COMPAX XX30

Operating Instructions
Indexing Table Control
- S u p p l e m e n t t o U s e r G u i d e C O M P AX - M / S -

Power Supply COMPAX-M

DIGITAL

Status Number

Value

- + Enter

Ready Error Ready Error

X6 X7 X6

IN RS485 OUT RS232

X8 X8 X10

Control Input

Output

Test

Control

X9 X11

From software version V3.64 October 98

TIFIE Parker Hannifin GmbH Parker Hannifin plc

ER D
C EMD Hauser EMD Digiplan
DIN EN ISO 9001
Postfach: 77607-1720 21 Balena Close
Robert-Bosch-Str. 22 Poole Dorset
We automate motion D-77656 Offenburg, Germany BH17 7 DX UK
Q

Phone: +49 (0)781 509-0 Phone: +44 (0)1202 69 9000

M

A
U

LI TE
TY SYS
Fax: +49 (0)781 509-176 Fax: +44 (0)1202 69 5750
Reg. Nr. 36 38 - 01

Subject to technical change. Data represents the technical status at the time of closing for press. 30.09.99 192-043014 N2
COMPAX XX30

Inhalt
1 Overview......................................................................2 1 Overview
2 Configuration ..............................................................3
2.1 Moment of Inertia .................................................3 With COMPAX XX30 indexing tables, endless or batch
2.2 Gear Ratio i ..........................................................3 quantity assembly chains can be position controlled with
2.3 Position Measuring...............................................4 high precision.
3 Reference Drive ..........................................................4 The positions are programmed in degrees. The direction of
4 Commands ..................................................................4 rotation can be positive or negative.
4.1 Positions Commands ...........................................4 Apart from the standard-command set of the COMPAX
4.2 Indexing Calculator ..............................................5 standard which is not described here in detail (see user
4.3 Hand Operation....................................................5
guide COMPAX M/S) a special command is used for the
5 Special Inputs and Outputs .......................................6
indexing calculator. Tha table can be subdivided in the same
5.1 Functions of Inputs...............................................6
5.2 Functions of Outputs............................................6 angle segments with the indexing command.
6 Special Status Assignment........................................6 The standard position measurement follows the resolver in
7 Additional Error Messages...........................................6 the motor. An external position measuring device to increase
8 Indexing Table Parameters ........................................7 the positioning precision is supported.
The indexing table control differs from the COMPAX M
standard device in the following features:

This manual applies to the following devices: Required opti- no; Option E2 or E4 for external posi-
COMPAX 2530S ons: tion measuring
COMPAX 4530S Possible Opera- As in the standard device extended to
COMPAX 8530S tion Modes the reset mode
COMPAX P130M
COMPAX 0230M
Acceptable Drive Indexing table control;
Types: Universal drive
COMPAX 0530M
COMPAX 1530M Additional WAIT POSR n indexing calculator
COMPAX 3530M Commands: Positioning to arc segments, without
rounding errors.
Code of device designation
Locked Com- SPEED SYNC
e.g.: COMPAX 0260M: mands: GOSUB EXT and GOTO EXT re-
COMPAX: Name stricted to I9...I11
02: Power class Label related positioning
60: Variant e.g. "00": Standard device
M: Device type; M: Multi axis device E: Single axis device
Modified Confi- ‹ Range of the gear ratio:
guration 1,000000...1000,000000
HAUSER-nameplate ‹ The moments of inertia are given with-
The nameplate is on the top of the device and has the follo- out moment of inertia of the motor.
wing structure:
‹ Distances are given in angles (360°)
Modified Commands -
Modified I/O I12: Switch currentless
Functions: I13: Compensation of measurement
error via external position sensor
I14: Release brake
O14: No measurement error
O16: Output stage currentless
Special P1: Real zero-360...360 degree
Parameters: P11: +4000000 fixed
P12: -4000000 fixed
P98: Distance per table rotation
P75: Maximum measuring error
P214: Measurement direction of the
external measurement
Modified Status: S41: Encoder speed
S42: Encoder position
S46: Sign encoder speed
S47: Measurement error
S48: Actual value
S49: Target position after division
calculation
Miscellaneous: Absolute encoder function not
possible!

2
 Caution!
2 Configuration Notice the following section when
adjusting the measurement direction.
At first start up of the external position measuring system it is
Before configuration the drive has to be currentless!
possible that, due to a direction change through the gear, the
Instead of the configuration course with the standard operation
rotating direction of the encoder is opposed to the resolver.
instruction, you must note the following at the indexing table
Therefore the [I13=1] position correction will operate in the
control:
opposite direction. This results in an increase of the
New opera- P93 "Reset mode" (P93="3"). measurement error and the device will be disabled via the
tion mode P93="3" is the standard adjustment for error message "error 15".
indexing table control The following start up sequence therefore has to be followed:
Caution! 1. External measurement not active: I13 = 0
In the reset mode „inch“ and 2. Configure resolution external measurement system
„increments“ units are not possible! 3. Set parameter P75 to small value (typical 1°)
4. Connect external measurement: I13 = 1
New unit for P90 Unit degree P90="3": 0-360° 5. No error: Æ o.k.
distances 6. Error 15: Parameter P214 change measurement di-
For the configuration of the motor type, the ramp profile rection from 0 to 1 and acknowledge error
and the direction the details used in the standard operation The counting direction of the external encoder will be
instruction of COMPAX M are valid. inverted through the change of the measurement di-
rection.
Drive type P80 P80="64": Indexing table control
Machine P213 You can select with P213, at the in-
choose P81 indexing table control dexing table control, the side of the
zero
P82 machine zero initiator which will be
P81: Minimum moment of inertia
P85 evaluated as machine zero.
Moment of inertia converted to the
motor side. Range: 0...P82 Value: "0" / "1"
P82: Maximum moment of inertia Software P11, Fixed adjustment:
Moment of inertia converted for the end limits P12 P11=+4000000 P12=-4000000
motor side. Range: Real zero P1 Range: -360...360 degree
0...200000kgmm2 point
P85: Gear ratio
Range: 1,000000...1000,000000
See chapter 2.1 u. 2.2. 2.1 Moment of Inertia
Drive type P80 P80="16": Universal drive
The data of minimum and maximum moment of inertia refer
choose P81 P81: Minimum moment of inertia to the moment of inertia of the gear and indexing table, the
P82 Moment of inertia converted to the units are given in kgmm2. They have to be calculated as
P83 motor side. Range: 0...P82 seen on the motor shaft, therefore the gear ratio has to be
P85 P82: Maximum moment of inertia considered.
Moment of inertia converted for the Normally large gear ratios will be used, so that the additional
motor side. Range: moment of inertia of the pay load can be neglected and set
0...200000kgmm2 to 0.
P83: Travel per motor revolution COMPAX takes the moment of inertia of the motor from the
in milli degree internal motor table.

2.2 Gear Ratio i

Configuring the direct position measurement
Range: i = 1,000000...1000,000000
See chapter 2.3 und 3 For a whole number gearing the reference point can be de-
Resolution P143 Resolution per table rotation fined via the logical AND-connection of machine zero initia-
Range: 500...2 000 000 tor with the resolver zero impulse (COMPAX standard appli-
≤ 214* gear ratio cation). No external position measuring system is required.
With a gear ratio which is not a whole number the resolver
Distance P98 Distance per table rotation
zero impulse shifts at every table movement, the calculation
per rotation Fixed adjustment: P98 = 360
of the resolver information becomes inaccurate. In this case
Measure- P214 "0": positive direction when the table an external position measuring system is required.
ment di- goes right.
rection of "1": positive direction when the table
the external goes left.
measure-
ment

3
COMPAX XX30

2.3 Position Measuring

4 Commands
For the inner control loop COMPAX always needs a resol-
ver, regardless whether an external measurement system
exists. The position accuracy is 15', related to the motor As a comparison with the standard commands of COMPAX
shaft. This accuracy results from the tolerance of the resol- the following modifications apply:
ver. The repeatability is in the order of 1,3' (corresponds to
214 counts per motor rotation).
If the accuracy of the resolver is not sufficient or the gear ra- 4.1 Positions Commands
tio is not a whole number, an external position measuring
system is required. For control of the servo loops, the actual The positioning default values are related to the angle of the
value from the resolver is still used. This value will be cor- table. They are measured in degrees and have to be in the
rected with the value of the external position measuring sy- range of -360,000 ... 360,000 degrees.
stem. This has the following advantages: After every table rotation the position set points and actual
‹ The dynamic response is not dependant on the external values are reset, so that the actual values are in the range of
position measurement system. 0 ... 360 degree.
‹ Start up is possible without an external measurement sy-
stem. Absolute Positioning
‹ Filtering of the external measuring signal is possible The absolute target position value with POSA lies in the
without a loss of dynamics.
range of 0...360 °. This is within one table rotation. The di-
Activation of external position measuring: rection of rotation is dependent on the travel difference (new
To increase the accuracy of positioning, the measurement target point - old target point).
error compensation can be activated via input I13. First, the E.g.1:
resolution has to be configured (via the configuration menu
or with P143).
I13 will be polled before every positioning. So you can de-
cide at any time to position by resolver or external encoder.
If no resolution is configured (P143=0), input I13 will not be E.g.2:
polled and the measurement error compensation will not be
activated.
If the difference between resolver position and the position
which is measured externally is larger than the maximum
measurement error P75, an error message "E15 measure-
ment error" will be displayed and output O14 "no measure-
ment error" will be reset to 0. The drive will then be disabled. Relative Positioning
The error message can be acknowledged with function key At a relative target reference positive and negative values
"Enter". are allowed: POSR -360...360. The direction of rotation is
selected with the sign.
With parameter P215 the polarity of all position values can
be changed.
With a suitable combination of absolute and relative positio-
3 Reference Drive ning commands an optimum indexing operation is possible.
E.g.:
N001: REPEAT 10 number of repetitions
Usually the reference (home) position is determinated by the N002: POSR 33 move forward for 33° 10 times
external machine zero initiator and resolver zero impulse. N003: WAIT START wait for start at position 330Deg
The rotation direction hereby is negative, related to the mo- from zero position
tor (for direction P215 ="0"). N004: END
For direct position measurement and whole number gear ra- N005: POSA 0 back to zero position ( -330°)
tio the home position can be determined by the zero impulse oder
of the position measurement system. A MN-Initiator is not N005: POSR 30 optimum distance to zero position
needed, the position measurement system is mounted di- oder
rectly at the table. N005: POSA 360
For applications with a 2-step gear and the mounting of the
position measurement system after the first step, a MN initia-
tor is needed at the table.
With P212 you can adjust several reference modes (see
User Guide COMPAX-M/S).
The operation with end-initiators is not possible.

4
 Example: With the program sequence drive to real zero
4.2 Indexing Calculator (SHIFT I3)
N001: POSR 10 relative + 10 degree
With the indexing calculator you can position to arc seg-
N002: REPEAT 5 5 steps
ments, without adding the rounding error.
N003: WAIT POSR -12 partion -360/12 = -30 degree
Command: WAIT POSR n n: +/-1...999
N004: END end of the loop
The sign of n gives the direction of rotation.
N005: POSR 140 relative + 140 degree
A circle is divided into "n" segments. With every processing
the following angles will be driven to:
of the command "WAIT POSR n" it is moved forward by one
Position: 0 10 34 31 28 25 22 360
segment. To avoid rounding errors the specific target posi-
0 0 0 0 0
tion is determined with the following rule:
Direction: + - - - - - +
360 degree With the following sequence
Target position = ------------ * indexing step + basic position N006: WAIT POSR 0
n N007: GOTO 2
n: indexing factor the above program example will be repeated cyclically, the
Teilungsschritt: internal step counter indexing calculation will be restarted each time.
Basisposition: start position of the indexing calculator.
It will be actualised before the first indexing
step. 4.3 Hand Operation
Example: n = 7
The hand operation is handled like a positioning move.
An activated indexing calculation will not be influenced by
hand operation. The indexing calculation refers to the last
indexing step by continuing the process.

To calculate the target position the indexing calculator does

not use the angle α, which is full of rounding errors, but the
target position related to the whole circle. This ensures that
after the positioning movements 360° is reached exactly.
Example for a fixed number o f part steps:
N001: REPEAT m repeat factor m < 65536
N002: WAIT POSR n next indexing step
N003: WAIT START wait until start at I5
N004: END
The REPEAT loop gives the total number of the indexing
steps to be executed. The table will wait at every position for
a new start signal at I5.
Example for a variable number of part steps:
N001: IF I7=0 GOTO 1 start of the move cycle with I7
N002: WAIT POSR n next indexing step
N003: OUTPUT O7 = 1 activate processing
N004: WAIT 100 processing
N005: OUTPUT O7 = 0 switch off processing
N006: IF I8 = 0 GOTO 1 switch further
N007: WAIT POSR 0 delete indexing counter
This case is similar with the REPEAT loop, the indexing
counter will be raised by 1 with every partition. The loop can
be left at any time with I8 = 1 and the present segmentation
will be lost.
Additional function: WAIT POSR 0
With this command the internal indexing counter (counter of
the indexing steps) will be reset to one. By so doing the
actual indexing calculation is deleted.
Interruption of the indexing calculator
‹ Through a new indexing calculator with other indexing
factors or through the command „search machine zero
point“ the pedometer will be set to one and the basic
position set to the current position.
‹ With the commands POSA, POSR the indexing calculation
will not be influenced.

5
COMPAX XX30

5 Special Inputs and Outputs 6 Special Status Assignment

S12: Encoder position: in degree; referred to the table

S41: Encoder speed: motor speed diverted from the encoder
5.1 Functions of Inputs in % of the motor nominal speed
S42: Encoder position: see S12
Switch currentless I12 S46: Sign Encoder speed
S47: Measurement error: difference between encoder- and
‹ l12 will not be evaluated resolver position in degree
‹ during a positioning S48: Actual value: (corresponds S1)
‹ and during the sentence processing, i.e. also in the S49: Target position of the division calculation: in degree
Cam operation.
‹ With I12="1" the output stage is enabled.
‹ With I12="0" the output stage is currentless.
Measurement error compensation I13 7 Additional Error Messages
‹ I13 is only used in external position measurement opera-
tion.
‹ With I13="1" the actual value of the resolver will be com- Error 15:Measurement error
pared and corrected with the external position measure- Measure: Check configuration (gear rate or resolution)
ment. If the error is larger than P75, error I15 will be gene- and control wiring; check measuring wheel di-
rated and the drive will be disabled. rection.
Recommendation by E15 error message:
Release brake I14 After Quit of external position measurement,
‹ With I14="1" the brake will be released by currentless switch off for a short time with l13="0"!
output stage.

5.2 Functions of Outputs

No measurement error O14
‹ O14="0" corresponds with error E15: measurement error
‹ O14="1" no measurement error
"Output stage currentless" O16
‹ O16="0": Output stage active
‹ O16="1": Output stage currentless

6
8 Indexing Table Parameters

No. Meaning Unit Minimum Default Maximum Valid

Value Value Value from...

Indexing Table Parameters

P1 Real zero point Degree -360,000 0 360,000 1

P212 Reference procedure "1": Resolver and machine zero VP

"3": Encoder
"4": Encoder and machine zero
P75 Maximum measurement error Degree 0,01 1,00 360,00 VP
P68 Measurement filter: <100%: leading >100% trailing (Filtering) % 10 100 5000 VP
P80 Drive typ ="16": Universal drive VC
="64": Indexing table control
P81 Minimum moment of inertia kgmm2 0 0 P82 VC
P82 Maximum moment of inertia kgmm2 0 0 200 000 VC
Degree
P83 Travel per motor revolution for drive type "universal drive" 1000
0 0 360 000 VC

P85 Gear ratio for drive type "indexing table control" - 1,000000 1000,000000 VC
P90 Units for distance indication (extended) "0": Increments VC
"1": mm
"2": Inch
"3": Degree (Extension); by "Universal drive "
in milli degree (1/1000 Degree)
P93 Operation modes "1": Normal operation imme-
"2": Endless operation diately
"3": Reset mode (Extension)
"4": Speed control operation
P98 Distance per encoder revolution Degree 360 360 360 VC
P143 Resolution of the external position measurement system 0 0 2000000 VC
P144 Channel 1 = external encoder = "6" VC
P214 Measurement direction of the external measurement "0", "1" VP

All not indicated inputs, outputs and parameters are assigned like COMPAX-standard (see User Guide COMPAX-M/S).

1 From the next positioning POSA or POSR.

For activated indexing calculator a modified real zero will not be adopted. For a new indexing calculation a POSA or POSR
command is first necessary.

7
COMPAX XX30