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Parasound HCA-1500A Stereo Amplifier User Manual

1. COMPAX 35XXM 8 HDY055 HDY070 MOK 42 MOK43 HDY092 i HDY115 5 HJ96 g REK 32 HJ116 E 000 G 2 o c E with g Power module NMD gt 5 21 MOK11 MOK46 HDY142 HJ155 REK 32 m HJ190 did 3d Other motor types e 9 initiator set IVD 1 for 3 initiators linitiators IN HE 521506 H 4 COMPAX P1XXM Y 5 7 The RS232 SSK 1 To PC or Terminal interface is available in the son standard device ai handheld terminal BDF 2 01 looo ee 9 6 a RUE nang 5i 0000 E nang nang COMPAX 25XXS RS 485 ASCII binary 4 Option F1 4 Wire Option F5 2 Wire Interbus S Option 22 o S b Profibus Option F3 2 SSK13 to further bus re Sr 1 708 i CAN Bus B subscribers a Option F4 COMPAX 45XXS CANopen COMPAX 85XXS Option F8 CS31 System bus Option F7 HEDA SSK14 IPM C
2. 9 c c Ww al x o S e o o N N N N CN M N N CN NI x x X x X xXx X X X X S329 lt 5 545 5 m 8 ge c Ev AES S X20 X21 amp 8 d Control c AC Supply voltage X22 Braking X23 5 9 resistance Motor brake V J X8 1 Q X92 2 24V Xn o 11 2 X8 3 13 SND aaa a 2 __ Override 0 5 1 5X85 5 E DA channel 2 o gt X8 6 2 8 DA channel 3 XMS 2 8 o 6 E Override LIB a L X8 7 17 E 5 verride old 2 28 8 Se ex L Shield 1 4 a 57 aga PE es Q o BFL YOZ ws O m Xie Q 2810 o 77 554 10 x12A TU amp c 24 0 X8H1 B A ETE Housing C E B 18 Q ae 03 gt 59 24 a em 8V 5 04 ov 0125 NC 17 1 2 X8 13 O5 N x12 4 dem DA channel 0 ET e 5 X8 14 O6 gt x12 5 2 PA chahhel 1 X8 15 XT output bus systems i X12 6 SIN o Shield X17 3 07 Assignment depends on NC 8 5 GND 24V xiz4 1 5 the bus system X12 7 GND X17 5 0 gt x1i2 8 o 5 M see T X10 1 H ST a E GND Xe E 1 19 5 output bus systems x129 _ X129 lt 5 MN X177 5 1 X10 2 110 Assignment depends on x1240 ig PUE the bus system
3. On unit side sheetshielding of motor cable X5 RS485 IN OTU A E ARA ARS Sur T Se L SI X2 supply E B N N a B connection for X1 external contact F19 3 16 AT for brake control 24V DC _ ik aie supply IN i m N zl J3 x1 motor ang 3 motor brake Xe iG a 5 x Es braking X4 SS af B a resistance 4 B Note the screened connection of the motor cable on the upper side of the unit Clamp the motor cable with the open section of the screen braid under the ground terminal Motor side Via connectors Wiring up mains The mains supply and control voltage supply are located on the upper side of the power control unit voltage Power supply there are 2 options with the same output power 3 80V AC 3 250V AC 45 65Hz e fuse protection 10A 1 100V AC 1 250V AC 45 65Hz Fuse protection 16A Layout of contactors for the power supply Capacity according to device performanc Application group AC3 31 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment cable Parameter Error list control functions functions options Start up manual COMPAX M S Control voltage 24V DC 10 ripple lt 1Vss Fuse protection 16A
4. 00 02 04 06 08 10 12 14 16 18 20 22 24 26 28 3 0 Braking time s control functions c c 2 o Authorised braking impulse power for COMPAX 45005 and COMPAX 8500S c Qa 100000 rama n N 5 Cooling down time 6 gt braking time single pulse ki F 100 S 10000 9 F 50 t F 20 z F 10 gt o E Lies 8 5 e 7 1000 F 2 5 F 1 F 0 5 100 00 02 04 06 08 10 1 2 1 4 1 6 18 20 22 24 26 28 3 0 Braking time s Parameter 197 Error list Accessories and options COMPAX M S External ballast resistors Authorised braking impulse power for COMPAX 4500S and COMPAX 8500S with BRM 6 01 100000 F Factor Cooling down time brakina time 10000 c 2 2 a 1000 100 00 02 04 06 08 10 12 14 16 18 20 22 24 26 28 3 0 Braking time s Authorised braking impulse power for COMPAX3500M with BRM7 01 100000 F Factor Cooling down time braking time z gt n 10000 1000 0 0 2 0 4 0 6 0 8 0 10 0 Braking time s 198 e qeo suonounj suonounj suoljd
5. Note the screened connection of the motor cable on the upper unit side Bn Clamp the motor cable with the open place of the screen LIP braid under the ground terminal see figure on the right E Only wire up brake in motors which have a holding brake If not do not wire Wiring up mains power control voltage The mains supply and the control voltage supply are provided by the mains module Power supply Control voltage 3 80V AC max 3 500V 45 65Hz 24V DC 10 Fuse protection Ripple 1Vss NMD10 16A K circuit breaker in 20A Fuse protection max 16A NMD20 35A K circuit breaker or similar Neozed fusible cut out cable conduit L1 L2 L3 PE 24V 8 eol ass sl 6 T een 1 3 4 5 Wl x19 ele oleo UAU 22 79 n 4 LYL2L3PE 24V U V WPE brake 8 EHE E 2 2 2 olea e olog X1 oto o 15 57 zi TE BL PE loc Teac 1250 x2 gol X2 at ae 4S eol 15 ejole 24 X3 X3 power supply
6. AWS cJ HAUSER linear actuators 9 4 HAUSER linear actuators Initiator set The HAUSER HLEc linear unit is available with various cross sections HLE80C cross section 80 mm x 80 mm up to long HLE100C cross section 100 mm x 100 mm up to 7m long HLE150C cross section 150 mm x 150 mm up to 10m long Highly dynamic modular linear axis HPLA with toothed belt drive or rack and pinion drive 80 cross section 80 mm x 80 mm up to 50m for rack and pinion up to 20m for toothed belt HPLA120 cross section 120 mm x 120 mm up to 50m for rack and pinion up to 20m for toothed belt HPLA180 cross section 180 mm x 180 mm up to 50m for rack and pinion up to 20m for toothed belt Electric cylinder ET with 50 1500 mm stroke Tensile and shear forces up to 21000 N Vertical actuators with toothed belt up to 2500mm stroke up to 100kg payload The attached transmissions are available with ratios of 3 1 5 1 7 1 10 1 and 25 1 Please contact us if you require more information If you are using e g a rack and pinion drive toothed belt drive or spindle drive you can obtain the necessary initiators and initiator connectors and cable from us We can also supply you with retaining material on request 177 Configuration Technical data Connector assignment cable Positioning and Optimization n c Accessories Parameter Er
7. o 9 pm a jm i c 2 o o T gt lt lt x O O HAVUS gt o e e e T gt lt lt ou o o o c o c c c c 5 o 7 7 3 Mounting and dimensions COMPAX 1000SL e qeo JO O9UUOD 145 5 eoiuuoe suonounj pue Buiuonisog 85 sem pion A 00000000 Installation distance 100mm device distance 15mm Fastening 3 M4 hex socket head screws 191 10413 43 Start up manual COMPAX M S 774 Safety chain emergency stop functions Readiness Establishing a safety chain for monitoring the drives and other control components safety chain or a superordinate control unit usually requires a connection protected from wire breaks The contact outputs closer P X8 9 3 and S X8 9 4 are used for this purpose This closer establishes sequential switching for the mains module and the axis controller When the unit is operating correctly the contacts are closed P and S are connected and thereby indicate the readiness of the unit If an error occurs or if the drive system is switched off the readiness is no
8. 186 Ordet ceto smt 208 OUTPUT sot 98 Output buffer 160 Output connection 54 Output data 64 OUTPUT 00 98 OUTPUT OO0 in program 98 OUTPUT O12 71010 98 COMPAX M S Output O16 100 output 5 117 OUTPUT WORD 143 Outputs 54 Override 97 A 78 P100 eee 75 PAA ade 78 seh 78 PAA nune 117 P1433 etait 136 P444 iai cerne 136 P1515 etes 132 PA ais 123 P18 169 P182 enum 210 169 188 ne 169 P200 unm tent 184 P213 bee add 78 P2145 itte 137 P2155 78 tee 89 P219 ceres 152 P2293 lids 145 P224 petia 145 P2212 S 117 119 P229 dee ce ete 119 2 dat cto edge eet 127 P2333 st en hae 133 P234 ii enin 133 P224 128 2 unns 168 P245 tend 145 P2402 utenti 145 P25 tee etu 130 250 inet tdeo 168 D eld 130 B2 edt et deis 128 P353 asset 100 PSG led 136 PSP nea ed 100 100 cepe 100 40 9 109 PHO ioc ee Ae 132 ci e ete 130 P O ant ate 130 eR 58 PAZ n 58 58 dae 58 eisai este 136 76 item
9. returns to main program N028 840 proceeds to station 6 N029 returns to main program N030 960 proceeds to station 7 N031 returns to main program Raise workpiece mark N032 OUTPUT 07 1 activates Raise solenoid valve N033 IF 17 0 GOTO 33 waits until workpiece pick up is raised N034 OUTPUT 7 0 deactivates Raise solenoid valve N035 returns to main program Deposit workpiece mark N036 OUTPUT 08 1 activates Lower solenoid valve NO37 IF 1820 GOTO 37 waits until the workpiece pick up is lowered N038 OUTPUT 8 0 deactivates Lower solenoid valve N039 returns to main program 228 AUSEE Mark referenced positioning 11 1 3 Mark referenced positioning Application Pieces with lengths of between 100 mm and 500 mm should be cut from a plat
10. 77 Minimum position 12 78 Minimum travel to mark 100 Modulo 114 Moment of inertia 77 222 Monitoring functions 65 Motor monitoring 222 Motor or final stage temperature too high 131 Motor output throttle 192 Motor throttle 206 Motor type 75 Motor type plate 92 Motors 176 Mounting COMPAX 1000Sl oe 43 Multiplication 114 Multi turn 184 Negative command acknowledgement 164 225 output 23 NMD20 internal ballast resistance 24 Nominal current 92 Nominal currents 64 Nominal currents with linear motor LXR 176 Nominal motor speed 93 Nominal torque 92 Normal mode 74 Number format 115 Number of teeth on 77 05 toggles when speed 120 Operating hours 207 Operating mode 74 Operating mode with two end initiators 89 Operators 114 Optimization 131 Optimization display 133 207 Optimizing the controller 127 Option 7
11. Connections for Bus system X5 IN 3 x 230V AC Bus system PE X7 OUT Ge L3 x2 AC a L2 supply e T F19 3 16 AT mS _ EIN Connections for X m 1 x 230V AC Y d PE x1 motor and WI motor brake a e x4 brake SE L resistance gt Ele 24V control voltage 5 55 Note Do not apply 400V AC Only wire up brake in motors with a holding brake Otherwise do not wire up 7 5 2 COMPAX 25XXS specific technical data Overvoltage limitation Maximum braking power with external ballast resistance Mating connectors X1 X2 X3 and X4 32 Energy recuperated during braking is stored in the supply capacitors The capacity and storable energy is 25XXS 1000 uF 27 Ws If the recuperated energy causes overvoltage then external ballast resistances can be engaged Braking power Cooling down time COMPAX 25XXS lt 1 0 kW with Rex gt 560 lt 2 5 kW C We can supply external ballast resistances for COMPAX 25XXS see Page Connecting ballast resistance to COMPAX S The ballast resistance is connected to B B and if necessary PE Output X4 is protected from short circuits Mating connectors for X1 X4 from Phoenix are included with the following type designations
12. 41 109 Variable voltage 124 242 Variables 114 Variables V51 70 114 Velocity nene 207 Velocity specification 99 Version 208 Vibrating at higher frequencies 131 Voltages 124 parameter modifying OnLine 212 WALT 107 WAIT 5 109 Waiting 107 Weights 66 Whole number division 114 Wiring up mains power control voltage 25XXS 32 COMPAX 45 858 37 COMPAX M 19 Wiring up motor 25XXS 31 COMPAX 45 858 37 Wiring up the motor COMPAX M 19 Wiring up the system network nee 18 Word length 160 A2 tit seer See 46 Zero point shifting 83 COMPAX M S
13. o o o o Parameter Error list hardware control functions functions o c o Operating Instructions COMPAX M S RS232 interface Example Transmitting control instructions Example P211 blocking and modifying the teach in functions Negative command acknowledge ment 164 P40 CR LF COMPAX transmits the contents of P40 P40 value name LF gt Abbreviated form START Nxxx SNxxx Execute program set xxx this set only START Start program STOP Stop program positioning SP corresponds to a STOP pulse QUIT Acknowledge error Accepts current position as real zero point P1 is modified The data record indicator is set to 1 TEACH Nxxx TNxxx Current position is written into set xxx using the POSA command Not possible in Reset mode BREAK BK Interrupts positioning or program step START 10 Cg Lr or SN 010 CR LF Set 10 is executed Function 0 The functions 11 14 Teach 11 15 and Teach 2 are enabled Teach 2 is blocked the data record indicator is set to 1 using 11 14 or Teach Z Teach N is blocked the data record indicator is set to 1 using 11 15 or Teach N Teach Z is enabled The functions Teach N and Teach 2 are blocked With 11 14 Teach N 11 15 or Teach 2 the data record indicator is set to 1 If commands are issued using RS232 and they cannot be executed invalid commands missing passw
14. sets the speed steps N011 200 performs the positioning command with the set procedure N012 SPEED 50 sets starts speed to 50 N013 POSR 70 SPEED 100 sets speed step N014 POSR 80 OUTPUT 0720 sets the comparator point of the Switch off bore spindle N015 POSR 175 OUTPUT O81 sets the comparator point of the Release conveyor belt NO16 POSA i eet erred tese performs the positioning command with the set procedure 017 GOTO waits for start 6 goes to data record NO06 232 AUSEE SPEED SYNC 11 1 5 SPEED SYNC Application Cartons should be transferred from one conveyor belt conveyor belt A a belt operating at a very variable belt speed to another conveyor belt conveyor belt C a belt which has a constant belt speed This task should be performed using a transfer belt conveyor belt B installed between the two other belts This belt receives cartons from conveyor belt A and when triggered by a pulse passes them on to conveyor belt B In addition to this when conveyor belt B is assigned conveyor belt A should be blocked Conveyor belt B is activated using COMPAX Assignments light barrier x f R
15. p1 DAchannel 0717 X83 05 DA channel 1 X8 06 shield XTTB X8 5 o7 X17 GND 24v 17 4 QX8 16__ og DA monitor 24y X15 lt N initiators cnp X17 6 X10 1 jg Sig MN X177 s 1 b X102 uo Sig 22 X178 t 2 _ 10 3 _ 444 L sig 21 X179 1 X10 4 45 X10 5 r Qao 13 X14051 14 gc 14015 21 107 _ 15 xe X14 153 X10 8 inpu i eum 16 output alee RxD 14015 4 Q _ 09 19 116 HEDA rp X14 15 5 T X10 10 i oT 010 O9 016 mc 1405 6 Qna O11 X14 15 7 anon 012 exp 1458 DE 70 013 C X14 15y 9 1 ge odd pues T du 0918 2 16 2 l 16 3 N j 1 9 2 GND X16 NC 4 f X93 absolute 165 1 16 6 l 1 X9 A Stand b 9 5 s as X167 l QB xv p X168 o6 15 24 emerg stop 24y X16 9 1 AD g Q X9 housing J M X12 resolver SinCos X13 encoder 5 woo ao gt 8o62 E a 22 2 Z 29955 9565 98885 25889252929885255 lt 6 x13A x13 2 x13 3 x13 4 x13 5 x13 6 x13 7 x13 8 x13 9 x13 10 x13 14 13 12 x13 13 x13 14 x13 15 The assignment of X12 does not apply for the S3 option You will find the assignment of the connectors X5 and X7 bus systems on Page 34 COMPAX 45 5 85 5 unit characteristics Plug and connection assignment COMPAX 45XXS 85XXS 7 6 COMPAX 45XXS 85XXS unit charact
16. 131 Ballast resistance 32 38 41 Ballast resistors 193 Baud 160 BDF1 02 187 BDE2 01 200 Binary data transfer using 5232 166 Block check 161 Block structure of the basic unit 68 Blocking and modifying teach in functions P211 150 Blocking and modifying the teach in functions uel 164 Brake control 51 Braking delay 93 Braking operation 64 Braking power zs 24 Braking power 1000SL bet 41 Branching 108 BREAK handling 111 sn PR 193 BRMO ete 193 itecto 193 Bus connection 63 Bus data 207 Bus parameters 71 Bus systems 178 Bus termination 180 Cable es 206 Cable laying 13 COMPAX M S Cable lengths 206 Calculation errors 115 Cam controller 104 178 178 CE compliant 13 Changes in speed within a positioning process 101 Command combinations 101 Command vari
17. waits for the start pulse 008 GOSUB calls up the corresponding inputs 19 116 for the sub program N009 GOSUB raises workpiece 32 calls Raise workpiece sub program N010 60 proceeds to data collection station 011 GOSUB deposits workpiece 36 calls up Deposit workpiece sub program N012 GOTO waits for START 7 goes to data record NO07 Link table for external data record selection N016 120 proceeds to station 0 NOT RETURN aeta returns to main program N018 240 proceeds to station 1 N019 nr returns to main program N020 proceeds to station 2 N021 returns to main program N022 480 proceeds to station 3 N023 RETURN sese eme returns to main program N024 600 proceeds to station 4 N025 returns to main program N026 720 proceeds to station 5 N027
18. Optimization functions command entry no command Mode No 1 YES E Interfaces Enter command x 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 Accessories Special control When OUTPUT O X the cursor is positioned under X after the command is function transmitted The value be modified and transmitted Parameter 203 Error list Accessories and options COMPAX M S Hand held terminal View edit and reset parameter no Parameter Mode vo 4 Set up Mode 2 IET ves 7 Exits the menu IS generated Esc without when you exit the ES menu View Hyesl Enter Parameter no Parameters vo 5 Select other para meters using AJor v or edit parameter no Edit Hest Enter Parameter parameters vo Edit Parameter no Ent Select other para meters using A or v edit parameter no Reset Hyves Are You sure Parameters Yes Parameters are set to defaults reconfigure the device When you exit the Parameter edit menu using Esc the VC command transfer configuration is transmitted t
19. 72 Switch on status 10 Synchronization errors 171 Synchronizing to external velocity 99 Synchronous cycle Control riens 147 Synchronous STOP using 113 151 System concept 173 Table of contents 2 Target position 207 Teach in real zero 149 TEACH position 164 Technical 64 Technical data power features NMD ntis 23 Temperature 207 Terminal boxes 46 Terminal module 188 Test control 56 TN mains 66 Toggling when position is reached 117 Tooth pitch 77 207 Torque converter 226 237 Transmission errors 171 Transmitting control instructions via RS232 164 Travel cycle 207 Travel per motor revolution 77 Type plate 7 tert 208 increments 74 c 74 Unit assignment 7 Unit designation 208 Unit designations 208 Unit family 208 Unit monitoring 222 Unit technology 15 Unit wiring COMPAX 1000SL
20. Loop difference for speed 0 000 N 2 n o gt Speed controller output nominal current value 200A i 7 max acceleration lag error units corresp P90 Nominal value of transverse current torque 200A max acceleration current in of motor nominal current 200A 200A 200A 1000V 2 US 27 Us o BR 1 jo M 8 __ H6 43 To determine torque torque 3 transverse current 0 71 torque constant 44 To determine torque torque 3 transverse current 0 71 torque constant 210 AUSER Status monitor S15 P182 HEDA tion value 17 Scaled transverse voltage 2 ULS I CQ For amplification of 1 use 10V 2 ULS Analogue HF1 CPX 70 IPM 100 0 1V Analogue HF2 CPX 70 IPM 100 0 1V e N m m m m m m m m JNIA A VIN o Master position CPX 70 MT 0 1 V Slave nominal position CPX 70 ST 0 1 V Master speed CPX 60 CPX 70 2000min 1V Additional COMPAX measuring quantites Signal indicators optimization display 513 514 P233 P234 Selec Meaning tion 17 Total number of HEDA transmission errors since beginning of synchronization Process nominal value HEDA 19 HEDA control word 0 HEDA status word 3 3 25 Output value of service D A monitor channel 3 10V corresponds to 1 encoder position in the unit corresponding to P90 29 Effective motor load in
21. X1 X2 X3 X4 X6 motor Ac supply control braking RS232 brake voltage resis tance J pi J J J Q X 9 enD DA channel 2 X17 1 t i X19 2 Input DA channel 3 X172 lt X19 3 Input shield pU XA Input X17 GND 24 X174 _ c by 195 lio DA monitor 424y X15 t X19 6 ut initiators X176 Uf X197 input Sig XT e 1 input Sig E2 X17 8 1 X19 9 Sig E1 X179 t X19 10 X19 1 19 11 emerg StoP Otto NC xana 2 X19 12 rable RxC Q X9 3 Override stop 1401531 X19 4 SND enable RxD x14 15y 4 1 i 2 19 15 Outpu override X14 X15 33D 14 15 5 T X19 16 stand by HEDA x14 15yel 2 X19 17 Outpu TxC 2 19 18 RxD ga X19 19 Output L 1415 91 2 19 20 Output 2 19 21 X7 bus systems output X19 22 Assignment depends on Output the bus system X1923 Q X 924 stand by P X5 bus systems input 1 X19 25 Assignment depends on Q stand by S the bus system X12 resolver SinCos 13 z E c gt 2 gt gt 0 MN i 5 gt 2 ee QA O O Z u cee 522292 529228 85 552 6 x13 2 x13 3 l X13 4 x13 5 x13 6 x13 7 l X13 8 x13 9 x13 10 X13 11 13 12 X13 13 X13 14 X13 15 The assignment of X12 does not apply for the 53 option 42
22. Advance reverse The advance reverse control can be engaged to increase optimization of guide control characteristics and reduce dynamic lag error by using P69 Nominal value 100 Range 0 500 default value 0 applies to VP 130 Optimization functions Optimization parameters hardware Control processes for optimization Targets problems Damp Advance contr Acceleration Other ing 24 factors P25 time measures P26 P70 ACCEL Minimizing lag error increase 710096 increase optimize if necessary No harmonies increase decrease increase quadratic increase max P94 3 torque P16 Unusually high decrease decrease decrease increase linear increase max harmonies caused P94 1 torque P16 by power limitation Connector Technical data Vibrating at higher decrease decrease check min mass frequencies P92 and min perceptible as noise moment of inertia P81 Vibrating at lower increase check max mass frequencies P88 and max perceptible as moment of inertia motion P82 High motor or final decrease increase linear decrease max stage temperatures P94 1 torque P16 Configuration 5 ee Sp otc a8 Optimization functions Interfaces Accessories Parameter 131 Error list Operating Instructions COMPAX M S Speed monitor 8 5 2 Speed monitor Speed determination standard
23. _________________ 5 01 DC feed for COMPAX M hardware 9 7 3 5 01 DC feed for COMPAX M The power supply is normally over a central mains module NMD10 or NMD20 With the component EAM5 01 available as an accessory DC voltage can be supplied the component contains the connections of the mains module Input voltage range 100V DC 650V DC The DC intermediate circuit must be limited to 750V in braking mode Connector assignment cable Power voltage is connected directly to COMPAX M X2 c s e 5 8 er fad 202 09 EH E EST Mes COMPAX M 5 all U V WPE Brake 5 0 0 PEt 5 aan ooo elo 2 X AT ET a c d E cn m iig LS ze 24V DC ov 5 01 X4 X5 as Design of EAM5 01 c On 55 X3 3 PE o Supply voltage for functions of 8 X3 2 24V DC X X3 1 OV E E 5 P Xa 28 5 lt Note housing from Phoenix eto be attached to top hat rail of various sizes without mating connector approx 4 5 cm deep Termina
24. 10V P76 77 39 39 39 selection of voltage output For positive voltage 0 0 0101067 10V For negative voltage Y U 0 0101067 10V 0 0202134 Note set U negative in the 2nd formula 9 96V 0 01011067 0 0202134 10 0V Addressable using P71 channel 0 and P72 channel 1 P71 ChannelO 17 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 is as follows Parameter setting for required voltage U 10V 10V P71 72 P73 P74 39 selection of voltage output Y U 101067 10V 10 0V 0 0101067 0 010106 10 0V SINUS IEF hardware 8 5 Optimization functions Connector assignment cable Important requirements for a rapid stable adjustment are the correct information about the physical characteristic values of the application COMPAX requires the following data The parameters of the motor For Parker standard motors select the connected motor type from a list the relevant parameters are stored in the ServoManager For other motors the relevant parameters P100 P133 must be set according to the connected motor see from Page 91 e The parameters of the application These are mainly the moments of inertia with and without load that the drive has to move which are set depending on the drive type
25. 15 mm 10 mm re Version in high flex MOK44 same layout MOK43 max 18 9A HJ version in high flex MOK45 Layout corresponds to MOK42 however motor lines in 2 5 mm Packaging Packaging of motor in accordance with connector manufacturer s specification Contacts for 1 5 mm and 2 5 mm are supplied with the connector set Packaging of device Material 6xcrimping sleeves e 6 shrink fit hose Procedure e Strip 110 mm sheathing off cable e Cut down sheath to approx 35 mm loosen e fold back over outer cover approx 75 mm and stick with insulating tape e Shorten sw1 sw2 sw3 sw4 sw5 approx 15 mm gn ge approx 15 mm longer cut down sw6 e Attach 2 x approx 30 mm shrink fit hose sticky e Strip 10 mm of insulation of ends of wires and secure with crimping sleeve 1 5 48 Connections to the motor MOK21 max 18 9A 110 mm 75 mm standard highflex Shrink fit hose PA standard hochflex AAAA M FTN ai U 20 black i A sw1 sw bp U 11 black2 i sw2 br M brown EE F4 rod 1 1 1 black3 blue i i Sw3 bl e 1 I 1 1 Br 24V black4 red sw4 rt Br 24V black5 i gt swb gr Br gren black sw6 11 gn ge PE Aero 7 i ong mo wot
26. The assignment of X12 does not apply for the S3 option The bus connections are made via the mains module 21 Unit hardware Configuration Technical data Connector assignment cable Positioning and control functions Parameter Status Accessories Interfaces Optimization Error list functions options Start up manual COMPAX M S 7 3 Mains module NMD10 NMD20 The mains module ensures the supply of current to the COMPAX M not COMPAX 35XXM axis controller and the SV drive connected into the network It is connected to the 3 phase power supply with 3 400V AC and PE 24V DC voltage must be provided for the control electronics 7 3 1 Overview NMD voltage supply 3 80 500 V AC X1 24V CC X2 power inter 0 mediate loop X3 control wJ E P voltage 24 V Power Supply ens 2 ojo ojo X4 control and status signals Bus signals continuation X6 bus X7 bus systems isystems IN OUT X8 Control T X18 fa 12 h Before wiring up always de energize the unit Even once the mains supply has been switched off dangerous levels of voltage can remain in the system for up to 5 min N The PE connection must be a 10mm version 7 3 2 Dimensions installation Dimensions and installation of the NMD10 and NMD20 power
27. module 2 x4 19 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment cable Parameter Error list control functions functions options Start up manual COMPAX M S 7 2 3 COMPAX M dimensions installation The specific design of the COMPAX M controller allows for wall installation distance 61mm in COMPAX P1XXM and 86mm in larger units in two different ways Direct Direct wall installation and dimensions of COMPAX M and the mains wall installation modules 02XXM 05XXM P1XXM 15XXM NMD10 amp NMD20 a 390 85 60 340 75 49 10 40 10 40 Y lt Fi 8 5 A ry rp Lesh EE 2125 EN cs USE 1 st E ENS e 2 E j Y e f s q i4 Y 50 Attach with four 6 mm Attach with two 6 mm hex socket head screws hex socket head screws The controllers are attached to the mounting plate with the back of the heat sink Indirect Indirect wall installation of COMPAX 02XXM COMPAX 05XXM and COMPAX wall installation 15XXM and the mains modules
28. time in current limit for acceleration in ms 14 maxt meincurentlmiforbrakng n ms 56 square of peak motor current reference value 80 0004 _ Enter the corresponding number in the first column in the parameter This means P233 determines status 513 P234 determines status S14 position 50 max position overshoot _ 6 position undershoot 25 time max 5 position overshoot max position undershoot 25 negative sense negative sense of rotation of rotation positive sense of rotation positive sense of rotation 30 P233 P234 are set as valid with VP 133 Configuration Technical data Connector assignment cable Positioning and Optimization n c Accessories Parameter Error list hardware control functions functions options Operating Instructions COMPAX M S Optimization display acceleration phase 4 decerleration phase max acceleration tracking error mu actual max deceleration tracking error nf max acceleration speed value of position P14 time needed for positioning max deceleration speed pos current limit position max backshoot with x ref to max position i neg current limit position max po
29. 10 10 V1 S1 2 P13 P13 P14 V7 V3 512 40 Befehl lt Operand gt V10 SPEED V30 Operations are not allowed after commands use variables instead for such cases e g N001 V001 51 100 5 N002 POSA V001 for addition P10 10 for subtraction 1 51 for whole number division V7 V3 where V7 30 and V3 7 the result formation of the whole number js component V7 V3 4 V7 INV3 4 2857 whole number component 4 12 P40 with 12 30 and P40 7 the result is 512 40 2 12 P40 4 remainder 2 division remainder 2 not allowed POSA S1 100 5 remainder Modulo for the formation of the division The following operands may be used e constants parameters e status values 51 515 530 SAOff e variables V1 V39 after commands with preceding point full stop POSA V1 Not all status values can be used as operands Status values S01 to 515 S30 and S40ff are permitted 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 When the cam controller is switched off V50 0 it is possible to use the variables V51 V70 as free variables After commands the variables like user parameters P40 to P49 preceded by a point full stop POSA V1 ACCEL V2
30. 13 Executing commands 160 External contact for brake control 51 External control panel 187 External motors conditions 75 External position localization 136 Fan configuration 20 Fast start 168 169 Final stage engaging and disengaging 123 Find machine zero 149 movement process 81 Free assignment of inputs and outputs 143 Front plate operation 71 Function codes of commands 159 Function of digital inputs 148 Function of outputs 153 Function overview 69 Function signs 160 Fuse protection 64 Fuse protection 10008SL 41 Fuse protection COMPAX 25008 32 Fuse protection COMPAX 3500M 27 Fuse protection COMPAX 45 85008 37 Fuse protection NMD 23 59 General drive 77 Global assignment 114 GOSUB iie 107 GOSUB 110 iiem 99 107 GOTO EXT eit 109 Hall sensor commutation 176 Hand held terminal 200 Hardware handshake 160 HAUSER synchronous MOTOTS iei teneis 176 uuu 168 183 HEDA address 71 HEDA interface
31. 178 Interfaces 138 Interpreting and storing commands 160 IPM ete 168 ott 66 Lag 207 225 L st 207 Leakage current 66 LED display COMPAX 1000851 40 LEDS 10 Length code for cable 47 Limit switch monitoring 89 Limit switch monitoring without locking the movement 89 Limit switch operation 89 Limit torque P16 213 Limit values 213 Limitation functions 222 Limits status 208 Linear motor 176 Linear motor LXR 176 LXR e boten 176 Machine zero initiator without resolver zero 88 Machine zero comparison 83 Machine zero mode 80 epe eal 66 Mains module NMD10 NMD20 22 Mains power 207 Mains supply fuse protection 27 64 Mark input 100 Mark related positioning 100 Master output quantity 169 Maximum feed length 100 Maximum mass 77 240 Maximum position 11 78 Maximum travel to mark 100 Measuring error 135 208 211 Minimizing lag error 131 Minimum mass
32. After Quit and Start the same command would be processed again and probably cause another error message For this reason appropriate care should be taken when programming The causes of the error are stored in the optimization display P233 P234 39 and the last calculation error stored is always the first to be displayed Errors occur in the arithmetic due to the systematic errors which arise during the display of figures in the control processor the smallest number which can be displayed is 2 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 x1 x2 is calculated using the following formula lt a x1 X2 20 when Ax Ax 2 x1 X2 or absolute Axit axil Axe Ay __ x2 0 when Axi Ax 2 2 1 12345 6 2 0 0001 Result 123456000 2 24 2 24 max relative error 6 lt _ _ 0 000596 12345 6 0 0001 0 0001 27 12345 6 27 73585 51 0 0001 max absolute error 115 Configuration Technical data Connector assignment cable Positioning and Optimization n T c Accessories Parameter Error list hardware control functions functions options Operating Instructions COMPAX M S Arithmetic Read status
33. goes to data record 019 235 Application examples COMPAX M S Fast start 11 1 7 Fast start Application Material should be fed to an extender stamping machine which operates at a maximum speed of 150 rpm The material may only be supplied if the stamping tool is open and if the workpiece already stamped has been thrown up The material supply should be released or blocked via a switch Assignments Function range within which positioning can be carried out 210 233ms initiator COMPAX 24V 14 15 4 100 rotational speed disable I 360 j 400 t ms enable When the stamping machine runs at an operating speed of 150 strokes a minute an operating cycle lasts 400 ms The operating angle at which the material can be fed is 210 233 ms therefore remain for the feed movement To ensure that the necessary drive dynamics are kept within these limits as much of this time as possible must be used for the actual feed movement This is why the fast START is used here as it has a response time of only 1 5 ms The feed movement is triggered by the signal that the initiator on the eccentric axis transfers via the release switch to COMPAX 115 at an angle of 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 NOO1 and NOO2 as are those for
34. 132 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 JicadJmotor the loop response time is limited by quantization noise COMPAX includes a speed monitor for determining speed which can be turned on using parameter P50 Use the speed monitor to set a higher level of stiffness corresponding to a faster control process The monitor reproduces the dynamic behavior of the drive It receives the same input signal as the physical drive An additional loop is used to compare the output magnitude with the actual output magnitude of the drive actual position value from resolver and hold it at the same value This additional loop makes corrections to the internal monitor values The advantage is that the speed is available directly as an intermediate value of the monitor and can be used for speed control Use this speed signal to attain a stable control process or to operate the drive control process with higher levels of stiffness P23 and the same levels of damping P50 100 without monitor default setting and function as before P50 101 with monitor P151 responsiveness of the monitor control standard 3096 P151 gt 30 monitor loop becomes faster P151 lt 30 monitor loop becomes slower e F
35. 185 HEDA parameters 168 HEDA terminating connector 63 HEDA transmission GITOIS e 171 Higher level of stiffness 132 HJ motor ess 93 HLE data es 77 HOUSING 66 HPLA data 77 assignment of variants 147 t ete 136 Idle display 119 IF ERROR 110 IF ERROR GOSUB 110 IF 112 101 1 108 IE 721 rentem 108 IF query 108 IF STOP 111 IFM identification 208 Increments 74 Individual configuration of synchronous motors using Servo Manager 91 Initial start up 73 Initializing variables 116 Initiator set 177 Index Initiators connection plan 55 position 55 55 Input connection 54 Input 14 100 Input 16 100 186 Input level 54 Installation dimensions COMPAX 45XXS 85XXS 36 Installation and dimensions of 3500M 27 Installation arrangement of the COMPAX M mains module 18 Interbus S
36. 61512 PLC assigns the sign 4 bit to 18 111 Once the data is stable the PLC sets the UBN to 1 COMPAX reads the sign and sets RDY to PLC 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 PLC sets UBN to 1 COMPAX assigns the sign 4 bit to O8 O11 COMPAX sets RDY to 1 PLC reads the sign and sets UBN to 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 COMPAX PLC PLC PLC rine valid valid valid H valid valid i i f Jj ree i valid valid valid H i f J PLC UBN COMPAX RDY umma ee Reset interface ta gt It is important that the data ready message is only assigned after the data when using PLC one cycle later i e once the data has been safely assigned If a fault means that the signal RDY is missing the interface can be reset to its initial status using signal E start sign The next UBN is then detected even though RDY is missing 159 Positioning and Configuration Technic
37. A running stop program is interrupted by the error program and continued after the error program is executed Engage Error program The error program must not contain disengage motion commands POSR POSR WAIT WAIT POSR brake final SPEED in the speed control mode any sub program jumps GOSUB IF GOSUB Variable XX70 commands voltage approach real zero and find machine zero commands speed step commands POSR SPEED or comparator commands POSR OUTPUT 110 Positioning and control functions STOP BREAK handling IF STOP GOSUB xxx hardware and is used to bring the individual outputs e g the control output for a pump or a valve into a safe status Error program with Each error program must contain a WAIT START instruction WAIT START WAIT START instruction causes the programming procedure to stop until an external QUIT and START occurs Then OUTPUT instructions can again be present for resetting the outputs There must be a RETURN or END instruction at the end of the error program Connector assignment cable The END instruction stops the program E The RETURN instruction executes a jump back into the program line which was previously interrupted If necessary an interrupted movement is continued provided that the error has been acknow
38. Connectors Phoenix Pin Assignment o O MC1 5 7 ST 3 81 4 S Ready 24V DC Output for um stop 6 Emergency stop input activated by 16728 7 24V lt 50 S O 8 reserved ___ __ 0 0 O 9 24V DC lt 50 O 110068 44 HAUSER ______ 100051 Unit characteristics COMPAX 1000SL gt lt 19 J Pin Assignment _____ 24V DC lt 50mA P Ready contact S Ready contact Emergency stop input activated by 15V 24V Emergency stop input direct to COMPAX M X9 25 pin Sub D Socket strip Screw connection UNC4 40 000000000000 900000000009 B Connector Phoenix Assignment MC1 5 7 ST 3 81 6 Emergency stop input activated by 15V 24V _______ Emergency stop input on COMPAX M The emergency stop input on COMPAX M X9 is enabled via parameter P219 Meaning P219 0 No emergency stop input on COMPAX M X9 P219 7 Emergency stop input on COMPAX M X9 with the following data Stop with P10 as relative ramp time P10 braking time from 100 speed to 0 e The motor is switched off Error message E56 is generated e The ready contact drops AQ Eis i i control external power supply COMPAX M COMPAX M Pan saf
39. 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 permitted unit corresponds to P90 two digits after the decimal point three for inches a control parameter P40 P49 or a variable V1 V39 Value 2 no digits after the decimal point numerical value a control parameter P40 P49 or a variable V1 V39 e g POSR P40 SPEED P41 N001 ACCEL 250 Acceleration and braking time 250 ms N002 SPEED 20 Starting velocity 20 N003 150 SPEED 30 1st speed step when starting position 150 sets velocity to 30 N004 POSR 300 SPEED 50 2st speed step when starting position 300 sets velocity to 50 N005 POSR 500 SPEED 80 3st speed step when starting position 500 sets velocity to 80 N006 POSR 900 SPEED 60 4st speed step when starting position 900 sets velocity to 60 N007 1000 Positioning command to position 1000 position 1000 is approached with all of or one part of the speed step profile depending on the start point N008 POSR 200 SPEED 50 Prepares a new speed step profile NOOO 101 Configuration Technical data Connector assignment cable Positioning and Optimization n c Accessories Parameter Error list hardware control functions functions options
40. Operating Instructions COMPAX M S Changes in speed within a positioning process POSR SPEED Compatibility Function POSR SPEED ACCEL OUTPUT Password oer POSR x SPEED y mue ACCEL z Mark reference POSR SPEED POSR OUTPUT Cam controller WAIT GOTO GOSUB RETURN END REPEAT IF I Comparison WAIT Start GOTO GOSUB EXT IF Error Stop Arithmetic Position monitoring Idle display Speed monitoring Engage disengage brake final stage Variable voltage 102 Example Note Example Speed step profile extended by ramp time Speed step profiling is still possible in the previous version with no restrictions 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 time is assigned within the speed step profile not by using ACCEL but defined by the velocity change e The deceleration ramp for the target position is defined by the previously set ramp braking time applicable before the speed step profile Abbreviation PRxSDyALz 2 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
41. TEMP 9 Bg po X17 8 Q M103 _ 11 xim cos pz EE 5 X104 qu i X12112 cage X Sig E1 2 lt aus n3 X123 2108 59 X12114 pee NC REA 8 b X107 ug g Stand by P aoa l x12 5 ie Rxc X14 15 2 1 X10 8 116 2 S Stand by S ae TxC X14 15y3 9 X10 9 O9 5 35 24V uu d 14 15 4 X10 10 ZES 15 24V Ene S d X13 1 Housing x a TxD X14 15 5 i Paon MN XV cy 2 rae 14 15 6 1 X10 12 012 x reserved uos 5 13 3 B2 TxC X14 15y7 de Enable xno 1 x13 5 C 14059 1 9 o _ 19 11 o 7 a 5 X10 15 615 iN Shield 2 136 2 5 8 5 X10 16 016 2 5 XI3 7 E X161 2 RxD X62 lt X13 8 162_ gt 2 z4v X63 ___ 188 Mab ce X163 1 X9 2 t xi3 10 x xie4 GND DTR AA c yA 2 25 164 b X9 3 6 5 1 1 3 xigs Q reserved Q GND lt gt 5 20 A2 oo 16 lt t X94 Q on Xol x13 12 xee l reserved DSR gt N1 L2c TROIS _ xu 1 lt lt b X95 say ats X97 X13 13 X16 7 1 ge 15 24 Emerg stop CTS S e 291 __ Housing J C 5V X69 can be parameterized Parameter The assignment of X12 does not apply for the S3 option 29 Error list Start up manual COMPAX M S 7 5 25XXS unit characteristics 7 5 1 COMPAX 2
42. 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 POSR y SPEED 10 ACCEL 100 POSA z POSA Ji 1st speed step at position x 2nd speed step at position y Start positioning to z Return with SD 10 AL100 and AL 2000 300ms 1000ms M ENRETE ET 2000ms N Position 2000ms 100ms Position x is reached at 25 velocity and 1000ms acceleration time Position y is reached at 100 velocity and 300ms acceleration time Position z is reached at 10 velocity and 100ms acceleration time To stop at position z a braking ramp of 2000ms is used for early deceleration After the command 0 the drive returns to the starting point position 0 The drive accelerates for the last set 100 ms to the last set velocity of 10 and returns to position 0 The braking time of 2000 ms set before the speed step profile is used as the braking ramp Positioning and control functions Comparators during positioning POSR OUTPUT 8 4 14 Comparators during positioning POSR OUTPUT hardware o POSR Setting and resetting freely assignable outputs within a positioning process A maximum of 8 comparators can in one positioning process The 8 OUTPUT comparator value is spe
43. waits until the shutter is closed LOCK E mark N005 OUTPUT 7 0 closes interlock N006 IF 19 0 GOTO 6 checks whether interlock is closed Operating mode query 007 IF 11021 GOTO centrifuges 18 queries operating mode switch aC HM mark N008 SPEED 0 1 sets the speed to 0 1 N009 WAIT 500 waits 500 ms N010 IF 17 0 GOTO 10 waits until the light barrier is activated N011 SPEED sets the speed to 0 N012 OUTPUT 7 1 opens interlock N013 IF 18 1 GOTO 13 waits until shutter is opened N014 IF 18 0 GOTO 14 waits until shutter is closed again N015 OUTPUT 7 0 closes interlock N016 IF 19 0 GOTO 16 checks whether interlock is closed 017 GOTO operating mode query 7 goes to data record N007 mark N018 SPEED 100 sets speed to 100 N019 IF 11020 GOTO removing 8 operating mode query N020 GOTO 19
44. Do not loosen the locking nut 191 Positioning and Configuration Technical data Connector assignment cable control functions Optimization n c Accessories Parameter Error list hardware functions options Accessories and options COMPAX M S EMC measures COMPAX 25XXS COMPAX 10XXSL Length of connection between power filter and unit Up to 16A nominal motor current Up to 30A nominal motor current Over 30A nominal motor current Wiring of motor output throttle 25XXS motor cable gt 10m 25XXS motor cable lt 10m COMPAX 10XXSL motor cable gt 50m Type NFI01 01 dimension diagr NFI01 06 dimension diagram 50 8 0 3 85 4 e Unscreened 0 5m Screened 5m 9 7 4 2 Motor output throttle We supply motor output throttles for use with long motor lines greater than 20m 2 v2 f E MDR01 01 16A 2mH MDR01 02 30A 1 1mH Type 1 03 gt 30A 0 64mH D A MDRO01 01 MDRO1 02 MDRO01 03 205 107 157 83 A mm B mm D mm E mm F mm H mm mm Weight kg 260 150 4 6 17 device motor output filter motor t JUI v 44 _____ 1 21 ____ w dL T Ere I V V V
45. J current pre control and P70 J return pre Note control The arrows behind the parameters show the preferred E direction for the parameter optimization Check current restriction Reduce parameter During acceleration braking the current limit T sould nor be reached oronly briefly 1T Both directions could lead to a better setting The optimizing display P233 234 13 and 14 shows the time in which the controller is operating p The optmizing direction shown usually leads at the current limit to a good control result in our experience Use the pre control parameters or increase however this cannot apply to every ACCEL to reduce the time at current limit application case Increase parameter 126 HAUSER 8 5 1 Optimization parameters Structure variants Structure and parameter settings using the ServoManager P59 Structure switch measuring P23 stiffness of drive Increase stiffness Reduce stiffness In addition to the standard structure which corresponds to the previous COMPAX control structure you can select from 3 structure variants These include in addition to a specific control structure pre defined settings for specific optimizing parameters By selecting the individual structures in the ParameterEditor the following parameters can be set No Meaning Standard variant 1 Variant2 variants Pss Stucureswich measuring 9 4 f 3 D section controller
46. Note Explanation regarding cam controller Cam controller with compensation for switching delays With the instruction VO x global instruction to all variables variables V50 V70 will also be changed Example 1 Normal positioning m 2 tontrol ca 4j 4 4 4 conrtol cam 1 control cam 2 COMPAX calculates a travel difference from the lag times of the switch elements Apo and A constant speed is assumed The switching signal is with increasing setpoint activated by Ap before the control cam position for On and deactivated again by Apos before the control cam position for Off Requirements for safe and time correct switching of the cam controller The cam positions as well as the range Ap before the cam position must be moved through at constant speed Problem point In Example 1 point the idle position is located just above V57 so that the control cam 1 cannot be activated too early This means that the switch on lag of the actuator cannot be compensated This causes a switching error In this case COMPAX activates the control cam output immediately after the relevant positioning command is received 105 Positioning and Configuration Technical data Connector assignment cable control functions Optimization n T c Accessories Parameter Error list hardware functions options Operating Instructions COMPAX M S Ca
47. 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 the motor speed resolution e With the SinCos multi turn you also get economical absolute value sensor function 4096 motor revolutions detected absolute gt Further information the value range of S12 be found Page 79 183 Configuration Technical data Connector assignment cable Positioning and Optimization n c Accessories Parameter Error list hardware control functions functions options Accessories and options COMPAX M S SinCos multi turn with programmable transmission factor When using a SinCos multi turn you can use the S2 option to adapt the range of the absolute position S12 to your application via a transmission factor S12 then always contains the position value referenced to the reset path P96 Positioning is still implemented with reference to the actual value in Status S1 Standard 5 multi turn records an absolute position of 4096 rotations In applications such as controlling a round table via a transmission the position of the table cannot be determined very accurately because 4096 rotations usually signifies several rotations of the table By specifying the transmission factor P96 ratio of motor table the absolute position
48. Uis Scaled longitudinal voltage 2 Uis For amplification of 1 use 10V 2 PII You will find additional measuring parameters on Page p10 8 The initiator signals are looped through the monitor box ASS 1 01 7 0000001 factor 1 000001 factor 10 999999 factor 10 000 000 8 Physical value with 10V output voltage and an amplification of 1 9 To determine torque torque transverse current 0 71 total torque constant 10 To determine torque torque transverse current 0 71 total torque constant 57 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment cable Parameter Error list control functions functions options Start up manual COMPAX M S D A monitor option D1 Calculation of PG MW BG physical parameter VS 10V using the measured PG physical parameter value MW voltage on output channel in V BG reference value from the above table VS gain factor Example P76 4 000 0010 P77 13 000 0005 Therefore the following applies channel 2 measuring parameter 4 actual speed value gain factor 10 channel 3 measuring parameter 13 phase current for phase U gain factor 5 measured values 2 5 20000min channel 0 MW 2 5V gt PG 500 rpm 10 10V channel 1 MW 3V 20 12A 5 10V The parameters of the D A monitor can also be set to status S15 or be viewed via the optimization display see P
49. X1 MSTB2 5 8 STF 5 08 with screw connection X2 MSTB2 5 4 ST 5 08 without screw connection MSTB2 5 2 ST 5 08 without screw connection X4 MSTB2 5 3 STF 5 08 with screw connection You can acquire Phoenix housings for these connectors and these can be used once adapted to our cables Designation KGG MSTB2 5 pin number COMPAX 25 5 unit characteristics COMPAX 25XXS dimensions installation 7 5 3 COMPAX 25XXS dimensions installation The two retaining plates supplied can be attached to the back left side or the heat sink side Retaining screws 4 M6 hex socket head screws Design in series 1 30 16 _98 E ee BETE 26 Hl Y T Y 98 The left hand side of the unit heat sink is fastened to a metal wall using 2 retaining plates Installation distance 135mm device distance 5mm Delivery status The design is delivered ready for connection in series Flat design The left hand side of the unit heat sink is fastened to a metal wall using 2 retaining plates 220 o 17 186 Y 8L um aia 52 8 T 95 L 186 Converti
50. X2 5 ES 55 8 GND x2 4 15 X4 13 E id AE und 5 H 2 5 so E2 1 2 ES S29 08 1 SNP X1 n C Ensure that the initiator is rebound free Standard When operating with one initiator machine zero this must be attached to one side of the stroke When attaching the initiator ensure that an initiator attached to the left hand side can no longer be cleared to the left The flank to be analyzed can therefore also be positioned before the end of the travel distance The same applies correspondingly for the right hand side Extended operation When operating with three initiators not standard initiators 11 and I2 must be attached to the outer limits of the stroke range The machine zero initiator is fitted between 11 and 12 The following limitation applies in such cases the flank of the machine zero initiator must not be activated at the same time as a limit switch gt If COMPAX is only operating as a speed controller the continuous mode or normal operating mode with a special machine zero mode P212 10 see Page 80 onwards then no initiators are required 55 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment cable Parameter Error list control functions functions options Start up manual COMPAX M 5 Service D A monitor override 7 9 5 Service D A moni
51. digital design which encompasses positioning speed and current control The main features are controller parameters which can be reproduced and are drift free simple copying of set values offset problems the implementation of efficient flexible and adaptable setpoint generation Accessories options Parameter 67 Error list Operatin Instructions COMPAX M S 8 1 1 Block structure of the basic unit not applicable for COMPAX 1000SL Interfaces for data and status PLC data interface Query the most important status values the most important d gt RS232 RS485 Bus Systems for connection of PLC IPC PC or general control unit e g fre from Hauser LLL LLLLLL LL SS 16 Binary inputs and outputs a 29 D NN lt SK S Oeo OQ OO Oed UO 296609060 55227 599 RRR KKK KK RS Sa PO 8 2 e 050000005050006 RRS SRR RK RRR KD SRK KK RKO RRR Status queries Setting parameters Direct commands 22222 E Actual values Configuration ACCEL SPEED POSA POSA HOME POSR OUTPUT GOTO 250 lines manual manual Diagnostic values Start Stop Break Optimization Positioning commands Device IDs General settings instructions Program flow commands Machine zero real zero Teach rea
52. e The positioning process is interrupted the axis is stopped O4 Ready for start is reset e The program data record is not ended after a start The next data record applies EMERGENCY 1 STOP 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 is continued to its completion after acknowledgment and START Transfers that trigger functions are described All other transfers and statuses do not trigger any functions Function Ft I2 I3 M I5 StartHand 0 0 o 0 1 EndHane __ xX xX 1199 1 9 startHand o o J o o functions x x x x 0 __ stant START 0 0 0 0 ft jm lo x x x x tj 1 ApproachRZ 1 0 o 0 0 Teech RZ 1 0 0 0 SHIFTIS 1 fo Activate iino t Function is switched on by P232 4 see Page 136 SCIUSIMEN 111 0 External position adjustment switched off reaction time approx 5 ms 111 1 External position adjustment switched on 150 HAVYSESR 3 Interfaces Synchronous STOP Diagram Digital inputs and outputs Input 115 FL Special START input Input for fast and defined starting of positioning pro
53. the corresponding group of four is switched off PLC COMPAX X19 applies for COMPAX 1000SL k X19 applies for COMPAX 1000SL gt For reasons of interference protection we would recommend that you use screened cable for the digital inputs and outputs With 1000SL the screen is connected with the Sub D housing A protective connection is required when there is inductive load present 1st COMPAX 2nd COMPAX 24v X19231 119 23 24V cH XTA gt 223 X19 applies for COMPAX 1000SL maximum of 4 COMPAX inputs can be connected to one output 5 Amaximum of 4 COMPAX inputs can be connected to one output 54 HAUSER Interfaces 7 9 4 initiators and D A monitor Connection plan for the initiators with initiator connector Requirements concerning the position of the initiators Connection assignment on X17 plug housing with DA channel 0 option D1 Ri 2 8kQ screw connection COMPAX 1000SL DA channel 2 Ri 0 33kQ UNC4 40 reserved reserved sd 24V Initiators supply lt 50 mA 6 GroundforDAchannels sd 8 Inputi2initiator 9 Inputitinitiator initiatorbox COMPAX a X3 9 a 1 1 m ES a 28 AM 5 X3 7 TS x4 12 A H MN A 55 Sio
54. 1 O12 O13 are not changed 014 0 015 016 1 this is valid for max 8 outputs Cam controller WAIT GoTo Note A maximum of 8 outputs can be processed per OUTPUT command The comparator command POSR OUTPUT is still limited to setting output RETURN END 8 4 7 Switch off drive unit OUTPUT 00 REPEAT IF comparison OUTPUT OO WAIT Start Syntax OUTPUT O0 number Number 0 3 drive subject to torque when brake is open and 1 Drive 9 switched off when brake is closed ner 2 Drive switched off when brake is open IF Error Stop The time behaviour of the final stage and brake can be configured see Page Arithmetic Note The command can only be set within a program with COMPAX XX00 and Position COMPAX XX60 see below monitoring Idle display Example OUTPUT 00 1 Drive switched off when brake closed Speed monitoring engage 18 4 8 OUTPUT OO0 in program disengage brake final stage Limitation The command OUTPUT 0020 1 2 can only be programmed on the COMPAX XX00 COMPAX XX60 the program No error monitoring is executed during switched off status except emergency stop E55 E56 16 01 06 only if masked P225 17 Instead of is also an option 98 AUS SR Positioning and control functions H Password GOTO This means that all errors which can be acknowledged e
55. 2 7 558 135 808 convert into a hexadecimal number if necessary into an integer first gt 0 00 01 C2 80 00 00 before decimal place after decimal place MSB LSB MSB LSB 3 These bytes must now be entered into the commands in the sequence specified The sequence of the bytes is reversed Do not alter the sequence of the bits This conversion also applies to negative numbers Examples of the number format of xx xx xx xx xx xx 00 00 0A 00 00 00 00 01 68 00 00 00 00 01 C2 80 00 00 FF FF FF 00 00 00 Digits before the decimal place Digits after the decimal place The following string will be produced e g for POSA 360 0 88 41 00 00 00 68 01 00 Note transfer all digits Note when binary transfer is switched on note the following Only create RS232 connection when participants are switched on or when participants are enabled the RS232 can be re initialized by COMPAX using Power on Configuration Technical data Connector assignment cable Positioning and Optimization o o o o o Parameter Error list hardware control functions functions o c Operating Instructions COMPAX M S Process coupling using HEDA Option A1 A4 8 6 4 Process coupling using HEDA Option A1 A4 gt See also Page Synchronization HEDA SSI interface can be used for synchronization of several axes with and fast start via simultaneous 2 5
56. 37 Configuration Technical data Connector assignment cable Positioning and Optimization n o c Accessories Parameter Error list hardware control functions functions options Start up manual COMPAX M S Enable bridges X3 2 final stage is enabled using a bridge between X3 1 X3 1 If this connection is missing the final stage is voltage free and error message E40 appears see from Page 225 Overvoltage Energy recuperated during braking is stored in the supply capacitors The limitation capacity and storable energy is 45XXS 330uF 52 Ws COMPAX 85XXS 500yF 80 Ws If the recuperated energy causes overvoltage then the internal ballast resistance is engaged Enable internal ballast resistance X2 5 X2 6 The internal ballast resistance is enabled by a bridge between X2 5 and X2 6 If this connection is missing the controller operates without ballast resistance in braking mode error message E38 may appear see from Page 23 power of the down time internal ballast resistance We provide external ballast resistances for COMPAX 45XXS 85 5 see Page 193 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 38 HAUSER
57. 4 19 18 Bit4 7 Pin X19 16 12 816 Bit 8 11 X19 17 Bit 12 15 Pin X19 18 P160 Allocation of output pins X19 19 X19 22 to Bits 5 19 19 65535 the logic outputs 06 X19 20 Source for 07 gt X19 21 Bit0 3 Pin X19 19 8 19 22 Bit4 7 Pin X19 20 Bit 8 11Pin X19 21 30 292 Bit 12 15 Pin X19 22 10 161 Maximum angle difference with absolute resolver 2047 function 4096 1 motor revolution P181 HEDA parameter coupling window um or increments 182 Setting status monitorS15 Setting status monitor 15 61 when P149 0 all parameters apart from the bus settings P194 P195 P196 P250 are set to default values when switched 218 AUSEE COMPAX parameter Default Maximum Valid value value P184 Selection parameters for HEDA process value js master Default value P184 0 encoder position 2 internal time base scaled master position nominal pos value in resolver increm actual pos value in resolver increments differentiated resolver position P185 P187 HEDA parameter P188 Selection parameters for HEDA process value 40 slave Default value P188 0 P191 P196 P197 Order status S33 P198 Part status S34 With machine zero mode P212 8 Distance machine zero limit switch setting 0 corresponds to 3 Enables the absolute value sensor input
58. COMPAX program 11 18 Interrogation of inputs with IF 11 To IF 148 Logical inputs 19 16 Regardless of parameters P221 and P222 Field bus 117 124 Field bus 125 132 COMPAX command 133 140 OTA33 OTA40 COMPAX command 141 148 OTA41 0TA48 With P233 48 or P234 48 virtual inputs 148 125 are written to the optimization display status 513 814 Meaning 125 bit 0 148 bit 23 146 5 J J Interfaces COMPAX XX30 Round table control COMPAX XX50 Synchronous cycle control COMPAX XX60 Electronic transmission COMPAX XX70 Cam control Digital inputs and outputs 8 6 1 4 I O assignment of variants 112 113 114 O14 O16 l6 final stage enable measuring error compensation by external position measurement release brake no measuring error no power to final stage STOP ineffective during synchronization process 11 amp 16 BREAK interrupts the synchronization process 112 113 114 115 116 05 014 015 016 114 115 116 112 113 114 115 116 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 the axis starts 1 after return run Synchronous c
59. Ce 1 RUN motor enabled 11 5 3 Equipment replacement Previous software 2V2 0 Procedure for copying the complete COMPAX setting onto a new unit Start ServoManager Connect old COMPAX via RS232 Use menu Insert Axis From controller to set up an axis which contains all COMPAX settings all parameters including system parameters data records and with COMPAX XX70 existing curves e Connect new COMPAX Use menu Online Download to transfer data without system parameterd into the new COMPAX Transferring system parameters Call up ParameterEditor Menu PC Tools ParameterEditor Use menu Online Copy menu to transfer all parameters including system parameters to COMPAX Previous software xV2 0 Procedure for copying the complete COMPAX setting onto a new unit Start ServoManager Connect old COMPAX RS232 Use menu Insert Axis New to set up a new axis Use menu Online Upload to load all COMPAX settings all parameters including system parameters data records and in COMPAX XX70 existing curves into the new axis e Connect new COMPAX Use menu Online Download to transfer data without system parameters into the new COMPAX Transferring system parameters Call up ParameterEditor Menu PC Tools ParameterEditor menu Online Copy menu to transfer all parameters including system parameters to COMPAX 1 System parameters are
60. In other machine zero modes the initiators can be switched to end initiators by P217 via bit 0 1 Bit 44 P217 0 limit switches are not monitored during reference travel 1 P217 3 limit switches are monitored during Find machine zero when P212 lt gt 0 and P212 22 The operating mode bit 1 P217 1 assumes that 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 move out of the danger zone using Hand then acknowledge In such cases the MZ approached output is not set Bit 2 P217 0 function corresponding to Bit O and Bit 1 1 P2177 5 after activation of a limit switch the drive is braked with P10 standard however travel movements are still possible afterwards using POSA and POSR The operating mode bit 1 P217 5 assumes that 3 initiators are connected Here it is not possible to use one of the two end initiators as a machine zero initiator Initiator 11 is assigned the direction of motor rotation using P216 P216 0 initiator 11 is approached with the clockwise rotating motor P216 1 initiator 11 is approached with the anti clockwise rotating motor gt Clockwise rotation defined when looking at the motor shaft Move to a limit sw
61. R9232 160 Example in Quick Basic 161 RS232 data 207 RS232 interface parameters 160 R9485 eine 178 iu E 183 1 2 3 assignment X12 46 3 133 133 915 recht 210 ds 209 209 209 pg 184 rU inde 176 Safe working practices 8 Safety chain 44 Safety chain and emergency stop FUNCTIONS 44 Safety instructions 8 Saturation characteristic X Ie RR 93 Screened connection of motor cable 25XXS 31 Sensor position 207 Sequential step tracking 122 Service D A monitor 124 Service D A monitor D1 56 Servo Manager 200 Setting multiple digital outputs 98 Setting resetting outputs 98 Setting resetting outputs within positioning 103 SHIP Tetra 148 SHIFT uites 148 Short circuit monitoring 222 Signal procedure during status query via PLC interface 159 183 Slave input quantities 169 Software date 208 Software handshake 160 Software handshake 161 Software version 1 7 208 Specifying point of real zero P1 2 78
62. Up to 250 sequentially numbered sets of commands can be stored in the COMPAX program memory Program execution can be controlled via data interfaces or binary inputs outputs It is possible to select addresses data record selection using the interpretation of the adjoining binary input signals external data record selection The command set structure has been deliberately kept simple and resembles the well known programming language Basic Program control instructions comparator functions setting resetting of outputs and the motion related commands for specifying velocity position acceleration time etc are also possible N001 ACCEL 250 acceleration time 250 ms N002 SPEED 80 velocity 8096 N003 REPEAT 10 specified wait loop 1s 004 IF 17 1 GOTO 9 query 17 to log 1 N005 WAIT 100 waiting time 100 ms NO0O06 END end REPEAT loop N007 OUTPUT O7 1 sets output no positioning N008 GOTO 13 N009 POSA 1250 positioning N010 OUTPUT O8 1 sets O8 for 500 ms N011 WAIT 500 N012 OUTPUT O8 0 N013 END The range of commands used with the compact COMPAX servo control unit is deliberately different in terms of type and range to the standardized NC programming standards as described in DIN 66024 and DIN 66025 COMPAX is not designed with the control and calculation capability of a complete CNC controller even though it can perform many CNC functions All commands are processed in sequence sequential step programming The program c
63. enable disabled energised NN brake open close Range of values for P17 Braking delay ww 123 Configuration Technical data Connector assignment cable Positioning and Optimization n o c Accessories Parameter Error list hardware control functions functions options Operating Instructions COMPAX M S Output of variable voltage 8 4 36 Output of variable voltage POSA POSR Service D A monitor channels 2 amp 3 SPEED ACCEL OUTPUT Password SPEED SYNC Value before Mark 5 decimal point Value after decimal POSR point SPEED Characteristic POSR OUTPUT curve Cam controller WAIT GOTO GOSUB RETURN END REPEAT F1 Option D A Comparison Monitor channels 0 amp 1 WAIT Start GOTO GOSUB EXT IF Error Stop Arithmetic Position Calculating the monitoring output value Idle display 2n Characteristic Spo curve monitoring Engage disengage brake final stage Variable voltage 124 The direct output of variable voltage is supported via the D A monitor channels 0 to 3 Addressable using parameters P76 channel 2 and P77 channel 3 P76 Channel 2 X11 4 P77 Channel 3 X11 5 Resolution 8 bit incl sign corresponds to a resolution of 80 mV Range 10V 10V The calculation for output on the 8 bit channels 2 amp 3 is as follows Parameter setting for required voltage U 10V
64. initiator without resolver zero P213 0 clockwise rotating motor Find machine zero Application P29 90 resolver zero pulse command General rotatory movements This is a simple again MZ method of implementing machine zero especially if the transmission runs at high speeds resolver command MZ pulse search MZ Find machine zero Linear and rotatory movements If you have an encoder on the motor side with signal of MZ ini this setting you obtain a reproducible machine zero response to any position of actual MZ P213 1 transmission factor which does not round to whole digits i e not precisely displayable Example of an transmission factor that cannot be clockwise rotating motor displayed exactly signal MZ ini P29 0 360 17 teeth 11 teeth Accuracy depends on P3 position of actual MZ 86 Accuracy in motor revolutions 104 1ms e 100 60 1000 AUS EXE Configuration Machine zero equals a limit switch Condition Wiring up Teach machine zero Machine zero mode Find machine zero Linear movements No need for a machine zero initiator resolver zero Function pulse Travels during Find machine zero to the relevant limit Switch back to the 3rd resolver zero pulse The 3rd resolver zero pulse is evaluated as
65. machine zero Supplement With P202 the distance between initiator and machine zero can be increased e g for large gear ratios Meaning P202 0 or 3 function as described With P202 gt 3 the distance of the machine zero can be moved by further resolver zero pulses P202 unit Resolver zero pulses motor revolutions signal MZ ini position of actual MZ T 0 360 0 360 clockwise rotating motor gt resolver zero ___ pulse P213 1 signal MZ ini position of actual MZ Ba 0 360 P217 1 P216 set correctly In the above diagram P216 1 limit switch E1 is approached with anti clockwise rotating motor The input of the machine zero initiator X17 7 must be wired up with the relevant limit switch P213 0 X17 8 must be connected to X17 7 P213 1 X17 9 must be connected to X17 7 P212 10 Teach machine zero When activated via the command Find machine zero Input 11 amp 12 or command POSA Home the current position of the motor is defined as the machine zero gt A machine zero initiator is not required with this method Via parameter P29 machine zero can be moved from the teached point by up to one motor revolution The drive then executes machine zero travel from the current position by the angle P29 in a clockwise direction Range of values for P29 0 360 degrees other values are considered as 0 gt If P29 0 machine Zero travel is not
66. number choose Status number call higher call smaller Status C parameter number number without decrease function value 500 call higher C parameter number choose G number of C parameter increase value change C parameter without function status indicator 040 The following status values can be displayed the front plate 503 508 511 519 526 hexadecimal display S27 530 531 537 539 description of the status values see 207 The remaining status values can be queried via the interfaces COMPAX parameters Meaning Valid from C01 Address of unit Power on 1 Pf95 Baud rate Pf96 Busprotoco Poweron Ci P250 HED address C04 C10 jreseved value Baud value Baud value ___ of 31 31250 172 3 5 5 6 7 100 115 115200 999 28 28 800 125 125000 ____ Please see operating instructions for the bus option used for the relevant range of values and the precise setting options o ojoyo o Parameter 9l P28 C Once you have rectified the cause of the error you can acknowledge the error by pressing the Enter key 71 Con
67. 0 1 no errors corresponds to COMPAX output O1 Bit 1 1 no warnings corresponds to COMPAX output O2 Bit 3 1 transmission error IPM COMPAX Bit 8 1 COMPAX lag warning 1 in position i e within lag warning window Bit 9 1 HEDA interface active COMPAX synchronized Default setting Bit 0 1 Bit 1 1 Bit 3 0 Bit 8 1 Bit 9 1 513 514 771 Output value of service D A monitor channel 3 corresp to 1 External encoder position units corresp P90 28 Measuring error Difference between resolver position and external encoder position in the unit corresponding to P90 29 Effective motor load in of the permitted continuous motor load E53 is indicated from 100 Effective unit load in of the permitted continuous unit load E53 is indicated from 100 Scaled correction factor COMPAX XX70 Cycle counter COMPAX XX70 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 O 2 Overflow 3 Underflow The corresponding number in the first column should be entered in the parameter This means P233 determines status 513 P234 determines status 514 C You will find additional special diagnosis values on Page 10 31 Bit counting begins with 0 Positioning and Configuration Technical data Connector assignment cab
68. 16 Stop using 113 Biss The same Brake ramp pee pee COMPAX 1 brake ramp COMPAX 1 P10 absolute Speed Speed COMPAX 2 COMPAX 2 P10 P10 Using 113 for stop bring both axes to a stop simultaneously 36 Bit counting begins with bit 0 37 A modified ramp time is used after VC for the Synchronous stop via 113 function Positioning and Configuration Technical data Connector assignment cable control functions Optimization lan o o o o o Parameter Error list hardware functions o c Operating Instructions COMPAX M S Digital inputs and outputs Note for MZ travel If MZ travel is interrupted by the synchronous stop then O3 Machine zero approached is not output Additional P219 xx000000 0 COMPAX M does not evaluate the additional emergency assignment of stop input P219 Additional emergency stop input X9 5 X9 6 front plate COMPAX M only P219 xx000111 7 Emergency stop with P10 as relative ramp time then switch off message E56 display E56 output O1 0 ready contact removed Also effective in programming mode 152 88 5A 3 Interfaces Digital inputs and outputs hardware 8 6 1 7 Function of outputs 1 1 if there is no error for group E1 E57 1 0 if there is an error for group E1 E57 the drive does not accept positioning commands Connector assignment c
69. 221 0 inputs corresponds to m Pe arrangement of inputs 11 The logic inputs 11 116 are aT ae to 8 excluding COMPAX 1000SL also lel us des SHIFT Hand Hand the physical inputs 11 116 on logical 11 18 Quit Start Stop connectors X8 and X10 approach Mn approach With COMPAX 1000SL the 8 RN Tech RN physical inputs on connector X19 are allocated via parameters P156 Logical inputs COMPAX P158 to 8 logic inputs from the control functions range 11 116 see Page 19 16 21 Depends on COMPAX device variants for 222 0 corresponds to COMP AX command s arrangement of inputs IE9 141 148 to 16 OTA41 0TA48 logical 0 I9 116 o 4 Field bus 125 132 logical 19 116 Remarks regarding the structural diagram The control functions corresponding to 11 18 cannot be activated via OT O33 OT O40 The control functions corresponding to 19 116 can be activated simultaneously via the physical inputs and via OT O41 OT O48 The enable input 112 in COMPAX 1000SL XX70 and COMPAX XX30 must also be activated when allocated to the fieldbus via P222 Interrogation of inputs in the COMPAX program IF I All inputs can be interrogated independently of parameters P221 and P222 in the COMPAX program with IF 1 The virtual inputs 133 148 in the COMPAX program can also be set via the commands OT O33 OT O48 Logical inputs
70. 4 000 000um or 16 65 536 increments Configuration Technical data Connector assignment cable Positioning and Optimization n c Accessories Parameter Error list hardware control functions functions options Operatin Instructions COMPAX M S Configuration parameters Reference system P213z 0 P213z 1 Setting aid Specifying software end limits P11 maximum position P12 minimum position Specifying point of real zero RZ P1 point of real zero P215 direction of rotation Setting aid 78 Parameter P213 direction of machine zero this describes the default setting for more information see Page Standard reference system no end or reversing initiators one machine zero initiator at the end of the displacement area The machine zero initiator must be attached so that it can only cleared in one direction i e attached to one side Use parameter P213 to inform COMPAX of the side on which the Mzi 3kmachine zero initiator is attached The machine zero initiator is approached with the motor turning clockwise when facing the motor shaft The machine zero initiator is approached with the motor turning anti clockwise Set P215 0 Actuate the drive moves in the direction of the MZ initiator then the following applies P213 0 if this is not the case set P213 1 The following basic se
71. 4 01 X1 Input I encoder assignment Output O 14 O1 Bridge to 15 GND 5 N1 E Enable 1 for enable 0 nominal digital value 0 12 N1 E Direction of 1 for positive direction rotation of rotation __ 1 Screen Level on the Enable and Direction of rotation inputs 5 5V 30V 1 gt Ue and Ug is a differential input Actively assign Ue to a potential e g to GND 186 0 Accessories 9 7 Accessories 9 7 1 External control panel not available for COMPAX 1000SL hardware Connector Use the control panels to control COMPAX via the digital inputs They contain the following functions TEACH real zero point Release a TEACH TEACH block Search ZERO Error machine zero Technical data Move to machine zero error warning 17 18 Configuration I O7 O8 Move to real zero JOG ZERO JOG JOG 4 I START START READY Ready for Break START block BREAK STOP Stop block The control panel is available for front plate installation or with housing Os ee Sp otc 2 8 Optimization functions BDF 1 02 for front plate installation Interfaces Accessories BDF 1 03 with ka Mu _ housing TEACH o ZERO TEACH
72. 40 40 40 Fiter acceleration P58 Lag rapid rpm signal 100 100 E LS F 9 3 on 5500741 P151 Monitor speed 2 P69 Return s 0 100 100 100 Current pre control value 100 100 100 26 Standard Previous COMPAX control structure use this structure if you already have optimized parameter sets Variant 1 Structure switch Variant 1 for resolver Variant 2 Structure switch Variant 2 for SinCos Variant 3 Structure switch Variant 3 Rapid rpm controller The structure switch measuring P59 permits the following settings 0 Standard 4 Variant 1 for resolver 3 Variant 2 for SinCos 8 Variant 3 rapid rpm controller Sensitive stiffness P23 16 Larger setting range for P23 Sensitive D section P56 65536 Larger setting range for P56 The D section is reduced by 1 256 E By selecting a structure variant with the structure switch P59 no further parameters are influenced Only by selecting a variant through ServoManager menu parameters controller structure monitor can complete parameter sets as described above be set The stiffness is proportional to the controller speed Nominal value 10096 Range 10 5000 Control is faster The control circuit starts from a critical value Set the stiffness so that sufficient safety distance from the critical value is ensured Control is slower This increases lag error Current limita
73. 5f Swag CY JZ 7 2 5 M No 102 508902 110 mm 190 mm pacem Ime mm 20 mm 170 mm 15 mm 15 mm 10 p10 mm Version in high flex MOK14 same layout MOK11 max 32 3A in high flex same layout to MOK21 however in 6 mm MOKA6 max 47 3A in high flex same layout to MOK21 however in 10mm Packaging Packaging of device Material 6 x crimping sleeves 6 cm shrink fit hose Procedure e Strip 110 mm sheathing off cable Cut sheath down to approx 35 mm loosen fold back over outer cover approx 75 mm and stick with insulating tape e Shorten sw1 sw2 sw3 sw4 sw5 ca 15 mm gn ge approx 15 mm longer cut down sw6 e Attach 2 x approx 30 mm shrink fit hose sticky e Strip 10 mm of insulation off ends of wires and secure with crimping sleeves 2 5 Packaging of motor in accordance with manufacturer s specification Strip 190 mm sheathing of cable e Cut sheath down to approx 170 mm stick remaining 20 mm with insulating tape e Shorten sw1 sw2 sw3 sw4 sw5 by approx 15 mm gn ge approx 15 mm longer cut down sw6 Strip 10 mm of insulation of ends of wires and secure with crimping sleeves 2 5 49 Unit hardware Configuration Technical data Connector assignment cable Positioning and control functions Parameter Status Accessories Interfaces Optimization Error list functions
74. 77 P81 P85 76 77 Ail elias 77 5 77 POO 74 77 74 75 184 POO 136 Parameter assignments 113 Parameter groups 212 Parametrization of the cam controller 104 Parity nie eene 160 208 Password 99 Password input 70 Password protection 70 Peak current 134 PLC data interface 156 PLC sequential step tracking 122 Plug and connection assignment COMPAX 35XXM 26 COMPAX 45XXS 85XXS 35 es heces s 96 HOME 96 162 Position monitoring 117 Position of machine zero 83 96 100 POSR OUTPUT 103 SPEED 101 Potentiometer connection 56 e e en 64 Power dissipation 65 Power filter 191 Power 73 Power on with motor switched off 72 Power with linear motor itte o its 176 PHONY oe 110 Process coupling 168 Process interfaces Configuration options for COMPAX 1000SL 61 Process interf
75. Absolute positioning POSA Syntax Example Additional function Reference point is real zero RZ Positioning is executed with the acceleration speed set using ACCEL and the velocity set using SPEED If these values have not previously been set substitute values will apply SPEED parameter P2 ACCEL parameter P6 see Page POSA value Value figure with two digits after the decimal point three for inches in the unit defined in P90 a control parameter P40 P49 or a variable V1 V39 e g POSA P40 The range is defined by the software end limits P11 and P12 N005 POSA 150 50 Absolute positioning to 150 5 units N006 500 Absolute positioning to 500 units position approached manually can be transferred as a command into a previously selected data record using TEACH data record via an interface HOME command via interface triggers find machine zero POSA HOME is not permitted in the COMPAX program C When in continuous mode relative positioning is also adopted with POSA 8 4 2 Relative positioning POSR Syntax Example The reference point is the current position POSR value Value two digits after the decimal point three for inches in the unit defined in P90 a control parameter P40 P49 or a variable V1 V39 e g POSR P40 The range is defined by the software end limits P11 and P12 N005 POSR 2000 Relative positioning by 2000 N006 POSR 100 25 Rel
76. DC and operating voltage motor switched off In addition to this when switched on all parameters apart from bus settings P194 P195 P196 and P250 are set to their default values P149 1 COMPAX is configured and once switched on 24V DC and operating voltage tries to engage the motor 5 2 Commissioning Note 10 Meaning of LEDs on the front panel COMPAX M 5 Meaning when switched on 24V DC present and initialization complete Error red COMPAX Error E1 E56 present or COMPAX is initialized Mains module LED LED Possible errors red green Error Ready pm o fon noeros EEG Heat sink temperature too high or error in logic voltage 24V DC too low or unit is defective C Emergency stop is activated and ready contact is released Ballast switching unit overload or undervoltage 100V DC or 80V AC COMPAX 1000SL off 24V not available off 24V are switched on boot up on off Unit OFF Unit error drive switched off jon jon O Unit error drive powered on Unit RUNNING Caution If there is no control voltage no displays will appear to indicate that operating voltage is present With Error E40 external enabling is missing with COMPAX 45XXS COMPAX 85XXS COMPAX 100051 Hardware input AUS 25 Commissioning After 24V DC of control voltage is switched on COMPAX has two statuses available once the initi
77. E10 Position controller COMPAX is switched from position control mode to speed control mode and speed 0 specified The drive remains powered Does not apply for COMPAX xx60 The next move command after the error acknowledgement brings the system back to position control Response to E15 COMPAX is switched from position control mode to speed control mode and speed 0 specified The drive remains powered Speed controller In speed control mode control is referenced to speed 0 225 3 Error handling and error messages Technical data Connector Configuration 5 ee Sp otc a8 Optimization Interfaces Accessories Parameter hardware functions Application examples COMPAX M S Overview 11 Application examples External data record 66 go ER pU E dE 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 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 compar
78. EE Positioning and control functions 8 4 12 Preparatory instructions 8 4 13 Changes in speed within a positioning process POSR SPEED POSR SPEED Syntax Example Preparatory instructions The following command combinations are preparatory instructions for creating speed step profiles or setting comparator switch points The prepared positioning process is started using POSA or POSR Note the following Combined commands be mixed POSR SPEED POSR OUTPUT A total of 8 combined commands can be programmed per positioning process e 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 from the point at which positioning starts for POSA and POSR e The positioning values for speed steps ramp times or comparators are numerical values e If the following positioning is positive COMPAX calculates them as positive values If the following positioning is negative COMPAX calculates them as negative values If a process cycle has been interrupted by Stop continue the cycle using Start The preparatory instructions are canceled by the Hand Find machine zero and Approach real zero commands
79. Filter has at high dynamic requirements differentiating effect Using _ P98 16384 83 143 Positioning and control functions Optimization functions position localization ian 2 Os Conditions high resolution measuring system and low interference on the measuring signal Parameter N Error list Operating Instructions COMPAX M S Digital inputs and outputs 8 6 Interfaces The COMPAX interfaces for data and status are digital inputs with an PLC data interface an RS232 interface and an optional bus interface interbus S CAN bus CANopen profibus CS31 or RS485 The RS232 interface can be operated simultaneously with other interfaces 8 6 1 Digital inputs and outputs To control the program process 16 inputs and 16 outputs are available 8 inputs and 8 outputs with COMPAX 100051 assignment gt 07 011 and 17 111 are assigned when the PLC data interface is switched of standard unit on Assgmme SSCS I7 XBIT X19 x X818 X19hx 111 X10 3 X19 x Assigned when P232 4 activates position adjustment otherwise free 112 X10 4 X19 x Freely assignable in the standard unit 113 X10 5 X19 x Freely assignable in the standard unit 114 X10 6 X19 x Assigned when mark reference is activated P35 1 activates mark reference otherwise free 115 10 7 X19 x Fast start can be activate
80. HOME quit NG NO OK jhwagunc ERROR ZERO JoG Joc START READY BREAK STOP Parameter m 35 0 gt The control panels are connected with COMPAX via the cable SSK6 187 Error list Accessories and options COMPAX M S MC1 5 16 ST 3 81 Wiring plan and assignment of SSK6 9 2 X8 10 3 8 11 4 D socked board X8 12 5 DB25 S 0671 X8 13 6 X8 14 7 X815 8 X8 16 9 o Ge 1 h 12 90 x 9 xd 12 T 3 18 T LLL mem 5 X7 mE LLL oer O 22 _ 24 X9 7 1 24v HO Cable KiYCY 25x0 14 9 7 2 Terminal module for COMPAX 1000SL EAM The terminal module EAM3 is used for the onward wiring of the COMPAX 1000SL connector X19 physical inputs outputs to a terminal series anda Sub D connector The module can be fixed in the control cabinet to an installation rail with a mounting rail The terminal module EAM3 contains the cable for connecting with COMPAX 1000SL Available lengths of connection lead 1m 2 5m 5m Top hat rail 80mm Terminal assignment The terminal assignment corresponds to the pin assignment on X19 188
81. Li Li Q 9 5 X11 DA channel 2 X14 Q X8S s DA channel 3 15 _ Q X96 ie X8 Override old X18 1 2 X87 _ 7 input L shield X1U7 2288 ig output 2 gi m Aan X18 Q X80 o2 e L X18 o 1 Q X81 1 Q 92 DA channel 0 X17 _ 1 8 13 option D1 Q 05 DA channel 1 ENTER 1 6X84 gg shield X173 d 8 15 xi Q 2 07 X17 GND 24V gir 1 2 818_ DA monitor 24 X175 initiators X17 6 9 sig Mn 127 2 10 2 _ 146 Sig E2 X178 lt Gy 10 3 _ 144 d Sig 1 X179 lt by X10 4 uo e 10 5_ 43 X14 15 4 t 1 X10 6 Ne 114 mc X14 15y 2 p 115 X10 nc X14 15y 3 6 108 146 input x14 15 4 d X109 9 output X14 X15 x14 15y5 X10 0 gio eges HEDA o 14 15 6 1 X10 11 9 016 04086 apum O11 14015 7 012 Rxp X14 15y8 E 013 L Xi4 15y9 0 Q 014 1 6 X10 15_ 015 6 X10 16_ 016 oe X16 1 Q 9 enp Absolut X9 3 Q 7 7 reserviert encoder Q X9 reserviert x9 95 _ 1 X9 6 15V 24V emergency T 9 stop housing J M X12 resolver SinCos X13 encoder can be 2 gt parameterized a Eon a a a 22o zZo2 k amp o58 2 3 ese Baa ae SUE 529 95959565 28885 5 22525838325 92828 5 26 X121 4 12 2 4 X12 3 j X13 1 j X13 2 j X13 3
82. NMD10 and NMD20 294 244 85 50 96 mounting plate 441 5 424 424 408 mounting plate The heat sink is pushed back through a hole in the panel on right of diagram A separate heat chamber is created between the installation plate and the rear wall of the control cabinet The angles required under designation MTS2 must be complied with Indirect wall installation is not possible with P1XXM Fan configuration Units with fan COMPAX P1XXM COMPAX 05XXM COMPAX 15XXM Units without fan COMPAX 02XXM NMD10 NMD20 20 7 2 4 Connector assignment COMPAX M COMPAX M unit features Connector assignment COMPAX M 9 9 9 9 9 9 29 Spe ON Jad 4s y 1422414 O X X x X X X X x x x x x x x 2 zuiust o gt N 2 a7 4 gt 8 KB 5Btbko0 1 2 X3 X6 motor power inter control RS232 brake mediate loop voltage V J AN N n O X8 2 X12 c Q 12 GND 2 2 0 1 X8 3 X113 4 Q 13 Override gt _
83. O2 2 2 4 3 O4 8 4 immedia O8 to the HEDA O5 16 5 O6 32 6 O7 64 7 O8 128 8 tely bus P245 sum of valencies of the outputs allocated to the HEDA bus hardware Connector assignment cable Assign outputs O9 Output valency Bit O9 1 1 O10 2 2 O11 4 3 O12 8 4 immedia z s to the HEDA 013 16 5 e O14 32 6 O15 64 7 O16 128 8 tely P246 sum of valencies of the outputs allocated to the HEDA bus Technical data Configuration control functions Positioning and Optimization functions n T c Accessories options Parameter 221 Error List Appendix COMPAX M S Monitoring and limitation characteristics 10 3 3 Monitoring and limitation characteristics This section examines the relationships of COMPAX monitoring and limitation characteristics in more detail Structural current limit current control with diag ram Speed control I s P107 P105 P16 P105 power output stage 4 motor e current reference value current actual value rate determination NZ E53 device supervision Te gt lenen Roses MN E53 Motor supervision Tw m gt md m 1 1 l E41 gt power output stage supervision 1 5 log 5 Hardwa
84. P182 Selection of status value using P182 P182 Measuring parameter Reference parameter 0 Nominal speed value sensor 20 000 revolutions 6 Notassigned o 7 Notassigned OE 8 Nominal value of transverse current torque 200 9 Intermediate circuit voltage fo 100V 10 Sine for co ordinate transformation 11 Voltage positioning signal for phase U O 12 Voltage positioning signalforphaseV The reference parameter corresponds to value 1 Note concerning status monitor S15 Scaling status monitor 515 15 does not have the same scaling as 513 514 For S15 use 81571 for the reference value which is given for the D A monitor 10 2 Additional COMPAX measuring quantites D A monitor channels 0 Signal indicators optimization display S13 514 Status monitor S15 P182 HEDA P233 P234 tion value tion Nominal speed value sensor 20 000 min Tracking error 128 motor 1 Positioning time from start of positioning to Position reached revolutions 2 max intermediate circuit voltage in V 3 4 max undershoot referenced to max position amount only for highly misadjusted loops 5 max position overshoot units corresp P90 amount max position undershoot units corresp P90 amount P90 Advance speed control 20 000 min Nominal speed value of position controller 20 000 min Actual speed value 20 000
85. P40 P49 or a variable V1 V39 e g WAIT P40 time pattern 10 ms Example 005 WAIT 500 Sets the waiting time to 500 ms before the next data record is processed Configuration 8 4 17 Program jump GOTO GOTO Program jump to specified data record number Syntax GOTO data record number Data record number 1 250 Example 045 GOTO 60 Jumps to data record NO60 8 4 18 Sub program jump GOSUB Optimization Jump to sub program Syntax GOSUB data record number Data record number 1 250 Example 005 GOSUB 100 Calls up sub program N100 Starts sub program N101 Nxxx RETURN Ends sub program jumps back to NO06 Note Never use GOTO to jump out of a sub program or to sub program 8 4 19 Instruction to end a sub program RETURN RETURN This executes a return jump to the main program Syntax RETURN Parameter 8 4 20 END instruction END END instruction for a REPEAT loop or for the program To end a program you implement a program stop The data record indicator is not modified Syntax END 107 Connector Technical data Positioning and n c Accessories Error list hardware control functions functions options POSA POSR SPEED ACCEL OUTPUT Password SPEED SYNC Mark reference POSR SPEED POSR OUTPUT Cam controller WAIT GOTO GOSUB RETURN END REPEAT IF Comparison WAIT Start
86. Specifying software end 78 Specifying the limit Switch position P2106 89 Speed eae 208 Rn 97 Speed control mode 74 direction of rotation 97 Speed control mode special features 120 Speed monitor 132 Speed monitoring in speed control mode 120 Speed step profile 102 Speed step profiles 101 SPEED SYNC 99 SSK 59 55 14 63 S9K15 63 55 6 188 180 Standard commands 96 Standard delivery 66 Standard parameters 212 Start up flow chart 11 Status bits 208 Status bits 1 207 Status monitor 207 210 Status values 207 Step direction input for COMPAX 10008 61 Stiffness P23 127 tees 149 Stop 160 STOP handling 111 Index Stop program 112 Sub program 107 Subtraction 114 Supply 10 Supported resolvers 64 Switch off 98 Switch off drive unit 98 Switch status 208 Switching delays 104 Switching off
87. V 192 AWS cJ Accessories External ballast resistors 9 7 5 External ballast resistors External ballast resistors Dimension diagram BRM4 BRM6 and BRM7 Dimension diagram BRM5 01 NMD20 with external ballast resistance of 15Q Braking power Duration Cooling down time BRM4 01 0 57 kW unlimited 6 8 kW gt 20s 37 kW 2120s BRM4 02 0 74 kW unlimited 8 9 kW gt 20s 37 kW 2120s BRM4 03 1 50 kW unlimited 18 kW gt 20s 37 kW lt 0 4s gt 120s COMPAX 25XXS with external ballast resistance of 560 Braking power Duration Cooling down time BRM5 01 180W unlimited 1 kW 210s 28s COMPAX 45XXS 85XXS with external ballast resistance of 220 Braking power Duration Cooling down time BRM6 01 450W unlimited 0 4s 6 9 kW gt 20s lt 0 4s COMPAX 35XXM with external ballast resistance of 100 Braking power Duration Cooling down time BRM7 01 2 00 kw unlimited 56 kW 2100s gt 10s COMPAX 10XXSL with external ballast resistance of 1000 Braking power Duration Cooling down time BRM8 01 60W unlimited protection i A P switch adl 98 C The ballast resistors are fitted with a 1 5m connecting cable The maximum permitted length is 2m pieces BRM5 01 is fitted with a 0 3m connecting cable The maximum permitted length is 2m 193 Technical data Connector Configur
88. again after the closing N015 N016 and to return to the operating mode query If Removal is still set the centrifuge is turned further to the next test tube N009 ensures that once the speed has accelerated to 0 1 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 10s N018 This speed is retained until the operating mode switch is set to Removal N019 N020 Then the centrifuge is decelerated to 0 1 NO08 and stops at the next test tube The test tubes can then be removed one after another 234 AUSEE Speed control mode Programming Configuration P93 4 i e speed control operating mode P94 2 i e smooth ramp shape Names of the inputs and outputs I7 light barrier 0 gt not activated 1 gt activated 18 shutter 0 gt open 1 5 closed I9 interlock 0 gt open 1 gt closed 110 operating mode 0 gt remove 1 gt centrifuge O7 interlock 0 gt closed 1 gt open List of programs N001 ACCEL 10 000 sets the accelerating and braking ramps to 10s NO02 IF 18 1 GOTO locks 5 checks whether the shutter is closed N003 OUTPUT 7 1 opens interlock N004 IF 1820 GOTO 4
89. bit 8 pin 22 bit 15 5A Interfaces Free assignment of inputs Setting P221 Example Free assignment of outputs Structural diagram Digital inputs and outputs 8 6 1 2 Free assignment of inputs and outputs You can make the permanently assigned standard inputs 11 to 16 available for assignment using parameter P221 Meaning Function without Function with SHIFT Valency SHIFT ____ h 11 8 1 SHIFT 12 X8 2 Find machine zero MZ 2 Bit 2 13 X8 3 Approach real zero RZ 4 Bit3 14 X8 4 Qut Teachread zero 8 Bit4 I5 X8 5 START 16 Bit 5 2 l6 X8 6 STOP Break breaks off data 32 Bit 6 record Each input is assigned a valency Calculate the sum of the valencies of the required free inputs and enter this in parameter P221 Hand and Hand should be possible via the inputs 11 14 15 and 16 should be freely available 1 I1 8 I4 16 15 32 16 57 You will obtain 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 gt You directly cancel all input functions apart from Hand as commands using interfaces RS232 bus system The status outputs O1 to O6 can be freely assigned using parameter P225 Use P223 and P224 to assign the outputs of the OUTPUT WORD command of the bus systems Interbus S
90. 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 search MZ pick up lifted start pick up lowered stop BCD switch evaluation by gt external calling removal of command lines station empty lower lift pick up pick up Comments The inputs 19 114 115 and 116 have to be placed on GND or left open BCD switch has eight settings The outputs are encoded with binary The Data collection station empty switch is closed when the data collection station is closed The switch operation prevents the workpiece pick up being lowered for as long as there is a workpiece in the data collection station Function The first event after COMPAX has been started is the approaching of the data collection station If the workpiece pick up is not lowered the assumption is made that there is still a workpiece in the workpiece pick up This is deposited in the data collection station by lowering the workpiece pick up The system is now ready for the first transportation process 227 Application examples COMPAX M S External data record selection To move one particular workpiece to the data collection station the number of the station in question is first set on the BCD switch The process is then triggered by a start pulse
91. by setting E11 Programmed position not reached Remove mechanical obstacles or increase P14 E15 Error in 2nd position measuring Check configuration and wiring i no The data record number selected Select data record number between 1 250 does not exist E17 The data record number selected is Select data record number between 1 250 P mel already assigned memory limit Configuration control functions c c o Optimization functions Interfaces Accessories E21 Target position beyond negative end Correct target position limit E22 Machine zero is not approached Find machine zero This must be found after power on Parameter 64 with COMPAX 70 Curve number not present 223 Appendix COMPAX M S Monitoring and limitation characteristics Cause Acknow Drive ledge with volt free E23 The current command is not allowed Positioning command in the speed control mode Quit no Approach MZ in speed control mode Travel command when drive is switched off Hand when an error is present More than 8 consecutive comparator commands preparatory commands in the data record memory The speed selected is not valid Enter speed between 0 100 E25 The position selected is not valid Note end limits and Software end limit monitoring Quit no chapter in variant documentation no E26 REPEAT without END or GOSUB Insert EN
92. 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 acie Application Material should be fed to an extender stamping machine which operates at a maximum speed of 150 rpm The material may only be supplied if the stamping tool is open and if the workpiece already stamped has been thrown up The material supply should be released or blocked via a switch Implementing a torque converters eeeeeeee eene nennen nnne nnn tna tnt assa tasas aser atra than 2 options are available for implementing a torque converters 226 AUSEE External data record selection 11 1 2 External data record selection Application One of eight various workpieces should be made available at a data collection station The number of the desired workpiece is set using a BCD selector switch The transportation process is then triggered by a starting pulse Assignments station station station station station station station station removal 7 6 5 4 3 2 1 0 station 4 A il workpiece pick up 960 840 720 600 480 360 240 120 The horizontal movement is implemented using an NC axis controlled by COMPAX A pneumatic cylinder which is controlled
93. compax 45XXS 85XXS unit characteristics COMPAX 45XXS 85XXS connector and pin assignment 7 6 4 COMPAX 45XXS 85XXS connector and pin assignment Releasing internal Releasing final stage ballast resistance r1 9 9 9 9 95 6 9 9 9 uN a 2 2 Y Q l o ej ej NNN NNT X gt lt x x ox X X X x x gt lt X gt lt x x gt gt gt gt E ae dt 9 38 55 ae TO E ag 5 x1 X2 X3 X6 motor AC supply control RS232 brake voltage gt m M P XU O _ 8 2 2 1 2 o X8 3 3 Override 13 o Li X04 ig X11 DA channel 2 11 4 ri 1 8 5__ 5 DA channal 3 X18 _g 1 X8 6 6 X8 Override old 1 6 Li i Li 7 Input C shield XU 2 5 X8 8 ig Output X8 Gy 11 18 1 X8 10 01 08 C Qu 02 Opti p1PArchannel o e jon 03 P DA channel 1 Xe Qa O shield X173 Pang 95 X17 GND 24 A174 T o8 DA monitor 24 X115 2815 _ Initiators Xizi6 1 5 816__ Sig MN X177 x Sig Eo Xi7 8 _ 6 X10 1 jg x z9 l Sig E1 X10 2 qo M 5 10 3 i414 1 10 4 T X10 5 is PEU o X106 RxC per T X10 7 X10 nc X
94. connection PY COMPAX oder SV Drive 9 8 1 0 6 8 4 M g E x d Encoder to the z c 5 5 5 Input 4 distributor Encoder distributors 1 2 5 5 EAM 4 01 SSK 7 5 2 SSK 4 5 i d 8 2 2 kie uer Cy al 0000 channel 1 incoming 5 amp o SSK 7 Qa Channel 1 relaying Sen c GO o S 9 ANE E EncoE Bus termination 8 E 9 c ncoEer 5 simulation BUS 1 01 o 2 13 SSK 7 Channel 2 output Direct to an encoder input e g to COMPAX M ES ty SSK 7 n T c D A Monitor D1 12 Bit to oscilloscope Analogue output of intermediate values S Ballast resistor BRM 4 witht 1 5m cable 8 E optainable in 3 ratings for connection to uz z the power module NMD20 gt lt a Ballast resistor BRM 7 01 with 1 5m cable 2 6 for connection to 35XXM g o COMPAX 45XXS TA COMPAX 85XXS 0 a2 g Ballast resistor BRM 6 01 with 1 5m cable 5 for connection to COMPAX 45XXS 85XXS o im 7 E 20 5 ES Ballast resistor BRM 5 01 with 0 3m cable 8 a for connection to COMPAX 25XXS 46 pe X PI DES B
95. dc insulated bus connection RS485 e Max 115k baud 2 or 4 wire RS485 Interbus S e 2 conductor remote bus e 500 kBaud max 64 participants per ring Profibus e 1 5 MBaud Sinec L2 DP and FMS 65 Configuration Technical data Connector assignment cable Positioning and control functions Optimization n T c Accessories Parameter Error list hardware functions options 2 2 o m D Start up manual COMPAX M S CS31 e COMPAX ABB interface CANbus Up to 1 0 MBaud e Basic CAN CAN protocol as per specification 1 2 e Hardware as per ISO DIS 11898 CANopen Protocol as per CiA DS 301 Profile CiA DS 402 for drives Operation Parameter input status request e Via COMPAX hand held terminal e Via RS232 and bus interface e Via the programmable controller data interface excluding COMPAX 1000SL Status query also via the 3 digit LED display on the front plate excluding COMPAX 1000SL Housing Fully enclosed metal housing Insulation VDE 0160 protection class IP20 P54 on request Connections Motor power bus control inputs outputs via terminals e Sensor cables interfaces via connectors Installation Wall mounting suitable for installation in industrial control cabinets Dimensions NMD COMPAX M see Page bo COMPAX 25XXS see Page COMPAX 10XXSL
96. from the AND connection of the machine zero initiator with the resolver zero pulse P29 shifts the actual machine zero in the direction of the clockwise rotating motor P29 shifts the actual machine zero in the direction of the clockwise rotating motor 83 Technical data Connector Configuration c c o Optimization Interfaces Accessories Parameter Error list hardware control functions functions Operating Instructions COMPAX M S Machine zero mode P212 3 only permitted for COMPAX XX00 and COMPAX XX30 Find machine zero P213 0 P29 0 P29 90 General rotatory external external zero pulse command zero pulse command D search MZ search MZ Machine zero equals external zero pulse movements 213 1 external command zero pulse command zero pulse search MZ search MZ N Conditions for External encoder read via an encoder input module 12 14 this operating Encoder input parametrized by P144 6 mode Specify P98 travel per encoder revolution P214 encoder direction and P143 encoder pulse number 84 AUSER Machine zero equals external initiator amp PETS M external zero pulse clockwising rotating motor signal MZ ini encoder zero pulse position of the actual MZ P29 0 360 P213 1 clo
97. impulse power for NMD20 with BRM4 02 ao 100000 H IE E SEHE TIE SIE E 7 S F Factor Se Cooling down time N braking time S F 100 Shgb pube F 50 S o 8 F 20 E 10000 F 10 F 5 Es pem 7 F 2 5 o 1 F 05 1000 00 02 O4 06 08 10 12 14 16 18 20 22 24 26 28 3 0 Braking time s g E c 195 Error list Accessories and options COMPAX M S External ballast resistors Authorised braking impulse power for NMD20 with BRM4 01 100000 F Factor Cooling down time braking time S 8 n 10000 1000 00 02 04 06 10 12 14 16 18 20 22 24 26 28 3 0 Braking time s Authorised braking impulse power for NMD10 100000 F Factor Cooling down time F braking time 100 00 02 OA 06 08 10 12 14 16 18 20 22 24 26 28 3 0 Braking time s 196 External ballast resistors hardware Authorized braking impulse power for COMPAX 2500S with BRM5 01 10000 __ 5 F Factor Cooling down time F F 50 braking time m o 0 c F 5 5 1000 5 P 5 5 1 gt F 05 t 100
98. internal parameters you will only obtain an identical setting if these are also transferred 12 e Equipment replacement 6 Conditions for usage Power 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 the following peripheral conditions are complied with Only operate the units in the condition in which they are supplied i e with all housing plates and the front cover COMPAX P1XXM COMPAX 02XXM COMPAX 05XXM and COMPAX 15XXM may only be operated with HAUSER mains modules NMD10 or NMD20 or on COMPAX 35XXM A power filter is required in the power line The filtering can be executed once for the entire system or as separate process for each unit The following power filters are required for standalone operation NMD10 COMPAX 45XXS COMPAX 85XXS Order No NFIO1 02 NMD20 Order No 101 03 COMPAX 35XXM Order No NFI01 04 or 05 COMPAX 25XXS Order No NFI01 01 or 06 COMPAX 10XXSL Order No NFI01 01 or 02 Length of connection connection between power filter and unit unscreened 0 5m screened 5m Only operate the unit with a HAUSER motor and resolver cable with co
99. keys when switching on the baud rate is set to 9600 With COMPAX 1000SL the baud rate is always set to 9600 Parameter 213 Error List Appendix COMPAX M S COMPAX standard parameters Default Maximum Valid value value from Error transmission negative command P20 setting acknowledgement RS232 handshake Software handshake without Power on with XON XOFF Error only with interface activity and if immediat the transmitted command triggers an error The sum ofthe _ E90 E94 No neg command acknowledgement specified values is E90 E94 entered in P20 ee no transmission of error and no neg command acknowl E90 E94 Messages are indated for errors and neg command acknowl E90 E94 as soon as th occur w Exx Cp Lp gt errors amp neg command acknow E90 E94 only with interface activity End sign selection Power on Binary transfer without 16 with immediat BCC block check without 128 with Power on EXOR via all signs apart from the end sign 0 1000 1 0000 10 0000 VP amp VC 0 5000 1 0000 2 0000 VP amp VC P21 Factor for influencing the travel per motor revolution 23 Stiffness of drive 5000 v 8 U 22 Factor for modifying the speed which is allocated to speed SPEED 100 2 24 Speed controller damping EN 2 Speed advance control value Acceleration advance control value o ____ 100 50 Moment of inertia D e Switch on
100. last unit From the mains module to the individual COMPAX M gt When delivered the terminating connector is located on the mains module power supply module COMPAX M COMPAX M cable conduit PE LS LS b ata 5 ts main 24V motor motor L1L2L3PE 24V U brake U V WPE brake PE 5 4 ele oea xL oga xi2 e e oeza ge ae 07 07 0707 RACE TW UU NOU t Y J aoe X2 286 2 Hoa EB acp ma s p 24 X3 last device p p equiped voltage supply 1 0E wit 24V terminal plu emergency stop stand by and bus 2 X4 X4 signals 18 AUS Wiring up the motor Screened connection unit features COMPAX M system network NMD10 NMD20 mains module Unit side cable conduit
101. of course applicable for all inputs The parameters are 24 bits large with 4 bits defined per logic input This allocation can be easily done with the assistance of the ServoManager With direct access via RS232 a terminal or a fieldbus the following table can be used for setting the parameters Allocation Input reads from which source P156 bit 0 3 computed values Logical inputs Source fixed logical value 0 or 1 or pin of X19 2 e m 0 P156 bit 4 7 P156 bit 8 11 P156 bit 12 15 P156 bit 16 19 P156 Bit 20 23 Total lt 8 388 607 P156 Total Total 8 388 607 P156 Total 16 777 216 TE E me poene etr 2 8 ao 7 I Less omen __ mr eene etSrBtz0 2 mesa __ Total 8 388 607 Value of P157 P156 Total Total 8 388 607 P156 Total 16 777 216 Alochtioh jt vate P158 bito 3 imputis _ PTSBbit4 7 o me _ P158 bit8 11 Input 15 Value of P158 L ee fe wee tector P158 bit 12 15 _____ Note Note that only one selection can be made per line i e only one cross is permitted 140 c NUUS ESTE Interfaces 2 e Digital inputs outputs Example The following Sou
102. of the permissible motor continuous load from 100 1 1lNominai E53 is indicated 30 Effective unit load in of the permitted continuous unit load E53 is displayed from 10096 Wang 77777700 Refeencevaus O O OO Function pointer mark synchronization range 0 7 10V 2 32 Scaled correction factor 0 1000 per thousands 38 Frequency encoder channel 5 Inc ms reserved 7x 10V 22 per thousands 10V 2 cycles 10V 2 encoder incrementsims o 10V 27 encoder increments ms 39 Constant value 0 00001 fae Cause of calculation error E07 Encoder position master channel Encoder velocity reserved Internal time base of P35 Scaled master position Nominal position value in resolver increments Actual position value in resolver increments Differentiated resolver position mi Bit 23 8 virtual inputs 133 148 Bit 7 0 virtual inputs 132 125 smoothed load torque reference 200A ctual position S1 in physical units P90 integral digit ctual position S1 in physical units P90 fractional digits 2 NM Eo 52 E EET E mz 10V 27 encoder increments 47 Mark position units corresp P90 COMPAX XX70 COMPAX 1000SL only Bit 15 8 physical output status on X19 22 X19 15 Bit 7 0 physical input status on X19 9 X19 2 5 Square of motor peak current reference value 80 oooA2 5 Hn V5 61 sq
103. or higher than P15 harmonies optimize controller 1 21 External emergency stop Check system then switch unit on again Quit yes Intermediate circuit not enabled Voltage must be at least 2s gt 320V Temperature overload External load too great E56 Emergency stop directly in Check system then switch unit on again Quit yes COMPAX M via X9 6 switched on via P219 7 57 Check mains connection yes low lt 70V Switch off E57 using P218 1 E58 Temperature is too high gt 75 or Increase acceleration times Quit no SinCos temperature error E65 Encoder error Check encoder cable Quit no Axis is brought to a stop through speed control switch off using P218 E76 HEDA synchronisation interrupted Check physical connection and P249 no E77 HEDA transmission error Check physical connection and P247 no E78 Successive HEDA transmission Check physical connection and P248 no errors Negative command acknowledgement only for warnings E72 Block Check Character error or Re send the characters general fault E90 Syntax error command not valid Check command structure E91 Command cannot be executed in this Check COMPAX status COMPAX operating mode E92 Function running command cannot be executed E93 Data record memory active command cannot be executed Passwordmissng CS Quit is not required o o no o Response to lag error error
104. possible via HEDA COMPAX as Master axis transmits synchronous master word and 7 words to address 1 Passive slave Slave receives at address 1 P250 1 to COMPAX but does not send anything back P243 2 master If HEDA coupling is activated and the master executes Find machine zero this will result in a positional offset between master and slave You should therefore execute machine zero travel when the HEDA coupling is deactivated 39 The interpolation module IPM can also be used as a master but only with COMPAX XX00 COMPAX XX60 COMPAX XX70 168 SIAN SIFY Fast start Note Transmittable parameters Master output quantity Slave input quantities P18 is expanded with the following bits P18 __ ___ O y O Bit 0 0 without PLC data interface 1 fast start on 115 active reserved 0 fast start on HEDA bit 8 not active 1 fast start on HEDA bit 8 active only permitted with P18 bit 1 1 see below The fast start is synchronized using P18 bit 3 for HEDA with master and slave i e input 15 must be on the slave and the master fast start triggered by 115 in master must also be on HEDA so that it can be executed This operating mode is also set with P18 10 If 115 is not required on the slave then set 115 1 The fast start is additionally delayed by 1 ms for all axes i e in total 2 5ms 1 5ms reaction time 115 The master transmits one data block per
105. queried per IF instruction 8 11 16 only if masked via P221 19 Instead of is also an option Positioning and control functions Comparative operations 8 4 24 Comparative operations Syntax IF lt single Operand gt lt compare gt lt Operand gt GOTO xxx or IF lt single Operand gt lt compare gt lt Operand gt GOSUB xxx Simple Operand a parameter Pxxx or a variable XXX Or a status value Sxxx 51 515 530 S40ff Operand A simple Operand or A constant with max 8 significant digits Comparison lt smaller gt larger equals lt gt not equal lt equal to less than gt equal to greater than Depending on the result of the comparison a GOTO or GOSUB is carried out Examples F P40 gt 100 GOTO 234 IF VO30 lt gt P49 GOTO 123 Limitation Within the IF query operations with logic operators AND OR are not possible Writing convention of variables 0 39 and control parameters P40 P49 For reasons of compatibility a preceding point full stop is expected in the syntax for motion commands e g POSA P40 ACCEL V10 The new comparison and arithmetic commands will operate without a preceding point full stop e g P41 V10 S1 IF V20 gt S2 GOTO 10 8 4 25 Specific processing of data record groups WAIT START WAIT START Entryat 22 walt Ent When this instruction is issued COMPAX interrupts the programming procedure until
106. see COMPAX 45XXS 85XXS see e Weights COMPAX P1XXM 5 6 kg 10XXSL 1 6 kg COMPAX 25XXS 4 6 kg COMPAX 45XXS 85XXS 6 5 kg 02 7 1kg COMPAX 05 15 7 8 kg 35XXM 22 5 kg NMDIO eccriene 7 6 kg NMD20 uie 8 1 kg Standard delivery e COMPAX with User Guide 66 ServoManager Mains module For technical data see Page 23 Permissible 3 phase mains The units COMPAX or NMD can be operated on all mains t pes Examples IT mains 1When using Delta mains note that CE requirements low voltage guideline are no longer met when the voltage between a phase and earth gt 300V AC isolated measurement voltage Leakage current The leakage current current on the mains PE is mainly caused by the capacitive resistance between the conductor and screening of the motor cable Additional leakage current occurs when using a radio interference suppresser as the filter circuit is connected to earth via the capacitors The size of the leakage current depends on the following factors length of motor cable cycle frequency with or without radio interference suppresser motor cable screened or not motor earthed at site or not The leakage current is very important regarding safety when handling and operating the unit Please note The un
107. the feed speed The positioning command in 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 N004 is used to return to NO03 which ensures that the next positioning command is prepared This is then performed after a rising flank on 115 236 AUSEE Implementing a torque controller Programming Configuration P93 2 i e continuous operating mode P94 1 i e linear ramp shape P18 2 i e fast START activated Names of the inputs and outputs 115 fast START a flank from 0 to 1 triggers the fast START List of programs NOOT ACCEL 100 tt sets the accelerating and braking ramps N002 SPEED 100 i ctn sets the speed mark N003 POSR 225 citus feed movement triggered by fast START N004 GOTO feed 3 goes to data record NOO3 11 1 8 Implementing a torque controller 2 options are available Using speed control mode You can attain a defined constant torque in speed control mode using the following setting Set a high speed which cannot be reached Define the desired torque using P16 in of the nominal torque max 100 Switch off errors E10 and E49 using P13 0 COMPAX tries to reach the specified speed and increases the torque to the max
108. time after limit switch or emergency stop ms 60 000 immediat is activated P11 positive position referenced to machine sila P12 4 000 000 0 4 000 000 00 zero P12 negative position referenced to machine e Zero 4 000 000 00 4 000 000 00 Technical data Configuration control functions Positioning and Optimization functions Max permitted lag tolerance error E10 is 10 00 000 000 0 triggered when exceeded E10 4 E49 are 0 switched off with specification Uu immediat Max permitted positioning zone applies for 4 000 00 message O5 Position reached 48 n c Max permitted velocity 100 00 100 00 9 Max permissible torque of P105 Engine brake lag ms Jo o 14000 PLC data interface Bit 0 0 0 without PLC data interface Fast start via 115 1 with PLC data interface Fast start via HEDA Bit 1 0 fast start via 115 not active Note 1 fast start via 115 active Settings with bit 1 and bit 3 are only permitted Bie fast start oe in COMPAX Accessories options 47 n speed control mode in 96 of nominal speed P104 otherwise corresponds to P90 48 n speed control mode in 96 of nominal speed P104 otherwise corresponds to P90 49 For asynchronous motors the maximum permitted velocity may be up to 30096 of the nominal velocity 50 Bit counting begins at bit O 51 By simultaneously pressing the three front plate
109. units correspond to the data for COMPAX M see Page 22 Mains module NMD10 NMD20 ASS NMD connector assignment 7 3 8 NMD connector assignment or X1 1 T 24 X81 o 102 12 82 o OXUS y 1 X8 3 o t X44 voltage X8 standby X8 A 1 PE supply T 2 AUS 24 285 o ov 15V 24 V emerg stop housing X86 X6 input bus systems Assignment depends on the bus system X7 output bus systems Assignment depends on the bus system PE x2 Q 15 power inter X3 24 Q 1 mediate loop Control 1 Q 18 voltage ov O NON J 7 3 4 Technical data power features Function Generates DC current when run directly off a mains source CE conformity immunity emissions as per EN61800 3 e Safety VDE 0160 EN 50178 Output power Nominal Peak power NMD10 10 kW 20 kW lt 3s NMD20 20 kW 40 kW lt 3s Mains fuse protection NMD10 16A K circuit breaker in 20A NMD20 35A K circuit breaker or similar Neozed fusible cut out Supply voltage up to max 3 500V AC Operating range 3 80V AC 3 500V AC 45 65 Hz Typical AC mains 400V 10 460V 10 480V 5 Layout of contactors for the power supply Capacity according to device performance Application group AC3 Control v
110. via the parameters P80 P92 Dependent on the sensor system you can select from 2 structure variants these also contain set via the ServoManager fixed settings of optimizing parameters The standard structure corresponds to the previous COMPAX control structure With the standard structure you can directly transfer previous already optimized parameter sets e After this the optimal control dynamic is set by increasing the stiffness P23 This is usually sufficient to obtain good control results Technical data Configuration User defined settings For further optimization you can adapt the parameters of the set structure variants optimally to your application user defined settings another alternative you can select structure variant and optimize it with the relevant parameters Positioning and control functions Optimizing the movement cycle At the end of every optimization of the control accuracy the movement cycle must be optimized For this use the pre control parameters P25 P26 P69 and P70 Optimization unctions n o T c p Optimizing with the ServoManager Use the menu Online Parameters to change the optimizing parameters directly in COMPAX these settings are accepted after modification with Return Accessories options Parameter 125 Error list Operating Instructions COMPAX M S Output of variable voltage Set motor Configure driv
111. 0 channel 1 measuring parameter 13 phase current for phase U gain factor 5 58 HAUSER Interfaces 7 9 8 85232 interface Wiring diagram SSK1 COMPAX PC terminal X6 PC terminal 9 way Sub D pin plug shell with screwed connection UNC4 40 a 00000 00090 9pol Sub D socket board 1e 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 5V housing housing 7x0 25mnf shield Apply screen on both sides to surface 7 9 9 Absolute value sensor option A1 gt The option A1 cannot be used for 100051 Cable plan X16 absolute enoder GBK1 COMPAX absolute value plug 9 way Sub D pin ig sensor 6 5 1 plug housing with screwed connection 9 ES UNC4 40 o 5 gt plug pos at C12FUR 5 11 4 T 6 3 T 1 11 D 8 2 D 3 10 24V 9 8 GND 5 1 housing housing nc 2 4x 2x0 25mnt shield 4 7 59 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment cable Parameter Error list control functions functions options Start up manual COMPAX M S X13 Encoder interfaces 7 9 10 X13 Encoder interfaces Encoder interfaces for COMPAX Encoder i
112. 0 error E10 and E49 can be switched off END REPEAT 1 O5 O5 is toggled changed i e O5 1 to 5 0 from O5 0 to 5 1 dx toggles when following every speed change set point generator has reached demanded speed Comparison Speed is In case of error Exx is indicated O5 remains at the current value reached be adjusted using P227 bit 4 1 WAIT Start GOTO Example V GOSUB EXT IF Error Stop Arithmetic Position monitoring Idle display Speed monitoring Engage disengage brake final stage Variable voltage 27 Bit counting begins with O 28 operating mode 1 120 AUS EE Positioning and control functions OM2 O5 1 nominal value reached and speed error P14 Example O5 1 nominal value reached independent of P14 Example Speed monitoring in speed control mode P93 4 O5z 1 nominal value reached on nominal value generator and speed deviation P14 If the speed deviation returns to gt P14 O5 0 is set Can be adjusted using P227 bit 4 0 default setting Programmed demanded S speed speed Actual value If the actual value moves outside P13 error E10 is triggered O5 z 1 nominal value on nominal value generator reached independent of P14 asP14 is set as a very large value Can be adjusted using P227 bit 4p E o def
113. 14 15y3 Q n5 x14 15 4 1 Input RxD X10 8 6 p X14 X15 x14 15 5 X40 9 Output HEDA TxD 09 19 116 gc 14015 61 X10 10 poem 010 O9 016 TxC XM QST 1 X10 12 Ei mxp 14 15 8 T X10 13 Mis C X14 15y 9 1 013 X10 14 gi X10 15 Q 27 015 10 16 046 Pe J Nc X16 2 t 231 p X16 3 9 enD X16 Nc X16 4 5 X9 3 e X16 5 n r 9 4 s stand by x9 encore T xsi C yy Nc X16 7 t 5X96 icy ogy p _ 16 8 Q 1 X9 7 ir x d 24y Xie 1 Q2 housing J X12 resolver SinCos X13 encoder 2 2 Sey oH 202 tzac ozh 3 Ae ee 29295 2965 28885 5 Iaza JAIZ The assignment of X12 does not apply for the S3 option You will find the assignment of the connectors X5 and X7 bus systems on Page 39 Technical data Connector Configuration c 2 o Optimization Interfaces Accessories Parameter Error list hardware control functions functions Start up manual COMPAX M S 5 X3 24V DC 200 supply g E z e de o t 88 Lee SJE Se X6 RS232 Po 2 X14 X15 X17 HEDA Option initiators x o Q
114. 18162 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 data in mm 8 0 80 120 7 5 38 113 10 7 107 107 13 7 137 137 13 7 137 137 16 5 124 124 22 5 168 168 Cable sheathed REK33 GBK17 MOK44 MOK45 MOK14 MOK11 6 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 Cable data in mm 8 2 61 5 61 5 8 0 40 64 9 2 69 69 11 82 5 82 5 11 82 5 82 5 16 5 124 124 22 5 168 168 2 High flex cable Standard cable Resolver cable for HJ and HDY motors SIN solder side Pi Ti SIN 5 Codiernut 20 1 SIN S H COS 12 brown i 2x0 25 i 11 f 2 COS 11 TEE gt e A ws 12 COS f I H H i 11 14 blue 20 25 bl 10 Ret 15 Temp 5V 9 Z 2028 8 emp 5 Li2YCY 4x2x0 25 26 mm No 102 150200 pese Em oooooooQ ONOOR WN gt In HJ motors ensure that the thermal sensor has the correct terminal arrangement Version in high flex REK33 same layout Packaging Packagi
115. 184 in master 40 see below for more information The quantity can be influenced by P35 Interfaces Process coupling using HEDA Option A1 A4 169 Configuration Technical data Connector assignment cable Positioning and Optimization o o o o o Parameter Error list hardware control functions functions o c o Operating Instructions COMPAX M S Process coupling using HEDA Option A1 A4 Permissible combinations and required parameter settings Can be used in slave unit versions Master output quantites P184 Settings in master and slave for adapting the process quantities P98 is identical in all units LEE P143 P1435 CPX 00 CPX 60 CPX 70 ge 70 P143 P143y WE E 70 CPX 70 43 CPX 70 CPX 00 CPX 60 CPX 70 43 CPX 70 45 140 CPX60 CPX70 P143 2 16384 CPX 00 CPX 60 CPX 70 43 CPX 70 CPX 00 CPX 60 CPX 70 When the encoder position P184 40 is transferred the encoder position is transferred into high word and the duration period of the pulses is transferred into low word to support a duration period measurement in the slave If a mixture of application purposes is undertaken e g master P184 44 nominal value and slave with encoder coupling then the slave must be informed using P188 140 in such cases only the high word is processed Application examples COMPAX XX60 XX70 P3121 En
116. 2 VO is used for globally assigning a value to all variables Example VO 0 V1 V70 0 17 V1 V70 17 With the instruction variables V50 V70 and therefore the settings of the cam controller are also changed AUS Positioning and control functions Arithmetic and variable examples Number format Dealing with calculation errors Accuracy of calculations Note Division y x1 x2 Example Arithmetic N001 P013 2 P013 Multiplication N002 P010 P040 1000 1234 Addition N003 P005 P005 2 Division N004 P250 P250 1 Subtraction 005 V002 V001 1 Whole number division 006 V3 815 P12 Modulo N007 POSR V30 Only one operation or command is permitted per program line All calculations are executed in 48 bit format real number 24 bits before the decimal point and 24 bits after the decimal point Such a real number can be represented with a maximum of 10 places incl prefix and decimal point Up to 7 places can be recorded after the decimal point Ex 1234567 89 1 2345678 If a number overrun occurs while an arithmetic term is being calculated because the range of values is not sufficient or if divided by 0 COMPAX reacts as follows collective error message E07 is activated ethe program is stopped for safety reasons ethe drive remains powered eany travel movements are interrupted using the stop ramp
117. 2 11 11 11 11 B i seed acd pee pany S E Nemotorcure ___ _______ _______ eene e Nissen Postion Waemaeror 12 Speedveached positoning reserved Hm 5 _ emergency stop 42 The 0 is not shown on the front plate 208 ANGI Status values of the standard unit COMPAX XX00 Output of status bits via the front plate The status bits are output via the front plate using 2 hex values 16 S17 Technical data 1 No fault 0 E1 E57 the drive does not accept any positioning commands After Power on bit 1 remains at 0 until the self test has been executed 1 No warning 0 Error gt E57 8 Bitz Bte S O o fo ater OUTPUT 00S 1 o after OUTPUT O0 1 00 jarou o o ooo TMeaning when 1 Password 302 active Service password active Command active move commands POSA POSR speed in speed control mode are rejected using E92 Program memory running Stop via input 16 reserved RUN 0 OFF or switched off when error occurs N Bit sequence during transmission of S16 S17 Bit 1 is on the left the transmission starts with bit 1 E g 51
118. 207 Addition 114 Advance acceleration control 26 130 Advance control measures 129 Advance power control et iA 130 Advance reverse control 130 Advance speed control ies 130 Ambient conditions 65 Analogue rpm specification for 1000SL 61 Analogue speed specification E7 186 Angle difference P161 79 Application example external data record selection ene 227 fast start 236 mark referenced positioning 229 speed control mode 234 Speed step profiling comparator switching 231 SPEED SYNC 233 Applications examples 226 Applications with GnCOGder 180 Arithmetic 114 Assignment 238 absolute value sensor 59 EAM4 01 180 eed 63 Incremental encoder 60 Inputs Outputs 52 RS232 interface 59 52 KAA scendere 56 186 60 KA 63 59 XIT 55 KG 59 XQ detti 52 Authorization of commands in RS232 165 Automatic Position reached message 160 Avoiding harmonies
119. 4 CE conformity EMC immunity emissions as per EN61800 3 e Safety VDE 0160 EN 50178 Supply voltage limit values COMPAX M NMD e 3 80V 500V AC 45 65Hz COMPAX 35XXM e 3 250V 3 500V 45 65 Hz COMPAX 25XXS e 3 80V 3 250V 45 65 Hz 1 100V AC 1 250V 45 65Hz COMPAX 10XXSL 1 100V AC 1 250V AC 45 65Hz COMPAX 45XXS 85XXS e 3 80V 500V AC 45 65Hz Mains supply fuse protection K circuit breaker or similar Neozed fusible cut out NMD COMPAX M NMD10 16A K circuit breaker 20A 35A COMPAX 35XXM 62A 25XXS 1x230V AC 16A 3 230V AC 10A COMPAX 10XXSL 16A e COMPAX 45XXS 85XXS 16A DC bus voltage e 300V DC with 3 1 230V AC 560V DC of 3 400V AC supply 650V DC with 3 460V AC NMD20 Output voltage to motor Ignoring power losses motor output rating is the maximum motor output voltage of the AC supply voltage available Braking operation Storable energy e NMD10 20 1100pF 173Ws e CPMPAX 35XXM 3450y 542Ws e 25XXS 1000yF 27Ws e 45XXS 330yF 52Ws e 85XXS 500yF 80Ws e COMPAX 100051 660uF 17Ws Ballast resistances see Page 193 Control voltage e 24V DC 10 Ripple lt 1Vss Current required 1 3A for COMPAX 35XXM 1A for COMPAX 45XXS 85XXS S N SILET 0 8A for the other units incl NMD Digital outputs eac
120. 4 ai BUS1 01 BUS1 01 Bus ter 3 Bus ter 3 8 8 2 mination 2 mination g 8 E 8 SSK7 SSK7 From encoder GBK11 or SV drive encoder emulation SSK7 COMPAX 1 and COMPAX 2 receive the signals from one encoder COMPAX receives the actual COMPAX 1 value concerning its emulation The following are required COMPAX e one encoder EAM 4 01 one cable for the COMPAX and encoder distributor connection SSK 4 3 bus cables 2 bus terminators Encoder module COMPAX 1 not possible with COMPAX 1000SL as there is only 1 encoder channel present e Encoder input module Mi T E4 e Encoder emulation E3 2 3 Encoder input MOdUIe ccccccccccscsescsesseececsescseseeecsesessseseteneees EA coe Mosis 6 GBK11 AWS cJ Process interfaces 9 6 2 Absolute value sensor A1 Technical data Note Note gt The option 1 cannot be used for 100051 When using option A1 the absolute value sensor interface the reference travel find machine zero normally required in normal mode after switching on is not required The reference travel is then only required during start up The current read sensor po
121. 4 using 014 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 If the light barrier now detects a mark COMPAX pushes the plate another 50 mm This distance corresponds to the distance between the light barrier and the shears and is programmed using POSR 50 mm If no mark has been detected after a travel distance of 650 mm P38 COMPAX stops the feed movement after a total of 680 mm P39 At the end of the positioning process output O16 indicates whether a mark has been detected within the mark window or not This output is queried using 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 229 Application examples COMPAX M S 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 th
122. 4V DC 10 kOhm see ex 62 Control outputs 16 8 for COMPAX 1000SL active HIGH short circuit protected 24V see ex page b2 Technical data RS 232 e 9600 baud or 4800 baud for COMPAX 1000SL fixed at 9600 baud Length of words 8 bits 1 start bit 1 stop bit e Software handshake XON XOFF Programmable controller data interface excluding COMPAX 1000SL e via 5 binary inputs and outputs Encoder interface option standard for COMPAX 1000SL e Encoder emulation 512 or 1024 counts rev Encoder input RS422 interface supply 5V 120 10000 lines rev COMPAX 1000SL signal interfaces optional Encoder emulation or encoder input or e step direction input or e analogue input 10V Absolute value sensor interface option A1 excluding COMPAX 1000SL Supply voltage 24V 10 e Sensing code grey code single step Direction of counting in clockwise direction when looking at the shaft rising Data interface RS422 24 bit data format start MSB Cycle frequency 100 kHz SinCos option 51 52 53 High resolution encoder instead of resolver Single turn or multi turn absolute value over 4096 motor revolutions Option S2 with multi turn absolute value sensor with programmable transmission factor Option S3 for linear motors HEDA synchronous serial real time interface Included in option A4 or option A1 Bus connection optional
123. 560V with 3 400V AC 2600 5000 88 1 3500 1130 _______ 2400 1 360 _______800 92 AUS H Configuration via PC using Holding brake Individual configuration of synchronous motors Nominal motor speedfor HDY motors P104 nominal motor speed rpm EMC ny min U w 300V U4 560V 5000 ______ with 4400 EMC counter EMC Ny nominal speed Uzw intermediate circuit voltage 300V with 230V AC o reo 8907 with 3 soov AC Parameter for saturation characteristic curve P119 start of saturation P120 end of saturation 96 P121 minimum stator inductivity 96 Flangesize P119 P120 P121 HBMR _______ _100 400 100 Saturation is switched off when P119 P121 100 and P120 400 gt If the saturation is unknown use the HDY values The additional parameters in the motor table should only be modified under exceptional circumstances Default values of the HBMR and HDY motors Parameter Standard Meaning puo 0 Resolver offset Degree P131 2 Resolver amplification P132 Position sensor NEN P133 65 536 Sensor dash count For motors with holding brake Calculate the braking delay in P17 for more information see Page 123 The parameters for Parker motors can be found in the motor catalogue Art No 190 06001 1 Drive type If you initially want t
124. 5XXS connector and connection assignment al COMPAX S X8 input X10 digital input output and output X9 test X11 control Parker X12 resolver X13 encoder X14 HEDA X15 HEDA X16 absolute X17 initiators X18 fan Meaning of the LEDs on the front plate LED color Meaning when switched on Ready green 24V DC present and initialization complete fault 1 56 present Plan view of COMPAX 25XXS X5 Bus x7 Bus systems OUT Systems IN AC X2 supply F19 3 16 AT 24V DC supply x1 motor and motor brake x4 braking resistance 30 COMPAX 25XXS connector and connection assignment Before wiring up always de energize the unit Even once the mains supply has been switched off dangerous levels of voltage can remain in the system for up to 5 min Caution If the unit has no control voltage no displays will indicate that operating voltage is present Wiring up motor
125. 5kHz P4 Level adaptation 1 for resolver or SinCos sensor from V5 61 setting aids 59 100 0 5 200 0 25 70 0 71 Position sensor 2 2 pol resolver P4 With linear motors 10 TTL linear encoder 11 SinCos linear encoder P133 Sensor dash count V With linear motors Dash count linear encoder per pitch length counter see P127 Dash count per pitch length P133 P12 P134 Nominal load capacity of the external ballast Watts 2 8000 VC stance 1008 f Gc NN E P135 P142 Bus parameter c Encoder pulses per revolution channel 1 ___ 128 4096 2000000 vc V V V V V V V V C C C C C C C C C C C C C V V V V C C C C C 58 Resolver transformation ratio resolver output voltage resolver input voltage 59 The read in level is displayed in the square of the channel 57 optimizing display With P233 57 this value is in 513 Meaning P131 0 405 100 rounded to the nearest percent S13 The current default setting 2 is still possible Note Resolver with U 1 cannot be operated 60 Select P133 as large as possible to achieve maximum accuracy P133 does not have fractional digits 217 Configuration Technical data Connector assignment cable Positioning and Optimization n c Accessories Parameter Error List hardware control functions functions options Appendix
126. 64 Value of P158 36 882 The remaining inputs stay open and are therefore not imported You can see the calculation of the setting values on the right Note e It is in principle possible to read 2 inputs from the same input pin Of course note should be taken of the resulting function P158 bit 12 15 Input 16 Os ee Sp otc a8 functions Optimization If you do not need the enable input 112 fixed logic 1 can be allocated With P233 49 or P234 49 physical inputs pin 9 pin 2 are written to the optimization display status 513 814 Meaning pin 2 bit O pin 9 bit 7 141 Accessories Parameter Error list Instructions COMPAX M S Digital inputs and outputs assigned to pin e jejeje o Allocation of output pins of X19 to the logic outputs The target output pin on X19 on which the respective logic output is to be written is specified via parameters P159 and P160 The parameters are 24 bits large with 4 bits defined for allocating each output to an output pin This allocation can be easily done with the assistance of the ServoManager With direct access via RS232 a terminal or a fieldbus the following table can be used for setting the parameters computed values Allocation s guns X19 Outp ut
127. 7 1000 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 S18 The errors which occur are recorded by COMPAX in an 8 stage shift register The entire contents of this memory can be read using a status query Once the error has been acknowledged 99 is inserted Once a new error occurs this is inserted in the shift memory When querying using 18 the contents of the shift register are output separated by spaces Once the unit is switched off 518 is retained If the unit is switched off while an error is present a Power On acknowledgement is created when the unit is switched on i e a 98 is inserted in the shift memory Example S18CpRLf Response S018 99 55 10 99 53 98 10 99C amp L gt The last error an emergency stop E55 has been acknowledged E10 occurred before this E10 has not been acknowledged E53 has been acknowledged E10 has been acknowledged by Power on The error memory is completely reset to 00 by the reset parameter i e 00 means no errors 209 Positioning and Configuration Connector assignment cable control functions Optimization n c Accessories Parameter Error list hardware functions options Appendix COMPAX M S Hand held terminal Status monitor 515 You can assign the values of the service D A monitor to status S15 using parameter
128. 8 v 67 D element slip filter P68 Slip filter lag 9 Reverse advance control 0 without reverse advance control 70 Cument advenceconmovalue 71 D Amontoriampifcaion 7 73 Address of D A monitort 74 AddressofD Amontorz2 Max permitted measuring error difference betw resolver pos and external encoder pos The external position localization is switched on with a measuring error 0 and the internal position is corrected 6 Address of D A monitor 3 decimal place 0 amplification 1 ification 1 5000 gr r P56 0 0 500 in 10 10 500 5 1 4 1 v t LU ro E 5 oa v room i 4 000 000 1 20 000 T Address of D A monitor 4 decimal place 0 amplification 1 20 000 80 Drive type 2 Spindle drive 4 8 rack and pinion toothed belt 16 general drive linear motor Drive type Spindle drive P80 2 5000 00 0 00 5000 82 8000 i 000 40000 000 200 U U N U U N N 31 m o D VP VP VP VP VP N BE v VC v U Bo T e 2 P83 84 85 10000000 fo P92 Min translational mass moved kg P88 Rack and pinion toothed belt drive type P80 4 8 P82 Toothnumber Tooth number tooth pitch 410 00 P84_ Moment of inertia for tran
129. 8 with Power EXOR via all signs apart from the end sign on gt Implment the required setting by entering the sum of the set values in P20 Function Activation using P20 Valid handshake SH from _ 8 error Software without Power 8 z transmission handshake with XON XOFF on eg Error transmission Error only when there is activity at the interface Imme 6 5 o o Technical data Configuration Positioning and control functions Example in Quick Basic of how to transmit and receive COMPAX data via the RS232 interface DIM text 30 The text string text is defined with a length of 30 a z com1 9600 N 8 1 The interface parameters are assigned to the a string Meaning functions com1 the com1 serial interface is used 9600 sets baud rate to 9600 N no parity 8 8 bit word length 1 one stop bit OPEN a for RANDOM AS 1 The interface is initialized and marked with 1 channel 0 text S1 Status S1 must be queried PRINT 1 text text is output on channel 1 Optimization text text is deleted so that the response can be accepted INPUT 1 text 5115 read by channel 1 in text PRINT text 7 5115 output on screen END o c o lan o o o o o Parameter 161 Error list Operating Instructions COMPAX M 5 RS232 interface 8 6 3 2 Interface functions Direct When making direct command entries via RS232 use the abbrevi
130. 9 approx 0 5 ms per parameter 2P79 approx 20 ms Modifying the controller setting When modifying the controller setting via parameters P23 P24 P25 P26 P27 or P70 comparison processes may occur These may be detected as short axis readjustments Therefore only modify parameters in small steps when the axis is active Area of application This extension to the function is used for the start up and for optimizing the axis It is not intended for the implementation of control tasks Please note The axis must be switched off if modified VP parameters are to be transferred e g via OUTPUT O0 1 10 3 2 COMPAX standard parameters Parameter groups Control parameters P40 P49 Limitations P11 P16 Bus parameters P135 P142 P190 P196 D A monitor status monitor S15 P71 P74 P76 P77 P182 Inputs outputs assigament meaning P18 P211 P221 P225 P227 P245 P246 Define encoder interfaces option P75 P98 P143 P144 P146 P232 Substitution 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 Define mechanical reference system P29 P206 P212 P217 Motor parameters P100 P133 Optimization parameters optimization display P21 P27 P50 P67 P70 P94 P151 P233 P234
131. AN protocol as per specification 1 2 Hardware as ISO DIS 11898 9 5 2 5 CANopen Option F8 Protocol as per CiA DS 301 Profile CIA DS 402 for drives 9 5 2 6 CS31system bus Option F7 COMPAX ABB interface AUS E92 Process interfaces 9 6 Process interfaces Connector assignment cable 9 6 1 Encoder interface The encoder interface option E2 24 bnables the connection of an external incremental encoder such as Litton encoder G71SSLDBI 4096 151 05BX Use this to synchronize COMPAX with an external speed using the SPEED SYNC command The encoder pulses per revolution and the translational travel per encoder revolution are set via the COMPAX parameters P143 and P98 Default Maximum Valid value value from Travel of axis per encoder revolution O 4 000 000 P143 Encoder pulses per revolution channel 1 2 4096 2 000 000 P146 Resolution of encoder emulation rr 2 0 1024 8 512 vC for permanent SinCos setting see Page Technical data 85422 interface 5V supply 120 10 000 increments revolution fmin 4 KHz fmax 500 kHz Dimension diagram Dimensional diagram for Litton encoder G71SSLDBI 4096 151 05BX max 63 5301 c m r 47 625 aj 58 87 0 25 for screw 10 32 UNF 2B thread 4 8 deep 41 Does not apply for COMPAX 1000SL COMPAX 1000SL allows to configure
132. AS 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 N003 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 conveyor belt A transmitting 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 N010 The carton is transferred to conveyor belt C at this constant speed using NO11 Conveyor belt A is then released again 002 Programming Configuration Encoder input E2 option P93 2 i e continuous operating mode P98 314 i e travel per axis per encoder revolution 314 mm P143 4096 i e encoder pulse number 4096 Nam
133. AX parameters and programs Bus terminal BUS1 01 Encoder bus BUS2 01 HEDA BUS3 01 Profibus BUS40i RS485 BUS 01 Encoder terminal for COMPAX 1000SL_ 4 wire RS485 interface 2 wire RS485 interface Interbus S interface Profibus F7 cs31 CANopen CANbus Encoder interface with line terminator for individual connections Encoder simulation for resolver Encoder interface without line terminator for creating an encoder bus E7 Analogue speed specification only for COMPAX XX6X and COMPAX XX70 or for SPEED SYNC with COMPAX XX00 4 HEDA f 100051 2 5 5 7 5 10 12 5 15 20 25 30 35 40 45 D1 Sensor interface for SinCos single turn or multi turn S2_ Programmable sensor interface for SinCos multitun Sensor interface for linear motors cable GBK18 206 ANOS 2 Status values of the standard unit COMPAX XX00 10 Appendix 10 1 Status values of the standard unit COMPAX XX00 Actual values Deme Ee o ee Actual position corresp P90 Current position referenced to real zero implemented Lag error S03 0 1 Difference between nominal and actual position during a corresp P90 positioning cycle Velocity Current axis traversing speed Torque S05 96 Current torque as a percentage of the nominal motor torque C is transmitted Travel cycle S09 _______ Number of axis Repeatcounte
134. COMPAX M S L AUSE User Guide Compact Servo Controller 1 M ce 2 M eee COMPAX M From software version V6 26 E EN ISO 9001 b SX Reg Nr 36 38 SES We automate motion Subject to technical modification Data correspond to the state of technical development at the time of printing Parker Hannifin GmbH EMD Hauser P O Box 77607 1720 Robert Bosch Str 22 D 77656 Offenburg Germany Phone 49 0 781 509 0 Fax 49 0 781 509 176 http www parker emd com 11 10 01 11 01 5 E s October 2001 Parker Hannifin plc Electromechanical Division 21 Balena Close Poole Dorset BH17 7DX UK Phone 44 0 1202 69 9000 Fax 44 0 1202 69 5750 http www parker emd com Contents O COMPAXMI S 1 Contents 2 3 4 AUS 5 Contents COMPAXMI S AUS 5 Contents 2 Index Data security COMPAX M S The parameter and program memory are created using ZP RAM This memory is unaffected by mains power failure This module has a guaranteed service life of 10 years calculated from the first start up ZP RAM failure causes data loss COMPAX contains wild
135. COMPAX M S COMPAX standard parameters Default Maximum Valid value value 144 Settting encoder channel 1 z 4 without external position localization 6 external position localization switched on via channel 1 P146 Resolution of encoder emulation channel 2 0 1024 8 512 0 1024 8 512 8 512 P148 End stage designation Read only parameter S37 P149 Configuration 0 not valid 1 Responsiveness of the monitor control o 30 500 Allocation of inputs 11 16 to the input pins Bits 8388608 X19 2 gt 11 8388607 X19 X19 312 Source for X19 413 Bit 0 3 input 1 19 5 14 Bit 4 7 input 2 X19 615 Bit 8 11input 19 7 16 Bit12 15 input 4 Bit 16 19 input 5 7 754 802 Bit20 23 input 6 P157 Allocation of inputs 17 112 to the input pins Bits 8388608 x19 82112 8388607 X19 Source for 17 111 0 Bit0 3 input 7 Bit4 7 input 8 8 388 608 Bit 8 11input 9 Bit 12 15 input 10 Bit 16 19 input 11 Bit 20 23 input 12 P158 Allocation of inputs 113 116 to the input pins on Bits 8388608 x19 92116 8388607 X19 113 115 0 Source for Bit0 3 input 13 z 36 864 Bit4 7 input 14 Bit 8 11input 15 Bit 12 15 input 16 Bit 16 19 free Bit 20 23 free P159 Allocation of output pins X19 15 X19 18 to Bits 015X19 15 65535 the logic outputs 025X19 16 Source for 19 17 Bit0 3 Pin X19 15
136. D RETURN command without RETURN Z rr ES Z E33 Error in program memory Quit no Error in program memory Check data record memory E35 Hardware fault Remove extreme external sources of fault no Hardware fault Faulty or incorrect unit hardware yes E37 Auxiliary voltage 15 V missing Switch on again yes Voltage in intermediate circuit too Increase braking and idle times check mains power Quit yes high e g if braking output is too COMPAX 25XXS external ballast resistance high Limits missing COMPAX 25XXS gt 400V COMPAX 45XXS 85XXS bridges X2 5 X2 6 COMPAX 10XXSL gt 400V missing 100081 Check value P134 Temperature too high gt 85 cycle Increase acceleration times too hard Input Enable final stage 45 858 X3 1 2 1000SL X19 24 X19 12 35XXM 19 9 10 not assigned Quit yes Only with COMPAX 35XXM COMPAX 45XXS COMPAX 85XXS and COMPAX 1000SL Note With E40 there is no braking delay the final stage is immediately switched off The input has a direct effect on the hardware E41 Final stage reports error Check motor and cable for ground fault short circuit Quit yes COMPAX 35XXM Short circuit of the fault and function remove extreme external sources ballast resistance or undervoltage of fault 24V COMPAX 1000SL Overvoltage or ballast switching E42 Resolver sensor error Check resolver cable and connector for correct Quit yes conn
137. Data record indicator is reset to NOO1 In continuous mode the axis does not move the data record indicator is set to N001 Input SHIFT 4 e The current position of the axis is used as the reference point real zero for all positioning instructions i e P1 is modified e The data record indicator is set to 1 e The real zero is stored protected against power failure O4 Ready for start is not modified e The teach in function can be switched off using P211 e The function does not operate in continuous mode 149 Configuration Technical data Connector assignment cable Positioning and Optimization lan o o o o o Parameter Error list hardware control functions functions o c o Operating Instructions COMPAX M S Digital inputs and outputs Input 15 4 e When P211 3 the data record indicator is set to 1 using Shift I5 P2ii blockng and modifying 0 The functions 11 14 Teach N 11 15 and Teach Z are enabled teach in functions eal Teach 2 is blocked the data record indicator is set to 1 using 11 14 or Teach Z Teach N is blocked the data record indicator is set to 1 using 11 15 or Teach N Teach Z is enabled The functions Teach N and Teach 2 are blocked With 11 14 Teach N 11 15 or Teach 2 the data record indicator is set to 1 Break Input SHIFTIG6
138. GOTO GOSUB EXT IF Error Stop Arithmetic Position monitoring Idle display Speed monitoring Engage disengage brake final stage Variable voltage Operating Instructions COMPAX M S Start a program loop REPEAT 8 4 21 Start a program loop REPEAT REPEAT Syntax Example The following program sequence is run through the number of times specified 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 NO0O6 N007 END End of loop gt loop be prematurely exited using 8 4 22 Branching IF 17 1 IF 1721 Branching related to a control input Syntax Examples IF control 1 0 GOTO GOSUB data record number Control input 11 116 IF 17 1 GOTO 010 If 17 1 a jump is made to data record NO10 IF 1720 GOSUB 010 If I7 0 a jump is made to the sub program in data record N010 8 4 23 Binary IF query of inputs IF 112 101 1 108 Syntax 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 for not taken into consideration IF 112 101 1 GOTO 123 gt 112 1 113 0 114 1 115 not considered 116 1 Binary IF querying of status values or outputs is not possible A maximum of 8 inputs can be
139. JOUT IN JOUT IN OUT distributors IN OUT IN JOUT X1 X2 X3 X4 X1 X2 X3 X4 X1 X2 X3 X4 8 8 BUS1 01 9 8 9 8 9 8 8 Bus ter i SSK7 li 5567 ___ SSK7_ mination X From encoder GBK11 or SV drive encoder emulation SSK7 181 Technical data Connector Configuration Os ee Sp otc a8 Optimization Interfaces Accessories Parameter Error list hardware functions Accessories and options Encoder bus mixed 182 COMPAX M S The following are required per COMPAX e one encoder distributor enne EAM 4 01 one cable for the COMPAX and encoder distributor connection SSK 4 one bus cable for the connection between the encoder distributors SSK7 Encoder input module sss Ej 2n COMPAX 1000SL BUS terminator eee aaa Pen nenne xung ene e RET ARAS BUS 1 01 For the encoder encoder cable GBK11 For the SV drive Cable SSK7 COMPAX COMPAX COMPAX No 1 No 2 No 3 E38 X13 E4 X13 E4 X13 4 ssk4 sska EAM4 01 5 EAM4 01 5 EAM4 01 5 Channel 1 Channel 2 Channel 1 Channel 2 Channel 1 Channel 2 IN OUT IN JOUT IN JOUT IN JOUT IN JOUT IN JOUT X1 X2 X3 X4 1 X2 X4 1 2 X3 X
140. MZ equals external initiator without resolver zero MZ equals limit switch 10 teaches machine zero 11 VZ equals initiator without resolver zero 2 reversing initiators P213 Machine zero direction 0 to the right 1 to the left P214 Encoder direction 0 41 P215 Direction of rotation 0 motor to the right positive direction when encoder is turning clockwise positive direction when encoder is turning anti clockwise 1 motor to the left 219 Technical data Connector Configuration 5 ee ce Sp otc a8 Optimization Interfaces Accessories Parameter Error List hardware functions Appendix COMPAX M S COMPAX standard parameters Minimum Default Maximum Valid value value value from P216 Limit switch position E1 is approached when 0 motor turns clockwise immediat us 1 motor turns anti clockwise P217 Limit switch mode 0 without limit switch immediat 1 with limit switch do not find during MZ 9 with limit switch find during MZ 5 with limit switch without pos locking P218 Error cutout Bit 0 0 E57 active 1 E57 switched immediat Default value P218 0 E57 active off Emergency stop 0 evaluation of emergency stop input on COMPAX M input 7 emergency stop input on COMPAX M active M Synchronous 2128 synchronous STOP on COMPAX without evaluation of STOP on COMPAX em
141. Manual process ended Drive at standstill Ready message for output O4 is set 154 88 20 1 Interfaces Digital inputs and outputs o 5 x Inter Direct command iet DE specification o 15 o Start 6 16 Stop S t T c o O4 e Ready to start 05 5 Progr target t pos reached 5 o O6 A Out of action 8 after stop 0 1 2 3 4 5 6 7 8t When using this START processing command interrupted by STOP and specified by a interface is restarted 11 A Ua Finding machine B zero in normal 2 8 mode I3 Drive to RN c Qa tw c Before the NS 1st machine Ee 2 zero travel O3 0 03 Machine zero Ez 04 4 it Ready to start 05 4 it Progr target pos reached t D 11 Approaching real LL D zero 8 I3 lt Drive to RN Machine zero i H O4 it Ready to start O5 A t Progr target A pos reached 155 Error list Operating Instructions COMPAX M S PLC data interface function not available with COMPAX 1000SL 8 6 2 PLC data interface function not available with COMPAX 1000SL This universal data interface allows data to be exchanged with all PLC types regardless of manufacturer and origin You will need five bina
142. N ANE P102 EMC EE min 10 p P102 EMC V m s P126 60 000 Sw 103 Moment of inertia S gam a 000 Linear motor P103 MForcer P126 1000 2 r1 P104 Nominal speed A S min 1 9000 Linear motor L P104 _ 1000 60000 P126 2105 Nommacumet ABL mA 200 ________ 100000 Nominal torque AS 100 000 Linear motor P106 Frominai P126 1000 2 IT P107 Ho f ve 5 e Le 110 Magnetization current 0 7 P105 P111 Rotor time constants 2000 54 When in speed control mode P25 must gt 0 95 From next process command 56 From next process command 57 A parameter for asynchronous motors S parameter for synchronous motors L parameter for linear motors 216 Default Maximum Valid value value from ___ 20000 i 9000 V Linear motor P113 Mnax 1000 60000 P126 P115 Angular speed 100 116 Stator resistance 150 000 100 lt 120 ve ve End of saturation gt P119 00 400 20000 wc 10 000 Nominal voltage 40 ve 126 Pitch length of motor magnets in 2 100 000 V Pole distance 127 Denominator Dash count linear P133 V encoder per pitch length see P133 1 Cut off value of temperature sensor for 0 vC E48 HDX motors HJ motors P129 Resolver offset Si oeweefo Jo jpo v P130 Resolver frequency A S L 2
143. OMPAX as plug in option Option A1 toan IPC with Hauser a cem COMPAX 1000SL SSK15 COMPAX Master Plug in board IPM for OL Option A4 COMPAX Slave contouring BUS 2 01 Bus termination 174 Overview z g Ben Operating panel Operating panel 5 9 PERDE BDF 1 03 2 COMPAX 35XXM g SSK 6 o9 4 g 8 5 8 c SinCos GBK 16 D Option 81 82 inCos imstalled in the motor ption GBK 18 i mer f r Z554 SinCos installed the motor I Linearmotoren le IE e o Sag Absolute encoder Absolute encoder t c COMPAX M with TEE STEGMANN 5 Interface 1 Power module NMD fje amp Encoder Encoder Input 12 GBK 11 Litton E c EET I G71SSLDBI Aly aw 4096 151 050BX 5 EE Ge EEN SSK 7 Direct to encoder simulation of E with cable
144. OUTPUT and is used to bring the individual outputs e g the control output for a pump or a valve into a safe status The WAIT START instruction must be included it stops the programming procedure before an external START is executed again Then OUTPUT instructions can again be present for resetting the outputs There must be a RETURN or END instruction at the end of the stop program e The END instruction stops the program e The RETURN instruction executes a jump back into the previously interrupted program line a travel motion which was interrupted by STOP is continued the next command is executed after the BREAK 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 N001 IF STOP GOSUB 240 N002 OUTPUT O9 1 N003 POSA 0 N004 POSA 4000 N005 OUTPUT O9 0 N006 GOTO 002 If the axis has been stopped due to a STOP e g during POSA 4000 positioning sub program jump is then made to program line 240 and output O9 is set to zero at this point The program then stops in program line 241 and waits until a new start occurs At program line 242 output O9 is switched on again at program line 243 a jump is made back to the previously interrupted program line NOO4 The axis therefore executes the rest of the travel to position 4000 and the main program is then continued at program line NOO5 I
145. Parameters of software variants P30 P39 RS232 P19 P20 Other parameters P17 P218 P219 P229 PLC data interface Parameters not described here are reserved P18 46 VP means Valid Parameter and is a COMPAX command with which COMPAX accepts a modified parameter from a specific parameter group The VP parameters are marked in the following parameter lists in the column Valid from 212 eNULJ parameter 5 Remark The specified limit values refer to all parameters Theoretical combinations are possible within these limits however they could cause an internal number overrun The following limitation applies The travel per motor revolution must be greater than 0 01 mm or with increment unit gt 10 increments Travel per motor revolution Spindle drive P83 rack and pinion toothed belt P82 P83 general drive P83 1000 in mm Connector assignment cable List of parameters sorted by number Default Maximum Valid value value from P1 Real zero point distance real zero machine ad 1 000 000 immediat zero 1 000 000 Pz or non programmed 100 7000 100 00 mean Substitute value for non programmed ramp 1000 60 000 time Ps Ramp ume for approach point ofrer zero me f1 60000 e Ramp time for processing by hena fms 1 1000 60000 P10 Ramp
146. Pin Allocation dale t vauertactor Pisobto 3 pisopita z fase tector aee value sector piso0t18 11 ns Value of P159 moss m 22 Value factor Value factor EN DOES TERES CY HE ee EEE E eec Value of P160 Example The following assignment must be configured Output 1 X19 Pin 15 Outputs factor computed values Allocation X19 Output 3 gt X19 Pin 16 Output 4 X19 Pin 17 Output 5 gt X19 Pin 18 Output 8 gt X19 Pin 19 4 4096 16384 P159 bit 11 15 18 Output 10 gt X19 Pin 20 Value of P159 Output 14 X19 Pin 21 UE Output 16 X19 Pin 22 9 16 144 P160 bit 4 7 You can see the calculation of the 13 256 3328 P160 bit 8 11 setting values on the right 15 4096 61440 160 bit 11 15 142 7 9 10 11 12 13 14 t5 16 output is Out assigned to pin put 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 X Pin n o o 1 0 1 0 P159 bit 0 3 115 X 16 2 16 32 P159 bit 4 7 16 X 256 3 256 768 P159 bit 8 11 A7 Value of P160 64919 Note With P233 49 or P234 49 respectively physical outputs pin 22 15 are written to the optimization display status S13 814 Meaning pin 15
147. Position 0 A poor controller setting has been selected by way of illustration 25 Bit counting begins with O 118 AUS EE Positioning and control functions Idle display 8 4 32 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 1P6 4 the standard function of O2 No warning no longer applies in this case P229 then serves as a switching threshold above which an idle condition is reported with O2 1 and indicated in per thousands of P104 of nominal speed Nominal speed P229 02 1 drive at standstill Nominal speed gt P229 02 0 drive moving P229 0 02 0 no idle display Range of numbers P229 0 255 P227 bit 1 0 O2 assigned the No warning display default value VA O5 Ba1 To avoid O2 continuously switching over during nominal speed value disturbance during synchronization applications a minimum pulse time minimum positioning time is defined Once nominal speed P229 has been detected and P229 has then been exceeded again the next nominal speed check is executed after 50 ms Disturbance 26 Bit counting begins with O 119 Positioning and Configuration Technical data Connector assignment cable control functions Optimization n c Accessories Parameter Error lis
148. Profibus CAN Bus Use P245 and P246 to assign the outputs of the HEDA bus COMPAX with IPM via the option A1 Permanently assigned outputs of unit variants COMPAX XX30 cannot be masked 01 _ 06 01 O6 225 status outputs ON P223 Output x y P224 2 01 0160 __ 1 P245 o P246 1 towards outputs Output WORD O1 O16 bussystems O1 O16 HEDA via IPM 33 Counting starts at 1 143 Configuration Technical data Connector assignment cable Positioning and Optimization o o o o o Parameter Error list hardware control functions functions o c o Operating Instructions COMPAX M S Digital inputs and outputs P225 makes outputs freely available Setting P225 Example PLC data interface Note Switching to OUTPUT WORD command or to HEDA bus 144 Explanation The permanently assigned standard outputs O1 to O6 can be made freely available using parameter P225 Meaning O1 X8 1 1 No fault 0 errors E1 E58 O2 X8 2 1 No warning 0 Error 2 E58 44 O3 8 3 Machine zero has been approached O5 X8 5 Programmed nominal position reached O6 X8 6 Idle after stop Each output is assigned a valency Calculate the total of the valencies for the required free outputs and enter this in parameter P225 Ready for start and Idle afte
149. S12 is reset to O after a table rotation After Power on and after an error has occurred 512 is transferred as the actual value 812812 The function is switched on via P206 1 Em meEEETE value value from Transmission factor for the reset path of 52 ee option 0 no reset function 1 absolute value sensor input enabled or reset functions of the S2 option reset function switched on Please note Set P1 0 Using P212 10 see 80 you can still select the machine zero point as required Note This function does not affect the actual positioning process Example P96 10 sensor revolutions P83 40 000um 40mm After 450 and then 0 the drive reverses by 450 mm and not just 50 mm To execute a positioning process within the reset path after traveling in one direction for a long time evaluate S12 E g required position within the reset path 10 mm V1 10 S12 POSR V1 9 6 4 Option S3 for linear motors See Page 184 AWS cJ Process interfaces 9 6 5 HEDA interface 9 6 6 D A monitor D1 option not available with COMPAX 1000SL C HEDA using option A1 e g A4 for COMPAX 1000SL for COMPAX XX00 and the interpolation module IPM as master or for a COMPAX COMPAX coupling with the unit variants COMPAX XX00 COMPAX XX60 and COMPAX XX70 see from Page 168 Implementing tracking and contouring tasks with the HAUSER interpol
150. Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment cable Parameter Error list control functions functions options Start up manual COMPAX M S 7 4 3 Wiring COMPAX 35XXM Wiring up motor mains power control voltage and external ballast resistance Wiring up system network 28 Supply up to 500V AC L1 L2 L3 12 13 Mains Input x20 max 1 6A 24V Control voltage External braking resistance DC in Braking 24V Resistance x21 x22 Connection for external contact for brake control The PE connection must be a version of at least 10mm COMPAX 35XXM COMPAX M SV M Cable conduit LS MEFE PE e 000 9 2 iV e 18 e in Ln 17e Le 152 Voltage supply 24V Emergency stop stand by and bus signals Motor Pet tttt U Brake PE 20 oo go oo 507 07 Last devi equiped terminal ice with plug ANUS SS COMPAX 35XXS unit features sw 35XXM connector assignment in gt o oO 7 4 4 COMPAX 35XXM connector assignment
151. 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 yes l8 pick up lowered 0 no 1 gt yes 07 raise pick up 0 gt off 17 on O8 lower pick up 0 gt off 1 gt on List of programs N001 SPEED 50 sets the speed N002 ACCEL 500 sets the acceleration and braking ramps N003 OUTPUT 7 0 pick up raise function off N004 OUTPUT 08 0 pick up lowering function off N005 60 moves to data collection station NOO6 IF 18 0 GOSUB deposits workpiece 36 if pick up is not lowered deposits workpiece Wait for START mark N007 WAIT
152. Unit designations pamon e pa Order ______ 533 __ Order number 6 digits ___________ Order amp part 10 digits is Part 34 _ _ Serial four digit number ___________ unique unit no Unit designation 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 COMPAX 10XXSL 20 Unit family E g 00 XX00 30 XX30 539 0 COMPAXE 1 2 5 4 COMPAX SL 9 SV drive Status values Number of status values present Special COMPAX status values Designation StssNo Unit Meaning External velocity when using the SPEED SYNC command Encoder position S42 P90 External position when using external position localization Measuring error S47 During external position localization difference between resolver position and encoder position Current nominal S49 Current internal nominal value output of nominal value setter and value track nominal value directly specified by HEDA Meaning of status bits The status bits are not relevant for normal operation they must not be used for control purposes They do provide accurate error analysis if you contact HAUSER in case of problems The bits are counted from the left to the right 23 24 S25 Drive status GA O Swich status 522 Limits status 625 HN 1111 1111 111 111 11
153. X4 ballast resistance green yellow PE 00000 0000 et Fieldbus Out x12 X1 motor motor brake 6 0000000 Re black 5 lesolver 0000000 of sheetshielding of motor cable z E DIC 000000000000 M Input Oftput 00000400000 ex Clamp the motor cable with the open section of the screen braid under the ground terminal Power supply 1 100V AC 1 250V AC 45 65Hz Fuse protection 10A Layout of contactors for the power supply Capacity according to device performance Application group AC3 Control voltage 24V DC 10 ripple 1Vss e Fuse protection max 16A The screen clamp for the screen connection of the motor cable is included and must be screwed on in the illustrated position A Only wire up brake in motors with a holding brake Otherwise do not wire up Overvoltage Energy recuperated during braking is stored in the supply capacitors The limitation capacity and storable energy is 10XXSL 660 uF 17 Ws If the recuperated energy causes overvoltage then external ballast resistances can be engaged Maximum braking Braking power Cooling power w
154. X70 COMPAX XX70 time base and absolute zero drift P184 43 scaled P188 43 between the axes due to the transfer of master position P143 P143y a position value see above P188 43 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 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 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 P184 42 46 retains old value In cases when P188 gt 0 on the master side a fixed delay in the associated process value is implemented amounting to a total of 2 ms This ensures that the master waits until all axes have received the process value This ensures that all axes including the master continue to process the new
155. XS unit features Plan view Specific technical data 7 4 2 Installation and dimensions of COMPAX 35XXM Installation and dimensions of COMPAX 35XXM AC voltage external up to 500V AC ballast resistor 24V control voltage DC In Braking Mains Input 24V Resistance x20 x22 Supply voltage up to max 3 500V AC Operating range 3 80V AC 3 500V AC 45 65 Hz Typical AC mains 400V 10 460V 10 480V 5 Layout of contactors for the power supply Capacity according to device performance Application group AC3 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 Control voltage 21 6V to 26 4V DC e Ripple lt 1Vss e fuse protection max 16A Mains supply fuse protection 62A K circuit breaker or suitable Neozed conventional fuse Regeneration mode Storable energy 3450 542 Ws External ballast resistance 100 2 kW For the external ballast resistors available please see Page 193 218 14 190 38 ce 2500 8 i amp 430 363 Fastening with 4 M6 hex socket head screws 27 Unit hardware
156. a external START E5 or via interface is issued reaction time 30 ms For shorter reaction times refer to 115 on Page Syntax WAIT Start 8 4 26 Jump with data record selection GOTO EXT Jump with data record selection via the inputs 19 to 116 GOTO EXT Entry at BDF2 GOTO Ent Data record selection as for GOSUB EXT see below 20 for variables see Page 114 21 Applies to the manual terminal BDF2 01 109 Positioning and Configuration Technical data Connector assignment cable control functions Optimization n c Accessories Parameter Error list hardware functions options Operating Instructions COMPAX M S Sub program jump with data record selection GOSUB EXT 8 4 27 Sub program jump with data record selection GOSUB EXT GOSUB EXT Entry at BDF2 GOSUB Ent Jump into a sub program with data record selection via the inputs 19 116 din The bit pattern of inputs I9 to 116 is interpreted as a data record number binary SPORE 116 9 gt 27 20 ACCEL e g 00010100 20 gt jumps to sub program at data record 20 OUTPUT Password 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 EXT read logically as 0 SPEED SYNC The assignments of each of the binary inputs 116 19 must be taken into consideration for the indi
157. a safety chain S Ready contact for building a safety chain Note the assignment for unit variants and for special functions Positioning and Optimization LUE 1 P gt 00000000000 N ul 4 E NI Oj No DO Status oj 53 Unit hardware Connector assignment cable Technical data Configuration Interfaces Accessories Parameter Error list control functions functions options Start up manual COMPAX M S Technical data Connections of inputs and outputs 7 9 8 Technical data Connections of inputs and outputs Detection of input signals Load on outputs not applicable for COMPAX 1000SL Load on outputs for COMPAX 1000SL Input connection using 17 as an example Output connection using O7 as an example Input output connection for 2 COMPAXs 0 1 over 9 15V means that 1 is recognised 1 0 over 8 05V means that is recognised O1 016 Total of max 1 6A 2 01 04 O5 08 Per group of 4 max 0 8A taking due account of 1 O9 012 013 016 3 per output max 0 3A and 40nF capacitive taking into account 1 and 2 Per output max 0 3A e In total a sum load for all 8 outputs of max 0 48A and 40nF capacitive If overload occurs an error message appears E43 can be acknowledged with Power off on
158. able 02 1 if there no errors 2E58 02 0 if there is an error 2E58 O2 is assigned the Idle display function via P227 bit 1 1 see Page 119 Technical data Machine zero has been Configuration When 1 is displayed this indicates that a reference system has been defined approached i e there is information about the position of machine zero When in Normal mode positioning is only possible when 3 1 By using an absolute value sensor and the relevant option O1 O3 1 remains as such even if the unit has been switched off in the meantime Once the Find machine zero function has been activated 11812 1 O3 0 until machine zero is found Positioning and control functions Ready for start Ready for START is used for program control O4 is set eif 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 e after a corrected error condition and after Power On eat program end with the END command O4 has no significance for direct command specifications Optimization functions lan Soo 2 Os o0 Position reached O5 is set to 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 comp
159. aces for unit variants 60 Process velocity 97 Profibus 178 Program control data record selection 110 Data record selection109 110 WAIT START 109 Program jump 107 Program 108 Proper 8 Pulse current 93 Pulse current time 93 Querying status values via the front plate 71 Ramp shape 75 76 quadratic 76 smooth ssssss 76 Ramp time 102 Read and write program sets and parameters via 85232 163 Read the status values via 85232 163 Readiness 44 Ready contact 45 Real zero 81 Reduction of dynamic lag 130 Reference systems example 80 Relative positioning 96 108 Repeat counter 207 Resolver SinCos assignment 46 Resolver type 93 RETURN 107 Return jump to main program 107 Round table control 147
160. activates shears N015 IF 17 1 GOTO 15 waits until shears are closed N016 OUTPUT 7 0 blocks shears 017 GOTO waits for start 6 goes to data record NO06 RGVO SO osea pae tie eia ed ea qeu d mark 018 OUTPUT 015 1 sets Mark missing message N019 OUTPUT 014 0 blocks mark reference N020 WAIT 10 waits until mark reference is blocked N021 680 returns to start point N022 GOTO waits for start 6 goes to data record NO06 230 AUSEE Speed step profiling comparator switching points 11 1 4 Speed step profiling comparator switching points Application A bore spindle should be guided to the surface of the workpiece using a rapid feed movement The bore is then bored to a defined depth using a considerably longer feed When reversing the bore spindle the unit should travel at a slow velocity while the drill is still in the bore The remaining travel to the idle position is performed at a rapid speed The bore spindle should be switched on just before the boring process commences and should be switched off immediately after it has been removed from the bore Movement of the conveyor belt s
161. age 133 7 9 7 D A monitor option D1 gt The option D1 cannot be used for COMPAX 1000SL This option provides you with two additional analogue output channels with a resolution of 12 bit These channels are updated every 100 us Use the parameters P73 and P74 as you do with the service D A monitor to select 2 quantities and to adapt them to the required measuring range using 2 parameters P71 and P72 D A monitor option D1 must be ordered as a separate item To obtain output from the measured signals you will need an externally connected monitor box ASS1 01 with 2 BNC bushes for connecting the measurement instruments This is connected as follows monitor box is connected to COMPAX connector X17 ethe initiator line is connected from X17 to the monitor box The signals are fed through the monitor box Meaning and range of values of P71 P74 No __ O O Range Gain factor from channel 0 1 10 000 Gain factor from channel 1 1 10 000 Measuring parameter of channel 0 For the meaning see table on Page 56 P74 Measuring parameter of channel 1 For the meaning see 0 18 table on Page gt The parameter can only be actuated once you have entered the password The measuring 71 10 P72 5 P73 4 74 13 parameters are Therefore the following applies selected using P73 channel 0 measuring parameter 4 actual speed value or P74 gain factor 1
162. al nc Screws 2 e e Channel track B or recon sev Output e 00 10 I 0 11 A2 Analogue input 12 N1 Channel 1 zero impuse EO P144 A or 6 aue EN d Encoder input P146 0 vcre P144 5 direction input P146 0 pue Encoder emulation Analogue input 10V 512 Pulse rev 1024 Pulse rev Encoder emulation 512 Pulse rev 1024 Pulse rev The analogue input is only available with COMPAX XX60 and COMPAX XX70 61 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment cable Parameter Error list control functions functions options Start up manual COMPAX M S X13 Encoder interfaces Configuring the process interfaces function analogue input Applications with COMPAX 1000SL and encoder see page 62 Encoder input without terminator for individual connections use bus termination BUSO06 01 Cycle direction 1 Cycle input O1 O1 Counter cycle signal Direction input B1 B1 RS485 422 Encoder simulation 1024 pulse revolution without analogue input 7 0 Encoder simulation 1024 pulse revolution with analogue input Encoder simulation 512 pulse revolution without analogue input 7 8 Encoder simulation 512 pulse revolution with analogue input 7 0 Analo
163. al data Connector assignment cable control functions Optimization lan o o o o o Parameter Error list hardware functions o c o Operating Instructions COMPAX M S RS232 interf ace 8 6 3 RS232 interface Interface parameters You can communicate with COMPAX via an RS232 interface on a PC The following functions are available Direct command input and execution in on line mode Read status values Read and write program data records the complete stock of commands is available here Read and write password protected parameters Transmit control instructions 8 6 3 1 Interface description Baud rate 9600 or 4800 selected with P19 COMPAX 1000SL fixed setting 9600 Hardware handshake Software handshake Output buffer Data format CR carriage return or CR Lr carriage return line feed Default setting simultaneously press the three front plate buttons while switching on to set COMPAX to 9600 Baud COMPAX receives all displayable ASCII characters inserted spaces a function sign if nec Cg carriage return for storing the command the intermediate memory If no function signs have been transmitted the command is accepted and executed if necessary see next page Lp line feed has no meaning to COMPAX only receives a command if a previously transmitted command was answ
164. al value 100 Range 0 550 P58 Lag rpm filter Nominal value 100 Range 0 550 Use this parameter to adapt the controller to very large changes in load Nominal value 100 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 After changing P27 P23 usually needs modification P23 in order to achieve optimal control results AUS Optimization functions Advance control measures Advantages Principle Main structure Without advance control measures Optimization parameters Advance control of speed acceleration and power Minimum lag error Better attenuation characteristics Higher dynamic levels with lower maximum current The positioning process is calculated in the nominal value setter and is specified to the position controller as the nominal value This ensures that the nominal value setter contains the advance information required for positioning speed acceleration and power processes This information is switched to the controller so the lag error is reduced to a minimum the controller has better attenuation characteristics and drive dynamics are increased current feed forward acceleration feed forward speed target feed forward
165. alization phase has been completed 1 COMPAX is OFF COMPAX is not configured P149 0 or with COMPAX XX70 112 0 final stage blocked Now configure COMPAX e g using the ServoManager ParameterEditor Set P149 1 Configuration is accepted with VC and VP of COMPAX 2 COMPAX displays error E57 COMPAX is configured P149 1 However operating voltage is not present Check COMPAX configuration Alterations are accepted with VC and VP of COMPAX Configuring a Using ServoManager P149 1 VP and VC are transferred when being downloaded to COMPAX from the ServoManager b Using hand held terminal P149 1 VP and VC are generated by the hand held terminal c Without an auxiliary device e g a terminal P149 1 VP and VC must be transmitted after COMPAX configuration Switch on operating voltage With E57 acknowledge error by pressing Enter When OFF command OUTPUT 0 0 or switch 24V DC on off Motor is powered COMPAX display shows RUN Flow chart connection of control voltage 24 V DC initializing stage COMPAX configured COMPAX not configured P149 1 i P149 0 error E57 ak display Isplay check execute configuration configuration P149 1 VC VP VC VP connect connect DC bus DC bus voltage voltage clear 24V DC OUTPUT error E57 ON OFF O0 0
166. allast resistor BRM 8 01 with 0 25m cable 68 for connection to 10XXSL a ServoManager with ParameterEditor and ProgrammEditor o CamEditor for COMPAX XX70 175 Parameter Error list Accessories and options COMPAX M S EMD motors Linear motor Note concerning the reference mode Linear motor LXR Note 176 Suitable motors are described in the motor catalogue Article No 192 06001 1 COMPAX also supports the operation of linear motors For this COMPAX requires option S3 interface to linear encoder and Hall sensor assignment X12 see Page Conditions regarding the linear motor phase synchronous linear motors with sine cosine linear encoder 1 TTL RS422 digital Hall sensor commutation 5V with following signal sequence The depicted signal sequence applies for positive direction Only the modes P212 7 and P212 11 are presently available as reference modes for linear motors For highly dynamic and precise applications we provide the linear motor LXR which can be operated with COMPAX 25XXS or COMPAX 10XXSL with the S3 option and GBK18 and GBK20 cable Ask for our leaflet When operating the linear motor LXR reduced norminal and peak currents apply to COMPAX Unit Nominal Peak current Power kVA compax Current Aeff Aeff 5s with mains supply 230V AC WOXXSL 21 42 08 25XXS
167. ame mechanical design 13 MZ machine zero AUS ER Configuration Absolute value function with standard resolver 8 2 6 Absolute value function with standard resolver Activated with P206 2 Condition Maximum angle difference P161 Note Value range S12 Absolute value function without special sensor for up to 4096 rpm Parameter P206 2 is used to activate the absolute value resolver COMPAX reads the current actual position cyclically every 2ms and stores this data alternatively onto 2 memory stores Pos 2 Pos 3 protected against power failure The current imported position is shown in Status S12 After Power the last stored actual positions Pos 2 and Pos 3 are read and compared with each other and the current read resolver angle Pos 1 A3 is set when ethe last saved actual position Pos Pos 1 2 lies within a definable window P161 around Pos 1 Pos 2 and when Pos 3 Pos 2 and Pos 3 are less than P161 from one another to ensure that the drive stops when Switched off Renewed referencing find machine zero is not required 12 is copied after Power On enabling of the controller or after an error in S1 Pos 4 If the last saved actual position Pos 4 lies outside a definable window P161 then A3 is not set so a renewed referencing find machine zero is necessary in the switched off status the motor or mechanics must not
168. an be interrupted or suspended using a break or stop signal The axis is then decelerated using the preset time delay The program can then be continued from another point Once Power on is in place the data record indicator is at 1 If the program is to started at another point the data record indicator can be adjusted using the command GOTO xxx The direct command is only recognized by COMPAX if A4 Ready for start 1 Using the START command via the digital Input I5 or using the direct START command via an interface you can start the program from the selected data record number gt The data record indicator is set to 001 using Find machine zero Approach real zero This function can be set to binary inputs using parameter P211 95 Configuration Technical data Connector assignment cable Positioning and Optimization n c Accessories Parameter Error list hardware control functions functions options POSA POSR SPEED ACCEL OUTPUT Password SPEED SYNC Mark reference POSR SPEED POSR OUTPUT Cam controller WAIT GOTO GOSUB RETURN END REPEAT IF Comparison WAIT Start GOTO GOSUB EXT IF Error Stop Arithmetic Position monitoring Idle display Speed monitoring Engage disengage brake final stage Variable voltage Operating Instructions COMPAX M S Absolute positioning POSA 8 4 1
169. and To include the actual position in a calculation for example you may assign as assign variables follows N100 VO30 S1 or N100 V030 S1 10 POSR The variable V030 derived in this way can be used later for example in a SPEED positioning instruction as a preset target QE Initializing After Power On the variables retain the old value as before Power Off as they are OUTPUT variables stored the ZPRAM With the special instruction V000 x all variables on the cam controller settings are set to the value x Password SPEED SYNC Writing convention of variables V0 V39 and control parameters P40 P49 Mark For reasons of compatibility a preceding point full stop is expected in the syntax for motion commands reference e g POSA P40 ACCEL V10 BOSR The new comparison and arithmetic commands will operate without a preceding point full stop e g SPEED P41 V10 S1 IF V20 gt S2 GOTO 10 POSR OUTPUT Cam controller WAIT GOTO GOSUB RETURN END REPEAT IF Comparison WAIT Start GOTO GOSUB EXT IF Error Stop Arithmetic Position monitoring Idle display Speed monitoring Engage disengage brake final stage Variable voltage 116 AUS EE Positioning and control functions 8 4 31 Position monitoring P93 1 2 3 OM1 O5 toggles when the position is reached Example PLC sequential step tracking Position monitori
170. ants 109 Comparative operations 109 comparator switch points 101 COMPAX 9 COMPAX components 206 COMPAX 10008L 40 COMPAX 25XXS converting the front plates een 33 COMPAX 25XXS specific technical data 32 COMPAX 25XXS delivery status 33 COMPAX 25XXS design in 33 25XXS flat design zeli 33 COMPAX 25XXS unit features 30 COMPAX 35XXS unit features 26 COMPAX 45XXS 85XXS connector assignment 39 COMPAX 45XXS 85XXS unit characteristics 35 XX30 147 XX50 147 COMPAX XX60 147 XXTO 147 COMPAX 25XXS plan view 30 COMPAX M NMD direct wall installation 20 COMPAX M NMD indirect wall installation 20 COMPAX M system network mains module 18 COMPAX M unit features 17 Compensation of Switching delays 104 Components required 14 Conditions for usage 13 Conditions of warranty 9 Configuration 72 Configuration data 74 Configuration process 72 AUSEE Configuration via PC 91 Configuration when s
171. ated form for command entry most instructions two letters Commands Refer to table on Page 165 permitted for the gt When using Direct command entry write an END instruction in data various modes of memory No 1 because the start command refers to the program memory if operation the unit contains no direct commands Preparatory positioning commands 3 These commands can be transmitted to COMPAX when idle and during a positioning process 4 The commands are accepted with the next positioning command Abbreviated form ACCEL ACCEL Accelerating and braking time in ms ACCEL Separate specification of braking time SPEED Velocity in 55 ____ POSR 1 Preparation for speed step profiling SPEED value2 POSR value1 PR OT Sets comparator function OUTPUT Oxx y The comparators are also indicated using CrLr gt comparator No via RS232 see example 2 Example 1 POSR 100 SPEED 50 Cn Lr or PR 100 SD 50 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 e2CnLr after 100 units 1 gt after 200 units e gt after 1000 units Positioning Positioning commands can be transmitted to COMPAX when idle and during a commands positioning process e If the axis is moving the command is acknowledged negatively The current settings ACCEL SPEED apply to the positioning comman
172. ation 78 DIVISIO iai iioii 114 Division remainder 114 Drive status 208 Drive type 76 E10 iiem 225 ETO 225 E49 tiec 237 Es 225 171 2 171 171 EAM be 188 01 180 13 Echt 160 Effective motor load 135 211 Effective unit load 135 211 Electronic transmission 147 measures 191 Emergency stop 44 Emergency stop characteristics 44 Emergency stop input on 45 ue rcs 179 Encoder bus 182 Encoder cable 180 Encoder distributor 180 Encoder input module 180 Encoder interface 179 Encoder interfaces for COMPAX 10008L 61 Encoder module 180 Encoder position 208 END 107 End 160 Entry 160 Equipment replacement 12 Error diagnosis in the mains module 25 Error handling 110 Error history 209 Error program 110 Error transmission 161 EU guidelines
173. ation Os ee Sp otc a8 Optimization Interfaces Accessories Parameter Error list hardware functions Accessories and options COMPAX M 5 External ballast resistors Dimension diagram BRM8 01 Danger A Example 1 Example 2 ccm qr 8 01 is fitted with a 0 25m connecting cable The maximum permitted length is 2m an 225 7 5 240 N o Housing temperature may reach 200 C Dangerous voltage The device may only be used if completely fitted The external ballast resistances should be fitted so that contact protection is provided The housing temperature of the ballast resistance may rise to 200 C depending on the application Fit the connection lines underneath Observe the information on the resistances warning signs Diagrams Brake pulse power cooling period Authorised braking impulse power with NMD20 10000 RENE F Factor Cooling downtime F 50 braking time F 20 F 10 F 5 1000 709W F 2 gt o 2 a 1 F 0 5 100 0 0 0 2 0 4 0 6 0 8 1 0 1 2 1 4 1 6 1 8 2 0 2 2 2 4 2 6 2 8 3 0 Braking time s For a braking time of 0 8s a braking power of 700W is r
174. ation module IPM for PCs and industrial PCs Communication occurs via the HEDA interface a rapid synchronous serial interface Functional scope of the IPM and COMPAX network e contours can be stored for up to 9 axes with up to 100000 points 16 zero related digital outputs Exchange of data between 9 axes within 1ms setpoint values auxiliary functions position lag error speed torque Freely programmable inputs and outputs Once enabled via P221 P222 and P225 and allocation of outputs to HEDA via P245 and P245 see 139 internal data record memory can still be used to its full extent can be independently operated as a single axis positioning system Physical transfers RS485 level counter cycle driver DC decoupled using an optical coupler Cycle frequency 5 Mbit s C Working with the HEDA interface is described from Page Leg where used with the interpolation module IPM a special manual is available The D A monitor offers you the option of outputting COMPAX internal measurement and intermediate parameters in the form of analogue voltage in the range of 10V For description see Page Positioning and Configuration Technical data Connector assignment cable control functions Optimization n o c Accessories Parameter Error list hardware functions options Accessories and options COMPAX M S 9 6 7 Analogue speed specification E7 option not a
175. ative positioning by 100 25 C The positioning commands POSR and POSA can be controlled using binary input 115 Fast start This function is switched on using P18 COMPAX then waits until 115 1 before it executes POSR POSA see Page 151 96 Positioning and control functions Process velocity SPEED 8 4 3 Process velocity SPEED Process velocity as of nominal velocity Nominal velocity nominal speed travel per motor rotation valid until a new value is programmed When in speed control mode direction of rotation is specified by the prefix Syntax SPEED value Value 0 0000001 100 5 control parameter P40 P49 a variable V1 V39 e g SPEED P40 Smallest steps 0 002384min Example 005 SPEED 70 sets velocity to 70 of nominal speed gt The set velocity can be reduced using the analogue overrride input X11 6 see start up manual 8 4 4 Acceleration and braking time ACCEL ACCEL Specification for acceleration and braking time ACCEL e without prefix time specification for acceleration and decceleration process i e negative prefix separate time specification for decceleration process e valid until a new value is programmed Acceleration process can be specified using parameter P94 see Page 5 Note If a travel command is interrupted by STOP or BREAK the STOP BREAK ramp is not executed by ACCEL but by the value de
176. ator switching points ennt tnnt 231 Application A bore spindle should be guided to the surface of the workpiece using a rapid feed movement The bore is then bored to a defined depth using a considerably longer feed When reversing the bore spindle the unit should travel at a slow velocity while the drill is still in the bore The remaining travel to the idle position is performed at a rapid speed The bore spindle should be switched on just before the boring process commences and should be switched off immediately after it has been removed from the bore Movement of the conveyor belt should be blocked for as long as there is a risk of collision between the workpiece and drill SPEED SYNC oerna 233 Application Cartons should be transferred from one conveyor belt conveyor belt A a belt operating at a very variable belt speed to another conveyor belt conveyor belt C a belt which has a constant belt speed This task should be performed using a transfer belt conveyor belt B installed between the two other belts This belt receives cartons from conveyor belt A and when triggered by a pulse passes them on to conveyor belt B In addition to this when conveyor belt B is assigned conveyor belt A should be blocked Conveyor belt B is controlled by COMPAX Speed control Mod a keka TER S Application A centrifuge for manual operation should be operated by an operating mode switch The
177. ault setting Speed Programmed 44 demanded speed Actual value 9 Bit counting begins with O 121 Configuration Technical data Connector assignment cable Positioning and Optimization n c Accessories Parameter Error list hardware control functions functions options Operating Instructions COMPAX M S PLC sequential step tracking 8 4 34 PLC sequential step tracking POSA POSR SPEED ACCEL OUTPUT Password SPEED SYNC Mark reference POSR SPEED POSR OUTPUT Cam controller WAIT GOTO GOSUB RETURN END REPEAT IF Comparison WAIT Start GOTO GOSUB EXT IF Error Stop Arithmetic Position monitoring Idle display Speed monitoring Engage disengage brake final stage Variable voltage 122 Implementation Use the function O5 toggles when position speed reached and a marker in the PLC to implement precise tracking of the COMPAX This also recognizes positioning processes which are completed again during the next PS cycle VA P229 O5 Flag PLC Flag PLC internal d position reached The PLC marker is toggled when a positioning command is transmitted The EXCLUSIVE OR operation of the PLC marker and output O5 can be processed as a PLC internal Position reached message AUSER 8 4 35 Engaging and disengagi
178. be moved Ensure this by using e g a motor brake or self braking gearbox P161 gives the maximum permissible angle difference between the saved and the current actual position when switching on Range 1 2047 default value 100 where 4096 1 motor revolution If P161 is exceeded then a new reference is necessary find machine zero After error E42 resolver sensor error referencing must always be implemented The absolute value sensor function described above only functions with resolvers e The absolute value function with resolvers is not supported by COMPAX XX30 The value range of the absolute value S12 lies between 2048 and 2047 9999 0 corresponds to the machine zero when P120 In addition a value sign conversion occurs value jumps from the positive maximum value to the negative maximum value or vice versa whereby at the next comparison 512 51 an error of precisely 4096 occurs Use a real zero P1 to shift the value range around P1 Ex 1 P1 2000 value range 12 48 4047 rpm With knowledge of this relationship it is possible to create a positive travel area of maximum 0 4096 by the following actions Travel to center of total travel area PH with P1 2048 and P212 10 S1 512 2048 at this point gt Travel from POSA 0 4095 9999 possible without value sign conversion Configuration Technical data Connector assignment cable Positioning and Optimization
179. cess e The Fast start function is switched on using P18 2 or 3 when using P18 3 the PLC data interface is also switched on When 115 0 all positioning processes POSR are blocked e When 115 1 positioning processes are started 115 has no influence during a positioning process positioning process interrupted with STOP is continued using START 15 1 and Fast START 115 1 e 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 I5 is not replaced by 115 after STOP a START signal I5 is required to start the program and for WAIT START 8 6 1 6 Synchronous STOP using 13 113 in the standard model COMPAX XX00 provides a STOP function with which you can stop and idle multiple COMPAX units simultaneously regardless of the current speed P219 128 or 135 enables the synchronous stop via 113 P219 bit 75634 113 1 Normal mode 113 0 Synchronous STOP is activated After 113 0 ethe drive is stopped using P10 as the absolute ramp time and ethe ramp type selected via P9487 Error message E08 is output O1 is set to 0 and ethe ready contact is opened While 11320 any further positioning attempts are negatively acknowledged with E08 No negative acknowledgment comes from HEDA gt Synchronous STOP function using 113 is only available on the standard unit COMPAX XX00 Stop using
180. ched error E15 is generated and the drive is switched off Control position adjustment via digital input 111 If the external position measurement and position adjustment P75 gt 0 is switched off position adjustment operation can be switched on and off using input 111 For this assign 111 with this function via P232 4 111 0 External position adjustment switched off reaction time approx 5 ms 111 1 External position adjustment switched on P232 becomes effective immediately and has a default value of 0 If P232 0 111 will not have an effect on the position adjustment this is then switched on and off using P75 Note If P232 4 activated 111 111 can no longer be used for GOTO GOSUB EXT Limitation of speed correction value for external position VP adjustment only available in COMPAX XX00 and COMPAX XX30 0 switched off default value When P3670 the speed correction value is not limited P36 is specified in of the nominal speed P104 Note When position localization is switched off P36 must 0 Sets encoder channel 1 VC 4 without external position localization 6 external position localization switched on via channel 1 Number of encoder pulses per encoder rotation from channel 1 VC range 120 2 000 000 98 Travel of load per encoder rotation units corresp to P90 136 HAWS E S Optimization functions External position localization with position adjustment hardware Encoder directi
181. cified as a relative dimension It is referenced to the positioning start point Syntax POSR value OUTPUT output 1 0 Value only positives value are permitted unit corresponds to P90 two digits after the decimal points three for inches a control parameter P40 P49 or a variable V1 V39 e g POSR P40 OUTPUT A7 1 Technical data Examples N001 ACCEL 250 Acceleration and braking time 250 ms N002 SPEED 50 Starting velocity 50 N003 POSR 150 OUTPUT A8 1 1st comparator at start position 150 sets output O8 to 1 N004 POSR 300 OUTPUT A771 2nd comparator at start position 300 sets output O7 to 1 Configuration N005 POSR 500 OUTPUT O7 0 3rd comparator at start position 500 sets output O7 to 0 D O N006 POSR 900 OUTPUT O8 0 4th comparator at start position 900 sets output O8 to a o So N007 POSA 1000 Positioning command to 1000 Position 1000 is E 5 5 approached the travel dependent comparators are set once the relative positions have been reached N008 POSR 200 OUTPUT O7 1 Prepares new comparators 5o Outputs 1 to O6 also be used as comparators once enabled via 225 NS o see 139 Ee see Pag E Diagram of specified example for POSR OUTPUT starting position POSA 1000 900 500 300 150 150 300 500 900 4 p o iti lative to starti iti position relative to starting posi
182. ckwise rotating motor signal MZ ini ea encoder zero pulse position of the actual MZ ___ P29 0 360 Configuration Machine zero mode P212 4 only permitted for COMPAX XX00 and COMPAX XX30 Find machine zero Application Linear and rotatory movements If you have an encoder on the load with this setting you obtain a reproducible machine zero response to any transmission factor which does not round to whole digits i e not precisely displayable Example of an transmission factor that cannot be displayed exactly 17 teeth 11 teeth Note If P7520 for this setting external position localization is switched on Conditions for External encoder read via an encoder input module E2 E4 this operating Encoder input parametrized by P144 6 mode Specify P98 travel per encoder revolution P214 encoder direction and P143 encoder pulse number 85 Positioning and Configuration Technical data Connector assignment cable control functions Optimization n c Accessories Parameter Error list hardware functions options Operating Instructions COMPAX M S Machine zero mode P212 5 Machine zero equals resolver P213 0 P29 0 resolver zero pulse command search MZ zero 4 resolver command zero pulse search MZ N M P213 1 Machine zero P212 7 equals external
183. coder input P184 40 encoder position duration period P188 40 COMPAX XX60 COMPAX XX70 P31 9 P188 40 encoder input duration period available Coupling of several axes to one encoder HEDA distributes the signals Slave 1 Slave 2 01 03 01 03 SSK15 SSK14 BUS2 01 Master P98 and P143 must have the same values for master and slave COMPAX XX00 COMPAX XX60 COMPAX XX70 Replacing the encoder emulation using HEDA bus Master Slave 1 P184 44 nominal position value or P184 45 actual position value P188 0 BUS2 01 SSK15 Note There is a time misalignment between master and slave of 2ms Remedy activate identical program sets together using Fast start SSK14 40 P143 parameter P143 of the slave P143y parameter P143 of the master 170 COMPAX XX60 COMPAX XX70 P188 140 Setting P143 16384 4 of the increments are always in P143 as quadrupling occurs during encoder inputs Interfaces Error handling Error messages E76 E77 E78 N Note Transmission error procedure Synchronizing process values Note Note Process coupling using HEDA Option A1 A4 Coupling of several cams with the COMPAX XX70 COMPAX XX70 same time base and separate master P184 42 time base 188 42 or slave oriented label synchronization P188 42 P143 P143y Linking of several cams with the same COMPAX X
184. ctions Optimization functions 9 1 System concept The COMPAX system concept is based on a basic unit which contains the function important components and additional system components These can be used to extend a system for your specific requirements The system consists of the following components COMPAX This contains digital inputs and outputs PLC interface serial interface RS232 e front plate with status and error display e data record memory integrated IGBT final stage mains module to produce power voltage without transformer with emergency stop function drive unit motor transmission and cable aids for controlling COMPAX using the digital inputs and outputs interface cable for operating COMPAX via the serial interface RS232 options which support other application areas hand held terminal for menu guided configuration and programming of COMPAX PC software for supported parameter specification and for creating programs n T c Accessories options Parameter Error list Please note the operating instructions pages 67 171 as well as the application examples pages 225 237 can be found in the complete product manual which is available as PDF file on CD Accessories and options COMPAX M S The following table shows the COMPAX system components and the relevant associated cables
185. d i e these settings can still be modified before the positioning command is transmitted A positioning command specified by the interfaces is interrupted by a reference journey prompted by the digital inputs POSA POSR LOOP Abbr form Meaning PA X jAbsolute position POSA POSA HOME ______ machine zero _ PR jRelative position OUTPUT 00 OT O0 Switch off drive Example 1 POSA2500CpLe PA2500CgLp Proceed to position 2500 Influencing the gt This command is only permitted if COMPAX has not received any more active positioning commands since the positioning command currently being processed process excluding commands which are not position dependent such as OUTPUT GOTO and ACCEL ACCEL 162 J AJ Interfaces Commands which are not position dependent Commands which are only permitted when drive is idle Read the status values Download writing the sets and parameters Example Upload read the sets and parameter RS232 interface Direct modification of velocity of an active positioning process The type of speed transfer and the ensuing braking ramp can be influenced by previously modified acceleration times ACCEL ACCEL Abbreviated form POSR 0 SPEED PROSD Direct speed modification value e These commands are processed regardless of a positioning process specified by the int
186. d using P18 116 X10 8 X19 x Is assigned if mark reference is activated P35 1 mark input otherwise free gt The assignment of inputs on X19 applies only to COMPAX 100051 138 5 h 2 d A Interfaces Digital inputs and outputs O1 X8 9 X19 x 1 No fault 0 E1 E58 the drive does not accept any positioning commands After Power on O1 remains at 0 until after the self test O2 X8 10 X19 x z 1 No warning prs 0 error gt E58 O11 10 11 XI O12 X10 12 X19 x O13 X10 13 X19 O14 X10 14 X19 x O15 X10 15 X19 x O16 X10 16 X19 x For 0 mark disappears after max feed length The assignment of outputs on X19 applies only to 100051 32 Only assigned if the mark reference is activated P35 1 139 Positioning and Configuration Technical data Connector assignment cable control functions Optimization o o o o o Parameter Error list hardware functions o c Operating Instructions COMPAX M S Digital inputs and outputs 8 6 1 1 Digital inputs and outputs for COMPAX 1000SL Allocation of logic inputs for input pins of X19 The source input pin on X19 from which the respective logic input is to be read is specified via parameters P156 P157 and P158 Inputs which are not read by an input pin on X19 can be allocated a fixed 0 or 1 this is not
187. data If you encounter problems of this kind contact HAUSER SinCos is a registered trademark of Firma Stegmann AUS gt General dangers 2 Unit assignment Key to unit designation HAUSER type plate Notes for repeat customers regarding modified software versions This documentation applies to the following units COMPAX 10XXSL COMPAX 25XXS COMPAX 45XXS COMPAX 85XXS COMPAX P1XXM COMPAX 02XXM COMPAX 05XXM COMPAX 15XXM COMPAX 35XXM XX Unit variants e g COMPAX 0260M COMPAX name 02 performance class 60 Variant e g 00 Standard model 60 electronic transmission M unit type M multi axis model S single axis unit The type plate is located on the upper side of the unit and contains the following CULA A UE E MI ELTI 038106 0001 951 160101 Compax 0260M E2 5 equipment option name Kame serial number part number Please check the software version of your unit Despite all efforts on our part software modifications may change procedures as well as cause functional changes Please notify us immediately if you detect unexplainable problems when using a new software version Safety instructions COMPAX M 5 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 hazard
188. e control functions Optimization n c Accessories Parameter Error list hardware functions options POSA POSR SPEED ACCEL OUTPUT Password SPEED SYNC Mark reference POSR SPEED POSR OUTPUT Cam controller WAIT GOTO GOSUB RETURN END REPEAT IF Comparison WAIT Start GOTO GOSUB EXT IF Error Stop Arithmetic Position monitoring Idle display Speed monitoring Engage disengage brake final stage Variable voltage Operating Instructions COMPAX M 5 Position monitoring P93 1 2 3 TET 05 1 nominal value on nominal value sensor reached and lag error lt P14 OM2 O5 1 If the lag error is again gt P14 then O5 0 is set nominal value Can be adjusted using P227 bit 4 0 default setting reached and lag error lt P14 Example Position P14 PS 2 18081 positions Position 1 Position 2 Actual value of position Position 0 For purposes of clarity a poor loop setting is shown here OMS O5 1 05 1 nominal value on nominal value generator reached independent of P14 nominal value since P14 is set as very large value reached Can be adjusted using P227 bit filo default setting independent of P14 Example Position a Target positions Position 1 5 pepe Position 2 Actual value of position
189. e 88 41 Xx XX XX XX XX codes SB POSR value 88 52 XX XX XX XX XX XX LSB MSB SPEED value 88 53 XX XX XX XX XX XX LSB MSB acceL Value 84 4C yy yy MSB LSB ACCEL value 84 44 yy yy MSB LSB OUTPUT Oyy 0 85 4F yy yy 30 MSB LSB OUTPUT Oyy 1 85 4F yy yy 31 MSB LSB POSR value OUTPUT Oyy 0 8C 52 xx xx xx xx XX xx 4F yy yy 30 LSB MSB MSBLSB POSR value OUTPUT Oyy 1 8C 52 xx xx xx XX xx AF yy yy 31 LSB MSB MSB LSB POSR value1 SPEED value2 8F 52 xx XX XX XX XX XX 53 XX XX XX XX XX XX LSB MSB LSB MSB Numerical formats Numerical formats of xx xx xx xx xx xx 3 bytes after the decimal point 3 bytes before the decimal point Valency 2742 23 22231 20 21 22 222 223 Transmission sequence e g 88 41 LSB MSB Numerical formats 2 bytes before the decimal point of yy yy digits after the decimal point 166 HAVYSESR Interfaces Negative numbers 2 Format conversion Example Start up during binary transfer RS232 interface Valency 215214 222120 Transmission sequence e g 84 4C MSB LSB Negative numbers are represented in complement to two format Creating the complement to two Determine bit combination of the positive numerical value Negate the binary value e 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 2 7 558 135 808
190. e below Operation with absolute value sensors is not permitted when working in continuous mode P93 4 In this operating mode the drive controller operates as a speed controller the position controller is switched off The following applies Commands not permitted POSR POSR SPEED POSR OUTPUT 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 see Page 120 e The data record indicator is set to NO01 using Approach real zero e The Find machine zero function 11812 is not assigned Parameter P90 P90 z 1 T P90 2 P90 0 Accurate increment operation without conversion inaccuracies This measuring unit is only useful when using the General drive drive type and especially in continuous mode The levels of accuracy are not increased when working with other drive types The Travel per motor revolution P83 is specified in increments Meaning P83 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 74 AUS m Configuration H Motor type Basic conditions for external motors linear Configuration parameters the max travel distance is limited to 4 million units This correspond
191. e mark window 680 mm Names of inputs and outputs 17 shears 0 gt closed 1 gt open 115 mark 0 gt missing 1 gt found O7 shears 0 gt block 1 gt activate O14 mark reference 0 gt block 1 gt activate O15 message 0 gt mark found 1 gt mark missing List of programs NOOT SPEED 50 teet tao naa eoa den sets the speed N002 ACCEL 250 eene sets the acceleration and braking ramp N003 OUTPUT 7 0 block N004 OUTPUT 014 0 mark reference block N005 OUTPUT 015 0 message mark found Wait for mark N006 IF 1720 GOTO 6 waits until shears are open N007 WAIT waits for start pulse N008 OUTPUT 014 1 activates mark reference N009 WAIT 10 waits until mark reference is activated N010 50 mark referenced positioning N011 WAIT 10 5 until mark is missing or set 012 IF 11520 GOTO reverses 18 if mark is missing reverses plate N013 OUTPUT 015 0 sets Mark found message N014 OUTPUT 7 1
192. e 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 E POSR POSR 50mm 50mm BERRY ERES FRETI ri al 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 shears 1 activate 0 block shears shears 1 open 0 label detected 0 label massage 1 label missing label input 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 COMPAX is ready for the initial cutting to length The cutting to length process is triggered by a start pulse COMPAX firstly activates the mark reference 11
193. e type Parameters P81 P92 Optimization process Motor with Motor with resolver SinCos Select structure parameter Select structure parameter variant 1 variant 2 P59 4 Optimise P24 if necessary P59 3 Optimise P24 if necessary Increase control dynamic Increase P23 Travel slowly over the positioning range gt stable quiet travelling gt unstable unquiet travelling no longer corresponds to to the requirements User defined settings Reset Res lowe ibe seting Modify P56 LT D section rpm controller Increase P23 Travel slowly over the positioning range gt stable quiet travelling Further unstable unquiet travelling optimization no longer corresponds to to the requirements Reset P23 amp P56 to the last setting Implement the same process for P57 J lag D sectionl P58 J lag rpm filter and P151 JT monitor speed Further User defined settings with variant 3 optimization P59 8 Modify P56 LT D section rpm controller Increase P23 Travel slowly over the positioning range stable quiet travelling gt unstable unquiet travelling no longer corresponds to to the requirements Evaluate results Reset P23 amp P56 to the last setting Set best result Implement the same process for P57 J lag D section P58 and lag rpm filter Optimizing the movement cycle Optimise pre control parameters P25 LT rpm pre control P26 4 acceleration pre control P69
194. ections and faults A special error code can be found in channel 67 of the optimization display This means Error No 1 30 Sensor indicates error Error No gt 30 COMPAX indicates error Error No 160 Sensor level too high Error No 161 Sensor level too low implement level adaptation using parameter P131 Note load limits refer to start up manual tolerances tolerances is too hi E46 Supply voltage 24V is too high Check 24V DC power unit E47 Supply voltage 24V is too low Check 24V DC power unit 224 Please note the operating instructions pages 67 171 as well as the application examples pages 225 237 can be found in the complete product manual which is available as PDF file on CD Cause Acknow Drive ledge with volt free E48 Motor thermostatic switch reports Check resolver cable motor type and motor remove Power on yes error external sources of heat E49 Motor or drive reports blockage Free mechanics This error message can be Quit yes Drive remains in the current limit switched off by setting P13 0 P16 for longer than P108 Check motor cable oscillating E50 Move by hand or from limit switch see 51 Move by hand from limit switch P217 E52 Check emergency stop switch contacts 53 Check dimensions yes E54 Speed higher than the maximum Reduce nominal speed or if speed is too high due to yes BRE motor speed
195. ectronical curve control variants you can use option 17 via channel 1 to implement an analogue speed specification see 186 gt on B2 N1 B1 5V A 2 2 2 2 l 2 5 ln 7 9 10 2 Area of application of process interfaces Unit variants COMPAX XX00 COMPAX XX30 COMPAX XX60 COMPAX XX70 Encoder emulation Y Y Y Encoder input Analogue input Cycle direction input External pos localization SPEED SYNC SPEED SYNC SPEED SYNC External position localization actual value Master position set value Master speed Master position set value Master position set value Master speed Master position 60 HAUSER Interfaces Encoder interface Step direction input for COMPAX 1000SL Connector assignment X13 for COMPAX 1000SL Process interfaces Configuration options 7 9 10 3 Encoder interfaces Analogue rpm specification Step direction input for COMPAX 1000SL COMPAX 100051 has an interface which can be configured either as encoder input encoder simulation analogue input or step direction input Encoder simulation and analogue input can be used simultaneously This interface is a fixed part of COMPAX 1000SL No other encoder interfaces are possible The connections are on connector X13 Connector X13Pin Designation X13 15 pin Housing _____ Screentermin
196. eed control mode Configuration Technical data Connector assignment cable Positioning and Optimization o o o o o Parameter Error list hardware control functions functions o c o Operating Instructions COMPAX M 5 RS232 interface 8 6 3 4 Binary data transfer using RS232 A series of commands can be transferred in the COMPAX internal binary format for time critical applications This saves times as ASCII into COMPAX internal binary format conversion is not required You can still transfer data in the normal ASCII format mixed mode P20 switching on P20 P20 16 binary data Adds 16 to the required P20 setting see interface parameters section in the User transfer Guide This ensures that binary data transfer is available in addition to normal transfer ASCII Example P20 3 with XON XOFF no error response message no binary data transfer P20 19 with XON XOFF no error response message binary data transfer entire length of the binary format must always be transferred i The end sign must not be transmitted Function signs 2 I are not available when using binary transfer response as ASCII transfer e without error using CR LF gt e with error depending on the value of P20 refer to Error transmission in the User Guide Meanings of the Binary format hexadecimal binary command POSA valu
197. ent code A 1010 0 0000 positive D 1101 negative Numerical value 106 Numerical value 10 Numerical value 104 Numerical value 10 Numerical value 102 Numerical value 101 Numerical value 109 Decimal point 1100 Numerical value 1071 Numerical value 10 2 1111 Start sign E 1110 1 0001 4 0100 1111 Start sign Function code 1 Function code 2 E 1110 Function code 1 1 0001 Function code 2 6 0110 Numerical value 101 Numerical value 10 1111 Start sign 1110 0 0000 positive 0 1101 negative Numerical value 106 Numerical value 109 Numerical value 10 Numerical value 10 Numerical value 102 Numerical value 10 Numerical value 109 Decimal point Numerical value 10 1 Numerical value 10 2 Numerical value 10 3 End sign 1111 The following signs not necessary when transferring Positive prefixes and initial zeros For whole number values the decimal point and the figures after the decimal point Start sign 4 100 40 1 7 Interfaces Function codes of commands Procedure for transmitting a sign Exception Process for receiving a sign Exception PLC data interface function not available with COMPAX 1000SL BCD coded Fe Po 1 2 fok 4 SPEED y O s faces 0 6 1 e
198. equire the following components for a COMPAX application a motor with or without a transmission e mains supply emergency stop circuit e various cables for connecting components e motor cable and resolver cable supply line for voltage supply supply line for 24V DC control voltage hand held terminal or PC with RS232 cable containing the ServoManager program for configuring COMPAX EXE Common function characteristics COMPAX P1XXM COMPAX 02XXM COMPAX 05XXM COMPAX 15XXM COMPAX 35XXM Overview Overview of unit technology 7 1 2 Overview of unit technology COMPAX M and COMPAX S work with the same firmware yet have differences with regard to housing and assembly technology and power areas The following table shows the main features of the range of available units Interfaces 16 8 with COMPAX 1000SL digital inputs outputs RS232 machine zero limit switch override input Fieldbus options RS485 Interbus S Profibus CS31 CAN Bus CANopen HEDA synchronous serial realtime interfaces Other options excluding COMPAX 1000SL absolute encoder sensor encoder input encoder simulation D A monitor Supply via central mains module NMD10 NMD20 Up to max 3 500V AC Dimensions DxHxW COMPAX P1XXM 340 400 60 mm Design IHE SE COMPAX M with NMD 2 mains module prse eal Insta
199. equired The following can be determined from the diagram At the required magnitudes this is between factor F 2 and factor F 5 To maintain operating safety select factor F 5 therefore the required cooling down time equals Cooling down time F braking time 5 0 8s 4s For a braking time of 0 3s a braking power of 1000W is required The following can be determined from the diagram At the required magnitudes this is between factor F 2 and factor F 5 To maintain operating safety select factor F 5 therefore the required cooling down time equals Cooling down time F braking time 5 0 3s 1 5s 194 hardware External ballast resistors Authorised braking impulse power for NMD20 with BRM4 03 100000 SSD ee cen e m e S F Factor Cooling down time F S F 50 braking time 20 S g F 10 B a c 10000 5 5 He F 2 F 1 S 2 2 c F 0 5 o 1000 5 00 02 04 06 08 10 12 14 16 18 20 22 24 26 28 30 9 Braking time s c 5 Authorised braking
200. ered with Cg Lp gt COMPAX if the syntax is error free with Lp gt or the required response and Cg Le gt responds eif there are errors depending on the contents of P20 Meaning of Automatic Position reached message function signs 1 only applies to POSA and POSR 160 2 transmits C L gt when the position is reached Interpreting and storing commands COMPAX stores the instruction in the intermediate memory capacity one instruction without executing it Echo COMPAX sends the data received with CaL gt Executing commands Whenever a occurs the instruction is executed from the intermediate memory These function signs can be attached to any instruction Example POSA 100 Cp Le COMPAX moves and responds once position 100 is reached with Cp Le gt Interfaces RS232 interface hardware P20 Software and if the transmitted command triggers an error diately No negative command acknowledgement E90 E94 No transmission of error or negative command acknowledgments E90 E94 Messages are indicated for all errors and negative command acknowledgments E90 E94 when they occur using Exx Cp Lg gt Error and negative command acknowledgement E90 E94 only when there is activity at the interface End sign selection Cg LE 8 Binary transfer without 16 with imme diatel BCC Block check without 12
201. erface not during an internal data record procedure Abbreviated form OUTPUT OT Set output GOTO Adjusts data record indicator and enables blocks password e The axis must be at a standstill if modified VP parameters are to be transferred e The axis must be switched off if modified VC parameters are to be transferred e g via OUTPUT 00 1 Abbreviated form VALID VP Modified parameter accepted not PARAMETER configuration parameters VALID V All parameters are accepted with VC CONFIGURATION Use the serial interface to query all status values even during a positioning process e Sxx transmitted xx number of the status value COMPAX returns the current value Example 51 Cp Lf Response 5001 Lp gt gt The decimal point for 51 S12 is always the ninth digit after the 8 6 3 3 Read and write program sets and parameters C Also possible during a positioning process instruction Meaning INxxx Instruction Write set xxx with instruction Pxxx value Write parameter xxx with value Pxxx name Assigns parameter xxx with name Only for P40 P49 N005 100 Cg Le N005 PA 100 L The POSA 100 instruction is written in data record 5 INxxx Read data record xxx ______ Read parameter xxx 163 Configuration Technical data Connector assignment cable Positioning and Optimization lan o
202. ergency stop input on COMPAX M XX00 2135 synchronous STOP on COMPAX with evaluation of emergency stop input on COMPAX M Freely assign Input valency Bit No 1 1 1 2 2 2 4 3 E4 8 4 standard inputs 11 E5 16 5 E6 32 6 E6 64 7 E6 128 8 with 1 P221 sum of valencies of all required free inputs The control functions are assigned to the fieldbus with the bit set 117 124 P222 Freely assign Input valency Bit No 19 1 1 110 2 2 111 4 3 112 8 4 immedia standard inputs 19 113 16 5 114 32 6 115 64 7 116 128 8 tely 16 with 1 P222 sum of valencies of all required free inputs The control functions are assigned to the fieldbus with the bit set 125 132 P223 Assign outputs O1 Output valency Bit No O1 1 1 02 2 2 4 3 O4 8 4 immedia O8 to the OUTPUT O5 16 5 O6 32 6 O7 64 7 O8 128 8 tely WORD command P223 sum of valencies of the OUTPUT WORD outputs with a 1 command with 1 P225 Freely assign Output valency Bit No 1 1 1 02 2 2 03 4 3 immedia standard outputs 04 8 4 e 5 16 5 O6 32 6 tely with 1 P225 sum of valencies of all required free outputs P227 Assign special it 1P3 0 O2 is assigned the default function no warning immedia functions to Bit 1 1 O2 is assigned
203. eriencing hardware errors e g short circuit to outputs The errors 11 157 are also reported with the binary output 1 0 the drive does not accept positioning commands and the ready contact is opened If COMPAX executes a travel motion the drive is then decelerated using the programmed ramp time for E50 E51 and E55 using ramp time P10 and if specified in the error table the unit is switched off after this time e The errors gt E58 are also indicated with the binary output O2 0 if O2 is configured in this manner see parameter P227 Connector hardware Technical data gt If the specified measures cannot rectify the problem there may be electrical defect Please send the unit and an error description to HAUSER Cause Acknow Drive ledge with volt free Interruption of a positioning command using STOP BREAK is only reported via RS232 Not configured E05 Machine zero initiator not found Check initiator Quit no Error is only generated when using reversing initiators E07 Calculation error Check programmed arithmetic Quit no more accurate cause shown in the optimizing display P233 243 39 see Page 133 Synchronous STOP present Check P219 Remove mechanical blockage tools foreign bodies Lag error too large Check mechanics for smooth operation reduce load Quit see r or feed force or increase P13 below speed difference too great message be turned off
204. eristics 7 6 1 Plug and connection assignment COMPAX 45XXS 85XXS COMPAX S X6 RS232 td X10 digital input output H X11 Control X12 resolver ATS Jen COSI ext supply X14 HEDA X15 HEDA X16 absolute 27 output motor X18 reserved E E x aa a X17 initiators X8 digital input output X9 test Plan view Ballast resistor AC supply Connection PE 10mm X7 RS485 OUT a X5 RS485 IN 35 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector options functions control functions assignment cable Parameter Error list Start up manual COMPAX M S 7 6 2 COMPAX 45XXS 85XXS installation dimensions 125 325 Ny lay i a COMPAX S mm 888 e o amp o 22 e e Y EH ____ Fastening 4 M5 hex socket head screws Installation distance 130mm device distance 5mm Meaning of the Meaning when switched on 24V DC present and initialization complete LEDs on the front plate Error red CPX error present or mains supply or control voltage absent Before wiring up always de energize the u
205. es 7 911 interface option A1 A4 Cable plan SSK14 Cable plan SSK15 Terminating connector BUS2 01 gt The HEDA interface is available for XX00 COMPAX XX60 and COMPAX XX70 HEDA option A4 for COMPAX 1000SL HEDA option A1 for all other COMPAX IPM COMPAX and COMPAX COMPAX X14 PC X15 D pin 9 way o D plug shell 9 way o 6 hee 1 6 he 1 1 9 e 5 9 RECS 5 o o NC 4 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 COMPAX master and COMPAX slave coupling Master X15 Slave X14 D pin 9 way a D plug shell 9 way o 6 o 1 6 T 1 1 OD Os 9 5 9 9 5 TxC 3 2 RxC TxC 7 6 RxC TxD 5 4 RxD TxD 9 8 RxD housing housing 2x2x0 25mnf shield The last unit on the HEDA has a terminating connector BUS2 01 X15 BUS 2 01 NC 4 RxC 2 1 RxC 6 D pin socket 9 way RxD 4 D plug shell 9 way RxD 8 3 7 5 9 1500 1500 1500 TxC TxC TxD TxD 1500 7 9 12 Bus connection Special operating instructions are available for the bus systems 63 Status Access
206. es of the inputs and outputs I7 receive carton 0 gt no 1 gt yes l8 deposit carton 0 gt no 1 yes O7 conveyor belt A 0 gt block 1 release List of programs N001 ACCEL 200 sets the acceleration and braking ramps Transfer mark N002 OUTPUT 7 1 releases conveyor belt A N003 IF 1720 GOTO waits until carton is to be received N004 SPEED sets the speed to that on conveyor belt A N005 360 transfers the carton N006 IF 1720 GOTO 8 queries whether carton is to be received N007 OUTPUT 7 0 blocks conveyor belt A N008 IF 18 0 GOTO 6 waits until carton is to be deposited N009 OUTPUT 7 0 blocks conveyor belt A N010 SPEED 85 sets the speed to that on conveyor belt C N011 350 deposits the carton N012 GOTO transfers carton 2 goes to data record N002 233 Application examples COMPAX M S Speed control mode 11 1 6 Speed control mode Applicat
207. ety component module No 1 No x Ready contact max 0 5A 60V 30W emergency stop function p Applies to potential 24V power supply shield 45 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment cable Parameter Error list control functions functions options Start up manual COMPAX M S Resolver SinCos 7 8 Connections to the motor Cable assignment in the terminal boxes brake black 5 7 8 1 Resolver SinCos Pin from X12 Standard assignment Assignment with Assignment with resolver option 8536 or option S1 s2 INC INC COS B 2 O 2 O ZF SIN SIN A 2 The S1 2 options are required for operation with the sensor system SinCos 3 The S3 option is required for operation of linear motors 46 Connecting cable to motor Motor cable 5 With connectors With terminal boxes Resolver HJ96 HJ116 HDY55 HJ155 HJ190 cable pe HDY70 HDY92 HDY115 HDY142 3106236 1 5mm 2 5mm 2 5mm 6mm 10mm 13 8 upto18 9A upto18 9A upto32 3A up to 47 3A Cable sheathed REK32 GBK16 MOK42 3 MOK21 MOK11 6 Connector set 085 301312 085 301317 085 301306 085 301306 125 5
208. f the stop program is concluded using END rather than RETURN the program indicator remains in the same position The program stops running at this point Machine zero has to approached or the program indicator must be reset explicity N240 OUTPUT O9 0 N241 WAIT START N242 OUTPUT O9 1 N243 RETURN AUS EE Positioning and control functions Arithmetic 8 4 30 Arithmetic Syntax Note Items permitted to the left of the equal sign Items permitted to the right of the equal sign An operand is Example Curve memory Example 8 4 30 1 Parameter assignments 001 P40 123 456 N002 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 variables 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 set points when using COMPAX XX70 an operand or a simple arithmetic 2 a parameter or a variable Vxxx V1 V39 a status value Sxxx or a constant with max 8 significant digits sign decimal point All parameters may be assigned The commands VP and VC with which the parameters are validated can be programmed in the program N123 P081 30 modif
209. faces PLC data interface function not available with COMPAX 1000SL hardware Syntax of individual commands Positioning Start sign E 2 1110 commands POSA Function code 1 0 0000 POSR Function code 2 1 0001 2 2 0010 0000 positive D 1101 negative Decimal point 1100 Connector assignment cable Technical data Configuration SPEED Function code 2 4 0100 0 0000 positive D 1101 negative Decimal point 1100 PE Velocity 1110 se specification Function code 1 0 0000 2 a8 Optimization functions 1 1 1 1 Acceleration time Start sign 1110 ACCEL Function code 1 0 0000 Function code 2 5 0101 0 0000 positive D 1101 negative Numerical value 103 o 2 5 Adjust data Start sign 1110 record indicator Function code 1 0 0000 enable password Function code 2 6 0110 GOTO Er 4 1 1 1 Parameter 157 Error list Operating Instructions COMPAX M 5 PLC data interface function not available with COMPAX 1000SL Modify parameters P1 P49 Acceptance of VP parameter Status query 51 512 actual values Status response 51 512 actual values 158 E 1110 Function code 1 1 0001 Function code 2 3 0011 Parameter No tens column Parameter No digits column Assignm
210. fault free operation lt o WAIT GOTO Ent GOSUB SPEED Ent When an error message is present you can modify the parameter and configuration To do this press ESC the error display goes out and the menu appears The H1 LED indicates that the error is still present Once you have modified the parameter acknowledge the error using F3 201 Configuration Technical data Connector assignment cable Positioning and Optimization n c Accessories Parameter Error list hardware control functions functions options Accessories and options COMPAX M 5 Hand held terminal Menu BDF2 01 Version Date Actual Values P Actual Position Target Position Tracking Error Speed Torque Temperature Control Voltage Power Voltage Position Cycles Operationg Hours COMPAX Typ Version P20 value Diagnosis Valu E Status Level es on I1 18 I9 116 01 08 09 016 Status Motor Status Switches Status Limits Status Output stage Current Command RS232 Data Identification E S 5 Software Version Special Status Value on Release Date 540 number S41 Commission 42 Part S43 Version 544 Language 545 Power Stage S46 Device Fami
211. figuration Technical data Positioning and control functions Optimization n c Accessories Error list hardware assignment cable functions options Operating Instructions COMPAX M S Configuration when supplied 8 2 2 Configuration when supplied When supplied COMPAX is not configured Parameter P149 is set to 0 P149 0 is not configured and switches to OFF mode when switched on 24V DC and operating voltage motor switched off In addition to this when switched on all parameters apart from bus settings P194 P195 P196 and P250 are set to their default values P149 1 COMPAX is configured and once switched on 24V DC and operating voltage tries to engage the motor C If you are configuring using ServoManager P149 is automatically set to 1 once ServoManager has executed successful configuration Controller To operate the COMPAX controller design concept you must have a basic level of technical control knowledge COMPAX calculates the internal system and controller parameters required using simple application specific values which are generally accessible A strong controller design obviates the need for tedious controller optimization This configuration provides you with a stable controller Power on with If the control process is unstable because COMPAX has been incorrectly motor switched configured you can switch on COMPAX so that the drive remai
212. fined as the acceleration time Syntax ACCEL value Value 10 65 000 ms a control parameter P40 P49 or a variable V1 V39 e g ACCEL P40 timescale 10 ms The negative prefix for the decceleration time specification must be set before the control parameters e g ACCEL P40 The time specified ms applies for nominal velocity 100 The actual time is proportional to the velocity selected Meaning ta E ACCEL 0096 Example 005 ACCEL 300 sets the acceleration and deceleration ramp to 300 ms NO06 ACCEL 200 sets the deceleration ramp to 200 2200 ms when SPEED 100 15 For asynchronous motors up to a max of 300 97 Positioning and Configuration Technical data Connector assignment cable control functions Optimization n c Accessories Parameter Error list hardware functions options Operating Instructions COMPAX M 5 Setting resetting an output OUTPUT 8 4 5 Setting resetting an output OUTPUT POSA OUTPUT POSR Syntax OUTPUT output 1 0 Output 01 6 016 SPEED ACCEL OUTPUT Example 005 OUTPUT O8 1 Sets output 8 005 OUTPUT O8 0 Resets output 8 Password SPEED sync 8 4 6 Setting multiple digital outputs OUTPUT O12 1010 Mark reference PON OUTPUT Multiple outputs can be set simultaneously 012 1010 POSR OUTPUT Syntax OUTPUT 012 1010 OUTPUT 010 01 011 is not modified 010 0 011
213. g lag errors or resolver errors which occur during the switched off status e g by separating the resolver line are ignored Only errors still present after Power On are displayed 8 4 9 Password GOTO GOTO Syntax Example 8 4 10 External velocity specification SPEED SYNC SPEED SYNC Technical data GOTO number Number 302 Deactivates password protection 270 Activates password protection Note You can also use this command in the data record memory GOTO 302 Enables programming levels and parameters Entry at BDF2 SPEED Ent COMPAX synchronizes itself to an external velocity specification Note function only applies to COMPAX XX00 with options E2 E4 or E7 SPEED SYNC cannot be used at the same as the external position adjustment switched on via P75 z 0 Instead of specifying velocity using the SPEED command the process command velocity is read externally from the encoder interface when you use SPEED SYNC Setting condition P144 4 and P188 0 Setting aid the speed of the motor and sensor is the same when using P98 P83 and the correctly set parameter P143 pulse speed sensor No travel synchronization use our Electronic transmission or Electronical curve control unit variant for this purpose External speed set via option E7 Meaning 10V 100 of Nyomina P104 P93 1 or 2 P80 16 general drive P83 distance per motor revolution um P90 1 mm P144 7 analogue rpm specificat
214. gear Minimal load Changes values and Maximal load 9 continue with 9 or z Inertia gear Inertia gear Minimal load Minimal load Travel path per motor revolution Maximal load Maximal load continue with 9 or ex continue with es or continue with 9 or Changes values and Changes values and Changes values and Ent YES Ent All correct enter motor parameter from P100 HDX Individual Switch on motor Switch off motor motor YES enable drive by power off on or by command output 00 0 iN 205 Technical data Connector Configuration c c o Optimization Interfaces Accessories Parameter Error list control functions functions Accessories and options COMPAX M S Hand held terminal Mains module for COMPAX M excluding COMPAX 35XXM 9 8 Appendix COMPAX components NMD10 Up to 3 x 500 V AC mains supply connection direct mains supply operation 10 kW cont output INMD20 As NMD10 but with 20 kW continuous output external ballast resistances available in 3 sizes HDY and HJ motors You will find information about our range of motors in the motor documentation Motor and resolver cable for HDY and HJ motors You will find motor and resolver cables on Page he HAUSER linear unit and initiator equipment 80mm 100mm 150mm edge length ask for informa
215. gue input 10V Rpm specification as with option I7 Input on A2 and A2 however without direction of rotation Resolution 20mV input The 17 function direction of rotation can be implemented in COMPAX 1000SL by exchanging the differential inputs or by changing the rotation direction with parameter P214 Bit 0 The 17 function enable can be implemented via Input 111 Use P232 4 to assign this function to Input 111 COMPAX 1060 70SL only 111 1 Release analogue input 111 0 Digital input value 0 input is set drift free to 0 1 Direct encoder COMPAX 1000SL connection Cable GBK11 Bus terminal BUS06 01 the bus terminal is allocated to X13 as adapter 2 Direct COMPAX simulation 100051 input connection Cable SSK7 3 Direct COMPAX 1000SL simulation COMPAX including COMPAX 1060SL or COMPAX 1070L connection input Cable SSK17 4 An encoder distributor EAM4 01 is used for the integration of COMPAX 1000SL into an encoder bus consisting of several COMPAX as described in the COMPAX User Guide It should be noted that COMPAX 1000SL always uses channel 1 encoder input and simulation The operation mode is also configured via the parameters P143 and P98 These have the following significance P98 Reference dimension P143 Impulses per Reference dimension 4 Example Reference dimension 100mm 10 000 input pulses should give a movement of 100mm P143 10 000 4 2500 HAUSER Interfac
216. h 100 mA f needed for fan approx 100 mA For motor holding brake 0 35A 1 6A f needed absolute encoder 0 3A Accuracy Positioning on the motor shaft Resolution 16 bits 0 3 minutes of angle Absolute accuracy 15 minutes of angle Maximum power dissipation COMPAX 10 31 SOW COMPAX 1 140W COMPAX 02XXM NMD10 20 120W e 05 10 15XXM 250W e COMPAX 25XXS 80W e COMPAX 45XXS 85XXS 170W COMPAX 35XXM 610W Data record memory 250 data records protected from power failure Data record functions e Positioning commands I O instructions program commands ACCEL SPEED POSA POSR WAIT GOTO GOSUB IF OUTPUT REPEAT RETURN END WAIT START GOTO EXT GOSUB EXT SPEED SYNC OUTPUT AO GOTO POSR SPEED POSR OUTPUT Target value generator Ramps linear quadr smooth 10ms 60s e Travel specified in increments mm inch or variable using a scaling factor Monitoring functions Mains power auxiliary control voltage Motor and final stage temperature blocking protection e Tracking error monitoring e Ready contact 0 5A 60V 30W Ambient conditions Temperature range 0 45 C Max relative air humidity as per DIN 40040 class F lt 75 no condensation Control inputs 16 8 for COMPAX 1000SL 2
217. h P94 2 The mechanics are subject to minimum load when using the smooth function 0 y M4 19 7 0 t ins ta Current required 1 9 times quadratic P94 3 Gentle running in to the nominal value overswings are prevented 0 y a Mt 2 0 y ta Current required 2 times ta Ramp time can be set using the command ACCEL see Page v Speed a Acceleration M acceleration torque Transfer of P94 Modifications to P94 become effective from the next move command Exception For the functions stop after passing a limit switch and synchronous stop via 113 see Page 151 the ramp type only becomes valid with VC i Parameter P80 select drive type Drive type Various data are required for additional configuration depending on the drive type selected This modifies the assignment of the parameters P81 P85 Continue configuration with the drive type selected Spindle drive P80 2 P81 length Length of spindle Range 0 5 000mm P82 diameter Diameter of spindle Range 8 80mm P83 Pitch Pitch per spindle revolution Range 1 400mm 76 AUS EXE Configuration H P85 ratio P84 moment of inertia P92 Minimum mass P88 Maximum mass Rack pinion toothed belts P82 Number of teeth on pinion P83 tooth pitch P85 ratio P84 moment of inertia P92
218. herefore suitable for rapid diagnosis and supporting start up 5V plug for 2 RS232 cable 5m HB plug 1 95 5 5mm control knob 6mm 20 polarity outside FAUSER COMPAX Ist Position 50801 7 20 mm 180mm RETURN 200 AUIS cJ Accessories Functions Key functions Supply Error handling Hand held terminal The hand held terminal contains the following functions display any status value menu guided configuration e View and edit programs e view and edit parameters direct entry of commands The keys are all assigned two functions Press the SHIFT key to activate the second function of a key The second function is displayed in turquoise in the lower section of the key NO YES ESC ENT SHIFT Deletes program data record all jumps to addresses are automatically corrected automatically corrected N WAIT Ent WAIT START GOTO Ent GOTO EXT GOSUB EXT SPEEDEn SPEEDSYNC F2 F3 Fa POSR Ent dark bright HZ amber OK green SH amber First key function The cable is 1 5 m long The hand held terminal is also powered through this cable If the distances involved are longer gt 5m the hand held terminal will require a direct power supply for
219. hould be blocked for as long as there is a risk of collision between the workpiece and drill Assignments course command line NO11 POSA 200mm 5 4 1004 speed mm s 0 a 200 position mm course command line 16 5 100 speed mm s 200 100 ds 0 position mm Function The feed movement is implemented using speed step profiling The initial speed is first set to 100 mm s using the SPEED 100 command 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 N012 and as of a travel distance of 70 mm is accelerated to 100 mm s 13 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 mus
220. ies 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 gt For more information see operating instructions for electronical curve control 22 Curve points can only be modified using an assignment an arithmetic term is not allowed 113 Configuration Technical data Connector assignment cable Positioning and Optimization n c Accessories Parameter Error list hardware control functions functions options Operating Instructions COMPAX M 5 Arithmetic POSA POSR Syntax SPEED ACCEL OUTPUT Password SPEED SYNC Operators reference POSR SPEED POSR OUTPUT Cam controller WAIT GOTO GOSUB RETURN END REPEAT Operands IF Comparison WAIT Start GOTO GOSUB EXT Stop Status values Arithmetic Position Variables monitoring Idle display Speed monitoring Note Engage disengage Note brake final stage Variable Global assignment voltage Note 114 8 4 30 2 Arithmetic and variables Values can be linked with one another using the four basic types of calculation and the result can be assigned to a parameter or a variable A simple arithmetic term is e lt gt Operator lt Operand gt
221. iguration process for implementing new configurations If this process is followed you can specify all the parameters required for your application In Chapter tactis zero model you will find a description of options for machine zero and limit switch configurations which deviate from the standard gt The configuration parameter accepted directly once they have been modified COMPAX will only accept the new parameters once the VC commands valid configuration have been issued The ServoManager automatically sets the parameters as valid after configuration Using the command OUTPUT O0 70 Note that once a configuration has been set or modified there is a risk if some parameters have been incorrectly programmed You must secure the displacement area of your system when switching on the drive Please mind the limit values of the mechanical component Defiance of the limit values may lead to destruction of the mechanical component 8 2 4 Safety instructions for initial start up Risks from incorrect wiring In order to avoid the risks from incorrectly wired systems during initial start up use the following settings for personal safety and protection of the mechanical system P15 10 motor speed limited to 10 nominal value P16 100 torque limited to 100 nominal value e The drive must remain at standstill after the system switch on e Execute a travel operation e g with POSR or manuall
222. implemented 87 Positioning and Configuration Technical data Connector assignment cable control functions Optimization n c Accessories Parameter Error list hardware functions options Operating Instructions COMPAX M S Machine zero mode Machine zero P212 11 Machine zero initiator without resolver zero with 2 initiator reversing initiators without Application Applications with belt drives where the belts may skip during operation resolver zero with 2 reversing initiators 88 AUS EXE Configuration Limit switch operation 8 2 8 Limit switch operation Limit switch monitoring during the reference travel Response when the limit switch is reached Limit switch monitoring without locking the movement P216 specifying the limit switch position Setting aid P217 z 0 Operating mode without end initiators P217 1 Operating mode with two end initiators 2 initiators are required The displacement area is limited by the initiators attached at both ends of it When one of the end initiators is activated an error message appears the drive is decelerated using P10 this does not apply to the Find machine zero function Subsequently the limit switches can be deactivated with Hand or Hand When P212 0 or 2 the initiators are used as reversing initiators during Find machine zero
223. imum permitted torque P16 This value is maintained regardless of the load In position controller mode Specify a position which cannot be approached which is beyond the load position Define the desired torque using P16 in of the nominal torque max 100 Switch off errors E10 and E49 using P13 0 You can now use SPEED to also define the speed at which you can run up to the load block position COMPAX tries to reach the specified postion and increases the torque in the load position to the maximum permitted torque P16 This value is maintained regardless of the load Changing error response E49 can also be switched off individually E49 occurs when the current and or the torque remains in the limitation for longer than P108 237 Index 12 Index ABB interface 178 Absolute positioning 96 Absolute value function with standard resolver 79 Absolute value resolver 79 ACGEL 97 Acceleration and braking tlie uon ette 97 Accessories and 173 174 it 65 Accuracy of calculations 115 Acknowledging error messages 71 Activate position adjustment 150 Activating mark 100 Actual position 207 Actual values Status
224. in with a rating of 100us the max error is therefore 100 us O16 _____ With O the mark is missing after travel to the mark is completed P38 1 Mark reference switched on 0 Mark reference switched off P37 P38 A mark window is specified relative to the start position using P37 and P38 Minimum travel to mark relative to start position Range of values for P37 0 00 P38 38 _____ Maximum travel to mark relative to start position RangeofvaluesforP38 P37 4000000 1 1 p Maximum feed length if there is no mark in the mark window relative to start position Range of values for P39 P38 P11 or P12 POSR 100 P35 1 P37 300 P38 600 P39 800 114 1 If the mark is between 300 and 600 mark 100 is positioned if the mark is outside the window it is positioned to 800 P37 300 100 P38 4 600 P39 800 start point mark on Drivento M6 r label position 16 It will go on if no label come until P38 Note N The drive positioning is not limited by P39 If the mark is within the mark window COMPAX executes positioning using the POSR value for a value of the corresponding size even after P39 The process range can be limited using P11 and P12 When the mark reference is switched on the inputs 114 115 and 116 are no longer available for external data record selection GOTOEXT GOSUBEXT AUS
225. inear movements clockwise rotating motor signal of MZ initiator resolver zero pulse actual machine zero P29 0 270 lt P213 1 actual machine zero P29 100 360 P29 0 100 AUS EXE Shifting machine zero Example 1 90 clockwise rotating motor in direction of mechanical limitation Example 2 a 90 clockwise rotating motor away from the direction of the mechanical limitation travel Configuration Machine zero mode Explanation for shifting machine zero using P29 taking the example of P212z 1 signal MZ INI machine zero initiator active mechanical limit resolver zero pulse machanical limit position of the actual MZ initiator edge machine zero initiator disabled p position initiator edge dem position initiator edge mechanical limit position range within which the position of the actual MZ can be shifted by P29 position actual MZ mechanical position initiator edge clockwise rotating motor P29 270 360 I PTT position initiator edge clockwise of the actual MZ 0 mechanical limit rotating motor P29 0 90 The machine zero initiator MZ INI is low active The resolver zero pulse is a fixed position of the rotor position The actual machine zero MZ results
226. ion 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 0 remove 1 centrifuge locking shutte light barrier opening t 24Vo light barrier Function The first event after COMPAX has been started is the setting of the accelerating and braking time 10s N001 A check is then run to find out whether the shutter is closed N002 If it is not closed the interlock is opened N003 and the system waits until the shutter is closed 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 007 If this is set to Removal the speed is set to 0 1 using NOO8 The system waits until the light barrier is activated by a test tube 010 When this occurs the speed is set to 0 N011 and the interlock is opened N012 The shutter can now be opened to insert or remove a test tube COMPAX monitors the opening and closing of the shutter N013 14 to lock this
227. ion Calculation of P98 P83 P104 P143 1000 60 1000000 with 143 1 000 000 P104 in 1 min P98 Accuracy data can be found on Page Positioning and Configuration Connector assignment cable control functions Optimization n c Accessories Parameter Error list hardware functions options Operating Instructions COMPAX M S Mark related positioning POSR 8 4 11 Mark related positioning POSR UN Use this command to position e g a mark relative to an external signal POSR SPEED ACCEL OUTPUT Password SPEED SYNC Mark reference POSR SPEED POSR OUTPUT Cam controller WAIT GOTO GOSUB RETURN END REPEAT IF Comparison WAIT Start GOTO GOSUB EXT IF Error Stop Arithmetic Position monitoring Idle display Speed monitoring Engage disengage brake final stage Variable voltage 100 Example Syntax __ POSR value Value two digits after the decimal point three for inches in unit corresp to P90 a control parameter 40 49 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 Note gt When the mark reference is activated do not use the POSA command ma Activating mark reference 114 must be present before the command Mark input The rising flank is evaluated pulse 0 6ms is read
228. iro graphic cards Information concerning these programs Following installation the virus software can be reactivated Problems may also occur during program execution with Miro Pinboard Configuration Installation Start the Setup exe program on disk 1 The installation is a menu guided process Following the installation a Windows program group will appear containing the ServoManager and the terminal 8 3 2 Configuring COMPAX Create connection to COMPAX cable SSK1 see Page 59 Call up ServoManager Create a new project Menu Project New Using the menu Axis Insert From controller to set up an axis which contains all COMPAX settings all parameters including system parameters and data records curves are also available for COMPAX XX70 Use the menu Servo Tools to switch to ParameterEditor Call up menu Configuration Guided configuration All configuration parameters are queried one after another 8 3 3 Individual configuration of synchronous motors In addition to the motors contained in ServoManager ParameterEditor you can configure almost all synchronous motors The conditions required for the motors and resolvers are listed in the start up manual under Technical data Positioning and control functions Optimization functions n c Accessories options To modify motor parameters the motor must be switched off use OUTPUT O0 1 or press the button on the fr
229. it 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 circuit breaker due to the risk of higher levels of leakage current If an FI circuit breaker is installed it must not interrupt the current circuit despite the following conditions e g from ABB series F804 DC component in leakage current 3 phase rectifier bridge Brief occurence of pulse shaped leakage currents when Switching on High levels of leakage current Overview hardware 8 Operating Instructions Connector assignment cable Compact Servo Controller Technical data Configuration control functions Positioning and Optimization functions 8 1 Overview n T c The COMPAX digital positioning system has been designed for multi axis applications in handling and automation technology COMPAX contains all the functions required for a compact positioning system These functions are e digital inputs and outputs PLC interface a serial interface RS232 data record memory ean integrated IGBT final stage You will need auxiliary equiment PC hand held terminal to configure and program COMPAX COMPAX is very flexible and offers all the advantages of digital control technology thanks to its completely
230. itch using Hand when P215 0 an error message appears in the COMPAX display e error 50 11 has been activated i e P216 0 e error 51 12 has been activated i e P216 1 This allocation only applies if P215 0 if P215 1 the allocation is reversed When operating with the reversing initiators but no limit switches an error message will not appear You then have two options 14 Bit counting begins with Bit 0 89 Configuration Technical data Connector assignment cable Positioning and Optimization n c Accessories Parameter Error list hardware control functions functions options Operating Instructions COMPAX M S Limit switch operation eto set P216 switch on operation with limit switches P216 1 or ein status value S24 see bits 3 and 4 from the left to determine which initiator is activated Meaning Bit 3 12 is activated i e P216 1 Bit 4 11 is activated i e P216 0 90 Configuration via PC using ServoManager Installing ServoManager hardware 8 3 Configuration via PC using ServoManager Connector assignment cable gt There is a separate manual describing how to work with ServoManager 8 3 1 Installing ServoManager Technical data Preparation Before installation deactivate the following programs virus detection software ethe Miro Pinboard in M
231. ith external down time ballast resistance COMPAX 10XXSL lt 1 6kW gt We provide external ballast resistances for 1000SL see Page Connecting the ballast resistance is connected to B B and if necessary PE ballast resistance Output X4 is protected against short circuiting 41 Configuration Technical data Connector assignment cable Positioning and Optimization n T c Accessories Parameter Error list hardware control functions functions options Bridges for test operation Start up manual COMPAX M S Mating connectors Mating connectors for X1 X4 from Phoenix are included with the following type X1 X2 and X4 designations X1 MSTB2 5 6 STF 5 08 with screw connection X2 MSTB2 5 3 ST 5 08 without screw connection MSTB2 5 2 ST 5 08 without screw connection X4 MSTB2 5 3 STF 5 08 with screw connection You can acquire Phoenix housings for these connectors and these can be used once adapted to our cables Designation KGG MSTB2 5 pin number 7 7 2 Connector assignment COMPAX 1000SL overview e z ew 9 z ew ees 5 2 N N N SN ox GO x x x x x X x x x x x x x gt lt x x tos 2 gt 44 az 28 amp dg er Pe
232. l assignment The component contains the connections of the mains module EAM5 01 X6 mains module X6 input bus systems EAM5 01 X7 mains module X7 output bus systems EAM5 01 X3 mains module X3 24V DC supply 189 Error list Accessories and options COMPAX M S EAM5 01 DC feed for COMPAX M 5 01 X8 mains module X8 control 5 01 X4 mains module X4 signal connection to COMPAX M X5 connection cable included 5 01 F21 24V DC fuse 0 5A M Delivery scope EAM5 01 Mating connector X8 Signal connection EAM5 01 COMPAX M 0 5m Short circuit connector for the last COMPAX M on X4 190 AWS Accessories 3 EMC measures 9 7 4 EMC measures NMD10 COMPAX 45XXS 85XXS COMPAX 1000SL in COMPAX 1000SL for motor lines gt 50m NMD20 COMPAX 35XXM 9 7 4 1 Power filter The following power filters can be used for RF suppression and compliance with the emission limit values specified in EN61800 3 Type NFI01 02 Type NFI01 03 Dimension diagram 101 02 NF101 03 Type NFI01 04 320 e 81 2 307 400 Line Load H eoo Netzseite Lastseite 20 D 10mm Oe Br B M5 347 35XXM with serially mounted COMPAX M contr Type NFI01 05 378 max 301 max 6 5 x 15 150 max
233. l zero program line System controller Program memory parameter memory Settings data Travel commands current feed forward acceleration feed forward speed feed forward E Position controller 1 Current Output stage controller Setpoint generator Rotational speed controller Rotational speed filte auH 5b L Jur Rotational speed and Encoder position generation simulation Servo control Override input Interfaces for signals Absolute encoder Encoder input Encoder emulation D A monitor Externally controlled speed reduction reference drives Output of actual speed and Synchronization 2 analogue outputs for not required to external internal values osition speeds and position rotational speed current etc 68 Overview AUS EXE 1 i PLC data interface RS 232 Bus systems Binary inputs and outputs Functions Query status Setting parameters Configuring Optimizing General settings Programming data records Controlling System controller Control Block structure of the basic unit not applicable for COMPAX 1000SL Explanations for the block structure Interfaces for data and status The following commands are available via 5 binary inputs I7 111 and 5 binary outpu
234. lation from existing design quantities 69 Configuration Technical data Connector assignment cable Positioning and Optimization n T o c Accessories Parameter Error list hardware control functions functions options Operating Instructions COMPAX M S Password protection Interfaces for signals Override input Absolute value sensor option HEDA option Encoder input Encoder simulation D A monitor Analogue input see Start up manual for continual reduction of the set speed This option supports an absolute value sensor attached to the motor reference travel is therefore no longer required after initialization has been executed once see Start up manual and Accessories and options Function not available with the COMPAX 1000SL Real time data channel For implementing track and contour tasks using the HAUSER IPM interpolation module for PC and IPC or direct COMPAX COMPAX coupling with one COMPAX as the master COMPAX can be synchronized to an external speed and or position e g with the Electronic transmission unit variant via this input see Start up manual and Accessories and options The actual position value can be made available to other units via this channel see Start up manual and Accessories and options An encoder bus can also be created see description in Accessories and options 18 internal measuring and intermediate parame
235. le control functions Optimization n c Accessories Parameter Error list hardware functions options Operating Instructions COMPAX M S External position localization with position adjustment 8 5 4 External position localization with position adjustment Only available in The external position localization with position adjustment described below is only COMPAX XX00 available in the standard unit COMPAX XX00 Solutions adapted to specific applications are available 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 the external position can be entered e g recorded by a measuring wheel using encoder channel 1 In this way COMPAX corrects the internal actual position value To limit access to the position adjustment use P36 to limit the speed correction value resulting from the difference in positions This can be especially useful in the acceleration phase if the material is slipping through because of the higher correction speed Recommendation To avoid all inaccuracies during internal calculations it is important to use the measuring unit Increments Configuring the external position adjustment Maximum permitted measuring error difference between resolver position and encoder position The external position adjustment is enabled using measuring error P75 gt 0 When P75 is rea
236. ledged 5 He Example Main Program Error Program c N001 IF ERROR GOSUB 200 N200 OUTPUT O9 0 N002 OUTPUT O9 1 N201 WAIT START 5 N003 POSA 0 N202 OUTPUT O9 1 2 004 4000 203 RETURN 8 N005 OUTPUT O9 0 N006 GOTO 002 If the axis is now stopped and switched off due to an error e g during POSA 4000 positioning a sub program jump is then executed to program line 200 and output O9 is set to zero at this point The program then stops in program line 201 and waits until the error has been acknowledged and if necessary a new start is made At program line 202 output O9 is switched on again at program line 203 a jump is made back to the previously interrupted program line NOO4 The axis executes the rest of the travel to position 4000 and the main program is then continued at program line NOO5 If the error program is concluded with END rather than RETURN the program indicator remains in the same position The program stops running at this point Machine zero then has to approached or the program indicator must be reset explicity Positioning and control functions Optimization functions n c 8 4 29 STOP BREAK handling IF STOP GOSUB xxx IF STOP For influencing behavior after STOP or BREAK GOSUB xxx Syntax IF STOP GOSUB xxx This instruction can only be programmed like normal IF instructions in the program It controls the procedure executed in the program when a sto
237. leted 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 ethe nominal value sensor has reached the target point of the nominal value specification 05 is set in speed control mode if the nominal value generator has processed the speed ramp Parameter 153 Error list Operating Instructions COMPAX M S Digital inputs and outputs idle after stop or break 06 1 indicates that the axis is at a standstill due to a STOP I6 or BREAK 11816 O6 is reset when the axis moves again Mark missing after maximum Only assigned if mark reference is activated P3571 With 0 the mark disappears once the maximum feed length is reached see Page 8 6 1 8 Diagrams feed length In data record memory mode Progr target pos reached Out of action after stop 4 23 4 5 6 78t Caption 0 COMPAX ready for new start 1 When using START at input I5 the outputs O4 and O5 are reset The axis moves 2 Interruption using STOP at input 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
238. llation in series 0 0 0 TEAR B EH Supply Up to max 3 500 AC integrated power unit Dimensions DxHxW 40 400 220 mm Design A HMW COMPAX M 340 400 85 mm Power P1XXM 3 8 kVA 02XXM 4 5 kVA 05XXM 8 0 kVA 15XXM 17 kVA Power 35 0 kVA 15 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment cable Parameter Error list control functions functions options Start up manual COMPAX M S COMPAX 1000SL Supply Up to max 1 250V AC integrated power unit Dimensions DxHxW 146 180 85 mm Design Power 1kVA COMPAX 25XXS Supply Up to max 1 3 250V AC integrated power unit Dimensions DxHxW 220 240 130 mm Design LE Power 2 5 kVA 0 H 45 5 Supply Up to 3 500V AC integrated power unit COMPAX 85XXS Dimensions DxHxW 275 350 125 mm Design Power 4 5 kVA 8 6 kVA 16 Connector and terminal assignment 7 2 COMPAX M unit features 7 2 1 Connector and terminal assignment hardware Connector COMPAX M X1 motor Technical data E X2 intermedia
239. ly S47 Device no Repeat Counter Bus Data c Encoder Position Last Error optimization dispaly P233 E optimization display P234 status monitor P182 standard config A1 A6 enlarged status info error history Function Level Command Mode No Parameter Mode 2 E Setting Level see edit delete Enter commands parameters see edit delete program see set up configuration E When the hand held terminal is connected to COMPAX the password remains the same pt The menu items of the setting levels are described below 202 AUIS E92 Accessories Hand held terminal hardware View edit delete program Program Mode 2 Mode Connector Enter block Ent Select other blocks using A or v Technical data ves Enter block no Ent Edit block Ent Configuration Select other blocks using A or v Delete Hes Are You sure Program 8 8 Program is deleted control functions c c o Commands numerical values are modified by overwriting them Direct
240. m controller with compensation for switching delays POSA POSR SPEED ACCEL OUTPUT Password SPEED SYNC Mark reference POSR SPEED POSR OUTPUT Cam controller WAIT GOTO GOSUB RETURN END REPEAT IF Comparison WAIT Start GOTO GOSUB EXT IF Error Stop Arithmetic Position monitoring Idle display Explanation Speed monitoring Engage disengage brake final stage Variable voltage 106 Behaviour of the control signal during negative position values falling position and P215 0 negative positions positive positions V59 A10 V61 V55 A9 V57 1 1 1 1 1 j T rising o 62 58 positions 31 lt lt lt gt V56 falling T 1V58 positions 2 us gt V56 The relevant distances Ap resulting from the times are shown Example 2 Positioning with subsequent cam operation COMPAX XX70 control cam 1 control cam 2 At position reset function to next curve no compensation is implemented for the switching delay Note The cam controller is calculated using a cycle of 1ms Positioning and control functions rogrammable waiting time WAIT assignment cable 8 4 16 rogrammable waiting time WAIT WAIT Programmable waiting time in ms before the next data record is processed Syntax WAIT value Value 10 65 000 ms a control parameter
241. mark reference 0 switched off 1 switched on Limitation of speed correction value for external 100 position adjustment only COMPAX XX00 and COMPAX XX30 0 switched off 000 P38 000 0 00 __ 2 Oo 360 VP VP VP VP VP VP VP PA2 Control parameters awowo o 4000060 mesa 1043 Control parameters 400000 o mesa P4 Control parameters aooo o 4000060 mnes Pas Control parameters aooo o 4000000 imei Pae Control parameters aooo o 4000000 nec Control parameters aooo o 4000000 mei Pas Control parameters aooo o 4000060 imei Pao Control parameters 4000000 0 4000 000 mesa VP VP VP VP 52 When motor nominal speeds have been modified use this factor to perform a simple adaptation to the current program 53 When P93 4 P25 must be gt 0 214 Default Maximum Valid EE ES dece e ue escas 100 without monitor default setting 101 with monitor D section rom controller Jo ___ 10000 Filteracceleration Jo 100 550 __ gt Lag rapid rpm signal lo ____ 100 X 550 9 ve Structure switch measuring Standard Variant 1 for resolver Variant 2 for SinCos Variant 3 Rapid rpm controller Sensitive stiffness P23 Larger setting range for P23 Sensitive D section P56 t ange fo 5 5000 P50 P56 P57 P5
242. 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 200kgcm Minimum translational mass moved kg Range 0 P88 Maximum translational mass moved in kg Range 0 500kg P80 4 or 8 Range see 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 pitch values 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 transmission and clutch referenced to motor shaft Range 0 200kgcm Minimum translational mass moved kg Range 0 P88 Maximum translational mass moved in kg Range 0 500kg HLE80C HLE100C HLE150C HPLA80 HPLA120 HPLAB180 HPLAR180 rack pinion Teeth on Tooth pitch P80 16 Total minimum moment of inertia motor transmission and load referenced to the motor shaft Range 0 P82 kgmm Total maximum moment of inertia motor transmission and load referenced to the motor shaft Range P81 200 000kgmm Range 10
243. ms to address 1 consisting of HEDA control word inc fast start on bit 8 bit 8 is automatically generated in the master from 115 Fast start Process value selected with parameter P184 depending on family COMPAX XX00 COMPAX XX60 COMPAX XX70 between Output quantity Encoder position COMPAX XX70 P184 40 master channel duration period Internal time base encoder velocity before P35 P184 42 COMPAX XX70 Scaled 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 quantity is unaffected by P35 Coupling the slave to the transmitted quantity is implemented with P188 Input quantities Slave Encoder coupling P184 in master 40 P188 40 The input signal is used as an encoder signal 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 Scaled 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 quantity is interpreted as an encoder signal even though it is 188 140 not an encoder signal P
244. mulation Encoder emulation X13 X13 Bus6 01 c a SSK17 8 Master Slave 1 s Slave slaves X13 E3 X13 E4 X13 4 ska ssi ssk4 EAM4 01 X5 EAM4 01 X5 Other EAM4 01 X5 Channel Channel2 Channel 4 Channel 2 Channel 1 Channel 2 IN IN JOUT IN JOUT IN joUT distributors IN JOUT IN X1 X2 X4 X1 X2 X4 X1 X2 X4 F s 3 BUS1 01 2 o 2 2 2 2 Bus ter E mination SSK7 SSK7 SSK7 Requirements per COMPAX e one encoder distributor EAM 4 01 one cable for the COMPAX and encoder distributor connection SSK 4 one bus cable for connecting the encoder distributors SSK 7 configured in Encoder simulation in the cowPax 100051 j i fi di Encoder input module in each slave Bus terminator eec eren sed dues BUS 1 01 COMPAX COMPAX Additional COMPAX X13 E4 X13 E4 X13 4 ssk4 sska ssk4 EAM4 01 X5 EAM4 01 X5 Other EAM4 01 X5 Channel 1 Channel 2 Channel Channel 2 encoder Channel Channel 2 IN JOUT IN
245. n c Accessories Parameter Error list hardware control functions functions options Operating Instructions COMPAX M S Machine zero mode 8 2 7 Machine zero mode Overview Machine zero equals external initiator amp resolver zero 2 reversing initiators Example of a reference system P212 0 a gig 4 5 6 sug 10 411 setting the machine zero mode MZ equals external initiator rounded with resolver zero amp machine zero travel using 2 reversing initiators MZ equals external initiator rounded with resolver zero MZ equals external zero pulse MZ equals external initiator rounded with the external zero pulse MZ equals resolver zero reserved MZ equals external initiator without resolver zero MZ equals a limit switch MZ teach Machine zero initiator without resolver zero with 2 reversing initiators P212 becomes valid immediately after a modification gt 212 3 amp P212 4 is only permitted for XX00 and COMPAX XX30 Function of the machine zero mode P212 0 Start search direction initiator side Application P213 P3 P215 P29 P216 defines the initiator flank of the machine zero Linear movements initiator that is being evaluated i e the side from which the initiator is approached the prefix defines the start search direction influences the
246. nce is insufficient an external ballast resistance can be connected Connecting the The external ballast resistance is connected between LS and X5 2 external ballast do this the bridge between LS and X5 1 must be removed resistance The full braking power cannot be used with this bridge present 24V U V WPE Brake iE ES PES ee XT oou 2 2 2 Output X5 is protected from short circuits Thermal protection An emergency stop is triggered at 85 C heat sink temperature the ready contact is released and the red LED lights up 24 AUS Mains module NMD10 NMD20 Error diagnosis in the mains module Technical data power features NMD If a phase malfunctions no displays appear LED red LED green Possible errors Error Ready wo a a Heat sink temperature too high or error in logic voltage 24V DC too low or unit is defective C Emergency stop is activated and ready contact is released e Ballast switch overloaded Or eundervoltage 100V DC or 80V AC C Ready contact and green LED are coupled Caution If the unit has no control voltage no displays will indicate that operating voltage i
247. nce switched on or ethe drive runs out of control after the start command In both cases either error E10 or error E54 is triggered If error E54 occurs the drive is switched off A possible cause of the error is incorrect wiring in the motor or resolver systems The servo controller will operate once error E55 is acknowledged on the front plate using Enter If the controller is set to OFF it will be brought into operation by switching the 24V control voltage off and then on menu Online Command to transmit commands to COMPAX e g POSR 100 the motor travels 100 units in the positive direction gt is now configured For more information please use the table of contents or the glossary at the end of the User Guide 94 AUS 25 Positioning and control functions 8 4 Positioning and control functions Program example Start program Individual configuration of synchronous motors The COMPAX basic unit is designed to meet the technical control requirements of a servo axis Special control commands are implemented in the different unit variants for synchronisation or gearing functions The support of a superordinate control unit is required for more complex systems especially for the co ordination of several axes Parker supplies solutions based on PCs and PLCs as well as the compact industrial computer COMTAC as a multi axis simultaneous control unit
248. nd SPEED ard Bose Operation mode cam controller VP 0 inactive 1 position actual value Cam without consideration of P1 and P215 controller 2 position set point without consideration of P1 and P215 WAIT 3 reserved 4 S1 position actual value GOTO Number range 4 mill units P90 Gosia 5 position set point Number range 4 mill units P90 RETURN 6 absolute value S1 2 Number range 2048 units P90 END V51 Polarity O9 012 Valence VP Bit 9 Polarity O9 256 REPEAT Bit 10 Polarity O10 512 geli Bit 11 Polarity O11 1024 Bit 12 Polarity 012 2048 Comparison If the corresponding bit is set then the relevant output is inverted T Oo o o P90 WAIT Start reserved GoTo reserved GOSUB EXT reserved A 55 Position control 1 O9 on 4000000 0 00 4 000 000 V56 Switch on tag ms o veo Switch on lag 2 ms o o froo __ VP i V67 Position control cam 4 O12 om 90 4 000 000 0 00 4 000 000 ve ves Swichonlagconrocam4 o fo froo __ VP The switching processes described apply for increasing setpoint and P215 0 with decreasing setpoint switch off occurs at the same position where switch on previously occured gt The variables for parametrization of the cam controller are not password protected 104 AUS 25 Positioning and control functions
249. nd with bus termination BUS 6 01 sits as an intermediate connector on X13 SV drive COMPAX Cable SSK 7 Note Note direction cable in SV drive cable out COMPAX Encoder input module E2 with line terminator or for 1000SL Configured as encoder input 144 4 146 0 and with bus termination BUS 6 01 sits as an intermediate connector on X13 180 AWS EE Process interfaces COMPAX COMPAX both not COMPAX 1000SL COMPAX not COMPAX 1000SL COMPAX 1000SL 1000SL 1000SL Encoder bus with COMPAX Encoder bus with encoder or encoder emulation in SV drive COMPAX COMPAX Cable SSK 7 or SSK17 see principal diagrams below Note Note direction cable in COMPAX with encoder emulation cable out COMPAX with encoder input Encoder simulation E3 for COMPAX master in COMPAX 1000SL encoder simulation configured Encoder input module E2 for COMPAX slave in COMPAX 1000SL encoder input configured and with bus termination BUS 6 01 COMPAX COMPAX not COMPAX 1000SL not COMPAX 1000SL X13 E3 X13 E2 3 2 2 SSK7 COMPAX COMPAX 1000SL not COMPAX 1000SL Encoder emulation X13 E3 X13 Bus6 01 2 Q SSK7 8 COMPAX 1000SL COMPAX 1000SL Encoder e
250. ng P93 1 2 3 There are 2 settings for O5 Position reached which are set with P227 P227 4 3 1 Meaning function O5 toggles when the position is reached O5 toggles after every new positioning when position is reached P227 bit 4 0 P1450 small O5 1 nominal value reached and lag error lt P14 values O5 1 if set point generator has finished the ramp and the lag small in comparison error is smaller than P14 with the process If the lag error after O5 1 is greater than P14 then O5 0 travel until the lag is again less than P14 OM2 14 gt gt 0 large O5 1 nominal value reached independent of P14 value O5 1 as soon as the set point generator has finished the large in comparison ramp and stays at 1 until the start of the next positioning with process travel move OM3 Functional description O5 is toggled changed i e from O5 1 to 5 0 from O5 0 to O5z 1 after every positioning move set point generator has reached target position When an error occurs Exx is indicated O5 stays at the current value Can be adjusted using P227 bit 4 1 VA With this function you can use a host PLC precise tracking of the positioning You will find a description of this from Page t 23 Bit counting begins with 0 24 OM Operating mode 117 Positioning and Configuration Technical data Connector assignment cabl
251. ng of motor in accordance with connector manufacturer s specification Packaging of device e Strip 26mm sheathing off e Cut sheath down to 6 mm e Strip 4mm of insulation of ends and coat in tin Cable diameter minimum bending radius static minimum bending radius dynamic Length codes for preformed cables Length m 15 0 20 0 25 0 30 0 35 0 40 0 45 0 50 0 Connections to the motor Code Example REK32 09 length 25m 47 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment cable Parameter Error list control functions functions options Start up manual COMPAX M S Resolver SinCos Motor cable for HJ and HDY motors MOK42 max 13 8A 110 mm 75 mm MOK42 Shrink fit hose standard highflex standard hochflex black1 black C OE UNE nna f swi sw 1 L tseite Crimpseite 7 rj Tr 6 v Diack brown sw2 br 2 v 5 1 1 4 black3 blue sw3 bl gt i lt 6 Ww 1 1 1 1 Br 24V black4 red sw4 rt 4 Br bog A bor Br 24V ag 2ck5igreen 2 sw5 gr lt 5 Br 4 black6 i E 7 Gc PE green yelow gn ge 3 L M N rd PEPEPEPE E EPN NE Oe D teu eue Cn ee EL Ex E euer Cu o ese ex Ite Eaedem 7 5 110 mm No 102 508896 4 35 mmo 7 75 mm
252. ng the Install the retaining plate on the required side front plates Unfasten front plate and blind plate There 2 screws on both the upper and lower sides of the unit Install the front plate and then the blind plate at the required point 33 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment cable Parameter Error list control functions functions options Start up manual COMPAX M S 7 5 4 Connector assignment COMPAX 25XXS 9 9 9 9 9 9 9 29 9 9 Ula EU RAE Sw s aN e s XS 21519 14244334 NNN N O X X X X X x x X X ox x gt lt x X X X X o gt lt Xx 2 gt 3 U etre Qaardenns an m 2 mg mo on 25 P B 8rtb5 Pl m X1 X2 X3 X4 X6 motor AC supply control braking RS232 brake voltage resistance M 7 M J 7 X P XUL O X8 2 11 2 4 Q 2 12 GND X8 3 13 Override XN T XB8 A 114 1 Q 14 X11 DA channel 2 0 2 85___ 5 DA channel 3 X15 5 1 1 oE e X8 Override old xue o X87 _ 7 input C shield XUZ o X8 8_ eg output H 1 C iro Xem 02 d eee O X8 11_ o3 2 X82
253. ng the motor brake Positioning and control functions Engaging and disengaging the motor brake COMPAX controls the idle holding brake of the motor and final stage The time behaviour can be set using P17 and P211 Bit 2 Application If you are using an axis which is under torque when idle e g when using a z axis the drive can be engaged and disengaged in a manner which ensures that the load does not move To do this the drive remains powered during the reaction time of the idle holding brake This can be set using P17 see following diagrams Final stage blocked by e error or OUTPUT O0 1 or emergency STOP The final stage is enabled via e quit or OUTPUT 0 0 once Power is with P211 Bit 2 0 The final stage is enabled via OUTPUT O0 0 P211 Bit 2 1 the lag of 0 5s is switched off P1720 power out put stage enable t disabled energised de energised l o brake open close close power out put stage enable disabled energised de energised brake open power out put stage enable disabled energised ul brake open close P1750 power out put stage enable disabled energised de energised brake open close disabled power out put stage enable energised de energised brake open close power out put stage
254. nit Even once the mains supply has been switched off dangerous levels of voltage can remain in the system for up to 5 min When working with motors without a holding brake the brake lines must not be connected to COMPAX 36 HAUSER compax 45XXS 85XXS unit characteristics COMPAX 45XXS 85XXS specific wiring 7 6 3 COMPAX 45XXS 85XXS specific wiring Wiring up mains enabling internal ballast resistance Tp PE i L3 400V L2 line Bus system ay L1 X7 OUT T Enable internal ballast resistor X5 IN X2HV DC current output Power supply 80V AC max 500V AC Fuse protection max 16A Layout of contactors for the power supply Capacity according to device performance Application group Control voltage 24V DC 10 ripple 1Vss Enable Enable 24V DC Wiring up motor control voltage p H enable aie o See black 2 pj black 1 22 JL Sheetshielding of motor cable WARNING sera covering mop N oain amn Note the screened connection of the motor cable on the lower side of the unit gt Clamp the motor cable with the open section of the braided screen under the ground terminal N Only wire up brake lines in motors which have a holding brake Otherwise do not wire up
255. nnectors containing special surface screening In such cases the following cable lengths are permitted Motor cable 100m the cable must not be rolled up For motor lines of 220m a motor output throttle must be used Up to 16A nominal motor current Type MDRO1 01 16A 2mH Between 16A and 30A Type MDRO01 02 30A 1 1mH Over 30A nominal motor current Type MDRO01 03 gt 30A 0 64mH Resolver cable Operation with HAUSER motors Only operate with calibrated controller avoid feedback oscillation e The filter housing the mains module and the COMPAX must be surface connected with good metal conductivity and low inductivity to the cabinet ground Never secure the filter housing or the unit to coated surfaces Ensure that you have largest spacing possible between the signal and load lines Signal lines must never pass sources of strong interference motors transformers relays Only use accessories recommended by HAUSER absolute value sensor encoder Provide large surface contact areas down both sides of all cable screening This is a product of the restricted sales class as per IEC 61800 3 In a domestic environment this product may cause high frequency disturbances in which case the user can be requested to implement suitable measures 13 Start up manual COMPAX M S 7 Start up manual Compact Servo Controller 14 7 1 1 Components required In addition to a COMPAX you will r
256. nominal values simultaneously Except for fast start no additional I O s are sent e There can be only one master on the bus The position values for P184 44 and P184 45 are derived independently of the current positioning operating mode normal continuous reset They are obtained from the nominal position value and the actual position value and made available in 24 bit format as if with counter channels This avoids jerky changes in the start torque in continuous mode or when reading the end of the curve in reset mode Only the lower 24 bits of these values are transmitted consisting of the resolver value and maximum 256 motor revolutions The required cable types are listed on Page Configuration Technical data Connector assignment cable Positioning and Optimization lan o o o o o Parameter Error list hardware control functions functions o c Operating Instructions COMPAX M S Process coupling using HEDA Option A1 A4 Please note the operating instructions pages 67 171 as well as the application examples pages 225 237 can be found in the com plete product manual which is available as PDF file on CD 172 System concept hardware 9 Accessories and options Connector assignment cable Compact Servo Controller Technical data Configuration Positioning and control fun
257. ns switched off 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 O e when the PLC data interface is switched on O7 1 O8 011 0 ethe password protected functions are enabled Once you have correctly configured COMPAX or you have corrected the relevant parameters you can engage the drive and outputs again using the command OUTPUT O0 0 Function not available with the COMPAX 1000SL 8 2 3 Configuration process Switching off gt Before you configure COMPAX or modify the configuration the drive must the drive be switched off e g using the command OUTPUT O0 1 or 2 see be Modifvi The COMPAX configuration is carried out using parameters as follows CANE select operating mode parameters e specify units for the travel data select motor from the motor list or configure an external motor select ramp shape e define direction use the design data to specify the drive type define the reference system 72 AUS Configuration Safety instructions for initial start up C The ParameterEditor part of the ServoManager automatically guides you into the Guided configuration menu through the input masks with the configuration settings Power on for drive From the next page there is a clear description of the conf
258. nterfaces for COMPAX 1000SL Assignment on X13 Connector X13 Designat Function with encoder input i or simulation The encoder interfaces are available as options for COMPAX excluding COMPAX 1000SL 2 channels are present channel 1 can be equipped as the encoder input and channel 2 as the encoder simulation The necessary options are described on Page With COMPAX 1000SL an encoder interface is integrated the standard unit This can be configured either as the encoder input or encoder simulation 7 9 10 1 Encoder interfaces analogue rpm specification for COMPAX not COMPAX 1000SL Function of channel 1 with option I7 for COMPAX XX6X or COMPAX XX70 N2 Channel2zeroimpulse B2 Channel2trackkB ooo O 2A Channel2trackkA Enable 15 pin Sub D socket terminal strip z Screws gt ___ B1 ChannelttrackB 15 lt 10mA a Input 10V 5v___ OuputeV 0 Direction of rotation 15V 10mA Input 10V Reference point C The Incremental encoder function is an option for which additional boards are required If the relevant options are available the following applies Channel 1 encoder input Channel 2 encoder emulation We can provide the relevant cables and a bus distributor for wiring up the encoder signals Use these to implement various applications see Pagelt79 gt When working with COMPAX XX6X electronic transmission and COMPAX XX70 el
259. o uun Jojoeuuo eoiuuoe pue Buiuonisog uoneziundo seoepelul Seuosseooy JejeueJeg 191 10413 3 NT i 5 o 2 ET T 1 o 22 9 vri OS 5 ojs 5 25 c N s E ie 2 SEES os o o T 2 a o o 2 2 b 3 2 lo E ee a E 2 i 2 3 z 7 o ME os 8 M uApad ar A LISS Accessories and options COMPAX M S ServoManager 9 7 6 ServoManager Use the ServoManager to process complete COMPAX projects it is included with COMPAX It contains the following program modules ParameterEditor for configuring and parametrizing COMPAX ProgramEditor for creating COMPAX programs Terminal for working directly on the connected COMPAX The ServoManager and the program modules are described in a separate manual 9 7 7 Hand held terminal Design The BDF2 01 hand held terminal is a simple aid with which you can operate and easily configure COMPAX with the guided menus The hand held unit is connected to COMPAX X6 and powered via the RS232 interface It is t
260. o COMPAX The configuration parameters are therefore only valid from this moment When exiting the Parameter edit menu using NO the VC command is not transmitted View set configuration _ no Set Up Mode Lg 1 1 ves Operating Mode Measurement unit Ramp shape Drive type Drive type Parameter of Drive type Update Set Up see below 204 Hand held terminal hardware Set configuration Switch off Motor YES Mode Normal H 4 Mode Endless HY YES YES Input unit mm H Input unit inch 2 H Input unit incr Selected motor P100 XXX Motor type 1 Motor type n P100 XXX P100 XXX HDX Individual motor 100 0 5 Motor number P100 You can configure a motor individually by setting P100 0 Therefore fill in the motor data and the motor parameters from P101 The standart motors HBMR and HDS Motors can be configured via the motor number i Spindle Drive YES B Rack and pinion Timing belt Universal Drive 9 YES Spindle Length Teeth in pinion Teeth in pinion Inertia minimum Spindle Diameter Pitch if teeth Pitch in teeth Spindle Slope Gear ratio Gear ratio Inertia maximum Gear ratio Inertia
261. o operate the motor without mechanics select P80 16 general drive e P81 P82 moment of inertia of the motor e P93 2 continuous mode Call up the Parameter Guided parameter setting menu The remaining parameters are queried one after the other menu Online Download to transfer the data into COMPAX and validate the settings Caution Secure the displacement area of your system or the motor When switching on a risk may be posed by incorrect configuration data 93 Configuration Technical data Connector assignment cable Positioning and Optimization n T c Accessories Parameter Error list hardware control functions functions options Operating Instructions COMPAX M S Individual configuration of synchronous motors Safety Risks from incorrect wiring instructions for In order to avoid risks caused by incorrect system wiring during first start up use the first start up the following settings for personal safety and to protect the mechanics P15 z 1096 motor speed limited to 1096 nominal value P16 100 torque limited to 100 of nominal torque The drive must remain at standstill after the system has been switched on Execute a travel operation e g with POSR x or manually If this travel operation is executed correctly reset P15 and P16 to their original values The following faults may occur e The drive does not remain at standstill o
262. oltage 21 6V up 26 4V DC 0 84 Ripple lt 1Vss Fuse protection max 16A Dissipation power e without fan 120W standard e with fan 250W 23 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment cable Parameter Error list control functions functions options Start up manual COMPAX M S Overvoltage limitation Energy recuperated during braking is stored in the supply capacitors The capacity and storable energy is NMD10 NMD20 1100uF 173 Ws If the energy recuperated from braking causes overvoltage then ballast resistances are engaged Activation of the internal ballast resistance is activated by a bridge between LS and X5 1 internal ballast In the NMD20O delivery status this bridge is fitted resistance for NMD20 24V U V WPE Brak L2 L3 PE 24V SEIEN 2 O O OBLA X1 5 o oU OOOO 2 2 2 Maximum braking Braking power Duration Cooling down time power With fan 250W With fan 200W C External ballast resistances can be used with NMD20 see Page 193 If the braking power of the internal ballast resista
263. omparator Chaff length Reject length Switches over the dimension reference Transmission factor selection Enable master nominal value Enable final stage 0 Decoupling 1 Coupling Mark input 0 Disables auxiliary functions 1 Enables auxiliary functions Enables master position 07 014 Digital auxiliary functions 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 147 Configuration Technical data Connector assignment cable Positioning and Optimization o o o o o Parameter Error list hardware control functions functions o c o Operating Instructions COMPAX M S Digital inputs and outputs Exception START Length of signal gt ims SHIFT Hand Hand 8 6 1 5 Function of inputs When working with pre assigned inputs always note the following The SHIFT signal may only change if 12 15 0 SHIFT gt coal gt 0 2ms gt 0 2 5 The STOP and BREAK functions input 16 have top priority e 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 12 1 Quit is not detected e
264. on 0 positive direction for encoder rotating clockwise 1 positive direction for encoder rotating anti clockwise Setting aid Connector assignment cable Switch off external position adjustment P144 4 and data record P214 0 Note S42 position of external sensor Proceed with POSR x axis 51 S42 must change by the same value If the prefix of the modification is different set data record P214 1 e f the modification has a different amount check P143 and P98 The command SPEED SYNC cannot be used in external position Technical data c localization 5 Limit values of A number overrun is possible in special applications To prevent this occurring the 2 parameters following condition must be met V 2 1 8 Determine V depending on drive type and measuring unit Drive type Determining V Spindle drive V K 5 25 4 Rack and pinion mm inch P85 clu Slip filter for A slip filter with a differentiating element D element is provided to optimize external external position adjustment Pe quem O P SE Dun e value value from D element slip filter 0 100 500 VP Slip filter lag 100 5000 VP Both parameters are to 100 as standard The time constants are then identical and the filter ineffective Meaning Pret Men emen _ P67 0 delaying effect Interference on the measuring signal P67 gt P68
265. on 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 us HAUSER Interfaces Assignment of the channels Meaning and range of values of P76 P77 D A monitor standard measuring parameters Using the parameters P76 and P77 you can select 2 parameters and adapt them to the required measuring range Channel 2 X11 4 X17 1 for COMPAX 1000S Lf Channel 3 X11 5 X17 2 for COMPAX 1000SL u Value before decimal see below for meaning Value after decimal point factor value 10 000 000 Value before decimal p see below for meaning Value after decimal point factor value 10 000 000 gt The parameters can only be actuated once you have entered the password They are validated using VP Service D A monitor Selection of measuring parameter using P76 P77 D A monitor option al Selection of measuring parameter using P73 P74 parameter No ___ Nominal speed value sensor 20000mm 1 Macngemo _____________ 2 speed control _ 20000min _ 3 Nominal speed value of position controler 20000 mi O speed value _____________ 2000 __ ooo CCC 9 intermediate circuit voltage 1000V 10 Sine for co ordinate transformation 17 Scaled transverse voltage 2 Uis For amplification of 1 use 10V 2
266. ont plate while switching on COMPAX You will find the data required for this on the HAUSER motor type plate Parameter 91 Error list Operating Instructions COMPAX M S Individual configuration of synchronous motors Motor type plate 6404 Motor Proceed as follows The following parameters can be read directly from the motor type plate P101 number of motor terminals P102 EMC V 1000 rpm These two values are included in the motor type description type HDY xxx Ax XxxS S sinusoidal EMF T trapezoidal EMF EMF given in V per 1000 rpm number of poles of motor motor length flange size of motor motor type HDY HJ or HBMR P103 motor moment of inertia inertia 2 P109 stator inductivity ind WH P113 maximum mechanical speed max rpm P116 stator resistance res O P105 effective value of ps current mA HBMR motors te 0 95 HDY motors 0 85 HBMR 55 and 70 he 0 85 lo P106 nominal torque MZ HBMR motors My 0 92 Mo HDY motors My 0 82 Mo HBMR 55 and 70 My 0 82 Mg when lo idle current idle torque The other parameters are derived from the type plate data Nominal motor speed for the HBMR motors P104 nominal motor speed rpm EMC ny min Uzw 300V Uzw 560V 5000 4000 5000 with EMC counter EMC Ny Nominal speed Uzw intermediate circuit voltage 300V with 230V AC
267. options Start up manual COMPAX M S Resolver SinCos SinCosQO cable for HJ and motors S Pin 1 SIN 13 SIN 5 5 12 2x0 25 solder Crimp side 9 cos 11 mm 7 WS __ 12 cos 11 STH solder side ST 14 Thi Th2 8V GND d y screen at b ania ecu A PERERA Ga MICE D M DER DEC D MEE CEST sceen contact LiYC11Y 4x2x0 25 2x0 5 0 14 No 102 150210 Packing according as the regulation of the manufacturer 3 is UH Bl 8 x Crimp contacts 0 14 0 56 Version in high flex GBK17 same layout Packaging Packaging of motor in accordance with connector manufacturer s specification Packaging of device e Strip 26mm sheathing off Cut sheath down to 6 mm e Strip 4mm of insulation of ends and coat in tin Place sheath over large area of housing e g fold sheath over outer cover and fasten down by relieving tension 50 Connections to the motor 7 8 2 Additional brake control COMPAX M COMPAX 45XXS COMPAX 85XXS COMPAX 1000SL COMPAX 25XXS COMPAX 35XXM COMPAX controls the motor retaining brake independently also see Page 123 When running applications which require additional brake control note the following based on the unit type used With these units you must implement measures for suppression Note the following application example e contact to ex
268. or large ratios Jioag Jmotor gt Note Do not use the speed monitor when operating asynchronous motors AUS EXE Optimization functions 8 5 3 Optimization display Optimization parameters Description of optimization parameters Optimization display The optimization display status 513 and 514 is an aid for optimizing COMPAX without the need for an additional visual aid It provides access to the characteristic parameters of the positioning process optimization parameters From a selection of 14 different parameters for the positioning process you can assign 2 parameters to the status values 513 and S14 by using the parameters P233 813 and P234 S14 The optimization parameters are reset before each new positioning process and they are continually updated during the positioning process P233 P23480 Meaning 5 5 5 O Positioning time from start of positioning to Position reached max undershoot referenced to max position amount only for highly shifted loops 7 10 11 12 13 14 56 7 ____ acceleration lag error units corresp POO 8 maxbraknglagemor untscomesp POO 9 max acceleration speed in of motor nominal speed 10 ___ max braking speed in of motor nominal speed on max acceleration current in of motor nominal current 12 ___ max braking current in of motor nominal current 13 ___
269. ord or COMPAX is busy a warning is sent back Meaning 90 Syntax error command not valid E91 Command cannot be executed in this COMPAX operating mode E92 Function running command cannot be executed E93 Data record memory active command cannot be executed Password missing These warnings are not entered in status 518 error history 3 Interfaces RS232 interface Operating status Commands available Status query Sxx Parameter query and assignment Pxxx Pxxx value Data record query and assignment Nxxx Nxxx value Set reset outputs OUTPUT Ox y Not OUTPUT O0 Authorization of commands in Commands available in all operating modes statuses different modes of operation e Stop VP VC VF Emergency stop Quit OFF motor switched OUTPUT O0 off GOTO data record indicator password Error present data record operation During positioning VP process SPEEDP8 ACCEL as preparation for the POSR value SPEED value value next command OUTPUT Ox y gt No program GOTO data record indicator password processing e Find machine zero No other commands possible Approach real zero Manual During RUN and All commands and functions are possible motor under torque gt No positioning No stop present gt No error present 38 SPEED is not available in sp
270. ories Interfaces Optimization Positioning and Configuration Technical data Connector Unit hardware Parameter Error list assignment cable control functions functions options D i 2 2 el ie PEN ie Start up manual COMPAX M S 7 10 Technical data Power characteristics Functional capability Position speed and current controller IGBT final stage protected from short circuits and ground earth faults Digital positioning controller Motion controller Supported motors resolvers Sine commuted synchronous motors to a max speed of 9000 rpm e Asynchronous motors e Supported resolvers e Litton JSSBH 15 E 5 JSSBH 21 P4 RE 21 1 A05 RE 15 1 B04 Tamagawa 2018N321 E64 e Siemens 23401 T2509 C202 e SinCos support Stegmann e 3 phase synchronous linear motors 2 e Sine cosine linear encoder 1Vss or TTL RS422 Digital Hall sensor commutation 5V Output data for individual units compax rent Aeff Aeff lt 5s kVA with mains supply 230V AC jXXS 63 __ 126 25 at mains supply 400V AC asxxs 65 120 __ _ 45 85XXS 125 250 86 02 65 85 45 O5XXM 115 170 __ 80 5XXM _ 250 500 170 35XXM __ 500 1000 350 ABXXS 54 PIXXM 45 5 4 45 ___ O2XXM 54 05 96 210 12 Reduced nominal data apply for linear motors see Page 177 6
271. output assignment respectively which makes it possible to assign the logic inputs and outputs to any of the physical inputs and outputs The matrices for allocation are realized via parameters P156 to P160 see Page The assignment described below applies to COMPAX 1000SL standard unit with default settings for parameters P156 to P160 X19 Meaning for COMPAX 1000SL standard unit and default Pin settings for parameters P156 to P160 Pas GND 2 Input Manual Find machine zero Hand Approach real zero Quit Teach real zero nut START 7 Input Stop interrupts Break breaks off 25 pin Sub D data record data record socket strip reely assignable in the standard unit 112 Mon nput reely assignable in the standard unit 116 connection 0 reserved UNC4 40 Emergen Emergency stop input emergency stop is triggered cy stop by voltage lt 15V DC 10008 is enabled by 24V DC at X19 12 Input voltage 0 5V Output z 1 No fault 0 errors E1 E58 the drive does not accept any positioning commands After Power on O1 remains at 0 until after the self test z 1 No warning 0 Error 2 E58 Machine zero has been approached Ready for start Output Programmed set point reached Output Idle after stop Output Freely assignable in the standard unit O7 Output Freely assignable in the standard unit O8 24VDC Load lt 50mA Ready P Ready contact for building
272. p limit switch zero pulse f zero pulse f zero pulse limit switch 7 5 T k machine zero switch actual machine zero shift machine zero by P29 P29 90 360 starting position 1 starting position 2 starting position 3 distance The speed used for find machine Zero is specified by P3 the accelerating braking time by P7 81 Technical data Connector Configuration c c 2 o Optimization Interfaces Accessories Parameter Error list hardware control functions functions Operating Instructions COMPAX M 5 Machine zero mode Machine zero equals external initiator amp resolver zero 82 Additional machine zero modes The machine zero modes described below are all used without reversing initiators The search direction and the evaluated initiator side are influenced as follows with these machine zero modes P213 defines the start search direction and if there is an initiator fitted the initiator flank of the machine zero initiator which is being evaluated i e the side from which the initiator is approached P3 noinfluence in the start search direction during find machine zero P215 no influence on find machine zero P29 shifts the actual machine zero in the direction of the clockwise rotating motor see below P212 1 Application Standard machine zero mode for l
273. p status occurs Accessories options Normally a STOP BREAK command in the COMPAX will cause a actively running move to be interrupted the program is stopped The IF STOP GOSUB xxx instruction makes it possible to set the outputs to defined states in a stopped condition If such an instruction has already run in the program and a stop command occurs later ethe current travel motion is interrupted and then Stop program is run this is stored from program line number xxx Parameter 111 Error list Operating Instructions COMPAX M S STOP BREAK handling IF STOP GOSUB xxx Stop program POSA POSR SPEED ACCEL OUTPUT Password SPEED SYNC Error program with WAIT START Mark reference POSR SPEED POSR OUTPUT Cam Priority controller WAIT coro Example GOSUB RETURN END REPEAT IF I Comparison WAIT Start GOTO GOSUB EXT IF Error Stop Arithmetic Position monitoring Idle display Speed monitoring Engage disengage brake final stage Variable voltage 112 The stop program must not contain any motion commands POSR WAIT POSA WAIT POSR SPEED in the speed control mode sub program jumps GOSUB IF GOSUB any XX70 commands approach real zero and find machine zero commands speed step commands POSR SPEED or comparator commands POSR
274. posi tion reference point position control target position actual value speed position control integrator p The stability of the control process is not influenced by the advance control measures Reference value 1 actual 2 value ae Nominal speed value Actual speed value Drivi Motor power riving fault Lag error current 4 3 t 129 Technical data Connector Configuration t c 5 o Optimization Interfaces Accessories Parameter Error list hardware control functions functions Operating Instructions COMPAX M S Optimization parameters P25 Advance Advance speed control speed control d value 100 Range 0 500 reference value 1 actual value 2 e Nominal speed value 4 Actual speed value Driving Motor power fault Lag error current P26 Advance Advance speed and acceleration control acceleration Nominal value 100 Range 0 500 control 4 reference value 1 actual value 2 t Nominal speed value 4 Actual speed value Driving Motor power fault current Lag error P70 Advance Advance speed acceleration and power control power control Nominal value 100 Range 0 500 2 reference fM value 1 actual value TE Nominal speed value Actual speed value Motor power Driving Lag error fault current
275. r 51 Loop counter of an active REPEAT loop Sensor position 12 corresp P90 Position of absolute value sensor option A1 not available in COMPAX XX10 and COMPAX XX30 Optimization display S13 With optimization parameter selected using P233 Optimization display 514 With optimization parameter selected using P234 Status monitor S15 D A monitor value selected using P182 516 Information from the status outputs O1 O6 and the last OUTPUT OO command Information about COMPAX status Baws ois history 18 The last 4 errors and type of acknowledgement See below all errors but E00 E47 E72 and gt E90 Diagnosis values e M o 519 Logic signal level ofmputs 18 O i916 S20 Logic signal level ofinputs 9 18 Status switch S24 _ Diagnosis values for the status of the switch see below for meaning Status final stage Diagnosis value for the status of the final stage Current data Display of the data record currently being executed record RS232 data Interbus S data PLC data interface RS485 Error number of the last error to occur all errors but E00 E72 and gt E90 207 Positioning and Configuration Technical data Connector assignment cable control functions Optimization n c Accessories Parameter Error list hardware functions options Appendix COMPAX M S Hand held terminal
276. r stah 127 o O4 Ready for start is reset 15 start signal 1 Once a positioning process has been interrupted by STOP 16 1 the process can be continued when START 15 1 is present using a descending flank at STOP I5 start signal 0 16 0 4 ready for start 0 STOP The positioning process is interrupted using 1 and the axis is stopped in controlled manner O4 Ready for start and Idle after stop 1 new start command is required to complete the positioning process When START is present resetting 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 Once the MZ is reached output Machine zero approached is set This remains set until another Find MZ order is issued Output O5 Programmed position reached 0 e The data record indicator is reset to NOO1 Reference travel prompted by the digital inputs interrupts a positioning command specified by the interfaces POSA POSR LOOP Approach RZ Teach in real zero Teach Z e The axis travels to the real zero point process velocity ramp time O4 Ready for start 0 until RZ is reached Output O5 Programmed position reached 0 and once real zero is approached 1
277. r stop should be possible via the outputs O1 O2 O3 and O5 should be freely available 1 O1 2 O2 4 O3 16 O5 23 You will obtain this setting using P225 23 Using the interfaces RS232 bus systems and using the data record program the outputs can optionally in parallel be described using OUTPUT Ox y When the PLC data interface is activated the outputs must not be addressed using the interfaces RS232 bus systems or using the data record program Simultaneous operation with the OUTPUT WORD command or with HEDA is not permitted P223 P224 switching to OUTPUT WORD command P245 P246 switching to HEDA bus Access to the outputs can be assigned as bits to the OUTPUT WORD command or to HEDA Only the enabled outputs are then described by the OUTPUT WORD command or by HEDA 34 Counting starts at 1 J 3 A4 Interfaces Digital inputs and outputs Outputs OUTPUT parallel HEDA o 1 2 Bit2 2 Bit2 O4 Bit 4 8 Bit4 hardware Connector assignment cable lo a os ____ 16 Bit5 16 Bit5 oe ____ 32 32 Bit6 o7 ____ 64 64 Bit7 Technical data los 128 128 Bits P224 sf 1 O10 2 Bit2 Setting P223 P224 Each output is assigned a valency Calculate the total of the valencies of the P245 P246 required outputs and enter this in the
278. rce factor computed values Allocation Logical S fixed logical value 0 or 1 or pin of X19 Input reads from inputs assignment must be which source configured 0 input 1 0 1 0 P156 bit 0 3 Input 1 o H 3 16 48 P156 bit 4 7 Input 2 pri 3 E Input 2 4 256 1024 P156 bit 8 11 Input 3 X19 pin 4 gt input 3 5 4096 20480 P156 bit 12 15 Input 4 c X19 pin 5 input 4 6 65536 393216 P156 bit 16 19 Input 5 t 7 1048576 7340032 i Input 6 B X19 pin 6 input 5 P156 bit 20 23 x 754 800 Total lt 8 388 607 O X19 pin 7 input 6 Value of P156 Kaeo wot 1 gt 0 input 7 P156 Total 16 777 216 H ha n x 1 0 1 0 P157 bit 0 3 Input 7 0 gt input 9 x 16 0 16 0 P157 bit 4 7 Input 8 0 input 10 x 256 0256 0 P157 bit 8 11 Input 9 5 on 4096 0 4096 0 157 bit 12 15 Input 10 0 input 11 x 65536 0 65536 0 P157 bit 16 19 Input 11 5 p E X19 pin 8 gt input 12 x 1048576 8 1048576 8388608 P157 bit 20 23 Input 12 2 X19 pin 2 gt input 13 5 Total 1 input 14 Value of P157 8 388 608 Total gt 8 388 607 o 0 input 15 P156 Total 16 777 216 X19 pin 9 input 16 21 2 P158 bit 0 3 Input 13 1 16 16 P158 bit 4 7 Input 14 0 256 0 P158 bit 8 11 Input 15 9 4096 36 8
279. re lUnom unit nominal current lup unit peak current Imnom motor nominal current Dynamic monitoring In COMPAX the nominal current value is limited to the smallest value of the following 3 quantities lup unit peak current P105 P107 nominal motor current P105 maximum pulse current permitted for the motor P107 P105 P16 nominal motor current P105 maximum permitted user set torque P16 Static monitoring This executes triple monitoring Unit monitoring Using the unit specific time constant Tc a current greater than lunom 15 permitted for a specific period E53 then switches the unit off Motor monitoring Using the time constant Ty a current greater than 1 1 IMnom is permitted for a specified period E53 then switches the unit off is set so that the pulse current P107 can flow for the period set in P108 Final stage short circuit monitoring Absolute monitoring to 1 5 lup 222 Error handling and error messages 10 4 Error handling and error messages All errors are indicated by messages on the front plate error LED An error number EXX appears in the display You can modify parameters when an error message is present When you have rectified the cause of the error acknowledge the error using Enter Quit or by switching the unit on again Power on When the LED error turns off COMPAX is ready for operation Switch off COMPAX if you are exp
280. relevant parameter Configuration Positioning and control functions Example 04 to O16 should be influenced by the OUTPUT WORD command O1 O2 and O3 should be available via OUTPUT Ox y 8 O4 16 O5 32 O6 64 O7 128 O8 248 When P223 248 and P224 255 total of all valencies you will obtain this setting Optimization functions 8 6 1 3 COMPAX virtual inputs COMPAX provides 48 logic inputs These are divided into einputs I1 16 which are actuated via the physical inputs e virtual inputs 117 132 which are activated via a fieldbus object CPX STW e virtual inputs 133 148 which are activated a COMPAX command OUTPUT O33 OUTPUT 048 or abbreviated OT O33 OT 048 Access to COMPAX control functions Access to COMPAX control functions functions which are allocated to inputs 11 116 by default can be configured via parameters P221 and P222 see structural diagram on the right The allocation of the bits in P221 and P222 respectively to the relevant inputs can be found in the parameter description lan o 2 Os o0 Parameter 35 Counting starts at 1 145 Error list Operating Instructions COMPAX M 5 Digital inputs and outputs COMPAX iol Structural diagram Access to Logical inputs contro Pm functions COMPAX control functions via 0 for
281. ror list hardware control functions functions options Accessories and options COMPAX M S 9 5 Data interfaces Use the RS232 interface fitted as standard in COMPAX to connect COMPAX with a PC or terminal This can then be used to operate COMPAX The SSK1 interface cable is available as a connecting cable for available lengths see Page 9 5 2 Bus systems 178 The bus systems are options which you can select to use or not They require an additional board to be fitted in COMPAX The connection is located on the mains module or in COMPAX S and COMPAX 35XXM directly on the unit The controllers connected to the mains module or COMPAX 35XXM are already connected via the flatband cable available in the system network 9 5 2 1 Interbus S Option F2 You will find an object directory in the special documentation The connection arrangement is based on the specifications of 2 conductor remote bus 9 5 22 RS485 Option F1 F5 The RS485 interface is described in the special documentation 2 different options are available F1 wire RS485F5 2 wire RS485 9 5 2 3 Profibus option F3 The Profibus is described in the special documentation Functions L2 DP and FMS 1 5M Baud Communication with Simatic S7 is supported by special function modules 9 5 2 4 CAN Bus Option FA The Profibus is described in the special documentation Functions BasicCAN eup to 1M Baud C
282. ry inputs and outputs for this process These can be divided into four data lines BCD format and one control line Functions Direct commands available Absolute and relative positioning commands POSR Specification of acceleration time and velocity ACCEL SPEED Password enabling or modifying data record indicator GOTO Queries of status 51 512 actual values Modifying parameters P1 P49 with defined parameter acceptance VP Activation The PLC 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 Inputoutput Meaning gt 07 011 are no longer available for the OUTPUT command The GOSUB EXT and GOTO EXT commands are no longer permitted when P18 1 Instead use the GOTO command Each transfer begins with the start letter E and ends with the end letter F In between them is the command This consists of two BCD numbers called function code for the command type and of numerical values for position velocity acceleration time etc The numerical values can contain special figures Figure BCD coded D 1101 Negative prefix 0 0000 Positive prefix C 1100 Decimal point A 710107 gt Use status S29 to e g track the interface data via the front plate display 156 J 30 inter
283. s B f 8 x bus Weel systems 2162 20 3 5 52 X5 IN S e lt NEC X7 OUT X4 ballast z resistance A X13 9o 9o encoder e s E 9 99 X1 motor X12 5 55 HE 5 u motor brake resolver 2 B 9 oO gt 8 2 Q H X19 in output 92 o9 amp o 2o Z x 26 amp self o 5 M 2 25 X2 230V AC Oo supply Parker PE connection Before wiring up always de energize the unit Even once the mains supply has been switched off dangerous levels of voltage can remain in the system for up to 5 min When working with motors without a holding brake the brake lines N must not be connected to COMPAX Caution If the unit has no control voltage displays will not indicate if operating voltage is present PE terminal at least 2 5mm LED display The following statuses are shown by the LEDs Status Red LED H2 Green LED H1 24V not available off off 24V are switched on boot up Unit OFF blinking Unit error drive switched off blinking Unit error drive powered Unit RUNNING 40 HAUSER _Comax 100051 Unit characteristics Connector and terminal assignment for COMPAX 1000SL Unit wiring COMPAX xe Jo pu _ 24V control voltage N 24 V DC Input oe RS232 00000 0000 Limit Switch 5 066 000000 0000 9000 Je ef 1000SL
284. s present 25 Unit hardware Status Accessories Interfaces Optimization Positioning and Configuration Technical data Connector assignment cable Parameter Error list control functions functions options Start up manual COMPAX M S 7 4 COMPAX 35XXS unit features The 35 kW servo control COMPAX 35XXM a performance upgrade to the COMPAX family Compact unit with output currents of 50 pe 100 aeft lt 55 with integrated power unit Additional COMPAX M controllers of up to 15 KW can be arranged in rows 7 4 4 Plug and connection assignment COMPAX 35XXM O COMPAX M E EM 5 Emm e Mus Bus systems s SENE fae X7 OUT eater X5 IN e X6 RS232 X19 Control E X8 X10 In E Output X9 Test al X13 wp 4 7 X11 Control Encoder X14 X15 X12 HEDA Resolv x X17 Initiators gt UU ere X16 Absolute encoder Before wiring up always de energize the unit Even once the mains supply has been switched off dangerous levels of voltage can remain in the system for up to 5 min When working with motors without a holding brake the brake lines must not be connected to COMPAX Caution If the unit has no control voltage no displays will indicate that operating voltage is present 26 35X
285. s may occur if the unit is employed incorrectly or for improper use Energized moving or rotating parts can cause fatal injury to the user cause material damage Proper use This unit is designed for use in high voltage units VDE0160 This unit automates motion processes The ability to switch several units at once makes it possible to combine several motion processes Reciprocal interlocks must be installed in such cases 3 2 Safe working practices The unit must be operated by skilled staff only When used in this manual the term trained staff refers to people who e due to their training experience and knowledge of current standards guidelines accident prevention regulations and operating conditions have received authorization from the head of health and safety at the site to perform the necessary activities while recognizing and avoiding any associated dangers definition of personnel as per VDE105 or IEC364 are familiar with first aid and the on site safety equipment have read and observed the safety instructions have read and observed the User Guide or the section which applies to the tasks to be executed This applies to all tasks relating to set up start up configuration programming and modification of the operating conditions operating modes and maintenance Please note in particular the functions contained in the start up manual relating to operational readiness and emergency stop The User G
286. s 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 Maximum travel in motor revolutions 250 000 62 500 31 250 15 625 ____ 1125000 In continuous mode this limitation applies to single command 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 Sine commuted motors sinusoidal EMC Resolver SinCos see start up manual under Technical data on Page 64 C The nominal currents of the motors and units must be adapted If you are using nominal currents which are smaller in relation to the unit nominal current current recording will be less accurate Parameter P94 P94 1 Simplest time oriented function not smooth vi tx Current requirement 1 times 75 Configuration Technical data Connector assignment cable Positioning and Optimization n c Accessories Parameter Error list hardware control functions functions options Operating Instructions COMPAX M S Configuration parameters smoot
287. sition can be found in Status 512 Supported absolute value sensors The following Stegmann absolute value sensors types are supported AG100MS GRAY 4096 4096 or AG626XSR 4096 4096 Supply voltage 24V 10 Sensing code grey code single step Direction of counting in clockwise direction when looking at the shaft rising Data interface RS422 24 bit data format starting with MSB Cycle frequency 100 kHz Enable absolute value sensor input When using equipped A1 option if this is not already being executed by HAUSER the absolute value sensor input is enabled using parameter P206 Meaning P206 1 absolute value sensor input enabled 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 gt Further information on the value range of S12 can be found on Page 79 9 6 3 High resolution SinCos sensor system S1 S2 COMPAX uses option S1 to support the high resolution optical motor position recording process via the Stegmann SinCos sensor system as a substitute for the motor position recording via resolver SinCos single turn Type SRS50 SinCos multi turn Type SRM50 A SinCos sensor provides the following improvements Better concentricity Position recorded with greater absolute accuracy Resolver 0 25
288. sition overshoot max position overshoot uw max intermediate voltage Square of peak motor current 134 t gt You will find a complete status list on PageDo7 Reference value 80 000A The maximum peak current of a motor phase is continually determined once COMPAX is switched on and this is stored as status 513 or 514 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 513 P233 56 as an example nex 813 80000A Use the effective value l I max eff J2 to calculate the peak load within the motor cycle If this value rises to 1 5 times the peak current of the system error E41 is triggered You will find more detailed explanations on the limiting characteristics of COMPAX on Page AUS Optimization functions You will find the meanings of the DA monitor values on Page 52 Optimization display Access to additional parameters via S13 and S14 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 19 HEDA control word Bit 3p Transmission error COMPAX IPM Bit8 fast start via HEDA 20 HEDA status word Bit
289. smission and coupling 0 00 000 20000 vc pas Ratio roo 1 0000000 100 0000000 VC C translational messmowd e o bo v P92 Min translational mass moved k jo ____ General drive drive type P80 16 Min total moment of inertia kgmm2 Jmax 82 VC Minin amp P12 With linear motors P81 1000 2 e II 215 z g U 1 0000000 a 5 3 3 3 vc vc vc vc vc vc vc 8 lt O O Configuration Technical data Connector assignment cable Positioning and Optimization n o c Accessories Parameter Error List hardware control functions functions options Appendix COMPAX M S COMPAX standard parameters Default Maximum Valid value value from Max total moment of inertia kgmm2 200 000 P126 With linear motors P82 qum 2 Travel per motor revolution umor 10 4 000 000um With linear motors P83 P126 IDE 65 536 Unit for travel 0 increments 14 mm 2 inch P93 Operating mode normal mode Continuous mode speed control mode Ramp shape linear 2 smooth 3 quadratic Transmission factor for the reset route of 52 E Je option 0 no reset function al ol AI cd bial Bil Valid Motor selection 100 Motor number Motor selection P101 Number of terminals A S Wc N
290. start search direction during find machine zero shifts the actual machine zero in the direction of the clockwise rotating motor 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 definition P212 0 operating mode with reversing initiators i e with 3 initiators P217 0 operating mode without end initiators 11 and 12 act as reversing initiators during Find machine zero P216 0 the 11 initiator is started by the clockwise rotating motor P3 positive when P3 negative reverses start search direction gear doesn t change direction clockwise rotating motor the direction E2 MN E1 80 AUS R Configuration 1 Real zero Movement process during find machine zero depends on start point Machine zero mode The position reference for positioning process is real zero this can be freely defined over the entire displacement area Real zero is defined with reference to machine zero value at P1 real zero pe M a P12 real zero P11 machine zero E2 E1 9 Teverse initiator jesolver resolver resolver reverse initiator am
291. t hardware functions options Operating Instructions COMPAX M S Speed monitoring in speed control mode P93 4 8 4 33 Speed monitoring in speed control mode P93z 4 There are 2 settings for O5 Position reached which are set with P227 POSA P P227 pi 4 1P7 Meaning function O5 toggles when speed is reached O5 toggles after every new speed definition when speed is SPEED ACCEL reached P227 bit 4 0 P1450 small 05 1 nominal value reached and lt P14 values O5 1 if set point generator has finished the ramp and the SPEED small in comparison Speed difference is smaller than P14 mE with changes i after 5 1 the speed difference is again greater than P14 Mark o then O5 0 until the difference is again less than P14 reference P14 gt P15 05 1 nominal value reached independent of P14 on large in comparison 95 4 as soon as the set point generator has reached the set speed and stays at 1 until the next speed change POSR OM3 OUTPUT Functional description controller Special features In speed control mode P14 is given as a percentage of the set speed p x 9 GOTO in speed control In addition the speed is checked against the speed tolerance defined in P13 mode P13 is defined in speed control mode as a percentage of the set speed and is an ee absolute limit RETURN Speed difference gt P13 error E10 is triggered When P13
292. t O2 z 1 No warning Bl 0 error gt E58 Output OS Programmed set point reached Output O6 Idle after stop Output O7 Freely assignable in the standard unit 1 Output O8 gt The SHIFT signal 11 must be assigned before or at the same time as the relevant input QOLSLVLELCLILOL6 8 2 9 S v C 1 1 1 14 1 1 2 3 5 6 Assignment of X10 Input Output Connector Phoenix MC1 5 16 ST x 6 Input 14 8 InputM6 9 Output O9 _ assignable in the standard unit 10 O Output O16 gt Note the assignment for unit variants and for special functions QLSLVLELCLILOL6 82 9 S v C HHHOHHOHHHHHHHHH 52 HAUSER Interfaces 7 9 2 Digital inputs and outputs for 1000SL Assignment X19 for COMPAX 1000SL COMPAX 1000SL physically has 8 digital inputs and 8 digital outputs which are assigned to connector X19 COMPAX internally has 16 logic inputs and 16 logic outputs some of which have functions assigned to them This means that not all logic inputs and outputs can be interrogated or output via physical inputs and outputs In order to enable flexible assignment a matrix was created for input and
293. t 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 module In accordance with the safety chain described above this input must be activated to power the motors This occurs either via an external contact between X8 9 5 and X8 9 6 as is shown in the figure below or by applying voltage of between 15V and 24V to the input X8 9 6 against GND X8 9 2 If the contact is opened or the voltage is removed from X8 9 6 or routed to GND24V the emergency stop sequence is processed e g all motors of the connected drive controller are decelerated and switched off no torque on the motor shaft the ready contact drops Emergency stop e After an emergency stop error E55 even in OFF status and 1 0 The current characteristics command is interrupted controller brakes the motor P10 braking time from 100 speed to 0 e When at a standstill the controller is switched off and any idle holding brake is closed Once the problem has been rectified E55 must be acknowledged e The current command is continued after START Emergency stop X8 and ready on COMPAX S X9 connector Connectors Phoenix Pin Assignment MC1 5 7 ST 3 81 6 Emergency stop input activated by 15V 24V _______ TEDATA
294. t 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 NOO8 and NO15 231 Application examples COMPAX M S Speed step profiling comparator switching points Programming Configuration P93 1 i e normal operating mode absolute and relative positioning P94 1 linear ramp shape SPEED 100 corresponds to 100 mm s Names of the inputs and outputs bore spindle 0 gt off 1 gt on O8 conveyor belt 0 block 1 gt release List of programs N001 ACCEL 200 sets the acceleration and braking ramps N002 SPEED 100 torinese sets the speed N003 Q tnter approaches idle position N004 OUTPUT 7 0 bore spindle off N005 OUTPUT 08 1 conveyor belt release Wait for Start iterata mark NO06 WAIT waits for start pulse NO07 SPEED 100 sets starts speed to 100 N008 POSR 25 OUTPUT 8 0 sets the comparator point of the Block conveyor belt N009 POSR 100 OUTPUT O721 sets the comparator point of the Switch on bore spindle N010 POSR 120 SPEED 10
295. te loop LJ power connections X3 24V control voltage X4 control and status signals bus signals or short circuit plug Configuration X5 control and status signal bus signals input o 5 9 Pe 95 X6 5232 E a8 X8 Input Output X10 Input Output On NS Ee ed X9 Test X11 Control X12 resolver 2 X13 Encoder X14 HEDA te z7 X15 HEDA X16 absolute X17 initiators encoder X18 fan Interfaces Accessories Before wiring up always de energize the unit Even once the mains supply has been switched off dangerous levels of voltage can remain in the system for up to 5 min Meaning of LEDs on Meaning when switched on front plate 24V DC present and initialization complete COMPAX fault I1 E56 present Parameter 17 Error list Start up manual COMPAX M S 7 2 2 system network NMD10 NMD20 mains module A COMPAX M drive system consists of one mains module and one or more drive controllers The units are coupled with one another with flatband cables see below These are arranged behind the front plate cover of the power unit and the drive controller The power unit converts mains power up to 3 500V AC into DC current for the intermediate circuit The two connectors for connection to the bus systems are located on the front plate of the po
296. ternal brake control ZN 33V stop EM brake m within 0 47uF xz 33V motor BR O e e These protective measures are available in COMPAX M COMPAX 45XXS COMPAX 85XXS for applications without external brake control In COMPAX 25XXS X1 7 and X1 8 and in COMPAX 35XXM X23 bridge 2 connections are available for connecting the external contact These connections are already bridged in the connector when supplied External protective measures are not required for COMPAX 25XXS and COMPAX 35XXM External contact connection The bridge is removed and is replaced by connecting an external contact 51 Unit hardware Configuration Technical data Connector assignment cable Positioning and control functions Parameter Status Accessories Interfaces Optimization Error list functions options Start up manual COMPAX M S Digital inputs and outputs excluding COMPAX 1000SL 7 9 Interfaces 7 9 4 Digital inputs and outputs excluding COMPAX 1000SL The inputs and outputs have PLC voltage levels High signal 24V DC Assignment of X8 Input Output Pen 5 Input I5 Start Input 16 Stop interrupt Break breaks off data record data record 7 __ 17 Freely assignable in the standard unit Input 18 Output O1 z 1 No fault 0 errors E1 E58 the drive does not accept any positioning commands After Power on O1 remains at O until after the self test 10 Outpu
297. ters are output as analogue voltage 10V via two 8 bit channels or optionally 12 bit channels 8 1 2 Password protection Deactivate password protection activate password protection Protected parameters Note 70 COMPAX contains password protection to prevent unwanted data manipulation Before you configure COMPAX or set your parameters you must enable these functions with a password When the axis is at standstill proceed as follows to enable and block transmit GOTO 302 to COMPAX switch the unit off or transmit GOTO 270 to COMPAX All parameters except P40 P49 are protected by password C The COMPAX program is not protected by a password Conditions for password input There must not be any programs running AUS ER Configuration Front plate operation not available with COMPAX 1000SL 8 2 Configuration Connector 8 2 1 Front plate operation not available with COMPAX 1000SL Querying status values and modifying the bus parameters Meaning of the bus parameters Acknowledging error messages 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 4 modes lt B gt call smaller Status
298. the Idle monitor function tely outputs Bit 4 0 O5 is assigned the default function position reached with P224 Assign outputs O9 Output valency Bit No O9 1 1 e O10 2 2 O11 4 3 O12 8 4 immedia O16 to the 013 16 5 O14 32 6 O15 64 7 O16 128 8 tely OUTPUT WORDE 2 P224 sum of valencies of the OUTPUT WORD outputs evaluation of P14 Bit 4 1 is assigned with the O5 toggles when position reached function P229 Speed threshold for Idle display function only 9 o 255 VP switched on if P227 bit 1 1 VP P232 Function 111 0 111 can be freely assigned With external position adjustment switched on P7520 4 11 switches the external position adjustment 111 0 off and 111 1 switched on 1060 70SL With analogue 10V interface 4 11 has the function Enable analogue input 111 0 Setpoint 0 111 1 analogue input active P233 Setting the optimization display 13 1 255 tely P234 Setting the optimization display 14 1 255 tely 62 OUTPUT WORD command is available with bus systems 63 Bit counting starts with Bit 220 Default Maximum Valid value value 243 HEDA operation 0 single axis when P250 0 or slave on IPM P250 1 mode 1 COMPAX as master d COMPAX as slave on a master P245 Assign outputs O1 Output valency Bit 1 1
299. the generally available signal interface either as encoder input or as encoder emulation See page 61 179 Positioning and Configuration Technical data Optimization n c Accessories Parameter Error list hardware control functions functions options Accessories and options COMPAX M S Encoder module Encoder input module with line terminator for Not for COMPAX 1000SL and accessories individual connections not for creating an With COMPAX 1000SL the encoder bus signal interface usually E3 Encoder emulation present can be configured Encoder input module without line terminator either as an encoder input or for creating an encoder bus encoder simulation see Page 4 01 Encoder distributor for creating an encoder bus Design 2 g Depth 40 mm without mating connector The module is engaged on the terminal bus bar CRS SSK4 Connector cable between COMPAX and encoder distributor 55 17 Connector cable between COMPAX 1000SL encoder emulation COMPAX Assignment of Channeli Channel2 EAM4 01 pin XzOUT X4 OUT corresp X13 1 sereen screen Screen Screen Applications with encoder Encoder COMPAX connections Cable GBK 11 Encoder input module E2 with line terminator or for COMPAX 1000SL Configured as encoder input P144 4 P146 0 a
300. the reset function of option S2 absolute value sensor Disable and modify the Teach In function 0 Also 1 enable final stage with OUTPUT O0 0 without Wom lag Bit 2 1 3 4 7 The final stage is enabled with Machine zero mode 0 4 n Settings 3 and 4 with COMPAX XX00 and COMPAX XX30 only 6 7 8 motor 3 255 revol 1 absolute value sensor input enabled or 2 absolute value sensor enabled encoder coupling for encoder input signals P184 40 encoder coupling for other input signals P184z40 internal time base scaled master position Read only Read only parameter parameter reset function switched on S2 opt E SS The teach data record and teach real zero functions are enabled Teach in real zero is blocked data record indicator is set to 1 using 11 14 Teach in set is blocked data record indicator is set to 1 using 11 15 Teach real zero is enabled The teach data record and teach in real zero functions are blocked With 11 14 Teach N 11 15 the data record indicator is set to 1 immedia tely OUTPUT 00 0 without lag P MZ equals external initiator amp resolver immedia zero 2 reversing initiators tely MZ equals external initiator amp resolver zero MZ equals external zero pulse MZ equals external initiator amp external zero pulse MZ equals resolver zero reserved
301. tion is reached later 127 Configuration Technical data Connector assignment cable Positioning and Optimization n o T o c Accessories Parameter Error list hardware control functions unctions options Operatin Instructions COMPAX M S Optimization parameters Main effect P24 damping of drive Increase damping Reduce damping Main effect P56 D section rpm controller P57 Lag D section rpm controller P58 Lag rpm filter P27 moment of inertia Note 128 P23 100 23 gt 100 __ reference value actual value P23 lt 100 gt Damping influences the height of the harmonies and reduces the vibrations Nominal value 100 Range 0 500 Harmonies become smaller The drive vibrates at high frequency from a specific value The harmonies of the actual value increase and it vibrates longer around the nominal value The drive vibrates permanently from a specific value value actual value P24 100 T P56 D section rpm controller Nominal value 0 Range 0 500 The D section should generally be set for elastically coupled double mass systems These are systems in which the connection between the motor and the load is not rigid It must be noted here that with sufficiently high torques being transmitted even supposedly rigid connections can become elastic P57 Lag D section rpm controller Nomin
302. tion material HPLA 80mm 120mm 180mm edge length ask for information material Initiator equipment IVD41 Initiator distr connect w cables of the f lengths m 2 5 5 7 5 10 12 5 15 20 25 30 35 40 45 50 PNP induction proximity switch IN HE 521 506 with 6m cable Accessories BDF2 01 Hand held terminal for configuring and operating COMPAX BDF1 03 External control panel with housing and without cable BDF1 02 External control panel for front plate installation without cable SSK6 Interface cable between contr panel and COMPAX av in the following lengths 2 5 5 7 5 10 12 5 in m SSU1 01 COMPAX motor cable for disposing of SinCos Issk1 RS 232 Interface cable for PC COMPAX available in the following lengths 2 5 5 7 5 10 in m Ballast resistors PO COMPAX 1000SL BRM8 01 60W 1000 AC power filter NMD10 45XXS 85XXS NFI01 02 COMPAX 25XXS NFI01 01 or 101 06 lt 10m motor cable COMPAX 35XXM NFIO1 04 or 101 05 with additional COMPAX M NMD20 NF101 03 1000SL 101 01 lt 50m motor cable 101 02 gt 50m motor cable Motor outp throttle For motor lines gt 20m 1 01 16A 2mH e MDRO01 02 30A 1 1mH e MDRO1 03 gt 30A 0 64mH Ass angle bracket MTS2 for indirect wall installation heat sink in separate heat chamber of COMPAX 02 05 15XXM Fan set NMD10 and NMD20 to increase max brake performance To read and write COMP
303. tion t 1000 900 800 700 600 500 400 300 200 100 0 100 200 300 400 500 600 700 800 900 1000 t absolute position A8 P 9 o AT ki o o lt Diagram of example using POSA 1000 as positioning POSA 1000 starting position 7 900 500 300 150 150 300 500 900 position relative to starting positionen 1000 900 800 700 600 500 400 300 200 100 0 100 200 300 400 500 600 700 800 900 1000 T T T T T T T T T T T T T T T T absolute position T_T L1 Parameter 103 Error list Operating Instructions COMPAX M S Cam controller with compensation for switching delays 8 4 15 Cam controller with compensation for switching delays With the function Cam controller you can switch 4 actuators switch elements m dependent on position POSR SPEED Function of the The switching positions are fixed positions within the positioning range cam controller The reference value for the switching positions can be selected from ACCEL ET the position actual value S1 or OUTPUT the position set point or the absolute value S12 e The switching delay of the actuators is compensated for dependent on the speed Password SPEED SING Outputs of the cam Outputs O9 012 Mark controller reference Parametrization of Parametrization occurs via variables in the range V50 V70 POSR the cam controller Contents sta
304. tor override Override connection Override Connection for COMPAX 1000SL Note Assignment of X11 not applicable for COMPAX 1000SL Connector Phoenix Pin Assignment O O 00 0 MC1 5 7 ST 3 81 Ground 24V 3 Override for speed reduction Standard DA channel 2 8 Bit Ri 2 21kQ Standard DA channel 3 8 Bit Ri 2 21kQ 6 Override previous input for existing applications 7 Screen With COMPAX 1000SL the override input is on X19 13 see 53 the Service D A monitors on X17 1 und X17 2 see Page b5 not applicable for COMPAX 1000SL COMPAX Override Signal gt The override input is read in a cycle of 100 ms You can continue to use the previous override connection for current applications COMPAX 1000SL 100 Override Signal 0 10KQ a 100nF aN gt X19 14 gt The override input is read in a cycle of 100 ms Wiring of override with screened cables only 7 9 6 Service D A monitor 56 The service D A monitor gives you the option of outputting internal measurement and intermediate parameters from COMPAX in the form of analogue voltage in the range of 10V via X11 X17 with COMPAX 1000SL and visualizing these by means of an oscilloscope This provides you with a capable aid for making the unit functions clear and qualifiable especially during the start up This functi
305. ts O7 O11 POSA POSR SPEED ACCEL GOTO VP modifying parameters P1 P49 querying status 51 512 Function not available with the 1000SL All functions are available via RS232 All functions are available via the bus interface Interbus S Profibus CAN bus CANOpen CS31 or 5485 ASCII binary with 2 or 4 wires A description is available as a separate item Inputs 11 16 control functions or freely assignable I7 116 freely assignable or programmable Outputs O1 O6 control outputs or freely assignable 07 016 freely assignable or programmable The status can be queried via the PLC 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 systems Via the uncoupled stiffness damping and advance control parameters Replacement 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 control loops Automatic calcu
306. tting applies for this standard reference system end or reversing initiators one machine zero initiator at the end of the displacement area P212 1 P217 0 P216 0 You will find other options for defining a reference system in the next chapter Specify the software end limits of the displacement area by using parameters P11 and P12 Each time a positioning command is issued COMPAX checks whether the target is within the travel distance If this is not the case error E25 is reported C When working in continuous mode these limits always apply for the current positioning process Range 4 000 000 units corresp P90 Range 4 000 000 units corresp P90 Absolute positioning commands refer to RZ RZ is specified relative to machine zero P1 must be set to 0 in continuous mode Range 4 000 000 units corresp P90 P215 establishes the positive direction of travel positive end of displacement area referenced to the motor direction of rotation P215 0 the motor is turning clockwise when traveling in the positive direction P215z 1 the motor is turning anti clockwise when traveling in the positive direction Clockwise means 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 must be modified gt P215 has no influence on the setting of the machine zero direction P213 if it has the s
307. uare of the scaled resolver level sin cos reference value 1 0 0 25 E42 level error 161 21 0 gt E42 limit error 160 60 Sensordesignation SinCos Cd 1st cyclic channel of S1 position 100us reference 27 revol 65 Absolute value from S2 option in format 12 12 limited to 0 P96 reference 1 revolution 4096 66 Absolute value from 51 option not limited reference 2 revolutions 68 Option designation SW version number S1 52 option ______ o E 70 ___ oO 45 The peak value is deleted after 24V off on or after shut down of the final stage 1 2 211 Technical data Connector Configuration c D c 2 o Optimization Interfaces Accessories Parameter Error list hardware control functions functions Appendix COMPAX M S VP parameter can be modified On Line 10 3 COMPAX parameter 10 3 1 VP paramete tedan be modified On Line VP parameters can be modified and transferred and the password specified in any COMPAX operating mode Note Note the following points 1 Processor load When parameters are being validated using the VP command the response time and command execution time is temporarily extended due to the increased computing time e g when the parameters are transferred a Stop signal is recognized after a short delay Typical delay times would be range of parameters P1 P7
308. uide must be present at the unit at all times 3 3 Special safety instructions Check the arrangement of unit and documentation Never disconnect the electrical connections when energized safety equipment to ensure that moving or rotating parts cannot be touched Ensure that the unit is in perfect working order before operation Include the operational readiness and emergency stop functions of the unit see start up manual in the safety and emergency stop functions of your machine Only operate unit with the front cover attached Ensure mains module has sufficient nominal and peak power ratings Ensure that the unit arrangement enables the units with higher power ratings to be fitted more closely to the power unit than the units with lower ratings Ensure that motors and linear drive units if available are sufficiently secured Ensure that all energized connectors cannot be touched The unit carries voltages ratings of up to 750V which could fatally injure the operator Please mind the limits of the mechanical equipment connected 3 4 Conditions of warranty The unit must not be opened Do make any alterations to the unit except for those described in the User Guide Only activate inputs outputs and interfaces as described in the User Guide e When installing units ensure that the heat sinks receive sufficient ventilation Secure
309. units as per the assembly instructions contained in the start up manual using the securing bores provided for this purpose We cannot assume any responsibility for any other methods used for securing the units Note on option exchange In order to check hardware and software compatibility it is necessary for COMPAX options to be changed at the factory 4 COMPAX CD On the accompanying CD you will find all instructions for COMPAX and the operating software ServoManager Once the CD is inserted in a Windows computer the HTML desktop default htm is normally automatically started if an Internet browser is present If you do not have an Internet browser on your computer please install a version the software is usually available to download free of charge If the desktop does not start automatically please execute the file default htm e g by double clicking on the file or via Start Run The default htm file is located directly on the CD not in the sub directory Use Language selection top right in window to select the language required Follow the CD instructions shown on the window in the center of the screen Use the list on the left hand side to select the required instructions or software 5 Switch on status 5 1 Configuration when supplied When supplied COMPAX is not configured Parameter P149 is set to 0 P149 0 is not configured and switches to OFF mode when switched on 24V
310. upplied eie ted 72 Connections to the drive 46 Connector and connection assignment 25XXS 30 Connector assignment 25XXS 34 21 etes 23 Connector assignment COMPAX 1000SL 42 Connector assignment X13 for COMPAX 1000SE 61 Continuous mode 74 point of real zero 78 Control nte 147 Control voltage 64 207 178 Current data record 207 Current nominal value 208 Current requirement 75 es 64 Currents with linear motor LXR 176 Curve memory 113 D A Monitor 01 58 D A monitor 56 D A monitor D1 185 Damping P24 128 Data format 160 Data security 6 Define encoder interfaces 212 Delta mains 66 Diagnosis values 207 Digital inputs Triggering functions 150 Digital inputs and outputs Assignment 138 Dimensions COMPAX 100051 43 Dimensions installation COMPAX 25XXS 33 20 NMD nmm 22 Direct command entry conditions 162 Direction of rot
311. us processing of individual controller time slices HEDA The master operating mode 1 transmits 2 synchronization words to the slave axes enabling them to synchronize The slave axes operating mode 2 synchronize automatically No response is transmitted from the slave axes to the master The master only transmits to axis address 1 Therefore all slaves must also be set to address 1 250 1 Acyclic communication between master and slave is not possible Variant support COMPAX XXO00 as slave to transmit Fast start or as master COMPAX XX60 as master or slave not when P212 3 and P212 4 COMPAX XX70 as master or slave only when P31 9 or 0 Physical limits 16 participants in the master passive slave operating mode and max 50m cable length Hardware The units must be fitted with the O1 A4 COMPAX 1000SL option There must be requirements a terminating connector bus 2 01 on the last slave parameters No from value HEDA operating mode Assgn outputs O1 O8 to the HEDA bus imme diately Assgn outputs O9 016 to the HEDA bus imme diately Max average transmission errors Max transmission errors 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 petra eel ieee relevant single axis 9 Slave on IPMP9 Coupled operation and acyclic via HEDA communication
312. vailable with COMPAX 1000SL Only in COMPAX Option E7 Analogue speed specification is available with COMPAX XX6X and XX6X Electronic transmissions and COMPAX XX70 Cam controller COMPAX XX70 Exception In addition E7 can be used with COMPAX to implement an external speed specification with the command SPEED SYNC see Page The Encoder input option E2 or E4 cannot be used at the same time as E7 Using option E7 you can specify a nominal speed value via connector X13 as analogue voltage in the range 10V to 10V Use 2 digital inputs PLC level to define a nominal speed value of 0 and to initiate a change in the rotational direction Configuration following configuration data must therefore be assigned permanent values P80 16 general drive P90 1 mm unit P83 100000 um 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 required speed directly in P98 in min when input voltage is 10V Accuracy Linearity error 196 Amplification error 596 you can compensate for these with P98 Offset 15 mV Temperature drift 100 ppm K Connector X13 Connection Pin X13 or COMPAX Circuit proposal assignment
313. ven after 12 0 A new rising flank will be required for Quit 14 If a program is interrupted by STOP when START is present I5 the program is then continued using 16 0 STOP is deactivated For sure detection the signals must be present for gt 1ms Input I1 e Switches to the functions for inputs 12 to 16 Signal 11 may only change if I2 16 0 Input 1213 Processes the axis in manual mode velocity P5 ramp time P9 Conditions for manual procedure The axis must be stationary and powered There must not be any programs running exception program is at WAIT START When the end limits are reached P11 P12 the drive is stopped 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 Acknowledges an error message or warning If the error is rectified O1 No fault or O2 No warning is set e The following functions are possible when there is an error present VC Quit OUTPUT O0 GOTO data record indicator password 148 HAVYSESR 3 35 Interfaces Digital inputs and outputs START Note Starts the program data record at WAIT Temporal course of a start sequence START after Power On and after STOP Performs the next data records commands before the next WAIT START command an END instruction or a STOP or BREAK signal 4 ready fo
314. vidual unit variants COMPAX XX50M When the PLC data interface is activated the commands GOTO EXT and GOSUB POSR EXT are blocked SPEED Mark reference POSR OUTPUT Cam anedier IF ERROR To influence the error reactions WAIT GOSUB Syntax IF ERROR GOSUB xxx GOSUB This instruction can only be programmed as normal IF instructions in the program Use this instruction to define the program procedure when an error status occurs 8 4 28 Error handling IF ERROR GOSUB RETURN END Note The error sub program is called up with a delay by P17 brake delay When performing a WAIT START COMPAX does not branch into the error sub program REPEAT if an error occurs m Function Normally an error in the COMPAX will cause an actively running move to be Comparison interrupted Depending on the type of error the drive is switched off The program WAIT SEM is however stopped no matter what the error type The instruction IF ERROR GOSUB xxx allows you to e g set the outputs to 30197 defined statuses when an error occurs SOSUBIERI If such an instruction has been run once in the program and then an error later IF Error occurs Stop the current move is interrupted T eif necessary the axis is depending on the error switched off and ethe Error program which has been programmed from program number xxx is lite executed monitoring idle display Priority The error program has priority over the stop program
315. wer unit The connection assignment complies with the specifications for 2 cable remote bus The 24V DC control voltage required by the system network is supplied from the power unit A connector terminal on the front of the power unit is used for connecting the control and status signals EMERGENCY STOP readiness which you can incorporate in the control of the entire system These signals and the bus lines are connected internally via a preformed doublesided flatband cable These cables are included with the drive controller The connectors which receive these connection cables are housed under the front plate cover of the mains module and the drive controller Short circuit Attach a short circuit connector to the outgoing connector on the drive controller connectors that is furthest away from the mains module The short circuit connector order No 102 908000 is included with the mains module Installation arrangement Before wiring up always de energize the unit Even once the mains supply has been switched off dangerous levels of voltage can remain in the system for up to 5 min Wiring up the The wires required for creating the system network are included in the delivery system network Open the front cover upper section of front side by loosening the top right knurled screw and wire up the following 24V DC voltage supply PE and DC current Emergency stop ready and bus signals with a terminating connector on the
316. y If this travel operation is executed correctly then P15 and P16 can be reset to their original values The following faults may occur e The drive does not remain at standstill when switched on or e the drive runs out of control after the start command In both cases either error E10 or error E54 is triggered If error E54 occurs the drive is switched off A possible cause of the error is incorrect wiring in the motor or resolver systems 73 Configuration Technical data Connector assignment cable Positioning and Optimization n c Accessories Parameter Error list hardware control functions functions options Operating Instructions COMPAX M S Configuration parameters 8 2 5 Configuration parameters Operating mode Normal mode Continuous mode Speed controller Unit for travel data mm Inch Increments Parameter P93 valid from next move command P93 1 Positioning processes refer to real zero To set the reference use the Find machine zero function Input 11 1 and 12 1 see Page once the system is switched on Various machine zero modes are described from Page 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 use the Increments measurement units in continuous mode se

Parasound HCA-1500A Stereo Amplifier User Manual

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