C3I10T10 - Analog Comm

Step/Direction and Analog Command Input Electromechanical Automation
Operating instructions Compax3 I10T10
Step/Direction and Analog Command

Input
192-120100N17
C3I10T10
Release as from R09-63 September 2014
We reserve the right to make technical changes. 22.09.14 11:51 C3I10T10 192-120100N17 - September 2014
The data correspond to the current status at the time of printing.
Introduction Step/Direction and Analog Command Input
____________________________
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trademarks of Microsoft Corporation.
Nonwarranty clause
We checked the contents of this publication for compliance with the associated
hard and software. We can, however, not exclude discrepancies and do therefore
not accept any liability for the exact compliance. The information in this publication
is regularly checked, necessary corrections will be part of the subsequent
publications.
Production site:
Parker Hannifin Manufacturing Germany GmbH & Co. KG
Electromechanical Automation Europe [EME]
Robert-Bosch-Strasse 22
77656 Offenburg (Germany)
Tel.: + 49 (0781) 509-0
Fax: + 49 (0781) 509-98176
Internet: www.parker.com/eme http://www.parker.com/eme
E-mail: sales.automation@parker.com mailto:EM-Motion@parker.com
Parker Hannifin GmbH - registered office: Bielefeld HRB 35489
Management Board: Ellen Raahede Secher, Dr.-Ing. Hans-Jürgen Haas, Günter Schrank, Kees Veraart - Chairman of the board of
directors: Hansgeorg Greuner
Italy: Parker Hannifin Manufacturing Srl • SSD SBC • Electromechanical Automation •

Via Gounod, 1
I-20092 Cinisello Balsamo (MI), Italy
Tel.: +39 (0)2 361081 • Fax: +39 (0)2 36108400
E-mail: sales.automation@parker.com mailto:sales.sbc@parker.com •
Internet: www.parker.com/eme http://www.parker.com/eme
USA: Parker Hannifin Corporation • Electromechanical Automation

5500 Business Park Drive • Rohnert Park, CA 94928
Phone #: (800) 358-9068 • FAX #: (707) 584-3715
E-mail: CMR_help@parker.com mailto:emn_support@parker.com • Internet:
www.compumotor.com http://www.compumotor.com
Status of the Manuals:

Help and PDFs are updated simultaneously. In case of doubt the HTML help
shows the actual state in comparison to PDF edition.
For additional HTLM help please refer to our website. Analogue & step / direction
http://www.Parker.com/Literature/Electromechanical Europe/user
guides/C3I10T10.chm
2 C3I10T10 192-120100N17 - September 2014

Parker EME Device assignment
Inhalt
1. Introduction .............................................................................................9
1.1 Device assignment .................................................................................. 9
1.2 Scope of delivery ..................................................................................... 9
1.3 Type specification plate ........................................................................ 11
1.4 Packaging, transport, storage .............................................................. 12
1.5 Safety instructions ................................................................................. 13
1.5.1. General hazards ............................................................................................... 13
1.5.2. Safety-conscious working .............................................................................. 13
1.5.3. Special safety instructions ............................................................................. 14
1.6 Warranty conditions .............................................................................. 15
1.7 Conditions of utilization ........................................................................ 16
1.7.1. Conditions of utilization for CE-conform operation ..................................... 16
1.7.1.1 Conditions of utilization mains filter ...................................................... 16
1.7.1.2 Conditions of utilization for cables / motor filter .................................... 17
1.7.1.3 Additional conditions of utilization ......................................................... 18
1.7.2. Conditions of utilization for UL certification Compax3S ............................. 19
1.7.3. Conditions of utilization for UL approval Compax3M .................................. 20
1.7.4. Conditions of utilization for UL approval PSUP ........................................... 21
1.7.5. Conditions of utilization for UL certification Compax3H ............................. 22
1.7.6. Current on the mains PE (leakage current) ................................................... 23
1.7.7. Supply networks .............................................................................................. 23
2. Compax3 with analogue and step/direction input ..............................24

3. Compax3 device description ................................................................26
3.1 Meaning of the status LEDs - Compax3 axis controller ..................... 26
3.2 Meaning of the status LEDs - PSUP (mains module) .......................... 27
3.3 Connections of Compax3S ................................................................... 28
3.3.1. Compax3S connectors .................................................................................... 28
3.3.2. Connector and pin assignment C3S .............................................................. 29
3.3.3. Control voltage 24VDC / enable connector X4 C3S ..................................... 31
3.3.4. Motor / Motor brake C3S connector X3 ......................................................... 32
3.3.5. Compax3Sxxx V2 ............................................................................................. 33
3.3.5.1 Main voltage supply C3S connector X1 ................................................ 33
3.3.5.2 Braking resistor / high voltage DC C3S connector X2 .......................... 34
3.3.6. Compax3Sxxx V4 ............................................................................................. 35
3.3.6.1 Power supply connector X1 for 3AC 400VAC/480VAC-C3S
devices .................................................................................................. 35
3.3.6.2 Braking resistor / high voltage supply connector X2 for 3AC
400VAC/480VAC_C3S devices ............................................................ 36
3.3.6.3 Connection of the power voltage of 2 C3S 3AC devices ...................... 36
3.4 Installation instructions Compax3M .................................................... 37
3.5 PSUP/Compax3M Connections ............................................................ 39
3.5.1. Front connector ............................................................................................... 39
3.5.2. Connections on the device bottom ................................................................ 40
3.5.3. Connections of the axis combination............................................................ 41
3.5.4. Control voltage 24VDC PSUP (mains module) ............................................. 42
3.5.5. Mains supply PSUP (mains module) X41 ...................................................... 43
3.5.6. Braking resistor / temperature switch PSUP (mains module) .................... 45
C3I10T10 192-120100N17 - September 2014 3

3.5.6.1 Temperature switch PSUP (mains module).......................................... 46

3.5.7. Motor / motor brake Compax3M (axis controller) ........................................ 47
3.5.7.1 Measurement of the motor temperature of Compax3M (axis
controller) .............................................................................................. 48
3.5.8. X14 Safety technology option S1 for Compax3M (axis controller)............. 48
3.5.9. Safety technology option S3 for Compax3M (axis controller) .................... 48
3.6 Connections of Compax3H ................................................................... 49
3.6.1. Compax3H plugs/connections ....................................................................... 49
3.6.2. Connection of the power voltage ................................................................... 50
3.6.3. Compax3H connections front plate ............................................................... 51
3.6.4. Plug and pin assignment C3H ........................................................................ 52
3.6.5. Motor / Motor brake C3H ................................................................................. 54
3.6.6. Control voltage 24 VDC C3H........................................................................... 55
3.6.7. Mains connection Compax3H......................................................................... 55
3.6.8. Braking resistor / supply voltage C3H ........................................................... 56
3.6.8.1 Connect braking resistor C3H ............................................................... 56
3.6.8.2 Power supply voltage DC C3H ............................................................. 56
3.6.8.3 Connection of the power voltage of 2 C3H 3AC devices...................... 56
3.7 Communication interfaces .................................................................... 57
3.7.1. RS232 / RS485 interface (plug X10) ............................................................... 57
3.7.2. Communication Compax3M ........................................................................... 58
3.7.2.1 PC - PSUP (Mains module) .................................................................. 58
3.7.2.2 Communication in the axis combination (connector X30, X31) ............ 58
3.7.2.3 Adjusting the basic address .................................................................. 59
3.7.2.4 Setting the axis function ........................................................................ 59
3.8 Signal interfaces .................................................................................... 60
3.8.1. Resolver / Feedback (connector X13) ............................................................ 60
3.8.2. Analogue / encoder (plug X11) ....................................................................... 62
3.8.2.1 Wiring of analog interfaces ................................................................... 62
3.8.2.2 Connections of the encoder interface ................................................... 62
3.8.3. Digital inputs/outputs (plug X12) ................................................................... 63
3.8.3.1 Connection of the digital Outputs/Inputs ............................................... 63
3.8.3.2 Logic proximity switch types ................................................................. 64
3.8.3.3 Energize motor X12/6="24VDC" ........................................................... 64
3.8.3.4 Command value release X12/7="24VDC" ............................................ 65
3.9 Mounting and dimensions..................................................................... 66
3.9.1. Mounting and dimensions Compax3S .......................................................... 66
3.9.1.1 Mounting and dimensions Compax3S0xxV2 ........................................ 66
3.9.1.2 Mounting and dimensions Compax3S100V2 and S0xxV4 ................... 67
3.9.1.3 Mounting and dimensions Compax3S150V2 and S150V4................... 68
3.9.1.4 Mounting and dimensions Compax3S300V4........................................ 69
3.9.2. Mounting and dimensions PSUP/C3M ........................................................... 70
3.9.2.1 Mounting and dimensions PSUP10/C3M050D6, C3M100D6,
C3M150D6 ............................................................................................ 70
3.9.2.2 Mounting and dimensions PSUP20/PSUP30/C3M300D6 .................... 71
3.9.2.3 With upper mounting, the housing design may be different ................. 71
3.9.3. Mounting and dimensions C3H ...................................................................... 72
3.9.3.1 Mounting distances, air currents Compax3H050V4 ............................. 73
3.9.3.2 Mounting distances, air currents Compax3H090V4 ............................. 73
3.9.3.3 Mounting distances, air currents Compax3H1xxV4 .............................. 74
3.10 Safety function - STO (=safe torque off) .............................................. 75
3.10.1. General Description ......................................................................................... 75
3.10.1.1 Important terms and explanations ........................................................ 75
3.10.1.2 Intended use ......................................................................................... 76
3.10.1.3 Advantages of using the "safe torque off" safety function. ................... 76
4 C3I10T10 192-120100N17 - September 2014

3.10.1.4 Devices with the STO (=safe torque off) safety function ...................... 77
3.10.2. STO (= safe torque off) with Compax3S ........................................................ 78
3.10.2.1 STO Principle (= Safe Torque Off) with Compax3S ............................. 78
3.10.2.2 Conditions of utilization STO (=safe torque off) Safety function ........... 80
3.10.2.3 Notes on the STO function.................................................................... 80
3.10.2.4 STO application example (= safe torque off) ........................................ 81
3.10.2.5 Technical Characteristics STO Compax3S .......................................... 84
3.10.3. STO (= safe torque off) with Compax3m (Option S1)................................... 85
3.10.3.1 Safety switching circuits ........................................................................ 85
3.10.3.2 Safety notes for the STO function in the Compax3M ........................... 86
3.10.3.3 Conditions of utilization for the STO function with Compax3M............. 86
3.10.3.4 STO delay times ................................................................................... 87
3.10.3.5 Compax3M STO application description .............................................. 88
3.10.3.6 STO function test .................................................................................. 91
3.10.3.7 Technical details of the Compax3M S1 option ..................................... 93
4. Setting up Compax3 ..............................................................................94

4.1 Configuration ......................................................................................... 94
4.1.1. Selection of the supply voltage used ............................................................ 95
4.1.2. Motor selection ................................................................................................ 95
4.1.3. Optimize motor reference point and switching frequency of the
motor current ................................................................................................... 96
4.1.4. Ballast resistor ................................................................................................. 99
4.1.5. General drive .................................................................................................... 99
4.1.6. Command interface ....................................................................................... 100
4.1.6.1 ±10V analogue speed setpoint commanding and encoder
emulation............................................................................................. 100
4.1.6.2 Step/Direction Input 24V ..................................................................... 101
4.1.6.3 Step/Direction Input RS422 ................................................................ 101
4.1.6.4 Step/Direction Input 24V ..................................................................... 102
4.1.6.5 Encoder input RS422 .......................................................................... 102
4.1.6.6 Encoder input 24V .............................................................................. 103
4.1.6.7 ±10V analog current setpoint commanding and encoder
emulation............................................................................................. 103
4.1.7. Setpoint control ............................................................................................. 104
4.1.8. Limit and monitoring settings ...................................................................... 105
4.1.8.1 Nominal value window ........................................................................ 105
4.1.8.2 Current (Torque) Limit......................................................................... 106
4.1.8.3 Maximum operating speed.................................................................. 106
4.1.8.4 Debouncing input I0 ............................................................................ 106
4.1.8.5 Error response .................................................................................... 106
4.1.9. Configuration name / comments .................................................................. 107
4.2 Test commissioning: Compax3 S0xx V2 I10 ..................................... 108
4.2.1. Analog command interface +/-10V with encoder simulation .................... 109
4.2.2. Step/Direction Input RS422........................................................................... 109
4.2.3. Encoder input RS422 ..................................................................................... 109
4.2.4. Encoder input 24V ......................................................................................... 110
4.3 Device states ........................................................................................ 111
4.4 Optimization ......................................................................................... 113
4.4.1. Optimization window ..................................................................................... 113
4.4.2. Scope .............................................................................................................. 114
4.4.2.1 Monitor information ............................................................................. 114
4.4.2.2 User interface ...................................................................................... 115
4.4.2.3 Example: Setting the Oscilloscope ..................................................... 119
4.4.3. Load identification ......................................................................................... 121
4.4.3.1 Principle .............................................................................................. 121
C3I10T10 192-120100N17 - September 2014 5

4.4.3.2 Boundary conditions ........................................................................... 121

4.4.3.3 Process of the automatic determination of the load characteristic
value (load identification) .................................................................... 122
4.4.3.4 Tips ..................................................................................................... 123
4.4.4. Controller Tuning ........................................................................................... 124
4.4.4.1 Velocity loop stiffness ......................................................................... 125
4.4.4.2 Velocity loop damping ......................................................................... 125
4.4.4.3 Filter - Actual velocity .......................................................................... 126
4.4.4.4 Advanced control parameters ............................................................. 126
4.4.5. Input simulation ............................................................................................. 132
4.4.5.1 Calling up the input simulation ............................................................ 132
4.4.5.2 Operating Principle ............................................................................. 132
4.4.6. Setup mode .................................................................................................... 133
4.4.7. Alignment of the analog inputs .................................................................... 133
4.4.7.1 Offset alignment .................................................................................. 134
4.4.7.2 Gain alignment .................................................................................... 134
4.4.8. Turning the motor holding brake on and off............................................... 135
5. Communication ................................................................................... 136

5.1 Compax3 communication variants ..................................................... 136
5.1.1. PC <-> Compax3 (RS232) .............................................................................. 136
5.1.2. PC <-> Compax3 (RS485) .............................................................................. 138
5.1.3. PC <-> C3M device combination (USB) ....................................................... 139
5.1.4. USB-RS485 Moxa Uport 1130 adapter ......................................................... 140
5.1.5. ETHERNET-RS485 NetCOM 113 adapter ..................................................... 141
5.1.6. Modem MB-Connectline MDH 500 / MDH 504 ............................................. 142
5.1.7. C3 settings for RS485 two wire operation................................................... 143
5.1.8. C3 settings for RS485 four wire operation .................................................. 144
5.2 COM port protocol ............................................................................... 145
5.2.1. RS485 settings values ................................................................................... 145
5.2.2. ASCII - record ................................................................................................. 145
5.2.3. Binary record ................................................................................................. 146
5.3 Remote diagnosis via Modem............................................................. 150
5.3.1. Structure ......................................................................................................... 150
5.3.2. Configuration of local modem 1 ................................................................... 151
5.3.3. Configuration of remote modem 2 ............................................................... 152
5.3.4. Recommendations for preparing the modem operation ........................... 152
6. Status values ....................................................................................... 153

6.1 D/A-Monitor .......................................................................................... 153
7. Error ..................................................................................................... 154

8. Order code ........................................................................................... 155
8.1 Order code device: Compax3 ............................................................. 156
8.2 Order code for mains module: PSUP ................................................. 157
8.3 Order code for accessories................................................................. 157
8.3.1. Order code for feedback cables ................................................................... 158
8.3.2. Order Code braking resistors ....................................................................... 158
8.3.3. Order code mains filter (C3S) ....................................................................... 159
8.3.4. Order code capacitor module ....................................................................... 159
8.3.5. Interface cable order code ............................................................................ 160
8.3.6. Order Code input/output terminals (PIO) .................................................... 160
8.3.7. Order note....................................................................................................... 161
6 C3I10T10 192-120100N17 - September 2014

9. Compax3 Accessories ........................................................................ 162

9.1 Parker servo motors ............................................................................ 162
9.1.1. Direct drives ................................................................................................... 162
9.1.1.1 Transmitter systems for direct drives .................................................. 163
9.1.1.2 Linear motors ...................................................................................... 164
9.1.1.3 Torque motors ..................................................................................... 164
9.1.2. Rotary servo motors ...................................................................................... 164
9.2 EMC measures ..................................................................................... 165
9.2.1. Mains filter ...................................................................................................... 165
9.2.1.1 Mains filter NFI01/01 ........................................................................... 166
9.2.1.2 Mains filter NFI01/02 ........................................................................... 166
9.2.1.3 Mains filter for NFI01/03...................................................................... 167
9.2.1.4 Mains filter NFI02/0x ........................................................................... 167
9.2.1.5 Mains filter NFI03/01& NFI03/03 ........................................................ 168
9.2.1.6 Mains filter NFI03/02 ........................................................................... 169
9.2.2. Motor output filter .......................................................................................... 170
9.2.2.1 Motor output filter MDR01/04 .............................................................. 170
9.2.2.4 Wiring of the motor output filter ........................................................... 171
9.2.3. Mains chokes ................................................................................................. 172
9.2.3.1 Mains filter for PSUP30....................................................................... 172
9.3 Connections to the motor ................................................................... 173
9.3.1. Resolver cable ............................................................................................... 174
9.3.2. SinCos© cable ................................................................................................ 175
9.3.3. EnDat cable .................................................................................................... 175
9.3.4. Motor cable ..................................................................................................... 176
9.3.4.1 Connection of terminal box MH145 & MH205 .................................... 176
9.3.5. Encoder cable ................................................................................................ 177
9.4 External braking resistors ................................................................... 178
9.4.1. Permissible braking pulse powers of the braking resistors ..................... 179
9.4.1.1 Calculation of the BRM cooling time ................................................... 179
9.4.1.2 Permissible braking pulse power: BRM08/01 with C3S015V4 /
C3S038V4 ........................................................................................... 180
9.4.1.3 Permissible braking pulse power: BRM08/01 with C3S025V2 ........... 181
9.4.1.15 Permissible braking pulse power: BRM11/01 with C3H0xxV4 ........... 187
9.4.1.16 Permissible braking pulse power: BRM12/01 with C3H1xxV4 ........... 187
9.4.1.17 Permissible braking pulse power: BRM13/01 with PSUP10D6 .......... 188
9.4.1.18 Permissible braking pulse power: BRM14/01 with PSUP10D6 .......... 188
9.4.2. Dimensions of the braking resistors ........................................................... 188
9.4.2.1 BRM8/01braking resistors................................................................... 188
9.4.2.2 BRM5/01 braking resistor ................................................................... 188
9.4.2.3 Braking resistor BRM5/02, BRM9/01 & BRM10/01 ............................ 189
9.4.2.4 Braking resistor BRM4/0x and BRM10/02 .......................................... 189
C3I10T10 192-120100N17 - September 2014 7

9.4.2.5 Braking resistor BRM11/01 & BRM12/01 ........................................... 190

9.4.2.6 Ballast resistor BRM13/01 & BRM14/01 ............................................. 190
9.5 Capacitor module C4 ........................................................................... 191
9.6 Operator control module BDM ............................................................ 192
9.7 EAM06: terminal block for inputs and outputs .................................. 192
9.8 Interface cable ...................................................................................... 195
9.8.1. RS232 - cable / SSK1 ..................................................................................... 195
9.8.2. RS485 cable to Pop / SSK27 ......................................................................... 196
9.8.3. I/O-interface X12 / X22 / SSK22 .................................................................... 197
9.8.4. Ref X11 / SSK21 ............................................................................................. 197
9.8.5. Encoder coupling of 2 Compax3 axes / SSK29 .......................................... 198
9.8.6. Modem cable SSK31 ...................................................................................... 199
9.8.7. Adapter cable SSK32/20................................................................................ 199
10. Technical Data ..................................................................................... 200

11. Index..................................................................................................... 216
8 C3I10T10 192-120100N17 - September 2014

1. Introduction
In this chapter you can read about:
Device assignment ............................................................................................................9
Scope of delivery ............................................................................................................... 9
Type specification plate ................................................................................................... 11
Packaging, transport, storage .......................................................................................... 12
Safety instructions ........................................................................................................... 13
Warranty conditions ......................................................................................................... 15
Conditions of utilization .................................................................................................... 16
1.1 Device assignment

This manual is valid for the following devices:
 Compax3S025V2 + supplement
 Compax3H050V4 + supplement
 Compax3M050D6 + supplement - Safety Option S1
 PSUP10D6
 PSUP20D6
 PSUP30D6
With the supplement:

 F10 (Resolver)
 F11 (SinCos©)
 F12 (linear and rotary direct drives)
 I10 T10
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
C3I10T10 192-120100N17 - September 2014 9

Introduction Step/Direction and Analog
Command Input
 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 a cable of the motor holding brake
 an interface cable (SSK28/23) for communication within the axis combination
 With safety option S3: Mating plugs X28 and connection cable X26 / X27
 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
10 C3I10T10 192-120100N17 - September 2014

Parker EME Type specification plate
1.3 Type specification plate

The present device type is defined by the type specification plate (on the housing):
Compax3 - Type
specification plate
(example):
Explanation:
Type designation:
1
The complete order designation of the device (2, 5, 6, 9, 8).
C3: Abbreviation for Compax3
2 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
Nominal supply voltage
4 Power Input: Input supply data
Power Output: Output data
Designation of the feedback system
F10: Resolver
5
F11: SinCos© / Single- or Multiturn
F12: Feedback module for direct drives
Device interface
I10: Analog, step/direction and encoder input
I11 / I12: Digital Inputs / Outputs and RS232 / RS485
6
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
Options
8 Mxx: I/O extension, HEDA
Sx: optional safety technology on C3M
Technology function
T10: Servo controller
T11: Positioning
9
T20: Pressure / Volume flow rate
T30: Motion control in accordance with 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)
C3I10T10 192-120100N17 - September 2014 11

Introduction Step/Direction and Analog
Command Input
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 200, see on page 211)). 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 11)
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.
suitable for
Material Disposal
recycling
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 213). Make sure that the device is
not stored near strong heat sources and that no metal chippings can get into the
device.
Please note in the

event of storage >1 Forming the capacitors
year:
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
12 C3I10T10 192-120100N17 - September 2014

Parker EME Safety instructions
1.5 Safety instructions

General hazards .............................................................................................................. 13
Safety-conscious working ................................................................................................ 13
Special safety instructions ............................................................................................... 14
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
Designated use
The device is designed for operation in electric power drive systems (VDE0160).
Motion sequences can be automated with this device. Several motion sequences
can be can combined by interconnecting several of these devices. Mutual
interlocking functions must be incorporated for this purpose.
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.
C3I10T10 192-120100N17 - September 2014 13

1.5.3. Special safety instructions

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.
 Check that all live terminals are secured against contact. Perilous voltage levels
of up to 850V occur.
 Do not bypass power direct current
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 (with additional capacity modules it
may take up to 30 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.
 If the axis controller is replaced, 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 line choke.
Attention - hot surface!

The heat dissipater 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.
14 C3I10T10 192-120100N17 - September 2014

Parker EME Warranty conditions
Please note in the

event of storage >1 Forming the capacitors
year:
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 66, see
on page 72)
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.
C3I10T10 192-120100N17 - September 2014 15

1.7 Conditions of utilization

Conditions of utilization for CE-conform operation ........................................................... 16
Conditions of utilization for UL certification Compax3S .................................................... 19
Conditions of utilization for UL approval Compax3M ........................................................ 20
Conditions of utilization for UL approval PSUP ................................................................ 21
Conditions of utilization for UL certification Compax3H .................................................... 22
Current on the mains PE (leakage current) ...................................................................... 23
Supply networks .............................................................................................................. 23
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 devices only in the state in which they are delivered.
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
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: Limit value Motor cable length Mains filter
Compax3S class Order No.:
S0xxV2 C2 < 10 m without
C2 > 10 m, < 100 m NFI01/01
S1xxV2, C2 < 10 m without
S0xxV4, S150V4 C2 > 10 m, < 100 m NFI01/02
S300V4 C3 < 10 m without
C2, C3 > 10 m, < 100 m NFI01/03
Device: Limit value Motor cable length Mains filter
Compax3H class 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
16 C3I10T10 192-120100N17 - September 2014

Parker EME Conditions of utilization
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 Reference: Axis system Mains filter
class with motor cable 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
Motor and Feedback Operation of the devices only with motor and feedback cables whose plugs contain
cable: a special full surface area screening.
Compax3S motor < 100 m (the cable should not be rolled up!)
cable A motor output filter (see on page 170) is required for motor cables >20 m:
 MDR01/04 (max. 6.3 A rated motor current)
 MDR01/01 (max. 16 A rated motor current)
Compax3H motor A motor output filter is required for motor cables >50m. Please contact us.
cable
Compax3M motor <80m per axis (the cable must not be rolled up!)
cable The entire length of the motor cable per axis combination may not exceed 300m.
A motor output filter (see on page 170) is required for motor cables >20 m:
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.
Feedback cable < 100 m

Compax3S,
Compax3H &
Compax3F:
C3I10T10 192-120100N17 - September 2014 17

Compax3M encoder < 80m

cable:
Cable für Corresponding to the specifications of the terminal clamp with a temperature range
Compax3S, of up to 60°C.
Compax3M
Cable für Compax3H Corresponding to the specifications of the terminal clamp with a temperature range
of up to 75°C.
Cable installation:  Signal lines and power lines should be installed as far apart as possible.
 Signal lines should never pass close to excessive sources of interference
(motors, transformers, contactors etc.).
 Do not place mains filter output cable parallel to the load cable.
1.7.1.3 Additional conditions of utilization
Motors: Operation with standard motors.
Control: Use only with aligned controller (to avoid control loop oscillation).
Grounding: Connect the filter housing and the device 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!
Compax3S300V4 For CE and UL conform operation of the Compax3S300V4, a mains filter is
compulsory:
 400 VAC / 0.740 mH certified in accordance with EN 61558-1 bzw. 61558-2-2
 We offer the mains filter as an accessory: LIR01/01
Accessories: Make sure to use only the accessories recommended by Parker
Connect all cable shields at both ends, ensuring large contact areas!
Warning:
This is a product in the restricted sales distribution class according to EN
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.
18 C3I10T10 192-120100N17 - September 2014

1.7.2. Conditions of utilization for UL certification Compax3S

UL certification for Compax3S
conform to UL:  according to UL508C
Certified  E-File_No.: E235342
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, 0.57 - 0.79Nm 5 - 7Lb.in
C3S0xxV4, C3S150V4
 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 on page 155,
see on page 157), they feature a temperature rating of at least 60°C.
 Maximum Surrounding Air Temperature: 45°C.
 Motor over temperature monitoring is only supported, if the external temperature
sensor is connected.
 Suitable for use on a circuit capable of delivering at least 5000 symmetrical
amperes effectively and 480 Volts when protected with fuses.
Fuses:
In addition to the main fuse, the devices must be equipped with a S201K, S203K,
S271K or S273K circuit breaker with K characteristic made by ABB.
 C3S025V2: ABB, nom 480V 10A, 6kA
 C3S063V2: ABB, nom 480V, 16A, 6kA
 C3S100V2: ABB, nom 480V, 16A, 6kA
 C3S150V2: ABB, nom 480V, 20A, 6kA
 C3S015V4: ABB, nom 480V, 6A, 6kA
 C3S038V4: ABB, nom 480V, 10A, 6kA
 C3S075V4: ABB, nom 480V, 16A, 6kA
 C3S150V4: ABB, nom 480V, 20A, 6kA
 C3S300V4: ABB, nom 480V, 25A, 6kA
CAUTION
Risk of electric shock.
Discharge time of the bus capacitor is 10 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: corresponding to the Nominal output currents (see on page 202,
see on page 203)
 Maximum cross-section limited by the terminals mm / AWG
2
 C3S0xxV2 2.5mm AWG 12

2
 C3S1xxV2, 4.0mm2 AWG 10

C3S0xxV4, C3S150V4
 C3S300V4 6.0mm2 AWG 7
C3I10T10 192-120100N17 - September 2014 19

1.7.3. Conditions of utilization for UL approval Compax3M
UL approval for Compax3M

Conform to UL:  in accordance with UL508C
The UL approval is documented by a
“UL” logo on the device (type
specification plate).
(maximum).
Device X43: Motor connector X15: Temperature monitoring

C3M050-150 0.5Nm (4.43Lb.in) 0.22Nm (1.95Lb.in)
C3M300 1.2Nm (10.62Lb.in) 0.22Nm (1.95Lb.in)

copper lines only
 Control voltage supply (24VDC) only permissible with "class 2" power supply.
 Compax3M may only be operated with a mains module of the PSUP series.
 Motor Over Temperature sensing is not provided by the drive unless the external
temperature sensor is connected.
Caution!
The drive provides internal motor overload protection.
see on page 203)
 Maximum cross-section limited by the terminals mm / AWG
2
Line cross-sections of the power connections (on the device bottoms)

Compax3 device: Cross-section: Minimum... Maximum [with conductor sleeve]
M050, M100, M150 0.25 ... 4 mm2 (AWG: 23 ... 11)
M300 0.5 ... 6 mm2 (AWG: 20 ... 10)
20 C3I10T10 192-120100N17 - September 2014

1.7.4. Conditions of utilization for UL approval PSUP
UL approval for mains modules PSUP

UL approval PSUP30 in preparation!
(maximum).
Device X40: Ballast resistor X41: Mains connector X9: 24VDC

1.2 Nm
PSUP10 0.5 Nm (4.43Lb.in) 1.2 Nm (10.62Lb.in)
(10.62Lb.in)
1.2 Nm
PSUP20 0.5 Nm (4.43Lb.in) 1.7 Nm (15Lb.in)
(10.62Lb.in)
PSUP30 UL approval in preparation
copper lines only
 Control voltage supply (24VDC) only permissible with "class 2" power supply.
 Suitable for use on a circuit capable of delivering not more than 5000 rms
symmetrical amperes and 480 volts maximum and protected by (see below).
 The devices need a "branch circuit protection".
PSUP10D6
Measure for line and device protection:
Maximum fuse rating per MCB miniature circuit breaker (K characteristic) 25A in
device accordance with UL category DIVQ
(ABB) S203UP-K25 (480VAC)
PSUP20D6
Maximum fuse rating per Cable protection measure:
device MCB (K characteristic) with a rating of 50A / 4xxVAC
2 special purpose fuses in line (depending on the input voltage).
are required (ABB) S203U-K50 (440VAC)
Device protection measure:
Fuses 80A / 700VAC per supply leg in accordance with UL
category JFHR2:
Bussmann 170M1366 or 170M1566D
Caution!
C3I10T10 192-120100N17 - September 2014 21

1.7.5. Conditions of utilization for UL certification Compax3H

UL certification for Compax3H
Conform to UL:  according to UL508C

“UL” logo:
(maximum).
 Tightening Torque of the Field Wiring Terminals.
Terminal clamps - max. line cross sections

The line cross sections must correspond to the locally valid safety regulations. The
local regulations have always priority.
Power clamps
(minimum/maximum section)
C3H050V4 2.5 / 16mm2
Massive Multiwire
C3H090V4 16 / 50mm2 25 / 50mm2
C3H1xxV4 25 / 95mm2 35 / 95mm2
The standard connection clamps of Compax3H090V4 and Compax3H1xxV4

are not suitable for flat line bars.
Temperature rating of field installed conductors shall be at least 75°C. Do

only use copper lines.
 Motor overtemperature monitoring is only supported, if the external temperature
sensor is connected.
 Suitable for use on a circuit capable of delivering not more than 18000A
symmetrical amperes effectively when protected with fuses as follows:
Device Protection data
C3H050V4 480 VAC 80 A
C3H090V4 480 VAC 100 A
C3H125V4 480 VAC 160 A
C3H155V4 480 VAC 200 A
Caution!
Upon removing power to the equipment, please wait at least 10 minutes
before accessing the device to ensure internal voltage levels are less than
50VDC.
 The drive provides internal motor overload protection.
see on page 203)
 This device is provided with Solid State Short Circuit (output) Protection.
22 C3I10T10 192-120100N17 - September 2014

1.7.6. 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 . Otherwise, a different protective measure must be taken, such as
Caution! separation from the environment by doubled or enforced insulation or separation
from the mains power supply by means of 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 servo controllers. Additional
discharge currents are caused by the capacities of the motor cable and the motor
winding. 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 (>3.5 mA).
Due to the high leakage currents it is not advisable to operate the servo drive with
an earth leakage circuit breaker.
1.7.7. Supply networks

This product 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 240VAC are
permitted.
Devices which are to be connected to an IT network must be provided with a

separating transformer. Then the devices are operated locally as in a TN network.
The secondary sided center of the separating transformer must be grounded and
connected to the PE connector of the device.
C3I10T10 192-120100N17 - September 2014 23

Compax3 with analogue and step/direction input Step/Direction and Analog Command Input
2. Compax3 with analogue and

step/direction input
The complete modular structure of the Compax3 optimizes the integration of
intelligent servo-drives for various applications efficiently. With its analogue
interface or alternatively with step/direction or encoder step signals, the Compax3
I10 gives you easy and reasonably priced access to the world of servo-drive
technology. With its simple, standardized setpoint interface, the Compax3 I10 is
particularly suitable if you want to migrate to servo-drive systems for technical
reasons. Irrelevant of whether you have a PLC or PC central control unit, this
remains unchanged. The Compax3 I10 represents an ideal way of migrating from
analog +/- 10V drives to digital, intelligent servo-drives.
Compax3 control High-performance control technology and openness for various sender systems
technology are fundamental requirements for a fast and high-quality automation of movement.
Model / standards / The structure and size of the device are of considerable importance. High-quality
auxiliary material electronics are a fundamental requirement for the particularly small and compact
form of the Compax3 devices. All connectors are located on the front of the
Compax3S.
Partly integrated mains filters permit connection of motor cables up to a certain

length without requiring additional measures. EMC compatibility is within the limits
set by EN 61800-3, Class A. The Compax3 is CE-conform.
The intuitive user interface familiar from many applications, together with the
oscilloscope function, wizards and online help, simplifies making and modifying
settings via the PC.
The optional Operator control module (BDM01/01) (see on page 192) for
Compax3S/F makes it possible to exchange devices quickly without requiring a
PC.
24 C3I10T10 192-120100N17 - September 2014

Operating modes
You can choose between 3 different operating modes:
 ±10V speed command interface with encoder simulation as current value
feedback.
 ±10V predefined current setpoint with encoder emulation for actual position value
feedback and configurable holding functions.
 Step/direction command Input
 With step/direction signals as 24V logic levels or
 With step/direction logic signals conforming to RS422.
 Encoder input
 RS422
 24V level
Configuration Configuration is made with a PC with the help of the Compax3 ServoManager.
C3I10T10 192-120100N17 - September 2014 25

Compax3 device description Step/Direction and Analog Command Input
3. Compax3 device description

Meaning of the status LEDs - Compax3 axis controller .................................................... 26
Meaning of the status LEDs - PSUP (mains module) ....................................................... 27
Connections of Compax3S .............................................................................................. 28
Installation instructions Compax3M ................................................................................. 37
PSUP/Compax3M Connections ....................................................................................... 39
Connections of Compax3H .............................................................................................. 49
Communication interfaces ............................................................................................... 57
Signal interfaces .............................................................................................................. 59
Mounting and dimensions ................................................................................................ 66
Safety function - STO (=safe torque off)........................................................................... 75
3.1 Meaning of the status LEDs - Compax3 axis controller

Device status LEDs Right LED (red) Left LED (green)
Voltages missing off off
During the booting sequence alternately flashing
 No configuration present. flashes slowly off
 SinCos feedback not detected.
©
 Compax3 IEC61131-3 program not compatible

with Compax3 Firmware.
 no Compax3 IEC61131-3 program
 Hall signals invalid.
Axis powerless off flashes slowly

Power supplied to axis; commutation calibration off flashes quickly
running
Axis powered off on
Axis in error state / error present / axis powered flashes quickly on
(error reaction 1)
Axis in error state / error present / axis not on off
powered
(error reaction 2)
Compax3 faulty: Please contact us on on
Note on Compax3H: The internal device status LEDs are only connected to the external housing LEDs,
if the RS232 jumper at X10 is fitted to the control and the upper dummy cover is
fitted.
26 C3I10T10 192-120100N17 - September 2014

Parker EME Meaning of the status LEDs - PSUP (mains module)
3.2 Meaning of the status LEDs - PSUP (mains module)

PSUP Status LEDs Left LED (green) Right LED (red)
Control voltage 24 VDC is missing off off
Error of mains module* off on
Address assignment CPU active or incorrect wiring flashes quickly -
Address assignment CPU completed flashes slowly -
Device state: INIT
flashes flashes quickly
Mains voltage is missing or built up
Device state: ERROR
flashes on
One or multiple errors occured
Device state: RUN on off
Device in bootloader state flashes slowly flashes slowly
*can be read out in each axis controller
Caution!
When the control voltage is missing there is no indication whether or not high
voltage supply is available.
C3I10T10 192-120100N17 - September 2014 27

3.3 Connections of Compax3S

Compax3S connectors .................................................................................................... 28
Connector and pin assignment C3S................................................................................. 29
Control voltage 24VDC / enable connector X4 C3S ......................................................... 31
Motor / Motor brake C3S connector X3 ............................................................................ 32
Compax3Sxxx V2 ............................................................................................................ 33
Compax3Sxxx V4 ............................................................................................................ 35
3.3.1. Compax3S connectors
LED1 LED2
X20
X1
X10
X21
X2
X11
X22
X23
X3
X24
X12
LED3
X4
X13 S24
X1 AC Supply X20 HEDA in Option M21

(Option M10, M11) inputs
X2 Ballast / DC power voltage X21 HEDA out Option M21
(Option M10, M11) inputs
X3 Motor / Brake X22 Inputs Outputs (Option M10/12)
X4 24VDC / Enable X23/ Bus (Option) Connector type
X24 depends on the bus
system!
X10 RS232/RS485 S24 Bus settings
X11 Analog/Encoder LED1 Device status LEDs
X12 Inputs/Outputs LED2 HEDA LEDs
X13 Motor position feedback LED3 Bus LEDs
28 C3I10T10 192-120100N17 - September 2014

Parker EME Connections of Compax3S
Caution - Risk of Electric Shock!

Always switch devices off before wiring them!
Dangerous voltages are still present until 10 min. after switching off the power
supply.
Caution!
Attention - PE connection!
PE connection with 10mm2 via a grounding screw at the bottom of the device.

Line cross sections of the line connections X1, X2, X3

Compax3 device: Cross-section: Minimum... Maximum[mm2]
S025V2, S063V2 0.25 ... 2.5 (AWG: 24 ... 12)
S100V2, S150V2 0.25 ... 4 (AWG: 24 ... 10)
S015V4, S038V4, S075V4, S150V4
S300V4 0.5 ... 6 (AWG: 20 ... 7)
3.3.2. Connector and pin assignment C3S

Overview:
AC - Versorgung
X1 Compax3
AC - Supply
DC - Versorgung RS232
X4 (24VDC) X10 PC
DC - Supply SSK1
Freigabe 24VDC
X4/3
Enable 24VDC
Further information on the assignment of the plug mounted at the particular

device can be found below!
C3I10T10 192-120100N17 - September 2014 29

In detail: The fitting of the different plugs depends on the extension level of Compax3. In
part, the assignment depends on the Compax3 option implemented.
Compax3 1AC
X10/1 X10/1 X10/1 X20/1
Power supply RS485 +5V RS485 +5V EnableRS232 0V Rx
X20/2
RxD X10/2 res. X10/2 RxD X10/2 Rx/
X1/1 X1
X10: RS485 zweidraht

X20/3
X10: RS485 vierdraht

L TxD/ X10/3 TxD_RxD/ X10/3 TxD X10/3 Lx
X1/2 X20/4
option M11(M10=+I/Os)
N res. X10/4 res. X10/4 DTR X10/4 res.
X20: HEDA in
X1/3 X20/5
PE GND X10/5 GND X10/5 GND X10/5 res.
X20/6
X10: RS232
res. X10/6 res. X10/6 DSR X10/6 Lx/
X20/7
TxD X10/7 TxD_RxD/ X10/7 RTS X10/7 res.
Compax3 3AC X20/8
RxD/ X10/8 res. X10/8 CTS X10/8 res.
Power supply
+5V X10/9 +5V X10/9 +5V X10/9
X1/1 X21/1
L1 X1 Tx
X1/2 X21/2
X22/1 X22/1 X11/1 Tx/
L2 +24Vout +24Vout Output +24V X21/3
HEDA-motionbus
X1/3 X22 /2 X22 /2 X11/2 Lx
L3 Uin3+ Iin0+ Ain1- X21/4
res.
X21: HEDA out

X1/4 X22 /3 X22 /3 X11/3
X21: Input option M21
option M21
PE GND GND D/A-channel1 X21/5
X22 /4 X22 /4 res.
X11/4
Uin3- Iin0- D/A-channel0 X21/6
Lx/
X22 /5 X22 /5 X11/5
+24Vout +24Vout +5V X21/7
res.
X22 /6 X22 /6 X11/6
Uin4+ Iin1+ A/ X21/8
res.
Ballast resistor (1AC)
X11: Analog/Encoder
X22 /7 X22 /7 X11/7
GND GND A
X2/1 X2 X22 /8 X22 /8 X11/8 X23/1
res. Uin4- Iin1- B Tx+
Ethernet Powerlink (I30), EtherCAT (I31), Profiner (I32)

X2/2 X22 /9 X22 /9 X11/9 X23/2
-R +24V0ut +24V0ut Ain0+ Tx-
X20: Input
X2/3 X22 /10 X22 /10 X11/10 X23/3

PE Uin5+ Iin2+ Ain1+ Rx+
X23: Ethernet in
X2/4 X22 /11 X22 /11 X11/11 X23/4
GND GND Ain0- res.
+R X23/5
X22 /12 X22 /12 X11/12 res.
X2/5 Uin5- Iin2- B/
res. X23/6
X22 /13 X11/13 Rx-
+24Vin N/
X22 /14 X11/14 X23/7
GND in res.
N
Ballast resistor (3AC) X22 /15&16 X11/15 X23/8
Shield res.
GND
X2/1 X2 X24/1
+R X12/1 Tx+
X22/1
X2/2 res. Output+24V X24/2
-R Tx-
option M12(M10=+HEDA)
X22 /2 X12/2
X2/3 O0/I0 Output 0 X24/3
PE Rx+
X24: Ethernet out

X22 /3 X12/3
+HV X12/4 res.
X12: Digital Inputs/Outputs
X22 /4
-HV res.
X22 /5 X12/5
O3/I3 Output 3 X24/6
Rx-
X22 /6 X12/6
O4/I4 Input 0 X24/7
res.
X22 /7 X12/7
O5/I5 Input 1 X24/8
res.
X22 /8 X12/8
Motor/Brake O6/I6 Input 2
X22 /9 X12/9 X23/1
O7/I7 Input 3 res.
X3/1 X3 X12/10
U X22 /10 X23/2
O8/I8 Input 4 res.
X23: Profibus I20
X3/2
X22: Input/Output
V X22 /11 X12/11 X23/3

Input24VDC Input+24V Data line-B
X3/3 X12/12
W X22 /12 X23/4
O9/I9 Input 5 RTS
X3/4
PE X22 /13 X12/13 X23/5
O10/I10 Input 6 GND
X3/5 X23/6
Br+ X22 /14 X12/14 +5V
X3/6 O11/I11 Input 7 or (MN-INI)
Br- X22 /15 X12/15 res. X23/7
InputGND GND24V
X23/8
Data line-A
X23/9
res.
X13/1 X13/1 res. X13/1
Sense- res.
X13/2 X13/2 res. X13/2 X23/1
Sense+ res. res.
24VDC Control voltage/ X13/3 X13/3 X13/3 X23/2
X13: Feedback DirectDrive F12
GND
X23: CANopen I21
Hall1 GND CAN_L

Enable
X13/4 X13/4 REF+Resolver X13/4 X23/3
GNDfb
X13: Feedback SinCos F11
X4 Vcc(+5V) Vcc(+8V)
X4/1 X13/5 X23/4
+24V Input X13/5 +5V X13/5 +5V res.
+5V
X4/2 X13/6 X13/6 X13/6 X23/5
GND24V Hall2 CLKfbk CLKfbk SHIELD
X4/3
F10
Enable_in X13/7 X13/7 X13/7 X23/6

Sin-/A- SIN- SIN- res.
X4/4 X23/7
X13/8 X13/8 SIN+ X13/8 CAN_H
Enable_out_a Sin+/A+ SIN+
X13: Resolver
X4/5 X13/9 X13/9 X13/9 X23/8

Enable_out_b Hall3 CLKfbk/ CLKfbk/ res.
X13/10 X13/10 X13/10 X23/9
Tmot Tmot Tmot res.
X23: DeviceNet I22
X13/11 X13/11 COS- X13/11 X23/1

COS-/B- COS- -VDC
X13/12 X13/12 COS+ X13/12 X23/2
COS+/B+ COS+ CAN_L
X13/13 X13/13 res. X13/13 X23/3
N+ DATAfbk Shield
X13/14 X13/14 res. X13/14 X23/4
N- DATAfbk/ CAN_H
X13/15 X13/15 REF-Resolver X13/15 X23/5
GND(Vcc) GND(Vcc) +VDC
The jumper drawn in at X4 (at the left side in red) is used to enable the device for
testing purposes. During operation, the enable input is in most cases switched
externally.
30 C3I10T10 192-120100N17 - September 2014

3.3.3. Control voltage 24VDC / enable connector X4 C3S

PIN Description
1 +24V (supply) Line cross sections:
2 Gnd24V minimum: 0.25mm2
3 Enable_in maximum: 2.5mm2
4 Enable_out_a
(AWG: 24 ... 12)
5 Enable_out_b
Control voltage 24VDC Compax3S and Compax3H

Controller type Compax3
Voltage range 21 - 27VDC
Current drain of the device 0.8 A
Total current drain 0.8 A + Total load of the digital outputs + current
for the motor holding brake
Ripple 0.5Vpp
Requirement according to safe extra yes
low voltage (SELV)
Short-circuit proof conditional (internally protected with 3.15AT)
Hardware - enable (input X4/3 = 24VDC)
This input is used as safety interrupt for the power output stage.
Tolerance range: 18.0V - 33.6V / 720Ω
"Safe torque off (X4/3=0V)

For implementation of the "safety torque off" safety feature in accordance with the
“protection against unexpected start-up” described in EN1037. Observe
instructions in the corresponding chapter (see on page 75) with the circuitry
examples!
The energy supply to the drive is reliably shut off, the motor has no torque.
A relay contact is located between X4/4 and X4/5 (normally closed contact)
Enable_out_a - Enable_out_b Power output
stage is
Contact opened activated
Contact closed disabled
Series connection of these contacts permits certain determination of whether all
drives are de-energized.
Relay contact data:

Switching voltage (AC/DC): 100mV - 60V
Switching current: 10mA - 0.3A
Switching power: 1mW...7W
C3I10T10 192-120100N17 - September 2014 31

3.3.4. Motor / Motor brake C3S connector X3

PIN Designation Motor cable lead designation*
1 U (motor) U / L1 / C / L+ 1 U1
2 V (motor) V / L2 2 V2
3 W (motor) W / L3 / D / L- 3 W3
4 PE (motor) YE / GN YE / GN YE / GN
5 BR+ Motor holding brake WH 4 Br1
6 BR- Motor holding brake BK 5 Br2
* depending on the cable type
Requirements for motor cable

< 100m (the cable should not be rolled up!)

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.
Attention - Please wire the motor holding brake!

Connect the brake only on motors which have a holding brake! Otherwise make
no brake connections at all.
Requirements cables for motor holding brake

If a motor holding brake is present, one cable of the motor holding brake must be
fed on the device side through the toroidal core ferrite provided as accessory
ZBH0x/xx (63Ω @1MHz, di=5.1mm), in order to ensure error-free switching on
and off of the motor holding brake.
Motor holding brake output

Motor holding brake output Compax3
Voltage range 21 – 27VDC
Maximum output current (short circuit
1.6A
proof)
Motor cable
32 C3I10T10 192-120100N17 - September 2014

3.3.5. Compax3Sxxx V2
Main voltage supply C3S connector X1 ........................................................................... 33
Braking resistor / high voltage DC C3S connector X2 ...................................................... 34
3.3.5.1 Main voltage supply C3S connector X1

Device protection
By cyclically switching on and off the power voltage, the input current
limitation can be overloaded, which will cause a device error.
Therefore please wait at least 2 minutes after switching off before you switch
the device on again!
Power supply plug X1 for 1 AC 230VAC/240VAC devices

PIN Designation
1 L
2 N
3 PE
Mains connection Compax3S0xxV2 1AC

Controller type S025V2 S063V2
Continuous working voltage Single phase 230VAC/240VAC
80-253VAC / 50-60Hz
Receiver current consumption 6Arms 13Arms
Maximum fuse rating per device 10 A (automatic 16A (automatic circuit
circuit breaker K) breaker K)
* for UL conform operation (see on page 19), a miniature circuit breaker, K
characteristic, Type S203 is to be used.

supply.
Power supply plug X1 for 3AC 230VAC/240VAC devices

PIN Designation
1 L1
2 L2
3 L3
4 PE

Supply voltage Three phase 3* 230VAC/240VAC
80-253VAC / 50-60Hz
Input current 10Arms 13Arms
Maximum fuse rating per device 16A 20A
MCB miniature circuit breaker, K characteristic
C3I10T10 192-120100N17 - September 2014 33

Caution! The 3AC V2 devices must only be operated with three phases!

supply.
3.3.5.2 Braking resistor / high voltage DC C3S connector X2

The energy generated during braking operation is absorbed by the Compax3
storage capacity.
If this capacity is too small, the braking energy must be drained via a braking
resistor.
Braking resistor / high voltage supply plug X2 for 1AC

230VAC/240VAC devices
PIN Designation
1 factory use
2 - braking resistor (not short-circuit protected!)
3 PE
4 + braking resistor (not short-circuit protected!)
5 factory use
Braking operation Compax3S0xxV2 1AC

Capacitance / storable energy 560µF / 15Ws 1120µF / 30Ws
Minimum braking- resistance 100Ω 56Ω
Recommended nominal power rating 20 ... 60W 60 ... 180W
Maximum continuous current 8A 15A
Caution!
The power voltage DC of two Compax3 1AC V2 devices (230VAC/240VAC
devices) must not be connected.
Braking resistor / high voltage supply plug X2 for 3AC

230VAC/240VAC devices
PIN Description
1 + Braking resistor no short-circuit
2 - Braking resistor protection!
3 PE
4 + DC high voltage supply
5 - DC high voltage supply

Connection of a braking resistor

Minimum line cross section: 1.5mm2
Maximum line length: 2m
Maximum output voltage: 400VDC
34 C3I10T10 192-120100N17 - September 2014

3.3.6. Compax3Sxxx V4
Power supply connector X1 for 3AC 400VAC/480VAC-C3S devices ............................... 35
Braking resistor / high voltage supply connector X2 for 3AC 400VAC/480VAC_C3S devices
........................................................................................................................................ 36
Connection of the power voltage of 2 C3S 3AC devices .................................................. 36
3.3.6.1 Power supply connector X1 for 3AC

400VAC/480VAC-C3S devices
Device protection
By cyclically switching on and off the power voltage, the input current
limitation can be overloaded, which will cause a device error.
Therefore please wait at least 2 minutes after switching off before you switch
the device on again!
PIN Designation
1 L1
2 L2
3 L3
4 PE
Mains connection Compax3SxxxV4 3AC

Controller type S015V4 S038V4 S075V4 S150V4 S300V4
Continuous working Three phase 3*400VAC/480VAC
voltage 80-528VAC / 50-60Hz
Receiver current 3Aeff 6Arms 10Arms 16Arms 22Arms
consumption
Maximum fuse rating per 6A 10A 16A 20A 25A
device MCB miniature circuit breaker, K characteristic D*
Caution! The 3AC V4 devices must only be operated with three phases!

supply.
C3I10T10 192-120100N17 - September 2014 35

3.3.6.2 Braking resistor / high voltage supply connector X2

for 3AC 400VAC/480VAC_C3S devices
PIN Description
1 + Braking resistor no short-circuit
protection!
2 - Braking resistor
3 PE
4 + DC high voltage supply
5 - DC high voltage supply
Braking operation Compax3SxxxV4 3AC

Capacity / storable energy 400V / 235µF 235µF 470µF 690µF 1230µF
480V 37 / 21 Ws 37 / 21 Ws 75 / 42 Ws 110 / 61 Ws 176 / 98 Ws
Minimum ballast - resistance 100 Ω 100 Ω 56 Ω 47 Ω 15 Ω
Recommended nominal power 60 ... 60 ... 250W 60 ... 500 60 ... 1000 60 ... 1000
rating 100W W W W
Maximum continuous current 10A 10A 15A 20A 30A
Connection of a braking resistor

Minimum line cross section: 1.5 mm2
Maximum output voltage: 800 VDC
3.3.6.3 Connection of the power voltage of 2 C3S 3AC

devices
Caution!
The power voltage DC of the single phase Compax3 servo axes must not be
connected!
In order to improve the conditions during brake operation, the DC power voltage of
2 servo axes may be connected.
The capacity as well as the storable energy are increased; furthermore the braking
energy of one servo axis may be utilized by a second servo axis, depending on the
application.
It is not permitted to connect the power voltage in order to use one brake
circuit for two servo axes, as this function cannot be ensured reliably.
Note the following:
Caution! In case of non-compliance with the following instructions, the

device may be destroyed!
 You can only connect two similar servo axes (same power supply; same rated
currents)
 Connected servo axes must always be fed separately via the AC power supply.
If the external pre-fuse of one of the servo axes takes action, the second servo axis
must also be disconnected automatically.
Please connect as follows:

Servo axis 1 X2/4 to servo axis 2 X2/4
Servo axis 1 X2/5 to servo axis 2 X2/5
36 C3I10T10 192-120100N17 - September 2014

Parker EME Installation instructions Compax3M
3.4 Installation instructions Compax3M

General introductory notes
 Operation of the Compax3M multi-axis combination is only possible in connection
with a PSUP (mains module).
 Axis controllers are aligned at the right of the mains module.
 Arrangement within the multi-axis combination sorted by power (with the same
device types according to device utilization), the axis controller with the highest
power is placed directly at the right of the mains module.
e.g. first the device type with high utilization, at the right of this, the same device
type with a lower utilization.
 Max. 15 Compax3M (axis controllers) per PSUP (mains module) are permitted
(please respect the total capacity of max. 2400µF for PSUP10, max. 5000µF for
PSUP20).
 The continuation of the current rail connection outside the axis combination is not
permitted and will lead to a loss of the CE and UL approbation.
 External components may not be connected to the rail system.
Required tools:
 Allen key M5 for fixing the devices in the control cabinet.
 Crosstip screwdriver M4 for connection rails of the DC rail modules.
 Crosstip screwdriver M5 for grounding screw of the device.
 Flat-bladed screwdriver 0.4x2.5 / 0.6x3.5 / 1.0x4.0 for wiring and mounting of the
phoenix clamps.
C3I10T10 192-120100N17 - September 2014 37

Order of installation
 Fixing the devices in the control cabinet.
 Predrilling the mounting plate in the control cabinet according to the
specifications. Dimensions. Fit M5 screws loosely in the bores.
 Fit device on the upper screws and place on lower screw. Tighten screws of all
devices. The tightening torque depends on the screw type (e.g. 5.9Nm for M5
screw DIN 912 8.8).
 Connection of the internal supply voltage.
The Compax3M axis controllers are connected to the supply voltages via the rail
modules. Details (see on page 41).
 Deblocking the yellow protective cover with a flat-bladed screwdriver on the
upper surface (click mechanism). Remove the closing devices (contact
protection) that are not required from between the devices.
 Connecting the rail modules, beginning with the mains module.
For this, loosen crosshead screws (5 screws at the right in the mains module,
all 10 screws in the next axis controller), push the rails one after the other
against to the left and tighten screws. Proceed accordingly for all adjacent axis
controllers in the combination.
Max. tightening torque: 1.5Nm.
 Close all protective covers. The protective covers must latch audibly.
Please note:
Insufficiently fixed screw connections of the DC power voltage rails may lead to the
destruction of the devices.
Protective seals

In order to secure the contact protection against the alive rails, it is absolutely
necessary to respect the following:
 Insert the yellow plastic comb at the left or right of the rails.
Make sure that the yellow plastic combs are placed at the left of the first device
and at the right of the last device in the system and have not been removed.
 Setup of the devices only with closed protective covers.
 Connect protective earth to mains module (M5 crosshead screw on front of

device bottom).
 Connecting the internal communication. Details (see on page 58).
 Connecting the signal and fieldbus connectors. Details (see on page 59).
 Connection of mains power supply Details (see on page 43) ballast resistor
details (see on page 45) and motor details (see on page 47).
 Connecting the configuration interface to the PC. Details (see on page 58).
38 C3I10T10 192-120100N17 - September 2014

Parker EME PSUP/Compax3M Connections
3.5 PSUP/Compax3M Connections

Front connector ............................................................................................................... 39
Connections on the device bottom ................................................................................... 40
Connections of the axis combination................................................................................ 41
Control voltage 24VDC PSUP (mains module) ................................................................ 42
Mains supply PSUP (mains module) X41......................................................................... 43
Braking resistor / temperature switch PSUP (mains module) ........................................... 45
Motor / motor brake Compax3M (axis controller) ............................................................. 47
X14 Safety technology option S1 for Compax3M (axis controller) .................................... 48
Safety technology option S3 for Compax3M (axis controller) ........................................... 48
3.5.1. Front connector

P PSUP Mains module
LED1 Status LEDs Mains module
S1 Basic address
X3 Configuration interface (USB)
X9 Supply voltage 24VDC
LED1 LED2 LED3
M Axis controller
X20
LED2 Status LEDs of the axis
S1 S10 S10 Function
X21 X11 Analog/Encoder
X12 Inputs/Outputs
X3 X11
X22 X13 Motor position feedback
X23
X14 Safety technology (Option S1)
(replaced by X28 with Option S3)
X12
X24
X15 Motor temperature monitoring
LED4
X13 S24 LED3 HEDA LEDs

X20 HEDA in (Option)
X21 HEDA out (Option)
X22 Inputs Outputs (Option M10/12)
X14 X23 Bus (option) connector type depends on the bus
system!
X9
X24 Bus (option) depends on the bus system!
X15
LED4 Bus LEDs
S24 Bus settings
1 Behind the yellow protective covers you can find the

1
rails for the supply voltage connection.
 Supply voltage 24VDC
 DC power voltage supply
M
P
C3I10T10 192-120100N17 - September 2014 39

3.5.2. Connections on the device bottom

supply.
Caution!
Attention - PE connection!

P Mains module PSUP

X40 Ballast resistor
X41 Mains supply VAC/PE
1 Central ground connection for the axis system,
with 10mm2 to the ground screw on the housing.
4 Fan*
M Axis controller
X43 Motor / Brake
2 Fixing for motor shield clamp
4 Fan*
3 optionally, the axis controller features a ground screw
on the housing, if the grounding is not possible via the
back plate.
* is internally supplied.
Line cross-sections of the power connections (on the device bottoms)

Compax3 device: Cross-section: Minimum... Maximum [with conductor sleeve]
M050, M100, M150 0.25 ... 4 mm2 (AWG: 23 ... 11)
M300 0.5 ... 6 mm2 (AWG: 20 ... 10)
PSUP10 Mains supply: 0.5 ... 6 mm2 (AWG: 20 ... 10)
Braking resistor: 0.25 ... 4 mm2 (AWG: 23 ... 11)
PSUP20 & PSUP30 Mains supply: 0.5 ... 16 mm2 (AWG: 20 ... 6)
Braking resistor: 0.25 ... 4 mm2 (AWG: 23 ... 11)
40 C3I10T10 192-120100N17 - September 2014

3.5.3. Connections of the axis combination

The axis controllers are connected to the supply voltages via rails.
 Supply voltage 24VDC
 DC power voltage supply
The rails can be found behind the yellow protective covers. In order to connect the
rails of the devices, you may have to remove the yellow plastic device inserted at
the side.
CAUTION: Risk of Electric Shock

Please note before opening:
 Warning - Possible risk of electric shock; disconnect power before removing
cover.
 Caution! - Dangerous electric voltage! Respect discharge time.

supply.
Caution!
Protective seals

In order to secure the contact protection against the alive rails, it is absolutely
necessary to respect the following:
 Insert the yellow plastic comb at the left or right of the rails.
Make sure that the yellow plastic combs are placed at the left of the first device
and at the right of the last device in the system and have not been removed.
 Setup of the devices only with closed protective covers.
1 24VDC
2 GND24V
3 -HV DC
4 PE
5 +HV DC
Note: External components may not be connected to the rail system.
C3I10T10 192-120100N17 - September 2014 41

Maximum capacity in the axis system:

 PSUP10: 2400 µF
 PSUP20 & PSUP30: 5000 µF
Reference value for the required capacity in an axis system

100 µF per kW of the temporal medium value of the total power (transmissions +
power dissipation) in the axis system.
Example: PSUP20 (1175 µF) with one axis controller (440 µF)
Total power 15 kW, 100 µF/kW => 1500 µF required in the axis system.
Axis system: 1615 µF are sufficient.
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.
3.5.4. Control voltage 24VDC PSUP (mains module)

Connector X9
Pin Designation Line cross sections:

1 +24 V minimum: 0.5mm2 with conductor sleeve
2 GND24V maximum: 6mm2 with conductor sleeve
(AWG: 20 ... 10)
Control voltage 24 VDC PSUP

Device type PSUP
Ripple 0.5Vpp
Requirement according to safe extra
yes (class 2 mains module)
low voltage (SELV)
PSUP10: 0.2A
Current drain PSUP
PSUP20 / PSUP30: 0.3A
C3M050D6: 0.85
3M100D6: 0.85A
C3M150D6: 0.85A
Electric current drain Compax3M
C3M300D6: 1.0 A
+ Total load of the digital outputs + current for
the motor holding brake
42 C3I10T10 192-120100N17 - September 2014

3.5.5. Mains supply PSUP (mains module) X41

Device protection By cyclically switching on and off the power voltage, the input current
limitation can be overloaded, which may cause damage to the device.
Wait at least one minute between two switching on processes!
Operation of the PSUP30 only with mains filter!
Connector X41
Pin Designation
PE Earth conductor
L3 Phase 3
L2 Phase 2
L1 Phase 1
Mains connection PSUP10D6

Device type PSUP10 230V 400V 480V
230VAC ±10% 400VAC ±10% 480VAC ±10%
Supply voltage
50-60Hz 50-60Hz 50-60Hz
Rated voltage 3AC 230V 3AC 400V 3AC 480V
Input current 22Arms 22Arms 18Arms
Output Voltage 325VDC ±10% 565VDC ±10% 680VDC ±10%
Output power 6kW 10 kW 10 kW
Pulse power (<5s) 12kW 20kW 20kW
Heat dissipation 60W 60W 60W
Recommendation: (ABB) S203UP-K25 (480VAC)

Supply voltage 230VAC ±10% 400VAC ±10% 480VAC ±10%
50-60Hz 50-60Hz 50-60Hz
Output power 12kW 20kW 20kW
2 special purpose fuses in (depending on the input voltage)
line are required Recommendation: (ABB) S203U-K50 (440VAC)
Circuit breakers 80A / 700VAC per supply leg in
accordance with UL category JFHR2
Requirement: Bussmann 170M1366 or 170M1566D
C3I10T10 192-120100N17 - September 2014 43

PSUP30D6 Mains connection

50-60Hz 50-60Hz 50-60Hz
Caution!
Only three-phase operation of the PSUP devices is permitted!
The PSUP30 mains module may only be operated with mains filter (see on
page 172)
Required mains filter for the PSUP30: 0.45 mH / 55 A
We offer the following mains filters:
 LCG-0055-0.45 mH (WxDxH: 180 mm x 140 mm x 157 mm; 10 kg)
 LCG-0055-0.45 mH-UL (with UL approval) (WxDxH: 180 mm x 170 mm x
157 mm; 15 kg)
Dimensional drawing: LCG-0055-0.45 mH
44 C3I10T10 192-120100N17 - September 2014

Dimensional drawing: LCG-0055-0.45 mH-UL

supply.
3.5.6. Braking resistor / temperature switch PSUP (mains module)

The energy generated during braking operation must be dissipated via a braking
resistor.
Connector X40
Pin Description
+R + Braking resistor
short-circuit proof!
-R - Braking resistor
PE PE
T1R Temperature Switch
T2R Temperature Switch
Braking operation PSUPxxD6 (mains module)

Device type PSUP10 PSUP20 PSUP30
Capacitance / storable 550 µF/ 1175 µF/ 1175 µF/
energy 92 Ws at 400 V 197 Ws at 400 V 197 Ws at 400 V
53 Ws at 480 V 114 Ws at 480 V 114 Ws at 480 V
Minimum braking- 27 Ω 15 Ω 10 Ω
resistance
Recommended 500 ... 1500 W 500 ... 3500 W 500 ... 5000 W
nominal power rating
Pulse power rating for 22 kW 40 kW 60 kW
1s
Maximum permissible 13 A 15 A 15 A
continuous current
Maximum capacity in the axis system:

 PSUP10: 2400 µF
 PSUP20 & PSUP30: 5000 µF
C3I10T10 192-120100N17 - September 2014 45

Reference value for the required capacity in an axis system

100 µF per kW of the temporal medium value of the total power (transmissions +
power dissipation) in the axis system.
Example: PSUP20 (1175 µF) with one axis controller (440 µF)
Total power 15 kW, 100 µF/kW => 1500 µF required in the axis system.
Axis system: 1615 µF are sufficient.
Connection of a braking resistor on PSUP (mains module)

Minimum line cross section: 1.5 mm2
Maximum intermediate circuit voltage: 810 VDC
Switch-on threshold: 780 VDC
Hysteresis 20 VDC
Braking operation Compax3MxxxD6 (axis controller)

Device type M050 M100 M150 M300
Compax3
Capacity/ 110µF/ 220µF/ 220µF/ 440µF/
storable energy 18Ws at 400V 37Ws at 400V 37Ws at 400V 74Ws at 400V
10Ws at 480V 21Ws at 480V 21Ws at 480V 42Ws at 480V
3.5.6.1 Temperature switch PSUP (mains module)
Connector X40 Pin T1R, T2R

Temperature monitoring:
The temperature switch (normally closed contact) must be connected, unless an
error message will be issued.
Temperature switch/relay
No galvanic separation, the temperature sensor (normally closed contact) must
comply with the safe separation according to EN 60664.
If there is no temperature monitoring due to the connected braking resistor, the
T1R and T2R connections must be connected by a jumper.
Caution!
Without temperature monitoring, the braking resistor might be destroyed.
46 C3I10T10 192-120100N17 - September 2014

3.5.7. Motor / motor brake Compax3M (axis controller)

Connector X43
BR- Motor holding brake * BK 5 Br2
BR+ Motor holding brake * WH 4 Br1
PE PE (motor) YE / GN YE / GN YE / GN
W W (motor) W / L3 / D / L- 3 U3
V V (motor) V / L2 2 U2
U U (motor) U / L1 / C / L+ 1 U1
Compax3M motor <80m per axis (the cable must not be rolled up!)
cable The entire length of the motor cable per axis combination may not exceed 300m.

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.
Motor cables can be found in the accessories chapter of the device description.

1.6A
proof)


C3I10T10 192-120100N17 - September 2014 47

3.5.7.1 Measurement of the motor temperature of Compax3M

(axis controller)
Connector X15
The acquisition of the motor temperature by the axis controller can either take
place via the connection of X15 (Tmot) or via the feedback cable and the
corresponding connection on X13 PIN10.
Pin Description
1 +5V
2 Sensor
The temperature acquisition on X15 Tmot can not be connected at the same
time as X13 Pin 10.
3.5.8. X14 Safety technology option S1 for Compax3M (axis

controller)
Connector X14 (Not available with Safety option S3)
Pin Description
1 STO1/ +24VDC
2 STO-GND GND
3 STO2/ +24VDC
4 STO-GND GND
Note!
If the Compax3M axis controller features a safety option, these connections must
also be wired, otherwise it is not possible to set up the axis.
3.5.9. Safety technology option S3 for Compax3M (axis

controller)
For a description of the S3 safety option, please refer to the following manuals:
 192-120210 Installation Manual Safety Option S3 for Compax3M
 192-120211 Programming Manual Safety Option S3 for Compax3M
 192-120212 Description of the Standard I/O Profile R0110001xx for Option S3
(Compax3M)
These manuals can be found on the Compax3 DVD in the “"Safety_Option_S3”
folder.
48 C3I10T10 192-120100N17 - September 2014

Parker EME Connections of Compax3H
3.6 Connections of Compax3H

Compax3H plugs/connections ......................................................................................... 49
Connection of the power voltage...................................................................................... 50
Compax3H connections front plate .................................................................................. 51
Plug and pin assignment C3H ......................................................................................... 52
Motor / Motor brake C3H ................................................................................................. 54
Control voltage 24 VDC C3H ........................................................................................... 55
Mains connection Compax3H .......................................................................................... 55
Braking resistor / supply voltage C3H .............................................................................. 56
3.6.1. Compax3H plugs/connections

The following figure is an example for all sizes.
The fitting of the different controller plugs depends on the extension level of
Compax3.
(1): Dummy cover with display of the external device
status LEDs.
(2): lower clamp cover, fixed by 2 screws at the device
1 bottom.
(3): RS232 programming interface
Connection to the PC via adapter cable SSK32/20
3
(furnished with the device) and standard RS232 cable
SSK1.
(4): Control
(5): Power connections
4 2
Dangerous voltages are still present until 5 minutes after switching off the
power supply!
Caution!
If the control voltage is missing and if the X10-X10 jumper is not fitted (VBK17/01)
on the control part, the availability of power voltage is not displayed.
PE connection
Attention hot surface!

Metal parts can heat up to a temperature of 90°C during operation.
C3I10T10 192-120100N17 - September 2014 49

3.6.2. Connection of the power voltage

The terminal block of the drive can be found under the front cover. It is secured
with 2 screws at the bottom of the device. Remove the bottom cover in order to
access the connection clamps.
Make sure that all live parts are covered by the housing after installation.
Illustration of the connection clamps exemplarily for all sizes:
2
1
L1, L2, L3: 3 phase mains connection

M1, M2, M3: Motor connections
DC+, DC-: DC link voltage
(1) DBR+ and DBR-: Connection of external braking resistor
(2) AUX1, AUX2: only with C3H1xxV4 external supply (AC) for device ventilator L,
N
 All shields must be connected via a cable joint to the cable feed through plate.
 Braking resistor and cable must be shielded if they are not installed in a control
cabinet.
 The standard connection clamps of C3H090V4 and C3H1xxV4 are not suitable
for flat line bars.
Attention: The MOT/TEMP connection is not supported by the Compax3H050; do
therefore not wire this connection!
Terminal clamps - max. line cross sections

The line cross sections must correspond to the locally valid safety regulations. The
local regulations have always priority.
Power clamps
(minimum/maximum section)
C3H050V4 2.5 / 16mm2
Massive Multiwire
C3H090V4 16 / 50mm2 25 / 50mm2
C3H1xxV4 25 / 95mm2 35 / 95mm2
The standard connection clamps of Compax3H090V4 and Compax3H1xxV4

are not suitable for flat line bars.
Cover plate for cable feed through
The cable feed through holes have the following dimensions:
C3H050V4 28.6mm for M20, PG16 and ½” NPT (America).
37.3mm for M32, PG29 and 1” NPT (America).
C3H090V4 22.8mm for M20, PG16 and ½” NPT (America).

28.6mm for M25, PG21 and ¾” NPT (America).
47.3mm for M40, PG36 and 1¼” NPT (America).
54.3mm for M50, PG42and 1½” NPT (America).
C3H1xxV4 22.8mm for M20, PG16 and ½” NPT (America)
28.6mm for M25, PG21 and ¾” NPT (America)
50 C3I10T10 192-120100N17 - September 2014

Recommended tightening torques

High voltage supply Ballast resistor Grounding
C3H050V4 4Nm / 35lb-in 4Nm / 35lb-in 4.5Nm / 40lb-in
C3H090V4 6-8Nm / 53-70lb-in 6-8Nm / 53-70lb-in 6-8Nm / 53-70lb-in
C3H1xxV4 15-20Nm / 132-177lb-in 0.7Nm / 6.1lb-in 42Nm / 375lb-in
cable glands
Use metallic cable joints permitting a 360° shielding in order to comply with the
EMC directive.
1
2
1: Cable feed through plate

2: metallic joint with 360° shielding for EMC compliant design
The device must be grounded without interruption according to EN 61800-5-1. The
mains supply lines must be protected with a suitable fuse or a circuit breaker (FI
switches or earth fault fuses are not recommended).
For installation in accordance with EN 61800-5-1 mm Europe:
 For grounding without interruption, two separate protective leads ( cross-section)
²
or one lead (>10mm cross-section) are required. Each protective lead must meet
²
the requirements according to EN 60204.
3.6.3. Compax3H connections front plate

Communication and signal interfaces
Showcase front plate of the control (number of connectors depends on the
extension level of the Compax3)
LED2 X20 X21 LED3
X22 X23 S24
LED1
X10 X11 X12 X13
X4 X3
C3I10T10 192-120100N17 - September 2014 51

X3 Motor brake X20 HEDA in (Option)

X4 24VDC X21 HEDA out (Option)
RS232/RS485 with jumper to the
X10 X22 Inputs Outputs (Option M10/12)
programming interface
Connector type
X11 Analog/Encoder X23 Bus (Option) depends on the bus
system!
X12 Inputs/Outputs S24 Bus settings
X13 Motor position feedback LED1 Device status LEDs
LED2 HEDA LEDs
LED3 Bus LEDs
Note on Compax3H: The internal device status LEDs are only connected to the external housing LEDs,
if the RS232 jumper at X10 is fitted to the control and the upper dummy cover is
fitted.
The RS232 programming interface under the upper dummy cover is only available
if the X10 jumper at the controller is fitted.
3.6.4. Plug and pin assignment C3H

Overview
AC - Versorgung
Compax3
AC - Supply
DC - Versorgung RS232
X4 (24VDC) PC
DC - Supply SSK1
Further information on the assignment of the plug mounted at the particular

device can be found below!
52 C3I10T10 192-120100N17 - September 2014

In detail: The fitting of the different plugs depends on the extension level of Compax3. In
part, the assignment depends on the Compax3 option implemented.
X20/1
RS485 +5V X10/1 RS485 +5V X10/1 EnableRS232 0V X10/1 Rx
X20/2
RxD X10/2 res. X10/2 RxD X10/2 Rx/
X10: RS485 zweidraht

X20/3
TxD/ X10/3 TxD_RxD/ X10/3 X10/3
X10: RS485 vierdraht

TxD Lx
X20/4
option M11(M10=+I/Os)
RS232 Programming Port res. X10/4 res. X10/4 DTR X10/4 res.
X20: HEDA in
X20/5
GND X10/5 GND X10/5 GND X10/5 res.
X20/6
res. X10/6 res. X10/6 X10/6
X10: RS232
DSR Lx/
X20/7
TxD X10/7 TxD_RxD/ X10/7 RTS X10/7 res.
X20/8
RxD/ X10/8 res. X10/8 CTS X10/8 res.
Fan xxx VAC(C3H1xxV4) +5V X10/9 +5V X10/9 +5V X10/9

X21/1
Tx
X21/2
AUX1 L X22/1 X22/1 X11/1 Tx/
+24Vout +24Vout Output+24V X21/3
AUX2 N Lx
HEDA-motionbus
X22 /2 X22 /2 X11/2
Uin3+ Iin0+ Ain1- X21/4
X21: HEDA out

X22 /3 X22 /3 X11/3 res.
X21: Input option M21
option M21
GND GND D/A-channel1 X21/5
res.
X22 /4 X22 /4 X11/4
Uin3- Iin0- D/A-channel0 X21/6
Lx/
X22 /5 X22 /5 X11/5
Compax3 3AC +24Vout +24Vout +5V X21/7
res.
Power supply X22 /6 X22 /6 X11/6 X21/8
Uin4+ Iin1+ A/ res.
X11: Analog/Encoder
L1 X22 /7 X22 /7 X11/7
GND GND A
L1
L2
X22 /8 X22 /8 X11/8 X23/1
Uin4- Iin1- B Tx+
Ethernet Powerlink (I30), EtherCAT (I31), Profiner (I32)

L2 X22 /9 X22 /9 X11/9 X23/2
L3 +24V0ut +24V0ut Ain0+ Tx-
L3
X20: Input
Uin5+
X22 /10
Iin2+
X22 /10 X11/10 Rx+
X23/3
PE Ain1+
X23: Ethernet in
PE X22 /11 X22 /11 X11/11 X23/4
GND GND Ain0- res.
Uin5-
X22 /12
Iin2-
X22 /12 X11/12 res.
X23/5
B/
X22 /13 X11/13 X23/6
+24Vin N/ Rx-
DC power voltage X22 /14 X11/14 X23/7
GND in res.
N
X22 /15&16 X11/15 X23/8
DC+ DC+ Shield GND
res.
DC- DC-
X24/1
X22/1 X12/1 Tx+
res. Output+24V X24/2
X22/2 X12/2 Tx-
option M12(M10=+HEDA)
O0/I0 Output0 X24/3

Rx+
X24: Ethernet out

X22/3 X12/3
Motor O1/I1 Output1 X24/4
X12/4 res.
X22/4
X12: Digital Inputs/Outputs
O2/I2 Output2 res.

X24/5
M1/U X22/5 X12/5
U O3/I3 Output3 X24/6
M2/V Rx-
X22/6 X12/6
V O4/I4 Input0 res.
X24/7
M3/W X22/7 X12/7
W O5/I5 Input1 res.
X24/8
PE X22/8 X12/8
PE O6/I6 Input2
X22/9 X12/9 X23/1
O7/I7 Input3 res.
X22/10 X12/10 X23/2
O8/I8 Input4 res.
X23: Profibus I20
X22: Input/Output
X12/11
Input24VDC X22/11 Input+24V Data line-B
X23/3
X22/12 X12/12 X23/4
O9/I9 Input5 RTS
X22/13 X12/13 GND
X23/5
O10/I10 Input6
24VDC Control voltage X22/14 X12/14 X23/6
O11/I11 Input7 or (MN-INI) +5V
X4 X22/15 X12/15 res. X23/7
X4/1 NC InputGND GND24V X23/8
X4/2 GND24V Data line- A
X23/9
X4/3 +24V res.
X13/1
Sense- X13/1 res. X13/1 res.
X13/2
Sense+ X13/2 res. X13/2 res. X23/1
res.
X13/3
Hall1 X13/3 GND X13/3 X23/2
X13: Feedback DirectDrive F12
GND
X23: CANopen I21
CAN_ L
Motor Brake
Vcc(+5V) X13/4 Vcc(+8V) X13/4 REF+Resolver X13/4 X23/3
X13: Feedback SinCos F 11
GNDfb
X3
X3/1 BR +5V X13/5 +5V X13/5 +5V X13/5 res.
X23/4
X13/6 X23/5
X3/2 GND Hall2 X13/6 CLKfbk X13/6 CLKfbk SHIELD
F10
X13/7 X23/6
Sin-/A- X13/7 SIN- X13/7 SIN- res.
X13/8 X23/7
Sin+/A+ X13/8 SIN+ X13/8 SIN+ CAN_H
X13: Resolver
X13/9 X23/8
Ballast resistor Hall3 X13/9 CLKfbk/ X13/9 CLKfbk/ res.
X13/10 X23/9
Tmot X13/10 Tmot X13/10 Tmot res.
DBR+
X23: DeviceNet I22
X13/11
+DBR COS-/B- X13/11 COS- X13/11 COS-
-VDC
X23/1
DBR- -DBR X13/12
COS+/B+ X13/12 COS+ X13/12 COS+ CAN_ L
X23/2
X13/13
N+ X13/13 DATAfbk X13/13 res. Shield
X23/3
X13/14 X13/14 res. X13/14 X23/4
N- DATAfbk/ CAN_H
X13/15
GND(Vcc) X13/15 GND(Vcc) X13/15 REF-Resolver +VDC
X23/5
C3I10T10 192-120100N17 - September 2014 53

The RS232 programming interface under the upper dummy cover is only available if the X10 jumper at
the controller is fitted.
Please note C3H1xxV4 uses a ventilator fan which must be externally supplied via separate connections. The
ventilator fan is available in two versions for single phase feed: 220/240VAC; 110/120VAC
3.6.5. Motor / Motor brake C3H

cable
The motor cable should be fully shielded and connected to the Compax3
housing.
The shield of the motor cable must also be connected with the motor
housing. The fixing (via plug or screw in the terminal box) depends on the
motor type. Motor connection clamps figure (see on page 50)
M1/U U (motor) U / L1 / C / L+ 1 U1
M2/V V (motor) V / L2 2 U2
M3/W W (motor) W / L3 / D / L- 3 U3
PE PE (motor) YE / GN YE / GN YE / GN
cable
The motor cable should be fully shielded and connected to the Compax3 housing.
The shield of the motor cable must also be connected with the motor housing. The
fixing (via plug or screw in the terminal box) depends on the motor type.


Connection of motor brake X3 figure (see on page 51)

1 BR WH 4 Br1
2 GND BK 5 Br2

1.6A
proof)
54 C3I10T10 192-120100N17 - September 2014

3.6.6. Control voltage 24 VDC C3H

Connection of control voltage 24VDC figure (see on page 51)
Connector Descripti
X4 Pin on
1 NC NC
2 GND24V GND
3 +24 V 24 VDC (power supply)

Ripple 0.5Vpp
low voltage (SELV)
3.6.7. Mains connection Compax3H

Device protection
Avoid permanent switching on and off so that the charging connection is not
overloaded. Therefore wait at least 1 minute before switching on the device
again.
Connection of mains voltage figure (see on page 50)
Mains connection Compax3HxxxV4 3*400VAC

Device type Compax3 H050V4 H090V4 H125V4 H155V4
Continuous working Three-phase 3*400VAC
Receiver current
66Arms 95Arms 143Arms 164Arms
consumption
Output current 50Arms 90Arms 125Arms 155Arms
Maximum input fuse
80A 100A 160A 200A
rating per device
Recommended line
JDDZ Class K5 or H
protection in accordance
JDRX Class H
with UL

Receiver current
consumption
Maximum input fuse
80A 100A 160A 200A
rating per device
Recommended line
JDDZ Class K5 or H
JDRX Class H
with UL
C3I10T10 192-120100N17 - September 2014 55

3.6.8. Braking resistor / supply voltage C3H

The energy generated during braking operation is absorbed by the Compax3
storage capacity.
If this capacity is too small, the braking energy must be drained via a braking
resistor.
3.6.8.1 Connect braking resistor C3H

Connection of braking resistor figure (see on page 50)
PIN Designation
DBR+ + Braking resistor
DBR- - Braking resistor
Braking operation of Compax3HxxxV4

Controller type H050V4 H090V4 H125V4 H155V4
Capacitance / storable energy 2600 µF 3150 µF 5000 µF 5000 µF
400V / 480V 602 / 419 Ws 729 / 507 Ws 1158 / 806 Ws 1158 / 806 Ws
Minimum braking- resistance 24 Ω 15 Ω 8Ω 8Ω
Maximum continuous current 11 A 17 A 31 A 31 A
Minimum line cross section: 2.5mm2
Maximum output voltage: 830VDC
3.6.8.2 Power supply voltage DC C3H

Connection of power voltage DC -figure (see on page 50)
PIN Description
DC+ + DC high voltage supply
DC- - DC high voltage supply
Warning!
Do not connect any braking resistor on DC+/DC- .
3.6.8.3 Connection of the power voltage of 2 C3H 3AC

devices
In order to improve the conditions during brake operation, the DC power voltage of
2 servo axes may be connected.
The capacity as well as the storable energy are increased; furthermore the braking
energy of one servo axis may be utilized by a second servo axis, depending on the
application.
It is not permitted to connect the power voltage in order to use one brake
circuit for two servo axes, as this function cannot be ensured reliably.
Note the following:
Caution! In case of non-compliance with the following instructions, the

device may be destroyed!
 You can only connect two similar servo axes (same power supply; same rated
currents)
 Connected servo axes must always be fed separately via the AC power supply.
 If the external pre-fuse of one of the servo axes takes action, the second servo
axis must also be disconnected automatically.
56 C3I10T10 192-120100N17 - September 2014

Parker EME Communication interfaces
Please connect as follows:

Servo axis 1 DC+ with servo axis 2 DC+
Servo axis 1 DC- with servo axis 2 DC-
- figure (see on page 50)
3.7 Communication interfaces

RS232 / RS485 interface (plug X10) ................................................................................ 57
Communication Compax3M............................................................................................. 58
3.7.1. RS232 / RS485 interface (plug X10)

Interface selectable by contact functions assignment of X10/1:
X10/1=0V RS232
X10/1=5V RS485
PIN X10 RS232 (Sub D)
1 (Enable RS232) 0V
2 RxD
3 TxD
4 DTR
5 GND
6 DSR
7 RTS
8 CTS
9 +5V
RS485 two wire (Sub D)
PIN X10
Pin 1 and 9 jumpered externally
1 Enable RS485 (+5V)
2 res.
3 TxD_RxD/
4 res.
5 GND
6 res.
7 TxD_RxD
8 res.
9 +5V
RS485 four wire (Sub D)
PIN X10
Pin 1 and 9 externally jumpered
1 Enable RS485 (+5V)
2 RxD
3 TxD/
4 res.
5 GND
6 res.
7 TxD
8 RxD/
9 +5V
USB - RS232/RS485 converter

The following USB - RS232 converters were tested:
 ATEN UC 232A
 USB GMUS-03 (available under several company names)
 USB / RS485: Moxa Uport 1130
http://www.moxa.com/product/UPort_1130_1130I.htm
 Ethernet/RS232/RS485: NetCom 113 http://www.vscom.de/666.htm
 Exsys Adapter USB to RS232 with FTDI processor (Windows 7)
C3I10T10 192-120100N17 - September 2014 57

3.7.2. Communication Compax3M

PC - PSUP (Mains module) ............................................................................................. 58
Communication in the axis combination (connector X30, X31) ......................................... 58
Adjusting the basic address ............................................................................................. 59
Setting the axis function................................................................................................... 59
3.7.2.1 PC - PSUP (Mains module)
Connector X3
USB2.0
Connect your PC to the USB sleeve X3 of the mains module via an USB cable
(SSK33/03).
3.7.2.2 Communication in the axis combination (connector

X30, X31)
The communication in the axis combination is implemented via a SSK28 cable and
double RJ45 sleeves on the device top.
Beginning with the PSUP (mains module) the connection is always made from X30
to X31 of the next device. On the first device (X31) and the last device (X30) in the
multi-axis combination, a bus termination plug (BUS07/01) is required.
Orientation to the back
side PSUP (Mains module)
X30 out
X31 in
res. factory use
Compax3M (axis)
X30 out
X31 in
res. factory use
Orientation to the front

plate
58 C3I10T10 192-120100N17 - September 2014

Parker EME Communication interfaces
3.7.2.3 Adjusting the basic address

On the mains module, the basic address of the device combination is set in steps
of 16 with the aid of the first three dip switches.
The mains module contains the set basic address while the axes placed at the right
in the combination contain the following addresses.
Switch S1
Address setting
Basic addresses
Switch Value upon ON
1 16
2 32
3 64
Settings:
left: OFF
right: ON
Settable value range: 0, 16, 32, 48, 64, 80, 96, 112
Address of the 1st axis = basic address+1
The addresses of the axis controllers are newly assigned after PowerOn.
Example:
Basic address = 48; mains module with 6 axis controllers in the combination
1. Axis right: Address = 49
...
3.7.2.4 Setting the axis function
Switch S10
Function settings for T30 and T40
The value of switch S10 on the axis controller is stored in object O110.1
C3plus.Switch_DeviceFunction and can be evaluated with the aid of a program.
This helps realize a more simple function selection.
C3I10T10 192-120100N17 - September 2014 59

3.8 Signal interfaces

Resolver / Feedback (connector X13) .............................................................................. 60
Analogue / encoder (plug X11) ........................................................................................ 62
Digital inputs/outputs (plug X12) ...................................................................................... 63
3.8.1. Resolver / Feedback (connector X13)
Assignment with feedback F10 (Resolver)

PIN X13 Feedback /X13 High Density /Sub D
Resolver (F10)
1 factory use
2 factory use
3 GND
4 REF-Resolver+
5 +5V (for temperature sensor)
6 factory use
7 SIN-
8 SIN+
9 factory use
10 Tmot*
11 COS-
12 COS+
13 factory use
14 factory use
15 REF-Resolver-
Assignment with feedback F11 (SinCos)

SinCos (F11)
1 factory use
2 factory use
3 GND
4 Vcc (+8V with Compax3S & Compax3H; +10 V with Compax3M
5 res+5 V (for temperature sensor)
6 factory use
7 SIN-
8 SIN+
9 factory use
10 Tmot*
11 COS-
12 COS+
13 DATAfbk
14 DATAfbk/
15 GND (Vcc)
60 C3I10T10 192-120100N17 - September 2014

Parker EME Signal interfaces
Assignment with feedback F12 (EnDat)

EnDat 2.1 & 2.2 with EnDat 2.1 fully digital EnDat 2.2 fully digital
incremental track (Endat21) (Endat02, Endat22)
(Endat01, Endat02) (cable length max. 90 m) (cable length max. 25 m)
1 Sense -* factory use
2 Sense +* factory use
3 factory use
4 Vcc (+5 V) * max. 350 mA load
5 +5 V (for temperature sensor)
6 CLKfbk
7 SIN- / A- (Encoder) factory use
8 SIN+ / A+ (Encoder) factory use
9 CLKfbk/
10 Tmot*
11 COS- / B- (Encoder) factory use
12 COS+ / B+ (Encoder) factory use
13 DATAfbk
14 DATAfbk/
15 GND (Vcc)
*X13 Pin10 Tmot may not be connected at the same time as X15 (on Compaxx3M).
Resolver cables (see on page 174) can be found in the accessories chapter of the
device description.
SinCos© cables (see on page 175) can be found in the accessories chapter of the
device description.
EnDat - cable GBK38 (EnDat2.1) and GBK56 (EnDat2.2) (see on page 158, see
on page 175)
Incremental Feedback (optionally with hall sensors)

PIN X13 Feedback option F12 / X13 High Density /Sub D
1 Sense -*
2 Sense +*
3 Hall1 (digital)
4 Vcc (+5V)* max. 350 mA load
5 +5 V (for temperature sensorsand Hall sensors)
6 Hall2 (digital)
7 SIN-, A- (Encoder) or analog Hall sensor
8 SIN+, A+, (Encoder) or analog Hall sensor
9 Hall3 (digital)
10 Tmot*
11 COS-, B- (Encoder) or analog Hall sensor
12 COS+, B+ (Encoder) or analog Hall sensor
13 N+
14 N-
15 GND (Vcc)
*X13 Pin10 Tmot may not be connected at the same time as X15 (on Compaxx3M).
Note on F12:
*+5V (Pin 4) is measured and controlled directly at the end of the line via Sense+
and Sense-.
Cable length max.: 100m
Caution!
 Pin 4 and Pin 5 must under no circumstances be connected!
 Plug in or pull out feedback connector only in switched off state (24VDC switched
off).
C3I10T10 192-120100N17 - September 2014 61

3.8.2. Analogue / encoder (plug X11)

PIN X11 Reference
High Density Sub D
1 +24V (output for encoder) max. 70mA
2 factory use
3 D/A monitor channel 1 (±10V, 8-bit resolution)
4 D/A monitor channel 0 (±10V, 8-bit resolution)
5 +5 V (output for encoder) max. 150 mA
6 - Input: steps RS422 (5V - level) A/ (Encoder- input / -simulation)
7 + Input: steps RS422 (5V - level) A (Encoder- input / -simulation)
8 + Input: direction RS422 (5V - level) B (Encoder- input / -simulation)
9 Ain0 +: analog setpoint input + (14Bit; +/-10V)
10 factory use
11 Ain0 -; analog setpoint input - (14Bit) +/-10V)
12 - Input: direction RS422 (5V - level) B/ (Encoder- input / -simulation)
13 factory use N/ (Encoder simulation)
14 factory use N (Encoder simulation)
15 GND
Encoder simulation exists with an analogue input command interface of ±10V.
3.8.2.1 Wiring of analog interfaces

Output Input
Compax3 Compax3
2.2KΩ
10nF
X11/4 X11/9 10KΩ
332Ω X11/3 Ain+
10KΩ
Ain-
+/-10V/1mA X11/11
(max: 3mA) 2.2KΩ 10nF
2.5V
X11/15
Perform an offset adjustment (see on page 133)!
Structure image of the internal signal processing of the analog inputs
3.8.2.2 Connections of the encoder interface

Compax3
+5V
1KΩ
ABN
121Ω RS422
10nF Transceiver
ABN
1KΩ
GND
The input connection is available in triple (for A & /A, B & /B, N & /N)
62 C3I10T10 192-120100N17 - September 2014

3.8.3. Digital inputs/outputs (plug X12)

Pin Input / E/A /X12
X12/ Output High density/Sub D
1 Output +24 V DC output (max. 400mA)
2 O0 = "1" no error (100 mA max.)
3 O1 = "1" Actual value in setpoint window (max. 100mA)
4 O2 = "1" Power stage without current (max. 100 mA)
5 O3 = "1" Motor energized with a setpoint of 0 (max. 100 mA)
6 I0 = "1" Energize motor (see on page 64) & deactivate motor holding
brake (see on page 135)
Motor stationary in controlled state with setpoint = 0
7 I1 = "1" Enable Setpoint value
8 I2 = "1" Quit (positive edge)
9 I3 = "1" Open brake
10 I4 = "1" Keep position / speed 0
only in the "±10V analog current" setpoint" (see on page
103)mode
Keep position / speed 0 only in the "±10V analog velocity/speed
setpoint" (see on page 100)mode"
11 I 24V input for the digital outputs Pins 2 to 5
12 - n.c. Zero pulse
13 I Step input (24V level) O (24V level)
14 I Direction input (24V level) B (24V level)
15 Output GND24V
All inputs and outputs have 24V level.
Maximum capacitive loading of the outputs: 50nF (max. 4 Compax3 inputs)
3.8.3.1 Connection of the digital Outputs/Inputs

Wiring of digital outputs Status of digital inputs
Compax3 SPS/PLC Compax3

24V F1 F2 X12/1 SPS/
X12/1 F2 F1 24V
PLC
X12/11
100K Ω
22K Ω
X12/6
X12/2
22K Ω
10nF 22KΩ 10K Ω
18.2K Ω
0V X12/15 0V
X12/15
The circuit example is valid for all digital outputs! The circuit example is valid for all digital inputs!
The outputs are short circuit proof; a short circuit Signal level:
generates an error.  > 9.15V = "1" (38.2% of the control voltage applied)
 < 8.05V = "0" (33.5% of the control voltage applied)
F1: Delayed action fuse

F2: Quick action electronic fuse; can be reset by switching the 24 VDC supply off and on again.
C3I10T10 192-120100N17 - September 2014 63

3.8.3.2 Logic proximity switch types

Type 1 2 3 4
Transistor switch PNP PNP NPN NPN
Logic (N.O.) (N.C) (N.O.) (N.C)
“active high" “active low" “active low" “active high"
Description of logic Compax3 sees a Compax3 sees a Compax3 sees a Compax3 sees a
logical “1” upon logical “0” upon logical “0” upon logical “1” upon
activation activation" activation" activation
Fail safe logic no yes Only conditional 1) no
Instruction for pull - - Rmin=3k3 Rmin=3k3
up resistor in the Rmax=10k Rmax=10k
2) 2)
initiator
Connections Initiator Compax3 Initiator
X12/1 (+24 VDC) X12/1 (+24 VDC)
X12/X (Input) X12/X (Input)
X12/15 (GND) X12/15 (GND)
1)
When the connection between transistor emitter of the initiator and X12/15
(GND24V of the Compax3 )is lost, it can not be guaranteed, that the Compax3
detects a logical „0".
2)
The INSOR NPN types INHE5212 and INHE5213 manufactured by Schönbuch
Electronic do correspond to this specification.
3.8.3.3 Energize motor X12/6="24VDC"

This input effects the state of the power stage and therefore that of the motor:
X12/6="0V":
De-energize motor
With a rotating motor, this will be decelerated to a speed of 0 via
a settable deceleration ramp.
Thereafter current switch-off and activation of the motor
holding brake (see on page 135).
X12/6="24 V DC":
Energize motor
Motor holding brake is deactivated (see on page 135), current
is applied to the motor and the motor is accelerated to the
commanded speed setpoint via an adjustable accelerating ramp.
Prerequisite: X12/7 "Enable setpoint" = 24VDC
In response to X12/7 "Enable setpoint" = 0VDC the control loop
adjusts to setpoint = 0.
Setting values for "Energize motor"

See also Setpoint control (see on page 104).
64 C3I10T10 192-120100N17 - September 2014

3.8.3.4 Command value release X12/7="24VDC"

This input effects the state of the power stage and therefore that of the motor:
X12/7="0V":
Set motor to command value=0
With a rotating motor, this will be decelerated to a speed of 0 via
a settable deceleration ramp.
X12/7="24 V DC":
Current setpoint value active
The motor will be accelerated via a settable acceleration ramp to
the predefined setpoint value.
Prerequisite: X12/6 "Energize the motor" = 24VDC
Setting values for "Setpoint value release":

See also Setpoint control (see on page 104).
C3I10T10 192-120100N17 - September 2014 65

3.9 Mounting and dimensions

Mounting and dimensions Compax3S .............................................................................. 66
Mounting and dimensions PSUP/C3M ............................................................................. 70
Mounting and dimensions C3H ........................................................................................ 72
3.9.1. Mounting and dimensions Compax3S

3.9.1.1 Mounting and dimensions Compax3S0xxV2
Mounting:
3 socket head screws M5
Stated in mm
Please respect an appropriate mounting gap in order to ensure sufficient

convection:
 At the side: 15mm
 At the top and below: at least 100mm
66 C3I10T10 192-120100N17 - September 2014

Parker EME Mounting and dimensions
3.9.1.2 Mounting and dimensions Compax3S100V2 and

S0xxV4
Mounting:
Stated in mm

convection:
C3I10T10 192-120100N17 - September 2014 67

3.9.1.3 Mounting and dimensions Compax3S150V2 and

S150V4
Mounting:
Stated in mm

convection:
68 C3I10T10 192-120100N17 - September 2014

3.9.1.4 Mounting and dimensions Compax3S300V4
Mounting:
Stated in mm

convection:
Compax3S300V4 is force-ventilated via a fan integrated into the heat

dissipator!
C3I10T10 192-120100N17 - September 2014 69

3.9.2. Mounting and dimensions PSUP/C3M

Ventilation: During operation, the device radiates heat (power loss). Please provide for a
sufficient mounting distance below and above the device in order to ensure free
circulation of the cooling air. Please do also respect the recommended distances of
other devices. Make sure that the mounting plate is not exhibited to other
temperature influences than that of the devices mounted on this very plate. The
devices must be mounted vertically on a level surface. Make sure that all devices
are sufficiently fixed.
3.9.2.1 Mounting and dimensions PSUP10/C3M050D6,

C3M100D6, C3M150D6
The devices are force-ventilated via a ventilator fan fixed to the lower part of
the heat dissipator!
Mounting spacing: At the top and below: at least 100mm
Information on PSUP10D6/C3M050D6, C3M100D6, C3M150D6
Mounting:
50,5mm
263mm
90°
400mm
360mm
46mm
50mm
Tolerances: DIN ISO 2768-f
70 C3I10T10 192-120100N17 - September 2014

3.9.2.2 Mounting and dimensions

PSUP20/PSUP30/C3M300D6
Information on PSUP20/PSUP30/C3M300D6
Mounting:
101mm
50,5mm 50,5mm
263mm
90°
400mm
360mm
100mm 96mm
Tolerances: DIN ISO 2768-f
3.9.2.3 With upper mounting, the housing design may be

different
Mounting:
C3I10T10 192-120100N17 - September 2014 71

3.9.3. Mounting and dimensions C3H

The devices must be mounted vertically on a level surface in the control cabinet.
Dimensions:
(1): Electronics
(2): Head dissipator
H H1 D W W1
C3H050V4 453mm 440mm 245mm 252mm 150mm
C3H090V4 668.6mm 630mm 312mm 257mm 150mm
C3H1xxV4 720mm 700mm 355mm 257mm 150mm
Mounting:4 screws M6
Ventilation: During operation, the device radiates heat (power loss). Please provide for a
sufficient mounting distance below and above the device in order to ensure free
circulation of the cooling air. Please do also respect the recommended distances of
other devices. Make sure that the mounting plate is not exhibited to other
temperature influences than that of the devices mounted on this very plate.
If two or more devices are combined, the mounting distances are added.
72 C3I10T10 192-120100N17 - September 2014

3.9.3.1 Mounting distances, air currents Compax3H050V4

I J K
M
in mm
I J K L M
C3H050V4 15 5 25 70 70
3.9.3.2 Mounting distances, air currents Compax3H090V4

I J
K
M
in mm
I J K L M
C3H090V4 0 0 25 70 70
C3I10T10 192-120100N17 - September 2014 73

3.9.3.3 Mounting distances, air currents Compax3H1xxV4

I J
K
M
in mm
I J K L M
C3H1xxV4 0 0 25 70 70
74 C3I10T10 192-120100N17 - September 2014

Parker EME Safety function - STO (=safe torque off)
3.10 Safety function - STO (=safe torque off)

General Description ......................................................................................................... 75
STO (= safe torque off) with Compax3S .......................................................................... 78
STO (= safe torque off) with Compax3m (Option S1) ....................................................... 85
3.10.1. General Description

Important terms and explanations .................................................................................... 75
Intended use.................................................................................................................... 76
Advantages of using the "safe torque off" safety function. ................................................ 76
Devices with the STO (=safe torque off) safety function ................................................... 77
The present documentation assumes a basic knowledge of our drive controllers as

well as an understanding of safety-oriented machine design. References to
standards and other regulations are only rudimentarily expressed.
For complementary information, we recommend the respective technical literature.
3.10.1.1 Important terms and explanations

Term Explanation
Safety category 3 in accordance Definition according to standard:
with EN ISO 13849-1 Circuit with safety function against individual errors.
Some, but not all errors are detected.
An accumulation of errors may lead to a loss of the safety function.
The remaining risk is accepted.
The determination of the safety category required for an application (risk analysis) lies within the
responsibility of the machine manufacturer.
It can take place according to the method described in EN ISO 13849-1, appendix A.
With the "safe torque off", the energy supply of the drive is safely interrupted according to EN
1037, paragraph 4.1.
"Safe torque off" The drive is not to be able to produce a torque and thus dangerous movements (see EN 1037,
paragraph 5.3.1.3).
or abbreviated: The standstill position must not be monitored.
If an external force effect, e.g. a drop of hanging loads, is possible with the "safe torque off",
STO=Safe torque off additional measures to safely prevent those must be provided (e.g. additional mechanical brakes).
The following measures are appropriate for a "safe torque off":
Contactor between mains and drive system (mains contactor)
Contactor between power section and motor (motor contactor)
Safe blocking of the power semiconductor control (start inhibitor)
Start inhibitor Safe blocking of the power semiconductor control.
With the aid of this function, you can obtain a "safe torque off".
Stop categories according to EN60204-1 (9.2.2)

Stop Safety function Requirement System Remark
category behavior
0 Safe torque off Stopping by immediately Uncontrolled Uncontrolled stop is the stopping of a machine
(STO) switching off the energy stop movement by switching off the energy of the machine
supply of the machine drive drive elements.
elements Available brakes and/or other mechanical stopping
components are applied.
1 Safe stop 1 Stop where the energy of the Controlled Controlled stop is the stopping of a machine movement
(SS1) machine drive elements is stop by for instance resetting the electrical command signal
maintained in order to reach a to zero, as soon as the stop signal has been detected
stop. The energy supply is by the controller, the electrical energy for the machine
only interrupted, if the drive elements remains however during the stopping
standstill is attained. procedure.
2 Safe stop 2 Stop where the energy to the Controlled This category is not covered.
(SS2) machine drive elements is stop
maintained.
C3I10T10 192-120100N17 - September 2014 75

3.10.1.2 Intended use

The Compax3 drive controller supports the "safe torque off" (STO) safety function,
with protection against unexpected startup according to the requirements of EN
ISO 13849-1, category 3 to PLe and EN 1037.
Together with the external safety control device, the "safe stop 1" (SS1) safety
function according to the requirements of EN ISO 13849-1 category 3 can be used.
As the function is however realized with the aid of an individually settable time
delay on the safety switching device, you must take into account that, due to an
error in the drive system during the active braking phase, the axis trundles to a stop
unguided or may even accelerate actively in the worst case until the expiry of the
preset switch-off time.
According to a risk evaluation which must be carried out according to the machine
standard 98/37/EG and 2006/42/EG or EN ISO 12100, EN ISO 13849-1 and EN
ISO 14121-1, the machine manufacturer must project the safety system for the
entire machine including all integrated components. This does also include the
electrical drives.
Qualified personnel
Projecting, installation and setup require a detailed understanding of this
description.
Standards and accident prevention regulation associated with the application must
be known and respected as well as risks, protective and emergency measures.
3.10.1.3 Advantages of using the "safe torque off" safety

function.
Safety category 3 in accordance with EN ISO 13849-1
Requirements Use of the safe torque off function Conventional solution: Use of external switching
performance feature elements
Reduced switching Simple wiring, certified application examples Two safety-oriented power contactors in series
overhead Grouping of drive controllers on a mains contactor connection are required.
is possible.
Use in the production Extremely high operating cycles thanks to almost This performance feature cannot be reached with
process wear-free technology (low-voltage relay and conventional technology.
electronic switch). The "safe torque off" status is
High operating cycles, attained due to the use of wear-free electronic
high reliability, low wear switches (IGBTs).
Use in the production Drive controller remains performance- and When using power contactors in the supply, a long
process control-oriented in connected state. waiting time for the energy discharge of the DC link
No significant waiting times due to restart. circuit is required.
High reaction speed, fast When using two power contactors on the motor side,
restart the reaction times may increase, you must however
take into consideration other disadvantages:
a) Securing that switching takes only place in
powerless state (Direct current! Constant electric arcs
must be prevented).
b) Increased overhead for EMC conform wiring.
Emergency-stop function According to the German version of the standard: Switch-off via mechanical switching elements is
Permitted without control of mechanical power required
switching elements 1)
1) According to the preface of the German version of the EN 60204-1/11.98,
electronic equipment for emergency-stop devices are also permitted, if they comply
with the safety categories as described in EN ISO 13849-1.
76 C3I10T10 192-120100N17 - September 2014

3.10.1.4 Devices with the STO (=safe torque off) safety

function
The STO (Safe torque off) safety function is implemented in the

following devices:
Compax3 technology function
 I10T10, I11T11, I12T11,
 I10T20, I20T20, I32T20
 I11T30, I20T30, I21T30, I22T30, I30T30, I31T30, I32T30,
I11T40, I20T40, I21T40, I22T40, I30T40, I31T40, I32T40
I11T70, I20T70, I32T70
 I20T11, I21T11, I22T11, I30T11, I31T11, I32T11
 C10T11, C10T30, C10T40,
C13T11, C13T30, C13T40,
C20T11, C20T30, C20T40
with the device power / series
S025V2, S063V2, S100V2, S150V2, S015V4, S038V4, S075V4, S150V4,
S300V4
M050D6, M100D6, M150D6, M300D6,
and is only valid with the stated conditions of utilization.
C3I10T10 192-120100N17 - September 2014 77

3.10.2. STO (= safe torque off) with Compax3S

STO Principle (= Safe Torque Off) with Compax3S ......................................................... 78
Conditions of utilization STO (=safe torque off) Safety function........................................ 80
Notes on the STO function............................................................................................... 80
STO application example (= safe torque off) .................................................................... 81
Technical Characteristics STO Compax3S ...................................................................... 84
3.10.2.1 STO Principle (= Safe Torque Off) with Compax3S

To ensure safe protection against a motor starting up unexpectedly, the flow of
current to the motor and thus to the power output stage must be prevented.
This is accomplished for Compax3S with two measures independent of each other
(Channel 1 and 2), without disconnecting the drive from the power supply:
Channel 1:
Activation of the power output stage can be disabled in the Compax3 controller by
means of a digital input or with a fieldbus interface (depending on the Compax3
device type) (deactivation of the energize input).
Channel 2:
The power supply for optocouplers and drivers of power output stage signals is
disconnected by a safety relay activated by the enable input "ENAin"(X4/3) and
equipped with force-directed contacts. This prevents control signals from being
transferred to the power output stage.
The STO (= Safe Torque Off) safety function in accordance with EN ISO
13849-1: 2008 PLd or PLe, Kat.3 is only possible when using both channels
via an external safety switching device
Please note the application examples!
Circuit diagram illustrating working principle:

Channel 1 Channel 2
Controller ENAin
Energize Feedback L1 L2 L3
Feedback (Enable)
X4/3 X4/4 X4/5 X1/1 X1/2 X1/3

power
Compax3 supply
safety relay
Feedback
power
supply
motor
controller
Notes
 In normal operation of Compax3, 24VDC of power is supplied to the "Enable"
input (X4/3). The control of the drive takes then place via the digital inputs/outputs
or via the fieldbus.
78 C3I10T10 192-120100N17 - September 2014

STO delay times
Input Channel 1
(Energize)
Speed
Feedback
Channel 1
t_deceleration
(configurable in Compax3)
Input Channel 2
(ENAin)
t_delay_time
(configurable in UE410)
Feedback
Channel 2
t_delay_relay_ch2
The deceleration time t_deceleration depends on the configuration of the
Compax3. It must be configured so that oscillation free bringing to standstill is
possible, depending on the mechanical load. The delay time t_delay_time must be
set in the safety control device UE410 so that t_delay_time > t_deceleration.
Only after the elapsing of the relay delay t_delay_relay_ch2, the STO function is
completely activated. The relay delay time t_deay_relay_ch2 is 15 ms.
C3I10T10 192-120100N17 - September 2014 79

3.10.2.2 Conditions of utilization STO (=safe torque off) Safety

function
 STO can only be implemented in Compax3 with a corresponding safety switching
device considering the application examples.
 Safety functions must be tested 100%.
 The Compax3S and the safety switching device used must be mounted in a
protected way (IP54 mounting cabinet).
 Only qualified staff members are permitted to install the STO (=safe torque off)
function and place it in service.
 For all applications in which the first channel of the “Safe torque off” is
implemented by means of a PLC, care must be taken that the part of the program
that is responsible for current flowing to or not flowing to the drive is programmed
with the greatest possible care. The Safe Torque off application example of
Compax3 with fieldbus should be considered.
The designer and operator responsible for the system and machine must refer
programmers who are involved to these safety-related points.
 Terminal X4/2 (GND 24 V and at the same time the reference point for the safety
relay bobbin) must be connected with the PE protective lead. This is the only way
to ensure protection against incorrect operation through earth faults (EN60204-1
Section 9.4.3)!
 All conditions necessary for CE-conform operation must be observed.
 When using an external safety switching device with adjustable delay time, (as
illustrated in the STO application example), it must be ensured that the delay time
cannot be adjusted by persons not authorized to do so (for example by applying a
lead seal). With the UE410-MU3T5 safety switching device, this is not necessary,
if the anti manipulation measures are respected.
 The adjustable delay time on the safety switching device must be set to a value
greater than the duration of the braking ramp controlled by the Compax3 with
maximum load and maximum speed.
If the setting range for the specified Emergency power-off module is not sufficient,
the Emergency power-off module must be replaced by another equivalent
module.
 All safety-related external leads (for example the control lead for the safety relay
and feedback contact) must absolutely be laid so they are protected, for example
in a cable duct. Short circuits and crossed wires must be reliably excluded!
 If there are external forces operating on the drive axes, additional measures are
required (for example additional brakes). Please note in particular the effects of
gravity on suspended loads!
3.10.2.3 Notes on the STO function

 It should be noted in connection with the STO (= safe torque off) application
example illustrated here that after the Emergency stop switch has been activated,
no galvanic isolation in accordance with EN 60204-1 Section 5.5 is guaranteed.
This means that the entire system must be disconnected from the mains power
supply with an additional main switch or mains power contactor for repair jobs.
Please note in this regard that even after the power is disconnected, dangerous
electrical voltages may still be present in the Compax3 drive for about 10
minutes.
 During the active braking phase of Stop category 1 (controlled bringing to a stop
with safely monitored delay time according to EN60204-1) or safe stop 1, faulty
function must be expected. If an error in the drive system or mains failure occurs
during the active braking phase, the axis may trundle to a stop unguided or might
even actively accelerate until the expiry of the defined switch-off time.
 Please note that the control of the drive via Energize (Energize input or fieldbus
interface) is not executed in all operating conditions. The following restrictions
apply when the set-up window of the C3 ServoManager is used:
 If the setup mode is switched on, the fieldbus interface and the energize input
are blocked.
 the energize input can be ignored if the input simulator is activated (depending
on the settings).
80 C3I10T10 192-120100N17 - September 2014

Note on error switch-off

If the "safe torque off" function of Compax3 is required or used for
a machine or system, the two errors:
 “Motor_Stalled” (Motor stalled) and
 “Tracking” (following error)
are not to be switched off (see on page 106).
3.10.2.4 STO application example (= safe torque off)

The application example described here corresponds to Stop Category 1 as
defined by EN60204-1.
Together with the external safety switching device, the "Safe Stop 1”(SS1) safety
function can also be implemented.
A Stop Category 0 in accordance with EN 60204-1 can be implemented, for

example by setting the delay time on the Emergency power-off module as well as
on the Compax3 (delay time for "switch to currentless") to 0. The Compax3M will
then be turned off immediately in 2 channels and will therefore not be able to
generate any more torque. Please take into consideration that the motor will not
brake and a coasting down of the motor may result in hazards. If this is the case,
the STO function in stop category 0 is not permitted.
Circuit layout overview

 2 Compax3 devices (the circuit example is also valid for one or multiple devices,
if it is adapted accordingly)
 1 Emergency Power-off module (UE410-MU3T5 manufactured by Sick)
With adjustable delayed deactivation of the Compax3 enable input ENAin.
The time must be set so that all axes are at a standstill before the Compax3
controllers are deactivated.
 The operating instructions of the UE410-MU3T5 safety switching device must be
observed.
 1 emergency power-off switch
 Hazardous area accessible via a safety door with safety door switch S6.
 1 pushbutton per Compax3
 For the Energize input on Compax3, a debouncing time > 3 ms must be
configured
 1 relay per Compax3
The relay must be dimensioned so that it has a lifetime of at least 20 years, taking
the cycle time into consideration. If this is not the case, the relays must be
exchanged for new relays after expiration of the lifetime.
C3I10T10 192-120100N17 - September 2014 81

Circuit:
+24V
Compax3S
X3 motor
S4
Gefahrenbereich
Energize * Danger Zone
Controller
X12.4 Feedback
motor
K1 Enable X4.3
Feedback X4.4 Schutztür geschlossen

Safety door closed
Feedback X4.5
S6
Compax3S S6
X3
S5
Energize *
Controller
X12.4 Feedback
Not-Stop
K2 Enable X4.3 Emergency
switch off
Feedback X4.4
Feedback X4.5
Q4 Q3 I4 I3 I2 I1
Delay
Time 4 5
EN S1
K1 3 6
2 7
K2 A1 1 8 X1
0 9
S3 X2
S2
FUNCTION
S2
A2 UE410-MU
GND24V
Energize = I0 (X12/6) Ackn = I2 (X12/8)
Instead of the safety switching device manufactured by Sick mentioned above, you
may use other safety switching devices.
The safety switching device must however provide the following features:
 1 normally open contact is required for switching off channel 1
(as an alternative, a safe semiconductor output is possible)
 1 off-delayed normally open safety contact is required for switching off channel 2
(as an alternative, a safe semiconductor output with adjustable delay time for the
high_to_low_edge is possible).
 1 one-channel monitoring circuit where the feedback contacts of channels 1 and
2 can be integrated for simultaneous monitoring, is required.
At the same time it must be possible to integrate a one-channel start button for
activation of the safety switching device into the circuit.
A new start may only be successful, if it is ensured, that channels 1 and 2 are
switched off.
 1 two-channel connection for emergency power off and/or safety door contacts
with cross fault monitoring is required.
 The safety switching device must feature performance PL e. The I/Os must at
least correspond to category 3.
82 C3I10T10 192-120100N17 - September 2014

Switches and buttons:

1 N/C (S4, S5) per Guide Device to a currentless state
device:
S6: closed when the safety door is closed
S2: Activate safety switching device
Caution! Module UET410-MU3T5 modulates regularly test switching signals (OSSD) on

outputs Q3 and Q4.
We recommend to use a filter > 3 ms for signal Q3 in the PLC.
If different safety switching devices are used, please make sure that the pulse
width of the test pulses is not wider than 700µs. The safety switching device used
can only send test pulses (active low) with high level.
Safe torque off description
Safe torque off basic function .......................................................................................... 83
Access to the hazardous area ......................................................................................... 84
Safe torque off basic function
Compax3 devices disabled by:

Channel 1: Energize input to “0” by safety switching device output Q3
Channel 2: Enable input ENAin to “0” by safety switching device output Q4
Activate safety switching device

Before the Compax3 can be placed into operation, the safety switching device
must be activated by a pulse to Input S2.
Prerequisite:
 S2 closed
 Safety door closed
 K1 and K2 energized
 K1: receives current if Compax3 Device 1 is currentless (output = "1" in
currentless state) = Channel 1 feedback
 K2: receives current if Compax3 device 2 is currentless (output = “1” in the
currentless state) = channel 1 feedback
 The feedback contact of all Compax3 devices must be closed (channel 2).
Energize Compax3 (Motor and power output stage)

 With the safety switching device, the Compax3 devices are enabled via the
energize input and the Enable input ENAin. (If an error is still present in the
Compax3, it must be acknowledged - the ackn function depends on the Compax3
device type)
 The motors are energized with current.
Summary: Compax3 is only energized if the feedback functions are capable of
functioning via two channels.
C3I10T10 192-120100N17 - September 2014 83

Access to the hazardous area
Actuate emergency power-off switch

Due to the interruption on two channels at the emergency power-off switch, the
safety switching device is deactivated - output Q3 is immediately “0”.
Channel 1: Via the Energize input, the Compax3 devices receive the command to
guide the drive to a currentless state (using the ramp configured in the C3
ServoManager for "drive disable").
Channel 1 feedback 1: The "Controller Feedback" Compax3 outputs supply
current to Relays K1 and K2.
Channel 2: After the delay time set in the safety switching device, (this time must
be set so that all drives are stopped after it has elapsed) the output Q4 = “0”, which
in turn deactivates the Enable inputs ENAin of the Compax3 devices.
Channel 2 feedback: Via the series circuit of all feedback contacts, the “Safe
Torque-off” status (all Compax3 devices without current) is reported.
Only if the drives are all at a standstill, the safety door may be opened and the
hazardous area may be accessed.
If the safety door is opened during operation and the emergency-power-off switch
was not triggered before, the Compax3 drives will also trigger the stop ramp.
Caution! The drives may still move.
If danger to life and limb of a person entering cannot be excluded,
the machine must be protected by additional measures (e.g. a safety
door locking).
3.10.2.5 Technical Characteristics STO Compax3S
Safety technology Compax3S

Safe torque-off in accordance with EN  For implementation of the “protection
ISO 13849: 2008, Category 3, PL d/e against unexpected start-up” function
Certified. described in EN1037.
Test mark IFA 1003004  Please note the circuitry examples (see
on page 75).
Compax3S STO (=safe torque off)

Nominal voltage of the 24 V
inputs
Required isolation of the Grounded protective extra low voltage, PELV
24V control voltage
Protection of the STO 1A
control voltage
Grouping of safety level <500 000 STO cycles per year are assumed.
 STO switch-off via internal safety relay & digital
input: PL e, PFHd=2.98E-8
 STO switch-off via internal safety relay & fieldbus:
PL d, PFHd=1.51E-7 (is applicable for a MTTFd=15
years of the external PLC)
 Lifetime: 20 Years
84 C3I10T10 192-120100N17 - September 2014

3.10.3. STO (= safe torque off) with Compax3m (Option S1)

Safety switching circuits................................................................................................... 85
Safety notes for the STO function in the Compax3M........................................................ 86
Conditions of utilization for the STO function with Compax3M ......................................... 86
STO delay times .............................................................................................................. 87
Compax3M STO application description .......................................................................... 88
STO function test ............................................................................................................. 91
Technical details of the Compax3M S1 option ................................................................. 93
3.10.3.1 Safety switching circuits

The current flow in the motor windings is controlled by a power semiconductor
bridge (6-fold IGBT). A processor circuit and PWM circuit will switch the IGBT with
rotary field orientation. Between control logic and power module, optocouplers are
used for potential separation.
On the Compax3M drive controller with S1 option, the X14 (STO) connector can be
found on the front plate. 2 optocouplers are controlled on two channels via the
STO1/ and STO2/ terminals of this connector. When requesting the STO via an
external safety switching device, the two auxiliary voltage supply channels of the
power stage control circuits are switched off on two channels. Therefore the power
transistors (IGBTs) for the motor current can not longer be switched on.
The hardware monitor detects the failure of the optocoupler circuit of a channel by
always checking both channels for similarity. If the hardware monitor detects a
discrepancy for a defined time (ax. 20s), the error will be stored in the hardware
memory. The processor signals this error externally via the 0x5493 error code. An
activation of the coupler supply can then only take place via a hardware reset
(switching off and on again) of the device.
+5V Controller Compax3M ...S1
Software
PWM
Hardware
X14.1 STO1/ Monitor
X14.2 STO-GND *
X14.3 STO2/
6 IGBT
X14.4 STO-GND Driver
* Potential separation with optocoupler.
C3I10T10 192-120100N17 - September 2014 85

3.10.3.2 Safety notes for the STO function in the Compax3M

 It should be noted in connection with the STO application examples illustrated
here that after the Emergency stop switch has been activated, no galvanic
isolation in accordance with EN 60204-1 Section 5.5 is guaranteed. This means
that the entire system must be disconnected from the mains power supply with an
additional main switch or mains power contactor for repair jobs. Please note in
this regard that even after the power is disconnected, dangerous electrical
voltages may still be present in the Compax3 drive for about 10 minutes.
 During the active braking phase of Stop category 1 (controlled bringing to a stop
with safely monitored delay time according to EN60204-1) or safe stop 1, faulty
function must be expected. If an error in the drive system occurs during the active
braking phase, the axis may trundle to an unguided stop or might even actively
accelerate until the expiry of the defined switch-off time.
 For synchronous motors operated in the field weakening range, the operation of
the STO function may lead to over speed and destructive, life-threatening over
voltages as well as explosions in the servo drive. Therefore, NEVER use the STO
function with synchronous drives in the field-weakening range.
 It is important to note that if the drive is being activated (Energize) by the USB /
RS485 interface, it may not be possible to execute switch-off by a controlled
braking ramp. For example, this is true when the set-up window of the C3
ServoManager is used. If set-up mode is turned on or with the input simulator, the
digital I/O interface and fieldbus interface are automatically disabled.
Maintenance
When using the S1 option, a protocol describing the orderly working of the safety
function must be made upon the setup and in defined maintenance intervals (see
protocol proposal).
3.10.3.3 Conditions of utilization for the STO function with

Compax3M
 The STO safety function must be tested and protocoled as described (see on
page 91). The safety function must be requested at least once a week. In safety
door applications, the weekly testing interval must not be observed, as you can
assume that the safety doors will be opened several times during the operation of
the machine.
 The Compax3M with integrated STO safety function as well as the utilized safety
switching devices must be mounted protected (IP54 control cabinet).
 Only qualified staff members are permitted to install the STO function and place it
in service.
 The X9/2 (GND24V) terminal on the PSUPxx mains module must be connected
to the PE protective lead. This is the only way to ensure protection against
incorrect operation through earth faults (EN60204-1 Section 9.4.3)!
 When using an external safety switching device with adjustable delay time, (as
illustrated in the STO application example), it must be ensured that the delay time
cannot be adjusted by persons not authorized to do so (for example by applying a
lead seal). With the UE410-MU3T5 safety switching device, this is not necessary,
if the anti manipulation measures are respected.
 The adjustable delay time on the safety switching device must be set to a value
greater than the duration of the braking ramp controlled by the Compax3 with
maximum load and maximum speed.
 All conditions necessary for CE-conform operation must be observed.
 If there are external forces operating on the drive axes, additional measures are
required (for example additional brakes). Please note in particular the effects of
gravity on suspended loads! This must be respected above all for vertical axes
without self-locking mechanical devices or weight balance.
 When using synchronous motors, a short movement over a small angle is
possible, if two errors occur simultaneously in the power section. This depends
on the number of pole pairs of the motor (rotary types: 2 poles = 180°, 4 poles =
90°, 6 poles = 60°, 8 poles = 45 °, Linear motors: 180° electrically).
86 C3I10T10 192-120100N17 - September 2014

3.10.3.4 STO delay times
Input
Energize
Speed
t_deceleration
(Configurable in Drive)
Input
STO1/, STO2/
t_delay_time
(Configurable in UE410)
Torqueless
Motor
t_delay_STO ≤3ms
C3I10T10 192-120100N17 - September 2014 87

3.10.3.5 Compax3M STO application description

STO function with safety switching device via Compax3M inputs ..................................... 88
STO function description ................................................................................................. 89
Emergency stop and protective door monitoring without external safety switching device.90
STO function with safety switching device via Compax3M inputs
+24V
Compax3M
X3 motor
S4
Gefahrenbereich
Energize
Danger Zone
STO1/ X14.1 motor
STO-GND X14.2
STO2/ X14.3 Schutztür geschlossen

Safety door closed
STO-GND X14.4
S1
Compax3M S1
X3
S3
Energize
STO1/ X14.1
Not-Stop
STO-GND X14.2 Emergency
switch off
STO2/ X14.3
STO-GND X14.4
Q4 Q3 I4 I3 I2 I1
Delay
Time 4 5
EN 3 6 S1
2 7
A1 1 8 X1
0 9
S3 X2
S2
FUNCTION
S2
A2 UE410-MU
GND24V
Recommendation Energize = I0 (X12/6) (debounceable digital input)

The acknowledgement S2 via the safety control UE410-MU3T5 is only necessary,
if after the disabling of the STO function, a danger to any person or to the machine
could arise by automatic starting. During the Configuration des Compax3M (see
on page 106)you must see to a debouncing time >3ms being configured for the
Energize input.
The operating instructions of the UE410-MU3T5 safety control must be observed.
The Compax3M devices and the UE410-MU3T5 safety control must be mounted in
the same control cabinet.
1 N.C. (S3, S4) per device Guide Device to a currentless state
S1 closed when the safety door is closed
S2 Activate safety switching device
88 C3I10T10 192-120100N17 - September 2014

STO function description

When opening the protective door or after actuating the emergency stop switch, the
signal of the "energize" input of the Compax3M drive modules is interrupted via the
Q3 output on the UE410-MU3T5 safety control. This triggers an immediate braking
ramp on the drives. Then after the delay time set on the UE410-MU4T5 safety
control, the STO function in the drives is triggered via the Q4 output. The servo
drives are then in safe torqueless state. The delay time must be set on the safety
control so that the braking ramp in the drives has run off and the drives are at
standstill when the delay time has elapsed.
The described application example corresponds to the stop category 1 according to

EN 60204-1. Together with the external safety switching device, the "Safe Stop 1"
safety function can also be implemented.
A Stop Category 0 in accordance with EN 60204-1 can be implemented, for
example by setting the delay time on the safety switching device to 0. The
Compax3M will then be turned off immediately in 2 channels and will not be able to
generate any more torque. Please take into consideration that the motor will not
brake and a coasting down of the motor may result in hazards. If this is the case,
the STO function in stop category 0 is not permitted.
Depending on the interface Ixx or technology function Txx of the Compax3M, the
"energize" input can be a digital input or for instance a defined bit of a fieldbus
control word (see the overview table below).
In the I10T10, I11T11, I12T11, I2xT11 and I3xT11 devices, the ackn input is
assigned fixed.
Interface/Technology "Energize" Ackn
I10T10 Digital input I0 (X12/6) I2 (X12/8)
I11T11 Digital input I2 (X12/8) (Energize & Ackn identical)
I12T11
Digital input I0 (X12/6) (Energize & Ackn identical)
I2xT11, I3xT11
I2xT11, I3xT11 Applications with fieldbusses
I11T30 and I11T40 Debounced digital input defined in the IEC program,
which leads to the enable input of the MCpower
function module
I2xT30, I2xT40, I3xT30 Bit defined in the IEC program (debounced digital input
and I3xT40 or via fieldbus) which is linked to the enable input of
the MCpower function module
C1xT30 and C1xT40 Debounced digital input defined in the IEC program,
C20T30 and C20T40 which leads to the enable inputs of several MCpower
function modules for different axes. The information is
passed on to the individual axes via the CANbus.
The acknowledement via the safety control UE410-MU3T5 is only necessary, if

after the disabling of the STO function, a danger to any person or to the machine
could arise due to automatic startup..
C3I10T10 192-120100N17 - September 2014 89

Emergency stop and protective door monitoring without external

safety switching device.
With Compax3M, a 2-channel protective door monitoring switch or a 2 channel
emergency power-off switch can be directly connected. The figure below visualizes
an application with 2 channel protective door monitoring switch.
The Compax3M drive modules with PSUPxx mains rectifier must be located in a
protected area (IP54 control cabinet). Outside this protected area, the line guiding
to the external switches must be separated channelwise or must be especially
protected (blinded).
It is also permitted to use one acknowledgement switch for both servo drives at a
time. In both cases the acknowledgement does only correspond to category B,
therefore this acknowledgement should not be used if there is any possibility of
stepping in the dangerous area. In this case, an external acknowledgement device
must be used.
+24V
Compax3M
X3 motor
S4
Gefahrenbereich
Energize
Danger Zone
STO1/ X14.1 motor
STO-GND X14.2
STO2/ X14.3 Schutztür geschlossen

Safety door closed
STO-GND X14.4
S1
Compax3M S1
X3
S3
Energize
STO1/ X14.1
STO-GND X14.2
STO2/ X14.3
STO-GND X14.4
GND24V
90 C3I10T10 192-120100N17 - September 2014

3.10.3.6 STO function test

The STO function must be checked in the event of:
 Commissioning
 After each exchange of any equipment within the system
 After each intervention into the system wiring
 In defined maintenance intervals (at least once per week) and after a longer
standstill of the machine
If the STO function was triggered by opening a protective door and if this door is
opened several times a week, the weekly testing interval is not required.
The check must be made by qualified personnel adhering to all necessary safety
precautions.
The following testing steps must be performed:

STO Action, activity Expected reaction and effect
Test
1 24V DC voltage on
terminal X14.1 and X14.3
2 Switch on power and 24V supply voltage No error must be present
3 Configuring the device No error must be present
4 Testing active STO on terminal X14.1 Error message 0x5492 must be
and X14.3: present 1)
Remove 24V DC on terminal X14.1 and
X14.3 at the same time
5 Re-apply 24V DC voltage on terminals No error must be present
X14.1 and X14.3 and then acknowledge
error
6 Then switch off and on again 24V voltage No error must be present
supply
1) In order to automate the test, it is sufficient here to monitor the general error
output with an external logic.
A manual check of the torqueless drive is here also sufficient.
The triggering of the STO can also be made by actuating the emergency stop
switch. During the automated test, the STO can also be triggered via the contacts
of an external relay
Following the test steps
The performance of the individual test steps of the STO function must be logged. A
protocol specimen can be found in the following section.
Depending on the machine version, additional or other test steps may be required.
C3I10T10 192-120100N17 - September 2014 91

STO test protocol specimen (Safety Option S1)

General information:
Project/machine:
Servo axis:
Name of the tester:
STO function test:

Test specification according to the
Compax3 release:
STO function test steps 1-6: o successfully tested
Acknowledgement safety switching device: o successfully tested

o is not used
Safe stop 1: o successfully tested

o is not used
Initial acceptance on: Repeat check on:
Signature of the tester Signature of the tester
92 C3I10T10 192-120100N17 - September 2014

3.10.3.7 Technical details of the Compax3M S1 option
Safety technology Compax3M

Safe torque-off in accordance with EN  Please respect the stated safety
ISO 13849-1: 2007, Category 3, PL=e technology on the type designation
Certified. plate (see on page 11) and the circuitry
Test mark MFS 09029 examples (see on page 85)
Compax3M S1 Option: Signal inputs for connector X14

Nominal voltage of the inputs 24V
Required isolation of the 24V control Grounded protective extra low voltage, PELV
voltage
Protection of the STO control voltage 1A
Number of inputs 2
Signal inputs via optocoupler Low = 0...7V DC or open
High = 15...30V DC
Iin at 24V DC: 8mA
STO1/ Low = STO activated
High = STO deactivated
Reaction time max. 3ms
Switch-off time with unequal input 20 s
statuses (max. error reaction time)
Grouping of safety level  Category 3
 PL=e
(according to table 4 in EN ISO 13849-1 this
corresponds to SIL 3)
 PFHd=4.29E-8
 Lifetime: 20 years

C3I10T10 192-120100N17 - September 2014 93

Setting up Compax3 Step/Direction and Analog Command Input
4. Setting up Compax3
Configuration ................................................................................................................... 94
Test commissioning: Compax3 S0xx V2 I10 .................................................................. 108
Device states ................................................................................................................. 111
Optimization .................................................................................................................. 113
4.1 Configuration
Selection of the supply voltage used ................................................................................ 95
Motor selection ................................................................................................................ 95
Optimize motor reference point and switching frequency of the motor current.................. 96
Ballast resistor ................................................................................................................. 99
General drive ................................................................................................................... 99
Command interface ....................................................................................................... 100
Setpoint control.............................................................................................................. 104
Limit and monitoring settings ......................................................................................... 105
Configuration name / comments .................................................................................... 107
The general proceeding in order to operate an empty-running motor is described

here (see on page 95).
Configurations sequence:
Installation of the C3
ServoManager The Compax3 ServoManager can be installed directly from the Compax3
DVD. Click on the corresponding hyperlink resp. start the installation
program "C3Mgr_Setup_V.....exe" and follow the instructions.
PC requirements
Recommendation:
Operating system: MS Windows XP SP3 / MS Vista (32 Bit) / Windows 7 (32 Bit / 64 Bit)
Browser: MS Internet Explorer 8.x or higher
Processor: Intel / AMD Multi core processor >=2GHz
RAM memory: >= 1024MB
Hard disk: >= 20GB available memory
Drive: DVD drive (for installation)
Monitor: Resolution 1024x768 or higher
Graphics card: on onboard graphics (for performance reasons)
Interface: USB 2.0
Minimum requirements:
Operating system: MS Windows XP SP2 / MS Windows 2000 as from SP4
Browser: MS Internet Explorer 6.x
Processor: >=1.5GHz
RAM memory: 512MB
Hard disk: 10GB available memory
Drive: DVD drive
Monitor: Resolution 1024x768 or higher
Graphics card: on onboard graphics (for performance reasons)
Interface: USB
94 C3I10T10 192-120100N17 - September 2014

Parker EME Configuration
Note:
 For the installation of the software you need administrator authorization on the
target computer.
 Several applications running in parallel, reduce the performance and operability.
 Especially customer applications, exchanging standard system components
(drivers) in order to improve their own performance, may have a strong influence
on the communication performance or even render normal use impossible.
 Operation under virtual machines such as Vware Workstation 6/ MS Virtual PC is
not possible.
 Onboard graphics card solutions reduce the system performance by up to 20%
and cannot be recommended.
 Operation with notebooks in current-saving mode may lead, in individual cases,
to communication problems.
Connection Your PC is connected with Compax3 via a RS232 cable (SSK1 (see on page
between PC and 195)).
Compax3 Start the Compax3 ServoManager and make the setting for the selected interface
in the "Options Communication settings RS232/RS485..." menu.
Device Selection In the menu tree under device selection you can read the device type of the
connected device (Online Device Identification) or select a device type (Device
Selection Wizard).
Configuration Then you can double click on "Configuration" to start the configuration wizard. The
wizard will lead you through all input windows of the configuration.
Input quantities will be described in the following chapters, in the same order in
which you are queried about them by the configuration wizard.
In the device online help, we show you at this place an animation of a test
setup with the aim to move an unloaded motor.
 Simple and independent of the Compax3 device variant*
 Without overhead for configuration
 Without special knowledge in programming
* for device specific functions, please refer to the corresponding device description.
Due to continuous optimization, individual monitor displays may have changed.

This does however hardly influence the general proceeding.
4.1.1. Selection of the supply voltage used

Please select the mains voltage for the operation of Compax3.
This influences the choice of motors available.
4.1.2. Motor selection

The selection of motors can be broken down into:
 Motors that were purchased in Europe and
 Motors that were purchased in the USA.
 You will find non-standard motors under "Additional motors" and
 under "User-defined motors" you can select motors set up with the C3
MotorManager.
For motors with holding brake SMHA or MHA brake delay times can be entered.
For this see Brake delay times (see on page 135).
C3I10T10 192-120100N17 - September 2014 95

Pleas note the following equivalence that applies regarding terms concerning
linear motors:
 Rotary motors / linear motors
 Revolutions ≡ Pitch
 Rotation speed (velocity)≡ Speed
 Torque ≡ Power
 Moment of inertia ≡ Load
Notes on direct drives (see on page 162) (Linear and Torque - Motors)
4.1.3. Optimize motor reference point and switching frequency of

the motor current
Optimization of the The motor reference point is defined by the reference current and the reference
motor reference (rotational) speed.
point Standard settings are:
 Reference current = nominal current
 Reference (rotational) speed = nominal (rotational) speed
These settings are suitable for most cases.
The motors can, however, be operated with different reference points for special
applications.
 By reducing the reference (rotational) speed, the reference current can be

increased. This results in more torque with a reduced speed.
 For applications where the reference current is only required cyclically with long
enough breaks in between, you may use a reference current higher than I0. The
limit value is however reference current = max. 1.33*I0. The reference velocity
must also be reduced.
The peak current is not changed from Release R09-20, it remains fixed to the
value taken from the motor library.
With exception of R09-20, the peak current was also adapted with the changing
of the reference current.
The possible settings or limits result from the respective motor characteristics.
Caution!
Wrong reference values (too high) can cause the motor to switch off during
operation (because of too high temperature) or even cause damage to the motor.
Optimization of the The switching frequency of the power output stage is preset to optimize the
switching frequency operation of most motors.
It may, however, be useful to increase the switching frequency especially with
direct drives in order to reduce the noise of the motors. Please note that the power
output stage must be operated with reduced nominal currents in the case of
increased switching frequencies.
The switching frequency may only be increased.
Caution!
By increasing the motor current switching frequency, the nominal current and the
peak current are reduced.
This must already be observed in the planning stage of the plant!
The preset motor current switching frequency depends on the performance variant
of the Compax3 device.
The respective Compax3 devices can be set as follows:
96 C3I10T10 192-120100N17 - September 2014

Resulting nominal and peak currents depending on the switching

frequency
Compax3S0xxV2 at 1*230VAC/240VAC
Switching S025V2 S063V2
frequency*
16kHz Inom 2.5Arms 6.3Arms

Ipeak (<5s) 5.5Arms 12.6Arms

frequency*
8kHz Inom - 15Arms
Ipeak (<5s) - 30Arms
16kHz Inom 10Arms 12.5Arms
Ipeak (<5s) 20Arms 25Arms

32kHz Inom 8Arms 10Arms
Compax3S0xxV4 at 3*400VAC
Switching S015V4 S038V4 S075V4 S150V4 S300V4
frequency*
8kHz Inom - - - 15Arms 30Arms
Ipeak (<5s) - - - 30Arms 60Arms
16kHz Inom 1.5Arms 3.8Arms 7.5Arms 10.0Arms 26Arms

Ipeak (<5s) 4.5Arms 9.0Arms 15.0Arms 20.0Arms 52Arms
frequency*
8kHz Inom - - - 13.9Arms 30Arms
16kHz Inom 1.5Arms 3.8Arms 6.5Arms 8.0Arms 21.5Arms

The values marked with grey are the pre-set values (standard values)!
*corresponds to the frequency of the motor current
C3I10T10 192-120100N17 - September 2014 97


frequency
Compax3HxxxV4 at 3*400VAC
Switching H050V4 H090V4 H125V4 H155V4
frequency*
8kHz Inom 50Arms 90Arms 125Arms 155Arms
Ipeak (<5s) 75Arms 135Arms 187.5Ar 232.5Ar
ms ms

Ipeak (<5s) 49.5Arms 112.5Ar 123Arms 150Arms
ms

Ipeak (<5s) 28.5Arms 67.5Arms 73.5Arms 88.5Arms
frequency*
ms

Ipeak (<5s) 40.5Arms 105Arms 105Arms 126Arms
Ipeak (<5s) 24Arms 60Arms 60Arms 72Arms

frequency
Compax3MxxxD6 at 3*400VAC
Switching M050D6 M100D6 M150D6 M300D6
frequency*
Ipeak 10Arms 20Arms 30Arms 60Arms
(<5s)
16kHz Inom 3.8Arms 7.5Arms 10Arms 20Arms
Ipeak 7.5Arms 15Arms 20Arms 40Arms
(<5s)
Ipeak 5Arms 7.5Arms 10Arms 22Arms
(<5s)
98 C3I10T10 192-120100N17 - September 2014

frequency*
8kHz Inom 4Arms 8Arms 12.5Arms 25Arms
(<5s)
16kHz Inom 3Arms 5.5Arms 8Arms 15Arms
(<5s)
32kHz Inom 2Arms 2.5Arms 4Arms 8.5Arms
(<5s)
4.1.4. Ballast resistor

If the regenerative brake output exceeds the amount of energy that can be
stored by the servo controller (see on page 208), then an error will be
generated. To ensure safe operation, it is then necessary to either
 reduce the accelerations resp. the decelerations,
 or to use an external ballast resistor (see on page 178).
Please select the connected ballast resistor or enter the characteristic values of
your ballast resistor directly.
Please note that with resistance values greater than specified, the power
output from the servo drive can no longer be dissipated in the braking
resistor.
4.1.5. General drive

External moment of inertia / load
The external moment of inertia is required for adjusting the servo controller. The
more accurately the moment of inertia of the system is known, the better is the
stability and the shorter is the settle-down time of the control loop.
It is important to specify the minimum and maximum moment of inertia for best
possible behavior under varying load.
If you do not know the moment of inertia, click on "Unknown: using default values".
You have then the possibility to determine the moment of inertia by means of
automatic load identification (see on page 121).
Minimum moment of inertia / minimum load
C3I10T10 192-120100N17 - September 2014 99

Maximum moment of inertia / maximum load
Enter minimum = maximum moment of inertia when the load does not vary.
4.1.6. Command interface

Make you selection from the following command interfaces:
 ±10V analog setpoint commanding and encoder emulation (rotation speed control
mode)
 Step/direction input RS422 (5V push-pull signal)
 Step/direction input 24V level
 Encoder input RS422 (5V push-pull signal)
 Encoder input 24V level
 ±10V analog current setpoint commanding and encoder emulation (rotation
speed control mode) with different holding functions.
Please observe: Encoder simulation exists with an

 analog input command interface of ±10V
 Step/direction input 24V level and
 Encoder input 24V level
!
4.1.6.1 ±10V analogue speed setpoint commanding and

encoder emulation
Input:
 ±10V analogue;
 14Bit resolution;
 125µs scanning rate
speedmax
10V
Keep position via I4

With I4 = “1” position setpoint = 0 is predefined.
External forces can be compensated via corresponding motor moments.
If the motor is shifted from its position by too high external forces (current limit is
reached), the drive moves to its original position (after the reduction of the external
forces).
Setting values:
100 C3I10T10 192-120100N17 - September 2014

Rotational speed/velocity at a setpoint of +10V

Unit: Range: +/-0... 1.2 * reference value Standard value:
rpm or m/s Reference value
Defining the reference system.
Reference value = Nominal speed/velocity of the motor.
Simulated Encoder Output Resolution

Unit: Increments per Range: 4 - 16384 Standard value: 1024
revolution / pitch
Any resolution can be set
Limit frequency: 620kHz (track A or B) i.e. , with:
Increments per revolution max. Velocity
1024 36000 rpm

4096 9000 rpm
16384 2250 rpm
Invert Motor Rotation/Direction Polarity

Unit: - Range: no / yes Standard value: no
Reverse direction inverts the sense of rotation, i.e. the direction of movement of the motor
is reversed in the case of equal setpoint.
Time frame predefined setpoint value

Averaging and a following filter (interpolation) can help to avoid steps caused by
discrete signals.
If the external signal is analog, there is no need to enter a value here (Value = 0).
For discrete signals e.g. from a PLC, the scanning time (or cycle time) of the signal
source is entered.
T t
This function is only available if the analog interface +/-10V is used!
4.1.6.2 Step/Direction Input 24V
Required wiring:
Plug/Pin Assignment
X12/13 Step
X12/14 Direction
X12/15 0V
4.1.6.3 Step/Direction Input RS422

Input:
RS422
C3I10T10 192-120100N17 - September 2014 101

Setting values:
Increments per motor revolution / pitch

Unit: Increments Range: Standard value: 1024
Number of steps per motor revolution / pitch

4.1.6.4 Step/Direction Input 24V


4.1.6.5 Encoder input RS422

A
A\
RS422
B
B\
The zero pulse is not evaluated!


102 C3I10T10 192-120100N17 - September 2014

4.1.6.6 Encoder input 24V

24V
A
24V
B
The zero pulse is not evaluated!


4.1.6.7 ±10V analog current setpoint commanding and

encoder emulation
Input:
 ±10V analogue;
 14Bit resolution;
 62.5µs scanning rate
A
Imax
10V
Holding function “keep Position / speed 0” via I4

The input I4 can be assigned with an additional function. You may choose
between:
without holding function I4
Keep rotational speed / velocity 0 via I4

Predefine speed setpoint value = 0 via I4 = “1”.
The state “internal current setpoint” reflects the external forces.
Keep position via I4

With I4 = “1” position setpoint = 0 is predefined.
If the motor is shifted from its position by too high external forces (current limit is
reached), the drive moves to its original position (after the reduction of the external
forces).
C3I10T10 192-120100N17 - September 2014 103

Setting values:
Current at setpoint +10V

Unit: mA Range: +/-0... I(max) Standard value: I(nom)
Define reference system 10V = current; I(nom)= Nominal current of the motor.
I(max): is the smaller value from motor peak current and device peak current
Simulated Encoder Output Resolution

Unit: Increments per Range: 4 - 16384 Standard value: 1024
revolution / pitch
Any resolution can be set
Limit frequency: 620kHz (track A or B) i.e. , with:
Increments per revolution max. Velocity
1024 36000 rpm

4096 9000 rpm
16384 2250 rpm

Time frame predefined setpoint value

Averaging and a following filter (interpolation) can help to avoid steps caused by
discrete signals.
If the external signal is analog, there is no need to enter a value here (Value = 0).
For discrete signals e.g. from a PLC, the scanning time (or cycle time) of the signal
source is entered.
T t
This function is only available if the analog interface +/-10V is used!
4.1.7. Setpoint control

Servo-drive behavior after activating or deactivating the X12/6 "energize motor"
and X12/7 "setpoint value release" inputs can be set using ramps.
Ramps are not supported in the operating mode "±10V analogue current setpoint
value
Acceleration ramp: "setpoint value release"

Unit: U/(s*s) Range: 10 ... 10000 Standard value: 50
The entered value specifies the number of revolutions per second (rp/s) by which the
rotation speed / velocity changes in 1second
104 C3I10T10 192-120100N17 - September 2014

Deceleration ramp "Enable setpoint"

rotation speed changes in 1second.
Please observe:
The configured ramp is limited. The ramp will not be smaller than the deceleration
set in the last motion set.
Acceleration ramp: "energize motor"

rotation speed / velocity changes in 1second
Deceleration ramp: "energize motor"

rotation speed changes in 1second.
Please observe:
The configured ramp is limited. The ramp will not be smaller than the deceleration
set in the last motion set.
4.1.8. Limit and monitoring settings

Nominal value window ................................................................................................... 105
Current (Torque) Limit ................................................................................................... 106
Maximum operating speed............................................................................................. 106
Debouncing input I0....................................................................................................... 106
Error response............................................................................................................... 106
4.1.8.1 Nominal value window

The setpoint window is not supported in the operating mode "±10V analog
current setpoint value”!
X12/3
X12/3 = 24VDC indicates that the current rotation speed or position lies in the
setpoint window (1).
C3I10T10 192-120100N17 - September 2014 105

Nominal value window

Unit: rpm or increments Range: +/-0... 10000 Standard value: +/-10
Control deviation (setpoint value/actual value) < setpoint value window: Output "setpoint
value in window" =24V
Control deviation (setpoint value/actual value) < setpoint value window: Output "setpoint
value in window" =0V
4.1.8.2 Current (Torque) Limit

The current required by the speed controller is limited to the current limit.
Torque limit
Unit: % of M(nominal) Range: 0 ... 400 Standard value: 200
The torque limit is specified as a percentage of the rated motor torque and is the maximum
permitted continuous output torque of the servo drive.
If the value is greater than 100% the motor may become overloaded and signal too high
temperature so that the servo drive switches off.
4.1.8.3 Maximum operating speed

The speed limitation is deduced from the maximum operating speed. In order to
ensure control margins, the speed is limited to a higher value.
The speed setpoint value is actively limited to 1.1 times the given value.
If the speed actual value exceeds the preset maximum speed by 21% (=”switching
off limit speed”), error 0x7310 is triggered.
“Switching off limit of speed” with predefined analog current command value
In the operating mode "±10V analogue current command value and encoder
simulation” the speed setpoint is not limited actively.
If the speed actual value exceeds the preset “switching off limit speed” error
0x7310 is triggered.
4.1.8.4 Debouncing input I0

A majority gate is used for debouncing.
The signal is sampled every 0.5ms
The debounce time determines the number of scans the majority gate will perform.
If the level of more than half of the signals was changed, the internal status will
change.
The debounce time can be set in the configuration wizard within the range of 0 ...
20ms.
The value 0 deactivates the debouncing.
4.1.8.5 Error response

Under "configuring: Error reaction" you can change the error reaction for individual
errors (see on page 154) (the error no. which can be influenced is displayed).
Possible settings for the error reaction are:
 No response
 Downramp / stop
 Downramp / stromlos schalten (standard settings)
Note on Compax3H:
The error reaction upon the "low voltage DC" error (0x3222) is fixed to
"downramp/deenergize" for Compax3H.
106 C3I10T10 192-120100N17 - September 2014

4.1.9. Configuration name / comments

Here you can name the current configuration as well as write a comment.
Then you can download the configuration settings or, in T30 or T40 devices,
perform a complete Download (with IEC program and curve).
Caution!
Deactivate the drive before downloading the configuration software!
Please note!
Incorrect configuration settings entail danger when activating the drive.
Therefore take special safety precautions to protect the travel range of
the system.
Mechanical limit values!

Observe the limit values of the mechanical components!
Ignoring the limit values can lead to destruction of the mechanical
components.
C3I10T10 192-120100N17 - September 2014 107

4.2 Test commissioning: Compax3 S0xx V2 I10

For testing and understanding the function of the device, the required input
connections are specified below for making simple movements.
Required wiring:
X1: Mains supply

/1: 230V AC +10%
X10 to PC
/2: 0V RS232 / RS485
/3: PE
X11: (see following)

Analogue/Encoder
X3
Motor / Brake
X12: (see following)

Inputs/Outputs
X4: 24VDC
/3: Enable with 24VDC
X13 to
Motor-Feedback
108 C3I10T10 192-120100N17 - September 2014

Parker EME Test commissioning: Compax3 S0xx V2 I10
Operational enable of the servo controller:

Plug/Pin Assignment
X12/6 (Energize the motor) = 24V DC (jumper to X12/1)
X12/7 (setpoint value release) = 24V DC (jumper to X12/1)
X4/3 (Enable power output stage) = 24V DC (jumper to X4/1)
The further assignment of plug X11: "Analog/encoder" and X12: "Digital

inputs/outputs" is dependent on the selected mode of operation.

Analog command interface +/-10V with encoder simulation ........................................... 109
Step/Direction Input RS422 ........................................................................................... 109
Encoder input RS422..................................................................................................... 109
Encoder input 24V ......................................................................................................... 110
4.2.1. Analog command interface +/-10V with encoder simulation

Required wiring:
Plug/Pin Assignment
X11/9 Analog setpoint input; positive terminal
X11/11 Analog setpoint input; negative terminal
Encoder simulation
Plug/Pin Assignment
X11/6 A/
X11/7 A
X11/8 B
X11/12 B/
X11/13 N/
X11/14 N
4.2.2. Step/Direction Input RS422

Required wiring:
Plug/Pin Assignment
X11/6 Steps -
X11/7 Steps +
X11/12 Direction -
X11/8 Direction +
4.2.3. Encoder input RS422

Required wiring:
Plug/Pin Assignment
X11/6 A/
X11/7 A
X11/12 B/
X11/8 B
X11/13 N/ (is not evaluated)
X11/14 N (is not evaluated)
C3I10T10 192-120100N17 - September 2014 109

4.2.4. Encoder input 24V

Required wiring:
Plug/Pin Assignment
X12/12 N (is not evaluated)
X12/13 A
X12/14 B
X12/15 0V
110 C3I10T10 192-120100N17 - September 2014

Parker EME Device states
4.3 Device states
Key:
 I0, I1, I3: Input = 24VDC
 /I0, /I1: Input = 0V
 I2: positive edge on I2
C3I10T10 192-120100N17 - September 2014 111

The device can be brought into various states via the inputs:
 I0: Energize motor,
 I1: Enable setpoint and
 I2: Ackn
 I3: Open brake
the device is brought into various device states.
The transitions are implemented via ramps (see on page 104) and the controlled
switching of motor brake (see on page 135).
The ramps are not used in the "±10V analog current setpoint” operating
mode!
An error can occur in any device state. For reactions to the different error causes
please see the Error list (see on page 154).
112 C3I10T10 192-120100N17 - September 2014

Parker EME Optimization
4.4 Optimization
 Select the entry "Optimization" in the tree.
 Open the optimization window by clicking on the "Optimization Tool" button.
Optimization window ...................................................................................................... 113
Scope ............................................................................................................................ 114
Load identification.......................................................................................................... 121
Controller Tuning ........................................................................................................... 124
Input simulation ............................................................................................................. 132
Setup mode ................................................................................................................... 133
Alignment of the analog inputs ....................................................................................... 133
Turning the motor holding brake on and off.................................................................... 135
4.4.1. Optimization window

Layout and functions of the optimization window
Segmentation Functions (TABs)
Window1:  Oscilloscope (see on page 114)
Window 2:  Optimization: Controller optimization (see on page 124)
 D/A Monitor (see on page 153): Output of status values via 2
analog outputs
 Scope Settings
Window 3:  Status Display
 Compax3 Error History
Window 4:  Status values
 Commissioning: Setup mode (see on page 133) with load
identification (see on page 121)
 Parameters for commissioning, test movements (relative &
absolute) and for load identification.
C3I10T10 192-120100N17 - September 2014 113

4.4.2. Scope
The integrated oscilloscope function features a 4-channel oscilloscope for the
display and measurement of signal images (digital and analog) consisting of a
graphic display and a user interface.
Special feature:
In the single mode you can close the ServoManager after the activation of the
measurement and disconnect the PC from Compax3 and upload the measurement
into the ServoManager later.
Monitor information ........................................................................................................ 114
User interface ................................................................................................................ 115
Example: Setting the Oscilloscope................................................................................. 119
4.4.2.1 Monitor information
1: Display of the trigger information

2: Display of the operating mode and the zoom setting
 2a: Green indicates, that a measurement is active (a measurement can be
started or stopped by clicking here).
 2b: Active channel: The active channel can be changed sequentially by clicking
here (only with valid signal source).
3: Trigger point for Single and Normal operating mode
4: Channel information: Type of display and trigger setting; choice of the active
channel
5: X-DIV: X deviation set
6: Single channel sources
114 C3I10T10 192-120100N17 - September 2014

Cursor modes -functions

Depending on the operating mode, different cursor functions are available within
the osci monitor.
The functions can be changed sequentially by pressing on the right mouse button.
Cursor Symbol Function
Set Marker 1
the measurement values of the active channel as well as the Y
difference to marker 2 are displayed
Set Marker 2
Delete and hide marker
Move offset of the active channel.

The yellow symbol indicates that the scrolling is active.
Set trigger level and pretrigger
In the ROLL operating mode, marker functions and set trigger level positions are
not available.
4.4.2.2 User interface

Oscilloscope operating mode switch: ............................................................................. 116
Setting the time basis XDIV ........................................................................................... 116
Settings for channels 1..4 .............................................................................................. 117
Trigger settings .............................................................................................................. 118
Special functions ........................................................................................................... 118
C3I10T10 192-120100N17 - September 2014 115

1: Operating mode switch (see on page 116) (Single / Normal / Auto / Roll)
2: Setting the time basis (see on page 116)
3: Starting / Stopping the measurement (prerequisites are valid channel sources
and if necessary valid trigger settings.)
4: Setting channel (see on page 117) (Channels 1 ...4)
5: Special functions (see on page 118) (Color settings; memorizing settings and
measurement values)
6: Loading a measurement from Compax3: in the single mode you can close the
ServoManager after the activation of the measurement and disconnect the PC from
Compax3 and upload the measurement later.
7: Setting triggering (see on page 118)
8: Copy osci display to clipboard
9: Zoom of the osci display (1, 2, 4, 8, 16 fold) with the possibility to shift the zoom
window (<,>)
Oscilloscope operating mode switch:

Oscilloscope operating mode switch:
Selection of the desired operating mode: SINGLE, NORMAL; AUTO and ROLL by
clicking on this button.
Changing the operating mode is also permitted during a measurement. The current
measurement is interrupted and started again with the changed settings.
The following operating modes are possible:
Operating mode Short description
SINGLE Single measurements of 1-4 channels with trigger on a freely
selectable channel
NORMAL Like Single, but after each trigger event, the measurement is
started again.
AUTO No Trigger. Continuous measuring value recording with the
selected scanning time or XDIV setting
ROLL Continuous measuring value recording of 1 .. 4 channels with
selectable scanning time and a memory depth of 2000 measuring
values per channel.
With SINGLE / NORMAL / AUTO, the measurement is made in Compax3 and is
then loaded into the PC and displayed.
With ROLL, the measuring values are loaded into the PC and displayed
continuously.
Setting the time basis XDIV

Setting the time basis XDIV
Depending on the selected operating mode, the time basis can be changed via the
arrow keys.
116 C3I10T10 192-120100N17 - September 2014

For the operating modes SINGLE, NORMAL and AUTO, the following XDIV
time settings are possible:
XDIV Scanning time Samples DIV/TOTAL Measuring time
0.5 ms 125 us 4/40 5 ms
1.0 ms 125 µs 8/80 10 ms
2.0 ms 125 µs 16/160 20 ms
5.0 ms 125 µs 40/400 50 ms
10.0 ms 125 µs 80/800 100 ms
20.0 ms 1 ms 20/200 200 ms
50.0 ms 1 ms 50/500 500 ms
100.0 ms 2 ms 50/500 1s
200.0 ms 2.5 ms 80/800 2s
500.0 ms 10 ms 50/500 5s
1s 12.50 ms 80/800 10 s
2s 25.00 ms 80/800 20 s
5s 62.50 ms 80/800 50s
10s 125.00 ms 80/800 100 s
For the operating ROLL, the following XDIV time settings are possible:
XDIV Scanning time Samples DIV/TOTAL
400 ms 2 ms 200/2000
1s 5 ms 200/2000
2s 10 ms 200/2000
4s 20 ms 200/2000
10 s 50 ms 200/2000
20 s 100 ms 200/2000
40 s 200 ms 200/2000
100 s 500 ms 200/2000
200 s 1s 200/2000
Changing the time basis is also permitted during an OSCI measuring sequence.
This means, however, that the current measurement is interrupted and started
again with the changed settings.
Settings for channels 1..4
1: Select channel color

2: Open menu for channel-specific settings
 Resetting channel CH 1..4: All channel settings are deleted.
Please note: Channels can only be filled with sources one after the other. It is, for
example, not possible to start a measurement which has only a signal source for
channel 2!
 Select channel color:Here you can change the color of the channel.
 Show/hide channel:Hide/show display of the channel.
 Change logic display mask:Mask bits in logic display.
 Autoscale:Calculating YDIV and offset: The program calculates the best settings
for YDIV and channel offset in order to display the complete signal values
optimally.
C3I10T10 192-120100N17 - September 2014 117

3: Set signal source with object name, number and if necessary unit
 Define source: Draw the desired status object with the mouse (drag & drop) from
the "Status value" window (right at the bottom) into this area.
Multiple oscilloscope in Compax3M: select device in addition to the object.
4: Set Channel offset to 0
5: Select channel display (GND, DC, AC, DIG)
 DC:Display of the measurement values with constant component
 AC:Display of the measurement values without constant component
 DIG:Display of the individual bits of an INT signal source.
The displayed bits can be defined via the logic display mask.
 GND:A straight line is drawn on the zero line.
6: Set Y-amplification (YDIV)

Change of the Y amplification YDIV in the stages 1, 2, 5 over all decades.
Arrow upwards increases YDIV, arrow downwards diminishes YDIV.
The standard value is 1 per DIV.
The measurement value of the channel at the cursor cross is displayed.
Trigger settings
Select trigger channel: Buttons C1, C2, C3, C4

Select trigger mode: DC, AC, DG
Selecting the trigger edge: Rising_/ or falling \\_.
The pretrigger as well as the trigger level are set by clicking on the trigger cursor
(
) directly in the OSCI display.
Special functions
Menu with special oscilloscope functions such as memorizing or loading settings.

Functions:
 Select background color:Adapt background color to personal requirements.
 Select grid color:Adapt grid color to personal requirements.
 Memorize OSCI settings in file: The settings can be memorized in a file on any
drive. The file ending is *.OSC.
 The format corresponds to an INI file and is presented in the appendix.
 Open OSCI settings from file:Loading a memorized set of settings. The file
ending is *.OSC.
 Memorizing OSCI settings in the project:Up to four sets of OSCI settings can
be memorized in the current C3 ServoManager project. .
 Open OSCI settings from project:If settings were memorized in the project,
they can be read in again.
 Memorize OSCI measurement in file:Corresponds to memorizing the setting;
the measurement values of the measurement are stored in addition. Thus it is
possible to memorize and read measurements completely with settings. The file
ending is *.OSM.
 Export measure samples to csv file:e.g. for reading into Excel.
118 C3I10T10 192-120100N17 - September 2014

4.4.2.3 Example: Setting the Oscilloscope
SINGLE measurement with 2 channels and logic trigger on digital

inputs
The order of the steps is not mandatory, but provides a help for better
understanding.
As a rule, all settings can be changed during a measurement. This will lead to an
automatic interruption of the current measurement and to a re-start of the
measurement with the new settings:
Assumption: A test movement in the commissioning mode is active.
1.) Select OSCI operating mode
2.) Select Time basis XDIV
3.) Select channel 1 signal source digital inputs 120.2 from status tree with
the aid of Drag & Drop
4.) Select channel 2 (filtered actual speed) via "Drag and drop" from the
status tree
5.) Set trigger to channel 1 and DG.

Input of the mask in HEX
Triggering a rising edge to input I1.
BIT 0 (value 1) = I0
BIT 1 (value 2) = I1
BIT 2 (value 4) = I2 etc.
Trigger to input I0 I1 I2 I3 I4 I5 I6 I7
Trigger mask in hex 1 2 4 8 10 20 40 80
The masks can also be combined so that the trigger is only active, if several inputs
are active. Example: Triggering to I2 and I5 and I6 -> 4h + 20h + 40h = 64h
The mask for input I1 is in this case 2.
Select rising edge.
NOTE: If the trigger mask DG (digital) is selected for a channel, the display mode
of the trigger channel is automatically set to DIG display.
6.) Start measurement
7.) Set pretrigger in the OSCI window

Note: There is no level for the DIG trigger. The the event limit determines the mask
If a trigger event occurs, the measurement values are captured until the
measurement is completed.
Afterwards, the measurement values are read from the Compax3 and displayed.
The display mask of trigger channel 1 was not yet limited, therefore it shows all 16
bit tracks (b0...b15). In order to limit it to 8 bit tracks, you must call up the menu for
channel 1 via [CH1] and select "change logic of display mask [H].
Limit the display mask to 8 bit tracks with Mask FFh.
In the display the bit tracks b0 to b7 are now shown:
Example: Only b0 and b1 are to be displayed: Set display mask to 03
C3I10T10 192-120100N17 - September 2014 119

120 C3I10T10 192-120100N17 - September 2014

4.4.3. Load identification

Automatic determination of the load characteristic value:
 of the mass moment of inertia with rotary systems
 of the mass with linear systems.

Principle ........................................................................................................................ 121
Boundary conditions ...................................................................................................... 121
Process of the automatic determination of the load characteristic value (load identification)122
Tips ............................................................................................................................... 123
4.4.3.1 Principle
The load characteristic value is automatically determined.
For this it is necessary to excite the system additionally with a signal (excitation
signal = noise).
The excitation signal is fed into the control loop. The control loop dampens the
excitation signal. Therefore, the superimposed control loop is set so slowly by
reducing the stiffness, that the measurement is not influenced.
A superimposed test movement is additionally possible. This helps to eliminate
possible mechanical effects such as rubbing caused by friction.
4.4.3.2 Boundary conditions

If the control is instable before the beginning of the measurement, please reduce
the stiffness (in the optimization window at the left bottom)
The following factors can disturb a measurement:
 Systems with high friction (e.g. linear actuators with sliding guide)
Here, the systems where the static friction is considerably higher than the kinetic
friction (slip-stick effect) are especially problematic.
 Systems with significant slack points (play)
 Systems with "too light" or susceptible to oscillation bearing of the total drive
(rack).
Formation of rack resonances. (e.g. with gantries,...)
 Non constant disturbance forces which influence the speed development. (e.g.
extremely strong slot moments)
The effects of the factors one to three on the measurement can be reduced by
using a test movement.
Caveat emptor (exclusion of warranty)

Due to multiple possibilities for disturbing influences of a real control path, we
cannot accept any liability for secondary damages caused by faultily determined
values. Therefore it is essential to verify all values automatically determined before
loading them into the control loop.
C3I10T10 192-120100N17 - September 2014 121

4.4.3.3 Process of the automatic determination of the load

characteristic value (load identification)
 Please click on "unknown: default values are used" in the configuration wizard in
the "External moment of inertia" window.
 After the configuration download, you can enter directly, that the optimization
window is to be opened.
 In the Commissioning window (left at the bottom) change to commissioning
mode.
 Finally enter the values of the excitation signal and of the test movement in the
parameter window.
Parameters of the excitation signal:
 Amplitude of the excitation signal in % of the motor reference current
Only an amplitude value causing a distinct disturbance can give a usable result.
 permissible following error
In order to avoid a following error caused by the excitation signal, the
permissible following error must be increased for the measurement if
necessary.
 Selection of the test movement: inactive, reverse, continuous
 Parameterizing of the test movement if necessary
 Now energize drive and open load identification window in the commissioning
window.
Caution! Safeguard the travel range before energizing!
 Starting the load identification.
Caution! The drive will perform a jerky movement during load identification!
 After the measurement, the values can be accepted. Depending on the

application, 2 measurements for minimum external load and maximum external
load are recommended.
122 C3I10T10 192-120100N17 - September 2014

4.4.3.4 Tips
Tip Problem Measures
1 Speed too low Increase maximum speed and adapt travel
(with reverse operation) range*
2 Speed too low Increase maximum speed
(with continuous operation)
3 Test movement missing A test movement is important for drives with
high friction or with mechanical slack points
(play).
4 No error detected Please note the boundary conditions (see
on page 121).
5 Speed too low and amplitude of Increase amplitude of the excitation signal;
the excitation signal too small increase maximum speed and adapt travel
(with reverse operation) range*
6  Speed too low and Increase amplitude of the excitation signal;
 amplitude of the excitation increase maximum speed.
signal too small
(with continuous operation)
7  Test movement missing  Increase amplitude of the excitation signal
 amplitude of the excitation or / and
signal too small  activate an appropriate test movement
8 amplitude of the excitation Increase the amplitude of the excitation
signal too small signal.
9 Following error occurred Increase the parameter "permissible

following error" or decrease the amplitude of
the excitation signal.
*if the travel range is too short, the speed is not increased, as the drive does not
reach the maximum speed.
C3I10T10 192-120100N17 - September 2014 123

4.4.4. Controller Tuning

Velocity loop stiffness .................................................................................................... 125
Velocity loop damping.................................................................................................... 125
Filter - Actual velocity..................................................................................................... 126
Advanced control parameters ........................................................................................ 126
The controller optimization of the Compax3 is carried out by setting the

optimization objects in 2 steps:
 Via the standard settings, with the help of which many applications can be
optimized in a simple manner.
 With advanced settings for users familiar with control loops.
Editing the optimization objects

The settings are made in the controller optimization window:
1: Selection of the optimization tab

2: Selection of the optimization value
3: List of the optimization objects, with object name and object number
4: Command VP for accepting a changed optimization object.
Yellow background indicates that an object was changed, however not yet set to
valid with VP.
5: Command WF for permanently saving the changed objects (also after mains
off/on)
6: Acknowledging a Compax3 error
7: Setting options:
 Standard / Advanced mode
 Load protocol to clipboard, load into notepad or delete
8: Editing window: The value of an object selected with the aid of the mouse (in 3)
can here be edited and confirmed with return.
9: Additional functions, depending on the Compax3 technology function.
124 C3I10T10 192-120100N17 - September 2014

4.4.4.1 Velocity loop stiffness

The stiffness is proportional to the control loop speed.
Nominal value: 100%
On increasing stiffness:
Control action becomes faster. The control loop oscillates above a critical threshold
value. Set the stiffness with an adequate safety margin with respect to the
oscillation threshold value.
On decreasing stiffness:
Control action becomes slower. This increases the tracking error. Current limiting
will be reached later.
3 =100%
3 >100%
1
3 <100%
t
1: Setpoint value
2: Actual value
3: Rigidity
2100.2: Velocity loop stiffness

Unit: % Range: 10 ... 100 000 Standard value: 100%
The stiffness is proportional to the control loop speed.
4.4.4.2 Velocity loop damping

The damping influences the Setpoint value overshoot magnitude and the
decay time constant of control loop oscillation.
Nominal value: 100%
On increasing the damping:
Overshoot decreases. High frequency oscillation of the servo drive takes place as
from a certain threshold value.
On decreasing the attenuation
The Setpoint value overshoot of the actual value increases, and the actual value
oscillates for a longer time above and below the Setpoint value. As from a certain
threshold value the servo drive oscillates continuously.
t
1: Setpoint value
2: Actual value
3: Damping
C3I10T10 192-120100N17 - September 2014 125

2100.3: Velocity loop damping

Unit: % Range: 0 ... 500 Standard value: 100%
The damping influences the Setpoint value overshoot magnitude and the decay time
constant of control loop oscillation.
4.4.4.3 Filter - Actual velocity

Can be used to improve (filter) the rotation speed signal. The greater the value, the
stronger becomes the filter effect. However, the rotation speed delay increases
with this value, so that the maximum possible control loop dynamic range becomes
smaller with values which are too large.
 If you use motors with high-quality feedback systems (SinCos / EnDat /
©
SineCosine feedback) and low vibration mechanics, set the value to 0.

 In the case of large load inertia in relation to the moment of inertia of the motor, a
large value can achieve further improvement in the attainable stiffness.
2100.5: Filter - Actual velocity

This is used to improve signals (filtering) of the speed control signal
4.4.4.4 Advanced control parameters

The Statuswerte are divided into 2 groups (user levels):
standard: here you can find all important Statuswerte
advanced:Advanced Statuswerte requiring a better knowledge
Switching of the The user level can be changed in the optimization window (left hand side lower part
user level under selection (TAB) "optimization") with the following button.
Controller structures
Controller structure step/direction or encoder input ........................................................ 126
±10V analog speed setpoint .......................................................................................... 127
±10V analog current setpoint ......................................................................................... 127
Controller structure step/direction or encoder input
T T
2010.4
T 682.4
Demand acceleration
2011.5
682.7 Acceleration feedforward

681.4
Demand Velocity Velocity controller 688.14
T 2011.4 2100.2 Stiffness Feedforwaed
Velocity 2010.2 current & jerk Current Controller
2100.3 Damping 2220.1
feedforward 2100.8 Bandwidth
2100.4 Inertia
681.11 688.18 2100.9 Attenuation 688.11
2010.1 Demand
demand Voltage control
680.4 681.10 velocity Kp,TN
2210.5 KI 2100.20 T current r.m.s. signal
Demand position
KPx KPv
External Signale
Monitoring
2210.4
Demand
680.6 2210.1 velocity 681.6 Synchronous Asynchronous 688.19 2220.4
Following error Control deviation Actual current r.m.s.
KPv
Motor Motor (torque producing)
of velocity
1 imR*
T 2100.7
680.8 682.6
Actual Value Monitoring
Position_Actual Actual acceleration

T
Istwerterfassung
(units) actual filtered

2210.2 velocity
680.5
Position_Actual 2100.20
(incr)
682.5 Actual acceleration
unfiltered
681.9
actual velocity 2100.21
filtered 681.5 Actual velocity
unfiltered
126 C3I10T10 192-120100N17 - September 2014

±10V analog speed setpoint
T T
2010.4
T 682.4
Demand acceleration
2011.5
B 681.4
682.7 Acceleration feedforward
Demand Velocity Velocity controller 688.14
2011.4 2100.2 Stiffness Feedforwaed
Velocity 2010.2 current & jerk Current Controller
2100.3 Damping 2220.1
feedforward 2100.8 Bandwidth
2100.4 Inertia
681.11 688.18 2100.9 Attenuation 688.11
2010.1 Demand
demand Voltage control
681.10 velocity Kp,TN
2210.5 KI 2100.20 T current r.m.s. signal
KPv
2210.4
Demand
2210.1 velocity 681.6 Synchronous Asynchronous 688.19 2220.4
Control deviation Actual current r.m.s.
KPv
Motor Motor (torque producing)
of velocity
1 imR*
T 2100.7
682.6
Actual Value Monitoring

Actual acceleration
T
Istwerterfassung
actual filtered
2210.2 velocity
2100.20
682.5 Actual acceleration
unfiltered
681.9
actual velocity 2100.21
filtered 681.5 Actual velocity
unfiltered
±10V analog current setpoint

2010.5 Rising of current
2011.6 Filter 688.18 Setpoint

Rising of current current effective
688.8 Control
deviationof
current effective
Current- PI - current controller

Limiting
688.11
B
Current . . Voltage
setpoint
value
. control
signal
2011.5 Filter current Synchronous 2100.8 Bandwidth
setpoint value Motor 1 current controller
2100.9 Damping
*
2010.4 Current i
Asynchronous mR
current controller
feed-forward
Motor
688.19 Actual
current effective
Measuring of
actual value
2220.26 Filter current actual value
Controller settings
2100.8: Current regulator bandwidth
C3I10T10 192-120100N17 - September 2014 127

2100.9: Current loop - Damping

2100.7: D-component of speed controller

Unit: % Range: 0 ... 4 000 000 Standard value: 0
2100.6: Filter - Actual acceleration

Unit: % Range: 0 ... 550 Standard value: 100
2100.4: Moment of Inertia

Position controller
For motors with distinct transition from static friction to kinetic friction in connection
with a noisy feedback signal, where a control oscillation is generated at standstill, 3
optimization objects are available:
 Deadband (Object 2200.20)
 Following error filter (object 2200.11) and
 Friction compensation (Object 2200.21)
Application: The control oscillation at standstill is eliminated by the deadband.

Please note, however, that the possible exactitude is reduced by the deadband.
The use of the following error filter and the friction compensation can reduce the
deadband.
Noisy feedback signal:
A noisy feedback signal necessitates to set an unnecessarily large deadband.
To avoid this, the time constant of the following error filter can be increased.
Friction compensation
The following error can be reduced faster with the aid of friction compensation,
which will reduce the deadband.
Note: The objects (deadband, following error filter, friction compensation) are stored in
the motor library. Therefore these objects are overwritten when configuring another
motor.
PowerRod
When configuring a PowerRod, the deadband (+/-25µm) and the following error are
preassigned, the friction compensation is switched off.
Remaining motors of the motor library

For all other motors (not PowerRod), the objects are preassigned with "0".
128 C3I10T10 192-120100N17 - September 2014

Forward control measures

Forward control of rotation speed, acceleration and current
Advantages:  Minimal following error

 Improves the transient response
 Gives greater dynamic range with lower maximum current
Principle: A positioning is calculated in the Setpoint value plate and specified as the Setpoint
value for the position controller. This provides the Setpoint value plate with the
preliminary information on changes in speed, acceleration and current required for
positioning. Switching this information to the controller then makes it possible to
reduce tracking errors to a minimum. The transient response of the controller is
also improved and the drive dynamics are increased.
The stability of the control loop is unaffected by the forward control.
Positioning without forward control:
1
2
4
3
2010.1: Speed feedforward

Effect of the speed feedforward
2
t
C3I10T10 192-120100N17 - September 2014 129

1: Speed setpoint value

2: Actual speed value
3: Motor current
4: Following error
2011.1: Filter external rotation speed feedforward

Unit: % Range: 0 ... 550 Standard value: 500*
* Depending on the operating mode

With ±10V analog setpoint control the standard value = 0; otherwise 500.
2010.2: Acceleration feed-forward

Additional effect of forward acceleration control

2
t
3: Motor current
4: Following error
2011.2: Filter external acceleration feedforward

2010.4: Current feed-forward

130 C3I10T10 192-120100N17 - September 2014

Additional effect of current feedforward

2
t
3: Motor current
4: Following error
Rising of current (Para)
2010.5: Current rise

Influences the rising of current
Filter rising of current (Para)
2011.3: Filter current rise

C3I10T10 192-120100N17 - September 2014 131

4.4.5. Input simulation
Function: The input simulation is used for the performance of tests without the complete
input/output hardware being necessary.
The digital inputs (standard and inputs of M10/M12 option) as well as the analog
inputs are supported.
The following operating modes are available for digital inputs:
 The physical inputs are deactivated, the digital inputs are only influenced via the
input simulation.
 The digital inputs and the physical inputs are logically or-linked.
This necessitates very careful action, as the required function is, above all with
low-active signals, no longer available.
The pre-setting of an analog input value is always made in addition to the physical
analog input.
The function of the inputs depends on the Compax3 device type; please refer to
the respective online help or the manual.
The input simulation is only possible if the connection with Compax3 is

active and if the commissioning mode is deactivated!

Calling up the input simulation ....................................................................................... 132
Operating Principle ........................................................................................................ 132
4.4.5.1 Calling up the input simulation

Open the optimization window (double click in the C3 ServoManager tree entry:
Optimization).
Activate the Tab “Setup” in the right lower window.
Clicking on the following button will open a menu; please select the input
simulation.
4.4.5.2 Operating Principle

Window Compax3 InputSimulator:
1. Row:Standard Inputs E7 ... E0 = “0” button not pressed; = “1” switch pressed
2. Row: Optional digital inputs (M10 / M12)
Green field: port 4 is defined as input
Red field: port 4 is defined as output
the least significant input is always on the right side
3. Row: If the button “deactivating physical inputs” is pressed, all physical, digital
inputs are deactivated; only the input simulation is active.
If both sources (physical and simulated inputs) are active, they are or-linked!
Caution!
Please consider the effects of the or-linking; above all on low-active
functions.
4. Row:Simulation of the analog inputs 0 and 1 in steps of 100mV.

The set value is added to the value on the physical input.
After the input simulation has been called up, all simulated inputs are on “0”.
When the input simulation is left, the physical inputs become valid.
132 C3I10T10 192-120100N17 - September 2014

4.4.6. Setup mode

The setup mode is used for moving an axis independent of the system control
The following functions are possible:
 Homing run
 Manual+ / Manual-
 Activation / deactivation of the motor holding brake.
 Acknowledging errors
 Defining and activating a test movement
 Activating the digital outputs.
 Automatic determination of the load characteristic value (see on page 121)
 Setup of the load control
Activating the commissioning mode

By activating the setup mode, das Steuerungsprogramm (IEC-Programm) is
deactivated; the system function of the device is no longer available.
Access via an interface (RS232/RS485, Profibus, CANopen,...) and via digital
inputs is deactivated. (if necessary, acyclic communication ways are nevertheless
possible (e.g. Profibus PKW channel)
Caution!
The safety functions are not always guaranteed during the setup mode!
This will for instance lead to the fact that the axis may trundle to a stop if
the Emergency stop button is pressed (interruption of the 24 V on C3S
X4.3), which requires special caution with z axes!
 In the Commissioning window (left at the bottom) the commissioning mode is

activated.
 Then parameterize the desired test movement in the Parameter window.
You can accept changed configuration settings into the current project.
 Now energize drive in the commissioning window and start the test movement.
Caution! Safeguard the travel range before energizing!
Deactivating the commissioning mode

If the setup mode is left, the drive is deactivated and the das
Steuerungsprogramm (IEC-Programm) is re-activated.
Note:  The parameters of the commissioning window are saved with the project and are
loaded into Compax3 if the commissioning mode is activated (see explanation
below).
4.4.7. Alignment of the analog inputs

Offset alignment ............................................................................................................ 134
Gain alignment .............................................................................................................. 134
There are two possibilities to align the analog inputs in the optimization window:
 Wizard-guided under commissioning: Commissioning functions (click on the
yellow triangle with the left mouse button:
Attention”
This wizard guided automatic alignment does not work if you bridge Ain+ with
Ground for the alignment!
In this case, please make a manual alignment as described below.
or
 by directly entering under optimization: Analog Input
C3I10T10 192-120100N17 - September 2014 133

4.4.7.1 Offset alignment

Performing an offset alignment when working with the ±10V analog interface in the
optimization window under optimization: Analog input Offset [170.4].
Enter the offset value for 0V input voltage.
The currently entered value is shown in the status value "analog input" (optimizing
window at the top right) (unit: 1 ≡ 10V). Enter this value directly with the same sign
as offset value.
The status value "analogue input" shows the corrected value.
4.4.7.2 Gain alignment

Performing an offset alignment when working with the ±10V analog interface in the
optimization window under optimization: Analog input: Gain [170.2].
A gain factor of 1 has been entered as default value.
The currently entered value is shown in the status value “analog input” (optimizing
window at the top right).
The status value "analogue input" shows the corrected value.
134 C3I10T10 192-120100N17 - September 2014

4.4.8. Turning the motor holding brake on and off

Compax3 controls the holding brake of the motor and the power output stage. The
time behavior can be set.
Application:
With an axis that is subject to momentum when it is halted (e. g. for a z-axis) the
drive can be switched on and off such that no movement of the load takes place.
The drive thereby remains energized during the holding brake response time. This
is adjustable.
The power output stage current is de-energized by:
 Error or
 I0=X12/6="0"
Thereafter the motor is braked to zero rotation speed on the set ramp.
When zero speed is reached, the motor is de-energized with the delay "brake
closing delay time".
powered 1
Motor
de-energized 2
t
Open 3
Brake
Engage 4
5 t
1: Motor powered
2: Motor de-energized
3: Open brake
4: Engage the brake
5: Brake closing delay time
The power output stage is enabled by:
 Quit (after error; precondition X12/6 = 24V)
 I0=X12/6 = 24V
 after power on (only when device is already configured)
The motor is energized with the delay "delay time for brake release”:
brake closing delay time > 0 brake closing delay time < 0
1 powered 1
Motor
2 de-energized 2
t t
3 Open 3
Brake
4 Engage 4
5 t 6 t
1: Motor powered
2: Motor de-energized
3: Open brake
4: Engage the brake
5: Delay time for brake release (positive value)
6: Delay time for brake release (negative value)
A negative value (6) can be used to energize the motor and then to release the
brake after the given time.
C3I10T10 192-120100N17 - September 2014 135

Communication Step/Direction and Analog Command Input
5. Communication
Compax3 communication variants ................................................................................. 136
COM port protocol ......................................................................................................... 145
Remote diagnosis via Modem ........................................................................................ 150
5.1 Compax3 communication variants

PC <-> Compax3 (RS232) ............................................................................................. 136
PC <-> Compax3 (RS485) ............................................................................................. 138
PC <-> C3M device combination (USB) ......................................................................... 139
USB-RS485 Moxa Uport 1130 adapter .......................................................................... 140
ETHERNET-RS485 NetCOM 113 adapter ..................................................................... 141
Modem MB-Connectline MDH 500 / MDH 504 ............................................................... 142
C3 settings for RS485 two wire operation ...................................................................... 143
C3 settings for RS485 four wire operation...................................................................... 144
Overview of all possible communication modes between Compax3 devices and a
PC.
5.1.1. PC <-> Compax3 (RS232)

PC <-> Compax3 (RS232): Connections to a device
136 C3I10T10 192-120100N17 - September 2014

Parker EME Compax3 communication variants
C3I10T10 192-120100N17 - September 2014 137

5.1.2. PC <-> Compax3 (RS485)

PC <-> Compax3 (RS485)
138 C3I10T10 192-120100N17 - September 2014

5.1.3. PC <-> C3M device combination (USB)

PC <-> C3M device combination
C3I10T10 192-120100N17 - September 2014 139

5.1.4. USB-RS485 Moxa Uport 1130 adapter
The serial UPort 1130 USB adapter offers a simple and comfortable method of
connecting an RS-422 or RS-485 device to your laptop or PC. The UPort 1130 is
connected to the USB port of your computer and complements your workstation
with a DB9 RS-422/485 serial interface. For simple installation and configuration,
Windows drivers are already integrated. The UPort 1130 can be used with new or
legacy serial devices and supports both 2- and 4-wire RS-485. It is especially
suited for mobile, instrumentation and point-of-sale (POS) applications.
Manufacturer link http://www.moxa.com/product/UPort_1130_1130I.htm
Connection plan for Compax3S:
140 C3I10T10 192-120100N17 - September 2014

5.1.5. ETHERNET-RS485 NetCOM 113 adapter
Manufacturer link: http://www.vscom.de/666.htm

(http://www.vscom.de/666.htm)
C3I10T10 192-120100N17 - September 2014 141

DIP Switch settings NetCom 113 for two-wire operation:

1ON 2ON 3off 4off (Mode: RS485 by ART (2 wire without Echo)
Communication settings C3S/C3M:

Object Function Value
810.1 Protocol 16 (two wire)
810.2 Baud rate 115200
810.3 NodeAddress 1..254
810.4 Multicast Address
Connection plan NetCom113 <-> C3S :
Connection plan NetCom113 <-> C3M X31:
5.1.6. Modem MB-Connectline MDH 500 / MDH 504

With the modems MDH500 and MDH504 manufactured by MB-Connectline, you
can establish an independent connection. A virtual COM port is generated and the
communication with the PC as well as the Compax3 takes place via RS232 or
RS485.
It is not necessary to make any modem settings on the Compax3.
142 C3I10T10 192-120100N17 - September 2014

5.1.7. C3 settings for RS485 two wire operation

C3 ServoManager RS485 wizard settings:
download with configuration in RS232 mode°!

810.1 Protocol 16 (two wire)
810.2 Baud rate 115200
C3I10T10 192-120100N17 - September 2014 143

5.1.8. C3 settings for RS485 four wire operation

C3 ServoManager RS485 wizard settings:
download with configuration in RS232 mode

810.1 Protocol 0 (4 wire)
810.2 Baud rate 115200
144 C3I10T10 192-120100N17 - September 2014

Parker EME COM port protocol
5.2 COM port protocol

You can communicate with Compax3 in order to read or write objects via plug X10
( or X3 on the mains module of Compax3M) on the front via a COM port (max. 32
nodes).
As a rule 2 records are possible:
 ASCII record: simple communication with Compax3
 Binary record: fast and secure communication with Compax3 by the aid of block
securing.
Switching between the ASCII and the binary record via automatic record
detection.
Interface settings (see on page 214)
Wiring RS232: SSK1 (see on page 195)

RS485: as SSK27 (see on page 196) / RS485 is activated by +5V on X10/1.
USB: SSK33/03 (only for Compax3M)
RS485 settings values ................................................................................................... 145
ASCII - record................................................................................................................ 145
Binary record ................................................................................................................. 146
5.2.1. RS485 settings values

If “Master=Pop” is selected, only the settings compatible with the Pops (Parker
Operator Panels) made by Parker are possible.
Please note that the connected Pop has the same RS485 setting values.
You can test this with the "PopDesigner" software.
"Master=General" makes all Compax3 settings possible.

Multicast Address You can use this address to allow the master to access multiple devices
simultaneously.
Device Address The device address of the connected Compax3 can be set here.
Baud rate Adjust the transfer speed (baud rate) to the master.
Cable type Please choose between two-wire and four-wire RS485 (see on page 57).
Protocol Adjust the protocol settings to the settings of your master.
5.2.2. ASCII - record

The general layout of a command string for Compax3 is as follows:
[Adr] command CR
Adr RS232: no address
RS485: Compax3 address in the range 0 ... 99
Address settings can be made in the C3 ServoManager under "RS485 settings"
Command valid Compax3 command
CR End sign (carriage return)
C3I10T10 192-120100N17 - September 2014 145

Command A command consists of the representable ASCII characters (0x21 .. 0x7E). Small
letters are converted automatically into capitals and blanks (0x20) are deleted, if
they are not placed between two quotation marks.
Separator between places before and after the decimal is the decimal point (0x2E).
A numeric value can be given in the Hex-format if it is preceded by the “$” sign.
Values can be requested in the Hex-format if the CR is preceded additionally by
the “$” sign.
Answer strings All commands requesting a numeric value from Compax3 are acknowledged with
the respective numeric value in the ASCII format followed by a CR without
preceding command repetition and following statement of unit. The length of these
answer strings differs depending on the value.
Commands requesting an Info-string (e.g. software version), are only
acknowledged with the respective ASCII character sequence followed by a CR,
without preceding command repetition. The length of these answer strings is here
constant.
Commands transferring a value to Compax3 or triggering a function in Compax3
are acknowledged by:
>CR
if the value can be accepted resp. if the function can be executed at that point in
time.
If this is not the case or if the command syntax was invalid, the command is
acknowledged with
!xxxxCR
.
The 4 digit error number xxxx is given in the HEX format; you will find the meaning
in the appendix (see on page 154).
RS485 answer string When using RS485, each answer string is preceded by a “*“" (ASCII - character:
0x2A).
Compax3 commands
Read object
RS232: O [$] Index , [$] Subindex [$]
RS485: Address O [$] Index , [$] Subindex [$]
The optional "$" after the subindex stands for "hex-output" which means that an
object value can also be requested in hex;
For example "O $0192.2$": (Object 402.2)
Write object
RS232: O [$] Index , [$] Subindex = [$] Value [ ; Value2 ; Value3 ; ...]
RS485: Address O [$] Index , [$] Subindex = [$] Value [ ; Value2 ; Value3 ; ...]
The optional “$” preceding Index, Subindex and value stands for “Hex-input” which
means that Index, Subindex and the value to be transferred can also be entered in
hex (e.g. O $0192.2=$C8).
5.2.3. Binary record

The binary record with block securing is based on 5 different telegrams:
 2 request telegrams which the control sends to Compax3 and
 3 response telegrams which Compax3 returns to the control.
146 C3I10T10 192-120100N17 - September 2014

Telegram layout
Basic structure:
Start code Address Number of data bytes - 1 Data Block securing
SZ A L D0 D1 ... Dn Crc(Hi) Crc(Lo)
The start code defines the frame type and is composed as follows:
Bit 7 6 5 4 3 2 1 0
Frame type Frame identification PLC Gateway Address
RdObj read object 1 0 1 0 x 1 x x
WrObj write object 1 1 0 0 x 1 x x
Rsp response 0 0 0 0 0 1 0 1
Ack positive command acknowledgement 0 0 0 0 0 1 1 0
Nak Negative command acknowledgement 0 0 0 0 0 1 1 1
Bits 7, 6, 5 and 4 of the start code form the telegram identification; Bit 2 is always
“1”.
Bits 3, 1 and 0 have different meanings for the request and response telegrams.
The address is only necessary for RS484.
Request telegrams
-> Compax3
 the address bit (Bit 0 = 1 ) shows if the start code is followed by an address
(only for RS485; for RS232 Bit 0 = 0)
 the gateway bit (Bit 1 = 1) shows if the message is to be passed on.
(Please set Bit 1 = 0, as this function is not yet available)
 the PLC bit (Bit 3 = 1 ) allows access to objects in the PLC/Pop format
U16, U32: for integer formats (see bus formats: Ix, Ux, V2)
IEEE 32Bit Floating Point: for non integer formats (bus formats: E2_6, C4_3, Y2,
Y4; without scaling)
With Bit 3 = 0 the objects are transmitted in the DSP format.
DSP formats:
24 Bit = 3 Bytes: Integer INT24 or Fractional FRACT24
48 Bit = 6 Bytes: Real REAL48 (3 Byte Int, 3 Byte Fract) / Double Integer DINT48
/ Double Fractional DFRACT48
Response telegram
C3I10T10 192-120100N17 - September 2014 147

Compax3 ->
 Bits 0 and 1 are used to identify the response
 Bit 3 is always 0
The maximum number of data bytes in the request telegram is 256, in the response
telegram 253.
The block securing (CRC16) is made via the CCITT table algorithm for all
characters.
After receiving the start code, the timeout monitoring is activated in order to avoid
that Compax3 waits in vain for further codes (e.g. connection interrupted) The
timeout period between 2 codes received is fixed to 5ms (5 times the code time at
9600Baud)
Write object - WrObj telegram

SZ Adr L D0 D1 D2 D3 ... Dn Crc(Hi) Crc(Lo)
0xCX n Index(Hi) Index(Lo) Subindex Value 0x.. 0x..
Describing an object by a value.
Positive acknowledgement - Ack-telegram

SZ L D0 D1 Crc(Hi) Crc(Lo)
0x06 1 0 0 0x.. 0x..
Answer from Compax3 if a writing process was successful, i.e. the function could
be executed and is completed in itself.
Negative acknowledgement - Nak - telegram

SZ L D0 D1 Crc(Hi) Crc(Lo)
0x07 1 F-No.(Hi) F-No.(Lo) 0x.. 0x..
Answer from Compax3 if access to the object was denied (e.g. function cannot be
executed at that point in time or object has no reading access). The error no. is
coded according to the DriveCom profile resp. the CiA Device Profile DSP 402.
Read object - RdObj - telegram

SZ Adr L D0 D1 D2 D3 D4 D5 ... Dn Crc(Hi) Crc(Lo)
0xAX n Index1(Hi) Index1(Lo) Subindex1 Index2(Hi) Index2(L Subindex2 ... ... 0x.. 0x..
o)
Reading one or several objects
Answer - Rsp - telegram

SZ L D0 ... Dx-1 Dx ... Dy-1 Dy-D.. D ... D.. D ... Dn Crc(Hi) Crc(Lo)
0x05 n Value1 Value 2 Value 3 Value .. Value n 0x.. 0x..
Answer from Compax3 if the object can be read.
If the object has no reading access, Compax3 answers with the Nak - telegram.
Example:
Reading object "StatusPositionActual" (o680.5):
Request: A5 03 02 02 A8 05 E1 46
Response: 05 05 FF FF FF FF FE 2D 07 B4
Writing into an Array (o1901.1 = 2350)

Request: C5 02 08 07 6D 01 00 09 2E 00 00 00 95 D5
Response: 06 01 00 00 BA 87
148 C3I10T10 192-120100N17 - September 2014

Block securing: Checksum calculation for the CCITT table algorithm

The block securing for all codes is performed via the following function and the
corresponding table:
The “CRC16” variable is set to “0” before sending a telegram.
Function call:
CRC16 = UpdateCRC16(CRC16, Character);
This function is called up for each Byte (Character) of the telegram.

The result forms the last two bytes of the telegram
Compax3 checks the CRC value on receipt and reports CRC error in the case of a
deviation.
Function const unsigned int _P CRC16_table[256] = {

0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7,
0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef,
0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6,
0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de,
0x2462, 0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485,
0xa56a, 0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d,
0x3653, 0x2672, 0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4,
0xb75b, 0xa77a, 0x9719, 0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc,
0x48c4, 0x58e5, 0x6886, 0x78a7, 0x0840, 0x1861, 0x2802, 0x3823,
0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b,
0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50, 0x3a33, 0x2a12,
0xdbfd, 0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a,
0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41,
0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49,
0x7e97, 0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70,
0xff9f, 0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78,
0x9188, 0x81a9, 0xb1ca, 0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f,
0x1080, 0x00a1, 0x30c2, 0x20e3, 0x5004, 0x4025, 0x7046, 0x6067,
0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, 0xe37f, 0xf35e,
0x02b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 0x6277, 0x7256,
0xb5ea, 0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d,
0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
0xa7db, 0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c,
0x26d3, 0x36f2, 0x0691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634,
0xd94c, 0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab,
0x5844, 0x4865, 0x7806, 0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3,
0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a,
0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1, 0x1ad0, 0x2ab3, 0x3a92,
0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, 0x9de8, 0x8dc9,
0x7c26, 0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0x0cc1,
0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8,
0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0
};
unsigned int UpdateCRC16(unsigned int crc,unsigned char wert) {
unsigned int crc16;
crc16 = (CRC16_table[(crc >> 8) & 0x00FF] ^ (crc << 8)

^ (unsigned int)(value));
return crc16;
}
You will find this function on the Compax3 DVD under RS232_485\\Function
UpdateCRC16.txt!
C3I10T10 192-120100N17 - September 2014 149

5.3 Remote diagnosis via Modem

Caution!
As the transmission via modem may be very slow and interference-prone, the
operation of the Compax3 ServoManager via modem connection is on your
own risk!
The function setup mode as well as the ROLL mode of the oscilloscope are
not available for remote diagnosis!
It is not recommended to use the logic analyzer in the Compax3 IEC61131-3
debugger due to the limited bandwidth.
Requirements:
For modem operation, a direct and stable telephone connection is required.
Operation via a company-internal telephone system is not recommended.
Structure........................................................................................................................ 150
Configuration of local modem 1 ..................................................................................... 151
Configuration of remote modem 2.................................................................................. 152
Recommendations for preparing the modem operation .................................................. 152
5.3.1. Structure
Layout and configuration of a modem connection ServoManager -
Compax3:
machine
PC Release PC
> R5-0
7
Compax3 Compax3 Compax3
ServoManager
5 konfig ServoManager
konfig 3 konfig
Modem 1 Modem 2 konfig
Phone
X10
1 2 4 SSK31 6 9 8
Release
> R4-5
konfig konfig < R5-0
Release < R5-0 Release < R4-5
PC (115200Baud)
ATE0 cr
10 ATQ1 cr 11
Hyper-
Compax3.ini
terminal
150 C3I10T10 192-120100N17 - September 2014

Parker EME Remote diagnosis via Modem
The green part of the drawing shows the proceeding for Compax3 release versions
< R5-0!
The proceeding for Compax3 release versions < R5-0 is described in an
application example (.../modem/C3_Appl_A1016_language.pdf on the Compax3
CD).
Connection Compax3 ServoManager <=> Compax3
The Compax3 ServoManager (1) establishes a RS232 connection with modem 1
(PC internal or external).
Modem 1 dials modem 2 via a telephone connection (3).
Modem 2 communicates with Compax3 (6) via RS232.
Configuration
Modem 1 is configured via the Compax3 ServoManager (1)
Modem 2 can be configured via Compax3 (on place), triggered by putting SSK31
(see on page 199) on X10. For this, the device must be configured before. This can
be made locally before the system / machine is delivered with the aid of the
Compax3 ServoManager (8).
5.3.2. Configuration of local modem 1

 Menu "Options: Communication settings RS232/RS485..." must be opened
 Select "Connection via Modem"
 Under "name" you can enter a name for the connection
 Enter the target telephone number.
Note: If an ISDN telephone system is operated within a company network, an
additional "0" may be required in order to get out of the local system into the
company network before reaching the outside line with an additional "0".
 The timeout periods are set to reasonable standard values according to our
experience.
 Select the modem type.
 For "user-defined modem", additional settings are only required, if the modem
does not support standard AT commands.
Then you can enter special AT commands.
 Hint:When operating the local modem on a telephone system, it may be
necessary to make a blind dialing. Here, the modem does not wait for the
dialing tone.
 Select the COM interface where the modem is connected.
 Close the window and establish the connection with button (open/close COM
port).
 The connection is interrupted when the COM port is closed.

dialing tone.
C3I10T10 192-120100N17 - September 2014 151

5.3.3. Configuration of remote modem 2

Settings in Compax3 under "configure communication: Modem settings":
 Modem initialization = "ON": After the SSK31 modem cable has been connected,
Compax3 initializes the modem
 Modem initialization after Power On = "ON": After Power on of Compax3, the
device initializes the modem
 Modem check = "ON": a modem check is performed
 The timeout periods are set to reasonable standard values according to our
experience.
dialing tone.
 In the following wizard window, a specific download of the modem configuration
can be made.
Note:
If a configuration download is interrupted, the original settings in the non volatile
memory of the Compax3 are still available.
You have to finish the communication on the PC side and to reset the Compax3 via
the 24V supply before you can start a new trial.
Reinitialization of the remote modem 2

Remove cable on Compax3 X10 and connect again!
5.3.4. Recommendations for preparing the modem operation

Preparations:
 Settings in Compax3 under "configure communication: Modem settings":
 Modem initialization: "ON"
 Modem initialization after Power On: "ON"
 Modem check: "ON"
 Deposit SSK31 cable in the control cabinet.
 Install modem in the control cabinet and connect to telephone line.
Remote diagnosis required:

 On site:
 Connect modem to Compax3 X10 via SSK31
 Modem is automatically initialized
 Local:
 Connect modem to telephone line
 Establish cable connection to modem (COM interface)
 Select "connection via modem" under "options: communication settings
RS232/RS485...".
 Select modem under "selection"
 Enter telephone number
 Select COM interface (PC - modem)
 Establish connection with button (open/close COM port).
Access to Compax3 objects

Via RS232 and RS485 you can access the status objects.
152 C3I10T10 192-120100N17 - September 2014

Parker EME D/A-Monitor
6. Status values
D/A-Monitor ................................................................................................................... 153
A list of the status values supports you in optimization and commissioning.

Open the optimization function in the C3 ServoManager (double-click on
optimization in the tree)
You will find the available status values in the lower right part of the window under
selection (TAB) “Status values”.
You can pull them into the oscilloscope (upper part of the left side) or into the
status display (upper part of the right side) by the aid of the mouse (drag and drop).
The status values are divided into 2 groups (user levels):
standard: here you can find all important status values
advanced:Advanced status values, require a better knowledge
Switching of the The user level can be changed in the optimization window (left hand side lower part
user level under selection (TAB) "optimization") with the following button.
6.1 D/A-Monitor
A part of the status values can be output via the D/A monitor channel 0 (X11/4) and
channel 1 (X11/3).In the following status list under D/A monitor output: possible /
not possible).
The reference for the output voltage can be entered individually in the reference
unit of the status value.
Example: Output Object 2210.2: (actual speed unfiltered)

In order to get an output voltage of 10V at 3000prm , please enter rev/s
(=3000rpm) as "value of the signal at 10V".
Hint
The unit of measurement of the D/A monitor values differs from the unit of
measurement of the status values.
Additional information on the topic of "status values" can be found in the online
help of the device.
C3I10T10 192-120100N17 - September 2014 153

Error Step/Direction and Analog Command Input
7. Error
Standard error reactions:
Reaction 2: Downramp with "de-energize" then apply brake (see on page 135)
and finally de-energize.
For errors with standard reaction 2 the error reaction can be changed (see on
page 106).
Reaction 5: de-energize immediately (without ramps), apply brake.
Caution! A Z-axis may drop down due to the brake delay times
Pending errors can be acknowledged with Quit!

Object 550.1 displays error:
value 1 means "no error".
The errors as well as the error history can be viewed in the C3 ServoManager
under optimization (at the top right of the optimization window).
Detailed information on the topic of the "error list" can be found in the online help of
the device.
154 C3I10T10 192-120100N17 - September 2014

Parker EME D/A-Monitor
8. Order code
Order code device: Compax3 ........................................................................................ 156
Order code for mains module: PSUP ............................................................................. 157
Order code for accessories ............................................................................................ 157
C3I10T10 192-120100N17 - September 2014 155

Order code Step/Direction and Analog Command Input
8.1 Order code device: Compax3

Example: C3S025V2F10I10T10M00 C3
Device type: Compax3
Single axis S --
Highpower H --
Multi-axis device M
Device currents static/dynamic; supply voltage
2.5A / 5A ; 230VAC (single phase) S 025 V2 --
6.3 A / 12.6 A ; 230VAC (1 phase) S 063 V2 --
10A / 20A ; 230VAC (three phase) S 100 V2 --
15A / 30A ; 230VAC (three phase) S 150 V2 --
1.5A / 4.5A ; 400VAC (three phase) S 015 V4 --
3.8 A / 7.5 A ; 400VAC (3 phase) S 038 V4 --
7.5 A / 15.0 A ; 400VAC (3 phase) S 075 V4 --
15.0 A / 30.0 A ; 400VAC (3 phase) S 150 V4 --
30.0 A / 60.0 A ; 400VAC (3 phase) S 300 V4 --
50A / 75A ; 400VAC (three phase) H 050 V4 --
90A / 135A ; 400VAC (three phase) H 090 V4 --
125A / 187.5A ; 400VAC (three phase)* H 125 V4 --
155A / 232.5A ; 400VAC (three phase)* H 155 V4 --
5.0A / 10,0A ; 400VAC (three phase) M 050 D6
10A / 20A ; 400VAC (three phase) M 100 D6
15A / 30A ; 400VAC (three phase) M 150 D6
60A 30A / ; 400VAC (three phase) M 300 D6
Feedback:
Resolver F10
SinCos© (Hiperface) F11
Encoder, Sine-cosine with/without hall F12
Interface:
Step/direction / analogue input I10 T10 M00
Positioning with inputs/outputs I11 T11 M00
Positioning via I/Os or RS232 / RS485/USB I12
Profibus DP V0/V1/V2 (12Mbaud) I20
CANopen I21
DeviceNet I22
Ethernet Powerlink I30
EtherCAT I31
Profinet I32
C3 powerPLmC (Multi-axis control) C20 M00
Technology functions:
Positioning T11
Motion control programmable according to IEC61131-3 T30
Motion control programmable according to IEC61131-3 &
T40
electronic cam extension
Options:
no additional supplement M00
Expansion 12 digital I/Os & HEDA (Motionbus) M10
HEDA (Motionbus) M11
Expansion, 12 digital I/Os M12
Safety technology only C3M:
Safe torque off M D6 S1
Extended safety technology M D6 S3
*external voltage supply for ventilator fan required. Available in two versions for single phase feed:
Standard: 220/240VAC: 140W, on request: 110/120VAC: 130W
156 C3I10T10 192-120100N17 - September 2014

Parker EME Order code for mains module: PSUP
8.2 Order code for mains module: PSUP

Example: PSUP10D6USBM00 PSU P D6 USB M00
Power module P
Nominal power; supply voltage
10kW; 400 VAC (3-phase) 10 D6
20kW; 400 VAC (3-phase) 20 D6
30kW; 400 VAC (3-phase) 30 D6
Interface:
USB connection USB
Options:
no additional supplement M00
8.3 Order code for accessories

Order code for feedback cables ..................................................................................... 158
Order Code braking resistors ......................................................................................... 158
Order code mains filter (C3S) ........................................................................................ 159
Order code capacitor module......................................................................................... 159
Interface cable order code ............................................................................................. 159
Order Code input/output terminals (PIO)........................................................................ 160
Order note ..................................................................................................................... 161
Order Code connection set for Compax3S

The corresponding connection sets are furnished with the device. /
for C3S0xxV2 ZBH 02/01 ZBH 0 2 / 0 1
for C3S0xxV4 / S150V4 / S1xxV2 ZBH 02/02 ZBH 0 2 / 0 2
for C3S300V4 ZBH 02/03 ZBH 0 2 / 0 3
Order code for PSUP/Compax3M connection set

The corresponding connection sets are furnished with the device. /
for C3M050D6, C3M100D6, C3M150D6 ZBH 04/01 ZBH 0 4 / 0 1
for C3M300D6 ZBH 04/02 ZBH 0 4 / 0 2
for PSUP10 ZBH 04/03 ZBH 0 4 / 0 3
PSUP20, PSUP30 ZBH 04/04 ZBH 0 4 / 0 4
C3I10T10 192-120100N17 - September 2014 157

8.3.1. Order code for feedback cables

/
for resolver (2 for MH / SMH motors REK 4 2 / ... ...(1
for resolver (2 for MH / SMH motors (cable chain compatible) REK 4 1 / ... ...(1
for SinCos© – feedback (2 for MH / SMH motors (cable chain compatible) GBK 2 4 /
.. ...(1
(2
for EnDat 2.1 for MH / SMH motors (cable chain compatible) GBK 3 8 / .. ...(1
(2
for EnDat 2.2 for MH / SMH motors (cable chain compatible) GBK 5 6 / .. ...(1
Encoder – Compax3 GBK 2 3 / ... ...(1
for LXR linear motors (cable chain compatible) GBK 3 3 / ... ...(1
for BLMA linear motors (cable chain compatible) GBK 3 2 / ... ...(1
(x
Note on cable (see on page 161)
Motor cable order code (2

/
for SMH / MH56 / MH70 / MH105(3 (1.5mm2; up to 13.8A) MOK 5 5 / ... ...(1
(3
for SMH / MH56 / MH70 / MH105 (1.5mm2; up to 13.8A) (cable chain compatible) MOK 5 4 / ... ...(1
(3
for SMH / MH56 / MH70 / MH105 (2.5mm2; up to 18.9A) MOK 5 6 / ... ...(1
(3
(4
for MH145 / MH205 (1.5mm2; up to 13.8A) MOK 6 0 / ... ...(1
(4
for MH145 / MH205 (1.5mm2; up to 13.8A) (cable chain compatible) MOK 6 3 / ... ...(1
(4
(4
(4
for MH145 / MH205 (6mm2; up to 32.3A) (cable chain compatible) MOK 6 1 / ... ...(1
(4
(x
8.3.2. Order Code braking resistors

Order Code braking resistors
/
for C3S063V2 or C3S075V4 56Ω / 0.18kWcont. BRM 0 5 / 0 1
for C3S075V4 56Ω / 0.57kWcont. BRM 0 5 / 0 2
for C3S025V2 or C3S038V4 100Ω / 60Wcont. BRM 0 8 / 0 1
4/01:15Ω / 0.57kWcont.
for C3S150V2, C3S300V4 and PSUP20D6 BRM 0 4 / 0 ...
4/02:15Ω / 0.74kWcont.
for C3S300V4 and PSUP20D6 4/03:15Ω / 1.5kWcont.
for C3H0xxV4 27Ω / 3.5kWcont. BRM 1 1 / 0 1
for PSUP10D6 and
30Ω / 0.5kWcont. BRM 1 3 / 0 1
PSUP20D6 / PSUP30D6 (2x30Ω parallel)
for PSUP10D6 (2x15Ω in series),
15Ω / 0.5kWcont. BRM 1 4 / 0 1
PSUP20D6, PSUP30D6
for C3H1xxV4, PSUP30D6 18Ω / 4.5kWcont. BRM 1 2 / 0 1
158 C3I10T10 192-120100N17 - September 2014

Parker EME Order code for accessories
8.3.3. Order code mains filter (C3S)

Order code mains filter Compax3S
/
for C3S025V2 or S063V2 NFI 0 1 / 0 1
for C3S0xxV4, S150V4 or S1xxV2 NFI 0 1 / 0 2
for C3S300V4 NFI 0 1 / 0 3
Order code mains filter Compax3H

/
for C3H050V4 NFI 0 2 / 0 1
for C3H090V4 NFI 0 2 / 0 2
for C3H1xxV4 NFI 0 2 / 0 3
Order Code mains filter PSUP

/
Reference axis combination 3x480V 25A
for PSUP10 NFI 0 3 / 0 1
6x10m motor cable length
for PSUP20 & PSUP30 NFI 0 3 / 0 3
Order code for mains filters

for PSUP30 Mains filter LCG-0055-0.45 mH
for PSUP30 Mains filter with UL approval LCG-0055-0.45 mH-UL
Order code for motor output filter (for Compax3S, Compx3M >20m motor cable)
/
up to 6,3 A rated motor current MDR 0 1 / 0 4
Up to 16 A rated motor current MDR 0 1 / 0 1
Up to 30A A rated motor current MDR 0 1 / 0 2
8.3.4. Order code capacitor module

Order code capacitor module
for C3S300V4 1100µF Module C4
C3I10T10 192-120100N17 - September 2014 159

8.3.5. Interface cable order code

Order code for interface cables and connectors
/
PC – Compax3 (RS232) SSK 0 1 / ... ...(1
PC – PSUP (USB) SSK 3 3 / ... ...
on X11 (Ref/Analog) and X13 with C3F001D2 with flying leads SSK 2 1 / ... ...(1
on X12 / X22 (digital I/Os) with flying leads SSK 2 2 / ... ...(1
on X11 (Ref /Analog) for I/O terminal block SSK 2 3 / ... ...(1
on X12 / X22 (digital I/Os) for I/O terminal block SSK 2 4 / ... ...(1
PC  POP (RS232) SSK 2 5 / ... ...(1
Compax3  POP (RS485) for several C3H on request SSK 2 7 / ../ ...(6
Compax3 HEDA  Compax3 HEDA or PC  C3powerPLmC
Compax3 I30  Compax3 I30 or C3M-multi-axis communication SSK 2 8 / ../ ...(5
Profinet, EtherCAT, Ethernet Powerlink
Compax3 X11  Compax3 X11 (encoder coupling of 2 axes) SSK 2 9 / ... ...(1
Compax3 X10  Modem SSK 3 1 / ...
Compax3H adapter cable  SSK01 (length 15cm, delivered with the device) SSK 3 2 / 2 0
Compax3H X10 RS232 connection control  Programming interface (delivered with the device) VBK 1 7 / 0 1
Bus terminal connector (for the 1st and last Compax3 in the HEDA Bus/or multi-axis system) BUS 0 7 / 0 1
Profibus cable (2 non prefabricated SSL 0 1 ... ...(7
Profibus connector BUS 0 8 / 0 1
CAN bus cable (2 non prefabricated SSL 0 2 ... ...(7
CAN bus connector BUS 1 0 / 0 1
(x
Order Code operating module

/
Operating module (for Compax3S and Compax3F) BDM 0 1 / 0 1
Order Code terminal block

/
for I/Os without luminous indicator for X11, X12, X22 EAM 0 6 / 0 1
for I/Os with luminous indicator for X12, X22 EAM 0 6 / 0 2
8.3.6. Order Code input/output terminals (PIO)

Order Code decentralized input terminals
PIO 2DI 24VDC 3.0ms 2-channel digital input terminal PIO 4 0 0

PIO 2AI DC ±10V differential 2 channel analog input terminal (±10 V differential input) PIO 4 5 6
input
PIO 4AI 0-10VDC S.E. 4 channel analog input terminal (0-10V signal voltage) PIO 4 6 8
PIO 2AI 0-20mA differential 2-channel analog input terminal (0-20mA differential input) PIO 4 8 0
input
160 C3I10T10 192-120100N17 - September 2014

Parker EME Order code for accessories
Order Code decentralized output terminals
PIO 2DO 24VDC 0.5A 2 channel digital output terminal (output voltage 0.5A) PIO 5 0 1
PIO 2AO 0-10VDC 2 channel analog output terminal (0-10V signal voltage) PIO 5 5 0
PIO 2AO 0-20mA 2-channel analog output terminal (0-20mA signal voltage) PIO 5 5 2
PIO 2AO DC ±10V 2-channel analog output terminal (±10V signal voltage) PIO 5 5 6
Order Code CANopen Fieldbus Coupler
CANopen Standard max. Vectorial sum current for bus terminals 1650mA at 5V PIO 3 3 7
CANopen ECO max. Vectorial sum current for bus terminals 650mA at 5V PIO 3 4 7
8.3.7. Order note

(1
Length code 1
Length [m] 1.0 2.5 5.0 7.5 10.0 12.5 15.0 20.0 25.0 30.0 35.0 40.0 45.0 50.0
Code 01 02 03 04 05 06 07 08 09 10 11 12 13 14
Other adaptation can be developed on request!
Example:
SSK01/09: Length 25m
(2
Colors according to DESINA
(3
with motor connector
(4
with cable eye for motor terminal box
5
length code 2 for SSK28
Length [m] 0.17 0.25 0.5 1.0 3.0 5.0 10.0
Order code 23 20 21 01 22 03 05
(6
Order code: SSK27/nn/..
Length A (Pop - 1. Compax3) variable (the last two numbers according to the
length code for cable, for example SSK27/nn/01)
Length B (1. Compax3 - 2. Compax3 - ... - n. Compax3) fixed 50 cm (only if there is
more than 1 Compax3, i.e. nn greater than 01)
Number n (the last two digits)
Examples include:
SSK27/05/.. for connecting from Pop to 5 Compax3.
SSK27/01/.. for connecting from Pop to one Compax3
MOK55 and MOK54 can also be used for linear motors LXR406, LXR412 and
BLMA.
(7
sold by the meter: Length in meters (order in number of items)
(x
C3I10T10 192-120100N17 - September 2014 161

Compax3 Accessories Step/Direction and Analog Command Input
9. Compax3 Accessories
Parker servo motors ...................................................................................................... 162
EMC measures .............................................................................................................. 165
Connections to the motor............................................................................................... 173
External braking resistors .............................................................................................. 178
Capacitor module C4 ..................................................................................................... 191
Operator control module BDM ....................................................................................... 192
EAM06: terminal block for inputs and outputs ................................................................ 192
Interface cable ............................................................................................................... 195
9.1 Parker servo motors

Direct drives .................................................................................................................. 162
Rotary servo motors ...................................................................................................... 164
9.1.1. Direct drives

Transmitter systems for direct drives ............................................................................. 163
Linear motors ................................................................................................................ 164
Torque motors ............................................................................................................... 164
162 C3I10T10 192-120100N17 - September 2014

Parker EME Parker servo motors
9.1.1.1 Transmitter systems for direct drives

The Feedback option F12 makes it possible to operate linear motors as well as
torque motors. Compax3 supports the following transmitter systems:
Special Feedback
Systems Option F12
Analog hall sensors  Sine-Cosine signal (max. 5Vpp*; typical 1Vpp) 90°
offset
 U-V signal (max. 5Vpp*; typical 1Vpp) 120° offset.
Encoder  Sine-Cosine (max. 5Vpp*; typical 1Vpp) (max.

(linear or rotary) 400kHz) or
 TTL (RS422) (max. 5MHz; track A or B)
 Bypass function for encoder signals
(limit frequency** 5MHz, track A or B)
with the following modes of commutation:
 Automatic commutation (see on page 163) or
 U, V, W or R, S, T commutation signals (NPN open
collector) e.g. digital hall sensors, incremental
encoders made by Hengstler (F series with electrical
ordering variant 6)
EnDat*** with  EnDat 2.1 or EnDat 2.2 (Endat01, Endat02) feedback
incremental (Sine -  linear or rotary
Cosine) track  max. 400kHz Sine-Cosine
EnDat 2.2*** (fully  EnDat 2.2 (Endat01, Endat02) feedback

digital)  linear or rotary
 max. Cable length: 25 m
EnDat2.1***(fully digital)  EnDat 2.1 without incremental track

 Supported types: EQI11xx, ECI11xx, ECI11x
Distance coded  Distance coding with 1 VSS interface

feedback systems  Distance coding with RS422 - Interface (Encoder)
*Max. differential input between SIN- (X13/7) and SIN+ (X13/8).
** Limit frequency = 1MHz for Compax3M (higher bandwidths on request)
*** Digital, bidirectional interface
The motor performs automatic commutation after:
 Power on,
 A configuration download or
 An IEC program download
The time duration (typically 5-10 sec) of automatic commutation can be optimized
with the start current (see in the optimization display of the C3 ServoManager;
given as a percentage of the reference current). Note that values that are too high
will cause Error 0x73A6 to be triggered.
Typically the motor moves by 4% of the pitch length or, with rotary direct drives 4%
of 360°/number of pole pairs - maximum 50%.
Note the following conditions for automatic commutation
 During automatic commutation the end limits are not monitored.
 Actively working load torques are not permitted during automatic commutation.
 Static friction deteriorates the effect of automatic commutation.
 With the exception of missing commutation information, the controller/motor
combination is configured and ready for operation (parameters correctly assigned
for the linear motor/drive). The transmitter and the direction of the field of rotation
in effect must match.
 The auto-commutating function must be adapted to fit the mechanics if necessary
during commissioning.
C3I10T10 192-120100N17 - September 2014 163

9.1.1.2 Linear motors

Parker offers you a number of systems of linear motor drives:
Feed force Stroke length:
Linear motors (continuous/dynamic)
LMDT ironless linear servo 26 ... 1463N almost any
motors:
LMI iron-cored linear servo 52 ... 6000N 64 ... 999mm
motors:
LXR Series Linear Motors 315N / 1000N up to 3m
Linear motor module BLMA: 605N / 1720N up to 6m
9.1.1.3 Torque motors

Parker offers you an extensive range of torque motors that can be adapted to your
application. Please contact us for information.
Additional information can be found on the Internet http://www.parker.com/eme
in the direct drives section.
9.1.2. Rotary servo motors

Parker offers you an extensive range of servo motors that can be adapted to your
application. Please contact us for information.
Additional information can be found on the Internet
http://www.parker.com/eme/smh
or on the DVD supplied in the documentations file.
Suitable servo motors for Compax3H are available on request!
164 C3I10T10 192-120100N17 - September 2014

Parker EME EMC measures
9.2 EMC measures

Mains filter ..................................................................................................................... 165
Motor output filter........................................................................................................... 170
Mains chokes ................................................................................................................ 172
9.2.1. Mains filter

For radio disturbance suppression and for complying with the emission limit values
for CE conform operationwe offer mains filters:
Observe the maximum permitted length of the connection between the mains filter
and the device:
 unshielded <0.5m;
 shielded: <5m (fully shielded on ground e.g. ground of control cabinet)
Order code mains filter Compax3S

/
for C3S025V2 or S063V2 NFI 0 1 / 0 1
for C3S0xxV4, S150V4 or S1xxV2 NFI 0 1 / 0 2
for C3S300V4 NFI 0 1 / 0 3
Order Code mains filter PSUP

/
for PSUP20 & PSUP30 NFI 0 3 / 0 3
Order code for mains filters

for PSUP30 Mains filter LCG-0055-0.45 mH
for PSUP30 Mains filter with UL approval LCG-0055-0.45 mH-UL
Order code mains filter Compax3H

/
for C3H050V4 NFI 0 2 / 0 1
for C3H090V4 NFI 0 2 / 0 2
for C3H1xxV4 NFI 0 2 / 0 3
C3I10T10 192-120100N17 - September 2014 165

9.2.1.1 Mains filter NFI01/01
for Compax3 S025 V2 and Compax3 S063 V2

Dimensional drawing:
55,5
L L
88,9±0,4
I O
79,5
101
N A
E D
50,8±0,3
Ø 4
85,4
5,2 x 4
116
139
for Compax3 S0xx V4, Compax3 S150 V4 and Compax3 S1xx V2

65
6,6
L L
I O
111
140
125
N A
E D
70±0,3
151 Ø4
177
Stated in mm
166 C3I10T10 192-120100N17 - September 2014

9.2.1.3 Mains filter for NFI01/03
for Compax3 S300

64
6,6
L L
145 ±0,5
I O
129
159
N A
E D
115±0,3
217 Ø4
240
Stated in mm
9.2.1.4 Mains filter NFI02/0x
Filter for mounting below theCompax3 Hxxx V4 housing

T
T1
M6
H1 HFU
H
H1
H2
BFU
B1
B
Filter type Dimensions Fixing Centers Distances Weight Groundi Connectio

ng n clamp
clamp
W H2 H D W1 H1 D1 BFU HFU
mm mm mm kg
C3H050V4 NFI02/01 233 515 456 70 186 495 40 150 440 4.3 M6 16mm2
C3H090V4 NFI02/02 249 715 649 95 210 695 40 150 630 8.5 M8 50mm2
C3H1xxV4 NFI02/03 249 830 719 110 150 700 15.0 M10 95mm2
C3I10T10 192-120100N17 - September 2014 167

9.2.1.5 Mains filter NFI03/01& NFI03/03
for PSUP10D6 and PSUP20D6

Bottom view
F
H
G
D
Side view Front view

A
C
I I
PE PE
Coined Earthing
E
Symbol on both
B
sides
Top view
L1 L1
L2 L2
L3 L3
Line Terminals Label Load Terminals
Filter type Weight GND(I) Connection clamp

A B C D I F G H kg
NFI03/01 240 50 85 270 0.8 30 255 5.4 1.5 M5 10mm2
NFI03/03 220 85 90 250 1.0 60 235 5.4 2.4 M6 16mm2
Stated in mm
168 C3I10T10 192-120100N17 - September 2014

for PSUP10D6
C3I10T10 192-120100N17 - September 2014 169

9.2.2. Motor output filter

We offer motor output filters for disturbance suppression when the motor
connecting cables are long (>20m):
Order code for motor output filter (for Compax3S, Compx3M >20m motor cable)
/
up to 6,3 A rated motor current MDR 0 1 / 0 4
Up to 16 A rated motor current MDR 0 1 / 0 1
Up to 30A A rated motor current MDR 0 1 / 0 2
Larger motor output filters are available on request!
Motor output filter MDR01/04 ......................................................................................... 170
Wiring of the motor output filter ...................................................................................... 171
9.2.2.1 Motor output filter MDR01/04
up to 6.3A nominal motor current (3.6mH)

U1 V1 W1 + - U2 V2 W2 + -
170
5
90 40
54
120 95
Stated in mm
Up to 16 A nominal motor current (2mH)

U1 V1 W1 + - U2 V2 W2 + -
195
6
113 50
67
150 95
Stated in mm
170 C3I10T10 192-120100N17 - September 2014

up to 30A nominal motor current (1.1mH)

U1 V1 W1 + - U2 V2 W2 + -
195
6
136 57
76
180 110
Weight: 5.8kg
Stated in mm
9.2.2.4 Wiring of the motor output filter

Compax3 MDR Motor
PE
PE
U1 U2
U
V V1 V2 M
W W1 W2
Br+ + +
Br- - -
C3I10T10 192-120100N17 - September 2014 171

9.2.3. Mains chokes

Mains filters serve for reducing the low-frequency interferences on the mains side.
9.2.3.1 Mains filter for PSUP30

Required mains filter for the PSUP30: 0.45 mH / 55 A
We offer the following mains filters:
 LCG-0055-0.45 mH (WxDxH: 180 mm x 140 mm x 157 mm; 10 kg)
 LCG-0055-0.45 mH-UL (with UL approval) (WxDxH: 180 mm x 170 mm x
157 mm; 15 kg)
Dimensional drawing: LCG-0055-0.45 mH
Dimensional drawing: LCG-0055-0.45 mH-UL
172 C3I10T10 192-120100N17 - September 2014

Parker EME Connections to the motor
9.3 Connections to the motor

Under the designation "REK.." (resolver cables) and "MOK.."(motor cables) we can
deliver motor connecting cables in various lengths to order. If you wish to make up
your own cables, please consult the cable plans shown below:
Motor cable order code (2

/
for SMH / MH56 / MH70 / MH105(3 (1.5mm2; up to 13.8A) MOK 5 5 / ... ...(1
(3
(3
for SMH / MH56 / MH70 / MH105 (2.5mm2; up to 18.9A) MOK 5 6 / ... ...(1
(3
(4
(4
(4
(4
(4
(4
(x
/
for resolver (2 for MH / SMH motors REK 4 2 / ... ...(1
for resolver (2 for MH / SMH motors (cable chain compatible) REK 4 1 / ... ...(1
for SinCos© – feedback (2 for MH / SMH motors (cable chain compatible) GBK 2 4 /
.. ...(1
for EnDat 2.1 (2 for MH / SMH motors (cable chain compatible) GBK 3 8 / .. ...(1
for EnDat 2.2 (2 for MH / SMH motors (cable chain compatible) GBK 5 6 / .. ...(1
Encoder – Compax3 GBK 2 3 / ... ...(1
for LXR linear motors (cable chain compatible) GBK 3 3 / ... ...(1
for BLMA linear motors (cable chain compatible) GBK 3 2 / ... ...(1
(x
Resolver cable............................................................................................................... 174
SinCos© cable............................................................................................................... 175
EnDat cable ................................................................................................................... 175
Motor cable.................................................................................................................... 176
Encoder cable ............................................................................................................... 177
C3I10T10 192-120100N17 - September 2014 173

9.3.1. Resolver cable

REK42/..
27mm
Pin 1
Lötseite / solder side
Compax3 (X13) Resolver Crimpseite / crimp side
Lötseite YE YE
SIN+ 8 2x0,25 2 SIN+
solder side
GN GN
SIN- 7 1 SIN- Codiernut S = 20°
15 5 BN 2x0,25 BN
COS+ 12 11 9
14 10 4 COS+ 8
12
13 9 3 COS- 11
WH WH
12 COS- 1 7
12 8 2 BU BU 10
11 7 1 REFres+ 4 2x0,25 10 Ref+ 6
6 RD RD 2
REFres- 15 7 Ref-
PK PK 3 5
+5V 5 2x0,25 8 +Temp 4 11
GY GY
Tmot 10 9 -Temp
Schirm auf Schirmanbindungselement

Screen at screen contact
1 NC 3
NC
23 mm NC
2 NC 4
3 NC 2 mm 6 mm 5
NC
6 NC 6
NC
9 NC
13 NC
14 NC
The same cable (with changed conductor coloring) is available under the
designation REK41/.. in a version which is suitable for cable chain systems.
You can find the length code in the Chapter Order Code Accessories (see on
page 157).
174 C3I10T10 192-120100N17 - September 2014

9.3.2. SinCos© cable

GBK24/..: Cable chain compatible
27mm
Pin 1
Lötseite / solder side
Crimpseite / crimp side
Compax3 (X13) SinCos
BU 2x0,25 BU 11 12 1
SIN+ 8 1 SIN+ 10 2
Lötseite VT VT
SIN- 7 2 SIN- 16 13
solder side BN BN 9 3
COS+ 12 2x0,25 11 COS+
GN GN 8 4
15 5 COS- 11 12 COS- 15 14
14 10 4 PK 2x0,25 PK 7
6
17 5
13 9 3 DATA 13 3 +485
12 8 2 DATA 14
GY GY
13 -485
11 7 1 RD RD
6 2x0,25
+5Vfil 5 8 K1
BK BK
Tmot 10 9 K2
BN 0,5 BN
+8Vref 4 10 +V
WH 0,5 WH
GND 15 7 GND
NC 4 Schirm auf Schirmanbindungselement

NC 5 Screen at screen contact
NC 6
1 NC 14
NC
2 NC NC 15
3 NC NC 16
6 NC 23 mm
NC 17
9 NC
2 mm 6 mm
You can find the length code in the Chapter Order Code Accessories (see on
page 157).
9.3.3. EnDat cable

GBK38/..: (cable chain compatible) for EnDat2.1
27mm
Compax3 (X13) Feedback

Pin 1 Sense+ 2 BU 0,5 BU
1 Up(sens.)
WH 0,5 WH
Sense- 1 4 0V(sens.)
Lötseite BN BN
VCCTemp 5 2x0,14 5 PTC Lötseite / Crimpseite
solder side GN GN
Temp 10 6 PTC BU/BK
VT VT BU 0,5
CLK 6 2x0,14 8 Clock+ WH/GN 0,5
YE YE
15 5 CLK/ 9 9 Clock- YE/BK
11 1 RD/BK
10 10 2
14 4 BN/GN 0,5 BN/GN 12
9 VCC 4 7 +V 16 13
13 3 YE 9 3
8 GND 15 WH/GN 0,5 WH/GN
10 0V 17
12 2 15 14
7 VT 8 4
11 1 BU/BK BU/BK WH
6
COS+ 12 12 B+
7 5
0,14
COS- 11 RD/BK 0,14 RD/BK
13 B- GN/BK 6
GY
GN/BK 0,14 GN/BK BN/GN 0,5 BN
SIN+ 8 15 A+
GN
YE/BK 0,14 YE/BK PK
SIN- 7 16 A-
GY GY
DATA 13 2x0,14 14 Data+
PK PK
DATA/ 14 17 Data-
SW SW
BU BU

Screen at sceen contact
3 NC NC 2,3,11
C3I10T10 192-120100N17 - September 2014 175

GBK56/..: (cable chain compatible) for EnDat2.2 (cable plan on request)

You will find the length code in the accessories order code (see on page 157).
9.3.4. Motor cable

Cross-section / max. Motor connector Motor terminal box
permanent load SMH motors MH145, MH205
MH56, MH70, MH105
standard cable chain standard cable chain
compatible compatible
1.5 mm2 / up to 13.8 A MOK55 MOK54 MOK60 MOK63
2.5 mm2 / up to 18.9 A MOK56 MOK57 MOK59 MOK64
6 mm2 / up to 32.3 A - - - MOK61
10 mm2 / up to 47.3 A -- - MOK62
9.3.4.1 Connection of terminal box MH145 & MH205

F E G
C B A
Terminal Assignment
A Phase U
B Phase V
C Phase W
E Protective earth terminal
F Brake (+ red for MH205)
G Brake (- blue for MH205)
Additional designations can be found on the connection cable clamping board -
motor (internal).
176 C3I10T10 192-120100N17 - September 2014

9.3.5. Encoder cable

GBK23/..: Connection Compax3 - Encoder
32mm
Pin 1
Compax3 (X11) Encoder
Lötseite GN GN
solder side A 7 2x0,14 A
Lötseite / Crimpseite
6 YE YE B
A/ P A
15 5 GY GY N Z R B
10 B 8 2x0,14 D
14 4
9 PK PK M Y S C
13 3 B/ 12 E
8 X T
12 2 RD RD
7 N 14 2x0,14 G L D
11 1
6
13 BU BU H
N/ K W U E
15 WH WH K V
GND J F
BN 2x0,5 BN H G
+5V 5 M
Screen at screen contact
NC U NC C
NC V NC F
1 NC
NC W NC J
2 NC
NC X NC L
3 NC
NC Y NC N
4 NC
23 mm NC Z NC P
9 NC
NC R
10 NC 2 mm 6 mm
NC S
11 NC
NC T
You can find the length code in the Order Code Accessories (see on page 157)
C3I10T10 192-120100N17 - September 2014 177

9.4 External braking resistors
Danger!
Hazards when handling ballast resistors!
Housing temperature up to 200°C!
Dangerous voltage!
The device may be operated only in the mounted state!
The external braking resistors must be installed such that protection against
contact is ensured (IP20).
Install the connecting leads at the bottom.
The braking resistors must be grounded.
We recommend to use a thrust washer for the BRM13 and BRM14.
Observe the instructions on the resistors (warning plate).
Please note that the length of the supply cable must not exceed 2m!

Permissible braking pulse powers of the braking resistors ............................................. 179
Dimensions of the braking resistors ............................................................................... 188
Ballast resistors Compax3

Ballast resistor (see on page Device Nominal Power
178)
BRM08/01 (100 Ω) Compax3S025V2 60 W
Compax3S015V4
Compax3S038V4
BRM05/01 (56 Ω) Compax3S063V2 180 W
Compax3S075V4
BRM05/02 (56 Ω) Compax3S075V4 570 W
BRM10/01 (47 Ω) Compax3S150V4 570 W
BRM10/02 (47 Ω) Compax3S150V4 1500 kW
BRM04/01 (15 Ω) Compax3S150V2 570 W
Compax3S300V4
PSUP20D6
BRM04/02 (15 Ω) Compax3S150V2 740 W
Compax3S300V4
PSUP20D6
BRM04/03 (15 Ω) Compax3S300V4 1500 W
PSUP20D6
BRM09/01 (22 Ω) Compax3S100V2 570 W
BRM11/01 (27 Ω) Compax3H0xxV4 3500 W
BRM13/01 (30 Ω) PSUP10D6 500 W
PSUP20D6**
PSUP30D6**
BRM14/01 (15 Ω) PSUP10D6* 500 W
PSUP20D6
PSUP30D6
PSUP30D6
*for PSUP10D6 2x15Ω in series
**for PSUP20D6 and PSUP30D6 2x30Ω parallel
178 C3I10T10 192-120100N17 - September 2014

Parker EME External braking resistors
9.4.1. Permissible braking pulse powers of the braking resistors

Calculation of the BRM cooling time .............................................................................. 179
Permissible braking pulse power: BRM08/01 with C3S015V4 / C3S038V4 .................... 180
Permissible braking pulse power: BRM08/01 with C3S025V2........................................ 181
Permissible braking pulse power: BRM11/01 with C3H0xxV4 ........................................ 187
Permissible braking pulse power: BRM12/01 with C3H1xxV4 ........................................ 187
Permissible braking pulse power: BRM13/01 with PSUP10D6 ....................................... 188
Permissible braking pulse power: BRM14/01 with PSUP10D6 ....................................... 188
The diagrams show the permissible braking pulse powers of the braking resistors
in operation with the assigned Compax3.
9.4.1.1 Calculation of the BRM cooling time
BRM04/01 (230V_3AC)
10000 F=20
F=10
F=5
F=2 F=1 F=0.5
PBdyn [W]
1000
100
0 0,5 1 1,5 2 2,5 3 3,5 4
Braking time [s]
C3I10T10 192-120100N17 - September 2014 179

F = Factor
Cooling time = F * braking time
Example 1: For a braking time of 1s, a braking power of 1kW is required. The
Diagram shows the following:
The required values can be found in the range between characteristic F = 0.5 and
F = 1. In order to achieve operating safety, please select the higher factor, this
means that the required cooling time is 1s.
F * Braking = cooling time
time
1 * 1s = 1s
Example 2: For a braking time of 0.5s, a braking power of 3kW is required. The
Diagram shows the following:
The required values can be found in the range between characteristic F = 2 and F
= 5. In order to achieve operating safety, please select the higher factor, this
means that the required cooling time is 2.5s.
F * Braking = cooling time
time
5 * 0.5s = 2.5s
9.4.1.2 Permissible braking pulse power: BRM08/01 with

C3S015V4 / C3S038V4
BRM08/01 (480V)
10000
F=100
F=50
F=10 F=5 F=2 F=1 F=0.5
F=20
1000
PBdyn [W]
100
10
0 0,5 1 1,5 2 2,5 3
Braking time [s]
180 C3I10T10 192-120100N17 - September 2014


C3S025V2
BRM08/01 (230V)
10000
F=10 F=5 F=2 F=1 F=0.5

PBdyn [W]
1000
100
0 0,5 1 1,5 2 2,5 3
Braking time [s]

C3S100V2
BRM09/01 (230V_3AC)
10000
F=20
F=10
F=5
F=2 F=1 F=0.5
PBdyn [W]
1000
100
0 0,5 1 1,5 2 2,5 3 3,5 4
Braking time [s]
C3I10T10 192-120100N17 - September 2014 181


C3S150V4
BRM10/01 (400/480V)
100000
F=100
F=50
F=20 F=10 F=5 F=2 F=1 F=0.5
10000
PBdyn [W]
1000
100
0 0,5 1 1,5 2 2,5 3
Braking time [s]

C3S150V4
BRM10/02 (400/480V)
100000
F=10 F=5 F=2 F=1 F=0.5

PBdyn [W]
10000
1000
0 0,5 1 1,5 2 2,5 3
Braking time [s]
182 C3I10T10 192-120100N17 - September 2014


C3S063V2
BRM05/01 (230V)
10000
F=20 F=10
F=5 F=2 F=1 F=0.5

PBdyn [W]
1000
100
0 0,5 1 1,5 2 2,5 3
Braking time [s]

C3S075V4
BRM05/01 (400/480V)
100000
F=100 F=50 F=20
10000
F=10 F=5 F=2 F=1 F=0.5
PBdyn [W]
1000
100
0 0,5 1 1,5 2 2,5 3
Braking time [s]
C3I10T10 192-120100N17 - September 2014 183


C3S075V4
BRM05/02 (400/480V)
100000
F=50
F=100 F=20
10000 F=10 F=5 F=2 F=1 F=0.5

PBdyn [W]
1000
100
0 0,5 1 1,5 2 2,5 3
Braking time [s]

C3S150V2
BRM04/01 (230V_3AC)
10000 F=20
F=10
F=5
F=2 F=1 F=0.5
PBdyn [W]
1000
100
0 0,5 1 1,5 2 2,5 3 3,5 4
Braking time [s]
184 C3I10T10 192-120100N17 - September 2014


C3S300V4
BRM04/01 (400V)
100000
F=100
F=50
F=20
F=10 F=5 F=2 F=1 F=0.5
10000
PBdyn [W]
1000
100
0 0,5 1 1,5 2 2,5 3
Braking time [s]

C3S150V2
BRM04/02 (230V)
10000
F=20
F=10
F=5 F=2 F=1 F=0.5

PBdyn [W]
1000
0 0,5 1 1,5 2 2,5 3 3,5 4
Braking time [s]
C3I10T10 192-120100N17 - September 2014 185


C3S300V4
BRM04/02 (400V)
100000
F=100
F=50
F=10 F=5 F=2 F=1 F=0.5
F=20
PBdyn [W]
10000
1000
0 0,5 1 1,5 2 2,5 3
Braking time [s]

C3S300V4
BRM04/03 (400V)
100000
F=100
F=50
F=20
F=10
PBdyn [W]
F=5 F=2 F=1 F=0.5
10000
1000
0 0,5 1 1,5 2 2,5 3 3,5 4
Braking time [s]
186 C3I10T10 192-120100N17 - September 2014


C3H0xxV4
BRM11/01 (400V/480V)
100000
F=50 F=20 F=10 F=5 F=2 F=1 F=0.5

PBdyn [W]
10000
1000
0 0,5 1 1,5 2 2,5 3 3,5 4
Braking time [s]

C3H1xxV4
BRM12/01 (400V/480V)
100000
F=50 F=20 F=10 F=5 F=2 F=1 F=0.5
PBdyn [W]
10000
1000
0 0,5 1 1,5 2 2,5 3 3,5 4
Braking time [s]
C3I10T10 192-120100N17 - September 2014 187


PSUP10D6
on request

PSUP10D6
on request
9.4.2. Dimensions of the braking resistors

BRM8/01braking resistors.............................................................................................. 188
BRM5/01 braking resistor .............................................................................................. 188
Braking resistor BRM5/02, BRM9/01 & BRM10/01 ........................................................ 189
Braking resistor BRM4/0x and BRM10/02 ...................................................................... 189
Braking resistor BRM11/01 & BRM12/01 ....................................................................... 190
Ballast resistor BRM13/01 & BRM14/01 ........................................................................ 190
9.4.2.1 BRM8/01braking resistors

5,4
40
20
225 10
240
Stated in mm
9.4.2.2 BRM5/01 braking resistor

73
101
222
245
12
6,5
48
Stated in mm
188 C3I10T10 192-120100N17 - September 2014

9.4.2.3 Braking resistor BRM5/02, BRM9/01 & BRM10/01

92
120
250 64
330
12
6,5
95 97
1
64
96 98
Stated in mm
9.4.2.4 Braking resistor BRM4/0x and BRM10/02

92
120
A C
B
12
6,5
95 97
1
C
96 98
1: thermal overcurrent relay
BRM4/01 BRM4/02 BRM4/03 & BRM10/02
A mm 250 300 540
B mm 330 380 620
C mm 64 64 64
C3I10T10 192-120100N17 - September 2014 189

9.4.2.5 Braking resistor BRM11/01 & BRM12/01

490 H
380
Ø10,5 B2
B1
BRM11/01 BRM12/02
W mm 330
W1 mm 295
W2 mm 270
H mm 260
Weight kg 6.0 7.0
9.4.2.6 Ballast resistor BRM13/01 & BRM14/01

303
2
A
C
3
54±0,2
60
74
°
,2
,2
°
74
A A-A
26±0,2
337
17
10
17
10
5,4
30
5,4
10
10
1,4
1
C (5 : 1)
Stated in mm
190 C3I10T10 192-120100N17 - September 2014

Parker EME Capacitor module C4
9.5 Capacitor module C4

Order code capacitor module
for C3S300V4 1100µF Module C4
Technical Data
Type Capacity Cable length
Module C4 1100µF ~30 cm
Module C4 A B C C1 D I F G H
mm
430 190 90 120 370 15 18 30 ∅6
C3I10T10 192-120100N17 - September 2014 191

9.6 Operator control module BDM

Order Code operating module
/
Operating module (for Compax3S and Compax3F) BDM 0 1 / 0 1
Flexible service and maintenance
Functions:
 Mobile or stationary handling: can remain on the unit for display and diagnostic
purposes, or can be plugged into any unit.
 Can be plugged in while in operation
 Power supply via Compax3 servo control
 Display with 2 times 16 places.
 Menu-driven operation using 4 keys.
 Displays and changing of values.
 Display of Compax3 messages.
 Duplication of device properties and IEC61131-3 program to another Compax3
with identical hardware.
 Additional information can be found int he BDM manual This can be found on the
Compax3 CD or on our Homepage: BDM-manual
(http://divapps.parker.com/divapps/EME/EME/Literature_List/dokumentatio
nen/BDM.pdf).
9.7 EAM06: terminal block for inputs and outputs

Order Code terminal block
/
for I/Os without luminous indicator for X11, X12, X22 EAM 0 6 / 0 1
for I/Os with luminous indicator for X12, X22 EAM 0 6 / 0 2
The terminal block EAM06/.. can be used to route the Compax3 plug connector
X11 or X12 for further wiring to a terminal strip and to a Sub-D plug connector.
Via a supporting rail (Design: or ) the terminal unit can be attached to a
mounting rail in the switch cabinet.
EAM06/ is available in 2 variants:
 EAM06/01: Terminal block for X11, X12, X22 without luminous indicator
 EAM06/02: Terminal block for X12, X22 with luminous indicator
Corresponding connecting cables EAM06 - Compax3 are available:
 from X11 - EAM06/01: SSK23/..
 from X12, X22 - EAM06/xx: SSK24/..
192 C3I10T10 192-120100N17 - September 2014

Parker EME EAM06: terminal block for inputs and outputs
EAM6/01: Terminal block without luminous indicator for X11, X12 or X22
Figure similar
Width: 67.5mm
EAM6/02: Terminal block with luminous indicator for X12, X22
Figure similar
Width: 67.5mm
C3I10T10 192-120100N17 - September 2014 193

Cable plan SSK23/..: X11 to EAM 06/01
Compax3 I/O Modul

Pin 1 Pin 1
1 WH WH 1
2 BN BN 2
3 GN GN 3
Lötseite
4 YE YE 4
solder side Lötseite
5 GY GY 5
6 PK PK 6
15 5 1
10 BU BU 9
14 4 7 7 2
RD RD 10
13 9 3 8 8 11
3
BK BK
12 8 2 9 9 12 4
11 7 1 10 VT VT 10 13 5
6 GYPK GYPK 6
11 11 14
RDBU RDBU 7
12 12 15
WHGN WHGN 8
13 13
14 BNGN BNGN 14
15 WHYE WHYE 15
YEBN YEBN
WHGY WHGY
GYBN GYBN
23 mm
2 mm 6 mm
Cable plan SSK24/..: X12 to EAM 06/xx
Pin 1 Compax3 I/O Modul Pin 1

1 WH WH 1
2 BN BN 2
3 GN GN 3
Lötseite YE YE
solder side 4 4 Lötseite
5 GY GY 5
6 PK PK 6
6 9 1
11 1 7 BU BU 7
7 2
12 2 RD RD 10
8 8 8 3
13 9 3 BK BK 11
9 9 4
14 4 VT VT 12
10 10 10 5
15 5 13
11 GYPK GYPK 11 6
14
RDBU RDBU 15 7
12 12
WHGN WHGN 8
13 13
14 BNGN BNGN 14
15 WHYE WHYE 15
YEBN YEBN
WHGY WHGY
GYBN GYBN
23 mm
2 mm 6 mm
194 C3I10T10 192-120100N17 - September 2014

Parker EME Interface cable
9.8 Interface cable

RS232 - cable / SSK1 .................................................................................................... 195
RS485 cable to Pop / SSK27 ......................................................................................... 196
I/O-interface X12 / X22 / SSK22 .................................................................................... 197
Ref X11 / SSK21 ........................................................................................................... 197
Encoder coupling of 2 Compax3 axes / SSK29 .............................................................. 198
Modem cable SSK31 ..................................................................................................... 199
Adapter cable SSK32/20 ............................................................................................... 199
Order code for interface cables and connectors

/
PC – Compax3 (RS232) SSK 0 1 / ... ...(1
PC – PSUP (USB) SSK 3 3 / ... ...
on X11 (Ref/Analog) and X13 with C3F001D2 with flying leads SSK 2 1 / ... ...(1
on X12 / X22 (digital I/Os) with flying leads SSK 2 2 / ... ...(1
on X11 (Ref /Analog) for I/O terminal block SSK 2 3 / ... ...(1
on X12 / X22 (digital I/Os) for I/O terminal block SSK 2 4 / ... ...(1
PC  POP (RS232) SSK 2 5 / ... ...(1
Compax3  POP (RS485) for several C3H on request SSK 2 7 / ../ ...(6
Compax3 I30  Compax3 I30 or C3M-multi-axis communication SSK 2 8 / ../ ...(5
Compax3 X11  Compax3 X11 (encoder coupling of 2 axes) SSK 2 9 / ... ...(1
Compax3 X10  Modem SSK 3 1 / ...
Compax3H adapter cable  SSK01 (length 15cm, delivered with the device) SSK 3 2 / 2 0
Compax3H X10 RS232 connection control  Programming interface (delivered with the device) VBK 1 7 / 0 1
Bus terminal connector (for the 1st and last Compax3 in the HEDA Bus/or multi-axis system) BUS 0 7 / 0 1
Profibus cable (2 non prefabricated SSL 0 1 ... ...(7
Profibus connector BUS 0 8 / 0 1
CAN bus cable (2 non prefabricated SSL 0 2 ... ...(7
CAN bus connector BUS 1 0 / 0 1
(x
9.8.1. RS232 - cable / SSK1

SSK1/..
X10 <--- --->PC
6 1 1 6
9 5 5 9
n.c. 1
RxD 2 2 RxD
TxD 3 3 TxD
DTR 4 4 DTR
DSR 6 6 DSR
GND 5 5 GND
RTS 7 7 RTS
CTS 8 8 CTS
+5V 9
7 x 0,25mm + Schirm/Shield
C3I10T10 192-120100N17 - September 2014 195

9.8.2. RS485 cable to Pop / SSK27

SSK27: Connection Pop - Compax3 - Compax3 - ...
Länge / Length B
Länge / Length A
Compax3_n
Länge / Length B
Pin 1
Pin 1
Compax3_2
Pin 1
Compax3_1
Pin 1
15 8
CHA+ 14 X2 BN BN
7 TxD_RxD Lötseite
CHA- 6 X3 YE YE solder side
3 TxD_RxD
GND 5 X4 WH WH
5 GND 1
6
GN 2
1 1 7
3
8
Schirm großflächig auf Gehäuse legen 4
9
Place sheath over large area of housing Schirm großflächig auf Gehäuse legen 5
Place sheath over large area of housing
1-4 NC
1 Brücke /
7 - 13 NC RD
15 NC 9 Bridge
NC 2,4,6,8
26 mm Lötseite
R21 nur im letzten Stecker
solder side
R21 only on the last connector
4 mm 6 mm
BN 7 TxD_RxD
1
YE 6
3 TxD_RxD
GN
2
7
WH 5 GND 3
8
4
9
Schirm großflächig auf Gehäuse legen 5
Place sheath over large area of housing
1 Brücke /
RD
9 Bridge
NC 2,4,6,8
R21 = 220 Ohm

(6
Order code: SSK27/nn/..
Length A (Pop - 1. Compax3) variable (the last two numbers according to the
length code for cable, for example SSK27/nn/01)
Length B (1. Compax3 - 2. Compax3 - ... - n. Compax3) fixed 50 cm (only if there is
more than 1 Compax3, i.e. nn greater than 01)
Number n (the last two digits)
Examples include:
SSK27/05/.. for connecting from Pop to 5 Compax3.
SSK27/01/.. for connecting from Pop to one Compax3
196 C3I10T10 192-120100N17 - September 2014

9.8.3. I/O-interface X12 / X22 / SSK22

SSK22/..: Cable for X12 / X22 with flying leads
Pin 1 Compax3
1 WH WH
2 BN BN
Lötseite 3 GN GN
solder side 4 YE YE
5 GY GY
6 6 PK PK
11 1 BU BU
7 7
12 2 RD RD
8 8
13 3
9 9 BK BK
14 4
10 VT VT
15 5 10
11 GYPK GYPK
12 RDBU RDBU
13 WHGN WHGN
14 BNGN BNGN
15 WHYE WHYE
YEBN YEBN
WHGY WHGY
GYBN GYBN
Screen
23 mm
2 mm 6 mm
9.8.4. Ref X11 / SSK21

SSK21/..: Cable for X11 with flying leads
Pin 1 Compax3
1 WH WH
2 BN BN
3 GN GN
Lötseite 4 YE YE
solder side 5 GY GY
6 PK PK
15 5 7 BU BU
10 RD RD
14 4 8
9
13 3 9 BK BK
8
12 2 VT VT
7 10
11 1 GYPK GYPK
6 11
12 RDBU RDBU
13 WHGN WHGN
14 BNGN BNGN
15 WHYE WHYE
YEBN YEBN
WHGY WHGY
GYBN GYBN
Screen
23 mm
2 mm 6 mm
C3I10T10 192-120100N17 - September 2014 197

9.8.5. Encoder coupling of 2 Compax3 axes / SSK29

SSK29/..: Cable from Compax3 X11 to Compax3 X11
Pin 1 Pin 1
von Compax3 (X11) zu Compax3 (X11)

from Compax3 (X11) to Compax3 (X11)
Lötseite YE 2x0,25 YE Lötseite
A 7 7 A
solder side GN GN solder side
A/ 6 6 A/
15 8 BN 2x0,25 BN 8 15
5 B B 5
10 10
14 4 12 WH WH 12 14 4
9 B/ B/ 9
13 8 3 BU 2x0,25 BU 13 8 3
N 14 14 N
12 7 2 12 7 2
13 RD RD 13
11 6 1 N/ N/ 11 6 1
PK 2x0,25 PK
GY GY
Schirm großflächig auf Gehäuse legen Schirm großflächig auf Gehäuse legen
Place sheath over large area of housing Place sheath over large area of housing
1 NC 23 mm NC 1
2 NC NC 2
3 NC 2 mm 6 mm NC 3
4 NC NC 4
5 NC NC 5
9 NC NC 9
10 NC NC 10
11 NC NC 11
15 NC NC 15

Compax3 I30  Compax3 I30 or C3M-multi axis communication

Layout of SSK28:
1 WH/OG WH/OG 3
2x0,14
2 OG OG 6
3 WH/GN WH/GN 1
2x0,14
6 GN GN
2
4 BU BU 7
2x0,14
5 WH/BU WH/BU 8
7 WH/BN WH/BN 4
2x0,14
8 BN BN 5
Schirm großflächig auf Gehäuse legen

Pin 8
Pin 7 Place sheath over large area of housing
Pin 6
Pin 5
Pin 4
Pin 3
Pin 2
Pin 1
198 C3I10T10 192-120100N17 - September 2014

9.8.6. Modem cable SSK31

SSK31/..
Pin 1 Pin 1
Lötseite Lötseite
solder side Compax3 (X10) solder side
Modem
BN BN
1 6 RxD 2 2 TxD 1 6
2 7 YE YE 2 7
3 TxD 3 3 RxD 3
8 WH WH 8
4 9 GND 5 5 GND 4 9
5 GN GN
5
Schirm großflächig auf Gehäuse legen Schirm großflächig auf Gehäuse legen
Place sheath over large area of housing Place sheath over large area of housing
4 brücken (Litze 0,25) brücken (Litze 0,25) 4
8 connect (wire 0,25) connect (wire 0,25) 8
26 mm
1,6,7,9 NC NC 1,6,7,9
4 mm 6 mm
You can find the length code in the Order Code Accessories (see on page 157)
9.8.7. Adapter cable SSK32/20
C3I10T10 192-120100N17 - September 2014 199

Technical Data Step/Direction and Analog Command Input
10. Technical Data

Continuous working voltage Single phase 230VAC/240VAC
80-253VAC / 50-60Hz
Receiver current consumption 6Arms 13Arms
Maximum fuse rating per device 10 A (automatic 16A (automatic circuit
circuit breaker K) breaker K)

Supply voltage Three phase 3* 230VAC/240VAC
80-253VAC / 50-60Hz
Input current 10Arms 13Arms
Maximum fuse rating per device 16A 20A
MCB miniature circuit breaker, K characteristic
Mains connection Compax3SxxxV4 3AC

Continuous working Three phase 3*400VAC/480VAC
Receiver current 3Aeff 6Arms 10Arms 16Arms 22Arms
consumption
Maximum fuse rating per 6A 10A 16A 20A 25A
device MCB miniature circuit breaker, K characteristic D*

230VAC ±10% 400VAC ±10% 480VAC ±10%
Supply voltage
50-60Hz 50-60Hz 50-60Hz
Output power 6kW 10 kW 10 kW
Recommendation: (ABB) S203UP-K25 (480VAC)
200 C3I10T10 192-120100N17 - September 2014


50-60Hz 50-60Hz 50-60Hz
PSUP30D6 Mains connection

50-60Hz 50-60Hz 50-60Hz

Receiver current
consumption
Maximum input fuse
80A 100A 160A 200A
rating per device
Recommended line
JDDZ Class K5 or H
JDRX Class H
with UL
C3I10T10 192-120100N17 - September 2014 201


Receiver current
consumption
Maximum input fuse
80A 100A 160A 200A
rating per device
Recommended line
JDDZ Class K5 or H
JDRX Class H
with UL

Ripple 0.5Vpp
low voltage (SELV)
Control voltage 24 VDC PSUP

Device type PSUP
Ripple 0.5Vpp
Requirement according to safe extra
yes (class 2 mains module)
low voltage (SELV)
PSUP10: 0.2A
Current drain PSUP
PSUP20 / PSUP30: 0.3A
C3M050D6: 0.85
3M100D6: 0.85A
C3M150D6: 0.85A
Electric current drain Compax3M
C3M300D6: 1.0 A
+ Total load of the digital outputs + current for
the motor holding brake
Output data Compax3S0xx at 1*230VAC/240VAC

Output voltage 3x 0-240V 3x 0-240V
Nominal output current 2.5Arms 6.3Arms
Pulse current for 5s 5.5Arms 12.6Arms
Power 1kVA 2.5kVA
Switching frequency 16kHz 16kHz
Power loss for In 30W 60W
202 C3I10T10 192-120100N17 - September 2014

Output data Compax3S1xx at 3*230VAC/240VAC

Output voltage 3x 0-240V 3x 0-240V
Nominal output current 10Arms 15Arms
Pulse current for 5s 20Arms 30Arms
Power 4kVA 6kVA
Switching frequency 16kHz 8kHz
Power loss for In 80W 130W
Output data Compax3Sxxx at 3*400VAC

Output voltage 3x 0-400V
Nominal output current 1.5Arms 3.8Arms 7.5Arms 15Arms 30Arms
Pulse current for 5s 4.5Arms 9.0Arms 15Arms 30Arms 60Arms*
Power 1kVA 2.5kVA 5kVA 10kVA 20kVA
Switching frequency 16kHz 16kHz 16kHz 8kHz 8kHz
Power loss for In 60W 80W 120W 160W 350W
* With cyclic peak currents (S8 or S9 operation), the device utilization (683.2) may
not be > 70%; otherwise it is necessary to use a condenser module “C4Module
(see on page 191)”.
Output data Compax3Sxxx at 3*480VAC

Nominal output current 1.5Arms 3.8Arms 6.5Arms 13.9Arms 30Arms
Pulse current for 5s 4.5Arms 7.5Arms 15Arms 30Arms 60Arms*
Power 1.25kVA 3.1kVA 6.2kVA 11.5kVA 25kVA
Switching frequency 16kHz 16kHz 16kHz 8kHz 8kHz
Power loss for In 60W 80W 120W 160W 350W
* With cyclic peak currents (S8 or S9 operation), the device utilization (683.2) may
not be > 70%; otherwise it is necessary to use a condenser module “C4Module
(see on page 191)”.
Output data Compax3Mxxx at 3*230VAC

Device type Compax3 M050D6 M100D6 M150D6 M300D6
Input Voltage 325VDC ±10%
Output Voltage 3x 0-230V (0...500Hz)
Output nominal current 5Arms 10Arms 15Arms 30Arms
Pulse current for 5s* 10Arms 20Arms 30Arms 60Arms
Power 2kVA 4kVA 6kVA 12kVA
Switching frequency of the motor
8kHz 8kHz 8kHz 8kHz
current
Heat dissipation for In 70W+** 90W+** 120W+** 270W+**
* Turning frequency for pulse current: f>5 Hz; with an electrical turning frequency of f<5 Hz, the
maximum pulse current time is 100ms
** Maximum additional losses with option card 5 W.
C3I10T10 192-120100N17 - September 2014 203


Output nominal current 5Arms 10Arms 15Arms 30Arms
Power 3.33kVA 6.66kVA 10kVA 20kVA
8kHz 8kHz 8kHz 8kHz
current

Output nominal current 4Arms 8Arms 12.5Arms 25Arms
Power 3.33kVA 6.66kVA 10kVA 20kVA
8kHz 8kHz 8kHz 8kHz
current
Output data Compax3Hxxx at 3*400VAC

Nominal output current 50Arms 90Arms 125Arms 155Arms
Pulse current for 5s * 75Arms 135Arms 187.5Arms 232.5Arms
Switching frequency 8kHz 8kHz 8kHz 8kHz
Power loss for In 880W 900W 1690W 1970W
* during low speeds, the overload time is reduced to 1s. Limit:
< 2.5 electric rev/s (= actual revolutions/s * number of pole pairs) resp. >2.5 pitch/s
Output data Compax3Hxxx at 3*480VAC

Nominal output current 43Arms 85Arms 110Arms 132Arms
Pulse current for 5s* 64.5Arms 127.5Arms 165Arms 198Arms
Switching frequency 8kHz 8kHz 8kHz 8kHz
Power loss for In 850W 1103W 1520W 1800W
* during low speeds, the overload time is reduced to 1s. Limit:
< 2.5 electric rev/s (= actual revolutions/s * number of pole pairs) resp. >2.5 pitch/s
204 C3I10T10 192-120100N17 - September 2014


frequency
frequency*


frequency*
8kHz Inom - 15Arms
Ipeak (<5s) - 30Arms
16kHz Inom 10Arms 12.5Arms

32kHz Inom 8Arms 10Arms
frequency*
8kHz Inom - - - 15Arms 30Arms

frequency*
8kHz Inom - - - 13.9Arms 30Arms
16kHz Inom 1.5Arms 3.8Arms 6.5Arms 8.0Arms 21.5Arms

C3I10T10 192-120100N17 - September 2014 205


frequency
frequency*
(<5s)
Ipeak 7.5Arms 15Arms 20Arms 40Arms
(<5s)
Ipeak 5Arms 7.5Arms 10Arms 22Arms
(<5s)
frequency*
8kHz Inom 4Arms 8Arms 12.5Arms 25Arms
(<5s)
16kHz Inom 3Arms 5.5Arms 8Arms 15Arms
(<5s)
32kHz Inom 2Arms 2.5Arms 4Arms 8.5Arms
(<5s)

frequency
frequency*
Ipeak (<5s) 75Arms 135Arms 187.5Ar 232.5Ar
ms ms

ms

Ipeak (<5s) 28.5Arms 67.5Arms 73.5Arms 88.5Arms
frequency*
ms

Ipeak (<5s) 40.5Arms 105Arms 105Arms 126Arms
206 C3I10T10 192-120100N17 - September 2014


Ipeak (<5s) 24Arms 60Arms 60Arms 72Arms
Resolution of the motor position

For option F10: Resolver  Position resolution: 16 Bits (= 0.005°)
 Absolute accuracy: ±0.167°
For option F11: SinCos©  Position resolution: 13.5 Bits / Encoder sine period
=> 0.03107°/encoder resolution
For option F12:  Maximum position resolution
 Linear: 24 Bits per motor magnet spacing
 Rotary: 24 Bits per motor revolution
 For 1Vss Sine-Cosine encoders (e.g. EnDat):
13.5 bits / graduation of the scale of the encoder
 For RS 422 encoders: 4x encoder resolution
 Accuracy of the feedback zero pulse acquisition =
accuracy of the feedback resolution.
 Resolution for analog hall sensors with 1Vpp signal:
13.5 Bits / motor magnet spacing
Accuracy
The exactitude of the position signal is above all determined by the exactitude of
the feedback system used.
Supported Motor and Feedback Systems

Motors  Sinusoidally commutated synchronous motors
Direct drives  Maximum electrical turning frequency: 1000Hz*
 Linear motors  Max. velocity on 8 pole motors: 15 000min .
-1
 Torque motors  General max. speed:

60*1000/number of pole pairs in [min-1].
 Max. number of poles = 600
 Sinusoidal commutated asynchronous motors
 Maximum electrical turning frequency: 1000Hz
 Max. velocity: 60*1000/number of pole pairs - slip in
[min-1].
 Field weakening: typically up to triple (higher on
request).
 Temperature sensor: KTY84-130
(insulated in accordance with EN60664-1 or
IEC60664-1)
 3 phase synchronous direct drives
Position encoder Option F10: Resolver
(Feedback)
LTN: RE-21-1-A05, RE-15-1-B04

Tamagawa:
 TS2610N171E64, TS2620N21E11, TS2640N321E64,
TS2660N31E64
Tyco (AMP)  V23401-T2009-B202
Option F11: SinCos©
 Rotary feedback with HIPERFACE® interface:
 Singleturn (SICK|Stegmann)
 Multiturn (SICK|Stegmann) Absolute position up to
4096 motor revolutions.
 For example: SRS50, SRM50, SKS36, SKM36,
SEK52, SEK52, SEL52, SEK37, SEL37, SEK160,
SEK90
* higher values on request
C3I10T10 192-120100N17 - September 2014 207

Special Feedback
Systems Option F12
Analog hall sensors  Sine-Cosine signal (max. 5Vpp*; typical 1Vpp) 90°
offset
 U-V signal (max. 5Vpp*; typical 1Vpp) 120° offset.
Encoder  Sine-Cosine (max. 5Vpp*; typical 1Vpp) (max.

(linear or rotary) 400kHz) or
 TTL (RS422) (max. 5MHz; track A or B)
 Bypass function for encoder signals
(limit frequency** 5MHz, track A or B)
with the following modes of commutation:
 Automatic commutation (see on page 163) or
 U, V, W or R, S, T commutation signals (NPN open
collector) e.g. digital hall sensors, incremental
encoders made by Hengstler (F series with electrical
ordering variant 6)
EnDat*** with  EnDat 2.1 or EnDat 2.2 (Endat01, Endat02) feedback
incremental (Sine -  linear or rotary
Cosine) track  max. 400kHz Sine-Cosine
EnDat 2.2*** (fully  EnDat 2.2 (Endat01, Endat02) feedback

digital)  linear or rotary
EnDat2.1***(fully digital)  EnDat 2.1 without incremental track

 Supported types: EQI11xx, ECI11xx, ECI11x
Distance coded  Distance coding with 1 VSS interface

feedback systems  Distance coding with RS422 - Interface (Encoder)
*Max. differential input between SIN- (X13/7) and SIN+ (X13/8).
** Limit frequency = 1MHz for Compax3M (higher bandwidths on request)
*** Digital, bidirectional interface
Feedback error compensation

Feedback error compensation  Automatic feedback error compensation (offset &
amplification) for analog hall sensors and
sine-cosine encoder can be activated in the
MotorManager.

1.6A
proof)
Securing of brake Compax3M 3.15A


208 C3I10T10 192-120100N17 - September 2014

Braking operation Compax3SxxxV4 3AC

Capacity / storable energy 400V / 235µF 235µF 470µF 690µF 1230µF
480V 37 / 21 Ws 37 / 21 Ws 75 / 42 Ws 110 / 61 Ws 176 / 98 Ws
Minimum ballast - resistance 100 Ω 100 Ω 56 Ω 47 Ω 15 Ω
Recommended nominal power 60 ... 60 ... 250W 60 ... 500 60 ... 1000 60 ... 1000
rating 100W W W W
Maximum continuous current 10A 10A 15A 20A 30A
Braking operation Compax3MxxxD6 (axis controller)

Device type M050 M100 M150 M300
Compax3
Capacity/ 110µF/ 220µF/ 220µF/ 440µF/
storable energy 18Ws at 400V 37Ws at 400V 37Ws at 400V 74Ws at 400V
10Ws at 480V 21Ws at 480V 21Ws at 480V 42Ws at 480V
Braking operation of Compax3HxxxV4

Capacitance / storable energy 2600 µF 3150 µF 5000 µF 5000 µF
400V / 480V 602 / 419 Ws 729 / 507 Ws 1158 / 806 Ws 1158 / 806 Ws
Minimum braking- resistance 24 Ω 15 Ω 8Ω 8Ω
Maximum continuous current 11 A 17 A 31 A 31 A
Braking operation PSUPxxD6 (mains module)

Device type PSUP10 PSUP20 PSUP30
Capacitance / storable 550 µF/ 1175 µF/ 1175 µF/
energy 92 Ws at 400 V 197 Ws at 400 V 197 Ws at 400 V
53 Ws at 480 V 114 Ws at 480 V 114 Ws at 480 V
Minimum braking- 27 Ω 15 Ω 10 Ω
resistance
Recommended 500 ... 1500 W 500 ... 3500 W 500 ... 5000 W
nominal power rating
Pulse power rating for 22 kW 40 kW 60 kW
1s
Maximum permissible 13 A 15 A 15 A
continuous current
C3I10T10 192-120100N17 - September 2014 209

Ballast resistors Compax3

Ballast resistor (see on page Device Nominal Power
178)
BRM08/01 (100 Ω) Compax3S025V2 60 W
Compax3S015V4
Compax3S038V4
BRM05/01 (56 Ω) Compax3S063V2 180 W
Compax3S075V4
BRM05/02 (56 Ω) Compax3S075V4 570 W
BRM10/01 (47 Ω) Compax3S150V4 570 W
BRM10/02 (47 Ω) Compax3S150V4 1500 kW
BRM04/01 (15 Ω) Compax3S150V2 570 W
Compax3S300V4
PSUP20D6
BRM04/02 (15 Ω) Compax3S150V2 740 W
Compax3S300V4
PSUP20D6
BRM04/03 (15 Ω) Compax3S300V4 1500 W
PSUP20D6
BRM09/01 (22 Ω) Compax3S100V2 570 W
BRM13/01 (30 Ω) PSUP10D6 500 W
PSUP20D6**
PSUP30D6**
BRM14/01 (15 Ω) PSUP10D6* 500 W
PSUP20D6
PSUP30D6
PSUP30D6
*for PSUP10D6 2x15Ω in series
**for PSUP20D6 and PSUP30D6 2x30Ω parallel
Size / weight Compax3S

Controller type Dimensions Weight [kg]
HxWxD [mm]
Compax3S025V2 191 x 84 x 172 2.0
Compax3S063V2 191 x 100 x 172 2.5
Compax3S015V4 248 x 84 x 172 3.1
Compax3S100V2 248 x 115 x 172 4.3
Compax3S150V2 248 x 158 x 172 6.8
Compax3S038V4 248 x 100 x 172 3.5
Compax3S075V4 248 x 115 x 172 4.3
Compax3S150V4 248 x 158 x 172 6.8
Compax3S300V4 380 x 175 x 172 10.9
Minimum mounting distance: 15mm at the sides, above & below 100mm
Protection type IP20
Drawings, Mounting (see on page 66, see on page 72)
210 C3I10T10 192-120100N17 - September 2014

Size / weight PSUP/Compax3M

Dimensions HxWxD Weight
Device type
[mm] [kg]
PSUP10D6 360 x 50 x 263 3.95
PSUP20D6 & PSUP30D6 360 x 100 x 263 6.3
Compax3M050D6 360 x 50 x 263 3.5
Compax3M100D6 360 x 50 x 263 3.6
Compax3M150D6 360 x 50 x 263 3.6
Compax3M300D6 360 x 100 x 263 5.25
Protection type IP20
Size / weight Compax3H

Mounting (see on page 66, see on page 72)
Controller type Dimensions Weight [kg]
HxWxD [mm]
Compax3H050V4 453 x 252 x 245 17.4
Compax3H090V4 668.6 x 257 x 312 32.5
Compax3H125V4 720 x 257 x 355 41
Compax3H155V4 720 x 257 x 355 41
Protection class IP20 when mounted in a control cabinet (not for
Compax3H1xxxV4)
Mounting
Digital Inputs/outputs
Digital Inputs  8 digital inputs
 Input resistor 22 kΩ
 Signal level
 > 9.15V = "1" (38.2% of the control
voltage applied)
 < 8.05V = "0" (33.5% of the control
voltage applied)
Digital Outputs  4 digital outputs

 Load max. 100mA
Safety technology Compax3S

Safe torque-off in accordance with EN  For implementation of the “protection
ISO 13849: 2008, Category 3, PL d/e against unexpected start-up” function
Certified. described in EN1037.
Test mark IFA 1003004  Please note the circuitry examples (see
on page 75).
Compax3S STO (=safe torque off)

Nominal voltage of the 24 V
inputs
Required isolation of the Grounded protective extra low voltage, PELV
24V control voltage
Protection of the STO 1A
control voltage
Grouping of safety level <500 000 STO cycles per year are assumed.
 STO switch-off via internal safety relay & digital
input: PL e, PFHd=2.98E-8
 STO switch-off via internal safety relay & fieldbus:
PL d, PFHd=1.51E-7 (is applicable for a MTTFd=15
years of the external PLC)
 Lifetime: 20 Years
C3I10T10 192-120100N17 - September 2014 211

Safety technology Compax3M

Safe torque-off in accordance with EN  Please respect the stated safety
ISO 13849-1: 2007, Category 3, PL=e technology on the type designation
Certified. plate (see on page 11) and the circuitry
Test mark MFS 09029 examples (see on page 85)
Compax3M S1 Option: Signal inputs for connector X14

Nominal voltage of the inputs 24V
Required isolation of the 24V control Grounded protective extra low voltage, PELV
voltage
Protection of the STO control voltage 1A
Number of inputs 2
Signal inputs via optocoupler Low = 0...7V DC or open
High = 15...30V DC
Iin at 24V DC: 8mA
Switch-off time with unequal input 20 s
statuses (max. error reaction time)
Grouping of safety level  Category 3
 PL=e
(according to table 4 in EN ISO 13849-1 this
corresponds to SIL 3)
 PFHd=4.29E-8
 Lifetime: 20 years
UL certification for Compax3S

conform to UL:  according to UL508C

“UL” logo:
UL approval for Compax3M

Insulation requirements
Enclosure rating Protection class in accordance with EN 60664-1
Protection against human contact
In accordance with EN 61800-5-1
with dangerous voltages
Voltage category III in accordance with
Overvoltage category
EN 60664-1
Degree of contamination 2 in accordance with
Degree of contamination
EN 60664-1 and EN 61800-5-1
212 C3I10T10 192-120100N17 - September 2014

Environmental conditions Compax3S and Compax3H

General ambient conditions In accordance with EN 60 721-3-1 to 3-3
Climate (temperature/humidity/barometric
pressure): Class 3K3
Permissible ambient temperature:
Operation 0 to +45 °C class 3K3

storage –25 to +70 °C class 2K3
transport –25 to +70 °C class 2K3
Tolerated humidity: no condensation
Operation <= 85% class 3K3 (Relative humidity)
storage <= 95% class 2K3
transport <= 95% class 2K3
Elevation of operating site <=1000m above sea level for 100% load ratings
<=2000m above sea level for 1% / 100m power
reduction
please inquire for greater elevations
Mechanic resonances: EN 60068-2-6 (sinusoidal excitation)
Sealing Protection type IP20 in accordance with

EN 60 529
Cooling Compax3S and Compax3H

Cooling mode: C3S025V2 ... S150V4: Convection
C3S300V4 & C3H: Forced air ventilation with
fan in the heat dissipator
Air flow rate:459m³/h (C3H)
Supply: C3S300V4, C3H050, C3H090 internal
C3H125, C3H155 external
220/240VAC: 140W, 2.5µF, Stator - 62Ω
Optionally on request:
110/120VAC: 130W, 10µF, Stator - 16Ω
Circuit breaker:3A
EMC limit values Compax3S and Compax3H

EMC interference emission Limit values in accordance with EN 61 800-3,
Limit value class C3/C4 without additional
mains filter:
Information on C2 limit value classes (see on
page 16)
EMC disturbance immunity Industrial area limit values in accordance with
EN 61 800-3
C3I10T10 192-120100N17 - September 2014 213

Ambient conditions PSUP/Compax3M

General ambient conditions In accordance with EN 60 721-3-1 to 3-3
Climate (temperature/humidity/barometric
pressure): Class 3K3
Permissible ambient temperature:
Operation 0 to +40 °C Class 3K3

storage -25 to +70 °C
transport -25 to +70 °C
Tolerated humidity: no condensation
Operation <= 85% class 3K3 (Relative humidity)
storage <= 95%
transport <= 95%
Elevation of operating site <=1000m above sea level for 100% load ratings
<=2000m above sea level for 1% / 100m power
reduction
please inquire for greater elevations
Sealing Protection type IP20 in accordance with
EN 60 529
Mechanic resonances: Class 2M3, 20m/s2;8-200Hz
Cooling PSUP/Compax3M
Cooling mode: Forced air ventilation with fan in the heat
dissipator
EMV limit values PSUP/Compax3M

EMC interference emission Limit values in accordance with EN 61 800-3,
Limit value class C3 with mains filter.
EMC disturbance immunity Industrial area limit values in accordance with
EN 61 800-3
EC directives and applied harmonized EC norms

EC low voltage directive EN 61800-5-1, Standard for electric power
2006/95/EG drives with settable speed; requirements to
electric safety
EN 60664-1, isolation coordinates for electrical
equipment in low-voltage systems
EN 60204-1, machinery norm partly applied
EC-EMC-directive EN 61800-3, EMC standard
2004/108/EC Product standard for variable speed drives
COM ports
RS232  115200 baud
 Word length: 8 bits, 1 start bit, 1 stop bit
 Hardware handshake XON, XOFF
RS485 (2 or 4-wire)  9600, 19200, 38400, 57600 or 115200
baud
 Word length 7/8 bit, 1 start bit, 1 stop bit
 Parity (can be switched off) even/odd
 2 or 4-wire
USB (Compax3M)  USB 2.0 Full Speed compatible
214 C3I10T10 192-120100N17 - September 2014

Inputs / Outputs
Command interface (optional)  ±10V analog speed or current setpoint;
14Bits; 62.5µs sampling rate
 Step/Direction RS422 (5V level)
 Encoder A/B RS422
 Step/Direction (24V level)
 Encoder A/B 24V
 Maximum input frequency
 24V inputs: Maximum input frequency
300kHz at <=50Ω source impedance

and minimum pulse width of 1.6µs
 Inputs RS422: up to 5MHz
Actual position at ±10V defined analog  Encoder simulation
setpoint  Resolution: 512 or 1024 Increments /
revolutions
Signal monitor  2 channels ±10 V analog
 Resolution: 8 Bit
4/5 digital inputs (24V level)  Energize motor, setpoint value release,
quit, brake open.
 Keep position / speed 0 (configurable)
(only in the "±10V analog current
setpoint" operating mode")
4 digital outputs  Error, setpoint value in window, power
output stage de-energized, holding.
 Load max. 100mA
C3I10T10 192-120100N17 - September 2014 215

Index Step/Direction and Analog Command Input
11. Index
Braking resistor BRM4/0x and BRM10/02 • 189
± Braking resistor BRM5/02, BRM9/01 &
±10V analog current setpoint commanding and BRM10/01 • 189
encoder emulation • 103 BRM10/02 • 178, 182, 189
±10V analoge Drehzahl - Sollwertvorgabe • BRM5/01 braking resistor • 188
127 BRM8/01braking resistors • 188
±10V analoger Strom-Sollwertvorgabe • 127 C
±10V analogue speed setpoint commanding
and encoder emulation • 100 C3 settings for RS485 four wire operation •
144
A C3 settings for RS485 two wire operation • 143
Access to the hazardous area • 84 Calculation of the BRM cooling time • 179
Adapterkabel SSK32/20 • 199 Calling up the input simulation • 132
Additional conditions of utilization • 18 Capacitors • 12
Adjusting the basic address • 59 Circuit layout overview • 81
Advanced control parameters • 126 Circuit: • 82
Advantages of using the • 76 COM port protocol • 145
Alignment of the analog inputs • 133 Command interface • 100
Allgemeine Gefahren • 13 Command value release X12/7= • 65
Analog command interface +/-10V with Communication • 136
encoder simulation • 109 Communication Compax3M • 58
Analog Inputs/Outputs • 62, 153 Communication interfaces • 57
Analogue / encoder (plug X11) • 62 Compax3 communication variants • 136
Applikationsbeispiel STO (= Sicher Compax3 device description • 26
abgeschaltetes Moment) • 81 Compax3 with analogue and step/direction
ASCII - record • 145 input • 24
Compax3H connections front plate • 51
B Compax3H plugs/connections • 49
Compax3M STO application description • 88
Ballast resistor • 34, 99, 208
Compax3S connectors • 28
Ballast resistor BRM13/01 & BRM14/01 • 190
Compax3Sxxx V2 • 33
Ballastwiderstand / Leistungsspannung
Compax3Sxxx V4 • 35
Stecker X2 bei 1AC
Conditions of utilization • 16
230VAC/240VAC-Geräten • 34
Conditions of utilization for cables / motor filter
Bedeutung der Status-LEDs - PSUP
• 17
(Netzmodul) • 27
Conditions of utilization for CE-conform
Bestellhinweis Kabel • 161
operation • 16
Bestellschlüssel Ein-/Ausgangsklemmen (PIO)
Conditions of utilization for the STO function
• 160
with Compax3M • 86
Bestellschlüssel Feedbackkabel • 158
Conditions of utilization for UL approval
Bestellschlüssel Kondensatormodul • 159
Compax3M • 20
Bestellschlüssel Netzfilter (C3S) • 159
Conditions of utilization mains filter • 16
Bestellschlüssel Zubehör • 157
Conditions of utilization STO (=safe torque off)
Binary record • 146
Safety function • 80
Boundary conditions • 121
Configuration name / comments • 107
Brake delay times • 135
Configuration of local modem 1 • 151
Braking resistor / high voltage DC C3S
Configuration of remote modem 2 • 152
connector X2 • 34
Connect braking resistor C3H • 56
Braking resistor / high voltage supply
Connection of a braking resistor • 34, 36
connector X2 for 3AC
Connection of terminal box MH145 & MH205 •
400VAC/480VAC_C3S devices • 36
176
Braking resistor / high voltage supply plug X2
Connection of the digital Outputs/Inputs • 63
for 3AC 230VAC/240VAC devices • 34
Connection of the power voltage • 50
Braking resistor / supply voltage C3H • 56
Connection of the power voltage of 2 C3H 3AC
Braking resistor / temperature switch PSUP
devices • 56
(mains module) • 45
Connection of the power voltage of 2 C3S 3AC
Braking resistor BRM11/01 & BRM12/01 • 190
devices • 36
216 C3I10T10 192-120100N17 - September 2014

Connections of Compax3H • 49 Filter rising of current (Para) • 131

Connections of Compax3S • 28 Forward control measures • 129
Connections of the axis combination • 41 Front connector • 39
Connections of the encoder interface • 62
Connections on the device bottom • 40 G
Connections to the motor • 173 Gain alignment • 134
Control voltage 24 VDC • 31 Gebersysteme für Direktantriebe • 163
Control voltage 24 VDC C3H • 55 General Description • 75
Control voltage 24VDC / enable connector X4 General drive • 99
C3S • 31 Gerätezuordnung • 9
Control voltage 24VDC PSUP (mains module) Gerätezustände • 111
• 42
Controller settings • 127 I
Controller structures • 126
Important terms and explanations • 75
Controller Tuning • 124
Inbetriebnahme Compax3 • 94
Current (Torque) Limit • 106
Installation instructions Compax3M • 37
D Intended use • 76
Interface cable • 195
D/A-Monitor • 153 Interface cable order code • 160
Debouncing input I0 • 106
Devices with the STO (=safe torque off) safety K
function • 77
Kommunikation im Achsverbund (Stecker X30,
Digital inputs/outputs • 63
X31) • 58
Digitale Ein-/Ausgänge (Stecker X12) • 63
Kondensatormodul ModulC4 • 191
Dimensions of the braking resistors • 188
Konfiguration • 94
Direktantriebe • 162
L
E
Lastidentifikation • 121
E/A-Schnittstelle X12 / X22 / SSK22 • 197
LEDs • 26, 27
EAM06
Level • 63
Klemmenblock für Ein- und Ausgänge • 192
Limit and monitoring settings • 105
Eingangssimulation • 132
Linear motors • 164
Einleitung • 9
Logic proximity switch types • 64
Einsatzbedingungen für die UL-Zulassung
Compax3H • 22 M
Einsatzbedingungen für die UL-Zulassung
Compax3S • 19 Main voltage supply C3S connector X1 • 33
Einsatzbedingungen für die UL-Zulassung Mains connection Compax3H • 55
PSUP • 21 Mains filter • 165
EMC measures • 165 Mains filter for NFI01/03 • 167
Emergency stop and protective door Mains filter for PSUP30 • 172
monitoring without external safety switching Mains filter NFI01/01 • 166
device. • 90 Mains filter NFI01/02 • 166
Encoder cable • 177 Mains filter NFI02/0x • 167
Encoder input 24V • 103, 110 Mains filter NFI03/01& NFI03/03 • 168
Encoder input RS422 • 102, 109 Mains filter NFI03/02 • 169
Encoder Interface • 62 Mains supply PSUP (mains module) X41 • 42
Encoderkopplung von 2 Compax3 - Achsen / Maximum operating speed • 106
SSK29 • 198 Meaning of the status LEDs - Compax3 axis
EnDat - Kabel • 175 controller • 26
Energize motor X12/6= • 64 Measurement of the motor temperature of
Error response • 106 Compax3M (axis controller) • 48
ETHERNET-RS485 NetCOM 113 adapter • Modem cable SSK31 • 199
141 Modem MB-Connectline MDH 500 / MDH 504
Example • 142
Setting the Oscilloscope • 119 Monitor information • 114
External braking resistors • 178 Motor / Motor brake C3S connector X3 • 32
Motor / motor brake Compax3M (axis
F controller) • 47
Motor / Motorbremse C3H • 54
Fehler • 154
Motor cable • 176
Ferrite • 32
Motor Connection • 32
Filter - Actual velocity • 126
C3I10T10 192-120100N17 - September 2014 217

Motor holding brake • 32 BRM04/02 with C3S300V4 • 186

Motor output filter • 170 BRM04/03 with C3S300V4 • 186
Motor output filter MDR01/01 • 170 BRM05/01 with C3S063V2 • 183
Motor selection • 95 BRM08/01 with C3S015V4 / C3S038V4 • 180
Mounting and dimensions • 66 BRM08/01 with C3S025V2 • 181
Mounting and dimensions C3H • 72 BRM09/01 with C3S100V2 • 181
Mounting and dimensions Compax3S • 66 BRM10/01 with C3S150V4 • 182
Mounting and dimensions Compax3S0xxV2 • BRM10/02 with C3S150V4 • 182
66 BRM11/01 with C3H0xxV4 • 187
Mounting and dimensions Compax3S100V2 BRM12/01 with C3H1xxV4 • 187
and S0xxV4 • 67 BRM13/01 with PSUP10D6 • 188
Mounting and dimensions Compax3S150V2 BRM14/01 with PSUP10D6 • 188
and S150V4 • 68 Permissible braking pulse powers of the
Mounting and dimensions Compax3S300V4 • braking resistors • 179
69 Plug assignment Compax3S0xx V2 • 31, 32,
Mounting and dimensions PSUP/C3M • 70 33, 34, 57, 60, 62, 63
Mounting and dimensions Position controller • 128
PSUP10/C3M050D6, C3M100D6, Power supply • 33
C3M150D6 • 70 Power supply connector X1 for 3AC
Mounting and dimensions 400VAC/480VAC-C3S devices • 35
PSUP20/PSUP30/C3M300D6 • 71 Power supply plug X1 for 1 AC
Mounting distances, air currents 230VAC/240VAC devices • 33
Compax3H050V4 • 73 Power supply plug X1 for 3AC
Mounting distances, air currents 230VAC/240VAC devices • 33
Compax3H090V4 • 73 Power supply voltage DC C3H • 56
Mounting distances, air currents Principle • 121
Compax3H1xxV4 • 74 Process of the automatic determination of the
load characteristic value (load identification)
N • 122
Netzdrosseln • 172 PSUP/Compax3M Connections • 39
Nominal value window • 105 R
Note on error switch-off • 81
Notes on the STO function • 80 Recommendations for preparing the modem
operation • 152
O Ref X11 / SSK21 • 197
Offset alignment • 134 Reglerstruktur Schritt-/Richtungs- oder
Operating Principle • 132 Encoder - Eingang • 126
Operator control module BDM • 192 Remote diagnosis via Modem • 150
Optimierung • 113 Resolver • 60
Optimization window • 113 Resolver / Feedback (connector X13) • 60
Optimize motor reference point and switching Resolver cable • 174
frequency of the motor current • 96 Rising of current (Para) • 131
Order code • 155 Rotary servo motors • 164
Order Code braking resistors • 158 RS232 - Kabel / SSK1 • 195
Order code device RS232 / RS485 interface (plug X10) • 57
Compax3 • 156 RS232 plug assignment • 57
Order code for mains module RS485 - Kabel zu Pop / SSK27 • 196
PSUP • 157 RS485 plug assignment • 57
Oscilloscope operating mode switch: • 116 RS485 settings values • 145
P S
Parker Servomotoren • 162 Safe torque off • 75
PC - PSUP (Mains module) • 58 Safe torque off basic function • 83
PC <-> C3M device combination (USB) • 139 Safe torque off description • 83
PC <-> Compax3 (RS232) • 136 Safety function - STO (=safe torque off) • 75
PC <-> Compax3 (RS485) • 138 Safety instructions • 13
Permissible braking pulse power Safety notes for the STO function in the
BRM04/01 with C3S150V2 • 184 Compax3M • 86
BRM04/01 with C3S300V4 • 185 Safety switching circuits • 85
BRM04/02 with C3S150V2 • 185
218 C3I10T10 192-120100N17 - September 2014

Safety technology option S3 for Compax3M User interface • 115

(axis controller) • 48
Safety-conscious working • 13 V
Scope • 114 Velocity loop damping • 125
Scope of delivery • 9 Velocity loop stiffness • 125
Selection of the supply voltage used • 95 Verpackung, Transport, Lagerung • 12
Setpoint control • 104
Setting the axis function • 59 W
Setting the time basis XDIV • 116
Warranty conditions • 15
Settings for channels 1..4 • 117
Wiring of analog interfaces • 62
Setup mode • 133
Wiring of the motor output filter • 171
Signalschnittstellen • 60
With upper mounting, the housing design may
SinCos© cable • 175
be different • 71
Special functions • 118
Special safety instructions • 14 X
Status LEDs • 26, 27
Status values • 153 X1 • 33
Stecker- und Pinbelegung C3H • 52 X10 • 57
Stecker- und Pinbelegung C3S • 29 X11 • 62
Step/Direction Input 24V • 101, 102 X12 • 63
Step/Direction Input RS422 • 101, 109 X13 • 60
STO (= safe torque off) with Compax3m X14 Safety technology option S1 for
(Option S1) • 85 Compax3M (axis controller) • 48
STO (= safe torque off) with Compax3S • 78 X2 • 34
STO delay times • 79, 87 X3 • 32
STO function description • 89 X4 • 31
STO function test • 91 Z
STO function with safety switching device via
Compax3M inputs • 88 Zubehör Compax3 • 162
STO Principle (= Safe Torque Off) with
Compax3S • 78
STO Test-Protokoll-Vorschlag
(Sicherheitsoption S1) • 92
Storage • 12
Strom auf dem Netz-PE (Ableitstrom) • 23
Structure • 150
Supply networks • 23
T
Technical Characteristics STO Compax3S • 84
Technische Daten • 200
Technische Daten der Compax3M S1-Option •
93
Temperature switch PSUP (mains module) •
46
Test commissioning
Compax3 S0xx V2 I10 • 108
Time frame predefined setpoint value • 101,
104
Tips • 123
Toroidal core ferrite • 32
Torque motors • 164
Trigger settings • 118
Turning the motor holding brake on and off •
135
Type specification plate • 11
U
Usage in accordance with intended purpose •
13
USB - RS232 converter • 57
USB-RS485 Adapter Moxa Uport 1130 • 140
C3I10T10 192-120100N17 - September 2014 219

220 C3I10T10 192-120100N17 - September 2014

C3I10T10 - Analog Comm

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C3I10T10 - Analog Comm

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Step/Direction and Analog Command Input Electromechanical Automation

Operating instructions Compax3 I10T10

Step/Direction and Analog Command

Italy: Parker Hannifin Manufacturing Srl • SSD SBC • Electromechanical Automation •

USA: Parker Hannifin Corporation • Electromechanical Automation

Status of the Manuals:

2 C3I10T10 192-120100N17 - September 2014

2. Compax3 with analogue and step/direction input ..............................24

C3I10T10 192-120100N17 - September 2014 3

3.5.6.1 Temperature switch PSUP (mains module).......................................... 46

4 C3I10T10 192-120100N17 - September 2014

4. Setting up Compax3 ..............................................................................94

C3I10T10 192-120100N17 - September 2014 5

4.4.3.2 Boundary conditions ........................................................................... 121

5. Communication ................................................................................... 136

6. Status values ....................................................................................... 153

7. Error ..................................................................................................... 154

6 C3I10T10 192-120100N17 - September 2014

9. Compax3 Accessories ........................................................................ 162

C3I10T10 192-120100N17 - September 2014 7

9.4.2.5 Braking resistor BRM11/01 & BRM12/01 ........................................... 190

10. Technical Data ..................................................................................... 200

8 C3I10T10 192-120100N17 - September 2014

1.1 Device assignment

With the supplement:

1.2 Scope of delivery

C3I10T10 192-120100N17 - September 2014 9

 Device accessories for Compax3M

 Device accessories for PSUP

 Device accessories for Compax3H

10 C3I10T10 192-120100N17 - September 2014

1.3 Type specification plate

2 S025: Single axis device, nominal device current in 100mA (025=2.5A)

C3I10T10 192-120100N17 - September 2014 11

1.4 Packaging, transport, storage

First device checkup

Please note in the

12 C3I10T10 192-120100N17 - September 2014

1.5 Safety instructions

1.5.1. General hazards

1.5.2. Safety-conscious working

C3I10T10 192-120100N17 - September 2014 13

1.5.3. Special safety instructions

Attention - hot surface!

14 C3I10T10 192-120100N17 - September 2014

Please note in the

1.6 Warranty conditions

Note on exchange of options

C3I10T10 192-120100N17 - September 2014 15

1.7 Conditions of utilization

1.7.1. Conditions of utilization for CE-conform operation

Operation of devices only in the state in which they are delivered.

1.7.1.1 Conditions of utilization mains filter

16 C3I10T10 192-120100N17 - September 2014

Connection length: Connection between mains filter and device:

1.7.1.2 Conditions of utilization for cables / motor filter

Shielding connection of the motor cable

Feedback cable < 100 m

C3I10T10 192-120100N17 - September 2014 17

Compax3M encoder < 80m