- Parker Compact Servo Controller User Guide
Operating Instructions
COMPAX-M / -S
Process coupling using HEDA (Option A1 / A4)
170
Master output
quantites:
P184=
Slave
input
quanti-
ties:
P188=
Can be used in
slave unit
versions:
Settings in master and slave for
adapting the process quantities:
P98 is identical in all units
40 40
CPX 60, CPX 70
P143
s
=P143
40
M
(CPX 00 CPX 60, CPX 70)
43
CPX 70
42
(CPX 70)
42
CPX 70
P143
s
=P143
M
43 140*
CPX 60, CPX 70
P143
s
=P143
M
(CPX 70)
43
CPX 70
44 140*
CPX 60, CPX 70
P143
s
= 2
14
= 16384
(CPX 00 CPX 60, CPX 70)
43
CPX 70
45 140*
CPX 60, CPX 70
P143
s
= 2
14
= 16384
(CPX 00 CPX 60, CPX 70)
43
CPX 70
46
(CPX 00 CPX 60, CPX 70)
42
CPX 70
P143
s
=P143
M
∗
When the encoder position P184=40 is transferred, the encoder position is
transferred into high word and the duration period of the pulses is transferred into
low word to support a duration period measurement in the slave.
If a mixture of application purposes is undertaken, e.g. master P184=44 (nominal
value) and slave with encoder coupling, then the slave must be informed using
P188=140 (in such cases only the high word is processed).
1st unit: Master Slave
COMPAX XX60
COMPAX XX70
(P31=1)
Encoder input
P184=40 (encoder
position+duration
period)
P188=40
COMPAX XX60
COMPAX XX70
(P31=9)
P188=40
(encoder input;
duration period
available)
Coupling of several axes to one
encoder; HEDA distributes the signals
O1/O3
Slave 2Slave 1Master
BUS2/01SSK14SSK15
GBK11
I2
O1/O3 O1/O3
P98 and P143 must have the same
values for master and slave!
Replacing the encoder emulation using
HEDA bus
O1/O3
Slave 2Slave 1Master
BUS2/01SSK14SSK15
O1/O3 O1/O3
Note: There is a time misalignment
between master and slave of 2ms;
Remedy: activate identical program
sets together using "Fast start".
COMPAX XX00
COMPAX XX60
COMPAX XX70
P184=44 (nominal
position value) or
P184=45 (actual
position value)
P188=0
COMPAX XX60
COMPAX XX70
P188=140
Setting P143 =
16384
(¼ of the increments
are always in P143
as quadrupling
occurs during
encoder inputs)
40
P143
s
: parameter P143 of the slave
P143
M
: parameter P143 of the master
Permissible
combinations and
required
parameter
settings:
Application
examples: