User ManualTable of ContentsC2Contents2Unit assignment:7Safety instructions8General dangers8Safe working practices8Special safety instructions8Conditions of warranty9COMPAX – CD9Switch-on status10Configuration when supplied10Commissioning10Equipment replacement12Conditions for usage13S14Start-up manual14Overview:14Components required14Overview of unit technology15COMPAX-M unit features17Connector and terminal assignment17COMPAX-M system network, NMD10 / NMD20 mains module18COMPAX-M dimensions/installation20Connector assignment COMPAX-M21Mains module NMD10/NMD2022Overview NMD22Dimensions / installation22NMD connector assignment23Technical data / power features NMD23COMPAX 35XXS unit features26Plug and connection assignment COMPAX 35XXM26Installation and dimensions of COMPAX 35XXM27Wiring COMPAX 35XXM28COMPAX 35XXM connector assignment29COMPAX 25XXS unit characteristics30COMPAX 25XXS connector and connection assignment30COMPAX 25XXS-specific technical data32COMPAX 25XXS dimensions / installation33Connector assignment COMPAX 25XXS34COMPAX 45XXS/85XXS unit characteristics35Plug and connection assignment COMPAX 45XXS/85XXS35COMPAX 45XXS/85XXS installation / dimensions36COMPAX 45XXS/85XXS-specific wiring37C39COMPAX 45XXS/85XXS connector and pin assignment39COMPAX 1000SL Unit characteristics40Connector and terminal assignment for COMPAX 1000SL40Connector assignment COMPAX 1000SL (overview)42Mounting and dimensions COMPAX 1000SL43Safety chain / emergency stop functions44Connections to the motor46Resolver / SinCos46Additional brake control51Interfaces52Digital inputs and outputs (excluding COMPAX 1000SL)52Digital inputs and outputs for COMPAX 1000SL53Technical data / Connections of inputs and outputs54Initiators and D/A monitor55Service D/A monitor / override56Service D/A monitor56D/A monitor option D158RS232 interface59Absolute value sensor (option A1)59X13: Encoder interfaces, ...60Encoder interfaces / analogue rpm specification for COMPAX60Area of application of process interfaces60Encoder interfaces / Analogue rpm specification / Step direction input for COMPAX 1000SL61HEDA interface (option A1/A4)63Bus connection63Technical data64Operating Instructions67Overview:67Block structure of the basic unit (not applicable for COMPAX 1000SL)68Password protection70Configuration71Front plate operation (not available with COMPAX 1000SL)71Configuration when supplied72Configuration process72Safety instructions for initial start-up73Configuration parameters74Absolute value function with standard resolver79Machine zero mode80Limit switch operation89Configuration via PC using "ServoManager"91Installing ServoManager91Configuring COMPAX91Individual configuration of synchronous motors91Positioning and control functions95Absolute positioning [POSA]96Relative positioning [POSR]96Process velocity [SPEED]97Acceleration and braking time [ACCEL]97Setting/resetting an output [OUTPUT]98Setting multiple digital outputs [OUTPUT O12=1010]98Switch off drive unit. [OUTPUT O0]98OUTPUT O0=... in program98Password [GOTO]99External velocity specification. [SPEED SYNC]99Mark-related positioning [POSR]100Preparatory instructions101Changes in speed within a positioning process [POSR SPEED]101Comparators during positioning [POSR OUTPUT]103Cam controller with compensation for switching delays104rogrammable waiting time [WAIT]107Program jump [GOTO]107Sub-program jump [GOSUB]107Instruction to end a sub-program. [RETURN]107END instruction [END]107Start a program loop [REPEAT]108Branching [IF I7=1]108Binary IF query of inputs [IF I12=101-1]108Comparative operations109Specific processing of data record groups. WAIT START.109Jump with data record selection [GOTO EXT]109Sub-program jump with data record selection [GOSUB EXT]110Error handling [IF ERROR GOSUB]110STOP / BREAK handling [IF STOP GOSUB xxx]111Arithmetic113Parameter assignments113Arithmetic and variables114Position monitoring (P93=1, 2, 3)117Idle display119Speed monitoring in speed control mode (P93="4")120PLC sequential step tracking122Engaging and disengaging the motor brake123Output of variable voltage124Optimization functions125Optimization parameters127Speed monitor132Optimization display133External position localization with position adjustment136Interfaces138Digital inputs and outputs138Digital inputs and outputs for COMPAX 1000SL140Free assignment of inputs and outputs143COMPAX virtual inputs145I/O assignment of variants147Function of inputs148Synchronous STOP using I13151Function of outputs153Diagrams:154PLC data interface (function not available with COMPAX 1000SL)156RS232 interface160Interface description160Interface functions162Read and write program sets and parameters163Binary data transfer using RS232166Process coupling using HEDA (Option A1 / A4)168Accessories and options173System concept173Overview174Motors176HAUSER linear actuators177Data interfaces178RS232178Bus systems178Interbus-S / Option F2178RS485 / Option F1/F5178Profibus / option F3178CAN - Bus / Option F4178CANopen / Option F8178CS31system bus / Option F7178Process interfaces179Encoder interface179Absolute value sensor (A1)183High resolution SinCos sensor system (S1/S2)?183Option S3 for linear motors.184HEDA interface185D/A monitor (D1) (option not available with COMPAX 1000SL)185Analogue speed specification (E7) (option not available with COMPAX 1000SL)186Accessories187External control panel (not available for COMPAX 1000SL)187Terminal module for COMPAX 1000SL (EAM)188EAM5/01: DC feed for COMPAX-M189EMC measures191Power filter191Motor output throttle192External ballast resistors193ServoManager200Hand-held terminal200Appendix: COMPAX components206Appendix207Status values of the standard unit (COMPAX XX00)207Additional COMPAX measuring quantites210COMPAX parameter212VP parametercan be modified "On Line"212COMPAX standard parameters212Monitoring and limitation characteristics222Error handling and error messages223Application examples226226Overview226External data record selection227Mark-referenced positioning229Speed step profiling / comparator switching points231SPEED SYNC233Speed control mode234Fast start236Implementing a torque controller237Index238Size: 8.03 MBPages: 242Language: EnglishOpen manual
