C3FT40 Eng

C3F_T40 Electromechanical Automation
Operating instructions Compax3 Fluid T40: Cam
Hydraulics Controller
192-121102N06
Oktober 2014
Release as from R09-63
Technische Änderungen vorbehalten. 13.10.14 14:29 192-120102N6 C3FT40 2014-10

Daten entsprechen dem technischen Stand zum Zeitpunkt der Drucklegung.
Introduction C3F_T40
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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:
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. Compax3F Motion control
according to IEC61131-3 with cam
http://www.Parker.com/Literature/Electromechanical Europe/user guides/C3FT40.chm
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Parker EME Device assignment Compax3 Fluid
Inhalt
1. Introduction ...........................................................................................11
1.1 Device assignment Compax3 Fluid ...................................................... 11
1.1.1. Type specification plate Compax3 Fluid ....................................................... 11
1.2 ProfiNet Certificate ................................................................................ 12
1.3 Safety instructions ................................................................................. 13
1.3.1. General hazards ............................................................................................... 13
1.3.2. Safety-conscious working .............................................................................. 13
1.3.3. Special safety instructions ............................................................................. 13
1.4 Warranty conditions .............................................................................. 14
1.5 Conditions of utilization for CE-conform operation ............................ 14
2. Positioning with IEC61131-3 .................................................................15

3. Compax3F device description ..............................................................18
3.1 State of delivery ..................................................................................... 18
3.2 Plug and connector assignment Compax3 Fluid ................................ 18
3.2.1. Meaning of the front panel LEDs (via X10).................................................... 18
3.2.2. Plug and connector assignment .................................................................... 19
3.2.3. Plug and connector assignment complete ................................................... 20
3.2.4. Analog Input (plug X1) .................................................................................... 21
3.2.4.1 Wiring of the analog current inputs ....................................................... 21
3.2.4.2 Wiring of the analog voltage inputs ....................................................... 22
3.2.5. Analog Output (plug X2) ................................................................................. 22
3.2.5.1 Wiring of analog outputs ....................................................................... 23
3.2.6. Voltage supply (plug X3) ................................................................................. 23
3.2.7. RS232 / RS485 interface (plug X10) ............................................................... 24
3.2.8. Analog / Encoder (plug X11) ........................................................................... 25
3.2.8.1 Connections of the encoder interface ................................................... 25
3.2.9. Digital inputs/outputs (plug X12) ................................................................... 26
3.2.9.1 Connection of the digital Outputs/Inputs ............................................... 26
3.2.10. Feedback (connector X13) .............................................................................. 27
3.2.10.1 Connections of the encoder interface ................................................... 27
3.2.11. Profibus connector X23 on Interface I20 ....................................................... 28
3.2.11.1 Adjusting the bus address (Profibus I20) .............................................. 28
3.2.11.2 Function of the Bus LEDs (Profibus I20) .............................................. 28
3.2.12. Profinet connector X23, X24 on Interface I32 ............................................... 28
3.2.12.1 Adjusting the bus address (Profinet I32) ............................................... 29
3.2.12.2 Function of the Bus LEDs (Profinet I32) ............................................... 29
3.2.13. CANopen connector X23 Interface I21 .......................................................... 30
3.2.13.1 Adjusting the bus address (Profibus I20) .............................................. 30
3.2.13.2 Function of the Bus LEDs ..................................................................... 31
3.2.14. DeviceNet Stecker X23 .................................................................................... 32
3.2.14.1 Adjusting the bus address..................................................................... 32
3.2.14.2 Function of the Bus LEDs ..................................................................... 33
3.2.15. Ethernet Powerlink (Option I30) / EtherCAT (option I31) X23, X24 ............. 33
3.2.15.1 Set Ethernet Powerlink (option I30) bus address ................................. 34
3.2.15.2 Set EtherCAT (option I31) bus address ................................................ 34
3.2.15.3 Meaning of the Bus LEDs (Ethernet Powerlink) ................................... 34
3.2.15.4 Meaning of the Bus LEDs (EtherCAT) .................................................. 35
3.2.16. Mounting and dimensions .............................................................................. 37
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4. Setting up Compax3 ..............................................................................38

4.1 Configuration ......................................................................................... 38
4.1.1. C3HydraulicsManager ..................................................................................... 40
4.1.1.1 Function description .............................................................................. 40
4.1.1.2 Structure of the databases .................................................................... 40
4.1.2. Compax3F structure image ............................................................................ 41
4.1.3. Drive configuration .......................................................................................... 42
4.1.4. Configuring drive1 ........................................................................................... 43
4.1.4.1 Position feedback system drive1 .......................................................... 43
4.1.4.2 Cylinder / motor selection ..................................................................... 44
4.1.4.3 Load configuration drive1...................................................................... 44
4.1.5. Configuring drive2 ........................................................................................... 45
4.1.6. Sensors ............................................................................................................. 45
4.1.6.1 Pressure sensors .................................................................................. 45
4.1.6.2 Force sensor drive 1 ............................................................................. 47
4.1.6.3 Pressure and force sensor drive 2 ........................................................ 48
4.1.7. Valve configuration ......................................................................................... 48
4.1.7.1 Selection and configuration of the valves ............................................. 49
4.1.8. Defining the reference system ....................................................................... 50
4.1.8.1 Position transducer ............................................................................... 50
4.1.8.2 Machine Zero ........................................................................................ 51
4.1.8.3 Travel Limit Settings ............................................................................. 66
4.1.8.4 Change assignment direction reversal / limit switches ......................... 69
4.1.8.5 Change initiator logic ............................................................................ 69
4.1.8.6 Debouncing: Limit switch, machine zero and input 0 ........................... 69
4.1.9. Ramp upon error and stromlos schalten ...................................................... 70
4.1.10. Limit and monitoring settings of force .......................................................... 70
4.1.10.1 Force window - force achieved ............................................................. 70
4.1.10.2 Maximum control deviation of force controller ...................................... 71
4.1.10.3 Maximum force ..................................................................................... 71
4.1.10.4 Hydraulic corner power limitation .......................................................... 71
4.1.11. Positioning window - Position reached ......................................................... 72
4.1.12. Following error limit ........................................................................................ 73
4.1.13. Maximum permissible speed .......................................................................... 73
4.1.14. Encoder simulation ......................................................................................... 74
4.1.15. Recipe table ...................................................................................................... 75
4.1.16. Error response ................................................................................................. 75
4.1.17. Configuration name / comments .................................................................... 76
4.2 Configuring the signal source .............................................................. 77
4.2.1. Physical Source ............................................................................................... 77
4.2.1.1 +/-10V Master speed ............................................................................ 77
4.2.1.2 Encoder A/B 5V, step/direction or SSI feedback as signal source ....... 78
4.2.2. Internal virtual master ..................................................................................... 79
4.2.3. Fieldbus master ............................................................................................... 79
4.2.4. HEDA Master signal source ............................................................................ 79
4.3 Optimization ........................................................................................... 81
4.3.1. Optimization window ....................................................................................... 81
4.3.2. Scope ................................................................................................................ 82
4.3.2.1 Monitor information ............................................................................... 82
4.3.2.2 User interface ........................................................................................ 83
4.3.2.3 Example: Setting the Oscilloscope ....................................................... 87
4.3.3. Controller Tuning ............................................................................................. 89
4.3.3.1 Preparatory settings for the controller alignment .................................. 90
4.3.3.2 Signal filtering with external command value........................................ 94
4.3.3.3 Controller structure of main axis ........................................................... 97
4.3.3.4 Controller structure auxiliary axis .......................................................... 98
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4.3.3.5 Feedforward main axis (status controller) ............................................. 99

4.3.3.6 Feedforward auxiliary axis (status controller) ..................................... 100
4.3.3.7 Position controller main axis (status controller) .................................. 101
4.3.3.8 Position controller auxiliary axis (status controller) ............................. 104
4.3.3.9 Filter main axis .................................................................................... 107
4.3.3.10 Filter auxiliary axis .............................................................................. 108
4.3.3.11 Filter external signal source ................................................................ 109
4.3.3.12 Filter setpoints ..................................................................................... 111
4.3.3.13 Analog Input ........................................................................................ 113
4.3.3.14 Force-/Pressure Control main axis ..................................................... 117
4.3.3.15 Force-/Pressure Control auxiliary axis ................................................ 121
4.3.3.16 Output signal conditioning 0................................................................ 125
4.3.3.17 Step-by-step optimization ................................................................... 130
4.3.4. Input simulation ............................................................................................. 138
4.3.4.1 Calling up the input simulation ............................................................ 138
4.3.4.2 Operating Principle ............................................................................. 138
4.3.5. Setup mode .................................................................................................... 139
4.3.5.1 Motion objects in Compax3................................................................. 140
4.3.6. ProfileViewer for the optimization of the motion profile ........................... 141
4.3.6.1 Mode 1: Time and maximum values are deduced from Compax3
input values ......................................................................................... 141
4.3.6.2 Mode 2: Compax3 input values are deduced from times and
maximum values ................................................................................. 141
5. Motion control ..................................................................................... 142

5.1 Programming based on IEC61131-3 ................................................... 142
5.1.1. Compax3 ServoManager: IEC61131-3 programming ................................. 143
5.1.2. Prerequisites .................................................................................................. 143
5.1.3. CoDeSys / Compax3 target system (Target Package) ............................... 143
5.1.3.1 Program development and test ........................................................... 144
5.1.3.2 Recipe management ........................................................................... 144
5.1.4. Languages supported ................................................................................... 144
5.1.5. Function range supported ............................................................................ 144
5.1.5.1 Operators supported ........................................................................... 145
5.1.5.2 Standard functions supported ............................................................. 146
5.1.5.3 Standard function modules supported ................................................ 146
5.1.6. Data types supported .................................................................................... 147
5.1.7. Retain Variables ............................................................................................. 147
5.1.8. Recipe table with 9 columns and 32 (120) lines ......................................... 147
5.1.9. Maximum program size ................................................................................. 148
5.1.10. Cycle time ....................................................................................................... 148
5.1.11. Access to the Compax3 object directory .................................................... 148
5.1.12. Compilation, debugging and down/upload of IEC61131 programs.......... 149
5.1.13. General rules / timing .................................................................................... 149
5.1.14. Library constants ........................................................................................... 151
5.2 Status diagrams ................................................................................... 152
5.2.1. Status diagram of Compax3F main axis ..................................................... 152
5.2.2. Status diagram of Compax3F auxiliary axis ............................................... 153
5.2.3. Status diagram of the virtual master ........................................................... 154
5.3 Control functions ................................................................................. 155
5.3.1. Activation of the drive (MC_Power) ............................................................. 155
5.3.2. Stop (MC_Stop) .............................................................................................. 157
5.3.2.1 MC_Stop at pressure/force control ..................................................... 158
5.3.2.2 MC_Stop: Example 1 .......................................................................... 158
5.3.2.3 MC_Stop: Example 2 .......................................................................... 159
5.3.3. C3_SetControlMode ...................................................................................... 160
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5.4 Reading values..................................................................................... 161

5.4.1. Reading the current position (MC_ReadActualPosition) .......................... 161
5.4.2. Read access to the (C3_ReadArray) array .................................................. 162
5.4.3. Reading the device status (MC_ReadStatus) ............................................. 163
5.5 Determine valve/range parameters (C3_GetSystemFingerPrint) ..... 164
5.5.1. Important notes .............................................................................................. 166
5.5.2. Procedure when working with the C3_getSystemFingerPrint .................. 166
5.6 Positioning functions (standard) ........................................................ 168
5.6.1. Value range for positioning parameters ...................................................... 168
5.6.2. Absolute positioning (MC_MoveAbsolute) ................................................. 169
5.6.2.1 Position mode in reset operation ........................................................ 172
5.6.2.2 Description of jerk ............................................................................... 173
5.6.3. Relative positioning (MC_MoveRelative) .................................................... 174
5.6.4. Additive positioning (MC_MoveAdditive).................................................... 177
5.6.5. Endless positioning (MC_MoveVelocity) .................................................... 179
5.6.6. Manual operation (C3_Jog)........................................................................... 181
5.6.7. Machine zero (MC_Home) ............................................................................. 183
5.6.8. Electronic gearbox (MC_GearIn) .................................................................. 185
5.7 Superimposed motion ......................................................................... 188
5.7.1. Dynamic positioning ..................................................................................... 188
5.7.2. Superimposed positioning (C3_MoveSuperImposed) ............................... 189
5.7.3. Zero point shift caused by superimposed positioning
(C3_ShiftPosition) .......................................................................................... 195
5.7.4. Stop module for superimposed movement (C3_StopSuperImposed) ..... 199
5.8 Adjust force / pressure (C3_PressureForceAbsolute) ...................... 200
5.9 Dynamic switching: Position- on force/pressure - adjustment........ 201
5.9.1. Switching: from force to position mode (C3_pQ) ...................................... 202
5.10 Cam Control ......................................................................................... 204
5.10.1. Introduction: Electronic cam control ........................................................... 204
5.10.1.1 Function principle ................................................................................ 205
5.10.2. Overview ......................................................................................................... 206
5.10.3. Basics ............................................................................................................. 206
5.10.3.1 Cam types ........................................................................................... 206
5.10.3.2 Cam parameters / terms ..................................................................... 207
5.10.3.3 Basic procedure .................................................................................. 209
5.10.4. Generating cams ............................................................................................ 209
5.10.4.1 Introduction to the CamDesigner (example) ....................................... 210
5.10.4.2 Cam functions of the Compax3 ServoManager / motion laws ............ 214
5.10.5. Cam function structure ................................................................................. 217
5.10.5.1 Function modules of the cam .............................................................. 217
5.10.5.2 Signal image ....................................................................................... 218
5.10.5.3 Cam reference systems ...................................................................... 222
5.10.6. Master signal source ..................................................................................... 227
5.10.6.1 Setting the position of the selected master source
(C3_SetMaster) ................................................................................... 228
5.10.6.2 Recording the position of the selected master source
(C3_MasterControl) ............................................................................ 229
5.10.6.3 Control of the cam generator (C3_CamTableSelect) ......................... 233
5.10.6.4 Reset curve generator (C3_CamReset) ............................................. 237
5.10.6.5 Configure reset distance of the position of the selected master
source (C3_MasterConfig) .................................................................. 239
5.10.6.6 Master signal phase shift (C3_Phasing) ............................................. 241
5.10.7. Alignment of the slave axis .......................................................................... 245
5.10.7.1 Start cam / coupling ............................................................................ 245
5.10.7.2 Exiting the active curve with coupling movement (C3_CamOut)........ 256
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5.10.8. 10 Steps for cam generation......................................................................... 261

5.10.8.1 Step 1: C3 ServoManager .................................................................. 261
5.10.8.2 Step 2: Connect motor. ....................................................................... 261
5.10.8.3 Step 3: Supply & I/O wiring ................................................................. 261
5.10.8.4 Step 4: RS232 connection & C3 ServoManager ................................ 261
5.10.8.5 Step 5: Set Compax3 device type ...................................................... 261
5.10.8.6 Step 6: Configuration .......................................................................... 261
5.10.8.7 Step 7: Selecting Master signal source .............................................. 262
5.10.8.8 Step 8: Generating the cam ................................................................ 262
5.10.8.9 Step 9: Create IEC program ............................................................... 262
5.10.8.10 Step 10: Starting and monitoring cam ................................................ 262
5.10.9. Cam applications ........................................................................................... 263
5.10.9.1 Example 1: Single start of a closed cam ............................................. 263
5.10.9.2 Example 2: Change between single start of an open cam and
POSA .................................................................................................. 265
5.10.9.3 Example 3: Single Start for run through curve 5 times ....................... 267
5.10.9.4 Example 4: Composing curves ........................................................... 269
5.10.9.5 Example 5: Cyclic operation with event-triggered change of curve .... 271
5.10.9.6 Example 6: Operation with curve segments and standstill area ......... 273
5.10.9.7 Example 7: Curve operation with slave reg synchronization .............. 274
5.10.9.8 Example 8: Curve operation with master reg synchronization ........... 276
5.10.9.9 Example case of damage ................................................................... 278
5.10.9.10 Application note: Drift .......................................................................... 280
5.11 Cam switching mechanism ................................................................. 282
5.11.1. Cam switching mechanism function overview ........................................... 282
5.11.1.1 Example of cam function..................................................................... 283
5.11.1.2 Examples of a cam cycle .................................................................... 283
5.11.2. Redirect the fast cams directly to the physical output
(C3_OutputSelect) ......................................................................................... 285
5.11.3. Objects of the cam switching mechanism .................................................. 286
5.11.4. Behavior of the switch-on/switch-off anticipation ..................................... 287
5.11.4.1 Behavior depending on the travel direction ........................................ 287
5.11.4.2 Switching behavior with reset operation ............................................. 289
5.11.4.3 Switch-on anticipation is corrected via reset distance ........................ 289
5.11.4.4 Note: No switching operation with overlapping cams ......................... 290
5.11.5. Hysteresis ....................................................................................................... 290
5.11.6. CoDeSys-Project for the configuration of the cams .................................. 291
5.11.7. Example: Working with fast cams ............................................................... 291
5.12 Error handling ...................................................................................... 293
5.12.1. Acknowledging errors (MC_Reset) .............................................................. 293
5.12.2. Reading axis errors (MC_ReadAxisError) ................................................... 294
5.12.3. Set error reaction (C3_SetErrorReaction) ................................................... 295
5.13 Process image...................................................................................... 296
5.13.1. Reading digital inputs (C3_Input) ................................................................ 296
5.13.2. Write digital outputs (C3_Output) ................................................................ 296
5.13.3. Reading/writing optional inputs/outputs..................................................... 297
5.13.3.1 C3_IOAddition_0 ................................................................................. 297
5.13.3.2 C3_IOAddition_1 ................................................................................. 297
5.13.3.3 C3_IOAddition_2 ................................................................................. 298
5.13.4. Write analog outputs (C3_AnalogOutputs) ................................................. 299
5.13.5. Memorizing the signals with the trigger event (C3_TouchProbe) ............ 300
5.13.6. Integration of Parker I/Os (PIOs) .................................................................. 303
5.13.6.1 Initializing the PIOs (PIO_Init) ............................................................. 303
5.13.6.2 Reading the PIO inputs 0-15 (PIO_Inputx...y) .................................... 304
5.13.6.3 Writing the PIO outputs 0-15 (PIO_Outputx...y) ................................. 305
5.13.6.4 Example: Compax3 as CANopen Master with PIOs .......................... 305
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5.14 Interface to C3 powerPLmC ................................................................ 308

5.14.1. Interface module "PLmC_Interface" ............................................................ 308
5.14.2. Cyclic data channel for C3T30 and C3T40 .................................................. 309
5.14.3. Example: C3 powerPLmC Program & Compax3 Program ........................ 311
5.15 IEC examples........................................................................................ 313
5.15.1. Example in CFC: Using Compax3-specific function modules and
Compax3 objects ........................................................................................... 313
5.15.2. Example in CFC: Positioning 1..................................................................... 314
5.15.3. Example in CFC: Positioning 2..................................................................... 315
5.15.4. Example in CFC: Positioning with set selection ........................................ 315
5.15.5. Example in CFC: Cycle mode ....................................................................... 316
5.15.6. Example in ST: Cycle mode with a Move module ...................................... 317
5.16 Profibus: Emulating the ProfiDrive profile
(C3F_ProfiDrive_Statemachine) ......................................................... 319
6. Communication ................................................................................... 323

6.1 Compax3 communication variants ..................................................... 323
6.1.1. PC <-> Compax3 (RS232) .............................................................................. 324
6.1.2. PC <-> Compax3 (RS485) .............................................................................. 325
6.1.3. PC <-> C3M device combination (USB) ....................................................... 326
6.1.4. USB-RS485 Moxa Uport 1130 adapter ......................................................... 327
6.1.5. ETHERNET-RS485 NetCOM 113 adapter ..................................................... 328
6.1.6. Modem MB-Connectline MDH 500 / MDH 504 ............................................. 329
6.1.7. C3 settings for RS485 two wire operation................................................... 330
6.1.8. C3 settings for RS485 four wire operation .................................................. 331
6.2 COM port protocol ............................................................................... 332
6.2.1. RS485 settings values ................................................................................... 332
6.2.2. ASCII - record ................................................................................................. 332
6.2.3. Binary record ................................................................................................. 333
6.3 Remote diagnosis via Modem............................................................. 337
6.3.1. Structure ......................................................................................................... 337
6.3.2. Configuration of local modem 1 ................................................................... 338
6.3.3. Configuration of remote modem 2 ............................................................... 339
6.3.4. Recommendations for preparing the modem operation ........................... 339
6.4 Profibus/Profinet .................................................................................. 340
6.4.1. Typical application with Bus and IEC61131 ................................................ 340
6.4.2. Profibus / Profinet configuration.................................................................. 340
6.4.2.1 Configuration of the process-data channel ......................................... 341
6.4.2.2 PKW parameter channel ..................................................................... 342
6.4.2.3 Error Reaction on Bus Failure............................................................. 342
6.4.3. Cyclic process data channel ........................................................................ 342
6.4.3.1 Control and status word ...................................................................... 342
6.4.4. Acyclic parameter channel ........................................................................... 343
6.4.4.1 Parameter access with DPV0: Required data channel ....................... 343
6.4.4.2 Data formats of the bus objects .......................................................... 348
6.5 CANopen............................................................................................... 351
6.5.1. CANopen - Configuration.............................................................................. 351
6.5.1.1 CANopen Operating Mode.................................................................. 351
6.5.1.3 Baud rate............................................................................................. 352
6.5.1.4 Possible PDO assignment .................................................................. 352
6.5.1.5 Transmission cycle time...................................................................... 353
6.5.2. Supporting IEC modules ............................................................................... 353
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6.5.2.1 This module is used to determine the status of the CANopen

NMT status machine (C3_CANopen_State) ....................................... 353
6.5.2.2 This module is used to determine the status during Nodeguarding
(C3_CANopen_GuardingState) .......................................................... 354
6.5.2.3 Insert new CANopen node (C3_CANopen_AddNode) ....................... 355
6.5.2.4 Establishing PDO connection between 2 CANopen nodes
(C3_CANopen_ConfigNode) .............................................................. 356
6.5.2.5 Sending NMT messages (C3_CANopen_NMT) ................................. 357
6.5.2.6 Reading an object in another node (C3_CANopen_SDO_Read4) .... 358
6.5.2.7 Writing an object in another node (C3_CANopen_SDO_Write4) ....... 359
6.5.3. CANopen communication profile ................................................................. 360
6.5.3.1 Object types ........................................................................................ 361
6.5.3.2 Communication objects....................................................................... 361
6.5.4. Acyclic parameter channel ........................................................................... 365
6.5.4.1 Service Data Objects (SDO) ............................................................... 365
6.5.4.2 Object Up-/Download via RS232 / RS485 .......................................... 366
6.5.4.3 Data formats of the bus objects .......................................................... 366
6.6 DeviceNet.............................................................................................. 367
6.6.1. DeviceNet Configuration ............................................................................... 367
6.6.2. DeviceNet object classes .............................................................................. 368
6.6.2.1 Overview of the DeviceNet object classes.......................................... 369
6.6.3. Data formats of the bus objects ................................................................... 369
6.7 Ethernet Powerlink / EtherCAT ........................................................... 370
6.7.1. Configuring Ethernet Powerlink / EtherCAT ............................................... 370
6.7.1.1 CN Controlled Node (Slave) ............................................................... 370
6.7.1.2 Slave mit Konfiguration via Master ..................................................... 370
6.7.1.4 Possible PDO assignment .................................................................. 370
6.8 HEDA Bus ............................................................................................. 371
6.8.1. HEDA standard mode .................................................................................... 372
6.8.1.2 HEDA-Master ...................................................................................... 373
6.8.1.3 HEDA-Slave ........................................................................................ 373
6.8.2. HEDA expansion (HEDA advanced) ............................................................ 374
6.8.2.1 The possibilities of the HEDA expansion ............................................ 374
6.8.2.2 Technical data of the HEDA interface / overview ............................... 374
6.8.2.3 Definitions ........................................................................................... 375
6.8.2.4 Calling up the HEDA wizard in the C3 ServoManager ....................... 375
6.8.2.5 Configuration of the HEDA communication ........................................ 375
6.8.3. Coupling objects ............................................................................................ 391
7. Compax3 - Objects .............................................................................. 392

7.1 Object overview sorted by object name (T40) ................................... 392
7.2 Object overview sorted by object groups (T40) ................................ 403
7.2.1. C3 - Objects .................................................................................................... 403
7.2.2. C3Array - Objects .......................................................................................... 405
7.2.3. C3Cam - Objects ............................................................................................ 406
7.2.4. C3Plus - Objects ............................................................................................ 407
7.2.5. Other objects (no CoDeSys objects) ........................................................... 411
7.3 Objects for the process data channel (T40F) .................................... 414
8. Status values ....................................................................................... 417

8.1 D/A-Monitor .......................................................................................... 417
192-120102N6 C3FT40 2014-10 9

9. Error ..................................................................................................... 418

10. Order code ........................................................................................... 419
10.1 Order code device: Compax3 Fluid .................................................... 419
10.2 Order code for accessories................................................................. 419
10.2.1. Interface cable order code ............................................................................ 420
10.2.2. Order Code input/output terminals (PIO) .................................................... 420
10.2.3. Order note....................................................................................................... 421
11. Compax3 Accessories ........................................................................ 422

11.1 Connection set for Compax3F ............................................................ 422
11.2 Cable for path measurement systems ............................................... 422
11.2.1. Encoder cable ................................................................................................ 423
11.2.2. Feedback cable (Balluff) ............................................................................... 423
11.2.3. Feedback cable EnDat2.1.............................................................................. 424
11.3 Operator control module BDM ............................................................ 424
11.4 EAM06: terminal block for inputs and outputs .................................. 425
11.5 Interface cable ...................................................................................... 428
11.5.1. RS232 - cable / SSK1 ..................................................................................... 428
11.5.2. RS485 cable to Pop / SSK27 ......................................................................... 429
11.5.3. I/O-interface X12 / X22 / SSK22 .................................................................... 430
11.5.4. Ref X11 / SSK21 ............................................................................................. 430
11.5.5. Encoder coupling of 2 Compax3 axes / SSK29 .......................................... 431
11.5.6. Modem cable SSK31 ...................................................................................... 432
11.5.7. Adapter cable SSK32/20................................................................................ 432
11.6 Options M1x ......................................................................................... 433
11.6.1. Input/output option M12 ................................................................................ 433
11.6.1.1 Assignment of the X22 connector ....................................................... 433
11.6.2. HEDA (motion bus) - Option M11 ................................................................. 434
11.6.3. Option M10 = HEDA (M11) & I/Os (M12) .................................................... 435
11.6.4. Analog current inputs and voltage inputs (Option M21) ........................... 436
11.6.4.1 Connector assignment Option M21 X20 ............................................. 436
11.6.4.2 Connector assignment Option M21 X21 ............................................. 437
11.6.4.3 Layout of the analog inputs of Option M21 ......................................... 437
11.7 Profibus plug BUS08/01 ...................................................................... 438
11.8 CAN - plug BUS10/01 ........................................................................... 439
11.9 PIO: External Inputs/Outputs .............................................................. 440
11.9.1. Order Code input/output terminals (PIO) .................................................... 440
12. Technical Data ..................................................................................... 441

13. Index..................................................................................................... 447
10 192-120102N6 C3FT40 2014-10

1. Introduction
In this chapter you can read about:
Device assignment Compax3 Fluid .................................................................................. 11
ProfiNet Certificate .......................................................................................................... 12
Safety instructions ........................................................................................................... 13
Warranty conditions ......................................................................................................... 14
Conditions of utilization for CE-conform operation ........................................................... 14
1.1 Device assignment Compax3 Fluid

This manual is valid for the following devices:
 C3 F001 D2 F12 I11 T40
 C3 F001 D2 F12 I20 T40
 C3 F001 D2 F12 I21 T40
 C3 F001 D2 F12 I22 T40
 C3 F001 D2 F12 I30 T40
 C3 F001 D2 F12 I31 T40
 C3 F001 D2 F12 I32 T40
1.1.1. Type specification plate Compax3 Fluid

You will find the exact description of the device on the type specification
plate, which is located on the right side of the device:
Type specification
plate Compax3
Fluid:
Explanation:
1 Type designation: The complete order designation of the device (2, 6 - 9...)
(category no.)
2 C3F001D2 C3: Abbreviation for Compax3
F =Fluid: Hydraulics Controller
001: +/-10V and 0..20mA outputs (16 Bit)
D2: 24VDC device
3 Unique number of the particular device
4 Supply voltage 24 VDC
5 Date of factory test
6 Designation of the F12: Feedback Module
feedback system
7 Device interface I11 / I12: Digital Inputs / Outputs and RS232 / RS485
I20: Profibus DP / I21: CANopen / I22: DeviceNet /
I30: Ethernet Powerlink / I31: EtherCAT / I32: Profinet
8 Technology function T11: Positioning / pressure/force control
T30: Motion control in accordance with IEC61131-3
T40: Electronic cam
9 Options Mxx:
10 CE compliance
11 UL certification PD2 (see on page 442) (degree of pollution)
192-120102N6 C3FT40 2014-10 11

1.2 ProfiNet Certificate
12 192-120102N6 C3FT40 2014-10

Parker EME Safety instructions
1.3 Safety instructions

General hazards .............................................................................................................. 13
Safety-conscious working ................................................................................................ 13
Special safety instructions ............................................................................................... 13
1.3.1. 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.
1.3.2. 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.
1.3.3. Special safety instructions

 Check the correct association of the device and its documentation.
 Never detach electrical connections while voltage is applied to them.
 Safety devices must be provided to prevent human contact with moving or
rotating parts.
 Make sure that the device is operated only when it is in perfect condition.
 Implement and activate the stipulated safety functions and devices.
 Operate the device only with the housing closed.
 Make sure that all devices are sufficiently fixed.
192-120102N6 C3FT40 2014-10 13

1.4 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 37)
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.
1.5 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.
Shielding connection of the valve cables

The cable must be fully-screened and connected to the Compax3 housing. Use the
cable clamps/shield connecting terminals (see on page 422) furnished with the
device.
The shield of the valve cable must also be connected with the valve housing. The
fixing (via plug or screw in the terminal box) depends on the valve type.
Feedback cable < 100 m

Compax3S,
Compax3H &
Compax3F:
Control: Use only with aligned controller (to avoid control loop oscillation).
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.
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
61000-6-4. In a domestic area this product can cause radio frequency
disturbance, in which case the user may be required to implement
appropriate remedial measures.
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Parker EME Conditions of utilization for CE-conform operation
2. Positioning with IEC61131-3
Compax3F: Compax3F is another member of the Parker Hannifin servo drive family.
Electrohydraulic Compax3F was especially designed to meet the requirements of electrohydraulic
servo drive systems for the control of position and force of hydraulic axes.
Compax3 Fluid - (Hydraulics controller)
Technical data
Motion control with motion profiles, suitable for position and force/pressure control
for up to 2 axes.
Setpoint generator
 Jerk-limited ramps.
 Travel data in increments, mm, inch.
 Specification of speed, acceleration, delay and jerk factor.
 Force/pressure data in N, bar, psi.
Monitoring functions
 Voltage range.
 Following error monitoring.
 Hard and Software limit switch
Technology functions of servo controllers

 IEC61131-3 programs in the servo controller (T30)
 Cam function in the servo controller (T40)
IEC 61131-3 Due to its high functionality, Compax3 in the version “IEC 61131-3 - Positioning
Programming with function modules based on PLCopen” forms an ideal basis for many
applications in high-performance motion automation.
A standard with general applicability was created with Standard IEC 61131-3. The
programming system is equipped with a series of functions in addition to the
compliant editor. The Motion Control functions specified in PLCopen are also
provided by Parker as a library with the device and control software.
The graphical program editor supports the following functions:

 Ladder diagram
 Function block diagram (structurally-guided)
 Function block diagram (free graphical editor)
The text-oriented editor supports programming in

 Instruction list
 Structured text
Programming of Compax3 based on IEC 61131-3 is also made considerably easier

by a series of additional functions. This includes in particular Syntax Coloring,
multi-level undo/redo and context-sensitive input help.
192-120102N6 C3FT40 2014-10 15

Positioning with IEC61131-3 C3F_T40
Cam control T40 Rising rationalization pressure and an increasing degree of automation in process
engineering demand modern and flexible drive concepts. The introduction of digital
and communicating control devices was an important step towards the
decentralization of control and regulation tasks. An increasing number of
mechanical construction components can be replaced by programmable servo
drives.
Process
Process
In particular mechanical cam switching mechanisms and discontinuous shafts

maintained until today their fields of application in many areas of machine
construction. Mechanical cam switching mechanisms offer, besides complex
motion profiles, a high positioning accuracy and rigid coupling between master and
slave drive. Their drawbacks are, however, the long changeover times and the
limitation to a defined profile.
In this respect the Compax3 T40 electronic cam offers considerable time
advantages, above all when changing between small batch sizes or with a wide
range of products. The decentralization of the drive performance can reduce size,
costs and maintenance effort considerably.
The switching command between different motion profiles takes only seconds - no
fitter or wrench is required.
Large, mechanically coupled drive systems can be divided into small, independent
drives. The dynamic and stationary behavior of every drive can be individually set
and optimized.
Compax3 is able to simulate mechanical cams and cam switching mechanisms
electronically.
This helps to realize discontinuous material supply, flying knife and similar drive
applications with distributed drive performance.
The compact servo controller processes the signals of a master axis and controls a
servo drive via the desired motion profile, which is defined in the form of an
interpolation point memory.
The cam function modules and the CamDesigner make it easy to launch cam
applications in the IEC program.
Interfaces with Independent of your motion automation you can access Compax3 externally via
superordinate different interfaces (e.g. with the superordinate control):
controllers  via RS232 / RS485
 via digital Inputs/Outputs (Interface I11)
 via Profibus (Interface I20)
 via Profinet (Interface I32)
 via CANopen (Interface I21)
 via Ethernet Powerlink (interface I30)
 via EtherCAT (interface I31)
16 192-120102N6 C3FT40 2014-10

Parker EME Conditions of utilization for CE-conform operation
Profibus (I20) The higher-level control system communicates with Compax3 via Profibus or
&Profinet (I32) Profinet.
functions A number of different cyclic transfer telegrams (which can be conveniently adjusted
with the Compax3 ServoManager) can be used to adjust bus communication to the
requirements of specific applications.
In addition to the cyclic data channel, parameter access is also possible via a
DPV1 master or using the parameter channel with a DPV0 master.
CANopen (I21 - The higher level control system communicates with Compax3 via CANopen.
functions) Via various cyclic process data objects (which can be comfortably set with the
Compax3 ServoManager) the bus communication can be adapted to the
application requirements.
Apart from the cyclic process data objects, acyclic parameter access is possible via
service data objects.
DeviceNet (I22 The higher level control system communicates with Compax3 via DeviceNet.
functions) Cyclic I/O messages (which can be conveniently adjusted with the Compax3
ServoManager) can be used to adjust bus communication to the requirements of
specific applications.
Besides the cyclic data, acyclic access to objects is possible via Explicit Messages.
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. Powerful
auxiliary material electronics is an important feature which made it possible to manufacture the
Compax3F so small and compact. All connectors are located on the front of the
Compax3.
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 424)) for
Compax3 makes it possible to exchange devices quickly without requiring a PC.
Configuration Configuration is made with a PC with the help of the Compax3 ServoManager.
192-120102N6 C3FT40 2014-10 17

Compax3F device description C3F_T40
3. Compax3F device description

State of delivery ............................................................................................................... 18
Plug and connector assignment Compax3 Fluid .............................................................. 18
3.1 State of delivery

Compax3 is delivered without configuration!
After switching on the 24VDC supply, the red LED is flashing while the green LED
is dark.
Please configure the device with the help of the Windows-Software "Compax3
ServoManager"!
3.2 Plug and connector assignment Compax3 Fluid

Meaning of the front panel LEDs (via X10)....................................................................... 18
Plug and connector assignment ....................................................................................... 19
Plug and connector assignment complete........................................................................ 19
Analog Input (plug X1) ..................................................................................................... 21
Analog Output (plug X2) .................................................................................................. 22
Voltage supply (plug X3) .................................................................................................. 23
RS232 / RS485 interface (plug X10) ................................................................................ 23
Analog / Encoder (plug X11) ............................................................................................ 25
Digital inputs/outputs (plug X12) ...................................................................................... 26
Feedback (connector X13)............................................................................................... 27
Profibus connector X23 on Interface I20 .......................................................................... 28
Profinet connector X23, X24 on Interface I32................................................................... 28
CANopen connector X23 Interface I21............................................................................. 30
DeviceNet Stecker X23.................................................................................................... 32
Ethernet Powerlink (Option I30) / EtherCAT (option I31) X23, X24 .................................. 33
Mounting and dimensions ................................................................................................ 37
3.2.1. Meaning of the front panel LEDs (via X10)

Status LED LED
red green
Voltages missing. off off
While booting. alternately flashing
No configuration present. flashing off
Compax3 IEC61131-3 program not compatible with Compax3 Firmware.
no Compax3 IEC61131-3 program.

Axis(es) blocked. off flashes slowly
Axis(es) enabled. off on
Axis in fault status / fault present. on off
18 192-120102N6 C3FT40 2014-10

Parker EME Plug and connector assignment Compax3 Fluid
3.2.2. Plug and connector assignment
X1 Analog Inputs
X2 Analog Outputs
X3 24 VDC power supply
X10 RS232/RS485
X11 2. Feedback Type
X12 Inputs/Outputs
X13 1. Feedback Type
Caution!
Always switch devices off before wiring them!
192-120102N6 C3FT40 2014-10 19

3.2.3. Plug and connector assignment complete

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.
Compax3F
RS485 +5V X10/1 RS485 +5V X10/1 EnableRS232 0V X10/1 Rx X20/1
X1 RxD X10/2 res. X10/2 RxD X10/2 Rx/ X20/2
X10: RS485 vierdraht
X10: RS485 zweidraht
HEDA-motionbus option M11(M10=+I/Os)

Analog Input TxD/ X10/3 TxD_RxD/ X10/3 TxD X10/3 Lx X20/3
res. X10/4 res. X10/4 DTR X10/4 res. X20/4
X20: HEDA in
X1/1
24V GND X10/5 GND X10/5 GND X10/5 res. X20/5
X10: RS232
X1/2 GND res. X10/6 res. X10/6 DSR X10/6 Lx/ X20/6
X1/3 TxD X10/7 TxD_RxD/ X10/7 RTS X10/7 res. X20/7

IN0+
RxD/ X10/8 res. X10/8 CTS X10/8 res. X20/8
X1/4 IN0-
+5V X10/9 +5V X10/9 +5V X10/9
X1/5 24V
X1/6 GND X11: 2.Feedback system Tx X21/1
X1/7 IN1+ X11/1 Tx/ X21/2
24V 24V
X1/8 IN1- X11/2 Lx X21/3
X1/9 24V X11/3 res. X21/4
X21: HEDA out

Aout1
X1/10 GND Aout0 X11/4 res. X21/5
X1/11 IN2+ +5V X11/5 Lx/ X21/6
X1/12 IN2- X11/6 res. X21/7
RS422 Encoder
A- INIT- Clock-
DA - Monitor
Start/Stop X11/7 res. X21/8

X1/13 24V A+ INIT+ Clock+
X11/8
SSI
X1/14 GND B+ STSP+
X1/15 IN3+ X11/9
X1/16 IN3- X11/10 res.
X22/1
X22: Input/Output option M12(M10=+HEDA)

X1/17 IN4+ X11/11 O0/I0
X22/2
X1/18 IN4- B- STSP- X11/12 O1/I1

X22/3
X1/19 IN5+ N- DATA- X11/13 O2/I2
X22/4
X1/20 IN5-
N+ DATA+ X11/14 O3/I3
X22/5
GND GND GND GND X11/15 O4/I4
X22/6
X22/7
O5/I5
X22/8
X12/1 O6/I6
Output+24V X22/9
X12/2 O7/I7
Output0 X22/10
X2 Output1
X12/3 O8/I8
X12: Digital Inputs/Outputs
X22/11
X12/4 Input24VDC
Analog Output Output2 X22/12
X12/5 O9/I9
Output3
X2/1 X12/6 O10/I10
X22/13
I/U out0 Input0 X22/14
X2/2 GND0 X12/7 O11/I11
Input1 X22/15
X2/3 I/U out1 X12/8 InputGND
Input2
X2/4 GND1 X12/9
Input3
X2/5 I/U out2 X12/10
Input4
X2/6 GND2 X12/11
Input+24V
X12/12
X2/7 I/U out3 Input5
X12/13 res. X23/1
X2/8 GND3 Input6
X12/14 res. X23/2
X2/9 Iout0 Input7 or (MN-INI)
Data line-B X23/3
X23: Profibus
X12/15
X2/10 GND GND24V
RTS X23/4
X2/11 Iout1 X13: 1.Feedback system GND X23/5
X2/12 GND +5V X23/6
+24V +24V X13/1
Sense+ Sense+ Sense+ X13/2 res. X23/7
Sin+ Sin+ X13/3 Data line-A X23/8
Vcc(+5V) Vcc(+5V) Vcc(+5V) X13/4 res. X23/9
+5V +5V +5V X13/5

SinusCosinus 1VSS
X3 X13/6
RS422 Encoder
A- INIT- Clock- Clock-

24VDC power supply
Start/Stop
X13/7
EnDat 2.1
A+ INIT+ Clock+ Clock+ res. X23/1

X13/8
SSI
B+ STSP+ COS+ COS+ CAN_L X23/2

X3/1 +24V SIN- SIN- X13/9 GNDfb X23/3
X23: CANopen
X3/2 GND24V X13/10 res. X23/4

Sense - Sense- Sense- X13/11 SHIELD X23/5
B- STSP- COS- COS- X13/12
res. X23/6
N- N- DATA- DATA- X13/13
CAN_H X23/7
N+ N+ DATA+ DATA+ X13/14
res. X23/8
GND GND GND GND GND X13/15
res. X23/9
20 192-120102N6 C3FT40 2014-10

3.2.4. Analog Input (plug X1)

Connector Descripti Combicon 3.81mm; female
X1 Pin on connector
1 24V Supply Sensor 0
2 GND Supply Sensor 0
3 IN0+ Signal Sensor 0 +
4 IN0- Signal Sensor 0 -
7 IN1 + Signal Sensor 1 +
8 IN1 - Signal Sensor 1 -
12 IN2 - Signal Sensor 2 -
16 IN3- Signal Sensor 3 -
17 IN4+ +/-10V Input 4
18 IN4- +/-10V Input 4
19 IN5+ +/-10V Input 5
20 IN5- +/-10V Input 5
Requirement: Connection cable

Use shielded cables.
Shield connection of the cables

device.
3.2.4.1 Wiring of the analog current inputs

Input IN0
Compax3
200KΩ
10pF
X1/4 200KΩ
In0-
250Ω 200KΩ
In0+
X1/3
200KΩ
IN0 to IN3 do have the same wiring!

Pin assignment (see on page 21) X1
192-120102N6 C3FT40 2014-10 21

3.2.4.2 Wiring of the analog voltage inputs

Input IN4
Compax3
22.1KΩ
1nF
X1/17 100KΩ
In4+
100KΩ
In4-
X1/18
22.1KΩ 1nF
2.5V
IIN4 and IN5 (X11/19 and X11/20) have the same

wiring!
3.2.5. Analog Output (plug X2)

Plug X2 Descripti Combicon 3.81mm; female connector
Pin on
1 I/U Aout0 ±10V/10mA or 4..20mA
2 GND 0
4 GND 1
6 GND 2
8 GND 3
9 Iout 0 +/-100mA current output 0
10 GND
11 lout 1 +/-100mA current output 1
12 GND
Terminating resistor:
Voltage +/-10V: ≥ 1000Ω
Current 4..20mA: ≤ 600Ω
Current 100mA: ≤ 100Ω
All outputs are short circuit proof.
Requirement: Connection cable

Use shielded cables.
Shield connection of the cables

device.
22 192-120102N6 C3FT40 2014-10

3.2.5.1 Wiring of analog outputs

Output I/U Aout0 Output Iout0
Compax3 Fluid Compax3 Fluid

X2/9 Iout0
X2/1 I/Uout0
+/-100mA*
+/-10V 0...20mA*
(10mA) X2/2 GND0 X2/10 GND
* 20mA to max. 450Ω * if RL<=180Ω
Aout0 to Aout3 do have the same wiring! Iout0 and Iout1 (X2/11 and X2/12) have the same
Pin assignment (see on page 22) X2 wiring!
3.2.6. Voltage supply (plug X3)

Connector Descriptio Combicon 5mm
X3 Pin n
1 +24 V 24 VDC (power supply)
2 GND24V GND
Voltage supply 24VDC

Controller type Compax3 F001 D2
Voltage range 21 - 27VDC
Mains module with switch-on current limitation, due to
capacitive load
Fuse MTP miniature circuit breaker or "delayed action
fuse", due to capacitive load
Current drain of the device 0.8A (max. 1.5A)
Total current drain 0.8A + total load of the digital outputs
Ripple <1Vss
Requirement according to safe extra yes
low voltage (SELV)
192-120102N6 C3FT40 2014-10 23

3.2.7. 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)
24 192-120102N6 C3FT40 2014-10

3.2.8. Analog / Encoder (plug X11)

The following position sensors can be connected via X11:
 RS422 Encoder (max. 5MHz, (track A or B) or step/direction)
 SSI (RS422)
 Start / Stop (Time of Flight, RS422)
2. Feedback system / X11 High Density /Sub D

Pin DA monitor RS422 Encoder Start/Stop SSI
(time-of-flight)
1 +24V max. 100mA +24V max. 100mA
3 Aout1
4 Aout0
5 +5V (for encoder)

max. 150 mA
6 A- INIT- Clock-
7 A+ INIT+ Clock+
8 B+ STSP+
9
10
11
12 B- STSP-
13 N- DATA-
14 N+ DATA+
15 GND GND GND GND

Max. start/stop time is 1.6ms (over 4.15m).
3.2.8.1 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)
192-120102N6 C3FT40 2014-10 25

3.2.9. Digital inputs/outputs (plug X12)

Pin X12 Input/output I/O / X12
High density/Sub D
1 Output +24 V DC output (max. 340mA)
2 O0 Output 0 (max. 100 mA)
3 O1 Output 1 (max. 100mA)
6 I0 Input 0
7 I1 Input 1
8 I2 Input 2
9 I3 Input 3
10 I4 Input 4
11 I 24V input for the digital outputs Pins 2 to 5
12 I5 Input 5
13 I6 Input 6
14 I7 Input 7
15 Output GND24V
All inputs and outputs have 24V level.
The exact assignment depends on the the device type!
You will find the description of the device-specific assignment in the online help
which can be opened from the Compax3 ServoManager.
Maximum capacitive loading of the outputs: 50nF (max. 4 Compax3 inputs).
3.2.9.1 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.
26 192-120102N6 C3FT40 2014-10

3.2.10. Feedback (connector X13)

The following position sensors can be connected via X13:
 1VSS SineCosine (max. 400Hz)
 RS422 Encoder (max. 5MHz, (track A or B) or step/direction)
 SSI (RS422)
 Start / Stop (Time of Flight, RS422)
 EnDat2.1
1. Feedback system / X13 High Density /Sub D

Pin RS422 Encoder SineCosine EnDat 2.1 Start/Stop SSI
1VSS (time-of-flight)
1 +24V +24V
max. 100mA max. 100mA
2 Sense+ Sense+ Sense+
3 Sin+ Sin+
4 Vcc +5V (controlled Vcc +5V (controlled Vcc +5V (controlled
on the encoder side) on the encoder on the encoder side)
side)
5 +5V (for encoder) +5V +5V
max. 150mA
6 A- Clock- INIT- Clock-
7 A+ Clock+ INIT+ Clock+
8 B+ COS+ COS+ STSP+
9 SIN- SIN-
10
11 Sense- Sense- Sense-
12 B- COS- COS- STSP-
13 N- N- DATA- DATA-
14 N+ N+ DATA+ DATA+
15 GND GND GND GND GND
Max. start/stop time is 1.6ms (over 4.15m).
Note on F12:
+5V (Pin 4) is measured and controlled directly at the end of the line via Sense -
and Sense +.
Maximum cable length: 100 m
Caution! Pin 4 and Pin 5 must under no circumstances be connected!
3.2.10.1 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)
192-120102N6 C3FT40 2014-10 27

3.2.11. Profibus connector X23 on Interface I20

Pin X23 Profibus (Sub D)
1 factory use
2 factory use
3 Data line B
4 RTS
5 GND
6 +5V
7 factory use
8 Data line A
9 factory use
The assignment corresponds to Profibus standard EN 50170.

Wiring (see on page 438).
3.2.11.1 Adjusting the bus address (Profibus I20)

Address setting
Values:
1: 20; 2: 21; 3: 22; ... 7: 26; 8: reserved
Settings:
left: OFF
right: ON
(The address is set to 0 in the illustration to the left)
Range of values: 1 ...127

Address 0 is set internally to address 126.
3.2.11.2 Function of the Bus LEDs (Profibus I20)

Function of the LEDs (under X23)
Green LED (left) Red LED (right) Description
alternately flashing Field bus program missing
off flashing Device is not initialized
on flashing Bus operation mode (no DATA exchange)
on off Bus operation mode (DATA exchange)
on on Bus error
3.2.12. Profinet connector X23, X24 on Interface I32

RJ45 (X23) RJ45 (X24)
Pin in out
1 Tx + Tx +
2 Tx - Tx -
3 Rx + Rx +
4 - factory use
5 - factory use
6 Rx - Rx -
7 - factory use
8 - factory use
Wiring with Ethernet Crossover cable Cat5e (from X24 to X23 of the next device
without termination); for this, we offer our SSK28 (see on page 420, see on page
431) interface cable.
28 192-120102N6 C3FT40 2014-10

3.2.12.1 Adjusting the bus address (Profinet I32)

With Profinet, the bus nodes are identified by name. This name is assigned during
setup with the aid of a configuration tool (Engineering Tool).
In order to identify each device during this phase, a blinking check can be used.
The Profinet node currently worked on in the configuration tool is made to identify
itself optically (see LED description // C3 xxx LED flashes green).
With the aid of the address switch, it is possible to allocate a non-ambiguous name
to each Compax3 in a network, without using a configuration tool.
Address setting
Settings:
left: OFF
right: ON
Address switch Device name used
0 The device name used is the name assigned with the aid of the
configuration tool.
(standard settings)
1 Device name - "compax3-001"
...
255 Device name - “compax3-255”
3.2.12.2 Function of the Bus LEDs (Profinet I32)

Function of the LEDs
LED2 (left) LED1 (right) Description
flashing green - Bus operation mode (no DATA exchange)
illuminated green - Bus operation mode (DATA exchange)
flashing green The blinking check in the
PROFINET-IO-Controller projecting was
activated in order to locate the node optically.
illuminated red Communication Error (Data exchange
terminated).
illuminated green flashing red Faulty Profinet configuration (PPO C3 <> PPO
Master)
flashing red flashing red  Troubleshoot if:
 Address switch S24 = 0:
Set S24 to unequal to zero and switch
devices off/on
 Set address switch S24 = 255:
Object 860.3 (IpAdr) to the desired IP
address, then write flash, then switch
device off/on
Alternately flashing red Fieldbus Interface in the boot loader mode (no
valid Firmware available).
Alternately flashing red/green Firmware is written into the FLASH during the
firmware update (caution, do not switch off
device).
192-120102N6 C3FT40 2014-10 29

3.2.13. CANopen connector X23 Interface I21

Pin X23 CANopen (Sub D)
1 factory use
2 CAN_L CAN Low
3 GNDfb Opto-isolated GND-supply
4 factory use
5 SHIELD Shield optional
6 factory use
7 CAN_H CAN High
8 factory use
9 factory use
The assignment corresponds to CANopen DS301.

At the beginning and end of the device chain a terminating resistor of 120Ω is
required between CAN_L and CAN_H
Wiring (see on page 439).
3.2.13.1 Adjusting the bus address (Profibus I20)

Address setting
Values:
1: 20; 2: 21; 3: 22; ... 7: 26; 8: reserved
Settings:
left: OFF
right: ON
(The address is set to 0 in the illustration to the left)
Range of values: 1 ...127

30 192-120102N6 C3FT40 2014-10

3.2.13.2 Function of the Bus LEDs

LED red
No. Signal Status Description
1 off No Error
The bus is operating
2 Single flash Warning
At least one of the error counters of the CAN
controller has reached the warning level.
Cannot send Bootup Message.
3 Double flash Error Node Guarding Error
4 Triple flash Error Sync Error
Buffer overflow (0x8110)
5 on Bus not active
If several errors occur at once, the error with the most significant number is
reported.
LED green
Signal Status Description
Single flash Stop The bus is in STOPPED state
blinks (permanently) pre-operation The bus is ready to operate
al (Pre-Operational)
on operational The bus is operating (operational)
Single flash On
200ms 1s
Off
Double flash On
200ms 200ms 1s
Off
Triple flash On
200ms 200ms 1s
Off
CANopen states
Power On
Initialisation
10, 11
Pre-Operational
8
7
Stopped
6 8 6
7
Operational
6: Start Remote Node

7: Stop Remote Node
8: Enter Pre-Operational State
10: Reset Node
11: Reset Communication
The "Initialization" state is no fixed state but only a transition state.
192-120102N6 C3FT40 2014-10 31

3.2.14. DeviceNet connector X23

Pin X23 DeviceNet (Open Plug Phoenix MSTB 2.5/5-GF5.08 ABGY AU)
1 V- Mass
2 CAN- CAN Low
3 Shield Shield
4 CAN+ CAN High
5 V+ not required, internal supply
A mating plug is included in the delivery.
If Compax3 is used as first or last device in the fieldbus network, a terminal
resistance of 121 Ω is required. This is integrated between Pin 2 and Pin 4.
Additional information on the DeviceNet wiring can be found under
www.odva.org http://www.odva.org.
Please do also heed the instructions in the DeviceNet master manual.
3.2.14.1 Adjusting the bus address

Address setting (NA: Node Address)
Values:
1: 20; 2: 21; 3: 22; ... 6: 25reserved
Settings:
left: OFF
right: ON
(The address is set to 2 in the illustration)
Range of values: 1 ... 63

Data Rate setting (DR):
Data Rate [kBit/s] S24_7 S24_8
125 left: OFF left: OFF
250 right: ON left: OFF
500 left: OFF right: ON
factory use right: ON right: ON
Bear in mind that the maximum cable length depends on the Data rate:
Data Rate Maximum length
500kbit/s 100m
250kbit/s 250m
125kbit/s 500m
32 192-120102N6 C3FT40 2014-10

3.2.14.2 Function of the Bus LEDs

LED (red)
No. Signal Status Description
1 off No Error The bus is operating
2 Single flash Warning at least one of the error counters of the CAN
controller has reached the warning level.
3 Double flash Error Communication Fault
4 Triple flash Error Double Mac ID
5 on Error Bus Off
If several errors occur at once, the error with the most significant number is
reported.
LED green
Signal Status Description
Single flash On-line Online, not at the master (not allocated)
Not
Connected
blinks (permanently) On-line Online, at the master (allocated)
Connected
on On-line I/O Messages allocated
I/O Connected
Single flash On
200ms 1s
Off
Double flash On
200ms 200ms 1s
Off
Triple flash On
200ms 200ms 1s
Off
3.2.15. Ethernet Powerlink (Option I30) / EtherCAT (option I31) X23,

X24
RJ45 (X23) RJ45 (X24)
Pin in out
1 Tx + Tx +
2 Tx - Tx -
3 Rx + Rx +
4 - factory use
5 - factory use
6 Rx - Rx -
7 - factory use
8 - factory use
Wiring with Ethernet Crossover cable Cat5e (from X24 to X23 of the next device
without termination); for this, we offer our SSK28 (see on page 420, see on page
431) interface cable.
Meaning of the RJ45 LEDs (only for Ethernet Powerlink, I30)

Green LED (top): connection established (RPT_LINK/RX)
Yellow LED (bottom): Traffic (exchange of data) (Transmit / Receive Data)
(RPT_ERR)
192-120102N6 C3FT40 2014-10 33

3.2.15.1 Set Ethernet Powerlink (option I30) bus address

Address setting
Values:
1: 20; 2: 21; 3: 22; ... 7: 26; 8: 27
Settings:
left: OFF
right: ON
(The address is set to 0 in the illustration)
Range of values: 1 ... 239
3.2.15.2 Set EtherCAT (option I31) bus address

Automatic address assignment with EtherCAT
3.2.15.3 Meaning of the Bus LEDs (Ethernet Powerlink)

Red LED (right): Ethernet Powerlink error
LED is influenced by the transitions of the NMT - status diagram (for further details,
please refer to the Ethernet Powerlink Specification
http://divapps.parker.com/divapps/eme/EME/downloads/compax3/EPL/epl2.0-
ds-v-1-0-0.pdf)
Error LED Transition
off => on NMT_CT11,NMT_GT6,NMT_MT6
on => off NMT_CT6, NMT_GT2, NMT_CT3, NMT_MT5
Green LED (left): Ethernet Powerlink Status

LED indicates the states of the NMT - status diagram (for further details, please
refer to the Ethernet Powerlink Specification
http://divapps.parker.com/divapps/eme/EME/downloads/compax3/EPL/epl2.0-
ds-v-1-0-0.pdf)
Status LED Status
off off NMT_GS_OFF, NMT_GS_INITIALISATION,
NMT_CS_NOT_ACTIVE / NMT_MS_NOT_ACTIVE
flickering flickering NMT_CS_BASIC_ETHERNET
single flash Single NMT_CS_PRE_OPERATIONAL_1 /
flash NMT_MS_PRE_OPERATIONAL_1
double flash Double NMT_CS_PRE_OPERATIONAL_2 /
flash NMT_MS_PRE_OPERATIONAL_2
triple flash Triple NMT_CS_READY_TO_OPERATE /
flash NMT_MS_READY_TO_OPERATE
on on NMT_CS_OPERATIONAL / NMT_MS_OPERATIONAL
blinking flashing NMT_CS_STOPPED
34 192-120102N6 C3FT40 2014-10

3.2.15.4 Meaning of the Bus LEDs (EtherCAT)

Red LED (right): EtherCAT error
LED is influenced by the transitions of the status diagram
Error LED Error Description
Off No Error
Flickering Boot error Error during initialization
Blinking Invalid configuration
Single Flash Unsolicited change of Slave changed the status independently
status
Double Flash Application Watchdog Watchdog
Timeout
On PDI Watchdog Timeout
Green LED (left): EtherCAT Status

LED shows the states of the status diagram
Status LED Status Description
Off INITIALIZATION Initialization
Blinking PRE-OPERATIONAL Ready
Single Flash SAFE-OPERATIONAL Master reads values
On OPERATIONAL Operation
Status diagram
Power On
Initialisation
1
2
Pre-Operational
4
3 Safe- 8
7 5 Operational
6
Operational 9
Transition Action
1 Start mailbox communication
2 Stop mailbox communication
3 Start input update
4 Stop input update
5 Start output update
6 Stop output update
7 Stop output update, stop input update
8 Stop input update, stop mailbox communication
9 Stop output update, stop input update, stop mailbox communication
192-120102N6 C3FT40 2014-10 35

Meaning of the LED states

50 ms
on
flickering
off
on
blinking 200 200
(ERR) ms ms
off
on
blinking 200 200
(RUN) ms ms
off
on
single flash 200 1000 200
(ERR) ms ms ms
off
on
single flash 200 1000 200
(RUN) ms ms ms
off
on
double flash 200 200 200 1000
(ERR) ms ms ms ms
off
36 192-120102N6 C3FT40 2014-10

3.2.16. Mounting and dimensions

Mounting:
 3 socket head screws M5 or
 by direct snapping on a 35 mm supporting rail (according to DIN EN 50 022),
Mounting material: DIN rail clip and distance piece available as accessories - Set
ZBH02/04 (see on page 422)
Stated in mm
192-120102N6 C3FT40 2014-10 37

Setting up Compax3 C3F_T40
4. Setting up Compax3
Configuration ................................................................................................................... 38
Configuring the signal source .......................................................................................... 77
Optimization .................................................................................................................... 81
4.1 Configuration
C3HydraulicsManager ..................................................................................................... 40
Compax3F structure image.............................................................................................. 41
Drive configuration........................................................................................................... 42
Configuring drive1 ........................................................................................................... 42
Configuring drive2 ........................................................................................................... 45
Sensors ........................................................................................................................... 45
Valve configuration .......................................................................................................... 48
Defining the reference system ......................................................................................... 50
Ramp upon error and stromlos schalten .......................................................................... 69
Limit and monitoring settings of force............................................................................... 70
Positioning window - Position reached ............................................................................. 72
Following error limit ......................................................................................................... 73
Maximum permissible speed ........................................................................................... 73
Encoder simulation .......................................................................................................... 74
Recipe table .................................................................................................................... 75
Error response................................................................................................................. 75
Configuration name / comments ...................................................................................... 76
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
38 192-120102N6 C3FT40 2014-10

Parker EME Configuration
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
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 428)).
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.
192-120102N6 C3FT40 2014-10 39

4.1.1. C3HydraulicsManager
Function description ........................................................................................................ 40
Structure of the databases ............................................................................................... 40
4.1.1.1 Function description
With the aid of the C3Hydraulicsmanager, component databases for

 hydraulic valves (2/2, 3/3, 4/3 valves)
 Actors (constant- and differential cylinders, hydromotors)
 Position feedback systems (with SSI-, Start/Stop, +/-10V-, 0..20mA-, RS422,
Sine/Cosine- or EnDat2.1 interface)
can be created and updated. A distinction is made between customer components
and Parker components. Databases with Parker components are already available
upon delivery, the customer has furthermore the possibility to create new
components from different suppliers in the customer database in order to make
possible their operation together with Compax3.
All component data can be called up and printed out. Existing components can be
used as templates for new components. A characteristic with the specific flow rate
can be read in and memorized for each valve.
The detailed characterization of the components facilitates the commissioning of
the hydraulic system, as a pre-parameterization of the control loop is effected
during the Compax3 configuration with the aid of these characteristic values.
An up-to-date Parker component database can be downloaded from the internet.
The customer component databases are not overwritten.
4.1.1.2 Structure of the databases
4 databases contain the data of the hydraulics components:

 Parker valves with characteristics (Valve.mdb)
 Parker actuators and path-measurement systems (CylinderDrive.mdb)
 Customer valves with characteristics (ValveC.mdb)
 Customer actuators and path-measurement systems (CylinderDriveC.mdb)
40 192-120102N6 C3FT40 2014-10

4.1.2. Compax3F structure image

MC_MoveAbsolute Conditioning Chain 0 10V/10mA X2/1
MC_MoveAdditive 0 ... 20mA
MC_MoveRelative 2 Main axis PA PB P0 PT
MC_MoveVelocity Pos Control 1 2 ± 100mA X2/9
MC_Homing, MC_Powe r,
C3_Jog, MC_Stop, MC_GearIn
C3_PressureForceAbsolute 1 Main axis 1 Conditioning Chain 1 10V/10mA X2/3
PressureForce 0 ... 20mA
Add for T40 (not T30): PA PB P0 PT
Ventil configuration
Control 1
C3/MC_CamIn, C3/MC_CamOut, ± 100mA X2/11
C3_Phasing, C3_ShiftPosition,
C3_MoveSuperImposed
2 Auxiliary axis Conditioning Chain 2 10V/10mA

MC_MoveAbsolute X2/5
Pos Control 2 2 PA PB P0 PT 0 ... 20mA
MC_MoveAdditive
MC_MoveRelative
MC_MoveSuperImposed 1
MC_MoveVelocity Auxiliary axis
1
MC_Homing, MC_Powe r, PressureForce
C3_Jog, MC_Stop, MC_GearIn Control 2 Conditioning Chain 3 10V/10mA X 2/7
C3_PressureForceAbsolute PA PB P0 PT 0 ... 20mA
1
Pos Feedback 1
Configuration RS422(TTL)
C3_PressureForceAbsolute
Start/Stop X11
SSI
Configuration
2 Pos Feedback 0
Configuration RS422(TTL)
MC_MoveAbsolute
Start/Stop
MC_MoveAdditive
MC_MoveRelative SSI X13
MC_MoveSuperImposed
MC_MoveVelocity SinusCosinus
C3/MC_CamIn EnDat 2.1
MC_GearIn
Configuration
3 0 ... 20mA X1/3_4
dynamic 0 ... 20mA X1/7_8

Configuration
C3_pQ
0 ... 20mA X1/11_12
0 ... 20mA X1/15_16

(pA2-pB2) / F2
±10V X1/19_20
dynamic (pA1-pB1) / F1
MC_Stop ±10V X1/17_18
192-120102N6 C3FT40 2014-10 41

Components of Compax3F:
 4 controllers for 2 axes
 Main axis position controller (Main axis: Pos Control 1)
 Main axis pressure difference / force controller (Main axis: PressureForce
Control 1)
 Auxiliary axis position controller (Auxiliary axis: Pos Control 2)
 Auxiliary axis pressure difference / force controller (Auxiliary axis:
PressureForce Control 2)
 4 Conditioning Chains for the linearization of the valves and cylinders
 The axis assignment is made via the valve configuration (Valve configuration)
 For the linearization, pressures can be made available to the Conditioning
Chains (fixed or measured pressures: pA, pB, p0, pT).
 The Conditioning Chains are fixedly connected to the analog outputs.
 Interfaces for actual position values
 Pos Feedback 1 or configurable analog interface for the auxiliary axis
(Configuration switch)
 Pos Feedback 2 or configurable analog interface for the main axis
(Configuration switch)
 6 analog interfaces for pressures or force (or position)
 Assignment to the axis via configuration
 Assignment to the Conditioning Chain via the configuration (axis assignment,
valve assignment)
 Setpoint predefinition via IEC61131-3 modules
 Static (1), (2), or dynamic (dynamic) (3) switching via IEC61131-3 modules
4.1.3. Drive configuration

 Please select the number of drives (1 or 2) to be controlled (by open or closed
loop) with Compax3F.
 Physical system: Selection of the unit for the force or pressure control
 The unit for force is Newton and a force is controlled
 For differential pressure the unit is Bar or PSI (depending on the unit system)
and a differential pressure is controlled.
 Unit system: Global selection of units for the entry and display of data
 Metric (SI): N, Bar, m
 Imperial (US/UK): N, PSI, inch
 Inversion of the direction: Inverts the direction of movement of the drives.
A B
Definition of the sense of direction (without direction inversion): In positive

direction, the cap end (A) of a cylinder is charged with pressure.
42 192-120102N6 C3FT40 2014-10

4.1.4. Configuring drive1

Position feedback system drive1...................................................................................... 43
Cylinder / motor selection ................................................................................................ 44
Load configuration drive1 ................................................................................................ 44
4.1.4.1 Position feedback system drive1

If the position feedback system is part of the cylinder / motor, it has already been
parameterized in the C3HydraulicsManager and this step is not needed.
Parameterizing a position feedback system:
General entries for each position feedback system:

 Inversion of the direction: Inverts the sense of direction.
 Rotatory position feedback system?
'EnDat (no further entries)
Sine cosine & RS422 encoder

 Resolution in µm / bit
SSI:
 Resolution in µm / bit
 Update rate: Necessary updating time of the actual value in µs.
 Word length: Gives the telegram length of the sensor.
 Gray code: Sensor gray code coded yes/no.
 Synchronous system: Sensor sends data synchronously to Compax3F step
yes/no
 Baud rate/step: Max. Transmission rate of the path measurement system.
Start-Stop:
 Velocity of sound: Speed, at which the mechanical wave moves within the range
of the wave guide (e.g. 2830 m/s).
 Update rate: Necessary updating time of the actual value in µs.
Analog:
 Selection of the C3f analog interface
 (2) - (1): Length path measurement system.

 (3) Minimum signal of the path measurement system.
 (4) Maximum signal of the path measurement system.
192-120102N6 C3FT40 2014-10 43

4.1.4.2 Cylinder / motor selection

The selection is made from the hydraulics database.
Parker cylinders or Parker motors are stored there.
Furthermore you can create customer-specific cylinders/motors with the aid of the
C3HydraulicsManager and then select them here.
The selection of the drive is separated as follows:
 Parker Cylinder
 Customer cylinders.
Cylinder / motor data from the hydraulics database

A cylinder / motor can be created in the hydraulics database with or without
position feedback system.
4.1.4.3 Load configuration drive1

In order to make the settings of the servo controller, information on the external
load is needed. The more accurately the load 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 external load for best possible
behavior under varying loads:
 With rotary drives: as minimum and maximum external moment of inertia.
 With linear drives: as minimum and maximum external mass.
 With a fixed load, minimum = maximum load or moment is entered.
 Installation position for linear drives:
The installation position is entered as an angle. For an upright load upwards, the
installation position is 90°.
 Stroke length for linear drives:

This value is not stored in the hydraulics database.
44 192-120102N6 C3FT40 2014-10

4.1.5. Configuring drive2

The following dialogs can only be selected, if 2 drives were selected under
"number of drives".
Drive2 is configured as described under drive1, the selection of the path
measurement system EnDat and Sine/Cosine is however not available for drive2.
Select operating mode (only applies for Compax3 T30 and T40; not for
Compax3 Ixx11)
The possible operating mode of the auxiliary axis depends on the operating mode
set for the main axis
Main axis operating mode Possible operating mode of the auxiliary
axis
Pressure/Force Controller Pressure/Force Controller
Positioning & Pressure/Force Controller Positioning & Pressure/Force Controller
or
Pressure/Force Controller
4.1.6. Sensors
Force or pressure sensors are required for the control of force or pressure.
Altogether 6 analog inputs are available for the integration of the pressure and
force sensors for the drives 1 and 2 (if no analog input is used as position feedback
system).
Inputs that are not utilized can be used in an IEC61131-3 program (for example as
setpoint input).
4.1.6.1 Pressure sensors

Pressure sensors can be used for the control of pressure or force (with pressure PA
& PB).
If pressure sensors are utilized for the control of force, the resulting force is
calculated via the the differential pressure PA - PB and the ratio of major area to
minor area of the cap.
A maximum of 4 pressure sensors per axis can be parameterized. The logic
assignment of the sensors results from the following image.
192-120102N6 C3FT40 2014-10 45

 Interface:
Select the interface where the sensor is connected. Only the freely available
inputs are displayed.
p
2
1 3 4
I, U
 (1) pressure min.: Enter the minimum pressure.
 (2) pressure max.: Enter the maximum pressure.
 (3) Sensor signal min.: Enter the minimum signal of the pressure sensor.
 (4) Sensor signal max.: Enter the maximum signal of the pressure sensor.
 Constant pressure: If the pressure is constant, a pressure sensor is not
necessary. You can then specify a constant pressure value instead.
46 192-120102N6 C3FT40 2014-10

Example: Parameterization interface supply pressure p0
A B
P T
I
p
4.1.6.2 Force sensor drive 1

I
F
192-120102N6 C3FT40 2014-10 47

If a force sensor is used for force control, the following parameters must be
entered:
 Interface:
Select the interface where the sensor is connected. Only the freely available
inputs are displayed.
F
2
3
4 I, U
 Force min.: Enter the minimum force (1).

 Force max.: Enter the maximum force (2).
 Sensor signal min.: Enter the minimum signal of the pressure sensor (3).
 Sensor signal max.: Enter the maximum signal of the pressure sensor (4).
 Force constant: If the force is constant, a force sensor is not necessary. You can
then specify a constant force value instead.
4.1.6.3 Pressure and force sensor drive 2

The following dialogs can only be selected, if under "number of drives" 2 drives
were selected before.
The sensors for drive 2 are configured as described under drive 1.
4.1.7. Valve configuration

Up to 4 valves can be selected. Those valves (0..3) are fixedly assigned to the
analog outputs I/Uout0...3 and are assigned within the configuration to the drives 1
and 2 as well as to the position and force/pressure control loops.
Not all valves must necessarily be used.
48 192-120102N6 C3FT40 2014-10

4.1.7.1 Selection and configuration of the valves

The selection of the respective valves is made from the hydraulics database. You
can choose between Parker valves or customized valves that were created with the
aid of the C3HydraulicsManager from the database.
The valves in the valve database are structured as follows:
 Parker Valves
 Proportional direction control valves
• ...
• High dynamics, high repeatability
• VCD® Dynamics, highest precision
• D*FP
• …
• ...
 Pressure valves
 Pressure control valves
• PE
• …
 Pressure reducing valves
• RE
• ...
 Flow-control valves
• ...
• TDL
• ...
 Other valves
Input values:
Control variable limitation [min.][max.]:

Via these parameters, the control signal of the valve is limited. This limitation is
above all sensible during commissioning in order to avoid an uncontrolled
movement of the axis if the parameterization is not yet optimal.
(1) min. Control variable limitation

(2) max. Control variable limitation
Drive:
Hereby you can define the assignment of the selected valve to a specific drive.
This dialog comes only up, if 2 drives were selected.
192-120102N6 C3FT40 2014-10 49

Control range of the position controller:

The "control range" parameter”
 --
 -100%...100%
 0...100% (P -> A)
 -100%...0 (A -> T)
 0...100% (B -> T)
 -100%...0 (P -> B)
defines the output range of the position controller for the selected valve.
If you enter "--", the valve is not influenced by the position controller.
Control range of the force/pressure control loop:

The "control range" parameter”
 --
 -100%...100%
 0...100% (P -> A)
 -100%...0 (A -> T)
 0...100% (B -> T)
-100%...0 (P -> B)
defines the output range of the force/pressure controller for the selected valve.
If you enter "--", the valve is not influenced by the force/pressure controller.
4.1.8. Defining the reference system

The reference system for positioning is defined by:
 a unit,
 the travel distance per motor revolution,
 a machine zero point with true zero,
 positive and negative end limits.
4.1.8.1 Position transducer
Absolute feedback
system For positioning operation of two axes with a Compax3F, we recommend an
absolute feedback system.
Thus the homing run after switching on, which is only possible in coupled state for
2 axes and may lead to difficulties with defined referencing the auxiliary axis is not
necessary.
50 192-120102N6 C3FT40 2014-10

4.1.8.2 Machine Zero
The Compax3 machine zero modes are adapted to the CANopen profile for Motion
Control CiADS402.
Position reference Essentially, you can select between operation with or without machine reference.
point The reference point for positioning is determined by using the machine reference
and the machine reference offset.
Machine reference run

In a homing run the drive normally (see on page 51) moves to the position value 0
immediately after finding the home switch. The position value 0 is defined via the
homing offset (see on page 183).
A machine reference run is required each time after turning on the system for
operation with machine reference.
Please note:
During homing run the software end limits are not monitored.

Positioning after homing run ............................................................................................ 51
Machine zero speed and acceleration.............................................................................. 52
Machine zero modes overview......................................................................................... 53
Homing modes with home switch (on X12/14) ................................................................. 55
Machine zero modes without home switch ....................................................................... 61
Adjusting the machine zero proximity switch .................................................................... 65
Positioning after homing run

The positioning made after the home switch has been found can be switched off.
For this enter in the “machine zero” window in the configuration wizard “no” under
“approach MN point after MN run”.
Example Homing (MN) mode 20 (Home on homing (MN) switch) with T40 by
homing offset 0
With positioning after homing run The motor stands then on 0:
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Without positioning after homing run The position reached is not exactly on
0, as the drive brakes when detecting the home and stops:
Please note:
In controlled operation (open loop) no machine zero run is possible!
The home of the auxiliary axis is automatically set, by coupling the auxiliary
axis to the main axis for the homing run!
Homing run for 2 axes

 Axis 2 is coupled to axis 1 and moves along
 Axis 1 and axis 2 set the home at the same time after axis 1 has detected the
homing switch
Therefore you should bring the auxiliary axis to a defined start position before the
homing run.
Or use absolute feedback systems:
Absolute feedback
necessary.
Machine zero speed and acceleration

With these values you can define the motion profile of the machine zero run.
52 192-120102N6 C3FT40 2014-10

Machine zero modes overview

Selection of the machine zero modes (MN-M)
Without motor reference point without direction reversal switches: MN-M 19, 20 (see on page
MN-M 19 ...30 55), MN-M 21, 22 (see on page 56)
with reversal switches: MN-M 23, 24, 25, 26 (see on page 57),
Machine home switch
MN-M 27, 28, 29, 30 (see on page 57)
on X12/14:
MN-M 3 ... 14, 19 ... 30 With motor reference point without direction reversal switches: MN-M 3, 4 (see on page
MN-M 3 ... 14 58), MN-M 5, 6 (see on page 59)
(possibly an initiator
with reversal switches: MN-M 7, 8, 9, 10 (see on page 60),
adjustment (see on page 65)
MN-M 11,12,13, 14 (see on page 60)
is required)
MN-M 35: on the actual position (see on page 61)
MN-M 128, 129: by moving to block (see on page 61)
Without machine zero
With limit switch as machine zero: MN-M 17, 18 (see on page
initiator on X12/14:
Without motor reference point 62)
MN-M 1, 2, 17, 18, 33 ..
35, 128, 129, 130 ... 133 MN-M 17, 18, 35, 128, 129 Only motor reference: MN-M 33, 34 (see on page 63), MN-M
130, 131 (see on page 63)
With limit switch as machine zero: MN-M 1, 2 (see on page 64),
MN-M 132, 133 (see on page 65)
Definition of terms / explanations:

Motor zero point Zero pulse of the feedback
Motor feedback systems such as resolvers or SinCos© / EnDat give
one pulse per revolution.
Some motor feedback systems of direct drives do also have a zero
pulse, which is generated once or in defined intervals.
By interpreting the motor zero point (generally in connection with the
machine zero initiator) the machine zero can be defined more
exactly.
Machine zero initiator: For creating the mechanical reference
Has a defined position within or on the edge of the travel range.
Direction reversal Initiators on the edge of the travel range, which are used only with a
switches: machine zero run in order to detect the end of the travel range.
In some cases, the function “direction reversal via Following error
threshold” is also possible, then you will need no initiator, Compax3
detects the end of the travel range via the threshold. Please observe
the respective notes.
During operation, the direction reversal switches are often used as
limit switches.
192-120102N6 C3FT40 2014-10 53

Example axis with the initiator signals

4
- +
1 2 3
10
11
12
13
14
1: Direction reversal / end switch on the negative end of the travel range
(the assignment of the reversal / end switch inputs (see on page 69) to travel range
side can be changed).
2: Machine zero initiator (can, in this example, be released to 2 sides)
3: Direction reversal / end switch on the positive end of the travel range
(the assignment of the reversal / end switch inputs (see on page 69) to travel range
side can be changed).
4: Positive direction of movement
5: Signals of the motor zero point (zero pulse of the motor feedback)
6: Signal of the machine zero initiator
(without inversion of the initiator logic (see on page 69)).
7: Signal of the direction reversal resp. end switch on the positive end of the travel range
(without inversion of the initiator logic).
8: Signal of the direction reversal / resp. end switch on the negative end of the travel range
(without inversion of the initiator logic).
9: Signal of the machine zero initiator
(with inversion of the initiator logic (see on page 69)).
10: Signal of the direction reversal resp. end switch on the positive end of the travel range
(with inversion of the initiator logic).
11: Signal of the direction reversal / end switch on the negative end of the travel range
(with inversion of the initiator logic).
12: Logic state of the home switch (independent of the inversion)
13: Logic state of the direction reversal resp. end switch on the positive end of the travel
range (independent of the inversion)
14: Logic state of the direction reversal resp. end switch on the negative end of the travel
range (independent of the inversion)
The following principle images of the individual machine zero modes always refer
to the logic state (12, 13, 14) of the switches.
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Homing modes with home switch (on X12/14)

Without motor reference point .......................................................................................... 55
With motor reference point............................................................................................... 58
Without motor reference point

Without direction reversal switches .................................................................................. 55
With direction reversal switches ....................................................................................... 56
Without direction reversal switches
MN-M 19,20: MN-Initiator = 1 on the positive side

The MN initiator can be positioned at any location within the travel range. The
travel range is then divided into 2 contiguous ranges: one range with deactivated
MN initiator (left of the MN initiator) and one range with activated MN initiator (right
of the MN initiator).
When the MN initiator is inactive (signal = 0) the search for the machine reference
is in the positive travel direction.
Without motor zero MN-M 19: The negative edge of the MN proximity switch is taken directly as MN
point, without (the motor zero point remains without consideration).
direction reversal MN-M 20: The positive edge of the MN proximity switch is used directly as MN (the
switches motor zero point remains without consideration).
19
19
20
20
1
1: logic state
192-120102N6 C3FT40 2014-10 55

MN-M 21,22: MN Initiator = 1 on the negative side

MN initiator (positive part of the travel range) and one range with activated MN
initiator (negative part of the travel range).
is in the negative travel direction.
Without motor zero MN-M 21: The negative edge of the MN proximity switch is taken directly as MN
point, without (the motor zero point remains without consideration).
direction reversal MN-M 22: The positive edge of the MN proximity switch is used directly as MN (the
switches motor zero point remains without consideration).
21
21
22
22
1
1: logic state
With direction reversal switches

Machine zero modes with a home switch which is activated in the middle of the
travel range and can be deactivated to both sides.
The assignment of the direction reversal switches (see on page 69) can be
changed.
Function Reversal via Following error threshold

If no direction reversal switches are available, the reversal of direction can also be
performed during the machine zero run via the function “direction reversal via
Following error threshold”.
The drive drives against the mechanical end stop.
When the adjustable Following error threshold is reached, the drive is decelerated
and changes the direction of movement.
Caution!
Wrong settings can cause hazard for man and machine.
It is therefore essential to respect the following:

 Choose a low machine zero speed.
 Set the machine zero acceleration to a high value, so that the drive changes
direction quickly, the value must, however, not be so high that the limit threshold
is already reached by accelerating or decelerating (without mechanical limitation).
 The mechanical limitation as well as the load drain must be set so that they can
absorb the resulting kinetic energy.
 With a bad feedback signal or high controller gain (fast controller or high inertia or
mass) the machine zero might not be detected.
In this case it is necessary to use the control signal filter (O2100.20) or the
velocity filter (O2100.10).
56 192-120102N6 C3FT40 2014-10

MN-M 23...26: Direction reversal switches on the positive side

Without motor zero point, with direction reversal switches
24 26
23 25
23 26
24 25
23 25
24 26
1: Logic state of the home switch

2: Logic state of the direction reversal switch
MN-M 27...30: Direction reversal switches on the negative side

Without motor zero point, with direction reversal switches
30 28
29 27
30 27
29 28
29 27
30 28

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With motor reference point

Without direction reversal switches .................................................................................. 58
Without direction reversal switches
MN-M 3,4: MN-Initiator = 1 on the positive side

MN initiator (left of the MN initiator) and one range with activated MN initiator (right
of the MN initiator).
is in the positive travel direction.
With motor zero MN-M 3: The 1st motor zero point at MN initiator = "0" is used as MN.
point, without MN-M 4: The 1st motor reference point with MN initiator = "1" is used as the MN.
direction reversal
switches
3
3
4
4
1
2
1: Motor zero point
58 192-120102N6 C3FT40 2014-10

MN-M 5,6: MN Initiator = 1 on the negative side

travel range is then divided into 2 continuous ranges: one range with deactivated
MN initiator (positive part of the travel range) and one range with activated MN
initiator (negative part of the travel range).
is in the negative travel direction.
With motor zero point, MN-M 5: The 1st motor reference point with MN initiator = "0" is used as the MN.
without direction MN-M 6: The 1st motor reference point with MN initiator = "1" is used as the MN.
reversal switches
5
6
6
1
2
1: Motor zero point

changed.

Caution!

192-120102N6 C3FT40 2014-10 59

MN-M 7...10: Direction reversal switches on the positive side

With motor zero Machine zero modes with a home switch which is activated in the middle of the
point, with direction travel range and can be deactivated to both sides.
reversal switches
8 10
7 9
7 10
8 9
7 9
8 10
1
1: Motor zero point

MN-M 11...14: With direction reversal switches on the negative side

With motor zero Machine zero modes with a home switch which is activated in the middle of the
point, with direction travel range and can be deactivated to both sides.
reversal switches
14 12
13 11
14 11
13 12
13 11
14 12
1
1: Motor zero point

60 192-120102N6 C3FT40 2014-10

Machine zero modes without home switch

Without motor reference point .......................................................................................... 61
With motor reference point............................................................................................... 63
Without motor reference point
MN-M 35: MN (machine zero) at the current position

The current position when the MN run is activated is used as an MN.
35
Please note: Due to encoder noise it is possible that a value <> 0 is set when teaching to 0.
If end limits = 0, an end limit error may occur during homing run.
MN-M 128/129: Following error threshold while moving to block

Without a MN (machine zero) initiator, an end of travel region (block) is used as
MN (machine zero).
For this the Following error threshold is evaluated if the drive pushes against the
end of the travel region. When the adjusted current is exceeded, the Homing is set.
During the homing run (MN), the error reaction "following error" is deactivated.
Please observe:
The machine zero offset must be set so that the zero point (reference point) for
positioning lies within the travel range.
MN-M 128: Travel in the positive direction to the end of the travel region
MN-M 129: Travel in the negative direction to the end of the travel region
Caution!

192-120102N6 C3FT40 2014-10 61

MN-M 17,18: Limit switch as machine zero
17
18
1

Caution!

62 192-120102N6 C3FT40 2014-10

With motor reference point

Machine zero only from motor reference .......................................................................... 63
Machine zero only from motor reference
MN-M 33,34: MN at motor zero point

The motor reference point is now evaluated (no MN initiator):
Without home MN-M 33: For a MN run, starting from the current position, the next motor zero
switch point in the negative travel direction is taken as the MN.
MN-M 34: For a MN run, starting from the current position, the next motor zero
point in the positive travel direction is taken as the MN.
33
34
1
1: Motor zero point
MN-M 130, 131: Acquire absolute position via distance coding

Only for motor feedback with distance coding (the absolute position can be
determined via the distance value).
Compax3 determines the absolute position from the distance of two signals and
then stops the movement (does not automatically move to position 0).
1: Signals of the distance coding
192-120102N6 C3FT40 2014-10 63


changed.

Caution!

MN-M 1,2: Limit switch as machine zero
End switch on the negative side
2
1: Motor zero point
End switch on the positive side:
2
1: Motor zero point
64 192-120102N6 C3FT40 2014-10

MN-M 132, 133: Determine absolute position via distance coding with
direction reversal switches
Only for motor feedback with distance coding (the absolute position can be
determined via the distance value).
Compax3 determines the absolute position from the distance of two signals and
then stops the movement (does not automatically move to position 0).
133 133
132 132
1: Signals of the distance coding

2: Logic state of the direction reversal switches
Adjusting the machine zero proximity switch

This is helpful in some cases with homing modes that work with the home switch
and motor reference point.
If the motor reference point happens to coincide with the position of the MN
initiator, there is a possibility that small movements in the motor position will cause
the machine reference point to shift by one motor revolution (to the next motor
reference point).
Via status value “Distance MN sensor - motor zero”, (O1130.13) you can check if
the distance between machine home sensor and motor zero point is too short.
1
- +
1: Motor zero point

A solution to this problem is to move the MN initiator by means of software. This is
done using the value initiator adjustment.
Initiator adjustment
Unit: Range: -180 ... 180 Standard value: 0
Motor angle in degrees
Move the machine reference initiator using software
As an aid you can use the status value “distance MN sensor - motor zero” in the
“Positions” chapter under “status values“
192-120102N6 C3FT40 2014-10 65

4.1.8.3 Travel Limit Settings

Please note:
Both the software and the hardware end limits are the same for the main axis
and the auxiliary axis!
Software end limits
The error reaction when reaching the software end limits can be set:
Possible settings for the error reaction are:
 No response
 Downramp / stop
 Downramp / stromlos schalten (standard settings)
If "no reaction" was set, no software limits must be entered.
Software end limits:

The travel range is defined via the negative and positive end limits.
0
1 2
1: negative end limit

2: positive end limit
Software end limit in absolute operating mode

The positioning is restricted to the range between the travel limits.
A positioning order aiming at a target outside the travel range is not executed.
1 2
Gearing, ...
V
Jog

The reference is the position reference point that was defined with the machine
reference and the machine reference offset.
Software end limits in reset mode

The reset mode does not support software end limits
Software end limit in continuous mode

Each individual positioning is confined within the travel limits.
A positioning order aiming at a target outside the software end limits is not
executed.
The reference is the respective current position.
66 192-120102N6 C3FT40 2014-10

Error when A software end limit error is triggered, if the position value exceeds an end limit.
disregarding the For this, the position setpoint value is evaluated in energized state; in currentless
software end limits state, the actual position value is evaluated.
Hysteresis in disabled state:

If the axis stands currentless at an end limit, another error may be reported due to
position jitter after acknowledging the end limit error. To avoid this, a hysteresis
surrounding the end limits was integrated (size corresponds to the size of the
positioning window).
Only if the distance between axis and the end limits was larger than the positioning
window, another end limit error will be detected
Error codes of the end limit errors:

0x7323 Error when disregarding the positive software end limit.
0x7324 Error when disregarding the negative software end limit.
Activating / deactivating the end limit error:

In the C3 ServoManager under configuration: End limits, the error can be
(de)activated.
For IEC-programmable devices with the "C3_ErrorMask" module.
Behavior after the The end limits are not active after switching on. The end limits do not refer to the
system is turned on position reference point until after a machine reference run.
During homing run the end limits are not monitored.
With a Multiturn encoder or with active Multiturn emulation, the limit is valid
immediately after switching on.
Behavior outside the

travel range 1. If the software end limit errors are deactivated, all movements are
possible.
2. If the software end limit errors are activated:

After disregarding the software end limits, an error is triggered. First of all, this error
must be acknowledged.
Then a direction block is activated: only motion commands in the direction of the
travel range are executed. These will not trigger another error.
Motion commands inciting a movement in the opposite direction of the travel range
are blocked and will trigger another error.
Error Error
1 2
Notes on special feedback systems (Feedback F12)

During automatic commutation, the end limit monitoring is deactivated!
192-120102N6 C3FT40 2014-10 67

Behavior with software end limits of a referenced axis

Position within Position outside Position outside
target outside target outside and aiming target within and aiming
in the opposite direction in the direction of the
of the travel range travel range
JOG +/-  Positioning up to the end  No positioning  Positioning
limits  No Error
 No Error
MC_MoveAbsolute,  No positioning  No positioning  Positioning
MC_MoveRelative,  Error  Error
MC_MoveAdditive,
C3_MoveSuperImposed
MC_GearIn,  Positioning up to the end  No positioning  No positioning
MC_Cam... limits, from these on  Error  Error
C3_Cam... braking with the error
ramp.
The end limit is
exceeded
 Error
MC_MoveVelocity  Positioning up to the end  No positioning  Positioning
limits  Error
 Error
MC_Home  No monitoring of the software end limits
The software end limit error can be deactivated in general via the configuration or
separately for each end limit via the C3_Error_Maskmodule.
Hardware end limits
The error reaction when reaching the hardware end limits can be set:
 No response
 Downramp / stop
Hardware end limits are realized with the aid of end switches.
These are connected to X12/12 (input 5) and X12/13 (input 6) and can be
(de)activated separately in the C3 ServoManager under Configuration: End limits.
After a limit switch has been detected, the drive decelerates with the ramp values
set for errors (error code 0x54A0 at X12/12 active, 0x54A1 at X12/13 active) and
the motor is switched to currentless.
Please make sure that after the detection of the end switch there is enough travel
path left up to the limit stop.
3 4
1: Limit switch E5 (X12/12)

2: Limit switch E6 (X12/13)
3: Limit switch position E5 (X12/12)
4: Limit switch position E6 (X12/13)
The assignment of the limit switches (see on page 69) can be changed!
68 192-120102N6 C3FT40 2014-10

Please note: The limit switches must be positioned so that they cannot be released towards the
side to be limited.
Limit switch / Limit switches functioning as direction reversal switches during homing run, will not
direction reversal trigger a limit switch error.
switch
Behavior in the case The error can be acknowledged with activated limit switch.
of an active limit The drive can then be moved out of the end switch range with a normal positioning.
switch Both directions of movement are possible.
A direction block can be programmed in the IEC program with the aid of the limit
switch bits or the error message.
(De)activate limit The limit switch error can be deactivated in general via the configuration or
switch errors separately for each limit switch via the C3_Error_Mask module.
4.1.8.4 Change assignment direction reversal / limit switches

If this function is not activated, the direction reversal / end switches are assigned
as follows:
Direction reversal / limit switch on I5 (X12/12): negative side of the travel range
Direction reversal /limit switch on I6 (X12/13): positive side of the travel range
Change assignment If this function is activated, the direction reversal / limit switches are assigned as
of direction reversal follows:
/ limit switch is Direction reversal / limit switch on I5 (X12/12): positive side of the travel range
activated Direction reversal / limit switch on I6 (X12/13): negative side of the travel range
4.1.8.5 Change initiator logic

The initiator logic of the limit switches (this does also apply for the direction
reversal switches) and the machine zero initiator can be changed separately.
 Limit switch E5 low active
 Limit switch E6 low active
 Home switch E7 low active
In the basic settings the inversion is deactivated, so that the signals are “high
active”.
With this setting the inputs I5 to I7 can even be switched within their logic, if they
are not used as direction reversal/limit switches or machine zero.
4.1.8.6 Debouncing: Limit switch, machine zero and input 0

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.
If the debouncing time is stated, the input I0 can be debounced as well (checkbox
below).
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4.1.9. Ramp upon error and stromlos schalten

Ramp (delay) upon error and "stromlos schalten"
3: Deceleration upon error and upon deactivation of MC_Power (see on page 155)
Please observe:
The configured error ramp is limited. The error ramp will not be smaller than the
deceleration set in the last motion set.
4.1.10. Limit and monitoring settings of force

Force window - force achieved ........................................................................................ 70
Maximum control deviation of force controller .................................................................. 71
Maximum force ................................................................................................................ 71
Hydraulic corner power limitation ..................................................................................... 71
Please note:
Limit and monitoring settings are the same for the main axis as well as for
the auxiliary axis!
4.1.10.1 Force window - force achieved

"Force achieved" indicates that the actual force is within the tolerance window of
the setpoint force. In addition to the force window, a force window time is
supported. If the actual force goes inside the force window, the force window time
is started.
If the actual force is still within the force window after the force window time, "force
achieved = 1" will be set.
If the actual force leaves the force window within the force window time, the force
window time is started again. When leaving the force window, "force achieved" is
set immediately to "0".
The force monitoring is even active, if the force leaves the force window due to
external measures.
1: Force window
2: Force window time
3: Setpoint force reached (== object ForceAccuracy_ForceReached)
Linkage to the setpoint value
The signal “force attained” can be linked to the setpoint value.
In addition, the internal setpoint value generation is evaluated.
It applies: The force window is only evaluated with a constant internal
setpoint value.
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4.1.10.2 Maximum control deviation of force controller

The force control deviation is a dynamic error.
The dynamic difference between the setpoint force and the actual force during a
force control is called the force control deviation. Do not confuse this with the static
difference, which is always 0; the target force is always precisely accessed.
If the force control deviation exceeds the given limit (max. control deviation of force
controller), the "time window" elapses.
If the force control deviation after the time window still exceeds the threshold, an
error is reported.
If the force control deviation is below the threshold, the time window is started
anew.
1: max. Control deviation of force controller

2: time window force control deviation
NO ERROR: Error output of positioning modules
QUIT: Ackn with MC_Reset module
4.1.10.3 Maximum force

If the "maximum force" is exceeded, an error is reported.
This monitoring is only active, if pressure sensors are present for pA and / or pB.
4.1.10.4 Hydraulic corner power limitation

The hydraulic corner power is calculated from the differential pressure between p0
and pA or pB. If pressure sensors are present for pA as well as for pB, both
differential pressures are evaluated.
A B
P = Q . Dp
P T
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The corner power limitation can only be activated, if at least one pressure sensor
for pA or pB and p0 was parameterized before.
Note:
 Currently, the corner power is calculated; which must however, if necessary, be
limited in the IEC program!
The corner power can be read from the objects C3.HydraulicPower_Axis1,
C3.HydraulicPower_Axis2 and C3.HydraulicPower_Sum.
The unit is [W]; this means that the standardization is only correct for the metric
system.
 The hydraulic power is calculated from the units bar and I/min according to the
following equation:
∆p[bar ] ⋅ Q[l / min]
P[kW ] =
600

4.1.11. Positioning window - Position reached

Position reached indicates that the target position is located within the position
window.
In addition to the position window, a position window time is supported. If the actual
position goes inside the position window, the position window time is started. If the
actual position is still inside the position window after the position window time,
"Position reached" is set.
If the actual position leaves the position window within the position window time,
the position window time is started again.
When the actual position leaves the position window with Position reached = "1",
Position reached is immediately reset to "0".
Position monitoring is active even if the position leaves the position window
because of measures taken externally.
1: Position Window
2: In Position Window Time
3: Setpoint position reached (== object 420.6
C3.PositioningAccuracy_PositionReached)
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4.1.12. Following error limit

The error reaction upon a following error can be set:
 No response
 Downramp / stop
The following error is a dynamic error.

The dynamic difference between the setpoint position and the actual position
during a positioning is called the following error. Do not confuse this with the static
difference which is always 0; the target position is always reached exactly.
The change of position over time can be specified exactly using the parameters
jerk, acceleration and speed. The integrated Setpoint value generator calculates
the course of the target position. Because of the delay in the feedback loop, the
actual position does not follow the target position exactly. This difference is referred
to as the following error.
Disadvantages When working with a number of servo drives (for example Master controller and
caused by a slave controller), following errors lead to problems due to the dynamic position
following error differences, and a large following error can lead to positioning overshoot.
Error message If the following error exceeds the specified following error limit, the “following error
time” then expires. If the following error is even greater than the following error limit
at the end of the following error time, an error is reported.
If the following error falls short of the following error limit, a new following error time
is then started.
Minimizing the The following error can be minimized with the help of the extended (advanced)
following error control parameters, in particular with the feed forward parameters.
1: Following error limit [parameterized unit]

2: Following Error Time
ERROR: Error output of positioning modules
ACKN: Ackn with MC_Reset module
4.1.13. Maximum permissible speed

The limitation of the speed controller is deduced from the maximum permissible
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 permissible speed by 21%
(=”switching off limit speed”), error 0x7310 is triggered.
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4.1.14. Encoder simulation

You can make use of a permanently integrated encoder simulation feature to make
the actual position value available to additional servo drives or other automation
components.
Position of zero pulse:
Before R09-40 the zero pulse is coupled fixedly to the motor zero point (zero
crossing of the feedback position without absolute reference). This resulted in a
unequivocal and repeatable zero pulse position at all feedback devices (Resolver,
SinCos(R), EnDat, analogue Hallsensors, at C3Fluid: SSI-feedback system,
analogue feedback).
With R09-40 the zero pulse is adjustable in the range of -180...180 (object 0620.6)
- furthermore teaching of the zero pulse for the actual motor position is possible by
writing 0620.7 with -1 or by entering ":TEACH_ENCSIM_ZERO" in the entry field of
the optimization window.
Zero pulse with multiple pole feedback sensor:
With these feedback systems the simulation does not refer to the mechanical motor
position but to the feedback position, this means the correct quantity of A/B pulses
is put out to a motor revolution respectively to a motor pitch, however the zero
pulse output multiply occurs within one motor revolution respectively within one
motor pitch. (Quantity=figure pair of feedback pole=feedback pole figure/2).
At linear feedback systems 50mm correspond to a virtual motor revolution.
Caution!  The encoder simulation (A/B) is not possible at the same time as the encoder
input, der SSI-Schnittstelle resp. the step/direction input.
The same interface is used here.
 A direction reversal configured in the C3 ServoManager does not affect the
encoder simulation.
The direction of rotation of the encoder simulation can, however, be changed via
the feedback direction in the MotorManager.
Simulated Encoder Output Resolution

Unit: Increments per Range: 4 - 16384 Standard value: 1024
50mm*
Any resolution can be set
Limit frequency: 620kHz (track A or B) i.e., with:
Increments per 50mm max. Speed
1024 30m/s
4096 7,5m/s
16384 1,8m/s
* or with a rotary feedback travel per feedback rotation
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4.1.15. Recipe table

If you would like to work with the Recipe table (see on page 147),(e.g. for
memorizing variable machine data) you can make preassignments in it with
Compax3 ServoManager.
Note:
The recipe array can also be loaded separately into the device (>button on the right
side).
4.1.16. Error response

Under "configuring: Error reaction" you can change the error reaction for individual
errors (the error no. which can be influenced is displayed).
 No response
 Downramp / stop
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4.1.17. 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.
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Parker EME Configuring the signal source
4.2 Configuring the signal source
Possible master signal sources

Under the tree entry “Configuring the signal source” of the C3 ServoManager you
can configure the signal sources for Master - Slave applications.
The master signal source can then be selected in the IEC program with the aid of
the C3_MasterControl (see on page 229) module via the input “Master”.
The following signal sources are available:
 Physical source
- analog value above +/-10V
- Encoder signal A/B (5V)
- Step/Direction signal (5V)
- SSI - Geber
 Internal virtual master (IEC program) (only T40)
 HEDA
Note on Compax3 firmware versions < 2.05

The "use as current signal source" CheckBox can be found in the signal source
configuration wizards.
This CheckBox is only relevant for the Compax3 firmware versions <V2.05; it is
used to define the signal source for the CoDeSys program.
Otherwise, the signal source is directly selected at the IEC module.

Physical Source ............................................................................................................... 77
Internal virtual master ...................................................................................................... 79
Fieldbus master ............................................................................................................... 79
HEDA Master signal source ............................................................................................. 79
4.2.1. Physical Source

+/-10V Master speed ....................................................................................................... 77
Encoder A/B 5V, step/direction or SSI feedback as signal source .................................... 78
4.2.1.1 +/-10V Master speed

Via Analog channel 4 (X11/17 and X1/18) the speed of the master is read in.
From this value a position is internally derived.
The reference to the master is established with the velocity at 10V.
If required the direction of rotation of the master axis read in can be changed.
Time frame signal source master

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!
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4.2.1.2 Encoder A/B 5V, step/direction or SSI feedback as

signal source
Caution!  The encoder simulation (A/B) is not possible at the same time as the encoder
input, der SSI-Schnittstelle resp. the step/direction input.
The same interface is used here.
 A direction reversal configured in the C3 ServoManager does not affect the
encoder simulation.
The direction of rotation of the encoder simulation can, however, be changed via
the feedback direction in the MotorManager.
The dimensional reference to the master is established via the following settings:
 Travel path per motor revolution master axis numerator = 50mm or with a rotary
feedback system: Travel per feedback revolution.
With denominator = 1 the value can be entered directly.
Long-term drift can be avoided by entering non-integral values integrally as a
fraction with numerator and denominator.
 Increments per revolution of the master axis
Example: Electronic gearbox with position detection via encoder
Reference to master The reference to the master axis is established via the increments per revolution
axis and the travel path per revolution of the master axis (corresponds to the
circumference of the measuring wheel).
That is:
Master_I Travel Distance per Master Axis revolution
MasterPos = I_M * Travel Distance per Master Axis revolution - (1)
Denominator
MasterPos: Master Position
Master_I: master increments read in
I_M: Increments per revolution of the master axis
External signal Encoder with 1024 increments per master revolution and a circumference of the
source measuring wheel of 40mm.
Settings: Travel path per revolution of the master axis numerator = 40

Travel path per revolution of the master axis denominator = 1
Increments per revolution of the master axis = 1024
Configuration Reference system of Slave axis: Unit of measure [mm]

wizard: Travel path per revolution numerator = 1
Travel path per revolution denominator = 1
Gearing: Gearing numerator = 2

Gearing denominator = 1
This results in the following interrelations:

If the measuring wheel moves by 40mm (1 master revolution), the slave axis will
move by 80mm.
Gearing
numerator
Slave unit = MasterPos * (2)
Gearing
denominator
(1) set into (2) and with numerical values results with 1024 increments read in (=1
Master revolution):
1 40mm 2
Slave unit = 1024 * * * = 80mm
1024 1 1
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Parker EME Configuring the signal source
Master - Position = +40mm => Slave - Position = +80mm
Structure:
Master Z1 MasterPos Gearing Slave - N2 Slave_U Load
numerator
Gearbox
N1 Gearing Units Z2 to motor
denominator
Detailed structure image (see on page 94)
with:
Z1 Travel Distance per Master Axis revolution Entry in the "configuration
MD = * Travel Distance per Master Axis revolution of the signal source"
N1 wizard
- Denominator
Travel path per revolution slave axis

Z2 Entry in the "configuration
numerator
SD = * of the signal source"
Travel path per revolution slave axis
N2 wizard
denominator
MD: Feed of the master axis
SD: Feed of the slave axis
4.2.2. Internal virtual master

Only Compax3 T40!
The reset distance of the virtual master is only used for resetting the displayed
value (Object680.2).
The travel per motor revolution of the master axis (numerator/denominator) is set to
1 for a virtual master.
4.2.3. Fieldbus master

Only for Compax3 with the following fieldbusses:
 CanOpen
 Ethernet Powerlink
 EtherCAT
4.2.4. HEDA Master signal source

Please choose if the virtual master of the HEDA master is transmitted via the
HEDA.
If yes, the input “travel per revolution” is not necessary, as a positioning signal is
already present.
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Here the dimensional reference to the master position is established.

Compax3 T30 / T40 Compax3 T11 / T30 / T40
1)
Channel 1 Channel 1 Conﬁguration:
Signal Source:
HEDA-Master
HEDA-Slave
Channel 2
HEDA
Channel 3 2)
Channel 4
The position value are transferred via channel 1.
1) Select the position value to be transferred on the Compax3 HEDA-Master

(Target position value, actual position value, external position value or position
value of the virtual Master)).
2)By specifying the source under "Configuration: Configuration of the signal

source:HEDA", most of the reference values are pre-set.
 Standard source
Position value of the rotative drives
Travel path per motor revolution master axis numerator
With denominator = 1 the value can be entered directly.
Long-term drift can be avoided by entering non-integral values integrally as a
fraction with numerator and denominator.
 Position value of virtual master of Compax3 T40
 Position value of linear motor (mm)
Please enter pitch length in mm
 Position value of linear motor (inch)
Please enter pitch length in inch
 Position value of hydraulic cylinder - linear feedback (metric)
of Compax3F
 Position value of hydraulic cylinder - linear feedback (imperial)
of Compax3F
 Position value of hydraulic cylinder - rotary feedback
of Compax3F
1) Select the position value to be transferred on the Compax3 HEDA-Master

(Target position value, actual position value, external position value or position
value of the virtual Master)).
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Parker EME Optimization
4.3 Optimization
 Select the entry "Optimization" in the tree.
 Open the optimization window by clicking on the "Optimization Tool" button.
Optimization window ........................................................................................................ 81
Scope .............................................................................................................................. 82
Controller Tuning ............................................................................................................. 89
Input simulation ............................................................................................................. 138
Setup mode ................................................................................................................... 139
ProfileViewer for the optimization of the motion profile ................................................... 141
4.3.1. Optimization window

Layout and functions of the optimization window
Segmentation Functions (TABs)
Window1:  Oscilloscope (see on page 82)
Window 2:  Optimization: Controller optimization (see on page 89)
 D/A Monitor (see on page 417): Output of status values via 2
analog outputs
 Scope Settings
Window 3:  Status Display
 Compax3 Error History
Window 4:  Status values
 Commissioning: Setup mode with load identification
 Parameters for commissioning, test movements (relative &
absolute) and for load identification.
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4.3.2. 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 .......................................................................................................... 82
User interface .................................................................................................................. 83
Example: Setting the Oscilloscope................................................................................... 87
4.3.2.1 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
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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.
4.3.2.2 User interface

Oscilloscope operating mode switch: ............................................................................... 84
Setting the time basis XDIV ............................................................................................. 84
Settings for channels 1..4 ................................................................................................ 85
Trigger settings ................................................................................................................ 86
Special functions ............................................................................................................. 86
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1: Operating mode switch (see on page 84) (Single / Normal / Auto / Roll)
2: Setting the time basis (see on page 84)
3: Starting / Stopping the measurement (prerequisites are valid channel sources
and if necessary valid trigger settings.)
4: Setting channel (see on page 85) (Channels 1 ...4)
5: Special functions (see on page 86) (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 86)
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.
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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.
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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.
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4.3.2.3 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:
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Example: Only b0 and b1 are to be displayed: Set display mask to 03
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4.3.3. Controller Tuning

Preparatory settings for the controller alignment .............................................................. 90
Signal filtering with external command value ................................................................... 94
Controller structure of main axis ...................................................................................... 97
Controller structure auxiliary axis ..................................................................................... 98
Feedforward main axis (status controller) ........................................................................ 99
Feedforward auxiliary axis (status controller) ................................................................. 100
Position controller main axis (status controller) .............................................................. 101
Position controller auxiliary axis (status controller) ......................................................... 104
Filter main axis .............................................................................................................. 107
Filter auxiliary axis ......................................................................................................... 108
Filter external signal source ........................................................................................... 109
Filter setpoints ............................................................................................................... 111
Analog Input .................................................................................................................. 113
Force-/Pressure Control main axis ................................................................................. 117
Force-/Pressure Control auxiliary axis ........................................................................... 121
Output signal conditioning 0........................................................................................... 125
Step-by-step optimization .............................................................................................. 130
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:
192-120102N6 C3FT40 2014-10 89

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.
4.3.3.1 Preparatory settings for the controller alignment

Configuring the device ..................................................................................................... 90
Checking the feedback direction and the valve output polarity ......................................... 90
Compensation of non-linearities of the distance ............................................................... 91
Checking the open loop gain ........................................................................................... 93
Filter alignment ................................................................................................................ 93
Controller optimization ..................................................................................................... 94
Configuring the device

The configuration settings must be made before with the aid of the Configuration
Wizard.
The optimization is made in the Optimization window (see on page 81).
Checking the feedback direction and the valve output polarity

Feedback direction and valve polarity are verified in the open loop.
ATTENTION:
In the open loop operation, the drive axis might drift, as the position
controller is deactivated!
90 192-120102N6 C3FT40 2014-10

With the aid of the jog+/- function, the axis can be moved.
The setpoint generator- (681.4 or 681.2) and the actual speed (681.9 or 681.14)
must have the same sign (shown in the roll mode of the oscilloscope).
If this is not the case, there are two possible causes:

 Wrong orientation of the position feedback system: The actual position can be
displayed in order to check this. Resolve by changing the feedback direction in
the configuration wizard or in the C3HydraulicsManager.
 Incorrect wiring of the valves. The polarity can either be changed by changing the
wiring at the clamp or by inverting the output (Optimization  Output Chain X 
Inversion).
Compensation of non-linearities of the distance

Before the controller alignment, the non-linear components of the path should be
compensated with the aid of the Output conditioning chain. This helps to achieve
an improvement of the system behavior. There are several possibilities:
a) Pressure compensation
If pressure sensors are available, those can be used to compensate the differential
pressure. This makes the control more robust with respect to variations in the
system pressure or the load.
192-120102N6 C3FT40 2014-10 91

Before the activation, please notice the following:

 Correct connection of the pressure sensors to the controller.
 By approaching the end limits and simultaneously monitoring the pressure
values (Status values  pressure of main or auxiliary axis  pa, pb, pT and p0)
it is possible to conclude if the pressure sensors are correctly assigned.
A = cylinder at limit A
B = cylinder at limit B
1 = valve position
 The pressure signals should be well filtered (smooth). (Optimization  Analog
input  InX Filter)
If those conditions are fulfilled, the pressure compensation can be activated under
(Optimization Output Chain  PressureCompensation).
b) characteristics compensation
The control behavior of valves with bent characteristic lines or overlap can be
considerably improved if the valve characteristics are stored in the controller and
are used for the compensation. The characteristic is integrated into the respective
valve data via the C3HydraulicsManager and is loaded into the controller via the
C3ServoManager. The activation of the characteristic line is made via optimization
 Output Chain  Characteristic Flow.
If the valve characteristic line is activated, the behavior between control signal and
speed should be mainly linear.
(Doubling of the setpoint speed  Doubling of the resulting speed in the open
control loop).
c) Deadband compensation
If for valves with overlap or gap no adequate characteristics are available, they can
be optimized with the aid of the deadband compensation. The corresponding
values are set in (Optimization  Output Chain  Deadband ...).
92 192-120102N6 C3FT40 2014-10

Checking the open loop gain

In order to verify the open loop gain calculated from the component data. In the
ideal case, the axis achieves the setpoint speed in both directions during open loop
operation.
 Oscilloscope settings:
 Setpoint speed of the setpoint generator
 Actual speed (filtered)
Initially compensate a possible valve offset. In order to do this the value
optimization Output chain X  Offset is changed until the axis comes to a
standstill.
Afterwards, the axis is moved for example with the aid of the jog function in the
setup window. When comparing the setpoint speed and the actual speed you have
distinguish between four different cases:
 Setpoint speed>actual speed, positive travel direction:
 The open loop gain is too small  Optimization  Output chain X
 increase Gain factor positive.
 Setpoint speed< actual speed, positive travel direction:
 The open loop gain is too high  Optimization  Output chain X
 decrease Gain factor positive.
 Setpoint speed> actual speed, negative travel direction:
 The open loop gain is too small  Optimization  Output chain X
 increase Gain factor negative.
 Setpoint speed < actual speed, negative travel direction:
 The open loop gain is too high  Optimization  Output chain X
 decrease Gain factor negative.
Now the axis must move in open loop with the preset speed.
Filter alignment
Especially when using feedback systems with low resolution, a filter alignment is
necessary. With high resolution systems, this step might not be necessary.
 Oscilloscope settings:
 Actual speed (filtered)
The Parameter Optimization  Controller dynamic  Filter 2 speed actual value is
increased until there are no longer any spikes in the speed signal during the open
loop movement of the axis.
ATTENTION: too strong filtering causes additional deceleration and

phase shifting in the control loop and may later make the control
instable! Filter as moderately as possible.
ATTENTION: when using analog position feedback systems, you

should at first perform an input filtering. Optimization  Analog input
 Inx  Filter.
192-120102N6 C3FT40 2014-10 93

Example: Analog path measurement system +/-10V on input IN4:

Without input filter With input filter 550%
Controller optimization
Now the control loop of the axis can be closed. Before you should Save settings
(see on page 89).
Then the axis can be switched into the preoperational mode (power-off) in order to
change then to closed loop operation. Switching between open and closed loop
operation is only possible in this state.
ATTENTION: When the control is activated, uncontrolled movements

of the axis may occur, if the control is inadequately parameterized!
ATTENTION: In order to limit the speed of the axis, the control signal
range for the valve control can be limited with the aid of the output
limitation. Settings: Optimization  Output Chain X  Upper Limit or
Lower Limit. The limitation should not be set too small, as this would
put into effect an additional non-linearity (limitation) in the distance,
which complicates the controller alignment.
Oscilloscope settings:
 Following error
 Actual speed
 Setpoint speed
4.3.3.2 Signal filtering with external command value

The command signal read in from an external source (via HEDA or physical input)
can be optimized via different filters.
For this the following filter structure is available:
94 192-120102N6 C3FT40 2014-10

Signal filtering for external setpoint specification and electronic

gearbox
2020.2 speed 2020.3 accel if v,a exist* 682.4
C3SM
Wizard
accel
accel
Control structure
680.10
true
2011.4 2011.5 2110.7
681.4
2(v,a)
+/-10V
TRF 2020.1(x) speed
Physical speed
3(x,v,a)
true
2107.1 1141.4 TRF 2110.6
3920.7
3920.1 SG1 680.12
HEDA TRF 1(x) 2

Structure x
2110.1
HEDA 6 D E position
4 5
of Gearing a
2000.2, .5, .8 2109.1
v
RS
Virtual 3(x,v,a)
1141.7 (x) 680.4
Master
1141.8 (v)
3921.1 3921.7(x)
3(x,v,a)*
CANSync
Inter-
PowerLink
EtherCat
polator
3925.1
* Speed v and acceleration a are only present in the event of linear interpolation
(method of interpolation: O3925.1 - 0x60C0) if they are provided by an external
source.
In quadratic or cubic interpolation, v and a are emulated.
B: Structure image of the signal processing
D/E: Structure of Gearing (see on page 186)
Control structure
Symbols
Tracking filter
TRF The displayed filter influences all outputs of the tracking filter.
Number: Object number of the filter characteristic
2110.1
Differentiator
Output signal = d(input signal)/dt
The output signal is the derivation (gradient) of the input signal
Filter
Interpolation
Linear Interpolation.
interpolation
Values in the 500µs grid are converted into the more exact time
500µs => 125µs grid of 125µs.
Note:
 A jerk setpoint generator is not required for external setpoint specification.
 The description of the objects can be found in the object list (see on page 392).
192-120102N6 C3FT40 2014-10 95

Signal filtering for external setpoint specification and electronic cam

Only Compax3F T40!
2020.2 speed 2020.3 accel if v,a exist* 682.4
C3SM
Wizard
accel
accel
Control structure
680.10
true
2011.4 2011.5 2110.7
681.4
2(v,a)
+/-10V
TRF 2020.1(x) speed
Physical speed
3(x,v,a)
true
2107.1 1141.4 TRF 2110.6
3920.7
3920.1 SG1 680.12
HEDA TRF 1(x) 2

Structure x
2110.1
HEDA 6 D E position
4 5
of Gearing a
2000.2, .5, .8 2109.1
v
RS
Virtual 3(x,v,a)
1141.7 (x) 680.4
Master
1141.8 (v)
3921.1 3921.7(x)
3(x,v,a)*
CANSync
Inter-
PowerLink
EtherCat
polator
3925.1
D/E: Structure of Cam (see on page 218)

Control structure
Symbols
Tracking filter
TRF The displayed filter influences all outputs of the tracking filter.
2110.1
Differentiator
Filter
Interpolation
Linear Interpolation.
interpolation
Values in the 500µs grid are converted into the more exact time
500µs => 125µs grid of 125µs.
Note:
 A jerk setpoint generator is not required for external setpoint specification.
 The description of the objects can be found in the object list (see on page 392).
96 192-120102N6 C3FT40 2014-10

4.3.3.3 Controller structure of main axis

Setpoint generator
a
r
+
v
+
t
681.4 2200.30/.31 2200.32/.33

a Kva 2010.24 2010.21 Kuv
Kvv 2010.23
.30 .31
t
680.4 2200.36
t 697.2
2200.37
v + + + + +
KP KSG
+ + + + +
- -
s 2200.38 2100.12
697.1 697.5 2210.8
680.6
680.5 697.3 697.4
t
2100.13 Kv Ka 2100.14 682.5

Setpoint position
Speed
Acceleration
681.5
Actual value
monitoring
2100.11 2100.6
Deceleration
Acceleration jerk
Deceleration jerk
2100.10 2100.5
Measurement values: Status objects are displayed in red.

Factors and time Corresponding objects are displayed in blue.
constants
Below you can find the descriptions of the individual objects.
192-120102N6 C3FT40 2014-10 97

4.3.3.4 Controller structure auxiliary axis
Measurement values: Status objects are displayed in red.

Factors and time Corresponding objects are displayed in blue.
constants
98 192-120102N6 C3FT40 2014-10

4.3.3.5 Feedforward main axis (status controller)

Object 2010.23: Speed .................................................................................................... 99
Object 2010.24: Accel...................................................................................................... 99
Object 2010.23: Speed

Object name C3.FeedForward_Speed_FFW
Object no. 2010.23 HEDA Channel no
Zugriff: read/write Valid after: VP
CodeSys object: yes CodeSys format: REAL
Unit %s/unit
Minimum value %s/unit Maximum value %s/unit
Remark: Factor for speed feedforward (main axis)
(does only apply for single-loop status control)
CAN No. - PD Object: no
Profibus No. (PNU) - Bus format: C4_3
Object 2010.24: Accel

Object name C3.FeedForward_Accel_FFW
Object no. 2010.24 HEDA Channel
no
Unit %s²/unit
Minimum value %s²/unit Maximum value %s²/unit
Remark: Factor for acceleration feedforward (main axis)
192-120102N6 C3FT40 2014-10 99

4.3.3.6 Feedforward auxiliary axis (status controller)

Object 2050.10: Accel.................................................................................................... 100
Object 2050.9: Speed .................................................................................................... 100
Object 2050.10: Accel

Object name C3.FeedForward_2_Accel_FFW
Unit %s²/unit
Remark: Factor for acceleration feedforward (main axis)
Object 2050.9: Speed

Object name C3.FeedForward_2_Speed_FFW
Unit %s/unit
Remark: Factor for speed feedforward (main axis)
100 192-120102N6 C3FT40 2014-10

4.3.3.7 Position controller main axis (status controller)

Object 2200.24: Filter - Tracking Error ........................................................................... 101
Object 2200.38: P term .................................................................................................. 101
Object 2200.37: I term ................................................................................................... 101
Object 2200.30: Inner window I term.............................................................................. 102
Object 2200.31: Outer window I term ............................................................................. 102
Object 2200.32: Positive limit I term ............................................................................... 102
Object 2200.33: Negative limit I term ............................................................................. 102
Object 2100.13: Velocity feedback................................................................................. 103
Object 2100.14: Acceleration feedback.......................................................................... 103
Object 2210.8: Filter control signal................................................................................. 103
Object 2200.24: Filter - Tracking Error

Object name PositionController_TrackingErrorFilter_us
CodeSys object: no CodeSys format: DINT
Unit us
Minimum value 0 us Maximum value 8300000 us
Remark: Time constant of the following error filter of the position controller in µs
(analog to 2200.11 in %)
Is set to the default value corresponding to the motor in the
configuration when changing the motor.
Default value 0us.
The filter is deactivated for values from 0 to 62us
C3F:
Only internal: Due to structure, the following error is, as from R07,
filtered with the sum time constant actual velocity value filter 1 + actual
velocity value 2 + time constant of following filter + user filter 2200.24.
Profibus No. (PNU) - Bus format: U16
Object 2200.38: P term

Object name C3Plus.PositionController_Kp_PPart
Unit %/unit
Minimum value %/unit Maximum value %/unit
Remark:

Profibus No. (PNU) - Bus format: I16
Object 2200.37: I term

Object name C3Plus.PositionController_Ki_IPart
Unit %/(s unit)
Minimum value %/(s unit) Maximum value %/(s unit)
Remark:

192-120102N6 C3FT40 2014-10 101

Object 2200.30: Inner window I term

Object name C3Plus.PositionController_InsideWindow_IPart
Unit unit
Minimum value unit Maximum value unit
Remark:

Object 2200.31: Outer window I term

Object name C3Plus.PositionController_OutsideWindow_IPart
Unit unit
Remark:

Object 2200.32: Positive limit I term

Object name C3Plus.PositionController_PosLimit_IPart
Unit %
Minimum value -100 %/unit Maximum value 100 %/unit
Remark:

Object 2200.33: Negative limit I term

Object name C3Plus.PositionController_NegLimit_IPart
Unit %
Minimum value -100 % Maximum value 100 %
Remark:

102 192-120102N6 C3FT40 2014-10

Object 2100.13: Velocity feedback

Object name C3.ControllerTuning_SpeedFeedback_Kv
Unit %s/unit
Remark:

Object 2100.14: Acceleration feedback

Object name C3.ControllerTuning_AccelFeedback_Ka
Unit %s²/unit
Remark:

Object 2210.8: Filter control signal

Object name C3.SpeedController_ActuatingSignal_filt
CodeSys object: yes CodeSys format: DINT
Unit us
Remark:

192-120102N6 C3FT40 2014-10 103

4.3.3.8 Position controller auxiliary axis (status controller)

Object 2260.8: Filter - Tracking Error ............................................................................. 104
Object 2260.22: P term .................................................................................................. 104
Object 2260.21: I term ................................................................................................... 104
Object 2101.14: Acceleration feedback.......................................................................... 106
Object 2270.8: Filter control signal................................................................................. 106
Object 2260.8: Filter - Tracking Error

Object name C3.PositionController_2_TrackingErrorFilter_us
Zugriff: read/write Valid after: Immediately
Unit us
Remark:


Object name C3Plus.PositionController_2_Kp_PPart
Unit %/unit
Minimum value n/a Maximum value n/a
Remark:


Object name C3Plus.PositionController_2_Ki_IPart
Unit %/(s unit)
Minimum value %/(s unit) Maximum value %/(s unit)
Remark:

104 192-120102N6 C3FT40 2014-10


Object name C3Plus.PositionController_2_InsideWindow_IPart
Unit unit
Remark:


Object name C3Plus.PositionController_2_OutsideWindow_IPart
Unit unit
Remark:


Object name C3Plus.PositionController_2_PosLimit_IPart
Unit %
Remark:


Object name C3Plus.PositionController_2_NegLimit_IPart
Unit %
Remark:

192-120102N6 C3FT40 2014-10 105


Object name C3.ControllerTuning_2_SpeedFeedback_Kv
Unit %s/unit
Remark:

Object 2101.14: Acceleration feedback

Object name C3.ControllerTuning_2_AccelFeedback_Ka
Unit %s²/unit
Remark:


Object name C3.SpeedController2_ActuatingSignal_filt
Unit us
Remark:

106 192-120102N6 C3FT40 2014-10

4.3.3.9 Filter main axis

Object 2100.10: Filter 2 - Actual velocity ........................................................................ 107
Object 2100.11: Filter 2 - Actual acceleration................................................................. 107
Object 2100.10: Filter 2 - Actual velocity

Object name C3.ControllerTuning_FilterSpeed2
Unit us
Remark: Works in line with actual velocity filter
Default value 0us
Object 2100.11: Filter 2 - Actual acceleration

Object name C3.ControllerTuning_FilterAccel2
Unit us
Remark: Works in line with actual acceleration filter
Default value 0us
For C3 DCP preinitialized to 5000us
192-120102N6 C3FT40 2014-10 107

4.3.3.10 Filter auxiliary axis

Object 2101.7: Filter 2 actual speed ............................................................................ 108
Object 2101.8: Filter 2 actual accel ................................................................................ 108
Object 2101.7: Filter 2 actual speed

Object name C3.ControllerTuning_2_FilterSpeed2
Unit us
Remark:

Object 2101.8: Filter 2 actual accel

Object name C3.ControllerTuning_2_FilterAccel2
Unit us
Remark:

108 192-120102N6 C3FT40 2014-10

4.3.3.11 Filter external signal source

Object 2107.1: Tracking filter physical source ................................................................ 109
Object 2011.4: Filter - Ext. velocity feed-forward ............................................................ 109
Object 2011.5: Filter - Ext. accel. feed-forward .............................................................. 110
Object 2109.1: Tracking filter HEDA .............................................................................. 110
Object 2107.1: Tracking filter physical source

Object name C3Plus.TrackingfilterPhysicalSource_TRFSpeed
CodeSys object: yes CodeSys format: INT
Unit 500us
Minimum value 0 500us Maximum value 2000 500us
Remark: Value 0: No filtering of the position signal
Following filter of time constant
Value Range:
>= R09-40: 1..2000 * 500us (=500us ..1s)
< R09-40: 1..63 * 500us (=500us ..31.5ms)
Time constant: Value * 500us
Provides a filtered position (O2020.1) and speed (O2020.2, O2020.6) of

the encoder channel upon use of the master signal as well as filtered
status displays.
Value 0: No filtering of the position signal, speed is still filtered at a rate
of 500us
Object 2011.4: Filter - Ext. velocity feed-forward

Object name C3.FeedForwardExternal_FilterSpeed_us
Unit us
Remark: Filter speed for velocity signal from physical source
Offers (complementary to O2107.1) an additional filter possibility of the
physical speed (control and status display 02020.2)
Default value 0us
192-120102N6 C3FT40 2014-10 109

Object 2011.5: Filter - Ext. accel. feed-forward

Object name C3.FeedForwardExternal_FilterAccel_us
Unit us
Remark: Filter speed for velocity signal from physical source.
Offers (complementary to O2107.4) an additional filter possibility of the
physical acceleration (control and status display 02020.3)
Default value 0us
Object 2109.1: Tracking filter HEDA

Object name C3Plus.TrackingfilterHEDA_TRFSpeed
Unit 500us
Remark: Filter speed tracking filter HEDA process position O3920.1
Value 0: No filtering of the position signal
Value 0: No filtering of the position signal
Following filter of time constant
Value Range:
>= R09-40: 1..2000 * 500us (=500us ..1s)
< R09-40: 1..63 * 500us (=500us ..31.5ms)
Provides a filtered master position (03920.7) for Cam (03021.2) and

Gearing (01141.7) applications.
For improving the signal quality due to low master resolution and noise.
A drawback is the additional delay of the master signal.
110 192-120102N6 C3FT40 2014-10

4.3.3.12 Filter setpoints

Object 2110.1: Tracking filter ......................................................................................... 111
Object 2110.6: Filter velocity.......................................................................................... 111
Object 2110.7: Filter acceleration .................................................................................. 112
Object 2110.1: Tracking filter

Object name C3Plus.TrackingfilterSG1_TRFSpeed
Unit 500us
Remark: Following filter of time constant
cannot be deactivated, default is 1.
Value Range:
>= R09-40: 1..2000 * 500us (=500us ..1s)
< R09-40: 1..63 * 500us (=500us ..31.5ms)
Provides a filtered command position (O680.1), command speed

(O681.1) and command acceleration (O682.1) for the control
(feedforward) and the status displays.
Necessary and only effective for CAM and Gearing applications.
The value can be increased in order to reduce control noise due to bad
signal quality (low master resolution, noise of the master signal as well
as low number of CAM interpolation points).
Please note that an increased time constant may lead to an increased
following error. You should therefore consider if it is not sensible to filter
the master signal used or the increase the number of interpolation
points in CAM operation.
The filter cannot be deactivated in Gearing and Cam applications
(minimum value is 1).
CAN No. 0x2096 PD Object: no
Profibus No. (PNU) Bus format: I16
Object 2110.6: Filter velocity

Object name C3Plus.TrackingfilterSG1_FilterSpeed_us
Unit us
Remark: Filter velocity of velocity filter of setpoint feedback in µs (analog to
2110.3 in %)
Provides a filter of the command speed (O681.4) in addition to O2110.1
for the control (feedforward) and the status display.
Default 0µs
Range: 0µs - 249µs ==> No filtering
192-120102N6 C3FT40 2014-10 111

Object 2110.7: Filter acceleration

Object name C3Plus.TrackingfilterSG1_AccelFilter_us
Unit us
Remark: Filter velocity of acceleration filter of setpoint feedback in µs (analog to
2110.4)
Provides a filter of the command acceleration (O682.4) in addition to
O2110.1 for the control (feedforward) and the status display.
Necessary and only effective for CAM and Gearing applications.
For the reduction of control noise due to bad signal quality (low master
resolution, noise of the master signal as well as low number of CAM
interpolation points).
Default 0µs
Range: 0µs - 249µs ==> No filtering
112 192-120102N6 C3FT40 2014-10

4.3.3.13 Analog Input

Object 172.11: IN0 Offset .............................................................................................. 113
Object 172.3: IN0 Filter .................................................................................................. 113
Object 173.11: IN1 Offset .............................................................................................. 113
Object 173.3: IN1 Filter .................................................................................................. 114
Object 174.11: IN2 Offset .............................................................................................. 114
Object 174.3: IN2 Filter .................................................................................................. 114
Object 175.11: IN3 Offset .............................................................................................. 114
Object 175.3: IN3 Filter .................................................................................................. 115
Object 176.11: IN4 Offset .............................................................................................. 115
Object 176.3: IN4 Filter .................................................................................................. 115
Object 177.11: IN5 Offset .............................................................................................. 115
Object 177.3: IN5 Filter .................................................................................................. 116
Object 172.11: IN0 Offset

Object name C3Plus.AnalogInput0_Offset_normed
Unit mA
Minimum value mA Maximum value mA
Remark:

Object 172.3: IN0 Filter

Object name C3Plus.AnalogInput0_FilterCoefficient
Unit us
Minimum value 0 us Maximum value us
Remark:


Unit mA
Remark:

192-120102N6 C3FT40 2014-10 113


Unit us
Remark:


Unit mA
Remark:


Unit us
Minimum value us Maximum value us
Remark:


Unit mA
Remark:

114 192-120102N6 C3FT40 2014-10


Unit us
Minimum value us Maximum value us
Remark:


Unit V
Minimum value V Maximum value V
Remark:


Unit us
Remark:


Unit V
Minimum value V Maximum value V
Remark:

192-120102N6 C3FT40 2014-10 115


Unit us
Remark:

116 192-120102N6 C3FT40 2014-10

4.3.3.14 Force-/Pressure Control main axis

Signal image of pressure / force control of the main axis:
2250.23
K Fs
2250.17/18
698.6
2250.14
2250.22
Disturbance Offset
2251.21 698.5
2250.15/16 698.2
KFi
+
Kp T X
- +
2250.13
698.1 2250.24=0: +1 / =1: -1
Error in units
Bar, psi or N
Actual value m onitoring

D-T1
698.4
2100.10 2100.5
2250.8/19 698.3
2250.20 681.5
K Fv T T

Object 2250.13: P term .................................................................................................. 117
Object 2250.14: I term ................................................................................................... 118
Object 2250.19: D term .................................................................................................. 119
Object 2250.22: Filter control signal ............................................................................... 119
Object 2250.23: Force Feed-forward ............................................................................. 120
Object 2250.24: Actuating signal inversion [on/off] ......................................................... 120
Object 2250.8: Delay T1 ................................................................................................ 120

Object name C3Plus.PressureController_1_Proportional_Part_Kp
Unit %/pres
Minimum value %/pres Maximum value %/pres
Remark:

192-120102N6 C3FT40 2014-10 117


Object name C3Plus.PressureController_1_Integration_Part_KFi
Unit %/(s pres)
Minimum value 0 %/(s pres) Maximum value 4000 %/(s pres)
Remark:


Object name C3Plus.PressureController_1_InsideWindow_IPart
Unit pres
Minimum value pres Maximum value pres
Remark:


Object name C3Plus.PressureController_1_OutsideWindow_IPart
Unit pres
Remark:


Object name C3Plus.PressureController_1_PosLimit_IPart
Unit %
Minimum value % Maximum value %
Remark:

118 192-120102N6 C3FT40 2014-10


Object name C3Plus.PressureController_1_NegLimit_IPart
Unit %
Remark:

Object 2250.19: D term

Object name PressureController_1_Derivative_Part_KFd
CodeSys object: no CodeSys format: REAL
Unit %s/pres
Minimum value %s/pres Maximum value %s/pres
Remark:


Object name PressureController_1_Speed_Feedback_KFv
Unit %s/unit
Remark:


Object name PressureController_1_ActuatingSignalFilter
CodeSys object: no CodeSys format:
Unit us
Minimum value us Maximum value 8300000 us
Remark:

192-120102N6 C3FT40 2014-10 119

Object 2250.23: Force Feed-forward

Object name PressureController_1_Force_FeedForward_KFs
Unit %/pres
Remark:

Object 2250.24: Actuating signal inversion [on/off]

Object name C3Plus.PressureController_1_ActuatingSignal_Inversion
CodeSys object: yes CodeSys format: BOOL
Unit n/a
Minimum value 0 n/a Maximum value 1 n/a
Remark:

Object 2250.8: Delay T1

Object name PressureController_1_TimeDelay_DT1_T1
CodeSys object: no CodeSys format: INT
Unit us
Remark:

120 192-120102N6 C3FT40 2014-10

4.3.3.15 Force-/Pressure Control auxiliary axis

Signal image of pressure / force control of the auxiliary axis:
2251.23
K Fs
2251.17/18
698.16
2251.14
2251.22
Disturbance Offset
2251.21 698.15
2251.15/16 698.12
KFi
+
Kp T X
- +
2251.13
698.11 2251.24=0: +1 / =1: -1
Error in units
Bar, psi or N
Actual value m onitoring

D-T1
698.14
2101.7 2101.4
2251.8/19 698.13
2251.20
KFv T T

Object 2251.13: P term .................................................................................................. 121
Object 2251.14: I term ................................................................................................... 122
Object 2251.19: D term .................................................................................................. 123
Object 2251.22: Filter control signal ............................................................................... 123
Object 2251.23: Force Feed-forward ............................................................................. 124
Object 2251.24: Actuating signal inversion [on/off] ......................................................... 124
Object 2251.8: Delay T1 ................................................................................................ 124

Object name C3Plus.PressureController_2_Proportional_Part_Kp
Unit %/pres
Remark:

192-120102N6 C3FT40 2014-10 121


Object name C3Plus.PressureController_2_Integration_Part_KFi
Unit %/(s pres)
Minimum value %/(s pres) Maximum value 4000 %/(s pres)
Remark:


Object name C3Plus.PressureController_2_InsideWindow_IPart
Unit pres
Remark:


Object name C3Plus.PressureController_2_OutsideWindow_IPart
Unit pres
Remark:


Object name C3Plus.PressureController_2_PosLimit_IPart
Unit %
Remark:

122 192-120102N6 C3FT40 2014-10


Object name C3Plus.PressureController_2_NegLimit_IPart
Unit %
Remark:

Object 2251.19: D term

Object name PressureController_2_Derivative_Part_KFd
Unit %s/pres
Minimum value %s/pres Maximum value %s/pres
Remark:


Object name PressureController_2_Speed_Feedback_KFv
Unit %s/unit
Remark:


Object name PressureController_2_ActuatingSignalFilter
Unit us
Minimum value us Maximum value 8300000 us
Remark:

192-120102N6 C3FT40 2014-10 123

Object 2251.23: Force Feed-forward

Object name PressureController_2_Force_FeedForward_KFs
Unit %/pres
Remark:

Object 2251.24: Actuating signal inversion [on/off]

Object name C3Plus.PressureController_2_ActuatingSignal_Inversion
Unit n/a
Minimum value 0 n/a Maximum value 1 n/a
Remark:

Object 2251.8: Delay T1

Object name PressureController_2_TimeDelay_DT1_T1
CodeSys object: no CodeSys format: INT
Unit us
Remark:

124 192-120102N6 C3FT40 2014-10

4.3.3.16 Output signal conditioning 0
In order to linearize the valve as well as the entire control path 4 linearization
chains (conditioning chains => output signal conditioning) are available.
Layout of the path linearization (Conditioning Chains):
Objects of the The setting of the Conditioning Chains is made via objects in the Optimization
conditioning chains window (see on page 81).
The "x" in the objects given in the signal image depends on the conditioning chains
to be parameterized:
x = 0,1,2,3 = Conditioning Chain No.
In the Compax3F structure image (see on page 41) you can see how the
Conditioning Chains are integrated in the total structure.
Conditioning Chain Symbols .......................................................................................... 126
Object 2400.3: Upper limit ............................................................................................. 126
Object 2400.4: Lower limit ............................................................................................. 126
Object 2400.6: Output Offset ......................................................................................... 126
Object 2400.7: Default value (inactive chain 0) ............................................................ 127
Object 2401.4: Gain factor positive ................................................................................ 127
Object 2401.5: Gain factor negative ............................................................................... 127
Object 2401.6: Inversion [on/off] .................................................................................... 127
Object 2401.7: Gain factor positive (Force-/Pressure Control) ....................................... 128
Object 2401.8: Gain factor negative (Force-/Pressure Control) ...................................... 128
Object 2402.1: Pressure Compensation [on/off] ............................................................. 128
Object 2403.1: Characteristic flow [on/off] ...................................................................... 128
Object 2405.1: Deadband [on/off] .................................................................................. 129
Object 2405.2: Deadband A-Side .................................................................................. 129
Object 2405.3: Deadband B-Side .................................................................................. 129
Object 2405.4: Deadband Threshold ............................................................................. 129
192-120102N6 C3FT40 2014-10 125

Conditioning Chain Symbols

24x1.4
Direction dependent gain
24x1.5
Direction dependent pressure compensation
Non-linear characteristic (valve characteristic)
24x3.2
Deadband
No signal is transmitted in a range definable by objects.
Change of gain for small signals.

In a range definable by objects, the signal is transmitted with changed
gain.
24x0.3
Limitation
The signal is limited to a range definable by objects.
24x0.4
Object 2400.3: Upper limit

Object name C3Plus.OutputConditioningChain_Ch0_Upper_Limit
Unit %
Minimum value 0% Maximum value 100 %
Remark:

Object 2400.4: Lower limit

Object name C3Plus.OutputConditioningChain_Ch0_Lower_Limit
Unit %
Minimum value 0% Maximum value 100 %
Remark:

Object 2400.6: Output Offset

Object name C3Plus.OutputConditioningChain_Ch0_Output_Offset
Unit %
Remark:

126 192-120102N6 C3FT40 2014-10

Object 2400.7: Default value (inactive chain 0)

Object name C3Plus.OutputConditioningChain_Ch0_Input_DefaultValue
Unit %
Remark:

Object 2401.4: Gain factor positive

Object name C3Plus.DirectionDependentGain_Ch0_Factor_positive
Unit 1
Remark:

Object 2401.5: Gain factor negative

Object name C3Plus.DirectionDependentGain_Ch0_Factor_negative
Unit 1
Remark:

Object 2401.6: Inversion [on/off]

Object name C3Plus.DirectionDependentGain_Ch0_InvertType
Unit n/a
Remark:

192-120102N6 C3FT40 2014-10 127

Object 2401.7: Gain factor positive (Force-/Pressure Control)

Object name DirectionDependentGain_Ch0_Factor_positiv_Pressure
Unit 1
Remark:

Object 2401.8: Gain factor negative (Force-/Pressure Control)

Object name DirectionDependentGain_Ch0_Factor_negative_Pressure
Unit 1
Remark:

Object 2402.1: Pressure Compensation [on/off]

Object name C3Plus.PressureCompensation_Ch0_Type
Unit n/a
Remark:

Object 2403.1: Characteristic flow [on/off]

Object name C3Plus.SignalFlowCharacteristic_Ch0_Type
Unit n/a
Remark:

128 192-120102N6 C3FT40 2014-10

Object 2405.1: Deadband [on/off]

Object name C3Plus.DeadBandCompensation_Ch0_Type
Unit 1
Remark:

Object 2405.2: Deadband A-Side

Object name C3Plus.DeadBandCompensation_Ch0_A_Side
Unit °/oo
Minimum value 0 °/oo Maximum value 1000 °/oo
Remark:

Object 2405.3: Deadband B-Side

Object name C3Plus.DeadBandCompensation_Ch0_B_Side
Unit °/oo
Remark:

Object 2405.4: Deadband Threshold

Object name C3Plus.DeadBandCompensation_Ch0_Threshold
Unit °/oo
Remark:

192-120102N6 C3FT40 2014-10 129

4.3.3.17 Step-by-step optimization

General ......................................................................................................................... 130
Procedure ...................................................................................................................... 131
General
All parameters are changed in the optimization window in the optimization field via
the object tree in the lower left window.
 Click on the object in the object tree (1).
 Enter new value in the command line (2) and press Return.
 Set value to valid with CP (3).
Attention: Entry of the values must be terminated with a Return and must be set
to valid via VP (3)!
 The changed objects are permanently stored with WF (4).
 Attention:When writing the data into the flash, control oscillations may occur due
to increased processor load!
=> Switch drive to currentless / PowerOff state before
130 192-120102N6 C3FT40 2014-10

Procedure
Parameters for manual movement/jogging mode and test movement ............................ 131
Limit valve set value ...................................................................................................... 132
Move drive controlled..................................................................................................... 132
Check sense of direction ............................................................................................... 132
Set valve offset .............................................................................................................. 133
Check connection assignment of the pressure sensors ................................................. 133
Check input offset or zero of the pressure sensors ........................................................ 133
Direction dependent gain ............................................................................................... 133
Optimization of position controller .................................................................................. 133
Optimization of pressure/Force Controller ...................................................................... 136
A valid configuration is a prerequisite for this operation and for

force/pressure control, operation with one or 2 pressure sensors per cylinder
is assumed.
Parameters for manual movement/jogging mode and test movement

In the optimization window ⇒ setup field ⇒ parameter
 Activate dropdown list via button on the upper left (1)
 The parameters for manual movement/jogging mode can be found under general
setup settings (2).
 Select test movement absolute (3) for linear drives (cylinders).
 If needs be, change the limit and homing settings from the configuration for the
setup (4).
 Terminate with "accept entry".
192-120102N6 C3FT40 2014-10 131

Limit valve set value

In the optimization tree under output chain:
 Upper limit of control signal (Object 2400.3) and lower limit of control signal
(Object 2400.4) must be set sensibly.
 Take step 1 for all additional valves.
Tip:
In order to avoid a fast, uncontrolled movement of the drive during the setup, the
valve outputs should at first be limited!
Attention:
 The drive does not reach its maximum power due to the limitation of the valve
outputs.
As soon as the drive is stably positioned in the control loop, the limitation can be
lifted.
Move drive controlled
In the optimization window ⇒ setup field ⇒ setup.
 Select "controlled movement" operating mode.
 Energize drive (2).
 Move the drive to both sides (3).
Does the axis move?
No:
 Valve positive overlap? -> activate valve characteristic line or set deadband
compensation.
 Check control value limitation -> increase control value limitation.
 Control signal gain too small -> increase parameter control signal gain.
3
2
Tip:
Check, if the control signals to the valves (status values -> valve outputs -> output
signal0..3) change.
Check sense of direction
 Select "controlled movement" operating mode
 Move drive into both directions.
 Are the directions of the setpoint and of the actual position the same?
No: Switch on valve inversion(s): Inversion [on/off] = 1 (in the optimization tree
under output chain:)
 Is the direction of the actual position identical with the desired direction in the
machine?
No: Change sense of direction of the feedback in the configuration
132 192-120102N6 C3FT40 2014-10

Set valve offset

 Select "controlled movement" operating mode
 Move drive to medium position
In which direction does the axis drift?
 Positive: Reduce output offset until the drive is at standstill.
 Negative: Increase output offset until the drive is at standstill.
Attention:
 If the values are too high, the drive might move uncontrolled at high speed!
With activated valve inversion, the offset does also work in the opposite direction!
(In the optimization tree under output chain)
Approach additional positions and check setting.
Check connection assignment of the pressure sensors
 Check if the correct pressure is displayed when moving the cylinder.
In the optimization window ⇒ setup field ⇒ status values select the

corresponding values and drag them into the status display field.
No:
 Check connections and configuration of the pressure sensors.
Check input offset or zero of the pressure sensors

 Switch off hydraulics and make sure that there is no pressure (0 bar) on the
pressure sensors.
In the optimization window ⇒ setup field ⇒ status values select the
corresponding values and drag them into the status display field.
No:
In the optimization window ⇒ optimization field ⇒ optimization
 Adapt zero for analog input offset.
Direction dependent gain

For differential cylinders, the direction dependence can be compensated via object
gain positive and negative direction.
In the optimization window ⇒ optimization field ⇒ object tree under path
linearization
 Positive direction
 Object 2401.4: Direction dependent gain
 Object 2401.7: Direction dependent gain (pressure control)
 Negative direction
 Object 2401.5: Direction dependent gain
 Object 2401.8: Direction dependent gain (pressure control)
Attention:
If several valves are used for a drive, the direction dependent gain must be set
individually for each valve.
Optimization of position controller
Filter .............................................................................................................................. 134
Set control parameters .................................................................................................. 135
Feedforwards (advanced) .............................................................................................. 136
192-120102N6 C3FT40 2014-10 133

Filter
Set position (only analog feedback) ............................................................................... 134
Set filter for speed- and acceleration actual value .......................................................... 134
Close control loop .......................................................................................................... 134
Depending on the feedback type, the actual signals for position, speed and
acceleration are disturbed with different intensity. A strong noise on the signals
influences the achievable quality of control negatively.
Attention:
Too high filter constants distort the signals and have a negative effect on the
control quality!
Set position (only analog feedback)

In the optimization tree under analog input.
Typical setting value: 7000µs.
Set filter for speed- and acceleration actual value

In the optimization tree under filter main axis.
Typical setting values for the individual path measurement system:
Type Speed[µs] Acceleration
Analog 7000
EnDat 500
RS422
SSI 1000 ... 7000
Start-Stop 7000
Close control loop

 Switch drive to currentless (2)
 Select control operation (1)
 Re-energize drive (2)
 Move drive at low speed in manual mode (jogging) (3).
 In the event of oscillations, stop the movement
Does the drive oscillate at standstill?
 Yes: Switch drive to currentless (2)
Reduce control parameters (Proportional factor KP (see on page 135) to

acceleration feedback (see on page 135)).
3
2
134 192-120102N6 C3FT40 2014-10

Set control parameters

Proportional factor KP.................................................................................................... 135
Integrator KI................................................................................................................... 135
Speed feedback............................................................................................................. 135
Acceleration feedback ................................................................................................... 135
In the optimization tree under position controller main axis
Proportional factor KP
 Increase Kp (2200.38/2260.22) at lowest speed up to the stability limit.
 Value will be preassigned by the configuration.
 Acceleration and jerk must be adapted to the potential of the axis.
 Deceleration and jerk_deceleration must be adapted to the potential of the axis.
 Compensate unbalances with direction-dependant gain
 Check settings at 50% Vmax and reduce if needs be.
 Check settings at Vmax and reduce if needs be.
Integrator KI
 Increase KI (2200.37/2260.21), so that the following error becomes minimal and
the axis does not overshoot.
 Value will be preassigned by the configuration.
 Set inner window (2200.30) so that the axis does not readjust constantly (only
sensible larger than feedback resolution!).
 Set outer window (2200.31) so that possible overshoot is reduced.
 Limit maximum I term (2200.32 and 2200.33).
Speed feedback
The feedback of the speed can increase the natural frequency, i.e. the dynamic of
the hydraulic drive.
Prerequisite:
Speed filter set correctly (Filter for Speed and Acceleration actual value (see on
page 134)).
 Increase speed feedback (2100.13) at lowest speed up to the stability limit.
Acceleration feedback
The feedback of the acceleration can dampen the hydraulic drive, i.e. reduce the
oscillation tendency.
Prerequisite:
Acceleration filter set correctly ( Filter for Speed and Acceleration actual value
(see on page 134))
 Increase acceleration feedback (2100.14) at lowest speed up to the stability limit.
192-120102N6 C3FT40 2014-10 135

Feedforwards (advanced)
Speed feedforward (advanced) ...................................................................................... 136
Acceleration feedforward (advanced)............................................................................. 136
The control behavior of the control can be adapted to the application via the
feedforward (in the optimization tree under feedforward main axis)
The following error can be minimized at movement with constant speed via the
feedforward without negative effect on the stability of the control.
Attention:
Feedforward controls may cause an overshoot over the target position!
Speed feedforward (advanced)

 Reduce speed feedforward (2010.13) at lowest speed until the following error is
minimized.
Acceleration feedforward (advanced)

 Reduce acceleration feedforward (2010.24) at lowest speed until the following
error is minimized.
 Check settings at Vmax and reduce if needs be
Optimization of pressure/Force Controller

Activation of pressure / force control .............................................................................. 136
Adapt control parameters .............................................................................................. 137
Force feedforward ......................................................................................................... 137
Activation of pressure / force control

 Set all control parameters to 0
 P-term (%N)
main axis: Object 2250.13
auxiliary axis: Object 2251.13
 I-term (%N)
 Internal and external window of I-term (N)
internal window: Object 2250.15
external window: Object 2250.16
 KFv (speed feedback) (%s/mm)
 Set force demand value and force gradient to expedient small values.
 The actual force should be smaller than the demand force.
136 192-120102N6 C3FT40 2014-10

Adapt control parameters

 Increase P-term in small increments until the actual force is near the demand
force.
 Pressure or force should remain stable and not be subject to instability.
 P-term starts working at 0.0000001%/N.
 Set window for I-term.
 The value for the outer window should be greater than the actual difference
between demand force and actual force (697.1, 697.11).
 Value for the inner window should be set very small in order to equate demand
force and actual force.
 Positive limit of I-term to 100%
Main axis: Object 2250.17, auxiliary axis: Object 2251.17
Negative limit I-term to -100%
Main axis: Object 2250.18, auxiliary axis: Set object 2251.18.
 Increase P-term in small increments until the actual force = demand force.
 Value should be held small in order to avoid strong overshoot.
 I-term starts working at 0.00013%/N.
 I-term is switching (only switches on, if the actual force is within the window
defined before).
 Increase speed feedback FKv slightly if necessary, this will reduce the error
between the demand force and the actual force while the force is built up. The
force is built up faster, peaks can however be the result of increased values.
Force feedforward
For the force control with pumps and pressure valves, the control signal is,
differently from the control with path valves, proportional to the actual pressure
value for dynamic control the integrator is not sufficient in order to generate the
static component of the control variable.
This requires the force feedforward (KFs).
Main axis: Object 2250.23
 KFs (%/N) or(%/bar/PSI), a defined component of the force build-up is built up in
a controlled manner.
192-120102N6 C3FT40 2014-10 137

4.3.4. 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 ....................................................................................... 138
Operating Principle ........................................................................................................ 138
4.3.4.1 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.
4.3.4.2 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.
138 192-120102N6 C3FT40 2014-10

4.3.5. 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.
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).
192-120102N6 C3FT40 2014-10 139

4.3.5.1 Motion objects in Compax3

The motion objects in Compax3 describe the active motion set.
The motion objects can be influenced via different interfaces.
The following table describes the correlations:
Source active motion objects Compax3 device
==> describe
<== read
==>  With the "accept entry" button.
Commissioning
 The current project gets a motion set.
(working with the commissioning Download by activating the motion Active motion
window) <==  On the 1st. Opening the objects:
commissioning window of a new  Position [O1111.1]
project for the first time.  Speed [O1111.2]
 Activated via the "Upload settings  Acceleration
from device" button (bottom at the left [O1111.3]
side).  Deceleration
==>  C3IxxT11: via an activated motion

[O1111.4]
Compax3 ServoManager project  jerk* [O1111.5]
set
 C3I2xT11: via a configuration
(Acceleration)
 Jerk* [O1111.6]
download
(Deceleration)
* for IxxT11 -
<== For Compax3 I2xT11: devices, both jerk
 via a configuration upload values are identical
 in the commissioning window via
"accept configuration"
==>  Changing the motion objects directly

Fieldbus (Compax3 I2xTxx)
<==  Reading the motion objects
==>  via positioning modules

IEC61131-3 program
(Compax3 IxxT30, IxxT40)
140 192-120102N6 C3FT40 2014-10

4.3.6. ProfileViewer for the optimization of the motion profile

Mode 1: Time and maximum values are deduced from Compax3 input values .............. 141
Mode 2: Compax3 input values are deduced from times and maximum values.............. 141
You will find the ProfilViewer in the Compax3 ServoManager under the "Tools"
Menu:
4.3.6.1 Mode 1: Time and maximum values are deduced from

Compax3 input values
 The motion profile is calculated from Position, Speed, Acceleration, Deceleration,
Acceleration Jerk and Deceleration Jerk
 As a result you will get, besides a graphical display, the following characteristic
values of the profile:
 Times for the acceleration, deceleration and constant phase
 Maximum values for acceleration, deceleration and speed
4.3.6.2 Mode 2: Compax3 input values are deduced from

times and maximum values
 A jerk-limited motion profile is calculated from the positioning time and the
maximum speed / acceleration
 As a result you will get, besides a graphical display, the following characteristic
values of the profile:
 the parameters Position, Speed, Acceleration, Deceleration, Acceleration Jerk
and Deceleration Jerk
 Times for the acceleration, deceleration and constant phase
 Maximum values for acceleration, deceleration and speed
Set deceleration and acceleration phase

The profile can be defined more exactly by entering the segmentation into
deceleration and acceleration phase.
When setting 50% and 50%, a symmetrical design will result, the values for
triangular operation are calculated, which is limited by the maximum speed.
The total of the percentage values may not exceed 100.
The percentage entries refer to the total positioning time.
Example:
35% 30%
100%
192-120102N6 C3FT40 2014-10 141

Motion control C3F_T40
5. Motion control
Programming based on IEC61131-3 .............................................................................. 142
Status diagrams............................................................................................................. 152
Control functions............................................................................................................ 155
Reading values .............................................................................................................. 161
Determine valve/range parameters (C3_GetSystemFingerPrint).................................... 164
Positioning functions (standard) ..................................................................................... 168
Superimposed motion .................................................................................................... 188
Adjust force / pressure (C3_PressureForceAbsolute) .................................................... 200
Dynamic switching: Position- on force/pressure - adjustment ......................................... 201
Cam Control .................................................................................................................. 204
Cam switching mechanism ............................................................................................ 282
Error handling ................................................................................................................ 293
Process image............................................................................................................... 296
Interface to C3 powerPLmC........................................................................................... 308
IEC examples ................................................................................................................ 313
Profibus: Emulating the ProfiDrive profile (C3F_ProfiDrive_Statemachine) .................... 319
5.1 Programming based on IEC61131-3

Compax3 ServoManager: IEC61131-3 programming..................................................... 143
Prerequisites ................................................................................................................. 143
CoDeSys / Compax3 target system (Target Package) ................................................... 143
Languages supported .................................................................................................... 144
Function range supported .............................................................................................. 144
Data types supported..................................................................................................... 147
Retain Variables ............................................................................................................ 147
Recipe table with 9 columns and 32 (120) lines ............................................................. 147
Maximum program size ................................................................................................. 147
Cycle time...................................................................................................................... 148
Access to the Compax3 object directory ........................................................................ 148
Compilation, debugging and down/upload of IEC61131 programs ................................. 149
General rules / timing..................................................................................................... 149
Library constants ........................................................................................................... 151
142 192-120102N6 C3FT40 2014-10

Parker EME Programming based on IEC61131-3
5.1.1. Compax3 ServoManager: IEC61131-3 programming

In the function directory of the Compa3 ServoManager, you can find the
“IEC61131-3 programming category with IEC61131-3 functions:
 IEC61131-3 settings
Input of the setpoint cycle time and specification of the error reaction upon cycle
timeout
 IEC61131-3 CoDeSys development environment
Starting CoDeSys
 IEC61131-3 Debugger
Starting the Debugger
 Link IEC61131-3 Project.
Link external IEC project to the active Compax3 project. When editing the IEC
project, the external project is also edited. This makes it possible to use the same
IEC project with several Compax3 projects.
 Import IEC61131-3 Project.
Integrate external IEC project into the active Compax3 project.
 Export IEC61131-3 Project.
Export IEC project from the active Compax3 project.
5.1.2. Prerequisites
 Installation of the CoDeSys programming tool.
 Installation of necessary Target Packages (target systems):
 Bring up the "InstallTarget" program (program group "3S Software": "CoDeSys
V2.3")
 Select the target file; file name from “Open”; file name: "Compax3.tnf".
 The selected target can be installed with "Install".
5.1.3. CoDeSys / Compax3 target system (Target Package)
Targets for Compax3 servo axes

Beginning with Compax3 software version V2.0, two Compax3 targets are included
with delivery (containing module and object descriptions).
 CoDeSys for C3 T30: for Compax3 T30 (as per Compax3 Software version
V2.0)
 CoDeSys for C3 T40: for Compax3 T40 (as per Compax3 Software version
V2.0)
The old target is still available for programs that were created earlier (created with
Compax3 software version < V2.0).
 CoDeSys for Compax3: for Compax3 T30
This programs are thus still capable of running.
When migrating to a new target, you must be certain that the module and object
names have been changed.
Edit the appropriate parts of the IEC program accordingly.
Targets for Compax3F hydraulic axes

 CoDeSys for C3F T30: for Compax3 T30
 CoDeSys for C3F T40: for Compax3 T40
192-120102N6 C3FT40 2014-10 143

5.1.3.1 Program development and test

Program CoDeSys is the development environment for control systems which will help you
development develop Compax3 IEC61131 programs. CoDeSys is called up from the Compax3
ServoManager (under “programming: IEC61131-3 CoDeSys development
environment")
The IEC program can be integrated into the C3 ServoManager project or exported
again from the project as required.
When CoDeSys is brought up, the IEC program stored in the project is opened. If
the project does not contains an IEC program, a selection dialog appears.
Download to After the IEC61131 program has been developed and compiled with CoDeSys, it is
Compax3 downloaded to Compax3 by means of the ServoManager (in “Download: PC ->
Compax3").
Program test For testing your program directly with Compax3, you may use the Compax3
IEC61131-3 debugger (the debug functions of CoDeSys are not supported in
conjunction with Compax3). The debugger is called up from the ServoManager
(under Programming: IEC61131-3 debugger). It automatically accesses the last
IEC61131-3 program in the ServoManager to be loaded into Compax3 with
"Download: IEC61131-3" and makes its modules and variables available in the
project tree.
The data from Compax3 are read via the instruction “log in”. Please note in this
regard that the interface to Compax3 can only be assigned once: Online functions
in the ServoManager such as Upload, Download, Status display in the Optimization
window or oscilloscope functions are not possible simultaneously. These functions
interrupt the connection between debugger and Compax3 automatically.
5.1.3.2 Recipe management

The recipe management function in CoDeSys is not supported in conjunction with
Compax3. Please use the recipe table available in Compax3 (also see in the
configuration wizard).
5.1.4. Languages supported

 IL (Instruction List)
 ST (Structured Text)
 FBD (Function block diagram)
 CFC (continuous function chart editor)
 LD (Ladder diagram)
5.1.5. Function range supported

Operators supported ...................................................................................................... 145
Standard functions supported ........................................................................................ 146
Standard function modules supported............................................................................ 146
144 192-120102N6 C3FT40 2014-10

5.1.5.1 Operators supported

IL FBP / CFC / SFC ST
LD(N)
ST(N)
AND(N) AND AND(N)

OR(N) OR OR(N)
XOR(N) XOR XOR(N)
NOT NOT NOT
ADD ADD +
SUB SUB -
MUL MUL *
DIV DIV /
GT GT >
GE GE >=
EQ EQ =
NE NE <>
LE LE <=
LT LT <
RET RET RETURN
MOVE
:=
CAL(C/N)
JMP(C/N)
CASE
DO
ELSE
ELSIF
END_CASE
END_FOR
END_IF
END_REPEAT
END_WHILE
EXIT
FOR
IF
REPEAT
THEN
TO
UNTIL
WHILE
192-120102N6 C3FT40 2014-10 145

5.1.5.2 Standard functions supported
Bit manipulation functions

SHL, SHR, ROL, ROR
Numeric functions
ABS, SQRT, SIN, COS
Functions for type conversion

Type conversions X=Source data type, Y=Target data type
x_TO_y
TRUNC
Functions for selection

MIN Not for BOOL /WORD / DWORD
MAX Not for BOOL /WORD / DWORD
LIMIT Not for BOOL /WORD / DWORD
SEL Not for BOOL /WORD / DWORD
5.1.5.3 Standard function modules supported
FlipFlops
RS, SR,
Trigger
R_TRIG, F_TRIG,
Numerator
CTU, CTD, CTUD,
Timer
TON, TOF, TP,
maximum 8 pieces, time resolution 0.5ms
(the number of timers required is displayed in the CoDeSys output window during
compilation)
PID Controller function block
146 192-120102N6 C3FT40 2014-10

5.1.6. Data types supported

The following data types are available for IEC61131-3 programming:
Name Division Format
BOOL Status values: TRUE or FALSE Logical variable.
INT -32768...32767 16-bit integer: Fixed point number without places after the decimal
DINT -2147483648...2147483647 32 bit integer: Fixed point number without places after the decimal
REAL 32-bit floating point: 16 bits before the decimal and 16 bits after the
decimal
WORD 0...65535 16-bit bit sequence (no range of values)
DWORD 0...4294967295 32-bit bit sequence (no range of values)
TIME 0...4194.3035s 32 Bit - Format (resolution: 0.5 ms)
ENUM User-defined type of enumeration (local enumerations are not supported)
Altogether 500 16-bit variables are available. These include BOOL, INT, and
WORD.
Altogether 150 32-bit variables are available. These include
DINT,DWORD,TIME,REAL.
The number of the required variables is displayed in the CoDeSys output window
during compilation.
5.1.7. Retain Variables

6 retain variables (variables that are safe from power failure) are available
 3x16-bit retain-variables
 3x32-bit retain-variables
5.1.8. Recipe table with 9 columns and 32 (120) lines

An array, i.e. a table with 9 columns and 32 rows for direct access and additional
88 rows for indirect access, is available to store values.
This table is freely assignable and can be used for example to store position sets
or for recipe management.
In addition, this table can be used to exchange data with an external control system
or a POP, for example.
The layout of the table is as follows:

Column 1 Column 2 Column 3 Column 4 Column 5 Column 6 Column 7 Column 8 Column 9
Type: Type: Type: Type: Type: Type: Type: Type: Type:
REAL REAL INT INT INT DINT DINT DINT DINT
objects objects objects objects objects objects objects objects objects
O1901 O1902 O1903 O1904 O1905 O1906 O1907 O1908 O1909
Row 1 Row 1 Row 1 Row 1 Row 1 Row 1 Row 1 Row 1 Row 1
"C3Array.Col01_R "C3Array.Col02_R "C3Array.Col03_R "C3Array.Col04 "C3Array.Col05 "C3Array.Col06 "C3Array.Col07 "C3Array.Col08 "C3Array.Col09
ow01" ow01" ow01" _Row01" _Row01" _Row01" _Row01" _Row01" _Row01"
(1901.1) (1902.1) (1903.1) (1904.1) (1905.1) (1906.1) (1907.1) (1908.1) (1909.1)
... ... ... ... ... ... ... ... ...
... ... ... ... ... ... ... ... ...
... ... ... ... ... ... ... ... ...
Row 32 Row 32 Row 32 Row 32 Row 32 Row 32 Row 32 Row 32 Row 32
"C3Array.Col01_R "C3Array.Col02_R "C3Array.Col03_R "C3Array.Col04 "C3Array.Col05 "C3Array.Col06 "C3Array.Col07 "C3Array.Col08 "C3Array.Col09
ow32" ow32" ow32" _Row32" _Row32" _Row32" _Row32" _Row32" _Row32"
(1901.32) (1902.32) (1903.32) (1904.32) (1905.32) (1906.32) (1907.32) (1908.32) (1909.32)
In addition to direct access to the first 32 table rows, indirect access to the 120
rows of the complete table is possible via pointer addressing.
To do this, the table pointer "C3ArrayPointer_Row" (Object 1900.1) must be set to
the desired row.
This offers access to Columns 1 through 9 of the referenced rows through
"C3Array_Indirect_Col1" to "C3Array_Indirect_Col9" (objects 1910.1 to 1910.9).
192-120102N6 C3FT40 2014-10 147

5.1.9. Maximum program size

Up to 6000 (IL) instructions are possible
Note! Please note, that integrated function modules do also require program memory.
The required program memory can therefore increase due to a Targets update,
even without any program changes.
The number of instructions generated is displayed in the CoDeSys output window

by the Compax3 compiler during interpretation.
5.1.10. Cycle time

Minimal cycle time: 1ms.
The cycle time can be adjusted with the Compax3 ServoManager when
downloading IEC61131-3 programs.
It is possible to optimize later in the optimization display of the Compax3
ServoManager. The cycle time is displayed there in increments of 500 µs (2 = 1
ms; 3 = 1.5 ms; etc.).
The IEC61131-3 program is stopped cycle time of 0.
5.1.11. Access to the Compax3 object directory

All Compax3 objects are encapsulated in the "C3" program module.
Access to Compax3 objects (see on page 392) in CoDeSys:
Compax3 objects are divided into groups:

C3. Compax3 - Objects
C3Array. Variable (Recipe) List
C3Pop. Objects for the Parker Operator Panel Pop.
C3Cam. Objects for the T40 cam control.
Do only use the objects described in this help; the additional
objects are for internal use only!
C3Plus. Additional objects that are generally not required.
C3Scope. Objects for programming the oscilloscope function.
For internal use only!
The object name reveals the group assignment.
In general, it
applies: Objects that are not described here are reserved objects!
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5.1.12. Compilation, debugging and down/upload of IEC61131

programs
 Compiling IEC61131-3 programs in CoDeSys
 Downloading or uploading of IEC61131-3 programs with the Compax3
ServoManager.
 The debugger is called up from the C3 ServoManager under “Programming:
IEC61131-3 debugger” called up.
Note:
Before compiling you have to enter for which Compax3 versions the compilation is
to be executed.
Please note that when selecting “all versions” not all functions are available, only
the minimal range of functions is supported.
Only if the latest firmware version was selected (and the corresponding firmware is
loaded in the target Compax3) all functions described here are supported.
5.1.13. General rules / timing

General rules
Positioning Within an IEC cycle, only one positioning module may be activated!
If 2 positioning modules are activated within one IEC cycle, it is not defined which
one is executed.
Status of the  The outputs "Done", "InVelocity", "Error", "ErrorID" and "CommandAborted" reset
outputs with the falling edge of the "Execute" input.
 If the "Execute" input goes back to FALSE again before the module action (for
example positioning) has been completed ("pulse to Execute"), the corresponding
outputs (for example “Done”)is set upon termination for precisely ONE cycle.
 The outputs "Done" and "Error" are never simultaneously TRUE.
 If the instance of a function module receives a new "Execute" signal before the
function ends, the module will not show any response (no "Done" and no
"Command Aborted") in reference to the previous action.
Input parameters  Parameters are accepted with the rising edge of the "Execute" signal.
 To be able to accept modified parameters, the module must be triggered again
with an "Execute" signal.
Missing input  If an input parameter is missing, the previous value of this instance will be used in
parameters accordance with IEC61131-3.
 On the 1st. callup, the standard value is used.
Position and  "Position" is a value that is defined for a reference system, i.e. a specific position
distance value is a fixed location in the reference system.
 "Distance" is the difference between 2 positions.
Sign  "Velocity", "Acceleration", "Deceleration" and "Jerk" are always positive variables.
 "Position" and "Distance" may be positive or negative.
Error handling  All function modules have an "Error" output that can be activated by a module
during a module sequence.
 The ErrorID (error number) can be read by an axis error with the
"MC_ReadAxisError" module.
192-120102N6 C3FT40 2014-10 149

Behavior of the The "Done" output is set if the function module has been successfully executed.
"Done" - output If one positioning process is interrupted by a second If one positioning process is
interrupted by a second before it is complete, the first function block no “Done”
Behavior of the "CommandAborted" is set if a positioning process is interrupted by a second

"CommandAborted" positioning process is interrupted by "MC_Stop" or MC_Power.
output The reset behavior of "CommandAborted" is the same as "Done".
If "CommandAborted" occurs, the other outputs will be reset.
Value range of the Please note that the limits are specified in revolutions.
movement To convert to the configured unit, multiply the min/max values by the "travel
parameters distance per motor revolution".
Linear motors With a configured linear motor, all revolution data must be replaced by pitch.
To convert to the configured unit, the min/max values must be multiplied by the
pitch length (see the technical data for the motor).
150 192-120102N6 C3FT40 2014-10

5.1.14. Library constants

The following global constants are declared in the PLCopen function module
library:
Name Type Description
For power supply of the axis inputs/outputs of modules:
Axis_Ref_LocalAxis INT Local axis
for Compax3F: Main axis
Axis_Ref_LocalAxisAux INT Only for Compax3F: Local auxiliary axis
Axis_Ref_Virtual INT virtual Master (only with T40)
AXIS_REF_LocalCam INT Local Cam axis (physically present axis)
For the selection of the master signal source:

AXIS_REF_Physical INT for +/-10V analog input, step / direction input
5V or Encoder A/B input 5V (depending on
the configuration of the physical source under
signal source)
Axis_Ref_Virtual INT virtual Master
Axis_Ref_HEDA INT HEDA
Axis_Ref_Additional INT reserved (additional sources)
Axis_Ref_CAN INT reserved (CAN)
Axis_Ref_FieldBus INT reserved (CAN)
General constants
MC_Direction_Positive INT For supply of the Direction input of the
MC_MoveVelocity module (for positive
rotational direction)
MC_Direction_Negative INT For supply of the Direction input of the
MC_MoveVelocity module (for negative
rotational direction)
MC_Direction_Current INT For supply of the Direction input of the
MC_MoveVelocity module (retaining the last
rotational direction to be selected)
Direction_Memory INT (Variable) The MC_MoveVelocity modules instances
store the last direction parameter in this
variable. This variable can only be used by
Motion Control modules and must not be
overwritten!
OutputSelect_C3Output INT for the C3_OutputSelect module:

Assignment of the source for the respective
output to module "C3_Output".
OutputSelect_FastCam INT for the C3_OutputSelect module:
Assignment of the source for the respective
output to the respective fast cam.
Reset positioning mode
All directions INT C3_all_direction
Positive direction INT MC_positive_direction
Shortest path INT MC_shortest_way
Negative direction INT MC_negative_direction
Actual direction INT MC_current_direction
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5.2 Status diagrams

Status diagram of Compax3F main axis ........................................................................ 152
Status diagram of Compax3F auxiliary axis ................................................................... 153
Status diagram of the virtual master............................................................................... 154
5.2.1. Status diagram of Compax3F main axis

MC_GearIn(Slave)
MC_CamIn(Slave)
MC_Phasing(Slave)
MC_MoveSuperimposed(Slave)
C3_CamIn(Slave)
MC_GearIn(Slave)
MC_CamIn(Slave)
Error Synchronized C3_CamIn(Slave)
Motion
MC_GearIn(Slave) MC_GearIn(Slave)
MC_MoveAbsolute
MC_MoveRelative
MC_MoveAdditive
MC_MoveSuperimposed MC_Stop
MC_MoveSuperimposed
MC_MoveVelocity
MC_MoveAbsolute; MC_MoveRelative; MC_MoveAdditive

Discrete Motion Positioning
MC_MoveVelocity C3_Pressure
ForceStop*
Continuous Motion
MC_Stop Force/Pressure
MC_Stop
Error Stopping C3_Pressure

MC_MoveRelative Error
MC_MoveAdditive ForceAbsolute
MC_MoveAbsolute Done Error
MC_MoveSuper-
imposed MC_Stop.Done
AND NOT
ErrorStop MC_Stop.Execute
MC_Power. C3_Pressure
Enable = ForceAbsolute
MC_Stop
MC_Stop FALSE
Error MC_Move Velocity
Error
MC_Reset
Homing Done
C3_CamOut (Slave)
powered
MC_Home
Standstill
MC_Power.Enable = TRUE
MC_Power.Enable = FALSE disabled
152 192-120102N6 C3FT40 2014-10

Parker EME Status diagrams
* C3_PressureForceStop is valid for axes that are entirely pressure/force

controlled, where no position control is configured.
 T30 Functions: Transitions and states as continuous line, text not in italics
 T40 functions: complete status diagram, all functions
 For better distinction, special T40 functions are displayed in italics and in dashed
line.
 MC_Power.Enable = FALSE changes to "not powered" from any state (apart from
ErrorStop).
5.2.2. Status diagram of Compax3F auxiliary axis
MC_GearIn(Slave)
Error Synchronized MC_GearIn(Slave)

Motion
MC_GearIn(Slave) MC_GearIn(Slave)
MC_MoveAbsolute
MC_MoveRelative
MC_Stop
MC_MoveAdditive
MC_MoveVelocity

Discrete Motion Positioning
MC_MoveVelocity C3_Pressure Continuous Motion
ForceStop*
MC_Stop Force/Pressure
MC_Stop
Error Stopping C3_Pressure

Error
MC_MoveRelative ForceAbsolute
MC_MoveAdditive Done Error
MC_MoveAbsolute
MC_Stop.Done
AND NOT
ErrorStop MC_Stop.Execute
C3_Pressure
MC_Power. ForceAbsolute
Enable = MC_Stop
MC_Stop FALSE
MC_Move Velocity
Error
Error
MC_Reset
Homing Done
only Mode 35
powered
MC_Home
Standstill
MC_Power.Enable = TRUE
MC_Power.Enable = FALSE disabled
192-120102N6 C3FT40 2014-10 153

* C3_PressureForceStop is valid for axes that are entirely pressure/force

controlled, where no position control is configured.
 T30 Functions: Transitions and states as continuous line, text not in italics
 T40 functions: complete status diagram, all functions
 For better distinction, special T40 functions are displayed in italics and in dashed
line.
 MC_Power.Enable = FALSE changes to "not powered" from any state (apart from
ErrorStop).
5.2.3. Status diagram of the virtual master

MC_MoveAbsolute
MC_MoveRelative
MC_MoveAdditive MC_MoveVelocity

Continuous
Discrete Motion
Motion
MC_MoveVelocity
MC_Stop MC_Stop
Stopping
MC_Stop.Done
MC_MoveAbsolute Done
AND NOT
MC_MoveRelative
MC_Stop.Execute
MC_MoveAdditive
MC_Stop
MC_Move
Velocity
MC_Stop
Done
Homing Standstill
MC_Home
Create a program for the virtual axis.

The virtual axis supports the function modules listed in the status diagram.
To do so, the input/output variable "Axis" is assigned to the constant
"AXIS_REF_Virtual".
The position value of the virtual axis can be used as master signal source.
Note: Please note that the virtual axis is only available for function modules listed in the
status diagram.
Please note:
The "virtual master" function is only possible, if no auxiliary axis was
configured.
154 192-120102N6 C3FT40 2014-10

Parker EME Control functions
5.3 Control functions

Activation of the drive (MC_Power) ................................................................................ 155
Stop (MC_Stop) ............................................................................................................. 157
C3_SetControlMode ...................................................................................................... 160
5.3.1. Activation of the drive (MC_Power)

FB name MC_Power
Transition into the "Standstill: disable" state or "Standstill: powered"
VAR_IN_OUT
Axis INT Achs-ID (Bibliothekskonstanten)
VAR_INPUT
Enable BOOL Activates the module;
A rising edge on the input activates the drive, a falling edge
deactivates the drive with the ramp defined for errors (see
on page 69).
Please observe:
The configured error ramp is limited. The error ramp
will not be smaller than the deceleration set in the last
motion set.
VAR_OUTPUT
Status BOOL State of the power output stage (TRUE=drive activated,
FALSE=drive deactivated)
Error BOOL Error when activating or deactivating the drive
192-120102N6 C3FT40 2014-10 155

Notes:
 If the input parameter “Enable” is set to “TRUE”, all enables of the drive are set.
The command is only accepted if the axis is not yet or still active (Output “State” =
FALSE). Furthermore, the device may not be in error state.
 All enables will be reset if the input parameter "Enable" = FALSE, the axis
decelerates with the configured error ramp to speed = 0 - the “state” output
remains on “TRUE” during downramping.
 Compax3 Servo: During automatic commutation, the output “State" is not set to
TRUE for activation, but rather not until after automatic commutation has been
successfully completed.
 Compax3 Servo: With Asynchronous motors, the output “State" is not set to
TRUE for activation, but rather not until after the magnetization current has been
successfully built up.
 An enable is denied until the intermediate circuit is loaded, this may take up to 2s
when switching on Compax3H for the first time.
 In the Compax3M, an enable is denied if the mains module is in the initialization
phase (e.g. the intermediate circuit is not yet completely loaded) or the
communication between axis and axis combination is not active.
 If the drive is in error state (error reaction 1: controller active) and the enable of
the MC_Power is deactivated, the drive is deactivated (error reaction 2).
 C3 powerPLmC Note: This module is also available as group function block. You
can then trigger this function for the entire Compax3 group.
 The “Error” output is generated, if activation is not possible. Possible cause:
Device in error state, activation of a different IEC module after execution of the
MC_Power.
 The “Error” output is generated, if deactivation is not possible. Possible cause:
Activation of a different IEC module after execution of MC_Power.
 Compax3 Servo: On motors with brake, the configured braking delay for opening
the brake leads to a temporal delay of the “state” output with reference to control
of the “enable” input.
Note on sequencer programming (see on page 157)

 Input False on the enable input interrupts a stop sequence triggered by a rising
edge on the Execute input of the MC_Stop.
 The axis is also in “Standstill” state after PowerOff (however deactivated), but the
Done output of MC_Stop is not set.
 In sequencers, a sole query of the MC_Stop.Done output is not sufficient for
standstill acquisition, in addition, the MC-ReadStatus.Standstill or
MC_Power.Status signals must be linked. See also description of module
MC_Stop.
MC_Power
Enable : BOOL Status : BOOL

Axis : (VAR_IN_OUT) Error : BOOL
156 192-120102N6 C3FT40 2014-10

5.3.2. Stop (MC_Stop)

FB name MC_Stop
Stops the current movement
Please note: Only one instance of MC_Stop is permitted per axis!
VAR_IN_OUT
VAR_INPUT
Execute BOOL Stops the movement
Deceleration DINT Value of deceleration (always positive) [Units/s²]
Range of values: 0.24 rev/s² ... 1000000 rev/s²
Please observe:
The configured STOP ramp is limited. The STOP
ramp will not be smaller than the deceleration set in
the last motion set.
Jerk DINT Value of the deceleration jerk [Units/s³] (always positive)

value range: 30 rev/s³ ... 125000000 rev/s³
Please note:
The STOP deceleration is limited. It is limited to the
deceleration of the latest motion set.
VAR_OUTPUT
Done BOOL Movement stopped
Error BOOL Error while stopping positioning
Note:
 As long as the "Execute" input is set, the axis remains in the "Stopping" status (as
long as the axis is activated) and is unable to execute any additional movement
commands!
 If the axis is deactivated by setting the Enable signal of the "MC_Power" module
to FALSE, the Stopping state will then be exited.
 If the enable signal of the "MC_Power" module is set to TRUE again, the axis
goes back to the "Stopping" state again if the Execute input of the "MC_Stop"
module is still TRUE.
 Compax3 T40 note: Curve operation upon STOP: The master position and the
curve are not influenced by a STOP of the axis.
The acquisition and cam generation continue; this means that the curve output is
available in the event of an average.
If the curve is to restarted after the STOP without consideration of the previous
history, the “C3_CamReset (see on page 237)“ module must be executed after
stop.
Note on sequencer programming

 In sequencers, a sole query of the done output is not sufficient for standstill
acquisition, as it can be reported with a considerable delay. In addition, the
MC-ReadStatus.Standstill or MC_Power.Status signals must be linked.
Example 1: PowerOff during a stop sequence:
 Input False on the enable input of MC_Power interrupts a stop sequence
triggered by a rising edge on the Execute input.
 The Stop module goes on in the background “without function” in the “Standstill
(not powered)” states and is only continued by reactivating the axis with the
MC_Power module when the “Standstill (powered)” state is reached.
 The Done output message is delayed until the “Standstill (powered) state is
reached.
Example 2: Device error during a stop sequence:
192-120102N6 C3FT40 2014-10 157

 A device error interrupts a stop sequence triggered by a rising edge on the

Execute input.
 The axis is temporarily in “Errorstop” state and will only pass into “Standstill” state
after acknowledging the error with MC_Reset (upon error reaction 2 not powered
at first).
 The Stop module goes on in the background “without function” in the “Errorstop”
and “Standstill (not powered)” states and is only continued by acknowledging the
error (error reaction 1) (upon error reaction 2 followed by reactivation of the axis
with MC_Power) when the “Standstill (powered)” state is reached.
 The Done output message is delayed until the “Standstill (powered) state is
reached.
MC_Stop
Execute : BOOL Done : BOOL

Deceleration : DINT Error : BOOL
Jerk : DINT
Axis : (VAR_IN_OUT)

MC_Stop at pressure/force control ................................................................................ 158
MC_Stop: Example 1 ..................................................................................................... 158
MC_Stop: Example 2 ..................................................................................................... 159
5.3.2.1 MC_Stop at pressure/force control

If a position control is configured, the MC_Stop.Execute = TRUE switches to
position control (pQ). The axis is stopped (with a ramp defined via Deceleration
and Jerk).
If no position control is defined, MC_Stop does not have any function. Set the axis
into a Stop state by specifying a defined force (or pressure difference) in a Stop
state.
5.3.2.2 MC_Stop: Example 1

The following illustration shows an example of how the MC_Stop module interrupts
and stops a movement that is in progress.
If a positioning module is interrupted by the MC_Stop module, it reports "Command
Aborted" and can no longer be executed as long as the MC_Stop module is active.
If the MC_Stop module is inactive (no "Execute" signal), the function module can
be executed again.
Timing Diagram: MC_Stop.
Execute
Done
Velocity
Stopping
Standstill
158 192-120102N6 C3FT40 2014-10

Note: If a positioning is to follow immediately after the stop, this can take place with the
falling edge of the done output at the earliest:
MC_Stop MC_MoveRelative
stopAxis Execute Done Execute Done

Command
400 Deceleration Error 6000. 0 Distance
Aborted
4000 Jerk 500. 0 Velocity Error
AXIS_REF_ Axis 100 Acceleration

LocalAxis
100 Deceleration
1000 Jerk
1000 JerkDecel
AXIS_REF_LocalAxis Axis
5.3.2.3 MC_Stop: Example 2
MC_MoveRelative MC_Stop
go Execute Done stopAxis Execute Done

Command
6000. 0 Distance 400 Deceleration Error
Aborted
500. 0 Velocity Error 4000 Jerk
100 Acceleration AXIS_REF_ Axis

LocalAxis
100 Deceleration
1000 Jerk
1000 JerkDecel
AXIS_REF_LocalAxis Axis
MC_Stop.
1
Execute (Stop Axis)
0
1 t
Done (Stopp)
0
t
MC_MoveRelative.
1
Execute (go)
0
Command- 1 t
Aborted 0
Bewegungsablauf t
Moving diagram
Velocity
192-120102N6 C3FT40 2014-10 159

5.3.3. C3_SetControlMode
FB name C3_SetControlMode
Switching between open loop and closed loop.
VAR_IN_OUT
Axis INT Axis ID (Library constants)
AXIS_REF_LocalAxis: Main axis
AXIS_REF_LocalAxisAux: Auxiliary axis
VAR_INPUT
Execute BOOL Starts the sequences of the module with positive edge
ClosedLoop BOOL TRUE: Sets closed loop operation for the selected axis
FALSE: Sets open loop operation for the selected axis
VAR_OUTPUT
ClosedLoop_IsActive BOOL TRUE, when closed loop operation has been set
Error BOOL Error while executing module. The axis may not be in
the "operational" or a higher state for the change!
Note:
 A change can only be executed if the axis is in pre-operational state (Standstill:
not powered).
 In open loop mode, the axis may drift!
 For safe operation in the closed loop mode, the controller must be aligned!
C3_SetControlMode
Execute : BOOL Error : BOOL

ClosedLoop : BOOL ClosedLoop_IsActive : BOOL
Axis : INT
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Parker EME Reading values
5.4 Reading values

Reading the current position (MC_ReadActualPosition)................................................. 161
Read access to the (C3_ReadArray) array .................................................................... 162
Reading the device status (MC_ReadStatus) ................................................................ 163
5.4.1. Reading the current position (MC_ReadActualPosition)

FB name MC_ReadActualPosition
Reading the current axis position
VAR_IN_OUT
VAR_INPUT
Enable BOOL Activates the module, continuous reading of the axis
position as long as Enable=TRUE
VAR_OUTPUT
Done BOOL Position value available
Error BOOL Error while reading the position
Position REAL Axis position
Note: -
MC_ReadActualPosition
Enable : BOOL Done : BOOL

Position : REAL
You can read the current position of the axis with this module.
As long as the input parameter "Enable" = TRUE, the current parameter value will
be supplied cyclically (see on page 309) to the output parameter "Position".
The status of the input parameter must be present for at least one module call.
The following illustration shows the behavior of parameters in the
MC_ReadActualPosition function module.
go Enable Done
AXIS_REF_LocalAxis Axis Error
Position
1
Enable
0
1 t
Done
0
1
Position
0
192-120102N6 C3FT40 2014-10 161

5.4.2. Read access to the (C3_ReadArray) array

FB name C3_ReadArray
This module is used for simplified read access to the array (recipe table).
VAR_INPUT
Enable BOOL The desired rows can be read with the Enable input (after
selecting "Row").
Row INT Desired table row (1 ...120).
This input works with object 1900.1, please respect this, if
you access object 1900.1 directly in addition.
VAR_OUTPUT
Error BOOL The output Error signalizes that there was an error during
reading out the array
(non existing row selected on the Row Input).
Col1 – Col9 REAL The individual columns of the array can be accessed
INT through outputs Col1 through Col9.
DINT
Notes: - Rows will be read cyclically as long as Enable = TRUE.
C3_ReadArray
Enable : BOOL Error : BOOL

Row : INT Col1 : REAL
Col2 : REAL
Col3 : INT
Col4 : INT
Col5 : INT
Col6 : DINT
Col7 : DINT
Col8 : DINT
Col9 : DINT
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Parker EME Reading values
5.4.3. Reading the device status (MC_ReadStatus)

FB name MC_ReadStatus
Specifies the current status according to the PLCopen status machine
VAR_IN_OUT
VAR_INPUT
Enable BOOL Activates the module; continuous outputs of output
parameters as long as Enable=TRUE
VAR_OUTPUT
Done BOOL Status values available
Error BOOL Error while executing module
Errorstop BOOL Error stop function. The motor brakes as specified by the
stop ramp and is de-energized;
Stopping BOOL The motor is stopped;
Standstill BOOL The motor is stopped;
DiscreteMotion BOOL Individual movement;
ContinuousMotion BOOL Continuous positioning;
Homing BOOL Machine reference is approached;
SynchronizedMoti BOOL Synchronous motion
on
Note: See also in the status diagram.
192-120102N6 C3FT40 2014-10 163

5.5 Determine valve/range parameters

(C3_GetSystemFingerPrint)
Important notes.............................................................................................................. 166
Procedure when working with the C3_getSystemFingerPrint ......................................... 166
The characteristic line known as "SystemFingerPrint" contains besides the
behavior of the valve (valve characteristic line) all static non-linearities of the
hydraulic system.
The "SystemFingerPrint" is valid in the working point, where it has been
determined. If the parameters such as system pressure, load, friction or oil
temperature change significantly, this may affect the usability of the
"SystemFingerPrint".
FB name C3_GetSystemFingerPrint
This module is used for measuring and memorizing the "SystemFingerPrint" (Signal/Flow characteristic)
VAR_IN_OUT
VAR_INPUT
Stop Stops the measurement sequence with a positive edge
Number_of_Measurin INT Number of measuring points (max. 300).
g_Points Defines the setpoint accuracy.
min_Position REAL Position window, where the measurement takes place
max_Position REAL
max_Velocity REAL Highest speed to be measured
Acceleration DINT Maximum acceleration during the measurement
Jerk DINT Maximum jerk during the measurement
VAR_OUTPUT
Done BOOL Measurement terminated successfully
Error BOOL A fault has occurred. Measurement was terminated (by error or by stop).
ErrorID Word Indicates, which error caused the abort:
0 = no Error
1 = measurement was terminated with stop (measurement is immediately
terminated)
2 = Compax3F is in error state (measurement is immediately terminated)
3 = The given adjusting range could not be entirely identified. (Measurement is
continued in the opposite direction and the result is memorized in the Flash).
Possible causes:
 In the set travel range, the end speed (maxVelocity) could not be reached: =>
reduce max_Velocity
 The demanded accuracy could not be achieved: Reduce
(max_Error=max_Velocity / Number_of_Measuring_Points) =>
Number_of_Measuring_Points
4 = error when memorizing the characteristic line in the flash memory, no CurveID
free
5 = The axis was energized at the start of the identification
6 = Input parameters of the measurement are outside the permissible range
(Number_of_Measuring_Points or max_Velocity
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Parker EME Determine valve/range parameters (C3_GetSystemFingerPrint)
Status INT Indicates how advanced the measurement is yet.

0 = waits for the start of the measurement with "Execute"
1 = Initialization of the measurement
2 = determination of the offset
(at which valve position does the axis no longer move
3 = Execution of the measurement
4 = Recovering of different settings
5 = Interpolation of the measurement values
6 = Memorizing the characteristic line in the flash
7 = Setting the Conditioning Chain Parameter to a new characteristic line
8 = Measurement terminated successfully, waiting for "Execute”
CurveID INT States, under which ID the characteristic line was memorized.
The ID of the characteristic line is in object 24x3.2*
If you wish to switch back to characteristic lines set before, you should read the ID
of the characteristic line before activating the module.
Switching back of a characteristic line:
 Select characteristic line (for all connected Conditioning Chains) 24x3.2*
= number of the characteristic line
 Select characteristic line (for all connected Conditioning Chains)
24x3.1=1*
Note:
 After successful measurement of the characteristic line, it is memorized in the same way and at the same
place as up to now the valve characteristic lines. As the memory utilized provides space for up to 8
characteristic lines, existing characteristic lines must not be deleted.
 In order to activate the characteristic line for the control, the characteristic lines are activated by this
module with 24x3.1=1* at the conditioning chains which are connected to the measured axis.
* (x stands for the respective Conditioning Chain: x=0 for Chain 0, x=1 for Chain
1,...)
C3_GetSystemFingerPrint

Stop : BOOL Error : BOOL
Number_of_Measuring_Points : INT ErrorID : WORD
min_Position : REAL Status : INT
max_Position : REAL CurveID : IND
max_Velocity : REAL
Acceleration : DINT
Jerk : DINT
Axis : INT
192-120102N6 C3FT40 2014-10 165

5.5.1. Important notes

Requirements:
 Stable control (even though slow)
 Following error window set relatively wide => unless abortion due to following
error is possible.
 The controller may not be active when the identification is started (State
"Standstill disable").
 The measurement is in part executed in open loop operation. This means that the
function is, for example with z-axes, only possible to a limited extent (the load
might for instance drop due to leakages)
 The entire hydraulic system should be well attenuated.
Unless the measurement could be strongly influenced by resonance frequencies
present.
 There must be enough travel space in order to perform the identification.
 Enough memory space in the characteristics memory
Altogether eight characteristic lines can be stored in the memory of the controller,
if these all are taken up by the identification, the identification will be terminated
with a corresponding error.
Check before the start of the identification, if there is enough memory space
available.
If there is no space available, the entire characteristics memory can be deleted by
writing a value <>0 into object 2439.3 C3 "Plus.CurveMemory_Erase. Attention!
all characteristics present are deleted.
 The loop gain of the speed control should be set at least approximately. If the
loop gain is much too small, the preset speed range might not be entirely
measured. If the loop gain is too high, the resolution of the measurement will be
too low.
Please respect the following for the measurement:

 The axis to be measured may not be used for an action in the IEC.
(for example MC_Power, MC_Stop, MC_MoveRelative,...)
 The software oscilloscope cannot be used during the measurement.
State after the end of the measurement:

 Axis is not active (State "Standstill disable").
 After MC_Power, the axis is in closed loop operation.
5.5.2. Procedure when working with the

C3_getSystemFingerPrint
Example of a valve characteristic line (volume current via control signal):
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Parker EME Determine valve/range parameters (C3_GetSystemFingerPrint)
Procedure:
 Specification of the travel range available for the measurement with min_Position
and max_Position.
 Setting max_Velocity (is valid symmetrically for positive and negative values).
With max_Velocity, you make 2 settings at once: the max. velocity during the
measurement and the measurement range.
Connection between velocity (max_Velocity) and the relative volume current:
(Value_nominal_volume_current: Valve-nominal-volume-current;
Cylinder_surfaceA: Cylinder_surface-A
max_Velocity should be set at least so high that the measurement exceeds the
non-linear range shown above, as the characteristic line is continued at the same
slope outside the measured velocity range.
 the Number_of_Measuring_Points should be set high enough so that the
non-linearity to be emulated can be exactly detected (typically N=100).
 Start of the measurement by positive edge at the Execute input.
 The state of the measurement can be monitored via the Status, Done, Error and
ErrorID outputs.
 A positive edge at the Done output shows the successful termination of the
identification:
 Measurement terminated successfully
 The characteristic line was inverted and written into the FLASH memory.
 In the conditioning chain responsible for the measured system, the curve ID
was already set to the new characteristic line and the characteristic line
compensation was activated.
192-120102N6 C3FT40 2014-10 167

5.6 Positioning functions (standard)

Value range for positioning parameters ......................................................................... 168
Absolute positioning (MC_MoveAbsolute)...................................................................... 169
Relative positioning (MC_MoveRelative) ....................................................................... 174
Additive positioning (MC_MoveAdditive) ........................................................................ 177
Endless positioning (MC_MoveVelocity) ........................................................................ 179
Manual operation (C3_Jog) ........................................................................................... 181
Machine zero (MC_Home) ............................................................................................. 183
Electronic gearbox (MC_GearIn) ................................................................................... 185
5.6.1. Value range for positioning parameters
The unit "increments" is valid only for position values!

Speed, acceleration and jerk are specified in this case in revolutions/s,
revolutions/s2 and revolutions/s3 (resp. pitch/s, pitch/s2, pitch/s3 for linear motors).
With virtual Master other limit values apply

Speed [Rev/s], [pitch/s] 0.00001157 ... 16 000
Acceleration / deceleration Rev/s2], [pitch/s2] 1.91 ... 8 000 000
Acceleration / deceleration jerk: Rev/s3], [pitch/s3] 239 ... 1 000 000 000
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Parker EME Positioning functions (standard)
5.6.2. Absolute positioning (MC_MoveAbsolute)

FB name MC_MoveAbsolute
Absolute positioning to a specified position.
VAR_IN_OUT
VAR_INPUT
Position REAL Absolute target position of the movement to be executed
(configured unit [units] ) (positive and negative direction)
1
-Value range-
Velocity REAL Value of maximum speed (always positive) (not necessarily
2
reached) -value range -
3
[Units/s ]
4
Acceleration DINT Value of acceleration (always positive) [Units/s² ] -value
5
range-
6
Deceleration DINT Value of deceleration (always positive) [Units/s² ] -value
7
range-
8
Jerk DINT Value of the acceleration jerk (see on page 173) [Units/s³ ]
9
(always positive) -value range-
10
JerkDecel DINT Value of the deceleration jerk [Units/s³ ] (always positive)
11
-value range-
VAR_OUTPUT
Done BOOL Specified setpoint position on the setpoint generator output

is reached
CommandAborted BOOL Positioning aborted

Notes:
 Continuous operation can be selected via object 1111.8
"C3Plus.Position_restposition_mode" <> 0; setpoint value and actual value are
then set to 0 before each positioning.
 You can optimize the motion profile data with the "ProfilViewer" (see on page
141) software tool!
Notes on T40 (Cam):

 If a SuperImposed movement is started during an absolute movement, the
absolute position is not accessed, but the absolute position plus the position
entered in the SuperImposed.
 The same applies if a SuperImposed movement is already being executed and
an absolute movement is started, then the absolute position is not accessed but
1
Target position: [Rev], [Pitch]-4 000 000...4 000 000
2
Speed for positioning: [Rev/s], [pitch/s]0.00001157 ...2000
3
The unit "increments" is valid only for position values!Speed, acceleration and jerk are specified in this case in revolutions/s,
4
5
Acceleration for positioning: Rev/s2], [pitch/s2]0.24...1 000 000
6
7
Deceleration for positioning: Rev/s2], [pitch/s2]0.24...1 000 000
8
9
Acceleration jerk for positioning:Rev/s3], [pitch/s3]30...125 000 000
10
11
Deceleration jerk for positioning:Rev/s3], [pitch/s3]30...125 000 000
192-120102N6 C3FT40 2014-10 169

the sum of both values.

 After the SuperImposed movement has been finished, the absolute position is
accessed with the next absolute movement.
MC_MoveAbsolute

Position : REAL CommandAborted : BOOL
Velocity : REAL Error : BOOL
Acceleration : DINT
Deceleration : DINT
Jerk : DINT
JerkDecel : DINT
Axis : (VAR_IN_OUT)
The following illustration shows two examples for the combination of two
MC_MoveAbsolute modules.
 The left part (a) of the time diagram shows a case in which the second Function
block after the first function block is executed.
If the 1st. function block has reached position 60, the “Done” output will issue the
execution command to the second function module, which then moves to Position
100.
 The right part (b) of the diagram shows a case in which the second function block
is executed during execution of the 1st. function block. The 1st The first function
module is automatically interrupted.
The 2nd. function module moves directly to position 100 whether or not position
60 of the first Function block was already reached.
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1. Instanz 2. Instanz
First motion Second motion
MC_MoveAbsolute MC_MoveAbsolute
go Execute Done Execute Done

OR
Command Command
60. 0 Position 100. 0 Position
Aborted Aborted
300. 0 Velocity Error 200. 0 Velocity Error
100 Acceleration 100 Acceleration
100 Deceleration 100 Deceleration
1000 Jerk 1000 Jerk
1000 JerkDecel 1000 JerkDecel
AXIS_REF_LocalAxis Axis AXIS_REF_ Axis

LocalAxis
Test
1. Instanz
First motion
a b
1
Execute (go)
0
1 t
Done
0
Command- 1 t
Aborted 0
2. Instanz t
Second motion
1
Execute (Test)
0
1 t
Done
0
Bewegungsablauf t
Moving diagram
300
Velocity 200
0
100
t
absolute Position 60
absolute position
192-120102N6 C3FT40 2014-10 171

5.6.2.1 Position mode in reset operation

Setting the positioning mode in reset mode ................................................................... 172
In reset operation (activated by the configured reset distance), additional
positioning functions are possible for absolute positionings (can be set under
configuration in the “Positioning options / positioning profiles” window only in bus
mode “Positioning” or “Profile selection”):
All directions Standard positioning mode
Positive direction Positioning only in positive direction
Shortest path Positioning on the shortest path
Negative direction Positioning only in negative direction
Actual direction Positioning by keeping the actual direction of travel
Dynamic positioning
In dynamic positioning, a decision concerning the positioning travel is not taken on
the basis of the actual position, but on the basis of the braking position resulting
from the motion parameters.
Please observe:  In the event of positioning specifications below zero and higher than or
equal to the reset distance, this function is deactivated.
The positioning target must for instance be in the range between 0..359.999999°
for a reset distance of 360°.
 The positioning functions are neither effective in test movements nor in an
automatic positioning after homing travel (if this was not deactivated in the
configuration).
 In the event of “shortest path”, the motion is not defined for a positioning by a
travel of half the reset distance.
Setting the positioning mode in reset mode

The positioning modes in reset operation are configured via object 1111.13
(C3Plus.POSITION_direction):
Mode Value IEC constant
All directions 0 C3_all_direction
Positive direction 1 MC_positive_direction
Shortest path 2 MC_shortest_way
Negative direction 3 MC_negative_direction
Actual direction 4 MC_current_direction
Setting the desired value must take place in the IEC initialization routine, as a
configuration download by the C3 ServoManager would reset the value to 0 (due to
downwards compatibility).
Example:
C3Plus.POSITION_direction:=MC_Direction_Positive;
In the help file you can find examples for the functioning of the individual
positioning modes.
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5.6.2.2 Description of jerk

Jerk
The jerk (marked with “4” in the drawing below) describes the change in
acceleration (derivation of the acceleration)
The maximum change in acceleration is limited via the jerk limitation.
A motion process generally starts from a standstill, accelerates constantly at the
specified acceleration to then move at the selected speed to the target position.
The drive is brought to a stop before the target position with the delay that has
been set in such a manner as to come to a complete stop at the target position. To
reach the set acceleration and deceleration, the drive must change the acceleration
(from 0 to the set value or from the set value to 0).
This change in speed is limited by the maximum jerk.
Without jerk According to VDI2143 the jerk is defined (other than here) as the jump in
according to acceleration (infinite value of the jerk function).
VDI2143 This means that positionings with Compax3 are without jerk according to VDI2143,
as the value of the jerk function is limited.
Motion sequence
t
2
t
3
1: Position
2: Speed
3: Acceleration
4: Jerk
High changes in acceleration (high jerks) often have negative effects on the
mechanical systems involved. There is a danger that mechanical resonance points
will be excited or that impacts will be caused by existing mechanical slack points.
You can reduce these problems to a minimum by specifying the maximum jerk.
192-120102N6 C3FT40 2014-10 173

5.6.3. Relative positioning (MC_MoveRelative)

FB name MC_MoveRelative
Relative positioning by a specified distance.
VAR_IN_OUT
VAR_INPUT
Distance REAL Relative distance of the movement to be executed
12
(configured unit [units]) -value range-
Velocity REAL Value of the maximum speed (always positive)
13 14
(not necessarily reached) [units/s ] -value range-
15
Acceleration DINT Value of acceleration (always positive)[Units/s² ] -value
16
range-
17
18
range-
Jerk DINT Value of the acceleration jerk (see on page 173)
19 20
[Units/s³ ] (always positive) -value range-
21
22
-value range-
VAR_OUTPUT
Done BOOL Specified setpoint distance on the setpoint generator output
is reached
Note:
 In the case of dynamic positioning (module is called during a positioning process)
the specified position is added to the current actual position.
 Continuous operation can be selected via object 1111.8
"C3Plus.Position_restposition_mode" <> 0; setpoint value and actual value are
then set to 0 before each positioning.
 You can optimize the motion profile data with the "ProfilViewer" (see on page
141) software tool!
12
13
14
15
16
17
18
19
20
21
22
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MC_MoveRelative

Distance : REAL CommandAborted : BOOL
Acceleration : DINT
Deceleration : DINT
Jerk : DINT
JerkDecel : DINT
Axis : (VAR_IN_OUT)
192-120102N6 C3FT40 2014-10 175

The following illustration shows two examples of the combination of two

MC_MoveRelative modules.
 The left part (a) of the time diagram shows a case in which the second function
module is executed after the first function module.
If the first function module has reached 60 units, the "Done" output gives the
execution command to the second function module, which then moves an
addition 40 units.
 The right part (b) of the diagram shows a case in which the second function
module is activated while the first function module is being executed. Because
the second module is started during the execution of the first function module, the
first function module is automatically interrupted.
The second function module immediately moves an additional 40 units whether or
not the 60 units of the first function were already reached.
MC_MoveRelative MC_MoveRelative
go Execute Done Execute Done

OR
Command Command
60. 0 Distance 40. 0 Distance
Aborted Aborted
300. 0 Velocity Error 200. 0 Velocity Error
100 Acceleration 100 Acceleration
100 Deceleration 100 Deceleration
1000 Jerk 1000 Jerk
1000 JerkDecel 1000 JerkDecel

LocalAxis
Test
1. Instanz
First motion
a b
1
Execute (go)
0
1 t
Done
0
Command- 1 t
Aborted 0
2. Instanz t
Second motion
1
Execute (Test)
0
1 t
Done
0
Bewegungsablauf t
Moving diagram
300
Velocity 200
0
100
t
relative Position
relative position
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5.6.4. Additive positioning (MC_MoveAdditive)

FB name MC_MoveAdditive
Adds a relative distance to the target position of a positioning process in progress.
VAR_IN_OUT
VAR_INPUT
23
Distance REAL Relative distance -value range-
Velocity REAL Value of the maximum speed (always positive) (not
24 25
necessarily reached) [units/s ] -value range-
26
Acceleration DINT Value of acceleration (always positive)[Units/s² ] -value
27
range-
28
29
range-
30 31
[Units/s³ ] (always positive) -value range-
32
33
-value range-
VAR_OUTPUT
Done BOOL Specified distance has been reached
Error BOOL Error during positioning
Note:
In the case of dynamic positioning (module is called during a positioning process)
the specified position is added to the current target position.
MC_MoveAdditive

Distance : REAL CommandAborted : BOOL
Acceleration : DINT
Deceleration : DINT
Jerk : DINT
JerkDecel : DINT
Axis : (VAR_IN_OUT)
23
24
25
26
27
28
29
30
31
32
33
192-120102N6 C3FT40 2014-10 177

The following illustration shows two examples of the combination of a

MC_MoveAbsolute and an MC_MoveAddititve module.
module is executed after the first function module.
After the first function module has traveled to Position 60, the "Done" output gives
the execution command to the second FB, which then moves on another 40 units.
 The right part (b) of the diagram shows a case in which the second function
module is activated while the first FB is being executed. Because the second
module is started during the execution of the first FB, the first FB is automatically
interrupted.
The second function module adds the missing units that are still lacking for the
first module and the moves an additional 40 units with the new predefined
settings.
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5.6.5. Endless positioning (MC_MoveVelocity)

FB name MC_MoveVelocity
Endless controlled positioning with adjustable speed
VAR_IN_OUT
VAR_INPUT
34
Velocity REAL Value of the maximum speed (always positive) [Units/s ]
Range of values: 0 rev/s ... 2000 rev/s
Acceleration DINT Value of the acceleration and deceleration (always positive)
35
[Units/s² ]
Range of values: 0.24 rev/s² ... 1000000 rev/s²
Direction INT Selection: positive direction, negative direction, current
direction; library constants (see on page 151)
VAR_OUTPUT
InVelocity BOOL Specified target speed on the setpoint output is reached
CommandAborted BOOL Execution interrupted
Error BOOL Error during positioning
Note:
 To be able to stop the drive, the function module must be interrupted by another
positioning function module or positioning must be stopped by calling the
MC_Stop function module.
 A positioning to the end limit follows.
MC_MoveVelocity
Execute : BOOL InVelocity : BOOL

Velocity : REAL CommandAborted : BOOL
Acceleration : DINT Error : BOOL
Direction : INT
Axis : (VAR_IN_OUT)
34
35
192-120102N6 C3FT40 2014-10 179

Example
The following illustration shows two examples of the combination of two
MC_MoveVelocity modules.
module (block) is executed after the first function module.
After the first function module has accelerated to a speed of 3000, the
"InVelocity" output, AND-linked with the "Next" signal issues the execution
command to the second FB, which then slows to a speed of 2000.
 The right part (b) of the diagram shows a case in which the second FB is
activated while the first function module is being executed. Because the second
module (block) is started during the execution of the first FB, the first FB is
automatically interrupted.
During the acceleration of the first module (block), the second module slows
again similarly to a speed of 2000 without the speed of the first module having
been reached.
MC_MoveVelocity MC_MoveVelocity
Test
OR
go Run InVelocity Run InVelocity Finish

Command Command
3000 Velocity
Aborted
& 2000 Velocity
Aborted
100 Acceleration Error 100 Acceleration Error
"MC_Direction_
"MC_Direction_Positive" Direction Positive" Direction

LocalAxis
Next
1. Instanz
First motion
a b
1
Execute (go)
0
1 t
Velocity
0
1 t
Command Aborted
0
1 t
Next
0
2. Instanz t
Second motion
1
Test
0
1 t
Finish = InVelocity
0
Bewegung
3000 t
Motion
2000
Velocity
180 192-120102N6 C3FT40 2014-10

5.6.6. Manual operation (C3_Jog)

FB name C3_Jog
Traveling along the axis in manual mode (in the "standstill" state)
VAR_IN_OUT
VAR_INPUT
JogForward BOOL JogForward = TRUE makes the axis move in positive
direction.
JogBackward BOOL JogBackward = TRUE makes the axis move in negative
36
direction.-value range-
37 38
Velocity REAL Speed value [Units/s ]-value range-
39 40
Acceleration DINT Value of the acceleration [Units/s² ]-value range-
41 42
Deceleration DINT Value of deceleration with stop [Units/s² ]-value range-
Jerk DINT Value of the acceleration and deceleration jerk (see on
43 44
page 173) [Units/s³ ] -value range-
VAR_OUTPUT
Busy BOOL Module is active (manual operation in progress)
Error BOOL Error during manual operation or faulty parameter when
starting manual operation
Note:
 The axis must be in the "standstill" state in order to start manual operation
(Jogging Mode).
 Start: When starting manual operation, the output Busy is set to TRUE.
 Stop: The axis is brought to a standstill if the respective input (JogForward or
JogBackward) is set to FALSE again
 As soon as manual operation is stopped, the output Busy is set to FALSE.
Further commands can only be executed after this feedback.
C3_Jog
JogForward : BOOL Busy : BOOL

JogBackward : BOOL Error : BOOL
Velocity : REAL Axis : INT (VAR_IN_OUT)
Acceleration : DINT
Deceleration : DINT
Jerk : DINT
Axis : INT (VAR_IN_OUT)
36
37
38
39
40
41
42
43
44
192-120102N6 C3FT40 2014-10 181

Example: Manual movement via digital inputs.
1
0 C3_Jog
C3_INPUT
I0: JogForward Busy

I1: JogBackward Error
I2: 20 Velocity Axis
I3: 100 Acceleration
I4: 100 Deceleration
I5: 1000 Jerk
I6: AXIS_REF_LocalAxis Axis
I7:
2
MC_POWER
Enable Status
AXIS_REF_LocalAxis Axis Error
Axis
182 192-120102N6 C3FT40 2014-10

5.6.7. Machine zero (MC_Home)

FB name MC_Home
Predefined search for the machine reference point
VAR_IN_OUT
VAR_INPUT
Position REAL Position on the machine zero point (configured unit [units] )
= Machine zero Offset
VAR_OUTPUT
Done BOOL Referencing process completed
CommandAborted BOOL Referencing process aborted
Error BOOL Error while searching for machine reference point
Note:
This module gives the command to search for the machine reference point; not for
"zero" position. The type of search function (machine reference mode) can be
adjusted with the configuration or with the object "HOMING_mode" (Object
1130.4).
.
Objects that are connected with the machine reference point:
 C3Plus.HOMING_speed (Object 1130.3)
 C3Plus.HOMING_accel (Object 1130.1)
C3Plus.HOMING_mode (Object 1130.4)
 C3Plus.HOMING_edge_sensor_distance (Object 1130.7)
MC_Home

Position : REAL CommandAborted : BOOL
The Compax3 machine zero modes are adapted to the CANopen profile for Motion
Control CiADS402.
Position reference Essentially, you can select between operation with or without machine reference.
point The reference point for positioning is determined by using the machine reference
and the machine reference offset.
Machine reference run

In a homing run the drive normally moves to the position value 0 immediately after
finding the home switch. The position value 0 is defined via the homing offset.
192-120102N6 C3FT40 2014-10 183

A machine reference run is required each time after turning on the system for
operation with machine reference.
Please note:
During homing run the software end limits are not monitored.
Machine reference offset

0
1
1: Machine Zero point

The machine reference offset is used to determine the actual reference point for
positioning.
That is: Machine zero point = - Machine zero Offset
A change in the machine reference offset does not take effect until the next
machine reference run.
Please note:
In controlled operation (open loop) no machine zero run is possible!
The home of the auxiliary axis is automatically set, by coupling the auxiliary
axis to the main axis for the homing run!
Homing run for 2 axes

 Axis 2 is coupled to axis 1 and moves along
 Axis 1 and axis 2 set the home at the same time after axis 1 has detected the
homing switch
Therefore you should bring the auxiliary axis to a defined start position before the
homing run.
Or use absolute feedback systems:
Absolute feedback
necessary.
184 192-120102N6 C3FT40 2014-10

5.6.8. Electronic gearbox (MC_GearIn)

FB name MC_GearIn
Controlled speed and position synchronicity with adjustable transmission ratio
VAR_IN_OUT
Master INT Constant for the master signal source (see on page 151)
Configuration (see on page 77) of the signal sources
Please note:
The auxiliary axis can only be coupled to the position
setpoint value of the main axis => if Slave = auxiliary axis,
the main axis must be the Master.
In this case, the reduction ratio is fixed to 1:1.
Sub INT Achs-ID (Bibliothekskonstanten)
VAR_INPUT
RatioNumerator REAL Reduction ratio numerator
Field is only valid, if Slave=AXIS_REF_LocalAxis (main
axis).
RatioDenominator INT Reduction ratio denominator
Field is only valid, if Slave=AXIS_REF_LocalAxis (main
axis).
Acceleration DINT Value of acceleration / deceleration (always positive) until
45
the synchronism is reached [Units/s²] -value range-
VAR_OUTPUT
InGear BOOL Synchronicity achieved
CommandAborted BOOL Command aborted
Note:
 Behavior: The drive accelerates (with Acceleration) until the master speed is
reached - the module will report synchronicity with "InGear". Position losses
during acceleration to master speed are not made up.
 The transmission ratio can be changed at any time with a positive edge on
Execute. InGear is reset until synchronicity is achieved again.
 For example, if speed synchronicity is not achieved because of limiting effects,
the position difference that arises will be made up (by the active position
controller).
 Acceleration / deceleration to the set transmission ratio takes place without a jerk
limit.
 If the master and slave units do not correspond, this fact must be considered for
the transmission ratio.
 Example (see on page 78)
MC_GearIn
Master : AXIS_REF Master : AXIS_REF

Slave : AXIS_REF Slave : AXIS_REF
Execute : BOOL InGear : BOOL
RatioNumerator : REAL CommandAborted : BOOL
RatioDenominator : INT Error : BOOL
Acceleration : DINT
45
192-120102N6 C3FT40 2014-10 185

Structure of the "electronic gearing" function
MC_GearIn
Master
RatioNumerator
RatioDenominator
Direction
Source Gearing
-1 / +1 MD 1/SD
numerator
D denominator E
MD
1141.7 C3.Gear_actual_masterposition
1141.8 C3.Gear_actual_master_speed
Gearing structure
D: / E: additional structure (see on page 94)
Note:  Direction -1 / +1 with direction reversal (under signal source configuration) factor
-1 is applied.
 The "virtual master" source is not available with Compax3 T30.
186 192-120102N6 C3FT40 2014-10

Example:
1. Instanz
First motion
MC_GearIn
MyMaster
Master Master
MySlave
Slave Slave
Execute InGear
Command
Aborted
100 RatioNumerator Error 2. Instanz
Second motion
100 RatioDenominator
MC_GearIn
100 Acceleration
Master Master
Slave Slave
Execute InGear
Command
Aborted
100 RatioNumerator Error
100 RatioDenominator
100 Acceleration
1. Instanz
First motion
1
First Execute
0
1 t
First InGear
0
t
Ratio reached
2. Instanz
Second motion
1
Second Execute
0
1 t
SecondInGear 0
Ratio reached
t
Bewegungsablauf
motion
MySlave Velocity
If Execute shows "0" InGear as well shows "0".

If Execute goes to "0" before InGear goes to "1" then InGear for one cycle is set to
"1" after synchronicity is reached
192-120102N6 C3FT40 2014-10 187

5.7 Superimposed motion

Dynamic positioning ...................................................................................................... 188
Superimposed positioning (C3_MoveSuperImposed) .................................................... 189
Zero point shift caused by superimposed positioning (C3_ShiftPosition) ........................ 195
Stop module for superimposed movement (C3_StopSuperImposed) ............................. 199
5.7.1. Dynamic positioning

Dynamic positioning processes can be performed with the modules
MC_MoveAbsolute, MC_MoveRelative and MC_MoveAdditive. The speed can be
altered dynamically with MC_MoveVelocity.
In the state: “Discrete Motion”
If another, second positioning process is activated in the "Discrete Motion" state,
Positioning activated, then the 1st. Positioning is aborted. The transition to the new
destination occurs dynamically, i.e. without any intervening stop.
In "Continuous Motion" state
If a positioning process (MC_MoveAbsolute, MC_MoveRelative or
MC_MoveAdditive) or a MC_MoveVelocity is activated in the "Continuous Motion"
state, the active function module will then be interrupted. All input variables of the
new positioning process will then be taken over.
Superimposed positioning
Please note also the difference to superimposed positioning (see on page 189)
with C3_MoveSuperImposed.
Here, the movement of the active function module is executed until the end.
188 192-120102N6 C3FT40 2014-10

Parker EME Superimposed motion
5.7.2. Superimposed positioning (C3_MoveSuperImposed)

FB name C3_MoveSuperImposed
Temporal superimposing of an active positioning with an additional relative
distance. Depending on the operating mode, the motion parameters can be
changed during a movement.
The positioning process that is currently underway is not interrupted by
C3_MoveSuperImposed; it is superimposed instead.
VAR_IN_OUT
Axis INT Axis ID; constant: AXIS_REF_LocalAxis
VAR_INPUT
Execute BOOL Starts the sequences of the module with positive edge.
In the "SUPERIMPOSED_ABSOLUTE_CONT” mode, the
module inputs are read, as long as “Execute” remains
“TRUE”.
Distance REAL Distance for the superimposed Positionierung (positive
and negative direction).
During a superimposed Positionierung in
 "SUPERIMPOSED_ABSOLUTE"
 "SUPERIMPOSED_ABSOLUTE_CONT"
the “distance” is considered to be an absolute Lageziel
with reference to the start position of the superimposed
Positionierung (point in time of the first rising “Execute”
edge where no superimposed positioning is active). For
details please refer to input “Mode”.
With negative PhaseShift distance of applications with
linked curves or when using the output
C3_CamtableSelect.EndOfSegment as trigger for the
C3_CamtableSelect.Execute, please note that due to the
phasing no negative change of cams may result (sum
speed Master signal source and Phasing at beginning of
segment) always higher or equal zero).
In configured unit [Units] -value range- 46
Velocity REAL Value of the maximum speed difference compared to the
actual master speed (always positive)(not necessarily
47
reached) [units/s] -value range-
In the "SUPERIMPOSED_RELATIVE” operating mode,
the specification of a speed <=zero is not permitted.
In the other operating modes, a negative value will
be set to 0.
Acceleration DINT Value of acceleration (always positive)[Units/s²]
48
<Wertebereich>
49
<Wertebereich>
Jerk DINT Value of the acceleration jerk (see on page 173) [Units/s³]
50
(always positive) <Wertebereich>
JerkDecel DINT Value of the deceleration jerk [Units/s³] (always positive)
51
<Wertebereich>
46
47
Speed for positioning: 0; 0.00001157 rev/s...2000 rev/s
48
49
50
51
192-120102N6 C3FT40 2014-10 189

Mode INT
Open or "SUPERIMPOSED_RELATIVE":
With a rising edge on the Execute, a relative
superimposed Positionierung, based on the value on
input "Distance” is executed at that point in time (this
does also apply if a superimposed Positionierung is
already active.
"SUPERIMPOSED_ABSOLUTE":
Upon a not active superimposed Positionierung, a
relative Positionierung starts on the “Execute” with a
rising edge.
With a rising edge on the “Execute” during an active
superimposed Positionierung (output “Busy” is set), the
Positionierungdistance based on the start points of the
superimposed Positionierung is interpreted to be
absolute.
"SUPERIMPOSED_ABSOLUTE_CONT":
corresponds to the "SUPERIMPOSED_ABSOLUTE”
mode, however as long as the input "Execute" is equal
"TRUE" the module inputs with rising edge at the input
"Execute" are not accepted in each IEC cycle for the
effective superimposed Positionierung.
ATTENTION!
PositionResetMode = "TRUE" may only be used as
from Compax3-Firmware R09-0!
Hint
The "SUPERIMPOSED_RELATIVE” operating
mode corresponds to the function of the formerly
used MC_MoveSuperImposed module
PositionResetMode BOOL Open or "FALSE": The demand position O680.3
(DemandValue3) is not reset.
"TRUE": With each new Positionierung (rising edge
on “Execute”), the Lageziel O680.3
(DemandValue3) is reset to zero.
ATTENTION!
VAR_OUTPUT
Done BOOL Additional distance was added to the current
positioning
Busy BOOL Superimposed motion is performed
190 192-120102N6 C3FT40 2014-10

Notes:
 The values Velocity, Acceleration, Deceleration, Jerk, JerkDecel are only valid for
the superimposed movement. The values resulting from the superimposition will
set on the axis, which is not taken into consideration for the status values .
 Upon a MC_Stop of the local axis (AXIS_REF_LocalAxis), the movement in
progress as well as the superimposed movement are interrupted.
The module C3_StopSuperImposed does only interrupt the superimposed
movement.
 The module can also be operated in the PLCopen “Standstill” state .
 The module does not interrupt any active command.
 “Position reached” (Object 420.6) is not influenced by the additional movement
caused by C3_MoveSuperImposed.
 If no alignment of the SuperImposed movement with the main profile generator
takea place the movement realized by C3_MoveSuperImposed acts as an Offset
(in "CouplinMode" 1 or 2) when coupling with C3_CamIn. This alignment is made
via Firmware <=R09-20 at C3_CamOut (all DecouplingModes),
MC_MoveAbsolute (with finished superimposed movement) MC-Stop or device
error with error stop ramp (with active superimposed movement of MC_Home.
With Firmware >= R09-20 the alignment is additionally made at MC_Stop and
finished superimposed movement, at error stop without ramp, the superimposed
movement carried out since the last alignment can then be seen in 0680.24.
 This module cannot be operated with C3_ShiftPosition and MC_/C3_Phasing at a
time.
 It is possible to change modes (“Mode”) during a superimposed Positionierung in
progress.
 If a second instance. is activated in an active module with “Execute”, the instance
in progress is aborted (“CommandAborted” output is set) and the second nstance
acts as upon a new start of a superimposed Positionierung ).
 With a falling edge on the “Execute” in the
SUPERIMPOSED_ABSOLUTE_CONT” mode, the positioning is aborted upon a
zero “Velocity” specification (if the überlagterte_Geschwindigkeit has reached
zero) , as it can never reach its target.
 With a falling edge on "Execute" in "SUPERIMPOSED_ABSOLUTE_CONT"
mode the Vüberlagterte_Geschwindigkeit is finished with the parameters pending
at the time. Is the "Velocity" demand equal zero (if the actual displacement target
speed has reached the value zero), the überlagterte_Geschwindigkeit is aborted
as it can never reach its target. A (new) rising edge on "Execute" starts, as in
"SUPERIMPOSED_RELATIVE" mode, a new quasi-absolute relative imposed
überlagterte_Geschwindigkeit.
 In the "SUPERIMPOSED_ABSOLUTE_CONT” mode, the sum of the specified
motion parameters is internally calculated; positive value monitoring takes only
place once with each rising “Execute” edge. Exception is the "Velocity" demand
at which negative value internally become zero.
 Frequent changes of the Lageziel within a superimposed Positionierung may lead
to imprecisions in the Positionierung in the “PositionResetMode” input is not set
to “TRUE”!
place once with each rising “Execute” edge.
 If the speed is reduced to zero at the end of a Positionierung during setpoint
generation, no new values for speed, deceleration and jerk are accepted in the
absolute operating modes “SUPERIMPOSED_ABSOLUTE” or
"SUPERIMPOSED_ABSOLUTE_CONT" with unchanged Lageziel (input
"Distance".
192-120102N6 C3FT40 2014-10 191

 The position of the module in the structure image (see on page 391).
 The output "error" is reported if
 the axis is in an impermissible state with a rising edge at the “Execute” input
(not active, in error state, during reference run, stops or is in stop state
(MC_Stop))
 The superimposed movement stops or was stopped (by
C3_StopSuperImposed) with a rising edge on the “Execute” input
 The module was issued with invalid parameters (“Velocity” <= 0 in "Mode"
SUPERIMPOSED_RELATIVE), acceleration values or jerks <= 0, input “Axis”
unequal to “AXIS_REF_LOCALAXIS”, invalid operating mode (“Mode”)) upon a
rising edge on the “Execute” input
 An attempt to start the module (rising edge on the “Execute” input) is made
during another superimposed movement (C3_ShiftPosition, MC_/C3_Phasing).
 The axis changes into error state during a superimposed movement in progress
 The “CommandAborted” output is reported if an interruption of the superimposed

Positionierung occurred caused by
 another module instance
 Stops the superimposed movement by stop on the axis (MC_Stop)
 Stops the superimposed movement (C3_StopSuperImposed)
 superimposed speed zero with falling edge on the “Execute” of the
superimposed positioning is not yet completed in the
"SUPERIMPOSED_ABSOLUTE_CONT” mode or if the superimposed travel
command was rejected by the firmware.

C3_MoveSuperImposed

Distance : REAL Busy : BOOL
Deceleration : DINT
Jerk : DINT
JerkDecel : DINT
Mode : INT
PositionResetMode: BOOL
Axis : VAR_IN_OUT
192 192-120102N6 C3FT40 2014-10

Example 1 Mode Superimposed_Relative

MC_MoveRelative C3_MoveSuperImposed
go_REL Execute Done go_SUP Execute : BOOL Done : BOOL

Command 10
50 Distance Distance : REAL Busy : BOOL
Aborted
100 Command
300. 0 Velocity Error Velocity : REAL
Aborted : BOOL
100 Acceleration 50 Acceleration : DINT Error : BOOL
100 Deceleration 50 Deceleration : DINT
1000 Jerk 1000 Jerk : DINT
1000 JerkDecel 1000 JerkDecel : DINT

Superimposed
AXIS_REF_LocalAxis Axis Mode : INT
_Relative
FALSE PositionResetMode: BOOL
1. Instanz: MC_MoveRelative AXIS_REF_ Axis : VAR_IN_OUT

LocalAxis
First motion
1
Execute (go_REL)
0
1 t
Done
0
2. Instanz C3_MoveSuperImposed
t
Second motion
1
Execute (go_SUP) 0
1 t
Done 0
1 t
Busy
0
Command- 1
t
Aborted 0
Bewegungsablauf t
Moving diagram 400
300
Velocity
200
100
0
t
70
Zielposition
Target position 50
0
1 2 3 4 5 6 7 8 9 10 11 12 13
t
70
Distance
50
0
1 2 3 4 5 6 7 8 9 10 11 12 13
t
192-120102N6 C3FT40 2014-10 193

Example 2 Mode Superimposed_Absolute

MC_MoveRelative C3_MoveSuperImposed
go_REL Execute Done go_SUP Execute : BOOL Done : BOOL

Command
50 Distance Distance : REAL Busy : BOOL
Aborted
Command
300. 0 Velocity Error Velocity : REAL
Aborted : BOOL
100 Acceleration 50 Acceleration : DINT Error : BOOL
100 Deceleration 50 Deceleration : DINT
1000 Jerk 1000 Jerk : DINT
1000 JerkDecel 1000 JerkDecel : DINT

Superimposed
AXIS_REF_LocalAxis Axis Mode : INT
_Absolute
FALSE PositionResetMode: BOOL
AXIS_REF_ Axis : VAR_IN_OUT

LocalAxis
MC_MoveRelative
1
Execute (go_REL)
0
1 t
Done
0
t
C3_MoveSuperImposed
1
Execute (go_SUP)
0
t
Eingang/Input 200
Velocity 100
0
20
t
Eingang/Input
Distance 10
0
1
Busy
0
t
Done* 1
0
t
Bewegungsablauf 500
Moving diagram 400
300
Velocity
200
100
0
t
80
Zielposition 60
Target position
0
t
80
Position
0
t
* "Done" for a IEC cycle
194 192-120102N6 C3FT40 2014-10

5.7.3. Zero point shift caused by superimposed positioning

(C3_ShiftPosition)
FB name C3_ShiftPosition
Time-related shifting of the reference point by an additional relative distance.
Depending on the operating mode, the motion parameters can be changed during
a movement.
The system zero point shifts by the stated distance. The drive performs a physical
movement, this is however not displayed.
The positioning being executed at that time is not interrupted by C3_ShiftPosition,
but superimposed.
Application: Reg synchronization on the slave side.
VAR_IN_OUT
Axis INT Axis ID; constant: AXIS_REF_LocalAxis
VAR_INPUT
Execute BOOL Starts sequence of the module upon a positive edge; in the
“SUPERIMPOSED_ABSOLUTE_CONT” operating mode
cyclic update of the positioning parameters as long as the
“Execute” remains “TRUE”.
Distance REAL Distance for the superimposed Positionierung (positive and
negative direction).
During a superimposed Positionierung in
the “distance” is considered to be an absolute Lageziel with
reference to the start position of the superimposed
Positionierung (point in time of the first rising “Execute”
edge where no superimposed positioning is active). For
details please refer to input “Mode”.
52
In configured unit [Units] -value range-
53
In the "SUPERIMPOSED_RELATIVE” operating mode, the
specification of a speed <=zero is not permitted.
In the other operating modes, a negative value will be set to
0.
54
<Wertebereich>
55
<Wertebereich>
56
57
<Wertebereich>
52
53
54
55
56
57
192-120102N6 C3FT40 2014-10 195

Mode INT
With a rising edge on the Execute, a relative superimposed
Positionierung, based on the value on input "Distance” is
executed at that point in time (this does also apply if a
superimposed Positionierung is already active.
Upon a not active superimposed Positionierung, a
relative Positionierung starts on the “Execute” with a rising
edge.
superimposed Positionierung (output “Busy” is set), the
Positionierungdistance based on the start points of the
superimposed Positionierung is interpreted to be absolute.
corresponds to the "SUPERIMPOSED_ABSOLUTE” mode,
however as long as the input "Execute" is equal "TRUE" the
module inputs with rising edge at the input "Execute" are
not accepted in each IEC cycle for the effective
superimposed Positionierung.
ATTENTION!
PositionResetMode = "TRUE" may only be used as from
Compax3-Firmware R09-0!
"TRUE": With each new Positionierung (rising edge
on “Execute”), the Lageziel O680.3 (DemandValue3)
is reset to zero.
ATTENTION!
PositionResetMode = "TRUE" may only be used as from
Compax3-Firmware R09-0!
VAR_OUTPUT
Done BOOL Additional distance was added to the current positioning
Busy BOOL Superimposed motion is performed
Notes:
 The values Velocity, Acceleration, Deceleration, Jerk, JerkDecel are only valid for
the superimposed movement. The values resulting from the superimposition will
set on the axis, which is not taken into consideration for the status values .
 Upon a MC_Stop of the local axis (AXIS_REF_LocalAxis), the movement in
progress as well as the superimposed movement are interrupted.
The module C3_StopSuperImposed does only interrupt the superimposed
movement.
 The module can also be operated in the PLCopen “Standstill” state (no change
in the position display).
 The module does not interrupt any active command.
 “Position reached” (Object 420.6) is not influenced by the additional movement
caused by C3_MoveSuperImposed.
 If no alignment of the SuperImposed movement with the main profile generator
takea place the movement realized by C3_MoveSuperImposed acts as an Offset
(in "CouplinMode" 1 or 2) when coupling with C3_CamIn. This alignment is made
via Firmware <=R09-20 at C3_CamOut (all DecouplingModes),
MC_MoveAbsolute (with finished superimposed movement) MC-Stop or device
error with error stop ramp (with active superimposed movement of MC_Home.
With Firmware >= R09-20 the alignment is additionally made at MC_Stop and
finished superimposed movement, at error stop without ramp, the superimposed
movement carried out since the last alignment can then be seen in 0680.24.
196 192-120102N6 C3FT40 2014-10

 This module cannot be operated with MC_/C3_MoveSuperImposed and

MC_/C3_Phasing at a time.
 It is possible to change modes (“Mode”) during a superimposed Positionierung in
progress.
acts as upon a new start of a superimposed Positionierung ).
zero “Velocity” specification (if the überlagterte_Geschwindigkeit has reached
zero) , as it can never reach its target.
mode the Vüberlagterte_Geschwindigkeit is finished with the parameters pending
at the time. Is the "Velocity" demand equal zero (if the actual displacement target
speed has reached the value zero), the überlagterte_Geschwindigkeit is aborted
as it can never reach its target. A (new) rising edge on "Execute" starts, as in
überlagterte_Geschwindigkeit.
 Frequent changes of the Lageziel within a superimposed Positionierung may lead
to imprecisions in the Positionierung in the “PositionResetMode” input is not set
to “TRUE”!
 If the speed is reduced to zero at the end of a Positionierung during setpoint
generation, no new values for speed, deceleration and jerk are accepted in the
absolute operating modes “SUPERIMPOSED_ABSOLUTE” or
"SUPERIMPOSED_ABSOLUTE_CONT" with unchanged Lageziel (input
"Distance".
(MC_Stop))
during another superimposed movement (MC_/C3_MoveSuperImposed,
MC_/C3_Phasing).

Positionierung occurred caused by
192-120102N6 C3FT40 2014-10 197

C3_ShiftPosition

Distance : REAL Busy : BOOL
Deceleration : DINT
Jerk : DINT
JerkDecel : DINT
Axis : (VAR_IN_OUT)
C3_ShiftPosition
go_REL Execute : BOOL Done : BOOL

100 Distance : REAL Busy : BOOL
50 Velocity : REAL CommandAborted : BOOL
200 Acceleration : DINT Error : BOOL
200 Deceleration : DINT
1000 Jerk : DINT
1000 JerkDecel : DINT
AXIS_REF_LocalAxis Axis : (VAR_IN_OUT)
1
Execute (go_REL)
0
1 t
Done
0
1 t
Busy
0
Anzeige t
Readout 1
Lage
Position 0
t
Bewegung
Motion 50
Velocity
0
t
100
relative Position
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5.7.4. Stop module for superimposed movement

(C3_StopSuperImposed)
FB name C3_StopSuperImposed
Stop current superimposed position (C3_MoveSuperImposed, C3_ShiftPosition) or
C3_Phasing.
Please note:Only one instance of C3_StopSuperImposed is permitted!
VAR_INPUT
Execute BOOL Stops the movement
<Wertebereich> 58
Please observe:
The configured STOP ramp is limited. The STOP
ramp will not be smaller than the deceleration set in
the last motion set.
[Units/s³] (always positive) <Wertebereich> 59
VAR_OUTPUT
Done BOOL Stop move
Error BOOL Error while stopping positioning
Note:
As long as the "Execute" input is set, the profile generator executing the
superimposed movements or the phase shift in "Stopping" status and is unable to
execute any additional movement commands! (The modules
C3_MoveSuperImposed, C3_ShiftPosition or C3_Phasing set the
“CommandAborted” output upon detection of the “Stop command” and
acknowledge the trial to start in Stop state by setting the “error” output).
The module may only be used as from Compax3-Firmware R09-0!
58
59
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5.8 Adjust force / pressure (C3_PressureForceAbsolute)

FB name C3_PressureForceAbsolute
Control absolute force or differential pressure (depending on the physical system selected in the
configuration (see on page 42).
FA − FB A
= pA − B ⋅ pB = pA − α ⋅ pB
Differential pressure:
AA AA
Force:
F = FA − FB
VAR_IN_OUT
VAR_INPUT
Execute BOOL Starts the sequences of the module with positive
edge
PressureForce DINT Setpoint differential pressure [mbar, psi] or setpoint
force [N].
Gradient DINT Change speed for pressure or force in [bar/s, psi/s],
[N/s].
VAR_OUTPUT
Done BOOL Specified setpoint value on the setpoint output is
reached
Note:
 the axis must be in controlled operation, so that the module becomes active.
 After termination of the module, the axis continues to control the differential pressure
or the force.
 Executing a MC_Stop module causes the transition to position control. The current
speed of the axis is controlled down to zero and the position reached then is kept
with the aid of the position controller.
 The execution of the C3_PressureForceStop is required, if no position control is
configured. It causes the gradient to be reduced to zero and the axis to remain force
or pressure controlled.
C3_PressureForceAbsolute

PressureForce : DINT CommandAborted : BOOL
Gradient : DINT Error : BOOL
Axis : INT
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Parker EME Dynamic switching: Position- on force/pressure - adjustment
5.9 Dynamic switching: Position- on force/pressure -

adjustment
Compax3F supports the so-called pQ operating mode. This function permits
condition-dependent switching between position control (pQ mode) and force (for
example differential pressure) control and back.
This function can only be executed in connection with the main axis.
The following boundary conditions are to be taken into consideration:
 The output control operation for the PQ function is always a position control (state
"Discrete Motion" or “Standstill: Powered").
The defined switching condition is therefore valid for the switching from the
position control to force/pressure control.
 The condition for the switching from force control back to position control is
(current speed>=calculated setpoint speed).
If the countercheck is lost (actual speed> setpoint speed), the drive will return to
position control in the motion profile programmed before.
 The configuration and activation of the pQ operating mode is made via an IEC
module.
 After the activation of the C3_pQ module, the C3_PressureForceAbsolute module
can no longer be activated.
 The setpoint value for the force/pressure controller is read from an object, which
is indicated via a pointer.
 The deactivation of the module and consequently of the pQ operating mode can
be initiated with the negative edge at the enable input.
The deactivation itself is only possible in the "Standstill Powered" state.
If the pQ operating mode is deactivated during a positioning sequence, the
started positioning is finished in pQ mode.
If the drive is in force control at the time of deactivation, a MC_Stop is necessary
in order to switch back to position control.
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5.9.1. Switching: from force to position mode (C3_pQ)

FB name C3_pQ
Activate pQ (Volume flow control / position control) - Mode depending on the conditions
 Switching to pressure / force control: see in this module description
 Switching back to position control:
 Actual speed > setpoint speed from the motion profile or
 Target position from the original positioning reached.
VAR_IN_OUT
Note: C3_pQ_Force is only possible for the main axis
VAR_INPUT
Enable BOOL Starts the sequence of the module at positive edge and terminates
the qQ mode at negative edge
Mode C3_pQ_MODE Switching conditions from position to pressure/force control:
EVENT_EXTERN
External event: Any object (given by "ExtObjectSource") can be
configured as source (Index.Sub). via an additional mask
(ExtObjMask), an AND-link is established.
ABS_FORCE_PRESSURE_THRESHOLD
Controller-Actual-Pressure/Force > Value
"PressureForceThreshold"
ABS_FORCE_PRESSURE_GRADIENT
Pressure/Force-Gradient > Value
"PressureForceGradientThreshold”.
The gradient exceeds the parameterized value.
ABS_ACTUALPOS_THRESHOLD
Value of the actual position > parameterized position value
"PosThreshold" AND
Value of the actual position < parameterized position value
"PosThreshold" + PosWindow
ABS_DEMANDPOS_THRESHOLD
Value of the setpoint position > parameterized position value
"PosThreshold" AND
Value of the setpoint position < parameterized position value
"PosThreshold" + PosWindow
PressureForceSetpointSource DWORD Pointer to the source of the setpoint value of the pressure/force
controller
Note: The source must have the type INT or DINT
PressureForceThreshold DINT The pressure/force threshold in [mbar], [psi] or [N] at which the
switching to pressure/force control takes place.
Note: This parameter is only relevant in the
Mode=ABS_FORCE_PRESSURE_THRESHOLD.
PressureForceGradientThreshol DINT The pressure/force change threshold in [mbar], [psi] or [N] at which
d the switching to pressure/force control takes place.
Mode=ABS_FORCE_PRESSURE_GRADIENT.
GradientFilterTimeConstant INT The filter time constant in [µs] of the filter at which the
pressure/force gradient is filtered.
ExtObjectSource DWORD Pointer to any object that is intended to be the source of the
external event.
Mode=EVENT_EXTERN
ExtObjMask WORD Bit mask for the relevant bits in "ExtObjectSource". The contents of
the ExtObjectSource is AND-linked with the aid of this bit mask.
Mode=EVENT_EXTERN.
PosThreshold REAL Position threshold for switching to pressure/force controller
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Parker EME Dynamic switching: Position- on force/pressure - adjustment
PosWindows REAL Position window in Units, measured from the position threshold
(PosThreshold).
In this window, the monitoring of the switching condition to
force/pressure control is active.
If the position exceeds the value: PosThreshold + PosWindows,
then the monitoring of the switching condition to force/pressure
control is not active.
The window should be defined as small as possible.
Within this window, the actual speed caused by the pressure/force
control must be below the setpoint speed, unless the axis will
switch back to position control.
VAR_OUTPUT
IsActive BOOL TRUE: pQ Mode active
FALSE: pQ Mode not active
F_IsActive BOOL Shows that the pressure/force control is activated.
Note: Is only updated if the Enable input provides TRUE
Q_IsActive BOOL Shows, that the volume flow control (pQ: Position control) is
activated.
Note: Is only updated if the Enable input provides TRUE
ErrorID INT Error description
0: No Error
1: Mode EVENT_EXTERN => source "ExtObjectSource" is missing
2: Invalid MODE set
3: No source entered for the pressure/force controller setpoint
4: Activation of the PQ module is not permitted in this mode
5: pQ mode with mere pressure/force control axis is not possible.
6: The axis ID does not correspond the the ID of the main axis
Note:
 The switching conditions are monitored until the target position of the current positioning sequence is
reached; this is not valid in the "ABS_ACTUALPOS_THRESHOLD" and
"ABS_DEMANDPOS_THRESHOLD" modes.
C3_pQ
Enable : BOOL IsActive : BOOL

Mode : C3_pQ_Mode F_IsActive : BOOL
PressureForceSetpointSource : DWORD Q_IsActive : BOOL
PressureForceThreshold : DINT Error : BOOL
PressureForceGradientThreshold : DINT ErrorID : INT
GradientFilterTimeConstant : INT
ExtObjectSource : DWORD
ExtObjMask : WORD
PosThreshold : REAL
PosWindow : REAL
Axis : INT (VAR:IN_OUT)
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5.10 Cam Control

Introduction: Electronic cam control ............................................................................... 204
Overview ....................................................................................................................... 206
Basics............................................................................................................................ 206
Generating cams ........................................................................................................... 209
Cam function structure................................................................................................... 217
Master signal source...................................................................................................... 227
Alignment of the slave axis ............................................................................................ 245
10 Steps for cam generation .......................................................................................... 261
Cam applications ........................................................................................................... 263
5.10.1. Introduction: Electronic cam control

Rising rationalization pressure and an increasing degree of automation in process
engineering demand modern and flexible drive concepts.
The introduction of digital and communicating control devices was an important
step towards the decentralization of control and regulation tasks. An increasing
number of mechanical construction components can be replaced by programmable
servo drives.
In particular mechanical cam switching mechanisms and discontinuous shafts
maintained until today their fields of application in many areas of machine
construction.
Mechanical cam switching mechanisms offer, besides complex motion profiles, a
high positioning accuracy and rigid coupling between master and slave drive.
Their drawbacks are, however, the long changeover times and the limitation to a
defined profile.
In this respect the Compax3 T40 electronic cam offers considerable time
advantages, above all when changing between small batch sizes or with a wide
range of products.
The decentralization of the drive performance can reduce size, costs and
maintenance effort considerably.
Compax3 allows to implement in an axis module all control and drive functions for
a flexible and cost-effective solution of complex motion sequences and
synchronization tasks with the aid of powerful IEC61131-3 modules.
The switching command between different motion profiles takes only seconds - no
fitter or wrench is required.
Large, mechanically coupled drive systems can be divided into small, independent
drives. The dynamic and stationary behavior of every drive can be individually set
and optimized.
Mechanical Electronically
Process
Process
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Parker EME Cam Control
Compax3 is able to simulate mechanical cams as well as cam switching

mechanisms electronically.
This helps to realize discontinuous material supply, flying knife and similar drive
applications with distributed drive performance.
The compact servo controller processes the position signals of a master axis and
controls a servo motor, torque motor or a direct-drive linear actuator via the desired
motion profile, which is defined in the form of an interpolation point memory. The
combination of drive, control and power unit in one device offers many advantages:
 Fast and easy commissioning.
 fast and stable control.
 feedforward control measures result in reduced need for peak torque and
improved response behavior - therefore following errors are avoided.
 central digital control from the setpoint generator to the power output stage.
 lower wiring overhead and thus substantially reduced fault liability.

Function principle .......................................................................................................... 205
5.10.1.1 Function principle

Coupling and decoupling ............................................................................................... 205
Reg synchronization ...................................................................................................... 206
Slave
Master
Slave
90° 180° 270° 360°

Master
Depending on the angle setting of a leading axis (master), the following axis (slave)
is moved according to a user-defined motion profile. The master position moves
within a defined value range; the master clock distance, and moves through it
cyclically. Each cycle corresponds to a revolution of the cam or a repetition cycle of
any complex movement. Via the master position, a sequence of interpolation points
with up to 10000 non-equidistant interpolation points is addressed. Compax3
interpolates linarly between the interpolation points. Those position setpoint values
are used to form the feedforward signals for the subordinate controller cascades of
the following axis. This feedforward of speed and acceleration is used to reduce
the following error of the following axis as fas as possible.
Coupling and decoupling

An important function for complex plants is the coupling and decoupling of
individual drives, triggered by an external control signal. During the coupling, the
following axis (slave) is synchronized via a defined motion profile to the position of
the leading axis (master). This can take place from any start position with a
continuous, jump free speed course. Upon decoupling, the slave leaves the
synchronous operation and is brought definedly to a standstill. The coupling or
decoupling can take place with a running or stationary master axis.
192-120102N6 C3FT40 2014-10 205

Reg synchronization
In the packaging and print industry, a synchronization of following slave axes to
print marks is required, for example in order to balance material slip or for an
alignment according to existing prints. The error is compensated up to the next
mark by correcting the master position acquired in the slave or by correcting the
slave position by the determined slip between the product and the print mark
button.
5.10.2. Overview
T40 Functions: Cam
General  Cam control function
 Programming based on IEC61131-3
 Position of selected master signal source
via:
 Encoder, Step / direction
or +/-10V analog
 HEDA
 Virtual Master
Cam memory  10 000 interpolation points
(master/slave in 24 bit format)
saved failure save.
 Distance of interpolation points can be
adapted to curve (non equidistant
interpolation points)
 Linear interpolation between points
Linking curve segments  Up to 20 cam segments can be
produced.
 Virtually random cam links (forwards)
 Freely programmable, event-triggered
curve branching.
 Scalable cam segments and complete
cam profiles
Coupling and decoupling functions  With the aid of a quadratic function.
 By means of a change-over function
 Without overspeeding by coupling over
several master cycles.
 Virtually free set-up of the coupling and
decoupling movement
 Master-guided coupling movement.
 Random standstill position
Reg synchronization  Master or slave oriented (simultaneous,
cam-independent).
 Highly precise mark recognition
(accuracy < 1 µs)
Cam generation with renowned Nolte  Standard or extended range of functions
tool.  Evaluation of the motion profiles.
5.10.3. Basics
Cam types ..................................................................................................................... 206
Cam parameters / terms ................................................................................................ 207
Basic procedure............................................................................................................. 209
5.10.3.1 Cam types

There are two principal curve types:
206 192-120102N6 C3FT40 2014-10

Closed curve
The start and end positions of the Slave are identical. I.e. the Slave moves always
within the same position range.
Slave
ST
MT Master
ST: Slave clock distance

MT: Master clock distance
Open curve
The start and end positions of the Slave are not identical. I.e. the Slave moves in
one direction, as at the end of the curve the actual position of the Slave is
compared to the start position of the curve.
Slave
ST
MT Master

In applications with open curves (“infinite applications”), reset operation should be

activated on the slave side (reset distance to be specified under “reference system”
in the configuration wizard).
5.10.3.2 Cam parameters / terms

Example:
Slave
Schnitt Schnittausfall Schnitt

cut Auskoppeln without cut Einkoppeln cut
decoupling coupling
ST
S0 MT MA MB ME MS Master

ME: Coupling position
MS: Synchronous position
MA: Decoupling position
MB: Braking position
S0: Standstill position of the Slave
192-120102N6 C3FT40 2014-10 207

Master clock distance (MT)

The Master clock distance is the distance which the master runs, i.e. after which
the cycle is repeated. This distance is stated in the physical unit of the Master.
After this distance, the curve is repeated.
Slave clock distance (ST)

The Slave clock distance is the distance which the Slave runs, stated in the
physical unit of the Slave.
Coupling position (ME)

Master position, where the coupling sequence starts.
Synchronous position (MS)

The coupling sequence is finished, if the master has reached the synchronous
position MS, i.e. at the master position MS the slave is synchronous to the curve
(MS > MT possible).
Decoupling position (MA)

Via the decoupling position MA the decoupling sequence can be started in a
defined fashion from a certain master position (MA) on (dependent on the
decoupling operating mode selected).
Braking position (MB)

At this master position, the slave comes to a standstill after decoupling (MB > MT
possible).
Standstill position Slave (S0)

Target position of the slave axis after decoupling.
Back stop
The back stop can be enabled if required (IEC module C3_MasterControl (see on
page 229)).
It ensures that a backwards movement of the master will not incite an axis
movement of the slave.
Example:
Pos
2
3 4
t
1: Master signal after back stop

2: Master signal before back stop
3: Backwards movement of the master
4: Forwards movement of the master corresponding to the backwards movement.
208 192-120102N6 C3FT40 2014-10

Note: The negative distance difference caused by the backwards movement of the
master (3) must be traveled in positive direction (4), before it can be effective as a
movement.
5.10.3.3 Basic procedure

When implementing a standard cam application, the following steps are necessary:
 Create curve and load into Compax3.
 Setting the master position detection
 Establish relationship between master position read in and curve.
 Select curve.
 Start curve operation in a defined fashion.
 Establish relationship with slave position (coupling).
 Finish curve operation in a defined fashion (decoupling).
5.10.4. Generating cams

Introduction to the CamDesigner (example) ................................................................... 210
Cam functions of the Compax3 ServoManager / motion laws ........................................ 214
The curve creation software "C3 CamDesigner" is a separate program and must
therefore be installed separately.
You will find the program on the Compax3 CD.
Please note:
The CamDesigner must be installed in a folder, whose name does not contain any
blanks.
This problem occurs above all when working with english Windows versions
(...\Program Files\...).
192-120102N6 C3FT40 2014-10 209

5.10.4.1 Introduction to the CamDesigner (example)

Prerequisite:
Compax3 is configured
Compax3 ServoManager is installed (can be found on the Compax3 CD).
C3 CamDesigner is installed (can be found on the Compax3 CD).
Settings:
 Travel distance per motor revolution = 360°
 Reset distance = 360°
In the "Configuration" wizard in the "reference system" window
 Travel path per revolution of the physical source: Numerator = 360, Denominator
=1
in the "signal sources" wizard windows: "Physical source"
 Signal source: Encoder A/B 5V
Procedure:
Starting the CamDesigner: Nagivation tree of the Compax3 ServoManager under
"cam": "Modify cam with CamDesigner"
The transfer window from Compax3 ServoManager to CamDesigner will open:
210 192-120102N6 C3FT40 2014-10

Here you can enter:

 Axis name
 Number of interpolation points to be calculated per curve,
 Signal source "Encoder A/B 5V" and
 "Dwell-to-dwell motion law".
Do not change the default settings:
 180 points and
 the “modified sine line according to Neklutin” (russian mathematician)
At first the display is empty; the motion sequence can be entered.

This is made via the menu: File: New sequence.
In the dialog box you can select the the axis name of your choice, here “axis”
The display looks as follows:
192-120102N6 C3FT40 2014-10 211

Now the curve can be created:

The BASIC version of the CamDesigner offers three tools:
 Drawing -> Dwell
 Drawing -> straight line
 Drawing -> point
With the aid of these tools the known sections of a motion sequence, in general
dwells or sections with constant speed, are entered. Please select a tool.
Now you can position the respective section per mouse click or enter it with the
keyboard. Click into the “enter” field. In the dialog box you can make the following
entries depending on the tool selected:
 Tool dwell:
 a. Path coordinate 0 Degrees
 b. Clock angle beginning 0 Degrees
 c. Clock angle end 30 Degrees
 Tool dwell:
 c. Clock angle end 120 Degrees
 Tool straight line:
 a. Path coordinate beginning 110 Degrees
 c. Path coordinate end 30 Degrees
 d. Clock angle end 270 Degrees
 Tool interpolation point:
 b. Clock angle 3600 Degrees
 and as an option
 c. Speed 0 rad/s
 d. Acceleration 0 rad/s²
The display looks as follows
212 192-120102N6 C3FT40 2014-10

The dashed sections are now calculated by the CamDesigner.

The transitions from dwell to motion are always calculated via a 5th order
polynomial (in the BASIC version)
For the transitions dwell-to-dwell, the preselected motion law is used. This can also
be changed retrospectively in the header data (menu: edit: Header data). The
header data mask also states the cycle time (cycles per minute).
Via the “show motion diagram” icon the result is displayed:
Displayed are the sequences for position, speed and acceleration, in physical units
and with respect to the cycle time entered.
This window can be left via the X Icon.
If necessary, you can make modifications (motion laws, cycle time, etc.)
After the optimization the curve progression you can leave the CamDesigner via
"file": "Exit"
The following dialog queries if the Cam Download is to take place immediately. The
download can also be executed later via "Download": "Cam - curve data".
192-120102N6 C3FT40 2014-10 213

5.10.4.2 Cam functions of the Compax3 ServoManager /

motion laws
Description of the cam wizard
214 192-120102N6 C3FT40 2014-10

1 Name of the cam project being used in the CamDesigner.

2 Reset distance (=clock distance) of the master = length of the X axis in the
CamDesigner.
The entry fields are inactive, if motion profiles were already created in the
CamDesigner.
The values can, however, be modified in the header data of the CamDesigner.
Attention:
Cam interpolation points may need to be adapted or deleted, if they are
redundant due to a smaller clock distance!.
Decimal numbers must be converted into integers as numerator and
denominator values. Please note, that max. 3 decimal places are considered
for numerator/denominator.
3 If the master clock distance has more than 3 decimal places, a drift is created.
If the Compax3 ServoManager states this, you can avoid this drift by using an
alternative master clock distance.
Use another unit for the alternative master clock distance, instead of [mm] or
[degrees] rather use [product cycles] or [%], so that you have an integer.
This unit is then valid for all master-related values (ME, MS, status values, ...)
as well as for the curve.
Create the curve for this alternative master clock distance and you will get ad
drift free curve operation.
The input field will become inactive, if motion sequences were already created
in the CamDesigner. The alternative clock distance can also be manipulated in
the header data mask of the CamDesigner.
Example:
Master:Direct-driven indexing table with 7 work stations;
Path/revolution = 360°
Reset distance = 360°
Slave:One of the work stations
Path/revolution = 360/7° master degree; cannot be displayed as clock resp.
master reset distance (drift)!
Better: alternative clock distance for example 360 slave degrees.
4 Selection of the signal source which is used as default value for the master
source (Input AXIS_REF_Local_Cam on the IEC block C3_MasterControl). An
entry is required.
You can choose between configured signal sources.
The source can be changed afterwards with the input master of the IEC block
C3_MasterControl.
5 The maximum speed is used as axis dimensioning for the display of the motion
profile as well as a limit value for the motion sequence..
At +/-10V as signal source, the value 10V is used (the entry field is
deactivated).
This value can also be manipulated in the header data mask of the
CamDesigner.
Please note: The value is converted into steps/min by the CamDesigner;
therefore a slight difference in this value caused by rounding is possible after
the return from the CamDesigner.
6 If the license file is installed: Switching between Advanced and Basic version of
the CamDesigner.
7 Interpolation point reduction
deactivated: The curve is stored in equidistant interpolation points
(corresponding to the stated number of interpolation points)
Activation: The equidistant interpolation points are reduced (resulting in the
creation of not equidistant interpolation points).
The interpolation points are removed so that the resulting error is smaller than
the interpolation tolerance stated (linear interpolation is respected).
8 Interpolation tolerance (see 7).
192-120102N6 C3FT40 2014-10 215

9 Maximum number of interpolation points per curve. Value range 18..3600.

Without activated interpolation point reduction, a curve has this number of
interpolation points.
If the reduction is activated, the actual number of interpolation points may
(depending on the tolerance selected) be smaller. Please respect that this
value also constitutes the "basic grid" for the interpolation point reduction.
The number of interpolation points can also be manipulated in the header data
mask of the CamDesigner.
10 Here the dwell-to-dwell interpolation method is selected. The following motion
laws are possible in the BasicVersion of the CamDesigner:
• 3 Sloping Sine Line according to Helling-Bestehorn
• 4 5th order polynomial
• 5 Modified acceleration trapezoid
• 6 Modified Sine Line according to Neklutin
• 7 Simple sine (disadvantageous jerk)
• 11 11th. order polynomial
• 12 Squared parabola (disadvantageous jerk)
• 28 8th. order polynomial (disadvantageous jerk)
• 30 low-noise cosine combination
• 31 3th order polynomial (disadvantageous jerk)
• 32 4th order polynomial
• 33 6th order polynomial (disadvantageous jerk)
• 34 7th. order polynomial
• 38 mirrored sine
• 47 harmonic combination
For all other interpolations, the 5th order polynomial is used in the basic version. In
the "Advanced Version", all methods of interpolation (also in combination) are
possible in general. A detailed description of the methods not mentioned here, can
be found in the CamDesinger help.
The dwell-to-dwell motion law can also be specified in the header data mask of the
CamDesigner.
11 If the option "always calculate motion diagrams" is activated, the CamDesigner
will calculate the interpolated motion sequence and the acceleration sequence
after each change.
This option can also be de-/activated in the header data mask of the
CamDesigner.
12 Modular grid for graphic cam input.
These values determine to which master/slave grid the curve elements placed
with the aid of the mouse are brought ("caught"). The grid of the master (x)-axis
must be smaller than the configured clock distance.
These values can also be de-/activated in the input mask of the CamDesigner
for curve points.
13 Here are displayed status resp. error messages and notes.
14 Starting the CamDesigner.
This must be installed from the Compax3 CD beforehand.
After the return from the CamDesigner it is necessary to perform a curve data
download in order to load the changes into Compax3 (even if the curves
themselves were not modified).
15 Cancel. Closing the window, the changes are discarded.
Detailed information on the topic of "motion laws" can be found in the online help of
the device.
216 192-120102N6 C3FT40 2014-10

5.10.5. Cam function structure

Function modules of the cam ......................................................................................... 217
Signal image.................................................................................................................. 218
Cam reference systems ................................................................................................. 222
5.10.5.1 Function modules of the cam

C3_CamOut
Execute
C3_CamIn
Execute
C3_MasterControl Execute
C3_CamTableSelect MC_CamIn
StartSource Execute Execute
Master Setpoint
Cam
Position generator
Functions of the individual modules:

Master Position:
 Detection of the master position
 Alignment / adjustment of the master position signal
For this the following IEC modules are available
 C3_MasterControl:
 Select source
 activate detection
 activate master back stop (only rising master signals are accepted)
 C3_SetMaster: Define start position for the master signal.
 C3_MasterConfig: Define master reset distance (independent of the curve reseet
distance).
 MC_Phasing: Additional master distance which is added to the master signal and
which causes a slave movement.
Cam: Curve generation and control
 Selection of the curve
 Setting: run through curve once or cyclically
 Enable the master signal to the curve
 Definition of the master reference: relative or absolute.
 Specification of the master and slave segment distance.
 Specification of another MasterOffset with absolute reference or a starting delay
with relative reference.
This is made via the "C3_CamTableSelect2 IEC module".
Setpoint generator: Coupling and decoupling curves
 Enable the curve slave position.
 Alignment / adjustment of the curve slave position to the actual slave position.
For this the following IEC modules are available
 MC_CamIn: Coupling with relative slave reference.
 C3_CamIn: Coupling with absolute slave reference with coupling function, master
coupling position and master synchronous position
 C3_CamOut: Decoupling with absolute slave reference with coupling function,
master decoupling position, master braking position and slave standstill position.
192-120102N6 C3FT40 2014-10 217

5.10.5.2 Signal image
Displayed are 2 different signal plans, which differ in their master reference:
 absolute master reference
 relative master reference
Displayed are:
 the master signal processing,
 the function of the individual IEC function modules as well as
 the status objects made available for the commissioning or processing.
Symbols Please make yourself familiar with the Symbols of the signal image (see on page
221).
Abbreviations: RV: Reset distance of the virtual master (from C3 ServoManager wizard
"signal source")
RM Cam: Reset distance of the master from curve
RS: Reset distance of the slave (from C3 ServoManger Wizard
"configuration: Reference system)
MD: Feed of the master axis
SD: Feed of the slave axis
Signal image with absolute master reference

3030.1 C3Cam. 3030.24 C3Cam. 3032.24 C3Cam.
StatusMaster_ StatusMaster_ StatusOutput_
Position PositionCamUnits CurvePositionUnits
C3_CamTableSelect
LastSegment
C3_MasterConfig LastSegment
Execute C3_CamTableSelect *1) Master Slave *1)
Nominator Cycle Cycle
MasterOffset
Denominator
RM
Cam
1/MD
MD 1/MD MD SD
+
3022.6 C3Cam.Manipulation_ +
OffsetMasterposition_Units
C3_SetMaster
+ Value
+ Execute
1/MD
StartValue SH
3022.1C3Cam. 3030.13 C3Cam
Manipulation_ StatusMaster_ =0 MC_CamIn
Offset InputSum C3_CamIn
Masterposition
C3_CamOut
Direction
Source
False
-1 / +1 *1) *1) *1)
S1 *2) *1)
open
S
S2 +
D BackStop
+
+
Setpoint-
generator E
True M
close
MD 1 1
StartValue =0
3022.3 C3Cam.Manipulation_
Mastercycle SD
ScalefactorMasterGlobal
S2= open
3032.4 C3Cam.
C3_MasterControl StatusOutput_
StartValue =0
Enable AbsolutePositionGreat
C3_CamTableSelect
Master
3021.1 C3Cam. BackStop Execute
only if
SignalSource C3_CamReset
_Select *1) *3) *1) *2) *3) Execute
MC_Phasing
PhaseShift
Cam structure absolute
3030.12 C3Cam.StatusMaster_PhasingSum
218 192-120102N6 C3FT40 2014-10

Note: Direction -1 / +1 with direction reversal (under signal source configuration) factor -1
is applied.
Switches S1 & S2:
S1: Enable master acquisition; status switch in object 3030.7

O3030.7 = 0: switch open
O3030.7 = -2: switch closed, stop at the end of the cycle
O3030.7 = 2: switch closed, stop at the end of the cycle - single operation (run
through curve once)
O3030.7 = 4: switch closed, periodic operation (run through curve cyclically)
S2: Enable cam input; status switch in object 3030.17

O3030.17 = 3: switch closed, single operation (run through curve once)
C3_CamReset function
*1) Set output to zero
*2) Open switch
*3) Quick stop MC_Phasing
Signal image with relative master reference

3030.1 C3Cam. 3030.24 C3Cam. 3032.24 C3Cam.
StatusMaster_ Position StatusMaster_ StatusOutput_
PositionCamUnits CurvePositionUnits
C3_CamTableSelect
Execute C3_CamTableSelect
LastSegment
C3_CamTableSelect
C3_MasterConfig MasterOffset Master Slave
*1) *1)
Execute Cycle Cycle
Nominator
Denominator a without
b>a with
RM b MasterOffset
Cam MD SD
1/MD MD
3022.6 C3Cam.Manipulation_ C3_SetMaster
OffsetMasterposition_Units Value
++ Execute
3030.13 C3Cam 1/MD
StatusMaster_
3022.1C3Cam. InputSum
Manipulation_ StartValue MC_CamIn
Offset =0 C3_CamIn
Masterposition
C3_CamOut
Direction
Source
False
-1 / +1
S1 *1)
*1)
*1) *1)
close
open
D BackStop
True +
Setpoint-
generator E
S2 *2)
M
StartValue =0
3022.3 C3Cam.Manipulation_ MD 1 1
ScalefactorMasterGlobal Mastercycle SD
C3_MasterControl
StartValue =0
Enable C3_CamTableSelect
Master Execute
3021.1 C3Cam. BackStop
C3_CamReset
SignalSource *1) *3) *1) *2) *3) Execute
_Select
MC_Phasing
PhaseShift
Cam structure relative
3030.12 C3Cam.StatusMaster_PhasingSum
192-120102N6 C3FT40 2014-10 219

Note: Direction -1 / +1 with direction reversal (under signal source configuration) factor -1
is applied.
Switches S1 & S2:
S1: Enable master acquisition; status switch in object 3030.7

O3030.7 = -2: switch closed, stop at the end of the cycle
O3030.7 = 2: switch closed, stop at the end of the cycle - single operation (run
through curve once)
S2: Enable cam input; status switch in object 3030.17

O3030.17 = 3: switch closed, single operation (run through curve once)
C3_CamReset function
*1) Set output to zero
*2) Open switch
*3) Quick stop MC_Phasing
220 192-120102N6 C3FT40 2014-10

Symbols of the signal image

Symbol Description
a Point of addition:
+ d=a+b+c
b + d
+
c
c Point of multiplication:
b c=a*b
a
a Comparison:
If b >= a, then output active
b b >a
Integrator
Output signal = ∫(Input signal)*dt
The output signal is the integral (sum over time) of the input
signal
StartValue=0 "Start value=0" will set the output to 0; this is triggered by
activating “Execute” of an IEC module.
Differentiator
S
Non-linear curve function Slave / Master
Slave-Position = f (Master-Position)
M
Closed control loop

Control-
loop
Input: Setpoint Position
Output: Effective position
Reset function
Output signal is reset to 0 after value "R".
Value R can be taken in the signal image.
Setpoint generator
Setpoint-
generator
Generates the desired setpoint process (e. g. when coupling
into a curve)
C3_CamTableSelect IEC function module

MasterCycle with module name and input values
SlaveCycle
Back stop
BackStop Prevents a declining master signal
(Function of C3_MasterControl (see on page 229))
Sampling-holding-function (SH: Sample & Hold)
SH
The input value of the SH member is written to the output with
t trigger signal t.
192-120102N6 C3FT40 2014-10 221

5.10.5.3 Cam reference systems

Relative master reference without offset ........................................................................ 222
Relative master reference with 180° offset ..................................................................... 223
Absolute master reference without offset ....................................................................... 224
Absolute master reference with 180° offset .................................................................... 225
Relative slave reference ................................................................................................ 225
Absolute slave reference ............................................................................................... 227
For a cam application it is necessary to adapt the curve values (positions) to the
master and slave positions.
There are different possibilites to do this:
 relative master reference
 without offset
 with offset
 absolute master reference
 without offset
 with offset
The "Slave Cam output" setpoint signal from the curve is only related to the current
physical slave position by the selected coupling function. A distinction is made
between:
 relative slave reference and
 absolute slave reference
Relative master reference without offset

Slave Cam output
Cam from
CamDesigner
Master Cam input

0°
360°
Master signal
0° 360° 360°
Start Source Start

C3_MasterControl C3_CamTableSelect
360°
Master signal Master Cam Input
0° 360° 360°
Master Cam input: Master signal at the curve input

(C3Cam.StatusMaster_PositionCamUnits o3030.24)
Master signal: Master signal of the acquisition (C3Cam.StatusMaster_Position
o3030.1)
Slave: Signal at the curve output (C3Cam.StatusOutput_CurvePositionUnits
o3032.24)
222 192-120102N6 C3FT40 2014-10

Note:  With a relative master reference, a given curve is processed generally from the
beginning, independent of the start delay (=offset).
 The C3_CamTableSelect.Offset input is not to be wired!
Relative master reference with 180° offset
Slave Cam output

Cam from
CamDesigner
Master Cam input

0°
360°
Master signal
0° 180° 360° 180° 360°
Start Source
C3_MasterControl
Start
C3_CamTableSelect
Master Cam Input

360°
Master signal
0° 360° 360°

o3030.1)
o3032.24)
Note:  With a relative master reference, a given curve is processed generally from the
beginning, independent of the start delay (=offset).
 The offset is here used as start delay.
 The start of the C3_CamTableSelect can be at any position; it must however be
before the start offset is reached.
192-120102N6 C3FT40 2014-10 223

Absolute master reference without offset
Slave Cam output

Cam from
CamDesigner
Master Cam input

0°
360°
Master signal
0° 180° 0° 360°
Start Source Start

C3_MasterControl C3_CamTableSelect
Master Cam Input Master Cam Input

360°
Master signal
0° 360° 360°

o3030.1)
o3032.24)
Hint  Only with absolute master reference, a given curve can be started at any position.
This position corresponds to the offset value if the events "Start Source
C3_MasterControl" and "Start C3_CamTableSelect" take place at the same point
in time. Alternatively, you can preset the start value of the master position
acquisition with the C3_SetMaster.
Typical application: Shifting an open, s-shaped curve in the master reference
system.
224 192-120102N6 C3FT40 2014-10

Absolute master reference with 180° offset
Slave Cam output

Cam from
CamDesigner
180° 0° 180° Master Cam input 360°

Master signal
0° 360°
Start Source
C3_MasterControl
Start
C3_CamTableSelect
Master Cam Input Master signal

360°
180°

o3030.1)
o3032.24)
Hint  Only with absolute master reference, a given curve can be started at any position.
This position corresponds to the offset value if the events "Start Source
C3_MasterControl" and "Start C3_CamTableSelect" take place at the same point
in time. Alternatively, you can preset the start value of the master position
acquisition with the C3_SetMaster.
Typical application: Shifting an open, s-shaped curve in the master reference
system.
 The offset is added to the current value of the master signal at the start time of
CamTableSelect.
Relative slave reference

Relative slave reference can be established with MC_CamIn.
See also application example 1 (see on page 263)
192-120102N6 C3FT40 2014-10 225

Relative slave reference example 1

Example 1: MC_CamIn is started before or upon the curve start and the
master position acquisition:
540°
Slave Cam output

physical Slave
Master Cam input
180° 0°
360°
Start Source
C3_MasterControl,
MC_CamIn &
Start
C3_CamTableSelect

o3030.1)
o3032.24)
Relative slave reference example 2

Example 1: MC_CamIn is started after the curve start and the master position
acquisition:
Slave Cam output
physical Slave
Master Cam input

0°
360°
MC_CamIn.Execute
Start Source
C3_MasterControl,
Start
C3_CamTableSelect
pre Cam Cam
226 192-120102N6 C3FT40 2014-10

1: Alignment of the current slave setpoint position from the curve with the current
setpoint position from the history of the Execute of the MC_CamIn

o3030.1)
o3032.24)
Note: If a closed curve is combined with absolute master reference, an entry with
MC_CamIn at a master position > 0 will lead to a backwards movement of the axis
with reference to the start point.
Absolute slave reference

Absolute reference can be established by coupling in with a coupling movement
(Mode 1 or 2)
360°
Slave Cam output
physical Slave
Master Cam input

0° 0°
360°
Start Source C3_MasterControl

& Start C3_CamTableSelect

o3030.1)
o3032.24)
Note: The reference point and the curve zero point are always identical for absolute slave
reference with C3_CamIn.
5.10.6. Master signal source

Setting the position of the selected master source (C3_SetMaster) ............................... 228
Recording the position of the selected master source (C3_MasterControl) .................... 229
Control of the cam generator (C3_CamTableSelect)...................................................... 233
Reset curve generator (C3_CamReset) ......................................................................... 237
Configure reset distance of the position of the selected master source (C3_MasterConfig)239
Master signal phase shift (C3_Phasing)......................................................................... 241
192-120102N6 C3FT40 2014-10 227

5.10.6.1 Setting the position of the selected master source

(C3_SetMaster)
FB name C3_SetMaster
Setting the master position
VAR_IN_OUT
VAR_INPUT
Execute BOOL Start setting sequence
Value REAL Start value
VAR_OUTPUT
Done BOOL Setting sequence finished successfully
Error BOOL Setting the master failed
Note:
 Setting the value is possible:
 without having selected a curve.
 during master position acquisition.
 The SetMaster function can only be executed, if the axis is not synchronized (not
in "Synchronized Motion")
 SetMaster intrrupts the connection with the curve generator (see in the signal
image (see on page 218)).
 If the "Value" is greater than the current reset distance, the value is allowed for in
the reset distance.
C3_SetMaster

Value : REAL Error : BOOL
Timing for Execute / Done:
IEC-cycle
"Done" comes immediately after the execution of the module.
228 192-120102N6 C3FT40 2014-10

5.10.6.2 Recording the position of the selected master source

(C3_MasterControl)
FB name C3_MasterControl
Start and Stop of the master detection
VAR_IN_OUT
Slave INT Achs-ID (Bibliothekskonstanten)
VAR_INPUT
Enable BOOL Starting the module
Acquisition is started or stopped depending on the Mode
StartMode INT Selecting the Start Mode
1: Start of the detection with rising edge of the enable
2: Fast start after external event (Impulse). Defined by
“StartSource” and “StartMask”, , does start within 0.5ms.
3: Start of the acquisition with the next encoder zero pulse,
after the start of the modules (Enable = TRUE)
StartSource pointer Specification of an object (see example) for starting the
acquisition.
Only relevant with StartMode 2.
The address operator ADR () must be used to select an
object.
The scanned signal must have the INT or WORD formate.
StartMask WORD Binary mask for and-linking the source (logical UND( in
order to select a bit from the source object (e.g. a digital
input).
Only relevant with StartMode 2.
StopMode INT Selection of the Stop mode
1: Stops the acquisition with falling edge of the Enable
2: Stops the detection at the end of the master clock
distance. Defined via the curve or via C3_MasterConfig
(see on page 239).
Periodic BOOL False: run through curve once
Stops the acquisition at the end of the master clock distance
(defined via the curve or via C3_MasterConfig)
True: Cyclic run
BackStop BOOL False: Backstop not active
True: Back stop active
Linking of curves of the use of output
C3_CamtableSelect.EndOfSegment as trigger for
C3_CamtableSelect.Execute with various
C3_CamTableSelect-modules, only functions safely with
forward moving Master!
Master INT Axis- ID of the Master signal source (see on page 151)
AXIS_REF_HEDA: HEDA
AXIS_REF_Physical: +/-10V, Step/Direction / Encoder
AXIS_REF_Virtual: virtual master
VAR_OUTPUT
Status BOOL Shows that the master position acquisition is running
EndOfProfile BOOL Impulse at the end of the configured master cycle
Busy BOOL Waiting for an external event
Error BOOL Command was aborted; error when starting the detection
192-120102N6 C3FT40 2014-10 229

Note:
 With linked curves or use of output C3_CamtableSelect.EndOfSegment as trigger
for C3_CamtableSelect.Execute:
In case the Master (due to noise or process-related) can also run backward, the
back stop (BackStop=TRUE) must be activated. As precaution we recommend to
always activate it when linking!
 In case there is more than one Master signal source configurated, you can
change the signal sources by means of the Axis-ID.
The change is possible at standstill and with running Master (take care of the
similar speeds).
 With enable = active, the "Periodic" and "Master" inputs are always accepted.
 With the transition Enable low to high the StartMode is evaluated.
 With the transition Enable high to low the StopMode is evaluated.
 Only one module controlling the detection is allowed in the project.
 Enable and StartSource must have different sources.
 For drift free operation in single operation on the master acquisition side (input
"Periodic" = FALSE) or upon multiple stops of the the master acquisition at the
end of the cycle (StopMode=2), the "LastSegment" input must be = TRUE in the
(last) curve (C3_CamTableSelect module). Furthermore, the sum of the individual
master segment lengths must be equal to the master clock distance or its integer
multiple for several linked curves (sum master cycle until LastSegment = n *
Master clock distance (n=1,2,...)). In the event of a single curve, the Mastercycle
input must be open or the "Mastercycle" input must correspond to the master
clock distance. See example 1: Single start of a closed cam
C3_MasterControl
Enable : BOOL Status : BOOL

StartMode : INT EndOfProfile : BOOL
StartSource : DWORD Busy : BOOL
StartMask : WORD Error : BOOL
StopMode : INT Slave : AXIS_REF
Periodic : BOOL
BackStop : BOOL
Master : INT
Slave : AXIS_REF
Example 1:
230 192-120102N6 C3FT40 2014-10

 Enable of the master position acquisition with input I0.

 Start of the detection with an external event = rising edge at the I1 input.
Input I1 is selected via the object "C3.DigitalInput_Value”.
The input I1 is placed on Bit 1 (counting from 0), as a result the input "StartMask”
receives the value 2.
 Detection runs in single mode.
C3_MasterControl
C3_INPUT
I0: Enable : BOOL Status : BOOL

I1: 2 StartMode : INT EndOfProfile : BOOL
I2: ADR (C3.DigitalInput_Value) StartSource : DWORD Busy : BOOL
I3: 2 StartMask : WORD Error : BOOL
I4: 1 StopMode : INT
I5: FALSE Periodic : BOOL
I6: TRUE BackStop : BOOL
I7: AXIS_REF_Physical Master : INT
AXIS_REF_LocalAxis Slave: INT
360°
Masterposition
0
1 t
Enable
0
1 t
I1
0
Status 1 t
0
t
EndOfProfile 1
0
t
Busy 1
0
Example 2:  StopMode=2: Acquisition stops at the end of the master clock distance
 If "Enable" is deactivated within the master clock distance and is re-activated
before the end of the master clock distance, the acquisition will continue
undisturbed.
C3_MasterControl
C3_INPUT
I0: Enable : BOOL Status : BOOL

I1: 1 StartMode : INT EndOfProfile : BOOL
I2: StartSource : DWORD Busy : BOOL
I3: StartMask : WORD Error : BOOL
I4: 2 StopMode : INT
I5: TRUE Periodic : BOOL
I6: TRUE BackStop : BOOL
I7: AXIS_REF_Physical Master : INT
AXIS_REF_LocalAxis Slave: INT
360°
Masterposition
0
1 t
Enable
0
192-120102N6 C3FT40 2014-10 231

Cam operation with STOP or Error

The master position and the curve are not influenced by a STOP or an error of the
axis.
The detection and the curve generation continue; this means that the curve output
is also available in the case of an error.
If the curve is to be restarted after a STOP or an error without consideration of the
previous history, the “C3_CamReset (see on page 237)“ module must be executed
after stop or error before the first calling up of a “C3_CamTableSelect“.
Example:
232 192-120102N6 C3FT40 2014-10

5.10.6.3 Control of the cam generator (C3_CamTableSelect)

FB name C3_CamTableSelect
Control of the curve generator
VAR_IN_OUT
Master INT Axis ID; constant: AXIS_REF_LocalCam
VAR_INPUT
Execute BOOL Curve selection with positive edge
CamTable INT Curve number (beginning with 1)
Periodic BOOL =FALSE: run through curve once (Single operation)
is only evaluated in the last curve segment (it is therefore also
possible to link several curves without gaps with “Periodic” =
FALSE - cam operation is only left after the last curve).
=TRUE: cyclic curve passage (Periodic operation)
MasterAbsolute BOOL Select master reference of the curve
FASLE = relative
TRUE = absolute
Mastercycle REAL Value of the master segment distance [physical units] 3
decimal places are considered.
Slavecycle REAL Value of the slave segment distance [physical units] 3
decimal places are considered.
MasterOffset REAL Absolute operation:
Offset at the start of the master position acquisition
relative mode:
Start delay, the master position acquisition starts if the
master signal exceeds this value positively, see in the
signal image (see on page 218).
If the input is open or upon input value -999, the

curve starts with Execute (without delay)
LastSegment BOOL Resets the display, see in the signal image (see on page
218) and is used as reference signal for coupling.
Must be set on the last segment within the master clock distance
for driftless operation in single operation on the master side (see
module C3_MasterControl and example 1: Single start of a closed
cam)
VAR_OUTPUT
Done BOOL Change of curves finished
Busy BOOL Waiting for change of cams
EndOfSegment BOOL Impulse at the end of a curve even if no Execute is present
Error BOOL Command aborted
Error when selecting a curve or during master connection
192-120102N6 C3FT40 2014-10 233

Note:
 If the inputs “Mastercycle” and “Slavecycle” are not assigned or 0, the master
cycle out of the configuration is adopted and the highest feed of the selected
curve is taken as slave cycle (see curve types (see on page 206)).
 If the MasterAbsolute input stands on TRUE (absolute), the switch to the curve
generator is closed with the CamTableSelect and the curve aligns to the master
position detection.
The MasterOffset functions as Offset for the master position acquisition;
Input not assigned means MasterOffset = 0.
 If the MasterAbsolute input stands on FALSE (relative), the switch to the curve
generator is closed with the CamTableSelect and the curve does not align but
begins on the master side at 0.
The MasterOffset works as start delay; the curve starts only when the master
(O3030.1) has traveled further than this value in the positive direction. If the
master offset is larger than the effective master position, the curve start will only
take place in the next master cycle (after its reset).
 If the curve runs in single mode, only direct coupling with MC_CamIn is sensible.
 If the curve runs in single mode and the master runs periodically, it is only
sensible to have the curve run relative to the master.
 After running through the curve in single mode, the drive changes from the
“Synchronized Motion” state back to the “Standstill” state, i.e. after a SingleStart a
positioning is possible.
 An Execute during a curve cycle leads to a curve change at the end of the curve
cycle. The “MasterAbsolute” and "MasterOffset" inputs are not evaluated. If the
status of the “Periodic” input of the segment currently in progress was FALSE
(single operation), a curve change will nevertheless be executed.
Please note: If an Execute signal follows an Execute (rising edge) (e.g. by
bouncing an input), another change of curve is already triggered.
 With relative master reference (MasterAbsoute=FALSE) with start delay, the
change of curve is already executed (Done=TRUE), if the master signal has not
yet reached the Masteroffset (start delay).
 In the event of error message 0xFFE2: Error in the IEC61131-3 program
sequence. Function module was called with incorrect parameters:
CamTable<1 or CamTable>C3Cam.StatusData_SegmentsInFlash
 If the curve is to restarted after a STOP or an error without consideration of the
previous history, the “C3_CamReset (see on page 237)“ module must be
executed after stop. The execution of the C3_CamReset turns all outputs of the
C3_CamTAbleSelect to FALSE. With the limited version of "C3_CamTableSelect"
its instances must at least once be executed according after the C3_CamReset
(with Execute-input value FALSE)!.
 After C3_CamReset was executed, all instances of C3_CamTableSelect.Execute
= FALSE must be executed as well in order to finish the reset - operation.
Limitations when linking curves or with use of output
C3_CamtableSelect.EndOfSegment as trigger for
C3_CamtableSelect.Execute
 When using several C3_CamTableSelects in order to link curves, the same curve
may not be used twice after the first curve segment.
 Cam links only work with moved Master!
 If the Master (due to noise or process-related) can also run backward, the back
stop at the C3_MasterControl must be activated. As precaution we recommend
to always activate it when linking!
If not a negative Master movement at the beginning of a curve leads to a
negative curve change (which is interpreted from the component as positive
change) and the curve process does not correspond to the desired result (even
with Periodic=FALSE, curves are run repeatedly or are not run)!
 When using the the C3_Phasing no negative curve change shall be generated
(sum speed Master source and Phasing (at the beginning of the curve) should
always be bigger or even Zero).
Ideally the C3_Phasing is used and phasing speed with negative phase shift is
dynamically limited for the actual master speed (-> the negative phasing speed
results in maximum curve standstill and no reverse movement)!
234 192-120102N6 C3FT40 2014-10

C3_CamTableSelect

CamTable : INT Busy : BOOL
Periodic : BOOL EndOfSegment : BOOL
MasterAbsolute : BOOL Error : BOOL
Mastercycle : REAL Master : AXIS_REF
Slavecycle : REAL Slave : AXIS_REF
MasterOffset : REAL
LastSegment : BOOL
Master : AXIS_REF
Slave : AXIS_REF
Example / Timing diagram

CTS1 CTS2
C3_CamTableSelect C3_CamTableSelect
I1 Execute : BOOL Done : BOOL I2 Execute : BOOL Done : BOOL

1 CamTable : INT Busy : BOOL 2 CamTable : INT Busy : BOOL
FALSE Periodic : BOOL EndOfSegment : BOOL FALSE Periodic : BOOL EndOfSegment : BOOL
TRUE MasterAbsolute : BOOL Error : BOOL TRUE MasterAbsolute : BOOL Error : BOOL
Mastercycle : REAL Master : AXIS_REF Mastercycle : REAL Master : AXIS_REF
Slavecycle : REAL Slave : AXIS_REF Slavecycle : REAL Slave : AXIS_REF
MasterOffset : REAL MasterOffset : REAL
TRUE LastSegment : BOOL TRUE LastSegment : BOOL
AXIS_REF_LocalCam Master : AXIS_REF AXIS_REF_LocalCam Master : AXIS_REF
AXIS_REF_LocalAxis Slave : AXIS_REF AXIS_REF_LocalAxis Slave : AXIS_REF
3032.24
C3Cam.Status Output_
CurvePositionUnits
t
1
CTS1.Execute
0
t
1
CTS1.Done
0
t
1
CTS1.EndofSegment
0
t
1
CTS2.Execute
0
t
1
CTS2.Busy
0
t
1
CTS2.Done
0
t
1
CTS2.EndofSegment
0
t
192-120102N6 C3FT40 2014-10 235

Cam operation with STOP or Error

The master position and the curve are not influenced by a STOP or an error of the
axis.
The detection and the curve generation continue; this means that the curve output
is also available in the case of an error.
If the curve is to be restarted after a STOP or an error without consideration of the
previous history, the “C3_CamReset (see on page 237)“ module must be executed
after stop or error before the first calling up of a “C3_CamTableSelect“.
Example:
236 192-120102N6 C3FT40 2014-10

5.10.6.4 Reset curve generator (C3_CamReset)

FB name C3_CamReset
Resetting the curve generator into its original status after PowerOn and after
abortion of the curve operation (e.g. by STOP or Error)
Please note: Only one instance of C3_CamReset is required per axis!
VAR_IN_OUT
VAR_INPUT
Execute BOOL Resetting the curve with a rising edge on this input
VAR_OUTPUT
Done BOOL Cam generator reset is executed
Error BOOL Error while resetting the cam generator
Note:
 C3_CamReset cuts the connection to the cam generator (S2 is opened), stops a
C3_Phasing in progress and resets the status objects O3030.x (not O3030.1,
O3030.5, O3030.6, O3030.7, O3030.8), O3031.x, O3032.x (signal image (see
on page 218)).
The master position acquisition (controlled via C3_MasterControl) is NOT
influenced.
 C3_CamReset must be executed before the repeated operation of a
“C3_CamTableSelect” module upon a new start of the curve (output “Done” must
be waited for). With the limited version of "C3_CamTableSelect" its instances
must at least once be executed according after the C3_CamReset (with
Execute-input value FALSE).
 After C3_CamReset was executed, all instances of C3_CamTableSelect.Execute
= FALSE must be executed as well in order to finish the reset - operation.
 Using C3_CamReset in a device featuring a firmware older than R08-3 will lead
to device error “8190 CamCommand: Unknown command or no T40. After
acknowledging the error, a correct restart of the curve is also possible, the curve
status objects are however not reset!
 Output “Error” is set if the module is triggered while camming (State
“Synchronized Motion”) is still active or if an invalid “Axis” input value is present.
The execution of the C3_CamReset turns all outputs of the
C3_CamTAbleSelect to FALSE.
192-120102N6 C3FT40 2014-10 237

“Done” will come up one cycle after execution of the module.
238 192-120102N6 C3FT40 2014-10

5.10.6.5 Configure reset distance of the position of the

selected master source (C3_MasterConfig)
FB name C3_MasterConfig
Configure reset distance of the position of selected master
(does not influence the curve, only in the display object)
VAR_IN_OUT
VAR_INPUT
Execute BOOL Start configuration
Numerator DINT Numerator of the reset distance to master position
acquisition
Denominator DINT Numerator of the reset distance for the position of
selected master source
(automatically 1 with alternative master clock
distance)
The reset distance is disabled with:
Numerator = 0 and Denominator = 1
thus the display is no longer reset.
VAR_OUTPUT
Done BOOL Configuration finished successfully
Error BOOL Configuration of the master failed
Note:
 Module can be executed with running master.
 Write Flash is not executed, the changed values of the reset distance are lost
when switching off.
 The reset distance defined via the module deactivates the previously valid reset
distance of the curve, see in the signal image (see on page 218).
 For linked curves (see on page 269) the sum of all master segments (Numerator
/ Denominator) is entered as reset distance.
 The output "error" is set if
 the "Counter" is bigger than 8388607 and if der "Denominator" is Zero or bigger
8388607.
 TravelDistanceMaster_Denominator * "Counter" / set GreatesrCommonDevider
(TravelDistanceMaster_Denominator*"Numerator",TravelDistanceMaster_Nume
rator*"Denominator") bigger as 8388607. This check is made for all configurable
signal sources (different TravelDistanceMaster-values).
 The drive reports Errors "0x8199" or "0x819b".
C3_MasterConfig

Numerator : DINT Error : BOOL
Denominator : DINT Slave : AXIS_REF
Slave : AXIS_REF
192-120102N6 C3FT40 2014-10 239

IEC-cycle
"Done" comes immediately after the execution of the module.
240 192-120102N6 C3FT40 2014-10

5.10.6.6 Master signal phase shift (C3_Phasing)

FB name C3_Phasing
Time-related superimposition of the master position with an additional relative
distance (PhaseShift). Depending on the operating mode, the motion parameters
can be changed during a movement.
With this, only the master signal affecting the slave via the cam is influenced, the
master acquisition itself remains unchanged.
PhaseShift influences the master signal before the curve; the slave moves by the
resulting distance after the curve.
Application: Reg synchronization on the master side.
VAR_IN_OUT
Slave INT Axis ID; constant: AXIS_REF_LocalAxis
VAR_INPUT
Execute BOOL Starts sequence of the module upon a positive edge;
in the “SUPERIMPOSED_ABSOLUTE_CONT”
operating mode cyclic update of the positioning
parameters as long as the “Execute” remains
“TRUE”.
PhaseShift REAL Distance for the superimposed Shift (positive and negative
direction).
During a superimposed Shift in
the “distance” is considered to be an absolute Shift target
with reference to the start position of the superimposed
Shift (point in time of the first rising “Execute” edge where
no superimposed positioning is active). For details please
refer to input “Mode”.
In configured unit [Units] -value range- 60
61
In the "SUPERIMPOSED_RELATIVE” operating mode, the
specification of a speed <=zero is not permitted.
In the other operating modes, a negative value will
be set to 0.
62
<Wertebereich>
63
<Wertebereich>
64
65
<Wertebereich>
60
61
62
63
64
65
192-120102N6 C3FT40 2014-10 241

Mode INT
With a rising edge on the Execute, a relative superimposed
Shift, based on the value on input "PhaseShift” is executed
at that point in time (this does also apply if a superimposed
Shift is already active.
Upon a not active superimposed Shift, a relative Shift
starts on the “Execute” with a rising edge.
superimposed Shift (output “Busy” is set), the
Shiftdistance based on the start points of the superimposed
Shift is interpreted to be absolute.
corresponds to the "SUPERIMPOSED_ABSOLUTE” mode,
however as long as the input "Execute" is equal "TRUE"
the module inputs with rising edge at the input "Execute"
are not accepted in each IEC cycle for the effective
superimposed Shift.
ATTENTION!
Hint
The "SUPERIMPOSED_RELATIVE” operating mode
corresponds to the function of the former
MC_Phasing module
"TRUE": With each new Shift (rising edge on
“Execute”), the Shift target O680.3 (DemandValue3)
is reset to zero.
ATTENTION!
IgnoreSlaveDirectio BOOL Open or "FALSE": With direction reversal of the axis
n (Slave) the motion direction of the motor shaft
remains identical to the one without direction reversal
- however on the side of load (resp. in turned
slave-reference system) it is inverted.
"TRUE": as from firmware >R09-20: With direction
reversal of the axis (Slave) the motion direction of the
motor shaft changes compared to the one without
direction reversal - however on the side of load (resp.
in turned slave-reference system) it is not identical.
Firmware <=R09-20: No Phasing executed!
VAR_OUTPUT
Done BOOL Phase shift executed
Busy BOOL Phase shift is being executed
CommandAborted BOOL Phase shift aborted
242 192-120102N6 C3FT40 2014-10

Notes:
 The values PhaseShift, Velocity, Acceleration, Deceleration, Jerk, JerkDecel are
only valid for the superimposed phase shift; on the axis, the values resulting from
the superimposition in the master path corresponding to the effective CAM
sequence are set, which will be taken into consideration in the status values.
 Upon a MC_Stop of the local axis (AXIS_REF_LocalAxis), the phase shift is not
interrupted. If the shift is to be stopped, the C3_StopSuperImposed must be
used.
 The module can only be used in cam operation.
 C3_Phasing does not interrupt an active command.
 The input "IgnoreSlaveDirection" is only accepted with finished phase shift.
 When using C3_Phasings in applications with linked curves or when using the
output C3_CamtableSelect.EndOfSegment as trigger for the
C3_CamtableSelect.Execute, no negative change of cams may be generated
(sum speed Master signal source and Phasing (at beginning of segment) always
higher or equal zero). Ideally the phase speed is limited dynamically to the
negative actual Master Speed (-> negative Phasing speed results in maximum
curve standstill)!
 This module cannot be operated with MC_/C3_MoveSuperImposed and
C3_ShiftPosition at a time.
 It is possible to change modes (“Mode”) during a superimposed Shift in progress.
acts as upon a new start of a superimposed Shift ).
zero “Velocity” specification (if the Shift speed has reached zero) , as it can never
reach its target.
mode the VShift speed is finished with the parameters pending at the time. Is the
"Velocity" demand equal zero (if the actual displacement target speed has
reached the value zero), the Shift speed is aborted as it can never reach its
target. A (new) rising edge on "Execute" starts, as in
Shift speed.
 Frequent changes of the Shift target within a superimposed Shift may lead to
imprecisions in the Shift in the “PositionResetMode” input is not set to “TRUE”!
 If the speed is reduced to zero at the end of a Shift during setpoint generation, no
new values for speed, deceleration and jerk are accepted in the absolute
operating modes “SUPERIMPOSED_ABSOLUTE” or
"SUPERIMPOSED_ABSOLUTE_CONT" with unchanged Shift target (input
"PhaseShift".
192-120102N6 C3FT40 2014-10 243

(MC_Stop))
during another superimposed movement (MC_/C3_MoveSuperImposed,
C3_ShiftPosition).

Shift occurred caused by

C3_Phasing

PhaseShift : REAL CommandAborted : BOOL
Acceleration : DINT Busy : BOOL
Deceleration : DINT
Jerk : DINT
JerkDecel : DINT
Mode : INT
PositionResetMode : BOOL
IgnoreSlaveDirection : BOOL
244 192-120102N6 C3FT40 2014-10

C3_Phasing

PhaseShift : REAL CommandAborted : BOOL
Acceleration : DINT Busy : BOOL
Deceleration : DINT
Jerk : DINT
JerkDecel : DINT
Mode : INT
PositionResetMode : BOOL
IgnoreSlaveDirection : BOOL
phase shift master position "seen" by slave
360
Position
0
phase velocity physical master position
Velocity
master velocity
0
t
Execute
0
t
Done
0
t
Busy
0
t
5.10.7. Alignment of the slave axis

Start cam / coupling ....................................................................................................... 245
Exiting the active curve with coupling movement (C3_CamOut) .................................... 256
5.10.7.1 Start cam / coupling

Starting a selected curve (MC_CamIn) .......................................................................... 246
Starting a selected curve with coupling movement (C3_CamIn)..................................... 248
192-120102N6 C3FT40 2014-10 245

Starting a selected curve (MC_CamIn)

FB name MC_CamIn
Synchronization of the axis with the output of the curve generator without coupling
movement
VAR_IN_OUT
VAR_INPUT
Execute BOOL Curve start with positive edge
VAR_OUTPUT
InSync BOOL Synchronous operation active
Error in the cam operation
EndOfProfile BOOL End of a cam cycle.
A pulse with the length of an IEC cycle indicates the end
of each cam cycle.
Suitable for setting up a loop counter.
Note:
 Curve alignment:
 Execute is followed by immediate coupling; the current curve setpoint value is
adapted to the current slave setpoint value. This adapts the curve to the current
position.
 In order to avoid velocity jumps, the master should be at a standstill or the curve
should have an initial gradient (slope) of 0.
 MC_CamIn can also be started by a C3_CamTableSelect, if the curve setpoint
value does not jump after the start of the C3_CamTableSelect example 6:
Operation with curve segments and standstill area (see on page 273).
MC_CamIn
Execute : BOOL InSync : BOOL

Master : AXIS_REF CommandAborted : BOOL
Slave : AXIS_REF Error : BOOL
EndOfProfile : BOOL
Master : AXIS_REF
Slave : AXIS_REF
246 192-120102N6 C3FT40 2014-10

Direct coupling with MC_CamIn

S MT
ST
Sa
MC_CamIn.Execute
Sa: current slave position

192-120102N6 C3FT40 2014-10 247

Starting a selected curve with coupling movement (C3_CamIn)
FB name C3_CamIn
Synchronization of the axis to the output of the curve generator with adjustable coupling
movement
VAR_IN_OUT
VAR_INPUT
Execute BOOL Curve start with positive edge
CouplingMode INT 0 = coupling without coupling movement, after the
master having traveled over the coupling position (ME)
in positive direction.
1 = coupling via quadratic function;
the master coupling position (ME) is calculated.
2 = coupling via changeover function
CouplingPosition REAL Master coupling position (ME) in master units
(is taken into consideration with CouplingMode = 0 and
2
with CouplingMode = 1, the coupling position is
calculated)
Value range: 0 ... n*MT
SyncPosition REAL Master synchronous position (MS) in master units
(not relevant with CouplingMode = 0)
Value range:
CouplingMode 1: 0 ... MT or 0 ... Master reset distance
CouplingMode 2: 0 ... n*MT
VAR_OUTPUT
InSync BOOL Synchronous operation active
EndOfProfile BOOL End of a slave cam cycle.,
A pulse with the length of a IEC cycle indicates the end
of each master cam cycle .
Suitable for setting up a loop counter.
248 192-120102N6 C3FT40 2014-10

Note:
 Master coupling position (ME) and master synchronized position (MS):
 With CouplingMode = 0: ME is taken into consideration, MS not relevant.
 With CouplingMode = 1: ME is calculated internally, MS is taken into
consideration.
 With CouplingMode = 2: ME is taken into consideration, MS is taken into
consideration.
 With CouplingMode =1 the curve must be constantly rising at the Master
synchronous position (MS).
 Position MS must be inferior to the configured or equal to the configured master
reset distance for quadratic coupling, otherwise an incorrect gradient will be
calculated (MS is corrected when calculating the gradient in the value range of
the master reset distance).
 If the master synchronous position MS is superior to the master clock distance
MT, the coupling process will be distributed over several master cycles.
 Before or during coupling with "CouplingMode" 1 or 2 finished/active
MC_/C3_MoveSuperImposed the curve position is not reached in the
synchronous position MS (phase lift for the sum of the SuperImposed movement
since the last alignment to zero, alignment conditions see
C3_MoveSuperImposed, sum value as from Firmware > R09-20 in 0680.34).
Coupling in is executed as if no superimposed movement were present.
 If the master runs backwards after the beginning of the coupling movement, the
slave will again be at its original position after reaching the coupling position.
 Coupling from concatenated curves is possible in the “change-over” mode, if the
backstop is activated or if the master does not run backwards; it is however not
possible with quadratic coupling. It is assumed that the curve active at the point in
time when the coupling command is given, is continuously repeated.
 With changeover, the coupling function depends on the current curve.
 The relevant master position for coupling position ME and synchronized position
MS is object 3030.24 (=sum of the master distances up to LastSegment=True;
value range 0..MT). Without LastSegment set on the C3_CamTableSelect
module, coupling in is only possible with the first starting of the curve (after
master position enable)!
 Before C3_CamIn is executed, a curve must be selected with
C3_CamTableSelect.
C3_CamIn
Execute : BOOL InSync : BOOL

CouplingMode : INT CommandAborted : BOOL
CouplingPosition : REAL Error : BOOL
SyncPosition : REAL EndOfProfile : BOOL
1
Execute
0
1 t
InSync
0
1 t
Masterzyklus
0
Slavezyklus 1 t
0
ME MS t
EndOfProfile 1
0
192-120102N6 C3FT40 2014-10 249

Example with CouplingMode = 1 and C3_CamTableSelect: Periodic = TRUE.

Quadratic coupling (CouplingMode = 1) ......................................................................... 250
Direct coupling (CouplingMode = 0) ............................................................................... 252
Change-over (CouplingMode = 2) .................................................................................. 253
Quadratic coupling (CouplingMode = 1)

The quadratic coupling results in a quadratic position course of the slave axis
without velocity superelevation:
The synchronous position with master reference (MS) is ideally stated within the
hind range of the master clock distance, so that the coupling movement takes
place within one single cycle.
For this, the start position (activating the coupling sequence with C3_CamIn:
Execute) must also be near the curve zero point.
The master-related coupling position (ME) is calculated from the slope of the curve
in the synchronization point and the actual slave position (Sa) so that it results in a
quadratic position course.
For this, there must be a positive slope (gradient) at the synchronization position.
The master speed must be positive, i.e. the master position must be rising.
Coupling via a slave clock distance
SS
e(M)
1 ST
Sa MT
0
ME MS M
0 M
SS: Slave synchronization position
Sa: Current slave position before start of curve
Me: Master coupling position calculated from MS, slope in MS/SS and Sa
MS: Master synchronous position
e(M): quadratic coupling function
1: Gradient triangle: determines the duration of the coupling sequence (the steeper,
the faster the coupling process)
250 192-120102N6 C3FT40 2014-10

Coupling over several slave clock distances

If the curve has a very flat slope in the synchronization point (MS/SS), or if the
current Slave position Sa is behind the Slave synchronization position, or with a
master synchronization position MS larger than the master clock distance MT, the
coupling sequence takes place over several master cycles.
1 e(M)
S
MT
Sa
SS
ST
0
ME MS M
0 M

Me: Master coupling position calculated from MS, slope in MS/SS and Sa
MS: Master synchronous position
e(M): quadratic coupling function
1: The slave setpoint value is reset at this position in the display.
192-120102N6 C3FT40 2014-10 251

Direct coupling (CouplingMode = 0)
S MT
ST
Sa
ME M
C3_CamIn.Execute
Sa: current slave position

After Execute of C3_CamIn the slave will only couple in from the master coupling
position ME.
In order to avoid velocity jumps, the curve should have an initial gradient (slope) of
0.
252 192-120102N6 C3FT40 2014-10

Change-over (CouplingMode = 2)
When using the change-over-function, the curve setpoint value is permanently
displayed during coupling, while the current slave position is permanently hidden.
Overspeeding and pull-out movement are possible.
By specifying the master-related coupling and synchronization position in master
units, the coupling curve is mapped to a range of any length of the curve. This
means that it is no longer fixedly coupled to the curve cycle.
Algorithm of the change-over function
The normalized coupling function begins at the value 0 and end at the value 1 and
rises continually in between. It is a 5th. order function.
The coupling curve does not produce a direct slave setpoint value but produces a
factor KE for the weighting of the current curve setpoint value resp. the current
slave position Sa (position at the start of the coupling sequence).
The course of the coupling curve depends on the slave position Sa and the course
of the curve in synchronized operation.
The weighting is made according to the following function:
Coupling curve = SK * KE + S0 * (1 - KE)
with:
S0 = standstill position
SK = current curve setpoint value
KA = control variable between 0 ... 1.0 (between ME and MS)
Example: Change-over function over a curve cycle
S
SS MT
ST
Sa
ME MS M
ME: Master coupling position = 30°
MS: Master synchronized position = 340°
MT: Master clock distance = 360°
The slope (speed) of the coupling sequence shows a clear overspeeding in
comparison with the synchronized run.
192-120102N6 C3FT40 2014-10 253

Example: Change-over function over several curve cycles
MT
SS
ST
Sa
0 ME MS M

ME: Master coupling position = 60°
MS: Master synchronized position = 700°
1: The slave setpoint value is reset at this position in the display.
254 192-120102N6 C3FT40 2014-10

Change-over function KE:
192-120102N6 C3FT40 2014-10 255

5.10.7.2 Exiting the active curve with coupling movement

(C3_CamOut)
FB name C3_CamOut
Decouple the active curve with adjustable coupling movement
VAR_IN_OUT
VAR_INPUT
Execute BOOL Activate the decoupling process with a positive edge
DecouplingMode INT 0 = decoupling without coupling movement, after the
master having traveled over the decoupling position
MA in positive direction.
(MB and S0 not relevant)
1 = decoupling via quadratic function;
the master braking position (MB) is calculated
2 = decoupling via changeover function
DecouplingPosition REAL Master decoupling position in Master units (MA)
Range of values:
DecouplingMode 1:
0 ... MT or 0 ... Master reset distance
DecouplingMode 2:
0 ... MT
BrakingPosition REAL Master braking position in master units (MB)
(is taken into consideration with CouplingMode = 2
with CouplingMode = 1, the braking position is
calculated).
MB must be > than MA.
Value range: 0 ... n*MT
StandstillPosition REAL Slave standstill position in Slave units (S0)
During DecouplingMode 1 S0 should be > SA (=curve
point at the "Master position MA).
VAR_OUTPUT
Done BOOL Decoupling complete
InSync BOOL Wait for decoupling position
EndOfProfile BOOL End of the cam cycle.
256 192-120102N6 C3FT40 2014-10

Note:
 Decoupling is not possible during coupling.
 Master decoupling position (MA) and Master braking position (MB)
 With DecouplingMode 0: MA is taken into consideration, MB not relevant.
 With DecouplingMode 1: MA is taken into consideration; MB is calculated.
 With DecouplingMode 2: MA is taken into consideration; MB is taken into
consideration.
 The Slave standstill position is not taken into consideration with DecouplingMode
= 0.
 With DecouplingMode =1 the curve must be constantly rising at the Master
decoupling position (MA).
 The relevant master position for decoupling position MA and braking position MB
is object 3030.24 (value range 0..MT (=sum of the master distances up to
LastSegment=True)). Without LastSegment set on the C3_CamTableSelect
module, decoupling in is not possible!
 Position MA must be within the limits of MT, otherwise decoupling will not be
executed.
 Position MA must be inferior to the configured or equal to the configured master
reset distance for quadratic coupling, otherwise an incorrect gradient will be
calculated (MA is corrected when calculating the gradient in the value range of
the master reset distance).
 if the master runs backwards after the beginning of the decoupling movement, the
curve is accessed again after reaching the decoupling position.
 With changeover, the decoupling function depends on the current curve.
 The is no upper limit for synchronous position S0, even with active reset function.
Decoupling via a slave distance > ST is therefore possible.
 Try to avoid decoupling with active C3_MoveSuperImposed as the Position S0 at
the end of the decoupling is not reached (the decoupling is carried out with the
available sum of the SuperImposed movement at the beginning) and a following
error of the drive (jump for the traveled SuperImposed movmement since the
Execute on C3_CamOut) may occur.
 The sum of the SuperImposed movements since the last alignment to zero is
deleted when the decoupling process is finished.
 A superimposed movement executed via the C3_MoveSuperImposed from
coupling in until the point in time of decoupling, is entirely or partly reversed upon
quadratic decoupling or decoupling with change-over if no reset function was
configured for the axis reference system.
 The StandstillPosition S0 is corrected internally during quadratic decoupling by
multiple addition of the reset distance or the curve stroke with reference to the
curve amplitude, so that a positive distance results for the decoupling sequence.
 Decoupling from concatenated curves is in general possible if the backstop is
activated or if the master will not run backwards, with quadratic decoupling
however only with the following restrictions:
 The decoupling command must be triggered for several consecutive curves
without Last Segment=True in the first curve (after a curve with
LastSegment=True) and position MA must be within this curve.
 The decoupling command must be triggered for several consecutive curves with
LastSegment=True in the curve to be decoupled; position MA must also be
within this curve.
 The relevant master position for decoupling position and braking position is object
3030.24.
 In the event of error message 0xFFE2: Error in the IEC61131-3 program
sequence. Function module was called with incorrect parameters:
DecouplingMode=2 and BrakingPosition <= DecouplingPosition
192-120102N6 C3FT40 2014-10 257

C3_CamOut

DecouplingMode : INT InSync : BOOL
DecouplingPosition : REAL Error : BOOL
BrakingPosition : REAL EndOfProfile : BOOL
StandstillPosition : REAL Master : AXIS_REF
Master : AXIS_REF Slave : AXIS_REF
Slave : AXIS_REF
1
Execute
0
1 t
Done
0
InSync 1 t
0
1
t
Masterzyklus
0
S0 t
Slavezyklus 1
0
MA MB t
EndOfProfile 1
0
Example with DecouplingMode = 1 and C3_CamTableSelect: Periodic = TRUE.

Direct decoupling (CouplingMode = 0) ........................................................................... 258
Quadratic decoupling (CouplingMode = 1) ..................................................................... 259
Decoupling with change-over function (DecouplingMode = 2) ........................................ 260
Direct decoupling (CouplingMode = 0)

With direct decoupling, the curve operation is immediately terminated with the
Execute.
In order to avoid speed jumps, the master should be at a standstill during direct
decoupling or should be decoupled at a point, where the slope is 0 (constant slave
position).
258 192-120102N6 C3FT40 2014-10

Quadratic decoupling (CouplingMode = 1)

The quadratic decoupling results in a quadratic position course of the slave axis
without velocity superelevation or direction change.
The braking position (MB) is calculated from the slope of the curve at the
decoupling point and the standstill position (S0) so that a quadratic position course
is the result.
Standstill position < slave position
If the standstill position is inferior to the slave position at the beginning of the
decoupling, it is corrected so that a positive travel results for the decoupling
process. In this case, the decoupling process will only be completed in the
following cycle.
The executed correction for S0 will be as follows:
 In slave axis reset operation, the reset distance will be added to S0 until the
above condition is no longer fulfilled.
 Without a configured slave axis reset distance, the cam feed (open curve) or the
maximum curve value (closed curve) of the curve active during execution of the
CamOut module will be added to S0 until the above condition is no longer
fulfilled. Therefore quadratic decoupling is only of limited use in such a “correction
case” without reset operation. Decoupling is executed, the desired decoupling
position does however no longer correspond to S0 (or its multiple).
If a superimposed movement is executed by a C3_MoveSuperImposed in active
curve mode (after coupling), its distance in negative curve direction will be
completely reversed upon decoupling, if no slave axis reset operation is active. If
no slave axis reset operation is active, only a relative correction takes place in
superimposed movement in positive curve direction, as reverse movements during
decoupling must be prevented (for this, S0 is internally modified corresponding to
the above correction instructions). In active reset function, the decoupling distance
is only influenced in the range between 0..reset distance and the reset demand
position of the axis corresponds, as desired, to the (reset) specification for the
decoupling position S0 if decoupling is completed.
There must be a positive slope (gradient) at the decoupling position.

Decoupling over several master clock distances
If the slope (gradient) of the curve in the decoupling point is very flat, the
decoupling sequence will take several master clock distances.
S0
a(M)
ST
1 MT
Sa
0
MA MB M
M
0
192-120102N6 C3FT40 2014-10 259

S0: Slave standstill position

Sa: Effective slave position at the master decoupling position
MA: Master decoupling position
MB: Master braking position
a(M): quadratic decoupling function
1: Gradient triangle: determines the duration of the decoupling sequence (the
steeper, the faster the decoupling process)
Decoupling with change-over function (DecouplingMode = 2)

The standstill position is continually displayed during decoupling, while the curve is
continually hidden.
Overspeeding and pull-out movement are possible.
By the specification of the master-related decoupling and braking position in master
units, the decoupling curve is mapped on any length of the curve.
If a superimposed movement is executed by a C3_MoveSuperImposed in active
curve mode (after coupling), its distance will be completely reversed upon
decoupling, if no slave axis reset operation is active. With activated reset function,
the decoupling distance is only influenced in the range 0 .. reset distance and the
reset demand position of the axis correspond to the (reset) specification for the
decoupling position S0 if decoupling is completed.
Algorithm of the change-over function
The normalized coupling function corresponds to the coupling function, but it is run
trough in inverse direction during decoupling. It provides factor KA, which is used
for the weighting.
The course of the decoupling curve depends on the standstill position and the
course of the curve in synchronized operation.
The weighting is made according to the following function:
Decoupling curve = SK * KA + S0 * (1 - KA)
with:
S0 = standstill position
SK = current curve setpoint value
KA = control variable between 1.0 ... 0 (between MA and MB)
Example: Decoupling with the changeover-function
S
MT
ST
S0
0
MA MB M
S0: Slave standstill position
MA: Master decoupling position = 60°
MB: Master braking position 680°
260 192-120102N6 C3FT40 2014-10

5.10.8. 10 Steps for cam generation

Step 1: C3 ServoManager ............................................................................................. 261
Step 2: Connect motor. .................................................................................................. 261
Step 3: Supply & I/O wiring ............................................................................................ 261
Step 4: RS232 connection & C3 ServoManager ............................................................ 261
Step 5: Set Compax3 device type .................................................................................. 261
Step 6: Configuration ..................................................................................................... 261
Step 7: Selecting Master signal source .......................................................................... 262
Step 8: Generating the cam ........................................................................................... 262
Step 9: Create IEC program .......................................................................................... 262
Step 10: Starting and monitoring cam ............................................................................ 262
Example:
 Electronic Cam with 2 standstill areas,
 Master signal is the internal virtual master.
5.10.8.1 Step 1: C3 ServoManager

 Install Compax3 ServoManager (Compax3-CD 840-100005) on your PC (it is
recommended to un-install all previous versions beforehand).
 Install CamDesigner (Compax3-CD 840-100005).
 You need a RS232 cable (SSK1/xx) for the connection PC - Compax3 X10.
5.10.8.2 Step 2: Connect motor.

 Motor cable to Compax3 X3
 Feedback cable to Compax3 X13.
5.10.8.3 Step 3: Supply & I/O wiring

 AC supply (1 or 3 phase) to X1
 DC supply to X4
 Device enable by 24VDC on X4/Pin3
 The following digital inputs must be assigned:
Input 0 - Pin X12/6 24V = Enable of the power output stage
Input 1 - Pin X12/7 24V = Start machine zero
Input 2 - Pin X12/8 24V = Start virtual master
0V = Stop virtual master
Input 4 - Pin X12/10 24V = select and start curve
Input 5 - Pin X12/12 24V = curve coupling
Input 6 - Pin X12/13 24V = curve decoupling
Input 7 - Pin X12/14 24V = Reset (ackn.)
5.10.8.4 Step 4: RS232 connection & C3 ServoManager

 Establish RS232 connection (cable SSk1/xx) between PC and C3 X10.
 Start C3 ServoManager
5.10.8.5 Step 5: Set Compax3 device type

 Compax3 device selection wizard, select type
or
 Type online identification
5.10.8.6 Step 6: Configuration

Start configuration in the C3 ServoManager and configure Compax3.
 Set motor
 Ballast resistor
 External moment of inertia
192-120102N6 C3FT40 2014-10 261

 Reference System
 Unit: Grade
 Travel distance per motor revolution numerator = 360°
 Travel distance per revolution Denominator = 1
 Reset distance numerator = 360°
 Reset distance denominator = 1
 Machine zero = mode 34
 Limit sensor
 Jerk/Ramps
 Monitoring / Limits: Following error to 5°
 Encoder simulation
 Variable (Recipe) List
5.10.8.7 Step 7: Selecting Master signal source

 Open entry of signal source (left side of the tree)
 Select master signal source: virtual master
 Enter units and reset distance (360°)
 Rs485 settings
load configuration into Compax3.
5.10.8.8 Step 8: Generating the cam

Call up/process curve with the aid of the CamEditor
 Enter axis name
 Select signal source of virtual master
 Enter number of interpolation points: 360
 Enter motion law: dwell-to-dwell: "Modified Sine Line according to Neklutin"
 Start CamDesigner
 Under Menu File: New sequence. Select axis name
 Add 2 standstill areas: 0/360; 0/310; 50/360 (Path coordinate/clock angle)
 View path-time-diagram and optimize curve if needs be
 End CamDesigner via Menu:File:End
 Download of the curve into Compax3
5.10.8.9 Step 9: Create IEC program

 Start IEC development environment (in the tree on the left side under
Programming: IEC61131-3 development environment
 File, enter new project name
 Set target system: CoDeSys for C3 T40
 Open program example "cd\exambles\\10StepsToCam" in CFC.
 Save project
 Project translate everything
 Download of the IEC program into Compax3 (in the C3 ServoManager in the tree
on the left side under Download: IEC61131-3)
5.10.8.10 Step 10: Starting and monitoring cam

Input 0 - Pin X12/6 24V = energize Compax3
Input 1 - Pin X12/7 24V = Starting the homing run
Input 2 - Pin X12/8 24V = Start virtual master
0V = Stop virtual master
Input 4 - Pin X12/10 24V = select and start curve
Input 5 - Pin X12/12 24V = curve coupling
Input 6 - Pin X12/13 24V = curve decoupling
Input 7 - Pin X12/14 24V = Reset (ackn.)
Control status values in the IEC61131-3 - Debugger or in the oscilloscope

(optimization window) (e.g. C3Cam.STATUSMASTER_Position, )
262 192-120102N6 C3FT40 2014-10

5.10.9. Cam applications

You will find the applications described below as CoDeSys project on the Compax3
CD in the \Examples file.
Th following application descriptions can also be found on the CD in the

"\Examples" file:
C3T40_A1003 Cutting on the fly with Start/Stop operating mode, registration
mark reference, separation function, phase correction
C3T40_A1004 Flying knife with fixed blade circumference and variable product
length
C3T40_A1005 Sync gate, registration mark reference, synchronous motion,
automatic or manual travel back to start position.
C3T40_A1007 PID controller for IEC61131-3; operating P, PD, PI, PID are
possible
C3T40_A1015 Gearing with Stop/Start and Phase correction
The ZIP files contain the German and English description as well as the related
projects.
Example 1: Single start of a closed cam ........................................................................ 263
Example 2: Change between single start of an open cam and POSA ............................ 265
Example 3: Single Start for run through curve 5 times ................................................... 267
Example 4: Composing curves ...................................................................................... 269
Example 5: Cyclic operation with event-triggered change of curve................................. 271
Example 6: Operation with curve segments and standstill area...................................... 273
Example 7: Curve operation with slave reg synchronization........................................... 274
Example 8: Curve operation with master reg synchronization ........................................ 276
Example case of damage .............................................................................................. 278
Application note: Drift..................................................................................................... 280
5.10.9.1 Example 1: Single start of a closed cam

Task:
 Closed cam (forwards and backwards) with standstill area at the beginning and at
the end.
 Digital input starts run through curve once.
 Connection to virtual master.
Corresponding files: CamExample01.C3P (Compax3 project on the Compax3 CD:\Examples\Example1)

CamExample01.pro (CoDeSys project on the Compax3 CD:\Examples\Example1)
Control interface: Input Function

I0 Energize axis, homing, curve generator, starting and coupling axis
I1 Enable master detection
I2 Starting detection in single mode
I3 Start of the virtual master
I4 Free
I5 Free
I6 Free
I7 Free
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Solution:
264 192-120102N6 C3FT40 2014-10

 The curve is activated after the homing run (Home.Done to CTS1).

 After that the axis is synchronized via CS1.Done at CI1. Now the master
detection can be started.
 Input I1 enables the master acquisition, which will wait for the external event
(Input I2)
In order to do this, the C3_MasterControl module: is assigned to following value:
ADR(C3.DigitalInput_Value).
In order to select the 3rd. bit from this value the input StartMask receives the
value 4.
 The master acquisition runs in Single Mode and the curve generator
(C3_CamTableSelect) in the Periodic, this means that the switch between the
curve generator and detection is always closed, see in the signal image (see on
page 218). With the external event (input I2) a curve cycle is run through.
Signal image:
C3_MasterControl (Single Mode)
C3_CamTableSelect (Periodic Mode)
1
Masterposition
0
1 t
C3_MasterControl.
Enable 0
1 t
externes Ereignis
external event 0
C3_CamTableSelect. 1 t
Execute 0
t
MC_CamIn. 1
Execute 0
t
Slaveposition 1
0
5.10.9.2 Example 2: Change between single start of an open

cam and POSA
Task:
 Open curve with standstill range at the beginning and at the end
 Digital input starts run through curve once
 Digital input starts positioning movement on slave cycle
 Connection to encoder
Corresponding files: CamExample02.C3P (Compax3 project on the Compax3 CD:\\xamples\Example2)


I0 Energize axis, homing, curve generator, starting and coupling axis
I1 Starting detection in single mode
I2 Start of the absolute movement
I3 Free
I4 Free
I5 Free
I6 Free
I7 Free
192-120102N6 C3FT40 2014-10 265

Solution:
266 192-120102N6 C3FT40 2014-10

Explanation:
 The repeated turning up of the single start during the run through curve must not
disturb the operation.
 Single start during positioning must not disturb, curve must not start:
This is prevented by the fact that the enable of the master position acquisition is
only started, if the drive is in the "Synchronized Motion" state.
 If a positioning is executed, the axis is in the "discrete Motion" state. When
MC-CamIn is executed, the axis will switch into the "Synchronized Motion" state;
the axis is now synchronous with the curve generator.
 Master detection is started with an external event (input I1).
In order to do this the C3_MasterControl module: is assigned to following value:
ADR(C3.DigitalInput_Value = object for the digital inputs).
In order to select the 2nd. Bit from this value the input StartMask receives the
value 2.
 The axis is coupled after Homing (MC_CamIn), then the curve generator
(C3_CamTableSelect) starts, after that the master position acquisition is started
via the external input (C3_MasterControl).
As the output Home.Done is permanently present, this output must be put to CI1
with an edge module. This ensures that CI1 (MC_CamIn) can be activated again.
 The absolute movement is not executed in the "Synchronized Motion " status
(MC_MoveAbsolut reports an error), so this is automatically blocked.
5.10.9.3 Example 3: Single Start for run through curve 5 times

Task:
 Open curve without standstill area
 Coupling / decoupling with change-over function
 Digital input for the start of 5 curve cycles (incl. coupling and decoupling cycle)


I0 Energize axis, Homing
I1 Enable and start of the master position detection
I2 Start of the curve cycle
I3 Free
I4 Free
I5 Free
I6 Free
192-120102N6 C3FT40 2014-10 267

Solution:
Explanation:
 Coupling from 0 on (CamIn.CouplingPosition = 0), decoupling on 360°
(CamOut.StandstillPosition = 360°).
 The curve generator (C3_CamTableSelect) is started in relative Mode with the
Input I2.
 with MasterOffset = 0, the next zero crossing is waited for if the master is already
running.
 The busy output of CTS1 starts the coupling sequence before the selected curve
is active. Only if the master position has exceeded the value 0
(CTS1.MasterOffset = 0, CTS1.MasterAbsolute = TRUE), the curve starts to run
and CTS1.Done will become TRUE.
 After the 3rd. “EndOfSegment” pulse of the C3_CamTableSelect module runs
through the 4th. curve. The change of cam to the single mode is then triggered
with the counter module. This will become active at the end of the 4th curve, so
that the curve is run through 4 times.
 If the change into the 5th. curve cycle was effected, the Done output will come up
at this module (CTS2), which triggers the decoupling sequence.
268 192-120102N6 C3FT40 2014-10

5.10.9.4 Example 4: Composing curves

 3 curves (ramp-up curve, straight line, ramp-down curve) with the same master
clock distance
 digital input for single start of a curve sequence, after that standstill until the
repeated start of the 3-curve sequence.


I2 Coupling and curve start
I3 Free
I4 Free
I5 Free
I6 Free
192-120102N6 C3FT40 2014-10 269

Solution:
270 192-120102N6 C3FT40 2014-10

Explanation:
 The entire curve line is 720° long, the reset distance in the slave axis
configuration stands on 720° (Configuration: Reference system).
 The change of cams is triggered with the Done of the curve activated before
(CTS1 ... CTS3). The Done output follows, if the change into the respective curve
has been executed.
 The axis is synchronized with input I2 (CamIn) and at the same time the 1st.
curve generator (CTS1) is started.
This ensures that no increments are lost with running master.
Design of a curve:
720° 180°
Curve 3
540° 360° 0°
Curve 2
Position Reset Distance Slave
180° 0°
Curve 1
0°
360° 720° 1080°
CTS1.Execute (I2)
CamIn.Execute
CTS1.Done -> CTS2.Execute
CTS2.Done -> CTS3.Execute
CTS3.Done
Position Reset Distance Master
Position Reset Distance Slave: Reset distance slave

Position Reset Distance Master: Reset distance Master = time axis in the Cam
Designer
5.10.9.5 Example 5: Cyclic operation with event-triggered

change of curve
 2 curves with the same clock distances: S-curve without standstill area and
straight line
 digital input for quadratic coupling and decoupling
 digital input for switching of curve
 Master reference must be kept with exactly the same increments during the
change
 The master position acquisition must continue in decoupled state
192-120102N6 C3FT40 2014-10 271



I2 Selection of cam
I3 Coupling / Decoupling
I4 Free
I5 Free
I6 Free
Solution:
Explanations:
 Via Input I2 either curve 1 (CTS1) or curve 2 (CTS2) is activated, both in the
absolute mode (MasterAbsolute=TRUE).
 The detection starts with I1 (MasterControl).
 Coupling in takes place with rising edge of I3, decoupling takes place with falling
edge of I3.
272 192-120102N6 C3FT40 2014-10

5.10.9.6 Example 6: Operation with curve segments and

standstill area
 Via a master cycle, a slave feed with following standstill is to take place from a
master position of 30° on; from a master position of 230° on, the slave is to
return. This sequence is to be repeated cyclically.


I3 Free
I4 Free
I5 Free
I6 Free
Solution:
192-120102N6 C3FT40 2014-10 273

Boundary conditions:
 After the coupling of the axis, the curve generator (CST1) is started in relative
mode with an offset of 30°.
The start of the curve takes only place, if a master position of 30° is reached.
 The feed takes place via 100 master degrees (C3_CamTableSelect module):
Mastercycle = 100).
 With the falling edge of EndofSegment of the CamTableSelect module (CTS1),
the next movement will be triggered via CamIn2.
 CamIn2 starts via “InSynch the 2nd. C3_CamTableSelect (CTS2), whose curve
will reset the slave to its previous position via the master position range between
100° and 230°.
 The sequence can be repeated with "EndofSegment" of this module.
Special feature:
 In this example, the curve shall be run through entirely, therefore MC_CamIn is
started before C3_CamTableSelect. This is only possible with MC_CamIn.
Signal image:
C3_MasterControl (Periodic Mode)
C3_CamTableSelect (Single Mode)
Masterposition
(3030.1) 230°
Masterposition Kurve 30°

(3030.24) 0°
t
C3_MasterControl. 1
Enable
0
1 t
MC_CamIn1.
Execute 0
Start 1 t
C3_CamTableSelect 0
1. Kurve, Offset 30°
t
Slaveposition 1
0
t
MC_CamIn2. 1
Execute 0
t
Start 1
C3_CamTableSelect 0
2. Kurve, Offset 230°
t
5.10.9.7 Example 7: Curve operation with slave reg

synchronization
The slave position in the curve mode is to be corrected in dependence of a
registration mark: Slave-oriented reg synchronization.
Corresponding files: Slave_Markenkorrektur_Example.C3P (Compax3 Project on Compax3

CD:\Examples\Example7)
Slave_Markenkorrektur_Example.pro (CoDeSys Project on the Compax3
CD:\\Examples\\Example7)
274 192-120102N6 C3FT40 2014-10


I0 Energize axis, homing, select curve, starting and coupling axis (static)
I1 Enable and start of the master position acquisition (static)
I2 Start virtual master
I3 Reg enable (static)
I4 Reg input (edge)
I5 Free
I6 Free
I7 Free
Solution:
192-120102N6 C3FT40 2014-10 275

 Setpoint position of the registration mark: 90°
 Ignore zone of the reg detection: 180° - 360°
curve
5.10.9.8 Example 8: Curve operation with master reg

synchronization
The master position in the curve mode is to be corrected in dependence of a
registration mark: Master oriented reg synchronization.
Corresponding files: Master_Markenkorrektur.C3P (Compax3 Project auf Compax3

Master_Markenkorrektur.pro (CoDeSys Project on the Compax3
Control interface: input Function

I0 Energize axis, homing, select curve, starting and coupling axis (static)
E1 Enable master acquisition (static)
E2 Start virtual master
E3 Reg enable (static)
E4 Reg input (edge)
E5 free
E6 free
E7 free
276 192-120102N6 C3FT40 2014-10

Solution:
192-120102N6 C3FT40 2014-10 277

 Setpoint position of the registration mark: 90°.
 Slave standstill at 180°.
 The object C3Cam.StatusMaster_PositionCamUnits (o3030.24) is used as
source for the C3_Touchprobe module and is set against the reg setpoint
position.
 The adjustment movement is made via MC_Phasing (new C3_Phasing) (see the
signal image (see on page 218) of the cam).
curve
5.10.9.9 Example case of damage

The axis should work in curve mode.
The master should be stopped in the case of an axis error. After the elimination
and acknowledgement of the error, the axis shall synchronize and normal operation
shall be resumed.
Corresponding files: CamExampleHav.C3P (Compax3 Project on the Compax3

CD:\Examples\Examples_Haverie)
CamExampleHav.pro (CoDeSys Project on the Compax3
CD:\Examples\Examples_Haverie)

I0 Energize axis
I3 Coupling / Decoupling
I4 Free
I5 Error acknowledgement
I6 Homing
278 192-120102N6 C3FT40 2014-10

Solution:
192-120102N6 C3FT40 2014-10 279

 The ReadStatus module helps detect, if the axis is in the error state.
An error will trigger the stop of the virtual axis, the curve cycle will stop, the curve
generator (C3_CamTableSelect) will continue.
 After the stop of the master, the axis will also be at a standstill.
 The error is acknowledged via input I5; the axis will be energized again (see also
the "AND" module at the input of MC_Power).
 If the axis is energized again and input I5 is present, the axis is moved to the
current position of the curve output (MC_moveAbsolute) and at the end of the
movement it is coupled again with MC_CamIn.
 The output "InSync" of the MC_CamIn (camin2) will re-start the virtual master and
the cycle is continued.
5.10.9.10 Application note: Drift

Correct scaling of the reference values helps prevent drift.
For this, it is necessary to consider the conversions of the position signal:
Gear box
Master Master Slave Slave Load
ST
revolution Z1 units units N2 revolution N3 revolution
N1 Z2 Z3
MT
Master / Slave / Load revolution: Master / Slave / Load revolutions:

Master / Slave units: Master / Slave - revolutions
Gear box: Gearbox
That is:
Z1 Travel distance per revolution master axis
numerator
=
N1 Travel distance per motor revolution master axis
denominator
(configured in the Compax3 ServoManager under "signal source")
Z2 Travel distance per revolution slave axis

numerator
=
N2 Travel distance per revolution Slave axis
Denominator
(configured in the Compax3 ServoManager under "configuration")
Z3 Motor
= transmission
N3 ratio Load
"Position Reset" Distance - Master

MT: Master clock Axis (M_Units)
distance "Position Reset" Distance - Master
Axis (Denominator)
MT is rounded to 3 decimal places.
Numerical Example:
Product: 314.871 long
14 products are to be transported per load revolution via a curve.
Gearbox: Motor/Load = 6949673 / 43890 => i = 158.3429...
1. Variant (with drift)

Load revolutions = (number of the products) * (length of a product) * (reciprocal of
the travel path per motor revolution slave axis) * (gearbox load / motor)
N2 43890
Load revolutions = 14 * 314,871mm * *
Z2 6949673
280 192-120102N6 C3FT40 2014-10

43890 Z2 193475634.66
14 * 314,871mm * 694967 = =
N2 6949673
3
This factor can not be expressed exactly in Compax3; the max. entry allowed in the
Compax3 ServoManager:
1934756
69496
which causes drift.
2. Variant (without drift)

Slave clock distance = 1 product cycle
For this, the curve is created scaled to 1.
N2 43890
Load revolutions = 14 * 1mm * * 694967
Z2
3
43890 Z2 614460
14 * 1mm * 694967 = =
N2 6949673
3
This factor for the path per motor revolution can be expressed, no drift is
generated!
192-120102N6 C3FT40 2014-10 281

5.11 Cam switching mechanism
Please observe:
In the C3 powerPLmC, the "cam switching mechanism" function can only be
programmed for a Compax3 slave axis with the T40 technology function.

Cam switching mechanism function overview ................................................................ 282
Redirect the fast cams directly to the physical output (C3_OutputSelect) ....................... 285
Objects of the cam switching mechanism ...................................................................... 286
Behavior of the switch-on/switch-off anticipation ............................................................ 287
Hysteresis...................................................................................................................... 290
CoDeSys-Project for the configuration of the cams ........................................................ 291
Example: Working with fast cams .................................................................................. 291
5.11.1. Cam switching mechanism function overview

Example of cam function ............................................................................................... 283
Examples of a cam cycle ............................................................................................... 283
Up to 36 cams can be programmed. They are divided into 2 cam types:
Serial cams
 32 serial cams (Cam 0 ... 31) of which a cam is brought up once every 0.5 ms.
Thecycle timeof the cams is: (Highest active serial cam +1) * 0.5ms..
Example: if cam 17 is the highest cam enabled, this results in a cycle time of: 18 *
0.5ms = 9ms
 If no fast cams are used, the numberof the serial cams per cycle (0.5ms) can be
increased up to 4:
The setting is made via object 3701.6. It applies:
Cycle time = number of the serial cams *0.5ms / O3701.6 with the value range
O3701.6 = 1, 2, 3, 4.
Fast cams
 4 fast cams with a cycle time of 500µs (125µs per cam).
 When using fast cams, there is a cycle time of 0.5ms per cam for serial cams.
 With the C3_OutputSelect (see on page 285) module the fast cams can be put
directly and without delay, independently of the cycle time of the IEC program, on
the digital outputs O0 ... O3.
Cam functions
 Switching-on and switching-off position of each cam individually.
 Cams with compensation for dead time, with switching-on and switching-off
anticipation for each cam.
 Individually adjustable cam source.
 Enable for each individual cam.
 Adjustable switching hysteresis for actual position value as a cam source.
 The outputs of the cams are objects.
282 192-120102N6 C3FT40 2014-10

Parker EME Cam switching mechanism
5.11.1.1 Example of cam function

Example of cam function (without switching-on and switching-off
anticipation)
SlavePosition
SwitchFast1_PositionOff
SwitchFast1_PositionOn
SwitchFast0_PositionOff
SwitchFast0_PositionOn
1
SwitchFast1
1
SwitchFast0
5.11.1.2 Examples of a cam cycle

Example 1: Working cycles for:
 3 fast cams and
 3 serial cams
1,5ms
1 1 2 3 1
2 1 2 3 1 2 3 1 2 3 1 2 3
500µs
1: Serial cams
2: Fast cams

 no fast cams,
 8 serial cams and
 reduced cycle time (object O3701.6 = 3)
1,5ms
1 2 3 4 5 6 7 8 1 2 3
500µs
192-120102N6 C3FT40 2014-10 283


 no fast cams,
 8 serial cams and
 reduced cycle time (object O3701.6 = 4)
1ms
1 2 3 4 5 6 7 8 1 2 3 4 5 6 7
500µs
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5.11.2. Redirect the fast cams directly to the physical output

(C3_OutputSelect)
FB name C3_OutputSelect
Select source for digital outputs
VAR_INPUT
Execute BOOL Activates the module with a rising edge
O0 INT Constant for source for the digital output 0
VAR_OUTPUT
Done BOOL Source selection executed
Note:
 The source selection for the outputs is executed with a rising edge of Execute.
 Application for fast cams:
the fast cams are put directly and without delay to the digital outputs, independent
of the cycle time of the IEC program.
 OutputSelect_C3Output allows to access the respective output directly via the
IEC program (e.g. with the aid of C3_Output).
 OutputSelect_FastCamSwitch puts the respective fast cam to the output. The
assignment is fixed, i.e. cam 0 would be put on O0, cam 1 would be put on output
O1, etc.
Example:
C3_OutputSelect
Execute: BOOL Done: BOOL

OutputSelect_C3Output O0: INT
OutputSelect_FastCamSwitch O1: INT
OutputSelect_FastCamSwitch O2 : INT
OutputSelect_C3Output O3 : INT
 Source: output 0: C3_Output

 Source output 1: Fast cam 1
 Source output 2: Fast cam 2
 Source output 3: C3_Output
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5.11.3. Objects of the cam switching mechanism
Object designations Unit Objects for serial cams Objects for fast cams valid
from
Source Cam 0: O3730.1 Cam 0: O3710.1 VP*
="1": Actual position ... ... ... ...
="2": Setpoint position Cam 31: O3761.1 Cam 3: O3713.1
="3": Virtual Master
="5": Master position (3030.1)
Switching-on position defined unit Cam 0: O3730.2 Cam 0: O3710.2 VP*
for ... ... ... ...
positions Cam 31: O3761.2 Cam 3: O3713.2
Switching-off position defined unit Cam 0: O3730.3 Cam 0: O3710.3 VP*
for ... ... ... ...
positions Cam 31: O3761.3 Cam 3: O3713.3
Switch-on anticipation 1 ≡ 500µs Cam 0: O3730.4 Cam 0: O3710.4 imme

... ... ... ... diately
Cam 31: O3761.4 Cam 3: O3713.4
Switch-off anticipation 1 ≡ 500µs Cam 0: O3730.5 Cam 0: O3710.5 imme

... ... ... ... diately
Cam 31: O3761.5 Cam 3: O3713.5
Output Cam 0: O3701.3 Bit 0 Cam 0: O3700.3 Bit 0 imme

(the given object bit contains the ... ... ... ... diately
cam switch status for further use) Cam 15 O3701.3 Bit15 Cam 3: O3700.3 Bit 3
Cam 16 O3701.5 Bit 0
... ...
Cam 31: O3701.5 Bit15
Enable Cam 0: O3701.2 Bit 0 Cam 0: O3700.2 Bit 0 imme
... ... ... ... diately
Cam 15 O3701.2 Bit15 Cam 3: O3700.2 Bit 3
Cam 16 O3701.4 Bit 0
... ...
Cam 31: O3701.4 Bit15
Hysteresis defined unit With source = actual position: O3705.1 VP*
for With source = Master position: O3705.5
positions
The exact description of the objects can be found in the object directory (see on
page 392).
The command VP (set objects to valid) can be executed as

 global VP - for all objects or
 selective VP - only objects of the cam switching mechanism -
Global VP: Write into object 210.11 with value <> 0

Selective VP: Write into object 210.9 with value <> 0
(C3Plus.ValidParameter_CamControlledSwitches:=True)
The selective VP is executed faster and constitutes a smaller temporal strain!
Scheme of the object assignment example of the serial cam 0
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Signals Source Enable

O3730.1 O3701.2 Bit 0
T
tOff Output
tOn
0 O3701.3 Bit 0
t
speed>0
speed<0
tOn tOff
O3730.2
O3730.3
O3730.4
O3730.5
O3705.1
Notes:
 You can write directly into a serial cam switch output that is not enabled (e. g.
cam 0 => object3701.3 bit 0).
 After deactivating the cam, the last output status is kept. You can then define the
status by directly writing into the object.
5.11.4. Behavior of the switch-on/switch-off anticipation

The switching-on and switching-off behavior of the actuating elements (delayed
switching, reaction time) can be compensated via a reaction time (switching-on/off
anticipation) that can be parametered for each individual cam.
Compax3 will calculate a corrected switching-on/ or off position by multiplying the
reaction time with the current speed, so that the actuating element will switch at the
actual switching position due to its delay; the actuating element delay is
compensated.
5.11.4.1 Behavior depending on the travel direction

T
tOff
tOn
0
t
speed>0
speed<0
tOn tOff
tOn: Switch-on anticipation

tOff: Switch-off anticipation
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For the switching behavior depending on the position applies therefore:
Example: switching behavior at positive speed (speed>0)

Pos_tOn Pos_tOff
speed>0
0
SwitchOn* SwitchOff*
SwitchOn SwitchOff
SwitchOn: Switching-on position

SwitchOn*: corrected switching-on position
SwitchOff: Switching-off position
SwitchOff*: corrected switching-off position
Pos_tOn: position difference calculated from the switch-on anticipation
Pos_tOff: position difference calculated from the switch-off anticipation
Example: switching behavior at negative speed (speed<0)

Pos_tOff Pos_tOn
speed<0
0
SwitchOff* SwitchOn*
SwitchOn SwitchOff

N.B.! The switching-on resp. switching-off anticipation are exchanged with negative
speed, as the cam
 switches on at the switching-off position
and
 switches off at the switching-on position!
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5.11.4.2 Switching behavior with reset operation

When leaving the positioning area, the positions are corrected accordingly.
The switching-off position may be smaller than the switching-on position:
tOn_1
SwitchOn_1
SwitchOn_1*
tOff_1
SwitchOff_1
SwitchOff_1*

Note: With reset mode of the selected source, the switching position is limited to the
area:
0 <= switching position < reset distance
i.e. That means that values < zero become zero, values > than the reset distance
will become the reset distance-1LSB.
5.11.4.3 Switch-on anticipation is corrected via reset distance

SwitchOn_1*
tOff_0 tOn_1 tOff_1

SwitchOff_0 tOn_0
SwitchOff_1
SwitchOff_0* SwitchOff_1*
SwitchOn_0
SwitchOn_0*
SwitchOn_1

For cam_1 and _2
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5.11.4.4 Note: No switching operation with overlapping cams

If it occurs that for example the switching-off position is < the switching-on position
due to a movement caused by the reaction time compensation, no switching will
take place. This case must be eliminated by choosing appropriate cam positions.
Pos_tOff
Pos_tOn
SwitchOff*
SwitchOn*
speed>0
0
SwitchOn SwitchOff

Please observe:
The position difference for the compensation of the switching delay rises with the
speed.
5.11.5. Hysteresis
In order to avoid jitter of cams at the limits of the switching area (only relevant as
source of cam with actual values) a switching hysteresis (the same for all cams)
can be defined.
Hysterese Hysterese
SwitchOn SwitchOff
1
speed<0
speed>0
0
SwitchOff* SwitchOn* SwitchOn* SwitchOff*

SwitchOn*: switching-on position corrected by the hysteresis
SwitchOff*: switching-off position corrected by the hysteresis
The hysteresis is preset as a position value.
Please observe: The hysteresis influences the switching-on and switching-off anticipation
You should therefore set this value at the lowest possible level.
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5.11.6. CoDeSys-Project for the configuration of the cams

You will find a CoDeSys project for the configuration of the cams with the following
functions on the Compax3 CD under
..\Examples\CamSwitch\CamSwitch_Template.pro:
Configuration of the cam switching mechanism via IEC61131-3 in ST (structured
text):
1.) Initializing some "example cams" (Module "Init_Cam_Switch")
 Configuration of sequential cams,
 Configuration of fast cams,
 Configuration of the hystereses,
 Activation of (fast) cams,
 Resetting outputs,
 Triggering selective VP
Global variables determine, which functions are used or are relevant:

CAMsourceActual - True: Actual position is used as master source
CAMfast - True: fast cams are being used
CAMnumber_per_cycle - 1..4: Number of cams implemented/500µs)
2.) Use of the cams in the IEC (Module "PLC_PRG")
 Execute module "Init_Cam_Switch" once,
 logic query with cams,
 logic combination with cams,
 Output of cams via digital outputs,
 Deactivating individual cams,
 Manupulating deactivated cams
5.11.7. Example: Working with fast cams

Setting 2 fast cams to the Compax3 outputs O2 and O3.
Related programs:  ..\Examples\CamSwitch\2_schnelle_Nocken.C3P

 \Examples\CamSwitch\2_schnelle_Nocken.pro
Assignment: O0 = 1: Drive energized

O1 = 1: Machine zero approached
O2 = 1 fast cam 2 (170° ... 190°)
O3 = 1 fast cam 3 (290° ... 310°)
I0: Energize Drive
I1: Start searching machine zero
I2: Start of a 360° positioning (reset distance = 360°)
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Solution:
ST Part
Note:
 With C3_OutputSelect the outputs O2 and O3 are assigned to the fast cams.
Compax3 puts automatically the fast cams 2 and 3 to the outputs O2 and O3.
 The cam objects are set once after switching-on.
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Parker EME Error handling
5.12 Error handling

Acknowledging errors (MC_Reset) ................................................................................ 293
Reading axis errors (MC_ReadAxisError) ...................................................................... 294
Set error reaction (C3_SetErrorReaction) ...................................................................... 295
5.12.1. Acknowledging errors (MC_Reset)

FB name MC_Reset
Acknowledges errors (transition from "Errorstop" status to "Standstill" status).
VAR_IN_OUT
VAR_INPUT
Execute BOOL Activates the module if there is a positive edge
VAR_OUTPUT
Done BOOL Error successfully acknowledged, axis is in the "Standstill"
state again
Error BOOL Acknowledge failed /not possible
ErrorID WORD Error description, according to error history
Note:
 After the error is successfully acknowledged, the power must be supplied to the
power output stage again by a rising edge on the enable input of the MC_Power
power module.
 The execution of the module may influence the MC_Stop (see on page 157)
module outputs.
MC_Reset

ErrorID : WORD
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5.12.2. Reading axis errors (MC_ReadAxisError)

FB name MC_ReadAxisError
This function module displays axis errors.
VAR_IN_OUT
VAR_INPUT
Enable BOOL Activates the module
VAR_OUTPUT
Done BOOL Output values available
Error BOOL Compax3 in error state
ErrorID WORD Current error description
Note: -
MC_ReadAxisError
Enable : BOOL Done : BOOL

ErrorID : WORD
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Parker EME Error handling
5.12.3. Set error reaction (C3_SetErrorReaction)

FB name C3_SetErrorReaction
This module is used to define the error reaction.
Note: The error reaction cannot be changed for errors with standard reaction 5 (switch
immediately to currentless (without ramp), close brake).
VAR_INPUT
Execute BOOL The defined error reaction is set for the selected error
ErrorID WORD Error number [hexadecimal] for which the error
reaction should be set, e.g. 0x6281 for cycle time
exceeded
Reaction INT Error response:
0: no reaction, error is deactivated.
1: Downramp actual speed; remain in position control
state
2: Downramp the actual speed; then switch off
controller
VAR_OUTPUT
Done BOOL The defined error reaction was set
Note:
Error list
 The error reaction settings from the configuration wizard are overwritten.
 The setting of the error mask is made internally via a C3 object. If the objects are
saved permanently, the setting is memorized after Power off.
Please note:
 The C3_ErrorMask overwrites (depending on the calling-up order) the settings.
 The corresponding error reaction is valid for both axes (of Compax3F) as the case
may be.
 The module will overwrite the settings made via the C3 ServoManager.
 If the ErrorID has an invalid error number, no change is effected.
C3_SetErrorReaction

ErrorID : WORD Error: BOOL
Reaction : INT
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5.13 Process image

Reading digital inputs (C3_Input) ................................................................................... 296
Write digital outputs (C3_Output) ................................................................................... 296
Reading/writing optional inputs/outputs.......................................................................... 296
Write analog outputs (C3_AnalogOutputs) ..................................................................... 299
Memorizing the signals with the trigger event (C3_TouchProbe).................................... 300
Integration of Parker I/Os (PIOs).................................................................................... 303
5.13.1. Reading digital inputs (C3_Input)

FB name C3_Input
Used to generate a process image of the digital inputs.
VAR_INPUT
I0 ... I7 BOOL Displays the logic status of the respective input (with low
active inputs, the physical statuses are negated).
Notes: the module should always be brought up at the beginning of the processing
cycle.
C3_I nput
I0: BOOL
I1: BOOL
I2: BOOL
I3: BOOL
I4: BOOL
I5: BOOL
I6: BOOL
I7: BOOL
5.13.2. Write digital outputs (C3_Output)

FB name C3_Output
Used to generate a process image of the digital outputs.
VAR_OUTPUT
O0 ... O3 BOOL Displays the status of the respective output.
Notes: the module should always be brought up at the end of the processing cycle.
C3_O utput
O0: BOOL
O1: BOOL
O2 : BOOL
O3 : BOOL
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Parker EME Process image
5.13.3. Reading/writing optional inputs/outputs

C3_IOAddition_0 ........................................................................................................... 297
C3_IOAddition_1 ........................................................................................................... 297
C3_IOAddition_2 ........................................................................................................... 298
5.13.3.1 C3_IOAddition_0
FB name C3_IOAddition_0
Is used to create a process image of the optional digital inputs/outputs.
VAR_INPUT
I0 ... I3 BOOL Displays the status of the respective input.
Please note that the group of 4 may be assigned as inputs or outputs (see on
page 433). You may only use either inputs or outputs exclusively.
Notes: The module should always be brought up at the beginning (inputs) or end
(outputs) of the processing cycle.
C3_IOAddition_0
OutputEnable : BOOL I0 : BOOL

O0 : BOOL I1 : BOOL
O1 : BOOL I2 : BOOL
O2 : BOOL I3 : BOOL
O3 : BOOL Error : BOOL
VAR_INPUT
cycle.
C3_IOAddition_1

O4 : BOOL I5 : BOOL
O5 : BOOL I6 : BOOL
O6 : BOOL I7 : BOOL
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VAR_INPUT
cycle.
C3_IOAddition_2

O8 : BOOL I9 : BOOL
O9 : BOOL I10 : BOOL
O10 : BOOL I11 : BOOL
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5.13.4. Write analog outputs (C3_AnalogOutputs)

FB name C3_AnalogOutputs
Allows for the use of free (non configured) outputs.
VAR_INPUT
OutxEnable: BOOL Starts the sequences of the module with positive
(x: 0..3) edge - only possible with drive disabled!
Outx: REAL The value between -100% .. 100%
(x: 0..3)
Mode_Out0_Out1: OUT_MODE Mode of the physical interfaces for outputs 0 and
1
VOLTS_PLUS_MINUS_10
-100% correspond to -10V
+100% correspond to +10V
MILLI_AMPERE_0_20
-100% correspond to 0mA
+100% correspond to 20mA
MILLI_AMPERE_4_20
-100% correspond to 4mA
+100% correspond to 20mA
Mode_Out2_Out3: OUT_MODE Mode of the physical interface for outputs 2 and 3
please refer to description of Mode_Out0_Out1
VAR_OUTPUT
The following conditions might lead to an error:
 The outputs you wish to use are assigned.
 The mode of the physical interface is not
possible, as at least one output used in this
group requires a different mode.
 The device was energized during the
positive edge.
Assignment of analog outputs:
Out0 = X2/1; GND 0 = X2/2
Out1 = X2/3; GND 1 = X2/4
Out2 = X2/5; GND 2 = X2/6
Out3 = X2/7; GND 3 = X2/8
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5.13.5. Memorizing the signals with the trigger event

(C3_TouchProbe)
FB name C3_TouchProbe
Memorizing signals / objects with the trigger event
- replaces the MC_TouchProbe module -
VAR_IN_OUT
VAR_INPUT
Execute BOOL Activates the module if there is a rising edge
SignalSource Pointer Selects the signal to be scanned.
The ADR () Operator must be used imperatively.
The signal scanned must be in the REAL or the INT
format.
FallingEdge BOOL If TRUE, it is triggered in the falling edge.
The logical status after a possible input inversion is
respected.
TriggerInput INT Selects the trigger input.
Constant TouchProbeInputx (see note)
ExpectedValue REAL Value at which the trigger event is expected.
Tolerance REAL Tolerance interval around ExpectedValue, where the
trigger event is accepted (always positive) (with
reference to the signal source).
StartIgnore REAL The beginning of the range in which the trigger event
will not be acknowledged with Done or Error (with
reference to the signal source).
StopIgnore REAL The end of the range in which the trigger event will not
be acknowledged with Done or Error (with reference to
the signal source).
EnableIgnoreZone BOOL Activate IgnoreZone.
Abort BOOL Deactivate module.
VAR_OUTPUT
Done BOOL Trigger event occurred within the tolerance interval and
the signal was detected.
RecordedSignal_ Real REAL Value scanned at the time of the trigger event, if the
source is available in the coDeSys "REAL format.
Please respect the format information of the signal
source (SignalSource)
RecordedSignal_ INT INT Value scanned at the time of the trigger event, if the
source is available in the coDeSys "INT" format.
Please respect the format information of the signal
source (SignalSource)
Busy BOOL Module active and no scanning signal occurred outside
the IgnoreZone.
Error BOOL Error while executing module.
Note:
 Temporal precision of signal recording: <1µs
 TriggerInput: Trigger-input:
via the constants "TouchProbeInput0" ... "TouchProbeInput7" (X12/6 - X12/14)
the trigger signal input is selected.
 Attention!
Only max. one entity of the module can be active as the hardware resources
are only available once!
Several entities being activated one after the other are permitted.
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C3_TouchProbe

Abort : BOOL RecordedSignal_Real : REAL
TriggerInput : INT RecordedSignal_INT : INT
FallingEdge : BOOL Error : BOOL
ExpectedValue : REAL Busy : BOOL
Tolerance : REAL
StartIgnore : REAL
StopIgnore : REAL
EnableIgnoreZone : BOOL
SignalSource : Pointer
Axis : (Var_IN_OUT)
Example: Scanning the actual position, triggered via Input I0

Probe
C3_TouchProbe
inp.I1 Execute : BOOL Done : BOOL

inp.I7 Abort : BOOL RecordedSignal_Real : REAL
TouchProbeInput0 TriggerInput : INT RecordedSignal_INT : INT
FALSE FallingEdge : BOOL Error : BOOL
500 ExpectedValue : REAL Busy : BOOL
100 Tolerance : REAL
100 StartIgnore : REAL
300 StopIgnore : REAL
TRUE EnableIgnoreZone : BOOL
ADR(C3.StatusPosition_Actual) SignalSource : Pointer
AXIS_REF_LocalAxis Axis : (Var_IN_OUT)
Sampling Points
TRUE
Execute
FALSE
TRUE
t
Busy
FALSE
TRUE
t
Triggerinput
Signal FALSE
TRUE
t
Done
FALSE
t
Error TRUE
FALSE
t
RecordedSignal
4
Axis Signal
1
+ Tolerance
ExpectedValue 3
- Tolerance
1
StopIgnore
2
StartIgnore
1
t
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1: Area where a module error is generated.

2: Ignore Zone: Area where no module error and no Done is generated.
The ranges 2 and 3 may not overlap. If they do, the ignore zone in range 3 is
not effective.
3: ExpectedValueZone: Trigger signal in the permissible value range; this is
confirmed with Done=TRUE.
4: RecordedSignal; is updated with every active edge of the TriggerInput signal
upon Execute = TRUE.
 If the value of the signal (SignalSource) during the Trigger event is in the
permissible value range between (ExpectedValue - Tolerance) and
(ExpectedValue + Tolerance), this is confirmed with Done = TRUE; the
RecordedSignal is updated.
 If the value of the signal (SignalSource) during the Trigger Event is between
StartIgnore and StopIgnore (Ignore zone), the module will report neither error nor
Done, the RecordedSignal is however updated.
 If the value of the signal (SignalSource) during the Trigger Event is outside the
permissible value range and outside the zone between StartIgnore and
StopIgnore (Ignore zone), the module will report an error, the RecordesSignal is
updated.
 Within this range, the signals are read in with a temporal exactitude of <1µs
(determined by linear interpolation).
 If a Trigger Signal occurs at Execute = False, the RecordedSignal is not updated.
 If no Trigger Signal comes up, Busy remains active until the module is reset to
the original state with Abort.
 More examples with C3_Touchprobe (example 7 (see on page 274) and
example 8 (see on page 276)).
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5.13.6. Integration of Parker I/Os (PIOs)

In order to integrate PIOs via CANopen, the CANopen operating mode "Master for
PIOs (see on page 351, see on page 352)" must be configured.
Initializing the PIOs (PIO_Init) ........................................................................................ 303
Reading the PIO inputs 0-15 (PIO_Inputx...y) ................................................................ 304
Writing the PIO outputs 0-15 (PIO_Outputx...y) ............................................................. 305
Example: Compax3 as CANopen Master with PIOs ....................................................... 305
5.13.6.1 Initializing the PIOs (PIO_Init)

FB name PIO_Init
Initialization of the PIOs
VAR_IN_OUT
Device INT PIO - ID (Address)
VAR_INPUT
Execute BOOL Activates the module if there is a positive edge
VAR_OUTPUT
Done BOOL Initialization executed
Error BOOL An error occurred during initialization
ErrorCode WORD 1 = no Parker device
Additional errors can be found in the error list.
AbortCode DWORD SDO abort code (see on page 365)
Note: Please execute this module at the beginning of the IEC program.
PIO_Init

Device : INT Error : BOOL
ErrorCode : WORD
AbortCode : DWORD
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5.13.6.2 Reading the PIO inputs 0-15 (PIO_Inputx...y)

FB name PIO_Input0_15
Is used for reading the respective inputs
VAR_INPUT
Note: For the additional inputs, the following modules are available
PIO_Input16_31
PIO_Input32_47 and
PIO_Input48_63.
Please execute this module at the beginning of the IEC program (After PIO_INIT).
PIO_Input0_15
I0: BOOL
I1: BOOL
I2: BOOL
I3: BOOL
I4: BOOL
I5: BOOL
I6: BOOL
I7: BOOL
I8: BOOL
I9: BOOL
I10 : BOOL
I11 : BOOL
I12 : BOOL
I13 : BOOL
I14 : BOOL
I15 : BOOL
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5.13.6.3 Writing the PIO outputs 0-15 (PIO_Outputx...y)

FB name PIO_Output0_15
Is used for writing on the respective outputs
VAR_INPUT
Note: For the additional outputs, the following modules are available
PIO_Output16_31
PIO_Output32_47and
PIO_Output48_63.
Please execute this module at the end of the IEC program.
PIO_Output0_15
O0 : BOOL
O1 : BOOL
O2 : BOOL
O3 : BOOL
O4 : BOOL
O5 : BOOL
O6 : BOOL
O7 : BOOL
O8 : BOOL
O9 : BOOL
O10 : BOOL
O11 : BOOL
O12 : BOOL
O13 : BOOL
O14 : BOOL
O15 : BOOL
5.13.6.4 Example: Compax3 as CANopen Master with PIOs

 Compax3 control via PIOs.
 Configuration of the PIO connection with the C3 ServoManager.
 Initializing the PIO connection with the PIO_Init module
 Control of Compax3 via the digital PIOs and
 setpoint assignment via the analog PIOs
Related programs:  ..\Examples\C3_with_PIOs\\T30_MasterPIO_ID2.C3P

 ..\Examples\C3_with_PIOs\\C3_PIO_CONNECTION_TEST.pro
Test setup: A PIO-347 for CANopen with:

 1 PIO-602 (24V DC feed)
 2 PIO-402 (8 digital inputs) for operation wired to a switch box
 6 PIO-504 (24 digital outputs)
 1 PIO-468 (4 analog inputs)
 1 PIO-550 (2 analog outputs) analog output 0 is wired with analog input 0 for
setpoint definition
 1 PIO-600 (Bus terminal)
 a 24V power supply unit
 a C3 S025 F10 I21 T30 M11 with power- and 24V-cable
 a motor SMH 60 60 1.4...4 with motor- and resolver cable
 a CAN-bus cable for the connection of the Compax3 with the PIO coupler.
 a serial cable for the connection of the Compax3 with the PC
 a switch box for the operation of the 8 digital inputs of the PIOs.
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Settings:  Baud rate = 1Mbit

 Node address of the PIO = 5 (setting via the address switch on the device)
 Node address of the C3 = 2 (setting via the address switch on the device)
Control interface: Digital Function Digital Function

input output
0 Energize axis 0 Axis is energized
1 Travel to MN (home) 1 MN (home) is accessed
2 Start MoveVelocity 2 Setpoint speed reached
3 Stop 3 Stop is present
4 JOG + 4 Manual function active
5 JOG - 5 MoveVelocity aborted
6 Free 6 Global module error display
7 Error reset 7 Error is present
Analog input Analog output
0 Setpoint speed Setpoint speed specification
Additional Compax3 settings:

 Array_Col03_Row01=1; activates the PIO_Init module
 Array_Col03_Row02=5; address of the PIO
 Array_Col03_Row03=10; Default for the analog output0 ==> setpoint speed
specification
If these values are stored in the Compax3, the PIO will be automatically initialized
after Power On and started for PDO data exchange with Compax3.
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Solution:
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5.14 Interface to C3 powerPLmC

Interface module "PLmC_Interface" ............................................................................... 308
Cyclic data channel for C3T30 and C3T40..................................................................... 309
Example: C3 powerPLmC Program & Compax3 Program ............................................. 310
5.14.1. Interface module "PLmC_Interface"

The interface between a central IEC61131-3 user program on C3 powerPLmC and
a local IEC61131-3 user program on a Compax3 servo axis T30 or T40 is created
with the program module "PLmC_interface".
The " PLmC_Interface" module must be called up in each Compax3 T30

which is operated as a slave on a C3 powerPLmC.
With Compax3 T40 this is only necessary, if the slave axis is programmed
directly (not with operating mode: “Slave on C3 powerPLmC) (Cam
programming on C3 powerPLmC)“)
The call-up must take place cyclically!
The module can be found in the "C3_PLmC_interface.lib" library, which must be
integrated manually via the library manager, if required.
FB name PLmC_Interface
Interface module for the control of C3 powerPLmC
VAR_OUTPUT
O0 BOOL Status of the digital output O0 on the C3 powerPLmC side
LocalEnable BOOL Enable for the local IEC61131-3 program
LocalEnable switches to FALSE for one cycle, if a
command for this axis is activated on the C3 powerPLmC.
This helps to avoid that the axis will receive different
commands at a time.
Event1 ... Event8 factory use
EventParameter factory use
Note:
 The execution of all local motion functions should be coupled with the
LocalEnable output.
 Via the outputs O0...O3, the outputs set by C3 powerPLmC can be set out via the
physical outputs with the aid of C3_Output.
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Parker EME Interface to C3 powerPLmC
Recipe array line Please note that the last 16 lines of the recipe array (C3Array.ColXX_Row17 to
17... 32 assigned C3Array.ColXX_Row32) are reserved for the communication with C3 powerPLmC.
PLmC_Interface
5.14.2. Cyclic data channel for C3T30 and C3T40

An additional communication channel (besides the one established by the Drive
Interface which is not freely assignable) can be established between the programs
of the C3 powerPLmC and a Compax3 axis via a freely usable cyclic data channel.
To do this, the assignment of the channel is defined on the side of the C3
powerPLmC in the controller configuration for the respective axis. The assignment
is always bidirectional.
The following options are available for the communication between the two
programs.
2x INT:
Assignment of the cyclic channel with 2 INT variables
Mapping to Compax3 objects

C3.PLmCToC3_INT1 / C3.PLmCToC3_INT2 from PLmC to Compax3
C3.C3ToPLmC_INT1 / C3.C3ToPLmC_INT2 from Compax3 to PLmC
Mapping to power PLmC variables

"Axis name".PLmCToC3_INT1 from PLmC to Compax3
"Axis name".PLmCToC3_INT2 from PLmC to Compax3
"Axis name".C3ToPLmC_INT1 from Compax3 to PLmC
"Axis name".C3ToPLmC_INT2 from Compax3 to PLmC
1x DINT:
Assignment of the cyclic channel with one DINT variable

C3.PLmCToC3_DINT from PLmC to Compax3
C3.C3ToPLmC_DINT from Compax3 to PLmC

Axis name".PLmCToC3_DINT from PLmC to Compax3
"Axis name".C3ToPLmC_DINT from Compax3 to PLmC
1x REAL:
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Assignment of the cyclic channel with one REAL variable

C3.PLmCToC3_REAL from PLmC to Compax3
C3.C3ToPLmC_REAL from Compax3 to PLmC

"Axis name".PLmCToC3_REAL from PLmC to Compax3
"Axis name".C3ToPLmC_REAL from Compax3 to PLmC
Note: The use of INT or DINT variables is especially suitable for implementing a
user-defined control word / status word between C3 powerPLmC IEC61131-3
program and Compax3 IEC61131-3 program.
Configuration of the data channel
Note: If the cyclic data channel is not required, it can also be assigned to the actual
position of the axis. This is then provided by the "MC_ReadActualPosition (see
on page 161)" module. Therefore the value must not be continually read via the
acyclic channel if the module is used; this reduces the bus load and the IEC cycle
time.
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Parker EME Interface to C3 powerPLmC
5.14.3. Example: C3 powerPLmC Program & Compax3 Program

Task:  Implementation of a mark synchronization in a Compaxa3 servo axis.
 Control of the program via the C3 powerPLmC via a user-defined control word /
status word.
Main program on Compax3 (module PLC_PRG)
Cyclic call-up of the interface to powerPLmC in the PLC_PRG module

In CFC:
In ST:
Local Compax3 Program in the LocalProgram module
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Program on C3 powerPLmC
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Parker EME IEC examples
5.15 IEC examples

Example in CFC: Using Compax3-specific function modules and Compax3 objects ...... 313
Example in CFC: Positioning 1 ...................................................................................... 314
Example in CFC: Positioning 2 ...................................................................................... 315
Example in CFC: Positioning with set selection.............................................................. 315
Example in CFC: Cycle mode ........................................................................................ 316
Example in ST: Cycle mode with a Move module .......................................................... 317
5.15.1. Example in CFC: Using Compax3-specific function

modules and Compax3 objects
 Read in the process image of the digital inputs with the InputStatus module.
 Generate a process image of the digital outputs with the OutputStatus module.
 Digital input I0, used for counting an external event. The event is only detected as
an event if
 The I0 input is at TRUE for at least 0.5 seconds and
 The voltage on analog input 0 exceeds the threshold value of 3.5 volts.
 When 5 of these events have been counted, the digital output is set to O0. At the
same time, the program prevents additional events on the I0 from being counted.
The counter state can be reset again with Input I1 as soon as it reaches a value
of 5.
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5.15.2. Example in CFC: Positioning 1

 Input I7 enables the power output stage
 Input I0 starts an absolute positioning process with fixed parameters
 Input I6 is used to stop the movement
 After positioning is complete, there will be a return to Position 0 as soon as Input
I1 has been activated
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5.15.3. Example in CFC: Positioning 2

 Input I0 starts an absolute positioning process
 If an event (I1) occurs during the positioning, the target position will be moved
back by 20 ("MoveAdditive")
 If an event occurs while positioning is not in progress, it has no effect
5.15.4. Example in CFC: Positioning with set selection

 The position, speed and ramps can be stored in the array (table) (for example
input with the Compax3 ServoManager)
 The desired set can be selected with inputs I1 through I5 (binary coded)
 Input I0 starts the positioning (absolute positioning)
 Positioning that is in progress can be stopped with Input I6
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5.15.5. Example in CFC: Cycle mode

Example a: Cycle mode
 Input I0 starts cyclical positioning. During this process, two positions are
approached in alternation.
 Input I6 stops cycle mode
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5.15.6. Example in ST: Cycle mode with a Move module

Input I2 enables the power output stage.
 Input I0 starts cycle mode. Two positions are approached alternately.
 There is a pause of 1 second after the first position is reached.
 There is a pause of 1.5 seconds after the second position is reached.
 Input I1 stops cycle mode.
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Parker EME Profibus: Emulating the ProfiDrive profile (C3F_ProfiDrive_Statemachine)
5.16 Profibus: Emulating the ProfiDrive profile

(C3F_ProfiDrive_Statemachine)
The function module can be found in the "C3_Profiles_lib" library and must be
integrated via the library manager before use.
Notes on the use:
 The input values coming from the master control via the Profibus can be changed
before they are transmitted to the Statemachine (e.g. I/Os).
 In the simplest case, the control word and the motion parameters (which may
come from the Profibus) are manipulated by the IEC program.
 If the Statemachine is active, all motions must be executed via the Statemachine.
Motions such as for example MoveAbsolute, MoveRelative; MoveAdditive;
MoveVelocity; Gearing, Reg-related positioning are possible. Or with Compax3F:
Force/pressure regulating.
 With the "control via PLC" bit (CW1 bit 10 = 1), the Statemachine takes the
control for the drive (is active). This means that no functions concerning the
device status (such as Power, MoveX) by other function/program modules are
permitted. If "no control" is selected (CW1 bit 10 = 0), the device status can be
changed via function/program modules.
 The Profidrive Statemachine works independently from the Profibus. I.e. it can
also be used in connection with other busses.
 The Profidrive Statemachine contains states, which cannot be mapped to the
PLCopen status machine.
FB name C3_ProfiDrive_Statemachine
With the aid of the Profibus function module, the PROFIdrive profile can be
simulated. The profile is described in the help of the Compax3 I20T11 technology
function (set operation is however not possible).
The inputs of the module can be assigned as required.
VAR_IN_OUT
-- -- --
VAR_INPUT
CW1 WORD Control word according to Profidrive (see below)
CWadd INT additional control word: the following functions
can be triggered in the positioning mode
0: no action
1: NOP (No Operation)
2: Stop
3: Homing
Execution takes place with the "activate motion
order" of CW1. The value must be reset to zero
after the execution!
OperationMode INT Operating mode after Profidrive
1: Speed control
2: Positioning
Position REAL Position setpoint value for all positioning
commands (MoveAbs, MoveRel, MoveAdd,
RegSearch, RegMove preparation)
Velocity REAL Setpoint speed in operating mode 1 (speed
control) and for MoveVelocity (not for positioning)
VelocityForPosition REAL Setpoint travel speed for positioning
VelocityForJog REAL Speed for JOG
Acceleration DINT Setpoint acceleration
Deceleration DINT Setpoint deceleration
DecelerationForStop DINT Deceleration for Stop
Jerk DINT Setpoint jerk
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Master INT Source for Gearing

- AXIS_REF_Physical (T30, T40) [e.g. encoder
input X11]
AXIS_REF_HEDA (T30, T40)
AXIS_REF_Virtual (T40)
RatioNumerator INT Numerator for Gearing
RatioDenominator INT Denominator for Gearing
PositionForRegMove REAL Position for RegMove, necessary if RegSearch is
executed and registration is detected.
Note: The input is connected to the
PositionOfRegMove output in the simplest case.
VelocityForRegMove REAL Speed for RegMove, necessary if RegSearch is
executed and registration is detected
VelocityOfRegMove output in the simplest case.
CStatus1ForRegMove WORD - do not use -
Command status 1 for RegMove end; necessary
if RegSearch is executed and registration is
detected
CStatus2ForRegMove WORD reserved!
ShortRampForRegMove BOOL Permits the Compax3 to calculate individual
parameters for the RegMove positioning, if the set
parameters would not reach the target.
RegMoveMode INT reserved!
IgnoreZoneStart REAL Registration mark-related positioning: Beginning
of the ignore zone
IgnoreZoneStop REAL Registration mark-related positioning: End of the
ignore zone
PositionReachedMode BOOL Mode for the generation of the PositionReached
in the status word (CW1.10).
TRUE: link to setpoint value
DisablePositiveDirection BOOL Block for positive direction
DisableNegativeDirection BOOL Block for negative direction
LimitErrorExtern BOOL reserved!
Override REAL reserved!
CStatus1In WORD reserved!
W
CStatus2In WORD reserved!
PressureForce DINT Setpoint differential pressure [mbar, psi] or
setpoint force [N].
Description (see on page 200)
PressureForce_Gradient DINT Change speed for pressure or force in [bar/s,
psi/s], [N/s].
ForceReachedMode BOOL Mode for the generation of the ForceReached in
the status word (SW1.10)
TRUE: Link to setpoint value.
AuxAxis BOOL Defines, if the auxiliary axis is to be used as a
following axis.
TRUE: Auxiliary axis runs synchronously to the
main axis
VAR_OUTPUT
ZSW1 WORD Status word after Profidrive
OperationModeActual INT Active operating mode
PositionOfRegMove REAL Position transmitted to the RegMove command
(cache memory)
Note: The output is connected to the
PositionForRegMove input in the simplest case.
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Parker EME Profibus: Emulating the ProfiDrive profile (C3F_ProfiDrive_Statemachine)
VelocityOfRegMove REAL Velocity transmitted to the RegMove command

(cache memory)
VelocityForRegMove output in the simplest case.
CStatus2OfRegMove WORD reserved!
StatusMotor_off BOOL Motor is currentless (TRUE)
StatusMotor_standstill BOOL Status motor is energized at standstill (setpoint
value) (TRUE)
CStatus1 WORD reserved!
CStatus2 WORD reserved!
Notes:
 You can call up directly the help for the Compax3 Profidrive device (I20T11) via
the help installer (C3 ServoManager "?" Start C3 ServoManager Help Installer...)
(select and open in the left window).
 On the Compax3 CD you will find an application example with additional
explanations for the use of this module:
C3 CD - directory....\Examples\Profidrive with T30T40\
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C3F_ProfiDrive_Statemachine
STW1: WORD ZSW1: WORD

STWadd: INT OperationModeActual: INT
OperationMode: INT PositionOfRegMove: REAL
Position: REAL VelocityOfRegMove: REAL
Velocity: REAL CStatus2OfRegMove: WORD
VelocityForPosition: REAL StatusMotor_off: BOOL
VelocityForJog: REAL StatusMotor_standstill: BOOL
Acceleration: DINT CStatus1: WORD
Deceleration: DINT CStatus2: WORD
DecelerationForStop: DINT
Jerk: DINT
Master: INT
RatioNumerator: INT
RatioDenominator: INT
PositionForRegMove: REAL
VelocityForRegMove: REAL
CStatus1ForRegMove: WORD
CStatus2ForRegMove: WORD
ShortRampForRegMove: BOOL
RegMoveMode: INT
IgnoreZoneStart: REAL
IgnoreZoneStop: REAL
PositionReachedMode: BOOL
DisablePositiveDirection: BOOL
DisableNegativeDirection: BOOL
LimitErrorExtern: BOOL
Override: REAL
CStatus1In: WORDW
CStatus2In: WORD
PressureForce: DINT
PressureForce_gradient: DINT
ForceReachedMode: BOOL
AuxAxis: BOOL
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Parker EME Compax3 communication variants
6. Communication
Here you will find the description of the fieldbus interfaces, which can be configured
in the Compax3 ServoManager under the tree entry "configuring the
communication".
Please note: The configuration of the process data (Mapping) is made wizard-guided with the
Compax3 ServoManager.
If you perform the mapping directly via the master, you must go through this
fieldbus wizard once; the Compax3 ServoManager will perform the necessary
initializations.
Compax3 communication variants ................................................................................. 323
COM port protocol ......................................................................................................... 332
Remote diagnosis via Modem ........................................................................................ 337
Profibus/Profinet ............................................................................................................ 340
CANopen ....................................................................................................................... 351
DeviceNet ...................................................................................................................... 367
Ethernet Powerlink / EtherCAT ...................................................................................... 370
HEDA Bus ..................................................................................................................... 371
6.1 Compax3 communication variants

PC <-> Compax3 (RS232) ............................................................................................. 324
PC <-> Compax3 (RS485) ............................................................................................. 325
PC <-> C3M device combination (USB) ......................................................................... 326
USB-RS485 Moxa Uport 1130 adapter .......................................................................... 327
ETHERNET-RS485 NetCOM 113 adapter ..................................................................... 328
Modem MB-Connectline MDH 500 / MDH 504 ............................................................... 329
C3 settings for RS485 two wire operation ...................................................................... 330
C3 settings for RS485 four wire operation...................................................................... 331
Overview of all possible communication modes between Compax3 devices and a
PC.
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Communication C3F_T40
6.1.1. PC <-> Compax3 (RS232)

PC <-> Compax3 (RS232): Connections to a device
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6.1.2. PC <-> Compax3 (RS485)

PC <-> Compax3 (RS485)
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6.1.3. PC <-> C3M device combination (USB)

PC <-> C3M device combination
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6.1.4. 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:
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6.1.5. ETHERNET-RS485 NetCOM 113 adapter
Manufacturer link: http://www.vscom.de/666.htm

(http://www.vscom.de/666.htm)
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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:
6.1.6. 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.
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6.1.7. 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
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6.1.8. 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
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6.2 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 444)
Wiring RS232: SSK1 (see on page 428)

RS485: as SSK27 (see on page 429) / RS485 is activated by +5V on X10/1.
USB: SSK33/03 (only for Compax3M)
RS485 settings values ................................................................................................... 332
ASCII - record................................................................................................................ 332
Binary record ................................................................................................................. 333
6.2.1. 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 23).
Protocol Adjust the protocol settings to the settings of your master.
6.2.2. 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)
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Parker EME COM port protocol
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.
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).
6.2.3. 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.
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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
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)
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Parker EME COM port protocol
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
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.
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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!
336 192-120102N6 C3FT40 2014-10

Parker EME Remote diagnosis via Modem
6.3 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........................................................................................................................ 337
Configuration of local modem 1 ..................................................................................... 338
Configuration of remote modem 2.................................................................................. 339
Recommendations for preparing the modem operation .................................................. 339
6.3.1. 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
192-120102N6 C3FT40 2014-10 337

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 432) 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).
6.3.2. 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.
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Parker EME Remote diagnosis via Modem
6.3.3. 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!
6.3.4. 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).
192-120102N6 C3FT40 2014-10 339

6.4 Profibus/Profinet
The Profibus option is available on the Compax3 devices C3I20Txx!
The Profibus option is available on the Compax3 devices C3I32Txx!
Notes on the configuration of the Profibus master / Profinet controller

Before configuring the Profibus master / Profinet controller (e.g. S7), you will have
to configure the Compax3 axis.
In the Profibus/Profinet window (see on page 340) of the configuration wizard

you will receive the status message “Profibus/Profinet Telegram” with the
information on the telegram which can be set in the master (PPO type).

Typical application with Bus and IEC61131 ................................................................... 340
Profibus / Profinet configuration ..................................................................................... 340
Cyclic process data channel .......................................................................................... 342
Acyclic parameter channel ............................................................................................. 343
6.4.1. Typical application with Bus and IEC61131

We recommend the following procedure to control the IEC61131-3 program via
Profibus/Profinet:
 Use the control word (DeviceControl_Controlword_1) to control the PLCopen
function modules (Execute, Enable) to activate the modules via Profibus/Profinet.
 The logical module outputs can be placed on the status word
(DeviceState_Statusword_1).
 Place the control word and the status word on the cyclic process data channel.
 Connect variable module outputs of your IEC61131-3 program with the recipe
array.
 For rapid access, the values from the first 5 rows of the recipe array can be
placed in the cyclic channel.
 Additional values of the recipe array can be written acyclically.
Now you can use the bus to assign values, to activate function modules with the
control word and to read the current status with the control word.
6.4.2. Profibus / Profinet configuration

Configuration of the process-data channel ..................................................................... 341
PKW parameter channel ................................................................................................ 342
Error Reaction on Bus Failure........................................................................................ 342
DCP fieldbus configuration wizard animation shown with Profibus as an example:
Due to continuous optimization, individual monitor displays may have changed.

This does however hardly influence the general proceeding.
Following are described the input windows of the Profibus/Profinet configuration

wizard.
Can be called up in the tree (Compax3 ServoManager, left window) under
"configure communication".
340 192-120102N6 C3FT40 2014-10

Parker EME Profibus/Profinet
6.4.2.1 Configuration of the process-data channel

You can use the Process Data Channel (PZD) to exchange actual and Setpoint
values cyclically between the Compax3 and the Profibus master / Profinet
controller.
Adjusting the cyclic PZD:
The PZD is adjusted separately for the following transfer directions:
 Profibus-Master / Profinet controller ⇒ Compax3 (PAD)
 Compax3 ⇒ Profibus-Master / Profinet controller (PED)

set separately.
Maximum size of the process-data channel:

8 words (16 bytes) PAD and
8 words (16 bytes) PED
The objects that can be put on the process data channel can be found in the
" Compax3 Objects (see on page 392)"!
Assignment of the process data channel

Assignment of the process data channel is automated in Compax3 ServoManager.
You select the objects which you want to put one after the other to the process
input data (PED: Compax3 => PLC) and to the process output data (PAD: PLC =>
Compax3).
ServoManager continuously checks areas of the PZD that are free and enables
additional input options correspondingly.
PPO type / PKW Depending on the configuration that is set, the resulting PPO type is displayed in
type, telegram size the "Profibus telegram" wizard window (in the status line of the wizard window).
You can use this value for the configuration of the Profibus master.
With Profinet, you can read out the PKW type and the telegram size for setting in
the Profinet Controller.
Assignment of the When data is read out of the Process Data Channel (PZD), the word width of the
PZD individual objects must be carefully noted.
Example: Assignment:
Object Word width Assignment Address
POSITION_position 2 AW(n) & AW(n+1) AD(n)
POSITION_speed 2 AW(n+2) & AW(n+3) AD(n+2)
AnalogOutput0_DemandValue 1 AW(n+4) AW(n+4)
AnalogOutput1_DemandValue 1 AW(n+5) AW(n+5)
Array_Col1_Row1 2 AW(n+6) & AW(n+7) AD(n+6)
PLC Compax3
0 2 4 6 8 10 12 14 16 Byte
AW(n) AW(n+1) AW(n+2) AW(n+3) AW(n+4) AW(n+5) AW(n+6) AW(n+7)
Compax3 PLC
0 2 4 6 8 10 12 14 16 Byte
EW(n) EW(n+1) EW(n+2) EW(n+3) EW(n+4) EW(n+5) EW(n+6) EW(n+7)
192-120102N6 C3FT40 2014-10 341

6.4.2.2 PKW parameter channel

Parameter access with DPV0
In addition to cyclic data exchange, you can use the PKW mechanism for acyclic
access to parameters.
The PKW mechanism is implemented for Profibus master / Profinet controller
without DPV1 functionality.
PKW: Parameter identification value
You can select between:

 no PKW - without acyclic parameter access.
 PKW - parameter access via a PKW length of 8 bytes.
PKW structure
PKW
Octet1 Octet2 Octet 3 Octet 4 Octet5 Octet6 Octet 7 Octet 8
PKE IND PWE
0 2 4 8
Additional information on the structure of the PKW (see on page 343)
6.4.2.3 Error Reaction on Bus Failure

Here you can adjust how Compax3 will respond to a fieldbus error:
 No response
 Downramp / stop
6.4.3. Cyclic process data channel

The structure of the PZD is defined in the configuration menu: "Profibus/Profinet
telegram" of the ServoManager.
6.4.3.1 Control and status word

The cyclic process data channel contains a control word and a status word both,
freely available and 16 bits in size:
Control word: Profibus-Master / Profinet controller ⇒ Compax3
Status word: Compax3 ⇒ Profibus-Master / Profinet controller
342 192-120102N6 C3FT40 2014-10

6.4.4. Acyclic parameter channel

Compax3 supports parameter access with DPV1.
The available parameters or objects can be found here (see on page 392).
Parameter access with DPV0: Required data channel ................................................... 343
Data formats of the bus objects ..................................................................................... 348
6.4.4.1 Parameter access with DPV0: Required data channel

You can use the PKW mechanism for acyclic access to parameters in cyclic data
exchange as well. This is made available to make it possible for the
master/controller to have access to the important device parameters without DPV1
functionality.
The master/controller formulates an order in the PKW mechanism. Compax3
processes the order and formulates the response.
PKW structure:
Byte 1 Octet 2 Octet 3 Octet 4 Octet 5 Octet 6 Octet 7 Octet 8
PKE IND PWE
PKE: Parameter identification (1st and 2nd byte) (see below)
IND: subindex* (3rd byte), 4th byte is reserved
PWE: Parameter value (5th through 8th byte or 5th through 12th byte with expanded PKW)
PKE structure:
Byte 1 Octet 2
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
AK SPM PNU
AK: Order or response identification (value range 0 ... 15)
SPM: reserved
PNU: Parameter number
*Reference to the subindex

The information for PNU subindex (parameter number) also applies to PROFIdrive
profile Version 3, i.e., that the subindex is counted starting at 0, while for
PROFIdrive profile Version 2 the subindex is counted starting at 1:
DPV1-
[0..n-1]
Client (V3)
PKW- [1..n] Drive

-1 (V3)
Client (V2)
[0..n- 1]
The result of this is as follows:
Profibus master based on PROFIdrive profile Version 3

The subindex of the Profibus No. (PNU) specified in the object list is directly valid.
Example: Example: PNU object forward speed control = 400.1 (as specified).
Profibus master based on PROFIdrive profile Version 2

The subindex of the Profibus No. (PNU) specified in the object list must be
incremented by 1.
Example: PNU object forward speed control = 400.2
192-120102N6 C3FT40 2014-10 343

Order and response processing

Order/response identifications are defined so that it is apparent from the
identification which fields of the PKW interface (IND, PWE) also need to be
evaluated. To this may be added the distinction between parameter value and
parameter description.
Order Order Master/Controller → Compax3 response identification

identificatio Compax3 → Master/Controller
n
0 No order 0
1 Request parameter value 1.2
2 Change parameter value (word) 1
3 Change parameter value (double word) 2
6 Request parameter value (array) 4.5
7 Change parameter value (array of word) 4
8 Change parameter value (array of double 5
word)
9 Request number of array elements 6
14 Change object 14
15 Request object 15
Response identifications 7 and 8 are used for negative acknowledgements for
problems.
Sequence
 The master/controller transfers an order to a Compax3.
 The master/controller repeats this order at least until a response is received from
Compax3.
This procedure ensures the transfer of orders / responses on the user level.
 Only one order is ever being processed at a time.
 Compax3 continues to make the response available until the master/controller
formulates a new order.
 For responses containing parameter values, Compax3 always responds upon
repetition with the current value (cyclic processing). This applies to all responses
to the orders “Request parameter value”, “Request parameter value (Array)” and
“Request object”.
 The PWE transfer of word sizes takes place with byte 7 and 8, while the transfer
of double word sizes takes place with byte 5 through 8.
Explanation of response identification

Response Compax3 → Master/Controller response
identificatio
n
0 No response
1 Transfer value (word)
2 Transfer parameter value (double word)
4 Transfer parameter value (array of word)
5 Transfer parameter value (array of double word)
7 Order cannot be executed (with error No.)
8 No user level for PKW interface
9 factory use
10 factory use
14 Object value transferred
15 Object value transferred
344 192-120102N6 C3FT40 2014-10

Example: Changing the stiffness

Task:
Parameter / object change via PKW (DPV0)
The object "stiffness" will be set to 200%
Object stiffness: PNU 402.2; valid after VP
Format UNSIGNED 16 == 1 word == order identification = 2 == "Change parameter
value (word)"
The master sends to Compax3:
PLC - Compax3
Octet 1 Octet 2 Octet 3 Octet 4 Octet 5 Octet 6 Octet 7 Octet 8
PKE IND PWE
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Subindex - MSB LSB
AK PNU
2 0 402 3 0 200
0 0 1 0 0 0 0 1 1 0 0 1 0 0 1 0
0x21 0x92 0x3 0x0 0x0 0x0 0x0 0xC8
Compax3 responds with the same content, except with response identification = 1:
Compax3 - PLC
PKE IND PWE
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Subindex - MSB LSB
AK PNU
1 0 402 3 200
0 0 0 1 0 0 0 1 1 0 0 1 0 0 1 0
0x11 0x92 0x3 0x0 0x0 0x0 0x0 0xC8
If no additional object needs to be changed, the new value can be set to valid with
VP:
Object: Set objects to valid PNU 338.10 (because of DPV0 the Subindex must be
incremented by one (see on page 343))
PLC - Compax3
PKE IND PWE
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Subindex - MSB LSB
AK PNU
2 0 338 11 1
0 0 1 0 0 0 0 1 0 1 0 1 0 0 1 0
0x21 0x52 0xB 0x0 0x0 0x0 0x0 0x1
Compax3 - PLC
PKE IND PWE
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Subindex - MSB LSB
AK PNU
1 0 338 11 1
0 0 0 1 0 0 0 1 0 1 0 1 0 0 1 0
0x11 0x52 0xB 0x0 0x0 0x0 0x0 0x1
Reading back the object set objects to valid makes it possible to check whether the
command was performed. Byte 8 will the contain the value 0.
The change can be stored and will not be lost even if with a power failure by using
the object "Save objects permanently".
Object: Save objects permanently PNU 339
192-120102N6 C3FT40 2014-10 345

PLC - Compax3
PKE IND PWE
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Subindex - MSB LSB
AK PNU
2 0 339 0 1
0 0 1 0 0 0 0 1 0 1 0 1 0 0 1 1
0x21 0x53 0x0 0x0 0x0 0x0 0x0 0x1
Compax3 - PLC
PKE IND PWE
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Subindex - MSB LSB
AK PNU
1 0 339 0 1
0 0 0 1 0 0 0 1 0 1 0 1 0 0 1 1
0x11 0x53 0x0 0x0 0x0 0x0 0x0 0x1
Object Upload/download via Profibus/Profinet

All settings of Compax3 can be read using the Profibus/Profinet and written back to
Compax3. This makes it easy to replace a device, for example.
Condition: Compax3 must be configured (once running through the configuration wizard
followed by a download is enough; the configuration settings are, however, not
relevant)
To implement this, the PKW mechanism has been changed.
Structure of modified PKW:
Byte 1 Octet 2 Octet 3 Octet 4 Octet 5 Octet 6 Octet 7 Octet 8
PKE IND PWE
PKE: Parameter identification (1st and 2nd byte) (see below)
IND: object index (3rd byte high 4th byte low)
PWE: Parameter value (5th to 8th byte)
Structure of modified PKE:

Byte 1 Octet 2
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
AK=14 or 15 SPM DF DPZ SI
AK: Order or response identification
SPM: reserved
DF: Data format (DF=1 constant)
DPZ: data buffer access
SI: object subindex
346 192-120102N6 C3FT40 2014-10

Data buffer access:

For each object, 16 bytes must be read or written Since the size of the PWE
channel is 4 bytes, each object must be read or written 4 times.
Sequence for reading / writing and object:

DPZ=0: Object byte 1 ... 4 can be read / is being written
Order executed
DPZ=1 Object byte 5...8 can be read / is being written
The data will either be read fro the PWE or written into the PWE.
Access algorithm for reading objects

 Object 20.2 written with value 0 (object 20.2 is a counter that specifies the next
object to be read; the starting value is 0).
 Read object index and subindex in object 20.5.
Format I32 of Object 20.5:
Not assigned Index (high byte) Index (low byte) Subindex

 Read the object with the index and subindex read in object 20.5 and in save it in
a table with the following structure: Index (2Byte), Subindex (1Byte), Contents
(16Byte).
 Read the next object-Index and subindex in object 20.5.
 ....
This must be performed until index = 0xFFFF and until subindex = 0xFF.
Writing objects
Write the entire table to Compax3. Each index and subindex is written with the
value stored in the table.
It should be noted in this regard that each time an object is written, the internal
buffer must first be written with DPZ=1, 2, 3 and then the entire order is written with
DPZ0.
192-120102N6 C3FT40 2014-10 347

6.4.4.2 Data formats of the bus objects

Integer formats .............................................................................................................. 348
Unsigned - Formats ....................................................................................................... 348
Fixed point format E2_6................................................................................................. 348
Fixed point format C4_3 ................................................................................................ 349
Bus format Y2 and Y4.................................................................................................... 349
Bit sequence V2 ............................................................................................................ 350
Byte string OS ............................................................................................................... 350
Integer formats
Twos complement representation;
The highest order bit (MSB) is the bit after the sign bit (VZ) in the first byte.
VZ == 0: positive numbers and zero; VZ == 1: negative numbers
Type Bit 8 7 6 5 4 3 2 1
Integer 8 VZ 26 25 24 23 22 21 20
length: 1 Byte
Integer 16 MSB VZ 214 213 212 211 210 29 28
Length: 1 Word LSB 27 26 25 24 23 22 21 20
Integer 32 MSB VZ 230 229 228 227 226 225 224
Length: 2 Words 223 222 221 220 219 218 217 216
215 214 213 212 211 210 29 28
LSB 27 26 25 24 23 22 21 20
Unsigned - Formats
Type Bit 8 7 6 5 4 3 2 1
Unsigned 8 27 26 25 24 23 22 21 20
Length: 1 Byte
Unsigned 16 MSB 215 214 213 212 211 210 29 28
Length: 1 Word LSB 27 26 25 24 23 22 21 20
Unsigned 32 MSB 231 230 229 228 227 226 225 224
Length: 2 Words 223 222 221 220 219 218 217 216
215 214 213 212 211 210 29 28
LSB 27 26 25 24 23 22 21 20
Fixed point format E2_6

Linear fixed point value with six binary places after the decimal point. 0
corresponds to 0, 256 corresponds to 214 (0x4000).
Twos complement representation;
MSB is the bit after the sign bit
VZ == 0: positive numbers and zero;
VZ == 1: negative numbers
Type Bit 8 7 6 5 4 3 2 1
E2_6 MSB VZ 28 27 26 25 24 23 22
Length: 1 Word LSB 21 20 2-1 2-2 2-3 2-4 2-5 2-6
348 192-120102N6 C3FT40 2014-10

Fixed point format C4_3

Linear fixed point value with three decimal places after the decimal point. 0
corresponds to 0 and 0,001 corresponds to 20 (0x0000 0001).
Structure like data type Integer32, value of the bits reduced by a factor of 1000.
Length: 2 Words
Bus format Y2 and Y4

Structure:
 Y2 like data type Integer16
 Y4 like data type Integer32
The values can be adjusted by a normalization factor.

The following rules apply:
 Normalization factor for Y2: Object 200.1, ... 200.5
 Normalization factor for Y4: Object 201.1, ... 201.5
There are different normalization factors for individual values
1. Y2 - normalization factors
 Object 200.1: NormFactorY2_Speed: Normalization factor for Y2 speeds
 Object 200.2: NormFactorY2_Position: Normalization factor for Y2 positions
 Object 200.3: NormFactorY2_Voltage: Normalization factor for Y2 voltages
 Object 200.4: Normalization factor for 1100.8 (T30, T40)
 Object 200.5: NormFactorY2_Array_Col2: Normalization factor for Column 2 of
the recipe array
 Object 200.7 Normalization factor for 1000.8
 Object 200.11: Normalization factor for Y2 currents (638.35 ... 638.40) (T30, T40)
2. Y4 - normalization factors
 Object 201.1: NormFactorY4_Speed: Normalization factor for Y4 speeds
 Object 201.2: NormFactorY4_Position: Normalization factor for Y4 positions
 Object 201.3: NormFactorY4_Voltage: Normalization factor for Y4 voltages
 Object 201.4: NormFactorY4_Array_Col1: Normalization factor for Column 1 of
the recipe array
 Object 201.5: Normalization factor for 1100.6
 Object 201.6: Normalization factor for 1100.7
 Object 201.7 Normalization factor for 1000.6 (T30, T40)
 Object 201.11: Normalization factor for bus interpolation
CANSync/EthernetPowerLink
 1100.6 = DeviceControl_DemandValue1 (DS 402 : Target position 0x607A in
the "Cyclic Synchronous Position" Operation Mode)
 3921.1 = FBI_SignalProcessing0_Input (DS 402 : Interpolation data record
0x60C1.1 in the "Interpolated Position" Operation Mode) (resulting in 3921.6 =
FBI_SignalProcessing0_Output and
 3921.7 = FBI_SignalProcessing0_OutputGreat)
 Object 201.12: Normalization factor for 1100.13 = DeviceControl_DemandValue8
(DS 402: Target Velocity 0x60FF in "Profile velocity (pv)" and "cyclic synchronous
velocity (csv)" Operation Mode)
 Object 201.13: Normalization factor for 1000.13 = DeviceState_ActualValue8
(T30, T40)
 Object 201.14: Normalization factor for 3925.20 = FBR_InterpolationAccelInput
 Object 201.15: Normalization factor for 3925.21 = FBR_InterpolationAccelInput
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Meaning of the  Bit 5: Meaning of the normalization factor:

normalization  Bit 5 = "0": decimal factors 1, 1/10, 1/100, ..
factors Bit 4 ... Bit 0: Normalization factor
# Bit 4...0 Factor dec (Bit 5 = 0) yy0x xxxx

0 00000 100 1
1 00001 10–1 0.1
2 00010 10–2 0.01
3 00011 10–3 0.001
4 00100 10–4 0.0001
5 00101 10–5 0.00001
6 00110 10–6 0.000001
7 00111 10–7 0.0000001
8 01000 10–8 0.00000001
9 01001 10–9 0.000000001
 Bit 5 = "1": binary factors 1, 1/2, 1/4, 1/8, ...

Bit 4 ... Bit 0: Normalization factor
# Bit 4...0 Factor bin (Bit 5 = 1) yy1x xxxx

32 00000 20 1
33 00001 2–1 0.5
34 00010 2–2 0.25
35 00011 2–3 0.125
36 00100 2–4 0.0625
37 00101 2–5 0.03125
38 00110 2–6 0.015625
39 00111 2–7 0.0078125
40 01000 2–8 0.00390625
41 01001 2–9 0.001953125
42 01010 2–10 0.0009765625
43 01011 2–11 0.00048828125
44 01100 2–12 0.000244140625
45 01101 2–13 0.0001220703125
46 01110 2–14 0.00006103515625
47 01111 2–15 0.000030517578125
48 10000 2–16 0.0000152587890625
49 10001 2–17 0.00000762939453125
50 10010 2–18 0.000003814697265625
51 10011 2–19 0.0000019073486328125
52 10100 2–20 0.00000095367431640625
53 10101 2–21 0.000000476837158203125
54 10110 2–22 0.0000002384185791015625
55 10111 2–23 0.00000011920928955078125
56 11000 2–24 0.000000059604644775390625
 Bit 15 ... Bit 6: reserved
Bit sequence V2
The V2 bus format is a bit sequence with a length of 16 bits.
Byte string OS
Octet string OS: String with variable length.
You can find the modules on the Compax3 DVD or in the internet under
http:/www.compax3.info/startup http://www.compax3.info/startup.
You will find a description of these function modules in the help file !
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6.5 CANopen
The CANopen option is available with the Compax3 devices C3I21Txx!

CANopen - Configuration............................................................................................... 351
Supporting IEC modules ................................................................................................ 353
CANopen communication profile.................................................................................... 360
Acyclic parameter channel ............................................................................................. 365
6.5.1. CANopen - Configuration

CANopen Operating Mode............................................................................................. 351
Baud rate....................................................................................................................... 352
Possible PDO assignment ............................................................................................. 352
Transmission cycle time ................................................................................................ 353
Following are described the input windows of the CANopen configuration wizard.
6.5.1.1 CANopen Operating Mode

CANopen Operating Modes:
 Slave on C3 powerPLmC:
Compax3 as Slave on C3 powerPLmC integrated via the DriveInterface
Note for C3I21T40: The cam programming is made in the slave axis
 Slave
Compax3 is Slave of a CANopen Master; the CANopen configuration is made via
the ServoManager
 Slave with configuration via Master
Compax3 is Slave of a CANopen Master; the CANopen configuration is made via
the Master
 Master for PIOs
Compax3 as CANopen Master only for the operation of external digital and
analog PIOs (Parker Input and Output modules).
Please note: The device cannot be operated with an additional CANopen Master!
 Slave on C3 powerPLmC (Cam programming on C3 powerPLmC)
Operating mode only available with I21T40!
The programming of the device (C3I21T40) is only made on the C3 powerPLmC.
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C3 Master PIO
In the "C3 Master PIO" operating mode, the input window for the CANopen PIO
mapping is following:
Please state, how many words the process image of the PIOs will need, 1.. 4
words are possible.
The process image is transmitted via the process data objects as follows:
Digital Inputs: RPDO1
Analog Inputs: RPDO2
Digital Outputs: TPDO1
Analog Outputs: TPDO2
The inputs and outputs are stored in objects (O150.x ... O153.x).
Object 150.x: Digital Inputs
Object 151.x: Digital Outputs
Object 152.x: Analog Inputs
Object 153.x: Analog Outputs
The digital inputs and outputs can be read or written into in the IEC program via
modules (see on page 303) in order to get an exact process image. Modules:
PIO_Input0_15, PIO_Input16_31, PIO_Input32_47, PIO_Input48_63,
PIO_Output0_15, PIO_Output16_31, PIO_Output32_47, PIO_Output48_63.
Before that, you must execute some initializations; this can be made with the aid of
the PIO_INIT (see on page 303) module.

 No response
 Downramp / stop
6.5.1.3 Baud rate

Selecting the Baud rate.
Bear in mind that the maximum cable length depends on the Baud rate:
Baud rate Maximum length
1Mbit/s 25m
800kbit/s 50m
500kbit/s 100 m
250kbit/s 250m
125kbit/s 500m
100kbit/s 700m
50kbit/s 1000m
20kbit/s 2500m
6.5.1.4 Possible PDO assignment

Via the process data objects (PDOs) actual values and Setpoint values are
continually exchanged between Compax3 and the CANopen client.
4 cyclic PDOs are possible, they are configured with the help of the Compax3
ServoManager:
The PDOs are set separately for the transmission directions
 CANopen - Client ⇒ Compax3 (RPDO) (max. 16 words)
 Compax3 ⇒ CANopen - Client (TPDO) (max. 16 words)

set separately.
The objects that can be put on the process data channel can be found in the "
Compax3 Objects (see on page 392)"!
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6.5.1.5 Transmission cycle time

For the TPDOs a transmission cycle time can be set in each case.
This time specifies the time intervals at which Compax3 applies the cyclic data new
to the respective PDO.
The minimum value is thereby 1ms.
6.5.2. Supporting IEC modules

This module is used to determine the status of the CANopen NMT status machine
(C3_CANopen_State) .................................................................................................... 353
This module is used to determine the status during Nodeguarding (C3_CANopen_GuardingState)
...................................................................................................................................... 354
Insert new CANopen node (C3_CANopen_AddNode) ................................................... 355
Establishing PDO connection between 2 CANopen nodes (C3_CANopen_ConfigNode)356
Sending NMT messages (C3_CANopen_NMT) ............................................................. 357
Reading an object in another node (C3_CANopen_SDO_Read4) ................................. 358
Writing an object in another node (C3_CANopen_SDO_Write4) .................................... 359
6.5.2.1 This module is used to determine the status of the

CANopen NMT status machine (C3_CANopen_State)
FB name C3_CANopen_State
This module is used to determine the status of the CANopen NMT status machine
VAR_INPUT
Enable BOOL Activating the module
VAR_OUTPUT
Stopped BOOL CANopen node is in "Stopped" state
Operational BOOL CANopen node is in the "Operational" state
(communication via process data and service data
objects is possible)
PreOperational BOOL CANopen node is in the "PreOperational" state
(communication via process data and service data
objects is possible)
C3_CANopen_State
Enable : BOOL Stopped : BOOL

Operational : BOOL
PreOperational : BOOL
CANopen states
Power On
Initialisation
10, 11
Pre-Operational
8
7
Stopped
6 8 6
7
Operational
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6: Start Remote Node

7: Stop Remote Node
8: Enter Pre-Operational State
10: Reset Node
11: Reset Communication
The "Initialization" state is no fixed state but only a transition state.
6.5.2.2 This module is used to determine the status during

Nodeguarding (C3_CANopen_GuardingState)
FB name C3_CANopen_GuardingState
This module is used to determine the status during Nodeguarding
VAR_INPUT
Enable BOOL Activating the module
VAR_OUTPUT
GuardingStarted BOOL The NMT master started the Nodeguarding procedure
LostGuarding BOOL The node did not receive a Nodeguarding RTR telegram
from the NMT master during the Guarding time.
LostConnection BOOL The node did not receive a RTR telegram from the NMT
Master during the "Node Life Time" (GuardingTime *
LifeTimeFactor) and therefore considers the connection
as interrupted.
C3_CANopen_GuardingState
Enable : BOOL GuardingStarted : BOOL

LostGuarding : BOOL
LostConnection : BOOL
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6.5.2.3 Insert new CANopen node (C3_CANopen_AddNode)

FB name C3_CANopen_AddNode
This module inserts a new CANopen node into the management list of the NMT master with
the stated Node Guarding parameters and the current CANopen status
PRE_OPERATIONAL.
VAR_INPUT
Execute BOOL Activating the module
Device INT Node-ID (1 ... 127)
GuardTime INT Guard time = 0
LifeTimeFactor INT Life Time Factor = 0
VAR_OUTPUT
Done BOOL Function executed without error
Error BOOL Error occurred
ErrorCode WORD You will find the error code in the Compax3 error list.
AbortCode DWORD CANopen SDO abort code (see on page 365) upon
error 65377
C3 CANopen stack error (see on page 357) no. upon
error 65376
MyNode_ID INT Own Node_ID (NMT master)
Note: Compax3 must be CANopen master.
C3_CANopen_AddNode

GuardTime : INT ErrorCode : WORD
LifeTimeFactor : INT AbortCode : DWORD
MyNode_ID : INT
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6.5.2.4 Establishing PDO connection between 2 CANopen

nodes (C3_CANopen_ConfigNode)
FB name C3_CANopen_ConfigNode
This module establishes a PDO connection between two CANopen nodes.
To do this, the module changes the COB-Ids of the 2nd node (RemoteDevice) to the
COB-Ids of the 1st. node (ReferenceDevice).
VAR_INPUT
ReferenceDevice INT Node ID of the 1st. node (1 ... 127)
RemoteDevice INT Node ID of the 2nd. node (1 ... 127)
ReferenceTxPDO INT TxPDO number of the 1st. node (1 ... 4)
RemoteRxPDO INT TxPDO number of the 2nd. node (1 ... 4)
ReferenceRxPDO INT TxPDO number of the 1st. node (1 ... 4)
RemoteTxPDO INT TxPDO number of the 2nd. node (1 ... 4)
"0" do not establish connection
VAR_OUTPUT
error 65377
error 65376
C3_CANopen_ConfigNode

ReferenceDevice : INT Error : BOOL
RemoteDevice : INT ErrorCode : WORD
ReferenceTxPDO : INT AbortCode : DWORD
RemoteRxPDO : INT
ReferenceRxPDO: INT
RemoteTxPDO : INT
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6.5.2.5 Sending NMT messages (C3_CANopen_NMT)

FB name C3_CANopen_NMT
This module allows to send NMT messages.
VAR_INPUT
Device INT Node ID (0 ... 127)
0 = NMT-message is valid for all nodes
State INT State which the node must take on:
START_REMOTE_NODE
STOP_REMOTE_NODE
ENTER_PRE_OPERATIONAL
RESET_NODE
RESET_COMMUNICATION
(these are no constants; please enter therefore
directly)
VAR_OUTPUT
ErrorCode WORD CANopen-Stack error no.
1 = not sufficient memory
2 = node is not in the management list
3 = node is already in the management list
4 = nodes are in the wrong state
11 = network object not available
12 = node 0 was selected
65378 = C3 has no master functionality
C3_CANopen_NMT

State : INT ErrorCode : WORD
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6.5.2.6 Reading an object in another node

(C3_CANopen_SDO_Read4)
FB name C3_CANopen_SDO_Read4
This module allows to read an object with a max. length of 4 bytes in another node via
SDO.
VAR_INPUT
Device INT Node ID of the other node (1 ... 127)
Index WORD Object Index (CAN-No.)
Subindex WORD Object Subindex (CAN-No.)
VAR_OUTPUT
Data DWORD Object data read in
Length WORD Data length in Byte
error 65377
error 65376
C3_CANopen_SDO_Read4
Execute : BOOL Data : DWORD

Device : INT Length : WORD
Index : WORD Done : BOOL
Subindex : WORD Error : BOOL
ErrorCode : WORD
AbortCode : DWORD
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6.5.2.7 Writing an object in another node

(C3_CANopen_SDO_Write4)
FB name C3_CANopen_SDO_Write4
This module allows to read an object with a max. length of 4 bytes in another node via
SDO.
VAR_INPUT
Device INT Node ID of the other node (1 ... 127)
Index WORD Object Index
Subindex WORD Object subindex
Data DWORD Object data which must be written
Length WORD Data length in Byte
VAR_OUTPUT
error 65377
error 65376
C3_CANopen_SDO_Write4

Index : WORD ErrorCode : WORD
Subindex : WORD AbortCode : DWORD
Data : DWORD
Length : WORD
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6.5.3. CANopen communication profile

The CANopen communication objects described in this chapter are either set
to sensible standard values or they are set under menu control with the help
of the ServoManager.
The communication objects described below must be modified only for
special deviating settings.
 CAN is an open system which has been standardized in the ISO 11898 and OSI
reference model ISO 7498.
 CAN is Multi-Master compatible.
 Data transmission takes place with up to 8 Bytes useful data.
 The CAN objects are designated with an 11 Bit identifier (ID or COB-ID: CAN
Object identifier). The identifier specifies the priority of the objects (the smaller the
value of the object ID is, the higher is the priority level of the object).
 The COB-ID consists of the function code and the node ID:
Structure of the COB-ID

Bit 10 9 8 7 6 5 4 3 2 1 0
Function code NodeID (1 ... 127)

NodeID: The Compax3 device address is used here as standard value
CANopen characteristics (I21)

Baud rate [kBit/s]  20, 50, 100, 125, 250, 500, 800, 1000
EDS file  C3.EDS
Service data object  SDO1
Process data objects  PDO1, ... PDO4
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6.5.3.1 Object types

The following table shows the preset COB-IDs:
Communicati Functi COB - COB - Defined Description
on object on Identifier Identifier in
type code (dec) (hex) Index...
Broadcast objects
NMT 0000b 0 0h - Network management and identifier assignment
SYNC 0001b 128 80h 1005h CANSYNC
TIME 0010b 256 100h 1012h TIME is not implemented in Compax3.
Point to point objects
EMCY 0001b 129-255 81h-FFh 1014h Error messages
T-PDO1 0011b 385-511 181h-1FFh 1800h Assignment via Index 1A00h Transmit process data object
(Compax3) max. 8 Byte
T-PDO2 0101b 641-767 281h-2FFh 1801h Assignment via Index 1A01h
T-PDO3 0111b 897-1023 381h-3FFh 1802h Assignment via Index 1A02h
T-PDO4 1001b 1153-1279 481h-1279h 1803h Assignment via Index 1A03h
R-PDO1 0100b 513-639 201h-27Fh 1400h Assignment via Index 1600h Receive process data objects
(Compax3) max. 8 Byte
R-PDO2 0110b 769-895 301h-37Fh 1401h Assignment via Index 1601h
T-SDO1 1011b 1409-1535 581h-5FFh 1200h Transmit service data object 1
T-SDO2 -* -* - 1201h Transmit service data object 2
R-SDO1 1100b 1537-1663 601h-67Fh 1200h Receive service data object 1
R-SDO2 -* -* - 1201h Receive service data object 2
Node guard 1110b 1793-1919 701h-77Fh 100Eh Check bus subscribers.
* The SDO2 are not activated.

The standard value of the COB-ID for an object is calculated as follows: COB-ID =
(Function code * 128) + Device address
The standard values of the COB-Ids can be changed via communication objects
via SDOs.
Application of the communication object types
Transmission of real time data (faster transmission because higher priority)
T-PDO Transmit process data object: Compax3 reply.

R-PDO Receive process data object: send to Compax3.
Once only transmission, e. g. of parameters or program lines

T-SDO Transmit service data object: Compax3 reply.
R-SDO Receive service data object: send to Compax3.
6.5.3.2 Communication objects

General note:
Every CAN object which is created as array (with subindex) contains the number of
entries in subindex 0.
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CAN communication objects overview sorted according to CAN No.
CAN-No Name Bus format Standard value Minimum Maximum Acce

value value ss
0x1000 Device Type Unsigned32 0x00020192 0x00000000 0xFFFFFFFF const
0x1001 Error Register Unsigned8 0x00 0x00 0xFF ro
0x1005 COB-ID SYNC Unsigned32 0x80000080 0x00000001 0xFFFFFFFF rw
0x1006 Communication Cycle Period Unsigned32 0x00000000 0x00000000 0xFFFFFFFF rw
0x1007 Synchronous Window Length Unsigned32 0x00000000 0x00000000 0xFFFFFFFF rw
0x1008 Manufacturer Device Name Visible_String C3xxxxxxxxxxxxxxxxx const
x
0x1009 Manufacturer Hardware Version Visible_String CTPxxxxxxxxLEIxxxx const
xxxx
0x100A Manufacturer Software Version Visible_String V const
xxxxxxxxxxxxxxxxxxx
0x100C Guard Time Unsigned16 0x0000 0x0 0xFFFF rw
0x100D Life Time Factor Unsigned8 0x00 0x0 0xFF rw
0x1014 COB-ID EMCY Unsigned32 0x000000FF 0x00000001 0xFFFFFFFF rw
0x1015 Inhibit Time Emergency Unsigned16 0x0 0x0 0xFFFF rw
0x1018 Identity Object (see on page 364) -
0x1018.1 Vendor Id Unsigned32 0x0 0x0 0xFFFFFFFF ro
0x1018.2 Product Code Unsigned32 0x0 0x0 0xFFFFFFFF ro
0x1018.3 Revision number Unsigned32 0x0 0x0 0xFFFFFFFF ro
0x1018.4 Serial number Unsigned32 0x0 0x0 0xFFFFFFFF ro
0x1200 Server SDO1 Parameter -
0x1200.1 SDO1: COB-ID Client -> Server Unsigned32 0x0000067F 0x00000001 0xFFFFFFFF ro
0x1200.2 SDO1: COB-ID Server -> Client Unsigned32 0x000005FF 0x00000001 0xFFFFFFFF ro
0x1200.3 Node ID of the SDO1 client Unsigned8 0x00 0x00 0xFF rw
0x1201 Server SDO2 Parameter -
0x1201.1 SDO2: COB-ID Client -> Server Unsigned32 0x800006E0 0x00000001 0xFFFFFFFF rw
0x1201.2 SDO2: COB-ID Server -> Client Unsigned32 0x800006E0 0x00000001 0xFFFFFFFF rw
0x1201.3 Node ID of the SDO2 Client Unsigned8 0x00 0x00 0xFF rw
0x1400 Receive PDO1 communication -
parameters
0x1400.1 RPDO1: COB-ID Unsigned32 0x0000027F 0x00000001 0xFFFFFFFF rw
0x1400.2 RPDO1: Transmission Type Unsigned8 0xFE 0x00 0xFF rw
0x1400.3 RPDO1: Inhibit Time Unsigned16 0x0000 0x0000 0xFFFF rw
0x1400.5 RPDO1: Event Timer Unsigned16 0x0 0x0 0xFFFF rw
parameters
0x1401.1 RPDO2: COB-ID Unsigned32 0x0000037F 0x00000001 0xFFFFFFFF rw
parameter
0x1402.1 RPDO3: COB-ID Unsigned32 0x0000047f 0x0 0xFFFFFFFF rw
parameter
0x1403.1 RPDO4: COB-ID Unsigned32 0x0000057f 0x0 0xFFFFFFFF rw
0x1600 Receive PDO1 mapping parameter -
0x1600.1 RPDO1 Mapping Entry 1 Unsigned32 0x00000000 0x00000000 0xFFFFFFFF rw
0x1600.2 RPDO1 mapping entry 2 Unsigned32 0x00000000 0x00000000 0xFFFFFFFF rw
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0x1800 Transmit PDO1 communication -
parameter
0x1800.1 TPDO1: COB-ID Unsigned32 0x000001FF 0x00000001 0xFFFFFFFF rw
0x1800.2 TPDO1: Transmission Type Unsigned8 0xFE 0x00 0xFF rw
0x1800.3 TPDO1: Inhibit Time Unsigned16 0x0000 0x0000 0xFFFF rw
0x1800.5 TPDO1: Event Timer Unsigned16 0x0 0x0 0xFFFF rw
parameter
0x1801.1 TPDO2: COB-ID Unsigned32 0x000002FF 0x00000001 0xFFFFFFFF rw
parameter
0x1802.1 TPDO3: COB-ID Unsigned32 0x000003ff 0x0 0xFFFFFFFF rw
parameter
0x1803.1 TPDO4: COB-ID Unsigned32 0x000004ff 0x0 0xFFFFFFFF rw
0x1A00 Transmit PDO1 mapping parameter -
0x1A00.1 TPDO1 mapping entry 1 Unsigned32 0x00000000 0x00000000 0xFFFFFFFF rw
0x1A00.2 TPDO1 Mapping Entry 2 Unsigned32 0x00000000 0x00000000 0xFFFFFFFF rw
TPDO2 Mapping Entry 5 Unsigned32 0x00000000 0x00000000 0xFFFFFFFF rw
0x1A01.5
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Identity Object (0x1018)

This object is composed as follows:
Vendor-ID (0x1018.1)
Is stored in the FBI-EEPROM binarily from addr. 56...59 (low...high). Current value
= 0x02000089.
Product-Code (0x1018.2)
Is composed of the part of the order code "Faa lbb Tcc Mdd" to 0xaabbccdd, i.e.
the device with the order code C3S025V2F10I21T40M11 has the product code
0x10214011.
The product code is hex coded, but can be read decimally.
Revision number (0x1018.3)
Is composed of 5 digits of the software version no. of the DSP software and 3 digits
of the SV no. of the FBI software, i.e. the device with the DSP SV no. 01.08.02 and
the FBI SV no. 1.21 has the revision no. 0x10802121.
Serial number (0x1018.4)
Is stored in the CTP-EEPROM as a 10 digit ASCII string from addr. 56...65 (series
number of the device). A C3 with the series number 1423440001 has the serial
number 0x54D7F881.
The description of the CANopen communication objects can be found in the
corresponding help file.
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6.5.4. Acyclic parameter channel

Service Data Objects (SDO) .......................................................................................... 365
Object Up-/Download via RS232 / RS485 ...................................................................... 366
6.5.4.1 Service Data Objects (SDO)

Asynchronous access to the object directory of Compax3 is implemented with the
help of the SDOs. The SDOs serve for parameter configuration and status
interrogation. Access to an individual object takes place via the RS232 / RS485
index and subindex of the object directory.
Attention!
A SDO is a confirmed service, therefore the SDO reply telegram must always
be awaited before a new telegram may be transmitted.
CiA405_SDO_Error (Abort Code): UDINT

In the case of an incorrect SDO transmission, the error cause is returned via the
"abort code".
Abort Code Description
0x0503 0000 ”Toggle Bit” was not alternated
0x0504 0000 SDO Protocol ”time out”
0x0504 0001 Client/server command designator invalid or unknown
0x0504 0002 Unknown block size (block mode only)
0x0504 0003 Unknown block number (block mode only)
0x0504 0004 CRC error (block mode only)
0x0504 0005 Outside of memory
0x0601 0000 Access to this object is not supported
0x0601 0001 Attempted read access to a write only object
0x0601 0002 Attempted write access to a read only object
0x0602 0000 The object does not exist in the object directory
0x0604 0041 Object cannot be mapped in a PDO
0x0604 0042 Size and number of “mapped” objects exceeds max. PDO length
0x0604 0043 General parameter incompatibility
0x0604 0047 General incompatibility in the device
0x0606 0000 Access infringement due to a hardware error
0x0607 0010 Data type does not fit, length of the service parameter does not fit
0x0607 0012 Data type does not fit, length of the service parameter too large
0x0607 0013 Data type does not fit, length of the service parameter too small
0x0609 0011 Subindex does not exist
0x0609 0030 Outside parameter value range (only for write access operations)
0x0609 0031 Parameter value too large
0x0609 0032 Parameter value too small
0x0609 0036 Maximum value smaller than minimum value
0x0800 0000 General error
0x0800 0020 Date cannot be transmitted or saved
0x0800 0021 Date cannot be transmitted or saved due to local device management
0x0800 0022 Date cannot be transmitted or stored due to device status
0x0800 0023 Dynamic generation of the object directory is impossible or no object
directory exists (the object directory is created from a file and an error
occurs due to a defective file)
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6.5.4.2 Object Up-/Download via RS232 / RS485

The up-/download takes place via the RS232 / RS485 objects C3_Request (Index
0x2200) and C3_Response (Index 0x2201). These have the data type octet string
with a length of 20 bytes (octets). Write/read of a C3 object is carried out by writing
of C3_Request with the corresponding data. When a C3 object is read, the data
appear in the C3_Response object .
Meaning of the data from C3_Request

Byte 1 Octet 2 Octet 3 Octet 4 Octet 5 Octet 6 ... ... Octet 19 Octet 20
Request header C3 object data (write)
AK Subindex Index D1 D2 ... ... D15 D16
AK: Job identifier; 3=read, 4= write
OD1..OD16: Object data; OD1 = High, OD16 = Low
Meaning of the data from C3_Response

Byte 1 Octet 2 Octet 3 Octet 4 Octet 5 Octet 6 ... ... Octet 19 Octet 20
Reply header C3 object data (read)
- - - - OD1 OD2 ... ... OD15 OD16
OD1..OD16: Object data; OD1 = High, OD16 = Low
Upload
RS232 / RS485 O1 O2 O3 O4 O5 O6 O7 O8 ... O 20
Access Object C3 object request/reply C3 object data
1. Write C3 object 20.2 with the value 0
Write 0x2200.0 4 2 0 20 0 0 0 x ... x
2. read next C3 object index/subindex in C3 object 20.5
Write 0x2200.0 3 5 0 20 x x x x ... x
Read 0x2201.0 x x x x I_hi I_lo Subi x ... x
3. read the C3 object with the in index/subindex read in the C3 object 20.5
Write 0x2200.0 3 Subi I_hi I_lo x x x x ... x
Read 0x2201.0 x x x x D1 D2 D3 D4 ... D16
4. Store C3 object index, subindex and data D1...D16 in table
5. Repeat steps 2 to 4 until I_hi = I_lo = Subi = 0xFF
Download: Write the entire table of C3 objects.

RS232 / RS485 O1 O2 O3 O4 O5 O6 O7 O8 ... O 20
Access Object C3 object request/reply C3 object data
1. Write C3 object from the table
Write 0x2200.0 4 Subi I_hi I_lo D1 D2 D3 D4 ... D16
2. Repeat step 1 until the end of the table
6.5.4.3 Data formats of the bus objects

Data formats of the bus objects (see on page 348)
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6.6 DeviceNet
Please note:
A changed assignment (mapping) of the Input/Output Message is accepted

with Power off / Power on!
The length of the Input / Output Message is adapted to the real assignment
(mapping) (2 ... 32).
Statement of Conformance
http://www.compax3.de/C3_DeviceNet_Statement_of_Conformance.pdf (in
the Internet)
Address or Baud rate settings (see on page 32)
Pin assignment (see on page 32)

DeviceNet Configuration ................................................................................................ 367
DeviceNet object classes ............................................................................................... 368
6.6.1. DeviceNet Configuration

Following are described the input windows of the configuration wizard.


 No response
 Downramp / stop
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6.6.2. DeviceNet object classes

The DeviceNet object classes described in this chapter are either set to
sensible standard values or they are set under menu control with the help of
the ServoManager.
The communication objects described below must be modified only for
special deviating settings.

Overview of the DeviceNet object classes ..................................................................... 369
DeviceNet characteristics (I22)

DeviceNet  Predefined Master/Slave Connection Set
 Standard 2.0 Group-2-Slave
 Fieldbus I/O Data or Process Data
(Polled, COS/Cyclic I/O and Bit Strobe)
Implemented object classes  Identify, Message Router, DeviceNet,
Assembly, Connection, Acknowledge
Handler
Baud rate [kBit/s]  125, 250, 500
permissible cable length  up to 500m on 125Bit/s,
 up to 200m on 250Bit/s,
Max. Number of participants  63 Slave
Insulation  Isolated Device Physical Layer
EDS file  C3_DeviceNet.EDS
Conformance (file in the Internet)  Statement of Conformance
http://www.compax3.de/C3_DeviceNet
_Statement_of_Conformance.pdf
Further information:  Application example
(C3I22_DeviceNet.ZIP) on the Compax3
CD in the "\Examples" directory"
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6.6.2.1 Overview of the DeviceNet object classes

Object name Class Instance Description
ID ID
Identify 0x01 1 Mandatory
Message Router 0x02 1 Mandatory
DeviceNet 0x03 1 Mandatory
Assembly 0x04 101-103 I/O Messages
Connection 0x05 1 Explicit Messages
2 Polled I/O Data
3 Bit Strobe
4 Change of State (COS), Cyclic I/O Data
Acknowledge Handler 0x2B 1 Necessary for connection class ID 05hex, instance ID 04
Image of I/O Data 0x64 1 Manufacturer-specific object class image of I/O data
C3 object 0x65 20-3300 Manufacturer-specific object class C3 object
Detailed information on the topic of "object classes" can be found in the online help
of the device.
6.6.3. Data formats of the bus objects

Data formats of the bus objects (see on page 348)
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6.7 Ethernet Powerlink / EtherCAT
The Ethernet Powerlink option is available with the Compax3 devices

C3I30Txx!
The EtherCAT option is available on the Compax3 devices C3I31Txx!

Configuring Ethernet Powerlink / EtherCAT ................................................................... 370
6.7.1. Configuring Ethernet Powerlink / EtherCAT

CN Controlled Node (Slave) .......................................................................................... 370
Slave mit Konfiguration via Master................................................................................. 370
Possible PDO assignment ............................................................................................. 370
The Ethernet Powerlink or Ethercat configuration is made in a wizard. Can be

called up in the tree (Compax3 ServoManager, left window) under "configure
communication".
6.7.1.1 CN Controlled Node (Slave)

Compax3 is the slave of an Ethernet / EtherCAT master; the bus configuration is
made via the ServoManager
6.7.1.2 Slave with configuration via Master

Select "Slave mit Konfiguration via Master” if you make the operating mode setting
and mapping via the master.
Then run through the wizard completely.

 No response
 Downramp / stop
6.7.1.4 Possible PDO assignment

Via the process data objects (RPDO and TPDO), actual values and Setpoint values
are cyclically exchanged between Compax3 and the Ethernet Powerlink Controlled
Nodes (Slaves). Please note that they put more strain on the fieldbus
communication that the the transmission via SDO:
The cyclic PDOs are configured with the aid of the Compax3 ServoManager:
The PDOs are set separately for the transmission directions
 Slave ⇒ Compax3 (RPDO)
 Compax3 ⇒ Slave (TPDO)
The objects that can be put on the process data channel can be found in the "
Compax3 Objects (see on page 392)"!
Acyclic data can be transmitted via SDO.
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6.8 HEDA Bus
HEDA: High Efficiency Data Access: Option M10 or M11

 Real-time data transfer
 High-stage axis synchronization
 fixed transfer rate of 10MBit/s
 Jitter < 300ns (Bus) which results in a high synchronicity
 Peer-to-Peer communication
 maximum cable length 50m (greater lengths on request)
 1 Master / 31 Slave: Individual HEDA axis address in the range between /1...32
 fixed cycle time of 0.5ms
 Synchronization of the scanning grid of the digital control loops
and of the setpoint generation
 cyclic data exchange
 acyclic data exchange of time-uncritical values
HEDA wiring (see on page 434)
Function of the HEDA LEDs

Green LED (left)
HEDA module energized
Red LED (right)
Error in the receive area
Possible causes:
 at the Master
 no slave sending back
 Wrong cabling
 Terminal plug is missing
 several masters are sending in the same slot
 at the slave
 several masters in the system
 no master active
 no transmission from one or several receive slots (neither by the master nor by
another slave)
The configuration may take place in two different ways:

 HEDA standard: Simple Master -> Slave communication
 HEDA advanced: Extensive communication Master <-> Slave and Slave <->
Slave.
HEDA standard mode .................................................................................................... 372
HEDA expansion (HEDA advanced) .............................................................................. 374
Coupling objects ............................................................................................................ 391
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6.8.1. HEDA standard mode

HEDA-Master ................................................................................................................ 373
HEDA-Slave .................................................................................................................. 373
The HEDA option (option M10 or M11) can be used to send 4 process values in the
"HEDA standard" operating mode from master to slave. A return transmission from
Slave to Master is possible with "HEDA advanced".
First choose, if Compax3 is HEDA Master or HEDA Slave:

 HEDA Master in order to send process values
 HEDA Slave in order to receive process values
Please respect that only 1 HEDA station can be Master.
Principle:
Compax3 T30 / T40 Compax3 T30 / T40
1)
Channel 1 Channel 1 Conﬁguration:
Communication:
HEDA-Master
HEDA-Slave
Channel 2 Channel 2
HEDA
Channel 3 Channel 3 2)
Channel 4 Channel 4
1) Configuration in HEDA-Master of the process values placed in the four HEDA

channels.
2) In the HEDA-Slave the process value of the four channels are assigned to
objects.

 No response
 Downramp / stop
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6.8.1.2 HEDA-Master
You can transmit 4 process values (one process value per channel) with max. 7
words (one process value per channel).
The 1st. process value (takes 3 words) is reserved for the axis synchronization.
You may choose between:
 Setpoint position value (Object 2000.1)
 Actual position (Object 2200.2)
 Setpoint position value from virtual Master (object 2000.2)
 External position value (Object 2020.1)
Signal read into the master via <Analog channel_C3_C3F>, Encoder input or
step/direction input.
Principle:
Compax3 HEDA Compax3 HEDA Compax3
Master Slave Slave

Encoder
Step / Direction
+/-10V
Attention in the case of a configuration download with master-slave

coupling (electronic gearbox, cam)
Switch Compax3 to currentless before starting the configuration download:
Master and Slave axis
 Position from virtual Master (object 2000.2)
Additional 3 process values with altogether max. 4 words data can be transmitted.
You can make your choice between the Compax3 PD objects.
Note: Please use the coupling objects (see on page 391) for axis coupling.
6.8.1.3 HEDA-Slave
In the HEDA slave, the transmitted process values are read.
The transferred process values can be assigned to objects in the configuration
wizard (e.g. array objects).
Objects with appropriate data width (corresponding to the process values read in)
must be assigned.
The 1st process value is used as input process value (object 3920.1: HEDA
SignalProcessing Input) for axis synchronization. The target for the process values
2, 3, 4 can be selected from a list in the configuration wizard.
The Measure reference for the Master position is selected under Configuration:
Configuration of the signal source: HEDA (see on page 80).
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6.8.2. HEDA expansion (HEDA advanced)

The possibilities of the HEDA expansion........................................................................ 374
Technical data of the HEDA interface / overview ........................................................... 374
Definitions...................................................................................................................... 375
Calling up the HEDA wizard in the C3 ServoManager.................................................... 375
Configuration of the HEDA communication .................................................................... 375
6.8.2.1 The possibilities of the HEDA expansion

The HEDA option (option M10 or M11) can be used to exchange process values in
the "HEDA advanced" operating mode.
 from Slave to Master
 from Slave to Master and
 from Slave to Slave.
6.8.2.2 Technical data of the HEDA interface / overview

General HEDA data
 Synchronous, bidirectional, deterministic real-time bus.
 Bus access via time sharing (slots), Master/Slave, Producer/Consumer.
((synchronization exactitude <1µs).
 Bus cycle time 500µs, distributed into 20 time slots à 25µs.
 18 slots cyclic transmitting and receiving data channels (Slot 0 .. 17).
 2 slots reserved for acyclic communication.
 Telegrams (frames) with max. 7 words à 16 bit can be sent and received in a slot.
 Freely configurable assignment of the cyclic transmit(Tx)/receive(rx)-slots to the
stations.
 The transmitting and receiving data are freely definable via mapping tables.
 Master-Slave as well as Slave-Slave communication (cross-communication) are
possible.
 A master=>slave frame in slot x can be received by every slave.
 A master=>slave frame (cross-communication) in slot x can be received by every
station.
Compax3-specific HEDA data:

 The Compaxa3 system cycle time is synchronized with the bus cycle time.
 System cycle time 500µs, distributed into 4 position control cycles à 125µs.
 For system-immanent reasons, only one slot is able to send and receive during
the same position control cycle (every 125µs).
 Transmit- and receive slot can differ within one position controller cycle.
 The Master can receive frames from max. 4 Slaves received.
Principle:
4 18
4 4 4
Receive Transmit Transmit Transmit
HEDA Master HEDA Slave HEDA Slave HEDA Slave
Transmit Receive Receive Receive
4 4 4 4
18
Displayed are the number of the possible telegrams (Frames).
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6.8.2.3 Definitions
DSP Format Objects with this format:
 are not reset
 are not limited:
they have a value range between -223 and 223-1
 are suitable as coupling objects
If the DSP Format is not selected, the objects are transmitted in
the described formats (see on page 392). Please note that
the Bus formats Y2 and Y4 (see on page 349) are set against
the normalization factors.
Frame Telegram of process values with a data width of 7 words.
Mapping Image of process data on a communication channel (slot)
Mapping table Overview of process values that can be put on a
communication channel (slot).
Coupling objects Are suitable as master signals for electronic coupling and must
be in the DSP format.
Receive Received
Slot communication channel
Transmit Send
Process data Objects, which are suitable for use in the cyclic data channel.
6.8.2.4 Calling up the HEDA wizard in the C3 ServoManager

The "HEDA Advanced" wizard can be found in the C3 ServoManager tree under
communication.
Please observe:
The "HEDA advanced" wizard settings overwrite the settings of the HEDA
standard wizard!
6.8.2.5 Configuration of the HEDA communication

Data transfer Master - Slave and back ........................................................................... 376
Example: Communication Master - Slave and back ....................................................... 383
Data transfer from Slave to Slave. ................................................................................. 386
Error Reaction on Bus Failure

 No response
 Downramp / stop
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Data transfer Master - Slave and back

Setting the HEDA master............................................................................................... 378
Setting the HEDA slave ................................................................................................. 381
In standard applications the master sends process values to the slaves and reads
the answers from the slaves.
S0 S0
S1 S1
S2 S2
** S3 * S3
S4 S4
S5 S5
S6 S6
S7 S7
S8 S8
S9 S9
S10 S10
S11 S11
S12 S12
S13 S13
S14 S14
S15 S15
S16 S16
S17 S17
Mapping Table
F1 F2 F3 F4 F1 F2 F3 F4 F1 F2 F3 F4 F1 F2 F3 F4
Mapping Table
S17 S17
S16 S16
S15 S15
S14 S14
S13 S13
S12 ** S12
S11 S11
S10 S10
S9 S9
S8 S8
S7 S7
S6 S6
S5 S5
S4 S4
S3 S3
S2 S2
S1 S1
S0 S0
* only one of the assigned slots per frame group may be activated on the slave
transmit side (this is blocked by the C3 ServoManager)
* only one of the assigned slots per frame group may be activated on the master or
slave receive side (this is blocked by the C3 ServoManager)
Print version available on the Internet
http://divapps.parker.com/divapps/eme/EME/downloads/compax3/HEDA-Formulare/HE
DA-Standard.pdf
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S0 S0
S1 S1
S2 S2
S3 S3
S4 S4
S5 S5
S6 S6
S7 S7
S8 S8
S9 S9
S10 S10
S11 S11
S12 S12
S13 S13
S14 S14
S15 S15
S16 S16
S17 S17
Mapping Table
Mapping Table
S17 S17
S16 S16
S15 S15
S14 S14
S13 S13
S12 S12
S11 S11
S10 S10
S9 S9
S8 S8
S7 S7
S6 S6
S5 S5
S4 S4
S3 S3
S2 S2
S1 S1
S0 S0
Functionality:
The master can send 4 different frames (F1,... F4). A frame can be sent from
several slots:
Frame: F1 F2 F3 F4
possible slots: 0 ... 2 3 ... 7 8 ... 12 13 ... 17
Each frame is assigned a mapping table number.
The individual slaves read in the slot from where their relevant data are sent.
It is necessary to define a mapping table in the slave, stating where the individual
process data are to be written (e.g. into an array-object).
The assignment of the mapping table is made via the mapping table number which
is transferred via HEDA.
For this reason, the receive mapping table number and the transfer mapping table
number must always be the same.
Important: Receive-Mapping table number = Transmit-Mapping-Table-Number
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Setting the HEDA master

HEDA master settings:
 activate HEDA Master

 Axis address = 0
 Setting the error reaction (from Compax3) at bus failure:
 activated: Compax3 switches to error state in the case of a bus error.
 deactivated: Compax3 will ignore a bus error.
 By activating “Master setpoint delay (SG1), actualization takes place at the same
time on the master and on the slave (by a delay on the master setpoint value).
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Master transmission slots (Transmit Slots)
Important:
For standard applications (data transfer master - slave and back) all slots in
the master must be transmitting.
 for this reason you should activate all transmit slots (0...17, in the lower area of
the wizard window).
 Please assign, according to your requirements, a mapping table to each of the 4
transmit frames.
The contents of the transmit mapping table is defined in the next wizard window.
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Master receive slots

Activate the receive slots from which the slave sends data (corresponding to the
settings in the slave).
In each of the 125µs cycles (slot 0...2, slot 3...7, slot 8...12, slot 13...17) data can
be received only via one slot, see also the HEDA communication structure (see
on page 376).
The assignment of the data is made via the mapping table number (which was
defined in the slave), this number is also received.
In the Wizard window "Receive Mapping table", it is defined under this mapping
table number where the data received are to be written to.
Master Transmit Mapping Table (max. 4)

Here the transmit mapping tables, which were assigned to the max. assigned to 4
transmit 125µs cycles.
Procedure:
 Selection of the corresponding transmit mapping table.
 Selection of the Compax3 objects to be transmitted.
 The assignment of the mapping table is permanently identified and displayed.
 Up to 7 words are possible.
 How many words are used by an object (see on page 392) depends on the bus
format (see on page 348) / DSP format
Note: For axis coupling, please use the coupling objects (see on page 391) in the DSP
format (see on page 375) (selected by clicking on the DSP switch).
Please make sure that the DSP switch is activated on the master and the slave
side in DSP format.
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Master Receive Mapping Table (max. 4)

Please select the mapping table number, which was defined in the slave (under
transmit mapping table).
Please enter now, where the received data are to be written. (e. B. on an array
object).
Please use the data formats as defined in the mapping table of the slave.
Note: For axis coupling, please use the coupling object (see on page 391) O3920.1 in
the DSP format (see on page 375) as an input (selection by clicking on the DSP
switch).
side in DSP format.
Setting the HEDA slave
HEDA slave settings:

 Activating the HEDA Slave
 Assigning the axis address = 0 (can be changed by clicking)
 Setting the error reaction (from Compax3) at bus failure:
 activated: Compax3 switches to error state in the case of a bus error.
 deactivated: Compax3 will ignore a bus error.
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Slave receive slots

Activate the receive slots, from where the slave is to receive the data.
In each of the four 125µs cycles (slot 0...2, slot 3...7, slot 8...12, slot 13...17) data
can be received only via one slot, see also the HEDA communication structure
(see on page 376).
The assignment of the data is made via the mapping table number (which was
defined in the master), this number is also received.
In the Wizard window "Receive Mapping table", it is defined under this mapping
table number where the data received are to be written to.
Slave transmission slots (Transmit Slots)

Activate the transmit slots, from where the slave is to send the data.
In each of the four 125µs cycles (slot 0...2, slot 3...7, slot 8...12, slot 13...17) data
can be transmitted only via one slot, see also the HEDA communication
structure (see on page 376).
Please make sure, that no other slave can send on this slot.
Now you can assign a mapping table to each individual activated slot.
Please consider, that transmit mapping table numbers are only used once in
one transmit/receive range.
The contents of the transmit mapping table is defined in the next wizard window.
Slave Transmit Mapping table

Here the transmit mapping tables, which were assigned to the transmit slots
activated before, are defined.
Procedure:
 Selection of the corresponding transmit mapping table.
 Selection of the Compax3 objects to be transmitted.
 The assignment of the mapping table is permanently identified and displayed.
 Up to 7 words are possible.
 How many words are used by an object (see on page 392) depends on the bus
format (see on page 348).
Note: For axis coupling, please use the coupling objects (see on page 391) in the DSP
format (see on page 375) (selected by clicking on the DSP switch).
side in DSP format.
Slave Receive Mapping table

Please select the mapping table number, which was defined in the master (under
transmit mapping table).
Please enter now, where the received data are to be written.
Please use the data formats as defined in the mapping table of the master.
Note: For axis coupling, please use the coupling object (see on page 391) O3920.1 in
the DSP format (see on page 375) as an input (selection by clicking on the DSP
switch).
side in DSP format.
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Example: Communication Master - Slave and back

HEDA communication structure:
S0 S0
S1 S1
S2 S2
S3 S3
S4 S4
S5 S5
S6 S6
S7 S7
S8 S8
S9 S9
S10 S10
S11 S11
S12 S12
S13 S13
S14 S14
S15 S15
S16 S16
S17 S17
Mapping Table 1 6 7 8
1 2 4 5 Mapping Table
S17 S17
S16 S16
S15 S15
S14 S14
S13 S13
S12 S12
S11 S11
S10 S10
S9 S9
S8 S8
S7 S7
S6 S6
S5 S5
S4 S4
S3 S3
S2 S2
S1 S1
S0 S0
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Master and Slave 1 to 3 (from left to right).

Task:
Master Transmit
 Master sends on:
 Slot 0...2: Mapping table 1
Slave Receive
 Slave 1 reads on:
 Slot 2: Mapping table 1
 Slot 3: Mapping table 2 and
 Slave 2 reads on:
 Slot 13: Mapping table 5.
 Slave 3 reads on
 Slot 9: Mapping table 4.
Slave Transmit
 Slave 1 sends on:
Master Receive
 Master receives on:
C3 ServoManger settings:
Slot - settings Master:
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Example for transmit mapping table 1 on the master or slave
Slot settings slave 1:
Example for receive mapping table 1 at slave 1 (is also valid for slave 3, master)
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Data transfer from Slave to Slave.

HEDA communication structure with data transfer from Slave to Slave:
S0 S0
S1 S1
S2 S2
S3 S3
S4 S4
S5 S5
S6 S6
S7 S7
S8 S8
S9 S9
S10 S10
S11 S11
S12 S12
S13 S13
S14 S14
S15 S15
S16 S16
S17 S17
Mapping Table

S10
S11
S12
S13
S14
S15
S16
S17
S0
S1
S2
S3
S4
S5
S6
S7
S8
S9
Mapping Table
S17 S17
S16 S16
S15 S15
S14 S14
S13 S13
S12 S12
S11 S11
S10 S10
S9 S9
S8 S8
S7 S7
S6 S6
S5 S5
S4 S4
S3 S3
S2 S2
S1 S1
S0 S0
Print version available on the Internet

http://divapps.parker.com/divapps/eme/EME/downloads/compax3/HEDA-Formulare/HE
DA_adv.pdf
If a transmit slot of the HEDA master is not assigned, the master will pass the
received data directly on to the slaves (independent of his reading from this slot or
not).
I.e. if a transmit slot of the master where a slave is sending is disabled, the data will
be passed on and can be received from any slave on this slot.
It is, however, valid:
All transmit slots must send!

This is also true, if a slave sends on this slot.
Please note:
Please ensure that all slots are used for transmission, the C3 ServoManager
cannot verify this fact!
In order to verify this, please use the HEDA communication structure.
386 192-120102N6 C3FT40 2014-10

Parker EME HEDA Bus
Example 1: Communication Master - Slave and Slave - Slave.
Task:
MT3
MT2
MT1
Master Slave 1 MT3 Slave 2 MT4 Slave 3
MT5
MT6
MT7
MT1 ... MT7: Mapping table 1... 7

Step-by-step setting of the HEDA communications:
Firstly, activate all transmit slots of the master in order to ensure that all transmit
slots of the master are sending:
S0 S0
S1 S1
S2 S2
S3 S3
S4 S4
S5 S5
S6 S6
S7 S7
S8 S8
S9 S9
S10 S10
S11 S11
S12 S12
S13 S13
S14 S14
S15 S15
S16 S16
S17 S17
Mapping Table
1 2 3

S10
S11
S12
S13
S14
S15
S16
S17
S0
S1
S2
S3
S4
S5
S6
S7
S8
S9
Mapping Table
S17 S17
S16 S16
S15 S15
S14 S14
S13 S13
S12 S12
S11 S11
S10 S10
S9 S9
S8 S8
S7 S7
S6 S6
S5 S5
S4 S4
S3 S3
S2 S2
S1 S1
S0 S0
192-120102N6 C3FT40 2014-10 387

The mapping tables are now distributed to different slots:

Mapping Table Slot
MT1 1 Slave transmit range
MT2 4
MT3 11
MT4 16
MT5 2 (& 0, 1) Master transmit
MT6 9 (& 8, 10, 12) range
MT7 13 (& 14, 15, 17)
Note: The transmit slots where a slave-slave communication is taking place (Slot 11 &
16), must be deactivated in the master!
Otherwise, the master would overwrite the data of the slave.
This results in the following image:
S0 S0
S1 S1
S2 S2
S3 S3
S4 S4
S5 S5
S6 S6
S7 S7
S8 S8
S9 S9
S10 S10
S11 S11
S12 S12
S13 S13
S14 S14
S15 S15
S16 S16
S17 S17
Mapping Table
1 2 3 4
Transmit
1 2 3

S10
S11
S12
S13
S14
S15
S16
S17
S0
S1
S2
S3
S4
S5
S6
S7
S8
S9
5 6 7 Mapping Table
Transmit
switch off
S17 S17
S16 S16
S15 S15
S14 S14
S13 S13
S12 S12
S11 S11
S10 S10
S9 S9
S8 S8
S7 S7
S6 S6
S5 S5
S4 S4
S3 S3
S2 S2
S1 S1
S0 S0
set all slots except slave->slave relation
388 192-120102N6 C3FT40 2014-10

Parker EME HEDA Bus
The following objects are transmitted:

TRANSMIT (send) RECEIVE
Mapping Source Objects Ta
Table rge
t
1 S1 C3Array.Col01Row01 (1901.1) M C3Array.Col01Row01 (1901.1)
2 S1 C3Plus.DeviceState_Statusword1 (1000.3) M C3Array.Col03Row01 (1903.1)
3 S1 C3Plus.ProfileGenerators_SG1Position (2000.1) M C3Array.Col01Row02 (1902.1)
S2 C3Plus.HEDA_SignalProcessing_Input (3920.1)
4 S2 C3Plus.PositionController_DemandValue (2200.1) S3 C3Plus.HEDA_SignalProcessing_Input (3920.1)
5 M C3Plus.ProfilGenerators_PG2Position (2000.2) S1 C3Plus.HEDA_SignalProcessing_Input (3920.1)
S2 C3Array.Col01Row05 (1901.5)
S3 C3Array.Col01Row05 (1901.5)
6 M C3Plus.DeviceControl_Controlword1 (1100.3) S1 C3Plus.DeviceControl_Controlword1 (1100.3)
7 M C3Array.Col06Row01 (1906.1) S1 C3Array.Col06Row01 (1906.1)
M: Master
S1, S2, S3: Slave 1 ... 3
Word form for the objects to be transmitted on the internet
http://divapps.parker.com/divapps/eme/EME/downloads/compax3/HEDA-For
mulare/communications-table.doc.
192-120102N6 C3FT40 2014-10 389

Example 2: 4-axis application with HEDA
“Task:
 four-axis processing machine
 Setting the steps via virtual master
 Forwards and backwards movement with the master (closed curve)
 Linearized feed movement with Slave 1 = rotating blade (open curve)
 Position synchronous operation of slave 2 with respect to slave 1 with slip
correction (use of C3_Shift_Position, only T40)
 Fixed position assignment of a turning axis slave 3 to slave 2 with consideration
of the correction movement of slave 2
Virtual 360
Master C3.StatusPosition_DemandValue2 o680.2
0
C3Plus.ProfileGenerators_PG2Position o2000.2
HEDA_SignalProcessing_Input o3920.1
100 100 100 360
0 360 0 360 0 100 0 100
Setpoint
Setpoint Setpoint Setpoint Setpoint
Generator Generator Generator Generator
C3_ShiftPosition
C3Plus.ProfileGenerators_SG1Position o2000.1
C3Plus.PositionController_DemandValue o2200.1
Control Control Control Control

Loop Loop Loop Loop
C3Plus.PositionController_ActualValue o2200.2
Master Slave 1 Slave 2 Slave 3

Gearbox: i=10 Gearbox: i=5 Gearbox: i=3 Gearbox: i=7
Travel Distance per Travel Distance per Travel Distance per Travel Distance per
Revol: 127/10 Revol: 233/5 Revol: 100/3 Revol: 360/7
390 192-120102N6 C3FT40 2014-10

Parker EME HEDA Bus
Master / Slave Configuration of the reference system

Configuration Master Slave 1 Slave 2 Slave 3
Travel distance per motor revolution
 Numerator 127 233 100 360
 Denominator 10 5 3 7
Reset distance
 Numerator 100 100 100 360
 Denominator 1 1 1 1
Signal source (Master axis)
 Virtual Master
 Reset distance 360
 Use as current signal source yes
Source HEDA (Slave axis)
 "Virtual master" as HEDA Master yes no no
 Path per motor revolution of the HEDA Master
 Numerator not 233 100
 Denominator required 5 3
 Create cams with the CamDesinger
 Distance Counter Reset Position - 360 360 100 100
Numerator 1 1 1 1
 Distance Counter Reset Position -
Denominator
The C3 ServoManager projects (configuration) can be found on the Compax3

CD:...\Examples\HEDA\Master.c3p, slave1.c3p, slave2.c3p, slave3.c3p
6.8.3. Coupling objects

Coupling objects (framed objects) are suitable as master signal for electronic
coupling and should be in the DSP Format (see on page 375).
C3_MoveSu perImposed 680.4 C3. C3_S hiftP osition
PositionController_
*
Distance StatusPosition_ Distance
DemandValue
2200.2 C3Plus.
2020.1 C3.External
C 3S M
ActualValue
680.10 Signal_Position
W iz ar d RS
2011.4 3021.2 C3Cam
681.4 C3.
.SignalSource_
StatusSpeed_
Position DemandValue
TRF
B Physical 990.1
Direction
C3.Delay
+/-10 V -1 / +1
2107.1 _Master
3920.7 Delay
* 0,5 ms
3920.1 C3Plus. SD
HEDA_Signal TRF Structure + +
Control-
Processing_Input
HEDA
of Cam or + + loop
2109.1 Gearing Direction

-1 / +1 Direction
Virtual *
2000.10 C3Plus.Profil
Generator_SG1PositionSum
-1 / +1 SD
Mas ter 2000.2 C3Plus.Profile
Generators_PG2Position
3921.1
Direction
2200.1 C3Plus.Position
Controller_DemandValue
*
CAN Sync -1 / +1
Inter-
Po werLin k
EtherC at
polator 2000.1 C3Plus.Profil
Generators_SG1Position
* 681.9 C3.Status RS
Speed_
3921.7 C3Plus.FBI_Signal 680.5 C3.Status
ActualFilter
Processing0_OutputGreat Position_Actual
Input value for HEDA couplings is object 3920.1.
Note: * These values are not even reset by a home run.

Direction -1 / +1: With direction inversion (in the configuration wizard) these
coupling values are inverted, relative to the drive direction (factor -1).
192-120102N6 C3FT40 2014-10 391

Compax3 - Objects C3F_T40
7. Compax3 - Objects
Compax3 objects are encapsulated in the "C3, C3Array, ..." modules in the
IEC61131-3 programming environment (CoDeSys).
Enter the object names before the "." and the corresponding list of objects
will appear.
Objects that are not described here are reserved objects!
Note on searching objects:

 If the object number is known, you can enter it directly in the index.
 In addition you can find the CoDeSys name of the objects in the index.
Note on bus numbers (PNU, CAN-No.):

The bus numbers of the array can be found in the description on column 1, line 1
(Object 1901.1)

Object overview sorted by object name (T40) ................................................................ 392
Object overview sorted by object groups (T40) .............................................................. 403
Objects for the process data channel (T40F) ................................................................. 414
Please note that certain objects are not valid (read by Compax3) immediately after
setting objects to a change. This is described in the heading "Valid after".
valid These objects are converted to internal variables from the Compax3 "VP"
command (write in object 210.10 with value <> 0).
saving objects It should also be noted that modified objects are not permanently stored in the
permanently Compax3, i.e. the changes are lost after the power (24 VDC) is turned off.
The object "Save objects permanently" (write in object 20.11 with value <> 0)" can
be used to save objects in a flash memory so they are retained even if the power
fails.
Please note the following:
 The IEC cycle time increases considerably (to approx. 1.5 seconds) during
memorization.
 We therefore recommend NOT to execute this function during time-sensitive
parts of the IEC program.
 PLC cycle time monitoring is deactivated when accessing this object.
 Perform this command only when needed. The write cycles of the memory
module are limited (up to 100 000 cycles).
 The function is edge triggered and is executed upon a rising edge.
7.1 Object overview sorted by object name (T40)

No. Object name Object PNU CAN No Format PD Valid
after
1.15 Device_ProfileID Profibus profile number 965 OS no -

20.1 ObjectDir_Objekts-->FLASH Store objects permanently (bus) 339 0x2017 I16 no Immediat
ely
20.10 C3.ObjectDir_ReadObjects reading objects from Flash I16 no Immediat
ely
20.11 C3.ObjectDir_WriteObjects saving objects permanently I16 no Immediat
ely
50.1 C3Plus.PLC_DemandCycleTime cycle time specification 352 0x201F.1 U16 no Immediat
ely
50.3 C3Plus.PLC_ActualCycleTime Status of cycle time of the control program 353 0x201F.2 U16 no -
392 192-120102N6 C3FT40 2014-10

Parker EME Object overview sorted by object name (T40)

after
50.4 C3Plus.PLC_ActualCycleTimeMax Status of maximum cycle time 354 0x201F.3 U16 no Immediat
ely
120.2 C3.DigitalInput_Value Status of digital inputs V2 Yes -
120.3 DigitalInput_DebouncedValue Status of digital inputs 21 0x6100.1 V2 Yes -
120.7 C3.DigitalInput_DebounceTime Debounce time for dig. Inputs I16 no Immediat
ely
120.8 C3.DigitalInput_DebounceMask Debounce mask for dig. Inputs I16 no Immediat
ely
121.2 C3.DigitalInputAddition_Value input word of I/O option 175 0x6100.2 V2 Yes -
133.2 C3.DigitalOutputAddition_Error error in I/O option 351 0x6300.4 V2 no -
133.3 C3.DigitalOutputAddition_Value output word for I/O option 176 0x6300.2 V2 Yes Immediat
ely
133.4 C3.DigitalOutputAddition_Enable activating input/output option M10/M12 350 0x6300.3 V2 no Immediat
ely
140.3 C3.DigitalOutputWord_DemandState Command value of the digital outputs 22 0x6300.1 V2 Yes Immediat
ely
150.1 C3Plus.RemoteDigInput_I0_15 Digital PIO inputs 0...15 0x2080.1 V2 Yes Immediat
ely
ely
ely
ely
151.1 C3Plus.RemoteDigOutput_O0_15 Digital PIO outputs 0...15 0x2081.1 V2 Yes Immediat
ely
ely
ely
ely
152.1 C3Plus.RemoteAnalogInput_I0 PIO analog input 0 0x2082.1 I16 Yes Immediat
ely
ely
ely
ely
153.1 C3Plus.RemoteAnalogOutput_O0 PIO analog output 0 0x2083.1 I16 Yes Immediat
ely
ely
ely
ely
165.1 C3.PressureArray_Index0 Analog Input X1:IN0 measured pressure in mbar I16 no Immediat
ely
ely
ely
ely
ely
ely
165.7 C3.PressureArray_Index6 Reference pressure 6 I16 no Immediat
ely
ely
ely
ely
ely
ely
ely
172.2 C3Plus.AnalogInput0_Gain Gain X1:IN0 C4_3 no VP
172.3 C3Plus.AnalogInput0_FilterCoefficient Filter X1:IN0 I32 no VP
172.5 AnalogInput0_ActualValue Actual value X1:IN0 I32 no -
172.7 AnalogInput0_ActualValueFiltered Filtered actual value X1:IN0 I32 no -
172.9 C3Plus.AnalogInput0_LowerLimit Lower limit value X1:IN0 I32 no Immediat
ely
172.10 C3Plus.AnalogInput0_UpperLimit upper limit value X1:IN0 I32 no Immediat
ely
172.11 C3Plus.AnalogInput0_Offset_normed Offset X1:IN0 C4_3 no Immediat
ely
172.13 C3Plus.AnalogInput0_ActualValueFiltered_normed Filtered input value of analog input 0 0x2502.1 C4_3 Yes -
ely
173.10 C3Plus.AnalogInput1_UpperLimit Upper limit value X1:IN1 I32 no Immediat
ely
ely
192-120102N6 C3FT40 2014-10 393


after
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
180.2 C3Plus.ValveOutput0_Gain Gain valve output 0 C4_3 no Immediat
ely
180.4 ValveOutput0_Offset Offset valve output 0 I32 no Immediat
ely
180.5 C3Plus.ValveOutput0_Value Value of valve output 0 C4_3 no Immediat
ely
180.6 ValveOutput0_Status Status of valve output 0 U16 no -
181.2 C3Plus.ValveOutput1_Gain Gain factor real C4_3 no Immediat
ely
ely
ely
ely
ely
ely
ely
ely
ely
185.1 C3Plus.OutputGroup_OutputSelect_0 Output signal valves 0 & 1 BOOL no Immediat
ely
185.2 C3Plus.OutputGroup_OutputSelect_1 Output signal valves 2&3 BOOL no Immediat
ely
190.1 C3Plus.M2x_InputControl_Enable_Inputs_X20 Enable analog inputs X20 M2x I16 no VP
191.1 C3.M2x_Input0_Gain User gain M2x Input 0 C4_3 no VP
191.2 C3.M2x_Input0_Offset User offset M2x Input 0 Y2 no VP
191.3 C3Plus.M2x_Input0_FilterCoefficient Filter time constant M2x Input 0 I16 no VP
394 192-120102N6 C3FT40 2014-10


after

200.1 NormFactorY2_Speed Normalization factor for Y2 speeds 355.1 0x2020.1 V2 no Immediat
ely
200.3 NormFactorY2_Voltage Normalization factor for Y2 voltages 355.3 0x2020.3 V2 no Immediat
ely
200.4 NormFactorY2_DemandValue3 Normalization factor for 1100.8 355.4 0x2020.4 V2 no Immediat
ely
200.5 NormFactorY2_Array_Col2 Normalization factor recipe arrays column 2 355.5 0x2020.5 V2 no Immediat
ely
ely
200.7 NormFactorY2_ActualValue3 Normalization factor for 1000.8 355.7 0x2020.7 V2 no Immediat
ely
ely
200.9 NormFactorY2_DemandValue2_Y2 Normalization factor for 1100.14@1100.14 0x2020.9 V2 no Immediat
ely
200.10 NormFactorY2_ActualValue2_Y2 Normalization factor for 1000.14 V2 no Immediat
ely
200.11 NormFactorY2_Current Normalization factor for Y2 currents 355.11 0x2020.11 V2 no Immediat
ely
201.1 NormFactorY4_Speed Scaling factor for Y4 speeds 356.1 0x2021.1 V2 no Immediat
ely
201.2 C3Plus.NormFactorY4_Position Scaling factor for Y4 positions 356.2 0x2021.2 V2 no Immediat
ely
201.3 NormFactorY4_Voltage Scaling factor for Y4 voltages 356.3 0x2021.3 V2 no Immediat
ely
201.4 NormFactorY4_Array_Col1 Scaling factor recipe arrays column 1 356.4 0x2021.4 V2 no Immediat
ely
ely
ely
ely
ely
201.11 NormFactorY4_FBI_SignalProcessing_Position Normalization factor for bus interpolation 356.11 0x2021.11 V2 no Immediat
CANSync/EthernetPowerLink ely
ely
ely
206.1 C3FluidNorm_Metric_Imperial Unit system BOOL no Immediat
ely
210.2 C3Plus.ValidParameter_FiltersRSDP Set filter parameter to valid U16 no Immediat
ely
210.5 C3Plus.ValidParameter_FeedForward Set feedforward parameters to valid. U16 no Immediat
ely
210.6 C3.ValidParameter_Limits setting limit values to valid. U16 no Immediat
ely
210.9 C3Plus.ValidParameter_CamControlledSwitches Set cam switching mechanism parameters to valid 338.9 0x2016.9 U16 no Immediat
ely
210.10 C3.ValidParameter_Global setting objects to valid 338.10 0x2016.10 U16 no Immediat
ely
284.0 EnDat_EnDat I16 no -
402.1 C3.Limit_SpeedPositive maximum permissible positive speed 317 0x2009 I16 no VP
402.2 C3.Limit_SpeedNegative maximum permissible negative speed 318 0x200A I16 no VP
410.2 C3.LimitPosition_Positive Positive Travel Limit 321 0x607D.2 C4_3 no Immediat
ely
410.3 C3.LimitPosition_Negative Negative SW travel limit 322 0x607D.1 C4_3 no Immediat
ely
420.1 C3.PositioningAccuracy_Window positioning window for position reached 328 0x6067 C4_3 no VP
420.2 C3.PositioningAccuracy_FollowingErrorWindow Following error limit 330 0x6065 C4_3 no VP
420.3 C3.PositioningAccuracy_FollowingErrorTimeout Following Error Time 331 0x6066 U16 no Immediat
ely
420.6 C3.PositioningAccuracy_PositionReached Position reached I32 no -
420.7 C3.PositioningAccuracy_WindowTime In Position Window Time 329 0x6068 U16 no Immediat
ely
420.8 C3.PositioningAccuracy_PositionReached_2 Position reached (auxiliary axis) I32 no -
425.1 C3.LimitForcePressure_FollowingErrorWindow Max. Control deviation of force controller C4_3 no VP
425.2 C3.LimitForcePressure_FollowingErrorTime Trigger time for event "Control deviation of force I16 no Immediat
controller" ely
425.3 C3.LimitForcePressure_MaxForce Maximum force I32 no Immediat
ely
425.4 C3.LimitForcePressure_Window Window for "Force achieved" I32 no VP
425.5 C3.LimitForcePressure_ForceReachedMain Force Main axis in standard window BOOL no -
425.6 C3.LimitForcePressure_ForceReachedAux Force of auxiliary axis in the control window BOOL no -
425.7 C3.LimitForcePressure_WindowTime Trigger time for message "Force achieved" U16 no Immediat
ely
550.1 C3Plus.ErrorHistory_LastError current error (n) 115/947.0 0x603F/0x U16 Yes -
201D.1
550.2 ErrorHistory_1 Error (n-1) in the error history 947.1 0x201D.2 U16 no -
620.6 C3Plus.EncoderEmulation_Offset Zero pulse offset encoder emulation C4_3 no VP
620.7 C3Plus.EncoderEmulation_SetEmulationZero Encoder simulation teaching zero pulse I16 no Immediat
ely
620.10 C3Plus.EncoderEmulation_Setpoint_without_offset Demand position of encoder simulation (without C4_3 no -
offset)
634.4 C3.AnalogOutput0_DemandValue Setpoint for analog output 0 24 0x2019 I16 Yes Immediat
ely
635.4 C3.AnalogOutput1_DemandValue Setpoint for analog output 1 103 0x201A I16 Yes Immediat
ely
680.1 C3.StatusPosition_DemandValue1 Position command value of Profile transmitter1 0 0x2052 Y4 Yes -
192-120102N6 C3FT40 2014-10 395


after
680.2 C3.StatusPosition_DemandValue2 Status demand position virtual master 202 0x2042 Y4 Yes -
680.3 C3.StatusPosition_DemandValue3 Status of setpoint position of Superimposed motion 0 0 Y4 no -
680.4 C3.StatusPosition_DemandValue Status demand position 323 0x60FC C4_3 Yes -
680.5 C3.StatusPosition_Actual Status actual position 28 0x2104 C4_3 Yes -
680.6 C3.StatusPosition_FollowingError Status of tracking error 100 0x60F4 C4_3 Yes -
680.8 StatusPosition_ActualY4 Status of actual position in bus format Y4 119 0x2022/0x I32 Yes -
6064
680.10 C3.StatusPosition_EncoderInput5V Status of encoder input 0 (5V) 0x2095.2 C4_3 Yes -
680.11 C3.StatusPosition_EncoderInput24V Status of encoder input 0 (24V) C4_3 Yes -
680.12 C3.StatusPosition_DemandController Status demand position without absolute reference C4_3 no -
680.13 C3.StatusPosition_ActualController Status actual position without absolute reference C4_3 no -
680.14 StatusPosition_FeedbackAbsolute Feedback absolute position in feedback I32 no -
increments
680.15 C3.StatusPosition_Actual2 Actual position auxillary axis 211 0x2106 C4_3 Yes -
680.16 C3.StatusPosition_FollowingError2 Tracking error auxillary axis 212 0x68F4 C4_3 Yes -
680.17 C3.StatusPosition_MasterSlaveError Position deviation main/auxiliary axis C4_3 no -
680.18 C3.StatusPosition_ActualNotReset Status actual position (not reset) C4_3 Yes -
680.30 C3.StatusPosition_Referenced Status of axis referenced I16 no -
680.32 C3Plus.StatusPosition_EncoderIncrements5V Encoder position 0 (5V) in increments 0x2095.3 I32 Yes Immediat
ely
680.34 C3.StatusPosition_Actual2_Y4 Status actual position auxillary axis in bus format 0x6864 Y4 Yes -
Y4
680.36 C3Plus.StatusPosition_SuperImposedPositionSum Status of position sum MoveSuperImposed C4_3 Yes -
681.1 C3.StatusSpeed_DemandValue1 Speed setpoint value of profile generator 1 0x2053 Y4 Yes -
681.2 C3.StatusSpeed_DemandValue2 Status demand speed virtual master 203 0x2043 Y4 Yes -
681.3 C3.StatusSpeed_DemandValue3 Speed of a superimposed motion or of phasing Y4 no -
681.4 C3.StatusSpeed_DemandValue Status demand speed of setpoint generator 324 0x606B C4_3 Yes -
681.5 C3.StatusSpeed_Actual Status actual speed unfiltered 0x6069 C4_3 Yes -
681.6 C3.StatusSpeed_Error Status control deviation of speed 101 0x2027 C4_3 Yes -
681.7 StatusSpeed_ActualFilteredY2 Status of the actual filtered speed speed in the Y2 6 0x2023 Y2 Yes -
format
681.8 StatusSpeed_ActualFilteredY4 Status of the actual filtered peed in the Y4 format 117 0x2024 Y4 Yes -
681.9 C3.StatusSpeed_ActualFiltered Status actual speed filtered 8 0x606C C4_3 Yes -
681.10 C3.StatusSpeed_DemandSpeedController Status demand speed controller input C4_3 Yes -
681.11 C3.StatusSpeed_FeedForwardSpeed Status speed feed forward C4_3 no -
681.12 C3.StatusSpeed_ActualScaled Filtered actual speed in per cent C4_3 no -
681.13 C3.StatusSpeed_DemandScaled Setpoint speed of the setpoint generator C4_3 no -
681.14 C3.StatusSpeed_Actual2Filtered Status actual speed filtered auxillary axis 210 0x686C C4_3 Yes -
681.15 C3.StatusSpeed_Error2 Speed control deviation C4_3 no -
682.3 C3.StatusAccel_DemandValue3 Acceleration of a superimposed motion or of I32 no -
phasing
682.4 C3.StatusAccel_DemandValue Status demand acceleration 325 0x200E I32 no -
682.5 C3.StatusAccel_Actual Status of actual acceleration unfiltered I32 no -
682.6 C3.StatusAccel_ActualFilter Status of filtered actual acceleration I32 no -
682.7 StatusAccel_FeedForwardAccel Status acceleration feed forward C4_3 no -
685.1 C3.StatusVoltage_AuxiliaryVoltage Status of auxillaryiliary voltage 326 0x200F E2_6 no -
685.3 C3.StatusVoltage_AnalogInput0 Status of analog input 0 23 0x2025 Y2 Yes -
685.6 C3.StatusVoltage_M2xAnalogInput0 Filtered actual value of the M2x voltage input 0 0x2503.1 Y2 Yes -
688.35 C3.StatusCurrent_M2xAnalogInput0 Filtered actual value of the M2x current input 0 0x2504.1 Y2 Yes -
689.1 StatusHeda_RxPD Receive string OS no -
689.2 StatusHeda_TxPD Transmit string OS no -
692.1 StatusFeedback_FeedbackSineDSP Status of sine in signal processing I32 Yes -
692.2 StatusFeedback_FeedbackCosineDSP Status of cosine in signal processing I32 Yes -
692.3 StatusFeedback_EncoderSine Status of analog input sine I32 no -
692.4 StatusFeedback_EncoderCosine Status of analog input cosine I32 no -
692.5 StatusFeedback_FeedbackVoltage[Vpp] Status of feedback level C4_3 Yes -
692.10 StatusFeedback_RefChannel Status feedback index track I16 no -
692.21 StatusFeedback_FeedbackSineDSPvolts Status of sine in signal processing C4_3 Yes -
692.22 StatusFeedback_FeedbackCosineDSPvolts Status of cosine in signal processing C4_3 Yes -
692.23 StatusFeedback_EncoderSineVolts Status of analog input sine (Volt) C4_3 no -
692.24 StatusFeedback_EncoderCosineVolts Status of analog input cosine (Volt) C4_3 no -
694.1 C3.StatusPressure_pA1 A-side pressure main axis 213 0x2501.1 C4_3 Yes -
694.2 C3.StatusPressure_pB1 B-side pressure main axis 214 0x2501.2 C4_3 Yes -
694.3 C3.StatusPressure_pT1 Reservoir pressure main axis 215 0x2501.3 C4_3 Yes -
694.4 C3.StatusPressure_p01 System pressure main axis 216 0x2501.4 C4_3 Yes -
694.6 C3.StatusPressure_pA2 A-side pressure auxillary axis 217 0x2501.5 C4_3 Yes -
694.7 C3.StatusPressure_pB2 B-side pressure auxillary axis 218 0x2501.6 C4_3 Yes -
694.8 C3.StatusPressure_pT2 Reservoir pressure auxillary axis 219 0x2501.7 C4_3 Yes -
694.9 C3.StatusPressure_p02 System pressure auxillary axis 220 0x2501.8 C4_3 Yes -
695.1 C3.StatusForce_Force1 Force of force sensor main axis I32 no -
695.2 C3.StatusForce_Force2 Force of force sensor of auxiliary axis I32 no -
695.10 C3.StatusForce_Demand Demand value force controller main axis [N] 0x2500.1 I32 Yes -
695.11 C3.StatusForce_Actual Actual value force controller main axis [N] 221 0x2500.2 I32 Yes -
695.12 C3.StatusForce_Error Control deviation force controller main axis [N] I32 no -
695.13 C3.StatusForce_Demand2 Demand value force controller auxillary axis [N] 0x2500.3 I32 Yes -
695.14 C3.StatusForce_Actual2 Actual value force controller auxillary axis [N] 222 0x2500.4 I32 Yes -
396 192-120102N6 C3FT40 2014-10


after
695.15 C3.StatusForce_Error2 Control deviation force controller auxiliary axis [N] I32 no -
696.1 C3.HydraulicPower_Axis1 Control signal main axis I32 no -
696.2 C3.HydraulicPower_Axis2 Control signal auxiliary axis I32 no -
696.3 C3.HydraulicPower_Sum Sum of the hydraulic corner power I32 no -
697.1 C3.StatusPosController_ActuatingSignal_PPart_YP Control signal P-term (A1) C4_3 no -
697.2 C3.StatusPosController_ActuatingSignal_IPart_YI Control signal I-term (A1) C4_3 no -
697.3 C3.StatusPosController_ActuatingSignal_AddSpeed_YV Speed feedback (A1) C4_3 no -
697.4 C3.StatusPosController_ActuatingSignal_AddAccel_YA Accleration feedback (A1) C4_3 no -
697.5 C3.StatusPosController_ActuatingSignal_PosCtrl_Ycom Control signal total (A1) C4_3 no -
697.11 C3.StatusPosController_ActuatingSignal_PPart_YP2 Control signal P-term (A2) C4_3 no -
697.12 C3.StatusPosController_ActuatingSignal_IPart_YI2 Control signal I-term (A2) C4_3 no -
697.13 C3.StatusPosController_ActuatingSignal_AddSpeed_YV2 Speed feedback (A2) C4_3 no -
697.14 C3.StatusPosController_ActuatingSignal_AddAccel_YA2 Acceleration feedback (A2) C4_3 no -
697.15 C3.StatusPosController_ActuatingSignal_PosCtrl_Ycom2 Control signal total (A2) C4_3 no -
698.1 StatusPressureForceController_ActuatingSignal_PPart_Y Control signal P-term of force/pressure controller C4_3 no -
P (A1)
698.2 StatusPressureForceController_ActuatingSignal_IPart_YI Control signal I-term of force/pressure controller C4_3 no -
(A1)
698.3 StatusPressureForceController_ActuatingSignal_DPart_Y Control signal D-term of force/pressure controller C4_3 no -
D (A1)
698.4 StatusPressureForceController_ActuatingSignal_AddSpee Control signal velocity component of C4_3 no -
d_YV force/pressure controller (A1)
698.5 StatusPressureForceController_ActuatingSignal_ForceCtrl Total control signal of force/pressure controller C4_3 no -
_Ycom (A1)
698.6 StatusPressureForceController_ActuatingSignal_FFWPart Force feedforward of force/pressure controller (A1) C4_3 no -
_YF
P2 (A2)
698.12 StatusPressureForceController_ActuatingSignal_IPart_YI2 Control signal I-term of force/pressure controller C4_3 no -
(A2)
D2 (A2)
d_YV2 force/pressure controller (A2)
_Ycom2 (A2)
_YF2
820.3 C3Plus.CANopen_Node_ID CANopen_Node_ID U16 no -
820.8 C3Plus.CANopen_ComCyclePeriod Sync bus cycle time CANSync, Powerlink, 0x1006, U32 no Immediat
EtherCat 0x60C2 ely
820.9 C3Plus.CANopen_State Status of the fieldbus state machine U16 no -
820.23 C3Plus.CANopen_SyncPulseCounter Captured sync pulses I32 no Immediat
ely
820.24 CANopen_SyncMode Configuration of the bus synchronization process 0x205E I16 no Immediat
ely
820.27 CANopen_SyncErrorCounter Error counter for CANSync, Powerlink, EtherCat I32 no Immediat
ely
820.28 C3Plus.CANopen_SyncPeriod Current period duration of the sync signal C4_3 no -
830.1 Profibus_Protocol PPO-type selection switch U16 no Immediat
ely
830.2 Profibus_Baudrate Baud rate U32 no -
830.3 Profibus_NodeAddress Node address 918 U16 no -
830.4 Profibus_TelegramSelect Telegram selection switch 922 U16 no Immediat
ely
830.6 Profibus_StandardSignalTable List of Profidrive standard signals 923.x U16 no -
900.1 C3Plus.HEDA_State Status HEDA I16 no Immediat
ely
900.12 HEDA_CRC_ErrorCounter Error counter CRC (HEDA) U32 no Immediat
ely
900.13 HEDA_SyncErrorCounter Error counter Sync (HEDA) U32 no Immediat
ely
950.1 FBI_RxPD_Mapping_Object_1 1. Object of the setpoint PZD (Profibus) 915.0 U16 no Immediat
ely
950.2 FBI_RxPD_Mapping_Object_2 2. object of the Setpoint value PZD 915.1 U16 no Immediat
ely
ely
ely
ely
ely
ely
ely
951.1 FBI_TxPD_Mapping_Object_1 1. object of actual value PZD 916.0 U16 no Immediat
ely
ely
ely
ely
ely
ely
ely
ely
192-120102N6 C3FT40 2014-10 397


after
990.1 Delay_MasterDelay Setpoint delay for bus master I16 no Immediat

ely
1000.3 C3Plus.DeviceState_Statusword_1 status word ZSW 2 0x6041 V2 Yes Immediat
ely
1000.4 C3Plus.DeviceState_Statusword_2 Status word 2 4 0x201C V2 Yes Immediat
ely
1000.5 C3Plus.DeviceState_ActualOperationMode operating mode display 128 0x6061 I16 Yes Immediat
ely
1100.1 C3Plus.DeviceControl_CommandOnRequest Control command 108 0x2028 I16 Yes Immediat
ely
1100.3 C3Plus.DeviceControl_Controlword_1 STW control word 1 0x6040 V2 Yes Immediat
ely
1100.4 C3Plus.DeviceControl_Controlword_2 Control word 2 3 0x201B V2 Yes Immediat
ely
1100.5 C3Plus.DeviceControl_OperationMode Operating mode (Nominal value) 127/930 0x6060 I16 Yes Immediat
ely
1111.1 C3Plus.POSITION_position Target position 27 C4_3 Yes Immediat
(Profibus ely
only)
1111.2 C3Plus.POSITION_speed Speed for positioning 111 C4_3 Yes Immediat
ely
1111.3 C3Plus.POSITION_accel Acceleration for positioning 114 0x6083 U32 Yes Immediat
ely
1111.4 C3Plus.POSITION_decel Deceleration for positioning 178/312 0x6084 U32 Yes Immediat
ely
1111.5 C3Plus.POSITION_jerk_accel Acceleration jerk for positioning 313 0x2005 U32 no Immediat
ely
1111.6 C3Plus.POSITION_jerk_decel Deceleration jerk for positioning 314 0x2006 U32 no Immediat
ely
1111.8 C3Plus.POSITION_resetpositon_mode Continuous mode 0 0 U16 no Immediat
ely
1111.9 POSITION_speed_Y2 Speed for Positioning in Y2 Format 110 Y2 Yes Immediat
ely
1111.11 POSITION_position_Y4 118 Y4 Yes Immediat
ely
1111.13 C3Plus.POSITION_direction Manipulation of the motion direction in reset mode I32 no Immediat
ely
1111.17 C3Plus.POSITION_turnaround Direction inversion - lock U16 no Immediat
ely
1127.3 C3Plus.SPEED_speed Setpoint speed in speed control operating mode 7 C4_3 Yes Immediat
ely
1130.1 C3Plus.HOMING_accel Acceleration / deceleration homing run 300 0x609A U32 no Immediat
ely
1130.2 C3Plus.HOMING_jerk jerk for machine reference run 357 0x201E U32 no Immediat
ely
1130.3 C3Plus.HOMING_speed speed for machine reference run 301 0x6099.1 C4_3 no Immediat
ely
1130.4 C3Plus.HOMING_mode adjusting the machine reference mode 302 0x6098 U16 no Immediat
ely
1130.7 C3Plus.HOMING_edge_sensor_distance Initiator adjustment 304 0x2000 C4_3 no Immediat
ely
1141.4 C3Plus.GEAR_mode Source selection Gearing 0x2055 U16 no Immediat
ely
1141.7 GEAR_actual_masterposition Position input value for Gearing 0x2058 C4_3 no -
1141.8 GEAR_actual_master_speed Master speed for Gearing C4_3 no -
1141.10 GEAR_FFW_mode Control bits for feedforward with source 0x2097 U16 no Immediat
CANSync/EthernetPowerLink/EtherCat ely
1200.1 C3Plus.PG2Control_CommandOnRequest Control of virtual Master 200 0x2040 I16 Yes Immediat
ely
1211.13 C3Plus.PG2POSITION_direction Manipulation of the motion direction in reset mode I32 no Immediat
ely
1900.1 C3Array.Pointer_Row pointer to table row 180 0x2300 U16 Yes Immediat
ely
1901.1 C3Array.Col01_Row01 variable Column 1 Row 1 130/341.1 0x2301.1 Y4 Yes Immediat
ely
1901.2 C3Array.Col01_Row02 Variable Column 1 Row 2 131/341.2 0x2301.2 Y4 Yes Immediat
ely
ely
ely
ely
ely
ely
ely
ely
ely
1903.1 C3Array.Col03_Row01 variable Column 3 Row 1 140/343.1 0x2303.1 I16 Yes Immediat
ely
1903.2 C3Array.Col03_Row02 Variable Column 3 Row 2 141/343.2 0x2303.2 I16 Yes Immediat
ely
ely
ely
ely
ely
ely
398 192-120102N6 C3FT40 2014-10


after
1904.3 C3Array.Col04_Row03 Variable Column 4Row 3 147/344.3 0x2304.3 I16 Yes Immediat
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
1910.1 C3Array.Indirect_Col01 indirect table access Column 1 181 0x2311 Y4 Yes Immediat
ely
1910.2 C3Array.Indirect_Col02 Indirect table access Column 2 182 0x2312 Y2 Yes Immediat
ely
1910.3 C3Array.Indirect_Col03 Indirect table access Column 3 183 0x2313 I16 Yes Immediat
ely
ely
ely
ely
ely
ely
ely
2000.1 C3Plus.ProfilGenerators_SG1Position Position value of the setpoint encoder 0x2060 C4_3 Yes -
2000.2 C3Plus.ProfilGenerators_PG2Position Position value of the setpoint encoder of the virtual 0x2061 C4_3 Yes -
axis
2000.4 ProfilGenerators_SG1Speed Speed of the setpoint encoder 0x2063 I32 Yes -
2000.5 ProfilGenerators_PG2Speed Speed of the virtual axis 0x2064 I32 Yes -
2000.10 C3Plus.ProfilGenerators_SG1PositionSum Position sum value of the setpoint encoder C4_3 Yes -
2010.21 FeedForward_Valve Valve feedforward U16 no VP
2010.23 C3.FeedForward_Speed_FFW Speed feedforward (A1) C4_3 no VP
2010.24 C3.FeedForward_Accel_FFW Acceleration feedforward (A1) C4_3 no VP
2011.4 C3.FeedForwardExternal_FilterSpeed_us Filter time constant ext. speed U16 no VP
2011.5 C3.FeedForwardExternal_FilterAccel_us Filter time constant ext. Acceleration U16 no VP
2020.1 C3.ExternalSignal_Position Position from external signal source 0x2095.1 C4_3 Yes -
2020.2 C3.ExternalSignal_Speed speed from external signal source C4_3 Yes -
2020.6 C3Plus.ExternalSignal_Speed_Munits Speed value of the external signal source C4_3 Yes -
2020.7 C3Plus.ExternalSignal_Accel_Munits Acceleration of the external signal source I32 Yes -
2050.8 FeedForward_2_Valve Valve feedforward auxillaryiliary axis U16 no VP
2050.9 C3.FeedForward_2_Speed_FFW Speed feedforward (A2) C4_3 no VP
2050.10 C3.FeedForward_2_Accel_FFW Acceleration feedforward (A2) C4_3 no VP
2100.10 C3.ControllerTuning_FilterSpeed2 Filter actual velocity 2 U16 no VP
2100.11 C3.ControllerTuning_FilterAccel2 Filter actual acceleration 2 U16 no VP
192-120102N6 C3FT40 2014-10 399


after
2100.12 ControllerTuning_ActuatingSignalGain_speed open loop gain U16 no VP

2100.13 C3.ControllerTuning_SpeedFeedback_Kv Speed feedback (A1) U16 no VP
2100.14 C3.ControllerTuning_AccelFeedback_Ka Acceleration feedback (A1) U16 no VP
2100.21 C3.ControllerTuning_FilterAccel_us Filter - Actual acceleration U16 no VP
2101.7 C3.ControllerTuning_2_FilterSpeed2 Filter actual velocity 2 U16 no VP
2101.8 C3.ControllerTuning_2_FilterAccel2 Filter actual acceleration 2 U16 no VP
2101.11 ControllerTuning_2_ActuatingSignalGain_speed Control signal gain of auxiliary axis U16 no VP
2101.13 C3.ControllerTuning_2_SpeedFeedback_Kv Speed feedback (A2) U16 no VP
2101.14 C3.ControllerTuning_2_AccelFeedback_Ka Acceleration feedback (A2) U16 no VP
2107.1 C3Plus.TrackingfilterPhysicalSource_TRFSpeed Time constant tracking filter physical source U16 no VP
2109.1 C3Plus.TrackingfilterHEDA_TRFSpeed Time constant tracking filter HEDA-process I16 no VP
position
2110.1 C3Plus.TrackingfilterSG1_TRFSpeed Time constant tracking filter setpoint encoder 0x2096 I16 no VP
2110.6 C3Plus.TrackingfilterSG1_FilterSpeed_us Filter time constant velocity setpoint generator U16 no VP
2110.7 C3Plus.TrackingfilterSG1_AccelFilter_us Filter time constant acceleration setpoint generator U16 no VP
2200.1 C3Plus.PositionController_DemandValue Position setpoint value (sequentially) C4_3 Yes -
2200.2 C3Plus.PositionController_ActualValue Position actual value (sequentially) C4_3 Yes -
2200.20 C3Plus.PositionController_DeadBand Deadband of position controller C4_3 no VP
2200.24 PositionController_TrackingErrorFilter_us Time constant following error filter of position U16 no VP
controller
2200.30 C3Plus.PositionController_InsideWindow_IPart Internal window I-term (A1) C4_3 no VP
2200.31 C3Plus.PositionController_OutsideWindow_IPart External window I-term (A1) C4_3 no VP
2200.32 C3Plus.PositionController_PosLimit_IPart Upper limit I-term (A1) C4_3 no VP
2200.33 C3Plus.PositionController_NegLimit_IPart Lower limit I-term (A1) C4_3 no VP
2200.34 PositionController_IPart_Scaling Quantifier I-term (A1) C4_3 no VP
2200.35 C3Plus.PositionController_PPart_Scaling Quantifier P-term (A1) C4_3 no VP
2200.36 C3Plus.PositionController_Disturbance_Offset Disturbance compensation (A1) C4_3 no Immediat
ely
2200.37 C3Plus.PositionController_Ki_IPart I-term for the position controller (main axis) I16 no VP
2200.38 C3Plus.PositionController_Kp_PPart P-term for the position controller (main axis) I16 no VP
2200.40 C3Plus.PositionController_IPart_Freeze_Speed Speed threshold for stopping Ipart of main axis C4_3 no VP
2210.8 C3.SpeedController_ActuatingSignal_filt Control signal filter of position U16 no VP
2250.8 PressureController_1_TimeDelay_DT1_T1 Delay time constant T1 U32 no VP
2250.13 C3Plus.PressureController_1_Proportional_Part_Kp Proportional coefficient Kp (A1) I32 no VP
2250.14 C3Plus.PressureController_1_Integration_Part_KFi Integration coefficient Ki (A1) I32 no VP
2250.15 C3Plus.PressureController_1_InsideWindow_IPart Internal window I-term (A1) I32 no VP
2250.16 C3Plus.PressureController_1_OutsideWindow_IPart External window I-term (A1) I32 no VP
2250.17 C3Plus.PressureController_1_PosLimit_IPart Positive limit I-term (A1) I32 no VP
2250.18 C3Plus.PressureController_1_NegLimit_IPart Negative limit I-term (A1) I32 no VP
2250.19 PressureController_1_Derivative_Part_KFd Derivative action coefficient Kd (A1) I32 no VP
2250.20 PressureController_1_Speed_Feedback_KFv Speed feedback (A1) U16 no VP
2250.21 PressureController_1_Disturbance_Offset Disturbance compensation (A1) C4_3 no Immediat
ely
2250.22 PressureController_1_ActuatingSignalFilter Control signal filter of force I32 no VP
2250.23 PressureController_1_Force_FeedForward_KFs Force feedforward U16 no VP
2250.24 C3Plus.PressureController_1_ActuatingSignal_Inversion Inversion of the force controller control variable I16 no Immediat
ely
2251.8 PressureController_2_TimeDelay_DT1_T1 PID force controller 2 delay time constant of the U32 no VP
D-term T1
ely
2251.22 PressureController_2_ActuatingSignalFilter Control signal filter of force (A2) I32 no VP
2251.23 PressureController_2_Force_FeedForward_KFs Force feedforward (A2) U16 no VP
(A2) ely
2260.8 C3.PositionController_2_TrackingErrorFilter_us Following error filter of auxiliary axis U16 no Immediat
ely
2260.13 C3Plus.PositionController_2_DeadBand Deadband of position controller auxiliary axis C4_3 no VP
2260.14 C3Plus.PositionController_2_InsideWindow_IPart Internal window I-term (A2) C4_3 no VP
2260.15 C3Plus.PositionController_2_OutsideWindow_IPart External window I-term (A2) C4_3 no VP
2260.16 C3Plus.PositionController_2_PosLimit_IPart Upper limit I-term (A2) C4_3 no VP
2260.17 C3Plus.PositionController_2_NegLimit_IPart Lower limit I-term (A2) C4_3 no VP
2260.18 PositionController_2_IPart_Scaling Quantifier I-term (A2) C4_3 no VP
2260.19 C3Plus.PositionController_2_PPart_Scaling Quantifier P-term (A2) C4_3 no VP
2260.20 C3Plus.PositionController_2_Disturbance_Offset Disturbance compensation (A2) C4_3 no Immediat
ely
2260.21 C3Plus.PositionController_2_Ki_IPart I-term for the position controller (auxiliary axis) I16 no VP
2260.22 C3Plus.PositionController_2_Kp_PPart P-term for the position controller (auxiliary axis) I16 no VP
2260.23 C3Plus.PositionController_2_IPart_Freeze_Speed Speed threshold for stopping Ipart of auxillary axis C4_3 no VP
2270.8 C3.SpeedController2_ActuatingSignal_filt Control signal filter of position auxiliary axis U16 no VP
2400.3 C3Plus.OutputConditioningChain_Ch0_Upper_Limit Upper output limitation of output 0 I16 no VP
2400.4 C3Plus.OutputConditioningChain_Ch0_Lower_Limit Lower output limitation of output 0 I16 no VP
2400.5 C3Plus.OutputConditioningChain_Ch0_Input_Offset Offset at input Chain 0 I16 no VP
2400.6 C3Plus.OutputConditioningChain_Ch0_Output_Offset Offset at output Chain 0 I32 no VP
2400.7 C3Plus.OutputConditioningChain_Ch0_Input_DefaultValue Replacement value at the input of Chain0 I32 no VP
2401.1 C3.DirectionDependentGain_Ch0_Type Direction dependent gain of output 0 I16 no VP
2401.2 DirectionDependentGain_Ch0_FactorNumerator Direction dependent gain numerator I16 no VP
400 192-120102N6 C3FT40 2014-10


after
2401.3 DirectionDependentGain_Ch0_FactorDenominator Direction dependent gain denominator I16 no VP

2401.4 C3Plus.DirectionDependentGain_Ch0_Factor_positive Direction dependent gain I32 no Immediat
ely
2401.5 C3Plus.DirectionDependentGain_Ch0_Factor_negative Direction dependent gain I32 no Immediat
ely
2401.6 C3Plus.DirectionDependentGain_Ch0_InvertType Inversion output 0 I16 no Immediat
ely
2401.7 DirectionDependentGain_Ch0_Factor_positiv_Pressure Direction dependent gain (pressure control) I32 no Immediat
ely
2401.8 DirectionDependentGain_Ch0_Factor_negative_Pressure Direction dependent gain (pressure control) I32 no Immediat
ely
2402.1 C3Plus.PressureCompensation_Ch0_Type Pressure compensation output 0 I16 no VP
2403.1 C3Plus.SignalFlowCharacteristic_Ch0_Type Characteristic output 0 I16 no VP
2403.2 C3Plus.SignalFlowCharacteristic_Ch0_Curve_ID_A Which characteristic (ID) is used I16 no VP
2405.1 C3Plus.DeadBandCompensation_Ch0_Type Deadband compensation output 0 I16 no VP
2405.2 C3Plus.DeadBandCompensation_Ch0_A_Side Threshold value on A side output 0 I32 no VP
2405.3 C3Plus.DeadBandCompensation_Ch0_B_Side Threshold value on B side output 0 I32 no VP
2405.4 C3Plus.DeadBandCompensation_Ch0_Threshold Width of deadband output 0 I32 no VP
2410.5 C3Plus.OutputConditioningChain_Ch1_Input_Offset Offset at input Chain1 I16 no VP
2410.6 C3Plus.OutputConditioningChain_Ch1_Output_Offset Offset at output Chain1 I32 no VP
2410.7 C3Plus.OutputConditioningChain_Ch1_Input_DefaultValue Preset value at the input of Chain1 I32 no VP
2411.4 C3Plus.DirectionDependentGain_Ch1_Factor_positive Gain factor for positive input values I32 no Immediat
ely
2411.5 C3Plus.DirectionDependentGain_Ch1_Factor_negative Gain factor for negative input values I32 no Immediat
ely
ely
ely
ely
ely
ely
ely
ely
ely
2430.3 C3Plus.OutputConditioningChain_Ch3_Upper_Limit Upper limit of valve output 3 I16 no VP
2430.4 C3Plus.OutputConditioningChain_Ch3_Lower_Limit Lower limit of valve output 3 I16 no VP
ely
ely
ely
ely
ely
192-120102N6 C3FT40 2014-10 401


after

2439.3 C3Plus.CurveMemory_Erase Delete valve characteristics I16 no Immediat
ely
3021.1 C3Cam.SignalSource_Select Source of master position U16 no Immediat
ely
3021.2 C3Cam.SignalSource_Position Status of position of selected master signal source C4_3 Yes -
3021.10 C3Cam.SignalSource_InputAdditional CAM Master position C4_3 Yes Immediat
ely
3022.1 C3Cam.Manipulation_OffsetMasterposition Master position offset C4_3 no Immediat
ely
3022.3 C3Cam.Manipulation_ScalefactorMasterGlobal Global scaling factor for the master speed C4_3 no Immediat
ely
3022.6 C3Cam.Manipulation_OffsetMasterposition_Units Offset Master position C4_3 no Immediat
ely
3030.1 C3Cam.StatusMaster_Position Reset master position 207 0x2410 C4_3 Yes -
3030.7 C3Cam.StatusMaster_Enable Status: Enable of master acquisition U16 no -
3030.12 C3Cam.StatusMaster_PhasingSum Added up position sum of the master-side phasing C4_3 no -
3030.13 StatusMaster_InputSum Free running master position after MP enable C4_3 Yes -
3030.14 C3Cam.StatusMaster_BackstopDistance Integrated negative master distance with active C4_3 Yes -
back stop
3030.17 C3Cam.StatusMaster_EnableCam Status: Enable of cam input U16 no -
3030.22 C3Cam.StatusMaster_SpeedUnits Master speed [Units/s] C4_3 no -
3030.24 C3Cam.StatusMaster_PositionCamUnits Master position at the beginning of the curve C4_3 Yes -
3031.4 C3Cam.StatusData_ActualCurve Current curve number I16 no -
3032.1 C3Cam.StatusOutput_Position Slave position C4_3 Yes -
3032.4 C3Cam.StatusOutput_AbsolutePositionGreat Slave position (free running) C4_3 Yes -
3032.24 C3Cam.StatusOutput_CurvePositionUnits End of curve 208 0x2411 C4_3 Yes -
3310.1 C3.Multiturnemulation_Status Status of Multiturn emulation I16 no -
3700.2 C3Cam.ControlledSwitchesFast_Enable enable fast cams 500.2 0x2400.2 U16 no Immediat
ely
3700.3 C3Cam.ControlledSwitchesFast_Output output for fast cams 204/500.3 0x2400.3 U16 Yes Immediat
ely
3701.2 C3Cam.ControlledSwitches_Enable0 enable of cam group 0 501.2 0x2401.2 U16 no Immediat
ely
3701.3 C3Cam.ControlledSwitches_Output0 output of cam group 0 205/501.3 0x2401.3 U16 Yes Immediat
ely
ely
ely
3701.6 C3Cam.ControlledSwitches_NumberPerCycle Number of cams in one cycle U16 no Immediat
ely
3705.1 C3Cam.ControlledSwitchesHysteresis_ActualPosition Hysteresis for cam switching mechanism, source C4_3 no VP
"current position"
3705.2 C3Cam.ControlledSwitchesHysteresis_DemandPosition Hysteresis for cam switching mechanism, source C4_3 no VP
"target position"
3705.4 C3Cam.ControlledSwitchesHysteresis_FieldbusPosition Hysteresis for cam switching mechanism, source C4_3 no VP
"fieldbus interpolator"
3705.5 C3Cam.ControlledSwitchesHysteresis_Masterposition Hysteresis for cam switching mechanism, source C4_3 no VP
"master position"
3705.6 C3Cam.ControlledSwitchesHysteresis_CAMPosition Hysteresis for cam switching mechanism, source C4_3 no VP
"salve position cam"
3710.1 C3Cam.ControlledSwitchFast0_Source source of fast cam 502.1 0x2402.1 I16 no VP
3710.2 C3Cam.ControlledSwitchFast0_PositionOn switch-on position for fast cam 503.1 0x2403.1 C4_3 no VP
3710.3 C3Cam.ControlledSwitchFast0_PositionOff switch-off position for fast cam 504.1 0x2404.1 C4_3 no VP
3710.4 C3Cam.ControlledSwitchFast0_TimeOn switch-on anticipation of fast cam 505.1 0x2405.1 I16 no Immediat
ely
3710.5 C3Cam.ControlledSwitchFast0_TimeOff switch-off anticipation of fast cam 506.1 0x2406.1 I16 no Immediat
ely
3730.1 C3Cam.ControlledSwitch00_Source source of cam 507.1 0x2407.1 I16 no VP
3730.2 C3Cam.ControlledSwitch00_PositionOn switch-on position of cam 508.1 0x2408.1 C4_3 no VP
3730.3 C3Cam.ControlledSwitch00_PositionOff switch-off position of cam 509.1 0x2409.1 C4_3 no VP
3730.4 C3Cam.ControlledSwitch00_TimeOn switch-on anticipation of cam 510.1 0x240A.1 I16 no Immediat
ely
3730.5 C3Cam.ControlledSwitch00_TimeOff switch-off anticipation of cam 511.1 0x240B.1 I16 no Immediat
ely
3920.1 C3Plus.HEDA_SignalProcessing_Input Process input signal Slave C4_3 Yes Immediat
ely
3920.7 C3Plus.HEDA_SignalProcessing_OutputGreat Output of the Heda Tracking Filter C4_3 no -
3921.1 FBI_SignalProcessing0_Input_Y4 Interpolation input CanSync, PowerLink 0x2050/0x I32 Yes Immediat
60C1.1 ely
3921.2 C3Plus.FBI_SignalProcessing0_ResetDistance Upper modulo limit CANSYNC, Powerlink, 0x2051 I32 no Immediat
EtherCAT in Mrev ely
3921.3 FBI_SignalProcessing0_ResetDistanceLow Lower modulo limit CanSync, PowerLink, EtherCat 0x2103.1 I32 no Immediat
in Mrev ely
3921.5 FBI_SignalProcessing0_OutputFBIncr Interpolation output position CanSync, PowerLink, I32 no -
EtherCat in Fbincr.
3921.7 C3Plus.FBI_SignalProcessing0_OutputGreat Interpolation output position CanSync, PowerLink, Y4 no -
EtherCat in Mrev - free running.
3921.8 C3Plus.FBI_SignalProcessing0_Source Switching the position source of the interpolator I16 no Immediat
ely
3921.9 C3Plus.FBI_SignalProcessing0_ResetDistance_Incr Modulo limit CanSync, PowerLink, EtherCat in 0x2103.1 I32 no Immediat
Fbincr ely
3921.10 FBI_SignalProcessing0_ResetDistanceLow_Incr Lower modulo limit CanSync, PowerLink, EtherCat 0x2103.2 I32 no Immediat
in Fbincr ely
3921.11 C3Plus.FBI_SignalProcessing0_IncrModuloEnable Selection switch Modulo limit CanSync, 0x2103.3 I32 no Immediat
PowerLink, EtherCat ely
3925.1 C3Plus.FBI_Interpolation_SubModeSelect Interpolation method 0x60C0 I16 no Immediat
ely
402 192-120102N6 C3FT40 2014-10

Parker EME Object overview sorted by object groups (T40)

after
3925.20 FBI_Interpolation_VelocityInput Velocity specification GEARING 0x2098 I32 Yes Immediat

CanSync/EthernetPowerLink/EtherCat ely
3925.21 FBI_Interpolation_AccelInput Acceleration specification GEARING 0x2099 I32 Yes Immediat
3925.22 FBI_Interpolation_VelocityStatus Speed output value for C4_3 no -
CanSync/EthernetPowerLink/EtherCat
3925.23 FBI_Interpolation_AccelStatus Acceleration output value for I32 no -
3925.24 FBI_Interpolation_PositionStatus Interpolation position input value for I32 no -
7.2 Object overview sorted by object groups (T40)

C3 - Objects .................................................................................................................. 403
C3Array - Objects .......................................................................................................... 405
C3Cam - Objects ........................................................................................................... 406
C3Plus - Objects............................................................................................................ 407
Other objects (no CoDeSys objects) .............................................................................. 411
7.2.1. C3 - Objects
after
634.4 C3.AnalogOutput0_DemandValue Setpoint for analog output 0 24 0x2019 I16 Yes Immediat
ely
635.4 C3.AnalogOutput1_DemandValue Setpoint for analog output 1 103 0x201A I16 Yes Immediat
ely
2101.14 C3.ControllerTuning_2_AccelFeedback_Ka Acceleration feedback (A2) U16 no VP
2101.8 C3.ControllerTuning_2_FilterAccel2 Filter actual acceleration 2 U16 no VP
2101.7 C3.ControllerTuning_2_FilterSpeed2 Filter actual velocity 2 U16 no VP
2101.13 C3.ControllerTuning_2_SpeedFeedback_Kv Speed feedback (A2) U16 no VP
2100.14 C3.ControllerTuning_AccelFeedback_Ka Acceleration feedback (A1) U16 no VP
2100.21 C3.ControllerTuning_FilterAccel_us Filter - Actual acceleration U16 no VP
2100.11 C3.ControllerTuning_FilterAccel2 Filter actual acceleration 2 U16 no VP
2100.10 C3.ControllerTuning_FilterSpeed2 Filter actual velocity 2 U16 no VP
2100.13 C3.ControllerTuning_SpeedFeedback_Kv Speed feedback (A1) U16 no VP
120.8 C3.DigitalInput_DebounceMask Debounce mask for dig. Inputs I16 no Immediat
ely
120.7 C3.DigitalInput_DebounceTime Debounce time for dig. Inputs I16 no Immediat
ely
120.2 C3.DigitalInput_Value Status of digital inputs V2 Yes -
121.2 C3.DigitalInputAddition_Value input word of I/O option 175 0x6100.2 V2 Yes -
133.4 C3.DigitalOutputAddition_Enable activating input/output option M10/M12 350 0x6300.3 V2 no Immediat
ely
133.2 C3.DigitalOutputAddition_Error error in I/O option 351 0x6300.4 V2 no -
133.3 C3.DigitalOutputAddition_Value output word for I/O option 176 0x6300.2 V2 Yes Immediat
ely
140.3 C3.DigitalOutputWord_DemandState Command value of the digital outputs 22 0x6300.1 V2 Yes Immediat
ely
2020.1 C3.ExternalSignal_Position Position from external signal source 0x2095.1 C4_3 Yes -
2020.2 C3.ExternalSignal_Speed speed from external signal source C4_3 Yes -
2050.10 C3.FeedForward_2_Accel_FFW Acceleration feedforward (A2) C4_3 no VP
2050.9 C3.FeedForward_2_Speed_FFW Speed feedforward (A2) C4_3 no VP
2010.24 C3.FeedForward_Accel_FFW Acceleration feedforward (A1) C4_3 no VP
2010.23 C3.FeedForward_Speed_FFW Speed feedforward (A1) C4_3 no VP
2011.5 C3.FeedForwardExternal_FilterAccel_us Filter time constant ext. Acceleration U16 no VP
2011.4 C3.FeedForwardExternal_FilterSpeed_us Filter time constant ext. speed U16 no VP
696.1 C3.HydraulicPower_Axis1 Control signal main axis I32 no -
696.2 C3.HydraulicPower_Axis2 Control signal auxiliary axis I32 no -
696.3 C3.HydraulicPower_Sum Sum of the hydraulic corner power I32 no -
402.2 C3.Limit_SpeedNegative maximum permissible negative speed 318 0x200A I16 no VP
402.1 C3.Limit_SpeedPositive maximum permissible positive speed 317 0x2009 I16 no VP
425.2 C3.LimitForcePressure_FollowingErrorTime Trigger time for event "Control deviation of force I16 no Immediat
controller" ely
425.1 C3.LimitForcePressure_FollowingErrorWindow Max. Control deviation of force controller C4_3 no VP
425.6 C3.LimitForcePressure_ForceReachedAux Force of auxiliary axis in the control window BOOL no -
425.5 C3.LimitForcePressure_ForceReachedMain Force Main axis in standard window BOOL no -
425.3 C3.LimitForcePressure_MaxForce Maximum force I32 no Immediat
ely
425.4 C3.LimitForcePressure_Window Window for "Force achieved" I32 no VP
425.7 C3.LimitForcePressure_WindowTime Trigger time for message "Force achieved" U16 no Immediat
ely
410.3 C3.LimitPosition_Negative Negative SW travel limit 322 0x607D.1 C4_3 no Immediat
ely
410.2 C3.LimitPosition_Positive Positive Travel Limit 321 0x607D.2 C4_3 no Immediat
ely
192-120102N6 C3FT40 2014-10 403


after

3310.1 C3.Multiturnemulation_Status Status of Multiturn emulation I16 no -
20.10 C3.ObjectDir_ReadObjects reading objects from Flash I16 no Immediat
ely
20.11 C3.ObjectDir_WriteObjects saving objects permanently I16 no Immediat
ely
2260.8 C3.PositionController_2_TrackingErrorFilter_us Following error filter of auxiliary axis U16 no Immediat
ely
420.3 C3.PositioningAccuracy_FollowingErrorTimeout Following Error Time 331 0x6066 U16 no Immediat
ely
420.2 C3.PositioningAccuracy_FollowingErrorWindow Following error limit 330 0x6065 C4_3 no VP
420.6 C3.PositioningAccuracy_PositionReached Position reached I32 no -
420.8 C3.PositioningAccuracy_PositionReached_2 Position reached (auxiliary axis) I32 no -
420.1 C3.PositioningAccuracy_Window positioning window for position reached 328 0x6067 C4_3 no VP
420.7 C3.PositioningAccuracy_WindowTime In Position Window Time 329 0x6068 U16 no Immediat
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2210.8 C3.SpeedController_ActuatingSignal_filt Control signal filter of position U16 no VP
2270.8 C3.SpeedController2_ActuatingSignal_filt Control signal filter of position auxiliary axis U16 no VP
682.5 C3.StatusAccel_Actual Status of actual acceleration unfiltered I32 no -
682.6 C3.StatusAccel_ActualFilter Status of filtered actual acceleration I32 no -
682.4 C3.StatusAccel_DemandValue Status demand acceleration 325 0x200E I32 no -
682.3 C3.StatusAccel_DemandValue3 Acceleration of a superimposed motion or of I32 no -
phasing
695.11 C3.StatusForce_Actual Actual value force controller main axis [N] 221 0x2500.2 I32 Yes -
695.14 C3.StatusForce_Actual2 Actual value force controller auxillary axis [N] 222 0x2500.4 I32 Yes -
695.10 C3.StatusForce_Demand Demand value force controller main axis [N] 0x2500.1 I32 Yes -
695.13 C3.StatusForce_Demand2 Demand value force controller auxillary axis [N] 0x2500.3 I32 Yes -
695.12 C3.StatusForce_Error Control deviation force controller main axis [N] I32 no -
695.15 C3.StatusForce_Error2 Control deviation force controller auxiliary axis [N] I32 no -
695.1 C3.StatusForce_Force1 Force of force sensor main axis I32 no -
695.2 C3.StatusForce_Force2 Force of force sensor of auxiliary axis I32 no -
697.4 C3.StatusPosController_ActuatingSignal_AddAccel_YA Accleration feedback (A1) C4_3 no -
697.14 C3.StatusPosController_ActuatingSignal_AddAccel_YA2 Acceleration feedback (A2) C4_3 no -
697.3 C3.StatusPosController_ActuatingSignal_AddSpeed_YV Speed feedback (A1) C4_3 no -
697.13 C3.StatusPosController_ActuatingSignal_AddSpeed_YV2 Speed feedback (A2) C4_3 no -
697.2 C3.StatusPosController_ActuatingSignal_IPart_YI Control signal I-term (A1) C4_3 no -
697.12 C3.StatusPosController_ActuatingSignal_IPart_YI2 Control signal I-term (A2) C4_3 no -
697.5 C3.StatusPosController_ActuatingSignal_PosCtrl_Ycom Control signal total (A1) C4_3 no -
697.15 C3.StatusPosController_ActuatingSignal_PosCtrl_Ycom2 Control signal total (A2) C4_3 no -
697.1 C3.StatusPosController_ActuatingSignal_PPart_YP Control signal P-term (A1) C4_3 no -
697.11 C3.StatusPosController_ActuatingSignal_PPart_YP2 Control signal P-term (A2) C4_3 no -
680.5 C3.StatusPosition_Actual Status actual position 28 0x2104 C4_3 Yes -
680.15 C3.StatusPosition_Actual2 Actual position auxillary axis 211 0x2106 C4_3 Yes -
680.34 C3.StatusPosition_Actual2_Y4 Status actual position auxillary axis in bus format 0x6864 Y4 Yes -
Y4
680.13 C3.StatusPosition_ActualController Status actual position without absolute reference C4_3 no -
680.18 C3.StatusPosition_ActualNotReset Status actual position (not reset) C4_3 Yes -
680.12 C3.StatusPosition_DemandController Status demand position without absolute reference C4_3 no -
404 192-120102N6 C3FT40 2014-10


after
680.4 C3.StatusPosition_DemandValue Status demand position 323 0x60FC C4_3 Yes -

680.1 C3.StatusPosition_DemandValue1 Position command value of Profile transmitter1 0 0x2052 Y4 Yes -
680.2 C3.StatusPosition_DemandValue2 Status demand position virtual master 202 0x2042 Y4 Yes -
680.3 C3.StatusPosition_DemandValue3 Status of setpoint position of Superimposed motion 0 0 Y4 no -
680.11 C3.StatusPosition_EncoderInput24V Status of encoder input 0 (24V) C4_3 Yes -
680.10 C3.StatusPosition_EncoderInput5V Status of encoder input 0 (5V) 0x2095.2 C4_3 Yes -
680.6 C3.StatusPosition_FollowingError Status of tracking error 100 0x60F4 C4_3 Yes -
680.16 C3.StatusPosition_FollowingError2 Tracking error auxillary axis 212 0x68F4 C4_3 Yes -
680.17 C3.StatusPosition_MasterSlaveError Position deviation main/auxiliary axis C4_3 no -
680.30 C3.StatusPosition_Referenced Status of axis referenced I16 no -
694.4 C3.StatusPressure_p01 System pressure main axis 216 0x2501.4 C4_3 Yes -
694.9 C3.StatusPressure_p02 System pressure auxillary axis 220 0x2501.8 C4_3 Yes -
694.1 C3.StatusPressure_pA1 A-side pressure main axis 213 0x2501.1 C4_3 Yes -
694.6 C3.StatusPressure_pA2 A-side pressure auxillary axis 217 0x2501.5 C4_3 Yes -
694.2 C3.StatusPressure_pB1 B-side pressure main axis 214 0x2501.2 C4_3 Yes -
694.7 C3.StatusPressure_pB2 B-side pressure auxillary axis 218 0x2501.6 C4_3 Yes -
694.3 C3.StatusPressure_pT1 Reservoir pressure main axis 215 0x2501.3 C4_3 Yes -
694.8 C3.StatusPressure_pT2 Reservoir pressure auxillary axis 219 0x2501.7 C4_3 Yes -
681.5 C3.StatusSpeed_Actual Status actual speed unfiltered 0x6069 C4_3 Yes -
681.14 C3.StatusSpeed_Actual2Filtered Status actual speed filtered auxillary axis 210 0x686C C4_3 Yes -
681.9 C3.StatusSpeed_ActualFiltered Status actual speed filtered 8 0x606C C4_3 Yes -
681.12 C3.StatusSpeed_ActualScaled Filtered actual speed in per cent C4_3 no -
681.13 C3.StatusSpeed_DemandScaled Setpoint speed of the setpoint generator C4_3 no -
681.10 C3.StatusSpeed_DemandSpeedController Status demand speed controller input C4_3 Yes -
681.4 C3.StatusSpeed_DemandValue Status demand speed of setpoint generator 324 0x606B C4_3 Yes -
681.1 C3.StatusSpeed_DemandValue1 Speed setpoint value of profile generator 1 0x2053 Y4 Yes -
681.2 C3.StatusSpeed_DemandValue2 Status demand speed virtual master 203 0x2043 Y4 Yes -
681.3 C3.StatusSpeed_DemandValue3 Speed of a superimposed motion or of phasing Y4 no -
681.6 C3.StatusSpeed_Error Status control deviation of speed 101 0x2027 C4_3 Yes -
681.15 C3.StatusSpeed_Error2 Speed control deviation C4_3 no -
681.11 C3.StatusSpeed_FeedForwardSpeed Status speed feed forward C4_3 no -
685.1 C3.StatusVoltage_AuxiliaryVoltage Status of auxillaryiliary voltage 326 0x200F E2_6 no -
210.10 C3.ValidParameter_Global setting objects to valid 338.10 0x2016.10 U16 no Immediat
ely
210.6 C3.ValidParameter_Limits setting limit values to valid. U16 no Immediat
ely
7.2.2. C3Array - Objects

after

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192-120102N6 C3FT40 2014-10 405


after
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1910.1 C3Array.Indirect_Col01 indirect table access Column 1 181 0x2311 Y4 Yes Immediat
ely
1910.2 C3Array.Indirect_Col02 Indirect table access Column 2 182 0x2312 Y2 Yes Immediat
ely
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1900.1 C3Array.Pointer_Row pointer to table row 180 0x2300 U16 Yes Immediat
ely
7.2.3. C3Cam - Objects

after
3730.3 C3Cam.ControlledSwitch00_PositionOff switch-off position of cam 509.1 0x2409.1 C4_3 no VP

3730.2 C3Cam.ControlledSwitch00_PositionOn switch-on position of cam 508.1 0x2408.1 C4_3 no VP
3730.1 C3Cam.ControlledSwitch00_Source source of cam 507.1 0x2407.1 I16 no VP
3730.5 C3Cam.ControlledSwitch00_TimeOff switch-off anticipation of cam 511.1 0x240B.1 I16 no Immediat
ely
3730.4 C3Cam.ControlledSwitch00_TimeOn switch-on anticipation of cam 510.1 0x240A.1 I16 no Immediat
ely
ely
ely
3701.6 C3Cam.ControlledSwitches_NumberPerCycle Number of cams in one cycle U16 no Immediat
ely
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406 192-120102N6 C3FT40 2014-10


after
3700.2 C3Cam.ControlledSwitchesFast_Enable enable fast cams 500.2 0x2400.2 U16 no Immediat

ely
3700.3 C3Cam.ControlledSwitchesFast_Output output for fast cams 204/500.3 0x2400.3 U16 Yes Immediat
ely
3705.1 C3Cam.ControlledSwitchesHysteresis_ActualPosition Hysteresis for cam switching mechanism, source C4_3 no VP
"current position"
3705.6 C3Cam.ControlledSwitchesHysteresis_CAMPosition Hysteresis for cam switching mechanism, source C4_3 no VP
"salve position cam"
3705.2 C3Cam.ControlledSwitchesHysteresis_DemandPosition Hysteresis for cam switching mechanism, source C4_3 no VP
"target position"
3705.4 C3Cam.ControlledSwitchesHysteresis_FieldbusPosition Hysteresis for cam switching mechanism, source C4_3 no VP
"fieldbus interpolator"
3705.5 C3Cam.ControlledSwitchesHysteresis_Masterposition Hysteresis for cam switching mechanism, source C4_3 no VP
"master position"
3710.3 C3Cam.ControlledSwitchFast0_PositionOff switch-off position for fast cam 504.1 0x2404.1 C4_3 no VP
3710.2 C3Cam.ControlledSwitchFast0_PositionOn switch-on position for fast cam 503.1 0x2403.1 C4_3 no VP
3710.1 C3Cam.ControlledSwitchFast0_Source source of fast cam 502.1 0x2402.1 I16 no VP
3710.5 C3Cam.ControlledSwitchFast0_TimeOff switch-off anticipation of fast cam 506.1 0x2406.1 I16 no Immediat
ely
3710.4 C3Cam.ControlledSwitchFast0_TimeOn switch-on anticipation of fast cam 505.1 0x2405.1 I16 no Immediat
ely
3022.1 C3Cam.Manipulation_OffsetMasterposition Master position offset C4_3 no Immediat
ely
3022.6 C3Cam.Manipulation_OffsetMasterposition_Units Offset Master position C4_3 no Immediat
ely
3022.3 C3Cam.Manipulation_ScalefactorMasterGlobal Global scaling factor for the master speed C4_3 no Immediat
ely
3021.10 C3Cam.SignalSource_InputAdditional CAM Master position C4_3 Yes Immediat
ely
3021.2 C3Cam.SignalSource_Position Status of position of selected master signal source C4_3 Yes -
3021.1 C3Cam.SignalSource_Select Source of master position U16 no Immediat
ely
3031.4 C3Cam.StatusData_ActualCurve Current curve number I16 no -
3030.14 C3Cam.StatusMaster_BackstopDistance Integrated negative master distance with active C4_3 Yes -
back stop
3030.7 C3Cam.StatusMaster_Enable Status: Enable of master acquisition U16 no -
3030.17 C3Cam.StatusMaster_EnableCam Status: Enable of cam input U16 no -
3030.12 C3Cam.StatusMaster_PhasingSum Added up position sum of the master-side phasing C4_3 no -
3030.1 C3Cam.StatusMaster_Position Reset master position 207 0x2410 C4_3 Yes -
3030.24 C3Cam.StatusMaster_PositionCamUnits Master position at the beginning of the curve C4_3 Yes -
3030.22 C3Cam.StatusMaster_SpeedUnits Master speed [Units/s] C4_3 no -
3032.4 C3Cam.StatusOutput_AbsolutePositionGreat Slave position (free running) C4_3 Yes -
3032.24 C3Cam.StatusOutput_CurvePositionUnits End of curve 208 0x2411 C4_3 Yes -
3032.1 C3Cam.StatusOutput_Position Slave position C4_3 Yes -
7.2.4. C3Plus - Objects

after
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192-120102N6 C3FT40 2014-10 407


after

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820.8 C3Plus.CANopen_ComCyclePeriod Sync bus cycle time CANSync, Powerlink, 0x1006, U32 no Immediat
EtherCat 0x60C2 ely
820.3 C3Plus.CANopen_Node_ID CANopen_Node_ID U16 no -
820.9 C3Plus.CANopen_State Status of the fieldbus state machine U16 no -
820.28 C3Plus.CANopen_SyncPeriod Current period duration of the sync signal C4_3 no -
820.23 C3Plus.CANopen_SyncPulseCounter Captured sync pulses I32 no Immediat
ely
2439.3 C3Plus.CurveMemory_Erase Delete valve characteristics I16 no Immediat
ely
1100.1 C3Plus.DeviceControl_CommandOnRequest Control command 108 0x2028 I16 Yes Immediat
ely
1100.3 C3Plus.DeviceControl_Controlword_1 STW control word 1 0x6040 V2 Yes Immediat
ely
1100.4 C3Plus.DeviceControl_Controlword_2 Control word 2 3 0x201B V2 Yes Immediat
ely
1100.5 C3Plus.DeviceControl_OperationMode Operating mode (Nominal value) 127/930 0x6060 I16 Yes Immediat
ely
1000.5 C3Plus.DeviceState_ActualOperationMode operating mode display 128 0x6061 I16 Yes Immediat
ely
1000.3 C3Plus.DeviceState_Statusword_1 status word ZSW 2 0x6041 V2 Yes Immediat
ely
1000.4 C3Plus.DeviceState_Statusword_2 Status word 2 4 0x201C V2 Yes Immediat
ely
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620.6 C3Plus.EncoderEmulation_Offset Zero pulse offset encoder emulation C4_3 no VP
620.7 C3Plus.EncoderEmulation_SetEmulationZero Encoder simulation teaching zero pulse I16 no Immediat
ely
620.10 C3Plus.EncoderEmulation_Setpoint_without_offset Demand position of encoder simulation (without C4_3 no -
offset)
550.1 C3Plus.ErrorHistory_LastError current error (n) 115/947.0 0x603F/0x U16 Yes -
201D.1
2020.7 C3Plus.ExternalSignal_Accel_Munits Acceleration of the external signal source I32 Yes -
2020.6 C3Plus.ExternalSignal_Speed_Munits Speed value of the external signal source C4_3 Yes -
3925.1 C3Plus.FBI_Interpolation_SubModeSelect Interpolation method 0x60C0 I16 no Immediat
ely
3921.11 C3Plus.FBI_SignalProcessing0_IncrModuloEnable Selection switch Modulo limit CanSync, 0x2103.3 I32 no Immediat
PowerLink, EtherCat ely
3921.7 C3Plus.FBI_SignalProcessing0_OutputGreat Interpolation output position CanSync, PowerLink, Y4 no -
EtherCat in Mrev - free running.
408 192-120102N6 C3FT40 2014-10


after
3921.2 C3Plus.FBI_SignalProcessing0_ResetDistance Upper modulo limit CANSYNC, Powerlink, 0x2051 I32 no Immediat
EtherCAT in Mrev ely
3921.9 C3Plus.FBI_SignalProcessing0_ResetDistance_Incr Modulo limit CanSync, PowerLink, EtherCat in 0x2103.1 I32 no Immediat
Fbincr ely
3921.8 C3Plus.FBI_SignalProcessing0_Source Switching the position source of the interpolator I16 no Immediat
ely
1141.4 C3Plus.GEAR_mode Source selection Gearing 0x2055 U16 no Immediat
ely
3920.1 C3Plus.HEDA_SignalProcessing_Input Process input signal Slave C4_3 Yes Immediat
ely
3920.7 C3Plus.HEDA_SignalProcessing_OutputGreat Output of the Heda Tracking Filter C4_3 no -
900.1 C3Plus.HEDA_State Status HEDA I16 no Immediat
ely
1130.1 C3Plus.HOMING_accel Acceleration / deceleration homing run 300 0x609A U32 no Immediat
ely
1130.7 C3Plus.HOMING_edge_sensor_distance Initiator adjustment 304 0x2000 C4_3 no Immediat
ely
1130.2 C3Plus.HOMING_jerk jerk for machine reference run 357 0x201E U32 no Immediat
ely
1130.4 C3Plus.HOMING_mode adjusting the machine reference mode 302 0x6098 U16 no Immediat
ely
1130.3 C3Plus.HOMING_speed speed for machine reference run 301 0x6099.1 C4_3 no Immediat
ely
190.1 C3Plus.M2x_InputControl_Enable_Inputs_X20 Enable analog inputs X20 M2x I16 no VP
201.2 C3Plus.NormFactorY4_Position Scaling factor for Y4 positions 356.2 0x2021.2 V2 no Immediat
ely
2400.7 C3Plus.OutputConditioningChain_Ch0_Input_DefaultValue Replacement value at the input of Chain0 I32 no VP
2430.4 C3Plus.OutputConditioningChain_Ch3_Lower_Limit Lower limit of valve output 3 I16 no VP
2430.3 C3Plus.OutputConditioningChain_Ch3_Upper_Limit Upper limit of valve output 3 I16 no VP
185.1 C3Plus.OutputGroup_OutputSelect_0 Output signal valves 0 & 1 BOOL no Immediat
ely
185.2 C3Plus.OutputGroup_OutputSelect_1 Output signal valves 2&3 BOOL no Immediat
ely
1200.1 C3Plus.PG2Control_CommandOnRequest Control of virtual Master 200 0x2040 I16 Yes Immediat
ely
1211.13 C3Plus.PG2POSITION_direction Manipulation of the motion direction in reset mode I32 no Immediat
ely
50.3 C3Plus.PLC_ActualCycleTime Status of cycle time of the control program 353 0x201F.2 U16 no -
50.4 C3Plus.PLC_ActualCycleTimeMax Status of maximum cycle time 354 0x201F.3 U16 no Immediat
ely
50.1 C3Plus.PLC_DemandCycleTime cycle time specification 352 0x201F.1 U16 no Immediat
ely
1111.3 C3Plus.POSITION_accel Acceleration for positioning 114 0x6083 U32 Yes Immediat
ely
1111.4 C3Plus.POSITION_decel Deceleration for positioning 178/312 0x6084 U32 Yes Immediat
ely
1111.13 C3Plus.POSITION_direction Manipulation of the motion direction in reset mode I32 no Immediat
ely
1111.5 C3Plus.POSITION_jerk_accel Acceleration jerk for positioning 313 0x2005 U32 no Immediat
ely
1111.6 C3Plus.POSITION_jerk_decel Deceleration jerk for positioning 314 0x2006 U32 no Immediat
ely
1111.1 C3Plus.POSITION_position Target position 27 C4_3 Yes Immediat
(Profibus ely
only)
1111.8 C3Plus.POSITION_resetpositon_mode Continuous mode 0 0 U16 no Immediat
ely
1111.2 C3Plus.POSITION_speed Speed for positioning 111 C4_3 Yes Immediat
ely
1111.17 C3Plus.POSITION_turnaround Direction inversion - lock U16 no Immediat
ely
2260.13 C3Plus.PositionController_2_DeadBand Deadband of position controller auxiliary axis C4_3 no VP
2260.20 C3Plus.PositionController_2_Disturbance_Offset Disturbance compensation (A2) C4_3 no Immediat
ely
2260.14 C3Plus.PositionController_2_InsideWindow_IPart Internal window I-term (A2) C4_3 no VP
2260.23 C3Plus.PositionController_2_IPart_Freeze_Speed Speed threshold for stopping Ipart of auxillary axis C4_3 no VP
2260.21 C3Plus.PositionController_2_Ki_IPart I-term for the position controller (auxiliary axis) I16 no VP
2260.22 C3Plus.PositionController_2_Kp_PPart P-term for the position controller (auxiliary axis) I16 no VP
192-120102N6 C3FT40 2014-10 409


after
2260.17 C3Plus.PositionController_2_NegLimit_IPart Lower limit I-term (A2) C4_3 no VP

2260.15 C3Plus.PositionController_2_OutsideWindow_IPart External window I-term (A2) C4_3 no VP
2260.16 C3Plus.PositionController_2_PosLimit_IPart Upper limit I-term (A2) C4_3 no VP
2260.19 C3Plus.PositionController_2_PPart_Scaling Quantifier P-term (A2) C4_3 no VP
2200.2 C3Plus.PositionController_ActualValue Position actual value (sequentially) C4_3 Yes -
2200.20 C3Plus.PositionController_DeadBand Deadband of position controller C4_3 no VP
2200.1 C3Plus.PositionController_DemandValue Position setpoint value (sequentially) C4_3 Yes -
2200.36 C3Plus.PositionController_Disturbance_Offset Disturbance compensation (A1) C4_3 no Immediat
ely
2200.30 C3Plus.PositionController_InsideWindow_IPart Internal window I-term (A1) C4_3 no VP
2200.40 C3Plus.PositionController_IPart_Freeze_Speed Speed threshold for stopping Ipart of main axis C4_3 no VP
2200.37 C3Plus.PositionController_Ki_IPart I-term for the position controller (main axis) I16 no VP
2200.38 C3Plus.PositionController_Kp_PPart P-term for the position controller (main axis) I16 no VP
2200.33 C3Plus.PositionController_NegLimit_IPart Lower limit I-term (A1) C4_3 no VP
2200.31 C3Plus.PositionController_OutsideWindow_IPart External window I-term (A1) C4_3 no VP
2200.32 C3Plus.PositionController_PosLimit_IPart Upper limit I-term (A1) C4_3 no VP
2200.35 C3Plus.PositionController_PPart_Scaling Quantifier P-term (A1) C4_3 no VP
ely
(A2) ely
2000.2 C3Plus.ProfilGenerators_PG2Position Position value of the setpoint encoder of the virtual 0x2061 C4_3 Yes -
axis
2000.1 C3Plus.ProfilGenerators_SG1Position Position value of the setpoint encoder 0x2060 C4_3 Yes -
2000.10 C3Plus.ProfilGenerators_SG1PositionSum Position sum value of the setpoint encoder C4_3 Yes -
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
ely
1127.3 C3Plus.SPEED_speed Setpoint speed in speed control operating mode 7 C4_3 Yes Immediat
ely
680.32 C3Plus.StatusPosition_EncoderIncrements5V Encoder position 0 (5V) in increments 0x2095.3 I32 Yes Immediat
ely
680.36 C3Plus.StatusPosition_SuperImposedPositionSum Status of position sum MoveSuperImposed C4_3 Yes -
2109.1 C3Plus.TrackingfilterHEDA_TRFSpeed Time constant tracking filter HEDA-process I16 no VP
position
2107.1 C3Plus.TrackingfilterPhysicalSource_TRFSpeed Time constant tracking filter physical source U16 no VP
410 192-120102N6 C3FT40 2014-10


after
2110.7 C3Plus.TrackingfilterSG1_AccelFilter_us Filter time constant acceleration setpoint generator U16 no VP

2110.6 C3Plus.TrackingfilterSG1_FilterSpeed_us Filter time constant velocity setpoint generator U16 no VP
2110.1 C3Plus.TrackingfilterSG1_TRFSpeed Time constant tracking filter setpoint encoder 0x2096 I16 no VP
210.9 C3Plus.ValidParameter_CamControlledSwitches Set cam switching mechanism parameters to valid 338.9 0x2016.9 U16 no Immediat
ely
210.5 C3Plus.ValidParameter_FeedForward Set feedforward parameters to valid. U16 no Immediat
ely
210.2 C3Plus.ValidParameter_FiltersRSDP Set filter parameter to valid U16 no Immediat
ely
ely
ely
181.2 C3Plus.ValveOutput1_Gain Gain factor real C4_3 no Immediat
ely
ely
ely
ely
ely
ely
7.2.5. Other objects (no CoDeSys objects)

after

206.1 C3FluidNorm_Metric_Imperial Unit system BOOL no Immediat
ely
820.27 CANopen_SyncErrorCounter Error counter for CANSync, Powerlink, EtherCat I32 no Immediat
ely
820.24 CANopen_SyncMode Configuration of the bus synchronization process 0x205E I16 no Immediat
ely
2101.11 ControllerTuning_2_ActuatingSignalGain_speed Control signal gain of auxiliary axis U16 no VP
2100.12 ControllerTuning_ActuatingSignalGain_speed open loop gain U16 no VP
990.1 Delay_MasterDelay Setpoint delay for bus master I16 no Immediat
ely
1.15 Device_ProfileID Profibus profile number 965 OS no -
120.3 DigitalInput_DebouncedValue Status of digital inputs 21 0x6100.1 V2 Yes -
ely
ely
ely
ely
ely
ely
ely
ely
284.0 EnDat_EnDat I16 no -
550.2 ErrorHistory_1 Error (n-1) in the error history 947.1 0x201D.2 U16 no -
3925.21 FBI_Interpolation_AccelInput Acceleration specification GEARING 0x2099 I32 Yes Immediat
3925.23 FBI_Interpolation_AccelStatus Acceleration output value for I32 no -
3925.24 FBI_Interpolation_PositionStatus Interpolation position input value for I32 no -
3925.20 FBI_Interpolation_VelocityInput Velocity specification GEARING 0x2098 I32 Yes Immediat
192-120102N6 C3FT40 2014-10 411


after
3925.22 FBI_Interpolation_VelocityStatus Speed output value for C4_3 no -

950.1 FBI_RxPD_Mapping_Object_1 1. Object of the setpoint PZD (Profibus) 915.0 U16 no Immediat
ely
ely
ely
ely
ely
ely
ely
ely
3921.1 FBI_SignalProcessing0_Input_Y4 Interpolation input CanSync, PowerLink 0x2050/0x I32 Yes Immediat
60C1.1 ely
3921.5 FBI_SignalProcessing0_OutputFBIncr Interpolation output position CanSync, PowerLink, I32 no -
EtherCat in Fbincr.
3921.3 FBI_SignalProcessing0_ResetDistanceLow Lower modulo limit CanSync, PowerLink, EtherCat 0x2103.1 I32 no Immediat
in Mrev ely
3921.10 FBI_SignalProcessing0_ResetDistanceLow_Incr Lower modulo limit CanSync, PowerLink, EtherCat 0x2103.2 I32 no Immediat
in Fbincr ely
ely
ely
ely
ely
ely
ely
ely
ely
2050.8 FeedForward_2_Valve Valve feedforward auxillaryiliary axis U16 no VP
2010.21 FeedForward_Valve Valve feedforward U16 no VP
1141.8 GEAR_actual_master_speed Master speed for Gearing C4_3 no -
1141.7 GEAR_actual_masterposition Position input value for Gearing 0x2058 C4_3 no -
1141.10 GEAR_FFW_mode Control bits for feedforward with source 0x2097 U16 no Immediat
CANSync/EthernetPowerLink/EtherCat ely
900.12 HEDA_CRC_ErrorCounter Error counter CRC (HEDA) U32 no Immediat
ely
900.13 HEDA_SyncErrorCounter Error counter Sync (HEDA) U32 no Immediat
ely
200.10 NormFactorY2_ActualValue2_Y2 Normalization factor for 1000.14 V2 no Immediat
ely
ely
ely
200.5 NormFactorY2_Array_Col2 Normalization factor recipe arrays column 2 355.5 0x2020.5 V2 no Immediat
ely
200.11 NormFactorY2_Current Normalization factor for Y2 currents 355.11 0x2020.11 V2 no Immediat
ely
200.9 NormFactorY2_DemandValue2_Y2 Normalization factor for 1100.14@1100.14 0x2020.9 V2 no Immediat
ely
ely
ely
200.1 NormFactorY2_Speed Normalization factor for Y2 speeds 355.1 0x2020.1 V2 no Immediat
ely
200.3 NormFactorY2_Voltage Normalization factor for Y2 voltages 355.3 0x2020.3 V2 no Immediat
ely
ely
ely
ely
201.4 NormFactorY4_Array_Col1 Scaling factor recipe arrays column 1 356.4 0x2021.4 V2 no Immediat
ely
ely
ely
ely
201.11 NormFactorY4_FBI_SignalProcessing_Position Normalization factor for bus interpolation 356.11 0x2021.11 V2 no Immediat
CANSync/EthernetPowerLink ely
201.1 NormFactorY4_Speed Scaling factor for Y4 speeds 356.1 0x2021.1 V2 no Immediat
ely
201.3 NormFactorY4_Voltage Scaling factor for Y4 voltages 356.3 0x2021.3 V2 no Immediat
ely
20.1 ObjectDir_Objekts-->FLASH Store objects permanently (bus) 339 0x2017 I16 no Immediat
ely
1111.11 POSITION_position_Y4 118 Y4 Yes Immediat
ely
412 192-120102N6 C3FT40 2014-10


after
1111.9 POSITION_speed_Y2 Speed for Positioning in Y2 Format 110 Y2 Yes Immediat

ely
2260.18 PositionController_2_IPart_Scaling Quantifier I-term (A2) C4_3 no VP
2200.34 PositionController_IPart_Scaling Quantifier I-term (A1) C4_3 no VP
2200.24 PositionController_TrackingErrorFilter_us Time constant following error filter of position U16 no VP
controller
2250.22 PressureController_1_ActuatingSignalFilter Control signal filter of force I32 no VP
ely
2250.23 PressureController_1_Force_FeedForward_KFs Force feedforward U16 no VP
2250.8 PressureController_1_TimeDelay_DT1_T1 Delay time constant T1 U32 no VP
2251.22 PressureController_2_ActuatingSignalFilter Control signal filter of force (A2) I32 no VP
ely
2251.23 PressureController_2_Force_FeedForward_KFs Force feedforward (A2) U16 no VP
2251.8 PressureController_2_TimeDelay_DT1_T1 PID force controller 2 delay time constant of the U32 no VP
D-term T1
830.2 Profibus_Baudrate Baud rate U32 no -
830.3 Profibus_NodeAddress Node address 918 U16 no -
830.1 Profibus_Protocol PPO-type selection switch U16 no Immediat
ely
830.6 Profibus_StandardSignalTable List of Profidrive standard signals 923.x U16 no -
830.4 Profibus_TelegramSelect Telegram selection switch 922 U16 no Immediat
ely
2000.5 ProfilGenerators_PG2Speed Speed of the virtual axis 0x2064 I32 Yes -
2000.4 ProfilGenerators_SG1Speed Speed of the setpoint encoder 0x2063 I32 Yes -
682.7 StatusAccel_FeedForwardAccel Status acceleration feed forward C4_3 no -
692.4 StatusFeedback_EncoderCosine Status of analog input cosine I32 no -
692.24 StatusFeedback_EncoderCosineVolts Status of analog input cosine (Volt) C4_3 no -
692.3 StatusFeedback_EncoderSine Status of analog input sine I32 no -
692.23 StatusFeedback_EncoderSineVolts Status of analog input sine (Volt) C4_3 no -
692.2 StatusFeedback_FeedbackCosineDSP Status of cosine in signal processing I32 Yes -
692.22 StatusFeedback_FeedbackCosineDSPvolts Status of cosine in signal processing C4_3 Yes -
692.1 StatusFeedback_FeedbackSineDSP Status of sine in signal processing I32 Yes -
692.21 StatusFeedback_FeedbackSineDSPvolts Status of sine in signal processing C4_3 Yes -
692.5 StatusFeedback_FeedbackVoltage[Vpp] Status of feedback level C4_3 Yes -
692.10 StatusFeedback_RefChannel Status feedback index track I16 no -
689.1 StatusHeda_RxPD Receive string OS no -
689.2 StatusHeda_TxPD Transmit string OS no -
3030.13 StatusMaster_InputSum Free running master position after MP enable C4_3 Yes -
680.8 StatusPosition_ActualY4 Status of actual position in bus format Y4 119 0x2022/0x I32 Yes -
6064
680.14 StatusPosition_FeedbackAbsolute Feedback absolute position in feedback I32 no -
increments
d_YV force/pressure controller (A1)
d_YV2 force/pressure controller (A2)
D (A1)
D2 (A2)
_YF
_YF2
_Ycom (A1)
_Ycom2 (A2)
698.2 StatusPressureForceController_ActuatingSignal_IPart_YI Control signal I-term of force/pressure controller C4_3 no -
(A1)
698.12 StatusPressureForceController_ActuatingSignal_IPart_YI2 Control signal I-term of force/pressure controller C4_3 no -
(A2)
P (A1)
P2 (A2)
681.7 StatusSpeed_ActualFilteredY2 Status of the actual filtered speed speed in the Y2 6 0x2023 Y2 Yes -
format
681.8 StatusSpeed_ActualFilteredY4 Status of the actual filtered peed in the Y4 format 117 0x2024 Y4 Yes -
ely
ely
ely
ely
192-120102N6 C3FT40 2014-10 413

7.3 Objects for the process data channel (T40F)

No. Object name Object PNU PZD CAN No PD Bus Word
format length
634.4 Setpoint for analog output 0 C3.AnalogOutput0_DemandValue 24 PED/PAD 0x2019 R/TPDO I16 1
635.4 Setpoint for analog output 1 C3.AnalogOutput1_DemandValue 103 PED/PAD 0x201A R/TPDO I16 1
121.2 input word of I/O option C3.DigitalInputAddition_Value 175 PED 0x6100.2 TPDO V2 1
2020.1 Position from external signal source C3.ExternalSignal_Position PED 0x2095.1 TPDO C4_3 2
3925.21 Acceleration specification GEARING C3.FBI_Interpolation_AccelInput PED/PAD 0x2099 R/TPDO I32 2
3925.20 Velocity specification GEARING C3.FBI_Interpolation_VelocityInput PED/PAD 0x2098 R/TPDO I32 2
3921.1 Interpolation input CanSync, PowerLink C3.FBI_SignalProcessing0_Input_Y4 PED/PAD 0x2050/0x R/TPDO I32 2
60C1.1
120.3 Status of digital inputs C3.DigitalInput_DebouncedValue 21 PED 0x6100.1 TPDO V2 1
133.3 output word for I/O option C3.DigitalOutputAddition_Value 176 PED/PAD 0x6300.2 R/TPDO V2 1
140.3 Command value of the digital outputs C3.DigitalOutputWord_DemandState 22 PED/PAD 0x6300.1 R/TPDO V2 1
694.4 System pressure main axis C3.StatusPressure_p01 216 PED 0x2501.4 TPDO C4_3 2
694.9 System pressure auxillary axis C3.StatusPressure_p02 220 PED 0x2501.8 TPDO C4_3 2
694.1 A-side pressure main axis C3.StatusPressure_pA1 213 PED 0x2501.1 TPDO C4_3 2
694.6 A-side pressure auxillary axis C3.StatusPressure_pA2 217 PED 0x2501.5 TPDO C4_3 2
694.2 B-side pressure main axis C3.StatusPressure_pB1 214 PED 0x2501.2 TPDO C4_3 2
688.35 Filtered actual value of the M2x current input C3.StatusCurrent_M2xAnalogInput0 PED 0x2504.1 TPDO Y2 1
0
1
2
3
4
5
695.11 Actual value force controller main axis [N] C3.StatusForce_Actual 221 PED 0x2500.2 TPDO I32 2
695.14 Actual value force controller auxillary axis [N] C3.StatusForce_Actual2 222 PED 0x2500.4 TPDO I32 2
695.10 Demand value force controller main axis [N] C3.StatusForce_Demand PED 0x2500.1 TPDO I32 2
695.13 Demand value force controller auxillary axis C3.StatusForce_Demand2 PED 0x2500.3 TPDO I32 2
[N]
680.5 Status actual position C3.StatusPosition_Actual 28 PED 0x2104 TPDO C4_3 2
680.15 Actual position auxillary axis C3.StatusPosition_Actual2 211 PED 0x2106 TPDO C4_3 2
680.34 Status actual position auxillary axis in bus C3.StatusPosition_Actual2_Y4 PED 0x6864 TPDO Y4 2
format Y4
680.4 Status demand position C3.StatusPosition_DemandValue 323 PED 0x60FC TPDO C4_3 2
680.1 Position command value of Profile C3.StatusPosition_DemandValue1 0 PED 0x2052 TPDO Y4 2
transmitter1
680.2 Status demand position virtual master C3.StatusPosition_DemandValue2 202 PED 0x2042 TPDO Y4 2
680.10 Status of encoder input 0 (5V) C3.StatusPosition_EncoderInput5V PED 0x2095.2 TPDO C4_3 2
680.6 Status of tracking error C3.StatusPosition_FollowingError 100 PED 0x60F4 TPDO C4_3 2
680.16 Tracking error auxillary axis C3.StatusPosition_FollowingError2 212 PED 0x68F4 TPDO C4_3 2
694.7 B-side pressure auxillary axis C3.StatusPressure_pB2 218 PED 0x2501.6 TPDO C4_3 2
694.3 Reservoir pressure main axis C3.StatusPressure_pT1 215 PED 0x2501.3 TPDO C4_3 2
694.8 Reservoir pressure auxillary axis C3.StatusPressure_pT2 219 PED 0x2501.7 TPDO C4_3 2
681.5 Status actual speed unfiltered C3.StatusSpeed_Actual PED 0x6069 TPDO C4_3 2
681.14 Status actual speed filtered auxillary axis C3.StatusSpeed_Actual2Filtered 210 PED 0x686C TPDO C4_3 2
681.9 Status actual speed filtered C3.StatusSpeed_ActualFiltered 8 PED 0x606C TPDO C4_3 2
681.7 Status of the actual filtered speed speed in C3.StatusSpeed_ActualFilteredY2 6 PED 0x2023 TPDO Y2 1
the Y2 format
681.8 Status of the actual filtered peed in the Y4 C3.StatusSpeed_ActualFilteredY4 117 PED 0x2024 TPDO Y4 2
format
681.4 Status demand speed of setpoint generator C3.StatusSpeed_DemandValue 324 PED 0x606B TPDO C4_3 2
681.1 Speed setpoint value of profile generator 1 C3.StatusSpeed_DemandValue1 PED 0x2053 TPDO Y4 2
681.2 Status demand speed virtual master C3.StatusSpeed_DemandValue2 203 PED 0x2043 TPDO Y4 2
681.6 Status control deviation of speed C3.StatusSpeed_Error 101 PED 0x2027 TPDO C4_3 2
685.3 Status of analog input 0 C3.StatusVoltage_AnalogInput0 23 PED 0x2025 TPDO Y2 1
685.4 Status of analog input 1 C3.StatusVoltage_AnalogInput1 102 PED 0x2026 TPDO Y2 1
685.6 Filtered actual value of the M2x voltage input C3.StatusVoltage_M2xAnalogInput0 PED 0x2503.1 TPDO Y2 1
0
1
2
3
4
5
1901.1 variable Column 1 Row 1 C3Array.Col01_Row01 130/341.1 PED/PAD 0x2301.1 R/TPDO Y4 2
1901.2 Variable Column 1 Row 2 C3Array.Col01_Row02 131/341.2 PED/PAD 0x2301.2 R/TPDO Y4 2
1903.1 variable Column 3 Row 1 C3Array.Col03_Row01 140/343.1 PED/PAD 0x2303.1 R/TPDO I16 1
1903.2 Variable Column 3 Row 2 C3Array.Col03_Row02 141/343.2 PED/PAD 0x2303.2 R/TPDO I16 1
1904.3 Variable Column 4Row 3 C3Array.Col04_Row03 147/344.3 PED/PAD 0x2304.3 R/TPDO I16 1
414 192-120102N6 C3FT40 2014-10

Parker EME Objects for the process data channel (T40F)

format length
1905.5 Variable Column 5Row 5 C3Array.Col05_Row05 154/345.5 PED/PAD 0x2305.5 R/TPDO I16 1
1910.1 indirect table access Column 1 C3Array.Indirect_Col01 181 PED/PAD 0x2311 R/TPDO Y4 2
1910.2 Indirect table access Column 2 C3Array.Indirect_Col02 182 PED/PAD 0x2312 R/TPDO Y2 1
1910.3 Indirect table access Column 3 C3Array.Indirect_Col03 183 PED/PAD 0x2313 R/TPDO I16 1
1900.1 pointer to table row C3Array.Pointer_Row 180 PED/PAD 0x2300 R/TPDO U16 1
3701.3 output of cam group 0 C3Cam.ControlledSwitches_Output0 205/501.3 PED/PAD 0x2401.3 R/TPDO U16 1
3701.5 output of cam group 1 C3Cam.ControlledSwitches_Output1 206/501.5 PED/PAD 0x2401.5 R/TPDO U16 1
3700.3 output for fast cams C3Cam.ControlledSwitchesFast_Output 204/500.3 PED/PAD 0x2400.3 R/TPDO U16 1
3030.1 Reset master position C3Cam.StatusMaster_Position 207 PED 0x2410 TPDO C4_3 2
3032.24 End of curve C3Cam.StatusOutput_CurvePositionUnits 208 PED 0x2411 TPDO C4_3 2
172.13 Filtered input value of analog input 0 C3Plus.AnalogInput0_ActualValueFiltered_n PED 0x2502.1 TPDO C4_3 2
ormed
ormed
ormed
ormed
ormed
ormed
1100.1 Control command C3Plus.DeviceControl_CommandOnRequest 108 PED/PAD 0x2028 R/TPDO I16 1
1100.3 STW control word C3Plus.DeviceControl_Controlword_1 1 PED/PAD 0x6040 R/TPDO V2 1
1100.4 Control word 2 C3Plus.DeviceControl_Controlword_2 3 PED/PAD 0x201B R/TPDO V2 1
1100.5 Operating mode (Nominal value) C3Plus.DeviceControl_OperationMode 127/930 PED/PAD 0x6060 R/TPDO I16 1
1000.5 operating mode display C3Plus.DeviceState_ActualOperationMode 128 PED/PAD 0x6061 R/TPDO I16 1
1000.3 status word ZSW C3Plus.DeviceState_Statusword_1 2 PED/PAD 0x6041 R/TPDO V2 1
1000.4 Status word 2 C3Plus.DeviceState_Statusword_2 4 PED/PAD 0x201C R/TPDO V2 1
550.1 current error (n) C3Plus.ErrorHistory_LastError 115/947.0 PED 0x603F/0x TPDO U16 1
201D.1
1200.1 Control of virtual Master C3Plus.PG2Control_CommandOnRequest 200 PED/PAD 0x2040 R/TPDO I16 1
1111.3 Acceleration for positioning C3Plus.POSITION_accel 114 PED/PAD 0x6083 R/TPDO U32 2
1111.4 Deceleration for positioning C3Plus.POSITION_decel 178/312 PED/PAD 0x6084 R/TPDO U32 2
1111.1 Target position C3Plus.POSITION_position 27 PED/PAD R/TPDO C4_3 2
(Profibus
only)
1111.11 C3Plus.POSITION_position_Y4 118 PED/PAD R/TPDO Y4 2
1111.2 Speed for positioning C3Plus.POSITION_speed 111 PED/PAD R/TPDO C4_3 2
1111.9 Speed for Positioning in Y2 Format C3Plus.POSITION_speed_Y2 110 PED/PAD R/TPDO Y2 1
680.8 Status of actual position in bus format Y4 C3Plus.StatusPosition_ActualY4 119 PED 0x2022/0x TPDO I32 2
6064
2000.2 Position value of the setpoint encoder of the C3Plus.ProfilGenerators_PG2Position PED 0x2061 TPDO C4_3 2
virtual axis
2000.5 Speed of the virtual axis C3Plus.ProfilGenerators_PG2Speed PED 0x2064 TPDO I32 2
2000.1 Position value of the setpoint encoder C3Plus.ProfilGenerators_SG1Position PED 0x2060 TPDO C4_3 2
2000.4 Speed of the setpoint encoder C3Plus.ProfilGenerators_SG1Speed PED 0x2063 TPDO I32 2
152.1 PIO analog input 0 C3Plus.RemoteAnalogInput_I0 PED/PAD 0x2082.1 R/TPDO I16 1
153.1 PIO analog output 0 C3Plus.RemoteAnalogOutput_O0 PED/PAD 0x2083.1 R/TPDO I16 1
150.1 Digital PIO inputs 0...15 C3Plus.RemoteDigInput_I0_15 PED/PAD 0x2080.1 R/TPDO V2 1
151.1 Digital PIO outputs 0...15 C3Plus.RemoteDigOutput_O0_15 PED/PAD 0x2081.1 R/TPDO V2 1
192-120102N6 C3FT40 2014-10 415


format length
1127.3 Setpoint speed in speed control operating C3Plus.SPEED_speed 7 PED/PAD R/TPDO C4_3 2
mode
680.32 Encoder position 0 (5V) in increments C3Plus.StatusPosition_EncoderIncrements5 PED/PAD 0x2095.3 R/TPDO I32 2
V
A detailed object list can be found in the corresponding online help.
416 192-120102N6 C3FT40 2014-10

Parker EME D/A-Monitor
8. Status values
D/A-Monitor ................................................................................................................... 417
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.
8.1 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.
192-120102N6 C3FT40 2014-10 417

Error C3F_T40
9. Error
All errors lead to error status.
Two error reactions are possible which are assigned to the individual error:
Reaction 2: Downramp with error ramp and then switching the valve outputs with
high impedance (tristate) or, depending on the set error reaction
(see on page 295, see on page 75) remaining in the controlled state.
The method of "downramping" depends on the operating mode
configured:
Position AND force control configured

Downramp with position control
Pure force control configured

Downramp with force control
Reaction Immediate tristating of the valve outputs (without ramp).

5:
With the aid of the "SetErrorReaction (see on page 295)" IEC module, additional
error reactions can be assigned to individual errors.
Most pending errors can be acknowledged with Quit!

The following errors must be acknowledged with "Power on":
0x7381, 0x7382, 0x7391, 0x7392, 0x73A0
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.
418 192-120102N6 C3FT40 2014-10

Parker EME Order code device: Compax3 Fluid
10. Order code

Order code device: Compax3 Fluid ................................................................................ 419
Order code for accessories ............................................................................................ 419
10.1 Order code device: Compax3 Fluid

C3 F 0 0 1 D2 F12
Hydraulics Controller F
Type 0 0 1
Supply voltage 24VDC D2
Feedback Module F12

Interface:
Control via Inputs/Outputs I11
Control via Inputs/Outputs or COM interface I12
Profibus DP V0/V1/V2 (12Mbaud) I20
CANopen I21
DeviceNet I22
Ethernet Powerlink I30
Ethercat I31
Profinet I32
Technology functions:
Positioning (available as I12T11 & I20T11 & I32T11) 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
10.2 Order code for accessories

Order Code connection set for Compax3 Fluid
The corresponding connection sets are furnished with the device /
for C3F00xD2 ZBH 02/04 ZBH 0 2 / 0 4
Order code for feedback cables

/
X11, X13 with connector for Balluff BTL series with SSI- and Start/Stop GBK 4 0 / ... ...
interface
X13 Feedback cable EnDat2.1 GBK 4 1 / ... ...
Encoder – Compax3 GBK 2 3 / ... ...(1
192-120102N6 C3FT40 2014-10 419

Order code C3F_T40
10.2.1. 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
Note on cable (see on page 421)
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
10.2.2. 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
420 192-120102N6 C3FT40 2014-10

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
10.2.3. 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
192-120102N6 C3FT40 2014-10 421

Compax3 Accessories C3F_T40
11. Compax3 Accessories

Connection set for Compax3F ....................................................................................... 422
Cable for path measurement systems............................................................................ 422
Operator control module BDM ....................................................................................... 424
EAM06: terminal block for inputs and outputs ................................................................ 425
Interface cable ............................................................................................................... 427
Options M1x .................................................................................................................. 433
Profibus plug BUS08/01 ................................................................................................ 438
CAN - plug BUS10/01 .................................................................................................... 439
PIO: External Inputs/Outputs ......................................................................................... 440
11.1 Connection set for Compax3F

 Device accessories for Compax3F
 A shield connecting terminal for the large area shield connection of the sensor
and valve cable (X1, X2), as well as
 the mating plug connectors for the Compax3 plug connectors X1, X2, X3, and
 fixing material for the mounting of a supporting rail
11.2 Cable for path measurement systems

Encoder cable ............................................................................................................... 423
Feedback cable (Balluff) ................................................................................................ 423
Feedback cable EnDat2.1.............................................................................................. 424
422 192-120102N6 C3FT40 2014-10

Parker EME Cable for path measurement systems
11.2.1. 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
Schirm auf Schirmanbindungselement
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 419)
11.2.2. Feedback cable (Balluff)

GBK40/..: Connection Compax3 - Start/Stop or SSI feedback
Pin 1
C3F... (X13 oder X11) Balluff-Geber Start/Stop oder SSI
C3F... (X13 or X11) Balluff-Geber Start/Stop or SSI
Lötseite
solder side INIT 7
YE 2x0,25 YE 1 INIT Lötseite / Crimpseite
GN GN
INIT 6 3 INIT PK
PK PK
15 5 START/STOP
8/14 2x0,25 2 START/STOP GY
10 2 YE
14 4 START/STOP 12/13 GY GY 5 4
9 5 START/STOP
13 3 GN 3 8 1
8 BU BU GND
12 2 GND 15 2x0,25 6
7 7 6
11 1 RD RD RD
6 +24V DC 1 7 +24V DC BU
BN 2x0,25 BN
WH WH NC 4,8
1,2,3,4,5 NC
9,10,11
Schirm auf Schirmanbindungselement Schirm auf Schirmanbindungselement
Screen at screen contact Screen at screen contact
25 mm 20 mm
6 mm 3,5 mm
2 mm
You will find the length code in the accessories order code (see on page 419).
192-120102N6 C3FT40 2014-10 423

11.2.3. Feedback cable EnDat2.1

GBK41/..: Connection Compax3 - EnDat2.1 feedback
27mm
C3F... (X13) Encoder
Pin 1
BU 0,5 BU
Sense+ 2 WH WH
1 Up(sens.)
0,5
Sense- 11 4 0V(sens.)
Lötseite BN BN Lötseite / Crimpseite
2x0,14
solder side GN GN
11 1
VT VT 12
CLK 7 2x0,14
YE
8 Clock+ 10 2
YE
15 5 CLK/ 6 9 Clock-
14
10
4 BN/GN BN/GN 16 13
0,5
13
9
3 VCC 4 WH/GN
7 +V 9 3
WH/GN 0,5
12
8
2 GND 15 10 0V
7 BU/BK BU/BK
11 1
6 COS+ 8 12 B+ 8
14 4
RD/BK 0,14 0,14 RD/BK
COS- 12 GN/BK GN/BK
13 B- 15
0,14
SIN+ 3 15 A+ 17
5
YE/BK 0,14 YE/BK 7
SIN- 9 16 A- 6
GY GY
DATA 14 2x0,14
PK
14 Data+
PK
1,5,10 NC DATA/ 13 17 Data-
NC 2,3,5,6,11
SW SW
BU BU
Schirm auf Schirmanbindungselement Schirm auf Schirmanbindungselement

Screen at screen contact Screen at screen contact
25 mm 25 mm
6 mm 5 mm
2 mm
11.3 Operator control module BDM

Order Code operating module
/
Operating module (for Compax3S and Compax3F) BDM 0 1 / 0 1
Flexible service and maintenance
424 192-120102N6 C3FT40 2014-10

Parker EME EAM06: terminal block for inputs and outputs
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 (no valve characteristics) 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).
11.4 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/..
EAM6/01: Terminal block without luminous indicator for X11, X12 or X22
Figure similar
Width: 67.5mm
192-120102N6 C3FT40 2014-10 425

EAM6/02: Terminal block with luminous indicator for X12, X22
Figure similar
Width: 67.5mm
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
426 192-120102N6 C3FT40 2014-10

Parker EME EAM06: terminal block for inputs and outputs
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
192-120102N6 C3FT40 2014-10 427

11.5 Interface cable

RS232 - cable / SSK1 .................................................................................................... 428
RS485 cable to Pop / SSK27 ......................................................................................... 429
I/O-interface X12 / X22 / SSK22 .................................................................................... 430
Ref X11 / SSK21 ........................................................................................................... 430
Encoder coupling of 2 Compax3 axes / SSK29 .............................................................. 431
Modem cable SSK31 ..................................................................................................... 432
Adapter cable SSK32/20 ............................................................................................... 432
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
11.5.1. 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
428 192-120102N6 C3FT40 2014-10

Parker EME Interface cable
11.5.2. 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
192-120102N6 C3FT40 2014-10 429

11.5.3. 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
11.5.4. 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
430 192-120102N6 C3FT40 2014-10

Parker EME Interface cable
11.5.5. 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
GN GN
6 2
4 BU BU 7
2x0,14
WH/BU WH/BU 8
5
7 WH/BN WH/BN 4
2x0,14
8 BN BN 5
Pin 8 Schirm großflächig auf Gehäuse legen

Pin 7 Place sheath over large area of housing
Pin 6
Pin 5
Pin 4
Pin 3
Pin 2
Pin 1
192-120102N6 C3FT40 2014-10 431

11.5.6. 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 5
GN GN
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 419)
11.5.7. Adapter cable SSK32/20
432 192-120102N6 C3FT40 2014-10

Parker EME Options M1x
11.6 Options M1x

Input/output option M12 ................................................................................................. 433
HEDA (motion bus) - Option M11 .................................................................................. 434
Option M10 = HEDA (M11) & I/Os (M12) ..................................................................... 435
Analog current inputs and voltage inputs (Option M21) .................................................. 436
11.6.1. Input/output option M12

An optional input/output extension is available for Compax3. This option is named
M12 and offers 12 digital 24V inputs/outputs (Ports) on X22.
The use of the option as inputs or outputs is programmable in groups of 4 (via the
object 133.4).
The outputs are written via the object 133.3 "Output word for the I/O option"; this
applies only for the ports defined as output.
The inputs are read via the object 121.2 " Input word for the I/O option"; all ports
are being read, also the outputs.
11.6.1.1 Assignment of the X22 connector
Pin Input/output I/O /X22 Access via IEC

X22/ High density/Sub D module:
1 n.c. factory use
2 O0/I0 Output 0 / Input 0 - adjustable C3_IOAddition_0 (see
3 O1/I1 Output 1 / Input 1 - adjustable on page 297)
4 O2/I2 Output 2 / Input 2 - adjustable
7 O5/I5 Output 5 / Input 5 - adjustable on page 297)
11 I 24 VDC power supply on page 298)
(not 24VDC)
15 I GND24V
The assignment can be adjusted.
All inputs and outputs have 24V level.
Maximum load on an output: 100mA
Maximum capacitive load: 50nF (max. 4 Compax3 inputs)
Caution! The 24VDC power supply (X22/11) must be supplied from an

external source and must be protected by a 1.2A delayed fuse!
192-120102N6 C3FT40 2014-10 433

Connections of digital inputs and outputs M10 & M12

Input wiring of digital inputs Output wiring of digital outputs
SPS/PLC Compax3 Compax3
24VDC 24VDC SPS/
X22/11 X22/11 24VDC PLC
100KΩ
22KΩ
X22/6
X12/2
22KΩ
10nF 22KΩ 10KΩ
22KΩ
F1 F1
X22/15
X22/15
The outputs are short circuit proof; a short circuit generates an error.
F1: Quick action electronic fuse; can be reset by switching the 24VDC supply off
and on again.
11.6.2. HEDA (motion bus) - Option M11

RJ45 (X20) RJ45 (X21)
Pin HEDA in HEDA out
1 Rx Tx
2 Rx/ Tx/
3 Lx Lx
4 - factory use
5 - factory use
6 Lx/ Lx/
7 - factory use
8 - factory use
Function of the HEDA LEDs

Green LED (left)
HEDA module energized
Red LED (right)
Error in the receive area
Possible causes:
 at the Master
 no slave sending back
 Wrong cabling
 several masters are sending in the same slot
 at the slave
 several masters in the system
 no master active
 no transmission from one or several receive slots (neither by the master nor by
another slave)
434 192-120102N6 C3FT40 2014-10

HEDA-wiring:
HEDA-Master
SSK28/..
SSK28/..
BUS07/01 SSK28/.. BUS07/01
Layout of SSK28 (see on page 420, see on page 431)
Design of the HEDA bus terminator BUS 07/01:
Pin 8
Pin 7
Pin 6
Pin 5
Pin 4
Pin 3
Pin 2
Pin 1
Jumpers: 1-7, 2-8, 3-4, 5-6
11.6.3. Option M10 = HEDA (M11) & I/Os (M12)

The M10 option includes the M12 input/output option and the HEDA M11 option.
192-120102N6 C3FT40 2014-10 435

11.6.4. Analog current inputs and voltage inputs (Option M21)

With the Option M21 three analog current voltage & voltage inputs (0...20 mA) and
(-10...+10 V) are available
Connector assignment Option M21 X20 ........................................................................ 436
Connector assignment Option M21 X21 ........................................................................ 437
Layout of the analog inputs of Option M21 ..................................................................... 437
11.6.4.1 Connector assignment Option M21 X20
X20: Current inputs (0 ... 20 mA)

Pin Name Function Internal input
channel
1 +24Vout Sensor supply 0 (output) 1)
2 in0+ Current input 0 + (0 ... 20 mA)
AI0
3 GND Sensor supply 0 (output) 1)
4 in0- Current input 0 - (0 ... 20 mA)
5 +24Vout Sensor supply 1 (output) 24 VDC out 1)
6 iin1+ Current input 1 + (0 ... 20 mA)
AI1
10 in2+ Current input 2 + (0 ... 20 mA)
AI2
13 +24Vin Sensor supply input 24 VDC in Supply for pin
14 GND in Sensor supply input 1/3, 5/7 and
9/11.2)
15 Shield Shield connection
16 Shield Shield connection
Input resistor 250 Ω
1)
For sensor supply - optional; the differential inputs may also be used. Supply
takes also place via X20 pin 13 and 14.
2)
Only required if these voltage outputs are used for the sensor supply
Wiring of the analog current inputs

Input IN0
Compax3
200KΩ
10pF
X1/4 200KΩ
In0-
250Ω 200KΩ
In0+
X1/3
200KΩ
IN0 to IN3 do have the same wiring!

Pin assignment (see on page 21) X1
436 192-120102N6 C3FT40 2014-10

11.6.4.2 Connector assignment Option M21 X21
X21: Voltage inputs (-10 V... +10 V)

Pin Name Function Internal input channel
2 in3 + Voltage input 3 + (-10 V... +10 V)

AI0
4 in3 - Voltage input 3 - (-10... +10 V)
5 24 VDC out Sensor supply 4 (output) 1)
AI1
9 24 VDC out Sensor supply 5 (output) 1)
AI2
Input resistor 554 kΩ
1)
For sensor supply - optional; the differential inputs may also be used. Supply
takes also place via X20 pin 13 and 14.
Wiring of the analog voltage inputs

Input IN4
Compax3
47KΩ
1nF
X21/2 200KΩ
In3+
200KΩ
In3-
X21/2
47KΩ
IN4 (X21/6 und X21/8) und IN5 (X21/10 und

X21/12) do have the same wiring!
11.6.4.3 Layout of the analog inputs of Option M21
685.35
Option M21
l/min,bar
X2x/2 +
X2x/4 - +
V,A
IN(x-1) 19x.2 19x.3

19x.1 config
The assignment depends on the input channel
+ - Offset Amplificatio Filter Measuring
n value in
units
IN0 X20.2 X20.4 191.2 191.1 191.3 688.35
IN1 X20.6 X20.8 192.2 192.1 192.3 688.36
IN2 X20.10 X20.12 193.2 193.1 193.3 688.37
IN3 X21.2 X21.4 194.2 194.1 194.3 685.9
IN4 X21.6 X21.8 195.2 195.1 195.3 685.10
IN5 X21.10 X21.10 196.2 196.1 196.3 685.11
192-120102N6 C3FT40 2014-10 437

11.7 Profibus plug BUS08/01

We offer a Profibus plug and special cable as sold be the meter for Profibus wiring:
 Profibus cable: SSL02/.. not prefabricated (color according to DESINA).
 Profibus plug: BUS8/01 with 2 cable inputs (for one incoming A1, B1 and one
continuing Profibus cable- A2, B2 -) and screw terminals as well as a switch for
activating the terminal resistor.
The terminal resistor must be activated on the first and on the last node (= switch
setting ON).
ON
OFF
438 192-120102N6 C3FT40 2014-10

Parker EME CAN - plug BUS10/01
11.8 CAN - plug BUS10/01

We offer a CAN plug and special cable in any length to order for the CAN-bus
wiring:
 CAN cable: SSL02/.. not prefabricated (color according to DESINA).
 CAN plug: BUS10/01 with 2 cable inputs and screw terminals as well as a switch
for activating the terminal resistor.
The terminal resistor must be activated on the first and on the last station
(=switch setting ON).
Note for integrated C3 powerPLmC (Compax3 interface designation "C1x")

 The CAN bus of the C3 powerPLmC does already contain a terminal resistor.
 Therefore it applies for the C3 powerPLmC:
Put switch to OFF
wire C3 powerPLmC always at the end of the CAN bus!
CAN wiring
Kabel abisolieren max.
10mm 7mm 5mm
Cable stripping
X2
S c ha ltb ild
Federleiste
Circ uit D iagra m
D-Sub female
1
X1
2
Printklemme
Print terminal
CAN-GND 1 3
CAN-L 2 4
CAN-H 3 5
120 Ohm
R1
OFF 0,25W
CAN-L 4 ON
6
OFF ON
S1
CAN-H 5 7
CAN-GND 6 8
Kabelschirm Gehäuseschirm
Shielding on cable Shielding on housing
192-120102N6 C3FT40 2014-10 439

11.9 PIO: External Inputs/Outputs

Additional external digital and analog inputs and outputs can be integrated via
CANopen.
For this purpose we offer the Parker I/O system (PIO).
PIO offers the convenience of exceptionally simple installation. The individual
modules can be installed and removed without any tools.
Available modules:
11.9.1. Order Code input/output terminals (PIO)

Order Code decentralized input terminals

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
Order Code decentralized output terminals
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
For additional information please refer to our catalog
http://apps.parker.com/divapps/eme/EME/Literature_List/dokumentationen/PI
O_Prospekt%20dt.pdf.
440 192-120102N6 C3FT40 2014-10

Parker EME PIO: External Inputs/Outputs
12. Technical Data
Technical data
Motion control with motion profiles, suitable for position and force/pressure control
for up to 2 axes.
Setpoint generator
 Jerk-limited ramps.
 Travel data in increments, mm, inch.
 Specification of speed, acceleration, delay and jerk factor.
 Force/pressure data in N, bar, psi.
Monitoring functions
 Voltage range.
 Following error monitoring.
 Hard and Software limit switch
Technology functions of servo controllers

 IEC61131-3 programs in the servo controller (T30)
 Cam function in the servo controller (T40)
Voltage supply 24VDC

Voltage range 21 - 27VDC
Mains module with switch-on current limitation, due to
capacitive load
Fuse MTP miniature circuit breaker or "delayed action
fuse", due to capacitive load
Current drain of the device 0.8A (max. 1.5A)
Total current drain 0.8A + total load of the digital outputs
Ripple <1Vss
Requirement according to safe extra yes
low voltage (SELV)
Size / weight
Dimensions: HxWxD [mm] 199x80x130
Weight [kg] 2.0
Housing / protection class Enclosed metal housing, insulation according to
EN60529 / IP 20
Inputs And Outputs

8 control inputs 24 VDC / 10 kOhm
4 control outputs Active HIGH / short-circuit proof / 24 V / 100 mA
4 analog current inputs 14 Bit
2 analog voltage inputs 14 Bit
4 analog outputs 16 Bits, current or voltage
2 analog monitor outputs 8 Bit
192-120102N6 C3FT40 2014-10 441

Technical Data C3F_T40
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
Supported valves and feedback systems

Valves  D1*FH series
Absolute encoder  Analog 0..20mA, 4..20mA, ±10V

 Start/Stop - interface
 SSI interface
 EnDat 2.1-interface
 1VSS (max. 400kHz) Interface, 13.5bits /
graduation of the scale
 RS422 Encoder (max. 5MHz, (track A or
B) internal resolution quadrature
EMC limit values

EMC interference emission Limit values according to EN 61000-6-4: 2001
for the industrial environment
EMC disturbance immunity Limit values according to EN 61000-6-2: 2001
for the industrial environment
Environmental requirements Compax3F

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
Insulation requirements
Degree of contamination Level of contamination 2 according to EN 50 178
442 192-120102N6 C3FT40 2014-10

UL certification
Conform to UL: USL according to UL508 (Listed)

CNL according to C22.2 No. 142-M1987.

(Listed)
Certified  E-File_No.: E198563
The UL certification is documented by a “UL” logo on the

device (type specification plate).
“UL” logo:
IEC6113-3 functions
General  Programming based on IEC61131-3
 Up to 6000 instructions
 650 16 bit variables
 200 32 bit variables
 Recipe table with 288 variables
 3x16-bit retain-variable
 3x32-bit retain-variable
PLCOpen function modules  Positioning: absolute, relative, additive,
continuous
 Electronic Gearbox (Gearing)
 Machine Zero
 Stop, activating the drive, quit
 Position, device status, reading axis error
IEC61131-3 standard modules  Up to 8 timers (TON, TOF, TP)
 Triggers (R_TRIG, F_TRIG)
 Flip-flops (RS, SR)
 Counters (CTU, CTD, CTUD)
Device-specific function modules  generates an input process image
 Generates an output process image
 Access to recipe table
Inputs/Outputs  8 digital inputs (24V level)
 4 digital outputs (24-V level)
 Optional addition of 12 inputs/outputs
192-120102N6 C3FT40 2014-10 443

T40 Functions: Cam

General  Cam control function
 Programming based on IEC61131-3
 Position of selected master signal source
via:
 Encoder, Step / direction
or +/-10V analog
 HEDA
 Virtual Master
Cam memory  10 000 interpolation points
(master/slave in 24 bit format)
saved failure save.
 Distance of interpolation points can be
adapted to curve (non equidistant
interpolation points)
 Linear interpolation between points
Linking curve segments  Up to 20 cam segments can be
produced.
 Virtually random cam links (forwards)
 Freely programmable, event-triggered
curve branching.
 Scalable cam segments and complete
cam profiles
Coupling and decoupling functions  With the aid of a quadratic function.
 By means of a change-over function
 Without overspeeding by coupling over
several master cycles.
 Virtually free set-up of the coupling and
decoupling movement
 Master-guided coupling movement.
 Random standstill position
Reg synchronization  Master or slave oriented (simultaneous,
cam-independent).
 Highly precise mark recognition
(accuracy < 1 µs)
Cam generation with renowned Nolte  Standard or extended range of functions
tool.  Evaluation of the motion profiles.
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
444 192-120102N6 C3FT40 2014-10

Profibus ratings (I20)

Profile  PROFIdrive Profile drive system V3
DP Versions  DPV0/DPV1
Baud rate  up to 12 MHz
Profibus ID  C320
Device master file  PAR_C320.GSD
(can be found on the Compax3 - DVD)
Communication  Simatic S7-300/400 - modules for
Simatic <-> Compax3 Compax3 I20 and a corresponding help
file can be found on the Compax3 CD in
the folder: ..\Profibus\S7-moduls\
Profinet Characteristics (I32)

Profile  PROFIdrive profile drive technology V4.1
Profinet Version  Profinet IO (RT)
Transmission mode  100BASE-TX (Full Duplex)
Profinet ID  C332
Device master file  GSDML-V2.1-Parker-Compax3-yyyymmd
d.xml
(can be found on the Compax3 DVD)
Communication  Simatic S7-300/400 - modules for
Simatic <-> Compax3 Compax3 I32 and a corresponding help
file can be found on the Compax3 CD in
the folder..\Profibus\S7-moduls\
(the same modules as with Profibus)
CANopen characteristics (I21)

Baud rate [kBit/s]  20, 50, 100, 125, 250, 500, 800, 1000
EDS file  C3.EDS
Service data object  SDO1
Process data objects  PDO1, ... PDO4
DeviceNet characteristics (I22)

DeviceNet  Predefined Master/Slave Connection Set
 Standard 2.0 Group-2-Slave
 Fieldbus I/O Data or Process Data
(Polled, COS/Cyclic I/O and Bit Strobe)
Implemented object classes  Identify, Message Router, DeviceNet,
Assembly, Connection, Acknowledge
Handler
Baud rate [kBit/s]  125, 250, 500
permissible cable length  up to 500m on 125Bit/s,
Max. Number of participants  63 Slave
Insulation  Isolated Device Physical Layer
EDS file  C3_DeviceNet.EDS
Conformance (file in the Internet)  Statement of Conformance
http://www.compax3.de/C3_DeviceNet
_Statement_of_Conformance.pdf
Further information:  Application example
(C3I22_DeviceNet.ZIP) on the Compax3
CD in the "\Examples" directory"
192-120102N6 C3FT40 2014-10 445

Ethernet Powerlink (I30) / EtherCAT characteristics (I31)

Baud rate  100MBits (FastEthernet)
Bus file 
Ethernet Powerlink:  C3_EPL_cn.EDS
EtherCAT:  C3_EtherCAT_xx.XML
Service data object  SDO
Mapping objects  16 Words (16x16Bit)
Cycle time  >=1ms
Synchronicity accuracy  maximum jitter: +/-25µs
446 192-120102N6 C3FT40 2014-10

13. Index
Behavior of the switch-on/switch-off
+ anticipation • 287
+/-10V Master speed • 77 Binary record • 333
Bit sequence V2 • 350
1 Braking position (MB) • 208
Busformat Y2 und Y4 • 349
10 Steps for cam generation • 261
Byte string OS • 350
A C
Absolute master reference with 180° offset •
C3 • 297, 298
225
C3 - Objects • 403
Absolute master reference without offset • 224
C3 Master PIO • 352
Absolute positioning (MC_MoveAbsolute) •
C3 settings for RS485 four wire operation •
169
331
Absolute slave reference • 227
C3 settings for RS485 two wire operation • 330
Acceleration feedback • 135
C3_CamIn • 248
Acceleration feedforward (advanced) • 136
C3_CamOut • 256
Access to the Compax3 object directory • 148
C3_CamTableSelect • 233
Acknowledging errors (MC_Reset) • 293
C3_CANopen_AddNode • 355
Activation of pressure / force control • 136
C3_CANopen_ConfigNode • 356
Activation of the drive (MC_Power) • 155
C3_CANopen_GuardingState • 354
Acyclic parameter channel • 343, 365
C3_CANopen_NMT • 357
Adapt control parameters • 137
C3_CANopen_SDO_Read4 • 358
Adapter cable SSK32/20 • 432
C3_CANopen_SDO_Write4 • 359
Additive positioning (MC_MoveAdditive) • 177
C3_CANopen_State • 353
Adjust force / pressure
C3_Input • 296
(C3_PressureForceAbsolute) • 200
C3_IOAddition_0 • 297
Adjusting the bus address • 32
Adjusting the bus address (Profibus I20) • 28,
30
C3_Jog • 181
Adjusting the bus address (Profinet I32) • 29
C3_MasterConfig • 239
Adjusting the machine zero proximity switch •
C3_MasterControl • 229
65
C3_MoveSuperImposed • 189
Alignment of the slave axis • 245
C3_Output • 296
Allgemeine Gefahren • 13
C3_OutputSelect • 285
Analog / Encoder (plug X11) • 25
C3_Phasing • 241
Analog current inputs and voltage inputs
C3_ReadArray • 162
(Option M21) • 436
C3_SetControlMode • 160
Analog Input • 113
C3_SetErrorReaction • 295
Analog Input (plug X1) • 21
C3_SetMaster • 228
Analog Inputs/Outputs • 417
C3_ShiftPosition • 195
Analog Output (plug X2) • 22
C3_StopSuperImposed • 199
Application note
C3_TouchProbe • 300
Drift • 280
C3Array - Objects • 405
ASCII - record • 332
C3Cam - Objects • 406
Assignment of the process data channel • 341
C3HydraulicsManager • 40
Assignment of the X22 connector • 433
C3Plus - Objects • 407
Ausgewählte Kurve mit Koppelbewegung
Cable for path measurement systems • 422
starten (C3_CamIn) • 248
Calling up the HEDA wizard in the C3
B ServoManager • 375
Calling up the input simulation • 138
Back stop • 208 Cam applications • 263
Basic procedure • 209 Cam Control • 204
Basics • 206 Cam function structure • 217
Baud rate • 352 Cam functions of the Compax3 ServoManager
Begriffsdefinitionen • 375 / motion laws • 214
Behavior depending on the travel direction • Cam operation with STOP or Error • 232, 236
287 Cam parameters / terms • 207
192-120102N6 C3FT40 2014-10 447

Index C3F_T40
Cam reference systems • 222 Configuring drive1 • 43

Cam switching mechanism • 282 Configuring drive2 • 45
Cam switching mechanism function overview • Configuring Ethernet Powerlink / EtherCAT •
282 370
Cam types • 206 Configuring the device • 90
CAN - plug BUS10/01 • 439 Configuring the signal source • 77
CAN communication objects overview sorted Connection of the digital Outputs/Inputs • 26
according to CAN No. • 362 Connection set for Compax3F • 422
CANopen • 351 Connections of digital inputs and outputs M10
CANopen - Configuration • 351 & M12 • 434
CANopen communication profile • 360 Connections of the encoder interface • 25, 27
CANopen connector X23 Interface I21 • 30 Connector assignment Option M21 X20 • 436
CANopen Operating Mode • 351 Connector assignment Option M21 X21 • 437
CANopen states • 353 Control and status word • 342
Change assignment direction reversal / limit Control functions • 155
switches • 69 Control of the cam generator
Change initiator logic • 69 (C3_CamTableSelect)) • 233
Change-over (CouplingMode = 2) • 253 Controller optimization • 94
Check connection assignment of the pressure Controller structure auxiliary axis • 98
sensors • 133 Controller structure of main axis • 97
Check input offset or zero of the pressure Controller Tuning • 89
sensors • 133 Coupling and decoupling • 205
Check sense of direction • 132 Coupling objects • 391
Checking the feedback direction and the valve Coupling position (ME) • 208
output polarity • 90 Cycle time • 148
Checking the open loop gain • 93 Cyclic data channel for C3T30 and C3T40 •
CiA405_SDO_Error (Abort Code) 309
UDINT • 365 Cyclic process data channel • 342
Close control loop • 134 Cylinder / motor selection • 44
Closed curve • 207
CN Controlled Node (Slave) • 370 D
CoDeSys / Compax3 target system (Target D/A-Monitor • 417
Package) • 143 Data formats of the bus objects • 348, 366, 369
CoDeSys-Project for the configuration of the Data transfer from Slave to Slave. • 386
cams • 291 Data transfer Master - Slave and back • 376
COM port protocol • 332 Data types supported • 147
Communication • 323 Debouncing
Communication objects • 361 Limit switch, machine zero and input 0 • 69
Compax3 - Objekte • 392 Decoupling position (MA) • 208
Compax3 communication variants • 323 Decoupling with change-over function
Compax3 ServoManager (DecouplingMode = 2) • 260
IEC61131-3 programming • 143 Defining the reference system • 50
Compax3F device description • 18 Description of jerk • 173
Compax3F Strukturbild • 41 Description of the cam wizard • 214
Compensation of non-linearities of the distance Determine valve/range parameters
• 91 (C3_GetSystemFingerPrint) • 164
Compilation, debugging and down/upload of Device assignment Compax3 Fluid • 11
IEC61131 programs • 149 DeviceNet • 367
Conditioning Chain Symbols • 126 DeviceNet Configuration • 367
Conditions of utilization for CE-conform DeviceNet connector X23 • 32
operation • 14 DeviceNet object classes • 368
Configuration • 38 Digital inputs/outputs • 26
Configuration name / comments • 76 Digital inputs/outputs (plug X12) • 26
Configuration of local modem 1 • 338 Direct coupling (CouplingMode = 0) • 252
Configuration of remote modem 2 • 339 Direct decoupling (DecouplingMode = 0) • 258
Configuration of the HEDA communication • Direction dependent gain • 133
375 Drive configuration • 42
Configuration of the process-data channel • Dynamic positioning • 188
341 Dynamic switching
Configure reset distance of the position of the Position- on force/pressure - adjustment • 201
selected master source (C3_MasterConfig) •
239 E
448 192-120102N6 C3FT40 2014-10

EAM06 Example case of damage • 278

terminal block for inputs and outputs • 425 Example in CFC
Electronic gearbox (MC_GearIn) • 185 Cycle mode • 316
Encoder A/B 5V, step/direction or SSI Positioning 1 • 314
feedback as signal source • 78 Positioning 2 • 315
Encoder cable • 423 Positioning with set selection • 315
Encoder coupling of 2 Compax3 axes / SSK29 Using Compax3-specific function modules and
• 431 Compax3 objects • 313
Encodernachbildung • 74 Example in ST
Endless positioning (MC_MoveVelocity) • 179 Cycle mode with a Move module • 317
Error handling • 293 Example of cam function • 283
Error Reaction on Bus Failure • 367, 370, 372, Examples of a cam cycle • 283
375 Exiting the active curve with coupling
Error response • 75 movement (C3_CamOut) • 256
Establishing PDO connection between 2
CANopen nodes F
(C3_CANopen_ConfigNode) • 356 Feedback (connector X13) • 27
EtherCAT (Option I31) Bus-Adresse einstellen Feedback cable (Balluff) • 423
• 34 Feedback cable EnDat2.1 • 424
Ethernet Powerlink (Option I30) / EtherCAT Feedforward auxiliary axis (status controller) •
(option I31) X23, X24 • 33 100
Ethernet Powerlink / EtherCAT • 370 Feedforward main axis (status controller) • 99
ETHERNET-RS485 NetCOM 113 adapter • Feedforwards (advanced) • 136
328 Fehler • 418
Example Fehlerreaktion bei Busausfall • 342, 352
C3 powerPLmC Program & Compax3 Program Fieldbus master • 79
• 311 Filter • 134
Changing the stiffness • 345 Filter alignment • 93
Communication Master - Slave and back • 383 Filter auxiliary axis • 108
Compax3 as CANopen Master with PIOs • 305 Filter external signal source • 109
Electronic gearbox with position detection via Filter main axis • 107
encoder • 78 Filter setpoints • 111
Setting the Oscilloscope • 87 Fixed point format C4_3 • 349
switching behavior at negative speed Fixed point format E2_6 • 348
(speed<0) • 288 Following error limit • 73
switching behavior at positive speed (speed>0) Force feedforward • 137
• 288 Force sensor drive 1 • 47
Working with fast cams • 291 Force window - force achieved • 70
Example 1 Force-/Pressure Control auxiliary axis • 121
Communication Master - Slave and Slave - Force-/Pressure Control main axis • 117
Slave. • 387 Function description • 40
Single start of a closed cam • 263 Function modules of the cam • 217
Example 2 Function of the Bus LEDs • 31, 33
4-axis application with HEDA • 390 Function of the Bus LEDs (Profibus I20) • 28
Change between single start of an open cam Function of the Bus LEDs (Profinet I32) • 29
and POSA • 265 Function principle • 205
Example 3 Function range supported • 144
Single Start for run through curve 5 times • 267
Example 4 G
Composing curves • 269
General • 130
Example 5
General rules / timing • 149
Cyclic operation with event-triggered change of
Generating cams • 209
curve • 271
GSD - File • 445
Example 6
Operation with curve segments and standstill H
area • 273
Example 7 Hardware end limits • 68
Curve operation with slave reg synchronization HEDA (motion bus) - Option M11 • 434
• 274 HEDA Bus • 371
Example 8 HEDA expansion (HEDA advanced) • 374
Curve operation with master reg HEDA Master signal source • 79
synchronization • 276 HEDA Standard • 372
HEDA-Master • 373
192-120102N6 C3FT40 2014-10 449

Index C3F_T40
HEDA-Slave • 373 Master transmission slots (Transmit Slots) •

Homing modes with home switch (on X12/14) • 379
55 Master Transmit Mapping Table (max. 4) • 380
Hydraulic corner power limitation • 71 Maximum control deviation of force controller •
HydraulicsManager • 40 71
Hysteresis • 290 Maximum force • 71
Maximum permissible speed • 73
I Maximum program size • 148
I/O-interface X12 / X22 / SSK22 • 430 MC_CamIn • 246
Identity Object (0x1018) • 364 MC_Home • 183
IEC examples • 313 MC_MoveAbsolute • 169
Important notes • 166 MC_MoveAdditive • 177
Initializing the PIOs (PIO_Init) • 303 MC_MoveRelative • 174
Input simulation • 138 MC_MoveVelocity • 179
Input/output option M12 • 433 MC_ReadActualPosition • 161
Insert new CANopen node MC_ReadAxisError • 294
(C3_CANopen_AddNode) • 355 MC_ReadStatus • 163
Integer formats • 348 MC_Reset • 293
Integration of Parker I/Os (PIOs) • 303 MC_Stop • 157
Integrator KI • 135 Example 1 • 158
Interface cable • 428 Example 2 • 159
Interface cable order code • 420 MC_Stop at pressure/force control • 158
Interface module • 308 Meaning of the Bus LEDs (EtherCAT) • 35
Interface to C3 powerPLmC • 308 Meaning of the Bus LEDs (Ethernet Powerlink)
Internal virtual master • 79 • 34
Introduction • 11 Meaning of the front panel LEDs (via X10) • 18
Electronic cam control • 204 Memorizing the signals with the trigger event
Introduction to the CamDesigner (example) • (C3_TouchProbe) • 300
210 MN-M 1,2
Limit switch as machine zero • 64
J MN-M 11...14
With direction reversal switches on the
Jerk value • 173
negative side • 60
K MN-M 128/129
Following error threshold while moving to block
Konformität • 367 • 61
L MN-M 130, 131
Acquire absolute position via distance coding •
Languages supported • 144 63
Layout of the analog inputs of Option M21 • MN-M 132, 133
437 Determine absolute position via distance
Level • 26 coding with direction reversal switches • 65
Library constants • 151 MN-M 17,18
Limit and monitoring settings of force • 70 Limit switch as machine zero • 62
Limit valve set value • 132 MN-M 19,20
Load configuration drive1 • 44 MN-Initiator = 1 on the positive side • 55
MN-M 21,22
M MN Initiator = 1 on the negative side • 56
Machine Zero • 51 MN-M 23...26
Machine zero (MC_Home) • 183 Direction reversal switches on the positive side
Machine zero modes overview • 53 • 57
Machine zero modes without home switch • 61 MN-M 27...30
Machine zero only from motor reference • 63 Direction reversal switches on the negative
Machine zero speed and acceleration • 52 side • 57
Manual operation (C3_Jog) • 181 MN-M 3,4
Master clock distance (MT) • 208 MN-Initiator = 1 on the positive side • 58
master oriented reg synchronization • 276 MN-M 33,34
Master Receive Mapping Table (max. 4) • 381 MN at motor zero point • 63
Master receive slots • 380 MN-M 35
Master signal phase shift (C3_Phasing) • 241 MN (machine zero) at the current position • 61
Master signal source • 227 MN-M 5,6
MN-Initiator = 1 auf der negativen Seite • 59
450 192-120102N6 C3FT40 2014-10

MN-M 7...10 Filter 2 - Actual velocity • 107

Direction reversal switches on the positive side Object 2100.11
• 60 Filter 2 - Actual acceleration • 107
Mode 1 Object 2100.13
Time and maximum values are deduced from Velocity feedback • 103
Compax3 input values • 141 Object 2100.14
Mode 2 Acceleration feedback • 103
Compax3 input values are deduced from times Object 2101.13
and maximum values • 141 Velocity feedback • 106
Modem cable SSK31 • 432 Object 2101.14
Modem MB-Connectline MDH 500 / MDH 504 Acceleration feedback • 106
• 329 Object 2101.7
Monitor information • 82 Filter 2 actual speed • 108
Motion control • 142 Object 2101.8
Motion objects in Compax3 • 140 Filter 2 actual accel • 108
Motion set • 140 Object 2107.1
Mounting and dimensions • 37 Tracking filter physical source • 109
Move drive controlled • 132 Object 2109.1
Tracking filter HEDA • 110
N Object 2110.1
Note Tracking filter • 111
No switching operation with overlapping cams Object 2110.6
• 290 Filter velocity • 111
Object 2110.7
O Filter acceleration • 112
Object 2200.24
Object 172.11
Filter - Tracking Error • 101
IN0 Offset • 113
Object 2200.30
Object 172.3
Inner window I term • 102
IN0 Filter • 113
Object 2200.31
Object 173.11
Outer window I term • 102
IN1 Offset • 113
Object 2200.32
Object 173.3
Positive limit I term • 102
IN1 Filter • 114
Object 2200.33
Object 174.11
Negative limit I term • 102
IN2 Offset • 114
Object 2200.37
Object 174.3
I term • 101
IN2 Filter • 114
Object 2200.38
Object 175.11
P term • 101
IN3 Offset • 114
Object 2210.8
Object 175.3
Filter control signal • 103
IN3 Filter • 115
Object 2250.13
Object 176.11
P term • 117
IN4 Offset • 115
Object 2250.14
Object 176.3
I term • 118
IN4 Filter • 115
Object 2250.15
Object 177.11
Inner window I term • 118
IN5 Offset • 115
Object 2250.16
Object 177.3
Outer window I term • 118
IN5 Filter • 116
Object 2250.17
Object 2010.23
Positive limit I term • 118
Speed • 99
Object 2250.18
Object 2010.24
Negative limit I term • 119
Accel • 99
Object 2250.19
Object 2011.4
D term • 119
Filter - Ext. velocity feed-forward • 109
Object 2250.20
Object 2011.5
Velocity feedback • 119
Filter - Ext. accel. feed-forward • 110
Object 2250.22
Object 2050.10
Filter control signal • 119
Accel • 100
Object 2250.23
Object 2050.9
Force Feed-forward • 120
Speed • 100
Object 2250.24
Object 2100.10
192-120102N6 C3FT40 2014-10 451

Index C3F_T40
Actuating signal inversion [on/off] • 120 Gain factor negative (Force-/Pressure Control)
Object 2250.8 • 128
Delay T1 • 120 Object 2402.1
Object 2251.13 Pressure Compensation [on/off] • 128
P term • 121 Object 2403.1
Object 2251.14 Characteristic flow [on/off] • 128
I term • 122 Object 2405.1
Object 2251.15 Deadband [on/off] • 129
Inner window I term • 122 Object 2405.2
Object 2251.16 Deadband A-Side • 129
Outer window I term • 122 Object 2405.3
Object 2251.17 Deadband B-Side • 129
Positive limit I term • 122 Object 2405.4
Object 2251.18 Deadband Threshold • 129
Negative limit I term • 123 Object overview sorted by object groups (T40)
Object 2251.19 • 403
D term • 123 Object overview sorted by object name (T40) •
Object 2251.20 392
Velocity feedback • 123 Object types • 361
Object 2251.22 Object Up-/Download via RS232 / RS485 • 366
Filter control signal • 123 Object Upload/download via Profibus/Profinet •
Object 2251.23 346
Force Feed-forward • 124 Objects for the process data channel (T40F) •
Object 2251.24 414
Actuating signal inversion [on/off] • 124 Objects of the cam switching mechanism • 286
Object 2251.8 Open curve • 207
Delay T1 • 124 Operating Principle • 138
Object 2260.14 Operator control module BDM • 424
Inner window I term • 105 Operators supported • 145
Object 2260.15 Optimierung • 81
Outer window I term • 105 Optimization of position controller • 133
Object 2260.16 Optimization of pressure/Force Controller • 136
Positive limit I term • 105 Optimization window • 81
Object 2260.17 Option M10 = HEDA (M11) & I/Os (M12) •
Negative limit I term • 105 435
Object 2260.21 Options M1x • 433
I term • 104 Order and response processing • 344
Object 2260.22 Order code • 419
P term • 104 Order code device
Object 2260.8 Compax3 Fluid • 419
Filter - Tracking Error • 104 Order code for accessories • 419
Object 2270.8 Order Code input/output terminals (PIO) • 420,
Filter control signal • 106 440
Object 2400.3 Order note • 421
Upper limit • 126 Oscilloscope operating mode switch: • 84
Object 2400.4 Other objects (no CoDeSys objects) • 411
Lower limit • 126 Output signal conditioning 0 • 125
Object 2400.6 Overview • 206
Output Offset • 126 Overview of the DeviceNet object classes •
Object 2400.7 369
Default value (inactive chain 0) • 127
Object 2401.4 P
Gain factor positive • 127 Parameter access with DPV0
Object 2401.5 Required data channel • 343
Gain factor negative • 127 Parameters for manual movement/jogging
Object 2401.6 mode and test movement • 131
Inversion [on/off] • 127 Path optimized positioning • 172
Object 2401.7 PC <-> C3M device combination (USB) • 326
Gain factor positive (Force-/Pressure Control) • PC <-> Compax3 (RS232) • 324
128 PC <-> Compax3 (RS485) • 325
Object 2401.8 Physical Source • 77
PIO
452 192-120102N6 C3FT40 2014-10

External Inputs/Outputs • 440 Reading the device status (MC_ReadStatus) •

PIO_Init • 303 163
PIO_Inputx...y • 304 Reading the PIO inputs 0-15 (PIO_Inputx...y) •
PIO_Outputx...y • 305 304
PKW parameter channel • 342 Reading values • 161
Plug and connector assignment • 19 Reading/writing optional inputs/outputs • 297
Plug and connector assignment Compax3 Recipe management • 144
Fluid • 18 Recipe table • 75
Plug and connector assignment complete • 20 Recipe table with 9 columns and 32 (120) lines
Plug assignment Compax3S0xx V2 • 24 • 147
Position controller auxiliary axis (status Recommendations for preparing the modem
controller) • 104 operation • 339
Position controller main axis (status controller) Recording the position of the selected master
• 101 source (C3_MasterControl) • 229
Position feedback system drive1 • 43 Redirect the fast cams directly to the physical
Position mode in reset operation • 172 output (C3_OutputSelect) • 285
Position transducer • 50 Ref X11 / SSK21 • 430
Positioning after homing run • 51 Reg synchronization • 206
Positioning functions (standard) • 168 Relative master reference with 180° offset •
Positioning window - Position reached • 72 223
Positioning with IEC61131-3 • 15 Relative master reference without offset • 222
Possible PDO assignment • 352, 370 Relative positioning (MC_MoveRelative) • 174
Preparatory settings for the controller Relative slave reference • 225
alignment • 90 Relative slave reference example 1 • 226
Prerequisites • 143 Relative slave reference example 2 • 226
Pressure and force sensor drive 2 • 48 Remote diagnosis via Modem • 337
Pressure sensors • 45 Reset curve generator (C3_CamReset) • 237
Procedure • 131 Retain Variables • 147
Procedure when working with the RS232 - cable / SSK1 • 428
C3_getSystemFingerPrint • 166 RS232 / RS485 interface (plug X10) • 24
Process image • 296 RS232 plug assignment • 24
Profibus RS485 cable to Pop / SSK27 • 429
Emulating the ProfiDrive profile RS485 plug assignment • 24
(C3F_ProfiDrive_Statemachine) • 319 RS485 settings values • 332
Profibus / Profinet configuration • 340
Profibus connector X23 on Interface I20 • 28 S
Profibus plug BUS08/01 • 438 Safety instructions • 13
Profibus/Profinet • 340 Safety-conscious working • 13
ProfileViewer for the optimization of the motion Scope • 82
profile • 141 Selection and configuration of the valves • 49
Profinet connector X23, X24 on Interface I32 • Sending NMT messages (C3_CANopen_NMT)
28 • 357
Profinet Zertifikat • 12 Sensors • 45
Program development and test • 144 Service Data Objekts (SDO) • 365
Programming based on IEC61131-3 • 142 Set control parameters • 135
Proportional factor KP • 135 Set error reaction (C3_SetErrorReaction) • 295
Set Ethernet Powerlink (option I30) bus
Q
address • 34
Quadratic coupling (CouplingMode = 1) • 250 Set filter for speed- and acceleration actual
Quadratic decoupling (CouplingMode = 1) • value • 134
259 Set position (only analog feedback) • 134
Set valve offset • 133
R Setting the HEDA master • 378
Ramp upon error and stromlos schalten • 70 Setting the HEDA slave • 381
Read access to the (C3_ReadArray) array • Setting the position of the selected master
162 source (C3_SetMaster) • 228
Reading an object in another node Setting the positioning mode in reset mode •
(C3_CANopen_SDO_Read4) • 358 172
Reading axis errors (MC_ReadAxisError) • 294 Setting the time basis XDIV • 84
Reading digital inputs (C3_Input) • 296 Setting up Compax3 • 38
Reading the current position Settings for channels 1..4 • 85
(MC_ReadActualPosition) • 161 Setup mode • 139
192-120102N6 C3FT40 2014-10 453

Index C3F_T40
Signal filtering for external setpoint superimposed motion/shift • 189, 195, 199,
specification and electronic cam • 96 241
Signal filtering for external setpoint Superimposed positioning
specification and electronic gearbox • 95 (C3_MoveSuperImposed) • 189
Signal filtering with external command value • Supporting IEC modules • 353
94 Switching
Signal image • 218 from force to position mode (C3_pQ) • 202
Signalbild bei absolutem Masterbezug • 218 Switching behavior with reset operation • 289
Signalbild bei relativem Masterbezug • 219 Switch-on anticipation is corrected via reset
Slave clock distance (ST) • 208 distance • 289
Slave Receive Mapping table • 382 Symbols of the signal image • 221
Slave receive slots • 382 Synchronous position (MS) • 208
Slave transmission slots (Transmit Slots) • 382
Slave Transmit Mapping table • 382 T
Slave with configuration via Master • 370 Teach machine zero • 61
Slave-oriented reg synchronization • 274 Technical data of the HEDA interface /
Software end limits • 66 overview • 374
Special functions • 86 Technische Daten • 441
Special safety instructions • 13 The possibilities of the HEDA expansion • 374
Speed control • 179 This module is used to determine the status
Speed feedback • 135 during Nodeguarding
Speed feedforward (advanced) • 136 (C3_CANopen_GuardingState) • 354
Standard function modules supported • 146 This module is used to determine the status of
Standard functions supported • 146 the CANopen NMT status machine
Standstill position Slave (S0) • 208 (C3_CANopen_State) • 353
Start cam / coupling • 245 Time frame signal source master • 77
Starting a selected curve (MC_CamIn) • 246 Tracking filter • 94
State of delivery • 18 Transmission cycle time • 353
Status diagram of Compax3F auxiliary axis • Travel Limit Settings • 66
153 Trigger settings • 86
Status diagram of Compax3F main axis • 152 Type specification plate Compax3 Fluid • 11
Status diagram of the virtual master • 154 Typical application with Bus and IEC61131 •
Status diagrams • 152 340
Status values • 417
Step 1 U
C3 ServoManager • 261
Unsigned - Formats • 348
Step 10
Usage in accordance with intended purpose •
Starting and monitoring cam • 262
13
Step 2
USB - RS232 converter • 24
Connect motor. • 261
USB-RS485 Adapter Moxa Uport 1130 • 327
Step 3
User interface • 83
Supply & I/O wiring • 261
Step 4 V
RS232 connection & C3 ServoManager • 261
Step 5 Value range for positioning parameters • 168
Set Compax3 device type • 261 Valve configuration • 48
Step 6 Voltage supply (plug X3) • 23
Configuration • 261 W
Step 7
Selecting Master signal source • 262 Warranty conditions • 14
Step 8 Wiring of analog outputs • 23
Generating the cam • 262 Wiring of the analog current inputs • 21, 436
Step 9 Wiring of the analog voltage inputs • 22, 437
Create IEC program • 262 With direction reversal switches • 56, 59, 64
Step-by-step optimization • 130 With motor reference point • 58, 63
Stop (MC_Stop) • 157 Without direction reversal switches • 55, 58
Stop module for superimposed movement Without motor reference point • 55, 61
(C3_StopSuperImposed) • 199 Write analog outputs (C3_AnalogOutputs) •
Structure • 337 299
Structure of the databases • 40 Write digital outputs (C3_Output) • 296
Superimposed motion • 188 Writing an object in another node
(C3_CANopen_SDO_Write4) • 359
454 192-120102N6 C3FT40 2014-10

Writing the PIO outputs 0-15 (PIO_Outputx...y)

• 305
X
X10 • 24
X12 • 26
Z
Zero point shift caused by superimposed
positioning (C3_ShiftPosition) • 195
Zubehör Compax3 • 422
192-120102N6 C3FT40 2014-10 455

Index C3F_T40
456 192-120102N6 C3FT40 2014-10

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C3F_T40 Electromechanical Automation

Operating instructions Compax3 Fluid T40: Cam

Technische Änderungen vorbehalten. 13.10.14 14:29 192-120102N6 C3FT40 2014-10

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

USA: Parker Hannifin Corporation • Electromechanical Automation

Status of the Manuals:

2 192-120102N6 C3FT40 2014-10

2. Positioning with IEC61131-3 .................................................................15

192-120102N6 C3FT40 2014-10 3

4. Setting up Compax3 ..............................................................................38

4 192-120102N6 C3FT40 2014-10

4.3.3.5 Feedforward main axis (status controller) ............................................. 99

5. Motion control ..................................................................................... 142

192-120102N6 C3FT40 2014-10 5

5.4 Reading values..................................................................................... 161

6 192-120102N6 C3FT40 2014-10

5.10.8. 10 Steps for cam generation......................................................................... 261

192-120102N6 C3FT40 2014-10 7

5.14 Interface to C3 powerPLmC ................................................................ 308

6. Communication ................................................................................... 323

8 192-120102N6 C3FT40 2014-10

6.5.2.1 This module is used to determine the status of the CANopen

7. Compax3 - Objects .............................................................................. 392

8. Status values ....................................................................................... 417

192-120102N6 C3FT40 2014-10 9

9. Error ..................................................................................................... 418

11. Compax3 Accessories ........................................................................ 422

12. Technical Data ..................................................................................... 441

10 192-120102N6 C3FT40 2014-10

1.1 Device assignment Compax3 Fluid

1.1.1. Type specification plate Compax3 Fluid

192-120102N6 C3FT40 2014-10 11

1.2 ProfiNet Certificate

12 192-120102N6 C3FT40 2014-10

1.3 Safety instructions

1.3.1. General hazards

1.3.2. Safety-conscious working

1.3.3. Special safety instructions

192-120102N6 C3FT40 2014-10 13

1.4 Warranty conditions

Note on exchange of options

1.5 Conditions of utilization for CE-conform operation

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

Shielding connection of the valve cables

Feedback cable < 100 m

Accessories: Make sure to use only the accessories recommended by Parker

14 192-120102N6 C3FT40 2014-10

2. Positioning with IEC61131-3

Compax3 Fluid - (Hydraulics controller)

Technology functions of servo controllers

The graphical program editor supports the following functions:

The text-oriented editor supports programming in

Programming of Compax3 based on IEC 61131-3 is also made considerably easier

192-120102N6 C3FT40 2014-10 15

In particular mechanical cam switching mechanisms and discontinuous shafts

16 192-120102N6 C3FT40 2014-10

192-120102N6 C3FT40 2014-10 17

3. Compax3F device description

3.1 State of delivery

3.2 Plug and connector assignment Compax3 Fluid