How to create custom servo motor files for the Compax3 using the C3 ServoManager software's MotorManager
This is a 4 part video explaining how to use the Parker Compax3's C3 ServoManager software to create custom motor files for rotary motors. Explains parker North America custom rotary servo motor part numbering. Shows creating the file, automatic setting of commutation parameters, which feedback types are supported on the different Compax3 F10, F11, F12, and then a quick functional test of configuring the drive and jogging the motor in the Optimization screen.
Part 1: Connecting to the Compax3, Starting the Motor Manager, Overview of the structure of the Motor Manager
Part 2: Part Numbering for standard and custom Parker Electromechanical NA rotary servo motors
Part 3: Creating the custom rotary servo motor file
Part 4: Automatic setting of commutation parameters, Quick drive configuration and jogging from Optimization screen, How to email (.c3p includes motor file, or .xml Export & Import)
10/1/12jh
Hello. Today I'll be demonstrating how to create a rotary servo motor file for the Compax3 using the C3 ServoManager software.
The C3 ServoManager has libraries for most standard Parker motors.
This process can be used for any custom rotary motors or for machines with existing non-Parker motors where the Compax3 is now being integrated.
The software makes it easy to do this but there are a lot of steps involved so this video will help explain the steps and options.
I'll assume you have your Compax3's 24vdc control powered on as well as the AC power.
The Compax3S and Compax3M's safe torque off input and enable inputs are powered.
The motor and optional brake is connected to the x3 and the feedback to the x13.
We'll be controlling it through the software so the inputs and outputs on the x11 and x12 and optional x22 connectors do not need to be wired.
For a custom motor file it would be best if it is not connected to the load.
The automatic setting of commutation parameters will detect the feedback angle and frictional & large inertial loads could cause problems so if you can disconnect the motor from the load, that would be best.
It'll just spin the motor so if you want to disconnect the coupling and load from the motor shaft and/or put the motor on the floor, it shouldn't be doing any high speed or accelerations.
It would only do this with a bad feedback cable and mostly like would trip on a feedback fault but in the event, keep anyone away from the motor.
First, go to Options > RS232/485 com port settings.
You can see which COM ports available. You may need to go into your PC's DeviceManager to see which PORT you are connected to. Then in the main screen, click the Open/Close Com Port icon.
You should see in the status bar the port open.
You can verify on the top left > open Device selection and double-clicking Online Device Identification
This will connect to the drive and show the Device Type, what the Compax3 is configured as,
the firmware release number, controller board hardware level.
If you need the existing drive configuration, we'll be overwriting it today so upload and save the drive configuration.
Then create a new one by File > New.
Second go into Edit > Start C3-Motor Manager or from the tool bar, click on the Motor icon.
The MotorManager has two main parts,
the Motor library which has all the pre-defined Parker motors.
These are divided by both Rotary and Linear motors.
Those are then further categorized based on the feedback type:
Resolver, SinCos (Stegmann Hyperface), Endat (Heidenhain) Encoder (incremental)
Then based on Parker Europe or Parker US.
Down below, you have Edit Motor library.
You can create your own rotary motor file or linear servo motor file.
You'll need the full specifications of the servo motor to create these files.
If it's a custom Parker motor from Parker Electromechanical North America, unless it's
a ground-up custom, most of our custom motors are modified versions of our standard
servo motors.
Custom rotary servo motor part numbers are different formats depending upon
the age and the standard motor it is based upon:
CM233AE-115500 would be a custom SM233AE motor. The -115500 is a 6-digit incremental
number. This format custom part number is used for SM, BE, NeoMetric/J series servo
motors and use a 5digit or 6 digit number suffix. (You can tell if it's a BE23 versus
a SM23 motor based upon the winding letter. The SM motor has the A and B windings. The
BE uses the D, F, G, H,K, L, J windings.) You could also look at the motor, the SM is housed
where the BE is stamped lam.
Custom MPP and MPJ motors begin with CMP and CMJ.
Similar to the above format with the frame, stack length, winding, feedback and
6digit incremental number (begins at 200000).
ie, CMP0922R41-200827 is a custom MPP, 92mm frame, 2 stack length, 41 resolver.
CMP921B7D-200800
CMJ1426B6S-200802
Newer custom MPM motors begin with MPC, such as MPC1422B-115713 would be a custom MPM,
142mm frame, 2 stack length, B winding.
Older MPM custom motors end in 3 or 4 digit sequential number. ie MPM664-623 is a custom
MPM motor, 66mm frame, 4 stack length. If this is on an existing machine, you may contact
the machine builder for motor specifications or the factory. These part numbers do not
indicate the winding but the label on the side of the motor should give the resistance
and inductance and if it's a standard it'd be the same as what's in the motor manager.
Other than the older MPM, If it's a non-standard winding, it will be an X where the winding letter should be (ie, CM233XE would be a custom motor with non-standard winding). If it's a non-standard
feedback, it would be an X (ie, CM233AX would be a custom SM233 motor with A winding
and non-standard feedback). Presuming this is a new motor, you should have received the
specifications from your Parker Automation Technology Center distributor with the current,
resistance, inductance, rated speed, etc. If you don't have those, you may contact your ATC.
If it's an existing motor and a non-standard winding,
if it's proprietary motor, you'll need to contact the machine builder for those specifications.
If you're not sure if it's proprietary or not, you can contact the factory or your local ATC.
To contact the Parker North America, you can email emn.service@support.parker.com
For any Parker Europe motors, you can email parker.germany@parker.com
Assuming the motor is a modified standard, you can find the standard motor it's based on and use
it as a template. Right click from the Motor Library or Edit Motor Library, double-click on template.
If this is a non-parker motor, under Edit Motor Library, double-click on New.
Step 1, you can name your motor. These will appear under User Defined motors instead of Parker US or Parker Europe motors.
You can also add a comment for this file.
Each type you Use as template it'll always set the name as Copy As then the motor part number.
If you do multiple motor files, it'll always have the same name. The last one created is on the top of the list.
If you ever connect to another drive and do an upload, it'll import that motor file if it's custom motor file.
You can look at the summary screen to see the differences but in the drive configuration it'd be difficult to determine which is correct so it's good practice to re-name it.
Step 2 has the motor's pole count, the motor voltage constant. This says Volts/1000rpm and it is the peak of the sine wave.
Rotary inertia is set in kg-mm2
The continuous stall current is at 0 speed, is in Arms and in milliamps.
The peak current is set based on a % of the rated current which is at rated speed.
Time at peak current is how long the motor can handle the peak current in milliseconds.
The max mechanical speed is typically the bearing limit but you can also set it as maximum speed for the feedback device.
The resistance is in milli-ohms and the inductance in micro-henries.
For saturation/defluxing values, leave this un-checked for permanent magnet (synchronous) motors.
This is an error in the database for US motors and will be corrected in a future revision of the database.
For now, you can just uncheck this.
If this is a standard winding, you do not need to change this unless the motor is force-cooled.
You can change these as needed based on the motor specifications.
Step 3 sets allows an optional maximum DC voltage. Thus if the motor is rated for 160vdc like an SM231AE but the drive can
take 230vac, this would prevent a user from enabling the drive with 230vac connected and damaging the motor.
This would cause a 3210 dc link voltage exceeds limit error.
Step 4, 5 and 6 are for the motor's current, torque, and speed at 230, 400 and 460volts.
The speed is in rpm, the torque is in milliNewton-meters and the current is in milli-amps.
Again, current is in Arms/phase.
If the motor is not rated for the higher voltage, leave those unchecked.
If this is a standard winding, you do not need to change this, unless the motor is force-cooled.
You can enter these from the Galaxy spreadsheets from your ATC.
Step 7 is set based on the motor's overtemperature sensor.
If this is based on a standard Parker motor, you don't need to change this.
If the motor doesn't have an overtemperature sensor like the BE16, you can click No.
This screen you input the motor's thermal time constant. This is an industry standard specification
for the motor based and is the time it takes to reach 63% of the motor's final temperature given
a constant power input. If you don't have this, you need to contact the motor manufacturer for this.
The sensor can be either a PTC or an NTC.
For PTC, you input the resistance at the overtemperature.
If it's only a switch, check the box.
Note if you are looking at the motor temperature in the optimization screen under object
684.2 C3.StatusTemperature_Motor this
presumes the motor has a KTY84-130 thermistor.
If it doesn't then the temperature will not be correct.
Step 8 is set if the motor has a fail-safe brake or not.
If it does, then you can set the set (close) and release (open) time delays.
Note the maximum max current draw is 1.6A.
If the brake current is higher, than you'll need to run the brake output to a relay.
Step 9 sets the motor feedback.
The radial button selects the feedback type.
These are straight-forward except SinCos.
This is a Stegmann trademark name for their Hyperface absolute encoders.
This shouldn't be confused with the Heidenhain EnDat which is also a sine-cosine type feedback signal
or a 1volt (peak-peak) sine/cosine encoder.
CHM Feedback supported
Note the Compax3's have different hardware for the different feedback options.
The F10 is used for resolvers.
The F11 is for the SinCos
The F12 is used for quadrature encoders, EnDat and 1V sine/cosine encoders and analog halls.
Below you can see the commutation angle (resolver offset angle), the commutation direction, feedback direction and poles.
On the number of poles, if you don't know, you can set it to 2 and then finish the file.
Download the file to the C3 and then go into the optimization screen to look at the motor's feedback position. Rotate the motor by hand 1 revolution and you can see if it's correct or off by a factor of 2, 3 or more, and then go back and edit the motor file.
These will change based on the feedback type of the motor. For the absolute SinCos and Endat encoders, this will also determine the alignment between the encoder and the motor phases.
If this custom motor is based on a standard Parker motor, these should be the same as the standard.
To verify, click on Automatic setting of commutation parameters on the bottom.
This will download a configuration to the Compax3 and rotate the motor, determining these directions and angles.
It takes a minute or two to download and will overwrite what's in the drive.
It'll warn you and you can cancel and go back to the main screen to upload.
1. Learn commutation values
2. uncheck the discontinuous position. this is only for motor's where it's not possible to measure the position over
an entire revolution
Next it'll start rotating the motor. Click which direction it's rotating.
5. shows whether the commutation or feedback sensor directions had to be inverted. click finish.
This takes you back to step 9, populating the feedback direction and commutation angle.
The custom motor file is created when you click Finish.
You can then see the motor file under User Defined motors.
The C3 will be blinking Red light (no configuration)
so you'll need to go through the drive configuration to select the new motor file.
DRIVE CONFIGURATION & DOWNLOAD
(deactivate limit sensors, HomeMode 35)
click checkbox to open Optimization screen
Status Values > Actual postion 680.5
Enable & jog
Note in the base amplifier I10T10 torque mode, you cannot jog from the optimization, you'd have to do atleast velocity mode.
Export, Import, Uploading
One last item, if you want to create the motor file and then email it to another user, there's 2 ways to do this.
1. If you have the .c3p file for the drive configuration, when you open this, the C3 ServoManager software looks at the
motor file and if it's not in the motor library, it will add it. So if you already have the file for the Compax3 which is
a .c3p file extension you can email that.
2. For only the motor file and not the drive configuration, go back into the MotorManager
(Edit > Start C3MotorManager or via the motor icon on the toolbar)
File > Export or right-click on the motor
then exports it as a .xml file
The user would then be able to import the motor file with File > Import
This concludes this module on how to create a custom rotary servo motor file for the Parker Compax3 drive.
Have a nice day!