PLC sequential step tracking

POSA

POSR

SPEED

ACCEL

OUTPUT

	Operating Instructions	COMPAX-M / -S
	PLC sequential step tracking

	8.4.34 PLC sequential step tracking

Use the function "O5 toggles when position/speed reached" and a marker in the PLC to implement precise tracking of the COMPAX.

This also recognizes positioning processes which are completed again during the next PS cycle.

Implementation: V

Password

SPEED

SYNC

Mark reference

POSR

SPEED

POSR

OUTPUT

Cam controller

WAIT

GOTO

GOSUB

RETURN

END

REPEAT

IF I..

Comparison

WAIT Start

GOTO /

GOSUB EXT

IF Error/ Stop

Arithmetic

Position monitoring

Idle display

Speed monitoring

Engage /

disengage

brake / final stage

Variable voltage

P229

POSR	POSA	POSR
O5
Flag
PLC
Flag	PLC internal
PLC ⊕	PLC internal
PLC ⊕	position reached
O5	position reached
O5

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.

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Parker Products COMPAX-M /-S (L) manual PLC sequential step tracking, Implementation

Contents

M P a X U s e r G u i d e Contents Compax 1000SL Unit characteristics Compax 25XXS unit characteristicsCompax 45XXS/85XXS unit characteristics Technical data Contents Interfaces 138 173Optimization functions 125 Process interfaces 179 238 Appendix 207226 Key to unit designation Hauser type plate General dangersCompax 0260M Please check the software version of your unit General dangers Safety instructionsSpecial safety instructions Safe working practices Conditions of warranty Conditions of warranty Commissioning Switch-on statusConfiguration when supplied COMPAX-M / -S LED Commissioning ConfiguringMotor is powered Compax display shows RUN Flow chart Transferring system parameters Equipment replacementPrevious software ≥ Previous software ≤ Compax 35XXM Equipment replacementNMD10 / Compax 45XXS / Compax 85XXS Compax 25XXS Components required Start-up manualOverview Overview of unit technology Common function characteristicsOverview Compax P1XXM COMPAX-M Dimensions DxHxW 275*350*125 mm Design Power KVA Dimensions DxHxW 146*180*85 mm DesignDesign Power KVA KVA Connector and terminal assignment COMPAX-M unit featuresCOMPAX-M unit features Connector and terminal assignment Short circuit connectors COMPAX-M system network, NMD10 / NMD20 mains module Voltage Power supply Control voltage Wiring up mainsPower / control Screened Connection Upper unit side Compax 02XXM, NMD10, NMD20 COMPAX-M dimensions/installationCompax P1XXM, Compax 05XXM, Compax 15XXM Connector assignment COMPAX-M Connector assignment COMPAX-M Overview NMD Dimensions / installationMains module NMD10/NMD20 Mains module NMD10/NMD20 NMD connector assignmentTechnical data / power features NMD CE conformity NMD10 NMD20 LED red LED green Possible errors Error Ready If a phase malfunctions, no displays appearTechnical data / power features NMD Ready contact and green LED are coupled Compax 35XXS unit features Plug and connection assignment Compax 35XXM Specific technical data Compax 35XXS unit featuresInstallation and dimensions of Compax 35XXM Regeneration mode Wiring Compax 35XXM PE connection must be a version of at least 10mm2 Compax 35XXM connector assignment Assignment of X12 does not apply for the S3 option LED / color Meaning, when switched on Compax 25XXS unit characteristicsCompax 25XXS connector and connection assignment Meaning of the LEDs on the front plate Compax 25XXS connector and connection assignment Compax 25XXS unit characteristicsWiring up motor On unit side Compax 25XXS 1000 ∝ F / 27 Ws Compax 25XXS-specific technical dataConnecting ballast resistance to COMPAX-S Compax 25XXS ≤ 1.0 kW Unlimited With R ext ≥ 56 Ω ≤ 2.5 kW Design in series Compax 25XXS dimensions / installationCompax 25XXS dimensions / installation Flat design Connector assignment Compax 25XXS O1...O8 Plug and connection assignment Compax 45XXS/85XXS Compax 45XXS/85XXS unit characteristicsCompax 45XXS/85XXS unit characteristics Plug and connection assignment Compax 45XXS/85XXS Compax 45XXS/85XXS installation / dimensions Meaning of the LEDs on the front plate Compax 45XXS/85XXS-specific wiring Compax 45XXS/85XXS-specific wiringWiring up motor Control voltage Enable Maximum braking power of the internal ballast resistance Enable bridgesEnable internal ballast resistance X2/5 X2/6 Compax 45XXS/85XXS connector and pin assignment Assignment/ cable PE terminal Compax 1000SL Unit characteristicsConnector and terminal assignment for Compax 1000SL LED display Connector and terminal assignment for Compax 1000SL Compax 1000SL Unit characteristicsUnit wiring Compax 10XXSL 660 ∝ F / 17 Ws Bridges for test operation Connector assignment Compax 1000SL overviewMating connectors X1, X2, X3 Mounting and dimensions Compax 1000SL Mounting and dimensions Compax 1000SL Emergency stop and ready on connector Safety chain / emergency stop functionsReadiness, safety chain Emergency stop Ready contact max .5A Emergency stop input direct to COMPAX-MEmergency stop input on COMPAX-M 60V, 30W Cable assignment in the terminal boxes Connections to the motorResolver / SinCos Resolver / SinCos Length m Connections to the motorLength codes for preformed cables Code Packaging of device ProcedureMOK42 max ,8A Material MOK21 max ,9A MOK21 SinCos  cable for HJ and HDY motors Version in high-flex GBK17 same layout Connections to the motor Additional brake control External contact connection Assignment of X8 Input/Output InterfacesDigital inputs and outputs excluding Compax 1000SL Assignment of X10 Input/Output Start Interfaces Digital inputs and outputs for Compax 1000SLGND 24VDC Technical data / Connections of inputs and outputs Compax 1000SL Connection assignment on Connection plan for the initiators with initiator connectorInterfaces Initiators and D/A monitor Service D/A monitor / override Service D/A monitor / overrideService D/A monitor Wiring of override with screened cables only Standard InterfacesMonitor Measuring 7 D/A monitor option D1 Meaning and range of values of P71 P74 Absolute value sensor option A1 Interfaces Wiring diagram SSK1/...COMPAX PC/terminal8 RS232 interface Cable plan GBK1/.. Compax absolute value sensor Area of application of process interfaces Encoder interfaces / analogue rpm specification for Compax10 X13 Encoder interfaces Assignment on Process interfaces Configuration options Encoder interface Step direction input for Compax 1000SL Interfaces ConfiguringProcess Applications with Compax 1000SL and encoder Cable plan Interfaces Heda interface option A1/A4Bus connection SSK14 Technical data Power characteristics Bus connection optional Operation HousingPermissible 3-phase mains Standard delivery Operating Instructions RS232 / RS485 Bus-Systems Operating InstructionsPLC data interface Program memory / parameter memory Functions Setting ParametersExplanations for the block structure System controller Password Protection Activate password Password protectionInterfaces for signals Deactivate Meaning of the bus parameters Acknowledging error messages ConfigurationConfiguration Front plate operation not available with Compax 1000SL Power on with motor switched off Configuration when suppliedConfiguration process Switching off the drive Modifying parameters Risks from incorrect wiring Safety instructions for initial start-upPower on for drive Normal mode Continuous mode Speed controller Configuration parametersOperating mode Unit for travel data Linear Motor typeRamps Smooth Quadratic Drive typeSpindle drive Transfer of P94 General drive P213=0 P213=1 Reference systemP215 direction of rotation Specifying software end limits P206=2 Absolute value function with standard resolverActivated with Absolute value function with standard resolver Machine zero mode Real zero Machine zero Additional machine zero modes P213 Standard machine Zero mode for linear MovementsMachine zero equals external initiator & resolver zero P212 =1 Find machine zero Application Resolver zero pulse is a fixed Machine zero initiator MZ-INI isLow active Position of the rotor position P213=0 P29=0 P29=90 General rotatory Conditions for this operating modeMachine zero equals external zero pulse P212=4 only permitted for Compax XX00 and Compax Find machine zero Application P212 =7 Find machine zero Application Machine zero equals resolver zeroP212 =5 Find machine zero Application Condition Wiring upFunction P212 =8 Find machine zero Application Operating Instructions Limit switch operation COMPAX-M / -S Installing ServoManager Configuration via PC using ServoManagerConfiguration via PC using ServoManager Configuring Compax EMC Other parameters are derived from the type plate dataNominal motor speed for the Hbmr motors Min-1 Drive type Parameter for saturation characteristic curveHolding brake For motors with holding brake Safety instructions for the first start-up Individual configuration of synchronous motors Start program Positioning and control functionsPositioning and control functions Absolute positioning Posa Absolute positioning PosaRelative positioning Posr Posa value Process velocity Speed Acceleration and braking time Accel Switch off drive unit. Output O0 Setting/resetting an output OutputSetting multiple digital outputs Output O12=1010 O12=1010 Password Goto Password GotoExternal velocity specification. Speed Sync External speed set via option E7 Mark-related positioning Posr Preparatory instructions Preparatory instructionsChanges in speed within a positioning process Posr Speed Syntax Example Speed step profile extended by ramp time CompatibilityPosr x Speed y Accel z Changes in speed within a positioning process Posr Speed Comparators during positioning Posr Output Diagram of specified example for Posr OutputDiagram of example using Posa -1000 as positioning Comparators during positioning Posr Output Function of the cam controller Cam controller with compensation for switching delaysCam controller with compensation for switching delays Outputs of the cam controller 105 Problem pointExplanation regarding cam controller Example 2 Positioning with subsequent cam operation Compax Explanation Sub-program jump Gosub Rogrammable waiting time WaitProgram jump Goto Instruction to end a sub-program. Return If I7=1 Start a program loop RepeatBranching if I7=1 Binary if query of inputs if I12=101-1 Jump with data record selection Goto EXT Comparative operationsSpecific processing of data record groups. Wait Start If Error Gosub Error handling if Error GosubFunction Priority Error program Sub-program jump with data record selection Gosub EXT Wait Start Error program withStop / Break handling if Stop Gosub Stop / Break handling if Stop Gosub N241 Wait Start Stop programN001 if Stop Gosub N243 Return Curve memory ArithmeticParameter assignments Example Arithmetic and variables Status values Variables 115 Division y = x1 ExampleOr absolute Read status and assign variables Initializing variables OM2 Position monitoring P93=1, 2Functional description OM3 OM2 O5 = 1 nominal value reached and lag error P14 OM3 O5 = 1 nominal value reached Bit counting begins with 119 Idle displayIdle display Speed monitoring in speed control mode P93=4 OM1 O5 toggles when speed is reached Nominal value Can be adjusted using P227 bit 429 =0 default settingOM3 O5 = Reached Implementation PLC sequential step trackingPLC sequential step tracking Via Final stage blocked by Final stage is enabled viaEngaging and disengaging the motor brake Range of values Option D/A monitor channels Service D/A monitor channelsOutput of variable voltage Optimizing the movement cycle User-defined settingsOptimization functions Optimizing with the ServoManager Sensor User-defined settings with variant P59=Output of variable voltage Optimization process Increase control dynamic Structure P59 Structure switch measuring P23 stiffness of driveOptimization parameters Variants Increase damping Reduce damping P24 damping of driveP56 D section rpm controller Advance control measures Advance control of speed, acceleration and powerOptimization functions Without advance control measures Speed control P26 Advance acceleration control P70 Advance power controlP25 Advance Advance speed control Control processes for optimization Accel Speed monitor Function Settings Using the speed monitorSpeed monitor Speed determination standard P233/P23430 Meaning Optimization displayOptimization display Reference value 80 000A2 Square of peak motor currentYou will find a complete status list on Page207 Use the effective value Access to additional parameters via S13 and S14 P233/P234 Meaning Only available in Compax External position localization with position adjustmentConfiguring the external position adjustment P214 Slip filter for external position localizationLimit values Drive type Measuring unit Determining Digital inputs and outputs Digital inputs and outputsAssignment of standard unit Input Assignment Digital inputs and outputs Output Assignment P156 bit Allocation of logic inputs for input pinsDigital inputs and outputs for Compax 1000SL P157 bit Following assignment must be configured Input X19 pin Digital inputs and outputs Example Operating Instructions Inputs Free assignment of inputs and outputsFree assignment Free assignment of outputs Output Function Valency Compax virtual inputs Heda Remarks regarding the structural diagram Interrogation of inputs in the Compax program if 1.4 I/O assignment of variants Exception Start Function of inputsHand+/Hand Input Shift Find MZApproach RZ P211 blocking and modifying teach in functions Activate position adjustmentBreak Quit Start Stop Fast start Synchronous Stop usingDiagram Synchronous Stop Additional assignment of P219 No warning No faultFunction of outputs Caption DiagramsData record memory mode Finding machine zero in normal mode Approaching real zero Direct commandSpecification Before the 1st machine zero travel, O3=0 Input/output Meaning BCD coded 157 Syntax of individual commandsAcceleration time Operating Instructions Signal procedure using the example of a status query CommandsProcedure for transmitting a sign Function codes 3 RS232 interface Interface description RS232 interface Function Activation using P20 Valid From $=com19600,N,8,1 Positioning commands Interface functions Direct command entryCommands permitted for the various modes of operation Influencing the active positioning process Read the status values Read and write program sets and parameters P211 blocking and modifying the teach in functions Negative command acknowledge- mentTransmitting control instructions Quit Statuses Commands availableAll operating modes Output O0 Meanings of the binary command codes Binary data transfer using RS232P20 switching on binary data transfer MSB LSB RS232 interface Valency *1Examples of the number format of xx xx xx xx xx Number 360 450,5 Process coupling using Heda Option A1 / A4 Slave input quantities Fast startTransmittable parameters Master output quantity Application examples 1st unit Master Slave Permissible combinations and required parameter settingsP98 is identical in all units Synchronizing Error handlingError messages Process values 172 System concept System concept Accessories and options 174 Power module NMD Options EMD motors Linear motor Unit Nominal Peak current Power kVAMotors Current Aeff Aeff 5s With mains supply 230V AC Initiator set Hauser linear actuatorsHauser linear actuators 177 Bus systems Data interfaces1 RS232 Encoder interface Process interfacesProcess interfaces Meaning Unit Applications with encoder Encoder module and accessoriesIndividual connections Requirements per Compax EAM 4/01 Compax CompaxCompax not BUS 1/01 Encoder module Encoder bus mixedFollowing are required Enable absolute value sensor input High resolution SinCos sensor system S1/S2Technical data Process interfaces Absolute value sensor A1 SinCos multi-turn with programmable transmission factor Option S3 for linear motorsS2 option See 184 Process interfaces Heda interface 6 D/A monitor D1 option not available with Compax 1000SL Signal Circuit proposal EAM4/01 Input Configuration Accuracy Connection assignmentConnector Pin X13 or I16 = 1 external nominal value is valid BDF1/03 with housing AccessoriesBDF1/02 for front plate installation External control panel not available for Compax 1000SL Terminal assignment Wiring planTerminal module for Compax 1000SL EAM SSK6 Input voltage range 100V DC 650V DC 3 EAM5/01 DC feed for COMPAX-MEAM5/01 DC feed for COMPAX-M Design of EAM5/01 Delivery scope NMD10 / Compax 45XXS / 85XXS Power filterEMC measures Compax 25XXS Compax 10XXSL Length of connection between power filterMotor output throttle External ballast resistors Dimension diagram BRM4, BRM6 and BRM7BRM5/01 is fitted with a 0.3m connecting cable Compax 25XXS with external ballast resistance of 56Ω Maximum permitted length Diagrams Brake pulse power cooling periodAuthorised braking impulse power with NMD20 Is 2m Authorised braking impulse power for NMD20 with BRM4/02 195 Authorised braking impulse power for NMD20 with BRM4/01 196 197 Authorised braking impulse power for Compax 4500SCompax 8500S 198 199 ServoManager ServoManagerHand-held terminal 200 Keys Function Special Compax XX70 commandsHand-held terminal Functions Special functions Hand-held terminal Menu Status Level View Edit, delete program Hand-held terminal VC is generated when you exit the menu View, edit and reset parameterView, set configuration Exits the menu without VC Set configuration 205 Appendix Compax components 206 Actual values Status values of the standard unit CompaxStatus values of the standard unit Compax XX00 Diagnosis values Special Compax XX00 status values AppendixUnit designations Meaning of status bits S16, S17 Explanation of error history S18Output of status bits via the front plate Status monitor S15 Selection of status value using P182 Measuring parameterAdditional Compax measuring quantites Scaled longitudinal voltage For amplification 1 use 10V = Additional Compax measuring quantites 211 Compax standard parameters Compax parameterVP parameter46can be modified On Line Remark Only permitted with P18 when bit 1=1Compax parameter List of parameters, sorted by number P20 setting Compax standard parameters General drive drive type P80=16 Drive Type Spindle drive P80=2Rack EMC P112 Slip frequency MHz 100 P113 Maximum speed Min-1 9000 P115 Angular speed 100 200 Source for P144 Settting encoder channelX19 Bit 0 Input P212 Machine zero mode Default value P184=0Enable final stage with Output O0=0 without Settings 3 and 4 with Compax XX00 Output Word P245 Assign outputs O1 P243 Heda operationMode O8 to the Heda Dynamic monitoring Monitoring and limitation characteristicsStructural diagram Static monitoring With Compax 70 Curve number not present 223 Error handling and error messagesError handling and error messages 224 Too hard E40 Quit is not required Response to lag error error E10 Position controllerResponse to E15 Speed control mode, control is referenced to speed Application examples Application Wiring up the digital inputs and outputsExternal data record selection Assignments Names of inputs and outputs ConfigurationProgramming List of programs Mark-referenced positioning Mark-referenced positioning Mark reference = block Sets the acceleration and braking rampN003 Output O7=0 Shears = block Message = mark found Speed step profiling / comparator switching points Speed step profiling / comparator switching points Names of the inputs and outputs Speed Sync Speed control mode Speed control modeDesign and wiring up of the digital inputs and outputs Interlock # closed # open N019 if I10=0 Goto removing Operating mode queryLight barrier Sets the accelerating and braking ramps to 10s Fast start Fast startAssignments Function Changing error response Using speed control modePosition controller mode Implementing a torque controller COMPAX-M / NMD IndexCOMPAX-25XXS If Error Gosub Installation arrangement COMPAX-M Installation / dimensionsInstallation Dimensions Limit switch monitoring Without locking Process interfaces Configuration options Power on with motorPower with linear motor Safety chain Emergency stop Compax 25XXS Compax 45/85S COMPAX-M Compax 25XXS Compax 45/85S

Operating Instructions

COMPAX-M / -S

8.4.34 PLC sequential step tracking

Implementation: V