Parker Compax3 Fluid T40 Operating Instructions Manual Manual pdf 376 page image
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Parker Compax3 Fluid T40 Operating Instructions Manual

Also see for Compax3 Fluid T40: Installation manualInstallation manualOperating instructionsStart-upInstallation manual

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Contents
  1. Table Of Contents
  2. Table Of Contents
  3. Table Of Contents
  4. Table Of Contents
  5. Table Of Contents
  6. Table Of Contents
  7. Table Of Contents
  8. Table Of Contents
  9. Table Of Contents
  10. Introduction
  11. Type specification plate Compax3 Fluid
  12. Safety Instructions
  13. Special safety instructions
  14. Positioning with IEC61131-3
  15. Compax3F device description
  16. Plug and connector assignment
  17. Plug and connector assignment complete
  18. Analog Input (plug X1)
  19. Analog Output (plug X2)
  20. Voltage supply (plug X3)
  21. Analog / Encoder (plug X11)
  22. Connections of the encoder interface
  23. Connection of the digital Outputs/Inputs
  25. Profibus connector X23 with Interface I20
  26. CANopen connector X23 Interface I21
  27. Function of the Bus LEDs
  28. DeviceNet connector X23
  30. Set Ethernet Powerlink (option I30) bus address
  31. Meaning of the Bus LEDs (EtherCAT)
  32. Mounting and dimensions
  33. Configuration
  34. C3HydraulicsManager
  35. Compax3F structure image
  36. Drive configuration
  37. Configuring drive1
  38. Cylinder / motor selection
  39. Configuring drive2
  40. Force sensor drive 1
  41. Pressure and force sensor drive 2
  42. Selection and configuration of the valves
  43. Defining the reference system
  44. Machine Zero
  45. Travel Limit Settings
  46. Change assignment direction reversal / limit switches
  47. Limit and monitoring settings of force
  48. Maximum control deviation of force controller
  49. Positioning window - Position reached
  50. Following error limit
  51. Encoder Simulation
  52. Recipe table
  53. Configuration name / comments
  54. Configuring the signal source
  55. V Master speed
  56. Optimization
  57. Optimization window
  58. Scope
  59. User interface
  60. N04 June
  61. Example: Setting the Oscilloscope
  62. Control Loop Dynamics
  63. Preparatory settings for the controller alignment
  64. Signal filtering with external command value
  65. Controller structure of main axis
  66. Controller strucutre auxiliary axis
  67. Feedforward main axis (status controller)
  68. Feedforward auxiliary axis (status controller)
  69. Position controller main axis (status controller)
  70. Position controller auxiliary axis (status controller)
  71. Filter main axis
  72. Filter auxiliary axis
  73. Analog Input
  74. Force-/Pressure Control main axis
  75. Force-/Pressure Control auxiliary axis
  76. Output signal conditioning 0
  77. Step-by-step optimization
  78. Input simulation
  79. Functionality
  80. Setup mode
  81. Motion objects in Compax3
  82. Mode 1: Time and maximum values are deduced from Compax3 input values
  83. Prerequisites
  84. CoDeSys / Compax3 target system (Target Package)
  85. Recipe management
  86. Standard functions supported
  87. Standard function modules supported
  88. Data types supported
  89. Maximum program size
  90. Compilation, debugging and down/upload of IEC61131 programs
  91. General rules / timing
  92. Library constants
  93. Status diagram of Compax3F main axis
  94. Status diagram of Compax3F auxiliary axis
  95. Status diagram of the virtual master
  96. Control functions
  97. Stop (MC_Stop)
  98. MC_Stop at pressure/force control
  99. MC_Stop: Example 2
  100. C3_SetControlMode
  101. Reading values
  102. Read access to the (C3_ReadArray) array
  103. Reading the device status (MC_ReadStatus)
  104. Determine valve/range parameters (C3_GetSystemFingerPrint)
  105. Important notes
  106. Procedure when working with the C3_getSystemFingerPrint
  107. Positioning functions (standard)
  108. Absolute positioning (MC_MoveAbsolute)
  109. Position mode in reset operation
  110. Description of jerk
  111. Relative positioning (MC_MoveRelative)
  112. Additive positioning (MC_MoveAdditive)
  113. Continuous positioning (MC_MoveVelocity)
  114. Manual operation (C3_Jog)
  115. Homing (MC_Home)
  116. Electronic gearbox (MC_GearIn)
  117. Superimposed motion
  118. Superimposed positioning (MC_MoveSuperImposed)
  119. Adjust force / pressure (C3_PressureForceAbsolute)
  120. Dynamic switching: Position- on force/pressure - adjustment
  121. Switching: from force to position mode (C3_pQ)
  122. Cam Control
  123. Introduction: Electronic cam control
  124. Function principle
  125. Overview
  126. Basics
  127. Cam parameters / terms
  128. Basic procedure
  129. Generating cams
  130. Introduction to the CamDesigner (example)
  131. Cam functions of the Compax3 ServoManager / motion laws
  132. Cam function structure
  133. Signal image
  134. Cam reference systems
  136. Master signal source
  137. Control of the cam generator (C3_CamTableSelect)
  138. C3_MasterConfig
  139. Master signal phase shift (MC_Phasing)
  140. Alignment of the slave axis
  141. Exiting the active curve with coupling movement (C3_CamOut)
  142. Steps for cam generation
  143. Step 5: Set Compax3 device type
  144. Step 9: Create IEC program
  145. Cam applications
  146. Example 2: Change between single start of an open cam and POSA
  147. Example 3: Single Start for run through curve 5 times
  148. Example 4: Composing curves
  149. Example 5: Cyclic operation with event-triggered change of curve
  150. Example 6: Operation with curve segments and standstill area
  151. Example 7: Curve operation with slave reg synchronization
  152. Example 8: Curve operation with master reg synchronization
  153. Example case of damage
  154. Application note: Drift
  155. Cam switching mechanism function overview
  156. Example of cam function
  157. Objects of the cam switching mechanism
  158. Behavior of the switch-on/switch-off anticipation
  159. Switching behavior with reset operation
  160. Note: No switching operation with overlapping cams
  161. CoDeSys-Project for the configuration of the cams
  162. Example: Working with fast cams
  163. Acknowledging errors (MC_Reset)
  164. Reading axis errors (MC_ReadAxisError)
  165. Set error reaction (C3_SetErrorReaction)
  166. Process image
  167. Reading/writing optional inputs/outputs
  168. C3_IOAddition_2
  169. Memorizing the signals with the trigger event (C3_TouchProbe)
  170. Integration of Parker I/Os (PIOs)
  171. Reading the PIO inputs 0-15 (PIO_Inputx...y)
  172. Writing the PIO outputs 0-15 (PIO_Outputx...y)
  173. Example: Compax3 as CANopen Master with PIOs
  174. Interface to C3 powerPLmC
  175. Interface module "PLmC_Interface
  176. Cyclic data channel for C3T30 and C3T40
  177. Example: C3 powerPLmC Program & Compax3 Program
  178. IEC examples
  179. Example in CFC: Positioning 1
  180. Example in CFC: Positioning 2
  181. Example in CFC: Positioning with set selection
  182. Example in CFC: Cycle mode
  183. Example in ST: Cycle mode with a Move module
  184. Communication
  185. PC <-> Compax3 (RS232)
  186. PC <-> Compax3 (RS485)
  187. PC <-> C3M device combination (USB)
  188. USB-RS485 Moxa Uport 1130 adapter
  189. ETHERNET-RS485 NetCOM 113 adapter
  190. Modem Westermo TD-36 485
  191. C3 settings for RS485 two wire operation
  192. C3 settings for RS485 four wire operation
  193. COM port protocol
  194. ASCII - record
  195. Binary record
  196. Remote diagnosis via Modem
  197. Configuration of local modem 1
  198. Configuration of remote modem 2
  199. Recommendations for preparing the modem operation
  201. Configuration of the process-data channel
  202. PKW parameter channel
  203. Acyclic parameter channel
  204. Data formats of the bus objects
  205. Simatic S7 -300/400 - modules
  206. CANopen - Node Settings
  207. Error reaction to a bus failure
  208. Possible PDO assignment
  209. C3_CANopen_State
  210. C3_CANopen_GuardingState
  211. C3_CANopen_AddNode
  212. C3_CANopen_ConfigNode
  213. C3_CANopen_NMT
  214. Reading an object in another node (C3_CANopen_SDO_Read4)
  215. Writing an object in another node (C3_CANopen_SDO_Write4)
  216. CANopen communication profile
  217. Object types
  219. Object up-/download via RS232 / RS485
  220. DeviceNet
  221. DeviceNet object classes
  222. Overview of the DeviceNet object classes
  223. Ethernet Powerlink
  225. HEDA Bus
  226. HEDA standard mode
  227. HEDA-Master
  228. HEDA expansion (HEDA advanced)
  229. Technical data of the HEDA interface / overview
  230. Definitions
  231. Coupling objects
  232. Compax3 - Objects
  233. Objects for the process data channel
  234. Object overview sorted by object name (T40)
  235. Detailed object list
  236. Status values
  237. Error
  238. Order code
  239. Compax3 Accessories
  240. Encoder cable
  241. Feedback cable (Balluff)
  242. Feedback cable EnDat2.1
  243. Operator control module BDM
  244. EAM06: Terminal block for inputs and outputs
  245. Interface Cables
  246. RS232 cable
  247. RS485 cable to Pop
  248. I/O interface X12 / X22
  249. Ref X11
  250. Encoder coupling of 2 Compax3 axes
  251. Modem cable SSK31
  252. Options M1x
  254. Option M10 = HEDA (M11) & I/Os (M12)
  255. Profibus plug BUS08/01
  256. CAN - plug BUS10/01
  257. PIO: Inputs/Outputs
  258. Specifications
  259. Index
Parker Compax3 Fluid T40 Operating Instructions Manual Manual pdf 376 page image
Communication C3F_T40376 192-121102 N04 June 20086.5.2.7 Writing an object in another node (C3_CANopen_SDO_Write4)FB name C3_CANopen_SDO_Write4This module allows to write an object with a max. length of 4 bytes in another node viaSDO.VAR_INPUTExecute BOOL Activating the moduleDevice INT Node ID of the other node (1 ... 127)Index WORD Object IndexSubindex WORD Object subindexData DWORD Object data which must be writtenLength WORD Data length in ByteVAR_OUTPUTDone BOOL Function executed without errorError BOOL Error occurredErrorCode WORD You will find the error code in the Compax3 error list.AbortCode DWORD CANopen SDO abort code (see page 383) upon error65377C3 CANopen stack error (see page 374) no. uponerror 65376Note: Compax3 must be CANopen master.Execute : BOOLC3_CANopen_SDO_Write4Data : DWORDLength : WORDDone : BOOLError : BOOLErrorCode : WORDDevice : INTIndex : WORDSubindex : WORD AbortCode : DWORD
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Compax3 Fluid T40
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