The Compax3 has different technology levels (T10, T11, T30, T40)
The hardware part number is on the side of the drive. However, you can software configure the Compax3's to a lower technology level. Example, an I11T30 programmable Compax3 can be 'dumbed down' to a I10T10 servo drive. This allows users to keep one spare of the highest technology they use and software configure it for their purposes.
The x11 connector has the analog inputs and outputs and encoder output (5vdc quadrature).
The x12 connector has the discrete inputs and outputs (24vdc PNP type).
The x22 connector is an expansion discrete input & output, giving 12 more points of IO (in groups of 4, example: 8inputs, 4 outputs; or 4inputs, 8 outputs). This is included with the M10 and M12 options and is required when purchasing the I12T11 option.
NOTE: THESE INPUTS & OUTPUTS CHANGE FUNCTION BASED ON THE SOFTWARE CONFIGURATION!
The functions of these IO are within the C3 ServoManager online help files. Find them by searching the connector such as: x12
I10T10
The x11 encoder outputs are encoder inputs for encoder following mode. For 5vdc step & direction mode, these same pins are now the step & direction inputs. For 24vdc step & direction mode (that are on the x12 connector), the x11 can output the encoder for optional external display or monitoring.
The x12 connector has the Energise motor (& deactivate brake) input, Enable Setpoint value, Quit (acknowledges and tries to clear the error on rising edge). Most servo controllers have a drive enable output which should be tied to these 3 inputs. There's also a Fault output (O0 is No Error - a fault output that's normally on).
Click to open images:
I11T11
For the T11 and higher technology levels (I12T11, T30 and T40), the x11's encoder output is optional since moves are selected via the discrete IO inputs(I11T11 or I12T11), external control word (I12T11, I20T11, I21T11, I22T11), or the internal program (T30 or T40).
The I12T11 and higher gives the option for external SSI encoder input (line speed encoder for gearing/camming applications) or secondary position loop (SSI or quadrature). If dual loop isn't being used, it can be enabled for encoder output.
I12T11 x11 (also valid for I20T11, I12T11, I22T11, T30 and T40)
The x12 connector has the Energize/Enable motor input, No Stop input (normally closed Stop input), Address (binary/bcd weighted) inputs and Start (scans the address inputs and starts the move.
I12T11
For the T11 and higher technology levels (I12T11, T30 and T40), the x11's encoder output is optional since moves are selected via the discrete IO inputs(I11T11 or I12T11), external control word (I12T11, I20T11, I21T11, I22T11), or the internal program (T30 or T40).
The I12T11 and higher gives the option for external SSI encoder input (line speed encoder for gearing/camming applications) or secondary position loop (SSI or quadrature). If dual loop isn't being used, it can be enabled for encoder output.
The I12T11 can be controlled through external control word (Free assignment for the IO in the drive configuration) or through the discrete inputs & outputs (Fixed assignment for the IO in the drive configuration).
The x12 connector has the Energize/Enable motor input, No Stop input (normally closed Stop input), Jog+, Jog-, Limit switch, Home switch (Machine reference initiator) and Reg input:
The x22 connector has the Address (binary/bcd weighted) inputs and Start (scans the address inputs and starts the move) as well as a No Stop input (normally closed Stop input):
I20T11 (ProfiBus) I21T11 (CANopen) I22T11 (DeviceNet)
The x11's encoder output is optional since moves are selected via the control word from the fieldbus master. The I12T11 and higher gives the option for external SSI encoder input (line speed encoder for gearing/camming applications) or secondary position loop (SSI or quadrature). If dual loop isn't being used, it can be enabled for encoder output.
These are controlled from the fieldbus Master sending the external control word to the Compax3. Optionally, you can have these logically ANDed to the discrete inputs & outputs on the x12 (Fixed assignment for the IO in the drive configuration). If Fixed assignment is not selected, then only the ControlWord needs to be set.
The x12 connector has the Energize/Enable motor input, No Stop input (normally closed Stop input), Jog+ and Jog- inputs. These are the inputs that can be set to fixed assignment. Note that the I4 Reg input, limit switch 1 and 2 are not affected by the Fixed assignment.
I30T11 EthernetPowerlink I31T11 EtherCAT
The x11's encoder output is optional since moves are controlled through the EPL or EtherCAT master. The I12T11 and higher gives the option for external SSI encoder input (line speed encoder for gearing/camming applications) or secondary position loop (SSI or quadrature). If dual loop isn't being used, it can be enabled for encoder output for an encoder display.
The C3 with EPL or EtherCAT are controlled from the EPL or EtherCAT controllers sending the control word and commanded position (or velocity) to the Compax3. Optionally, you can have these logically ANDed to the discrete inputs & outputs on the x12 (Fixed assignment for the IO in the drive configuration). If Fixed assignment is not selected, then only the ControlWord needs to be set.
The x12 connector has the Energize/Enable motor input, No Stop input (normally closed Stop input), Jog+ and Jog- inputs. These are the inputs that can be set to fixed assignment. Note that the I4 Reg input, limit switch 1 and 2 are not affected by the Fixed assignment.
T30 or T40
The x11's encoder output is optional since moves are commanded via the internal PLC (CoDeSys v2.3) program. The I12T11 and higher gives the option for external SSI encoder input (line speed encoder for gearing/camming applications) or secondary position loop (SSI or quadrature). If dual loop isn't being used, it can be enabled for encoder output, such as for an encoder display.
The analog input and output values can be written/read from the internal PLC (CoDeSys v2.3) program: click here.
These are controlled from the user written PLC program. Sample programs showing how to read/write the inputs & outputs are available here on our website:
http://www.parkermotion.com/support_samples.htm#C3
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