Parker Hauser COMPAX-M Series Interface Manual

COMPAX - Option F2: Interbus-S
2
Contents
1. Introduction.........................................................4
1.1 Addressing ......................................................... 4
1.2 Bus connection.................................................. 4
1.2.1 The bus wiring ....................................... 4
1.5 PDU Length ........................................................ 5
1.6 Communication.................................................. 5
1.3 Identification code (ID-Code) ............................ 5
1.4 Selectable Data Channels ................................. 6
1.4.1 Bus – Setting using the front cover ........ 8
1.7 Data types........................................................... 9
1.7.1 Boolean.................................................. 9
1.7.2 Integer.................................................... 9
1.7.3 Unsigned................................................ 9
2. Object index ......................................................10
2.1 Communication objects: Overview sorted by
Symbol.............................................................. 10
2.2 Communication objects: Overview sorted by
Index ................................................................. 12
2.3 Device identification........................................ 14
2.3.1 FKT_GRUPPE..................................... 14
2.3.2 S31_S39.............................................. 15
2.4 Control .............................................................. 16
2.4.1 Operating mode ................................... 16
2.4.2 BETR_ART_AZ.................................... 16
2.4.3 STEUERBYTE..................................... 17
2.4.4 STATUSBYTE ..................................... 17
2.4.5 CPX_STW ........................................... 18
2.4.6 CPX_ZSW ........................................... 19
2.4.7 STEUERWORT ................................... 20
2.4.8 STATUSWORT.................................... 20
2.4.9 Pop-up message processing ............... 21
2.4.10 CONTROL ........................................... 22
2.4.11 COMMAND.......................................... 23
2.4.12 P .......................................................... 23
2.4.13 Px......................................................... 24
2.5 Diagnosis.......................................................... 25
2.5.1 STOERUNG......................................... 25
2.5.2 S30 ...................................................... 26
2.5.3 S6 ........................................................ 26
2.5.4 S10 ...................................................... 26
2.5.5 S9 ........................................................ 27
2.5.6 S11 ...................................................... 27
2.5.7 S23_S26.............................................. 27
2.5.8 S .......................................................... 28
2.6 Torque, current, voltage.................................. 29
2.6.1 MOMENT_MAX ................................... 29
2.6.2 NENNMOMENT................................... 29
2.6.3 MOMENT_IST ..................................... 30
2.6.4 S5 ........................................................ 30
2.6.5 NENNSTROM...................................... 30
2.6.6 ZWK_SPG ........................................... 31
2.6.7 S7_S8.................................................. 31
2.7 Positioning ....................................................... 32
2.7.1 POSA................................................... 32
2.7.2 POSR................................................... 33
2.7.3 LAGE_ZIEL..........................................33
2.7.4 S1.........................................................34
2.7.5 LAGE_IST............................................35
2.7.6 S2.........................................................35
2.7.7 S12.......................................................35
2.7.8 REALNULL ..........................................36
2.7.9 GRENZEN............................................36
2.7.10 POS_FENSTER................................... 37
2.7.11 SCHLEPP_FEN ...................................37
2.7.12 S3......................................................... 38
2.7.13 POLARITAET....................................... 38
2.7.14 REF_MODE ......................................... 38
2.7.15 CAM_CMD........................................... 39
2.7.16 WAITPOSA .......................................... 39
2.7.17 WAITPOSR.......................................... 40
2.8 SPEED...............................................................41
2.8.1 SPEED.................................................41
2.8.2 OVERRIDE .......................................... 41
2.8.3 POSR0SPEED.....................................42
2.8.4 POSRXSPEEDY .................................. 42
2.8.5 PRXSDYALZ........................................ 43
2.8.6 DREHZAHLMAX ..................................44
2.8.7 GESCHW_MAX ................................... 44
2.8.8 VERF_GESCHW .................................45
2.8.9 S4.........................................................45
2.8.10 GESCHW_IST .....................................46
2.8.11 GESCHW_REF.................................... 46
2.9 Acceleration......................................................47
2.9.1 RAMPENFORM ...................................47
2.9.2 ACCEL_POS........................................47
2.9.3 ACCEL_NEG ....................................... 48
2.9.4 RAMPE_POS.......................................48
2.9.5 RAMPE_NEG.......................................49
2.9.6 RAMPE_NOTS .................................... 49
2.9.7 RAMPE_REF .......................................50
2.10 Inputs/outputs ..................................................51
2.10.1 INPUT_WORD.....................................51
2.10.2 OUTPUT_WORD ................................. 51
2.10.3 OUTPUT .............................................. 52
2.10.4 OUTPUT_MASK ..................................52
2.10.5 POSROUTPUTP.................................. 53
2.10.6 POSROUTPUTN..................................53
2.11 Programming....................................................54
2.11.1 N .......................................................... 54
2.11.2 Nx.........................................................54
2.11.3 GOTO ..................................................60
2.11.4 START_N............................................. 60
2.11.5 START_N_GO ..................................... 61
2.11.6 TEACH_N ............................................61
2.11.7 CAM_MEM_P ......................................62
2.11.8 CAM_MEM...........................................62
2.11.9 VX ........................................................62
OBJECT_REQ and OBJECT_RSP for 8 byte process
data channel .....................................................64
OBJECT_REQ ...................................................66
OBJECT_RSP....................................................66
2.12 Process data control........................................67
2.12.1 PAD_Steuerung ...................................67
2.12.2 PED_Steuerung ...................................70
2.12.6 PE_SELECT ........................................72
2.12.7 PA_SELECT ........................................73
2.12.8 PA_ENABLE ........................................ 74

Parker Hauser COMPAX-M Series Specifications

General

Brand	Parker
Model	Hauser COMPAX-M Series
Category	Controller
Language	English