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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7.5.2 COMPAX 25XXS-specific technical data......................................................... 32
7.5.3 COMPAX 25XXS dimensions / installation ..................................................... 33
7.6.3 COMPAX 45XXS/85XXS-specific wiring.......................................................... 37
7.7.4 Safety chain / emergency stop functions ....................................................... 44
7.8.1 Resolver / SinCos.............................................................................................. 46
7.8.2 Additional brake control................................................................................... 51
7.9.4 Initiators and D/A monitor ................................................................................ 55
7.9.5 Service D/A monitor / override......................................................................... 56
7.9.6 Service D/A monitor.......................................................................................... 56
7.9.7 D/A monitor option D1 ...................................................................................... 58
7.9.8 RS232 interface ................................................................................................. 59
7.9.9 Absolute value sensor (option A1).................................................................. 59
7.9.10 X13: Encoder interfaces, ... .............................................................................. 60
7.9.10.3 Encoder interfaces / Analogue rpm specification / Step direction
7.9.11 HEDA interface (option A1/A4)......................................................................... 63
7.9.12 Bus connection ................................................................................................. 63
7.10 Technical data .........................................................................................64
8. Operating Instructions...........................................................................67
8.1.2 Password protection......................................................................................... 70
Configuration...........................................................................................71
8.2.2 Configuration when supplied........................................................................... 72
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COMPAX-M / -S
Contents
8.2.3 Configuration process...................................................................................... 72
8.2.4 Safety instructions for initial start-up ............................................................. 73
8.2.5 Configurationparameters ................................................................................. 74
8.2.6 Absolute value function with standard resolver ............................................ 79
8.2.7 Machine zero mode........................................................................................... 80
8.2.8 Limit switch operation ...................................................................................... 89
8.3.1 Installing ServoManager................................................................................... 91
8.3.2 Configuring COMPAX ....................................................................................... 91
8.4.1 Absolute positioning [POSA]........................................................................... 96
8.4.2 Relative positioning [POSR]............................................................................. 96
8.4.3 Process velocity [SPEED] ................................................................................ 97
8.4.4 Acceleration and braking time [ACCEL] ......................................................... 97
8.4.5 Setting/resettingan output [OUTPUT] ............................................................. 98
8.4.7 Switch off drive unit. [OUTPUT O0]................................................................. 98
8.4.8 OUTPUT O0=... in program............................................................................... 98
8.4.9 Password [GOTO] ............................................................................................. 99
8.4.10 External velocity specification. [SPEED SYNC] ............................................. 99
8.4.11 Mark-related positioning [POSR]................................................................... 100
8.4.12 Preparatory instructions................................................................................. 101
8.4.16 Programmable waiting time [WAIT]............................................................... 107
8.4.17 Program jump [GOTO].................................................................................... 107
8.4.18 Sub-program jump [GOSUB].......................................................................... 107
8.4.19 Instruction to end a sub-program. [RETURN] .............................................. 107
8.4.20 END instruction [END] .................................................................................... 107
8.4.21 Start a program loop [REPEAT]..................................................................... 108
8.4.22 Branching [IF I7=1].......................................................................................... 108
8.4.23 Binary IF query of inputs [IF I12=101-1] ........................................................ 108
8.4.24 Comparative operations ................................................................................. 109
8.4.28 Error handling [IF ERROR GOSUB]............................................................... 110
8.4.30 Arithmetic ........................................................................................................ 113
8.4.30.1 Parameter assignments..................................................................... 113
8.4.30.2 Arithmetic and variables..................................................................... 114
8.4.31 Position monitoring (P93=1, 2, 3) .................................................................. 117
8.4.32 Idle display....................................................................................................... 119
8.4.34 PLC sequential step tracking......................................................................... 122
8.4.35 Engaging and disengaging the motor brake ................................................ 123
8.4.36 Output of variable voltage.............................................................................. 124
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8.5.1 Optimization parameters ................................................................................ 127
8.5.2 Speed monitor................................................................................................. 132
8.5.3 Optimization display ....................................................................................... 133
8.6.1 Digital inputs and outputs.............................................................................. 138
8.6.1.3 COMPAX virtual inputs ...................................................................... 145
8.6.1.4 I/O assignment of variants ................................................................. 147
8.6.1.5 Function of inputs............................................................................... 148
8.6.1.7 Function of outputs ............................................................................ 153
8.6.1.8 Diagrams:........................................................................................... 154
8.6.3 RS232 interface ............................................................................................... 160
8.6.3.1 Interface description........................................................................... 160
8.6.3.2 Interface functions.............................................................................. 162
9.5.1 RS232 ............................................................................................................... 178
9.5.2 Bus systems.................................................................................................... 178
9.5.2.1 Interbus-S / Option F2........................................................................ 178
9.5.2.2 RS485 / Option F1/F5........................................................................ 178
9.5.2.3 Profibus / option F3............................................................................ 178
9.5.2.4 CAN - Bus / Option F4 ....................................................................... 178
9.5.2.5 CANopen / Option F8......................................................................... 178
9.6.1 Encoder interface............................................................................................ 179
9.6.2 Absolute value sensor (A1)............................................................................ 183
9.6.4 Option S3 for linear motors............................................................................ 184
9.6.5 HEDA interface................................................................................................ 185
9.6.7 Analogue speed specification (E7) (option not available with COMPAX
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COMPAX-M / -S
Contents
9.7.3 EAM5/01: DC feed for COMPAX-M................................................................. 189
9.7.4 EMC measures ................................................................................................ 191
9.7.4.1 Power filter......................................................................................... 191
9.7.4.2 Motor output throttle........................................................................... 192
9.7.5 External ballast resistors................................................................................ 193
9.7.6 ServoManager ................................................................................................. 200
9.7.7 Hand-held terminal.......................................................................................... 200
10.3.1 VP parametercan be modified "On Line"..................................................... 212
10.3.2 COMPAX standard parameters...................................................................... 212
10.3.3 Monitoring and limitation characteristics..................................................... 222
11.1.1 Overview .......................................................................................................... 226
11.1.2 External data record selection....................................................................... 227
11.1.3 Mark-referenced positioning.......................................................................... 229
11.1.5 SPEED SYNC................................................................................................... 233
11.1.6 Speed control mode........................................................................................ 234
11.1.7 Fast start.......................................................................................................... 236
11.1.8 Implementing a torque controller .................................................................. 237
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.
6
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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.
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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
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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.
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.
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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
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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
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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: 10Ω/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 ≥ 56Ω: ≤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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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
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=2.8kΩ;
COMPAX 1000SL: DA channel 2; Ri=0.33kΩ;
DA channel 1 (option D1) Ri=2.8kΩ;
COMPAX 1000SL: DA channel 3; Ri=0.33kΩ;
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=2.21kΩ;
Standard DA channel 3: 8 Bit, Ri=2.21kΩ;
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 * 20000min−1
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.
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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.
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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
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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
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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:
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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
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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
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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.
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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.
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
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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 S12→S1 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.
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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
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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.
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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°
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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
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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).
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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 P75≠0 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).
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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
=
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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
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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".
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.
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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.
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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) [Ω]
♦ 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
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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.
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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.
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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
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
96
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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
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
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
98
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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:
P83• P104• P143
1000• 60• 1000000
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: ...
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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
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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 ➀, 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
➁
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 ➁ (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
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,
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
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.
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
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)
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.
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
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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)
Example:
Speed
Programmed
demanded
speed
Actual value
O5
29
Bit counting begins with 0.
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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
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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").
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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 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
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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.
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.
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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.
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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
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.
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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.
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
♦ 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"
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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.
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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
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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
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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).
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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
(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.
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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
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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.
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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
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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
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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
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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
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
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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.
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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.
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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
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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
-
-
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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
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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
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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
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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
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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 (15Ω) COMPAX 25XXS: BRM5/01: 250W (56Ω)
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 (22Ω)
COMPAX 35XXM: BRM7/01: 2 kW (10Ω)
BRM8/01: 60W (100Ω)
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-
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
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-1≡1V
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 (OTA≡1/2).
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...".
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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
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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
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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 • 2• Π)
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
(
1000• 2 • Π)
-1
min
P104 Nominal speed
A,S
L
500
9000
VC
Linear motor:
Vnominal •1000• 60000
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
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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 •1000• 60000
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
Ω
"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 (100Ω) 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
X19/2→I1
X19/3→I2
X19/4→I3
X19/5→I4
X19/6→I5
X19/7→I6
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
X19/8→I12
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
X19/9→I16
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
O1→X19/15
O2→X19/16
O3→X19/17
O4→X19/18
= 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
O5→X19/19
O6→X19/20
O7→X19/21
O8→X19/22
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 (P184≠40)
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="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
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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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