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COMPAX-M /-S (L) Subject to technical modification. 11.10.01 11:01 192-040053 N2 Data correspond to the state of technical development at the time of printing. COMPAX User Guide Compact Servo Controller We automate motion D IN EN IS O 9 0 0 1 C E R T I F I E D Q U A L I T Y S Y S T E M Reg.
Contents COMPAX-M / -S 2 1. Contents 1 . C o n t e n t s ................................................................................................... 2 2 . U n i t a s s i g n m e n t : ..........................................................
3 7.4.4 COMPAX 35XXM connector assignment ........................................................ 29 7.5 COMPAX 25XXS unit characteristics .................................................... 30 7.5.1 COMPAX 25XXS connector and connection assignment.
Contents COMPAX-M / -S 4 8.2.3 Configuration process ...................................................................................... 72 8.2.4 Safety instructions for initial start-up .............................................................
5 8.5 Optimization functions ......................................................................... 125 8.5.1 Optimization parameters ................................................................................ 127 8.5.2 Speed monitor .........
Contents COMPAX-M / -S 6 9.7.1 External control panel (not available for COMPAX 1000SL) ....................... 187 9.7.2 Terminal module for COMPAX 1000SL (EAM) .............................................. 188 9.7.3 EAM5/01: DC feed for COMPAX-M ..
General dangers 7 2. Unit assignment: This documentation applies to the following units: ! ! ! ! COMPAX 10XXSL ! ! ! ! COMPAX 25XXS ! ! ! ! COMPAX 45XXS ! ! ! ! COMPAX 85XXS ! ! ! ! COMPAX P1XXM ! ! ! ! COMPAX 02XXM ! ! ! ! COMPAX 05XXM ! ! ! ! COMPAX 15XXM ! ! ! ! COMPAX 35XXM XX: Unit variants e.
Safety instructions COMPAX-M / -S 8 3. Safety instructions 3.1 General dangers General dangers when safety instructions are not complied with The unit described contains leading edge technology and is operationally reliable. However, hazards may occur if the unit is employed incorrectly or for improper use.
Conditions of warranty 9 3 .4 Conditions of warranty ! The unit must not be opened. ! Do not make any alterations to the unit, except for those described in the User Guide. ! Only activate inputs, outputs and interfaces as described in the User Guide.
Switch-on status COMPAX-M / -S 10 5. Switch-on status 5.1 Configuration when supplied When supplied, COMPAX is not configured. Parameter P149 is set to "0": P149="0": COMPAX is not configured and switches to OFF mode when switched on (24V DC and operating voltage) (motor switched off).
Commissioning 11 After 24V DC of control voltage is switched on, COMPAX has two statuses available once the initialization phase has been completed: 1. COMPAX is OFF COMPAX is not configured (P149="0") or with COMPAX XX70: I12="0" (final stage blocked).
Switch-on status COMPAX-M / -S 12 5.3 Equipment replacement Previous software ≥ ≥ ≥ ≥ V2.0 ! Procedure for copying the complete COMPAX setting onto a new unit ! Start ServoManager.
Equipment replacement 13 6. Conditions for usage - for CE-compliant operation in industrial and business sectors - The EU guidelines on electromagnetic compatibility 89/336/EEC and electrical means of production for use within particular voltage limits 73/23/EEC are satisfied, if the following peripheral conditions are complied with.
Start-up manual COMPAX-M / -S 14 7. Start-up manual Compact Servo Controller 7.1 Overview: 7.1.1 Components required In addition to a COMPAX, you will require the following components for a COMPAX application: ! a motor with or without a transmission.
Overview: Overview of unit technology 15 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 7.
Start-up manual COMPAX-M / -S 16 Supply Up to max. 1*250V AC (integrated power unit) Dimensions (DxHxW): 146*180*85 [mm] Design: R Dump Input +- Fieldbus In Encoder Input / Output Resolver Fieldbus Ou.
COMPAX-M unit features Connector and terminal assignment 17 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 7.
Start-up manual COMPAX-M / -S 18 7.2.2 COMPAX-M system network, NMD10 / NMD20 mains module A COMPAX-M drive system consists of one mains module and one or more drive controllers. The units are coupled with one another with flatband cables (see below).
COMPAX-M unit features COMPAX-M system network, NMD10 / NMD20 mains module 19 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization fun.
Start-up manual COMPAX-M / -S 20 7.2.3 COMPAX-M dimensions/installation The specific design of the COMPAX-M controller allows for wall installation (distance: 61mm in COMPAX P1XXM and 86mm in larger units) in two different ways. Direct wall installation and dimensions of COMPAX-M and the mains modules.
COMPAX-M unit features Connector assignment COMPAX-M 21 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 7.
Start-up manual COMPAX-M / -S 22 7.3 Mains module NMD10/NMD20 The mains module ensures the supply of current to the COMPAX-M (not COMPAX 35XXM) axis controller and the SV drive connected into the network. It is connected to the 3-phase power supply with 3 * 400V AC and PE.
Mains module NMD10/NMD20 NMD connector assignment 23 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 7.
Start-up manual COMPAX-M / -S 24 Overvoltage limitation Energy recuperated during braking is stored in the supply capacitors. The capacity and storable energy is: NMD10/NMD20: 1100 µ µ µ µ F / 173 Ws If the energy recuperated from braking causes overvoltage, then ballast resistances are engaged.
Mains module NMD10/NMD20 Technical data / power features NMD 25 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfa.
Start-up manual COMPAX-M / -S 26 7.4 COMPAX 35XXS unit features The 35 kW servo control COMPAX 35XXM - a performance upgrade to the COMPAX family. ! Compact unit with output currents of 50 Aeff / 100 Aeff (<5s) with integrated power unit. ! Additional COMPAX-M controllers of up to 15 KW can be arranged in rows.
COMPAX 35XXS unit features Installation and dimensions of COMPAX 35XXM 27 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functio.
Start-up manual COMPAX-M / -S 28 7.4.3 Wiring COMPAX 35XXM L1 L2 L3 PE PE PE + - UV W PE + - F1 Mains Input DC - In Braking Motor Motor X 20 24 V X 21 Resistance X 22 X 1 Brake X 23 U VW + - L1 L2 L3 PE PE Motor Supply up to 500V AC 24V Control v oltage External braking resista nce Motor brake* F1 3.
COMPAX 35XXS unit features COMPAX 35XXM connector assignment 29 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 7.
Start-up manual COMPAX-M / -S 30 7.5 COMPAX 25XXS unit characteristics 7.5.1 COMPAX 25XXS connector and connection assignment X6 Inp ut Out p ut St atus Val ue + - Ent er Ready Er ror RS 232 Test Cont.
COMPAX 25XXS unit characteristics COMPAX 25XXS connector and connection assignment 31 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list Before wiring up, always de-energize the unit.
Start-up manual COMPAX-M / -S 32 ! Control voltage 24V DC ± 10% ripple <1V SS Fuse protection: 16A X4 PE L3 L2 L1 PE N L 3 x 230V AC 1 x 230V AC + - - + PE W V U PE B B - + brake resistance 1234 PE L3 L2 L1 1234 PE L N 12 - + Connections for 3 x 230V AC Connections for 1 x 230V AC Bus system X5 IN X2 X3 X1 F19 3.
COMPAX 25XXS unit characteristics COMPAX 25XXS dimensions / installation 33 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 7.
Start-up manual COMPAX-M / -S 34 7.5.4 Connector assignment COMPAX 25XXS X12/1 housing X12/2 +8V X12/3 NC X12/4 REF- X12/5 SIN- X12/6 NC X12/7 GND X12/8 ST+ X12/9 +5 V X12/10 TEMP X12/11 COS- X12/12 C.
COMPAX 45XXS/85XXS unit characteristics Plug and connection assignment COMPAX 45XXS/85XXS 35 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 7.
Start-up manual COMPAX-M / -S 36 7.6.2 COMPAX 45XXS/85XXS installation / dimensions 395 DIGI TAL 24 378 351 77 125 65 275 325 11 65 Fastening: 4 M5 hex-socket head screws Installation distance: 130mm (device distance:5mm) LED Color Meaning, when switched on Ready Green 24V DC present and initialization complete Error red CPX error present.
COMPAX 45XXS/85XXS unit characteristics COMPAX 45XXS/85XXS-specific wiring 37 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 7.
Start-up manual COMPAX-M / -S 38 The final stage is enabled using a bridge between X3/1 - X3/1. If this connection is missing, the final stage is voltage-free and error message E40 appears (see from Page 223). ! Energy recuperated during braking is stored in the supply capacitors.
COMPAX 45XXS/85XXS unit characteristics COMPAX 45XXS/85XXS connector and pin assignment 39 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 7.
Start-up manual COMPAX-M / S 40 7.7 COMPAX 1000SL Unit characteristics 7.7.1 Connector and terminal assignment for COMPAX 1000SL Fieldbus In Encoder Input / Output Resolver Fieldbus Out Limit Switch 2.
COMPAX 1000SL Unit characteristics Connector and terminal assignment for COMPAX 1000SL 41 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Opti.
Start-up manual COMPAX-M / S 42 Mating connectors for X1,..X4 from Phoenix are included with the following type designations: X1: MSTB2.5/6/STF-5.08 (with screw connection) X2: MSTB2.5/3/ST-5.08 (without screw connection) X3: MSTB2.5/2/ST-5.08 (without screw connection) X4: MSTB2.
COMPAX 1000SL Unit characteristics Mounting and dimensions COMPAX 1000SL 43 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 7.
Start-up manual COMPAX-M / S 44 7.7.4 Safety chain / emergency stop functions Establishing a safety chain for monitoring the drives and other control components or a superordinate control unit usually requires a connection protected from wire breaks. The contact outputs (closer) P (X8(9)/3) and S (X8(9)/4) are used for this purpose.
COMPAX 1000SL Unit characteristics 45 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options .
Start-up manual COMPAX-M / -S Resolver / SinCos 46 7.8 Connections to the motor black 5 black 4 brake black 3 black 2 black 1 green/ yellow PE W V U shield black 7.
Connections to the motor 47 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list Length codes for preformed cables Length [m] 1.
Start-up manual COMPAX-M / -S Resolver / SinCos 48 Motor cable for HJ and HDY – motors MOK42 (m ax. 13, 8A) MOK42 CY-JZ 7x1,5 No 102-508896 PE Br. -24V Br.
Connections to the motor 49 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list MOK21 (m ax. 18, 9A) CY-JZ 7x2,5 No.
Start-up manual COMPAX-M / -S Resolver / SinCos 50 SinCos cable for HJ and HDY motors 2 7 10 7 +8V GND +V GND 9 10 9 8 Th1 Th2 K1 K2 15 8 13 3 ST- ST+ +485 -485 12 11 12 11 COS- COS+ C.
Connections to the motor 51 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 7.8.2 Additional brake control COMPAX controls the motor retaining brake independently (also see Page 123).
Start-up manual COMPAX-M / -S Digital inputs and outputs (excluding COMPAX 1000SL) 52 7.9 Interfaces 7.9.1 Digital inputs and outputs (excluding COMPAX 1000SL) The inputs and outputs have PLC voltage levels (High signal = 24V DC) X8 Pin Assignment Meaning 1.
Interfaces 53 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 7.
Start-up manual COMPAX-M / -S Technical data / Connections of inputs and outputs 54 7.9.3 Technical data / Connections of inputs and outputs 0 → 1 over 9.15V means that "1" is recognised 1 → 0 over 8.05V means that "0" is recognised 1.
Interfaces 55 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 7.9.4 Initiators and D/A monitor Connection assignment on X17 Pin Assignment 1 DA channel 0 (option D1) Ri=2.
Start-up manual COMPAX-M / -S Service D/A monitor / override 56 7.9.5 Service D/A monitor / override Assignment of X11 (not applicable for COMPAX 1000SL) Pin Assignment 1 +24V 2 Ground 24V 3 Override for speed reduction 4 Standard DA channel 2: 8 Bit, Ri=2.
Interfaces 57 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list Using the parameters P76 and P77, you can select 2 parameters and adapt them to the required measuring range.
Start-up manual COMPAX-M / -S D/A monitor option D1 58 10V * VS BG * MW PG = PG: physical parameter MW: voltage on output channel in [V] BG: reference value from the above table VS: gain factor P76 = 4.000 0010 P77 = 13.000 0005 Therefore the following applies: channel 2: measuring parameter 4 (actual speed value).
Interfaces 59 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 7.9.8 RS232 interface Wiring diagram SSK1/...:COMPAX - PC/terminal PC / terminal 9-way Sub-D-pin plug shell with screwed connection UNC4-40 9pol.
Start-up manual COMPAX-M / -S X13: Encoder interfaces, ... 60 7.9.10 X13: Encoder interfaces, ... The encoder interfaces are available as options for COMPAX (excluding COMPAX 1000SL). 2 channels are present; channel 1 can be equipped as the encoder input and channel 2 as the encoder simulation.
Interfaces 61 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 7.
Start-up manual COMPAX-M / -S X13: Encoder interfaces, ... 62 P144 P146 Setting = 4/6 = 0 Encoder input (without terminator) for individual connections, use bus termination BUS06/01) Cycle input O1 .
Interfaces 63 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 7.9.11 HEDA interface (option A1/A4) The HEDA interface is available for COMPAX XX00, COMPAX XX60 and COMPAX XX70.
Start-up manual COMPAX-M / -S 64 Technical data 7.10 Technical data Power characteristics Functional capability • Position, speed and current controller. • IGBT final stage protected from short circuits and ground/earth faults. • Digital positioning controller.
Technical data 65 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list • 0.8A for the other units (incl. NMD). • Digital outputs, each 100 mA.
Start-up manual COMPAX-M / -S 66 Technical data CS31 • COMPAX - ABB interface. CANbus • Up to 1.0 MBaud • Basic CAN. • CAN protocol as per specification 1.2. • Hardware as per ISO/DIS 11898 CANopen • Protocol as per CiA DS 301. • Profile CiA DS 402 for drives.
Overview: 67 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 8. Operating Instructions Compact Servo Controller 8.
Operating Instructions COMPAX-M / -S 68 8.1.1 Block structure of the basic unit (not applicable for COMPAX 1000SL) PLC data interface Query the mo st i m portant status values Se tting th e mo st im porta nt para mete rs RS232 / RS 485 Bus-System s for connection of PLC, IPC, PC or general.
Overview: Block structure of the basic unit (not applicable for COMPAX 1000SL) 69 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization.
Operating Instructions COMPAX-M / -S Password protection 70 Analogue input (see Start-up manual ) for continual reduction of the set speed. This option supports an absolute value sensor attached to th.
Configuration Front plate operation (not available with COMPAX 1000SL) 71 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 8.
Operating Instructions COMPAX-M / -S Configuration when supplied 72 8.2.2 Configuration when supplied When supplied, COMPAX is not configured. Parameter P149 is set to "0": P149="0": COMPAX is not configured and switches to OFF mode when switched on (24V DC and operating voltage) (motor switched off).
Configuration Safety instructions for initial start-up 73 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Ac.
Operating Instructions COMPAX-M / -S Configuration parameters 74 8.2.5 Configuration parameters Parameter P93: valid from next move command. P93 ="1" Positioning processes refer to real zero.
Configuration Configuration parameters 75 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list the max. travel distance is limited to ± 4 million units.
Operating Instructions COMPAX-M / -S Configuration parameters 76 P94 ="2" The mechanics are subject to minimum load when using the smooth function. t V t a , M 0 0 t a 1,9 Current required: 1.9 times P94="3" Gentle running in to the nominal value; overswings are prevented.
Configuration Configuration parameters 77 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list Motor / spindle ratio.
Operating Instructions COMPAX-M / -S Configuration parameters 78 Parameter P213: direction of machine zero (this describes the default setting, for more information see Page 80 Standard reference syst.
Configuration Absolute value function with standard resolver 79 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 8.
Operating Instructions COMPAX-M / -S Machine zero mode 80 8.2.7 Machine zero mode P212: setting the machine zero mode ="0": MZ equals external initiator rounded with resolver zero & machine zero travel using 2 reversing initiators. =" 1 ": MZ equals external initiator rounded with resolver zero.
Configuration Machine zero mode 81 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list The position reference for positioning process is real zero; this can be freely defined over the entire displacement area.
Operating Instructions COMPAX-M / -S Machine zero mode 82 Additional machine zero modes The machine zero modes described below are all used without reversing initiators.
Configuration Machine zero mode 83 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Sta.
Operating Instructions COMPAX-M / -S Machine zero mode 84 P212="3" (only permitted for COMPAX XX00 and COMPAX XX30!) Find machine zero Application P213="0" P29=0° external zero pu.
Configuration Machine zero mode 85 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list P212="4" (only permitted for COMPAX XX00 and COMPAX XX30!) Find machine zero.
Operating Instructions COMPAX-M / -S Machine zero mode 86 P212 ="5" Find machine zero Application P213="0" P29=0° resolver zero pulse command "search MZ" P29=90° resolver zero pulse command "search MZ" 90° General rotatory movements.
Configuration Machine zero mode 87 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Sta.
Operating Instructions COMPAX-M / -S Machine zero mode 88 P212="11": Machine zero - initiator (without resolver zero) with 2 reversing initiators Application: Applications with belt drives where the belts may skip during operation.
Configuration Limit switch operation 89 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 8.
Operating Instructions COMPAX-M / -S Limit switch operation 90 ♦ to set P216, switch on operation with limit switches (P216="1") or ♦ in status value S24, see bits 3 and 4 (from the left) to determine which initiator is activated. Meaning: Bit 3: I2 is activated, i.
Configuration via PC using "ServoManager" Installing ServoManager 91 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 8.
Operating Instructions COMPAX-M / -S Individual configuration of synchronous motors 92 The following parameters can be read directly from the motor type plate : ♦ P101 number of motor terminals ♦ P102: EMC [V/1000 rpm] These two values are included in the motor type description (type).
Configuration via PC using "ServoManager" Individual configuration of synchronous motors 93 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control fu.
Operating Instructions COMPAX-M / -S Individual configuration of synchronous motors 94 Risks from incorrect wiring! In order to avoid risks caused by incorrect system wiring during first start-up, use.
Positioning and control functions Individual configuration of synchronous motors 95 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 8.
Operating Instructions COMPAX-M / -S Absolute positioning [POSA] 96 8.4.1 Absolute positioning [POSA] Reference point is real zero (RZ). Positioning is executed with the acceleration speed set using ACCEL and the velocity set using SPEED.
Positioning and control functions Process velocity [SPEED] 97 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 8.
Operating Instructions COMPAX-M / -S Setting/resetting an output [OUTPUT] 98 8.4.5 Setting/resetting an output [OUTPUT] OUTPUT output = 1/0 Output O1 16 ...O16 N005: OUTPUT O8=1 Sets output 8 N005: OUTPUT O8=0 Resets output 8 8.4.6 Setting multiple digital outputs [OUTPUT O12=1010] Multiple outputs can be set simultaneously.
Positioning and control functions Password [GOTO] 99 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list This means that all errors which can be acknowledged (e.
Operating Instructions COMPAX-M / -S Mark-related positioning [POSR] 100 8.4.11 Mark-related positioning [POSR] Use this command to position e.g. a mark relative to an external signal. POSR value Value: two digits after the decimal point (three for inches) in unit corresp.
Positioning and control functions Preparatory instructions 101 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 8.
Operating Instructions COMPAX-M / -S Changes in speed within a positioning process [POSR SPEED] 102 Speed step profile extended by ramp time Speed step profiling is still possible in the previous version with no restrictions. ♦ In addition to the new velocity, the acceleration time can be defined for the speed step profile.
Positioning and control functions Comparators during positioning [POSR OUTPUT] 103 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 8.
Operating Instructions COMPAX-M / -S Cam controller with compensation for switching delays 104 8.4.15 Cam controller with compensation for switching delays With the function "Cam controller", you can switch 4 actuators (switch elements) dependent on position.
Positioning and control functions Cam controller with compensation for switching delays 105 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Op.
Operating Instructions COMPAX-M / -S Cam controller with compensation for switching delays 106 Behaviour of the control signal during negative position values, falling position and P215=0 0 negat i ve.
Positioning and control functions rogrammable waiting time [WAIT] 107 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 8.
Operating Instructions COMPAX-M / -S Start a program loop [REPEAT] 108 8.4.21 Start a program loop [REPEAT] The following program sequence is run through the number of times specified until an END instruction appears. REPEAT value Value: 1...65 000 a control parameter (P40.
Positioning and control functions Comparative operations 109 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 8.
Operating Instructions COMPAX-M / -S Sub-program jump with data record selection [GOSUB EXT] 110 8.4.27 Sub-program jump with data record selection [GOSUB EXT] Entry at BDF2: GOSUB Ent Jump into a sub-program with data record selection via the inputs I9 to I16.
Positioning and control functions STOP / BREAK handling [IF STOP GOSUB xxx] 111 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list and is used to bring the individual outputs (e.
Operating Instructions COMPAX-M / -S STOP / BREAK handling [IF STOP GOSUB xxx] 112 The stop program must not contain ♦ any motion commands (POSA, POSR, POSR ..., WAIT POSA, WAIT POSR, SPEED in the speed control mode, ), ♦ any sub-program jumps (GOSUB, IF .
Positioning and control functions Arithmetic 113 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 8.4.30 Arithmetic 8.
Operating Instructions COMPAX-M / -S Arithmetic 114 8.4.30.2 Arithmetic and variables Values can be linked with one another using the four basic types of calculation and the result can be assigned to a parameter or a variable.
Positioning and control functions Arithmetic 115 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list N001: P013 = 2 * P013 (Multiplication) N002: P010 = P040 + 1000.
Operating Instructions COMPAX-M / -S Arithmetic 116 To include the actual position in a calculation, for example, you may assign as follows: N100: V030=S1 or N100: V030= S1 + 10 The variable V030 derived in this way can be used later, for example, in a positioning instruction as a preset target.
Positioning and control functions Position monitoring (P93=1, 2, 3) 117 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 8.
Operating Instructions COMPAX-M / -S Position monitoring (P93=1, 2, 3) 118 O5="1": nominal value on nominal value sensor reached and lag error < P14.
Positioning and control functions Idle display 119 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 8.4.32 Idle display Display showing whether the axis is at standstill or moving.
Operating Instructions COMPAX-M / -S Speed monitoring in speed control mode (P93="4") 120 8.4.33 Speed monitoring in speed control mode (P93="4") There are 2 settings for O5 ".
Positioning and control functions Speed monitoring in speed control mode (P93="4") 121 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functio.
Operating Instructions COMPAX-M / -S PLC sequential step tracking 122 8.4.34 PLC sequential step tracking Use the function "O5 toggles when position/speed reached" and a marker in the PLC to implement precise tracking of the COMPAX. This also recognizes positioning processes which are completed again during the next PS cycle.
Positioning and control functions Engaging and disengaging the motor brake 123 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 8.
Operating Instructions COMPAX-M / -S Output of variable voltage 124 8.4.36 Output of variable voltage The direct output of variable voltage is supported via the D/A monitor channels 0 to 3. Addressable using parameters P76 (channel 2) and P77 (channel 3) P76 Channel 2 X11/4 P77 Channel 3 X11/5 Resolution: 8 bit (incl.
125 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization f unctions Interfaces Accessories / options Status Parameter Error list 8.
Operating Instructions COMPAX-M / -S Output of variable voltage 126 Optimization process: Note ♦ The arrows behind the parameters show the preferred direction for the parameter optimization. ↓ Reduce parameter ↑ Increase parameter ↓↑ Both directions could lead to a better setting.
127 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization f unctions Interfaces Accessories / options Status Parameter Error list 8.
Operating Instructions COMPAX-M / -S Optimization parameters 128 P23>100% P23=100% P23<100% t speed reference value, actual value Damping influences the height of the harmonies and reduces the vibrations. Nominal value: 100% Range: 0%...500% Harmonies become smaller.
Optimization functions Optimization parameters 129 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessori.
Operating Instructions COMPAX-M / -S Optimization parameters 130 Advance speed control Nominal value: 100% Range: 0%...500% t Driving fault, current t 1 2 3 4 reference value, actual value Advance speed and acceleration control Nominal value: 100% Range: 0%.
Optimization functions Optimization parameters 131 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list Control processes for optimization Targets / problems Stiff- ness (P23) Damp- ing (P24) Advance contr.
Operating Instructions COMPAX-M / -S Speed monitor 132 8.5.2 Speed monitor In COMPAX the drive speed is required as an actual value for speed control (loop underlying the position control). The actual speed value is derived by differentiating the position signal.
Optimization functions Optimization display 133 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 8.
Operating Instructions COMPAX-M / -S Optimization display 134 x t x x t acceleration phase decerleration phase speed set point actual value of position time needed for positioning actual value of position max. backshoot with ref. to max. position actual value of position max.
Optimization functions Optimization display 135 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories .
Operating Instructions COMPAX-M / -S External position localization with position adjustment 136 8.5.4 External position localization with position adjustment The external position localization with position adjustment described below is only available in the standard unit (COMPAX XX00).
Optimization functions External position localization with position adjustment 137 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list Para- meter Meaning valid from.
Operating Instructions COMPAX-M / -S Digital inputs and outputs 138 8.6 Interfaces The COMPAX interfaces for data and status are digital inputs with an PLC data interface, an RS232 interface and an optional bus interface (interbus S, CAN bus, CANopen, profibus, CS31 or RS485).
Interfaces Digital inputs and outputs 139 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list Output Assignment O1 (X8/9; X19/x) ="1":No fault ="0":errors E1 .
Operating Instructions COMPAX-M / -S Digital inputs and outputs 140 8.6.1.1 Digital inputs and outputs for COMPAX 1000SL Allocation of logic inputs for input pins of X19 The source (input pin on X19) from which the respective logic input is to be read is specified via parameters P156, P157 and P158.
Interfaces Digital inputs and outputs 141 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / opti.
Operating Instructions COMPAX-M / -S Digital inputs and outputs 142 Allocation of output pins of X19 to the logic outputs The target (output pin on X19) on which the respective logic output is to be written is specified via parameters P159 and P160.
Interfaces Digital inputs and outputs 143 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 8.
Operating Instructions COMPAX-M / -S Digital inputs and outputs 144 Explanation : The permanently assigned standard outputs O1 to O6 can be made freely available using parameter P225. Meaning: Output Function Valency O1 (X8/1) ="1": No fault ="0": errors E1 .
Interfaces Digital inputs and outputs 145 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / opti.
Operating Instructions COMPAX-M / -S Digital inputs and outputs 146 Logic a l in puts * I1... I 8 Fiel d bus I17. .. I24 Logic a l in puts * I 9 . ..I 16 Fiel d bus I25.
Interfaces Digital inputs and outputs 147 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 8.
Operating Instructions COMPAX-M / -S Digital inputs and outputs 148 8.6.1.5 Function of inputs When working with pre-assigned inputs, always note the following: ♦ The SHIFT signal (I1) may only change if I2.
Interfaces Digital inputs and outputs 149 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list Input I5 ♦ Starts the program data record at WAIT START, after Power On and after STOP.
Operating Instructions COMPAX-M / -S Digital inputs and outputs 150 Input SHIFT I5 ♦ When P211="3", the data record indicator is set to 1 using "Shift I5". P211 Function = 0 The functions I1 + I4, Teach N, I1 + I5 and Teach Z are enabled.
Interfaces Digital inputs and outputs 151 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list Input I15 Special START input ♦ Input for fast and defined starting of positioning process.
Operating Instructions COMPAX-M / -S Digital inputs and outputs 152 If MZ travel is interrupted by the synchronous stop, then O3 "Machine zero approached" is not output. P219 = xx000000=0: COMPAX-M does not evaluate the additional emergency stop input.
Interfaces Digital inputs and outputs 153 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 8.6.1.7 Function of outputs O1 ♦ O1="1" if there is no error for group E1 .
Operating Instructions COMPAX-M / -S Digital inputs and outputs 154 O6 ♦ O6="1" indicates that the axis is at a standstill due to a STOP (I6) or BREAK (I1&I6). ♦ O6 is reset when the axis moves again. O16 ♦ Only assigned if mark reference is activated (P35=1).
Interfaces Digital inputs and outputs 155 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list t t t t t t t t t Inte r- fac e I5 Star t * I6 St op V O4 Ready to start O5 Progr.
Operating Instructions COMPAX-M / -S PLC data interface (function not available with COMPAX 1000SL) 156 8.6.2 PLC data interface (function not available with COMPAX 1000SL) This universal data interface allows data to be exchanged with all PLC types, regardless of manufacturer and origin.
Interfaces PLC data interface (function not available with COMPAX 1000SL) 157 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization fun.
Operating Instructions COMPAX-M / -S PLC data interface (function not available with COMPAX 1000SL) 158 Start sign "E" ≡ "1110" Function code 1: "1" ≡ "0001" Function code 2: "3" ≡ "0011" Parameter No.
Interfaces PLC data interface (function not available with COMPAX 1000SL) 159 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization fun.
Operating Instructions COMPAX-M / -S RS232 interface 160 8.6.3 RS232 interface You can communicate with COMPAX via an RS232 interface on a PC. The following functions are available. ♦ Direct command input and execution in on-line mode. ♦ Read status values.
Interfaces RS232 interface 161 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status .
Operating Instructions COMPAX-M / -S RS232 interface 162 8.6.3.2 Interface functions When making direct command entries via RS232, use the abbreviated form for most instructions (two letters). Refer to table on Page 165! When using "Direct command entry", write an "END" instruction in data memory No.
Interfaces RS232 interface 163 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list ♦ Direct modification of velocity of an active positioning process.
Operating Instructions COMPAX-M / -S RS232 interface 164 Example: P40 C R L F COMPAX transmits the contents of P40: P40=value name C R L F > Instruction Abbreviated form Meaning START Nxxx SNxxx Execute program set xxx (this set only). START ST Start program.
Interfaces RS232 interface 165 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status .
Operating Instructions COMPAX-M / -S RS232 interface 166 8.6.3.4 Binary data transfer using RS232 A series of commands can be transferred in the COMPAX internal binary format for time-critical applications. This saves times as ASCII into COMPAX internal binary format conversion is not required.
Interfaces RS232 interface 167 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list Valency: * 1 2 15 2 14 ... 2 2 2 1 2 0 .
Operating Instructions COMPAX-M / -S Process coupling using HEDA (Option A1 / A4) 168 8.6.4 Process coupling using HEDA (Option A1 / A4) See also Page 185. HEDA (SSI interface) can be used for synchronization of several axes with simultaneous ( ± 2.5 µs) processing of individual controller time slices.
Interfaces Process coupling using HEDA (Option A1 / A4) 169 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces .
Operating Instructions COMPAX-M / -S Process coupling using HEDA (Option A1 / A4) 170 Master output quantites: P184= Slave input quanti- ties: P188= Can be used in slave unit versions: Settings in mas.
Interfaces Process coupling using HEDA (Option A1 / A4) 171 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces .
Operating Instructions COMPAX-M / -S Process coupling using HEDA (Option A1 / A4) 172 Please note: the operating instructions (pages 67 - 171) as well as the application examples (pages 225 - 237) can.
System concept 173 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 9. Accessories and options Compact Servo Controller 9.
A ccessories and options COMPAX-M / -S 174 9.2 Overview The following table shows the COMPAX system components and the relevant associated cables. Drives MOK 21 / MOK11 / MOK46 REK 32 MOK 42 / MOK43 R.
Overview 175 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list Options Absolute enco der Interface A1 Encoder Channel 1 Encoder- Input I 2 (with cable connection) Channel 2 Encoder- EAM 4/01 SSK 7/.
A ccessories and options COMPAX-M / -S 176 9.3 Motors Suitable motors are described in the motor catalogue (Article No.: 192- 060011)! COMPAX also supports the operation of linear motors. For this, COMPAX requires option S3 (interface to linear encoder and Hall sensor; assignment X12 see Page 46).
HAUSER linear actuators 177 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 9.
A ccessories and options COMPAX-M / -S 178 9.5 Data interfaces 9.5.1 RS232 Use the RS232 interface, fitted as standard in COMPAX, to connect COMPAX with a PC or terminal. This can then be used to operate COMPAX. The SSK1/.. interface cable is available as a connecting cable (for available lengths, see Page 206).
Process interfaces 179 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 9.
A ccessories and options COMPAX-M / -S 180 E2 Encoder input module with line terminator for individual connections; not for creating an encoder bus. E3 E3: Encoder emulation E4 Encoder input module without line terminator for creating an encoder bus.
Process interfaces 181 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list COMPAX COMPAX ♦ Cable: SSK 7/.. or SSK17 (see principal diagrams below) Note! Note direction.
A ccessories and options COMPAX-M / -S 182 The following are required: ♦ per COMPAX • one encoder distributor .................................................................. EAM 4/01 • one cable for the COMPAX and encoder distributor connection .
Process interfaces 183 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 9.6.2 Absolute value sensor (A1) The option A1 cannot be used for COMPAX 1000SL.
A ccessories and options COMPAX-M / -S 184 SinCos multi-turn with programmable transmission factor When using a SinCos multi-turn, you can use the S2 option to adapt the range of the absolute position S12 to your application via a transmission factor.
Process interfaces 185 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 9.6.5 HEDA interface HEDA using option A1 (e.
A ccessories and options COMPAX-M / -S 186 9 . 6 . 7 Analogue speed specification (E7) (option not available with COMPAX 1000SL) Option E7 "Analogue speed specification" is available with COMPAX XX6X "Electronic transmissions" and COMPAX XX70 "Cam controller".
Accessories 187 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 9.7 Accessories 9.7.1 External control panel (not available for COMPAX 1000SL) Use the control panels to control COMPAX via the digital inputs.
A ccessories and options COMPAX-M / -S 188 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 X8/9 X8/10 X8/11 X8/12 X8/13 X8/14 X815 X8/16 X9/2 X9/1 X8/1 X8/2 X8/3 X8/4 X8/5 X8/6 X8/7 .
Accessories EAM5/01: DC feed for COMPAX-M 189 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 9.7.3 EAM5/01: DC feed for COMPAX-M The power supply is normally over a central mains module; NMD10 or NMD20.
Accessories and options COMPAX-M / -S EAM5/01: DC feed for COMPAX-M 190 EAM5/01 X8 = mains module X8: control EAM5/01 X4 = mains module X4: signal connection to COMPAX-M X5; connection cable included EAM5/01 F21: 24V DC fuse 0.5A/M Delivery scope: EAM5/01.
Accessories EMC measures 191 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 9.
Accessories and options COMPAX-M / -S EMC measures 192 COMPAX 25XXS: motor cable >10m COMPAX 10XXSL: motor cable >50m COMPAX 25XXS: motor cable ≤ ≤ ≤ ≤ 10m Type: NFI01/01 dimension diagr.: Type: NFI01/06 dimension diagram: 50.8±0.3 85.4 116 139 79.
Accessories External ballast resistors 193 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 9.
Accessories and options COMPAX-M / -S External ballast resistors 194 6 7,5 40 20 26 240 225 BRM8/01 is fitted with a 0.25m connecting cable. The maximum permitted length is 2m.
Accessories External ballast resistors 195 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / opt.
Accessories and options COMPAX-M / -S External ballast resistors 196 A ut hor i sed br aki ng i m pul se power for NM D20 wit h BRM4/ 0 1 1000 10000 100000 0,0 0,2 0, 4 0,6 0,8 1,0 1,2 1,4 1, 6 1,8 2,.
Accessories External ballast resistors 197 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / opt.
Accessories and options COMPAX-M / -S External ballast resistors 198 A ut hor i sed br aki ng im pul se pow er f or COM PA X 4500S and COMPA X 8500S w i t h B RM 6/ 01 100 1000 10000 100000 0,0 0,2 0,4 0,6 0,8 1,0 1,2 1,4 1,6 1,8 2,0 2,2 2,4 2,6 2,8 3,0 Br a k ing t im e / s Pbdyn / W F=5 0 F=5 F=1 0 F=2 F=1 F=0 .
Accessories External ballast resistors 199 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list Permissible brake pulse power for COMPAX 1000SL with BRM8/01 10 100 1000 10000 0.
Accessories and options COMPAX-M / -S ServoManager 200 9.7.6 ServoManager Use the ServoManager to process complete COMPAX projects; it is included with COMPAX. It contains the following program modules: ♦ ParameterEditor: for configuring and parametrizing COMPAX.
Accessories Hand-held terminal 201 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list The hand-held terminal contains the following functions: ♦ display any status value.
Accessories and options COMPAX-M / -S Hand-held terminal 202 Menu: Status Level Function Level Setting Level see, edit, delete program Enter commands see, set up configuration see, edit, delete parame.
Accessories Hand-held terminal 203 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list View Program ? Edit Program? NO NO YES NO Enter block no.
Accessories and options COMPAX-M / -S Hand-held terminal 204 View Parameters? Edit parameters? NO NO YES NO E nte r Par am ete r no. Ent Select other para- meters using or or edit parameter no. YES En t e r Para me t e r no . Ent Select other para- meters using or edit parameter no.
Accessories Hand-held terminal 205 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Sta.
Accessories and options COMPAX-M / -S Hand-held terminal 206 9.8 Appendix: COMPAX components Mains module for COMPAX-M (excluding COMPAX 35XXM) NMD10 Up to 3 x 500 V AC mains supply connection; direct mains supply operation 10 kW cont. output NMD20 As NMD10, but with 20 kW continuous output; external ballast resistances available in 3 sizes.
Status values of the standard unit (COMPAX XX00) 207 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list 10 . Appendix 10.
Appendix COMPAX-M/S Hand-held terminal 208 Unit designations Designation: Status No. Meaning Software version S31 Designation of software version. Software date S32 Date when program was created. Order S33 Order number (6 digits) Order&part (10 digits) is Part S34 Serial four-digit number a unique unit no.
Status values of the standard unit (COMPAX XX00) 209 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accesso.
Appendix COMPAX-M/S Hand-held terminal 210 Status monitor S15 You can assign the values of the service D/A monitor to status S15 using parameter P182. Selection of status value using P182 P182 Measuri.
Additional COMPAX measuring quantites 211 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error list D/A monitor channels 0 .
Appendix COMPAX-M/S VP parameter can be modified "On Line" 212 10.3 COMPAX parameter 10.3.1 VP parameter 46 can be modified "On Line" VP parameters can be modified and transferred and the password specified in any COMPAX operating mode.
COMPAX parameter 213 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error List: Remark The specified limit values refer to all parameters.
Appendix COMPAX-M/S COMPAX standard parameters 214 No. Meaning Unit Minimum value Default value Maximum value Valid from... P20 RS232 handshake Software handshake "0": without "1": with XON, XOFF Power on P20 setting. The sum of the specified values is entered in P20.
COMPAX parameter 215 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error List: No. Meaning Unit Minimum value Default value Maximum value Valid from.
Appendix COMPAX-M/S COMPAX standard parameters 216 No. Meaning Unit Minimum value Default value Maximum value Valid from... Max. total moment of inertia P82 With linear motors: () 2 max 2 1000 126 P m 82 P Π • • • = kgmm 2 0 0.00 200 000 VC Travel per motor revolution P83 With linear motors: P83 = P126 µ m or increm.
COMPAX parameter 217 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error List: No. Meaning Unit Minimum value Default value Maximum value Valid from.
Appendix COMPAX-M/S COMPAX standard parameters 218 No. Meaning Unit Minimum value Default value Maximum value Valid from... P144 Settting encoder channel 1 = " 4 ": without external position localization ="6": external position localization switched on via channel 1.
COMPAX parameter 219 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error List: No. Meaning Unit Minimum value Default value Maximum value Valid from.
Appendix COMPAX-M/S COMPAX standard parameters 220 No. Meaning Unit Minimum value Default value Maximum value Valid from... P216 Limit switch position E1 is approached when ... "0": motor turns clockwise "1": motor turns anti-clockwise immediat.
COMPAX parameter 221 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error List: No. Meaning Unit Minimum value Default value Maximum value Valid from.
Appendix COMPAX-M/S Monitoring and limitation characteristics 222 10.3.3 Monitoring and limitation characteristics This section examines the relationships of COMPAX monitoring and limitation character.
Error handling and error messages 223 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error List: 10.4 Error handling and error messages ♦ All errors are indicated by messages on the front plate error LED.
Appendix COMPAX-M/S Monitoring and limitation characteristics 224 No. Cause Action Acknow- ledge with Drive volt.-free E23 The current command is not allowed. ♦ Positioning command in the speed control mode. ♦ Approach MZ in speed control mode. ♦ Travel command when drive is switched off.
Error handling and error messages 225 Unit hardware Connector assignment / cable Technical data Configuration Positioning and control functions Optimization functions Interfaces Accessories / options Status Parameter Error List: No. Cause Action Acknow- ledge with Drive volt.
Application examples COMPAX-M/S Overview 226 11 . Application examples 11.1.1 Overview External data record selection ................................................................................................. ...227 Application: One of eight various workpieces should be made available at a data collection station.
External data record selection 227 11.1.2 External data record selection Application: One of eight various workpieces should be made available at a data collection station. The number of the desired workpiece is set using a BCD selector switch. The transportation process is then triggered by a starting pulse.
Application examples COMPAX-M/S External data record selection 228 To move one particular workpiece to the data collection station, the number of the station in question is first set on the BCD switch. The process is then triggered by a start pulse. To do this, the BCD switch setting must remain the same until the start of the first axis movement.
Mark-referenced positioning 229 11.1.3 Mark-referenced positioning Application: Pieces with lengths of between 100 mm and 500 mm should be cut from a plate roller. The cut-off positions are specified by marks on the plate. If two marks are separated by more than 500 mm, the plate should be pulled back to the last cut-off position.
Application examples COMPAX-M/S Mark-referenced positioning 230 Programming: Configuration: P93 = +2 i.e. continuous operating mode P35 = +1 i.e. mark reference switched on P37 = +50 i.e. minimum travel to mark = 50 mm P38 = +650 i.e. maximum travel to mark = 650 mm P39 = +680 i.
Speed step profiling / comparator switching points 231 11.1.4 Speed step profiling / comparator switching points Application: A bore spindle should be guided to the surface of the workpiece using a rapid feed movement. The bore is then bored to a defined depth using a considerably longer feed.
Application examples COMPAX-M/S Speed step profiling / comparator switching points 232 Programming: Configuration: P93 = +1 i.e. normal operating mode (absolute and relative positioning) P94 = +1 i.
SPEED SYNC 233 11.1.5 SPEED SYNC Application: Cartons should be transferred from one conveyor belt (conveyor belt A), a belt operating at a very variable belt speed, to another conveyor belt (conveyor belt C), a belt which has a constant belt speed.
Application examples COMPAX-M/S Speed control mode 234 11.1.6 Speed control mode Application: A centrifuge for manual operation should be operated by an operating mode switch. The centrifugal process should either be run at a permanently set speed or the test tubes should be removed, one after another, through the removal aperture.
Speed control mode 235 Programming: Configuration: P93 = +4 i.e. speed control operating mode P94 = +2 i.e. smooth ramp shape Names of the inputs and outputs: I7 light barrier 0 # not activated 1 # ac.
Application examples COMPAX-M/S Fast start 236 11.1.7 Fast start Application: Material should be fed to an extender stamping machine which operates at a maximum speed of 150 rpm. The material may only be supplied if the stamping tool is open and if the workpiece (already stamped) has been thrown up.
Implementing a torque controller 237 Programming: Configuration: P93 = +2 i.e. continuous operating mode P94 = +1 i.e. linear ramp shape P18 = +2 i.e. fast START activated Names of the inputs and outputs: I15 fast START a flank from 0 to 1 triggers the fast START List of programs: N001: ACCEL 100 .
Index COMPAX-M/S 238 12. In de x ABB – interface ................. 178 Absolute positioning ............ 96 Absolute value function with standard resolver....... 79 Absolute value resolver ....... 79 ACCEL ................................ 97 Acceleration and braking time .
239 Configuration via PC ........... 91 Configuration when supplied ............................ 72 Connections to the drive...... 46 Connector and connection assignment COMPAX 25XXS ............. 30 Connector assignment COMPAX 25XXS ............. 34 COMPAX-M .
Index COMPAX-M/S 240 Initiators connection plan................ 55 position ............................ 55 Initiators ............................... 55 Input connection .................. 54 Input I14 ............................ 100 Input I16 .....
241 P88 ...................................... 77 P90 ...................................... 74 P92 ...................................... 77 P93 ...................................... 74 P94 ...................................... 75 P96 .............
Index COMPAX-M/S 242 Stop program .................... 112 Sub-program ..................... 107 Subtraction ........................ 114 Supply status ....................... 10 Supported resolvers ............ 64 Switch off .........................
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