration can dampen the hydraulic drive, i.e. reduce the
oscillation tendency.
Prerequisite:
Acceleration filter set correctly ( Filter for Speed and Acceleration actual value
(see on page 145))
Increase acceleration feedback (2100.14) at lowest speed up to the stability limit.
Check settings at 50% Vmax and reduce if needs be.
Check settings at Vmax and reduce if needs be.
Feedforwards (advanced)
In this chapter you can read about:
Speed feedforward (advanced) ...................................................................................... 147
Acceleration feedforward (advanced)............................................................................. 147
The control behavior of the control can be adapted to the application via the
feedforward (in the optimization tree under feedforward main axis)
The following error can be minimized at movement with constant speed via the
feedforward without negative effect on the stability of the control.
Attention:
Feedforward controls may cause an overshoot over the target position!
Force feedforward
For the force control with pumps and pressure valves, the control signal is,
differently from the control with path valves, proportional to the actual pressure
value for dynamic control the integrator is not sufficient in order to generate the
static component of the control variable.
This requires the force feedforward (KFs).
Main axis: Object 2250.23
auxiliary axis: Object 2251.23
KFs (%/N) or(%/bar/PSI), a defined component of the force build-up is built up in
a controlled manner.
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.
Caution!
Please consider the effects of the or-linking; above all on low-active
functions.
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.
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).
* for IxxT11 -
<== For Compax3 I2xT11: devices, both jerk
via a configuration upload values are identical
in the commissioning window via
"accept configuration"
You will find the ProfilViewer in the Compax3 ServoManager under the "Tools"
Menu:
Example:
35% 30%
100%
5. 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.
In this chapter you can read about:
Compax3 communication variants ................................................................................. 153
COM port protocol ......................................................................................................... 162
Remote diagnosis via Modem ........................................................................................ 167
Profibus & Profinet......................................................................................................... 170
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:
Switching between the ASCII and the binary record via automatic record
detection.
Please note that the connected Pop has the same RS485 setting values.
You can test this with the "PopDesigner" software.
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 23).
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.
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).
Telegram layout
Basic structure:
Start code Address Number of data bytes - 1 Data Block securing
SZ A L D0 D1 ... Dn Crc(Hi) Crc(Lo)
The start code defines the frame type and is composed as follows:
Bit 7 6 5 4 3 2 1 0
Frame type Frame identification PLC Gateway Address
RdObj read object 1 0 1 0 x 1 x x
WrObj write object 1 1 0 0 x 1 x x
Rsp response 0 0 0 0 0 1 0 1
Ack positive command acknowledgement 0 0 0 0 0 1 1 0
Nak Negative command acknowledgement 0 0 0 0 0 1 1 1
Bits 7, 6, 5 and 4 of the start code form the telegram identification; Bit 2 is always
“1”.
Bits 3, 1 and 0 have different meanings for the request and response telegrams.
The address is only necessary for RS484.
Request telegrams
-> Compax3
the address bit (Bit 0 = 1 ) shows if the start code is followed by an address
(only for RS485; for RS232 Bit 0 = 0)
the gateway bit (Bit 1 = 1) shows if the message is to be passed on.
(Please set Bit 1 = 0, as this function is not yet available)
the PLC bit (Bit 3 = 1 ) allows access to objects in the PLC/Pop format
U16, U32: for integer formats (see bus formats: Ix, Ux, V2)
IEEE 32Bit Floating Point: for non integer formats (bus formats: E2_6, C4_3, Y2,
Y4; without scaling)
With Bit 3 = 0 the objects are transmitted in the DSP format.
DSP formats:
24 Bit = 3 Bytes: Integer INT24 or Fractional FRACT24
48 Bit = 6 Bytes: Real REAL48 (3 Byte Int, 3 Byte Fract) / Double Integer DINT48
/ Double Fractional DFRACT48
Response telegram
Compax3 ->
Bits 0 and 1 are used to identify the response
Bit 3 is always 0
The maximum number of data bytes in the request telegram is 256, in the response
telegram 253.
The block securing (CRC16) is made via the CCITT table algorithm for all
characters.
After receiving the start code, the timeout monitoring is activated in order to avoid
that Compax3 waits in vain for further codes (e.g. connection interrupted) The
timeout period between 2 codes received is fixed to 5ms (5 times the code time at
9600Baud)
Function call:
CRC16 = UpdateCRC16(CRC16, Character);
return crc16;
}
You will find this function on the Compax3 DVD under RS232_485\\Function
UpdateCRC16.txt!
Requirements:
For modem operation, a direct and stable telephone connection is required.
Operation via a company-internal telephone system is not recommended.
In this chapter you can read about:
Structure........................................................................................................................ 167
Configuration of local modem 1 ..................................................................................... 168
Configuration of remote modem 2.................................................................................. 169
Recommendations for preparing the modem operation .................................................. 169
5.3.1. 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
PC (115200Baud)
ATE0 cr
10 ATQ1 cr 11
Hyper-
Compax3.ini
terminal
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 242) 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).
Close the window and establish the connection with button (open/close COM
port).
The connection is interrupted when the COM port is closed.
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.
PPO type / PKW Depending on the configuration that is set, the resulting PPO type is displayed in
type, telegram size the "Profibus telegram" wizard window (in the status line of the wizard window).
You can use this value for the configuration of the Profibus master.
With Profinet, you can read out the PKW type and the telegram size for setting in
the Profinet Controller.
After this, the "Starting address" identifies the address at which the PZD will be
placed on the input / output range of the master.
With Profinet, the PPO type is displayed, in the control and C3 configuration
however, a distinction is made between acyclic channel and IO data and they are
set individually.
Possible assignment:
Abbreviation Designation Object No. Assigned Assignment
words
C_PF Command PressureForce 1100.17 2 fixed
Abbreviation Designation Object No. Assigned Assignment
words
CW1: Control word 1 1100.3 1 fixed
A_DIGITAL Digital outputs O0 ... O3 140.3 1 optional
- Digital outputs of the M10/M12 133.3 1 optional
option
- Demand movement speed C (1 1100.8 1 optional
decimal place)*
- Commanded motion speed D (3 1100.7 2 optional
decimal places)*
- Setpoint acceleration A 1111.10 1 optional
(no decimal place)
- Setpoint acceleration B 1111.3 2 optional
(no decimal place)
Setpoint deceleration A 1111.16 1 optional
(only
Profinet)
Setpoint deceleration B 1111.4 2 optional
(only
Profinet)
- Commanded PressureForce 1100.17 2 optional
Attention: The meaning of position setpoint value A and the setpoint movement values C & D
changes with Gearing and Velocity:
PKW structure
PKW
0 2 4 8
Additional information on the structure of the PKW (see on page 193)
BA1
BA2
1
BA3 0
BA4
SA2
TA2 STW: xxxx x1xx xxxx x110 Einschalt sperre /
SA3
Switch-on inhibit TA16
Einschaltbereit / TA9
ZSW: xx1x xxxx x111 0000
Ready to Swich-on
ZSW: xx1x xxxx x011 0001
SA6/7
AUS 1 aktiv / SA11
OFF 1 active Störung /
ZSW: xx1x xxxx x011 0001 Fault
TA14 ZSW: xx1x xxxx x011 1000
STW: xxxx x1xx xxxx x110
Betriebsart Drehzahlregelung,
Betriebsart Positionieren / SA8
Operating mode closed AUS 3 aktiv /
speed control OFF 3 active
ZSW: xx1x xxxx x00x 0000
Operating mode Positioning
STW: xxxx x1xx xxxx x01x
STW: xxxx x1xx xxxx 0111 TA10
TA5
SA5
Betrieb sperren aktiv /
Inhibit operation active
ZSW: xx1x xxxx x011 0011
Explanation:
S..: Status
B..: Status levels B.. (e.g. BA1) is used to designate individual status levels.
Status levels indicate, for example, that everything that is located in status level
BA4 will be left behind by the transition TA10 with the control word pattern that is
displayed (in this case the transition will be initiated by CW.2="0" - OFF3).
Below you will find the status diagrams for the speed control and positioning
operating modes.
BC1
STW: xxxx 01xx xxxx 1111 STW: xxxx x100 xxx1 1111
TC14 TC16
SC8 Referencing
SC1 SC9
Referenzieren / completed Betrieb freigegeben / Tippen /
Referencing Operation enable Jogging
ZSW: xxxx 0xxx x011 0111 ZSW: xxxx xxxx x011 0111
TC13 TC15
STW(+): xxxx x101 xx00 1111
1 STW(-): xxxx x110 xx00 1111
0 STW: xxxx 1100 xx00 1111
1 1 SC2
0 0 Fahrauftrag aktiv /
Traversing task active
ZSW: xx0a xxxx x011 0111 SA11
Störung /
TC4 Fault
ZSW: xx1x xxxx x011 1000
STW: xxxx x1xx xx01 1111
SC3
TA15
Bremsen mit Rampe /
Fehlerreaktion 2&5
Braking with ramp
Error Reaction 2&5
TC6
TC5 STW: xxxx x1xx xx11 1111
SC4
Zwischenhalt /
Intermediate stop
ZSW: xx1x xxxx x011 0111
Bit Description
Operating mode:
Speed control Direct positioning Positioning with set selection
0 ON / OFF 1
1 Operating condition / OFF 2
2 Operating condition / OFF 3
3 Enable operation / disable operation
4 Operating condition / Operating condition /
Disable startup encoder Discard motion order
5 Enable startup encoder / Operating condition /
Stop startup encoder Intermediate stop (with Velocity & Gearing => Stop with termination)
6 enable setpoint / Activate motion order (START with edge)
Disable setpoint
7 Acknowledge / no meaning
8 Jog 1 ON / jog 1 OFF (Manual+)
9 Jog 2 ON / jog 2 OFF (Manual-)
10 Guiding from PLC / no guiding
11 Reserved (="0") Reference start /
cancel referencing
12 Reserved (="0") Mode 2 Reserved (="0")
13 Reserved (="0") Mode 1 Reserved (="0")
14 Reserved (="0") Continuous mode Continuous mode
15 Reserved (="0") Mode 0 Reserved (="0")
Explanation: The meaning for bit value = 1 is to the left of the front slash, while the
meaning for bit value = 0 is to the right
Bit Description
Operating mode
Speed control Direct positioning Positioning with set selection
0 Ready to turn on / not ready to turn on
1 Ready for operation / not ready for operation
2 Operation enabled / operation disabled
3 Malfunction / no malfunction
4 No OFF 2 / OFF 2
5 No OFF 3 / OFF 3
6 Switch-on disable / no switch-on disable
7 Warning / no warning
8 Target/actual in tolerance range / No tracking error /
Target/actual not in tolerance range Following error
/
9 Guiding requested / operation on site
10 Rotation speed reached / Commanded position reached /without commanded position or
Rotation speed below setpoint value Commanded position reached / not reached
Synchronism reached / not reached
11 Reserved (="0") Reference point set /
No reference point set
12 Reserved (="0") Setpoint acknowledgement (edge)
13 Drive stopped / drive moving
14 Reserved (=”0”); Caution! For configuration with 2 axes, changed meaning: Alignment requirement, if Bit=TRUE, only
PosHome, MoveAbs, Stop or ForcePressure can be triggered. Force mode is generally possible.
15 Reserved (="0") Reg detected
Explanation: The meaning for bit value = 1 is to the left of the front slash, while the
meaning for bit value = 0 is to the right.
1 0 1 RegMove (see on page Registration mark-related positioning: Position as from registration mark
79) (preliminary order)
1 1 0 RegSearch (see on page Registration mark-related positioning: Search movement (start of the
79) registration mark-related positioning)
1 1 1 Pressure/Force control
(see on page 85)
14 1 Continuous mode The Setpoint value and actual value are reset for each new motion order
(transition TC1 or TC2).
* Relative; Example
Positioning mode: absolute
Target position = 1000
Positioning mode: relative
Command: Target position = 200 for actual position 500
Drive travels to 700
Additive; example
Positioning mode: absolute
Target position = 1000
Positioning mode: additive
Command: Target position = 200 for actual position arbitrary
Drive travels to 1200
14 - Reserved (=”0”); Caution! For configuration with 2 axes, changed meaning: Alignment requirement, if Bit=TRUE,
only PosHome, MoveAbs, Stop or ForcePressure can be triggered. Force mode is generally possible.
15 1 Reg detected (see on page 79)
0
Example:
PLC Value Compax3 value
1000 1.000 (3 decimal places)
10 1.0 (1 decimal place)
The setpoint movement speeds C & D do have the same function, they differ only
in the word width.
The same applies for the setpoint accelerations and decelerations A & B
You should therefore only use one of these two values (A & B).
Caution: The meaning of position setpoint value A and the setpoint movement values C & D
change with Gearing and Velocity:
Status word 2
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
1 Address 1 of the current set
2 Address 2 of the current set
3 Address 3 of the current set
4 Address 4 of the current set
5 ... 11 factory use
12 Programmable status bit 0 (PSB0)
13 Programmable status bit 1 (PSB1)
14 Programmable status bit 2 (PSB2)
15 factory use
Example:
PLC Value Compax3 value
1000 1.000 (3 decimal places)
10 1.0 (1 decimal place)
Layout of the Status word. (see on page 184)
Defining sets: Please use the Compax3 ServoManager or the acyclic channel (PKW) in order to
enter the motion sets.
Layout of the Set table (see on page 191).
MoveRel (see
on page 78) Distance Speed PSBs 2 (for MoveRel) Accel Decel Jerk
Gearing (see
on page 83) - Numerator PSBs 3 (for Gearing) Accel Denominator -
RegSearch
(see on page
Distance Speed PSBs 4 (for RegSearch) Accel Decel Jerk
79)
RegMove
(see on page
Offset Speed PSBs 5 (for RegMove) - - -
79)
Velocity (see
on page 85) - Speed PSBs 6 (for Velocity) Accel - -
STOP
- - PSBs 7 (for Stop) - Decel Jerk
Force/Pressur
PressureForc 8 (for Gradient [N/s /
- - PSBs e [N / mbar, -
eAbsolute PresureForce) bar/s, PSI/s]
PSI]
PKE structure:
Byte 1 Octet 2
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
AK SPM PNU
AK: Order or response identification (value range 0 ... 15)
SPM: reserved
PNU: Parameter number
Sequence
The master/controller transfers an order to a Compax3.
The master/controller repeats this order at least until a response is received from
Compax3.
This procedure ensures the transfer of orders / responses on the user level.
Only one order is ever being processed at a time.
Compax3 continues to make the response available until the master/controller
formulates a new order.
For responses containing parameter values, Compax3 always responds upon
repetition with the current value (cyclic processing). This applies to all responses
to the orders “Request parameter value”, “Request parameter value (Array)” and
“Request object”.
The PWE transfer of word sizes takes place with byte 7 and 8, while the transfer
of double word sizes takes place with byte 5 through 8.
PLC - Compax3
Octet 1 Octet 2 Octet 3 Octet 4 Octet 5 Octet 6 Octet 7 Octet 8
PKE IND PWE
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Subindex - MSB LSB
AK PNU
2 0 402 3 0 200
0 0 1 0 0 0 0 1 1 0 0 1 0 0 1 0
Compax3 responds with the same content, except with response identification = 1:
Compax3 - PLC
Octet 1 Octet 2 Octet 3 Octet 4 Octet 5 Octet 6 Octet 7 Octet 8
PKE IND PWE
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Subindex - MSB LSB
AK PNU
1 0 402 3 200
0 0 0 1 0 0 0 1 1 0 0 1 0 0 1 0
If no additional object needs to be changed, the new value can be set to valid with
VP:
Object: Set objects to valid PNU 338.10 (because of DPV0 the Subindex must be
incremented by one (see on page 193))
PLC - Compax3
Octet 1 Octet 2 Octet 3 Octet 4 Octet 5 Octet 6 Octet 7 Octet 8
PKE IND PWE
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Subindex - MSB LSB
AK PNU
2 0 338 11 1
0 0 1 0 0 0 0 1 0 1 0 1 0 0 1 0
Compax3 responds with the same content, except with response identification = 1:
Compax3 - PLC
Octet 1 Octet 2 Octet 3 Octet 4 Octet 5 Octet 6 Octet 7 Octet 8
PKE IND PWE
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Subindex - MSB LSB
AK PNU
1 0 338 11 1
0 0 0 1 0 0 0 1 0 1 0 1 0 0 1 0
Reading back the object set objects to valid makes it possible to check whether the
command was performed. Byte 8 will the contain the value 0.
The change can be stored and will not be lost even if with a power failure by using
the object "Save objects permanently".
Object: Save objects permanently PNU 339
PLC - Compax3
Octet 1 Octet 2 Octet 3 Octet 4 Octet 5 Octet 6 Octet 7 Octet 8
PKE IND PWE
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Subindex - MSB LSB
AK PNU
2 0 339 0 1
0 0 1 0 0 0 0 1 0 1 0 1 0 0 1 1
Compax3 responds with the same content, except with response identification = 1:
Compax3 - PLC
Octet 1 Octet 2 Octet 3 Octet 4 Octet 5 Octet 6 Octet 7 Octet 8
PKE IND PWE
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Subindex - MSB LSB
AK PNU
1 0 339 0 1
0 0 0 1 0 0 0 1 0 1 0 1 0 0 1 1
Condition:
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.
In this chapter you can read about:
Compax3 - Objects ........................................................................................................ 199
Data formats of the bus objects ..................................................................................... 224
Compax3 - Objects
Compax3 objects are encapsulated in the "C3, C3Array, ..." modules in the
IEC61131-3 programming environment (CoDeSys).
Enter the object names before the "." and the corresponding list of objects
will appear.
Objects that are not described here are reserved objects!
Please note that certain objects are not valid (read by Compax3) immediately after
setting objects to a change. This is described in the heading "Valid after".
valid These objects are converted to internal variables from the Compax3 "VP"
command (write in object 210.10 with value <> 0).
saving objects It should also be noted that modified objects are not permanently stored in the
permanently Compax3, i.e. the changes are lost after the power (24 VDC) is turned off.
The object "Save objects permanently" (write in object 20.11 with value <> 0)" can
be used to save objects in a flash memory so they are retained even if the power
fails.
Please note the following:
The IEC cycle time increases considerably (to approx. 1.5 seconds) during
memorization.
We therefore recommend NOT to execute this function during time-sensitive
parts of the IEC program.
PLC cycle time monitoring is deactivated when accessing this object.
Perform this command only when needed. The write cycles of the memory
module are limited (up to 100 000 cycles).
The function is edge triggered and is executed upon a rising edge.
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
LSB 27 26 25 24 23 22 21 20
Unsigned - Formats
Type Bit 8 7 6 5 4 3 2 1
Unsigned 8 27 26 25 24 23 22 21 20
Length: 1 Byte
Unsigned 16 MSB 215 214 213 212 211 210 29 28
Length: 1 Word LSB 27 26 25 24 23 22 21 20
Unsigned 32 MSB 231 230 229 228 227 226 225 224
Length: 2 Words 223 222 221 220 219 218 217 216
LSB 27 26 25 24 23 22 21 20
Structure:
Y2 like data type Integer16
Y4 like data type Integer32
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 200.6: Normalization factor for 1100.9 (T30, T40)
Object 200.7 Normalization factor for 1000.8
Object 200.8: Normalization factor for 1000.9 (T30, T40)
Object 200.9: Normalization factor for 1100.14 (T30, T40)
Object 200.10: Normalization factor for 1000.14 (T30, T40)
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 201.8: Normalization factor for 1000.7 (T30, T40)
Object 201.11: Normalization factor for bus interpolation
CANSync/EthernetPowerLink
1100.6 = DeviceControl_DemandValue1 (DS 402 : Target position 0x607A in
the "Cyclic Synchronous Position" Operation Mode)
3921.1 = FBI_SignalProcessing0_Input (DS 402 : Interpolation data record
0x60C1.1 in the "Interpolated Position" Operation Mode) (resulting in 3921.6 =
FBI_SignalProcessing0_Output and
3921.7 = FBI_SignalProcessing0_OutputGreat)
Object 201.12: Normalization factor for 1100.13 = DeviceControl_DemandValue8
(DS 402: Target Velocity 0x60FF in "Profile velocity (pv)" and "cyclic synchronous
velocity (csv)" Operation Mode)
Object 201.13: Normalization factor for 1000.13 = DeviceState_ActualValue8
(T30, T40)
Object 201.14: Normalization factor for 3925.20 = FBR_InterpolationAccelInput
Object 201.15: Normalization factor for 3925.21 = FBR_InterpolationAccelInput
6. Status values
In this chapter you can read about:
D/A-Monitor ................................................................................................................... 227
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.
6.1 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.
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.
7. Error
All errors lead to error status.
Two error reactions are possible which are assigned to the individual error:
Reaction 2: Downramp with error ramp and then switching the valve outputs with
high impedance (tristate) or, depending on the set error reaction
remaining in the controlled state.
The method of "downramping" depends on the operating mode
configured:
With the aid of the "SetErrorReaction" IEC module, additional error reactions can
be assigned to individual errors.
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.
8. Order code
In this chapter you can read about:
Order code device: Compax3 Fluid ................................................................................ 229
Order code for accessories ............................................................................................ 229
Hydraulics Controller F
Type 0 0 1
PIO 2DO 24VDC 0.5A 2 channel digital output terminal (output voltage 0.5A) PIO 5 0 1
PIO 4DO 24VDC 0.5A 4 channel digital output terminal (output voltage 0.5A) PIO 5 0 4
PIO 8DO 24VDC 0.5A 8 channel digital output terminal (output voltage 0.5A) PIO 5 3 0
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
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
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
Note on cable (see on page 231)
9. Compax3 Accessories
In this chapter you can read about:
Connection set for Compax3F ....................................................................................... 232
Cable for path measurement systems............................................................................ 232
Operator control module BDM ....................................................................................... 234
EAM06: terminal block for inputs and outputs ................................................................ 235
Interface cable ............................................................................................................... 237
Options M1x .................................................................................................................. 243
Analog current inputs and voltage inputs (Option M21) .................................................. 246
Profibus plug BUS08/01 ................................................................................................ 248
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
Schirm auf Schirmanbindungselement
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 229)
Pin 1
C3F... (X13 oder X11) Balluff-Geber Start/Stop oder SSI
C3F... (X13 or X11) Balluff-Geber Start/Stop or SSI
Lötseite
solder side INIT 7
YE 2x0,25 YE 1 INIT Lötseite / Crimpseite
GN GN
INIT 6 3 INIT PK
PK PK
15 5 START/STOP
8/14 2x0,25 2 START/STOP GY
10 2 YE
14 4 START/STOP 12/13 GY GY 5 4
9 5 START/STOP
13 3 GN 3 8 1
8 BU BU GND
12 2 GND 15 2x0,25 6
7 7 6
11 1 RD RD RD
6 +24V DC 1 7 +24V DC BU
BN 2x0,25 BN
WH WH NC 4,8
1,2,3,4,5 NC
9,10,11
Schirm auf Schirmanbindungselement Schirm auf Schirmanbindungselement
Screen at screen contact Screen at screen contact
25 mm 20 mm
6 mm 3,5 mm
2 mm
You will find the length code in the accessories order code (see on page 229).
27mm
C3F... (X13) Encoder
Pin 1
BU 0,5 BU
Sense+ 2 WH WH
1 Up(sens.)
0,5
Sense- 11 4 0V(sens.)
Lötseite BN BN Lötseite / Crimpseite
2x0,14
solder side GN GN
11 1
VT VT 12
CLK 7 2x0,14
YE
8 Clock+ 10 2
YE
15 5 CLK/ 6 9 Clock-
14
10
4 BN/GN BN/GN 16 13
0,5
13
9
3 VCC 4 WH/GN
7 +V 9 3
WH/GN 0,5
12
8
2 GND 15 10 0V
7 BU/BK BU/BK
11 1
6 COS+ 8 12 B+ 8
14 4
RD/BK 0,14 0,14 RD/BK
COS- 12 GN/BK GN/BK
13 B- 15
0,14
SIN+ 3 15 A+ 17
5
YE/BK 0,14 YE/BK 7
SIN- 9 16 A- 6
GY GY
DATA 14 2x0,14
PK
14 Data+
PK
1,5,10 NC DATA/ 13 17 Data-
NC 2,3,5,6,11
SW SW
BU BU
25 mm 25 mm
6 mm 5 mm
2 mm
You will find the length code in the accessories order code (see on page 229).
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 (no valve characteristics) 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).
EAM6/01: Terminal block without luminous indicator for X11, X12 or X22
Figure similar
Width: 67.5mm
Figure similar
Width: 67.5mm
Cable plan SSK23/..: X11 to EAM 06/01
23 mm
2 mm 6 mm
23 mm
2 mm 6 mm
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
You will find the length code in the accessories order code (see on page 229).
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
Examples include:
SSK27/05/.. for connecting from Pop to 5 Compax3.
SSK27/01/.. for connecting from Pop to one Compax3
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
You will find the length code in the accessories order code (see on page 229).
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
You will find the length code in the accessories order code (see on page 229).
Pin 1 Pin 1
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
You will find the length code in the accessories order code (see on page 229).
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 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 229)
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.
SSK28/..
SSK28/..
BUS07/01 SSK28/.. BUS07/01
Pin 8
Pin 7
Pin 6
Pin 5
Pin 4
Pin 3
Pin 2
Pin 1
10pF
X1/4 200KΩ
In0-
250Ω 200KΩ
In0+
X1/3
200KΩ
1nF
X21/2 200KΩ
In3+
200KΩ
In3-
X21/2
47KΩ
ON
OFF
Technical data
Motion control with motion profiles, suitable for position and force/pressure control
for up to 2 axes.
Setpoint generator
Jerk-limited ramps.
Travel data in increments, mm, inch.
Specification of speed, acceleration, delay and jerk factor.
Force/pressure data in N, bar, psi.
Monitoring functions
Voltage range.
Following error monitoring.
Hard and Software limit switch
Size / weight
Controller type Compax3 F001 D2
Dimensions: HxWxD [mm] 199x80x130
Weight [kg] 2.0
Housing / protection class Enclosed metal housing, insulation according to
EN60529 / IP 20
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
Insulation requirements
Degree of contamination Level of contamination 2 according to EN 50 178
UL certification
Conform to UL: USL according to UL508 (Listed)
CNL according to C22.2 No. 142-M1987.
(Listed)
Certified E-File_No.: E198563
Functions
Motion control via I/Os (Option M10 or up to 31 motion sets possible with the
M12 required) or via RS232 / RS485 following functions.
Absolute positioning
Relative positioning
Electronic Gearbox (Gearing)
Reg-related positioning
(exactitude < 1µs)
Speed control
Stop - Set
Definition of status bits for sequence
control (with M10 or M12)
Force/pressure control
Specification of speed, acceleration,
deceleration and jerk
Different machine zero modes
Absolute / continuous operation
Actual position Encoder simulation
Resolution: 4 - 16384 Increments /
revolution
Signal monitor 2 channels ±10 V analog
Resolution: 8 Bit
8 digital inputs (24V level) Energize motor/Ackn; Stop; Manual+,
(standard) Manual-, Reg input, 2 limit switches,
machine zero initiator,
8 additional digital inputs Address 0 - 4, Start, 2. Stop, open brake,
(with M10 or M12 Option) 24V level
4 digital outputs Error, Position/Speed/Gear reached,
power output stage currentless, motor
stationary with current with setpoint value
0.
Load max. 100mA
4 additional digital outputs Ref detected / referenced, status bits Bit
(with M10 or M12 Option) 1-3
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
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
11. Index
+ C
+/-10V analog speed setpoint value as signal C3 settings for RS485 four wire operation •
source • 88 161
C3 settings for RS485 two wire operation • 160
A C3HydraulicsManager • 34
Acceleration / deceleration for positioning • 64 Cable for path measurement systems • 232
Acceleration feedback • 146 Calling up the input simulation • 149
Acceleration feedforward (advanced) • 147 Change assignment direction reversal / limit
Acceleration for positioning and velocity control switches • 63
• 64 Change initiator logic • 63
Activation of pressure / force control • 147 Check connection assignment of the pressure
Adapt control parameters • 148 sensors • 144
Adapterkabel SSK32/20 • 242 Check input offset or zero of the pressure
Adjusting the bus address (Profibus I20) • 29 sensors • 144
Adjusting the bus address (Profinet I32) • 30 Check sense of direction • 143
Adjusting the machine zero proximity switch • Checking the feedback direction and the valve
58 output polarity • 101
Allgemeine Gefahren • 11 Checking the open loop gain • 104
Analog / Encoder (plug X11) • 24 Close control loop • 145
Analog Input • 124 COM port protocol • 162
Analog Input (plug X1) • 21 Communication • 153
Analog Inputs/Outputs • 227 Compax3 - Objekte • 198, 199
Analog Output (plug X2) • 22 Compax3 communication variants • 153
Analoge Strom- und Spannungseingänge Compax3 Fluid T11
(Option M21) • 246 Function overview • 14
ASCII - record • 162 Compax3F device description • 17
Assignment of the different motion functions • Compax3F Strukturbild • 35
192 Compensation of non-linearities of the distance
Assignment of the X22 connector • 243 • 102
Aufbau der Satztabelle • 191 Conditioning Chain Symbols • 137
Auswahl und Konfiguration der Ventile • 41 Conditions of utilization for CE-conform
Azyklischer Parameterkanal • 193 operation • 12
Configuration name / comments • 86
B Configuration of local modem 1 • 168
Configuration of remote modem 2 • 169
Beispiel
Configuration of the process-data channel •
Elektronisches Getriebe mit Lageerfassung
171
über Encoder • 90
Configuring drive1 • 36
Beschaltung der analogen
Configuring drive2 • 38
Spannungseingänge • 22, 247
Configuring the device • 101
Beschaltung der analogen Stromeingänge •
Configuring the signal Source • 87
21, 246
Connection of the digital Outputs/Inputs • 26
Bestellhinweis Kabel • 231
Connection set for Compax3F • 232
Bestellschlüssel Ein-/Ausgangsklemmen (PIO)
Connections of digital inputs and outputs M10
• 230
& M12 • 243
Bestellschlüssel Zubehör • 229
Connections of the encoder interface • 25, 28
Betriebsart
Connector assignment Option M21 X20 • 246
Direktes Positionieren • 174
Connector assignment Option M21 X21 • 247
Positionieren duch Satzanwahl • 176
Control word 1 overview • 180
Betriebsarten • 170
Controller optimization • 105
Bewegungsobjekte in Compax3 • 151
Controller structure auxiliary axis • 109
Binary record • 163
Controller structure of main axis • 108
Bit sequence V2 • 226
Controller Tuning • 100
Busformat Y2 und Y4 • 225
Cyclic process data channel • 180
Byte string OS • 226
Cylinder / motor selection • 37
D Fehler • 228
Fehlerreaktion bei Busausfall • 177
D/A-Monitor • 227 Filter • 145
Data formats of the bus objects • 224 Filter alignment • 104
Debouncing Filter auxiliary axis • 119
Limit switch, machine zero and input 0 • 63 Filter external signal source • 120
Defining jerk / ramps • 64 Filter main axis • 118
Defining the reference system • 43 Filter setpoints • 122
Definition of the states of the programmable Fixed point format C4_3 • 224
status bits (PSBs): • 192 Fixed point format E2_6 • 224
Description of jerk • 64 Following error limit • 70
Digital inputs/outputs • 26 Force feedforward • 148
Digitale Ein-/Ausgänge (Stecker X12) • 26 Force sensor drive 1 • 40
Digitale Ein-/Ausgangsoption M12 (I12) • 243 Force window - force achieved • 67
Direction dependent gain • 144 Force-/Pressure Control auxiliary axis • 132
Drive configuration • 36 Force-/Pressure Control main axis • 128
Drucksensoren • 39 Function description • 34
E Direct positioning • 185
Positioning with set selection • 190
E/A - Belegung • 73 Function of the Bus LEDs (Profibus I20) • 29
E/A-Schnittstelle X12 / X22 / SSK22 • 240 Function of the Bus LEDs (Profinet I32) • 30
EAM06
Klemmenblock für Ein- und Ausgänge • 235 G
Eingangssimulation • 149 General • 141
Einleitung • 8 General layout of the table • 192
Electronic gearbox (Gearing) • 83 Gerätezuordnung • 8
Encoder A/B 5V, step/direction or SSI GSD - File • 15
feedback as signal source • 89
Encoder cable • 233 H
Encoderkopplung von 2 Compax3 - Achsen /
Hardware-Endgrenzen • 62
SSK29 • 241
HEDA (motion bus) - Option M11 • 244
Encodernachbildung • 72
Homing modes with home switch (on X12/14) •
ETHERNET-RS485 NetCOM 113 adapter •
48
158
Hydraulic corner power limitation • 68
Example
HydraulicsManager • 34
Changing the stiffness • 195
Setting the Oscilloscope • 98 I
Example 1
Reg comes after the reg restriction window • Ignore zone (example) • 75
80 Inbetriebnahme Compax3 • 32
Example 2 Inputs / Outputs CW, SW • 74
Reg within the reg restriction window • 80 Integer formats • 224
Example 3 Integrator KI • 146
Reg is missing or comes after termination of Interface cable • 237
the RegSearch motion set • 81 Interface cable order code • 230
Example 4 J
Reg comes before the reg restriction window •
82 Jerk for STOP, MANUAL and error • 66
Example 5 Jerk limit for positioning • 64
The registration mark comes after the reg Jerk value • 64
restriction window, registration mark can,
however, not be reached without direction K
reversal • 82 Konfiguration • 32
F L
Feedback (connector X13) • 27 Level • 26
Feedback cable (Balluff) • 233 Limit and monitoring settings • 69
Feedback cable EnDat2.1 • 234 Limit and monitoring settings of force • 67
Feedforward auxiliary axis (status controller) • Limit valve set value • 143
111 Load configuration drive1 • 38
Feedforward main axis (status controller) • 110
Feedforwards (advanced) • 147 M
Machine Zero • 44 O
Machine zero modes overview • 46
Machine zero modes without home switch • 54 Object 172.11
Machine zero only from motor reference • 56 IN0 Offset • 124
Machine zero speed and acceleration • 59 Object 172.3
Maximum control deviation of force controller • IN0 Filter • 124
68 Object 173.11
Maximum force • 68 IN1 Offset • 124
Maximum permissible speed • 71 Object 173.3
Meaning of the front panel LEDs (via X10) • 17 IN1 Filter • 125
MN-M 1,2 Object 174.11
Limit switch as machine zero • 57 IN2 Offset • 125
MN-M 11...14 Object 174.3
With direction reversal switches on the IN2 Filter • 125
negative side • 53 Object 175.11
MN-M 128/129 IN3 Offset • 125
Following error threshold while moving to block Object 175.3
• 54 IN3 Filter • 126
MN-M 130, 131 Object 176.11
Acquire absolute position via distance coding • IN4 Offset • 126
56 Object 176.3
MN-M 132, 133 IN4 Filter • 126
Determine absolute position via distance Object 177.11
coding with direction reversal switches • 58 IN5 Offset • 126
MN-M 17,18 Object 177.3
Limit switch as machine zero • 55 IN5 Filter • 127
MN-M 19,20 Object 2010.23
MN-Initiator = 1 on the positive side • 48 Speed • 110
MN-M 21,22 Object 2010.24
MN Initiator = 1 on the negative side • 49 Accel • 110
MN-M 23...26 Object 2011.4
Direction reversal switches on the positive side Filter - Ext. velocity feed-forward • 120
• 50 Object 2011.5
MN-M 27...30 Filter - Ext. accel. feed-forward • 121
Direction reversal switches on the negative Object 2050.10
side • 50 Accel • 111
MN-M 3,4 Object 2050.9
MN-Initiator = 1 on the positive side • 51 Speed • 111
MN-M 33,34 Object 2100.10
MN at motor zero point • 56 Filter 2 - Actual velocity • 118
MN-M 35 Object 2100.11
MN (machine zero) at the current position • 54 Filter 2 - Actual acceleration • 118
MN-M 5,6 Object 2100.13
MN-Initiator = 1 auf der negativen Seite • 52 Velocity feedback • 114
MN-M 7...10 Object 2100.14
Direction reversal switches on the positive side Acceleration feedback • 114
• 53 Object 2101.13
Mode 1 Velocity feedback • 117
Time and maximum values are deduced from Object 2101.14
Compax3 input values • 152 Acceleration feedback • 117
Mode 2 Object 2101.7
Compax3 input values are deduced from times Filter 2 actual speed • 119
and maximum values • 152 Object 2101.8
Modem cable SSK31 • 242 Filter 2 actual accel • 119
Modem MB-Connectline MDH 500 / MDH 504 Object 2107.1
• 159 Tracking filter physical source • 120
Monitor information • 93 Object 2109.1
Motion functions • 78 Tracking filter HEDA • 121
Motion set • 151 Object 2110.1
Mounting and dimensions • 31 Tracking filter • 122
Move drive controlled • 143 Object 2110.6
MoveAbs und MoveRel • 78 Filter velocity • 122
Object 2110.7