Parker EME Introduction192-120114 N5 C3I22T11 June 2008 53.10.3. Safety instructions for the ”safety torque off” function.................................. 803.10.4. Application example for ”safe standstill” ......................................................... 813.10.4.1 Safe standstill with bus option .................................................................. 813.11 Compax3M with safety option S1: Safe torque off.............................. 873.11.1. General Description............................................................................................. 873.11.1.1 Important terms and explanations ............................................................ 873.11.1.2 Intended use ............................................................................................. 883.11.1.3 Advantages of using the "safe torque off" safety function. ....................... 893.11.2. STO function on the Compax3M ........................................................................ 903.11.2.1 Safety switching circuits............................................................................ 903.11.2.2 Safety notes and limitations of the STO function in theCompax3M................................................................................................ 913.11.2.3 Technical details of the Compax3M S1 option ......................................... 923.11.3. Compax3M STO application description........................................................... 933.11.3.1 STO function with safety control device via Compax3M inputs................ 933.11.3.2 STO function description .......................................................................... 933.11.3.3 STO function with safety switching device for applications withfieldbusses ................................................................................................ 953.11.3.4 Emergency power-off and protective door monitoring withoutsafety switching devices ........................................................................... 973.11.4. STO function test................................................................................................. 983.11.4.1 STO test protocol specimen ..................................................................... 994. Setting up Compax3.............................................................................1004.1 Configuration ....................................................................................... 1004.1.1. Test commissioning of a Compax3 axis ........................................................... 1024.1.2. Selection of the supply voltage used ................................................................ 1024.1.3. Motor Selection.................................................................................................... 1024.1.4. Optimize motor reference point and switching frequency of themotor current ....................................................................................................... 1034.1.5. Braking Resistor .................................................................................................. 1064.1.6. General Drive ....................................................................................................... 1074.1.7. Defining the reference system ........................................................................... 1074.1.7.1 Measure reference.................................................................................... 1084.1.7.2 Machine Zero ............................................................................................ 1114.1.7.3 Travel Limit Settings ................................................................................. 1294.1.7.4 Change assignment direction reversal / limit switches ............................. 1324.1.7.5 Change initiator logic ................................................................................ 1324.1.8. Defining jerk / ramps ........................................................................................... 1334.1.8.1 Speed for positioning ................................................................................ 1334.1.8.2 Acceleration for positioning and velocity control....................................... 1334.1.8.3 Acceleration / deceleration for positioning ................................................ 1334.1.8.4 Jerk limit for positioning ............................................................................ 1334.1.8.5 Ramp upon error and de-energize............................................................ 1354.1.8.6 Jerk for STOP, JOG and error .................................................................. 1354.1.9. Limit and Monitoring Settings............................................................................ 1364.1.9.1 Current (Torque) Limit............................................................................... 1364.1.9.2 Positioning window - Position reached ................................................... 1364.1.9.3 Following error limit................................................................................... 1374.1.9.4 Maximum operating speed ....................................................................... 1384.1.10. Encoder Simulation ............................................................................................. 1394.1.10.1 Encoder bypass with Feedback module F12 (for direct drives) ............... 1394.1.11. I/O Assignment .................................................................................................... 140
