派克伺服驱动器安装手册

Compax3Servo Drive SystemsSetting up the Compax3 Multi-Axis UnitsPN 88-029852-01

PN 88-029852-01

Compax3 Family

Compax3M Setup in P.I.E.T.Purpose

The first 4 pages of this document describe the process by whichone sets

up the Compax3M –the multi-axis version of the Compax3. The remainder is dedicated to step-by-step setup of a drive with ETHERNET Powerlink.

There is a new tool that “houses”ServoManager. It is called the Parker

Integrated Engineering Tool. This framework will manage the multi-axis nature of Compax3M configuration and is available on the DVD.Step 1: Opening Screen

¾The P.I.E.T.’sopening screen is shown below.

¾This is the window that will help the user manage

the axis configurations

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Compax3 Family

Compax3M Setup in P.I.E.T.Step 2: Add a Compax3

¾

Right click on “New Group1”9Click “Add Device”9Click “Servo Drive”9Click “Compax3”

This process initiates the launch of ServoManager for this first axisYou can repeat the process to add another Compax3.

¾¾

Step 3: Launching ServoManager

¾¾¾

As you see in the below screen shot, an instance of ServoManager has been launchedThis is named “Compax3-1”

If you added a second axis, there would be a third tab named, “Compax3-2”

Essentially, as you add axes,

the P.I.E.T. launches additional windows of ServoManager. You can change each axis name by clicking on the “Compax3-1”on the tree. This brings up a properties screen. Enter in a new name, if you like.

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Compax3 Family

Compax3M Setup in P.I.E.T.Step 4: Com Port Selection

Click on the 1stCompax3 Axis Tab9Click on “Device”in the

menu

9Find RS232/RS485 row

¾This will bring up a box to select the

COM port

¾NOTE: Be sure you have installed

the USB driver from the main setup screen at installation

¾NOTE: Be sure to also plug in the

short SSK cables on the top of the Compax3 Power Supply (MP) to all the axis units.

9Beginning with the

Compax3MP, the connection is always made from X30 to X31 of the next device. On

Step 5: Addressing the Power Supply & Drivesthe first device (X31) and the

¾Select the available COM Ports

last device (X30) in the multi-¾You need to set the address in the RS485 boxaxis combination, a bus

9This is the base address of the Power Supply (see termination plug (BUS07/01)

diagram below) plus 1is required. This plug looks

like an Ethernet connector 9The Compax3 MP unit will automatically address all

(RJ45) without a cable following axis units by adding “1”to the base

attached.address for the first axis, “2”for the second, and so

on…

9All you need to do is input that number to each of

the drives through the ServoManager Axis tabs

¾Be sure you have put the bus termination plugs (two

needed) in both the power supply and the last axis unit.

¾

PS Value = 16axis1 = 17axis2 = 18axis3 = 19axis4 = 20

S1 –Base Address of Power Supply,automatic addressing of all axis units(Power Supply address + axis number)

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Compax3 Family

Compax3M Setup in P.I.E.T.Notes on Hardware Installation

There isn’t a rack associated with the Compax3M. The high voltage and

low voltage bus bars are the only structural pieces that connecteach module together. These are located under the protective plasticcover on the bottom-front portion of the modules.All fasteners are contained within each unit. Simply loosen these screws

on each module and the bus bars slide to intersect the adjacent module.

1 –24VDC2 –24V GND3 –-HV DC4 –PE

5 –+HV DC

12345X14: Category 3 Safety

¾The Compax3M comes with two channels

for Cat.3 Safety on this X14 connector¾It is not recommended to IGNOREthe

safety circuit; however, if you choose not to use this safety technology, the following must be wired

9X14/1 –24VDC9X14/2 –GND 9X14/3 –24VDC 9X14/4 –GND

¾If you leave these open, the drive will yield a

‘92 Safe torque off (STO) active’error¾There is detailed information about this

circuit in the Help File on the website.

X40: Braking Resistor

¾The Compax3MP (power supply) comes

ready to install a braking resistor for energy dissipation across the bus

¾If you are not going to use a braking

resistor you MUST place a jumper wire between pins 1 and 2

¾If you leave this open, the drive will yield a

‘4480 C3MP: Temperature of braking resistor too high’error

9If this error is not corrected by either

connecting a resistor or wiring a jumper between these two pins, the motor will not enable

For further information, please refer to the

Hardware installation guide and the PDF manual. You can download

these from the Compax3M page on www.parkermotion.com.

PN 88-029852-01

Compax3 FamilySetting up the Drive

EPL Setup in ServoManagerIn this section, we will show how to setup a drive. My base model drive is an ETHERNET Powerlinkenabled drive, but the steps are virtually the same for other drive models.

Device Selection

¾Launch Servo Manager

¾Double-click on Device Selection Wizard

¾This will launch the wizard that allows you to

select the appropriate model

9Screen 1: M050D6 (select your power level)9Screen 2: F10 (select your feedback type)9Screen 3: I30 (Choose I30 for EPL)

9Screen 4: T11 (Choose T11 for EPL&ACR)9Screen 5: M00 (Choose M00 for no options)¾You will end up with a part number that looks

something like: M050D6F10I30T11M00and should match what you ordered and what the label reads on the side of your drive

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Compax3 Family

EPL Setup in ServoManagerDrive Configuration

¾Double-click on “I30T11 Drive Configuration”¾You will not need to change too many

parameters within this section

¾The Drive Configuration Wizard opens and

you will need complete 15 steps –though only a few need input for EPL.

Step 1: Motor Selection

¾You will need to select the voltage at which

you will be running9230VAC9400VAC9480VAC

Step 2: Reserved for Future Use

Step 3: Motor Selection

¾You will need to select the motor you are

using

¾See the picture below to see how the

MPP092 motor is found:

Parker USMPP092Model¾Click “Next”

¾Click “Next”

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Compax3 Family

EPL Setup in ServoManagerStep 4: Motor Reference Data / PWM Settings

¾¾¾

This step needs no input from you

This data is populated from the motor filesClick “Next”

Step 5: Reserved

Step 6: Reserved for Braking Resistor

¾

At the release of this product, there is only one resistor; the user doesn’t need to select this for the drive

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Compax3 Family

EPL Setup in ServoManagerStep 4: This step is omitted Step 7: Moment of Inertia

¾

This is the most important tuning step

9The Compax3 uses this to

establish gains

9The closer you are to the

correct inertia of your load, the better your system will be tuned

9Suggestion: Use the value

from MotionSizer.

Enter the same load value in both the “Minimum”and the “Maximum”locations.

9Only if your load isn’t

changing

9If load changes (example

picking up a box, then

placing box) enter “Min”and “Max”respectively.

Do not check the box –if you do, call applications for help with this AutoTuningFeature.Click “Next”

¾

Step 8: Distance / Travel Parameters

¾¾¾

This step needs no input from you for use with the ACR EPLDefault values are ok

9Make sure that the ratio is 1:1Click “Next”

¾

¾

The ACR9040/9030 will be

responsible for all

scaling. This is done by setting the PPU value in the 9040. However, you must make sure that the value here is has a 1:1 ratio. The units are not important.

See the HTML file for more

information if using an intelligent drive.

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Compax3 Family

EPL Setup in ServoManagerStep 9: Machine Zero / Homing

¾¾¾¾

Make sure “No Homing Mode Used”is selected

All default values are fine

ACR9040 will be responsible for all homing procedures and velocitiesClick “Next”

The ACR9040/9030 will be

responsible for all homing moves. If you are using a drive

controller, click “Homing Mode Wizard”and that will guide you through homing types.

Step 10: Travel Limits / Settings

¾

For the ACR90x0: In the first four rows:

9Positive SW: No reaction9Negative SW: No reaction9Positive HW: No reaction9Negative HW: No reactionMake sure all box are uncheckedIf not using an ACR, you can select how the Compax3 reacts to the varying limit options Click “Next”

¾¾

¾

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Compax3 Family

EPL Setup in ServoManagerStep 11: Jerk / Ramps

¾¾¾

This step needs no input from you

The default data is fine –the ACR9040 controls these valueIf you are using a

drive/controller, input what the ramps and “s-curve”(jerk) acceleration should be. For jerk, the higher the number the more linear the accelerationClick “Next”

¾

Step 12: Monitoring / Limit Settings

¾¾

Current Limit: Select as a percentage of motor continuous

Following Error –make sure this value doesn’t conflict with your ACR9040 value. If they differ, the value in 9040 should be tighter so the Position Error is registered there and not at the drive.

Because the Compax3 is a

“smart”drive, it has algorithms checking the following error. If you are getting following errors in the Compax3 but not the ACR9040, then this value may be too tight.

¾Click “Next”

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Compax3 Family

EPL Setup in ServoManagerStep 13: Encoder Output

¾

This can be left in the default state9Select “ON”if you want to

send out the motor encoder through the X11 connector on the Compax3

The EPL Cable automatically sends the encoder/resolverposition to the 9040

¾

Step 14: I/O Assignment

¾

Make sure the I/O assignment is select “Free”9This gives the ACR9040 power over all

I/O

9If you are not using an ACR, check user

guide for your specific model to see the pin assignment and if you select “free”or “fixed”

Click “Next”

¾

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Compax3 Family

EPL Setup in ServoManagerStep 15: Position Profiles -Configuration

¾¾

There is nothing to be done hereClick “Next”

Step 16: Profile Table

¾¾¾

This is where you would select the various profiles called up by a PLC or digital I/O

There is nothing to be done here because the ACR9040 controls all positioningClick “Next”

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Compax3 Family

EPL Setup in ServoManagerStep 17: Other Error Reactions

¾¾¾

Click the box to reveal an arrow to select other optionsThese are the default values. Click “Next”

Summary Configuration: “Your Part Number”

¾¾¾

The Top Middle should be green –this means that the setup is done

You can name your configuration

You can add notes to your configuration

You could download your

configuration here, but we have setup the

Ethernet Powerlinkyet. You will save time if you just click “finish”. This will bring you back to the main ServoManager Screen.

¾Click “Finish”

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Compax3 Family

EPL Setup in ServoManagerEthernet PowerlinkSetup

The Ethernet Powerlinkportion of the setup is very simple. There are two

steps:

¾¾

Select the address with connector S24 on the front of the driveSelect the Ethernet PowerlinkMode

Hardware Setup

¾Values:

920921

922through 27

¾Left is OFF or “0”¾Right is ON or “1”

¾An address value of zero is not valid (all off)¾From top to bottom: 10000000

9Address = 1

¾From top to bottom: 01000000

9Address = 2

¾From top to bottom: 11000000

9Address = 3

*M050V6F12I21T11M00 is shown

Once you complete the configuration,ServoManager will show you the address.

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Compax3 Family

EPL Setup in ServoManagerCommunications: Ethernet Powerlink

¾Click on the “+”sign next to the “Communication

Folder –you will see:9RS-485

9Modem Settings9Ethernet Powerlink

¾Double-click on the “Ethernet Powerlink”folder

Ethernet Powerlink: Step 1

¾First Row: Mode Ethernet Powerlink

9CN: Velocity Mode9CN: Position Mode9CN: Profile Select

9CN: Konfigurationvia MN¾Select “CN: Konfigurationvia MN”¾Second Row: EPL Error Reaction

90 –No Response

91 –Stop Drive, Energize92 –Stop Drive, Disabled¾Select “2 –Stop Drive, Disabled”¾Click “Next”

You do not need to input the device address youalready selected on the S24 connector. When youdownload the configuration, ServoManager will

automatically obtain this setting and display it for you.

PN 88-029852-01

Compax3 Family

EPL Setup in ServoManagerStep 2: Summary, Download Configuration

¾

This is where you can now download the entire configuration you went through9Device Selection9Drive Configuration

9Ethernet PowerlinkSettingsClick on “Download Configuration Only to the device”

Click on “Disable controller and begin Drive Configuration download”Click “Execute”to start the drive processing

¾¾¾

Possible Errors

¾

Problem 1:

9Red Error Screen, check to see if correct COM port is selected¾

Problem 2:

9Can’t Initiate Download: check to

make sure power is on, correct cable is being used, USB-Serial cable is the recommended

version (BafoBF-800 or BF-810 (http://www.bafo.com).For more information:

9To trouble-shoot RS-232

communications, visit the FAQ section on

www.parkermotion.comand type in BAFO. A write up is available.

¾

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Compax3 Family

EPL Setup in ServoManagerEthernet PowerlinkAddress: Finishing Up

¾Click on the “+”sign next to the “Communication Folder –you will

see:

9RS-485

9Modem Settings9Ethernet Powerlink

¾Highlight (single-click) on the “Ethernet Powerlink”folder

¾On the right side of the screen, scroll down half-way, here you can

verify:

9Mode Ethernet Powerlink(Enable ACR-C3 communications)9EPL Error Reaction (For application safety)9EPL Node ID (Needed for ACR-View)

You are now done with ServoManager Configuration.Repeat this process for any other drives you have. If the drives are the same, simply change the address on the S24 connector and download the same configuration.BE SURE TO POWER CYCLE THE COMPAX3 AFTERSETUP IS COMPLETE!

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Compax3 Family

EPL Setup in ServoManagerEPL Setup in ACR-View

The section will go over how you can set up a Compax3 EPL axis in ACR-View.Launch ACR-View

¾

Double-click the ACR-View Icon on your desktop

Step 1: Create/Name Project

¾

Select “Create New Project”and give it a name

Step 3: Model Number

¾

Select the specific part number of the ACR purchases

Step 2: Select Controller

¾

Select ACR9040 (or 9030)

Step 4: Name the controller

¾

Select an alias for the ACR9040 (only relevant with multiple ACRs)

PN 88-029852-01

Compax3 Family

EPL Setup in ServoManagerConfiguration Wizard

¾

The next several steps outline how you set up a Compax3 EPL Drive

Step 1: Communications

¾

Select how you will communicate to the ACR9040 –I have Ethernet

selected and the default IP address is shown.

Click “Connect”and wait for communications to occure

¾

Step 2: Axes

¾

Select how many EPL Axes will be connected –this may be a mixture of Aries and Compax3 drive. This represents the total number of drives (1 = one drive, 5 = five drives).

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Compax3 Family

EPL Setup in ServoManagerStep 3: Axis 0 Setup

¾¾

Input the name of the axis9I will use “X”

Input the address of this drive9I will use “32”from the

readout on page 15

Choose “EPL”for Command OutputOnce you click next, “32”will be displayed on the Axis Summary Table in this window

¾¾

Step 4: Drive/Motor

¾

Select Drive

9For Compa3 –select “Other

EPL”

Select Motor

9Only select series of motor

you are controlling

Gearmotor

9Choose whether or not you

are using a gearhead

integrated with the motor

¾

¾

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Compax3 Family

EPL Setup in ServoManagerStep 5: Axis 0 Feedback

¾¾

1000

¾¾

¾

Type:

9Select “EPL Feedback”Package

9Rotary or Linear

Choose “EPL”for Command OutputChoose the resolution of the

feedback. This is pre-quadrature. Check with motor catalog to verify counts/rev.

RESOLUTION: a value of 1000 is needed to scale to revolutions9The resolution of the

feedback from the Compax3 to the ACR9040 is 1000

pulses per revolution –for all feedback motor feedback devices

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Compax3 Family

EPL Setup in ServoManagerStep 6: Axis 0 Scaling

¾

Specify desired units

9This will be what you

eventually program in

Transmission

9You can select from a

number of popular

mechanical transmission types

Specify any additional reducers in the system (ie. Bayside, belt and pulley)

You can manually enter the scaling factor at the bottom if you didn’t specify some sort of mechanical reduction

¾

¾

¾

Step 7: Axis 0 Faults

¾

Hardware Limit Detection

9This will enable your end-of-travel hardware limits. This function should be turned off in ServoManagerSoftware Limit Detection

9You can enable or disable the

software limits here. This function should be turned off in ServoManagerMaximum Position Error Detection9This is the controller finding

the difference between actual and commanded position. Be sure that this value is tighter than the one in ServoManager (Page 8 Step 10)¾

¾

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Compax3 Family

EPL Setup in ServoManagerStep 8: Axis 0 Dedicated I/O

¾

Input Type:

9Select “EPL Inputs”

9This will allow you to choose

to use the inputs on the

Compax3 as hardware limits –if desired

Step 9: Servo Gains

¾¾

Completely Ignore this screen for the Compax3

Use ServoManager Optimization Tool for tuning the motor

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Compax3 Family

EPL Setup in ServoManagerStep 10: Axis 0 Jog/Home/Limits

¾

There are many things that can be done on this screen9Enable Drive

9Start EPL Network9Jog the motor9Home the motor

Be sure everything is wired

correctly and that you are ready for motion.

¾

The first Compax3 EPL Axis is configured. Gothrough these steps again for the remaining drives.

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Compax3 Family

EPL Setup in ServoManagerStep 11: Masters

¾

You must assign each axis to a

Master. For many applications, you can assign all three axes to the same master.

9Highlight the three Compax3

Axes

9Highlight “Master 0”9Click on “Move Axes to

Master”

9After you click on “Move

Axes”, all three axes should move from the left side to beneath “Master 0”9Click “Next”

Step 11: Master 0

¾You need to assign some acceleration

parameters to the Master.9Acceleration Ramp9Initial Velocity

9Deceleration Ramp9Stop Ramp

9You can enable “s-curve”accelhere.

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Compax3 Family

EPL Setup in ServoManagerStep 12: Memory

¾

Input the amount of memory for each program (aka “task”) that is being used

9Default for Program 0 is

300000k

9Enter in other values for

other programs if needed.9You can also change the

number of global variables in this screen

Step 13: Check EPL Network

¾¾¾

This screen allows you to check the state of the EPL network

Click on “Start EPL Network”

The controller will access the drive and turn on the communications. If all is well, you will see the appropriate message.

23

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Compax3 Family

EPL Setup in ServoManagerStep 14: CANOpen

¾

This screen allows you to setup the CANOpenport9Talk to PIO

Step 15: Finish

¾¾

This is where you can download the entire configuration to the ACRMake sure the two boxes at the bottom are checked to save and download

If any errors occur in the

configuration, they will be listed here

¾

Configuration and download are finished.

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Compax3 Family

EPL Setup in ServoManagerTESTING MOTION

¾¾

On the program tree on the left, click on “Terminal Emulator”Type: prog0

9This takes us to our first

program

Type: period

9Make sure it is .001Type: eplcon

9Turn on EPL networkType: drive on x9Enable driveType: x/1

9Initiate a relative move of 1

revolution

¾¾¾¾

I had to change period to .0011000PN 88-029852-01

Compax3 Family

EPL Setup in ServoManagerEPL in ACR-View Terminal

The section will explain some key ACR commands.Commands

¾Period –placed at the beginning of program

9This should be set to .001 for 1-8 axes of

Compax3

9Add .000125 per axis for over 8 axes of

Compax3

9Example for 5 axes: period .0019Example for 9 axes: period .0011259NOTE: EVERY TIME YOU

REDOWNLOAD THE ACR-VIEW

CONFIGURATION, THE PERIOD IS SET BACK TO .0005 (As of v5.4 of ACR-View)

¾Eplcon

9Turns on the Ethernet Powerlink

Network

¾Eplcoff

9Turns off the Ethernet Powerlink

Network

¾Eplc

9Checks the status of the Powerlink

Network

¾Drive on x

9Enables the “x”axis¾Drive off x

9Disables the “x”axis¾Drive res x

9Clears errors from the Compax3

9NOTE: Try not to enable drive until EPL

network is enabled (may be have to issue this command if done too early)9Feedback Errors require power cycle9SDO Transfer Errors require power cycle

Compax3 Parameters and Bits

¾P38146 –Master position of additional

feedback device (add 16 for next axis)9This can be 5V A/B Encoder9SSI Feedback Device

9Found in the Numeric Status Panel

under “EPL Parameters”then “EPLD Position Parameters”

¾Inputs –8 available on the Compax3

9Input0 = Bit332Input1 = Bit33299Input2 = Bit3330 . . . 9Input7 = Bit3335

9To find the status: Click on “Status

Panels”, “Bit Status”, “EPL Flags”, “EPL Digital Inputs”

9NOTE: These are not high-speed inputs¾Outputs –4 available on the Compax3

9Output0 = Bit38409Output1 = Bit38419Output2 = Bit38429Output7 = Bit3843

9To find the status: Click on “Status

Panels”, “Bit Status”, “EPL Flags”, “EPL Digital Outputs”

9NOTE: These are not high-speed

outputs

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Compax3 Family

PN 88-029852-01PN 88-029852-01