Specifications

192-040011 N18
COMPAX compact servo controller
Automation
7
Parker Hannifin GmbH
Electromechanical Division
System features
The benefits
When using integrated process control in the com-
pact 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 re-
duces the costs and complexity of superordinate
control systems. Considerable savings can be made
in the cabling as well as the control cabinet. The ma-
chine can be started up faster and in a considerably
simpler manner.
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
• CS31 - system bus
• 16 (8) binary inputs and outputs for status and pro-
gram control
• Universal programmable controller data interface
via binary inputs and outputs
• 3-digit, 7-segment display for error and status in-
formation (not available with the COMPAX 1000SL)
and LED status display
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 influ-
enced 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, com-
parator functions, setting / resetting outputs and mo-
tion-related commands for specifying the speed, po-
sition, acceleration, etc. are all available. For more
information, see the following sample program:
1:
ACCEL 250
Acceleration time 250ms
2:
SPEED 80
Velocity 80%
3:
P010=P040*2.75
Multiplication
4:
P005=P005/2
Division with parameter assign-
ment
5:
V002=P041+20
Addition with parameter
6:
V001=S1+17
Addition with status and variable
assignment
7:
REPEAT 10
Conditional wait loop 1s
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
All commands are processed in sequence (sequen-
tial programming). Program implementation can be
broken off (interrupt) at any time via the "Break" sig-
nal. The axis is braked using with deceleration time
set. The program can be continued from another
point.
Position recording
Rotational and linear synchronous and asynchro-
nous 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 com-
bined 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.
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