Real zero, Machine zero | Parker Products COMPAX-M /-S (L) instruction

Configuration

Machine zero mode

Real zero

The position reference for positioning process is real zero; this can be freely

defined over the entire displacement area. Real zero is defined with reference to

machine zero.

value at P1 (real zero)

P12

real zero

P11

machine zero

Unit	hardware

Connector	assignment / cable
data

Movement process during find machine zero, depends on start point:

speed

E2							E1

	reverse initiator/		resolver		resolver	resolver	reverse initiator/
	limit switch		zero pulse		zero pulse	zero pulse	limit switch
				machine zero
				switch
				actual machine
				zero
				shift machine
				zero by P29	P29=
				P29=90°...360°	0...90°
		starting		starting			starting
		position 1		starting			starting
		position 1		position 2			position 3
				position 2			position 3
							distance

Technical

Configuration

Positioning and	control functions

Optimization	functions

The speed used for find machine zero is specified by P3; the accelerating and braking time by P7.

Interfaces

Accessories / options

Status

Parameter

Error list

Page 81

Image 81

Parker Products COMPAX-M /-S (L) manual Real zero, Machine zero

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 data Contents Optimization functions 125 173Interfaces 138 Process interfaces 179 Appendix 207 226238 Compax 0260M General dangersKey to unit designation Hauser type plate Please check the software version of your unit Special safety instructions Safety instructionsGeneral dangers Safe working practices Conditions of warranty Conditions of warranty Configuration when supplied Switch-on statusCommissioning COMPAX-M / -S LED Configuring Motor is powered Compax display shows RUN Flow chartCommissioning Previous software ≥ Equipment replacementTransferring system parameters Previous software ≤ NMD10 / Compax 45XXS / Compax 85XXS Equipment replacementCompax 35XXM Compax 25XXS Start-up manual OverviewComponents required Overview Common function characteristicsOverview of unit technology Compax P1XXM COMPAX-M Design Power KVA Dimensions DxHxW 146*180*85 mm DesignDimensions DxHxW 275*350*125 mm Design Power KVA KVA COMPAX-M unit features COMPAX-M unit featuresConnector and terminal assignment Connector and terminal assignment COMPAX-M system network, NMD10 / NMD20 mains module Short circuit connectors Power / control Wiring up mainsVoltage 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 Technical data / power features NMD NMD connector assignmentMains module NMD10/NMD20 CE conformity NMD20 NMD10 Technical data / power features NMD If a phase malfunctions, no displays appearLED red LED green Possible errors Error Ready Ready contact and green LED are coupled Plug and connection assignment Compax 35XXM Compax 35XXS unit features Installation and dimensions of Compax 35XXM Compax 35XXS unit featuresSpecific technical data Regeneration mode 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 Compax 25XXS connector and connection assignment Compax 25XXS unit characteristicsLED / color Meaning, when switched on Meaning of the LEDs on the front plate Wiring up motor Compax 25XXS unit characteristicsCompax 25XXS connector and connection assignment On unit side Connecting 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 kW Compax 25XXS dimensions / installation Compax 25XXS dimensions / installationDesign in series Flat design O1...O8 Connector assignment Compax 25XXS Compax 45XXS/85XXS unit characteristics Compax 45XXS/85XXS unit characteristicsPlug and connection assignment Compax 45XXS/85XXS 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 Connector and terminal assignment for Compax 1000SL Compax 1000SL Unit characteristicsPE terminal LED display Unit wiring Compax 1000SL Unit characteristicsConnector 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 on COMPAX-M Emergency stop input direct to COMPAX-MReady contact max .5A 60V, 30W Resolver / SinCos Connections to the motorCable assignment in the terminal boxes Resolver / SinCos Length codes for preformed cables Connections to the motorLength m Code MOK42 max ,8A ProcedurePackaging of device Material 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 Digital inputs and outputs excluding Compax 1000SL InterfacesAssignment of X8 Input/Output Assignment of X10 Input/Output GND Interfaces Digital inputs and outputs for Compax 1000SLStart 24VDC 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 Service D/A monitor Service D/A monitor / overrideService D/A monitor / override Wiring of override with screened cables only Monitor InterfacesStandard Measuring Meaning and range of values of P71 P74 7 D/A monitor option D1 8 RS232 interface Wiring diagram SSK1/...COMPAX PC/terminalAbsolute value sensor option A1 Interfaces Cable plan GBK1/.. Compax absolute value sensor 10 X13 Encoder interfaces Encoder interfaces / analogue rpm specification for CompaxArea of application of process interfaces Assignment on Encoder interface Step direction input for Compax 1000SL Process interfaces Configuration options Process ConfiguringInterfaces Applications with Compax 1000SL and encoder Bus connection Interfaces Heda interface option A1/A4Cable plan SSK14 Power characteristics Technical data Bus connection optional Permissible 3-phase mains HousingOperation Standard delivery Operating Instructions PLC data interface Operating InstructionsRS232 / RS485 Bus-Systems Program memory / parameter memory Explanations for the block structure Setting ParametersFunctions System controller Interfaces for signals Password protectionPassword Protection Activate password Deactivate Configuration ConfigurationMeaning of the bus parameters Acknowledging error messages Front plate operation not available with Compax 1000SL Configuration process Configuration when suppliedPower on with motor switched off Switching off the drive Modifying parameters Safety instructions for initial start-up Power on for driveRisks from incorrect wiring Operating mode Configuration parametersNormal mode Continuous mode Speed controller Unit for travel data Motor type RampsLinear Spindle drive Drive typeSmooth Quadratic Transfer of P94 General drive P215 direction of rotation Reference systemP213=0 P213=1 Specifying software end limits Activated with Absolute value function with standard resolverP206=2 Absolute value function with standard resolver Machine zero mode Machine zero Real zero Machine zero equals external initiator & resolver zero P213 Standard machine Zero mode for linear MovementsAdditional machine zero modes P212 =1 Find machine zero Application Low active Machine zero initiator MZ-INI isResolver 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 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 Function Wiring upCondition 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 Nominal motor speed for the Hbmr motors Other parameters are derived from the type plate dataEMC Min-1 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 Relative positioning Posr Absolute positioning PosaAbsolute positioning Posa Posa value Acceleration and braking time Accel Process velocity Speed Setting multiple digital outputs Output O12=1010 Setting/resetting an output OutputSwitch off drive unit. Output O0 O12=1010 External velocity specification. Speed Sync Password GotoPassword Goto External speed set via option E7 Mark-related positioning Posr Changes in speed within a positioning process Posr Speed Preparatory instructionsPreparatory instructions Syntax Example Posr x Speed y Accel z CompatibilitySpeed step profile extended by ramp time Changes in speed within a positioning process Posr Speed Diagram of example using Posa -1000 as positioning Diagram of specified example for Posr OutputComparators 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 Explanation Example 2 Positioning with subsequent cam operation Compax Program jump Goto Rogrammable waiting time WaitSub-program jump Gosub Instruction to end a sub-program. Return Branching if I7=1 Start a program loop RepeatIf 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 Function Priority Error program Error handling if Error GosubIf Error Gosub Sub-program jump with data record selection Gosub EXT Stop / Break handling if Stop Gosub Error program withWait Start Stop / Break handling if Stop Gosub N001 if Stop Gosub Stop programN241 Wait Start N243 Return Parameter assignments ArithmeticCurve memory Example Status values Variables Arithmetic and variables Division y = x1 Example Or absolute115 Read status and assign variables Initializing variables Functional description Position monitoring P93=1, 2OM2 OM3 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 OM3 O5 = Can be adjusted using P227 bit 429 =0 default settingNominal value Reached PLC sequential step tracking PLC sequential step trackingImplementation Engaging and disengaging the motor brake Final stage blocked by Final stage is enabled viaVia Range of values Service D/A monitor channels Output of variable voltageOption D/A monitor channels Optimization functions User-defined settingsOptimizing the movement cycle Optimizing with the ServoManager Output of variable voltage Optimization process User-defined settings with variant P59=Sensor Increase control dynamic Optimization parameters P59 Structure switch measuring P23 stiffness of driveStructure Variants P24 damping of drive P56 D section rpm controllerIncrease damping Reduce damping Optimization functions Advance control of speed, acceleration and powerAdvance control measures Without advance control measures P25 Advance P26 Advance acceleration control P70 Advance power controlSpeed control Advance speed control Accel Control processes for optimization Speed monitor Function Settings Using the speed monitorSpeed monitor Speed determination standard Optimization display Optimization displayP233/P23430 Meaning You will find a complete status list on Page207 Square of peak motor currentReference value 80 000A2 Use the effective value 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 Limit values Slip filter for external position localizationP214 Drive type Measuring unit Determining Assignment of standard unit Digital inputs and outputsDigital inputs and outputs Input Assignment Digital inputs and outputs Output Assignment Digital inputs and outputs for Compax 1000SL Allocation of logic inputs for input pinsP156 bit P157 bit Digital inputs and outputs Example Following assignment must be configured Input X19 pin Operating Instructions Free assignment Free assignment of inputs and outputsInputs Free assignment of outputs 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 Break Activate position adjustmentP211 blocking and modifying teach in functions Quit Start Stop Diagram Synchronous Stop usingFast start Synchronous Stop Additional assignment of P219 No fault Function of outputsNo warning Diagrams Data record memory modeCaption Specification Direct commandFinding machine zero in normal mode Approaching real zero Before the 1st machine zero travel, O3=0 BCD coded Input/output Meaning Syntax of individual commands Acceleration time157 Operating Instructions Procedure for transmitting a sign CommandsSignal procedure using the example of a status query Function codes Interface description 3 RS232 interface $=com19600,N,8,1 RS232 interface Function Activation using P20 Valid From Commands permitted for the various modes of operation Interface functions Direct command entryPositioning commands Influencing the active positioning process Read and write program sets and parameters Read the status values Transmitting control instructions Negative command acknowledge- mentP211 blocking and modifying the teach in functions Quit All operating modes Commands availableStatuses Output O0 Binary data transfer using RS232 P20 switching on binary data transferMeanings of the binary command codes Examples of the number format of xx xx xx xx xx Number RS232 interface Valency *1MSB 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 messages Error handlingSynchronizing Process values 172 System concept System concept 174 Accessories and options Options Power module NMD Motors Unit Nominal Peak current Power kVAEMD 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 not Compax CompaxRequirements per Compax EAM 4/01 BUS 1/01 Encoder bus mixed Following are requiredEncoder module Technical data High resolution SinCos sensor system S1/S2Enable absolute value sensor input Process interfaces Absolute value sensor A1 S2 option Option S3 for linear motorsSinCos multi-turn with programmable transmission factor See 184 6 D/A monitor D1 option not available with Compax 1000SL Process interfaces Heda interface Connector Pin X13 or Configuration Accuracy Connection assignmentSignal Circuit proposal EAM4/01 Input I16 = 1 external nominal value is valid BDF1/02 for front plate installation AccessoriesBDF1/03 with housing External control panel not available for Compax 1000SL Terminal module for Compax 1000SL EAM Wiring planTerminal assignment SSK6 EAM5/01 DC feed for COMPAX-M 3 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 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 56Ω Authorised braking impulse power with NMD20 Diagrams Brake pulse power cooling periodMaximum permitted length Is 2m 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 Hand-held terminal ServoManagerServoManager 200 Hand-held terminal Functions Special Compax XX70 commandsKeys Function Special functions Status Level Hand-held terminal Menu Hand-held terminal View Edit, delete program View, set configuration View, edit and reset parameterVC is generated when you exit the menu Exits the menu without VC 205 Set configuration 206 Appendix Compax components Status values of the standard unit Compax XX00 Status values of the standard unit CompaxActual values Diagnosis values Unit designations AppendixSpecial Compax XX00 status values Meaning of status bits Explanation of error history S18 Output of status bits via the front plateS16, S17 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 quantites Compax parameter VP parameter46can be modified On LineCompax standard parameters Compax parameter Only permitted with P18 when bit 1=1Remark List of parameters, sorted by number 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 X19 P144 Settting encoder channelSource for Bit 0 Input Enable final stage with Output O0=0 without Default value P184=0P212 Machine zero mode Settings 3 and 4 with Compax XX00 Output Word Mode P243 Heda operationP245 Assign outputs O1 O8 to the Heda Structural diagram Monitoring and limitation characteristicsDynamic monitoring Static monitoring Error handling and error messages Error handling and error messagesWith Compax 70 Curve number not present 223 Too hard E40 224 Response to E15 Response to lag error error E10 Position controllerQuit is not required Speed control mode, control is referenced to speed Application examples External data record selection Wiring up the digital inputs and outputsApplication Assignments Programming ConfigurationNames of inputs and outputs List of programs Mark-referenced positioning Mark-referenced positioning N003 Output O7=0 Shears = block Sets the acceleration and braking rampMark 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 Light barrier N019 if I10=0 Goto removing Operating mode queryInterlock # closed # open Sets the accelerating and braking ramps to 10s Fast start Assignments FunctionFast start Position controller mode Using speed control 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 with linear motor Power on with motorProcess interfaces Configuration options Safety chain Emergency stop Compax 25XXS Compax 45/85S Compax 25XXS Compax 45/85S COMPAX-M