Artisan Technology Group | MDR | Specifications | Artisan Technology Group MDR Specifications

Artisan Technology Group MDR Specifications
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COMPAX-M/S
Compact Servo Controller
Catalogue 192-040011 N18 / UK
Version 18 / April 2001
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
192-040011 N18
COMPAX compact servo controller
Automation
2
Parker Hannifin GmbH
Electromechanical Division
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
192-040011 N18
COMPAX compact servo controller
Contents
C O M P A X c o m p a c t s e r v o c o n t r o l l e r .................................................. 4
COMPAX application examples ...................................................................................... 5
COMPAX - modern control technology ... ...................................................................... 6
System features................................................................................................................ 7
C O M P A X - f a m i l y ........................................................................................ 8
COMPAX 1000SL .............................................................................................................. 8
COMPAX 25XXS ............................................................................................................... 9
COMPAX 45XXS/85XXS ................................................................................................. 10
COMPAX-M ..................................................................................................................... 11
COMPAX 35XXM............................................................................................................. 13
A c c e s s o r i e s / o p t i o n s ............................................................................ 14
Software tools................................................................................................................. 14
Operating panels ............................................................................................................ 14
Hand-held terminal......................................................................................................... 14
HEDA interface (Option A1/A4) .................................................................................... 14
Parker servomotors ....................................................................................................... 14
E M C m e a s u r e s ........................................................................................... 15
AC surge filter................................................................................................................. 15
Motor output filter .......................................................................................................... 16
External ballast resistors............................................................................................... 17
C O M P A X s o f t w a r e v a r i a n t s ................................................................. 18
COMPAX XX30: round table control ............................................................................. 18
COMPAX XX50: synchronous cycle control ................................................................ 19
COMPAX XX60: electronic gearbox.............................................................................. 20
COMPAX XX70: electronic cam control ....................................................................... 21
T e c h n i c a l d a t a ........................................................................................... 25
C O M P A X o r d e r c o d e ............................................................................... 28
O r d e r c o d e f o r a c c e s s o r i e s ................................................................ 29
Automation
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Parker Hannifin GmbH
Electromechanical Division
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
192-040011 N18
COMPAX compact servo controller
COMPAX compact servo controller
- Positioning control and servo amplifier in one unit Mains power module
NMD10: Up to 3*500V AC • 10kW / 20kW
NMD20: Up to 3*500V AC • 20kW / 40kW
COMPAX 85XXS
Up to 3 * 500V AC
8.5kW / 17kW
12.5A / 25.0A
COMPAX 25XXS
1*230V AC /
3*230V AC
2.5kW / 5kW
6.3A / 12.6A
COMPAX 45XXS
Up to 3 * 500V AC
4.5kW / 9kW
6.5A / 13.0A
COMPAX 10XXSL
1*230V AC
1kW / 2kW
2.5A / 5.0A
COMPAX 35XXM
Up to 3 * 500V AC
35kW / 70kW
50A / 100A
COMPAX P1XXM: 3.8kW / 5.9kW • 5.5A / 8.5A
COMPAX 02XXM: 4.5kW / 5.9kW • 6.5A / 8.5A
COMPAX 05XXM: 8kW / 11.8kW • 11.5A / 17A
COMPAX 15XXM: 17kW / 34kW • 25A / 50A
The COMPAX family
Nominal data / peak data
The COMPAX compact
servo controller ...
Typical fields of application ...
integrates the following functions
into one single device:
• Operation of synchronous and
asynchronous motors.
• Operation of 3-phase synchronous linear motors.
• Control of motion and peripherals
• Closed loop control of speed /
power / position.
• Power output stages:
1.0kW to 35kW
• Communication via several interfaces
• Power input:
• from central power unit, or
• directly from 230V AC or up to
500V AC
• Program memory with 250 data
locations
The hardware does not need to be
changed when using different motor types - digitally set parameter
values are simply re-programmed.
Examples of the applications for
this advanced technology are:
• Assembly systems e.g. rotary
tables, continuous assembly
conveyors
• Special-purpose machines
e.g. dosing units, electronic
gearboxes
• Handling systems e.g. palettising, feeding, removal
• Machine tools e.g. tool positioning, synchronous machining,
tool drive
• Textile machines e.g. material
covering, cutting & sewing
• Packaging machines e.g.
roller feed, electronic cams,
main drives
• Production machinery e.g.
flying saws, coiling, rotating
cutters
• Measuring and testing e.g.
sensor positioning, continuous
path control.
The control technology...
of COMPAX compact servo
control units offer the following
advantages over separate
hardware for position, speed
and torque control:
• rapid, simple and safe parameter setting and start-up
• fast and stable control direct
from the factory
• low peak torque requirements
and better tracking characteristics (reduced following error)
• only two independent optimisation parameters for the three
control loops
• central digital control of all
components from the power
output stage to the set point
generator
• less cabling with reduced susceptibility to faults.
Subject to technical change. Data represents the technical status at the time of closing the press.
Automation
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Parker Hannifin GmbH
Electromechanical Division
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
192-040011 N18
COMPAX compact servo controller
COMPAX application examples
Transverse stop adjustment in material
feed
Gantry robots
Longitudinal stop adjustment
Rolling out films
Angled beam saw
Mark-related cutting to size
Processing while in motion
Electronic cam control
perforating
Automation
5
welding
Parker Hannifin GmbH
Electromechanical Division
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
192-040011 N18
COMPAX compact servo controller
COMPAX - modern control technology ...
Project planning and starting up a servo control
unit
Equipment technology for decentralised motion
tasks
COMPAX has access to all system-related parameters, such as motor type, intermediate circuit voltage,
motor currents, external moment of inertias, output
stage temperature etc. Automatic control parameter
setting and the application of progressive control
concepts such as monitor control and adaptive control are only possible once these parameters have
been accessed. The information obtained by integrating motion control and the entire control system into
one unit is used for fine tuning between closed loop
and open loop elements of the control system. This
leads to increased dynamic performance and greater
stability with reduced peak currents and torques. A
special signal processor uses a cycle time of 100 microseconds to ensure rapid closed loop control. As a
result, the drive unit has the best possible servo
characteristics with regard to dynamic performance,
stiffness and the peak torque available.
control technology Conventional control technology
Drive data
Dimensioning of drive
Production of controller
- Motor type
- Gearing data
- Drive type
- Minimum mass
- Maximum mass
Assembly and
wiring of controller
and motor
Automatic
parametrization
fast and stable
Drive data
Production of controller
Assembly and wiring
Connection of test
instruments of controller and motor
POWER ON
Data flow for
parametrization
Empirical adjustment
of control parameters
(P - I - D)
drive oscillates,
too soft,
not robust enough
Test run
POWER ON
Empirical setting of
position controller
(P)
Possibly:
Adjustment to meet
special needs by
optimizing parameters
- Attenuation
- Stiffness
Fast and stable
is a perfect description of the guiding principle employed in all Parker Hannifin, Electromechanical Division digital controllers. The intelligence of our controllers avoids the costly and time-consuming problems often experienced when starting up and configuring a servo drive. Users will find that the experience and knowledge gained from 30 years of practical work in the drive control field have been implemented in the hardware and software used in the
digital COMPAX servo controllers. Users no longer
need to have a lot of experience of control systems.
Modern methods, such as monitor and adaptive
closed loop control are used by Parker Hannifin,
Electromechanical Division to continue improving the
performance and options available on servo-controllers.
Positioning axis
fully functional
Excessive
contouring errors
or drive oscillates,
too soft,
not robust enough
Test run
Conversion of travel increments to travel units
axis fully
functional
Digital closed loop control
Power, speed and position are controlled by
COMPAX in a totally digital manner. Digital signal
processors (DSPs) impressively satisfy the requirement for computing capacity needed for software algorithms. The DSP is the technically highly developed, universal platform required to implement functions such as nominal value generation, synchronisation, slip compensation, fine interpolation as well as
rapid motion programs. The digital signal processor
forms the "heart" and the "main switching unit" of
modern servo control units. Increasing computing
output and memory sizes ensure transparency for
future trends and further developments.
The Parker Hannifin, Electromechanical Division,
has been implementing the flexible access periphery
for over ten years using specific ASIC.
Today, DSP and ASIC provide the conceptual basis
for the most efficient solution in terms of control
quality and the most favoured solution in terms cost.
Other advantages of purely digital closed loop control:
• no analogue operating element, i.e. no drift.
• reproducible controller parameters, since these are
stored digitally.
• customer-specific modifications can be made to the
software
Automatic control parameter setting
All the data needed to set the controller, such as
external moments of inertia, motor type, transmission
ratio etc., is entered directly in the servo control unit.
The intelligent servo control unit automatically calculates the optimum controller parameters. When
first activated, all control loops operate in a fast and
stable manner straight away. A large number of parameters no longer have to be compared using a
process intensive both in terms of time and practical
knowledge. The automatic control parameter setting
process considerably reduces the number of controller parameters requiring setting.
At the most, only two unrelated optimisation parameters (damping / rigidity) still have to be adapted to
the relevant application.
Automation
Dimensioning of drive
6
Parker Hannifin GmbH
Electromechanical Division
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
192-040011 N18
COMPAX compact servo controller
System features
The benefits
tion-related commands for specifying the speed, position, acceleration, etc. are all available. For more
information, see the following sample program:
When using integrated process control in the compact COMPAX servo control unit, the superordinate
process control unit is relieved of all motion-related
control tasks. Many applications allow for standalone
operation. Using compact servo control units reduces the costs and complexity of superordinate
control systems. Considerable savings can be made
in the cabling as well as the control cabinet. The machine can be started up faster and in a considerably
simpler manner.
1:
ACCEL 250
Acceleration time 250ms
2:
SPEED 80
Velocity 80%
3:
P010=P040*2.75 Multiplication
4:
P005=P005/2
Division with parameter assignment
5:
V002=P041+20
Addition with parameter
6:
V001=S1+17
Addition with status and variable
assignment
7:
REPEAT 10
Conditional wait loop 1s
Open communication
Parker Hannifin Electromechanical Division provides
engagement of the servo control unit by all leading
field bus systems. A motion bus as well as inputs
and outputs also form part of the goods available, as
do visual display elements:
• RS232 (interface for parameter setting and open
loop control).
• HEDA – real time input bus
• Interbus S

• Profibus DP and FMS (supported by Simatic S7 –
module)
• CAN bus / CANopen
8:
IF E7=1 GOTO 13 Check if input E7 is at logic 1
9:
WAIT 100
Wait time 100ms
10:
END
End of REPEAT loop
11:
OUTPUT A7=1
Set output; no positioning
12:
GOTO 17
13:
POSA 1250
Positioning
14:
OUTPUT A8=1
Turn on output A8 for 500 ms
15:
WAIT 500
16:
OUTPUT A8=0
17:
END
• CS31 - system bus
All commands are processed in sequence (sequential programming). Program implementation can be
broken off (interrupt) at any time via the "Break" signal. The axis is braked using with deceleration time
set. The program can be continued from another
point.
• 16 (8) binary inputs and outputs for status and program control
• Universal programmable controller data interface
via binary inputs and outputs
• 3-digit, 7-segment display for error and status information (not available with the COMPAX 1000SL)
and LED status display
Position recording
Rotational and linear synchronous and asynchronous motors are supported. The following systems
are used for position recording:
• Resolver (standard).
• Sine-cosine sensor (single turn; multi-turn)
Option S1 or with programmable reset route option
S2.
The following are also supported:
• Linear servo motors with sine-cosine sensors combined with Hall effect sensors for commutation
(COMPAX – option S3).
If there are angle deviations between the motor and
load (slip), the load position can also be recorded via
an external encoder for optional correction.
The control system
in the basic COMPAX unit is designed perfectly for
the technical control requirements of a servo axis.
Special control commands are implemented in the
various unit variants for synchroniser or gearbox
functions.
Up to 250 structured motion commands can be
saved in the internal program memory. The open
loop control of the program procedure can be influenced via serial interface or binary I/O's.
The structure of the order commands has been kept
simple and is based on the well-known programming
language BASIC. Program control instructions, comparator functions, setting / resetting outputs and mo-
Automation
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Parker Hannifin GmbH
Electromechanical Division
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192-040011 N18
COMPAX 1000SL
COMPAX - family
Housing technology:
The housing and heat sink are designed to prevent the following 3 major problems occurring in the servo drive
and control system.
♦The fully-enclosed metal housing provides shielding against electromagnetic interference
♦The generously proportioned heat sink prevents overheating and increases service life
♦Large surface contact with the rear panel provides good high frequency grounding
COMPAX 1000SL
Device
X14
HEDA
Input
+ -
10XXSL
X14/X15
HEDA
Out
X4
HEDA
PE
+
-
Regeneration mode
+
Brake
Motor
W PE
• Storable energy: 660µF/17Ws
• External ballast resistance: 100Ω / 60W continuous /
253W for >1s (10s cooling period)
For external ballast resistors, refer to page 16.
X1 Motor and
motor brake
U
V
1
Typical AC mains: 230V ±10%
Installation and dimensions
145,5
X15
In
X14
HEDA
Input
+ -
HEDA
X1
-
Brake
W PE +
V
U
Motor
Resolver
PE
N
L1
230 V AC
X2
X19
Input / Output
COMPAX - SL
197,5
+
-
R Dump
PE
X4
Out
X7
Fieldbus Out
X12
Fieldbus In
X13
Encoder
206,5
180
24 V DC
Limit Switch
RS232
X5
Connection PE -
X3
X17
H1
X2 230V AC
Voltage supply
H2
16
5
85
X6
PE
N
L1
230 V AC
X2
Input / Output
5
• 1*100V AC-1*250V AC; 45-65Hz
X1
X19
2.5
Power
[kVA]
Power supply (limit values)
X19 Input/
Output
COMPAX - SL
Nominal cur- Peak current
rent [Aeff]
[Aeff] <5s
COMPAX ..
In
X3
X15
H2
X7
Fieldbus Out
R Dump
X3 24V DC
Voltage suppply
X4 Ballastresistor
Resolver
X12
Resolver
Encoder
X13
Encoder
Output data
X12
X13
Bussystems:
X5 IN
X7 OUT
Fieldbus In
X17
Initiators
X5
X6 RS232
24 V DC
RS232
Limit Switch
X6
X17
H1
Connector assignment
174
55
183
Fastening: 3 M4 Allen screws
Installation distance: 100mm
Automation
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Electromechanical Division
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192-040011 N18
COMPAX 25XXS
COMPAX 25XXS
Connector assignment
Regeneration mode
• Storable energy: 1100µF/27 Ws
• External ballast resistance: 56Ω / 180W
For external ballast resistors, refer to page 16.
COMPAX-S
Status Number
Value
-
+
Ready
Enter
Installation and dimensions
Error
The two retaining plates supplied can optionally be
attached onto the back or the heat sink side.
X6
X6 RS232
RS 232
X8
X8 input
/ output
X10
X10 digital input
and output
Input
Side by side mounting
The left-hand side of the heat sink is fastened to the
unit. This is fastened to a metal wall using 2 retaining
plates.
Output
X9 test
X11 control
Test
Status when delivered:
Control
X9
X11
X14 HEDA
X15 HEDA
X17 initiatoren
98
30
X16 absolute
16
65
X13 encoder
10
130
X12 resolver
COMPAX-S
X18 fan
Status
Number
221
Value
-
Plan view:
+
271
Enter
Ready
Error
RS232
AC
3 x 230V AC
PE PE
L3
L2 N
L1 L
X2
+
X3
X3/
2
1
X1/
8
7
6
5
4
3
2
1
+
PE
W
V
U
X4/
3
2
1
PE
BB+
X11
98
AC
supply
Fastening: 4 M6 Allen screws
Installation distance: 135mm
24V DC
supply
Flat design by converting front flange mountings
X1 motor and
motor brake
The left-hand side of the heat sink is fastened to the
unit. It is fastened to a metal wall using 2 retaining
plates.
220
X4 Ballast
resistor
17
186
30
65
F19
3.16 AT
Control
X9
65
0V
X2/
4
3
2
1
Output
Test
10
L1
230V AC +10%
1 x 230V AC max.
line to line voltage
X7 Bus systems
OUT
L2
230V AC
Input
!
23
X5 Bus
systems IN
X10
L3
X8
AC
0V
23
290
270
240
X6
S ta tu s
N um be r
COMPAX-S
Output data
Value
-
Power
[kVA]
+
R ea dy
131
181
E n ter
E rro r
290
X6
270
COMPAX ..
Nominal cur- Peak current
rent [Aeff]
[Aeff] <5s
240
Device
R S23 2
X8
at mains supply: 230V AC
X 10
In p u t
O u tp u t
25XXS
6.3
12.6
2.5
T e st
C o n t ro l
Power supply (limit values)
• 3*80V AC - 3*250V AC; 45 - 65 Hz
1*100V AC-1*250V AC; 45-65Hz
X11
65
X9
95
186
Typical AC mains: 1(3) * 230V ±10%
Automation
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Parker Hannifin GmbH
Electromechanical Division
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192-040011 N18
COMPAX 4500S / COMPAX 8500S
COMPAX 45XXS/85XXS
Connector assignment
Installation and dimensions
325
275
65
24
125
77
DIGITAL
Status
Number
DIGITAL
Ready
ENTER
395
351
+
378
Value
-
Error
X6 RS232
RS232
X6
Input
Output
X8
X9 test
X10
Test
Control
X9
X11 Control
X11
X13 encoder
X12 resolver
X14 HEDA
X16 absolute
X18 reserved
11
X10 digital input
/ output
Output
65
Input
X8 digital input
/ output
Fastening: 4 M5 Allen screws
Installation distance: 135mm
ext. supply
X15 HEDA
output
motor
X17 initiators
Output data for individual units
Device
COMPAX ..
Plan view COMPAX 45XXS / 85XXS
X2
RD
TD
L1
L2
L3
Power
[kVA]
at mains supply: 400V AC
45XXS
85XXS
HV
Nominal cur- Peak current
rent [Aeff]
[Aeff] <5s
6.5
12.5
13.0
25.0
4.5
8.6
13.0
25.0
4.5
8.6
at mains supply: 460V AC
Ballast
resistor
45XXS
85XXS
AC
supply
5.4
10.5
Power supply (limit values)
Connexion
PE 10mm2
• 3*80V AC - 3*500V AC; 45-65Hz.
Typical AC mains: 400V ±10%; 460V ±10%; 480V ±5%.
X7 RS485 OUT
Regeneration mode
X5 RS485 IN
• Storable energy:
COMPAX 45XXS: 330µF / 52Ws
COMPAX 85XXS: 500µF/80 Ws
• Internal ballast resistor: 300W continuous/3kW for
<1s (20s cooling time).
• External ballast resistance: 22Ω/450W
For the external ballast resistors available, please
refer to page 16.
Automation
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Electromechanical Division
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192-040011 N18
COMPAX-M
COMPAX-M
(COMPAX P1XXM, COMPAX 02XXM, COMPAX 05XXM, COMPAX 15XXM)
Power supply
Connector assignment.
The power is supplied via a central mains module;
NMD10 or NMD20 (refer to page 12).
With the component EAM5/01, available as an accessory, DC voltage can be supplied:
Input voltage range: 100V DC – 650V DC.
When in regeneration mode, the DC bus voltage
must be limited to 750V DC.
COMPAX-M
X1 motor
X2 intermediate loop
power connections
X3 24V control voltage
S ta tu s
X5 control- and
status- signal
bus-signals
input
X4 control- and status
signals / bus signals
or short circuit plug
Num ber
Installation / dimensions
V alu e
-
+
R ead y
Direct wall installation
E n te r
E rro r
X6
X6 RS232
02XXM, 05XXM,
15XXM, NMD10
& NMD20
P1XXM
85
75
50
60
49
R S 232
X8
X 10
10
40
X10 Input / Output
10
40
X8 Input
/ Output
390
340
65
In p u t
COMPAX-M
96
COMPAX-M
O u tp u t
X9 Test
X11 Control
Test
DIGITAL
DIGITAL
C o n tr o l
S ta t u s
X9
N um be r
S t a tu s
N um b er
X 11
V alue
X15 HEDA
X17 initiators
E n te r
R ead y
450
430
364
X13 Encoder
X14 HEDA
X16 absolute
encoder
X18 fan
450
430
364
X12 resolver
Value
-
E rror
+
R ead y
E n te r
E rro r
X6
R S 232
X8
X10
RS232
X10
X8
In p u t
Input
O u tp u t
Output
T est
Test
C o n tro l
Control
X11
65
31
X9
50
Attach with four 6-mm
hex-socket-head-screws
Fan configuration:
Installation distance: 86mm / 61mm
Units without fan:
COMPAX 02XXM, NMD10,
NMD20
Indirect wall installation (not for COMPAX
P100M)
Output data for individual units
Device
Nominal
COMPAX .. current
[Aeff]
Peak current
[Aeff] <5s
Power
[kVA]
82
50
COMPAX-M
DIGITAL
8.5
8.5
17.0
50.0
3.8
4.5
8.0
17.0
S t a tu s
N u m b er
Valu e
441,5
424
5.5
6.5
11.5
25.0
96
mounting
plate
at mains supply: 400V AC
P1XXM
02XXM
05XXM
15XXM
294
244
85
50
-
+
R eady
E n ter
424
408
Units with fan:
COMPAX P100M, COMPAX
05XXM, COMPAX 15XXM
Attach with two 6-mm
hex-socket-head-screws
E rro r
X6
R S 232
X8
X10
In p u t
O u tp u t
at mains supply: 460V AC
P1XXM
02XXM
05XXM
15XXM
4.5
5.4
9.6
21.0
Automation
T e st
C o n tro l
X9
8.5
8.5
17.0
50.0
3.8
4.5
8.0
17.0
X 11
50
50
mounting
plate
For the angle required, please refer to designation
MST2.
11
Parker Hannifin GmbH
Electromechanical Division
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192-040011 N18
NMD mains module
Central mains power module
Technical data
One mains power module can supply a number of
COMPAX-M controllers (up to type 15XXM) with different power ratings. The total load must not exceed
the rating of the mains power module. The total load
is calculated from the number of axes running simultaneously and their respective power outputs. It
should be noted here that not all axes will normally
be running simultaneously at rated torque and rated
speed.
The following functions are contained within the
mains power module:
• Creates DC power for direct-on-line operation
(560V DC from 3 x 400V AC).
CE conformity
• EMC susceptibility/emissions in accordance with
EN61800-3.
• Safety: VDE 0160/EN 50178.
Output rating
• AC surge filter
• Ballast resistors
• A separate external supply is required for the 24V
DC control voltage.
L2
L3
PE
24V
PE
+
-
PE
PE
X2
+LS
-LS
-LS
24V
+
+
X3
-
X4
Ready
X2 power intermediate loop
Ready contact: 0.5A; 60V; 30W.
Thermal protection
• 85°C heat sink temperature triggers an emergency
stop; the Ready contact drops out.
IN
Overvoltage limitation
• Energy returned to the system during braking is
stored in the supply capacitors. The capacity and
storable energy is: 1100µF/173Ws
If the energy returned causes overvoltage, the internal power dump will turn on.
Error
X6
X7
RS 485
OUT
40 kW (<3s)
Control voltage
• 24V DC ±10% • Fuse protection: 16A • Ripple:
<1Vp-p
X4 control- and
status-signals
Bus signals
continuation
X6 bussystems IN
20 kW (<3s)
20 kW
voltage supply
3*(80-500)V AC/
X1 24V CC
X3 control
voltage 24 V
24V
-
10 kW
NMD20:
• Range 80V AC - 500V AC • All mains configurations may
be used
Typical AC mains: 400V ±10%; 460V ±10%;480V ±5%
X1
+LS
NMD10:
Mains power
• Nominal 3x400V AC +10% -15% • 45Hz – 65Hz
View and assignment of
mains modules NMD10 and NMD20
L1
Peak output
Mains supply fuse protection
• NMD10/NMD20: 20A/35A K circuit breaker or
16A/35A Neozed conventional fuse.
The power voltage and the auxiliary voltage are supplied from the mains power module. The bus connection for the DC power, for the 24V auxiliary voltage and an internal bus connection for control signals
run on the top front model side.
Power Supply
Nominal output
X7 bus-systems
OUT
X8
X8 Control
Control
X18 fan
Regenerative power
rating
Lasts
for
Cooling down
time
NMD10
17 kW
2.8 kW
Without fan: 120W
With fan: 250W
<0.1s
>10s
<1s
>20s
unlimited
unlimited
NMD20
10 kW
1.7 kW
Without fan: 120W
With fan: 200W
<0.1s
>10s
<1s
>20s
unlimited
unlimited
External ballast resistors are available for
NMD20 (refer to page 16).
Automation
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192-040011 N18
COMPAX 3500M
COMPAX 35XXM
Connector assignment
Output data
Unit
Nominal cur- Peak current
rent [Aeff]
[Aeff] <5s
COMPAX ..
COMPAX-M
Power
[kVA]
at mains supply: 400V AC
35XXM
35XXM
S ta tu s N u m b e r
+
IN
X6
X6 RS232
R S 232
OUT
X19
Control
X19
X8
X8/X10 In-/
Output
O u tp u t
Mains supply fuse protection
Test
X13
Encoder
35.0
• Other COMPAX-M controllers can be linked sequentially up to a rating of 15KW.
X10
In p u t
Control
X9 Test
100.0
• 3 x 250V – 3 x 500V AC; 45 - 65 Hz.
Typical AC mains: 400V ±10%;
460V ±10%; 480V ±5%
R e ad y E rro r
X7
X11 Control
C o n tro l
X9
42.0
E n te r
H1
X5
35.0
Voltage supply range
V alue
-
100.0
at mains supply: 460V AC
Digital
Bus
systems:
X7 OUT
X5 IN
50.0
62A K circuit breaker or suitable Neozed conventional
fuse.
X14/X15
HEDA
X11
X12
Resolver
X17 Initiators
Regeneration mode
X16 Absolute
encoder
• Storable energy: 3450µF/542 Ws
• External ballast resistance: 10Ω / 2kW
For external ballast resistors, refer to page 16.
Installation / dimensions
Fastening: 4 M6 Allen screws
Plan view
390
340
86
externer
Ballastwiderstand
MotorBremse
F1
3.16A
218
190
14
38
Motor
65
24V Steuerspannung
10
Spannungsversorgung
bis 500V AC
F1
COMPAX-M
Digital
430
-
363
+
Value
-
+
L2
L3
PE
PE
DC - In
Braking
24 V
Resistance
U
V
W
X5
IN
Motor
PE
Motor
R S 232
OUT
X19
Mains Input
E rro r
X6
X7
X8
X1 0
Brake
In p u t
X 20
X 21
X 22
X1
Control
X 23
O u tp u t
Test
C o n tro l
X9
190
Automation
13
X1 1
65
L1
-
E n te r
H1
Re ady
+
PE
450
Num ber
S t a tu s
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192-040011 N18
Accessories / options
Accessories / options
Software tools
HEDA interface
(Option A1/A4)
The ServoManager PC program is used to read, edit,
print and file parameters and motion programs.
The following functions are included:
• convenient axis manager.
• COMPAX configuration
• downloading of COMPAX parameters
• error tracking and error history
• control of variables
• direct terminal access to COMPAX
COMPAX-to-COMPAX interface
For COMPAX XX00, COMPAX XX60 and
COMPAX XX70.
HEDA synchronises several axes for simultaneous
processing to a precision of ±2.5 microseconds.
To do this, a COMPAX master (operating mode 1)
transmits 2 synchronisation words to the slave axes
(maximum 16) to enable synchronisation to occur.
The slave axes (operating mode 2) are synchronised
automatically. The master only transmits to one axis
address.
Application examples:
• Connection of several axes to one encoder and
distribution of signals via HEDA.
• Transferring the nominal position value or the actual position value from the master to the slave
axes connected via HEDA.
• Coupling several cam profile generators using a
common time basea
• Applications with constantly-changing master
Operating panels
(not for COMPAX 1000SL)
The operating panel is available for front plate installation or with the housing; it is used for controlling
COMPAX via the digital inputs.
Hand-held terminal
The BDF2/01 hand-held terminal is a convenient
menu-guided unit which can BDF2 hand-held
be used to operate and con- terminal:
figure COMPAX. The handheld unit is connected to
COMPAX via the RS232 interface. It is therefore very
well suited to rapid diagnosis
and for supporting start-up.
The hand-held terminal offers the following functions:
• displays any status value
• menu-guided configuration
• viewing and editing of parameters
• viewing and editing programs
• direct entry of commands
Interface between IPM and COMPAX
XX00.
To implement 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 between the IPM
and the COMPAX network.
Functional scope of the IPM and COMPAX network:
• Contours can be stored for up to 9 axes with up to
100 000 points
• 16 (8 with the COMPAX 1000SL) datum-related
digital outputs.
• Exchange of data between 9 axes within 1ms (setpoint values, auxiliary functions, position, lag error,
speed, torque)
• Freedom to program all inputs and outputs
• Internal native-language memory can still be used
to its full extent
• Can be independently operated as a single axis
positioning system
COMPAX
H1
H2
OK
SH
SHIFT
Parker servomotors
The following features are common to all motors:

! Sinusoidal EMC
! Standard flange
! IP 65 type of protection (IP 64 wave) ! Integrated resolver/SinCos
! Class F insulation
! Peak torque up to three times nominal torque for maximum of 3 seconds
For more information, please request our motors catalogue (no. 192-060011).
Automation
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192-040011 N18
EMC measures
EMC measures
AC surge filter
NMD10 / COMPAX
45XXS / 85XXS
COMPAX 1000SL:
The following input filters may be used for RF suppression and/or for compliance with
the emission limit values as specified by EN61800-3.
Type: NFI01/02
(COMPAX 1000SL motor
cable > 50m
NMD20:
Type: NFI01/03
G
Dimension diagram:
NFI01/02
A
6,6
L
O
A
D
F
E
D
L
I
N
E
C
B
A
240
B
151
217
C
70±0.3
115±0.3
D
140
159
E
125
145±0.5
F
111
129
G
65
64
Ø4
Type: NFI01/04
337
320
35
6.5
COMPAX 35XXM:
NFI01/03
177
61
25
307
Load
Lastseite
152
Line
Netzseite
400
10mm2
M5
347
COMPAX 35XXM with sequentially mounted COMPAX-M controllers: Type: NFI01/05
378 max.
81 max.
M10
17Nm
325 ±1
Automation
15
15
42
LOAD
6,5 x 15
LINE
110 ±0.3
150 max.
301 max.
58
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192-040011 N18
AC surge filter / motor output filter
COMPAX 25XXS: motor cable ≤10m
COMPAX 25XXS: motor cable >10m
COMPAX 10XXSL: motor cable <50m
NFI01/01 Dimension diagram:
NFI01/06 Dimension diagram:
50,8±0,3
85,4
116
20
3,5
5,3
L'
27
L
LINE
51 max.
101
88,9±0,4
55,5
L
O
A
D
79,5
L
I
N
E
32 max.
91 max.
66 max.
LOAD
COMPAX 1000SL,
COMPAX 25XXS:
N'
N
FASTON
6,3 x 0,8
75 ±0.3
12
Ø4
5,2 x 4
139
Length of connection between input
filter and unit:
• Unshielded: <0.5m
• Shielded: <5m
Motor output filter
We supply motor output filters for use with long motor leads (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
+
-
H
Up to 16A nominal motor current:
F
E
B
I
D
A
Automation
16
MDR01/01
MDR01/02
A [mm]
150
180
MDR01/03
205
B [mm]
67
76
107
D [mm]
113
136
157
E [mm]
50
57
83
F [mm]
6
6
7
H [mm]
195
195
260
I [mm]
95
110
150
Weight [kg]
4
6
17
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External ballast resistors
External ballast resistors
NMD20 with external ballast resistance of 15Ω
Ω
Regenerative power rating
BRM4/01: 0.57 kW
6.8 kW
37 kW
BRM4/02: 0.74 kW
8.9 kW
37 kW
BRM4/03: 1.50 kW
18 kW
37 kW
Lasts for
unlimited
<1s
<0.4s
unlimited
1s
<0.4s
unlimited
<1s
<0.4s
Cooling down time
>20s
>120s
>20s
>120s
>20s
>20s
COMPAX 25XXS with external ballast resistance of 56Ω
Ω
Regenerative power rating Lasts for
BRM5/01: 180W
1 kW
<1s
2.3 kW
<0.4s
Cooling down time
unlimited
>10s
≥8s
COMPAX 45XXS/85XXS with external ballast resistance of 22Ω
Ω
Regenerative power rating Lasts for
Cooling down time
BRM6/01: 450W
unlimited
6.9 kW
<1s
>20s
28 kW
<0.4s
≥120s
COMPAX 35XXM with external ballast resistance of 10Ω
Ω
Regenerative power rating
BRM7/01: 2.00 kW
56 kW
17 kW
Lasts for
unlimited
<1s
<1s
Cooling down time
>100s
>10s
COMPAX 10XXSL with external ballast resistance of 100Ω
Ω
Regenerative power rating Lasts for
BRM8/01: 60W
Cooling down time
unlimited
253W
92
150
C
A
B
C
12
95 97
Overloading
protection
switch
C
6,5
120
120
Dimension diagram:
BRM4, BRM6 and
BRM7
≥10s
<1s
96
98
The ballast resistors are provided with a 1.5m connection lead. The maximum
permitted length is 2m.
protection against
contact
∅5,8
222
239
0.3m connection lead
(max. 2m permitted)
101
Dimension diagram:
BRM5/01
71
40
6
Dimension diagram:BRM8/01
225
240
Automation
7,5
17
0.25m connection lead.
(max. 2m permitted)
20
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192-040011 N18
Indexing table control
COMPAX software variants
In addition to the basic unit (COMPAX XX00) for general positioning tasks, software variants are also
available for special applications:
Solutions are available for a wide range of applications by configuring a basic unit using add-on modules. This
modular approach allows you to add or change hardware and software options to implement a solution tailored
exactly to your requirements. Each solution is therefore only based on standard hardware. The basic unit for all
variants is the COMPAX XX00M and this is used for general positioning tasks. The application-specific unit
variants can be distinguished from the basic unit by a numerical code which follows the COMPAX name. The
first two digits indicate the power of the output stage, the next two digits describe the application-specific variants.
COMPAX XXYYZ
Product range
M: multiple
axes
Variant code
Code for the
power of the
output stage
COMPAX 1570M therefore represents an output stage with 15kW power (15..) and the "electronic cam control"
variant (..70). COMPAX XX30 represents the "round table control" variant (..30) with an unspecified output
stage (XX..).
Our qualified staff are always available to assist when selecting the appropriate variants.
COMPAX XX30: indexing table control
COMPAX XX30 can be used to position and control
round tables, switching tables and other rotary systems with high levels of precision.
The positions are programmed in degrees. The direction of rotation may be positive or negative.
In addition to the standard COMPAX command set,
special commands are used for the pitch calculator.
A pitch command can be used to subdivide the table
into equal angle segments.
The position is measured via the resolver installed
on the motor end or a high-resolution sensor. Support is provided for external position monitoring to increase the positional accuracy.
• External position monitoring possible
• Pitch calculator with up to 1000 steps per revolution
• Manual fine table setting
Automation
E12: output stage enable
E13: measuring error corrected by external position
measurement
E14: release brake
A14: no measuring error
A16: no power to final stage
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Cutting on the fly
COMPAX XX50: cutting on the fly
Function not available with the COMPAX 1000SL! Implement this function with the electronic cam control.
Continuously driven saws and shears, continuous processing
Mark-related machining (registration)
In some applications, the material feed is not continuously measured but a measurement is taken
whenever a mark made on the material is reached.
The longitudinal measurement then only begins once
the mark has been detected and this has been
communicated via a COMPAX input.
A saw carriage is attached parallel to the direction of
material flow. This is accelerated to the speed of the
material to be processed and then travels at the
same speed as the material. If the relative speed
between material and saw carriage is zero, synchronous running has been achieved. COMPAX will report this state via a digital output. Now the cutting
process is performed by running the cutting tool
across the direction of travel at right angles. Synchronous running is ended via a digital input and the
carriage stops. The carriage then moves automatically (or in a defined manner) to its initial position or
to a predetermined position. The saw then waits until
the material feed has travelled the distance corresponding to the cut length.
Reject length, chaff length
With increasing material speed, longer machining
times and decreasing cut lengths, the drive spends
increasingly less time in the waiting position. If this
waiting time approaches zero, then the control unit
switches to a substitute length, commonly known as
the reject length. COMPAX reports this state via an
output. If compliance cannot be maintained with the
reject length, which is normally greater than the
standard dimension, the control unit switches into
chaff mode. This is the minimum length which can be
cut.
Manual cutting
When cutting manually, synchronisation is started directly from the waiting position. In such instances,
the specified length is not taken into account.
Angled beam saw
Head cut - initial machining
A derivative of the continuously driven saw is the angled beam saw, used for wide materials. Here, the
saw guide (the linear axis) lies at a fixed angle above
the material to be cut. The saw blade is at right angles to the direction of material travel. If the saw is
moved, this results in a saw movement in the direction of material travel. This movement depends on
the angle between the saw guide and material. The
control system uses the beam angle to calculate the
saw's feed speed so that synchronicity is set between the saw blade and material. The relative
speed therefore becomes zero. Once the cutting
process is complete, the saw is raised and returned
to its waiting position.
Special provision is made for handling the first synchronisation request after a START signal is received.
Material simulation
During the start-up phase, when there is usually no
material available, the material speed can be simulated using a parameter or a potentiometer on the
override input.
Further examples of machining processes while
in motion:
• stamping • filling • screwing • pouring • drilling
Special inputs and outputs:
E13:manual cutting
E14:mark signal valid
E15:end of synchronous travel
E16:mark input
A14:synchronous comparator
A15:reject length too small
A16:reject length
Automation
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192-040011 N18
Electronic gear units
COMPAX XX60: electronic gear units
Range of application:
Synchronous angle control, synchronous speed
control, processing while in motion.
absolute positioning to 100mm
external reference value +70mm
relative positioning by +30mm
absolute positioning to 0mm
P0
P1
P2
P3
Absolute positioning to 100 mm (P1).
! Approval of external nominal value (E16="1"). Unit
travels up to +70 mm in response to impulses from
a command sensor (P2).
! Relative positioning by +30mm (P3)
! Absolute command to datum point (P0)
!
Master position as dimensional reference
If the dimensional reference is a master position, the
internal datum point of the slave drive is shifted by
the externally specified nominal value. The internal
reference system is altered (can be corrected again
by a reference journey).
Superimposed movements are possible in this operating mode. You can carry out positioning relative to
the master position. This can be used to undertake
an internal machining program on a moved workpiece.
Depending on the operating mode, COMPAX XX60
can read and process an external master signal either as an alternative to or in conjunction with the
internal master. The external master signal can be
generated by:
! an encoder on a master axis or
! an encoder emulation from COMPAX and/or SV
drive, if these are controlling the master drive.
It is recorded via an interface in COMPAX. The encoder pulse assessment is set using parameters.
This makes it possible to run a slave drive unit synchronously to the master unit. A ratio of 1:1, or a ratio in a large setting range (i>1 or i<1) can be selected via parameters. A negative prefix can be used
to signify reversed direction of rotation. COMPAX
XX60 has two parameters for determining standard
ratio factors.
The external master input can be controlled by two
real time inputs (delay time 1ms). In addition to the
enable input, which approves the external master
signal for the controller, there is the option of
switching between the two standard ratio factors.
Absolute positioning to 100mm
External nominal value +70mm
Relative positioning by +30mm
Absolute positioning to 0mm
P0
P1
P2
P3
Clarification of this operating mode is provided in the
figure. This figure is based on the positioning cycle
shown previously. Initially, the following axis is referenced to the internal datum point (P0). When the
external nominal value is read, the datum point is
shifted by the value specified.
When using the absolute command for the datum
point (POSA 0), the system is positioned to P0`. P0`
is shifted by the value of the external positioning
relative to P0.
The external nominal value can also be activated
during an internal running move and the internal positioning superimposed.
Special inputs and outputs:
E14:switching the dimensions reference to internal
reference or master position.
E15:external switching of transmission factor.
E16:engaging external nominal value.
Example:
Internal reference as dimensional reference
When the dimension reference is an internal reference, the internal nominal value specifications are
applied to the datum point of the slave drive. External command pulses are added to the current position as relative positioning. External nominal value
specifications do not move the datum point.
Automation
P0'
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192-040011 N18
Electronic cam control
COMPAX XX70: electronic cam control
- Mechanical cam and camshaft function implemented electronically in a safe and reliable manner -
r
dis
Cam
n
positio
Slave
-o
tion co
of mo
Table
s
rdinate
k
r angle
Mas0 te
360
270
sr=
Radiu
n
positio
e
v
Sla
180
90
r angle
Maste
S1
S2
late
Cam p
The field of application
The implementation
• Using the COMPAX XX70 compact servo controller, mechanical cams and camshafts can be implemented electronically.
• The movement of the main axis is recorded by an
incremental encoder. COMPAX XX70 generates the
setpoint of the slave axis according to the movement relationship requested and controls the drive
accordingly. The slave axis is implemented using a
3-phase servo motor (either synchronous or asynchronous).
Typical fields of application can be found in the
packaging industry.
Within a power range of 2.5kW - 35kW, the
COMPAX XX70 allows the drive power to be decentralised, thereby reducing:
• space requirements
• variety of parts required
• mechanical coupling components
This results in:
• smaller machines
• reduction in cost
• shorter set-up times
• less expenditure on maintenance
• The cam profile ...
...is stored in COMPAX XX70 as a sequence of reference points in non-volatile memory and has the
following properties:
• Up to 2500 reference points between which
COMPAX interpolates in a linear fashion
• Repeatability: up to 0.02 degrees
• Several profiles can be stored at the same time
• Profiles can be selected externally
Automation
• Dynamic switching between profiles using the "Interlink curves" function
• The camshaft...
...is simulated using auxiliary functions which can be
assigned to all reference points. COMPAX has the
following auxiliary functions:
• Programmable control of 8 digital outputs. The initial pattern is set up when processing the first reference point
• An analogue voltage is generated via 2 analogue
outputs
A voltage in the range of ±10V is output depending
on the programmed auxiliary value and on the angle of the master axis.
21
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192-040011 N18
Electronic cam control
Cam control functions
• When the external "couple" control signal is received, the slave axis starts up, then moves down
the stored profile, starting from the programmed
synchronous position (MS). Decoupling occurs in
the same manner.
The primary task
slave
The control unit's primary task is to move a slave
axis in accordance with the profile of motion programmed by the user and depending on the angle of
the master axis. Several slave axes with individually
programmed profiles can be coupled to the master
axis.
S0
Slave
(length)
•
Master
(angle)
Slave
180° 270° 360°
Master
When the
external "couple" signal is received, the slave axis
only starts up once the master axis has also reach
the programmed coupling position (ME). The slave
axis moves from the specified synchronous position and does so synchronously with the master
axis. Decoupling occurs in the same manner, i.e.
the slave axis at the decoupling position (MA) exits
synchronous mode and slows down at the braking
position (MB) to come to rest at S0.
slave
90°
master
coupling MS
signal
Coupling and decoupling the slave axis
S0
The slave axis can be coupled and decoupled in
several ways.
Coupling and decoupling at standstill
coupling
signal
The simplest way to initialise the axis is by performing a homing routine after the power has been applied. Once the system has been started externally,
COMPAX automatically selects the cam required
and is ready to follow the master axis. The master
axis usually now starts its running move. The slave
axis runs in accordance with the movement relationship entered.
ME MS master
The option of dynamic cam changeover also
allows for the implementation of individual
coupling and decoupling operations.
Programmable cam cycles
You can determine whether the slave axis should
continually follow the master axis or whether the
coupling to the master axis should be ended after a
defined number of cam cycles.
Coupling and decoupling while master axis is rotating
The following options are available for coupling on a
rotating master axis:
Lag warning
You can monitor the variation between the actual
position and the programmed profile by means of a
preset "lag warning". COMPAX will generate an output signal whenever this value is exceeded.
Automation
22
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192-040011 N18
Electronic cam control
c) Edge-triggered via a control input for a single
master cycle.
Application:
Asynchronous starting of a profile which must be
referenced to a product carried on a belt at regular intervals.
Label synchronisation
In the packaging and printing industry, synchronisation of a slave axis to printed labels is often necessary in order to compensate for material slip. If the
slave position is adjusted by the amount of slip, calculated between product and label sensor, the error
can be corrected until the next label appears.
Cam design service
Starting synchronisation
When working with applications for the COMPAX
XX70 electronic cam generator, there is always the
option of having Hauser create all the necessary
profile data.
The Technical Support department will perform this
task as a service which is charged according to cost.
A program called "Optimus Motus" is used as a software design tool. Depending on the application, this
software tool can be used to implement many different types of motion profile. This offers the possibility
of optimising the acceleration requirements of the
application and therefore selecting the most economic motor/controller combination.
When the master is at a standstill
The slave is informed of the master's present position before the start. Recording of the master position is initiated by a control input.
When the master is moving
Targeted start of master position recording:
a) Statically or dynamically via a control input.
b) Via a control input in conjunction with the next
edge of the encoder index track.
Example: Cam design using the "Optimus Motus" program
Automation
23
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192-040011 N18
Electronic cam control
CamEditor for creating curves
All the 2500 available data records in the reference point memory may be assigned to a single profile or to a
number of profiles. Each reference point can generate an auxiliary function signal using the 8 digital and 2 analogue outputs.
CamEditor may be used to assign auxiliary functions
to any reference point.
Creating profiles
Fixpoints
You can use the HAUSER CamEditor to create cam
profiles. This is a Windows program and provides the
advantages of a Windows interface.
You specify the fixed points which are essential to
the profile. The CamEditor takes these and uses an
interpolation process to create intermediate points
which reflect the required profile. The result is displayed in graphic form as a position, speed and acceleration plot.
set point table
for COMPAX
Slave
1. set point
0º
0mm
2. set point
120º
10mm
130º
15mm
140º
17mm
145º
18mm
Master
Profile input and creating the reference point table
Calculation of
the set points
with the PC
max. 2500
set points
Menu for fixed point entry
Linear cam diagram
Menu for auxiliary function entry
Polar cam diagram
Automation
24
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192-040011 N18
Technical data
Technical data
Power features
CE conformity
Functional capability
• EMC susceptibility/emissions in accordance with
EN61800-3.
• Safety: VDE 0160/EN 50178.
• Position, speed and current controller.
• IGBT output stage protected from short circuits and
ground/earth faults.
• Digital positioning controller.
• Motion controller.
Voltage supply (limit values)
COMPAX-M (NMD)
• 3*80V AC - 3*500V AC; 45-65Hz.
COMPAX 35XXM
• 3 x 250V – 3 x 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.
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
• Siemens:
23401-T2509-C202
• SinCos© support (Stegmann).
• 3 phase synchronous linear motors with:
• sine-cosine linear encoder (1Vss) or TTL (RS422).
• digital Hall sensor commutation (5V).
Mains supply fuse protection
K circuit breaker or suitable Neozed conventional
fuse.
• 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
Output data for individual units
Device
COMPAX ..
Nominal cur- Peak current
rent [Aeff]
[Aeff] <5s
Power
[kVA]
at mains supply: 230V AC
10XXSL
25XXS
2.5
6.3
5.0
12.6
1.0
2.5
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
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
DC bus voltage
at mains supply: 400V AC
45XXS
85XXS
P1XXM
02XXM
05XXM
15XXM
35XXM
6.5
12.5
5.5
6.5
11.5
25.0
50.0
• 300V DC with 3(1)x230V AC.
• 560V DC of 3x400V AC supply.
• 650V DC with 3x460V AC.
Output voltage to motor
Ignoring power losses, motor output rating is 86% of
the AC supply voltage available
Braking operation
at 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
Automation
• Storable energy
• NMD10/20: 1100µF / 173Ws
• COMPAX 25XXS: 1000µF/27 Ws
• COMPAX 45XXS: 330µF/52 Ws
• COMPAX 85XXS: 500µF/80 Ws
• COMPAX 1000SL: 660µF/17 Ws
• Ballast resistors (refer to page 16)
25
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192-040011 N18
Technical data
Interfaces
Control voltage
!
24V DC ±10%, Ripple <1VSS
Current required:
• 1.3A for COMPAX 35XXM.
• 1A for COMPAX 45XXS/85XXS.
• 0.8A for the other units.
• digital outputs, each 100 mA max.
• if needed, for fan approx. 100 mA.
• for motor holding brake (0.35A-1.6A).
• if needed, absolute encoder: 0.3A.
Control inputs: 16 (8 for COMPAX 1000SL)
• 24V DC, 10 kOhm.
Control outputs: 16 (8 for COMPAX 1000SL)
• active HIGH, short circuit protected; 24V/100 mA.
RS 232
• 9600 Baud or 4800 Baud
(for COMPAX 1000SL, fixed at 9600 Baud).
• Length of words 8 bits, 1 start bit, 1 stop bit.
• Software handshake XON, XOFF.
Accuracy
Positioning of the motor shaft:
• With Resolver:
Resolution: 16 bits (= 0.3 minutes of angle)
Absolute precision: +/-15 minutes of angle
• With SinCos©:
Resolution: 21 bits (= 0.3 seconds of angle)
Absolute precision: +/-90 seconds of angle
Programmable controller data interface (not for
COMPAX 1000SL)
• Via 5 binary inputs and outputs.
Encoder interface (option; standard for COMPAX
1000SL)
Maximum power dissipation
• Encoder emulation: 512 or 1024 counts/rev
• Encoder input: RS422 interface; supply: 5V;
120-5000 lines/rev
• 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
COMPAX 1000SL signal interfaces (optional)
• Encoder emulation or
• Encoder input or
• Step/direction input or
• Analogue input ± 10V
Native-language memory
250 data records, protected from power failure.
Data record functions
• Positioning commands, I/O instructions, program
commands:
ACCEL, SPEED, POSA, POSR, WAIT, GOTO,
GOSUB, IF, OUTPUT, REPEAT, RETURN, END,
WAIT START, GOTO EXT, GOSUB EXT, SPEED
SYNC, OUTPUT A0, GOTO, POSR SPEED, POSR
OUTPUT , +, -, *, /.
Absolute value sensor interface (option A1) (not
for 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.
Target value generator
SinCos (option S1/S2/S3)
• Ramps: linear, quadr., smooth; 10ms...60s.
• Travel specified in increments, mm, inch or variable
using a scaling factor.
• High-resolution encoder instead of resolver.
• Singleturn or Multiturn (absolute value over 4096
motor revolutions).
• Option S2 with multiturn: absolute value sensor with
programmable transmission factor.
• Option S3 for linear motors.
Monitoring functions
• Mains power/auxiliary control voltage.
• Motor and power stage temperature/locked-shaft
protection.
• Lag error monitoring.
• Ready contact: 0.5A; 60V; 30W.
HEDA: synchron, serial real time interface
Included in option A4 or option A1.
Ambient conditions
• Temperature range: 0...45°C.
• Max. relative air humidity in acc. with DIN 40040
class F (≤75%) non-condensing.
Automation
26
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192-040011 N18
Technical data
Bus connection options
Dimensions
All with opto-isolated bus link.
• NMD/COMPAX-M: refer to page 11.
• COMPAX 25XXS: refer to page 9.
• COMPAX 10XXSL: refer to page 8.
• COMPAX 45XXS/85XXS: refer to page 10.
• Weights: COMPAX P1XXM:............. 5.6 kg
COMPAX 10XXS: ............. 1.6 kg
COMPAX 25XXSL: ........... 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
RS485
• Max. 115k Baud • 2 or 4 wire/RS485
Interbus S
• 2-conductor remote bus • 500 kBaud.
• max. 64 participants per ring.
Profibus
• 1.5M Baud • Sinec L2-DP and FMS.
CS31
Standard scope of supply
• COMPAX - ABB interface.
• COMPAX with User Guide.
• X8, X9, X10, X11 mating connectors.
• ServoManager.
CANbus
• Up to 1.0MBaud • Basic CAN.
• CAN protocol in acc. with specification 1.2.
• Hardware in acc. with ISO/DIS 11898
Mains power module
For technical data, please refer to page 12.
CANopen
• Protocol in acc. with CiA DS 301.
• Profile CiA DS 402 for drives.
Permissible 3-phase mains power
supplies
Operation
The units (COMPAX or NMD) can be operated on all
1
mains configurations . Examples:
Parameter input/status request
IT mains power supplies
• Via COMPAX hand-held terminal.
• Via RS232 and bus interface.
• Via the programmable controller data interface (not
for COMPAX 1000SL).
• Status query also via the 3-digit LED display on the
front plate (not for COMPAX 1000SL).
Housing
Housing
TN mains power supplies
• 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 two-part connectors.
1
Installation
• Panel-mounting, suitable for installation in industrial
control cabinets.
Automation
27
When using Delta mains power supplies, note that CE requirements (low
voltage guideline) are no longer satisfied when the voltage between a
phase and earth >300V AC (isolated
measurement voltage).
Parker Hannifin GmbH
Electromechanical Division
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192-040011 N18
Order code
COMPAX order code
COMPAX order code
A
/ D
/ E
/ E
/ F
/ S
COMPAX-M performance class
3.8 kVA
P
1
4.5 kVA
0
2
8.0 kVA
0
5
17.0 kVA
1
5
35.0 kVA
3
5
1.0 kVA
1
0
2.5 kVA
2
5
4.5 kVA
4
5
8.6 kVA
8
5
COMPAX-S(L) performance class
Variants
Standard
0
0
Round table control
3
0
Synchronous cycle control (not for COMPAX 1000SL)
5
0
Electronic gearbox
6
0
Electronic cam control
7
0
Unit type
COMPAX-M
M
COMPAX-S (L)
S
Options
No absolute value sensor / real time bus option requested
0
HEDA real time bus (incl. absolute value sensor module) (not for COMPAX
1
1000SL)
HEDA real time bus for COMPAX 1000SL
4
D/A monitor option not requested
0
D/A monitor (not for COMPAX 1000SL)
1
Encoder input option not requested (not for COMPAX 1000SL)
0
Encoder input (with line terminator) (not for COMPAX 1000SL)
2
Encoder input (without line terminator) (not for COMPAX 1000SL)
4
Analogue speed specification (not for COMPAX 1000SL)
7
Encoder emulation option not requested
0
Encoder emulation (not for COMPAX 1000SL)
3
Field bus option not requested
0
RS 485 interface (4-wire)
1
Interbus S interface
2
Profibus
3
CAN bus
4
RS 485 interface (2-wire)
5
CS31 protocol (ABB)
7
CANopen
8
Sine-cosine option not requested
0
Feedback module for high-resolution sensor
1
Feedback module for high-resolution sensor – multiturn with programmable transmission factor
2
Feedback module for linear motors
3
Automation
28
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192-040011 N18
Order code
Order code for accessories
Order code
/
10kW mains power module (only in conjunction with COMPAX-M)
N
M D
1
0
/
--
--
20kW mains power module (only in conjunction with COMPAX-M)
N
M D
2
0
/
--
--
Monitor box for option D1 (D/A monitor) (not for COMPAX 1000SL)
A
S
S
0
1
/
0
1
Operating panel (without housing for front plate installation) (not for COMPAX 1000SL)
B
D
F
0
1
/
0
2
Operating panel (with housing) (not for COMPAX 1000SL)
B
D
F
0
1
/
0
3
Interface cable between operating panel and COMPAX (not for COMPAX 1000SL)
S
S
K
0
6
/
... ... 1
User terminal with 1.5m cable
B
D
F
0
2
/
0
1
Ballast resistor for NMD20 (0.57 / 37kW)
B
R M
0
4
/
0
1
Ballast resistance for NMD20 (0.74 / 37kW)
B
R M
0
4
/
0
2
Ballast resistance for NMD20 (1.5 / 37kW)
B
R M
0
4
/
0
3
Ballast resistance for COMPAX 25XXS (0.18 / 2.3kW)
B
R M
0
5
/
0
1
Ballast resistance for COMPAX 45XXS / 85XXS (0.57 / 28kW)
B
R M
0
6
/
0
1
Ballast resistance for COMPAX 35XXM (2.0 / 56kW)
B
R M
0
7
/
0
1
Ballast resistance for COMPAX 10XXSL (60 / 253W)
B
R M
0
8
/
0
1
AC surge filter for COMPAX 25XXS (motor cable >10m) or COMPAX 1000SL (< 50m motor cable)
N
F
I
0
1
/
0
1
AC surge filter for COMPAX 25XXS (< 10m motor cable)
N
F
I
0
1
/
0
6
AC surge filter for NMD10 / COMPAX 45/85XXS / COMPAX 1000SL (COMPAX 1000SL > 50m motor cable) N
F
I
0
1
/
0
2
AC surge filter for NMD20
N
F
I
0
1
/
0
3
AC surge filter for COMPAX 35XXM
N
F
I
0
1
/
0
4
AC surge filter for COMPAX 35XXM with sequentially mounted COMPAX-M
N
F
I
0
1
/
0
5
Motor output filter for up to 16A nominal motor current
M D
R
0
1
/
0
1
Motor output filter for up to 30A nominal motor current
M D
R
0
1
/
0
2
Motor output filter for over 30A nominal motor current
M D
R
0
1
/
0
3
Installation set for indirect wall installation (refer to page 11)
M
T
S
0
2
/
0
1
Module for direct DC supply from COMPAX-M
E
A M
0
5
/
0
1
Sensor cable between encoder and COMPAX
G
B
K
1
1
/
... ... 1
Sensor cable between absolute value sensor and COMPAX
G
B
K
0
1
/
... ... 1
Interface cable for PC – COMPAX (RS232)
S
S
K
0
1
/
... ... 1
Interface cable between encoder emulation - COMPAX; encoder distributor - encoder distributor
S
S
K
0
7
/
... ... 1
Interface cable between COMPAX and encoder distributor
S
S
K
0
4
/
... ... 1
Interface cable for HEDA: COMPAX (slave) - COMPAX (slave)
S
S
K
1
4
/
... ... 1
Interface cable for HEDA: COMPAX (master) - COMPAX (slave)
S
S
K
1
5
/
... ... 1
Field bus interface cable: NMD – NMD – COMPAX-S – COMPAX 35XXM
S
S
K
1
3
/
... ... 1
Terminal module for the I/Os from COMPAX 1000SL (connection lead: 1m; 2.5m; 5m)
E
A M
0
3
/
... ... 1
Encoder distributor
E
A M
0
4
/
0
1
DC power supply for COMPAX-M
E
A M
0
5
/
0
1
Bus conclusion: encoder - bus
B
U
S
0
1
/
0
1
Bus conclusion: HEDA real time bus
B
U
S
0
2
/
0
1
Bus conclusion: Profibus
B
U
S
0
3
/
0
1
Interface converter for RS232 – RS485 for F1 option
S
S
U
0
1
/
0
1
1
Length codes for shielded cables
Length [m]
Code
1.0
01
2.5
02
5.0
03
7.5
04
10.0
05
12.5
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 of SSK01/09: length 25m
Descriptions of the motor connection cables (motor cable, resolver cable) can be found in the "Synchronous servomotors catalogue 192-060011".
Automation
29
Parker Hannifin GmbH
Electromechanical Division
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192-040011 N18
COMPAX
Automation
30
Parker Hannifin GmbH
Electromechanical Division
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192-040011 N18
COMPAX
Automation
31
Parker Hannifin GmbH
Electromechanical Division
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Fortunately not all raw eggs ...
... but good to know that it wouldn't cause a
problem even if they were ..
Automation
Parker Hannifin GmbH & Co.KG
Electromechanical Automation
Robert-Bosch-Str. 22
D-77656 Offenburg, Germany
Tel.: +49 (0)781 509-0
Fax: +49 (0)781 509-98176
Website: www.parker-eme.com
e-mail: sales.hauser@parker.com
Parker Hannifin plc
Electromechanical Automation
Arena Business Centre, Holy Rood Close
Poole, Dorset BH17 7BA UK
Tel.: +44 (0)1202 60 6300
Fax: +44 (0)1202 60 6301
Website: www.parker-eme.com
e-mail: sales.digiplan@parker.com
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
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