Contents | Parker Products COMPAX-M /-S (L) guide

Contents			COMPAX-M / -S
	8.2.3	Configuration process		72
	8.2.4	Safety instructions for initial start-up		73
	8.2.5	Configurationparameters		74
	8.2.6	Absolute value function with standard resolver		79
	8.2.7	Machine zero mode		80
	8.2.8	Limit switch operation		89
8.3	Configuration via PC using "ServoManager"			91
	8.3.1	Installing ServoManager		91
	8.3.2	Configuring COMPAX		91
	8.3.3	Individual configuration of synchronous motors		91
8.4	Positioning and control functions			95
	8.4.1	Absolute positioning [POSA]		96
	8.4.2	Relative positioning [POSR]		96
	8.4.3	Process velocity [SPEED]		97
	8.4.4	Acceleration and braking time [ACCEL]		97
	8.4.5	Setting/resettingan output [OUTPUT]		98
	8.4.6	Setting multiple digital outputs [OUTPUT O12=1010]		98
	8.4.7	Switch off drive unit. [OUTPUT O0]		98
	8.4.8	OUTPUT O0=... in program		98
	8.4.9	Password [GOTO]		99
	8.4.10	External velocity specification. [SPEED SYNC]		99
	8.4.11	Mark-related positioning [POSR]		100
	8.4.12	Preparatory instructions		101
	8.4.13	Changes in speed within a positioning process [POSR SPEED]		101
	8.4.14	Comparators during positioning [POSR OUTPUT]		103
	8.4.15	Cam controller with compensation for switching delays		104
	8.4.16	Programmable waiting time [WAIT]		107
	8.4.17	Program jump [GOTO]		107
	8.4.18	Sub-program jump [GOSUB]		107
	8.4.19	Instruction to end a sub-program. [RETURN]		107
	8.4.20	END instruction [END]		107
	8.4.21	Start a program loop [REPEAT]		108
	8.4.22	Branching [IF I7=1]		108
	8.4.23	Binary IF query of inputs [IF I12=101-1]		108
	8.4.24	Comparative operations		109
	8.4.25	Specific processing of data record groups. WAIT START		109
	8.4.26	Jump with data record selection [GOTO EXT]		109
	8.4.27	Sub-program jump with data record selection [GOSUB EXT]		110
	8.4.28	Error handling [IF ERROR GOSUB]		110
	8.4.29	STOP / BREAK handling [IF STOP GOSUB xxx]		111
	8.4.30	Arithmetic		113
		8.4.30.1	Parameter assignments	113
		8.4.30.2	Arithmetic and variables	114
	8.4.31	Position monitoring (P93=1, 2, 3)		117
	8.4.32	Idle display		119
	8.4.33	Speed monitoring in speed control mode (P93="4")		120
	8.4.34	PLC sequential step tracking		122
	8.4.35	Engaging and disengaging the motor brake		123
	8.4.36	Output of variable voltage		124

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

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 179 226 Appendix 207238 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 Motor is powered Compax display shows RUN Flow chart ConfiguringCommissioning Equipment replacement Previous software ≥Transferring system parameters Previous software ≤ Equipment replacement NMD10 / Compax 45XXS / Compax 85XXSCompax 35XXM Compax 25XXS Overview Start-up manualComponents 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 P1XXM, Compax 05XXM, Compax 15XXM COMPAX-M dimensions/installationCompax 02XXM, NMD10, NMD20 Connector assignment COMPAX-M Connector assignment COMPAX-M Mains module NMD10/NMD20 Dimensions / installationOverview 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 Wiring up motor Control voltage Enable Compax 45XXS/85XXS-specific wiringCompax 45XXS/85XXS-specific wiring Enable internal ballast resistance X2/5 X2/6 Enable bridgesMaximum 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 Mating connectors X1, X2, X3 Connector assignment Compax 1000SL overviewBridges for test operation Mounting and dimensions Compax 1000SL Mounting and dimensions Compax 1000SL Readiness, safety chain Emergency stop Safety chain / emergency stop functionsEmergency 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 Interfaces Initiators and D/A monitor Connection plan for the initiators with initiator connectorConnection 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 Power on for drive Safety instructions for initial start-upRisks from incorrect wiring Configuration parameters Operating modeNormal mode Continuous mode Speed controller Unit for travel data Ramps Motor typeLinear 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 Machine zero equals external zero pulse Conditions for this operating modeP213=0 P29=0 P29=90 General rotatory P212=4 only permitted for Compax XX00 and Compax Find machine zero Application P212 =5 Find machine zero Application Machine zero equals resolver zeroP212 =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 Holding brake For motors with holding brake Parameter for saturation characteristic curveDrive 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 Explanation regarding cam controller Problem point105 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 Specific processing of data record groups. Wait Start Comparative operationsJump 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 Or absolute Division y = x1 Example115 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 Output of variable voltage Service D/A monitor channelsOption 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 P56 D section rpm controller P24 damping of driveIncrease 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 Configuring the external position adjustment External position localization with 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 Hand+/Hand Function of inputsException Start Approach RZ Find MZInput 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 Function of outputs No faultNo warning Data record memory mode DiagramsCaption Direct command SpecificationFinding machine zero in normal mode Approaching real zero Before the 1st machine zero travel, O3=0 Input/output Meaning BCD coded Acceleration time Syntax of individual commands157 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 P20 switching on binary data transfer Binary data transfer using RS232Meanings 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 Transmittable parameters Master output quantity Fast startSlave input quantities P98 is identical in all units Permissible combinations and required parameter settingsApplication 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 1 RS232 Data interfacesBus systems Process interfaces Process interfacesEncoder interface Meaning Unit Individual connections Encoder module and accessoriesApplications with encoder Compax Compax Compax notRequirements per Compax EAM 4/01 BUS 1/01 Following are required Encoder bus mixedEncoder 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 EMC measures Power filterNMD10 / Compax 45XXS / 85XXS Motor output throttle Length of connection between power filterCompax 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 Compax 8500S Authorised braking impulse power for Compax 4500S197 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 Output of status bits via the front plate Explanation of error history S18S16, 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 VP parameter46can be modified On Line Compax parameterCompax standard parameters Only permitted with P18 when bit 1=1 Compax parameterRemark List of parameters, sorted by number P20 setting Compax standard parameters Rack Drive Type Spindle drive P80=2General 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 Design and wiring up of the digital inputs and outputs Speed control modeSpeed control mode N019 if I10=0 Goto removing Operating mode query Light barrierInterlock # closed # open Sets the accelerating and braking ramps to 10s Assignments Function Fast startFast start Using speed control mode Position controller modeChanging error response Implementing a torque controller COMPAX-25XXS IndexCOMPAX-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