Parker COMPAX-M /-S (L) User Manual

Parker COMPAX-M /-S (L) User Manual

Compact servo controller
Table of Contents

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COMPAX-M /-S (L)
C O M P A X U s e r G u i d e
C o m p a c t S e r v o C o n t r o l l e r
W e a u t o m a t e m o t i o n
Subject to technical modification.
Data correspond to the state of technical development at the time of printing.
From software version V6.26
Parker Hannifin GmbH
EMD Hauser
DIN EN ISO 9001
P. O. Box: 77607-1720
Robert-Bosch-Str. 22
D-77656 Offenburg, Germany
Phone: +49 (0)781 509-0
Fax:
+49 (0)781 509-176
Reg. Nr. 36 38
http://www.parker-emd.com
Parker Hannifin plc
Electromechanical Division
21 Balena Close
Poole, Dorset
BH17 7DX UK
Phone: +44 (0)1202 69 9000
Fax:
http://www.parker-emd.com
11.10.01 11:01
192-040053 N2
October 2001
+44 (0)1202 69 5750

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  • Page 1 COMPAX-M /-S (L) C O M P A X U s e r G u i d e C o m p a c t S e r v o C o n t r o l l e r W e a u t o m a t e m o t i o n Subject to technical modification.
  • Page 2: Table Of Contents

    Contents 1. Contents 1. Contents ...2 2. Unit assignment: ...7 3. Safety instructions ...8 General dangers ...8 Safe working practices ...8 Special safety instructions...8 Conditions of warranty ...9 4. COMPAX – CD...9 5. Switch-on status ...10 Configuration when supplied...10 Commissioning ...10 Equipment replacement...12 6.
  • Page 3 7.4.4 COMPAX 35XXM connector assignment ... 29 COMPAX 25XXS unit characteristics ...30 7.5.1 COMPAX 25XXS connector and connection assignment... 30 7.5.2 COMPAX 25XXS-specific technical data... 32 7.5.3 COMPAX 25XXS dimensions / installation ... 33 7.5.4 Connector assignment COMPAX 25XXS ... 34 COMPAX 45XXS/85XXS unit characteristics ...35 7.6.1 Plug and connection assignment COMPAX 45XXS/85XXS ...
  • Page 4: Contents

    Contents 8.2.3 Configuration process ... 72 8.2.4 Safety instructions for initial start-up ... 73 8.2.5 Configurationparameters ... 74 8.2.6 Absolute value function with standard resolver ... 79 8.2.7 Machine zero mode ... 80 8.2.8 Limit switch operation ... 89 Configuration via PC using "ServoManager" ...91 8.3.1 Installing ServoManager...
  • Page 5 Optimization functions ...125 8.5.1 Optimization parameters ... 127 8.5.2 Speed monitor ... 132 8.5.3 Optimization display ... 133 8.5.4 External position localization with position adjustment ... 136 Interfaces ...138 8.6.1 Digital inputs and outputs ... 138 8.6.1.1 Digital inputs and outputs for COMPAX 1000SL... 140 8.6.1.2 Free assignment of inputs and outputs ...
  • Page 6 Contents 9.7.1 External control panel (not available for COMPAX 1000SL) ... 187 9.7.2 Terminal module for COMPAX 1000SL (EAM) ... 188 9.7.3 EAM5/01: DC feed for COMPAX-M... 189 9.7.4 EMC measures ... 191 9.7.4.1 Power filter ... 191 9.7.4.2 Motor output throttle... 192 9.7.5 External ballast resistors...
  • Page 7: Unit Assignment

    2. Unit assignment: This documentation applies to the following units: ! ! ! ! COMPAX 10XXSL ! ! ! ! COMPAX 25XXS COMPAX 45XXS ! ! ! ! COMPAX 85XXS ! ! ! ! COMPAX P1XXM ! ! ! ! COMPAX 02XXM ! ! ! ! COMPAX 05XXM...
  • Page 8: Safety Instructions

    Safety instructions 3. Safety instructions General dangers General dangers when safety instructions are not complied with The unit described contains leading edge technology and is operationally reliable. However, hazards may occur if the unit is employed incorrectly or for improper use. Energized, moving or rotating parts can cause fatal injury to the user cause material damage...
  • Page 9: Conditions Of Warranty

    Conditions of warranty The unit must not be opened. Do not make any alterations to the unit, except for those described in the User Guide. Only activate inputs, outputs and interfaces as described in the User Guide. When installing units, ensure that the heat sinks receive sufficient ventilation. Secure units as per the assembly instructions contained in the start-up manual using the securing bores provided for this purpose.
  • Page 10: Switch-On Status

    Switch-on status 5. Switch-on status Configuration when supplied When supplied, COMPAX is not configured. Parameter P149 is set to "0": P149="0": COMPAX is not configured and switches to OFF mode when switched P149="1": COMPAX is configured and once switched on (24V DC and operating Commissioning Meaning of LEDs on the front panel COMPAX-M / -S...
  • Page 11 After 24V DC of control voltage is switched on, COMPAX has two statuses available once the initialization phase has been completed: 1. COMPAX is OFF COMPAX is not configured (P149="0") or with COMPAX XX70: I12="0" (final stage blocked). Now configure COMPAX (e.g. using the ServoManager / ParameterEditor). Set P149="1"...
  • Page 12: Equipment Replacement

    Switch-on status Equipment replacement Previous software V2.0 Procedure for copying the complete COMPAX setting onto a new unit Start ServoManager. Connect old COMPAX via RS232. Use menu "Insert: Axis: From controller" to set up an axis which contains all COMPAX settings (all parameters: including system parameters, data records and (with COMPAX XX70) existing curves).
  • Page 13: Conditions For Usage

    6. Conditions for usage - for CE-compliant operation in industrial and The EU guidelines on electromagnetic compatibility 89/336/EEC and electrical means of production for use within particular voltage limits 73/23/EEC are satisfied, if the following peripheral conditions are complied with. Only operate the units in the condition in which they are supplied, i.e.
  • Page 14: Start-Up Manual

    Start-up manual 7. Start-up manual C o m p a c t S e r v o C o n t r o l l e r COMPAX-M / -S 7.1 Overview: 7.1.1 Components required In addition to a COMPAX, you will require the following components for a COMPAX application: a motor with or without a transmission.
  • Page 15: Overview Of Unit Technology

    7.1.2 Overview of unit technology COMPAX-M and COMPAX-S ! ! ! ! work with the same firmware, yet have differences with regard to housing and assembly technology and power areas. The following table shows the main features of the range of available units Common function Interfaces: characteristics:...
  • Page 16 Start-up manual Supply Up to max. 1*250V AC (integrated power unit) COMPAX 1000SL Dimensions (DxHxW): Design: Supply Up to max. 1 (3)*250V AC (integrated power unit) COMPAX 25XXS Dimensions (DxHxW): Design: Supply Up to max. 3*500V AC (integrated power unit) COMPAX 45XXS COMPAX 85XXS Dimensions (DxHxW):...
  • Page 17: Compax-M Unit Features

    COMPAX-M unit features 7.2.1 Connector and terminal assignment X5 control- and status- signal bus-signals input X8 Input / Output X9 Test X12 resolver X14 HEDA X16 absolute encoder X18 fan Meaning of LEDs on Color Meaning, when switched on front plate Ready green 24V DC present and initialization complete Error...
  • Page 18: Compax-M System Network, Nmd10 / Nmd20 Mains Module

    Start-up manual 7.2.2 COMPAX-M system network, NMD10 / NMD20 mains module A COMPAX-M drive system consists of one mains module and one or more drive controllers. The units are coupled with one another with flatband cables (see below). These are arranged behind the front plate cover of the power unit and the drive controller.
  • Page 19 Unit side Wiring up the motor cable conduit H A U S E R H A U S E R D I G I T A L P O W E R S U P P L Y M P A X - M S t a t u s N u m b e r V a l u e...
  • Page 20: Compax-M Dimensions/Installation

    Start-up manual 7.2.3 COMPAX-M dimensions/installation The specific design of the COMPAX-M controller allows for wall installation (distance: 61mm in COMPAX P1XXM and 86mm in larger units) in two different ways. Direct Direct wall installation and dimensions of COMPAX-M and the mains modules.
  • Page 21: Connector Assignment Compax-M

    7.2.4 Connector assignment COMPAX-M motor brake X8/1 X8/2 X8/3 X8/4 X8/5 X8/6 X8/7 input / X8/8 output X8/9 I1...I8 O1...O8 X8/10 X8/11 X8/12 X8/13 X8/14 X8/15 X8/16 X10/1 X10/2 X10/3 X10/4 X10/5 X10/6 X10/7 X10: X10/8 input / output X10/9 I9...I16 X10/10 O9...O16...
  • Page 22: Mains Module Nmd10/Nmd20

    Start-up manual Mains module NMD10/NMD20 The mains module ensures the supply of current to the COMPAX-M (not COMPAX 35XXM) axis controller and the SV drive connected into the network. It is connected to the 3-phase power supply with 3 * 400V AC and PE. 24V DC voltage must be provided for the control electronics.
  • Page 23: Nmd Connector Assignment

    7.3.3 NMD connector assignment X1/1 X1/1 X1/2 X1/2 X1/3 X1/3 X1/4 X1/4 X1/5 X1/5 X1/6 X1/6 X6: input bus systems Assignment depends on the bus system 7.3.4 Technical data / power features NMD Function Generates DC current when run directly off a mains source. CE conformity EMC immunity/emissions as per EN61800-3.
  • Page 24 Start-up manual Overvoltage limitation Energy recuperated during braking is stored in the supply capacitors. The capacity and storable energy is: NMD10/NMD20: 1100 F / 173 Ws If the energy recuperated from braking causes overvoltage, then ballast resistances are engaged. The internal ballast resistance is activated by a bridge between +LS and X5/1. Activation of the In the NMD20 delivery status this bridge is fitted.
  • Page 25 If a phase malfunctions, no displays appear Error diagnosis in LED red the mains module Error Ready contact and green LED are coupled. Caution! If the unit has no control voltage, no displays will indicate that operating voltage is present. Mains module NMD10/NMD20 Technical data / power features NMD LED green...
  • Page 26: Compax 35Xxs Unit Features

    Start-up manual COMPAX 35XXS unit features The 35 kW servo control COMPAX 35XXM - a performance upgrade to the COMPAX family. Compact unit with output currents of 50 unit. Additional COMPAX-M controllers of up to 15 KW can be arranged in rows. 7.4.1 Plug and connection assignment COMPAX 35XXM Before wiring up, always de-energize the unit.
  • Page 27: Specific Technical Data

    Plan view AC - voltage up to 500V AC Mains Input X 20 Specific technical Supply voltage up to max. 3 * 500V AC Operating range: 3*80V AC - 3*500V AC; 45 - 65 Hz. data Typical AC mains: 400V 10%; 460V 10%;480V 5% Layout of contactors for the power supply: Capacity according to device performance: Application group AC3 Switching on the operating voltage for a second time:...
  • Page 28: Wiring Compax 35Xxm

    Start-up manual 7.4.3 Wiring COMPAX 35XXM Wiring up motor, mains power / control voltage and external ballast resistance L1 L2 L3 1 2 3 Mains Input * max. 1.6A The PE connection must be a version of at least 10mm COMPAX 35XXM Wiring up system network...
  • Page 29: Compax 35Xxm Connector Assignment

    7.4.4 COMPAX 35XXM connector assignment X20: AC Supply X8/1 X8/2 X8/3 X8/4 X8/5 X8/6 X8/7 X8/8 X8/9 X8/10 X8/11 X8/12 X8/13 X8/14 X7: output bus systems X8/15 Assignment depends on X8/16 the bus system X10/1 X5: output bus systems X10/2 Assignment depends on the bus system X10/3...
  • Page 30: Compax 25Xxs Unit Characteristics

    Start-up manual COMPAX 25XXS unit characteristics 7.5.1 COMPAX 25XXS connector and connection assignment X8 input / output X9 test X12 resolver X14 HEDA X16 absolute X18 fan Meaning of the LED / color LEDs on the front Ready / green plate Error / red Plan view of...
  • Page 31 Before wiring up, always de-energize the unit. Even once the mains supply has been switched off, dangerous levels of voltage can remain in the system for up to 5 min. When working with motors without a holding brake, the brake lines must not be connected to COMPAX The PE connection occurs with 10mm Caution!
  • Page 32: Compax 25Xxs-Specific Technical Data

    Start-up manual Control voltage 24V DC 10% ripple <1V Fuse protection: 16A Only wire up brake in motors with a holding brake! Otherwise, do not wire up. 7.5.2 COMPAX 25XXS-specific technical data Energy recuperated during braking is stored in the supply capacitors. The Overvoltage capacity and storable energy is: limitation...
  • Page 33: Compax 25Xxs Dimensions / Installation

    7.5.3 COMPAX 25XXS dimensions / installation The two retaining plates supplied can be attached to the back/left side or the heat sink side. Retaining screws: 4 M6 hex-socket head screws. Design in series The left-hand side of the unit heat sink is fastened to a metal wall using 2 retaining plates.
  • Page 34: Connector Assignment Compax 25Xxs

    Start-up manual 7.5.4 Connector assignment COMPAX 25XXS motor brake X8/1 X8/2 X8/3 X8/4 X8/5 X8/6 X8/7 input / X8/8 output I1...I8 X8/9 O1...O8 X8/10 X8/11 X8/12 X8/13 X8/14 X8/15 X8/16 X10/1 X10/2 X10/3 X10/4 X10/5 X10/6 X10/7 X10: X10/8 input / output X10/9 I9...I16...
  • Page 35: Compax 45Xxs/85Xxs Unit Characteristics

    COMPAX 45XXS/85XXS unit characteristics 7.6.1 Plug and connection assignment COMPAX 45XXS/85XXS Plan view COMPAX 45XXS/85XXS unit characteristics Plug and connection assignment COMPAX 45XXS/85XXS D IG ITAL Status Number Value ENTER Ready Error RS232 Input Input X8 digital input / output Output Output X9 test...
  • Page 36: Compax 45Xxs/85Xxs Installation / Dimensions

    Start-up manual 7.6.2 COMPAX 45XXS/85XXS installation / dimensions D IG ITAL Fastening: 4 M5 hex-socket head screws Installation distance: 130mm (device distance:5mm) Meaning of the LEDs on the front Ready Green plate Error Before wiring up, always de-energize the unit. Even once the mains supply has been switched off, dangerous levels of voltage can remain in the system for up to 5 min.
  • Page 37: Compax 45Xxs/85Xxs-Specific Wiring

    7.6.3 COMPAX 45XXS/85XXS-specific wiring Wiring up mains power / enabling internal ballast resistance Bus system X7 OUT X5 IN HV: DC current output Power supply: Fuse protection: max. 16A Layout of contactors for the power supply Capacity according to device performance: Application group AC3 Control voltage: 24V DC 10% ripple <1V Wiring up motor / control voltage...
  • Page 38 Start-up manual Enable bridges: The final stage is enabled using a bridge between X3/1 - X3/1. X3/1 - X3/2 If this connection is missing, the final stage is voltage-free and error message E40 appears (see from Page 223). Energy recuperated during braking is stored in the supply capacitors. The Overvoltage capacity and storable energy is: limitation...
  • Page 39: Compax 45Xxs/85Xxs Connector And Pin Assignment

    7.6.4 COMPAX 45XXS/85XXS connector and pin assignment Releasing internal ballast resistance motor AC supply brake X8/1 X8/2 X8/3 X8/4 X8/5 X8/6 X8/7 Input / X8/8 Output X8/9 I1...I8 O1...O8 X8/10 X8/11 X8/12 X8/13 X8/14 X8/15 X8/16 X10/1 X10/2 X10/3 X10/4 X10/5 X10/6 X10/7...
  • Page 40: Compax 1000Sl Unit Characteristics

    Start-up manual COMPAX 1000SL Unit characteristics 7.7.1 Connector and terminal assignment for COMPAX 1000SL X6 RS232 initiators systems: X5 IN X7 OUT encoder resolver X19 in-/ output Before wiring up, always de-energize the unit. Even once the mains supply has been switched off, dangerous levels of voltage can remain in the system for up to 5 min.
  • Page 41: Unit Wiring

    Unit wiring COMPAX 1000SL sheetshielding of motor cable Clamp the motor cable with the open section of the screen braid under the ground terminal. Power supply: 1*100V AC - 1*250V AC 45-65Hz Fuse protection: 10A Layout of contactors for the power supply Capacity according to device performance: Application group AC3 Control voltage 24V DC 10% ripple <1V The screen clamp for the screen connection of the motor cable is included and...
  • Page 42: Connector Assignment Compax 1000Sl (Overview)

    Start-up manual Mating connectors for X1,..X4 from Phoenix are included with the following type Mating connectors designations: X1, X2, X3 and X4 X1: MSTB2.5/6/STF-5.08 (with screw connection) X2: MSTB2.5/3/ST-5.08 (without screw connection) X3: MSTB2.5/2/ST-5.08 (without screw connection) X4: MSTB2.5/3/STF-5.08 (with screw connection) You can acquire Phoenix housings for these connectors and these can be used once adapted to our cables.
  • Page 43: Mounting And Dimensions Compax 1000Sl

    7.7.3 Mounting and dimensions COMPAX 1000SL Fastening: 3 M4 hex-socket head screws Installation distance: 100mm (device distance:15mm) COMPAX 1000SL Unit characteristics Mounting and dimensions COMPAX 1000SL 145.5...
  • Page 44: Safety Chain / Emergency Stop Functions

    Start-up manual 7.7.4 Safety chain / emergency stop functions Establishing a safety chain for monitoring the drives and other control components Readiness, or a superordinate control unit usually requires a connection protected from wire safety chain breaks. The contact outputs (closer) P (X8(9)/3) and S (X8(9)/4) are used for this purpose.
  • Page 45 COMPAX 1000SL X19 25 pin Sub-D socket strip screw connection UNC4-40 Emergency stop input direct to COMPAX-M X9 Connector: Phoenix MC1.5/7-ST-3.81 Emergency stop input on COMPAX-M The emergency stop input on COMPAX-M X9 is enabled via parameter P219. Meaning: P219="0": No emergency stop input on COMPAX-M X9 P219="7": Emergency stop input on COMPAX-M X9 with the following data Stop with P10 as relative ramp time (P10 = braking time from 100% speed to 0%).
  • Page 46: Connections To The Motor

    Start-up manual Resolver / SinCos Connections to the motor Cable assignment in the terminal boxes brake 7.8.1 Resolver / SinCos Pin from X12 Standard assignment The S1/2 options are required for operation with the sensor system SinCos. The S3 option is required for operation of linear motors. shield black 1 black 2...
  • Page 47 Connecting cable to motor Sensor Resolver cable cable (SinCos ) Cable sheathed REK32/.. GBK16/.. Connector set 085-301312 085-301317 800-030031 800-030031 Cable 102-150200 102-150210 Cable data in mm 8,0/80/120 7,5/38/113 Cable sheathed REK33/.. GBK17/.. Connector set 085-301312 085-301317 800-030031 800-030031 Cable 102-000030 Cable data in mm 8,2/61,5/61,5 8,0/40/64...
  • Page 48 Start-up manual Resolver / SinCos Motor cable for HJ and HDY – motors MOK42 (max. 13,8A) 110 mm 75 mm 30 mm 30 mm Shrink-fit hose standard/highflex black1/black black2/brown black3/blue black4/red Br. +24V black5/green Br. -24V black6 green-yellow 110 mm 35 mm 75 mm 15 mm...
  • Page 49 MOK21 (max. 18,9A) 110 mm 75 mm 30 mm 30 mm Shrink-fit hose standard/highflex black1/black black2/ brown black3/blue black4/red Br. +24V black5/ Br. -24V green black6 green-yellow 110 mm 35 mm 75 mm 15 mm 10 mm Version in high-flex: MOK14 (same layout) MOK11 (max.
  • Page 50 Start-up manual Resolver / SinCos SinCos cable for HJ and HDY motors yellow SIN+ Pin 1 violet SIN- solder side brown COS+ white COS- black pink green grey blue 4 mm Version in high-flex: GBK17 (same layout) Packaging Packaging of motor in accordance with connector manufacturer's specification Packaging of device Strip 26mm sheathing off.
  • Page 51: Additional Brake Control

    7.8.2 Additional brake control COMPAX controls the motor retaining brake independently (also see Page 123). When running applications which require additional brake control note the following, based on the unit type used. With these units, you must implement measures for suppression. Note the COMPAX-M / following application example: COMPAX 45XXS /...
  • Page 52: Interfaces

    Start-up manual Digital inputs and outputs (excluding COMPAX 1000SL) Interfaces 7.9.1 Digital inputs and outputs (excluding COMPAX 1000SL) The inputs and outputs have PLC voltage levels (High signal = 24V DC) Assignment of X8 (Input/Output) Connectors: Phoenix MC1.5/16-ST- 3.81 The "SHIFT signal" (I1) must be assigned before or at the same time as the relevant input.
  • Page 53: Digital Inputs And Outputs For Compax 1000Sl

    7.9.2 Digital inputs and outputs for COMPAX 1000SL COMPAX 1000SL physically has 8 digital inputs and 8 digital outputs which are assigned to connector X19. COMPAX internally has 16 logic inputs and 16 logic outputs, some of which have functions assigned to them. This means that not all logic inputs and outputs can be interrogated or output via physical inputs and outputs.
  • Page 54: Technical Data / Connections Of Inputs And Outputs

    Start-up manual Technical data / Connections of inputs and outputs 7.9.3 Technical data / Connections of inputs and outputs Detection of input 1 over 9.15V means that "1" is recognised signals: 0 over 8.05V means that "0" is recognised 1. O1...O16 Load on outputs 2.
  • Page 55: Initiators And D/A Monitor

    7.9.4 Initiators and D/A monitor Connection assignment on X17 9 pin Sub-D pin strip plug housing with screw connection UNC4-40 Connection plan for the initiators with initiator connector Ensure that the initiator is rebound-free! Requirements Standard When operating with one initiator (machine zero), this must be attached to one concerning the side of the stroke.
  • Page 56: Service D/A Monitor / Override

    Start-up manual Service D/A monitor / override 7.9.5 Service D/A monitor / override Assignment of X11 Connector: Phoenix MC1.5/7-ST-3.81 With COMPAX 1000SL, the override input is on X19/13 (see Page 53), the Service D/A monitors on X17/1 und X17/2 (see Page 55). Override (not applicable for COMPAX 1000SL) connection...
  • Page 57 Using the parameters P76 and P77, you can select 2 parameters and adapt them to the required measuring range. Channel 2: X11/4; Assignment of the Channel 3: X11/5; channels Meaning and range of values of Value before decimal p. P76 / P77 Value after decimal point Value before decimal p.
  • Page 58: D/A Monitor Option D1

    Start-up manual D/A monitor option D1 Calculation of physical parameter using the measured value: Example: P76 = 4.000 0010 P77 = 13.000 0005 Therefore the following applies: channel 2: measuring parameter 4 (actual speed value). gain factor = 10 channel 3: measuring parameter 13 (phase current for phase U). gain factor = 5 measured values: channel 0:MW=2.5V=>...
  • Page 59: Rs232 Interface

    7.9.8 RS232 interface Wiring diagram SSK1/...:COMPAX - PC/terminal n.c. housing Apply screen on both sides to surface. 7.9.9 Absolute value sensor (option A1) The option A1 cannot be used for COMPAX 1000SL. Cable plan GBK1/..: COMPAX absolute value sensor +24V housing n.c.
  • Page 60: X13: Encoder Interfaces

    Start-up manual X13: Encoder interfaces, ... 7.9.10 X13: Encoder interfaces, ... The encoder interfaces are available as options for COMPAX (excluding COMPAX Encoder interfaces 1000SL). 2 channels are present; channel 1 can be equipped as the encoder input for COMPAX and channel 2 as the encoder simulation.
  • Page 61: Encoder Interfaces / Analogue Rpm Specification / Step Direction Input For Compax 1000Sl

    7.9.10.3 Encoder interfaces / Analogue rpm specification / Step COMPAX 1000SL has an interface which can be configured either as encoder Encoder interface input, encoder simulation, analogue input or step direction input. Encoder / Step direction simulation and analogue input can be used simultaneously. input for COMPAX This interface is a fixed part of COMPAX 1000SL.
  • Page 62 Start-up manual X13: Encoder interfaces, ... Configuring the P144 process = 4/6 = 0 interfaces The I7 function "direction of rotation" can be implemented in COMPAX 1000SL * function analogue by exchanging the differential inputs or by changing the rotation direction with input parameter P214 Bit 0.
  • Page 63: Heda Interface (Option A1/A4)

    7.9.11 HEDA interface (option A1/A4) The HEDA interface is available for COMPAX XX00, COMPAX XX60 and COMPAX XX70. HEDA option A4: for COMPAX 1000SL HEDA option A1: for all other COMPAX IPM - COMPAX and COMPAX - COMPAX Cable plan X14/PC SSK14/..: RxC/ 6...
  • Page 64: Technical Data

    Start-up manual 7.10 Technical data Power characteristics Functional capability Position, speed and current controller. IGBT final stage protected from short circuits and ground/earth faults. Digital positioning controller. Motion controller. Supported motors/resolvers Sine-commuted synchronous motors up to a max. speed of 9000 rpm. Asynchronous motors.
  • Page 65 0.8A for the other units (incl. NMD). Digital outputs, each 100 mA. If needed, for fan approx. 100 mA. For motor holding brake (0.35A-1.6A). If needed, absolute encoder: 0.3A. Accuracy Positioning on the motor shaft: Resolution: 16 bits (= 0.3 minutes of angle) Absolute accuracy: +/-15 minutes of angle Maximum power dissipation COMPAX 10XXSL: ...
  • Page 66: Operation

    Start-up manual CS31 COMPAX - ABB interface. CANbus Up to 1.0 MBaud Basic CAN. CAN protocol as per specification 1.2. Hardware as per ISO/DIS 11898 CANopen Protocol as per CiA DS 301. Profile CiA DS 402 for drives. Operation Parameter input/status request Via COMPAX hand-held terminal.
  • Page 67: Operating Instructions

    8. Operating Instructions C o m p a c t S e r v o C o n t r o l l e r 8.1 Overview: The COMPAX digital positioning system has been designed for multi-axis applications in handling and automation technology.
  • Page 68: Block Structure Of The Basic Unit (Not Applicable For Compax 1000Sl)

    Operating Instructions 8.1.1 Block structure of the basic unit (not applicable for COMPAX 1000SL) PLC data interface Query the most important status values Setting the most important parameters Status queries Setting parameters Actual values Configuration Diagnostic values Optimization Device IDs General settings Travel commands current feed forward...
  • Page 69 Block structure of the basic unit (not applicable for COMPAX 1000SL) Explanations for the block structure Interfaces for data and status The following commands are available via 5 binary inputs (I7...I11) and 5 binary PLC data interface outputs (O7...O11): POSA, POSR, SPEED, ACCEL, GOTO, VP, modifying parameters P1..P49, querying status S1...S12.
  • Page 70: Password Protection

    Operating Instructions Password protection Interfaces for signals Analogue input (see Start-up manual) for continual reduction of the set speed. Override input This option supports an absolute value sensor attached to the motor; reference Absolute value travel is therefore no longer required after initialization has been executed once sensor (option) (see Start-up manual and Accessories and options).
  • Page 71: Configuration

    Configuration 8.2.1 Front plate operation (not available with COMPAX 1000SL) Using the COMPAX front plate, you can query particular status values and perform the most important bus settings. Also whenever an error occurs, COMPAX shows the error number on the display. Querying status values and modifying the...
  • Page 72: Configuration When Supplied

    Operating Instructions Configuration when supplied 8.2.2 Configuration when supplied When supplied, COMPAX is not configured. Parameter P149 is set to "0": P149="0": COMPAX is not configured and switches to OFF mode when switched P149="1": COMPAX is configured and once switched on (24V DC and operating To operate the COMPAX controller design concept, you must have a basic level of Controller technical control knowledge.
  • Page 73: Safety Instructions For Initial Start-Up

    The ParameterEditor (part of the ServoManager) automatically guides you into the "Guided configuration" menu through the input masks with the configuration settings. From the next page, there is a clear description of the configuration process for implementing new configurations. If this process is followed, you can specify all the parameters required for your application.
  • Page 74: Configurationparameters

    Operating Instructions Configuration parameters 8.2.5 Configuration parameters Parameter P93: valid from next move command. Operating mode P93 ="1" Normal mode: Positioning processes refer to real zero. To set the reference, use the "Find machine zero" function (Input I1="1" and I2="1", see Page 148) once the system is switched on.
  • Page 75: Motor Type

    the max. travel distance is limited to 4 million units. This corresponds to 61 revolutions at a maximum resolution of 65 536 increments per motor revolution. The maximum travel distance can be increased by reducing P83. Meaning: 1024 2048 4096 8192 16 384 32 768...
  • Page 76: Drive Type

    Operating Instructions Configuration parameters P94 ="2" smooth The mechanics are subject to minimum load when using the smooth function. a , M Current required: 1.9 times P94="3" quadratic Gentle running in to the nominal value; overswings are prevented. a , M Current required: 2 times t a : Ramp time (can be set using the command "ACCEL", see Page 97) Speed:...
  • Page 77: General Drive

    Motor / spindle ratio. P85: ratio Range: 1 (1:1)...100 (100:1) Moment of inertia of transmission and clutch referenced to the drive side. P84: moment of Range: 0...200kgcm inertia Minimum translational mass moved [kg]. P92: Minimum mass Range: 0...P88 Maximum translational mass moved in [kg]. P88: Maximum Range: 0...500kg mass...
  • Page 78: Reference System

    Operating Instructions Configuration parameters Parameter P213: direction of machine zero Reference (this describes the default setting, for more information see Page 80 system Standard reference system: no end or reversing initiators; one machine zero initiator at the end of the displacement area The machine zero initiator must be attached so that it can only cleared in one direction;...
  • Page 79: Absolute Value Function With Standard Resolver

    8.2.6 Absolute value function with standard resolver Absolute value function without special sensor for up to 4096 rpm Parameter P206=2 is used to activate the absolute value resolver. Activated with COMPAX reads the current actual position cyclically every 2ms and stores this P206=2 data alternatively onto 2 memory stores (Pos 2, Pos 3) protected against power failure.
  • Page 80: Machine Zero Mode

    Operating Instructions Machine zero mode 8.2.7 Machine zero mode Overview: P212: setting the machine zero mode ="0": MZ equals external initiator rounded with resolver zero & machine zero travel ="1": MZ equals external initiator rounded with resolver zero. ="3": MZ equals external zero pulse ="4": MZ equals external initiator rounded with the external zero pulse.
  • Page 81 The position reference for positioning process is real zero; this can be freely Real zero defined over the entire displacement area. Real zero is defined with reference to machine zero. machine zero Movement process during reverse initiator/ find machine limit switch zero, depends on start point: The speed used for find machine zero is specified by P3;...
  • Page 82 Operating Instructions Machine zero mode Additional machine zero modes The machine zero modes described below are all used without reversing initiators. The search direction and the evaluated initiator side are influenced as follows with these machine zero modes: P213: defines the start search direction and (if there is an initiator fitted) the initiator P215: no influence on find machine zero.
  • Page 83 Shifting machine Explanation for shifting machine zero using P29, taking the example zero of P212="1" signal MZ-INI mechanical resolver zero pulse machanical limit position of the actual MZ mechanical limit Example 1: = 90°; range within which the position of the clockwise rotating actual MZ can be shifted by P29 motor in direction...
  • Page 84 Operating Instructions Machine zero mode P212="3" (only permitted for COMPAX XX00 and COMPAX XX30!) Machine zero equals external P213="0" zero pulse P213="1" External encoder; read via an encoder input module (I2, I4) Conditions for Encoder input parametrized by: P144="6" this operating Specify P98 (travel per encoder revolution), P214 (encoder direction) and P143 mode: (encoder pulse number).
  • Page 85 P212="4" (only permitted for COMPAX XX00 and COMPAX XX30!) Machine zero equals external P213="0" initiator & external zero pulse P213="1" Note! If P75 0 for this setting, external position localization is switched on. External encoder; read via an encoder input module (E2, E4) Conditions for Encoder input parametrized by: P144="6"...
  • Page 86 Operating Instructions Machine zero mode P212 ="5" Machine zero equals resolver P213="0" zero P213="1" P212 ="7" Machine zero equals external P213="0" initiator (without resolver zero) P213="1" Find machine zero P29=0° P29=90° resolver resolver zero pulse command zero pulse command "search MZ" resolver zero pulse command...
  • Page 87 P212 ="8" Machine zero equals a limit P213="0" switch P213="1" P217 ="1" Condition: P216 = set correctly. In the above diagram: P216="1": (limit switch E1 is approached with anti-clockwise rotating motor) Wiring up: The input of the machine zero initiator (X17/7) must be wired up with the relevant limit switch: P213="0": X17/8 must be connected to X17/7.
  • Page 88 Operating Instructions Machine zero mode P212="11": Machine zero - initiator (without resolver zero) with 2 Machine zero - initiator Application: Applications with belt drives where the belts may skip during operation. (without resolver zero) with 2 reversing initiators reversing initiators COMPAX-M / -S...
  • Page 89: Limit Switch Operation

    8.2.8 Limit switch operation P217 ="0" Operating mode without end initiators P217 ="1" Operating mode with two end initiators 2 initiators are required. The displacement area is limited by the initiators attached at both ends of it. When one of the end initiators is activated, an error message appears, the drive is decelerated using P10;...
  • Page 90 Operating Instructions Limit switch operation to set P216, switch on operation with limit switches (P216="1") or in status value S24, see bits 3 and 4 (from the left) to determine which initiator is activated. Meaning: Bit 3: I2 is activated, i.e. P216="1 Bit 4: I1 is activated, i.e.
  • Page 91: Configuration Via Pc Using "Servomanager

    Configuration via PC using "ServoManager" There is a separate manual describing how to work with ServoManager. 8.3.1 Installing ServoManager Before installation, deactivate the following programs: Preparation any virus detection software. the Miro Pinboard in Miro graphic cards. Information concerning these programs. Following installation, the virus software can be reactivated.
  • Page 92 Operating Instructions Individual configuration of synchronous motors Motor type plate Proceed as follows: The following parameters can be read directly from the motor type plate : P101 P102: EMC [V/1000 rpm] These two values are included in the motor type description (type). HDY xxx Ax-xxxS P103: motor moment of inertia (inertia) P109: stator inductivity (ind) [µH]...
  • Page 93 Nominal motor speedfor HDY motors: P104: nominal motor speed 5000 4400 2800 2000 1400 Parameter for saturation characteristic curve: P119 start of saturation [%] P120: end of saturation P121: minimum stator inductivity HBMR HDY/ HJ Saturation is switched off when P119 = P121 = 100% and P120 = 400%. If the saturation is unknown, use the HDY values.
  • Page 94 Operating Instructions Individual configuration of synchronous motors Safety Risks from incorrect wiring! instructions for In order to avoid risks caused by incorrect system wiring during first start-up, use the first start-up the following settings for personal safety and to protect the mechanics: The drive must remain at standstill after the system has been switched on.
  • Page 95: Positioning And Control Functions

    Positioning and control functions The COMPAX basic unit is designed to meet the technical control requirements of a servo axis. Special control commands are implemented in the different unit variants for synchronisation or gearing functions. The support of a superordinate control unit is required for more complex systems, especially for the co-ordination of several axes.
  • Page 96: Absolute Positioning [Posa]

    Operating Instructions Absolute positioning [POSA] 8.4.1 Absolute positioning [POSA] POSA POSA POSR SPEED ACCEL Syntax: OUTPUT Password SPEED SYNC Mark reference Example: POSR SPEED POSR Additional function: OUTPUT controller WAIT GOTO GOSUB RETURN 8.4.2 Relative positioning [POSR] REPEAT IF I.. POSR Comparison Syntax:...
  • Page 97: Process Velocity [Speed]

    8.4.3 Process velocity [SPEED] Process velocity as % of nominal velocity SPEED (Nominal velocity valid until a new value is programmed. When in speed control mode , direction of rotation is specified by the prefix. Syntax: SPEED value Value: 0.0000001...100% Smallest steps = 0.002384min N005: SPEED 70 sets velocity to 70% of nominal speed.
  • Page 98: Setting/Resettingan Output [Output]

    Operating Instructions Setting/resetting an output [OUTPUT] 8.4.5 Setting/resetting an output [OUTPUT] OUTPUT POSA POSR Syntax: SPEED ACCEL Example: OUTPUT Password SPEED SYNC 8.4.6 Setting multiple digital outputs [OUTPUT O12=1010] Mark reference OUTPUT POSR SPEED O12=1010 POSR Syntax: OUTPUT controller WAIT Note GOTO GOSUB...
  • Page 99: Password [Goto]

    This means that all errors which can be acknowledged (e.g. lag errors or resolver errors), which occur during the switched off status (e.g. by separating the resolver line) are ignored. Only errors still present after Power On are displayed. 8.4.9 Password [GOTO] GOTO Syntax: GOTO number...
  • Page 100: Mark-Related Positioning [Posr]

    Operating Instructions Mark-related positioning [POSR] 8.4.11 Mark-related positioning [POSR] POSR POSA POSR Syntax: SPEED ACCEL OUTPUT Password SPEED SYNC Note: Mark I14: reference I16: POSR SPEED O16: POSR OUTPUT P35: P37,P38: controller P37: WAIT GOTO P38: GOSUB P39: RETURN REPEAT Example: IF I..
  • Page 101: Preparatory Instructions

    8.4.12 Preparatory instructions The following command combinations are preparatory instructions for creating speed step profiles or setting comparator switch points . The prepared positioning process is started using POSA or POSR. Note the following: Combined commands can be mixed (POSR SPEED, POSR OUTPUT). A total of 8 combined commands can be programmed per positioning process.
  • Page 102 Operating Instructions Changes in speed within a positioning process [POSR SPEED] Compatibility: Function: POSA POSR SPEED ACCEL OUTPUT Password SPEED POSR x SPEED y SYNC ACCEL z Mark Example: reference POSR Note: SPEED POSR OUTPUT controller Example: WAIT GOTO GOSUB RETURN REPEAT IF I..
  • Page 103: Comparators During Positioning [Posr Output]

    8.4.14 Comparators during positioning [POSR OUTPUT] Setting and resetting freely assignable outputs within a positioning process. POSR A maximum of 8 comparators can be set in one positioning process. The OUTPUT comparator value is specified as a relative dimension. It is referenced to the positioning start point.
  • Page 104: Cam Controller With Compensation For Switching Delays

    Operating Instructions Cam controller with compensation for switching delays 8.4.15 Cam controller with compensation for switching delays POSA POSR Function of the SPEED cam controller: ACCEL OUTPUT Password SPEED SYNC Outputs of the cam controller Mark reference Parametrization of the cam controller POSR SPEED POSR...
  • Page 105 With the instruction V0=x (global instruction to all variables), variables V50 ... V70 Note! will also be changed! Example 1: Normal positioning control signal 1 Actuator 1 (effect) COMPAX calculates a travel difference from the lag times of the switch elements Explanation and p ).
  • Page 106 Operating Instructions Cam controller with compensation for switching delays POSA POSR SPEED ACCEL OUTPUT Password SPEED SYNC Mark reference POSR SPEED POSR OUTPUT controller WAIT GOTO GOSUB RETURN REPEAT IF I.. Comparison WAIT Start GOTO / GOSUB EXT IF Error/ Stop Arithmetic Position monitoring...
  • Page 107: Programmable Waiting Time [Wait]

    8.4.16 rogrammable waiting time [WAIT] Programmable waiting time in ms before the next data record is processed. WAIT WAIT value Syntax: N005: WAIT 500 Example: 8.4.17 Program jump [GOTO] Program jump to specified data record number. GOTO Syntax: GOTO data record number Data record number: 1...250 N045: GOTO 60 Example:...
  • Page 108: Start A Program Loop [Repeat]

    Operating Instructions Start a program loop [REPEAT] POSA 8.4.21 Start a program loop [REPEAT] POSR SPEED REPEAT ACCEL OUTPUT Syntax: Password SPEED SYNC Example: Mark reference POSR SPEED POSR OUTPUT 8.4.22 Branching [IF I7=1] controller IF I7=1 WAIT GOTO Syntax: GOSUB RETURN Examples:...
  • Page 109: Comparative Operations

    8.4.24 Comparative operations IF <single Operand> <compare> <Operand> GOTO xxx Syntax: IF <single Operand> <compare> <Operand> GOSUB xxx a parameter Pxxx or Simple Operand: a variable a status value Sxxx (S1-S15, S30, S40ff) A simple Operand or Operand: A constant with max. 8 significant digits <...
  • Page 110: Sub-Program Jump With Data Record Selection [Gosub Ext]

    Operating Instructions Sub-program jump with data record selection [GOSUB EXT] 8.4.27 Sub-program jump with data record selection [GOSUB EXT] GOSUB EXT POSA POSR SPEED ACCEL OUTPUT Password SPEED SYNC Mark reference POSR SPEED POSR 8.4.28 Error handling [IF ERROR GOSUB] OUTPUT IF ERROR controller...
  • Page 111: Stop / Break Handling [If Stop Gosub Xxx]

    and is used to bring the individual outputs (e.g. the control output for a pump or a valve) into a safe status. Each error program must contain a 'WAIT START' instruction. Error program with The 'WAIT START' instruction causes the programming procedure to stop until an WAIT START external QUIT and START occurs.
  • Page 112 Operating Instructions STOP / BREAK handling [IF STOP GOSUB xxx] Stop program: POSA POSR SPEED ACCEL OUTPUT Password SPEED Error program with SYNC WAIT START Mark reference POSR SPEED POSR OUTPUT Priority: controller WAIT Example: GOTO GOSUB RETURN REPEAT IF I.. Comparison WAIT Start GOTO /...
  • Page 113: Arithmetic

    8.4.30 Arithmetic 8.4.30.1 Parameter assignments Syntax: N001: P40 = 123.456 N002: V19 = P1 The assignments for parameters and variables are defined with an equal sign. The variables are represented by V0 to V39. The assignment of variables is also possible as a direct command, e.g. from a Note terminal.
  • Page 114: Arithmetic And Variables

    Operating Instructions Arithmetic POSA Syntax: POSR SPEED ACCEL OUTPUT Password SPEED SYNC Mark Operators: reference POSR SPEED POSR OUTPUT controller WAIT GOTO GOSUB RETURN REPEAT Operands IF I.. Comparison WAIT Start GOTO / GOSUB EXT Status values: IF Error/ Stop Arithmetic Variables: Position...
  • Page 115 N001: P013 = 2 * P013 Arithmetic and variable N002: P010 = P040 + 1000.1234 examples: N003: P005 = P005 / 2 N004: P250 = P250 - 1 N005: V002 = V001 \ 1 N006: V3 = S15 % P12 N007: POSR .V30 Only one operation or command is permitted per program line.
  • Page 116 Operating Instructions Arithmetic Read status and assign variables POSA POSR SPEED ACCEL Initializing variables: OUTPUT Password SPEED Writing convention of variables (V0-V39) and control parameters (P40-P49) SYNC For reasons of compatibility, a preceding point (full stop) is expected in the syntax for motion commands: Mark e.g.: POSA .P40, ACCEL .V10 reference...
  • Page 117: Position Monitoring (P93=1, 2, 3)

    8.4.31 Position monitoring (P93=1, 2, 3) There are 2 settings for O5 "Position reached" which are set with P227: P227 bit 4 P227 bit 4 ="0" P14>0, small values (small in comparison with the process travel) P14>>0, large value (large in comparison with process travel) Functional description: O5 is toggled (=changed, i.e.
  • Page 118 Operating Instructions Position monitoring (P93=1, 2, 3) OM2: O5 = "1": nominal value POSA reached and lag POSR error < P14 SPEED Example: ACCEL OUTPUT Password SPEED SYNC Mark reference POSR SPEED POSR OUTPUT controller WAIT GOTO OM3: O5 = "1": nominal value GOSUB reached...
  • Page 119: Idle Display

    8.4.32 Idle display Display showing whether the axis is at standstill or moving. The display is set to output O2 using the setting P227 bit 1 function of O2 "No warning" no longer applies in this case. P229 then serves as a switching threshold, above which an idle condition is reported with O2="1"...
  • Page 120: Speed Monitoring In Speed Control Mode (P93="4")

    Operating Instructions Speed monitoring in speed control mode (P93="4") 8.4.33 Speed monitoring in speed control mode (P93="4") POSA POSR SPEED ACCEL OUTPUT Password SPEED SYNC Mark reference POSR SPEED POSR OUTPUT controller WAIT Special features in speed control GOTO mode: GOSUB RETURN REPEAT...
  • Page 121 O5="1": nominal value reached on nominal value generator and speed deviation OM2: O5 = "1": < P14. If the speed deviation returns to > P14, O5="0" is set. nominal value Can be adjusted using: P227 bit 4 ="0" (default setting) reached and speed error <...
  • Page 122: Plc Sequential Step Tracking

    Operating Instructions PLC sequential step tracking 8.4.34 PLC sequential step tracking POSA POSR SPEED ACCEL Implementation: OUTPUT Password SPEED SYNC Mark reference POSR SPEED POSR OUTPUT controller WAIT GOTO GOSUB RETURN REPEAT IF I.. Comparison WAIT Start GOTO / GOSUB EXT IF Error/ Stop Arithmetic Position...
  • Page 123: Engaging And Disengaging The Motor Brake

    8.4.35 Engaging and disengaging the motor brake COMPAX controls the idle holding brake of the motor and final stage. The time behaviour can be set using P17 and P211 Bit 2. If you are using an axis which is under torque when idle (e.g. when using a z axis), Application: the drive can be engaged and disengaged in a manner which ensures that the load does not move.
  • Page 124: Output Of Variable Voltage

    Operating Instructions Output of variable voltage 8.4.36 Output of variable voltage POSA POSR Service D/A SPEED monitor (channels ACCEL 2 & 3): OUTPUT Password SPEED SYNC Value before Mark decimal point: reference Value after decimal point: POSR SPEED Characteristic POSR curve: OUTPUT controller...
  • Page 125: Optimization Functions

    Optimization functions Important requirements for a rapid, stable adjustment are the correct information about the physical characteristic values of the application. COMPAX requires the following data: The parameters of the motor. For Parker – standard motors, select the connected motor type from a list; the relevant parameters are stored in the ServoManager.
  • Page 126 Operating Instructions Output of variable voltage Optimization process: Select structure/parameter variant 1 P59=4 (Optimise P24 if necessary) Increase control dynamic Increase P23 Travel slowly over the positioning range stable, quiet travelling unstable, unquiet travelling (no longer corresponds to to the requirements) Reset P23 to the last setting Further optimization?
  • Page 127: Optimization Parameters

    8.5.1 Optimization parameters In addition to the standard structure (which corresponds to the previous COMPAX Structure control structure), you can select from 3 structure variants. variants: These include, in addition to a specific control structure, pre-defined settings for specific optimizing parameters. By selecting the individual structures in the ParameterEditor, the following parameters can be set: Structure and Meaning...
  • Page 128 Operating Instructions Optimization parameters Main effect: speed reference value, actual value P24: damping of Damping influences the height of the harmonies and reduces the vibrations. drive Nominal value: 100% Harmonies become smaller. The drive vibrates at high frequency from a specific Increase damping value.
  • Page 129 Advance control of speed, acceleration and power Advance control measures Minimum lag error Advantages: Better attenuation characteristics Higher dynamic levels with lower maximum current The positioning process is calculated in the nominal value setter and is specified to Principle: the position controller as the nominal value. This ensures that the nominal value setter contains the advance information required for positioning: speed, acceleration and power processes.
  • Page 130 Operating Instructions Optimization parameters Advance speed control P25: Advance Nominal value: 100% Range: 0%...500% speed control: reference value, actual value Driving fault, current Advance speed and acceleration control P26: Advance Nominal value: 100% Range: 0%...500% acceleration control reference value, actual value Driving fault,...
  • Page 131 Control processes for optimization Targets / problems Stiff- ness ing (P24) (P23) increase Minimizing lag error No harmonies decrease decrease Unusually high harmonies caused by power limitation decrease decrease Vibrating at higher frequencies (perceptible as noise) Vibrating at lower frequencies (perceptible as motion) decrease...
  • Page 132: Speed Monitor

    Operating Instructions Speed monitor 8.5.2 Speed monitor In COMPAX the drive speed is required as an actual value for speed control (loop Speed underlying the position control). determination The actual speed value is derived by differentiating the position signal. standard: In certain applications, such as with large ratios J is limited by quantization noise.
  • Page 133: Optimization Display

    8.5.3 Optimization display The optimization display (status S13 and S14) is an aid for optimizing COMPAX without the need for an additional visual aid. It provides access to the characteristic parameters of the positioning process (optimization parameters). From a selection of 14 different parameters for the positioning process, you can assign 2 parameters to the status values S13 and S14 by using the parameters P233 (S13) and P234 (S14).
  • Page 134 Operating Instructions Optimization display acceleration phase speed point actual value position actual value position max. position overshoot actual value position max. position overshoot Reference value: 80 000A Square of peak The maximum peak current of a motor phase is continually determined once motor current COMPAX is switched on and this is stored as status S13 or S14 using P233/234=56.
  • Page 135 Access to additional parameters via S13 and S14: P233/P234 You will find the meanings of the DA monitor values on Page 52. The corresponding number in the first column should be entered in the parameter. This means P233 determines status S13 Meaning Current number of HEDA transmission errors Average no.
  • Page 136: External Position Localization With Position Adjustment

    Operating Instructions External position localization with position adjustment 8.5.4 External position localization with position adjustment The external position localization with position adjustment described below is only Only available in available in the standard unit (COMPAX XX00). Solutions adapted to specific COMPAX XX00! applications are available in the unit variants.
  • Page 137 Para- Meaning meter P214 Encoder direction. ="0": positive direction for encoder rotating clockwise. ="1": positive direction for encoder rotating anti-clockwise. Setting aid: Switch off external position adjustment (P144=4) and data record Note S42 (position of external sensor). Proceed with POSR x axis. S1 and S42 must change by the same value (x).
  • Page 138: Interfaces

    Operating Instructions Digital inputs and outputs Interfaces The COMPAX interfaces for data and status are digital inputs with an PLC data interface, an RS232 interface and an optional bus interface (interbus S, CAN bus, CANopen, profibus, CS31 or RS485). The RS232 interface can be operated simultaneously with other interfaces. 8.6.1 Digital inputs and outputs To control the program process, 16 inputs and 16 outputs are available (8 inputs and 8 outputs with COMPAX 1000SL).
  • Page 139 Output Assignment O1 (X8/9; X19/x) ="1":No fault ="0":errors E1 ... E58; the drive does not accept any positioning commands. After "Power on" O1 remains at "0" until after the self test. O2 (X8/10; X19/x) ="1":No warning ="0":error O3 (X8/11; X19/x) Machine zero has been approached O4 (X8/12;...
  • Page 140: Digital Inputs And Outputs For Compax 1000Sl

    Operating Instructions Digital inputs and outputs 8.6.1.1 Digital inputs and outputs for COMPAX 1000SL Allocation of logic inputs for input pins of X19 The source (input pin on X19) from which the respective logic input is to be read is specified via parameters P156, P157 and P158.
  • Page 141 Example: The following fixed logical value (0 or 1) or pin of X19 assignment must be configured: Wert: "0" input 1 X19 pin 3 input 2 X19 pin 4 input 3 X19 pin 5 input 4 X19 pin 6 input 5 X19 pin 7 input 6 "0"...
  • Page 142 Operating Instructions Digital inputs and outputs Allocation of output pins of X19 to the logic outputs The target (output pin on X19) on which the respective logic output is to be written is specified via parameters P159 and P160. The parameters are 24 bits large with 4 bits defined for allocating each output to an output pin This allocation can be easily done with the assistance of the ServoManager.
  • Page 143: Free Assignment Of Inputs And Outputs

    8.6.1.2 Free assignment of inputs and outputs You can make the permanently assigned standard inputs I1 to I6 available for Free assignment assignment using parameter P221. Meaning: of inputs Input I1 (X8/1) I2 (X8/2) I3 (X8/3) I4 (X8/4) I5 (X8/5) I6 (X8/6) Setting P221 Each input is assigned a valency.
  • Page 144 Operating Instructions Digital inputs and outputs Explanation: The permanently assigned standard outputs O1 to O6 can be made freely P225: makes available using parameter P225. Meaning: outputs freely available. Output O1 (X8/1) ="1": No fault O2 (X8/2) ="1": No warning O3 (X8/3) Machine zero has been approached O4 (X8/4) Ready for start O5 (X8/5) Programmed nominal position reached...
  • Page 145: Compax Virtual Inputs

    Outputs Setting P223, P224, Each output is assigned a valency. Calculate the total of the valencies of the required outputs and enter this in the relevant parameter. P245, P246 O4 to O16 should be influenced by the OUTPUT WORD command; O1, O2 and Example: O3 should be available via OUTPUT Ox=y.
  • Page 146 Operating Instructions Digital inputs and outputs Logical inputs * I1...I8 Field bus I17...I24 logical I1...I8 Logical inputs * I9...I16 COMPAX–command I41...I48 logical (OTA41...OTA48) I9...I16 Field bus I25...I32 logical I9...I16 Remarks regarding the structural diagram The control functions corresponding to I1.. I8 cannot be activated via OT O33...OT O40.
  • Page 147: I/O Assignment Of Variants

    8.6.1.4 I/O assignment of variants I12: final stage enable COMPAX XX30: I13: measuring error compensation by external position measurement Round table I14: release brake control O14: no measuring error O16: no power to final stage STOP ineffective during synchronization process. COMPAX XX50: I1 &...
  • Page 148: Function Of Inputs

    Operating Instructions Digital inputs and outputs 8.6.1.5 Function of inputs When working with pre-assigned inputs, always note the following: The SHIFT signal (I1) may only change if I2...I5 ="0". SHIFT I2-I5 The "STOP" and "BREAK" functions (input I6) have top priority. For the inputs I1 to I5, only the first input present will be detected and the relevant function activated.
  • Page 149 START Input I5 Starts the program data record at WAIT START, after Power On and after STOP. Performs the next data records (commands) before the next WAIT START command, an END instruction or a STOP or BREAK signal. O4 "Ready for start" is reset. Once a positioning process has been Note! interrupted by STOP (I6="1"), the process can...
  • Page 150: Emergency Stop

    Operating Instructions Digital inputs and outputs Input SHIFT I5 When P211="3", the data record indicator is set to 1 using "Shift I5". P211: blocking P211 Function and modifying teach in functions Break Input SHIFT I6 The positioning process is interrupted, the axis is stopped. O4 "Ready for start"...
  • Page 151: Synchronous Stop Using I13

    Fast start Input I15 Input for fast and defined starting of positioning process. The "Fast start" function is switched on using P18=2 or 3 (when using P18=3, the PLC data interface is also switched on). When I15="0", all positioning processes (POSA, POSR) are blocked. When I15="1", positioning processes are started.
  • Page 152 Operating Instructions Digital inputs and outputs If MZ travel is interrupted by the synchronous stop, then O3 "Machine zero Note for MZ travel: approached" is not output. P219 = xx000000=0: COMPAX-M does not evaluate the additional emergency Additional assignment of P219: P219 = xx000111=7: Emergency stop with P10 as relative ramp time, then switch stop input.
  • Page 153: Function Of Outputs

    8.6.1.7 Function of outputs No fault O1="1" if there is no error for group E1 ... E57. O1="0" if there is an error for group E1 ... E57; the drive does not accept positioning commands. No warning O2="1" if there are no errors E58. O2="0"...
  • Page 154: Diagrams

    Operating Instructions Digital inputs and outputs Idle after stop or break O6="1" indicates that the axis is at a standstill due to a STOP (I6) or BREAK (I1&I6). O6 is reset when the axis moves again. Mark missing after maximum Only assigned if mark reference is activated (P35=1).
  • Page 155 Inter- Direct command face specification Start * Stop Ready to start Progr. target pos. reached Out of action after stop * When using this START, a processing command interrupted by STOP and specified by a interface is restarted. Finding machine zero in normal mode Before the...
  • Page 156: Plc Data Interface (Function Not Available With Compax 1000Sl)

    Operating Instructions PLC data interface (function not available with COMPAX 1000SL) 8.6.2 PLC data interface This universal data interface allows data to be exchanged with all PLC types, regardless of manufacturer and origin. You will need five binary inputs and outputs for this process.
  • Page 157 Syntax of individual commands: Positioning Start sign commands POSA, Function code 1: POSR Function code 2: Sign Numerical value 10 Numerical value 10 Numerical value 10 Numerical value 10 Numerical value 10 Numerical value 10 Numerical value 10 Decimal point Numerical value 10 Numerical value 10 Numerical value 10...
  • Page 158 Operating Instructions PLC data interface (function not available with COMPAX 1000SL) Modify Start sign parameters Function code 1: P1...P49 Function code 2: Parameter No. tens column Parameter No. digits column Assignment code: "A" Sign Numerical value 10 Numerical value 10 Numerical value 10 Numerical value 10 Numerical value 10...
  • Page 159 Function codes of Function code commands BCD coded F-code1 PLC assigns the sign (4 bit) to I8...I11. Procedure for Once the data is stable, the PLC sets the UBN to "1". transmitting a sign COMPAX reads the sign and sets RDY to "0". PLC sets UBN to "0".
  • Page 160: Rs232 Interface

    Operating Instructions RS232 interface 8.6.3 RS232 interface You can communicate with COMPAX via an RS232 interface on a PC. The following functions are available. Direct command input and execution in on-line mode. Read status values. Read and write program data records (the complete stock of commands is available here).
  • Page 161 P20: Software Function handshake (SH) / error Software transmission handshake Error transmission "0": Error only when there is activity at the interface End sign selection "0": Binary transfer BCC: Block check "0": without Implment the required setting by entering the sum of the set values in P20. Example in Quick-Basic of how to transmit and receive COMPAX data via the RS232 interface.
  • Page 162: Interface Functions

    Operating Instructions RS232 interface 8.6.3.2 Interface functions When making direct command entries via RS232, use the abbreviated form for Direct most instructions (two letters). command entry Refer to table on Page 165! Commands permitted for the various modes of operation Preparatory positioning commands 3.
  • Page 163: Read And Write Program Sets And Parameters

    Direct modification of velocity of an active positioning process. The type of speed transfer and the ensuing braking ramp can be influenced by previously modified acceleration times (ACCEL, ACCEL-). Instruction POSR 0 SPEED value These commands are processed regardless of a positioning process specified by Commands which the interface (not during an internal data record procedure).
  • Page 164 Operating Instructions RS232 interface P40 C R L F Example: COMPAX transmits the contents of P40: P40=value name C R L F > Transmitting Instruction control instructions START Nxxx START STOP QUIT TEACH Z TEACH Nxxx BREAK START N010 C R L F or SN 010 C R L F Example: Set 10 is executed P211: blocking...
  • Page 165 Operating status Authorization of commands in Commands available in different modes all operating modes / of operation statuses Stop Emergency stop OFF (motor switched Error present In data record operation During positioning (as preparation for the next command) Find machine zero Approach real zero Manual +/- During RUN and...
  • Page 166: Binary Data Transfer Using Rs232

    Operating Instructions RS232 interface 8.6.3.4 Binary data transfer using RS232 A series of commands can be transferred in the COMPAX internal binary format for time-critical applications. This saves times as ASCII into COMPAX internal binary format conversion is not required. You can still transfer data in the normal ASCII format (mixed mode).
  • Page 167 Valency: * ... 2 Transmission sequence, e.g.: "84 4C MSB LSB". Negative numbers are represented in complement to two format. Creating the Negative numbers complement to two: Determine bit combination of the positive numerical value. Negate the binary value. Add 1. You can generate this format from any number (as long as it has digits after the Format decimal place) as follows.
  • Page 168: Process Coupling Using Heda (Option A1 / A4)

    Operating Instructions Process coupling using HEDA (Option A1 / A4) 8.6.4 Process coupling using HEDA (Option A1 / A4) HEDA (SSI interface) can be used for synchronization of several axes with Synchronization simultaneous ( 2.5 µs) processing of individual controller time slices. and fast start via The master (operating mode 1) transmits 2 synchronization words to the slave HEDA:...
  • Page 169 P18 is expanded with the following bits: Fast start Bit 0 Bit 1 Bit 2 Bit 3 The fast start is synchronized using P18 bit 3 for HEDA with master and slave, i.e. input 15 must be on the slave and the master fast start (triggered by I15 in master) must also be on HEDA so that it can be executed.
  • Page 170 Operating Instructions Process coupling using HEDA (Option A1 / A4) Permissible Master output combinations and quantites: P184= required parameter settings: (CPX 00 CPX 60, CPX 70) (CPX 70) (CPX 70) (CPX 00 CPX 60, CPX 70) (CPX 00 CPX 60, CPX 70) (CPX 00 CPX 60, CPX 70) When the encoder position P184=40 is transferred, the encoder position is transferred into high word and the duration period of the pulses is transferred into...
  • Page 171 Coupling of several cams with the same time base and separate master or slave oriented label synchronization (see above) Linking of several cams with the same time base and absolute zero drift between the axes due to the transfer of a position value (see above) Only position signals can be completely restored following HEDA transmission Error handling...
  • Page 172 Operating Instructions Process coupling using HEDA (Option A1 / A4) Please note: the operating instructions (pages 67 - 171) as well as the application examples (pages 225 - 237) can be found in the com- plete product manual which is available as PDF file on CD COMPAX-M / -S...
  • Page 173: Accessories And Options

    9. Accessories and options C o m p a c t S e r v o C o n t r o l l e r Please note: the operating instructions (pages 67 - 171) as well as the application examples (pages 225 - 237) can be found in the complete product manual which is available as PDF file on CD System concept 9.1 System concept...
  • Page 174: Overview

    Accessories and options Overview The following table shows the COMPAX system components and the relevant associated cables. COMPAX 35XXM COMPAX-M Digital S ta tu s N u m b er Value E n te r Re ady E r ror Re ady E r ro r RS 485...
  • Page 175 SSK 6/.. COMPAX 35XXM COMPAX-M SinCos Digital Option S1/S2 S ta tu s N u m b er Value E n te r Re ady E r ror Re ady E r ro r SinCos RS 485 RS 23 2 Option S3 für X1 0 C o n tr o l...
  • Page 176: Motors

    Accessories and options Motors EMD motors Suitable motors are described in the motor catalogue (Article No.: 192- 060011)! COMPAX also supports the operation of linear motors. For this, COMPAX requires Linear motor: option S3 (interface to linear encoder and Hall sensor; assignment X12 see Page 46).
  • Page 177: Hauser Linear Actuators

    HAUSER linear actuators The HAUSER "HLEc" linear unit is available with various cross sections: HLE80C HLE100C cross-section: 100 mm x 100 mm up to 7m long HLE150C cross-section: 150 mm x 150 mm up to 10m long Highly dynamic, modular linear axis "HPLA" with toothed belt drive or rack- and-pinion drive: HPLA80: up to 50m for rack-and-pinion, up to 20m for toothed belt...
  • Page 178: Data Interfaces

    Accessories and options Data interfaces 9.5.1 RS232 Use the RS232 interface, fitted as standard in COMPAX, to connect COMPAX with a PC or terminal. This can then be used to operate COMPAX. The SSK1/.. interface cable is available as a connecting cable (for available lengths, see Page 206).
  • Page 179: Process Interfaces

    Process interfaces 9.6.1 Encoder interface The encoder interface option E2 (E4) incremental encoder (such as: Litton encoder G71SSLDBI-4096-151-05BX). Use this to synchronize COMPAX with an external speed using the "SPEED SYNC" command. The encoder pulses per revolution and the translational travel per encoder revolution are set via the COMPAX parameters P143 and P98.
  • Page 180 Accessories and options Encoder module and accessories: EAM4/01 Design: BUS1/01 BUS6/01 GBK11/.. SSK7/.. SSK4/.. SSK17/.. Assignment of EAM4/01 (corresp. X13) Applications with encoder: Encoder COMPAX Individual Cable: GBK 11/.. connections Encoder input module E2 with line terminator, or for COMPAX 1000SL: Configured as encoder input (P144=4; P146=0) and with bus termination BUS 6/01 (sits as an intermediate connector on X13) SV drive COMPAX Cable: SSK 7/..
  • Page 181 COMPAX COMPAX Cable: SSK 7/.. or SSK17 (see principal diagrams below) Note! Note direction. cable in: COMPAX with encoder emulation cable out: COMPAX with encoder input Encoder simulation E3 for COMPAX (master) (in COMPAX 1000SL encoder simulation configured) Encoder input module E2 for COMPAX (slave) (in COMPAX 1000SL encoder input configured and with bus termination BUS 6/01) COMPAX –...
  • Page 182 Accessories and options The following are required: per COMPAX one encoder distributor ... EAM 4/01 one cable for the COMPAX and encoder distributor connection ... SSK 4/.. one bus cable for the connection between the encoder distributors... SSK7/.. Encoder input module ... E4 Bus terminator...
  • Page 183: Absolute Value Sensor (A1)

    9.6.2 Absolute value sensor (A1) The option A1 cannot be used for COMPAX 1000SL. When using option A1 (the absolute value sensor interface), the reference travel (find machine zero) normally required in normal mode after switching on is not required. The reference travel is then only required during start-up. The current read sensor position can be found in Status S12.
  • Page 184: Option S3 For Linear Motors

    Accessories and options SinCos multi-turn with programmable transmission factor S2 – option: When using a SinCos multi-turn, you can use the S2 option to adapt the range of the absolute position S12 to your application via a transmission factor. S12 then always contains the position value referenced to the reset path P96.
  • Page 185: Heda Interface

    9.6.5 HEDA interface HEDA using option A1 (e.g. A4 for COMPAX 1000SL) for COMPAX XX00 and the interpolation module IPM as master, for a COMPAX – COMPAX –coupling with the unit variants COMPAX XX00, COMPAX XX60 and COMPAX XX70, see from Page 168). Implementing tracking and contouring tasks with the HAUSER interpolation module (IPM) for PCs and industrial PCs.
  • Page 186: Analogue Speed Specification (E7)

    Accessories and options 9.6.7 Analogue speed specification (E7) Only in COMPAX XX6X and COMPAX XX70 Exception: In addition, E7 can be used with COMPAX XX00 to implement an external speed specification with the command "SPEED SYNC"; see Page 99 The "Encoder input" option (E2 or E4) cannot be used at the same time as Using option E7, you can specify a nominal speed value via connector X13 as analogue voltage in the range -10V to +10V.
  • Page 187: Accessories

    Accessories 9.7.1 External control panel (not available for COMPAX 1000SL) Use the control panels to control COMPAX via the digital inputs. They contain the following functions: Release TEACH Search machine zero HOME Move to machine zero Move to real zero ZERO Break block...
  • Page 188: Terminal Module For Compax 1000Sl (Eam)

    Accessories and options MC1.5/16-ST-3.81 Wiring plan and 16 (O8) assignment of 15(O7) SSK6/.. 14(O6) 13(O9) 12(O8) 11(O3) 10(O2) 9(O1) 8(I8) 7(I7) 6(I6) 5(I5) 4(I4) 3(I3) 2(I2) 1(I1) MC1.5/7-ST-3.81 7(Shield) 2(GND) 1(+24V) 9.7.2 Terminal module for COMPAX 1000SL (EAM) The terminal module EAM3/.. is used for the onward wiring of the COMPAX 1000SL connector X19 (physical inputs / outputs, ...) to a terminal series and a Sub-D connector.
  • Page 189: Eam5/01: Dc Feed For Compax-M

    9.7.3 EAM5/01: DC feed for COMPAX-M The power supply is normally over a central mains module; NMD10 or NMD20. With the component EAM5/01, available as an accessory, DC voltage can be supplied: the component contains the connections of the mains module. Input voltage range 100V DC –...
  • Page 190 COMPAX-M / -S Accessories and options EAM5/01: DC feed for COMPAX-M EAM5/01 X8 = mains module X8: control EAM5/01 X4 = mains module X4: signal connection to COMPAX-M X5; connection cable included EAM5/01 F21: 24V DC fuse 0.5A/M Delivery scope: EAM5/01.
  • Page 191: Emc Measures

    9.7.4 EMC measures 9.7.4.1 Power filter The following power filters can be used for RF suppression and compliance with the emission limit values specified in EN61800-3. NMD10 / COMPAX Type: NFI01/02 45XXS / 85XXS COMPAX 1000SL COMPAX 1000SL for motor lines >50m) NMD20: Type: NFI01/03 Dimension diagram:...
  • Page 192: Motor Output Throttle

    Accessories and options EMC measures COMPAX 25XXS: motor cable >10m COMPAX 25XXS: COMPAX 10XXSL: motor cable >50m COMPAX 10XXSL Type: NFI01/01 dimension diagr.: Unscreened: <0.5m Length of Screened: <5m connection between power filter and unit: 9.7.4.2 Motor output throttle We supply motor output throttles for use with long motor lines (greater than 20m) Type: MDR01/01 16A / 2mH Up to 16A nominal motor...
  • Page 193: External Ballast Resistors

    9.7.5 External ballast resistors External ballast NMD20 with external ballast resistance of 15 resistors: Braking power BRM4/01: 0.57 kW BRM4/02: 0.74 kW BRM4/03: 1.50 kW COMPAX 25XXS with external ballast resistance of 56 Braking power BRM5/01: 180W COMPAX 45XXS/85XXS with external ballast resistance of 22 Braking power BRM6/01: 450W COMPAX 35XXM with external ballast resistance of 10...
  • Page 194 Accessories and options External ballast resistors Dimension diagram: BRM8/01 Housing temperature may reach 200°C. Dangerous voltage! The device may only be used if completely fitted! Danger! The external ballast resistances should be fitted so that contact protection is provided. The housing temperature of the ballast resistance may rise to 200°C depending on the application.
  • Page 195 Authorised braking impulse power for NMD20 with BRM4/03 100000 F=50 F=20 F=10 10000 F=0.5 1000 Authorised braking impulse power for NMD20 with BRM4/02 100000 F=100 si ngl e pul se F=50 F=20 10000 F=10 F=0. 5 1000 0, 0 0, 2 0, 4 0, 6 0, 8...
  • Page 196 Accessories and options External ballast resistors 100000 10000 1000 100000 10000 1000 Authorised braking impulse power for NMD20 with BRM4/01 single pulse F=100 F=50 F=20 F=10 Braking time / s Authorised braking impulse power for NMD10 F=100 F=50 F=20 F=10 F=0.
  • Page 197 Authorized braking impulse power for COMPAX 2500S with BRM5/01 10000 F=50 F=10 1000 F=0. 5 0, 0 0, 2 0, 4 0, 6 0, 8 1, 0 1, 2 Authorised braking impulse power for COMPAX 4500S and COMPAX 8500S 100000 single pulse F=100 10000...
  • Page 198 Accessories and options External ballast resistors 100000 10000 1000 100000 10000 1000 Authorised braking impulse power for COMPAX 4500S and COMPAX 8500S with BRM 6/01 F=100 single pulse F=50 F=20 F=10 F=0.5 Braking time / s Authorised braking impulse power for COMPAX3500M with BRM7/01 F=50 F=20 F=10...
  • Page 199 Permissible brake pulse power for COMPAX 1000SL with BRM8/01 10000 F=50 F=20 1000 F=10 F=0,5 Accessories External ballast resistors F: Factor Cooling down time = F * braking time Braking Time [s]...
  • Page 200: Servomanager

    Accessories and options ServoManager 9.7.6 ServoManager Use the ServoManager to process complete COMPAX projects; it is included with COMPAX. It contains the following program modules: ParameterEditor: for configuring and parametrizing COMPAX. ProgramEditor: for creating COMPAX programs Terminal: for working directly on the connected COMPAX. The ServoManager and the program modules are described in a separate manual.
  • Page 201 The hand-held terminal contains the following functions: Functions display any status value. menu-guided configuration view and edit programs. view and edit parameters direct entry of commands The keys are all assigned two functions. Press the SHIFT key to activate the Key functions second function of a key.
  • Page 202 Accessories and options Hand-held terminal Menu: BDF2/01 Version COMPAX Typ Version P20= value Date Actual Values Actual Position I1 - I8 Target Position I9 - I16 Tracking Error O1 - O8 Speed O9 - O16 Torque Status Motor Temperature Status Switches Control Voltage Status Limits Power Voltage...
  • Page 203 View, edit, delete program View Program ? Edit Program? Delete Program? Commands or numerical values are modified by overwriting them. Direct command entry Command Mode ? Enter command Command is transferred by COMPAX Once you have transmitted the command using "Ent", this command reappears in the display and it can be modified and transmitted again.
  • Page 204 Accessories and options Hand-held terminal View, edit and reset parameter "VC" is generated when you exit the menu. When you exit the "Parameter edit" menu using "Esc", the "VC" command (transfer configuration) is transmitted to COMPAX. The configuration parameters are therefore only valid from this moment. When exiting the "Parameter edit"...
  • Page 205: Set Configuration

    Set configuration Switch off Motor ? Mode: Normal ? Mode: Endless ? Input unit: mm ? Accel: linear ? Selected motor? P100 = XXX HDX/Individual motor P100 = 0 Motor number P100 = ... Spindle Drive ? Rack and pinion ? Spindle Length Teeth in pinion Spindle Diameter...
  • Page 206: Appendix: Compax Components

    Accessories and options Hand-held terminal Appendix: COMPAX components Mains module for COMPAX-M (excluding COMPAX 35XXM) Up to 3 x 500 V AC mains supply connection; direct mains supply operation 10 kW cont. output NMD10 As NMD10, but with 20 kW continuous output; external ballast resistances available in 3 sizes. NMD20 HDY and HJ motors You will find information about our range of motors in the motor documentation.
  • Page 207: Appendix

    10. Appendix 10.1 Status values of the standard unit (COMPAX XX00) Actual values Status Designation: Unit corresp. P90 Actual position corresp. P90 Target position Lag error [corresp. P90] Velocity Torque [°C] Temperature C is transmitted Control voltage Mains power Travel cycle Operating hours Repeat counter corresp.
  • Page 208 Appendix Hand-held terminal Unit designations Status Designation: Meaning Designation of software version. Software version Date when program was created. Software date Order number (6 digits) Order Serial four-digit number Part Not assigned. Version Date, version and designation of the bus option (hardware module) IFM identification COMPAX P1XXM: 80 Unit designation...
  • Page 209 Output of status bits via the front plate The status bits are output via the front plate using 2 hex values. S16, S17 S16: Meaning ="1":No fault ="0":errors E1 ... E57; the drive does not accept any positioning commands. After "Power on", bit 1 remains at "0" until the self-test has been executed. ="1":No warning ="0"...
  • Page 210: Additional Compax Measuring Quantites

    Appendix Hand-held terminal Status monitor S15 You can assign the values of the service D/A monitor to status S15 using parameter P182. Selection of status value using P182 P182 Measuring parameter Nominal speed value sensor Tracking error Advance speed control Nominal speed value of position controller Actual speed value Loop difference for speed...
  • Page 211 D/A monitor channels 0 ... 3 Status monitor S15 (P182); HEDA Selec- Measuring quantity tion Scaled transverse voltage (For amplification of 1 use: 10V = 2 * ULS ) Scaled longitudinal voltage (For amplification of 1 use: 10V = 2 * ULS ) Host frequency 12/18 Mhz Analogue HF1 CPX 70 / IPM Analogue HF2 CPX 70 / IPM...
  • Page 212: Compax Parameter

    Appendix VP parameter can be modified "On Line" 10.3 COMPAX parameter 10.3.1 VP parameter can be modified "On Line" VP parameters can be modified and transferred and the password specified in any COMPAX operating mode. Note! Note the following points. 1.
  • Page 213 Remark The specified limit values refer to all parameters. Theoretical combinations are possible within these limits, however they could cause an internal number overrun. The following limitation applies. The travel per motor revolution must be greater than 0.01 mm or with increment unit: > 10 increments. Travel per motor revolution: Spindle drive: P83;...
  • Page 214 Appendix COMPAX standard parameters Meaning RS232 handshake Software handshake Error transmission / negative command P20 setting. acknowledgement The sum of the (E90 - E94) specified values is entered in P20. End sign selection Binary transfer BCC: block check EXOR via all signs apart from the end sign Factor for influencing the travel per motor revolution...
  • Page 215 Meaning Enable speed monitor (=101) D section rpm controller Filter acceleration Lag rapid rpm signal Structure switch measuring D-element slip filter Slip filter lag Reverse advance control ("0" : without reverse advance control) Current – advance control value D/A monitor 1 amplification D/A monitor 2 amplification Address of D/A monitor 1 Address of D/A monitor 2...
  • Page 216 Appendix COMPAX standard parameters Meaning Max. total moment of inertia With linear motors: Travel per motor revolution With linear motors: P83 = P126 Unit for travel Operating mode Ramp shape Transmission factor for the reset route of S2 option. ="0": no reset function. Travel of axis per encoder revolution P100 Motor number P101...
  • Page 217 Meaning P112 Slip frequency P113 Maximum speed Linear motor: P115 Angular speed P116 Stator resistance P119 Start of saturation P120 End of saturation P121 Minimum stator inductivity P122 Main inductivity P123 Rotor – scatter inductivity P124 Rotor resistance P125 Nominal voltage P126 Pitch length of motor magnets in m (2 * Pole distance) P127 Denominator: Dash count linear...
  • Page 218 Appendix COMPAX standard parameters Meaning P144 Settting encoder channel 1 P146 Resolution of encoder emulation (channel 2) P148 End stage designation P149 Configuration P151 Responsiveness of the monitor control P156 Allocation of inputs I1...I6 to the input pins on Source for Bit 0 –...
  • Page 219 Meaning P184 Selection parameters for HEDA – process value (master) Default value: P184=0 P185 – P187 HEDA – parameter P188 Selection parameters for HEDA – process value (slave) Default value: P188=0 P191 – P196 Bus – parameter P197 Order (status S33) P198 Part (status S34) P202 With machine zero mode P212="8": Distance machine zero –...
  • Page 220 Appendix COMPAX standard parameters Meaning P216 Limit switch position E1 is approached when P217 Limit switch mode P218 Error cutout Default value: P218=0 (E57 active) P219 Emergency stop input on COMPAX- M / Synchronous =128 synchronous STOP on COMPAX XX0X without evaluation of STOP on COMPAX XX00 =135 synchronous STOP on COMPAX XX0X with evaluation of...
  • Page 221 Meaning P243 HEDA operation ="0": single axis (when P250=0) or slave on IPM (P250=1 ... 9) ="1": COMPAX as master ="2": COMPAX as slave on a COMPAX master mode P245 Assign outputs O1 Output (valency) [Bit No]: - O8 to the HEDA P245 = sum of valencies of the outputs allocated to the HEDA bus P246 Assign outputs O9 Output (valency) [Bit No]:...
  • Page 222: Monitoring And Limitation Characteristics

    Appendix Monitoring and limitation characteristics 10.3.3 Monitoring and limitation characteristics This section examines the relationships of COMPAX monitoring and limitation characteristics in more detail: Structural diagram: Unom. Dynamic monitoring: In COMPAX, the nominal current value is limited to the smallest value of the following 3 quantities. unit peak current P105 * P107: nominal motor current (P105) * maximum pulse current permitted for the motor (P107)
  • Page 223: Error Handling And Error Messages

    10.4 Error handling and error messages All errors are indicated by messages on the front plate error LED. An error number EXX appears in the display. You can modify parameters when an error message is present. When you have rectified the cause of the error, acknowledge the error using Enter, Quit or by switching the unit on again (Power on).
  • Page 224 Appendix Monitoring and limitation characteristics Cause E23 The current command is not allowed. E24 The speed selected is not valid. E25 The position selected is not valid. E26 REPEAT without END or GOSUB without RETURN . E27 Parameter must not be written. E29 Motor values missing.
  • Page 225: Speed Controller

    Cause E48 Motor thermostatic switch reports error. E49 Motor or drive reports blockage. Drive remains in the current limit (P16) for longer than P108 COMPAX-S: speed controller oscillating E50 Limit switch 1 activated. E51 Limit switch 2 activated. E52 Error in emergency stop circuit. E53 Motor overloaded.
  • Page 226: Application Examples

    COMPAX-M/S Application examples Overview 11. Application examples 11.1.1 Overview External data record selection...227 Application: One of eight various workpieces should be made available at a data collection station. The number of the desired workpiece is set using a BCD selector switch. The transportation process is then triggered by a starting pulse.
  • Page 227: External Data Record Selection

    11.1.2 External data record selection Application: One of eight various workpieces should be made available at a data collection station. The number of the desired workpiece is set using a BCD selector switch. The transportation process is then triggered by a starting pulse.
  • Page 228 Application examples External data record selection To move one particular workpiece to the data collection station, the number of the station in question is first set on the BCD switch. The process is then triggered by a start pulse. To do this, the BCD switch setting must remain the same until the start of the first axis movement.
  • Page 229: Mark-Referenced Positioning

    11.1.3 Mark-referenced positioning Application: Pieces with lengths of between 100 mm and 500 mm should be cut from a plate roller. The cut-off positions are specified by marks on the plate. If two marks are separated by more than 500 mm, the plate should be pulled back to the last cut-off position.
  • Page 230 Application examples Mark-referenced positioning Programming: Configuration: P93 = +2 i.e. continuous operating mode P35 = +1 i.e. mark reference switched on P37 = +50 i.e. minimum travel to mark = 50 mm P38 = +650 i.e. maximum travel to mark = 650 mm P39 = +680 i.e.
  • Page 231: Speed Step Profiling / Comparator Switching Points

    11.1.4 Speed step profiling / comparator switching points Application: A bore spindle should be guided to the surface of the workpiece using a rapid feed movement. The bore is then bored to a defined depth using a considerably longer feed. When reversing the bore spindle, the unit should travel at a slow velocity while the drill is still in the bore.
  • Page 232 Application examples Speed step profiling / comparator switching points Programming: Configuration: P93 = +1 i.e. normal operating mode (absolute and relative positioning) P94 = +1 i.e. linear ramp shape SPEED 100% corresponds to 100 mm/s Names of the inputs and outputs: O7 bore spindle 0 # off O8 conveyor belt...
  • Page 233: Speed Sync

    11.1.5 SPEED SYNC Application: Cartons should be transferred from one conveyor belt (conveyor belt A), a belt operating at a very variable belt speed, to another conveyor belt (conveyor belt C), a belt which has a constant belt speed. This task should be performed using a transfer belt (conveyor belt B) installed between the two other belts.
  • Page 234: Speed Control Mode

    Application examples Speed control mode 11.1.6 Speed control mode Application: A centrifuge for manual operation should be operated by an operating mode switch. The centrifugal process should either be run at a permanently set speed or the test tubes should be removed, one after another, through the removal aperture.
  • Page 235 Programming: Configuration: P93 = +4 i.e. speed control operating mode P94 = +2 i.e. smooth ramp shape Names of the inputs and outputs: light barrier 0 # not activated 1 # activated shutter 0 # open interlock 0 # open I10 operating mode 0 # remove O7 interlock 0 # closed...
  • Page 236: Fast Start

    Application examples Fast start 11.1.7 Fast start Application: Material should be fed to an extender stamping machine which operates at a maximum speed of 150 rpm. The material may only be supplied if the stamping tool is open and if the workpiece (already stamped) has been thrown up.
  • Page 237: Implementing A Torque Controller

    Programming: Configuration: P93 = +2 i.e. continuous operating mode P94 = +1 i.e. linear ramp shape P18 = +2 i.e. fast START activated Names of the inputs and outputs: I15 fast START a flank from 0 to 1 triggers the fast START List of programs: N001: ACCEL 100...
  • Page 238: Index

    Index 12. Index ABB – interface ...178 Absolute positioning ...96 Absolute value function with standard resolver...79 Absolute value resolver ...79 ACCEL ...97 Acceleration and braking time ...97 Accessories and options ...173 overview...174 Accuracy ...65 Accuracy of calculations...115 Acknowledging error messages ...71 Activate position adjustment ...150 Activating mark...
  • Page 239 Configuration via PC ...91 Configuration when supplied ...72 Connections to the drive...46 Connector and connection assignment COMPAX 25XXS ...30 Connector assignment COMPAX 25XXS ...34 COMPAX-M ...21 NMD ...23 Connector assignment COMPAX 1000SL...42 Connector assignment X13 for COMPAX 1000SL ...61 Continuous mode ...74 point of real zero ...78 Control...147 Control voltage ...64, 207...
  • Page 240 Index Initiators connection plan...55 position ...55 Initiators...55 Input connection ...54 Input I14 ...100 Input I16 ...100, 186 Input level...54 Installation / dimensions COMPAX 45XXS/85XXS ...36 Installation and dimensions of COMPAX 3500M ...27 Installation arrangement of the COMPAX-M mains module ...18 Interbus-S...178 Interfaces ...138 Interpreting and storing...
  • Page 241 P88...77 P90...74 P92...77 P93...74 P94...75 P96...184 P98...136 Parameter assignments ...113 Parameter groups...212 Parametrization of the cam controller ...104 Parity ...160 Part...208 Password ...99 Password input...70 Password protection...70 Peak current ...134 PLC data interface...156 PLC sequential step tracking ...122 Plug and connection assignment COMPAX 35XXM ...26 COMPAX...
  • Page 242 Index Stop program ...112 Sub-program ...107 Subtraction ...114 Supply status...10 Supported resolvers ...64 Switch off...98 Switch off drive unit ...98 Switch status ...208 Switching delays ...104 Switching off ...72 Switch-on status ...10 Synchronization errors ...171 Synchronizing to external velocity ...99 Synchronous cycle control ...147 Synchronous STOP...

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