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COMPAX User Guide

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1. MPAX 35XXM ix BDF 1 02 BDF 1 02 Ei 2 ales Se v Uu E A GBK 1 Absolute encoder Absolute encoder p TO se 0 interface A1 STEGMANN RU Gersan m 100 5 MR UN SinCos z option S1 S2 x 15 SinCos installed in the motor 1 is not combinable with A1 with P le ower module Encoder Encoder 8 t elt s input E2 11 Litton G71SSLDBI z 4096 151 050BX o 1918394 Dv SSK 7 Direct to encoder simulation of with cable Y tl COMPAX or SV Drive 666 STE g E E f Endod encoder the encoder E Mir di a input E4 distributor distributors S SC _ SSK COMPAX P1XXM Q s 6 without cable 7 channel 1 incoming connection 00 BD SSK 7 Fa channel 1 relaying a E Bus termination E encoder a 5 simulation BUS 1 01 ae 9 option E3 i e by SinCos S1 SSK 7 d option E8 ar tr channel 2 output 25XXS SSK 7 Direct to an encoder input e g 1 a d S Dik monitor D UCT2 9It ASS 1 01 to Oscilloscope 5 ooo
2. oX Eq 24v 2810 1 2 GND X8 2 Q 12 o 1 3 xi P X83 o 6 3 1 Overview diagram US voltage XB standby 5 xea Q PE supply 24 X8 5__ voltage supply X16 15V 24 V emerg Stop X86 Power Supply 3 80 500 V X8 6 o maxi 24V CC Wis 2 X2 power inter e loop X6 Bussysteme Eingang X7 Bussysteme Ausgang jl x3 Belegung abh ngig vom Bussystem Belegung abh ngig vom Bussystem Te 7 contro 4 H e IA 3 an EE voltage 24 V Q PE x2 E LS Power inter X3 Q f X4 control and mediate loop Control 1 status signals Q LS voltage ov 0 Bus signals X F continuation S ge 6 3 4 Technical data power us X7 bus systems systems IN T on OUT features X8 Control Function Generates DC current when run directly off a mains source CE conformity e susceptibility emissions acc with AS EN61800 3 v Safety VDE 0160 EN 50178 Output rating Nominal Peak output output NMD10 10 kW 20 kW 3s Before wiring up always de NMD20 20kW 40 kW 3s energize the unit Mains supply fuse protection Even once the mains supply has NMD10 16A K circuit breaker
3. 5 User Guide C Compact Servo Controller From Software Version V3 74 May 99 Parker Hannifin GmbH Parker Hannifin plc DIN EN ISO 9001 EMD HAUSER EMD Digiplan HAWUS ERS Postfach 77607 1720 21 Balena Close Robert Bosch Str 22 Poole Dorset Weautomate motion D 77656 Offenburg BH17 7DX UK Tel 49 0 781 509 0 Phone 49 0 1202 69 9000 Reg Nr 36 38 01 Fax 49 0 781 509 176 Fax 49 0 1202 69 5750 http www Parker EMD com http www Parker EMD com Subject to technical change Data represents the technical status at the time of closing the press 06 05 99 192 040050 N5 Darker Contents COMPAX M S 1 Contents cce E re Wiring up motor mains power control voltage and external iballast resistance Connector assignment Technical data Configuration o c e D e n Optimization Interfaces Accessories Parameters Error list hardware control functions functions Contents COMPAX M S uawubisse eoiuuoe Jojoeuuo suonounj pue Buiuonisog eg 3 E e 5 2 5 5 seoejelu Seuosseooy 5 1811 40 19 Free assignment of inputs and outputs 7 6 1 2 assignmen
4. 8 2 Overview Overview The following table shows the COMPAX system components and the relevant associated cables COMPAX 35XXM 0 with power module j 5 o T ay 88 io aa a COMPAX P1XXM COMPAX 25XXS Drives 42 MOK43 REK 32 mU mo HDY055 HDY070 Synchronous motor MOK 21 11 MOK46 32 HDY 142 HJ155 HJ190 Other motor types initiator set IVD 1 for 3 initiators er linitiators IN HE 521506 1 a COMPAX 45XXS COMPAX 85XXS RS232 RS232 interface is available in the To PC o
5. Bus systems X7 OUT X5 IN X6 RS232 X19 Control X8 X10 In Output X9 Test X13 NUE ETE X11 Control Encoder E e X14 X15 X12 HEDA Resoly LA X17 Initiators UE Ue 4 X16 Absolute encoder Plan view external ballast resistor AC voltage up to 500V AC 24V control voltage DC In Braking PE 24V Resistance x21 x22 Specific technical data Mains power e 3 250V 3 500V AC 45 65 Hz Note 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 Mains supply fuse protection 62A K circuit breaker or suitable Neozed conventional fuse Braking mode e Energy which be stored 3450yF 542 Ws e External ballast resistance 100 2 kW For the external ballast resistances available refer to page i152 Before wiring up always de energize the unit Even once the mains supply has been switched off dangerous levels of voltage remain in the system for up to 5 min A When working with motors without a holding brake the brake lines must not be connected to COMPAX 24 SIU SEE 6 4 3 Installation and dimensions 390 j 35 Installation and dimensions 6 4 4 2 Wiring up system network COMPAX 35XXM SV M
6. Function The first event after COMPAX has been started is the setting of the accelerating and braking time 10s 001 A check is then run to find out whether the shutter is closed NOO2 If it is not closed the interlock is opened 003 and the system waits until the shutter is closed 004 If the shutter is closed the interlock is also closed 005 The interlock is checked for safety reasons 006 The operating mode switch is then queried 07 If this is set to Removal the speed is set to 0 1 using 008 The system waits until the light barrier is activated by a test tube N010 When this occurs the speed is set to 0 011 and the interlock is opened 012 The shutter can now be opened to insert or remove a test tube COMPAX monitors the opening and closing of the shutter 013 NO14 to lock this again after the closing 015 016 and to return to the operating mode query If Removal is still set the centrifuge is turned further to the next test tube 009 ensures that once the speed has accelerated to 0 1 3008 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 10096 within 10 018 This speed is retained until the operating mode switch is set to Removal 019 N020 Then the centrifuge is decelerated to 0 1
7. a sn E1 ae 52 AN wo TF l 24 br xy Am ul Sig E1 HCMN ul x NN X2 5 X4 14 Sig MN 5 g gn co 0 t np xen Sig E2 ws bs i Te ll E2 V bl V XU Em s E2 Ix1 2 HE 38 c 2 GND p 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 be positioned before the end of the travel distance The same applies correspondingly for the right hand side Interfaces Initiators and D A monitor option D1 Extended operation When operating with three initiators not standard initiators E1 and E2 must be attached to the outer limits of the stroke range The machine zero initiator is fitted between E1 and E2 The following limitation applies in such instances the flank of the machine zero initiator must not be activated at the same time as a limit switch p If COMPAX is only operating as a speed controller or in the continuous mode or in normal operating mode with a special machine zero mode P212 10 refer to page 57 onwards then no initiators are required 6 9
8. 8 E BUS1 01 E E 2 8 2 Bus ter o 5 S o S mination SSK7 SSK7 SSK7 The following are required COMPAX e one encoder nne EAM 4 01 one cable for the COMPAX and encoder distributor connection SSK 4 one bus cable for connecting the encoder distributors SSK 7 e encoder emulation in the e encoder input module in each E4 DUS TEPMIN ALO BUS 1 01 143 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment Parameters Error list control functions functions options cahla Accessories and options Encoder bus with encoder or encoder emulation in SV drive Encoder bus mixed 144 COMPAX COMPAX COMPAX Other 255 13 4 13 4 X13 E4 95 ssk EAM4 01 X5 EAM4 01 X5 Other EAM4 01 X5 Channel 1 Channel2 Channel 1 Channel 2 encoder Channel 1 Channel 2 IN OUT IN JOUT IN OUT IN OUT distributors IN IN JOUT X1 X2 X4 X1 X2 x3 X4 X1 2 X4 BUS1 01 Bus ter SS
9. 38 NIC Ey a c emp E ea A ELIO a E uc P49 Control parameter 4 000 000 0 4 000 000 44 When motor nominal speeds have been modified use this factor to perform a simple adaptation to the present program 45 When P93 4 P25 must gt 0 167 Unit hardware Configuration Technical data Connector assignment Positioning and control functions Parameters Status Accessories Interfaces Optimization Error list functions options rahla COMPAX M S COMPAX standard parameters Default Maximum Valid value value as of P50 Turning on speed monitor 2101 100 without monitor standard setting VP 2101 with monitor P67 Dekmensipher po po v P68 Delay ipite a o fo v P60 Advance control CO wihout advance conta o 30 80 v P70_ Advance control current value Jo Pi D A monitor 1 amplification h 5 40000 we P72 D A monitor 2 amplification 400000 we P73 o e v 7 O E Max permitted measuring error difference 4 000 000 between resolver position and external encoder position The external position management is switched on and the internal position is corrected with a measuring error 0 U R U N P76 Address of D A monitor 3 decimal place 0 amp
10. 89 Tooth pitch 55 160 Torque converter 183 194 Transmission errors 135 Transmitting control instructions via RS232 128 Travel cycle 160 Travel per motor revolution 55 Type plate 8 161 increments 52 52 Unit assignment 8 Unit designation 161 Unit designations 161 Unit family 161 Unit monitoring 178 Unit technology 16 V0 V39 Levanta ee anne 81 Variable voltage 96 86 160 161 161 Vibrating at higher frequencies 100 96 79 WAIT START 81 Waiting time 79 Weights 44 Whole number division 86 Wiring diagrams 35 Wiring up mains power control voltage COMPAX 25 5 28 45 855 32 19 Wiring up motor COMPAX 25 5 28 45 855
11. esses 54 quadratic 54 smooth sssssss 54 Ramp 77 Readiness 34 Reading and describing program sets and parameters using RS232 128 Reading the status values Via R9232 5 etes 127 Ready contact 34 Real 2 58 Reduction of dynamic lag 99 Reference systems example 57 REK deret 35 Relative positioning 71 REPEAT mnnn 80 Repeat counter 160 Resolver SinCos assignment 35 Resolver cable 35 Resolver type 68 RETURN ans 79 Return jump to main program 79 Rigidity 23 97 Round table control 111 Round table parameters 175 RS232 ct ER 124 Example in Quick Basic 125 RS232 160 RS232 interface parameters124 9485s deter 141 RS485 parameter option 1 5 172 145 SI Oren eee 101 SAT 101 inm 162 162 S TZ dee 162 Ss 162 146 Safety 34 198 Safety chain and emergency stop functions 34 Safety conscious working 9 Safety instructions
12. NMD20 8 7 3 External ballast resistances for COMPAX and NMD20 External ballast Brake performance Cooling down time resistances NMD20 with external ballast resistance of 15W BRM4 01 0 57 kW unlimited Dynamic 37 kW gt 120s BRM4 02 0 74 kW unlimited Dynamic 37 kW gt 120s BRM4 03 1 50 kW unlimited Dynamic 37 kW gt 120s COMPAX 25XXS with external ballast resistance of 560 BRM5 01 250W unlimited Dynamic 2 5 kW 325s COMPAX 4500S 8500S with external ballast resistance of 220 BRM6 01 450W unlimited Dynamic 37 kW 2120s COMPAX 35XXM with external ballast resistance of 10W BRM7 01 2 00 kW unlimited Dynamic 37 kW 1 1 BRM6 BRM7 Dimensional 92 150 diagram BRMA aalo TN tei BRM6 and BRM7 s i Lej w 12 Overloading gt 95 97 of protection H switch gel los _ BRM4 01 BRM4 02 BRM4 03 BRMG BRM7 B sso 380 ao 330 640 gt The ballast resistances are fitted with a 1 5m connection line Note that a length of gt 2m is not permissible i i protection against Dimensional Ed diagram BRM5 01 25 8 9 NO 222 239 71 C 5 01 is fitted with a 0 3m connection line Note that a length of gt 2m is not permissible Housing temperature may reach 200 The external ballast resistances should be fitted so that it ensures contact pro
13. 32 Wiring up the motor 19 Wiring up the system network 18 Word length 124 X12 35 Zero point shifting 60 199 User Guide 200 COMPAX M S
14. X13 value sensor X16 absolute enoder E xi designation function Screwed connection 1 housing shield connection plug UNC4 40 2 N2 channel 2 zero pulse 1 Essi 3 B2 channel2 track B 6 b Sonne oh 4 A2 channel 2 track A 9 UNC4 40 5 N1 channel 1 zero pulse 5 6 1 channel 1 track B plug 7 A1 channel 1 track A C12FUR 5 11 4 8 5V output 5V 9 N2 channel 2 zero pulse inverted 10 B2 channel2 trackB inverted T 6 3 11 A2 channel 2 track A inverted T 1 11 12 N1 channel 1 zero pulse inverted 0 8 2 13 B1 channel 1 track inverted D 3 10 14 A1 channel 1 track A inverted 24 9 8 15 GND ref point GND 5 1 housing housing C The Incremental encoder function is an nc 2 4 2 0 25 shield option if used you will need additional nc 4 boards If the relevant options are available 7 the following applies channel 1 encoder input channel 2 encoder emulation We supply the relevant cables and a bus distributor for wiring up the encoder signals You can use these to implement various applications refer to Accessories options C When working with COMPAX XX6X electronic transmission and COMPAX XX70 electronical curve control variants you can use option E7 via channel 0 to implement an analogue speed specification refer to page 1148 40 SIU SEE 6 10 3 HEDA interface option A1 A3 gt The HEDA interface is available for COMPAX XX00 COMPAX X
15. 25XXS 29 20 wat knees 22 Direct command entry conditions 126 Direction of rotation 56 Division ssssssess 86 Division 86 Drive status 161 Drive 54 EIOS 181 EISE 105 ETS ni 181 e 194 E54 hmm 181 n 135 ELT nnn 135 ef sss 135 EAMA O01 142 143 14 124 Effective motor load 103 164 Effective unit load 103 164 Electronic transmission 111 Electronic transmission parameters 176 Electronical curve control parameters 176 196 measures 150 Emergency stop 34 Emergency stop characteristics 34 Emergency stop input on 34 142 Encoder 144 Encoder cable 142 encoder distributor 142 Encoder distributor 142 Encoder emulation 142 Encoder input module 142 Encoder interface 142 Encoder module 142 Encoder position 161 ENDE ettet 80 End 124 Engagin
16. 193 Braking operation 42 COMPAX M NMD direct D mark referenced Braking power wall installation 20 is ARRA t hubs gt indirect speed control wall installation 20 speed step profiling BREAK handling 83 COMPAX M system switching t 123 network mains power ed POINTS 100 DHMMD eee aatoro UIl 18 8 SPEED SYNC 190 BRMr DIEM 152 COMPAX M unit features 17 9 Applications examples DR 183 Bus connection 41 Components required 15 Applications with encoder 143 e 160 Conditions for 14 2 Arithmetic ADU ATTI 86 Bus parameters Conditions of warranty 10 S setting sssssss 49 Configuration BLAN 50 TINT Bus 5 141 Configuration data 52 TE LUE M Bus terminator 142 Configuration process 50 EAMA O1 143 Cabl dc Configuration via PCs 66 REM MEE CE boh e d incremental encoder 40 Cable lenath kev 35 o UU Cable length key 35 Connector and connection inputs outputs 36 Cable lengths 159 assignment ise E
17. c3 Accessories COMPAX 35XXM Up to 16A nominal motor current Up to 30A nominal motor current Above 30A nominal motor current Position of motor output throttle wiring of motor output throttle MC measures Type 073 605220 COMPAX 35XXM with sequential COMPAX M controllers Type 073 605225 mo 073 605220 073 605225 Input Output L L im Length of connection between grid filter and unit eunsheathed 0 5m sheathed 5m 8 7 2 2 Motor output throttle We supply motor output throttles for suppression when using long motor lines 20m E 4 048 300010 16A 2 mH Type 048 300020 30A 1 1 mH Type 048 300030 gt 30A 0 64 mH 048 300010 048 300020 048 300030 deigun 3 rc ee ae E mm 0 s 8 Fm 6 6 7 Himm 1 195 20 device motor exit coil motor O HI w AH Wig N N I Sy quan 151 Unit hardware Configuration Technical data Connector assignment Positioning and control functions Parameters Status Accessories Interfaces Optimization Error list functions options Accessories and options COMPAX M S External ballast resistances for
18. gt The bus interfaces are options they not possible on COMPAX P1XXM if you are also using the N1 option Special operating instructions are available for the bus systems 41 Unit hardware Technical data Configuration Parameters Status Accessories Interfaces Optimization Error list control functions functions options Q 5 5 v D Start up manual COMPAX M S 6 11 Technical data Power features Scope of function e Position speed and current controller final stage protected from short circuits and ground earth Digital positioning controller Movement control Supported motors resolvers e Sine commuted synchronous motors up to a max speed of 9000 rpm e Asynchronous motors e Supported resolver e Litton JSSBH 15 E 5 JSSBH 21 P4 RE 21 1 A05 15 1 04 Tamagawa 2018N321 E64 e Siemens 23401 T2509 C202 Support of SinCos Stegmann Output data from the individual units Nominal _ current Aeff at mains supply 230V AC 2 8 es ze 25 pmowwr zo es 28 at mains supply 400V AC es 45 125 50 88 pw ss 85 38 oom es 85 45 Peak current Output at mains supply 460V AC CE conformity e susceptibility emissions acc with EN61800 3 e Safety VDE 0160 EN 50178 Mains power COMPAX M NMD 3 80V AC
19. contact to external brake control ZN 33V Stop ile brake he within 0 47uF XZ 33V motor PRO x reese These protective measures are available in 6 8 1 Resolver SinCos COMPAX M COMPAX 45XXS COMPAX 85XXS for applications without external brake control Pin from X12 Assignment 25 35XXM In COMPAX 25 X1 7 and X1 8 and in COMPAX 35XXM X23 bridge 2 connections are available for connecting the contact These connections are bridged in the connector when supplied External protective measures are not required for 25 and COMPAX 35XXM External contact connection The bridge is removed and is replaced by connecting an external contact 35 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment Parameters Error list control functions functions options Start up manual Digital inputs and outputs 6 9 Interfaces COMPAX M S 6 9 1 Digital inputs and outputs The inputs and outputs have SPS voltage level High signal 24V DC Connection assignment of X8 input output X8
20. waits until carton is to be received 04 SPEED sets the speed to that on conveyor belt A 057 360 cnr ttn nne nt sd transfers the carton 06 IF 17 0 GOTO 8 queries whether carton is to be received N007 OUTPUT 7204 rn mee blocks conveyor belt 008 IF 18 0 GOTO 6 FEE t waits until carton is to be deposited N009 OUTPUT 7 0 blocks conveyor belt SPEED eerie ATH sets the speed to that on conveyor belt C N011 POSB 350 irren deposits the carton 12 GOTO transfers carton 2 goes to data record N002 190 AUSI Speed control mode 10 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 COMPAX locking 0 remove 1 centrifuge shutte light E barrier 424Vo 77 pu opening
21. 008 and stops at the next test tube The test tubes can then be removed one after another 191 Application examples COMPAX M S 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 barrier 0 not activated 1 activated 18 shutter 0 open 1 gt closed I9 interlock 0 open 1 gt closed 110 operating mode 0 remove 1 centrifuge O7 interlock 0 closed 1 gt open List of programs 01 ACCEL 10 000 sets the accelerating and braking ramps to 10s 02 IF 18 1 GOTO locks 5 checks whether the shutter is closed 03 OUTPUT 75 1 opens interlock N004 IF 18 0 GOTO 4 waits until the shutter is closed mark N005 OUTPUT 7 0 closes interlock 06 IF 19 0 GOTO 6 checks whether interlock is closed Operating mode query 007 IF 11021 GOTO centrifuges 18 queries operating mode switch REMOVE mark 08 SPEED 0 1 sets the speed to 0 1 N009 WAIT 500 waits 500 ms 10 IF 17 0 GOTO 10 waits until the light barr
22. 52 As of the next POSA or POSR positioning process When the pitch calculator is active any modified real zeros will not be transferred If you are using a new pitch calculator you will require POSA or POSR 175 Unit hardware Configuration Technical data Connector assignment Positioning and control functions Parameters Status Accessories Interfaces Optimization Error list functions options rahla COMPAX M S Special parameters 9 3 3 9 Electronic transmission COMPAX XX60 Default Maximum Valid as value value of P035 Transmission factor 1 115 0 20000 200000000 VP P036 Transmission factor 2 115 1 amem P037 Speed 1 angle angle synchronicity 0 vs When P3720 P38 must be set to 1 P038 Synchronous time for speed changeover 1 1 60 000 VP When P3720 P38 must be set to 1 P68 Filter for external advance speed control 96 550 VP 0 filter switched off 9 3 3 10 Electronical curve control COMPAX XX70 Default Maximum Valid value value as of Selecting master input 0 coupled to master by means of an encoder 1 not coupled to a master simulation of master speed by an internal time base 210 the tens column specifies whether P35 is transferred as triggered Operating mode 116 Master 0 approval of master signals statistically via 116 position approval mark 1 approval of master signals via 116 and flank trigger
23. 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 usage purposes is undertaken e g master P184 44 nominal value and slave with encoder coupling then the slave must be notified of this using P188 140 in such instances only the high word is processed Application examples Coupling of several axes to one COMPAX XX60 encoder using HEDA to distribute the signals Encoder input P184 40 encoder position duration period P188 40 Master Slave 1 Slave 2 SSK14 BUS2 01 XX00 COMPAX XX60 COMPAX XX70 Replacing the encoder emulation using HEDA bus Master Slave 2 P184 44 nominal position value or P184 45 actual position value 188 0 SSK15 SSK14 BUS2 01 Reference There is a delay time of 2ms between Master and Slave Way out work with fast start and the same program Coupling of several curve discs with the same time base and separate master or slave oriented label COMPAX XX70 P184 42 time base P188 42 COMPAX XX70 P184 43 normalized master position P188 43 Linking of several curve discs with the same time base and absolute zero d
24. 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 as is described below 8 6 3 High resolution SinCos sensor system 51 52 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 Singleturn Type SCS60 or SRS60 SinCos Multiturn Type SCM60 or SRM60 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 e With the SinCos Multiturn you also get an economical absolute value sensor function 4096 motor revolutions detected absolutely Attention The S1 S2 options cannot be combined with Cannot be combined the option A1 absolute value sensor HEDA and 1 A1 option encoder emulation 1 145 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment Parameters Erro
25. Spindle Drive Spindle Length Teeth in pinion Teeth in pinion Inertia minimum Spindle Diameter Pitch if teeth Pitch in teeth Spindle Slope Gear ratio Gear ratio Gear ratio Inertia maximum Inertia gear Inertia gear Inertia gear Minimal load Minimal load Minimal load Travel path per motor revolution Maximal load Maximal load continue with 3 continue withes continue with 3 continue with e Changes values and Changes values and Changes values and Changes values and Maximal load YES E ZL 2 HDX Individual Switch on motor fres Switch off motor motor YES enter motor parameter from P100 enable drive by power off on or by command output O0 0 Hand held terminal 8 8 Annex the COMPAX components Mains power module for COMPAX M not for COMPAX 35XXM Up to 3x500 V AC mains supply connection direct mains supply operation 10 KW continuous output As NMD10 however 20 kW continuous output external ballast resistance possible 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 You will find the motor and resolver cables on page Fehler Textmarke nicht defin HAUSER linear unit
26. aid for optimizing without the need for an additional visual aid It provides you with 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 233 23423 Meaning Positioning time from start of positioning to position reached max undershoot referenced to max position amount only for highly misadjusted loops 5 7 10 11 12 13 The number corresponding to the first column should be entered the parameter The following applies P233 determines status S13 P234 determines status S14 max position overshoot 6 position undershoot time max 5 position overshoot max position undershoot 25 positive sense positive sense negative sense negative sense of rotation of rotation of rotation of rotation 23 P233 P234 are set as valid with VP 101 Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector Unit hardware Parameters Error list assignment control functions functions options
27. 0 errors E58 Machine zero has been approached Ready for start Programmed nominal position reached Idle after stop after OUTPUT O0 0 after OUTPUT O0 1 after OUTPUT O0 2 Meaning when 1 Password 302 active Service password active Command active move commands POSR speed in speed control mode are rejected using E92 Program memory running Stop via input 16 RUN 0 OFF or switched off when error occurs 3 4 5 I3 4 5 6 17 Bit sequence during transmission of S16 S17 Bit 1 is at the left the transmission starts with bit 1 E g 8172 11000 0000 during ASCII transfer COMPAX front plate display 01 E g password 302 active S17 0x80 if all other bits 0 Explanation of error history 818 The errors which occur are recorded by COMPAX in an 8 stage sliding scale The entire contents of this memory can be read using a status query Once the error has been acknowledged an 99 is inserted Once a new error occurs this is inserted in the sliding memory When querying using S18 the contents of the sliding scale are output and 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 sliding memory Example S18CrLF Response S018 99 55 10 99 53 98 10 99CnL a e The last error an emergency stop E
28. HAUSER Direct command specification 15 Start le Stop O4 Ready to start POSA 100 O5 Progr target pos reached Out of action after stop 0 23 4 ary 5 6 7 81 by STOP and specified by a interface is restarted Finding machine zero in normal mode 11 SHIFT 2 A Drive to MN Before the 1st machine zero travel A3 0 Approaching real zero Machine zero reached gt O4 A t Ready start H H t Progr target pos reached l1 SHIFT 13 Drive to RN O3 Machine zero reached O4 Ready to start O5 Progr target pos reached 05 Tj Interfaces Digital inputs and outputs When using this START a processing command which has been interrupted 119 Configuration Technical data Connector Unit hardware Positioning and Optimization Status Accessories Parameter Error list assignment control functions functions options rahla Operating instructions COMPAX M S SPS data interface 7 6 2 SPS data interface Functions available Activating 120 This universal data interface allows data to be exchanged with all SPS types regardless of who manufactured them and which country they are located in You will need five binary inputs and outputs for this process These can be divided int
29. QI aoa o of o X X X X X gt lt ox X X X X X x x x x OW gt gt 50 gt See ee o 5 28 55 EY o5 9 88 5 X2 X6 AC supply control RS232 voltage N J 8 1 4 on 1 424V o X8 2 112 1 X8 3 3 Override AUB 1 X8 4 4 X11 DA channel 2 X o Li 85__ 5 DA channal 3 1 5 1 1 86_ 6 X8 Override old XLUS 4 Q X97 17 Input 1 shield X117 5 X8 8 Output P X89 oy 11 18 1 x8 10 01 08 T 8 11 Option p1 P Shannel 0 ms x812 03 p DA channel 1 0224 shield X7 8 2 O5 X17 GND 8 4_ og DA monitor 24y X75 Li IH X85 o7 Initiators X176 5 X8 16 X177 l o2 Sig MN xize l 10 Ig X10 2 ug 1 X10 3 1 X10 2 uc 1415 1 2 X10 5 43 mc X14052 Xi06 4 nc 141503 1 X10 7 X10 x14 15y 4 15 X14 15 4 5 X10 8 Input X14 X15 RxD 16 14 15 5 1 10 9 Output HEDA TxD i P xii 09 19 116 14 15 6 010 O9 016 X14 15 7 X10 12 RxD ZIONA 012 X14 15 9 Q 013 Li X94 gt X10 15 015 16 1 1006_ oig Xig 1 Nc X16 2 1 6 3 Q X9 24V D i A X92 X16 Nc X184 lt X98 absolute X18 5 encoder X94 c standby yg T et Q X95 pay Nc X18 7 i Q
30. plug Phoenix Pin designation fundion MC1 5 16 ST 3 81 X8 E120 E121 1 input 11 SHIFT 2 input 12 hand MN search i 3 input I3 hand RN search ES 4 input I4 quit teach zero 5 input 15 start 6 input 16 stop break 7 17 in standard configuration 8 input 18 free 9 output O1 no error 10 output O2 no warning ES 11 output O3 MN reached gt 12 output O4 ready to start 2 13 output O5 ref pos reached 14 output O6 out of action after stop 15 output O7 in standard configuration 16 output O8 free C gt The SHIFT signal 11 must be assigned before or at the same time as the relevant input Connection assignmentof X10 input output X10 pl g Phoenix Xie designation function MC1 5 16 ST 3 81 X10 1 input I9 10 2 input 110 3 input 111 M p 4 input 112 5 input 113 Le 6 input 114 1 7 input 115 in standard 8 input 116 configuration 9 output O9 10 output 010 11 output O11 e 12 output O12 13 output O13 ER 14 output O14 15 output O15 16 output O16 E Note the assignment for unit variants and for special functions 36 Loading the outputs O1 016 Total of max 1 6A 01 04 O5 O8 O9 O12 Per group of 4 max 0 8
31. 16 O5 32 O6 64 O7 128 O8 248 When P223 248 and P224 255 total of all valencies you will attain this setting 28 Counting starts at 1 IIAUI XX30 Round table control COMPAX XX50 Synchronous cycle control COMPAX XX60 Electronic transmission COMPAX XX70 Curve disc control Digital inputs and outputs 7 6 1 2 1 assignment of the variants 112 113 114 O14 O16 l6 11 amp 16 112 113 114 115 116 O5 O14 O15 O16 114 115 116 112 113 114 115 116 releases final stage compensates for measuring error by external position management releases brakes no measuring error final stage switched off STOP is not effective during a synchronization process BREAK interrupts the synchronization process Material simulation Manual step Switches on mark reference Ends synchronous travel The Fast start function is not possible Mark input Position reached at synchronization command WAIT POSA WAIT POSR 0 when idling the axis 1 after return run Synchronous comparator Chaff length Reject length Switches over the dimension reference Transmission factor selection Releases master nominal value Releases final stage 0 Decoupling 1 Coupling Mark input 0 Disables auxiliary functions 1 Enables auxiliary functions Releases master position O7 014 Digital auxiliary functi
32. 8 5 2 6 CS31 system bus option F7 e COMPAX ABB interface 141 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment Parameters Error list control functions functions options Accessories and options 1 1 COMPAXWS 8 6 Process interfaces 8 6 1 Encoder interface The encoder interface option E2 E4 enables the connection of an external incremental encoder of the type Litton encoder G71SSLDBI 4096 151 05BX You can use this to synchronize COMPAX to an external speed using the SPEED SYNC command The encoder pulses per revolution and the translated travel per encoder revolution are set via the COMPAX parameters P143 and P98 Minimum Default Maximum valid as value value value of Travel of axis per encoder revolution P90 o o 4000000 P143 Encoder pulses per revolution channel 1 120 4096 2000 000 P146 Resolution of encoder emulation channel 0 1024 8 512 VC 2 s for the permanent SinCos setting refer to page 1415 Technical data 4 RS422 interface 5V supply e 120 10 000 increments revolution fmin 4 KHz fmax 500 KHz Dimensional Dimensional diagram for Litton encoder G71SSLDBI 4096 151 05BX 5501 46 35 0 2 diagram 88 mex 5355 58 87 0 25 for screw 10 32 UNF 2B thread 4 8 deep Encoder module
33. 86 22 la 340 218 9 14 190 1 9 5 18 59985555 a e H Bl nes Al iw g m BL e 1 oj d amp B m c 1 LU ML 190 LY el Fastening with 4 M6 Allen screws 6 4 4 Wiring up 6 4 4 1 Wiring up motor mains power control voltage and external ballast resistance Cable conduit 8 ONG LS Y 15 ttt tttt lo Gaal e U V WPE Brake wu e 2 ojo ogg n H e d X2 is o 18 Inf Lal o t7 e O 2 Last device equiped with oayt eee terminal plug elise Voltage supply 24V Emergency stop stand by and bus signals X5 Unit hardware Configuration Technical data Connector assignment Positioning and Optimization control functions functions Connection for external contact for brake control Supply up to 500V AC 24V C
34. A7 78 Positioning and control functions 7 4 2 Controlling programming procedure WAIT Syntax Example GOTO Syntax Example Syntax Example Attention RETURN Syntax Controlling programming procedure 7 4 2 1 Programmable waiting time WAIT Programmable waiting time in ms before the next data record is processed WAIT value Value 10 65 000 ms a control parameter P40 P49 or a variable V1 V39 e g WAIT P40 timescale 10 ms N005 WAIT 500 Sets the waiting time to 500 ms before the next data record is processed 7 4 2 2 Program jump GOTO Program jump to specified data record number GOTO data record number Data record number 1 250 N045 GOTO 60 Jumps to data record NO60 7 4 2 3 Sub program jump GOSUB Jump into a sub program GOSUB data record number Data record number 1 250 N005 GOSUB 100 N100 N101 Calls up sub program Starts sub program Noc RETURN Ends sub program jumps back to 006 Never use GOTO to jump out of a sub program or into a sub program 7 4 2 4 Instruction to end a sub program RETURN This actions a return jump to the main program RETURN 79 Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector Unit hardware Parameters Error list assignment control functions functions options cahla
35. COMPAS Digital inputs and outputs output Significance 1 no interruption 0 errors E1 E58 the drive does not accept any positioning commands Once Power on O1 remains at 0 until the self test has been performed 2 X8 10 1 no warning 0 error E58 O16 X10 16 For 0 marker disappears after max feed length 7 6 1 1 Free assignment of inputs and outputs Free assignment You can make the permanently assigned standard inputs 11 to 16 available for of inputs assignment using parameter P221 Meaning Biel I5 X8 5 16 X8 6 Break breaks off data record Setting P221 Each input is assigned a valency Calculate the sum of the valencies of the inputs you want free and enter this in parameter P221 Example and Hand should be possible via the inputs 11 14 15 and 16 should be freely available 1 11 8 14 16 15 32 I6 57 You will attain this setting using P221 57 Note that when 11 is freely assigned SHIFT you can no longer perform any Functions with shift via the inputs p You can directly cancel all input functions apart from Hand and Hand as commands using interfaces RS232 bus system 25 Only assigned if the mark reference is activated P35 1 26 Counting starts at 1 108 HAUVYSESBR interfaces Free assignment of outputs Structural diagram P225 makes outputs freely
36. GOTO GOSUB EXT IF Error Stop Arithmetic Position monitoring Idle display Speed monitoring Engaging disengaging brake final stage Variable voltage 88 ALIS Positioning and control functions 7 4 4 Ba1 O5 toggles when the position is reached Example SPS sequential step tracking Ba2 O5 1 nominal value reached and lag error P14 Position monitoring P93 1 2 3 Position monitoring P93 1 2 3 P227 Two settings are available for O5 Position reached and they are set using P227 bit 416 2 1 Meaning function Ba1 O5 toggles when the position is reached O5 toggles each time a new positioning process reaches its position P227 bit 4 0 P1450 small values small in comparison with the process travel Ba2 14 gt gt 0 large value large in comparison with process travel Ba3 O5 1 nominal value reached and lag error lt P14 O5z 1 if the nominal value sensor has reached the end of the ramp and the lag error is less than P14 If the lag error after O5 1 is again greater than P14 O5 0 until the error falls below P14 again O5 1 nominal value reached independent of P14 O5 1 as soon as the nominal value sensor has finished the ramp descent and remains at 1 until the next positioning process is started Functional description O5 is toggled at the end of all po
37. Parameters Error list control functions functions options cahla Operating instructions 0 COMPAXNWS Command program instructions POSA SPEED ACCEL OUTPUT Password SPEED SYNC Mark reference POSR SPEED POSROUTP UT WAIT GOTO GOSUB RETURN END REPEAT IF E Comparison WAIT Start GOTO GOSUB EXT IF Error Stop Arithmetic Position monitoring Idle display Speed monitoring Engaging disengaging brake final stage Variable voltage 74 7 SPEED SYNC 7 4 1 10 External velocity specification SPEED SYNC Entry at BDF2 SPEED Ent COMPAX synchronizes itself to an external velocity specification Attention function only applies to COMPAX XX00 with options E2 or E4 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 when you use SPEED SYNC the process command velocity is read externally from the encoder interface Condition for setting P144 4 and P188 0 Setting aid the speed of the motor and sensor can be made the same using P98 P83 and the correctly set parameter P143 pulse speed sensor No travel synchronization for this function use our Electronic transmission or Electronical curve control unit variant Attention Command program instructions 7 4 1 11 Mark related positioning POS
38. Power on Note the load limits refer to start up manual E44 Pos auxiliary voltage outside Switch unit on again Power on tolerances E45 Neg auxiliary voltage outside Switch unit on again Power on tolerances Supply voltage 24V is too great Check 24V DC power unit E47 Supply voltage 24V is too low Check 24V DC power unit y y y y y y y y y y y y o es es es es es es es es es es es es 180 Error handling Cause Acknowle Drive dge with switched off E48 Motor thermal switch reports Check resolver cable motor type and motor Power on yes error remove external sources of heat E49 Motor or drive reports blockage Free mechanics This error message can be Quit yes Drive remaining in the current turned off by setting P13 0 limit for longer than P108 P16 Check motor cable COMPAX S speed controller Optimize controller reduce P23 stiffness oscillates Operate by hand from limit switch 53 E54 Speed higher than the maximum Reduce nominal speed speed is too high Qu motor speed or higher than use harmonies optimize controller P15 1 21 External emergency stop Check system then switch unit on again Intermediate circuit not Voltage must be at least 2s 320V approved External load too great Excess temperature E56 Emergency stop available Check system then switch on again directly on COMPAX M via X9 6
39. Inputs outputs assignment meaning P18 P211 P221 P223 P224 P225 P227 P245 P246 Defining encoder interfaces option P75 P98 P143 P144 P146 P232 Subsititue and specification values P1 P10 HEDA P181 P184 P188 P243 P247 P250 Configuration parameters P80 P85 P88 P90 P92 P93 P98 Mark reference P35 P37 P38 P39 Defining mechanical reference system P29 P206 P212 P217 Motor parameters P100 P133 Optimization parameters optimization display P21 P27 P50 P67 P70 P94 P151 P233 P234 Parameters of software variants P30 P39 RS232 P19 P20 Other parameters P17 P218 P219 P229 SPS data interface Parameters not described here are reserved P18 38 VP means Valid Parameter and is a COMPAX command with which COMPAX transfers the modified parameter of a particular parameter group The VP parameters are marked in the following parameter lists in the column Valid as of 165 Unit hardware Configuration Technical data Connector assignment Positioning and Accessories Optimization Parameters Error list control functions functions options rahla COMPAX M S COMPAX standard parameters Remark The specified limit values refer to all parameters Theoretical combinations are however possible within these limits yet they could cause an
40. Status Accessories Interfaces Optimization Parameters functions options rahla COMPAX M S Special bus options error messages 9 4 2 Special bus options error messages Cause Remedy Causes Acknowl Drive 2008 pes RS485 interface option F1 F5 E70 Parity error Resend the characters iJ no E71 Overflow of COMPAX Transfer again with fewer characters no intermediate memory more than 40 characters have been transmitted Block check character error Resend the characters Resend he characters Ez 5 CAN bus option F4 CAN bus transmission error Check physical connection CAN bus inactive Check physical connection CANopen option F8 E73 Node monitoring error No longer connection with master The error response is Monitoring time and or lifetime factor not set influenced with P191 correctly Profibus option F3 Resend the characters Interbus S option F2 Resend the characters HEDA option A1 A3 E76 Synchronization error during Check physical connection or P249 Quit no HEDA transmission HEDA transmission error Check physical connection or P247 Qut E78 HEDA transmission errors one Check physical connection or P248 after another Coupling error Check nominal value specification via HEDA or ae P181 58 E 73 no Quit required the error message is deleted when the next transfer occurs without incurring any problems Beh
41. x12 10 a Sig es 110 the bus system icr ee Sig E2 X17 8 t X10 4 1 i SOS Ue Sig E1 X 9 lt 12 12 12 m P xiu ns 2o X19 2__ i SINS uc 140501 1 Q 2 n4 59 X19 3 X12 4 5 10 7_ 45 Eg Stand by P SEN 7 X1215_ mc 14 52 Cre ie 3 Stand by S d X14 15y3 J oo 585 24 mp X14 15 4 J X1010 oy KES 15 24V Emerg stop 2196 lt MiG Housing 3 Xs 14 15 5 D XI ou 24 140506 _ 102_ G40 X reserved X13 3 25 1411507 10 13 X199 _ lt 13 4 A2 P Enable Xi9 10 d EETA 2 X10 14 O14 nable NI L X10 15 Shield X19 11 13 6 Q 2 015 B1 5 by X106 oi Xi37 5 E X13 8 sy E N B nm 283__ x13 9 N2 92 X94 xi3t0 po 8 N 1 3 5 LOIS esie J X6 5 x13 11 ADs E Qm EDU EE Y mrt 9 reserved lt 2 DSR PUE 2 oe A9m 24y RTS E a X9 6 15 24V Emerg stop CTS p E c oL Housing 5V lt can be parameterized 26 AUIS 25 unit features 25XXS connector and connection assignment 6 5 COMPAX 25XXS unit features 6 5 1 COMPAX 25XXS connector and connection Meaning of the LEDs on the assignment front plate LED Meaning when af x color switched on all a Ready 24V DC ava
42. 1110 commands Function code 1 0 0000 POSR Function code 2 1 0001 2 0010 0 0000 positive D 1101 negative Numerical value 109 Numerical value 10 Numerical value 104 Numerical value 103 Numerical value 10 Numerical value 10 Numerical value 109 Decimal point 1100 Numerical value 10 Numerical value 10 2 Numerical value 103 End sign 1111 Velocity Start sign E 1110 specification Function code 1 0 0000 SPEED Function code 2 4 0100 Prefix 0 0000 positive D 1101 negative Numerical value 101 Numerical value 10 Decimal point 1100 Numerical value 10 1 Numerical value 10 2 Numerical value 10 3 End sian E 1111 Acceleration time Start sign 1110 ACCEL Function code 1 0 0000 Function code 2 5 0101 0 0000 positive D 1101 Numerical value 104 Numerical value 103 Numerical value 10 Numerical value 10 Numerical value 109 End sign E 1 1 1 1 Adjusting data Start sign 1110 record indicator Function code 1 0 0000 approving Function code 2 6 0110 password GOTO Numerical value 10 Numerical value 10 Numerical value 109 End sign 1 1 1 1 121 Unit hardware Technical data Connector assignment cable Configuration Positioning and control functions Accessories Opti
43. 160 Ballast resistance 28 32 COMPAX 25XXS unit Actual values Status values 160 Ballast resistances 192 27 Addition 86 gonpecuon NMDe cone 23 COMPAX 35XXM 24 o5 Advance acceleration Baud rate 124 COMPAX 45XXS 85XXS control 26 99 1 02 149 connector assignment 33 5 Advance control measures 98 2 01 153 45 85 S 5 Advance power control P70 99 Binary data transfer using unit features 31 ii Advance reverse control 99 RS232 sees 130 COMPAX components 159 Advance speed control P25 99 Block 125 COMPAX parameters 173 So Ambient conditions 43 Block structure of the basic COMPAX 30 111 gs Analogue speed Utili ics eit 46 0 111 Ee specification E7 148 Blocking and modifying the 60 111 amp Application example teach in functions 211114 128 COMPAX 70 111 external data record Brake control 35 COMPAX 25XXS 184 Braking delay 68 plan 27 fast 51
44. 9 Saturation characteristics GUIVO ire 68 Sensor cable 35 Sensor position 160 Sequential step tracking 94 Service D A monitor 96 Service D A monitor D1 38 Servo manager 153 Setting multiple digital 73 Setting resetting outputs within positioning 78 Setting resetting the outputs 72 Sheath connection of motor cable 25XXS 28 19 SHIFT Ree 112 SHEET 112 Short circuit monitoring 178 Signal procedure during status query via SPS er ee eee 123 Sil OS nse 145 Slave input parameters 133 Software 161 Software handshake 124 Software handshake 125 Software version 1 161 SPEED sns 72 Speed control mode 52 direction of rotation 72 Speed control mode special features 92 Speed 104 Speed monitoring in speed control mode 92 Speed step profile 77 Speed step profiles 76 SPEED SYNC 74 SPS data interface 120 SPS sequential step tracking 94 39 pet 41 SSK15 xis 41 9 149 Standard co
45. CH W HJ190J8 150S F twinta 400 2400 800 460 201 21000 HDY115Ae 888 460 4400 32 30 147 240 HJ116C664S 4e0 500 40 5o 21 75 ui HDYiisce s8S_ 46 4400 49 49 2 26 46 888 ___ 460 50 47 24 90 HoviiskeseS 460 70 69 323 seo MN 1596 885 4400 429 MNNN HDY142Ce 88S 46 440 83 83 3 82 1150 T NENN HDY142Ge 88S 46 4400 155 150 714 2200 T HumssAgseS 460 48600 72 71 85 220 W MEN HJ155D amp 1305 460 s320 202 131 68 540 ai 9558 1308 460 3200 240 161 80 750 9908 1505 460 2700 420 240 123 21000 1 1 MN HJ190J8 150S F win tag 460 2700 790 440 223 2100 j j The specified unit allocation reflects the typical applications for which they are used depending on the application other unit motor allocations may also be useful p Please contact us if you require more information about our motors HOBBES i L 33 The nominal current for 230V AC applies to the COMPAX 2500 34 The HJ190J8 nominal data is only temporary note the motor description 140 AWS EE Data interfaces RS232 8 5 Data interfaces You
46. COMPAX contains all the functions required for a compact positioning system These functions are digital inputs and outputs SPS interface a serial interface RS232 natural language memory an integrated IGBT final stage You will need aids PC hand held terminal to configure and program 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 of digital control technology are e controller parameters which can be reproduced and are drift free simple copying of set values no offset problems ethe implementation of efficient flexible and adaptable nominal value generation 45 Unit hardware Configuration Technical data Connector assignment Positioning and Optimization Parameters Status Accessories Error list control functions functions options rahla Operating instructions 1 7 1 1 Block structure of the basic unit Interfaces for data and status PLC data interface 232 RS485 Bus Systems Query the most important status values for connection of PLC IPC PC Setting the most important parameters EN SA AN 2 S 2 90 90 00 Oe OQ UG NS o O0 0000 OQ KRKRKKRK KKK KEK KX 2 9 9060000090 90 6 9e OQ ORO Q UI KO See 5 16
47. Configuration Technical data Connector assignment Positioning and control functions Parameters Status Accessories Interfaces Optimization Error list functions options Accessories and options 1 COMPAS Hand held terminal Functions hand held terminal contains the following functions displays any status value e menu guided configuration e viewing and editing of programs viewing and editing of parameters direct entry of commands Key functions keys are all assigned two functions First press the SHIFT key if you wish to activate the second function of a key The second function is in the lower section of the key and is turquoise colored Keys Function DELETE Deletes program data records all jumps to addresses are automatically corrected INSERT Inserts program data records all jumps to addresses are automatically corrected Directly selects the parameter entry Directly selects the program memory F Quit Special functions WAIT Ent WAIT START GOTO Ent GOTO EXT GOSUB GOSUB EXT Ent SPEED Ent SPEED SYNC Special COMPAX XX70 commands F1 SETC x F2 SETM x F3 SETS LOOP x POSR Ent POSR CAM Lit up Function display dark bright SH amber First key function Second key function SHIFT key has been pressed No voltage Unit not ready for operation Supply cable is 1 5 m long The hand held terminal is also supplied by this cable If the distances in
48. EMC ny rpm Uzw 300V U7 2560V 5000 4400 5000 counter 2800 5000 Ny nominal speed 2000 3800 Uzw intermediate circuit 130 11400 2500 ith 230V AC Reet _ wi 560V with 3 400V AC Parameter for saturation characteristics curve P119 start of saturation 96 e P120 end of saturation 96 P121 minimum stand inductivity 96 Flange size P120 HEM 400 100 The saturation is switched of when P119 P121 100 and P120 400 gt If you do not know the saturation use the HDY values The additional parameters of the motor table should only be modified under exceptional circumstances Standard values of the HBMR and HDY motors Parameter STANDARD Meaning Unt P120 0 Hesolveroffset Degree 2 P1 2 1 1 Resolver E Holding brake For motors with holding brake Calculate the braking delay in P17 for more information refer to 95 Meaning Motor Shift times when closing the brake 20 ms 10 ms 24 ms with amplified brake 20 ms HDY115 HDY 142 HBMR190 7 You will find the following on the HAUSER motor type plate FEEDBACK 21 B FEEDBACK 15 B P4 P130 P131 2 FEEDBACK 21 A FEEDBACK SSBH 21 k1 P1 P130 P131 1 68 5 Configuration via PCs with ServoManager Safety instructions for the first start up Individua
49. Operating instructions 1 COMPAXWS Controlling programming procedure POSR SPEED ACCEL OUTPUT Password SPEED Mark reference POSR SPEED POSR OUTPUT WAIT GOTO GOSUB RETURN END REPEAT IFE IF 17 1 Comparison WAIT Start GOTO GOSUB EXT IF Error Stop Arithmetic Position monitoring Idle display Speed Engaging disengaging brake final stage Variable voltage 80 Syntax A REPEAT Syntax Example Syntax Examples ee Syntax 7 4 2 5 END instruction END END instruction for a REPEAT loop or for the program To end a program you activate a program stop The data record indicator is not modified END 7 4 2 6 Start a program loop REPEAT The following program sequence is run through the number of times specified in value until an End instruction appears REPEAT Value Value 1 65 000 a control parameter P40 P49 or a variable V1 V39 e g REPEAT P40 N005 REPEAT 10 Starts a program loop which is run through 10 times 006 N007 END End of loop p A loop can be prematurely exited using GOTO 7 4 2 7 Branching related to a control input IF 721 IF control input 1 0 GOTO GOSUB data record number Control input 1111 116 IF 17 1 GOTO 010 If I7 1 a jump is made to data record 010 IF 17 1 GOSUB 010 If 7 1 a jump is made to the sub program in data record NO10 7 4 2 8 Binary IF query of inputs IF 112 101
50. POSROUTP The bit pattern of inputs 19 to 116 is interpreted as a data record number binary 1 9 gt 2 20 e g 00010100 20 jumps into sub program at data record 20 GOTO GOSUB N If inputs have been assigned functions e g fast start 115 or external position adjustment 111 they are not taken into consideration when using GOSUB RETORN EXT read logically as 0 END C The assignments of each the binary inputs 116 19 must be taken into REPEAT consideration for the individual unit variants COMPAX XX50M When the SPS data interface is activated the commands GOTO EXT and GOSUB RE EXT are blocked Comparison WAIT Start evo IF ERROR sosu GOSUB 7 4 2 13 Error handling IF ERROR GOSUB IF Error Stop For influencing the error reactions Arithmetic ito Syntax ERROR GOSUB UR This instruction can only be programmed as normal IF instructions in the program Idle display You use this instruction to define the procedure taken in the program when an error status arises Speed TM Note The error sub program is called up and delayed using P17 brake delay When Engaging performing a WAIT START COMPAX does not branch into the error sub program disengaging when an error arises brake final stage Function Normally an error in the COMPAX will cause an actively running move to be Variable broken off Depending on the type of error the drive is switched off The pr
51. Upload to load all COMPAX settings all parameters including system parameters data records and in COMPAX XX70 also the existing curves into the new axis e Connect new e Use menu Online Download to transfer the data without system parameters into the new COMPAX Transferring system parameters Call up ParameterEditor Menu PC Tools ParameterEditor Use Online Copy menu to transfer all parameters including system parameters to COMPAX 13 Installing new equipment replacement Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment Parameters Error list control functions functions options rahla Conditions for usage COMPAX M S 5 Conditions for usage Grid filter Motor and resolver cable Motors Control Earthing Cable laying Accessories 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 compliance is maintained with the following peripheral conditions Only operate the units in the condition in which they are supplied i e with all housing plates and the front cover COMPAX P1XXM without N1 COMPAX 02XXM COMPAX 05XXM and COMPAX 15XXM may only be operated with HAUSER mains power modules NM
52. X9 Test X12 resolver X14 HEDA X16 absolute encoder X18 fan COMPAX M 7 WI E hy umber X1 motor X2 intermediate loop power connections 24V control voltage X4 control and status signals bus signals or short circuit plug X6 RS232 X10 Input Output X11 Control X13 Encoder X15 HEDA X17 initiators X19 AC DC voltage Si supply Terminal for sheet H shielding se motor cable i il ov B COMPAX M unit features Connector and connection assignment COMPAX P1XXM plan view Unit hardware Positioning and Configuration Technical data Connector assignment Optimization Interfaces control functions functions Connector X19 is only available in the COMPAX P1XXM with N1 option single phase power supply Before wiring up always de energize the unit A Meaning of the LEDs on the front plate Meaning is switched on Even once the mains supply has been switched off dangerous levels of voltage remain in the system for up to 5 min 24V DC available and initialization complete red COMPAX error E1 E56 is present 17 Status Accessories options Parameters Error list Start up manual COMPAX M S COMPAX M system network NMD10 NMD20 mains power module 6 2 2 COMPAX M system ne
53. after commands with preceding point full stop V1 Not all status values make sense as operands Permitted are the status values S01 to 15 S30 and 540 In addition to the 10 user parameters P40 to P49 39 variables V1 V39 are available VO 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 p After commands the variables as is the case for user parameters P40 to P49 are preceded by a point full stop POSA V1 ACCEL V22 AWS SR Positioning and control functions Global assignment Arithmetic and variable examples Number format Dealing with calculation errors Accuracy of calculations Note Division y x1 x2 Example Arithmetic VO is used for globally assigning a value to all variables Example 0 0 V1 V39 0 0 17 V1 V39 17 N001 P013 2 P013 N002 P010 P040 1000 1234 003 P005 P005 2 N004 P250 P250 1 N005 V002 V001 V 1 006 V3 515 P12 N007 POSR V30 Multiplication Addition Division Subtraction Whole number division Modulo P c Only one operation or command is permitted per program line All computations are done in a 48 bit format real number which contains 24 bits for places before the decimal point and 24 bits for places after the decimal point Such a re
54. and accessories encoder emulation for motor with resolver e E8 encoder emulation for motor with SinCos refer to page 145 EAM4 01 Design Depth 40 mm without mating connector The module is engaged on the terminal bus bar 142 ALIS gt Process interfaces Assignment of EAM4 01 corresp X13 Individual connections Encoder bus with COMPAX Encoder interface Chanel Channe2 Pin XZXOUT xsin X4 OUT NC NC B1 Applications with encoder Encoder COMPAX Cable 11 Encoder input module E2 with terminator SV drive COMPAX e Cable SSK 7 Attention Note direction cable in SV drive cable out COMPAX Encoder input module E2 with terminator COMPAX COMPAX Cable SSK 7 Attention Note direction cable in COMPAX with encoder emulation cable out COMPAX with encoder input e Encoder emulation E3 for COMPAX master Encoder input module E2 for COMPAX slave Master Slave 1 s Other Slaven Slaves X13 E4 X13 E4 X13 E4 sska 55 55 EAM4 01 X5 EAM4 01 X5 Other EAM4 01 X5 Channel 1 2 Channel 1 Channel 2 encoder es Channel 1Channel 2 X1 2 X4 1 2 X1 2 X4 IN OUT IN JOUT IN JOUT IN EA distributors IN JOUT IN JOUT
55. available Setting P225 Example SPS data interface Note Digital inputs and outputs The status outputs O1 to can be freely assigned using parameter P225 By using P223 and P224 you can assign the outputs to the OUTPUT WORD command of the bus systems interbus S profibus CAN bus By using P245 and P246 you can assign the outputs to the HEDA bus COMPAX with IPM via the option A1 Permanently assigned outputs of unit variants COMPAX XX30 cannot be masked O1 O6 225 status outputs ON Output x y P245 P246 towards outputs Output WORD O1 O16 O1 O16 HEDA via IPM gt The permanently assigned standard outputs O1 to O6 can be made freely available using parameter P225 Meaning Output Function amp O1 X8 1 1 no interruption 1 Bit 1 0 errors E1 E58 O2 X8 2 1 no warning 2 Bit 2 0 errors 3 E58 O3 X8 3 Machine zero has been approached 4 Bit 3 O4 X8 4 Ready for start 8 Bit 4 O5 X8 5 Programmed nominal position reached 16 Bit 5 X8 6 Idle after stop 32 Bit 6 Each output is assigned a valency Calculate the total of the valencies for the outputs that you want free and enter this in parameter P225 Ready for start and Idle after stop should be possible via the outputs O1 O2 and O5 should be freely availa
56. d Analogue output o 4 intermediate values iH 8 ballast resistor B RM 4 with 1 5 m cable optainable in 3 ratings for connection to he Power module NMD20 COMPAX 45XXS Xz COMPAX 85XXS g PE ballast resistor 7 01 with 1 5m cable 8 88 or connection to COMP AX 35XXM 8 ballast resistor BRM 6 01 with 1 5m cable E 858 or connection to COMP AX 45XXS COMPAX85XXS LN g ballast resistor BRM 5 01 with 1 5m cable oe 23 for connection to COMP AX 25X XS 2 4 8 N B et COMPAX ServoManager with ParameterEditor and le en L PC Tools ProgrammEditor Cam Editor for COMPAX X X70 138 ALIS HAUSER Motors with unit assignment 1 3 HAUSER Motors with unit assignment The following are features common to all motors e sinusoidal EMC standard flanges 65 type of protection shaft IP 64 e insulation class integrated resolver treble nominal torque is possible at treble nominal current for up to 3s Determined by British Standard BS4999 and or intern standard IEC34 excess temperature 110K tolerance 10 You Will find a table of motors with unit assignment on the next page 8 4 HAUSER linear axes Initiator set The HAUSER HLEc linear unit is available with various cross sections e HLE80C cross section 80 mm x 80 mm up to length of 6m e HLE100C cross section 100 mm x 100 mm up to
57. is mainly caused by the capacitive resistance which exists between the conductor and sheathing of the motor cable Additional leakage current arises when using a radio suppresser since the filter circuit is connected with earth via the condensers The size of the leakage current depends on the following factors length of motor cable cycle frequency with or without radio suppresser motor cable sheathed or not motor earthed at site or not The leakage current is very important for the levels of safety attained 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 23 5 mA The Servo booster must not be operated with a fault current protected switch due to the risk of higher levels of leakage current If an Fl protected switch is installed it must not interrupt the current circuit regardless of the following conditions e g from ABB series F804 DC unit in leakage current 3 phase rectifier bridge Brief appearance of pulse shaped leakage currents when switching on High levels of leakage current AUS CO 3 Overview 7 Operating instructions Compact Servo control T 1 Overview Interfaces The COMPAX digital positioning system has been designed for multi axis applications in handling and automation technology
58. or 2 the initiators are used as reversing initiators during Find machine zero When in other machine zero modes the initiators can be switched as end initiators by P217 via bit 1 16 P217 0 limit switches are not monitored during reference travel 1 P2172 3 limit switches are monitored during Find machine zero provided that 212 lt gt 0 and 212 lt gt 2 The operating mode bit 1 217 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 When one of the two limit switches is reached COMPAX responds with an emergency stop Then the following applies firstly move out of the danger zone using then acknowledge In such instances the MN approached output is not set Initiator E1 is assigned the direction of motor rotation using P216 P216 z 0 the initiator E1 is approached using the clockwise rotating motor P216 1 the initiator E1 is approached using the anti clockwise rotating motor E Clockwise rotating is to the right when looking at the motor shaft Proceed to a limit switch using when 215 0 an error message appears in the COMPAX display e error 50 E1 has been activated i e P216 0 e error 51 E2 has been activated i e P216 1 p This allocation only applies if 215 0 if 215 1 the alloc
59. proceeds to station 6 029 RETURN E returns to main program N030 960 proceeds to station 7 NOST RETURN uir returns to main program Raise workpiece mark N032 OUTPUT 7 1 activates Raise solenoid valve N033 IF 17 0 GOTO 33 waits until workpiece pick up is raised 34 OUTPUT 7 0 deactivates Raise solenoid valve 035 RETURN iier returns to main program Deposit workpiece mark 36 OUTPUT 08 1 activates Lower solenoid valve 37 IF 18 0 GOTO 37 waits until the workpiece pick up is lowered 38 OUTPUT 8 0 deactivates Lower solenoid valve IN039 BE TURN vance returns to main program 185 Application examples COMPAX M S Mark referenced positioning 10 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 A POSR 1POSR 50mm 5
60. rahla Operating instructions 1 COMPAXWS Optimization display x 4 xX 4 acceleration phase decerleration phase b D max acceleration tracking error set point max deceleration tracking error t X 4 n 4 actual max acceleration speed vala fee eNO eee of position time needed for ositioning loc I HUE Aud qM a a i max deceleration speed x d 09 actual pos current limit value amp amp amp amp amp poo of 13 osition bd time in neg current limit max backshoot with ii l ref to max position NI 4 time in pos current limit xo neg current limit gt t max position overshoot Unit 2 max intermediate voltage actual value of position max position overshoot gt Square root of peak motor current 102 1 C You can find a complete status list on page 1 60 Reference value 80 000A The maximum peak current of a motor phase is continually determined once is switched on and this is stored as status 513 or S14 using P233 234 56 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 913 80 000A Via the effective value 1
61. switched on using P219 7 E57 Voltage in intermediate circuit Check mains supply connection too low 70V You can switch off E57 using P218 1 58 Temperature is too high gt 75 Increase acceleration times E65 Encoder error Check encoder cable Axis is brought to a stop through speed control switch off using P218 Negative command acknowledgement only for warnings E72 Block check character error or Resend the characters x gen fault m 8 E90 Syntax error command not valid Check command structure E91 Command cannot be performed Check COMPAX status i no in this COMPAX operating mode E92 Function running command cannot be performed E93 Natural language memory active command cannot be performed Password not in place no Quit is required n n Response to lag error error E10 Position controller COMPAX is switched over from position control mode to speed control mode and speed 0 is specified The drive remains powered The next move command after the error acknowledgement brings the system back to position control Response to E15 COMPAX is switched over from position control mode to speed control mode and speed 0 is specified The drive remains powered Speed controller In speed control mode control is referenced to speed 0 181 Unit hardware Configuration Technical data Connector assignment Positioning and control functions
62. the set indicator is set to 1 using 11 14 or Teach 7 N Teach Z is approved The functions Teach N and Teach Z are blocked The set indicator is set to 1 using 11 14 Teach 11 15 or Teach 7 Teach is blocked the set indicator is set to 1 using 11 15 or TEACH 128 HAUSER Interfaces RS232 interface If commands are issued using RS232 and they cannot be performed invalid commands if the password is not specified or if COMPAX is busy a warning is sent back Meaning Syntax error command invalid Command cannot be performed in this COMPAX operating mode Negative command ack nowledgement Set memory active command cannot be performed Password not specified These warnings are not entered in status S18 error history E90 E91 E92 Function running command cannot be performed _ E93 E94 Operating status Commands available e Status query Parameter query and parameter assignment Pxxx Pxxx value Authorization of commands in different modes of operation Commands available in all operating modes status s e Stop Emergency stop OFF motor switched off Error present When in data record mode e During a positioning process as preparation for the next command gt No program processing e Find machine zero e Approach real null Hand During RUN motor under torque E No positioning No st
63. 1 nominal value reached and lag error P14 Example O5 1 nominal value reached independent of P14 Example Speed monitoring in speed control mode P93z 4 5 1 nominal value reached on nominal value generator and speed deviation P 14 If the speed deviation returns to gt P14 O5 0 is set Can be set using P227 bit 4 0 standard setting Programmed demanded lt speed Actual value If the actual value moves to outwith of P13 error E10 is triggered 5 1 nominal value reached on nominal value generator independent of P14 since P14 is set as very large value Can be set using P227 bit22 4 0 standard setting Speed Programmed 44 demanded speed Actual value Counting in bits beginning with bit O 93 Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector Unit hardware Parameters Error list assignment control functions functions options cahla Operating instructions COMPAX M S SPS sequential step tracking 7 747 sequential step tracking POSR SPEED ACCEL OUTPUT Password SPEED SYNC Mark reference POSR SPEED POSROUTP UT WAIT GOTO GOSUB RETURN END REPEAT IF E Comparison WAIT Start GOTO GOSUB EXT IF Error Stop Arithmetic Position monitoring Idle display Speed monitoring Engaging disengag
64. 1 Multiple inputs can be queried simultaneously The inputs are compared with a mask The mask contains individual bits 1 or 0 and a space marker 1 for not taken into consideration IF 112 101 1 GOTO 123 gt 112 1 113 0 114 1 115 not taken into consideration 116 1 Binary IF querying of status values or outputs is not possible A maximum of 8 inputs can be queried per IF instruction 11 E1 E6 only if masked via P221 12 Rather than is also possible Positioning and control functions J Y Syntax Simple Operand Operand Comparison Examples Limitation Controlling programming procedure 7 4 2 9 Comparative operations IF single Operand gt compare lt Operand gt GOTO xxx or IF lt single Operand gt lt compare gt lt Operand gt GOSUB xxx a parameter Pxxx or e a variable 13 Vxxx or e a status value Sxxx 51 515 S30 40 A simple Operand or A constant with max 8 significant digits e lt smaller gt larger equals e lt gt not equal lt equal to or less than gt equal to or greater than Depending on the result of the comparison a GOTO or GOSUB is carried out IF 40 gt 100 GOTO 234 IF 030 lt gt 49 GOTO 123 Within the IF query no operations with logical operators AND OR are possible Writing convention of variables VO V39 and control parameters 40 49 Fo
65. 1 before it performs POSR or refer to 115 71 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment Parameters Error list control functions functions options Operating instructions COMPAX M S Command program instructions POSA 7 4 1 3 Process velocity SPEED POSR gt Process velocity as of nominal velocity SPEED Nominal velocity nominal speed travel per motor rotation ACCEL e valid until a new value is programmed n When in speed control mode direction of rotation is specified by the prefix Password Syntax SPEED value SPEED Value 0 0000001 100 8 a control parameter P40 P49 or a variable V1 V39 SYNC e g SPEED P40 Mark Example 005 SPEED 70 sets velocity to 70 of nominal speed reference POSR The set velocity can be reduced using the analogue overrride input X11 6 SPEED refer to starting up manual POSROUTP UT WAIT x ACCEL 7 414 Acceleration and braking time ACCEL GOSUB RETURN Specification for acceleration and braking time e without prefix time specification for acceleration and decceleration process negative prefix separate time specification for decceleration process e Valid until a new value is programmed END REPEAT IF E e Acceleration process can be specified using parameter P94 refer to page 53 Com
66. 230 4400 115 230 O53 60 HDY7OE4 44S 280V 230 4400 175 34 0 81 80 HJ116C6 64S 250V 230 3000 46 60 14 75 HDY115C6 88S 280V 230 2000 60 58 1 25 460 pHJ116E6 88S 230v_ 230 2200 65 62 15 990 HDY55C4 328 400 5000 035 104 048 24 MEN J Jj Jj jJ j HbYzoC4 44S 400 S000 110 230 058 eo T 0 70 4 445 400 500 17 23 089 WI j j j D HbYs2C4 44s 400 5000 1416 235 oet e WI j j j j HbYs2E444S 400 S000 18 se 094 118 NENNEN HJ9ece 44S 400 500 25 49 1 330 0 115 6 88 400 380 s2 so 27 240 HJ116c6 04S8 40 5000 40 5o 21 750 HDY115C6 885 400 380 52 51 207 HJ116Ee88S 4 400 54 53 23 990 0 115 88 400 800 75 7 298 eo MENN 0 11566 885 400 3800 100 400 900 N j MENN HJ155A amp 88S amp 400 400 83 35 2200 T j MENN HDY142C6 885 400 3800 86 850 342 1150 MEN 0 14266 885 400 3800 16 0 15 60 636 2200 Na HJissp8 130S_ 400 2800 215 137 es 5o T ia HJ155F8 13008 400 2800 26 0 173 76 750 V m users rene a
67. 3 minutes of angle Absolute precision 15 minutes of angle Maximal power losses COMPAX P1XXM 140W e 02XXM 10 20 120W e 05 10 15XXM 250W 25XXS 80W COMPAX 45XXS 85XXS 170W 35XXM 610W Data block memory 250 data records protected from power failure Data record functions Positioning commands instructions program commands ACCEL SPEED POSA POSR WAIT GOTO GOSUB IF OUTPUT REPEAT RETURN END WAIT START GOTO EXT GOSUB EXT SPEED SYNC OUTPUT 00 GOTO POSR SPEED POSR OUTPUT Nominal value generator Ramps linear quadr smooth 10ms 60s e Travel specified in increment mm inch or variable using a scaling factor Monitoring functions Mains power auxiliary voltage range Motor and final stage temperature blocking protection Lag error monitoring Ready contact 0 5A 60V 30W Ambient conditions e Temperature range 0 45 OC Max relative air humidity in acc with DIN 40040 class F lt 75 no thawing Technical data Interfaces Control inputs 16 24V DC 10 kOhm Control outputs 16 e active HIGH protected from short circuits 24V 100 mA RS 232 e 9600 Baud or 4800 Baud Length of words 8 bit 1 start bit 1 stop bit Software handshake XOFF SPS data interface e Via 5 binary inputs and outputs Encoder interface option Encoder em
68. AWIS COMPAX parameters mema ate vie he act value value as of Ha Transmission factor for the reset route of S2 e ques xe option 0 no reset function PS Axis travel per encoder revolution 0 o 400000 vo Valid a a P103 Moment of inertia AS kgmm fo 20000 P104 Nominalsped AS 50 900 P105 Nominal current AS 20 10000 P106 Nominal torque _fo 10000 ve P107 Pulse 40 ve P108 Max time in current limit P16 AS ms 100 5000 P109 Stand inductiviy Jo 2000 vo P110 Magnetization current A 10 0 7705 ve P111 Rotor time constants f5 200 P112 Slip frequency 10 2000 P113 Maximum speed fo 900 116 Stand resistance mOhm fo 15000 ve P122 Main inductiviy Jo 200000 CC 5 RUN Rotor resistance 0 000 P125 Nominal voltage P128 Cut off value of temperature sensor 0 HDX motors 1270 HJ motors o 1013660 1 13 kHz P1 2 5 kHz P4 I P1 2 0 5 P4 2 2 pin resolver P1 P4 65 536 P135 P142 Busparameter Encoder pulses per revolution channel 1 eae P144 Setting encoder channel 1 4 without external pos
69. AX XX00 Recommendation Configuring the external position adjustment The external position management with position adjustment is available in the following described versions only in the standard unit COMPAX XX00 Solutions adapted to the application in question are realized in the unit variants 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 you can read the external position 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 you can 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 To avoid all inaccuracies during internal calculations it is important that you use the measuring unit Increments Maximum permitted measuring error difference between resolver position and encoder position The external position adjustment is engaged using measuring error P75 gt 0 When P75 is reached error E15 is created and the drive is switched off Controls the position adjustment via digital input 111 When the external position management with position adjustment is engaged P75 gt 0 access to the position adjustment via input 111 can be engaged and disengaged For
70. Binary inputs and outputs 25255552555 ZO lt gt AS 10292025 lt gt oS 60006000 A S 590990090 ee D XO S 59905090000000500090009000000000000090009000 7 FUNCTIONS SSR ORR RNG PERRIER RR RRR RRR 5990 9 9 Status queries Setting parameters Direct commands Programming Controlling Actual values Configuration ACCEL SPEED 250 lines manual manual Diagnostic values Optimization POSA POSA HOME Positioning commands Start Stop Break Device IDs General settings POSR OUTPUT instructions Machine zero real zero GOTO Program flow commands Teach real zero program line System controller Program memory parameter memory Travel commands Settings data current feed forward acceleration feed forward speed feed forward H N CFAE Setpoint Position Rotational speed Current Output stage generator controller controller R 95 Rotational speed filte LIT inar 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 reference drives Synchronization Output of 2 analogue outputs
71. COMPAX 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 COMPAX start pick up lowered evaluation by gt external calling removal of command lines station empty lower pick up Comments e The inputs 19 114 115 and 116 have to be placed on GND or left open The BCD switch has eight settings The outputs are encoded with binary e 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 184 AUSER Y 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 Th
72. HDY xxx Ax xxxS S sinusoidal trapezoidal EMF given in V per 1000 rpm number of poles of motor motor length flange size of motor motor type HDY HJ or HBMR e P103 motor moment of inertia inertia kgmm P109 stand inductivity ind uH P113 maximum mechanical speed rpm P116 stand resistance res IW P105 effective value of the nominal current IN mA HBMR motors 0 95 lo motors 0 85 10 HBMR 55 70 y 0 85 1 e P106 nominal torque MN HBMR motors 0 92 Mg HDY motors 0 82 Mg HBMR 55 and 70 My 0 82 Mg when l idle current idle torque The other parameters are deduced from the type plate data Nominal motor speed for the HBMR motors P104 nominal motor speed rpm EMC ny rpm Uzw 300V Uzw 560V with 5000 counter EMC 4000 5000 Ny nominal speed T 2600 5000 Uzw intermediate circuit 88 3500 Es with 230V AC 560V with 3 400V AC 260 1250 s60 80 67 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment Parameters Error list control functions functions options Operating instructions COMPAXWS Individual configuration of the synchronous motors Nominal motor speedfor HDY motors e P104 nominal motor speed rpm
73. HEDA For amplification of 1 use 10V 2 ULS 24 Master speed CPX 60 CPX 70 2000 rpm 1 V 25 5 Output value of service D A monitor channel 3 10V corresponds to 1 ee O 26 Output value of service D A monitor channel 4 10V corresponds to 1 27 External encoder position units corresp P90 8 28 Measuring error difference between resolver position and external encoder position in the unit corresp to P90 29 Effective motor load in of the permitted continuous motor load ml ml ml o j Bl ojl N O O EDA control word EDA status word ojo I PX X50 max pos synchronous lag error units corresp P90 PX X50 max neg synchronous lag error units corresp P90 o utput value of D A monitor channel 1 10V corresponds to 1 utput value of D A monitor channel 2 10V corresponds to 1 error message E53 is reported as of 100 0 30 Effective unit load in of permitted continuous unit load error message E53 is reported as of 100 Variants unction pointer marker synchronization range 0 7 Normalized correction factor 0 1000 per mil Cycle counter X70 OV 2 cycles DSP wait time ms 0 60 7 OV 2 ms Digital inputs 1 16 range of values 0 27 Status S16 Bit 16 23 amp digital outputs O1 O16 Bit 0 15 10 2 encoder increments ms 58 Frequency encoder channel 5 Inc ms reserved 10V 2 encoder increments ms Bo Consanvaueo 00001
74. Nc X14 15 4 X10 6 144 mc Xi4tt5y2 Q X07 15 Eis X14 15y3 1 X10 8 X14 15 4 en X14 X15 pec 19 16 TxD 1405 5 Lg T RM O9 016 RxC X14 S 011 X14 15 7 RxD 013 L rp X14 15 9 Q 014 X05 ots by 1016 O16 Q Q9 j X9 2 X16 Q GND absolute Qr oil p Stand by encoder 2 X9 5 ogy 2 98 15V 24V emerg stop Q 9 housing J M X12 resolver SinCos X13 encoder 2 2 E a gt 2 gt ZQ o 5 2927002265 228225zx 2882mx 6 12 1 X12 2 X12 3 X12 4 X12 5 X12 6 gt X12 7 X12 8 5 X12 9 j X12 10 X12 11 X12 12 12 13 gt X12 14 X12 15 _ 1 _ 1 xus 1 xia _ 1 5_ X13 6 gt X13 7 3 X13 8 X13 9 X13 10 gt X13 11 X13 12 5 X13 13 X13 14 X13 15 You will find the assignment of the connectors X5 and X7 bus systems on page 41 30 SIU SEF 6 6 1 COMPAX 45XXS 85XXS connector and connection assignment X8 digital input output X9 test 1 1 bea X12 resolver X14 HEDA X16 absolute X18 reserved 5 6 5232 X10 digital input output he X11 Control X15 HEDA Plan view d X5 RS485 IN X13 encoder ZZ
75. O9 0 N241 WAIT START N242 OUTPUT 9 1 N243 RETURN N001 IF STOP GOSUB 240 N002 OUTPUT O9 1 N003 0 N004 4000 N005 OUTPUT O9 0 N006 GOTO 002 If the axis has been stopped e g during the POSA 4000 positioning and this was due to a STOP a 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 004 The axis therefore performs the rest of the travel to position 4000 and the main program is then continued at program line 005 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 e g then has to be approached or the program indicator must be explicitly reset AUS SR Positioning and control functions 7 4 3 Arithmetic Syntax Note What can be left of the equal sign What can be right of the equal sign An Operand is Example Curve memory Example Arithmetic 7 4 3 1 Parameter assignments 01 P40 123 456 02 V19 P1 The assignments for parameters and variables are defined with an equal sign The variables are represented by VO to V39 The assignment of variabl
76. On unit side The mains supply line and control voltage line can be sheetshielding of motor cable found on the upper side of the unit Mains power you have 2 options with the same output rating h 3 80V AC 3 250V AC 45 65 Hz Fuse protection connection tor 10A for Draka 1 100V 1 250V AC 45 65 Hz Fuse protection X5 RS485 IN m RS485 X7 supply p F19 3 16 AT Hu or xg PV DC 9 16A supply 2 3 x1 motor and motor brake e Control voltage 24V DC 10 ripple lt 1Vss Fuse protection 16A Connections for 3 x 230V AC Uo X5 RS485 IN RS485 OUT braking x4 B resistance 2j B 7 12345678 2 x2 AC supply e Note the sheath connection of the motor cable Figg3eAT on the upper side of the unit xu Do Clamp the motor cable with the open point of the sheath mesh under the ground terminal xi motor and Motor side brake e Via connectors resistance CV Q9 1x 230V AC e Connections for 1x230V AC ML 4 e fl l n 24V control voltage a Note Do not apply 3 400V AC N Only wire up brake in motors which have a holding brake If the moto
77. Q9l6 isv 24V emergency De 2 X16 9 X97 stop iN ML housing X12 resolver SinCos X13 encoder Unit hardware Interfaces Optimization Positioning and Configuration Technical data Connector assignment Accessories Status control functions functions options You will find the assignment of the connectors X5 and X7 bus systems on page 41 33 Parameters Error list Start up manual COMPAX M S COMPAX 45XXS 85XXS connector and pin assignment 6 7 Safety chain emergency stop functions Readiness safety chain Establishing a safety chain for monitoring the drives and other control components and 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 power 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 Emergency stop The emergency stop input is used to activate or deactivate all drive controllers or an individual controller supplied by the mains power module In accordance with the safety chain described above this input must be activated t
78. The WAIT START instruction causes the programming procedure to stop before an external QUIT and START may occur Then OUTPUT instructions can again be present for resetting the outputs There must be a RETURN instruction or an END instruction at the end of the error program The END instruction stops the program e The RETURN instruction performs 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 in the meantime Main Program Error Program N001 IF ERROR GOSUB 200 00 OUTPUT O9 0 02 OUTPUT O9 1 N201 WAIT START N003 POSA 0 N202 OUTPUT O9 1 N004 POSA 4000 N203 RETURN N005 OUTPUT 09 0 006 GOTO 002 If the axis is now stopped and switched off e g during the POSA 4000 positioning and this is caused by an error a sub program jump is then performed 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 004 The axis performs the rest of the travel to position 4000 and the main program is then continued at program line 005 If the error program is concluded with END rather than RETURN the program indicator remains in the sa
79. _ max lon J2 you can calculate the peak load within your motor cycle If this value should rises to 1 5 times the peak current of the system error E41 is triggered You can find more detailed explanations on the limiting characteristics of on page i178 HAUSER You can find the meanings of the DA monitor values on page 39 Optimization functions Optimization display Access to additional parameters via S13 and 14 P233 P234 Meaning Current number of HEDA transmission errors Average no of HEDA transmission errors per second 17 Total number of HEDA transmission errors since beginning of synchronization Process nominal value received via HEDA HEDA control word Bit 324 Transmission error COMPAX IPM Bit8 fast start via HEDA 20 HEDA status word Bit 0 1 no errors corresponds to COMPAX output O1 Bit 12 1 no warnings corresponds to COMPAX output O2 Bit 32 1 transmission error IPM gt Bit 8 1 COMPAX lag warning 1 in position i e within lag warning window Bit 9 1 HEDA interface active COMPAX synchronized Standard setting Bit 0 1 Bit 1 1 Bit 3 0 Bit 8 1 Bit 9 1 13 S14 771 Output value of service D A monitor channel 3 10V corresp to 1 Measuring error Difference between resolver position and external encoder position in the unit corresponding to P90 Effective motor load in of the permitted continuous motor load E53 is displayed as
80. and Optimization Status Accessories Parameter Error list control functions functions options cahla Operating instructions COMPAX M S Digital inputs and outputs Idle after stop or break Mark missing after maximum feed length In data record memory mode Key 118 ethe 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 1 indicates that the axis is at a standstill due to a STOP 16 or BREAK 11 amp 16 is reset if the axis moves again Only assigned if mark reference is activated P35 1 For 0 the mark is missing once the maximum feed length has been reached refer to 75 7 6 1 6 Diagrams I3 Jog I5 Start 16 Stop O4 Ready to Start 05 Progr target pos reached Out of action after stop 0 COMPAX is ready for new start 1 When using START at input 15 the outputs O4 and O5 are reset The axis moves 2 Interruption using STOP at input 16 After idle message at output O6 3 4 START using 15 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
81. and initiator equipment HLE80 80 mm edge length and up to 6m length HLE100 A 100 mm edge length and up to 7m length HLE150 150 mm edge length and up to 10m length Initiator equipment ve Initiator distributor connector with cables of the following 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 Hand held terminal for configuring and operating COMPAX 1 03 sd External control field with housing and without cable IBDF102 External control field for front plate installation without cable ISSKU Interface cable between control field and COMPAX available in the following lengths 2 5 5 7 5 10 12 5 in m 550101 O O RS232 RS485 converters used in conjunction with option F1 eke COMPAX motor cable for disposing of SinCos Encoder GBK11 Encoder cable for connecting COMPAX with an encoder Em Encoder distributor for creating an encoder bus Ssk4 Connection cable for encoder distributor ssk Connection cable between encoder distributors or from an encoder emulation 455101 Monitor box for drawing out internal measurement signals with D1 option ISSKM Interface cable for PC COMPAX available in the following lengths 2 5 5 7 5 10 in m Ballast resistances BRM4 0 57 kW 1 5 kW 15W COMPAX 25XXS 5 01 250W 56W COMPAX45XXS 85XXS BRM6 01 450W 22W C
82. as OUTPUT GOTO and ACCEL ACCEL e Directly modifies the velocity of an active positioning process e The type of speed transfer and the ensuing braking ramp can be influenced by previously modified acceleration times ACCEL ACCEL Abbreviated form POSR 0 SPEED value PR 0 SD Direct speed modification Commands which e These commands are processed regardless of a positioning process specified by are not position the interface not during an internal data record procedure dependent Abbreviated form OUTPUT GOTO Adjusts data record indicator and or approves blocks password Commands which e The axis must be at a standstill if modified VP parameters are to be transferred are only permitted The axis must be switched off if modified VP parameters are to be transferred when drive is idle e g via OUTPUT O0 1 Abbreviated Pel VALID VP Modified parameter transferred not the PARAMETER configuration parameter All parameters are transferred using VC CONFIGURATION Readina th You can use the serial interface to query all status values even during a eading the positioning process status values e Sxx transmitting xx number of the status value COMPAX returns the present value Example 1 Cp Lf Respons S001 xxxxxxxx xxxmm Lr e gt gt The decimal point for 1 S12 is always the ninth digit after the 127 Unit hardware Configuration Technical data Connector a
83. calls up the corresponding inputs 19 116 for the sub program N009 GOSUB raises workpiece 32 calls Raise workpiece sub program 10 60 proceeds to data collection station 11 GOSUB deposits workpiece 36 calls up Deposit workpiece sub program 12 GOTO waits for START 7 goes to data record 007 P Link table for external data record selection 16 120 proceeds to station 0 017 RETURN idiot otto teens returns to main program 18 240 proceeds to station 1 N019 RETURN een returns to main program N020 360 proceeds to station 2 21 returns to main program 22 480 proceeds to station 3 23 RETURN returns to main program 24 600 proceeds to station 4 25 RETURN eene returns to main program 26 720 proceeds to station 5 27 RETURN eene returns to main program 28 840
84. comparators are also reported using gt comparator no via RS232 refer to Example 1 100 SPEED 50 Lr or PR 100 SD 50 CR LE Prepares a speed step Example 2 200 OT O9 1 1st comparator PR 100 OT 010 1 2nd comparator POSA1000 The following signs are returned 2 gt after 100 units e 1 OnLr gt after 200 units gt after 1000 units Positioning Positioning commands can be transmitted to COMPAX when idle and during a commands positioning process If the axis is moving the command is acknowledged negatively The present setting ACCEL SPEED applies to the positioning command i e these settings can still be modified before the positioning command is transmitted positioning command specified by the interfaces is interrupted by a reference journey prompted by the digital inputs POSA POSR LOOP 126 HAUSER Interfaces Ml form POSA RS232 interface PA Absolute position POSAHOME PH machine zero POSR PRs Relative position Example 1 POSA or 2500 2500 Proceeds to position 2500 Influencing the p This command is only permitted provided that COMPAX has not received active positioning any more commands since the positioning command currently being process processed the exceptions to this being commands which are not position dependent such
85. control voltage line can be found on the mains power module Mains power 3 80V AC 3 500V AC 45 65 Hz e NMD10 16 circuit breaker in 20A NMD20 35A K circuit breaker or suitable Neozed conventional fuse Control voltage e 24V DC 10 Ripple 1Vss Fuse protection 16A cable conduit L1 L2L3PE 24V power supply module 19 Positioning and Configuration Technical data Connector Unit hardware control functions Parameters Status Accessories Interfaces Optimization Error list assignment functions options Start up manual COMPAX M S COMPAX M dimensions installation 6 2 3 COMPAX M dimensions installation The specific design of Direct wall installation and dimensions of COMPAX M and the mains the COMPAX M power modules controller allows for
86. displays will appear indicating that operating voltage is available After 24V DC of control voltage is switched on COMPAX has two status s available once the initialization phase has been completed 1 COMPAX is OFF is not configured P149 0 or with COMPAX XX70 12 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 11 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment Parameters Error list control functions functions options rahla Swithonstaus 2 COMPAX displays error E57 is configured 149 1 However the operating voltage is not supplied Check COMPAX configuration 1 Alterations are transferred 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 a 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 0 0 or switch 24V DC on off Motor is powered COMPAX display shows RUN Flowchart connection of co
87. establishes the positive direction of travel positive end of displacement area referenced to the motor s direction of rotation P215 0 the motor is turning to the right and traveling in the positive direction P215 1 the motor is turning to the left and traveling in the positive direction e Clockwise rotating means to the right when looking at the motor shaft 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 has to be modified C P215 has no influence on the setting of the machine zero direction P213 provided that it has the same mechanical design 5 MZ machine zero Configuration Machine zero mode 7 2 6 Machine zero mode Overview P212 setting the machine zero mode 0 MN equal to external initiator rounded to resolver zero amp machine zero travel using 2 reversing initiators 1 MN equal to external initiator rounded to resolver zero MN equal to external zero pulse 4 MN equal to external initiator rounded to the external zero pulse 5 MN equal to resolver zero 6 reserved 7 MN equal to external initiator without resolver zero 8 MN equal to limit switch 10 MN teach P212 becomes valid immediately after a modification gt P21 2 3 amp P212 4 is only permitted for COMPAX XX00 and COMPAX XX30 Machine zero equal to external i
88. for speed reduction not required to external actual speed and internal values position speeds and position rotational speed current etc 46 R Overview SPS data interface RS232 Bus systems Binary inputs and outputs Functions Querying status Setting parameters Configuring Optimizing General settings Programming data records Controlling System controller Control Block structure of the basic unit Explanations for the block structure Interfaces for data and status The following commands are available via 5 binary inputs 17 11 and 5 binary outputs O7 O11 POSA POSR SPEED ACCEL GOTO VP modifying parameters P1 P49 querying status 51 512 All functions are available via RS232 All functions are available via the bus interface Interbus S Profibus CAN bus CANOpen 531 or RS485 ASCIl binary with 2 or 4 wires A description is available as a separate item Inputs 11 16 control functions or can be freely assigned 17 116 can be freely assigned or can be programed Outputs O1 O6 control outputs or can be freely assigned O7 O16 can be freely assigned or can be programmed The status can be queried via the SPS date interface the bus interface and partially via the front plate display Operating mode units for travel data motor types ramp shapes directions drive types reference syste
89. from short circuits Thermal monitoring protection An emergency stop is triggered at 85 C cooling body temperature the ready contact is released and the red LED lights up If a phase malfunctions no displays appear Mains power module NMD10 NMD20 Technical data power features Error diagnosis in the mains power module Possible errors No errors Cooling body temperature too high or error in logistics voltage 24V DC to low or unit defective C Emergency stop is triggered and the ready contact drops Ballast switch overloaded or undervoltage lt 100V DC or lt 80V AC gt Ready contact and green LED are coupled Caution If the unit has no control voltage no displays will not indicating that operating voltage is available 23 Unit hardware Configuration Technical data Connector assignment Positioning and control functions Parameters Status Accessories Interfaces Optimization Error list functions options cahla COMPAX M S Start up manual Unit features The 35 kW servo control COMPAX 35XXM a performance upgrade to the COMPAX family e Compact unit with output currents of 50 100 lt 55 with integrated power unit e Additional COMPAX M controllers of up to 15 KW can be arranged in rows 6 4 2 Connector and connection assignment Y
90. individually E49 occurs when the current and or the torque remains in the limitation for longer than P108 194 AUSER o 2 2 11 Glossary oc 37 Changes in speed within 9 A5 toggles when 92 PEN 41 positioning process 76 g ABB interface 141 ON 41 Command combinations 76 Absolute positioning 71 39 Command variants 81 ACCEL 72 6 eren 41 Comparative 81 Acceleration and braking 7 41 comparator switch points 76 E UM E T 72 ssignmen COMPAX 25XXS E Accessories and options 136 MEE EEL converting the front plates 29 E 196 ANATA Een 25XXS Accuracy of calculations 87 Authorization of commands specific technical data 28 Acknowledging error in 5232 129 COMPAX 25XXS delivery 5 8 0 5 49 Automatic position STATUS eicit exu 29 5 Activating mark reference 75 reached message 124 COMPAX 25XXS design can E Activating position Avoiding harmonies 100 be arranged in rows 29 E adjustment 115 25XXS flat design 29 5
91. internal controller draft system and controller parameters required using simple application specific concept values which are usually accessible A robust feedback controller draft design obviates the need for what used frequently to be a tedious optimization run This configuration provides you with a stable controller Power on with If the control process is unstable because COMPAX has been incorrectly configured you can switch on COMPAX so that the drive remains switched off motor switched even with power on To do this when switching on COMPAX simultaneously press off the key The following will then happen ethe drive is switched off ethe digital outputs O1 O6 are set to 0 when the SPS data interface is switched on 7 1 08 011 0 ethe password protected functions are approved Once you have correctly configured COMPAX or you have rectified the relevant parameters you can engage the drive and outputs again using the command OUTPUT O0 0 7 2 3 Configuration process C Before you configure COMPAX or modify the configuration the drive must be switched off e g using the OUTPUT O0 1 or 2 command refer to page the drive 73 dis Switching off Modifying the sub divided as follows parameters select operating mode specify the units for the travel data select the motor from the motor list or configure an external motor select the ramp shape define the direction of travel use the des
92. is continued to its completion after acknowledgment and START The descriptions are for transition points which trigger functions All other transition points and status s do not trigger functions Function H I2 I3 M I5 6 Hands start O O O O 0 IHandeend _ X t X X X 0 fHand start O O 4 O O 0 IHand end X X t X X 0j 0 J 0 J 0 5 0 0j START O0 J 0 0 0 5 0 START 0 O0 O O t1 stop J0OJ X X Xx X tj FindMN t 4 O 0 0 0 Approach RN O 4 o 0 0 Teach RN t o 0 4 0 0 SHIFTIS t O O O 5 jo Activating position adjustment Synchronous STOP Digital inputs and outputs Input 111 1 Activating position adjustment e Function is switched on by P232 4 also refer to page 105 111 0 External position adjustment switched off reaction time approx 5 ms el112 1 External position adjustment switched on Input 115 Special START input Input for fast and defined starting of positioning process The Fast start function is switched on using P1822 or 3 when using P1823 the SPS data interface is also switched on When 115 0 all positioning processes POSR are blocked When 115 1 positioning processes are started 115 has no influence du
93. length of 7m e HLE150C cross section 150 mm x 150 mm up to length of 10m Highly dynamic modular linear axis HPLA with toothed belt drive or rack and pinion drive e 180 cross section 180 mm x 180 mm up to 50 for rack and pinion up to 20m for toothed belt Electric cylinder ET of 50 1500 mm stroke 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 acquire the necessary initiators and initiator connectors and cable from us We can also supply you with retaining material on request 139 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment Parameters Error list control functions functions options rahla Motor Nominal current Nom current Peak cur Power kVA selection a Se for 460V AC for M to 400V rent ETT allocation 35 35 35XXM 100 table E cowmxesoS 105 125 259 Fcompaxosxxm o6 ns wo 89 cowmxasuS sa es 139 Cowmxoxx 54 es wl mc CM x Motor type ur power V HDY55C4 325 250V 230 5000 035 104 0 18 24 HDY70C4 44S 250V
94. 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 analyzed i e the side from which the initiator is approached influence in the start search direction when finding 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 Application P213 0 Standard machine zero mode for linear movements clockwise rotating motor signal of MZ initiator resolver zero pulse 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 59 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment Parameters Error list control functions functions options rahla Operating instructions Machine zero mode Shifting machine zero E g 1 90 clockwise rotating motor in direction of mechanical limitation E g 2 90 clockwise rotating motor in the direction of the mechanical limitation travel 60 COMPAX M S Explanation f
95. mark reference NO20 WAIT 10 waits until mark reference is blocked 21 680 returns to start point 22 GOTO waits for start 6 goes to data record 006 187 Application examples COMPAX M S Speed step profiling comparator switching points 10 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 NO11 200mm 5 08 4 100 mm s 0 0 course command line 016 07 3 100 speed i c 24 mm s 0 200 100 hs 0 position mm Function The feed movement is implemented using speed step profiling The initial speed is first set to 100 mm s usi
96. of 100 Effective unit load in of the permitted continuous unit load E53 is displayed as of 100 Label synchronization function indicator COMPAX XX70 Standardized correction factor COMPAX XX70 Cycle counter COMPAX XX70 Digital inputs 11 116 Status S16 bits 16 23 and digital outputs 01 016 bits 0 15 37 Encoder frequency channel 4 in incr ms COMPAX XX60 COMPAX XX7X 39 Cause of calculation error E07 Invalid operator 1 Division by 0 2 Overflow 3 Underflow The number corresponding to the first column should be entered in the parameter The following applies e P233 determines status S13 amp P234 determines status S14 C You can find additional special diagnosis values on page 63 24 Counting in bits beginning with bit 0 103 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment Parameters Error list control functions functions options Operating instructions COMPAXNWS Speed monitor 7 5 3 Speed monitor Speed determination standard 104 Function Settings Using the 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 Jioad Jmotor the loop response time is
97. on or ewhen participants are switched off the RS232 is initialized again by COMPAX using Power on 131 Connector assignment cable Technical data Configuration no E Pe HE o 5 Accessories Optimization Parameter Error list hardware functions Operating instructions COMPAX M S 7 6 4 Process coupling via HEDA option A1 Synchronization HEDA SSI interface can be used to initiate synchronization of several axes The and fast start via accuracy of the synchronization is 2 5 microns of the individual controller timer HEDA discs The master operating mode 1 transmits 2 synchronization words to the slave axes enabling them to synchronize The slave axes operating mode 2 control their own synchronicity No response is transmitted from the slave axes to the master 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 Variants support COMPAX XXO00 as slave to transmit the Fast start or as master COMPAX XX60 as master or slave not when 212 3 and P212 4 COMPAX XX70 as master or slave only when P31 9 Physical limits 16 participants in the master passive slave operating mode and max 50m cable length Hardware The units must be fitted with the A1 A3 option There must be a terminating requirements connector bus 2 01 on the last slave HEDA p
98. parameter of channel 0 18 1 For the meaning refer to the table 38 C The parameters can only be actuated once you have entered the password The measuring parameters are selected using P73 or P74 Example 71 10 P72 5 P73 4 P74 13 Meaning channel 0 measuring parameter 4 actual speed value gain factor 10 channel 1 measuring parameter 13 phase current for phase U gain factor 5 Optimization 6 9 6 RS232 interface Wiring diagram SSK1 PC terminal X6 PC terminal 9 way Sub D pin plug shell with screwed Z 6 TE 1 connection UNC4 40 1 EID 6 z o Eo a sT e 9pol Sub D socket board Q n c 4 RxD 2 2 RxD TxD 3 3 TxD DTR 4 4 DTR DSR 6 6 DSR GND 5 5 GND RTS 7 7 RTS CTS 8 8 CTS 45V 9 housing housing 7x0 25mnf shield C Fit sheath flat to both sides 39 Unit hardware Positioning and Configuration Technical data Connector assignment control functions Parameters Status Accessories Interfaces Error list functions options Start up manual COMPAX M S Absolute value sensor option A1 6 10 Options 6 10 1 Absolute value sensor option 6 10 2 Incremental encoder A1 Connection assignment on X13 Wiring plan GBK1 COMPAX absolute
99. pides gei ib BE CQ toa gt It is important that the data ready message question is only assigned after the data when using SPS one cycle later i e once the data has been safely assigned If interruptions have caused the signal RDY to not be in place the interface can be reset to its initial status using signal E start sign The next UBN is then detected despite the fact that there is not a RDY 123 Unit hardware Configuration Technical data Connector assignment Positioning and Optimization Status Accessories Parameter Error list control functions functions options rahla Operating instructions COMPAX M S RS232interface 7 6 3 RS232interface Interface parameters COMPAX receives COMPAX replies Meaning of the function signs 124 Example You can communicate with COMPAX via an RS232 interface on a PC The following functions are available Direct command input and performance in on line mode Reading the status values Reading and describing the program data records in such instances the complete stock of commands is available Reading and describing password protected parameters e Transmitting control instructions 7 6 3 1 Interface description Interface RS232 9600 or 4800 can be selected using P19 Word length t Hardware handshake y
100. positive direction for encoder rotating anti clockwise Setting aid Switch of external position adjustment P44 4 and data record P214 0 Note down S42 position of external sensor e Proceed with POSR x axis e S1 and S42 must have been modified by the same value f the prefix of the modification are different data record P214 1 e f the modification is by different amounts check P143 and P98 gt The command SPEED SYNC cannot be used in external position management Limit values of A number overrun is possible in special applications To rule out the possibility of parameters this occurring the following condition must be satisfied V 2 1 Determine V depending on the drive type and the measuring unit Drive type Determining V Spindle drive V K 85 9254 Using Rack and pinion mm inch X P85 P98 16384 cemere m mmm vaeses V K 1000 254 Slip filter for A slip filter with a differentiating element D element is provided to optimize external external position adjustment Default vaig D element slip filter ET Slipfilterdelay 0 100 5000 Both parameters are set to 100 as standard The time constants are then identical and the filter ineffective Meaning P67 P68 Filter ineffective standard P67 lt P68 or Filter has e Low resolution of measuring system P67 0 delaying effect Interference of measuring signal position management P67 g
101. programs 01 SPEED 50 sets the speed 02 ACCEL 250 sets the acceleration and braking ramp 003 OUTPUT 7 0 shears block N004 OUTPUT O1420 mark reference block N005 OUTPUT 15 0 message mark found Wait for start mark 06 IF 17 0 GOTO 6 waits until shears are open 07 WAIT START waits for start pulse N008 OUTPUT 014 1 activates mark reference N009 WAIT 10 ss waits until mark reference is activated N010 50 essere mark referenced positioning 11 WAIT 10 waits until mark is missing or set 12 IF 11520 GOTO reverses 18 iif mark is missing reverses plate N013 OUTPUT 15 0 sets Mark found message N014 OUTPUT O721 mm activates shears N015 IF 17 1 GOTO 15 waits until shears are closed N016 OUTPUT O720 rsss blocks shears 017 GOTO waits for start 6 goes to data record 006 ET T mark N018 OUTPUT 015 1 sets Mark missing message N019 OUTPUT O1420 blocks
102. sensor 20 000 pm 1 Lag error 128 motor Positioning time from start of positioning to position reached revolutions Advance speed control 20 000 rpm Max intermediate circuit voltage in V Speed nominal value of position controller 20 000 rpm B Nominal value of of transverse current torque A200 0 Intermediate circuit voltage 100v 9 acceleration speed in 9 of the nominal motor speed t0 Sine for the coordinate transformation Loop difference for speed 20 000 rpm o j ntassigned 0 0 0 Max undershoot referenced to max position amount only for highly misadjusted loops 6 8 36 to determine the torque torque 3 transverse current 0 71 torque constants 37 to determine the torque torque 3 transverse current 0 71 torque constants 163 Unit hardware Optimization Positioning and Configuration Technical data Connector assignment Interfaces Parameters Error list control functions functions options rahla COMPAX M S Hand held terminal D A monitor channels 0 3 Signal indicators optimization display 13 14 Status monitor 15 P182 P233 P234 on tion 17 Normalized transverse voltage 2 ULS 17 Total number of HEDA transmission errors since beginning of For amplification of 1 use 10V 2 ULS synchronization 18 Standardized longitudinal voltage 2 ULS 18 Process nominal value
103. supply 1 24V emergency stop stand by and bus signals 24V X e el last device equiped with terminal lu SIU SEE COMPAX M unit features COMPAX M system network NMD10 NMD20 mains power module Wiring up the motor Unit side cable conduit v V e ars poem is xi se J L1L2L3PE 24V PA i y B E O PE X2 LS LS 24 xa ool QS S S Note the sheath connection of the motor cable to the upper unit side Clamp the motor cable with the open point of the sheet mesh under the ground terminal Shielding of motor cable N Only wire up brake in motors which have a holding brake If the motor does not have a holding brake do not wire up the brake Wiring up mains power control voltage The mains supply line and the
104. the motor of resolver systems The servo controller will start to operate once you have acknowledged error E55 on the front plate using Enter f the controller is set to OFF it will be brought into operation by switching the 24V control voltage off and then on e You can now use menu Online Command to transmit commands to COMPAX e g POSR 100 and the motor travels 100 units in the positive direction C gt COMPAX is now configured If you want more information please either use the table of contents or the glossary at the end of the User Guide 69 Unit hardware Configuration Technical data Connector assignment Positioning and control functions Parameters Status Accessories Interfaces Optimization Error list functions options rahla Operating instructions COMPAX M S Command program instructions E 7 4 Positioning and control functions SPEED ac 7 41 Command program instructions OUTPUT Password SPEED SYNC Mark reference POSR SPEED POSROUTP UT WAIT GOTO GOSUB RETURN END Sample program REPEAT IF E Comparison WAIT Start GOTO GOSUB EXT IF Error Stop Arithmetic Position monitoring Idle display Speed monitoring Engaging disengaged brake final stage Variable voltage Starting program 70 The COMPAX basic unit is totally oriented towards the technical control requirements of a servo axis Spec
105. 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 Position values position P184 40 43 44 45 linear interpolation using old values Velocity values frequencies 184 42 46 keeps old value In instances when 188 gt 0 on the master side a specified delay of the associated process value is implemented and amounts to a total of 2 ms This ensures that the master waits until all axes have received the process value This in turn ensures that all axes including the master continue to process the new nominal values at the same time No other I Os are transferred apart from the fast start There can be only one master on the bus The position values for P184244 and P184 45 are derived regardless of the present positioning operating mode normal continuous reset They are attained from the nominal position value and the actual position value and made available unsolicited in 24 bit format just as if one were dealing with counter channels This avoids jerky changes in the starting 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 You will find the cable types required on page 1i 135 Con
106. 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 115 at an angle of q 90 Once the system has been switched on COMPAX is started via a start pulse on 15 The values for the accelerating and braking time are set in 001 and NOO2 as are those for the feed speed The positioning command N003 is only performed if a rising flank from 0 to 1 is detected on 115 fast START The time between the rising flank and the start of the feed movement is 1 5 ms Data record 004 is used to return to 003 which ensures that the next positioning command is prepared This is then performed after a rising flank on 115 193 Application examples COMPAX M S Implementing a torque converters Programming Configuration P93 2 i e continuous operating mode P94 1 i e linear ramp shape P18 242 i e fast START activated Names of the inputs and outputs 115 fast START a flank from 0 to 1 triggers the fast START Li
107. this you must assign 111 with this function via P232 4 111 0 External position adjustment disengaged reaction time approx 5 ms 111 1 External position adjustment switched on P232 becomes effective immediately and has a standard value of 0 When 232 0 111 has no effect on the position adjustment this is then engaged and disengaged using P75 Note When P232 4 activated 111 111 can no longer be used for GOTO GOSUB EXT Limitation of speed correction value for external position adjustment only available in COMPAX XX00 and COMPAX XX30 0 switched off standard value When P3620 the speed correction value is not limited P36 is specified in of the nominal speed P104 Note When position management is switched off P36 must 0 105 Unit hardware Configuration Technical data Connector assignment Positioning and control functions Parameters Status Accessories Interfaces Optimization Error list functions options rahla Operating instructions External position management with position adjustment Sets encoder channel 1 4 without external position management 6 external position management switched on via channel 1 Number of encoder pulses per encoder rotation from channel 1 VC range 120 2 000 000 Travel of load per encoder rotation units corresp to P90 Encoder direction 0 positive direction for encoder rotating clockwise 1
108. use the Find machine zero function input 11 1 and 12 1 refer to 12 once the system is switched You will find descriptions of the various machine zero modes from 57 onwards P93 2 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 you should use the Increments measurement units when working in continuous mode see below Operation with absolute value sensors is not permitted when working in continuous mode 93 4 In this operating mode the drive controller operates as speed controller the position controller is switched off This means Commands which are not permitted POSR POSR SPEED POSR OUTPUT POSA HOME ACCEL The SPEED command contains a prefix for the direction of rotation Output is not assigned O5 has the Programmed nominal speed reached function refer to page 92 e The data record indicator is set to 001 using Approach real zero e The Find machine zero function I1 amp 12 is not assigned Parameter P90 P90 1 P90 2 P90 0 accurate increment operation without conversion inaccuracies C This measuring unit is only useful when using the General drive drive type and especially when in continuous mode The levels of accuracy are not increased when working with other drive types
109. use the RS232 interface fitted as standard in COMPAX to connect COMPAX with a PC or terminal You can then use this other device to operate COMPAX The SSK1 interface cable is available as a connecting cable for lengths available refer to page 1159 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 power module or in COMPAX S and COMPAX 35XXM directly on the unit The controllers connected to the mains power module or COMPAX 35XXM are already connected via the flatband cable available in the system network 8 5 2 1 Interbus S Option F2 You will find an object directory in the special documentation The connection assignment is arranged in the specifications for the 2 conductor remote buses 8 5 2 2 RS485 option F1 F5 The RS485 interface is described in the special documentation 2 different options are available eF1 4 wire RS485 F5 2 wire RS485 8 5 2 3 Profibus option F3 The Profibus is described in the special documentation Functions e Sinec L2 DP and FMS e 1 5M Baud 8 5 2 4 CAN bus option F4 The Profibus is described in the special documentation Functions BasicCAN eup to 1M Baud CAN protocol in accordance with specification 1 2 hardware in acc with ISO DIS 11898 8 5 2 5 CANopen option F8 e Protocol in accordance with CiA DS 301 e Profile CiA DS 402 for drives
110. wall aM MAE P1XXM installation distance of amp NMD20 61mm in COMPAX 85 60 P1XXM and 86 mm in s EE larger units in two 22 oe ifferent ways Ys di way m H rt Direct wall installation Errem ERU The controllers are D ay fastened to the BEN eds installation plate using the back of the cooling body 298 238 ES m H 50 Attach with four 6 mm Attach with two 6 mm hex socket head screws hex socket head screws Indirect wall installation of COMPAX 02XXM COMPAX 05XXM and Indirect wall COMPAX 15XXM and the mains power modules NMD10 and NMD20 installation 294 244 96 The cooling body is pushed through a hole in the installation plate on right of figure to the rear A separate heat chamber is created mounting plate between the installation plate and the rear wall of NEM the control cabinet You TU NE should comply with the angles required under designation MTS2 C Indirect wall I installation is not 1 possible with the i COMPAX P1XXM mounting plate Fan configuration Units with fan COMPAX P1XXM COMPAX 05XXM COMPAX 15XXM Units without fan 02XXM NMD10 NMD20 20 HAUSER unit features Connector assignment without 1 6 2 4 Connector assignment COMPAX M wit
111. zero initiator must be attached ensuring that it can only cleared in one direction i e it is attached to one side You can use parameter P213 to inform COMPAX of the side on which the machine zero initiator is attached The machine zero initiator is driven by the clockwise rotating motor when facing the motor shaft The machine zero initiator is driven by the motor which turns anti clockwise Set P215 0 Actuate Hand the drive moves in the direction of the MN initiator then the following applies P213 0 if this is not the case set P213 1 gt 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 You determine the software end limits of the displacement area 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 C When working in continuous mode these limits always apply for the present positioning process Range 4 000 000 units corresp P90 Range 4 000 000 units corresp P90 Absolute positioning commands refer to RN is specified relative to machine zero P1 must be set to 0 in continuous mode Range 4 000 000 units corresp P90 P215
112. 0 000 rpm sensor 1 Lag error 128 motor revolutions 2 Advance speed control 20 000 rpm 3 Nominal speed value of 20 000 rpm position controller 4 Actual speed value 20 000 rpm Loop difference for speed 20 000 rpm 6 notassigned J 7 notassigned J Nominal value of 200A transverse current torque 9 intermediate circuit voltage 1000V 10 Sine for co ordination transformation 11 Voltage positioning signal 2 Uis for phase U 12 Voltage positioning signal 2 Uis for phase V Phase current for phase U 200A Phase current for phase V 200A 15 Actual value of transverse 200A current torque Longitudinal current 200A 17 Normalized transverse 2 Uis voltage For amplification of 1 use 10V 2 2 Uis 18 Standardized longitudinal 2 Uis voltage For amplification of 1 use 10V 2 2 Uis You will find additional measuring parameters on page 163 2 Physical value with 10V output voltage and an amplification of 1 3 To determine torque torque 3 transverse current 0 71 torque constant 4 To determine the torque torque 3 transverse current 0 71 torque constant SINUS Calculation of physical parameter using the measured value MW BG PG ys 10V PG physical parameter MW voltage on output channel in V BG reference value from the above table VS gain factor Example P76 4 000 0010P77 13 000 0005 Therefore the following applies channel 2 measuring parameter 4 act
113. 0mm 1 i beoe Ded a as Toc PM eee Lee A P38 650 P37 50 P39 680 initial position B P37 minimum distance to label A position if label P38 maximum distance to label appears at 50mm P39 maximum feed if no label appears position if label 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 1 activate start shears 0 block shears 1 open T stop shears 24 0 label detected 0 no label Massage 1 _ label missing label input label light 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 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 114 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 116 is approved after a travel distance of 50 mm P37 I
114. 12 16 0 Input 12 13 KL Processes the axis in manual mode velocity P5 ramp time P9 e Conditions for manual procedure e The axis must be stationary and powered program may run When the end limits are reached P11 P12 the drive is stopped e 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 14 KL e Acknowledges an error message or warning If the error is rectified O1 No interruption or O2 No warning is set The following functions are possible when there is an error present VP VC VF OUTPUT OO GOTO data record indicator password IIAUI Digital inputs and outputs START Note Starts the program data record at WAIT Temporal course of a start sequence START once Power is on and after STOP Performs the next data records commands E 3 before the next WAIT START command an END instruction or a STOP or BREAK signal cea O4 Ready for start is reset I5 start signal 1 Once a positioning process has been interrupted by STOP l6 1 the process can O4 ready for start 0 be continued when START 15 1 is present yes using a descending flank at STOP 16 0 no I5 start signal 0 Y STOP e The positioning process is interrupted using 1 and the axis is stopped
115. 12345 6 2 0 0001 Result 123456000 2 24 2 24 max relative error lt 4 0 000596 12345 6 10 0001 87 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment Parameters Error list control functions functions options Operating instructions COMPAXNWS Arithmetic POSA 0 0001 2 12345 6 2 max absolute error Ay 73585 51 POSR 0 0001 SPEED ACCE Reading status To include the actual position in a calculation for example you may assign as and assigning follows variables N1 00 V030 S1 or SPEED N100 V030 S1 10 xa The variable V030 you have derived in this way can be used later for example in Mark a positioning instruction as a target preset reference Initializing After Power On the variables still hold the old value as before Power Off since ind variables they are stored in the ZPRAM The special assignment V000 x sets all variables to value x POSROUTP UT Writing convention of variables 0 39 and control parameters P40 P49 WAIT aoi For reasons of compatibility a preceding point full stop is expected in the syntax for motion commands e g P40 ACCEL V10 GOSUB The new comparison and arithmetic commands can operate without a preceding point full stop e g RETURN P41 V1 0 S1 IF V20 gt S2 GOTO 10 END REPEAT IF E Comparison WAIT Start
116. 13 are not modified 14 0 015 016 1 this is valid for max 8 outputs maximum of 8 outputs can be processed per OUTPUT command The comparator command OUTPUT is still limited to setting one output 7 4 1 7 Switching off drive unit OUTPUT O0 OUTPUT 00 number Number 0 3 driver is subject to torque when brake is open 1 Drive is switched off when brake is closed 2 Drive is switched off when brake is open OUTPUT O0 1 Drive is switched off when brake closed 7 4 1 8 OUTPUT OO in program The command OUTPUT O0z0 1 2 can only be programmed on the COMPAX XX00 and COMPAX 60 in the program No error monitoring is performed when in switched off status Emergency stops are the one exception to this E55 E56 This means that all errors which can be acknowledged e g lag errors or resolver errors which first arise during the switched off status e g by separating the resolver line are ignored Only errors which are still present after Power On are displayed 7 4 1 9 Password GOTO GOTO number Number 302 Deactivates password protection 270 Activates password protection Note You can also use this command in the natural language memory GOTO 302 Approves programming levels and parameters 10 Rather than is also an option 73 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment
117. 2 Realigning priority 0x000 000 OxFFCF4C OxFFFFFF VP 12 468 P193 Reporting events automatically 255 immedi ately 0 99 9 y P194 Address of unit P195 Baud rate Possible settings in Baud 9600 1000 000 Ol 20 000 50 000 100 000 125 000 250 000 500 000 800 000 1 000 000 n on 9 3 3 3 Profibus option F3 Default Maximum Valid value value as of P191 Bus time out 0 no response when a time out occurs E73 is reported VP 1 stop with E73 and shut down with activation of holding brake Pop up messages 1 automatic error message immediatel 2 automatic position reached message y 4 automatic reporting of comparator shift points P194 Address ofunits S 0 99 126 Pow 196 Operating mde 25 P135 Index and subindex of object which occupies the 1st PE data byte after 16 777 215 Power on power on Value Index e 256 Subindex P136 Index and subindex of object which occupies the 2nd PE data byte after 16 777 215 Power on power on Value Index e 256 Subindex P137 Index and subindex of object which occupies the 3rd PE data byte after 16 777 215 Power on power on Value Index e 256 Subindex P138 Index and subindex of object which occupies the 5th PE data byte after 16 777 215 Power on power on Value Index e 256 Subindex P139 Index and subindex of object which occupies the 1st PA data byte
118. 3 500V AC 45 65 Hz COMPAX 35XXM e 3 250V 3 500V AC 45 65 Hz COMPAX 25XXS e 3 80V AC 3 250V AC 45 65 Hz 1 100V AC 1 250V AC 45 65 Hz COMPAX 45XXS 85XXS 3 340 AC 3 500V AC 45 65 Hz with external 24V DC 3 80V AC 3 500V AC Mains supply fuse protection External cutout or cartridge fuse link e COMPAX M NMD10 16 cutout 20A NMD20 35A 35XXM 62A 25XXS 1 230 AC 16A 3 230V AC 10A COMPAX 45XXS 85XXS 16A DC current 300 DC with 3 1 230V AC 560V DC of 3 400V AC supply 650V DC with 3 460V Output voltage on motor Ignoring power losses motor output rating is 86 of the AC supply voltage available Braking operation Energy which can be stored e NMD10 20 1100 173 Ws e COMPAX 25XXS 1000uUF 27 Ws e COMPAX 45XXS 330uF 52 Ws COMPAX 85XXS 500uF 80 Ws Ballast resistances NMD10 internal NMD20 internal external 35XXM external 25XXS external e COMPAX 45XXS 85XXS internal external SIZ WISE Control voltage 24V DC 10 Current required 1 3A for 35XXM 1A for COMPAX 45XXS 85XXS e 0 8A for the other unit digital outputs each 100 mA if nec for fan approx 100 mA for motor retaining brake 0 35 1 6 if nec absolute value sensor 0 3A ripple 1Vss Precision e Positioning on the motor shaft Resolution 16 bit 2 0
119. 3 Service D A monitor override Configuration Assignment of X11 X11 plug Phoenix X11 designation function MC1 5 7 ST 3 81 1 424 voltage supply output lt 50mA voltage supply output 2 GND 24V speed reduction external 3 Override AO ei amp 8 Bit service DA monitor Ri 2 8 4 DA channel 2 8 Bit service DA monitor Ri 2 8 previous input for existing applications 5 DA channel 6 override 7 shield Potentiometer switch operationof the override input COMPAX 100 TH Override signal 0 1 0 p The override input is read in a cycle of 100 ms You can continue to use the previous override switch operation for current applications Attention Only wire up the override with sheathed lines 37 Unit hardware assignment Technical data Parameters Status Accessories Interfaces Optimization Positioning and Error list control functions functions options Start up manual Service D A monitor 6 9 4 Service D A monitor The service D A monitor gives you the options of outputting measuring and intermediate parameters via X11 from COMPAX in the form of analogue voltage in the range of 10V and visualizing these by means of an
120. 49 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 N001 ACCEL 250 N002 SPEED 20 N003 POSR 150 SPEED 30 Acceleration and braking time 250 ms Starting velocity 2096 1st speed step when starting position 150 sets velocity to 30 2nd speed step when start position 300 sets velocity to 5096 3rd speed step when start position 500 sets velocity to 80 4th speed step when start position 900 sets velocity to 60 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 Prepares a new speed step profile N004 POSR 300 SPEED 50 N005 POSR 500 SPEED 80 N006 POSR 900 SPEED 60 N007 POSA 1000 008 POSR 200 SPEED 50 009 AUS SR Positioning and control functions Compatibility Function POSR x SPEED y ACCEL z Example Note Example Command program instructions Speed step profile extended by ramp time Speed step profiling is still possible in the previous version with no restrictions eIn 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 e The braking ti
121. 5 7 1 g ie 915 X14 15 8 1 Q X10 8 O13 C 14015 9 010 14 oi dy X105 ois 1 6 X10 16_ S oi 24V X16 2 9 2 GND Absolut X9 3 solu reserviert X9 encoder 9 reserviert 1 Q 95 X9 6 15V 24V emergency stop X97 nousing 2 M X12 resolver SinCos X13 encoder can be o o parameterized 5 vs Oe E ue A Qs us B 2 200 zu 5 i sears TrA A a X x The bus connections are made via the mains power module 21 Unit hardware Positioning and Configuration Technical data Connector functions control functions assignment Optimization Interfaces Status Accessories options Parameters Error list Start up manual COMPAX M S Overview diagram 6 3 Mains power module 6 3 2 Dimensions installation NMD10 NMD20 Dimensions and installation of the NMD10 and NMD20 power units correspond to the data for The mains power module ensures the supply of COMPAX M refer to page 20 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 6 3 3 NMD connector assignment supply with 3 400V AC and PE 24V DC voltage should made be available for the control electronics fo y
122. 55 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 35 The 0 is not shown in the front plate 162 A J Additional COMPAX measured parameters Status monitor 15 You can assign the values of the service D A monitor to status 515 using parameter P182 Selection of status value using P182 a LEER parameter 0 Speed value sensor 20000mm revolutions 6 notassigned ooo 7 notassigned oo o o 8 Nominalvalueoftransversecurent torgu 9 Intermediate circuit voltage 100V 10 Sinefortheco ordinationtransformation 11 Voltage positioning signal for phase U O 12 Voltage positioning signal for phase A200 2 Uis 2 Uis The reference parameter corresponds to value 1 Note concerning status monitor S15 Normalizing status monitor S15 15 does not have the same standardization as 13 S14 515 use 515 1 for the reference value which is given for the D A monitor Accessories 9 2 Additional COMPAX measured parameters D A monitor channels 0 Signal indicators optimization display S13 S14 Status monitor 15 P182 P233 P234 Fla uc EN NNUS c tion o Speed nominal value
123. 6 35 Moment of inertia 55 Monitoring 178 Monitoring functions 43 Motor brake 95 Motor cable 35 Motor monitoring 178 Motor or final stage temperature too high 100 Motor output throttle 151 Motor selection table 140 Motor throttle 159 Motor type 53 Motor type plate 67 Multiplication 86 146 Negative command acknowledgement 129 181 output 22 Nominal current 67 Nominal motor speed 68 Nominal torque 67 Normal mode 52 Number format 87 Number of teeth on pinion 55 Operating hours 160 Operating mode 52 Operating mode with two end initiators 65 86 Optimization GOTILOL 100 Optimization display 101 160 Optimizing controller 97 Option 7 148 161 OUTPUT 72 OUTPUT 73 OUTPUT AO0 in program 73 OUTPUT A12 1010 73 Output 16 75 output 5 89 Output buf
124. A taking due account of 1 per output max 0 3A taking due account of 1 and 2 If overload occurs an error message appears E43 can be acknowledged with Power off on the corresponding group of four is switched off Example Input switch operation using I7 PLC COMPAX Example Output switch operation using O7 COMPAX PLC 24 xol F23 X11 1 gt For reasons of interference protection we would recommend that you use a sheathed cable for the digital inputs and outputs Et A protective switch operation is required when there is inductive load present In output switch operation for 2 COMPAXs 1st COMPAX 2nd COMPAX X3 1 24V 6 9 2 Initiators and D A monitor option D1 Connection assignment on X17 X17 Sway Sub D pin Pin designation function plug housing with X17 screw connection 1 DAO DA monitor 0 output UNC4 40 Ri 2 8 ko DA monitor 1 output 2 DA1 Q Ri 2 8 3 shield 3 gt 4 GND 24V supply initiators 9 m 9 5 ly initiators Ges supply initia 5 24V lt 50mA ref point for 6 GND DAO and DA1 7 Sig MN input MN initiator 8 Sig E2 input E2 initiator 9 Sig E1 input E1 initiator Connection plan for the initiators with initiator connector COMPAX initiatorbox E X3 9
125. Calculation errors 87 35XXM 24 5 ds aoe PORTEE CAN Dus nee ee 141 COMPAX 45XXS 85XXS 31 E P DM NOMINE dp Connector and connection X13 TTUT 40 148 Ed css 172 assignment VEN loo COMPAX 25 27 D EE 40 CANOPEN ird Connector assignment CE compliant 14 25 30 195 E Glossary COMPAX M without N1 21 22 Continuous mode 52 point of real zero 56 Gontrol 111 Control voltage 43 160 Controller structure 100 C831 EEEE 141 Current requirement 53 Curve 85 D A monitor 38 D A monitor 37 D A monitor D1 39 147 Dampening P24 97 Data format 124 Data 7 Defining encoder interfaces 165 Delta mains power supplies 44 Determining point of real zero P1 RN 56 Determining software end NIMS ott ees 56 Determining the limit switch position P216 65 Diagnosis values 160 Digital inputs Triggering functions 114 Digital inputs and outputs Assignment 107 Dimensions installation
126. D 9 8 RxD housing housing 2 2 0 25 shield The last unit on the has a terminating connector BUS2 01 Layout X15 BUS 2 01 NC 5 RM 1500 A 1 RxC 6 6 D pin socket 9 way RxD 4 150 on D plug shell 9 way R 9 o9 xD 8 5 TC 3 1502 Q TxC 7 TxD 5 1508 TxD 9 X6 X5 9 way Sub D pin pin InterbuS S RS485 Profibus CAN Bus plug shell with 5 6 option F2 option F1 option F5 option F3 option F4 screwed connection 1 RxD UNGO 2 DM TxD RxD TxD Data CAN L 3 GND1 GND1 GND1 GND1 CANGND Q 4 n c n c a 15 Be 6 001 RxD n c CANGND 9 S 5 7 DH TxD RxD TxD Data CAN H 8 n c Q o 9 n c n c n c n c Connection assignment of connector OUT NMD COMPAX 35XXM and COMPAX S X7 X7 9 way Sub D pin pin InterbuS S Profibus CAN Bus plug shell with X7 option F2 option F1 option F5 option F3 option F4 screwed connection UNC4 40 1 DO2 RxD n c n c 2 DI TxD _ RxD TxD Data CAN L 3 4 1 8 0 6 5 5 n c 6 002 5 5 9 7 D2 RxD TxD 8 n c n c 9 RBST
127. D10 or NMD20 or on COMPAX 35XXM A grid filter is required in the power line The filtering can be performed once for the entire system or as separate process for each unit The following grid filters are required for standalone operation NMD10 COMPAX 45XXS 85 order no 073 605206 NMD20 order no 073 605207 COMPAX 35XXM order no 073 605220 N1 Option COMPAX 25XXS order no 073 605201 Length of connection connection between grid filter and unit unsheathed 0 5m sheathed 5m Only operate the unit with a HAUSER motor and resolver cable whose connector contains a special flat sheathing In such instances the following cable lengths are permitted Motor cable 100m the cable must not be rolled up For motor lines of gt 20m a motor output throttle must be used Up to 16A nominal motor current type 048 300010 16A 2 mH Between 16 and 30A type 048 300020 30A 1 1 mH Over 30A nominal motor current type 048 300030 gt 30A 0 64 mH Resolver cable Operate unit with HAUSER motors Only operate with calibrated closed loop controller avoid feedback oscillation Connect the filter housing the mains power module and the COMPAX flat highly conductive low inductivity with cabinet mass Never secure the filter housing or the unit to coated surfaces Ensure that you have largest spacing possible between the signal and load lines Signal lines must never pass
128. DA 132 145 HEDA address 49 HEDA interface 147 HEDA parameter option A1174 HEDA parameters 132 HEDA terminating connector 41 HEDA transmission errors 135 Higher level of rigidity 104 High flex cable 35 68 55 Housing 44 HPLA data 55 assignment of the variants c e s 111 Idle display 91 IF ET2z 101 71 ns 80 80 IF ERROR 82 IF ERROR GOSUB 82 IF 80 IF STOP 83 IFM identification 161 Increments 52 Individual configuration of the synchronous motors using Servo Manager 66 Initial start up 51 Initializing variables 88 Initiator 139 initiators connection plan 37 Initiators 37 initiators 37 Input 14 75 Input 16 75 148 Input switch operation 36 Installation dimensions COMPAX 45XXS 85XXS 31 Installation arrangement of the COMPAX M mains power m
129. EED 100 corresponds to 100 mm s Names of the inputs and outputs O7 bore spindle 0 off 1 gt O8 conveyor belt 0 block 1 release List of programs 01 ACCEL 200 sets the acceleration and braking ramps 02 SPEED 100 sets the speed 03 0 approaches idle position N004 OUTPUT 7 0 spindle off 05 OUTPUT 08 1 belt release Wait for mark 06 WAIT START waits for start pulse 07 SPEED 100 sets starts speed to 100 008 25 OUTPUT 8 0 sets the comparator point of the Block conveyor belt N009 100 OUTPUT 07 1 sets the comparator point of the Switch on bore spindle N010 POSR 120 SPEED 10 sets the speed steps 11 200 performs the positioning command with the set procedure 12 SPEED 50 sets starts speed to 50 N013 70 SPEED 100 sets speed step N014 80 OUTPUT 07 0 sets the comparator point of the Switch off bore spindle N015
130. ERE 106 Parameter assignments 85 Parameter sub division 165 124 161 73 Password input 48 Password protection 48 Peak current 102 Performing commands 124 71 Position monitoring 89 Position of machine zero 60 71 75 POSR OUTPUT 78 POSR SPEED 76 Potentiometer switch 37 Power 105565 43 51 Power with motor switched off 50 Precision annm 43 Present data record 160 Present nominal value 161 Priority oeenn 83 Process coupling 132 Process velocity 72 141 Profibus parameter option FS enews 172 Program control data record selection 82 Data record selection 82 WAIT START 81 Glossary Program jump 79 Program 80 Programming commands 70 Proper 9 Pulse current 68 Pulse current time 68 Querying status values via the front plate 49 Ramp shape 53 linear
131. K7 SSK7 SSK7 mination From encoder GBK11 or SV drive encoder emulation SSK7 The following are required COMPAX one encoder distributor COMPAX M S T EAM4 01 e one cable for the COMPAX and encoder distributor connection SSK4 one bus cable for the connection between the encoder distributors SSK7 encoder input module reru e EM RET E4 e bus terminator an BUS1 01 e the encoder encoder cable GBK11 e For the SV drive cable SSKT7 COMPAX COMPAX COMPAX No 1 2 No 3 amp 1 4 1 4 X13 E4 SSK4 SSK4 SSK4 4 01 X5 EAM4 01 X5 4 01 X5 Channel 1 Channel 2 IN OUT IN OUT Channel 1 Channel 2 IN JOUT IN OUT Channel 1 Channel 2 IN JOUT IN JOUT 1 2 X3 X4 1 2 X3 X4 1 2 X3 X4 e BUS1 01 2 BUS1 01 8 8 Bus ter 8 Bus ter 2 3 2 E mination 2 mination SSK7 SSK7 From encoder GBK11 or SV drive encoder emulation SSK7 1 COMPAX 2 receive the signals from one encoder receives the actual COMPAX 1 value concerning its emulation The following are required COMPAX e on encoder distrib tor a e erre eS EAM4 01 one cable for the COMPAX encoder distribut
132. LUI RACER E UN M Emi 10V 2 encoder increments ms 10V 27 encoder increments ms 4 0 60 7x OV 128 motor revolutions 0 60 7x OV 128 motor revolutions 0 60 7x OV 2 increments ms 47 ark position units corresp P90 COMPAX XX70 48 49 component position loop reserved component speed loop reserved component speed loop reserved component speed loop reserved component current loop reserved component current loop reserved quare of motor peak current reference value 80 000A Reference values ov 2 OV 2 per mil ii AR AR ayo ol oa N isplay of status monitor 60 Sensor designation SinCos alue read acyclically by S1 option 1st cyclic channel of S1 position 100 microns reference 2 revolutions nd cyclic channel of S1 1 ms rd cyclic channel of S1 1 ms Absolute value from S2 option in format 12 12 limited by 0 P96 reference 1 revolution 4096 66 Absolute value from S1 option not limited reference 2 revolutions Additional error numbers in E42 68 Option designation SW version number S1 S2 option a a ajajaa A An an anan 5 S S S APS o O1 AJIN O C1 164 AUSER x 9 3 COMPAX parameters COMPAX parameters 9 3 1 VP parameter can be mod
133. M and COMPAX network u contours can be stored for up to 9 axes with up to 100 000 points u 16 datum related digital outputs udata exchange between 9 axes within 1 ms nominal values auxiliary functions positions lag errors speeds torque uall inputs and outputs can be freely programmed Once approved via P221 and P225 the outputs can also be assigned to HEDA via P245 and P245 refer to page 1108 uinternal natural language memory can still be fully used u capable of operating independently as a single axis positioning system e physical transfers RS485 level counter cycle driver separated using an optical coupler e cycle frequency 5 Mbit s C Descriptions of how to work with the HEDA interface can be found on page 132 D A monitor 01 e The D A monitor offers you the chance of outputting COMPAX internal measurement parameters and intermediate parameters in the form of analogue voltage in the range of 10 For description refer to page 39 147 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment Parameters Error list control functions functions options Accessories and options 1 1 COMPAS 8 6 6 Only in COMPAX XX6X and COMPAX XX70 Configuration Accuracy Connection arrangement Analogue speed specification E7 gt Option E7 Analogue speed specification is only avail
134. OMPAX35XXM BRM7 01 2 kW 10W NMD10 COMPAX 45XXS COMPAX 85XXS 073 605206 NMD20 073 605207 35XXM 073 605220 or 073 605225 with additional COMPAX M COMPAX 25XXS 073 605201 Motor output throttle For motor lines gt 20m no 048 300010 16A 2 mH e 048 300020 30A 1 1 mH 048 300030 gt 30A 0 64mH Assembly angle plate MTS2 for indirect wall installation cooling body in separate heat chamber of COMPAX 02 05 15XXM Fan set for NMD Fan set for NMD10 and NMD20 to increase the max brake performance ServoManage For reading and describing COMPAX parameters and programs CHH 4 wire RS485 interface IF5 2 wire RS485 interface F2 Interbus S interface rz 1 re CANopen ra E2 Encoder interface with terminator for individual connections Encoder emulation for resolver cannot be combined with S1 O Encoder interface without terminator for creating an encoder bus IE7 Analogue speed specification only available for COMPAX XX6X and COMPAX XX70 Es Encoder emulation for SinCos Absolute value sensor Cable to COMPAX GBK1 lengths 2 5 5 7 5 10 12 5 15 20 25 30 35 40 45 50 m O HEDA interface 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 perform the measurement signals you will need monitor box ASS1 01 Sensor interface for SinCos Singl
135. PAX M X9 COMPAX M without N1 Assignment of X9 without N1 option Phoenix Pin designation function MC1 5 7 ST 3 81 1 424V voltage supply 2 Masse output lt 50 E 3 reserved a 4 reserved gt 5 24 output A 6 15 24V emergency stop E 7 shield Emergency stop input on COMPAX M The emergency stop input on COMPAX M X9 without N1 is engaged via parameter P219 Meaning e P219z 0 no emergency stop input on COMPAX M X9 P219 7 emergency stop input on COMPAX M X9 with the following data e Stop using P10 as relative ramp time P10 braking time from 100 speed to 0 e The motor is then switched off e Error message E56 is then generated e The ready contact drops Principle behind the safety chain and emergency stop function external component control power supply COMPAX M COMPAX M module No 1 No x readiness emerg stop COMPAX S X9 i e COMPAX 35XXM X19 X1 7 shield gt Applies to potential 24V power supply Ready contact max 0 5A 60V 30W FIAUSISIR Connections to the motor Resolver SinCos 6 8 Connections to the motor You will find the wiring Motor cable diagrams in the With connectors With terminal boxes motor catalogue HJ96 HJ116 HJ155 HJ190 no 192 060011 Resolv
136. PEED POSR OUTPUT 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 e The positioning values for speed steps ramp times or comparators always apply as of the point at which positioning starts for POSA and for POSR e The positioning values for speed steps ramp times or comparators are numerical amounts If the following positioning is positive then COMPAX calculates them as positive values If the following positioning is negative then COMPAX calculates them as negative values process cycle has been interrupted by Stop you can continue and complete this cycle using Start The preparatory instructions are canceled by the Hand Find machine zero and Approach real zero commands 7 4 1 13 Changes in speed within a positioning process POSR SPEED Each speed step profile can have a maximum of 8 speed steps The comparator value is specified as a relative dimension It is referenced to the positioning start point POSR value 1 SPEED value 2 Value 1 only positive values are permitted unit corresponds to P90 two digits after the decimal point three in the case of inches a control parameter P40 P
137. POSR SPEED Operators POSROUTP UT WAIT GOTO GOSUB RETURN END REPEAT IF E Comparison WAIT Start GOTO GOSUB EXT Operands IF Error Stop Arithmetic Position monitoring Idle display Status values Speed monitoring Variables Engaging disengaging brake final stage Note Variable voltage 86 7 4 3 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 A simple arithmetic term is e lt gt Operator lt Operand gt 10 10 1 1 2 13 P13 P14 V7W3 512 40 e Command lt Operand gt V10 SPEED V30 Operations are not allowed after commands use variables instead for such cases e g N001 V0012 1 100 5 N002 POSA V001 a not allowed 51 100 5 visi for multiplication 2 P13 Pisa for whole number division V7 V3 with V7 30 and V3 7 the result is creation of the whole number V7 V3 4 V7 V3 4 2857 whole number component 4 component for the creation of the division 12 40 with 12 30 and P40 7 the remainder Modulo result is 12 P40 2 12 P40 4 remainder 2 division remainder 2 The following operands may be used Constants Parameters e Status values S1 S15 S30 S40ff Variables V1 V39
138. POSR 175 OUTPUT 08 1 sets the comparator point of the Release conveyor belt 16 0 performs the positioning command with the set procedure 17 GOTO waits for start 6 goes to data record 006 189 Application examples COMPAX M S SPEED SYNC 10 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 _ emm EX OX conveyor belt A encoder conveyor belt B conveyor belt C 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 003 Should a carton be received the speed of conveyor belt B is set to that of conveyor belt 004 This speed is recorded using an encoder on convey
139. R You can use this command to perform positioning e g a mark to an external signal Syntax POSR value Value two digits after the decimal point three in the case of inches in unit corresp to P90 a control parameter P40 P49 or a variable V1 V39 e g POSR P40 The prefix determines the direction in which the mark is approached Note POSR 0 is not permitted p When the mark reference is activated you must not use the POSA command Activating mark reference 114 must be present in front of the command Mark input The increasing flank is analyzed With 0 the mark is missing from the point where travel is completed and P38 is reached z 1 Mark reference switched on z 0 Mark reference switched off P37 P38 A mark window is determined 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 P38 Maximum travel to mark relative to start position Range of values for P38 P37 4 000 000 Maximum feed length if there are no marks in the mark window relative to start position Range of values for P39 P38 P11 or P12 Example posR 100 35 1 P37 300 P38 600 P39 800 I14 t If the mark is between 300 and 600 in keeping with mark 100 it will be outwith of the window and so is positioned to 800 P37 300 100 P38 4 600 P39 800 start point mark on Drivento M6 la
140. The Travel per motor revolution P83 is specified in increments Meaning P83 2 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 52 R Configuration Y Motor type Basic conditions for external motors linear Configuration parameters The maximum 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 Maximumtravelin motor revolutions 256 In continuous mode this limitation always applies to commands In normal mode this limit applies to the entire displacement area Parameter P100 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 e Sine commuted motors sinusoidal Resolver SinCos refer to the start up manual under Technical data on page 42 gt The nominal currents of the motors and units must be adapted If you are using nominal currents which are small in relation to the unit s nominal currents the
141. X e25o0 375 375000 4 19 200 100 000 800 000 20 000 115200 999 1 000 000 28 800 125 000 gt Please refer to the operating instructions of the bus option used for the relevant range of values and the precise setting options Acknowledging Once you have rectified the cause of the error you can acknowledge the error by error messages pressing the Enter key 49 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment Parameters Error list control functions functions options Operating instructions 1 COMPAS Configuration when supplied 7 2 2 Configuration when supplied When supplied COMPAX is not configured When supplied parameter P149 is set to 0 P149z 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 standard 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 performed successful configuration Feedback To operate the COMPAX feedback controller draft concept you must have a minimum level of technical control knowledge COMPAX calculates the
142. X via the cable SSK6 MC1 5 16 ST 3 81 Wiring plan and arrangement of SSK X8 MC1 5 7 ST 3 81 7 Shield 1 2 3 4 5 6 7 8 ion 9 grey pink 1 red blue 12 9 1 brown green j white yellow a yellow brown X8 3 17 grey brown white pink Bee X8 8 25 ees Cable KiYCY 25x0 14 D socked board DB25 S 0671 C P BDF1 000000000000 149 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment Parameters Error list control functions functions options rahla Accessories and options 0 5 MC measures 8 7 2 MC measures 8 7 2 1 Grid filter You can acquire the following grid filters for radio suppression and or for complying with emission limit values in accordance with EN61800 3 NMD10 COMPAX Order no 073 605206 45XXS 85XXS NMD20 Order no 073 605207 Dimensional diagram 073 605206 073 605207 B 15 a7 D 145 0 5 COMPAX 25XXS Order no 073 605201 Dimensional diagram 150
143. X60 and COMPAX XX70 IPM COMPAX and COMPAX COMPAX SSK14 wiring diagram Layout X14 PC X15 2 A 90000 9000 D pin 9 way D plug shell 9 way 5 5 o Q NC 1 1 NC RxC 2 2 RxC RxC 6 6 RxC RxD 4 4 RxD RxD 8 8 RxD TxC 3 3 TxC TxC 7 7 TxC TxD 5 5 TxD TxD 9 9 TxD housing housing 4x2x0 25mm shield SSK14 must not be used on a COMPAX which is configured as a master P243 1 Cables for the coupling between COMPAX master and COMPAX slave SSK15 Master X15 Slave X14 6 0000 0000 D pin 9 way D plug shell 9 way Options HEDA interface option A1 A3 6 10 4 Single phase power supply gt Option N1 single phase power supply is only available COMPAX P1XXM Safety chain and emergency stop function X9 refer to page 34 assignment Mains supply lineto the upper side of the unit X19 plug Phoenix MSTB2 5 5 ST 5 08 pin designation F 1 L1 2 2 N e 3 PE 5 4 424V g 5 0 GND 6 10 5 Bus connection Positioning and Connection assignment to connector IN NMD COMPAX 35XXM X6 COMPAX S X5 9000 2000 Q Q TxC 3 2 RxC TxC 7 6 RxC TxD 5 4 RxD Tx
144. able 6 Electronic transmission and COMPAX XX70 Electronical curve control 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 You can use 2 digital inputs SPS level to define a nominal speed value of 0 and to initiate a change in the rotational direction The following configuration data must therefore be assigned permanent values P80 16 general drive P90 1 mm unit P83 100 000 mm travel per motor revolution P93 4 speed control mode P143 600 000 P144 7 analogue speed specification P35 1 transmission factor 1 115 0 116 1 external nominal value is valid These parameters influence the interrelation between voltage and speed they must therefore be specified and fixed Specify the desired speed directly via P98 in rpm when input voltage is 10V Linearity error 196 Amplification error 596 you can compensate for these with P98 Offset 15 mV Temperature drift 100 ppm K Connector X13 channel 0 Pin X13 and COMPAX Circuit proposal EAM4 01 X1 input 1 previous output O arrangement BI _ 115 lt 10 2 E 15 lt 10 15 GND GND Bridge to 15 GND st 0 nominal digital value 0 pue Direction of 1 for positive direction rota
145. ach 2 P211 blocking and modifying the teach in functions Break EMERGENCY STOP 114 Triggering functions Input SHIFT l4 The present 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 in a manner whereby it is safe should the power supply fail O4 Ready for start is not modified The teach in function can be switched off using P211 e The function does not operate in continuous mode Input SHIFT I5 e When 211 3 the data record indicator is set to 1 using Shift I5 20 The functions 11 4 Teach 11 15 and Teach 7 are released Teach Z is blocked the data record indicator is set to 1 using 11 14 or Teach Z Teach is blocked the data record indicator is set to 1 using 11 15 or TEACH N Teach Z is released The functions Teach N and Teach Z are blocked The data record indicator is set to 1 for 11 14 Teach 11 15 or Teach 7 Input SHIFT 16 e The positioning process is broken off the axis is stopped O4 Ready for start is set The program data record is not ended after a start The next data record applies Mains power module connector X8 6 0V During an EMERGENCY STOP the data record is interrupted the drive brakes with braking time P10 after P10 the motor is switched off e The interrupted data record
146. after 16 777 215 Power on power on Value Index e 256 Subindex P140 Index and subindex of object which occupies the 2nd PA data byte after 16 777 215 Power on power on Value Index e 256 Subindex P141 Index and subindex of object which occupies the 3rd PA data byte after 16 777 215 Power on power on Value Index e 256 Subindex P142 Index and subindex of object which occupies the 5th PA data byte after 16 777 215 Power on power on Value Index e 256 Subindex P203 Assigning status 16 and S17 to CPX ZSW Bit 0 0 CPX ZSW standard imme assignment diatel Bit 0 1 16 S17 to CPX_ZSW lately 172 3 9 3 3 4 Interbus S option F 2 COMPAX parameters Default Maximum Valid value value as of P190 Sets DRIVECOM profile 22 operating 0 DRIVECOM profile 22 operating mode is inactive mode 22 DRIVECOM profile 22 operating mode is active P191 Bus time out no response except error message E73 during a time out stop with E73 and shut down during activation of holding brake Pop up messages Process data length P135 Index and subindex of object which occupies the 1st PE data byte after power on Value Index e 256 Subindex P136 Index and subindex of object which occupies the 2nd PE data byte after power on Value Index e 256 Subindex P137 Index and subindex of object which occupies the 3rd PE data byte after 16777215
147. ain features of the range of units available COMP AX P1XXM COMP AX 45XXS COMP AX 02XXM COMPAX 35XXM COMPAX 25XXS COMP AX 85XXS COMP AX 05XXM 15XXM Mains supply NMD10 NMD20 Integrated power Integrated power Integrated power unit module Up to 500V AC unit unit Up to 3 500V AC supply Up to 500V AC Up to 250V AC or 3 230V AC Dimensions 1 340 400 220 mm 220 240 130 mm 275 350 125 mm 340 400 60 mm COMPAX M 340 400 85 mm COMPAX M with COMPAX 35XXM COMPAX 25XXS 45XXS NMD dia COMPAX 85XXS power module Installation can be arranged in rows can be arranged in rows however not in the COMPAX M can be arranged in rows on COMPAX M network COMPAX 35XXM Connection Resolver and motor cables are the same in all units with drive Terminals for COMPAX S connector terminals The same for all units digital inputs outputs RS232 test control connector The same for all units absolute value sensor encoder input encoder emulation bus systems not with N1 option D A monitor SIU SEE 6 2 COMPAX M unit features 6 2 1 Connector and connection assignment X5 control and status signal bus signals input X8 Input Output
148. al number can be represented with a maximum of 10 places incl prefix and decimal point Up to 7 places can be recorded after the decimal point E g 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 ethe program is halted for safety reasons ethe drive remains powered travel movements are broken off using the stop ramp After Quit and restart 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 22 The calculation error can usually be ignored for addition subtraction and multiplication When dividing significant discrepancies can result The maximum relative input error for the division y 2 x1 x2 is calculated using the following formula 2 p X1 X2 lt x1 2 0 when Ax 22 or absolutely 2 Axi Axa i 2 0 when Axi Ax 27 2 1
149. alencies of the OUTPUT WORD outputs command with a 1 command with a 1 09 1 1 e O10 2 2 e O11 4 3 013 16 5 e O14 32 6 e O15 64 7 P224 Assigning outputs Output valency bit no O9 O16 to the OUTPUT WORD P224 sum of valencies of OUTPUT WORD outputs P225 Freely assigning Output valency bit no O1 1 1 O2 2 2 standard outputs with a 1 P225 sum of valencies of all free outputs you want e O4 8 4 O8 128 8 e O12 8 4 e O16 128 8 4 3 O4 8 4 O5 16 5 32 6 outputs 4 0 O5 is assigned standard function position reached with evaluation of P14 P227 Assigning special 151 0 O2 is assigned standard function no warning functions to 1 1 O2 is assigned with Idle display function Bit 4 1 Obis assigned function O5 toggles when position reached P229 Speed threshold for idle indicator function only 1 switched on if P227 bit 1 1 P232 Controlling external position adjustment using 111 P233 Setting the optimization display S13 1 255 ately P234 Setting the optimization display S14 1 255 0 111 can be freely assigned 4 11 switches the external position adjustment 111 0 switched off and 111 1 switched on P243 HEDA operation 0 single axis when 250 0 or slave on IPM P250 1 9 mode 1 COMPAX as master 2 COMPAX as slave
150. alue Motor power Lag error Nominal speed value Actual speed value Motor power Lag error Nominal speed value Actual speed value Motor power Lag error The advance reverse control can be engaged to add to the optimization of the guide characteristics and to thereby reduce the dynamic lag error This is engaged using P69 Range 0 50096 Standard value 0 applies to VP 99 Positioning and Configuration Technical data Connector Unit hardware control functions Parameters Status Accessories Interfaces Optimization Error list assignment functions options cahla Operating instructions 1 COMPAX WS Optimizing controller P27 moment of You can use this parameter to adapt the controller to very large changes in inertia load Nominal value 10096 Range 10 500 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 10096 corresponds to the value calculated by parameters P81 to P92 Control processes for optimization Targets problems igidi i Advance Acceleration Other control time ACCEL measures factors P25 P26 P70 Minimizing lag error in 100 increase crease optimize if necessary No harmonies increase decrease increase quadratic increase max P94 3 torque P16 Unusually high de decrease decrease increase increase max
151. alue coss reached Can be set using P227 bit 418 0 standard setting independent of P14 RETURN END REPEAT E le xample Position FE Target positions Position 1 Comparison WAIT Start Position 2 GOTO GOSUB EXT IF Error Stoj p Actual value of position Arithmetic Position 0 Position monitoring Idle display Speed monitoring A poor controller setting has been selected by way of illustration Engaging disengaging brake final stage Variable voltage 18 Counting in bits beginning with bit O 90 AUS SR Positioning and control functions Idle display 7 4 5 Idle display Example Display showing whether the axis is at standstill or moving The display is set to output O2 using the setting P227 bit 119 1 the standard function of O2 No warning no longer applies in such instances P229 then serves as a switching threshold from which the O2 1 idle message is transmitted and is specified in thousandths of the nominal speed of P104 Nominal speed P229 02 1 drive at standstill Nominal speed 2 P229 02 0 drive moving P229 0 O2 0 no idle display Range of numbers P229 0 255 P227 bit 1 0 O2 assigned the No warning display standard value VA O5 1 To avoid O2 continuously switching over during disturbance to the nominal speed val
152. am gt 100 10 100 5000 downstream filtering P80 Drive type 16 general drive 64 a table control Maximum moment of inertia 200 000 Travel per motor revolution for general drives 360 000 Transmission ratio for round table control 1000 000 1000 000 000 drive type Units for distance indication supplemented 0 increments 1 mm 2 inches 8 degree supplement given in millidegrees 1 1000 degree for general drives Operating mode 1 normal operation 2 continuous operation 9 reset mode supplement 4 speed control mode Pw raare e s 97 sw Vo P143 Number of dashes of the external position 2 000 000 measuring system P144 Channel 1 external sensor 9 3 3 8 Synchronous cycle control COMPAX XX50 Default Maximum Valid value value as of Minimum travel to mark 0 00 0 00 100 000 00 EE P31 Position of mark sensor referenced to corresp P90 10 000 00 100 000 00 machine zero initiator P32_ Relative target position comspm 000 PI2 pe eee ee ee eee oom ae P34_ Synchronous brake travel corresp Pa 100000 00 000 100 000 00 35_ Synchronous starttravel 7 000 000 VP P36 Material simulation 00 10000 ve P37 Rejectlengh 000 000 10000000 P38 Sawbladecorection 000 000 10000000 P39 Beamange 099 000 000 8000 ve
153. and D search MZ search MZ P213 1 external external command zero pulse command zero pulse search MZ search MZ Cj pi External encoder read via an encoder input module E2 E4 Encoder input parameters set using P144 6 Determine P98 travel per encoder revolution P214 encoder direction and P143 encoder pulse number 61 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment Parameters Error list control functions functions options rahla Operating instructions 1 COMPAXWS Machine zero mode P212 4 Application P213 0 Linear and rotational movements If you have an encoder clockwising rotating motor on the motor side with this setting you obtain a reproducible machine zero response to any transmission factor position of the actual MZ which does not round P29 0 360 to whole digits i e not precisely displayable Machine zero equal to external initiator amp external zero pulse encoder zero pulse P213 1 Example of an transmission factor that cannot be clockwise rotating motor __ displayed exactly MN Ini RETE UN signal MZ ini 17teeth 11 teeth position of the actual MZ P29 0 360 Note If P7520 for this se
154. ands differ in terms of type and range COMPAX is not designed with the control and calculation output of a complete CNC even though it realizes many of the 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 at another point acceleration time 250 ms velocity 8096 specified wait loop 1s query I7 to log 1 waiting time 100 ms end of REPEAT loop sets output no positioning positioning sets O8 for 500 ms 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 The direct command is only recognized by if O4 Ready for start 1 Using the START command via the digital input 15 or using the direct START command via an interface you can start the program as of the selected data record number gt 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 Positioning and control functions Syntax Example Additional function Syntax Example Command program instructions 7 4 1 1 Absolute positioning POSA Reference point is r
155. arameters Connection mode 0 without coupling and decoupling positions bit 0 0 Note Ms and taken into 1 with coupling and decoupling positions bit 0 1 consideration regardless of P34 if 2 exits curve mode after decoupling bit 1 1 you do not want this to be the z 4 exits curve when loop counter terminates LOOP n at case set Ms 0 the end of the master cycle bit 2 1 The settings can be combined the sum is then entered in P34 Factor in master input channel 1000 000 000 P36 Transmission factor 1000 000 1900000 j 1000 000 000 000 to P37 Reset value for digital auxiliary functions 07 010 011 012 O13 O14 VP Standard 00000000 P38 Mask for digital auxiliary functions 26 27 28 29 210 211 212 213 VP Standard 00000000 Ramptimeofintemaltimebase time Ramptimeofintemaltimebase internal time base EARMA 4 000 000 P68 Filter for external speed feed forward VP 0 filter switched off Units for 129 indication TEES 0 increments supplement 4 mm 2 inches 3 Degree supplement given in millidegrees for General drive 1 1000 degree Operation mode 1 normal operation 2 continuous operation 3 reset mode supplement 4 speed control mode 179 RampforP35 ms o o SVP P210 Parallel mode 0 linear processing of the program memory previous settings 1 the program continues to run
156. arameters no value HEDA operating mode Assigns the outputs O1 O8 to a HEDA bus Assigns the outputs O9 O16 to a HEDA bus Max average transmission error Max transmission error Synchronization monitoring 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 ec o e e mode amu NN relevant single axis pus Slave to IPM Coupled operation and acyclic ERR HEDA communication over HEDA possible Ei as Master axis transmits synchronous 0 1 Master word and 7 words to address 1 tae 1 Passive slave Slave receives at address 1 P250 1 to COMPAX but does not send back P243 2 master p Attention If HEDA coupling is activated and the master performs Find machine zero this will result in a positional offset between master and slave You should therefore perform the machine zero travel when the HEDA coupling is deactivated 132 IIAUI 1 1 01 1 Interfaces Fast start Transmittable parameters Master output parameters Slave input parameters Process coupling via HEDA option A1 A3 P18 has the following bits added P18 J y O Bit 0 0 without SPS data interface Ee eea 1 fast start on 115 active Bit 3 0 fast start on HEDA bit 8 not active 1 fast start on HEDA bit 8 active only permitted when P18 bit 1 1 see belo
157. as the actual value 812812 The function is switched on via P206 1 Default Maximum value pel factor for the reset route of the 4095 peus option 0 no reset function P206 Approval of the absolute value sensor input 2 1 absolute value sensor input approved or or the reset functions of the S2 option reset function switched on Please note Option S2 cannot be combined with A1 or also refer to 145 e Set P1 0 Using P212 10 refer to 57 you can nevertheless select the machine zero point any way you wish Note This function does not affect the actual positioning process Example P96 10 revolutions P83 400 000 mm 400 mm After 450 and an ensuing 0 the drive reverses by 450 mm and not only by 50 mm If you want to perform a positioning process within the reset route and you have been traveling in one direction for a long time you can do this by evaluating S12 E g desired position within the reset route 10 mm 1 10 12 1 146 AWS EE Process interfaces HEDA interface HEDA interface HEDA at option for COMPAX XX00 XX60 and XX70 To implement track and contour tasks with the HAUSER interpolation module IPM for PC and IPC Communication occurs via the HEDA interface a rapid synchronous serial interface between IPM and the COMPAX network Functional scope of the IP
158. ast resistance High vol DC 1 L3 400 line f Enable internal ballast resistor SSS Oy X7 RS485 OUT X5 RS485 IN Si HV DC current output e Mains power 3 840V AC 3 500V AC 45 65 Hz Wiring up motor control voltage enable dE Ja Sheetshielding of motor cable with external 24V DC 3 80V AC 3 500V AC fuse protection 16A e Control voltage 24V DC 10 ripple lt 1Vss Operation is also possible without control voltage being supplied externally 45 and COMPAX 85XXS then creates the control voltage internally from the mains power Limitation when the mains power is switched off the saved present position is lost e Note the sheath connection of the motor cable on the lower side of the unit gt Clamp the motor cable with the open point of the sheath mesh under the ground terminal N Only wire up brake lines in motors which have a holding brake If the motor does not have a holding brake do not wire up brake Enable bridges X3 1 X3 2 The final stage is released using a bridge between X3 1 X3 1 If this switch operation is not in place the final stage is switched off and error message E40 appears refer to page 179 Overvoltage limitation e The energy recuperated during
159. ation is reversed When operating with the reversing initiators yet without limit switches an error message will appear You then have two options eto set P216 switch on operation with limit switches 216 1 or ein the status value S24 you can view bits and 4 from the left to see which initiator is active Meaning Bit 3 E2 is activated i e P216z 1 Bit 4 E1 is activated i e P216 0 6 Counting in bits beginning with bit 0 65 Unit hardware Configuration Technical data Connector assignment Positioning and control functions Parameters Status Accessories Interfaces Optimization Error list functions options rahla Operating instructions 1 1 Installing ServoManager 7 3 Configuration via PCs with ServoManager C There is a separate manual available which describes how to work with ServoManager 7 3 1 Installing ServoManager Preparation Before installation deactivate the following programs virus detection software ethe Miro Pinboard fitted to Miro graphic cards Information concerning these programs Following installation the virus software can be reactivated Problems can also occur during program execution with the 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 7 3 2 Conf
160. avior independent of P191 59 X Error E70 can be acknowledged if a successful transfer is then made 60 Start Remote Node indication COMPAX automatically goes into pre operational state due to the emergence of a node monitoring error 61 dependent on P191 182 AUSER Overview 10 Application examples 10 1 1 Overview External data record 5 nnne 184 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 iuuenis capo c Edda aula kx R LaL RR CERO CERE ESI 186 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 188 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 us
161. bel position 16 Note N The drive positioning is not limited by P39 If the mark is within the mark window COMPAX performs positioning using POSR value for a value of the corresponding size even behind P39 The process range can be limited using P11 and P12 It will go on 0 if no label come until P38 p When the mark reference is switched on the inputs 114 115 and 116 are no longer available for external data record selection GOTOEXT GOSUBEXT 75 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment Parameters Error list control functions functions options rahla Operating instructions COMPAX M S Command program instructions POSA POSR SPEED ACCEL OUTPUT Password SPEED SYNC Mark reference POSR SPEED POSR OUTPUT WAIT GOTO GOSUB RETURN END REPEAT Comparison WAIT Start GOTO GOSUB EXT IF Error Stop Arithmetic Syntax Position monitoring Idle display Speed monitoring Engaging disengaging Example brake final stage Variable voltage 76 7 41 12 Preparatory instructions The following command combinations are preparatory instructions whose purpose is to create speed step profiles or to set comparator switch points The prepared positioning process is started using POSA or POSR Note the following Combined commands can be mixed POSR S
162. ble 1 O1 2 O2 4 O3 16 O5 23 You attain this setting using P225 23 gt Using the interfaces 5232 bus systems and using the data record program the outputs can optionally in parallel be described using OUTPUT When the SPS data interface is activated the outputs must not be addressed using the interfaces RS232 bus systems or using the data record program This must not simultaneously be used with the OUTPUT WORD command or with HEDA 27 counting starts at 1 109 Unit hardware Configuration Technical data Connector assignment Positioning and Optimization Status Accessories Parameter Error list control functions functions options rahla Operating instructions 1 Digital inputs and outputs Switching to OUTPUT WORD command or to HEDA bus Setting P223 P224 P245 P246 Example 110 P223 P224 switching to OUTPUT WORD command P245 P246 switching to HEDA bus Access to the outputs can be set as bits to the OUTPUT WORD command or to HEDA Only the released outputs are then described by the OUTPUT WORD command or by HEDA Outputs OUTPUT parallel HEDA Each output is assigned a valency Calculate the total of the valencies of the outputs you want to free and enter this in the relevant parameter O4 to O16 should be influenced by the OUTPUT WORD command O1 O2 and OS should be available via OUTPUT Ox y 8 O4
163. braking is stored in the intermediate circuit The capacity and the energy which can be stored are e COMPAX 45XXS 330uF 52 Ws e 85XXS 500uF 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 released by a bridge between X2 5 and X2 6 If this switch operation is not in place the controller operates without ballast resistance in braking mode error message E38 may appear refer to page 179 32 Maximum braking power of the internal ballast resistance Braking power Lasts Cooling for down time COMPAX 45 855 300W not limited lt 1 5 KW gt We supply an external ballast resistance for COMPAX 45XXS 85XXS refer to page 152 Connecting a ballast resistance to COMPAX 4500S COMPAX 8500S The ballast resistance is connected to HV Tp and PE The output is protected from short circuits Note When an external ballast resistance is connected the bridge between Rp and Tp must be removed SIU SEE 6 6 4 COMPAX 45XXS 85XXS connector and pin assignment Releasing internal ballast resistance J COMPAX 45XXS 85XXS unit features COMPAX 45XXS 85XXS connector and pin assignment x e of amp ieee dddaddds NNN MN
164. configuration is transmitted to COMPAX The configuration parameters are therefore only valid as of this moment in time When exiting the Parameter edit menu using NO the VC command is transmitted 2m Noj 4 Set Up Mode ry ry ves Lee Operating Mode Measurement unit Ramp shape Drive type Drive type Parameter of Drive type Update Set Up see below 157 Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment Parameters Error list control functions functions options cahla Accessories and options 1 COMPAS Hand held terminal Setting configuration Switch off Motor 158 Mode Normal Mode Endless Input unit xo Input unit inch Input unit incr Hro YES YES Accel linear YES Y Selected motor P100 XXX YES NO Motor type 1 Motor type n P100 XXX P100 XXX YES YES HDX Individual motor You can configure a motor individually by setting 100 0 Therefore P100 0 fill in the motor data and the motor parameters from P101 Motor number 100 The standart motors HBMR and HDS Motors can be configured via the motor number Y
165. current recording will be less accurate Parameter P94 94 1 Simplest time oriented function not smooth V PE ny ta Current requirement single 53 Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector Unit hardware Parameters Error list assignment control functions functions options Operating instructions 1 1 COMPAXWS Configuration parameters smooth P94 2 The mechanics are subject to minimum load when using the smooth function vt 0 19 y 0 Current requirement 1 9 times quadratic P94 3 Gentle running in to the nominal value harmonies are prevented vt 0 2 014 y 0 y Current requirement double ta ramp time can be set using the command ACCEL refer to pagei72 V velocity a acceleration M acceleration torque Transfer of P94 The modifications to P94 become effective as of the next move command Exception For the functions stop after have travel beyond a limit switch and e synchronous stop via 113 refer to page11 15 the ramp type is only validated using VC j c Parameter P80 selecting drive type Drive type Various data is required for additional configuration depending on the drive type selected The assignment of the parameters P81 P85 is thereby modified Therefore continue with the con
166. data Connector assignment Positioning and Optimization Status Accessories Parameter Error list control functions functions options Operating instructions COMPAS Digital inputs and outputs Diagram Note for MN travel Additional assignment of P219 116 Stop via 16 Stop 113 Speed The same Brake ramp pee pee COMPAX 1 brakeramp P10 absolute Speed Speed COMPAX 2 COMPAX 2 t P10 gt When stopping using 113 the axes all come to standstill at the same time If MN travel is interrupted by the synchronous stop then O3 Machine zero approached is not released P219 xx00000020 COMPAX M does not evaluate the additional emergency stop input Additional emergency stop input X9 5 X9 6 front plate only in COMPAX M 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 IIAUI Digital inputs and outputs 7 6 1 5 Function of outputs REE 1 1 if there is no error for group E1 E57 1 0 there is an error for group E1 E57 the drive does not accept positioning commands Machine zero has been approached e O2 1 if there are no errors E58 e O2 0 if there is an error E58 O2 is assigned the Idle display function via P227 bit 1 1 refer to pa
167. during a positioning process and remains at a standstill during the next positioning command Only the next but one positioning command is acknowledged negatively The following parameters P80 to P88 apply for the Roller feed drive type per ronen orrena oraes 0 o room ve Creuniseresorne siveteesraes 39 f we vo Moment of inertia of transmission and clutch with m 200 00 LT m RR to the drive axis meea 55 P36 after VP is only accepted at the next curve zero point or with SETC and this ensures that no sporadic modification is made to the nominal position value Curves with a slave value of 0 at the curve zero point cannot prevent any sporadic modifications to the nominal position value Attention only use filter P68 if quantization noises can be heard due to low resolution in the master channel Otherwise set to 0 to reduce the tracking error to a minimum 177 Unit hardware Configuration Technical data Connector assignment Positioning and control functions Parameters Status Accessories Interfaces Optimization Error list functions options rahla COMPAX M S Monitoring and limitation characteristics 9 3 4 Monitoring and limitation characteristics We want to use this section to provide you with more detailed explanations about the COMPAX monitoring and limitation characteristics current limit current control with Structural Speed cont
168. e X7 RS485 OUT ext supply output motor X17 initiators Ballast resistor supply Connexion fre 10mm COMPAX 45XXS 85XXS unit features COMPAX 45XXS 85XXS connector and connection assignment 6 6 COMPAX 45XXS 85XXS unit features 6 6 2 COMPAX 45XXS 85XXS installation dimensions mn L m Y 378 395 Fastening 4 M5 Allen screws Meaning of LEDs on the front plate Ready green 24V DC available and initialization complete Error red Meaning when switched on COMPAX error present or mains power or control voltage missing Before wiring up always de energize the unit Even once the mains supply has been switched off dangerous leve Is of voltage 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 31 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment Parameters Error list control functions functions options cahla Start up manual COMPAX 45XXS 85XXS specific wiring COMPAX M S 6 6 3 COMPAX 45XXS 85XXS specific wiring Wiring up mains power approval of the internal ball
169. e 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 0 no 1 gt 18 pick up lowered 0 no 1 gt yes O7 raise pick up 0 gt off 17 on O8 lower pick up 0 gt off 1 gt on List of programs N00 1 SPEED 50 to sets the speed ACCELE sets the acceleration and braking ramps 03 OUTPUT O720 pick up raise function off 04 OUTPUT 8 0 pick up lowering function off 05 60 moves to data collection station 06 IF 1820 GOSUB deposits workpiece 36 if pick up is not lowered deposits workpiece Wait for mark N007 WAIT waits for the start pulse 08 GOSUB EXT sss
170. e units in accordance with 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 LSU SS ESTEE 4 Switch on status 4 1 Configuration when supplied COMPAX wird im unkonfigurierten Zustand ausgeliefert Dabei steht der Parameter P149 auf 0 P149z 0 COMPAX ist nicht konfiguriert und geht nach dem Einschalten 24V DC und Leistungsspannung in den OFF Zustand Motor stromlos Configuration when supplied AuBerdem werden beim Einschalten s mtliche Parameter auBer den Buseinstellungen P194 P195 P196 und P250 auf ihre Standardwerte gesetzt P149 1 COMPAX ist konfiguriert und versucht nach dem Einschalten 24V DC und Leistungsspannung den Motor zuzuschalten Meaning of LEDs on the front panel COMPAX M S Meaning when switched on 24V DC present and initialization complete Error red COMPAX fault E1 E56 present In COMPAX S also mains supply or control voltage absent Mains power module LED red LED Possible errors Error green Ready no errors on off Cooling body temperature too high or error in logistics voltage 24V DC too low or unit is defective Emergency stop is activated and ready contact is released on on Ballast switching device overload or undervoltage 100V DC or 80V AC Caution AN If the unit has no control voltage no
171. e zero initiator not found Check initiator Quit Error is only generated when using reversing initiators E07 Calculation error Check programmed arithmetic Quit no for a more accurate cause in the optimization display P233 243 39 refer to page 101 Synchronous STOP in place Check P219 E09 Drive not running Remove mechanical blockade tools foreign bodies Lag error too large Check mechanics for smooth operation reduce Quit see below or load or feed force or increase P13 speed difference too great aie ane message can be turned off by setting Remove mech obstacles or increase P14 reached system does not exist is too large already assigned language memory memory 57 for COMPAX 70 curve number not available 179 Unit hardware Configuration Technical data Connector assignment Positioning and control functions Status Accessories Interfaces Optimization Parameters functions options cahla COMPAX M S General error messages Cause Acknowle Drive dge with switched off E20 Target position beyond positive Correct target position Quit no end limit E21 Target position beyond negative Correct target position Quit no end limit Machine zero is not approached Find machine zero This must be found after power on E23 The present command issued is Positioning command in speed control mode Quit no not permi
172. eal zero RZ Positioning is performed using the acceleration speed set using ACCEL and the velocity set using SPEED If these values have not previously been set substitute values will apply m SPEED Parameter P2 ACCEL Parameter P6 refer to page 165 POSA value Value figure with two digits after the decimal point three in the case of inches in the unit defined in P90 a control parameter P40 P49 or a variable V1 V39 e g POSA P40 The range is defined by the software end limits P11 and P12 005 150 50 Absolute positioning to 150 5 units N006 POSA 500 Absolute positioning to 500 units A position approached manually can be transferred as a POSA command into a previously selected data record using TEACH data record via an interface When in continuous mode relative positioning is also adopted with POSA 7 4 1 2 Relative positioning POSR The present position is the point of reference POSR value Value two digits after the decimal point three in the case of inches in the unit defined in P90 a control parameter P40 P49 or a variable V1 V39 e g POSR P40 The range is defined by the software end limits P11 and P12 N005 POSR 2000 Relative positioning by 2000 N006 POSR 100 25 Relative positioning by 100 25 gt The positioning commands can be controlled using binary input 115 Fast start This function is switched on using P18 COMPAX then waits until 115
173. ector Unit hardware Parameters Error list assignment control functions functions options rahla 3 3 Special safety instructions Check the arrangement of unit and documentation Never disconnect the electrical connections when energized Use safety devices to ensure that moving or rotating parts cannot be touched Ensure that the unit is in perfect working order before operation e Implement operational readiness and emergency stop functions of 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 power module has sufficient nominal and peak performance ratings Ensure that unit arrangement enables the units with higher performance ratings to be fitted more closely to the power unit that the units with lower ratings COMPAX M Ensure that motors and linear drive units if available are secured sufficiently Ensure that all energized connectors cannot be touched The unit carries voltages ratings of up to 750V which could fatally injure the operator 3 4 Conditions of warranty 10 The unit must be opened Do not make any alterations to the unit except for those described in the User Guide Only activate inputs outputs and interfaces in the manner described in the User Guide When installing units ensure that the cooling bodies receive sufficient ventilation e Secur
174. ed referenced starting of counter with the encoder zero pulse 54 2 approval of master signals via a pulse on 116 Block C E with SETC n 116 0 31 0 h ti 3 approval of master signals via a pulse on 116 only for WOEN Operating a master cycle Block at the end of the master cycle reca time base route when 116 0 is triggered again when 116 1 2892417 4 approval of master signals flank triggered via 116 Block with SETC n 5 approval of master signals flank triggered via 116 only for a master cycle 9 static master position approval with 116 for HEDA coupling HEDA coupling is also possible with P31 0 P32 Distance of mark sensor Unit un 0 000000 0 000000 10 VP amp 10 S1 at the end of the cycle i active curve cycle Operating mode of mark 0 no mark synchronization VP amp next curve synchronization 1 master related mark synchronization 2 slave related mark synchronization 11 master related mark synchronization Mr 12 slave related mark synchronization at end of active curve cycle 53 Attention Only use filter P68 if quantization noises can be heard due to the low resolution in the master channel Otherwise set to 0 to reduce the lag error to a minimum 4 Operating mode possible with HEDA coupling since the encoder zero pulse is not transferred 176 EJ COMPAX p
175. er Sensor cable 5 HDY70 HDY92 HDY142 cable SinCos HDY115 1 5 mm 2 5 mm 2 5 mm 6 10mm up to 13 8A up to 18 9A up to 18 9A up to 32 3A up to 47 3A Cable sheathed REK32 GBK16 MOK242 MOK43 MOK21 MOK11 MOK46 Connector set 085 301312 085 301317 085 301306 085 301306 125 518162 125 518211 125 518200 800 030031 800 030031 125 216800 125 217000 Cable 102 150200 102 150210 102 508896 102 508902 102 508902 102 150030 102 150040 Cable sheathed REK33 GBK17 MOK44 MOK45 MOK14 MOK11 MOK46 Connector set 085 301312 085 301317 085 301306 085 301306 125 518162 125 518211 125 518200 800 030031 800 030031 125 216800 125 217000 Cable 102 000030 102 000020 102 000010 102 000010 102 150030 102 150040 Standard High flex Length key of the sheathed cables 20 0 25 0 30 0 35 0 40 0 45 0 50 0 Example REK32 09 length 25m Cable assignment in the terminal boxes 6 8 2 Additional brake control COMPAX controls the motor retaining brake independently also refer to page35 When running applications which require additional brake control note the following depending on the unit type used COMPAX M COMPAX 45XXS 85XXS For COMPAX M COMPAX 45XXS 85XXS you must perform measures for suppression Note the following application example e
176. er position S42 P90 External position when using external position management Measuring error 547 During external position management difference between resolver position and encoder position Present nominal 549 Present internal nominal value output of nominal value setter value and or 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 however allow for an accurate error analysis if you contact HAUSER should problems occur The bits are counted from the left to the right 23 S24 25 Bi Drive status Sz Switch status S24 status 29 7 not assigned Zero initiator activated Machine zero reference available Output of status bits via the front plate The status bits are output via the front plate using the 2 hex values 8 not assigned reserved not assigned 161 Status values of standard unit COMPAX XX00 Positioning and Configuration Technical data Connector Unit hardware control functions Optimization Interfaces Accessories Parameters Error list assignment functions options rahla COMPAX M S 16 S17 1 no interruption 0 errors E1 E58 drive does not accept any positioning commands After Power bit 1 remains at until the self test has been performed 1 no warning
177. ersion Release Date Commission Part Version Language Power Stage Device Family Device no xe Function Level 40 number 41 42 43 S44 45 46 47 E L No Command Mode S no Parameter Mode S fre S Set Up Mode Technical data Positioning and Configuration control functions Optimization functions Setting Level E see edit delete see set up Entercomm nds parameters configuration C When the hand held terminal is connected to COMPAX the password remains the same C The menu items of the setting levels are described below See edit delete program Interfaces 155 Parameters Status Accessories Error list options Accessories and options 1 COMPAXMS Hand held terminal Program Mode Tne Command Mode Viewing editing deleting program Hest Enter block no Ent Select other blocks using a or Hyves Enter block no Ent Edit block Ent Select other blocks using or Delete Hves Are You sure Program Program is deleted Commands or numerical values are modified by overwrit
178. es RTS CTS CR carriage return or CR LF carriage return line feed Standard setting by simultaneously pressing the three front plate buttons while switching on you can set COMPAX to 9600 Baud e all ASCII characters which can be displayed spaces inserted function sign if nec carriage return for storing the command in the intermediate memory If no function signs have been transmitted the command is transferred and performed if necessary refer to the next page Lf line feed has no meaning to COMPAX gt only receives command if a command was previously transmitted using Lf gt and a response was given eif the syntax is perfect and does so using Lr gt or using the desired response and LF gt if there are errors depending on the contents of P20 Automatic position reached message e only applies to and POSR e COMPAX transmits gt when the position is reached one instruction without performing it Echo COMPAX returns the data received with CaL gt Performing commands Whenever a occurs the instruction is performed from the intermediate memory These function signs can be attached to any instruction 100 Le Interpreting and storing commands COMPAX stores the instruction in the intermediate memory size can hold HAUSER Interfaces RS232 interface COMPAX moves and responds once
179. es is also possible as a direct command e g from a terminal a parameter Pxxx or a variable Vxxx VO V39 or a curve point Ixxxx digital or analogue auxiliary functions when using COMPAX XX70 or a curve point Fxxxx support points when using COMPAX XX70 a Operand or e a simple arithmetic term a parameter Pxxx or e a variable Vxxx V1 V39 or a status value Sxxx or a constant with max 8 significant digits sign decimal point parameters may be assigned The commands VP and VC for which you can validate the parameters can be programmed in the program 123 081 30 modifies moment of inertia N124 VC N234 P013 10 modifies lag tolerance N235 VP COMPAX XX70 the curve memory is also accessible N200 F5450 0 5 modifies idle postion of 1st curve N201 15460 128 modifies master cycle route of 1st curve N202 VF validates curve For more information refer to the operating instructions for the electronical curve control 15 points can only be modified using an assignment an arithmetic term is not allowed 85 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment Parameters Error list control functions functions options cahla Operating instructions Arithmetic POSA POSR SPEED ACCEL Syntax OUTPUT Password SPEED SYNC Mark reference
180. eturn or Multiturn 52 Programmable sensor interface for SinCos Multiturn 159 Unit hardware Configuration Technical data Connector assignment Positioning and control functions Parameters Status Accessories Interfaces Optimization Error list functions COMPAX M S 9 Annex 9 1 Status values of standard unit COMPAX XX00 Actual values zeo o Actual position corresp P90 Current position based on real zero implemented Lag error 03 0 1 Difference between nominal and actual position during a corresp positioning cycle P90 Velocity Present processing velocity of the axis Torque S05 96 Present torque as a percentage of the nominal motor torque C is transmitted Travel cycle 1509 Number of axis motional cycles Repeat counter 1511 Loop counter of an active REPEAT in COMPAX XX10 and COMPAX XX30 Optimization display 513 __ With optimization parameter selected using P233 Optimization display 14 With optimization parameter selected using P234 Status monitor 515 D A monitor value selected using P182 S16 Information on the status outputs 01 06 amp the last OUTPUT command Information about COMPAX status Error history S18 The last 4 errors and type of acknowledgement Refer to below only errors E1 E56 Diagnosis values ce popo U 11 18 S19 Logical signal le
181. f 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 115 If 115 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 115 is 0 i e no mark found COMPAX sets the message output O15 to 1 blocks the mark reference 114 via O14 pulls the plate back by 680 mm to the last cut off position and waits for the next start pulse 186 AUSER 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 0 gt closed 1 gt open 115 mark 0 missing 1 gt found O7 shears 0 block 1 activate O14 mark reference 0 block 1 activate O15 message 0 gt mark found 1 mark missing List of
182. fer 124 Output data 42 Output switch operation 36 Outputs 36 37 Override 72 56 P400 teftes 53 PAA see 56 eme 56 P14 89 P149 certet unte 106 P144 106 ae 104 95 133 163 NOU 133 188 133 tite 146 1 56 106 215 56 ATA 65 116 iie E T 110 224 110 P22 7 i 89 91 POO 91 2 97 P233 101 att ete 101 POA 97 PAS Neils ee ND mE 132 P245 110 110 POD 99 2 132 26 99 100 75 P36 xt 105 177 Mcr cR ER 75 P38 uunc 75 75 40 9 as 81 104 P69 atten 99 99 39 v 39 P78 vnc ek Bees BA 39 Dd ce 39 PZb xxu EH 105 80 54 P811 ans 55 PBN 5 a E 54 P82 es ran 55 55 P88 ane 55 t 52 P92 us 55 DOS ctc 52 ite 53 POG 146 ec
183. figuration Technical data Connector Unit hardware Positioning and Optimization Status Accessories Parameter Error list assignment control functions functions options Accessories and options 1 COMPAX M S 8 Accessories and options Compact servo control 8 1 System concept The COMPAX system concept is based on a basic unit which contains the important function components and other system components You can use these to extend a system to meet your specific requirements The system consists of the following components This contains digital inputs and outputs SPS interface serial interface RS232 e front plate with status and error display e natural language memory e integrated IGBT final stage e mains power module to create the power voltage without transformer with emergency stop function single phase option is available for COMPAX P1XXM and you can use this to drive the unit directly off a 230V AC source without a mains power module drive unit motor transmission and cable aids for controlling COMPAX using the digital inputs and outputs e interface cable for operating COMPAX via the serial interface RS232 options which support other areas of usage hand held terminal for menu guided configuration and programming of COMPAX PC software for supported parameter specification and for creating programs 136
184. figuration using the drive type selected Spindle drive P80 2 P81 length Length of spindle Range 300 5000 mm P82 diameter Diameter of the spindle Range 8 80 mm P83 Pitch Pitch per spindle revolution Range 1 400mm 54 Configuration P85 ratio P84 moment of inertia P92 Minimum mass P88 Maximum mass Rack and pinion toothed belts P82 Number of teeth on pinion P83 tooth pitch P85 ratio P84 moment of inertia P92 minimum mass P88 maximum mass HLE HPLA data for the drive type toothed belt General drive P81 Minimum moment of inertia P82 maximum moment of inertia P83 travel per motor revolution Configuration parameters Motor spindle ratio Range 1 1 1 100 100 1 motor transmission Moment of inertia of transmission and clutch referenced to the drive side Range 0 200 Minimum translated mass moved kg Range 0 88 Maximum translated mass moved in kg Range 0 500 kg P80 4 or 8 Range see under 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 tooth pitch Range of values of the pitch 1 410 mm Ratio from motor to rack and pinion toothed belt Range motor transmission 1 1 1 100 100 1 Moment of inertia of trans
185. g P184 in master 40 P188 40 The input signal is used as an encoder signal e Internal time base encoder velocity before P35 COMPAX P188 42 XX70 The input signal is used as a master velocity Application coupling several axes to one master signal e g an internal time base Normalized master position before P35 COMPAX XX70 P188 43 The input signal is used as a master position Application coupling several axes to one master signal e g an internal time base Input parameter is interpreted as an encoder signal even though P188 140 it is not an encoder signal P184 in master 40 see below for more information The parameter can be influenced by P35 133 Unit hardware Configuration Technical data Connector assignment Positioning and control functions Optimization Status Accessories Parameter Error list functions options rahla Operating instructions COMPAX M S Process coupling via HEDA option A1 A3 Can be used in slave unit Permissible combinations and the required parameter settings Master output parameters P184 95 A 00 60 70 70 70 143 143 70 Settings in master and slave for adapting the process parameters P98 is identical in all units CPX 70 43 CPX 70 CPX 00 E 60 CPX 70 43 70 140 CPX 60 CPX 70 P143 16384 00 E 60 CPX 70 43 CPX 70 CPX 00 60
186. g and disengaging final stage 95 Entry buffer 124 Error diagnosis in the mains power module 23 Error handling 82 179 Error history 162 Error messages F1 F5 RS485 182 HEDA eR 182 Error 83 Error transmission 125 EU guidelines 14 External contact for brake control 35 External control field 149 External motor conditions 53 External position management 105 Fan configuration 20 Fast starts et 132 Find machine zero 113 movement process 58 Free assignment of inputs and outputs 108 Front plate operation 49 Function codes of commands 123 Function of digital inputs 112 Function of outputs 117 Function signs 124 Functional overview 47 GBK i aee 35 Cis G 40 General drive 55 Global assignment 87 GOSUBi x cci 79 GOSUB 82 COMPAX M S GOT O PPP E 73 79 GOTO EXT 82 Grid filter 150 Hand held terminal 153 Hardware handshake 124 HAUSER synchronous A 139 HE
187. g of comparator shift points Power on VP immediate ly O 9 v P195 Baud rate possible settings in Baud 9600 1 000 000 20 000 50 000 100 000 125 000 250 000 500 000 800 000 1 000 000 pop up messages are reported with EMCY pop up messages are displayed in the status word boot up object with 0 data byte boot up object structure as EMCY data 0 boot up object only transmitted after Power on boot up object also transmitted after a START message Power on Power on P135 Index and subindex of 2nd object on the TPDO1 after power on o 10 16777215 P136 Index and subindex of 3rd object on the TPDO1 after power on o 16777215 P137 Index and subindex of 1st object on the TPDO2 after power on o Ca 16777215 value to be entered index 256 subindex 173 Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector Unit hardware Parameters Error list assignment control functions functions options rahla COMPAX M S Special parameters Default Maximum Valid value value as of P138 Index and subindex of 2nd object on the after power i0 16777215 P139 Index and subindex of 2nd object on the RPDO1 after power o Doe 16777215 P140 Index and subindex of 3rd object on the RPDO1 after power on o 0 o 16777215 P141 Index a
188. ge 91 When 1 is displayed this indicates that a reference system has been defined i e there is information about the position of machine zero When in Normal mode positioning is only possible when 1 By using an absolute value sensor and the relevant option A1 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 11812 1 O3 0 until machine zero is found Ready for start Position reached 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 e after an interruption with STOP or BREAK and these signals are no longer present after a corrected error condition and after Power On e at program end with the END command O4 has no significance as a direct command specification O5 is set 0 when starting a positioning process this applies for 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 117 Unit hardware Configuration Technical data Connector assignment Positioning
189. harmonies caused by crease torque P16 power limitation Vibrating at higher de decrease check min frequencies crease ground earth perceptible as noise P92 and or min moment of inertia P81 Vibrating at lower increase check max frequencies ground earth perceptible as motion P88 and or max moment of inertia P82 High motor or final increase linear decrease max stage temperatures crease P94 1 torque P16 Additional technical control optimization functions Variants of controller structure The ParameterEditor function enables you to access 2 further variants of the control structure besides the standard structure This is not the case if the system is operated with an asynchronous motor since the structural variants make use of the motor speed monitor see below Depending upon your application and the method used for recording the motor position resolver or sincos you can achieve a substantial increase in controller efficiency p23 and consequently in control dynamics with the extra structural variants The structural variants can be accessed via the menu Parameters controller control structure in ParameterEditor It is not possible to directly access the structural variants with parameters via bus or terminal 100 HAUSER Optimization parameters Description of optimization parameters Optimization functions Optimization display The optimization display status 13 and S14 is
190. he drive accelerates for the last set 100 ms to the last set velocity of 1096 and returns to position 0 The braking time of 2000 ms which was set before the speed step profile is used as the braking ramp 77 Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector Unit hardware Parameters Error list assignment control functions functions options Operating instructions COMPAX M S Command program instructions POSA POSR 7 4 1 14 Comparators during positioning POSR OUTPUT dd OUTPUT Setting and resetting freely assignable outputs within a positioning process SPEED A maximum of 8 comparators can be set in one positioning process The ACCEL comparator value is specified as a relative dimension It is referenced to the positioning start point OUTPUT Syntax value OUTPUT output 1 0 Value only positives value are permitted unit corresponds to P90 two digits SPEED after the decimal points three in the case on inches a control parameter SYNG P40 P49 or a variable V1 V39 Mark e g POSR P40 OUTPUT O7 1 reference Examples 001 ACCEL 250 Acceleration and braking time 250 ms SPEED N002 SPEED 50 Initial velocity 50 N003 POSR 150 OUTPUT O8 1 1st comparator at start position 150 sets output O8 to POSR 1 QUTPUT 04 POSR 300 OUTPUT O7 1 2nd comparator a
191. hout N1 S y Vy y yy vy y aN co J o e 9 vep om yox a o o X X x x x gt lt gt lt gt lt gt lt gt lt x x 2 ziuu gt 99 gt 5 x1 X2 X3 X6 motor power inter control RS232 brake mediate loop voltage V J AAN day OU 2 82 X12 o 1 1 Q 88 Override 1 o 4 X11 DA channel 2 X04 1 1 Q X95 DA channel 3 ALS Q Q X86 e X8 Override old AUB o 2 8 7_ 5 input d shield XLUZ Q X98 output C 5 8 9_ oy 208 2 gy X810__ ov X8 o 1 Q X8 o 1 X8 12 17 1 Q 9 DA channel 0 X83 option 01 xize Q 05 DA channel 1 2 2 X8A4 17 3 Q 06 shield 142 lt X8 5 xiz4 Q 07 X17 GND 24V Zase d 1 X86 og DA monitor 24 X175 lt initiators X17 6 Q X Ig Sig MN XZ 0 10 2_ Sig E2 X17 8 1 Q X08 44 C Sig 1 X72 1 1 by X10 4 1 Q X195 n3 4 uc 1405 1 106 ua X14 15 2 1 Q X 07 ns X10 4581 1 GAB 6 E X14 15 4 X10 9 X14 X15 X14 15 S oro PEDS ne 10 11 n bau on TxC X14 1
192. ial control commands are implemented in the different unit variants for synchronizer or transmission 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 or programmable controllers SPS for such cases 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 The program procedure can be controlled using data interfaces or binary I Os It is possible to select addresses data record selection using the interpretation of the adjoining binary input signals external data record selection The sets of commands have been deliberately kept simple and resemble the well known programming language Basic Program control instructions comparator functions setting resetting outputs and the motion related commands for specifying velocity position acceleration time etc are also possible 001 ACCEL 250 02 SPEED 80 N003 REPEAT 10 004 IF 17 1 9 N005 WAIT 100 N006 END N007 OUTPUT 07 1 N008 GOTO 13 N009 POSA 1250 N010 OUTPUT O8 1 N011 WAIT 500 N012 OUTPUT O8 0 N013 END The range of commands used with the compact COMPAX servo control unit is deliberately different to the range used in standard NC programming norms as described in DIN 66024 and DIN 66025 The comm
193. ier is activated N011 SBPEED 0 ere sets the speed to 0 12 OUTPUT 75 1 opens interlock 13 IF 18 1 GOTO 13 waits until shutter is opened 14 IF 18 0 GOTO 14 waits until shutter is closed again N015 OUTPUT O720 closes interlock 16 IF 19 0 GOTO 16 checks whether interlock is closed 17 GOTO operating mode query 7 goes to data record 007 18 SPEED 100 sets speed to 100 19 IF 110 0 GOTO removing 8 operating mode query N020 GOTO 9 goes to data record 019 192 AUSER Fast start 10 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 initiator 424V T 5 4 A 10096 rotational speed 360 400 t ms When
194. ies Interfaces Optimization Error list functions options Start up manual COMPAX M S COMPAX 25XXS connector assignment 6 5 4 COMPAX 25XXS connector assignment S S Q S S S S1 CGS S S S L C S O O se ennui o xp t x o ox o lt o dddadded ej e e el NN aoa O of o gt lt x x x X X gt lt ox X gt lt gt lt X x x x x gt lt D gt ZU te tt o gt HE E cA SM 23 p 2 x1 X2 X3 X4 X6 motor AC supply control braking RS232 brake voltage resistance PV JW 9 FEES X81 XU 1 1 Q X92 112 1 93 3 Override AUB o o ee 4 11 DA channel 2 Xs o 1 Q X85 is DA channel 3 xis o Q X9 6 _ Ig X8 Override old xue 1 g a 17 input C shield XUZ o o X8 8 Eg output i X8 9 11 18 a X18 e SA 01 08 X18 fan E 5 X810 o5 m ov 18 gt X8 1 gs gt 2 812 Option p1 A channel o ECT 1 Q X83 og DA channel 1 EE 1 X8 4 og shield 7 8 1 X815 o7 X17 GND 24y 17 4 X8 16 08 DA monitor 424V X17 5 initiators X17 6_ X10 Ig sign XZ lt Li Q X192 uo Sig E2 X17 8 1 X10 Sig 1 X79 lt X10 4 n5 1 X10 5 13
195. ified On line VP parameters can be modified and transferred and the password can be specified no matter which operating mode COMPAX is using Note Note the following points 1 Processor load When parameters are being validated using the VP command the response time and or time required to perform commands is temporarily extended due to the burden on computing time e g at the time the parameters are transferred a Stop signal is recognized after a short delay Typical delay times would be range of parameters gt P79 2 Modifying the controller setting P1 P79 approx 0 5 ms per parameter approx 20 ms When modifying the controller setting via parameters P23 P24 P25 P26 P27 or P70 comparison processes may arise These can then be recognized as brief axis feedback control operations 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 when you transfer modified VC parameters N e g via OUTPUT O0z1 Interfaces 9 3 2 COMPAX standard parameters Parameter sub division Control parameters P40 P49 Limitations P11 P16 Bus parameters P135 P142 P190 P196 D A monitor status monitor S15 P71 P74 P76 P77 P182
196. ign data to specify the drive type define the reference system The COMPAX configuration is carried out using parameters and the process is 50 c3 Configuration Safety instructions for the initial start up E The ParameterEditor part of the ServoManager automatically guides you into the managed configuration menu through the input masks using the configuration settings Power on for drive From the next page onwards you will find a description of the configuration process and this is given in a sensible order for anyone performing new configurations If you follow this process you will have all the parameters required machine zero and limit switch configurations which deviate from the standard E The configuration parameter are not transferred directly once they have been modified COMPAX will only transfer the new parameters once the VC commands configuration valid have been issued The ServoManager independently sets the parameters after configuration Using the command OUTPUT O0 0 Note that once a configuration has been set or modified there is a risk because you may have incorrectly programmed some of the parameters You should therefore especially secure the displacement area of your system by switching on the drive 7 2 4 Safety instructions for the initial start up Risk of incorrect wiring In order to avoid the risk of wiring the system incorrec
197. iguring COMPAX Create connection to COMPAX cable SSK1 refer to page 39 Call up ServoManager Create new project Menu Project New e Using the menu Axis Insert From controller a axis is created which contains all the COMPAX settings all parameters including system parameters and data records for COMPAX XX70 curves are also available Use the menu Servo Tools to switch over to ParameterEditor Call up menu Configuration managed configuration All the configuration parameters are queried one after another 7 3 3 Individual configuration of the synchronous motors In addition to the motors contained in ServoManager ParameterEditor you can configure almost any synchronous motors The preconditions required of the motors and resolvers are listed in the start up manual under Technical data To modify the motor parameters you must switch off the motor using OUTPUT 0 1 or by pressing the key on the front plate while switching on COMPAX You will find the data required for this on the HAUSER motor type plate e EJ Configuration via PCs with ServoManager Motor type plate Individual configuration of the synchronous motors 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 contained within the motor type description type
198. ilable Caf 8 green and initialization 7 Error COMPAX error red E1 E56 present 9 9 09 RS232 29 X10 digital input and output X8 input output X11 control X13 encoder X15 HEDA X17 initiatoren TUS sev Bus sytem Before wiring up always de systems IN 33 OUT energize the unit Even once the mains supply has 5 been switched off dangerous lt NA I Fehn Ss X supply ae levels of voltage remain the F19 gt 346AT 5 system for up to 5 G g 24V DC W ae supply im NC When working with motors without el motor brake a holding brake the brake lines must not be connected to em mm d B e x4 braking 1e n B resistance 27 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector options functions control functions assignment Parameters Error list Start up manual COMPAX M S COMPAX 25XXS specific technical data Wiring up motor Wiring up mains power control voltage
199. in 20A been switched off dangerous levels NMD20 35A of voltage remain in the system for K circuit breaker or suitable Neozed conventional up to 5 min ise Mains power up to 3 500V AC The PE connection should be a Operating range 3 80V AC 3 500V AC 45 65 10mm version he Control voltage Between 21 6V and 26 4V DC Ripple 1Vss 22 SINUSES e Fuse protection 16A Power losses e without fan 120W standard e with fan max 250W Overvoltage limitation The energy returned to the system during braking is stored in the intermediate circuit The capacity and amount of energy which can be stored is NMD10 NMD20 1100mF 173 Ws If the energy recuperated from braking causes overvoltage then ballast resistances are engaged Braking power Cooling down time NND o OSS With fan 250W mmo SSCS 9 5 KW You can use external ballast resistances for NMD20 refer to page 152 Connecting the ballast resistance to NMD20 24 U brake 11 12 L3 24 se bracking resistance The ballast resistance is connected to X5 1 X5 2 and PE The cable is fastened into the tension relief of the mains power cable Output X5 is protected
200. in a controlled manner O4 Ready for start and Idle after stop 1 e You will require another start command if you are to complete the positioning process When START is present the resetting of the STOP signal is sufficient 16 0 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 e Once the MN is reached output Machine zero approached is set This remains set until another Find MN order is issued Output O5 Programmed position reached 0 The data record indicator is reset to 001 Reference travel prompted by the digital inputs interrupts a positioning command specified by the interfaces POSA POSR LOOP Approach RN The axis travels to the real zero point process velocity P4 ramp time P8 O4 Ready for start 0 until RN is reached Output O5 Programmed position reached 0 and once real zero is approached z 1 e Data record indicator is reset to NOO1 e n continuous mode the axis does not move the data record indicator is set to NOO1 113 Unit hardware Configuration Technical data Connector assignment Positioning and control functions Optimization Status Accessories Parameter Error list functions options rahla Operating instructions 1 COMPAXWS Digital inputs and outputs Teach in real zero Te
201. ing brake final stage Variable voltage 94 Implementation Using function O5 toggles when position speed is reached you can implement accurate tracking of the COMPAX positioning using the assistance of a marker in the SPS This also recognizes positioning processes which are completed again during the next PS cycle VA Flag PLC 2 PLC PLC internal i O5 position reached The SPS marker is toggled when a positioning command is transmitted The EXCLUSIVE OR linking of the SPS marker and output O5 can be analyzed as SPS internal Position reached message AUSER Positioning and control functions Engaging and disengaging the motor brake and final stage Unit hardware 7 4 8 Engaging and disengaging the motor brake and final stage COMPAX controls the idle holding brake of the motor and final stage The temporal characteristics can be selected using P17 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 refer to the following diagrams Final stage blocked by The final stage is released via error quit Or Or OUTPUT O0 1 OUTPUT O0 0 or or emergency STOP e once Power i
202. ing 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 190 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 Ode iurare ent 191 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 ope
203. ing them Direct No Command Mode No 1 es Enter command F 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 When OUTPUT A X the cursor is below X once the command has been function transmitted The value can be modified and transmitted 156 Viewing editing Accessories Hand held terminal Unit hardware and resetting NoJ 4 Parameter Mode 1NoJ 4 Set up Mode parameter VC is created when you exit the menu Viewing setting configuration ve View Parameters IHYES 4 Enter Parameter s o Ent Select other para meters using AJor v or edit parameter no Edit param eters Enter Parameter no s o Ent Edit Parameter no Ent Select other para meters Y edit parameter no Reset Parameters HYEsh Are You sure YESI Parameters are set to defaults reconfigure the device Exits the menu without VC e When you exit the Parameter edit menu using Esc the VC command transfer
204. 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 e spindle drive P83 erack and pinion toothed belt P82 P83 general drive P83 1000 in mm List of parameters sorted by number Default Maximum Valid value value as of P1 Point of real zero distance between real zero coresp P90 1 000 000 ps and machine zero 1 1000 000 Substitute for non programmed velocity 10 00 100 00 Velocity for find machine zero EMIL 100 00 10 00 100 00 PA Velocity for approach real zero 10 00 100 00 Velocity for processing by hand 10 00 100 00 p Substitute value for non programmed ramp S 1000 60 000 time Ramp time for approach machine zero Ims 1 1000 60 000 Ramp time for approach point of real zero moe 1000 60 000 Ramp time for processing hand time for processing by hand 1 1000 60 000 time once limit switch has been 60 000 ns activated ately P11 Max positive position referenced to machine zero corresp P90 4 000 000 00 4 000 000 00 Max negative position referenced to machine corresp P90 4 000 000 00 P11 VP Zero 4 000 000 00 Max permitted lag tolerance error E10 is corresp P90 10 00 4 000 000 00 VP triggered when exceeded E10 amp E49 are 0 switched off with specification O FIM immedi zey Ma
205. ionally be screwed onto the 2 sides cooling body side and rear left hand side Retaining screws 4 M6 Allen screws 130 6 5 3 1 Design can be 16 98 arranged in rows Z ro Aaru The left hand side of the cooling body is fastened to the unit This is fastened to a metal wall using 2 retaining plate Installation distance 135 mm 5 tn tn 270 240 e 290 Delivery status i This is the unit design we deliver 6 5 3 2 Flat design a 220 10 Y A Y The left hand side of the Y v cooling body is fastened to the rs ra eee unit It is fastened to a metal wall using 2 retaining plates E HB COMPAX S Ic 6 5 3 3 Converting the front plates 270 240 ces 290 e Install the retaining plate on the desired side e Unfasten front plate and blind pu plate There are 2 screws on pus both the upper and lower sides of the unit Firstly install the front plate and P 186 _ then the blind plate to the desired point 29 Positioning and Configuration Technical data Connector Unit hardware control functions Parameters Status Accessor
206. ition management 6 external position management switched on via channel 1 P146 Resolution of encoder emulation channel 2 0 1024 28 512 fixed for SinCos P148 End stage designation Read only parameter S37 P149 Configuration 0 not valid 1 valid 4 as of next process command A parameter for asynchronous motors S parameter for synchronous motors 169 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment Parameters Error list control functions functions options rahla COMPAX M S COMPAX standard parameters em a lal a value value as of P151 Responsiveness of the monitor control o 30 500 P181 HEDA parameter coupling window um or inerementsy 0 10 4000000 ve P182 Setting statusmonitorSi5 0 o 6532707 P184 Selection parameter for HEDA process value 40 encoder position master internal time base Standard value P184 0 standardized master position nominal position value in resolver increments actual position value in resolver increments differentiated resolver position P185 P187 HEDA parameter encoder coupling for encoder input slave signals 184 40 signals 184 40 internal time base Standard value P188 0 encoder coupling for other input standardized master position P191 P196 Busparame
207. l circuit starts as of a critical value Sets the rigidity in a manner which ensures that there is a sufficiently safe distance to the critical value The control process is slower This in return increases the lag error The current limitation is reached later 23 100 4 23 gt 100 __ speed reference value actual value P23 10095 t The dampening influences the height of the harmonies and reduces the vibrations Nominal value 100 Range 0 500 The harmonies become smaller The drive vibrates at high frequency as of a specific value The harmonies of the actual value becomes stronger and it vibrates longer by the nominal value The drive vibrates permanently as of a specific value P24 100 97 Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector Unit hardware Parameters Error list assignment control functions functions options rahla Operating instructions 1 COMPAXNWS Optimizing controller Advance control Advance control of speed acceleration and power measures Advantages Minimum lag error Better attenuation characteristics Higher levels of dynamism with lower maximum current Principle 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 the po
208. l configuration of the synchronous motors Drive type If you firstly want to operate the motor without the mechanics then select P80 16 general drive e P81 P82 moment of inertia of the motor P93 2 continuous mode Call up the Parameter managed parameter setting menu The remaining parameters are queried one after the other e Use menu Online Download to transfer the data into COMPAX and to validate Caution Secure the displacement area of your system or the motor When switching on there is a risk as you may have incorrect configuration data Risk of incorrect wiring In order to avoid the risk of wiring the system incorrectly when first starting up you should use the following settings for your own safety and for the protection of your system P15 10 motor speed limited to 10 of its nominal value P16 100 torque limited to 100 of its nominal value The drive must remain on after the system has been switched on Start to operate the system either with POSR x or manually If this travel motion is performed correctly you can reset P15 and P16 to their original values The following errors may occur The drive may remain at a standstill once switched on or the drive runs out of control when the start command is given In both instances 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
209. le of a transmission factor which cannot be displayed exactly 17teeth 11 teeth Accuracy depends on P3 Accuracy in motor revolutions 171 104 100 60 1000 63 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment Parameters Error list control functions functions options rahla Operating instructions COMPAX M S Machinezero mode gt gt gt Machine zero Find machine zero Application 213 0 Linear movements This saves the need for a machine zero clockwise rotating motor __ initiator E1 resolver zero equal to a limit switch Function Travels during Find machine zero eto the relevant limit position of actual MZ switch jou TP e back to the 3rd 360 resolver zero pulse The 3rd resolver zero pulse is analyzed as machine zero P2132 1 clockwise rotating motor E1 resolver zero pulse signal MZ ini position of actual MZ P29 0 360 0 360 P217 1 P216 set correctly In the above diagram 216 1 limit switch E1 is approached with the anti clockwise rotating motor Wiring up The input of the machine zero initiator X17 7 must be wired up with the relevant limit
210. lification 20 000 1 P77 Address of D A monitor 4 decimal place 0 amplification 20 000 1 P80 Drive type 2 spindle drive 4 8 rack and pinion toothed belt 16 gen drive Drive type Spindle drive P80z 2 81 P82 8 2 kg VP VP VP 8 5000 00 80 00 OJo gt 000 0 00 0 00 P84_ Moment of inertia for transmission and coupling 0 00 10 00 85 Rato J10000000 10000000 1000000000 88 translated mass moved fo J P92 Min translated mass moved kg Jo Rack and pinion toothed belt drive type 80 4 8 P84 Moment of inertia of transmission and coupling kgcm 0 00 0 00 200 00 Ratio toon 10000000 10000009 P88 max translated mass moved kg lo 50o P92 min translated mass moved Jo Paes General drive drive type 80 16 P81 Min totalmomentofineria kgmm2 0 00 0 00 Jmax 82 ve P82 Max totalmomentofineria kgmm2 o 1000 200000 vc _ DUE IN d increm 65 536 incr 1 mm 2 inch 2 continuous mode 4 speed control mode 48 P94 Ramp shape linear 2 smooth 3 quadratic 6 When in speed control mode P25 must 0 of next process command gt lt lt lt lt lt lt OJo 168
211. limited by quantization noise COMPAX has implemented a speed monitor for determining speed which can be turned on using parameter P50 By using the speed monitor you are able to set a higher level of rigidity which corresponds to a faster control process The monitor reproduces the dynamic behavior of the drive It receives the same input signal as the physical drive Using an additional loop its output magnitude is compared with the actual output magnitude of the drive actual position value from resolver and held to the same value The 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 You can use this speed signal to attain a stable control process or to operate the drive control process with higher levels of rigidity P23 and the same levels of damping 50 100 without monitor standard setting and function as before 50 101 with monitor P151 responsiveness of the monitor control standard 3096 151 gt 30 monitor loop becomes faster P151 3096 monitor loop becomes slower For large ratios Jioao Jmotor gt Attention You do not have to use the speed monitor when you are operating asynchronous motors HAUSER Optimization functions External position management with position adjustment 7 5 4 External position management with position adjustment Only available in COMP
212. me is assigned within the speed step profile however not using ACCEL but rather is defined by the velocity change The deceleration ramp for the target position is defined by the previously set ramp braking time in effect before the speed step profile Abbreviation PR x SD yALz X 7 number parameter P40 P40 P49 or variable V1 V1 V39 PR P40 SD V31 AL 200 The last ramp time selected using a prepared command from ACCEL remains valid for future positioning processes The situation with SPEED is same braking time previously defined with ACCEL remains unaffected ACCEL 1000 Generally valid acceleration time ACCEL 2000 Generally valid braking time SPEED 25 Generally valid velocity POSR x SPEED 100 ACCEL 300 1st speed step at position x POSR y SPEED 10 ACCEL 100 2nd speed step at position y POSAz Start positioning to z 0 Return with SD 10 AL100 and AL 2000 T0095 c over sepe e cape ici Ug VEL Va Tes Speed 1000ms 2000ms Position 2000ms 1 Position x is approached with 25 velocity and 1000 ms acceleration time 2 Position y is approached with 10096 velocity and 300 ms acceleration time 3 Position z is approached with 1096 velocity and 100 ms acceleration time 4 To move to position z deceleration is performed in good time using a braking ramp of 2000 ms 5 After the command 0 the drive returns to the starting point position 0 T
213. me position The program stops running at this point Machine zero e g then has to approached or the program indicator must be reset explicity 7 4 2 14 STOP BREAK handling IF STOP GOSUB xxx For influencing the behavior after a STOP or BREAK IF STOP GOSUB xxx This instruction like normal IF instructions can only be programmed in the program It controls the procedure performed in the program when a stop status rises 83 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment Parameters Error list control functions functions options Operating instructions COMPAX M S Controlling programming procedure POSA POSR SPEED ACCEL OUTPUT Password SPEED SYNC Stop program Mark reference POSR SPEED POSROUTP UT WAIT GOTO dd Error program with WAIT START RETURN END REPEAT IF E Comparison WAIT Start GOTO GOSUB EXT Priority IF Error Stop Example Arithmetic Position monitoring Idle display Speed monitoring Engaging disengaging brake final stage Variable voltage 84 Normally a STOP BREAK command in the COMPAX will cause a actively running move to be broken off the program is stopped The instruction IF STOP GOSUB xxx allows you to set the outputs to defined status s when the program is stopped If such an instruction has already run in the prog
214. mission and clutch referenced to motor shaft Range 0 200 kgcm Minimum translated mass moved kg Range 0 88 Maximum translated mass moved in kg Range 0 500 kg HLE80C HLE100C HLE150C HPLAB180 toothed belt HPLAR180 rack and EE Number of teeth on pinion P82 Tooth pitch P83 P80 16 Total minimum moment of inertia motor transmission and load referenced to the motor shaft Range 0 82 kgmm Total maximum moment of inertia motor transmission and load referenced to the motor shaft Range P81 200 000kgmm Range 10 4 000 000um or 16 65 536 increments 55 Unit hardware Positioning and Configuration Technical data Connector assignment cable control functions Parameters Status Accessories Interfaces Optimization Error list functions options Operating instructions 1 Configuration parameters Reference system P213z 0 P213 1 Setting aid Determining software end limits P11 maximum position P12 minimum position Determining point of real zero RN P1 point of real zero P215 direction of rotation 56 Setting aid Parameter P213 direction of machine zero the description provided here is the standard setting you will find more information as of page 57 Standard reference system no end or reversing initiators one machine zero initiator at the end of the displacement area The machine
215. mization Parameter Error list functions Operating instructions COMPAX M S SPS data interface Modifying the Start sign 1110 parameters Function code 1 1 0001 P1 P49 Function code 2 3 0011 Parameter no tens column Parameter no digits column Assignment code A 1010 Prefix 0 0000 positive D 1101 negative Numerical value 109 Numerical value 105 Numerical value 10 Numerical value 103 Numerical value 10 Numerical value 10 Numerical value 109 Decimal point 1100 Numerical value 10 Numerical value 10 2 End sign E 1 1 1 1 Transfer of VP Start sign 1110 parameter Function code 1 1 0001 Function code 2 4 0100 sign 1 1 1 1 Status query Start sian E 1110 1 512 actual Function code 1 1 0001 values Function code 2 6 0110 Numerical value 10 Numerical value 109 End sian E 1 1 1 1 Status response Start sign 1110 1 512 actual Prefix 0 0000 positive values D 1101 negative Numerical value 106 Numerical value 105 Numerical value 104 Numerical value 10 Numerical value 10 Numerical value 101 Numerical value 109 Decimal point 1100 Numerical value 10 1 Numerical value 10 Numerical value 10 3 End sign 1111 The following signs are not necessary when transferring Positive prefixes and initial zeros For whole number
216. mmand The sum of the E90 E94 acknowledgement E90 E94 specified values is 2 no transmission of error and no neg entered in P20 command acknowledgments E90 E94 A errors and negative command acknowledgments E90 E94 are re ported once they arise using Exx CR LF gt 6 errors amp neg command acknowledgement E90 E94 only when there is activity on the interface End sign selection Cp L 8 Binary transfer 0 without 16 with immedi BCC block check O without 128 with Power EXOR of all signs apart a from the end sign 0 1000 1 0000 10 0000 21 Factor for influencing the travel per motor revolution 0 5000 1 0000 2 0000 VP amp VC 22 Factor for modifying the speed which is id allocated to speed SPEED 100 44 mE P24 _ Speed controller damping o t100 50 P26 _ Advance control acceleration value o t100 50 P29 Machinezero comparison Degree o O 1360 V Switching on mark reference 0 switched off 1 switched on Limitation of speed correction value for external id a 100 position adjustment only available in XX00 and XX30 0 switched off P104 F37_ Minimumtraveltomark 000 ooo 98 1238 Maximum mar ewsem P37 000 400000096 YF P39 Maximum feed engh ewere sPss 000
217. mmands 71 Standard parameters 165 Standard scope of supply 44 Start up flow chart 12 Status bits 161 Status bits 1 160 Status monitor 160 162 Status values 160 SIOD DI ree 124 COMPAX M S STOP handling 83 Stop program 84 Sub program 79 Subtraction 86 Supply 11 Supported resolver 42 Switch on status 11 Switch status 161 Switching off 50 Switching off drive unit 73 Synchronization errors 135 Synchronizing to external 74 Synchronous cycle control 111 Synchronous cycle parameters 175 Synchronous STOP using qoe 115 System concept 136 Table of contents 2 Target position 160 Teach in real zero 114 TEACH position 128 Technical data 42 Technical data power features A LD 22 Temperature 160 Terminal boxes 35 Test control 37 TN mains power supplies 44 Toggling when position is
218. ms Via the uncoupled rigidity damping and advance control parameters Substitute and specification values limitations control parameters Programming a sequential program with up to 250 data records 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 Digital control with robust loops Automatic calculation from existing design quantities 47 Unit hardware Configuration Technical data Connector assignment Positioning and control functions Parameters Status Accessories Interfaces Optimization Error list functions options rahla Operating instructions 1 COMPAXWS Password protection Interfaces for signals Override input Absolute value sensor option HEDA option Encoder input option Encoder emulation option D A monitor 7 1 2 Deactivate password protection Activate password protection Protected parameters Note Analogue input X11 6 refer to start up manual for continually reducing the set speed This option supports an absolute value sensor attached to the motor reference travel is therefore no longe
219. n when the centrifuge is at a standstill Fast stari o uc cdd DSL D cu DU ee 193 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 nnmnnn nnmnnn 194 2 options are available for implementing a torque converters 183 Application examples COMPAX M S External data record selection 10 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 7 6 5 4 3 2 1 0 station Ste pests eve workpiece pick up ZZ 4960 840 720 600 480 360 240 120 The horizontal movement is implemented using an NC axis controlled
220. nd subindex of 1st object on the RPDO2 after power on o 10 16777215 P142 Index and subindex of 2nd object on the RPDO after power o 0 1 16777215 P203 Assigning status 16 and S17 to CPX ZSW Bit 0 0 CPX ZSW standard immediatel assignment y Bit 21 516 S17 to ZSW 9 3 3 6 Option A1 Default Maximum Valid value value as of P181 Coupling window in microns or increments 0 10 4000000 VP P184 Selection parameter for HEDA process value 40 encoder position master 42 internal time base Standard value P184 0 43 standardized master position 44 nominal position value in resolver increments 45 actual position value in resolver increments 46 differentiated resolver position P185 HEDA number channel 1 low 100 000 100183 332 767 P186 HEDA number channel 2 high 100 000 100 183 332 767 P187 HEDA number channel 2 low 100 000 100 183 332 767 P188 Selection parameter for HEDA process value 40 encoder coupling at encoder input slave signals P184 40 Standard value P188 0 encoder coupling at other input signals 184 40 42 internal time base 43 standardized master position P248 P250 174 9 3 3 7 Round table control XX30 Default Maximum Valid as value value of Point of real zero 360 000 E 360 000 Measuring filter 10096 upstre
221. ng anti clockwise P215 Direction of rotation 0 motor to the right 1 motor to the left 50 When 149 0 all parameters apart from the bus settings P194 P195 P196 P250 are set to standard values when switched on 170 AUSER P216 Limit switch position E1 is approached when P218 Error cutout Standard value P218 0 E57 active and E65 not active COMP AX parameters Default Maximum Valid value value as of 0 motor turning clockwise 1 motor turning anti clockwise P217 Limit switch mode 0 without 1 with limit switch Bit 0 0 E57 active 1 E57 Bit 1 0 E65 switched off 1 E65 active switched off Emergency stop 0 no evaluation of emergency stop input on COMPAX M input on COMPAX 7 emergency stop input on COMPAX M active M 2128 synchronous STOP on COMPAX and no evaluation of Synchronous STOP emergency stop input on COMPAX M on XX00 135 synchronous STOP COMPAX with evaluation of emergency stop input on COMPAX M P221 Freely assigning Input valency bit no standard inputs 11 1 1 12 2 2 13 4 3 8 4 15 16 5 16 32 6 with a 1 P221 sum of valencies of all free inputs you want 01 1 1 02 2 2 e 4 3 O5 16 5 O6 32 6 O7 64 7 P223 Assigning outputs Output valency bit no O1 O8 to the OUTPUT WORD P223 sum of v
222. ng the SPEED 100 command 007 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 011 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 001 and the output speed 007 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 012 and as of a travel distance of 70 mm is accelerated to 100 mm s 013 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 009 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 014 The conveyor belt is blocked for as long as the axis is located at a position of between 25 mm and 200 mm 008 and NO15 188 AUSER Speed step profiling comparator switching points Programming Configuration P93 1 i e normal operating mode absolute and relative positioning P94 1 linear ramp shape SP
223. nitiator amp resolver zero 2 reversing initiators Example of a reference system definition Function of the machine zero mode P212 0 Start search direction initiator side Application P213 defines the initiator flank of the machine zero Linear movements initiator which 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 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 E1 and E2 act as reversing initiators when performing Find machine zero P216 0 the E1 initiator is driven by the clockwise rotating motor P3 positive when P3 negative rotates into start search direction gear doesn t change direction clockwise rotating motor the direction E1 57 Status Accessories Interfaces Optimization P
224. not be any programs running 48 ANLLJ Configuration Front plate operation 7 2 Configuration 7 21 Front plate operation 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 lt modes B Querying status values and modifying the bus parameters call smaller call higher call smaller call higher Status Status C parameter C parameter number number number number choose number of C parameter Status number without function decrease value increase value without function i The following status values can be displayed via the front plate 503 508 511 519 526 hexadecimal display S27 30 S31 537 539 description of the status values refer to page 1160 The remaining status values can be queried via the interfaces Meaning of the COMPAX parameters Meaning Valid as of bus parameters cor P194 Address of unit 602 215 j Baudrae Poweron cos P196 Busprotoco Poweron c11 P250 HEDA address co4 c10 reserved a ae value Baud value 4 9 o 62
225. ntrol voltage 24 V DC initializing stage COMPAX configured COMPAX not configured 149 1 P149 0 error E57 in COMPAX Aiea display check execute configuration configuration P149z 1 connect connect DC bus DC bus voltage voltage LM clear 24 DC OUTPUT error E57 ON OFF 00 0 Ce RUN motor enabled HAUSER 4 3 Installing new equipment replacement Previous software gt 2 0 Procedure for copying the complete setting new unit e Start up ServoManager Connect old 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 e Connect new COMPAX Use menu Online Download to transfer data without system parameters into the new COMPAX Transferring system parameters up ParameterEditor Menu PC Tools ParameterEditor e Use Online copy menu to transfer all parameters including system parameters to COMPAX Previous software xV2 0 Procedure for copying complete COMPAX setting to a new unit e Start ServoManager Connect old COMPAX via RS232 Use menu Insert Axis New to set up a new axis e Use menu Online
226. o four data lines BCD format and one control line Direct commands Absolute and relative positioning commands POSA POSR Specification of acceleration time and velocity ACCEL SPEED Adjusting password approval or data record indicator GOTO Queries of status 51 512 actual values Modifying the parameters P1 P49 with defined parameter transfer VP The SPS data interface is activated by setting P18 P18 1 or 3 When it is 3 the Fast start function 115 is also switched on and by switching off and on The following binary inputs and outputs are assigned input output Meaning Data bit 20 gt 7 11 are no longer available for the OUTPUT command The GOSUB EXT and GOTO EXT commands are no longer permitted when 18 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 mode type and of numerical values for position velocity acceleration time etc The numerical values can contain special figures Figure BCD encoded 1101 negative prefix 0 0000 __ positive prefix C 1100 point A 1010 p Using status S29 you can e g track the interface data via the front plate display SPS data interface Syntax of the individual commands Positioning Start sign
227. o power the motors This is either down via an external contact between X8 9 5 and X8 9 6 as is shown in the figure below or by attaching 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 characteristics e After an emergency stop error E55 even in OFF status and 1 0 The present command is interrupted e The controller brakes the motor braking time P10 relative to the time set by ACCEL e When at a standstill the controller is switched off if in place the standstill retaining brakes is closed Once the problem has been rectified E55 must be acknowledged e The present command is continued after START Emergency stop and ready on connector NMD X8 COMPAX S X9 and COMPAX 35XXM X19 daba Pin designation fundion vU a 1 24V voltage supply 2 GND output 3 P readiness contact 4 readiness contact m 5 24 emergency stop output a c 6 15V 24V emergency stop input 7 housing shield connection 34 Emergency stop input direct on COM
228. odule 18 Installing new equipment replacement 13 Interbus S 141 107 Interpreting and storing 124 IT mains power supplies 44 Lag error 160 181 Last 160 Leakage current 44 xo ee 11 Limit switch monitoring 65 Limit switch operation 65 Limit values 166 Limitation functions 178 Limits status 161 Machine zero comparison 60 Machine zero mode 57 Mains power 160 Mains power module NMD10 NMD20O 22 Mains power supplies 44 Mains supply fuse protection24 42 Mains supply line COMPAX P1XXM 41 Mark 75 Mark related positioning 75 Master output parameters 133 Maximum feed length 75 Maximum mass 55 Maximum position P11 56 Maximum travel to mark 75 Measuring error 103 161 164 Minimizing lag error 100 Minimum mass 55 Minimum position P12 56 Minimum travel to mark 75 Modifying VP parameter on Ie 165 ts 8
229. ogram is however stopped no matter what the error type The instruction IF ERROR GOSUB xxx allows you to e g set the outputs to defined status s when an error occurs If such an instruction has been run once in the program and then an error later arises the following occurs ethe current move is broken off if necessary the axis is depending the error switched off and finally the Error program which you have programmed as of program number XXX IS run voltage 82 SR Positioning and control functions Priority Error program Error program with WAIT START Example IF STOP GOSUB xxx Syntax Controlling programming procedure 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 The error program must not contain any motion commands POSR POSR WAIT POSA WAIT POSR SPEED in the speed control mode sub program jumps GOSUB IF GOSUB any COMPAX XX70 commands any approach real zero and find machine zero commands contain any speed step commands SPEED and 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 Each error program must contain a WAIT START instruction
230. on with changes in speed Ba3 O5 toggles when speed is reached O5 toggles every time that a new speed specification is reached O5 1 nominal value reached lt P14 O5z 1 if the nominal value sensor has completed the ramp and the difference in speed is less than P14 If the speed difference after 5 1 returns to being greater than P14 O5 0 until the value falls below P14 again O5 1 nominal value reached independent of P14 O5 1 as soon as the nominal value generator has reached the nominal speed and remains at 1 until the next speed modification occurs Functional description 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 Speed difference P13 error E10 is canceled When P1320 error E10 and E49 can be switched off O5 is toggled at the end of every speed modification nominal value generator has reached the nominal speed modified i e when O5z 1 modified to 5 0 when O5z 0 modified to 5 1 When errors occur Exx is displayed O5 remains at its present value Can be set using P227 bit 4 z 1 V 0 Counting in bits beginning with bit O 21 Ba1 operating mode 1 AWS Positioning and control functions Ba2 5
231. on a COMPAX master P245 Allocating outputs Output valency bit no O1 O8 to the HEDA bus P245 sum of valencies of the outputs allocated to the HEDA bus P246 Allocating outputs Output valency bit no O9 O16 to the HEDA bus P246 sum of valencies allocated 01 1 1 02 2 2 e 4 3 O5 16 5 O6 32 6 O7 64 7 O9 1 1 e O10 2 2 O11 4 3 O13 16 5 O14 32 6 O15 64 7 to the HEDA bus e O4 8 4 O8 128 8 0012 8 4 e O16 128 8 immedi ately immedi ately immedi ately immedi ately immedi ately immedi ately immedi ately immedi ately immedi ately VP immedi ately immedi ately 2 parameter 5 Counting in bits starting with bit O 171 Unit hardware Configuration Technical data Connector assignment Positioning and control functions Parameters Status Accessories Interfaces Optimization Error list functions options rahla COMPAX M S Special parameters 9 3 3 Special parameters 1 1 1 1 RS485 interface option F1 F5 Default Maximum Valid value value as of 0 99 9 P194 Addressofunit oo d P195 Baud rate 9600 115200 Power on for field bus protocol P196 164 P196 Operating mode a ee ee ee 22682 9 3 3 2 CAN bus option F4 Default Maximum Valid value value as of P19
232. onnectors forms part of the scope of supply of the mains power module supplier Before wiring up always de energize the unit Even once the mains supply has been switched off dangerous levels of voltage remain in the system for up to 5 min Wiring up the system network The wires required for creating the system network fall within the scope of supply Open the front cover upper section of front side by loosening the top right knurled screw and wire up as follows power supply module cable conduit 8 51585 576 L1 L2L3 PE 24V LS LS motor ttt HH brake motor 111HH brake MU o DB 2 oo 24 DC voltage supply eL ES e PE and DC current e Emergency stop ready and 1 fs x1 al DoF DONS OG o o x2 x2 bus signals with a terminating connector on the last unit From the mains power module to the individual COMPAX M C When the unit is still in the original condition in which it is supplied the terminating connector is located on the mains power module voltage
233. ons 013 014 Cannot be used via OUTPUT O14 O15 O16 Mark not in mark window Lag warning Synchronous run Please refer to the instructions for the variant you are using for up to date information 111 Unit hardware Configuration Technical data Connector assignment Positioning and control functions Optimization Status Accessories Parameter Error list functions options rahla Operating instructions 1 COMPAXWS Digital inputs and outputs Exception START Length of signal 1ms SHIFT Hand Hand 112 7 6 1 3 Function of inputs When working with pre assigned inputs always note the following The SHIFT signal 11 may only change if 12 15 0 gt 0 2ms gt 0 2ms STOP and BREAK functions input 16 have top priority For the inputs 11 to 15 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 I22 1 Quit is not detected even after 12 0 A new rising flank will be required for Quit 14 If a program is interrupted by STOP when START is present 15 the program is then continued using 16 0 STOP is deactivated The signals must be present for 1 ms if you are to be sure of detection Input I1 e Switches to the functions for inputs 12 to 16 Signal 11 may only change if
234. ontrol voltage External braking resistance L1 L2 L3 DC in Braking Mains Input 24V Resistance X20 X21 x22 The PE connection must be a version of at least 10mm 25 Parameters Status Accessories Interfaces Error list options Start up manual COMPAX M S COMPAX 35XXM connector assignment 6 4 5 COMPAX 35XXM connector assignment S C Ss S a a e N x gt lt X X X 8 gt gt 21 me X20 Control AC Supply volt X22 Braking X23 otage resistance Motor Motor brake LLL GM Q X92 424v XU O X83 E 11 2 1 8 4 gt Override AUB 5 X85 3 E DA channel 2 1402 b X8 6 gt 58 DA channel 3 15 o T X8 7 se Override old H 8 o Q 97 m 55 Shield XU o X8 8B o zB 0 1 m i BSR us c 02 PE as vum 03 E 5 X12 2 04 rco X12 3 NC X8 3 gs x12 4 REF X84 xi2 5 O6 X8 15 X7 output bus systems lue SIN gt amp Shield XLZ3 07 X12 6 _ 2 er n Assignment depends on 2 s 5 GND 24V Q X816 og the bus system 2 7 GND SY X17 5 c x12 8 ST m xime A X10 1 i 12 9 z E GND AH lt Q 19 X5 output bus systems yO 9 lt ig MN 17 7 X10 2 Assignment depends on
235. ops present gt No errors present Set query and data record assignment Nxxx Nxxx value Set reset outputs OUTPUT Ax y Not OUTPUT 00 e VP VC VF Quit OUTPUT OO data record indicator password e VP e VP e SPEED ACCEL POSR value SPEED value POSR value OUTPUT data record indicator password No other commands are available All commands and functions are available 31 SPEED is not available here in speed control mode 129 Unit hardware Configuration Technical data Connector assignment Positioning and Optimization Status Accessories Parameter Error list control functions functions options rahla Operating instructions RS232 interface P20 switching on binary data transfer Example A COMP AX response Meanings of the binary command codes Numerical formats Numerical formats of yy yy 130 COMPAX M S 7 6 3 4 Binary data transfer using RS232 A series of commands can be transferred in the COMPAX internal binary format for applications for which time is critical This saves times as the format no longer needs to be changed from ASCII into the COMPAX internal binary format You can however still transfer data in the normal ASCII format mixed mode P20 P20 16 Adds 16 to the P20 setting that you want refer to the interface parameters section in the User Guide This ensu
236. or 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 18 reports that the carton has been passed to conveyor belt C 008 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 010 The carton is transferred to conveyor belt C at this constant speed using 011 Conveyor belt A is then released again 002 Programming Configuration Encoder input E2 option P93 2 i e continuous operating mode P98 2314 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 0 no 1 gt yes l8 deposit carton 0 no 1 gt yes O7 conveyor belt A 0 block 1 gt release List of programs 001 ACCEL 200 sss sets the acceleration and braking ramps Transfer carton mark 02 OUTPUT O721 mA releases conveyor belt 003 IF 17 0 GOTO
237. or connection SSK4 o EE SSK 7 2 bus terminators nnns BUS1 01 Encoder module COMPAX 1 e encoder input module E4 encoder emulation 2 3 e encoder input module E4 GBK11 AN EE Process interfaces Absolute value sensor A1 8 6 2 Absolute value sensor A1 Technical data Note Note When using option A1 the absolute value sensor interface reference travel Find machine zero is not required as it usually always is in normal mode once the mans power supply has been switched on The reference travel is then only required during start up The following are supported e Stegmann absolute value sensors of the types AG100MS GRAY 4096 4096 or AG626XSR 4096 4096 e Voltage supply 24V 10 Sensing code Gray code single step e Direction of counting clockwise when looking at the shaft rising Data interface RS422 24 bit data format starting with MSB Cycle frequency 100 kHz Approval of absolute value sensor input When using equipped A1 option if this is not already being performed by HAUSER the absolute value sensor input is approved using parameter P206 Meaning P206 1 absolute value sensor input approved
238. or shifting machine zero using P29 taking the example of P212 1 machine zero initiator active mechanical limit resolver zero pulse 0 machanical limit position of the actual MZ mechanical limit initiator edge machine zero initiator disabled The machine zero initiator MN INI is low active position initiator edge The resolver zero pulse is a fixed position of the rotor position position initiator edge The actual machine zero MN results from the AND connection of the machine zero initiator with the resolver zero pulse Ile position range within which the position of the actual MZ can be shifted by P29 position oti actual MZ 0 mechanical position of the actual MZ 270 360 4 initiator edge clockwise rotating motor 29 P29 shifts the actual machine zero in the direction of the clockwise rotating motor em position initiator edge clockwise rotating motor 29 0 90 P29 shifts the actual machine zero in the direction of the clockwise rotating mechanical limit motor AUS Machine zero equal to external zero pulse Preconditions for this operating mode c3 Configuration Machine zero mode P212 3 Find machine zero Application P213 0 P29 0 P29 90 General rotational external external movements zero pulse command zero pulse comm
239. oscilloscope This provides you will a capable aid for making the unit s function 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 microns Using the parameters P76 and P77 you can selected 2 parameters and adapt them to the desired measuring range Assignment of the channels Channel 2 X11 4 Channel 3 X11 5 Meaning and range of values of P76 P77 Parameter Range P76 Measuring parameter Value of channel 2 before the see below for decimal meaning point P76 Value after decimal 0 1 10 000 000 Gain factor from channel 2 factor 2 value x 10 000 000 Measuring parameter of channel 3 see below for meaning point P77 Value after decimal point 0 1 10 000 000 Gain factor from channel 3 factor 2 value x 10 000 000 C The parameter can only be actuated once you have entered the password They are validated using VP D A monitor standard measuring parameters Service D A monitor Selection of measuring parameter using P76 P77 D A monitor option D1 Selection of measuring parameter using P73 P74 refer to next page 1 0000001 factor 1 000001 factor 10 999999 factor 10 000 000 38 COMPAX M S Measuring IMeasuring parameter Reference value no Nominal speed value 2
240. ositioning and Configuration Technical data Connector Unit hardware Parameters Error list assignment control functions functions options rahla Operating instructions Machine zero mode Real zero Movement process during find machine zero depends on start point 58 COMPAX M S 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 value at P1 real zero J P11 P12 real zero machine zero E2 E1 preverse initiator resolver resolver resolver reverse initiator limit switch r zero pulse zero pulse ero pulse limit switch a machine zero Switch actual machine zero shift machine zero by P29 P29 P29 90 360 0 90 starting position 3 starting i startin position 1 9 position 2 The speed used for find machine zero is established by P3 the accelerating and braking time by P7 Machine zero equal to external initiator amp resolver zero e EJ Configuration Machine zero mode The additional machine zero modes The machine zero modes described below are all used without reversing initiators The search direction and the analyzed initiator side are influenced as follows when working in these
241. pare Lad Syntax ACCEL value 10 65 000 ms a control parameter 40 49 or a variable V1 V39 e g GOTO ACCEL P40 timescale 10 ms GOSUB EXT The negative prefix for the decceleration time specification must be set before the control parameters e g ACCEL P40 P40 gt 0 IF Error St da C The time is specified in ms and applies for nominal velocity 100 The actual time is proportional to the Position velocity selected Meaning ta SPEED ACCEL monitoring Idle display Speed Example 005 ACCEL 300 sets the acceleration and deceleration ramp to 300 ms 06 ACCEL 200 sets the deceleration ramp to 200 200 ms when Engaging SPEED 1 0096 disengaging brake final stage OUTPUT Syntax OUTPUT output 1 0 Output O19 016 7 4 1 5 Setting resetting an output OUTPUT Example 05 OUTPUT O8 1 Sets output 8 N005 OUTPUT O8 0 Resets output 8 For asynchronous motors up to a max of 300 A1 A6 only if masked via P225 72 AUS SR Positioning and control functions OUTPUT 012 1010 Note OUTPUT OO Syntax Example Limitation GOTO Syntax Example Command program instructions 7 4 1 6 Setting multiple digital outputs OUTPUT 012 1010 Multiple outputs can be set simultaneously OUTPUT O12 1010 OUTPUT 010 01 011 10 is not modified 010 0 O112 1 O12 O
242. position 100 is reached using Cp gt P20 Software Activation using P20 Valid handshake SH as of error Error transmission 0 Error only when there is activity at the interface immed and if the transmitted command triggers an error iately End sign selection 0 Le gt 8 Binary transfer 0 without 16 with No negative command acknowledgement E90 E94 2 No transmission of the error and no negative command acknowledgments E90 E94 4 Messages are provided for all errors and negative command acknowledgments E90 E94 as soon as they arise and this is done with Exx Cp gt 6 Error and negative command acknowledgement E90 E94 only when there is activity at the interface Software 0 without Power transmission handshake 1 with XON XOFF on n iatel Block check 0 without 128 with Power EXOR via all signs apart from the end sign on p Perform the setting you want 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 a com1 9600 N 8 1 OPEN for RANDOM AS 1 text S1 PRINT 1 text text INPUT 1 text PRINT text END The text string text is defined and has a length of 30 The interface parameters are assigned to the a string Meaning com1 the serial interface is used 9600 sets Baud ra
243. power on Value Index e 256 Subindex P138 Index and subindex of object which occupies the 5th PE data byte after power on Value Index e 256 Subindex P139 Index and subindex of object which occupies the 1st PA data byte after power on Value Index e 256 Subindex automatic error message automatic Position reached message automatic reporting of comparator shift points 0 or 1 2 bytes 1 word 2 4 bytes 2 words 3 6 bytes 3 words 16777215 16777215 16777215 16777215 Power on immediate Power on Power on Power on Power on Power on Power on P140 Index and subindex of object which occupies the 2nd PA data byte after 16777215 Power on power on Value Index e 256 Subindex P144 Index and subindex of object which occupies the 3rd PA data byte after 16777215 Power on power on Value Index e 256 Subindex P142 Index and subindex of object which occupies the 5th PA data byte after 16777215 Power on power on Value Index e 256 Subindex 9 3 3 5 CANopen option F8 Default Maximum Valid value value as of P190 Sets Device profile DSP 402 operating mode 0 22 Pop up messages DSP402 operating mode inactive DSP402 operating mode active no response except error message E73 during a time out stop with E73 and shut down during activation of holding brake automatic error message automatic Position reached message automatic reportin
244. query Via COMPAX hand held terminal e Via RS232 and via bus interface e Via the SPS data interface Additional status query via the 3 digit LED display of the front plate Housing e Sealed metal housing e Insulation VDE 0160 protection class IP20 Connections e Motor power bus control inputs outputs via terminals e Sensor cables interfaces via connectors Installation e Wall installation suitable for installation in industrial control cabinets Dimensions COMPAX M refer to 20 COMPAX 25XXS refer to page 29 COMPAX 45XXS 85XXS refer to page 31 Weights COMPAX P1XXM 5 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 Standard scope of supply with User Guide X8 X9 X10 X11 mating connectors One ServoManager per order Mains power control module For technical data refer to page 22 44 Permissible 3 phase mains The units COMPAX or NMD can be operated on all types of mains power supplies Examples IT mains power supplies When working with Delta mains power supplies note that the CE requirements low voltage guidelines are no longer satisfied if the voltage between phase and earth gt 300 AC insulation voltage Leakage current The leakage current current on the mains power supply PE
245. r Terminal standard device handheld terminal BDF 2 01 Interfaces bus systems Option F1 4 Wire Option F5 2 Wire RS 485 ASCII binary Interbus S Option F2 Profibus 7 Option F3 as plug in option CAN Bus Option F4 SSK19 CANopen Option F8 CS31 System bus Option F7 to further bus subscribers HEDA as plug in option HEDA Option A3 BS SSK14 z9 BUS 2 01 bus termination atlast COMPAX to an IPC with Hauser plug in board IPM for contouring 137 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment Parameters Error list control functions functions options Accessories and options 1 1 COMPAS Operating panel Operating panel
246. r does not have a holding brake do not wire up the brake 6 5 2 COMPAX 25XXS specific technical data Overvoltage limitation Connecting ballast resistance to COMPAX S e The energy recuperated during braking is stored in ballast resistance is connected to B B and if the intermediate circuit The capacity and energy necessary PE which can be stored are Output X4 is protected from short circuits COMPAX 25XXS 1000 mF 27 Ws If the recuperated energy causes overvoltage then Mating connectors X1 X2 and X4 extern pallasi rosistantas canbe engaged Mating connectors for X1 X4 are available within Maximum braking power with external the scope of supply of Phoenix and have the ballast resistance following type designations 7 X1 MSTB2 5 8 STF 5 08 with screw connection Braking power Lasts Cooling X2 MSTB2 5 4 ST 5 08 without screw connection COMPAX 25XXS 1 0 kW X3 MSTB2 5 2 ST 5 08 without screw connection When Re 356W 2 5kW 2s 310 X4 MSTB2 5 3 STF 5 08 with screw connection You can acquire Phoenix housings for these Ci We supply an external ballast for connectors and these can be used once adapted to COMPAX 25XXS refer to page 1152 our cables Designation KGG MSTB2 5 pin number 28 SINUSES COMPAX 25XXS unit features COMPAX 25XXS dimensions installation assignment 6 5 3 COMPAX 25XXS dimensions installation The two supplied retaining plates can opt
247. r list control functions functions options cahla Accessories and options 1 1 COMPAX M S SinCos with HEDA and or encoder emulation We are now supplying 2 new options for SinCos applications using HEDA and or encoder emulation HEDA option A3 HEDA option without the support of an external absolute value sensor AG Option A3 can be used independently of option S1 Encoder emulation option E8 encoder emulation with SinCos support Option 8 is an encoder emulation on connector X13 channel 2 with a resolution of 512 bit motor revolution for SCS60 and SCM60 1024 bit motor revolution for SRS60 and SRM60 however neither have encoder zero pulses SinCos Multiturn with programmable transmission factor When using a SinCos Multiturn you can use the S2 option to adapt the range of the absolute position S12 to your application via a transmission factor 12 then always contains the position value referenced to the reset route P96 Standard SinCos Multiturn records an absolute position of 4096 revolutions 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 O after a table rotation After Power on and after an error has occurred 12 is transferred
248. r 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 gt S2 GOTO 10 WAIT START Syntax 7 4 2 10 Focused processing of data record groups WAIT START Entry at BDF2 WAIT Ent When this instruction is issued COMPAX interrupts the programming procedure until a external START 15 or via interface is issued reaction time 30 ms For shorter reaction times refer to 115 on page 15 WAIT START 13 for variables see page 86 14 Applies to the manual terminal BDF2 01 81 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment Parameters Error list control functions functions options Operating instructions 1 COMPAXWS Controlling programming procedure POSA GOTO EXT 7 4 2 11 Jump with data record selection GOTO EXT POSR Jump with data record selection via the inputs I9 to 116 Entry at BDF2 GOTO Ent ACCEL Data record selection as for GOSUB EXT see below SPEED OUTPUT Password seo GOSUB EXT SYNC 7 4 2 12 Sub program jump with data record selection GOSUB Mark EXT reference Entry at BDF2 GOSUB Ent SPEED Jump into a sub program with data record selection via the inputs 19 to 116
249. r required after initialization has been performed once refer to the start up manual and Accessories and options Real time data channel For implementing track and contour tasks using the HAUSER IPM interpolation module for PC and IPC or for direct COMPAX COMPAX coupling with one COMPAX as the master can be synchronized to an external speed and or position e g with the Electronic transmission unit variant via this input refer to the start up manual and Accessories and options The actual position value can be made available to other units via this channel refer to the start up manual and Accessories and options An encoder bus can also be established refer to the description in Accessories and options 18 internal measuring and intermediate parameters are output as analogue voltage 10V via two 8 bit channels or optionally 12 bit channels Password protection COMPAX contains password protection to prevent undesired manipulation of your data Before you configure COMPAX or set your parameters you must release these functions with a password Provided that the axis is at a standstill proceed as follows to perform releasing and blocking etransmit GOTO 302 to COMPAX e switch the unit off or transmit GOTO 270 to COMPAX All parameters except P40 P49 are protected by password gt The program is protected by a password Conditions for password input There must
250. ram and a stop command arises later the following occurs the current travel motion is interrupted and then Stop program is run and this is stored as of program line number xxx The stop program must not contain motion commands POSR POSR WAIT WAIT POSR SPEED in the speed control mode sub program jumps GOSUB IF GOSUB any COMPAX XX70 commands nor any approach real zero or find machine zero commands e nor contain any speed step commands POSR SPEED or any comparator commands OUTPUT and is used to bring individual outputs e g the control output for a pump or a valve into a safe status The WAIT START instruction must be contained it causes the programming procedure to be stopped before an external START is performed again Then OUTPUT instructions can again be present for resetting the outputs There must be a RETURN instruction or an END instruction at the end of the stop program The END instruction stops the program e The RETURN instruction performs a jump back into the previously interrupted program line a travel motion which was interrupted by STOP is continued the next command is performed after the BREAK 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 Main Program Stop Program N240 OUTPUT
251. rameters 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 amp 3 is as follows Parameter setting for desired voltage U 10V 10V P76 P77 39 Y 39 39 selection of voltage output For positive voltage Y U 0 0101067 10V For negative voltage U 0 0101067 10V 0 0202134 Note sets U negative in the 2nd formula 9 96V 0 0101067 t 0 0202134 10 0V Accessible using P71 channel 0 and P72 channel 1 P71 0 X17 1 P72 Channel1 17 2 Resolution 12 bit incl sign corresponds to a resolution of 5 mV Range 10V 10V The calculation for the output on the 12 bit channels 0 and 1 1 as follows Parameter setting for desired voltage U 10V 10V P71 P72 Y P73 P74 39 selection of voltage output U 101067 10V 10 0V 0 0101067 0 01010 10 0V HAUSER 7 5 Optimization functions Optimization functions Optimizing controller 7 5 1 Optimizing controller P23 rigidity of drive Increasing rigidity Reducing rigidity Main effect P24 dampening of drive Increasing dampening Reducing dampening Main effect The rigidity is proportional to the control responsiveness Nominal value 100 Range 10 5000 The control process is faster The contro
252. re reported for all errors using the LED error on the front plate e An error message EXX appears in the display You can modify the parameters when an error message is present e When you have rectified the cause of the error you can acknowledge the error using Enter Quit or by switching the unit on again Power on It is only once the LED error has gone out that COMPAX is ready for operation again e Switch off COMPAX if you are experiencing hardware errors e g short circuit to outputs e The errors E1 E56 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 performs 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 Errors E57 are also reported with the binary output O2 0 These errors cannot be acknowledged during a program procedure and when STOP is present 9 4 1 General error messages gt If the measures specified here do not successfully rectify the problem there is presumably electrical defect Please send the unit and an error description to HAUSER Cause Acknowle Drive dge with switched off E00 Interruption of a positioning command using STOP BREAK is only reported via Not no RS232 necessary Not configured Perform configuration no E05 Machin
253. res that binary data transfer is available in addition to normal transfer ASCII P20 3 with XON XOFF no error response message without binary data transfer P20 19 with XON XOFF no error response message with binary data transfer The end sign must not be transmitted The entire length of the binary format must always be transferred Function signs 2 are not available when using binary transfer the same as that for ASCII transfer e without errors using CRLF gt e with errors depending on the value of P20 refer to Error transmission in the User Guide 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 88 53 XX XX XX XX XX LSB MSB 84 4C yy yy MSB LSB 84 44 yy yy MSB LSB 85 4F yy yy 30 MSB LSB 85 4F yy yy 31 MSB LSB SPEED value ACCEL Value ACCEL value OUTPUT Ayy 0 OUTPUT 1 POSR value OUTPUT 0 8C 52 xx xx xx xx xx xx 4F yy 30 LSB MSB MSB LSB POSR value OUTPUT Ayy 1 8C 52 xx xx xx xx xx xx 4F yy yy 31 LSB MSB MSB LSB POSR value1 SPEED value2 52 53 XX XX XX Xx LSB MSB LSB MSB Numerical formats of xx xx xx xx xx 3 bytes after the decimal point 3 bytes before the decimal point Valency 224223 22 931 2021 22 222 223 Transmission sequence e g 88 41 LSB MSB 2 bytes before the decimal point no digi
254. rift between the axes due to the transfer position value see above 32 P143 parameter P143 of the slave XX70 P31 1 COMPAX XX60 COMPAX XX70 P31 9 P188 40 Encoder input duration period available P98 and P143 must have the same values for master and slave COMPAX XX60 COMPAX XX70 P188 140 Setting P143 16384 4 of the increments are always in P143 since a quadrupling occurs during encoder inputs COMPAX XX70 188 42 143 143 XX70 188 43 143 143 143 parameter P143 of the master 134 IIAUI 5 Interfaces Error handling Error messages E76 E77 E78 N Attention Transmission error procedure Synchronizing process values Note Note Process coupling via HEDA option A1 A3 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 HEDA transmission or synchronization errors are errors E76 E77 and E78 see the Error list in the User Guide 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 With E77 E78 the slave attempts to reach the new undisturbed process position value in order to maintain
255. ring a positioning process positioning process which is interrupted with STOP is continued using START 15 1 and Fast START 115 1 The reaction time of 115 before the start of the positioning process is 1 5 ms 115 has no effect in speed control mode gt Note The START signal 15 is not replaced by 115 after STOP START signal I5 is required to start the program and for WAIT START 7 6 1 4 Synchronous STOP using 113 A stop FUNCTION can be implemented via 113 on standard devices COMPAX XX00 This stop gives you the option of stopping several COMPAXs at the same time and bringing them to idle mode regardless of the present speed P219 128 or 135 releases the synchronous stop via 113 P219 bit 729 1 113 1 Normal mode 113 0 Synchronous STOP is activated After 113 0 the drive is stopped using P10 as the absolute ramp time and e using the ramp type selected via P9490 eerror message E08 is output O1 is set to 0 and the ready contact is opened For as long as 113 0 all additional attempts at positioning are negatively acknowledged using E08 No negative acknowledgment comes from HEDA C Synchronous STOP function using 113 is only available on the standard unit 29 Counting in bits beginning with bit 30 A modified ramp time is only used for the Synchronous stop via E13 function after VC 115 Unit hardware Configuration Technical
256. rol 1 P107 P105 P16 P105 power output stage diagram 2 motor current reference value current actual value rate determination DA E 53 device supervision t 025 NE Motor supervision t Th Sotware 0 1 1 linenn E41 power output stage supervision 1 5 las ardware lanom unit nominal current las 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 parameters las 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 contains three different types of monitoring Unit monitoring Using the unit specific time constant Tc a current greater than iS permitted after that E53 shuts the unit down Motor monitoring Using the time constant a current greater than 1 1 Imnom is permitted for a defined time after that E53 shuts the unit down is set to ensure that the pulse current P107 is able to flow for the time set in P108 Final stage short circuit monitoring Absolute monitoring to 1 3 les 178 9 4 Error handling Messages a
257. s designed for use in high voltage devices 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 instances 3 2 Safety conscious working The unit must only be operated by skilled staff 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 in accordance with VDE105 or IEC364 are familiar with first aid and the on site safety equipment have read and observe the safety instructions have read and observe the User Guide or the section which applies to the tasks to be performed 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 available at the unit whenever it is being operated General dangers Status Accessories Interfaces Optimization Positioning and Configuration Technical data Conn
258. s on P17 0 siage siage mmm disabled 4 disabled 1 1 energised B energised de energised de energised t brake brake open open close close P1750 put stage put stage enable enable disabled disabled t energised energised de energised de energised brake brake open open close close Range of values for P17 o Configuration Technical data Connector assignment Positioning and control functions Parameters Status Accessories Interfaces Optimization Error list functions options cahla Operating instructions COMPAX M S Output of variable voltage 1749 Output of variable voltage POSR SPEED ACCEL Service D A monitor channels 2 amp 3 OUTPUT Password SPEED SYNC Mark reference POSR Value before SPEED decimal point Value after decimal POSROUTP point UT WAIT Characteristic GOTO curve GOSUB RETURN END REPEAT IF E Comparison WAIT Start GOTO GOSUB EXT Option D A IF Stop monitor channels Arithmetic 0 amp 1 Position monitoring Idle display Speed monitoring Calculating the E ing Sl output value disengaging brake final Characteristics curve stage Variable voltage 96 The direct output of variable voltage is supported via the D A monitor channels 0 to 3 Accessible using pa
259. sitioning speed acceleration and power process The lag error is reduced to a minimum so that this information can be switched to the controller the controller has better attenuation characteristics and the levels of drive dynamism are increased current feed forward acceleration feed forward Speed target feed forward posi E lion reference point position control target Main structure position actual value Speed position control integrator c The stability of the control process is not influenced by the advance control measures Without advance 4 control measures Reference value 1 actual 2 value rer Nominal speed value Actual speed value Driving Motor power fault Lag error current 4 3 98 HAUSER P25 Advance speed control P26 Advance acceleration control P70 Advance power control Advance reverse control Optimization functions Advance speed control dee value 100 Range 0 500 reference value actual value Driving fault current Advance speed and acceleration control bdo value 100 Range 0 500 2 reference value actual value Driving fault current 1 Advance speed acceleration and power control Nominal value 100 Range 0 500 2 reference value actual value Driving fault current 1 t Optimizing controller Nominal speed value Actual speed v
260. sitioning processes nominal value generator has reached nominal position modified i e when O5 1 modified to O5 0 when O5z 0 modified to 5 1 When an error arises Exx is shown O5 remains at the present value Can be adjusted using P227 bit 4 1 VA With this function you can use a host SPS for precise tracking of the COMPAX positioning You will find a description of this as of page 94 t 5 1 nominal value on nominal value sensor reached and lag error lt P14 If the lag error returns to gt P14 then O5 0 is set Can be set using P227 bit 4 0 standard setting 16 Counting in bits beginning with bit 0 17 Ba Operating mode 89 Unit hardware Configuration Technical data Connector assignment Positioning and control functions Parameters Status Accessories Interfaces Optimization Error list functions options Operating instructions COMPAX M S 18196 positions POSA Example Position POSR Position 1 SPEED ACCEL Position 2 OUTPUT Password Actual value SPEED of position SYNC Position 0 Mark reference POSR SPEED POSROUTP A poor controller setting has been selected by way of illustration UT WAIT 5 05 1 5 1 nominal value on nominal value generator reached independent of P14 nominal value since P14 is set as very large v
261. sources of strong interference motors transformers relays Only use accessories recommended by HAUSER absolute value sensor encoder E Ensure large contact areas down both sides of all cable sheathing SINUS EE 6 Start up manual Overview Components required Compact servo control Accessories 6 1 1 Components required In addition to a itself you will require the following components for a COMPAX application a motor with or without a transmission mains supply 24V DC control voltage not required for the 45XXS and COMPAX 85XXS actuation of emergency stop circuit e various cables for connecting the components motor cable and resolver cable supply line for voltage supply e supply line for 24V DC control voltage hand held terminal or PC with RS232 cable containing the ServoManager program for configuring COMPAX 15 Unit hardware Optimization Positioning and Configuration Technical data Connector assignment Interfaces Parameters Status Error list control functions functions options rahla Start up manual COMPAX M S Overview of unit technology 6 1 2 Overview of unit technology COMPAX M and COMPAX S are based on the same functional scope and the same controller hardware yet have differences with regard to housing and assembly technology and power areas The following table shows the m
262. ssible e Approach MN in speed control mode e Travel command when drive is switched off Hand when an error is present More than 8 comparator commands one after another for preparatory commands refer to page in the natural language memory monitoring chapter in variant documentation RETURN without GOSUB described Hardware fault Remove extreme external sources of fault i n Hardware fault Faulty or incorrect unit hardware E37 Auxiliary voltage 15 V missing Switch on again Voltage in Intermediate circuit Increase braking and idle times check mains Quit too high e g if braking output is power too high Limits 25XXS external ballast resistance not in E 25 gt 400 otherwise gt 800V COMPAX 45XXS 85XXS bridges X2 5 X2 6 not in place E39 Temperature too high gt 85 Increase acceleration times Quit cycle too hard E40 Input Enable final stage X3 1 X3 2 not assigned Quit gt Only for 45XXS and 85 Final stage reports error Check motor and cable for ground connection Quit For COMPAX 35XXM short short circuit connection and function remove circuit of ballast resistance or extreme external sources of fault undervoltage 24V E42 Resolver sensor error Check resolver cable and connector for correct Quit connections and faults E43 Output overloaded check cable connector and external circuit
263. ssignment Positioning and Optimization Status Accessories Parameter Error list control functions functions options rahla Operating instructions COMPAX M S RS232interface 7 6 3 3 Reading and describing program sets and parameters gt Even possible during a positioning process Download describing the Describes set xxx with instruction sets and Describes parameter xxx with value parameters Provides parameter xxx with name Only for P40 P49 Example 005 100 Cp Le N005 PA 100 Cp Le The POSA 100 instruction is written in data record 5 Upload reading Instruction Meaning Cd the sets and INxxx Reads data record xxx parameter Reads parameter Example P40 CRLF transmits the contents of P40 P40 value name CR LE control ed form instructions START Nox SNxxx Performs program setax only this se STOP Stops program positioning Transfers current position as real zero point P1 is modified The set indicator is set to 1 TEACH Nxxx TNxxx Present position is written into set xxx using POSA command Not possible in Reset mode BREAK BK Interrupts positioning or program step Example START N010 Cp Lr or SN 010 CR LE Set 10 is performed P211 Blocking P211 and modifying the 0 The functions 11 14 Teach N 11 15 and Teach 2 are approved teach in functions Teach Z is blocked
264. st of programs N001 ACCEL 100 sets the accelerating and braking ramps 02 SPEED 100 sets the speed menm mark N003 225 feed movement triggered by fast START 04 GOTO feed 3 goes to data record 003 10 1 8 Implementing a torque converters 2 options are available Using speed control mode You can attain a defined constant torque in speed control mode using the following setting e Set a high speed which cannot be reached e Define the desired torque using P16 in 96 of the nominal torque max 100 e 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 e Define the desired torque using P16 in 96 of the nominal torque max 100 e Switch off errors E10 and E49 using P13 0 e 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
265. switch P213 0 X17 8 must be connected to X17 7 P213 1 X17 9 must be connected to X17 7 Teaching P212 10 teaching machine zero machine zero Activated via the Find machine zero command input 11812 or POSA Home command the present position of the motor is defined as machine zero gt Using this method you no longer need to use a machine zero initiator at all Via the parameter P29 the machine zero can be adjusted from the redefined point by up to one motor revolution The drive then executes machine zero travel starting at the current position by an angle of P29 in a clockwise direction Range of values for P29 0 360 degrees other values are considered as 0 E If P2920 machine zero travel is not performed chapter 7 2 5 64 3 Configuration 7 2 7 Limit switch monitoring during the reference travel Response when the limit switch is reached P216 determining the limit switch position Setting aid Limit switch operation 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 When P212 0
266. t P68 Filter has For high dynamic requirements differentiating Conditions high resolution measuring effect system and low interference of measuring signal 106 1 81h13 interfaces Digital inputs and outputs 7 6 Interfaces The COMPAX interfaces for data and status are digital inputs with an SPS data interface an RS232 interface and optionally a bus interface interbus S CAN bus CANopen profibus CS31 or RS485 The RS232 interface can be simultaneously operated with other interfaces 7 6 1 Digital inputs and outputs 16 inputs and 16 outputs are available to help you control the programming procedure p O7 O11 and 17 111 are assigned when the SPS data interface is switched on Input I O assignment of standard unit 111 X10 3 Assigned when P232 4 activates position adjustment otherwise free 10 112 X10 4 Free for assignment in the standard unit 113 X10 5 Free for assignment in the standard unit 15 Assigned when mark reference is activated P35 1 activates mark reference otherwise free Is assigned if mark reference is activated P35 1 mark input otherwise free 107 Configuration Technical data Connector Unit hardware Positioning and Optimization Status Accessories Parameter Error list assignment control functions functions options rahla Operating instructions 1 1
267. t of the variants 7 6 1 3 7 6 1 4 7 6 3 1 Interface description 7 6 3 2 Interface functions Connector assignment x o gen s Configuration Positioning and Optimization Interfaces Accessories Parameters D n o 2 hardware control functions functions yu Contents COMPAX M S Juouubisse 8 5 1 5232 c suonounj pue Buiuonisog eg 3 E e 5 2 5 5 seoejelu Seuosseooy 5 1811 10219 RS485 interface option F1 F5 9 3 3 2 CAN bus option F4 9 3 3 3 Profibus option Interbus S option F2 9 4 2 Special bus options error messages eeneeneen 182 ji Rs i i l i tinh at i i s Glossary cu ng The parameter and program memory are created using ZP RAM This memory is unaffected by mains power failure Data security This module is guaranteed a service life of 10 years calculated from the first start up ZP RAM failure causes da
268. t start position 300 sets output O7 to 1 WAIT N005 POSR 500 OUTPUT O7 0 3rd comparator at start position 500 sets output O7 to 0 GOSUB 06 POSR 900 OUTPUT O8 0 4th comparator at start position 900 sets output O8 RETURN to 0 u 07 1000 Positioning command to 1000 Position 1000 is END approached the travel dependent comparators are set REPEAT once the relative positions have been reached 008 POSR 200 OUTPUT O7 1 Prepares new comparators d gt Outputs O1 to O6 can also be used as comparators once approval is given Comparison via P225 refer to page 1108 WAIT Start e Diagram of specified example for POSR OUTPUT starting position POSA 1000 GOSUB EXT 900 500 300 150 150 300 500 900 IF Error Stop position relative to starting position Arithmetic 1000 900 800 700 600 500 400 300 200 100 0 100 200 300 400 500 600 700 800 900 1000 Position monitoring absolute position Idle display A8 Speed monitoring A7 Engaging disengaging Diagram of example however with POSA 1000 as positioning brake final POSA 1000 starting position stage 900 500 300 150 150 300 500 900 Variable position relative to starting positionen voltage 1000 900 800 700 600 500 400 300 200 100 0 100 200 300 400 500 600 700 800 900 1000 absolute position A8
269. ta loss COMPAX contains wild data If you encounter problems of this kind contact HAUSER Connector assignment Technical data Configuration o c e D e Optimization Interfaces Accessories Parameters Error list hardware control functions functions 2 Unit assignment Key to unit designation HAUSER type plate This documentation applies to the following units COMPAX 25XXS COMPAX 45XXS COMPAX 85XXS COMPAX P1XXM COMPAX 02XXM COMPAX 05XXM COMPAX 15XXM COMPAX 35XXM XX Unit variants e g COMPAX 0260M COMPAX name 02 performance class 60 variant e g 00 standard unit 60 electronic transmission M unit type multiple axis unit S single axis unit The type plate is found on the upper side of the unit and contains the following UAE MEET 6 0001 951 160101 C ax 02 03810 ompax 60 equipment name part number option name serial number HAUSER 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 danger is encountered 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 i
270. te to 9600 N no parity 8 8 bit word length 1 one stop bit The interface is initialized and marked with 1 channel 0 Status 51 should be queried text is output on channel 1 text is deleted so that the response can be accepted 1 is read by channel 1 in text 1 is output on the screen 125 Positioning and Configuration Technical data Connector Unit hardware control functions Optimization Status Accessories Parameter Error list assignment functions options rahla Operating instructions COMPAX M S 85232 _ 7 6 3 2 Interface functions Direct When making direct command entries via RS232 you can use the abbreviated command entry form for most instructions two letters Commands Refer to table on 129 permitted for the C When using Direct command entry write an END instruction in natural various modes of language memory no 1 because the start command refers to the program operation memory if the unit contains no direct commands Preparatory positioning commands These commands be transmitted to COMPAX when idle and during a positioning process The commands are transferred with the next positioning command Abbreviated form ACCEL Accelerating and braking time in ms ACCEL Separate specification of braking time SPEED Velocity in SD SPEED value2 POSR value1 PR OT Sets comparator function OUTPUT The
271. tection The housing temperature of the ballast resistance may rise to 200 depending on the application Fit the connection lines at the bottom Observe the information on the resistances warning signs 152 AWS EE Accessories ServoManager 8 7 4 ServoManager You can use the ServoManager to process complete COMPAX projects this part falls within the COMPAX scope of delivery It contains the following program modules ParameterEditor for configuring and setting parameters for COMPAX ProgramEditor for creating COMPAX programs e Terminal for working directly on the connected COMPAX The ServoManager and the program modules are described in a separate manual 8 7 5 Hand held terminal Design The BDF2 01 hand held terminal is a comfortable aid with which you can operate COMPAX and easily configure menu guided tasks The hand held unit is connected with COMPAX X6 and supplied with energy via the RS232 interface It is therefore very suitable for rapid diagnosis and for supporting the start up RS232 cable gt 5 HB plug 1 95 5 5 control knob 6mm A polarity outside KC 5V plug for FVAUISTE _ IsL Position Sli 7 20 mm lt DELETE 180mm 9 REPEAT OUTPUT 153 Unit hardware
272. ter P197 Order status S33 Read only parameter P198 Part status S34 Read only parameter P199 Serial number status S35 Read only parameter P206 Approval of absolute value sensor input or the 1 absolute value sensor input approved reset function for the S2 option reset function switched on P211 Blocking and modifying the teach in function The teach data record and teach real immedi zero functions are approved ately Teach in real zero is blocked data record indicator is set to 1 using 14 Teach in data record is blocked data record indicator is set to 1 using 11 15 Teach real zero is approved The teach data record and teach in real zero functions are blocked For 11 14 teach and or 11 15 data record indicator is set to 1 P P P P212 Machine zero mode 0 MN equals external initiator amp resolver zero immedi 2 reversing initiators ately 1 MN equals external initiator amp resolver zero 3 MN equals external zero pulse 4 MN equals external initiator amp external zero pulse 5 MN equals resolver zero 6 reserved 7 MN equals external initiator without resolver zero 8 MN equals limit switch 10 teaches machine zero P213 Machine zero direction 0 tothe right 1 to the left Encoder direction 0 positive direction when encoder is P turning clockwise 1 positive direction when encoder is P V V V V V turni
273. tion of rotation Screen Level on the release and direction of rotation inputs 5 5V 30V 1 s Ue and Ue are differential inputs Actively assign Ue to a potential e g to GND 148 AUSER 8 7 Accessories 8 7 1 External control field You can use the control fields to control COMPAX via the digital inputs They contain the following functions Accessories External control field installation BDF1 02 for front plate TEACH real zero point machine zero Move to machine zero Move to real zero Break block Release TEACH TEACH F TEACH TEACH block Search ZERO Error START READY START block 178 I NO error No Y warning r 17 18 JOG 14 32 BDF1 03 with housing 101 7 JOG pue T D Ready for TEACH ZERO TEACH HOME Quir quit NO NO ERROR The control field is available for front plate installation or with housing 195 or ZERO soc START READY BREAK STOP 35 gt The control fields are connected with COMPA
274. tly when initially starting it up you should use the following settings for your own safety and for the protection of your system P15 10 motor speed limited to 10 of its nominal value P16 100 torque limited to 100 of its nominal value The drive must remain at a standstill after the system has been switched on Start to operate the system either with POSR x or manually If this travel motion is performed correctly then you can reset P15 and P16 to their original values The following faults may occur as follows The drive remains at a standstill once switched on or the drive runs out of control when the start command is given In both instances 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 51 Unit hardware Configuration Technical data Connector assignment Positioning and control functions Parameters Status Accessories Interfaces Optimization Error list functions options Operating instructions 1 1 COMPAXWS Configuration parameters 7 2 5 Configuration parameters Operating mode Normal mode Continuous mode Speed controller Unit for travel data mm Inches Increments Parameter P93 valid as of next move command P93 1 Positioning processes refer to real zero To set this as the reference you have
275. ts after the decimal point Valency 215214 2221 20 Transmission sequence e g 84 46 MSBLSB HAVSEBR 1 1 1 1 interfaces Negative numbers Format change Example Starting up during binary transfer RS232 interface Negative numbers are represented in binary complement format Creating the binary complement format Determine the bit combination of the positive numerical value Negate the binary value Add 1 You can generate this format from any number as long as it has digits after the decimal place as follows Number 450 5 1 Multiply number by 2 450 5 27 7 558 135 808 2 Change 7 558 135 808 into a hexadecimal number if nec first into an integer gt 0x00 01 C2 80 00 00 before the decimal point after the decimal point 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 00 00 0A 00 00 00 00 01 68 00 00 00 00 01 C2 80 00 00 FF FF FF 00 00 00 whole numbers decimal places In this way you will attain the following string e g for POSA 360 0 88 41 00 00 00 68 01 00 Attention transfer all digits Note when binary transfer is switched on note the following Only create RS232 connection when participants are switched
276. tting external position management is switched on Preconditions for External encoder read via an encoder input module E2 E4 this operating Encoder input parameter settings made using P144 6 mode Determine P98 travel per encoder revolution P214 encoder direction and P143 encoder pulse number 62 MISES P212 5 Configuration Machine zero mode Machine zero Application equal to q 213 0 29 0 29 90 resoiver zero resolver resolver zero pulse command zero pulse command search MZ search MZ P213 1 resolver resolver command zero pulse command MZ pulse search MZ search MZ Machine zero P212 7 equal to Find machine zero external initiator P213 0 without resolver zero clockwise rotating motor of MZ ini P29 0 360 7 position of actual MZ P213 1 clockwise rotating motor __ P29 0 360 position of actual MZ General rotational movements This is a simple way of implementing machine zero especially if the transmission runs at high speeds Application Linear and rotational movements If you have an encoder on the motor side 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 Examp
277. twork NMD10 NMD20 mains power module A COMPAX M drive system consists of one mains power module and one or more drive controllers The units are coupled with one another by means of a flatband cable 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 arrangement is oriented to the specifications of 2 conductor remote bus The 24V DC of control voltage which is required in the system network is powered off 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 Installation arrangement These signals and bus lines are connected internally via a flatband cable which is sheathed on both sides These cables are available within the scope of supply of the drive controller supplier The connectors which receive these connection cables are housed under the front plate cover of the mains power module and the drive controller Short circuit connectors Attach a short circuit connector to the outgoing connector on the drive controller i e the one which is furthest away from the mains power module The short circuit c
278. ual speed value gain factor 10 channel 3 measuring parameter 13 phase current for phase U gain factor 5 measured values channel 0 MW 2 5V gt PG 2220000 min 10 10V 3 200 channel 1 MW 3V gt 510 12 The parameters of the D A monitor can also be set to status S15 or be viewed via the optimization display refer to paget01 6 9 5 monitor option D1 This option provide you with two additional analogue output channels with a resolution of 12 bit These channels are updated every 100 microns You can 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 desired 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 e monitor box is connected to COMPAX connector X17 ethe initiator line is connected from X17 to the monitor box The signals are fed through the monitor box Interfaces D A monitor option D1 Meaning and range of values of P71 P74 No Parameter Range Gain factor from channel 0 1 10 000 Gain factor from channel 1 1 10 000 P73 Measuring parameter of channel 0 18 0 For the meaning refer to the table on page 338 P74 Measuring
279. ue 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 performed after 50 ms Disturbance O2 1 Counting in bits beginning with bit O 91 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment Parameters Error list control functions functions options rahla Operating instructions Speed monitoring in speed control mode P93 4 Posa 7 4 6 POSR SPEED ACCEL OUTPUT Password SPEED SYNC Mark reference POSR SPEED POSROUTP UT WAIT GOTO GOSUB RETURN END A Special features available in speed control mode REPEAT Comparison WAIT Start GOTO Ba O5 toggles F Error Stop When speed is reached Arithmetic Position monitoring Example Idle display Speed monitoring Engaging disengaging brake final stage Variable voltage 92 COMPAX M S Speed monitoring in speed control mode P93 4 Two settings are available for O5 Position reached and they are set using P227 P227 bit 4 129 Meaning function 121 P227 bit 4 0 P1450 small values small in comparison with the changes in speed Ba2 14 gt 15 large in comparis
280. ulation 512 1024 inc revol Encoder input RS422 interface supply 5V 120 5000 inc revol Absolute value sensor interface option Supply voltage 24V 10 Sensing code gray code single step e 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 SinCos option S1 S2 High resolution sensor instead of resolver e Singleturn or Multiturn absolute value via 4096 motor revolutions e Option S2 with Multiturn absolute value sensor with programmable transmission factor Bus connections optionally galvanically separated bus link RS485 115k Baud e 2 or 4 wires RS485 Interbus S 2 conductor remote bus 500 Baud max 64 participants per ring Profibus 1 5M Baud Sinec L2 DP and FMS CS31 ABB interface CAN bus to 1 0M Baud BasisCAN CAN protocol in acc with specification 1 2 Hardware in acc with ISO DIS 11898 43 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment Parameters Error list control functions functions options 5 5 v D D Start up manual CANopen e Protocol in acc with DS 301 e Profile DS 402 for drives Operation Parameter input status
281. values the decimal point and the figures after the decimal point 122 HAVYSESBR Function codes of commands Procedure for transmitting a sign Exception Process for receiving a sign Exception SPS data interface BCD encoded Fe Fax S 0 2 0 4 SPEED J 0 5 ACCEL sd _ 2 1 6 515 9 e SPS assigns the sign 4 bit to 18 11 Once the data is stable the SPS sets the UBN to 1 COMPAX reads the sign and sets RDY to 0 e SPS sets UBN to COMPAX sets RDY to high If the data direction is then reversed COMPAX can set the RDY line to O This is the case for the last sign of a status query e SPS sets UBN to 1 COMPAX assigns the sign 4 bit to O8 O11 sets RDY to 1 SPS reads the sign and sets UBN to COMPAX sets RDY to 0 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 PLC COMPAX COMPAX PLC i PLC COMPAX 4 Bit Data valid valid valid i valid valid COMPAX Data 4 Bit fF fE Ji Ji valid valid valid ft PLC UBN Resetting interface
282. vel of inputs 1 8 19 116 S20 Logical signal level of inputs 9 16 O Drive status S23 _ Diagnosis values for the status of the drive see below for meaning Switch status S24 Diagnosis values for the status of the switch see below for meaning Limits status Diagnosis values for the limit value monitoring see below for meaning Final stage status Diagnosis value for the status of the final stage Present data Display of the data record currently being performed record RS232 data Interbus S data SPS data interface RS485 Error number of the last error to occur only errors E1 E56 160 Unit designations ce O Order 533 Order number 6 digits Order amp part 10 digits is Part S34 Serial four digit number an unambiguous unit no IFM identification Date version and designation of the bus option hardware module Unit designation 537 COMPAX P1XXM 80 COMPAX P1XXM N1 90 COMPAX 02XXM 85 COMPAX 05XXM 170 COMPAX 15XXM 500 COMPAX 35XXM 1000 COMPAX 25XXS 4 COMPAX 45XXS 6 COMPAX 85XXS 5 Unit family e g 00 XX00 30 COMPAX XX30 Unit A 18S39 0 COMPAXE 1 2 COMPAXS 9 SV drive Status values 540 Number of the status value present Special COMPAX XX00 status values NR RN Velocity External velocity when using the SPEED SYNC command Encod
283. volved are longer 25m the hand held terminal will require a direct supply if it is to operate without the risk of interruptions Co Error handling When an error message is present you can modify the parameter and or the 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 you can acknowledge the error using F3 154 EXE Accessories Hand held terminal Unit hardware Menu BDF2 01 Date Version COMPAX Typ Version P20 value Status Level Identification amp Actual Values Diagnosis Values Special Status Value o assignment rahla Actual Position Target Position Tracking Error Speed Torque Temperature Control Voltage Power Voltage 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 11 18 19 116 O1 08 O9 016 Status Motor Status Switches Status Limits Status Output stage Current Command RS232 Data Bus Data Last Error Software V
284. w Reference The fast start has for master and slave an additional delay time of 1ms the whole delay time amount 2 5ms The fast start is synchronized using P18 bit 3 for HEDA with master and slave i e not only must input 15 be on the slave but the master fast start triggered by 115 for master must also be on HEDA so that it can be performed This operating mode is also set with P18 10 If 115 is not required on the slave then set 115 1 gt Operation is permitted if P18 8 The master transmits one data block per ms to address 1 consisting of HEDA control word incl fast start in response to bit 8 Bit 8 is automatically generated from 115 fast start process value selected with parameter P184 depending family COMPAX XX00 COMPAX XX60 COMPAX XX70 between Outputparmeters O Encoder position XX70 184 40 master channel duration period Internal time base encoder velocity before P35 P184 42 COMPAX XX70 Normalized master position before P35 COMPAX XX70 P184 43 Nominal position value in resolver increments P184 44 65536 increments revolution Actual position value in resolver increments P184 45 65536 increments revolution Differentiated resolver position increments ms P184 46 The parameter is unaffected by P35 Coupling the slave to the transmitted parameter is done using P188 Input parameters Slave Encoder couplin
285. x permitted positioning zone applies for corresp P90 4 000 00 message O5 position reached Eon 15 permitted velocity e 0 00 100 00 10000 ve P16 Max permittedtorque 0 200 300 S Pi7 Engnebrkedeay _ ms Jo Mo v SPS data interface Bit 04 20 without SPS data interface Fast start via 115 1 with SPS data interface Fast start via Bit 1 20 fast start on 115 not active 1 fast start on 115 active og Bit 3 0 no fast start on HEDA Settings with bit 1 and bit 3 are only permitted 1 fast start on HEDA active 00 only permitted P18 when bit 1 1 39 n speed control mode in 96 of nominal speed P104 otherwise corresponds to P90 0 n speed control mode in 96 of nominal speed P104 otherwise corresponds to P90 41 For asynchronous motors the maximum permitted velocity may be up to 300 of the nominal velocity Counting in bits staring with bit O 3 By simultaneously pressing the three front plate keys when switching on the Baud rate is set to 9600 166 Note EJ COMPAX parameters Default Maximum Valid value value as of RS232 handshake Software handshake 0 without Power 1 with XOFF on Error transmission error only when there is activity on the s P20 setting negative command interface and if the transmitted command oi acknowledgement triggers an error No neg co

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