2024年1月23日发(作者：)
Compax3 FamilyCompax3Servo Drive SystemsSetting up the Compax3 Multi-Axis UnitsPN 88-029852-01PN 88-029852-01
Compax3 FamilyCompax3M Setup in eThe first 4 pages of this document describe the process by whichone sets
up the Compax3M –the multi-axis version of the Compax3. The
remainder is dedicated to step-by-step setup of a drive with
ETHERNET is a new tool that “houses”ServoManager. It is called the Parker
Integrated Engineering Tool. This framework will manage the multi-axis nature of Compax3M configuration and is available on the 1: Opening Screen¾The P.I.E.T.’sopening screen is shown below.¾This is the window that will help the user manage
the axis configurationsPN 88-029852-01
Compax3 FamilyCompax3M Setup in 2: Add a Compax3¾Right click on “New Group1”9Click “Add Device”9Click “Servo Drive”9Click “Compax3”This process initiates the launch of
ServoManager for this first axisYou can repeat the process to add
another Compax3.
¾¾Step 3: Launching ServoManager¾¾¾As you see in the below screen shot, an instance of
ServoManager has been launchedThis is named “Compax3-1”If you added a second axis, there would be a third tab
named, “Compax3-2”Essentially, as you add axes,
the P.I.E.T. launches
additional windows of
ServoManager. You
can change each axis
name by clicking on the
“Compax3-1”on the
tree. This brings up a
properties screen.
Enter in a new name, if
you 88-029852-01
Compax3 FamilyCompax3M Setup in 4: Com Port SelectionClick on the 1stCompax3 Axis Tab9Click on “Device”in the
menu9Find RS232/RS485 row¾This will bring up a box to select the
COM port¾NOTE: Be sure you have installed
the USB driver from the main setup
screen at installation
¾NOTE: Be sure to also plug in the
short SSK cables on the top of the
Compax3 Power Supply (MP) to all
the axis units.9Beginning with the
Compax3MP, the connection
is always made from X30 to
X31 of the next device. On
Step 5: Addressing the Power Supply & Drivesthe first device (X31) and the
¾Select the available COM Portslast device (X30) in the multi-¾You need to set the address in the RS485 boxaxis combination, a bus
9This is the base address of the Power Supply (see
termination plug (BUS07/01)
diagram below) plus 1is required. This plug looks
like an Ethernet connector
9The Compax3 MP unit will automatically address all
(RJ45) without a cable
following axis units by adding “1”to the base
s for the first axis, “2”for the second, and so
on…9All you need to do is input that number to each of
the drives through the ServoManager Axis tabs¾Be sure you have put the bus termination plugs (two
needed) in both the power supply and the last axis unit.¾PS Value = 16axis1 = 17axis2 = 18axis3 = 19axis4 = 20S1 –Base Address of Power Supply,automatic addressing of all axis units(Power Supply address + axis number)PN 88-029852-01
Compax3 FamilyCompax3M Setup in on Hardware InstallationThere isn’t a rack associated with the Compax3M. The high voltage and
low voltage bus bars are the only structural pieces that connecteach
module together. These are located under the protective plasticcover on the bottom-front portion of the fasteners are contained within each unit. Simply loosen these screws
on each module and the bus bars slide to intersect the adjacent
module.
1 –24VDC2 –24V GND3 –-HV DC4 –PE
5 –+HV DC12345X14: Category 3 Safety¾The Compax3M comes with two channels
for Cat.3 Safety on this X14 connector¾It is not recommended to IGNOREthe
safety circuit; however, if you choose not to
use this safety technology, the following
must be wired
9X14/1 –24VDC9X14/2 –GND
9X14/3 –24VDC
9X14/4 –GND¾If you leave these open, the drive will yield a
‘5492 Safe torque off (STO) active’error¾There is detailed information about this
circuit in the Help File on the website.X40: Braking Resistor¾The Compax3MP (power supply) comes
ready to install a braking resistor for energy
dissipation across the bus¾If you are not going to use a braking
resistor you MUST place a jumper wire
between pins 1 and 2
¾If you leave this open, the drive will yield a
‘4480 C3MP: Temperature of braking
resistor too high’error9If this error is not corrected by either
connecting a resistor or wiring a
jumper between these two pins, the
motor will not enableFor further information, please refer to theHardware installation guide and the PDF manual. You can download
these from the Compax3M page on 88-029852-01
Compax3 FamilySetting up the DriveEPL Setup in ServoManagerIn this section, we will show how to setup a drive. My base model drive is
an ETHERNET Powerlinkenabled drive, but the steps are virtually the
same for other drive Selection¾Launch Servo Manager¾Double-click on Device Selection Wizard¾This will launch the wizard that allows you to
select the appropriate model9Screen 1: M050D6 (select your power level)9Screen 2: F10 (select your feedback type)9Screen 3: I30 (Choose I30 for EPL)9Screen 4: T11 (Choose T11 for EPL&ACR)9Screen 5: M00 (Choose M00 for no options)¾You will end up with a part number that looks
something like: M050D6F10I30T11M00and should
match what you ordered and what the label reads
on the side of your drivePN 88-029852-01
Compax3 FamilyEPL Setup in ServoManagerDrive Configuration¾Double-click on “I30T11 Drive Configuration”¾You will not need to change too many
parameters within this section¾The Drive Configuration Wizard opens and
you will need complete 15 steps –though only
a few need input for 1: Motor Selection¾You will need to select the voltage at which
you will be running9230VAC9400VAC9480VACStep 2: Reserved for Future UseStep 3: Motor Selection¾You will need to select the motor you are
using¾See the picture below to see how the
MPP092 motor is found:Parker USMPP092Model¾Click “Next”¾Click “Next”PN 88-029852-01
Compax3 FamilyEPL Setup in ServoManagerStep 4: Motor Reference Data / PWM Settings¾¾¾This step needs no input from youThis data is populated from the motor filesClick “Next”Step 5: ReservedStep 6: Reserved for Braking Resistor¾At the release of this product, there is only
one resistor; the user doesn’t need to select
this for the drivePN 88-029852-01
Compax3 FamilyEPL Setup in ServoManagerStep 4: This step is omitted
Step 7: Moment of Inertia¾This is the most important tuning
step9The Compax3 uses this to
establish gains9The closer you are to the
correct inertia of your load,
the better your system will be
tuned9Suggestion: Use the value
from the same load value in both
the “Minimum”and the “Maximum”locations.9Only if your load isn’t
changing9If load changes (example
picking up a box, then
placing box) enter “Min”and
“Max”respectively.
Do not check the box –if you do,
call applications for help with this
“Next”¾Step 8: Distance / Travel Parameters¾¾¾This step needs no input from you for use
with the ACR EPLDefault values are ok
9Make sure that the ratio is 1:1Click “Next”¾¾The ACR9040/9030 will be
responsible for all
scaling. This is done by
setting the PPU value in
the 9040. However, you
must make sure that the
value here is has a 1:1
ratio. The units are not
the HTML file for more
information if using an
intelligent 88-029852-01
Compax3 FamilyEPL Setup in ServoManagerStep 9: Machine Zero / Homing¾¾¾¾Make sure “No Homing Mode Used”is selectedAll default values are fineACR9040 will be responsible for all
homing procedures and velocitiesClick “Next”The ACR9040/9030 will be
responsible for all
homing moves.
If you are using a drive
controller, click “Homing
Mode Wizard”and that
will guide you through
homing 10: Travel Limits / Settings¾For the ACR90x0: In the first four
rows:9Positive SW: No reaction9Negative SW: No reaction9Positive HW: No reaction9Negative HW: No reactionMake sure all box are uncheckedIf not using an ACR, you can
select how the Compax3 reacts
to the varying limit options
Click “Next”¾¾¾PN 88-029852-01
Compax3 FamilyEPL Setup in ServoManagerStep 11: Jerk / Ramps¾¾¾This step needs no input from
youThe default data is fine –the
ACR9040 controls these valueIf you are using a
drive/controller, input what the
ramps and “s-curve”(jerk)
acceleration should be. For
jerk, the higher the number the
more linear the accelerationClick “Next”¾Step 12: Monitoring / Limit Settings¾¾Current Limit: Select as a percentage of motor
continuousFollowing Error –make sure this value doesn’t
conflict with your ACR9040 value. If they
differ, the value in 9040 should be tighter so
the Position Error is registered there and not
at the e the Compax3 is a
“smart”drive, it has
algorithms checking the
following error. If you
are getting following
errors in the Compax3
but not the ACR9040,
then this value may be
too tight.¾Click “Next”PN 88-029852-01
Compax3 FamilyEPL Setup in ServoManagerStep 13: Encoder Output¾This can be left in the default state9Select “ON”if you want to
send out the motor encoder
through the X11 connector
on the Compax3The EPL Cable automatically sends
the encoder/resolverposition to the
9040¾Step 14: I/O Assignment¾Make sure the I/O assignment is select “Free”9This gives the ACR9040 power over all
I/O9If you are not using an ACR, check user
guide for your specific model to see the
pin assignment and if you select “free”or “fixed”Click “Next”¾PN 88-029852-01
Compax3 FamilyEPL Setup in ServoManagerStep 15: Position Profiles -Configuration¾¾There is nothing to be done hereClick “Next”Step 16: Profile Table¾¾¾This is where you would select the various
profiles called up by a PLC or digital I/OThere is nothing to be done here because the
ACR9040 controls all positioningClick “Next”PN 88-029852-01
Compax3 FamilyEPL Setup in ServoManagerStep 17: Other Error Reactions¾¾¾Click the box to reveal an
arrow to select other optionsThese are the default values.
Click “Next”Summary Configuration: “Your Part Number”¾¾¾The Top Middle should be green –this means
that the setup is doneYou can name your configurationYou can add notes to your configurationYou could download your
configuration here, but
we have setup the
Ethernet Powerlinkyet.
You will save time if you
just click “finish”. This
will bring you back to
the main ServoManager
Screen.¾Click “Finish”PN 88-029852-01
Compax3 FamilyEPL Setup in ServoManagerEthernet PowerlinkSetupThe Ethernet Powerlinkportion of the setup is very simple. There are two
steps:¾¾Select the address with connector S24 on the front of the driveSelect the Ethernet PowerlinkMode
Hardware Setup¾Values:920921922through 27¾Left is OFF or “0”¾Right is ON or “1”¾An address value of zero is not valid (all off)¾From top to bottom: 100000009Address = 1¾From top to bottom: 010000009Address = 2¾From top to bottom: 110000009Address = 3*M050V6F12I21T11M00 is shownOnce you complete the configuration,ServoManager will show you the 88-029852-01
Compax3 FamilyEPL Setup in ServoManagerCommunications: Ethernet Powerlink¾Click on the “+”sign next to the “Communication
Folder –you will see:9RS-4859Modem Settings9Ethernet Powerlink¾Double-click on the “Ethernet Powerlink”folderEthernet Powerlink: Step 1¾First Row: Mode Ethernet Powerlink9CN: Velocity Mode9CN: Position Mode9CN: Profile Select9CN: Konfigurationvia MN¾Select “CN: Konfigurationvia MN”¾Second Row: EPL Error Reaction90 –No Response91 –Stop Drive, Energize92 –Stop Drive, Disabled¾Select “2 –Stop Drive, Disabled”¾Click “Next”You do not need to input the device address youalready selected on the S24 connector. When youdownload the configuration, ServoManager will
automatically obtain this setting and display it for 88-029852-01
Compax3 FamilyEPL Setup in ServoManagerStep 2: Summary, Download Configuration¾This is where you can now download the
entire configuration you went through9Device Selection9Drive Configuration9Ethernet PowerlinkSettingsClick on “Download Configuration Only
to the device”Click on “Disable controller and begin
Drive Configuration download”Click “Execute”to start the drive
processing¾¾¾Possible Errors¾Problem 1:9Red Error Screen, check to see if
correct COM port is selected¾Problem 2:9Can’t Initiate Download: check to
make sure power is on, correct
cable is being used, USB-Serial
cable is the recommended
version (BafoBF-800 or BF-810
().For more information:9To trouble-shoot RS-232
communications, visit the FAQ
section on
type
in BAFO. A write up is available.
¾PN 88-029852-01
Compax3 FamilyEPL Setup in ServoManagerEthernet PowerlinkAddress: Finishing Up¾Click on the “+”sign next to the “Communication Folder –you will
see:9RS-4859Modem Settings9Ethernet Powerlink¾Highlight (single-click) on the “Ethernet Powerlink”folder¾On the right side of the screen, scroll down half-way, here you can
verify:9Mode Ethernet Powerlink(Enable ACR-C3 communications)9EPL Error Reaction (For application safety)9EPL Node ID (Needed for ACR-View)You are now done with ServoManager this process for any other drives you have. If
the drives are the same, simply change the address on
the S24 connector and download the same SURE TO POWER CYCLE THE COMPAX3 AFTERSETUP IS COMPLETE!PN 88-029852-01
Compax3 FamilyEPL Setup in ServoManagerEPL Setup in ACR-ViewThe section will go over how you can set up a Compax3 EPL axis in ACR-View¾Double-click the ACR-View Icon on your
desktopStep 1: Create/Name Project¾Select “Create New Project”and
give it a nameStep 3: Model Number¾Select the specific part number of
the ACR purchasesStep 2: Select Controller¾Select ACR9040 (or 9030)Step 4: Name the controller¾Select an alias for the ACR9040
(only relevant with multiple ACRs)PN 88-029852-01
Compax3 FamilyEPL Setup in ServoManagerConfiguration Wizard¾The next several steps outline how you set up
a Compax3 EPL DriveStep 1: Communications¾Select how you will communicate to
the ACR9040 –I have Ethernet
selected and the default IP address
is “Connect”and wait for
communications to occure¾Step 2: Axes¾Select how many EPL Axes will be
connected –this may be a mixture
of Aries and Compax3 drive. This
represents the total number of
drives (1 = one drive, 5 = five
drives).PN 88-029852-01
Compax3 FamilyEPL Setup in ServoManagerStep 3: Axis 0 Setup¾¾Input the name of the axis9I will use “X”Input the address of this drive9I will use “32”from the
readout on page 15Choose “EPL”for Command OutputOnce you click next, “32”will be
displayed on the Axis Summary
Table in this window¾¾Step 4: Drive/Motor¾Select Drive9For Compa3 –select “Other
EPL”Select Motor9Only select series of motor
you are controllingGearmotor9Choose whether or not you
are using a gearheadintegrated with the motor¾¾PN 88-029852-01
Compax3 FamilyEPL Setup in ServoManagerStep 5: Axis 0 Feedback
¾¾1000¾¾¾Type:9Select “EPL Feedback”Package9Rotary or LinearChoose “EPL”for Command OutputChoose the resolution of the
feedback. This is pre-quadrature.
Check with motor catalog to verify
counts/TION: a value of 1000 is
needed to scale to revolutions9The resolution of the
feedback from the Compax3
to the ACR9040 is 1000
pulses per revolution –for all
feedback motor feedback
devicesPN 88-029852-01
Compax3 FamilyEPL Setup in ServoManagerStep 6: Axis 0 Scaling¾Specify desired units9This will be what you
eventually program inTransmission9You can select from a
number of popular
mechanical transmission
typesSpecify any additional reducers in
the system (ie. Bayside, belt and
pulley)You can manually enter the scaling
factor at the bottom if you didn’t
specify some sort of mechanical
reduction¾¾¾Step 7: Axis 0 Faults¾Hardware Limit Detection9This will enable your end-of-travel hardware limits. This
function should be turned off
in ServoManagerSoftware Limit Detection9You can enable or disable the
software limits here. This
function should be turned off
in ServoManagerMaximum Position Error Detection9This is the controller finding
the difference between actual
and commanded position.
Be sure that this value is
tighter than the one in
ServoManager (Page 8 Step
10)¾¾PN 88-029852-01
Compax3 FamilyEPL Setup in ServoManagerStep 8: Axis 0 Dedicated I/O¾Input Type:9Select “EPL Inputs”9This will allow you to choose
to use the inputs on the
Compax3 as hardware limits
–if desiredStep 9: Servo Gains¾¾Completely Ignore this screen for
the Compax3Use ServoManager Optimization
Tool for tuning the motorPN 88-029852-01
Compax3 FamilyEPL Setup in ServoManagerStep 10: Axis 0 Jog/Home/Limits¾There are many things that can be
done on this screen9Enable Drive9Start EPL Network9Jog the motor9Home the motorBe sure everything is wired
correctly and that you are ready for
motion.
¾The first Compax3 EPL Axis is configured. Gothrough these steps again for the remaining 88-029852-01
Compax3 FamilyEPL Setup in ServoManagerStep 11: Masters¾You must assign each axis to a
Master. For many applications, you
can assign all three axes to the
same master.9Highlight the three Compax3
Axes9Highlight “Master 0”9Click on “Move Axes to
Master”9After you click on “Move
Axes”, all three axes should
move from the left side to
beneath “Master 0”9Click “Next”Step 11: Master 0
¾You need to assign some acceleration
parameters to the Master.9Acceleration Ramp9Initial Velocity9Deceleration Ramp9Stop Ramp9You can enable “s-curve”accelhere.
PN 88-029852-01
Compax3 FamilyEPL Setup in ServoManagerStep 12: Memory¾Input the amount of memory for
each program (aka “task”) that is
being used9Default for Program 0 is
300000k9Enter in other values for
other programs if needed.9You can also change the
number of global variables in
this screenStep 13: Check EPL Network¾¾¾This screen allows you to check the
state of the EPL networkClick on “Start EPL Network”The controller will access the drive
and turn on the communications. If
all is well, you will see the
appropriate message.23PN 88-029852-01
Compax3 FamilyEPL Setup in ServoManagerStep 14: CANOpen¾This screen allows you to setup the
CANOpenport9Talk to PIOStep 15: Finish¾¾This is where you can download the
entire configuration to the ACRMake sure the two boxes at the
bottom are checked to save and
downloadIf any errors occur in the
configuration, they will be listed
here¾Configuration and download are 88-029852-01
Compax3 FamilyEPL Setup in ServoManagerTESTING MOTION¾¾On the program tree on the left,
click on “Terminal Emulator”Type: prog09This takes us to our first
programType: period9Make sure it is .001Type: eplcon9Turn on EPL networkType: drive on x9Enable driveType: x/19Initiate a relative move of 1
revolution¾¾¾¾I had to
change
period to
.0011000PN 88-029852-01
Compax3 FamilyEPL Setup in ServoManagerEPL in ACR-View TerminalThe section will explain some key ACR ds¾Period –placed at the beginning of program9This should be set to .001 for 1-8 axes of
Compax39Add .000125 per axis for over 8 axes of
Compax39Example for 5 axes: period .0019Example for 9 axes: period .0011259NOTE: EVERY TIME YOU
REDOWNLOAD THE ACR-VIEW
CONFIGURATION, THE PERIOD IS SET
BACK TO .0005 (As of v5.4 of ACR-View)¾Eplcon9Turns on the Ethernet PowerlinkNetwork¾Eplcoff9Turns off the Ethernet PowerlinkNetwork¾Eplc9Checks the status of the PowerlinkNetwork¾Drive on x9Enables the “x”axis¾Drive off x9Disables the “x”axis¾Drive res x9Clears errors from the Compax39NOTE: Try not to enable drive until EPL
network is enabled (may be have to
issue this command if done too early)9Feedback Errors require power cycle9SDO Transfer Errors require power cycleCompax3 Parameters and Bits¾P38146 –Master position of additional
feedback device (add 16 for next axis)9This can be 5V A/B Encoder9SSI Feedback Device9Found in the Numeric Status Panel
under “EPL Parameters”then “EPLD
Position Parameters”¾Inputs –8 available on the Compax39Input0 = Bit33289Input1 = Bit33299Input2 = Bit3330 . . .
9Input7 = Bit33359To find the status: Click on “Status
Panels”, “Bit Status”, “EPL Flags”, “EPL
Digital Inputs”9NOTE: These are not high-speed inputs¾Outputs –4 available on the Compax39Output0 = Bit38409Output1 = Bit38419Output2 = Bit38429Output7 = Bit38439To find the status: Click on “Status
Panels”, “Bit Status”, “EPL Flags”, “EPL
Digital Outputs”9NOTE: These are not high-speed
outputsPN 88-029852-01
Compax3 FamilyPN 88-029852-01PN 88-029852-01
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