Introduction
General hazards
4 192-120108N4 C3IxxT40 June 2005
3.1.11.1 Adjusting the bus address ..................................................................38
3.1.11.2 Function of the Bus LEDs...................................................................38
3.1.12. CANopen plug X23 with Interface I21..........................................................39
3.1.12.1 Adjusting the bus address ..................................................................39
3.1.12.2 Function of the Bus LEDs...................................................................40
3.2 Installation and dimensions Compax3................................................. 41
3.2.1. Installation and dimensions of Compax3 S0xx V2 .....................................41
3.2.2. Installation and dimensions Compax3 S100 V2 and S0xx V4 ....................42
3.2.3. Installation and dimensions Compax3 S150 V2 and S150 V4 ....................43
3.2.4. Installation and dimensions of Compax3 S300 V4 .....................................44
3.3 Safety function – safe standstill -......................................................... 45
3.3.1. Safety instructions for the “safe standstill“ function .................................47
3.3.2. Application examples for “safe standstill“ .................................................48
3.3.2.1 Sample circuit example of Compax3 devices without fieldbus
option.................................................................................................48
3.3.2.2 Sample circuit example of Compax3 devices with fieldbus option .......53
3.3.2.3 Sample circuit for C3 powerPLmC multi-axis application.....................57
4. Setting up Compax3 ................................................................................61
4.1 Configuration ......................................................................................... 61
4.1.1. Selection of the supply voltage used ..........................................................62
4.1.2. Motor Selection ............................................................................................63
4.1.3. Optimize motor reference point and switching frequency of the
motor current................................................................................................63
4.1.4. Braking Resistor...........................................................................................66
4.1.5. General Drive................................................................................................66
4.1.6. Defining the reference system.....................................................................67
4.1.6.1 Measure reference.............................................................................67
4.1.6.2 Machine Zero.....................................................................................70
4.1.6.3 Travel Limit Settings...........................................................................85
4.1.6.4 Exchange assignment direction reversal / limit switches .....................88
4.1.6.5 Change initiator logic..........................................................................88
4.1.7. Defining jerk / ramps....................................................................................89
4.1.7.1 Ramp upon error and de-energize......................................................89
4.1.8. Monitoring / Limit Settings...........................................................................89
4.1.8.1 Current (Torque) Limit........................................................................89
4.1.8.2 Positioning window - Position reached..............................................90
4.1.8.3 Following error limit............................................................................91
4.1.8.4 Maximum operating speed .................................................................91
4.1.9. Encoder Output............................................................................................92
4.1.9.1 Encoder bypass with Feedback module F12 (for direct drives)............92
4.1.10. Recipe table..................................................................................................93
4.1.11. Configuration name / comments .................................................................93
4.2 Optimization ........................................................................................... 94
4.2.1. Control Loop Dynamics ...............................................................................94
4.2.1.1 Velocity loop stiffness.........................................................................94
4.2.1.2 Velocity loop damping ........................................................................96
4.2.1.3 Velocity Filter .....................................................................................96
4.2.1.4 Advanced control parameters.............................................................97
4.2.2. Input simulation .........................................................................................101
