Parker COMPAX 02 Series User Manual Download

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Configuration

Configuration parameters

Unit

hardware

Connector

assignment / cable

Technical data

Configuration

Positioning and

control functions

Optimization

functions

Interfaces

Accessories /

options

Status

Parameter

Error list

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
pinion (P82)

Tooth pitch
(P83)

10mm

20mm

10mm

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 ... 4 000 000µm
or 16 ... 65 536 increments.

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: 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

Summary of Contents for COMPAX 02 Series

Page 1: ...e m o t i o n DIN EN ISO 9001 C E R T I F I E D Q U A L I T Y S Y S T E M Reg Nr 36 38 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 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 ...

Page 2: ...onents required 14 7 1 2 Overview of unit technology 15 7 2 COMPAX M unit features 17 7 2 1 Connector and terminal assignment 17 7 2 2 COMPAX M system network NMD10 NMD20 mains module 18 7 2 3 COMPAX M dimensions installation 20 7 2 4 Connector assignment COMPAX M 21 7 3 Mains module NMD10 NMD20 22 7 3 1 Overview NMD 22 7 3 2 Dimensions installation 22 7 3 3 NMD connector assignment 23 7 3 4 Techn...

Page 3: ...Cos 46 7 8 2 Additional brake control 51 7 9 Interfaces 52 7 9 1 Digital inputs and outputs excluding COMPAX 1000SL 52 7 9 2 Digital inputs and outputs for COMPAX 1000SL 53 7 9 3 Technical data Connections of inputs and outputs 54 7 9 4 Initiators and D A monitor 55 7 9 5 Service D A monitor override 56 7 9 6 Service D A monitor 56 7 9 7 D A monitor option D1 58 7 9 8 RS232 interface 59 7 9 9 Abso...

Page 4: ... Changes in speed within a positioning process POSR SPEED 101 8 4 14 Comparators during positioning POSR OUTPUT 103 8 4 15 Cam controller with compensation for switching delays 104 8 4 16 Programmable waiting time WAIT 107 8 4 17 Program jump GOTO 107 8 4 18 Sub program jump GOSUB 107 8 4 19 Instruction to end a sub program RETURN 107 8 4 20 END instruction END 107 8 4 21 Start a program loop REPE...

Page 5: ...ions 162 8 6 3 3 Read and write program sets and parameters 163 8 6 3 4 Binary data transfer using RS232 166 8 6 4 Process coupling using HEDA Option A1 A4 168 9 Accessories and options 173 9 1 System concept 173 9 2 Overview 174 9 3 Motors 176 9 4 HAUSER linear actuators 177 9 5 Data interfaces 178 9 5 1 RS232 178 9 5 2 Bus systems 178 9 5 2 1 Interbus S Option F2 178 9 5 2 2 RS485 Option F1 F5 1...

Page 6: ...ameters 212 10 3 3 Monitoring and limitation characteristics 222 10 4 Error handling and error messages 223 11 Application examples 226 11 1 1 Overview 226 11 1 2 External data record selection 227 11 1 3 Mark referenced positioning 229 11 1 4 Speed step profiling comparator switching points 231 11 1 5 SPEED SYNC 233 11 1 6 Speed control mode 234 11 1 7 Fast start 236 11 1 8 Implementing a torque ...

Page 7: ...l S single axis unit The type plate is located on the upper side of the unit and contains the following equipment name part number serial number option name 038106 0001 951 160101 Compax 0260M E2 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 u...

Page 8: ...nstructions 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...

Page 9: ...ged 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 dow...

Page 10: ... initialization complete Error red COMPAX Error E1 E56 present or COMPAX is initialized Mains module LED red Error LED green Ready Possible errors off on no errors on off Heat sink temperature too high or error in logic voltage 24V DC too low or unit is defective Emergency stop is activated and ready contact is released on on Ballast switching unit overload or undervoltage 100V DC or 80V AC COMPAX...

Page 11: ...49 1 VP and VC are transferred when being downloaded to COMPAX from the ServoManager b Using hand held terminal P149 1 VP and VC are generated by the hand held terminal c Without an auxiliary device e g a terminal P149 1 VP and VC must be transmitted after COMPAX configuration Switch on operating voltage With E57 acknowledge error by pressing Enter When OFF command OUTPUT O0 0 or switch 24V DC on ...

Page 12: ...fer all parameters including system parameters to COMPAX Previous software V2 0 Procedure for copying the complete COMPAX setting onto a new unit Start ServoManager Connect old COMPAX via RS232 Use menu Insert Axis New to set up a new axis Use menu Online Upload to load all COMPAX settings all parameters including system parameters data records and in COMPAX XX70 existing curves into the new axis ...

Page 13: ... with connectors 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 20m a motor output throttle must be used Up to 16A nominal motor current Type MDR01 01 16A 2mH Between 16A and 30A Type MDR01 02 30A 1 1mH Over 30A nominal motor current Type MDR01 03 30A 0 64mH Resolver cable 100m Operati...

Page 14: ...re the following components for a COMPAX application a motor with or without a transmission mains supply emergency stop circuit various cables for connecting components motor cable and resolver cable supply line for voltage supply supply line for 24V DC control voltage hand held terminal or PC with RS232 cable containing the ServoManager program for configuring COMPAX ...

Page 15: ...r 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 COMPAX M 340 400 85 mm Design COMPAX M with NMD mains module Installation in series X6 X7 X8 Ready E rror RS485 IN OUT C o ntro l S ta tu s N um b er X6 X8 X10 E nter Ready E rror RS232 In p u t O u tp u t Test C o ntro l X9 X11 Value D IG ITA L Power Supply COMPAX M...

Page 16: ...Power 1 kVA Supply Up to max 1 3 250V AC integrated power unit Dimensions DxHxW 220 240 130 mm Design S ta tu s N u m b er X6 X8 X10 E n te r Re ady E rro r RS 232 In p u t O u tp u t Te st C o n tro l X9 X11 Value COMPAX S Motion Control Power 2 5 kVA Supply Up to max 3 500V AC integrated power unit Dimensions DxHxW 275 350 125 mm Design X11 X9 Input Output Output Input Test Control X10 X6 X8 RS2...

Page 17: ... Encoder COMPAX M X6 In pu t O u tp u t S ta tus Value E nter Ready E rro r R S 2 3 2 Test C o n tro l X8 X10 X9 X11 N u m b e r X1 motor X5 control and status signal bus signals input X6 RS232 X10 Input Output X11 Control X8 Input Output X9 Test X12 resolver X14 HEDA X16 absolute encoder X18 fan X15 HEDA X17 initiators Before wiring up always de energize the unit Even once the mains supply has be...

Page 18: ... the drive controller that is furthest away from the mains module The short circuit connector order No 102 908000 is included with the mains module Installation arrangement Before wiring up always de energize the unit Even once the mains supply has been switched off dangerous levels of voltage can remain in the system for up to 5 min The wires required for creating the system network are included ...

Page 19: ... 2 black 3 green yellow free black 4 black 5 brake Note the screened connection of the motor cable on the upper unit side Clamp the motor cable with the open place of the screen braid under the ground terminal see figure on the right Only wire up brake in motors which have a holding brake If not do not wire The mains supply and the control voltage supply are provided by the mains module Power supp...

Page 20: ...two 6 mm hex socket head screws 65 The controllers are attached to the mounting plate with the back of the heat sink Indirect wall installation of COMPAX 02XXM COMPAX 05XXM and COMPAX 15XXM and the mains modules NMD10 and NMD20 50 50 82 424 408 S tatu s N um b er X6 X8 X10 Enter Ready E rro r RS232 In pu t O u tp ut Test C o ntrol X9 X11 Value DIGITAL 50 441 5 424 85 50 COMPAX M 294 244 96 mountin...

Page 21: ... X17 6 GND X17 7 Sig MN X17 8 Sig E2 X17 9 Sig E1 X14 15 2 RxC X14 15 3 TxC X14 15 4 RxD X14 15 5 TxD X14 15 6 RxC X14 15 7 TxC X14 15 8 RxD X14 15 9 TxD X16 2 NC X16 3 D X16 4 NC X16 5 GND X16 6 T X16 7 NC X16 8 D X16 9 24V X17 DA monitor initiators X14 X15 HEDA X16 Absolut encoder X13 encoder X12 resolver SinCos X9 X10 input output I9 I16 O9 O16 X8 1 I1 X8 2 I2 X8 3 I3 X8 4 I4 X8 5 I5 X8 6 I6 X8...

Page 22: ...X6 Ready Error X7 IN OUT RS 485 X8 Control Power Supply X8 Control X7 bus systems OUT X4 control and status signals Bus signals continuation X3 control voltage 24 V X2 power inter mediate loop voltage supply 3 80 500 V AC X1 24V CC X6 bus systems IN X18 fan Before wiring up always de energize the unit Even once the mains supply has been switched off dangerous levels of voltage can remain in the sy...

Page 23: ...ds on the bus system Assignment depends on the bus system 7 3 4 Technical data power features NMD Function Generates DC current when run directly off a mains source CE conformity EMC immunity emissions as per EN61800 3 Safety VDE 0160 EN 50178 Output power Nominal power Peak power NMD10 10 kW 20 kW 3s NMD20 20 kW 40 kW 3s Mains fuse protection NMD10 16A K circuit breaker in 20A NMD20 35A K circuit...

Page 24: ...W 50 ms 10s 2 5 kW 1s 50s Without fan 120W unlimited With fan 200W unlimited External ballast resistances can be used with NMD20 see Page 193 If the braking power of the internal ballast resistance is insufficient an external ballast resistance can be connected The external ballast resistance is connected between LS and X5 2 To do this the bridge between LS and X5 1 must be removed The full brakin...

Page 25: ...splays appear LED red Error LED green Ready Possible errors off on no errors on off Heat sink temperature too high or error in logic voltage 24V DC too low or unit is defective Emergency stop is activated and ready contact is released on on Ballast switch overloaded or undervoltage 100V DC or 80V AC Ready contact and green LED are coupled Caution If the unit has no control voltage no displays will...

Page 26: ...put S tatus Value E nter Ready E rror R S 2 3 2 Test C o ntrol X8 X10 X9 X11 N um ber X13 Encoder X9 Test X6 RS232 X7 OUT X5 IN Bus systems X19 Control X8 X10 In Output X11 Control X14 X15 HEDA X17 Initiators X16 Absolute encoder X12 Resolver 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 ...

Page 27: ...formance 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 Ripple 1VSS fuse protection max 16A Mains supply fuse protection 62A K circuit breaker or suitable Neozed conventional fuse Re...

Page 28: ...reen yellow 1 2 3 4 5 6 8 9 10 111213 14 7 green yellow green yellow max 1 6A The PE connection must be a version of at least 10mm 2 COMPAX M SV M X5 X7 IN OUT X19 Control H1 HAUSER CO MPAX M DIGITAL Status Numb er X6 X8 X10 Enter Ready Error RS232 Input O utput Test C ontrol X9 X11 Value Cable conduit COMPAX 35XXM Motor U V W PE Brake PE X5 X1 X2 X3 X4 24V 15 16 17 18 PE LS LS Voltage supply 24V ...

Page 29: ...3 X8 4 I4 X8 5 I5 X8 6 I6 X8 7 I7 X8 8 I8 X8 9 O1 X8 10 O2 X8 11 O3 X8 12 O4 X8 13 O5 X8 14 O6 X8 15 O7 X8 16 O8 X17 1 DA channel 0 X18 0V X18 24V X11 4 DA channel 2 X11 3 Override X11 2 GND X11 1 24V X11 5 DA channel 3 X11 6 Override old X11 7 Shield X17 2 DA channel 1 X17 3 Shield X17 4 GND 24V X17 5 24V Option D1 X11 X18 Fan X8 Input output I1 I8 O1 O8 can be parameterized X1 2 V PE LS LS X21 1...

Page 30: ...18 fan X13 encoder X15 HEDA X17 initiators COMPAX S LED color Meaning when switched on Ready green 24V DC present and initialization complete Error red COMPAX fault E1 E56 present X5 Bus systems IN X7 X2 X3 X1 X4 F19 3 16 AT PE L3 L2 L1 PE N L 3 x 230V AC 1 x 230V AC AC supply 24V DC supply Bus systems OUT motor and motor brake PE W V U PE B B braking resistance 1 2 3 4 1 2 1 2 3 4 5 6 7 8 1 2 3 X...

Page 31: ... L3 L2 L1 PE N L 3 x 230V AC 1 x 230V AC AC supply 24V DC supply RS485 OUT motor and motor brake PE W V U PE B B braking resistance connection for external contact for brake control brake PE W V U black 5 black 4 green yellow black 3 black 2 black 1 X1 sheetshielding of motor cable 23 0V A C 23 0V AC 230V AC L1 L2 L3 max 230V AC 10 line to line voltage Note the screened connection of the motor cab...

Page 32: ...Ws If the recuperated energy causes overvoltage then external ballast resistances can be engaged Braking power Duration Cooling down time COMPAX 25XXS 1 0 kW unlimited with Rext 56Ω 2 5 kW 2s 10s We can supply external ballast resistances for COMPAX 25XXS see Page 193 Connecting ballast resistance to COMPAX S The ballast resistance is connected to B B and if necessary PE Output X4 is protected fro...

Page 33: ...221 271 98 COMPAX S The left hand side of the unit heat sink is fastened to a metal wall using 2 retaining plates Installation distance 135mm device distance 5mm Delivery status The design is delivered ready for connection in series The left hand side of the unit heat sink is fastened to a metal wall using 2 retaining plates S ta tu s N um ber X6 X8 X10 E nter Ready E rror RS232 In p ut O utp u t ...

Page 34: ...15V 24V emerg stop X9 7 housing X14 15 1 NC X17 1 DA channel 0 X18 0V X18 24V X11 4 DA channel 2 X11 3 Override X11 2 GND X11 1 24V X16 1 T X6 2 RxD X6 3 TxD X6 4 DTR X6 5 GND X6 6 DSR X6 7 RTS X6 8 CTS X6 9 5V L N PE X11 5 DA channel 3 X11 6 Override old X11 7 shield X17 2 DA channel 1 X17 3 shield X17 4 GND 24V X17 5 24V X17 6 GND X17 7 Sig MN X17 8 Sig E2 X17 9 Sig E1 X14 15 2 RxC X14 15 3 TxC ...

Page 35: ...X 45XXS 85XXS unit characteristics 7 6 1 Plug and connection assignment COMPAX 45XXS 85XXS X11 X9 Input Output Output Input Test Control X10 X6 X8 RS232 Ready Error ENTER Value Status Number X9 test X12 resolver X16 absolute X14 HEDA X18 reserved X11 Control X6 RS232 output motor X17 initiators X13 encoder D IG ITAL X15 HEDA X8 digital input output X10 digital input output ext supply HV TD L1 L2 L...

Page 36: ...n switched on Ready Green 24V DC present and initialization complete Error red CPX error present or mains supply or control voltage absent Before wiring up always de energize the unit Even once the mains supply has been switched off dangerous levels of voltage can remain in the system for up to 5 min When working with motors without a holding brake the brake lines must not be connected to COMPAX M...

Page 37: ... supply Capacity according to device performance Application group AC3 Control voltage 24V DC 10 ripple 1VSS BR1 W V U ISOL 0V Motor Outputs Enable Enable 24V Input 24V GND 1 2 3 4 5 6 Brake PE W V U black 5 black 4 green yellow black 3 black 2 black 1 X1 Sheetshielding of motor cable Enable Enable 24V DC 0V 1 2 3 4 X3 WARNING Risk of electric shock If case is not erthed Connenct earth before conn...

Page 38: ...istance 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 223 Braking power Duration Cooling down time COMPAX 45 85S 300W unlimited 1 5 kW 10s 10s We provide external ballast resistances for COMPAX 45XXS 85XXS see Page 193 Connecting a ballast resistance to COMPAX ...

Page 39: ...9 4 S X9 5 24V X9 6 15V 24V emergency stop X9 7 housing stand by X1 2 V X1 1 U X1 3 W X1 4 PE X1 5 brake X1 6 brake X1 motor brake X6 2 RxD X6 3 TxD X6 4 DTR X6 5 GND X6 6 DSR X6 7 RTS X6 8 CTS X6 9 5V X6 RS232 X11 4 DA channel 2 X11 3 Override X11 2 GND X11 1 24V X11 5 DA channal 3 X11 6 Override old X11 7 shield X11 X17 1 DA channel 0 X17 2 DA channel 1 X17 3 shield X17 4 GND 24V X17 5 24V X17 6...

Page 40: ...rake X2 230V AC supply PE connection Before wiring up always de energize the unit Even once the mains supply has been switched off dangerous levels of voltage can remain in the system for up to 5 min When working with motors without a holding brake the brake lines must not be connected to COMPAX Caution If the unit has no control voltage displays will not indicate if operating voltage is present a...

Page 41: ...V AC 45 65Hz Fuse protection 10A Layout of contactors for the power supply Capacity according to device performance Application group AC3 Control voltage 24V DC 10 ripple 1VSS Fuse protection max 16A The screen clamp for the screen connection of the motor cable is included and must be screwed on in the illustrated position Only wire up brake in motors with a holding brake Otherwise do not wire up ...

Page 42: ...X6 3 TxD X6 4 DTR X6 5 GND X6 6 DSR X6 7 RTS X6 8 CTS X6 9 5V L N PE X1 1 U X1 3 W X1 4 PE X1 5 Br X1 6 Br X1 motor brake X2 Ac supply X3 control voltage X4 braking resis tance X6 RS232 X13 encoder X19 1 GND X19 2 Input X19 10 X19 11 emerg Stop X19 12 enable X19 13 Override X19 14 GND X19 15 Output X19 16 Output X19 In and output Emergency stop enable override stand by X19 17 Output X19 18 Output ...

Page 43: ...es options Status Parameter Error list 7 7 3 Mounting and dimensions COMPAX 1000SL Fieldbus In Encoder Input Output Resolver Fieldbus Out Limit Switch 24 V DC R Dump H2 H1 RS232 X6 X5 X13 X12 X17 X19 X2 X1 X4 X3 X14 X15 HEDA Out HEDA In Input L1 N PE U V W PE Motor Brake PE 230 V AC 85 180 206 5 145 5 197 5 16 5 55 174 COMPAX SL 183 X7 Fastening 3 M4 hex socket head screws Installation distance 10...

Page 44: ...put 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 After an emergency stop error E55 even in OFF status and O1 0 The current command is interrupted The controller...

Page 45: ...by 15V 24V Connector Phoenix MC1 5 7 ST 3 81 4 5 6 7 1 2 3 7 Screen Emergency stop input on COMPAX M The emergency stop input on COMPAX M X9 is enabled via parameter P219 Meaning P219 0 No emergency stop input on COMPAX M X9 P219 7 Emergency stop input on COMPAX M X9 with the following data Stop with P10 as relative ramp time P10 braking time from 100 speed to 0 The motor is switched off Error mes...

Page 46: ...signment with resolver or option S1 S22 Assignment with option S33 1 Housing Housing 2 8V 8V 3 NC HALL3 4 REF 5V 5 SIN SIN A 6 NC HALL2 7 GND GND 8 ST 5V 9 5V 5V 10 TEMP TEMP 11 COS COS B 12 COS COS B 13 SIN SIN A 14 REF HALL1 15 ST GND HALL 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 Cable assignment in the...

Page 47: ... 137 16 5 124 124 22 5 168 168 Cable sheathed REK33 GBK17 MOK44 MOK45 MOK14 MOK11 MOK46 Connector set 085 301312 800 030031 085 301317 800 030031 085 301306 085 301306 125 518162 125 216800 125 518211 125 217000 125 518200 Cable 102 000030 102 000020 102 000010 102 000010 102 150030 102 150040 High flex cable 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...

Page 48: ...version in high flex MOK45 Layout corresponds to MOK42 however motor lines in 2 5 mm 2 Packaging Packaging of motor in accordance with connector manufacturer s specification Contacts for 1 5 mm 2 and 2 5 mm 2 are supplied with the connector set Packaging of device Material 6 x crimping sleeves 6 cm shrink fit hose Procedure Strip 110 mm sheathing off cable Cut down sheath to approx 35 mm loosen fo...

Page 49: ...m2 MOK46 max 47 3A in high flex same layout to MOK21 however in 10mm2 Packaging Packaging of device Material 6 x crimping sleeves 6 cm shrink fit hose Procedure Strip 110 mm sheathing off cable Cut sheath down to approx 35 mm loosen fold back over outer cover approx 75 mm and stick with insulating tape Shorten sw1 sw2 sw3 sw4 sw5 ca 15 mm gn ge approx 15 mm longer cut down sw6 Attach 2 x approx 30...

Page 50: ... 2x0 25 2x0 25 solder side 1 2 3 4 5 10 11 12 13 6 7 8 14 15 9 Pin 1 Packing according as the regulation of the manufacturer solder Crimp side 8 4 6 5 7 3 2 1 9 16 11 10 12 13 15 14 17 8 x Crimp contacts 0 14 0 56 GBK16 4 mm 6 mm 26 mm 27 Version in high flex GBK17 same layout Packaging Packaging of motor in accordance with connector manufacturer s specification Packaging of device Strip 26mm shea...

Page 51: ... Note the following application example Br BR 33V 33V 0 47uF contact to external brake control stop brake within motor 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 ...

Page 52: ...put O2 1 No warning 0 error E58 11 Output O3 Machine zero has been approached 12 Output O4 Ready for start 13 Output O5 Programmed set point reached 14 Output O6 Idle after stop 15 Output O7 Connectors Phoenix MC1 5 16 ST 3 81 4 5 6 7 8 9 10 11 1213 14 15 16 1 2 3 16 Output O8 Freely assignable in the standard unit The SHIFT signal I1 must be assigned before or at the same time as the relevant inp...

Page 53: ...t and default settings for parameters P156 to P160 1 GND 2 Input SHIFT 0 1 3 Input Manual Find machine zero 4 Input Hand Approach real zero 5 Input Quit Teach real zero 6 Input START 7 Input Stop interrupts data record Break breaks off data record 8 Input Freely assignable in the standard unit I12 9 Input Freely assignable in the standard unit I16 10 reserved 11 Emergen cy stop Emergency stop inpu...

Page 54: ...for COMPAX 1000SL F23 PLC 24V 0V X8 15 4 7KΩ X19 14 X11 1 X11 2 X11 7 X19 23 X19 X19 applies for COMPAX 1000SL For reasons of interference protection we would recommend that you use a screened cable for the digital inputs and outputs With COMPAX 1000SL the screen is connected with the Sub D housing A protective connection is required when there is inductive load present F23 24V 0V X8 15 4 7KΩ X19 ...

Page 55: ...r sw bl MN normally closed pnp normally closed pnp 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 t...

Page 56: ...ou can continue to use the previous override connection for current applications X19 13 X19 14 10KΩ 5V GND 100 0 10KΩ 100nF Override Signal 1KΩ 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 The service D A monitor gives you the option of outputting internal measurement and intermediate parameters from COMPAX in the form of an...

Page 57: ...ed value sensor 20 000 min 1 1 Tracking error 128 Motor revolutions 2 Advance speed control 20 000 min 1 3 Nominal speed value of position controller 20 000 min 1 4 Actual speed value 20 000 min 1 5 Speed deviation 20 000 min 1 6 Not assigned 7 Not assigned 8 Nom value of transverse current torque 9 200A 9 Intermediate circuit voltage 1000V 10 Sine for co ordinate transformation 11 Voltage positio...

Page 58: ...d measuring range using 2 parameters P71 and P72 D A monitor option D1 must be ordered as a separate item To obtain output from the measured signals you will need an externally connected monitor box ASS1 01 with 2 BNC bushes for connecting the measurement instruments This is connected as follows monitor box is connected to COMPAX connector X17 the initiator line is connected from X17 to the monito...

Page 59: ...ard housing GND housing GND 7 x 0 25mm shield 2 2 3 4 6 5 7 8 RxD TxD DTR DSR RTS CTS 2 3 4 6 5 7 8 RxD TxD DTR DSR RTS CTS 9 5V 1 n c 1 5 6 9 1 5 6 9 X6 Apply screen on both sides to surface 7 9 9 Absolute value sensor option A1 The option A1 cannot be used for COMPAX 1000SL X16 11 3 10 2 1 8 1 2 3 4 5 6 7 8 9 10 11 12 1 5 6 9 T T D D 24V GND 6 1 8 3 9 5 2 4 7 n c n c n c absolute enoder plug 9 w...

Page 60: ...impuse inverted Direction of rotation 13 B1 Channel 1 track B inverted 15V 10mA 14 A1 Channel 1 track A inverted Input 10V 15 pin Sub D socket terminal strip Screws UNC4 40 1 8 9 15 15 GND Reference point 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 emulat...

Page 61: ... Screen terminal 2 nc 3 nc 4 2A A2 Analogue input 5 N1 Channel 1 zero impulse 6 B1 Channel 1 track B or direction 7 1A Channel 1 track A or step 8 5V Output 5V 9 nc 10 nc 11 A2 A2 Analogue input 12 N1 Channel 1 zero impuse inverted 13 B1 Channel 1 track B inverted 14 A1 Channel 1 track A inverted 15 pin Sub D socket terminal strip Screws UNC4 40 1 8 9 15 15 GND Reference point Setting Outputs Inpu...

Page 62: ...e P232 4 to assign this function to Input I11 COMPAX 1060 70SL only I11 1 Release analogue input I11 0 Digital input value 0 input is set drift free to 0 1 Direct encoder COMPAX 1000SL connection Cable GBK11 Bus terminal BUS06 01 the bus terminal is allocated to X13 as adapter 2 Direct COMPAX simulation COMPAX 1000SL input connection Cable SSK7 3 Direct COMPAX 1000SL simulation COMPAX including CO...

Page 63: ...RxC 4 RxD 8 RxD 3 TxC 7 TxC 5 TxD 9 TxD 1 1 X15 X14 PC NC NC data from Slave clock from Slave data from Master clock from Master SSK14 must not be used on a COMPAX which is configured as a master P243 1 Cables for COMPAX master and COMPAX slave coupling housing 2 x 2 x 0 25mm shield 2 1 5 6 9 1 5 6 9 TxC 3 TxC 7 TxD 5 TxD 9 housing D pin 9 way D plug shell 9 way Slave X14 Master X15 2 RxC 6 RxC 4 ...

Page 64: ...4 8 5 4 5 05XXM 9 6 17 0 8 0 15XXM 21 0 50 0 17 0 35XXM 42 0 100 0 35 0 12 Reduced nominal data apply for linear motors see Page 177 CE conformity EMC immunity emissions as per EN61800 3 Safety VDE 0160 EN 50178 Supply voltage limit values COMPAX M NMD 3 80V AC 3 500V AC 45 65Hz COMPAX 35XXM 3 250V 3 500V AC 45 65 Hz COMPAX 25XXS 3 80V AC 3 250V AC 45 65 Hz 1 100V AC 1 250V AC 45 65Hz COMPAX 10XXS...

Page 65: ...40040 class F 75 no condensation Interfaces Control inputs 16 8 for COMPAX 1000SL 24V DC 10 kOhm see ex page 52 Control outputs 16 8 for COMPAX 1000SL active HIGH short circuit protected 24V see ex page 52 RS 232 9600 baud or 4800 baud for COMPAX 1000SL fixed at 9600 baud Length of words 8 bits 1 start bit 1 stop bit Software handshake XON XOFF Programmable controller data interface excluding COMP...

Page 66: ...AX or NMD can be operated on all mains types 1 Examples IT mains TN mains 1 When using Delta mains note that CE requirements low voltage guideline are no longer met when the voltage between a phase and earth 300V AC isolated measurement voltage 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 ...

Page 67: ...for a compact positioning system These functions are digital inputs and outputs PLC interface a serial interface RS232 a data record memory an integrated IGBT final stage You will need auxiliary equiment PC hand held terminal to configure and program COMPAX COMPAX is very flexible and offers all the advantages of digital control technology thanks to its completely digital design which encompasses ...

Page 68: ...al manual Start Stop Break Machine zero real zero Teach real zero program line Device IDs Override input Externally controlled Absolute encoder Encoder input Synchronization to external speeds and position Encoder emulation Output of actual speed and D A monitor reference drives not required position 2 analogue outputs for internal values rotational speed current etc Program memory parameter memor...

Page 69: ...ignable O7 O16 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 P...

Page 70: ...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 parameters are output as analogue voltage 10V via two 8 bit channels or optionally 12 bit channels 8 1 2 Password protection COMPAX contains password protection to prevent unwanted data manipulation Before you configur...

Page 71: ...n be displayed via the front plate S03 S08 S11 S19 S26 hexadecimal display S27 S30 S31 S37 S39 description of the status values see Page 207 The remaining status values can be queried via the interfaces C parameters COMPAX parameters Meaning Valid from C01 P194 Address of unit Power on C02 P195 Baud rate Power on C03 P196 Bus protocol Power on C11 P250 HEDA address immediately C04 C10 reserved Dis...

Page 72: ... a stable controller If the control process is unstable because COMPAX has been incorrectly configured you can switch on COMPAX so that the drive remains switched off even with power on To do this when switching on COMPAX simultaneously press the key The following will then happen the drive is switched off the digital outputs O1 O6 are set to 0 when the PLC data interface is switched on O7 1 O8 O1...

Page 73: ...O0 0 Note that once a configuration has been set or modified there is a risk if some parameters have been incorrectly programmed You must secure the displacement area of your system when switching on the drive Please mind the limit values of the mechanical component Defiance of the limit values may lead to destruction of the mechanical component 8 2 4 Safety instructions for initial start up Risks...

Page 74: ...ller is switched off The following applies Commands not permitted POSA POSR POSR SPEED POSR OUTPUT POSA HOME ACCEL The SPEED command contains a prefix for the direction of rotation Output O3 is not assigned O5 has the Programmed nominal speed reached function see Page 120 The data record indicator is set to N001 using Approach real zero The Find machine zero function I1 I2 is not assigned Paramete...

Page 75: ...ies to a 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...

Page 76: ...difications to P94 become effective from the next move command For the functions stop after passing a limit switch and synchronous stop via I13 see Page 151 the ramp type only becomes valid with VC Parameter P80 select 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 ...

Page 77: ...0 100 1 Moment of inertia of transmission and clutch referenced to motor shaft Range 0 200kgcm2 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 pinion P82 19 17 24 18 27 21 28 Tooth pitch P83 10mm 10mm 10mm 10mm 10mm 20mm 10mm P80 16 Total minimum moment of inertia moto...

Page 78: ...cement 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 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 R...

Page 79: ... set so a renewed referencing find machine zero is necessary in the switched off status the motor or mechanics must not be moved Ensure this by using e g a motor brake or self braking gearbox 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 ...

Page 80: ...tor that is being evaluated i e the side from which the initiator is approached P3 the prefix defines the start search direction P215 influences the start search direction during find machine zero P29 shifts the actual machine zero in the direction of the clockwise rotating motor P216 sets the limit switch position must also then be set if there are no configured limit switches P217 0 Linear movem...

Page 81: ...is defined with reference to machine zero machine zero P12 real zero P11 value at P1 real zero speed distance machine zero switch resolver zero pulse reverse initiator limit switch reverse initiator limit switch starting position 1 starting position 2 starting position 3 E2 E1 resolver zero pulse resolver zero pulse actual machine zero shift machine zero by P29 P29 90 360 P29 0 90 The speed used f...

Page 82: ... side from which the initiator is approached P3 no influence in the start search direction during find machine zero P215 no influence on find machine zero P29 shifts the actual machine zero in the direction of the clockwise rotating motor see below P212 1 Find machine zero Application P213 0 clockwise rotating motor resolver zero pulse MN Ini P29 270 360 P29 0 270 actual machine zero signal of MZ ...

Page 83: ...hanical limit position α0 initiator edge The actual machine zero MZ results from the AND connection of the machine zero initiator with the resolver zero pulse 0 mechanical limit position P29 0 270 range within which the position of the actual MZ can be shifted by P29 clockwise rotating motor 360 position of actual MZ initiator edge α0 P29 shifts the actual machine zero in the direction of the cloc...

Page 84: ...zero pulse command search MZ 90 General rotatory movements P213 1 external zero pulse command search MZ external zero pulse 90 command search MZ External encoder read via an encoder input module I2 I4 Encoder input parametrized by P144 6 Specify P98 travel per encoder revolution P214 encoder direction and P143 encoder pulse number Machine zero equals external zero pulse Conditions for this operati...

Page 85: ...ng you obtain a reproducible machine zero response to any transmission factor which does not round to whole digits i e not precisely displayable P213 1 clockwise rotating motor encoder zero pulse MN Ini position of the actual MZ P29 0 360 signal MZ ini 0 360 Example of an transmission factor that cannot be displayed exactly teeth 11 teeth 17 Note If P75 0 for this setting external position localiz...

Page 86: ...e rotating motor MN Ini position of actual MZ signal of MZ ini P29 0 360 0 360 Linear and rotatory movements If you have an encoder on the motor side with this setting you obtain a reproducible machine zero response to any transmission factor which does not round to whole digits i e not precisely displayable P213 1 clockwise rotating motor MN Ini position of actual MZ signal MZ ini P29 0 360 0 360...

Page 87: ...02 3 the distance of the machine zero can be moved by further resolver zero pulses P202 unit Resolver zero pulses motor revolutions 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 mu...

Page 88: ...o mode 88 P212 11 Machine zero initiator without resolver zero with 2 reversing initiators Application Applications with belt drives where the belts may skip during operation Machine zero initiator without resolver zero with 2 reversing initiators ...

Page 89: ...ne of the two limit switches is reached COMPAX responds with an emergency stop Then the following applies move out of the danger zone using Hand then acknowledge In such cases the MZ approached output is not set Bit 2 P217 0 function corresponding to Bit 0 and Bit 1 1 P217 5 after activation of a limit switch the drive is braked with P10 standard however travel movements are still possible afterwa...

Page 90: ...tch operation 90 to set P216 switch on operation with limit switches P216 1 or in status value S24 see bits 3 and 4 from the left to determine which initiator is activated Meaning Bit 3 I2 is activated i e P216 1 Bit 4 I1 is activated i e P216 0 ...

Page 91: ...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 switc...

Page 92: ...y ind µH P113 maximum mechanical speed max rpm P116 stator resistance res Ω P105 effective value of nominal current IN mA HBMR motors IN 0 95 I0 HDY motors IN 0 85 I0 HBMR 55 and 70 IN 0 85 I0 P106 nominal torque MZ HBMR motors MN 0 92 M0 HDY motors MN 0 82 M0 HBMR 55 and 70 MN 0 82 M0 when I0 idle current M0 idle torque The other parameters are derived from the type plate data Nominal motor speed...

Page 93: ... values of the HBMR and HDY motors Parameter Standard Meaning Unit P107 300 Pulse current P108 3000 Pulse current time ms P129 0 Resolver offset Degree P130 2 Resolver frequency P131 2 Resolver amplification P132 2 Position sensor P133 65 536 Sensor dash count Increments For motors with holding brake Calculate the braking delay in P17 for more information see Page 123 The parameters for Parker mot...

Page 94: ...occur The drive does not remain at standstill once switched on or the drive runs out of control after the start command In both cases either error E10 or error E54 is triggered If error E54 occurs the drive is switched off A possible cause of the error is incorrect wiring in the motor or resolver systems The servo controller will operate once error E55 is acknowledged on the front plate using Ente...

Page 95: ... time etc are also possible N001 ACCEL 250 acceleration time 250 ms N002 SPEED 80 velocity 80 N003 REPEAT 10 specified wait loop 1s N004 IF I7 1 GOTO 9 query I7 to log 1 N005 WAIT 100 waiting time 100 ms N006 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 o...

Page 96: ...ine zero POSA HOME is not permitted in the COMPAX program When in continuous mode relative positioning is also adopted with POSA 8 4 2 Relative positioning POSR 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 ...

Page 97: ... time without prefix time specification for acceleration and decceleration process negative prefix separate time specification for decceleration process valid until a new value is programmed Acceleration process can be specified using parameter P94 see Page 75 If a travel command is interrupted by STOP or BREAK the STOP BREAK ramp is not executed by ACCEL but by the value defined as the accelerati...

Page 98: ...Drive switched off when brake is open The time behaviour of the final stage and brake can be configured see Page 123 Note The command can only be set within a program with COMPAX XX00 and COMPAX XX60 see below OUTPUT O0 1 Drive switched off when brake closed 8 4 8 OUTPUT O0 in program The command OUTPUT O0 0 1 2 can only be programmed on the COMPAX XX00 and COMPAX XX60 in the program No error moni...

Page 99: ...tself 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 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 Set...

Page 100: ... travel to mark relative to start position Range of values for P38 P37 4 000 000 P39 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 I14 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 start point P37 300 P38 600 P...

Page 101: ...OMPAX calculates them as negative values If a process cycle has been interrupted by Stop continue the cycle using Start The preparatory instructions are canceled by the Hand Find machine zero and Approach real zero commands 8 4 13 Changes in speed within a positioning process POSR SPEED Each speed step profile can have a maximum of 8 speed steps The comparator value is specified as a relative dime...

Page 102: ... 2000 Generally valid braking time SPEED 25 Generally valid velocity POSR x SPEED 100 ACCEL 300 1st speed step at position x POSR y SPEED 10 ACCEL 100 2nd speed step at position y POSA z Start positioning to z POSA 0 Return with SD 10 AL100 and AL 2000 Position Speed 100 Start x y z 25 10 10 2000ms 2000ms 100ms 100ms 300ms 1000ms 1 Position x is reached at 25 velocity and 1000ms acceleration time ...

Page 103: ...start position 150 sets output O8 to 1 N004 POSR 300 OUTPUT A7 1 2nd comparator at start position 300 sets output O7 to 1 N005 POSR 500 OUTPUT O7 0 3rd comparator at start position 500 sets output O7 to 0 N006 POSR 900 OUTPUT O8 0 4th comparator at start position 900 sets output O8 to 0 N007 POSA 1000 Positioning command to 1000 Position 1000 is approached the travel dependent comparators are set ...

Page 104: ...4 000 000 VP V56 Switch on lag control cam 1 ms 0 0 1000 VP V57 Position control cam 1 O9 off P90 4 000 000 0 00 4 000 000 VP V58 Switch off lag control cam 1 ms 0 0 1000 VP V59 Position control cam 2 O10 on P90 4 000 000 0 00 4 000 000 VP V60 Switch on lag control cam 2 ms 0 0 1000 VP V61 Position control cam 2 O10 off P90 4 000 000 0 00 4 000 000 VP V62 Switch off lag control cam 2 ms 0 0 1000 V...

Page 105: ...erence from the lag times of the switch elements pon and poff A constant speed is assumed The switching signal is with increasing setpoint activated by pon before the control cam position for On and deactivated again by poff before the control cam position for Off Requirements for safe and time correct switching of the cam controller The cam positions as well as the range p before the cam position...

Page 106: ... V61 V59 0 1 0 1 0 1 0 1 0 1 0 1 control cam 1 control cam 2 control cam 2 control cam 1 control signal 1 control signal 2 Actuator 1 effect Actuator 2 effect t t t t t Position 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 Explanation POSA POSR SPEED ACCEL OUTPUT Password SPEED SYNC Mark r...

Page 107: ... GOTO Program jump to specified data record number GOTO data record number Data record number 1 250 N045 GOTO 60 Jumps to data record N060 8 4 18 Sub program jump GOSUB Jump to a sub program GOSUB data record number Data record number 1 250 N005 GOSUB 100 N100 N101 Nxxx RETURN Calls up sub program Starts sub program Ends sub program jumps back to N006 Never use GOTO to jump out of a sub program or...

Page 108: ... the sub program in data record N010 8 4 23 Binary IF query of inputs IF I12 101 1 Multiple inputs can be queried simultaneously The inputs are compared with a mask The mask contains individual bits 1 or 0 and a space marker 19 for not taken into consideration IF I12 101 1 GOTO 123 I12 1 I13 0 I14 1 I15 not considered I16 1 Binary IF querying of status values or outputs is not possible A maximum o...

Page 109: ...ossible Writing convention of variables V0 V39 and control parameters P40 P49 For reasons of compatibility a preceding point full stop is expected in the syntax for motion commands e g POSA P40 ACCEL V10 The new comparison and arithmetic commands will operate without a preceding point full stop e g P41 V10 S1 IF V20 S2 GOTO 10 8 4 25 Specific processing of data record groups WAIT START Entry at BD...

Page 110: ...Normally an error in the COMPAX will cause an actively running move to be interrupted Depending on the type of error the drive is switched off The program is however stopped no matter what the error type The instruction IF ERROR GOSUB xxx allows you to e g set the outputs to defined statuses when an error occurs If such an instruction has been run once in the program and then an error later occurs...

Page 111: ...am line 200 and output O9 is set to zero at this point The program then stops in program line 201 and waits until the error has been acknowledged and if necessary a new start is made At program line 202 output O9 is switched on again at program line 203 a jump is made back to the previously interrupted program line N004 The axis executes the rest of the travel to position 4000 and the main program...

Page 112: ...the error program has run Main Program Stop Program N001 IF STOP GOSUB 240 N240 OUTPUT O9 0 N002 OUTPUT O9 1 N241 WAIT START N003 POSA 0 N242 OUTPUT O9 1 N004 POSA 4000 N243 RETURN 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 st...

Page 113: ...MPAX XX70 an operand or a simple arithmetic term22 a parameter Pxxx or a variable Vxxx V1 V39 or a status value Sxxx or a constant with max 8 significant digits sign decimal point All parameters may be assigned The commands VP and VC with which the parameters are validated can be programmed in the program N123 P081 30 modifies moment of inertia N124 VC N234 P013 10 modifies lag tolerance N235 VP C...

Page 114: ... commands with preceding point full stop POSA V1 Not all status values can be used as operands Status values S01 to S15 S30 and S40ff are permitted In addition to the 10 user parameters P40 to P49 39 variables V1 V39 are available V0 is used for global assigning of a value to all variables The variables are automatically buffer stored in the ZPRAM i e after Power On they contain the old value When...

Page 115: ...safety reasons the drive remains powered any travel movements are interrupted using the stop ramp After Quit and Start the same command would be processed again and probably cause another error message For this reason appropriate care should be taken when programming The causes of the error are stored in the optimization display P233 P234 39 and the last calculation error stored is always the firs...

Page 116: ...ue x Writing convention of variables V0 V39 and control parameters P40 P49 For reasons of compatibility a preceding point full stop is expected in the syntax for motion commands e g POSA P40 ACCEL V10 The new comparison and arithmetic commands will operate without a preceding point full stop e g P41 V10 S1 IF V20 S2 GOTO 10 Read status and assign variables Initializing variables POSA POSR SPEED AC...

Page 117: ...ror is smaller than P14 If the lag error after O5 1 is greater than P14 then O5 0 until the lag is again less than P14 P14 0 large value large in comparison with process travel OM3 O5 1 nominal value reached independent of P14 O5 1 as soon as the set point generator has finished the ramp and stays at 1 until the start of the next positioning move Functional description O5 is toggled changed i e fr...

Page 118: ...as very large value Can be adjusted using P227 bit 425 0 default setting t t Position O5 Actual value of position Target positions Position 0 Position 2 Position 1 A poor controller setting has been selected by way of illustration 25 Bit counting begins with 0 OM2 O5 1 nominal value reached and lag error P14 Example OM3 O5 1 nominal value reached independent of P14 Example POSA POSR SPEED ACCEL OU...

Page 119: ...e which an idle condition is reported with O2 1 and indicated in per thousands of P104 of nominal speed Nominal speed P229 O2 1 drive at standstill Nominal speed P229 O2 0 drive moving P229 0 O2 0 no idle display Range of numbers P229 0 255 P227 bit 1 0 O2 assigned the No warning display default value V P229 O5 Ba1 O2 t t t To avoid O2 continuously switching over during nominal speed value disturb...

Page 120: ...ext speed change Functional description In speed control mode P14 is given as a percentage of the set speed In addition the speed is checked against the speed tolerance defined in P13 P13 is defined in speed control mode as a percentage of the set speed and is an absolute limit Speed difference P13 error E10 is triggered When P13 0 error E10 and E49 can be switched off O5 is toggled changed i e fr...

Page 121: ...eviation returns to P14 O5 0 is set Can be adjusted using P227 bit 4 0 default setting P14 speed P13 t t O5 Programmed demanded speed Actual value If the actual value moves outside P13 error E10 is triggered O5 1 nominal value on nominal value generator reached independent of P14 asP14 is set as a very large value Can be adjusted using P227 bit 429 0 default setting Speed O5 Actual value Programme...

Page 122: ...eached Flag PLC O5 Flag PLC O5 POSA POSR POSR 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 Implementation POSA POSR SPEED ACCEL OUTPUT Password SPEED SYNC Mark reference POSR SPEED POSR OUTPUT Cam controller WAIT GOTO GOSUB RETURN END REPEAT IF I Comparison ...

Page 123: ...sing P17 see following diagrams Final stage blocked by error or OUTPUT O0 1 or emergency STOP The final stage is enabled via quit or OUTPUT O0 0 or once Power is on 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 P17 0 t disabled power out put stage enable t de energised t close brake open energised t t t 0 5s disabled power out put stage e...

Page 124: ...1067 Addressable using P71 channel 0 and P72 channel 1 P71 Channel 0 X17 1 P72 Channel 1 X17 2 Resolution 12 bit incl sign corresponds to a resolution of 5 mV Range 10V 10V The calculation for the output on the 12 bit channels 0 and 1 is as follows Parameter setting for required voltage U 10V 10V P71 P72 Y P73 P74 39 selection of voltage output Y U 101067 10V 10 0V 10 0V 0 010106 0 0101067 Service...

Page 125: ... sensor system you can select from 2 structure variants these also contain set via the ServoManager fixed settings of optimizing parameters The standard structure corresponds to the previous COMPAX control structure With the standard structure you can directly transfer previous already optimized parameter sets After this the optimal control dynamic is set by increasing the stiffness P23 This is us...

Page 126: ...e positioning range stable quiet travelling unstable unquiet travelling no longer corresponds to to the requirements Reset P23 P56 to the last setting Implement the same process for P57 lag D sectionl P58 lag rpm filter and P151 monitor speed Optimizing the movement cycle Optimise pre control parameters P25 rpm pre control P26 acceleration pre control P69 current pre control and P70 return pre con...

Page 127: ...dy 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 No Meaning Settings Structure switch measuring 0 Standard 4 Variant 1 for resolver 3 Variant 2 for SinCos 8 Variant 3 rapid rpm controller Sensit...

Page 128: ...ween 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 Nominal 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 info...

Page 129: ...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 feed forward target posi tion reference point target position control speed...

Page 130: ...0 500 t Driving fault current t 2 1 3 4 reference value actual value The advance reverse control can be engaged to increase optimization of guide characteristics and reduce dynamic lag error by using P69 Nominal value 100 Range 0 500 default value 0 applies to VP P25 Advance speed control P26 Advance acceleration control P70 Advance power control Advance reverse control 1 Nominal speed value 2 Act...

Page 131: ...sures Minimizing lag error increase 100 optimize if necessary increase No harmonies increase decrease increase quadratic P94 3 increase max torque P16 Unusually high harmonies caused by power limitation decrease decrease decrease increase linear P94 1 increase max torque P16 Vibrating at higher frequencies perceptible as noise decrease decrease check min mass P92 and min moment of inertia P81 Vibr...

Page 132: ...s 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 pr...

Page 133: ...age in V 3 reserved 4 max undershoot referenced to max position amount only for highly shifted loops 5 max position overshoot units corresp P90 amount 6 max position undershoot units corresp P90 amount 7 max acceleration lag error units corresp P90 8 max braking lag error units corresp P90 9 max acceleration speed in of motor nominal speed 10 max braking speed in of motor nominal speed 11 max acce...

Page 134: ...U ZW 2 Umain max intermediate voltage You will find a complete status list on Page207 Reference value 80 000A 2 The maximum peak current of a motor phase is continually determined once COMPAX is switched on and this is stored as status S13 or S14 using P233 234 56 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 m...

Page 135: ... 23 Output value of D A monitor channel 0 10V corresponds to 1 24 Output value of D A monitor channel 1 10V corresponds to 1 25 Output value of service D A monitor channel 2 10V corresp to 1 26 Output value of service D A monitor channel 3 10V corresp to 1 27 External encoder position units corresp P90 28 Measuring error Difference between resolver position and external encoder position in the uni...

Page 136: ... error P75 0 When P75 is reached error E15 is generated and the drive is switched off Control position adjustment via digital input I11 If the external position measurement and position adjustment P75 0 is switched off position adjustment operation can be switched on and off using input I11 For this assign I11 with this function via P232 4 I11 0 External position adjustment switched off reaction t...

Page 137: ...ring the following condition must be met V 1 Determine V depending on drive type and measuring unit Drive type Measuring unit Determining V Spindle drive mm inch 4 25 85 P K V Rack and pinion toothed belt mm inch 4 25 82 P 85 P K V General drive mm inch 4 25 1000 K V General drive Incr V K A slip filter with a differentiating element D element is provided to optimize external position adjustment N...

Page 138: ...s data record I7 X8 7 X19 x Freely assignable in the standard unit I8 X8 8 X19 x Freely assignable in the standard unit SHIFT I2 Find machine zero MZ SHIFT I3 Approach real zero RZ SHIFT I4 Teach real zero SHIFT I5 reserved SHIFT I6 Break breaks off data record I9 X10 1 X19 x Freely assignable in the standard unit I10 X10 2 X19 x Freely assignable in the standard unit I11 X10 3 X19 x Assigned when...

Page 139: ...d nominal position reached O6 X8 14 X19 x Idle after stop O7 X8 15 X19 x Freely assignable in the standard unit O8 X8 16 X19 x Freely assignable in the standard unit O9 X10 9 X19 x Freely assignable in the standard unit O10 X10 10 X19 x Freely assignable in the standard unit O11 X10 11 X19 x Freely assignable in the standard unit O12 X10 12 X19 x Freely assignable in the standard unit O13 X10 13 X...

Page 140: ...lue factor P156 bit 0 3 Input 1 16 Value factor P156 bit 4 7 Input 2 256 Value factor P156 bit 8 11 Input 3 4096 Value factor P156 bit 12 15 Input 4 65536 Value factor P156 bit 16 19 Input 5 1048576 Value factor P156 Bit 20 23 Input 6 Σ Total Value of P156 Total 8 388 607 P156 Total Total 8 388 607 P156 Total 16 777 216 1 Value factor P157 bit 0 3 Input 7 16 Value factor P157 bit 4 7 Input 8 256 V...

Page 141: ...en to the optimization display status S13 S14 Meaning pin 2 bit 0 pin 9 bit 7 Source fixed logical value 0 or 1 or pin of X19 0 1 2 3 4 5 6 7 8 9 Wert 0 1 2 3 4 5 6 7 8 9 factor computed values Allocation Input reads from which source Logical inputs X 1 0 1 0 P156 bit 0 3 Input 1 x 16 3 16 48 P156 bit 4 7 Input 2 x 256 4 256 1024 P156 bit 8 11 Input 3 x 4096 5 4096 20480 P156 bit 12 15 Input 4 x 6...

Page 142: ...it 4 7 20 256 Value factor P160 bit 8 11 21 4096 Value factor P160 bit 11 15 22 Value of P160 Σ Example The following assignment must be configured Output 1 X19 Pin 15 Output 3 X19 Pin 16 Output 4 X19 Pin 17 Output 5 X19 Pin 18 Output 8 X19 Pin 19 Output 10 X19 Pin 20 Output 14 X19 Pin 21 Output 16 X19 Pin 22 You can see the calculation of the setting values on the right Note With P233 49 or P234 ...

Page 143: ... inputs I1 I4 I5 and I6 should be freely available 1 I1 8 I4 16 I5 32 I6 57 You will obtain this setting using P221 57 Note that when I1 is freely assigned SHIFT you can no longer perform any Functions with shift via the inputs You can directly cancel all input functions apart from Hand and Hand as commands using interfaces RS232 bus system The status outputs O1 to O6 can be freely assigned using ...

Page 144: ... 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 Si...

Page 145: ...er O4 to O16 should be influenced by the OUTPUT WORD command O1 O2 and O3 should be available via OUTPUT Ox y 8 O4 16 O5 32 O6 64 O7 128 O8 248 When P223 248 and P224 255 total of all valencies you will obtain this setting 8 6 1 3 COMPAX virtual inputs COMPAX provides 48 logic inputs These are divided into inputs I1 I16 which are actuated via the physical inputs virtual inputs I17 I32 which are ac...

Page 146: ...ee Page 140 Remarks regarding the structural diagram The control functions corresponding to I1 I8 cannot be activated via OT O33 OT O40 The control functions corresponding to I9 I16 can be activated simultaneously via the physical inputs and via OT O41 OT O48 The enable input I12 in COMPAX 1000SL COMPAX XX70 and COMPAX XX30 must also be activated when allocated to the fieldbus via P222 Interrogati...

Page 147: ...art function is not possible I16 Mark input O5 Position reached at synchronization command WAIT POSA WAIT POSR 0 when the axis starts 1 after return run O14 Synchronous comparator O15 Chaff length O16 Reject length I14 Switches over the dimension reference I15 Transmission factor selection I16 Enable master nominal value I12 Enable final stage I13 0 Decoupling 1 Coupling I14 Mark input I15 0 Disab...

Page 148: ...STOP is deactivated For sure detection the signals must be present for 1ms Input I1 Switches to the functions for inputs I2 to I6 Signal I1 may only change if I2 I6 0 Input I2 I3 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 lim...

Page 149: ...e P3 sign ramp time P7 Once the MZ is reached output O3 Machine zero approached is set This remains set until another Find MZ order is issued Output O5 Programmed position reached 0 The data record indicator is reset to N001 Reference travel prompted by the digital inputs interrupts a positioning command specified by the interfaces POSA POSR LOOP Input SHIFT I3 The axis travels to the real zero po...

Page 150: ...applies During an EMERGENCY STOP the data record is interrupted the drive brakes with braking time P10 after P10 the motor is switched off The interrupted data record is continued to its completion after acknowledgment and START Transfers that trigger functions are described All other transfers and statuses do not trigger any functions Function I1 I2 I3 I4 I5 I6 Start Hand 0 0 0 0 0 End Hand X X X...

Page 151: ... WAIT START 8 6 1 6 Synchronous STOP using I13 I13 in the standard model COMPAX XX00 provides a STOP function with which you can stop and idle multiple COMPAX units simultaneously regardless of the current speed P219 128 or 135 enables the synchronous stop via I13 P219 bit 736 1 I13 1 Normal mode I13 0 Synchronous STOP is activated After I13 0 the drive is stopped using P10 as the absolute ramp ti...

Page 152: ...219 xx000000 0 COMPAX M does not evaluate the additional emergency stop input 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 Note for MZ travel Additional assignment of P219 ...

Page 153: ...as been activated I1 I2 1 O3 0 until machine zero is found O4 Ready for START is used for program control O4 is set if the program is at a WAIT START instruction and waiting for the START signal after an interruption with STOP or BREAK and these signals are no longer present after a corrected error condition and after Power On at program end with the END command O4 has no significance for direct c...

Page 154: ...os reached O6 Out of action after stop 0 0 1 2 3 4 5 6 7 8 0 COMPAX ready for new start 1 When using START at input I5 the outputs O4 and O5 are reset The axis moves 2 Interruption using STOP at input I6 After idle message at output O6 3 4 START using I5 Positioning process is continued 5 Positioning process ended Message via O4 and O5 1 6 Manual processing of axis O5 and O4 0 7 Specification for ...

Page 155: ...d O6 Out of action after stop 0 0 1 2 3 4 5 6 7 8 POSA 100 CR When using this START a processing command interrupted by STOP and specified by a interface is restarted t t t t t t t I1 SHIFT I3 Drive to RN V 0 t O4 Ready to start O5 Progr target pos reached O3 Machine zero reached t t t t t t t I1 SHIFT I3 Drive to RN V 0 t O4 Ready to start O5 Progr target pos reached O3 Machine zero reached Direc...

Page 156: ...s also switched on and by switching off and on The following binary inputs and outputs are assigned Input output Meaning I7 X8 7 Control line UBN I8 X8 8 Data bit 20 I9 X10 1 Data bit 21 I10 X10 2 Data bit 22 I11 X10 3 Data bit 23 O7 X8 15 Control line RDY O8 X8 16 Data bit 20 O9 X10 9 Data bit 21 O10 X10 10 Data bit 22 O11 X10 11 Data bit 23 O7 O11 are no longer available for the OUTPUT command T...

Page 157: ...1 Numerical value 10 2 Numerical value 10 3 End sign F 1111 Start sign E 1110 Function code 1 0 0000 Function code 2 4 0100 Sign 0 0000 positive D 1101 negative Numerical value 101 Numerical value 100 Decimal point C 1100 Numerical value 10 1 Numerical value 10 2 Numerical value 10 3 End sign F 1111 Start sign E 1110 Function code 1 0 0000 Function code 2 5 0101 Sign 0 0000 positive D 1101 negativ...

Page 158: ...n code 2 4 0100 End sign F 1111 Start sign E 1110 Function code 1 1 0001 Function code 2 6 0110 Numerical value 101 Numerical value 100 End sign F 1111 Start sign E 1110 Sign 0 0000 positive D 1101 negative Numerical value 106 Numerical value 105 Numerical value 104 Numerical value 103 Numerical value 102 Numerical value 101 Numerical value 100 Decimal point C 1100 Numerical value 10 1 Numerical v...

Page 159: ...tus 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 0 COMPAX sets RDY to 0 If the data direction is then reversed COMPAX can set the RDY line to 1 This is the case for the last sign of a status response Signal procedure using the example of a status query PLC Data 4 Bit COMPAX Data 4 Bit PLC UBN COMPAX RDY t valid valid valid ...

Page 160: ...aud all displayable ASCII characters any inserted spaces a function sign if nec CR carriage return for storing the command in the intermediate memory If no function signs have been transmitted the command is accepted and executed if necessary see next page LF line feed has no meaning to COMPAX COMPAX only receives a command if a previously transmitted command was answered with CR LF if the syntax ...

Page 161: ...rface Imme diately End sign selection 0 C R L F 8 C R Power on Binary transfer 0 without 16 with imme diately BCC Block check 0 without 128 with EXOR via all signs apart from the end sign Power on Implment the required setting by entering the sum of the set values in P20 Example in Quick Basic of how to transmit and receive COMPAX data via the RS232 interface DIM text 30 The text string text is de...

Page 162: ...eed step Example 2 PR 200 OT O9 1 1st comparator PR 100 OT O10 1 2nd comparator POSA1000 The following signs are returned 2 CRLF after 100 units 1 CRLF after 200 units CRLF after 1000 units Positioning commands can be transmitted to COMPAX when idle and during a positioning process If the axis is moving the command is acknowledged negatively The current settings ACCEL SPEED apply to the positionin...

Page 163: ...ansferred e g via OUTPUT O0 1 Instruction Abbreviated form Meaning VALID PARAMETER VP Modified parameter accepted not configuration parameters VALID CONFIGURATION VC All parameters are accepted with VC Use the serial interface to query all status values even during a positioning process Sxx transmitted xx number of the status value COMPAX returns the current value Example S1 CR LF Response S001 xx...

Page 164: ... I4 Teach N I1 I5 and Teach Z are enabled 1 Teach Z is blocked the data record indicator is set to 1 using I1 I4 or Teach Z 2 Teach N is blocked the data record indicator is set to 1 using I1 I5 or Teach N Teach Z is enabled 3 The functions Teach N and Teach Z are blocked With I1 I4 Teach N I1 I5 or Teach Z the data record indicator is set to 1 If commands are issued using RS232 and they cannot be...

Page 165: ...x y Not OUTPUT O0 Stop Emergency stop OFF motor switched off Error present VP VC VF Quit OUTPUT O0 GOTO data record indicator password In data record operation VP During positioning process as preparation for the next command No program processing VP SPEED38 ACCEL POSR value SPEED value POSR value OUTPUT Ox y GOTO data record indicator password Find machine zero Approach real zero Manual No other ...

Page 166: ...ansfer without error using CR LF with error depending on the value of P20 refer to Error transmission in the User Guide Command Binary format hexadecimal POSA value 88 41 xx xx xx xx xx xx LSB MSB POSR value 88 52 xx xx xx xx xx xx LSB MSB SPEED value 88 53 xx xx xx xx xx xx LSB MSB ACCEL value 84 4C yy yy MSB LSB ACCEL value 84 44 yy yy MSB LSB OUTPUT Oyy 0 85 4F yy yy 30 MSB LSB OUTPUT Oyy 1 85 ...

Page 167: ...nteger first 0x00 01 C2 80 00 00 before decimal place after decimal place MSB LSB MSB LSB 3 These bytes must now be entered into the commands in the sequence specified The sequence of the bytes is reversed Do not alter the sequence of the bits This conversion also applies to negative numbers Examples of the number format of xx xx xx xx xx xx Number MSB LSB 10 00 00 0A 00 00 00 360 00 01 68 00 00 0...

Page 168: ...t value P243 HEDA operating mode VP 0 P245 Assgn outputs O1 O8 to the HEDA bus imme diately 0 P246 Assgn outputs O9 O16 to the HEDA bus imme diately 0 P247 Max average transmission errors VP 5 P248 Max transmission errors VP 15 P249 Synchronization monitoring VP 10 P250 Unit addresses in master slave mode 1 VP 0 In the HEDA master HEDA slave operating mode passive slave to COMPAX master P245 P246 ...

Page 169: ...arameter P184 depending on family COMPAX XX00 COMPAX XX60 COMPAX XX70 between Output quantity Master Encoder position COMPAX XX70 master channel duration period P184 40 Internal time base encoder velocity before P35 COMPAX XX70 P184 42 Scaled master position before P35 COMPAX XX70 P184 43 Nominal position value in resolver increments 65536 increments revolution P184 44 Actual position value in res...

Page 170: ...er coupling then the slave must be informed using P188 140 in such cases only the high word is processed 1st unit Master Slave COMPAX XX60 COMPAX XX70 P31 1 Encoder 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 O1 O3 Slave 2 Slave 1 Master BUS2...

Page 171: ...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 0 on the mast...

Page 172: ...M S Process coupling using HEDA Option A1 A4 172 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 ...

Page 173: ...s and outputs PLC interface serial interface RS232 front plate with status and error display data record memory integrated IGBT final stage mains module to produce power voltage without transformer with emergency stop function drive unit motor transmission and cable aids for controlling COMPAX using the digital inputs and outputs interface cable for operating COMPAX via the serial interface RS232 ...

Page 174: ...DIGITAL Status Number X6 X8 X10 Enter Ready Error RS232 Input Output Test Control X9 X11 Value Power Supply COMPAX M S tatus Num ber X 6 X 8 X10 En ter Re ad y Error RS 2 32 Input O u tpu t Te st Control X 9 X11 Value D IG IT AL COMPAX P1XXM COMPAX M S ta tu s Num ber X6 X8 X10 E nter Ready E rror RS232 Inp ut O utp ut Test C ontrol X9 X11 Value COMPAX S COMPAX 25XXS COMPAX 45XXS COMPAX 85XXS X11 ...

Page 175: ...d in the motor EncoEer simulation Option I 3 COMPAX 35XXM NMD20 Ballast resistor BRM 6 01 with 1 5m cable for connection to COMPAX 45XXS COMPAX 85XXS Ballast resistor BRM 7 01 with 1 5m cable for connection to COMPAX 35XXM COMPAX M with Power module NMD X6 X7 X8 Ready Error RS485 IN OUT Control DIGITAL Status Number X6 X8 X10 Enter Ready Error RS232 Input Output Test Control X9 X11 Value Power Sup...

Page 176: ... Hall 1 Phase V U Phase U W Phase W V 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 oper...

Page 177: ...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...

Page 178: ...e system network 9 5 2 1 Interbus S Option F2 You will find an object directory in the special documentation The connection arrangement is based on the specifications of 2 conductor remote bus 9 5 2 2 RS485 Option F1 F5 The RS485 interface is described in the special documentation 2 different options are available F1 4 wire RS485F5 2 wire RS485 9 5 2 3 Profibus option F3 The Profibus is described ...

Page 179: ...g Unit Minimu m value Default value Maximum value Valid from P98 Travel of axis per encoder revolution corresp P90 0 0 0000000 4 000 000 VC P143 Encoder pulses per revolution channel 1 120 4096 2 000 000 VC P146 Resolution of encoder emulation channel 2 for permanent SinCos setting see Page 183 0 1024 8 512 VC RS422 interface 5V supply 120 10 000 increments revolution fmin 4 kHz fmax 500 kHz Dimen...

Page 180: ...le between COMPAX 1000SL encoder emulation COMPAX Channel 1 Channel 2 Pin X1 IN X2 OUT X3 IN X4 OUT 1 Screen Screen Screen Screen 2 NC N1 NC N2 3 NC B1 NC B2 4 NC 1A NC A2 5 N1 NC N2 NC 6 B1 NC B2 NC 7 1A NC A2 NC 8 5V NC 5V NC 9 NC N1 NC N2 10 NC B1 NC B2 11 NC O1 NC A2 12 N1 NC N2 NC 13 B1 NC B2 NC 14 O1 NC A2 NC 15 GND NC GND NC Applications with encoder Encoder COMPAX Cable GBK 11 Encoder inpu...

Page 181: ... X13 BUS1 01 Bus ter mination IN OUT IN OUT X1 X2 X3 Channel 1 Channel 2 X4 EAM4 01 X5 IN OUT IN OUT X1 X2 X3 X4 EAM4 01 X5 IN OUT IN OUT X1 X2 X3 X4 EAM4 01 X5 SSK4 SSK4 SSK4 Channel 1Channel 2 Channel 1Channel 2 E3 E4 E4 Requirements per COMPAX one encoder distributor EAM 4 01 one cable for the COMPAX and encoder distributor connection SSK 4 one bus cable for connecting the encoder distributors ...

Page 182: ...3 X4 EAM4 01 X5 SSK4 SSK4 SSK4 Channel 1 Channel 2 Channel 1 Channel 2 BUS1 01 Bus ter mination E3 E4 E4 E4 COMPAX 1 and COMPAX 2 receive the signals from one encoder COMPAX 3 receives the actual COMPAX 1 value concerning its emulation The following are required per COMPAX one encoder distributor EAM 4 01 one cable for the COMPAX and encoder distributor connection SSK 4 3 bus cables SSK 7 2 bus te...

Page 183: ...or 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 Further information on the value range of S12 can be found on Page 79 9 6...

Page 184: ...tion After Power on and after an error has occurred S12 is transferred as the actual value S1 S12 The function is switched on via P206 1 No Meaning Unit Minimum value Default value Maximum value Valid from P96 Transmission factor for the reset path of S2 option 0 no reset function 0 0 2048 VC P206 Enabled absolute value sensor input or the reset functions of the S2 option 1 absolute value sensor i...

Page 185: ... 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 Page 139 internal data record memory can still be used to its full extent can be independently operated a...

Page 186: ...el per motor revolution P93 4 speed control mode P143 600 000 P144 7 analogue speed specification P35 1 transmission factor 1 I15 0 I16 1 external nominal value is valid These parameters influence the interrelation between voltage and speed they must therefore be specified and fixed Specify the required speed directly in P98 in min 1 when input voltage is 10V Linearity error 1 Amplification error ...

Page 187: ...ro Move to real zero Break block TEACH real zero point TEACH block Error warning quit No error No warning I7 I8 O7 O8 JOG JOG START Ready for START Stop block TEACH ZERO TEACH HOME OK QUIT NO WARNING QUIT NO ERROR I7 O7 I8 O8 ZERO JOG JOG START READY BREAK STOP The control panel is available for front plate installation or with housing 86 0 19 5 15 173 57 80 8 36 14 10 134 0 74 16 14 32 12 34 35 4...

Page 188: ...wn green white yellow yellow brown white grey grey brown white pink pink brown white blue brown blue white red brown red white black 9 7 2 Terminal module for COMPAX 1000SL EAM The terminal module EAM3 is used for the onward wiring of the COMPAX 1000SL connector X19 physical inputs outputs to a terminal series and a Sub D connector The module can be fixed in the control cabinet to an installation ...

Page 189: ...m ber X6 X8 X10 E nter Ready E rror RS232 Inp u t O utp u t Test C on trol X9 X11 Value DIGITAL S ta tu s Num ber X6 X8 X10 E nter Ready E rror RS232 Inp u t O utp u t Test C on trol X9 X11 Value COMPAX M Motion Control COMPAX M Motion Control DIGITAL S ta tu s Num ber X6 X8 X10 E nter Ready E rror RS232 Inp u t O utp u t Test C on trol X9 X11 Value U V W PE Brake PE X5 X1 X2 X3 X4 24V DC 0V PE LS...

Page 190: ...X8 mains module X8 control EAM5 01 X4 mains module X4 signal connection to COMPAX M X5 connection cable included EAM5 01 F21 24V DC fuse 0 5A M Delivery scope EAM5 01 Mating connector X8 Signal connection EAM5 01 COMPAX M 0 5m Short circuit connector for the last COMPAX M on X4 ...

Page 191: ...pecified in EN61800 3 Type NFI01 02 Type NFI01 03 Dimension diagram 6 6 A B C D E F G Ø 4 L I N E L O A D Type NFI01 04 307 61 152 337 320 35 6 5 M5 25 400 347 Line Netzseite Load Lastseite 10mm2 COMPAX 35XXM with serially mounted COMPAX M contr Type NFI01 05 LINE LOAD 110 0 3 150 max 325 1 M10 17Nm 6 5 x 15 301 max 378 max 81 max 15 42 58 Do not loosen the locking nut NMD10 COMPAX 45XXS 85XXS COM...

Page 192: ...tle We supply motor output throttles for use with long motor lines greater than 20m Type MDR01 01 16A 2mH Type MDR01 02 30A 1 1mH Type MDR01 03 30A 0 64mH M motor PE PE U V W Br Br U1 U2 V2 V1 W1 W2 motor output filter device 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 W...

Page 193: ...ballast resistance of 22Ω Ω Ω Ω Braking power Duration Cooling down time BRM6 01 450W unlimited 6 9 kW 1s 20s 28 kW 0 4s 120s COMPAX 35XXM with external ballast resistance of 10Ω Ω Ω Ω Braking power Duration Cooling down time BRM7 01 2 00 kW unlimited 56 kW 1s 100s 17 kW 1s 10s COMPAX 10XXSL with external ballast resistance of 100Ω Ω Ω Ω Braking power Duration Cooling down time BRM8 01 60W unlimit...

Page 194: ...0 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 Pbdyn W F 50 F 5 F 10 F 2 F 1 F 0 5 F 100 F 20 For a braking time of 0 8s a braking power of 700W is required The following can be determined from the diagram At the required magnitudes this is between factor F 2 and factor F 5 To maintain operating safety select factor F 5 therefore the required cooling down time equ...

Page 195: ...r for NMD20 with BRM4 03 1000 10000 100000 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 Pbdyn W F 50 F 5 F 10 F 2 F 1 F 0 5 F 20 Authorised braking impulse power for NMD20 with BRM4 02 1000 10000 100000 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 Pbdyn W F 50 F 5 F 10 F 2 F 1 F 0 5 F 100 si ngl e pul se F 20 F Factor Cooling down...

Page 196: ... 6 1 8 2 0 2 2 2 4 2 6 2 8 3 0 Braking time s Pbdyn W F 50 F 5 F 10 F 2 F 1 F 100 single pulse F 20 Authorised braking impulse power for NMD10 100 1000 10000 100000 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 Pbdyn W F 50 F 5 F 10 F 2 F 1 F 0 5 F 100 F 20 F Factor Cooling down time F braking time F Factor Cooling down time F braking time ...

Page 197: ...COMPAX 2500S with BRM5 01 100 1000 10000 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 Pbdyn W F 50 F 5 F 10 F 2 F 1 F 0 5 Authorised braking impulse power for COMPAX 4500S and COMPAX 8500S 100 1000 10000 100000 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 Pbdyn W F 50 F 5 F 10 F 2 F 1 F 0 5 F 100 single pulse F 20 F Factor Cooling...

Page 198: ...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 Pbdyn W F 50 F 5 F 10 F 2 F 1 F 0 5 F 100 single pulse F 20 Authorised braking impulse power for COMPAX3500M with BRM7 01 1000 10000 100000 0 0 2 0 4 0 6 0 8 0 10 0 Braking time s Pbdyn W F 50 F 5 F 10 F 2 F 1 F 0 5 F 20 F Factor Cooling down time F braking time F Factor Cooling down time F braking time ...

Page 199: ...itioning and control functions Optimization functions Interfaces Accessories options Status Parameter Error list Permissible brake pulse power for COMPAX 1000SL with BRM8 01 10 100 1000 10000 0 0 0 5 1 0 1 5 2 0 2 5 3 0 Braking Time s PBdyn W F 50 F 20 F 10 F 5 F 2 F 1 F 0 5 F Factor Cooling down time F braking time ...

Page 200: ... described in a separate manual 9 7 7 Hand held terminal The BDF2 01 hand held terminal is a simple aid with which you can operate and easily configure COMPAX with the guided menus The hand held unit is connected to COMPAX X6 and powered via the RS232 interface It is therefore suitable for rapid diagnosis and supporting start up 100mm 180mm COMPAX 7 8 9 4 5 6 1 2 3 0 NO YES Esc Ent DELETE SHIFT P ...

Page 201: ... jumps to addresses are automatically corrected P Directly select parameter input N Directly select program memory F3 Quit Special functions WAIT Ent WAIT START GOTO Ent GOTO EXT GOSUB Ent GOSUB EXT SPEED Ent SPEED SYNC Special COMPAX XX70 commands F1 SETC x F2 SETM x F3 SETS F4 LOOP x POSR Ent POSR CAM Lit display Function dark bright H1 red No error Error H2 amber No warning Warning heat sink te...

Page 202: ...tage Position Cycles Operationg Hours Repeat Counter Encoder Position optimization dispaly P233 optimization display P234 status monitor P182 standard config A1 A6 enlarged status info error history Diagnosis Values I1 I8 I9 I16 O1 O8 O9 O16 Status Motor Status Switches Status Limits Status Output stage Current Command RS232 Data Bus Data Last Error Identification Software Version Release Date Com...

Page 203: ...ock Ent YES Are You sure Program is deleted NO YES YES Program Mode Delete Program Esc NO Command Mode Commands or numerical values are modified by overwriting them YES Esc NO Command Mode NO Enter command Ent Command is transferred by COMPAX Once you have transmitted the command using Ent this command reappears in the display and it can be modified and transmitted again When OUTPUT O X the cursor...

Page 204: ...Esc NO Set up Mode NO No When you exit the Parameter edit menu using Esc the VC command transfer configuration is transmitted to COMPAX The configuration parameters are therefore only valid from this moment When exiting the Parameter edit menu using NO the VC command is not transmitted Con tinue with YES Esc NO Set Up Mode NO YES Operating Mode Measurement unit Ramp shape Drive type Drive type Par...

Page 205: ...r Minimal load Maximal load Inertia minimum Inertia maximum Travel path per motor revolution YES YES YES YES Switch off Motor YES Ent YES Ent YES Ent YES Ent All correct NO YES Switch on motor Switch off motor YES NO Changes values and YES Ent continue with or NO Ent NO YES Selected motor NO P100 XXX YES You can configure a motor individually by setting P100 0 Therefore fill in the motor data and ...

Page 206: ...urement signals with D1 option SSK1 RS 232 Interface cable for PC COMPAX available in the following lengths 2 5 5 7 5 10 in m Ballast resistors NMD20 BRM4 0 57 kW 1 5 kW 15Ω COMPAX 25XXS BRM5 01 250W 56Ω COMPAX 45XXS 85XXS BRM6 01 450W 22Ω COMPAX 35XXM BRM7 01 2 kW 10Ω COMPAX 1000SL BRM8 01 60W 100Ω AC power filter NMD10 COMPAX 45XXS 85XXS NFI01 02 COMPAX 25XXS NFI01 01 or NFI01 06 10m motor cable...

Page 207: ...bsolute value sensor option A1 not available in COMPAX XX10 and COMPAX XX30 Optimization display S13 With optimization parameter selected using P233 Optimization display S14 With optimization parameter selected using P234 Status monitor S15 D A monitor value selected using P182 Status bits 1 S16 Information from the status outputs O1 O6 and the last OUTPUT O0 command Status bits 2 S17 Information ...

Page 208: ...Current internal nominal value output of nominal value setter and track nominal value directly specified by HEDA Meaning of status bits The status bits are not relevant for normal operation they must not be used for control purposes They do provide accurate error analysis if you contact HAUSER in case of problems The bits are counted from the left to the right S23 S24 S25 Bit Drive status S23 Swit...

Page 209: ... switched off when error occurs 8 Bit sequence during transmission of S16 S17 Bit 1 is on the left the transmission starts with bit 1 E g S17 1000 0000 during ASCII transfer 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 ...

Page 210: ...lec tion Meaning 0 Nominal speed value sensor 20 000 min 1 1 Tracking error 128 motor revolutions 1 Positioning time from start of positioning to Position reached 2 Advance speed control 20 000 min 1 2 max intermediate circuit voltage in V 3 Nominal speed value of position controller 20 000 min 1 3 reserved 4 Actual speed value 20 000 min 1 4 max undershoot referenced to max position amount only f...

Page 211: ... O16 Bit 0 15 00 60 7x 10V 2 23 37 Frequency encoder channel 4 inc ms 60 7x 10V 2 23 encoder increments ms 38 Frequency encoder channel 5 Inc ms reserved 10V 2 23 encoder increments ms 39 Constant value 0 00001 39 Cause of calculation error E07 Meaning 40 Encoder position master channel 60 7x 10V 2 23 encoder increments 41 Encoder velocity reserved 60 7x 10V 2 23 encoder increments ms 42 Internal ...

Page 212: ... 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 assignment meaning P1...

Page 213: ...fter limit switch or emergency stop is activated ms 1 250 60 000 immediat P11 Max positive position referenced to machine zero corresp P90 P12 4 000 000 0 0 4 000 000 00 VP P12 Max negative position referenced to machine zero corresp P90 4 000 000 00 4 000 000 00 P11 VP P13 Max permitted lag tolerance error E10 is triggered when exceeded E10 E49 are switched off with specification 0 corresp P90 or...

Page 214: ...ed controller damping 0 100 500 VP P25 Speed advance control value 053 100 500 VP P26 Acceleration advance control value 0 100 500 VP P27 Moment of inertia 10 100 500 VP P29 Machine zero comparison Degre e 0 0 360 VP P35 Switch on mark reference 0 switched off 1 switched on VP P36 Limitation of speed correction value for external position adjustment only COMPAX XX00 and COMPAX XX30 0 switched off ...

Page 215: ...tted 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 P90 0 0 4 000 000 VP P76 Address of D A monitor 3 decimal place 0 amplification 1 0 4 000 000 1 20 000 VP P77 Address of D A monitor 4 decimal place 0 amplification 1 0 15 000 000 1 20 000 VP P80 Drive type 2 Sp...

Page 216: ...r number Motor selection VC Number of terminals A S P101 Linear motor P101 2 L 2 2 12 VC EMC S P102 P102 EMC V m s P126 60 000 L V min 1000 10 400 VC Moment of inertia A S P103 Linear motor 2 2 1000 126 103 Π P m P Forcer L kgmm 2 0 200 000 VC Nominal speed A S P104 Linear motor 126 60000 1000 104 P V P al min no L min 1 500 9000 VC P105 Nominal current A S L mA 200 100 000 VC Nominal torque A S P...

Page 217: ...VC 0 HDX HDY motors 1270 HJ motors P129 Resolver offset A S L Degree 0 0 360 VC P130 Resolver frequency A S L 2 5kHz P4 VC Resolver transformation ratio58 A S L 2 ü 0 5 e g P4 resolver 70 100 200 P131 Level adaptation 1 ü for resolver or SinCos sensor from V5 61 setting aids 59 100 0 5 200 0 25 70 0 71 VC Position sensor A S 2 2 pol resolver P4 P132 With linear motors L 10 TTL linear encoder 11 Si...

Page 218: ...nput 11 Bit 20 23 input 12 Bits 8388608 X19 8 I12 I7 I11 0 8 388 608 8388607 VP P158 Allocation of inputs I13 I16 to the input pins on X19 Source for Bit 0 3 input 13 Bit 4 7 input 14 Bit 8 11input 15 Bit 12 15 input 16 Bit 16 19 free Bit 20 23 free Bits 8388608 X19 9 I16 I13 I15 0 36 864 8388607 VP P159 Allocation of output pins X19 15 X19 18 to the logic outputs Source for Bit 0 3 Pin X19 15 Bit...

Page 219: ... switched on S2 opt 2 absolute value sensor enabled VP P211 Disable and modify the Teach In function Also enable final stage with OUTPUT O0 0 without lag Bit 2 1 0 The teach data record and teach real zero functions are enabled 1 Teach in real zero is blocked data record indicator is set to 1 using I1 I4 2 Teach in set is blocked data record indicator is set to 1 using I1 I5 Teach real zero is ena...

Page 220: ...he bit set I25 I32 immedia tely P223 Assign outputs O1 O8 to the OUTPUT WORD command with a 1 Output valency Bit No O1 1 1 O2 2 2 O3 4 3 O4 8 4 O5 16 5 O6 32 6 O7 64 7 O8 128 8 P223 sum of valencies of the OUTPUT WORD outputs immedia tely P224 Assign outputs O9 O16 to the OUTPUT WORD62 command with 1 Output valency Bit No O9 1 1 O10 2 2 O11 4 3 O12 8 4 O13 16 5 O14 32 6 O15 64 7 O16 128 8 P224 sum...

Page 221: ...0 0 or slave on IPM P250 1 9 1 COMPAX as master 2 COMPAX as slave on a COMPAX master VP P245 Assign outputs O1 O8 to the HEDA bus Output valency Bit No O1 1 1 O2 2 2 O3 4 3 O4 8 4 O5 16 5 O6 32 6 O7 64 7 O8 128 8 P245 sum of valencies of the outputs allocated to the HEDA bus immedia tely P246 Assign outputs O9 O16 to the HEDA bus Output valency Bit No O9 1 1 O10 2 2 O11 4 3 O12 8 4 O13 16 5 O14 32...

Page 222: ...amic monitoring In COMPAX the nominal current value is limited to the smallest value of the following 3 quantities IUP unit peak current P105 P107 nominal motor current P105 maximum pulse current permitted for the motor P107 P105 P16 nominal motor current P105 maximum permitted user set torque P16 Static monitoring This executes triple monitoring Unit monitoring Using the unit specific time consta...

Page 223: ...free E00 Interruption of a positioning command using STOP BREAK is only reported via RS232 Not necessary no E01 Not configured Configure Quit yes E05 Machine zero initiator not found Error is only generated when using reversing initiators Check initiator Quit no E07 Calculation error Check programmed arithmetic more accurate cause shown in the optimizing display P233 243 39 see Page 133 Quit no E0...

Page 224: ...X 45XXS 85XXS bridges X2 5 X2 6 missing COMPAX 1000SL Check value P134 Quit yes E39 Temperature too high 85 cycle too hard Increase acceleration times Quit yes E40 Input Enable final stage 45 85S X3 1 2 1000SL X19 24 X19 12 35XXM X19 9 10 not assigned Only with COMPAX 35XXM COMPAX 45XXS COMPAX 85XXS and COMPAX 1000SL Note With E40 there is no braking delay the final stage is immediately switched o...

Page 225: ...ia X9 6 switched on via P219 7 Check system then switch unit on again Quit yes E57 Voltage in intermediate circuit too low 70V Check mains connection Switch off E57 using P218 1 Quit yes E58 Temperature is too high 75 or SinCos temperature error Increase acceleration times Quit no E65 Encoder error Check encoder cable Axis is brought to a stop through speed control switch off using P218 Quit no E7...

Page 226: ... belt should be blocked for as long as there is a risk of collision between the workpiece and drill SPEED SYNC 233 Application Cartons should be transferred from one conveyor belt conveyor belt A a belt operating at a very variable belt speed to another conveyor belt conveyor belt C a belt which has a constant belt speed This task should be performed using a transfer belt conveyor belt B installed...

Page 227: ...I2 I5 I6 I10 I11 I12 I13 O7 O8 I9 I14 I15 I16 search MZ start stop BCD switch I7 I8 pick up lifted pick up lowered lower pick up lift pick up evaluation by external calling of command lines removal station empty 1 2 4 BCD 24V 24V 24V COMPAX 24V Comments The inputs I9 I14 I15 and I16 have to be placed on GND or left open The BCD switch has eight settings The outputs are encoded with binary The Data...

Page 228: ...t lowered deposits workpiece Wait for START mark N007 WAIT START waits for the start pulse N008 GOSUB EXT calls up the corresponding inputs I9 I16 for the sub program N009 GOSUB raises workpiece 32 calls Raise workpiece sub program N010 POSA 60 proceeds to data collection station N011 GOSUB deposits workpiece 36 calls up Deposit workpiece sub program N012 GOTO waits for START 7 goes to data record...

Page 229: ...after COMPAX has been started is a rest of the control outputs Once assurance has been received that the blades of the shears are open COMPAX is ready for the initial cutting to length The cutting to length process is triggered by a start pulse COMPAX firstly activates the mark reference I14 using O14 After a waiting time of 10 ms which is used to compensate for any possible COMPAX timing offset t...

Page 230: ...ark reference block N005 OUTPUT O15 0 message mark found Wait for start mark N006 IF I7 0 GOTO 6 waits until shears are open N007 WAIT START waits for start pulse N008 OUTPUT O14 1 activates mark reference N009 WAIT 10 waits until mark reference is activated N010 POSR 50 mark referenced positioning N011 WAIT 10 waits until mark is missing or set N012 IF I15 0 GOTO reverses 18 if mark is missing re...

Page 231: ...initial speed is first set to 100 mm s using the SPEED 100 command N007 This speed can be used until the start of the boring process After a travel distance of 120 mm the boring begins and the speed should then be 10 mm s The POSR 120 mm SPEED 10 command N011 ensures that the speed is reduced from 100 mm s to 10 mm s for the following positioning after a distance of 120 mm The position as of which...

Page 232: ...elease Wait for start mark N006 WAIT START waits for start pulse N007 SPEED 100 sets starts speed to 100 N008 POSR 25 OUTPUT O8 0 sets the comparator point of the Block conveyor belt N009 POSR 100 OUTPUT O7 1 sets the comparator point of the Switch on bore spindle N010 POSR 120 SPEED 10 sets the speed steps N011 POSA 200 performs the positioning command with the set procedure N012 SPEED 50 sets st...

Page 233: ...cur due to slip between the carton and one of the conveyor belts Once the whole carton has been received the system waits until I8 reports that the carton has been passed to conveyor belt C N008 If during this waiting time another carton arrives via conveyor belt A this is blocked via O7 When the carton is passed on and conveyor belt A is blocked the speed of conveyor belt B is set to that of conv...

Page 234: ...is closed the interlock is also closed N005 The interlock is checked for safety reasons N006 The operating mode switch is then queried N007 If this is set to Removal the speed is set to 0 1 using N008 The system waits until the light barrier is activated by a test tube N010 When this occurs the speed is set to 0 N011 and the interlock is opened N012 The shutter can now be opened to insert or remov...

Page 235: ...OUTPUT O7 0 closes interlock N006 IF I9 0 GOTO 6 checks whether interlock is closed Operating mode query N007 IF I10 1 GOTO centrifuges 18 queries operating mode switch Remove mark N008 SPEED 0 1 sets the speed to 0 1 N009 WAIT 500 waits 500 ms N010 IF I7 0 GOTO 10 waits until the light barrier is activated N011 SPEED 0 sets the speed to 0 N012 OUTPUT O7 1 opens interlock N013 IF I8 1 GOTO 13 wait...

Page 236: ...fore remain for the feed movement To ensure that the necessary drive dynamics are kept within these limits as much of this time as possible must be used for the actual feed movement This is why the fast START is used here as it has a response time of only 1 5 ms The feed movement is triggered by the signal that the initiator on the eccentric axis transfers via the release switch to COMPAX I15 at a...

Page 237: ...d torque using P16 in of the nominal torque max 100 Switch off errors E10 and E49 using P13 0 COMPAX tries to reach the specified speed and increases the torque to the maximum permitted torque P16 This value is maintained regardless of the load In position controller mode Specify a position which cannot be approached which is beyond the load position Define the desired torque using P16 in of the n...

Page 238: ...87 BDF2 01 200 Binary data transfer using RS232 166 Block check 161 Block structure of the basic unit 68 Blocking and modifying teach in functions P211 150 Blocking and modifying the teach in functions P211 164 Brake control 51 Braking delay 93 Braking operation 64 Braking power NMD 24 Braking power COMPAX 1000SL 41 Branching 108 BREAK handling 111 BRM4 193 BRM6 193 BRM7 193 Bus connection 63 Bus ...

Page 239: ... Encoder module 180 Encoder position 208 END 107 End sign 160 Entry buffer 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 13 Executing commands 160 External contact for brake control 51 External control panel 187 External motors conditions 75 External position localization 136 Fan confi...

Page 240: ... inertia 77 Monitoring 222 Monitoring functions 65 Motor monitoring 222 Motor or final stage temperature too high 131 Motor output throttle 192 Motor throttle 206 Motor type 75 Motor type plate 92 Motors 176 Mounting COMPAX 1000SL 43 Multiplication 114 Multi turn 184 Negative command acknowledgement 164 225 NMD output power 23 NMD20 internal ballast resistance 24 Nominal current 92 Nominal current...

Page 241: ...93 RETURN 107 Return jump to main program 107 Round table control 147 RS232 160 Example in Quick Basic 161 RS232 data 207 RS232 interface parameters 160 RS485 178 S1 183 S1 2 3 assignment X12 46 S13 133 S14 133 S15 210 S16 209 S17 209 S18 209 S2 184 S3 176 Safe working practices 8 Safety chain 44 Safety chain and emergency stop functions 44 Safety instructions 8 Saturation characteristic curve 93 ...

Page 242: ...ue converter 226 237 Transmission errors 171 Transmitting control instructions via RS232 164 Travel cycle 207 Travel per motor revolution 77 Type plate 7 Unit 208 increments 74 Unit 74 Unit assignment 7 Unit designation 208 Unit designations 208 Unit family 208 Unit monitoring 222 Unit technology 15 Unit wiring COMPAX 1000SL 41 V0 V49 109 Variable voltage 124 Variables 114 Variables V51 V70 114 Ve...

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