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Parker Products COMPAX-M /-S (L) manual P243 Heda operation, Mode, P245 Assign outputs O1, Bus

Models: COMPAX-M /-S (L)

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COMPAX parameter

No.

Meaning

Unit

Minimum

Default

Maximum

Valid

value

from...

P243

HEDA operation

="0": single axis (when P250=0) or slave on IPM (P250=1 ... 9)

mode

="1": COMPAX as master

="2": COMPAX as slave on a COMPAX master

P245

Assign outputs O1

Output (valency) [Bit No]:

O1 (1) [1]

•

O2 (2) [2]

•

O3 (4) [3]

•

O4 (8) [4]

immedia-

- O8 to the HEDA

O5 (16) [5]

•

O6 (32) [6]

•

O7 (64) [7]

•

O8 (128) [8]

tely

bus

P245 = sum of valencies of the outputs allocated to the HEDA bus

P246

Assign outputs O9

Output (valency) [Bit No]:

O9 (1) [1]

•

O10 (2) [2] •

O11 (4) [3] •

O12 (8) [4]

immedia-

- O16 to the HEDA

O13 (16)[5]

•

O14 (32)[6] •

O15 (64)[7] •

O16 (128) [8]

tely

bus

P246 = sum of valencies of the outputs allocated to the HEDA bus

P247 - P250

HEDA parameter

221

Unit	hardware

Connector	assignment / cable
Technical data

Configuration

Positioning and	control functions

Optimization	functions

Interfaces

Accessories /	options

Status

Parameter

Error List:

Page 221

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Parker Products COMPAX-M /-S (L) P243 Heda operation, Mode, P245 Assign outputs O1, O8 to the Heda, Bus, O16 to the Heda

Contents

M P a X U s e r G u i d e Contents Compax 45XXS/85XXS unit characteristics Compax 25XXS unit characteristicsCompax 1000SL Unit characteristics Technical dataContents Optimization functions 125 173Interfaces 138 Process interfaces 179238 Appendix 207226 Compax 0260M General dangersKey to unit designation Hauser type plate Please check the software version of your unitSpecial safety instructions Safety instructionsGeneral dangers Safe working practicesConditions of warranty Conditions of warrantyConfiguration when supplied Switch-on statusCommissioning COMPAX-M / -S LEDCommissioning ConfiguringMotor is powered Compax display shows RUN Flow chart Previous software ≥ Equipment replacementTransferring system parameters Previous software ≤NMD10 / Compax 45XXS / Compax 85XXS Equipment replacementCompax 35XXM Compax 25XXSComponents required Start-up manualOverview Overview Common function characteristicsOverview of unit technology Compax P1XXM COMPAX-MDesign Power KVA Dimensions DxHxW 146*180*85 mm DesignDimensions DxHxW 275*350*125 mm Design Power KVA KVACOMPAX-M unit features COMPAX-M unit featuresConnector and terminal assignment Connector and terminal assignmentCOMPAX-M system network, NMD10 / NMD20 mains module Short circuit connectorsPower / control Wiring up mainsVoltage Power supply Control voltage Screened Connection Upper unit sideCompax 02XXM, NMD10, NMD20 COMPAX-M dimensions/installationCompax P1XXM, Compax 05XXM, Compax 15XXM Connector assignment COMPAX-M Connector assignment COMPAX-MOverview NMD Dimensions / installationMains module NMD10/NMD20 Technical data / power features NMD NMD connector assignmentMains module NMD10/NMD20 CE conformityNMD20 NMD10Technical data / power features NMD If a phase malfunctions, no displays appearLED red LED green Possible errors Error Ready Ready contact and green LED are coupledPlug and connection assignment Compax 35XXM Compax 35XXS unit featuresInstallation and dimensions of Compax 35XXM Compax 35XXS unit featuresSpecific technical data Regeneration modePE connection must be a version of at least 10mm2 Wiring Compax 35XXMAssignment of X12 does not apply for the S3 option Compax 35XXM connector assignmentCompax 25XXS connector and connection assignment Compax 25XXS unit characteristicsLED / color Meaning, when switched on Meaning of the LEDs on the front plateWiring up motor Compax 25XXS unit characteristicsCompax 25XXS connector and connection assignment On unit sideConnecting ballast resistance to COMPAX-S Compax 25XXS-specific technical dataCompax 25XXS 1000 ∝ F / 27 Ws Compax 25XXS ≤ 1.0 kW Unlimited With R ext ≥ 56 Ω ≤ 2.5 kWCompax 25XXS dimensions / installation Compax 25XXS dimensions / installationDesign in series Flat designO1...O8 Connector assignment Compax 25XXSCompax 45XXS/85XXS unit characteristics Compax 45XXS/85XXS unit characteristicsPlug and connection assignment Compax 45XXS/85XXS Plug and connection assignment Compax 45XXS/85XXSMeaning of the LEDs on the front plate Compax 45XXS/85XXS installation / dimensionsCompax 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 assignmentConnector and terminal assignment for Compax 1000SL Compax 1000SL Unit characteristicsPE terminal LED displayUnit wiring Compax 1000SL Unit characteristicsConnector and terminal assignment for Compax 1000SL Compax 10XXSL 660 ∝ F / 17 WsBridges for test operation Connector assignment Compax 1000SL overviewMating connectors X1, X2, X3 Mounting and dimensions Compax 1000SL Mounting and dimensions Compax 1000SLEmergency stop and ready on connector Safety chain / emergency stop functionsReadiness, safety chain Emergency stop Emergency stop input on COMPAX-M Emergency stop input direct to COMPAX-MReady contact max .5A 60V, 30WResolver / SinCos Connections to the motorCable assignment in the terminal boxes Resolver / SinCosLength codes for preformed cables Connections to the motorLength m CodeMOK42 max ,8A ProcedurePackaging of device MaterialMOK21 MOK21 max ,9AVersion in high-flex GBK17 same layout SinCos  cable for HJ and HDY motorsExternal contact connection Connections to the motor Additional brake controlDigital inputs and outputs excluding Compax 1000SL InterfacesAssignment of X8 Input/Output Assignment of X10 Input/OutputGND Interfaces Digital inputs and outputs for Compax 1000SLStart 24VDCCompax 1000SL Technical data / Connections of inputs and outputsConnection assignment on Connection plan for the initiators with initiator connectorInterfaces Initiators and D/A monitor Service D/A monitor Service D/A monitor / overrideService D/A monitor / override Wiring of override with screened cables onlyMonitor InterfacesStandard MeasuringMeaning and range of values of P71 P74 7 D/A monitor option D18 RS232 interface Wiring diagram SSK1/...COMPAX PC/terminalAbsolute value sensor option A1 Interfaces Cable plan GBK1/.. Compax absolute value sensor10 X13 Encoder interfaces Encoder interfaces / analogue rpm specification for CompaxArea of application of process interfaces Assignment onEncoder interface Step direction input for Compax 1000SL Process interfaces Configuration optionsProcess ConfiguringInterfaces Applications with Compax 1000SL and encoderBus connection Interfaces Heda interface option A1/A4Cable plan SSK14Power characteristics Technical dataBus connection optional Permissible 3-phase mains HousingOperation Standard deliveryOperating Instructions PLC data interface Operating InstructionsRS232 / RS485 Bus-Systems Program memory / parameter memoryExplanations for the block structure Setting ParametersFunctions System controllerInterfaces for signals Password protectionPassword Protection Activate password DeactivateConfiguration ConfigurationMeaning of the bus parameters Acknowledging error messages Front plate operation not available with Compax 1000SLConfiguration process Configuration when suppliedPower on with motor switched off Switching off the drive Modifying parametersRisks from incorrect wiring Safety instructions for initial start-upPower on for drive Operating mode Configuration parametersNormal mode Continuous mode Speed controller Unit for travel dataLinear Motor typeRamps Spindle drive Drive typeSmooth Quadratic Transfer of P94General drive P215 direction of rotation Reference systemP213=0 P213=1 Specifying software end limitsActivated with Absolute value function with standard resolverP206=2 Absolute value function with standard resolverMachine zero mode Machine zero Real zeroMachine zero equals external initiator & resolver zero P213 Standard machine Zero mode for linear MovementsAdditional machine zero modes P212 =1 Find machine zero ApplicationLow active Machine zero initiator MZ-INI isResolver zero pulse is a fixed Position of the rotor positionP213=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 CompaxP212 =7 Find machine zero Application Machine zero equals resolver zeroP212 =5 Find machine zero Application Function Wiring upCondition P212 =8 Find machine zero ApplicationOperating Instructions Limit switch operation COMPAX-M / -S Configuration via PC using ServoManager Configuration via PC using ServoManagerInstalling ServoManager Configuring CompaxNominal motor speed for the Hbmr motors Other parameters are derived from the type plate dataEMC Min-1Drive type Parameter for saturation characteristic curveHolding brake For motors with holding brake Individual configuration of synchronous motors Safety instructions for the first start-upStart program Positioning and control functionsPositioning and control functions Relative positioning Posr Absolute positioning PosaAbsolute positioning Posa Posa valueAcceleration and braking time Accel Process velocity SpeedSetting multiple digital outputs Output O12=1010 Setting/resetting an output OutputSwitch off drive unit. Output O0 O12=1010External velocity specification. Speed Sync Password GotoPassword Goto External speed set via option E7Mark-related positioning Posr Changes in speed within a positioning process Posr Speed Preparatory instructionsPreparatory instructions Syntax ExamplePosr x Speed y Accel z CompatibilitySpeed step profile extended by ramp time Changes in speed within a positioning process Posr SpeedDiagram of example using Posa -1000 as positioning Diagram of specified example for Posr OutputComparators during positioning Posr Output Comparators during positioning Posr OutputCam controller with compensation for switching delays Cam controller with compensation for switching delaysFunction of the cam controller Outputs of the cam controller105 Problem pointExplanation regarding cam controller Explanation Example 2 Positioning with subsequent cam operation CompaxProgram jump Goto Rogrammable waiting time WaitSub-program jump Gosub Instruction to end a sub-program. ReturnBranching if I7=1 Start a program loop RepeatIf I7=1 Binary if query of inputs if I12=101-1Jump with data record selection Goto EXT Comparative operationsSpecific processing of data record groups. Wait Start Function Priority Error program Error handling if Error GosubIf Error Gosub Sub-program jump with data record selection Gosub EXTStop / Break handling if Stop Gosub Error program withWait Start Stop / Break handling if Stop GosubN001 if Stop Gosub Stop programN241 Wait Start N243 ReturnParameter assignments ArithmeticCurve memory ExampleStatus values Variables Arithmetic and variables115 Division y = x1 ExampleOr absolute Read status and assign variables Initializing variables Functional description Position monitoring P93=1, 2OM2 OM3OM3 O5 = 1 nominal value reached OM2 O5 = 1 nominal value reached and lag error P14Bit counting begins with 119 Idle displayIdle display OM1 O5 toggles when speed is reached Speed monitoring in speed control mode P93=4OM3 O5 = Can be adjusted using P227 bit 429 =0 default settingNominal value ReachedImplementation PLC sequential step trackingPLC sequential step tracking Engaging and disengaging the motor brake Final stage blocked by Final stage is enabled viaVia Range of valuesOption D/A monitor channels Service D/A monitor channelsOutput of variable voltage Optimization functions User-defined settingsOptimizing the movement cycle Optimizing with the ServoManagerOutput of variable voltage Optimization process User-defined settings with variant P59=Sensor Increase control dynamicOptimization parameters P59 Structure switch measuring P23 stiffness of driveStructure VariantsIncrease damping Reduce damping P24 damping of driveP56 D section rpm controller Optimization functions Advance control of speed, acceleration and powerAdvance control measures Without advance control measuresP25 Advance P26 Advance acceleration control P70 Advance power controlSpeed control Advance speed controlAccel Control processes for optimizationSpeed monitor Function Settings Using the speed monitorSpeed monitor Speed determination standardP233/P23430 Meaning Optimization displayOptimization display You will find a complete status list on Page207 Square of peak motor currentReference value 80 000A2 Use the effective valueP233/P234 Meaning Access to additional parameters via S13 and S14Only available in Compax External position localization with position adjustmentConfiguring the external position adjustment Limit values Slip filter for external position localizationP214 Drive type Measuring unit DeterminingAssignment of standard unit Digital inputs and outputsDigital inputs and outputs Input AssignmentDigital inputs and outputs Output Assignment Digital inputs and outputs for Compax 1000SL Allocation of logic inputs for input pinsP156 bit P157 bitDigital inputs and outputs Example Following assignment must be configured Input X19 pinOperating Instructions Free assignment Free assignment of inputs and outputsInputs Free assignment of outputsOutput Function Valency Heda Compax virtual inputsInterrogation of inputs in the Compax program if Remarks regarding the structural diagram1.4 I/O assignment of variants Exception Start Function of inputsHand+/Hand Input Shift Find MZApproach RZ Break Activate position adjustmentP211 blocking and modifying teach in functions Quit Start StopDiagram Synchronous Stop usingFast start Synchronous StopAdditional assignment of P219 No warning No faultFunction of outputs Caption DiagramsData record memory mode Specification Direct commandFinding machine zero in normal mode Approaching real zero Before the 1st machine zero travel, O3=0BCD coded Input/output Meaning157 Syntax of individual commandsAcceleration time Operating Instructions Procedure for transmitting a sign CommandsSignal procedure using the example of a status query Function codesInterface description 3 RS232 interface$=com19600,N,8,1 RS232 interface Function Activation using P20 Valid FromCommands permitted for the various modes of operation Interface functions Direct command entryPositioning commands Influencing the active positioning processRead and write program sets and parameters Read the status valuesTransmitting control instructions Negative command acknowledge- mentP211 blocking and modifying the teach in functions QuitAll operating modes Commands availableStatuses Output O0Meanings of the binary command codes Binary data transfer using RS232P20 switching on binary data transfer Examples of the number format of xx xx xx xx xx Number RS232 interface Valency *1MSB LSB 360 450,5Process 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 Error messages Error handlingSynchronizing Process values172 System concept System concept174 Accessories and optionsOptions Power module NMDMotors Unit Nominal Peak current Power kVAEMD motors Linear motor Current Aeff Aeff 5s With mains supply 230V ACHauser linear actuators Hauser linear actuatorsInitiator set 177Bus systems Data interfaces1 RS232 Process interfaces Process interfacesEncoder interface Meaning UnitApplications with encoder Encoder module and accessoriesIndividual connections Compax not Compax CompaxRequirements per Compax EAM 4/01 BUS 1/01Encoder module Encoder bus mixedFollowing are required Technical data High resolution SinCos sensor system S1/S2Enable absolute value sensor input Process interfaces Absolute value sensor A1S2 option Option S3 for linear motorsSinCos multi-turn with programmable transmission factor See 1846 D/A monitor D1 option not available with Compax 1000SL Process interfaces Heda interfaceConnector Pin X13 or Configuration Accuracy Connection assignmentSignal Circuit proposal EAM4/01 Input I16 = 1 external nominal value is validBDF1/02 for front plate installation AccessoriesBDF1/03 with housing External control panel not available for Compax 1000SLTerminal module for Compax 1000SL EAM Wiring planTerminal assignment SSK6EAM5/01 DC feed for COMPAX-M 3 EAM5/01 DC feed for COMPAX-MInput voltage range 100V DC 650V DC Design of EAM5/01Delivery scope NMD10 / Compax 45XXS / 85XXS Power filterEMC measures Compax 25XXS Compax 10XXSL Length of connection between power filterMotor output throttle BRM5/01 is fitted with a 0.3m connecting cable Dimension diagram BRM4, BRM6 and BRM7External ballast resistors Compax 25XXS with external ballast resistance of 56ΩAuthorised braking impulse power with NMD20 Diagrams Brake pulse power cooling periodMaximum permitted length Is 2m195 Authorised braking impulse power for NMD20 with BRM4/02196 Authorised braking impulse power for NMD20 with BRM4/01197 Authorised braking impulse power for Compax 4500SCompax 8500S 198 199 Hand-held terminal ServoManagerServoManager 200Hand-held terminal Functions Special Compax XX70 commandsKeys Function Special functionsStatus Level Hand-held terminal MenuHand-held terminal View Edit, delete programView, set configuration View, edit and reset parameterVC is generated when you exit the menu Exits the menu without VC205 Set configuration206 Appendix Compax componentsStatus values of the standard unit Compax XX00 Status values of the standard unit CompaxActual values Diagnosis valuesUnit designations AppendixSpecial Compax XX00 status values Meaning of status bitsS16, S17 Explanation of error history S18Output of status bits via the front plate Additional Compax measuring quantites Selection of status value using P182 Measuring parameterStatus monitor S15 Scaled longitudinal voltage For amplification 1 use 10V =211 Additional Compax measuring quantitesCompax standard parameters Compax parameterVP parameter46can be modified On Line Compax parameter Only permitted with P18 when bit 1=1Remark List of parameters, sorted by numberCompax standard parameters P20 settingGeneral 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 9000X19 P144 Settting encoder channelSource for Bit 0 InputEnable final stage with Output O0=0 without Default value P184=0P212 Machine zero mode Settings 3 and 4 with Compax XX00Output Word Mode P243 Heda operationP245 Assign outputs O1 O8 to the HedaStructural diagram Monitoring and limitation characteristicsDynamic monitoring Static monitoringWith Compax 70 Curve number not present 223 Error handling and error messagesError handling and error messages Too hard E40 224Response to E15 Response to lag error error E10 Position controllerQuit is not required Speed control mode, control is referenced to speedApplication examples External data record selection Wiring up the digital inputs and outputsApplication AssignmentsProgramming ConfigurationNames of inputs and outputs List of programsMark-referenced positioning Mark-referenced positioningN003 Output O7=0 Shears = block Sets the acceleration and braking rampMark reference = block Message = mark foundSpeed step profiling / comparator switching points Speed step profiling / comparator switching pointsNames of the inputs and outputs Speed Sync Speed control mode Speed control modeDesign and wiring up of the digital inputs and outputs Light barrier N019 if I10=0 Goto removing Operating mode queryInterlock # closed # open Sets the accelerating and braking ramps to 10sFast start Fast startAssignments Function Position controller mode Using speed control modeChanging error response Implementing a torque controllerCOMPAX-M / NMD IndexCOMPAX-25XXS If Error Gosub Installation Dimensions Installation / dimensionsInstallation arrangement COMPAX-M Limit switch monitoring Without lockingPower with linear motor Power on with motorProcess interfaces Configuration options Safety chain Emergency stopCompax 25XXS Compax 45/85S Compax 25XXS Compax 45/85S COMPAX-M