Parker Compax3 Series Manual de usuario

Compax3 Electromechanical Automation

We reserve the right to make technical changes. 19.06.08 13:24 192-120114 N5 C3I22T11 June 2008

The data correspond to the current status at the time of printing.

Operating instructions Compax3 I22T11

Positioning via DeviceNet

192-120114 N5 C3I22T11

June 2008

Release R08-0

Introduction C3I22T11

2 192-120114 N5 C3I22T11 June 2008

____________________________

Windows NT®, Windows 2000™, Windows XP™, Windows Vista are trademarks

of Microsoft Corporation.

Nonwarranty clause

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 publica-

tions.

Production site:

Parker Hannifin 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-automation.com http://www.parker-automation.com

E-mail: sales[email protected] mailto:sale[email protected]

Parker Hannifin GmbH & Co. KG - registered office: Bielefeld - Amtsgericht: Bielefeld HRA 14808

Personally liable shareholder: Parker Hannifin Management GmbH - Amtsgericht: Bielefeld HRB 35489

executive board: Dr. Gerd Scheffel, Günter Schrank, Christian Stein, Kees Veraart, Hans Wolfs - Chairman of the board: Hansgeorg

Greuner

Headquarters:

England:

Parker Hannifin plc

Electromechanical Automation

Arena Business Centre

Holy Rood Close

Poole, Dorset BH17 7FJ UK

Tel.: +44 (0)1202 606300

Fax: +44 (0)1202 606301

USA:

Parker Hannifin Corporation

Electromechanical Automation

5500 Business Park Drive

Rohnert Park, CA 94928

Phone #: (800) 358-9068

FAX #: (707) 584-3715

E-mail:

sales.automation@parker.com

mailto:sales.automation@parker.com

Internet:

www.parker-automation.com

http://www.parker-automation.com

E-mail:

CMR_help@parker.com

mailto:[email protected]

Internet:

www.compumotor.com

http://www.compumotor.com

Worldwide sales

http://apps.parker.com/divapps/eme/EME/Contact_sites/Sales%20Channel_Parker

-EME.pdf

DIN EN ISO 9001

Reg. Nr. 36 38

Parker EME Introduction

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Contents

1. Introduction.............................................................................................10

1.1 Device assignment ................................................................................ 10

1.2 Type specification plate ........................................................................ 11

1.3 Packaging, transport, storage .............................................................. 12

1.4 Safety Instructions................................................................................. 13

1.4.1. General hazards................................................................................................... 13

1.4.2. Safety-conscious working .................................................................................. 13

1.4.3. Special safety instructions ................................................................................. 14

1.5 Warranty conditions .............................................................................. 15

1.6 Conditions of utilization ........................................................................ 16

1.6.1. Conditions of utilization for CE-conform operation......................................... 16

1.6.2. Conditions of utilization for UL certification Compax3S................................. 19

1.6.3. Conditions of utilization for UL certification Compax3M ................................ 21

1.6.4. Current on the mains PE (leakage current)....................................................... 22

1.6.5. Supply networks .................................................................................................. 23

2. Compax3 Xxxx I22T11 Introduction......................................................24

3. Compax3 device description.................................................................26

3.1 Meaning of the status LEDs - Compax3 axis controller ..................... 26

3.2 Meaning of the status LEDs - Compax3MP (mains module).............. 27

3.3 Connections of Compax3S ................................................................... 28

3.3.1. Compax3S connectors........................................................................................ 28

3.3.2. Connector and pin assignment C3S.................................................................. 29

3.3.3. Control voltage 24VDC / enable connector X4 C3S ......................................... 31

3.3.4. Motor / Motor brake (C3S connector X3)........................................................... 32

3.3.5. C3Sxxx V2 ............................................................................................................ 33

3.3.5.1 Main voltage supply C3S connector X1.................................................... 33

3.3.5.2 Braking resistor / high voltage DC C3S connector X2.............................. 34

3.3.6. C3Sxxx V4 ............................................................................................................ 36

3.3.6.1 Power supply connector X1 for 3AC 400VAC/480VAC-C3S

devices...................................................................................................... 36

3.3.6.2 Braking resistor / high voltage supply connector X2 for 3AC

400VAC/480VAC_C3S devices................................................................ 37

3.3.6.3 Connection of the power voltage of 2 C3S 3AC devices.......................... 38

3.4 Installation instructions Compax3M .................................................... 38

3.5 Compax3MP/Compax3M connections ................................................. 40

3.5.1. Front connector ................................................................................................... 40

3.5.2. Connections on the device bottom.................................................................... 41

3.5.3. Connections of the axis combination................................................................ 42

3.5.4. Connector and pin assignment.......................................................................... 43

3.5.5. Control voltage 24VDC Compax3MP (mains module) ..................................... 45

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3.5.6. Mains supply Compax3MP (mains module)...................................................... 45

3.5.7. Braking resistor / temperature switch Compax3MP (mains module) ............ 47

3.5.7.1 Temperature switch Compax3MP (mains module) .................................. 48

3.5.8. Motor / motor brake Compax3M (axis controller) ............................................ 48

3.5.8.1 Measurement of the motor temperature of Compax3M (axis

controller) .................................................................................................. 49

3.6 Connections of Compax3H ................................................................... 50

3.6.1. Compax3H plugs/connections ........................................................................... 50

3.6.2. Terminal clamps – max. line cross section C3H .............................................. 52

3.6.3. Plug and pin assignment C3H............................................................................ 53

3.6.4. Motor / Motor brake C3H..................................................................................... 55

3.6.5. Control voltage 24 VDC C3H............................................................................... 56

3.6.6. Mains connection Compax3H ............................................................................ 57

3.6.7. Braking resistor / supply voltage C3H............................................................... 57

3.6.7.1 Connect braking resistor C3H................................................................... 58

3.6.7.2 Power supply voltage DC C3H ................................................................. 58

3.6.7.3 Connection of the power voltage of 2 C3H 3AC devices.......................... 59

3.7 Communication interfaces.................................................................... 60

3.7.1. RS232 / RS485 interface (plug X10) ................................................................... 60

3.7.2. Communikation Compax3M ............................................................................... 61

3.7.2.1 PC - Compax3MP (mains module) ........................................................... 61

3.7.2.2 Communication in the axis combination (connector X30, X31)................ 61

3.7.2.3 Adjusting the basic address...................................................................... 62

3.7.2.4 Setting the axis function............................................................................ 62

3.7.3. DeviceNet connector X23.................................................................................... 63

3.7.3.1 Adjusting the bus address ........................................................................ 63

3.7.3.2 Function of the Bus LEDs ......................................................................... 64

3.8 Signal interfaces .................................................................................... 65

3.8.1. Resolver / Feedback (connector X13)................................................................ 65

3.8.2. Analog / Encoder (plug X11)............................................................................... 66

3.8.2.1 Wiring of analog interfaces ....................................................................... 66

3.8.2.2 Connections of the encoder interface....................................................... 66

3.8.3. Digital inputs/outputs (plug X12) ....................................................................... 67

3.8.3.1 Connection of the digital Outputs/Inputs................................................... 68

3.9 Installation and dimensions Compax3................................................. 69

3.9.1. Mounting and dimensions Compax3S .............................................................. 69

3.9.1.1 Mounting and dimensions Compax3S0xxV2............................................ 69

3.9.1.2 Monting and dimensions Compax3S100V2 and S0xxV4......................... 70

3.9.1.3 Monting and dimensions Compax3S150V2 and S150V4......................... 71

3.9.1.4 Mounting and dimensions Compax3S300V4 ........................................... 72

3.9.2. Mounting and dimensions C3MP/C3M .............................................................. 73

3.9.2.1 Mounting and dimensions Compax3MP10/M050-150.............................. 73

3.9.2.2 Installation and dimensions Compax3MP20/M300 .................................. 74

3.9.2.3 With upper mounting, the housing design may be different. .................... 74

3.9.3. Mounting and dimensions C3H.......................................................................... 75

3.9.3.1 Mounting distances, air currents Compax3H050V4 ................................. 76

3.9.3.2 Mounting distances, air currents Compax3H090V4 ................................. 76

3.9.3.3 Mounting distances, air currents Compax3H1xxV4.................................. 77

3.10 Safety function – safety torque off – Compax3S................................. 78

3.10.1. Safe standstill with Compax3 principle............................................................. 78

3.10.2. Devices with the "Safe Standstill" safety function .......................................... 79

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3.10.3. Safety instructions for the ”safety torque off” function.................................. 80

3.10.4. Application example for ”safe standstill” ......................................................... 81

3.10.4.1 Safe standstill with bus option .................................................................. 81

3.11 Compax3M with safety option S1: Safe torque off.............................. 87

3.11.1. General Description............................................................................................. 87

3.11.1.1 Important terms and explanations ............................................................ 87

3.11.1.2 Intended use ............................................................................................. 88

3.11.1.3 Advantages of using the "safe torque off" safety function. ....................... 89

3.11.2. STO function on the Compax3M ........................................................................ 90

3.11.2.1 Safety switching circuits............................................................................ 90

3.11.2.2 Safety notes and limitations of the STO function in the

Compax3M................................................................................................ 91

3.11.2.3 Technical details of the Compax3M S1 option ......................................... 92

3.11.3. Compax3M STO application description........................................................... 93

3.11.3.1 STO function with safety control device via Compax3M inputs................ 93

3.11.3.2 STO function description .......................................................................... 93

3.11.3.3 STO function with safety switching device for applications with

fieldbusses ................................................................................................ 95

3.11.3.4 Emergency power-off and protective door monitoring without

safety switching devices ........................................................................... 97

3.11.4. STO function test................................................................................................. 98

3.11.4.1 STO test protocol specimen ..................................................................... 99

4. Setting up Compax3.............................................................................100

4.1 Configuration ....................................................................................... 100

4.1.1. Test commissioning of a Compax3 axis ........................................................... 102

4.1.2. Selection of the supply voltage used ................................................................ 102

4.1.3. Motor Selection.................................................................................................... 102

4.1.4. Optimize motor reference point and switching frequency of the

motor current ....................................................................................................... 103

4.1.5. Braking Resistor.................................................................................................. 106

4.1.6. General Drive ....................................................................................................... 107

4.1.7. Defining the reference system ........................................................................... 107

4.1.7.1 Measure reference.................................................................................... 108

4.1.7.2 Machine Zero ............................................................................................ 111

4.1.7.3 Travel Limit Settings ................................................................................. 129

4.1.7.4 Change assignment direction reversal / limit switches............................. 132

4.1.7.5 Change initiator logic ................................................................................ 132

4.1.8. Defining jerk / ramps ........................................................................................... 133

4.1.8.1 Speed for positioning ................................................................................ 133

4.1.8.2 Acceleration for positioning and velocity control....................................... 133

4.1.8.3 Acceleration / deceleration for positioning................................................ 133

4.1.8.4 Jerk limit for positioning ............................................................................ 133

4.1.8.5 Ramp upon error and de-energize............................................................ 135

4.1.8.6 Jerk for STOP, JOG and error .................................................................. 135

4.1.9. Limit and Monitoring Settings............................................................................ 136

4.1.9.1 Current (Torque) Limit............................................................................... 136

4.1.9.2 Positioning window - Position reached ................................................... 136

4.1.9.3 Following error limit................................................................................... 137

4.1.9.4 Maximum operating speed ....................................................................... 138

4.1.10. Encoder Simulation............................................................................................. 139

4.1.10.1 Encoder bypass with Feedback module F12 (for direct drives) ............... 139

4.1.11. I/O Assignment .................................................................................................... 140

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4.1.12. Position mode in reset operation....................................................................... 141

4.1.12.1 Examples in the help file........................................................................... 142

4.1.13. Reg-related positioning / defining ignore zone ................................................ 143

4.1.14. Write into set table............................................................................................... 144

4.1.14.1 Programmable status bits (PSBs)............................................................. 144

4.1.15. Motion functions.................................................................................................. 145

4.1.15.1 MoveAbs and MoveRel............................................................................. 145

4.1.15.2 Reg-related positioning (RegSearch, RegMove)...................................... 146

4.1.15.3 Electronic gearbox (Gearing).................................................................... 151

4.1.15.4 Speed specification (Velocity)................................................................... 152

4.1.15.5 Stop command (Stop)............................................................................... 152

4.1.16. Error response ..................................................................................................... 152

4.1.17. Configuration name / comments........................................................................ 153

4.1.18. Dynamic positioning ........................................................................................... 154

4.2 Configuring the signal Source............................................................ 155

4.2.1. Select signal source for Gearing ....................................................................... 155

4.2.1.1 Signal source HEDA ................................................................................. 156

4.2.1.2 Encoder A/B 5V, step/direction or SSI feedback as signal source........... 156

4.2.1.3 +/-10V analog speed setpoint value as signal source .............................. 158

4.3 Optimization ......................................................................................... 159

4.3.1. Optimization window........................................................................................... 160

4.3.2. Scope .................................................................................................................... 161

4.3.2.1 Monitor information ................................................................................... 161

4.3.2.2 User interface............................................................................................ 162

4.3.2.3 Example: Setting the Oscilloscope ........................................................... 167

4.3.3. Controller optimization ....................................................................................... 169

4.3.3.1 Introduction ............................................................................................... 170

4.3.3.2 Configuration............................................................................................. 173

4.3.3.3 Automatic controller design ...................................................................... 191

4.3.3.4 Setup and optimization of the control ....................................................... 204

4.3.4. Signal filtering with external command value .................................................. 237

4.3.4.1 Signal filtering for external setpoint specification and electronic

gearbox ..................................................................................................... 237

4.3.4.2 Signal filtering for external setpoint specification and electronic

cam ........................................................................................................... 238

4.3.5. Input simulation ................................................................................................... 240

4.3.5.1 Calling up the input simulation.................................................................. 240

4.3.5.2 Functionality.............................................................................................. 241

4.3.6. Setup mode .......................................................................................................... 242

4.3.6.1 Motion objects in Compax3 ...................................................................... 243

4.3.7. Load identification............................................................................................... 244

4.3.7.1 Principle .................................................................................................... 244

4.3.7.2 Boundary conditions ................................................................................. 244

4.3.7.3 Process of the automatic determination of the load characteristic

value (load identification) .......................................................................... 245

4.3.7.4 Tips ........................................................................................................... 246

4.3.8. Alignment of the analog inputs.......................................................................... 246

4.3.8.1 Signal processing of the analog inputs..................................................... 247

4.3.8.2 Offset alignment........................................................................................ 247

4.3.8.3 Gain alignment.......................................................................................... 247

4.3.9. C3 ServoSignalAnalyzer ..................................................................................... 248

4.3.9.1 ServoSignalAnalyzer – function range...................................................... 248

4.3.9.2 Signal analysis overview........................................................................... 249

4.3.9.3 Installation enable of the ServoSignalAnalyzer ........................................ 250

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4.3.9.4 Analyses in the time range ....................................................................... 252

4.3.9.5 Measurement of frequency spectra .......................................................... 255

4.3.9.6 Measurement of frequency responses ..................................................... 258

4.3.9.7 Overview of the user interface .................................................................. 265

4.3.9.8 Basics of frequency response measurement ........................................... 279

4.3.9.9 Examples are available as a movie in the help file................................... 284

4.3.10. ProfileViewer for the optimization of the motion profile ................................. 285

4.3.10.1 Mode 1: Time and maximum values are deduced from Compax3

input values............................................................................................... 285

4.3.10.2 Mode 2: Compax3 input values are deduced from times and

maximum values....................................................................................... 286

4.3.11. Turning the motor holding brake on and off..................................................... 287

5. Communication ....................................................................................288

5.1 Compa3 communication variants....................................................... 288

5.1.1. PC <-> Compax3 (RS232).................................................................................... 289

5.1.2. PC <-> Compax3 (RS485).................................................................................... 290

5.1.3. PC <-> C3M device combination (USB) ............................................................. 291

5.1.4. USB-RS485 Moxa Uport 1130 adapter.............................................................. 292

5.1.5. ETHERNET-RS485 NetCOM 113 adapter........................................................... 293

5.1.6. Modem Westermo TD-36 485.............................................................................. 295

5.1.7. C3 settings for RS485 two wire operation......................................................... 298

5.1.8. C3 settings for RS485 four wire operation........................................................ 299

5.2 COM port protocol ............................................................................... 300

5.2.1. RS485 setting values........................................................................................... 300

5.2.2. ASCII - record....................................................................................................... 301

5.2.3. Binary record ....................................................................................................... 302

5.3 Remote diagnosis via Modem............................................................. 305

5.3.1. Structure............................................................................................................... 305

5.3.2. Configuration of local modem 1......................................................................... 306

5.3.3. Configuration of remote modem 2..................................................................... 307

5.3.4. Recommendations for preparing the modem operation ................................. 308

5.4 DeviceNet ............................................................................................. 309

5.4.1. DeviceNet Configuration..................................................................................... 309

5.4.2. Error reaction to a bus failure ............................................................................ 309

5.4.3. DeviceNet Operating modes............................................................................... 310

5.4.3.1 Operating mode: Speed control................................................................ 311

5.4.3.2 Operating mode: Direct positioning .......................................................... 312

5.4.3.3 Operating mode: Positioning with set selection........................................ 314

5.4.3.4 Controlword /Statusword .......................................................................... 317

5.4.4. Status machine .................................................................................................... 324

5.4.5. DeviceNet object classes.................................................................................... 326

5.4.5.1 Overview of the DeviceNet object classes................................................ 327

5.4.5.2 Object classes........................................................................................... 327

5.4.5.3 Manufacturer-specific object class............................................................ 328

5.4.5.4 Data formats of the bus objects ................................................................ 334

5.4.6. DeviceNet application description..................................................................... 337

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6. Status values ........................................................................................338

6.1 D/A-Monitor .......................................................................................... 338

6.2 Status values........................................................................................ 338

7. Error.......................................................................................................339

7.1 Error list................................................................................................ 339

8. Order code ............................................................................................340

8.1 Order code device: Compax3 ............................................................. 341

8.2 Order code for mains module: Compax3MP ..................................... 342

8.3 Accessories order code ...................................................................... 342

9. Compax3 Accessories .........................................................................346

9.1 Parker servo motors............................................................................ 346

9.1.1. Direct drives ......................................................................................................... 346

9.1.1.1 Feedback systems for direct drives .......................................................... 347

9.1.1.2 Linear motors............................................................................................ 348

9.1.1.3 Torque motors........................................................................................... 348

9.1.2. Rotary servo motors............................................................................................ 348

9.2 EMC measures ..................................................................................... 349

9.2.1. Mains filter............................................................................................................ 349

9.2.1.1 Mains filter NFI01/01................................................................................. 350

9.2.1.2 Mains filter NFI01/02................................................................................. 350

9.2.1.3 Mains filter for NFI01/03............................................................................ 351

9.2.1.4 Mains filter NFI02/0x................................................................................. 351

9.2.1.5 Mains filter NFI03/01 & NFI03/03 ............................................................. 352

9.2.1.6 Mains filter NFI03/02................................................................................. 352

9.2.2. Motor output filter................................................................................................ 353

9.2.2.1 Motor output filter MDR01/04.................................................................... 353

9.2.2.2 Motor output filter MDR01/01.................................................................... 353

9.2.2.3 Motor output filter MDR01/02.................................................................... 354

9.2.2.4 Wiring of the motor output filter................................................................. 354

9.2.3. Mains filter............................................................................................................ 354

9.3 Connections to the motor ................................................................... 355

9.3.1. Resolver cable ..................................................................................................... 356

9.3.2. SinCos© cable...................................................................................................... 357

9.3.3. EnDat cable .......................................................................................................... 358

9.3.4. Overview of motor cables................................................................................... 358

9.3.5. Motor cable with plug.......................................................................................... 359

9.3.6. Motor cable for terminal box .............................................................................. 360

9.3.6.1 Connection of terminal box MH145 & MH205 .......................................... 361

9.3.7. Encoder cable ...................................................................................................... 362

9.4 External braking resistors................................................................... 363

9.4.1. Permissible braking pulse powers of the braking resistors ........................... 364

9.4.1.1 Calculation of the BRM cooling time......................................................... 365

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192-120114 N5 C3I22T11 June 2008 9

9.4.1.2 Permissible braking pulse power: BRM08/01 with C3S015V4 /

C3S038V4................................................................................................. 366

9.4.1.3 Permissible braking pulse power: BRM08/01 with C3S025V2................. 366

9.4.1.4 Permissible braking pulse power: BRM09/01 with C3S100V2................. 367

9.4.1.5 Permissible braking pulse power: BRM10/01 with C3S150V4................. 367

9.4.1.6 Permissible braking pulse power: BRM05/01 with C3S063V2................. 368

9.4.1.7 Permissible braking pulse power: BRM05/01 with C3S075V4................. 368

9.4.1.8 Permissible braking pulse power: BRM05/02 with C3S075V4................. 369

9.4.1.9 Permissible braking pulse power: BRM04/01 with C3S150V2................. 369

9.4.1.10 Permissible braking pulse power: BRM04/01 with C3S300V4................. 370

9.4.1.11 Permissible braking pulse power: BRM04/02 with C3S150V2................. 370

9.4.1.12 Permissible braking pulse power: BRM04/02 with C3S300V4................. 371

9.4.1.13 Permissible braking pulse power: BRM04/03 with C3S300V4................. 371

9.4.1.14 Permissible braking pulse power: BRM11/01 with C3H0xxV4 ................. 372

9.4.1.15 Permissible braking pulse power: BRM12/01 with C3H1xxV4 ................. 372

9.4.1.16 Permissible braking pulse power: BRM13/01 with C3MP10D6................ 373

9.4.1.17 Permissible braking pulse power: BRM14/01 with C3MP10D6................ 373

9.4.2. Dimensions of the braking resistors ................................................................. 373

9.4.2.1 BRM8/01braking resistors ........................................................................ 373

9.4.2.2 BRM5/01 braking resistor ......................................................................... 373

9.4.2.3 Braking resistor BRM5/02, BRM9/01 & BRM10/01 .................................. 374

9.4.2.4 Braking resistor BRM4/0x ......................................................................... 374

9.4.2.5 Braking resistor BRM11/01 & BRM12/01 ................................................. 375

9.4.2.6 Braking resistor BRM13/01 & BRM14/01 ................................................. 375

9.5 Connection set for Compax3S............................................................ 376

9.6 Connection set for Compax3MP/Compax3M..................................... 377

9.7 Operator control module BDM............................................................ 378

9.8 EAM06: Terminal block for inputs and outputs................................. 379

9.9 Interface Cables ................................................................................... 382

9.9.1. RS232 cable.......................................................................................................... 383

9.9.2. RS485 cable to Pop ............................................................................................. 384

9.9.3. I/O interface X12 / X22 ......................................................................................... 385

9.9.4. Ref X11.................................................................................................................. 386

9.9.5. Encoder coupling of 2 Compax3 axes............................................................... 387

9.9.6. Modem cable SSK31............................................................................................ 388

9.10 Options M1x ......................................................................................... 389

9.10.1. Input/output option M12...................................................................................... 389

9.10.1.1 Assignment of the X22 connector............................................................. 389

9.10.2. HEDA (motion bus) - Option M11....................................................................... 390

9.10.3. Option M10 = HEDA (M11) & I/Os (M12) ............................................................ 392

10.Specifications .......................................................................................393

11.Index ......................................................................................................410

Introduction C3I22T11

10 192-120114 N5 C3I22T11 June 2008

In this chapter you can read about:

Device assignment .............................................................................................................10

Type specification plate......................................................................................................11

Packaging, transport, storage ............................................................................................12

Safety Instructions..............................................................................................................13

Warranty conditions............................................................................................................15

Conditions of utilization ......................................................................................................16

1.1 Device assignment

This manual applies to the following devices:

Compax3S025V2 + supplement

Compax3S063V2 + supplement

Compax3S100V2 + supplement

Compax3S150V2 + supplement

Compax3S015V4 + supplement

Compax3S038V4 + supplement

Compax3S075V4 + supplement

Compax3S150V4 + supplement

Compax3S300V4 + supplement

Compax3H050V4 + supplement

Compax3H090V4 + supplement

Compax3H125V4 + supplement

Compax3H155V4 + supplement

Compax3M050D6 + supplement

Compax3M100D6 + supplement

Compax3M150D6 + supplement

Compax3M300D6 + supplement

Compax3MP10D6

Compax3MP20D6

With the supplement:

F10 (Resolver)

F11 (SinCos©)

F12 (linear and rotary direct drives)

I22 T11

1. Introduction

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