Direct command, Specification | Parker Products COMPAX-M /-S (L)

Interfaces

Digital inputs and outputs

Direct command	Inter-
Direct command	face		POSA 100			CR
specification										t
	I5									t
	I5
	Start *
	I6									t
	I6
	Stop
	V									t
	V
	0
										t
	O4
	Ready
	to start
	O5									t
	O5
	Progr. target
	pos. reached
	O6									t
	O6
	Out of action
	after stop
	0	1	2	3	4	5	6	7	8	t

*When using this START, a processing command interrupted by STOP and specified by a interface is restarted.

Unit	hardware

Connector	assignment / cable
Technical data

Configuration

and	functions

Finding machine zero in normal mode

Approaching real zero

Before the 1st machine zero travel, O3="0"

SHIFT

Drive to RN

O3 Machine zero reached

O4 Ready to start

O5 Progr. target pos. reached

SHIFT

Drive to RN

O3 Machine zero reached

O4 Ready to start

O5 Progr. target pos. reached

Positioning	control

Optimization	functions

Interfaces

Accessories /	options

Status

Parameter

list

155

Error

Page 155

Image 155

Parker Products COMPAX-M /-S (L) Direct command, Specification, Finding machine zero in normal mode Approaching real zero

Contents

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

Parker Products COMPAX-M /-S (L) manual Direct command, Specification, 155

Models: COMPAX-M /-S (L)

Interfaces

Digital inputs and outputs

Direct command

specification

Unit

Technical data

Finding machine zero in normal mode

Approaching real zero

Before the 1st machine zero travel, O3="0"

Optimization

155