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Compax - Legacy Compumotor Encoder Connection

The following is a table for the Legacy Compumotor (BE, SM, SE, NeoMetric, J-Series, or M-Series) Encoder motor to Compax (with S3 Option) Connections:
Feedback Connections X12**
Compax Feedback Connector Encoder Cable***
X12** Wire Function Pin# Pin Letter Function Wire Color
GND 7 G Encoder Ground Black
GND 7 K Hall Ground White/Green
+5 V 4 H Encoder +5 Red
+5 V 4 M +5VDC White/Blue
A+ (Encoder) 13 A CH A+ White
A- (Encoder) 5 B CH A- Yellow
B+ (Encoder) 12 C CH B+ Green
B- (Encoder) 11 D CH B- Blue
Z+ (Encoder) 8 E Index (Z)+ Orange
Z- (Encoder) 15 F Index (Z)- Brown
Hall 1 14 T Hall 1 White/Brown
Hall 2 6 U Hall 2 White/Orange
Hall 3 3 P Hall 3 White/Violet
Connector Housing** ** N.C. Shield Drain(Clear)
TEMP (Motor Temp-) 10 N THERM Orange/Yellow
+5 VDC (Motor Temp+) 9 L THERM Orange/Yellow

*The shield connections of the feedback cable should be connected to the Compax Feedback X12 header's metal housing (if possible).**The encoder feedback cable should be connected to the X12 RESOLVER connector on the Compax. The feedback cable should always be connected to X12. The X13 ENCODER connector is strictly used for encoder options E2, E3, or E4.
***The wire colors may not apply to your cable. This is the standard cable feedback colors, however, items such as Hi-Flex cables may have a different color code. If your feedback wire colors do not match, please contact Parker. These colors should apply to the FL, FO, and "10" options in the part number.
Motor Power Connections X1
Compax Motor Power Screw Terminals Motor Power Cable
X3 Function Phase MS14-12 Pin Letter
(MS18-5 92mm)
Function Wire Color
Phase U U J(A) Phase A Red/Yellow(Black #1)
Phase V V K(B) Phase B White/Yellow (Black #2)
Phase W W L(C) Phase C Black/Yellow (Black #3)
Ground PE M(D) PE GND Green/Yellow

Notes:
Motor Setup - The Legacy Compumotor Encoder motors are not included in the ServoManager software for the Compax. However, the Legacy Compumotor motors are included in the C3 ServoManager motor files for the Compax3. You can use the values in the C3 - MotorManager from within C3 ServoManager to help you configure your custom motor in the ServoManager software you use with your Compax.
Once in the C3 - MotorManager, find your motor in the selection tree and the use the values to create your custom motor. Some additional notes you will need to set on the Compax:1) The word Nominal (in Compax software) is the same as Rated (in the Compax3 software). Thus, Nominal Current in ServoManager equates to Rated Current C3 ServoManager Motor Manager.
2) When configuring your custom Motor in the ServoManager software Parameter Editor, you will need to set the following values:
In the Custom motor window the motor technology should be Synchronous Motor.
In the Synchrounous motor window, set the following:
P129 - 0 degrees (NOTE: This is different than the C3-MotorManager which sets the offset to 180)
P130 - 2,5 kHz (technically not used)
P131 - 100, Level converting (1/u) in [%]
P132 - 10, TTL-Encoder
P133 - Number of Encoder lines (ppr or line count). This is the pre-quadrature encoder resolution.
P128 - 0 Ohms
3) You will need to enter the Terminal within the ServoManager software to change the commanded direction. To do this, type a GOTO302 to allow the drive to be modified. Then, type a P215=1 to invert the direction using parameter 215. Lastly, you will need to Validate Parameter by typing a VP.
Encoder Polarity - encoder will count positive when the motor shaft rotates clockwise (Only if step 3 is executed above!!). Therefore, a clockwise rotation of the shaft will increase encoder counts when Actual Position (Status S1) is queried on the drive.
S3 Option - The Compax must have the S3 Option (Incremental Encoder)loaded into the drive in order for it to operate a motor with incremental encoder feedback. The options that are loaded into the Compax can be identified by looking at the white product tag on the top of the unit. For further information, please look in the Compax User Guide Chapter 2 (page 7 of the Ocotober 2001 version).