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Compax3 Family

Compax3 Servo Drive Systems
Ethernet Powerlink Setup with the ACR9040

Compax3 Family

EPL Setup in ServoManager
REV 2

Purp

ose This document describes the process by which one sets up the Compax3 with Ethernet Powerlink. The Ethernet Powerlink option on the Compax3 is intended to be used with the ACR9040 and ACR9030 Controls.

Device Selection
Launch Servo Manager Double-click on Device Selection Wizard

This will launch the wizard that allows you to select the appropriate model Screen 1: SxxxVx (select your power level) Screen 2: Fxx (select your feedback type) Screen 3: I30 (Choose I30 for EPL) Screen 4: T11 (Choose I11) Screen 5: M00 (Choose M00 for no options) You will end up with a part number that looks like: S063V2F10I30T11M00 and should match what you ordered and what the label reads on the side of your drive

Compax3 Family

EPL Setup in ServoManager

Drive Configuration
Double-click on “I30T11 Drive Configuration” You will not need to change too many parameters within this section

The Drive Configuration Wizard opens and you will need complete 16 steps – though only a few need input.

Step 1: Motor Selection
You will need to select the motor you are using See the picture below to see how the MPP092 motor is found:

Parker US

MPP092 Model

Click “Next”

Compax3 Family

EPL Setup in ServoManager

Step 2: Motor Reference Data / PWM Settings

This step needs no input from you This data is populated from the motor files Click “Next”

Step 3: Motor Selection
Select the Parker part number for braking resistor using – or enter the user defined value Ignore this screen if not using a resistor

The Compax3 already has internal braking resistance, however, if your needs exceed the braking capabilities, you may need to use a Parker BRM breaking module. See manual for recommended combinations.

Click “Next”

Compax3 Family

EPL Setup in ServoManager
Step 4: This step is omitted Step 5: Moment of Inertia
This is the most important tuning step The Compax3 uses this for gains The closer you are to the correct inertia of your load, the better your system will be tuned Suggestion: Use the value from MotionSizer. Enter the same load value in both the “Minimum” and the “Maximum” locations. Only if your load isn’t changing If load changes (example picking up a box, then placing box) enter “Min” and “Max” respectively. “External Interia is unknown” Do not check the box – if you do, call Parker Applications Engineering for help with this AutoTuning Feature. Click “Next”

Compax3 Family

EPL Setup in ServoManager

Step 6: Distance / Travel Parameters

Select INCREMENTS for units of travel Travel Distance per revolution: Use Motors post-quadrature Encoder or Resolver resolution Travel Distance per revolution-Denominator: This should always be 1000 (based on C3’s internal scaling factor) Leave the other fields as default as shown. Motor direction can be invert in the ACR controller if needed.

Compax3 Family

EPL Setup in ServoManager
Step 7: Machine Zero / Homing
Make sure “No Homing Mode Used” is selected All default values are fine ACR9040 will be responsible for all homing procedures and velocities Click “Next”

Step 8: Travel Limits / Settings

In the first four rows: Positive SW: No reaction Negative SW: No reaction Positive HW: No reaction Negative HW: No reaction Make sure all box are unchecked Click “Next”

Compax3 Family

EPL Setup in ServoManager

Step 9: Jerk / Ramps

No changes required, leave as default ACR controls these values Click “Next”

Step 10: Monitoring / Limit Settings
Current Limit: Select as a percentage of motor continuous Following Error – Set value to Zero, ACR will monitor following error Other values as default settings Click “Next”

Compax3 Family

EPL Setup in ServoManager

Step 11: Encoder Output
This can be left in the default state Select “ON” if you want to send out the motor encoder through the X11 connector on the Compax3 The EPL Cable automatically sends the encoder/resolver position to the 9040

Step 12: I/O Assignment
Make sure the I/O assignment is select “Free” This gives the ACR9040 power over all I/O Click “Next”

Compax3 Family

EPL Setup in ServoManager

Step 13: Position Profiles - Configuration
There is nothing to be done here Click “Next”

Step 14: Profile Table
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 positioning Click “Next”

Compax3 Family

EPL Setup in ServoManager

Step 15: Other Error Reactions

Defaults settings are shown and recommend for most applications Highlight the field to reveal a pull-down to change the error reactions if needed Click “Next”

Summary Configuration: “Your Part Number”
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 Powerlink yet. You will save time if you just click “finish”. This will bring you back to the main ServoManager Screen.

Click “Finish”

Compax3 Family

EPL Setup in ServoManager

Ethernet Powerlink Setup The Ethernet Powerlink portion of the setup is very simple. There are two steps:
Select the address with connector S24 on the front of the drive Select the Ethernet Powerlink Mode

S24 Connector Bus Address Values
Values: 20 21 22 through 27 Left is OFF or “0” Right is ON or “1” An address value of zero is not valid (all off) From top to bottom: 10000000 Address = 1 From top to bottom: 01000000 Address = 2 From top to bottom: 11000000 Address = 3

When using multiple EPL drives, each drives MUST have a unique address. Recommend using Address 1 for 1st axis, 2 for 2nd Axis, etc.

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

Compax3 Family

EPL Setup in ServoManager

Communications: Ethernet Powerlink
Click on the “+” sign next to the “Communication Folder – you will see: RS-485 Modem Settings Ethernet Powerlink Double-click on the “Ethernet Powerlink” folder

Ethernet Powerlink: Step 1
First Row: Mode Ethernet Powerlink CN: Velocity Mode CN: Position Mode CN: Profile Select CN: Configuration via MN CN: Configuration via ACR Select “CN: Configuration via ACR” Click “Next”

Compax3 Family

EPL Setup in ServoManager

Step 2: Summary, Download Configuration

This is where you can now download the entire configuration you went through Device Selection Drive Configuration Ethernet Powerlink Settings

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

Possible Errors

Problem 1: Red Error Screen, check to see if correct COM port is selected

Problem 2: Can’t Initiate Download: check to make sure power is on, correct cable is being used, USB-Serial cable is the recommended version (Bafo BF-800 or BF-810 (http://www.bafo.com ). For more information: To trouble-shoot RS-232 communications, visit the FAQ section on www.parkermotion.com and type in BAFO. A write up is available.

Compax3 Family

EPL Setup in ServoManager

Ethernet Powerlink Address: Finishing Up
Click on the “+” sign next to the “Communication Folder – you will see: RS-485 Modem Settings Ethernet Powerlink Highlight (single-click) on the “Ethernet Powerlink” folder On the right side of the screen, scroll down half-way, here you can verify: Mode : CN: Configuration via ACR EPL Error Reaction (For application safety) EPL Node ID: this is the value set by the Bus Address, make note of this number for use within 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 AFTER SETUP IS COMPLETE!

Compax3 Family

EPL Setup in ServoManager

EPL Setup in ACR-View 5.5.5 The section will go over how you can set up a Compax3 EPL axis in ACR-View. Launch ACR-View
Double-click the ACR-View Icon on your desktop

Step 1: Create/Name Project
Select “Create New Project” and give it a name

Step 3: Model Number
Select the specific part number of the ACR purchases

Step 2: Select Controller
Select ACR9040 (or 9030)

Step 4: Name the controller
Select an alias for the ACR9040 (only relevant with multiple ACRs)

Compax3 Family

EPL Setup in ServoManager

Step 1: Communications
Select how you will communicate to the ACR9040 –Ethernet selected in this example with the default ACR IP address shown Click “Connect” and wait for communications to occur

Step 1a: Set the EPL Period
Open the Terminal Emulator The default servo/EPL period in the controller is 0.0005 sec. The Compax3 drives require a minimum of 0.001 sec In the terminal emulator, enter PERIOD 0.001 Enter the command ESAVE

Compax3 Family

EPL Setup in ServoManager

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

Step 2: Axes
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). This example shows configuration of 3 axes

Compax3 Family

EPL Setup in ServoManager

Step 3: Axis 0 Setup
Input the name of the axis Example: “X” Input the address of this drive Input the EPL Node ID from the Compax3: “1” Choose “EPL” for Command Output Once you click next, “1” will be displayed on the Axis Summary Table in this window

Step 4: Drive/Motor
Select Drive For Compa3 – select “Other EPL” Select Motor Only select series of motor you are controlling Gearmotor Choose whether or not you are using a gearhead integrated with the motor

Compax3 Family

EPL Setup in ServoManager

Step 5: Axis 0 Feedback
Type: Select “EPL Feedback” Package Rotary or Linear Choose “EPL” for Command Output Resolution: Use Motor’s postquadrature Encoder/Resolver resolution. If a Parker motor is selected in the previous screen, the correct resolution will be populated here.

Compax3 Family

EPL Setup in ServoManager

Step 6: Axis 0 Scaling
Specify desired units This will be what you eventually program in Transmission You 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

Step 7: Axis 0 Faults
Hardware Limit Detection This will enable your end-oftravel hardware limits. This function should be turned off in ServoManager Software Limit Detection You can enable or disable the software limits here. This function should be turned off in ServoManager Maximum Position Error Detection This is the controller finding the difference between actual and commanded position. Be sure that this value is smaller than the one in ServoManager (Page 8 Step 10)

Compax3 Family

EPL Setup in ServoManager
Step 8: Axis 0 Dedicated I/O
Input Type: Select “EPL Inputs” Highlight the Input to be used for Positive Limit. Click Positive Limit The next 2 consecutive inputs will be configured as Negative Limit and Home. Example shows Input 0 selected as Positive limit

Step 9: Servo Gains
Completely Ignore this screen for the Compax3 Use ServoManager Optimization Tool for tuning the motor

Compax3 Family

EPL Setup in ServoManager

Step 10: Axis 0 Jog/Home/Limits
Test Operation of Drive/Motor Start EPL Network Enable Drive Jog the motor Home the motor Be sure everything is wired correctly and that you are ready for motion.

The first Compax3 EPL Axis is configured. Go through these steps again for the remaining drives. Make sure each drive has a unique EPL Node ID in Step2.

Compax3 Family

EPL Setup in ServoManager

Step 11: Masters
You must assign each axis to a Master. For many applications, you can assign all three axes to the same master. Highlight the three Compax3 Axes Highlight “Master 0” Click on “Move Axes to Master” After you click on “Move Axes”, all three axes should move from the left side to beneath “Master 0” Click “Next”

Step 11a: Master 0
You need to assign some acceleration parameters to the Master. Acceleration Ramp Initial Velocity Deceleration Ramp Stop Ramp You can enable “s-curve” accel here.

Compax3 Family

EPL Setup in ServoManager
Step 12: Memory
Input the amount of memory for each program (aka “task”) that is being used Default for Program 0 is 300000k Enter in other values for other programs if needed. You can also change the number of global variables in this screen

Step 13: Check EPL Network
Skip this step. ACR-View will calculate a PERIOD value based on the number of axes in the system, however, it does not consider that Compax3 drives require a minimum PERIOD of 0.001.

3

Compax3 Family

EPL Setup in ServoManager
Step 14: CANOpen
This screen allows you to setup the CANOpen port Talk to CAN Open Expanded I/O Skip this step if the system does not include Expanded I/O

Step 15: Finish
If any errors occur in the configuration, they will be listed here Before clicking “Finish” proceed to step 16……..

Compax3 Family

EPL Setup in ServoManager

Step 16: Period
In the project tree, open the Defines editor The DEFINES editor will download code for immediate execution by the controller. This space is generally used for Tag/Alias information but can be utilized for any System configuration data that is not included in the Configuration Wizard. In the editor, enter the corrected value for the PERIOD, calculated as follows: 1-7 EPL axes, at least 1 Compax3: PERIOD=0.001 8-15 EPL axes: PERIOD = 0.000125 x Total # of EPL axes

Step 16: Period
Click FINISH In the download Project dialog, make sure that Configuration and Defines are checked Click OK

Configuration and download are finished.

Compax3 Family

EPL Setup in ServoManager

TESTING MOTION
On the program tree on the left, click on “Terminal Emulator” Type: prog0 This takes us to our first program Type: PERIOD Make sure it is .001 Type: EPLC ON Turn on EPL network Type: DRIVE ON X Enable drive Type: X/1 Initiate a relative move of 1 revolution

Compax3 Family


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