Parker Compax3S025V2 User manual

Compax3 Electromechanical Automation
We reserve the right to make technical changes. 05.12.07 10:01 192-120101 N11 C3I11T11 November 2007
The data correspond to the current status at the time of printing.
Operating instructions Compax3 I11T11
Positioning via digital I/Os
192-120101 N11 C3I11T11
November 2007
Release R07-1

Introduction Positioning via digital I/Os
2 192-120101 N11 C3I11T11 November 2007
____________________________
Windows NT®, Windows 2000™, Windows XP™, Windows Vista are 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 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-automation.com http://www.parker-automation.com
E-mail: sales.automa[email protected] mailto:sale[email protected]
Parker Hannifin GmbH & Co. KG - registered office: Bielefeld - Amtsgericht: Bielefeld HRA 14808
Personally liable shareholder: Parker Hannifin Management GmbH - Amtsgericht: Bielefeld HRB 35489
executive board: Dr. Gerd Scheffel, Günter Schrank, Christian Stein, Kees Veraart, Hans Wolfs - Chairman of the board: Hansgeorg
Greuner
Headquarters:
England:
Parker Hannifin plc
Electromechanical Automation
Arena Business Centre
Holy Rood Close
Poole, Dorset BH17 7FJ UK
Tel.: [phone]
Fax: [phone]
USA:
Parker Hannifin Corporation
Electromechanical Automation
5500 Business Park Drive
Rohnert Park, CA 94928
Phone #: [phone]
FAX #: [phone]
E-mail:
[e-mail]
mailto:[e-mail]
Internet:
www.parker-automation.com
http://www.parker-automation.com
E-mail:
[e-mail]
mailto:[email protected]
Internet:
www.compumotor.com
http://www.compumotor.com
Worldwide sales
http://www.parker.com/euro_emd/EME/Contact_sites/Sales%20Channel_Parker-
EME.pdf
DIN EN ISO 9001
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Reg. Nr. 36 38

Parker EME Introduction
192-120101 N11 C3I11T11 November 2007 3
Contents
1. Introduction...............................................................................................9
1.1 Device assignment .................................................................................. 9
1.2 Type specification plate ........................................................................ 10
1.3 Packaging, transport, storage .............................................................. 11
1.4 Safety Instructions................................................................................. 12
1.4.1. General hazards................................................................................................... 12
1.4.2. Safety-conscious working.................................................................................. 12
1.4.3. Special safety instructions................................................................................. 13
1.5 Warranty conditions .............................................................................. 14
1.6 Conditions of utilization........................................................................ 15
1.6.1. Conditions of utilization for CE-conform operation......................................... 15
1.6.2. Conditions of utilization for UL certification Compax3S................................. 18
1.6.3. Current on the mains PE (leakage current)....................................................... 19
1.6.4. Supply networks.................................................................................................. 20
2. Compax3 I11 T11: Positioning via digital I/Os.....................................21
3. Compax3 device description.................................................................22
3.1 Meaning of the status LEDs - Compax3 axis controller ..................... 22
3.2 Meaning of the status LEDs - Compax3MP (mains module).............. 22
3.3 Connections of Compax3S ................................................................... 23
3.3.1. Compax3S connectors........................................................................................ 23
3.3.2. Connector and pin assignment C3S.................................................................. 24
3.3.3. Control voltage 24VDC / enable connector X4 C3S......................................... 26
3.3.4. Motor / Motor brake (C3S connector X3)........................................................... 27
3.3.5. C3Sxxx V2 ............................................................................................................ 28
3.3.5.1 Main voltage supply C3S connector X1.................................................... 28
3.3.5.2 Braking resistor / high voltage DC C3S connector X2.............................. 29
3.3.6. C3Sxxx V4 ............................................................................................................ 31
3.3.6.1 Power supply connector X1 for 3AC 400VAC/480VAC-C3S
devices...................................................................................................... 31
3.3.6.2 Braking resistor / high voltage supply connector X2 for 3AC
400VAC/480VAC_C3S devices................................................................ 32
3.3.6.3 Connection of the power voltage of 2 C3S 3AC devices.......................... 33
3.4 Compax3MP/Compax3M connections ................................................. 34
3.4.1. Front connector................................................................................................... 34
3.4.2. Connections on the device bottom.................................................................... 35
3.4.3. Connections of the axis combination................................................................ 36
3.4.4. Connector and pin assignment.......................................................................... 37
3.4.5. Control voltage 24VDC Compax3MP (mains module)..................................... 39

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3.4.6. Mains supply Compax3MP (mains module)...................................................... 39
3.4.7. Braking resistor / temperature switch Compax3MP (mains module) ............ 40
3.4.7.1 Temperature switch Compax3MP (mains module) .................................. 41
3.4.8. Motor / motor brake Compax3M (axis controller) ............................................ 41
3.4.8.1 Measurement of the motor temperature of Compax3M (axis
controller).................................................................................................. 42
3.5 Connections of Compax3H................................................................... 43
3.5.1. Compax3H plugs/connections........................................................................... 43
3.5.2. Terminal clamps – max. line cross section C3H .............................................. 45
3.5.3. Plug and pin assignment C3H............................................................................ 46
3.5.4. Motor / Motor brake C3H..................................................................................... 48
3.5.5. Control voltage 24 VDC C3H............................................................................... 49
3.5.6. Mains connection Compax3H ............................................................................ 50
3.5.7. Braking resistor / supply voltage C3H............................................................... 51
3.5.7.1 Connect braking resistor C3H................................................................... 51
3.5.7.2 Power supply voltage DC C3H ................................................................. 51
3.5.7.3 Connection of the power voltage of 2 C3H 3AC devices.......................... 52
3.6 Communication interfaces.................................................................... 53
3.6.1. RS232 / RS485 interface (plug X10) ................................................................... 53
3.6.2. Communikation Compax3M ............................................................................... 54
3.6.2.1 PC - Compax3MP (mains module)........................................................... 54
3.6.2.2 Communication in the axis combination (connector X30, X31)................ 54
3.6.2.3 Adjusting the basic address...................................................................... 55
3.6.2.4 Setting the axis function............................................................................ 55
3.7 Signal interfaces.................................................................................... 56
3.7.1. Resolver / Feedback (connector X13)................................................................ 56
3.7.2. Analog / Encoder (plug X11)............................................................................... 57
3.7.2.1 Wiring of analog interfaces ....................................................................... 57
3.7.2.2 Wiring of the analog input......................................................................... 58
3.7.3. Digital inputs/outputs (plug X12) ....................................................................... 58
3.7.3.1 Connection of the digital Outputs/Inputs................................................... 59
3.8 Installation and dimensions Compax3................................................. 60
3.8.1. Installation and dimensions of Compax3 S0xx V2........................................... 60
3.8.2. Monting and dimensions Compax3S100V2 and S0xxV4................................. 61
3.8.3. Monting and dimensions Compax3S150V2 and S150V4................................. 62
3.8.4. Mounting and dimensions Compax3S300V4.................................................... 63
3.8.5. Mounting and dimensions C3MP/C3M .............................................................. 64
3.8.6. Mounting and dimensions C3H.......................................................................... 65
3.8.6.1 Mounting distances, air currents Compax3H050V4................................. 66
3.8.6.2 Mounting distances, air currents Compax3H090V4................................. 66
3.8.6.3 Mounting distances, air currents Compax3H1xxV4.................................. 67
3.9 Safety function – safe standstill – Compax3S..................................... 68
3.9.1. Safe standstill with Compax3 principle............................................................. 68
3.9.2. Devices with the "Safe Standstill" safety function .......................................... 69
3.9.3. Safety instructions for the ”safe standstill” function...................................... 70
3.9.4. Application example for ”safe standstill”......................................................... 71
3.9.4.1 Note:.......................................................................................................... 71
3.9.4.2 Layout: ...................................................................................................... 71
3.9.4.3 Circuit:....................................................................................................... 72
3.9.4.4 Description................................................................................................ 73

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4. Setting up Compax3...............................................................................75
4.1 Configuration ......................................................................................... 75
4.1.1. Test commissioning of a Compax3 axis ........................................................... 77
4.1.2. Selection of the supply voltage used ................................................................ 77
4.1.3. Motor Selection.................................................................................................... 77
4.1.4. Optimize motor reference point and switching frequency of the
motor current ....................................................................................................... 78
4.1.5. Braking Resistor.................................................................................................. 81
4.1.6. General Drive ....................................................................................................... 82
4.1.7. Defining the reference system ........................................................................... 82
4.1.7.1 Measure reference.................................................................................... 83
4.1.7.2 Machine reference modes (MN-Ms)......................................................... 86
4.1.7.3 Adjusting the machine zero proximity switch............................................ 89
4.1.7.4 Debouncing the machine zero input (X12/14).......................................... 89
4.1.7.5 Software end limits.................................................................................... 90
4.1.8. Defining jerk / ramps........................................................................................... 91
4.1.8.1 Jerk limitation............................................................................................ 91
4.1.8.2 Ramp upon error / deenergize................................................................. 92
4.1.9. Limit and Monitoring Settings............................................................................ 93
4.1.9.1 Current (Torque) Limit............................................................................... 93
4.1.9.2 Positioning window - Position reached................................................... 93
4.1.9.3 Following error limit................................................................................... 95
4.1.9.4 Maximum operating speed ....................................................................... 95
4.1.10. Encoder Simulation............................................................................................. 96
4.1.11. Positioning ........................................................................................................... 96
4.1.11.1 Operating modes ...................................................................................... 97
4.1.11.2 Define positioning data records................................................................ 101
4.1.11.3 Dynamic positioning.................................................................................. 103
4.1.12. Error response..................................................................................................... 104
4.1.13. Configuration name / comments........................................................................ 104
4.2 Test commissioning Compax3 ........................................................... 105
4.3 Device status........................................................................................ 107
4.4 Optimization......................................................................................... 108
4.4.1. Optimization window........................................................................................... 109
4.4.2. Scope.................................................................................................................... 110
4.4.2.1 Monitor information................................................................................... 111
4.4.2.2 User interface............................................................................................ 112
4.4.2.3 Example: Setting the Oscilloscope........................................................... 117
4.4.3. Controller optimization ....................................................................................... 119
4.4.3.1 Introduction............................................................................................... 119
4.4.3.2 Configuration............................................................................................. 122
4.4.3.3 Automatic controller design ...................................................................... 137
4.4.3.4 Setup and optimization of the control ....................................................... 150
4.4.4. Signal filtering with external command value .................................................. 184
4.4.5. Input simulation................................................................................................... 185
4.4.5.1 Calling up the input simulation.................................................................. 185
4.4.5.2 Functionality.............................................................................................. 186
4.4.6. Setup mode .......................................................................................................... 187
4.4.6.1 Motion objects in Compax3 ...................................................................... 188
4.4.6.2 Commissioning the load control................................................................ 189

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4.4.7. Load identification............................................................................................... 190
4.4.7.1 Principle.................................................................................................... 190
4.4.7.2 Boundary conditions ................................................................................. 190
4.4.7.3 Process of the automatic determination of the load characteristic
value (load identification).......................................................................... 191
4.4.7.4 Tips ........................................................................................................... 192
4.4.8. Alignment of the analog inputs.......................................................................... 192
4.4.8.1 Offset alignment........................................................................................ 193
4.4.8.2 Gain alignment.......................................................................................... 193
4.4.9. C3 ServoSignalAnalyzer ..................................................................................... 194
4.4.9.1 ServoSignalAnalyzer – function range...................................................... 194
4.4.9.2 Signal analysis overview........................................................................... 195
4.4.9.3 Installation enable of the ServoSignalAnalyzer........................................ 196
4.4.9.4 Analyses in the time range ....................................................................... 198
4.4.9.5 Measurement of frequency spectra.......................................................... 201
4.4.9.6 Measurement of frequency responses ..................................................... 204
4.4.9.7 Overview of the user interface.................................................................. 211
4.4.9.8 Basics of frequency response measurement ........................................... 223
4.4.9.9 Examples are available as a movie in the help file................................... 228
4.4.10. ProfileViewer for the optimization of the motion profile ................................. 229
4.4.10.1 Mode 1: Time and maximum values are deduced from Compax3
input values............................................................................................... 229
4.4.10.2 Mode 2: Compax3 input values are deduced from times and
maximum values....................................................................................... 230
4.4.11. Turning the motor holding brake on and off..................................................... 231
5. Communication ....................................................................................232
5.1 COM port protocol ............................................................................... 232
5.1.1. RS485 setting values........................................................................................... 232
5.1.2. ASCII - record....................................................................................................... 233
5.1.3. Binary record ....................................................................................................... 234
5.2 Remote diagnosis via Modem............................................................. 237
5.2.1. Structure............................................................................................................... 238
5.2.2. Configuration of local modem 1......................................................................... 239
5.2.3. Configuration of remote modem 2..................................................................... 240
5.2.4. Recommendations for preparing the modem operation................................. 241
6. Status values ........................................................................................242
6.1 D/A-Monitor .......................................................................................... 242
6.2 Status values........................................................................................ 242
7. Error.......................................................................................................243
7.1 Error list................................................................................................ 243
8. Order code ............................................................................................244
8.1 Order code device: Compax3 ............................................................. 245
8.2 Order code for mains module: Compax3MP ..................................... 246

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8.3 Accessories order code ...................................................................... 246
9. Compax3 Accessories.........................................................................250
9.1 Parker servo motors............................................................................ 251
9.1.1. Direct drives......................................................................................................... 251
9.1.1.1 Feedback systems for direct drives.......................................................... 251
9.1.1.2 Linear motors............................................................................................ 252
9.1.1.3 Torque motors........................................................................................... 252
9.1.2. Rotary servo motors............................................................................................ 252
9.2 EMC measures..................................................................................... 253
9.2.1. Mains filter............................................................................................................ 253
9.2.1.1 Mains filter NFI01/01................................................................................. 253
9.2.1.2 Mains filter NFI01/02................................................................................. 254
9.2.1.3 Mains filter for NFI01/03............................................................................ 254
9.2.1.4 Mains filter NFI02/0x................................................................................. 255
9.2.1.5 Mains filter NFI03/01................................................................................. 256
9.2.1.6 Mains filter NFI03/02................................................................................. 256
9.2.2. Motor output filter................................................................................................ 257
9.2.2.1 Motor output filter MDR01/04.................................................................... 257
9.2.2.2 Motor output filter MDR01/01.................................................................... 257
9.2.2.3 Motor output filter MDR01/02.................................................................... 258
9.2.2.4 Wiring of the motor output filter................................................................. 258
9.2.3. Mains filter............................................................................................................ 258
9.3 Connections to the motor ................................................................... 259
9.3.1. Resolver cable ..................................................................................................... 260
9.3.2. SinCos© cable...................................................................................................... 261
9.3.3. EnDat cable .......................................................................................................... 262
9.3.4. Overview of motor cables................................................................................... 262
9.3.5. Motor cable with plug.......................................................................................... 263
9.3.6. Motor cable for terminal box .............................................................................. 264
9.3.6.1 Connection of terminal box MH145 & MH205 .......................................... 266
9.3.7. Encoder cable ...................................................................................................... 267
9.4 External braking resistors................................................................... 268
9.4.1. Permissible braking pulse powers of the braking resistors........................... 269
9.4.1.1 Calculation of the BRM cooling time......................................................... 270
9.4.1.2 Permissible braking pulse power: BRM08/01 with C3S015V4 /
C3S038V4................................................................................................. 271
9.4.1.3 Permissible braking pulse power: BRM08/01 with C3S025V2................. 271
9.4.1.4 Permissible braking pulse power: BRM09/01 with C3S100V2................. 272
9.4.1.5 Permissible braking pulse power: BRM10/01 with C3S150V4................. 272
9.4.1.6 Permissible braking pulse power: BRM05/01 with C3S063V2................. 273
9.4.1.7 Permissible braking pulse power: BRM05/01 with C3S075V4................. 273
9.4.1.8 Permissible braking pulse power: BRM05/02 with C3S075V4................. 274
9.4.1.9 Permissible braking pulse power: BRM04/01 with C3S150V2................. 274
9.4.1.10 Permissible braking pulse power: BRM04/01 with C3S300V4................. 275
9.4.1.11 Permissible braking pulse power: BRM04/02 with C3S150V2................. 275
9.4.1.12 Permissible braking pulse power: BRM04/02 with C3S300V4................. 276
9.4.1.13 Permissible braking pulse power: BRM04/03 with C3S300V4................. 276
9.4.1.14 Permissible braking pulse power: BRM11/01 with C3H0xxV4................. 277
9.4.1.15 Permissible braking pulse power: BRM12/01 with C3H1xxV4................. 277
9.4.1.16 Permissible braking pulse power: BRM13/01 with C3MP10D6................ 278

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9.4.1.17 Permissible braking pulse power: BRM14/01 with C3MP10D6................ 278
9.4.2. Dimensions of the braking resistors ................................................................. 278
9.4.2.1 BRM8/01braking resistors ........................................................................ 278
9.4.2.2 BRM5/01 braking resistor ......................................................................... 278
9.4.2.3 Braking resistor BRM5/02, BRM9/01 & BRM10/01.................................. 279
9.4.2.4 Braking resistor BRM4/0x......................................................................... 279
9.4.2.5 Braking resistor BRM11/01 & BRM12/01 ................................................. 280
9.4.2.6 Braking resistor BRM13/01 & BRM14/01 ................................................. 280
9.5 Connection set for Compax3S............................................................ 281
9.6 Connection set for Compax3MP/Compax3M..................................... 283
9.7 Operator control module BDM............................................................ 284
9.8 EAM06: Terminal block for inputs and outputs................................. 285
9.9 Interface cable...................................................................................... 288
9.9.1. RS232 cable.......................................................................................................... 289
9.9.2. RS485 cable to Pop ............................................................................................. 290
9.9.3. I/O interface X12 / X22......................................................................................... 291
9.9.4. Ref X11.................................................................................................................. 292
9.9.5. Encoder coupling of 2 Compax3 axes............................................................... 293
9.9.6. Modem cable SSK31............................................................................................ 294
10.Technical data.......................................................................................295
11.Index......................................................................................................309

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In this chapter you can read about:
Device assignment ..............................................................................................................................9
Type specification plate.....................................................................................................................10
Packaging, transport, storage............................................................................................................11
Safety Instructions .............................................................................................................................12
Warranty conditions...........................................................................................................................14
Conditions of utilization......................................................................................................................15
1.1 Device assignment
This manual applies to the following devices:
Compax3S025V2 + supplement
Compax3S063V2 + supplement
Compax3S100V2 + supplement
Compax3S150V2 + supplement
Compax3S015V4 + supplement
Compax3S038V4 + supplement
Compax3S075V4 + supplement
Compax3S150V4 + supplement
Compax3S300V4 + supplement
Compax3H050V4 + supplement
Compax3H090V4 + supplement
Compax3H125V4 + supplement
Compax3H155V4 + supplement
Compax3M050D6 + supplement
Compax3M100D6 + supplement
Compax3M150D6 + supplement
Compax3MP10D6
With the supplement:
F10 (Resolver)
F11 (SinCos©)
F12 (linear and rotary direct drives)
I11 T11
1. Introduction

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1.2 Type specification plate
You will find the exact description of the device on the type specification plate,
which can be found on the device:
26
11
3
1
10
8
9
7
5
4
12
Explanation:
1 Type designation
The complete order designation of the device (2, 5, 6, 9, 8).
2 C3: Abbreviation for Compax3
S025: Single axis device, nominal device current in 100mA (025=2.5A)
M050: Multi-axis device, nominal device current in 100mA (050=5A)
H050: High power device, nominal device current in 1A (050=50A)
MP10: Mains module 3AC230...480V, nominal power in 1kW (10=10kW)
D6: Nominal supply voltage (6=560VDC)
V2: Mains supply voltage (2=230VAC/240VAC, 4=400VAC/480VAC)
3 Unique number of the particular device
4 Nominal supply voltage:
1AC = single phase, 3AC = three phase / input current
5 Designation of the feedback system
F10: Resolver
F11: SinCos© / Single- or Multiturn
F12:Feedback module for direct drives
6 Device interface
I10: Analog, step/direction and encoder input
I11 / I12: Digital Inputs / Outputs and RS232 / RS485
I20: Profibus DP
I21: CANopen
I22: DeviceNet
I30: Ethernet Powerlink
C10:integrated controller C3 powerPLmC
C13:integrated controller C3 powerPLmC with Profibus
7 Date of factory test
8 Options
Mxx:I/O extension, HEDA
Sx: optional safety technology on the C3M
9 Technology function
T10: Servo controller
T11: Positioning
T30: Motion control programmable according to IEC61131-3
T40: Electronic cam generation
10 CE compliance
11 Certified safety technology
12 UL certification
Compax3 - Type
specification plate:

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1.3 Packaging, transport, storage
Packaging material and transport
Caution! The packaging material is inflammable, if it is disposed of improperly by burning,
lethal fumes may develop.
The packaging material must be kept and reused in the case of a return shipment.
Improper or faulty packaging may lead to transport damages.
Make sure to transport the drive always in a safe manner and with the aid of
suitable lifting equipment (Weight (see page 305, see page 295)). Do never use
the electricconnections for lifting. Before the transport, a clean, level surface
should be prepared to place the device on. The electric connections may not be
damaged when placing the device.
First device checkup
Check the device for signs of transport damages.
Verify, if the indications on the Type identification plate (see page 10)
correspond to your requirements.
Check if the consingment is complete.
Storage If you do not wish to mount and install the device immediately, make sure to store it
in a dry and clean environment (see page 306). Make sure that the device is not
stored near strong heat sources and that no metal chippings can get into the
device.
Disposal This product contains materials that fall under the special disposal regulation from
1996, which corresponds to the EC directory 91/689/EEC for dangerous disposal
material. We recommend to dispose of the respective materials in accordance with
the respectively valid environmental laws. The following table states the materials
suitable for recycling and the materials which have to be disposed of separately.
Material suitable for
recycling Disposal
Metal yes no
Plastic materials yes no
Circuit boards no yes
Please dispose of the circuit boards according to one of the following methods:
Burning at high temperatures (at least 1200°C) in an incineration plant licensed
in accordance part A or B of the environmental protection act.
Disposal via a technical waste dump which is allowed to take on electrolytic
aluminium condensers. Do under no circumstances dump the circuit boards at a
place near a normal waste dump.

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1.4 Safety Instructions
In this chapter you can read about:
General hazards ................................................................................................................................12
Safety-conscious working..................................................................................................................12
Special safety instructions .................................................................................................................13
1.4.1. General hazards
General Hazards on Non-Compliance with the Safety Instructions
The device described in this manual is designed in accordance with the latest
technology and is safe in operation. Nevertheless, the device can entail certain
hazards if used improperly or for purposes other than those explicitly intended.
Electronic, moving and rotating components can
constitute a hazard for body and life of the user, and
cause material damage
Usage in accordance with intended purpose
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 combined by interconnecting several of these devices. Mutual interlocking
functions must be incorporated for this purpose.
1.4.2. Safety-conscious working
This device may be operated only by qualified personnel.
Qualified personnel in the sense of these operating instructions consists of:
Persons who, by virtue to their training, experience and instruction, and their
knowledge of pertinent norms, specifications, accident prevention regulations and
operational relationships, have been authorized by the officer responsible for the
safety of the system to perform the required task and in the process are capable
of recognizing potential hazards and avoiding them (definition of technical
personnel according to VDE105 or IEC364),
Persons who have a knowledge of first-aid techniques and the local emergency
rescue services.
Persons who have read and will observe the safety instructions.
Those who have read and observe the manual or help (or the sections pertinent
to the work to be carried out).
This applies to all work relating to setting up, commissioning, configuring,
programming, modifying the conditions of utilization and operating modes, and to
maintenance work.
This manual and the help information must be available close to the device during
the performance of all tasks.

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1.4.3. Special safety instructions
Check the correct association of the device and its documentation.
Never detach electrical connections while voltage is applied to them.
Safety devices must be provided to prevent human contact with moving or
rotating parts.
Make sure that the device is operated only when it is in perfect condition.
Implement and activate the stipulated safety functions and devices.
Operate the device only with the housing closed.
Make sure that all axes are sufficiently fixed.
Attention during configuration downloads with master - slave couplings (electronic
gear, cam)
Deactivate the drive before starting the configuration download: Master and Slave
axis
Check that all live terminals are secured against contact. Fatal voltage levels of to
850V occur.
Do not bypass power direct current
Due to movable machine parts and high voltages, the device can pose a lethal
danger. Danger of electric shock in the case of non-respect of the following
instructions. The device corresponds to DIN EN 61800-3, i.e. it is subject to
limited sale. The device can emit disturbances in certain local environments. In
this case, the user is liable to take suitable measures.
The device must be permanently grounded due to high earth leakage currents.
The drive motor must be grounded with a suitable protective lead.
The devices are equipped with high voltage DC condensers. Before removing the
protective cover, the discharging time must be awaited. After switching off the
energy, it may take up to 5 minutes to discharge the capacitors. Danger of
electric shock in case of non respect.
Before you can work on the device, the supply voltage must be switched off at the
L1, L2 and L3 clamps. Wait at least 3 minutes so that the power direct current
may sink to a secure value (<50V). Check with the aid of a voltmeter, if the
voltage at the DC+ and DC- clamps has fallen to a value below 50V (not possible
on the Compax3M).
Do never perform resistance tests with elevated voltages (over 690V) on the
wiring without separating the circuit to be tested from the drive.
In the event of a device exchange it is absolutely necessary to transfer the
configuration determining the correct operation of the drive to the device, before
the device is put into operation.
The device contains electrostatically sensitive components. Please heed the
electrostatic protection measures while working at/with the device as well as
during installation and maintenance.
Attention hot surface!
The heat dissipator can reach very high temperatures (>70°C)
Protective covers
The user is responsible for protective covers and/or additional safety measures in
order to prevent damages to persons and electric accidents.

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14 192-120101 N11 C3I11T11 November 2007
1.5 Warranty conditions
The device must not be opened.
Do not make any modifications to the device, except for those described in the
manual.
Make connections to the inputs, outputs and interfaces only in the manner
described in the manual.
Fix the devices according to our mounting instructions. (see page 60)
We cannot provide any guarantee for any other mounting methods.
Note on exchange of options
Compax3 options must be exchanged in the factory to ensure hardware and
software compatibility.
When installing the device, make sure the heat dissipators of the device receive
sufficient air and respect the recommended mounting distances of the devices
with integrated ventilator fans in order to ensure free circulation of the cooling air.
Make sure that the mounting plate is not exposed to external temperature
influences.

Parker EME Introduction
192-120101 N11 C3I11T11 November 2007 15
1.6 Conditions of utilization
In this chapter you can read about:
Conditions of utilization for CE-conform operation ............................................................................15
Conditions of utilization for UL certification Compax3S.....................................................................18
Current on the mains PE (leakage current) .......................................................................................19
Supply networks ................................................................................................................................20
1.6.1. Conditions of utilization for CE-conform operation
- Industry and trade -
The EC guidelines for electromagnetic compatibility 2006/95/EC and for electrical
operating devices for utilization within certain voltage limits 2004/108/EC are
fulfilled when the following boundary conditions are observed:
Operation of the devices only in the condition in which they were delivered,
i.e. with all housing panels.
In order to ensure contact protection, all mating plugs must be present on the
device connections even if they are not wired.
A mains filter is required in the mains input line if the motor cable exceeds a certain
length. Filtering can be provided centrally at the plant mains input or separately at
the mains input to each device or with C3M for each axis combination.
Devices in a commercial and residential area (limit values of Class C2 in
accordance with EN 61800-3)
The following mains filters are available for independent utilization:
Device: Compax3 Order No.: Condition:
S0xxV2 NFI01/01 Only for motor lines > 10m
S1xxV2,
S0xxV4, S150V4 NFI01/02 Only for motor lines > 10m
S300V4 NFI01/03 independent of the length of the
motor cable (always required)
Device: Compax3 Order No.: Condition:
H050V4 NFI02/01 Only for motor lines > 10m
H090V4 NFI02/02 Only for motor lines > 10m
H1xxV4 NFI02/03 Only for motor lines > 10m
Industrial area (limit values class C3 in accordance with EN 61800-3)
Longer motor cable lengths are possible in industrial areas.
Devices in the industrial area (limit values class C3 in accordance with EN
61800-3)
The following mains filters are available for independent utilization:
Device: Compax3 Order No.: Condition:
MP10 NFI03/01 Reference axis combination 6x10m
MP10 NFI03/02 Reference axis combination 6x50m
Connection length: Connection between mains filter and device:
unshielded: < 0.5m
shielded: < 5m (fully shielded on ground – e.g. ground of control cabinet)
Mains filter:

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16 192-120101 N11 C3I11T11 November 2007
Operation of the devices only with motor and feedback cables whose plugs
contain a special full surface area screening.
<100 m (the cable must not be rolled up!)
A motor output filter (see page 257) is required for motor cables >20m :
MDR01/04 (max. 6.3A rated motor current)
MDR01/01 (max. 16A rated motor current)
MDR01/02 (max. 30A rated motor current)
A motor output filter is required for motor cables >50m. Please contact us.
<80m per axis (the cable must not be rolled up!
The entire length of the motor cable per axis combination may not exceed 300m.
A motor output filter (see page 257) is required for motor cables >20m :
MDR01/04 (max. 6.3A rated motor current)
MDR01/01 (max. 16A rated motor current)
MDR01/02 (max. 30A rated motor current)
Shielding connection of the motor cable
The cable should be fully screened and connected to the Compax3 housing. We
offer a special Shield connecting terminal as accessory item (ZBH./...).
The shield of the cable must also be connected with the motor housing. The fixing
(via plug or screw in the terminal box) depends on the motor type.
<100m
<80m
Corresponding to the specifications of the terminal clamp with a temperature range
of up to 60°C.
Operation with standard motors.
Use only with aligned controller (to avoid control loop oscillation).
Connect the filter housing and the Compax3 to the cabinet frame, making sure that
the contact area is adequate and that the connection has low resistance and low
inductance.
Never mount the filter housing and the device on paint-coated surfaces!
Signal lines and power lines should be installed as far apart as possible.
Signal leads should never pass close to excessive sources of interference (motors,
transformers, contactors etc.).
Motor and Feedback
cable:
Requirements for
Compax3S motor
cable
Requirements for
Compax3H motor
cable
Requirements for
Compax3M motor
cable
Requirements for
encoder cable
Compax3:
Requirements for
encoder cable
Compax3M:
Requirements for
other cables
Motors:
Control:
Grounding:
Cable installation:

Parker EME Introduction
192-120101 N11 C3I11T11 November 2007 17
Make sure to use only the accessories recommended by Parker
Connect all cable shields at both ends, ensuring large contact areas!
This is a product in the restricted sales distribution class according to EN
61800-3. In a domestic area this product can cause radio frequency
disturbance, in which case the user may be required to implement
appropriate remedial measures.
Accessories:
Warning:

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1.6.2. Conditions of utilization for UL certification Compax3S
UL certifiction for Compax3S
conform to UL: according to UL508C
Certified E-File_No.: E235 342
The UL certification is documented by
a ”UL” logo on the device (type
specification plate). ”UL” logo
Conditions of utilization
The devices are only to be installed in a degree of contamination 2 environment
(maximum).
The devices must be appropriately protected (e.g. by a switching cabinet).
The X2 terminals are not suitable for field wiring.
Tightening torque of the field wiring terminals ( green Phoenix plugs)
C3S0xxV2 0.57 - 0.79Nm 5 - 7Lb.in
C3S1xxV2,
C3S0xxV4, C3S150V4 0.57 - 0.79Nm 5 - 7Lb.in
C3S300V4 1.25 - 1.7Nm 11 - 15Lb.in
Temperature rating of field installed conductors shall be at least 60°C Use copper
lines only
Please use the cables described in the accessories chapter (see page 244, see
page 246), they do have a temperature rating of at least 60°C.
Maximum ambient temperature: 45°C.
Suitable for use on a circuit capable of delivering not more than 5000 rms
symmetrical amperes and 480 volts maximum.
ATTENTION
Danger of electric shock.
Discharge time of the bus capacitator is 5 minutes.
The drive provides internal motor overload protection.
This must be set so that 200% of the motor nominal current are not exceeded.
Cable cross-sections
Mains input: corresponding to the recommended fuses.
Motor cable: (see page 263) corresponding to the nominal output currents
(see page 296)
Maximum cross-section limited by the terminals mm2/ AWG
C3S0xxV2 2.5mm2AWG 12
C3S1xxV2,
C3S0xxV4, C3S150V4 4.0mm2AWG 10
C3S300V4 6.0mm2AWG 7

Parker EME Introduction
192-120101 N11 C3I11T11 November 2007 19
Fuses
In addition to the main fuse, the devices must be equipped with a S 201 K or S
203 K fuse made by ABB.
C3S025V2: ABB, nominal 480V 10A, 6kA
C3S063V2: ABB, nominal 480V, 16A, 6kA
C3S100V2: ABB, nominal 480V, 16A, 6kA
C3S150V2: ABB, nominal 480V, 20A, 6kA
C3S015V4: ABB, nominal 480V, 6A, 6kA
C3S038V4: ABB, nominal 480V, 10A, 6kA
C3S075V4: ABB, nominal 480V, 16A, 6kA
C3S150V4: ABB, nominal 480V, 20A, 6kA
C3S300V4: ABB, nominal 480V, 25A, 6kA
1.6.3. Current on the mains PE (leakage current)
This product can cause a direct current in the protective lead. If a residual current
device (RCD) is used for protection in the event of direct or indirect contact, only a
type B (all current sensitive) RCD is permitted on the current supply side of this
product . On the other hand a different protective measure must be taken, such as
for example separation from the environment by double or enforced insulation or
separation from the supply network by a transformer.
Please heed the connection instructions of the RCD supplier.
Mains filters do have high leakage currents due to their internal capacity. An
internal mains filter is usually integrated into the Compax3 servo controllers.
Additional leakage currents are caused by the capacities of the motor cable and of
the motor windings. Due to the high clock frequency of the power output stage, the
leakage currents do have high-frequency components. Please check if the FI
protection switch is suitable for the individual application.
If an external mains filter is used, an additional leakage current will be produced.
The figure of the leakage current depends on the following factors:
Length and properties of the motor cable
Switching frequency
Operation with or without external mains filter
Motor cable with or without shield network
Motor housing grounding (how and where)
Remark:
The leakage current is important with respect to the handling and usage safety of
the device.
A pulsing leakage current occurs if the supply voltage is switched on.
Please note:
The device must be operated with effective grounding connection, which must
comply with the local regulations for high leakage currents (>3.5mA).
Due to the high leakage currents it is not adviseable to operate the servo controller
with an earth leakage circuit breaker.

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1.6.4. Supply networks
The Compax3 servo controller series is designed for fixed connection to TN
networks (TN-C, TN-C-S or TN-S). Please note that the line-earth voltage may not
exceed 300VAC.
When grounding the neutral conductor, mains
voltages of up to 480VAC are permitted.
When grounding an external conductor (delta
mains, two-phase mains), mains voltages (external
conductor voltages) of up to 300VAC are
permitted.
Servo controllers which are to be connected to an IT network must be provided
with a separating transformer. Then the Compax3 device is operated locally like in
a TN network. The secondary sided center of the separating transformer must be
grounded and connected to the PE connector of the Compax3.