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Positioning and control functions

Speed monitoring in speed control mode (P93="4")

121

Unit

hardware

Connector

assignment / cable

Technical data

Configuration

Positioning and

control functions

Optimization

functions

Interfaces

Accessories /

options

Status

Parameter

Error list

O5="1": nominal value reached on nominal value generator and speed deviation

< P14.

If the speed deviation returns to > P14, O5="0" is set.
Can be adjusted using:

P227 bit 4 ="0"

(default setting)

P14

speed

P13

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 4

="0"

(default setting)

Speed

Actual value

Programmed
demanded
speed

Bit counting begins with 0.

OM2: O5 = "1":
nominal value
reached and
speed error <
P14

Example:

OM3: O5 = "1":
nominal value
reached

(independent of P14)

Example:

Содержание COMPAX-M /-S (L)

Страница 1: ...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 50...

Страница 2: ...nents 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...

Страница 3: ...os 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 Connect...

Страница 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...

Страница 5: ...ons 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...

Страница 6: ...meters 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...

Страница 7: ...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 Pleas...

Страница 8: ...structions 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 modificati...

Страница 9: ...ed 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 de...

Страница 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...

Страница 11: ...9 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...

Страница 12: ...er 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 men...

Страница 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 thro...

Страница 14: ...e 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 s...

Страница 15: ...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 Install...

Страница 16: ...ower 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...

Страница 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 Inp...

Страница 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 e...

Страница 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...

Страница 20: ...wo 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 mai...

Страница 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...

Страница 22: ...6 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...

Страница 23: ...s 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...

Страница 24: ...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 ins...

Страница 25: ...plays 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 activa...

Страница 26: ...ut 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 Ini...

Страница 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...

Страница 28: ...een 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 S...

Страница 29: ...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...

Страница 30: ...8 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...

Страница 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 blac...

Страница 32: ...f 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 56 2 5 kW 2s 10s We can su...

Страница 33: ...21 271 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...

Страница 34: ...5V 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 CT...

Страница 35: ...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 X1...

Страница 36: ...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 mai...

Страница 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 b...

Страница 38: ...stance 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 Brak...

Страница 39: ...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...

Страница 40: ...ake 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 W...

Страница 41: ...50V 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 16...

Страница 42: ...6 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...

Страница 43: ...s 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 X...

Страница 44: ...ut 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 controlle...

Страница 45: ...y 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 st...

Страница 46: ...ignment 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...

Страница 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...

Страница 48: ...ersion 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...

Страница 49: ...2 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 she...

Страница 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 contac...

Страница 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...

Страница 52: ...ut 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...

Страница 53: ...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 inter...

Страница 54: ...for COMPAX 1000SL F23 PLC 24V 0V X8 15 4 7K 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 fo...

Страница 55: ...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 att...

Страница 56: ...can continue to use the previous override connection for current applications X19 13 X19 14 10K 5V GND 100 0 10K 100nF Override Signal 1K The override input is read in a cycle of 100 ms Wiring of ove...

Страница 57: ...d 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 Sp...

Страница 58: ...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 AS...

Страница 59: ...rd 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 Abs...

Страница 60: ...mpuse 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 po...

Страница 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...

Страница 62: ...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...

Страница 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 P24...

Страница 64: ...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 016...

Страница 65: ...0040 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 pag...

Страница 66: ...X 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...

Страница 67: ...or 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 equime...

Страница 68: ...l 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 posi...

Страница 69: ...gnable 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 mo...

Страница 70: ...ia 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 outp...

Страница 71: ...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 interface...

Страница 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...

Страница 73: ...0 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 t...

Страница 74: ...ler 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 ass...

Страница 75: ...es 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...

Страница 76: ...ifications 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 Par...

Страница 77: ...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 HLE8...

Страница 78: ...ement 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 w...

Страница 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 give...

Страница 80: ...or 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...

Страница 81: ...s 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 li...

Страница 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 dire...

Страница 83: ...MZ mechanical limit position 0 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 2...

Страница 84: ...ero 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...

Страница 85: ...g 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 In...

Страница 86: ...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...

Страница 87: ...2 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...

Страница 88: ...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 wit...

Страница 89: ...e 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...

Страница 90: ...ch 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...

Страница 91: ...he 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...

Страница 92: ...ty ind H P113 maximum mechanical speed max rpm P116 stator resistance res 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 nomi...

Страница 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 amplifi...

Страница 94: ...ccur 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...

Страница 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...

Страница 96: ...ne 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 posit...

Страница 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 Accelerati...

Страница 98: ...rive 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 s...

Страница 99: ...self 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...

Страница 100: ...ravel 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...

Страница 101: ...MPAX 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 Appro...

Страница 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 position...

Страница 103: ...tart 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 t...

Страница 104: ...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...

Страница 105: ...rence 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 de...

Страница 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 funct...

Страница 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...

Страница 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...

Страница 109: ...ssible 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 V...

Страница 110: ...ormally 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 ty...

Страница 111: ...m 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 20...

Страница 112: ...he 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 N00...

Страница 113: ...PAX 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...

Страница 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 v...

Страница 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 messa...

Страница 116: ...e 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...

Страница 117: ...or 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 r...

Страница 118: ...s 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 se...

Страница 119: ...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 i...

Страница 120: ...xt 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...

Страница 121: ...viation 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 tri...

Страница 122: ...ached 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 in...

Страница 123: ...ing 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...

Страница 124: ...067 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 outp...

Страница 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 con...

Страница 126: ...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...

Страница 127: ...y 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 structur...

Страница 128: ...een 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 controlle...

Страница 129: ...ontains 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 h...

Страница 130: ...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 P...

Страница 131: ...ures 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 limitatio...

Страница 132: ...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 inte...

Страница 133: ...ge 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...

Страница 134: ...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 switch...

Страница 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...

Страница 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...

Страница 137: ...ing 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 b...

Страница 138: ...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...

Страница 139: ...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...

Страница 140: ...Value 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...

Страница 141: ...tten 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 Allo...

Страница 142: ...bit 4 7 20 256 Value factor P160 bit 8 11 21 4096 Value factor P160 bit 11 15 22 Value of P160 Example The following assignment must be configured Output 1 X19 Pin 15 Output 3 X19 Pin 16 Output 4 X19...

Страница 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...

Страница 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 opti...

Страница 145: ...r 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 wil...

Страница 146: ...e 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 si...

Страница 147: ...rt 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...

Страница 148: ...TOP 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...

Страница 149: ...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 ind...

Страница 150: ...pplies 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 aft...

Страница 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 cur...

Страница 152: ...19 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 ram...

Страница 153: ...s 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...

Страница 154: ...s 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...

Страница 155: ...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...

Страница 156: ...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...

Страница 157: ...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...

Страница 158: ...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 neg...

Страница 159: ...us 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...

Страница 160: ...ud 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 comm...

Страница 161: ...face 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 Impl...

Страница 162: ...ed 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...

Страница 163: ...nsferred 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...

Страница 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 Tea...

Страница 165: ...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 preparat...

Страница 166: ...nsfer 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...

Страница 167: ...teger 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 reve...

Страница 168: ...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...

Страница 169: ...rameter 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 veloc...

Страница 170: ...r 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 durat...

Страница 171: ...rder 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...

Страница 172: ...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...

Страница 173: ...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 wit...

Страница 174: ...IGITAL 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 Contr...

Страница 175: ...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 conne...

Страница 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 high...

Страница 177: ...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...

Страница 178: ...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...

Страница 179: ...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 0...

Страница 180: ...e 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...

Страница 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 Channe...

Страница 182: ...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 COMPA...

Страница 183: ...r 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 ph...

Страница 184: ...ion 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...

Страница 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 output...

Страница 186: ...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 i...

Страница 187: ...o 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 Q...

Страница 188: ...n 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...

Страница 189: ...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 COMPA...

Страница 190: ...8 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 connect...

Страница 191: ...pecified in EN61800 3 Type NFI01 02 Type NFI01 03 Dimension diagram 6 6 A B C D E F G 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...

Страница 192: ...e 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 mot...

Страница 193: ...l ballast resistance of 22 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 10 Braking power Duration Cool...

Страница 194: ...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 follow...

Страница 195: ...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 N...

Страница 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...

Страница 197: ...OMPAX 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 4...

Страница 198: ...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 1...

Страница 199: ...tioning 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...

Страница 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 i...

Страница 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 SP...

Страница 202: ...age 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 Di...

Страница 203: ...ck 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 com...

Страница 204: ...sc 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 m...

Страница 205: ...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 o...

Страница 206: ...asurement 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 15 COMPAX 25XXS BRM5 01 250W...

Страница 207: ...solute 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...

Страница 208: ...urrent 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 n...

Страница 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...

Страница 210: ...ec 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...

Страница 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 valu...

Страница 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...

Страница 213: ...ter 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 re...

Страница 214: ...d 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 Deg...

Страница 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 0...

Страница 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 1...

Страница 217: ...0 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 0 5 e g P4 resolver 70 100 200 P131...

Страница 218: ...put 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...

Страница 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...

Страница 220: ...e 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...

Страница 221: ...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...

Страница 222: ...mic 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 permi...

Страница 223: ...ree 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 gene...

Страница 224: ...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...

Страница 225: ...a 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 Temperatur...

Страница 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 bel...

Страница 227: ...2 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 sta...

Страница 228: ...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 cal...

Страница 229: ...fter 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 l...

Страница 230: ...rk 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 refer...

Страница 231: ...nitial 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 sh...

Страница 232: ...lease 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 OUTP...

Страница 233: ...ur 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 dur...

Страница 234: ...s 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...

Страница 235: ...UTPUT 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...

Страница 236: ...efore 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 f...

Страница 237: ...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...

Страница 238: ...7 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...

Страница 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 Err...

Страница 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 Moto...

Страница 241: ...3 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 13...

Страница 242: ...e 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...

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