Parker Products Compax M S L Users Manual

COMPAX-M /-S (L) COMPAX_UG_V6.26_Oct_2001

COMPAX-M -S (L) to the manual 705d6290-6aa1-428d-8736-0389ca516865

2015-02-06

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COMPAX-M /-S (L)

COMPAX User Guide
Compact Servo Controller

From software version V6.26

TIFIE

DIN EN ISO 9001

We automate motion

TY SYS

Reg. Nr. 36 38

Subject to technical modification.
Data correspond to the state of technical development at the time of printing.

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
http://www.parker-emd.com
11.10.01 11:01

October 2001

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
192-040053 N2

COMPAX-M / -S

Contents

1. Contents
1. Contents ...................................................................................................2
2. Unit assignment: ....................................................................................7
3. Safety instructions .................................................................................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. Switch-on status ...................................................................................10
5.1

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

5.2

Commissioning .......................................................................................10

5.3

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

6. Conditions for usage ...........................................................................13
7. Start-up manual ....................................................................................14
7.1

Overview: .................................................................................................14
7.1.1
7.1.2

7.2

COMPAX-M unit features........................................................................17
7.2.1
7.2.2
7.2.3
7.2.4

7.3

Overview NMD ................................................................................................... 22
Dimensions / installation .................................................................................. 22
NMD connector assignment............................................................................. 23
Technical data / power features NMD.............................................................. 23

COMPAX 35XXS unit features................................................................26
7.4.1
7.4.2
7.4.3

Connector and terminal assignment ............................................................... 17
COMPAX-M system network, NMD10 / NMD20 mains module...................... 18
COMPAX-M dimensions/installation ............................................................... 20
Connector assignment COMPAX-M ................................................................ 21

Mains module NMD10/NMD20 ................................................................22
7.3.1
7.3.2
7.3.3
7.3.4

7.4

Components required ....................................................................................... 14
Overview of unit technology ............................................................................ 15

Plug and connection assignment COMPAX 35XXM....................................... 26
Installation and dimensions of COMPAX 35XXM ........................................... 27
Wiring COMPAX 35XXM.................................................................................... 28

7.4.4

7.5

COMPAX 25XXS unit characteristics ....................................................30
7.5.1
7.5.2
7.5.3
7.5.4

7.6

Connector and terminal assignment for COMPAX 1000SL ........................... 40
Connector assignment COMPAX 1000SL (overview) .................................... 42
Mounting and dimensions COMPAX 1000SL ................................................. 43
Safety chain / emergency stop functions ....................................................... 44

Connections to the motor.......................................................................46
7.8.1
7.8.2

7.9

Plug and connection assignment COMPAX 45XXS/85XXS ........................... 35
COMPAX 45XXS/85XXS installation / dimensions ......................................... 36
COMPAX 45XXS/85XXS-specific wiring .......................................................... 37
COMPAX 45XXS/85XXS connector and pin assignment ............................... 39

COMPAX 1000SL Unit characteristics...................................................40
7.7.1
7.7.2
7.7.3
7.7.4

7.8

COMPAX 25XXS connector and connection assignment.............................. 30
COMPAX 25XXS-specific technical data......................................................... 32
COMPAX 25XXS dimensions / installation ..................................................... 33
Connector assignment COMPAX 25XXS ........................................................ 34

COMPAX 45XXS/85XXS unit characteristics ........................................35
7.6.1
7.6.2
7.6.3
7.6.4

7.7

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

Resolver / SinCos.............................................................................................. 46
Additional brake control ................................................................................... 51

Interfaces .................................................................................................52
7.9.1
7.9.2
7.9.3
7.9.4
7.9.5
7.9.6
7.9.7
7.9.8
7.9.9
7.9.10

Digital inputs and outputs (excluding COMPAX 1000SL).............................. 52
Digital inputs and outputs for COMPAX 1000SL ............................................ 53
Technical data / Connections of inputs and outputs ..................................... 54
Initiators and D/A monitor ................................................................................ 55
Service D/A monitor / override......................................................................... 56
Service D/A monitor .......................................................................................... 56
D/A monitor option D1 ...................................................................................... 58
RS232 interface ................................................................................................. 59
Absolute value sensor (option A1) .................................................................. 59
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
8.1.2

8.2

Block structure of the basic unit (not applicable for COMPAX 1000SL) ...... 68
Password protection......................................................................................... 70

Configuration...........................................................................................71
8.2.1
8.2.2

Front plate operation (not available with COMPAX 1000SL)......................... 71
Configuration when supplied........................................................................... 72
3

Contents
8.2.3
8.2.4
8.2.5
8.2.6
8.2.7
8.2.8

8.3

Installing ServoManager................................................................................... 91
Configuring COMPAX ....................................................................................... 91
Individual configuration of synchronous motors........................................... 91

Positioning and control functions .........................................................95
8.4.1
8.4.2
8.4.3
8.4.4
8.4.5
8.4.6
8.4.7
8.4.8
8.4.9
8.4.10
8.4.11
8.4.12
8.4.13
8.4.14
8.4.15
8.4.16
8.4.17
8.4.18
8.4.19
8.4.20
8.4.21
8.4.22
8.4.23
8.4.24
8.4.25
8.4.26
8.4.27
8.4.28
8.4.29
8.4.30

8.4.31
8.4.32
8.4.33
8.4.34
8.4.35
8.4.36
4

Configuration process ...................................................................................... 72
Safety instructions for initial start-up ............................................................. 73
Configurationparameters ................................................................................. 74
Absolute value function with standard resolver ............................................ 79
Machine zero mode ........................................................................................... 80
Limit switch operation ...................................................................................... 89

Configuration via PC using "ServoManager" .......................................91
8.3.1
8.3.2
8.3.3

8.4

COMPAX-M / -S

Absolute positioning [POSA] ........................................................................... 96
Relative positioning [POSR]............................................................................. 96
Process velocity [SPEED] ................................................................................ 97
Acceleration and braking time [ACCEL] ......................................................... 97
Setting/resettingan output [OUTPUT] ............................................................. 98
Setting multiple digital outputs [OUTPUT O12=1010]................................... 98
Switch off drive unit. [OUTPUT O0] ................................................................. 98
OUTPUT O0=... in program............................................................................... 98
Password [GOTO] ............................................................................................. 99
External velocity specification. [SPEED SYNC] ............................................. 99
Mark-related positioning [POSR] ................................................................... 100
Preparatory instructions................................................................................. 101
Changes in speed within a positioning process [POSR SPEED] ............... 101
Comparators during positioning [POSR OUTPUT] ...................................... 103
Cam controller with compensation for switching delays ............................ 104
Programmable waiting time [WAIT]............................................................... 107
Program jump [GOTO] .................................................................................... 107
Sub-program jump [GOSUB].......................................................................... 107
Instruction to end a sub-program. [RETURN] .............................................. 107
END instruction [END] .................................................................................... 107
Start a program loop [REPEAT] ..................................................................... 108
Branching [IF I7=1].......................................................................................... 108
Binary IF query of inputs [IF I12=101-1] ........................................................ 108
Comparative operations ................................................................................. 109
Specific processing of data record groups. WAIT START. ......................... 109
Jump with data record selection [GOTO EXT] ............................................. 109
Sub-program jump with data record selection [GOSUB EXT] ................... 110
Error handling [IF ERROR GOSUB]............................................................... 110
STOP / BREAK handling [IF STOP GOSUB xxx] .......................................... 111
Arithmetic ........................................................................................................ 113
8.4.30.1 Parameter assignments ..................................................................... 113
8.4.30.2 Arithmetic and variables..................................................................... 114
Position monitoring (P93=1, 2, 3) .................................................................. 117
Idle display....................................................................................................... 119
Speed monitoring in speed control mode (P93="4") ................................... 120
PLC sequential step tracking ......................................................................... 122
Engaging and disengaging the motor brake ................................................ 123
Output of variable voltage .............................................................................. 124

8.5

Optimization functions .........................................................................125
8.5.1
8.5.2
8.5.3
8.5.4

8.6

Optimization parameters ................................................................................ 127
Speed monitor ................................................................................................. 132
Optimization display ....................................................................................... 133
External position localization with position adjustment ............................. 136

Interfaces ...............................................................................................138
8.6.1

8.6.2
8.6.3

8.6.4

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
PLC data interface (function not available with COMPAX 1000SL) ............ 156
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
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
9.5.2

9.6

9.7

RS232 ............................................................................................................... 178
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

Process interfaces ................................................................................179
9.6.1
9.6.2

Encoder interface ............................................................................................ 179
Absolute value sensor (A1) ............................................................................ 183

9.6.3
9.6.4
9.6.5
9.6.6
9.6.7

High resolution SinCos sensor system (S1/S2) ......................................... 183
Option S3 for linear motors............................................................................ 184
HEDA interface ................................................................................................ 185
D/A monitor (D1) (option not available with COMPAX 1000SL) ................. 185
Analogue speed specification (E7) (option not available with COMPAX
1000SL) ............................................................................................................ 186

Accessories ...........................................................................................187
5

COMPAX-M / -S

Contents
9.7.1
9.7.2
9.7.3
9.7.4

9.7.5
9.7.6
9.7.7

9.8

External control panel (not available for COMPAX 1000SL) ....................... 187
Terminal module for COMPAX 1000SL (EAM) .............................................. 188
EAM5/01: DC feed for COMPAX-M................................................................. 189
EMC measures ................................................................................................ 191
9.7.4.1 Power filter ......................................................................................... 191
9.7.4.2 Motor output throttle........................................................................... 192
External ballast resistors................................................................................ 193
ServoManager ................................................................................................. 200
Hand-held terminal.......................................................................................... 200

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

10.4

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

11.Application examples ........................................................................226
11.1.1
11.1.2
11.1.3
11.1.4
11.1.5
11.1.6
11.1.7
11.1.8

Overview .......................................................................................................... 226
External data record selection ....................................................................... 227
Mark-referenced positioning .......................................................................... 229
Speed step profiling / comparator switching points.................................... 231
SPEED SYNC ................................................................................................... 233
Speed control mode........................................................................................ 234
Fast start .......................................................................................................... 236
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.

General dangers

2. Unit assignment:
This documentation applies to the following units:
!

COMPAX 10XXSL

COMPAX 25XXS

COMPAX 45XXS

COMPAX 85XXS

COMPAX P1XXM

COMPAX 02XXM

COMPAX 05XXM

COMPAX 15XXM

COMPAX 35XXM
XX: Unit variants

Key to unit
designation

e.g.: COMPAX 0260M:
COMPAX: name
02:

performance class

60:

Variant

e.g. "00": Standard model
"60": electronic transmission

unit type

"M": multi-axis model
"S": single-axis unit
...

HAUSER type plate

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
serial number
Notes for repeat
customers
regarding
modified software
versions:

equipment
name
part number

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

COMPAX-M / -S

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
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.
!

Conditions of warranty

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
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.

COMPAX-M / -S

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
Ready
Error

Color
green
red

Meaning, when switched on
24V DC present and initialization complete
COMPAX - Error (E1...E56) present or COMPAX is
initialized.

Mains module
LED
red
Error
off
on

LED
green
Ready
on
off

Possible errors
no errors
Heat sink temperature too high or
error in logic voltage (24V DC too low or unit is defective)
Emergency stop is activated and ready contact is
released.
Ballast switching unit overload or
undervoltage (<100V DC or <80V AC).

COMPAX 1000SL
Status
24V not available
24V are switched on, boot up
Unit OFF
Unit error; drive switched off
Unit error; drive powered
Unit RUNNING

Red LED (H2)
off
on
off
on
on
off

Green LED (H1)
off
off
blinking
blinking
on
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
voltage 24 V DC
initializing stage
COMPAX configured
(P149="1")

COMPAX not configured
(P149="0")

error E57
in COMPAX
display

OFF in
Display

check
configuration

execute
configuration

VC, VP

P149="1",
VC, VP

connect
DC bus
voltage

clear
error E57

24V DC
ON / OFF

OUTPUT
O0="0"

RUN
motor enabled

Switch-on status
5.3

COMPAX-M / -S

Equipment replacement
Previous software ≥V2.0
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
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 ≤V2.0
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.

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.

Equipment replacement

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.

Power filter:

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: connection between power filter and unit: unscreened: < 0.5m
screened: < 5m

Motor and
resolver cable:

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.
< 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.
Resolver cable < 100m

Motor cable

Motors:

Operation with HAUSER motors.

Control:

Only operate with calibrated controller (avoid feedback oscillation).

Earthing:

Cable laying:

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.

Accessories

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.

Warning:

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.

COMPAX-M / -S

Start-up manual

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.

Connector
assignment / cable

Overview of unit technology

7.1.2 Overview of unit technology
COMPAX-M and COMPAX-S

! 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

Power Supply

COMPAX-M

Installation: in series

COMPAX-M

DIGITAL

S ta tu s

DIGITAL

N um b er

Status Number

Value

R e ad y

Value

E n te r

R e ad y

E rr o r

R S48 5

Enter

C o n tro l

Optimization
functions

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

Error

R S23 2

OUT

RS232

X10

In p u t

Input

O u tp u t

Output

T e st

Test

Control

C o n tro l

X11

Supply Up to max. 3 * 500V AC (integrated power unit)
40 * 400 * 220 [mm]
Power
35.0 kVA

Design:
COMPAX-M

Status

Dimensions (DxHxW):

Digital

Automation

S ta tu s

N u m be r

Value

Ready

E r ro r

Re ady
X7

RS48 5

E n te r

E r ror

OUT

RS23 2

C o n tr o l

X10

In p u t

Parameter

COMPAX 35XXM

Ready

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

Interfaces

Design:
COMPAX-M with NMD
mains module

COMPAX P1XXM:
340*400*60 [mm]

Accessories /
options

Dimensions (DxHxW):

O u tp u t

T es t

C o n tro l

X11

Error list

COMPAX P1XXM
COMPAX 02XXM
COMPAX 05XXM
COMPAX 15XXM

Positioning and
control functions

yet have differences with regard to

Configuration

Technical data

! work with the same firmware,

Common function
characteristics:

Unit
hardware

Overview:

COMPAX-M / -S

Start-up manual
COMPAX 1000SL

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

146*180*85 [mm]

24 V DC

X14

HEDA

Input
+ -

X15

Power
1 kVA

Out

HEDA

PE
R Dum p

X12

Brake

W PE +
V
U

X19

PE
N
L1

230 V AC

Input / Output

COMPAX - SL

COMPAX 25XXS

Motor

Resolver

Encoder

X13

Fieldbus In

Fieldbus Out

RS232

Limit Switch

X17

Design:

Supply Up to max. 1 (3)*250V AC (integrated power unit)
Dimensions (DxHxW):

220*240*130 [mm]

Design:

Power
2.5 kVA
S ta tu s

N u m b er

COMPAX-S

Va lue

R e ad y

E n te r

E r ro r

R S 232

X1 0

In p u t

O u tp u t

T e st

C o n tro l

Motion & Control
X9

COMPAX 45XXS
COMPAX 85XXS

X1 1

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

275*350*125 [mm]

Design:

Power
4.5 kVA
8.6 kVA

COMPAX-S

DIGITAL

Status

Number

Value

Ready

ENTER

Error

RS232

Input

Output

Test

Input

Output

X10

Control

X11

7.2

Connector
assignment / cable

Connector and terminal assignment

Unit
hardware

COMPAX-M unit features

Technical data

7.2.1 Connector and terminal assignment
COMPAX-M

X1 motor
X2 intermediate loop
power connections

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

Num ber

S ta tu s

X5 control- and
status- signal
bus-signals
input

Configuration

X3 24V control voltage

R ea dy

Positioning and
control functions

V alu e

E n te r

E rro r
X6

X6 RS232
R S 232

X10

X10 Input / Output

Optimization
functions

X8 Input
/ Output

In p u t

O u tp u t

X9 Test

X11 Control

Test

C o n tr o l

X11

X13 Encoder

X14 HEDA
X16 absolute
encoder
X18 fan

X15 HEDA
X17 initiators

Accessories /
options

X12 resolver

Interfaces

Status

Before wiring up, always de-energize the unit.

LED

Color Meaning, when switched on

Ready

green 24V DC present and initialization complete

Error

red

COMPAX - fault (I1...E56) present.

Error list

Meaning of LEDs on
front plate

Parameter

Even once the mains supply has been switched off,
dangerous levels of voltage can remain in the system for
up to 5 min.

COMPAX-M / -S

Start-up manual

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

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.

Wiring up the
system network

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

main
HAUSER

HAUSER

POW ER SUPPLY

COMPAX-M

DIGITAL

Ready

S ta t u s

Enter

Error

R S485

RS232

OUT

C o n tr ol

...

X10

motor

+ -

N u mb er

U V W PE brake

PE + -

Value

R ead y

E nt er

E rr o r

PE
X2
+LS
R S232

X10

Input

I np u t

Output

O ut p u t

Test

T est

Control

L1 L2 L3 PE 24V

DI GITAL

C O M P A X -M

Number

Value

E rr o r

motor

HAUSER

Status

R ead y

PE LS+ LS24V

C o n tr ol

X11

-LS

voltage supply
24V

{

emergency stop,
stand by and bus
signals

+
24V X3
-

last device
equiped
with
terminal
plug

Unit side

U V W PE brake

SUPPL Y

D IG T
A
I L

Mo
ti o
n &o
Cn
tr o
l

Nu
mb e
r

S ta tu
s

Vu
l e
a

Re
a d
y

En
te r

E ro r

X1
0

En
te r

E ro r

black 5

free
black 4

En
te r

Re
a d
y

O tu u
p t

T se t

Co
n tr o
l

O tu u
p t

T se t

Co
n tr o
l

PE+ -

X1
0

In p
u t

O tu u
p t

T se t

+ -

RS
2 3
2

X1
0

U V W PE brake

L1 L2L3 PE 24V

E ro r
X6

In p
u t

Nu
mb e
r

RS
2 3
2

In p
u t

Co
n tr o
l

S ta tu
s

RS
2 3
2

OT
U

Vu
l e
a

Re
a d
y

RS
4 8
5

Mo
ti o
n &o
Cn
tr o
l

Nu
mb e
r

Vu
l e
a

Re
a d
y

E ro r

D IG T
A
I L

MP A X - M

S ta tu
s

green/
yellow

CO M PA X- M

1
D IG T
A
I L

black 3

HA US E R

CO M PA X- M

P OW

PE +

Technical data

HA US E R

black 1

cable conduit

black 2

Wiring up the
motor

Connector
assignment / cable

COMPAX-M system network, NMD10 / NMD20 mains module

PE
X2
+LS

Co
n tr o
l

Unit
hardware

COMPAX-M unit features

+
24V X3
-

Positioning and
control functions

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).

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

3*80V AC – max. 3*500V AC; 45 - 65Hz
! Fuse protection:
NMD10: 16A (K circuit breaker in 20A)
NMD20: 35A
K circuit breaker or similar Neozed
fusible cut-out.
!

Interfaces

Control voltage
24V DC ±10%
Ripple <1VSS
Fuse protection: max. 16A

Accessories /
options

Power supply:

L1 L2 L3 PE 24V

cable conduit

+ -

HAUSER

COMPAX-M

X1
DIGITAL

C O MP A X -M

S ta t u s

Value

Ready

E rr or

Ready

RS485

OUT

Ready

C on tro l

X10

Value

E nte r

E rr or

Ready

E nte r

X10

O utp u t

T est

C on tro l

O utp u t

T est

C on tro l

PE + -

X10

In p u t

O utp u t

T est

+ -

RS232

U V W PE brake

L1 L2 L3 PE 24V

E rr or

In p u t

X11

Nu m b er

RS232

In p u t

Motion & Control

S ta t u s

RS232

Nu m b er

Value

E nte r

E rr or

DIGITAL

Motion & Control

Nu m b er

Status

DIGITAL

PO WER SU PPLY

PE
X2
+LS

C on tro l

X11

-LS
+
24V X3
-

Parameter

Wiring up mains
power / control
voltage

Optimization
functions

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

power supply
module
X4

Error list

Screened
connection

Configuration

-LS

COMPAX-M / -S

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.
Direct wall installation and dimensions of COMPAX-M and the mains
modules.
02XXM, 05XXM,
15XXM, NMD10
& NMD20

P1XXM

85
75
50

60
49

390
340

10
40

Direct
wall installation:

COMPAX-M

DIGITAL

S ta t u s

DIGITAL

N um ber

S t a tu s

V alue

N um b er

450
430
364

Value

E n te r

R eady

COMPAX-M

E rror

R eady

E n ter

E rro r
X6

R S 232

RS232

X1 0

X10

In p u t

Input

O u tpu t

Output

T est

Test

C o n tro l

Control

X11

50
Attach with four 6-mm
hex-socket-head-screws

Attach with two 6-mm
hex-socket-head-screws

The controllers are attached to the mounting plate with the back of the heat sink.
Indirect
wall installation:

Indirect wall installation of COMPAX 02XXM, COMPAX 05XXM and COMPAX
15XXM and the mains modules NMD10 and NMD20.
294
244

85
50

96
82
50

mounting
plate
COMPAX-M

DIGITAL

S t a tu s

N um b er

R eady

E n ter

424
408

441,5
424

Value

E rro r

R S 232

X10

In p u t

O u tp u t

T es t

C o n tro l

X11

mounting
plate

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.
Fan configuration

Units with fan:
Units without fan:

COMPAX P1XXM, COMPAX 05XXM, COMPAX 15XXM
COMPAX 02XXM, NMD10, NMD20

Connector
assignment / cable

Connector assignment COMPAX-M

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

Technical data

X6/9

X6/7

X6/6

X6/5

X6/4

X6/3

X6/8

CTS

RTS

DSR

GND

DTR

TxD

X6/2

RxD

X3/2
0V

Configuration
Positioning and
control functions

X3/1

+24 V

-LS

+5V

X18/+
X18/-

DA-channel 0 X17/1
DA-channel 1 X17/2

(option D1)

O5
O7
O8

I10

Sig.MN X17/7
Sig. E2 X17/8

I11

Sig. E1 X17/9

Optimization
functions

shield X17/3
GND
24V X17/4
X17:
DA-monitor
+24V X17/5
initiators
GND X17/6

I12
NC X14(15)/1
RxC X14(15)/2
TxC X14(15)/3

I13
I14
I15
I16
O9
O10

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

X14/X15:
HEDA

O11

Interfaces

X10/8

X11/7

RxD X14(15)/4
TxD X14(15)/5
RxC/ X14(15)/6
TxC/ X14(15)/7
RxD/ X14(15)/8
TxD/ X14(15)/9

O12
O13
O14
O15

T- X16/1
NC X16/2
D- X16/3

O16
+24V
reserviert

reserviert

NC X16/4
GND X16/5

X16:
Absolut
encoder

GND

T+ X16/6
NC X16/7
D+ X16/8

24V*
15V - 24V emergency
stop*
housing

+24V X16/9

X13/6

X13/5

X13/4

X13/3

housing

X13/2

X13/1

ST-

X12/15

X12/14

REF+

X13: encoder

SIN+

COS+

X12/13

COS-

X12/12

X12/11

TEMP

X12/10

+5 V

ST+

X12/9

GND

X12/8

X12/7

X12/6

SIN-

REF-

X12/5

X12/4

+8V

X12/3

X12/2

X12/1

housing

X12: resolver / SinCos
* can be
parameterized

Accessories /
options

X10/7

X11/6

Status

X10/6

X11/5

Parameter

X10/5

X11/4

The assignment of X12 does not apply for the S3 option.
The bus connections are made via the mains module.

Error list

X10/4

X11/3

GND

X10/3

A1/

X10/2

X11/2

X13/15

X10/1

X11/1

X13/14

X8/16

24V

X18: fan

B1/

X8/15

shield

X13/13

X8/14

Override (old)

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

N1/

X8/13

X13/12

X8/12

DA-channel 3

A2/

X8/11

DA-channel 2

X11

X13/11

X8/10

B2/

X8/9

Override

X13/10

X8/8

GND

N2/

X8/7

X13/9

X8/6

+24V

+5V

X8/5

X13/8

X8/4

X6:
RS232

X8/3

X3:
control
voltage

X13/7

X8/2

X2:
power intermediate loop

X8/1

+LS

X1/5
Br+

X1/4

Br-

X1/3
W

X1/2

X1/1

7.2.4 Connector assignment COMPAX-M

X1:
motor
brake

Unit
hardware

COMPAX-M unit features

COMPAX-M / -S

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

Power Supply
L1

24V
+

PE
X2

+LS

-LS

24V

+
X3

X3 control
voltage 24 V

24V

X2 power intermediate loop

X4 control- and
status-signals
Bus signals
continuation

Ready

X6 bussystems IN

Error

RS 485

OUT

X7 bus-systems
OUT
X8 Control

Control

X18 fan

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 10mm2 version

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).

Connector
assignment / cable

NMD connector assignment

7.3.3 NMD connector assignment

X1/3
X1/4
X1/5
X1/6

+24V

L1
L2
L3
PE

GND

X1:
voltage
supply

stand by

+24V

15V-24 V emerg. stop

housing

X6: input bus systems

Assignment depends on the
bus system

X8/1
X8/2
X8/3
X8/4

Technical data

X1/2

X8/5
X8/6
X8/6

X7: output bus systems

Assignment depends on the
bus system

Configuration

X1/1

PF
PE

X3:
Control
voltage

+24V
0V

Positioning and
control functions

X2:
+LS power intermediate loop
-LS

Unit
hardware

Mains module NMD10/NMD20

7.3.4 Technical data / power features NMD
Function
Generates DC current when run directly off a mains source.

Optimization
functions

CE conformity
EMC immunity/emissions as per EN61800-3.
! Safety: VDE 0160/EN 50178.
!

Peak power

NMD10:

10 kW

20 kW (<3s)

NMD20:

20 kW

40 kW (<3s)

Accessories /
options

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.

Status

Control voltage
21.6V up to 26.4V DC (0.8A)
! Ripple: < 1VSS
! Fuse protection: max. 16A
!

Dissipation power
without fan: max. 120W (standard)
! with fan: max. 250W.

Parameter

Error list

Nominal power

Interfaces

Output power

COMPAX-M / -S

Start-up manual

Overvoltage limitation
Energy recuperated during braking is stored in the supply capacitors. The capacity
and storable energy is:
NMD10/NMD20: 1100µ
µF / 173 Ws
If the energy recuperated from braking causes overvoltage, then ballast
resistances are engaged.
Activation of the
internal ballast
resistance for
NMD20

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

L1 L2 L3 PE 24V
+ X1

PE + -

X1
X2

-LS
RBint

RBext

+LS

Maximum braking
power:

Braking power

NMD10
17 kW
4.0 kW
Without fan: 120W
With fan: 250W
NMD20
9.5 kW
2.5 kW
Without fan: 120W
With fan: 200W

Duration

Cooling down time

<50 ms
<1s

≥ 10s
≥ 50s

unlimited
unlimited
<50 ms
<1s

≥ 10s
≥ 50s

unlimited
unlimited

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.
Connecting the
external ballast
resistance

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.
U V W PE Brake

L1 L2 L3 PE 24V
+ X1

PE + -

X1
X2

RBext

-LS
RBint

RBext

+LS

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.

Connector
assignment / cable

Technical data / power features NMD

If a phase malfunctions, no displays appear
LED red
Error

LED green
Ready

Possible errors

off
on

on
off

no errors
Heat sink temperature too high
or
! error in logic voltage (24V DC too low or unit is
defective)

Technical data

Emergency stop is activated and ready
contact is released.
Ballast switch overloaded
or
! undervoltage (<100V DC or <80V AC).
!

Configuration

Ready contact and green LED are coupled.

Caution!

Parameter

Status

Accessories /
options

Interfaces

Optimization
functions

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

Positioning and
control functions

Error list

Error diagnosis in
the mains module

Unit
hardware

Mains module NMD10/NMD20

COMPAX-M / -S

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 Aeff / 100 Aeff (<5s) with integrated power
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

Digital

S ta tu s N u m b e r

V alue

Bus
systems:
X7 OUT
X5 IN

R S 232

OUT

X19

X12
Resolver

X6 RS232

X 10

X8/X10 In-/
Output

In p u t
Control

X9 Test
X13
Encoder

E n te r

R eady E r ro r

X19
Control

O u tp u t

Test

X11 Control

C o n tro l

X 11

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.

Connector
assignment / cable

Installation and dimensions of COMPAX 35XXM

Plan view
external
ballast
resistor

AC - voltage
up to 500V AC

motor
brake

24V control
voltage

F1
3.16A

motor

Unit
hardware

COMPAX 35XXS unit features

Mains Input

X 20

24 V
X 21

X 22

Motor

Brake

X 23

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%
!

Note!

PE
Braking
Resistance

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

Positioning and
control functions

Specific technical
data

DC - In

Configuration

PE
L1

Technical data

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.
!

Optimization
functions

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
!

Accessories /
options

Installation and dimensions of COMPAX 35XXM
390
340

218
190
65

14
38

Status

COMPAX-M

Digital

430

Value

E n ter

H1
Re ady
X5

E r ro r
X6

450

N u m b er

S t a tus

363

R S 23 2

OUT

X19

X1 0

In pu t

Parameter

Control

O ut p ut

Test

C o n tr ol

190

X1 1

Fastening with 4 M6 hex-socket head screws.
27

Error list

7.4.2

Storable energy: 3450µF/542 Ws
External ballast resistance: 10Ω/2 kW
For the external ballast resistors available, please see Page 193.

Interfaces

COMPAX-M / -S

Start-up manual

Motor
brake*

green / yellow

6 7
+

Braking

Mains Input

24 V

Resistance

X 20

X 21

9 10

DC - In

111213 14

4 5
1 2 3

F1
3.16A

black 4
black 5

+ -

black 3

black 2

Motor

Connection for
external contact
for brake control

black 1

green / yellow

PE PE

L1 L2 L3

External
braking resistance

Supply up to
500V AC

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

24V Control voltage

7.4.3 Wiring COMPAX 35XXM

X 22

Motor

Brake

X 23

* max. 1.6A
2
The PE connection must be a version of at least 10mm

Wiring up system
network

COMPAX 35XXM
COMPAX-M / SV-M
Cable conduit

...

LSMotor

HAUSER

LS+
PE

DIGITAL

C O MP AX -M

S ta tu s

Nu mb er

U V W PE Brake

Value

PE + -

E nter

H1
Ready

E rr or

X6
X5

RS232
IN

OUT

X19

X10

Inp u t
Control

...

O utp u t

Test

C on tr ol

X11

18
17
+
24V
-

16
15

Voltage supply 24V
Emergency stop,
stand by and
bus signals

Last device
equiped with
terminal plug

Connector
assignment / cable

COMPAX 35XXM connector assignment

X8/15
X8/16

O3
O4

-LS

X12/1

+24V

X12/2

X12/3
X12/4

X12/5

X7: output bus systems

X12/6

Assignment depends on
the bus system

X12/7

X10/5
X10/6
X10/7
X10/8
X10/9
X10/10
X10/11
X10/12
X10/13
X10/14
X10/15
X10/16

Assignment depends on
the bus system

I10
I12
I13
I14
I15
I16
O9
O10

X9/4

O11
O12

24V X19/7
reserved X19/8

O13
O14

+24V X19/9
Enable X19/10
Shield X19/11

O15
O16

X9/5
X9/6
X9/7

+24V

TxD

GND

DTR

reserved
reserved

X12/13
X12/14
X12/15

+24V X19/5
15-24V Emerg.stop X19/6

X6:
RS232

X9/3

X12/12

Stand by P X19/3
Stand by S X19/4

X9/2

X12/11

+24V X19/1
GND X19/2

RxD
X9/1

X12/10

I11

GND
DSR

24V

RTS

15-24V Emerg. stop*

CTS

Housing

+5V

X6/2

X13/1

Enable final stage

X10/4

X12/9

X5: output bus systems

X19

X10/3

X10:
Input / output
I9...I16; O9...O16

X10/2

Technical data

X23/4
Br+

X23/3
Br'+

X23/2

Br'+

Br-

X23/1

X1/3
W

+LS

X12/8
X10/1

X13/2
X13/3
X13/4
X13/5
X13/6
X13/7
X13/8

X6/3

X13/9

X6/4

X13/10

X6/5

X13/11

X6/6

X13/12

X6/7

X13/13

X6/8

X13/14

X6/9

X13/15

Housing

24V
0V

Configuration

X1/2
V

X1/1
U

X3/2
PE

X3/1
Braking
resistance X3/2

X11

X11/7

Positioning and
control functions

Shield

X11/6

X18/+
X18/-

+8V
DA-channel 0 X17/1
DA-channel 1 X17/2

NC
REFSINNC
GND
ST+
+5 V
TEMP
COSCOS+
SIN+

Shield X17/3
GND 24V X17/4
+24V X17/5

ST-

N2
B2
N1
A1
+5V
N2/
B2/

Sig. E2 X17/8
Sig. E1 X17/9

TxC X14(15)/3
RxD X14(15)/4
TxD X14(15)/5
RxC/ X14(15)/6
TxC/ X14(15)/7
RxD/ X14(15)/8
TxD/ X14(15)/9

A2
B1

GND X17/6
Sig.MN X17/7

NC X14(15)/1
RxC X14(15)/2

REF+

Housing

Optimization
functions

X8/14

Override (old)

X11/5

A2/
N1/
B1/
A1/
GND

T- X16/1
NC X16/2

Interfaces

X8/13

DA-channel 3

X11/4

Accessories /
options

X8/12

X11/3

D- X16/3
NC X16/4

Status

X8/11

DA-channel 2

X11/2

GND X16/5
T+ X16/6
NC X16/7
D+ X16/8
+24V X16/9

* can be parameterized

Parameter

X8/10

X11/1

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

Error list

X8/9

Override

X18:
Fan

X8/8

GND

X17: DA-monitor (Option D1)
initiators

X8/7

+24V

X14/X15:
HEDA

X8/6

X16:
Absolute
encoder

X8/5

X23:
Motor brake

X1:
Motor

X12: Resolver / SinCos

X8/4

X22: Braking
resistance

X13: Encoder

X8/3

X21/2

X21/1

X21:
Control
voltage

HV dc and 24V
for additional
COMPAX-M

X8/2

X8:
Input / output
I1...I8; O1...O8

X8/1

+24 V

X20/3
L3

X20/2
L2

X20/1

7.4.4 COMPAX 35XXM connector assignment

X20:
AC Supply

Unit
hardware

COMPAX 35XXS unit features

COMPAX-M / -S

Start-up manual
7.5

COMPAX 25XXS unit characteristics

COMPAX-S

7.5.1 COMPAX 25XXS connector and connection assignment
Status Number

Value

Ready

Enter

Error

RS 232

X8 input
/ output

X10

Input

X6 RS232

X10 digital input
and output

Output

X9 test

X11 control

Test

Control

X11

X12 resolver

X13 encoder

X14 HEDA

X15 HEDA

X16 absolute

X17 initiators

X18 fan

Ready / green

24V DC present and initialization complete
COMPAX - fault (E1...E56) present.

F19
3.16 AT

230V AC +10%
1 x 230V AC max.
line to line voltage

X5 Bus
systems IN
X2/
4
3
2
1

230V AC

0V
23

Error / red

Meaning, when switched on

3 x 230V AC

Plan view of
COMPAX 25XXS

LED / color

23
0V
AC

Meaning of the
LEDs on the front
plate

X7 Bus systems
OUT

PE PE
L3
L2 N
L1 L

AC
supply

24V DC
supply

X3/
2
1
X1/
8
7
6
5
4
3
2
1

+
PE
W
V
U

X4/
3
2
1

PE
BB+

X1 motor and
motor brake

braking
resistance

Connector
assignment / cable

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.

Technical data

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

Configuration

The PE connection occurs with 10mm2 under a fixing bolt

Caution!

connection for
external contact
for brake control

+
PE
W
V
U

black 5
black 4

PE
BB+

black 2
black 1

PE
W
V
U

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.

Accessories /
options

braking
resistance

brake
+

green/yellow
black 3

Optimization
functions

1 x 230V AC

3 x 230V AC

PE PE
L3
L2 N
L1 L

Interfaces

motor and
motor brake

sheetshielding of motor cable

Parameter

Status

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 • 45-65Hz • fuse protection: 10A
1 * 100V AC - 1 * 250V AC • 45-65Hz • Fuse protection: 16A
! Layout of contactors for the power supply:
Capacity according to device performanc: Application group AC3.

Error list

F19 3.16 AT
24V DC
X3
supply

23
0V

X5 RS485 IN
RS485
OUT
AC
X2
supply
X7

230V AC

max. 230V AC +10%
line to line voltage

On unit side
0V
23

Wiring up mains
power / control
voltage

Positioning and
control functions

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

Wiring up motor

Unit
hardware

COMPAX 25XXS unit characteristics

COMPAX-M / -S

Start-up manual

4
3

PE PE
L3
L2 N
L1 L

Connections for
3 x 230V AC
L3
L2

230V AC

3 x 230V AC

AC
supply

23
0V

0V
23

Bus system
X5 IN
Bus system
X7 OUT

max. 230V AC +10%
line to line voltage

Control voltage 24V DC ±10% ripple <1VSS
Fuse protection: 16A
1 x 230V AC

F19 3.16 AT

PE
BB+

N
L

24V control voltage
1

brake
X4
resistance

+
PE
W
V
U

motor and
motor brake

Connections for
1 x 230V AC

24V DC
supply

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
Overvoltage
limitation

Maximum braking
power with
external ballast
resistance

Energy recuperated during braking is stored in the supply capacitors. The
capacity and storable energy is:
COMPAX 25XXS: 1000 µF
µ / 27 Ws
If the recuperated energy causes overvoltage, then external ballast resistances can
be engaged.

Braking power

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

Duration

Cooling
down time

unlimited
≥ 10s
<2s

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 X1,
X2, X3 and X4

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).

7.5.3 COMPAX 25XXS dimensions / installation

Design in series

Technical data

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.

Status

Number

221

Value

271

Enter

Ready

Configuration

COMPAX-S

130
16

Unit
hardware

COMPAX 25XXS dimensions / installation

Connector
assignment / cable

COMPAX 25XXS unit characteristics

Error

RS232

290

270
240

X10

Input

Control

X11

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

Optimization
functions

Positioning and
control functions

Output

Test

Flat design

The left-hand side of the unit heat sink is fastened to a metal wall using 2 retaining
plates.
186

N um b e r

COMPAX-S

S t a tu s

Value

R ea dy

Accessories /
options

220
17

Interfaces

The design is delivered ready for connection in series!

131
181

E n ter

E rro r

290

270

240

R S23 2

X10

Status

In p u t

O u tp u t

T e st

C o n tro l

X11

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.
!

Error list

Converting the
front plates

Parameter

186

COMPAX-M / -S

Start-up manual

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

X6/8

X6/9
+5V

CTS

X6/6

X6/5

X6/4

X6/3

X6/7

RTS

DSR

GND

DTR

TxD

X6/2

RxD

X4/2

X4/3
PE

B+

B-

X4/1

X3/2

X3/1

+24 V

X2/4
PE PE

X2/3

X2/2

(Option D1)

X11/2
X11/3
X11/4
X11/5
X11/6
X11/7
X18/+
X18/-

DA-channel 0 X17/1
DA-channel 1 X17/2

shield X17/3
GND
24V X17/4
X17:
DA-monitor
+24V X17/5
initiators
GND X17/6

O6
O7
O8

I10

Sig.MN X17/7
Sig. E2 X17/8

I11

Sig. E1 X17/9

I12
NC X14(15)/1
RxC X14(15)/2
TxC X14(15)/3

I13
I14

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

I15
I16
O9
O10

X14/X15:
HEDA

O11

RxD X14(15)/4
TxD X14(15)/5
RxC/ X14(15)/6
TxC/ X14(15)/7
RxD/ X14(15)/8
TxD/ X14(15)/9

O12
O13
O14
O15
O16

T- X16/1
NC X16/2

+24V

D- X16/3
NC X16/4

X16:
absolute
encoder

GND
P
S

Stand by

15V - 24V emerg. stop

+24V X16/9

housing

X13/6

X13/5

X13/4

X13/3

housing

X13/2

X13/1

ST-

REF+

X12/15

SIN+

X13: encoder

X12/14

COS+

X12/13

COS-

X12/12

TEMP

X12/11

X12/10

+5 V

X12/9

ST+

X12/8

GND

X12/7

X12/6

SIN-

REF-

X12/5

X12/4

X12/3

+8V

housing

X12/2

X12/1

GND X16/5
T+ X16/6
NC X16/7
D+ X16/8

24V

X12: resolver / SinCos

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!
34

X11/1

GND

X10/3

X13/15

X10/2

24V

X18: fan

A1/

X10/1

X13/14

X8/16

shield

B1/

X8/15

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

X13/13

X8/14

Override (old)

N1/

X8/13

DA-channel 3

X13/12

X8/12

A2/

X8/11

DA-channel 2

X11

X13/11

X8/10

Override

B2/

X8/9

X13/10

X8/8

GND

N2/

X8/7

+24V

+5V

X8/6

X13/9

X8/5

X6:
RS232

X8/4

X4:
braking
resistance

X13/8

X8/3

X3:
control
voltage

X13/7

X8/2

X2:
AC supply

X8/1

X2/1

X1:
motor
brake

X1/7

X1/8
Br+

X1/6

Br-

Br`+

X1/5

X1/4

Br`+

X1/3

X1/2

X1/1

7.5.4 Connector assignment COMPAX 25XXS

7.6

Connector
assignment / cable

Plug and connection assignment COMPAX 45XXS/85XXS

Unit
hardware

COMPAX 45XXS/85XXS unit characteristics

Technical data

7.6.1 Plug and connection assignment COMPAX 45XXS/85XXS

Status

Configuration

DIGITAL

Number

Value

Ready

ENTER

Error

Positioning and
control functions

X6 RS232

RS232

Input

X8 digital input
/ output

X10 digital input
/ output
Output

Output

X10

Test

Control

X11 Control

X11

X13 encoder

X12 resolver
X14 HEDA
X16 absolute
X18 reserved

Optimization
functions

X9 test

ext. supply

X15 HEDA
output
motor

Interfaces

X17 initiators

Plan view
X2
HV

L1
L2
L3

Ballast
resistor

Accessories /
options

AC
supply

Connection
PE 10mm2

Status

X7 RS485 OUT

Parameter

X5 RS485 IN

Error list

COMPAX-M / -S

Start-up manual
7.6.2 COMPAX 45XXS/85XXS installation / dimensions
325
275

125
77

395

378
11

351

DIGITAL

Fastening: 4 M5 hex-socket head screws
Installation distance: 130mm (device distance:5mm)
Meaning of the
LEDs on the front
plate

Color
LED
Ready Green
Error
red

Meaning, when switched on
24V DC present and initialization complete
CPX error present.
or
mains supply or control voltage absent.

COMPAX 45XXS/85XXS-specific wiring

Wiring up mains
power /
enabling
internal ballast
resistance

High vol-

HV: tage DC

Connector
assignment / cable

7.6.3 COMPAX 45XXS/85XXS-specific wiring

3
2

L3
L2
L1

L2
L3

Bus system

X7 OUT

Technical data

400V line

Configuration

HV
RD

Enable internal ballast resistor

Positioning and
control functions

X5 IN

X2HV: DC current output

Power supply:
3 * 80V AC - max. 3 * 500V AC
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 <1VSS -

24V GND

Enable
+24V DC
0V

Enable

X1
ISOL 0V

Interfaces

24V Input

Enable +

Enable -

Optimization
functions

Wiring up motor
/ control voltage
/ enable

BR1

black 5
black 4
green/yellow

black 3

black 2

PE
W
V
U

Sheetshielding of
motor cable

Status

Risk of electric shock
If case is not erthed
Connenct earth
before connecting supply

WARNING

black 1

Brake
+

Accessories /
options

Motor
Outputs

Unit
hardware

COMPAX 45XXS/85XXS unit characteristics

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

Parameter

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

Error list

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

COMPAX-M / -S

Start-up manual
Enable bridges:
X3/1 - X3/2

Overvoltage
limitation

The final stage is enabled using a bridge between X3/1 - X3/1.
If this connection is missing, the final stage is voltage-free and error message E40
appears (see from Page 223).
Energy recuperated during braking is stored in the supply capacitors. 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).
Maximum braking
power of the
internal ballast
resistance

Braking power

COMPAX 45/85S: 300W
≤1.5 kW

Duration

Cooling
down time

unlimited
<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, TD and PE.
The output is protected from short circuits.
Note!
When an external ballast resistance is connected, the bridge between RD and TD
must be removed.

COMPAX 45XXS/85XXS connector and pin assignment

Technical data

X6/8

X6/7

X6/6

X6/5

X6/4

X6/3

X6/9
+5V

CTS

RTS

DSR

GND

DTR

TxD

X6/2
RxD

X3/1

Configuration
Positioning and
control functions

X3/2

X3/3

+24V

Enable power
output stage

X3/4

X2/7

X2/5

X2/4

X2/3

X2/2

X2/6

RD
+direct current
voltage

X2/1

X16:
absoluteencoder

GND
stand by

Optimization
functions
Interfaces

NC X16/7
D+ X16/8

24V
15V - 24V emergency
stop
housing

X12: resolver / SinCos

Status

+24V X16/9

GND

X13/15

A1/

X13/14

B1/

X13/13

N1/

X13/12

A2/

X13/11

B2/

X13/10

N2/

+5V

X13/9

X13/8

X13/7

X13/6

X13/5

X13: encoder

Parameter

NC X16/4
GND X16/5
T+ X16/6

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!

Error list

Accessories /
options

+24V

X9/7

T- X16/1
NC X16/2
D- X16/3

O16

X13/4

X9/6

O15

X9/5

RxC/ X14(15)/6
TxC/ X14(15)/7

O14

X9/4

O13

X13/3

X9/3

RxD X14(15)/4
TxD X14(15)/5

RxD/ X14(15)/8
TxD/ X14(15)/9

O12

housing

X9/2

O11

X13/2

X9/1

O10

X14/X15:
HEDA

X13/1

X10/16

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

ST-

X10/15

I16

X12/15

X10/14

I15

REF+

X10/13

I14

X12/14

X10/12

NC X14(15)/1
RxC X14(15)/2
TxC X14(15)/3

I13

SIN+

X10/11

I12

X12/13

X10/10

I11

COS+

X10/9

X11/7

Sig. E1 X17/9

X12/12

X10/8

X11/6

I10

COS-

X10/7

X11/5

X12/11

X10/6

X11/4

Sig.MN X17/7
Sig. E2 X17/8

TEMP

X10/5

X11/3

+5 V

X10/4

X12/10

X10/3

ST+

X10/2

X11/2

GND 24V X17/4
X17:
DA-monitor
+24V X17/5
Initiators
GND X17/6

X12/9

X10/1

X12/8

X8/16

X11/1

DA-channel 0 X17/1
(Option D1)
DA-channel 1 X17/2
shield X17/3

GND

X8/15

X12/7

X8/14

shield

X8/13

Override (old)

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

X12/6

X8/12

SIN-

X8/11

DA-channal 3

X12/5

X8/10

DA-channel 2

X11

REF-

X8/9

X12/4

X8/8

Override

X8/7

X12/3

X8/6

GND

+8V

X8/5

+24V

housing

X8/4

X6:
RS232

X12/2

X8/3

X3:
control
voltage

X12/1

X8/2

X2:
AC supply

X1:
motor
brake

X8/1

Releasing final stage

X1/5

X1/4

X1/3

X1/2

X1/6
brake -

brake +

X1/1

Releasing internal
ballast resistance

Connector
assignment / cable

7.6.4 COMPAX 45XXS/85XXS connector and pin assignment

Unit
hardware

COMPAX 45XXS/85XXS unit characteristics

Start-up manual
7.7

COMPAX-M / S

COMPAX 1000SL Unit characteristics

X14

HEDA

Input
+ -

24 V DC

HEDA

PE
+

R Dump

X14/X15
HEDA (Option)

Out

Fieldbus Out

+
W PE

Motor

X1 motor /
motor brake

X19

Brake

Resolver

X12
resolver

Encoder

X13
encoder

X3 24V DC
supply

X4 ballast
resistance

X12

X13

bus
systems:
X5 IN
X7 OUT

Fieldbus In

X17
initiators

X6 RS232

X15

RS232

Limit Switch

X17

7.7.1 Connector and terminal assignment for COMPAX 1000SL

PE
N
L1

230 V AC

Input / Output

COMPAX - SL

X19 in-/
output

X2 230V AC
supply

PE connection

Caution!
If the unit has no control voltage, displays will not indicate if operating
voltage is present.
2

PE – terminal:

at least 2.5mm

LED display

The following statuses are shown by the LEDs.
Status
24V not available
24V are switched on, boot up
Unit OFF
Unit error; drive switched off
Unit error; drive powered
Unit RUNNING

Red LED (H2)
off
on
off
on
on
off

Green LED (H1)
off
off
blinking
blinking
on
on

HEDA

Input
+ -

Connector
assignment / cable

24V control voltage

X15

X14
X4

Brake

black 5
black 4

Motor

black 3
black 2

PE
W
V
U

N
L

Positioning and
control functions

X2 230V AC supply

230 V AC

black 1
Input / Output

brake
+

green / yellow

Configuration

W PE

X19

Technical data

HEDA

sheetshielding of motor cable

COMPAX - SL

X1 motor / motor brake
+

Resolver

Encoder

green / yellow

Out

Fieldbus Out
X12

Fieldbus In
X13

R Dump

X4 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 <1VSS • 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.

Optimization
functions

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

Braking power

COMPAX 10XXSL: ≤ 1.6kW

Duration

unlimited

We provide external ballast resistances for COMPAX 1000SL
(see Page 193).
The ballast resistance is connected to B+, B- and, if necessary, PE.
Output X4 is protected against short circuiting.

Parameter

Connecting the
ballast resistance

Accessories /
options

Cooling
down time

Status

Maximum braking
power with external
ballast resistance

Energy recuperated during braking is stored in the supply capacitors. The
capacity and storable energy is:
COMPAX 10XXSL: 660 µF
µ / 17 Ws
If the recuperated energy causes overvoltage, then external ballast resistances can
be engaged.

Error list

Overvoltage
limitation

Interfaces

24 V DC

RS232

Limit Switch

Unit wiring
COMPAX
1000SL

X17

Connector and terminal assignment for COMPAX 1000SL

Unit
hardware

COMPAX 1000SL Unit characteristics

Start-up manual

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).

Mating connectors
X1, X2, X3 and X4

X1:
motor
brake

X19/24
X19/25

X6/9
+5V

X6/7

X6/6

X6/8
CTS

RTS

DSR

X6/5

Assignment depends on
the bus system

Output
24V

X5: bus systems input

stand by P

Assignment depends on
the bus system

stand by S

X13/4

X13/3

X13/2

housing
X13/1

ST-

X12/15

REF+

X12/14

SIN+

X12/13

COS+

COS-

X12/12

TEMP

X12/11

+5 V

X12/10

ST+

X12/9

GND

X12/8

X12/7

X12/6

SIN-

REF-

X12/5

X12/4

+8V

X12/3

X12/2

X12/1

housing

X12: resolver / SinCos©

X13: encoder

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

GND

X6/4
DTR

X6/3

RxD

TxD

X6/2

X4/3

X4/2
B-

X4/1
B+

X3/2
0V

X3/1
+24 V

X2/3
PE

X2/2

X7: bus systems output

Output

GND

X19/23

Output

X13/15

X19/22

Output

A1/

X19/21

RxD/ X14(15)/8
TxD/ X14(15)/9

Output

X13/14

X19/20

Output

B1/

X19/19

TxD X14(15)/5
RxC/ X14(15)/6
TxC/ X14(15)/7

X13/13

X19/18

Output

N1/

X19/17

TxC X14(15)/3
RxD X14(15)/4

X14/X15:
HEDA

X13/12

X19/16

NC X14(15)/1
RxC X14(15)/2

A2/ analog

X19/15

X19:
In- and
emerg.-Stop
output/
enable
Emergency
Override
stop/
enable/
GND
override/
Output
stand by

X13/11

X19/14

Sig. E1 X17/9

Input

X19/13

Input

X13/10

Bridges for test operation

X19/12

Sig.MN X17/7
Sig. E2 X17/8

Input

X19/11

Input

+5V

X19/10

Input

X13/9

X19/9

Input

X19/8

shield X17/3
GND
24V X17/4
X17:
DA-monitor
+24V X17/5
initiators
GND X17/6

Input

X13/8

X19/7

Input

X13/7

X19/6

DA-channel 2 X17/1
DA-channel 3 X17/2

X19/5

X6:
RS232

GND

X13/6

X19/4

X4:
braking
resistance

X19/3

X3:
control
voltage

X13/5

X19/2

X2:
Ac supply

A2 analog

X19/1

Br-

X2/1

X1/6

X1/5
Br+

X1/4
PE

X1/2

X1/3
W

X1/1

Connector assignment COMPAX 1000SL (overview)

7.7.2

COMPAX-M / S

Status

Accessories /
options

Interfaces

Optimization
functions

174

Fastening: 3 M4 hex-socket head screws
Installation distance: 100mm (device distance:15mm)
183

Positioning and
control functions

Configuration

X12

X13

Out

X14

HEDA

Input
+ -

X15

X17

7.7.3 Mounting and dimensions COMPAX 1000SL
145.5

Connector
assignment / cable

24 V DC

Limit Switch

RS232

Technical data

HEDA

Fieldbus Out

Fieldbus In

R Dump

197.5

Brake

W PE +
Motor

Resolver

Encoder

Parameter

X19

Unit
hardware

Mounting and dimensions COMPAX 1000SL

Error list

55
230 V AC

Input / Output

COMPAX - SL

206.5
180

COMPAX 1000SL Unit characteristics

Start-up manual

COMPAX-M / S

7.7.4 Safety chain / emergency stop functions
Readiness,
safety chain

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).

Emergency stop

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.

Emergency stop
characteristics :

Emergency stop
and ready on
connector:

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

1 2 3 4 5 6 7

1
2
3
4
5
6
7

Assignment

+24V DC (<50mA)
0V
P: Ready contact
S: Ready contact
+24V DC – Output for emergency stop
Emergency stop input (activated by 15V – 24V)
Screen

COMPAX 35XXM: X19
Pin

Assignment

MC1.5/7-ST-3.81

1
2
3
4
5
6
7
8
9
10
11

+24V DC (<50mA)
0V
P: Ready contact
S: Ready contact
+24V DC – Output for emergency stop
Emergency stop input (activated by 15V – 24V)
+24V DC (<50mA)
reserved
+24V DC (<50mA)
Enable
Screen

1 2 3 4 5 6 7 8 9 10 11

Connectors: Phoenix

Assignment

23
1
24
25
11

+24V DC (<50mA)
0V
P: Ready contact
S: Ready contact
Emergency stop input (activated by 15V – 24V)

Technical data

Emergency stop input direct to COMPAX-M X9
Pin

MC1.5/7-ST-3.81
1 2 3 4 5 6 7

1
2
3
4
5
6
7

Assignment

+24V DC (<50mA)
0V
reserved
reserved
+24V DC – Output for emergency stop
Emergency stop input (activated by 15V – 24V)
Screen

Configuration

Connector: Phoenix

* Emergency stop input on COMPAX-M

readiness
emerg. stop

power supply COMPAX-M COMPAX-M
module
No. 1
No. x
X8/1
+24V
X8/2
GND
X8/3
X8/4
X8/5
X8/6
X8/7

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

Interfaces

external
component

shield

COMPAX-S X9 i.e. COMPAX 35XXM X19
X./1
X./2
X./3
X./4
X./5
X./6
X./7

+24V
GND

Applies to potential 24V power supply.
shield

Status

control

Parameter

Principle of safety
chain and
emergency stop
function

Positioning and
control functions

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.

Optimization
functions

Accessories /
options

Error list

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

Connector
assignment / cable

COMPAX 1000SL X19

Unit
hardware

COMPAX 1000SL Unit characteristics

COMPAX-M / -S

Start-up manual
Resolver / SinCos

Connections to the motor

green/
yellow

Cable assignment
in the terminal
boxes

black

7.8

PE shield
black 1

U
black 2
V
black 3
W
black 4

brake black 5

7.8.1 Resolver / SinCos
Pin from X12 Standard assignment
Assignment with resolver
or option S1/ S22
1
Housing
2
+8V
3
NC
4
REF5
SIN6
NC
7
GND
8
ST+
9
+5V
10
TEMP
11
COS12
COS+
13
SIN+
14
REF+
15
ST-

2
3

Assignment with
option S33
Housing
+8V
HALL3
+5V
SIN- / A/
HALL2
GND
+5V
+5V
TEMP
COS- / B/
COS+ / B
SIN+ / A
HALL1
GND HALL

The S1/2 options are required for operation with the sensor system SinCos.
The S3 option is required for operation of linear motors.

1.5mm2
up to 13.8A

2.5mm2
up to 18.9A

6mm2
up to 32.3A

10mm2
up to 47.3A

GBK16/..

MOK42/..

MOK43/..

MOK21/..

MOK11/..

MOK46/..

Connector set 085-301312
800-030031

085-301317
800-030031

085-301306

125-518162
125-216800

125-518211
125-217000

125-518200

Cable 102-150200

102-150210

102-508896

102-508902

102-150030

102-150040

7,5/38/113

10,7/107/107

13,7/137/137

16,5/124/124

22,5/168/168

GBK17/..

MOK44/..

MOK45/..

MOK14/..

MOK11/..

MOK46/..

085-301317
800-030031

085-301306

125-518162
125-216800

125-518211
125-217000

125-518200

102-000020

102-000010

102-150030

102-150040

8,0/40/64

9,2/69/69

11/82,5/82,5

16,5/124/124

22,5/168/168

Cable data in mm

8,0/80/120

Cable sheathed REK33/..
Connector set 085-301312
800-030031
Cable 102-000030
Cable data in mm

8,2/61,5/61,5

Technical data

With terminal boxes:
HJ155, HJ190
HDY142

Positioning and
control functions

High-flex cable Standard cable

Cable sheathed REK32/..

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

Configuration

Sensor
cable
(SinCos
)

Resolver
cable

Connector
assignment / cable

Connecting cable to motor

Resolver cable for HJ and HDY motors

yellow

SIN+

green

SIN-

brown

COS-

white

Ref+

blue

Ref-

+Temp (+5V) 9

pink

grey

SINCOS+

1
2
3
4
5
6
7
8

9
10
11
12

-Temp

2x0,25

red
2x0,25

COS+

COS-

Ref+

Ref-

+Temp

-Temp

solder side
Codiernut 20°
8

10
6

3
4

Li2YCY 4x2x0,25
No. 102-150200

26 mm

Interfaces

Pin 1
solder side

2x0,25

Optimization
functions

REK32

SIN+

6 mm

4 mm

Unit
hardware

Connections to the motor

Accessories /
options

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 connector manufacturer's specification
Packaging of device

Status

• Strip 26mm sheathing off.
• Cut sheath down to 6 mm.
• Strip 4mm of insulation of ends and coat in tin.

Length codes for preformed cables
1.0 2.5
01 02

5.0
03

7.5
04

10.0 12.5
05
06

15.0
07

20.0
08

25.0
09

30.0
10

35.0
11

40.0
12

45.0
13

50.0
14

Example REK32/09: length 25m

Error list

Length [m]
Code

Parameter

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

COMPAX-M / -S

Start-up manual
Resolver / SinCos

Motor cable for HJ and HDY – motors
MOK42 (max. 13,8A)
110 mm

75 mm

MOK42
30 mm

30 mm

Shrink-fit hose
standard/highflex

U
V
W
Br. +24V
Br. -24V

standard/hochflex

black1/black

sw1/sw

black2/brown

sw2/br

black3/blue

sw3/bl

black4/red

sw4/rt

black5/green

sw5/gr

black6

sw6

green-yellow

gn/ge

Br+

Br-

Lötseite / Crimpseite
6
5

75 mm

15 mm

10 mm

Version in high-flex: MOK44 (same layout)
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 connector manufacturer's specification
2

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

Packaging of device
Material:
• 6 x crimping sleeves.
• 6 cm shrink-fit hose.
Procedure:
•
•
•
•
•
•

CY-JZ 7x1,5
No 102-508896

110 mm
35 mm

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.

3( )

MOK21 (max. 18,9A)
110 mm

75 mm

MOK21

30 mm

standard/hochflex

black1/black

sw1/sw

black2/
brown
black3/blue

sw2/br

sw3/bl

Br. +24V

black4/red

sw4/rt

Br+

Br. -24V

black5/
green
black6

sw5/gr

Br-

green-yellow

gn/ge

Technical data

30 mm

Shrink-fit hose
standard/highflex

Configuration

30 mm

sw6

CY-JZ 7x2,5
No. 102-508902
110 mm
75 mm

190 mm
20 mm

170 mm

15 mm

10 mm

Positioning and
control functions

35 mm

Unit
hardware
Connector
assignment / cable

Connections to the motor

Version in high-flex: MOK14 (same layout)

Optimization
functions

MOK11 (max. 32.3A) in high-flex (same layout to MOK21, however in 6 mm2)
MOK46 (max. 47.3A) in high-flex (same layout to MOK21, however in 10mm2)

Packaging
Packaging of device

Interfaces

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.

Accessories /
options

•
•
•
•
•
•

Parameter

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.

Error list

•
•
•
•

Status

Packaging of motor in accordance with manufacturer's specification

COMPAX-M / -S

Start-up manual
Resolver / SinCos

SinCos
 cable for HJ and HDY motors

GBK16

SIN+

Pin 1

solder side
1
2
3
4
5
6
7
8

yellow

SIN-

violet

COS+

brown

COS-

white

ST+

black

ST-

pink

10
11
12
13
14

Th1

Th2

+8V
GND

2x0,25

grey
red

blue

2 SIN-

11 COS+

12 COS-

3 +485

gn
gr

2x0,5

rt
bl

1x0,14

1 SIN+

vio

green

13 -485
8 K1
9 K2
10 +V

solder- / Crimp side
11
12

1
2

13
3

8
15
7

14
17
6

7 GND

screen at
sceen contact
LiYC11Y 4x2x0,25+2x0,5+0,14
No. 102-150210
26 mm
4 mm

Packing according as the regulation of the manufacturer

6 mm

8 x Crimp contacts 0.14-0.56

Version in high-flex: GBK17 (same layout)

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

Technical data

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:

0,47uF

33V
33V

stop
brake
within
motor

Configuration

contact to external
brake control

BR.-

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

Status

Accessories /
options

Interfaces

Optimization
functions

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.

Parameter

COMPAX 25XXS /
COMPAX 35XXM

Positioning and
control functions

Br.+

Error list

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

Unit
hardware
Connector
assignment / cable

Connections to the motor

COMPAX-M / -S

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)

Assignment of X8
(Input/Output)
Connectors:
Phoenix
MC1.5/16-ST3.81
1 2 3 4 5 6 7 8 9 10 11 1213 14 15 16

X8
Pin

Assignment

Meaning

Input I1

SHIFT

Input I2

Input I3

Input I4

Input I5

Input I6

7.
8.
9.

Input I7
Input I8
Output O1

10.

Output O2

11.

Output O3

12.

Output O4

13.

Output O5

14.

Output O6

15.
16.

Output O7
Output O8

="0"
="1"
Manual+
Find machine zero
Manual–
Approach real zero
Quit
Teach real zero
Start
Stop (interrupt Break (breaks off
data record)
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.

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

Assignment of
X10 (Input/Output)
Connector:
Phoenix
MC1.5/16-ST3.81
1 2 3 4 5 6 7 8 9 10 11 1213 14 15 16

X10
Pin

Assignment

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

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

Meaning

Freely assignable in the standard unit.

Note the assignment for unit variants and for special functions.
52

Input
Input
reserved
Emergen
cy stop
Enable
Override
GND
Output

12.
13.
14 14.
15.

16. Output
13

17.
18.
19.
20.
21.
22.
23.
24.
25.

Output
Output
Output
Output
Output
Output
24VDC
Ready P
Ready S

="0"
="1"
Manual+
Find machine zero
Hand–
Approach real zero
Quit
Teach real zero
START
Stop (interrupts Break (breaks off
data record)
data record)
Freely assignable in the standard unit. (I12)
Freely assignable in the standard unit. (I16)
Emergency stop input (emergency stop is triggered
by voltage < 15V DC)
COMPAX 1000SL is enabled by 24V DC at X19/12
Input voltage 0 - +5V.

Unit
hardware
Connector
assignment / cable
Technical data
Interfaces

8.
9.
10.
11.

SHIFT

="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. (O7)
Freely assignable in the standard unit. (O8)
Load < 50mA
Ready contact for building a safety chain
Ready contact for building a safety chain

Accessories /
options

GND
Input
Input
Input
Input
Input
Input

Status

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

1.
2.
3.
4.
5.
6.
7.

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

Parameter

X19 AssignPin ment

Note the assignment for unit variants and for special functions.

Error list

Assignment X19
for COMPAX
1000SL

Configuration

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.

Positioning and
control functions

7.9.2 Digital inputs and outputs for COMPAX 1000SL

Optimization
functions

Interfaces

COMPAX-M / -S

Start-up manual
Technical data / Connections of inputs and outputs

7.9.3 Technical data / Connections of inputs and outputs
Detection of input
signals:
Load on outputs
(not applicable for
COMPAX 1000SL):

Load on outputs for
COMPAX 1000SL:

0 → 1 over 9.15V means that "1" is recognised
1 → 0 over 8.05V means that "0" is recognised
1. O1...O16
2. O1...O4, O5...O8,
O9...O12, O13...O16
3. O

Total of max. 1.6A
Per group of 4, max. 0.8A; taking due account of 1.
per output, max. 0.3A and 40nF capacitive4; 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 capacitive5;
If overload occurs, an error message appears (E43: can be acknowledged with
Power off/on); the corresponding group of four is switched off.

PLC

Input connection
using I7 as an
example

COMPAX
X11/7

24V

F23

X11/1
X19/23

100KΩ

22KΩ

X8/7
X19/.

22KΩ

10nF

12KΩ

X11/2
X19/14

Output connection
using O7 as an
example

(X19 applies for COMPAX 1000SL)

PLC

COMPAX
X19/23
X11/1

24V
F23

X11/7
X8/15
X19/.
4.7KΩ
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

Input/output
connection for
2 COMPAXs

24V
F23

2nd COMPAX
X19/23
X11/1

X19/23
X11/1

X8/15
X19/.

X8/7
X19/.

4.7KΩ

22KΩ

X19/14
X11/2

24V
F23

22KΩ

100KΩ

22KΩ
10nF

12KΩ
0V

(X19 applies for COMPAX 1000SL)

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

Connector
assignment / cable

7.9.4 Initiators and D/A monitor
Connection assignment on X17

COMPAX

normally
closed pnp

Sig. E1 X3/8
sw
GND
bl

X3/7

+24V
br

4,75kΩ

X3/9

X4/12

+24V
br

X17/5

X2/6

X4/15

Sig. E1
ge

X17/9

Sig. MN X2/5
sw

X4/14

Sig. MN
gn

X17/7

X4/13

Sig. E2
ws

X17/8

X4/10

GND
bl

X17/4
X17/3

GND
bl

X2/4

+24V
br

X1/3

Sig. E2 X1/2
sw
GND
bl

X1/1

4,75kΩ

+24V
br

4,75kΩ

normally
closed pnp

initiatorbox
E1

Configuration

3
4
5
6
7
8
9

Positioning and
control functions

Optimization
functions

normally
closed pnp

Connection plan
for the initiators
with initiator
connector

Technical data

DA channel 0 (option D1) Ri=2.8kΩ;
COMPAX 1000SL: DA channel 2; Ri=0.33kΩ;
DA channel 1 (option D1) Ri=2.8kΩ;
COMPAX 1000SL: DA channel 3; Ri=0.33kΩ;
reserved
Ground 24V (Initiators supply)
+24V (Initiators supply) <50 mA
Ground for DA channels
Input MZ initiator
Input I2 initiator
Input I1 initiator

screw connection
UNC4-40

Assignment

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.

Parameter

Requirements
concerning the
position of the
initiators

Interfaces

Accessories /
options

Status

plug housing with

Error list

9 pin Sub-D pin strip

Unit
hardware

Interfaces

COMPAX-M / -S

Start-up manual
Service D/A monitor / override

7.9.5 Service D/A monitor / override
Assignment of X11 (not applicable for COMPAX 1000SL)
Connector: Phoenix

Pin
1
2
3
4
5
6
7

MC1.5/7-ST-3.81
1 2 3 4 5 6 7

Assignment
+24V
Ground 24V
Override for speed reduction
Standard DA channel 2: 8 Bit, Ri=2.21kΩ;
Standard DA channel 3: 8 Bit, Ri=2.21kΩ;
Override; previous input for existing applications
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).

Override
connection

(not applicable for COMPAX 1000SL)
COMPAX
1KΩ

+5V

X11/6
10KΩ
100%
0%

X11/3

10KΩ

OverrideSignal

100nF
X11/2

GND

The override input is read in a cycle of 100 ms.
You can continue to use the previous override connection for current applications.
COMPAX 1000SL

Override Connection for
COMPAX
1000SL

+5V
1KΩ
100%
0%

X19/13

10KΩ

OverrideSignal

100nF
X19/14

GND

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.

X17/1 for COMPAX 1000SL6
X17/2 for COMPAX 1000SL

No.
P76
Value before decimal p.
P76
Value after decimal point7
P77
Value before decimal p.
P77
Value after decimal point

Parameter
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)

Range
0...18
0.1... 10 000 000
0...18

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

Positioning and
control functions

Service D/A monitor:
Selection of measuring parameter using P76 / P77
D/A monitor (option D1): Selection of measuring parameter using P73 / P74
Measuring
Reference value8
Measuring parameter
parameter No.

-1

20 000 min
128›Motor revolutions
-1

Optimization
functions

20 000 min
-1
20 000 min
-1
20 000 min
-1
20 000 min

200A
1000V
Interfaces

Nominal speed value sensor
Tracking error
Advance speed control
Nominal speed value of position controller
Actual speed value
Speed deviation
Not assigned
Not assigned
9
Nom. value of transverse current (torque)
Intermediate circuit voltage
Sine for co-ordinate transformation
Voltage positioning signal for phase U
Voltage positioning signal for phase V
Phase current for phase U
Phase current for phase V
10
Actual value of transverse current (torque)
Longitudinal current
Scaled transverse voltage
(For amplification of 1 use: 10V = 2 * ULS )
Scaled longitudinal voltage
(For amplification of 1 use: 10V = 2 * ULS )

2 * ULS
2 * ULS
200A
200A
200A
200A
2 * ULS

Accessories /
options

0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17

2 * ULS
Status

You will find additional measuring parameters on Page 210!

The initiator signals are looped through the monitor box ASS1/01.
.0000001=factor 1
.000001=factor 10
.999999=factor 10 000 000
8 Physical value with 10V output voltage and an amplification of 1
9 To determine torque:
torque = transverse current * 0.71 * total torque constant
10 To determine torque:
torque = transverse current * 0.71 * total torque constant
7

Parameter

D/A monitor
standard
measuring
parameters

Unit
hardware

0.1... 10 000 000
Configuration

Meaning and
range of values of
P76 / P77

Channel 2: X11/4;
Channel 3: X11/5;

Error list

Assignment of the
channels

Connector
assignment / cable

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

Technical data

Interfaces

COMPAX-M / -S

Start-up manual
D/A monitor option D1
Calculation of
physical parameter
using the measured
value:

Example:

MW * BG
VS * 10V
PG: physical parameter
MW: voltage on output channel in [V]
BG: reference value from the above table
VS:
gain factor
PG =

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:
2,5 * 20000min −1
=500 rpm
10 * 10V
3 * 200A
= 12A
channel 1: MW = 3V => PG =
5 * 10V
The parameters of the D/A monitor can also be set to status S15 or be viewed via
the optimization display (see Page 133).
channel 0:MW=2.5V=> PG =

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.
P71
P72
P73
P74

Parameter
Gain factor from channel 0.
Gain factor from channel 1.
Measuring parameter of channel 0. (For the meaning, see
table on Page 56).
Measuring parameter of channel 1. (For the meaning, see
table on Page 56).

Range
1...10 000
1...10 000
0...18
0...18

The parameter can only be actuated once you have entered the password.
The measuring
parameters are
selected using P73
or P74

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

Connector
assignment / cable

7.9.8 RS232 interface
Wiring diagram SSK1/...:COMPAX - PC/terminal
X6

Technical data

PC / terminal
9-way Sub-D-pin
plug shell with screwed
1 connection UNC4-40

RxD
TxD
DTR
DSR
GND
RTS
CTS

Positioning and
control functions

2
3
4
6
5
7
8

Configuration

9pol. Sub-D-socket board
n.c. 1
RxD 2
TxD 3
DTR 4
DSR 6
GND 5
RTS 7
CTS 8
+5V 9
housing

housing
7 x 0.25mm2 + shield

Optimization
functions

Apply screen on both sides to surface.

7.9.9 Absolute value sensor (option A1)

Interfaces

The option A1 cannot be used for COMPAX 1000SL.
absolute enoder
9

2
3

Accessories /
options

plug :
C12FUR

6
T+
1
T8
D+
3
D+24V 9
GND 5
housing
n.c. 2
n.c. 4
n.c. 7

5 11 4

3
11
2
10
8
1
housing

Status

4 x ( 2 x 0.25mm ) + shield

Parameter

plug :
9-way Sub-D-pin
1 plug housing with
screwed connection
UNC4-40
5

Error list

Cable plan
GBK1/..: COMPAX
absolute value
sensor

X16

Unit
hardware

Interfaces

COMPAX-M / -S

Start-up manual
X13: Encoder interfaces, ...

7.9.10 X13: Encoder interfaces, ...
Encoder interfaces
for COMPAX

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.

Encoder interfaces
for
COMPAX 1000SL

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
Assignment on
X13:

(not COMPAX 1000SL)

Connector X13

X13
Pin

Designat
ion:

Function with encoder input
or simulation

15 pin

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

Housing
N2
B2
2A
N1
B1
1A
+5V
N2/
B2/
A2/
N1/
B1/
A1/
GND

Screen terminal:
Channel 2 zero impulse
Channel 2 track B
Channel 2 track A
Channel 1 zero impulse
Channel 1 track B
Channel 1 track A
Output +5V
Channel 2 zero impuse inverted
Channel 2 track B inverted
Channel 2 track A inverted
Channel 1 zero impuse inverted
Channel 1 track B inverted
Channel 1 track A inverted
Reference point

Sub-D socket
terminal strip
Screws
UNC4-40

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

Enable
+15V (<10mA)
Input (±10V)

Direction of rotation
-15V (<10mA)
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

Encoder emulation

External pos.
localization
! SPEED SYNC

COMPAX XX60

"
External position
localization
(actual value)

Encoder input

Analogue input

SPEED SYNC

Cycle / direction input

SPEED SYNC

COMPAX XX70

Master position
(set value)
Master speed
Master position
(set value)

"
!

Master position
(set value)

Master speed

Master position

Sub-D socket

13
14
15

Process
interfaces
Configuration
options

Function

Housing
nc
nc
2A
N1
B1
1A
+5V
nc
nc
A2/
N1/

Screen terminal:

B1/
A1/
GND

A2 (Analogue input)*
Channel 1 zero impulse
Channel 1 track B or direction
Channel 1 track A or step
Output +5V

A2/ (Analogue input)*
Channel 1 zero impuse
inverted
Channel 1 track B inverted
Channel 1 track A inverted
Reference point

Setting

Outputs

Inputs

P144 = 4 or 6
P146 = 0

Not possible!

Encoder input

P144 = 5
P146 = 0

Not possible!

Cycle / direction input

P144=7

Encoder emulation

Analogue input ± 10V*

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

switched off!

Accessories /
options

P144 = 0

Unit
hardware
Configuration

1
2
terminal strip
3
Screws
4
UNC4-40
5
6
7
1
9 8
9
10
15
11
8
12
15 pin

Designation:

Positioning and
control functions

X13 Pin

Optimization
functions

Connector
X13

Interfaces

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:

P146 = 0 1024 Pulse/rev.

Parameter

Status

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

Error list

Encoder interface
/ Step direction
input for COMPAX
1000SL

Connector
assignment / cable

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

Technical data

Interfaces

COMPAX-M / -S

Start-up manual
X13: Encoder interfaces, ...

Configuring the
process
interfaces

* function analogue
input

Applications with
COMPAX 1000SL
and encoder
(see page 179)

P144

P146 Setting

= 4/6 = 0
=5

=7
=0

=0
=8

=7
=7
=7

=8
=0
=8

Encoder input (without terminator) for individual connections, use
bus termination BUS06/01)
Cycle input
O1 – O1/
Cycle / direction input11
Direction
input
B1
– B1/
Counter cycle signal
(RS485/422)
without analogue
Encoder simulation 1024 pulse / revolution
input
Encoder simulation 1024 pulse / revolution
with analogue input
Encoder simulation 512 pulse / revolution
without analogue
input
Encoder simulation 512 pulse / revolution
with analogue input
Rpm specification as with option I7,
Analogue input ±10V
however without direction of rotation
Input on A2 and A2/
input*
Resolution: 20mV

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)
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 = Impulses per Reference dim ension
4

Example: Reference dimension = 100mm
10 000 input pulses should give a movement of 100mm
P143=10 000/4 = 2500
62

Connector
assignment / cable

7.9.11 HEDA interface (option A1/A4)
The HEDA interface is available for COMPAX XX00, COMPAX XX60 and
COMPAX XX70.

Technical data

HEDA option A4: for COMPAX 1000SL
HEDA option A1: for all other COMPAX

Cable plan
SSK14/..:

IPM - COMPAX and COMPAX - COMPAX
X14/PC

X15

RxD
RxD/
TxC
TxC/
TxD
TxD/

1 NC
2 RxC
6 RxC/

clock from Master
data from Master

4
8
3
7
5
9

clock from Slave
data from Slave

housing

RxD
RxD/
TxC
TxC/
TxD
TxD/

Positioning and
control functions

NC 1
RxC 2
RxC/ 6

Configuration

D-pin 9-way
D-plug shell 9-way
6

Unit
hardware

Interfaces

housing
2

4 x 2 x 0.25mm + shield

Cable plan
SSK15/..

Optimization
functions

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

Cables for COMPAX master and COMPAX slave coupling:
Master: X15

Slave: X14

2 RxC
6 RxC/

3
7
5
9

Accessories /
options

TxC
TxC/
TxD
TxD/

Interfaces

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

4 RxD
8 RxD/
housing

housing
2

2 x 2 x 0.25mm + shield

The last unit on the HEDA has a terminating connector (BUS2/01).
BUS 2/01

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

RxD
RxD/
TxC
TxC/
TxD
TxD/

4
8
3
7
5
9

150Ω

Status

NC 1
RxC 2
RxC/ 6

150Ω
150Ω
150Ω

Parameter

X15

7.9.12 Bus connection
Special operating instructions are available for the bus systems.

Error list

Terminating
connector
(BUS2/01).

COMPAX-M / -S

Start-up manual
7.10 Technical data

Technical data

Power characteristics

CE conformity

Functional capability

• EMC immunity/emissions as per EN61800-3.
• Safety: VDE 0160/EN 50178.

• 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
JSSBH-21-P4
RE-21-1-A05
RE-15-1-B04
• Tamagawa: 2018N321 E64
23401-T2509-C202
• Siemens:
• SinCos support (Stegmann).
• 3-phase synchronous linear motors12
• Sine-cosine linear encoder (1Vss) or TTL
(RS422)
• Digital Hall sensor commutation (5V).

Output data for individual units
Unit

Nom.curCOMPAX . rent [Aeff]

Peak current
[Aeff] <5s

Power
[kVA]

with mains supply: 230V AC

10XXSL
25XXS

2.5
6.3

5.0
12.6

1.0
2.5

6.5
12.5
5.5
6.5
11.5
25.0
50.0

13.0
25.0
8.5
8.5
17.0
50.0
100.0

4.5
8.6
3.8
4.5
8.0
17.0
35.0

with mains supply: 460V AC

45XXS
85XXS
P1XXM
02XXM
05XXM
15XXM
35XXM

5.4
10.5
4.5
5.4
9.6
21.0
42.0

13.0
25.0
8.5
8.5
17.0
50.0
100.0

4.5
8.6
3.8
4.5
8.0
17.0
35.0

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

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

at mains supply: 400V AC

45XXS
85XXS
P1XXM
02XXM
05XXM
15XXM
35XXM

Supply voltage (limit values)

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 <1VSS
Current required:
• 1.3A for COMPAX 35XXM.
• 1A for COMPAX 45XXS/85XXS.

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.

Connector
assignment / cable
Technical data

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 (option S1/S2/S3)
• 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.

Ambient conditions

HEDA: synchronous, serial real time
interface

• Temperature range: 0...45°C.
• Max. relative air humidity as per DIN 40040 class
F (≤75%); no condensation.

Bus connection: optional

Included in option A4 or option A1.

Interfaces

RS485

Control inputs: 16 (8 for COMPAX 1000SL)

• Max. 115k baud • 2 or 4 wire/RS485

• 24V DC, 10 kOhm (see ex page 52).

Interbus S

Control outputs: 16 (8 for COMPAX 1000SL)

• 2-conductor remote bus • 500 kBaud.
• max. 64 participants per ring.

Parameter

dc-insulated bus connection.

• active HIGH, short circuit protected; 24V (see ex
page 52).

Configuration

• Encoder emulation: 512 or 1024 counts/rev
• Encoder input: RS422 interface; supply: 5V 12010000 lines/rev

Positioning and
control functions

Data record memory

Encoder interface (option; standard for
COMPAX 1000SL)

Optimization
functions

• 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

• via 5 binary inputs and outputs.

Interfaces

Maximum power dissipation

Programmable controller data interface
(excluding COMPAX 1000SL)

Accessories /
options

• Positioning on the motor shaft:
Resolution: 16 bits (= 0.3 minutes of angle)
Absolute accuracy: +/-15 minutes of angle

• 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.

Status

Accuracy

RS 232

Profibus
• 1.5 MBaud • Sinec L2-DP and FMS.
65

Error list

• 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.

Unit
hardware

Technical data

COMPAX-M / -S

Start-up manual
CS31

• ServoManager.

• COMPAX - ABB interface.

CANbus

Mains module

Technical data

• Up to 1.0 MBaud • Basic CAN.
• CAN protocol as per specification 1.2.
• Hardware as per ISO/DIS 11898

For technical data, see Page 23.

CANopen

The units (COMPAX or NMD) can be operated on
1
all mains types . Examples:

• Protocol as per CiA DS 301.
• Profile CiA DS 402 for drives.

Permissible 3-phase mains
IT mains

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).

TN mains

Housing
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.
66

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.

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.
67

Status

8.1 Overview:

Accessories /
options

Interfaces

Optimization
functions

Positioning and
control functions

Configuration

Technical data

Controller

Parameter

Servo

Error list

Compact

Connector
assignment / cable

8. Operating Instructions

Unit
hardware

Overview:

COMPAX-M / -S

Operating Instructions

8.1.1 Block structure of the basic unit (not applicable for COMPAX 1000SL)
Interfaces for data and status
RS232 / RS485 Bus-Systems

PLC data interface

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

Query the most important status values
Setting the most important parameters

16 Binary inputs and outputs

Functions
Status queries

Setting parameters Direct commands

Programming

Controlling

Actual values

Configuration

ACCEL, SPEED

250 lines

manual+, manual-

Diagnostic values

Optimization

POSA, POSA HOME,

Positioning commands

Start, Stop, Break

Device IDs

General settings

POSR, OUTPUT,

I/O instructions
Program flow commands

Machine zero, real zero
Teach real zero, program line

GOTO, ...

System controller
Program memory / parameter memory
Settings,
data

Travel commands
current feed forward
acceleration feed forward
speed feed forward

Motor
Setpoint
generator

Position
controller

Rotational speed
controller

Current Output stage
controller

Rotational speed filter

Servo control

Rotational speed and Encoder
position generation simulation

Interfaces for signals
Override input

Absolute encoder

Encoder input

Encoder emulation

D/A monitor

Externally controlled

reference drives

Synchronization

not required

to external

Output of
actual speed and

2 analogue outputs for

speed reduction

position

(rotational speed, current, etc.)

speeds and position

internal values

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

Connector
assignment / cable

Explanations for the block structure
Interfaces for data and status

Technical data
Configuration

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.

Positioning and
control functions

Binary inputs and
outputs

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.

Functions
Query status

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

Setting
parameters

Programming data
records
Controlling

Interfaces

General settings

Via the uncoupled stiffness, damping and advance control parameters.
Replacement and specification values,
limitations,
control parameters.

Accessories /
options

Optimizing

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

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,... .

Status

Configuring

Optimization
functions

Bus systems

All functions are available via RS232.

System controller

Function monitoring and co-ordination

Control

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

Parameter

RS 232

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)

Error list

PLC data interface

Unit
hardware

Overview:

Operating Instructions

COMPAX-M / -S

Password protection

Interfaces for
signals
Override input

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

Absolute value
sensor (option)

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)

HEDA (option)

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.

Encoder input

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).

Encoder simulation

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")

D/A monitor

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:

♦ transmit

Protected
parameters

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

Note!

Conditions for password input :
♦ There must not be any programs running.

GOTO 302 to COMPAX

♦ switch

the unit off
or
♦ transmit GOTO 270 to COMPAX.

The COMPAX program is not protected by a password.

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.
choice of operation
B
modes

Enter

Positioning and
control functions

status
indicator

choose
number of
C-parameter

Enter

without
function

call higher
C-parameter
number

call smaller
C-parameter
number

decrease
value

without
function

increase
value

Enter

change
C-parameter

Optimization
functions

choose
Status
number

Enter

call higher
Status
number

call smaller
Status
number

Configuration

Display
value
0
1
2
4
9
10
19
20
28

COMPAX parameters Meaning
P194
Address of unit
P195
Baud rate:
P196
Bus protocol
P250
HEDA address
reserved

Baud rate
[Baud]
600
1200
2400
4800
9600
10 000
19 200
20 000
28 800

Display
value
31
38
50
57
62
76
100
115
125

Baud rate
[Baud]
31 250
38 400
50 000
57 600
62 500
76 800
100 000
115 200
125 000

Display
value
172
187
250
345
375
500
800
999

Valid from
Power on
Power on
Power on
immediately

Accessories /
options

C parameters
C01
C02
C03
C11
C04 - C10

Baud rate [Baud]
172 800
187 500
250 000
345 600
375 000
500 000
800 000
1 000 000

Parameter

Meaning of the
bus parameters:

Interfaces

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.

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

Acknowledging
error messages

Status

Querying status
values and
modifying the
bus parameters.

Technical data

Configuration

Once you have rectified the cause of the error, you can acknowledge the error by
pressing the "Enter" key.
71

Error list

8.2

Connector
assignment / cable

Front plate operation (not available with COMPAX 1000SL)

Unit
hardware

Configuration

Operating Instructions

COMPAX-M / -S

Configuration when supplied

8.2.2

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 correctly configured COMPAX or you have corrected the relevant
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
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.

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.

Using the command OUTPUT O0=0.

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.

Unit
hardware
Optimization
functions

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

Positioning and
control functions

Power on for
drive

Configuration

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!

Connector
assignment / cable

Safety instructions for initial start-up

Technical data

Configuration

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:

Interfaces

8.2.4 Safety instructions for initial start-up

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.

Error list

Parameter

Status

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.

Accessories /
options

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

Operating Instructions

COMPAX-M / -S

Configuration parameters

8.2.5 Configuration parameters
Operating mode

Parameter P93: valid from next move command.

Normal mode:

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.

Continuous
mode:

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.

Speed controller

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

Parameter P90

P90 ="1"

Inch

P90 ="2"

Increments

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 = 2n when n = 4, 5, 6, ...16
This corresponds to a resolution of 16 .... 65 536 increments per motor
revolution.
P83 influences the resolution and also the max. travel distance:

Configuration parameters

Configuration

Technical data

Connector
assignment / cable

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
±250 000
32
±125 000
64
±62 500
128
±31 250
256
±15 625
512
±7812
1024
±3906
2048
±1953
4096
±976
8192
±488
16 384
±244
32 768
±122
65 536
±61

Positioning and
control functions

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

Basic conditions
for external
motors:

♦ Sine-commuted

Ramps

Parameter P94

linear

P94 ="1"
Simplest, time-oriented function; not smooth
V

♦ Resolver

Optimization
functions

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

Accessories /
options

Interfaces

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.

1,0
0
ta

Status

a,M

Parameter

Current requirement: 1 times

Error list

Motor type

Unit
hardware

Configuration

COMPAX-M / -S

Operating Instructions
Configuration parameters

P94 ="2"
The mechanics are subject to minimum load when using the smooth function.
V

smooth

a,M
1,9
0
ta

Current required: 1.9 times

quadratic

P94="3"
Gentle running in to the nominal value; overswings are prevented.
V
0

a,M
2,0
0
ta

Current required: 2 times
ta:
v:
a:
M:

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

Transfer of P94
Modifications to P94 become effective from the next move command.
Exception:

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

Drive type:

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.

Spindle drive:

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 parameters

Connector
assignment / cable
Technical data
Configuration

P80= "4" or "8"

P82: Number of
teeth on pinion

Range: see tooth pitch

P83: 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

Moment of inertia of transmission and clutch referenced to motor shaft.
Range: 0...200kgcm2

P92: minimum
mass

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

P88: maximum
mass

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

HLE / HPLA data for
the drive type:
"Toothed belt"

General drive

Optimization
functions

P84: moment of
inertia

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

HLE80C

HLE100C HLE150C

HPLA80

HPLA120

HPLAB180

HPLAR180
rack+pinion

Teeth on
pinion (P82)

Tooth pitch
(P83)

10mm

20mm

10mm

Accessories /
options

P85: ratio

P80=16:

P81: Minimum
moment of inertia

Total minimum moment of inertia: motor, transmission and load referenced to the
motor shaft.
Range: 0...P82 [kgmm2]

P82: maximum
moment of inertia

Total maximum moment of inertia: motor, transmission and load referenced to the
motor shaft.
Range: P81...200 000kgmm2

P83: travel per
motor revolution

Positioning and
control functions

Rack+pinion/
toothed belts

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

Interfaces

P88: Maximum
mass

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

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

Status

P92: Minimum mass

Moment of inertia of transmission and clutch referenced to the drive side.
Range: 0...200kgcm2

Parameter

P84: moment of
inertia

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

Error list

P85: ratio

Unit
hardware

Configuration

Operating Instructions

COMPAX-M / -S

Configuration parameters

Reference
system

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 MZ13 (machine
zero) initiator is attached.

P213="0":

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

P213="1":

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

Setting aid

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.

Specifying
software end
limits

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.

P11: maximum
position

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

P12: minimum
position

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

Specifying point
of real zero (RZ)
P1: point of real
zero

P215: direction
of rotation

Setting aid:

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

P206=2 is used to activate the absolute value resolver.
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
Pos 1
P1
61
2) lies within a definable window
(P161) around Pos 1,
Pos 2
Pos 3
and when
♦ Pos 2 and Pos 3 are less than
P161 from one another (to ensure
that the drive stops when
Pos 4
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.
♦ COMPAX

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.
Condition:

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.

Maximum angle
difference P161:

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).

Note

♦ After

error E42 (resolver/sensor error), referencing must always be implemented.
absolute value sensor function described above only functions with
resolvers.
♦ The absolute value function with resolvers is not supported by COMPAX XX30.

Unit
hardware
Connector
assignment / cable

♦ Parameter

Technical data

Activated with
P206=2

Configuration

Absolute value function without special sensor for up to 4096 rpm

Positioning and
control functions

8.2.6 Absolute value function with standard resolver

Optimization
functions

Absolute value function with standard resolver

Interfaces

Configuration

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

Status
Parameter

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

Error list

Value range S12

Accessories /
options

♦ The

COMPAX-M / -S

Operating Instructions
Machine zero mode

8.2.7 Machine zero mode
Overview:

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

Machine zero
equals external
initiator &
resolver zero / 2
reversing
initiators.

P212 ="0"

Example of a
reference system
definition

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)

Start search direction / initiator side
Application
P213: defines the initiator flank of the machine zero Linear movements
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)

gear doesn`t change
the direction

direction "clockwise rotating motor"

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)
real zero

P11

machine zero

E2
speed

E1
resolver
zero pulse
machine zero
switch

reverse initiator/
limit switch

resolver
zero pulse

reverse initiator/
limit switch

shift machine
zero by P29
P29=90°...360°

starting
position 1

starting
position 2

Unit
hardware
Configuration

actual machine
zero

P29=
0...90°

starting
position 3

Optimization
functions

distance

Status

Accessories /
options

Interfaces

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

Parameter

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

Positioning and
control functions

P12

Error list

Real zero

Connector
assignment / cable

Machine zero mode

Technical data

Configuration

COMPAX-M / -S

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).

Machine zero
equals external
initiator &
resolver zero

P212 ="1"
Find machine zero

Application
Standard machine
zero mode for linear
movements

P213
="0
"
clockwise rotating motor
signal of MZ
initiators

resolver zero pulse

MN-Ini.

actual machine zero
P29 = 0° - 270°
P29 = 270°- 360°

P213="1"
clockwise rotating motor
MN-Ini

resolver zero pulse

actual machine zero
P29 = 100°- 360°
P29 = 0°-100°

signal of MZ initiators

Explanation for shifting machine zero using P29, taking the example
of P212="1"

machine zero
initiator active
0

machine zero
initiator disabled

position

initiator edge

position
of the
actual MZ

mechanical
limit

α0

position

The actual machine zero (MZ) results
from the "AND" connection of the
machine zero initiator with the resolver
zero pulse

range within which the position of the
actual MZ can be shifted by P29

Positioning and
control functions

α0

The resolver zero pulse is a fixed
position of the rotor position

Optimization
functions

Configuration

initiator edge

machanical
limit

initiator edge

P29 =
0...270°

α0
360°

Interfaces

clockwise
rotating motor

P29 shifts the actual machine zero in
the direction of the clockwise rotating
motor
position

Accessories /
options

position of
actual MZ

mechanical
limit

initiator edge

P29 =
90...360°

mechanical
limit

α0
360°

clockwise
rotating motor

position

Status

position
of the
actual MZ

P29 shifts the actual machine zero in
the direction of the clockwise rotating
motor

Parameter

Example 2: α0 = 90°;
clockwise rotating
motor away from
the direction of the
mechanical
limitation travel

The machine zero initiator (MZ-INI) is
low active

position

mechanical
limit

resolver
zero
pulse

Example 1: α0 = 90°;
clockwise rotating
motor in direction
of mechanical
limitation

Technical data

initiator edge

signal
MZ-INI

Error list

Shifting machine
zero

Connector
assignment / cable

Machine zero mode

Unit
hardware

Configuration

COMPAX-M / -S

Operating Instructions
Machine zero mode

Machine zero
equals external
zero pulse

P212="3" (only permitted for COMPAX XX00 and COMPAX XX30!)
P213="0"

Find machine zero
P29=0°
P29=90°
external
zero pulse

command
"search MZ"

external
zero pulse

Application
General rotatory
movements

command
"search MZ"

90°

P213="1"

command
"search MZ"

external
zero pulse

command
"search MZ"

external
zero pulse

90°

Conditions for
this operating
mode:

♦ External

encoder; read via an encoder input module (I2, I4)
♦ Encoder input parametrized by: P144="6"
Specify P98 (travel per encoder revolution), P214 (encoder direction) and P143
(encoder pulse number).

P212="4" (only permitted for COMPAX XX00 and COMPAX XX30!)
Find machine zero.
P213="0"
clockwising rotating motor
signal MZ-ini.

encoder zero pulse

MN-Ini

position of the actual MZ
P29 = 0°- 360°

Application
Linear and rotatory
movements.
If you have an encoder
on the load, 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).

0° 360°

clockwise rotating motor
MN-Ini

encoder zero pulse

signal MZ-ini.

Example of an
transmission factor
that cannot be
displayed exactly:
17 teeth
11 teeth

Positioning and
control functions

P213="1"

Unit
hardware
Configuration

Machine zero
equals external
initiator &
external zero
pulse

Connector
assignment / cable

Machine zero mode

Technical data

Configuration

Optimization
functions

position of the actual MZ
P29 = 0°-360°
0° 360°

encoder; read via an encoder input module (E2, E4)
input parametrized by: P144="6"
Specify P98 (travel per encoder revolution), P214 (encoder direction) and P143
(encoder pulse number).

Interfaces

♦ External

Status

Accessories /
options

♦ Encoder

Parameter

Conditions for
this operating
mode:

Error list

Note!
If P75≠0 for this setting, external position localization is switched on.

COMPAX-M / -S

Operating Instructions
Machine zero mode

Machine zero
equals resolver
zero

P212 ="5"
P213="0"

Find machine zero
P29=0°
P29=90°
resolver
zero pulse command
"search MZ"

resolver
zero pulse command
"search MZ"

90°

P213="1"

resolver
command zero pulse
"search MZ"

Application
General rotatory
movements.
This is a simple
method of
implementing machine
zero, especially if the
transmission runs at
high speeds.

resolver
command MZ pulse
"search MZ"

90°

Machine zero
equals external
initiator
(without
resolver zero)

P212 ="7"
Find machine zero
P213="0"
clockwise rotating motor
signal of MZ-ini.

MN-Ini
P29 = 0° - 360°
0°

360°

position of actual MZ

P213="1"
clockwise rotating motor
signal MZ-ini.

MN-Ini
P29 = 0° - 360°
0°

360°

position of actual MZ

Application
Linear and rotatory
movements.
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
displayed exactly:
17 teeth
11 teeth
Accuracy: depends on
P3.
Accuracy in motor
revolutions:
=

P3
• P104
100
60 • 1000

1ms •

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.

...

signal MZ-ini.
position of actual MZ
P29 = 0°- 360°
0°

360°

P213="1"
clockwise rotating motor
resolver zero
pulse

...

signal MZ-ini.
position of actual MZ
P29 = 0°- 360°
0°

Function

360°

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

P217 ="1"
P216 = set correctly.
In the above diagram: P216="1": (limit switch E1 is approached with anti-clockwise
rotating motor)

Wiring up:

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.

Teach machine
zero

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.

Unit
hardware
Accessories /
options

Condition:

Connector
assignment / cable

resolver zero
pulse

Technical data

clockwise rotating motor

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.

Status

P213="0"

Configuration

Application
Linear movements.
No need for a machine
zero initiator.

Parameter

Find machine zero

Positioning and
control functions

P212 ="8"

Error list

Machine zero
equals a limit
switch

Optimization
functions

Machine zero mode

Interfaces

Configuration

Operating Instructions

COMPAX-M / -S

Machine zero mode

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.

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".

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.

Limit switch
monitoring
without locking
the movement

Bit 2 (P217)

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.

Unit
hardware

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:
14

Bit-counting begins with Bit 0.
89

Error list

Setting aid:

Parameter

Status

P216:
specifying the
limit switch
position

= 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.

Interfaces

Response when the
limit switch is
reached:

Optimization
functions

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.

Accessories /
options

Limit switch
monitoring
during the
reference travel

Connector
assignment / cable

P217 ="0" Operating mode without end initiators

Technical data

8.2.8 Limit switch operation

Configuration

Limit switch operation

Positioning and
control functions

Configuration

Operating Instructions

COMPAX-M / -S

Limit switch operation
♦ to

set P216, switch on operation with limit switches (P216="1") or
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"

♦ in

Configuration via PC using "ServoManager"

Technical data

There is a separate manual describing how to work with ServoManager.

8.3.1 Installing ServoManager
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.

Installation

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.

connection to COMPAX: cable SSK1 (see Page 59).
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.
♦ Call

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).

Parameter

You will find the data required for this on the HAUSER motor type plate.

Status

Accessories /
options

8.3.3 Individual configuration of synchronous motors

Optimization
functions

♦ Create

Interfaces

8.3.2 Configuring COMPAX

Positioning and
control functions

Configuration

Preparation

Error list

8.3

Connector
assignment / cable

Installing ServoManager

Unit
hardware

Configuration via PC using "ServoManager"

COMPAX-M / -S

Operating Instructions
Individual configuration of synchronous motors
Motor type plate

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: sinusoidal EMF
T: trapezoidal EMF
EMF given in V per 1000 rpm
number of poles of motor
motor length
flange size of motor
motor type: HDY,HJ or HBMR

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:
IN = 0.95 * I0
HDY motors:
IN = 0.85 * I0
HBMR 55 and 70: IN = 0.85 * I0
♦ P106: nominal torque MZ
HBMR motors:
MN= 0.92 * M0
HDY motors:
MN= 0.82 * M0
HBMR 55 and 70: MN= 0.82 * M0
when I0
= idle current
M0 = idle torque
♦ P103:

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
44
64
88
130
180
260
360

5000
4000
2600

5000
5000
3500
2400
1700
1250
800

with
EMC: counter EMC
nN: nominal speed
UZW: intermediate circuit voltage
300V: with 230V AC
560V: with 3 * 400V AC

Individual configuration of synchronous motors

Technical data

with
EMC: counter EMC
nN: nominal speed
UZW: intermediate circuit voltage
300V: with 230V AC
560V: with 3 * 400V AC

Parameter for saturation characteristic curve:
start of saturation [%]
end of saturation [%]
♦ P121: minimum stator inductivity

Configuration

♦ P119

♦ P120:

HBMR

[%]

Flange size

P119

P120

P121

<= 115 mm
>= 142 mm

100
70

280
240

40
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:
300
3000
0
"2"
"2"

P132
P133

"2"
65 536

Unit

Pulse current
Pulse current time
Resolver offset
Resolver frequency
Resolver
amplification
Position sensor
Sensor dash count

%
ms
Degree

Interfaces

P107
P108
P129
P130
P131

Meaning

Increments

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)

Caution!
Secure the displacement area of your system or the motor. When
switching on, a risk may be posed by incorrect configuration data.
93

Parameter

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.

Status

Drive type

Error list

Holding brake

Standard

Accessories /
options

Parameter

Positioning and
control functions

32
44
64
88
130
180

Optimization
functions

nN [min-1]
UZW=300V
UZW=560V
5000
4400
5000
2800
5000
2000
3800
1400
2500
1800

EMC

Connector
assignment / cable

Nominal motor speedfor HDY motors:
♦ P104: nominal motor speed
[rpm]

Unit
hardware

Configuration via PC using "ServoManager"

Operating Instructions

COMPAX-M / -S

Individual configuration of synchronous motors

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:
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

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.

Start program

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.

Unit
hardware
Connector
assignment / cable
Technical data
Configuration
Positioning and
control functions

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.

Parameter

Program example:

Optimization
functions

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.

Interfaces

Positioning and control functions

Error list

8.4

Accessories /
options

Individual configuration of synchronous motors

Status

Positioning and control functions

COMPAX-M / -S

Operating Instructions
Absolute positioning [POSA]

8.4.1 Absolute positioning [POSA]
POSA

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

POSR
SPEED
ACCEL

Syntax:

OUTPUT
Password

POSA value
Value:

SPEED
SYNC
Mark
reference

Example:

POSR

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
N006: POSA -500

Absolute positioning to +150.5 units
Absolute positioning to -500 units

SPEED
POSR
OUTPUT

Additional function:

Cam
controller
WAIT

♦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.

GOTO
GOSUB
RETURN
END

REPEAT

8.4.2 Relative positioning [POSR]

IF I..
Comparison

The reference point is the current position.

POSR
Syntax:

WAIT Start

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.

GOTO /
GOSUB EXT
IF Error/ Stop
Arithmetic

Example:

Position
monitoring

N005: POSR 2000
N006: POSR-100.25

Relative positioning by +2000
Relative positioning by -100.25

Idle display
Speed
monitoring

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).

Engage /
disengage
brake / final
stage
Variable
voltage

Process velocity [SPEED]

Connector
assignment / cable

8.4.3 Process velocity [SPEED]

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).

ACCEL
ACCEL-

♦

Note:

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.

Syntax:

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
(100%). The actual time is proportional to the velocity
SPEED
selected. Meaning: ta =
ACCEL
100%

SPEED
100%
40%

sets the acceleration and deceleration ramp to 300 ms
sets the deceleration ramp to 200 (≡200 ms when
SPEED=100%)
Status

N005: ACCEL 300
N006: ACCEL -200

ACCEL

Parameter

Example:

Interfaces

8.4.4 Acceleration and braking time [ACCEL]

Optimization
functions

Positioning and
control functions

The set velocity can be reduced using the analogue overrride input (X11.6)
(see start-up manual).

Configuration

N005: SPEED 70 sets velocity to 70% of nominal speed.

Accessories /
options

Example:

SPEED value
Value: 0.0000001...100%15, a control parameter (P40..P49) or a variable
(V1..V39) e.g. SPEED .P40
-1
Smallest steps = 0.002384min

For asynchronous motors, up to a max. of 300%.
97

Error list

Syntax:

Technical data

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.

SPEED

Unit
hardware

Positioning and control functions

Operating Instructions

COMPAX-M / -S

Setting/resetting an output [OUTPUT]

8.4.5 Setting/resetting an output [OUTPUT]
POSA

OUTPUT

POSR

Syntax:

SPEED

OUTPUT output = 1/0
Output O116...O16

ACCEL

Example:

OUTPUT

N005: OUTPUT O8=1 Sets output 8
N005: OUTPUT O8=0 Resets output 8

Password
SPEED
SYNC

8.4.6 Setting multiple digital outputs [OUTPUT O12=1010]

Mark
reference
POSR
SPEED

Multiple outputs can be set simultaneously.

OUTPUT
O12=1010

POSR

Syntax:

OUTPUT
Cam
controller

OUTPUT O12=1010
OUTPUT O10=01--011 ("-"17 = is not modified)
O10="0"; O11="1"; O12, O13 are not changed; O14="0"; O15=O16="1".
(this is valid for max. 8 outputs)

WAIT

Note

GOTO

♦A

maximum of 8 outputs can be processed per OUTPUT command.
comparator command "POSR .... OUTPUT ...." is still limited to setting one
output.

♦ The

GOSUB
RETURN
END

REPEAT

8.4.7 Switch off drive unit. [OUTPUT O0]

IF I..
Comparison

OUTPUT O0
Syntax:

WAIT Start
GOTO /
GOSUB EXT
IF Error/ Stop
Arithmetic

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!)

Position
monitoring

Example:

Idle display

OUTPUT O0=1 Drive switched off when brake closed.

Speed
monitoring
Engage /

8.4.8 OUTPUT O0=... in program

disengage
brake / final
stage

Limitation:
Variable
voltage

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).

16
17

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.

Technical data

8.4.9 Password [GOTO]
GOTO

Configuration

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 ≠ 0)!
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

Accessories /
options

Meaning: 10V = 100% of nNominal (P104)
P93=1 or 2
P80=16 (general drive)
P83= distance per motor revolution [µm]
P90=1 [mm]
P144=7 (analogue rpm specification)
Calculation of P98:
P83 • P104 • P143
1000 • 60 • 1000 000
with:
P143=1 000 000
P104 in [1/min]

Status

P98 =

Accuracy data can be found on Page 186
Parameter

SPEED SYNC

Positioning and
control functions

8.4.10 External velocity specification. [SPEED SYNC]

Optimization
functions

GOTO 302 Enables programming levels and parameters.

Interfaces

Example:

GOTO number
Number ="302": Deactivates password protection
="270": Activates password protection
Note: You can also use this command in the data record memory.

Error list

Syntax:

Unit
hardware

Password [GOTO]

Connector
assignment / cable

Positioning and control functions

COMPAX-M / -S

Operating Instructions
Mark-related positioning [POSR]

8.4.11 Mark-related positioning [POSR]
POSA

Use this command to position e.g. a mark relative to an external signal.

POSR

Syntax:

SPEED
ACCEL
OUTPUT
Password
SPEED

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!

SYNC

Note:

When the mark reference is activated, do not use the POSA command!

Mark

I14:
I16:

reference
POSR
SPEED

O16:
P35:

POSR
OUTPUT
Cam

P37,P38:
P37:

controller
WAIT
GOTO

P38:

GOSUB

P39:

RETURN
END

Activating mark reference . I14 must be present before the command.
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)
With "0", the mark is missing after travel to the mark is completed (P38).
="1": Mark reference switched on;
="0": Mark reference switched off.
A mark window is specified relative to the start position using P37 and P38.
Minimum travel to mark. (relative to start position).
Range of values for P37: 0.00 ... P38
Maximum travel to mark. (relative to start position).
Range of values for P38: P37 ... 4 000 000
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

REPEAT

Example:

IF I..
Comparison

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.

WAIT Start
GOTO /
GOSUB EXT

P37 = +300
start point

IF Error/ Stop
Arithmetic

mark on
I16

100

P38 = +600

P39 = +800

Driven to
label position

O16
It will go on "0" if no label
come until P38.

Position
monitoring

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.

Idle display
Speed
monitoring
Engage /
disengage
brake / final

When the mark reference is switched on, the inputs I14, I15, and I16 are no
longer available for external data record selection (GOTOEXT,
GOSUBEXT).

stage
Variable
voltage

100

Syntax:

Example:

Each speed step profile can have a maximum of 8 speed steps. The comparator
value is specified as a relative dimension. It is referenced to the positioning start
point.
POSR value 1 SPEED value 2
Value 1: only positive values permitted (unit corresponds to P90); two digits after
the decimal point (three for inches), a control parameter (P40..P49) or a
variable V1 ... V39.
Value 2: no digits after the decimal point; numerical value, a control parameter
(P40..P49) or a variable V1 ... V39.
e.g.: POSR .P40 SPEED .P41
N001: ACCEL 250
N002: SPEED 20
N003: POSR 150 SPEED 30
N004: POSR 300 SPEED 50
N005: POSR 500 SPEED 80
N006: POSR 900 SPEED 60
N007: POSA -1000

N008: POSR 200 SPEED 50
N009: ...

Acceleration and braking time = 250 ms
Starting velocity = 20%
1st speed step when starting position ±150, sets velocity to
30%.
2st speed step when starting position ±300, sets velocity to
50%.
3st speed step when starting position ±500, sets velocity to
80%.
4st speed step when starting position ±900, sets velocity to
60%.
Positioning command to position -1000 (position -1000 is
approached with all of or one part of the speed step profile
depending on the start point).
Prepares a new speed step profile.

101

Unit
hardware
Connector
assignment / cable
Technical data
Configuration
Positioning and
control functions
Optimization
functions

POSR SPEED

Interfaces

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

Accessories /
options

The following command combinations are preparatory instructions for creating
speed step profiles or setting comparator switch points . The prepared positioning
process is started using POSA or POSR. Note the following:
♦ Combined commands can be mixed (POSR SPEED, POSR OUTPUT).
♦ A total of 8 combined commands can be programmed per positioning process.
♦ The positioning values of the command combinations are always positive and
refer to the start point of the positioning process. They represent differences in
travel. The direction is specified by the next positioning command. This can be
relative (POSR) or absolute (POSA) . Meaning:
♦ The positioning values for speed steps, ramp times or comparators always apply
from the point at which positioning starts (for POSA and POSR)
♦ The positioning values for speed steps, ramp times or comparators are numerical
values:
♦ If the following positioning is positive, COMPAX calculates them as positive
values.
♦ If the following positioning is negative, COMPAX calculates them as negative
values.
♦ If a process cycle has been interrupted by "Stop", continue the cycle using
"Start".
♦ The preparatory instructions are canceled by the "Hand+/-", "Find machine zero"
and "Approach real zero" commands.

Status

8.4.12 Preparatory instructions

Parameter

Preparatory instructions

Error list

Positioning and control functions

COMPAX-M / -S

Operating Instructions
Changes in speed within a positioning process [POSR SPEED]

Speed step profile extended by ramp time
Compatibility:
Function:

POSA
POSR
SPEED
ACCEL
OUTPUT
Password
SPEED
SYNC

POSR x SPEED y
ACCEL z

Speed step profiling is still possible in the previous version with no restrictions.
♦ In

addition to the new velocity, the acceleration time can be defined for the speed
step profile.
This becomes effective at the transition to the defined velocity and remains valid
until a new acceleration time is defined.
♦ The braking time is assigned within the speed step profile, not by using ACCEL-,
but defined by the velocity change.
♦ The deceleration ramp for the target position is defined by the previously set
ramp (braking time applicable before the speed step profile).
Abbreviation: PR x SD y AL z
x, y, z:
number, parameter .P40 (P40-P49) or variable .V1 (V1-V39)

Mark

Example:

reference
POSR

Note:

SPEED
POSR
OUTPUT

PR .P40 SD .V31 AL 200
♦ The

last ramp time selected using a prepared command from ACCEL remains
valid for future positioning processes.
♦ The situation with SPEED is same.
♦ A braking time previously defined with ACCEL- remains unaffected.

Cam
controller

Example:

WAIT
GOTO
GOSUB
RETURN
END

ACCEL 1000
ACCEL -2000
SPEED 25
POSR x SPEED 100 ACCEL 300
POSR y SPEED 10 ACCEL 100
POSA z
POSA 0

Generally valid acceleration time
Generally valid braking time
Generally valid velocity
1st speed step at position x
2nd speed step at position y
Start positioning to z
Return with SD 10, AL100 and AL-2000

100%
Speed

REPEAT

300ms

100ms

IF I..
Comparison

1000ms

WAIT Start

25%
2000ms

GOTO /

10%

GOSUB EXT

IF Error/ Stop

10%

Start

x
2000ms

Arithmetic

1
2
3
4
5.

Position
monitoring
Idle display
Speed
monitoring
Engage /
disengage
brake / final
stage
Variable
voltage

102

Position

100ms

Position x is reached at 25% velocity and 1000ms acceleration time.
Position y is reached at 100% velocity and 300ms acceleration time.
Position z is reached at 10% velocity and 100ms acceleration time.
To stop at position z, a braking ramp of 2000ms is used for early deceleration.
After the command POSA 0, the drive returns to the starting point (= position 0). The
drive accelerates for the last set 100 ms to the last set velocity of 10% and returns to
position 0. The braking time of 2000 ms set before the speed step profile is used as the
braking ramp.

Syntax:

Examples:

POSR value OUTPUT output = 1/0
Value: only positives value are permitted (unit corresponds to P90); two digits
after the decimal points (three for inches) a control parameter (P40..P49)
or a variable (V1..V39)
e.g. POSR .P40 OUTPUT A7=1.
N001: ACCEL 250
N002: SPEED 50
N003: POSR 150 OUTPUT A8=1

Acceleration and braking time = 250 ms
Starting velocity = 50%
1st comparator at start position 150, sets output O8 to
1.
2nd comparator at start position 300, sets output O7 to
1.
3rd comparator at start position 500, sets output O7 to
0.
4th comparator at start position ±900, sets output O8 to
0.
Positioning command to 1000 (Position +1000 is
approached; the travel-dependent comparators are set
once the relative positions have been reached).
Prepares new comparators.

N004: POSR 300 OUTPUT A7=1
N005: POSR 500 OUTPUT O7=0
N006: POSR 900 OUTPUT O8=0
N007: POSA 1000

N008: POSR 200 OUTPUT O7=1

Outputs O1 to O6 can also be used as comparators once enabled via P225
(see Page 139).

Unit
hardware
Connector
assignment / cable
Technical data

Setting and resetting freely assignable outputs within a positioning process.
A maximum of 8 comparators can be set in one positioning process. The
comparator value is specified as a relative dimension. It is referenced to the
positioning start point.

POSR
OUTPUT

Configuration

8.4.14 Comparators during positioning [POSR OUTPUT]

Positioning and
control functions

Comparators during positioning [POSR OUTPUT]

Optimization
functions

Positioning and control functions

Diagram of specified example for POSR OUTPUT
starting position
-300

-150

POSA 1000
150

300

500

900

position relative to starting position

-1000 -900

-800

-700

-600

-500

-400

-300

-200

-100

100

200

300

400

500

600

700

800

900 1000

Interfaces

-500

-900

Accessories /
options

absolute position

Diagram of example using POSA -1000 as positioning
starting position

POSA 1000
-500

-300

-150

150

300

500

900

Status

-900

position relative to starting positionen

-1000 -900

-800

-700

-600

-500

-400

-300

-200

-100

100

200

300

400

500

600

700

800

900 1000

absolute position

103

Error list

Parameter

COMPAX-M / -S

Operating Instructions
Cam controller with compensation for switching delays

8.4.15 Cam controller with compensation for switching delays
With the function "Cam controller", you can switch 4 actuators (switch elements)
dependent on position.

POSA
POSR
SPEED
ACCEL

Function of the
cam controller:

OUTPUT
Password

♦ The

switching positions are fixed positions within the positioning range.
♦ The reference value for the switching positions can be selected from:
the position actual value (S1) or
the position set point or
the absolute value (S12)
♦ The switching delay of the actuators is compensated for dependent on the speed.

SPEED
SYNC
Mark
reference
POSR

Outputs of the cam
controller
Parametrization of
the cam controller

Outputs O9 ... O12
Parametrization occurs via variables in the range V50 ... V70.
No.:

Contents

Unit

V50

Operation mode cam controller
0: inactive
1: position actual value

min

valid

stand max
ard
0

3840

+4 000 000
1000
+4 000 000
1000
+4 000 000
1000
+4 000 000
1000
+4 000 000
1000
+4 000 000
1000
+4 000 000
1000
+4 000 000
1000

VP
VP
VP
VP
VP
VP
VP
VP
VP
VP
VP
VP
VP
VP
VP
VP
VP
VP
VP

SPEED
POSR
OUTPUT
Cam

(without consideration of P1 and P215)

controller

2: position set point

from

(without consideration of P1 and P215)

3: reserved
4: S1 (position actual value)

WAIT
GOTO

Number range: +/- 4 mill. units (P90)

GOSUB

5: position set point

RETURN

6: absolute value (S12)

Number range: +/- 4 mill. units (P90)
Number range: +/- 2048 units (P90)

V51

END

REPEAT
IF I..

Polarity O9...O12
Bit 9: Polarity O9
Bit 10: Polarity O10
Bit 11: Polarity O11
Bit 12: Polarity O12

Valence
256
512
1024
2048

If the corresponding bit is set, then the
relevant output is inverted.

Comparison
WAIT Start

V52
V53
V54
V55
V56
V57
V58
V59
V60
V61
V62
V63
V64
V65
V66
V67
V68
V69
V70

GOTO /
GOSUB EXT
IF Error/ Stop
Arithmetic
Position
monitoring
Idle display
Speed
monitoring
Engage /
disengage
brake / final
stage
Variable
voltage

reserved
reserved
reserved
Position control cam 1 (O9) on*
Switch-on lag control cam 1
Position control cam 1 (O9) off*
Switch-off lag control cam 1
Position control cam 2 (O10) on*
Switch-on lag control cam 2
Position control cam 2 (O10) off*
Switch-off lag control cam 2
Position control cam 3 (O11) on*
Switch-on lag control cam 3
Position control cam 3 (O11) off*
Switch-off lag control cam 3
Position control cam 4 (O12) on*
Switch-on lag control cam 4
Position control cam 4 (O12) off*
Switch-off lag control cam 4

P90
ms
P90
ms
P90
ms
P90
ms
P90
ms
P90
ms
P90
ms
P90
ms

-4 000 000
0
-4 000 000
0
-4 000 000
0
-4 000 000
0
-4 000 000
0
-4 000 000
0
-4 000 000
0
-4 000 000
0

0.00
0
0.00
0
0.00
0
0.00
0
0.00
0
0.00
0
0.00
0
0.00
0

* The switching processes described apply for increasing setpoint and P215=0;
with decreasing setpoint switch off occurs at the same position where switch on
previously occured.
The variables for parametrization of the cam controller are not password
protected!
104

With the instruction V0=x (global instruction to all variables), variables V50 ... V70
will also be changed!

Position

Example 1: Normal
positioning

Technical data

V61

V59

Configuration

control cam 2

V55

1
control cam 1

V57

control signal 1

Positioning and
control functions

0
t
1
Actuator 1 (effect)
0

Actuator 1 (effect)
0
t

COMPAX calculates a travel difference from the lag times of the switch elements
(∆pon and ∆poff). A constant speed is assumed.
The switching signal is (with increasing setpoint)
activated by ∆pon before the control cam position for On and
deactivated again by ∆poff before the control cam position for Off.
Requirements for safe and time correct switching of the cam controller:
The cam positions, as well as the range ∆p before the cam position must be moved
through at constant speed.
Problem point:
In Example 1, point ➀, the idle position is located just above V57, so that the
control cam 1 cannot be activated too early. This means that the switch-on lag of
the actuator cannot be compensated. This causes a switching error.
In this case, COMPAX activates the control cam output immediately after the
relevant positioning command is received.

Parameter

Explanation
regarding cam
controller

Interfaces

Optimization
functions

t
1

Accessories /
options

control cam 2

control signal 2

error

t
1

Status

conrtol cam 1

105

Error list

Note!

Unit
hardware

Cam controller with compensation for switching delays

Connector
assignment / cable

Positioning and control functions

COMPAX-M / -S

Operating Instructions
Cam controller with compensation for switching delays

Behaviour of the control signal during negative position values, falling
position and P215=0
negative positions
V59

POSA

positive positions

A10 V61

V55

V57

POSR
SPEED
ACCEL

rising
positions

OUTPUT
Password

V60

V56

falling
positions

SPEED

V58

V62

V60

V58

SYNC

V56

The relevant distances ∆p resulting from the times are shown.

Mark
reference

Example 2: Positioning with subsequent cam operation (COMPAX XX70)
➁

POSR

OUTPUT

V57
Cam
controller
V55
WAIT

control cam 2

POSR

control cam 1

Position

SPEED

V61

GOTO
GOSUB

V59

RETURN

t
END

control cam 1

1
REPEAT
IF I..
Comparison

control signal 1
0
t
1
Actuator 1 (effect)

WAIT Start

0
t

GOTO /
1
control cam 2

GOSUB EXT
IF Error/ Stop
Arithmetic

control signal 2
0
t
1

Position

Actuator 2 (effect)

monitoring

0
t

Idle display

Explanation:

Speed
monitoring

At position ➁ (reset function to next curve) no compensation is implemented for the
switching delay.
Note:
The cam controller is calculated using a cycle of 1ms.

Engage /
disengage
brake / final
stage
Variable
voltage

106

8.4.16 rogrammable waiting time [WAIT]
Programmable waiting time in ms before the next data record is processed.

Syntax:

Example:

WAIT value

N005: WAIT 500

Value:10...65 000 [ms] a control parameter (P40..P49) or a
variable (V1..V39)
e.g. WAIT .P40 (time pattern 10 ms)
Sets the waiting time to 500 ms before the next data record is
processed.

8.4.17 Program jump [GOTO]

Syntax:

Example:

Positioning and
control functions

Program jump to specified data record number.

GOTO

GOTO data record number
Data record number: 1...250
N045: GOTO 60

Jumps to data record N060

Optimization
functions

8.4.18 Sub-program jump [GOSUB]
Jump to a sub-program .

Example:

GOSUB data record number
Data record number: 1...250
N005: GOSUB 100

Calls up sub-program

N100: ...
N101: ...
...
Nxxx: RETURN

Starts sub-program

Note:

Interfaces

Syntax:

Ends sub-program, jumps back to N006

Accessories /
options

GOSUB

Unit
hardware
Configuration

WAIT

Connector
assignment / cable

rogrammable waiting time [WAIT]

Technical data

Positioning and control functions

Never use GOTO to jump out of a sub-program or to a sub-program.

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

8.4.20 END instruction [END]
END instruction for a REPEAT loop or for the program.
To end a program, you implement a program stop. The data record indicator
is not modified.

END
Syntax:

Parameter

RETURN

END
107

Error list

Syntax:

Status

This executes a return jump to the main program.

RETURN

COMPAX-M / -S

Operating Instructions
Start a program loop [REPEAT]
POSA
POSR

8.4.21 Start a program loop [REPEAT]

SPEED
ACCEL

The following program sequence is run through the number of times
specified until an END instruction appears.

REPEAT

OUTPUT

Syntax:
Password
SPEED

REPEAT value
Value: 1...65 000 a control parameter (P40..P49) or a variable (V1..V39)
e.g. REPEAT .P40

SYNC

Example:

Mark
reference

N005: REPEAT 10
N006: ...
N007: END

POSR

Starts a program loop, which is run through 10 times
End of loop

A loop can be prematurely exited using GOTO.

SPEED
POSR
OUTPUT

8.4.22 Branching [IF I7=1]

Cam
controller
WAIT

Branching related to a control input

IF I7=1

GOTO

Syntax:

GOSUB
RETURN

Examples:

END

IF control input=1/0 GOTO/GOSUB data record number
18
Control input: I1 ...I16
IF I7=1 GOTO 010
IF I7=0 GOSUB 010

REPEAT

If I7 = "1", a jump is made to data record N010
If I7 = "0", a jump is made to the sub-program in data record
N010

IF I..
Comparison

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

WAIT Start
GOTO /
GOSUB EXT

IF I12=101-1

Multiple inputs can be queried simultaneously.
The inputs are compared with a mask. The mask contains individual bits 1 or 0,
19
and a space marker (-) for "not taken into consideration".

IF Error/ Stop
Arithmetic

Syntax:

Position
monitoring
Idle display
Speed

IF I12=101-1 GOTO 123
-> I12 = 1, I13=0, I14=1, I15= "not considered", I16 = 1.
Binary IF querying of status values or outputs is not possible.
A maximum of 8 inputs can be queried per IF instruction.

monitoring
Engage /
disengage
brake / final
stage
Variable
voltage

18
19

108

I1...I6 only if masked via P221.
Instead of "-", "." is also an option

Comparative operations

Technical data
Configuration

Comparison:

A simple Operand or
A constant with max. 8 significant digits
< smaller
> larger
= equals
<> not equal
<= equal to/less than
>= equal to/greater than

Positioning and
control functions

Operand:

a parameter Pxxx or
a variable 20 Vxxx or
a status value Sxxx (S1-S15, S30, S40ff)

Depending on the result of the comparison, a GOTO or GOSUB is carried out.
Examples:

IF P40>100 GOTO 234
IF V030<>P49 GOTO 123

Limitation:

Within the IF query, operations with logic operators (AND, OR) are not possible.

Writing convention of variables (V0-V39) and control parameters (P40-P49)
For reasons of compatibility, a preceding point (full stop) is expected in the syntax for motion commands:
e.g.: POSA .P40, ACCEL .V10
The new comparison and arithmetic commands will operate without a preceding point (full stop): e.g.:
P41=V10+S1, IF V20 > S2 GOTO 10

Optimization
functions

Simple Operand:

IF GOTO xxx
or
IF GOSUB xxx

Interfaces

Syntax:

Connector
assignment / cable

8.4.24 Comparative operations

Unit
hardware

Positioning and control functions

WAIT Start
Status

Syntax:

Entry at BDF2 : WAIT Ent
When this instruction is issued, COMPAX interrupts the programming procedure
until a external START (E5 or via interface) is issued (reaction time <30 ms). For
shorter reaction times, refer to I15 on Page 151.

8.4.26 Jump with data record selection [GOTO EXT]
Jump with data record selection via the inputs I9 to I16.
Entry at BDF2: GOTO Ent
Data record selection as for GOSUB EXT (see below).

20
21

Parameter

GOTO EXT

for variables, see Page 114.
Applies to the manual terminal BDF2/01
109

Error list

WAIT START

Accessories /
options

8.4.25 Specific processing of data record groups. WAIT START.

COMPAX-M / -S

Operating Instructions
Sub-program jump with data record selection [GOSUB EXT]

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

GOSUB EXT

POSR

Entry at BDF2: GOSUB Ent
Jump into a sub-program with data record selection via the inputs I9 to I16.
The bit pattern of inputs I9 to I16 is interpreted as a data record number (binary).
I16............I9 => 27..............20

SPEED

e.g.

ACCEL
OUTPUT

00 010 100 = 20

jumps to sub-program at data record 20.

Note!
If inputs have been assigned functions (e.g. fast start I15 or external position
adjustment I11), they are not taken into consideration when using GOSUB EXT
(read logically as "0"):

Password
SPEED
SYNC

The assignments of each of the binary inputs I16...I9 must be taken into
consideration for the individual unit variants (COMPAX XX50M,...).
When the PLC data interface is activated, the commands GOTO EXT and GOSUB
EXT are blocked!

Mark
reference
POSR
SPEED
POSR
OUTPUT
Cam
controller
WAIT

8.4.28 Error handling [IF ERROR GOSUB]
To influence the error reactions.

IF ERROR
GOSUB

GOTO

Syntax:

IF ERROR GOSUB xxx
This instruction can only be programmed as normal IF instructions in the program.
Use this instruction to define the program procedure when an error status occurs.

Note!

The error sub-program is called up with a delay by P17 (brake delay). When
performing a WAIT START, COMPAX does not branch into the error sub-program
if an error occurs!

GOSUB
RETURN
END

REPEAT
IF I..

Function:

Normally, an error in the COMPAX will cause an actively running move to be
interrupted. Depending on the type of error, the drive is switched off. The program
is however stopped no matter what the error type.
The instruction 'IF ERROR GOSUB xxx' allows you to, e.g. set the outputs to
defined statuses when an error occurs.
If such an instruction has been run once in the program and then an error later
occurs,
♦ the current move is interrupted,
♦ if necessary, the axis is (depending on the error) switched off and
♦ the 'Error program', which has been programmed from program number xxx, is
executed.

Priority:

The error program has priority over the stop program.
A running stop program is interrupted by the error program and continued after the
error program is executed.

Comparison
WAIT Start
GOTO /
GOSUB EXT
IF Error/
Stop
Arithmetic
Position
monitoring
Idle display
Speed
monitoring
Engage /

Error program:

The error program must not contain
motion commands (POSA, POSR, POSR ..., WAIT POSA, WAIT POSR,
SPEED in the speed control mode, ),
♦ any sub-program jumps (GOSUB, IF ... GOSUB, ...),
♦ any COMPAX XX70 commands,
♦ any approach real zero and find machine zero commands,
♦ any speed step commands (POSR ... SPEED ...) or
♦ comparator commands (POSR ... OUTPUT ...)
♦ any

disengage
brake / final
stage
Variable
voltage

110

and is used to bring the individual outputs (e.g. the control output for a pump or a
valve) into a safe status.

Interfaces

If the axis is now stopped and switched off due to an error, e.g. during POSA 4000
positioning, a sub-program jump is then executed to program line 200 and output
O9 is set to zero at this point.
The program then stops in program line 201 and waits until the error has been
acknowledged and, if necessary, a new start is made.
At program line 202, output O9 is switched on again, at program line 203, a jump is
made back to the previously interrupted program line N004.
The axis executes the rest of the travel to position 4000, and the main program is
then continued at program line N005.
If the error program is concluded with END rather than RETURN, the program
indicator remains in the same position. The program stops running at this point.
Machine zero then has to approached or the program indicator must be reset
explicity.

Syntax:

Accessories /
options

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

Unit
hardware
Configuration

N200: OUTPUT O9=0
N201: WAIT START
N202: OUTPUT O9=1
N203: RETURN

Positioning and
control functions

N001: IF ERROR GOSUB 200
N002: OUTPUT O9=1
N003: POSA 0
N004: POSA 4000
N005: OUTPUT O9=0
N006: GOTO 002

Optimization
functions

Error Program

For influencing behavior after STOP or BREAK.

IF STOP GOSUB xxx
This instruction can only be programmed, like normal IF instructions, in the
program. It controls the procedure executed in the program when a stop status
occurs.
Normally, a STOP / BREAK command in the COMPAX will cause a actively
running move to be interrupted; the program is stopped.
The 'IF STOP GOSUB xxx' instruction makes it possible to set the outputs to
defined states in a stopped condition.
If such an instruction has already run in the program and a stop command occurs
later:
♦ the current travel motion is interrupted and then
♦ a 'Stop program' is run, this is stored from program line number xxx.

111

Status

Main Program

Parameter

Example:

Each error program must contain a 'WAIT START' instruction.
The 'WAIT START' instruction causes the programming procedure to stop until an
external QUIT and START occurs.
Then OUTPUT instructions can again be present for resetting the outputs.
There must be a RETURN or END instruction at the end of the error program.
♦ The END instruction stops the program.
♦ The RETURN instruction executes a jump back into the program line which was
previously interrupted. If necessary, an interrupted movement is continued
(provided that the error has been acknowledged).

Error list

Error program with
WAIT START

Connector
assignment / cable

STOP / BREAK handling [IF STOP GOSUB xxx]

Technical data

Positioning and control functions

COMPAX-M / -S

Operating Instructions
STOP / BREAK handling [IF STOP GOSUB xxx]

Stop program:
POSA
POSR
SPEED
ACCEL
OUTPUT
Password
SPEED
SYNC

Error program with
WAIT START

Mark
reference
POSR
SPEED

The stop program must not contain
♦ any motion commands (POSA, POSR, POSR ..., WAIT POSA, WAIT POSR,
SPEED in the speed control mode, ),
♦ any sub-program jumps (GOSUB, IF ... GOSUB, ...),
♦ any COMPAX XX70 commands,
♦ any approach real zero and find machine zero commands,
♦ any speed step commands (POSR ... SPEED ...) or
♦ comparator commands (POSR ... OUTPUT ...)
and is used to bring the individual outputs (e.g. the control output for a pump or a
valve) into a safe status.
The 'WAIT START' instruction must be included; it stops the programming
procedure before an external START is executed again.
Then OUTPUT instructions can again be present for resetting the outputs.
There must be a RETURN or END instruction at the end of the stop program.
♦ The END instruction stops the program.
♦ The RETURN instruction executes a jump back into the previously interrupted
program line, a travel motion which was interrupted by STOP is continued; the
next command is executed after the BREAK.

POSR
OUTPUT
Cam

The error program has priority over the stop program.
A running stop program is interrupted by the error program and continued after the
error program has run.

Priority:

controller
WAIT

Main Program

Stop Program

Example:

GOTO

N001: IF STOP GOSUB 240
N240: OUTPUT O9=0
N002: OUTPUT O9=1
N241: WAIT START
N003: POSA 0
N242: OUTPUT O9=1
N004: POSA 4000
N243: RETURN
N005: OUTPUT O9=0
N006: GOTO 002
If the axis has been stopped due to a STOP, e.g. during POSA 4000 positioning,
sub-program jump is then made to program line 240 and output O9 is set to zero at
this point.
The program then stops in program line 241 and waits until a new start occurs.
At program line 242, output O9 is switched on again, at program line 243, a jump is
made back to the previously interrupted program line N004.
The axis therefore executes the rest of the travel to position 4000 and the main
program is then continued at program line N005.
If the stop program is concluded using END rather than RETURN, the program
indicator remains in the same position. The program stops running at this point.
Machine zero has to approached or the program indicator must be reset explicity.

GOSUB
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
Variable
voltage

112

8.4.30.1 Parameter assignments

Items permitted to
the right of the
equal sign:
An operand is:

• a parameter Pxxx or
• a variable Vxxx (V0 - V39) or
• a curve point Ixxxx (digital or analogue auxiliary functions when using COMPAX
XX70) or
• a curve point Fxxxx (set points when using COMPAX XX70)
• an operand
or
• a simple arithmetic term22
• a parameter Pxxx or
• a variable Vxxx (V1 - V39) or
• a status value Sxxx or
• a constant with max. 8 significant digits + sign + decimal point.

N234: P013=10
N235: VP

(modifies lag tolerance)
Accessories /
options

(modifies moment of inertia)

COMPAX XX70: the curve memory is also accessible:
N200: F5450=0.5 (modifies idle postion of 1st curve)
N201: I5460=128 (modifies master cycle route of 1st curve)
N202: VF
(validates curve)
For more information, see operating instructions for electronical curve
control.

Parameter

Example:

Status

Curve memory

N123: P081=30
N124: VC

Interfaces

All parameters may be assigned.
The commands "VP" and "VC" (with which the parameters are validated) can be
programmed in the program.

Example:

Unit
hardware
Positioning and
control functions

Items permitted to
the left of the equal
sign:

The assignment of variables is also possible as a direct command, e.g. from a
terminal.

Optimization
functions

Note

N001: P40 = 123.456
N002: V19 = P1
The assignments for parameters and variables are defined with an equal sign. The
variables are represented by V0 to V39.

Curve points can only be modified using an assignment; an arithmetic term is
not allowed.
113

Error list

Syntax:

Connector
assignment / cable

8.4.30 Arithmetic

Technical data

Arithmetic

Configuration

Positioning and control functions

COMPAX-M / -S

Operating Instructions
Arithmetic

8.4.30.2 Arithmetic and variables
Values can be linked with one another using the four basic types of calculation and
the result can be assigned to a parameter or a variable.

POSA

Syntax:

POSR

A simple arithmetic term is:
♦

V1-S1; 2*P13; P13/P14;
V7\V3; S12%P40
♦
♦ POSA .V10; SPEED .V30; ...
Operations are not allowed after commands; use variables instead for such cases,
e.g..
N001: V001= S1 + 100.5
not allowed: POSA S1 + 100.5
N002: POSA .V001

SPEED
ACCEL
OUTPUT
Password
SPEED
SYNC
Mark

Operators:

reference

+
*
/
\

POSR
SPEED
POSR
OUTPUT
Cam
controller

Function
for addition
for subtraction
for multiplication
for division
for whole number division
(formation of the whole number
component)

WAIT
GOTO

% for the formation of the division

GOSUB

remainder (Modulo)

RETURN
END

♦ P10+10;

Example:
P10+10
V1-S1
2 * P13
P13/P14
V7\V3: where V7=30 and V3=7, the result
is:
V7\V3=4
V7/V3=4.2857...; whole number
component= 4
S12%P40 with S12=30 and P40=7, the
result is:
S12%P40=2
S12/P40=4 remainder 2; division remainder
=2

REPEAT

Operands

IF I..
Comparison
WAIT Start
GOTO /

The following operands may be used:
• constants,
• parameters,
• status values, (S1-S15, S30, S40ff)
• variables (V1-V39); after commands with preceding point (full stop): POSA .V1

GOSUB EXT
IF Error/ Stop

Status values:

Not all status values can be used as operands.
Status values S01 to S15, S30, and S40ff are permitted.

Variables:

In addition to the 10 user parameters P40 to P49, 39 variables V1-V39 are
available. V0 is used for global assigning of a value to all variables.
The variables are automatically buffer-stored in the ZPRAM, i.e. after Power On
they contain the old value.

Arithmetic
Position
monitoring
Idle display
Speed
monitoring

Note:

When the cam controller is switched off (V50=0), it is possible to use the variables
V51 ... V70 as free variables

Note:

After commands the variables (like user parameters P40 to P49) are
preceded by a "point" (full stop): POSA .V1, ACCEL .V22

Engage /
disengage
brake / final
stage
Variable
voltage

Global assignment:

Note!

114

V0 is used for globally assigning a value to all variables.
Example:
V0=0: V1...V70=0
V0=17: V1...V70=17
With the instruction V0=x, variables V50 ... V70 and therefore the settings of the
cam controller are also changed!

Dealing with
calculation errors:

If a number overrun occurs while an arithmetic term is being calculated (because
the range of values is not sufficient or if divided by 0), COMPAX reacts as follows:
♦ collective error message E07 is activated.
♦ the program is stopped for safety reasons.
♦ the drive remains powered.
♦ any travel movements are interrupted using the stop ramp.
After Quit and Start, the same command would be processed again and probably
cause another error message.
For this reason, appropriate care should be taken when programming.
The causes of the error are stored in the optimization display (P233/P234=39) and
the last calculation error stored is always the first to be displayed.

Accuracy of
calculations:

Errors occur in the arithmetic due to the systematic errors which arise during the
display of figures in the control processor (the smallest number which can be
displayed is 2-24).
The calculation error can usually be ignored for addition, subtraction and
multiplication.
When dividing, significant discrepancies can result.
The "maximum relative input error" for the division y = x1 / x2 is calculated using
the following formula:

δ≤

∆x1 ∆x2
+
x1
x2

x1, x2 ≠ 0

when

∆x1 = ∆x 2 = 2-24

x2 ≠ 0

when

∆x1 = ∆x 2 = 2-24

Accessories /
options

Division y = x1 / x2

∆y =

x1=12345.6; x2 = 0.0001
Result: y = 123456000
max. relative error: δ ≤

2-24
2-24
+
= 0.000596
12345.6 0.0001

max. absolute error:

∆y =

0.0001 * 2-24 + 12345.6 * 2-24
0.00012

Parameter

Example:

x 2 * ∆x1 + x1 * ∆x 2
x22

Status

or absolute:

= 73585.51

115

Error list

Note!

Technical data

All calculations are executed in 48 bit format (real number); 24 bits before the
decimal point and 24 bits after the decimal point.
Such a real number can be represented with a maximum of 10 places, incl. prefix
and decimal point.
Up to 7 places can be recorded after the decimal point.
Ex. 1234567.89; -1.2345678

Configuration

Number format:

Positioning and
control functions

Only one operation or command is permitted per program line.

Optimization
functions

(Multiplication)
(Addition)
(Division)
(Subtraction)
(Whole number division)
(Modulo)

Interfaces

N001: P013 = 2 * P013
N002: P010 = P040 + 1000.1234
N003: P005 = P005 / 2
N004: P250 = P250 - 1
N005: V002 = V001 \ 1
N006: V3 = S15 % P12
N007: POSR .V30

Arithmetic and
variable
examples:

Connector
assignment / cable

Arithmetic

Unit
hardware

Positioning and control functions

Operating Instructions

COMPAX-M / -S

Arithmetic

Read status and
assign variables

To include the actual position in a calculation, for example, you may assign as
follows:
N100: V030=S1
or
N100: V030= S1 + 10
The variable V030 derived in this way can be used later, for example, in a
positioning instruction as a preset target.

Initializing
variables:

After Power On, the variables retain the old value as before Power Off as they are
stored in the ZPRAM. With the special instruction V000=x, all variables (on the cam
controller settings) are set to the value x.

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
Idle display
Speed
monitoring
Engage /
disengage
brake / final
stage
Variable
voltage

116

Functional description:

O5 is toggled (=changed, i.e. from O5="1" to O5="0", from O5="0" to O5="1") after
every positioning move (set point generator has reached target position) .
When an error occurs (Exx is indicated), O5 stays at the current value.
Can be adjusted using: P227 bit 4 ="1"
V

Example:

Unit
hardware
Interfaces

OM1: O5
toggles when
the position is
reached

Connector
assignment / cable

P227 bit 423 ="1" Meaning / function
OM124
O5 toggles when the position is reached
O5 toggles after every new positioning when position is
reached.
P227 bit 4 ="0"
P14>0, small
O5 = "1": nominal value reached and lag error < P14
values
O5="1" if set point generator has finished the ramp and the lag
(small in comparison
error is smaller than P14.
with the process
If the lag error after O5="1" is greater than P14, then O5 = "0"
travel)
until the lag is again less than P14.
OM2
P14>>0, large
O5 = "1": nominal value reached (independent of P14)
value
O5 = "1" as soon as the set point generator has finished the
(large in comparison
ramp and stays at "1" until the start of the next positioning
with process travel)
move.
OM3

Technical data

There are 2 settings for O5 "Position reached" which are set with P227:

Configuration

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

Positioning and
control functions

Position monitoring (P93=1, 2, 3)

Optimization
functions

Positioning and control functions

O5
t

Parameter

Status

Accessories /
options

With this function you can use a host PLC for precise tracking of the COMPAX
positioning. You will find a description of this from Page 122.

23
24

Bit counting begins with 0.
OM: Operating mode
117

Error list

PLC - sequential
step tracking

COMPAX-M / -S

Operating Instructions
Position monitoring (P93=1, 2, 3)

POSA
POSR

OM2: O5 = "1":
nominal value
reached and lag
error < P14

SPEED

O5="1": nominal value on nominal value sensor reached and lag error < P14.
If the lag error is again > P14, then O5="0" is set.
Can be adjusted using: P227 bit 4 ="0" (default setting)

Example:

Position

ACCEL

P14

Target positions

Position 1
OUTPUT
Password
Position 2

SPEED
SYNC
Mark

Actual value

reference

of position
POSR

Position 0

SPEED

POSR
OUTPUT
Cam

controller

For purposes of clarity a poor loop setting is shown here.

WAIT
GOTO
GOSUB
RETURN
END

OM3: O5 = "1":
nominal value
reached

O5="1": nominal value on nominal value generator reached (independent of P14,
since P14 is set as very large value)
Can be adjusted using: P227 bit 425 ="0" (default setting)

(independent of P14)

REPEAT
IF I..

Example:

Comparison

Position

Target positions

Position 1

WAIT Start
GOTO /

Position 2

GOSUB EXT
IF Error/ Stop
Arithmetic

Actual value
of position

Position

Position 0

monitoring

t
O5

Idle display
Speed
monitoring

Engage /

A poor controller setting has been selected by way of illustration.

disengage
brake / final
stage
Variable
voltage

118

Bit counting begins with 0.

8.4.32 Idle display
Display showing whether the axis is at standstill or moving.
The display is set to output O2 using the setting P227 bit 126 ="1" ; the standard
function of O2 "No warning" no longer applies in this case.
P229 then serves as a switching threshold, above which an idle condition is
reported with O2="1" and indicated in per-thousands (€ of P104) of nominal speed.
Nominal speed < P229:
O2="1"; drive at standstill
Nominal speed ≥ P229:
O2="0"; drive moving
P229 = 0:
O2="0"; no idle display
Range of numbers P229:
0 - 255‰

Unit
hardware

O2 assigned the "No warning" display (default value).
Configuration

P227 bit 1 ="0"
V

Example:

Connector
assignment / cable

Idle display

Technical data

Positioning and control functions

P229

O2
t

To avoid O2 continuously switching over during nominal speed value disturbance
(during synchronization applications), a minimum pulse time (≡ minimum
positioning time) is defined.
Once nominal speed < P229 has been detected and P229 has then been
exceeded again, the next nominal speed check is executed after 50 ms.
Disturbance

Interfaces

Optimization
functions

Positioning and
control functions

O5
Ba1

P229
50ms

Accessories /
options

Bit counting begins with 0.
119

Error list

Parameter

Status

COMPAX-M / -S

Operating Instructions
Speed monitoring in speed control mode (P93="4")

8.4.33 Speed monitoring in speed control mode (P93="4")
There are 2 settings for O5 "Position reached" which are set with P227:

POSA

P227 Bit 4=127
OM128:

POSR
SPEED
ACCEL

O5 = "1": nominal value reached and < P14
O5="1" if set point generator has finished the ramp and the
(small in comparison
speed difference is smaller than P14.
with the changes in
If, after O5="1", the speed difference is again greater than P14,
speed)
then O5 = 0 until the difference is again less than P14.
OM2:
P14>P15
O5 = "1": nominal value reached (independent of P14)
(large in comparison
O5=1 as soon as the set point generator has reached the set
with changes in
speed, and stays at "1" until the next speed change.

Password
SPEED
SYNC
Mark
reference
POSR
SPEED

speed)

POSR

OM3:

OUTPUT
Cam

Functional description:

controller

GOTO
GOSUB

Special features
in speed control
mode:

In speed control mode, P14 is given as a percentage of the set speed.
In addition, the speed is checked against the speed tolerance defined in P13.
P13 is defined in speed control mode as a percentage of the set speed and is an
absolute limit.
Speed difference > P13: error E10 is triggered
When P13=0, error E10 (and E49) can be switched off.

OM1: O5
toggles when
speed is
reached

O5 is toggled (=changed, i.e. from O5="1" to O5="0", from O5="0" to O5="1")
following every speed change (set point generator has reached demanded speed)
In case of error (Exx is indicated), O5 remains at the current value.
Can be adjusted using: P227 bit 4 ="1"

RETURN
END

REPEAT
IF I..
Comparison
WAIT Start

O5 toggles when speed is reached
O5 toggles after every new speed definition when speed is
reached.

P227 bit 4 ="0"
P14>0, small
values

OUTPUT

WAIT

Meaning / function

Example:

GOTO /

GOSUB EXT
IF Error/ Stop

Arithmetic

Position
monitoring

Idle display
Speed
monitoring
Engage /
disengage
brake / final
stage
Variable
voltage

27
28

120

Bit counting begins with 0.
OM1: operating mode 1

O5="1": nominal value reached on nominal value generator and speed deviation
< P14.
If the speed deviation returns to > P14, O5="0" is set.
Can be adjusted using: P227 bit 4 ="0" (default setting)

Programmed
demanded
speed

P14

Technical data

speed

Configuration

P13

Actual value

Positioning and
control functions

t
O5
t

If the actual value moves outside P13, error E10 is triggered.

Speed

Interfaces

Example:

Programmed
demanded
speed

Accessories /
options

(independent of P14)

O5="1": nominal value on nominal value generator reached (independent of P14
asP14 is set as a very large value)
Can be adjusted using: P227 bit 429 ="0" (default setting)

Actual value

Parameter

Status

OM3: O5 = "1":
nominal value
reached

Optimization
functions

Example:

Bit counting begins with 0.
121

Error list

OM2: O5 = "1":
nominal value
reached and
speed error <
P14

Unit
hardware

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

Connector
assignment / cable

Positioning and control functions

COMPAX-M / -S

Operating Instructions
PLC sequential step tracking

8.4.34 PLC sequential step tracking
Use the function "O5 toggles when position/speed reached" and a marker in the
PLC to implement precise tracking of the COMPAX.
This also recognizes positioning processes which are completed again during the
next PS cycle.

POSA
POSR
SPEED
ACCEL

Implementation:

OUTPUT

P229

Password
SPEED
SYNC

POSR

POSA

POSR

Mark
reference

Flag
PLC

POSR
SPEED

Flag
PLC ⊕
O5

POSR
OUTPUT
Cam

PLC internal
position reached

The PLC marker is toggled when a positioning command is transmitted.
The "EXCLUSIVE-OR" operation of the PLC marker and output O5 can be
processed as a PLC-internal "Position reached" message.

controller
WAIT
GOTO
GOSUB
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
Variable
voltage

122

8.4.35 Engaging and disengaging the motor brake
COMPAX controls the idle holding brake of the motor and final stage. The time
behaviour can be set using P17 and P211 Bit 2.
If you are using an axis which is under torque when idle (e.g. when using a z axis),
the drive can be engaged and disengaged in a manner which ensures that the load
does not move. To do this, the drive remains powered during the reaction time of
the idle holding brake. This can be set using P17 (see following diagrams).

Final stage blocked by:

The final stage is enabled via: The final stage is enabled
via:

♦ error

or
♦ OUTPUT O0="1" or
♦ emergency STOP.

or
♦ OUTPUT O0="0" or
♦ once Power is on
with P211 Bit 2="0".

Unit
hardware
Configuration

Application:

Connector
assignment / cable

Engaging and disengaging the motor brake

Technical data

Positioning and control functions

♦ quit

♦ OUTPUT

O0="0"
P211 Bit 2="1"
(the lag of 0.5s is switched off)

power output stage
enable

disabled

energised

Positioning and
control functions

P17=0

de-energised

t
brake
open

brake
open

Optimization
functions

de-energised

brake
open
close

0,5s

power output stage
enable

disabled

energised

de-energised

t
brake
open

brake
open

P17

0,5s

P17

Status

brake
open
close

Accessories /
options

power output stage
enable

Interfaces

P17>0

Unit

Braking delay

Min. Value

Standard

Maximum value

Applies to ...

500

VP
Parameter

Meaning

123

Error list

Range of values
for P17:

COMPAX-M / -S

Operating Instructions
Output of variable voltage

8.4.36 Output of variable voltage
The direct output of variable voltage is supported via the D/A monitor channels 0 to
3.

POSA
POSR
SPEED
ACCEL

Service D/A
monitor (channels
2 & 3):

OUTPUT
Password
SPEED
SYNC
Mark
reference
POSR

Value before
decimal point:
Value after decimal
point:

Addressable using parameters P76 (channel 2) and P77 (channel 3)
P76 Channel 2 X11/4
P77 Channel 3 X11/5
Resolution: 8 bit (incl. sign); corresponds to a resolution of 80 mV
Range: -10V...+10V
The calculation for output on the 8 bit channels 2 & 3 is as follows:
Parameter setting for required voltage U (-10V ... +10V)
P76 (P77) = 39 + Y (39,Y)
39: selection of voltage output
For positive voltage:
For negative voltage:

Y = U * 0.0101067 / 10V
Y = U * 0.0101067 / 10V + 0.0202134

(Note: set U negative in the 2nd formula)

SPEED

Characteristic
curve:

POSR
OUTPUT

+9.96V

Cam
controller

0.0101067

WAIT

0.0202134

GOTO
GOSUB
RETURN
END

-10.0V
REPEAT
IF I..
Comparison
WAIT Start

Option D/A
monitor (channels
0 & 1):

GOTO /
GOSUB EXT
IF Error/ Stop
Arithmetic
Position

Calculating the
output value:

monitoring

Addressable using P71 (channel 0) and P72 (channel 1)
P71 Channel 0 X17/1
P72 Channel 1 X17/2
Resolution: 12 bit (incl. sign); corresponds to a resolution of 5 mV
Range: -10V...+10V
The calculation for the output on the 12-bit channels 0 and 1 is as follows:
Parameter setting for required voltage U (-10V ... +10V)
P71 (P72) = Y
P73 (P74) = 39: selection of voltage output
Y = U * 101067 / 10V

Idle display

Characteristic
curve:

Speed
monitoring

+10.0V

Engage /
disengage
brake / final

-0.0101067

stage

0.010106

Variable
voltage

-10.0V

124

Technical data
Configuration
Positioning and
control functions
Parameter

Status

Optimizing with the ServoManager:
Use the menu "Online: Parameters" to change the optimizing parameters
directly in COMPAX (these settings are accepted after modification with
"Return").

Connector
assignment / cable

Unit
hardware

Optimizing the movement cycle
♦ At the end of every optimization of the control accuracy, the movement cycle
must be optimized. For this, use the pre-control parameters P25, P26, P69 and
P70.

Optimization
functions

User-defined settings
further optimization, you can adapt the parameters of the set structure
variants optimally to your application (user-defined settings).
♦ As another alternative, you can select structure variant 3 and optimize it with the
relevant parameters.
♦ For

Interfaces

Important requirements for a rapid, stable adjustment are the correct information
about the physical characteristic values of the application. COMPAX requires the
following data:
♦ The parameters of the motor.
For Parker – standard motors, select the connected motor type from a list; the
relevant parameters are stored in the ServoManager.
For other motors, the relevant parameters P100-P133 must be set according to
the connected motor (see from Page 91).
♦ The parameters of the application.
These are mainly the moments of inertia (with and without load) that the drive
has to move, which are set, depending on the drive type, via the parameters
P80 ... P92.
♦ Dependent on the sensor system, you can select from 2 structure variants; these
also contain (set via the ServoManager) fixed settings of optimizing parameters.
The standard structure corresponds to the previous COMPAX control structure.
With the standard structure, you can directly transfer previous, already
optimized parameter sets.
♦ After this, the optimal control dynamic is set by increasing the stiffness (P23).
This is usually sufficient to obtain good control results.

Accessories /
options

Optimization functions

125

Error list

8.5

COMPAX-M / -S

Operating Instructions
Output of variable voltage
Set motor
Configure drive type:
Parameters P81 ... P92

Optimization
process:

Select structure/parameter
variant 1
P59=4 (Optimise P24 if necessary)

Motor with

Motor with
resolver

SinCos

Sensor
?

Select structure/parameter
variant 2
P59=3 (Optimise P24 if necessary)

Increase control dynamic
Increase P23
Travel slowly over the positioning range
⇒ stable, quiet travelling
⇒ unstable, unquiet travelling
(no longer corresponds to to the requirements)
Reset P23 to the last setting

Further
optimization?

User-defined settings
Modify P56 ↓↑ (D section rpm controller)
Increase P23
Travel slowly over the positioning range
⇒ stable, quiet travelling
⇒ unstable, unquiet travelling

yes

(no longer corresponds to to the requirements)
Reset P23 & P56 to the last setting
Implement the same process for P57 ↓ (lag D
sectionl), P58 ↓ (lag rpm filter) and P151 ↓↑

(monitor speed)!

Further
optimization?

yes

User-defined settings with variant 3
(P59= 8)
Modify P56 ↓↑ (D section rpm controller)
Increase P23
Travel slowly over the positioning range
⇒ stable, quiet travelling
⇒ unstable, unquiet travelling

(no longer corresponds to to the requirements)
Reset P23 & P56 to the last setting

Evaluate results.
Set best result.

Implement the same process for P57 ↓ (lag D
section), P58 ↓ and (lag rpm filter)!

Optimizing the movement cycle
Optimise pre-control parameters P25 ↓↑ (rpm
pre-control), P26 ↓ (acceleration pre-control), P69
↓ (current pre-control) and P70 ↓ (return precontrol).

Check current restriction:
During acceleration/braking, the current limit
should not be reached or only briefly.
The optimizing display (P233/234=13 and 14)
shows the time in which the controller is operating
at the current limit.
Use the pre-control parameters or increase
ACCEL to reduce the "time at current limit".

126

Note
♦ The arrows behind the parameters show the preferred
direction for the parameter optimization.
↓ Reduce parameter
↑ Increase parameter
↓↑ Both directions could lead to a better setting.

The optmizing direction shown usually leads
to a good control result in our experience:
however, this cannot apply to every
application case!

Standard

Variant 1

Variant 2

Variant 3

0
0
100
100
100

4
40
175
0
101

3
40
350
0
101

8
40
100
100
100

(switched off)

(switched on)

(switched off)

Monitor speed (%)
30
30
30
30
Moment of inertia (%)
100
100
85
100
Return pre-control (%)
0
100
100
100
Current pre-control value
0
100
100
100
(%)
Standard: Previous COMPAX control structure; use this structure if you already
have optimized parameter sets.
Variant 1: Structure switch: Variant 1 for resolver
Structure switch: Variant 2 for SinCos

Variant 3:

Structure switch: Variant 3 "Rapid rpm controller"

No.

Meaning

Settings

P59

Structure switch measuring

0: Standard
4: Variant 1 (for resolver)
3: Variant 2 (for SinCos)
8: Variant 3 (rapid rpm controller)
+16

Sensitive stiffness (P23)
Larger setting range for P23
Sensitive D section (P56)
Larger setting range for P56

Interfaces

The structure switch measuring (P59) permits the following settings:

+65536
The D section is reduced by 1/256.

Accessories /
options

P59: Structure
switch
measuring

Variant 2:

Optimization
functions

P151
P27
P69
P70

Connector
assignment / cable

Unit
hardware

Structure switch measuring
D section rpm controller (%)
Filter acceleration (%)
Lag rapid rpm signal (%)
Monitor

Technical data

Meaning

P59
P56
P57
P58
P50

Configuration

No.

Status

By selecting a structure variant with the structure switch P59, no further
parameters are influenced.
Only by selecting a variant through ServoManager (menu parameters:
controller structure / monitor) can complete parameter sets (as described
above) be set.

P23: stiffness of
drive

The stiffness is proportional to the controller speed.
Nominal value: 100%
Range: 10%...5000%

Increase stiffness

Control is faster. The control circuit starts from a critical value. Set the stiffness so
that sufficient safety distance from the critical value is ensured.

Reduce stiffness

Control is slower. This increases lag error. Current limitation is reached later.

127

Parameter

Structure and
parameter settings
using the
ServoManager:

In addition to the standard structure (which corresponds to the previous COMPAX
control structure), you can select from 3 structure variants.
These include, in addition to a specific control structure, pre-defined settings for
specific optimizing parameters. By selecting the individual structures in the
ParameterEditor, the following parameters can be set:

Error list

Structure
variants:

Positioning and
control functions

8.5.1 Optimization parameters

COMPAX-M / -S

Operating Instructions
Optimization parameters
Main effect:

P23>100%
speed
reference
value,
actual
value

P23=100%

P23<100%

P24: damping of
drive

Damping influences the height of the harmonies and reduces the vibrations.
Nominal value: 100%
Range: 0%...500%

Increase damping

Harmonies become smaller. The drive vibrates at high frequency from a specific
value.

Reduce damping

The harmonies of the actual value increase and it vibrates longer around the
nominal value. The drive vibrates permanently from a specific value.

Main effect:

P24<100%
speed
reference P24>100%
value,
actual
value

P24=100%

P56: D section
rpm controller

P56: D section rpm controller
Nominal value: 0
Range: 0%...500%
The D section should generally be set for elastically coupled double mass systems.
These are systems in which the connection between the motor and the load is not
rigid. It must be noted here, that with sufficiently high torques being transmitted,
even supposedly rigid connections can become elastic.

P57: Lag D
section rpm
controller

P57: Lag D section rpm controller
Nominal value: 100%
Range: 0%...550%

P58: Lag rpm
filter

P58: Lag rpm filter
Nominal value: 100%

P27: moment of
inertia

Use this parameter to adapt the controller to very large changes in load.
Nominal value: 100% Range: 10%...500%
COMPAX is informed of the relative change in moment of inertia which occurs
before a change in load when the motor is idle (e.g. via the RS232 interface).
The nominal value (100%) corresponds to the value calculated by parameters P81
to P92.

Note:

128

Range: 0%...550%

After changing P27, P23 usually needs modification P23 in order to achieve
optimal control results.

Optimization parameters

Connector
assignment / cable

lag error
attenuation characteristics
♦ Higher dynamic levels with lower maximum current
♦ Better

Configuration

The positioning process is calculated in the nominal value setter and is specified to
the position controller as the nominal value. This ensures that the nominal value
setter contains the advance information required for positioning: speed,
acceleration and power processes. This information is switched to the controller so
the lag error is reduced to a minimum, the controller has better attenuation
characteristics and drive dynamics are increased.
current
feed forward

Main structure:

acceleration
feed forward
speed
feed forward
target
position reference point
target

position
control

speed
control

position
integrator

position
actual
value

2
t

Nominal speed value
Actual speed value
Motor power
Lag error

4
3

Accessories /
options

Driving
fault,
current

1:
2:
3:
4:

Status

Reference
value,
actual
value

Parameter

Without advance
control measures:

Optimization
functions

The stability of the control process is not influenced by the advance control
measures.

Positioning and
control functions

Principle:

Technical data

♦ Minimum

Interfaces

Advantages:

Advance control of speed, acceleration and power

129

Error list

Advance
control
measures

Unit
hardware

Optimization functions

COMPAX-M / -S

Operating Instructions
Optimization parameters

P25: Advance
speed control:

Advance speed control
Nominal value: 100% Range: 0%...500%
reference
value,
actual
value

1
2
t

Driving
fault,
current

1:
2:
3:
4:

Nominal speed value
Actual speed value
Motor power
Lag error

1:
2:
3:
4:

Nominal speed value
Actual speed value
Motor power
Lag error

1:
2:
3:
4:

Nominal speed value
Actual speed value
Motor power
Lag error

3
4

P26: Advance
acceleration
control

Advance speed and acceleration control
Nominal value: 100% Range: 0%...500%
reference
value,
actual
value

1
2
t

Driving
fault,
current
3
4

P70: Advance
power control

Advance speed, acceleration and power control
Nominal value: 100% Range: 0%...500%
2
reference
value,
actual
value

Driving
fault,
current

4
t

Advance reverse
control

130

The advance reverse control can be engaged to increase optimization of guide
characteristics and reduce dynamic lag error by using P69. Nominal value: 100%
Range: 0 ... 500% default value: 0; applies to VP

Damp- Advance contr.
ing (P24) factors (P25,
P26, P70)

Acceleration
time
(ACCEL)

Ramp
shape
(P94)

Other
measures

=100%
optimize if
necessary

increase

decrease

increase

quadratic
(P94="3")

increase max.
torque (P16)

Unusually high
harmonies caused
by power limitation

decrease

increase

linear
(P94="1")

increase max.
torque (P16)

Vibrating at higher
frequencies
(perceptible as noise)

decrease

check min. mass
(P92) and min.
moment of inertia
(P81).

increase

check max. mass
(P88) and max.
moment of inertia
(P82).

decrease

increase

linear
(P94="1")

decrease max.
torque (P16)

Unit
hardware
Interfaces
Accessories /
options

High motor or final
stage temperatures

Status

Vibrating at lower
frequencies
(perceptible as
motion)

Parameter

No harmonies

Optimization
functions

increase

Minimizing lag error

Connector
assignment / cable

Stiffness
(P23)

131

Error list

Targets / problems

Technical data

Control processes for optimization

Configuration

Optimization parameters

Positioning and
control functions

Optimization functions

Operating Instructions

COMPAX-M / -S

Speed monitor

8.5.2 Speed monitor
Speed
determination
standard:

In COMPAX the drive speed is required as an actual value for speed control (loop
underlying the position control).
The actual speed value is derived by differentiating the position signal.
In certain applications, such as with large ratios Jload/Jmotor, the loop response time
is limited by quantization noise.

Speed monitor:

COMPAX includes a speed monitor for determining speed, which can be turned on
using parameter P50.
Use the speed monitor to set a higher level of stiffness corresponding to a faster
control process.

Function:

The monitor reproduces the dynamic behavior of the drive. It receives the same
input signal as the physical drive. An additional loop is used to compare the output
magnitude with the actual output magnitude of the drive (actual position value from
resolver) and hold it at the same value. This additional loop makes corrections to
the internal monitor values.
The advantage is that the speed is available directly as an intermediate value of
the monitor and can be used for speed control.
Use this speed signal to attain a stable control process or to operate the drive
control process with higher levels of stiffness (P23) and the same levels of
damping.

Settings:

P50=100: without monitor (default setting and function as before)
P50=101: with monitor
P151: responsiveness of the monitor control (standard 30%)
P151>30%: monitor loop becomes faster
P151<30%: monitor loop becomes slower

Using the speed
monitor

• For large ratios Jload/Jmotor.

Note! Do not use the speed monitor when operating
asynchronous motors.

132

8.5.3 Optimization display
The optimization display (status S13 and S14) is an aid for optimizing COMPAX
without the need for an additional visual aid. It provides access to the characteristic
parameters of the positioning process (optimization parameters).
From a selection of 14 different parameters for the positioning process, you can
assign 2 parameters to the status values S13 and S14 by using the parameters
P233 (S13) and P234 (S14).
The optimization parameters are reset before each new positioning process and
they are continually updated during the positioning process.

Enter the corresponding number in the first column in the parameter. This means
♦ P233 determines status S13 ! P234 determines status S14
max position overshoot
position

Accessories /
options

max. 6
position undershoot
25

max. 5
position overshoot

time

max.
position undershoot

-25

positive sense
of rotation

negative sense
of rotation

Status

negative sense
of rotation

Parameter

Description of
optimization
parameters

Unit
hardware
Configuration
Positioning and
control functions
Optimization
functions

5
6
7
8
9
10
11
12
13
14
56

Meaning
Positioning time (from start of positioning to "Position reached")
max. intermediate circuit voltage in [V]
reserved
max. undershoot referenced to max. position (amount) (only for
highly shifted loops)
max. position overshoot [units corresp. P90] (amount)
max. position undershoot [units corresp. P90] (amount)
max. acceleration lag error [units corresp. P90]
max. braking lag error [units corresp. P90]
max. acceleration speed in [%] of motor nominal speed
max. braking speed in [%] of motor nominal speed
max. acceleration current in [%] of motor nominal current
max. braking current in [%] of motor nominal current
max. time in current limit for acceleration, in [ms]
max. time in current limit for braking, in [ms]
2
square of peak motor current (reference value: 80 000A )

Interfaces

P233/P23430
1
2
3
4

P233/P234 are set as valid with VP
133

Error list

Optimization
parameters:

Connector
assignment / cable

Optimization display

Technical data

Optimization functions

COMPAX-M / -S

Operating Instructions
Optimization display

acceleration phase

decerleration phase

max. acceleration tracking error

speed
set
point

max. deceleration tracking error

8
9

max. acceleration speed

actual
value
of
position

P14

time needed for positioning t
1

max. deceleration speed
I

actual
value
of
position

pos. current limit
13

time in neg. current limit

max. backshoot with
ref. to max. position
4

time in pos. current limit
14

neg. current limit
t

x
actual
value
of
position

max. position overshoot
5

max. intermediate voltage

2 . U main

max. position overshoot
6
t

You will find a complete status list on Page207.

Square of peak
motor current

Reference value: 80 000A
The maximum peak current of a motor phase is continually determined once
COMPAX is switched on and this is stored as status S13 or S14 using
P233/234=56.
This display is generated as long as the motor is powered. The value is reset when
COMPAX is switched off (after "OFF").
Obtaining the peak motor current using S13 (P233=56) as an example:

Imax = S13 * 80000 A 2
Use the effective value

I eff =

I max
2

to calculate the peak load within the motor cycle.
If this value rises to 1.5 times the peak current of the system, error E41 is triggered.
You will find more detailed explanations on the limiting characteristics of COMPAX
on Page 222.

134

Default setting: Bit 0="1", Bit 1="1", Bit 3="0", Bit 8="1", Bit 9="1":
S13/S14=771

CPX X50 max. pos. synchronous lag error [units corresp. P90]
CPX X50 max. neg. synchronous lag error [units corresp. P90]
Output value of D/A monitor channel 0 (10V corresponds to 1)
Output value of D/A monitor channel 1 (10V corresponds to 1)
Output value of service D/A monitor channel 2 (10V corresp. to 1)
Output value of service – D/A monitor channel 3 (10V corresp. to
1)
27
External encoder position (units corresp. P90)
28
Measuring error (Difference between resolver position and external
encoder position in the unit corresponding to P90)
29
Effective motor load in % of the permitted continuous motor load
(E53 is indicated from 100%)
30
Effective unit load in % of the permitted continuous unit load (E53
is indicated from 100%)
31
Mark synchronization function indicator (COMPAX XX70)
32
"Scaled correction factor" (COMPAX XX70)
33
"Cycle counter" (COMPAX XX70)
35
Digital inputs I1-I16
36
Status S16 (bits 16...23) and digital outputs O1-O16 (bits 0...15)
Encoder frequency channel 4 in incr./ms" (COMPAX XX60,
37
COMPAX XX7X)
39
Cause of calculation error E07
0
Invalid Operator
1
Division by 0
2
Overflow
3
Underflow
The corresponding number in the first column should be entered in the parameter.
This means
♦ P233 determines status S13 ! P234 determines status S14
You will find additional special diagnosis values on Page 210.

Unit
hardware
Connector
assignment / cable
Technical data
Configuration
Parameter

You will find the meanings
of the DA monitor values on
Page 52.

21
22
23
24
25
26

Positioning and
control functions

Optimization
functions

18
19

Meaning
Current number of HEDA transmission errors
Average no. of HEDA transmission errors per second
Total number of HEDA transmission errors since beginning of
synchronization
Process nominal value received via HEDA
HEDA control word
Bit 331: Transmission error COMPAX -> IPM
Bit 8: fast start via HEDA
HEDA status word
Bit 0="1": no errors (corresponds to COMPAX output O1)
Bit 1="1": no warnings (corresponds to COMPAX output O2)
Bit 3="1": transmission error IPM -> COMPAX
Bit 8="1": COMPAX lag warning (="1" - in position, i.e. within lag
warning window)
Bit 9="1": HEDA interface active (COMPAX synchronized)

Bit counting begins with 0.
135

Error list

P233/P234
15
16
17

Interfaces

Access to additional parameters via S13 and S14:

Accessories /
options

Optimization display

Status

Optimization functions

Operating Instructions

COMPAX-M / -S

External position localization with position adjustment

8.5.4 External position localization with position adjustment
Only available in
COMPAX XX00!

Recommendation:

Configuring the
external position
adjustment:

The external position localization with position adjustment described below is only
available in the standard unit (COMPAX XX00). Solutions adapted to specific
applications are available in the unit variants.
A slip between motor position and the position of the drive (e.g. a material feed) is
not detected. If the slip is too large, the external position can be entered(e.g.
recorded by a measuring wheel) using encoder channel 1. In this way, COMPAX
corrects the internal actual position value.
To limit access to the position adjustment, use P36 to limit the speed correction
value resulting from the difference in positions.
This can be especially useful in the acceleration phase, if the material is slipping
through because of the higher correction speed.
To avoid all inaccuracies during internal calculations, it is important to use the
measuring unit "Increments".
Parameter

Meaning

valid
from..

P75

Maximum permitted measuring error (difference between resolver
position and encoder position)
The external position adjustment is enabled using measuring
error P75 > 0.
When P75 is reached, error E15 is generated and the drive is
switched off.

Control position adjustment via digital input I11
If the external position measurement and position adjustment
(P75>0) is switched off, position adjustment operation can be
switched on and off using input I11. For this, assign I11 with this
function via P232=4.
I11="0": External position adjustment switched off (reaction time
approx. 5 ms).
I11="1": External position adjustment switched on.
P232 becomes effective immediately and has a default value of 0.
If P232=0, I11 will not have an effect on the position adjustment;
this is then switched on and off using P75.
Note! If P232=4 (activated I11), I11 can no longer be used for
GOTO / GOSUB EXT.
P36 Limitation of speed correction value for external position
VP
adjustment (only available in COMPAX XX00 and COMPAX XX30)
"0": switched off (default value)
When P36=0, the speed correction value is not limited.
P36 is specified in % of the nominal speed (P104).
Note! When position localization is switched off, P36 must = 0!
P144 Sets encoder channel 1
VC
="4": without external position localization
="6": external position localization switched on via channel 1.
P143 Number of encoder pulses per encoder rotation from channel 1;
VC
range: 120...2 000 000.
P98 Travel of load per encoder rotation units (corresp. to P90).
VC

136

valid
from..

♦ Switch off external position adjustment (P144=4) and data record

♦ S1 and S42 must change by the same value (x).

• If the prefix of the modification is different, set data record P214="1".
• If the modification has a different amount, check P143 and P98.

The command "SPEED SYNC" cannot be used in external position
localization!

Drive type
Spindle drive

Measuring unit Determining V
mm (inch)
V = K • P85(•25.4)

Using

Rack-and-pinion/
toothed belt

mm (inch)

General drive

mm (inch)

P85
(•25.4)
P82
V = K • 1000(•25.4)

General drive

Incr.

V =K

V =K•

P98 • 16384
.
P83 • P143

A slip filter with a differentiating element (D-element) is provided to optimize
external position adjustment.
Minimum
Default
Maximum
Valid
Unit
No.
Meaning
D-element slip filter
Slip filter lag

%
%

value

from...

0
0

100
100

500
5000

VP
VP

Both parameters are set to 100% as standard. The time constants are then
identical and the filter ineffective. Meaning:
Parameter

Effect

P67 = P68

Filter ineffective (standard)

P67 < P68 or

Filter has
delaying effect

♦ Low

Filter has
differentiating
effect

at high dynamic requirements.

P67 = 0
P67 > P68

Unit
hardware

Application
resolution of measuring system
on the measuring signal

♦ Interference

Conditions: high-resolution measuring
system and low interference on the measuring
signal.

Accessories /
options

P67
P68

value

Status

Slip filter for
external
position
localization

A number overrun is possible in special applications. To prevent this occurring, the
following condition must be met: V ≥ 1
Determine V depending on drive type and measuring unit:

Parameter

Limit values of
parameters

Positioning and
control functions

♦ Proceed with POSR x axis.

Configuration

Technical data

P214=0.

♦ Note S42 (position of external sensor).

Optimization
functions

P214 Encoder direction.
="0": positive direction for encoder rotating clockwise.
="1": positive direction for encoder rotating anti-clockwise.
Setting aid:

Interfaces

Meaning

137

Error list

Parameter

Connector
assignment / cable

Optimization functions
External position localization with position adjustment

COMPAX-M / -S

Operating Instructions
Digital inputs and outputs

8.6

Interfaces
The COMPAX interfaces for data and status are digital inputs with an PLC data
interface, an RS232 interface and an optional bus interface (interbus S, CAN bus,
CANopen, profibus, CS31 or RS485).
The RS232 interface can be operated simultaneously with other interfaces.

8.6.1 Digital inputs and outputs
To control the program process, 16 inputs and 16 outputs are available (8 inputs
and 8 outputs with COMPAX 1000SL).

I/O - assignment
of standard unit

O7-O11 and I7-I11 are assigned when the PLC data interface is switched
on.
Input

Assignment

I1 (X8/1; X19/x)
I2 (X8/2; X19/x)
I3 (X8/3; X19/x)
I4 (X8/4; X19/x)
I5 (X8/5; X19/x)
I6 (X8/6; X19/x)
I7 (X8/7; X19/x)
I8 (X8/8; X19/x)
SHIFT I2
SHIFT I3
SHIFT I4
SHIFT I5
SHIFT I6
I9 (X10/1; X19/x)
I10 (X10/2; X19/x)
I11 (X10/3; X19/x)

SHIFT
Manual+
Hand–
Quit
START
Stop (interrupts data record)
Freely assignable in the standard unit.
Freely assignable in the standard unit.
Find machine zero (MZ)
Approach real zero (RZ)
Teach real zero
reserved
Break (breaks off data record)

I12 (X10/4; X19/x)
I13 (X10/5; X19/x)
I14 (X10/6; X19/x)
I15 (X10/7; X19/x)
I16 (X10/8; X19/x)

Freely assignable in the standard unit.
Freely assignable in the standard unit.
Assigned when P232=4 (activates position adjustment);
otherwise free.
Freely assignable in the standard unit.
Freely assignable in the standard unit.
Assigned when mark reference is activated (P35=1)
(activates mark reference); otherwise free.
Fast start (can be activated using P18)
Is assigned if mark reference is activated (P35=1) (mark
input); otherwise free.

The assignment of inputs on X19 applies only to COMPAX 1000SL.

138

O2 (X8/10; X19/x)
O3 (X8/11; X19/x)
O4 (X8/12; X19/x)
O5 (X8/13; X19/x)
O6 (X8/14; X19/x)
O7 (X8/15; X19/x)
O8 (X8/16; X19/x)
O9 (X10/9; X19/x)
O10 (X10/10; X19/x)
O11 (X10/11; X19/x)
O12 (X10/12; X19/x)
O13 (X10/13; X19/x)
O14 (X10/14; X19/x)
O15 (X10/15; X19/x)
O16 (X10/16; X19/x)

Unit
hardware
Connector
assignment / cable

="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 nominal position reached
Idle after stop
Freely assignable in the standard unit.
Freely assignable in the standard unit.
Freely assignable in the standard unit.
Freely assignable in the standard unit.
Freely assignable in the standard unit.
Freely assignable in the standard unit.
Freely assignable in the standard unit.
Freely assignable in the standard unit.
Freely assignable in the standard unit.
32
For "0": mark disappears after max. feed length

Technical data

Assignment

O1 (X8/9; X19/x)

Configuration

Output

Positioning and
control functions

Interfaces
Digital inputs and outputs

Only assigned if the mark reference is activated (P35=1).
139

Error list

Parameter

Status

Accessories /
options

Interfaces

Optimization
functions

The assignment of outputs on X19 applies only to COMPAX 1000SL.

COMPAX-M / -S

Operating Instructions
Digital inputs and outputs

8.6.1.1 Digital inputs and outputs for COMPAX 1000SL
Allocation of logic inputs for input pins of X19
The source (input pin on X19) from which the respective logic input is to be read is
specified via parameters P156, P157 and P158. Inputs which are not read by an
input pin on X19 can be allocated a fixed "0" or "1 (this is not, of course, applicable
for all inputs). The parameters are 24 bits large with 4 bits defined per logic input.
This allocation can be easily done with the assistance of the ServoManager.
With direct access via RS232, a terminal or a fieldbus, the following table can be
used for setting the parameters.
factor

Source
fixed logical value (0 or 1) or pin of X19

Value:

computed values

Allocation:
Input reads from
which source

Logical
inputs

Value * factor

P156 bit 0...3

Input 1

Allocation table:

Value * factor

P156 bit 4...7

Input 2

Logical input is read by

256

Value * factor

P156 bit 8...11

Input 3

X19 pin ...

4096

Value * factor

P156 bit 12...15

Input 4

65536

Value * factor

P156 bit 16...19

Input 5

1048576

Value * factor

P156 Bit 20...23

Input 6

Σ Total
Value of P156:

Allocation table:

Value * factor

P157 bit 0...3

Input 7

Value * factor

P157 bit 4...7

Input 8

Logical input is read by

256

Value * factor

P157 bit 8...11

Input 9

X19 pin ...

4096

Value * factor

P157 bit 12...15

Input10

65536

Value * factor

P157 bit 16...19

Input 11

1048576

Value * factor

P157 Bit 20...23

Input 12

Σ Total
Value of P157:

Allocation table:
Logical input is read by
X19 pin ...

Note

♦ Total ≤ 8 388 607:
P156 = Total
♦ Total > 8 388 607:
P156 = Total – 16 777 216

Value * factor

P158 bit 0...3

Input 13

Value * factor

P158 bit 4...7

Input 14

256

Value * factor

P158 bit 8...11

Input 15

4096

Value * factor

P158 bit 12...15

Input 16

Value of P158:

140

♦ Total ≤ 8 388 607:
P156 = Total
♦ Total > 8 388 607:
P156 = Total – 16 777 216

Note that only one selection can be made per line, i.e. only one cross is permitted!

Example:

9
1

X
x
x
x
x
x

0*1=0

3*16=48

256

4*256=1024

4096

5*4096=20480

65536

6*65536= 393216

1048576

7*1048576=7340032

P156 bit 0...3
P156 bit 4...7
P156 bit 8...11
P156 bit 12...15
P156 bit 16...19
P156 bit 20...23

Input 1
Input 2
Input 3
Input 4
Input 5
Input 6

7 754 800 ♦ Total ≤ 8 388 607

Σ
Value of P156:

7 754 800

0*16=0

256

0*256=0

4096

0*4096=0

65536

0*65536=0

1048576

8*1048576=8388608

Logical
inputs

0*1=0

P156 = Total
♦ Total > 8 388 607
P156 = Total – 16 777 216

P157 bit 0...3
P157 bit 4...7
P157 bit 8...11
P157 bit 12...15
P157 bit 16...19
P157 bit 20...23

Input 7
Input 8
Input 9
Input 10
Input 11
Input 12

8 388 608 ♦ Total ≤ 8 388 607

P156 = Total

Value of P157:

Unit
hardware
Technical data

Allocation:
Input reads from
which source

-8 388 608 ♦ Total > 8 388 607

x
x
x

2*1=2

1*16=16

256

0*256=0

4096

9*4096=36 864

Value of P158: Σ

P158 bit 0...3
P158 bit 4...7
P158 bit 8...11
P158 bit 12...15

Input 13
Input 14
Input 15
Input 16

36 882

The remaining inputs stay open and are therefore not imported.
You can see the calculation of the setting values on the right.
Note
is in principle possible to read 2 inputs from the same input pin. Of course note
should be taken of the resulting function.
♦ If you do not need the enable input I12, fixed logic "1" can be allocated.
♦ With P233=49 (or P234=49), physical inputs pin 9 – pin 2 are written to the
optimization display status S13 (S14). Meaning: pin 2 = bit 0 ... pin 9 = bit 7.

Parameter

Status

Accessories /
options

Interfaces

♦ It

Positioning and
control functions

P156 = Total – 16 777 216
1

Optimization
functions

Wert:

computed values

Configuration

factor

Source
fixed logical value (0 or 1) or pin of X19

141

Error list

The following
assignment must be
configured:
"0"
→ input 1
X19 pin 3 → input 2
X19 pin 4 → input 3
X19 pin 5 → input 4
X19 pin 6 → input 5
X19 pin 7 → input 6
"0"
→ input 7
"0"
→ input 8
"0"
→ input 9
"0"
→ input 10
"0"
→ input 11
X19 pin 8 → input 12
X19 pin 2 → input 13
"1"
→ input 14
"0"
→ input 15
X19 pin 9 → input 16

Connector
assignment / cable

Interfaces
Digital inputs and outputs

COMPAX-M / -S

Operating Instructions
Digital inputs and outputs

Allocation of output pins of X19 to the logic outputs
The target (output pin on X19) on which the respective logic output is to be written
is specified via parameters P159 and P160. The parameters are 24 bits large with
4 bits defined for allocating each output to an output pin
This allocation can be easily done with the assistance of the ServoManager.
With direct access via RS232, a terminal or a fieldbus, the following table can be
used for setting the parameters.
Outputs

value:

factor

computed values

Allocation table:
output is assigned ... to
pin X19

Allocation:
output is
assigned to pin
X

X19
Outp
ut
Pin

Value * factor

P159 bit 0...3

/15

Value * factor

P159 bit 4...7

/16

256

Value * factor

P159 bit 8...11

/17

4096

Value * factor

P159 bit 15...11

/18

Value * factor

P160 bit 0...3

/19

Value of P159: Σ
1

Allocation table:
output is assigned ... to
pin X19

Value * factor

P160 bit 4...7

/20

256

Value * factor

P160 bit 8...11

/21

4096

Value * factor

P160 bit 11...15

/22

Value of P160: Σ

Example:
The following assignment must be configured:
Output 1 → X19 Pin 15
Output 3 → X19 Pin 16
Value:
Output 4 → X19 Pin 17
X
Output 5 → X19 Pin 18
Output 8 → X19 Pin 19
Output 10 → X19 Pin 20
Output 14 → X19 Pin 21
Output 16 → X19 Pin 22
You can see the calculation of the
setting values on the right.

Outputs

factor

computed values

1
X
X
X

256

4096

Value of P159: Σ
1

X
X
X
X

256

4096

Value of P160: Σ

Allocation:
output is
assigned to pin
X

X19
Output
Pin

0*1=0 P159 bit 0...3

/15

2*16=32 P159 bit 4...7

/16

3*256=768 P159 bit 8...11
4*4096=16384 P159 bit 11...15

/17
/18

17184
7*1=7 P160 bit 0...3

/19

9*16=144 P160 bit 4...7

/20

13*256=3328 P160 bit 8...11

/21

15*4096=61440 P160 bit 11...15

/22

64919

Note
♦ With

P233=49 (or P234=49 respectively) physical outputs pin 22 – pin 15 are
written to the optimization display status S13 (S14). Meaning: pin 15 = bit 8 ...
pin 22 = bit 15.

142

You can make the permanently assigned standard inputs I1 to I6 available for
assignment using parameter P221. Meaning:

Find machine zero (MZ)
Approach real zero (RZ)
Teach real zero
reserved
Break (breaks off data
record)

(Bit 1)
(Bit 2)
(Bit 3)
(Bit 4)
(Bit 5)
(Bit 6)

Technical data

Manual+
Hand–
Quit
START
STOP

1
2
4
8
16
32

Configuration

I2 (X8/2)
I3 (X8/3)
I4 (X8/4)
I5 (X8/5)
I6 (X8/6)

Each input is assigned a valency. Calculate the sum of the valencies of the
required free inputs and enter this in parameter P221.
Hand+ and Hand- should be possible via the inputs; I1, I4, I5 and I6 should be
freely available.
1 (I1) + 8 (I4) +16 (I5) +32 (I6) = 57
You will obtain this setting using P221 = 57.

Positioning and
control functions

Example:

Valency

Note that when I1 is freely assigned (SHIFT), you can no longer
perform any "Functions with shift" via the inputs!
You can directly cancel all input functions (apart from Hand+ and Hand-) as
commands using interfaces (RS232, bus system).
status outputs O1 to O6 can be freely assigned using parameter P225.
P223 and P224 to assign the outputs of the OUTPUT WORD command of
the bus systems (Interbus-S, Profibus, CAN – Bus, ...).
♦ Use P245 and P246 to assign the outputs of the HEDA bus (COMPAX with IPM
via the option A1).
♦ Permanently assigned outputs of unit variants (COMPAX XX30, ...) cannot be
masked.
♦ Use

O1 ... O6

P225
0
1

Output x=y
RS232
command line

O1 ... O6
≥1

O12 ... O16

O7 ... O11

bussystems
PLC data interface

Output WORD
bussystems

HEDA via IPM

O7 ... O11

P18

Accessories /
options

O1 ... O6
status outputs

P223 /
P224
O1 ... O16 0
1

P245 /
P246

= "1" or "3"
1

towards
outputs

Status

Structural diagram

♦ The

O1 ... O16

Parameter

Free assignment
of outputs

Optimization
functions

Setting P221

Function with SHIFT

I1 (X8/1)

Function without
SHIFT
SHIFT

Interfaces

Input

Counting starts at 1.
143

Error list

Free assignment
of inputs

Connector
assignment / cable

8.6.1.2 Free assignment of inputs and outputs

Unit
hardware

Interfaces
Digital inputs and outputs

Operating Instructions

COMPAX-M / -S

Digital inputs and outputs
Explanation:
P225: makes
outputs freely
available.

Setting P225

Example:

The permanently assigned standard outputs O1 to O6 can be made freely
available using parameter P225. Meaning:
Output
Function
O1 (X8/1) ="1": No fault
="0": errors E1 ... E58
O2 (X8/2) ="1": No warning
="0": Error ≥ E58
O3 (X8/3) Machine zero has been approached
O4 (X8/4) Ready for start
O5 (X8/5) Programmed nominal position reached
O6 (X8/6) Idle after stop

Valency
1 (Bit 1)34
2 (Bit 2)
4
8
16
32

(Bit 3)
(Bit 4)
(Bit 5)
(Bit 6)

Each output is assigned a valency. Calculate the total of the valencies for the
required free outputs and enter this in parameter P225.
"Ready for start" and "Idle after stop" should be possible via the outputs; O1, O2,
O3 and O5 should be freely available.
1 (O1) + 2 (O2) +4 (O3) +16 (O5) = 23
You will obtain this setting using P225 = 23.
Using the interfaces (RS232, bus systems) and using the data record
program, the outputs can optionally (in parallel) be described using OUTPUT
Ox=y.

PLC data interface

Note!
Switching to
OUTPUT WORD
command or to
HEDA bus

When the PLC data interface is activated, the outputs must not be addressed using
the interfaces (RS232, bus systems) or using the data record program.
Simultaneous operation with the OUTPUT WORD command or with HEDA is not
permitted!
P223 / P224: switching to OUTPUT WORD command
P245 / P246: switching to HEDA bus
Access to the outputs can be assigned as bits to the OUTPUT WORD command or
to HEDA. Only the enabled outputs are then described by the OUTPUT WORD
command or by HEDA.

144

Counting starts at 1.

O9
O10
O11
O12
O13
O14
O15
O16

Connector
assignment / cable
Technical data

O4 to O16 should be influenced by the OUTPUT WORD command; O1, O2 and
O3 should be available via OUTPUT Ox=y.
8 (O4) + 16 (O5) +32 (O6) +64 (O7) +128 (O8) = 248
When P223 = 248 and P224 = 255 (total of all valencies), you will obtain this
setting.

8.6.1.3 COMPAX virtual inputs
COMPAX provides 48 logic inputs. These are divided into:
♦ inputs I1 ... I16 which are actuated via the physical inputs.
♦ virtual inputs I17 ... I32 which are activated via a fieldbus (object CPX_STW).
♦ virtual inputs I33 ... I48 which are activated via a COMPAX command (OUTPUT
O33 ... OUTPUT O48, or abbreviated: OT O33 ... OT O48).

Status

Access to COMPAX control functions
Access to COMPAX control functions (functions which are allocated to inputs
I1...I16 by default) can be configured via parameters P221 and P222 (see
structural diagram on the right).
The allocation of the bits in P221 and P222 respectively to the relevant inputs can
be found in the parameter description)

Parameter

Example:

Each output is assigned a valency. Calculate the total of the valencies of the
required outputs and enter this in the relevant parameter.

Counting starts at 1.
145

Error list

Setting P223, P224,
P245, P246

2
(Bit 2)
4
(Bit 3)
8
(Bit 4)
16 (Bit 5)
32 (Bit 6)
64 (Bit 7)
128 (Bit 8)
P246
1
(Bit 1)
2
(Bit 2)
4
(Bit 3)
8
(Bit 4)
16 (Bit 5)
32 (Bit 6)
64 (Bit 7)
128 (Bit 8)

Configuration

O2
O3
O4
O5
O6
O7
O8

Positioning and
control functions

1
(Bit 1)35
2
(Bit 2)
4
(Bit 3)
8
(Bit 4)
16 (Bit 5)
32 (Bit 6)
64 (Bit 7)
128 (Bit 8)
P224
1
(Bit 1)
2
(Bit 2)
4
(Bit 3)
8
(Bit 4)
16 (Bit 5)
32 (Bit 6)
64 (Bit 7)
128 (Bit 8)

Optimization
functions

HEDA
P245
1
(Bit 1)

Interfaces

OUTPUT parallel
P223

Accessories /
options

Outputs

Unit
hardware

Interfaces
Digital inputs and outputs

COMPAX-M / -S

Operating Instructions
Digital inputs and outputs
Logical inputs *
I1...I8
="0"
P221
="1"

Field bus I17...I24

SHIFT, Hand+, Hand-,
Quit, Start, Stop,
approach Mn, approach
RN, Tech RN

logical I1...I8

Logical inputs *
I9...I16

≥1

COMPAX–command
I41...I48
logical
(OTA41...OTA48)
I9...I16

COMPAX - control
functions
(for P221=”0”
corresponds to
arrangement of inputs I1
to I8)

="0"

COMPAX –
control functions
Depends on COMPAX
device variants (for
P222=”0” corresponds to
arrangement of inputs IE9
to I16)

Structural diagram: Access to
COMPAX control functions via
inputs

* The logic inputs I1 ... I16 are,
excluding COMPAX 1000SL, also
the physical inputs I1 ...I16 on
connectors X8 and X10.
With COMPAX 1000SL, the 8
physical inputs on connector X19
are allocated (via parameters P156
... P158) to 8 logic inputs from the
range I1 ... I16 (see Page 140)

P222
="1"

Field bus I25...I32
logical I9...I16

Remarks regarding the structural diagram
♦ The

control functions corresponding to I1.. I8 cannot be activated via OT
O33...OT O40.
♦ The control functions corresponding to I9...I16 can be activated simultaneously
via the physical inputs and via OT O41...OT O48.
♦ The enable input I12 (in COMPAX 1000SL, COMPAX XX70 and COMPAX XX30)
must also be activated when allocated to the fieldbus (via P222).
Interrogation of inputs in the COMPAX program (IF I ..)
All inputs can be interrogated independently of parameters P221 and P222 in the
COMPAX program with IF I... .
The virtual inputs I33...I48 in the COMPAX program can also be set via the
commands OT O33...OT O48.
Logical inputs *
I1...I8

Logical inputs *
I9...I16

COMPAX – program
Interrogation of inputs with
IF I1=
To
IF I48=
Regardless of parameters
P221 and P222

Field bus I17...I24

Field bus I25...I32

COMPAX–command
I33...I40
(OTA33...OTA40)
COMPAX–command
I41...I48
(OTA41...OTA48)

With P233=48 (or P234=48), virtual inputs I48 – I25 are written to the optimization
display status S13 (S14). Meaning: I25 = bit 0 ... I48 = bit 23.

146

I6:
STOP ineffective during synchronization process.
I1 & I6: BREAK interrupts the synchronization process.
I12: Material simulation
I13: Manual step
I14: Switches on mark reference
I15: Ends synchronous travel
(The "Fast start" function is not possible)
I16: Mark input
O5:

Position reached at synchronization command (WAIT POSA, WAIT POSR)
="0"; when the axis starts
="1": after return run.
O14: Synchronous comparator
O15: Chaff length
O16: Reject length

COMPAX XX70:
Cam control

I12: Enable final stage
I13: ="0": Decoupling ="1": Coupling
I14: Mark input
I15: ="0": Disables auxiliary functions ; ="1": Enables auxiliary functions
I16: Enables master position
O7...O14: Digital auxiliary functions.
O13/O14: Cannot be used via OUTPUT.
O14: Mark not in mark window.
O15: Lag warning
O16: Synchronous run

Optimization
functions

Switches over the dimension reference
Transmission factor selection
Enable master nominal value

Interfaces

I14:
I15:
I16:

Accessories /
options

COMPAX XX60:
Electronic
transmission

Configuration

Technical data

final stage enable
measuring error compensation by external position measurement
release brake
no measuring error
no power to final stage

Positioning and
control functions

COMPAX XX50:
Synchronous
cycle control

I12:
I13:
I14:
O14:
O16:

Parameter

Status

Please refer to the instructions for the variant you are
using for up-to-date information!

147

Error list

COMPAX XX30:
Round table
control

Connector
assignment / cable

8.6.1.4 I/O assignment of variants

Unit
hardware

Interfaces
Digital inputs and outputs

COMPAX-M / -S

Operating Instructions
Digital inputs and outputs

8.6.1.5 Function of inputs
When working with pre-assigned inputs, always note the following:
♦ The SHIFT signal (I1) may only change if I2...I5 ="0".
I1
SHIFT
t
I2-I5

> 0,2ms

♦ The

"STOP" and "BREAK" functions (input I6) have top priority.
♦ For the inputs I1 to I5, only the first input present will be detected and the relevant
function activated. The other functions are then blocked; this means, e.g.:
If Quit (I4) is set during a process involving Hand+ (I2="1"), Quit is not detected
even after I2="0". A new rising flank will be required for Quit (I4).

Exception: START

Length of signal ≥
1ms

SHIFT

If a program is interrupted by STOP when START is present (I5), the program is
then continued using I6="0" (STOP is deactivated).
For sure detection, the signals must be present for ≥ 1ms.

Input I1
♦ Switches
♦ Signal

Hand+/Hand–

to the functions for inputs I2 to I6.
I1 may only change if I2...I6 ="0".

Input I2/I3
♦ Processes

the axis in manual mode (velocity: P5; ramp time: P9).
for manual procedure:
♦ The axis must be stationary and powered.
♦ There must not be any programs running (exception: program is at WAIT
START).
♦ When the end limits are reached (P11, P12), the drive is stopped.
♦ The outputs O5 "Nominal position reached" and O4 "Ready for START" are at "0"
during manual mode; O5 remains at "0" even once manual mode has been
completed.
♦ Conditions

QUIT

Input I4
♦ Acknowledges

an error message or warning.
♦ If the error is rectified, O1 "No fault" or O2 "No warning" is set.
♦ The following functions are possible when there is an error present:
♦ VP, VC, VF
♦ Quit
♦ OUTPUT O0
♦ GOTO data record indicator / password

148

Input I5
the program data record at WAIT
START, after Power On and after STOP.
♦ Performs the next data records (commands)
before the next WAIT START command, an
END instruction or a STOP or BREAK signal.
♦ O4 "Ready for start" is reset.
Note!

STOP

♦ Once

a positioning process has been
interrupted by STOP (I6="1"), the process can
be continued, when START (I5="1") is
present, using a descending flank at STOP
(I6="0").

Temporal course of a start sequence:
drive to MN

O4 (ready for start) = "1" ?

yes
I5 (start signal) = "1"

O4 (ready for start) = "0" ?

yes

Unit
hardware

I5 (start signal) = "0"

Configuration

♦ Starts

Connector
assignment / cable

START

Technical data

Interfaces
Digital inputs and outputs

Input I6
positioning process is interrupted using "1" and the axis is stopped in a
controlled manner.
♦ O4 "Ready for start" and O6 "Idle after stop" ="1".
♦ A new start command is required to complete the positioning process. When
START is present, resetting the STOP signal is sufficient (I6="0").

the machine zero point (when using reversing initiators: process velocity:
P3 - the direction of the search can be determined using the P3 sign ; ramp
time: P7).
♦ Once the MZ is reached, output O3 "Machine zero approached" is set. This
remains set until another "Find MZ" order is issued.
♦ Output O5 "Programmed position reached" ="0".
♦ The data record indicator is reset to N001.
♦ Reference travel, prompted by the digital inputs, interrupts a positioning
command specified by the interfaces (POSA, POSR, LOOP).

Accessories /
options

Input SHIFT I3
♦ The

axis travels to the real zero point (process velocity: P4; ramp time: P8).
"Ready for start" ="0" until RZ is reached.
♦ Output O5 "Programmed position reached" ="0", and once real zero is
approached ="1".
♦ Data record indicator is reset to N001.
♦ In continuous mode the axis does not move; the data record indicator is set to
N001.

Teach in real
zero (Teach Z)

Status

♦ O4

Input SHIFT I4
♦ The

current position of the axis is used as the reference point (real zero) for all
positioning instructions; i.e. P1 is modified.
♦ The data record indicator is set to 1.
♦ The real zero is stored protected against power failure.
♦ O4 "Ready for start" is not modified.
♦ The teach in function can be switched off using P211.
♦ The function does not operate in continuous mode.
149

Parameter

Approach RZ

Interfaces

♦ Finds

Optimization
functions

Input SHIFT I2

Error list

Find MZ

Positioning and
control functions

♦ The

COMPAX-M / -S

Operating Instructions
Digital inputs and outputs

Input SHIFT I5
♦ When

P211: blocking
and modifying
teach in functions

P211 Function
=0
=1
=2
=3

Break

P211="3", the data record indicator is set to 1 using "Shift I5".

The functions I1 + I4, Teach N, I1 + I5 and Teach Z are enabled.
Teach Z is blocked; the data record indicator is set to 1 using I1 + I4 or
"Teach Z".
Teach N is blocked; the data record indicator is set to 1 using I1 + I5 or
"Teach N". (Teach Z is enabled)
The functions Teach N and Teach Z are blocked. With I1 + I4, Teach N, I1
+ I5 or Teach Z, the data record indicator is set to 1.

Input SHIFT I6
♦ The

positioning process is interrupted, the axis is stopped.
"Ready for start" is reset.
♦ The program data record is not ended after a start. The next data record applies.
♦ O4

EMERGENCY
STOP

Triggering
functions:

Activate
position
adjustment

150

♦ During

an EMERGENCY STOP, the data record is interrupted, the drive brakes
with braking time P10; after P10, the motor is switched off.
♦ The interrupted data record is continued to its completion after acknowledgment
and START.
Transfers that trigger functions are described. All other transfers and statuses do
not trigger any functions.
Function
Start Hand+
End Hand+
Start HandEnd HandQUIT
START
START
STOP
Find MZ
Approach RZ
Teach - RZ
SHIFT I5
BREAK

I1
0
X
0
X
0
0
0
0
1
1
1
1
1

0
X
0
0
0
X
0
0
0
X

I3
0
X

0
0
0
X
0
0
0
X

I4
0
X
0
X
0
0
X
0
0
0
X

I5
0
X
0
X
0
1
X
0
0
0
X

I6
0
0
0
0
0
0
1
0
0
0
0
1

Input I11
♦ Function

is switched on by P232="4" (see Page 136).
position adjustment switched off (reaction time approx. 5 ms).
♦ I11="1":External position adjustment switched on.
♦ I11="0":External

Note! The START signal (I5) is not replaced by I15; after STOP, a START
signal (I5) is required to start the program and for WAIT START.

8.6.1.6 Synchronous STOP using I13
I13 in the standard model (COMPAX XX00) provides a STOP function with which
you can stop and idle multiple COMPAX units simultaneously, regardless of the
current speed.
P219=128 or 135 enables the synchronous stop via I13 (P219 bit 736=1).
I13="1": Normal mode
I13="0": Synchronous STOP is activated.
After I13="0"
♦ the drive is stopped using P10 as the absolute ramp time and
♦ the ramp type selected via P9437.
♦ Error message E08 is output,
♦ O1 is set to 0 and
♦ the ready contact is opened.
While I13=0, any further positioning attempts are negatively acknowledged with
E08. No negative acknowledgment comes from HEDA.
Synchronous STOP function using I13 is only available on the standard unit
(COMPAX XX00).
Stop using I13

Speed
COMPAX 1

100%

Speed
COMPAX 2

60%

The same
brake ramp

Brake ramp
P10 (absolute)

Speed
COMPAX 1

Accessories /
options

Stop using I6

Speed
COMPAX 2

STOP
(I6)
2...5ms

Status

STOP
(I13)
<1,1ms

P10

Using I13 for stop bring both axes to a stop simultaneously.
Parameter

Diagram:

Unit
hardware
Optimization
functions

Synchronous
STOP:

Connector
assignment / cable

for fast and defined starting of positioning process.
♦ The "Fast start" function is switched on using P18=2 or 3 (when using P18=3, the
PLC data interface is also switched on).
♦ When I15="0", all positioning processes (POSA, POSR) are blocked.
♦ When I15="1", positioning processes are started. I15 has no influence during a
positioning process.
♦ A positioning process interrupted with STOP is continued using START (I5="1")
and "Fast START" (I15="1").
♦ The reaction time of I15 before the start of the positioning process is 1.5 ms.
♦ I15 has no effect in speed control mode.

Technical data

♦ Input

Configuration

Special START input

Interfaces

Input I15

36
37

Bit counting begins with bit 0.
A modified ramp time is used after "VC" for the "Synchronous stop via I13"
function.
151

Error list

Fast start

Positioning and
control functions

Interfaces
Digital inputs and outputs

Operating Instructions

COMPAX-M / -S

Digital inputs and outputs
Note for MZ travel:

Additional
assignment of
P219:

152

If MZ travel is interrupted by the synchronous stop, then O3 "Machine zero
approached" is not output.
P219 = xx000000=0: COMPAX-M does not evaluate the additional emergency
stop input.
(Additional emergency stop input: X9/5-X9/6 (front plate);
COMPAX-M only)
P219 = xx000111=7: Emergency stop with P10 as relative ramp time, then switch
off, message E56, display E56, output O1 = 0, ready contact
removed.
Also effective in programming mode!

O1
♦ O1="1"

if there is no error for group E1 ... E57.
if there is an error for group E1 ... E57; the drive does not accept
positioning commands.

♦ "Ready

for START" is used for program control.
♦ O4 is set,
♦ if the program is at a WAIT START instruction and waiting for the START signal,
♦ after an interruption with STOP or BREAK and these signals are no longer
present,
♦ after a corrected error condition and
♦ after Power On.
♦ at program end with the END command.
♦ O4 has no significance for direct command specifications.

Position
reached

O5
♦ O5

is set to "0" when starting a positioning process; this applies for POSA,
POSR, WAIT POSA, WAIT POSR, approach real zero, approach machine zero,
Hand+, Hand-.
♦ O5 is set once the positioning has been completed in the correct manner. This
applies for POSA, POSR, WAIT POSA, WAIT POSR, approach real zero.
POSR 0 causes the brief resetting of O5.
♦ Conditions for O5="1":
♦ The actual position value is in the positioning window (+/-P14) and
♦ the nominal value sensor has reached the target point of the nominal value
specification.
♦ O5 is set in speed control mode, if the nominal value generator has processed
the speed ramp.

153

Configuration

"1" is displayed, this indicates that a reference system has been defined,
i.e. there is information about the position of machine zero.
♦ When in "Normal mode", positioning is only possible when O3="1".
♦ By using an absolute value sensor and the relevant option (O1), O3="1" remains
as such even if the unit has been switched off in the meantime.
♦ Once the "Find machine zero" function has been activated (I1&I2="1"), O3="0"
until machine zero is found.

Positioning and
control functions

Ready for start

♦ When

Optimization
functions

Interfaces

Machine zero
has been
approached

Accessories /
options

if there are no errors ≥E58.
♦ O2="0" if there is an error ≥E58.
O2 is assigned the "Idle display" function via P227 bit 1="1" (see Page ).119
♦ O2="1"

Status

Parameter

No warning

Technical data

♦ O1="0"

Error list

No fault

Connector
assignment / cable

8.6.1.7 Function of outputs

Unit
hardware

Interfaces
Digital inputs and outputs

COMPAX-M / -S

Operating Instructions
Digital inputs and outputs

Idle after stop
or break

Mark missing
after maximum
feed length

O16

♦ O6="1"

indicates that the axis is at a standstill due to a STOP (I6) or BREAK
(I1&I6).
♦ O6 is reset when the axis moves again.

♦ Only

assigned if mark reference is activated (P35=1).
"0", the mark disappears once the maximum feed length is reached (see
Page 100)

♦ With

8.6.1.8 Diagrams:
In data record
memory mode

I3
Jogt

I5
Start

I6
Stop

V
0

t
O4
Ready
to Start
t

O5
Progr. target
pos. reached

O6
Out of action
after stop
0 1

Caption:

154

2 3

7 8 t

0 COMPAX ready for new start.
1 When using START at input I5, the outputs O4 and O5 are reset. The axis moves.
2 Interruption using STOP at input I6. After idle, message at output O6 (3).
4 START using I5. Positioning process is continued.
5 Positioning process ended. Message via O4 and O5="1".
6 Manual processing of axis. O5 and O4 ="0".
7 Specification for manual processing ended. Drive decelerates.
8 Manual process ended. Drive at standstill. Ready message for output O4 is set.

Connector
assignment / cable

POSA 100

I5
Start *

I6
Stop

Technical data

V
0

O5
Progr. target
pos. reached

O6
Out of action
after stop

7 8 t

When using this START, a processing command interrupted by STOP and
specified by a interface is restarted.
I1
SHIFT

Finding machine
zero in normal
mode

I3
Drive to RN

Before the
1st machine
zero travel,
O3="0"

Optimization
functions

2 3

Positioning and
control functions

0 1

Configuration

O4
Ready
to start

V
0

O4
Ready
to start

O5
Progr. target
pos. reached

Interfaces

O3
Machine zero
reached

I1
SHIFT
t

I3
Drive to RN

Status

V
0

t
O3
Machine zero
reached
O4
Ready
to start

O5
Progr. target
pos. reached

Parameter

Approaching real
zero

Accessories /
options

155

Error list

Interface

Direct command
specification

Unit
hardware

Interfaces
Digital inputs and outputs

COMPAX-M / -S

Operating Instructions
PLC data interface (function not available with COMPAX 1000SL)

8.6.2 PLC data interface (function not available with COMPAX 1000SL)
This universal data interface allows data to be exchanged with all PLC types,
regardless of manufacturer and origin. You will need five binary inputs and outputs
for this process. These can be divided into four data lines (BCD format) and one
control line.

Functions
available:

♦ Direct

commands
and relative positioning commands (POSA, POSR)
♦ Specification of acceleration time and velocity (ACCEL, SPEED)
♦ Password enabling or modifying data record indicator (GOTO)
♦ Queries of status S1...S12 (actual values).
♦ Modifying parameters P1...P49 with defined parameter acceptance (VP).

Activation:

The PLC data interface is activated by setting P18 (P18="1" or "3". When it is "3",
the "Fast start" function I15 is also switched on) and by switching off and on. The
following binary inputs and outputs are assigned:

♦ Absolute

Input/output
I7 (X8/7)
I8 (X8/8)
I9 (X10/1)
I10 (X10/2)
I11 (X10/3)

Meaning
Control line "UBN"
Data bit 20
Data bit 21
Data bit 22
Data bit 23

O7 (X8/15)
O8 (X8/16)
O9 (X10/9)
O10 (X10/10)
O11 (X10/11)

Control line "RDY"
Data bit 20
Data bit 21
Data bit 22
Data bit 23

O7...O11 are no longer available for the OUTPUT command. The GOSUB
EXT and GOTO EXT commands are no longer permitted when P18="1".
Instead use the GOTO command.
Each transfer begins with the start letter "E" and ends with the end letter "F". In
between them is the command. This consists of two BCD numbers (called function
code) for the command type and of numerical values for position, velocity,
acceleration time, etc. The numerical values can contain special figures:
Figure
Meaning
BCD coded
Negative prefix
"D" ≡ "1101"
Positive prefix
"0" ≡ "0000"
"C" ≡ "1100"

Decimal point

"A" ≡ "1010"

Assignment "="

Use status S29 to e.g. track the interface data via the front plate display.

156

Connector
assignment / cable

Syntax of individual commands:

Acceleration time
ACCEL

Start sign
Function code 1:
Function code 2:
Sign

Adjust data
record indicator /
enable password:
GOTO

Start sign
"E" ≡ "1110"
Function code 1: "0" ≡ "0000"
Function code 2: "6" ≡ "0110"
Numerical value 102
Numerical value 101
Numerical value 100
End sign
"F" ≡ "1111"

Configuration

Start sign
Function code 1:
Function code 2:
Sign

Positioning and
control functions

Velocity
specification
SPEED

Interfaces

Optimization
functions

"E" ≡ "1110"
"0" ≡ "0000"
"4" ≡ "0100"
"0" ≡ "0000": positive
"D" ≡"1101": negative
Numerical value 101
Numerical value 100
Decimal point
"C" ≡ "1100"
Numerical value 10-1
Numerical value 10-2
Numerical value 10-3
End sign
"F" ≡ "1111"

Parameter

Status

Accessories /
options

"E" ≡ "1110"
"0" ≡ "0000"
"5" ≡ "0101"
"0" ≡ "0000": positive
"D" ≡ "1101":negative
Numerical value 104
Numerical value 103
Numerical value 102
Numerical value 101
Numerical value 100
End sign
"F" ≡ "1111"

157

Error list

Start sign
Function code 1:
Function code 2:

Technical data

"E" ≡ "1110"
"0" ≡ "0000"
"1" ≡ "0001": POSA
"2" ≡ "0010": POSR
Sign
"0" ≡ "0000": positive
"D" ≡"1101": negative
Numerical value 106
Numerical value 105
Numerical value 104
Numerical value 103
Numerical value 102
Numerical value 101
Numerical value 100
Decimal point
"C" ≡ "1100"
Numerical value 10-1
Numerical value 10-2
Numerical value 10-3
End sign
"F" ≡ "1111"

Positioning
commands POSA,
POSR

Unit
hardware

Interfaces
PLC data interface (function not available with COMPAX 1000SL)

COMPAX-M / -S

Operating Instructions
PLC data interface (function not available with COMPAX 1000SL)

Modify
parameters
P1...P49

Start sign
"E" ≡ "1110"
Function code 1: "1" ≡ "0001"
Function code 2: "3" ≡ "0011"
Parameter No. tens column
Parameter No. digits column
Assignment code: "A" ≡ "1010"
Sign
"0" ≡ "0000": positive
"D" ≡"1101": negative
Numerical value 106
Numerical value 105
Numerical value 104
Numerical value 103
Numerical value 102
Numerical value 101
Numerical value 100
Decimal point
"C" ≡ "1100"
Numerical value 10-1
Numerical value 10-2
End sign
"F" ≡ "1111"

Acceptance of VP
parameter

Start sign
Function code 1:
Function code 2:
End sign

Status query
S1...S12 (actual
values)

Start sign
"E" ≡ "1110"
Function code 1: "1" ≡ "0001"
Function code 2: "6" ≡ "0110"
Numerical value 101
Numerical value 100
End sign
"F" ≡ "1111"

Status response
S1...S12 (actual
values)

Start sign
Sign

158

"E" ≡ "1110"
"1" ≡ "0001"
"4" ≡ "0100"
"F" ≡ "1111"

"E" ≡ "1110"
"0" ≡ "0000": positive
"D" ≡"1101": negative
Numerical value 106
Numerical value 105
Numerical value 104
Numerical value 103
Numerical value 102
Numerical value 101
Numerical value 100
Decimal point
"C" ≡ "1100"
Numerical value 10-1
Numerical value 10-2
Numerical value 10-3
End sign
"F" ≡ "1111"
The following signs are not necessary when transferring:
♦ Positive prefixes and initial zeros.
♦ For whole number values: the decimal point and the figures after the decimal
point.

Connector
assignment / cable

1
2
4
5
6
3
4
6

POSA
POSR
SPEED
ACCEL
GOTO
Modify parameters (P1-P49)
VP (valid parameter)
Query status (S1-S12)

Technical data

F-code2

0
0
0
0
0
1
1
1

Configuration

F-code1

Command

♦ PLC

assigns the sign (4 bit) to I8...I11.
the data is stable, the PLC sets the UBN to "1".
♦ COMPAX reads the sign and sets RDY to "0".
♦ PLC sets UBN to "0".
♦ COMPAX sets RDY to high.

Procedure for
transmitting a
sign

♦ Once

Exception:

Process for
receiving a sign

Exception:

If the data direction is then reversed, COMPAX can set the RDY line to "0". This is
the case for the last sign of a status query.
♦ PLC

sets UBN to "1".
♦ COMPAX assigns the sign (4 bit) to O8...O11.
♦ COMPAX sets RDY to "1"
♦ PLC reads the sign and sets UBN to "0".
♦ COMPAX sets RDY to "0".
If the data direction is then reversed, COMPAX can set the RDY line to "1". This is
the case for the last sign of a status response.

valid

COMPAX
Data
4 Bit

COMPAX
valid

COMPAX

PLC

valid

COMPAX
valid

valid

Accessories /
options

PLC
PLC
Data
4 Bit

Interfaces

Signal procedure using the example of a status query

Positioning and
control functions

Function code
BCD coded

Optimization
functions

Function codes of
commands

Unit
hardware

Interfaces
PLC data interface (function not available with COMPAX 1000SL)

PLC
UBN
COMPAX
RDY

It is important that the data ready message is only assigned after the data
(when using PLC, one cycle later); i.e. once the data has been safely
assigned.

Parameter

If a fault means that the signal "RDY" is missing, the interface can be reset to its
initial status using signal "E" (start sign). The next "UBN" is then detected even
though "RDY" is missing.

159

Error list

Reset interface

Status

Operating Instructions

COMPAX-M / -S

RS232 interface

8.6.3 RS232 interface
You can communicate with COMPAX via an RS232 interface on a PC. The
following functions are available.
♦ Direct command input and execution in on-line mode.
♦ Read status values.
♦ Read and write program data records (the complete stock of commands is
available here).
♦ Read and write (password protected) parameters.
♦ Transmit control instructions.

8.6.3.1 Interface description
RS 232
9600* or 4800 (selected with P19)
COMPAX 1000SL: fixed setting 9600
Word length:
8 bit
Stop bit:
1
Parity:
none
Hardware handshake:
yes (RTS,CTS)
Software handshake:
XON, XOFF (can be selected using P20)
Entry buffer:
error string, max. 30 characters
Output buffer:
status string, max. 30 characters
Data format:
ASCII
End sign:
CR (carriage return) or CR LF (carriage return, line
feed)
* Default setting; simultaneously press the three front plate buttons while switching
on to set COMPAX to 9600 Baud.

Interface
parameters

Interface
Baud rate:

COMPAX receives

♦ all

displayable ASCII characters
inserted spaces
♦ a function sign, if nec. ($, ?, !)
♦ CR (carriage return) for storing the command in the intermediate memory. If no
function signs have been transmitted, the command is accepted and executed if
necessary (see next page).
♦ LF (line feed) has no meaning to COMPAX
♦ any

COMPAX only receives a command if a previously transmitted command
was answered with CR LF >.
the syntax is error-free with CR LF > or the required response and CR LF >
♦ if there are errors, depending on the contents of P20
$ Automatic "Position reached" message
1. only applies to POSA and POSR
2. COMPAX transmits: $CRLF> when the position is reached.
, Interpreting and storing commands
COMPAX stores the instruction in the intermediate memory (capacity: one
instruction) without executing it.
? Echo
COMPAX sends the data received with CRLF>.
! Executing commands
Whenever a "!" occurs, the instruction is executed from the intermediate
memory.
These function signs can be attached to any instruction.
Example: POSA 100 $ CR LF
COMPAX moves and responds once position 100 is reached with: $ CR LF >

COMPAX
responds:
Meaning of
function signs

160

♦ if

End sign selection "0": CR LF >
Binary transfer

"0": without

"8": CR
"16": with

BCC: Block check "0": without "128": with
(EXOR via all signs apart from the end sign)

Immediately

Unit
hardware
Technical data

Software
"0": without
handshake
"1": with XON, XOFF
Error transmission "0": Error only when there is activity at the interface
and if the transmitted command triggers an error.
No negative command acknowledgement (E90
...E94).
"2": No transmission of error or negative command
acknowledgments (E90 ...E94).
"4": Messages are indicated for all errors and negative
command acknowledgments (E90 ...E94) when
they occur using Exx CR LF >.
"6": Error and negative command acknowledgement
(E90 ...E94) only when there is activity at the
interface.

Valid
from
Power
on

Power
on
immediately
Power
on

Implment the required setting by entering the sum of the set values in P20.

The text string "text$" is defined with a length of 30.

a$="com1:9600,N,8,1"

The interface parameters are assigned to the "a$" string. Meaning:

com1:the com1 serial interface is used.

9600: sets baud rate to 9600

no parity

8 bit word length

one stop bit

OPEN a$ for RANDOM AS #1

The interface is initialized and marked with #1 (channel 0).

text$="S1"

Status S1 must be queried.

PRINT #1,text$

text$ is output on channel 1.

text$=""

text$ is deleted so that the response can be accepted.

INPUT #1, text$

S1 is read by channel 1 in text$

PRINT text$

S1 is output on screen

Interfaces

Accessories /
options

DIM text$(30)

Optimization
functions

Example in Quick-Basic of how to transmit and receive COMPAX data via the RS232
interface.

Configuration

Activation using P20

Positioning and
control functions

Function

Parameter

Status

END

161

Error list

P20: Software
handshake (SH) /
error
transmission

Connector
assignment / cable

Interfaces
RS232 interface

Operating Instructions

COMPAX-M / -S

RS232 interface

8.6.3.2 Interface functions
Direct
command entry

When making direct command entries via RS232, use the abbreviated form for
most instructions (two letters).

Commands
permitted for the
various modes of
operation

Refer to table on Page 165!
When using "Direct command entry", write an "END" instruction in data
memory No. 1 because the start command refers to the program memory if
the unit contains no direct commands.
Preparatory positioning commands

3. These commands can be transmitted to COMPAX when idle and during a
positioning process.
4. The commands are accepted with the next positioning command
Instruction
Abbreviated Meaning
form
ACCEL
AL
Accelerating and braking time in ms
ACCELALSeparate specification of braking time.
SPEED
SD
Velocity in %
POSR value1
PR SD
Preparation for speed step profiling.
SPEED value2
POSR value1
PR OT
Sets comparator function.
OUTPUT Oxx=y
The comparators are also indicated using
"CRLF> comparator No." via RS232 (see
example 2).
Example 1: POSR 100 SPEED 50 CR LF or
PR 100 SD 50 CR LF
Prepares a speed step.
Example 2: PR 200 OT O9=1 1st comparator
PR 100 OT O10=1 2nd comparator
POSA1000$
The following signs are returned:
♦ 2 CRLF > after 100 units
♦ 1 CRLF > after 200 units
♦ $ CRLF > after 1000 units

Positioning
commands

Example 1:

Influencing the
active positioning
process
162

♦ Positioning

commands can be transmitted to COMPAX when idle and during a
positioning process.
♦ If the axis is moving, the command is acknowledged negatively.
♦ The current settings (ACCEL, SPEED, ...) apply to the positioning command; i.e.
these settings can still be modified before the positioning command is
transmitted.
♦ A positioning command specified by the interfaces is interrupted by a reference
journey prompted by the digital inputs. (POSA, POSR, LOOP).
Instruction
Abbr. form Meaning
POSA
PA
Absolute position
POSA HOME
PH
Find machine zero
POSR
PR
Relative position
OUTPUT O0
OT O0
Switch off drive
POSA 2500CRLF
or PA 2500CRLF
Proceed to position 2500
This command is only permitted if COMPAX has not received any more
commands since the positioning command currently being processed
(excluding commands which are not position dependent, such as OUTPUT,
GOTO and ACCEL, ACCEL-).

♦ These

Commands which
are only permitted
when drive is idle

♦ The

axis must be at a standstill if modified VP parameters are to be transferred.
axis must be switched off if modified VC parameters are to be transferred
(e.g. via OUTPUT O0=1).
Instruction
Abbreviated Meaning
form
VALID
VP
Modified parameter accepted (not
PARAMETER
configuration parameters).
VC
All parameters are accepted with VC.
VALID
CONFIGURATION
♦ The

8.6.3.3 Read and write program sets and parameters
Also possible during a positioning process.

Nxxx: Instruction
Pxxx=value
Pxxx="name"

Meaning
Write set xxx with instruction.
Write parameter xxx with value.
Assigns parameter xxx with name.

Status

Instruction

(Only for P40-P49)

Upload: read the
sets and
parameter

N005: POSA 100 CR LF or N005: PA 100 CR LF
The POSA 100 instruction is written in data record 5.
Instruction

Meaning

Nxxx
Pxxx

Read data record xxx.
Read parameter xxx.

Parameter

Example:

Unit
hardware
Accessories /
options

The decimal point for S1 - S12 is always the ninth digit after the ":".

Download: writing
the sets and
parameters

Connector
assignment / cable
Interfaces

Use the serial interface to query all status values, even during a positioning
process.
♦ Sxx transmitted, xx = number of the status value.
♦ COMPAX returns the current value.
Example: S1 CR LF
Response: S001:xxxxxxxx,xxxmm CR LF >

163

Error list

Read the status
values

commands are processed regardless of a positioning process specified by
the interface (not during an internal data record procedure).
Instruction
Abbreviated Meaning
form
OUTPUT
OT
Set output
GOTO
GO
Adjusts data record indicator
and enables / blocks password.

Technical data

Commands which
are not positiondependent

Configuration

modification of velocity of an active positioning process.
type of speed transfer and the ensuing braking ramp can be influenced by
previously modified acceleration times (ACCEL, ACCEL-).
Instruction
Abbreviated Meaning
form
PR 0 SD
Direct speed modification.
POSR 0 SPEED
value
♦ The

Positioning and
control functions

♦ Direct

Optimization
functions

Interfaces
RS232 interface

COMPAX-M / -S

Operating Instructions
RS232 interface
Example:

Transmitting
control
instructions

Example:

P211: blocking
and modifying the
teach in functions

P40 CR LF
COMPAX transmits the contents of P40: P40=value name CR LF>

Instruction

Abbreviated
form

Meaning

START Nxxx
START
STOP

SNxxx
ST
SP

QUIT
TEACH Z

QT
TZ

TEACH Nxxx

TNxxx

BREAK

Execute program set xxx (this set only).
Start program.
Stop program/positioning.
SP corresponds to a STOP pulse
Acknowledge error
Accepts current position as real zero point. (P1 is
modified).
The data record indicator is set to 1.
Current position is written into set xxx using the
POSA command.
Not possible in "Reset mode".
Interrupts positioning or program step.

START N010 CR LF or SN 010 CR LF
Set 10 is executed
P211 Function
=0
=1
=2
=3

Negative
command
acknowledgement

164

If commands are issued using RS232 and they cannot be executed (invalid
commands, missing password or COMPAX is busy), a warning is sent back.
Meaning:
E90 Syntax error; command not valid
E91 Command cannot be executed in this COMPAX operating mode.
E92 Function running, command cannot be executed
E93 Data record memory active, command cannot be executed
E94 Password missing
These warnings are not entered in status S18 (error history).

stop
♦ OFF (motor switched
off)
♦ Error present

♦ Quit

♦ In

♦ VP

data record operation
♦ During positioning
process
(as preparation for the
next command)

Connector
assignment / cable

VC, VF

♦ OUTPUT

O0
♦ GOTO data record indicator / password

♦ VP
♦ SPEED38

/ ACCEL
value SPEED value / POSR value
OUTPUT Ox=y
♦ GOTO data record indicator / password
♦ POSR

No program
processing!
♦ Find machine zero
♦ Approach real zero
♦ Manual +/-

No other commands possible!

♦ During

All commands and functions are possible!

Parameter

Status

Accessories /
options

Interfaces

RUN and
motor under torque
No positioning!
No stop present!
No error present!

Technical data

♦ VP,

♦ Emergency

Configuration

♦

♦ Stop

Positioning and
control functions

Commands available in
all operating modes /
statuses

Commands available
♦ Status query (Sxx)
♦ Parameter query and assignment (Pxxx,
Pxxx=value)
♦ Data record query and assignment (Nxxx,
Nxxx=value)
♦ Set / reset outputs (OUTPUT Ox=y); Not
OUTPUT O0!

Optimization
functions

Operating status

SPEED is not available in speed control mode.
165

Error list

Authorization of
commands in
different modes
of operation

Unit
hardware

Interfaces
RS232 interface

COMPAX-M / -S

Operating Instructions
RS232 interface

8.6.3.4 Binary data transfer using RS232
A series of commands can be transferred in the COMPAX internal binary format for
time-critical applications. This saves times as ASCII into COMPAX internal binary
format conversion is not required. You can still transfer data in the normal ASCII
format (mixed mode).

P20: switching on
binary data
transfer

P20 = P20 + 16
Adds 16 to the required P20 setting (see interface parameters section in the User
Guide). This ensures that binary data transfer is available in addition to normal
transfer (ASCII).

Example:

P20="3": with XON, XOFF; no error response message; no binary data transfer.
P20="19": with XON, XOFF; no error response message; binary data transfer.
The end sign must not be transmitted!
The entire length of the binary format must always be transferred!
! Function signs ("$" "," "?" "!") are not available when using binary transfer.
!
!

COMPAX response

as ASCII transfer:
error: using "CR LF >".
♦ with error: depending on the value of P20
(refer to "Error transmission" in the User Guide).
♦ without

Meanings of the
binary command
codes

Command

Binary format (hexadecimal)

POSA value

88 41 xx xx xx xx xx xx

POSR value

88 52 xx xx xx xx xx xx

SPEED value

88 53 xx xx xx xx xx xx

LSB

MSB

LSB

MSB

LSB

MSB

value

84 4C yy yy

ACCEL- value

84 44 yy yy

OUTPUT Oyy=0

85 4F yy yy 30

ACCEL

MSB
MSB
MSB

LSB
LSB
LSB

OUTPUT Oyy=1

85 4F yy yy 31

POSR value OUTPUT Oyy=0

8C 52 xx xx xx xx xx xx 4F yy yy 30

POSR value OUTPUT Oyy=1

8C 52 xx xx xx xx xx xx 4F yy yy 31

POSR value1 SPEED value2

8F 52 xx xx xx xx xx xx 53 xx xx xx xx xx xx

MSB

LSB

MSB

LSB

MSB

LSB

MSB

MSB LSB
MSB LSB
LSB

Numerical formats

Numerical formats of "xx xx xx xx xx xx" *
3 bytes after the decimal point, 3 bytes before the decimal point.
Valency:
2-24 2-23 ... 2-2 2-1 , 20 21 22 ... 222 223
Transmission sequence, e. g.: "88 41 LSB....MSB"

Numerical formats
of "yy yy"

2 bytes before the decimal point.
no digits after the decimal point.

166

MSB

Unit
hardware

Interfaces
RS232 interface
1

Technical data

Examples of the number format of "xx xx xx xx xx xx"
MSB
00
00
00
FF

00
01
01
FF

0A
68
C2
FF

Digits before the decimal place

00
00
80
00

00
00
00
00

LSB
00
00
00
00

Optimization
functions

Number
10
360
450,5
-1

Digits after the decimal place

The following string will be produced, e.g. for POSA 360.0:
"88 41 00 00 00 68 01 00"
Note: transfer all digits!

Status

Accessories /
options

Note: when binary transfer is switched on, note the following.
Only create RS232 connection when participants are switched on or
when participants are enabled, the RS232 can be re-initialized by COMPAX using
Power on.

Parameter

Start-up during
binary transfer

Configuration

Number = 450.5
24
1. Multiply number by 2 .
24
450.5 * 2 = 7 558 135 808.
2. 7 558 135 808: convert into a hexadecimal number (if necessary into an integer
first) =>0x00 01 C2 80 00 00 ≡ before decimal place, after decimal place ≡
MSB,.... LSB, MSB,.... LSB.
3. These bytes must now be entered into the commands in the sequence
specified. The sequence of the bytes is reversed. Do not alter the sequence of
the bits.
This conversion also applies to negative numbers.

Positioning and
control functions

Example:

You can generate this format from any number (as long as it has digits after the
decimal place) as follows.

Interfaces

* Format
conversion

Negative numbers are represented in complement to two format. Creating the
complement to two:
♦ Determine bit combination of the positive numerical value.
♦ Negate the binary value.
♦ Add 1.

167

Error list

* Negative numbers

Connector
assignment / cable

Valency: *
215 214 ... 22 21 20.
Transmission sequence, e.g.: "84 4C MSB LSB".

COMPAX-M / -S

Operating Instructions
Process coupling using HEDA (Option A1 / A4)

8.6.4 Process coupling using HEDA (Option A1 / A4)

Synchronization
and fast start via
HEDA:

Variant support:

Physical limits:

See also Page 185.
HEDA (SSI interface) can be used for synchronization of several axes with
simultaneous (±2.5 µs) processing of individual controller time slices.
The master (operating mode 1) transmits 2 synchronization words to the slave
axes, enabling them to synchronize. The slave axes (operating mode 2)
synchronize automatically. No response is transmitted from the slave axes to the
master.
The master only transmits to axis address 1. Therefore, all slaves must also be set
to address 1 (P250=1).
Acyclic communication between master and slave is not possible.

COMPAX XX00 as slave to transmit "Fast start" or as master
COMPAX XX60 as master or slave not when P212=3 and P212=4
COMPAX XX70 as master or slave only when P31=9 or 0
Max. 16 participants in the master/passive slave operating mode and max. 50m
cable length.

Hardware
requirements:

The units must be fitted with the O1 / A4 (COMPAX 1000SL) option. There must be
a terminating connector bus 2/01 on the last slave.

HEDA
parameters:

Parameter
No.
P243
P245*

Operating modes:

Meaning

Valid Default
from
value
HEDA operating mode
VP
0
Assgn outputs O1 ... O8 to the HEDA bus
imme- 0
diately
P246*
Assgn outputs O9 ... O16 to the HEDA bus
imme- 0
diately
P247
Max. average transmission errors
VP
5
P248
Max. transmission errors
VP
15
P249
Synchronization monitoring
VP
10
P250
Unit addresses (in master – slave mode =1)
VP
0
*In the HEDA master - HEDA slave operating mode (passive slave to COMPAX
master), P245=P246=0 is set.
No P243
P250
Operating
.
mode
0
Not
=0
Independent
relevant
single axis
0
0
= 1 ... 9 Slave on IPM39
via HEDA
Bit
1
=1
COMPAX as
0="1"
master

Description
No coupling, no synchronization
Coupled operation and acyclic
communication possible via HEDA
Master axis transmits synchronous
word and 7 words to address 1

(P243=1)

Bit
1="1"
(P243=2)

Passive slave
to COMPAX
master

Slave receives at address 1 (P250=1),
but does not send anything back

Note!
If HEDA coupling is activated and the master executes "Find machine zero",
this will result in a positional offset between master and slave.
You should therefore execute machine zero travel when the HEDA coupling
is deactivated.
39

168

The interpolation module IPM can also be used as a master, but only with
COMPAX XX00; COMPAX XX60, COMPAX XX70

Master output
quantity:

The master transmits one data block per ms to address 1, consisting of
♦ HEDA control word, inc. fast start on bit 8 (bit 8 is automatically generated in the
master from I15 "Fast start").
♦ Process value, selected with parameter P184 depending on family (COMPAX
XX00, COMPAX XX60, COMPAX XX70) between:
Output quantity
Master
Encoder position (COMPAX XX70) +
master channel duration period

P184=40

Internal time base / encoder velocity before P35*
(COMPAX XX70)

P184=42

Scaled master position before P35* (COMPAX XX70)

P184=43

Nominal position value in resolver increments
[65536 increments/revolution]

P184=44

Actual position value in resolver increments
[65536 increments/revolution]

P184=45

Differentiated resolver position [increments/ms]

P184=46

Configuration
Optimization
functions

Transmittable
parameters:

The fast start is additionally delayed by 1 ms for all axes; i. e. in total 2.5ms
(+1.5ms reaction time I15)

Interfaces

Note:

Positioning and
control functions

The fast start is synchronized using P18 bit 3 for HEDA with master and slave, i.e.
input 15 must be on the slave and the master fast start (triggered by I15 in master)
must also be on HEDA so that it can be executed.
This operating mode is also set with P18=10.
If I15 is not required on the slave, then set I15="1".

Technical data

Connector
assignment / cable

P18 is expanded with the following bits:
P18
Meaning
Bit 0
=0 without PLC data interface
=1 with PLC data interface
Bit 1
=0 fast start on I15 not active
=1 fast start on I15 active
Bit 2
reserved
Bit 3
=0 fast start on HEDA bit 8 not active
=1 fast start on HEDA bit 8 active
only permitted with P18: bit 1=1 (see below).

Fast start

Unit
hardware

Interfaces
Process coupling using HEDA (Option A1 / A4)

Coupling the slave to the transmitted quantity is implemented with P188.
Encoder coupling (P184 in master =40)
The input signal is used as an encoder signal.

Slave
P188=40
P188=42

Scaled master position before P35* (COMPAX XX70)
The input signal is used as a master position.
Application: coupling several axes to one master signal (e.g. an
internal time base)

P188=43

Status

Internal time base / encoder velocity before P35* (COMPAX
XX70)
The input signal is used as a master velocity.
Application: coupling several axes to one master signal (e.g. an
internal time base)

Input quantity is interpreted as an encoder signal even though it is P188=140
not an encoder signal (P184 in master ≠ 40) see below for more
information.

Parameter

Input quantities

* The quantity can be influenced by P35.

169

Error list

Slave input
quantities:

Accessories /
options

* The quantity is unaffected by P35.

COMPAX-M / -S

Operating Instructions
Process coupling using HEDA (Option A1 / A4)

Permissible
combinations and
required
parameter
settings:

Master output
quantites:
P184=

Slave
input
quantities:
P188=

Can be used in
slave unit
versions:

Settings in master and slave for
adapting the process quantities:

40
43
42

CPX 60, CPX 70
CPX 70
CPX 70

P143s=P14340M

140*
43
140*
43
140*
43
42

CPX 60, CPX 70
CPX 70
CPX 60, CPX 70
CPX 70
CPX 60, CPX 70
CPX 70
CPX 70

P143s=P143M

40
(CPX 00 CPX 60, CPX 70)

42
(CPX 70)

43
(CPX 70)

44
(CPX 00 CPX 60, CPX 70)

45
(CPX 00 CPX 60, CPX 70)

46
(CPX 00 CPX 60, CPX 70)

P98 is identical in all units

P143s=P143M

P143s = 2 = 16384
14

P143s = 2 = 16384
P143s=P143M

∗ When the encoder position P184=40 is transferred, the encoder position is

transferred into high word and the duration period of the pulses is transferred into
low word to support a duration period measurement in the slave.
If a mixture of application purposes is undertaken, e.g. master P184=44 (nominal
value) and slave with encoder coupling, then the slave must be informed using
P188=140 (in such cases only the high word is processed).

Application
examples:

Coupling of several axes to one
encoder; HEDA distributes the signals
Master

Slave 1

O1/O3

Slave 2

O1/O3

1st unit: Master
COMPAX XX60
COMPAX XX70 (P31=1)
Encoder input
P184=40 (encoder
position+duration
period)
P188=40

Slave
COMPAX XX60
COMPAX XX70
(P31=9)

P188=40
(encoder input;
duration period
available)

GBK11

P98 and P143 must have the same
values for master and slave!
Replacing the encoder emulation using COMPAX XX00
COMPAX XX60
HEDA bus
COMPAX XX60
COMPAX XX70
COMPAX
XX70
P188=140
Master
Slave 1
Slave 2
Setting P143 =
P184=44 (nominal
16384
(¼ of the increments
position value) or
are always in P143
P184=45
(actual
O1/O3
O1/O3
O1/O3
as quadrupling
position value)
occurs during
P188=0
SSK15

SSK14

BUS2/01

SSK15

SSK14

BUS2/01

encoder inputs)

Note: There is a time misalignment
between master and slave of 2ms;
Remedy: activate identical program
sets together using "Fast start".

170

P143s: parameter P143 of the slave
P143M: parameter P143 of the master

E77/E78:

HEDA transmission or synchronization errors are errors E76, E77 and E78.
Synchronization is interrupted with E76, therefore an alignment is implemented
whereby the process position value is aligned in such a manner that a position leap
does not occur.
With E77/E78, the slave attempts to reach the new undisturbed process position
value in order to maintain the reference system.
Transmitting "VC" interrupts the synchronization.
Only activate "VC" when the unit is switched off.
When working with the user terminal BDF2, "VC" is transmitted when the
"Parameter edit" menu is exited.

Synchronizing
process values:

Position values / position (P184=40/43/44/45):
Velocity values / frequencies (P184=42/46):

linear interpolation using old
values
retains old value

In cases when P188>0 on the master side, a fixed delay in the associated process
value is implemented, amounting to a total of 2 ms. This ensures that the master
waits until all axes have received the process value. This ensures that all axes,
including the master, continue to process the new nominal values simultaneously.

Note:

♦ Except

for fast start, no additional I/O's are sent.
♦ There can be only one master on the bus!

Note:

♦ The

position values for P184=44 and P184=45 are derived independently of the
current positioning operating mode (normal, continuous, reset). They are
obtained from the nominal position value and the actual position value and
made available in 24-bit format, as if with counter channels. This avoids jerky
changes in the start torque (in continuous mode) or when reading the end of the
curve (in reset mode). Only the lower 24 bits of these values are transmitted,
consisting of the resolver value and maximum 256 motor revolutions.

Unit
hardware
Connector
assignment / cable
Status

Transmission error
procedure:

The required cable types are listed on Page 63.

Parameter

Note!

Technical data

Only position signals can be completely restored following HEDA transmission
errors . When transmitting velocities, transmission errors can lead to drift
tendencies between the axis positions. For this reason use of the position
values is preferred.

Configuration

COMPAX XX70
P188=43
P143s=P143M

Positioning and
control functions

E76:

COMPAX XX70
P184=43 (scaled
master position)
P188=43

Optimization
functions

Error messages:

Slave
COMPAX XX70
P188=42
P143s=P143M

Interfaces

Error handling

1st unit: Master
COMPAX XX70
P184=42 (time base)
P188=42

171

Error list

Coupling of several cams with the
same time base and separate master
or slave oriented label synchronization
(see above)
Linking of several cams with the same
time base and absolute zero drift
between the axes due to the transfer of
a position value (see above)

Accessories /
options

Interfaces
Process coupling using HEDA (Option A1 / A4)

Operating Instructions

COMPAX-M / -S

Process coupling using HEDA (Option A1 / A4)

Please note: the operating instructions (pages 67 - 171) as well as
the application examples (pages 225 - 237) can be found in the complete product manual which is available as PDF file on CD

172

9. Accessories and options
Controller

Technical data

Servo

Please note: the operating instructions (pages 67 - 171) as well as the application examples (pages
225 - 237) can be found in the complete product manual which is available as PDF file on CD

173

Accessories /
options
Status
Parameter

The COMPAX system concept is based on a basic
unit which contains the function-important
components and additional system components.
These can be used to extend a system for your
specific requirements.
The system consists of the following components:
! COMPAX
This contains:
• digital inputs and outputs (PLC interface)
• serial interface (RS232)
• front plate with status and error display
• data record memory
• integrated IGBT final stage
! mains module to produce power voltage (without
transformer); with emergency stop function.
! drive unit (motor, transmission and cable).
! aids for controlling COMPAX using the digital
inputs and outputs.
! interface cable for operating COMPAX via the
serial interface RS232.
! options which support other application areas.
! hand-held terminal for menu-guided configuration
and programming of COMPAX.
! PC software for supported parameter
specification and for creating programs.

Error list

9.1 System concept

Interfaces

Optimization
functions

Positioning and
control functions

Configuration

Compact

Unit
hardware
Connector
assignment / cable

System concept

COMPAX-M / -S

Accessories and options
9.2

Overview

The following table shows the COMPAX system components and the relevant associated cables.
COMPAX 35XXM

HDY055..
HDY070..
HDY092..
HDY115..
HJ96..
HJ116..

COMPAX-M

MOK 42 / MOK43
Digital

S ta tu s

N u m b er

E r ror

E n te r

Re ady

E r ro r

RS 485

OUT

RS 23 2

X1 0

C o n tr o l

In p u t

O u tp u t

Te s t

C o n tr o l

X1 1

COMPAX-M with
Power module NMD

Power Supply

Drives

Synchronous motor

Value

Re ady

REK 32

MOK 21 / MOK11 / MOK46

HDY142..
HJ155
HJ190..

REK 32

COMPAX-M

DIGITAL

Status

Number

Other motor types

Value

Ready

Error

Enter

Error

RS485

RS232

OUT

X10

Control

Input

initiator set IVD 1/.. for 3 initiators

Output

Iinitiators: IN HE 521506

Test

Control

X11

COMPAX P1XXM

DIGITAL

RS232

Value

Enter

Ready

Error

RS232

To PC or Terminal

handheld terminal BDF 2/01

Status Number

SSK 1/..

The RS232 interface is
available in the
standard device

COMPAX-M

X10

Input

Output

Test

Control

X11

COMPAX 25XXS

COMPAX-S

S ta tu s

RS 485 ASCII / binary
Option F1: 4-Wire
Option F5: 2-Wire

N um b er

Value

R eady

E nte r

E rror

Interbus-S
Option F2

X10

Inp u t

O u tp ut

T es t

C ontr ol

X11

X15

X17

Input
+ -

RS232

Limit Switch

24 V DC

HEDA

Fieldbus In

Fieldbus Out

R Dum p

X12

Brake

Resolver

W PE +
V
PE
N
L1

Profibus
Option F3
SSK13/...
CAN Bus
Option F4

Input / Output

as plug-in option

to further bus
subscribers

230 V A C

COMPAX - SL

X19

Motor

Encoder

X13

Out

X14

HEDA

COMPAX 10XXSL

bus systems

R S232

Interfaces

CANopen
Option F8

COMPAX 45XXS
COMPAX 85XXS

CS31-System bus
Option F7

COM PAX-S

DIG IT AL

Status

Number

Value

Ready

ENTER

Error

RS232

Input

Output

X10

Test

Input

Control

HEDA

as plug-in option

HEDA
Option A1
COMPAX 1000SL:
Option A4

SSK14/.. : IPM - COMPAX
COMPAX - COMPAX
SSK15/.. : COMPAX-Master
- COMPAX-Slave

X11

BUS 2/01:Bus termination

174

to an IPC with Hauser
plug-in board "IPM" for
contouring

Connector
assignment / cable

Interfaces

COMPAX 35XXM

Operating panel

Operating panel
BDF 1/02

BDF 1/03

SSK 6/..

COMPAX-M

Digital

S ta tu s

N u m b er

SinCos
Option S1/S2

GBK 16/..

SinCos
Option S3 für
Linearmotoren

GBK 18/..

Unit
hardware

Overview

SinCos imstalled in the motor

Value

E r ro r

OUT

RS 23 2

X1 0

C o n tr o l

In p u t

O u tp u t

Technical data

Re ady

RS 485

SinCos installed in the motor

Te s t

C o n tr o l

Absolute encoder
COMPAX-M with
Power module NMD

GBK 1/..

STEGMANN

Interface A1

AA100

EncoderInput I 2
Power Supply

Absolute encoder

X1 1

Encoder

GBK 11/..

Litton
G71SSLDBI-

COMPAX-M

4096-151-050BX

DIGITAL

Number

(with cable connection)

Value

Error

Ready

Error

RS485

RS232

OUT

X10

Control

Direct to encoder simulation of

SSK 7/..

COMPAX oder SV Drive

Enter

Channel 1

Ready

Input

Output

Test

Control

X11

EncoderInput I 4

Encoder

COMPAX P1XXM

Options

Encoder-

to the

distributor

Encoder distributors

EAM 4/01

SSK 7/..

SSK 4/..
(without cable
connection)

COMPAX-M

channel 1 incoming
SSK 7/..

DIGITAL

Status Number

Value

Channel 1 relaying

Enter

Ready

Error

Channel 2

RS232

X10

Input

Output

Test

Control

X11

Bus termination

EncoEersimulation
Option I 3

BUS 1/01
SSK 7/..

COMPAX 25XXS

These Options are not available for COMPAX 1000SL

Status

Configuration

E r ror

E n te r

Positioning and
control functions

Re ady

Optimization
functions

COMPAX-S

SSK 7/..

N um b er

Direct to an encoder input

Value

R eady

Interfaces

Channel 2 output
S ta tu s

E nte r

e.g. to COMPAX-M

E rror

R S232

D/A - Monitor D1 (12 Bit)

X10

Inp u t

O u tp ut

to oscilloscope

ASS 1/01

T es t

C ontr ol

X11

Analogue output of
intermediate values
NMD20

X15

DIG IT AL

Number

Value

Ready

ENTER

Error

COMPAX
45XXS/ COMPAX
35XXM
85XXS
COMPAX COMPAX
1000SL
2500S

Ballast resistors

COM PAX-S

DA1

Ballast resistor BRM 4/..witht 1.5m cable
optainable in 3 ratings for connection to
the power module NMD20
Ballast resistor BRM 7/01 with 1.5m cable
for connection to COMPAX 35XXM
Ballast resistor BRM 6/01 with 1.5m cable
for connection to COMPAX 45XXS / COMPAX 85XXS
Ballast resistor BRM 5/01 with 0.3m cable
for connection to COMPAX 25XXS

Status

X17

Input
+ -

RS232

Limit Switch

24 V DC

Out
PE

HEDA

Fieldbus In

X12

Brake

Resolver

W PE +
V
U

X19

Input / Output

N
L1

230 V A C

COMPAX - SL

COMPAX 45XXS
COMPAX 85XXS

Status

COMPAX
Monitor

DA0

Motor

Encoder

X13

R Dum p

Fieldbus Out

X14

HEDA

COMPAX 10XXSL

Accessories /
options

Ballast resistor BRM 8/01 with 0.25m cable
for connection to COMPAX 10XXSL

Test

Input

Output

X10

Control

X11

COMPAX ServoManager with:
ParameterEditor and
ProgrammEditor
CamEditor for COMPAX XX70

Parameter

Output

175

Error list

Input

PCSoftware

RS232

COMPAX-M / -S

Accessories and options
9.3

Motors

EMD motors

Suitable motors are described in the motor catalogue (Article No.: 192060011)!

Linear motor:

COMPAX also supports the operation of linear motors. For this, COMPAX requires
option S3 (interface to linear encoder and Hall sensor; assignment X12 see Page
46).
Conditions regarding the linear motor:
♦ 3 phase synchronous linear motors with:
• sine-cosine linear encoder (1Vss).or TTL (RS422)
• digital Hall sensor commutation (5V) with following signal sequence:
Phase
V-U

Phase
U-W

Phase
W-V

Hall 1

Hall 2
Hall 3

The depicted signal sequence applies for positive direction.
Note concerning
the reference mode:

Only the modes P212=7 and P212=11 are presently available as reference modes
for linear motors!

Linear motor LXR

For highly dynamic and precise applications, we provide the linear motor LXR,
which can be operated with COMPAX 25XXS or COMPAX 10XXSL (with the S3
option and GBK18 and GBK20 cable). Ask for our leaflet.

Note:

When operating the linear motor LXR, reduced norminal and peak currents apply to
COMPAX:
Unit
COMPAX ..

Nominal
current [Aeff]

Peak current
[Aeff] <5s

with mains supply: 230V AC
10XXSL
25XXS

176

2.1
4.1

4.2
8.2

0.8
1.4

Power [kVA]

Electric cylinder ET: with 50 - 1500 mm stroke. Tensile and shear forces up to
21000 N
Vertical actuators with toothed belt: up to 2500mm stroke; up to 100kg
payload
The attached transmissions are available with ratios of 3:1, 5:1, 7:1, 10:1 and 25:1.
Please contact us if you require more information.

Unit
hardware
Technical data
Status

Accessories /
options

Interfaces

If you are using, e.g. a rack-and-pinion drive, toothed belt drive or spindle drive,
you can obtain the necessary initiators and initiator connectors and cable from us.
We can also supply you with retaining material on request.

Parameter

Initiator set

Configuration

Highly dynamic, modular linear axis "HPLA" with toothed belt drive or rackand-pinion drive:
♦ HPLA80:
cross section: 80 mm x 80 mm
up to 50m for rack-and-pinion, up to 20m for toothed belt
♦ HPLA120:
cross section: 120 mm x 120 mm
up to 50m for rack-and-pinion, up to 20m for toothed belt
♦ HPLA180:
cross section: 180 mm x 180 mm
up to 50m for rack-and-pinion, up to 20m for toothed belt

Positioning and
control functions

The HAUSER "HLEc" linear unit is available with various cross sections:
♦ HLE80C cross section: 80 mm x 80 mm up to 6m long
♦ HLE100C cross-section: 100 mm x 100 mm up to 7m long
♦ HLE150C cross-section: 150 mm x 150 mm up to 10m long

Optimization
functions

HAUSER linear actuators

177

Error list

9.4

Connector
assignment / cable

HAUSER linear actuators

Accessories and options
9.5

COMPAX-M / -S

Data interfaces

9.5.1 RS232
Use the RS232 interface, fitted as standard in COMPAX, to connect COMPAX with
a PC or terminal. This can then be used to operate COMPAX. The SSK1/..
interface cable is available as a connecting cable (for available lengths, see Page
206).

9.5.2 Bus systems
The bus systems are options which you can select to use or not. They require an
additional board to be fitted in COMPAX. The connection is located on the mains
module or, in COMPAX-S and COMPAX 35XXM, directly on the unit.
The controllers, connected to the mains module or COMPAX 35XXM, are already
connected via the flatband cable available in the system network.

9.5.2.1 Interbus-S / Option F2
You will find an object directory in the special documentation. The connection
arrangement is based on the specifications of 2-conductor remote bus.

9.5.2.2 RS485 / Option F1/F5
The RS485 interface is described in the special documentation. 2 different options
are available:
♦ F1: 4 wire RS485F5: 2 wire RS485

9.5.2.3 Profibus / option F3
The Profibus is described in the special documentation. Functions:
♦ Sinec L2-DP and FMS
♦ 1.5M Baud
♦ Communication with Simatic S7 is supported by special function modules.

9.5.2.4 CAN - Bus / Option F4
The Profibus is described in the special documentation. Functions:
♦ BasicCAN
♦ up to 1M Baud
♦ CAN protocol as per specification 1.2
♦ Hardware as per ISO/DIS 11898

9.5.2.5 CANopen / Option F8
♦ Protocol

as per CiA DS 301.
♦ Profile CiA DS 402 for drives.

9.5.2.6 CS31system bus / Option F7
♦ COMPAX

178

– ABB – interface.

The encoder interface option E2 (E4)41 enables the connection of an external
incremental encoder (such as: Litton encoder G71SSLDBI-4096-151-05BX). Use
this to synchronize COMPAX with an external speed using the "SPEED SYNC"
command. The encoder pulses per revolution and the translational travel per
encoder revolution are set via the COMPAX parameters P143 and P98.
No.

Meaning

Unit

P98
P143
P146

Travel of axis per encoder revolution
corresp. P90
Encoder pulses per revolution (channel 1)
Resolution of encoder emulation (channel 2) =0: 1024

Minimu
m value

0
120
=8: 512

Default
value

Maximum
value

Valid
from...

0.0000000

4 000 000
2 000 000

4096

VC
VC

♦ RS422
♦ 120-10

Dimensional diagram for Litton encoder G71SSLDBI-4096-151-05BX:
63.5±0.1
47.625

22.2±0.5

7.5+0.25
2.65-0.25
2.65-0.25

Unit
hardware
Optimization
functions

68 max
46.35±0,2

Shaft seal

12
0°

for screw:
10-32 UNF-2B
thread 4,8 deep

Parameter

Status

Accessories /
options

∅0.2

Interfaces

∅ 58.87-0.25
∅ 31.75 -0.01
∅ 9.52-0.008

Dimension diagram:

interface ♦ 5V supply;
000 increments/revolution (fmin: 4 kHz; fmax: 500 kHz).

Technical data:

Positioning and
control functions

(for permanent SinCos setting, see Page 183)

Technical data

9.6.1 Encoder interface

Configuration

Process interfaces

41 Does not apply for COMPAX 1000SL. COMPAX 1000SL allows to configure the

generally available signal interface either as encoder input or as encoder emulation (See
page 61).

179

Error list

9.6

Connector
assignment / cable

Process interfaces

COMPAX-M / -S

Accessories and options
Encoder module
and accessories:

Encoder input module with line terminator for
individual connections; not for creating an
encoder bus.
E3: Encoder emulation
Encoder input module without line terminator
for creating an encoder bus.

E3
E4

Encoder distributor for creating an encoder bus.
Depth: 40 mm without mating connector
The module is engaged on the terminal
bus bar.

80mm

EAM4/01
Design:

Not for COMPAX 1000SL:
With COMPAX 1000SL, the
signal interface usually
present can be configured
either as an encoder input or
encoder simulation (see Page
61.

70mm

BUS1/01
BUS6/01
GBK11/..
SSK7/..
SSK4/..
SSK17/..
Assignment of
EAM4/01
(corresp. X13)

Bus termination for encoder distributor EAM4/01.
Bus termination for encoder - COMPAX 1000SL connection
Encoder cablefor connecting COMPAX with an encoder.
Connector cable between encoder distributors or from an encoder emulation.
Connector cable between COMPAX and encoder distributor.
Connector cable between COMPAX 1000SL (encoder emulation) – COMPAX
Channel 1

Channel 2

X1: IN

X2: OUT

X3: IN

X4: OUT

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

Screen
NC
NC
NC
N1
B1
1A
+5V
NC
NC
NC
N1/
B1/
O1/
GND

Screen
N1
B1
1A
NC
NC
NC
NC
N1/
B1/
O1/
NC
NC
NC
NC

Screen
NC
NC
NC
N2
B2
A2
+5V
NC
NC
NC
N2/
B2/
A2/
GND

Screen
N2
B2
A2
NC
NC
NC
NC
N2/
B2/
A2/
NC
NC
NC
NC

Applications with encoder:

Individual
connections

Encoder COMPAX
♦ Cable: GBK 11/..
♦ Encoder input module E2 with line terminator, or for
♦ COMPAX 1000SL: Configured as encoder input (P144=4; P146=0) and with bus
termination BUS 6/01 (sits as an intermediate connector on X13)
SV drive COMPAX
♦ Cable: SSK 7/..
Note! Note direction.
cable in: SV drive
cable out: COMPAX
♦ Encoder input module E2 with line terminator, or for
♦ COMPAX 1000SL: Configured as encoder input (P144=4; P146=0) and with bus
termination BUS 6/01 (sits as an intermediate connector on X13).

180

X13

SSK7

Configuration
Positioning and
control functions

COMPAX 1000SL
(Encoder emulation)
X13

SSK17

Other
slaves

Slave 1

Master
X13 E3

Slave n

X13 E4

SSK4

IN OUT IN OUT
X1 X2 X3 X4

SSK7

cable in

IN OUT IN OUT
X1 X2 X3 X4

cable out

EAM4/01 X5
Channel 1Channel 2

cable in

EAM4/01 X5
Channel 1 Channel 2

SSK7

SSK4
Other
encoder
distributors

EAM4/01 X5
Channel 1Channel 2

IN OUT IN OUT
X1 X2 X3 X4

SSK7

cable out

SSK4

Optimization
functions

cable out

COMPAX 1000SL
(Encoder emulation)
X13
Bus6/01

cable in

BUS1/01
Bus termination

Requirements per COMPAX:
• one encoder distributor .................................................................. EAM 4/01
• one cable for the COMPAX and encoder distributor connection ... SSK 4/..
• one bus cable for connecting the encoder distributors .................. SSK 7/..
(configured in
♦ Encoder simulation in the master................................................... E3 COMPAX 1000SL)
(configured in
♦ Encoder input module in each slave .............................................. E4 COMPAX 1000SL)
♦ Bus terminator................................................................................ BUS 1/01
COMPAX

COMPAX

Additional

Status

COMPAX

X13 E4
SSK4

SSK7

EAM4/01 X5
Channel 1 Channel 2
IN OUT IN OUT

X1 X2 X3 X4
cable out

SSK7

Other
encoder
distributors

cable in

X1 X2 X3 X4
cable in

X1 X2 X3 X4

cable out

EAM4/01 X5
Channel 1Channel 2
IN OUT IN OUT

cable in

EAM4/01 X5
Channel 1 Channel 2
IN OUT IN OUT

SSK4

cable out

SSK4

X13 E4

Parameter

X13 E4

cable out

Encoder bus
with encoder or
encoder
emulation in SV
drive

SSK7

BUS1/01
Bus termination

From encoder (GBK11) or SV drive encoder emulation (SSK7)

181

Error list

Encoder bus
with COMPAX

cable out

cable in

X13

cable out

COMPAX 1000SL
(Encoder emulation)
X13
Bus6/01

COMPAX
(not COMPAX 1000SL)

cable in

COMPAX 1000SL –
COMPAX 1000SL

SSK7

cable in

COMPAX (not
COMPAX 1000SL) –
COMPAX 1000SL

Interfaces

X13

COMPAX 1000SL)

Technical data

COMPAX
(not COMPAX 1000SL)

Accessories /
options

COMPAX
(not COMPAX 1000SL)

cable out

COMPAX –
COMPAX (both not

Connector
assignment / cable

COMPAX COMPAX
♦ Cable: SSK 7/.. or SSK17 (see principal diagrams below)
Note! Note direction.
cable in: COMPAX with encoder emulation
cable out: COMPAX with encoder input
♦ Encoder simulation E3 for COMPAX (master) (in COMPAX 1000SL encoder
simulation configured)
♦ Encoder input module E2 for COMPAX (slave) (in COMPAX 1000SL encoder
input configured and with bus termination BUS 6/01)

Unit
hardware

Process interfaces

COMPAX-M / -S

Accessories and options

The following are required:
♦ per COMPAX
• one encoder distributor .................................................................. EAM 4/01
• one cable for the COMPAX and encoder distributor connection ... SSK 4/..
• one bus cable for the connection between the encoder distributors... SSK7/..
(configured in
♦ Encoder input module .................................................................... E4 COMPAX 1000SL)
♦ Bus terminator................................................................................ BUS 1/01
♦ For the encoder: encoder cable .................................................. GBK11/..
♦ For the SV drive: Cable: ................................................................ SSK7/..
COMPAX
No. 1

Encoder bus
mixed

COMPAX
No. 2

E3&
X13 E4

COMPAX
No. 3

X13 E4

SSK4

EAM4/01 X5

Channel 1 Channel 2
IN OUT IN OUT

X1 X2 X3 X4
BUS1/01
Bus termination

cable out

cable in

cable out

X1 X2 X3 X4

cable out

EAM4/01 X5
Channel 1 Channel 2
IN OUT IN OUT

SSK7
SSK7
From encoder (GBK11) or SV drive encoder emulation (SSK7)

♦ COMPAX

1 and COMPAX 2 receive the signals from one encoder.
♦ COMPAX 3 receives the actual COMPAX 1 value concerning its emulation.
The following are required:
♦ per COMPAX
• one encoder distributor................................................................ EAM 4/01
• one cable for the COMPAX and encoder distributor connection SSK 4/..
♦ 3 bus cables .................................................................................. SSK 7/..
♦ 2 bus terminators .......................................................................... BUS1/01
Encoder module:
♦ COMPAX 1 (not possible with COMPAX 1000SL as there is only 1 encoder channel present!):
• Encoder input module.................................................................. E4
• Encoder emulation ...................................................................... E3
♦ COMPAX 2, 3:
(configured in
• Encoder input module.................................................................. E4 COMPAX 1000SL)
• Encoder cable: ............................................................................ GBK11/..

182

The option A1 cannot be used for COMPAX 1000SL.
When using option A1 (the absolute value sensor interface), the reference travel
(find machine zero) normally required in normal mode after switching on is not
required. The reference travel is then only required during start-up. The current
read sensor position can be found in Status S12.

Supported absolute value sensors

♦ Sensing

activate the absolute value sensor input if an absolute value sensor has
been connected correctly and physically.
♦ Continuous mode is not permitted when the absolute value sensor is active.

Unit
hardware

Option A1 also contains the HEDA interface.
Interfaces

Note

♦ Only

Further information on the value range of S12 can be found on Page 79

9.6.3 High resolution SinCos sensor system (S1/S2)
COMPAX uses option S1 to support the high-resolution, optical motor position
recording process via the Stegmann SinCos sensor system (as a substitute for the
motor position recording via resolver).
SinCos single-turn:Type SRS50
SinCos multi-turn: Type SRM50

Parameter

Status

A SinCos sensor provides the following improvements.
♦ Better concentricity.
♦ Position recorded with greater absolute accuracy:
Resolver:± 0.25°
SinCos: ± 0.005°
♦ Resolution of motor speed:
Resolver:16/12 bit (speed-dependent ; 12 bit at higher speeds)
SinCos: 19 bit over the whole range of motor speeds.
♦ Less noise at a higher dynamic level via the motor speed resolution.
• With the SinCos multi-turn you also get economical absolute value sensor
function.
4096 motor revolutions detected absolute.

Accessories /
options

Note!

Optimization
functions

Enable absolute value sensor input
When using equipped A1 option (if this is not already being executed by HAUSER),
the absolute value sensor input is enabled using parameter P206. Meaning:
P206 ="1" absolute value sensor input enabled.

Positioning and
control functions

voltage: 24V ±10%.
code: grey code, single step.
♦ Direction of counting: in clockwise direction when looking at the shaft: rising.
♦ Data interface: RS422 /24 bit data format (starting with: MSB).
♦ Cycle frequency: 100 kHz.
♦ Supply

Further information on the value range of S12 can be found on Page 79
183

Error list

Technical data

Configuration

The following Stegmann - absolute value sensors types are supported:
♦ AG100MS/GRAY 4096/4096
or
♦ AG626XSR 4096/4096.

Connector
assignment / cable

9.6.2 Absolute value sensor (A1)

Technical data

Process interfaces

COMPAX-M / -S

Accessories and options

SinCos multi-turn with programmable transmission factor

S2 – option:

When using a SinCos multi-turn, you can use the S2 option to adapt the range of
the absolute position S12 to your application via a transmission factor. S12 then
always contains the position value referenced to the reset path P96.
Positioning is still implemented with reference to the actual value in Status S1.

Standard:

SinCos multi-turn records an absolute position of 4096 rotations.
In applications such as controlling a round table via a transmission, the position of
the table cannot be determined very accurately because 4096 rotations usually
signifies several rotations of the table.
By specifying the transmission factor P96 (ratio of motor : table), the absolute
position S12 is reset to 0 after a table rotation. After "Power on" and after an error
has occurred, S12 is transferred as the actual value (S1=S12).
The function is switched on via P206="1".

No.

Meaning

P96

Transmission factor for the reset path of S2 – 0
0
2048
option ("0": no reset function)
Enabled absolute value sensor input or the
="1": absolute value sensor input enabled or
reset functions of the S2 option
reset function switched on.

P206

Unit

Minimum
value

Default
value

Maximum
value

Valid
from...
VC
VP

Please note
♦ Set P1=0. Using P212=10 (see Page 80) you can still select the machine zero
point as required.
Note!

This function does not affect the actual positioning process.
Example:P96=10 (sensor revolutions); P83=40 000µm (40mm)
After POSA 450 and then POSA 0, the drive reverses by 450 mm (and
not just 50 mm).
To execute a positioning process within the reset path after traveling in
one direction for a long time, evaluate S12.
E.g.: required position within the reset path = 10 mm
V1=10-S12
POSR .V1

9.6.4 Option S3 for linear motors.
See Page 176

184

Working with the HEDA interface is described from Page 168, where
used with the interpolation module IPM, a special manual is available!

Unit
hardware
Connector
assignment / cable
Technical data

Implementing tracking and contouring tasks with the HAUSER interpolation module
(IPM) for PCs and industrial PCs.
Communication occurs via the HEDA interface, a rapid synchronous serial
interface.
Functional scope of the IPM and COMPAX network:
! contours can be stored for up to 9 axes with up to 100000 points.
! 16 zero-related digital outputs.
! Exchange of data between 9 axes within 1ms (setpoint values, auxiliary functions,
position, lag error, speed, torque)
! Freely programmable inputs and outputs
(Once enabled via P221, P222 and P225, and allocation of outputs to HEDA via
P245 and P245; see Page 139).
! internal data record memory can still be used to its full extent
!can be independently operated as a single axis positioning system
♦ Physical transfers:
• RS485 level (counter-cycle driver);
• DC decoupled using an optical coupler;
• Cycle frequency: 5 Mbit/s.

Configuration

HEDA using option A1 (e.g. A4 for COMPAX 1000SL) for COMPAX XX00
and the interpolation module IPM as master,
or
for a COMPAX – COMPAX –coupling with the unit variants COMPAX
XX00, COMPAX XX60 and COMPAX XX70, see from Page 168).

Positioning and
control functions

9.6.5 HEDA interface

Optimization
functions

Process interfaces

D/A monitor offers you the option of outputting COMPAX internal
measurement and intermediate parameters in the form of analogue voltage in
the range of ±10V. For description, see Page 58.

185

Error list

Parameter

Status

Accessories /
options

♦ The

Interfaces

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

COMPAX-M / -S

Accessories and options

9.6.7 Analogue speed specification (E7) (option not available with COMPAX 1000SL)
Only in COMPAX
XX6X and
COMPAX XX70

Configuration:

Accuracy

Connection
assignment

Option E7 "Analogue speed specification" is available with COMPAX
XX6X "Electronic transmissions" and COMPAX XX70 "Cam controller".
Exception:
In addition, E7 can be used with COMPAX XX00 to implement an external
speed specification with the command "SPEED SYNC"; see Page 99
The "Encoder input" option (E2 or E4) cannot be used at the same time as
E7.
Using option E7, you can specify a nominal speed value via connector X13 as
analogue voltage in the range -10V to +10V. Use 2 digital inputs (PLC level), to
define a nominal speed value of 0 and to initiate a change in the rotational
direction.
The following configuration data must therefore be assigned permanent values:
P80 = "16" (general drive).
P90 = "1" (mm unit).
P83 = 100000 µm (travel per motor revolution).
P93 = "4" (speed control mode).
P143 = 600 000
P144 = "7" (analogue speed specification).
P35 = "1" (transmission factor 1) (I15="0")
I16 = "1" (external nominal value is valid)
These parameters influence the interrelation between voltage and speed; they
must therefore be specified and fixed. Specify the required speed directly in P98 in
-1
min when input voltage is +10V.
Linearity error: <1%
Amplification error: <5% (you can compensate for these with P98).
Offset: <15 mV
Temperature drift: 100 ppm/K
Connector X13:
Pin X13 or
EAM4/01 X1:
(encoder assignment)

COMPAXInput I
Output O

6 (B1)
7 (O1)
13 (B1\)
15 (GND)
14 (O1\)
5 (N1)

A
E
A
A
E
E

Signal

+15V <10 mA
UE
-15V <10 mA
GND
UE\
Enable

Circuit proposal

Bridge to 15 (GND)
"1" for enable
"0" ≡ nominal digital
value 0
"1" for positive direction
of rotation

Direction of
rotation
1
Screen
Level on the "Enable" and "Direction of rotation" inputs: 5.5V...30V = "1".
12 (N1\)

UE and UE\ is a differential input. Actively assign UE\ to a potential (e.g. to
GND).

186

9.7.1 External control panel (not available for COMPAX 1000SL)
Use the control panels to control COMPAX via the digital inputs. They contain the
following functions:
TEACH
real zero point
TEACH
block

TEACH
TEACH
ZERO

Search
machine
zero
Move to
machine
zero

HOME

QUIT

NO
WARNING

NO
ERROR

Error/
warning/
quit
No error
No
warning

JOG+

JOG-

I7 / I8
O7 / O8
JOG+
JOGSTART

START
Break
block

BREAK

Positioning and
control functions

ZERO

READY

Ready for
START

STOP

Stop block

Optimization
functions

Move to
real zero

The control panel is available for front plate installation or with housing.
BDF1/02: for front
plate installation

86.0
12.34

19.5

14.32

Accessories /
options

134.0

173

74.16

Interfaces

57.80
8.36

14.10

TEACH

HOME

QUIT

NO
WARNING

NO
ERROR

ZERO

JOG+

JOG-

Parameter

TEACH
ZERO

Status

101

195

BDF1/03: with
housing

Unit
hardware
Configuration

Release
TEACH

Technical data

Accessories

START
READY
BREAK

STOP

The control panels are connected with COMPAX via the cable SSK6/..
187

Error list

9.7

Connector
assignment / cable

Accessories

COMPAX-M / -S

Accessories and options
MC1.5/16-ST-3.81
16 (O8)
white

15(O7)
14(O6)
13(O9)
12(O8)
11(O3)
10(O2)
9(O1)
8(I8)

7(I7)

brown

X8/9
X8/10
X8/11
X8/12
X8/13
X8/14
X815
X8/16
X9/2

green
yellow
grey
pink
blue
red
black
violet
grey/pink

6(I6)

red/blue

5(I5)

white/green

4(I4)
3(I3)
2(I2)
1(I1)
MC1.5/7-ST-3.81
7(Shield)
6

brown/green

X9/1
X8/1
X8/2
X8/3
X8/4
X8/5
X8/6
X8/7
X8/8

white/yellow
yellow/brown
white/grey
grey/brown
white/pink
pink/brown
white/blue
brown/blue
white/red

5
4

brown/red

white/black

3
2(GND)

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25

D-socked board
DB25 S 0671
1

BDF1

Wiring plan and
assignment of
SSK6/..

25
13

X9/7
Cable KiYCY 25x0,14

1(+24V)

9.7.2 Terminal module for COMPAX 1000SL (EAM)
The terminal module EAM3/.. is used for the onward wiring of the COMPAX
1000SL connector X19 (physical inputs / outputs, ...) to a terminal series and a
Sub-D connector.
The module can be fixed in the control cabinet to an installation rail with a mounting
rail.
The terminal module EAM3/.. contains the cable for connecting with COMPAX
1000SL.
Available lengths of connection lead: 1m; 2.5m; 5m

45mm

sub-D plug

Width:
91 mm
Top hat rail
80mm

Terminal assignment
The terminal assignment corresponds to the pin assignment on X19.

188

EAM5/01: DC feed for COMPAX-M

Connector
assignment / cable

9.7.3 EAM5/01: DC feed for COMPAX-M

COMPAX-M

S ta tu s

DIGITAL

S ta tu s

Value

R eady

N u m ber

E nt er

E rr or

R eady

X10

N u m ber

E nt er

E rr or

R eady

E nt er

X10

Inp u t

O utp u t

T est

C on tro l

T est

C on tro l

X11

PE + -

R S232

Inp u t

T est

U V W PE Brake

E rr or

R S232

COMPAX-M

Value

R S232

Motion & Control

S ta tu s

Value

DIGITAL

Motion & Control

N u m ber

COMPAX-M

Configuration

DIGITAL

C O M P A X -M

Technical data

The power supply is normally over a central mains module; NMD10 or NMD20.
With the component EAM5/01, available as an accessory, DC voltage can be
supplied: the component contains the connections of the mains module.
Input voltage range 100V DC – 650V DC.
The DC intermediate circuit must be limited to 750V in braking mode.
Power voltage is connected directly to COMPAX-M X2

H AU SER

Unit
hardware

Accessories

C on tro l

X11

-LS
24V DC
0V

EAM5/01 X4
X5

Design of EAM5/01:
X7
X3

X3/3: PE
X3/2: 24V DC

78.0 mm

X3/1: 0V



Supply voltage
for functions of
X8.

Interfaces

Accessories /
options

F21

Optimization
functions

Positioning and
control functions

+LS

68.0 mm
Status

Note
♦ UMK

housing from Phoenix
be attached to top hat rail of various sizes
♦ without mating connector approx. 4.5 cm deep
♦ to

189

Error list

Parameter

Terminal assignment
The component contains the connections of the mains module.
EAM5/01 X6 = mains module X6: input bus systems
EAM5/01 X7 = mains module X7: output bus systems
EAM5/01 X3 = mains module X3: 24V DC supply

Accessories and options

COMPAX-M / -S

EAM5/01: DC feed for COMPAX-M
EAM5/01 X8 = mains module X8: control
EAM5/01 X4 = mains module X4: signal connection to COMPAX-M X5; connection
cable included
EAM5/01 F21: 24V DC fuse 0.5A/M
Delivery scope:
EAM5/01.
Mating connector X8.
Signal connection EAM5/01 - COMPAX-M (0.5m).
Short circuit connector for the last COMPAX-M on X4.

190

9.7.4 EMC measures
9.7.4.1 Power filter

Technical data

COMPAX 1000SL for
motor lines >50m):

Dimension diagram:

A
B
C
D
E
F
G

L
O
A
D

C
B
A

Ø4

Type: NFI01/04

Interfaces

6.5

337
320

307
Load
Lastseite

152

Line
Netzseite

400

Accessories /
options

10mm2

347

378 max.

81 max.
15

Parameter

6.5 x 15

LOAD

LINE

110 ±0.3

301 max.

325 ±1

Status

COMPAX 35XXM with serially mounted COMPAX-M contr.: Type: NFI01/05

150 max.

COMPAX 35XXM:

NFI01/03
240
217
115±0.3
159
145±0.5
129
64

Optimization
functions

L
I
N
E

F
E
D

6,6

NFI01/02
177
151
70±0.3
140
125
111
65

Configuration

Type: NFI01/03

Positioning and
control functions

NMD20:

M10
17Nm

Do not loosen the locking nut!

191

Error list

NMD10 / COMPAX
45XXS / 85XXS
COMPAX 1000SL (in

The following power filters can be used for RF suppression and compliance with
the emission limit values specified in EN61800-3.
Type: NFI01/02

Unit
hardware

EMC measures

Connector
assignment / cable

Accessories

COMPAX-M / -S

Accessories and options
EMC measures

COMPAX 25XXS: motor cable >10m
COMPAX 25XXS: motor cable ≤10m
COMPAX 10XXSL: motor cable >50m

Type: NFI01/01 dimension diagr.:

Type: NFI01/06 dimension diagram:

50.8±0.3

5.3

3.5

LOAD

LINE

51 max.

101

79.5

L
O
A
D

88.9±0.4

L
I
N
E

32 max.

91 max.
66 max.

55.5

COMPAX 25XXS:
COMPAX 10XXSL

75 ±0.3

FASTON
6.3 x 0.8

Ø4

85.4
5.2 x 4

116
139

Length of
connection between
power filter and
unit:

• Unscreened: <0.5m
♦ Screened: <5m

9.7.4.2 Motor output throttle
We supply motor output throttles for use with long motor lines (greater than 20m)
U 1 V 1 W1 +

♦ Type:

MDR01/01 16A / 2mH

Up to 30A
nominal motor
current:

♦ Type:

MDR01/02 30A / 1.1mH

Over 30A nominal
motor current:

♦ Type:

MDR01/03 >30A / 0.64mH

U 2 V 2 W2

Up to 16A
nominal motor
current:

F
E
B
I

D
A

A [mm]
B [mm]
D [mm]
E [mm]
F [mm]
H [mm]
I [mm]
Weight [kg]

Wiring of motor
output throttle

device
PE
PE
U
V
W
Br+
Br-

192

motor output filter
U1
V1
W1
+
-

U2
V2
W2
+
-

MDR01/01

MDR01/02

MDR01/03

150
67
113
50
6
195
95
4

180
76
136
57
6
195
110
6

205
107
157
83
7
260
150
17

motor

External ballast resistors

Ω
NMD20 with external ballast resistance of 15Ω
Duration
unlimited
<1s
<0.4s
unlimited
1s
<0.4s
unlimited
<1s
<0.4s

BRM4/02: 0.74 kW
8.9 kW
37 kW
BRM4/03: 1.50 kW
18 kW
37 kW

>20s
>120s

Technical data

6.8 kW
37 kW

Cooling down time

>20s
>120s
>20s
>120s

Configuration

Braking power
BRM4/01: 0.57 kW

Ω
COMPAX 25XXS with external ballast resistance of 56Ω
Braking power
BRM5/01: 180W

Duration
1 kW
2.3 kW

<1s
<0.4s

Cooling down time
unlimited
>10s
≥8s

Braking power
BRM6/01: 450W

Positioning and
control functions

Ω
COMPAX 45XXS/85XXS with external ballast resistance of 22Ω
Duration

Cooling down time
unlimited
<1s
>20s
<0.4s
≥120s

6.9 kW
28 kW

Ω
COMPAX 35XXM with external ballast resistance of 10Ω
Cooling down time

Optimization
functions

Duration
unlimited
56 kW <1s
17 kW <1s

>100s
>10s

Ω
COMPAX 10XXSL with external ballast resistance of 100Ω

150

Accessories /
options

A
B
12

95 97

Overloading
protection
switch

BRM4/01

BRM4/02

BRM4/03 BRM6 BRM7

250

300

540

250

560

330

380

620

330

640

150

The ballast resistors are fitted with a 1.5m connecting cable. The maximum
permitted length is 2m.
BRM5/01 is fitted with a 0.3m connecting cable.
The maximum permitted length is 2m.
101

protection against
contact

Dimension diagram:
BRM5/01

∅5,8
222
239

Status

6.5

120

Dimension diagram:
BRM4, BRM6 and
BRM7

Cooling down time
unlimited
≥10s

Interfaces

Braking power
Duration
BRM8/01: 60W
Dynamic 253W
<1s

Parameter

Braking power
BRM7/01: 2.00 kW

193

Error list

External ballast
resistors:

Connector
assignment / cable

9.7.5 External ballast resistors

Unit
hardware

Accessories

COMPAX-M / -S

Accessories and options
External ballast resistors
40
225
240

Danger!

BRM8/01 is fitted with a 0.25m
connecting cable.
The maximum permitted length
is 2m.

Dimension diagram:
BRM8/01

7,5

20
26

Housing temperature may reach 200°C.
Dangerous voltage!
The device may only be used if completely fitted!
The external ballast resistances should be fitted so that contact protection is
provided.
The housing temperature of the ballast resistance may rise to 200°C depending
on the application.
Fit the connection lines underneath.
Observe the information on the resistances (warning signs).

Diagrams: Brake pulse power - cooling period
Authorised braking impulse power with NMD20
10000

F: Factor
Cooling down time = F *
braking time

F=100
F=50

F=20
F=10

F=5

Pbdyn / W

1000
700W

F=2

F=1

F=0.5

100
0,0

0,2

0,4

0,6

0,8

1,0

1,2

1,4

1,6

1,8

2,0

2,2

2,4

2,6

2,8

Braking time / s

Example 1:

For a braking time of 0.8s, a braking power of 700W is required.
The following can be determined from the diagram:
At the required magnitudes, this is between factor F=2 and factor F=5.
To maintain operating safety, select factor F=5; therefore the required cooling
down time equals:
Cooling down time = F * braking time = 5 * 0.8s = 4s

Example 2:

For a braking time of 0.3s, a braking power of 1000W is required.
The following can be determined from the diagram:
At the required magnitudes, this is between factor F=2 and factor F=5.
To maintain operating safety, select factor F=5; therefore the required cooling
down time equals:
Cooling down time = F * braking time = 5 * 0.3s = 1.5s

194

3,0

External ballast resistors

Connector
assignment / cable

Authorised braking impulse power for NMD20 with BRM4/03
100000

F: Factor
Cooling down time = F *
braking time

F=50

Technical data

F=10

F=5

Configuration

F=2
F=1

F=0.5

1000
0,0

0,2

0,4

0,6

0,8

1,0

1,2

1,4

1,6

1,8

2,0

2,2

2,4

2,6

2,8

3,0

Braking time / s

Authorised braking impulse power for NMD20 with BRM4/02

Optimization
functions

100000

Positioning and
control functions

Pbdyn / W

F=20

10000

Unit
hardware

Accessories

F: Factor
Cooling down time = F *
braking time
F=100

Pbdyn / W

single pulse

Interfaces

F=50
F=20

10000

Accessories /
options

F=10

F=5

F=2

F=1

0,4

0,6

0,8

1,0

1,2

1,4

1,6

1,8

2,0

2,2

2,4

2,6

2,8

3,0

Braking time / s

Parameter

0,2

195

Error list

0,0

Status

F=0.5

1000

COMPAX-M / -S

Accessories and options
External ballast resistors

Authorised braking impulse power for NMD20 with BRM4/01
100000

F: Factor
Cooling down time = F *
braking time

Pbdyn / W

single pulse

F=100
F=50
F=20

10000
F=10

F=5

F=2

F=1

1000
0,0

0,2

0,4

0,6

0,8

1,0

1,2

1,4

1,6

1,8

2,0

2,2

2,4

2,6

2,8

3,0

2,8

3,0

Braking time / s

Authorised braking impulse power for NMD10
100000

F: Factor
Cooling down time = F *
braking time

F=100

10000

F=50

Pbdyn / W

F=20
F=10

F=5

F=2

1000

F=1
F=0.5

100
0,0

0,2

0,4

0,6

0,8

1,0

1,2

1,4

1,6

1,8

Braking time / s

196

2,0

2,2

2,4

2,6

Authorized braking impulse power for COMPAX 2500S with BRM5/01
10000

F=50

Technical data

F: Factor
Cooling down time = F *
braking time

F=10

F=5

Configuration

F=2

F=1
F=0.5

100
0,2

0,4

0,6

0,8

1,0

1,2

1,4

1,6

1,8

2,0

2,2

2,4

2,6

2,8

3,0

Braking time / s

Optimization
functions

Authorised braking impulse power for COMPAX 4500S and
COMPAX 8500S
100000

Interfaces

F: Factor
Cooling down time = F *
braking time

single pulse
F=100

10000

Positioning and
control functions

Pbdyn / W

1000

0,0

Unit
hardware

External ballast resistors

Connector
assignment / cable

Accessories

F=50

Pbdyn / W

F=20

Accessories /
options

F=10
F=5

F=2

1000

F=1

Status

F=0.5

100
0,4

0,6

0,8

1,0

1,2

1,4

1,6

1,8

2,0

2,2

2,4

2,6

2,8

3,0

Braking time / s

Parameter

0,2

197

Error list

0,0

COMPAX-M / -S

Accessories and options
External ballast resistors

Authorised braking impulse power for COMPAX 4500S and
COMPAX 8500S with BRM 6/01

100000

F: Factor
Cooling down time = F *
braking time

F=100
single pulse
F=50
F=20

10000
Pbdyn / W

F=10
F=5

F=2
F=1

1000
F=0.5

100
0,0

0,2

0,4

0,6

0,8

1,0

1,2

1,4

1,6

1,8

2,0

2,2

2,4

2,6

2,8

3,0

Braking time / s

Authorised braking impulse power for COMPAX3500M with BRM7/01
100000

F: Factor
Cooling down time = F *
braking time

F=50

Pbdyn / W

F=20

F=10

F=5

10000
F=2
F=1
F=0.5

1000
0,0

2,0

4,0

6,0

Braking time / s

198

8,0

10,0

External ballast resistors

Connector
assignment / cable

Permissible brake pulse power for COMPAX 1000SL with BRM8/01
10000

F: Factor
Cooling down time = F *
braking time
F=50

1000

F=20

Technical data

F=10

PBdyn [W]

Unit
hardware

Accessories

F=5

F=2
F=1

100

Optimization
functions

Positioning and
control functions

3.0

Interfaces

2.5

Accessories /
options

1.5
2.0
Braking Time [s]

Status

1.0

Parameter

0.5

199

Error list

0.0

Configuration

F=0,5

COMPAX-M / -S

Accessories and options
ServoManager

9.7.6 ServoManager
Use the ServoManager to process complete COMPAX projects; it is included with
COMPAX. It contains the following program modules:
♦ ParameterEditor: for configuring and parametrizing COMPAX.
♦ ProgramEditor: for creating COMPAX programs
♦ Terminal: for working directly on the connected COMPAX.
The ServoManager and the program modules are described in a separate manual.

9.7.7 Hand-held terminal
The BDF2/01 hand-held terminal is a simple aid with which you can operate and
easily configure COMPAX with the guided menus. The hand-held unit is connected
to COMPAX X6 and powered via the RS232 interface. It is therefore suitable for
rapid diagnosis and supporting start-up.
Design:
5V-plug for
RS232-cable >5m.
HB-plug 1,95/5,5mm
control knob 6mm
polarity: + outside

COMPAX

DELETE

180mm

SHIFT

INSERT

REPEAT

OUTPUT

YES

GOTO

GOSUB

RETURN

Esc

POSA

SPEED

ACCEL

+/-

Ent

POSR

WAIT

END

100mm

200

depth:
45mm

Hand-held terminal

Connector
assignment / cable

Function

NO
YES
ESC
ENT
SHIFT
DELETE

Answers a question negatively
Answers a question positively
Escape
Confirms and accepts
Selects second function of the key: press once: on; press again: off
Deletes program data record, all jumps to addresses are
automatically corrected
Inserts program data record, all jumps to addresses are
automatically corrected
Directly select parameter input
Directly select program memory
Quit

INSERT
P
N
F3

Optimization
functions

Special functions
WAIT Ent
WAIT START
GOTO Ent GOTO EXT
GOSUB
GOSUB EXT
Ent
SPEED Ent SPEED SYNC

Error handling

Error
Warning: heat sink temperature >70°C
Unit ready for operation
Second key function (SHIFT key pressed)
Unit not ready for operation

Accessories /
options

No error
No warning
Unit not ready
First key function
No voltage

The cable is 1.5 m long. The hand-held terminal is also powered through this cable.
If the distances involved are longer (>5m), the hand-held terminal will require a
direct power supply for fault-free operation.
Parameter

Supply

bright

Status

H1 (red)
H2 (amber)
OK (green)
SH (amber)
All

Function
dark

Interfaces

Special COMPAX XX70 commands
F1
SETC x
F2
SETM x
F3
SETS
F4
LOOP x
POSR Ent POSR CAM
Lit display

Technical data

Keys

Configuration

The keys are all assigned two functions. Press the SHIFT key to activate the
second function of a key. The second function is displayed in turquoise in the lower
section of the key.

Positioning and
control functions

Key functions

The hand-held terminal contains the following functions:
♦ display any status value.
♦ menu-guided configuration
♦ view and edit programs.
♦ view and edit parameters
♦ direct entry of commands

When an error message is present, you can modify the parameter and
configuration. To do this, press ESC; the error display goes out and the menu
appears. The H1 LED indicates that the error is still present. Once you have
modified the parameter, acknowledge the error using F3.

201

Error list

Functions

Unit
hardware

Accessories

COMPAX-M / -S

Accessories and options
Hand-held terminal
Menu:
BDF2/01 Version
Date

COMPAX Typ Version
P20= value

Status Level
Actual Values

Diagnosis Values

Actual Position
Target Position
Tracking Error
Speed
Torque
Temperature
Control Voltage
Power Voltage
Position Cycles
Operationg Hours
Repeat Counter
Encoder Position
optimization dispaly P233
optimization display P234
status-monitor P182
standard config. A1-A6
enlarged status info.
error history

Identification

I1 - I8
I9 - I16
O1 - O8
O9 - O16
Status Motor
Status Switches
Status Limits
Status Output stage
Current Command
RS232 Data
Bus Data
Last Error

Special Status Value

Software Version
Release Date
Commission
Part
Version
Language
Power Stage
Device Family
Device no.

S40: number
S41
S42
S43
S44
S45
S46
S47

Esc

Function Level
Program Mode?
YES

Command Mode ?
YES

Esc

Parameter Mode ?
YES

Esc

see, edit, delete
program

Setting Level

Enter commands

Set Up Mode ?

YES

Esc

see, edit, delete
parameters

Esc

see, set up
configuration

When the hand-held terminal is connected to COMPAX, the password
remains the same.
The menu items of the setting levels are described below.

202

View,
edit, delete
program

Program Mode ?

Connector
assignment / cable

Hand-held terminal

Command Mode?

YES

Esc

Enter block no.

YES

Technical data

View
Program ?

Ent

Select other blocks
using or .

YES

Enter block no.

Configuration

Edit
Program?

Ent

Edit block
Ent

YES

Are You sure
YES

Positioning and
control functions

Select other blocks
using or .

Delete
Program?

Program is deleted

Command Mode ?

Optimization
functions

Commands or numerical values are modified by overwriting them.

Direct
command entry

Unit
hardware

Accessories

Interfaces

YES

Esc

Enter command

Once you have transmitted the command using "Ent", this command reappears in
the display and it can be modified and transmitted again.

Parameter

When OUTPUT O.="X", the cursor is positioned under "X" after the command is
transmitted. The value can be modified and transmitted.

203

Error list

Special control
function

Status

Command is transferred
by COMPAX

Accessories /
options

Ent

COMPAX-M / -S

Accessories and options
Hand-held terminal

View, edit and
reset parameter

Parameter Mode ?

Set up Mode ?

YES

"VC" is generated
when you exit the
menu.

Esc

View
Parameters?

Exits the menu
without "VC".

YES

Enter Parameter no.
Ent

Select other parameters using or or
edit parameter no.

Edit
parameters?

YES

Enter Parameter no.
Ent

Edit Parameter no.
Ent

Select other parameters using or
edit parameter no.

Reset
Parameters?

YES

Are You sure ?
YES

Parameters are set
to defaults;
reconfigure the device

♦ When

you exit the "Parameter edit" menu using "Esc", the "VC" command
(transfer configuration) is transmitted to COMPAX. The configuration
parameters are therefore only valid from this moment.
♦ When exiting the "Parameter edit" menu using "NO", the "VC" command is not
transmitted.

View, set
configuration

Set Up Mode ?

YES

Esc

View
Set up?

YES

Continue
Measurement unit with

Operating Mode
Ramp shape

Drive type
Drive type
Parameter of
Drive type

Update
Set Up ?
NO

204

YES

Update Set
Up
(see below)

Hand-held terminal

Switch off Motor ?

Connector
assignment / cable

Set configuration

YES

Mode: Endless ?
YES

Input unit: mm ?

Input unit: inch ?

YES

Input unit: incr

YES

Accel: linear ?

Configuration

YES

Technical data

Mode: Normal ?

YES

Motor type 1
P100 = XXX

YES

Motor type n
P100 = XXX

YES

HDX/Individual motor
P100 = 0

Positioning and
control functions

Selected motor?
P100 = XXX

Unit
hardware

Accessories

YES

You can configure a motor individually by setting P100=0. Therefore
fill in the motor data and the motor parameters (from P101)

Motor number
P100 = ...

Maximal load
YES

Inertia gear
Minimal load
Maximal load
YES

Gear ratio
Inertia gear
Minimal load
Maximal load
YES

Ent

Inertia minimum
Inertia maximum
Travel path per
motor revolution
YES

Interfaces

Pitch in teeth

Ent

Teeth in pinion

Accessories /
options

Minimal load

Gear ratio

YES

Ent

YES

HDX/
Individual
motor

YES

Switch off motor ?

YES

Status

Switch on motor ?

enter motor parameter from P100
enable drive by power off/on or by
command output O0=0

Parameter

All correct ?

205

Error list

Inertia gear

Pitch if teeth

continue with YES or

Gear ratio

Teeth in pinion

continue with YES or

Spindle Slope

Universal Drive ?

YES

Changes values and

Spindle Diameter

continue with YES or

Spindle Length

Ent

YES

Ent

YES

Timing belt ?

Changes values and

Rack and pinion ?

continue with YES or

Changes values and

Spindle Drive ?

The standart motors (HBMR- and HDS-Motors)
can be configured via the motor number.

Changes values and

Ent

Optimization
functions

COMPAX-M / -S

Accessories and options
Hand-held terminal

9.8

Appendix: COMPAX components

Mains module for COMPAX-M (excluding COMPAX 35XXM)
NMD10

Up to 3 x 500 V AC mains supply connection; direct mains supply operation 10 kW cont. output

NMD20

As NMD10, but with 20 kW continuous output; external ballast resistances available in 3 sizes.

HDY and HJ motors
You will find information about our range of motors in the motor documentation.
Motor and resolver cable for HDY and HJ motors
You will find motor and resolver cables on Page 46.
HAUSER linear unit and initiator equipment
HLE

80mm / 100mm / 150mm edge length (ask for information material!)

HPLA

80mm / 120mm / 180mm edge length (ask for information material!)

Initiator equipment

IVD1/.

Initiator distr.connect. w. cables of the f. lengths [m]:2.5; 5; 7.5; 10; 12.5; 15; 20; 25; 30; 35; 40; 45; 50

Initiator

PNP induction proximity switch: IN HE 521 506 with 6m cable.

Accessories
BDF2/01

Hand-held terminal for configuring and operating COMPAX

BDF1/03

External control panel with housing and without cable

BDF1/02

External control panel for front plate installation without cable

SSK6/..

Interface cable between contr. panel and COMPAX av.- in the following lengths: 2.5; 5; 7.5; 10; 12.5; in [m]

SSU1/01

RS232 - RS485 converters used in conjunction with option F1

GBK16

COMPAX – motor cable for disposing of SinCos.

Encoder: GBK11/..

Encoder cable for connecting COMPAX with an encoder.

EAM4/01

Encoder distributor for creating an encoder bus.

SSK4/..

Connector cable between COMPAX and encoder distributor.

SSK7/..

Connector cable between encoder distributors or from an encoder emulation.

BUS1/01

Bus termination for encoder bus

ASS1/01

Monitor box for outputting internal measurement signals with D1 option.

SSK1/..

RS 232

Ballast resistors

NMD20:

BRM4: 0.57 kW-1.5 kW (15Ω) COMPAX 25XXS:

COMPAX 45XXS/85XXS:

BRM6/01: 450W (22Ω)

Interface cable for PC COMPAX, available in the following lengths: 2.5; 5; 7.5; 10; in [m]
BRM5/01: 250W (56Ω)

COMPAX 35XXM: BRM7/01: 2 kW (10Ω)

AC power filter

BRM8/01: 60W (100Ω)
COMPAX 1000SL
NMD10 / COMPAX 45XXS/85XXS: NFI01/02
COMPAX 25XXS: NFI01/01 or NFI01/06 (≤ 10m motor cable)
COMPAX 35XXM: NFI01/04 or NFI01/05 (with additional COMPAX-M)
NMD20: NFI01/03
COMPAX 1000SL: NFI01/01 (<50m motor cable) or NFI01/02 (>50m motor cable)

Motor outp. throttle

For motor lines >20m: MDR01/01 (16A/2mH) • MDR01/02 (30A/1.1mH) • MDR01/03 (>30A/0.64mH)

Ass. angle bracket:

MTS2: for indirect wall installation (heat sink in separate heat chamber) of COMPAX 02/05/15XXM

Fan set for NMD

Fan set for NMD10 and NMD20 to increase max. brake performance

ServoManager

To read and write COMPAX parameters and programs

Bus terminal

BUS1/01: Encoder bus
BUS4/01: RS485

BUS2/01: HEDA

BUS3/01: Profibus
BUS6/01: Encoder terminal for COMPAX 1000SL

Options
F1
F2
E2
E3
E4
E7
A1
A4
D1
S1

4-wire RS485 interface
F5 2-wire RS485 interface
Interbus S interface
F3 Profibus
F7 CS31
F8 CANopen
F4 CANbus
Encoder interface with line terminator for individual connections.
Encoder simulation for resolver
Encoder interface without line terminator for creating an encoder bus.
Analogue speed specification only for COMPAX XX6X and COMPAX XX70 or for SPEED SYNC with COMPAX XX00!
Absolute value sensor/HEDA Cable to COMPAX: GBK1/.. lengths: 2.5; 5; 7.5; 10; 12.5; 15; 20; 25; 30; 35; 40; 45; 50 [m]
HEDA f. COMPAX 1000SL Cable COMPAX/COMPAX: SSK14/.. lengths :2.5; 5; 7.5; 10; 12.5; 15; 20; 25; 30; 35; 40; 45; 50 [m]
D/A monitor
To output the measurement signals, you will need monitor box ASS1/01.
Sensor interface for SinCos, single-turn or multi-turn
S2 Programmable sensor interface for SinCos multi-turn

Sensor–interface for linear motors (cable: GBK18)

206

10. Appendix

Technical data

10.1 Status values of the standard unit (COMPAX XX00)
Actual values
S01
S02

corresp. P90
corresp. P90

Lag error

S03

Velocity
Torque

S04
S05

Temperature

S06

Control voltage
Mains power
Travel cycle
Operating hours
Repeat counter
Sensor position

S07
S08
S09
S10
S11
S12

Optimization display
Optimization display
Status monitor
Status bits 1

S13
S14
S15
S16

Status bits 2
Error history

S17
S18

Configuration

Current position referenced to real zero.
End position of current or last positioning cycle
implemented.
0.1
Difference between nominal and actual position during a
[corresp. P90] positioning cycle.
[%]
Current axis traversing speed.
[%]
Current torque as a percentage of the nominal motor
torque.
[°C]
Temperature of power final stage (≤ 85°C)
C is transmitted

[V]
[V]
[h]
corresp. P90

Value of control voltage
Value of power or intermediate circuit voltage
Number of axis motion cycles.
COMPAX controller operating hours
Loop counter of an active REPEAT loop.
Position of absolute value sensor (option A1) not available
in COMPAX XX10 and COMPAX XX30.
With optimization parameter selected using P233.
With optimization parameter selected using P234.
D/A monitor value selected using P182.
Information from the status outputs O1...O6 and the last OUTPUT O0
command
Information about COMPAX status.
The last 4 errors and type of acknowledgement. See below.
(all errors but E00, E47, E72 and >E90)

Meaning

I1-I8
I9-I16
O1-O8
O9-O16
Status drive
Status switch
Status limits
Status final stage
Current data
record
RS232 data
Bus data
Last error

S19
S20
S21
S22
S23
S24
S25
S26
S27

Logic signal level of inputs 1...8
Logic signal level of inputs 9...16
Logic signal level of outputs 1...8
Logic signal level of outputs 9...16
Diagnosis values for the status of the drive. (see below for meaning)
Diagnosis values for the status of the switch. (see below for meaning)
Diagnosis values for the limit value monitoring . (see below for meaning)
Diagnosis value for the status of the final stage.
Display of the data record currently being executed.

S28
S29
S30

reserved
Interbus-S data / PLC data interface / RS485
Error number of the last error to occur (all errors but E00, E72 and >E90).

Status

Status
No.

Parameter

Designation:

Accessories /
options

Diagnosis values

Positioning and
control functions

Actual position
Target position

Meaning

Optimization
functions

Unit

Interfaces

Status
No.

207

Error list

Designation:

Unit
hardware
Connector
assignment / cable

Status values of the standard unit (COMPAX
XX00)

COMPAX-M/S

Appendix
Hand-held terminal

Unit designations
Designation:

Status
No.

Meaning

Software version
Software date
Order
Part
Version
IFM identification
Unit designation

S31
S32
S33
S34
S35
S36
S37

Designation of software version.
Date when program was created.
Order number (6 digits)
Order&part (10 digits) is
Serial four-digit number
a unique unit no.
Not assigned.
Date, version and designation of the bus option (hardware module)

Unit family
Unit
Status values

S38
S39
S40

COMPAX P1XXM: 80
COMPAX 05XXM: 170
COMPAX 25XXS: 4
COMPAX 10XXSL: 20

COMPAX P1XXM N1: 90
COMPAX 15XXM: 500
COMPAX 45XXS: 6

E.g. "00": COMPAX XX00

COMPAX 02XXM: 85
COMPAX 35XXM: 1000
COMPAX 85XXS: 5

"30": COMPAX XX30 ...

"0": COMPAX E "1": COMPAX-M

"2": COMPAX-S

"4": COMPAX-SL

"9": SV drive

Number of status values present

Special COMPAX XX00 status values
Designation:
Speed
Encoder position
Measuring error

Status No.

Unit Meaning

S41
S42
S47

Current nominal
value

S49

% External velocity when using the SPEED SYNC command.
P90 External position when using external position localization.
P90 During external position localization: difference between resolver
position and encoder position.
P90 Current internal nominal value (output of nominal value setter and
track nominal value directly specified by HEDA).

Meaning of status bits
The status bits are not relevant for normal operation; they must not be used for control purposes. They do
provide accurate error analysis if you contact HAUSER in case of problems. - The bits are counted from the
left to the right.

S23, S24, S25
Bit

Drive status (S23)
-1111------1111-

Switch status (S24)

Limits status (S25)

1 (left)
2
3
4
5
6
7
8
9
10
11
12
13

Not assigned

-111--111--11042-Not assigned

Drive not at standstill

Override function

reserved

Deceleration phase

Limit switch 2 (-) activated

reserved

14
15
16 (right)

Not assigned

Acceleration phase

Limit switch 1 (+) activated

Not assigned

Speed reached (speed regulation)

Not assigned

No motor current

Not assigned

Zero initiator activated

Not assigned

reserved

Not assigned

reserved

Not assigned

Position not OK.

Not assigned

Tracking error

Speed reached (positioning)

reserved

Not assigned

Positioning process complete

Not assigned

Drive blocked

Do not change data record
(emergency stop)
reserved

Machine zero reference present

Not assigned

Current limit reached

Not assigned

The "0" is not shown on the front plate.

208

-11--11--11--11-

Speed limit reached

Bit sequence during transmission of S16 / S17:
Bit 1 is on the left (the transmission starts with bit 1)
E.g.: S17= "1000 0000" during ASCII transfer.

Unit
hardware
Connector
assignment / cable
Technical data

S16:
Bit Meaning
1
="1":No fault
="0":errors E1 ... E57; the drive does not accept any positioning commands.
After "Power on", bit 1 remains at "0" until the self-test has been executed.
2
="1":No warning
="0" Error ≥ E57
3
Machine zero has been approached
4
Ready for start
5
Programmed nominal position reached
6
Idle after stop
7, 8 Bit 7 Bit 8
0
0
after OUTPUT O0 = "0"
1
0
after OUTPUT O0 = "1"
0
1
after OUTPUT O0 = "2"
S17:
Bit Meaning when "1"
1
Password 302 active
2
Service password active
3
Command active; move commands (POSA, POSR; speed in speed control mode) are rejected using
E92.
4
Program memory running
5
Stop via input I6
6
reserved
7
RUN ("0" = OFF or switched off when error occurs)
8
---

Configuration

S16, S17

Positioning and
control functions

The status bits are output via the front plate using 2 hex values.

Optimization
functions

Output of status bits via the front plate

Interfaces

Status values of the standard unit (COMPAX
XX00)

Accessories /
options

Bit 1
COMPAX front plate: display "01"
E.g.: password 302 active S17 = 0x80 (if all other bits ="0").

209

Parameter
Error list

The errors which occur are recorded by COMPAX in an 8-stage shift register. The entire contents of this
memory can be read using a status query. Once the error has been acknowledged, "99" is inserted. Once a
new error occurs, this is inserted in the shift memory.
When querying using S18, the contents of the shift register are output separated by spaces.
Once the unit is switched off, S18 is retained. If the unit is switched off while an error is present, a Power On
acknowledgement is created when the unit is switched on, i.e. a "98" is inserted in the shift memory.
S18CRLF
Example:
Response: S018: 99 55 10 99 53 98 10 99CRLR>
♦ The last error, an emergency stop (E55), has been acknowledged.
♦ E10 occurred before this (E10 has not been acknowledged).
♦ E53 has been acknowledged.
♦ E10 has been acknowledged by Power on.
The error memory is completely reset to "00" by the reset parameter, i.e. "00" means no errors.

Status

Explanation of error history S18

COMPAX-M/S

Appendix
Hand-held terminal

Status monitor S15
You can assign the values of the service D/A monitor to status S15 using parameter P182.
Selection of status value using P182
Reference
parameter

P182 Measuring parameter
0
1

Nominal speed value sensor
Tracking error

2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18

Advance speed control
Nominal speed value of position controller
Actual speed value
Loop difference for speed
Not assigned
Not assigned
43
Nominal value of transverse current (torque)
Intermediate circuit voltage
Sine for co-ordinate transformation
Voltage positioning signal for phase U
Voltage positioning signal for phase V
Phase current for phase U
Phase current for phase V
44
Actual value of transverse current (torque)
Longitudinal current
Scaled transverse voltgage (For amplification 1 use: 10V = 2 * ULS )
Scaled longitudinal voltage (For amplification 1 use: 10V = 2 * ULS )

20 000 min-1
128 motor
revolutions
20 000 min-1
20 000 min-1
20 000 min-1
20 000 min-1

200A
1000V

200A
200A
200A
200A
2 * ULS
2 * ULS

The reference parameter corresponds to value 1.

Note concerning status monitor S15
Scaling status monitor S15:
S15 does not have the same scaling as S13/S14.
For S15 use: S15=1 for the reference value which is given for the D/A monitor.

10.2 Additional COMPAX measuring quantites
Signal indicators (optimization display) S13 / S14
(P233/P234)

D/A monitor channels 0 ... 3
Status monitor S15 (P182); HEDA
Selec- Measuring quantity
tion
0
1

Nominal speed value sensor
Tracking error

2
3
4

Advance speed control
Nominal speed value of position controller
Actual speed value

5
6
7
8
9
10
11
12
13
14
15
16

Loop difference for speed
Not assigned
Speed controller output (nominal current value)
Nominal value of transverse current (torque)
Intermediate circuit voltage
Sine for co-ordinate transformation
Voltage positioning signal for phase U
Voltage positioning signal for phase V
Phase current for phase U
Phase current for phase V
Actual value of transverse current (torque)
Longitudinal current

43
44

Reference
value
20 000 min-1

Selec Meaning
tion

128 motor
revolutions
20 000 min-1
20 000 min-1
20 000 min-1

Positioning time (from start of positioning to "Position reached")

2
3
4

20 000 min-1

5
6
7
8
9
10
11
12
13
14
15
16

max. intermediate circuit voltage in [V]
reserved
max. undershoot referenced to max. position (amount) (only for highly
misadjusted loops)
max. position overshoot [units corresp. P90] (amount)
max. position undershoot [units corresp. P90] (amount)
max. acceleration lag error [units corresp. P90]
max. braking lag error [units corresp. P90]
Max. acceleration speed in [%] of the nominal motor speed
max. braking speed in [%] of motor nominal speed
max. acceleration current in [%] of motor nominal current
max. braking current in [%] of motor nominal current
max. time in current limit during acceleration, in [ms]
max. time in current limit during braking, in [ms]
Current number of HEDA transmission errors
Average no. of HEDA transmission errors per second

200A
200A
1000V
2 * ULS
2 * ULS
200A
200A
200A
200A

To determine torque: torque = 3 * transverse current * 0.71 * torque constant
To determine torque: torque = 3 * transverse current * 0.71 * torque constant

210

Total number of HEDA transmission errors since beginning of
synchronization

2 * ULS

Process nominal value HEDA

19
20
21
22
23
24
25
26
27
28

HEDA control word
HEDA status word
CPX X50 max. pos. synchronous lag error [units corresp. P90]
CPX X50 max. neg. synchronous lag error [units corresp. P90]
Output value of D/A monitor channel 1 (10V corresponds to 1)
Output value of D/A monitor channel 2 (10V corresponds to 1)
Output value of service D/A monitor channel 3 (10V corresponds to 1)
Output value of service D/A monitor channel 4 (10V corresponds to 1)
External encoder position (units corresp. P90)
Measuring error (Difference between resolver position and external
encoder position in the unit corresponding to P90)
Effective motor load in % of the permissible motor continuous load
(from 100% = 1.1INominal E53 is indicated)
Effective unit load in % of the permitted continuous unit load (E53 is
displayed from 100%)

31
32
33
34
35
36
37
38

Meaning
Function pointer mark synchronization (range 0-7)
Scaled correction factor 0 ... 1000 per thousands
Cycle counter X70
DSP wait time [ms]
16
Digital inputs I1-I16 (range 0-2 )
Status S16 (Bit 16...23) & digital outputs O1-O16 (Bit 0...15)
Frequency encoder channel 4 [inc/ms]
Frequency encoder channel 5 [Inc/ms] (reserved)

Constant value 0.00001

40
41
42
43
44
45
46
47
48

Meaning
Encoder position master channel
Encoder velocity (reserved)
Internal time base of P35
Scaled master position
Nominal position value in resolver increments
Actual position value in resolver increments
Differentiated resolver position

Reference values
23
10V = 2
23
10V = 2 per thousands
23
10V = 2 cycles
23
10V = 2 ms
23
10V = 2
23
10V = 2
23
10V = 2 encoder increments/ms
23
10V = 2 encoder increments/ms

smoothed load torque (reference 200A)
Actual position S1 in physical units P90 (integral digit)
Actual position S1 in physical units P90 (fractional digits)

50
51
52
53
54
55
56

58
59
60
61
62
63
64
65
66
67
68
69
70
71
72

Unit
hardware

Cause of calculation error E07
60,7x
10V = 2 encoder increments
23
60,7x
10V = 2 encoder increments/ms
23
7x
10V = 2 encoder increments/ms
23
7x
10V = 2 encoder increments
00,60,7x
10V = 128 motor revolutions
00,60,7x
10V = 128 motor revolutions
22
00,60,7x
10V = 2 increments/ms
Mark position (units corresp. P90) (COMPAX XX70)

Bit 23...8: virtual inputs I33...I48
Bit 7...0: virtual inputs I32...I25

50
51
52
53
44
55
56

Variant:
7x
7x
7x
00,60,7x
00,60,7x
00,60,7x
60,7x

Positioning and
control functions

Optimization
functions

Interfaces

-23

2
100%≡0.1V
100%≡0.1V
MT≡0.1 V
ST≡0.1 V
-1
2000min ≡1V

Connector
assignment / cable

COMPAX 1000SL only
Bit 15...8: physical output status on X19/22...X19/15
Bit 7...0: physical input status on X19/9...X19/2
P-component position controller (reserved)
P-component speed controller (reserved)
I-component speed controller (reserved)
D-component speed controller (reserved)
P-component current controller (reserved)
I-component current controller (reserved)
Square of motor – peak current (reference value: 80 000A )45
from V5.61: square of the scaled resolver level (sin² + cos²);
reference value 1.0
<0.25 -> E42 (level error, 161)
>1.0 -> E42 (limit error, 160)
2

Depiction of status monitor
Sensor designation SinCos
Value read acyclically by S1 option
-24
1st cyclic channel of S1 = position (100µs) (reference: 2 revol.)
2nd cyclic channel of S1 (1 ms)
3rd cyclic channel of S1 (1 ms)
Absolute value from S2 option in format 12:12, limited to 0 ... P96
(reference: 1 revolution = 4096)
-12
Absolute value from S1 option, not limited (reference: 2 revolutions)
Additional error numbers with E42
Option designation / SW version number (S1 / S2 option)

Accessories /
options

19
20
21
22
23
24
25
26
27
28

2 * ULS

Status

Scaled transverse voltage
(For amplification of 1 use: 10V = 2 * ULS )
Scaled longitudinal voltage
(For amplification of 1 use: 10V = 2 * ULS )
Host frequency 12/18 Mhz
Analogue HF1 CPX 70 / IPM
Analogue HF2 CPX 70 / IPM
Master position (CPX 70)
Slave nominal position (CPX 70)
Master speed (CPX 60, CPX 70)

Selec Meaning
tion

Parameter

Reference
value

from V5.14: sensor temperature SinCos (SR types only)

45 The peak value is deleted after 24V off/on or after shut down of the final stage (OTA≡1/2).

211

Error list

Selec- Measuring quantity
tion

Technical data

Signal indicators (optimization display) S13 / S14
(P233/P234)

D/A monitor channels 0 ... 3
Status monitor S15 (P182); HEDA

Configuration

Additional COMPAX measuring quantites

COMPAX-M/S

Appendix
VP parameter can be modified "On Line"

10.3 COMPAX parameter
10.3.1 VP parameter46can be modified "On Line"
VP parameters can be modified and transferred and the password specified in any COMPAX
operating mode.

Note!
Note the following points.
1. Processor load
When parameters are being validated using the "VP" command, the response time and
command execution time is temporarily extended due to the increased computing time.
e.g. when the parameters are transferred, a "Stop signal" is recognized after a short delay.
Typical delay times would be:
range of parameters:
P1 ... P79: approx. 0.5 ms per parameter.
>P79:
approx. 20 ms.
2. Modifying the controller setting
When modifying the controller setting via parameters P23, P24, P25, P26, P27 or P70,
comparison processes may occur. These may be detected as short axis readjustments.
Therefore: only modify parameters in small steps when the axis is active.
3. Area of application
This extension to the function is used for the start-up and for optimizing the axis.
It is not intended for the implementation of control tasks.
Please note: The axis must be switched off if modified VP parameters are to be transferred
(e.g. via OUTPUT O0=1).

10.3.2 COMPAX standard parameters
Parameter groups:
Control parameters
Limitations
Bus parameters
D/A monitor, status monitor S15
Inputs/outputs: assignment / meaning
Define encoder interfaces(option)
Substitution and specification values:
HEDA
Configuration parameters
Mark reference
Define mechanical reference system
Motor parameters
Optimization parameters, optimization display
Parameters of software variants
RS232
Other parameters
PLC data interface
♦ Parameters not described here are reserved.

P40 ... P49
P11 ... P16
P135 ... P142; P190 ... P196
P71 ... P74, P76, P77, P182
P18, P211, P221 ... P225, P227, P245, P246
P75, P98, P143, P144, P146, P232
P1 ... P10
P181, P184 ... P188, P243, P247 ... P250
P80 ... P85, P88, P90, P92, P93, P98
P35, P37, P38, P39
P29, P206, P212 ... P217,
P100 ... P133
P21 ... P27, P50, P67 ... P70, P94, P151, P233, P234
P30 ... P39
P19, P20
P17, P218, P219, P229
P18

VP means "Valid Parameter" and is a COMPAX command with which COMPAX accepts a modified
parameter from a specific parameter group. The VP parameters are marked in the following parameter
lists in the column "Valid from...".

212

Meaning

Unit

Minimum
value

Default
value

Maximum
value

Valid
from...

Real – zero point (distance real zero-machine
zero).
Substitute for non-programmed velocity.
Velocity for find machine zero.
Velocity for approach real zero.
Velocity for processing by hand.
Substitute value for non-programmed ramp
time.
Ramp time for approach machine zero.
Ramp time for approach point of real zero.
Ramp time for processing by hand.
Ramp time after limit switch or emergency stop
is activated.
Max. positive position referenced to machine
zero.
Max. negative position referenced to machine
zero.
Max. permitted lag tolerance (error E10 is
triggered when exceeded); E10 & E49 are
switched off with specification "0".

corresp.

1 000 000

0.00

+1 000 000

immediat.

P90

%
%
%
%
ms

1.00
-100.00
1.00
1.00
1

10.00
10.00
10.00
10.00
1000

100.00
100.00
100.00
100.00
60 000

immediat.

ms
ms
ms
ms

1
1
1
1

1000
1000
1000
250

60 000
60 000
60 000
60 000

immediat.

corresp.

P12

+4 000 000.0

+4 000 000.00

P11

P12
P13

P14

Max. permitted positioning zone (applies for
message O5 : "Position reached")

P90

Max. permitted velocity
Max. permissible torque

immediat.

immediat.
immediat.
immediat.

corresp.

P90

4 000 000.00

corresp.
P90
or % of

10.00

4 000 000.0
0

0.00

1.00

4 000.00

0.00
0

100.00
200

100.0049
300

P104

corresp.
P90
or % of
P104

P15
P16

immediat.

%
% of

VP
"0"
immediat.

P105

Engine brake lag
PLC data interface
Fast start via I15
Fast start via HEDA
Note!
Settings with bit 1 and bit 3 are only permitted
in COMPAX XX00.

P19

RS232 Baud rate

ms
0
0
4000
50
=0 without PLC data interface
Bit 0
=1 with PLC data interface
Bit 1 =0 fast start via I15 not active
=1 fast start via I15 active
Bit 3 =0 no fast start via HEDA
=1 fast start via HEDA active
only permitted with P18 when bit 1=1!
51
Bit/s
4800
9600
9600

VP
VP

Unit
hardware
Status

P17
P18

Connector
assignment / cable

Accessories /
options

P11

immediat.

Power on

In speed control mode in % of nominal speed (P104), otherwise corresponds to P90
In speed control mode in % of nominal speed (P104), otherwise corresponds to P90
49 For asynchronous motors, the maximum permitted velocity may be up to 300% of the nominal velocity.
50 Bit counting begins at bit 0.
51 By simultaneously pressing the three front plate keys when switching on, the baud rate is set to 9600.
With COMPAX 1000SL, the baud rate is always set to 9600.
48

213

Parameter

P7
P8
P9
P10

immediat.

Error List:

P2
P3
P4
P5
P6

Technical data

No.

Configuration

List of parameters, sorted by number

Positioning and
control functions

The specified limit values refer to all parameters. Theoretical combinations are possible within these limits,
however they could cause an internal number overrun. The following limitation applies.
The travel per motor revolution must be greater than 0.01 mm or with increment unit: > 10 increments.
Travel per motor revolution:
♦ Spindle drive: P83;
♦ rack-and-pinion/toothed belt P82 * P83;
♦ general drive: P83 (/1000 in mm)

Optimization
functions

Remark

Interfaces

COMPAX parameter

COMPAX-M/S

Appendix
COMPAX standard parameters
Minimum
value

Default
value

Maximum
value

Valid
from...

No.

Meaning

Unit

P20

RS232 handshake Software handshake

End sign selection

Power on
"0": without
"1": with XON, XOFF
"0": Error only with interface activity and if immediat.
the transmitted command triggers an
error.
No neg. command acknowledgement
(E90 - E94).
"2": no transmission of error and no neg.
command acknowl. (E90 – E94).
"4": Messages are indated for errors and
neg. command acknowl. (E90 – E94)
as soon as th. occur w. Exx CR LF >.
"6": errors & neg. command acknow.
(E90 – E94) only with interface
activity.
Power on
"0": CR LF >
"8": CR

Binary transfer

"0": without

"16": with

immediat.

"0": without

"128": with

Power on

P20 setting.
The sum of the
specified values is
entered in P20.

Error transmission /
negative command
acknowledgement
(E90 - E94)

P23
P24
P25

BCC: block check
EXOR via all signs apart
from the end sign
Factor for influencing the travel per motor
revolution
Factor for modifying the speed which is
allocated to speed SPEED 100%.52
Stiffness of drive
Speed controller damping
Speed – advance control value

P26
P27
P29

Acceleration – advance control value
Moment of inertia
Machine zero comparison

P21
P22

P35
P36

P37
P38
P39
P40
P41
P42
P43
P44
P45
P46
P47
P48
P49
52

%
%
%

0.1000

1.0000

10.0000

VP&VC

0.5000

1.0000

2.0000

VP&VC

10
0

100
100
100

5000
500
500

100
100
0

500
500
360

053

%
0
%
10
Degre 0
e
Switch on mark reference
"0": switched off
%
of
Limitation of speed correction value for external
0
nominal
position adjustment (only COMPAX XX00 and
speed
(P104)
COMPAX XX30) ="0": switched off
Minimum travel to mark
0.00
corr.. P90
Maximum travel to mark
>P37
corr.. P90
Maximum feed length
corr..P90
≥P38
-4 000 000
Control parameters
-4 000 000
Control parameters
-4 000 000
Control parameters
-4 000 000
Control parameters
-4 000 000
Control parameters
-4 000 000
Control parameters
-4 000 000
Control parameters
-4 000 000
Control parameters
-4 000 000
Control parameters
-4 000 000
Control parameters

VP
VP

"1": switched on
0
100

0.00
0.00
0.00

0.
214

VP
VP
VP

Larger setting range for P23

P67
P68
P69

D-element slip filter
Slip filter lag
Reverse advance control ("0" : without reverse
advance control)

P70
P71
P72
P73
P74
P75

Current – advance control value
D/A monitor 1 amplification
D/A monitor 2 amplification
Address of D/A monitor 1
Address of D/A monitor 2
Max. permitted measuring error (difference
betw. resolver pos. and external encoder pos.)

+65536: Sensitive D section (P56)
Larger setting range for P56
%
100
500
0
%
100
5000
0
%
0
500
0

P90

VP
VP

0
1
1
0
0
0

0
5
10
4
15
0

500
4 000 000
4 000 000
18
18
4 000 000

4.000 000 1

15.000 000 1

20 000
20 000

VP
VP
VP
VP
VP

The external position localization is switched on with a
measuring error ≠ 0 and the internal position is corrected.

P76
P77
P80

Address of D/A monitor 3 (decimal place =0 ≡ amplification 1)
Address of D/A monitor 4 (decimal place =0 ≡ amplification 1)
Drive type

"2": Spindle drive
"4/8": rack-and-pinion/toothed belt
"16": general drive / linear motor

Drive type "Spindle drive" (P80="2")
P81 Length
mm
P82 Diameter
mm
P83 Pitch
mm
2
P84 Moment of inertia for transmission and coupling kgcm
P85 Ratio
P88 Max. translational mass moved
kg
P92 Min. translational mass moved
kg
"Rack-and-pinion/toothed belt" drive type (P80="4/8")
P82 Tooth number
P83 Tooth pitch
mm
P84 Moment of inertia for transmission and coupling kgcm2
P85 Ratio
P88 Max. translational mass moved
kg
P92 Min. translational mass moved
kg
"General drive" drive type (P80="16")
kgmm2
P81 Min. total moment of inertia
With linear motors:

P81 =

0.00
0.00
0.00
0.00

5000.00
80.00
400.00
200.00

1.0000000

100.0000000

500
P88

VC
VC
VC

Tooth number * tooth pitch
= 1.00 ........ 410.00
0.00
0.00
200.00

1.0000000

100.0000000

500
P88

1.0000000

0
0
0.00

0.00

Jmax.(82)

Unit
hardware

0.00
8.00
1.00
0.00
0
0

Configuration

Technical data

Positioning and
control functions

D section rpm controller
Filter acceleration
Lag rapid rpm signal
Structure switch measuring

Optimization
functions

P56
P57
P58
P59

=100: without monitor (default setting)
=101: with monitor
%
0
0
10 000
%
0
100
550
%
0
100
550
0:
Standard:
4:
Variant 1 (for resolver)
3:
Variant 2 (for SinCos)
8:
Variant 3 (Rapid rpm controller)
+16:
Sensitive stiffness (P23)

Interfaces

Enable speed monitor (=101)

VC
VC

Accessories /
options

P50

Valid
from...

Status

Maximum
value

Unit

VC
VC

mmin • P126
(1000 • 2 • Π )2

215

Parameter

Default
value

Meaning

Error List:

Minimum
value

No.

Connector
assignment / cable

COMPAX parameter

COMPAX-M/S

Appendix
COMPAX standard parameters
No.

Meaning

Unit

Minimum
value

Default
value

Maximum
value

P82

Max. total moment of inertia

kgmm2

0.00

200 000

µm or
increm.

0.00

4 000 000µm

With linear motors:
P83

P82 =

mmax • P126
(1000 • 2 • Π )2

Travel per motor revolution
With linear motors: P83 = P126

P90

Unit for travel

P93

Operating mode

P94
P96

Ramp shape
Transmission factor for the reset route of S2
option. ="0": no reset function.
Travel of axis per encoder revolution

P98

Valid
from...

65 536 Inkr.

"0": increments
"1": mm
"2": inch
"1": normal mode
"2": Continuous mode
54
"4": speed control mode
"1": linear
"2": smooth "3": quadratic.
0
0
4095
corresp.

0.0000000

4 000 000

56
VC
VC

P90

No.

Valid
for57

P100 Motor number
P101 Number of terminals

Motor selection
A,S
2
L
V * min/ 10
S
1000
L
A,S
kgmm 0
2
L

Linear motor: P101=2

P102 EMC
P102=EMC[V/(m/s)] * P126/60 000

P103 Moment of inertia
Linear motor:

P103 =

mForcer • P126

400

200 000

(1000 • 2 • Π )2

A,S
L

min-1

500

9000

A,S,L
A,S
L

mA
mNm

200
0

100 000
100 000

P107 Pulse current
P108 Max. time in current limit (P16)
P109 Stator inductivity

A,S,L
A,S,L
A,S,L

100
1000
0

400
5000
200 000

P110 Magnetization current
P111 Rotor time constants

A
A

%
ms
µH
mA
ms

100
5

0.7 * P105
2000

P104 Nominal speed
Linear motor:

Vno min al • 1000 • 60000
P126
P105 Nominal current
P106 Nominal torque
P104 =

Linear motor: P106 =

Fno min al • P126
(1000 • 2 • Π )

When in speed control mode, P25 must > 0.
From next process command
56 From next process command
57 A: parameter for asynchronous motors
S: parameter for synchronous motors
L: parameter for linear motors
55

216

VC
VC

% of
P104

P116 Stator resistance

A,S,L

P119 Start of saturation
P120 End of saturation
P121 Minimum stator inductivity

S,L
S,L
S,L

mOh
m
%
%

P122 Main inductivity

µH

P123 Rotor – scatter inductivity

µH

P124 Rotor resistance
P125 Nominal voltage
P126 Pitch length of motor magnets in µm (2
* Pole distance)
P127 Denominator: Dash count linear
encoder per pitch length (see P133)
P128 Cut-off value of temperature sensor for
E48

A
A
L

A,S,L

Ω

200

150 000

P127

VC
VC

8388607

Watts 2

128

4096

8000

2 000 000

Unit
hardware

Accessories /
options

P129 Resolver offset
A,S,L
P130 Resolver frequency
A,S,L
58
P131 Resolver – transformation ratio
A,S,L
Level adaptation (1/ü) for resolver or SinCos sensor (from V5.61) setting aids:59

% of
P109

70
> P119
10

100

Connector
assignment / cable

P113 =

Configuration

P115 Angular speed

Linear motor:

20 000
9000

Positioning and
control functions

100
0

Valid
from...

Optimization
functions

mHz
min-1

Maximum
value

Interfaces

A
A,S
L

P112 Slip frequency
P113 Maximum speed

Default
value

Parameter

58 Resolver transformation ratio = ü = resolver output voltage / resolver input voltage
59 The read-in level is displayed in the square of the channel 57 optimizing display.

Status

Minimum
value

Meaning

With P233=57 this value is in S13. Meaning:
P131= 0.405 • 100% (rounded to the nearest percent)
S13
The current default setting "2" is still possible.
Note: Resolver with Ü=1 cannot be operated!
60 Select P133 as large as possible to achieve maximum accuracy. P133 does not have fractional digits.

217

Error List:

Unit

No.

Technical data

COMPAX parameter

COMPAX-M/S

Appendix
COMPAX standard parameters
No.

Meaning

P144 Settting encoder channel 1

P146 Resolution of encoder emulation (channel 2)
P148 End stage designation
P149 Configuration
P151 Responsiveness of the monitor control
P156 Allocation of inputs I1...I6 to the input pins on
X19
Source for
Bit 0 – 3 input 1
Bit 4 – 7 input 2
Bit 8 – 11input 3
Bit 12 – 15 input 4
Bit 16 – 19 input 5
Bit 20 – 23 input 6
P157 Allocation of inputs I7...I12 to the input pins on
X19
Source for
Bit 0 – 3 input 7
Bit 4 – 7 input 8
Bit 8 – 11input 9
Bit 12 – 15 input 10
Bit 16 – 19 input 11
Bit 20 – 23 input 12
P158 Allocation of inputs I13...I16 to the input pins on
X19
Source for
Bit 0 – 3 input 13
Bit 4 – 7 input 14
Bit 8 – 11input 15
Bit 12 – 15 input 16
Bit 16 – 19 free
Bit 20 – 23 free
P159 Allocation of output pins X19/15 ... X19/18 to
the logic outputs
Source for
Bit 0 – 3 Pin X19/15
Bit 4 – 7 Pin X19/16
Bit 8 – 11Pin X19/17
Bit 12 – 15 Pin X19/18
P160 Allocation of output pins X19/19 ... X19/22 to
the logic outputs
Source for
Bit 0 – 3 Pin X19/19
Bit 4 – 7 Pin X19/20
Bit 8 – 11Pin X19/21
Bit 12 – 15 Pin X19/22
P161 Maximum angle difference with absolute resolver
function
(4096 = 1 motor revolution)
P181 HEDA – parameter: coupling window (µm or
increments)
P182 Setting status monitor S15

Unit

Minimum
value

Default
value

Maximum
value

Valid
from...

="4": without external position
localization
="6": external position localization
switched on via channel 1.
=0: 1024 =8: 512
"Read only" – parameter ≡ S37

"0": not valid
"1": valid61
%
0
30
-8388608 X19/2→I1
Bits

500

8388607

65535

X19/3→I2
X19/4→I3
X19/5→I4
X19/6→I5
X19/7→I6

= 7 754 802

Bits

-8388608

X19/8→I12
I7 ... I11 = "0"
= -8 388 608

Bits

-8388608

X19/9→I16
I13...I15 ="0"

= 36 864

Bits

O1→X19/15
O2→X19/16
O3→X19/17
O4→X19/18

= 12 816

Bits

O5→X19/19
O6→X19/20
O7→X19/21
O8→X19/22

= 30 292

100

2047

4 000 000

532 767

61 When P149="0", all parameters apart from the bus settings P194, P195, P196, P250 are set to default values when switched on.

218

zero functions are enabled.
"1"
Teach in real zero is blocked, data
Also:
record
indicator is set to 1 using I1 + I4 .
enable final stage with OUTPUT O0="0" without
"2" Teach in set is blocked, data record
lag (Bit 2="1")
indicator is set to 1 using I1 + I5 .
(Teach real zero is enabled)
"3" The teach data record and teach in real
zero functions are blocked. With I1 + I4,
Teach N or I1 + I5, the data record
indicator is set to 1.
"4...7": The final stage is enabled with
OUTPUT O0="0" without lag (P. 123)

P212 Machine – zero – mode

Settings "3" and "4" with COMPAX XX00 and
COMPAX XX30 only

P213 Machine zero direction
P214 Encoder direction

P215 Direction of rotation

"0": MZ equals external initiator & resolver
zero / 2 reversing initiators.
"1": MZ equals external initiator & resolver
zero.
"3": MZ equals external zero pulse
"4": MZ equals external initiator & external
zero pulse.
"5": MZ equals resolver zero
"6": reserved
"7": MZ equals external initiator (without
resolver zero).
"8": MZ equals limit switch
"10": teaches machine zero
"11": MZ equals initiator (without resolver
zero) / 2 reversing initiators.

"0": to the right "1": to the left
"0": positive direction when encoder is
turning clockwise.
"1": positive direction when encoder is
turning anti-clockwise.
"0": motor to the right "1": motor to the left

immediately

Unit
hardware
Connector
assignment / cable
Technical data
Configuration

Optimization
functions

P185 – P187 HEDA – parameter
P188 Selection parameters for HEDA – process value 40: encoder coupling for encoder input
signals (P184=40)
(slave)
Default value: P188=0
140: encoder coupling for other input
signals (P184≠40)
42: internal time base
43: scaled master position
P191 – P196 Bus – parameter
P197 Order (status S33)
"Read only" – parameter
P198 Part (status S34)
"Read only" – parameter
motor 3
P202 With machine zero mode P212="8": Distance
0
255
revol.
machine zero – limit switch (setting "0"
corresponds to "3")
="1": absolute value sensor input enabled or
P206 Enables the absolute value sensor input / the
reset function of option S2 / absolute value
reset function switched on (S2 opt.)
sensor
= "2": absolute value sensor enabled
"0" The teach data record and teach real
P211 Disable and modify the Teach In – function

immediately

Interfaces

44:
45:
46:

Valid
from...

Accessories /
options

P184 Selection parameters for HEDA – process value 40:
42:
(master)
43:
Default value: P184=0

Minimum Default
Maximum
value
value
value
encoder position
internal time base
scaled master position
nominal pos. value in resolver increm.
actual pos. value in resolver increments
differentiated resolver position

Status

Unit

VP
VP

219

Parameter

Meaning

Error List:

No.

Positioning and
control functions

COMPAX parameter

COMPAX-M/S

Appendix
COMPAX standard parameters
No.

Meaning

P216 Limit switch position
...
P217 Limit switch mode

Unit

Minimum
value

Default
value

Maximum
value

E1 is approached when

"0": motor turns clockwise
"1": motor turns anti-clockwise
"0": without limit switch
"1": with limit switch (do not find during MZ)
"3": with limit switch (find during MZ)
"5": with limit switch (without pos. locking)
P218 Error cutout
Bit 0 ="0" E57 active ="1" E57 switched
Default value: P218=0 (E57 active)
off
P219 Emergency stop
=0 no evaluation of emergency stop input on COMPAX-M
input on COMPAX- =7 emergency stop input on COMPAX-M active
M / Synchronous
=128 synchronous STOP on COMPAX XX0X without evaluation of
STOP on COMPAX
emergency stop input on COMPAX-M
XX00
=135 synchronous STOP on COMPAX XX0X with evaluation of
emergency stop input on COMPAX-M
Input (valency) [Bit No.]:
E1 (1) [1] • E2 (2) [2] • E3 (4) [3] • E4 (8) [4]
P221 Freely assign
E5 (16) [5] • E6 (32) [6] • E6 (64) [7] • E6 (128) [8]
standard inputs I1
P221
=
sum
of
valencies
of
all
required
free inputs.
...I8 with "1"

Valid
from...
immediat.
immediat.

immediat.
VP

immediately

The control functions are assigned to the fieldbus with the bit set (I17 ... I24)

I9 (1) [1]
• I10 (2) [2] • I11 (4) [3] • I12 (8) [4]
I13 (16)[5] • I14 (32)[6] • I15 (64)[7] • I16 (128)[8]
P222 = sum of valencies of all required free inputs.
The control functions are assigned to the fieldbus with the bit set (I25 ... I32)

immediately

O1 (1) [1] • O2 (2) [2] • O3 (4) [3] • O4 (8) [4]
P223 Assign outputs O1 - Output (valency) [Bit No.]:
O5
(16) [5] • O6 (32) [6] • O7 (64) [7] • O8 (128) [8]
O8 to the OUTPUT
P223
=
sum
of
valencies
of
the
OUTPUT
WORD outputs
WORD command
with a "1"

immediately

• O10 (2) [2] • O11 (4) [3] • O12 (8) [4]
P224 Assign outputs O9 Output (valency) [Bit No.]: O9 (1) [1]
O13 (16)[5] • O14 (32)[6] • O15 (64)[7] • O16 (128) [8]
- O16 to the
OUTPUT WORD62 P224 = sum of valencies of the OUTPUT WORD outputs
command with "1"

immediately

P222 Freely assign
standard inputs I9
...I16 with "1"

P225 Freely assign
standard outputs
with "1"
P227 Assign special
functions to
outputs

Input (valency) [Bit No.]:

O1 (1) [1] • O2 (2) [2]
O4 (8) [4] • O5 (16) [5]
P225 = sum of valencies of all required free outputs.
Output (valency) [Bit No.]:

• O3 (4) [3]
• O6 (32) [6]

Bit 163="0": O2 is assigned the default function (=no warning).
Bit 1="1": O2 is assigned the "Idle monitor" function.
Bit 4="0": O5 is assigned the default function (position reached with
evaluation of P14)
Bit 4="1": O5 is assigned with the "O5 toggles when position
reached" function.
P229 Speed threshold for "Idle display" function (only
‰
0
0
255
switched on if P227 bit 1="1")
P232 Function I11
=0: I11 can be freely assigned
With external position adjustment switched on (P75>0):
=4: I11 switches the external position adjustment

immediately
immediately

VP
VP

(I11="0": off and I11="1": switched on)

COMPAX 1060/70SL: With analogue ±10V – interface
=4: I11 has the function "Enable analogue input
(I11="0": Setpoint=0 I11="1": analogue input active)

P233 Setting the optimization display S13

1...255

immediately

P234 Setting the optimization display S14

1...255

immediately

62
63

OUTPUT WORD – command is available with bus systems.
Bit-counting starts with Bit 0.

220

P245 Assign outputs O1
- O8 to the HEDA
bus

O1 (1) [1] • O2 (2) [2] • O3 (4) [3] • O4 (8) [4]
O5 (16) [5] • O6 (32) [6] • O7 (64) [7] • O8 (128) [8]
P245 = sum of valencies of the outputs allocated to the HEDA bus

immediately

Unit
hardware
Positioning and
control functions

Configuration

Optimization
functions

HEDA parameter

Interfaces

P247 - P250

immediately

Accessories /
options

• O10 (2) [2] • O11 (4) [3] • O12 (8) [4]
P246 Assign outputs O9 Output (valency) [Bit No]: O9 (1) [1]
O13
(16)[5]
•
O14 (32)[6] • O15 (64)[7] • O16 (128) [8]
- O16 to the HEDA
P246 = sum of valencies of the outputs allocated to the HEDA bus
bus

Status

Output (valency) [Bit No]:

Parameter

Unit

221

Error List:

Meaning

Connector
assignment / cable

Valid
from...

P243 HEDA operation
mode

Minimum Default
Maximum
value
value
value
="0": single axis (when P250=0) or slave on IPM (P250=1 ... 9)
="1": COMPAX as master ="2": COMPAX as slave on a COMPAX master

No.

Technical data

COMPAX parameter

COMPAX-M/S

Appendix
Monitoring and limitation characteristics

10.3.3 Monitoring and limitation characteristics
This section examines the relationships of COMPAX monitoring and limitation characteristics in more detail:
current limit

Structural
diagram:

speed control

current control with

min [IGS, P107*P105,P16*P105] power output stage

...

motor

current reference value

current actual value

rate determination

device supervision

E53

TG
IGnenn

Software

Motor supervision

E53

TM
1,1*IMnenn

Software

E41

power output stage supervision

1,5*IGS

Hardware

IUnom.: unit nominal current

IUP: unit peak current IMnom.: motor nominal current

Dynamic monitoring:
In COMPAX, the nominal current value is limited to the smallest value of the following 3 quantities.
♦ IUP:
♦ unit peak current
♦ P105 * P107: ♦ nominal motor current (P105) * maximum pulse current permitted for the motor (P107)
♦ P105 * P16:
♦ nominal motor current (P105) * maximum permitted (user-set) torque (P16)

Static monitoring
This executes triple monitoring:
Unit monitoring

Motor monitoring

Final stage / short circuit monitoring

222

Using the unit-specific time constant TG, a current greater than
IUnom. is permitted for a specific period; E53 then switches the unit
off.
Using the time constant TM, a current greater than 1.1 * IMnom. is
permitted for a specified period; E53 then switches the unit off.
TM is set so that the pulse current P107 can flow for the period set
in P108.
Absolute monitoring to 1.5 * IUP.

♦ All

errors are indicated by messages on the front plate error LED.

♦ An error number EXX appears in the display. You can modify parameters when an error message is present.
♦ When

you have rectified the cause of the error, acknowledge the error using Enter, Quit or by switching the
unit on again (Power on).
♦ When the LED (error) turns off, COMPAX is ready for operation.
♦ Switch off COMPAX if you are experiencing hardware errors (e.g. short circuit to outputs).
♦ The errors I1...I57 are also reported with the binary output O1="0"; the drive does not accept any
positioning commands and the ready contact is opened.

Unit
hardware
Connector
assignment / cable

10.4 Error handling and error messages

Technical data

Error handling and error messages

No.

Cause

Action

E00 Interruption of a positioning command using STOP / BREAK; is only reported via RS232.

Acknowledge with
Not
necessary

Drive
volt.-free
no

E01 Not configured.
E05 Machine zero initiator not found.
Error is only generated when using
reversing initiators.

Configure.
Check initiator.

Quit

yes

Quit

E07 Calculation error

Check programmed arithmetic.
(more accurate cause shown in the optimizing
display P233/243=39; see Page 133)

Quit

E08 Synchronous STOP present
E09 Drive not running.
E10 Lag error too large.
or
speed difference too great

Check P219
Remove mechanical blockage (tools, foreign bodies).
Check mechanics for smooth operation, reduce load
or feed force or increase P13.
This error message can be turned off by setting
P13="0".
Remove mechanical obstacles or increase P14.
Check configuration and wiring.

Quit

Quit
Quit

no
see
below

Quit

yes

Select data record number between 1...250.

Quit

Select data record number between 1...250.

Quit

Free data record 250.

Quit

Delete data records or entire data record memory.

Quit

Correct target position.

Quit

Correct target position.

Quit

Find machine zero. This must be found after power on.

Quit

Status

Accessories /
options

Quit

with COMPAX 70: Curve number not present.
223

Error List:

Parameter

E11 Programmed position not reached.
E15 Error in 2nd position measuring
system.
E16 The data record number selected
does not exist.
E17 The data record number selected is
too large.64
E18 The maximum data record 250 is
already assigned.
E19 No space available in data record
memory.
E20 Target position beyond positive end
limit.
E21 Target position beyond negative end
limit.
E22 Machine zero is not approached.

Positioning and
control functions

If the specified measures cannot rectify the problem, there may be an electrical defect. Please send
the unit and an error description to HAUSER.

Optimization
functions

errors ≥ E58 are also indicated with the binary output O2="0" (if O2 is configured in this manner, see
parameter P227).

Interfaces

using ramp time P10) and, if specified in the error table, the unit is switched off after this time.

♦ The

Configuration

♦ If COMPAX executes a travel motion, the drive is then decelerated using the programmed ramp time (for E50, E51 and E55

COMPAX-M/S

Appendix
Monitoring and limitation characteristics
No.

Cause

Action

E23 The current command is not allowed. ♦ Positioning command in the speed control mode.
♦ Approach MZ in speed control mode.
♦ Travel command when drive is switched off.
♦ Hand +/- when an error is present.
♦ More than 8 consecutive comparator commands
(preparatory commands) in the data record
memory.
E24 The speed selected is not valid.
Enter speed between 0...100%.
E25 The position selected is not valid.
Note end limits and "Software end limit monitoring"
chapter in variant documentation.
E26 REPEAT without END or GOSUB
Insert END / RETURN command.
without RETURN .
E27 Parameter must not be written.
Check parameter.
E29 Motor values missing.
Send unit to HAUSER.
E30 Hardware fault.
Remove extreme external sources of fault.
E31 Error in parameters.
Check parameter.
E32 Error in parameters.
Check parameter.
E33 Error in program memory.
Check data record memory.
E34 Error in program memory.
Check data record memory.
E35 Hardware fault.
Remove extreme external sources of fault.
E36 Hardware fault.
Faulty or incorrect unit hardware.
E37 Auxiliary voltage +15 V missing.
Switch on again.
E38 Voltage in intermediate circuit too
high; e.g. if braking output is too
high. Limits:
COMPAX 25XXS: >400V
COMPAX 10XXSL: >400V
otherwise: >800V

Quit

Drive
volt.-free
no

Quit

Acknowledge with

Quit

yes

Quit

yes

Quit

Power on

yes

Power on

yes

Quit

yes

Quit

yes

Quit

yes

Check motor and cable for ground fault, short circuit
fault and function; remove extreme external sources
of fault.

Quit

yes

Check resolver cable and connector for correct
connections and faults.
A special error code can be found in channel 67 of
the optimization display. This means
Error No. 1 ... 30: Sensor indicates error
Error No. > 30: COMPAX indicates error
Error No. =160: Sensor level too high
Error No. =161: Sensor level too low
(implement level adaptation using parameter P131)
Check I/O cables, connectors and external circuits.
Note load limits (refer to start-up manual).
Switch unit on again.

Quit

yes

Quit

yes

Power on

yes

Switch unit on again.

Power on

yes

Check +24V DC power unit.
Check +24V DC power unit.

Power on

yes

Power on

yes

Increase braking and idle times / check mains power.
COMPAX 25XXS: external ballast resistance
missing.
COMPAX 45XXS/85XXS: bridges X2/5 - X2/6
missing.
COMPAX 1000SL: Check value P134.
Increase acceleration times.

E39 Temperature too high (>85°), cycle
too hard.
E40 Input "Enable final stage" (45/85S: X3/1-/2; 1000SL X19/24-X19/12, 35XXM: X19/9-/10) not assigned
Only with COMPAX 35XXM, COMPAX 45XXS, COMPAX 85XXS and COMPAX 1000SL!

Note!
With E40 there is no braking delay; the final stage is immediately switched off.
The input has a direct effect on the hardware.
E41 Final stage reports error.
COMPAX 35XXM: Short circuit of the
ballast resistance or undervoltage
24V
COMPAX 1000SL:
Overvoltage or ballast switching
E42 Resolver / sensor error.

E43 Output overloaded.
E44 Positive auxiliary voltage outside
tolerances.
E45 Negative auxiliary voltage outside
tolerances.
E46 Supply voltage +24V is too high.
E47 Supply voltage +24V is too low.

224

Please note: the operating instructions (pages 67 - 171) as well as the application examples (pages
225 - 237) can be found in the complete product manual which is available as PDF file on CD

E65 Encoder error

Acknowledge with

Check resolver cable, motor type and motor / remove Power on
external sources of heat.
Quit
Free mechanics. This error message can be
switched off by setting P13="0".
Check motor cable.
Optimize controller (reduce P23 stiffness).
Move by hand or POSA from limit switch.
see
P217
Move by hand or POSA from limit switch.
Check emergency stop switch contacts.
Check dimensions.
Reduce nominal speed or, if speed is too high due to
harmonies, optimize controller.

Quit

Drive
volt.-free
yes
yes

Quit

yes

Quit

yes

Quit

yes

Check system, then switch unit on again.
Voltage must be at least 2s >320V.
External load too great.
Check system, then switch unit on again.

Quit

yes

Quit

yes

Check mains connection.
Switch off E57 using P218 ="1".
Increase acceleration times.

Quit

yes

Quit

Check encoder cable.

Quit

E76 HEDA synchronisation interrupted

Check physical connection and P249

Quit

E77 HEDA transmission error

Check physical connection and P247

Quit

E78 Successive HEDA transmission
errors

Check physical connection and P248

Quit

Unit
hardware
Optimization
functions

Axis is brought to a stop through speed control.
(switch off using P218)

Connector
assignment / cable

E48 Motor thermostatic switch reports
error.
E49 Motor or drive reports blockage.
Drive remains in the current limit
(P16) for longer than P108
COMPAX-S: speed controller
oscillating
E50 Limit switch 1 activated.
E51 Limit switch 2 activated.
E52 Error in emergency stop circuit.
E53 Motor overloaded.
E54 Speed higher than the maximum
motor speed or higher than P15 *
1.21
E55 External emergency stop.
Intermediate circuit not enabled.
Temperature overload.
E56 Emergency stop directly in
COMPAX-M via X9/6 (switched on
via P219=7)
E57 Voltage in intermediate circuit too
low (<70V).
E58 Temperature is too high (>75°) or
SinCos - temperature error

Action

Technical data

Cause

Configuration

No.

Positioning and
control functions

Error handling and error messages

Re-send the characters

E90 Syntax error; command not valid

Check command structure.

E91 Command cannot be executed in this Check COMPAX status
COMPAX operating mode.

E92 Function running, command cannot
be executed

E93 Data record memory active,
command cannot be executed

E94 Password missing

Accessories /
options

E72 Block Check Character - error or
general fault.

Interfaces

Negative command acknowledgement (only for warnings)

* Quit is not required.
Status

Response to lag error (error E10)
Position controller
COMPAX is switched from position control mode to speed control mode and speed 0 specified. The drive
remains powered. (Does not apply for COMPAX xx60)
The next move command after the error acknowledgement brings the system back to position control.

Parameter

Response to E15
COMPAX is switched from position control mode to speed control mode and speed 0 specified. The drive
remains powered.

Speed controller

225

Error List:

In speed control mode, control is referenced to speed 0.

Application examples

COMPAX-M/S

Overview

11. Application examples
11.1.1 Overview

External data record selection....................................................................................................227
Application:
One of eight various workpieces should be made available at a data collection station. The number of the
desired workpiece is set using a BCD selector switch. The transportation process is then triggered by a
starting pulse.

Mark-referenced positioning.......................................................................................................229
Application:
Pieces with lengths of between 100 mm and 500 mm should be cut from a plate roller. The cut-off
positions are specified by marks on the plate. If two marks are separated by more than 500 mm, the plate
should be pulled back to the last cut-off position.

Speed step profiling / comparator switching points ................................................................231
Application:
A bore spindle should be guided to the surface of the workpiece using a rapid feed movement. The bore
is then bored to a defined depth using a considerably longer feed. When reversing the bore spindle, the
unit should travel at a slow velocity while the drill is still in the bore. The remaining travel to the idle
position is performed at a rapid speed.
The bore spindle should be switched on just before the boring process commences and should be
switched off immediately after it has been removed from the bore. Movement of the conveyor belt should
be blocked for as long as there is a risk of collision between the workpiece and drill.

SPEED SYNC................................................................................................................................233
Application:
Cartons should be transferred from one conveyor belt (conveyor belt A), a belt operating at a very
variable belt speed, to another conveyor belt (conveyor belt C), a belt which has a constant belt speed.
This task should be performed using a transfer belt (conveyor belt B) installed between the two other
belts. This belt receives cartons from conveyor belt A and, when triggered by a pulse, passes them on to
conveyor belt B. In addition to this, when conveyor belt B is assigned, conveyor belt A should be blocked.
Conveyor belt B is controlled by COMPAX.

Speed control mode ....................................................................................................................234
Application:
A centrifuge for manual operation should be operated by an operating mode switch. The centrifugal
process should either be run at a permanently set speed or the test tubes should be removed, one after
another, through the removal aperture. The shutter on the removal aperture must only be able to open
when the centrifuge is at a standstill.

Fast start.......................................................................................................................................236
Application:
Material should be fed to an extender stamping machine which operates at a maximum speed of 150
rpm. The material may only be supplied if the stamping tool is open and if the workpiece (already
stamped) has been thrown up. The material supply should be released or blocked via a switch.

Implementing a torque converters .............................................................................................237
2 options are available for implementing a torque converters.

226

External data record selection

11.1.2 External data record selection
Application:
One of eight various workpieces should be made available at a data collection station. The number of the
desired workpiece is set using a BCD selector switch. The transportation process is then triggered by a
starting pulse.

Assignments:
station station station station station station station station
7
6
5
4
3
2
1
0

removal
station

workpiece pick-up

+960

+840

+720

+600

+480

+360

+240

+120

0 -60

The horizontal movement is implemented using an NC axis controlled by COMPAX. A pneumatic cylinder,
which is controlled by COMPAX using a double solenoid valve, raises and lowers the workpiece pick-up.
COMPAX performs all the functions required without superordinate control.

Wiring up the digital inputs and outputs:
search MZ

+24V

I1
I2
I5
I6

start
stop
BCD-switch
1
2
BCD

+24V

I9
I10
I11
I12
I13
I14
I15
I16

COMPAX

I7
I8

pick-up lifted
pick-up lowered

+24V
+24V

evaluation by
external calling
of command lines

O8
removal
station empty
lower
pick-up

lift
pick-up

Comments:
♦ The inputs I9, I14, I15 and I16 have to be placed on GND or left open.
♦ The BCD switch has eight settings. The outputs are encoded with binary.
♦ The "Data collection station empty" switch is closed when the data collection station is closed. The switch
operation prevents the workpiece pick-up being lowered for as long as there is a workpiece in the data
collection station.

Function:
The first event after COMPAX has been started is the approaching of the data collection station. If the
workpiece pick-up is not lowered, the assumption is made that there is still a workpiece in the workpiece
pick-up. This is deposited in the data collection station by lowering the workpiece pick-up. The system is now
ready for the first transportation process.

227

COMPAX-M/S

Application examples
External data record selection

To move one particular workpiece to the data collection station, the number of the station in question is first
set on the BCD switch. The process is then triggered by a start pulse. To do this, the BCD switch setting
must remain the same until the start of the first axis movement. The lowered workpiece pick-up is positioned
under the station which is specified by the BCD switch. When the workpiece pick-up is raised, the front
workpiece is taken out of the station. The axis returns to the data collection station. The workpiece pick-up is
lowered there. The workpiece is thereby deposited in the data collection station. COMPAX now waits for the
next transportation process.

Programming:
Configuration:
P93 = +1 i.e. normal operating mode (absolute and relative positioning)
Names of inputs and outputs:
I7 pick-up raised
0 # no
I8 pick-up lowered
0 # no
O7 raise pick-up
0 # off
O8 lower pick-up
0 # off

1 # yes
1 # yes
1 # on
1 # on

List of programs:
N001: SPEED 50 ............................................... ;sets the speed
N002: ACCEL 500.............................................. ;sets the acceleration and braking ramps
N003: OUTPUT O7=0 ........................................ ;pick-up raise function = off
N004: OUTPUT O8=0 ........................................ ;pick-up lowering function = off
N005: POSA -60................................................. ;moves to data collection station
N006: IF I8=0 GOSUB deposits workpiece (36). ;if pick-up is not lowered: deposits workpiece
Wait for START: ........................................... ;mark
N007: WAIT START ........................................... ;waits for the start pulse
N008: GOSUB EXT............................................ ;calls up the corresponding inputs I9-I16 for the sub-program
N009: GOSUB raises workpiece (32)................. ;calls "Raise workpiece" sub-program
N010: POSA -60................................................. ;proceeds to data collection station
N011: GOSUB deposits workpiece (36)............. ;calls up "Deposit workpiece" sub-program
N012: GOTO waits for START (7)...................... ;goes to data record N007
........................................................................... ;Link table for external data record selection
N016: POSA 120................................................ ;proceeds to station 0
N017: RETURN.................................................. ;returns to main program
N018: POSA 240................................................ ;proceeds to station 1
N019: RETURN.................................................. ;returns to main program
N020: POSA 360................................................ ;proceeds to station 2
N021: RETURN.................................................. ;returns to main program
N022: POSA 480................................................ ;proceeds to station 3
N023: RETURN.................................................. ;returns to main program
N024: POSA 600................................................ ;proceeds to station 4
N025: RETURN.................................................. ;returns to main program
N026: POSA 720................................................ ;proceeds to station 5
N027: RETURN.................................................. ;returns to main program
N028: POSA 840................................................ ;proceeds to station 6
N029: RETURN.................................................. ;returns to main program
N030: POSA 960................................................ ;proceeds to station 7
N031: RETURN.................................................. ;returns to main program
Raise workpiece : ......................................... ;mark
N032: OUTPUT O7=1 ........................................ ;activates "Raise" solenoid valve
N033: IF I7=0 GOTO 33..................................... ;waits until workpiece pick-up is raised
N034: OUTPUT O7=0 ........................................ ;deactivates "Raise" solenoid valve
N035: RETURN.................................................. ;returns to main program
Deposit workpiece : ...................................... ;mark
N036: OUTPUT O8=1 ........................................ ;activates "Lower" solenoid valve
N037: IF I8=0 GOTO 37..................................... ;waits until the workpiece pick-up is lowered
N038: OUTPUT O8=0 ........................................ ;deactivates "Lower" solenoid valve
N039: RETURN.................................................. ;returns to main program

228

Mark-referenced positioning

11.1.3 Mark-referenced positioning
Application:
Pieces with lengths of between 100 mm and 500 mm should be cut from a plate roller. The cut-off positions
are specified by marks on the plate. If two marks are separated by more than 500 mm, the plate should be
pulled back to the last cut-off position.

Assignments:
label window: range within which labels are detected
POSR
50mm

light
barrier
label

shears

POSR
50mm

A
P37 = +50
initial position

P38 = +650
P39 = +680

P37: minimum distance to label.
P38: maximum distance to label.
P39: maximum feed if no label appears
within the window.

A : position if label
appears at 50mm.
B : position if label
appears at 650mm.

The plate is fed by a roller feed controlled by COMPAX. A reflex light barrier detects the marks on the plate
and reports this to COMPAX. The distance between the light barrier and the shears is 50 mm. The shears
are controlled and monitored by COMPAX.

Wiring up the digital inputs and outputs:
+24V

start
stop

label detected
massage 01 == label
missing

I5
I6
O16
I15
O15

COMPAX

O7
I7
O14
I14
I16

shears

0 = block
1 = activate

shears

0 = block
1 = open

label input

0 = no label
1 = label

shears

light
barrier

Function:
The first event after COMPAX has been started is a rest of the control outputs. Once assurance has been
received that the blades of the shears are open, COMPAX is ready for the initial cutting to length.
The cutting to length process is triggered by a start pulse. COMPAX firstly activates the mark reference (I14)
using O14. After a waiting time of 10 ms (which is used to compensate for any possible COMPAX timing
offset), the mark-referenced positioning process is started using the "POSR 50 mm" command. The mark
input (I16) is approved after a travel distance of 50 mm (P37). If the light barrier now detects a mark,
COMPAX pushes the plate another 50 mm. This distance corresponds to the distance between the light
barrier and the shears and is programmed using "POSR 50 mm". If no mark has been detected after a travel
distance of 650 mm (P38), COMPAX stops the feed movement after a total of 680 mm (P39).
At the end of the positioning process, output O16 indicates whether a mark has been detected within the
mark window or not. This output is queried using I15.
If I15 is at 1 (i.e. mark found), COMPAX sets the message output O15 to 0 and activates the shears. Once
the blades have opened, COMPAX waits for the next start pulse. If I15 is 0 (i.e. no mark found), COMPAX
sets the message output O15 to 1, blocks the mark reference (I14) via O14, pulls the plate back by 680 mm
to the last cut-off position and waits for the next start pulse.

229

COMPAX-M/S

Application examples
Mark-referenced positioning

Programming:
Configuration:
P93 = +2 i.e. continuous operating mode
P35 = +1 i.e. mark reference switched on
P37 = +50 i.e. minimum travel to mark = 50 mm
P38 = +650 i.e. maximum travel to mark = 650 mm
P39 = +680 i.e. maximum feed length, if no marks appear in the mark window = 680 mm
Names of inputs and outputs:
I7 shears
0 # closed
I15 mark
0 # missing
O7 shears
0 # block
O14 mark reference 0 # block
O15 message
0 # mark found

1 # open
1 # found
1 # activate
1 # activate
1 # mark missing

List of programs:
N001: SPEED 50 ............................................... ;sets the speed
N002: ACCEL 250.............................................. ;sets the acceleration and braking ramp
N003: OUTPUT O7=0 ........................................ ;shears = block
N004: OUTPUT O14=0 ...................................... ;mark reference = block
N005: OUTPUT O15=0 ...................................... ;message = mark found
Wait for start: ................................................ ;mark
N006: IF I7=0 GOTO 6....................................... ;waits until shears are open
N007: WAIT START ........................................... ;waits for start pulse
N008: OUTPUT O14=1 ...................................... ;activates mark reference
N009: WAIT 10................................................... ;waits until mark reference is activated
N010: POSR 50 ................................................. ;mark-referenced positioning
N011: WAIT 10................................................... ;waits until mark is missing or set
N012: IF I15=0 GOTO reverses (18).................. ;if mark is missing, reverses plate
N013: OUTPUT O15=0 ...................................... ;sets "Mark found" message
N014: OUTPUT O7=1 ........................................ ;activates shears
N015: IF I7=1 GOTO 15..................................... ;waits until shears are closed
N016: OUTPUT O7=0 ........................................ ;blocks shears
N017: GOTO waits for start (6) .......................... ;goes to data record N006
Reverse: ....................................................... ;mark
N018: OUTPUT O15=1 ...................................... ;sets "Mark missing" message
N019: OUTPUT O14=0 ...................................... ;blocks mark reference
N020: WAIT 10................................................... ;waits until mark reference is blocked
N021: POSR -680 .............................................. ;returns to start point
N022: GOTO waits for start (6) .......................... ;goes to data record N006

230

Speed step profiling / comparator switching points

11.1.4 Speed step profiling / comparator switching points
Application:
A bore spindle should be guided to the surface of the workpiece using a rapid feed movement. The bore is
then bored to a defined depth using a considerably longer feed. When reversing the bore spindle, the unit
should travel at a slow velocity while the drill is still in the bore. The remaining travel to the idle position is
performed at a rapid speed.
The bore spindle should be switched on just before the boring process commences and should be switched
off immediately after it has been removed from the bore. Movement of the conveyor belt should be blocked
for as long as there is a risk of collision between the workpiece and drill.

Assignments:
course command line N011: POSA 200mm
O7 10
O8 10
100

speed
mm/s
0
0

100

position/mm

200

course command line N016: POSA 0mm
O7 10
O8 10
100

speed
mm/s
0
200

100

position/mm

Function:
The feed movement is implemented using speed step profiling. The initial speed is first set to 100 mm/s
using the "SPEED 100%" command (N007). This speed can be used until the start of the boring process.
After a travel distance of 120 mm, the boring begins and the speed should then be 10 mm/s. The "POSR 120
mm SPEED 10%" command (N011) ensures that the speed is reduced from 100 mm/s to 10 mm/s for the
following positioning after a distance of 120 mm. The position as of which the speed is then 10 mm/s
depends on the set braking ramp (N001) and the output speed (N007). This means that braking is initiated
from an appropriate stopping distance from the position where the bore starts.
When returning, the initial speed is set to 50 mm/s (N012) and, as of a travel distance of 70 mm, is
accelerated to 100 mm/s (N013).
The bore spindle is switched on and off with the aid of the comparator switching points. During the feed
movement, the spindle is switched on after a travel distance of 100 mm (N009). By the time the boring
process begins after 130 mm, the spindle must have reached its operating speed. The spindle is switched off
again when returning once the drill has left the bore (N014).
The conveyor belt is blocked for as long as the axis is located at a position of between 25 mm and 200 mm
(N008 and N015).

231

COMPAX-M/S

Application examples
Speed step profiling / comparator switching points

Programming:
Configuration:
P93 = +1 i.e. normal operating mode (absolute and relative positioning)
P94 = +1 i.e. linear ramp shape
SPEED 100% corresponds to 100 mm/s
Names of the inputs and outputs:
O7 bore spindle
0 # off
O8 conveyor belt 0 # block

1 # on
1 # release

List of programs:
N001: ACCEL 200......................................... ;sets the acceleration and braking ramps
N002: SPEED 100......................................... ;sets the speed
N003: POSA 0............................................... ;approaches idle position
N004: OUTPUT O7=0 ................................... ;bore spindle = off
N005: OUTPUT O8=1 ................................... ;conveyor belt = release
Wait for start: ........................................... ;mark
N006: WAIT START ...................................... ;waits for start pulse
N007: SPEED 100......................................... ;sets starts speed to 100%
N008: POSR 25 OUTPUT O8=0 ................... ;sets the comparator point of the "Block conveyor belt"
N009: POSR 100 OUTPUT O7=1 ................. ;sets the comparator point of the "Switch on bore spindle"
N010: POSR 120 SPEED 10 ........................ ;sets the speed steps
N011: POSA 200........................................... ;performs the positioning command with the set procedure
N012: SPEED 50 .......................................... ;sets starts speed to 50%
N013: POSR 70 SPEED 100 ........................ ;sets speed step
N014: POSR 80 OUTPUT O7=0 ................... ;sets the comparator point of the "Switch off bore spindle"
N015: POSR 175 OUTPUT O8=1 ................. ;sets the comparator point of the "Release conveyor belt"
N016: POSA 0............................................... ;performs the positioning command with the set procedure
N017: GOTO waits for start (6) ..................... ;goes to data record N006

232

SPEED SYNC

11.1.5 SPEED SYNC
Application:
Cartons should be transferred from one conveyor belt (conveyor belt A), a belt operating at a very variable
belt speed, to another conveyor belt (conveyor belt C), a belt which has a constant belt speed. This task
should be performed using a transfer belt (conveyor belt B) installed between the two other belts. This belt
receives cartons from conveyor belt A and, when triggered by a pulse, passes them on to conveyor belt B. In
addition to this, when conveyor belt B is assigned, conveyor belt A should be blocked. Conveyor belt B is
activated using COMPAX.

Assignments:
light barrier

conveyor belt A

encoder

conveyor belt B

conveyor belt C

Function:
The first event after COMPAX has been started is the release of conveyor belt A. The system then waits until
the reflex light barrier (on I7) detects a carton (N003). Should a carton be received, the speed of conveyor
belt B is set to that of conveyor belt A (N004). This speed is recorded using an encoder on conveyor belt A
transmitting via the COMPAX encoder interface (channel 1). The positioning command (N005) now starts a
feed movement using the distance which is required to transfer the whole carton onto conveyor belt B. Since
the feed time is always the same as the speed of conveyor belt A, no errors occur due to slip between the
carton and one of the conveyor belts. Once the whole carton has been received, the system waits until I8
reports that the carton has been passed to conveyor belt C (N008). If, during this waiting time, another carton
arrives via conveyor belt A, this is blocked via O7. When the carton is passed on and conveyor belt A is
blocked, the speed of conveyor belt B is set to that of conveyor belt C (N010). The carton is transferred to
conveyor belt C at this constant speed using N011. Conveyor belt A is then released again (N002).

Programming:
Configuration:
Encoder input E2 option
P93 = +2
i.e. continuous operating mode
P98 = 314
i.e. travel per axis per encoder revolution = 314 mm
P143 = 4096 i.e. encoder pulse number = 4096
Names of the inputs and outputs:
I7 receive carton
0 # no
1 # yes
I8 deposit carton
0 # no
1 # yes
O7 conveyor belt A
0 # block
1 # release
List of programs:
N001: ACCEL 200.............................................. ;sets the acceleration and braking ramps
Transfer carton: ............................................ ;mark
N002: OUTPUT O7=1 ........................................ ;releases conveyor belt A
N003: IF I7=0 GOTO 3....................................... ;waits until carton is to be received
N004: SPEED SYNC.......................................... ;sets the speed to that on conveyor belt A
N005: POSR 360 ............................................... ;transfers the carton
N006: IF I7=0 GOTO 8....................................... ;queries whether carton is to be received
N007: OUTPUT O7=0 ........................................ ;blocks conveyor belt A
N008: IF I8=0 GOTO 6....................................... ;waits until carton is to be deposited
N009: OUTPUT O7=0 ........................................ ;blocks conveyor belt A
N010: SPEED 85 ............................................... ;sets the speed to that on conveyor belt C
N011: POSR 350 ............................................... ;deposits the carton
N012: GOTO transfers carton (2)....................... ;goes to data record N002

233

COMPAX-M/S

Application examples
Speed control mode

11.1.6 Speed control mode
Application:
A centrifuge for manual operation should be operated by an operating mode switch. The centrifugal process
should either be run at a permanently set speed or the test tubes should be removed, one after another,
through the removal aperture. The shutter on the removal aperture must only be able to open when the
centrifuge is at a standstill.

Design and wiring up of the digital inputs and outputs:
operating mode:
0 = remove
1 = centrifuge
shutter

light
barrier

+24V

COMPAX

locking
+24V

I10

opening

I9
O7

+24V
test tube

light
barrier

shutter

Function:
The first event after COMPAX has been started is the setting of the accelerating and braking time 10s
(N001). A check is then run to find out whether the shutter is closed (N002). If it is not closed, the interlock is
opened (N003) and the system waits until the shutter is closed (N004). If the shutter is closed, the interlock is
also closed (N005). The interlock is checked for safety reasons (N006). The operating mode switch is then
queried (N007).
If this is set to "Removal", the speed is set to 0.1 % using N008. The system waits until the light barrier is
activated by a test tube (N010). When this occurs, the speed is set to 0 (N011) and the interlock is opened
(N012). The shutter can now be opened to insert or remove a test tube. COMPAX monitors the opening and
closing of the shutter (N013 / N014) to lock this again after the closing (N015 / N016) and to return to the
operating mode query. If "Removal" is still set, the centrifuge is turned further to the next test tube. (N009
ensures that once the speed has accelerated to 0.1% (N008), the system waits until the previous test tube
no longer activates the photoelectric barrier.)
If the operating mode switch is set in the "Centrifuge" position, the centrifuge is accelerated to 100% within
10s (N018). This speed is retained until the operating mode switch is set to "Removal" (N019 / N020). Then,
the centrifuge is decelerated to 0.1% (N008) and stops at the next test tube. The test tubes can then be
removed one after another.

234

Speed control mode

Programming:
Configuration:
P93 = +4 i.e. speed control operating mode
P94 = +2 i.e. smooth ramp shape
Names of the inputs and outputs:
I7 light barrier
0 # not activated
I8 shutter
0 # open
I9 interlock
0 # open
I10 operating mode 0 # remove
O7 interlock
0 # closed

1 # activated
1 # closed
1 # closed
1 # centrifuge
1 # open

List of programs:
N001: ACCEL 10 000......................................... ;sets the accelerating and braking ramps to 10s
N002: IF I8=1 GOTO locks (5) ........................... ;checks whether the shutter is closed
N003: OUTPUT O7=1 ........................................ ;opens interlock
N004: IF I8=0 GOTO 4....................................... ;waits until the shutter is closed
Lock:............................................................. ;mark
N005: OUTPUT O7=0 ........................................ ;closes interlock
N006: IF I9=0 GOTO 6....................................... ;checks whether interlock is closed
Operating mode query:
N007: IF I10=1 GOTO centrifuges (18) .............. ;queries operating mode switch
Remove: ....................................................... ;mark
N008: SPEED 0.1............................................... ;sets the speed to 0.1%
N009: WAIT 500................................................. ;waits 500 ms
N010: IF I7=0 GOTO 10..................................... ;waits until the light barrier is activated
N011: SPEED 0 ................................................. ;sets the speed to 0
N012: OUTPUT O7=1 ........................................ ;opens interlock
N013: IF I8=1 GOTO 13..................................... ;waits until shutter is opened
N014: IF I8=0 GOTO 14..................................... ;waits until shutter is closed again
N015: OUTPUT O7=0 ........................................ ;closes interlock
N016: IF I9=0 GOTO 16..................................... ;checks whether interlock is closed
N017: GOTO operating mode query (7)............. ;goes to data record N007
Centrifuge:.................................................... ;mark
N018: SPEED 100.............................................. ;sets speed to 100%
N019: IF I10=0 GOTO removing (8)................... ;operating mode query
N020: GOTO 19 ................................................. ;goes to data record N019

235

COMPAX-M/S

Application examples
Fast start

11.1.7 Fast start
Application:
Material should be fed to an extender stamping machine which operates at a maximum speed of 150 rpm.
The material may only be supplied if the stamping tool is open and if the workpiece (already stamped) has
been thrown up. The material supply should be released or blocked via a switch.

Assignments:

Function:
range within which positioning can be carried out
210° = 233ms

COMPAX

initiator

1
0
100%

I15

+24V

1.5ms

rotational
speed

disable

0°

90°

180°

270°

360° j

100

200

300

400 t / ms

enable

I15

When the stamping machine runs at an operating speed of 150 strokes a minute, an operating cycle lasts
400 ms. The operating angle (at which the material can be fed) is 210°. 233 ms therefore remain for the feed
movement. To ensure that the necessary drive dynamics are kept within these limits, as much of this time as
possible must be used for the actual feed movement. This is why, the fast START is used here as it has a
response time of only 1.5 ms. The feed movement is triggered by the signal that the initiator (on the eccentric
axis) transfers via the release switch to COMPAX (I15) at an angle of ϕ = 90º.
Once the system has been switched on, COMPAX is started via a start pulse on I5. The values for the
accelerating and braking time are set in N001 and N002, as are those for the feed speed. The positioning
command in N003 is only performed, if a rising flank (from 0 to 1) is detected on I15 (fast START). The time
between the rising flank and the start of the feed movement is 1.5 ms. Data record N004 is used to return to
N003 which ensures that the next positioning command is prepared. This is then performed after a rising
flank on I15.

236

Implementing a torque controller

Programming:
Configuration:
P93 = +2 i.e. continuous operating mode
P94 = +1 i.e. linear ramp shape
P18 = +2 i.e. fast START activated
Names of the inputs and outputs:
I15 fast START
a flank from 0 to 1 triggers the fast START
List of programs:
N001: ACCEL 100.............................................. ;sets the accelerating and braking ramps
N002: SPEED 100.............................................. ;sets the speed
Feed: ............................................................ ;mark
N003: POSR 225 ............................................... ;feed movement (triggered by fast START)
N004: GOTO feed (3)........................................ ;goes to data record N003

11.1.8 Implementing a torque controller
2 options are available:

Using speed control mode
You can attain a defined constant torque in speed control mode using the following setting.
♦ Set a high speed which cannot be reached.
♦ Define the desired torque using P16 in % of the nominal torque (max. 100%).
♦ Switch off errors E10 and E49 using P13=0.
COMPAX tries to reach the specified speed and increases the torque to the maximum permitted torque P16.
This value is maintained regardless of the load.

In position controller mode
♦ Specify

a position which cannot be approached (which is beyond the load position).
the desired torque using P16 in % of the nominal torque (max. 100%).
♦ Switch off errors E10 and E49 using P13=0.
♦ You can now use SPEED to also define the speed at which you can run up to the load (block position).
COMPAX tries to reach the specified postion and increases the torque in the load position to the maximum
permitted torque P16. This value is maintained regardless of the load.
♦ Define

Changing error response:
E49 can also be switched off individually:
E49 occurs when the current (and/or the torque) remains in the limitation for longer than P108.

237

COMPAX-M/S

Index

12. Index
ABB – interface .................178
Absolute positioning ............96
Absolute value function
with standard resolver.......79
Absolute value resolver .......79
ACCEL ................................97
Acceleration and braking
time ...................................97
Accessories and
options ...........................173
overview.........................174
Accuracy .............................65
Accuracy of calculations....115
Acknowledging error
messages .........................71
Activate position
adjustment ......................150
Activating mark
reference.........................100
Actual position ...................207
Actual values Status
values .............................207
Addition .............................114
Advance acceleration
control P26......................130
Advance control
measures ........................129
Advance power control
P70 .................................130
Advance reverse control....130
Advance speed control
P25 .................................130
Ambient conditions ..............65
Analogue rpm
specification for
COMPAX 1000SL.............61
Analogue speed
specification (E7) ............186
Angle difference P161 .........79
Application example
external data record
selection ........................227
fast start .........................236
mark-referenced
positioning......................229
speed control mode .......234
speed step profiling /
comparator switching
points .............................231
SPEED SYNC................233
Applications examples ...226
Applications with
encoder...........................180
Arithmetic ..........................114
Assignment
238

absolute value sensor ......59
EAM4/01 ........................180
HEDA ...............................63
Incremental encoder ........60
Inputs/Outputs..................52
RS232 interface ...............59
X10 ..................................52
X11 ..................................56
X13 ................................186
X13 ..................................60
X14 ..................................63
X16 ..................................59
X17 ..................................55
X6 ....................................59
X8 ....................................52
Authorization of
commands in RS232.......165
Automatic "Position
reached" message ..........160
Avoiding harmonies ...........131
Ballast resistance ....32, 38, 41
Ballast resistors .................193
Baud rate...........................160
BDF1/02 ............................187
BDF2/01 ............................200
Binary data transfer
using RS232 ...................166
Block check .......................161
Block structure of the
basic unit...........................68
Blocking and modifying
teach in functions P211...150
Blocking and modifying
the teach in functions
P211 ...............................164
Brake control .......................51
Braking delay.......................93
Braking operation ................64
Braking power
NMD.................................24
Braking power COMPAX
1000SL .............................41
Branching ..........................108
BREAK handling................111
BRM4 ................................193
BRM6 ................................193
BRM7 ................................193
Bus connection ....................63
Bus data ............................207
Bus parameters
setting ..............................71
Bus systems ......................178
Bus termination .................180
Cable .................................206
Cable laying.........................13

Cable lengths.................... 206
Calculation errors ............. 115
Cam controller .................. 104
CAN-Bus........................... 178
CANopen .......................... 178
CE-compliant ...................... 13
Changes in speed within
a positioning process ..... 101
Command combinations ... 101
Command variants ........... 109
Comparative operations.... 109
comparator switch points .. 101
COMPAX – CD ..................... 9
COMPAX components..... 206
COMPAX 1000SL............... 40
COMPAX 25XXS
converting the front
plates .............................. 33
COMPAX 25XXS
specific technical data ..... 32
COMPAX 25XXS
delivery status .................. 33
COMPAX 25XXS design
in series............................ 33
COMPAX 25XXS flat
design .............................. 33
COMPAX 25XXS unit
features ............................ 30
COMPAX 35XXS unit
features ............................ 26
COMPAX 45XXS/85XXS
connector assignment ...... 39
COMPAX 45XXS/85XXS
unit characteristics ........... 35
COMPAX XX30 ................ 147
COMPAX XX50 ................ 147
COMPAX XX60 ................ 147
COMPAX XX70 ................ 147
COMPAX-25XXS
plan view ......................... 30
COMPAX-M / NMD
direct wall installation ....... 20
COMPAX-M / NMD
indirect wall installation .... 20
COMPAX-M system
network, mains module .... 18
COMPAX-M unit
features ............................ 17
Compensation of
switching delays ............. 104
Components required ......... 14
Conditions for usage ....... 13
Conditions of warranty .......... 9
Configuration ...................... 72
Configuration data .............. 74
Configuration process......... 72

Configuration via PC ...........91
Configuration when
supplied ............................72
Connections to the drive......46
Connector and
connection assignment
COMPAX 25XXS .............30
Connector assignment
COMPAX 25XXS .............34
COMPAX-M .....................21
NMD ................................23
Connector assignment
COMPAX 1000SL.............42
Connector assignment
X13 for COMPAX
1000SL .............................61
Continuous mode ................74
point of real zero ..............78
Control...............................147
Control voltage ............64, 207
CS31 .................................178
Current data record ...........207
Current nominal value .......208
Current requirement ............75
Currents ..............................64
Currents with linear
motor LXR.......................176
Curve memory...................113
D/A - Monitor (D1) ...............58
D/A monitor .........................56
D/A monitor (D1) ...............185
Damping P24 ....................128
Data format .......................160
Data security .........................6
Define encoder
interfaces ........................212
Delta mains .........................66
Diagnosis values ...............207
Digital inputs
Triggering functions .......150
Digital inputs and
outputs
Assignment ....................138
Dimensions COMPAX
1000SL .............................43
Dimensions/installation
COMPAX 25XXS .............33
COMPAX-M .....................20
NMD ................................22
Direct command entry
conditions.......................162
Direction of rotation .............78
Division..............................114
Division remainder.............114
Drive status .......................208
Drive type ............................76
E10....................................225
E15....................................225

E49 ....................................237
E54 ....................................225
E76 ....................................171
E77 ....................................171
E78 ....................................171
EAM...................................188
EAM4/01............................180
Earthing ...............................13
Echo ..................................160
Effective motor load...135, 211
Effective unit load ......135, 211
Electronic transmission......147
EMC measures..................191
Emergency stop ..................44
Emergency stop
characteristics ...................44
Emergency stop input on
COMPAX-M ......................45
Encoder .............................179
Encoder bus ......................182
Encoder cable ...................180
Encoder distributor ............180
Encoder input module........180
Encoder interface ..............179
Encoder interfaces for
COMPAX 1000SL .............61
Encoder module ................180
Encoder position................208
END...................................107
End sign ............................160
Entry buffer........................160
Equipment replacement.......12
Error diagnosis in the
mains module....................25
Error handling ....................110
Error history .......................209
Error program ....................110
Error transmission .............161
EU guidelines ......................13
Executing commands ........160
External contact for
brake control .....................51
External control panel........187
External motors
conditions.........................75
External position
localization ......................136
Fan configuration
COMPAX-M .....................20
Fast start ...................168, 169
Final stage, engaging
and disengaging..............123
Find machine zero .............149
movement process...........81
Free assignment of
inputs and outputs...........143
Front plate operation ...........71
Function codes of
commands ......................159

Function of digital inputs ... 148
Function of outputs ........... 153
Function overview............... 69
Function signs .................. 160
Fuse protection................... 64
Fuse protection
COMPAX 1000SL ............ 41
Fuse protection
COMPAX 2500S .............. 32
Fuse protection
COMPAX 3500M.............. 27
Fuse protection
COMPAX 45/8500S ......... 37
Fuse protection NMD.......... 23
GBK1 .................................. 59
General drive ...................... 77
Global assignment ............ 114
GOSUB............................. 107
GOSUB EXT..................... 110
GOTO ......................... 99, 107
GOTO EXT ....................... 109
Hall sensor commutation .. 176
Hand-held terminal ........... 200
Hardware handshake ....... 160
HAUSER synchronous
motors ............................ 176
HEDA........................ 168, 183
HEDA address .................... 71
HEDA interface ................. 185
HEDA parameters ............ 168
HEDA terminating
connector ......................... 63
HEDA transmission
errors.............................. 171
Higher level of stiffness .... 132
HJ motor ............................. 93
HLE data............................. 77
Housing .............................. 66
HPLA data .......................... 77
I/O assignment of
variants .......................... 147
I11..................................... 136
Idle display........................ 119
IF ERROR ........................ 110
IF ERROR GOSUB........... 110
IF I12=101-1 ..................... 108
IF I7=1 .............................. 108
IF query ............................ 108
IF STOP............................ 111
IFM identification .............. 208
Increments.......................... 74
Individual configuration
of synchronous motors
using Servo-Manager....... 91
Initial start-up ...................... 73
Initializing variables .......... 116
Initiator set ........................ 177
239

COMPAX-M/S

Index
Initiators
connection plan................55
position ............................55
Initiators...............................55
Input connection ..................54
Input I14 ............................100
Input I16 ....................100, 186
Input level............................54
Installation / dimensions
COMPAX
45XXS/85XXS .................36
Installation and
dimensions of
COMPAX 3500M ..............27
Installation arrangement
of the COMPAX-M
mains module ...................18
Interbus-S..........................178
Interfaces ..........................138
Interpreting and storing
commands ......................160
IPM....................................168
IT mains ..............................66

Maximum position P11 ........78
Maximum travel to mark ....100
Measuring error .135, 208, 211
Minimizing lag error ...........131
Minimum mass ....................77
Minimum position P12 .........78
Minimum travel to mark .....100
Modulo...............................114
Moment of inertia.................77
Monitoring..........................222
Monitoring functions ............65
Motor monitoring ...............222
Motor or final stage
temperature too high.......131
Motor output throttle ..........192
Motor throttle .....................206
Motor type ...........................75
Motor type plate...................92
Motors ...............................176
Mounting COMPAX
1000SL .............................43
Multiplication......................114
Multi-turn ...........................184

Lag error....................207, 225
Last error...........................207
Leakage current ..................66
LED display COMPAX
1000SL .............................40
LEDs ...................................10
Length code for cable..........47
Limit switch monitoring ........89
Limit switch monitoring
without locking the
movement .........................89
Limit switch operation..........89
Limit torque P16 ................213
Limit values .......................213
Limitation functions............222
Limits status ......................208
Linear motor ......................176
Linear motor LXR ..............176
LXR ...................................176

Negative command
acknowledgement ...164, 225
NMD output power...............23
NMD20 internal ballast
resistance .........................24
Nominal current ...................92
Nominal currents .................64
Nominal currents with
linear motor LXR .............176
Nominal motor speed ..........93
Nominal torque ....................92
Normal mode .......................74
Number format ..................115
Number of teeth on
pinion ................................77

Machine zero - initiator
(without resolver zero) ......88
Machine zero
comparison .......................83
Machine zero mode.............80
Mains...................................66
Mains module NMD10 /
NMD20 .............................22
Mains power ......................207
Mains supply fuse
protection ....................27, 64
Mark input .........................100
Mark-related positioning ....100
Master output quantity.......169
Maximum feed length ........100
Maximum mass ...................77
240

O5 toggles when speed.....120
Operating hours.................207
Operating mode...................74
Operating mode with two
end initiators......................89
Operators ..........................114
Optimization
control ............................131
Optimization display ..133, 207
Optimizing the controller....127
Option E7 ..........................186
Order .................................208
OUTPUT..............................98
Output buffer .....................160
Output connection ...............54
Output data..........................64
OUTPUT O0 ........................98
OUTPUT O0=... in
program ............................98
OUTPUT O12=1010............98

Output O16 ....................... 100
output O5.......................... 117
OUTPUT WORD .............. 143
Outputs
Load ................................ 54
Override input ..................... 97
P1 ....................................... 78
P100 ................................... 75
P11 ..................................... 78
P12 ..................................... 78
P14 ................................... 117
P143 ................................. 136
P144 ................................. 136
P151 ................................. 132
P17 ................................... 123
P18 ................................... 169
P182 ................................. 210
P184 ................................. 169
P188 ................................. 169
P206 ................................. 184
P213 ................................... 78
P214 ................................. 137
P215 ................................... 78
P217 ................................... 89
P219 ................................. 152
P223 ................................. 145
P224 ................................. 145
P227 ......................... 117, 119
P229 ................................. 119
P23 ................................... 127
P233 ................................. 133
P234 ................................. 133
P24 ................................... 128
P243 ................................. 168
P245 ................................. 145
P246 ................................. 145
P25 ................................... 130
P250 ................................. 168
P26 ................................... 130
P27 ................................... 128
P35 ................................... 100
P36 ................................... 136
P37 ................................... 100
P38 ................................... 100
P39 ................................... 100
P40-P49............................ 109
P50 ................................... 132
P69 ................................... 130
P70 ................................... 130
P71 ..................................... 58
P72 ..................................... 58
P73 ..................................... 58
P74 ..................................... 58
P75 ................................... 136
P80 ..................................... 76
P81 ..................................... 77
P81 - P85............................ 76
P82 ..................................... 77
P83 ..................................... 77

P88......................................77
P90......................................74
P92......................................77
P93......................................74
P94......................................75
P96....................................184
P98....................................136
Parameter assignments ....113
Parameter groups..............212
Parametrization of the
cam controller .................104
Parity .................................160
Part....................................208
Password ............................99
Password input....................70
Password protection............70
Peak current ......................134
PLC data interface.............156
PLC sequential step
tracking ...........................122
Plug and connection
assignment
COMPAX 35XXM ............26
COMPAX
45XXS/85XXS .................35
POSA ..................................96
POSA HOME ..............96, 162
Position monitoring............117
Position of machine zero .....83
POSR ..........................96, 100
POSR OUTPUT ................103
POSR SPEED ...................101
Potentiometer
connection ........................56
Power ..................................64
Power dissipation ................65
Power filter ........................191
Power on .............................73
Power on with motor
switched off.......................72
Power with linear motor
LXR.................................176
Priority ...............................110
Process coupling ...............168
Process interfaces
Configuration options
for COMPAX 1000SL........61
Process interfaces for
unit variants ......................60
Process velocity ..................97
Profibus .............................178
Program control
data record selection .....110
Data record selection109, 110
WAIT START .................109
Program jump....................107
Program loop.....................108
Proper use.............................8
Pulse current .......................93
Pulse current time ...............93

Querying status values
via the front plate ..............71
Ramp shape ........................75
linear ................................76
quadratic ..........................76
smooth .............................76
Ramp time .........................102
Read and write program
sets and parameters
via RS232 .......................163
Read the status values
via RS232 .......................163
Readiness ...........................44
Ready contact .....................45
Real zero .............................81
Reduction of dynamic
lag error ..........................130
Reference systems
example ...........................80
Relative positioning .............96
REPEAT ............................108
Repeat counter ..................207
Resolver / SinCos
assignment........................46
Resolver type ......................93
RETURN ...........................107
Return jump to main
program ..........................107
Round table control ...........147
RS232 ...............................160
Example in Quick-Basic .161
RS232 data .......................207
RS232 interface
parameters......................160
RS485 ...............................178
S1 ......................................183
S1/2/3 assignment X12 .......46
S13 ....................................133
S14 ....................................133
S15 ....................................210
S16 ....................................209
S17 ....................................209
S18 ....................................209
S2 ......................................184
S3 ......................................176
Safe working practices ..........8
Safety chain.........................44
Safety chain and
emergency stop
functions ...........................44
Safety instructions ..............8
Saturation characteristic
curve .................................93
Screened connection of
motor cable
COMPAX 25XXS .............31
COMPAX-M .....................19

Sensor position................. 207
Sequential step tracking ... 122
Service D/A monitor.......... 124
Service D/A monitor (D1).... 56
Servo-Manager ................. 200
Setting multiple digital
outputs ............................. 98
Setting/resetting outputs ..... 98
Setting/resetting outputs
within positioning............ 103
SHIFT ............................... 148
SHIFT ............................... 148
Short circuit monitoring ..... 222
Signal procedure during
status query via PLC
interface ......................... 159
SinCos .............................. 183
Slave input quantities ....... 169
Software date ................... 208
Software handshake ......... 160
Software handshake ......... 161
Software version ....... 1, 7, 208
Specifying point of real
zero P1 (RZ)..................... 78
Specifying software end
limits................................. 78
Specifying the limit
switch position P216 ........ 89
Speed ............................... 208
SPEED ............................... 97
Speed control mode ........... 74
direction of rotation.......... 97
Speed control mode,
special features .............. 120
Speed monitor .................. 132
Speed monitoring in
speed control mode........ 120
Speed step profile............. 102
Speed step profiles ........... 101
SPEED SYNC .................... 99
SSK1 .................................. 59
SSK14 ................................ 63
SSK15 ................................ 63
SSK6 ................................ 188
SSK7 ................................ 180
Standard commands .......... 96
Standard delivery................ 66
Standard parameters ........ 212
Start-up
flow chart......................... 11
Status bits......................... 208
Status bits 1...................... 207
Status monitor .......... 207, 210
Status values .................... 207
Step direction input for
COMPAX 1000SL ............ 61
Stiffness P23 .................... 127
STOP................................ 149
Stop bit ............................. 160
STOP handling ................. 111
241

COMPAX-M/S

Index
Stop program ....................112
Sub-program .....................107
Subtraction ........................114
Supply status.......................10
Supported resolvers ............64
Switch off.............................98
Switch off drive unit .............98
Switch status .....................208
Switching delays ...............104
Switching off ........................72
Switch-on status ...............10
Synchronization errors ......171
Synchronizing to
external velocity ................99
Synchronous cycle
control .............................147
Synchronous STOP
using I13 .........................151
System concept.................173
Table of contents................2
Target position ..................207
Teach in real zero..............149
TEACH position.................164
Technical data .....................64
Technical data / power
features
NMD ................................23
Temperature......................207
Terminal boxes....................46
Terminal module................188
Test / control .......................56
TN mains .............................66
Toggling when position
is reached .......................117
Tooth pitch ..........................77
Torque...............................207
Torque converter .......226, 237
Transmission errors...........171
Transmitting control
instructions via RS232 ....164
Travel cycle .......................207
Travel per motor
revolution ..........................77
Type plate .............................7
Unit....................................208
increments .......................74
Unit......................................74
Unit assignment ....................7
Unit designation ................208
Unit designations...............208
Unit family .........................208
Unit monitoring ..................222
Unit technology ...................15
Unit wiring COMPAX
1000SL .............................41
V0-V49 ..............................109
Variable voltage ................124
242

Variables ...........................114
Variables V51 ... V70.........114
Velocity..............................207
Velocity specification,
external .............................99
Version ..............................208
Vibrating at higher
frequencies .....................131
Voltage ..............................124
VP parameter, modifying
OnLine ............................212
WAIT .................................107
WAIT START.....................109
Waiting time.......................107
Weights ...............................66
Whole number division ......114
Wiring up mains power /
control voltage
COMPAX 25XXS .............32
COMPAX 45/85S .............37
COMPAX-M .....................19
Wiring up motor
COMPAX 25XXS .............31
COMPAX 45/85S .............37
Wiring up the motor
COMPAX-M .....................19
Wiring up the system
network .............................18
Word length .......................160
X12 ......................................46
Zero point shifting ................83

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Parker Products Compax M S L Users Manual

COMPAX-M /-S (L) COMPAX_UG_V6.26_Oct_2001

COMPAX-M -S (L) to the manual 705d6290-6aa1-428d-8736-0389ca516865

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