Parker Compax3 C3I20T11 User manual

Com
pax
3 Electromechanical Automation
We reserve the right to make technical changes. 27.12.10 13:45 192-120103 N13 C3I20T11 / C3I32T11 December 2010
The data correspond to the current status at the time of printing.
Operating instructions Compax3 I20T11 & I32T11
Positioning via Profibus or Profinet
192-120103 N13 C3I20T11 / C3I32T11
December 2010
Release R09-10

Introduction C3I20T11 / C3I32T11
2
192-120103 N13 C3I20T11 / C3I32T11 December 2010
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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.
Worldwide sales
http://divapps.parker.com/divapps/eme/EME/Contact_sites/Sales%20Channel
_Parker-EME.pdf
Production site:
Parker Hannifin GmbH
Electromechanical Automation Europe [EME]
Robert-Bosch-Strasse 22
77656 Offenburg (Germany)
Tel.: + 49 (0781) 509-0
Fax: + 49 (0781) 509-98176
Internet: www.parker-eme.com http://www.parker-eme.com
E-mail: [e-mail] mailto:sales.automati[email protected]om
Parker Hannifin GmbH - registered office: Bielefeld HRB 35489
Geschäftsführung: Dr. Gerd Scheffel, Günter Schrank, Christian Stein, Kees Veraart - Aufsichtsratsvorsitzender: Hansgeorg Greuner
Headquarters:
Parker Hannifin PLC • Electromechanical Automation • Arena Business Centre
Holy Rood Close • Poole, Dorset BH17 7FJ UK
Tel.: [phone] • Fax: [phone]
E-mail: [e-mail] mailto:sales.automati[email protected]om •
Internet: www.parker-eme.com http://www.parker-eme.com
Parker Hannifin S.p.A • SSD SBC • Electromechanical Automation • Via Gounod, 1
I-20092 Cinisello Balsamo (MI), Italy
Tel.: [phone] • Fax: [phone]
E-mail: [e-mail] mailto:[e-mail] •
Internet: www.parker-eme.com http://www.parker-eme.com
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.compumotor.com http://www.compumotor.com
England:
Italy:
USA:

Parker EME Introduction
192-120103 N13 C3I20T11 / C3I32T11 December 2010
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Inhalt
1. Introduction ...........................................................................................11
1.1 Device assignment ................................................................................ 11
1.2 Scope of delivery................................................................................... 12
1.3 Type specification plate ........................................................................ 13
1.4 Packaging, transport, storage .............................................................. 14
1.5 Safety instructions................................................................................. 16
1.5.1. General hazards............................................................................................... 16
1.5.2. Safety-conscious working.............................................................................. 16
1.5.3. Special safety instructions............................................................................. 17
1.6 Warranty conditions .............................................................................. 18
1.7 Conditions of utilization........................................................................ 19
1.7.1. Conditions of utilization for CE-conform operation..................................... 19
1.7.1.1 Conditions of utilization mains filter ...................................................... 19
1.7.1.2 Conditions of utilization for cables / motor filter.................................... 20
1.7.1.3 Additional conditions of utilization......................................................... 21
1.7.2. Conditions of utilization for UL certification Compax3S............................. 22
1.7.3. Conditions of utilization for UL certification Compax3M ............................ 23
1.7.4. Conditions of utilization for UL certification Compax3H............................. 24
1.7.5. Current on the mains PE (leakage current)................................................... 25
1.7.6. Supply networks.............................................................................................. 25
2. Compax3 T11: Positioning via Profibus (I20) or Profinet (I32)...........26
3. Compax3 device description................................................................28
3.1 Meaning of the status LEDs - Compax3 axis controller ..................... 28
3.2 Meaning of the status LEDs - PSUP (mains module).......................... 29
3.3 Connections of Compax3S ................................................................... 30
3.3.1. Compax3S connectors.................................................................................... 30
3.3.2. Connector and pin assignment C3S.............................................................. 31
3.3.3. Control voltage 24VDC / enable connector X4 C3S ..................................... 33
3.3.4. Motor / Motor brake (C3S connector X3)....................................................... 34
3.3.5. Compax3Sxxx V2............................................................................................. 35
3.3.5.1 Main voltage supply C3S connector X1................................................ 35
3.3.5.2 Braking resistor / high voltage DC C3S connector X2.......................... 36
3.3.6. Compax3Sxxx V4............................................................................................. 38
3.3.6.1 Power supply connector X1 for 3AC 400VAC/480VAC-C3S
devices.................................................................................................. 38
3.3.6.2 Braking resistor / high voltage supply connector X2 for 3AC
400VAC/480VAC_C3S devices............................................................ 39
3.3.6.3 Connection of the power voltage of 2 C3S 3AC devices...................... 39

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3.4 Installation instructions Compax3M .................................................... 40
3.5 PSUP/Compax3M Connections ............................................................ 42
3.5.1. Front connector ............................................................................................... 42
3.5.2. Connections on the device bottom................................................................ 43
3.5.3. Connections of the axis combination............................................................ 44
3.5.4. Control voltage 24VDC PSUP (mains module)............................................. 45
3.5.5. Mains supply PSUP (mains module) X41...................................................... 46
3.5.6. Braking resistor / temperature switch PSUP (mains module) .................... 49
3.5.6.1 Temperature switch PSUP (mains module).......................................... 50
3.5.7. Motor / motor brake Compax3M (axis controller) ........................................ 50
3.5.7.1 Measurement of the motor temperature of Compax3M (axis
controller).............................................................................................. 51
3.5.8. Safety technology option for Compax3M (axis controller) ......................... 51
3.6 Connections of Compax3H................................................................... 52
3.6.1. Compax3H plugs/connections....................................................................... 52
3.6.2. Connection of the power voltage................................................................... 53
3.6.3. Compax3H connections front plate............................................................... 55
3.6.4. Plug and pin assignment C3H........................................................................ 55
3.6.5. Motor / Motor brake C3H................................................................................. 57
3.6.6. Control voltage 24 VDC C3H........................................................................... 58
3.6.7. Mains connection Compax3H......................................................................... 58
3.6.8. Braking resistor / supply voltage C3H........................................................... 59
3.6.8.1 Connect braking resistor C3H............................................................... 59
3.6.8.2 Power supply voltage DC C3H ............................................................. 59
3.6.8.3 Connection of the power voltage of 2 C3H 3AC devices...................... 60
3.7 Communication interfaces.................................................................... 61
3.7.1. RS232/RS485 interface (plug X10) ................................................................. 61
3.7.2. Communication Compax3M ........................................................................... 62
3.7.2.1 PC - PSUP (Mains module).................................................................. 62
3.7.2.2 Communication in the axis combination (connector X30, X31)............ 62
3.7.2.3 Adjusting the basic address.................................................................. 63
3.7.2.4 Setting the axis function........................................................................ 63
3.7.3. Profibus connector X23 on Interface I20....................................................... 64
3.7.3.1 Adjusting the bus address (Profibus I20).............................................. 64
3.7.3.2 Function of the Bus LEDs (Profibus I20) .............................................. 64
3.7.4. Profinet connector X23, X24 on Interface I32 ............................................... 65
3.7.4.1 Adjusting the bus address (Profinet I32)............................................... 65
3.7.4.2 Function of the Bus LEDs (Profinet I32)............................................... 65
3.8 Signal interfaces .................................................................................... 66
3.8.1. Resolver / feedback (plug X13) ...................................................................... 66
3.8.2. Analogue / encoder (plug X11)....................................................................... 67
3.8.2.1 Wiring of analog interfaces ................................................................... 67
3.8.2.2 Connections of the encoder interface................................................... 67
3.8.3. Digital inputs/outputs (plug X12) ................................................................... 68
3.8.3.1 Connection of the digital Outputs/Inputs............................................... 69
3.8.3.2 Logic proximity switch types ................................................................. 69
3.9 Installation and dimensions Compax3................................................. 70
3.9.1. Mounting and dimensions Compax3S .......................................................... 70
3.9.1.1 Mounting and dimensions Compax3S0xxV2........................................ 70

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3.9.1.2 Mounting and dimensions Compax3S100V2 and S0xxV4................... 71
3.9.1.3Mounting and dimensions Compax3S150V2 and S150V4................... 72
3.9.1.4 Mounting and dimensions Compax3S300V4........................................ 73
3.9.2. Mounting and dimensions PSUP/C3M........................................................... 74
3.9.2.1 Mounting and dimensions PSUP10/C3M050D6, C3M100D6,
C3M150D6............................................................................................ 74
3.9.2.2 Mounting and dimensions PSUP20/PSUP30/C3M300D6.................... 75
3.9.2.3 With upper mounting, the housing design may be different ................. 75
3.9.3. Mounting and dimensions C3H...................................................................... 76
3.9.3.1 Mounting distances, air currents Compax3H050V4 ............................. 77
3.9.3.2 Mounting distances, air currents Compax3H090V4 ............................. 77
3.9.3.3 Mounting distances, air currents Compax3H1xxV4.............................. 78
3.10 Safety function - STO (=safe torque off) .............................................. 79
3.10.1. General Description......................................................................................... 79
3.10.1.1 Important terms and explanations ........................................................ 79
3.10.1.2 Intended use ......................................................................................... 80
3.10.1.3 Advantages of using the "safe torque off" safety function. ................... 80
3.10.1.4 Devices with the STO (=safe torque off) safety function ...................... 81
3.10.2. STO (= safe torque off) with Compax3S........................................................ 82
3.10.2.1 STO Principle (= Safe Torque Off) with Compax3S............................. 82
3.10.2.2 Conditions of utilization STO (=safe torque off) Safety function........... 84
3.10.2.3 Notes on the STO function.................................................................... 84
3.10.2.4 STO application example (= safe torque off)........................................ 86
3.10.2.5 Technical Characteristics STO Compax3S .......................................... 92
3.10.3. STO (= safe torque off) with Compax3m (Option S1)................................... 93
3.10.3.1 Safety switching circuits........................................................................ 93
3.10.3.2 Safety notes for the STO function in the Compax3M ........................... 94
3.10.3.3 Conditions of utilization for the STO function with Compax3M............. 94
3.10.3.4 STO delay times ................................................................................... 95
3.10.3.5 Compax3M STO application description .............................................. 96
3.10.3.6 STO function test .................................................................................. 99
3.10.3.7 Technical details of the Compax3M S1 option ................................... 101
4. Setting up Compax3............................................................................102
4.1 Configuration ....................................................................................... 102
4.1.1. Test commissioning of a Compax3 axis ..................................................... 104
4.1.2. Selection of the supply voltage used.......................................................... 104
4.1.3. Motor selection .............................................................................................. 104
4.1.4. Optimize motor reference point and switching frequency of the
motor current ................................................................................................. 105
4.1.5. Ballast resistor............................................................................................... 108
4.1.6. General drive.................................................................................................. 108
4.1.7. Defining the reference system ..................................................................... 109
4.1.7.1 Measure reference.............................................................................. 109
4.1.7.2 Machine Zero...................................................................................... 112
4.1.7.3 Travel Limit Settings ........................................................................... 129
4.1.7.4 Change assignment direction reversal / limit switches....................... 132
4.1.7.5 Change initiator logic .......................................................................... 132
4.1.8. Defining jerk / ramps ..................................................................................... 133
4.1.8.1 Speed for positioning and velocity control.......................................... 133
4.1.8.2 Acceleration for positioning and velocity control................................. 133
4.1.8.3 Acceleration / deceleration for positioning.......................................... 133
4.1.8.4 Jerk limit for positioning ...................................................................... 133

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4.1.8.5 Ramp upon error and de-energize...................................................... 134
4.1.8.6 Jerk for STOP, MANUAL and error .................................................... 135
4.1.9. Limit and monitoring settings...................................................................... 135
4.1.9.1 Current (Torque) Limit......................................................................... 135
4.1.9.2 Positioning window - Position reached ............................................... 136
4.1.9.3 Following error limit............................................................................. 137
4.1.9.4 Maximum operating speed.................................................................. 137
4.1.10. Encoder simulation ....................................................................................... 138
4.1.10.1 Encoder bypass with Feedback module F12 (for direct drives).......... 138
4.1.11. I/O Assignment .............................................................................................. 139
4.1.12. Position mode in reset operation................................................................. 140
4.1.12.1 Examples in the help file..................................................................... 141
4.1.13. Reg-related positioning / defining ignore zone.......................................... 141
4.1.14. Write into set table......................................................................................... 142
4.1.14.1 Programmable status bits (PSBs)....................................................... 142
4.1.15. Motion functions............................................................................................ 143
4.1.15.1 MoveAbs and MoveRel....................................................................... 143
4.1.15.2 Reg-related positioning (RegSearch, RegMove)................................ 144
4.1.15.3 Electronic gearbox (Gearing).............................................................. 148
4.1.15.4 Speed specification (Velocity)............................................................. 149
4.1.15.5 Stop command (Stop)......................................................................... 149
4.1.16. Error response............................................................................................... 149
4.1.17. Configuration name / comments.................................................................. 150
4.1.18. Dynamic positioning ..................................................................................... 150
4.2 Configuring the signal Source............................................................ 151
4.2.1. Signal source of the load feedback system................................................ 151
4.2.2. Select signal source for Gearing ................................................................. 151
4.2.2.1 Signal source HEDA ........................................................................... 152
4.2.2.2 Encoder A/B 5V, step/direction or SSI feedback as signal source..... 152
4.2.2.3 +/-10V analog speed setpoint value as signal source........................ 154
4.3 Load control......................................................................................... 156
4.3.1. Configuration of load control....................................................................... 157
4.3.2. Error: Position difference between load mounted and motor
feedback too high.......................................................................................... 158
4.3.3. Load control signal image............................................................................ 158
4.3.3.1 Object for the load control (overview)................................................. 159
4.3.3.2 Objects for load control....................................................................... 159
4.4 Optimization......................................................................................... 160
4.4.1. Optimization window..................................................................................... 160
4.4.2. Scope.............................................................................................................. 161
4.4.2.1 Monitor information............................................................................. 161
4.4.2.2 User interface...................................................................................... 162
4.4.2.3 Example: Setting the Oscilloscope ..................................................... 167
4.4.3. Controller optimization ................................................................................. 169
4.4.3.1 Introduction ......................................................................................... 169
4.4.3.2 Configuration....................................................................................... 171
4.4.3.3 Automatic controller design................................................................. 188
4.4.3.4 Setup and optimization of the control ................................................. 201
4.4.4. Signal filtering with external command value ............................................ 233
4.4.4.1 Signal filtering for external setpoint specification and electronic
gearbox............................................................................................... 233

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4.4.4.2 Signal filtering for external setpoint specification and electronic
cam ..................................................................................................... 234
4.4.5. Input simulation............................................................................................. 235
4.4.5.1 Calling up the input simulation............................................................ 235
4.4.5.2 Operating Principle ............................................................................. 236
4.4.6. Setup mode .................................................................................................... 237
4.4.6.1 Motion objects in Compax3................................................................. 238
4.4.7. Load identification......................................................................................... 239
4.4.7.1 Principle .............................................................................................. 239
4.4.7.2 Boundary conditions ........................................................................... 239
4.4.7.3 Process of the automatic determination of the load characteristic
value (load identification) .................................................................... 240
4.4.7.4 Tips ..................................................................................................... 241
4.4.8. Alignment of the analog inputs.................................................................... 242
4.4.8.1 Offset alignment.................................................................................. 242
4.4.8.2 Gain alignment.................................................................................... 242
4.4.8.3 Signal processing of the analog inputs............................................... 243
4.4.9. C3 ServoSignalAnalyzer ............................................................................... 244
4.4.9.1 ServoSignalAnalyzer - function range ................................................ 244
4.4.9.2 Signal analysis overview..................................................................... 245
4.4.9.3 Installation enable of the ServoSignalAnalyzer .................................. 246
4.4.9.4 Analyses in the time range.................................................................. 248
4.4.9.5 Measurement of frequency spectra .................................................... 251
4.4.9.6 Measurement of frequency responses ............................................... 254
4.4.9.7 Overview of the user interface............................................................ 261
4.4.9.8 Basics of frequency response measurement...................................... 276
4.4.9.9 Examples are available as a movie in the help file............................. 281
4.4.10. ProfileViewer for the optimization of the motion profile ........................... 282
4.4.10.1 Mode 1: Time and maximum values are deduced from Compax3
input values......................................................................................... 282
4.4.10.2 Mode 2: Compax3 input values are deduced from times and
maximum values................................................................................. 283
4.4.11. Turning the motor holding brake on and off............................................... 284
5. Communication...................................................................................285
5.1 Compa3 communication variants....................................................... 285
5.1.1. PC <-> Compax3 (RS232).............................................................................. 286
5.1.2. PC <-> Compax3 (RS485).............................................................................. 288
5.1.3. PC <-> C3M device combination (USB)....................................................... 289
5.1.4. USB-RS485 Moxa Uport 1130 adapter......................................................... 290
5.1.5. ETHERNET-RS485 NetCOM 113 adapter..................................................... 291
5.1.6. Modem MB-Connectline MDH 500 / MDH 504............................................. 292
5.1.7. C3 settings for RS485 two wire operation................................................... 293
5.1.8. C3 settings for RS485 four wire operation.................................................. 294
5.2 COM port protocol ............................................................................... 295
5.2.1. RS485 settings values................................................................................... 295
5.2.2. ASCII - record................................................................................................. 296
5.2.3. Binary record ................................................................................................. 297
5.3 Remote diagnosis via Modem............................................................. 300
5.3.1. Structure......................................................................................................... 300
5.3.2. Configuration of local modem 1................................................................... 301

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5.3.3. Configuration of remote modem 2............................................................... 302
5.3.4. Recommendations for preparing the modem operation ........................... 302
5.4 Profibus & Profinet .............................................................................. 303
5.4.1. Profibus / Profinet configuration.................................................................. 303
5.4.1.1 Operating modes ................................................................................ 303
5.4.1.2 Configuration of the process-data channel......................................... 304
5.4.1.3 Operating mode: Speed control.......................................................... 305
5.4.1.4 Operating mode: Direct positioning .................................................... 307
5.4.1.5 Operating mode: Positioning with set selection.................................. 309
5.4.1.6 PKW parameter channel..................................................................... 311
5.4.1.7 Error Reaction on Bus Failure............................................................. 311
5.4.2. Status machine .............................................................................................. 311
5.4.2.1 Status machine PROFIDrive............................................................... 312
5.4.2.2 Status machine PROFIDrive speed control........................................ 313
5.4.2.3 Status machine Position PROFIDrive................................................. 314
5.4.3. Cyclic process data channel ........................................................................ 315
5.4.3.1 Control word 1 overview ..................................................................... 315
5.4.3.2 Status word 1 overview....................................................................... 316
5.4.3.3 Speed control operating mode............................................................ 317
5.4.3.4 Operating mode direct positioning...................................................... 319
5.4.3.5 Operating mode positioning with set selection ................................... 324
5.4.4. Acyclic parameter channel ........................................................................... 329
5.4.4.1 Parameter access with DPV0: Required data channel....................... 329
5.4.4.2 Compax3 - objects for the parameter channel.................................... 335
6. Status values.......................................................................................352
6.1 D/A-Monitor .......................................................................................... 352
6.2 Status values........................................................................................ 352
7. Error.....................................................................................................353
7.1 Error list................................................................................................ 353
8. Order code...........................................................................................354
8.1 Order code device: Compax3 ............................................................. 354
8.2 Order code for mains module: PSUP................................................. 355
8.3 Order code for accessories................................................................. 355
9. Compax3 Accessories........................................................................359
9.1 Parker servo motors............................................................................ 359
9.1.1. Direct drives................................................................................................... 359
9.1.1.1 Transmitter systems for direct drives.................................................. 360
9.1.1.2 Linear motors...................................................................................... 361
9.1.1.3 Torque motors..................................................................................... 361
9.1.2. Rotary servo motors...................................................................................... 361
9.2 EMC measures..................................................................................... 362

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9.2.1. Mains filter...................................................................................................... 362
9.2.1.1 Mains filter NFI01/01........................................................................... 363
9.2.1.2 Mains filter NFI01/02........................................................................... 363
9.2.1.3 Mains filter for NFI01/03...................................................................... 364
9.2.1.4 Mains filter NFI02/0x........................................................................... 364
9.2.1.5 Mains filter NFI03/01& NFI03/03 ........................................................ 365
9.2.1.6 Mains filter NFI03/02........................................................................... 366
9.2.2. Motor output filter.......................................................................................... 367
9.2.2.1 Motor output filter MDR01/04.............................................................. 367
9.2.2.2 Motor output filter MDR01/01.............................................................. 367
9.2.2.3 Motor output filter MDR01/02.............................................................. 368
9.2.2.4 Wiring of the motor output filter........................................................... 368
9.2.3. Mains filters.................................................................................................... 369
9.2.3.1 Mains filter for PSUP30....................................................................... 369
9.3 Connections to the motor ................................................................... 370
9.3.1. Resolver cable ............................................................................................... 371
9.3.2. SinCos© cable................................................................................................ 372
9.3.3. EnDat cable .................................................................................................... 373
9.3.4. Motor cable..................................................................................................... 373
9.3.4.1 Connection of terminal box MH145 & MH205 .................................... 374
9.3.5. Encoder cable ................................................................................................ 375
9.4 External braking resistors................................................................... 376
9.4.1. Permissible braking pulse powers of the braking resistors..................... 377
9.4.1.1 Calculation of the BRM cooling time................................................... 378
9.4.1.2 Permissible braking pulse power: BRM08/01 with C3S015V4 /
C3S038V4........................................................................................... 379
9.4.1.3 Permissible braking pulse power: BRM08/01 with C3S025V2........... 379
9.4.1.4 Permissible braking pulse power: BRM09/01 with C3S100V2........... 380
9.4.1.5 Permissible braking pulse power: BRM10/01 with C3S150V4........... 380
9.4.1.6 Permissible braking pulse power: BRM10/02 with C3S150V4........... 381
9.4.1.7 Permissible braking pulse power: BRM05/01 with C3S063V2........... 381
9.4.1.8 Permissible braking pulse power: BRM05/01 with C3S075V4........... 382
9.4.1.9 Permissible braking pulse power: BRM05/02 with C3S075V4........... 382
9.4.1.10 Permissible braking pulse power: BRM04/01 with C3S150V2........... 383
9.4.1.11 Permissible braking pulse power: BRM04/01 with C3S300V4........... 383
9.4.1.12 Permissible braking pulse power: BRM04/02 with C3S150V2........... 384
9.4.1.13 Permissible braking pulse power: BRM04/02 with C3S300V4........... 384
9.4.1.14 Permissible braking pulse power: BRM04/03 with C3S300V4........... 385
9.4.1.15 Permissible braking pulse power: BRM11/01 with C3H0xxV4........... 385
9.4.1.16 Permissible braking pulse power: BRM12/01 with C3H1xxV4........... 386
9.4.1.17 Permissible braking pulse power: BRM13/01 with PSUP10D6.......... 386
9.4.1.18 Permissible braking pulse power: BRM14/01 with PSUP10D6.......... 386
9.4.2. Dimensions of the braking resistors ........................................................... 387
9.4.2.1 BRM8/01braking resistors................................................................... 387
9.4.2.2 BRM5/01 braking resistor ................................................................... 387
9.4.2.3 Braking resistor BRM5/02, BRM9/01 & BRM10/01 ............................ 387
9.4.2.4 Ballast resistor BRM4/0x and BRM10/02 ........................................... 388
9.4.2.5 Braking resistor BRM11/01 & BRM12/01 ........................................... 388
9.4.2.6 Ballast resistor BRM13/01 & BRM14/01............................................. 389
9.5 Condenser module C4......................................................................... 390
9.6 Operator control module BDM............................................................ 391
9.7 EAM06: Terminal block for inputs and outputs................................. 392

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9.8 Interface cable...................................................................................... 394
9.8.1. RS232 cable.................................................................................................... 394
9.8.2. RS485 cable to Pop ....................................................................................... 395
9.8.3. I/O interface X12 / X22 ................................................................................... 396
9.8.4. Ref X11............................................................................................................ 396
9.8.5. Encoder coupling of 2 Compax3 axes......................................................... 397
9.8.6. Modem cable SSK31...................................................................................... 398
9.9 Options M1x ......................................................................................... 399
9.9.1. Input/output option M12................................................................................ 399
9.9.1.1 Assignment of the X22 connector....................................................... 399
9.9.2. HEDA (motion bus) - Option M11................................................................. 400
9.9.3. Option M10 = HEDA (M11) & I/Os (M12) ..................................................... 402
9.10 Profibus plug BUS08/01 ...................................................................... 403
10.Technical Characteristics...................................................................404
11.Index.....................................................................................................422

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In this chapter you can read about:
Device assignment ..........................................................................................................11
Scope of delivery.............................................................................................................12
Type specification plate ...................................................................................................13
Packaging, transport, storage..........................................................................................14
Safety instructions ...........................................................................................................16
Warranty conditions.........................................................................................................18
Conditions of utilization....................................................................................................19
1.1 Device assignment
This manual is valid for 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
Compax3M300D6 + supplement
PSUP10D6
PSUP20D6
With the supplement:
F10 (Resolver)
F11 (SinCos©)
F12 (linear and rotary direct drives)
I20 T11
I32 T11
1. Introduction

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1.2 Scope of delivery
The following items are furnished with the device:
Manuals*
Installation manual (German, English, French)
Compax3 DVD
Startup Guide (German / English)
*Comprehensiveness of documentation depends on device type
Device accessories
Device accessories for Compax3S
Cable clamps in different sizes for large area shielding of the motor cable, the
screw for the cable clamp as well as
the mating plug connectors for the Compax3S plug connectors X1, X2, X3, and
X4
a toroidal core ferrite for one cable of the motor holding brake
Lacing cord
Device accessories for Compax3M
Cable clamps in different sizes for large area shielding of the motor cable, the
screw for the cable clamp as well as
the matching plug for the Compax3M connectors X14, X15, X43
a toroidal core ferrite for one cable of the motor holding brake
an interface cable (SSK28/23) for communication within the axis combination
Device accessories for PSUP
Matching plug for the PSUP connectors X9, X40, X41
2 bus terminal connectors (BUS07/01) for mains module and the last axis
controller in the combination
Device accessories for Compax3H
Mating connector for X3 and X4
SSK32/20: RS232 adapter cable (programming port C3HxxxV4 - SSK1 - PC)
VBK17/01: SubD jumper mounted

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1.3 Type specification plate
The present device type is defined by the type specification plate (on the housing):
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)
D6: Designation nominal supply
V2:Mains supply voltage (2=230VAC/240VAC, 4=400VAC/480VAC)
3 Unique number of the particular device
4 Nominal supply voltage
Power Input: Input supply data
Power Output: Output data
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 / I31: EtherCAT / I32: Profinet
C20: integrated controller C3 powerPLmC, Linux & Web server
7 Date of factory test
8Options Mxx: I/O extension, HEDA
Sx: optional safety technology on C3M
9
Technology function
T10:Servo drive
T11:Positioning
T30:Motion control programmable according to IEC61131-3
T40:Electronic cam
10 CE compliance
11 Certified safety technology (corresponding to the logo displayed)
12 UL certified (corresponding to the logo displayed)
Compax3 - Type
specification plate
(example):

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1.4 Packaging, transport, storage
Packaging material and transport
Caution!
The packaging material is inflammable, if it is disposed of improperly by burning,
lethal fumes may develop.
The packaging material must be kept and reused in the case of a return shipment.
Improper or faulty packaging may lead to transport damages.
Make sure to transport the drive always in a safe manner and with the aid of
suitable lifting equipment (Weight (see on page 404, see on page 416)). Do never
use the electric connections for lifting. Before the transport, a clean, level surface
should be prepared to place the device on. The electric connections may not be
damaged when placing the device.
First device checkup
Check the device for signs of transport damages.
Please verify, if the indications on the Type identification plate (see on page 13)
correspond to your requirements.
Check if the consignment is complete.
Disposal
This product contains materials that fall under the special disposal regulation from
1996, which corresponds to the EC directory 91/689/EEC for dangerous disposal
material. We recommend to dispose of the respective materials in accordance with
the respectively valid environmental laws. The following table states the materials
suitable for recycling and the materials which have to be disposed of separately.
Material Option
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 with part A or B of the environmental protection act.
Disposal via a technical waste dump which is allowed to take on electrolytic
aluminum condensers. Do under no circumstances dump the circuit boards at a
place near a normal waste dump.
Storage
If you do not wish to mount and install the device immediately, make sure to store it
in a dry and clean environment (see on page 418). Make sure that the device is
not stored near strong heat sources and that no metal chippings can get into the
device.

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

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1.5 Safety instructions
In this chapter you can read about:
General hazards..............................................................................................................16
Safety-conscious working................................................................................................16
Special safety instructions ...............................................................................................17
1.5.1. General hazards
General Hazards on Non-Compliance with the Safety Instructions
The device described in this manual is designed in accordance with the latest
technology and is safe in operation. Nevertheless, the device can entail certain
hazards if used improperly or for purposes other than those explicitly intended.
Electronic, moving and rotating components can
constitute a hazard for body and life of the user, and
cause material damage
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.
1.5.2. Safety-conscious working
This device may be operated only by qualified personnel.
Qualified personnel in the sense of these operating instructions consists of:
Persons who, by virtue to their training, experience and instruction, and their
knowledge of pertinent norms, specifications, accident prevention regulations and
operational relationships, have been authorized by the officer responsible for the
safety of the system to perform the required task and in the process are capable
of recognizing potential hazards and avoiding them (definition of technical
personnel according to VDE105 or IEC364),
Persons who have a knowledge of first-aid techniques and the local emergency
rescue services.
persons who have read and will observe the safety instructions.
Those who have read and observe the manual or help (or the sections pertinent
to the work to be carried out).
This applies to all work relating to setting up, commissioning, configuring,
programming, modifying the conditions of utilization and operating modes, and to
maintenance work.
This manual and the help information must be available close to the device during
the performance of all tasks.

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1.5.3. 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 devices are sufficiently fixed.
Check that all live terminals are secured against contact. Perilous voltage levels
of up to 850V occur.
Do not bypass power direct current
Be cautious when performing configuration downloads with master - slave couplings (electronic gear,
cam) Deactivate the drive before starting the configuration download: Master and Slave axis.
Caution!
Due to movable machine parts and high voltages, the device can pose a lethal
danger. Danger of electric shock in the case of non-respect of the following
instructions. The device corresponds to DIN EN 61800-3, i.e. it is subject to
limited sale. The device can emit disturbances in certain local environments. In
this case, the user is liable to take suitable measures.
The device must be permanently grounded due to high earth leakage currents.
The drive motor must be grounded with a suitable protective lead.
The devices are equipped with high voltage DC condensers. Before removing the
protective cover, the discharging time must be awaited. After switching off the
supply voltage, it may take up to 10 minutes to discharge the capacitors.
Danger of electric shock in case of non respect.
Before you can work on the device, the supply voltage must be switched off at the
L1, L2 and L3 clamps. Wait at least 10 minutes so that the power direct current
may sink to a secure value (<50V). Check with the aid of a voltmeter, if the
voltage at the DC+ and DC- clamps has fallen to a value below 50V.
Danger of electric shock in case of non respect.
Do never perform resistance tests with elevated voltages (over 690V) on the
wiring without separating the circuit to be tested from the drive.
Please exchange devices only in currentless state and, in an axis system, only in
a defined original state.
In the event of a axis controller 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. Depending on the operation mode,
a machine zero run will be necessary.
The device contains electrostatically sensitive components. Please heed the
electrostatic protection measures while working at/with the device as well as
during installation and maintenance.
Operation of the PSUP30 only with mains filter.
Attention - hot surface!
The heat dissipator can reach very high temperatures (>70°C)
Protective seals
Caution!
The user is responsible for protective covers and/or additional safety measures in
order to prevent damages to persons and electric accidents.

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Forming the capacitors
Forming the capacitors only required with 400VAC axis controllers and PSUP
mains module
If the device was stored longer than one year, the intermediate capacitors must be
re-formed!
Forming sequence:
Remove all electric connections
Supply the device with 230VAC single phase for 30 minutes
via the L1 and L2 terminals on the device or
multi axis devices via L1 and L2 on the PSUP mains module
1.6 Warranty conditions
The device must not be opened.
Do not make any modifications to the device, except for those described in the
manual.
Make connections to the inputs, outputs and interfaces only in the manner
described in the manual.
Fix the devices according to the mounting instructions (see on page 70, see on
page 76).
We cannot provide any guarantee for other mounting methods.
Note on exchange of options
Device options must be exchanged in the factory to ensure hardware and software
compatibility.
When installing the device, make sure the heat dissipators of the device receive
sufficient air and respect the recommended mounting distances of the devices
with integrated ventilator fans in order to ensure free circulation of the cooling air.
Make sure that the mounting plate is not exposed to external temperature
influences.
Please note in the
event of storage >1
year:

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1.7 Conditions of utilization
In this chapter you can read about:
Conditions of utilization for CE-conform operation ...........................................................19
Conditions of utilization for UL certification Compax3S....................................................22
Conditions of utilization for UL certification Compax3M....................................................23
Conditions of utilization for UL certification Compax3H....................................................24
Current on the mains PE (leakage current)......................................................................25
Supply networks..............................................................................................................25
1.7.1. Conditions of utilization for CE-conform operation
- Industry and trade -
The EC guidelines for electromagnetic compatibility 2004/108/EC and for electrical
operating devices for utilization within certain voltage limits 2006/95/EC are fulfilled
when the following boundary conditions are observed:
Operation of 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.
Please respect the specifications of the manual, especially the technical
characteristics (mains connection, circuit breakers, output data, ambient
conditions,...).
1.7.1.1 Conditions of utilization mains filter
A mains filter is required in the mains input line if the motor cable exceeds a certain
length. Filtering can be provided centrally at the system mains input or separately
for each device or with C3M for each axis system.
Use of the devices in a commercial and residential area (limit value class in
accordance with EN 61800-3)
The following mains filters are available for independent utilization:
Device:
Compax3S
Limit value
class
Motor cable length
Mains filter
Order No.:
S0xxV2
C2 < 10 m without
C2 > 10 m, < 100 m NFI01/01
S1xxV2,
S0xxV4, S150V4 C2 < 10 m without
C2 > 10 m, < 100 m NFI01/02
S300V4
C3 < 10 m without
C2, C3 > 10 m, < 100 m NFI01/03
Device:
Compax3H
Limit value
class
Motor cable length
Mains filter
Order No.:
H050V4
C2 < 10 m without
C2 > 10 m, < 50 m NFI02/01
H090V4
C2 < 10 m without
C2 > 10 m, < 50 m NFI02/02
H1xxV4
C2 < 10 m without
C2 > 10 m, < 50 m NFI02/03
Mains filter:

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Use of the devices in the industrial area (limit values class C3 in accordance
with EN 61800-3)
The following mains filters are available for independent utilization:
Device: PSU
Limit value
class
Reference: Axis system
with motor cable
Mains filter
Order No.:
P10 C3 < 6 x 10 m NFI03/01
P10 C3 < 6 x 50 m NFI03/02
P20 C3 < 6 x 50 m NFI03/03
P30 C3 < 6 x 50 m NFI03/03
Connection length: Connection between mains filter and device:
unshielded: < 0.5 m
shielded < 5 (fully shielded on ground - e.g. ground of control cabinet)
1.7.1.2 Conditions of utilization for cables / motor filter
Operation of the devices only with motor and feedback cables whose plugs
contain a special full surface area screening.
< 100 m (the cable should not be rolled up!)
A motor output filter (see on page 367) is required for motor cables >20 m:
MDR01/04 (max. 6.3 A rated motor current)
MDR01/01 (max. 16 A rated motor current)
MDR01/02 (max. 30 A 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 on page 367) is required for motor cables >20 m:
MDR01/04 (max. 6.3 A rated motor current)
MDR01/01 (max. 16 A rated motor current)
MDR01/02 (max. 30 A rated motor current)
Shielding connection of the motor cable
The cable must be fully-screened and connected to the Compax3 housing. Use the
cable clamps/shield connecting terminals furnished with the device.
The shield of the cable must also be connected with the motor housing. The fixing
(via plug or screw in the terminal box) depends on the motor type.
< 100 m
< 80m
Corresponding to the specifications of the terminal clamp with a temperature range
of up to 60°C.
Motor and Feedback
cable:
Compax3S motor
cable
Compax3H motor
cable
Compax3M motor
cable
Compax3 encoder
cable:
Compax3M encoder
cable:
Cable for Compax3S,
Compax3M