Parker Products Network Card COMPAX M S L User Manual

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  
From software version V6.26  
October 2001  
Parker Hannifin GmbH  
EMD Hauser  
Parker Hannifin plc  
Electromechanical Division  
21 Balena Close  
DIN EN ISO 9001  
P. O. Box: 77607-1720  
Robert-Bosch-Str. 22  
D-77656 Offenburg, Germany  
Phone: +49 (0)781 509-0  
Poole, Dorset  
W e a u t o m a t e m o t i o n  
BH17 7DX UK  
Phone: +44 (0)1202 69 9000  
Fax:  
+49 (0)781 509-176  
Fax:  
+44 (0)1202 69 5750  
Reg. Nr. 36 38  
http://www.parker-emd.com  
http://www.parker-emd.com  
Subject to technical modification.  
11.10.01 11:01  
192-040053 N2  
Data correspond to the state of technical development at the time of printing.  
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7.9.10.3 Encoder interfaces / Analogue rpm specification / Step direction  
3
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COMPAX-M / -S  
Contents  
4
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9.6.7 Analogue speed specification (E7) (option not available with COMPAX  
5
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COMPAX-M / -S  
Contents  
The parameter and program memory are created using ZP-RAM. This memory is  
unaffected by mains power failure.  
Data security  
This module has a guaranteed service life of 10 years (calculated from the first  
start-up).  
ZP-RAM failure causes data loss; COMPAX contains wild data.  
If you encounter problems of this kind, contact HAUSER.  
SinCos is a registered trademark of Firma Stegmann.  
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General dangers  
2. Unit assignment:  
This documentation applies to the following units:  
!
!
!
!
!
!
!
!
!
COMPAX 10XXSL  
COMPAX 25XXS  
COMPAX 45XXS  
COMPAX 85XXS  
COMPAX P1XXM  
COMPAX 02XXM  
COMPAX 05XXM  
COMPAX 15XXM  
COMPAX 35XXM  
XX: Unit variants  
Key to unit  
designation  
e.g.: COMPAX 0260M:  
COMPAX: name  
02:  
60:  
performance class  
Variant  
e.g. "00": Standard model  
"60": electronic transmission  
"M": multi-axis model  
"S": single-axis unit  
M:  
unit type  
...  
HAUSER type plate  
The type plate is located on the upper side of the unit and contains the  
following:  
038106 0001 951-160101 Compax 0260M  
E2  
equipment  
name  
option name  
serial number  
part number  
Notes for repeat  
customers  
regarding  
Please check the software version of your unit.  
Despite all efforts on our part, software modifications may change procedures as  
well as cause functional changes.  
modified software  
versions:  
Please notify us immediately if you detect unexplainable problems when using a  
new software version.  
7
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COMPAX-M / -S  
Safety instructions  
3. Safety instructions  
3.1 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  
Proper use  
This unit is designed for use in high voltage units (VDE0160). This unit automates  
motion processes. The ability to switch several units at once makes it possible to  
combine several motion processes. Reciprocal interlocks must be installed in such  
cases.  
3.2 Safe working practices  
The unit must be operated by skilled staff only.  
! When used in this manual, the term "trained staff" refers to people who,  
due to their training, experience and knowledge of current standards,  
guidelines, accident prevention regulations and operating conditions, have  
received authorization from the head of health and safety at the site to perform  
the necessary activities, while recognizing and avoiding any associated dangers  
(definition of personnel as per VDE105 or IEC364)  
are familiar with first aid and the on-site safety equipment,  
have read and observed the safety instructions  
have read and observed the User Guide (or the section which applies to the  
tasks to be executed).  
This applies to all tasks relating to set-up, start-up, configuration, programming and  
modification of the operating conditions, operating modes and maintenance.  
Please note in particular the functions contained in the start-up manual relating to  
operational readiness and emergency stop.  
The User Guide must be present at the unit at all times.  
3.3 Special safety instructions  
! Check the arrangement of unit and documentation.  
! Never disconnect the electrical connections when energized.  
! Use safety equipment to ensure that moving or rotating parts cannot be touched.  
! Ensure that the unit is in perfect working order before operation.  
! Include the operational readiness and emergency stop functions of the unit (see  
start-up manual) in the safety and emergency stop functions of your machine.  
! Only operate unit with the front cover attached.  
! Ensure mains module has sufficient nominal and peak power ratings.  
! Ensure that the unit arrangement enables the units with higher power ratings to  
be fitted more closely to the power unit than the units with lower ratings  
(COMPAX-M).  
! Ensure that motors and linear drive units (if available) are sufficiently secured.  
! Ensure that all energized connectors cannot be touched. The unit carries  
voltages ratings of up to 750V, which could fatally injure the operator.  
! Please mind the limits of the mechanical equipment connected.  
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Conditions of warranty  
3.4 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. We cannot assume any  
responsibility for any other methods used for securing the units.  
Note on option exchange  
In order to check hardware and software compatibility, it is necessary for COMPAX  
options to be changed at the factory.  
4. COMPAX – CD  
On the accompanying CD, you will find all instructions for COMPAX and the  
operating software "ServoManager".  
Once the CD is inserted in a Windows – computer, the HTML desktop (default.htm)  
is normally automatically started – if an Internet browser is present. If you do not  
have an Internet browser on your computer, please install a version: the software is  
usually available to download free of charge.  
If the desktop does not start automatically, please execute the file "default.htm"  
(e.g. by double clicking on the file or via "Start":"Run"). The "default.htm" file is  
located directly on the CD (not in the sub-directory).  
Use Language selection (top right in window) to select the language required.  
Follow the CD instructions shown on the window in the center of the screen.  
Use the list on the left-hand side to select the required instructions or software.  
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COMPAX-M / -S  
Switch-on status  
5. Switch-on status  
5.1 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  
on (24V DC and operating voltage) (motor switched off). In addition to  
this, when switched on, all parameters (apart from bus settings P194,  
P195, P196 and P250) are set to their default values.  
P149="1": COMPAX is configured and once switched on (24V DC and operating  
voltage) tries to engage the motor.  
5.2 Commissioning  
Meaning of LEDs on the front panel  
COMPAX-M / -S  
LED  
Color  
Meaning, when switched on  
Ready  
green  
24V DC present and initialization complete  
Error  
red  
COMPAX - Error (E1...E56) present or COMPAX is  
initialized.  
Mains module  
LED  
red  
Error  
LED  
green  
Ready  
Possible errors  
off  
on  
on  
off  
no errors  
Heat sink temperature too high or  
error in logic voltage (24V DC too low or unit is defective)  
Emergency stop is activated and ready contact is  
released.  
on  
on  
Ballast switching unit overload or  
undervoltage (<100V DC or <80V AC).  
COMPAX 1000SL  
Status  
Red LED (H2)  
Green LED (H1)  
24V not available  
24V are switched on, boot up  
Unit OFF  
Unit error; drive switched off  
Unit error; drive powered  
Unit RUNNING  
off  
on  
off  
on  
on  
off  
off  
off  
blinking  
blinking  
on  
on  
Caution!  
If there is no control voltage, no displays will appear to indicate  
that operating voltage is present.  
Note:  
With Error E40, external enabling is missing with COMPAX 45XXS, COMPAX  
85XXS and COMPAX 1000SL (Hardware input).  
10  
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Commissioning  
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"  
Configuration is accepted with VC and VP of COMPAX.  
2. COMPAX displays error E57  
COMPAX is configured (P149="1"). However, operating voltage is not present.  
Check COMPAX configuration* .  
Alterations are accepted with VC and VP of COMPAX.  
*) Configuring  
a) Using ServoManager:  
P149="1", VP and VC are transferred when being downloaded to COMPAX  
from the ServoManager.  
b) Using hand-held terminal:  
P149="1", VP and VC are generated by the hand-held terminal.  
c) Without an auxiliary device, e.g. a terminal:  
P149="1", VP and VC must be transmitted after COMPAX configuration.  
Switch on operating voltage  
With E57: acknowledge error by pressing Enter.  
When OFF: command: "OUTPUT O0=0" or  
switch 24V DC on / off  
Motor is powered; COMPAX display shows "RUN".  
Flow chart:  
connection of control  
voltage 24 V DC  
initializing stage  
COMPAX configured  
(P149="1")  
COMPAX not configured  
(P149="0")  
error E57  
in COMPAX  
display  
OFF in  
Display  
check  
execute  
configuration  
configuration  
P149="1",  
VC, VP  
VC, VP  
connect  
DC bus  
voltage  
connect  
DC bus  
voltage  
24V DC  
ON / OFF  
clear  
error E57  
OUTPUT  
O0="0"  
RUN  
motor enabled  
11  
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COMPAX-M / -S  
Switch-on status  
5.3 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).  
! Connect new COMPAX.  
! Use menu "Online: Download" to transfer data (without system parameters ) into  
the new COMPAX.  
Transferring system parameters  
! Call up ParameterEditor (Menu: PC Tools: ParameterEditor)  
! Use menu "Online: Copy" menu to transfer all parameters (including system  
parameters) to COMPAX.  
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: New" to set up a new axis.  
! Use menu "Online: Upload" to load all COMPAX settings (all parameters:  
including system parameters, data records, and (in COMPAX XX70) existing  
curves) into the new axis.  
! Connect new COMPAX.  
! Use menu "Online: Download" to transfer data (without system parameters) into  
the new COMPAX.  
Transferring system parameters  
! Call up ParameterEditor (Menu: PC Tools: ParameterEditor)  
! Use menu "Online: Copy" menu to transfer all parameters (including system  
parameters) to COMPAX.  
1
System parameters are internal parameters; you will only obtain an identical  
COMPAX – setting if these are also transferred.  
12  
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Equipment replacement  
6. Conditions for usage  
- for CE-compliant operation in industrial and  
business sectors -  
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. with all  
housing plates and the front cover.  
COMPAX P1XXM, COMPAX 02XXM, COMPAX 05XXM and COMPAX 15XXM  
may only be operated with HAUSER mains modules (NMD10 or NMD20) or on  
COMPAX 35XXM.  
A power filter is required in the power line. The filtering can be executed  
once for the entire system or as separate process for each unit.  
The following power filters are required for standalone operation:  
Power filter:  
NMD10 / COMPAX 45XXS / COMPAX 85XXS:  
NMD20:  
Order No.: NFI01/02  
Order No.: NFI01/03  
COMPAX 35XXM:  
COMPAX 25XXS:  
COMPAX 10XXSL:  
Order No.: NFI01/04 or /05  
Order No.: NFI01/01 or /06  
Order No.: NFI01/01 or /02  
Length of connection: connection between power filter and unit: unscreened: < 0.5m  
screened: < 5m  
Only operate the unit with a HAUSER motor and resolver cable (with  
connectors containing special surface screening).  
In such cases, the following cable lengths are permitted.  
Motor and  
resolver cable:  
Motor cable  
< 100m (the cable must not be rolled up)  
For motor lines of >20m, a motor output throttle must be used  
Up to 16A nominal motor current: Type: MDR01/01 16A / 2mH.  
Between 16A and 30A: Type: MDR01/02 30A / 1.1mH.  
Over 30A nominal motor current: Type: MDR01/03 >30A /  
0.64mH.  
Resolver cable < 100m  
Operation with HAUSER motors.  
Motors:  
Control:  
Earthing:  
Only operate with calibrated controller (avoid feedback oscillation).  
! The filter housing, the mains module and the COMPAX must be surface  
connected with good metal conductivity and low inductivity to the cabinet ground.  
! Never secure the filter housing or the unit to coated surfaces.  
Cable laying:  
Accessories  
! Ensure that you have largest spacing possible between the signal and load lines.  
! Signal lines must never pass sources of strong interference (motors,  
transformers, relays,...).  
! Only use accessories recommended by HAUSER (absolute value sensor,  
encoder,...).  
Provide large surface contact areas down both sides of all cable screening.  
This is a product of the restricted sales class as per IEC 61800-3. In a domestic  
environment, this product may cause high frequency disturbances, in which case  
the user can be requested to implement suitable measures.  
Warning:  
13  
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COMPAX-M / -S  
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  
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.  
! mains supply.  
! emergency stop circuit.  
! various cables for connecting components.  
! motor cable and resolver cable.  
! supply line for voltage supply.  
! supply line for 24V DC control voltage.  
! hand-held terminal or PC (with RS232 cable)  
containing the ServoManager program for  
configuring COMPAX.  
14  
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Overview:  
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  
Interfaces:  
16 (8 with COMPAX 1000SL) digital inputs/outputs,  
RS232; machine zero, limit switch, override input  
Common function  
characteristics:  
Fieldbus options:  
RS485, Interbus-S, Profibus, CS31, CAN – Bus,  
CANopen, HEDA (synchronous serial realtime interfaces)  
Other options (excluding COMPAX 1000SL): absolute encoder sensor; encoder  
input; encoder simulation; D/A monitor  
Supply via central mains module: NMD10 / NMD20: Up to max. 3*500V AC  
COMPAX P1XXM  
COMPAX 02XXM  
COMPAX 05XXM  
COMPAX 15XXM  
Dimensions (DxHxW):  
COMPAX P1XXM:  
340*400*60 [mm]  
COMPAX-M:  
340*400*85 [mm]  
Design:  
Power:  
COMPAX-M with NMD  
mains module  
COMPAX ...  
P1XXM: 3.8 kVA  
02XXM: 4.5 kVA  
05XXM: 8.0 kVA  
15XXM: 17 kVA  
Power Supply  
COMPAX-M  
COMPAX-M  
D
IGIT  
A
L
D
IGIT  
A
L
Installation: in series  
S
t
a
t
u
s
N
u
m
b
e
r
Status  
Num  
b
e
r
V
alue  
V
a
lu  
e
-
+
E
n
te  
r
+
Enter  
R
e
ad  
y
E
rr  
o
r
R
e
ad  
y
E
rr  
o
r
R
e
a
d
y
E
rro  
r
X6  
X7  
X6  
X6  
IN  
R
S
48  
5
OUT  
R
S
23  
2
R
S
2
3
2
X8  
X8  
X
10  
X8  
X
1
0
C
o
n
t
r
o
l
I
n
p
u
t
In  
p
u
t
O
u
t
p
u
t
Outp  
u
t
T
e
s
t
T
e
s
t
C
o
n
t
r
o
l
C
o
n
trol  
X9  
X
11  
X9  
X
1
1
Supply Up to max. 3 * 500V AC (integrated power unit)  
COMPAX 35XXM  
Dimensions (DxHxW):  
40 * 400 * 220 [mm]  
Design:  
Power  
35.0 kVA  
COMPAX-M  
Digital  
Automation  
S
t
a
t
u
s
N
u
m
b
e
r
Value  
-
+
E
n
te  
r
R
e
a
dy  
E
r
ro  
r
R
e
ad  
y
E
rror  
X6  
X7  
X6  
IN  
R
S
48  
5
OUT  
R
S
23  
2
X8  
X8  
X10  
C
o
n
t
r
o
l
I
n
p
u
t
O
u
t
p
u
t
T
e
s
t
C
o
ntrol  
X9  
X11  
15  
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COMPAX-M / -S  
Start-up manual  
Supply Up to max. 1*250V AC (integrated power unit)  
COMPAX 1000SL  
Dimensions (DxHxW):  
146*180*85 [mm]  
Design:  
Power  
1 kVA  
Supply Up to max. 1 (3)*250V AC (integrated power unit)  
COMPAX 25XXS  
Dimensions (DxHxW):  
220*240*130 [mm]  
Design:  
Power  
2.5 kVA  
S
t
a
t
u
s
N
u
m
b
e
r
-
+
E
n
te  
r
R
e
ad  
y
E
r
r
o
r
X6  
R
S
232  
X8  
X10  
I
n
p
u
t
O
u
t
p
u
t
T
e
st  
C
o
n
t
r
o
l
Moin  
oto  
l
X9  
X11  
Supply Up to max. 3*500V AC (integrated power unit)  
COMPAX 45XXS  
COMPAX 85XXS  
Dimensions (DxHxW):  
275*350*125 [mm]  
Design:  
Power  
4.5 kVA  
8.6 kVA  
COMPAX-S  
D
IGIT  
AL  
Status  
Number  
Value  
-
+
ENTER  
Ready  
Error  
RS232  
X6  
Input  
Input  
Output  
X8  
Output  
X10  
Test  
X9  
Control  
X11  
16  
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COMPAX-M unit features  
Connector and terminal assignment  
7.2 COMPAX-M unit features  
7.2.1 Connector and terminal assignment  
COMPAX-M  
X1 motor  
X2 intermediate loop  
power connections  
X3 24V control voltage  
X4 control- and status  
signals / bus signals  
or short circuit plug  
S tatus  
N um ber  
X5 control- and  
status- signal  
bus-signals  
input  
Value  
-
+
Enter  
Ready  
E rror  
X6  
X6 RS232  
R S 232  
X8  
X10  
X8 Input  
/ Output  
X10 Input / Output  
Input  
O utput  
X9 Test  
Test  
X11 Control  
X13 Encoder  
C ontrol  
X9  
X11  
X12 resolver  
X14 HEDA  
X15 HEDA  
X16 absolute  
encoder  
X17 initiators  
X18 fan  
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.  
Meaning of LEDs on  
front plate  
LED  
Color Meaning, when switched on  
Ready green 24V DC present and initialization complete  
Error red COMPAX - fault (I1...E56) present.  
17  
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COMPAX-M / -S  
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.  
The power unit converts mains power (up to 3 * 500V AC) into DC current for the  
intermediate circuit.  
The two connectors for connection to the bus systems are located on the front  
plate of the power unit. The connection assignment complies with the specifications  
for 2-cable remote bus.  
The 24V DC control voltage required by the system network is supplied from the  
power unit.  
A connector terminal on the front of the power unit is used for connecting the  
control and status signals (EMERGENCY STOP, readiness) which you can  
incorporate in the control of the entire system.  
These signals and the bus lines are connected internally via a preformed  
doublesided flatband cable. These cables are included with the drive controller.  
The connectors which receive these connection cables are housed under the front  
plate cover of the mains module and the drive controller.  
Short circuit  
connectors  
Attach a short circuit connector to the outgoing connector on the drive controller  
that is furthest away from the mains module. The short circuit connector (order No.  
102-908000) is included with the mains module.  
Installation arrangement  
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.  
The wires required for creating the system network are included in the delivery.  
Open the front cover (upper section of front side) by loosening the top right knurled  
screw and wire up the following:  
Wiring up the  
system network  
! 24V DC voltage supply.  
! PE and DC current.  
! Emergency stop, ready and bus signals with a terminating connector on the last  
unit.  
From the mains module to the individual COMPAX-M.  
When delivered, the terminating connector is located on the mains module.  
power supply module  
COMPAX-M COMPAX-M  
PE LS+ LS-  
cable conduit  
main 24V  
motor  
motor  
HAUS
I
L1 L2L3 PE 24V  
U
V W PE brake  
U
V W PE brake  
PO  
S
tatu  
s
Numbe  
r
S
t
a
t
u
s
N
+
-
PE+  
-
PE+  
-
V
a
lu  
e
+
Enter  
-
r  
X1  
X1  
X1  
R
e
a
d
y
E
rr  
o
r
R
e
a
d
y
Erro  
r
R
e
a
d
X
6
X
7
X
6
...  
IN  
R
S
4
8
5
O
UT  
RS  
2
3
2
PE  
t
X
8
X8  
X
1
0
X
8
C
o
n
tr  
ol  
In  
p
ut  
I
X2  
+LS  
X2  
X2  
Outp  
u
t
O
t
t
T
e
s
t
T
e
C
o
n
t
rol  
t
X9  
X
1
1
X
9
-LS  
+
-
24V X3  
X3  
X3  
last device  
equiped  
with  
voltage supply  
24V  
{
terminal  
plug  
emergency stop,  
stand by and bus  
signals  
X4  
X5  
X4  
X5  
X4  
18  
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COMPAX-M unit features  
COMPAX-M system network, NMD10 / NMD20 mains module  
Unit side  
Wiring up the  
motor  
U V W PE brake  
-
+
cable conduit  
PE  
CO  
M
PA  
X-  
M
CO  
M
PA  
X-  
M
1
2
3
4
5
D
IG TIA  
L
D
IG TIA  
L
X1  
S
M
er  
o
o
&
o
n
o
M
er  
o
o
&
o
n
o
t
t
N
um  
alu  
b
e
er  
S
t
t
N
um  
e
b
S
t
t
N
um  
e
b
V
+
V
alu  
+
V
+
alu  
-
E
r
nte  
r
-
E
r
nte  
r
-
E
r
nte  
r
R
ea dy  
R
E
ro  
r
R
e
d
E
ro  
R
e
d
E
6
ro  
d
E
ro  
X
6
X
7
X
6
X
L1 L2L3 PE 24V  
U
V W PE brake  
PE+  
IN  
S
8
O
TU  
R
S2 32  
X
R
S
3
+
-
-
X
8
X
8
10  
X
8
X
10  
X
8
C
o
t
o
I
p
t
t
I
p
t
X1  
PE  
X1  
O
tu up  
t
O
t
u
t
T
se  
T
se  
t
C
o
t
o
C
o
t
o
X
9
X
1
X
9
X
1
X
9
X2  
X2  
+LS  
-LS  
+
-
24V X3  
X3  
X4  
X5  
X4  
Screened  
connection  
Note the screened connection of the motor cable on the  
upper unit side.  
Clamp the motor cable with the open place of the screen  
braid under the ground terminal (see figure on the right).  
Only wire up brake in motors which have a holding brake! If not, do not  
wire.  
The mains supply and the control voltage supply are provided by the mains  
module.  
Wiring up mains  
power / control  
voltage  
Power supply:  
Control voltage  
! 3*80V AC – max. 3*500V AC; 45 - 65Hz  
! Fuse protection:  
! 24V DC ±10%  
Ripple <1V  
SS  
Fuse protection: max. 16A  
NMD10: 16A (K circuit breaker in 20A)  
NMD20: 35A  
K circuit breaker or similar Neozed  
fusible cut-out.  
cable conduit  
24V  
L1 L2L3 PE  
-
+
H
1
2
3
4
5
COMPAX-M  
COMPAX-M  
X1  
DIGITAL  
DIGITAL  
Mo  
tion  
&
C
o
ntro
Mo  
ton  
&
o
nto
S
ta  
t
u
s
N
u
m
b
e
r
S
ta  
t
u
s
N
u
m
b
e
r
S
ta  
t
u
s
N
u
m
b
e
r
Valu  
e
Valu  
e
Value  
-
+
E
n
te  
r
-
+
E
n
te  
r
-
+
E
n
te  
r
R
e
a
d
y
E
rr  
o
r
R
e
a
d
y
E
rr  
o
r
R
e
a
d
y
E
rr  
o
r
R
e
a
d
y
E
rr  
o
r
X6  
X7  
X6  
X6  
L1 L2L3 PE 24V  
U
V W PE brake  
IN  
R
S4  
8
5
OUT  
R
S2  
3
2
R
S2  
3
2
R
+
-
PE+  
-
X8  
X8  
X1  
0
X8  
X1  
0
X8  
C
o
n
tro  
l
In  
p
u
t
In  
p
u
t
I
X1  
X1  
O
u
tp  
u
t
O
u
tp  
u
t
T
e
st  
T
e
st  
C
o
n
tro  
l
C
o
n
tro  
l
l
X9  
X1  
1
X9  
X1  
1
X9  
PE  
X2  
X2  
+LS  
-LS  
+
-
24V X3  
X3  
power supply  
module  
X4  
X5  
X4  
19  
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COMPAX-M / -S  
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  
wall installation:  
Direct wall installation and dimensions of COMPAX-M and the mains  
modules.  
02XXM, 05XXM,  
15XXM, NMD10  
& NMD20  
P1XXM  
390  
340  
85  
75  
50  
60  
49  
96  
COMPAX-M  
COMPAX-M  
DIGITAL  
DIGITAL  
S
ta  
t
u
s
N
umber  
S
t
a
tu  
s
N
um ber  
V
alue  
Value  
+
E
n
te  
r
E
n
ter  
R
eady  
E
rror  
R
eady  
E
rro  
r
X6  
R
S
232  
R
S
23  
2
X
8
X
1
0
X
1
0
X8  
I
n
p
u
t
Input  
O
u
t
p
u
t
Output  
T
est  
Test  
C
o
n
tro  
l
Control  
X9  
X
1
1
50  
Attach with four 6-mm  
Attach with two 6-mm  
hex-socket-head-screws  
hex-socket-head-screws  
The controllers are attached to the mounting plate with the back of the heat sink.  
Indirect  
wall installation:  
Indirect wall installation of COMPAX 02XXM, COMPAX 05XXM and COMPAX  
15XXM and the mains modules NMD10 and NMD20.  
294  
85  
244  
96  
50  
82  
50  
mounting  
plate  
COMPAX-M  
DIGITAL  
S
t
a
tu  
s
N
um ber  
Value  
+
E
n
ter  
R
eady  
E
rro  
r
X6  
R
S
232  
X10  
X8  
In  
p
u
t
O
u
tp  
u
t
T
es  
t
C
o
n
tro  
l
X9  
X11  
50  
50  
mounting  
plate  
The heat sink is pushed back through a hole in the panel (on right of diagram). A  
separate heat chamber is created between the installation plate and the rear wall  
of the control cabinet. The angles required under designation MTS2 must be  
complied with.  
Indirect wall installation is not possible with COMPAX P1XXM.  
Fan configuration  
Units with fan:  
COMPAX P1XXM, COMPAX 05XXM, COMPAX 15XXM  
COMPAX 02XXM, NMD10, NMD20  
Units without fan:  
20  
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COMPAX-M unit features  
Connector assignment COMPAX-M  
7.2.4 Connector assignment COMPAX-M  
X1:  
motor  
brake  
X2:  
power inter-  
mediate loop  
X3:  
control  
voltage  
X6:  
RS232  
X8/1  
X11/1  
+24V  
I1  
X8/2  
X11/2  
I2  
GND  
X8/3  
X11/3  
I3  
Override  
X8/4  
X11/4  
I4  
DA-channel 2  
DA-channel 3  
Override (old)  
shield  
X11  
X8/5  
X11/5  
X11/6  
X11/7  
I5  
X8/6  
I6  
X8:  
X8/7  
I7  
input /  
output  
I1...I8  
O1...O8  
X8/8  
I8  
X8/9  
X18/+  
X18/-  
O1  
O2  
O3  
O4  
O5  
O6  
O7  
O8  
24V  
0V  
X18: fan  
X8/10  
X8/11  
X8/12  
X8/13  
X8/14  
X8/15  
X8/16  
X17/1  
X17/2  
X17/3  
X17/4  
X17/5  
X17/6  
X17/7  
X17/8  
X17/9  
DA-channel 0  
DA-channel 1  
shield  
(option D1)  
GND 24V  
X17:  
DA-monitor  
initiators  
+24V  
GND  
X10/1  
X10/2  
X10/3  
X10/4  
X10/5  
X10/6  
X10/7  
X10/8  
X10/9  
X10/10  
X10/11  
X10/12  
X10/13  
X10/14  
X10/15  
X10/16  
I9  
Sig.MN  
Sig. E2  
Sig. E1  
I10  
I11  
I12  
I13  
X14(15)/1  
X14(15)/2  
X14(15)/3  
X14(15)/4  
X14(15)/5  
X14(15)/6  
X14(15)/7  
X14(15)/8  
X14(15)/9  
NC  
RxC  
TxC  
I14  
X10:  
I15  
input /  
output  
I9...I16  
O9...O16  
I16  
RxD  
TxD  
X14/X15:  
HEDA  
O9  
O10  
O11  
O12  
O13  
O14  
O15  
O16  
RxC/  
TxC/  
RxD/  
TxD/  
X16/1  
X16/2  
X16/3  
X16/4  
X16/5  
X16/6  
X16/7  
X16/8  
X16/9  
T-  
NC  
D-  
X9/1  
X9/2  
X9/3  
X9/4  
X9/5  
X9/6  
X9/7  
+24V  
X16:  
Absolut  
encoder  
NC  
GND  
GND  
T+  
reserviert  
reserviert  
24V*  
15V - 24V emergency  
stop*  
housing  
X9  
NC  
D+  
+24V  
X12: resolver / SinCos  
X13: encoder  
* can be  
parameterized  
The assignment of X12 does not apply for the S3 option.  
The bus connections are made via the mains module.  
21  
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COMPAX-M / -S  
Start-up manual  
7.3 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.  
7.3.1 Overview NMD  
voltage supply  
3*(80-500)V AC/  
Power Supply  
L1  
L2  
L3  
PE  
24V  
PE  
+
-
X1 24V CC  
X1  
PE  
PE  
+LS  
-LS  
X2 power inter-  
mediate loop  
X2  
+LS  
-LS  
X3 control  
+
24V  
24V  
X4  
X3  
-
-
voltage 24 V  
X4 control- and  
status-signals  
Bus signals  
continuation  
Ready  
Error  
X6  
X7  
X6 bus-  
systems IN  
X7 bus-systems  
OUT  
IN  
RS 485  
OUT  
X8  
X8 Control  
Control  
X18 fan  
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.  
The PE connection must be a 10mm2 version  
7.3.2 Dimensions / installation  
Dimensions and installation of the NMD10 and NMD20 power units correspond to  
22  
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Mains module NMD10/NMD20  
NMD connector assignment  
7.3.3 NMD connector assignment  
X8/1  
X1/1  
L1  
+24V  
X8/2  
X1/2  
GND  
L2  
X8/3  
P
X1:  
voltage  
supply  
X1/3  
X1/4  
X1/5  
X1/6  
L3  
X8  
stand by  
X8/4  
X8/5  
X8/6  
X8/6  
S
PE  
+24V  
+24V  
0V  
15V-24 V emerg. stop  
housing  
X6: input bus systems  
Assignment depends on the  
bus system  
X7: output bus systems  
Assignment depends on the  
bus system  
PFE  
X2:  
power inter-  
mediate loop  
X3:  
Control  
voltage  
+LS  
-LS  
+24V  
0V  
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.  
! Safety: VDE 0160/EN 50178.  
Output power  
Nominal power  
10 kW  
Peak power  
NMD10:  
NMD20:  
20 kW (<3s)  
40 kW (<3s)  
20 kW  
Mains fuse protection  
NMD10: 16A (K circuit breaker in 20A)  
NMD20: 35A  
K circuit breaker or similar Neozed fusible cut-out.  
Supply voltage up to max. 3*500V AC  
! Operating range: 3*80V AC - 3*500V AC, 45 - 65 Hz.  
Typical AC mains: 400V ±10%; 460V ±10%; 480V ±5%  
! Layout of contactors for the power supply:  
Capacity according to device performance: Application group AC3.  
Control voltage  
! 21.6V up to 26.4V DC (0.8A)  
! Ripple: < 1VSS  
! Fuse protection: max. 16A  
Dissipation power  
! without fan: max. 120W (standard)  
! with fan: max. 250W.  
23  
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COMPAX-M / -S  
Start-up manual  
Overvoltage limitation  
Energy recuperated during braking is stored in the supply capacitors. The capacity  
and storable energy is:  
NMD10/NMD20: 1100µF / 173 Ws  
If the energy recuperated from braking causes overvoltage, then ballast  
resistances are engaged.  
Activation of the  
internal ballast  
resistance for  
NMD20  
The internal ballast resistance is activated by a bridge between +LS and X5/1.  
In the NMD20 delivery status this bridge is fitted.  
24V  
U
V W PE Brake  
L1 L2 L3 PE  
+
-
PE+  
-
X1  
X1  
X2  
PE  
X2  
+LS  
-LS  
1
X3  
X3  
X5  
2
X4  
X5  
X4  
Maximum braking  
power:  
Braking power  
Duration  
Cooling down time  
NMD10  
17 kW  
4.0 kW  
<50 ms  
<1s  
10s  
50s  
Without fan: 120W  
With fan: 250W  
NMD20  
unlimited  
unlimited  
9.5 kW  
2.5 kW  
Without fan: 120W  
With fan: 200W  
<50 ms  
<1s  
10s  
50s  
unlimited  
unlimited  
If the braking power of the internal ballast resistance is insufficient, an external  
ballast resistance can be connected.  
Connecting the  
external ballast  
resistance  
The external ballast resistance is connected between +LS and X5/2.  
To do this, the bridge between +LS and X5/1 must be removed.  
The full braking power cannot be used with this bridge present.  
24V  
U
V W PE Brake  
L1 L2 L3 PE  
+
-
PE+  
-
X1  
X1  
X2  
PE  
X2  
+LS  
-LS  
1
X3  
X3  
X5  
2
X4  
X5  
X4  
Output X5 is protected from short circuits.  
Thermal protection  
An emergency stop is triggered at 85°C heat sink temperature, the ready contact is  
released and the red LED lights up.  
24  
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Mains module NMD10/NMD20  
Technical data / power features NMD  
If a phase malfunctions, no displays appear  
Error diagnosis in  
the mains module  
LED red  
Error  
LED green Possible errors  
Ready  
no errors  
off  
on  
on  
off  
! Heat sink temperature too high  
or  
! error in logic voltage (24V DC too low or unit is  
defective)  
Emergency stop is activated and ready  
contact is released.  
on  
on  
! Ballast switch overloaded  
or  
! undervoltage (<100V DC or <80V AC).  
Ready contact and green LED are coupled.  
Caution!  
If the unit has no control voltage, no displays will indicate that operating voltage is  
present.  
25  
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COMPAX-M / -S  
Start-up manual  
7.4 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 Aeff / 100 Aeff (<5s) with integrated power  
unit.  
! Additional COMPAX-M controllers of up to 15 KW can be arranged in rows.  
7.4.1 Plug and connection assignment COMPAX 35XXM  
COMPAX-M  
Digital  
S tatus N um ber  
Value  
Bus  
Enter  
-
+
systems:  
H1  
Ready  
Error  
X7 OUT  
X5 IN  
X5  
X7  
X6  
X6 RS232  
R S 23 2  
X10  
IN  
OUT  
X19  
X8  
X19  
Control  
Input  
X8/X10 In-/  
Output  
Control  
X9 Test  
O utput  
Test  
X13  
X11 Control  
C o ntrol  
Encoder  
X9  
X11  
X14/X15  
HEDA  
X12  
Resolver  
X17 Initiators  
X16 Absolute  
encoder  
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  
Caution!  
If the unit has no control voltage, no displays will indicate that operating  
voltage is present.  
26  
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COMPAX 35XXS unit features  
Installation and dimensions of COMPAX 35XXM  
Plan view  
external  
ballast  
resistor  
AC - voltage  
up to 500V AC  
motor  
brake  
24V control  
voltage  
F1  
3.16A  
motor  
F1  
-
+
-
+
PE  
PE  
PE  
L1  
L2  
L3  
DC - In  
Braking  
U
V
W
Motor  
Brake  
X 23  
Mains Input  
X 20  
PE  
24 V Resistance  
X 21 X 22  
Motor  
X 1  
Supply voltage up to max. 3 * 500V AC  
Specific technical  
data  
Operating range: 3*80V AC - 3*500V AC; 45 - 65 Hz.  
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:  
Before switching on the operating voltage for a second time, you must wait for at  
least 2.5 minutes otherwise you may overload the condenser load resistance.  
Note!  
Control voltage  
! 21.6V to 26.4V DC Ripple: < 1VSS fuse protection: max. 16A  
Mains supply fuse protection  
62A K circuit breaker or suitable Neozed conventional fuse.  
Regeneration mode  
! Storable energy: 3450µF/542 Ws  
! External ballast resistance: 10/2 kW  
7.4.2 Installation and dimensions of COMPAX 35XXM  
390  
340  
86  
218  
14  
190  
COMPAX-M  
Digital  
S
t
a
tu  
s
N
u
m
b
e
r
Value  
-
+
E
r
n
te  
r
H1  
Ready  
E
r
ro  
X6  
X5  
X7  
R
S
2
3
2
IN  
OUT  
X19  
X8  
X1  
0
In  
p
u
t
Control  
O
u
t
p
u
t
Test  
C
o
n
tr  
o
l
X9  
X1  
1
190  
Fastening with 4 M6 hex-socket head screws.  
27  
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COMPAX-M / -S  
Start-up manual  
7.4.3 Wiring COMPAX 35XXM  
Wiring up motor,  
mains power /  
control voltage  
and external  
Connection for  
external contact  
for brake control  
ballast resistance  
PE  
PE  
U
V
W
F1  
3.16A  
PE  
L1 L2 L3  
-
+
F1  
11121314  
4 5  
-
+
1
2
3
6
7
8
9 10  
-
+
PE  
PE  
PE  
L1  
L2  
L3  
DC - In  
24 V Resistance  
X 21 X 22  
Braking  
U
V
W
Motor  
Brake  
X 23  
Mains Input  
X 20  
Motor  
X 1  
*
max. 1.6A  
The PE connection must be a version of at least 10mm2  
COMPAX 35XXM  
Wiring up system  
network  
COMPAX-M / SV-M  
Cable conduit  
...  
LS-  
LS+  
PE  
HAUSER  
Motor  
T
S
t
a
t
u
s
N
u
mb e
l
U
V W PE Brake  
PE+  
-
H1  
X5  
X7  
IN  
OUT  
X19  
X1  
Control  
t
tl  
X2  
18  
17  
...  
Last device  
equiped with  
terminal plug  
16  
15  
+
-
24V  
X3  
Voltage supply 24V  
Emergency stop,  
stand by and  
X5  
X4  
bus signals  
28  
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COMPAX 35XXS unit features  
COMPAX 35XXM connector assignment  
7.4.4 COMPAX 35XXM connector assignment  
X21:  
Control  
voltage  
X20:  
AC Supply  
X22: Braking  
resistance  
X23:  
Motor brake  
X1:  
Motor  
X8/1  
I1  
X11/1  
X11/2  
X11/3  
X11/4  
X11/5  
X11/6  
X11/7  
+24V  
GND  
X8/2  
I2  
X8/3  
I3  
Override  
X8/4  
I4  
DA-channel 2  
DA-channel 3  
Override (old)  
Shield  
X8/5  
I5  
X8/6  
I6  
X8/7  
I7  
X8/8  
I8  
PE  
X8/9  
O1  
O2  
O3  
O4  
O5  
O6  
O7  
O8  
+LS  
-LS  
X18/+  
X18/-  
24V  
0V  
X8/10  
X8/11  
X8/12  
X8/13  
X8/14  
X8/15  
X8/16  
X12/1  
Housing  
+8V  
X12/2  
X12/3  
X12/4  
X12/5  
X12/6  
X12/7  
X12/8  
X12/9  
X12/10  
X12/11  
X12/12  
X12/13  
X12/14  
X12/15  
+24V  
0V  
NC  
X17/1  
X17/2  
X17/3  
X17/4  
X17/5  
X17/6  
X17/7  
X17/8  
X17/9  
DA-channel 0  
DA-channel 1  
Shield  
REF-  
SIN-  
X7: output bus systems  
NC  
Assignment depends on  
the bus system  
GND 24V  
+24V  
GND  
ST+  
GND  
X10/1  
X10/2  
X10/3  
X10/4  
X10/5  
X10/6  
X10/7  
X10/8  
X10/9  
X10/10  
X10/11  
X10/12  
X10/13  
X10/14  
X10/15  
X10/16  
I9  
output bus systems  
Assignment depends on  
the bus system  
X5:  
+5 V  
TEMP  
COS-  
COS+  
SIN+  
REF+  
ST-  
Sig.MN  
I10  
Sig. E2  
I11  
Sig. E1  
I12  
X19/1  
+24V  
I13  
X19/2  
X14(15)/1  
X14(15)/2  
X14(15)/3  
X14(15)/4  
X14(15)/5  
X14(15)/6  
X14(15)/7  
X14(15)/8  
X14(15)/9  
GND  
NC  
RxC  
TxC  
I14  
X19/3  
Stand by P  
I15  
X19/4  
Stand by S  
I16  
X19/5  
+24V  
RxD  
TxD  
O9  
X19/6  
15-24V Emerg.stop  
24V  
X13/1  
X13/2  
X13/3  
X13/4  
X13/5  
X13/6  
X13/7  
X13/8  
X13/9  
X13/10  
X13/11  
X13/12  
X13/13  
X13/14  
X13/15  
Housing  
N2  
O10  
O11  
O12  
O13  
O14  
O15  
O16  
X19/7  
X19/8  
X19/9  
X19/10  
X19/11  
RxC/  
TxC/  
RxD/  
TxD/  
reserved  
+24V  
B2  
A2  
Enable  
N1  
Shield  
B1  
X16/1  
X16/2  
X16/3  
X16/4  
X16/5  
X16/6  
X16/7  
X16/8  
X16/9  
A1  
T-  
NC  
X6/2  
X6/3  
X6/4  
X6/5  
X6/6  
X6/7  
X6/8  
X6/9  
RxD  
TxD  
DTR  
GND  
DSR  
RTS  
CTS  
+5V  
+5V  
N2/  
B2/  
A2/  
N1/  
B1/  
A1/  
GND  
X9/1  
X9/2  
X9/3  
X9/4  
X9/5  
X9/6  
X9/7  
+24V  
D-  
GND  
NC  
reserved  
GND  
T+  
reserved  
24V  
NC  
15-24V Emerg. stop*  
Housing  
D+  
+24V  
* can be parameterized  
The assignment of X12 does not apply for the S3 option.  
29  
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COMPAX-M / -S  
Start-up manual  
7.5 COMPAX 25XXS unit characteristics  
7.5.1 COMPAX 25XXS connector and connection assignment  
Status Number  
Value  
-
+
Enter  
Ready Error  
X6  
X6 RS232  
RS 232  
X8  
X10  
X10 digital input  
and output  
X8 input  
/ output  
Input  
Output  
Test  
X9 test  
X11 control  
Control  
X9  
X11  
X12 resolver  
X13 encoder  
X14 HEDA  
X16 absolute  
X18 fan  
X15 HEDA  
X17 initiators  
Meaning of the  
LEDs on the front  
plate  
LED / color  
Meaning, when switched on  
Ready / green 24V DC present and initialization complete  
COMPAX - fault (E1...E56) present.  
Error / red  
Plan view of  
COMPAX 25XXS  
Bus systems  
X7  
X5 Bus  
systems IN  
OUT  
X2/  
4
3
2
1
PE PE  
L3  
AC  
supply  
X2  
L2  
L1  
N
L
F19  
3.16 AT  
X3/  
2
1
-
+
24V DC  
supply  
X3  
X1  
X1/  
8
7
6
-
+
5
motor and  
motor brake  
4
PE  
W
V
3
2
U
1
X4/  
3
PE  
B -  
B+  
braking  
resistance  
2
X4  
1
30  
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COMPAX 25XXS unit characteristics  
COMPAX 25XXS connector and connection assignment  
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 10mm2 under a fixing bolt  
Caution!  
If the unit has no control voltage, no displays will indicate that operating  
voltage is present.  
Wiring up motor  
On unit side  
sheetshielding of motor cable  
X5 RS485 IN  
RS485  
OUT  
X7  
AC  
supply  
PE PE  
X2  
L3  
L2  
L1  
N
L
connection for  
external contact  
for brake control  
X1  
F19 3.16 AT  
24V DC  
supply  
-
+
X3  
black 5  
-
-
+
motor and  
motor brake  
X1  
PE  
W
V
black 4  
brake  
+
green/yellow  
U
PE  
W
black 3  
black 2  
black 1  
PE  
B -  
B+  
braking  
resistance  
X4  
V
U
! Note the screened connection of the motor cable on the upper side of the unit.  
! Clamp the motor cable with the open section of the screen braid under the  
ground terminal.  
Motor side  
! Via connectors.  
The mains supply and control voltage supply are located on the upper side of the  
unit.  
Power supply: there are 2 options (with the same output power):  
3 * 80V AC - 3 * 250V AC 45-65Hz fuse protection: 10A  
1 * 100V AC - 1 * 250V AC 45-65Hz Fuse protection: 16A  
! Layout of contactors for the power supply:  
Wiring up mains  
power / control  
voltage  
Capacity according to device performanc: Application group AC3.  
31  
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COMPAX-M / -S  
Start-up manual  
! Control voltage 24V DC ±10% ripple <1V  
Fuse protection: 16A  
SS  
Connections for  
3 x 230V AC  
Bus system  
X5 IN  
Bus system  
X7 OUT  
PE  
L3  
L2  
L1  
PE PE  
L3  
AC  
X2  
L2  
L1  
N
L
supply  
F19 3.16 AT  
24V DC  
X3  
-
+
Connections for  
1 x 230V AC  
supply  
PE  
-
+
motor and  
X1  
PE  
W
V
motor brake  
N
L
U
brake  
X4  
PE  
B -  
B+  
resistance  
24V control voltage  
-
+
Note! Do not apply 3 * 400V AC.  
Only wire up brake in motors with a holding brake! Otherwise, do not  
wire up.  
7.5.2 COMPAX 25XXS-specific technical data  
Overvoltage  
limitation  
! Energy recuperated during braking is stored in the supply capacitors. The  
capacity and storable energy is:  
COMPAX 25XXS: 1000 µF / 27 Ws  
If the recuperated energy causes overvoltage, then external ballast resistances can  
be engaged.  
Maximum braking  
power with  
Braking power  
Duration  
Cooling  
down time  
unlimited  
external ballast  
resistance  
COMPAX 25XXS: 1.0 kW  
with Rext 56: 2.5 kW  
<2s  
10s  
We can supply external ballast resistances for COMPAX 25XXS  
Connecting ballast resistance to COMPAX-S  
The ballast resistance is connected to B+, B- and, if necessary, PE.  
Output X4 is protected from short circuits.  
Mating connectors for X1,..X4 from Phoenix are included with the following type  
designations:  
X1: MSTB2.5/8/STF-5.08 (with screw connection)  
X2: MSTB2.5/4/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)  
Mating  
connectors X1,  
X2, X3 and X4  
You can acquire Phoenix housings for these connectors and these can be used  
once adapted to our cables. Designation: KGG-MSTB2.5/(pin number).  
32  
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COMPAX 25XXS unit characteristics  
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  
130  
16  
98  
Status  
Number  
Value  
221  
271  
-
+
Enter  
Ready  
Error  
X6  
RS232  
X8  
X10  
Input  
Output  
Test  
Control  
X9  
X11  
98  
The left-hand side of the unit heat sink is fastened to a metal wall using 2 retaining  
plates.  
Installation distance: 135mm (device distance:5mm)  
Delivery status  
The design is delivered ready for connection in series!  
The left-hand side of the unit heat sink is fastened to a metal wall using 2 retaining  
plates.  
Flat design  
220  
17  
186  
S
ta tu  
s
N
um ber  
Value  
131  
181  
-
+
E
nter  
Ready  
Error  
X6  
RS232  
X8  
X10  
In  
p
ut  
O
u
tp  
u
t
Test  
C
o
ntrol  
X9  
X11  
95  
186  
Converting the  
front plates  
! Install the retaining plate on the required side.  
! Unfasten front plate and blind plate. There are 2 screws on both the upper and  
lower sides of the unit.  
Install the front plate and then the blind plate at the required point.  
33  
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COMPAX-M / -S  
Start-up manual  
7.5.4 Connector assignment COMPAX 25XXS  
X1:  
motor  
brake  
X2:  
AC supply  
X3:  
control  
voltage  
X4:  
braking  
resistance  
X6:  
RS232  
X8/1  
X11/1  
+24V  
I1  
X8/2  
X11/2  
I2  
GND  
X8/3  
X11/3  
I3  
Override  
X8/4  
X11/4  
I4  
DA-channel 2  
DA-channel 3  
Override (old)  
shield  
X11  
X8/5  
X11/5  
X11/6  
X11/7  
I5  
X8/6  
I6  
X8:  
X8/7  
input /  
output  
I1...I8  
O1...O8  
I7  
X8/8  
E8  
O1  
O2  
O3  
O4  
O5  
O6  
O7  
O8  
X8/9  
X18/+  
X18/-  
24V  
0V  
X18: fan  
X8/10  
X8/11  
X8/12  
X8/13  
X8/14  
X8/15  
X8/16  
X17/1  
X17/2  
X17/3  
X17/4  
X17/5  
X17/6  
X17/7  
X17/8  
X17/9  
DA-channel 0  
DA-channel 1  
shield  
(Option D1)  
GND 24V  
X17:  
DA-monitor  
initiators  
+24V  
GND  
X10/1  
X10/2  
X10/3  
X10/4  
X10/5  
X10/6  
X10/7  
X10/8  
X10/9  
X10/10  
X10/11  
X10/12  
X10/13  
X10/14  
X10/15  
X10/16  
I9  
Sig.MN  
Sig. E2  
Sig. E1  
I10  
I11  
I12  
I13  
X14(15)/1  
X14(15)/2  
X14(15)/3  
X14(15)/4  
X14(15)/5  
X14(15)/6  
X14(15)/7  
X14(15)/8  
X14(15)/9  
NC  
RxC  
TxC  
I14  
X10:  
I15  
input /  
output  
I9...I16  
I16  
RxD  
TxD  
X14/X15:  
HEDA  
O9  
O10  
O11  
O12  
O13  
O14  
O15  
O16  
O9...O16  
RxC/  
TxC/  
RxD/  
TxD/  
X16/1  
X16/2  
X16/3  
X16/4  
X16/5  
X16/6  
X16/7  
X16/8  
X16/9  
T-  
NC  
D-  
X9/1  
X9/2  
X9/3  
X9/4  
X9/5  
X9/6  
X9/7  
+24V  
GND  
P
X16:  
NC  
absolute  
encoder  
GND  
T+  
Stand by  
X9  
S
NC  
24V  
D+  
15V - 24V emerg. stop  
housing  
+24V  
X12: resolver / SinCos  
X13: encoder  
The assignment of X12 does not apply for the S3 option.  
You will find the assignment of the connectors X5 and X7 (bus systems)  
34  
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COMPAX 45XXS/85XXS unit characteristics  
Plug and connection assignment COMPAX 45XXS/85XXS  
7.6 COMPAX 45XXS/85XXS unit characteristics  
7.6.1 Plug and connection assignment COMPAX 45XXS/85XXS  
DIGITAL  
Status  
Number  
Value  
-
+
ENTER  
Ready  
Error  
RS232  
X6 RS232  
X6  
Input  
Input  
X8 digital input  
/ output  
X10 digital input  
/ output  
Output  
X8  
Output  
X10  
Test  
X9  
Control  
X11  
X9 test  
X11 Control  
X13 encoder  
X15 HEDA  
X12 resolver  
ext. supply  
X14 HEDA  
X16 absolute  
X18 reserved  
output  
motor  
X17 initiators  
Plan view  
X2  
HV  
Ballast  
resistor  
RD  
TD  
L1  
L2  
L3  
AC  
supply  
Connection  
PE 10mm2  
X7 RS485 OUT  
X5 RS485 IN  
35  
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COMPAX-M / -S  
Start-up manual  
7.6.2 COMPAX 45XXS/85XXS installation / dimensions  
125  
77  
325  
275  
DIGITAL  
Fastening: 4 M5 hex-socket head screws  
Installation distance: 130mm (device distance:5mm)  
Meaning of the  
LEDs on the front  
plate  
LED  
Color  
Meaning, when switched on  
Ready Green 24V DC present and initialization complete  
Error  
red  
CPX error present.  
or  
mains supply or control voltage absent.  
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  
36  
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COMPAX 45XXS/85XXS unit characteristics  
COMPAX 45XXS/85XXS-specific wiring  
7.6.3 COMPAX 45XXS/85XXS-specific wiring  
Wiring up mains  
power /  
enabling  
internal ballast  
resistance  
X2  
High vol-  
tage DC  
HV:  
X2  
HV  
RD  
TD  
RD  
TD  
1
L1  
L2  
L3  
PE  
L3  
L2  
400V -  
line  
Bus system  
L1  
X7 OUT  
1
Enable internal ballast resistor  
X5 IN  
X2HV: DC current output  
! Power supply: 3 * 80V AC - max. 3 * 500V AC  
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  
-
SS  
Enable  
Enable  
+24V DC  
0V  
Wiring up motor  
/ control voltage  
/ enable  
Enable  
Enable  
-
+
24V Input  
24V GND  
X3  
X1  
ISOL 0V  
BR1  
Motor  
Outputs  
black 5  
black 4  
W
V
-
Brake  
+
U
green/yellow  
PE  
W
black 3  
black 2  
black 1  
V
U
Sheetshielding of  
motor cable  
Note the screened connection of the motor cable on the lower side of the unit.  
Clamp the motor cable with the open section of the braided screen under the  
ground terminal.  
Only wire up brake lines in motors which have a holding brake.  
Otherwise, do not wire up.  
37  
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COMPAX-M / -S  
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  
Overvoltage  
limitation  
! Energy recuperated during braking is stored in the supply capacitors. The  
capacity and storable energy is:  
COMPAX 45XXS: 330µF/52 Ws  
COMPAX 85XXS: 500µF/80 Ws  
If the recuperated energy causes overvoltage, then the internal ballast resistance is  
engaged.  
Enable internal ballast resistance: X2/5 - X2/6  
The internal ballast resistance is enabled by a bridge between X2/5 and X2/6.  
If this connection is missing, the controller operates without ballast resistance; in  
Maximum braking  
power of the  
Braking power  
Duration  
Cooling  
down time  
internal ballast  
resistance  
COMPAX 45/85S: 300W  
unlimited  
<10s  
10s  
1.5 kW  
We provide external ballast resistances for COMPAX 45XXS / 85XXS (see  
Connecting a ballast resistance to COMPAX 4500S/ COMPAX 8500S  
The ballast resistance is connected to HV, TD and PE.  
The output is protected from short circuits.  
Note!  
When an external ballast resistance is connected, the bridge between RD and TD  
must be removed.  
38  
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COMPAX 45XXS/85XXS unit characteristics  
COMPAX 45XXS/85XXS connector and pin assignment  
7.6.4 COMPAX 45XXS/85XXS connector and pin assignment  
Releasing internal  
ballast resistance  
Releasing final stage  
X1:  
X2:  
X3:  
X6:  
motor  
brake  
AC supply  
control  
voltage  
RS232  
X8/1  
X11/1  
X11/2  
X11/3  
X11/4  
X11/5  
X11/6  
X11/7  
I1  
+24V  
GND  
X8/2  
I2  
X8/3  
I3  
Override  
DA-channel 2  
DA-channal 3  
Override (old)  
shield  
X8/4  
I4  
X11  
X8/5  
I5  
X8/6  
I6  
X8:  
X8/7  
I7  
Input /  
Output  
I1...I8  
X8/8  
I8  
X8/9  
O1  
O2  
O3  
O4  
O5  
O6  
O7  
O8  
O1...O8  
X8/10  
X8/11  
X8/12  
X8/13  
X8/14  
X8/15  
X8/16  
X17/1  
X17/2  
X17/3  
X17/4  
X17/5  
X17/6  
X17/7  
X17/8  
X17/9  
DA-channel 0  
(Option D1)  
DA-channel 1  
shield  
GND 24V  
X17:  
DA-monitor  
Initiators  
+24V  
GND  
Sig.MN  
Sig. E2  
Sig. E1  
X10/1  
X10/2  
X10/3  
X10/4  
X10/5  
X10/6  
X10/7  
X10/8  
X10/9  
X10/10  
X10/11  
X10/12  
X10/13  
X10/14  
X10/15  
X10/16  
I9  
I10  
I11  
I12  
X14(15)/1  
X14(15)/2  
X14(15)/3  
X14(15)/4  
X14(15)/5  
X14(15)/6  
X14(15)/7  
X14(15)/8  
X14(15)/9  
NC  
RxC  
TxC  
I13  
I14  
X10:  
I15  
RxD  
TxD  
Input /  
Output  
I9...I16  
X14/X15:  
HEDA  
I16  
O9  
RxC/  
TxC/  
RxD/  
TxD/  
O10  
O11  
O12  
O13  
O14  
O15  
O16  
O9...O16  
X16/1  
X16/2  
X16/3  
X16/4  
X16/5  
X16/6  
X16/7  
X16/8  
X16/9  
T-  
NC  
D-  
X9/1  
X9/2  
X9/3  
X9/4  
X9/5  
X9/6  
X9/7  
+24V  
GND  
P
X16:  
absolute-  
encoder  
NC  
GND  
T+  
stand by  
X9  
S
NC  
24V  
D+  
15V - 24V emergency  
+24V  
stop  
housing  
X12: resolver / SinCos  
X13: encoder  
The assignment of X12 does not apply for the S3 option.  
You will find the assignment of the connectors X5 and X7 (bus systems)  
39  
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Start-up manual  
COMPAX-M / S  
7.7 COMPAX 1000SL Unit characteristics  
7.7.1 Connector and terminal assignment for COMPAX 1000SL  
X3 24V DC  
supply  
X6 RS232  
X14/X15  
HEDA  
(Option)  
X17  
initiators  
bus  
systems:  
X5 IN  
X4 ballast  
resistance  
X7 OUT  
X13  
encoder  
X1 motor /  
motor brake  
X12  
resolver  
X19 in-/  
output  
X2 230V AC  
supply  
PE -  
connection  
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  
Caution!  
If the unit has no control voltage, displays will not indicate if operating  
voltage is present.  
at least 2.5mm2  
PE – terminal:  
LED display  
The following statuses are shown by the LEDs.  
Status  
Red LED (H2)  
Green LED (H1)  
24V not available  
24V are switched on, boot up  
Unit OFF  
Unit error; drive switched off  
Unit error; drive powered  
Unit RUNNING  
off  
on  
off  
on  
on  
off  
off  
off  
blinking  
blinking  
on  
on  
40  
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COMPAX 1000SL Unit characteristics  
Connector and terminal assignment for COMPAX 1000SL  
24V control voltage  
Unit wiring  
COMPAX  
1000SL  
-
+
X4 ballast resistance  
green / yellow  
PE  
-
+
X1 motor / motor brake  
black 5  
-
black 4  
brake  
+
green / yellow  
sheetshielding of motor cable  
PE  
black 3  
W
black 2  
V
black 1  
U
X2 230V AC supply  
PE  
N
L
! 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 <1VSS Fuse protection: max. 16A  
The screen clamp for the screen connection of the motor cable is included and  
must be screwed on in the illustrated position.  
Only wire up brake in motors with a holding brake! Otherwise, do not  
wire up.  
Overvoltage  
! Energy recuperated during braking is stored in the supply capacitors. The  
limitation  
capacity and storable energy is:  
COMPAX 10XXSL: 660 µF / 17 Ws  
If the recuperated energy causes overvoltage, then external ballast resistances can  
be engaged.  
Maximum braking  
power with external  
ballast resistance  
Braking power  
Duration  
Cooling  
down time  
unlimited  
COMPAX 10XXSL: 1.6kW  
We provide external ballast resistances for COMPAX 1000SL  
Connecting the  
ballast resistance  
The ballast resistance is connected to B+, B- and, if necessary, PE.  
Output X4 is protected against short circuiting.  
41  
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Start-up manual  
COMPAX-M / S  
Mating connectors for X1,..X4 from Phoenix are included with the following type  
designations:  
Mating connectors  
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. Designation: KGG-MSTB2.5/(pin number).  
7.7.2 Connector assignment COMPAX 1000SL (overview)  
X1:  
motor  
brake  
X2:  
Ac supply  
X3:  
control  
voltage  
X4:  
X6:  
RS232  
braking  
resis-  
tance  
X19/1  
X17/1  
X17/2  
X17/3  
X17/4  
X17/5  
X17/6  
X17/7  
X17/8  
X17/9  
DA-channel 2  
GND  
X19/2  
DA-channel 3  
shield  
Input  
Input  
Input  
Input  
Input  
Input  
Input  
Input  
X19/3  
X19/4  
GND 24V  
X17:  
X19/5  
DA-monitor  
initiators  
+24V  
GND  
X19/6  
X19/7  
Sig.MN  
Sig. E2  
Sig. E1  
X19/8  
X19/9  
X19/10  
X19/11  
X19/12  
X19/13  
X19/14  
X19/15  
X19/16  
X19/17  
X19/18  
X19/19  
X19/20  
X19/21  
X19/22  
X19/23  
X19/24  
X19/25  
X19:  
In- and  
output/  
Emergency  
stop/  
enable/  
override/  
stand by  
X14(15)/1  
X14(15)/2  
X14(15)/3  
X14(15)/4  
X14(15)/5  
X14(15)/6  
X14(15)/7  
X14(15)/8  
X14(15)/9  
emerg.-Stop  
enable  
NC  
RxC  
TxC  
Override  
GND  
RxD  
TxD  
X14/X15:  
HEDA  
Output  
Output  
RxC/  
TxC/  
RxD/  
TxD/  
Output  
Output  
Output  
Output  
X7: bus systems output  
Output  
Assignment depends on  
the bus system  
Output  
24V  
X5: bus systems input  
stand by P  
stand by S  
Assignment depends on  
the bus system  
X12: resolver / SinCos©  
X13: encoder  
The assignment of X12 does not apply for the S3 option.  
42  
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COMPAX 1000SL Unit characteristics  
Mounting and dimensions COMPAX 1000SL  
7.7.3 Mounting and dimensions COMPAX 1000SL  
145.5  
85  
55  
174  
183  
Fastening: 3 M4 hex-socket head screws  
Installation distance: 100mm (device distance:15mm)  
43  
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Start-up manual  
COMPAX-M / S  
7.7.4 Safety chain / emergency stop functions  
Establishing a safety chain for monitoring the drives and other control components  
or a superordinate control unit usually requires a connection protected from wire  
breaks. The contact outputs (closer) P (X8(9)/3) and S (X8(9)/4) are used for this  
purpose. This closer establishes sequential switching for the mains module and the  
axis controller. When the unit is operating correctly, the contacts are closed (P and  
S are connected) and thereby indicate the readiness of the unit. If an error occurs  
or if the drive system is switched off, the readiness is not displayed and the chain is  
interrupted (see below).  
Readiness,  
safety chain  
The emergency stop input is used to activate or deactivate all drive controllers or  
an individual controller supplied by the mains module. In accordance with the  
safety chain described above, this input must be activated to power the motors.  
This occurs either via an external contact between X8(9)/5 and X8(9)/6 (as is  
shown in the figure below) or by applying voltage of between 15V and 24V to the  
input X8(9)/6 against GND (X8(9)/2). If the contact is opened or the voltage is  
removed from X8(9)/6 or routed to GND24V, the emergency stop sequence is  
processed, e.g. all motors of the connected drive controller are decelerated and  
switched off (no torque on the motor shaft); the ready contact drops.  
Emergency stop  
Emergency stop  
characteristics :  
! After an emergency stop: error E55 (even in OFF status) and O1="0". The current  
command is interrupted.  
! The controller brakes the motor (P10 = braking time from 100% speed to 0%).  
! When at a standstill, the controller is switched off and any idle holding brake is  
closed.  
! Once the problem has been rectified, E55 must be acknowledged.  
! The current command is continued after START.  
NMD: X8  
Emergency stop  
and ready on  
connector:  
COMPAX-S: X9:  
Pin Assignment  
Connectors: Phoenix  
MC1.5/7-ST-3.81  
1
2
3
4
5
6
7
+24V DC (<50mA)  
0V  
P: Ready contact  
S: Ready contact  
+24V DC – Output for emergency stop  
Emergency stop input (activated by 15V – 24V)  
Screen  
COMPAX 35XXM: X19  
Pin Assignment  
Connectors: Phoenix  
MC1.5/7-ST-3.81  
1
2
3
4
5
6
7
8
9
+24V DC (<50mA)  
0V  
P: Ready contact  
S: Ready contact  
+24V DC – Output for emergency stop  
Emergency stop input (activated by 15V – 24V)  
+24V DC (<50mA)  
reserved  
+24V DC (<50mA)  
10 Enable  
11 Screen  
44  
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COMPAX 1000SL Unit characteristics  
COMPAX 1000SL X19  
25 pin Sub-D  
Pin Assignment  
1
14  
socket strip  
23 +24V DC (<50mA)  
screw connection  
UNC4-40  
1
0V  
24 P: Ready contact  
25 S: Ready contact  
25  
13  
11 Emergency stop input (activated by 15V – 24V)  
Emergency stop input direct to COMPAX-M X9  
Pin Assignment  
Connector: Phoenix  
MC1.5/7-ST-3.81  
1
2
3
4
5
6
7
+24V DC (<50mA)  
0V  
reserved  
reserved  
+24V DC – Output for emergency stop  
Emergency stop input (activated by 15V – 24V)  
Screen  
* 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%).  
! The motor is switched off.  
! Error message E56 is generated.  
! The ready contact drops.  
COMPAX-M  
No. 1  
control  
external  
component  
power supply  
module  
COMPAX-M  
No. x  
Principle of safety  
chain and  
emergency stop  
function  
Ready contact: max. 0.5A,  
60V, 30W  
X8/1  
+24V  
X8/2  
GND  
X8/3  
X8/4  
X8/5  
X8/6  
readiness  
emerg. stop  
X8/7  
shield  
COMPAX-S X9 i.e. COMPAX 35XXM X19  
X./1  
+24V  
X./2  
GND  
X./3  
X./4  
X./5  
X./6  
Applies to potential -  
24V power supply.  
X./7  
shield  
45  
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COMPAX-M / -S  
Start-up manual  
Resolver / SinCos  
7.8 Connections to the motor  
Cable assignment  
in the terminal  
boxes  
PEshield  
black 1  
U
black 2  
V
black 3  
W
black 4  
brake black 5  
7.8.1 Resolver / SinCos  
Pin from X12 Standard assignment  
Assignment with  
option S3  
Assignment with resolver  
or option S1/ S2  
1
2
Housing  
+8V  
Housing  
+8V  
3
4
5
6
7
8
NC  
REF-  
SIN-  
NC  
GND  
ST+  
HALL3  
+5V  
SIN- / A/  
HALL2  
GND  
+5V  
9
+5V  
+5V  
10  
11  
12  
13  
14  
15  
TEMP  
COS-  
COS+  
SIN+  
REF+  
ST-  
TEMP  
COS- / B/  
COS+ / B  
SIN+ / A  
HALL1  
GND HALL  
2
The S1/2 options are required for operation with the sensor system SinCos.  
The S3 option is required for operation of linear motors.  
3
46  
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Connections to the motor  
Connecting cable to motor  
Motor cable  
With connectors:  
HJ96, HJ116, HDY55,  
With terminal boxes:  
HJ155, HJ190  
HDY142  
Sensor  
cable  
(SinCos  
Resolver  
cable  
HDY70, HDY92, HDY115  
)
1.5mm2  
2.5mm2  
2.5mm2  
6mm2  
10mm2  
up to 13.8A  
up to 18.9A  
up to 18.9A  
up to 32.3A  
up to 47.3A  
Cable sheathed  
REK32/..  
GBK16/..  
MOK42/..  
MOK43/..  
MOK21/..  
MOK11/..  
MOK46/..  
Connector set 085-301312  
800-030031  
085-301317  
800-030031  
085-301306  
085-301306  
125-518162  
125-216800  
125-518211  
125-217000  
125-518200  
Cable 102-150200  
Cable data in mm 1 8,0/80/120  
102-150210  
7,5/38/113  
GBK17/..  
102-508896  
102-508902  
102-508902  
102-150030  
102-150040  
10,7/107/107 13,7/137/137 13,7/137/137 16,5/124/124 22,5/168/168  
Cable sheathed  
REK33/..  
MOK44/..  
MOK45/..  
MOK14/..  
MOK11/..  
MOK46/..  
Connector set 085-301312  
800-030031  
085-301317  
800-030031  
085-301306  
085-301306  
125-518162  
125-216800  
125-518211  
125-217000  
125-518200  
Cable 102-000030  
Cable data in mm * 8,2/61,5/61,5 8,0/40/64  
-
102-000020  
9,2/69/69  
102-000010  
102-000010  
102-150030  
102-150040  
11/82,5/82,5 11/82,5/82,5 16,5/124/124 22,5/168/168  
Resolver cable for HJ and HDY motors  
REK32  
yellow  
green  
brown  
white  
blue  
ge  
13  
5
2x0,25  
2x0,25  
2x0,25  
2x0,25  
2
1
SIN+  
SIN-  
SIN+  
SIN-  
solder side  
Codiernut 20°  
gn  
br  
ws  
bl  
Pin 1  
solder side  
9
8
12  
11  
14  
4
11  
12  
10  
7
COS+  
COS-  
Ref+  
Ref-  
COS+  
COS-  
Ref+  
12  
1
2
3
4
5
6
7
8
9
10  
11  
12  
13  
14  
15  
1
7
10  
6
2
red  
rt  
Ref-  
pink  
rs  
gr  
5
3
9
8
9
+Temp (+5V)  
+Temp  
-Temp  
11  
4
grey  
10  
-Temp  
Li2YCY 4x2x0,25  
No. 102-150200  
26 mm  
4 mm  
6 mm  
In HJ – motors, ensure that the thermal sensor has the correct terminal arrangement.  
Version in high-flex: REK33 (same layout)  
Packaging  
Packaging of motor in accordance with connector manufacturer's specification  
Packaging of device  
Strip 26mm sheathing off.  
Cut sheath down to 6 mm.  
Strip 4mm of insulation of ends and coat in tin.  
*1 Cable diameter / minimum bending radius (static) / minimum bending radius (dynamic)  
Length codes for preformed cables  
Length [m] 1.0 2.5 5.0 7.5  
Code 01 02 03 04  
Example REK32/09: length 25m  
10.0 12.5 15.0 20.0 25.0 30.0 35.0 40.0 45.0 50.0  
05 06 07 08 09 10 11 12 13 14  
47  
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COMPAX-M / -S  
Start-up manual  
Resolver / SinCos  
Motor cable for HJ and HDY – motors  
MOK42 (max. 13,8A)  
110 mm  
75 mm  
MOK42  
30 mm  
30 mm  
30 mm  
Shrink-fit hose  
standard/highflex  
standard/hochflex  
Lötseite / Crimpseite  
black1/black  
black2/brown  
black3/blue  
black4/red  
black5/green  
black6  
sw1/sw  
sw2/br  
sw3/bl  
sw4/rt  
sw5/gr  
sw6  
1
2
6
4
5
U
U
6
5
1
V
V
W
W
Br. +24V  
Br. -24V  
Br+  
Br-  
4
green-yellow  
3(  
)
gn/ge  
3
PE  
CY-JZ 7x1,5  
No 102-508896  
110 mm  
75 mm  
35 mm  
15 mm  
10 mm  
Version in high-flex: MOK44 (same layout)  
MOK43/.. (max. 18.9A): HJ (version in high-flex: MOK45)  
Layout corresponds to MOK42, however motor lines in 2.5 mm2  
Packaging  
Packaging of motor in accordance with connector manufacturer's specification  
Contacts for 1.5 mm2 and 2.5 mm2 are supplied with the connector set.  
Packaging of device  
Material:  
6 x crimping sleeves.  
6 cm shrink-fit hose.  
Procedure:  
Strip 110 mm sheathing off cable.  
Cut down sheath to approx. 35 mm, loosen,  
fold back over outer cover (approx. 75 mm) and stick with insulating tape.  
Shorten sw1,sw2,sw3,sw4,sw5 approx. 15 mm ; (gn/ge approx. 15 mm longer); cut down sw6.  
Attach 2 x approx. 30 mm shrink-fit hose (sticky).  
Strip 10 mm of insulation of ends of wires and secure with crimping sleeve 1.5.  
48  
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Connections to the motor  
MOK21 (max. 18,9A)  
110 mm  
75 mm  
30 mm  
MOK21  
30 mm  
30 mm  
standard/highflex Shrink-fit hose  
standard/hochflex  
black1/black  
sw1/sw  
U
U
black2/  
brown  
sw2/br  
V
V
black3/blue  
sw3/bl  
W
W
black4/red  
sw4/rt  
Br+  
Br. +24V  
Br. -24V  
black5/  
green  
sw5/gr  
Br-  
black6  
sw6  
green-yellow  
gn/ge  
PE  
PE  
CY-JZ 7x2,5  
No. 102-508902  
110 mm  
75 mm  
190 mm  
170 mm  
35 mm  
20 mm  
15 mm  
15 mm  
10 mm  
10 mm  
Version in high-flex: MOK14 (same layout)  
MOK11 (max. 32.3A) in high-flex (same layout to MOK21, however in 6 mm2)  
MOK46 (max. 47.3A) in high-flex (same layout to MOK21, however in 10mm2)  
Packaging  
Packaging of device  
Material:  
6 x crimping sleeves.  
6 cm shrink-fit hose.  
Procedure:  
Strip 110 mm sheathing off cable.  
Cut sheath down to approx. 35 mm, loosen,  
fold back over outer cover (approx. 75 mm) and stick with insulating tape.  
Shorten sw1,sw2,sw3,sw4,sw5 ca. 15 mm (gn/ge approx. 15 mm longer) cut down sw6.  
Attach 2 x approx. 30 mm shrink-fit hose (sticky).  
Strip 10 mm of insulation off ends of wires and secure with crimping sleeves 2.5.  
Packaging of motor in accordance with manufacturer's specification  
Strip 190 mm sheathing of cable.  
Cut sheath down to approx. 170 mm, stick remaining 20 mm with insulating tape.  
Shorten sw1,sw2,sw3,sw4,sw5 by approx. 15 mm (gn/ge approx. 15 mm longer) cut down sw6.  
Strip 10 mm of insulation of ends of wires and secure with crimping sleeves 2.5.  
49  
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COMPAX-M / -S  
Start-up manual  
Resolver / SinCos  
SinCos cable for HJ and HDY motors  
GBK16  
yellow  
violet  
brown  
white  
black  
pink  
ge  
vio  
br  
2x0,25  
2x0,25  
2x0,25  
2x0,25  
2x0,5  
SIN+  
SIN-  
COS+  
COS-  
+485  
-485  
K1  
SIN+ 13  
SIN-  
1
2
Pin 1  
5
solder side  
COS+ 12  
11  
12  
3
solder- / Crimp side  
11  
1
2
3
4
5
6
7
8
ws  
sw  
rs  
9
10  
11  
12  
13  
14  
15  
11  
8
COS-  
ST+  
1
12  
10  
16  
2
13  
3
ST- 15  
13  
8
9
green  
grey  
red  
gn  
gr  
Th1  
Th2  
9
10  
2
4
8
15  
14  
K2  
9
17  
7
5
rt  
6
+V  
+8V  
GND  
10  
7
blue  
bl  
GND  
7
0r  
0r  
1x0,14  
screen at  
sceen contact  
LiYC11Y 4x2x0,25+2x0,5+0,14  
No. 102-150210  
Packing according as the regulation of the manufacturer  
26 mm  
4 mm  
6 mm  
8 x Crimp contacts 0.14-0.56  
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.  
Cut sheath down to 6 mm.  
Strip 4mm of insulation of ends and coat in tin.  
Place sheath over large area of housing (e.g. fold sheath over outer cover and fasten down by relieving tension).  
50  
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Connections to the motor  
7.8.2 Additional brake control  
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  
following application example:  
COMPAX-M /  
COMPAX 45XXS /  
COMPAX 85XXS,  
COMPAX 1000SL  
Br.+  
contact to external  
brake control  
stop  
33V  
33V  
brake  
within  
motor  
0,47uF  
BR.-  
These protective measures are available in COMPAX-M / COMPAX 45XXS /  
COMPAX 85XXS for applications without external brake control.  
In COMPAX 25XXS (X1/7 and X1/8) and in COMPAX 35XXM (X23: bridge), 2  
connections are available for connecting the external contact. These connections  
are already bridged in the connector when supplied.  
COMPAX 25XXS /  
COMPAX 35XXM  
External protective measures are not required for COMPAX 25XXS and COMPAX  
35XXM.  
External contact connection:  
The bridge is removed and is replaced by connecting an external contact.  
51  
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COMPAX-M / -S  
Start-up manual  
Digital inputs and outputs (excluding COMPAX 1000SL)  
7.9 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)  
X8  
Pin  
1.  
Assignment  
Meaning  
Input I1  
Input I2  
Input I3  
Input I4  
Input I5  
Input I6  
Connectors:  
Phoenix  
SHIFT  
="0"  
Manual+  
="1"  
2.  
3.  
4.  
5.  
6.  
Find machine zero  
Approach real zero  
Teach real zero  
-
MC1.5/16-ST-  
3.81  
Manual–  
Quit  
Start  
Stop (interrupt Break (breaks off  
data record) data record)  
7.  
8.  
9.  
Input I7  
Input I8  
Output O1  
Freely assignable in the standard unit.  
="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.  
10. Output O2  
="1":No warning  
="0":error E58  
Machine zero has been approached  
11. Output O3  
12. Output O4  
13. Output O5  
14. Output O6  
Ready for start  
Programmed set point reached  
Idle after stop  
15. Output O7  
16. Output O8  
Freely assignable in the standard unit.  
The "SHIFT signal" (I1) must be assigned before or at the same time as the  
relevant input.  
Assignment of  
X10 (Input/Output)  
X10 Assignment  
Pin  
Meaning  
Connector:  
Phoenix  
1.  
2.  
3.  
4.  
5.  
6.  
7.  
8.  
9.  
Input I9  
Input I10  
Input I11  
Input I12  
Input I13  
Input I14  
Input I15  
Input I16  
Output O9  
MC1.5/16-ST-  
3.81  
Freely assignable in the standard unit.  
10. Output O10  
11. Output O11  
12. Output O12  
13. Output O13  
14. Output O14  
15. Output O15  
16. Output O16  
Note the assignment for unit variants and for special functions.  
52  
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Interfaces  
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. In order to enable flexible  
assignment, a matrix was created for input and output assignment respectively  
which makes it possible to assign the logic inputs and outputs to any of the  
physical inputs and outputs. The matrices for allocation are realized via parameters  
COMPAX 1000SL (standard unit) with default settings for parameters P156 to  
P160.  
Assignment X19  
for COMPAX  
1000SL  
X19 Assign-  
Pin ment  
Meaning for COMPAX 1000SL standard unit and default  
settings for parameters P156 to P160  
1. GND  
2. Input  
3. Input  
4. Input  
5. Input  
6. Input  
7. Input  
SHIFT  
="0"  
Manual+  
="1"  
Find machine zero  
Approach real zero  
Teach real zero  
-
Hand–  
Quit  
START  
Stop (interrupts Break (breaks off  
data record) data record)  
25 pin Sub-D  
socket strip  
screw  
8. Input  
Freely assignable in the standard unit. (I12)  
Freely assignable in the standard unit. (I16)  
9. Input  
connection  
UNC4-40  
10. reserved  
11. Emergen Emergency stop input (emergency stop is triggered  
cy stop  
by voltage < 15V DC)  
12. Enable  
COMPAX 1000SL is enabled by 24V DC at X19/12  
13. Override Input voltage 0 - +5V.  
14. GND  
1
14  
15. Output  
="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.  
16. Output  
="1":No warning  
25  
="0":Error E58  
13  
17. Output  
18. Output  
19. Output  
20. Output  
21. Output  
22. Output  
23. 24VDC  
Machine zero has been approached  
Ready for start  
Programmed set point reached  
Idle after stop  
Freely assignable in the standard unit. (O7)  
Freely assignable in the standard unit. (O8)  
Load < 50mA  
24. Ready P Ready contact for building a safety chain  
25. Ready S Ready contact for building a safety chain  
Note the assignment for unit variants and for special functions.  
53  
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COMPAX-M / -S  
Start-up manual  
Technical data / Connections of inputs and outputs  
7.9.3 Technical data / Connections of inputs and outputs  
Detection of input  
0 1 over 9.15V means that "1" is recognised  
1 0 over 8.05V means that "0" is recognised  
signals:  
Load on outputs  
(not applicable for  
COMPAX 1000SL):  
1. O1...O16  
Total of max. 1.6A  
Per group of 4, max. 0.8A; taking due account of 1.  
2. O1...O4, O5...O8,  
O9...O12, O13...O16  
3. O  
per output, max. 0.3A and 40nF capacitive ; taking  
into account 1. and 2.  
Load on outputs for  
COMPAX 1000SL:  
Per output, max. 0.3A In total a sum load for all 8 outputs of max. 0.48A and  
40nF capacitive ;  
If overload occurs, an error message appears (E43: can be acknowledged with  
Power off/on); the corresponding group of four is switched off.  
Input connection  
using I7 as an  
example  
PLC  
COMPAX  
24V  
X11/7  
F23  
X11/1  
X19/23  
100KΩ  
22KΩ  
X8/7  
X19/.  
22KΩ  
10nF  
22KΩ  
12KΩ  
X11/2  
X19/14  
0V  
(X19 applies for COMPAX 1000SL)  
PLC  
COMPAX  
Output connection  
using O7 as an  
example  
X19/23  
X11/1  
24V  
F23  
X11/7  
X8/15  
X19/.  
4.7KΩ  
X19/14  
X11/2  
0V  
(X19 applies for COMPAX 1000SL)  
For reasons of interference protection, we would recommend that you use a  
screened cable for the digital inputs and outputs.  
With COMPAX 1000SL, the screen is connected with the Sub-D housing.  
A protective connection is required when there is inductive load present.  
1st COMPAX  
2nd COMPAX  
24V  
X19/23  
X11/1  
X19/23  
X11/1  
24V  
Input/output  
connection for  
2 COMPAXs  
F23  
F23  
100KΩ  
22KΩ  
X8/7  
X19/.  
X8/15  
X19/.  
22KΩ  
10nF  
22KΩ  
4.7KΩ  
12KΩ  
X19/14  
X11/2  
X19/14  
X11/2  
0V  
0V  
(X19 applies for COMPAX 1000SL)  
4
A maximum of 4 COMPAX – inputs can be connected to one output.  
A maximum of 4 COMPAX – inputs can be connected to one output.  
5
54  
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Interfaces  
7.9.4 Initiators and D/A monitor  
Connection assignment on X17  
Pin Assignment  
9 pin Sub-D pin strip  
plug housing with  
screw connection  
UNC4-40  
1
DA channel 0 (option D1) Ri=2.8k;  
COMPAX 1000SL: DA channel 2; Ri=0.33k;  
DA channel 1 (option D1) Ri=2.8k;  
COMPAX 1000SL: DA channel 3; Ri=0.33k;  
reserved  
2
1
3
4
5
6
7
8
9
6
9
Ground 24V (Initiators supply)  
+24V (Initiators supply) <50 mA  
Ground for DA channels  
5
Input MZ initiator  
Input I2 initiator  
Input I1 initiator  
COMPAX  
initiatorbox  
Connection plan  
for the initiators  
with initiator  
+24V X3/9  
br  
E1  
Sig. E1 X3/8  
sw  
connector  
GND X3/7  
bl  
X4/12  
X4/15  
X4/14  
X4/13  
X4/10  
+24V  
br  
X17/5  
X17/9  
X17/7  
X17/8  
+24V X2/6  
br  
Sig. E1  
ge  
MN  
Sig. MN X2/5  
sw  
Sig. MN  
gn  
GND X2/4  
bl  
Sig. E2  
ws  
+24V X1/3  
br  
GND  
bl  
X17/4  
X17/3  
E2  
Sig. E2 X1/2  
sw  
GND X1/1  
bl  
Ensure that the initiator is rebound-free!  
Requirements  
concerning the  
position of the  
initiators  
Standard  
When operating with one initiator (machine zero), this must be attached to one  
side of the stroke. When attaching the initiator, ensure that an initiator attached to  
the left-hand side can no longer be cleared to the left. The flank to be analyzed can  
therefore also be positioned before the end of the travel distance. The same  
applies correspondingly for the right-hand side.  
Extended operation  
When operating with three initiators (not standard), initiators I1 and I2 must be  
attached to the outer limits of the stroke range. The machine zero initiator is fitted  
between I1 and I2. The following limitation applies in such cases: the flank of the  
machine zero initiator must not be activated at the same time as a limit switch.  
If COMPAX is only operating as a speed controller or in the "continuous  
mode" or normal operating mode with a special machine zero mode  
(P212="10" see Page 80 onwards), then no initiators are required.  
55  
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COMPAX-M / -S  
Start-up manual  
Service D/A monitor / override  
7.9.5 Service D/A monitor / override  
Assignment of X11 (not applicable for COMPAX 1000SL)  
Pin Assignment  
Connector: Phoenix  
MC1.5/7-ST-3.81  
1
2
3
4
5
6
7
+24V  
Ground 24V  
Override for speed reduction  
Standard DA channel 2: 8 Bit, Ri=2.21k;  
Standard DA channel 3: 8 Bit, Ri=2.21k;  
Override; previous input for existing applications  
Screen  
the Service D/A monitors on X17/1 und X17/2 (see Page 55).  
Override  
connection  
(not applicable for COMPAX 1000SL)  
COMPAX  
1KΩ  
+5V  
X11/6  
10KΩ  
100%  
10KΩ  
X11/3  
X11/2  
Override-  
Signal  
10KΩ  
0%  
100nF  
GND  
The override input is read in a cycle of 100 ms.  
You can continue to use the previous override connection for current applications.  
COMPAX 1000SL  
Override -  
Connection for  
COMPAX  
+5V  
1KΩ  
100%  
10KΩ  
X19/13  
Override-  
Signal  
1000SL  
10KΩ  
0%  
100nF  
X19/14  
GND  
The override input is read in a cycle of 100 ms.  
Note:  
Wiring of override with screened cables only  
7.9.6 Service D/A monitor  
The service D/A monitor gives you the option of outputting internal measurement  
and intermediate parameters from COMPAX in the form of analogue voltage in the  
range of ±10V via X11 (X17 with COMPAX 1000SL) and visualizing these by  
means of an oscilloscope. This provides you with a capable aid for making the unit  
functions clear and qualifiable, especially during the start-up.  
This function (which is available in all units) provides you with two analogue output  
channels with a resolution of 8 bit and these are updated every 100 µs.  
56  
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Interfaces  
Using the parameters P76 and P77, you can select 2 parameters and adapt them  
to the required measuring range.  
Assignment of the  
channels  
Channel 2: X11/4;  
Channel 3: X11/5;  
X17/1 for COMPAX 1000SL  
X17/2 for COMPAX 1000SL  
Meaning and  
range of values of  
P76 / P77  
No.  
P76  
Parameter  
Measuring parameter of channel 2. 0...18  
(see below for meaning).  
Gain factor from channel 2.  
(factor = value * 10 000 000)  
Range  
Value before decimal p.  
P76  
Value after decimal point  
0.1... 10 000 000  
P77  
Measuring parameter of channel 3. 0...18  
(see below for meaning).  
Value before decimal p.  
P77  
Gain factor from channel 3.  
0.1... 10 000 000  
Value after decimal point (factor = value * 10 000 000)  
The parameters can only be actuated once you have entered the password.  
They are validated using VP.  
Service D/A monitor:  
Selection of measuring parameter using P76 / P77  
D/A monitor  
standard  
measuring  
parameters  
D/A monitor (option D1): Selection of measuring parameter using P73 / P74  
Reference value8  
Measuring  
Measuring parameter  
parameter No.  
0
1
Nominal speed value sensor  
Tracking error  
20 000 min-1  
128›Motor revolutions  
2
Advance speed control  
20 000 min-1  
20 000 min-1  
20 000 min-1  
20 000 min-1  
3
Nominal speed value of position controller  
Actual speed value  
4
5
Speed deviation  
6
Not assigned  
7
Not assigned  
8
Nom. value of transverse current (torque)9  
Intermediate circuit voltage  
Sine for co-ordinate transformation  
Voltage positioning signal for phase U  
Voltage positioning signal for phase V  
Phase current for phase U  
Phase current for phase V  
Actual value of transverse current (torque)10  
Longitudinal current  
200A  
9
1000V  
10  
11  
12  
13  
14  
15  
16  
17  
2 * ULS  
2 * ULS  
200A  
200A  
200A  
200A  
Scaled transverse voltage  
2 * ULS  
(For amplification of 1 use: 10V = 2 * ULS  
)
)
18  
Scaled longitudinal voltage  
(For amplification of 1 use: 10V = 2 * ULS  
2 * ULS  
6
The initiator signals are looped through the monitor box ASS1/01.  
.0000001=factor 1  
7
.000001=factor 10  
.999999=factor 10 000 000  
Physical value with 10V output voltage and an amplification of 1  
To determine torque:  
8
9
torque = transverse current * 0.71 * total torque constant  
To determine torque:  
10  
torque = transverse current * 0.71 * total torque constant  
57  
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COMPAX-M / -S  
Start-up manual  
D/A monitor option D1  
MW *BG  
VS *10V  
PG: physical parameter  
MW: voltage on output channel in [V]  
BG: reference value from the above table  
Calculation of  
PG =  
physical parameter  
using the measured  
value:  
VS:  
gain factor  
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:  
2,5 * 20000min1  
channel 0:MW=2.5V=>PG =  
=500 rpm  
10 *10V  
3 * 200A  
channel 1: MW = 3V =>PG =  
= 12A  
5 *10V  
The parameters of the D/A monitor can also be set to status S15 or be viewed via  
7.9.7 D/A monitor option D1  
The option D1 cannot be used for COMPAX 1000SL.  
This option provides you with two additional analogue output channels with a  
resolution of 12 bit. These channels are updated every 100 µs. Use the parameters  
P73 and P74 (as you do with the service D/A monitor) to select 2 quantities and to  
adapt them to the required measuring range using 2 parameters (P71 and P72).  
D/A monitor option D1 must be ordered as a separate item.  
To obtain output from the measured signals, you will need an externally connected  
monitor box (ASS1/01) with 2 BNC bushes for connecting the measurement  
instruments. This is connected as follows:  
! monitor box is connected to COMPAX connector X17.  
! the initiator line is connected from X17 to the monitor box. The signals are fed  
through the monitor box.  
Meaning and range of values of P71 - P74  
No.  
P71  
P72  
P73  
Parameter  
Gain factor from channel 0.  
Gain factor from channel 1.  
Measuring parameter of channel 0. (For the meaning, see 0...18  
Range  
1...10 000  
1...10 000  
P74  
Measuring parameter of channel 1. (For the meaning, see 0...18  
The parameter can only be actuated once you have entered the password.  
The measuring  
parameters are  
selected using P73  
or P74  
Example:P71=10 P72=5 P73=4 P74=13  
Therefore, the following applies:  
channel 0: measuring parameter 4 (actual speed value).  
gain factor = 10  
channel 1: measuring parameter 13 (phase current for phase U).  
gain factor = 5  
58  
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Interfaces  
7.9.8 RS232 interface  
Wiring diagram SSK1/...:COMPAX - PC/terminal  
X6  
PC / terminal  
9-way Sub-D-pin  
plug shell with screwed  
connection UNC4-40  
1
5
1
5
6
9
6
9
9pol. Sub-D-socket board  
n.c.  
RxD  
TxD  
1
2
3
4
6
5
7
8
9
2
3
4
6
5
7
8
RxD  
TxD  
DTR  
DSR  
GND  
RTS  
CTS  
+5V  
DTR  
DSR  
GND  
RTS  
CTS  
housing  
housing  
2
7 x 0.25mm + shield  
Apply screen on both sides to surface.  
7.9.9 Absolute value sensor (option A1)  
The option A1 cannot be used for COMPAX 1000SL.  
X16  
absolute enoder  
Cable plan  
GBK1/..: COMPAX  
absolute value  
sensor  
9
8
1
plug :  
9-way Sub-D-pin  
plug housing with  
screwed connection  
UNC4-40  
12  
10  
1
5
6
9
7
2
6
3
plug :  
C12FUR  
5
4
11  
T+  
T-  
6
1
8
3
3
11  
2
D+  
D-  
10  
8
+24V 9  
GND 5  
housing  
1
housing  
2
n.c.  
n.c.  
n.c.  
2
4
7
4 x ( 2 x 0.25mm ) + shield  
59  
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COMPAX-M / -S  
Start-up manual  
X13: Encoder interfaces, ...  
7.9.10 X13: Encoder interfaces, ...  
Encoder interfaces  
for COMPAX  
The encoder interfaces are available as options for COMPAX (excluding COMPAX  
1000SL). 2 channels are present; channel 1 can be equipped as the encoder input  
and channel 2 as the encoder simulation. The necessary options are described on  
Encoder interfaces  
for  
With COMPAX 1000SL, an encoder interface is integrated in the standard unit.  
This can be configured either as the encoder input or encoder simulation.  
COMPAX 1000SL  
7.9.10.1 Encoder interfaces / analogue rpm specification for COMPAX  
(not COMPAX 1000SL)  
Assignment on  
X13:  
Connector X13 X13  
Pin  
Designat Function with encoder input  
Function of channel 1 with  
option I7 for COMPAX  
XX6X or COMPAX XX70  
ion:  
or simulation  
1
Housing  
N2  
Screen terminal:  
15 pin  
Sub-D socket  
terminal strip  
Screws  
2
Channel 2 zero impulse  
Channel 2 track B  
3
B2  
4
2A  
Channel 2 track A  
UNC4-40  
5
N1  
Channel 1 zero impulse  
Channel 1 track B  
Enable  
6
B1  
+15V (<10mA)  
Input (±10V)  
7
1A  
Channel 1 track A  
1
8
8
+5V  
N2/  
B2/  
A2/  
N1/  
B1/  
A1/  
GND  
Output +5V  
9
9
Channel 2 zero impuse inverted  
Channel 2 track B inverted  
Channel 2 track A inverted  
10  
11  
12  
13  
14  
15  
15  
Channel 1 zero impuse inverted Direction of rotation  
Channel 1 track B inverted  
Channel 1 track A inverted  
Reference point  
-15V (<10mA)  
Input (±10V)  
The "Incremental encoder" function is an option for which additional boards  
are required . If the relevant options are available, the following applies:  
Channel 1: encoder input.  
Channel 2: encoder emulation  
We can provide the relevant cables and a bus distributor for wiring up the encoder  
When working with COMPAX XX6X (electronic transmission) and COMPAX  
XX70 (electronical curve control) variants, you can use option I7 via channel  
7.9.10.2 Area of application of process interfaces  
Unit variants  
COMPAX XX00  
COMPAX XX30  
COMPAX XX60  
COMPAX XX70  
"
"
"
"
Encoder emulation  
Encoder input  
! External pos.  
! External position ! Master position  
! Master position  
localization  
localization  
(set value)  
(set value)  
(actual value)  
! SPEED SYNC  
Analogue input  
! SPEED SYNC  
-
-
! Master speed  
! Master speed  
Cycle / direction input ! SPEED SYNC  
! Master position  
! Master position  
(set value)  
60  
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Interfaces  
7.9.10.3 Encoder interfaces / Analogue rpm specification / Step  
direction input for COMPAX 1000SL  
COMPAX 1000SL has an interface which can be configured either as encoder  
input, encoder simulation, analogue input or step direction input. Encoder  
simulation and analogue input can be used simultaneously.  
This interface is a fixed part of COMPAX 1000SL. No other encoder interfaces are  
possible. The connections are on connector X13:  
Encoder interface  
/ Step direction  
input for COMPAX  
1000SL  
X13 Pin  
Connector  
assignment X13 for  
COMPAX 1000SL  
Connector  
X13  
Designation:  
Function  
1
Housing  
nc  
Screen terminal:  
15 pin  
Sub-D socket  
terminal strip  
Screws  
2
3
nc  
4
2A  
A2 (Analogue input)*  
Channel 1 zero impulse  
Channel 1 track B or direction  
Channel 1 track A or step  
Output +5V  
UNC4-40  
5
N1  
6
B1  
7
1A  
1
8
8
+5V  
nc  
9
9
10  
11  
12  
nc  
15  
A2/  
N1/  
A2/ (Analogue input)*  
Channel 1 zero impuse  
inverted  
13  
14  
15  
B1/  
Channel 1 track B inverted  
Channel 1 track A inverted  
Reference point  
A1/  
GND  
Process  
Setting  
Outputs  
Inputs  
interfaces  
Configuration  
options  
P144 = 4 or 6  
P146 = 0  
Encoder input  
Not possible!  
P144 = 5  
P146 = 0  
Cycle / direction input  
Analogue input ± 10V*  
Not possible!  
P144=7  
Encoder emulation  
P146=8 512 Pulse/rev.  
P146 = 0 1024 Pulse/rev.  
Encoder emulation  
P144 = 0  
P146 = 8 512 Pulse/rev.  
P146 = 0 1024 Pulse/rev.  
switched off!  
*The analogue input is only available with COMPAX XX60 and COMPAX XX70!  
61  
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COMPAX-M / -S  
Start-up manual  
X13: Encoder interfaces, ...  
Configuring the  
process  
interfaces  
P144 P146 Setting  
= 4/6 = 0 Encoder input (without terminator) for individual connections, use  
bus termination BUS06/01)  
= 5  
= 0  
Cycle input  
O1 – O1/  
B1 – B1/  
Cycle / direction input  
Counter cycle signal  
(RS485/422)  
Direction input  
= 0  
= 0 Encoder simulation 1024 pulse / revolution  
without analogue  
input  
= 7  
= 0  
= 0 Encoder simulation 1024 pulse / revolution  
= 8 Encoder simulation 512 pulse / revolution  
with analogue input  
without analogue  
input  
= 7  
= 7  
= 7  
= 8 Encoder simulation 512 pulse / revolution  
with analogue input  
= 0  
= 8  
Rpm specification as with option I7,  
however without direction of rotation  
input*  
Analogue input ±10V  
Input on A2 and A2/  
Resolution: 20mV  
* function analogue  
input  
The I7 function "direction of rotation" can be implemented in COMPAX 1000SL  
by exchanging the differential inputs or by changing the rotation direction with  
parameter P214 Bit 0.  
The I7 function "enable" can be implemented via Input I11. Use P232=4 to assign  
this function to Input I11 (COMPAX 1060/70SL only).  
I11 ="1": Release analogue input  
I11="0": Digital input value = 0 (input is set drift-free to 0)  
1. Direct encoder – COMPAX 1000SL connection  
Cable: GBK11 Bus terminal: BUS06/01 (the bus terminal is allocated to X13 as  
adapter)  
2. Direct COMPAX (simulation) – COMPAX 1000SL (input) connection  
Cable: SSK7  
Applications with  
COMPAX 1000SL  
and encoder  
3. Direct COMPAX 1000SL (simulation) – COMPAX (including COMPAX 1060SL  
or COMPAX 1070L) connection (input); Cable: SSK17  
4. An encoder distributor (EAM4/01) is used for the integration of COMPAX  
1000SL into an encoder bus consisting of several COMPAX, as described in the  
COMPAX User Guide.  
It should be noted that COMPAX 1000SL always uses channel 1 (encoder input  
and simulation).  
11  
The operation mode is also configured via the parameters P143 and P98.  
These have the following significance:  
Impulses per Reference dimension  
P98 = Reference dimension P143 =  
4
Example: Reference dimension = 100mm  
10 000 input pulses should give a movement of 100mm  
P143=10 000/4 = 2500  
62  
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Interfaces  
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  
SSK14/..:  
X14/PC  
X15  
D-pin 9-way  
D-plug shell 9-way  
1
5
1
5
6
9
6
9
NC  
1
2
6
1
2
6
NC  
clock from Master  
RxC  
RxC/  
RxC  
RxC/  
data from Master  
clock from Slave  
data from Slave  
RxD  
RxD/  
TxC  
TxC/  
TxD  
TxD/  
4
8
3
7
5
9
4
8
3
7
5
9
RxD  
RxD/  
TxC  
TxC/  
TxD  
TxD/  
housing  
housing  
4 x 2 x 0.25mm2 + shield  
SSK14 must not be used on a COMPAX which is configured as a master  
(P243=1).  
Cable plan  
SSK15/..  
Cables for COMPAX master and COMPAX slave coupling:  
Master: X15  
Slave: X14  
D-pin 9-way  
D-plug shell 9-way  
1
5
1
5
6
9
6
9
2
6
RxC  
RxC/  
TxC  
TxC/  
TxD  
TxD/  
3
7
5
9
4
8
RxD  
RxD/  
housing  
housing  
2
2 x 2 x 0.25mm + shield  
The last unit on the HEDA has a terminating connector (BUS2/01).  
Terminating  
connector  
(BUS2/01).  
X15  
BUS 2/01  
NC  
1
2
6
150Ω  
150Ω  
150Ω  
150Ω  
RxC  
RxC/  
1
6
9
D-pin socket 9-way  
D-plug shell 9-way  
RxD  
RxD/  
TxC  
TxC/  
TxD  
TxD/  
4
8
3
7
5
9
5
7.9.12 Bus connection  
Special operating instructions are available for the bus systems.  
63  
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COMPAX-M / -S  
Start-up manual  
7.10 Technical data  
Power characteristics  
CE conformity  
EMC immunity/emissions as per EN61800-3.  
Safety: VDE 0160/EN 50178.  
Supply voltage (limit values)  
COMPAX-M (NMD)  
3 * 80V AC - 3 * 500V AC; 45-65Hz.  
COMPAX 35XXM  
Functional capability  
Position, speed and current controller.  
IGBT final stage protected from short circuits and  
ground/earth faults.  
Digital positioning controller.  
Motion controller.  
3 * 250V - 3 * 500V AC; 45 - 65 Hz.  
COMPAX 25XXS  
Supported motors/resolvers  
Sine-commuted synchronous motors up to a max.  
3 * 80V AC - 3 * 250V AC; 45 - 65 Hz  
1 * 100V AC-1 * 250V AC; 45-65Hz  
COMPAX 10XXSL  
speed of 9000 rpm.  
Asynchronous motors.  
Supported resolvers:  
1 * 100V AC-1 * 250V AC; 45-65Hz  
COMPAX 45XXS/85XXS  
3 * 80V AC - 3 * 500V AC; 45-65Hz.  
Litton:JSSBH-15-E-5  
JSSBH-21-P4  
RE-21-1-A05  
RE-15-1-B04  
Mains supply fuse protection  
K circuit breaker or similar Neozed fusible cut-out.  
NMD (COMPAX-M)  
NMD10: 16A (K circuit breaker: 20A)  
35A  
COMPAX 35XXM: 62A  
COMPAX 25XXS: 1x230V AC: 16A  
3 * 230V AC: 10A  
Tamagawa: 2018N321 E64  
Siemens:  
23401-T2509-C202  
SinCos support (Stegmann).  
3-phase synchronous linear motors  
Sine-cosine linear encoder (1Vss) or TTL  
(RS422)  
Digital Hall sensor commutation (5V).  
NMD20:  
COMPAX 10XXSL: 16A  
COMPAX 45XXS/85XXS: 16A  
Output data for individual units  
Unit  
Nom.cur-  
rent [Aeff]  
Peak current Power  
[Aeff] <5s  
DC bus voltage  
[kVA]  
COMPAX .  
300V DC with 3(1) * 230V AC.  
560V DC of 3 * 400V AC supply.  
650V DC with 3 * 460V AC.  
with mains supply: 230V AC  
10XXSL  
25XXS  
2.5  
6.3  
5.0  
1.0  
2.5  
12.6  
Output voltage to motor  
at mains supply: 400V AC  
Ignoring power losses, motor output rating is the  
maximum motor output voltage of the AC supply  
voltage available  
45XXS  
85XXS  
P1XXM  
02XXM  
05XXM  
15XXM  
35XXM  
6.5  
12.5  
5.5  
13.0  
25.0  
8.5  
4.5  
8.6  
3.8  
4.5  
8.0  
6.5  
8.5  
Braking operation  
11.5  
25.0  
50.0  
17.0  
50.0  
100.0  
Storable energy  
17.0  
35.0  
NMD10/20: 1100µF / 173Ws  
CPMPAX 35XXM:3450µ / 542Ws  
COMPAX 25XXS: 1000µF/27Ws  
COMPAX 45XXS: 330µF/52Ws  
COMPAX 85XXS: 500µF/80Ws  
COMPAX 1000SL: 660µF/17Ws  
with mains supply: 460V AC  
45XXS  
85XXS  
P1XXM  
02XXM  
05XXM  
15XXM  
35XXM  
5.4  
10.5  
4.5  
5.4  
9.6  
13.0  
25.0  
8.5  
4.5  
8.6  
3.8  
4.5  
8.0  
8.5  
17.0  
50.0  
100.0  
21.0  
42.0  
17.0  
35.0  
Control voltage  
24V DC ±10%,Ripple <1VSS  
Current required:  
1.3A for COMPAX 35XXM.  
1A for COMPAX 45XXS/85XXS.  
12  
Reduced nominal data apply for linear motors; see Page 177.  
64  
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Technical data  
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.  
RS 232  
9600 baud or 4800 baud  
(for COMPAX 1000SL, fixed at 9600 baud).  
Length of words 8 bits, 1 start bit, 1 stop bit.  
Software handshake XON, XOFF.  
Programmable controller data interface  
(excluding COMPAX 1000SL)  
Accuracy  
Positioning on the motor shaft:  
Resolution: 16 bits (= 0.3 minutes of angle)  
Absolute accuracy: +/-15 minutes of angle  
via 5 binary inputs and outputs.  
Encoder interface (option; standard for  
COMPAX 1000SL)  
Maximum power dissipation  
COMPAX 10XXSL:......................50W  
COMPAX P1XXM:.....................140W  
COMPAX 02XXM / NMD10/20: .120W  
COMPAX 05/10/15XXM: ...........250W  
COMPAX 25XXS: .......................80W  
COMPAX 45XXS/85XXS:..........170W  
COMPAX 35XXM: .....................610W  
Encoder emulation: 512 or 1024 counts/rev  
Encoder input: RS422 interface; supply: 5V 120-  
10000 lines/rev  
COMPAX 1000SL signal interfaces  
(optional)  
Encoder emulation or  
encoder input or  
Data record memory  
250 data records, protected from power failure.  
Data record functions  
step/direction input or  
analogue input ± 10V  
Absolute value sensor interface (option A1)  
(excluding COMPAX 1000SL)  
Positioning commands, I/O instructions, program  
commands:  
ACCEL, SPEED, POSA, POSR, WAIT, GOTO,  
GOSUB, IF, OUTPUT, REPEAT, RETURN, END,  
WAIT START, GOTO EXT, GOSUB EXT, SPEED  
SYNC, OUTPUT A0, GOTO, POSR SPEED,  
POSR OUTPUT , +, -, *, /.  
Supply voltage: 24V+/-10%.  
Sensing code: grey code, single step.  
Direction of counting: in clockwise direction when  
looking at the shaft: rising.  
Data interface: RS422 /24 bit data format (start:  
MSB). Cycle frequency: 100 kHz.  
Target value generator  
Ramps: linear, quadr., smooth; 10ms...60s.  
Travel specified in increments, mm, inch or  
variable using a scaling factor.  
SinCos (option S1/S2/S3)  
High-resolution encoder instead of resolver.  
Monitoring functions  
Single-turn or multi-turn (absolute value over 4096  
motor revolutions).  
Mains power/auxiliary control voltage.  
Motor and final stage temperature/blocking  
protection.  
Option S2 with multi-turn: absolute value sensor  
with programmable transmission factor.  
Option S3 for linear motors.  
Tracking error monitoring.  
Ready contact: 0.5A; 60V; 30W.  
HEDA: synchronous, serial real time  
interface  
Included in option A4 or option A1.  
Ambient conditions  
Temperature range: 0...45°C.  
Max. relative air humidity as per DIN 40040 class  
F (75%); no condensation.  
Bus connection: optional  
dc-insulated bus connection.  
Interfaces  
RS485  
Max. 115k baud 2 or 4 wire/RS485  
Control inputs: 16 (8 for COMPAX 1000SL)  
Interbus S  
2-conductor remote bus 500 kBaud.  
max. 64 participants per ring.  
Control outputs: 16 (8 for COMPAX 1000SL)  
active HIGH, short circuit protected; 24V (see ex  
Profibus  
1.5 MBaud Sinec L2-DP and FMS.  
65  
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COMPAX-M / -S  
Start-up manual  
ServoManager.  
CS31  
COMPAX - ABB interface.  
Mains module  
CANbus  
Up to 1.0 MBaud Basic CAN.  
CAN protocol as per specification 1.2.  
Hardware as per ISO/DIS 11898  
Permissible 3-phase mains  
CANopen  
The units (COMPAX or NMD) can be operated on  
all mains types1. Examples:  
Protocol as per CiA DS 301.  
Profile CiA DS 402 for drives.  
IT mains  
Operation  
Parameter input/status request  
Via COMPAX hand-held terminal.  
Via RS232 and bus interface.  
Via the programmable controller data interface  
(excluding COMPAX 1000SL).  
TN mains  
Status query also via the 3-digit LED display on  
the front plate (excluding COMPAX 1000SL).  
Housing  
Housing  
Fully-enclosed metal housing.  
Insulation: VDE 0160/protection class IP20.  
IP54 on request.  
1When using Delta mains, note that CE  
requirements (low voltage guideline)  
are no longer met when the voltage  
between a phase and earth >300V AC  
(isolated measurement voltage).  
Connections  
Motor, power bus, control inputs/outputs via  
terminals.  
Sensor cables, interfaces via connectors.  
Leakage current  
The leakage current (current on the mains PE) is mainly caused  
by the capacitive resistance between the conductor and  
screening of the motor cable. Additional leakage current occurs  
when using a radio interference suppresser as the filter circuit is  
connected to earth via the capacitors.  
Installation  
Wall mounting, suitable for installation in industrial  
control cabinets.  
Dimensions  
The size of the leakage current depends on the following factors:  
! length of motor cable.  
! cycle frequency.  
! with or without radio interference suppresser.  
! motor cable screened or not.  
! motor earthed at site or not.  
Weights: COMPAX P1XXM: .............5.6 kg  
COMPAX 10XXSL: ...........1.6 kg  
COMPAX 25XXS: .............4.6 kg  
COMPAX 45XXS/85XXS:..6.5 kg  
COMPAX 02XX:.................7.1 kg  
COMPAX 05/15: ................7.8 kg  
COMPAX 35XXM:............22.5 kg  
NMD10:..............................7.6 kg  
NMD20:..............................8.1 kg  
The leakage current is very important regarding safety when  
handling and operating the unit.  
Please note  
The unit must be operated with an effective earth connection  
which satisfies the appropriate specifications for high levels of  
leakage current (>3.5 mA).  
The Servo booster must not be operated with a fault current  
circuit breaker due to the risk of higher levels of leakage current.  
If an FI circuit breaker is installed, it must not interrupt the  
current circuit despite the following conditions (e.g. from ABB  
series F804):  
! DC component in leakage current (3-phase rectifier bridge).  
Standard delivery  
! Brief occurence of pulse-shaped leakage currents when  
switching on.  
COMPAX with User Guide.  
! High levels of leakage current.  
66  
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Overview:  
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. COMPAX contains all the  
functions required for a compact positioning system.  
These functions are:  
! digital inputs and outputs (PLC interface)  
! a serial interface (RS232)  
! a data record memory  
! an integrated IGBT final stage.  
You will need auxiliary equiment (PC, hand-held  
terminal) to configure and program COMPAX.  
COMPAX is very flexible and offers all the advantages  
of digital control technology thanks to its completely  
digital design which encompasses positioning, speed  
and current control. The main features are:  
! controller parameters which can be reproduced and  
are drift-free  
! simple copying of set values  
! no offset problems  
! the implementation of efficient, flexible and adaptable  
setpoint generation.  
67  
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COMPAX-M / -S  
Operating Instructions  
8.1.1 Block structure of the basic unit (not applicable for COMPAX 1000SL)  
Interfaces for data and status  
PLC data interface  
Query the most important status values  
Setting the most important parameters  
RS232 / RS485 Bus-Systems  
for connection of PLC, IPC, PC  
or general. control unit /e.g.:  
COMTAC from Hauser  
16 Binary inputs and outputs  
Functions  
Status queries  
Setting parameters Direct commands  
Programming  
Controlling  
Actual values  
Diagnostic values  
Device IDs  
Configuration  
Optimization  
ACCEL, SPEED  
POSA, POSA HOME,  
POSR, OUTPUT,  
GOTO, ...  
250 lines  
manual+, manual-  
Start, Stop, Break  
Positioning commands  
General settings  
I/O instructions  
Machine zero, real zero  
Program flow commands  
Teach real zero, program line  
System controller  
Program memory / parameter memory  
Settings,  
Travel commands  
data  
current feed forward  
acceleration feed forward  
speed feed forward  
Motor  
R
Setpoint  
generator  
Position  
controller  
Rotational speed  
controller  
Current Output stage  
controller  
R
D
Rotational speed filter  
Servo control  
Rotational speed and Encoder  
position generation  
simulation  
Interfaces for signals  
Override input  
Absolute encoder  
Encoder input  
Encoder emulation  
D/A monitor  
Externally controlled  
speed reduction  
reference drives  
not required  
Output of  
2 analogue outputs for  
internal values  
Synchronization  
to external  
actual speed and  
position  
(rotational speed, current, etc.)  
speeds and position  
68  
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Overview:  
Block structure of the basic unit (not applicable for COMPAX 1000SL)  
Explanations for the block structure  
Interfaces for data and status  
PLC data interface  
The following commands are available via 5 binary inputs (I7...I11) and 5 binary  
outputs (O7...O11):  
POSA, POSR, SPEED, ACCEL, GOTO, VP, modifying parameters P1..P49,  
querying status S1...S12. (Function not available with the COMPAX 1000SL)  
RS 232  
All functions are available via RS232.  
Bus systems  
All functions are available via the bus interface (Interbus S, Profibus, CAN bus,  
CANOpen, CS31 or RS485 (ASCII/binary with 2 or 4 wires). A description is  
available as a separate item.  
Binary inputs and  
outputs  
Inputs:  
I1...I6: control functions or freely assignable.  
I7...I16: freely assignable or programmable.  
Outputs:  
O1...O6: control outputs or freely assignable.  
O7...O16: freely assignable or programmable.  
Functions  
Query status  
The status can be queried via the PLC date interface, the bus interface and  
partially via the front plate display.  
Setting  
parameters  
Configuring  
Operating mode, units for travel data, motor types, ramp shapes, directions, drive  
types, reference systems, ....  
Optimizing  
Via the uncoupled stiffness, damping and advance control parameters.  
General settings  
Replacement and specification values,  
limitations,  
control parameters.  
Programming data  
records  
Programming a sequential program with up to 250 data records.  
Controlling  
Functions: manual mode, start, stop, break, teach functions ....  
Messages no fault, no warning, machine zero has been approached, ready for  
start, position reached, idle after stop or break.  
Program control: external data record selection, analyzing binary inputs, setting  
binary outputs, triggering positioning processes,... .  
Function monitoring and co-ordination  
System controller  
Control  
Digital control with robust control loops. Automatic calculation from existing design  
quantities.  
69  
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COMPAX-M / -S  
Operating Instructions  
Password protection  
Interfaces for  
signals  
Override input  
Analogue input (see Start-up manual) for continual reduction of the set speed.  
Absolute value  
sensor (option)  
This option supports an absolute value sensor attached to the motor; reference  
travel is therefore no longer required after initialization has been executed once  
(see Start-up manual and Accessories and options).  
(Function not available with the COMPAX 1000SL)  
HEDA (option)  
Real time data channel  
For implementing track and contour tasks using the HAUSER "IPM" interpolation  
module for PC and IPC or  
direct COMPAX - COMPAX coupling with one COMPAX as the master.  
Encoder input  
COMPAX can be synchronized to an external speed (and/or position, e.g. with the  
"Electronic transmission" unit variant) via this input (see Start-up manual and  
Accessories and options).  
Encoder simulation  
The actual position value can be made available to other units via this channel (see  
Start-up manual and Accessories and options) .  
An encoder bus can also be created. (see description in "Accessories and  
options")  
D/A monitor  
18 internal measuring and intermediate parameters are output as analogue voltage  
(+/-10V) via two 8 bit channels (or optionally 12 bit channels).  
8.1.2 Password protection  
COMPAX contains password protection to prevent unwanted data manipulation.  
Before you configure COMPAX or set your parameters, you must enable these  
functions with a password. When the axis is at standstill, proceed as follows to  
enable and block:  
Deactivate  
transmit GOTO 302 to COMPAX  
password  
protection:  
activate password  
protection:  
switch the unit off  
or  
transmit GOTO 270 to COMPAX.  
All parameters, except P40-P49, are protected by password.  
The COMPAX program is not protected by a password.  
Protected  
parameters  
Conditions for password input :  
There must not be any programs running.  
Note!  
70  
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Configuration  
Front plate operation (not available with COMPAX 1000SL)  
8.2 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.  
choice of operation  
Querying status  
A
B
modes  
values and  
modifying the  
bus parameters.  
Enter  
Enter  
call higher  
Status  
number  
call smaller  
Status  
number  
call higher  
C-parameter  
number  
call smaller  
C-parameter  
number  
choose  
Status  
choose  
number of  
number  
C-parameter  
Enter  
Enter  
without  
function  
without  
function  
decrease  
value  
increase  
value  
status  
change  
indicator  
C-parameter  
Enter  
Enter  
A
B
The following status values can be displayed via the front plate:  
S03-S08, S11, S19-S26 (hexadecimal display), S27, S30, S31, S37-S39  
The remaining status values can be queried via the interfaces.  
Meaning of the  
bus parameters:  
C parameters  
C01  
COMPAX parameters Meaning  
Valid from  
P194  
P195  
P196  
P250  
Address of unit Power on  
C02  
Baud rate:  
Power on  
Power on  
C03  
Bus protocol  
C11  
HEDA address immediately  
reserved  
C04 - C10  
Display  
value  
Baud rate  
[Baud]  
Display  
value  
Baud rate  
[Baud]  
31 250  
Display  
value  
Baud rate [Baud]  
0
1
2
4
9
600  
1200  
2400  
4800  
9600  
10 000  
19 200  
20 000  
28 800  
31  
38  
50  
57  
62  
76  
172  
172 800  
187 500  
250 000  
345 600  
375 000  
500 000  
800 000  
1 000 000  
38 400  
50 000  
57 600  
62 500  
76 800  
100 000  
115 200  
125 000  
187  
250  
345  
375  
500  
800  
999  
10  
19  
20  
28  
100  
115  
125  
Please see operating instructions for the bus option used for the relevant  
range of values and the precise setting options.  
Once you have rectified the cause of the error, you can acknowledge the error by  
pressing the "Enter" key.  
Acknowledging  
error messages  
71  
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COMPAX-M / -S  
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  
on (24V DC and operating voltage) (motor switched off). In addition to  
this, when switched on, all parameters (apart from bus settings P194,  
P195, P196 and P250) are set to their default values.  
P149="1": COMPAX is configured and once switched on (24V DC and operating  
voltage) tries to engage the motor.  
If you are configuring using ServoManager, P149 is automatically set to "1"  
once ServoManager has executed successful configuration.  
To operate the COMPAX controller design concept, you must have a basic level of  
technical control knowledge. COMPAX calculates the internal system and  
controller parameters required using simple, application-specific values, which are  
generally accessible.  
Controller  
design concept  
A strong controller design obviates the need for tedious controller optimization.  
This configuration provides you with a stable controller.  
If the control process is unstable because COMPAX has been incorrectly  
configured, you can switch on COMPAX so that the drive remains switched off  
even with power on. To do this, when switching on COMPAX simultaneously press  
the "-" key. The following will then happen:  
Power on with  
motor switched  
off  
the drive is switched off.  
the digital outputs O1...O6 are set to "0".  
when the PLC data interface is switched on: O7=1, O8, O11=0  
the password protected functions are enabled.  
correctly configured COMPAX or you have corrected the relevant  
Once you have  
parameters, you can engage the drive and outputs again using the command  
"OUTPUT O0 = 0".  
(Function not available with the COMPAX 1000SL)  
8.2.3 Configuration process  
Before you configure COMPAX or modify the configuration, the drive must  
Switching off  
the drive  
The COMPAX configuration is carried out using parameters as follows:  
select operating mode.  
specify units for the travel data.  
Modifying  
parameters  
select motor from the motor list or configure an external motor.  
select ramp shape.  
define direction  
.
use the design data to specify the drive type.  
define the reference system.  
72  
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Configuration  
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.  
zero and limit switch configurations which deviate from the standard.  
The configuration parameter are not accepted directly once they have been  
modified. COMPAX will only accept the new parameters once the VC  
commands (valid configuration) have been issued.  
The ServoManager automatically sets the parameters as valid after  
configuration!  
Power on for  
drive  
Using the command OUTPUT O0=0.  
Note that once a configuration has been set or modified, there  
is a risk if some parameters have been incorrectly  
programmed.  
You must secure the displacement area of your system when  
switching on the drive.  
Please mind the limit values of the mechanical component!  
Defiance of the limit values may lead to destruction of the  
mechanical component!  
8.2.4 Safety instructions for initial start-up  
Risks from incorrect wiring!  
In order to avoid the risks from incorrectly wired systems during initial start-up, use  
the following settings for personal safety and protection of the mechanical system:  
P15 = 10% (motor speed limited to 10% nominal value)  
P16 = 100% (torque limited to 100% nominal value)  
The drive must remain at standstill after the system switch on.  
Execute a travel operation e.g. with POSR * or manually +/-.  
If this travel operation is executed correctly, then P15 and P16 can be reset to their  
original values.  
The following faults may occur:  
The drive does not remain at standstill when switched on, or  
the drive runs out of control after the start command.  
In both cases, either error E10 or error E54 is triggered.  
If error E54 occurs, the drive is switched off.  
A possible cause of the error is incorrect wiring in the motor or resolver systems.  
73  
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COMPAX-M / -S  
Operating Instructions  
Configuration parameters  
8.2.5 Configuration parameters  
Parameter P93: valid from next move command.  
Operating mode  
Normal mode:  
P93 ="1"  
Positioning processes refer to real zero.  
To set the reference, use the "Find machine zero" function (Input I1="1" and I2="1",  
P93 ="2"  
Continuous  
mode:  
Positioning processes always refer to the relevant start position.  
The "Find machine zero" function is not necessary but possible.  
Set P1 (real zero) = 0.  
To avoid inaccuracies during conversions, use the "Increments" measurement  
units in continuous mode (see below).  
Operation with absolute value sensors is not permitted when working in  
continuous mode.  
P93 ="4":  
Speed controller  
In this operating mode, the drive controller operates as a speed controller, the  
position controller is switched off. The following applies:  
Commands not permitted: POSA, POSR, POSR SPEED, POSR OUTPUT, POSA  
HOME, ACCEL-.  
The SPEED command contains a prefix for the direction of rotation.  
Output O3 is not assigned;  
The data record indicator is set to N001 using "Approach real zero".  
The "Find machine zero" function (I1&I2) is not assigned.  
Unit for travel  
data  
Parameter P90  
mm  
P90 ="1"  
Inch  
P90 ="2"  
Increments  
P90 = "0": Accurate increment operation without conversion inaccuracies.  
This measuring unit is only useful when using the "General drive" drive type  
and especially in continuous mode. The levels of accuracy are not increased  
when working with other drive types.  
The "Travel per motor revolution" (P83) is specified in increments.  
Meaning:P83 = 2n when n = 4, 5, 6, ...16  
This corresponds to a resolution of 16 .... 65 536 increments per motor  
revolution.  
P83 influences the resolution and also the max. travel distance:  
74  
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Configuration  
Configuration parameters  
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:  
P83  
16  
32  
64  
128  
Maximum travel in motor revolutions  
±250 000  
±125 000  
±62 500  
±31 250  
±15 625  
±7812  
±3906  
±1953  
±976  
256  
512  
1024  
2048  
4096  
8192  
16 384  
32 768  
65 536  
±488  
±244  
±122  
±61  
In continuous mode, this limitation applies to a single command.  
In normal mode, this limit applies to the entire displacement area.  
Parameter P100  
Motor type  
The motor parameters are required for COMPAX motor-specific settings.  
The motor parameters of the HAUSER motors recommended for COMPAX are  
available in a list in ServoManager / ParameterEditor and can be selected from  
there.  
You can configure additional motors using the "External motor" function.  
Basic conditions  
for external  
motors:  
Sine-commuted motors (sinusoidal EMC)  
The nominal currents of the motors and units must be adapted.  
If you are using nominal currents which are smaller in relation to the unit  
nominal current, current recording will be less accurate.  
Parameter P94  
Ramps  
linear  
P94 ="1"  
Simplest, time-oriented function; not smooth  
V
0
t
a , M  
1,0  
0
t
t
a
Current requirement: 1 times  
75  
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COMPAX-M / -S  
Operating Instructions  
Configuration parameters  
P94 ="2"  
smooth  
The mechanics are subject to minimum load when using the smooth function.  
V
0
t
a , M  
1,9  
0
t
t
a
Current required: 1.9 times  
P94="3"  
quadratic  
Gentle running in to the nominal value; overswings are prevented.  
V
0
t
a , M  
2,0  
0
t
t
a
Current required: 2 times  
a
v: Speed:  
a: Acceleration.  
M: acceleration torque  
Transfer of P94  
Modifications to P94 become effective from the next move command.  
Exception:  
For the functions:  
stop after passing a limit switch and  
the ramp type only becomes valid with VC  
Parameter P80: select drive type  
Drive type:  
Various data are required for additional configuration depending on the drive type  
selected. This modifies the assignment of the parameters P81 - P85.  
Continue configuration with the drive type selected.  
Spindle drive:  
P80=2:  
P81: length  
Length of spindle  
Range: 0 ... 5000mm  
P82: diameter  
P83: Pitch  
Diameter of spindle  
Range: 8 ... 80mm  
Pitch per spindle revolution.  
Range: 1 ... 400mm  
76  
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Configuration  
Configuration parameters  
Motor / spindle ratio.  
P85: ratio  
Range: 1 (1:1)...100 (100:1) motor: transmission  
P84: moment of  
inertia  
Moment of inertia of transmission and clutch referenced to the drive side.  
Range: 0...200kgcm2  
P92: Minimum mass  
Minimum translational mass moved [kg].  
Range: 0...P88  
P88: Maximum  
mass  
Maximum translational mass moved in [kg].  
Range: 0...500kg  
Rack+pinion/  
toothed belts  
P80= "4" or "8"  
P82: Number of  
teeth on pinion  
Range: see tooth pitch  
P83: tooth pitch  
Distance between two teeth  
The range of values for the number of teeth and tooth pitch is determined by the  
pitch. Meaning:  
pitch = number of teeth  
Range of pitch values: 1 ... 410 mm  
tooth pitch.  
*
P85: ratio  
Ratio from motor to rack-and-pinion/toothed belt.  
Range: motor: transmission 1 (1:1)...100 (100:1)  
P84: moment of  
inertia  
Moment of inertia of transmission and clutch referenced to motor shaft.  
Range: 0...200kgcm2  
P92: minimum  
mass  
Minimum translational mass moved [kg]. Range: 0...P88  
P88: maximum  
mass  
Maximum translational mass moved in [kg].  
Range: 0...500kg  
HLE80C HLE100C HLE150C HPLA80 HPLA120 HPLAB180  
HPLAR180  
HLE / HPLA data for  
the drive type:  
rack+pinion  
"Toothed belt"  
Teeth on  
19  
17  
24  
18  
27  
21  
28  
pinion (P82)  
Tooth pitch  
(P83)  
10mm  
10mm  
10mm  
10mm  
10mm  
20mm  
10mm  
P80=16:  
General drive  
P81: Minimum  
Total minimum moment of inertia: motor, transmission and load referenced to the  
motor shaft.  
moment of inertia  
Range: 0...P82 [kgmm2]  
P82: maximum  
Total maximum moment of inertia: motor, transmission and load referenced to the  
motor shaft.  
moment of inertia  
Range: P81...200 000kgmm2  
P83: travel per  
motor revolution  
Range: 10 ... 4 000 000µm  
or 16 ... 65 536 increments.  
77  
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COMPAX-M / -S  
Operating Instructions  
Configuration parameters  
Parameter P213: direction of machine zero  
Reference  
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; i.e. attached to one side.  
Use parameter P213 to inform COMPAX of the side on which the MZ (machine  
zero) initiator is attached.  
The machine zero initiator is approached with the motor turning clockwise (when  
facing the motor shaft).  
P213="0":  
P213="1":  
Setting aid  
The machine zero initiator is approached with the motor turning anti-clockwise.  
Set P215="0":  
Actuate Hand+; the drive moves in the direction of the MZ initiator, then the  
following applies: P213="0", if this is not the case, set P213="1".  
The following basic setting applies for this standard reference system (no  
end or reversing initiators; one machine zero initiator at the end of the  
displacement area): P212="1", P217="0", P216="0". You will find other  
options for defining a reference system in the next chapter.  
Specify the software end limits of the displacement area by using parameters P11  
and P12. Each time a positioning command is issued, COMPAX checks whether  
the target is within the travel distance. If this is not the case, error E25 is reported.  
Specifying  
software end  
limits  
When working in continuous mode, these limits always apply for the current  
positioning process.  
P11: maximum  
Range: ±4 000 000 [units corresp. P90]  
position  
P12: minimum  
position  
Range: ±4 000 000 [units corresp. P90]  
Absolute positioning commands refer to RZ.  
RZ is specified relative to machine zero.  
Specifying point  
of real zero (RZ)  
P1 must be set to 0 in continuous mode .  
P1: point of real  
zero  
Range: ±4 000 000 [units corresp. P90]  
P215 establishes the positive direction of travel (positive end of displacement area)  
referenced to the motor direction of rotation.  
P215="0" the motor is turning clockwise when traveling in the positive direction  
P215="1" the motor is turning anti-clockwise when traveling in the positive  
direction  
P215: direction  
of rotation  
Clockwise means when looking at the motor shaft.  
Setting aid:  
Proceed with Hand+; the motor must move in the direction which is defined as  
being the positive direction. If this is not the case, then P215 must be modified.  
P215 has no influence on the setting of the machine zero direction (P213); if  
it has the same mechanical design.  
13  
MZ: machine zero  
78  
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Configuration  
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  
Activated with  
P206=2  
Parameter P206=2 is used to activate the absolute value resolver.  
COMPAX reads the current actual position cyclically every 2ms and stores this  
data alternatively onto 2 memory stores (Pos 2, Pos 3) protected against power  
failure.  
The current imported position is shown in Status S12.  
After Power On, the last stored actual positions (Pos 2 and Pos 3) are read and  
compared with each other and the current read resolver angle (Pos 1).  
A3 is set, when  
the last saved actual position (Pos  
Pos 1  
2) lies within a definable window  
(P161) around Pos 1,  
and when  
Pos 2  
Pos 3  
Pos 2 and Pos 3 are less than  
P161 from one another (to ensure  
that the drive stops when  
switched off).  
Pos 4  
Renewed referencing (find machine  
zero) is not required.  
S12 is copied after Power On,  
enabling of the controller or after an  
error in S1.  
If the last saved actual position (Pos 4) lies outside a definable window (P161),  
then A3 is not set, so a renewed referencing (find machine zero) is necessary.  
Condition:  
in the switched off status, the motor or mechanics must not be moved. Ensure this  
by using e.g. a motor brake or self-braking gearbox.  
Maximum angle  
difference P161:  
P161 gives the maximum permissible angle difference between the saved and the  
current actual position when switching on.  
Range: 1 ... 2047; default value 100; where 4096 = 1 motor revolution.  
If P161 is exceeded, then a new reference is necessary (find machine zero).  
Note  
After error E42 (resolver/sensor error), referencing must always be implemented.  
The absolute value sensor function described above only functions with  
resolvers.  
The absolute value function with resolvers is not supported by COMPAX XX30.  
Value range S12  
The value range of the absolute value S12 lies between –2048 and 2047.9999 (0  
corresponds to the machine zero when P1=0). In addition, a value sign conversion  
occurs (value jumps from the positive maximum value to the negative maximum  
value; or vice versa), whereby at the next comparison S12S1 an error of  
precisely 4096 occurs.  
Use a real zero P1 to shift the value range (around –P1).  
Ex. 1: P1=-2000 value range S12: -48 ... 4047 rpm.  
With knowledge of this relationship, it is possible to create a positive travel area of  
maximum 0 ... 4096 by the following actions:  
! Travel to center of total travel area  
! PH with P1=-2048 and P212=10  
! S1 = S12 = 2048 at this point  
Travel from POSA 0 ... POSA 4095.9999 possible without value sign conversion.  
79  
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COMPAX-M / -S  
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  
using 2 reversing initiators.  
="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.*  
="5": MZ equals resolver zero  
="6": reserved  
="7": MZ equals external initiator (without resolver zero).  
="8": MZ equals a limit switch  
="10":MZ teach  
="11":Machine zero - initiator (without resolver zero) with 2 reversing initiators  
P212 becomes valid immediately after a modification.  
*
P212=3 & P212=4 is only permitted for COMPAX XX00 and COMPAX XX30.  
Function of the machine zero mode  
P212 ="0"  
Machine zero  
equals external  
initiator &  
resolver zero / 2  
reversing  
Start search direction / initiator side  
Application  
P213: defines the initiator flank of the machine zero Linear movements  
initiator that is being evaluated; i.e. the side  
from which the initiator is approached.  
P3: the prefix defines the start search direction.  
P215: influences the start search direction during  
find machine zero.  
initiators.  
P29: shifts the actual machine zero in the direction  
of the clockwise rotating motor.  
P216: sets the limit switch position  
(must also then be set if there are no  
configured limit switches (P217=0)  
P215="0": the motor rotates clockwise when traveling in the positive direction; i.e.  
the positive end in the diagram is on the right-hand side.  
P212="0": operating mode with reversing initiators; i.e. with 3 initiators.  
P217="0": operating mode without end initiators. I1 and I2 act as reversing  
initiators during "Find machine zero".  
Example of a  
reference system  
definition  
P216="0": the I1 initiator is started by the clockwise rotating motor.  
P3 = positive (when P3 = negative, reverses start search direction)  
gear doesn`t change  
the direction  
direction "clockwise rotating motor"  
E2  
MN  
E1  
80  
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Configuration  
Machine zero mode  
The position reference for positioning process is real zero; this can be freely  
defined over the entire displacement area. Real zero is defined with reference to  
machine zero.  
Real zero  
value at P1 (real zero)  
P12  
real zero  
P11  
machine zero  
E2  
E1  
Movement  
process during  
find machine  
zero, depends on  
start point:  
resolver  
zero pulse  
resolver  
zero pulse  
resolver  
zero pulse  
reverse initiator/  
limit switch  
reverse initiator/  
limit switch  
machine zero  
switch  
actual machine  
zero  
shift machine  
zero by P29  
P29=  
0...90°  
P29=90°...360°  
starting  
position 1  
starting  
position 2  
starting  
position 3  
distance  
The speed used for find machine zero is specified by P3; the accelerating and  
braking time by P7.  
81  
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COMPAX-M / -S  
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  
flank of the machine zero initiator which is being evaluated; i.e. the side from  
which the initiator is approached  
P3: no influence in the start search direction during find machine zero.  
P215: no influence on find machine zero.  
P29: shifts the actual machine zero in the direction of the clockwise rotating motor  
(see below).  
P212 ="1"  
Machine zero  
equals external  
initiator &  
Find machine zero  
Application  
P213  
Standard machine  
zero mode for linear  
movements  
="0  
"
resolver zero  
clockwise rotating motor  
resolver zero pulse  
signal of MZ  
initiators  
MN-Ini.  
actual machine zero  
P29 = 0° - 270°  
P29 = 270°- 360°  
P213="1"  
clockwise rotating motor  
MN-Ini  
signal of MZ initiators  
resolver zero pulse  
actual machine zero  
P29 = 100°- 360°  
P29 = 0°-100°  
82  
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Configuration  
Machine zero mode  
Shifting machine  
zero  
Explanation for shifting machine zero using P29, taking the example  
of P212="1"  
initiator edge  
signal  
MZ-INI  
machine zero  
initiator active  
machine zero  
initiator disabled  
The machine zero initiator (MZ-INI) is  
low active  
0
position  
mechanical  
limit  
initiator edge  
resolver  
zero  
pulse  
The resolver zero pulse is a fixed  
position of the rotor position  
0
α0  
position  
machanical  
limit  
initiator edge  
position  
of the  
actual MZ  
The actual machine zero (MZ) results  
from the "AND" connection of the  
machine zero initiator with the resolver  
zero pulse  
α0  
0
position  
mechanical  
limit  
Example 1: α0 = 90°;  
clockwise rotating  
motor in direction  
of mechanical  
range within which the position of the  
actual MZ can be shifted by P29  
initiator edge  
position of  
actual MZ  
clockwise  
rotating motor  
limitation  
P29 =  
0...270°  
P
29 shifts the actual machine zero in  
the direction of the clockwise rotating  
motor  
α0  
360°  
0
position  
mechanical  
limit  
Example 2: α0 = 90°;  
clockwise rotating  
motor away from  
the direction of the  
mechanical  
initiator edge  
position  
of the  
actual MZ  
clockwise  
rotating motor  
P29 =  
90...360°  
P
29 shifts the actual machine zero in  
the direction of the clockwise rotating  
motor  
limitation travel  
α0  
360°  
0
position  
mechanical  
limit  
83  
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COMPAX-M / -S  
Operating Instructions  
Machine zero mode  
P212="3" (only permitted for COMPAX XX00 and COMPAX XX30!)  
Machine zero  
equals external  
zero pulse  
Find machine zero  
P29=0° P29=90°  
Application  
General rotatory  
movements  
P213="0"  
external  
external  
zero pulse  
zero pulse  
command  
command  
"search MZ"  
"search MZ"  
90°  
external  
zero pulse  
external  
zero pulse  
P213="1"  
command  
"search MZ"  
command  
"search MZ"  
90°  
Conditions for  
this operating  
mode:  
External encoder; read via an encoder input module (I2, I4)  
Encoder input parametrized by: P144="6"  
Specify P98 (travel per encoder revolution), P214 (encoder direction) and P143  
(encoder pulse number).  
84  
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Configuration  
Machine zero mode  
P212="4" (only permitted for COMPAX XX00 and COMPAX XX30!)  
Machine zero  
equals external  
initiator &  
external zero  
pulse  
Find machine zero.  
Application  
P213="0"  
P213="1"  
Note!  
Linear and rotatory  
movements.  
If you have an encoder  
on the load, with this  
setting you obtain a  
reproducible machine  
zero response to any  
transmission factor  
which does not round  
to whole digits (i.e. not  
precisely displayable).  
clockwising rotating motor  
encoder zero pulse  
signal MZ-ini.  
MN-Ini  
position of the actual MZ  
P29 = 0°- 360°  
0° 360°  
Example of an  
transmission factor  
that cannot be  
clockwise rotating motor  
displayed exactly:  
MN-Ini  
signal MZ-ini.  
17 teeth  
11 teeth  
encoder zero pulse  
position of the actual MZ  
P29 = 0°-360°  
0° 360°  
If P750 for this setting, external position localization is switched on.  
Conditions for  
this operating  
mode:  
External encoder; read via an encoder input module (E2, E4)  
Encoder input parametrized by: P144="6"  
Specify P98 (travel per encoder revolution), P214 (encoder direction) and P143  
(encoder pulse number).  
85  
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COMPAX-M / -S  
Operating Instructions  
Machine zero mode  
P212 ="5"  
Machine zero  
Find machine zero  
P29=0° P29=90°  
Application  
equals resolver  
zero  
P213="0"  
General rotatory  
movements.  
This is a simple  
method of  
resolver  
resolver  
zero pulse  
zero pulse  
command  
"search MZ"  
command  
"search MZ"  
implementing machine  
zero, especially if the  
transmission runs at  
high speeds.  
90°  
resolver  
zero pulse  
resolver  
MZ pulse  
P213="1"  
command  
command  
"search MZ"  
"search MZ"  
90°  
P212 ="7"  
Machine zero  
equals external  
initiator  
Find machine zero  
Application  
P213="0"  
Linear and rotatory  
movements.  
(without  
If you have an encoder  
on the motor side, with  
this setting you obtain  
a reproducible  
resolver zero)  
clockwise rotating motor  
signal of MZ-ini.  
MN-Ini  
P29 = 0° - 360°  
machine zero  
0° 360°  
response to any  
transmission factor  
which does not round  
to whole digits (i.e. not  
precisely displayable).  
position of actual MZ  
P213="1"  
Example of an  
transmission factor  
that cannot be  
displayed exactly:  
clockwise rotating motor  
MN-Ini  
signal MZ-ini.  
17 teeth  
11 teeth  
P29 = 0° - 360°  
0° 360°  
Accuracy: depends on  
P3.  
position of actual MZ  
Accuracy in motor  
revolutions:  
P3  
1ms •  
P104  
100  
60 1000  
=
86  
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Configuration  
Machine zero mode  
P212 ="8"  
Machine zero  
equals a limit  
switch  
Find machine zero  
Application  
P213="0"  
Linear movements.  
No need for a machine  
zero initiator.  
clockwise rotating motor  
resolver zero  
pulse  
E1  
E2  
Function  
...  
Travels during "Find  
machine zero":  
to the relevant limit  
switch.  
signal MZ-ini.  
position of actual MZ  
back to the 3rd  
P29 = 0°- 360°  
resolver zero pulse.  
The 3rd resolver zero  
pulse is evaluated as  
machine zero.  
0° 360°  
Supplement  
P213="1"  
With P202, the distance  
between initiator and  
machine zero can be  
increased (e. g. for large  
gear ratios). Meaning:  
clockwise rotating motor  
resolver zero  
pulse  
E1  
E2  
...  
P202=0 or 3; function as  
described.  
With P202>3, the  
distance of the machine  
zero can be moved by  
further resolver zero  
pulses.  
signal MZ-ini.  
position of actual MZ  
P29 = 0°- 360°  
0° 360°  
P202 unit:  
Resolver zero pulses =  
motor revolutions  
Condition:  
Wiring up:  
P217 ="1"  
P216 = set correctly.  
In the above diagram: P216="1": (limit switch E1 is approached with anti-clockwise  
rotating motor)  
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.  
P213="1": X17/9 must be connected to X17/7.  
P212="10": Teach machine zero  
Teach machine  
zero  
When activated via the command "Find machine zero" (Input I1&I2 or  
command "POSA Home"), the current position of the motor is defined  
as the machine zero.  
A machine zero initiator is not required with this method.  
Via parameter P29, machine zero can be moved from the teached point by up to  
one motor revolution. The drive then executes machine zero travel from the current  
position by the angle P29 in a clockwise direction.  
Range of values for P29: 0...360 degrees (other values are considered as 0).  
If P29=0, machine zero travel is not implemented.  
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COMPAX-M / -S  
Operating Instructions  
Machine zero mode  
P212="11": Machine zero - initiator (without resolver zero) with 2  
reversing initiators  
Machine zero -  
initiator  
(without  
Application: Applications with belt drives where the belts may skip during operation.  
resolver zero)  
with 2 reversing  
initiators  
88  
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Configuration  
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; this does not apply to the "Find machine zero" function.  
Subsequently, the limit switches can be deactivated with Hand+ or Hand-.  
When P212 = 0 (or = "2"), the initiators are used as reversing initiators during "Find  
machine zero".  
In other machine zero modes, the initiators can be switched to end initiators by  
P217 via bit 0="1".  
Bit 1 (P217) = 0: limit switches are not monitored during reference travel.  
Limit switch  
monitoring  
during the  
= 1: (P217= 3) limit switches are monitored during "Find machine  
zero" (when P212<>0 and P212<>2).  
The operating mode bit 1 (P217)=1 assumes that 3 initiators are connected. Here it  
is not possible to use one of the two end initiators as a machine zero initiator.  
Regardless of the search direction P213, both limit switches are monitored.  
reference travel  
Response when the  
limit switch is  
reached:  
When one of the two limit switches is reached, COMPAX responds with an  
emergency stop.  
Then the following applies: move out of the danger zone using Hand+/-, then  
acknowledge.  
In such cases, the "MZ approached" output is not set.  
Bit 2 (P217) = 0: function corresponding to Bit 0 and Bit 1.  
= 1: (P217= 5) after activation of a limit switch, the drive is braked  
with P10 (standard), however travel movements are still  
possible afterwards using POSA and POSR.  
The operating mode bit 1 (P217)=5 assumes that 3 initiators are connected. Here it  
is not possible to use one of the two end initiators as a machine zero initiator.  
Limit switch  
monitoring  
without locking  
the movement  
P216:  
Initiator I1 is assigned the direction of motor rotation using P216.  
P216: ="0": initiator I1 is approached with the clockwise rotating motor.  
P216: ="1": initiator I1 is approached with the anti-clockwise rotating motor.  
specifying the  
limit switch  
position  
Clockwise rotation defined when looking at the motor shaft.  
Move to a limit switch using Hand+ (when P215="0"); an error message appears in  
the COMPAX display:  
Setting aid:  
error 50: I1 has been activated; i.e. P216="0"  
error 51: I2 has been activated; i.e. P216="1"  
This allocation only applies if P215="0"; if P215="1" the allocation is  
reversed.  
When operating with the reversing initiators, but no limit switches, an error  
message will not appear. You then have two options:  
14  
Bit-counting begins with Bit 0.  
89  
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COMPAX-M / -S  
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. P216="0"  
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Configuration via PC using "ServoManager"  
Installing ServoManager  
8.3 Configuration via PC using "ServoManager"  
There is a separate manual describing how to work with ServoManager.  
8.3.1 Installing ServoManager  
Preparation  
Before installation, deactivate the following programs:  
any virus detection software.  
the Miro Pinboard in Miro graphic cards.  
Information concerning these programs.  
Following installation, the virus software can be reactivated.  
Problems may also occur during program execution with Miro Pinboard.  
Installation  
Start the "Setup.exe" program on disk 1. The installation is a menu-guided process.  
Following the installation, a Windows program group will appear containing the  
ServoManager and the terminal.  
8.3.2 Configuring COMPAX  
Call up ServoManager.  
Create a new project (Menu: Project: New).  
Using the menu "Axis: Insert: From controller" to set up an axis which contains all  
COMPAX settings (all parameters: including system parameters and data  
records, curves are also available for COMPAX XX70).  
Use the menu "Servo-Tools: to switch to ParameterEditor.  
Call up menu "Configuration: Guided configuration".  
All configuration parameters are queried one after another.  
8.3.3 Individual configuration of synchronous motors  
In addition to the motors contained in ServoManager / ParameterEditor, you can  
configure almost all synchronous motors. The conditions required for the motors  
and resolvers are listed in the start-up manual under "Technical data".  
To modify motor parameters, the motor must be switched off (use OUTPUT O0=1  
or press the "-" button on the front plate while switching on COMPAX).  
You will find the data required for this on the HAUSER motor type plate.  
91  
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COMPAX-M / -S  
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 number of motor terminals  
P102: EMC [V/1000 rpm]  
These two values are included in the motor type description (type).  
HDY xxx Ax-xxxS  
S: sinusoidal EMF  
T: trapezoidal EMF  
EMF given in V per 1000 rpm  
number of poles of motor  
motor length  
flange size of motor  
motor type: HDY,HJ or HBMR  
2
P103: motor moment of inertia (inertia) [kgmm ]  
P109: stator inductivity (ind) [µH]  
P113: maximum mechanical speed (max)[rpm]  
P116: stator resistance (res) []  
P105: effective value of nominal current I [mA]  
N
HBMR motors:  
HDY motors:  
HBMR 55 and 70:  
I
I
I
= 0.95 * I  
= 0.85 * I  
= 0.85 * I  
N
N
N
0
0
0
P106: nominal torque MZ  
HBMR motors:  
HDY motors:  
HBMR 55 and 70: M = 0.82 * M  
M = 0.92 * M  
N
0
0
0
M = 0.82 * M  
N
N
when I0  
= idle current  
M0 = idle torque  
The other parameters are derived from the type plate data  
Nominal motor speed for the HBMR motors  
P104: nominal motor speed [rpm]  
EMC  
n [min-1]  
UZW=300V UZW=560V  
N
with  
EMC: counter EMC  
nN: nominal speed  
UZW: intermediate circuit voltage  
300V: with 230V AC  
560V: with 3 * 400V AC  
32  
44  
64  
88  
130  
180  
260  
360  
5000  
4000  
2600  
5000  
5000  
3500  
2400  
1700  
1250  
800  
92  
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Configuration via PC using "ServoManager"  
Individual configuration of synchronous motors  
Nominal motor speedfor HDY motors:  
P104: nominal motor speed [rpm]  
EMC  
n [min-1]  
N
UZW=300V  
UZW=560V  
32  
44  
64  
88  
130  
180  
5000  
4400  
2800  
2000  
1400  
with  
EMC: counter EMC  
nN: nominal speed  
5000  
5000  
3800  
2500  
1800  
UZW: intermediate circuit voltage  
300V: with 230V AC  
560V: with 3 * 400V AC  
Parameter for saturation characteristic curve:  
P119 start of saturation [%]  
P120: end of saturation [%]  
P121: minimum stator inductivity [%]  
Flange size  
<= 115 mm  
>= 142 mm  
P119  
100  
70  
P120  
280  
240  
400  
P121  
40  
HBMR  
40  
HDY/ HJ  
100  
100  
Saturation is switched off when P119 = P121 = 100% and P120 = 400%.  
If the saturation is unknown, use the HDY values.  
The additional parameters in the motor table should only be modified  
under exceptional circumstances.  
Default values of the HBMR and HDY motors:  
Parameter  
Standard Meaning  
Unit  
P107  
P108  
P129  
P130  
P131  
300  
3000  
0
Pulse current  
%
Pulse current time  
Resolver offset  
ms  
Degree  
"2"  
Resolver frequency  
"2"  
Resolver  
amplification  
P132  
P133  
"2"  
Position sensor  
Increments  
65 536  
Sensor dash count  
Holding brake  
For motors with holding brake.  
The parameters for Parker motors can be found in the motor catalogue (Art.  
No.190-060011)  
Drive type  
If you initially want to operate the motor without mechanics, select:  
P80=16: general drive.  
P81=P82=moment of inertia of the motor.  
P93=2: continuous mode.  
Call up the "Parameter: Guided parameter setting" menu.  
The remaining parameters are queried one after the other.  
Use menu "Online: Download" to transfer the data into COMPAX and validate the  
settings.  
Caution!  
Secure the displacement area of your system or the motor. When  
switching on, a risk may be posed by incorrect configuration data.  
93  
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COMPAX-M / -S  
Operating Instructions  
Individual configuration of synchronous motors  
Safety  
instructions for  
the first start-up  
Risks from incorrect wiring!  
In order to avoid risks caused by incorrect system wiring during first start-up, use  
the following settings for personal safety and to protect the mechanics:  
P15 = 10% (motor speed limited to 10% nominal value)  
P16 = 100% (torque limited to 100% of nominal torque)  
The drive must remain at standstill after the system has been switched on.  
Execute a travel operation, e.g. with POSR x or manually +/-.  
If this travel operation is executed correctly, reset P15 and P16 to their original  
values.  
The following faults may occur:  
The drive does not remain at standstill once switched on, or  
the drive runs out of control after the start command.  
In both cases, either error E10 or error E54 is triggered.  
If error E54 occurs, the drive is switched off.  
A possible cause of the error is incorrect wiring in the motor or resolver systems.  
The servo controller will operate once error E55 is acknowledged on the front plate  
using "Enter".  
If the controller is set to "OFF", it will be brought into operation by switching the  
24V control voltage off and then on.  
Use menu "Online: Command" to transmit commands to COMPAX  
(e.g. POSR 100: the motor travels 100 units in the positive direction).  
COMPAX is now configured.  
For more information, please use the table of contents or the glossary  
at the end of the User Guide.  
94  
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Positioning and control functions  
Individual configuration of synchronous motors  
8.4 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. Parker supplies solutions based on PCs and PLCs, as well as the  
compact industrial computer COMTAC as a multi-axis simultaneous control unit.  
Up to 250 sequentially numbered sets of commands can be stored in the COMPAX  
program memory. Program execution can be controlled via data interfaces or  
binary inputs/outputs. It is possible to select addresses (data record selection)  
using the interpretation of the adjoining binary input signals (external data record  
selection).  
The command set structure has been deliberately kept simple and resembles the  
well-known programming language Basic. Program control instructions, comparator  
functions, setting/resetting of outputs and the motion-related commands for  
specifying velocity, position, acceleration time, etc. are also possible.  
Program example:  
N001: ACCEL 250  
N002: SPEED 80  
N003: REPEAT 10  
N004: IF I7=1 GOTO 9  
N005: WAIT 100  
N006: END  
acceleration time 250 ms  
velocity 80%  
specified wait loop 1s  
query I7 to log. 1  
waiting time 100 ms  
end REPEAT loop  
sets output; no positioning  
N007: OUTPUT O7=1  
N008: GOTO 13  
N009: POSA 1250  
N010: OUTPUT O8=1  
N011: WAIT 500  
N012: OUTPUT O8=0  
N013: END  
positioning  
sets O8 for 500 ms  
The range of commands used with the compact COMPAX servo control unit is  
deliberately different in terms of type and range to the standardized NC  
programming standards as described in DIN 66024 and DIN 66025. COMPAX is  
not designed with the control and calculation capability of a complete CNC  
controller, even though it can perform many CNC functions.  
All commands are processed in sequence (sequential step programming). The  
program can be interrupted or suspended using a break or stop signal. The axis is  
then decelerated using the preset time delay. The program can then be continued  
from another point.  
Start program  
Once "Power on" is in place, the data record indicator is at 1. If the program is to  
started at another point, the data record indicator can be adjusted using the  
command "GOTO xxx" (The direct command is only recognized by COMPAX if A4  
"Ready for start" ="1").  
Using the "START" command (via the digital Input I5 or using the direct "START"  
command via an interface), you can start the program from the selected data  
record number.  
The data record indicator is set to 001 using the "Find machine zero" or  
"Approach real zero".  
This function can be set to binary inputs using parameter P211.  
95  
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COMPAX-M / -S  
Operating Instructions  
Absolute positioning [POSA]  
8.4.1 Absolute positioning [POSA]  
Reference point is real zero (RZ).  
POSA  
POSR  
POSA  
Positioning is executed with the acceleration speed set using ACCEL and the  
velocity set using SPEED. If these values have not previously been set, substitute  
values will apply:  
SPEED  
SPEED: parameter P2;  
ACCEL: parameter P6 (see Page 212)  
ACCEL  
Syntax:  
POSA value  
OUTPUT  
Password  
Value: figure with two digits after the decimal point (three for inches) in the unit  
defined in P90; a control parameter (P40..P49) or a variable (V1..V39)  
e.g. POSA .P40  
SPEED  
SYNC  
The range is defined by the software end limits P11 and P12.  
Mark  
reference  
Example:  
N005: POSA 150.50  
N006: POSA -500  
Absolute positioning to +150.5 units  
Absolute positioning to -500 units  
POSR  
SPEED  
POSR  
Additional function:  
A position approached manually can be transferred as a POSA command into a  
OUTPUT  
previously selected data record using "TEACH data record" (via an interface).  
POSA HOME command via interface triggers "find machine zero".  
Cam  
controller  
POSA HOME is not permitted in the COMPAX – program.  
WAIT  
When in continuous mode, relative positioning is also adopted with POSA.  
GOTO  
GOSUB  
RETURN  
END  
8.4.2 Relative positioning [POSR]  
REPEAT  
IF I..  
The reference point is the current position.  
POSR  
Comparison  
WAIT Start  
Syntax:  
POSR value  
GOTO /  
Value: two digits after the decimal point (three for inches) in the unit defined in  
P90; a control parameter (P40..P49) or a variable (V1..V39)  
e.g. POSR .P40  
GOSUB EXT  
IF Error/ Stop  
Arithmetic  
The range is defined by the software end limits P11 and P12.  
Example:  
N005: POSR 2000  
Relative positioning by +2000  
Position  
monitoring  
N006: POSR-100.25 Relative positioning by -100.25  
Idle display  
Speed  
monitoring  
The positioning commands POSR and POSA can be controlled using binary input I15 "Fast start". This  
function is switched on using P18. COMPAX then waits until I15="1" before it executes POSR or  
Engage /  
disengage  
brake / final  
stage  
Variable  
voltage  
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Positioning and control functions  
Process velocity [SPEED]  
8.4.3 Process velocity [SPEED]  
Process velocity as % of nominal velocity  
(Nominal velocity nominal speed * travel per motor rotation).  
valid until a new value is programmed.  
SPEED  
When in speed control mode , direction of rotation is specified by the prefix.  
Syntax:  
SPEED value  
(V1..V39) e.g. SPEED .P40  
Smallest steps = 0.002384min-1  
Example:  
N005: SPEED 70 sets velocity to 70% of nominal speed.  
The set velocity can be reduced using the analogue overrride input (X11.6)  
(see start-up manual).  
8.4.4 Acceleration and braking time [ACCEL]  
Specification for acceleration and braking time .  
without prefix: time specification for acceleration and decceleration process.  
negative prefix: separate time specification for decceleration process.  
valid until a new value is programmed.  
ACCEL  
ACCEL-  
Note:  
If a travel command is interrupted by STOP or BREAK, the STOP / BREAK – ramp  
is not executed by ACCEL- but by the value defined as the acceleration time.  
Syntax:  
ACCEL value  
Value: 10...65 000 ms, a control parameter (P40..P49) or a variable (V1..V39) e.g.  
ACCEL .P40 (timescale = 10 ms)  
The negative prefix for the decceleration time specification must be set  
before the control parameters e.g.: ACCEL- .P40 (P40 > 0)  
SPEED  
100%  
The time specified in ms applies for nominal velocity  
(100%). The actual time is proportional to the velocity  
40%  
SPEED  
selected. Meaning: ta =  
ACCEL  
100%  
ACCEL  
ta  
Example:  
N005: ACCEL 300 sets the acceleration and deceleration ramp to 300 ms  
N006: ACCEL -200  
sets the deceleration ramp to 200 (200 ms when  
SPEED=100%)  
15  
For asynchronous motors, up to a max. of 300%.  
97  
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COMPAX-M / -S  
Operating Instructions  
Setting/resetting an output [OUTPUT]  
8.4.5 Setting/resetting an output [OUTPUT]  
OUTPUT  
POSA  
POSR  
Syntax:  
OUTPUT output = 1/0  
Output O1 ...O16  
SPEED  
ACCEL  
Example:  
N005: OUTPUT O8=1 Sets output 8  
N005: OUTPUT O8=0 Resets output 8  
OUTPUT  
Password  
SPEED  
SYNC  
8.4.6 Setting multiple digital outputs [OUTPUT O12=1010]  
Mark  
reference  
Multiple outputs can be set simultaneously.  
OUTPUT  
O12=1010  
POSR  
SPEED  
POSR  
OUTPUT  
Syntax:  
OUTPUT O12=1010  
OUTPUT O10=01--011 ("-" = is not modified)  
Cam  
O10="0"; O11="1"; O12, O13 are not changed; O14="0"; O15=O16="1".  
(this is valid for max. 8 outputs)  
controller  
WAIT  
Note  
A maximum of 8 outputs can be processed per OUTPUT command.  
The comparator command "POSR .... OUTPUT ...." is still limited to setting one  
GOTO  
GOSUB  
RETURN  
END  
output.  
8.4.7 Switch off drive unit. [OUTPUT O0]  
OUTPUT O0  
REPEAT  
IF I..  
Comparison  
WAIT Start  
Syntax:  
OUTPUT O0 = number  
Number: 0/3: drive subject to torque when brake is open.  
1: Drive 9 switched off when brake is closed.  
GOTO /  
GOSUB EXT  
2: Drive switched off when brake is open.  
IF Error/ Stop  
Arithmetic  
Note: The command can only be set within a program with COMPAX XX00 and  
COMPAX XX60! (see below!)  
Position  
monitoring  
Idle display  
Example:  
OUTPUT O0=1 Drive switched off when brake closed.  
Speed  
monitoring  
8.4.8 OUTPUT O0=... in program  
Engage /  
disengage  
brake / final  
stage  
Limitation:  
The command OUTPUT O0=0,1,2 can only be programmed on the COMPAX  
Variable  
voltage  
XX00 and COMPAX XX60 in the program.  
No error monitoring is executed during switched off status except for emergency  
stop (E55/E56).  
16  
O1...O6 only if masked via P225.  
Instead of "-", "." is also an option  
17  
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Positioning and control functions  
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  
Number ="302": Deactivates password protection  
="270": Activates password protection  
Note: You can also use this command in the data record memory.  
Example:  
GOTO 302 Enables programming levels and parameters.  
8.4.10 External velocity specification. [SPEED SYNC]  
Entry at BDF2: SPEED Ent  
COMPAX synchronizes itself to an external velocity specification.  
SPEED SYNC  
Note:  
function only applies to COMPAX XX00 with options E2, E4 or E7!  
SPEED SYNC cannot be used at the same as the external  
position adjustment (switched on via P75 0)!  
Instead of specifying velocity using the SPEED command, the process command  
velocity is read externally from the encoder interface when you use SPEED SYNC.  
Setting condition: P144="4" and P188="0"  
Setting aid: the speed of the motor and sensor is the same when using P98=P83  
and the correctly set parameter P143 (pulse speed sensor).  
No travel synchronization; use our "Electronic transmission" or "Electronical curve  
control" unit variant for this purpose.  
External speed set via option E7  
Meaning:10V = 100% of nNominal (P104)  
P93=1 or 2  
P80=16 (general drive)  
P83= distance per motor revolution [µm]  
P90=1 [mm]  
P144=7 (analogue rpm specification)  
Calculation of P98:  
P83P104P143  
1000601000000  
P98 =  
with:  
P143=1 000 000  
P104 in [1/min]  
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COMPAX-M / -S  
Operating Instructions  
Mark-related positioning [POSR]  
8.4.11 Mark-related positioning [POSR]  
Use this command to position e.g. a mark relative to an external signal.  
POSA  
POSR  
POSR  
Syntax:  
POSR value  
SPEED  
Value: two digits after the decimal point (three for inches) in unit corresp. to P90; a  
ACCEL  
control parameter (P40..P49) or a variable (V1..V39)  
e.g. POSR .P40.  
OUTPUT  
Password  
The prefix determines the direction in which the mark is approached.  
Note!  
POSR 0 is not permitted!  
SPEED  
SYNC  
Note:  
When the mark reference is activated, do not use the POSA command!  
Mark  
reference  
I14:  
I16:  
Activating mark reference . I14 must be present before the command.  
Mark input The rising flank is evaluated (pulse > 0.6ms).  
(is read in with a rating of 100µs; the max. error is therefore 100 µs)  
With "0", the mark is missing after travel to the mark is completed (P38).  
="1": Mark reference switched on;  
POSR  
SPEED  
O16:  
P35:  
POSR  
OUTPUT  
="0": Mark reference switched off.  
Cam  
P37,P38:  
P37:  
A mark window is specified relative to the start position using P37 and P38.  
Minimum travel to mark. (relative to start position).  
Range of values for P37: 0.00 ... P38  
controller  
WAIT  
GOTO  
GOSUB  
RETURN  
END  
P38:  
P39:  
Maximum travel to mark. (relative to start position).  
Range of values for P38: P37 ... 4 000 000  
Maximum feed length, if there is no mark in the mark window (relative to start  
position).  
Range of values for P39: P38 ... P11 or P12  
REPEAT  
IF I..  
Example:  
POSR 100  
P35="1"; P37=+300; P38=+600; P39=+800; I14="1".  
Comparison  
WAIT Start  
If the mark is between +300 and +600, mark +100 is positioned, if the mark is  
outside the window it is positioned to 800.  
GOTO /  
GOSUB EXT  
P37 = +300  
mark on  
P38 = +600  
Driven to  
P39 = +800  
100  
start point  
O16  
IF Error/ Stop  
Arithmetic  
I16  
label position  
It will go on "0" if no label  
come until P38.  
Position  
monitoring  
Idle display  
Note!  
The drive positioning is not limited by P39.  
Speed  
If the mark is within the mark window, COMPAX executes positioning using the  
POSR value for a value of the corresponding size, even after P39.  
The process range can be limited using P11 and P12.  
monitoring  
Engage /  
disengage  
brake / final  
stage  
When the mark reference is switched on, the inputs I14, I15, and I16 are no  
longer available for external data record selection (GOTOEXT,  
GOSUBEXT).  
Variable  
voltage  
100  
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Positioning and control functions  
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.  
The positioning values of the command combinations are always positive and  
refer to the start point of the positioning process. They represent differences in  
travel. The direction is specified by the next positioning command. This can be  
relative (POSR) or absolute (POSA) . Meaning:  
The positioning values for speed steps, ramp times or comparators always apply  
from the point at which positioning starts (for POSA and POSR)  
The positioning values for speed steps, ramp times or comparators are numerical  
values:  
If the following positioning is positive, COMPAX calculates them as positive  
values.  
If the following positioning is negative, COMPAX calculates them as negative  
values.  
If a process cycle has been interrupted by "Stop", continue the cycle using  
"Start".  
The preparatory instructions are canceled by the "Hand+/-", "Find machine zero"  
and "Approach real zero" commands.  
8.4.13 Changes in speed within a positioning process [POSR SPEED]  
Each speed step profile can have a maximum of 8 speed steps. The comparator  
POSR SPEED  
value is specified as a relative dimension. It is referenced to the positioning start  
point.  
Syntax:  
POSR value 1 SPEED value 2  
Value 1: only positive values permitted (unit corresponds to P90); two digits after  
the decimal point (three for inches), a control parameter (P40..P49) or a  
variable V1 ... V39.  
Value 2: no digits after the decimal point; numerical value, a control parameter  
(P40..P49) or a variable V1 ... V39.  
e.g.: POSR .P40 SPEED .P41  
Example:  
N001: ACCEL 250  
N002: SPEED 20  
Acceleration and braking time = 250 ms  
Starting velocity = 20%  
N003: POSR 150 SPEED 30 1st speed step when starting position ±150, sets velocity to  
30%.  
N004: POSR 300 SPEED 50 2st speed step when starting position ±300, sets velocity to  
50%.  
N005: POSR 500 SPEED 80 3st speed step when starting position ±500, sets velocity to  
80%.  
N006: POSR 900 SPEED 60 4st speed step when starting position ±900, sets velocity to  
60%.  
N007: POSA -1000  
Positioning command to position -1000 (position -1000 is  
approached with all of or one part of the speed step profile  
depending on the start point).  
N008: POSR 200 SPEED 50 Prepares a new speed step profile.  
N009: ...  
101  
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COMPAX-M / -S  
Operating Instructions  
Changes in speed within a positioning process [POSR SPEED]  
Speed step profile extended by ramp time  
Speed step profiling is still possible in the previous version with no restrictions.  
Compatibility:  
Function:  
In addition to the new velocity, the acceleration time can be defined for the speed  
step profile.  
This becomes effective at the transition to the defined velocity and remains valid  
until a new acceleration time is defined.  
POSA  
POSR  
SPEED  
The braking time is assigned within the speed step profile, not by using ACCEL-,  
but defined by the velocity change.  
The deceleration ramp for the target position is defined by the previously set  
ACCEL  
OUTPUT  
Password  
ramp (braking time applicable before the speed step profile).  
SPEED  
SYNC  
Abbreviation: PR x SD y AL z  
POSR x SPEED y  
ACCEL z  
x, y, z:  
number, parameter .P40 (P40-P49) or variable .V1 (V1-V39)  
Mark  
Example:  
Note:  
PR .P40 SD .V31 AL 200  
reference  
POSR  
The last ramp time selected using a prepared command from ACCEL remains  
SPEED  
valid for future positioning processes.  
The situation with SPEED is same.  
POSR  
OUTPUT  
A braking time previously defined with ACCEL- remains unaffected.  
Cam  
controller  
Example:  
ACCEL 1000  
ACCEL -2000  
SPEED 25  
Generally valid acceleration time  
Generally valid braking time  
Generally valid velocity  
WAIT  
GOTO  
GOSUB  
RETURN  
END  
POSR x SPEED 100 ACCEL 300  
POSR y SPEED 10 ACCEL 100  
POSA z  
1st speed step at position x  
2nd speed step at position y  
Start positioning to z  
POSA 0  
Return with SD 10, AL100 and AL-2000  
100%  
Speed  
REPEAT  
IF I..  
300ms  
100ms  
Comparison  
WAIT Start  
1000ms  
25%  
2000ms  
z
GOTO /  
10%  
GOSUB EXT  
Position  
IF Error/ Stop  
Arithmetic  
Start  
x
y
10%  
2000ms  
100ms  
Position  
1
2
3
4
Position x is reached at 25% velocity and 1000ms acceleration time.  
Position y is reached at 100% velocity and 300ms acceleration time.  
Position z is reached at 10% velocity and 100ms acceleration time.  
To stop at position z, a braking ramp of 2000ms is used for early deceleration.  
monitoring  
Idle display  
Speed  
5. After the command POSA 0, the drive returns to the starting point (= position 0). The  
drive accelerates for the last set 100 ms to the last set velocity of 10% and returns to  
position 0. The braking time of 2000 ms set before the speed step profile is used as the  
braking ramp.  
monitoring  
Engage /  
disengage  
brake / final  
stage  
Variable  
voltage  
102  
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Positioning and control functions  
Comparators during positioning [POSR OUTPUT]  
8.4.14 Comparators during positioning [POSR OUTPUT]  
Setting and resetting freely assignable outputs within a positioning process.  
A maximum of 8 comparators can be set in one positioning process. The  
comparator value is specified as a relative dimension. It is referenced to the  
positioning start point.  
POSR  
OUTPUT  
Syntax:  
POSR value OUTPUT output = 1/0  
Value: only positives value are permitted (unit corresponds to P90); two digits  
after the decimal points (three for inches) a control parameter (P40..P49)  
or a variable (V1..V39)  
e.g. POSR .P40 OUTPUT A7=1.  
Examples:  
N001: ACCEL 250  
Acceleration and braking time = 250 ms  
Starting velocity = 50%  
N002: SPEED 50  
N003: POSR 150 OUTPUT A8=1  
1st comparator at start position 150, sets output O8 to  
1.  
N004: POSR 300 OUTPUT A7=1  
N005: POSR 500 OUTPUT O7=0  
N006: POSR 900 OUTPUT O8=0  
N007: POSA 1000  
2nd comparator at start position 300, sets output O7 to  
1.  
3rd comparator at start position 500, sets output O7 to  
0.  
4th comparator at start position ±900, sets output O8 to  
0.  
Positioning command to 1000 (Position +1000 is  
approached; the travel-dependent comparators are set  
once the relative positions have been reached).  
N008: POSR 200 OUTPUT O7=1  
Prepares new comparators.  
Outputs O1 to O6 can also be used as comparators once enabled via P225  
Diagram of specified example for POSR OUTPUT  
starting position  
POSA 1000  
500  
-900  
-500  
-300  
-150  
150  
300  
400  
900  
position relative to starting position  
-1000 -900  
-800  
-700  
-600 -500 -400  
-300 -200  
-100  
0
100  
200  
300  
500  
600  
700  
800  
900 1000  
absolute position  
A8  
A7  
Diagram of example using POSA -1000 as positioning  
starting position  
POSA 1000  
-900  
-500  
-300  
-150  
150  
300  
400  
500  
600  
900  
position relative to starting positionen  
-1000 -900  
-800  
-700  
-600 -500 -400  
-300 -200  
-100  
0
100  
200  
300  
500  
700  
800  
900 1000  
absolute position  
A8  
A7  
103  
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COMPAX-M / -S  
Operating Instructions  
Cam controller with compensation for switching delays  
8.4.15 Cam controller with compensation for switching delays  
With the function "Cam controller", you can switch 4 actuators (switch elements)  
dependent on position.  
POSA  
POSR  
Function of the  
cam controller:  
The switching positions are fixed positions within the positioning range.  
The reference value for the switching positions can be selected from:  
the position actual value (S1) or  
SPEED  
ACCEL  
OUTPUT  
Password  
the position set point or  
the absolute value (S12)  
The switching delay of the actuators is compensated for dependent on the speed.  
SPEED  
SYNC  
Outputs of the cam  
controller  
Outputs O9 ... O12  
Mark  
reference  
Parametrization of  
the cam controller  
Parametrization occurs via variables in the range V50 ... V70.  
POSR  
min  
stand max  
No.:  
Contents  
Unit  
valid  
from  
VP  
SPEED  
ard  
V50  
Operation mode cam controller  
0
0
POSR  
0: inactive  
OUTPUT  
1: position actual value  
(without consideration of P1 and P215)  
Cam  
2: position set point  
(without consideration of P1 and P215)  
controller  
WAIT  
3: reserved  
4: S1 (position actual value)  
GOTO  
GOSUB  
RETURN  
END  
Number range: +/- 4 mill. units (P90)  
5: position set point  
Number range: +/- 4 mill. units (P90)  
6: absolute value (S12)  
Number range: +/- 2048 units (P90)  
V51  
Polarity O9...O12  
Bit 9: Polarity O9  
Valence  
256  
VP  
0
0
3840  
REPEAT  
IF I..  
Bit 10: Polarity O10 512  
Bit 11: Polarity O11 1024  
Bit 12: Polarity O12 2048  
If the corresponding bit is set, then the  
relevant output is inverted.  
Comparison  
WAIT Start  
V52  
V53  
V54  
V55  
V56  
V57  
V58  
V59  
V60  
V61  
V62  
V63  
V64  
V65  
V66  
V67  
V68  
V69  
V70  
reserved  
VP  
VP  
VP  
VP  
VP  
VP  
VP  
VP  
VP  
VP  
VP  
VP  
VP  
VP  
VP  
VP  
VP  
VP  
VP  
GOTO /  
reserved  
reserved  
GOSUB EXT  
Position control cam 1 (O9) on*  
Switch-on lag control cam 1  
Position control cam 1 (O9) off*  
Switch-off lag control cam 1  
Position control cam 2 (O10) on*  
Switch-on lag control cam 2  
Position control cam 2 (O10) off*  
Switch-off lag control cam 2  
Position control cam 3 (O11) on*  
Switch-on lag control cam 3  
Position control cam 3 (O11) off*  
Switch-off lag control cam 3  
Position control cam 4 (O12) on*  
Switch-on lag control cam 4  
Position control cam 4 (O12) off*  
Switch-off lag control cam 4  
P90 -4 000 000 0.00  
ms  
P90 -4 000 000 0.00  
ms  
P90 -4 000 000 0.00  
ms  
P90 -4 000 000 0.00  
ms  
P90 -4 000 000 0.00  
ms  
P90 -4 000 000 0.00  
ms  
P90 -4 000 000 0.00  
ms  
P90 -4 000 000 0.00  
ms  
+4 000 000  
1000  
IF Error/ Stop  
Arithmetic  
0
0
+4 000 000  
1000  
0
0
Position  
+4 000 000  
1000  
monitoring  
0
0
Idle display  
+4 000 000  
1000  
0
0
Speed  
monitoring  
+4 000 000  
1000  
0
0
Engage /  
disengage  
brake / final  
stage  
+4 000 000  
1000  
0
0
+4 000 000  
1000  
0
0
Variable  
voltage  
+4 000 000  
1000  
0
0
* The switching processes described apply for increasing setpoint and P215=0;  
with decreasing setpoint switch off occurs at the same position where switch on  
previously occured.  
The variables for parametrization of the cam controller are not password  
protected!  
104  
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Positioning and control functions  
Cam controller with compensation for switching delays  
Note!  
With the instruction V0=x (global instruction to all variables), variables V50 ... V70  
will also be changed!  
Example 1: Normal  
positioning  
1
V57  
V55  
V61  
V59  
t
1
control signal 1  
0
t
1
Actuator 1 (effect)  
0
t
1
control signal 2  
0
t
1
Actuator 1 (effect)  
0
t
Explanation  
regarding cam  
controller  
COMPAX calculates a travel difference from the lag times of the switch elements  
(pon and poff). A constant speed is assumed.  
The switching signal is (with increasing setpoint)  
activated by pon before the control cam position for On and  
deactivated again by poff before the control cam position for Off.  
Requirements for safe and time correct switching of the cam controller:  
The cam positions, as well as the range p before the cam position must be moved  
through at constant speed.  
Problem point:  
In Example 1, point , the idle position is located just above V57, so that the  
control cam 1 cannot be activated too early. This means that the switch-on lag of  
the actuator cannot be compensated. This causes a switching error.  
In this case, COMPAX activates the control cam output immediately after the  
relevant positioning command is received.  
105  
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COMPAX-M / -S  
Operating Instructions  
Cam controller with compensation for switching delays  
Behaviour of the control signal during negative position values, falling  
position and P215=0  
negative positions  
positive positions  
V59 A10 V61  
V55  
A9  
V57  
POSA  
POSR  
S1  
0
SPEED  
ACCEL  
rising  
positions  
V58  
V60  
V62  
OUTPUT  
Password  
V56  
falling  
positions  
V58  
V62  
V60  
SPEED  
SYNC  
V56  
The relevant distances p resulting from the times are shown.  
Mark  
reference  
Example 2: Positioning with subsequent cam operation (COMPAX XX70)  
POSR  
SPEED  
POSR  
OUTPUT  
V57  
Cam  
controller  
V55  
V61  
WAIT  
GOTO  
GOSUB  
RETURN  
END  
V59  
t
1
REPEAT  
IF I..  
control signal 1  
0
1
t
t
t
Comparison  
WAIT Start  
Actuator 1 (effect)  
0
GOTO /  
1
GOSUB EXT  
control signal 2  
IF Error/ Stop  
Arithmetic  
0
1
Position  
Actuator 2 (effect)  
0
monitoring  
t
Idle display  
Explanation:  
At position (reset function to next curve) no compensation is implemented for the  
switching delay.  
Speed  
monitoring  
Note:  
Engage /  
disengage  
brake / final  
stage  
The cam controller is calculated using a cycle of 1ms.  
Variable  
voltage  
106  
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Positioning and control functions  
rogrammable waiting time [WAIT]  
8.4.16 rogrammable waiting time [WAIT]  
Programmable waiting time in ms before the next data record is processed.  
WAIT  
Syntax:  
WAIT value  
Value:10...65 000 [ms] a control parameter (P40..P49) or a  
variable (V1..V39)  
e.g. WAIT .P40 (time pattern 10 ms)  
Example:  
N005: WAIT 500  
Sets the waiting time to 500 ms before the next data record is  
processed.  
8.4.17 Program jump [GOTO]  
Program jump to specified data record number.  
GOTO  
Syntax:  
GOTO data record number  
Data record number: 1...250  
Example:  
N045: GOTO 60  
Jumps to data record N060  
8.4.18 Sub-program jump [GOSUB]  
Jump to a sub-program .  
GOSUB  
Syntax:  
GOSUB data record number  
Data record number: 1...250  
Example:  
N005: GOSUB 100  
Calls up sub-program  
N100: ...  
N101: ...  
...  
Starts sub-program  
Nxxx: RETURN  
Ends sub-program, jumps back to N006  
Note:  
Never use GOTO to jump out of a sub-program or to a sub-program.  
8.4.19 Instruction to end a sub-program. [RETURN]  
This executes a return jump to the main program.  
RETURN  
Syntax:  
RETURN  
8.4.20 END instruction [END]  
END instruction for a REPEAT loop or for the program.  
To end a program, you implement a program stop. The data record indicator  
is not modified.  
END  
Syntax:  
END  
107  
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COMPAX-M / -S  
Operating Instructions  
Start a program loop [REPEAT]  
POSA  
POSR  
8.4.21 Start a program loop [REPEAT]  
SPEED  
The following program sequence is run through the number of times  
specified until an END instruction appears.  
REPEAT  
ACCEL  
OUTPUT  
Password  
Syntax:  
REPEAT value  
Value: 1...65 000 a control parameter (P40..P49) or a variable (V1..V39)  
e.g. REPEAT .P40  
SPEED  
SYNC  
Example:  
N005: REPEAT 10 Starts a program loop, which is run through 10 times  
N006: ...  
Mark  
reference  
N007: END  
End of loop  
POSR  
A loop can be prematurely exited using GOTO.  
SPEED  
POSR  
OUTPUT  
8.4.22 Branching [IF I7=1]  
Cam  
controller  
Branching related to a control input  
WAIT  
IF I7=1  
GOTO  
GOSUB  
RETURN  
END  
Syntax:  
IF control input=1/0 GOTO/GOSUB data record number  
Control input: I118...I16  
Examples:  
IF I7=1 GOTO 010  
IF I7=0 GOSUB 010  
If I7 = "1", a jump is made to data record N010  
If I7 = "0", a jump is made to the sub-program in data record  
N010  
REPEAT  
IF I..  
Comparison  
WAIT Start  
8.4.23 Binary IF query of inputs [IF I12=101-1]  
GOTO /  
Multiple inputs can be queried simultaneously.  
GOSUB EXT  
IF I12=101-1  
IF Error/ Stop  
Arithmetic  
The inputs are compared with a mask. The mask contains individual bits 1 or 0,  
and a space marker (-)19 for "not taken into consideration".  
IF I12=101-1 GOTO 123  
Syntax:  
Position  
monitoring  
-> I12 = 1, I13=0, I14=1, I15= "not considered", I16 = 1.  
Binary IF querying of status values or outputs is not possible.  
Idle display  
Speed  
A maximum of 8 inputs can be queried per IF instruction.  
monitoring  
Engage /  
disengage  
brake / final  
stage  
Variable  
voltage  
18  
I1...I6 only if masked via P221.  
Instead of "-", "." is also an option  
19  
108  
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Positioning and control functions  
Comparative operations  
8.4.24 Comparative operations  
Syntax:  
IF <single Operand> <compare> <Operand> GOTO xxx  
or  
IF <single Operand> <compare> <Operand> GOSUB xxx  
a parameter Pxxx or  
a variable Vxxx or  
Simple Operand:  
a status value Sxxx (S1-S15, S30, S40ff)  
Operand:  
A simple Operand or  
A constant with max. 8 significant digits  
<smaller  
Comparison:  
>larger  
=equals  
<> not equal  
<= equal to/less than  
>= equal to/greater than  
Depending on the result of the comparison, a GOTO or GOSUB is carried out.  
Examples:  
Limitation:  
IF P40>100 GOTO 234  
IF V030<>P49 GOTO 123  
Within the IF query, operations with logic operators (AND, OR) are not possible.  
Writing convention of variables (V0-V39) and control parameters (P40-P49)  
For reasons of compatibility, a preceding point (full stop) is expected in the syntax for motion commands:  
e.g.: POSA .P40, ACCEL .V10  
The new comparison and arithmetic commands will operate without a preceding point (full stop): e.g.:  
P41=V10+S1, IF V20 > S2 GOTO 10  
8.4.25 Specific processing of data record groups. WAIT START.  
Entry at BDF221: WAIT Ent  
WAIT START  
When this instruction is issued, COMPAX interrupts the programming procedure  
until a external START (E5 or via interface) is issued (reaction time <30 ms). For  
Syntax:  
WAIT Start  
8.4.26 Jump with data record selection [GOTO EXT]  
Jump with data record selection via the inputs I9 to I16.  
Entry at BDF2: GOTO Ent  
GOTO EXT  
Data record selection as for GOSUB EXT (see below).  
20  
for variables, see Page 114.  
Applies to the manual terminal BDF2/01  
21  
109  
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COMPAX-M / -S  
Operating Instructions  
Sub-program jump with data record selection [GOSUB EXT]  
8.4.27 Sub-program jump with data record selection [GOSUB EXT]  
Entry at BDF2: GOSUB Ent  
Jump into a sub-program with data record selection via the inputs I9 to I16.  
POSA  
POSR  
GOSUB EXT  
The bit pattern of inputs I9 to I16 is interpreted as a data record number (binary).  
SPEED  
7
0
I16............I9 => 2 ..............2  
e.g. 00 010 100 = 20  
jumps to sub-program at data record 20.  
ACCEL  
OUTPUT  
Password  
Note!  
If inputs have been assigned functions (e.g. fast start I15 or external position  
adjustment I11), they are not taken into consideration when using GOSUB EXT  
(read logically as "0"):  
SPEED  
SYNC  
The assignments of each of the binary inputs I16...I9 must be taken into  
consideration for the individual unit variants (COMPAX XX50M,...).  
When the PLC data interface is activated, the commands GOTO EXT and GOSUB  
EXT are blocked!  
Mark  
reference  
POSR  
SPEED  
POSR  
8.4.28 Error handling [IF ERROR GOSUB]  
OUTPUT  
Cam  
To influence the error reactions.  
controller  
IF ERROR  
GOSUB  
WAIT  
GOTO  
GOSUB  
RETURN  
END  
Syntax:  
IF ERROR GOSUB xxx  
This instruction can only be programmed as normal IF instructions in the program.  
Use this instruction to define the program procedure when an error status occurs.  
Note!  
The error sub-program is called up with a delay by P17 (brake delay). When  
performing a WAIT START, COMPAX does not branch into the error sub-program  
if an error occurs!  
REPEAT  
IF I..  
Normally, an error in the COMPAX will cause an actively running move to be  
interrupted. Depending on the type of error, the drive is switched off. The program  
is however stopped no matter what the error type.  
Function:  
Comparison  
WAIT Start  
The instruction 'IF ERROR GOSUB xxx' allows you to, e.g. set the outputs to  
defined statuses when an error occurs.  
If such an instruction has been run once in the program and then an error later  
occurs,  
GOTO /  
GOSUB EXT  
IF Error/  
Stop  
the current move is interrupted,  
if necessary, the axis is (depending on the error) switched off and  
Arithmetic  
the 'Error program', which has been programmed from program number xxx, is  
Position  
executed.  
monitoring  
Idle display  
The error program has priority over the stop program.  
A running stop program is interrupted by the error program and continued after the  
error program is executed.  
Priority:  
Speed  
monitoring  
Engage /  
disengage  
brake / final  
stage  
The error program must not contain  
any motion commands (POSA, POSR, POSR ..., WAIT POSA, WAIT POSR,  
SPEED in the speed control mode, ),  
any sub-program jumps (GOSUB, IF ... GOSUB, ...),  
any COMPAX XX70 commands,  
any approach real zero and find machine zero commands,  
any speed step commands (POSR ... SPEED ...) or  
comparator commands (POSR ... OUTPUT ...)  
Error program:  
Variable  
voltage  
110  
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Positioning and control functions  
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.  
Error program with  
WAIT START  
Each error program must contain a 'WAIT START' instruction.  
The 'WAIT START' instruction causes the programming procedure to stop until an  
external QUIT and START occurs.  
Then OUTPUT instructions can again be present for resetting the outputs.  
There must be a RETURN or END instruction at the end of the error program.  
The END instruction stops the program.  
The RETURN instruction executes a jump back into the program line which was  
previously interrupted. If necessary, an interrupted movement is continued  
(provided that the error has been acknowledged).  
Example:  
Main Program  
Error Program  
N001: IF ERROR GOSUB 200  
N002: OUTPUT O9=1  
N003: POSA 0  
N200: OUTPUT O9=0  
N201: WAIT START  
N202: OUTPUT O9=1  
N203: RETURN  
N004: POSA 4000  
N005: OUTPUT O9=0  
N006: GOTO 002  
If the axis is now stopped and switched off due to an error, e.g. during POSA 4000  
positioning, a sub-program jump is then executed to program line 200 and output  
O9 is set to zero at this point.  
The program then stops in program line 201 and waits until the error has been  
acknowledged and, if necessary, a new start is made.  
At program line 202, output O9 is switched on again, at program line 203, a jump is  
made back to the previously interrupted program line N004.  
The axis executes the rest of the travel to position 4000, and the main program is  
then continued at program line N005.  
If the error program is concluded with END rather than RETURN, the program  
indicator remains in the same position. The program stops running at this point.  
Machine zero then has to approached or the program indicator must be reset  
explicity.  
8.4.29 STOP / BREAK handling [IF STOP GOSUB xxx]  
For influencing behavior after STOP or BREAK.  
IF STOP  
GOSUB xxx  
Syntax:  
IF STOP GOSUB xxx  
This instruction can only be programmed, like normal IF instructions, in the  
program. It controls the procedure executed in the program when a stop status  
occurs.  
Normally, a STOP / BREAK command in the COMPAX will cause a actively  
running move to be interrupted; the program is stopped.  
The 'IF STOP GOSUB xxx' instruction makes it possible to set the outputs to  
defined states in a stopped condition.  
If such an instruction has already run in the program and a stop command occurs  
later:  
the current travel motion is interrupted and then  
a 'Stop program' is run, this is stored from program line number xxx.  
111  
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COMPAX-M / -S  
Operating Instructions  
STOP / BREAK handling [IF STOP GOSUB xxx]  
The stop program must not contain  
Stop program:  
any motion commands (POSA, POSR, POSR ..., WAIT POSA, WAIT POSR,  
SPEED in the speed control mode, ),  
any sub-program jumps (GOSUB, IF ... GOSUB, ...),  
any COMPAX XX70 commands,  
any approach real zero and find machine zero commands,  
any speed step commands (POSR ... SPEED ...) or  
POSA  
POSR  
SPEED  
comparator commands (POSR ... OUTPUT ...)  
and is used to bring the individual outputs (e.g. the control output for a pump or a  
valve) into a safe status.  
ACCEL  
OUTPUT  
Password  
The 'WAIT START' instruction must be included; it stops the programming  
procedure before an external START is executed again.  
Then OUTPUT instructions can again be present for resetting the outputs.  
There must be a RETURN or END instruction at the end of the stop program.  
The END instruction stops the program.  
SPEED  
SYNC  
Error program with  
WAIT START  
Mark  
reference  
The RETURN instruction executes a jump back into the previously interrupted  
program line, a travel motion which was interrupted by STOP is continued; the  
next command is executed after the BREAK.  
POSR  
SPEED  
POSR  
OUTPUT  
The error program has priority over the stop program.  
A running stop program is interrupted by the error program and continued after the  
error program has run.  
Cam  
Priority:  
controller  
WAIT  
Main Program  
Stop Program  
Example:  
GOTO  
GOSUB  
RETURN  
END  
N001: IF STOP GOSUB 240  
N002: OUTPUT O9=1  
N003: POSA 0  
N240: OUTPUT O9=0  
N241: WAIT START  
N242: OUTPUT O9=1  
N243: RETURN  
N004: POSA 4000  
N005: OUTPUT O9=0  
N006: GOTO 002  
If the axis has been stopped due to a STOP, e.g. during POSA 4000 positioning,  
sub-program jump is then made to program line 240 and output O9 is set to zero at  
this point.  
The program then stops in program line 241 and waits until a new start occurs.  
At program line 242, output O9 is switched on again, at program line 243, a jump is  
made back to the previously interrupted program line N004.  
REPEAT  
IF I..  
Comparison  
WAIT Start  
GOTO /  
The axis therefore executes the rest of the travel to position 4000 and the main  
program is then continued at program line N005.  
If the stop program is concluded using END rather than RETURN, the program  
indicator remains in the same position. The program stops running at this point.  
Machine zero has to approached or the program indicator must be reset explicity.  
GOSUB EXT  
IF Error/ Stop  
Arithmetic  
Position  
monitoring  
Idle display  
Speed  
monitoring  
Engage /  
disengage  
brake / final  
stage  
Variable  
voltage  
112  
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Positioning and control functions  
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.  
Note  
The assignment of variables is also possible as a direct command, e.g. from a  
terminal.  
Items permitted to  
the left of the equal  
sign:  
a parameter Pxxx or  
a variable Vxxx (V0 - V39) or  
a curve point Ixxxx (digital or analogue auxiliary functions when using COMPAX  
XX70) or  
a curve point Fxxxx (set points when using COMPAX XX70)  
Items permitted to  
the right of the  
equal sign:  
an operand  
or  
a simple arithmetic term  
An operand is:  
a parameter Pxxx or  
a variable Vxxx (V1 - V39) or  
a status value Sxxx or  
a constant with max. 8 significant digits + sign + decimal point.  
All parameters may be assigned.  
The commands "VP" and "VC" (with which the parameters are validated) can be  
programmed in the program.  
Example:  
N123: P081=30  
N124: VC  
(modifies moment of inertia)  
N234: P013=10  
N235: VP  
(modifies lag tolerance)  
Curve memory  
COMPAX XX70: the curve memory is also accessible:  
Example:  
N200: F5450=0.5 (modifies idle postion of 1st curve)  
N201: I5460=128 (modifies master cycle route of 1st curve)  
N202: VF  
(validates curve)  
For more information, see operating instructions for electronical curve  
control.  
22  
Curve points can only be modified using an assignment; an arithmetic term is  
not allowed.  
113  
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COMPAX-M / -S  
Operating Instructions  
Arithmetic  
8.4.30.2 Arithmetic and variables  
Values can be linked with one another using the four basic types of calculation and  
the result can be assigned to a parameter or a variable.  
POSA  
POSR  
Syntax:  
A simple arithmetic term is:  
<Operand> <Operator> <Operand>  
P10+10; V1-S1; 2*P13; P13/P14;  
SPEED  
V7\V3; S12%P40  
ACCEL  
<Befehl> <Operand>  
POSA .V10; SPEED .V30; ...  
OUTPUT  
Password  
Operations are not allowed after commands; use variables instead for such cases,  
e.g..  
N001: V001= S1 + 100.5  
N002: POSA .V001  
not allowed: POSA S1 + 100.5  
SPEED  
SYNC  
Mark  
Operators:  
Function  
Example:  
reference  
for addition  
P10+10  
V1-S1  
+
-
*
/
POSR  
for subtraction  
for multiplication  
for division  
SPEED  
2 * P13  
P13/P14  
POSR  
OUTPUT  
for whole number division  
(formation of the whole number  
component)  
\
V7\V3: where V7=30 and V3=7, the result  
is:  
V7\V3=4  
V7/V3=4.2857...; whole number  
component= 4  
Cam  
controller  
WAIT  
GOTO  
GOSUB  
RETURN  
END  
for the formation of the division  
remainder (Modulo)  
%
S12%P40 with S12=30 and P40=7, the  
result is:  
S12%P40=2  
S12/P40=4 remainder 2; division remainder  
= 2  
REPEAT  
IF I..  
Operands  
The following operands may be used:  
constants,  
parameters,  
Comparison  
WAIT Start  
status values, (S1-S15, S30, S40ff)  
variables (V1-V39); after commands with preceding point (full stop): POSA .V1  
GOTO /  
GOSUB EXT  
Not all status values can be used as operands.  
Status values S01 to S15, S30, and S40ff are permitted.  
Status values:  
IF Error/ Stop  
Arithmetic  
In addition to the 10 user parameters P40 to P49, 39 variables V1-V39 are  
available. V0 is used for global assigning of a value to all variables.  
The variables are automatically buffer-stored in the ZPRAM, i.e. after Power On  
they contain the old value.  
Variables:  
Position  
monitoring  
Idle display  
Speed  
Note:  
Note:  
When the cam controller is switched off (V50=0), it is possible to use the variables  
V51 ... V70 as free variables  
monitoring  
Engage /  
disengage  
brake / final  
stage  
After commands the variables (like user parameters P40 to P49) are  
preceded by a "point" (full stop): POSA .V1, ACCEL .V22  
Variable  
voltage  
Global assignment:  
V0 is used for globally assigning a value to all variables.  
Example:  
V0=0: V1...V70=0  
V0=17: V1...V70=17  
Note!  
With the instruction V0=x, variables V50 ... V70 and therefore the settings of the  
cam controller are also changed!  
114  
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Positioning and control functions  
Arithmetic  
Arithmetic and  
variable  
N001: P013 = 2 * P013  
(Multiplication)  
N002: P010 = P040 + 1000.1234 (Addition)  
examples:  
N003: P005 = P005 / 2  
N004: P250 = P250 - 1  
N005: V002 = V001 \ 1  
N006: V3 = S15 % P12  
N007: POSR .V30  
(Division)  
(Subtraction)  
(Whole number division)  
(Modulo)  
Only one operation or command is permitted per program line.  
All calculations are executed in 48 bit format (real number); 24 bits before the  
decimal point and 24 bits after the decimal point.  
Such a real number can be represented with a maximum of 10 places, incl. prefix  
and decimal point.  
Number format:  
Up to 7 places can be recorded after the decimal point.  
Ex. 1234567.89; -1.2345678  
If a number overrun occurs while an arithmetic term is being calculated (because  
the range of values is not sufficient or if divided by 0), COMPAX reacts as follows:  
collective error message E07 is activated.  
Dealing with  
calculation errors:  
the program is stopped for safety reasons.  
the drive remains powered.  
any travel movements are interrupted using the stop ramp.  
After Quit and Start, the same command would be processed again and probably  
cause another error message.  
For this reason, appropriate care should be taken when programming.  
The causes of the error are stored in the optimization display (P233/P234=39) and  
the last calculation error stored is always the first to be displayed.  
Errors occur in the arithmetic due to the systematic errors which arise during the  
display of figures in the control processor (the smallest number which can be  
displayed is 2-24).  
Accuracy of  
calculations:  
The calculation error can usually be ignored for addition, subtraction and  
multiplication.  
Note!  
When dividing, significant discrepancies can result.  
Division y = x1 / x2  
The "maximum relative input error" for the division y = x1 / x2 is calculated using  
the following formula:  
x1 x2  
x1, x2 0  
when x1 = x2 = 2-24  
δ≤  
+
x1  
x
2
or absolute:  
*x1 + x1 *x2  
x
2
y =  
x2 0  
when x1 = x2 = 2-24  
x
22  
Example:  
x1=12345.6; x2 = 0.0001  
Result: y = 123456000  
-24  
-24  
2
2
max. relative error: δ≤  
+
=0.000596  
12345.6 0.0001  
-24  
-24  
0.0001 * 2 + 12345.6 * 2  
max. absolute error: y =  
= 73585.51  
2
0.0001  
115  
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COMPAX-M / -S  
Operating Instructions  
Arithmetic  
To include the actual position in a calculation, for example, you may assign as  
follows:  
Read status and  
assign variables  
N100: V030=S1  
or  
POSA  
POSR  
N100: V030= S1 + 10  
The variable V030 derived in this way can be used later, for example, in a  
positioning instruction as a preset target.  
SPEED  
ACCEL  
After Power On, the variables retain the old value as before Power Off as they are  
stored in the ZPRAM. With the special instruction V000=x, all variables (on the cam  
controller settings) are set to the value x.  
Initializing  
variables:  
OUTPUT  
Password  
SPEED  
SYNC  
Writing convention of variables (V0-V39) and control parameters (P40-P49)  
Mark  
For reasons of compatibility, a preceding point (full stop) is expected in the syntax for motion commands:  
e.g.: POSA .P40, ACCEL .V10  
reference  
The new comparison and arithmetic commands will operate without a preceding point (full stop): e.g.:  
P41=V10+S1, IF V20 > S2 GOTO 10  
POSR  
SPEED  
POSR  
OUTPUT  
Cam  
controller  
WAIT  
GOTO  
GOSUB  
RETURN  
END  
REPEAT  
IF I..  
Comparison  
WAIT Start  
GOTO /  
GOSUB EXT  
IF Error/ Stop  
Arithmetic  
Position  
monitoring  
Idle display  
Speed  
monitoring  
Engage /  
disengage  
brake / final  
stage  
Variable  
voltage  
116  
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Positioning and control functions  
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:  
Meaning / function  
P227 bit 4 ="1"  
OM1  
O5 toggles when the position is reached  
O5 toggles after every new positioning when position is  
reached.  
P227 bit 4 ="0"  
P14>0, small  
values  
(small in comparison  
with the process  
travel)  
O5 = "1": nominal value reached and lag error < P14  
O5="1" if set point generator has finished the ramp and the lag  
error is smaller than P14.  
If the lag error after O5="1" is greater than P14, then O5 = "0"  
until the lag is again less than P14.  
OM2  
P14>>0, large  
value  
(large in comparison  
with process travel)  
OM3  
O5 = "1": nominal value reached (independent of P14)  
O5 = "1" as soon as the set point generator has finished the  
ramp and stays at "1" until the start of the next positioning  
move.  
Functional description:  
O5 is toggled (=changed, i.e. from O5="1" to O5="0", from O5="0" to O5="1") after  
every positioning move (set point generator has reached target position) .  
When an error occurs (Exx is indicated), O5 stays at the current value.  
Can be adjusted using: P227 bit 4 ="1"  
OM1: O5  
toggles when  
the position is  
reached  
Example:  
V
t
O5  
t
PLC - sequential  
step tracking  
With this function you can use a host PLC for precise tracking of the COMPAX  
23  
Bit counting begins with 0.  
OM: Operating mode  
24  
117  
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COMPAX-M / -S  
Operating Instructions  
Position monitoring (P93=1, 2, 3)  
O5="1": nominal value on nominal value sensor reached and lag error < P14.  
If the lag error is again > P14, then O5="0" is set.  
OM2: O5 = "1":  
nominal value  
reached and lag  
error < P14  
Can be adjusted using: P227 bit 4 ="0" (default setting)  
POSA  
POSR  
SPEED  
Example:  
Position  
P14  
ACCEL  
Target positions  
Position 1  
Position 2  
OUTPUT  
Password  
SPEED  
SYNC  
Mark  
Actual value  
of position  
reference  
POSR  
Position 0  
SPEED  
t
t
O5  
POSR  
OUTPUT  
Cam  
controller  
For purposes of clarity a poor loop setting is shown here.  
WAIT  
GOTO  
GOSUB  
RETURN  
END  
OM3: O5 = "1":  
nominal value  
reached  
(independent of P14)  
O5="1": nominal value on nominal value generator reached (independent of P14,  
since P14 is set as very large value)  
Can be adjusted using: P227 bit 4 ="0" (default setting)  
REPEAT  
IF I..  
Example:  
Position  
Target positions  
Comparison  
WAIT Start  
Position 1  
GOTO /  
Position 2  
GOSUB EXT  
IF Error/ Stop  
Arithmetic  
Actual value  
of position  
Position  
Position 0  
monitoring  
t
Idle display  
O5  
Speed  
monitoring  
t
Engage /  
disengage  
brake / final  
stage  
A poor controller setting has been selected by way of illustration.  
Variable  
voltage  
25  
Bit counting begins with 0.  
118  
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Positioning and control functions  
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 ="1" ; the standard  
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" and indicated in per-thousands (€ of P104) of nominal speed.  
Nominal speed < P229:  
Nominal speed P229:  
P229 = 0:  
O2="1"; drive at standstill  
O2="0"; drive moving  
O2="0"; no idle display  
0 - 255‰  
Range of numbers P229:  
P227 bit 1 ="0"  
O2 assigned the "No warning" display (default value).  
Example:  
V
P229  
t
O5  
Ba1  
t
t
O2  
To avoid O2 continuously switching over during nominal speed value disturbance  
(during synchronization applications), a minimum pulse time (minimum  
positioning time) is defined.  
Once nominal speed < P229 has been detected and P229 has then been  
exceeded again, the next nominal speed check is executed after 50 ms.  
V
Disturbance  
P229  
t
50ms  
O2  
t
26  
Bit counting begins with 0.  
119  
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COMPAX-M / -S  
Operating Instructions  
Speed monitoring in speed control mode (P93="4")  
8.4.33 Speed monitoring in speed control mode (P93="4")  
There are 2 settings for O5 "Position reached" which are set with P227:  
POSA  
POSR  
Meaning / function  
P227 Bit 4=1  
OM1 :  
O5 toggles when speed is reached  
SPEED  
O5 toggles after every new speed definition when speed is  
reached.  
ACCEL  
P227 bit 4 ="0"  
P14>0, small  
values  
OUTPUT  
Password  
O5 = "1": nominal value reached and < P14  
O5="1" if set point generator has finished the ramp and the  
speed difference is smaller than P14.  
If, after O5="1", the speed difference is again greater than P14,  
then O5 = 0 until the difference is again less than P14.  
(small in comparison  
with the changes in  
speed)  
SPEED  
SYNC  
Mark  
OM2:  
reference  
P14>P15  
(large in comparison  
with changes in  
speed)  
O5 = "1": nominal value reached (independent of P14)  
O5=1 as soon as the set point generator has reached the set  
speed, and stays at "1" until the next speed change.  
POSR  
SPEED  
POSR  
OM3:  
OUTPUT  
Cam  
Functional description:  
controller  
WAIT  
In speed control mode, P14 is given as a percentage of the set speed.  
In addition, the speed is checked against the speed tolerance defined in P13.  
P13 is defined in speed control mode as a percentage of the set speed and is an  
absolute limit.  
Special features  
in speed control  
mode:  
GOTO  
GOSUB  
RETURN  
END  
Speed difference > P13: error E10 is triggered  
When P13=0, error E10 (and E49) can be switched off.  
REPEAT  
IF I..  
OM1: O5  
toggles when  
speed is  
O5 is toggled (=changed, i.e. from O5="1" to O5="0", from O5="0" to O5="1")  
following every speed change (set point generator has reached demanded speed)  
In case of error (Exx is indicated), O5 remains at the current value.  
Can be adjusted using: P227 bit 4 ="1"  
Comparison  
WAIT Start  
reached  
GOTO /  
Example:  
V
GOSUB EXT  
IF Error/ Stop  
Arithmetic  
t
O5  
Position  
monitoring  
t
Idle display  
Speed  
monitoring  
Engage /  
disengage  
brake / final  
stage  
Variable  
voltage  
27  
Bit counting begins with 0.  
OM1: operating mode 1  
28  
120  
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Positioning and control functions  
Speed monitoring in speed control mode (P93="4")  
O5="1": nominal value reached on nominal value generator and speed deviation  
< P14.  
OM2: O5 = "1":  
nominal value  
reached and  
speed error <  
P14  
If the speed deviation returns to > P14, O5="0" is set.  
Can be adjusted using: P227 bit 4 ="0" (default setting)  
Programmed  
demanded  
speed  
Example:  
speed  
P14  
P13  
Actual value  
t
t
O5  
If the actual value moves outside P13, error E10 is triggered.  
OM3: O5 = "1":  
nominal value  
reached  
(independent of P14)  
O5="1": nominal value on nominal value generator reached (independent of P14  
asP14 is set as a very large value)  
Can be adjusted using: P227 bit 4 ="0" (default setting)  
Example:  
Speed  
Programmed  
demanded  
speed  
Actual value  
O5  
29  
Bit counting begins with 0.  
121  
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COMPAX-M / -S  
Operating Instructions  
PLC sequential step tracking  
8.4.34 PLC sequential step tracking  
Use the function "O5 toggles when position/speed reached" and a marker in the  
PLC to implement precise tracking of the COMPAX.  
This also recognizes positioning processes which are completed again during the  
next PS cycle.  
POSA  
POSR  
SPEED  
ACCEL  
Implementation:  
V
OUTPUT  
Password  
P229  
SPEED  
SYNC  
POSR  
POSA  
POSR  
O5  
Mark  
reference  
Flag  
PLC  
POSR  
SPEED  
Flag  
PLC ⊕  
O5  
POSR  
PLC internal  
position reached  
OUTPUT  
Cam  
The PLC marker is toggled when a positioning command is transmitted.  
The "EXCLUSIVE-OR" operation of the PLC marker and output O5 can be  
processed as a PLC-internal "Position reached" message.  
controller  
WAIT  
GOTO  
GOSUB  
RETURN  
END  
REPEAT  
IF I..  
Comparison  
WAIT Start  
GOTO /  
GOSUB EXT  
IF Error/ Stop  
Arithmetic  
Position  
monitoring  
Idle display  
Speed  
monitoring  
Engage /  
disengage  
brake / final  
stage  
Variable  
voltage  
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Positioning and control functions  
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.  
Application:  
If you are using an axis which is under torque when idle (e.g. when using a z axis),  
the drive can be engaged and disengaged in a manner which ensures that the load  
does not move. To do this, the drive remains powered during the reaction time of  
the idle holding brake. This can be set using P17 (see following diagrams).  
Final stage blocked by:  
The final stage is enabled via: The final stage is enabled  
via:  
error or  
quit or  
OUTPUT O0="0"  
OUTPUT O0="1" or  
emergency STOP.  
OUTPUT O0="0" or  
once Power is on  
with P211 Bit 2="0".  
P211 Bit 2="1"  
(the lag of 0.5s is switched off)  
P17=0  
power out-  
put stage  
enable  
power out-  
put stage  
enable  
power out-  
put stage  
enable  
disabled  
disabled  
disabled  
t
t
t
t
t
t
t
t
t
energised  
energised  
energised  
de-energised  
de-energised  
de-energised  
brake  
open  
brake  
open  
brake  
open  
close  
close  
close  
0,5s  
P17>0  
power out-  
put stage  
enable  
power out-  
put stage  
enable  
power out-  
put stage  
enable  
disabled  
disabled  
disabled  
t
t
t
t
t
t
t
t
t
energised  
energised  
energised  
de-energised  
de-energised  
de-energised  
brake  
open  
brake  
open  
brake  
open  
close  
P17  
close  
close  
P17  
0,5s  
P17  
Range of values  
Meaning  
Unit  
Min. Value  
Standard  
Maximum value Applies to ...  
for P17:  
Braking delay  
ms  
0
0
500  
VP  
123  
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COMPAX-M / -S  
Operating Instructions  
Output of variable voltage  
8.4.36 Output of variable voltage  
The direct output of variable voltage is supported via the D/A monitor channels 0 to  
3.  
POSA  
POSR  
Addressable using parameters P76 (channel 2) and P77 (channel 3)  
P76 Channel 2 X11/4  
P77 Channel 3 X11/5  
Resolution: 8 bit (incl. sign); corresponds to a resolution of 80 mV  
Range: -10V...+10V  
The calculation for output on the 8 bit channels 2 & 3 is as follows:  
Parameter setting for required voltage U (-10V ... +10V)  
P76 (P77) = 39 + Y (39,Y)  
Service D/A  
monitor (channels  
2 & 3):  
SPEED  
ACCEL  
OUTPUT  
Password  
SPEED  
SYNC  
Value before  
decimal point:  
Value after decimal  
39: selection of voltage output  
Mark  
reference  
For positive voltage:  
For negative voltage:  
Y = U * 0.0101067 / 10V  
Y = U * 0.0101067 / 10V + 0.0202134  
POSR  
point:  
SPEED  
(Note: set U negative in the 2nd formula)  
+9.96V  
Characteristic  
curve:  
POSR  
OUTPUT  
Cam  
controller  
0.0101067  
WAIT  
0.0202134  
GOTO  
GOSUB  
RETURN  
END  
-10.0V  
REPEAT  
IF I..  
Addressable using P71 (channel 0) and P72 (channel 1)  
P71 Channel 0 X17/1  
P72 Channel 1 X17/2  
Resolution: 12 bit (incl. sign); corresponds to a resolution of 5 mV  
Range: -10V...+10V  
Option D/A  
monitor (channels  
0 & 1):  
Comparison  
WAIT Start  
GOTO /  
The calculation for the output on the 12-bit channels 0 and 1 is as follows:  
Parameter setting for required voltage U (-10V ... +10V)  
P71 (P72) = Y  
GOSUB EXT  
IF Error/ Stop  
Arithmetic  
P73 (P74) = 39: selection of voltage output  
Position  
Calculating the  
output value:  
Y = U * 101067 / 10V  
monitoring  
Idle display  
+10.0V  
Characteristic  
curve:  
Speed  
monitoring  
Engage /  
disengage  
brake / final  
stage  
-0.0101067  
0.010106  
Variable  
voltage  
-10.0V  
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8.5 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.  
For other motors, the relevant parameters P100-P133 must be set according to  
The parameters of the application.  
These are mainly the moments of inertia (with and without load) that the drive  
has to move, which are set, depending on the drive type, via the parameters  
P80 ... P92.  
Dependent on the sensor system, you can select from 2 structure variants; these  
also contain (set via the ServoManager) fixed settings of optimizing parameters.  
The standard structure corresponds to the previous COMPAX control structure.  
With the standard structure, you can directly transfer previous, already  
optimized parameter sets.  
After this, the optimal control dynamic is set by increasing the stiffness (P23).  
This is usually sufficient to obtain good control results.  
User-defined settings  
For further optimization, you can adapt the parameters of the set structure  
variants optimally to your application (user-defined settings).  
As another alternative, you can select structure variant 3 and optimize it with the  
relevant parameters.  
Optimizing the movement cycle  
At the end of every optimization of the control accuracy, the movement cycle  
must be optimized. For this, use the pre-control parameters P25, P26, P69 and  
P70.  
Optimizing with the ServoManager:  
Use the menu "Online: Parameters" to change the optimizing parameters  
directly in COMPAX (these settings are accepted after modification with  
"Return").  
125  
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COMPAX-M / -S  
Operating Instructions  
Output of variable voltage  
Set motor  
Configure drive type:  
Parameters P81 ... P92  
Optimization  
process:  
Motor with  
SinCos  
Motor with  
resolver  
Select structure/parameter  
variant 2  
Select structure/parameter  
variant 1  
Sensor  
P59=3 (Optimise P24 if necessary)  
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)  
User-defined settings  
Modify P56 (D section rpm controller)  
Increase P23  
Reset P23 to the last setting  
Travel slowly over the positioning range  
stable, quiet travelling  
unstable, unquiet travelling  
yes  
Further  
optimization?  
(no longer corresponds to to the requirements)  
Reset P23 & P56 to the last setting  
Implement the same process for P57 (lag D  
sectionl), P58 (lag rpm filter) and P151 ↑  
(monitor speed)!  
no  
yes  
Further  
optimization?  
User-defined settings with variant 3  
(P59= 8)  
Modify P56 (D section rpm controller)  
Increase P23  
no  
Travel slowly over the positioning range  
stable, quiet travelling  
unstable, unquiet travelling  
(no longer corresponds to to the requirements)  
Reset P23 & P56 to the last setting  
Evaluate results.  
Set best result.  
Implement the same process for P57 (lag D  
section), P58 and (lag rpm filter)!  
Optimizing the movement cycle  
Optimise pre-control parameters P25 (rpm  
pre-control), P26 (acceleration pre-control), P69  
(current pre-control) and P70 (return pre-  
control).  
Note  
The arrows behind the parameters show the preferred  
direction for the parameter optimization.  
Check current restriction:  
Reduce parameter  
Increase parameter  
During acceleration/braking, the current limit  
should not be reached or only briefly.  
The optimizing display (P233/234=13 and 14)  
shows the time in which the controller is operating  
at the current limit.  
↓↑ Both directions could lead to a better setting.  
The optmizing direction shown usually leads  
to a good control result in our experience:  
however, this cannot apply to every  
application case!  
Use the pre-control parameters or increase  
ACCEL to reduce the "time at current limit".  
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8.5.1 Optimization parameters  
In addition to the standard structure (which corresponds to the previous COMPAX  
control structure), you can select from 3 structure 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  
variants:  
Structure and  
No.  
Meaning  
Standard  
Variant 1  
Variant 2  
Variant 3  
parameter settings  
using the  
P59 Structure switch measuring  
P56 D section rpm controller (%)  
P57 Filter acceleration (%)  
P58 Lag rapid rpm signal (%)  
P50 Monitor  
0
0
4
40  
175  
0
101  
(switched on)  
30  
100  
100  
100  
3
40  
350  
0
101  
(switched on)  
30  
85  
100  
100  
8
40  
ServoManager:  
100  
100  
100  
(switched off)  
30  
100  
0
0
100  
100  
100  
(switched off)  
30  
100  
100  
100  
P151 Monitor speed (%)  
P27 Moment of inertia (%)  
P69 Return pre-control (%)  
P70 Current pre-control value  
(%)  
Standard: Previous COMPAX control structure; use this structure if you already  
have optimized parameter sets.  
Variant 1: Structure switch: Variant 1 for resolver  
Variant 2: Structure switch: Variant 2 for SinCos  
Variant 3: Structure switch: Variant 3 "Rapid rpm controller"  
The structure switch measuring (P59) permits the following settings:  
P59: Structure  
switch  
No.  
Meaning  
Settings  
P59 Structure switch measuring  
0: Standard  
measuring  
4: Variant 1 (for resolver)  
3: Variant 2 (for SinCos )  
8: Variant 3 (rapid rpm controller)  
+16  
Sensitive stiffness (P23)  
Larger setting range for P23  
Sensitive D section (P56)  
Larger setting range for P56  
+65536  
The D section is reduced by 1/256.  
By selecting a structure variant with the structure switch P59, no further  
parameters are influenced.  
Only by selecting a variant through ServoManager (menu parameters:  
controller structure / monitor) can complete parameter sets (as described  
above) be set.  
The stiffness is proportional to the controller speed.  
P23: stiffness of  
drive  
Nominal value: 100%  
Range: 10%...5000%  
Control is faster. The control circuit starts from a critical value. Set the stiffness so  
that sufficient safety distance from the critical value is ensured.  
Increase stiffness  
Reduce stiffness  
Control is slower. This increases lag error. Current limitation is reached later.  
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COMPAX-M / -S  
Operating Instructions  
Optimization parameters  
P23=100%  
P23<100%  
Main effect:  
P23>100%  
speed  
reference  
value,  
actual  
value  
t
P24: damping of  
drive  
Damping influences the height of the harmonies and reduces the vibrations.  
Nominal value: 100% Range: 0%...500%  
Harmonies become smaller. The drive vibrates at high frequency from a specific  
value.  
Increase damping  
Reduce damping  
Main effect:  
The harmonies of the actual value increase and it vibrates longer around the  
nominal value. The drive vibrates permanently from a specific value.  
P24<100%  
speed  
P24>100%  
reference  
value,  
P24=100%  
actual  
value  
t
P56: D section rpm controller  
Nominal value: 0 Range: 0%...500%  
The D section should generally be set for elastically coupled double mass systems.  
These are systems in which the connection between the motor and the load is not  
rigid. It must be noted here, that with sufficiently high torques being transmitted,  
even supposedly rigid connections can become elastic.  
P56: D section  
rpm controller  
P57: Lag D section rpm controller  
P57: Lag D  
section rpm  
controller  
Nominal value: 100%  
Range: 0%...550%  
P58: Lag rpm filter  
Nominal value: 100%  
P58: Lag rpm  
filter  
Range: 0%...550%  
Use this parameter to adapt the controller to very large changes in load.  
Nominal value: 100% Range: 10%...500%  
P27: moment of  
inertia  
COMPAX is informed of the relative change in moment of inertia which occurs  
before a change in load when the motor is idle (e.g. via the RS232 interface).  
The nominal value (100%) corresponds to the value calculated by parameters P81  
to P92.  
Note:  
After changing P27, P23 usually needs modification P23 in order to achieve  
optimal control results.  
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Optimization functions  
Optimization parameters  
Advance control of speed, acceleration and power  
Advance  
control  
measures  
Minimum lag error  
Advantages:  
Better attenuation characteristics  
Higher dynamic levels with lower maximum current  
Principle:  
The positioning process is calculated in the nominal value setter and is specified to  
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. This information is switched to the controller so  
the lag error is reduced to a minimum, the controller has better attenuation  
characteristics and drive dynamics are increased.  
current  
feed forward  
Main structure:  
acceleration  
feed forward  
speed  
feed forward  
target  
posi-  
tion  
position  
actual  
value  
reference point  
target  
position  
control  
speed  
control  
position  
integrator  
The stability of the control process is not influenced by the advance control  
measures.  
Without advance  
control measures:  
Reference  
value,  
1
2
actual  
value  
1: Nominal speed value  
2: Actual speed value  
3: Motor power  
t
Driving  
fault,  
4: Lag error  
current  
4
3
t
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COMPAX-M / -S  
Operating Instructions  
Optimization parameters  
Advance speed control  
Nominal value: 100% Range: 0%...500%  
P25: Advance  
speed control:  
reference  
value,  
actual  
1
value  
2
1: Nominal speed value  
2: Actual speed value  
3: Motor power  
t
Driving  
fault,  
current  
4: Lag error  
3
4
t
Advance speed and acceleration control  
Nominal value: 100% Range: 0%...500%  
P26: Advance  
acceleration  
control  
reference  
value,  
actual  
1
value  
2
t
1: Nominal speed value  
2: Actual speed value  
3: Motor power  
Driving  
fault,  
current  
4: Lag error  
3
4
t
Advance speed, acceleration and power control  
P70: Advance  
power control  
Nominal value: 100% Range: 0%...500%  
2
reference  
value,  
actual  
value  
1
1: Nominal speed value  
2: Actual speed value  
3: Motor power  
t
Driving  
fault,  
current  
4: Lag error  
3
4
t
The advance reverse control can be engaged to increase optimization of guide  
characteristics and reduce dynamic lag error by using P69. Nominal value: 100%  
Range: 0 ... 500% default value: 0; applies to VP  
Advance reverse  
control  
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Optimization functions  
Optimization parameters  
Control processes for optimization  
Targets / problems  
Stiff-  
ness  
(P23)  
Damp- Advance contr. Acceleration  
Ramp  
shape  
(P94)  
Other  
measures  
ing (P24) factors (P25,  
P26, P70)  
time  
(ACCEL)  
increase  
-
=100%  
increase  
-
-
Minimizing lag error  
optimize if  
necessary  
-
increase  
decrease  
increase  
increase  
quadratic  
(P94="3")  
increase max.  
torque (P16)  
No harmonies  
decrease decrease  
decrease decrease  
decrease  
linear  
(P94="1")  
increase max.  
torque (P16)  
Unusually high  
harmonies caused  
by power limitation  
-
-
-
-
-
-
check min. mass  
(P92) and min.  
moment of inertia  
(P81).  
Vibrating at higher  
frequencies  
(perceptible as noise)  
-
increase  
check max. mass  
(P88) and max.  
moment of inertia  
(P82).  
Vibrating at lower  
frequencies  
(perceptible as  
motion)  
decrease  
-
-
increase  
linear  
(P94="1")  
decrease max.  
torque (P16)  
High motor or final  
stage temperatures  
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COMPAX-M / -S  
Operating Instructions  
Speed monitor  
8.5.2 Speed monitor  
In COMPAX the drive speed is required as an actual value for speed control (loop  
underlying the position control).  
The actual speed value is derived by differentiating the position signal.  
In certain applications, such as with large ratios Jload/Jmotor, the loop response time  
is limited by quantization noise.  
Speed  
determination  
standard:  
COMPAX includes a speed monitor for determining speed, which can be turned on  
using parameter P50.  
Speed monitor:  
Use the speed monitor to set a higher level of stiffness corresponding to a faster  
control process.  
Function:  
The monitor reproduces the dynamic behavior of the drive. It receives the same  
input signal as the physical drive. An additional loop is used to compare the output  
magnitude with the actual output magnitude of the drive (actual position value from  
resolver) and hold it at the same value. This additional loop makes corrections to  
the internal monitor values.  
The advantage is that the speed is available directly as an intermediate value of  
the monitor and can be used for speed control.  
Use this speed signal to attain a stable control process or to operate the drive  
control process with higher levels of stiffness (P23) and the same levels of  
damping.  
Settings:  
P50=100: without monitor (default setting and function as before)  
P50=101: with monitor  
P151: responsiveness of the monitor control (standard 30%)  
P151>30%: monitor loop becomes faster  
P151<30%: monitor loop becomes slower  
Using the speed  
monitor  
For large ratios Jload/Jmotor  
.
Note! Do not use the speed monitor when operating  
asynchronous motors.  
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Optimization functions  
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).  
The optimization parameters are reset before each new positioning process and  
they are continually updated during the positioning process.  
Optimization  
parameters:  
Meaning  
P233/P234  
1
2
3
4
Positioning time (from start of positioning to "Position reached")  
max. intermediate circuit voltage in [V]  
reserved  
max. undershoot referenced to max. position (amount) (only for  
highly shifted loops)  
5
6
max. position overshoot [units corresp. P90] (amount)  
max. position undershoot [units corresp. P90] (amount)  
max. acceleration lag error [units corresp. P90]  
max. braking lag error [units corresp. P90]  
7
8
9
max. acceleration speed in [%] of motor nominal speed  
max. braking speed in [%] of motor nominal speed  
max. acceleration current in [%] of motor nominal current  
max. braking current in [%] of motor nominal current  
max. time in current limit for acceleration, in [ms]  
max. time in current limit for braking, in [ms]  
10  
11  
12  
13  
14  
56  
square of peak motor current (reference value: 80 000A2)  
Enter the corresponding number in the first column in the parameter. This means  
!
P233 determines status S13  
P234 determines status S14  
Description of  
optimization  
parameters  
max position overshoot  
5
position  
50  
6
max.  
position undershoot  
25  
0
time  
5
6
max.  
position undershoot  
max.  
position overshoot  
-25  
positive sense  
of rotation  
positive sense  
of rotation  
negative sense negative sense  
of rotation of rotation  
30  
P233/P234 are set as valid with VP  
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COMPAX-M / -S  
Operating Instructions  
Optimization display  
x
x
b
7
acceleration phase  
decerleration phase  
max. acceleration tracking error  
speed  
set  
point  
t
max. deceleration tracking error  
8
t
9
x
n
max. acceleration speed  
actual  
value  
of  
position  
P14  
time needed for positioning  
t
t
1
max. deceleration speed  
10  
I
x
q
actual  
value  
of  
pos. current limit  
13  
time in neg. current limit  
position  
max. backshoot with  
ref. to max. position  
t
4
time in pos. current limit  
14  
neg. current limit  
t
2
max. position overshoot  
5
U
ZW  
max. intermediate voltage  
x
actual  
value  
of  
.
2
U
main  
position  
max. position overshoot  
6
t
t
Reference value: 80 000A2  
The maximum peak current of a motor phase is continually determined once  
COMPAX is switched on and this is stored as status S13 or S14 using  
P233/234=56.  
Square of peak  
motor current  
This display is generated as long as the motor is powered. The value is reset when  
COMPAX is switched off (after "OFF").  
Obtaining the peak motor current using S13 (P233=56) as an example:  
Imax = S13 * 80000A2  
Use the effective value  
Imax  
Ieff  
=
2
to calculate the peak load within the motor cycle.  
If this value rises to 1.5 times the peak current of the system, error E41 is triggered.  
You will find more detailed explanations on the limiting characteristics of COMPAX  
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Optimization functions  
Optimization display  
Access to additional parameters via S13 and S14:  
P233/P234 Meaning  
15  
16  
17  
Current number of HEDA transmission errors  
Average no. of HEDA transmission errors per second  
Total number of HEDA transmission errors since beginning of  
synchronization  
18  
19  
Process nominal value received via HEDA  
HEDA control word  
Bit 3 : Transmission error COMPAX -> IPM  
Bit 8: fast start via HEDA  
20  
HEDA status word  
Bit 0="1": no errors (corresponds to COMPAX output O1)  
Bit 1="1": no warnings (corresponds to COMPAX output O2)  
Bit 3="1": transmission error IPM -> COMPAX  
Bit 8="1": COMPAX lag warning (="1" - in position, i.e. within lag  
warning window)  
Bit 9="1": HEDA interface active (COMPAX synchronized)  
Default setting: Bit 0="1", Bit 1="1", Bit 3="0", Bit 8="1", Bit 9="1":  
S13/S14=771  
21  
22  
23  
24  
25  
26  
CPX X50 max. pos. synchronous lag error [units corresp. P90]  
CPX X50 max. neg. synchronous lag error [units corresp. P90]  
Output value of D/A monitor channel 0 (10V corresponds to 1)  
Output value of D/A monitor channel 1 (10V corresponds to 1)  
Output value of service D/A monitor channel 2 (10V corresp. to 1)  
You will find the meanings  
of the DA monitor values on  
Page 52.  
Output value of service – D/A monitor channel 3 (10V corresp. to  
1)  
27  
28  
External encoder position (units corresp. P90)  
Measuring error (Difference between resolver position and external  
encoder position in the unit corresponding to P90)  
29  
30  
Effective motor load in % of the permitted continuous motor load  
(E53 is indicated from 100%)  
Effective unit load in % of the permitted continuous unit load (E53  
is indicated from 100%)  
31  
32  
33  
35  
36  
37  
Mark synchronization function indicator (COMPAX XX70)  
"Scaled correction factor" (COMPAX XX70)  
"Cycle counter" (COMPAX XX70)  
Digital inputs I1-I16  
Status S16 (bits 16...23) and digital outputs O1-O16 (bits 0...15)  
Encoder frequency channel 4 in incr./ms" (COMPAX XX60,  
COMPAX XX7X)  
39  
Cause of calculation error E07  
0
1
2
3
Invalid Operator  
Division by 0  
Overflow  
Underflow  
The corresponding number in the first column should be entered in the parameter.  
This means  
!
P233 determines status S13  
P234 determines status S14  
31  
Bit counting begins with 0.  
135  
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COMPAX-M / -S  
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  
available in the standard unit (COMPAX XX00). Solutions adapted to specific  
applications are available in the unit variants.  
Only available in  
COMPAX XX00!  
A slip between motor position and the position of the drive (e.g. a material feed) is  
not detected. If the slip is too large, the external position can be entered(e.g.  
recorded by a measuring wheel) using encoder channel 1. In this way, COMPAX  
corrects the internal actual position value.  
To limit access to the position adjustment, use P36 to limit the speed correction  
value resulting from the difference in positions.  
This can be especially useful in the acceleration phase, if the material is slipping  
through because of the higher correction speed.  
Recommendation:  
To avoid all inaccuracies during internal calculations, it is important to use the  
measuring unit "Increments".  
Para- Meaning  
meter  
valid  
from..  
Configuring the  
external position  
adjustment:  
P75 Maximum permitted measuring error (difference between resolver VP  
position and encoder position)  
The external position adjustment is enabled using measuring  
error P75 > 0.  
When P75 is reached, error E15 is generated and the drive is  
switched off.  
Control position adjustment via digital input I11  
If the external position measurement and position adjustment  
(P75>0) is switched off, position adjustment operation can be  
switched on and off using input I11. For this, assign I11 with this  
function via P232=4.  
I11="0": External position adjustment switched off (reaction time  
approx. 5 ms).  
I11="1": External position adjustment switched on.  
P232 becomes effective immediately and has a default value of 0.  
If P232=0, I11 will not have an effect on the position adjustment;  
this is then switched on and off using P75.  
Note! If P232=4 (activated I11), I11 can no longer be used for  
GOTO / GOSUB EXT.  
P36 Limitation of speed correction value for external position  
VP  
VC  
adjustment (only available in COMPAX XX00 and COMPAX XX30)  
"0": switched off (default value)  
When P36=0, the speed correction value is not limited.  
P36 is specified in % of the nominal speed (P104).  
Note! When position localization is switched off, P36 must = 0!  
P144  
Sets encoder channel 1  
="4": without external position localization  
="6": external position localization switched on via channel 1.  
P143 Number of encoder pulses per encoder rotation from channel 1;  
range: 120...2 000 000.  
P98 Travel of load per encoder rotation units (corresp. to P90).  
VC  
VC  
136  
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Optimization functions  
External position localization with position adjustment  
Para- Meaning  
meter  
valid  
from..  
P214  
VP  
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  
P214=0.  
Note S42 (position of external sensor).  
Proceed with POSR x axis.  
S1 and S42 must change by the same value (x).  
If the prefix of the modification is different, set data record P214="1".  
If the modification has a different amount, check P143 and P98.  
The command "SPEED SYNC" cannot be used in external position  
localization!  
A number overrun is possible in special applications. To prevent this occurring, the  
following condition must be met: V 1  
Limit values of  
parameters  
Determine V depending on drive type and measuring unit:  
Drive type  
Measuring unit Determining V  
Spindle drive  
mm (inch)  
V = K P85(25.4)  
Using  
P98 16384  
Rack-and-pinion/  
toothed belt  
mm (inch)  
K =  
.
P85  
V = K •  
(25.4)  
P83 P143  
P82  
General drive  
General drive  
mm (inch)  
Incr.  
V = K 1000(25.4)  
V = K  
A slip filter with a differentiating element (D-element) is provided to optimize  
external position adjustment.  
Slip filter for  
external  
position  
Unit  
Minimum  
value  
Default  
value  
Maximum  
value  
Valid  
from...  
No.  
Meaning  
localization  
0
0
P67  
P68  
D-element slip filter  
Slip filter lag  
%
%
100  
100  
500  
5000  
VP  
VP  
Both parameters are set to 100% as standard. The time constants are then  
identical and the filter ineffective. Meaning:  
Parameter  
P67 = P68  
P67 < P68 or  
P67 = 0  
Effect  
Application  
Filter ineffective (standard)  
Low resolution of measuring system  
Interference on the measuring signal  
Filter has  
delaying effect  
P67 > P68  
Filter has  
differentiating  
effect  
at high dynamic requirements.  
Conditions: high-resolution measuring  
system and low interference on the measuring  
signal.  
137  
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COMPAX-M / -S  
Operating Instructions  
Digital inputs and outputs  
8.6 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).  
I/O - assignment  
of standard unit  
O7-O11 and I7-I11 are assigned when the PLC data interface is switched  
on.  
Input  
Assignment  
I1 (X8/1; X19/x)  
I2 (X8/2; X19/x)  
I3 (X8/3; X19/x)  
I4 (X8/4; X19/x)  
I5 (X8/5; X19/x)  
I6 (X8/6; X19/x)  
I7 (X8/7; X19/x)  
I8 (X8/8; X19/x)  
SHIFT I2  
SHIFT  
Manual+  
Hand–  
Quit  
START  
Stop (interrupts data record)  
Freely assignable in the standard unit.  
Freely assignable in the standard unit.  
Find machine zero (MZ)  
Approach real zero (RZ)  
Teach real zero  
SHIFT I3  
SHIFT I4  
reserved  
SHIFT I5  
Break (breaks off data record)  
SHIFT I6  
I9 (X10/1; X19/x)  
I10 (X10/2; X19/x)  
I11 (X10/3; X19/x)  
Freely assignable in the standard unit.  
Freely assignable in the standard unit.  
Assigned when P232=4 (activates position adjustment);  
otherwise free.  
I12 (X10/4; X19/x)  
I13 (X10/5; X19/x)  
I14 (X10/6; X19/x)  
Freely assignable in the standard unit.  
Freely assignable in the standard unit.  
Assigned when mark reference is activated (P35=1)  
(activates mark reference); otherwise free.  
I15 (X10/7; X19/x)  
I16 (X10/8; X19/x)  
Fast start (can be activated using P18)  
Is assigned if mark reference is activated (P35=1) (mark  
input); otherwise free.  
The assignment of inputs on X19 applies only to COMPAX 1000SL.  
138  
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Interfaces  
Digital inputs and outputs  
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.  
="1":No warning  
O2 (X8/10; X19/x)  
="0":error E58  
O3 (X8/11; X19/x)  
O4 (X8/12; X19/x)  
O5 (X8/13; X19/x)  
O6 (X8/14; X19/x)  
O7 (X8/15; X19/x)  
O8 (X8/16; X19/x)  
O9 (X10/9; X19/x)  
Machine zero has been approached  
Ready for start  
Programmed nominal position reached  
Idle after stop  
Freely assignable in the standard unit.  
Freely assignable in the standard unit.  
Freely assignable in the standard unit.  
O10 (X10/10; X19/x) Freely assignable in the standard unit.  
O11 (X10/11; X19/x) Freely assignable in the standard unit.  
O12 (X10/12; X19/x) Freely assignable in the standard unit.  
O13 (X10/13; X19/x) Freely assignable in the standard unit.  
O14 (X10/14; X19/x) Freely assignable in the standard unit.  
O15 (X10/15; X19/x) Freely assignable in the standard unit.  
O16 (X10/16; X19/x) For "0": mark disappears after max. feed length32  
The assignment of outputs on X19 applies only to COMPAX 1000SL.  
32  
Only assigned if the mark reference is activated (P35=1).  
139  
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COMPAX-M / -S  
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. Inputs which are not read by an  
input pin on X19 can be allocated a fixed "0" or "1 (this is not, of course, applicable  
for all inputs). The parameters are 24 bits large with 4 bits defined per logic input.  
This allocation can be easily done with the assistance of the ServoManager.  
With direct access via RS232, a terminal or a fieldbus, the following table can be  
used for setting the parameters.  
Source  
factor  
computed values  
Allocation:  
Logical  
inputs  
fixed logical value (0 or 1) or pin of X19  
Input reads from  
which source  
=0 =1 /2  
/3  
3
/4  
4
/5  
5
/6  
6
/7  
7
/8  
8
/9  
9
0
1
2
Value:  
Value * factor  
P156 bit 0...3  
P156 bit 4...7  
P156 bit 8...11  
Input 1  
Input 2  
Input 3  
1
Allocation table:  
Value * factor  
16  
+
Value * factor  
256  
+
Logical input is read by  
X19 pin ...  
Value * factor  
P156 bit 12...15 Input 4  
P156 bit 16...19 Input 5  
P156 Bit 20...23 Input 6  
4096  
65536  
1048576  
+
Value * factor  
+
Value * factor  
+
Total 8 388 607:  
Total  
Σ
P156 = Total  
Value of P156:  
Total > 8 388 607:  
P156 = Total – 16 777 216  
Value * factor  
P157 bit 0...3  
P157 bit 4...7  
P157 bit 8...11  
Input 7  
Input 8  
Input 9  
1
Allocation table:  
Logical input is read by  
X19 pin ...  
Value * factor  
16  
+
Value * factor  
256  
+
Value * factor  
P157 bit 12...15 Input10  
P157 bit 16...19 Input 11  
P157 Bit 20...23 Input 12  
4096  
65536  
1048576  
+
Value * factor  
+
Value * factor  
+
Total 8 388 607:  
Total  
Σ
P156 = Total  
Value of P157:  
Total > 8 388 607:  
P156 = Total – 16 777 216  
Value * factor  
P158 bit 0...3  
P158 bit 4...7  
P158 bit 8...11  
Input 13  
Input 14  
Input 15  
1
Allocation table:  
Logical input is read by  
X19 pin ...  
Value * factor  
16  
256  
+
Value * factor  
+
Value * factor  
P158 bit 12...15 Input 16  
4096  
+
Value of P158:  
Σ
Note  
Note that only one selection can be made per line, i.e. only one cross is permitted!  
140  
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Interfaces  
Digital inputs and outputs  
Example:  
Source  
factor  
computed values  
Allocation:  
Input reads from  
which source  
Logical  
inputs  
The following  
assignment must be  
configured:  
fixed logical value (0 or 1) or pin of X19  
=0 =1 /2  
/3  
3
/4  
4
/5  
5
/6  
6
/7  
7
/8  
8
/9  
9
Wert:  
0
1
2
1
0*1=0  
X
Input 1  
Input 2  
Input 3  
Input 4  
Input 5  
Input 6  
P156 bit 0...3  
"0"  
input 1  
+
16  
3*16=48  
x
P156 bit 4...7  
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  
+
256  
4*256=1024  
x
P156 bit 8...11  
P156 bit 12...15  
P156 bit 16...19  
P156 bit 20...23  
+
4096  
65536  
1048576  
5*4096=20480  
x
+
6*65536= 393216  
x
+
7*1048576=7340032  
x
Total 8 388 607  
P156 = Total  
7 754 800  
7 754 800  
Σ
Value of P156:  
Total > 8 388 607  
P156 = Total – 16 777 216  
"0"  
"0"  
"0"  
"0"  
"0"  
input 7  
input 8  
input 9  
input 10  
input 11  
1
0*1=0  
x
x
x
x
x
Input 7  
Input 8  
Input 9  
Input 10  
Input 11  
Input 12  
P157 bit 0...3  
+
+
+
+
+
16  
0*16=0  
0*256=0  
0*4096=0  
P157 bit 4...7  
256  
P157 bit 8...11  
P157 bit 12...15  
P157 bit 16...19  
P157 bit 20...23  
4096  
65536  
1048576  
0*65536=0  
X19 pin 8 input 12  
X19 pin 2 input 13  
"1"  
"0"  
8*1048576=8388608  
x
Total 8 388 607  
P156 = Total  
8 388 608  
-8 388 608  
Σ
Value of P157:  
input 14  
input 15  
Total > 8 388 607  
P156 = Total – 16 777 216  
1
2*1=2  
x
Input 13  
Input 14  
Input 15  
Input 16  
P158 bit 0...3  
P158 bit 4...7  
P158 bit 8...11  
P158 bit 12...15  
X19 pin 9 input 16  
+
+
+
16  
256  
1*16=16  
x
0*256=0  
x
4096  
9*4096=36 864  
x
Value of P158:  
36 882  
Σ
The remaining inputs stay open and are therefore not imported.  
You can see the calculation of the setting values on the right.  
Note  
It is in principle possible to read 2 inputs from the same input pin. Of course note  
should be taken of the resulting function.  
If you do not need the enable input I12, fixed logic "1" can be allocated.  
With P233=49 (or P234=49), physical inputs pin 9 – pin 2 are written to the  
optimization display status S13 (S14). Meaning: pin 2 = bit 0 ... pin 9 = bit 7.  
141  
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COMPAX-M / -S  
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.  
With direct access via RS232, a terminal or a fieldbus, the following table can be  
used for setting the parameters.  
Outputs  
factor  
computed values  
Value * factor  
Allocation:  
output is  
assigned to pin  
X
X19  
Outp  
ut  
2
1
3
2
4
3
5
4
6
5
7
6
8
7
9
8
10 11 12 13 14 15 16  
10 11 12 13 14 15  
value:  
0
9
Pin  
1
P159 bit 0...3  
P159 bit 4...7  
P159 bit 8...11  
P159 bit 15...11  
/15  
/16  
/17  
/18  
Allocation table:  
16  
256  
Value * factor  
+
output is assigned ... to  
pin X19  
Value * factor  
+
4096  
Value * factor  
+
Value of P159:  
Σ
1
Value * factor  
P160 bit 0...3  
P160 bit 4...7  
P160 bit 8...11  
P160 bit 11...15  
/19  
/20  
/21  
/22  
Allocation table:  
output is assigned ... to  
pin X19  
16  
256  
Value * factor  
+
Value * factor  
+
4096  
Value * factor  
+
Value of P160:  
Σ
Example:  
The following assignment must be configured:  
Outputs  
factor  
computed values  
Allocation:  
output is  
assigned to pin  
X19  
Out-  
put  
Pin  
Output 1 X19 Pin 15  
1
2
1
3
2
4
3
5
4
6
5
7
6
8
9
10 11 12 13 14 15 16  
Output 3 X19 Pin 16  
0
7
8
9
10 11 12 13 14 15  
X
Value:  
Output 4 X19 Pin 17  
X
1
0*1=0 P159 bit 0...3  
2*16=32 P159 bit 4...7  
/15  
/16  
/17  
/18  
+
+
+
X
16  
Output 5 X19 Pin 18  
X
256  
4096  
3*256=768 P159 bit 8...11  
4*4096=16384 P159 bit 11...15  
Output 8 X19 Pin 19  
X
Value of P159:  
Output 10 X19 Pin 20  
Output 14 X19 Pin 21  
Output 16 X19 Pin 22  
You can see the calculation of the  
setting values on the right.  
Σ
17184  
X
1
7*1=7 P160 bit 0...3  
9*16=144 P160 bit 4...7  
/19  
/20  
/21  
/22  
+
+
+
X
16  
256  
X
13*256=3328 P160 bit 8...11  
15*4096=61440 P160 bit 11...15  
X
4096  
Value of P160:  
Σ
64919  
Note  
With P233=49 (or P234=49 respectively) physical outputs pin 22 – pin 15 are  
written to the optimization display status S13 (S14). Meaning: pin 15 = bit 8 ...  
pin 22 = bit 15.  
142  
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Interfaces  
Digital 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  
assignment using parameter P221. Meaning:  
Free assignment  
of inputs  
Input  
Function without  
SHIFT  
Function with SHIFT  
Valency  
1 (Bit 1)33  
2 (Bit 2)  
4 (Bit 3)  
8 (Bit 4)  
16 (Bit 5)  
32 (Bit 6)  
I1 (X8/1) SHIFT  
-
I2 (X8/2) Manual+  
I3 (X8/3) Hand–  
I4 (X8/4) Quit  
Find machine zero (MZ)  
Approach real zero (RZ)  
Teach real zero  
I5 (X8/5) START  
I6 (X8/6) STOP  
reserved  
Break (breaks off data  
record)  
Setting P221  
Example:  
Each input is assigned a valency. Calculate the sum of the valencies of the  
required free inputs and enter this in parameter P221.  
Hand+ and Hand- should be possible via the inputs; I1, I4, I5 and I6 should be  
freely available.  
1 (I1) + 8 (I4) +16 (I5) +32 (I6) = 57  
You will obtain this setting using P221 = 57.  
Note that when I1 is freely assigned (SHIFT), you can no longer  
perform any "Functions with shift" via the inputs!  
You can directly cancel all input functions (apart from Hand+ and Hand-) as  
commands using interfaces (RS232, bus system).  
Free assignment  
of outputs  
The status outputs O1 to O6 can be freely assigned using parameter P225.  
Use P223 and P224 to assign the outputs of the OUTPUT WORD command of  
the bus systems (Interbus-S, Profibus, CAN – Bus, ...).  
Use P245 and P246 to assign the outputs of the HEDA bus (COMPAX with IPM  
via the option A1).  
Permanently assigned outputs of unit variants (COMPAX XX30, ...) cannot be  
masked.  
O1 ... O6  
Structural diagram  
P225  
O1 ... O6  
status outputs  
0
P223 /  
P224  
1
Output x=y  
O1 ... O6  
0
RS232  
O1 ... O16  
1  
O12 ... O16  
O7 ... O11  
1
command line  
or  
bussystems  
P245 /  
P246  
P18  
= "1" or "3"  
0
1
O7 ... O11  
PLC data interface  
towards  
outputs  
Output WORD  
O1 ... O16  
O1 ... O16  
bussystems  
HEDA via IPM  
33  
Counting starts at 1.  
143  
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COMPAX-M / -S  
Operating Instructions  
Digital inputs and outputs  
Explanation:  
P225: makes  
outputs freely  
available.  
The permanently assigned standard outputs O1 to O6 can be made freely  
available using parameter P225. Meaning:  
Output Function  
O1 (X8/1) ="1": No fault  
="0": errors E1 ... E58  
Valency  
1 (Bit 1)  
O2 (X8/2) ="1": No warning  
2 (Bit 2)  
="0": Error E58  
O3 (X8/3) Machine zero has been approached  
4 (Bit 3)  
8 (Bit 4)  
16 (Bit 5)  
32 (Bit 6)  
O4 (X8/4) Ready for start  
O5 (X8/5) Programmed nominal position reached  
O6 (X8/6) Idle after stop  
Setting P225  
Example:  
Each output is assigned a valency. Calculate the total of the valencies for the  
required free outputs and enter this in parameter P225.  
"Ready for start" and "Idle after stop" should be possible via the outputs; O1, O2,  
O3 and O5 should be freely available.  
1 (O1) + 2 (O2) +4 (O3) +16 (O5) = 23  
You will obtain this setting using P225 = 23.  
Using the interfaces (RS232, bus systems) and using the data record  
program, the outputs can optionally (in parallel) be described using OUTPUT  
Ox=y.  
PLC data interface  
When the PLC data interface is activated, the outputs must not be addressed using  
the interfaces (RS232, bus systems) or using the data record program.  
Simultaneous operation with the OUTPUT WORD command or with HEDA is not  
permitted!  
Note!  
Switching to  
OUTPUT WORD  
command or to  
HEDA bus  
P223 / P224: switching to OUTPUT WORD command  
P245 / P246: switching to HEDA bus  
Access to the outputs can be assigned as bits to the OUTPUT WORD command or  
to HEDA. Only the enabled outputs are then described by the OUTPUT WORD  
command or by HEDA.  
34  
Counting starts at 1.  
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Interfaces  
Digital inputs and outputs  
Outputs  
OUTPUT parallel  
HEDA  
P245  
P223  
O1  
O2  
O3  
O4  
O5  
O6  
O7  
O8  
1
2
4
8
(Bit 1)  
1
2
4
8
(Bit 1)  
(Bit 2)  
(Bit 3)  
(Bit 4)  
(Bit 2)  
(Bit 3)  
(Bit 4)  
16 (Bit 5)  
32 (Bit 6)  
64 (Bit 7)  
128 (Bit 8)  
P224  
16 (Bit 5)  
32 (Bit 6)  
64 (Bit 7)  
128 (Bit 8)  
P246  
O9  
1
2
4
8
(Bit 1)  
(Bit 2)  
(Bit 3)  
(Bit 4)  
1
2
4
8
(Bit 1)  
(Bit 2)  
(Bit 3)  
(Bit 4)  
O10  
O11  
O12  
O13  
O14  
O15  
O16  
16 (Bit 5)  
32 (Bit 6)  
64 (Bit 7)  
128 (Bit 8)  
16 (Bit 5)  
32 (Bit 6)  
64 (Bit 7)  
128 (Bit 8)  
Setting P223, P224,  
P245, P246  
Each output is assigned a valency. Calculate the total of the valencies of the  
required outputs and enter this in the relevant parameter.  
Example:  
O4 to O16 should be influenced by the OUTPUT WORD command; O1, O2 and  
O3 should be available via OUTPUT Ox=y.  
8 (O4) + 16 (O5) +32 (O6) +64 (O7) +128 (O8) = 248  
When P223 = 248 and P224 = 255 (total of all valencies), you will obtain this  
setting.  
8.6.1.3 COMPAX virtual inputs  
COMPAX provides 48 logic inputs. These are divided into:  
inputs I1 ... I16 which are actuated via the physical inputs.  
virtual inputs I17 ... I32 which are activated via a fieldbus (object CPX_STW).  
virtual inputs I33 ... I48 which are activated via a COMPAX command (OUTPUT  
O33 ... OUTPUT O48, or abbreviated: OT O33 ... OT O48).  
Access to COMPAX control functions  
Access to COMPAX control functions (functions which are allocated to inputs  
I1...I16 by default) can be configured via parameters P221 and P222 (see  
structural diagram on the right).  
The allocation of the bits in P221 and P222 respectively to the relevant inputs can  
be found in the parameter description)  
35  
Counting starts at 1.  
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COMPAX-M / -S  
Operating Instructions  
Digital inputs and outputs  
Structural diagram: Access to  
COMPAX control functions via  
inputs  
COMPAX - control  
functions  
(for P221=”0”  
corresponds to  
arrangement of inputs I1  
to I8)  
Logical inputs *  
I1...I8  
="0"  
P221  
="1"  
* The logic inputs I1 ... I16 are,  
excluding COMPAX 1000SL, also  
the physical inputs I1 ...I16 on  
connectors X8 and X10.  
Field bus I17...I24  
logical I1...I8  
SHIFT, Hand+, Hand-,  
Quit, Start, Stop,  
approach Mn, approach  
RN, Tech RN  
With COMPAX 1000SL, the 8  
physical inputs on connector X19  
are allocated (via parameters P156  
... P158) to 8 logic inputs from the  
COMPAX –  
Logical inputs *  
control functions  
Depends on COMPAX  
device variants (for  
P222=”0” corresponds to  
arrangement of inputsIE9  
to I16)  
I9...I16  
1  
COMPAX–command  
I41...I48  
(OTA41...OTA48)  
="0"  
P222  
="1"  
logical  
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.  
The control functions corresponding to I9...I16 can be activated simultaneously  
via the physical inputs and via OT O41...OT O48.  
The enable input I12 (in COMPAX 1000SL, COMPAX XX70 and COMPAX XX30)  
must also be activated when allocated to the fieldbus (via P222).  
Interrogation of inputs in the COMPAX program (IF I ..)  
All inputs can be interrogated independently of parameters P221 and P222 in the  
COMPAX program with IF I... .  
The virtual inputs I33...I48 in the COMPAX program can also be set via the  
commands OT O33...OT O48.  
COMPAX – program  
Interrogation of inputs with  
IF I1=  
To  
Logical inputs *  
I1...I8  
IF I48=  
Logical inputs *  
I9...I16  
Regardless of parameters  
P221 and P222  
Field bus I17...I24  
Field bus I25...I32  
COMPAX–command  
I33...I40  
(OTA33...OTA40)  
COMPAX–command  
I41...I48  
(OTA41...OTA48)  
With P233=48 (or P234=48), virtual inputs I48 – I25 are written to the optimization  
display status S13 (S14). Meaning: I25 = bit 0 ... I48 = bit 23.  
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Interfaces  
Digital inputs and outputs  
8.6.1.4 I/O assignment of variants  
I12: final stage enable  
I13: measuring error compensation by external position measurement  
I14: release brake  
COMPAX XX30:  
Round table  
control  
O14: no measuring error  
O16: no power to final stage  
I6:  
STOP ineffective during synchronization process.  
COMPAX XX50:  
Synchronous  
cycle control  
I1 & I6: BREAK interrupts the synchronization process.  
I12: Material simulation  
I13: Manual step  
I14: Switches on mark reference  
I15: Ends synchronous travel  
(The "Fast start" function is not possible)  
I16: Mark input  
O5: Position reached at synchronization command (WAIT POSA, WAIT POSR)  
="0"; when the axis starts  
="1": after return run.  
O14: Synchronous comparator  
O15: Chaff length  
O16: Reject length  
COMPAX XX60:  
Electronic  
transmission  
I14: Switches over the dimension reference  
I15: Transmission factor selection  
I16: Enable master nominal value  
I12: Enable final stage  
I13: ="0": Decoupling ="1": Coupling  
I14: Mark input  
COMPAX XX70:  
Cam control  
I15: ="0": Disables auxiliary functions ; ="1": Enables auxiliary functions  
I16: Enables master position  
O7...O14: Digital auxiliary functions.  
O13/O14: Cannot be used via OUTPUT.  
O14: Mark not in mark window.  
O15: Lag warning  
O16: Synchronous run  
Please refer to the instructions for the variant you are  
using for up-to-date information!  
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COMPAX-M / -S  
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".  
I1  
SHIFT  
t
I2-I5  
> 0,2ms  
> 0,2ms  
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. The other functions are then blocked; this means, e.g.:  
If Quit (I4) is set during a process involving Hand+ (I2="1"), Quit is not detected  
even after I2="0". A new rising flank will be required for Quit (I4).  
If a program is interrupted by STOP when START is present (I5), the program is  
then continued using I6="0" (STOP is deactivated).  
Exception: START  
For sure detection, the signals must be present for 1ms.  
Length of signal ≥  
1ms  
Input I1  
SHIFT  
Switches to the functions for inputs I2 to I6.  
Signal I1 may only change if I2...I6 ="0".  
Input I2/I3  
Hand+/Hand–  
Processes the axis in manual mode (velocity: P5; ramp time: P9).  
Conditions for manual procedure:  
The axis must be stationary and powered.  
There must not be any programs running (exception: program is at WAIT  
START).  
When the end limits are reached (P11, P12), the drive is stopped.  
The outputs O5 "Nominal position reached" and O4 "Ready for START" are at "0"  
during manual mode; O5 remains at "0" even once manual mode has been  
completed.  
Input I4  
QUIT  
Acknowledges an error message or warning.  
If the error is rectified, O1 "No fault" or O2 "No warning" is set.  
The following functions are possible when there is an error present:  
VP, VC, VF  
Quit  
OUTPUT O0  
GOTO data record indicator / password  
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Interfaces  
Digital inputs and outputs  
Input I5  
START  
Starts the program data record at WAIT  
Temporal course of a start sequence:  
START, after Power On and after STOP.  
drive to MN  
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) = "1" ?  
no  
yes  
O4 "Ready for start" is reset.  
I5 (start signal) = "1"  
Note!  
Once a positioning process has been  
interrupted by STOP (I6="1"), the process can  
be continued, when START (I5="1") is  
present, using a descending flank at STOP  
(I6="0").  
O4 (ready for start) = "0" ?  
no  
yes  
I5 (start signal) = "0"  
Input I6  
STOP  
The positioning process is interrupted using "1" and the axis is stopped in a  
controlled manner.  
O4 "Ready for start" and O6 "Idle after stop" ="1".  
A new start command is required to complete the positioning process. When  
START is present, resetting the STOP signal is sufficient (I6="0").  
Input SHIFT I2  
Find MZ  
Finds the machine zero point (when using reversing initiators: process velocity:  
P3 - the direction of the search can be determined using the P3 sign ; ramp  
time: P7).  
Once the MZ is reached, output O3 "Machine zero approached" is set. This  
remains set until another "Find MZ" order is issued.  
Output O5 "Programmed position reached" ="0".  
The data record indicator is reset to N001.  
Reference travel, prompted by the digital inputs, interrupts a positioning  
command specified by the interfaces (POSA, POSR, LOOP).  
Input SHIFT I3  
Approach RZ  
The axis travels to the real zero point (process velocity: P4; ramp time: P8).  
O4 "Ready for start" ="0" until RZ is reached.  
Output O5 "Programmed position reached" ="0", and once real zero is  
approached ="1".  
Data record indicator is reset to N001.  
In continuous mode the axis does not move; the data record indicator is set to  
N001.  
Input SHIFT I4  
Teach in real  
zero (Teach Z)  
The current position of the axis is used as the reference point (real zero) for all  
positioning instructions; i.e. P1 is modified.  
The data record indicator is set to 1.  
The real zero is stored protected against power failure.  
O4 "Ready for start" is not modified.  
The teach in function can be switched off using P211.  
The function does not operate in continuous mode.  
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COMPAX-M / -S  
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  
and modifying  
teach in functions  
P211 Function  
= 0 The functions I1 + I4, Teach N, I1 + I5 and Teach Z are enabled.  
= 1 Teach Z is blocked; the data record indicator is set to 1 using I1 + I4 or  
"Teach Z".  
= 2 Teach N is blocked; the data record indicator is set to 1 using I1 + I5 or  
"Teach N". (Teach Z is enabled)  
= 3 The functions Teach N and Teach Z are blocked. With I1 + I4, Teach N, I1  
+ I5 or Teach Z, the data record indicator is set to 1.  
Input SHIFT I6  
Break  
The positioning process is interrupted, the axis is stopped.  
O4 "Ready for start" is reset.  
The program data record is not ended after a start. The next data record applies.  
EMERGENCY  
STOP  
During an EMERGENCY STOP, the data record is interrupted, the drive brakes  
with braking time P10; after P10, the motor is switched off.  
The interrupted data record is continued to its completion after acknowledgment  
and START.  
Transfers that trigger functions are described. All other transfers and statuses do  
not trigger any functions.  
Function  
Start Hand+  
End Hand+  
Start Hand-  
End Hand-  
QUIT  
I1  
0
X
0
X
0
0
0
0
1
1
1
1
1
I2  
I3  
0
I4  
0
I5  
0
I6  
0
0
0
0
0
0
X
X
0
X
0
Triggering  
functions:  
0
X
0
0
0
X
X
X
0
0
0
0
X
0
START  
0
0
X
0
0
START  
1
X
0
0
0
STOP  
1
0
0
0
0
1
Find MZ  
Approach RZ  
Teach - RZ  
SHIFT I5  
BREAK  
0
0
0
X
0
0
X
0
X
X
Input I11  
Activate  
position  
adjustment  
I11="0":External position adjustment switched off (reaction time approx. 5 ms).  
I11="1":External position adjustment switched on.  
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Interfaces  
Digital inputs and outputs  
Input I15  
Special START input  
Fast start  
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. I15 has no influence during a  
positioning process.  
A positioning process interrupted with STOP is continued using START (I5="1")  
and "Fast START" (I15="1").  
The reaction time of I15 before the start of the positioning process is 1.5 ms.  
I15 has no effect in speed control mode.  
Note! The START signal (I5) is not replaced by I15; after STOP, a START  
signal (I5) is required to start the program and for WAIT START.  
8.6.1.6 Synchronous STOP using I13  
I13 in the standard model (COMPAX XX00) provides a STOP function with which  
you can stop and idle multiple COMPAX units simultaneously, regardless of the  
current speed.  
P219=128 or 135 enables the synchronous stop via I13 (P219 bit 7 =1).  
I13="1": Normal mode  
I13="0": Synchronous STOP is activated.  
After I13="0"  
Synchronous  
STOP:  
the drive is stopped using P10 as the absolute ramp time and  
the ramp type selected via P94 .  
Error message E08 is output,  
O1 is set to 0 and  
the ready contact is opened.  
While I13=0, any further positioning attempts are negatively acknowledged with  
E08. No negative acknowledgment comes from HEDA.  
Synchronous STOP function using I13 is only available on the standard unit  
(COMPAX XX00).  
Stop using I6  
Stop using I13  
Diagram:  
The same  
brake ramp  
Brake ramp  
P10 (absolute)  
Speed  
COMPAX 1  
Speed  
COMPAX 1  
100%  
Speed  
Speed  
COMPAX 2  
COMPAX 2  
60%  
STOP  
(I6)  
STOP  
(I13)  
2...5ms  
<1,1ms  
t
t
P10  
P10  
Using I13 for stop bring both axes to a stop simultaneously.  
36  
37  
Bit counting begins with bit 0.  
A modified ramp time is used after "VC" for the "Synchronous stop via I13"  
function.  
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COMPAX-M / -S  
Operating Instructions  
Digital inputs and outputs  
If MZ travel is interrupted by the synchronous stop, then O3 "Machine zero  
approached" is not output.  
Note for MZ travel:  
P219 = xx000000=0: COMPAX-M does not evaluate the additional emergency  
stop input.  
Additional  
assignment of  
P219:  
(Additional emergency stop input: X9/5-X9/6 (front plate);  
COMPAX-M only)  
P219 = xx000111=7: Emergency stop with P10 as relative ramp time, then switch  
off, message E56, display E56, output O1 = 0, ready contact  
removed.  
Also effective in programming mode!  
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Interfaces  
Digital inputs and outputs  
8.6.1.7 Function of outputs  
O1  
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.  
O2  
No warning  
O2="1" if there are no errors E58.  
O2="0" if there is an error E58.  
O3  
Machine zero  
has been  
When "1" is displayed, this indicates that a reference system has been defined,  
approached  
i.e. there is information about the position of machine zero.  
When in "Normal mode", positioning is only possible when O3="1".  
By using an absolute value sensor and the relevant option (O1), O3="1" remains  
as such even if the unit has been switched off in the meantime.  
Once the "Find machine zero" function has been activated (I1&I2="1"), O3="0"  
until machine zero is found.  
O4  
Ready for start  
"Ready for START" is used for program control.  
O4 is set,  
if the program is at a WAIT START instruction and waiting for the START signal,  
after an interruption with STOP or BREAK and these signals are no longer  
present,  
after a corrected error condition and  
after Power On.  
at program end with the END command.  
O4 has no significance for direct command specifications.  
O5  
Position  
reached  
O5 is set to "0" when starting a positioning process; this applies for POSA,  
POSR, WAIT POSA, WAIT POSR, approach real zero, approach machine zero,  
Hand+, Hand-.  
O5 is set once the positioning has been completed in the correct manner. This  
applies for POSA, POSR, WAIT POSA, WAIT POSR, approach real zero.  
POSR 0 causes the brief resetting of O5.  
Conditions for O5="1":  
The actual position value is in the positioning window (+/-P14) and  
the nominal value sensor has reached the target point of the nominal value  
specification.  
O5 is set in speed control mode, if the nominal value generator has processed  
the speed ramp.  
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COMPAX-M / -S  
Operating Instructions  
Digital inputs and outputs  
O6  
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.  
O16  
Mark missing  
after maximum  
feed length  
Only assigned if mark reference is activated (P35=1).  
With "0", the mark disappears once the maximum feed length is reached (see  
8.6.1.8 Diagrams:  
In data record  
memory mode  
I3  
Jog-  
t
I5  
Start  
t
I6  
Stop  
t
V
0
t
O4  
Ready  
to Start  
t
O5  
Progr. target  
pos. reached  
t
O6  
Out of action  
after stop  
0
1
2
3
4
5
6
7
8
t
Caption:  
0 COMPAX ready for new start.  
1 When using START at input I5, the outputs O4 and O5 are reset. The axis moves.  
2 Interruption using STOP at input I6. After idle, message at output O6 (3).  
4 START using I5. Positioning process is continued.  
5 Positioning process ended. Message via O4 and O5="1".  
6 Manual processing of axis. O5 and O4 ="0".  
7 Specification for manual processing ended. Drive decelerates.  
8 Manual process ended. Drive at standstill. Ready message for output O4 is set.  
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Interfaces  
Digital inputs and outputs  
Inter-  
face  
Direct command  
specification  
POSA 100  
CR  
t
t
t
t
I5  
Start *  
I6  
Stop  
V
0
O4  
Ready  
to start  
t
t
t
O5  
Progr. target  
pos. reached  
O6  
Out of action  
after stop  
0
1
2
3
4
5
6
7
8
*
When using this START, a processing command interrupted by STOP and  
specified by a interface is restarted.  
I1  
SHIFT  
Finding machine  
zero in normal  
mode  
t
I3  
Drive to RN  
t
V
Before the  
1st machine  
0
zero travel,  
t
O3="0"  
O3  
Machine zero  
reached  
t
t
t
O4  
Ready  
to start  
O5  
Progr. target  
pos. reached  
I1  
SHIFT  
Approaching real  
zero  
t
t
t
I3  
Drive to RN  
V
0
O3  
Machine zero  
reached  
t
t
t
O4  
Ready  
to start  
O5  
Progr. target  
pos. reached  
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COMPAX-M / -S  
Operating Instructions  
PLC data interface (function not available with COMPAX 1000SL)  
8.6.2 PLC data interface (function not available with COMPAX 1000SL)  
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. These can be divided into four data lines (BCD format) and one  
control line.  
Functions  
available:  
Direct commands  
Absolute and relative positioning commands (POSA, POSR)  
Specification of acceleration time and velocity (ACCEL, SPEED)  
Password enabling or modifying data record indicator (GOTO)  
Queries of status S1...S12 (actual values).  
Modifying parameters P1...P49 with defined parameter acceptance (VP).  
The PLC data interface is activated by setting P18 (P18="1" or "3". When it is "3",  
the "Fast start" function I15 is also switched on) and by switching off and on. The  
following binary inputs and outputs are assigned:  
Activation:  
Input/output  
I7 (X8/7)  
Meaning  
Control line "UBN"  
0
I8 (X8/8)  
Data bit 2  
1
I9 (X10/1)  
Data bit 2  
2
I10 (X10/2)  
I11 (X10/3)  
O7 (X8/15)  
O8 (X8/16)  
O9 (X10/9)  
O10 (X10/10)  
O11 (X10/11)  
Data bit 2  
3
Data bit 2  
Control line "RDY"  
0
Data bit 2  
1
Data bit 2  
2
Data bit 2  
3
Data bit 2  
O7...O11 are no longer available for the OUTPUT command. The GOSUB  
EXT and GOTO EXT commands are no longer permitted when P18="1".  
Instead use the GOTO command.  
Each transfer begins with the start letter "E" and ends with the end letter "F". In  
between them is the command. This consists of two BCD numbers (called function  
code) for the command type and of numerical values for position, velocity,  
acceleration time, etc. The numerical values can contain special figures:  
Figure  
Meaning  
BCD coded  
Negative prefix  
Positive prefix  
Decimal point  
Assignment "="  
"D" "1101"  
"0" "0000"  
"C" "1100"  
"A" "1010"  
Use status S29 to e.g. track the interface data via the front plate display.  
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Interfaces  
PLC data interface (function not available with COMPAX 1000SL)  
Syntax of individual commands:  
Positioning  
commands POSA,  
POSR  
Start sign  
"E" "1110"  
Function code 1: "0" "0000"  
Function code 2: "1" "0001": POSA  
"2" "0010": POSR  
Sign  
"0" "0000": positive  
"D" "1101": negative  
Numerical value 106  
Numerical value 105  
Numerical value 104  
Numerical value 103  
Numerical value 102  
Numerical value 101  
Numerical value 100  
Decimal point  
"C" "1100"  
Numerical value 10-1  
Numerical value 10-2  
Numerical value 10-3  
End sign  
"F" "1111"  
Velocity  
specification  
SPEED  
Start sign  
Function code 1: "0" "0000"  
Function code 2: "4" "0100"  
"E" "1110"  
Sign  
"0" "0000": positive  
"D" "1101": negative  
Numerical value 101  
Numerical value 100  
Decimal point  
Numerical value 10-1  
Numerical value 10-2  
Numerical value 10-3  
"C" "1100"  
End sign  
"F" "1111"  
Acceleration time  
ACCEL  
Start sign  
Function code 1: "0" "0000"  
"E" "1110"  
Function code 2: "5" "0101"  
Sign  
"0" "0000": positive  
"D" "1101":negative  
Numerical value 104  
Numerical value 103  
Numerical value 102  
Numerical value 101  
Numerical value 100  
End sign  
"F" "1111"  
Adjust data  
Start sign  
"E" "1110"  
record indicator /  
enable password:  
GOTO  
Function code 1: "0" "0000"  
Function code 2: "6" "0110"  
Numerical value 102  
Numerical value 101  
Numerical value 100  
End sign  
"F" "1111"  
157  
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COMPAX-M / -S  
Operating Instructions  
PLC data interface (function not available with COMPAX 1000SL)  
Modify  
parameters  
P1...P49  
Start sign  
"E" "1110"  
Function code 1: "1" "0001"  
Function code 2: "3" "0011"  
Parameter No. tens column  
Parameter No. digits column  
Assignment code: "A" "1010"  
Sign  
"0" "0000": positive  
"D" "1101": negative  
Numerical value 106  
Numerical value 105  
Numerical value 104  
Numerical value 103  
Numerical value 102  
Numerical value 101  
Numerical value 100  
Decimal point  
"C" "1100"  
Numerical value 10-1  
Numerical value 10-2  
End sign  
"F" "1111"  
Acceptance of VP  
parameter  
Start sign  
Function code 1: "1" "0001"  
"E" "1110"  
Function code 2: "4" "0100"  
End sign  
"F" "1111"  
Status query  
S1...S12 (actual  
values)  
Start sign  
"E" "1110"  
Function code 1: "1" "0001"  
Function code 2: "6" "0110"  
Numerical value 101  
Numerical value 100  
End sign  
"F" "1111"  
Status response  
S1...S12 (actual  
values)  
Start sign  
Sign  
"E" "1110"  
"0" "0000": positive  
"D" "1101": negative  
Numerical value 106  
Numerical value 105  
Numerical value 104  
Numerical value 103  
Numerical value 102  
Numerical value 101  
Numerical value 100  
Decimal point  
"C" "1100"  
Numerical value 10-1  
Numerical value 10-2  
Numerical value 10-3  
End sign  
"F" "1111"  
The following signs are not necessary when transferring:  
Positive prefixes and initial zeros.  
For whole number values: the decimal point and the figures after the decimal  
point.  
158  
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Interfaces  
PLC data interface (function not available with COMPAX 1000SL)  
Function codes of  
commands  
Function code  
BCD coded  
Command  
F-code1  
F-code2  
0
0
0
0
0
1
1
1
1
2
4
5
6
3
4
6
POSA  
POSR  
SPEED  
ACCEL  
GOTO  
Modify parameters (P1-P49)  
VP (valid parameter)  
Query status (S1-S12)  
Procedure for  
transmitting a  
sign  
PLC assigns the sign (4 bit) to I8...I11.  
Once the data is stable, the PLC sets the UBN to "1".  
COMPAX reads the sign and sets RDY to "0".  
PLC sets UBN to "0".  
COMPAX sets RDY to high.  
Exception:  
If the data direction is then reversed, COMPAX can set the RDY line to "0". This is  
the case for the last sign of a status query.  
Process for  
PLC sets UBN to "1".  
receiving a sign  
COMPAX assigns the sign (4 bit) to O8...O11.  
COMPAX sets RDY to "1"  
PLC reads the sign and sets UBN to "0".  
COMPAX sets RDY to "0".  
Exception:  
If the data direction is then reversed, COMPAX can set the RDY line to "1". This is  
the case for the last sign of a status response.  
Signal procedure using the example of a status query  
PLC  
COMPAX  
COMPAX  
PLC  
PLC  
valid  
COMPAX  
valid  
PLC  
Data  
4 Bit  
valid  
valid  
valid  
COMPAX  
Data  
valid  
valid  
valid  
4 Bit  
PLC  
UBN  
COMPAX  
RDY  
t
It is important that the data ready message is only assigned after the data  
(when using PLC, one cycle later); i.e. once the data has been safely  
assigned.  
If a fault means that the signal "RDY" is missing, the interface can be reset to its  
initial status using signal "E" (start sign). The next "UBN" is then detected even  
though "RDY" is missing.  
Reset interface  
159  
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COMPAX-M / -S  
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).  
Read and write (password protected) parameters.  
Transmit control instructions.  
8.6.3.1 Interface description  
Interface  
Interface  
RS 232  
parameters  
Baud rate:  
9600* or 4800 (selected with P19)  
COMPAX 1000SL: fixed setting 9600  
Word length:  
Stop bit:  
8 bit  
1
Parity:  
none  
Hardware handshake:  
Software handshake:  
Entry buffer:  
Output buffer:  
Data format:  
End sign:  
yes (RTS,CTS)  
XON, XOFF (can be selected using P20)  
error string, max. 30 characters  
status string, max. 30 characters  
ASCII  
C
feed)  
(carriage return) or C L (carriage return, line  
R
R F  
* Default setting; simultaneously press the three front plate buttons while switching  
on to set COMPAX to 9600 Baud.  
COMPAX receives  
all displayable ASCII characters  
any inserted spaces  
a function sign, if nec. ($, ?, !)  
CR (carriage return) for storing the command in the intermediate memory. If no  
function signs have been transmitted, the command is accepted and executed if  
necessary (see next page).  
L (line feed) has no meaning to COMPAX  
F
COMPAX only receives a command if a previously transmitted command  
was answered with C L >.  
R
F
COMPAX  
if the syntax is error-free with C L > or the required response and C L >  
R
F
R
F
responds:  
if there are errors, depending on the contents of P20  
Meaning of  
$
Automatic "Position reached" message  
function signs  
1. only applies to POSA and POSR  
C L  
2. COMPAX transmits: $ F> when the position is reached.  
R
,
Interpreting and storing commands  
COMPAX stores the instruction in the intermediate memory (capacity: one  
instruction) without executing it.  
?
!
Echo  
COMPAX sends the data received with CRLF>.  
Executing commands  
Whenever a "!" occurs, the instruction is executed from the intermediate  
memory.  
These function signs can be attached to any instruction.  
Example: POSA 100 $ C L  
R
F
C
L
COMPAX moves and responds once position 100 is reached with: $  
>
R
F
160  
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Interfaces  
RS232 interface  
P20: Software  
handshake (SH) /  
error  
Function  
Activation using P20  
Valid  
from  
Power  
on  
Software  
handshake  
"0":without  
"1":with XON, XOFF  
transmission  
Error transmission "0":Error only when there is activity at the interface  
and if the transmitted command triggers an error.  
No negative command acknowledgement (E90  
...E94).  
Imme-  
diately  
"2":No transmission of error or negative command  
acknowledgments (E90 ...E94).  
"4":Messages are indicated for all errors and negative  
command acknowledgments (E90 ...E94) when  
C
L
they occur using Exx  
>.  
R
F
"6":Error and negative command acknowledgement  
(E90 ...E94) only when there is activity at the  
interface.  
C
L
C
Power  
on  
End sign selection "0":  
>
"8":  
R
F
R
Binary transfer  
"0":without  
"16": with  
imme-  
diately  
Power  
on  
BCC: Block check "0":without "128": with  
(EXOR via all signs apart from the end sign)  
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.  
DIM text$(30)  
´
´
´
´
´
´
´
´
´
´
´
´
´
The text string "text$" is defined with a length of 30.  
The interface parameters are assigned to the "a$" string. Meaning:  
com1:the com1 serial interface is used.  
a$="com1:9600,N,8,1"  
9600: sets baud rate to 9600  
N:  
8:  
1:  
no parity  
8 bit word length  
one stop bit  
OPEN a$ for RANDOM AS #1  
text$="S1"  
The interface is initialized and marked with #1 (channel 0).  
Status S1 must be queried.  
PRINT #1,text$  
text$=""  
text$ is output on channel 1.  
text$ is deleted so that the response can be accepted.  
S1 is read by channel 1 in text$  
INPUT #1, text$  
PRINT text$  
S1 is output on screen  
END  
161  
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COMPAX-M / -S  
Operating Instructions  
RS232 interface  
8.6.3.2 Interface functions  
When making direct command entries via RS232, use the abbreviated form for  
most instructions (two letters).  
Direct  
command entry  
Commands  
permitted for the  
various modes of  
operation  
When using "Direct command entry", write an "END" instruction in data  
memory No. 1 because the start command refers to the program memory if  
the unit contains no direct commands.  
Preparatory positioning commands  
3. These commands can be transmitted to COMPAX when idle and during a  
positioning process.  
4. The commands are accepted with the next positioning command  
Instruction  
Abbreviated Meaning  
form  
ACCEL  
AL  
Accelerating and braking time in ms  
ACCEL-  
SPEED  
AL-  
SD  
Separate specification of braking time.  
Velocity in %  
POSR value1  
SPEED value2  
POSR value1  
OUTPUT Oxx=y  
PR SD  
Preparation for speed step profiling.  
PR OT  
Sets comparator function.  
The comparators are also indicated using  
"CRLF> comparator No." via RS232 (see  
example 2).  
Example 1: POSR 100 SPEED 50 CR LF or  
PR 100 SD 50 C  
L
R F  
Prepares a speed step.  
Example 2: PR 200 OT O9=1 1st comparator  
PR 100 OT O10=1 2nd comparator  
POSA1000$  
The following signs are returned:  
2 CRLF > after 100 units  
1 CRLF > after 200 units  
$ CRLF > after 1000 units  
Positioning  
commands  
Positioning commands can be transmitted to COMPAX when idle and during a  
positioning process.  
If the axis is moving, the command is acknowledged negatively.  
The current settings (ACCEL, SPEED, ...) apply to the positioning command; i.e.  
these settings can still be modified before the positioning command is  
transmitted.  
A positioning command specified by the interfaces is interrupted by a reference  
journey prompted by the digital inputs. (POSA, POSR, LOOP).  
Instruction  
POSA  
Abbr. form Meaning  
PA  
Absolute position  
POSA HOME  
POSR  
OUTPUT O0  
PH  
PR  
OT O0  
Find machine zero  
Relative position  
Switch off drive  
Example 1: POSA 2500C L  
or PA 2500C L  
R F  
R F  
Proceed to position 2500  
Influencing the  
active positioning  
process  
This command is only permitted if COMPAX has not received any more  
commands since the positioning command currently being processed  
(excluding commands which are not position dependent, such as OUTPUT,  
GOTO and ACCEL, ACCEL-).  
162  
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Interfaces  
RS232 interface  
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  
Abbreviated Meaning  
form  
POSR 0 SPEED  
value  
PR 0 SD  
Direct speed modification.  
Commands which  
are not position-  
dependent  
These commands are processed regardless of a positioning process specified by  
the interface (not during an internal data record procedure).  
Instruction  
Abbreviated Meaning  
form  
OUTPUT  
GOTO  
OT  
GO  
Set output  
Adjusts data record indicator  
and enables / blocks password.  
Commands which  
are only permitted  
when drive is idle  
The axis must be at a standstill if modified VP parameters are to be transferred.  
The axis must be switched off if modified VC parameters are to be transferred  
(e.g. via OUTPUT O0=1).  
Instruction  
Abbreviated Meaning  
form  
VALID  
VP  
Modified parameter accepted (not  
PARAMETER  
configuration parameters).  
VALID  
VC  
All parameters are accepted with VC.  
CONFIGURATION  
Use the serial interface to query all status values, even during a positioning  
process.  
Sxx transmitted, xx = number of the status value.  
Read the status  
values  
COMPAX returns the current value.  
S1 C  
L
Example:  
R
F
Response: S001:xxxxxxxx,xxxmm C L >  
R
F
The decimal point for S1 - S12 is always the ninth digit after the ":".  
8.6.3.3 Read and write program sets and parameters  
Also possible during a positioning process.  
Download: writing  
the sets and  
parameters  
Instruction  
Meaning  
Write set xxx with instruction  
Nxxx: Instruction  
Pxxx=value  
.
Write parameter xxx with value.  
Pxxx="name"  
Assigns parameter xxx with name.  
(Only for P40-P49)  
Example:  
C L or N005: PA 100 C L  
F
N005: POSA 100  
R
F
R
The POSA 100 instruction is written in data record 5.  
Upload: read the  
sets and  
parameter  
Instruction  
Meaning  
Read data record xxx.  
Read parameter xxx.  
Nxxx  
Pxxx  
163  
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COMPAX-M / -S  
Operating Instructions  
RS232 interface  
Example:  
C
L
P40  
R F  
COMPAX transmits the contents of P40: P40=value name C L >  
R F  
Transmitting  
control  
Instruction  
Abbreviated Meaning  
form  
START Nxxx SNxxx  
Execute program set xxx (this set only).  
Start program.  
instructions  
START  
STOP  
ST  
SP  
Stop program/positioning.  
SP corresponds to a STOP pulse  
Acknowledge error  
QUIT  
QT  
TZ  
TEACH Z  
Accepts current position as real zero point. (P1 is  
modified).  
The data record indicator is set to 1.  
TEACH Nxxx TNxxx  
Current position is written into set xxx using the  
POSA command.  
Not possible in "Reset mode".  
BREAK  
BK  
Interrupts positioning or program step.  
Example: START N010 C L or SN 010 C  
L
R F  
R F  
Set 10 is executed  
P211: blocking  
P211 Function  
and modifying the  
teach in functions  
= 0 The functions I1 + I4, Teach N, I1 + I5 and Teach Z are enabled.  
= 1 Teach Z is blocked; the data record indicator is set to 1 using I1 + I4 or  
"Teach Z".  
= 2 Teach N is blocked; the data record indicator is set to 1 using I1 + I5 or  
"Teach N". (Teach Z is enabled)  
= 3 The functions Teach N and Teach Z are blocked. With I1 + I4, Teach N, I1  
+ I5 or Teach Z, the data record indicator is set to 1.  
If commands are issued using RS232 and they cannot be executed (invalid  
commands, missing password or COMPAX is busy), a warning is sent back.  
Meaning:  
Negative  
command  
acknowledge-  
ment  
E90 Syntax error; command not valid  
E91 Command cannot be executed in this COMPAX operating mode.  
E92 Function running, command cannot be executed  
E93 Data record memory active, command cannot be executed  
E94 Password missing  
These warnings are not entered in status S18 (error history).  
164  
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Interfaces  
RS232 interface  
Operating status  
Commands available  
Authorization of  
commands in  
different modes  
of operation  
Status query (Sxx)  
Parameter query and assignment (Pxxx,  
Pxxx=value)  
Data record query and assignment (Nxxx,  
Commands available in  
all operating modes /  
statuses  
Nxxx=value)  
Set / reset outputs (OUTPUT Ox=y); Not  
OUTPUT O0!  
Stop  
VP, VC, VF  
Emergency stop  
Quit  
OFF (motor switched  
OUTPUT O0  
off)  
GOTO data record indicator / password  
Error present  
In data record operation VP  
During positioning  
VP  
process  
SPEED / ACCEL  
(as preparation for the  
next command)  
POSR value SPEED value / POSR value  
OUTPUT Ox=y  
GOTO data record indicator / password  
No program  
processing!  
Find machine zero  
Approach real zero  
Manual +/-  
No other commands possible!  
During RUN and  
All commands and functions are possible!  
motor under torque  
No positioning!  
No stop present!  
No error present!  
38  
SPEED is not available in speed control mode.  
165  
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COMPAX-M / -S  
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).  
P20 = P20 + 16  
P20: switching on  
binary data  
transfer  
Adds 16 to the required P20 setting (see interface parameters section in the User  
Guide). This ensures that binary data transfer is available in addition to normal  
transfer (ASCII).  
Example:  
P20="3": with XON, XOFF; no error response message; no binary data transfer.  
P20="19": with XON, XOFF; no error response message; binary data transfer.  
!
The end sign must not be transmitted!  
!
The entire length of the binary format must always be transferred!  
!
Function signs ("$" "," "?" "!") are not available when using binary transfer.  
COMPAX response  
as ASCII transfer:  
without error: using "CR LF >".  
with error: depending on the value of P20  
(refer to "Error transmission" in the User Guide).  
Meanings of the  
binary command  
codes  
Command  
Binary format (hexadecimal)  
POSA value  
88 41 xx xx xx xx xx xx  
LSB  
MSB  
POSR value  
88 52 xx xx xx xx xx xx  
LSB  
MSB  
SPEED value  
88 53 xx xx xx xx xx xx  
LSB  
MSB  
ACCEL value  
84 4C yy yy  
MSB LSB  
ACCEL- value  
84 44 yy yy  
MSB LSB  
OUTPUT Oyy=0  
85 4F yy yy 30  
MSB LSB  
OUTPUT Oyy=1  
85 4F yy yy 31  
MSB LSB  
8C 52 xx xx xx xx xx xx 4F yy yy 30  
POSR value OUTPUT Oyy=0  
POSR value OUTPUT Oyy=1  
POSR value1 SPEED value2  
LSB  
MSB  
MSB LSB  
8C 52 xx xx xx xx xx xx 4F yy yy 31  
LSB  
MSB  
MSB LSB  
8F 52 xx xx xx xx xx xx 53 xx xx xx xx xx xx  
LSB  
MSB  
LSB  
MSB  
Numerical formats of "xx xx xx xx xx xx" *2  
Numerical formats  
3 bytes after the decimal point, 3 bytes before the decimal point.  
Valency:  
2-24 2-23 ... 2-2 2-1 , 20 21 22 ... 222 223  
Transmission sequence, e. g.: "88 41 LSB....MSB"  
Numerical formats  
of "yy yy"  
2 bytes before the decimal point.  
no digits after the decimal point.  
166  
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Interfaces  
RS232 interface  
Valency: *1  
215 214 ... 22 21 20.  
Transmission sequence, e.g.: "84 4C MSB LSB".  
*1 Negative numbers  
Negative numbers are represented in complement to two format. Creating the  
complement to two:  
Determine bit combination of the positive numerical value.  
Negate the binary value.  
Add 1.  
*2 Format  
conversion  
You can generate this format from any number (as long as it has digits after the  
decimal place) as follows.  
Example:  
Number = 450.5  
1. Multiply number by 224.  
450.5 * 224 = 7 558 135 808.  
2. 7 558 135 808: convert into a hexadecimal number (if necessary into an integer  
first) =>0x00 01 C2 80 00 00 before decimal place, after decimal place ≡  
MSB,.... LSB, MSB,.... LSB.  
3. These bytes must now be entered into the commands in the sequence  
specified. The sequence of the bytes is reversed. Do not alter the sequence of  
the bits.  
This conversion also applies to negative numbers.  
Examples of the number format of "xx xx xx xx xx xx"  
Number MSB  
LSB  
00  
10  
00  
00  
00  
FF  
00  
01  
01  
FF  
0A  
68  
C2  
FF  
00  
00  
80  
00  
00  
00  
00  
00  
360  
450,5  
-1  
00  
00  
00  
Digits before the decimal place  
Digits after the decimal place  
The following string will be produced, e.g. for POSA 360.0:  
"88 41 00 00 00 68 01 00"  
Note: transfer all digits!  
Start-up during  
binary transfer  
Note: when binary transfer is switched on, note the following.  
Only create RS232 connection when participants are switched on or  
when participants are enabled, the RS232 can be re-initialized by COMPAX using  
Power on.  
167  
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COMPAX-M / -S  
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  
simultaneous (±2.5 µs) processing of individual controller time slices.  
The master (operating mode 1) transmits 2 synchronization words to the slave  
axes, enabling them to synchronize. The slave axes (operating mode 2)  
synchronize automatically. No response is transmitted from the slave axes to the  
master.  
Synchronization  
and fast start via  
HEDA:  
The master only transmits to axis address 1. Therefore, all slaves must also be set  
to address 1 (P250=1).  
Acyclic communication between master and slave is not possible.  
Variant support:  
Physical limits:  
COMPAX XX00 as slave to transmit "Fast start" or as master  
COMPAX XX60 as master or slave not when P212=3 and P212=4  
COMPAX XX70 as master or slave only when P31=9 or 0  
Max. 16 participants in the master/passive slave operating mode and max. 50m  
cable length.  
The units must be fitted with the O1 / A4 (COMPAX 1000SL) option. There must be  
a terminating connector bus 2/01 on the last slave.  
Hardware  
requirements:  
HEDA  
parameters:  
Parameter Meaning  
No.  
Valid Default  
from  
value  
P243  
HEDA operating mode  
VP  
0
0
P245*  
Assgn outputs O1 ... O8 to the HEDA bus  
imme-  
diately  
imme-  
diately  
VP  
P246*  
Assgn outputs O9 ... O16 to the HEDA bus  
0
P247  
P248  
P249  
P250  
Max. average transmission errors  
Max. transmission errors  
Synchronization monitoring  
5
VP  
VP  
VP  
15  
10  
0
Unit addresses (in master – slave mode =1)  
*In the HEDA master - HEDA slave operating mode (passive slave to COMPAX  
master), P245=P246=0 is set.  
Operating modes:  
No P243  
.
P250  
= 0  
Operating  
mode  
Independent  
single axis  
Slave on IPM  
via HEDA  
COMPAX as  
master  
Description  
0
0
1
Not  
relevant  
0
No coupling, no synchronization  
= 1 ... 9  
= 1  
Coupled operation and acyclic  
communication possible via HEDA  
Master axis transmits synchronous  
word and 7 words to address 1  
Bit  
0="1"  
(P243=1)  
Bit  
2
= 1  
Passive slave Slave receives at address 1 (P250=1),  
1="1"  
(P243=2)  
to COMPAX  
master  
but does not send anything back  
Note!  
If HEDA coupling is activated and the master executes "Find machine zero",  
this will result in a positional offset between master and slave.  
You should therefore execute machine zero travel when the HEDA coupling  
is deactivated.  
39  
The interpolation module IPM can also be used as a master, but only with  
COMPAX XX00; COMPAX XX60, COMPAX XX70  
168  
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Interfaces  
Process coupling using HEDA (Option A1 / A4)  
P18 is expanded with the following bits:  
Fast start  
P18  
Meaning  
Bit 0  
=0 without PLC data interface  
=1 with PLC data interface  
Bit 1  
=0 fast start on I15 not active  
=1 fast start on I15 active  
Bit 2  
Bit 3  
reserved  
=0 fast start on HEDA bit 8 not active  
=1 fast start on HEDA bit 8 active  
only permitted with P18: bit 1=1 (see below).  
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.  
This operating mode is also set with P18=10.  
If I15 is not required on the slave, then set I15="1".  
Note:  
The fast start is additionally delayed by 1 ms for all axes; i. e. in total 2.5ms  
(+1.5ms reaction time I15)  
The master transmits one data block per ms to address 1, consisting of  
HEDA control word, inc. fast start on bit 8 (bit 8 is automatically generated in the  
master from I15 "Fast start").  
Transmittable  
parameters:  
Process value, selected with parameter P184 depending on family (COMPAX  
XX00, COMPAX XX60, COMPAX XX70) between:  
Master output  
quantity:  
Output quantity  
Master  
Encoder position (COMPAX XX70) +  
master channel duration period  
P184=40  
Internal time base / encoder velocity before P35*  
(COMPAX XX70)  
P184=42  
Scaled master position before P35* (COMPAX XX70)  
P184=43  
P184=44  
Nominal position value in resolver increments  
[65536 increments/revolution]  
Actual position value in resolver increments  
[65536 increments/revolution]  
P184=45  
P184=46  
Differentiated resolver position [increments/ms]  
* The quantity is unaffected by P35.  
Coupling the slave to the transmitted quantity is implemented with P188.  
Slave input  
quantities:  
Input quantities  
Slave  
Encoder coupling (P184 in master =40)  
The input signal is used as an encoder signal.  
P188=40  
Internal time base / encoder velocity before P35* (COMPAX  
XX70)  
P188=42  
The input signal is used as a master velocity.  
Application: coupling several axes to one master signal (e.g. an  
internal time base)  
Scaled master position before P35* (COMPAX XX70)  
The input signal is used as a master position.  
Application: coupling several axes to one master signal (e.g. an  
internal time base)  
P188=43  
Input quantity is interpreted as an encoder signal even though it is  
not an encoder signal (P184 in master 40) see below for more  
information.  
P188=140  
* The quantity can be influenced by P35.  
169  
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COMPAX-M / -S  
Operating Instructions  
Process coupling using HEDA (Option A1 / A4)  
Permissible  
combinations and  
required  
parameter  
settings:  
Master output  
quantites:  
P184=  
Slave  
input  
quanti-  
ties:  
Can be used in  
slave unit  
versions:  
Settings in master and slave for  
adapting the process quantities:  
P98 is identical in all units  
P188=  
CPX 60, CPX 70  
CPX 70  
CPX 70  
40  
40  
43  
42  
P143s=P143  
M
(CPX 00 CPX 60, CPX 70)  
42  
P143s=P143M  
P143s=P143M  
(CPX 70)  
CPX 60, CPX 70  
CPX 70  
CPX 60, CPX 70  
CPX 70  
CPX 60, CPX 70  
CPX 70  
CPX 70  
43  
(CPX 70)  
140*  
43  
140*  
43  
140*  
43  
42  
44  
P143s = 214 = 16384  
P143s = 214 = 16384  
P143s=P143M  
(CPX 00 CPX 60, CPX 70)  
45  
(CPX 00 CPX 60, CPX 70)  
46  
(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  
low word to support a duration period measurement in the slave.  
If a mixture of application purposes is undertaken, e.g. master P184=44 (nominal  
value) and slave with encoder coupling, then the slave must be informed using  
P188=140 (in such cases only the high word is processed).  
Application  
examples:  
1st unit: Master  
COMPAX XX60  
Slave  
COMPAX XX60  
Coupling of several axes to one  
encoder; HEDA distributes the signals COMPAX XX70 (P31=1) COMPAX XX70  
Encoder input  
P184=40 (encoder  
position+duration  
period)  
(P31=9)  
Master  
Slave 1  
Slave 2  
P188=40  
(encoder input;  
duration period  
available)  
P188=40  
O1/O3  
O1/O3  
O1/O3  
I2  
GBK11  
P98 and P143 must have the same  
values for master and slave!  
SSK15  
SSK14  
BUS2/01  
Replacing the encoder emulation using COMPAX XX00  
COMPAX XX60  
COMPAX XX70  
P188=140  
HEDA bus  
COMPAX XX60  
COMPAX XX70  
Master  
Slave 1  
Slave 2  
Setting P143 =  
16384  
(¼ of the increments  
are always in P143  
as quadrupling  
occurs during  
P184=44 (nominal  
position value) or  
P184=45 (actual  
position value)  
P188=0  
O1/O3  
O1/O3  
O1/O3  
encoder inputs)  
SSK15  
SSK14  
BUS2/01  
Note: There is a time misalignment  
between master and slave of 2ms;  
Remedy: activate identical program  
sets together using "Fast start".  
40  
P143s: parameter P143 of the slave  
P143M: parameter P143 of the master  
170  
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Interfaces  
Process coupling using HEDA (Option A1 / A4)  
1st unit: Master  
Slave  
Coupling of several cams with the  
COMPAX XX70  
COMPAX XX70  
same time base and separate master  
P184=42 (time base) P188=42  
or slave oriented label synchronization P188=42  
(see above)  
P143s=P143M  
Linking of several cams with the same COMPAX XX70  
COMPAX XX70  
P188=43  
P143s=P143M  
time base and absolute zero drift  
between the axes due to the transfer of master position)  
a position value (see above) P188=43  
P184=43 (scaled  
Only position signals can be completely restored following HEDA transmission  
errors . When transmitting velocities, transmission errors can lead to drift  
tendencies between the axis positions. For this reason use of the position  
values is preferred.  
Error handling  
Error messages:  
HEDA transmission or synchronization errors are errors E76, E77 and E78.  
Synchronization is interrupted with E76, therefore an alignment is implemented  
whereby the process position value is aligned in such a manner that a position leap  
does not occur.  
E76:  
E77/E78:  
With E77/E78, the slave attempts to reach the new undisturbed process position  
value in order to maintain the reference system.  
Transmitting "VC" interrupts the synchronization.  
Only activate "VC" when the unit is switched off.  
When working with the user terminal BDF2, "VC" is transmitted when the  
"Parameter edit" menu is exited.  
Note!  
Transmission error  
procedure:  
Position values / position (P184=40/43/44/45):  
Velocity values / frequencies (P184=42/46):  
linear interpolation using old  
values  
retains old value  
In cases when P188>0 on the master side, a fixed delay in the associated process  
value is implemented, amounting to a total of 2 ms. This ensures that the master  
waits until all axes have received the process value. This ensures that all axes,  
including the master, continue to process the new nominal values simultaneously.  
Synchronizing  
process values:  
Note:  
Note:  
Except for fast start, no additional I/O's are sent.  
There can be only one master on the bus!  
The position values for P184=44 and P184=45 are derived independently of the  
current positioning operating mode (normal, continuous, reset). They are  
obtained from the nominal position value and the actual position value and  
made available in 24-bit format, as if with counter channels. This avoids jerky  
changes in the start torque (in continuous mode) or when reading the end of the  
curve (in reset mode). Only the lower 24 bits of these values are transmitted,  
consisting of the resolver value and maximum 256 motor revolutions.  
171  
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COMPAX-M / -S  
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  
172  
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System concept  
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  
9.1 System concept  
The COMPAX system concept is based on a basic  
unit which contains the function-important  
components and additional system components.  
These can be used to extend a system for your  
specific requirements.  
The system consists of the following components:  
! COMPAX  
This contains:  
digital inputs and outputs (PLC interface)  
serial interface (RS232)  
front plate with status and error display  
data record memory  
integrated IGBT final stage  
! mains module to produce power voltage (without  
transformer); with emergency stop function.  
! drive unit (motor, transmission and cable).  
! aids for controlling COMPAX using the digital  
inputs and outputs.  
! interface cable for operating COMPAX via the  
serial interface RS232.  
! options which support other application areas.  
! hand-held terminal for menu-guided configuration  
and programming of COMPAX.  
! PC software for supported parameter  
specification and for creating programs.  
173  
Please note: the operating instructions (pages 67 - 171) as well as the application examples (pages  
225 - 237) can be found in thDeowcnolomadpflreomteWpwrwo.dSoumcatnmualas.ncouma.lAwll MhaicnuhalissSeaavrcahilAanbdlDeoawsnloPadD.F file on CD  
 
COMPAX-M / -S  
Accessories and options  
9.2 Overview  
The following table shows the COMPAX system components and the relevant associated cables.  
COMPAX 35XXM  
HDY055..  
COMPAX-M  
HDY070..  
HDY092..  
MOK 42 / MOK43  
Digital  
S
t
a
t
u
s
N
u
m
b
er  
HDY115..  
HJ96..  
HJ116..  
-
+
E
n
te  
r
R
e
ad  
y
E
r
r
o
r
R
e
ad  
y
E
r
r
o
r
REK 32  
X6  
X7  
X6  
IN  
R
S
4
8
5
OU  
T
R
S
2
3
2
X8  
X8  
X
1
0
C
o
n
tr  
o
l
I
n
p
u
t
O
u
t
p
u
t
T
e
s
t
C
o
n
tr  
o
l
X9  
X
1
1
COMPAX-M with  
Power module NMD  
MOK 21 / MOK11 / MOK46  
REK 32  
HDY142..  
HJ155  
HJ190..  
Power Supply  
COMPAX-M  
DIGITAL  
Status  
Number  
-
+
Enter  
Other motor types  
Ready  
Error  
Ready  
Error  
X6  
X7  
X6  
IN  
RS485  
OUT  
RS232  
X8  
X8  
X10  
Control  
Input  
Output  
initiator set IVD 1/.. for 3 initiators  
Iinitiators: IN HE 521506  
Tes  
t
C
ontrol  
X9  
X11  
COMPAX P1XXM  
SSK 1/..  
To PC or Terminal  
The RS232 -  
interface is  
COMPAX-M  
available in the  
standard device  
D
I
G
I
T
A
L
Status  
N
u
m
be  
r
handheld terminal BDF 2/01  
V
a
lu  
e
+
Enter  
R
e
a
d
y
Error  
X6  
R
S
2
3
2
X8  
X
1
0
Input  
O
u
t
pu  
t
T
e
st  
Control  
X9  
X
1
1
COMPAX 25XXS  
ASCII / binary  
RS 485  
Option F1: 4-Wire  
Option F5: 2-Wire  
S
t
a
tu  
s
N
u
m
b
e
r
V
alue  
-
+
E
n
te  
r
R
eady  
E
rr  
o
r
X6  
Interbus-S  
R
S232  
X8  
X10  
I
n
p
u
t
Option F2  
O
u
tp  
u
t
T
es  
t
C
o
n
t
r
o
l
X
Profibus  
Option F3  
COMPAX 10XXSL  
as plug-in option  
to further bus  
subscribers  
SSK13/...  
CAN Bus  
Option F4  
CANopen  
Option F8  
COMPAX 45XXS  
COMPAX 85XXS  
COMPAX-S  
CS31-System bus  
Option F7  
D
IGITAL  
Status  
Number  
Value  
+
ETER  
SSK14/.. : IPM - COMPAX  
R
eady  
Error  
HEDA  
Option A1  
COMPAX 1000SL:  
Option A4  
COMPAX - COMPAX  
to an IPC with Hauser  
plug-in board "IPM" for  
contouring  
RS23  
2
as plug-in option  
X6  
Input  
Input  
SSK15/.. : COMPAX-Master  
- COMPAX-Slave  
Output  
X8  
Output  
X10  
Tes  
t
Control  
X11  
X9  
BUS 2/01:Bus termination  
174  
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Overview  
Operating panel  
BDF 1/03  
Operating panel  
BDF 1/02  
COMPAX 35XXM  
SSK 6/..  
COMPAX-M  
GBK 16/..  
Digital  
SinCos  
Option S1/S2  
SinCos imstalled in the motor  
S
t
a
t
u
s
N
u
m
b
e
r
Valu  
e
-
+
E
n
te  
r
R
e
ad  
y
E
r
r
o
r
R
e
ad  
y
E
r
r
o
r
X6  
X7  
X6  
GBK 18/..  
GBK 1/..  
IN  
R
S
4
8
5
OU  
T
R
S
2
3
2
SinCos  
Option S3 für  
Linearmotoren  
X8  
X8  
X1  
0
SinCos installed in the motor  
Absolute encoder  
C
o
n
tr  
o
l
I
n
p
u
t
O
u
t
p
u
t
T
e
s
t
C
o
n
tr  
o
l
X9  
X1  
1
Absolute encoder  
Interface A1  
STEGMANN  
COMPAX-M with  
Power module NMD  
AA100  
Litton  
Encoder-  
Input I 2  
Encoder  
GBK 11/..  
SSK 7/..  
G71SSLDBI-  
Power Supply  
COMPAX-M  
4096-151-050BX  
D
IGITAL  
Direct to encoder simulation of  
COMPAX oder SV Drive  
Status  
Number  
Value  
(with cable connection)  
-
+
Enter  
Ready  
Error  
Ready  
Error  
X6  
X7  
X6  
IN  
RS485  
OUT  
RS232  
X8  
X8  
X10  
Control  
Input  
Output  
Test  
Control  
X9  
X11  
to the  
Encoder-  
distributor  
Encoder-  
Input I 4  
Encoder distributors  
COMPAX P1XXM  
EAM 4/01  
SSK 7/..  
SSK 4/..  
(without cable  
connection)  
channel 1 incoming  
SSK 7/..  
COMPAX-M  
D
I
G
I
T
L
Status  
N
u
m
be  
r
V
a
lu  
e
+
Enter  
Channel 1 relaying  
R
e
a
d
y
Error  
X6  
R
S
2
3
2
X8  
X
1
0
Bus termination  
BUS 1/01  
Input  
EncoEer-  
simulation  
Option I 3  
O
u
t
pu  
t
T
e
st  
Contro  
l
X9  
X
1
1
SSK 7/..  
COMPAX 25XXS  
Channel 2 output  
S
t
a
tu  
s
N
u
m
b
e
r
SSK 7/..  
l
Direct to an encoder input  
-
+
E
n
te  
r
R
eady  
E
rr  
o
r
X6  
e.g. to COMPAX-M  
R
S232  
X8  
X10  
I
n
p
u
t
D/A - Monitor D1 (12 Bit)  
to oscilloscope  
ASS 1/01  
O
u
tp  
u
t
T
es  
t
C
o
n
t
r
o
l
X9  
X11  
COMPAX  
Monitor  
Analogue output of  
intermediate values  
DA0  
DA1  
COMPAX 10XXSL  
Ballast resistor BRM 4/..witht 1.5m cable  
optainable in 3 ratings for connection to  
the power module NMD20  
Ballast resistor BRM 7/01 with 1.5m cable  
for connection to COMPAX 35XXM  
COMPAX 45XXS  
COMPAX 85XXS  
Ballast resistor BRM 6/01 with 1.5m cable  
for connection to COMPAX 45XXS / COMPAX 85XXS  
COMPAX-S  
Ballast resistor BRM 5/01 with 0.3m cable  
for connection to COMPAX 25XXS  
D
IGITAL  
Status  
Number  
Ballast resistor BRM 8/01 with 0.25m cable  
for connection to COMPAX 10XXSL  
Value  
-
+
ENTER  
Ready  
Error  
RS23  
2
X6  
Input  
Input  
COMPAX ServoManager with:  
Output  
X8  
Output  
X10  
ParameterEditor and  
ProgrammEditor  
Tes  
t
Control  
X11  
X9  
CamEditor for COMPAX XX70  
175  
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COMPAX-M / -S  
Accessories and options  
9.3 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  
option S3 (interface to linear encoder and Hall sensor; assignment X12 see Page  
Linear motor:  
Conditions regarding the linear motor:  
3 phase synchronous linear motors with:  
sine-cosine linear encoder (1Vss).or TTL (RS422)  
digital Hall sensor commutation (5V) with following signal sequence:  
Phase  
V-U  
Phase  
U-W  
Phase  
W-V  
Hall 1  
Hall 2  
Hall 3  
The depicted signal sequence applies for positive direction.  
Note concerning  
the reference mode:  
Only the modes P212=7 and P212=11 are presently available as reference modes  
for linear motors!  
For highly dynamic and precise applications, we provide the linear motor LXR,  
which can be operated with COMPAX 25XXS or COMPAX 10XXSL (with the S3  
option and GBK18 and GBK20 cable). Ask for our leaflet.  
Linear motor LXR  
Note:  
When operating the linear motor LXR, reduced norminal and peak currents apply to  
COMPAX:  
Unit  
Nominal  
Peak current Power [kVA]  
current [Aeff] [Aeff] <5s  
COMPAX ..  
with mains supply: 230V AC  
10XXSL  
25XXS  
2.1  
4.1  
4.2  
8.2  
0.8  
1.4  
176  
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HAUSER linear actuators  
9.4 HAUSER linear actuators  
The HAUSER "HLEc" linear unit is available with various cross sections:  
HLE80C cross section: 80 mm x 80 mm up to 6m long  
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:  
cross section: 80 mm x 80 mm  
up to 50m for rack-and-pinion, up to 20m for toothed belt  
HPLA120:  
cross section: 120 mm x 120 mm  
up to 50m for rack-and-pinion, up to 20m for toothed belt  
HPLA180:  
cross section: 180 mm x 180 mm  
up to 50m for rack-and-pinion, up to 20m for toothed belt  
Electric cylinder ET: with 50 - 1500 mm stroke. Tensile and shear forces up to  
21000 N  
Vertical actuators with toothed belt: up to 2500mm stroke; up to 100kg  
payload  
The attached transmissions are available with ratios of 3:1, 5:1, 7:1, 10:1 and 25:1.  
Please contact us if you require more information.  
If you are using, e.g. a rack-and-pinion drive, toothed belt drive or spindle drive,  
you can obtain the necessary initiators and initiator connectors and cable from us.  
We can also supply you with retaining material on request.  
Initiator set  
177  
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COMPAX-M / -S  
Accessories and options  
9.5 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  
9.5.2 Bus systems  
The bus systems are options which you can select to use or not. They require an  
additional board to be fitted in COMPAX. The connection is located on the mains  
module or, in COMPAX-S and COMPAX 35XXM, directly on the unit.  
The controllers, connected to the mains module or COMPAX 35XXM, are already  
connected via the flatband cable available in the system network.  
9.5.2.1 Interbus-S / Option F2  
You will find an object directory in the special documentation. The connection  
arrangement is based on the specifications of 2-conductor remote bus.  
9.5.2.2 RS485 / Option F1/F5  
The RS485 interface is described in the special documentation. 2 different options  
are available:  
F1: 4 wire RS485F5: 2 wire RS485  
9.5.2.3 Profibus / option F3  
The Profibus is described in the special documentation. Functions:  
Sinec L2-DP and FMS  
1.5M Baud  
Communication with Simatic S7 is supported by special function modules.  
9.5.2.4 CAN - Bus / Option F4  
The Profibus is described in the special documentation. Functions:  
BasicCAN  
up to 1M Baud  
CAN protocol as per specification 1.2  
Hardware as per ISO/DIS 11898  
9.5.2.5 CANopen / Option F8  
Protocol as per CiA DS 301.  
Profile CiA DS 402 for drives.  
9.5.2.6 CS31system bus / Option F7  
COMPAX – ABB – interface.  
178  
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Process interfaces  
9.6 Process interfaces  
9.6.1 Encoder interface  
The encoder interface option E2 (E4) enables the connection of an external  
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.  
Minimu  
m value  
Default  
value  
Maximum  
value  
Valid  
from...  
No.  
Meaning  
Unit  
P98  
Travel of axis per encoder revolution  
0
4 000 000 VC  
2 000 000 VC  
VC  
corresp. P90  
0.0000000  
P143  
P146  
Encoder pulses per revolution (channel 1)  
120  
4096  
Resolution of encoder emulation (channel 2) =0: 1024 =8: 512  
Technical data:  
RS422 interface 5V supply;  
120-10 000 increments/revolution (fmin: 4 kHz; fmax: 500 kHz).  
Dimension diagram:  
Dimensional diagram for Litton encoder G71SSLDBI-4096-151-05BX:  
63.5±0.1  
68 max  
46.35±0,2  
47.625  
22.2±0.5  
7.5+0.25  
2.65-0.25  
2.65-0.25  
Shaft seal  
for screw:  
10-32 UNF-2B  
thread 4,8 deep  
0.2  
41  
Does not apply for COMPAX 1000SL. COMPAX 1000SL allows to configure the  
generally available signal interface either as encoder input or as encoder emulation (See  
page 61).  
179  
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COMPAX-M / -S  
Accessories and options  
Encoder module  
and accessories:  
Encoder input module with line terminator for Not for COMPAX 1000SL:  
E2  
individual connections; not for creating an  
encoder bus.  
With COMPAX 1000SL, the  
signal interface usually  
present can be configured  
either as an encoder input or  
encoder simulation (see Page  
E3: Encoder emulation  
E3  
E4  
Encoder input module without line terminator  
for creating an encoder bus.  
Encoder distributor for creating an encoder bus.  
EAM4/01  
Design:  
Depth: 40 mm without mating connector  
The module is engaged on the terminal  
bus bar.  
70mm  
Bus termination for encoder distributor EAM4/01.  
BUS1/01  
BUS6/01  
GBK11/..  
SSK7/..  
SSK4/..  
SSK17/..  
Bus termination for encoder - COMPAX 1000SL connection  
Encoder cablefor connecting COMPAX with an encoder.  
Connector cable between encoder distributors or from an encoder emulation.  
Connector cable between COMPAX and encoder distributor.  
Connector cable between COMPAX 1000SL (encoder emulation) – COMPAX  
Assignment of  
EAM4/01  
(corresp. X13)  
Channel 1  
X1: IN X2: OUT  
Channel 2  
Pin  
1
X3: IN  
X4: OUT  
Screen  
N2  
Screen  
NC  
Screen  
N1  
Screen  
NC  
2
3
NC  
B1  
NC  
B2  
4
NC  
1A  
NC  
A2  
5
N1  
NC  
NC  
NC  
NC  
N1/  
B1/  
O1/  
NC  
NC  
NC  
NC  
N2  
NC  
6
B1  
B2  
NC  
7
1A  
A2  
NC  
8
+5V  
NC  
+5V  
NC  
NC  
9
N2/  
B2/  
10  
11  
12  
13  
14  
15  
NC  
NC  
NC  
NC  
A2/  
N1/  
B1/  
O1/  
GND  
N2/  
B2/  
A2/  
GND  
NC  
NC  
NC  
NC  
Applications with encoder:  
Encoder COMPAX  
Individual  
connections  
Cable: GBK 11/..  
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/..  
Note! Note direction.  
cable in: SV drive  
cable out: COMPAX  
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).  
180  
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Process interfaces  
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  
(not COMPAX 1000SL)  
COMPAX  
(not COMPAX 1000SL)  
COMPAX –  
COMPAX (both not  
COMPAX 1000SL)  
X13  
X13  
E3  
E2  
SSK7  
COMPAX 1000SL  
(Encoder emulation)  
X13  
COMPAX  
(not COMPAX 1000SL)  
COMPAX (not  
COMPAX 1000SL) –  
COMPAX 1000SL  
X13  
E3  
Bus6/01  
SSK7  
COMPAX 1000SL  
(Encoder emulation)  
COMPAX 1000SL  
(Encoder emulation)  
X13  
COMPAX 1000SL –  
COMPAX 1000SL  
X13  
Bus6/01  
SSK17  
Other  
slaves  
Master  
Slave 1  
X13 E4  
Slave n  
X13 E4  
Encoder bus  
with COMPAX  
X13 E3  
SSK4  
SSK4  
SSK4  
EAM4/01 X5  
EAM4/01 X5  
EAM4/01 X5  
Other  
encoder  
distributors  
Channel 1 Channel 2  
IN OUT IN OUT  
X1 X2 X3 X4  
Channel 1Channel 2  
IN OUT IN OUT  
X1 X2 X3 X4  
Channel 1Channel 2  
IN OUT IN OUT  
X1 X2 X3 X4  
BUS1/01  
Bus ter-  
mination  
SSK7  
SSK7  
SSK7  
Requirements per COMPAX:  
one encoder distributor .................................................................. EAM 4/01  
one cable for the COMPAX and encoder distributor connection ... SSK 4/..  
one bus cable for connecting the encoder distributors .................. SSK 7/..  
(configured in  
COMPAX 1000SL)  
(configured in  
COMPAX 1000SL)  
Encoder simulation in the master................................................... E3  
Encoder input module in each slave .............................................. E4  
Bus terminator................................................................................ BUS 1/01  
COMPAX  
COMPAX  
COMPAX  
Additional  
COMPAX  
Encoder bus  
with encoder or  
encoder  
E4  
E4  
E4  
X13  
X13  
X13  
SSK4  
SSK4  
SSK4  
emulation in SV  
drive  
EAM4/01 X5  
EAM4/01 X5  
EAM4/01 X5  
Other  
encoder  
distributors  
Channel 1 Channel 2  
IN OUT IN OUT  
Channel 1Channel 2  
IN OUT IN OUT  
Channel 1 Channel 2  
IN OUT IN OUT  
X1 X2 X3 X4  
X1 X2 X3 X4  
X1 X2 X3 X4  
BUS1/01  
Bus ter-  
mination  
SSK7  
SSK7  
SSK7  
From encoder (GBK11) or SV drive encoder emulation (SSK7)  
181  
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COMPAX-M / -S  
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/..  
(configured in  
COMPAX 1000SL)  
Encoder input module .................................................................... E4  
Bus terminator................................................................................ BUS 1/01  
For the encoder: encoder cable .................................................. GBK11/..  
For the SV drive: Cable: ................................................................ SSK7/..  
COMPAX  
No. 1  
COMPAX  
No. 2  
COMPAX  
No. 3  
Encoder bus  
mixed  
E3&  
X13 E4  
E4  
X13  
X13 E4  
SSK4  
SSK4  
SSK4  
EAM4/01 X5  
EAM4/01 X5  
EAM4/01 X5  
Channel 1 Channel 2  
IN OUT IN OUT  
X1 X2 X3 X4  
Channel 1 Channel 2  
IN OUT IN OUT  
X1 X2 X3 X4  
Channel 1 Channel 2  
IN OUT IN OUT  
X1 X2 X3 X4  
BUS1/01  
Bus ter-  
mination  
BUS1/01  
Bus ter-  
mination  
SSK7  
SSK7  
From encoder (GBK11) or SV drive encoder emulation (SSK7)  
COMPAX 1 and COMPAX 2 receive the signals from one encoder.  
COMPAX 3 receives the actual COMPAX 1 value concerning its emulation.  
The following are required:  
per COMPAX  
one encoder distributor................................................................ EAM 4/01  
one cable for the COMPAX and encoder distributor connection SSK 4/..  
3 bus cables .................................................................................. SSK 7/..  
2 bus terminators .......................................................................... BUS1/01  
Encoder module:  
COMPAX 1 (not possible with COMPAX 1000SL as there is only 1 encoder channel present!):  
Encoder input module.................................................................. E4  
Encoder emulation ...................................................................... E3  
COMPAX 2, 3:  
(configured in  
COMPAX 1000SL)  
Encoder input module.................................................................. E4  
Encoder cable: ............................................................................ GBK11/..  
182  
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Process interfaces  
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.  
Supported absolute value sensors  
The following Stegmann - absolute value sensors types are supported:  
AG100MS/GRAY 4096/4096  
or  
AG626XSR 4096/4096.  
Technical data  
Supply voltage: 24V ±10%.  
Sensing code: grey code, single step.  
Direction of counting: in clockwise direction when looking at the shaft: rising.  
Data interface: RS422 /24 bit data format (starting with: MSB).  
Cycle frequency: 100 kHz.  
Enable absolute value sensor input  
When using equipped A1 option (if this is not already being executed by HAUSER),  
the absolute value sensor input is enabled using parameter P206. Meaning:  
P206 ="1" absolute value sensor input enabled.  
Note!  
Note  
Only activate the absolute value sensor input if an absolute value sensor has  
been connected correctly and physically.  
Continuous mode is not permitted when the absolute value sensor is active.  
Option A1 also contains the HEDA interface.  
Further information on the value range of S12 can be found on Page 79  
9.6.3 High resolution SinCos sensor system (S1/S2)  
COMPAX uses option S1 to support the high-resolution, optical motor position  
recording process via the Stegmann SinCos sensor system (as a substitute for the  
motor position recording via resolver).  
SinCos single-turn:Type SRS50  
SinCos multi-turn: Type SRM50  
A SinCos sensor provides the following improvements.  
Better concentricity.  
Position recorded with greater absolute accuracy:  
Resolver:± 0.25°  
SinCos: ± 0.005°  
Resolution of motor speed:  
Resolver:16/12 bit (speed-dependent ; 12 bit at higher speeds)  
SinCos: 19 bit over the whole range of motor speeds.  
Less noise at a higher dynamic level via the motor speed resolution.  
With the SinCos multi-turn you also get economical absolute value sensor  
function.  
4096 motor revolutions detected absolute.  
Further information on the value range of S12 can be found on Page 79  
183  
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COMPAX-M / -S  
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.  
Positioning is still implemented with reference to the actual value in Status S1.  
Standard:  
SinCos multi-turn records an absolute position of 4096 rotations.  
In applications such as controlling a round table via a transmission, the position of  
the table cannot be determined very accurately because 4096 rotations usually  
signifies several rotations of the table.  
By specifying the transmission factor P96 (ratio of motor : table), the absolute  
position S12 is reset to 0 after a table rotation. After "Power on" and after an error  
has occurred, S12 is transferred as the actual value (S1=S12).  
The function is switched on via P206="1".  
No.  
Meaning  
Unit  
Minimum Default  
Maximum  
value  
Valid  
from...  
value  
value  
Transmission factor for the reset path of S2 –  
option ("0": no reset function)  
P206 Enabled absolute value sensor input or the  
reset functions of the S2 option  
P96  
0
0
2048  
VC  
VP  
-
="1": absolute value sensor input enabled or  
reset function switched on.  
Please note  
point as required.  
Note!  
This function does not affect the actual positioning process.  
Example:P96=10 (sensor revolutions); P83=40 000µm (40mm)  
After POSA 450 and then POSA 0, the drive reverses by 450 mm (and  
not just 50 mm).  
To execute a positioning process within the reset path after traveling in  
one direction for a long time, evaluate S12.  
E.g.: required position within the reset path = 10 mm  
V1=10-S12  
POSR .V1  
9.6.4 Option S3 for linear motors.  
184  
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Process interfaces  
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,  
or  
for a COMPAX – COMPAX –coupling with the unit variants COMPAX  
Implementing tracking and contouring tasks with the HAUSER interpolation module  
(IPM) for PCs and industrial PCs.  
Communication occurs via the HEDA interface, a rapid synchronous serial  
interface.  
Functional scope of the IPM and COMPAX network:  
!
contours can be stored for up to 9 axes with up to 100000 points.  
!
16 zero-related digital outputs.  
!
Exchange of data between 9 axes within 1ms (setpoint values, auxiliary functions,  
position, lag error, speed, torque)  
!
Freely programmable inputs and outputs  
(Once enabled via P221, P222 and P225, and allocation of outputs to HEDA via  
!
internal data record memory can still be used to its full extent  
!
can be independently operated as a single axis positioning system  
Physical transfers:  
RS485 level (counter-cycle driver);  
DC decoupled using an optical coupler;  
Cycle frequency: 5 Mbit/s.  
used with the interpolation module IPM, a special manual is available!  
9.6.6 D/A monitor (D1) (option not available with COMPAX 1000SL)  
The D/A monitor offers you the option of outputting COMPAX internal  
measurement and intermediate parameters in the form of analogue voltage in  
185  
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COMPAX-M / -S  
Accessories and options  
9.6.7 Analogue speed specification (E7) (option not available with COMPAX 1000SL)  
Only in COMPAX  
XX6X and  
COMPAX XX70  
Option E7 "Analogue speed specification" is available with COMPAX  
XX6X "Electronic transmissions" and COMPAX XX70 "Cam controller".  
Exception:  
In addition, E7 can be used with COMPAX XX00 to implement an external  
The "Encoder input" option (E2 or E4) cannot be used at the same time as  
E7.  
Using option E7, you can specify a nominal speed value via connector X13 as  
analogue voltage in the range -10V to +10V. Use 2 digital inputs (PLC level), to  
define a nominal speed value of 0 and to initiate a change in the rotational  
direction.  
Configuration:  
The following configuration data must therefore be assigned permanent values:  
P80 = "16" (general drive).  
P90 = "1" (mm unit).  
P83 = 100000 µm (travel per motor revolution).  
P93 = "4" (speed control mode).  
P143 = 600 000  
P144 = "7" (analogue speed specification).  
P35 = "1" (transmission factor 1) (I15="0")  
I16 = "1" (external nominal value is valid)  
These parameters influence the interrelation between voltage and speed; they  
must therefore be specified and fixed. Specify the required speed directly in P98 in  
min-1 when input voltage is +10V.  
Accuracy  
Linearity error: <1%  
Amplification error: <5% (you can compensate for these with P98).  
Offset: <15 mV  
Temperature drift: 100 ppm/K  
Connector X13:  
Connection  
assignment  
Pin X13 or  
EAM4/01 X1:  
COMPAX-  
Input I  
Signal  
Circuit proposal  
(encoder assignment)  
Output O  
6 (B1)  
7 (O1)  
A
E
A
A
E
E
+15V <10 mA  
UE  
13 (B1\)  
15 (GND)  
14 (O1\)  
5 (N1)  
-15V <10 mA  
GND  
UE\  
Bridge to 15 (GND)  
Enable  
"1" for enable  
"0" nominal digital  
value 0  
12 (N1\)  
1
E
Direction of  
rotation  
"1" for positive direction  
of rotation  
Screen  
Level on the "Enable" and "Direction of rotation" inputs: 5.5V...30V = "1".  
UE and UE\ is a differential input. Actively assign UE\ to a potential (e.g. to  
GND).  
186  
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Accessories  
9.7 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:  
TEACH  
real zero point  
Release  
TEACH  
TEACH  
block  
TEACH  
ZERO  
TEACH  
Search  
machine  
zero  
Error/  
warning/  
quit  
HOME  
OK  
QUIT  
NO  
WARNING  
QUIT  
NO  
ERROR  
Move to  
machine  
zero  
No error  
No  
warning  
I7 / I8  
I7  
I8  
O7  
O8  
O7 / O8  
JOG+  
Move to  
real zero  
ZERO  
JOG+  
JOG-  
JOG-  
START  
START  
READY  
Ready for  
START  
Break  
block  
Stop block  
BREAK  
STOP  
The control panel is available for front plate installation or with housing.  
86.0  
19.5  
BDF1/02: for front  
plate installation  
15  
57.80  
8.36  
14.10  
44  
101  
BDF1/03: with  
housing  
TEACH  
ZERO  
TEACH  
QUIT  
HOME  
OK  
QUIT  
NO  
WARNING  
NO  
ERROR  
I7  
I8  
O7  
O8  
ZERO  
JOG+  
JOG-  
START  
READY  
BREAK  
STOP  
35  
The control panels are connected with COMPAX via the cable SSK6/..  
187  
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COMPAX-M / -S  
Accessories and options  
MC1.5/16-ST-3.81  
Wiring plan and  
16 (O8)  
white  
brown  
assignment of  
15(O7)  
1
2
3
4
5
6
7
8
9
10  
11  
12  
13  
14  
15  
16  
17  
18  
X8/9  
14(O6)  
SSK6/..  
green  
X8/10  
X8/11  
X8/12  
X8/13  
X8/14  
X815  
X8/16  
X9/2  
13(O9)  
12(O8)  
11(O3)  
10(O2)  
yellow  
D-socked board  
DB25 S 0671  
grey  
pink  
blue  
1
red  
9(O1)  
X8  
black  
8(I8)  
7(I7)  
14  
violet  
grey/pink  
red/blue  
white/green  
brown/green  
white/yellow  
yellow/brown  
white/grey  
grey/brown  
white/pink  
pink/brown  
white/blue  
brown/blue  
white/red  
brown/red  
white/black  
6(I6)  
5(I5)  
4(I4)  
3(I3)  
2(I2)  
1(I1)  
X9/1  
X8/1  
X8/2  
X8/3  
X8/4  
X8/5  
X8/6  
X8/7  
X8/8  
19  
20  
21  
22  
23  
24  
25  
MC1.5/7-ST-3.81  
25  
13  
7(Shield)  
6
5
X9  
4
3
X9/7  
2(GND)  
1(+24V)  
Cable KiYCY 25x0,14  
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.  
The module can be fixed in the control cabinet to an installation rail with a mounting  
rail.  
The terminal module EAM3/.. contains the cable for connecting with COMPAX  
1000SL.  
Available lengths of connection lead: 1m; 2.5m; 5m  
sub-D plug  
Width:  
91 mm  
Top hat rail  
80mm  
Terminal assignment  
The terminal assignment corresponds to the pin assignment on X19.  
188  
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Accessories  
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 – 650V DC.  
The DC intermediate circuit must be limited to 750V in braking mode.  
Power voltage is connected directly to COMPAX-M X2  
COMPAX-M  
COMPAX-M  
DI  
G
ITA  
L
DIGITAL  
M
o
i
&
l  
M
S
t
a
t
u
s
N
u
m
b
e
r
S
t
a
t
u
s
S
t
a
t
u
s
N
u
m
b
e
r
COMPAX-M  
V W PE  
V
a
l
u
e
V
a
l
u
e
Value  
-
E
nt  
e
r
-
E
r
-
+
E
n
r
R
ea  
d
y
E
rr  
o
r
R
ea  
d
y
E
rr  
o
r
R
ea  
d
y
E
rr  
o
r
X
6
X
6
X
6
U
Brake  
R
S2  
3
2
R
S2  
3
2
R
S232  
PE+  
-
X
8
X
1
0
X
8
X
1
0
X
8
X
1
0
I
n
p
u
t
I
n
p
u
t
I
n
p
u
t
O
u
t
p
u
t
O
u
t
p
u
t
O
u
t
p
u
t
X1  
T
e
st  
T
e
st  
T
est  
C
o
n
t
r
o
l
C
o
n
t
r
o
l
C
o
n
t
r
o
l
X
9
X
1
1
X
9
X
1
1
X
9
X
1
1
PE  
+LS  
-LS  
X2  
24V DC  
0V  
X3  
EAM5/01 X4  
X5  
X4  
Design of EAM5/01:  
X6  
X7  
X3/3: PE  
Supply voltage  
for functions of  
X8.  
X3  
X3/2: 24V DC  
X3/1: 0V  
X8  
68.0 mm  
Note  
UMK housing from Phoenix  
to be attached to top hat rail of various sizes  
without mating connector approx. 4.5 cm deep  
Terminal assignment  
The component contains the connections of the mains module.  
EAM5/01 X6 = mains module X6: input bus systems  
EAM5/01 X7 = mains module X7: output bus systems  
EAM5/01 X3 = mains module X3: 24V DC supply  
189  
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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.  
Mating connector X8.  
Signal connection EAM5/01 - COMPAX-M (0.5m).  
Short circuit connector for the last COMPAX-M on X4.  
190  
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Accessories  
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.  
Type: NFI01/02  
NMD10 / COMPAX  
45XXS / 85XXS  
COMPAX 1000SL (in  
COMPAX 1000SL for  
motor lines >50m):  
NMD20:  
Type: NFI01/03  
Dimension diagram:  
NFI01/02  
177  
151  
70±0.3  
140  
125  
NFI01/03  
240  
217  
115±0.3  
159  
145±0.5  
129  
A
B
C
D
E
F
6,6  
L
I
N
E
L
O
A
D
111  
G
65  
64  
C
B
A
Ø 4  
COMPAX 35XXM:  
Type: NFI01/04  
337  
320  
25  
307  
400  
61  
Line  
Load  
Netzseite  
Lastseite  
10mm2  
M5  
347  
COMPAX 35XXM with serially mounted COMPAX-M contr.: Type: NFI01/05  
378 max.  
301 max.  
81 max.  
6.5 x 15  
15  
M10  
17Nm  
325 ±1  
58  
Do not loosen the locking nut!  
191  
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COMPAX-M / -S  
Accessories and options  
EMC measures  
COMPAX 25XXS: motor cable >10m  
COMPAX 10XXSL: motor cable >50m  
COMPAX 25XXS:  
COMPAX 10XXSL  
COMPAX 25XXS: motor cable 10m  
Type: NFI01/01 dimension diagr.:  
Type: NFI01/06 dimension diagram:  
32 max.  
91 max.  
66 max.  
3.5  
L
L'  
N
N'  
L
I
N
E
L
O
A
D
FASTON  
6.3 x 0.8  
75 ±0.3  
12  
50.8±0.3  
85.4  
Ø 4  
5.2 x 4  
116  
139  
Unscreened: <0.5m  
Screened: <5m  
Length of  
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)  
U 1 V 1 W1  
+
-
U 2 V 2 W2  
+
-
Up to 16A  
nominal motor  
current:  
Type: MDR01/01 16A / 2mH  
Type: MDR01/02 30A / 1.1mH  
Type: MDR01/03 >30A / 0.64mH  
Up to 30A  
nominal motor  
current:  
Over 30A nominal  
motor current:  
F
E
B
I
D
A
MDR01/01 MDR01/02 MDR01/03  
A [mm]  
B [mm]  
D [mm]  
E [mm]  
F [mm]  
H [mm]  
I [mm]  
150  
67  
113  
50  
6
180  
205  
107  
157  
83  
76  
136  
57  
6
7
195  
95  
4
195  
110  
6
260  
150  
17  
Weight [kg]  
device  
PE  
motor output filter  
motor  
Wiring of motor  
output throttle  
PE  
U
V
W
Br+  
Br-  
U2  
V2  
W2  
+
U1  
V1  
W1  
+
M
-
-
192  
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Accessories  
External ballast resistors  
9.7.5 External ballast resistors  
External ballast  
resistors:  
NMD20 with external ballast resistance of 15Ω  
Braking power  
Duration  
Cooling down time  
BRM4/01: 0.57 kW  
unlimited  
6.8 kW <1s  
37 kW <0.4s  
unlimited  
8.9 kW 1s  
37 kW <0.4s  
>20s  
>120s  
BRM4/02: 0.74 kW  
BRM4/03: 1.50 kW  
>20s  
>120s  
unlimited  
18 kW <1s  
>20s  
37 kW <0.4s  
>120s  
COMPAX 25XXS with external ballast resistance of 56Ω  
Braking power  
Duration  
Cooling down time  
BRM5/01: 180W  
unlimited  
>10s  
1 kW  
<1s  
2.3 kW  
<0.4s  
8s  
COMPAX 45XXS/85XXS with external ballast resistance of 22Ω  
Braking power  
Duration  
Cooling down time  
BRM6/01: 450W  
unlimited  
6.9 kW  
28 kW  
<1s  
<0.4s  
>20s  
120s  
COMPAX 35XXM with external ballast resistance of 10Ω  
Braking power  
Duration  
Cooling down time  
BRM7/01: 2.00 kW  
unlimited  
56 kW <1s  
17 kW <1s  
>100s  
>10s  
COMPAX 10XXSL with external ballast resistance of 100Ω  
Braking power  
Duration  
Cooling down time  
BRM8/01: 60W  
unlimited  
Dynamic 253W  
<1s  
10s  
92  
150  
Dimension diagram:  
BRM4, BRM6 and  
BRM7  
C
A
B
C
12  
95 97  
98  
Overloading  
protection  
switch  
96  
BRM4/01 BRM4/02 BRM4/03 BRM6 BRM7  
A
B
C
250  
330  
64  
300  
380  
64  
540  
620  
64  
250  
330  
64  
560  
640  
150  
The ballast resistors are fitted with a 1.5m connecting cable. The maximum  
permitted length is 2m.  
protection against  
contact  
Dimension diagram:  
BRM5/01  
BRM5/01 is fitted with a 0.3m connecting cable.  
The maximum permitted length is 2m.  
5,8  
222  
239  
71  
193  
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COMPAX-M / -S  
Accessories and options  
External ballast resistors  
Dimension diagram:  
BRM8/01  
BRM8/01 is fitted with a 0.25m  
connecting cable.  
The maximum permitted length  
is 2m.  
225  
240  
20  
26  
7,5  
Housing temperature may reach 200°C.  
Dangerous voltage!  
The device may only be used if completely fitted!  
The external ballast resistances should be fitted so that contact protection is  
provided.  
Danger!  
The housing temperature of the ballast resistance may rise to 200°C depending  
on the application.  
Fit the connection lines underneath.  
Observe the information on the resistances (warning signs).  
Diagrams: Brake pulse power - cooling period  
Authorised braking impulse power with NMD20  
10000  
F: Factor  
F=100  
Cooling down time = F *  
braking time  
F=50  
F=20  
F=10  
F=5  
1000  
700W  
F=2  
F=1  
F=0.5  
100  
0,0  
0,2  
0,4  
0,6  
0,8  
1,0  
1,2  
1,4  
1,6  
1,8  
2,0  
2,2  
2,4  
2,6  
2,8  
3,0  
Braking time / s  
Example 1:  
Example 2:  
For a braking time of 0.8s, a braking power of 700W is required.  
The following can be determined from the diagram:  
At the required magnitudes, this is between factor F=2 and factor F=5.  
To maintain operating safety, select factor F=5; therefore the required cooling  
down time equals:  
Cooling down time = F * braking time = 5 * 0.8s = 4s  
For a braking time of 0.3s, a braking power of 1000W is required.  
The following can be determined from the diagram:  
At the required magnitudes, this is between factor F=2 and factor F=5.  
To maintain operating safety, select factor F=5; therefore the required cooling  
down time equals:  
Cooling down time = F * braking time = 5 * 0.3s = 1.5s  
194  
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Accessories  
External ballast resistors  
Authorised braking impulse power for NMD20 with BRM4/03  
100000  
F: Factor  
Cooling down time = F *  
braking time  
F=50  
F=20  
F=10  
F=5  
10000  
F=2  
F=1  
F=0.5  
1000  
0,0  
0,2  
0,4  
0,6  
0,8  
1,0  
1,2  
1,4  
1,6  
1,8  
2,0  
2,2  
2,4  
2,6  
2,8  
3,0  
Braking time / s  
Authorised braking impulse power for NMD20 with BRM4/02  
100000  
F: Factor  
Cooling down time = F *  
braking time  
F=100  
singlepulse  
F=50  
F=20  
10000  
F=10  
F=5  
F=2  
F=1  
F=0.5  
1000  
0,0  
0,2  
0,4  
0,6  
0,8  
1,0  
1,2  
1,4  
1,6  
1,8  
2,0  
2,2  
2,4  
2,6  
2,8  
3,0  
Braking time / s  
195  
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COMPAX-M / -S  
Accessories and options  
External ballast resistors  
Authorised braking impulse power for NMD20 with BRM4/01  
100000  
10000  
1000  
F: Factor  
Cooling down time = F *  
braking time  
single pulse  
F=100  
F=50  
F=20  
F=10  
F=5  
F=2  
F=1  
0,0  
0,2  
0,4  
0,6  
0,8  
1,0  
1,2  
1,4  
1,6  
1,8  
2,0  
2,2  
2,4  
2,6  
2,8  
3,0  
Braking time / s  
Authorised braking impulse power for NMD10  
100000  
F: Factor  
Cooling down time = F *  
braking time  
F=100  
10000  
1000  
100  
F=50  
F=20  
F=10  
F=5  
F=2  
F=1  
F=0.5  
0,0  
0,2  
0,4  
0,6  
0,8  
1,0  
1,2  
1,4  
1,6  
1,8  
2,0  
2,2  
2,4  
2,6  
2,8  
3,0  
Braking time / s  
196  
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Accessories  
External ballast resistors  
Authorized braking impulse power for COMPAX 2500S with BRM5/01  
10000  
F: Factor  
Cooling down time = F *  
braking time  
F=50  
F=10  
F=5  
F=2  
1000  
F=1  
F=0.5  
100  
0,0  
0,2  
0,4  
0,6  
0,8  
1,0  
1,2  
1,4  
1,6  
1,8  
2,0  
2,2  
2,4  
2,6  
2,8  
3,0  
Braking time / s  
Authorised braking impulse power for COMPAX 4500S and  
COMPAX 8500S  
100000  
10000  
1000  
F: Factor  
Cooling down time = F *  
braking time  
single pulse  
F=100  
F=50  
F=20  
F=10  
F=5  
F=2  
F=1  
F=0.5  
100  
0,0  
0,2  
0,4  
0,6  
0,8  
1,0  
1,2  
1,4  
1,6  
1,8  
2,0  
2,2  
2,4  
2,6  
2,8  
3,0  
Braking time / s  
197  
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COMPAX-M / -S  
Accessories and options  
External ballast resistors  
Authorised braking impulse power for COMPAX 4500S and  
COMPAX 8500S with BRM 6/01  
100000  
10000  
1000  
F: Factor  
Cooling down time = F *  
braking time  
F=100  
F=20  
single pulse  
F=50  
F=10  
F=5  
F=2  
F=1  
F=0.5  
100  
0,0  
0,2  
0,4  
0,6  
0,8  
1,0  
1,2  
1,4  
1,6  
1,8  
2,0  
2,2  
2,4  
2,6  
2,8  
3,0  
Braking time / s  
Authorised braking impulse power for COMPAX3500M with BRM7/01  
100000  
F: Factor  
F=50  
Cooling down time = F *  
braking time  
F=20  
F=10  
F=5  
10000  
F=2  
F=1  
F=0.5  
1000  
0,0  
2,0  
4,0  
6,0  
8,0  
10,0  
Braking time / s  
198  
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Accessories  
External ballast resistors  
Permissible brake pulse power for COMPAX 1000SL with BRM8/01  
10000  
1000  
100  
F: Factor  
Cooling down time = F *  
braking time  
F=50  
F=20  
F=10  
F=5  
F=2  
F=1  
F=0,5  
10  
0.0  
0.5  
1.0  
1.5  
2.0  
2.5  
3.0  
Braking Time [s]  
199  
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COMPAX-M / -S  
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.  
9.7.7 Hand-held terminal  
The BDF2/01 hand-held terminal is a simple aid with which you can operate and  
easily configure COMPAX with the guided menus. The hand-held unit is connected  
to COMPAX X6 and powered via the RS232 interface. It is therefore suitable for  
rapid diagnosis and supporting start-up.  
Design:  
5V-plug for  
RS232-cable >5m.  
HB-plug 1,95/5,5mm  
control knob 6mm  
polarity: + outside  
COMPAX  
H1  
H2  
SH  
OK  
P
N
DELETE  
INSERT  
SHIFT  
7
8
9
NO  
REPEAT  
IF  
OUTPUT  
F1  
4
5
6
YES  
GOTO  
GOSUB  
RETURN  
F2  
1
2
3
Esc  
POSA  
SPEED  
ACCEL  
F3  
+/-  
0
.
Ent  
POSR  
WAIT  
END  
F4  
depth:  
45mm  
100mm  
200  
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Accessories  
Hand-held terminal  
The hand-held terminal contains the following functions:  
display any status value.  
Functions  
menu-guided configuration  
view and edit programs.  
view and edit parameters  
direct entry of commands  
Key functions  
The keys are all assigned two functions. Press the SHIFT key to activate the  
second function of a key. The second function is displayed in turquoise in the lower  
section of the key.  
Keys  
NO  
Function  
Answers a question negatively  
Answers a question positively  
Escape  
YES  
ESC  
ENT  
Confirms and accepts  
SHIFT  
DELETE  
Selects second function of the key: press once: on; press again: off  
Deletes program data record, all jumps to addresses are  
automatically corrected  
INSERT  
Inserts program data record, all jumps to addresses are  
automatically corrected  
P
Directly select parameter input  
Directly select program memory  
Quit  
N
F3  
Special functions  
WAIT Ent  
WAIT START  
GOTO Ent GOTO EXT  
GOSUB  
Ent  
GOSUB EXT  
SPEED Ent SPEED SYNC  
Special COMPAX XX70 commands  
F1  
F2  
F3  
F4  
SETC x  
SETM x  
SETS  
LOOP x  
POSR Ent POSR CAM  
Lit display Function  
dark  
bright  
H1 (red)  
No error  
Error  
H2 (amber) No warning  
Warning: heat sink temperature >70°C  
Unit ready for operation  
Second key function (SHIFT key pressed)  
Unit not ready for operation  
OK (green) Unit not ready  
SH (amber) First key function  
All  
No voltage  
Supply  
The cable is 1.5 m long. The hand-held terminal is also powered through this cable.  
If the distances involved are longer (>5m), the hand-held terminal will require a  
direct power supply for fault-free operation.  
Error handling  
When an error message is present, you can modify the parameter and  
configuration. To do this, press ESC; the error display goes out and the menu  
appears. The H1 LED indicates that the error is still present. Once you have  
modified the parameter, acknowledge the error using F3.  
201  
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COMPAX-M / -S  
Accessories and options  
Hand-held terminal  
Menu:  
BDF2/01 Version  
COMPAX Typ Version  
P20= value  
Date  
Status Level  
Diagnosis Values  
Actual Values  
Identification  
Special Status Value  
Actual Position  
Target Position  
Tracking Error  
I1 - I8  
Software Version  
Release Date  
Commission  
Part  
S40: number  
S41  
I9 - I16  
O1 - O8  
S42  
Speed  
O9 - O16  
S43  
Torque  
Status Motor  
Status Switches  
Status Limits  
Status Output stage  
Current Command  
RS232 Data  
Bus Data  
Version  
S44  
Temperature  
Language  
S45  
Control Voltage  
Power Voltage  
Power Stage  
Device Family  
Device no.  
S46  
S47  
Position Cycles  
Operationg Hours  
Repeat Counter  
Encoder Position  
optimization dispaly P233  
optimization display P234  
status-monitor P182  
standard config. A1-A6  
enlarged status info.  
error history  
Last Error  
Esc  
Esc  
Function Level  
NO  
NO  
NO  
NO  
Program Mode?  
Command Mode ?  
Parameter Mode ?  
Set Up Mode ?  
YES  
YES  
YES  
YES  
Esc  
Esc  
Esc  
Esc  
Setting Level  
see, edit, delete  
program  
see, edit, delete  
parameters  
see, set up  
configuration  
Enter commands  
When the hand-held terminal is connected to COMPAX, the password  
remains the same.  
The menu items of the setting levels are described below.  
202  
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Accessories  
Hand-held terminal  
View,  
NO  
Program Mode ?  
Command Mode?  
edit, delete  
program  
YES  
Esc  
YES  
Enter block no.  
View  
Program ?  
Ent  
NO  
Select other blocks  
using or  
.
YES  
Enter block no.  
Edit  
Program?  
Ent  
NO  
Edit block  
Ent  
Select other blocks  
using or  
.
YES  
Are You sure  
Delete  
Program?  
YES  
NO  
NO  
Program is deleted  
Commands or numerical values are modified by overwriting them.  
Direct  
command entry  
NO  
NO  
Command Mode ?  
YES  
Esc  
Enter command  
Ent  
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.  
Special control  
function  
When OUTPUT O.="X", the cursor is positioned under "X" after the command is  
transmitted. The value can be modified and transmitted.  
203  
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COMPAX-M / -S  
Accessories and options  
Hand-held terminal  
View, edit and  
reset parameter  
NO  
NO  
Parameter Mode ?  
Set up Mode ?  
YES  
Exits the menu  
without "VC".  
"VC" is generated  
when you exit the  
menu.  
Esc  
No  
YES  
Enter Parameter no.  
View  
Parameters?  
Ent  
NO  
Select other para-  
meters using or or  
edit parameter no.  
YES  
Enter Parameter no.  
Edit  
parameters?  
Ent  
NO  
Edit Parameter no.  
Ent  
Select other para-  
meters using or  
edit parameter no.  
YES  
Are You sure ?  
Reset  
Parameters?  
YES  
NO  
NO  
Parameters are set  
to defaults;  
reconfigure the device  
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" menu using "NO", the "VC" command is not  
transmitted.  
View, set  
configuration  
NO  
NO  
Set Up Mode ?  
YES  
Esc  
Con-  
tinue  
with  
YES  
Operating Mode  
Measurement unit  
Ramp shape  
Drive type  
View  
Set up?  
NO  
Drive type  
Parameter of  
Drive type  
YES  
Update  
Set Up ?  
Update Set  
Up  
(see below)  
NO  
204  
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Accessories  
Hand-held terminal  
Set configuration  
NO  
NO  
NO  
Switch off Motor ?  
YES  
NO  
Mode: Normal ?  
Mode: Endless ?  
YES  
YES  
NO  
NO  
NO  
Input unit: incr  
Input unit: mm ?  
Input unit: inch ?  
YES  
YES  
YES  
Accel: linear ?  
YES  
Selected motor?  
P100 = XXX  
Motor type 1  
P100 = XXX  
Motor type n  
P100 = XXX  
NO  
NO  
NO  
YES  
YES  
YES  
HDX/Individual motor  
P100 = 0  
You can configure a motor individually by setting P100=0. Therefore  
fill in the motor data and the motor parameters (from P101)  
YES  
NO  
Motor number  
P100 = ...  
The standart motors (HBMR- and HDS-Motors)  
can be configured via the motor number.  
Ent  
NO  
NO  
NO  
NO  
Spindle Drive ?  
Rack and pinion ?  
Timing belt ?  
Universal Drive ?  
YES  
YES  
YES  
YES  
Spindle Length  
Spindle Diameter  
Spindle Slope  
Gear ratio  
Teeth in pinion  
Pitch if teeth  
Gear ratio  
Teeth in pinion  
Pitch in teeth  
Gear ratio  
Inertia minimum  
Inertia maximum  
Inertia gear  
Minimal load  
Maximal load  
Inertia gear  
Minimal load  
Maximal load  
Inertia gear  
Travel path per  
motor revolution  
Minimal load  
Maximal load  
YES  
Ent  
YES  
Ent  
YES  
Ent  
YES  
Ent  
HDX/  
Individual  
motor  
YES  
NO  
YES  
NO  
All correct ?  
Switch on motor ?  
Switch off motor ?  
NO  
YES  
enter motor parameter from P100  
enable drive by power off/on or by  
command output O0=0  
205  
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COMPAX-M / -S  
Accessories and options  
Hand-held terminal  
9.8 Appendix: COMPAX components  
Mains module for COMPAX-M (excluding COMPAX 35XXM)  
NMD10  
NMD20  
Up to 3 x 500 V AC mains supply connection; direct mains supply operation 10 kW cont. output  
As NMD10, but with 20 kW continuous output; external ballast resistances available in 3 sizes.  
HDY and HJ motors  
You will find information about our range of motors in the motor documentation.  
Motor and resolver cable for HDY and HJ motors  
HAUSER linear unit and initiator equipment  
HLE  
80mm / 100mm / 150mm edge length (ask for information material!)  
80mm / 120mm / 180mm edge length (ask for information material!)  
HPLA  
Initiator equipment  
IVD1/.  
Initiator distr.connect. w. cables of the f. lengths [m]:2.5; 5; 7.5; 10; 12.5; 15; 20; 25; 30; 35; 40; 45; 50  
Initiator PNP induction proximity switch: IN HE 521 506 with 6m cable.  
Accessories  
BDF2/01  
BDF1/03  
BDF1/02  
SSK6/..  
Hand-held terminal for configuring and operating COMPAX  
External control panel with housing and without cable  
External control panel for front plate installation without cable  
Interface cable between contr. panel and COMPAX av.- in the following lengths: 2.5; 5; 7.5; 10; 12.5; in [m]  
RS232 - RS485 converters used in conjunction with option F1  
COMPAX – motor cable for disposing of SinCos.  
SSU1/01  
GBK16  
Encoder: GBK11/.. Encoder cable for connecting COMPAX with an encoder.  
EAM4/01 Encoder distributor for creating an encoder bus.  
BUS1/01  
Bus termination for encoder bus  
SSK4/..  
SSK7/..  
Connector cable between COMPAX and encoder distributor.  
Connector cable between encoder distributors or from an encoder emulation.  
Monitor box for outputting internal measurement signals with D1 option.  
ASS1/01  
SSK1/..  
RS 232  
NMD20:  
Interface cable for PC COMPAX, available in the following lengths: 2.5; 5; 7.5; 10; in [m]  
Ballast resistors  
AC power filter  
BRM4: 0.57 kW-1.5 kW (15) COMPAX 25XXS: BRM5/01: 250W (56)  
COMPAX 45XXS/85XXS:  
COMPAX 1000SL  
NMD10 / COMPAX 45XXS/85XXS: NFI01/02  
COMPAX 35XXM: NFI01/04 or NFI01/05 (with additional COMPAX-M)  
BRM6/01: 450W (22)  
COMPAX 35XXM: BRM7/01: 2 kW (10)  
BRM8/01: 60W (100)  
COMPAX 25XXS: NFI01/01 or NFI01/06 (10m motor cable)  
NMD20: NFI01/03  
COMPAX 1000SL: NFI01/01 (<50m motor cable) or NFI01/02 (>50m motor cable)  
Motor outp. throttle For motor lines >20m: MDR01/01 (16A/2mH) MDR01/02 (30A/1.1mH) MDR01/03 (>30A/0.64mH)  
Ass. angle bracket: MTS2: for indirect wall installation (heat sink in separate heat chamber) of COMPAX 02/05/15XXM  
Fan set for NMD  
ServoManager  
Bus terminal  
Fan set for NMD10 and NMD20 to increase max. brake performance  
To read and write COMPAX parameters and programs  
BUS1/01: Encoder bus  
BUS2/01: HEDA  
BUS3/01: Profibus  
BUS4/01: RS485  
BUS6/01: Encoder terminal for COMPAX 1000SL  
Options  
F1 4-wire RS485 interface  
F5 2-wire RS485 interface  
F7 CS31 F8 CANopen  
F2 Interbus S interface  
F3 Profibus  
F4 CANbus  
E2 Encoder interface with line terminator for individual connections.  
E3 Encoder simulation for resolver  
E4 Encoder interface without line terminator for creating an encoder bus.  
E7 Analogue speed specification only for COMPAX XX6X and COMPAX XX70 or for SPEED SYNC with COMPAX XX00!  
A1 Absolute value sensor/HEDA Cable to COMPAX: GBK1/.. lengths: 2.5; 5; 7.5; 10; 12.5; 15; 20; 25; 30; 35; 40; 45; 50 [m]  
A4 HEDA f. COMPAX 1000SL Cable COMPAX/COMPAX: SSK14/.. lengths :2.5; 5; 7.5; 10; 12.5; 15; 20; 25; 30; 35; 40; 45; 50 [m]  
D1 D/A monitor  
To output the measurement signals, you will need monitor box ASS1/01.  
S1 Sensor interface for SinCos, single-turn or multi-turn  
S2 Programmable sensor interface for SinCos multi-turn  
S3 Sensor–interface for linear motors (cable: GBK18)  
206  
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Status values of the standard unit (COMPAX  
XX00)  
10. Appendix  
10.1 Status values of the standard unit (COMPAX XX00)  
Actual values  
Status  
No.  
Designation:  
Unit  
Meaning  
Actual position  
Target position  
S01  
S02  
corresp. P90 Current position referenced to real zero.  
corresp. P90 End position of current or last positioning cycle  
implemented.  
Lag error  
S03  
0.1  
Difference between nominal and actual position during a  
[corresp. P90] positioning cycle.  
Velocity  
Torque  
S04  
S05  
[%]  
[%]  
Current axis traversing speed.  
Current torque as a percentage of the nominal motor  
torque.  
Temperature  
S06  
[°C]  
Temperature of power final stage (85°C)  
C is transmitted  
Control voltage  
Mains power  
Travel cycle  
Operating hours  
Repeat counter  
Sensor position  
S07  
S08  
S09  
S10  
S11  
S12  
[V]  
[V]  
-
[h]  
-
Value of control voltage  
Value of power or intermediate circuit voltage  
Number of axis motion cycles.  
COMPAX controller operating hours  
Loop counter of an active REPEAT loop.  
corresp. P90 Position of absolute value sensor (option A1) not available  
in COMPAX XX10 and COMPAX XX30.  
Optimization display S13  
Optimization display S14  
With optimization parameter selected using P233.  
With optimization parameter selected using P234.  
D/A monitor value selected using P182.  
Status monitor  
Status bits 1  
S15  
S16  
Information from the status outputs O1...O6 and the last OUTPUT O0  
command  
Status bits 2  
Error history  
S17  
S18  
Information about COMPAX status.  
The last 4 errors and type of acknowledgement. See below.  
(all errors but E00, E47, E72 and >E90)  
Diagnosis values  
Status  
No.  
Designation:  
Meaning  
I1-I8  
I9-I16  
O1-O8  
O9-O16  
Status drive  
Status switch  
Status limits  
Status final stage S26  
Current data  
record  
S19  
S20  
S21  
S22  
S23  
S24  
S25  
Logic signal level of inputs 1...8  
Logic signal level of inputs 9...16  
Logic signal level of outputs 1...8  
Logic signal level of outputs 9...16  
Diagnosis values for the status of the drive. (see below for meaning)  
Diagnosis values for the status of the switch. (see below for meaning)  
Diagnosis values for the limit value monitoring . (see below for meaning)  
Diagnosis value for the status of the final stage.  
Display of the data record currently being executed.  
S27  
RS232 data  
Bus data  
Last error  
S28  
S29  
S30  
reserved  
Interbus-S data / PLC data interface / RS485  
Error number of the last error to occur (all errors but E00, E72 and >E90).  
207  
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COMPAX-M/S  
Appendix  
Hand-held terminal  
Unit designations  
Status  
No.  
Designation:  
Meaning  
Software version  
Software date  
Order  
Part  
Version  
S31  
S32  
S33  
S34  
S35  
Designation of software version.  
Date when program was created.  
Order number (6 digits)  
Serial four-digit number  
Not assigned.  
Order&part (10 digits) is  
a unique unit no.  
IFM identification S36  
Date, version and designation of the bus option (hardware module)  
COMPAX P1XXM: 80  
COMPAX 05XXM: 170  
COMPAX 25XXS: 4  
COMPAX 10XXSL: 20  
COMPAX P1XXM N1: 90  
COMPAX 15XXM: 500  
COMPAX 45XXS: 6  
COMPAX 02XXM: 85  
COMPAX 35XXM: 1000  
COMPAX 85XXS: 5  
Unit designation  
S37  
Unit family  
Unit  
Status values  
S38  
S39  
S40  
E.g. "00": COMPAX XX00 "30": COMPAX XX30 ...  
"0": COMPAX E "1": COMPAX-M  
"2": COMPAX-S  
"4": COMPAX-SL  
"9": SV drive  
Number of status values present  
Special COMPAX XX00 status values  
Status No.  
Unit  
Designation:  
Meaning  
Speed  
S41  
%
External velocity when using the SPEED SYNC command.  
Encoder position S42  
P90 External position when using external position localization.  
Measuring error  
S47  
P90 During external position localization: difference between resolver  
position and encoder position.  
Current nominal  
value  
S49  
P90 Current internal nominal value (output of nominal value setter and  
track nominal value directly specified by HEDA).  
Meaning of status bits  
The status bits are not relevant for normal operation; they must not be used for control purposes. They do  
provide accurate error analysis if you contact HAUSER in case of problems. - The bits are counted from the  
left to the right.  
S23, S24, S25  
Drive status (S23)  
Switch status (S24)  
Limits status (S25)  
Bit  
-1111------1111-  
-11--11--11--11-  
-111--111--110 --  
Not assigned  
Not assigned  
Not assigned  
1 (left)  
2
3
4
5
Drive not at standstill  
Deceleration phase  
Acceleration phase  
Speed reached (speed regulation)  
Not assigned  
Override function  
Limit switch 2 (-) activated  
Limit switch 1 (+) activated  
Not assigned  
reserved  
reserved  
Not assigned  
Not assigned  
No motor current  
Not assigned  
6
Not assigned  
Zero initiator activated  
reserved  
7
8
Not assigned  
Not assigned  
Not assigned  
Position not OK.  
Tracking error  
Not assigned  
Not assigned  
Not assigned  
reserved  
9
Not assigned  
Not assigned  
10  
11  
12  
13  
Not assigned  
Not assigned  
Speed reached (positioning)  
Positioning process complete  
reserved  
Do not change data record  
(emergency stop)  
Drive blocked  
reserved  
Speed limit reached  
Current limit reached  
Not assigned  
14  
15  
16 (right)  
Machine zero reference present  
Not assigned  
Not assigned  
Not assigned  
42  
The "0" is not shown on the front plate.  
208  
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Status values of the standard unit (COMPAX  
XX00)  
Output of status bits via the front plate  
The status bits are output via the front plate using 2 hex values.  
S16, S17  
S16:  
Bit Meaning  
1
="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.  
2
="1":No warning  
="0" Error E57  
3
4
5
6
Machine zero has been approached  
Ready for start  
Programmed nominal position reached  
Idle after stop  
7, 8 Bit 7 Bit 8  
0
1
0
0
0
1
after OUTPUT O0 = "0"  
after OUTPUT O0 = "1"  
after OUTPUT O0 = "2"  
S17:  
Bit Meaning when "1"  
1
2
3
Password 302 active  
Service password active  
Command active; move commands (POSA, POSR; speed in speed control mode) are rejected using  
E92.  
4
5
6
7
8
Program memory running  
Stop via input I6  
reserved  
RUN ("0" = OFF or switched off when error occurs)  
---  
Bit sequence during transmission of S16 / S17:  
Bit 1 is on the left (the transmission starts with bit 1)  
E.g.: S17= "1000 0000" during ASCII transfer.  
Bit 1  
COMPAX front plate: display "01"  
E.g.: password 302 active S17 = 0x80 (if all other bits ="0").  
Explanation of error history S18  
The errors which occur are recorded by COMPAX in an 8-stage shift register. The entire contents of this  
memory can be read using a status query. Once the error has been acknowledged, "99" is inserted. Once a  
new error occurs, this is inserted in the shift memory.  
When querying using S18, the contents of the shift register are output separated by spaces.  
Once the unit is switched off, S18 is retained. If the unit is switched off while an error is present, a Power On  
acknowledgement is created when the unit is switched on, i.e. a "98" is inserted in the shift memory.  
Example:  
S18CRLF  
Response: S018: 99 55 10 99 53 98 10 99CRLR>  
The last error, an emergency stop (E55), has been acknowledged.  
E10 occurred before this (E10 has not been acknowledged).  
E53 has been acknowledged.  
E10 has been acknowledged by Power on.  
The error memory is completely reset to "00" by the reset parameter, i.e. "00" means no errors.  
209  
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COMPAX-M/S  
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  
Reference  
parameter  
-1  
0
1
Nominal speed value sensor  
Tracking error  
20 000 min  
128 motor  
revolutions  
-1  
2
3
4
5
6
7
8
9
Advance speed control  
Nominal speed value of position controller  
Actual speed value  
Loop difference for speed  
Not assigned  
20 000 min  
20 000 min  
20 000 min  
20 000 min  
-1  
-1  
-1  
Not assigned  
Nominal value of transverse current (torque)43  
Intermediate circuit voltage  
200A  
1000V  
10 Sine for co-ordinate transformation  
11 Voltage positioning signal for phase U  
12 Voltage positioning signal for phase V  
13 Phase current for phase U  
200A  
200A  
200A  
14 Phase current for phase V  
15 Actual value of transverse current (torque)44  
16 Longitudinal current  
200A  
17 Scaled transverse voltgage (For amplification 1 use: 10V = 2 * ULS  
18 Scaled longitudinal voltage (For amplification 1 use: 10V = 2 * ULS  
)
)
2 * ULS  
2 * ULS  
The reference parameter corresponds to value 1.  
Note concerning status monitor S15  
Scaling status monitor S15:  
S15 does not have the same scaling as S13/S14.  
For S15 use: S15=1 for the reference value which is given for the D/A monitor.  
10.2 Additional COMPAX measuring quantites  
Signal indicators (optimization display) S13 / S14  
(P233/P234)  
D/A monitor channels 0 ... 3  
Status monitor S15 (P182); HEDA  
Selec- Measuring quantity  
tion  
Reference  
value  
Selec Meaning  
tion  
-1  
0
1
Nominal speed value sensor  
Tracking error  
20 000 min  
128 motor  
revolutions  
1
Positioning time (from start of positioning to "Position reached")  
-1  
2
3
4
Advance speed control  
20 000 min  
20 000 min  
20 000 min  
2
3
4
max. intermediate circuit voltage in [V]  
reserved  
-1  
-1  
Nominal speed value of position controller  
Actual speed value  
max. undershoot referenced to max. position (amount) (only for highly  
misadjusted loops)  
-1  
5
Loop difference for speed  
20 000 min  
5
6
7
8
9
max. position overshoot [units corresp. P90] (amount)  
max. position undershoot [units corresp. P90] (amount)  
max. acceleration lag error [units corresp. P90]  
max. braking lag error [units corresp. P90]  
6
Not assigned  
7
Speed controller output (nominal current value)  
Nominal value of transverse current (torque)  
Intermediate circuit voltage  
200A  
200A  
8
9
1000V  
Max. acceleration speed in [%] of the nominal motor speed  
10  
11  
12  
13  
14  
15  
16  
Sine for co-ordinate transformation  
Voltage positioning signal for phase U  
Voltage positioning signal for phase V  
Phase current for phase U  
10 max. braking speed in [%] of motor nominal speed  
11 max. acceleration current in [%] of motor nominal current  
12 max. braking current in [%] of motor nominal current  
13 max. time in current limit during acceleration, in [ms]  
14 max. time in current limit during braking, in [ms]  
15 Current number of HEDA transmission errors  
2 * ULS  
2 * ULS  
200A  
Phase current for phase V  
200A  
Actual value of transverse current (torque)  
Longitudinal current  
200A  
200A  
16 Average no. of HEDA transmission errors per second  
43  
44  
To determine torque: torque = 3 * transverse current * 0.71 * torque constant  
To determine torque: torque = 3 * transverse current * 0.71 * torque constant  
210  
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Additional COMPAX measuring quantites  
Signal indicators (optimization display) S13 / S14  
(P233/P234)  
D/A monitor channels 0 ... 3  
Status monitor S15 (P182); HEDA  
Selec- Measuring quantity  
tion  
Reference  
value  
Selec Meaning  
tion  
17  
Scaled transverse voltage  
(For amplification of 1 use: 10V = 2 * ULS )  
Scaled longitudinal voltage  
2 * ULS  
17 Total number of HEDA transmission errors since beginning of  
synchronization  
18  
2 * ULS  
18 Process nominal value HEDA  
(For amplification of 1 use: 10V = 2 * ULS )  
Host frequency 12/18 Mhz  
19  
20  
21  
22  
23  
24  
25  
26  
27  
28  
2-23  
19 HEDA control word  
Analogue HF1 CPX 70 / IPM  
20 HEDA status word  
100%0.1V  
100%0.1V  
Analogue HF2 CPX 70 / IPM  
Master position (CPX 70)  
21 CPX X50 max. pos. synchronous lag error [units corresp. P90]  
22 CPX X50 max. neg. synchronous lag error [units corresp. P90]  
23 Output value of D/A monitor channel 1 (10V corresponds to 1)  
24 Output value of D/A monitor channel 2 (10V corresponds to 1)  
25 Output value of service D/A monitor channel 3 (10V corresponds to 1)  
26 Output value of service D/A monitor channel 4 (10V corresponds to 1)  
27 External encoder position (units corresp. P90)  
M 0.1 V  
T
Slave nominal position (CPX 70)  
Master speed (CPX 60, CPX 70)  
S 0.1 V  
T
2000min-11V  
28 Measuring error (Difference between resolver position and external  
encoder position in the unit corresponding to P90)  
29  
30  
29 Effective motor load in % of the permissible motor continuous load  
(from 100% = 1.1INominal E53 is indicated)  
30 Effective unit load in % of the permitted continuous unit load (E53 is  
displayed from 100%)  
Meaning  
Variant:  
7x  
Reference values  
10V = 223  
31  
32  
33  
34  
35  
36  
37  
38  
39  
Function pointer mark synchronization (range 0-7)  
Scaled correction factor 0 ... 1000 per thousands  
Cycle counter X70  
7x  
10V = 223 per thousands  
10V = 223 cycles  
7x  
DSP wait time [ms]  
Digital inputs I1-I16 (range 0-216  
00,60,7x  
00,60,7x  
00,60,7x  
60,7x  
10V = 223 ms  
)
10V = 223  
Status S16 (Bit 16...23) & digital outputs O1-O16 (Bit 0...15)  
Frequency encoder channel 4 [inc/ms]  
Frequency encoder channel 5 [Inc/ms] (reserved)  
Constant value 0.00001  
10V = 223  
10V = 223 encoder increments/ms  
10V = 223 encoder increments/ms  
39  
Cause of calculation error E07  
Meaning  
40  
41  
42  
43  
44  
45  
46  
47  
48  
Encoder position master channel  
Encoder velocity (reserved)  
60,7x  
60,7x  
7x  
10V = 223 encoder increments  
10V = 223 encoder increments/ms  
10V = 223 encoder increments/ms  
10V = 223 encoder increments  
10V = 128 motor revolutions  
10V = 128 motor revolutions  
10V = 222 increments/ms  
Internal time base of P35  
Scaled master position  
7x  
Nominal position value in resolver increments  
Actual position value in resolver increments  
Differentiated resolver position  
00,60,7x  
00,60,7x  
00,60,7x  
47 Mark position (units corresp. P90) (COMPAX XX70)  
Bit 23...8: virtual inputs I33...I48  
Bit 7...0: virtual inputs I32...I25  
49  
49 COMPAX 1000SL only  
Bit 15...8: physical output status on X19/22...X19/15  
Bit 7...0: physical input status on X19/9...X19/2  
smoothed load torque (reference 200A)  
50  
51  
52  
53  
44  
55  
56  
50 P-component position controller (reserved)  
51 P-component speed controller (reserved)  
52 I-component speed controller (reserved)  
53 D-component speed controller (reserved)  
54 P-component current controller (reserved)  
55 I-component current controller (reserved)  
56  
Actual position S1 in physical units P90 (integral digit)  
Actual position S1 in physical units P90 (fractional digits)  
2
Square of motor – peak current (reference value: 80 000A )  
from V5.61: square of the scaled resolver level (sin² + cos²);  
reference value 1.0  
57  
57  
<0.25 -> E42 (level error, 161)  
>1.0 -> E42 (limit error, 160)  
58  
58  
59 Depiction of status monitor  
60 Sensor designation SinCos  
61 Value read acyclically by S1 option  
62 1st cyclic channel of S1 = position (100µs) (reference: 2-24 revol.)  
63 2nd cyclic channel of S1 (1 ms)  
64 3rd cyclic channel of S1 (1 ms)  
65 Absolute value from S2 option in format 12:12, limited to 0 ... P96  
(reference: 1 revolution = 4096)  
66 Absolute value from S1 option, not limited (reference: 2-12 revolutions)  
67 Additional error numbers with E42  
68 Option designation / SW version number (S1 / S2 option)  
69  
70  
71  
72 from V5.14: sensor temperature SinCos (SR types only)  
45  
The peak value is deleted after 24V off/on or after shut down of the final stage (OTA1/2).  
211  
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COMPAX-M/S  
Appendix  
VP parameter can be modified "On Line"  
10.3  
parameter  
COMPAX  
VP parameters can be modified and transferred and the password specified in any COMPAX  
operating mode.  
Note!  
Note the following points.  
1. Processor load  
When parameters are being validated using the "VP" command, the response time and  
command execution time is temporarily extended due to the increased computing time.  
e.g. when the parameters are transferred, a "Stop signal" is recognized after a short delay.  
Typical delay times would be:  
range of parameters:  
P1 ... P79: approx. 0.5 ms per parameter.  
>P79: approx. 20 ms.  
2. Modifying the controller setting  
When modifying the controller setting via parameters P23, P24, P25, P26, P27 or P70,  
comparison processes may occur. These may be detected as short axis readjustments.  
Therefore: only modify parameters in small steps when the axis is active.  
3. Area of application  
This extension to the function is used for the start-up and for optimizing the axis.  
It is not intended for the implementation of control tasks.  
Please note: The axis must be switched off if modified VP parameters are to be transferred  
(e.g. via OUTPUT O0=1).  
10.3.2 COMPAX standard parameters  
Parameter groups:  
Control parameters  
P40 ... P49  
Limitations  
P11 ... P16  
Bus parameters  
P135 ... P142; P190 ... P196  
P71 ... P74, P76, P77, P182  
P18, P211, P221 ... P225, P227, P245, P246  
P75, P98, P143, P144, P146, P232  
P1 ... P10  
P181, P184 ... P188, P243, P247 ... P250  
P80 ... P85, P88, P90, P92, P93, P98  
P35, P37, P38, P39  
D/A monitor, status monitor S15  
Inputs/outputs: assignment / meaning  
Define encoder interfaces(option)  
Substitution and specification values:  
HEDA  
Configuration parameters  
Mark reference  
Define mechanical reference system  
Motor parameters  
P29, P206, P212 ... P217,  
P100 ... P133  
Optimization parameters, optimization display  
Parameters of software variants  
RS232  
P21 ... P27, P50, P67 ... P70, P94, P151, P233, P234  
P30 ... P39  
P19, P20  
Other parameters  
PLC data interface  
P17, P218, P219, P229  
P18  
Parameters not described here are reserved.  
46  
VP means "Valid Parameter" and is a COMPAX command with which COMPAX accepts a modified  
parameter from a specific parameter group. The VP parameters are marked in the following parameter  
lists in the column "Valid from...".  
212  
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COMPAX parameter  
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;  
rack-and-pinion/toothed belt P82 * P83;  
general drive: P83 (/1000 in mm)  
List of parameters, sorted by number  
No.  
Meaning  
Unit  
Minimum Default  
Maximum  
value  
Valid  
from...  
value  
value  
-
+1 000 000  
P1  
Real – zero point (distance real zero-machine  
zero).  
corresp.  
P90  
0.00  
immediat.  
1 000 000  
P2  
P3  
P4  
P5  
P6  
Substitute for non-programmed velocity.  
Velocity for find machine zero.  
%
%
1.00  
-100.00  
1.00  
1.00  
1
10.00  
10.00  
10.00  
10.00  
1000  
100.00  
100.00  
100.00  
100.00  
60 000  
immediat.  
immediat.  
immediat.  
immediat.  
immediat.  
Velocity for approach real zero.  
Velocity for processing by hand.  
%
%
Substitute value for non-programmed ramp  
time.  
ms  
P7  
P8  
P9  
Ramp time for approach machine zero.  
Ramp time for approach point of real zero.  
Ramp time for processing by hand.  
ms  
ms  
ms  
1
1
1
1
1000  
1000  
1000  
250  
60 000  
60 000  
60 000  
60 000  
immediat.  
immediat.  
immediat.  
immediat.  
P10 Ramp time after limit switch or emergency stop ms  
is activated.  
P12  
P11 Max. positive position referenced to machine  
zero.  
corresp.  
+4 000 000.0 +4 000 000.00  
0
VP  
VP  
P90  
P11  
P12 Max. negative position referenced to machine  
zero.  
corresp.  
P90  
-
-
4 000 000.00 4 000 000.00  
corresp.  
P90  
4 000 000.0  
0
P13 Max. permitted lag tolerance (error E10 is  
triggered when exceeded); E10 & E49 are  
switched off with specification "0".  
0
10.00  
VP  
"0"  
or % of  
immediat.  
P104  
corresp.  
P90  
P14 Max. permitted positioning zone (applies for  
message O5 : "Position reached")  
0.00  
1.00  
4 000.00  
VP  
or % of  
P104  
P15 Max. permitted velocity  
P16 Max. permissible torque  
%
0.00  
0
100.00  
200  
100.00  
VP  
VP  
% of  
300  
P105  
P17 Engine brake lag  
P18 PLC data interface  
Fast start via I15  
ms  
0
0
4000  
VP  
VP  
Bit 0  
=0 without PLC data interface  
=1 with PLC data interface  
Bit 1 =0 fast start via I15 not active  
=1 fast start via I15 active  
Bit 3 =0 no fast start via HEDA  
=1 fast start via HEDA active  
only permitted with P18 when bit 1=1!  
Bit/s  
Fast start via HEDA  
Note!  
Settings with bit 1 and bit 3 are only permitted  
in COMPAX XX00.  
960051  
9600  
Power on  
P19 RS232 Baud rate  
4800  
47  
In speed control mode in % of nominal speed (P104), otherwise corresponds to P90  
In speed control mode in % of nominal speed (P104), otherwise corresponds to P90  
For asynchronous motors, the maximum permitted velocity may be up to 300% of the nominal velocity.  
Bit counting begins at bit 0.  
By simultaneously pressing the three front plate keys when switching on, the baud rate is set to 9600.  
With COMPAX 1000SL, the baud rate is always set to 9600.  
48  
49  
50  
51  
213  
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COMPAX-M/S  
Appendix  
COMPAX standard parameters  
No. Meaning  
Unit  
Minimum Default  
value value  
"0":without  
"1":with XON, XOFF  
Maximum  
value  
Valid  
from...  
Power on  
Software handshake  
P20 RS232 handshake  
Error transmission /  
negative command  
acknowledgement  
(E90 - E94)  
immediat.  
"0":Error only with interface activity and if  
the transmitted command triggers an  
error.  
P20 setting.  
The sum of the  
specified values is  
entered in P20.  
No neg. command acknowledgement  
(E90 - E94).  
"2":no transmission of error and no neg.  
command acknowl. (E90 – E94).  
"4":Messages are indated for errors and  
neg. command acknowl. (E90 – E94)  
C
L
as soon as th. occur w. Exx  
>.  
R
F
"6":errors & neg. command acknow.  
(E90 – E94) only with interface  
activity.  
C
L
C
Power on  
End sign selection  
Binary transfer  
"0":  
>
"8":  
R
F
R
"0":without  
"16": with  
immediat.  
Power on  
BCC: block check  
"0":without "128": with  
EXOR via all signs apart  
from the end sign  
P21 Factor for influencing the travel per motor  
revolution  
0.1000  
0.5000  
1.0000  
1.0000  
10.0000  
VP&VC  
VP&VC  
P22 Factor for modifying the speed which is  
2.0000  
allocated to speed SPEED 100%.  
P23 Stiffness of drive  
%
%
%
%
%
10  
0
100  
100  
100  
100  
100  
0
5000  
500  
500  
500  
500  
360  
VP  
VP  
VP  
VP  
VP  
VP  
P24 Speed controller damping  
P25 Speed – advance control value  
P26 Acceleration – advance control value  
P27 Moment of inertia  
0
0
10  
P29 Machine zero comparison  
Degre 0  
e
P35 Switch on mark reference  
"0": switched off "1": switched on  
VP  
VP  
% of  
nominal  
speed  
P36 Limitation of speed correction value for external  
position adjustment (only COMPAX XX00 and  
COMPAX XX30) ="0": switched off  
0
0
100  
(P104)  
P37 Minimum travel to mark  
P38 Maximum travel to mark  
P39 Maximum feed length  
P40 Control parameters  
P41 Control parameters  
P42 Control parameters  
P43 Control parameters  
P44 Control parameters  
P45 Control parameters  
P46 Control parameters  
P47 Control parameters  
P48 Control parameters  
P49 Control parameters  
0.00  
0.00  
0.00  
0.00  
<P38  
VP  
corr.. P90  
corr.. P90  
corr..P90  
>P37  
4 000 000.00  
<P11 or P12  
VP  
VP  
P38  
-4 000 000  
-4 000 000  
-4 000 000  
-4 000 000  
-4 000 000  
-4 000 000  
-4 000 000  
-4 000 000  
-4 000 000  
-4 000 000  
0
+4 000 000  
+4 000 000  
+4 000 000  
+4 000 000  
+4 000 000  
+4 000 000  
+4 000 000  
+4 000 000  
+4 000 000  
+4 000 000  
immediat.  
immediat.  
immediat.  
immediat.  
immediat.  
immediat.  
immediat.  
immediat.  
immediat.  
immediat.  
0
0
0
0
0
0
0
0
0
52  
When motor nominal speeds have been modified, use this factor to perform a simple adaptation to the  
current program.  
When P93 = 4, P25 must be >0.  
53  
214  
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COMPAX parameter  
No.  
Meaning  
Unit  
Minimum Default  
value value  
Maximum  
value  
Valid  
from...  
P50 Enable speed monitor (=101)  
=100: without monitor (default setting)  
=101: with monitor  
VP  
P56 D section rpm controller  
P57 Filter acceleration  
P58 Lag rapid rpm signal  
P59 Structure switch measuring  
%
%
%
0:  
0
0
0
0
100  
100  
10 000  
550  
550  
VP  
VP  
VP  
VP  
Standard:  
4:  
3:  
Variant 1 (for resolver)  
Variant 2 (for SinCos )  
8:  
+16:  
Variant 3 (Rapid rpm controller)  
Sensitive stiffness (P23)  
Larger setting range for P23  
+65536: Sensitive D section (P56)  
Larger setting range for P56  
P67 D-element slip filter  
P68 Slip filter lag  
%
%
%
100  
100  
0
500  
VP  
VP  
VP  
0
0
0
5000  
500  
P69 Reverse advance control ("0" : without reverse  
advance control)  
P70 Current – advance control value  
P71 D/A monitor 1 amplification  
P72 D/A monitor 2 amplification  
P73 Address of D/A monitor 1  
P74 Address of D/A monitor 2  
%
0
1
1
0
0
0
0
500  
VP  
VP  
VP  
VP  
VP  
VP  
5
4 000 000  
4 000 000  
18  
10  
4
15  
0
18  
P75 Max. permitted measuring error (difference  
betw. resolver pos. and external encoder pos.)  
P90  
4 000 000  
The external position localization is switched on with a  
measuring error 0 and the internal position is corrected.  
P76  
P77  
Address of D/A monitor 3 (decimal place =0 amplification 1)  
Address of D/A monitor 4 (decimal place =0 amplification 1)  
0
0
4.000 000 1 20 000  
15.000 000 1 20 000  
VP  
VP  
VC  
"2": Spindle drive  
P80 Drive type  
"4/8": rack-and-pinion/toothed belt  
"16": general drive / linear motor  
Drive type "Spindle drive" (P80="2")  
P81 Length  
mm  
mm  
mm  
0.00  
8.00  
1.00  
0.00  
0.00  
0.00  
0.00  
5000.00  
80.00  
VC  
VC  
VC  
VC  
VC  
VC  
VC  
P82 Diameter  
P83 Pitch  
400.00  
200.00  
P84 Moment of inertia for transmission and coupling kgcm2 0.00  
P85 Ratio  
1.0000000 1.0000000 100.0000000  
P88 Max. translational mass moved  
P92 Min. translational mass moved  
kg  
kg  
0
0
500  
P88  
"Rack-and-pinion/toothed belt" drive type (P80="4/8")  
P82 Tooth number  
Tooth number * tooth pitch  
= 1.00 ........ 410.00  
VC  
VC  
VC  
VC  
VC  
VC  
P83 Tooth pitch  
mm  
2
P84 Moment of inertia for transmission and coupling kgcm 0.00  
0.00  
200.00  
P85 Ratio  
1.0000000 1.0000000 100.0000000  
P88 Max. translational mass moved  
P92 Min. translational mass moved  
"General drive" drive type (P80="16")  
P81 Min. total moment of inertia  
kg  
kg  
0
0
500  
P88  
2
kgmm  
0.00  
0.00  
Jmax.(82)  
VC  
mmin P126  
1000 • 2 • Π)  
With linear motors: P81 =  
2
(
215  
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COMPAX-M/S  
Appendix  
COMPAX standard parameters  
No. Meaning  
Unit  
Minimum Default  
Maximum  
value  
Valid  
from...  
value  
value  
2
P82 Max. total moment of inertia  
kgmm  
0
0.00  
200 000  
VC  
mmax P126  
1000 2Π)  
With linear motors: P82 =  
2
(
4 000 000µm  
µm or  
increm.  
VC  
VC  
P83 Travel per motor revolution  
With linear motors: P83 = P126  
P90 Unit for travel  
10  
0.00  
65 536 Inkr.  
"0": increments  
"1": mm  
"2": inch  
"1": normal mode  
P93 Operating mode  
"2": Continuous mode  
"4": speed control mode54  
"1": linear  
"2": smooth "3": quadratic.  
4095  
P94 Ramp shape  
Transmission factor for the reset route of S2  
P96  
P98  
No.  
-
0
0
VC  
option. ="0": no reset function.  
Travel of axis per encoder revolution  
corresp.  
P90  
0
0.0000000 4 000 000  
VC  
Valid  
for  
P100 Motor number  
P101 Number of terminals  
Linear motor: P101=2  
Motor selection  
VC  
VC  
A,S  
L
2
2
12  
V * min/  
1000  
P102 EMC  
S
10  
400  
VC  
VC  
P102=EMC[V/(m/s)] * P126/60 000  
L
P103 Moment of inertia  
A,S  
L
kgmm 0  
2
200 000  
m
P126  
Forcer  
Linear motor:  
P103 =  
2
(
10002 Π)  
-1  
min  
P104 Nominal speed  
A,S  
L
500  
9000  
VC  
Linear motor:  
Vnominal 100060000  
P104 =  
P126  
P105 Nominal current  
P106 Nominal torque  
A,S,L mA  
200  
0
100 000  
100 000  
VC  
VC  
A,S  
L
mNm  
Fnominal P126  
Linear motor:  
P106 =  
(
1000 2 Π)  
P107 Pulse current  
A,S,L  
%
100  
1000  
0
400  
VC  
VC  
VC  
VC  
VC  
P108 Max. time in current limit (P16)  
P109 Stator inductivity  
A,S,L ms  
5000  
A,S,L  
200 000  
0.7 * P105  
2000  
µH  
mA  
ms  
P110 Magnetization current  
P111 Rotor time constants  
A
A
100  
5
54  
When in speed control mode, P25 must > 0.  
From next process command  
From next process command  
A: parameter for asynchronous motors  
55  
56  
57  
S: parameter for synchronous motors  
L: parameter for linear motors  
216  
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COMPAX parameter  
No.  
Meaning  
Unit  
Minimum Default  
Maximum  
value  
Valid  
from...  
value  
value  
P112 Slip frequency  
P113 Maximum speed  
Linear motor:  
A
mHz 100  
20 000  
9000  
VC  
VC  
-1  
min  
A,S  
L
0
Vmax 100060000  
P113 =  
P126  
% of  
P104  
P115 Angular speed  
A
50  
0
100  
200  
VC  
VC  
P116 Stator resistance  
A,S,L mOh  
m
150 000  
P119 Start of saturation  
P120 End of saturation  
S,L  
S,L  
S,L  
%
70  
100  
400  
100  
<P120  
400  
VC  
VC  
VC  
%
% of  
P109  
> P119  
10  
P121 Minimum stator inductivity  
100  
P122 Main inductivity  
A
A
A
A
L
0
2 000 000  
200 000  
10 000  
400  
VC  
VC  
VC  
VC  
VC  
µH  
µH  
P123 Rotor – scatter inductivity  
P124 Rotor resistance  
P125 Nominal voltage  
0
mOhm  
0
V
10  
P126  
20 000  
100 000  
Pitch length of motor magnets in µm (2  
* Pole distance)  
P127 Denominator: Dash count linear  
encoder per pitch length (see P133)  
L
-
0
1
0
<P133  
20 000  
VC  
VC  
P128 Cut-off value of temperature sensor for A,S,L  
E48  
0
"0":  
HDX / HDY – motors  
"1270": HJ – motors  
P129 Resolver offset  
A,S,L Degree  
0
0
360  
VC  
VC  
VC  
P130 Resolver frequency  
A,S,L "2":5kHz(P4)  
A,S,L "2": ü = 0.5 (e.g. P4 resolver)  
P131  
Resolver – transformation ratio  
%
70  
100  
200  
Level adaptation (1/ü) for resolver or SinCos -  
sensor (from V5.61) setting aids:  
100% 0.5; 200% 0.25; 70% 0.71;  
P132 Position sensor  
With linear motors:  
A,S  
L
"2": 2-pol. resolver (P4)  
VC  
VC  
"10": TTL linear encoder  
"11": SinCos linear encoder  
P133 Sensor dash count  
A,S  
L
-
65 536  
> P127  
With linear motors: Dash count linear  
encoder per pitch length (counter: see  
P127)  
<
1/µm  
8388607  
Dash count per pitch length =  
P133/P127  
2
8000  
P134 Nominal load capacity of the external ballast  
resistance (100) in [W]  
Watts  
60  
VC  
P135 – P142 Bus – parameter  
P143 Encoder pulses per revolution (channel 1)  
128  
4096  
2 000 000  
VC  
58  
Resolver transformation ratio = ü = resolver output voltage / resolver input voltage  
The read-in level is displayed in the square of the channel 57 optimizing display.  
With P233=57 this value is in S13. Meaning:  
59  
60  
0.405  
P131=  
(rounded to the nearest percent)  
100%  
S13  
The current default setting "2" is still possible.  
Note: Resolver with Ü=1 cannot be operated!  
Select P133 as large as possible to achieve maximum accuracy. P133 does not have fractional digits.  
217  
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COMPAX-M/S  
Appendix  
COMPAX standard parameters  
No. Meaning  
Unit  
Minimum Default  
value value  
Maximum  
value  
Valid  
from...  
VC  
P144 Settting encoder channel 1  
="4": without external position  
localization  
="6": external position localization  
switched on via channel 1.  
P146 Resolution of encoder emulation (channel 2)  
P148 End stage designation  
=0: 1024 =8: 512  
VC  
"Read only" – parameter S37  
P149 Configuration  
VC  
VP  
VP  
"0": not valid  
"1": valid  
P151 Responsiveness of the monitor control  
P156 Allocation of inputs I1...I6 to the input pins on  
X19  
500  
8388607  
%
0
30  
-8388608  
-8388608  
-8388608  
Bits  
X19/2I1  
X19/3I2  
X19/4I3  
X19/5I4  
X19/6I5  
X19/7I6  
Source for  
Bit 0 – 3 input 1  
Bit 4 – 7 input 2  
Bit 8 – 11input 3  
Bit 12 – 15 input 4  
Bit 16 – 19 input 5  
Bit 20 – 23 input 6  
P157 Allocation of inputs I7...I12 to the input pins on  
X19  
= 7 754 802  
8388607  
X19/8I12  
VP  
Bits  
I7 ... I11 = "0"  
= -8 388 608  
Source for  
Bit 0 – 3 input 7  
Bit 4 – 7 input 8  
Bit 8 – 11input 9  
Bit 12 – 15 input 10  
Bit 16 – 19 input 11  
Bit 20 – 23 input 12  
8388607  
X19/9I16  
VP  
P158 Allocation of inputs I13...I16 to the input pins on Bits  
I13...I15 ="0"  
X19  
Source for  
= 36 864  
Bit 0 – 3 input 13  
Bit 4 – 7 input 14  
Bit 8 – 11input 15  
Bit 12 – 15 input 16  
Bit 16 – 19 free  
Bit 20 – 23 free  
0
0
1
65535  
65535  
2047  
P159 Allocation of output pins X19/15 ... X19/18 to  
the logic outputs  
Bits  
Bits  
O1X19/15  
O2X19/16  
O3X19/17  
O4X19/18  
= 12 816  
VP  
VP  
VP  
Source for  
Bit 0 – 3 Pin X19/15  
Bit 4 – 7 Pin X19/16  
Bit 8 – 11Pin X19/17  
Bit 12 – 15 Pin X19/18  
P160 Allocation of output pins X19/19 ... X19/22 to  
the logic outputs  
O5X19/19  
O6X19/20  
O7X19/21  
O8X19/22  
Source for  
Bit 0 – 3 Pin X19/19  
Bit 4 – 7 Pin X19/20  
Bit 8 – 11Pin X19/21  
= 30 292  
Bit 12 – 15 Pin X19/22  
P161 Maximum angle difference with absolute resolver  
function  
100  
(4096 = 1 motor revolution)  
P181  
0
0
10  
0
4 000 000  
532 767  
VP  
VP  
HEDA – parameter: coupling window (µm or  
increments)  
P182 Setting status monitor S15  
61  
When P149="0", all parameters apart from the bus settings P194, P195, P196, P250 are set to default values when switched on.  
218  
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COMPAX parameter  
No.  
Meaning  
Unit  
Minimum Default  
value value  
40: encoder position  
Maximum  
value  
Valid  
from...  
P184 Selection parameters for HEDA – process value  
VP  
42: internal time base  
43: scaled master position  
(master)  
Default value: P184=0  
44: nominal pos. value in resolver increm.  
45: actual pos. value in resolver increments  
46: differentiated resolver position  
P185 – P187 HEDA – parameter  
P188 Selection parameters for HEDA – process value 40: encoder coupling for encoder input  
VP  
(slave)  
Default value: P188=0  
signals (P184=40)  
140: encoder coupling for other input  
signals (P18440)  
42: internal time base  
43: scaled master position  
P191 – P196 Bus – parameter  
P197 Order (status S33)  
P198 Part (status S34)  
"Read only" – parameter  
"Read only" – parameter  
motor  
revol.  
P202 With machine zero mode P212="8": Distance  
machine zero – limit switch (setting "0"  
corresponds to "3")  
3
0
255  
VP  
P206 Enables the absolute value sensor input / the  
reset function of option S2 / absolute value  
sensor  
="1": absolute value sensor input enabled or  
reset function switched on (S2 opt.)  
= "2": absolute value sensor enabled  
VP  
"0" The teach data record and teach real  
zero functions are enabled.  
immedia-  
tely  
P211 Disable and modify the Teach In – function  
"1" Teach in real zero is blocked, data  
record indicator is set to 1 using I1 + I4 .  
"2" Teach in set is blocked, data record  
indicator is set to 1 using I1 + I5 .  
(Teach real zero is enabled)  
Also:  
enable final stage with OUTPUT O0="0" without  
lag (Bit 2="1")  
"3" The teach data record and teach in real  
zero functions are blocked. With I1 + I4,  
Teach N or I1 + I5, the data record  
indicator is set to 1.  
"4...7": The final stage is enabled with  
"0": MZ equals external initiator & resolver  
zero / 2 reversing initiators.  
"1": MZ equals external initiator & resolver  
zero.  
"3": MZ equals external zero pulse  
"4": MZ equals external initiator & external  
zero pulse.  
P212 Machine – zero – mode  
immedia-  
tely  
Settings "3" and "4" with COMPAX XX00 and  
COMPAX XX30 only  
"5": MZ equals resolver zero  
"6": reserved  
"7": MZ equals external initiator (without  
resolver zero).  
"8": MZ equals limit switch  
"10": teaches machine zero  
"11": MZ equals initiator (without resolver  
zero) / 2 reversing initiators.  
P213 Machine zero direction  
P214 Encoder direction  
"0": to the right "1": to the left  
"0": positive direction when encoder is  
turning clockwise.  
VP  
VP  
"1": positive direction when encoder is  
turning anti-clockwise.  
P215 Direction of rotation  
"0": motor to the right "1": motor to the left  
VP  
219  
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COMPAX-M/S  
Appendix  
COMPAX standard parameters  
No. Meaning  
Unit  
Minimum Default  
value value  
Maximum  
value  
Valid  
from...  
P216 Limit switch position E1 is approached when  
...  
"0": motor turns clockwise  
"1": motor turns anti-clockwise  
immediat.  
immediat.  
P217 Limit switch mode  
"0": without limit switch  
"1": with limit switch (do not find during MZ)  
"3": with limit switch (find during MZ)  
"5": with limit switch (without pos. locking)  
P218 Error cutout  
Bit 0 ="0" E57 active ="1" E57 switched immediat.  
Default value: P218=0 (E57 active)  
off  
P219 Emergency stop  
=0 no evaluation of emergency stop input on COMPAX-M  
VP  
input on COMPAX- =7 emergency stop input on COMPAX-M active  
M / Synchronous  
STOP on COMPAX  
XX00  
=128 synchronous STOP on COMPAX XX0X without evaluation of  
emergency stop input on COMPAX-M  
=135 synchronous STOP on COMPAX XX0X with evaluation of  
emergency stop input on COMPAX-M  
Input (valency) [Bit No.]:  
E1 (1) [1] E2 (2) [2] E3 (4) [3] E4 (8) [4]  
immedia-  
tely  
P221 Freely assign  
E5 (16) [5] E6 (32) [6] E6 (64) [7] E6 (128) [8]  
standard inputs I1  
...I8 with "1"  
P221 = sum of valencies of all required free inputs.  
The control functions are assigned to the fieldbus with the bit set (I17 ... I24)  
Input (valency) [Bit No.]:  
I9 (1) [1]  
I10 (2) [2] I11 (4) [3] I12 (8) [4]  
immedia-  
tely  
P222 Freely assign  
I13 (16)[5] I14 (32)[6] I15 (64)[7] I16 (128)[8]  
standard inputs I9  
...I16 with "1"  
P222 = sum of valencies of all required free inputs.  
The control functions are assigned to the fieldbus with the bit set (I25 ... I32)  
Output (valency) [Bit No.]:  
O1 (1) [1] O2 (2) [2] O3 (4) [3] O4 (8) [4]  
immedia-  
tely  
P223 Assign outputs O1 -  
O8 to the OUTPUT  
WORD command  
with a "1"  
O5 (16) [5] O6 (32) [6] O7 (64) [7] O8 (128) [8]  
P223 = sum of valencies of the OUTPUT WORD outputs  
Output (valency) [Bit No.]: O9 (1) [1]  
O13 (16)[5] O14 (32)[6] O15 (64)[7] O16 (128) [8]  
P224 = sum of valencies of the OUTPUT WORD outputs  
O10 (2) [2] O11 (4) [3] O12 (8) [4]  
immedia-  
tely  
P224 Assign outputs O9  
- O16 to the  
OUTPUT WORD  
command with "1"  
Output (valency) [Bit No.]:  
O1 (1) [1] O2 (2) [2]  
O3 (4) [3]  
immedia-  
tely  
P225 Freely assign  
standard outputs  
with "1"  
O4 (8) [4] O5 (16) [5] O6 (32) [6]  
P225 = sum of valencies of all required free outputs.  
P227 Assign special  
functions to  
immedia-  
tely  
Bit 1 ="0": O2 is assigned the default function (=no warning).  
Bit 1="1": O2 is assigned the "Idle monitor" function.  
Bit 4="0": O5 is assigned the default function (position reached with  
evaluation of P14)  
outputs  
Bit 4="1": O5 is assigned with the "O5 toggles when position  
reached" function.  
P229 Speed threshold for "Idle display" function (only  
switched on if P227 bit 1="1")  
VP  
VP  
0
0
255  
P232 Function I11  
=0: I11 can be freely assigned  
With external position adjustment switched on (P75>0):  
=4: I11 switches the external position adjustment  
(I11="0": off and I11="1": switched on)  
COMPAX 1060/70SL: With analogue ±10V – interface  
=4: I11 has the function "Enable analogue input  
(I11="0": Setpoint=0 I11="1": analogue input active)  
P233 Setting the optimization display S13  
1...255  
immedia-  
tely  
P234 Setting the optimization display S14  
1...255  
immedia-  
tely  
62  
OUTPUT WORD – command is available with bus systems.  
Bit-counting starts with Bit 0.  
63  
220  
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COMPAX parameter  
No.  
Meaning  
Unit  
Minimum Default  
value value  
="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  
Maximum  
value  
Valid  
from...  
VP  
P243 HEDA operation  
mode  
Output (valency) [Bit No]:  
O1 (1) [1] O2 (2) [2] O3 (4) [3] O4 (8) [4]  
immedia-  
tely  
P245 Assign outputs O1  
- O8 to the HEDA  
bus  
O5 (16) [5] O6 (32) [6] O7 (64) [7] O8 (128) [8]  
P245 = sum of valencies of the outputs allocated to the HEDA bus  
Output (valency) [Bit No]:  
O9 (1) [1]  
O13 (16)[5] O14 (32)[6] O15 (64)[7] O16 (128) [8]  
P246 = sum of valencies of the outputs allocated to the HEDA bus  
O10 (2) [2] O11 (4) [3] O12 (8) [4]  
immedia-  
tely  
P246 Assign outputs O9  
- O16 to the HEDA  
bus  
VP  
P247 - P250 HEDA parameter  
221  
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COMPAX-M/S  
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:  
current limit  
min [IGS, P107*P105,P16*P105]  
current control with  
power output stage  
Structural  
diagram:  
speed control  
...  
motor  
current reference value  
current actual value  
rate determination  
E53  
E53  
TG  
device supervision  
IGnenn  
Software  
Motor supervision  
TM  
1,1*IMnenn  
Software  
E41  
power output stage supervision  
1,5*IGS  
Hardware  
IUnom.: unit nominal current IUP: unit peak current IMnom.: motor nominal current  
Dynamic monitoring:  
In COMPAX, the nominal current value is limited to the smallest value of the following 3 quantities.  
IUP: unit peak current  
P105 * P107: nominal motor current (P105) * maximum pulse current permitted for the motor (P107)  
P105 * P16: nominal motor current (P105) * maximum permitted (user-set) torque (P16)  
Static monitoring  
This executes triple monitoring:  
Unit monitoring  
Using the unit-specific time constant TG, a current greater than  
IUnom. is permitted for a specific period; E53 then switches the unit  
off.  
Motor monitoring  
Using the time constant TM, a current greater than 1.1 * IMnom. is  
permitted for a specified period; E53 then switches the unit off.  
TM is set so that the pulse current P107 can flow for the period set  
in P108.  
Final stage / short circuit monitoring Absolute monitoring to 1.5 * IUP.  
222  
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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).  
When the LED (error) turns off, COMPAX is ready for operation.  
Switch off COMPAX if you are experiencing hardware errors (e.g. short circuit to outputs).  
The errors I1...I57 are also reported with the binary output O1="0"; the drive does not accept any  
positioning commands and the ready contact is opened.  
If COMPAX executes a travel motion, the drive is then decelerated using the programmed ramp time (for E50, E51 and E55  
using ramp time P10) and, if specified in the error table, the unit is switched off after this time.  
The errors E58 are also indicated with the binary output O2="0" (if O2 is configured in this manner, see  
parameter P227).  
If the specified measures cannot rectify the problem, there may be an electrical defect. Please send  
the unit and an error description to HAUSER.  
Acknow-  
ledge with  
Drive  
volt.-free  
No. Cause  
Action  
Not  
necessary  
no  
E00 Interruption of a positioning command using STOP / BREAK; is only reported via RS232.  
E01 Not configured.  
Configure.  
Check initiator.  
Quit  
Quit  
yes  
no  
E05 Machine zero initiator not found.  
Error is only generated when using  
reversing initiators.  
E07 Calculation error  
Check programmed arithmetic.  
Quit  
no  
(more accurate cause shown in the optimizing  
E08 Synchronous STOP present  
E09 Drive not running.  
E10 Lag error too large.  
or  
Check P219  
Quit  
Quit  
Quit  
no  
no  
Remove mechanical blockage (tools, foreign bodies).  
see  
below  
Check mechanics for smooth operation, reduce load  
or feed force or increase P13.  
This error message can be turned off by setting  
P13="0".  
speed difference too great  
E11 Programmed position not reached.  
E15 Error in 2nd position measuring  
system.  
Remove mechanical obstacles or increase P14.  
Check configuration and wiring.  
Quit  
Quit  
no  
yes  
E16 The data record number selected  
does not exist.  
E17 The data record number selected is  
Select data record number between 1...250.  
Select data record number between 1...250.  
Quit  
Quit  
no  
no  
too large.  
E18 The maximum data record 250 is  
already assigned.  
E19 No space available in data record  
memory.  
E20 Target position beyond positive end  
limit.  
E21 Target position beyond negative end Correct target position.  
limit.  
Free data record 250.  
Quit  
Quit  
Quit  
Quit  
Quit  
no  
no  
no  
no  
no  
Delete data records or entire data record memory.  
Correct target position.  
E22 Machine zero is not approached.  
Find machine zero. This must be found after power on.  
64  
with COMPAX 70: Curve number not present.  
223  
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COMPAX-M/S  
Appendix  
Monitoring and limitation characteristics  
Acknow-  
ledge with  
Drive  
volt.-free  
No. Cause  
Action  
E23 The current command is not allowed.  
Quit  
no  
Positioning command in the speed control mode.  
Approach MZ in speed control mode.  
Travel command when drive is switched off.  
Hand +/- when an error is present.  
More than 8 consecutive comparator commands  
(preparatory commands) in the data record  
memory.  
E24 The speed selected is not valid.  
E25 The position selected is not valid.  
Enter speed between 0...100%.  
Note end limits and "Software end limit monitoring"  
chapter in variant documentation.  
Quit  
Quit  
no  
no  
E26 REPEAT without END or GOSUB  
without RETURN .  
Insert END / RETURN command.  
Quit  
no  
E27 Parameter must not be written.  
E29 Motor values missing.  
E30 Hardware fault.  
E31 Error in parameters.  
E32 Error in parameters.  
E33 Error in program memory.  
E34 Error in program memory.  
E35 Hardware fault.  
Check parameter.  
Send unit to HAUSER.  
Remove extreme external sources of fault.  
Check parameter.  
Check parameter.  
Check data record memory.  
Check data record memory.  
Remove extreme external sources of fault.  
Faulty or incorrect unit hardware.  
Switch on again.  
Quit  
Quit  
no  
yes  
yes  
no  
Quit  
Quit  
Quit  
no  
Quit  
no  
Quit  
no  
Quit  
no  
E36 Hardware fault.  
E37 Auxiliary voltage +15 V missing.  
Power on  
Power on  
yes  
yes  
Quit  
yes  
E38 Voltage in intermediate circuit too  
high; e.g. if braking output is too  
high. Limits:  
Increase braking and idle times / check mains power.  
COMPAX 25XXS: external ballast resistance  
missing.  
COMPAX 25XXS: >400V  
COMPAX 10XXSL: >400V  
otherwise: >800V  
COMPAX 45XXS/85XXS: bridges X2/5 - X2/6  
missing.  
COMPAX 1000SL: Check value P134.  
Increase acceleration times.  
E39 Temperature too high (>85°), cycle  
too hard.  
Quit  
Quit  
yes  
yes  
E40 Input "Enable final stage" (45/85S: X3/1-/2; 1000SL X19/24-X19/12, 35XXM: X19/9-/10) not assigned  
Only with COMPAX 35XXM, COMPAX 45XXS, COMPAX 85XXS and COMPAX 1000SL!  
Note!  
With E40 there is no braking delay; the final stage is immediately switched off.  
The input has a direct effect on the hardware.  
E41 Final stage reports error.  
COMPAX 35XXM: Short circuit of the  
ballast resistance or undervoltage  
24V  
Check motor and cable for ground fault, short circuit  
fault and function; remove extreme external sources  
of fault.  
Quit  
Quit  
yes  
yes  
COMPAX 1000SL:  
Overvoltage or ballast switching  
E42 Resolver / sensor error.  
Check resolver cable and connector for correct  
connections and faults.  
A special error code can be found in channel 67 of  
the optimization display. This means  
Error No. 1 ... 30: Sensor indicates error  
Error No. > 30: COMPAX indicates error  
Error No. =160: Sensor level too high  
Error No. =161: Sensor level too low  
(implement level adaptation using parameter P131)  
E43 Output overloaded.  
Check I/O cables, connectors and external circuits.  
Note load limits (refer to start-up manual).  
Switch unit on again.  
Quit  
yes  
yes  
yes  
E44 Positive auxiliary voltage outside  
tolerances.  
E45 Negative auxiliary voltage outside  
tolerances.  
Power on  
Power on  
Switch unit on again.  
E46 Supply voltage +24V is too high.  
E47 Supply voltage +24V is too low.  
Check +24V DC power unit.  
Check +24V DC power unit.  
Power on  
Power on  
yes  
yes  
224  
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  
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Error handling and error messages  
Acknow-  
ledge with  
Drive  
volt.-free  
No. Cause  
Action  
E48 Motor thermostatic switch reports  
error.  
E49 Motor or drive reports blockage.  
Drive remains in the current limit  
(P16) for longer than P108  
Check resolver cable, motor type and motor / remove Power on  
external sources of heat.  
yes  
yes  
Free mechanics. This error message can be  
switched off by setting P13="0".  
Check motor cable.  
Quit  
COMPAX-S: speed controller  
oscillating  
Optimize controller (reduce P23 stiffness).  
E50 Limit switch 1 activated.  
E51 Limit switch 2 activated.  
E52 Error in emergency stop circuit.  
E53 Motor overloaded.  
E54 Speed higher than the maximum  
motor speed or higher than P15 *  
1.21  
Move by hand or POSA from limit switch.  
Move by hand or POSA from limit switch.  
Check emergency stop switch contacts.  
Check dimensions.  
Reduce nominal speed or, if speed is too high due to  
harmonies, optimize controller.  
see  
P217  
Quit  
Quit  
Quit  
Quit  
Quit  
no  
no  
yes  
yes  
yes  
E55 External emergency stop.  
Intermediate circuit not enabled.  
Temperature overload.  
E56 Emergency stop directly in  
COMPAX-M via X9/6 (switched on  
via P219=7)  
Check system, then switch unit on again.  
Voltage must be at least 2s >320V.  
External load too great.  
Quit  
Quit  
yes  
yes  
Check system, then switch unit on again.  
E57 Voltage in intermediate circuit too  
low (<70V).  
E58 Temperature is too high (>75°) or  
SinCos - temperature error  
Check mains connection.  
Switch off E57 using P218 ="1".  
Increase acceleration times.  
Quit  
Quit  
yes  
no  
E65 Encoder error  
Check encoder cable.  
Quit  
no  
Axis is brought to a stop through speed control.  
(switch off using P218)  
E76 HEDA synchronisation interrupted  
E77 HEDA transmission error  
Check physical connection and P249  
Check physical connection and P247  
Check physical connection and P248  
Quit  
Quit  
Quit  
no  
no  
no  
E78 Successive HEDA transmission  
errors  
Negative command acknowledgement (only for warnings)  
E72 Block Check Character - error or  
general fault.  
Re-send the characters  
*
no  
*
*
no  
no  
E90 Syntax error; command not valid  
Check command structure.  
Check COMPAX status  
E91 Command cannot be executed in this  
COMPAX operating mode.  
*
*
*
no  
no  
no  
E92 Function running, command cannot  
be executed  
E93 Data record memory active,  
command cannot be executed  
E94 Password missing  
* Quit is not required.  
Response to lag error (error E10)  
Position controller  
COMPAX is switched from position control mode to speed control mode and speed 0 specified. The drive  
remains powered. (Does not apply for COMPAX xx60)  
The next move command after the error acknowledgement brings the system back to position control.  
Response to E15  
COMPAX is switched from position control mode to speed control mode and speed 0 specified. The drive  
remains powered.  
Speed controller  
In speed control mode, control is referenced to speed 0.  
225  
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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.  
Mark-referenced positioning.......................................................................................................229  
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.  
Speed step profiling / comparator switching points ................................................................231  
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. The remaining travel to the idle  
position is performed at a rapid speed.  
The bore spindle should be switched on just before the boring process commences and should be  
switched off immediately after it has been removed from the bore. Movement of the conveyor belt should  
be blocked for as long as there is a risk of collision between the workpiece and drill.  
SPEED SYNC................................................................................................................................233  
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. This belt receives cartons from conveyor belt A and, when triggered by a pulse, passes them on to  
conveyor belt B. In addition to this, when conveyor belt B is assigned, conveyor belt A should be blocked.  
Conveyor belt B is controlled by COMPAX.  
Speed control mode ....................................................................................................................234  
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. The shutter on the removal aperture must only be able to open  
when the centrifuge is at a standstill.  
Fast start.......................................................................................................................................236  
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. The material supply should be released or blocked via a switch.  
Implementing a torque converters.............................................................................................237  
2 options are available for implementing a torque converters.  
226  
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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.  
Assignments:  
station station station station station station station station  
removal  
station  
7
6
5
4
3
2
1
0
workpiece pick-up  
+960 +840 +720 +600 +480 +360 +240 +120  
0 -60  
The horizontal movement is implemented using an NC axis controlled by COMPAX. A pneumatic cylinder,  
which is controlled by COMPAX using a double solenoid valve, raises and lowers the workpiece pick-up.  
COMPAX performs all the functions required without superordinate control.  
Wiring up the digital inputs and outputs:  
pick-up lifted  
search MZ  
I1  
I2  
I5  
I6  
I7  
+24V  
+24V  
+24V  
COMPAX  
pick-up lowered  
start  
stop  
I8  
BCD-switch  
I9  
O7  
O8  
1
2
I10  
I11  
I12  
I13  
I14  
I15  
I16  
evaluation by  
external calling  
of command lines  
BCD  
4
removal  
station empty  
+24V  
lower  
lift  
pick-up  
pick-up  
Comments:  
The inputs I9, I14, I15 and I16 have to be placed on GND or left open.  
The BCD switch has eight settings. The outputs are encoded with binary.  
The "Data collection station empty" switch is closed when the data collection station is closed. The switch  
operation prevents the workpiece pick-up being lowered for as long as there is a workpiece in the data  
collection station.  
Function:  
The first event after COMPAX has been started is the approaching of the data collection station. If the  
workpiece pick-up is not lowered, the assumption is made that there is still a workpiece in the workpiece  
pick-up. This is deposited in the data collection station by lowering the workpiece pick-up. The system is now  
ready for the first transportation process.  
227  
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COMPAX-M/S  
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. The lowered workpiece pick-up is positioned  
under the station which is specified by the BCD switch. When the workpiece pick-up is raised, the front  
workpiece is taken out of the station. The axis returns to the data collection station. The workpiece pick-up is  
lowered there. The workpiece is thereby deposited in the data collection station. COMPAX now waits for the  
next transportation process.  
Programming:  
Configuration:  
P93 =+1 i.e. normal operating mode (absolute and relative positioning)  
Names of inputs and outputs:  
I7 pick-up raised  
I8 pick-up lowered  
O7 raise pick-up  
O8 lower pick-up  
0 # no  
0 # no  
0 # off  
0 # off  
1 # yes  
1 # yes  
1 # on  
1 # on  
List of programs:  
N001: SPEED 50 ...............................................;sets the speed  
N002: ACCEL 500..............................................;sets the acceleration and braking ramps  
N003: OUTPUT O7=0........................................;pick-up raise function = off  
N004: OUTPUT O8=0........................................;pick-up lowering function = off  
N005: POSA -60.................................................;moves to data collection station  
N006: IF I8=0 GOSUB deposits workpiece (36).;if pick-up is not lowered: deposits workpiece  
Wait for START: ...........................................;mark  
N007: WAIT START...........................................;waits for the start pulse  
N008: GOSUB EXT............................................;calls up the corresponding inputs I9-I16 for the sub-program  
N009: GOSUB raises workpiece (32).................;calls "Raise workpiece" sub-program  
N010: POSA -60.................................................;proceeds to data collection station  
N011: GOSUB deposits workpiece (36).............;calls up "Deposit workpiece" sub-program  
N012: GOTO waits for START (7)......................;goes to data record N007  
...........................................................................;Link table for external data record selection  
N016: POSA 120................................................;proceeds to station 0  
N017: RETURN..................................................;returns to main program  
N018: POSA 240................................................;proceeds to station 1  
N019: RETURN..................................................;returns to main program  
N020: POSA 360................................................;proceeds to station 2  
N021: RETURN..................................................;returns to main program  
N022: POSA 480................................................;proceeds to station 3  
N023: RETURN..................................................;returns to main program  
N024: POSA 600................................................;proceeds to station 4  
N025: RETURN..................................................;returns to main program  
N026: POSA 720................................................;proceeds to station 5  
N027: RETURN..................................................;returns to main program  
N028: POSA 840................................................;proceeds to station 6  
N029: RETURN..................................................;returns to main program  
N030: POSA 960................................................;proceeds to station 7  
N031: RETURN..................................................;returns to main program  
Raise workpiece :.........................................;mark  
N032: OUTPUT O7=1........................................;activates "Raise" solenoid valve  
N033: IF I7=0 GOTO 33.....................................;waits until workpiece pick-up is raised  
N034: OUTPUT O7=0........................................;deactivates "Raise" solenoid valve  
N035: RETURN..................................................;returns to main program  
Deposit workpiece :......................................;mark  
N036: OUTPUT O8=1........................................;activates "Lower" solenoid valve  
N037: IF I8=0 GOTO 37.....................................;waits until the workpiece pick-up is lowered  
N038: OUTPUT O8=0........................................;deactivates "Lower" solenoid valve  
N039: RETURN..................................................;returns to main program  
228  
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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.  
Assignments:  
label window: range within which labels are detected  
POSR  
50mm  
POSR  
50mm  
light  
barrier  
A
P38 = +650  
P39 = +680  
label  
P37 = +50  
initial position  
B
P37: minimum distance to label.  
P38: maximum distance to label.  
A : position if label  
appears at 50mm.  
P39: maximum feed if no label appears B : position if label  
shears  
within the window.  
appears at 650mm.  
The plate is fed by a roller feed controlled by COMPAX. A reflex light barrier detects the marks on the plate  
and reports this to COMPAX. The distance between the light barrier and the shears is 50 mm. The shears  
are controlled and monitored by COMPAX.  
Wiring up the digital inputs and outputs:  
0 = block  
start  
stop  
shears  
shears  
1 = activate  
COMPAX  
+24V  
I5  
O7  
0 = block  
1 = open  
shears  
I6  
I7  
O14  
I14  
O16  
I15  
O15  
0 = label detected  
1 = label missing  
0 = no label  
1 = label  
massage  
label input  
light  
I16  
barrier  
Function:  
The first event after COMPAX has been started is a rest of the control outputs. Once assurance has been  
received that the blades of the shears are open, COMPAX is ready for the initial cutting to length.  
The cutting to length process is triggered by a start pulse. COMPAX firstly activates the mark reference (I14)  
using O14. After a waiting time of 10 ms (which is used to compensate for any possible COMPAX timing  
offset), the mark-referenced positioning process is started using the "POSR 50 mm" command. The mark  
input (I16) is approved after a travel distance of 50 mm (P37). If the light barrier now detects a mark,  
COMPAX pushes the plate another 50 mm. This distance corresponds to the distance between the light  
barrier and the shears and is programmed using "POSR 50 mm". If no mark has been detected after a travel  
distance of 650 mm (P38), COMPAX stops the feed movement after a total of 680 mm (P39).  
At the end of the positioning process, output O16 indicates whether a mark has been detected within the  
mark window or not. This output is queried using I15.  
If I15 is at 1 (i.e. mark found), COMPAX sets the message output O15 to 0 and activates the shears. Once  
the blades have opened, COMPAX waits for the next start pulse. If I15 is 0 (i.e. no mark found), COMPAX  
sets the message output O15 to 1, blocks the mark reference (I14) via O14, pulls the plate back by 680 mm  
to the last cut-off position and waits for the next start pulse.  
229  
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COMPAX-M/S  
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. maximum feed length, if no marks appear in the mark window = 680 mm  
Names of inputs and outputs:  
I7 shears  
I15 mark  
O7 shears  
O14 mark reference 0 # block  
O15 message  
0 # closed  
0 # missing  
0 # block  
1 # open  
1 # found  
1 # activate  
1 # activate  
1 # mark missing  
0 # mark found  
List of programs:  
N001: SPEED 50 ...............................................;sets the speed  
N002: ACCEL 250..............................................;sets the acceleration and braking ramp  
N003: OUTPUT O7=0........................................;shears = block  
N004: OUTPUT O14=0......................................;mark reference = block  
N005: OUTPUT O15=0......................................;message = mark found  
Wait for start:................................................;mark  
N006: IF I7=0 GOTO 6.......................................;waits until shears are open  
N007: WAIT START...........................................;waits for start pulse  
N008: OUTPUT O14=1......................................;activates mark reference  
N009: WAIT 10...................................................;waits until mark reference is activated  
N010: POSR 50 .................................................;mark-referenced positioning  
N011: WAIT 10...................................................;waits until mark is missing or set  
N012: IF I15=0 GOTO reverses (18)..................;if mark is missing, reverses plate  
N013: OUTPUT O15=0......................................;sets "Mark found" message  
N014: OUTPUT O7=1........................................;activates shears  
N015: IF I7=1 GOTO 15.....................................;waits until shears are closed  
N016: OUTPUT O7=0........................................;blocks shears  
N017: GOTO waits for start (6) ..........................;goes to data record N006  
Reverse:.......................................................;mark  
N018: OUTPUT O15=1......................................;sets "Mark missing" message  
N019: OUTPUT O14=0......................................;blocks mark reference  
N020: WAIT 10...................................................;waits until mark reference is blocked  
N021: POSR -680 ..............................................;returns to start point  
N022: GOTO waits for start (6) ..........................;goes to data record N006  
230  
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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. The remaining travel to the idle position is  
performed at a rapid speed.  
The bore spindle should be switched on just before the boring process commences and should be switched  
off immediately after it has been removed from the bore. Movement of the conveyor belt should be blocked  
for as long as there is a risk of collision between the workpiece and drill.  
Assignments:  
course command line N011: POSA 200mm  
1
O7  
0
1
O8  
0
100  
speed  
mm/s  
0
0
100  
200  
position/mm  
course command line N016: POSA 0mm  
1
O7  
0
1
O8  
0
100  
speed  
mm/s  
0
200  
100  
0
position/mm  
Function:  
The feed movement is implemented using speed step profiling. The initial speed is first set to 100 mm/s  
using the "SPEED 100%" command (N007). This speed can be used until the start of the boring process.  
After a travel distance of 120 mm, the boring begins and the speed should then be 10 mm/s. The "POSR 120  
mm SPEED 10%" command (N011) ensures that the speed is reduced from 100 mm/s to 10 mm/s for the  
following positioning after a distance of 120 mm. The position as of which the speed is then 10 mm/s  
depends on the set braking ramp (N001) and the output speed (N007). This means that braking is initiated  
from an appropriate stopping distance from the position where the bore starts.  
When returning, the initial speed is set to 50 mm/s (N012) and, as of a travel distance of 70 mm, is  
accelerated to 100 mm/s (N013).  
The bore spindle is switched on and off with the aid of the comparator switching points. During the feed  
movement, the spindle is switched on after a travel distance of 100 mm (N009). By the time the boring  
process begins after 130 mm, the spindle must have reached its operating speed. The spindle is switched off  
again when returning once the drill has left the bore (N014).  
The conveyor belt is blocked for as long as the axis is located at a position of between 25 mm and 200 mm  
(N008 and N015).  
231  
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COMPAX-M/S  
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  
1 # on  
O8 conveyor belt 0 # block  
1 # release  
List of programs:  
N001: ACCEL 200.........................................;sets the acceleration and braking ramps  
N002: SPEED 100.........................................;sets the speed  
N003: POSA 0...............................................;approaches idle position  
N004: OUTPUT O7=0...................................;bore spindle = off  
N005: OUTPUT O8=1...................................;conveyor belt = release  
Wait for start:...........................................;mark  
N006: WAIT START......................................;waits for start pulse  
N007: SPEED 100.........................................;sets starts speed to 100%  
N008: POSR 25 OUTPUT O8=0...................;sets the comparator point of the "Block conveyor belt"  
N009: POSR 100 OUTPUT O7=1.................;sets the comparator point of the "Switch on bore spindle"  
N010: POSR 120 SPEED 10 ........................;sets the speed steps  
N011: POSA 200...........................................;performs the positioning command with the set procedure  
N012: SPEED 50 ..........................................;sets starts speed to 50%  
N013: POSR 70 SPEED 100 ........................;sets speed step  
N014: POSR 80 OUTPUT O7=0...................;sets the comparator point of the "Switch off bore spindle"  
N015: POSR 175 OUTPUT O8=1.................;sets the comparator point of the "Release conveyor belt"  
N016: POSA 0...............................................;performs the positioning command with the set procedure  
N017: GOTO waits for start (6) .....................;goes to data record N006  
232  
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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. This belt  
receives cartons from conveyor belt A and, when triggered by a pulse, passes them on to conveyor belt B. In  
addition to this, when conveyor belt B is assigned, conveyor belt A should be blocked. Conveyor belt B is  
activated using COMPAX.  
Assignments:  
light barrier  
conveyor belt A  
conveyor belt B  
conveyor belt C  
encoder  
Function:  
The first event after COMPAX has been started is the release of conveyor belt A. The system then waits until  
the reflex light barrier (on I7) detects a carton (N003). Should a carton be received, the speed of conveyor  
belt B is set to that of conveyor belt A (N004). This speed is recorded using an encoder on conveyor belt A  
transmitting via the COMPAX encoder interface (channel 1). The positioning command (N005) now starts a  
feed movement using the distance which is required to transfer the whole carton onto conveyor belt B. Since  
the feed time is always the same as the speed of conveyor belt A, no errors occur due to slip between the  
carton and one of the conveyor belts. Once the whole carton has been received, the system waits until I8  
reports that the carton has been passed to conveyor belt C (N008). If, during this waiting time, another carton  
arrives via conveyor belt A, this is blocked via O7. When the carton is passed on and conveyor belt A is  
blocked, the speed of conveyor belt B is set to that of conveyor belt C (N010). The carton is transferred to  
conveyor belt C at this constant speed using N011. Conveyor belt A is then released again (N002).  
Programming:  
Configuration:  
Encoder input E2 option  
P93 =+2  
i.e. continuous operating mode  
P98 =314  
i.e. travel per axis per encoder revolution = 314 mm  
P143 = 4096 i.e. encoder pulse number = 4096  
Names of the inputs and outputs:  
I7 receive carton  
I8 deposit carton  
O7 conveyor belt A  
0 # no  
0 # no  
0 # block  
1 # yes  
1 # yes  
1 # release  
List of programs:  
N001: ACCEL 200..............................................;sets the acceleration and braking ramps  
Transfer carton:............................................;mark  
N002: OUTPUT O7=1........................................;releases conveyor belt A  
N003: IF I7=0 GOTO 3.......................................;waits until carton is to be received  
N004: SPEED SYNC..........................................;sets the speed to that on conveyor belt A  
N005: POSR 360 ...............................................;transfers the carton  
N006: IF I7=0 GOTO 8.......................................;queries whether carton is to be received  
N007: OUTPUT O7=0........................................;blocks conveyor belt A  
N008: IF I8=0 GOTO 6.......................................;waits until carton is to be deposited  
N009: OUTPUT O7=0........................................;blocks conveyor belt A  
N010: SPEED 85 ...............................................;sets the speed to that on conveyor belt C  
N011: POSR 350 ...............................................;deposits the carton  
N012: GOTO transfers carton (2).......................;goes to data record N002  
233  
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COMPAX-M/S  
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. The shutter on the removal aperture must only be able to open when the  
centrifuge is at a standstill.  
Design and wiring up of the digital inputs and outputs:  
operating mode:  
locking  
COMPAX  
0 = remove  
1 = centrifuge  
+24V  
light  
barrier  
shutter  
+24V  
I10  
I9  
O7  
opening  
shutter  
+24V  
test tube  
light  
barrier  
I7  
I8  
Function:  
The first event after COMPAX has been started is the setting of the accelerating and braking time 10s  
(N001). A check is then run to find out whether the shutter is closed (N002). If it is not closed, the interlock is  
opened (N003) and the system waits until the shutter is closed (N004). If the shutter is closed, the interlock is  
also closed (N005). The interlock is checked for safety reasons (N006). The operating mode switch is then  
queried (N007).  
If this is set to "Removal", the speed is set to 0.1 % using N008. The system waits until the light barrier is  
activated by a test tube (N010). When this occurs, the speed is set to 0 (N011) and the interlock is opened  
(N012). The shutter can now be opened to insert or remove a test tube. COMPAX monitors the opening and  
closing of the shutter (N013 / N014) to lock this again after the closing (N015 / N016) and to return to the  
operating mode query. If "Removal" is still set, the centrifuge is turned further to the next test tube. (N009  
ensures that once the speed has accelerated to 0.1% (N008), the system waits until the previous test tube  
no longer activates the photoelectric barrier.)  
If the operating mode switch is set in the "Centrifuge" position, the centrifuge is accelerated to 100% within  
10s (N018). This speed is retained until the operating mode switch is set to "Removal" (N019 / N020). Then,  
the centrifuge is decelerated to 0.1% (N008) and stops at the next test tube. The test tubes can then be  
removed one after another.  
234  
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Speed control mode  
Programming:  
Configuration:  
P93 =+4 i.e. speed control operating mode  
P94 =+2 i.e. smooth ramp shape  
Names of the inputs and outputs:  
I7 light barrier  
I8 shutter  
I9 interlock  
I10 operating mode 0 # remove  
O7 interlock  
0 # not activated 1 # activated  
0 # open  
1 # closed  
1 # closed  
1 # centrifuge  
1 # open  
0 # open  
0 # closed  
List of programs:  
N001: ACCEL 10 000.........................................;sets the accelerating and braking ramps to 10s  
N002: IF I8=1 GOTO locks (5) ...........................;checks whether the shutter is closed  
N003: OUTPUT O7=1........................................;opens interlock  
N004: IF I8=0 GOTO 4.......................................;waits until the shutter is closed  
Lock:.............................................................;mark  
N005: OUTPUT O7=0........................................;closes interlock  
N006: IF I9=0 GOTO 6.......................................;checks whether interlock is closed  
Operating mode query:  
N007: IF I10=1 GOTO centrifuges (18)..............;queries operating mode switch  
Remove:.......................................................;mark  
N008: SPEED 0.1...............................................;sets the speed to 0.1%  
N009: WAIT 500.................................................;waits 500 ms  
N010: IF I7=0 GOTO 10.....................................;waits until the light barrier is activated  
N011: SPEED 0 .................................................;sets the speed to 0  
N012: OUTPUT O7=1........................................;opens interlock  
N013: IF I8=1 GOTO 13.....................................;waits until shutter is opened  
N014: IF I8=0 GOTO 14.....................................;waits until shutter is closed again  
N015: OUTPUT O7=0........................................;closes interlock  
N016: IF I9=0 GOTO 16.....................................;checks whether interlock is closed  
N017: GOTO operating mode query (7).............;goes to data record N007  
Centrifuge:....................................................;mark  
N018: SPEED 100..............................................;sets speed to 100%  
N019: IF I10=0 GOTO removing (8)...................;operating mode query  
N020: GOTO 19.................................................;goes to data record N019  
235  
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COMPAX-M/S  
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. The material supply should be released or blocked via a switch.  
Assignments:  
Function:  
range within which positioning can be carried out  
210° = 233ms  
initiator  
COMPAX  
1
I15  
0
+24V  
100%  
I5  
1.5ms  
rotational  
speed  
disable  
0
0°  
0
90°  
180°  
200  
270°  
300  
360°  
400  
j
I15  
enable  
100  
t / ms  
When the stamping machine runs at an operating speed of 150 strokes a minute, an operating cycle lasts  
400 ms. The operating angle (at which the material can be fed) is 210°. 233 ms therefore remain for the feed  
movement. To ensure that the necessary drive dynamics are kept within these limits, as much of this time as  
possible must be used for the actual feed movement. This is why, the fast START is used here as it has a  
response time of only 1.5 ms. The feed movement is triggered by the signal that the initiator (on the eccentric  
axis) transfers via the release switch to COMPAX (I15) at an angle of ϕ = 90º.  
Once the system has been switched on, COMPAX is started via a start pulse on I5. The values for the  
accelerating and braking time are set in N001 and N002, as are those for the feed speed. The positioning  
command in N003 is only performed, if a rising flank (from 0 to 1) is detected on I15 (fast START). The time  
between the rising flank and the start of the feed movement is 1.5 ms. Data record N004 is used to return to  
N003 which ensures that the next positioning command is prepared. This is then performed after a rising  
flank on I15.  
236  
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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..............................................;sets the accelerating and braking ramps  
N002: SPEED 100..............................................;sets the speed  
Feed:............................................................;mark  
N003: POSR 225 ...............................................;feed movement (triggered by fast START)  
N004: GOTO feed (3)........................................;goes to data record N003  
11.1.8 Implementing a torque controller  
2 options are available:  
Using speed control mode  
You can attain a defined constant torque in speed control mode using the following setting.  
Set a high speed which cannot be reached.  
Define the desired torque using P16 in % of the nominal torque (max. 100%).  
Switch off errors E10 and E49 using P13=0.  
COMPAX tries to reach the specified speed and increases the torque to the maximum permitted torque P16.  
This value is maintained regardless of the load.  
In position controller mode  
Specify a position which cannot be approached (which is beyond the load position).  
Define the desired torque using P16 in % of the nominal torque (max. 100%).  
Switch off errors E10 and E49 using P13=0.  
You can now use SPEED to also define the speed at which you can run up to the load (block position).  
COMPAX tries to reach the specified postion and increases the torque in the load position to the maximum  
permitted torque P16. This value is maintained regardless of the load.  
Changing error response:  
E49 can also be switched off individually:  
E49 occurs when the current (and/or the torque) remains in the limitation for longer than P108.  
237  
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COMPAX-M/S  
Index  
12. Index  
absolute value sensor......59  
EAM4/01........................180  
HEDA...............................63  
Incremental encoder ........60  
Inputs/Outputs..................52  
RS232 interface ...............59  
X10 ..................................52  
X11 ..................................56  
X13 ................................186  
X13 ..................................60  
X14 ..................................63  
X16 ..................................59  
X17 ..................................55  
X6 ....................................59  
X8 ....................................52  
Authorization of  
Cable lengths.................... 206  
Calculation errors ............. 115  
Cam controller .................. 104  
CAN-Bus........................... 178  
CANopen.......................... 178  
CE-compliant...................... 13  
Changes in speed within  
a positioning process ..... 101  
Command combinations... 101  
Command variants ........... 109  
Comparative operations.... 109  
comparator switch points.. 101  
COMPAX – CD..................... 9  
COMPAX components..... 206  
COMPAX 1000SL............... 40  
COMPAX 25XXS  
converting the front  
plates .............................. 33  
COMPAX 25XXS  
specific technical data..... 32  
COMPAX 25XXS  
delivery status.................. 33  
COMPAX 25XXS design  
in series............................ 33  
COMPAX 25XXS flat  
design .............................. 33  
COMPAX 25XXS unit  
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  
reference.........................100  
Actual position...................207  
Actual values Status  
values .............................207  
Addition .............................114  
Advance acceleration  
control P26......................130  
Advance control  
measures........................129  
Advance power control  
P70 .................................130  
Advance reverse control....130  
Advance speed control  
P25 .................................130  
Ambient conditions..............65  
Analogue rpm  
specification for  
COMPAX 1000SL.............61  
Analogue speed  
specification (E7) ............186  
Angle difference P161.........79  
Application example  
commands in RS232.......165  
Automatic "Position  
reached" message  
..........160  
Avoiding harmonies...........131  
Ballast resistance ....32, 38, 41  
Ballast resistors.................193  
Baud rate...........................160  
BDF1/02 ............................187  
BDF2/01 ............................200  
Binary data transfer  
using RS232 ...................166  
Block check .......................161  
Block structure of the  
basic unit...........................68  
Blocking and modifying  
teach in functions P211...150  
Blocking and modifying  
features............................ 30  
COMPAX 35XXS unit  
features............................ 26  
COMPAX 45XXS/85XXS  
connector assignment...... 39  
COMPAX 45XXS/85XXS  
unit characteristics ........... 35  
COMPAX XX30 ................ 147  
COMPAX XX50 ................ 147  
COMPAX XX60 ................ 147  
COMPAX XX70 ................ 147  
COMPAX-25XXS  
plan view......................... 30  
COMPAX-M / NMD  
direct wall installation ....... 20  
COMPAX-M / NMD  
indirect wall installation .... 20  
COMPAX-M system  
network, mains module .... 18  
COMPAX-M unit  
features............................ 17  
Compensation of  
switching delays............. 104  
Components required ......... 14  
Conditions for usage ....... 13  
Conditions of warranty.......... 9  
Configuration ...................... 72  
Configuration data .............. 74  
Configuration process......... 72  
the teach in functions  
P211 ...............................164  
Brake control .......................51  
Braking delay.......................93  
Braking operation ................64  
Braking power  
NMD.................................24  
Braking power COMPAX  
external data record  
1000SL .............................41  
Branching ..........................108  
BREAK handling................111  
BRM4 ................................193  
BRM6 ................................193  
BRM7 ................................193  
Bus connection....................63  
Bus data ............................207  
Bus parameters  
selection ........................227  
fast start.........................236  
mark-referenced  
positioning......................229  
speed control mode .......234  
speed step profiling /  
comparator switching  
points.............................231  
SPEED SYNC................233  
Applications examples...226  
Applications with  
encoder...........................180  
Arithmetic ..........................114  
Assignment  
setting ..............................71  
Bus systems......................178  
Bus termination .................180  
Cable.................................206  
Cable laying.........................13  
238  
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Configuration via PC ...........91  
Configuration when  
supplied ............................72  
Connections to the drive......46  
Connector and  
connection assignment  
COMPAX 25XXS.............30  
Connector assignment  
E49....................................237  
E54....................................225  
E76....................................171  
E77....................................171  
E78....................................171  
EAM...................................188  
EAM4/01............................180  
Earthing...............................13  
Function of digital inputs... 148  
Function of outputs........... 153  
Function overview............... 69  
Function signs .................. 160  
Fuse protection................... 64  
Fuse protection  
COMPAX 1000SL ............ 41  
Fuse protection  
COMPAX 25XXS.............34  
COMPAX-M.....................21  
NMD ................................23  
Connector assignment  
COMPAX 1000SL.............42  
Connector assignment  
..................................160  
COMPAX 2500S .............. 32  
Fuse protection  
COMPAX 3500M.............. 27  
Fuse protection  
COMPAX 45/8500S ......... 37  
Fuse protection NMD.......... 23  
Echo  
Effective motor load...135, 211  
Effective unit load......135, 211  
Electronic transmission......147  
EMC measures..................191  
Emergency stop ..................44  
Emergency stop  
X13 for COMPAX  
1000SL .............................61  
Continuous mode................74  
point of real zero..............78  
Control...............................147  
Control voltage............64, 207  
CS31 .................................178  
Current data record ...........207  
Current nominal value .......208  
Current requirement ............75  
Currents ..............................64  
Currents with linear  
GBK1.................................. 59  
General drive...................... 77  
Global assignment............ 114  
GOSUB............................. 107  
GOSUB EXT..................... 110  
GOTO......................... 99, 107  
GOTO EXT....................... 109  
characteristics...................44  
Emergency stop input on  
COMPAX-M ......................45  
Encoder.............................179  
Encoder bus ......................182  
Encoder cable ...................180  
Encoder distributor ............180  
Encoder input module........180  
Encoder interface ..............179  
Encoder interfaces for  
COMPAX 1000SL.............61  
Encoder module ................180  
Encoder position................208  
END...................................107  
End sign ............................160  
Entry buffer........................160  
Equipment replacement.......12  
Error diagnosis in the  
Hall sensor commutation .. 176  
Hand-held terminal ........... 200  
Hardware handshake ....... 160  
HAUSER synchronous  
motors............................ 176  
HEDA........................ 168, 183  
HEDA address.................... 71  
HEDA interface................. 185  
HEDA parameters ............ 168  
HEDA terminating  
motor LXR.......................176  
Curve memory...................113  
D/A - Monitor (D1) ...............58  
D/A monitor .........................56  
D/A monitor (D1) ...............185  
Damping P24 ....................128  
Data format .......................160  
Data security .........................6  
Define encoder  
interfaces........................212  
Delta mains .........................66  
Diagnosis values ...............207  
Digital inputs  
Triggering functions .......150  
Digital inputs and  
outputs  
Assignment....................138  
Dimensions COMPAX  
1000SL .............................43  
Dimensions/installation  
COMPAX 25XXS.............33  
COMPAX-M.....................20  
NMD ................................22  
Direct command entry  
conditions.......................162  
Direction of rotation .............78  
Division..............................114  
Division remainder.............114  
Drive status .......................208  
Drive type............................76  
connector ......................... 63  
HEDA transmission  
mains module....................25  
Error handling....................110  
Error history.......................209  
Error program....................110  
Error transmission .............161  
EU guidelines ......................13  
errors.............................. 171  
Higher level of stiffness .... 132  
HJ motor............................. 93  
HLE data............................. 77  
Housing .............................. 66  
HPLA data .......................... 77  
........160  
Executing commands  
External contact for  
brake control .....................51  
External control panel........187  
External motors  
conditions.........................75  
External position  
I/O assignment of  
variants .......................... 147  
I11..................................... 136  
Idle display........................ 119  
IF ERROR ........................ 110  
IF ERROR GOSUB........... 110  
IF I12=101-1 ..................... 108  
IF I7=1 .............................. 108  
IF query ............................ 108  
IF STOP............................ 111  
IFM identification .............. 208  
Increments.......................... 74  
Individual configuration  
localization ......................136  
Fan configuration  
COMPAX-M .....................20  
Fast start ...................168, 169  
Final stage, engaging  
and disengaging..............123  
Find machine zero.............149  
movement process...........81  
Free assignment of  
inputs and outputs...........143  
Front plate operation ...........71  
Function codes of  
of synchronous motors  
using Servo-Manager....... 91  
Initial start-up...................... 73  
Initializing variables .......... 116  
Initiator set........................ 177  
E10....................................225  
E15....................................225  
commands ......................159  
239  
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COMPAX-M/S  
Index  
Initiators  
Maximum position P11 ........78  
Maximum travel to mark ....100  
Measuring error.135, 208, 211  
Minimizing lag error ...........131  
Minimum mass ....................77  
Minimum position P12 .........78  
Minimum travel to mark .....100  
Modulo...............................114  
Moment of inertia.................77  
Monitoring..........................222  
Monitoring functions ............65  
Motor monitoring ...............222  
Motor or final stage  
temperature too high.......131  
Motor output throttle ..........192  
Motor throttle .....................206  
Motor type ...........................75  
Motor type plate...................92  
Motors ...............................176  
Mounting COMPAX  
Output O16....................... 100  
output O5.......................... 117  
OUTPUT WORD .............. 143  
Outputs  
Load................................ 54  
Override input..................... 97  
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  
P1 ....................................... 78  
P100 ................................... 75  
P11 ..................................... 78  
P12 ..................................... 78  
P14 ................................... 117  
P143 ................................. 136  
P144 ................................. 136  
P151 ................................. 132  
P17 ................................... 123  
P18 ................................... 169  
P182 ................................. 210  
P184 ................................. 169  
P188 ................................. 169  
P206 ................................. 184  
P213 ................................... 78  
P214 ................................. 137  
P215 ................................... 78  
P217 ................................... 89  
P219 ................................. 152  
P223 ................................. 145  
P224 ................................. 145  
P227 ......................... 117, 119  
P229 ................................. 119  
P23 ................................... 127  
P233 ................................. 133  
P234 ................................. 133  
P24 ................................... 128  
P243 ................................. 168  
P245 ................................. 145  
P246 ................................. 145  
P25 ................................... 130  
P250 ................................. 168  
P26 ................................... 130  
P27 ................................... 128  
P35 ................................... 100  
P36 ................................... 136  
P37 ................................... 100  
P38 ................................... 100  
P39 ................................... 100  
P40-P49............................ 109  
P50 ................................... 132  
P69 ................................... 130  
P70 ................................... 130  
P71 ..................................... 58  
P72 ..................................... 58  
P73 ..................................... 58  
P74 ..................................... 58  
P75 ................................... 136  
P80 ..................................... 76  
P81 ..................................... 77  
P81 - P85............................ 76  
P82 ..................................... 77  
P83 ..................................... 77  
Interpreting and storing  
commands  
IPM....................................168  
IT mains ..............................66  
......................160  
1000SL .............................43  
Multiplication......................114  
Multi-turn ...........................184  
Lag error....................207, 225  
Last error...........................207  
Leakage current ..................66  
LED display COMPAX  
1000SL .............................40  
LEDs ...................................10  
Length code for cable..........47  
Limit switch monitoring........89  
Limit switch monitoring  
Negative command  
acknowledgement...164, 225  
NMD output power...............23  
NMD20 internal ballast  
resistance .........................24  
Nominal current...................92  
Nominal currents .................64  
Nominal currents with  
linear motor LXR.............176  
Nominal motor speed ..........93  
Nominal torque....................92  
Normal mode.......................74  
Number format ..................115  
Number of teeth on  
without locking the  
movement.........................89  
Limit switch operation..........89  
Limit torque P16................213  
Limit values .......................213  
Limitation functions............222  
Limits status ......................208  
Linear motor......................176  
Linear motor LXR..............176  
LXR ...................................176  
pinion ................................77  
O5 toggles when speed.....120  
Operating hours.................207  
Operating mode...................74  
Operating mode with two  
end initiators......................89  
Operators ..........................114  
Optimization  
control............................131  
Optimization display ..133, 207  
Optimizing the controller....127  
Option E7 ..........................186  
Order .................................208  
OUTPUT..............................98  
Output buffer .....................160  
Output connection ...............54  
Output data..........................64  
OUTPUT O0........................98  
OUTPUT O0=... in  
Machine zero - initiator  
(without resolver zero) ......88  
Machine zero  
comparison .......................83  
Machine zero mode.............80  
Mains...................................66  
Mains module NMD10 /  
NMD20 .............................22  
Mains power......................207  
Mains supply fuse  
protection....................27, 64  
Mark input .........................100  
Mark-related positioning....100  
Master output quantity.......169  
Maximum feed length........100  
Maximum mass...................77  
program ............................98  
OUTPUT O12=1010............98  
240  
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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  
Sensor position................. 207  
Sequential step tracking ... 122  
Service D/A monitor.......... 124  
Service D/A monitor (D1).... 56  
Servo-Manager................. 200  
Setting multiple digital  
outputs ............................. 98  
Setting/resetting outputs..... 98  
Setting/resetting outputs  
within positioning............ 103  
SHIFT ............................... 148  
SHIFT ............................... 148  
Short circuit monitoring..... 222  
Signal procedure during  
Querying status values  
via the front plate ..............71  
Ramp shape........................75  
linear................................76  
quadratic..........................76  
smooth.............................76  
Ramp time.........................102  
Read and write program  
sets and parameters  
via RS232 .......................163  
Read the status values  
via RS232 .......................163  
Readiness ...........................44  
Ready contact .....................45  
Real zero.............................81  
Reduction of dynamic  
status query via PLC  
interface ......................... 159  
SinCos.............................. 183  
Slave input quantities ....... 169  
Software date ................... 208  
Software handshake......... 160  
Software handshake......... 161  
Software version....... 1, 7, 208  
Specifying point of real  
zero P1 (RZ)..................... 78  
Specifying software end  
limits................................. 78  
Specifying the limit  
switch position P216 ........ 89  
Speed ............................... 208  
SPEED ............................... 97  
Speed control mode ........... 74  
direction of rotation.......... 97  
Speed control mode,  
special features.............. 120  
Speed monitor .................. 132  
Speed monitoring in  
speed control mode........ 120  
Speed step profile............. 102  
Speed step profiles........... 101  
SPEED SYNC .................... 99  
SSK1 .................................. 59  
SSK14 ................................ 63  
SSK15 ................................ 63  
SSK6 ................................ 188  
SSK7 ................................ 180  
Standard commands .......... 96  
Standard delivery................ 66  
Standard parameters........ 212  
Start-up  
flow chart......................... 11  
Status bits......................... 208  
Status bits 1...................... 207  
Status monitor .......... 207, 210  
Status values.................... 207  
Step direction input for  
lag error ..........................130  
Reference systems  
tracking...........................122  
Plug and connection  
assignment  
COMPAX 35XXM ............26  
COMPAX  
example ...........................80  
Relative positioning .............96  
REPEAT............................108  
Repeat counter..................207  
Resolver / SinCos  
assignment........................46  
Resolver type ......................93  
RETURN ...........................107  
Return jump to main  
program ..........................107  
Round table control ...........147  
RS232 ...............................160  
Example in Quick-Basic.161  
RS232 data .......................207  
RS232 interface  
45XXS/85XXS .................35  
POSA ..................................96  
POSA HOME ..............96, 162  
Position monitoring............117  
Position of machine zero.....83  
POSR..........................96, 100  
POSR OUTPUT ................103  
POSR SPEED...................101  
Potentiometer  
connection ........................56  
Power..................................64  
Power dissipation................65  
Power filter ........................191  
Power on.............................73  
Power on with motor  
switched off.......................72  
Power with linear motor  
LXR.................................176  
Priority...............................110  
Process coupling...............168  
Process interfaces  
Configuration options  
for COMPAX 1000SL........61  
Process interfaces for  
unit variants ......................60  
Process velocity ..................97  
Profibus.............................178  
Program control  
data record selection .....110  
Data record selection109, 110  
WAIT START.................109  
Program jump....................107  
Program loop.....................108  
Proper use.............................8  
Pulse current.......................93  
Pulse current time ...............93  
parameters......................160  
RS485 ...............................178  
S1......................................183  
S1/2/3 assignment X12 .......46  
S13....................................133  
S14....................................133  
S15....................................210  
S16....................................209  
S17....................................209  
S18....................................209  
S2......................................184  
S3......................................176  
Safe working practices ..........8  
Safety chain.........................44  
Safety chain and  
emergency stop  
functions ...........................44  
Safety instructions..............8  
Saturation characteristic  
curve.................................93  
Screened connection of  
motor cable  
COMPAX 25XXS .............31  
COMPAX-M .....................19  
COMPAX 1000SL ............ 61  
Stiffness P23 .................... 127  
STOP................................ 149  
Stop bit ............................. 160  
STOP handling ................. 111  
241  
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COMPAX-M/S  
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  
using I13.........................151  
System concept.................173  
Variables ...........................114  
Variables V51 ... V70.........114  
Velocity..............................207  
Velocity specification,  
external.............................99  
Version ..............................208  
Vibrating at higher  
frequencies .....................131  
Voltage ..............................124  
VP parameter, modifying  
OnLine ............................212  
WAIT .................................107  
WAIT START.....................109  
Waiting time.......................107  
Weights ...............................66  
Whole number division ......114  
Wiring up mains power /  
control voltage  
COMPAX 25XXS .............32  
COMPAX 45/85S.............37  
COMPAX-M .....................19  
Wiring up motor  
COMPAX 25XXS .............31  
COMPAX 45/85S.............37  
Wiring up the motor  
COMPAX-M .....................19  
Wiring up the system  
network .............................18  
Word length.......................160  
Table of contents................2  
Target position ..................207  
Teach in real zero..............149  
TEACH position.................164  
Technical data.....................64  
Technical data / power  
features  
NMD ................................23  
Temperature......................207  
Terminal boxes....................46  
Terminal module................188  
Test / control .......................56  
TN mains.............................66  
Toggling when position  
X12......................................46  
Zero point shifting................83  
is reached .......................117  
Tooth pitch ..........................77  
Torque...............................207  
Torque converter.......226, 237  
Transmission errors...........171  
Transmitting control  
instructions via RS232....164  
Travel cycle.......................207  
Travel per motor  
revolution ..........................77  
Type plate .............................7  
Unit....................................208  
increments .......................74  
Unit......................................74  
Unit assignment ....................7  
Unit designation ................208  
Unit designations...............208  
Unit family .........................208  
Unit monitoring..................222  
Unit technology ...................15  
Unit wiring COMPAX  
1000SL .............................41  
V0-V49 ..............................109  
Variable voltage ................124  
242  
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