Bus connection, Cable plan | Parker Products COMPAX-M /-S (L)

Interfaces

7.9.11 HEDA interface (option A1/A4)

The HEDA interface is available for COMPAX XX00, COMPAX XX60 and

COMPAX XX70.

HEDA option A4: for COMPAX 1000SL

HEDA option A1: for all other COMPAX

Cable plan	IPM - COMPAX and COMPAX - COMPAX
SSK14/..:		X14/PC						X15
				D-pin 9-way
				D-pin 9-way
				D-plug shell 9-way
	6			1		6			1
				1					1

	9			5		9			5
				5					5


		NC	1	clock from Master			1		NC
	RxC		2	clock from Master		2			RxC
	RxC		2			2			RxC
		RxC/	6	data from Master		6			RxC/
	RxD		4	data from Master		4			RxD
	RxD		4			4			RxD
		RxD/	8	clock from Slave		8			RxD/
		TxC	3	clock from Slave		3			TxC
		TxC	3			3			TxC
		TxC/	7	data from Slave		7			TxC/
		TxD	5	data from Slave		5			TxD
		TxD	5			5			TxD
		TxD/	9			9			TxD/
		housing		4 x 2 x 0.25mm2			housing
				4 x 2 x 0.25mm2	+ shield

SSK14 must not be used on a COMPAX which is configured as a master (P243=1).

Unit	hardware

Connector	assignment / cable
Technical data

Configuration

Positioning and	control functions

Optimization	functions

Cable plan SSK15/..

Terminating connector (BUS2/01).

Cables for COMPAX master and COMPAX slave coupling:

	Master: X15				Slave: X14
			D-pin 9-way
			D-pin 9-way
			D-plug shell 9-way
6			1	6		1
			1			1

9			5	9		5
			5			5


TxC		3		2		RxC
TxC/		7		6		RxC/
TxD		5		4		RxD
TxD/		9		8		RxD/
housing			2 x 2 x 0.25mm2		housing
			2 x 2 x 0.25mm2	+ shield

The last unit on the HEDA has a terminating connector (BUS2/01).

X15		BUS 2/01
				NC	1		150Ω
				RxC	2		150Ω


6		1		RxC/	6		150Ω
6		1	D-pin socket 9-way RxD		4		150Ω
9			D-plug shell 9-way	RxD/	8		150Ω
		5		RxD/	8
		5		TxC	3
				TxC	3
				TxC/	7		150Ω
				TxD	5		150Ω
				TxD	5
				TxD/	9

Interfaces

Accessories / options

Status

7.9.12 Bus connection

Special operating instructions are available for the bus systems.

63

Parameter

Error list

Image 63

Parker Products COMPAX-M /-S (L) manual Interfaces Heda interface option A1/A4, Bus connection, Cable plan, SSK14

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 Appendix 207 226238 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 Configuring Motor is powered Compax display shows RUN Flow chartCommissioning Previous software ≤ Equipment replacementPrevious software ≥ Transferring system parameters Compax 25XXS Equipment replacementNMD10 / Compax 45XXS / Compax 85XXS Compax 35XXM Start-up manual OverviewComponents required 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-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 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 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 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 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 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 plan for the initiators with initiator connector Interfaces Initiators and D/A monitorConnection assignment on 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 Safety instructions for initial start-up Power on for driveRisks from incorrect wiring Unit for travel data Configuration parametersOperating mode Normal mode Continuous mode Speed controller Motor type RampsLinear 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 Conditions for this operating mode Machine zero equals external zero pulseP213=0 P29=0 P29=90 General rotatory Find machine zero Application P212=4 only permitted for Compax XX00 and Compax Machine zero equals resolver zero P212 =5 Find machine zero ApplicationP212 =7 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 Parameter for saturation characteristic curve Holding brake For motors with holding brakeDrive type Individual configuration of synchronous motors Safety instructions for the first start-up Positioning and control functions Positioning and control functionsStart program 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 Problem point Explanation regarding cam controller105 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 Comparative operations Specific processing of data record groups. Wait StartJump with data record selection Goto EXT 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 Division y = x1 Example Or absolute115 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 Idle display Idle displayBit counting begins with 119 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 PLC sequential step tracking PLC sequential step trackingImplementation Range of values Final stage blocked by Final stage is enabled viaEngaging and disengaging the motor brake Via Service D/A monitor channels Output of variable voltageOption D/A monitor channels 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 P24 damping of drive P56 D section rpm controllerIncrease damping Reduce damping 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 Optimization display Optimization displayP233/P23430 Meaning 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 External position localization with position adjustment Configuring the external position adjustmentOnly available in Compax 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 Function of inputs Hand+/HandException Start Find MZ Approach RZInput Shift 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 fault Function of outputsNo warning Diagrams Data record memory modeCaption Before the 1st machine zero travel, O3=0 Direct commandSpecification Finding machine zero in normal mode Approaching real zero BCD coded Input/output Meaning Syntax of individual commands Acceleration time157 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 Binary data transfer using RS232 P20 switching on binary data transferMeanings of the binary command codes 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 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 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 Data interfaces 1 RS232Bus systems Meaning Unit Process interfacesProcess interfaces Encoder interface Encoder module and accessories Individual connectionsApplications with encoder BUS 1/01 Compax CompaxCompax not Requirements per Compax EAM 4/01 Encoder bus mixed Following are requiredEncoder module 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 Power filter EMC measuresNMD10 / Compax 45XXS / 85XXS Length of connection between power filter Motor output throttleCompax 25XXS Compax 10XXSL 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 Authorised braking impulse power for Compax 4500S Compax 8500S197 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 Explanation of error history S18 Output of status bits via the front plateS16, S17 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 parameter VP parameter46can be modified On LineCompax standard parameters List of parameters, sorted by number Only permitted with P18 when bit 1=1Compax parameter Remark Compax standard parameters P20 setting Drive Type Spindle drive P80=2 RackGeneral drive drive type P80=16 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 Error handling and error messages Error handling and error messagesWith Compax 70 Curve number not present 223 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 Design and wiring up of the digital inputs and outputsSpeed control mode Sets the accelerating and braking ramps to 10s N019 if I10=0 Goto removing Operating mode queryLight barrier Interlock # closed # open Fast start Assignments FunctionFast start Implementing a torque controller Using speed control modePosition controller mode Changing error response Index COMPAX-25XXSCOMPAX-M / NMD 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