Parker Products COMPAX-M /-S (L) manual Process coupling using Heda Option A1 / A4

Operating Instructions COMPAX-M / -S

Process coupling using HEDA (Option A1 / A4)

8.6.4 Process coupling using HEDA (Option A1 / A4)

Synchronization and fast start via HEDA:

See also Page 185.

HEDA (SSI interface) can be used for synchronization of several axes with simultaneous (± 2.5 µs) processing of individual controller time slices.

The master (operating mode 1) transmits 2 synchronization words to the slave axes, enabling them to synchronize. The slave axes (operating mode 2) synchronize automatically. No response is transmitted from the slave axes to the master.

The master only transmits to axis address 1. Therefore, all slaves must also be set to address 1 (P250=1).

Acyclic communication between master and slave is not possible.

Variant support:	COMPAX XX00	as slave to transmit "Fast start" or as master
	COMPAX XX60 as master or slave not when P212=3 and P212=4
	COMPAX XX70	as master or slave only when P31=9 or 0

Physical limits:

Hardware requirements:

HEDA parameters:

Max. 16 participants in the master/passive slave operating mode and max. 50m cable length.

The units must be fitted with the O1 / A4 (COMPAX 1000SL) option. There must be a terminating connector bus 2/01 on the last slave.

Parameter	Meaning	Valid	Default
No.		from	value
P243	HEDA operating mode	VP	0
P245*	Assgn outputs O1 ... O8 to the HEDA bus	imme-	0
		diately
P246*	Assgn outputs O9 ... O16 to the HEDA bus	imme-	0
		diately
P247	Max. average transmission errors	VP	5
P248	Max. transmission errors	VP	15
P249	Synchronization monitoring	VP	10
P250	Unit addresses (in master – slave mode =1)	VP	0

*In the HEDA master - HEDA slave operating mode (passive slave to COMPAX master), P245=P246=0 is set.

Operating modes:	No	P243	P250	Operating	Description
	.			mode
	0	Not	= 0	Independent	No coupling, no synchronization
		relevant		single axis
	0	0	= 1 ... 9	Slave on IPM39	Coupled operation and acyclic
				via HEDA	communication possible via HEDA
	1	Bit	= 1	COMPAX as	Master axis transmits synchronous
		0="1"		master	word and 7 words to address 1
		(P243=1)
	2	Bit	= 1	Passive slave	Slave receives at address 1 (P250=1),
		1="1"		to COMPAX	but does not send anything back
		(P243=2)		master

Note!

If HEDA coupling is activated and the master executes "Find machine zero", this will result in a positional offset between master and slave.

You should therefore execute machine zero travel when the HEDA coupling is deactivated.

39The interpolation module IPM can also be used as a master, but only with COMPAX XX00; COMPAX XX60, COMPAX XX70

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