Emc | Parker Products COMPAX-M /-S (L) instruction

Appendix

COMPAX-M/S

COMPAX standard parameters

No.

Meaning

Unit

Minimum

Default

Maximum

Valid

value

value

value

from...

P82

Max. total moment of inertia

kgmm2

0

0.00

200 000

VC

With linear motors: P82 =

mmax • P126

(1000 • 2 •

Π )2

P83

Travel per motor revolution

∝ m or

10

0.00

4 000 000∝ m

VC

increm.

65 536 Inkr.

With linear motors: P83 = P126

P90

Unit for travel

"0": increments

VC

"1": mm

"2": inch

P93

Operating mode

"1": normal mode

55

"2": Continuous mode

"4": speed control mode54

P94

Ramp shape

"1": linear

"2": smooth "3": quadratic.

56

P96

Transmission factor for the reset route of S2

-

0

0

4095

VC

option. ="0": no reset function.

P98

Travel of axis per encoder revolution

corresp.

0

0.0000000

4 000 000

VC

P90

No.

Valid

for57

P100

Motor number

Motor selection

VC

P101

Number of terminals

A,S

2

2

12

VC

Linear motor: P101=2

L

P102

EMC

S

V * min/

10

400

VC

1000

P102=EMC[V/(m/s)] * P126/60 000

L

P103

Moment of inertia

A,S

kgmm

0

200 000

VC

Linear motor: P103 =

mForcer • P126

L

2

(1000 • 2 • Π ) 2

P104

Nominal speed

A,S

min-1

500

9000

VC

Linear motor:

L

P104 =

Vno min al •

1000 • 60000

P126

P105

Nominal current

A,S,L

mA

200

100 000

VC

P106

Nominal torque

A,S

mNm

0

100 000

VC

Linear motor: P106 =

Fno min al • P126

L

(1000 • 2 • Π )

P107

Pulse current

A,S,L

%

100

400

VC

P108

Max. time in current limit (P16)

A,S,L

ms

1000

5000

VC

P109

Stator inductivity

A,S,L

∝ H

0

200 000

VC

P110

Magnetization current

A

mA

100

0.7 * P105

VC

P111

Rotor time constants

A

ms

5

2000

VC

54When in speed control mode, P25 must > 0.

55From next process command

56From next process command

57A: parameter for asynchronous motors

S:parameter for synchronous motors

L:parameter for linear motors

216

Image 216

Parker Products COMPAX-M /-S (L) manual Emc

Contents

M P a X U s e r G u i d e Contents Compax 25XXS unit characteristics Compax 45XXS/85XXS unit characteristicsCompax 1000SL Unit characteristics Technical data Contents 173 Optimization functions 125Interfaces 138 Process interfaces 179 Appendix 207 226238 General dangers Compax 0260MKey to unit designation Hauser type plate Please check the software version of your unit Safety instructions Special safety instructionsGeneral dangers Safe working practices Conditions of warranty Conditions of warranty Switch-on status Configuration when suppliedCommissioning COMPAX-M / -S LED Configuring Motor is powered Compax display shows RUN Flow chartCommissioning Equipment replacement Previous software ≥Transferring system parameters Previous software ≤ Equipment replacement NMD10 / Compax 45XXS / Compax 85XXSCompax 35XXM Compax 25XXS Start-up manual OverviewComponents required Common function characteristics OverviewOverview of unit technology Compax P1XXM COMPAX-M Dimensions DxHxW 146*180*85 mm Design Design Power KVADimensions DxHxW 275*350*125 mm Design Power KVA KVA COMPAX-M unit features COMPAX-M unit featuresConnector and terminal assignment Connector and terminal assignment Short circuit connectors COMPAX-M system network, NMD10 / NMD20 mains module Wiring up mains Power / controlVoltage Power supply Control voltage Screened Connection Upper unit side COMPAX-M dimensions/installation Compax P1XXM, Compax 05XXM, Compax 15XXMCompax 02XXM, NMD10, NMD20 Connector assignment COMPAX-M Connector assignment COMPAX-M Dimensions / installation Mains module NMD10/NMD20Overview NMD NMD connector assignment Technical data / power features NMDMains module NMD10/NMD20 CE conformity NMD10 NMD20 If a phase malfunctions, no displays appear Technical data / power features NMDLED red LED green Possible errors Error Ready Ready contact and green LED are coupled Compax 35XXS unit features Plug and connection assignment Compax 35XXM Compax 35XXS unit features Installation and dimensions of Compax 35XXMSpecific technical data 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 Compax 25XXS unit characteristics Compax 25XXS connector and connection assignmentLED / color Meaning, when switched on Meaning of the LEDs on the front plate Compax 25XXS unit characteristics Wiring up motorCompax 25XXS connector and connection assignment On unit side Compax 25XXS-specific technical data Connecting ballast resistance to COMPAX-SCompax 25XXS 1000 ∝ F / 27 Ws Compax 25XXS ≤ 1.0 kW Unlimited With R ext ≥ 56 Ω ≤ 2.5 kW Compax 25XXS dimensions / installation Compax 25XXS dimensions / installationDesign in series Flat design Connector assignment Compax 25XXS O1...O8 Compax 45XXS/85XXS unit characteristics Compax 45XXS/85XXS unit characteristicsPlug and connection assignment Compax 45XXS/85XXS 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 Wiring up motor Control voltage EnableCompax 45XXS/85XXS-specific wiring Enable bridges Enable internal ballast resistance X2/5 X2/6Maximum braking power of the internal ballast resistance Compax 45XXS/85XXS connector and pin assignment Assignment/ cable Compax 1000SL Unit characteristics Connector and terminal assignment for Compax 1000SLPE terminal LED display Compax 1000SL Unit characteristics Unit wiringConnector and terminal assignment for Compax 1000SL Compax 10XXSL 660 ∝ F / 17 Ws Connector assignment Compax 1000SL overview Mating connectors X1, X2, X3Bridges for test operation Mounting and dimensions Compax 1000SL Mounting and dimensions Compax 1000SL Safety chain / emergency stop functions Readiness, safety chain Emergency stopEmergency stop and ready on connector Emergency stop input direct to COMPAX-M Emergency stop input on COMPAX-MReady contact max .5A 60V, 30W Connections to the motor Resolver / SinCosCable assignment in the terminal boxes Resolver / SinCos Connections to the motor Length codes for preformed cablesLength m Code Procedure MOK42 max ,8APackaging of device 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 Interfaces Digital inputs and outputs excluding Compax 1000SLAssignment of X8 Input/Output Assignment of X10 Input/Output Interfaces Digital inputs and outputs for Compax 1000SL GNDStart 24VDC Technical data / Connections of inputs and outputs Compax 1000SL Connection plan for the initiators with initiator connector Interfaces Initiators and D/A monitorConnection assignment on Service D/A monitor / override Service D/A monitorService D/A monitor / override Wiring of override with screened cables only Interfaces MonitorStandard Measuring 7 D/A monitor option D1 Meaning and range of values of P71 P74 Wiring diagram SSK1/...COMPAX PC/terminal 8 RS232 interfaceAbsolute value sensor option A1 Interfaces Cable plan GBK1/.. Compax absolute value sensor Encoder interfaces / analogue rpm specification for Compax 10 X13 Encoder interfacesArea of application of process interfaces Assignment on Process interfaces Configuration options Encoder interface Step direction input for Compax 1000SL Configuring ProcessInterfaces Applications with Compax 1000SL and encoder Interfaces Heda interface option A1/A4 Bus connectionCable plan SSK14 Technical data Power characteristics Bus connection optional Housing Permissible 3-phase mainsOperation Standard delivery Operating Instructions Operating Instructions PLC data interfaceRS232 / RS485 Bus-Systems Program memory / parameter memory Setting Parameters Explanations for the block structureFunctions System controller Password protection Interfaces for signalsPassword Protection Activate password Deactivate Configuration ConfigurationMeaning of the bus parameters Acknowledging error messages Front plate operation not available with Compax 1000SL Configuration when supplied Configuration processPower on with motor switched off Switching off the drive Modifying parameters Safety instructions for initial start-up Power on for driveRisks from incorrect wiring Configuration parameters Operating modeNormal mode Continuous mode Speed controller Unit for travel data Motor type RampsLinear Drive type Spindle driveSmooth Quadratic Transfer of P94 General drive Reference system P215 direction of rotationP213=0 P213=1 Specifying software end limits Absolute value function with standard resolver Activated withP206=2 Absolute value function with standard resolver Machine zero mode Real zero Machine zero P213 Standard machine Zero mode for linear Movements Machine zero equals external initiator & resolver zeroAdditional machine zero modes P212 =1 Find machine zero Application Machine zero initiator MZ-INI is Low activeResolver zero pulse is a fixed Position of the rotor position Conditions for this operating mode Machine zero equals external zero pulseP213=0 P29=0 P29=90 General rotatory P212=4 only permitted for Compax XX00 and Compax Find machine zero Application Machine zero equals resolver zero P212 =5 Find machine zero ApplicationP212 =7 Find machine zero Application Wiring up FunctionCondition P212 =8 Find machine zero Application Operating Instructions Limit switch operation COMPAX-M / -S Configuration via PC using ServoManager Configuration via PC using ServoManagerInstalling ServoManager Configuring Compax Other parameters are derived from the type plate data Nominal motor speed for the Hbmr motorsEMC Min-1 Parameter for saturation characteristic curve Holding brake For motors with holding brakeDrive type Safety instructions for the first start-up Individual configuration of synchronous motors Positioning and control functions Positioning and control functionsStart program Absolute positioning Posa Relative positioning PosrAbsolute positioning Posa Posa value Process velocity Speed Acceleration and braking time Accel Setting/resetting an output Output Setting multiple digital outputs Output O12=1010Switch off drive unit. Output O0 O12=1010 Password Goto External velocity specification. Speed SyncPassword Goto External speed set via option E7 Mark-related positioning Posr Preparatory instructions Changes in speed within a positioning process Posr SpeedPreparatory instructions Syntax Example Compatibility Posr x Speed y Accel zSpeed step profile extended by ramp time Changes in speed within a positioning process Posr Speed Diagram of specified example for Posr Output Diagram of example using Posa -1000 as positioningComparators during positioning Posr Output Comparators during positioning Posr Output Cam controller with compensation for switching delays Cam controller with compensation for switching delaysFunction of the cam controller Outputs of the cam controller Problem point Explanation regarding cam controller105 Example 2 Positioning with subsequent cam operation Compax Explanation Rogrammable waiting time Wait Program jump GotoSub-program jump Gosub Instruction to end a sub-program. Return Start a program loop Repeat Branching if I7=1If I7=1 Binary if query of inputs if I12=101-1 Comparative operations Specific processing of data record groups. Wait StartJump with data record selection Goto EXT Error handling if Error Gosub Function Priority Error programIf Error Gosub Sub-program jump with data record selection Gosub EXT Error program with Stop / Break handling if Stop GosubWait Start Stop / Break handling if Stop Gosub Stop program N001 if Stop GosubN241 Wait Start N243 Return Arithmetic Parameter assignmentsCurve memory Example Arithmetic and variables Status values Variables Division y = x1 Example Or absolute115 Read status and assign variables Initializing variables Position monitoring P93=1, 2 Functional descriptionOM2 OM3 OM2 O5 = 1 nominal value reached and lag error P14 OM3 O5 = 1 nominal value reached Idle display Idle displayBit counting begins with 119 Speed monitoring in speed control mode P93=4 OM1 O5 toggles when speed is reached Can be adjusted using P227 bit 429 =0 default setting OM3 O5 =Nominal value Reached PLC sequential step tracking PLC sequential step trackingImplementation Final stage blocked by Final stage is enabled via Engaging and disengaging the motor brakeVia Range of values Service D/A monitor channels Output of variable voltageOption D/A monitor channels User-defined settings Optimization functionsOptimizing the movement cycle Optimizing with the ServoManager User-defined settings with variant P59= Output of variable voltage Optimization processSensor Increase control dynamic P59 Structure switch measuring P23 stiffness of drive Optimization parametersStructure Variants P24 damping of drive P56 D section rpm controllerIncrease damping Reduce damping Advance control of speed, acceleration and power Optimization functionsAdvance control measures Without advance control measures P26 Advance acceleration control P70 Advance power control P25 AdvanceSpeed control Advance speed control Control processes for optimization Accel Function Settings Using the speed monitor Speed monitorSpeed monitor Speed determination standard Optimization display Optimization displayP233/P23430 Meaning Square of peak motor current You will find a complete status list on Page207Reference value 80 000A2 Use the effective value Access to additional parameters via S13 and S14 P233/P234 Meaning External position localization with position adjustment Configuring the external position adjustmentOnly available in Compax Slip filter for external position localization Limit valuesP214 Drive type Measuring unit Determining Digital inputs and outputs Assignment of standard unitDigital inputs and outputs Input Assignment Digital inputs and outputs Output Assignment Allocation of logic inputs for input pins Digital inputs and outputs for Compax 1000SLP156 bit P157 bit Following assignment must be configured Input X19 pin Digital inputs and outputs Example Operating Instructions Free assignment of inputs and outputs Free assignmentInputs 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 Function of inputs Hand+/HandException Start Find MZ Approach RZInput Shift Activate position adjustment BreakP211 blocking and modifying teach in functions Quit Start Stop Synchronous Stop using DiagramFast start Synchronous Stop Additional assignment of P219 No fault Function of outputsNo warning Diagrams Data record memory modeCaption Direct command SpecificationFinding machine zero in normal mode Approaching real zero Before the 1st machine zero travel, O3=0 Input/output Meaning BCD coded Syntax of individual commands Acceleration time157 Operating Instructions Commands Procedure for transmitting a signSignal procedure using the example of a status query Function codes 3 RS232 interface Interface description RS232 interface Function Activation using P20 Valid From $=com19600,N,8,1 Interface functions Direct command entry Commands permitted for the various modes of operationPositioning commands Influencing the active positioning process Read the status values Read and write program sets and parameters Negative command acknowledge- ment Transmitting control instructionsP211 blocking and modifying the teach in functions Quit Commands available All operating modesStatuses Output O0 Binary data transfer using RS232 P20 switching on binary data transferMeanings of the binary command codes RS232 interface Valency *1 Examples of the number format of xx xx xx xx xx NumberMSB LSB 360 450,5 Process coupling using Heda Option A1 / A4 Fast start Transmittable parameters Master output quantitySlave input quantities Permissible combinations and required parameter settings P98 is identical in all unitsApplication examples 1st unit Master Slave Error handling Error messagesSynchronizing Process values 172 System concept System concept Accessories and options 174 Power module NMD Options Unit Nominal Peak current Power kVA MotorsEMD motors Linear motor Current Aeff Aeff 5s With mains supply 230V AC Hauser linear actuators Hauser linear actuatorsInitiator set 177 Data interfaces 1 RS232Bus systems Process interfaces Process interfacesEncoder interface Meaning Unit Encoder module and accessories Individual connectionsApplications with encoder Compax Compax Compax notRequirements per Compax EAM 4/01 BUS 1/01 Encoder bus mixed Following are requiredEncoder module High resolution SinCos sensor system S1/S2 Technical dataEnable absolute value sensor input Process interfaces Absolute value sensor A1 Option S3 for linear motors S2 optionSinCos multi-turn with programmable transmission factor See 184 Process interfaces Heda interface 6 D/A monitor D1 option not available with Compax 1000SL Configuration Accuracy Connection assignment Connector Pin X13 orSignal Circuit proposal EAM4/01 Input I16 = 1 external nominal value is valid Accessories BDF1/02 for front plate installationBDF1/03 with housing External control panel not available for Compax 1000SL Wiring plan Terminal module for Compax 1000SL EAMTerminal assignment SSK6 3 EAM5/01 DC feed for COMPAX-M EAM5/01 DC feed for COMPAX-MInput voltage range 100V DC 650V DC Design of EAM5/01 Delivery scope Power filter EMC measuresNMD10 / Compax 45XXS / 85XXS Length of connection between power filter Motor output throttleCompax 25XXS Compax 10XXSL Dimension diagram BRM4, BRM6 and BRM7 BRM5/01 is fitted with a 0.3m connecting cableExternal ballast resistors Compax 25XXS with external ballast resistance of 56Ω Diagrams Brake pulse power cooling period Authorised braking impulse power with NMD20Maximum permitted length Is 2m Authorised braking impulse power for NMD20 with BRM4/02 195 Authorised braking impulse power for NMD20 with BRM4/01 196 Authorised braking impulse power for Compax 4500S Compax 8500S197 198 199 ServoManager Hand-held terminalServoManager 200 Special Compax XX70 commands Hand-held terminal FunctionsKeys Function Special functions Hand-held terminal Menu Status Level View Edit, delete program Hand-held terminal View, edit and reset parameter View, set configurationVC is generated when you exit the menu Exits the menu without VC Set configuration 205 Appendix Compax components 206 Status values of the standard unit Compax Status values of the standard unit Compax XX00Actual values Diagnosis values Appendix Unit designationsSpecial Compax XX00 status values Meaning of status bits Explanation of error history S18 Output of status bits via the front plateS16, S17 Selection of status value using P182 Measuring parameter Additional Compax measuring quantitesStatus monitor S15 Scaled longitudinal voltage For amplification 1 use 10V = Additional Compax measuring quantites 211 Compax parameter VP parameter46can be modified On LineCompax standard parameters Only permitted with P18 when bit 1=1 Compax parameterRemark List of parameters, sorted by number P20 setting Compax standard parameters Drive Type Spindle drive P80=2 RackGeneral drive drive type P80=16 EMC P112 Slip frequency MHz 100 P113 Maximum speed Min-1 9000 P115 Angular speed 100 200 P144 Settting encoder channel X19Source for Bit 0 Input Default value P184=0 Enable final stage with Output O0=0 withoutP212 Machine zero mode Settings 3 and 4 with Compax XX00 Output Word P243 Heda operation ModeP245 Assign outputs O1 O8 to the Heda Monitoring and limitation characteristics Structural diagramDynamic monitoring Static monitoring Error handling and error messages Error handling and error messagesWith Compax 70 Curve number not present 223 224 Too hard E40 Response to lag error error E10 Position controller Response to E15Quit is not required Speed control mode, control is referenced to speed Application examples Wiring up the digital inputs and outputs External data record selectionApplication Assignments Configuration ProgrammingNames of inputs and outputs List of programs Mark-referenced positioning Mark-referenced positioning Sets the acceleration and braking ramp N003 Output O7=0 Shears = blockMark reference = 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 Design and wiring up of the digital inputs and outputsSpeed control mode N019 if I10=0 Goto removing Operating mode query Light barrierInterlock # closed # open Sets the accelerating and braking ramps to 10s Fast start Assignments FunctionFast start Using speed control mode Position controller modeChanging error response Implementing a torque controller Index COMPAX-25XXSCOMPAX-M / NMD If Error Gosub Installation / dimensions Installation DimensionsInstallation arrangement COMPAX-M Limit switch monitoring Without locking Power on with motor Power with linear motorProcess interfaces Configuration options Safety chain Emergency stop Compax 25XXS Compax 45/85S COMPAX-M Compax 25XXS Compax 45/85S