Parker Products COMPAX-M-S-L User Manual

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COMPAX-M /-S (L)

COMPAX User Guide

Compact Servo Controller

From software version V6.26 October 2001

Parker Hannifin GmbH

EMD Hauser P. O. Box: 77607-1720 Robert-Bosch-Str. 22 D-77656 Offenburg, Germany

Phone: +49 (0)781 509-0

Fax: +49 (0)781 509-176

We automate motion

DIN EN ISO 9001

Reg. Nr. 36 38

http://www.parker-emd.com

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.

Parker Hannifin plc Electromechanical Division 21 Balena Close Poole, Dorset BH17 7DX UK Phone: +44 (0)1202 69 9000 Fax: +44 (0)1202 69 5750 http://www.parker-emd.com

COMPAX-M / -S

1. Contents

1. Contents...................................................................................................2

2. Un i t a s s i g n m e n t : ....................................................................................7

3. Sa f e t y i n s t r u c t i o n s.................................................................................8

3.1 General dangers........................................................................................8

3.2 Safe working practices.............................................................................8

3.3 Special safety instructions.......................................................................8

3.4 Conditions of warranty.............................................................................9

4. COMPAX – CD...........................................................................................9

5. Sw i t c h - o n s t a t u s...................................................................................10

5.1 Configuration when supplied.................................................................10

5.2 Commissioning .......................................................................................10

5.3 Equipment replacement..........................................................................12

6. Co n d i t i o n s f o r u s a g e ...........................................................................13

7. St a r t - u p m a n u a l ....................................................................................14

7.1 Overview: .................................................................................................14

7.1.1 Components required....................................................................................... 14

7.1.2 Overview of unit technology............................................................................ 15

7.2 COMPAX-M unit features........................................................................17

7.2.1 Connector and terminal assignment............................................................... 17

7.2.2 COMPAX-M system network, NMD10 / NMD20 mains module...................... 18

7.2.3 COMPAX-M dimensions/installation ............................................................... 20

7.2.4 Connector assignment COMPAX-M ................................................................ 21

7.3 Mains module NMD10/NMD20................................................................22

7.3.1 Overview NMD................................................................................................... 22

7.3.2 Dimensions / installation.................................................................................. 22

7.3.3 NMD connector assignment............................................................................. 23

7.3.4 Technical data / power features NMD.............................................................. 23

7.4 COMPAX 35XXS unit features................................................................26

7.4.1 Plug and connection assignment COMPAX 35XXM....................................... 26

7.4.2 Installation and dimensions of COMPAX 35XXM........................................... 27

7.4.3 Wiring COMPAX 35XXM.................................................................................... 28

7.4.4 COMPAX 35XXM connector assignment ........................................................ 29

7.5 COMPAX 25XXS unit characteristics ....................................................30

7.5.1 COMPAX 25XXS connector and connection assignment.............................. 30

7.5.2 COMPAX 25XXS-specific technical data......................................................... 32

7.5.3 COMPAX 25XXS dimensions / installation ..................................................... 33

7.5.4 Connector assignment COMPAX 25XXS ........................................................ 34

7.6 COMPAX 45XXS/85XXS unit characteristics........................................35

7.6.1 Plug and connection assignment COMPAX 45XXS/85XXS........................... 35

7.6.2 COMPAX 45XXS/85XXS installation / dimensions ......................................... 36

7.6.3 COMPAX 45XXS/85XXS-specific wiring.......................................................... 37

7.6.4 COMPAX 45XXS/85XXS connector and pin assignment............................... 39

7.7 COMPAX 1000SL Unit characteristics...................................................40

7.7.1 Connector and terminal assignment for COMPAX 1000SL........................... 40

7.7.2 Connector assignment COMPAX 1000SL (overview) .................................... 42

7.7.3 Mounting and dimensions COMPAX 1000SL ................................................. 43

7.7.4 Safety chain / emergency stop functions ....................................................... 44

7.8 Connections to the motor.......................................................................46

7.8.1 Resolver / SinCos.............................................................................................. 46

7.8.2 Additional brake control................................................................................... 51

7.9 Interfaces .................................................................................................52

7.9.1 Digital inputs and outputs (excluding COMPAX 1000SL).............................. 52

7.9.2 Digital inputs and outputs for COMPAX 1000SL............................................ 53

7.9.3 Technical data / Connections of inputs and outputs..................................... 54

7.9.4 Initiators and D/A monitor................................................................................ 55

7.9.5 Service D/A monitor / override......................................................................... 56

7.9.6 Service D/A monitor.......................................................................................... 56

7.9.7 D/A monitor option D1...................................................................................... 58

7.9.8 RS232 interface ................................................................................................. 59

7.9.9 Absolute value sensor (option A1).................................................................. 59

7.9.10 X13: Encoder interfaces, ... .............................................................................. 60

7.9.10.1 Encoder interfaces / analogue rpm specification for COMPAX............ 60

7.9.10.2 Area of application of process interfaces ............................................. 60

7.9.10.3 Encoder interfaces / Analogue rpm specification / Step direction

input for COMPAX 1000SL .................................................................. 61

7.9.11 HEDA interface (option A1/A4)......................................................................... 63

7.9.12 Bus connection ................................................................................................. 63

7.10 Technical data .........................................................................................64

8. Operating Instructions...........................................................................67

8.1 Overview: .................................................................................................67

8.1.1 Block structure of the basic unit (not applicable for COMPAX 1000SL)...... 68

8.1.2 Password protection......................................................................................... 70

8.2 Configuration...........................................................................................71

8.2.1 Front plate operation (not available with COMPAX 1000SL)......................... 71

8.2.2 Configuration when supplied........................................................................... 72

Contents

8.2.3 Configuration process...................................................................................... 72

8.2.4 Safety instructions for initial start-up ............................................................. 73

8.2.5 Configurationparameters ................................................................................. 74

8.2.6 Absolute value function with standard resolver ............................................ 79

8.2.7 Machine zero mode........................................................................................... 80

8.2.8 Limit switch operation...................................................................................... 89

COMPAX-M / -S

8.3 Configuration via PC using "ServoManager".......................................91

8.3.1 Installing ServoManager................................................................................... 91

8.3.2 Configuring COMPAX....................................................................................... 91

8.3.3 Individual configuration of synchronous motors........................................... 91

8.4 Positioning and control functions.........................................................95

8.4.1 Absolute positioning [POSA]........................................................................... 96

8.4.2 Relative positioning [POSR]............................................................................. 96

8.4.3 Process velocity [SPEED] ................................................................................ 97

8.4.4 Acceleration and braking time [ACCEL] ......................................................... 97

8.4.5 Setting/resettingan output [OUTPUT] ............................................................. 98

8.4.6 Setting multiple digital outputs [OUTPUT O12=1010]................................... 98

8.4.7 Switch off drive unit. [OUTPUT O0]................................................................. 98

8.4.8 OUTPUT O0=... in program............................................................................... 98

8.4.9 Password [GOTO] ............................................................................................. 99

8.4.10 External velocity specification. [SPEED SYNC] ............................................. 99

8.4.11 Mark-related positioning [POSR]................................................................... 100

8.4.12 Preparatory instructions................................................................................. 101

8.4.13 Changes in speed within a positioning process [POSR SPEED] ............... 101

8.4.14 Comparators during positioning [POSR OUTPUT]...................................... 103

8.4.15 Cam controller with compensation for switching delays............................ 104

8.4.16 Programmable waiting time [WAIT]............................................................... 107

8.4.17 Program jump [GOTO].................................................................................... 107

8.4.18 Sub-program jump [GOSUB].......................................................................... 107

8.4.19 Instruction to end a sub-program. [RETURN] .............................................. 107

8.4.20 END instruction [END].................................................................................... 107

8.4.21 Start a program loop [REPEAT]..................................................................... 108

8.4.22 Branching [IF I7=1].......................................................................................... 108

8.4.23 Binary IF query of inputs [IF I12=101-1]........................................................ 108

8.4.24 Comparative operations................................................................................. 109

8.4.25 Specific processing of data record groups. WAIT START.......................... 109

8.4.26 Jump with data record selection [GOTO EXT] ............................................. 109

8.4.27 Sub-program jump with data record selection [GOSUB EXT] ................... 110

8.4.28 Error handling [IF ERROR GOSUB]............................................................... 110

8.4.29 STOP / BREAK handling [IF STOP GOSUB xxx] .......................................... 111

8.4.30 Arithmetic ........................................................................................................ 113

8.4.30.1 Parameter assignments ..................................................................... 113

8.4.30.2 Arithmetic and variables..................................................................... 114

8.4.31 Position monitoring (P93=1, 2, 3) .................................................................. 117

8.4.32 Idle display....................................................................................................... 119

8.4.33 Speed monitoring in speed control mode (P93="4") ................................... 120

8.4.34 PLC sequential step tracking......................................................................... 122

8.4.35 Engaging and disengaging the motor brake ................................................ 123

8.4.36 Output of variable voltage.............................................................................. 124

8.5 Optimization functions .........................................................................125

8.5.1 Optimization parameters................................................................................ 127

8.5.2 Speed monitor................................................................................................. 132

8.5.3 Optimization display....................................................................................... 133

8.5.4 External position localization with position adjustment ............................. 136

8.6 Interfaces ...............................................................................................138

8.6.1 Digital inputs and outputs.............................................................................. 138

8.6.1.1 Digital inputs and outputs for COMPAX 1000SL................................ 140

8.6.1.2 Free assignment of inputs and outputs.............................................. 143

8.6.1.3 COMPAX virtual inputs ...................................................................... 145

8.6.1.4 I/O assignment of variants ................................................................. 147

8.6.1.5 Function of inputs............................................................................... 148

8.6.1.6 Synchronous STOP using I13............................................................ 151

8.6.1.7 Function of outputs ............................................................................ 153

8.6.1.8 Diagrams:........................................................................................... 154

8.6.2 PLC data interface (function not available with COMPAX 1000SL)............ 156

8.6.3 RS232 interface ............................................................................................... 160

8.6.3.1 Interface description........................................................................... 160

8.6.3.2 Interface functions.............................................................................. 162

8.6.3.3 Read and write program sets and parameters................................... 163

8.6.3.4 Binary data transfer using RS232 ...................................................... 166

8.6.4 Process coupling using HEDA (Option A1 / A4)........................................... 168

9. Accessories and options..................................................................173

9.1 System concept.....................................................................................173

9.2 Overview ................................................................................................174

9.3 Motors ....................................................................................................176

9.4 HAUSER linear actuators .....................................................................177

9.5 Data interfaces.......................................................................................178

9.5.1 RS232............................................................................................................... 178

9.5.2 Bus systems.................................................................................................... 178

9.5.2.1 Interbus-S / Option F2........................................................................ 178

9.5.2.2 RS485 / Option F1/F5........................................................................ 178

9.5.2.3 Profibus / option F3............................................................................ 178

9.5.2.4 CAN - Bus / Option F4 ....................................................................... 178

9.5.2.5 CANopen / Option F8......................................................................... 178

9.5.2.6 CS31system bus / Option F7 ............................................................. 178

9.6 Process interfaces ................................................................................179

9.6.1 Encoder interface............................................................................................ 179

9.6.2 Absolute value sensor (A1)............................................................................ 183



9.6.3 High resolution SinCos sensor system (S1/S2)

9.6.4 Option S3 for linear motors............................................................................ 184

9.6.5 HEDA interface................................................................................................ 185

9.6.6 D/A monitor (D1) (option not available with COMPAX 1000SL) ................. 185

9.6.7 Analogue speed specification (E7) (option not available with COMPAX

1000SL) ............................................................................................................ 186

......................................... 183

9.7 Accessories ...........................................................................................187

Contents

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................................................................. 189

9.7.4 EMC measures ................................................................................................ 191

9.7.4.1 Power filter......................................................................................... 191

9.7.4.2 Motor output throttle........................................................................... 192

9.7.5 External ballast resistors................................................................................ 193

9.7.6 ServoManager ................................................................................................. 200

9.7.7 Hand-held terminal.......................................................................................... 200

COMPAX-M / -S

9.8 Appendix: COMPAX components.......................................................206

10.Appendix ..............................................................................................207

10.1 Status values of the standard unit (COMPAX XX00)..........................207

10.2 Additional COMPAX measuring quantites..........................................210

10.3 COMPAX

10.3.1 VP parametercan be modified "On Line"..................................................... 212

10.3.2 COMPAX standard parameters...................................................................... 212

10.3.3 Monitoring and limitation characteristics..................................................... 222

parameter..............................................................................212

10.4 Error handling and error messages ....................................................223

11 .A p p l i c a t io n e x a m p l e s ........................................................................226

11.1.1 Overview.......................................................................................................... 226

11.1.2 External data record selection....................................................................... 227

11.1.3 Mark-referenced positioning.......................................................................... 229

11.1.4 Speed step profiling / comparator switching points.................................... 231

11.1.5 SPEED SYNC................................................................................................... 233

11.1.6 Speed control mode........................................................................................ 234

11.1.7 Fast start.......................................................................................................... 236

11.1.8 Implementing a torque controller.................................................................. 237

12.Index .....................................................................................................238

Data security

The parameter and program memory are created using ZP-RAM. This memory is unaffected by mains power failure. This module has a guaranteed service life of 10 years (calculated from the first start-up). ZP-RAM failure causes data loss; COMPAX contains wild data. If you encounter problems of this kind, contact HAUSER.



SinCos is a registered trademark of Firma Stegmann.

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

General dangers

Key to unit

designation

HAUSER type plate

XX: Unit variants

e.g.: COMPAX 0260M:

COMPAX: name

02: performance class

60: Variant e.g. "00": Standard model

"60": electronic transmission

M: unit type "M": multi-axis model

"S": single-axis unit

...

The type plate is located on the upper side of the unit and contains the

following:

038106 0001 951-160101 Compax 0260M E2

option name

equipment name

part numberserial number

Notes for repeat customers regarding modified software versions:

Please check the software version of your unit.

Despite all efforts on our part, software modifications may change procedures as well as cause functional changes.

Please notify us immediately if you detect unexplainable problems when using a new software version.

Safety instructions

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. Energized, moving or rotating parts can

cause fatal injury to the user

cause material damage

Proper use This unit is designed for use in high voltage units (VDE0160). This unit automates motion processes. The ability to switch several units at once makes it possible to combine several motion processes. Reciprocal interlocks must be installed in such cases.

3.2 Safe working practices

COMPAX-M / -S

The unit must be operated by skilled staff only.

When used in this manual, the term "trained staff" refers to people who,

•

due to their training, experience and knowledge of current standards,

guidelines, accident prevention regulations and operating conditions, have received authorization from the head of health and safety at the site to perform the necessary activities, while recognizing and avoiding any associated dangers (definition of personnel as per VDE105 or IEC364)

•

are familiar with first aid and the on-site safety equipment,

•

have read and observed the safety instructions

•

have read and observed the User Guide (or the section which applies to the

tasks to be executed). This applies to all tasks relating to set-up, start-up, configuration, programming and modification of the operating conditions, operating modes and maintenance.

Please note in particular the functions contained in the start-up manual relating to operational readiness and emergency stop. The User Guide must be present at the unit at all times.

3.3 Special safety instructions

Check the arrangement of unit and documentation.

Never disconnect the electrical connections when energized.

Use safety equipment to ensure that moving or rotating parts cannot be touched.

Ensure that the unit is in perfect working order before operation.

Include the operational readiness and emergency stop functions of the unit (see start-up manual) in the safety and emergency stop functions of your machine.

Only operate unit with the front cover attached.

Ensure mains module has sufficient nominal and peak power ratings.

Ensure that the unit arrangement enables the units with higher power ratings to be fitted more closely to the power unit than the units with lower ratings (COMPAX-M).

Ensure that motors and linear drive units (if available) are sufficiently secured.

Ensure that all energized connectors cannot be touched. The unit carries voltages ratings of up to 750V, which could fatally injure the operator.

Please mind the limits of the mechanical equipment connected.

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.

When installing units, ensure that the heat sinks receive sufficient ventilation.

Secure units as per the assembly instructions contained in the start-up manual using the securing bores provided for this purpose. We cannot assume any responsibility for any other methods used for securing the units.

Note on option exchange

In order to check hardware and software compatibility, it is necessary for COMPAX options to be changed at the factory.

4. COMPAX – CD

Conditions of warranty

On the accompanying CD, you will find all instructions for COMPAX and the operating software "ServoManager".

Once the CD is inserted in a Windows – computer, the HTML desktop (default.htm) is normally automatically started – if an Internet browser is present. If you do not have an Internet browser on your computer, please install a version: the software is usually available to download free of charge. If the desktop does not start automatically, please execute the file "default.htm" (e.g. by double clicking on the file or via "Start":"Run"). The "default.htm" file is located directly on the CD (not in the sub-directory).

Use Language selection (top right in window) to select the language required. Follow the CD instructions shown on the window in the center of the screen. Use the list on the left-hand side to select the required instructions or software.

Switch-on status

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). In addition to this, when switched on, all parameters (apart from bus settings P194, P195, P196 and P250) are set to their default values.

P149="1": COMPAX is configured and once switched on (24V DC and operating

voltage) tries to engage the motor.

5.2 Commissioning

Meaning of LEDs on the front panel

COMPAX-M / -S LED Color Meaning, when switched on

Ready green Error red

24V DC present and initialization complete COMPAX - Error (E1...E56) present or COMPAX is

initialized.

COMPAX-M / -S

Mains module

LED red Error

off on no errors on off Heat sink temperature too high or

on on Ballast switching unit overload or

LED green Ready

Possible errors

error in logic voltage (24V DC too low or unit is defective)

Emergency stop is activated and ready contact is released.

undervoltage (<100V DC or <80V AC).

COMPAX 1000SL

Status Red LED (H2) Green LED (H1)

24V not available off off 24V are switched on, boot up on off Unit OFF off blinking Unit error; drive switched off on blinking Unit error; drive powered on on Unit RUNNING off on

Caution!

If there is no control voltage, no displays will appear to indicate that operating voltage is present.

Note:

With Error E40, external enabling is missing with COMPAX 45XXS, COMPAX 85XXS and COMPAX 1000SL (Hardware input).

Commissioning

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).

Now configure COMPAX (e.g. using the ServoManager / ParameterEditor).

Set P149="1"

Configuration is accepted with VC and VP of COMPAX.

2. COMPAX displays error E57

COMPAX is configured (P149="1"). However, operating voltage is not present.

Check COMPAX configuration

Alterations are accepted with VC and VP of COMPAX.

Configuring

a) Using ServoManager:

P149="1", VP and VC are transferred when being downloaded to COMPAX

from the ServoManager. b) Using hand-held terminal:

P149="1", VP and VC are generated by the hand-held terminal. c) Without an auxiliary device, e.g. a terminal:

P149="1", VP and VC must be transmitted after COMPAX configuration. Switch on operating voltage With E57: acknowledge error by pressing Enter. When OFF: command: "OUTPUT O0=0" or

switch 24V DC on / off

Motor is powered; COMPAX display shows "RUN". Flow chart:

connection of control

initializing stage

COMPAX configured (P149="1")

error E57

in COMPAX

display

check

configuration

VC, VP

connect DC bus voltage

clear

error E57

voltage 24 V DC

COMPAX not configured

configuration

24V DC

ON / OFF

RUN

motor enabled

(P149="0")

OFF in

Display

execute

P149="1",

VC, VP

connect

DC bus

voltage

OUTPUT

O0="0"

Switch-on status

5.3 Equipment replacement

COMPAX-M / -S

Previous software

Procedure for copying the complete COMPAX setting onto a new unit

Start ServoManager.

Connect old COMPAX via RS232.

Use menu "Insert: Axis: From controller" to set up an axis which contains all

≥≥≥≥

V2.0

COMPAX settings (all parameters: including system parameters, data records and (with COMPAX XX70) existing curves).

Connect new COMPAX.

Use menu "Online: Download" to transfer data (without system parameters1) into the new COMPAX.

Transferring system parameters

Call up ParameterEditor (Menu: PC Tools: ParameterEditor)

Use menu "Online: Copy" menu to transfer all parameters (including system parameters) to COMPAX.

Previous software

Procedure for copying the complete COMPAX setting onto a new unit

Start ServoManager.

Connect old COMPAX via RS232.

Use menu "Insert: Axis: New" to set up a new axis.

Use menu "Online: Upload" to load all COMPAX settings (all parameters: including system parameters, data records, and (in COMPAX XX70) existing curves) into the new axis.

Connect new COMPAX.

Use menu "Online: Download" to transfer data (without system parameters) into the new COMPAX.

≤≤≤≤

V2.0

Transferring system parameters

Call up ParameterEditor (Menu: PC Tools: ParameterEditor)

Use menu "Online: Copy" menu to transfer all parameters (including system parameters) to COMPAX.

System parameters are internal parameters; you will only obtain an identical

COMPAX – setting if these are also transferred.

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.

Only operate the units in the condition in which they are supplied, i.e. with all housing plates and the front cover.

COMPAX P1XXM, COMPAX 02XXM, COMPAX 05XXM and COMPAX 15XXM may only be operated with HAUSER mains modules (NMD10 or NMD20) or on COMPAX 35XXM.

Equipment replacement

Power filter:

Motor and resolver cable:

Motors: Control:

A power filter is required in the power line. The filtering can be executed once for the entire system or as separate process for each unit. The following power filters are required for standalone operation: NMD10 / COMPAX 45XXS / COMPAX 85XXS: Order No.: NFI01/02 NMD20: Order No.: NFI01/03 COMPAX 35XXM: Order No.: NFI01/04 or /05 COMPAX 25XXS: Order No.: NFI01/01 or /06 COMPAX 10XXSL: Order No.: NFI01/01 or /02

Length of connection:

Only operate the unit with a HAUSER motor and resolver cable (with connectors containing special surface screening).

In such cases, the following cable lengths are permitted.

Motor cable

Resolver cable < 100m

Operation with HAUSER motors. Only operate with calibrated controller (avoid feedback oscillation).

connection between power filter and unit: unscreened: < 0.5m

screened: < 5m

< 100m (the cable must not be rolled up) For motor lines of >20m, a motor output throttle must be used Up to 16A nominal motor current: Type: MDR01/01 16A / 2mH. Between 16A and 30A: Type: MDR01/02 30A / 1.1mH. Over 30A nominal motor current: Type: MDR01/03 >30A /

0.64mH.

Earthing:

Cable laying:

Accessories

Warning:

The filter housing, the mains module and the COMPAX must be surface connected with good metal conductivity and low inductivity to the cabinet ground.

Never secure the filter housing or the unit to coated surfaces.

Ensure that you have largest spacing possible between the signal and load lines.

Signal lines must never pass sources of strong interference (motors, transformers, relays,...).

Only use accessories recommended by HAUSER (absolute value sensor, encoder,...).

Provide large surface contact areas down both sides of all cable screening.

This is a product of the restricted sales class as per IEC 61800-3. In a domestic environment, this product may cause high frequency disturbances, in which case the user can be requested to implement suitable measures.

Start-up manual

COMPAX-M / -S

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.

mains supply.

emergency stop circuit.

various cables for connecting components.

motor cable and resolver cable.

supply line for voltage supply.

supply line for 24V DC control voltage.

hand-held terminal or PC (with RS232 cable) containing the ServoManager program for configuring COMPAX.

7.1.2 Overview of unit technology

Overview:

Overview of unit technology

Unit

hardware

Common function characteristics:

COMPAX P1XXM COMPAX 02XXM COMPAX 05XXM COMPAX 15XXM

COMPAX-M and COMPAX-S

!!!!

work with the same firmware,

yet have differences with regard to

housing and assembly technology and

power areas.

The following table shows the main features of the range of available units

Interfaces: 16 (8 with COMPAX 1000SL) digital inputs/outputs,

RS232; machine zero, limit switch, override input

Fieldbus options: RS485, Interbus-S, Profibus, CS31, CAN – Bus,

CANopen, HEDA (synchronous serial realtime interfaces)

Other options (excluding COMPAX 1000SL): absolute encoder sensor; encoder

input; encoder simulation; D/A monitor

Supply via central mains module: NMD10 / NMD20: Up to max. 3*500V AC

Dimensions (DxHxW): COMPAX P1XXM:

340*400*60 [mm]

Design:

COMPAX-M with NMD mains module

Installation: in series

Power Supply COMPAX-M

Ready Error

X6 X7

RS485IN OUT

Control

Status Number

-+Enter

Ready E rror

X8 X10

X9 X11

COMPAX-M

DIGITAL

Status

Number

Value

-+Enter

Ready

Error

RS232

X10

Input

Output

Test

Control

X11

COMPAX-M: 340*400*85 [mm]

Power: COMPAX ... P1XXM: 3.8 kVA 02XXM: 4.5 kVA 05XXM: 8.0 kVA 15XXM: 17 kVA

Connector

assignment / cable

Technical dataConfigurationPositioning and

control functions

functions

Optimization

InterfacesAccessories /

COMPAX 35XXM

Supply Up to max. 3 * 500V AC (integrated power unit)

Dimensions

(DxHxW): 40 * 400 * 220 [mm]

Design:

COMPAX-M

Digital

Automation

StatusNumber

Value

-+Enter

Ready Error

X6 X7

RS485IN OUT

RS232

X8 X 10

Control

Input

Output

Test

Control

X9 X 11

options

Power

35.0 kVA

StatusParameterError list

Start-up manual

COMPAX-M / -S

COMPAX 1000SL

COMPAX 25XXS

COMPAX 45XXS COMPAX 85XXS

Supply Up to max. 1*250V AC (integrated power unit)

Dimensions (DxHxW): 146*180*85 [mm]

Design:

Supply

Up to max. 1 (3)*250V AC (integrated power unit)

X15

X6X5X13

X17

Input

24 V DC

RS232

Limit Switch

X14

HEDA Out HEDA In

Fieldbus In

Dump

Fieldbus Out

X12

X1 X4 X3

Encoder

Resolver

PE+ W

Motor Brake

X19

Input / Output

230 V AC

L1 N PE

COMPAX - SL

Dimensions (DxHxW): 220*240*130 [mm]

Design:

Status Number

COMPAX-S

Value

-+Enter

Ready Error

RS232

X8 X1 0

Input

Output

Test

Control

Motion & Control

X9 X1 1

Supply Up to max. 3*500V AC (integrated power unit)

Dimensions (DxHxW): 275*350*125 [mm]

Power 1 kVA

Power

2.5 kVA

Design:

COMPAX-S

DIGITAL

Status Number

Value

Ready Error

RS232

Input

Output Output

Test Control

Power

4.5 kVA

8.6 kVA

ENTER+-

Input

X10X6X8

X11X9

7.2 COMPAX-M unit features

COMPAX-M unit features

Connector and terminal assignment

Unit

hardware

7.2.1 Connector and terminal assignment

COMPAX-M

X5 control- and

status- signal

bus-signals

input

X8 Input

/ Output

Number

Status

Value

+- Enter

Ready Error

RS 232

X8 X10

Input

X1 motor

X2 intermediate loop power connections

X3 24V control voltage

X4 control- and status signals / bus signals or short circuit plug

X6 RS232

X10 Input / Output

Connector

assignment / cable

Technical dataConfigurationPositioning and

control functions

Meaning of LEDs on

front plate

Output

X9 Test

X12 resolver

X14 HEDA

X16 absolute

encoder

X18 fan

Test

Control

X9 X11

X11 Control

X13 Encoder X15 HEDA

X17 initiators

Before wiring up, always de-energize the unit. Even once the mains supply has been switched off,

dangerous levels of voltage can remain in the system for up to 5 min.

LED Color Meaning, when switched on

Ready green 24V DC present and initialization complete Error red COMPAX - fault (I1...E56) present.

functions

Optimization

InterfacesAccessories /

options

StatusParameterError list

Start-up manual

COMPAX-M / -S

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). These are arranged behind the front plate cover of the power unit and the drive controller. The power unit converts mains power (up to 3 * 500V AC) into DC current for the intermediate circuit. The two connectors for connection to the bus systems are located on the front plate of the power unit. The connection assignment complies with the specifications for 2-cable remote bus. The 24V DC control voltage required by the system network is supplied from the power unit. A connector terminal on the front of the power unit is used for connecting the control and status signals (EMERGENCY STOP, readiness) which you can incorporate in the control of the entire system.

These signals and the bus lines are connected internally via a preformed doublesided flatband cable. These cables are included with the drive controller. The connectors which receive these connection cables are housed under the front plate cover of the mains module and the drive controller.

Short circuit

connectors

Wiring up the system network

Attach a short circuit connector to the outgoing connector on the drive controller that is furthest away from the mains module. The short circuit connector (order No. 102-908000) is included with the mains module.

Installation arrangement

Before wiring up, always de-energize the unit. Even once the mains supply has been switched off, dangerous

levels of voltage can remain in the system for up to 5 min.

The wires required for creating the system network are included in the delivery. Open the front cover (upper section of front side) by loosening the top right knurled screw and wire up the following:

24V DC voltage supply.

PE and DC current.

Emergency stop, ready and bus signals with a terminating connector on the last unit.

From the mains module to the individual COMPAX-M.

When delivered, the terminating connector is located on the mains module.

power supply module

COMPAX-M COMPAX-M

cable conduit

HAUSER

DIGITAL

POWER SUPPLY

COMPAX-M

Status

Number

Value

+Enter

Ready

Error

Ready Error

X6 X7

...

RS232

RS485IN OUT

X10

Control

Input

Output

Test

Control

X11

voltage supply 24V

emergency stop,

stand by and bus

signals

{

main 24V motor

HAUSER

DIGITAL

L1 L2L3 PE 24V

COMPAX-M

StatusNumber

Value

-+Enter

Ready Error

RS232

X8 X10

Input

Output

Test

+LS

Control

X9 X11

-LS

24V

PE LS+ LS-

UVWPEbrake

PE+ -

motor

UVWPEbrake

PE+ -

last device equiped with terminal plug

COMPAX-M unit features

COMPAX-M system network, NMD10 / NMD20 mains module

Unit

hardware

Wiring up the motor

Screened

connection

Unit side

cable conduit

HAUSER

POWER SUPPLY

COMPAX- M

ReadyError

X6 X7

RS485INOUT

Control

StatusNumber

-+Enter

X8 X10

X9 X11

UVWPE

black 1

black 2

COMPAX-M

DIGITAL

Motion & Control

StatusNumber

Value

ReadyError

RS232

Input

Output

Test

Control

StatusNumb er

Value

-+Enter

ReadyError

RS232

X8 X10

Input

Output

Test

Control

X9 X11

L1L2L3PE 24V

RS232

X8 X10

Input

Output

Test

Control

X9 X11

123 45

+LS

-LS

24V

black 3

UVWPEbrake

brake

free

green/

yellow

black 4

black 5

PE + -

X4X4

Note the screened connection of the motor cable on the upper unit side.

Clamp the motor cable with the open place of the screen braid under the ground terminal (see figure on the right).

Connector

assignment / cable

Technical dataConfigurationPositioning and

control functions

Wiring up mains power / control voltage

Only wire up brake in motors which have a holding brake! If not, do not wire.

The mains supply and the control voltage supply are provided by the mains module.

Power supply:

3*80V AC – max. 3*500V AC; 45 - 65Hz

Fuse protection: NMD10: 16A (K circuit breaker in 20A)

Control voltage

24V DC ±10% Ripple <1V

Fuse protection: max. 16A

NMD20: 35A K circuit breaker or similar Neozed fusible cut-out.

cable conduit

HAUSER

POWER SUPPLY

COMPAX-M

Ready Error

X6 X7

RS485IN OUT

Control

StatusNumber

-+Enter

Ready Error

X8 X10

X9 X11

L1 L2L3 PE

COMPAX-M

DIGITAL

Motion & Control

StatusNumber

Value

-+Enter

Ready Error

RS232

X8 X10

Input

Output

Test

Control

X9 X11

DIGITAL

Motion & Control

StatusNumber

Value

-+Enter

Ready Error

L1 L2L3 PE 24V

RS232

X8 X10

Input

Output

Test

Control

X9 X11

+LS

-LS

24V

23 45

24V

UVWPEbrake

PE+ -

power supply module

X4X4

functions

Optimization

InterfacesAccessories /

options

StatusParameterError list

Start-up manual

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.

COMPAX-M / -S

Direct

wall installation:

Indirect

wall installation:

Direct wall installation and dimensions of COMPAX-M and the mains modules.

02XXM, 05XXM, 15XXM, NMD10

450

430

364

Attach with four 6-mm

hex-socket-head-screws

& NMD20

85 75 50

COMPAX-M

DIGITAL

Status Number

Value

Enter

Ready Error

RS232

X8 X10

Input

Output

Test

Control

450

P1XXM

60 49

COMPAX-M

DIGITAL

StatusNumber

Value

430

-+Enter

364

Ready Error

RS232

X10

Input

Output

Test

Control

X11

Attach with two 6-mm

hex-socket-head-screws

390

340

The controllers are attached to the mounting plate with the back of the heat sink.

Indirect wall installation of COMPAX 02XXM, COMPAX 05XXM and COMPAX 15XXM and the mains modules NMD10 and NMD20.

294

244 96

mounting plate

82 50

COMPAX-M

85 50

Fan configuration

DIGITAL

Status Number

Value

-+Enter

Ready Error

424

X8 X10

Output

Test

X9 X11

RS232

Input

Control

441,5

mounting plate

424

408

The heat sink is pushed back through a hole in the panel (on right of diagram). A separate heat chamber is created between the installation plate and the rear wall of the control cabinet. The angles required under designation MTS2 must be complied with.

Indirect wall installation is not possible with COMPAX P1XXM.

Units with fan:

COMPAX P1XXM, COMPAX 05XXM, COMPAX 15XXM

Units without fan: COMPAX 02XXM, NMD10, NMD20

7.2.4 Connector assignment COMPAX-M

X1/2

X1/1UX1/3

X1/4

X1/5

Br-

Br+

+LS

-LS

X3/1

X3/20VX6/2

+24 V

COMPAX-M unit features

Connector assignment COMPAX-M

X6/3

X6/4

X6/5

X6/6

X6/7

X6/8

X6/9

RxD

TxD

DTR

GND

DSR

RTS

CTS

+5V

Unit

hardware

Connector

assignment / cable

X8/1

X8/2

X8/3

X8/4

X8/5

X8/6

X8/7

X8/8

X8/9

X8/10

X8/11

X8/12

X8/13

X8/14

X8/15

X8/16

X10/1

X10/2

I10

X10/3

I11

X10/4

I12

X10/5

I13

X10/6

I14

X10/7

I15

X10/8

I16

X10/9

X10/10

O10

X10/11

O11

X10/12

O12

X10/13

O13

X10/14

O14

X10/15

O15

X10/16

O16

X9/1

+24V

X9/2

GND

X9/3

reserviert

X9/4

reserviert

X9/5

24V* 15V - 24V emergency

X9/6

stop*

X9/7

housing

* can be parameterized

X8: input / output I1...I8 O1...O8

X10: input / output I9...I16 O9...O16

housing

+8V

REF-

X1: motor brake

SIN-

GND

ST+

+5 V

TEMP

X2: power intermediate loop

COS-

COS+

SIN+

REF+

X3: control voltage

ST-

housing

X6: RS232

Technical dataConfigurationPositioning and

X11/1

+24V

X11/2

GND

shield

24V

shield

+24V

GND Sig.MN Sig. E2 Sig. E1

NC RxC TxC RxD TxD

RxC/

TxC/

RxD/

TxD/

GND

D+

+24V

T-

D-

T+

X11/3 X11/4 X11/5 X11/6 X11/7

X18/+ X18/-

X17/1 X17/2 X17/3 X17/4 X17/5 X17/6 X17/7 X17/8 X17/9

X14(15)/1 X14(15)/2 X14(15)/3 X14(15)/4 X14(15)/5 X14(15)/6 X14(15)/7 X14(15)/8 X14(15)/9

X16/1 X16/2 X16/3 X16/4 X16/5 X16/6 X16/7 X16/8 X16/9

control functions

functions

Optimization

InterfacesAccessories /

options

StatusParameterError list

Override

DA-channel 2

X11

DA-channel 3 Override (old)

X18: fan

(option D1)

X17:

DA-channel 0 DA-channel 1

GND 24V

DA-monitor initiators

X14/X15: HEDA

X16: Absolut encoder

X13: encoderX12: resolver / SinCos

+5V

N2/

B2/

A2/

N1/

B1/

A1/

GND

X12/1

X12/2

X12/3NCX12/4

X12/5

X12/6NCX12/7

X12/8

X12/9

X12/10

X12/11

X12/12

X12/13

X12/14

X12/15

X13/1

X13/2N2X13/3B2X13/4A2X13/5N1X13/6B1X13/7A1X13/8

X13/9

X13/10

X13/11

X13/12

X13/13

X13/14

X13/15

The assignment of X12 does not apply for the S3 option.

The bus connections are made via the mains module.

Start-up manual

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. 24V DC voltage must be provided for the control electronics.

7.3.1 Overview NMD

COMPAX-M / -S

Power Supply

X6 bussystems IN

L1 L2 L3 PE 24V

+LS

-LS

24V

IN OUTRS 485

X18 fan

Ready Error

voltage supply

PE + -

3*(80-500)V AC/ X1 24V CC

X2 power inter-

+LS

mediate loop

-LS

X3 control

24V

voltage 24 V

X4 control- and status-signals Bus signals continuation

Control

X7 bus-systems OUT

X8 Control

Before wiring up, always de-energize the unit. Even once the mains supply has been switched off, dangerous

levels of voltage can remain in the system for up to 5 min.

The PE connection must be a 10mm

7.3.2 Dimensions / installation

Dimensions and installation of the NMD10 and NMD20 power units correspond to the data for COMPAX-M (see Page 20).

version

7.3.3 NMD connector assignment

Mains module NMD10/NMD20

NMD connector assignment

Unit

hardware

X1/1

X1/2

X1/3

X1/3 X1/4

X1/4 X1/5

X1/5 X1/6

X1/6

X6: input bus systems X7: output bus systems

Assignment depends on the bus system

X1:

voltage supply

PE +24V

+24V 0V

X2: power inter-

+LS

mediate loop

-LS

15V-24 V emerg. stop

Assignment depends on the bus system

X3: Control voltage

7.3.4 Technical data / power features NMD

Function

Generates DC current when run directly off a mains source.

CE conformity

EMC immunity/emissions as per EN61800-3.

Safety: VDE 0160/EN 50178.

stand by

housing

+24V

GND

+24V

+24V 0V

X8/1 X8/2 X8/3

X8/4

X8/5 X8/6 X8/6

Connector

assignment / cable

Technical dataConfigurationPositioning and

control functions

Output power

Nominal power Peak power NMD10: 10 kW 20 kW (<3s) NMD20: 20 kW 40 kW (<3s)

Mains fuse protection

NMD10: 16A (K circuit breaker in 20A) NMD20: 35A K circuit breaker or similar Neozed fusible cut-out.

Supply voltage up to max. 3*500V AC

Operating range: 3*80V AC - 3*500V AC, 45 - 65 Hz.

Typical AC mains: 400V ±10%; 460V ±10%; 480V ±5%

Layout of contactors for the power supply:

Capacity according to device performance: Application group AC3.

Control voltage

21.6V up to 26.4V DC (0.8A)

Ripple: < 1V

Fuse protection: max. 16A

Dissipation power

without fan: max. 120W (standard)

with fan: max. 250W.

functions

Optimization

InterfacesAccessories /

options

StatusParameterError list

Start-up manual

Overvoltage limitation

Energy recuperated during braking is stored in the supply capacitors. The capacity and storable energy is:

NMD10/NMD20: 1100µµµµF / 173 Ws

If the energy recuperated from braking causes overvoltage, then ballast resistances are engaged.

COMPAX-M / -S

Activation of the

internal ballast

resistance for

NMD20

Maximum braking

power:

The internal ballast resistance is activated by a bridge between +LS and X5/1. In the NMD20 delivery status this bridge is fitted.

UVWPEBrake

PE+ -

X4X4

24V

L1 L2 L3 PE

+LS

-LS

ext

int

Braking power Duration Cooling down time

NMD10

17 kW <50 ms

4.0 kW <1s

≥ ≥

10s 50s

Without fan: 120W unlimited

With fan: 250W unlimited

NMD20

9.5 kW <50 ms

2.5 kW <1s

≥ ≥

10s 50s

Without fan: 120W unlimited

With fan: 200W unlimited

Connecting the external ballast

resistance

External ballast resistances can be used with NMD20 (see Page 193).

If the braking power of the internal ballast resistance is insufficient, an external ballast resistance can be connected.

The external ballast resistance is connected between +LS and X5/2. To do this, the bridge between +LS and X5/1 must be removed.

The full braking power cannot be used with this bridge present.

UVWPEBrake

PE+ -

X4X4

L1 L2 L3 PE

+LS

-LS

ext

int

24V

Output X5 is protected from short circuits.

Thermal protection

An emergency stop is triggered at 85°C heat sink temperature, the ready contact is released and the red LED lights up.

Mains module NMD10/NMD20

Technical data / power features NMD

If a phase malfunctions, no displays appear

Unit

hardware

Error diagnosis in the mains module

LED red Error

off on on off

LED green Ready

Possible errors

no errors

Heat sink temperature too high

error in logic voltage (24V DC too low or unit is defective)

Emergency stop is activated and ready contact is released.

on on

Ballast switch overloaded

undervoltage (<100V DC or <80V AC).

Ready contact and green LED are coupled.

Caution!

If the unit has no control voltage, no displays will indicate that operating voltage is present.

Connector

assignment / cable

Technical dataConfigurationPositioning and

control functions

functions

Optimization

InterfacesAccessories /

options

StatusParameterError list

Start-up manual

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 unit.

Additional COMPAX-M controllers of up to 15 KW can be arranged in rows.

7.4.1 Plug and connection assignment COMPAX 35XXM

COMPAX-M

Aeff

/ 100

Digital

Number

Status

Aeff

COMPAX-M / -S

(<5s) with integrated power

Bus systems:

X7 OUT X5 IN

X19 Control

X9 Test

X13 Encoder

X12 Resolver

X5 X7

IN OUT

X19

Control

Value

Ready

Error

X8 X10

Input

Output

Test

Control

X9 X11

Enter

RS 232

X6 RS232

X8/X10 In-/ Output

X11 Control X14/X15

HEDA

X17 Initiators

X16 Absolute encoder

Before wiring up, always de-energize the unit. Even once the mains supply has been switched off, dangerous

levels of voltage can remain in the system for up to 5 min.

When working with motors without a holding brake, the brake lines must not be connected to COMPAX

Caution!

If the unit has no control voltage, no displays will indicate that operating voltage is present.

Plan view

AC - voltage

up to 500V AC

L1 L2 L3

Mains Input

X 20

24V control

voltage

DC - In

24 V X 21

external

ballast

resistor

Resistance

Braking

X 22 X 1

COMPAX 35XXS unit features

Installation and dimensions of COMPAX 35XXM

motor brake

Motor Brake

X 23

3.16A

motor

Motor

Unit

hardware

Connector

assignment / cable

Technical dataConfigurationPositioning and

Specific technical data

Supply voltage up to max. 3 * 500V AC

Operating range: 3*80V AC - 3*500V AC; 45 - 65 Hz.

Typical AC mains: 400V ±10%; 460V ±10%;480V ±5%

Layout of contactors for the power supply: Capacity according to device performance: Application group AC3

Note!

Switching on the operating voltage for a second time:

Before switching on the operating voltage for a second time, you must wait for at least 2.5 minutes otherwise you may overload the condenser load resistance.

Control voltage

21.6V to 26.4V DC • Ripple: < 1VSS • fuse protection: max. 16A

Mains supply fuse protection

62A K circuit breaker or suitable Neozed conventional fuse.

Regeneration mode

Storable energy: 3450µF/542 Ws

External ballast resistance: 10Ω/2 kW For the external ballast resistors available, please see Page 193.

7.4.2 Installation and dimensions of COMPAX 35XXM

390

340

218 190

COMPAX-M

control functions

functions

Optimization

InterfacesAccessories /

options

Digital

Number

Status

Value

430

363

IN OUT

X5 X7

+-Enter

Ready Error

X19

X8 X10

Control

Output

Test

X9 X11

190

450

RS 232

Input

Control

65 65

Fastening with 4 M6 hex-socket head screws.

StatusParameterError list

Start-up manual

7.4.3 Wiring COMPAX 35XXM

Wiring up motor, mains power / control voltage and external ballast resistance

500V AC

Supply up to

L1 L2 L3

green / yellow

COMPAX-M / -S

Connection for external contact for brake control

Motor

green / yellow

black 3

black 2

black 1

Motor

black 5

black 4

3.16A

brake*

24V Control voltage

External

braking resistance

green / yellow

Wiring up system network

11121314

Motor Brake

X 23

123

L1 L2 L3

Mains Input

X 20

68910

DC - In

24 V

X 21

Braking

Resistance

X 22 X 1

Motor

* max. 1.6A The PE connection must be a version of at least 10mm

COMPAX 35XXM

X5 X7

IN OUT

COMPAX-M / SV-M

Cable conduit

X19

Control

...

HAUSER

DIGITAL

COMPAX-M

Status Number

Value

-+Enter

Ready Error

RS232

X8 X10

Input

Output

Test

Control

X9 X11

24V

Voltage supply 24V

Emergency stop,

stand by and

bus signals

LS-

LS+

Motor

UVWPEBrake

PE+ -

16 15

Last device equiped with

terminal plug

7.4.4 COMPAX 35XXM connector assignment

X21/1

X21: Control voltage

PE +LS

-LS +24V

+24V

GND

+24V

24V

+24V

Enable

Shield

RxD TxD DTR GND DSR RTS CTS +5V

X21/2

+24 V

X19/1 X19/2 X19/3 X19/4 X19/5 X19/6 X19/7 X19/8 X19/9 X19/10 X19/11

X6/2 X6/3 X6/4 X6/5 X6/6 X6/7 X6/8 X6/9

X3/1

X3/2

Braking

resistance

X22: Braking resistance

Enable final stage

X12/1 X12/2 X12/3 X12/4 X12/5 X12/6 X12/7 X12/8 X12/9 X12/10 X12/11 X12/12 X12/13 X12/14 X12/15

X13/1 X13/2 X13/3 X13/4 X13/5 X13/6 X13/7 X13/8 X13/9 X13/10 X13/11 X13/12 X13/13 X13/14 X13/15

X8/1

X8/2 X8/3 X8/4 X8/5 X8/6 X8/7 X8/8 X8/9 X8/10 X8/11 X8/12 X8/13 X8/14 X8/15 X8/16

X10/1 X10/2 X10/3 X10/4 X10/5 X10/6 X10/7 X10/8 X10/9 X10/10 X10/11 X10/12 X10/13 X10/14 X10/15 X10/16

X9/1 X9/2 X9/3 X9/4 X9/5 X9/6 X9/7

X20/2

X20/1L1X20/3

X20: AC Supply

I2 I3 I4 I5 I6 I7 I8 O1 O2 O3 O4 O5 O6 O7 O8

I9 I10 I11 I12 I13 I14 I15 I16 O9 O10 O11 O12 O13 O14 O15 O16

+24V GND reserved reserved 24V

15-24V Emerg. stop*

Housing

X8:

Input / output

I1...I8; O1...O8

X10:

Input / output

I9...I16; O9...O16

* can be parameterized

HV dc and 24V

for additional

COMPAX-M

X7: output bus systems

Assignment depends on the bus system

output bus systems

X5:

Assignment depends on the bus system

Stand by P Stand by S

15-24V Emerg.stop

reserved

X19

X6:

RS232

COMPAX 35XXS unit features

COMPAX 35XXM connector assignment

X1/2

X1/1UX1/3

X1: Motor

Housing +8V NC REFSINNC GND ST+ +5 V TEMP COSCOS+ SIN+ REF+ ST-

Housing N2 B2 A2 N1 B1 A1 +5V N2/ B2/ A2/ N1/ B1/ A1/ GND

X12: Resolver / SinCos

X13: Encoder

X23/3

X23/1

X23/2

Br-

Br'+

X23: Motor brake

X23/4

Br+

Override

DA-channel 2

X11

DA-channel 3 Override (old)

Shield

X18:

Fan

DA-channel 0 DA-channel 1

Shield

(Option D1)

GND 24V

Sig.MN Sig. E2

X17: DA-monitor

initiators

Sig. E1

X14/X15:

HEDA

X16:

Absolute

encoder

+24V

GND

24V

+24V

GND

RxC

TxC

RxD

TxD

RxC/

TxC/

RxD/

TxD/

GND

T+

D+

+24V

X14(15)/1 X14(15)/2 X14(15)/3 X14(15)/4 X14(15)/5 X14(15)/6 X14(15)/7 X14(15)/8 X14(15)/9

T-

D-

X11/1 X11/2 X11/3 X11/4 X11/5 X11/6 X11/7

X18/+ X18/-

X17/1 X17/2 X17/3 X17/4 X17/5 X17/6 X17/7 X17/8 X17/9

X16/1 X16/2 X16/3 X16/4 X16/5 X16/6 X16/7 X16/8 X16/9

Unit

hardware

Connector

assignment / cable

Technical dataConfigurationPositioning and

control functions

functions

Optimization

InterfacesAccessories /

options

StatusParameterError list

The assignment of X12 does not apply for the S3 option.

Start-up manual

COMPAX-M / -S

7.5 COMPAX 25XXS unit characteristics

7.5.1 COMPAX 25XXS connector and connection assignment

Statu s

Number

Meaning of the LEDs on the front plate

COMPAX-S

X8 input

/ output

X9 test

X12 resolver

X14 HEDA

X16 absolute

Value

+-Enter

Ready

Error

RS 232

X10

Input

Outp ut

Test

Control

X11

X6 RS232

X10 digital input and output

X11 control

X13 encoder

X15 HEDA X17 initiators

X18 fan

LED / color Meaning, when switched on

Ready / green 24V DC present and initialization complete Error / red

COMPAX - fault (E1...E56) present.

Plan view of COMPAX 25XXS

X5 Bus systems IN

F19

3.16 AT

A V

230V AC

line to line voltage

max. 230V AC +10%

3 x 230V AC

X2/

X3/

X1/

X4/

1 x 230V AC

4 3

2 1

8 7 6 5 4 3 2 1

3 2 1

W V U

PE BB-

Bus systems

supply

24V DC

supply

motor and

motor brake

braking

resistance

OUT

COMPAX 25XXS unit characteristics

COMPAX 25XXS connector and connection assignment

Before wiring up, always de-energize the unit. Even once the mains supply has been switched off, dangerous

levels of voltage can remain in the system for up to 5 min.

When working with motors without a holding brake, the brake lines must not be connected to COMPAX

Unit

hardware

Connector

assignment / cable

Wiring up motor

The PE connection occurs with 10mm2 under a fixing bolt

Caution!

If the unit has no control voltage, no displays will indicate that operating voltage is present.

On unit side

X5 RS485 IN

RS485

OUT

supply

F19 3.16 AT

24V DC

supply

motor and

motor brake

braking

resistance

230V AC

line to line voltage

max. 230V AC +10%

3 x 230V AC

1 x 230V AC

PE L3 L2

PE BB-

sheetshielding of motor cable

connection for

external contact for brake control

black 5

black 4

brake +

green/yellow

black 3

black 2

black 1

Technical dataConfigurationPositioning and

control functions

functions

Optimization

InterfacesAccessories /

Wiring up mains power / control voltage

! Note the screened connection of the motor cable on the upper side of the unit. ! Clamp the motor cable with the open section of the screen braid under the

ground terminal.

Motor side

! Via connectors.

The mains supply and control voltage supply are located on the upper side of the unit.

Power supply: there are 2 options (with the same output power):

••••

3 * 80V AC - 3 * 250V AC 1 * 100V AC - 1 * 250V AC

! Layout of contactors for the power supply:

45-65Hz

••••

45-65Hz

••••

fuse protection: 10A

••••

Fuse protection: 16A

Capacity according to device performanc: Application group AC3.

options

StatusParameterError list

Start-up manual

COMPAX-M / -S

! Control voltage 24V DC ±10% ripple <1V

Fuse protection: 16A

Bus system X5 IN

Bus system

X7 OUT

supply

F19 3.16 AT

24V DC

supply

motor and

motor brake

brake

resistance

A V 0

3 2

3 x 230V AC

W V U

BB-

Note! Do not apply 3 * 400V AC.

Only wire up brake in motors with a holding brake! Otherwise, do not wire up.

7.5.2 COMPAX 25XXS-specific technical data

230V AC

line to line voltage

max. 230V AC +10%

1 x 230V AC PE

Connections for 3 x 230V AC

1234

Connections for 1 x 230V AC

1234

24V control voltage

PE L3 L2 L1

N L

Overvoltage limitation

Maximum braking power with external ballast resistance

Mating connectors X1, X2, X3 and X4

! Energy recuperated during braking is stored in the supply capacitors. The

capacity and storable energy is:

COMPAX 25XXS: 1000 µ

µF / 27 Ws

µ µ

If the recuperated energy causes overvoltage, then external ballast resistances can be engaged.

Braking power Duration

COMPAX 25XXS: ≤1.0 kW with Rext ≥ 56Ω: ≤2.5 kW

<2s

Cooling

down time

unlimited

≥

10s

We can supply external ballast resistances for COMPAX 25XXS (see Page 193).

Connecting ballast resistance to COMPAX-S

The ballast resistance is connected to B+, B- and, if necessary, PE. Output X4 is protected from short circuits.

Mating connectors for X1,..X4 from Phoenix are included with the following type designations:

X1: MSTB2.5/8/STF-5.08 (with screw connection) X2: MSTB2.5/4/ST-5.08 (without screw connection) X3: MSTB2.5/2/ST-5.08 (without screw connection) X4: MSTB2.5/3/STF-5.08 (with screw connection) You can acquire Phoenix housings for these connectors and these can be used

once adapted to our cables. Designation: KGG-MSTB2.5/(pin number).

COMPAX 25XXS unit characteristics

COMPAX 25XXS dimensions / installation

7.5.3 COMPAX 25XXS dimensions / installation

Unit

hardware

Design in series

The two retaining plates supplied can be attached to the back/left side or the heat sink side. Retaining screws: 4 M6 hex-socket head screws.

130

Status Number

Value

COMPAX-S

-+Enter

Ready Error

RS232

270

240

X8 X10

Input

Output

Test

Control

X9 X11

290

221 271

The left-hand side of the unit heat sink is fastened to a metal wall using 2 retaining plates. Installation distance: 135mm (device distance:5mm)

Delivery status

Connector

assignment / cable

Technical dataConfigurationPositioning and

control functions

functions

Optimization

Flat design

Converting the front plates

The design is delivered ready for connection in series!

The left-hand side of the unit heat sink is fastened to a metal wall using 2 retaining plates.

220

186

Status Number

270

240

Value

-+Enter

Ready Error

RS232

X8 X10

Input

Output

Test

Control

X9 X11

COMPAX-S

131 181

290

186

! Install the retaining plate on the required side. ! Unfasten front plate and blind plate. There are 2 screws on both the upper and

lower sides of the unit.

Install the front plate and then the blind plate at the required point.

InterfacesAccessories /

options

StatusParameterError list

Start-up manual

7.5.4 Connector assignment COMPAX 25XXS

COMPAX-M / -S

X8/1

X8/2

X8/3

X8/4

X8/5

X8/6

X8/7

X8/8

X8/9

X8/10

X8/11

X8/12

X8/13

X8/14

X8/15

X8/16

X10/1

X10/2

I10

X10/3

I11

X10/4

I12

X10/5

I13

X10/6

I14

X10/7

I15

X10/8

I16

X10/9

X10/10

O10

X10/11

O11

X10/12

O12

X10/13

O13

X10/14

O14

X10/15

O15

X10/16

O16

X9/1

+24V

X9/2

GND

X9/3

X9/4

X9/5

24V

X9/6

15V - 24V emerg. stop

X9/7

housing

Stand by

X1/2

X1/1UX1/3WX1/4PEX1/5

X1: motor brake

X8: input / output I1...I8 O1...O8

X10: input / output I9...I16 O9...O16

Br`+

X1/8

Br+

X2/1L1X2/2L2X2/3L3X2/4

X1/6

X1/7

Br-

Br`+

X2: AC supply

X3/1

+24 V

X3: control voltage

X3/2

X4/1B+X4/2B-X4/3

X4: braking resistance

X6/2

X6/3

X6/4

X6/5

X6/6

X6/7

X6/8

X6/9

RxD

TxD

DTR

GND

DSR

RTS

CTS

+5V

X6: RS232

X11/1

+24V

X11/2

GND

shield

24V

shield

+24V GND

Sig.MN

Sig. E2 Sig. E1

RxC

TxC

RxD

TxD RxC/ TxC/ RxD/ TxD/

GND

+24V

T-

D-

T+

D+

X11/3 X11/4 X11/5 X11/6 X11/7

X18/+ X18/-

X17/1 X17/2 X17/3 X17/4 X17/5 X17/6 X17/7 X17/8 X17/9

X14(15)/1 X14(15)/2 X14(15)/3 X14(15)/4 X14(15)/5 X14(15)/6 X14(15)/7 X14(15)/8 X14(15)/9

X16/1 X16/2 X16/3 X16/4 X16/5 X16/6 X16/7 X16/8 X16/9

X11

X18: fan

(Option D1)

X17: DA-monitor initiators

X14/X15: HEDA

X16: absolute encoder

Override DA-channel 2 DA-channel 3

Override (old)

DA-channel 0 DA-channel 1

GND 24V

X13: encoderX12: resolver / SinCos

housing

+8V

REF-

SIN-

GND

ST+

+5 V

TEMP

COS-

COS+

SIN+

REF+

ST-

X12/1

X12/2

X12/3NCX12/4

X12/5

X12/6NCX12/7

X12/8

X12/9

housing

X12/10

X12/11

X12/12

X12/13

X12/14

X12/15

X13/1

X13/2N2X13/3B2X13/4A2X13/5N1X13/6B1X13/7A1X13/8

+5V

X13/9

N2/

B2/

A2/

X13/10

X13/11

The assignment of X12 does not apply for the S3 option.

You will find the assignment of the connectors X5 and X7 (bus systems) on Page 63!

N1/

B1/

A1/

GND

X13/12

X13/13

X13/14

X13/15

COMPAX 45XXS/85XXS unit characteristics

Plug and connection assignment COMPAX 45XXS/85XXS

7.6 COMPAX 45XXS/85XXS unit characteristics

7.6.1 Plug and connection assignment COMPAX 45XXS/85XXS

DIGITAL

Status Number

Value

ENTER+-

Ready Error

Unit

hardware

Connector

assignment / cable

Technical dataConfigurationPositioning and

Plan view

X8 digital input

/ output

X9 test

X12 resolver

X14 HEDA

X16 absolute

X18 reserved

RS232

Input

Output Output

Test Control

X13 encoder

X15 HEDA

Input

X10

X11X9

X17 initiators

Ballast resistor

AC supply

Connection PE 10mm

X6 RS232

X10 digital input / output

X11 Control

ext. supply

output motor

control functions

functions

Optimization

InterfacesAccessories /

options

X5 RS485 IN

X7 RS485 OUT

StatusParameterError list

Start-up manual

7.6.2 COMPAX 45XXS/85XXS installation / dimensions

COMPAX-M / -S

125

DIGITAL

351

395

378

325

275

Meaning of the

LEDs on the front

plate

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.

or mains supply or control voltage absent.

Before wiring up, always de-energize the unit. Even once the mains supply has been switched off, dangerous

levels of voltage can remain in the system for up to 5 min.

When working with motors without a holding brake, the brake lines must not be connected to COMPAX

COMPAX 45XXS/85XXS unit characteristics

7.6.3 COMPAX 45XXS/85XXS-specific wiring

COMPAX 45XXS/85XXS-specific wiring

Unit

hardware

Wiring up mains power / enabling internal ballast resistance

Bus system

X7 OUT

X5 IN

HV: DC current output

Power supply: 3 * 80V AC - max. 3 * 500V AC

1234 756

Enable internal ballast resistor

HV:

PE L3 L2

High voltage DC

400V line

Fuse protection: max. 16A

! Layout of contactors for the power supply

♦

Capacity according to device performance: Application group AC3

Control voltage: 24V DC ±10% ripple <1V

Connector

assignment / cable

Technical dataConfigurationPositioning and

control functions

Wiring up motor / control voltage / enable

Enable -

Enable +

24V Input

24V GND

1234

Enable Enable +24V DC

black 5

black 4

green/yellow

black 3

black 2

black 1

123456

Outputs

ISOL 0V

BR1

Motor

Sheetshielding of motor cable

WARNING

Risk of electric shock

If case is not erthed

Connenct earth

before connecting supply

Brake

PE W

Note the screened connection of the motor cable on the lower side of the unit.

Clamp the motor cable with the open section of the braided screen under the ground terminal.

functions

Optimization

InterfacesAccessories /

options

StatusParameterError list

Only wire up brake lines in motors which have a holding brake. Otherwise, do not wire up.

Start-up manual

Enable bridges:

X3/1 - X3/2

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).

COMPAX-M / -S

Overvoltage

limitation

Maximum braking

power of the

internal ballast

resistance

! Energy recuperated during braking is stored in the supply capacitors. The

capacity and storable energy is:

COMPAX 45XXS: 330µF/52 Ws COMPAX 85XXS: 500µF/80 Ws

If the recuperated energy causes overvoltage, then the internal ballast resistance is engaged.

Enable internal ballast resistance: X2/5 - X2/6

The internal ballast resistance is enabled by a bridge between X2/5 and X2/6. If this connection is missing, the controller operates without ballast resistance; in braking mode, error message E38 may appear (see from Page 223).

Braking power Duration

Cooling

down time

COMPAX 45/85S: 300W unlimited

≤1.5 kW

<10s ≥

10s

We provide external ballast resistances for COMPAX 45XXS / 85XXS (see Page 193).

Connecting a ballast resistance to COMPAX 4500S/ COMPAX 8500S The ballast resistance is connected to HV, T

and PE.

The output is protected from short circuits.

Note!

When an external ballast resistance is connected, the bridge between R

and T

must be removed.

COMPAX 45XXS/85XXS unit characteristics

COMPAX 45XXS/85XXS connector and pin assignment

7.6.4 COMPAX 45XXS/85XXS connector and pin assignment

Unit

hardware

X8/1

X8/2

X8/3

X8/4

X8/5

X8/6

X8/7

X8/8

X8/9

X8/10

X8/11

X8/12

X8/13

X8/14

X8/15

X8/16

X10/1

X10/2

I10

X10/3

I11

X10/4

I12

X10/5

I13

X10/6

I14

X10/7

I15

X10/8

I16

X10/9

X10/10

O10

X10/11

O11

X10/12

O12

X10/13

O13

X10/14

O14

X10/15

O15

X10/16

O16

X9/1

+24V

X9/2

GND

X9/3

X9/4

X9/5

24V

X9/6

15V - 24V emergency

X9/7

stop housing

stand by

Releasing internal

ballast resistance

X1/2VX1/1UX1/3WX1/4PEX1/5

X1: motor brake

X8: Input / Output I1...I8 O1...O8

X10: Input / Output I9...I16 O9...O16

housing

+8V

REF-

X1/6

brake +

brake -

X2/1L1X2/2L2X2/3L3X2/4

X2: AC supply

X12: resolver / SinCos

SIN-

GND

ST+

+5 V

TEMP

COS-

COS+

X2/5

SIN+

X2/6

REF+

X2/7

voltage

+direct current

ST-

X3/4

0 V

X3: control voltage

housing

X3/3

X3/2

+24V

X3/1

output stage

Enable power

X13: encoder

Releasing final stage

X6/2

X6/3

X6/4

X6/5

X6/6

X6/7

X6/8

RxD

TxD

DTR

GND

DSR

RTS

CTS

X6: RS232

DA-channel 2

X11

DA-channal 3 Override (old)

DA-channel 0 DA-channel 1

X17: DA-monitor Initiators

X14/X15: HEDA

X16: absoluteencoder

N1/

B1/

A1/

+5V

N2/

B2/

(Option D1)

A2/

X6/9

+5V

GND 24V

GND

+24V

GND

Override

shield

+24V

GND Sig.MN Sig. E2 Sig. E1

NC RxC TxC RxD TxD

RxC/ TxC/ RxD/ TxD/

GND

+24V

T-

D-

T+

D+

X11/1 X11/2 X11/3 X11/4 X11/5 X11/6 X11/7

X17/1 X17/2 X17/3 X17/4 X17/5 X17/6 X17/7 X17/8 X17/9

X14(15)/1 X14(15)/2 X14(15)/3 X14(15)/4 X14(15)/5 X14(15)/6 X14(15)/7 X14(15)/8 X14(15)/9

X16/1 X16/2 X16/3 X16/4 X16/5 X16/6 X16/7 X16/8 X16/9

Connector

assignment / cable

Technical dataConfigurationPositioning and

control functions

functions

Optimization

InterfacesAccessories /

options

StatusParameterError list

X12/1

X12/2

X12/3NCX12/4

X12/5

X12/6NCX12/7

X12/8

X12/9

X12/10

X12/11

X12/12

X12/13

X12/14

X12/15

X13/1

X13/2N2X13/3B2X13/4A2X13/5N1X13/6B1X13/7A1X13/8

X13/9

X13/10

X13/11

X13/12

X13/13

X13/14

The assignment of X12 does not apply for the S3 option.

You will find the assignment of the connectors X5 and X7 (bus systems) on Page 63!

X13/15

Start-up manual COMPAX-M / S

7.7 COMPAX 1000SL Unit characteristics

7.7.1 Connector and terminal assignment for COMPAX 1000SL

X6 RS232 X17

initiators

bus systems:

X5 IN X7 OUT

X13 encoder

X12 resolver

X19 in-/ output

Brake

Motor

230 V AC

X14 X15

HEDA Out HEDA In

X1 motor / motor brake

PE connection

X3 24V DC supply

X14/X15

(Option)

HEDA

X4 ballast resistance

X2 230V AC supply

X6X5X13

RS232

Fieldbus In

Encoder

COMPAX - SL

X17

Input

24 V DC

Limit Switch

Dump

Fieldbus Out

X12

Resolver

X19

Input / Output

X1 X4 X3

PE + W

L1 N PE

PE – terminal: LED display

Before wiring up, always de-energize the unit. Even once the mains supply has been switched off, dangerous

levels of voltage can remain in the system for up to 5 min. When working with motors without a holding brake, the brake lines

must not be connected to COMPAX

Caution!

If the unit has no control voltage, displays will not indicate if operating voltage is present.

at least 2.5mm

The following statuses are shown by the LEDs.

Status Red LED (H2) Green LED (H1)

24V not available off off 24V are switched on, boot up on off Unit OFF off blinking Unit error; drive switched off on blinking Unit error; drive powered on on Unit RUNNING off on

Unit wiring COMPAX 1000SL

sheetshielding of motor cable

COMPAX 1000SL Unit characteristics

Connector and terminal assignment for COMPAX 1000SL

X6X5X13

RS232

Fieldbus InEncoder

COMPAX - SL

X17

Input

24 V DC

Limit Switch

Dump

Fieldbus Out

X12

X1 X4 X3

Resolver

X19

Input / Output

PE + -

L1 N PE

24V control voltage

X4 ballast resistance

X14 X15

HEDA Out HEDA In

X1 motor / motor brake

Brake

Motor

X2 230V AC supply

230 V AC

123

green / yellow

black 5

black 4

green / yellow

black

black 2

black 1

brake

PE W

PE N L

Unit

hardware

Connector

assignment / cable

Technical dataConfigurationPositioning and

Overvoltage

limitation

Maximum braking

power with external

ballast resistance

! Clamp the motor cable with the open section of the screen braid under the

ground terminal.

! Power supply:

1*100V AC - 1*250V AC • 45-65Hz • Fuse protection: 10A

! Layout of contactors for the power supply

Capacity according to device performance: Application group AC3

! Control voltage 24V DC ±10% ripple <1V

• Fuse protection: max. 16A

The screen clamp for the screen connection of the motor cable is included and must be screwed on in the illustrated position.

Only wire up brake in motors with a holding brake! Otherwise, do not wire up.

! Energy recuperated during braking is stored in the supply capacitors. The

capacity and storable energy is:

COMPAX 10XXSL: 660 µ

If the recuperated energy causes overvoltage, then external ballast resistances can be engaged.

Braking power Duration

COMPAX 10XXSL: ≤ 1.6kW

We provide external ballast resistances for COMPAX 1000SL (see Page 193).

µF / 17 Ws

µ µ

Cooling

down time

unlimited

control functions

functions

Optimization

InterfacesAccessories /

options

StatusParameterError list

Connecting the

ballast resistance

The ballast resistance is connected to B+, B- and, if necessary, PE. Output X4 is protected against short circuiting.

Start-up manual COMPAX-M / S

Mating connectors

X1, X2, X3 and X4

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: MSTB2.5/3/STF-5.08 (with screw connection) You can acquire Phoenix housings for these connectors and these can be used once adapted to our cables. Designation: KGG-MSTB2.5/(pin number).

7.7.2 Connector assignment COMPAX 1000SL (overview)

Bridges for test operation

X19/1

X19/2 X19/3 X19/4 X19/5 X19/6 X19/7 X19/8 X19/9 X19/10 X19/11 X19/12 X19/13 X19/14 X19/15 X19/16 X19/17 X19/18 X19/19 X19/20 X19/21 X19/22 X19/23 X19/24 X19/25

GND

Input Input Input Input Input Input Input Input

emerg.-Stop enable Override GND Output Output Output Output Output Output Output Output 24V stand by P stand by S

X1/2

X1/1UX1/3WX1/4PEX1/5

X1: motor brake

X19: In- and output/ Emergency stop/ enable/ override/ stand by

Br+

X1/6

Br-

X2/1

X2/2

X2: Ac supply

X2/3

X3/1

X3/20VX4/1B+X4/2B-X4/3PEX6/2

+24 V

X3: control voltage

X4: braking resistance

X6/3

X6/4

X6/5

X6/6

X6/7

RxD

TxD

DTR

GND

DSR

RTS

X6: RS232

DA-channel 2 DA-channel 3

X17:

GND 24V

DA-monitor initiators

Sig.MN

X14/X15: HEDA

X7: bus systems outp ut

Assignment depends on the bus system

X5: bus systems input

Assignment depends on the bus system

X6/8

X6/9

CTS

shield

+24V

GND

Sig. E2 Sig. E1

RxC

TxC

RxD

TxD

RxC/

TxC/

RxD/

TxD/

+5V

X17/1 X17/2 X17/3 X17/4 X17/5 X17/6 X17/7 X17/8 X17/9

X14(15)/1 X14(15)/2 X14(15)/3 X14(15)/4 X14(15)/5 X14(15)/6 X14(15)/7 X14(15)/8 X14(15)/9

housing

X12/1

+8V

X12/2

X12: resolver / SinCos©

REF-

SIN-

GND

ST+

+5 V

TEMP

COS-

COS+

SIN+

REF+

X12/3NCX12/4

X12/5

X12/6NCX12/7

X12/8

X12/9

ST-

X12/10

X12/11

X12/12

X12/13

X12/14

X12/15

housing

X13/1

X13/2NCX13/3NCX13/4

A2 analog

X13/5N1X13/6B1X13/7A1X13/8

The assignment of X12 does not apply for the S3 option.

X13: encoder

+5V

X13/9NCX13/10NCX13/11

A2/ analog

N1/

B1/

A1/

GND

X13/12

X13/13

X13/14

X13/15

COMPAX 1000SL Unit characteristics

Mounting and dimensions COMPAX 1000SL

7.7.3 Mounting and dimensions COMPAX 1000SL

Unit

hardware

145.5

174

206.5

180

X6X5X13

X17

Input

RS232

Fieldbus InEncoder

COMPAX - SL

24 V DC

Limit Switch

Dump

Fieldbus Out

X12

X1 X4 X3

Resolver

X19

Input / Output

X15

X14

HEDA Out HED A In

197.5

Brake PE + W

Motor UV

230 V AC

L1 N PE

183

Fastening: 3 M4 hex-socket head screws Installation distance: 100mm (device distance:15mm)

Connector

assignment / cable

Technical dataConfigurationPositioning and

control functions

functions

Optimization

InterfacesAccessories /

options

StatusParameterError list

Start-up manual COMPAX-M / S

7.7.4 Safety chain / emergency stop functions

Readiness, safety chain

Emergency stop

Emergency stop characteristics :

Emergency stop

and ready on

connector:

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. This closer establishes sequential switching for the mains module and the axis controller. When the unit is operating correctly, the contacts are closed (P and S are connected) and thereby indicate the readiness of the unit. If an error occurs or if the drive system is switched off, the readiness is not displayed and the chain is interrupted (see below).

The emergency stop input is used to activate or deactivate all drive controllers or an individual controller supplied by the mains module. In accordance with the safety chain described above, this input must be activated to power the motors. This occurs either via an external contact between X8(9)/5 and X8(9)/6 (as is shown in the figure below) or by applying voltage of between 15V and 24V to the input X8(9)/6 against GND (X8(9)/2). If the contact is opened or the voltage is removed from X8(9)/6 or routed to GND24V, the emergency stop sequence is processed, e.g. all motors of the connected drive controller are decelerated and switched off (no torque on the motor shaft); the ready contact drops.

! After an emergency stop: error E55 (even in OFF status) and O1="0". The current

command is interrupted. The controller brakes the motor (P10 = braking time from 100% speed to 0%).

When at a standstill, the controller is switched off and any idle holding brake is

closed.

! Once the problem has been rectified, E55 must be acknowledged. ! The current command is continued after START.

NMD: X8 COMPAX-S: X9:

Connectors: Phoenix MC1.5/7-ST-3.81

4567123

Pin Assignment

1 +24V DC (<50mA) 20V 3 P: Ready contact 4 S: Ready contact 5 +24V DC – Output for emergency stop 6 Emergency stop input (activated by 15V – 24V) 7 Screen

COMPAX 35XXM: X19

Connectors: Phoenix MC1.5/7-ST-3.81

4567123 8 9 10 11

Pin Assignment

1 +24V DC (<50mA) 20V 3 P: Ready contact 4 S: Ready contact 5 +24V DC – Output for emergency stop 6 Emergency stop input (activated by 15V – 24V) 7 +24V DC (<50mA) 8 reserved

9 +24V DC (<50mA) 10 Enable 11 Screen

Principle of safety chain and emergency stop function

COMPAX 1000SL Unit characteristics

COMPAX 1000SL X19

25 pin Sub-D socket strip screw connection UNC4-40

Emergency stop input direct to COMPAX-M X9

Connector: Phoenix MC1.5/7-ST-3.81

4567123

Emergency stop input on COMPAX-M

The emergency stop input on COMPAX-M X9 is enabled via parameter P219. Meaning:

! P219="0": No emergency stop input on COMPAX-M X9 ! P219="7": Emergency stop input on COMPAX-M X9 with the following data ! Stop with P10 as relative ramp time (P10 = braking time from 100% speed to

0%). The motor is switched off.

Error message E56 is generated.

The ready contact drops.

control power supply

external

component

readiness

emerg. stop

Pin Assignment

1 +24V DC (<50mA)

20V

3 reserved

4 reserved

5 +24V DC – Output for emergency stop

6 Emergency stop input (activated by 15V – 24V)

7 Screen

Pin Assignment

23 +24V DC (<50mA)

10V 24 P: Ready contact 25 S: Ready contact

11 Emergency stop input (activated by 15V – 24V)

module

X8/1 X8/2 X8/3 X8/4 X8/5 X8/6

X8/7

COMPAX-M

+24V GND

shield

No. 1

COMPAX-M

No. x

Ready contact: max. 0.5A, 60V, 30W

Unit

hardware

Connector

assignment / cable

Technical dataConfigurationPositioning and

control functions

functions

Optimization

InterfacesAccessories /

COMPAX-S X9 i.e. COMPAX 35XXM X19

X./1

+24V

X./2

GND

X./3 X./4 X./5 X./6

X./7

shield

options

Applies to potential 24V power supply.

StatusParameterError list

Start-up manual

Resolver / SinCos

7.8 Connections to the motor

Cable assignment in the terminal boxes

green/

yellow

black

shield

black 1

black 2

black 3

black 4

black 5

brake

COMPAX-M / -S

7.8.1 Resolver / SinCos

Pin from X12 Standard assignment

1 Housing Housing 2+8V +8V 3NC HALL3 4REF- +5V 5 SIN- SIN- / A/ 6NC HALL2 7 GND GND 8ST+ +5V 9+5V +5V 10 TEMP TEMP 11 COS- COS- / B/ 12 COS+ COS+ / B 13 SIN+ SIN+ / A 14 REF+ HALL1 15 ST- GND HALL

Assignment with resolver or option S1/ S2

Assignment with option S3

The S1/2 options are required for operation with the sensor system SinCos.

The S3 option is required for operation of linear motors.

Connecting cable to motor

Connections to the motor

Unit

hardware

Motor cable

Resolver cable

Cable sheathed

REK32/.. GBK16/.. MOK42/.. M OK43/.. MOK21/.. MOK11/.. MOK46/..

Connector set 085-301312

800-030031

Sensor cable (SinCos



085-301317 800-030031

With connectors: HJ96, HJ116, HDY55, HDY70, HDY92, HDY115

)

1.5mm up to 13.8A

2.5mm up to 18.9A

085-301306 085-301306 125-518162

With terminal boxes: HJ155, HJ190 HDY142

2.5mm up to 18.9A

125-216800

6mm up to 32.3A

125-518211 125-217000

Cable 102-150200 102-150210 102-508896 102-508902 102-508902 102-150030 102-150040

Cable data in mm 18,0/80/120 7,5/38/113 10,7/107/107 13,7/137/137 13,7/137/137 16,5/124/124 22,5/168/168

Standard cable

Cable sheathed

Connector set 085-301312

REK33/.. GBK17/.. MOK44/.. MOK45/.. MOK14/.. MOK11/.. MOK46/..

800-030031

085-301317 800-030031

085-301306 085-301306 125-518162

125-216800

125-518211 125-217000

Cable 102-000030 - 102-000020 102-000010 102-000010 102-150030 102-150040

Cable data in mm *8,2/61,5/61,5 8,0/40/64 9,2/69/69 11/82,5/82,5 11/82,5/82,5 16,5/124/124 22,5/168/168

High-flex cable

Resolver cable for HJ and HDY motors

REK32

SIN+

SIN-

COS+

COS-

Ref+

Ref-

+Temp

-Temp

Codiernut 20°

Pin 1

solder side

1 2 3 4 5 6 7 8

SIN+

SIN-

COS+

COS-

10 11

Ref+

Ref-

13 14

+Temp (+5V)

-Temp

yellow

green

brown

white

blue

red

pink

grey

26 mm

4 mm

Li2YCY 4x2x0,25 No. 102-150200

6 mm

2x0,25

10mm up to 47.3A

125-518200

solder side

Connector

assignment / cable

Technical dataConfigurationPositioning and

control functions

functions

Optimization

In HJ – motors, ensure that the thermal sensor has the correct terminal arrangement.

Version in high-flex: REK33 (same layout)

Packaging

Packaging of motor in accordance with connect or manuf acturer's specification Packaging of device

•

Strip 26mm sheathing off.

•

Cut sheath down to 6 mm.

•

Strip 4mm of insulation of ends and coat in tin.

*1 Cable diameter / minimum bending radius (static) / minimum bending radius (dynamic)

Length codes for preformed cables

Length [m] 1.0 2.5 5.0 7.5 10.0 12.5 15.0 20.0 25.0 30.0 35.0 40.0 45.0 50.0 Code 01 02 03 04 05 06 07 08 09 10 11 12 13 14

Example REK32/09: length 25m

InterfacesAccessories /

options

StatusParameterError list

Start-up manual

Resolver / SinCos

Motor cable for HJ and HDY – motors

MOK42 (max. 13,8A)

110 mm 75 mm

30 mm30 mm30 mm

Shrink-fit hose

standard/highflex

Br. +24V

Br. -24V

35 mm

15 mm

black1/black

black2/brown

black3/blue

black4/red

black5/green

black6

green-yellow

110 mm

75 mm

CY-JZ 7x1,5 No 102-508896

MOK42

standard/hochflex

sw1/sw

sw2/br

sw3/bl

sw4/rt

sw5/gr

sw6

gn/ge

COMPAX-M / -S

Br+

Br-

Lötseite / Crimpseit

3( )

10 mm

Version in high-flex: MOK44 ( same l ayout) MOK43/.. (max. 18.9A): HJ (version in high-flex: MOK45)

Layout corresponds to MOK42, however motor lines in 2.5 mm

Packaging

Packaging of motor in accordance with connect or manuf acturer's specification

Contacts for 1.5 mm2 and 2.5 mm2 are supplied with the connector set.

Packaging of device

Material:

•

6 x crimping sleeves.

•

6 cm shrink-fit hose.

Procedure:

•

Strip 110 mm sheathing off cable.

•

Cut down sheath to approx. 35 mm, loosen,

•

fold back over outer cover (approx. 75 mm) and stick with insulating tape.

•

Shorten sw1,sw2,sw3,sw4,sw5 approx. 15 mm ; (gn/ge approx. 15 mm longer); cut down sw6.

•

Attach 2 x approx. 30 mm shrink-fit hose (sticky).

•

Strip 10 mm of insulation of ends of wires and secure with crimping sleeve 1.5.

MOK21 (max. 18,9A)

110 mm 75 mm

MOK21

Connections to the motor

Unit

hardware

30 mm30 mm30 mm

Shrink-fit hose

20 mm 170 mm

CY-JZ 7x2,5 No. 102-508902

standard/hochflex

190 mm

15 mm

10 mm

15 mm

10 mm

Br. +24V

Br. -24V

35 mm

standard/highflex

black1/black

black2/ brown

black3/blue

black4/red

black5/ green

black6

green-yellow

110 mm

75 mm

Version in high-flex: MOK14 ( same l ayout) MOK11 (max. 32.3A) in high-flex (same layout to MOK21, however in 6 mm MOK46 (max. 47.3A) in high-flex (same layout to MOK21, however in 10mm

sw1/sw

sw2/br

sw3/bl

sw4/rt

sw5/gr

sw6

gn/ge

)

Br+

Br-

Connector

assignment / cable

Technical dataConfigurationPositioning and

control functions

Packaging

Packaging of device

Material:

6 x crimping sleeves. 6 cm shrink-fit hose.

Procedure:

•

Strip 110 mm sheathing off cable.

•

Cut sheath down to approx. 35 mm, loosen,

•

fold back over outer cover (approx. 75 mm) and stick with insulating tape.

•

Shorten sw1,sw2,sw3,sw4,sw5 ca. 15 mm (gn/ge approx. 15 mm longer) cut down sw6.

•

Attach 2 x approx. 30 mm shrink-fit hose (sticky).

•

Strip 10 mm of insulation off ends of wires and secure with crimping sleeves 2.5.

Packaging of motor in accordance with manuf act urer's specification

•

Strip 190 mm sheathing of cable.

•

Cut sheath down to approx. 170 mm, stick remaining 20 mm with insulating tape.

•

Shorten sw1,sw2,sw3,sw4,sw5 by approx. 15 mm (gn/ge approx. 15 mm longer) cut down sw6.

•

Strip 10 mm of insulation of ends of wires and secure with crimping sleeves 2.5.

functions

Optimization

InterfacesAccessories /

options

StatusParameterError list

Start-up manual

Resolver / SinCos

COMPAX-M / -S

SinCos

Pin 1

solder side

1 2 3 4 5 6 7 8

cable for HJ and HDY motors



yellow

SIN+

violet

SIN-

brown

COS+

white

black

pink

green

grey

red

blue

26 mm

4 mm

COS-

ST+

11 12

ST-

13 14

Th1

Th2

+8V

GND

GBK16

LiYC11Y 4x2x0,25+2x0,5+0,14 No. 102-150210

6 mm

2x0,25

2x0,5

1x0,14

Packing according as the regulation of the manufacturer

8 x Crimp contacts 0.14-0.56

vio

SIN+

SIN-

COS+

COS-

+485

-485

GND

screen at sceen contact

solder- / Crimp side

15 14

Version in high-flex: GBK17 (same l ayout)

Packaging

Packaging of motor in accordance with connector manufacturer's specification

Packaging of device

•

Strip 26mm sheathing off.

•

Cut sheath down to 6 mm.

•

Strip 4mm of insulation of ends and coat in tin.

•

Place sheath over large area of housing (e.g. fold sheath over outer cover and fasten down by relieving tension).

7.8.2 Additional brake control

Connections to the motor

Unit

hardware

COMPAX-M / COMPAX 45XXS / COMPAX 85XXS, COMPAX 1000SL

COMPAX 25XXS / COMPAX 35XXM

COMPAX controls the motor retaining brake independently (also see Page 123). When running applications which require additional brake control note the following, based on the unit type used.

With these units, you must implement measures for suppression. Note the following application example:

Br.+

BR.-

contact to external brake control

0,47uF

33V

stop brake within motor

These protective measures are available in COMPAX-M / COMPAX 45XXS / COMPAX 85XXS for applications without external brake control.

In COMPAX 25XXS (X1/7 and X1/8) and in COMPAX 35XXM (X23: bridge), 2 connections are available for connecting the external contact. These connections are already bridged in the connector when supplied. External protective measures are not required for COMPAX 25XXS and COMPAX 35XXM.

External contact connection:

The bridge is removed and is replaced by connecting an external contact.

Connector

assignment / cable

Technical dataConfigurationPositioning and

control functions

functions

Optimization

InterfacesAccessories /

options

StatusParameterError list

Start-up manual

Digital inputs and outputs (excluding COMPAX 1000SL)

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)

COMPAX-M / -S

Assignment of X8 (Input/Output)

Connectors: Phoenix MC1.5/16-ST-

3.81

4 5 6 7 8 9 10111213141516123

Assignment Meaning

1. Input I1

2. Input I2

3. Input I3

4. Input I4

5. Input I5

6. Input I6

7. Input I7

8. Input I8

9. Output O1

10. Output O2

11. Output O3

12. Output O4

13. Output O5

14. Output O6

15. Output O7

16. Output O8

SHIFT ="0" ="1"

Manual+ Find machine zero Manual– Approach real zero Quit Teach real zero Start Stop (interrupt

data record)

Break (breaks off data record)

Freely assignable in the standard unit.

="1":No fault ="0":errors E1 ... E58; the drive does not

accept any positioning commands.

After "Power on" O1 remains at "0" until after the self test.

="1":No warning ="0":error ≥ E58 Machine zero has been approached Ready for start Programmed set point reached Idle after stop Freely assignable in the standard unit.

Assignment of X10 (Input/Output)

The "SHIFT signal" (I1) must be assigned before or at the same time as the relevant input.

X10

Assignment Meaning

Connector: Phoenix MC1.5/16-ST-

3.81

1. Input I9

2. Input I10

3. Input I11

4. Input I12

5. Input I13

6. Input I14

4 5 6 7 8 9 10111213141516123

7. Input I15

8. Input I16

9. Output O9

Freely assignable in the standard unit.

10. Output O10

11. Output O11

12. Output O12

13. Output O13

14. Output O14

15. Output O15

16. Output O16

Note the assignment for unit variants and for special functions.

7.9.2 Digital inputs and outputs for COMPAX 1000SL

COMPAX 1000SL physically has 8 digital inputs and 8 digital outputs which are assigned to connector X19. COMPAX internally has 16 logic inputs and 16 logic outputs, some of which have functions assigned to them. This means that not all logic inputs and outputs can be interrogated or output via physical inputs and outputs. In order to enable flexible assignment, a matrix was created for input and output assignment respectively which makes it possible to assign the logic inputs and outputs to any of the physical inputs and outputs. The matrices for allocation are realized via parameters P156 to P160 (see Page 140). The assignment described below applies to COMPAX 1000SL (standard unit) with default settings for parameters P156 to P160.

Interfaces

Unit

hardware

Connector

assignment / cable

Technical dataConfigurationPositioning and

Assignment X19 for COMPAX 1000SL

25 pin Sub-D socket strip screw connection UNC4-40

X19 Pin

Assignment

Meaning for COMPAX 1000SL standard unit and default settings for parameters P156 to P160

1. GND

2. Input

3. Input

4. Input

5. Input

6. Input

7. Input

8. Input

9. Input

SHIFT ="0" ="1"

Manual+ Find machine zero Hand– Approach real zero Quit Teach real zero START Stop (interrupts

data record)

Break (breaks off

data record) Freely assignable in the standard unit. (I12) Freely assignable in the standard unit. (I16)

10. reserved

11. Emergen cy stop

Emergency stop input (emergency stop is triggered by voltage < 15V DC)

12. Enable COMPAX 1000SL is enabled by 24V DC at X19/12

13. Override Input voltage 0 - +5V.

14. GND

15. Output

="1":No fault ="0":errors E1 ... E58; the drive does not accept

any positioning commands.

After "Power on" O1 remains at "0" until after the self test.

16. Output

17. Output

18. Output

19. Output

20. Output

21. Output

22. Output

="1":No warning ="0":Error ≥ E58 Machine zero has been approached Ready for start Programmed set point reached Idle after stop Freely assignable in the standard unit. (O7) Freely assignable in the standard unit. (O8)

23. 24VDC Load < 50mA

24. Ready P Ready contact for building a safety chain

25. Ready S Ready contact for building a safety chain

control functions

functions

Optimization

InterfacesAccessories /

options

StatusParameterError list

Note the assignment for unit variants and for special functions.

Start-up manual

Technical data / Connections of inputs and outputs

7.9.3 Technical data / Connections of inputs and outputs

COMPAX-M / -S

Detection of input

signals:

Load on outputs

(not applicable for

COMPAX 1000SL):

Load on outputs for

COMPAX 1000SL:

Input connection

using I7 as an

example

Output connection

using O7 as an

example

0 → 1 over 9.15V means that "1" is recognised 1 → 0 over 8.05V means that "0" is recognised

1. O1...O16 Total of max. 1.6A

2. O1...O4, O5...O8,

Per group of 4, max. 0.8A; taking due account of 1.

O9...O12, O13...O16

3. O

per output, max. 0.3A and 40nF capacitive

; taking

into account 1. and 2.

Per output, max. 0.3A • In total a sum load for all 8 outputs of max. 0.48A and

40nF capacitive

;

If overload occurs, an error message appears (E43: can be acknowledged with Power off/on); the corresponding group of four is switched off.

Ω

COMPAX

22K

10nF

F23

Ω

100K

Ω

22K

Ω

12K

24V

(X19 applies for COMPAX 1000SL)

PLC

24V

PLC

COMPAX

F23

X11/7

X11/1 X19/23

X8/7 X19/.

22K

X11/2 X19/14

X19/23 X11/1

X11/7

Input/output

connection for

2 COMPAXs

X8/15 X19/.

4.7K

Ω

X19/14 X11/2

(X19 applies for COMPAX 1000SL)

For reasons of interference protection, we would recommend that you use a screened cable for the digital inputs and outputs. With COMPAX 1000SL, the screen is connected with the Sub-D housing.

A protective connection is required when there is inductive load present.

1st COMPAX 2nd COMPAX

24V

F23

X19/23 X11/1

X8/15 X19/.

4.7K

X19/14 X11/2

X19/23 X11/1

X8/7 X19/.

22K

X19/14 X11/2

Ω

10nF

Ω

F23

100K

22K

Ω

12K

24V

Ω

(X19 applies for COMPAX 1000SL)

A maximum of 4 COMPAX – inputs can be connected to one output.

7.9.4 Initiators and D/A monitor

Connection assignment on X17

9 pin Sub-D pin strip plug housing with screw connection UNC4-40

Pin Assignment

3 reserved 4 Ground 24V (Initiators supply) 5 +24V (Initiators supply) <50 mA 6 Ground for DA channels 7 Input MZ initiator 8 Input I2 initiator 9 Input I1 initiator

DA channel 0 (option D1) Ri=2.8kΩ; COMPAX 1000SL: DA channel 2; Ri=0.33k DA channel 1 (option D1) Ri=2.8kΩ;

COMPAX 1000SL: DA channel 3; Ri=0.33k

Interfaces

;

Ω

;

Ω

Unit

hardware

Connector

assignment / cable

Technical dataConfigurationPositioning and

Connection plan for the initiators with initiator connector

Requirements

concerning the

position of the

initiators

initiatorbox

X3/9

+24V

normally

closed pnp

normally

closed pnp

normally

closed pnp

Sig. E1

GND

+24V

Sig. MN

GND

+24V

Sig. E2

GND

X3/8

X3/7

X2/6

X2/5

X2/4

X1/3

X1/2

X1/1

X4/12

X4/15

X4/14

X4/13

X4/10

4,75kΩ 4,75kΩ 4,75kΩ

+24V

Sig. E1

Sig. MN

Sig. E2

GND

COMPAX

X17/5

X17/9

X17/7

X17/8

X17/4 X17/3

Ensure that the initiator is rebound-free!

Standard

When operating with one initiator (machine zero), this must be attached to one side of the stroke. When attaching the initiator, ensure that an initiator attached to the left-hand side can no longer be cleared to the left. The flank to be analyzed can therefore also be positioned before the end of the travel distance. The same applies correspondingly for the right-hand side.

Extended operation

When operating with three initiators (not standard), initiators I1 and I2 must be attached to the outer limits of the stroke range. The machine zero initiator is fitted between I1 and I2. The following limitation applies in such cases: the flank of the machine zero initiator must not be activated at the same time as a limit switch.

If COMPAX is only operating as a speed controller or in the "continuous mode" or normal operating mode with a special machine zero mode (P212="10" see Page 80 onwards), then no initiators are required.

control functions

functions

Optimization

InterfacesAccessories /

options

StatusParameterError list

Start-up manual

Service D/A monitor / override

7.9.5 Service D/A monitor / override

COMPAX-M / -S

Override connection

Assignment of X11

Connector: Phoenix MC1.5/7-ST-3.81

4567123

(not applicable for COMPAX 1000SL)

Pin Assignment

1 +24V 2 Ground 24V 3 Override for speed reduction

Standard DA channel 2: 8 Bit, Ri=2.21kΩ;

Standard DA channel 3: 8 Bit, Ri=2.21kΩ;

5 6 Override; previous input for existing applications 7 Screen

With COMPAX 1000SL, the override input is on X19/13 (see Page 53), the Service D/A monitors on X17/1 und X17/2 (see Page 55).

(not applicable for COMPAX 1000SL)

COMPAX

100%

10K

Ω

X11/6

10K

Ω

10K

X11/3

Ω

X11/2

Ω

100nF

+5V

OverrideSignal

GND

The override input is read in a cycle of 100 ms.

You can continue to use the previous override connection for current applications.

Override Connection for COMPAX

100%

1000SL

10K

Ω

The override input is read in a cycle of 100 ms.

Note:

Wiring of override with screened cables only

7.9.6 Service D/A monitor

The service D/A monitor gives you the option of outputting internal measurement and intermediate parameters from COMPAX in the form of analogue voltage in the range of ±10V via X11 (X17 with COMPAX 1000SL) and visualizing these by means of an oscilloscope. This provides you with a capable aid for making the unit functions clear and qualifiable, especially during the start-up. This function (which is available in all units) provides you with two analogue output channels with a resolution of 8 bit and these are updated every 100 µs.

X19/13

X19/14

COMPAX 1000SL

+5V

Ω

10K

Ω

100nF

OverrideSignal

GND

Interfaces

Using the parameters P76 and P77, you can select 2 parameters and adapt them to the required measuring range.

Unit

hardware

Assignment of the

channels

Meaning and range of values of P76 / P77

D/A monitor standard measuring parameters

Channel 2: X11/4; X17/1 for COMPAX 1000SL

Channel 3: X11/5; X17/2 for COMPAX 1000SL

No. Parameter Range

P76 Value before decimal p. P76

Value after decimal point P77 Value before decimal p. P77 Value after decimal point

Measuring parameter of channel 2. (see below for meaning). Gain factor from channel 2.

(factor = value * 10 000 000) Measuring parameter of channel 3.

(see below for meaning). Gain factor from channel 3. (factor = value * 10 000 000)

0...18

0.1... 10 000 000

0...18

0.1... 10 000 000

The parameters can only be actuated once you have entered the password. They are validated using VP.

Service D/A monitor: Selection of measuring parameter using P76 / P77 D/A monitor (option D1): Selection of measuring parameter using P73 / P74

Measuring

parameter No.

Measuring parameter

Reference value

0 Nominal speed value sensor 20 000 min

128›

1 Tracking error

Motor revolutions

2 Advance speed control 20 000 min 3 Nominal speed value of position controller 20 000 min 4 Actual speed value 20 000 min 5 Speed deviation 20 000 min 6 Not assigned 7 Not assigned 8 Nom. value of transverse current (torque)

200A

9 Intermediate circuit voltage 1000V 10 Sine for co-ordinate transformation 11 Voltage positioning signal for phase U 2 * U 12 Voltage positioning signal for phase V 2 * U

13 Phase current for phase U 200A 14 Phase current for phase V 200A 15 Actual value of transverse current (torque)

200A 16 Longitudinal current 200A 17 Scaled transverse voltage

(For amplification of 1 use: 10V = 2 * U

18 Scaled longitudinal voltage

(For amplification of 1 use: 10V = 2 * U

)

2 * U

You will find additional measuring parameters on Page 210!

Connector

assignment / cable

Technical dataConfigurationPositioning and

-1

control functions

functions

Optimization

InterfacesAccessories /

options

The initiator signals are looped through the monitor box ASS1/01.

.0000001=factor 1

.000001=factor 10 .999999=factor 10 000 000

Physical value with 10V output voltage and an amplification of 1

To determine torque: torque = transverse current * 0.71 * total torque constant

To determine torque:

torque = transverse current * 0.71 * total torque constant

StatusParameterError list

Start-up manual

D/A monitor option D1

COMPAX-M / -S

Calculation of

physical parameter

using the measured

value:

Example:

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). gain factor = 10 channel 3: measuring parameter 13 (phase current for phase U). gain factor = 5

measured values:

channel 0:MW=2.5V=>

channel 1: MW = 3V =>

The parameters of the D/A monitor can also be set to status S15 or be viewed via the optimization display (see Page 133).

BG*MW

10V*VS

−

=500 rpm

= 12A

20000min*2,5

10V*10

200A*3

10V*5

7.9.7 D/A monitor option D1

The option D1 cannot be used for COMPAX 1000SL.

This option provides you with two additional analogue output channels with a resolution of 12 bit. These channels are updated every 100 µs. Use the parameters P73 and P74 (as you do with the service D/A monitor) to select 2 quantities and to adapt them to the required measuring range using 2 parameters (P71 and P72). D/A monitor option D1 must be ordered as a separate item. To obtain output from the measured signals, you will need an externally connected monitor box (ASS1/01) with 2 BNC bushes for connecting the measurement instruments. This is connected as follows:

! monitor box is connected to COMPAX connector X17. ! the initiator line is connected from X17 to the monitor box. The signals are fed

through the monitor box.

Meaning and range of values of P71 - P74

No. Parameter Range

P71 Gain factor from channel 0. 1...10 000 P72 Gain factor from channel 1. 1...10 000 P73 Measuring parameter of channel 0. (For the meaning, see

table on Page 56).

P74 Measuring parameter of channel 1. (For the meaning, see

table on Page 56).

0...18

The measuring parameters are

selected using P73

or P74

The parameter can only be actuated once you have entered the password.

Example:P71=10 P72=5 P73=4 P74=13 Therefore, the following applies:

channel 0: measuring parameter 4 (actual speed value). gain factor = 10 channel 1: measuring parameter 13 (phase current for phase U). gain factor = 5

7.9.8 RS232 interface

Wiring diagram SSK1/...:COMPAX - PC/terminal

9-way Sub-D-pin plug shell with screwed

connection UNC4-40

PC / terminal

Interfaces

Unit

hardware

Connector

assignment / cable

9pol. Sub-D-socket board

1n.c.

RxD

TxD

DTR

DSR

6 5

GND

RTS

CTS

8 9+5V

housing

7 x 0.25mm + shield

Apply screen on both sides to surface.

7.9.9 Absolute value sensor (option A1)

The option A1 cannot be used for COMPAX 1000SL.

Cable plan GBK1/..: COMPAX absolute value sensor

X16

plug : 9-way Sub-D-pin

plug housing with screwed connection UNC4-40

plug : C12FUR

absolute enoder

RxD

TxD

DTR

DSR

6 5

GND

RTS

CTS

housing

Technical dataConfigurationPositioning and

control functions

functions

Optimization

InterfacesAccessories /

T+

T-

D+

D-

+24V

GND housing housing n.c. n.c. n.c.

2 4 7

4 x ( 2 x 0.25mm ) + shield

3 11 2 10 8 1

options

StatusParameterError list

Start-up manual

X13: Encoder interfaces, ...

7.9.10 X13: Encoder interfaces, ...

COMPAX-M / -S

Encoder interfaces

for COMPAX

Encoder interfaces

COMPAX 1000SL

Assignment on X13:

for

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. The necessary options are described on Page 179.

With COMPAX 1000SL, an encoder interface is integrated in the standard unit. This can be configured either as the encoder input or encoder simulation.

7.9.10.1 Encoder interfaces / analogue rpm specification for COMPAX

(not COMPAX 1000SL)

X13

Connector X13

15 pin Sub-D socket terminal strip Screws UNC4-40

Designat

ion:

1 Housing Screen terminal: 2 N2 Channel 2 zero impulse 3 B2 Channel 2 track B 4 2A Channel 2 track A 5 N1 Channel 1 zero impulse Enable 6 B1 Channel 1 track B +15V (<10mA) 7 1A Channel 1 track A 8 +5V Output +5V

9 N2/ Channel 2 zero impuse inverted 10 B2/ Channel 2 track B inverted 11 A2/ Channel 2 track A inverted 12 N1/ Channel 1 zero impuse inverted Direction of rotation 13 B1/ Channel 1 track B inverted -15V (<10mA) 14 A1/ Channel 1 track A inverted 15 GND Reference point

Function with encoder input or simulation

Function of channel 1 with option I7 for COMPAX XX6X or COMPAX XX70

Input (±10V)

The "Incremental encoder" function is an option for which additional boards are required . If the relevant options are available, the following applies:

Channel 1: encoder input. Channel 2: encoder emulation We can provide the relevant cables and a bus distributor for wiring up the encoder signals. Use these to implement various applications (see Page 179).

When working with COMPAX XX6X (electronic transmission) and COMPAX

XX70 (electronical curve control) variants, you can use option I7 via channel

1 to implement an analogue speed specification (see Page 186).

7.9.10.2 Area of application of process interfaces

Unit variants

COMPAX XX00 COMPAX XX30 COMPAX XX60 COMPAX XX70 Encoder emulation Encoder input

! External pos.

localization

! SPEED SYNC

"""""

! External position

localization (actual value)

Analogue input ! SPEED SYNC - ! Master speed ! Master speed Cycle / direction input ! SPEED SYNC - ! Master position

! Master position

(set value)

! Master position

(set value)

! Master position

(set value)

Interfaces

7.9.10.3 Encoder interfaces / Analogue rpm specification / Step direction input for COMPAX 1000SL

Unit

hardware

Encoder interface / Step direction input for COMPAX 1000SL

Connector

assignment X13 for

COMPAX 1000SL

COMPAX 1000SL has an interface which can be configured either as encoder input, encoder simulation, analogue input or step direction input. Encoder simulation and analogue input can be used simultaneously. This interface is a fixed part of COMPAX 1000SL. No other encoder interfaces are possible. The connections are on connector X13:

Connector X13

15 pin Sub-D socket terminal strip Screws UNC4-40

X13 Pin

1 Housing Screen terminal: 2nc 3nc 4 2A A2 (Analogue input)* 5 N1 Channel 1 zero impulse 6 B1 Channel 1 track B or direction 7 1A Channel 1 track A or step 8 +5V Output +5V

9nc 10 nc

11 A2/ A2/ (Analogue input)* 12 N1/ Channel 1 zero impuse

13 B1/ Channel 1 track B inverted 14 A1/ Channel 1 track A inverted 15 GND Reference point

Designation: Function

inverted

Connector

assignment / cable

Technical dataConfigurationPositioning and

control functions

Process interfaces Configuration options

Setting Outputs Inputs

P144 = 4 or 6 P146 = 0

P144 = 5 P146 = 0

P144=7

Not possible!

Encoder emulation

P146=8 512 Pulse/rev.

P146 = 0 1024 Pulse/rev.

P144 = 0

Encoder emulation

P146 = 8 512 Pulse/rev. P146 = 0 1024 Pulse/rev.

*The analogue input is only available with COMPAX XX60 and COMPAX XX70!

Encoder input

Cycle / direction input

Analogue input

10V*

±±±±

switched off!

functions

Optimization

InterfacesAccessories /

options

StatusParameterError list

Start-up manual

X13: Encoder interfaces, ...

COMPAX-M / -S

Configuring the process interfaces

* function analogue

input

P144 P146 Setting

= 4/6 = 0 Encoder input (without terminator) for individual connections, use

bus termination BUS06/01)

Cycle / direction input Counter cycle signal

(RS485/422)

= 0 = 0 Encoder simulation 1024 pulse / revolution

= 7 = 0 Encoder simulation 1024 pulse / revolution with analogue input = 0 = 8 Encoder simulation 512 pulse / revolution without analogue

= 7 = 8 Encoder simulation 512 pulse / revolution with analogue input = 7 = 0 = 7 = 8

The I7 function "direction of rotation" can be implemented in COMPAX 1000SL by exchanging the differential inputs or by changing the rotation direction with parameter P214 Bit 0. The I7 function "enable" can be implemented via Input I11. Use P232=4 to assign this function to Input I11 (COMPAX 1060/70SL only). I11 ="1": Release analogue input I11="0": Digital input value = 0 (input is set drift-free to 0)

Analogue input ±10V Input on A2 and A2/

Resolution: 20mV

Cycle input O1 – O1/= 5 = 0 Direction input B1 – B1/

without analogue input

input

Rpm specification as with option I7, however without direction of rotation input*

Applications with COMPAX 1000SL and encoder

(see page 179)

1. Direct encoder – COMPAX 1000SL connection

Cable: GBK11 Bus terminal: BUS06/01 (the bus terminal is allocated to X13 as adapter)

2. Direct COMPAX (simulation) – COMPAX 1000SL (input) connection

Cable: SSK7

3. Direct COMPAX 1000SL (simulation) – COMPAX (including COMPAX 1060SL

or COMPAX 1070L) connection (input); Cable: SSK17

4. An encoder distributor (EAM4/01) is used for the integration of COMPAX

1000SL into an encoder bus consisting of several COMPAX, as described in the COMPAX User Guide. It should be noted that COMPAX 1000SL always uses channel 1 (encoder input and simulation).

The operation mode is also configured via the parameters P143 and P98.

These have the following significance: P98 = Reference dimension P143 =

Example: Reference dimension = 100mm 10 000 input pulses should give a movement of 100mm

P143=10 000/4 = 2500

ensiondimReferenceperImpulses

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

Interfaces

Unit

hardware

Connector

assignment / cable

Cable plan SSK14/..:

Cable plan SSK15/..

IPM - COMPAX and COMPAX - COMPAX

X15X14/PC

D-pin 9-way D-plug shell 9-way

11 RxC 2 RxC/ 6 RxD 4 RxD/ 8 TxC 3

TxC/ 7

TxD 5

TxD/ 9

housing

clock from Master

data from Master

clock from Slave

data from Slave

4 x 2 x 0.25mm + shield

2 RxC

6 RxC/

4 RxD

8 RxD/ 3 TxC 7 TxC/ 5 TxD 9 TxD/

housing

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

Cables for COMPAX master and COMPAX slave coupling:

Slave: X14Master: X15

D-pin 9-way D-plug shell 9-way

Technical dataConfigurationPositioning and

control functions

functions

Optimization

InterfacesAccessories /

TxC 3 TxC/ 7 TxD 5 TxD/ 9

housing

Terminating connector

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

X15

(BUS2/01).

7.9.12 Bus connection

Special operating instructions are available for the bus systems.

2 x 2 x 0.25mm + shield

BUS 2/01

D-pin socket 9-way D-plug shell 9-way

RxC 2 RxC/ 6

RxD 4 RxD/ 8 TxC 3

TxC/ 7

TxD 5

TxD/ 9

2 RxC 6 RxC/

4 RxD 8 RxD/

housing

150

Ω

150

Ω

150

Ω

150

Ω

options

StatusParameterError list

Start-up manual

7.10 Technical data

COMPAX-M / -S

Power characteristics

Technical data

Functional capability

Position, speed and current controller.

•

IGBT final stage protected from short circuits and

•

ground/earth faults.

Digital positioning controller.

•

Motion controller.

•

Supported motors/resolvers

Sine-commuted synchronous motors up to a max.

•

speed of 9000 rpm.

Asynchronous motors.

•

Supported resolvers:

•

Litton:JSSBH-15-E-5

•

Tamagawa: 2018N321 E64

•

Siemens: 23401-T2509-C202

•

SinCos support (Stegmann).

•

3-phase synchronous linear motors

•

Sine-cosine linear encoder (1Vss) or TTL (RS422)

•

Digital Hall sensor commutation (5V).

Output data for individual units

Unit

COMPAX . with mains supply: 230V AC

10XXSL 2.5 5.0 1.0 25XXS 6.3 12.6 2.5

at mains supply: 400V AC

45XXS 6.5 13.0 4.5 85XXS 12.5 25.0 8.6 P1XXM 5.5 8.5 3.8 02XXM 6.5 8.5 4.5 05XXM 11.5 17.0 8.0 15XXM 25.0 50.0 17.0 35XXM 50.0 100.0 35.0

with mains supply: 460V AC

45XXS 5.4 13.0 4.5 85XXS 10.5 25.0 8.6 P1XXM 4.5 8.5 3.8 02XXM 5.4 8.5 4.5 05XXM 9.6 17.0 8.0 15XXM 21.0 50.0 17.0 35XXM 42.0 100.0 35.0

Reduced nominal data apply for linear motors; see Page 177.

JSSBH-21-P4 RE-21-1-A05 RE-15-1-B04

Nom.current [Aeff]

Peak current [Aeff] <5s

Power [kVA]

CE conformity

EMC immunity/emissions as per EN61800-3.

•

Safety: VDE 0160/EN 50178.

•

Supply voltage (limit values)

COMPAX-M (NMD)

3 * 80V AC - 3 * 500V AC; 45-65Hz.

•

COMPAX 35XXM

3 * 250V - 3 * 500V AC; 45 - 65 Hz.

•

COMPAX 25XXS

3 * 80V AC - 3 * 250V AC; 45 - 65 Hz

•

1 * 100V AC-1 * 250V AC; 45-65Hz

COMPAX 10XXSL

1 * 100V AC-1 * 250V AC; 45-65Hz

•

COMPAX 45XXS/85XXS

3 * 80V AC - 3 * 500V AC; 45-65Hz.

•

Mains supply fuse protection

K circuit breaker or similar Neozed fusible cut-out.

NMD (COMPAX-M)

•

NMD10: 16A (K circuit breaker: 20A) NMD20: 35A

COMPAX 35XXM: 62A

•

COMPAX 25XXS: 1x230V AC: 16A

•

3 * 230V AC: 10A

COMPAX 10XXSL: 16A

•

COMPAX 45XXS/85XXS: 16A

•

DC bus voltage

300V DC with 3(1) * 230V AC.

•

560V DC of 3 * 400V AC supply.

•

650V DC with 3 * 460V AC.

•

Output voltage to motor

Ignoring power losses, motor output rating is the maximum motor output voltage of the AC supply voltage available

Braking operation

Storable energy

•

NMD10/20: 1100µF / 173Ws

•

CPMPAX 35XXM:3450µ / 542Ws

•

COMPAX 25XXS: 1000µF/27Ws

•

COMPAX 45XXS: 330µF/52Ws

•

COMPAX 85XXS: 500µF/80Ws

•

COMPAX 1000SL: 660µF/17Ws

•

Ballast resistances (see Page 193)

•

Control voltage

24V DC ±10%, Ripple <1V

•

Current required:

1.3A for COMPAX 35XXM.

•

1A for COMPAX 45XXS/85XXS.

•

0.8A for the other units (incl. NMD).

•

Digital outputs, each 100 mA.

•

If needed, for fan approx. 100 mA.

•

For motor holding brake (0.35A-1.6A).

•

If needed, absolute encoder: 0.3A.

•

Accuracy

Positioning on the motor shaft:

•

Resolution: 16 bits (= 0.3 minutes of angle) Absolute accuracy: +/-15 minutes of angle

Maximum power dissipation

COMPAX 10XXSL: ...................... 50W

•

COMPAX P1XXM: ..................... 140W

•

COMPAX 02XXM / NMD10/20: . 120W

•

COMPAX 05/10/15XXM: ........... 250W

•

COMPAX 25XXS: ....................... 80W

•

COMPAX 45XXS/85XXS:.......... 170W

•

COMPAX 35XXM: ..................... 610W

•

Data record memory

250 data records, protected from power failure. Data record functions

Positioning commands, I/O instructions, program

•

commands: ACCEL, SPEED, POSA, POSR, WAIT, GOTO, GOSUB, IF, OUTPUT, REPEAT, RETURN, END,

WAIT START, GOTO EXT, GOSUB EXT, SPEED SYNC, OUTPUT A0, GOTO, POSR SPEED, POSR OUTPUT , +, -, *, /.

Target value generator

Ramps: linear, quadr., smooth; 10ms...60s.

•

Travel specified in increments, mm, inch or

•

variable using a scaling factor.

Monitoring functions

Mains power/auxiliary control voltage.

•

Motor and final stage temperature/blocking

•

protection.

Tracking error monitoring.

•

Ready contact: 0.5A; 60V; 30W.

•

Ambient conditions

Temperature range: 0...45°C.

•

Max. relative air humidity as per DIN 40040 class

•

F (≤75%); no condensation.

Interfaces

Control inputs: 16 (8 for COMPAX 1000SL)

24V DC, 10 kOhm (see ex page 52).

•

Control outputs: 16 (8 for COMPAX 1000SL)

active HIGH, short circuit protected; 24V (see ex

•

page 52).

Technical data

RS 232

9600 baud or 4800 baud

•

(for COMPAX 1000SL, fixed at 9600 baud).

Length of words 8 bits, 1 start bit, 1 stop bit.

•

Software handshake XON, XOFF.

•

Programmable controller data interface

(excluding COMPAX 1000SL)

via 5 binary inputs and outputs.

•

Encoder interface (option; standard for

COMPAX 1000SL)

Encoder emulation: 512 or 1024 counts/rev

•

Encoder input: RS422 interface; supply: 5V 120-

•

10000 lines/rev

COMPAX 1000SL signal interfaces (optional)

Encoder emulation or

•

encoder input or

•

step/direction input or

•

analogue input ± 10V

•

Absolute value sensor interface (option A1)

(excluding COMPAX 1000SL)

Supply voltage: 24V+/-10%.

•

Sensing code: grey code, single step.

•

Direction of counting: in clockwise direction when

•

looking at the shaft: rising.

Data interface: RS422 /24 bit data format (start:

•

MSB). • Cycle frequency: 100 kHz.

SinCos

High-resolution encoder instead of resolver.

•

Single-turn or multi-turn (absolute value over 4096

•

motor revolutions).

Option S2 with multi-turn: absolute value sensor

•

with programmable transmission factor.

Option S3 for linear motors.

•



(option S1/S2/S3)

HEDA: synchronous, serial real time

interface

Included in option A4 or option A1.

Bus connection: optional

dc-insulated bus connection.

RS485

Max. 115k baud • 2 or 4 wire/RS485

•

Interbus S

2-conductor remote bus • 500 kBaud.

•

max. 64 participants per ring.

•

Profibus

1.5 MBaud • Sinec L2-DP and FMS.

•

Unit

hardware

Connector

assignment / cable

Technical dataConfigurationPositioning and

control functions

functions

Optimization

InterfacesAccessories /

options

StatusParameterError list

Start-up manual

CS31

COMPAX - ABB interface.

•

CANbus

Up to 1.0 MBaud • Basic CAN.

•

CAN protocol as per specification 1.2.

•

Technical data

Hardware as per ISO/DIS 11898

•

COMPAX-M / -S

ServoManager.

•

Mains module

For technical data, see Page 23.

Permissible 3-phase mains

CANopen

Protocol as per CiA DS 301.

•

Profile CiA DS 402 for drives.

•

Operation

Parameter input/status request

Via COMPAX hand-held terminal.

•

Via RS232 and bus interface.

•

Via the programmable controller data interface

•

(excluding COMPAX 1000SL).

Status query also via the 3-digit LED display on

•

the front plate (excluding COMPAX 1000SL).

Housing

Fully-enclosed metal housing.

•

Insulation: VDE 0160/protection class IP20.

•

IP54 on request.

•

Connections

Motor, power bus, control inputs/outputs via

•

terminals.

Sensor cables, interfaces via connectors.

•

Installation

Wall mounting, suitable for installation in industrial

•

control cabinets.

Dimensions

NMD/COMPAX-M: see Page 20.

•

COMPAX 25XXS: see Page 33.

•

COMPAX 10XXSL: see Page 43.

•

COMPAX 45XXS/85XXS: see Page 36.

•

Weights: COMPAX P1XXM: .............5.6 kg

•

COMPAX 10XXSL: ...........1.6 kg

COMPAX 25XXS: .............4.6 kg

COMPAX 45XXS/85XXS: ..6.5 kg

COMPAX 02XX:.................7.1 kg

COMPAX 05/15: ................7.8 kg

COMPAX 35XXM:............22.5 kg

NMD10:..............................7.6 kg

NMD20:..............................8.1 kg

Standard delivery

COMPAX with User Guide.

•

The units (COMPAX or NMD) can be operated on all mains types

. Examples:

IT mains

TN mains

When using Delta mains, note that CE requirements (low voltage guideline) are no longer met when the voltage between a phase and earth >300V AC (isolated measurement voltage).

Leakage current

The leakage current (current on the mains PE) is mainly caused by the capacitive resistance between the conductor and screening of the motor cable. Additional leakage current occurs when using a radio interference suppresser as the filter circuit is connected to earth via the capacitors. The size of the leakage current depends on the following factors:

length of motor cable.

cycle frequency.

with or without radio interference suppresser.

motor cable screened or not.

motor earthed at site or not. The leakage current is very important regarding safety when handling and operating the unit.

Please note

The unit must be operated with an effective earth connection which satisfies the appropriate specifications for high levels of leakage current (>3.5 mA). The Servo booster must not be operated with a fault current circuit breaker due to the risk of higher levels of leakage current. If an FI circuit breaker is installed, it must not interrupt the current circuit despite the following conditions (e.g. from ABB series F804):

DC component in leakage current (3-phase rectifier bridge).

Brief occurence of pulse-shaped leakage currents when

switching on.

High levels of leakage current.

8. Operating Instructions

Overview:

Unit

hardware

Compact Servo Controller

Connector

assignment / cable

Technical dataConfigurationPositioning and

control functions

8.1 Overview:

The COMPAX digital positioning system has been designed for multi-axis applications in handling and automation technology. COMPAX contains all the functions required for a compact positioning system. These functions are:

! digital inputs and outputs (PLC interface) ! a serial interface (RS232) ! a data record memory ! an integrated IGBT final stage.

You will need auxiliary equiment (PC, hand-held terminal) to configure and program COMPAX. COMPAX is very flexible and offers all the advantages of digital control technology thanks to its completely digital design which encompasses positioning, speed and current control. The main features are:

! controller parameters which can be reproduced and

are drift-free

! simple copying of set values ! no offset problems ! the implementation of efficient, flexible and adaptable

setpoint generation.

functions

Optimization

InterfacesAccessories /

options

StatusParameterError list

Operating Instructions

COMPAX-M / -S

8.1.1 Block structure of the basic unit (not applicable for COMPAX 1000SL)

Interfaces for data and status

PLC data interface

Query the most important status values Setting the most important parameters

Status queries

Actual values

Diagnostic values

Device IDs

Setting parameters

Configuration

Optimization

General settings

Travel commands

RS232 / RS485 Bus-Systems

for connection of PLC, IPC, PC or general. control unit /e.g.: COMTAC from Hauser

Functions

Direct commands

ACCEL, SPEED

POSA, POSA HOME,

POSR, OUTPUT,

GOTO, ...

Programming

250 lines

Positioning commands

I/O instructions Program flow commands

System controller

Program memory / parameter memory

16 Binary inputs and outputs

Controlling

manual+, manual-

Start, Stop, Break

Machine zero, real zero Teach real zero, program line

Settings,

data

Servo control

Override input

Externally controlled

speed reduction

current feed forward

acceleration feed forward

speed feed forward

Setpoint

generator

Absolute encoder

reference drives

not required

Position

controller

Rotational speed

controller

Rotational speed filter

Interfaces for signals

Encoder input

Synchronization

to external

speeds and position

Encoder emulation

Output of actual speed and position

Current

controller

Rotational speed and

position generation

Motor

Output stage

Encoder

simulation

D/A monitor

2 analogue outputs for

internal values

(rotational speed, current, etc.)

Block structure of the basic unit (not applicable for COMPAX 1000SL)

Explanations for the block structure

Interfaces for data and status

Overview:

Unit

hardware

PLC data interface

RS 232

Bus systems

Binary inputs and

outputs

Functions

Query status

The following commands are available via 5 binary inputs (I7...I11) and 5 binary outputs (O7...O11): POSA, POSR, SPEED, ACCEL, GOTO, VP, modifying parameters P1..P49, querying status S1...S12. (Function not available with the COMPAX 1000SL)

All functions are available via RS232.

All functions are available via the bus interface (Interbus S, Profibus, CAN bus, CANOpen, CS31 or RS485 (ASCII/binary with 2 or 4 wires). A description is available as a separate item.

Inputs: I1...I6: control functions or freely assignable. I7...I16: freely assignable or programmable. Outputs: O1...O6: control outputs or freely assignable. O7...O16: freely assignable or programmable.

The status can be queried via the PLC date interface, the bus interface and partially via the front plate display.

Connector

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Technical dataConfigurationPositioning and

control functions

Setting parameters

Configuring

Optimizing

General settings

Programming data

records

Controlling

System controller

Control

Operating mode, units for travel data, motor types, ramp shapes, directions, drive

types, reference systems, ....

Via the uncoupled stiffness, damping and advance control parameters.

Replacement and specification values, limitations, control parameters.

Programming a sequential program with up to 250 data records.

Functions: manual mode, start, stop, break, teach functions ....

Messages no fault, no warning, machine zero has been approached, ready for start, position reached, idle after stop or break. Program control: external data record selection, analyzing binary inputs, setting

binary outputs, triggering positioning processes,... .

Function monitoring and co-ordination

Digital control with robust control loops. Automatic calculation from existing design quantities.

functions

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Operating Instructions

Password protection

Interfaces for signals

COMPAX-M / -S

Override input

Absolute value

sensor (option)

HEDA (option)

Encoder input

Encoder simulation

D/A monitor

Analogue input (see Start-up manual) for continual reduction of the set speed.

This option supports an absolute value sensor attached to the motor; reference travel is therefore no longer required after initialization has been executed once (see Start-up manual and Accessories and options). (Function not available with the COMPAX 1000SL)

Real time data channel For implementing track and contour tasks using the HAUSER "IPM" interpolation module for PC and IPC or direct COMPAX - COMPAX coupling with one COMPAX as the master.

COMPAX can be synchronized to an external speed (and/or position, e.g. with the "Electronic transmission" unit variant) via this input (see Start-up manual and Accessories and options).

The actual position value can be made available to other units via this channel (see Start-up manual and Accessories and options) .

An encoder bus can also be created. (see description in "Accessories and options")

18 internal measuring and intermediate parameters are output as analogue voltage (+/-10V) via two 8 bit channels (or optionally 12 bit channels).

8.1.2 Password protection

COMPAX contains password protection to prevent unwanted data manipulation. Before you configure COMPAX or set your parameters, you must enable these functions with a password. When the axis is at standstill, proceed as follows to enable and block:

Deactivate password protection: activate password protection:

Protected parameters

Note!

♦

transmit GOTO 302 to COMPAX

♦

switch the unit off

♦

transmit GOTO 270 to COMPAX.

All parameters, except P40-P49, are protected by password.

The COMPAX program is not protected by a password.

Conditions for password input :

♦

There must not be any programs running.

8.2 Configuration

Configuration

Front plate operation (not available with COMPAX 1000SL)

Unit

hardware

8.2.1 Front plate operation (not available with COMPAX 1000SL)

Using the COMPAX front plate, you can query particular status values and perform the most important bus settings. Also whenever an error occurs, COMPAX shows the error number on the display.

Querying status values and modifying the bus parameters.

choose

Status

number

status

indicator

call smaller

Status

number

without

function

Enter

choice of operation

Enter

call higher Status number

without function

modes

call smaller

C-parameter

number

decrease

value

Enter

call higher C-parameter number

increase value

choose number of C-parameter

change C-parameter

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Technical dataConfigurationPositioning and

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Meaning of the bus parameters:

The following status values can be displayed via the front plate:

S03-S08, S11, S19-S26 (hexadecimal display), S27, S30, S31, S37-S39 (description of the status values: see Page 207).

The remaining status values can be queried via the interfaces.

C parameters COMPAX parameters Meaning Valid from

C01 P194 Address of unit Power on C02 P195 Baud rate: Power on C03 P196 Bus protocol Power on C11 P250 HEDA address immediately C04 - C10 reserved

Display

value

Baud rate

[Baud]

0 600 31 31 250 172 172 800 1 1200 38 38 400 187 187 500 2 2400 50 50 000 250 250 000 4 4800 57 57 600 345 345 600

9 9600 62 62 500 375 375 000 10 10 000 76 76 800 500 500 000 19 19 200 100 100 000 800 800 000 20 20 000 115 115 200 999 1 000 000 28 28 800 125 125 000

Display

value

Baud rate

[Baud]

Display

value

Baud rate [Baud]

Please see operating instructions for the bus option used for the relevant range of values and the precise setting options.

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Acknowledging error messages

Once you have rectified the cause of the error, you can acknowledge the error by pressing the "Enter" key.

Operating Instructions

Configuration when supplied

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). In addition to this, when switched on, all parameters (apart from bus settings P194, P195, P196 and P250) are set to their default values.

P149="1": COMPAX is configured and once switched on (24V DC and operating

voltage) tries to engage the motor.

If you are configuring using ServoManager, P149 is automatically set to "1" once ServoManager has executed successful configuration.

COMPAX-M / -S

Controller design concept

Power on with motor switched off

To operate the COMPAX controller design concept, you must have a basic level of technical control knowledge. COMPAX calculates the internal system and controller parameters required using simple, application-specific values, which are generally accessible. A strong controller design obviates the need for tedious controller optimization. This configuration provides you with a stable controller.

If the control process is unstable because COMPAX has been incorrectly configured, you can switch on COMPAX so that the drive remains switched off even with power on. To do this, when switching on COMPAX simultaneously press the "-" key. The following will then happen:

♦

the drive is switched off.

♦

the digital outputs O1...O6 are set to "0".

♦

when the PLC data interface is switched on: O7=1, O8, O11=0

♦

the password protected functions are enabled.

Once you have parameters, you can engage the drive and outputs again using the command

"OUTPUT O0 = 0". (Function not available with the COMPAX 1000SL)

8.2.3 Configuration process

correctly configured COMPAX or you have corrected the relevant

Switching off the drive

Modifying parameters

Before you configure COMPAX or modify the configuration, the drive must be switched off e.g. using the command OUTPUT O0=1 or 2 (see Page 98).

The COMPAX configuration is carried out using parameters as follows:

♦

select operating mode.

♦

specify units for the travel data.

♦

select motor from the motor list or configure an external motor.

♦

select ramp shape. define direction

♦ ♦

use the design data to specify the drive type.

♦

define the reference system.

Configuration

Safety instructions for initial start-up

The ParameterEditor (part of the ServoManager) automatically guides you into the "Guided configuration" menu through the input masks with the configuration settings.

From the next page, there is a clear description of the configuration process for implementing new configurations. If this process is followed, you can specify all the parameters required for your application. In Chapter "Machine zero mode", you will find a description of options for machine zero and limit switch configurations which deviate from the standard.

The configuration parameter are not accepted directly once they have been modified. COMPAX will only accept the new parameters once the VC commands (valid configuration) have been issued. The ServoManager automatically sets the parameters as valid after configuration!

Unit

hardware

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Technical dataConfigurationPositioning and

Power on for

Using the command OUTPUT O0=0.

drive

Note that once a configuration has been set or modified, there is a risk if some parameters have been incorrectly programmed.

You must secure the displacement area of your system when switching on the drive.

Please mind the limit values of the mechanical component! Defiance of the limit values may lead to destruction of the

mechanical component!

8.2.4 Safety instructions for initial start-up

Risks from incorrect wiring!

In order to avoid the risks from incorrectly wired systems during initial start-up, use the following settings for personal safety and protection of the mechanical system:

P15 = 10% (motor speed limited to 10% nominal value) P16 = 100% (torque limited to 100% nominal value)

The drive must remain at standstill after the system switch on.

•

Execute a travel operation e.g. with POSR * or manually +/-.

•

If this travel operation is executed correctly, then P15 and P16 can be reset to their original values.

The following faults may occur:

The drive does not remain at standstill when switched on, or

•

the drive runs out of control after the start command.

•

In both cases, either error E10 or error E54 is triggered. If error E54 occurs, the drive is switched off. A possible cause of the error is incorrect wiring in the motor or resolver systems.

control functions

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Operating Instructions

Configuration parameters

8.2.5 Configuration parameters

COMPAX-M / -S

Operating mode

Normal mode:

Continuous mode:

Speed controller

Parameter P93: valid from next move command. P93 ="1"

Positioning processes refer to real zero. To set the reference, use the "Find machine zero" function (Input I1="1" and I2="1", see Page 148) once the system is switched on. Various machine zero modes are described from Page 80.

P93 ="2"

Positioning processes always refer to the relevant start position. The "Find machine zero" function is not necessary but possible. Set P1 (real zero) = 0. To avoid inaccuracies during conversions, use the "Increments" measurement units in continuous mode (see below).

Operation with absolute value sensors is not permitted when working in continuous mode.

P93 ="4":

In this operating mode, the drive controller operates as a speed controller, the position controller is switched off. The following applies:

♦

Commands not permitted: POSA, POSR, POSR SPEED, POSR OUTPUT, POSA

HOME, ACCEL-.

♦

The SPEED command contains a prefix for the direction of rotation.

♦

Output O3 is not assigned;

O5 has the "Programmed nominal speed reached" function (see Page 120).

♦

The data record indicator is set to N001 using "Approach real zero".

♦

The "Find machine zero" function (I1&I2) is not assigned.

Unit for travel data

mm Inch Increments

Parameter P90

P90 ="1"

P90 ="2"

P90 = "0": Accurate increment operation without conversion inaccuracies.

This measuring unit is only useful when using the "General drive" drive type and especially in continuous mode. The levels of accuracy are not increased when working with other drive types.

The "Travel per motor revolution" (P83) is specified in increments. Meaning: P83 = 2

This corresponds to a resolution of 16 .... 65 536 increments per motor

revolution.

P83 influences the resolution and also the max. travel distance:

when n = 4, 5, 6, ...16

Configuration

Configuration parameters

the max. travel distance is limited to ±4 million units. This corresponds to 61 revolutions at a maximum resolution of 65 536 increments per motor revolution. The maximum travel distance can be increased by reducing P83. Meaning:

P83 Maximum travel in motor revolutions

16 32

64 128 256 512

1024 2048 4096

8192 16 384 32 768 65 536

In continuous mode, this limitation applies to a single command. In normal mode, this limit applies to the entire displacement area.

250 000

125 000

62 500

31 250

15 625

7812

3906

1953

± ± ± ±

976 488 244 122

Unit

hardware

Connector

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Technical dataConfigurationPositioning and

Motor type

Basic conditions for external motors:

Ramps

linear

Parameter P100

The motor parameters are required for COMPAX motor-specific settings. The motor parameters of the HAUSER motors recommended for COMPAX are available in a list in ServoManager / ParameterEditor and can be selected from there. You can configure additional motors using the "External motor" function.

♦

Sine-commuted motors (sinusoidal EMC)

♦

Resolver / SinCos (see start-up manual under "Technical data" on Page 64).

The nominal currents of the motors and units must be adapted. If you are using nominal currents which are smaller in relation to the unit nominal current, current recording will be less accurate.

Parameter P94 P94 ="1"

Simplest, time-oriented function; not smooth

a , M

1,0

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Current requirement: 1 times

Operating Instructions

Configuration parameters

COMPAX-M / -S

smooth

quadratic

P94 ="2"

The mechanics are subject to minimum load when using the smooth function.

a , M

1,9

Current required: 1.9 times

P94="3"

Gentle running in to the nominal value; overswings are prevented.

a , M

2,0

Exception:

Drive type:

Spindle drive:

Current required: 2 times

ta: Ramp time (can be set using the command "ACCEL", see Page 97) v: Speed: a: Acceleration. M: acceleration torque

Transfer of P94

Modifications to P94 become effective from the next move command.

For the functions:

♦

stop after passing a limit switch and

♦

synchronous stop via I13 (see Page 151).

the ramp type only becomes valid with VC

Parameter P80: select drive type

Various data are required for additional configuration depending on the drive type selected. This modifies the assignment of the parameters P81 - P85. Continue configuration with the drive type selected.

P80=2:

P81: length

P82: diameter

P83: Pitch

Length of spindle Range: 0 ... 5000mm

Diameter of spindle Range: 8 ... 80mm

Pitch per spindle revolution. Range: 1 ... 400mm

Configuration

Configuration parameters

Unit

hardware

P85: ratio

P84: moment of

inertia

P92: Minimum mass

P88: Maximum

mass

Rack+pinion/ toothed belts

P82: Number of

teeth on pinion

P83: tooth pitch

Motor / spindle ratio. Range: 1 (1:1)...100 (100:1) ≡ motor: transmission

Moment of inertia of transmission and clutch referenced to the drive side. Range: 0...200kgcm

Minimum translational mass moved [kg]. Range: 0...P88

Maximum translational mass moved in [kg]. Range: 0...500kg

P80= "4" or "8"

Range: see tooth pitch

Distance between two teeth The range of values for the number of teeth and tooth pitch is determined by the pitch. Meaning: pitch = number of teeth

tooth pitch.

Range of pitch values: 1 ... 410 mm

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Technical dataConfigurationPositioning and

P85: ratio

P84: moment of

inertia

P92: minimum

mass

P88: maximum

mass

HLE / HPLA data for

the drive type:

"Toothed belt"

General drive

P81: Minimum

moment of inertia

Ratio from motor to rack-and-pinion/toothed belt. Range: motor: transmission ≡ 1 (1:1)...100 (100:1)

Moment of inertia of transmission and clutch referenced to motor shaft. Range: 0...200kgcm

Minimum translational mass moved [kg]. Range: 0...P88

Maximum translational mass moved in [kg]. Range: 0...500kg

HLE80C HLE100C HLE150C HPLA80 HPLA120 HPLAB180 HPLAR180

rack+pinion

Teeth on pinion (P82)

Tooth pitch (P83)

19 17 24 18 27 21 28

10mm 10mm 10mm 10mm 10mm 20mm 10mm

P80=16:

Total minimum moment of inertia: motor, transmission and load referenced to the motor shaft.

Range: 0...P82 [kgmm

]

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P82: maximum

moment of inertia

P83: travel per

motor revolution

Total maximum moment of inertia: motor, transmission and load referenced to the motor shaft. Range: P81...200 000kgmm

Range: 10 ... 4 000 000µm or 16 ... 65 536 increments.

Operating Instructions

Configuration parameters

COMPAX-M / -S

Reference system

P213="0":

P213="1":

Setting aid

Specifying software end limits

Parameter P213: direction of machine zero

(this describes the default setting, for more information see Page 80

Standard reference system: no end or reversing initiators; one machine zero initiator at the end of the displacement area

The machine zero initiator must be attached so that it can only cleared in one direction; i.e. attached to one side.

Use parameter P213 to inform COMPAX of the side on which the MZ zero) initiator is attached.

The machine zero initiator is approached with the motor turning clockwise (when facing the motor shaft).

The machine zero initiator is approached with the motor turning anti-clockwise.

Set P215="0": Actuate Hand+; the drive moves in the direction of the MZ initiator, then the

following applies: P213="0", if this is not the case, set P213="1".

The following basic setting applies for this standard reference system (≡ no end or reversing initiators; one machine zero initiator at the end of the displacement area): P212="1", P217="0", P216="0". You will find other options for defining a reference system in the next chapter.

Specify the software end limits of the displacement area by using parameters P11 and P12. Each time a positioning command is issued, COMPAX checks whether the target is within the travel distance. If this is not the case, error E25 is reported.

When working in continuous mode, these limits always apply for the current positioning process.

(machine

P11: maximum

position

P12: minimum

position

Specifying point of real zero (RZ)

P1: point of real

zero

P215: direction of rotation

Setting aid:

Range: ±4 000 000 [units corresp. P90]

Absolute positioning commands refer to RZ. RZ is specified relative to machine zero.

P1 must be set to 0 in continuous mode .

Range: ±4 000 000 [units corresp. P90]

P215 establishes the positive direction of travel (positive end of displacement area) referenced to the motor direction of rotation.

P215="0" the motor is turning clockwise when traveling in the positive direction P215="1" the motor is turning anti-clockwise when traveling in the positive

direction

♦

Clockwise means when looking at the motor shaft.

Proceed with Hand+; the motor must move in the direction which is defined as being the positive direction. If this is not the case, then P215 must be modified.

P215 has no influence on the setting of the machine zero direction (P213); if it has the same mechanical design.

MZ: machine zero

Absolute value function with standard resolver

8.2.6 Absolute value function with standard resolver

Absolute value function without special sensor for up to 4096 rpm

♦

Activated with P206=2

Parameter P206=2 is used to activate the absolute value resolver.

♦

COMPAX reads the current actual position cyclically every 2ms and stores this

data alternatively onto 2 memory stores (Pos 2, Pos 3) protected against power failure.

♦

The current imported position is shown in Status S12.

♦

After Power On, the last stored actual positions (Pos 2 and Pos 3) are read and

compared with each other and the current read resolver angle (Pos 1).

A3 is set, when

♦

the last saved actual position (Pos

2) lies within a definable window (P161) around Pos 1,

and when

♦

Pos 2 and Pos 3 are less than

P161 from one another (to ensure that the drive stops when

switched off). Renewed referencing (find machine zero) is not required. S12 is copied after Power On, enabling of the controller or after an error in S1.

If the last saved actual position (Pos 4) lies outside a definable window (P161), then A3 is not set, so a renewed referencing (find machine zero) is necessary.

Configuration

Pos 1

Pos 2

Pos 3

Pos 4

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Technical dataConfigurationPositioning and

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Condition:

Maximum angle

difference P161:

Note

Value range S12

in the switched off status, the motor or mechanics must not be moved. Ensure this by using e.g. a motor brake or self-braking gearbox.

P161 gives the maximum permissible angle difference between the saved and the current actual position when switching on. Range: 1 ... 2047; default value 100; where 4096 = 1 motor revolution. If P161 is exceeded, then a new reference is necessary (find machine zero).

♦

After error E42 (resolver/sensor error), referencing must always be implemented.

♦

The absolute value sensor function described above only functions with

resolvers.

♦

The absolute value function with resolvers is not supported by COMPAX XX30.

The value range of the absolute value S12 lies between –2048 and 2047.9999 (0 corresponds to the machine zero when P1=0). In addition, a value sign conversion occurs (value jumps from the positive maximum value to the negative maximum value; or vice versa), whereby at the next comparison S12→S1 an error of precisely 4096 occurs. Use a real zero P1 to shift the value range (around –P1). Ex. 1: P1=-2000 value range S12: -48 ... 4047 rpm. With knowledge of this relationship, it is possible to create a positive travel area of maximum 0 ... 4096 by the following actions:

! Travel to center of total travel area ! PH with P1=-2048 and P212=10 ! S1 = S12 = 2048 at this point

Travel from POSA 0 ... POSA 4095.9999 possible without value sign conversion.

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Operating Instructions

Machine zero mode

8.2.7 Machine zero mode

COMPAX-M / -S

Overview:

Machine zero equals external initiator & resolver zero / 2 reversing initiators.

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. ="3": MZ equals external zero pulse ="4": MZ equals external initiator rounded with the external zero pulse.

="5": MZ equals resolver zero ="6": reserved ="7": MZ equals external initiator (without resolver zero). ="8": MZ equals a limit switch

="10": MZ teach ="11": Machine zero - initiator (without resolver zero) with 2 reversing initiators

P212 becomes valid immediately after a modification.

P212=3 & P212=4 is only permitted for COMPAX XX00 and COMPAX XX30.

Function of the machine zero mode

P212 ="0" Start search direction / initiator side Application

P213: defines the initiator flank of the machine zero

initiator that is being evaluated; i.e. the side

from which the initiator is approached. P3: the prefix defines the start search direction. P215: influences the start search direction during

find machine zero. P29: shifts the actual machine zero in the direction

of the clockwise rotating motor. P216: sets the limit switch position

(must also then be set if there are no

configured limit switches (P217=0)

Linear movements

Example of a reference system definition

E2 MN E1

P215="0": the motor rotates clockwise when traveling in the positive direction; i.e.

the positive end in the diagram is on the right-hand side. P212="0": operating mode with reversing initiators; i.e. with 3 initiators. P217="0": operating mode without end initiators. I1 and I2 act as reversing

initiators during "Find machine zero". P216="0": the I1 initiator is started by the clockwise rotating motor. P3 = positive (when P3 = negative, reverses start search direction)

gear doesn`t change the direction

direction "clockwise rotating motor"

Configuration

Machine zero mode

Unit

hardware

Real zero

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

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

E2 E1

speed

reverse initiator/ limit switch

starting position 1

resolver zero pulse

machine zero switch

actual machine zero

shift machine zero by P29

P29=90°...360°

starting position 2

resolver zero pulse

P29=

0...90°

resolver zero pulse

reverse initiator/ limit switch

starting position 3

distance

Connector

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Technical dataConfigurationPositioning and

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

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Operating Instructions

Machine zero mode

Additional machine zero modes

The machine zero modes described below are all used without reversing initiators. The search direction and the evaluated initiator side are influenced as follows with these machine zero modes: P213: defines the start search direction and (if there is an initiator fitted) the initiator

flank of the machine zero initiator which is being evaluated; i.e. the side from

which the initiator is approached P3: no influence in the start search direction during find machine zero. P215: no influence on find machine zero. P29: shifts the actual machine zero in the direction of the clockwise rotating motor

(see below).

COMPAX-M / -S

Machine zero equals external initiator & resolver zero

P212 ="1"

P213

="0 "

P213="1"

signal of MZ initiators

MN-Ini

Find machine zero Application

Standard machine zero mode for linear movements

clockwise rotating motor

resolver zero pulse

actual machine zero

P29 = 0° - 270°

P29 = 270°- 360°

clockwise rotating motor

resolver zero pulse

signal of MZ initiators

MN-Ini.

actual machine zero

P29 = 100°- 360°

P29 = 0°-100°

Shifting machine zero

Configuration

Machine zero mode

Explanation for shifting machine zero using P29, taking the example of P212="1"

Unit

hardware

signal

MZ-INI

resolver

zero

pulse

machanical

position

of the

actual MZ

mechanical

machine zero

initiator active

mechanical

limit

initiator edge

machine zero

initiator disabled

initiator edge

position

The machine zero initiator (MZ-INI) is low active

The resolver zero pulse is a fixed position of the rotor position

The actual machine zero (MZ) results from the "AND" connection of the machine zero initiator with the resolver zero pulse

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Technical dataConfigurationPositioning and

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Example 1:

= 90°;

αααα

clockwise rotating

motor in direction

of mechanical

limitation

Example 2:

= 90°;

αααα

clockwise rotating

motor away from

the direction of the

mechanical

limitation travel

position of actual MZ

mechanical

position

of the

actual MZ

mechanical

range within which the position of the actual MZ can be shifted by P29

initiator edge

clockwise

limit

P29 =

0...270°

360°

P29 =

90...360°

360°

rotating motor

initiator edge

clockwise

rotating motor

position

29 shifts the actual machine zero in the direction of the clockwise rotating motor

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Operating Instructions

Machine zero mode

COMPAX-M / -S

Machine zero equals external zero pulse

Conditions for this operating mode:

P212="3" (only permitted for COMPAX XX00 and COMPAX XX30!)

Find machine zero Application

P213="0" P29=0°

external

zero pulse

P213="1"

♦

External encoder; read via an encoder input module (I2, I4)

♦

Encoder input parametrized by: P144="6"

command

"search MZ"

command

"search MZ"

external

zero pulse

P29=90°

external

zero pulse

command

"search MZ"

command

"search MZ"

90°

external

zero pulse

90°

General rotatory movements

Specify P98 (travel per encoder revolution), P214 (encoder direction) and P143 (encoder pulse number).

Configuration

Machine zero mode

Unit

hardware

Machine zero equals external initiator & external zero pulse

P212="4" (only permitted for COMPAX XX00 and COMPAX XX30!)

Find machine zero. Application

P213="0"

Linear and rotatory movements.

If you have an encoder on the load, with this setting you obtain a reproducible machine

signal MZ-ini.

clockwising rotating motor

encoder zero pulse

MN-Ini

zero response to any transmission factor which does not round

position of the actual MZ

P29 = 0°- 360°

0° 360°

P213="1"

to whole digits (i.e. not precisely displayable).

Example of an transmission factor that cannot be

MN-Ini

clockwise rotating motor

encoder zero pulse

signal MZ-ini.

displayed exactly:

teeth17 teeth11

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assignment / cable

Technical dataConfigurationPositioning and

Conditions for this operating mode:

position of the actual MZ

P29 = 0°-360°

0° 360°

Note!

If P75≠0 for this setting, external position localization is switched on.

♦

External encoder; read via an encoder input module (E2, E4)

♦

Encoder input parametrized by: P144="6" Specify P98 (travel per encoder revolution), P214 (encoder direction) and P143

(encoder pulse number).

control functions

functions

Optimization

InterfacesAccessories /

options

StatusParameterError list

Operating Instructions

Machine zero mode

COMPAX-M / -S

Machine zero equals resolver zero

P212 ="5"

P213="0" P29=0°

resolver

zero pulse

P213="1"

command

"search MZ"

command

"search MZ"

resolver

zero pulse

Find machine zero Application

P29=90°

resolver

zero pulse

command

"search MZ"

General rotatory movements.

This is a simple method of implementing machine zero, especially if the transmission runs at high speeds.

command

"search MZ"

90°

resolver

MZ pulse

90°

Machine zero equals external initiator (without resolver zero)

P212 ="7"

P213="0"

P213="1"

signal of MZ-ini.

position of actual MZ

signal MZ-ini.

Find machine zero Application

Linear and rotatory movements.

clockwise rotating motor

MN-Ini

P29 = 0° - 360°

0° 360°

If you have an encoder on the motor side, with this setting you obtain a reproducible machine zero response to any transmission factor which does not round to whole digits (i.e. not precisely displayable).

Example of an transmission factor that cannot be

clockwise rotating motor

MN-Ini

P29 = 0° - 360°

0°

360°

displayed exactly:

teeth17 teeth11

Accuracy: depends on P3.

position of actual MZ

Accuracy in motor revolutions:

60 1000

••

100

•

104

Configuration

Machine zero mode

Unit

hardware

Machine zero equals a limit switch

P212 ="8"

P213="0"

P213="1"

Find machine zero Application

clockwise rotating motor

signal MZ-ini.

position of actual MZ

clockwise rotating motor

signal MZ-ini.

position of actual MZ

resolver zero pulse

...

P29 = 0°- 360°

0°

360°

resolver zero pulse

...

P29 = 0°- 360°

0° 360°

Linear movements. No need for a machine

zero initiator.

Function

Travels during "Find machine zero":

♦

to the relevant limit

switch.

♦

back to the 3rd

resolver zero pulse. The 3rd resolver zero pulse is evaluated as machine zero.

Supplement

With P202, the distance between initiator and machine zero can be increased (e. g. for large gear ratios). Meaning:

P202=0 or 3; function as described.

With P202>3, the distance of the machine zero can be moved by further resolver zero pulses. P202 unit: Resolver zero pulses = motor revolutions

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Technical dataConfigurationPositioning and

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Optimization

Condition:

Wiring up:

Teach machine zero

P217 ="1" P216 = set correctly.

In the above diagram: P216="1": (limit switch E1 is approached with anti-clockwise rotating motor)

The input of the machine zero initiator (X17/7) must be wired up with the relevant limit switch: P213="0": X17/8 must be connected to X17/7. P213="1": X17/9 must be connected to X17/7.

P212="10": Teach machine zero

When activated via the command "Find machine zero" (Input I1&I2 or command "POSA Home"), the current position of the motor is defined as the machine zero.

A machine zero initiator is not required with this method.

Via parameter P29, machine zero can be moved from the teached point by up to one motor revolution. The drive then executes machine zero travel from the current position by the angle P29 in a clockwise direction. Range of values for P29: 0...360 degrees (other values are considered as 0).

If P29=0, machine zero travel is not implemented.

InterfacesAccessories /

options

StatusParameterError list

Operating Instructions

Machine zero mode

COMPAX-M / -S

Machine zero initiator (without resolver zero) with 2 reversing initiators

P212="11": Machine zero - initiator (without resolver zero) with 2

reversing initiators

Application: Applications with belt drives where the belts may skip during operation.

8.2.8 Limit switch operation

P217 ="0" Operating mode without end initiators P217 ="1" Operating mode with two end initiators

2 initiators are required. The displacement area is limited by the initiators attached at both ends of it. When one of the end initiators is activated, an error message appears, the drive is decelerated using P10; this does not apply to the "Find machine zero" function. Subsequently, the limit switches can be deactivated with Hand+ or Hand-. When P212 = 0 (or = "2"), the initiators are used as reversing initiators during "Find machine zero". In other machine zero modes, the initiators can be switched to end initiators by P217 via bit 0="1".

Configuration

Limit switch operation

Unit

hardware

Connector

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Technical dataConfigurationPositioning and

Limit switch monitoring during the reference travel

Response when the

limit switch is

reached:

Limit switch monitoring without locking the movement

Bit 114 (P217) = 0: limit switches are not monitored during reference travel.

= 1: (P217= 3) limit switches are monitored during "Find machine

zero" (when P212<>0 and P212<>2). The operating mode bit 1 (P217)=1 assumes that 3 initiators are connected. Here it is not possible to use one of the two end initiators as a machine zero initiator. Regardless of the search direction P213, both limit switches are monitored.

When one of the two limit switches is reached, COMPAX responds with an emergency stop. Then the following applies: move out of the danger zone using Hand+/-, then acknowledge. In such cases, the "MZ approached" output is not set.

Bit 2 (P217) = 0: function corresponding to Bit 0 and Bit 1.

= 1: (P217= 5) after activation of a limit switch, the drive is braked

with P10 (standard), however travel movements are still

possible afterwards using POSA and POSR. The operating mode bit 1 (P217)=5 assumes that 3 initiators are connected. Here it is not possible to use one of the two end initiators as a machine zero initiator.

control functions

functions

Optimization

InterfacesAccessories /

P216: specifying the limit switch position

Setting aid:

Initiator I1 is assigned the direction of motor rotation using P216.

P216: ="0": initiator I1 is approached with the clockwise rotating motor. P216: ="1": initiator I1 is approached with the anti-clockwise rotating motor.

Clockwise rotation defined when looking at the motor shaft.

Move to a limit switch using Hand+ (when P215="0"); an error message appears in the COMPAX display:

♦

error 50: I1 has been activated; i.e. P216="0"

♦

error 51: I2 has been activated; i.e. P216="1"

This allocation only applies if P215="0"; if P215="1" the allocation is

reversed. When operating with the reversing initiators, but no limit switches, an error message will not appear. You then have two options:

Bit-counting begins with Bit 0.

options

StatusParameterError list

Operating Instructions

Limit switch operation

♦

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.e. P216="1 Bit 4: I1 is activated, i.e. P216="0"

COMPAX-M / -S

Configuration via PC using "ServoManager"

Installing ServoManager

8.3 Configuration via PC using "ServoManager"

Unit

hardware

There is a separate manual describing how to work with ServoManager.

8.3.1 Installing ServoManager

Preparation

Installation

Before installation, deactivate the following programs:

♦

any virus detection software.

♦

the Miro Pinboard in Miro graphic cards.

Information concerning these programs. Following installation, the virus software can be reactivated. Problems may also occur during program execution with Miro Pinboard.

Start the "Setup.exe" program on disk 1. The installation is a menu-guided process. Following the installation, a Windows program group will appear containing the ServoManager and the terminal.

8.3.2 Configuring COMPAX

♦

Create connection to COMPAX: cable SSK1 (see Page 59).

♦

Call up ServoManager.

♦

Create a new project (Menu: Project: New).

♦

Using the menu "Axis: Insert: From controller" to set up an axis which contains all

COMPAX settings (all parameters: including system parameters and data records, curves are also available for COMPAX XX70).

♦

Use the menu "Servo-Tools: to switch to ParameterEditor.

♦

Call up menu "Configuration: Guided configuration". All configuration parameters are queried one after another.

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Technical dataConfigurationPositioning and

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Optimization

InterfacesAccessories /

8.3.3 Individual configuration of synchronous motors

In addition to the motors contained in ServoManager / ParameterEditor, you can configure almost all synchronous motors. The conditions required for the motors and resolvers are listed in the start-up manual under "Technical data".

To modify motor parameters, the motor must be switched off (use OUTPUT O0=1 or press the "-" button on the front plate while switching on COMPAX).

You will find the data required for this on the HAUSER motor type plate.

options

StatusParameterError list

Operating Instructions

Individual configuration of synchronous motors

Motor type plate

COMPAX-M / -S

Proceed as follows:

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).

HDY xxx Ax-xxxS

S: si nu soidal EMF T: trapezoidal EMF

EMF given in V per 1000 rpm number of poles of motor

motor length

flang e size of motor

motor type: HDY,HJ or HBMR

♦

P103: motor moment of inertia (inertia) [kgmm2]

♦

P109: stator inductivity (ind) [µH]

♦

P113: maximum mechanical speed (max)[rpm]

♦

P116: stator resistance (res) [Ω]

♦

P105: effective value of nominal current IN[mA] HBMR motors: I HDY motors: IN= 0.85 * I

HBMR 55 and 70: IN = 0.85 * I

♦

P106: nominal torque MZ HBMR motors: M HDY motors: MN= 0.82 * M

HBMR 55 and 70: MN= 0.82 * M

when I

= idle torque

= 0.95 * I

= 0.92 * M

0 0 0

= idle current

The other parameters are derived from the type plate data

Nominal motor speed for the HBMR motors

♦

P104: nominal motor speed [rpm]

EMC nN [min-1]

UZW=300V UZW=560V

32 5000 44 4000 5000 64 2600 5000 88 3500 130 2400 180 1700 260 1250 360 800

with EMC: counter EMC

: nominal speed

: intermediate circuit voltage

300V: with 230V AC 560V: with 3 * 400V AC

Configuration via PC using "ServoManager"

Individual configuration of synchronous motors

Nominal motor speedfor HDY motors:

♦

P104: nominal motor speed [rpm]

EMC nN [min-1]

UZW=300V UZW=560V

32 5000 44 4400 5000 64 2800 5000 88 2000 3800 130 1400 2500 180 1800

with EMC: counter EMC n

300V: with 230V AC 560V: with 3 * 400V AC

: nominal speed

: intermediate circuit voltage

Unit

hardware

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Parameter for saturation characteristic curve:

♦

P119 start of saturation [%]

♦

P120: end of saturation [%]

♦

P121: minimum stator inductivity [%]

Flange size P119 P120 P121

HBMR <= 115 mm 100 280 40

>= 142 mm 70 240 40

HDY/ HJ 100 400 100 Saturation is switched off when P119 = P121 = 100% and P120 = 400%.

If the saturation is unknown, use the HDY values.

The additional parameters in the motor table should only be modified under exceptional circumstances.

Default values of the HBMR and HDY motors:

Parameter

Standard Meaning

P107 300 Pulse current % P108 3000 Pulse current time ms P129 0 Resolver offset Degree P130 "2" Resolver frequency P131 "2" Resolver

amplification P132 "2" Position sensor P133 65 536 Sensor dash count

Unit

Increments

Technical dataConfigurationPositioning and

control functions

functions

Optimization

InterfacesAccessories /

Holding brake

For motors with holding brake.

Calculate the braking delay in P17 (for more information, see Page 123). The parameters for Parker motors can be found in the motor catalogue (Art.

No.190-060011)

Drive type

If you initially want to operate the motor without mechanics, select:

P80=16: general drive.

•

P81=P82=moment of inertia of the motor.

•

P93=2: continuous mode.

•

♦

Call up the "Parameter: Guided parameter setting" menu. The remaining parameters are queried one after the other.

♦

Use menu "Online: Download" to transfer the data into COMPAX and validate the

settings.

Caution! Secure the displacement area of your system or the motor. When

switching on, a risk may be posed by incorrect configuration data.

options

StatusParameterError list

Operating Instructions

Individual configuration of synchronous motors

COMPAX-M / -S

Safety instructions for the first start-up

Risks from incorrect wiring!

In order to avoid risks caused by incorrect system wiring during first start-up, use the following settings for personal safety and to protect the mechanics:

P15 = 10% (motor speed limited to 10% nominal value) P16 = 100% (torque limited to 100% of nominal torque)

♦

The drive must remain at standstill after the system has been switched on.

♦

Execute a travel operation, e.g. with POSR x or manually +/-.

If this travel operation is executed correctly, reset P15 and P16 to their original values.

The following faults may occur:

♦

The drive does not remain at standstill once switched on, or

♦

the drive runs out of control after the start command. In both cases, either error E10 or error E54 is triggered. If error E54 occurs, the drive is switched off. A possible cause of the error is incorrect wiring in the motor or resolver systems.

The servo controller will operate once error E55 is acknowledged on the front plate using "Enter". If the controller is set to "OFF", it will be brought into operation by switching the 24V control voltage off and then on.

♦

Use menu "Online: Command" to transmit commands to COMPAX

(e.g. POSR 100: the motor travels 100 units in the positive direction).

COMPAX is now configured. For more information, please use the table of contents or the glossary

at the end of the User Guide.

Positioning and control functions

Individual configuration of synchronous motors

8.4 Positioning and control functions

Unit

hardware

Program example:

Start program

The COMPAX basic unit is designed to meet the technical control requirements of a servo axis. Special control commands are implemented in the different unit variants for synchronisation or gearing functions. The support of a superordinate control unit is required for more complex systems, especially for the co-ordination of several axes. Parker supplies solutions based on PCs and PLCs, as well as the compact industrial computer COMTAC as a multi-axis simultaneous control unit. Up to 250 sequentially numbered sets of commands can be stored in the COMPAX program memory. Program execution can be controlled via data interfaces or binary inputs/outputs. It is possible to select addresses (data record selection) using the interpretation of the adjoining binary input signals (external data record selection). The command set structure has been deliberately kept simple and resembles the well-known programming language Basic. Program control instructions, comparator functions, setting/resetting of outputs and the motion-related commands for specifying velocity, position, acceleration time, etc. are also possible.

N001: ACCEL 250 acceleration time 250 ms N002: SPEED 80 velocity 80% N003: REPEAT 10 specified wait loop 1s N004: IF I7=1 GOTO 9 query I7 to log. 1 N005: WAIT 100 waiting time 100 ms N006: END end REPEAT loop N007: OUTPUT O7=1 sets output; no positioning N008: GOTO 13 N009: POSA 1250 positioning N010: OUTPUT O8=1 sets O8 for 500 ms N011: WAIT 500 N012: OUTPUT O8=0 N013: END

The range of commands used with the compact COMPAX servo control unit is deliberately different in terms of type and range to the standardized NC programming standards as described in DIN 66024 and DIN 66025. COMPAX is not designed with the control and calculation capability of a complete CNC controller, even though it can perform many CNC functions. All commands are processed in sequence (sequential step programming). The program can be interrupted or suspended using a break or stop signal. The axis is then decelerated using the preset time delay. The program can then be continued from another point.

Once "Power on" is in place, the data record indicator is at 1. If the program is to started at another point, the data record indicator can be adjusted using the command "GOTO xxx" (The direct command is only recognized by COMPAX if A4 "Ready for start" ="1"). Using the "START" command (via the digital Input I5 or using the direct "START" command via an interface), you can start the program from the selected data record number.

The data record indicator is set to 001 using the "Find machine zero" or "Approach real zero". This function can be set to binary inputs using parameter P211.

Connector

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Technical dataConfigurationPositioning and

control functions

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Optimization

InterfacesAccessories /

options

StatusParameterError list

Operating Instructions

Absolute positioning [POSA]

8.4.1 Absolute positioning [POSA]

COMPAX-M / -S

POSA

POSR

SPEED

ACCEL

OUTPUT

Password

SPEED

SYNC

Mark

reference

POSR

SPEED

POSR

OUTPUT

Cam

controller

WAIT

GOTO

GOSUB

POSA

Syntax:

Example:

Additional function:

Reference point is real zero (RZ).

Positioning is executed with the acceleration speed set using ACCEL and the velocity set using SPEED. If these values have not previously been set, substitute values will apply: SPEED: parameter P2; ACCEL: parameter P6 (see Page 212)

POSA value

Value: figure with two digits after the decimal point (three for inches) in the unit

defined in P90; a control parameter (P40..P49) or a variable (V1..V39) e.g. POSA .P40 The range is defined by the software end limits P11 and P12.

N005: POSA 150.50 Absolute positioning to +150.5 units N006: POSA -500 Absolute positioning to -500 units

♦

A position approached manually can be transferred as a POSA command into a

previously selected data record using "TEACH data record" (via an interface).

♦

POSA HOME command via interface triggers "find machine zero".

POSA HOME is not permitted in the COMPAX – program.

When in continuous mode, relative positioning is also adopted with POSA.

RETURN

END

REPEAT

IF I..

Comparison

WAIT Start

GOTO /

GOSUB EXT

IF Error/ Stop

Arithmetic

Position

monitoring

Idle display

Speed

monitoring

Engage /

disengage

brake / final

stage

8.4.2 Relative positioning [POSR]

POSR

Syntax:

Example:

The positioning commands POSR and POSA can be controlled using binary input I15 "Fast start". This function is switched on using P18. COMPAX then waits until I15="1" before it executes POSR or POSA (see Page 151).

The reference point is the current position. POSR value

Value: two digits after the decimal point (three for inches) in the unit defined in

P90; a control parameter (P40..P49) or a variable (V1..V39) e.g. POSR .P40

The range is defined by the software end limits P11 and P12.

N005: POSR 2000 N006: POSR-100.25

Relative positioning by +2000 Relative positioning by -100.25

Variable

voltage

8.4.3 Process velocity [SPEED]

Positioning and control functions

Process velocity [SPEED]

Unit

hardware

SPEED

Process velocity as % of nominal velocity

(Nominal velocity ≡ nominal speed * travel per motor rotation).

♦

valid until a new value is programmed. When in speed control mode , direction of rotation is specified by the prefix.

Syntax:

Example:

SPEED value

Value: 0.0000001...100%

Smallest steps = 0.002384min

, a control parameter (P40..P49) or a variable

(V1..V39) e.g. SPEED .P40

-1

N005: SPEED 70 sets velocity to 70% of nominal speed.

The set velocity can be reduced using the analogue overrride input (X11.6) (see start-up manual).

8.4.4 Acceleration and braking time [ACCEL]

ACCEL ACCEL-

Note:

Specification for acceleration and braking time .

♦

without prefix: time specification for acceleration and decceleration process.

♦

negative prefix: separate time specification for decceleration process.

♦

valid until a new value is programmed.

♦

Acceleration process can be specified using parameter P94 (see Page 75).

♦

If a travel command is interrupted by STOP or BREAK, the STOP / BREAK – ramp is not executed by ACCEL- but by the value defined as the acceleration time.

Connector

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Technical dataConfigurationPositioning and

control functions

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Optimization

Syntax:

Example:

ACCEL value

Value: 10...65 000 ms, a control parameter (P40..P49) or a variable (V1..V39) e.g.

ACCEL .P40 (timescale = 10 ms) The negative prefix for the decceleration time specification must be set before the control parameters e.g.: ACCEL- .P40 (P40 > 0)

The time specified in ms applies for nominal velocity

SPEED 100%

(100%). The actual time is proportional to the velocity

selected. Meaning:

SPEED

%100

ACCEL

40%

ACCEL

N005: ACCEL 300 sets the acceleration and deceleration ramp to 300 ms N006: ACCEL -200

sets the deceleration ramp to 200 (≡200 ms when SPEED=100%)

InterfacesAccessories /

options

StatusParameterError list

For asynchronous motors, up to a max. of 300%.

Operating Instructions

Setting/resetting an output [OUTPUT]

8.4.5 Setting/resetting an output [OUTPUT]

COMPAX-M / -S

POSA

POSR

SPEED

ACCEL

OUTPUT

Password

SPEED SYNC

Mark

reference

POSR

SPEED

POSR

OUTPUT

Cam

controller

WAIT

GOTO

GOSUB

RETURN

OUTPUT

Syntax:

Example:

OUTPUT output = 1/0

Output O1

...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]

OUTPUT

Multiple outputs can be set simultaneously.

O12=1010

Syntax:

Note

OUTPUT O12=1010

OUTPUT O10=01--011 ("-"

= is not modified) O10="0"; O11="1"; O12, O13 are not changed; O14="0"; O15=O16="1". (this is valid for max. 8 outputs)

♦

A maximum of 8 outputs can be processed per OUTPUT command.

♦

The comparator command "POSR .... OUTPUT ...." is still limited to setting one

output.

END

REPEAT

IF I..

Comparison

WAIT Start

GOTO /

GOSUB EXT

IF Error/ Stop

Arithmetic

Position

monitoring

Idle display

Speed

monitoring

Engage /

disengage

brake / final

stage

Variable

voltage

8.4.7 Switch off drive unit. [OUTPUT O0]

OUTPUT O0

Syntax:

Example:

OUTPUT O0 = number

Number: 0/3: drive subject to torque when brake is open.

1: Drive 9 switched off when brake is closed. 2: Drive switched off when brake is open.

The time behaviour of the final stage and brake can be configured; see Page 123.

Note: The command can only be set within a program with COMPAX XX00 and COMPAX XX60! (see below!)

OUTPUT O0=1 Drive switched off when brake closed.

8.4.8 OUTPUT O0=... in program

Limitation:

The command OUTPUT O0=0,1,2 can only be programmed on the COMPAX XX00 and COMPAX XX60 in the program.

No error monitoring is executed during switched off status except for emergency stop (E55/E56).

O1...O6 only if masked via P225.

Instead of "-", "." is also an option

This means that all errors which can be acknowledged (e.g. lag errors or resolver errors), which occur during the switched off status (e.g. by separating the resolver line) are ignored. Only errors still present after Power On are displayed.

8.4.9 Password [GOTO]

GOTO

Syntax:

GOTO number

Number ="302": Deactivates password protection

="270": Activates password protection

Note: You can also use this command in the data record memory.

Positioning and control functions

Password [GOTO]

Unit

hardware

Connector

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Technical dataConfigurationPositioning and

Example:

GOTO 302 Enables programming levels and parameters.

8.4.10 External velocity specification. [SPEED SYNC]

SPEED SYNC

Entry at BDF2: SPEED Ent COMPAX synchronizes itself to an external velocity specification. Note: function only applies to COMPAX XX00 with options E2, E4 or E7!

SPEED SYNC cannot be used at the same as the external position adjustment (switched on via P75

Instead of specifying velocity using the SPEED command, the process command velocity is read externally from the encoder interface when you use SPEED SYNC.

Setting condition: P144="4" and P188="0" Setting aid: the speed of the motor and sensor is the same when using P98=P83

and the correctly set parameter P143 (pulse speed sensor).

♦

No travel synchronization; use our "Electronic transmission" or "Electronical curve

control" unit variant for this purpose.

External speed set via option E7

Meaning: 10V = 100% of n

P93=1 or 2 P80=16 (general drive) P83= distance per motor revolution [µm] P90=1 [mm] P144=7 (analogue rpm specification)

Nominal

(P104)

≠≠≠≠

0)!

control functions

functions

Optimization

InterfacesAccessories /

options

Calculation of P98:

143P104P83P

98P

with: P143=1 000 000

P104 in [1/min]

Accuracy data can be found on Page 186

••

0000001601000

••

StatusParameterError list

Operating Instructions

Mark-related positioning [POSR]

8.4.11 Mark-related positioning [POSR]

COMPAX-M / -S

POSA

POSR

SPEED

ACCEL

OUTPUT

Password

SPEED

SYNC

Mark reference

POSR SPEED

POSR

OUTPUT

Cam

controller

WAIT

GOTO

GOSUB

RETURN

END

REPEAT

IF I..

Comparison

WAIT Start

GOTO /

GOSUB EXT

IF Error/ Stop

Arithmetic

Position

monitoring

POSR

Use this command to position e.g. a mark relative to an external signal.

Syntax:

POSR value

Value: two digits after the decimal point (three for inches) in unit corresp. to P90; a

control parameter (P40..P49) or a variable (V1..V39) e.g. POSR .P40. The prefix determines the direction in which the mark is approached.

Note!

POSR 0 is not permitted!

Note:

When the mark reference is activated, do not use the POSA command!

I14: Activating mark reference . I14 must be present before the command. I16: Mark input The rising flank is evaluated (pulse > 0.6ms).

(is read in with a rating of 100µs; the max. error is therefore 100 µs)

O16: With "0", the mark is missing after travel to the mark is completed (P38). P35: ="1": Mark reference switched on;

="0": Mark reference switched off.

P37,P38: A mark window is specified relative to the start position using P37 and P38. P37: Minimum travel to mark. (relative to start position).

Range of values for P37: 0.00 ... P38

P38: Maximum travel to mark. (relative to start position).

Range of values for P38: P37 ... 4 000 000

P39: Maximum feed length, if there is no mark in the mark window (relative to start

position). Range of values for P39: P38 ... P11 or P12

Example:

POSR 100 P35="1"; P37=+300; P38=+600; P39=+800; I14="1".

If the mark is between +300 and +600, mark +100 is positioned, if the mark is outside the window it is positioned to 800.

P37 = +300 P38 = +600 P39 = +800

start p oint

O16

mark on

I16

100

Driven to

label position

It will go on "0" if no label come until P38.

Idle display

Speed

monitoring

Engage /

disengage

brake / final

stage

Variable

voltage

Note!

The drive positioning is not limited by P39. If the mark is within the mark window, COMPAX executes positioning using the

POSR value for a value of the corresponding size, even after P39. The process range can be limited using P11 and P12.

When the mark reference is switched on, the inputs I14, I15, and I16 are no longer available for external data record selection (GOTOEXT, GOSUBEXT).

100

Parker Products COMPAX-M-S-L User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Contents

Safety instructions

3.2 Safe working practices

3.3 Special safety instructions

Conditions of warranty

Switch-on status

Start-up manual

Overview of unit technology

COMPAX-M unit features

Connector and terminal assignment

7.2.2 COMPAX-M system network, NMD10 / NMD20 mains module

Connector assignment COMPAX-M

7.3 Mains module NMD10/NMD20

7.3.2 Dimensions / installation

NMD connector assignment

7.3.4 Technical data / power features NMD

7.4 COMPAX 35XXS unit features

7.4.1 Plug and connection assignment COMPAX 35XXM

Installation and dimensions of COMPAX 35XXM

7.4.3 Wiring COMPAX 35XXM

COMPAX 35XXM connector assignment

7.5 COMPAX 25XXS unit characteristics

7.5.1 COMPAX 25XXS connector and connection assignment

7.5.2 COMPAX 25XXS-specific technical data

COMPAX 25XXS dimensions / installation

7.5.4 Connector assignment COMPAX 25XXS

COMPAX 45XXS/85XXS unit characteristics

Plug and connection assignment COMPAX 45XXS/85XXS

7.6.2 COMPAX 45XXS/85XXS installation / dimensions

COMPAX 45XXS/85XXS-specific wiring

COMPAX 45XXS/85XXS connector and pin assignment

7.7 COMPAX 1000SL Unit characteristics

7.7.1 Connector and terminal assignment for COMPAX 1000SL

7.7.2 Connector assignment COMPAX 1000SL (overview)

Mounting and dimensions COMPAX 1000SL

7.7.4 Safety chain / emergency stop functions

Resolver / SinCos

7.8 Connections to the motor

7.8.2 Additional brake control

Digital inputs and outputs (excluding COMPAX 1000SL)

7.9.2 Digital inputs and outputs for COMPAX 1000SL

Technical data / Connections of inputs and outputs

7.9.4 Initiators and D/A monitor

Service D/A monitor / override

7.9.6 Service D/A monitor

D/A monitor option D1

7.9.9 Absolute value sensor (option A1)

X13: Encoder interfaces, ...

Technical data

Overview:

8.1.1 Block structure of the basic unit (not applicable for COMPAX 1000SL)

Password protection

Configuration

Front plate operation (not available with COMPAX 1000SL)

Configuration when supplied

Safety instructions for initial start-up

Configuration parameters

Absolute value function with standard resolver

Machine zero mode

Limit switch operation

Configuration via PC using "ServoManager"

Installing ServoManager

8.3.3 Individual configuration of synchronous motors

Positioning and control functions

Absolute positioning [POSA]

8.4.2 Relative positioning [POSR]

Process velocity [SPEED]

8.4.4 Acceleration and braking time [ACCEL]

Setting/resetting an output [OUTPUT]

8.4.6 Setting multiple digital outputs [OUTPUT O12=1010]

8.4.7 Switch off drive unit. [OUTPUT O0]

8.4.8 OUTPUT O0=... in program

Password [GOTO]

Mark-related positioning [POSR]