Parker Hauser COMPAX-M Series Interface Manual

Subject to technical modification. Data based on the technical prior art at the time of printing. 14.01.00 12:56 192-040020 N4 C O M P A X f i e l d b u s i n t e r f a c e I n t e r b u s - S from COMPAX software version >V5.0 from Interbus-S – Software version >V2.1 January 2000 W e a u t o m a t e m o t i o n DIN EN ISO 9001 C E R T I F I E D Q U A L I T Y S Y S T E M Main Office Parker Hannifin GmbH EMD HAUSER P. O. Box: 77607-1720 Robert-Bosch-Str. 22 D-77656 Offenburg, Germany Phone: +49 (0)781 509-0 Fax: +49 (0)781 509-176 http://www.Parker-EMD.com Great Britain: Parker Hannifin plc EMD Digiplan 21 Balena Close Poole, Dorset BH17 7DX UK Phone: +44 (0)1202 69 9000 Fax: +44 (0)1202 69 5750 http://www.Parker-EMD.com

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

2.12.3 IN_SELECT......................................... 77 2.12.4 OUT_SELECT..................................... 77 2.12.5 OUT_ENABLE..................................... 78 3. DRIVECOM-PROFILE 22, from COMPAX Software-Version 3.01......................................79 4. COMPAX Parameters for the Interbus-S........81 5. COMPAX Interbus-S Error messages ............82 6. Index ..................................................................83 Compatibility Using the setting P196="0" makes this software version V2.1 compatible with software version V1.15 ... V2.0. With P196="0", the process data channel is automatically assigned as follows: Process input data channel PE with INPUT_WORD Process output data channel PA with OUTPUT_WORD Device allocation This documentation applies for these devices: ♦ COMPAX 10XXSL with the Option F2 (available 04/2000) ♦ COMPAX 25XXS with the Option F2 ♦ COMPAX 45XXS with the Option F2 ♦ COMPAX 85XXS with the Option F2 ♦ COMPAX P1XXM with the Option F2 ♦ COMPAX 02XXM with the Option F2 ♦ COMPAX 05XXM with the Option F2 ♦ COMPAX 15XXM with the Option F2 ♦ OMPAX 35XXM with the Option F2 XX: any characters F2: Interbus-S - Option Key to unit designation e.g.: COMPAX 0260M: COMPAX:name 02: performance class 60: Variant e.g. "00": Standard model M: Type of device M: multi-axis unit S: single-axis unit HAUSER rating plate The rating plate is found on the top of the unit and contains the following information: equipment name part number serial number option name 038106 0001 951-160101 Compax 0260M E2

COMPAX-M/S to contact the Interbus-S by the company Phoenix. The Interbus-S protocol is based on a summation- frame message and is optimised for the cyclical and time equi-distant transmission of process data. The summation- frame message contains the information for or from all participants and is simultaneously sent to or received from all devices. The integration of parameter information in the cyclical protocol occurs sequentially, i.e. longer data blocks are broken down into individual, short information units and inserted in order into the cyclical protocol. 1.1 Addressing Addressing individual participants occurs via their physical position in the ring and via central address lists held in the Master. This removes the need for manual participant addressing. 1.2 Bus connection Each COMPAX-M/S with IFM-9 is a 2-cable remote bus participant. Connection to the Interbus-S occurs via the 2-cable remote bus connection on the network module or on the COMPAX- S. Mains power module The X6 connection (Interbus-S IN = incoming remote bus) is connected via the pre-assembled ribbon cable with Option F2 of the 1. COMPAX-M/S which is connected to the network module. If additional COMPAX-M/S are connected to the network module, the Interbus-S is set up via ribbon cables from one device to the next. The X7 connection (Interbus-S OUT = outgoing remote bus) is connected with the IFM-9 of the last COMPAX-M which is connected to the network module, if the ribbon cable short circuit plug is inserted in this device. 1.2.1 The bus wiring RS 485 POWER SUPPLY Ξ 6 Ξ 7 Ξ 8 Ρ ε α δ ψ Ερρορ ΡΣ 485 ΙΝ Ο ΥΤ Χοντρολ DIGITAL Statu s Nu mb er X6 X8 X10 - + Enter R ea dy Error RS232 Inp ut Ou tpu t Te st Control X9 X11 Value COMPAX-M NMD COMPAX-M with option F2 SSC13/.. COMPAX-S with option F2 C O M P A X - S Σ τ ατ υ σ Ν υ µ β ε ρ Ξ 6 Ξ 8 Ξ 10 − + Εντερ Ρε αδ ψ Ερρορ ΡΣ 23 2 Ινπυτ Ο υ τ πυ τ Τ ε σ τ Χοντρολ Ξ 9 Ξ 11 ς α λυ ε Σ τ ατ υ σ Ν υ µ β ε ρ Ξ 6 Ξ 8 Ξ 10 − + Εντερ Ρε αδ ψ Ερρορ ΡΣ 23 2 Ινπυτ Ο υ τ πυ τ Τ ε σ τ Χοντρολ Ξ 9 Ξ 11 ς α λυ ε Siemens SPS Siemens SPS Siemens SPS Siemens SPS X1 X2 24 V GND ERDE RS 485 RS 485 E1 E2 E3 E4 E5 E6 E7 E8 E9 E10 E11 A1 A2 A3 A4 A5 A6 A7 A8 A9 A10 A11 E12 E13 E14 E15 E16 E17 E18 E19 E20 E21 E22 A12 A13 A14 A15 A16 A17 A18 A19 A20 A21 A22 PLC COMPAX-S with option F2 ∆ΙΓΙΤΑΛ Στ ατυ σ Νυ µβε ρ Ξ6 Ξ8 Ξ10 − + Εντ ερ Ρε α δψ Ερρορ ΡΣ232 Ινπυτ Ου τπυτ Τε στ Χοντρολ Ξ9 Ξ11 ςα λυε COMPAX-M ∆ΙΓΙΤΑΛ Στ ατυ σ Νυ µβε ρ Ξ6 Ξ8 Ξ10 − + Εντ ερ Ρε α δψ Ερρορ ΡΣ232 Ινπυτ Ου τπυτ Τε στ Χοντρολ Ξ9 Ξ11 ςα λυε COMPAX-M ∆ΙΓΙΤΑΛ Στ ατυ σ Νυ µβε ρ Ξ6 Ξ8 Ξ10 − + Εντ ερ Ρε α δψ Ερρορ ΡΣ232 Ινπυτ Ου τπυτ Τε στ Χοντρολ Ξ9 Ξ11 ςα λυε COMPAX-M C O M P A X - S The Interbus-S- signals are transferred along the existing ribbon cable within a COMPAX-M system network and a network module. Cable plan SSK13/ : 9-way Sub-D-pin plug shell with screwed connection UNC4-40 1 6 2 7 housing DI2 1 6 2 7 housing SSC 13/.. 1 5 6 9 9-way Sub-D-socket board plug shell with screwed connection UNC4-40 1 5 6 9 3 3 5 x 0,25mm + shield 2 5 9 DO2 DO2 DI2 DI1 DO1 DO1 DI1

5 Connections SSK13/ : The assignment on the network module or on the COMPAX-S corresponds to the Interbus-S - standard. Possible connections with SSK13/..: ! Network module X7 (OUT) → Network module X6 (IN) ! Network module X7 (OUT) → COMPAX-S X5 (IN) ! COMPAX-S X7 (OUT) → Network module X6 (IN) ! COMPAX-S X7 (OUT) → COMPAX-S X5 (IN) ! IIPC / SPS → COMPAX-S X5 (IN) ! IIPC / SPS → Network module X6 (IN) If there is a direct power supply by COMPAX-M, the connection is made to the component block EAM5/01 instead of to the network module. 1.5 PDU Length 64 Byte Maximum message length through the PCP channel. 1.6 Communication Option F2 includes the Interbus-S communications software PCP 1.5 (Peripherals Communication Protocol), which allows it to transmit, in addition to cyclical process data, acyclic parameters (2 Byte data channel). The following services are available: Context Management ! Initiate Start communication connection ! Abort Quit communication connection ! Reject Reject a service VFD Support ! Status Reading the device and user status ! Identify Reading the manufacturer, type and version Variables Access ! Read Reading a variable (parameter) ♦ Write Writing a variable 1.3 Identification code (ID- Code) When P196 Bit 0...2 < "4" 227 (0xE3) When P196 Bit 0...2 = "4" (Operation without acyclic channel = without PCP- communication) 3 (0x03)

The length of the process data depends on the Interbus-S software version and the COMPAX Parameter P196 (see also page 81). The described features are not only valid for the process output data (PAD: data for COMPAX) but also for the process input data (PED: data from COMPAX Process output data PAD: Master ⇒ ⇒ ⇒ ⇒ COMPAX Process input data PED: Master ⇐ ⇐ ⇐ ⇐ COMPAX Software- Version P196 acyclic data channel Process data length cyclic data channel Data channel structure (split into bytes)) less than 2.00 x 2 Byte PCP communication 2 bytes (1 word) PCP PCP PD1 PD2 From 2.00 0/1 2 Byte PCP communication 2 bytes (1 word) PCP PCP PD1 PD2 From 2.00 2 2 Byte PCP communication 4 byte (2 words) PCP PCP PD1 PD2 PD3 PD4 From 2.00 3 2 Byte PCP communication 6 byte (3 words) PCP PCP PD1 PD2 PD3 PD4 PD5 PD6 PD1 PD2 PD3 PD4 PD5 PD6 PD7 PD8 From 2.10 Bit 0...2 ="1" no acyclic data channel (no PCP communication) 8 byte (4 words) PCP: acyclic data channel: is used for e.g. configuration. PD: cyclic process data: is used e.g. for transferring actual values. Acyclic data channel (PCP) for parameter data This data channel will be described via your Interbus-S software. All objects can be transferred through this channel. The Interbus-S software splits longer objects which are then transferred in several cycles. Cyclic process data Only approved objects can be used on the cyclic process data channel. Whether an object has been approved for a PAD or PED channel is outlined in the respective objective descriptions under the heading PD “depictions” or in the object overview (page 9 onwards) in the column headed PD. Assignment of PED and PAD: There are various ways of loading objects onto the process data channels. 1. Via the COMPAX parameter P135 - P142 These parameters are only accepted by COMPAX after Power off/on. Setting the process data channels with the COMPAX parameters corresponds to the settings with PED_INI and PAD_INI. 2. Via the objects PE_SELECT and PA_SELECT These objects allow the PD assignments to be set and/or changed during operation. Setting: 8 Byte Process data channel (P196 Bit 0...2 ="4") With P196 Bit 0...2 = "4", the acyclic data channel (PCP) for parameter data is turned off, making a 8 byte-wide process data channel available. The process data channel is split into two parts, one of which has two possible assignments, PD1 and PD2, and another part which can be freely configured for assigning PD3 to PD8. Assigning PD1 and PD2 with P196 Bit 7 P196 Bit 7="0" PAD1-2 = STEUERWORT PED1-2 = STATUSWORT P196 bit 7 ="1" PAD1-2 = CPX_STW PED1-2 = CPX_ZSW Assigning PD3 to PD8 The assignment is conducted as described above under the heading " Assignment of PED and PAD", but taking into consideration that the number of bytes to be assigned have all risen by 2. In addition to this mode of operation (P196 Bit 0...2 ="4"), 2 new objects (for more details see page 64 onwards) are available, which may be assigned to the process data: ♦ OBJECT_REQ: For PAD for transferral of any object (max. length of data 4 bytes) to COMPAX. ♦ OBJECT_RSP: For PED as an acknowledgement for write access through OBJECT_REQ or as an answer to read access through OBJECT_REQ.

1.2.1 The bus wiring 7 If you assign OBJECT_REQ to PAD and OBJECT_RSP to PED you will have access to all objects with a data length ≤ 4 bytes. In addition to this fixed PD assignment, a new function which allows temporary assignment of the PD was created as a further possibility: P196 Bit 5="0" OBJECT_REQ and OBJECT_RSP cannot be temporarily assigned to the PD (this allows a fixed assignment of the PD; as outlined above). P196 Bit 5="1" OBJECT_REQ and OBJECT_RSP can be temporarily assigned to PD. In addition to a permanent assignment of the process data (PD3 ... PD8: set for example with COMPAX parameters P135-P142) with cyclic values (e.g. target position value and actual position value), the OBJECT_REQ and OBJECT_RSP objects can be temporarily assigned to the PD (e.g. in order to change or read parameters) to be then re-switched to the set cyclic values (see page 64 onwards). The answer/acknowledgement with OBJECT_RSP can also be turned off by P196 Bit 6. Meaning: P196 Bit 6="0" OBJECT_RSP automatically assigns the PED as an answer/acknowledgement for OBJECT_REQ. P196 Bit 1="1" OBJECT_RSP is not automatically assigned to the PED (as an answer/acknowledgement for OBJECT_REQ). There is however the possibility of enabling or disabling OBJECT_RSP for the PED temporarily if required, via the CONTROL object(command number 20 and 21). Controlling the temporary PD assignment 2 control bits (in STEUERWORT and CPX_STW: "ObjectReqEnable" and "FreezePAD") and a state bit (in STATUSTWORT and CPX_ZSW: "AckToggle") have been introduced to control the temporary PD assignment. For more detailed explanations on the objects OBJECT_REQ and OBJECT_RSP, please see page 64. Overview P196 Bit 0...2 = "4": 8 byte process data channel P196 Bit 7="0": PD1/PD2: STEUERWORT/STATUSWORT P196 Bit 7="1": PD1/PD2: CPX_STW/CPX_ZSW New objects: OBJECT_REQ, OBJECT_RSP P196 Bit 5="0": temporary assignment of the PD with OBJECT_REQ and OBJECT_RSP turned off P196 Bit 5 ="1": temporary assignment of the PD with OBJECT_REQ and OBJECT_RSP turned on P196 Bit 6 ="0": OBJECT_RSP automatically assigns the PED as answer/acknowledgement for OBJECT_REQ P196 Bit 6="1": OBJECT_RSP does not automatically assigns the PED (as answer/acknowledgement for OBJECT_REQ). OBJECT_RSP through CONTROL="20" enabled to PED or disabled through CONTROL="21"

The bus protocol (P196) can be set using the COMPAX front cover. Procedure: call smaller Status number without function decrease value increase value choose Status number choose number of C-parameter status indicator change C-parameter without function call higher Status number call smaller C-parameter number call higher C-parameter number Enter Enter Enter A Enter B A B Enter Enter choice of operation modes Meaning: C parameters Meaning Range COMPAX parameters Active on C01 Address of unit Automatically set! C02 Baud rate: Automatically set! C03 Bus protocol 0...255 P196 Power on! C04 - C11 reserved

One byte consists of 8 bits (Bit 0 to 7). Bit 0 is the LSB (Least Significant Bit). A byte can also be depicted hexadecimally (0x00 ... 0xff). If a data type consists of n byte, the following applies: Data byte 1 (Byte in address x) = highest value byte Data byte n (Byte in address x+n-1) = lowest value byte The data coding in this chapter and the value ranges for the respective data types apply, unless otherwise explicitly stated in the data description of a COMPAX communication object. 1.7.1 Boolean Depiction of the values TRUE and FALSE in a Byte (Octet). Value range TRUE or FALSE Length 1 Byte Coding FALSE is depicted by the value 0x00, TRUE by the value 0xff 1.7.2 Integer Integer values are signed quantities. Type Value range Length Integer8 -128 ... +127 1 Byte Integer16 -32 768 ... +32 767 2 Byte Integer32 -2 147 483 647 ... +2 147 483 647 -2 147 483 648 (0x80 00 00 00) " Overflow 4 Byte Coding Two’s complement In objects with the data type Integer32 it is possible that its value lies outside the value range. If this is the case, the corresponding object has the value -2 147 483 648 (0x80 00 00 00) " Overflow. E.G. this is possible with the object LAGE_IST, as the actual travel area of COMPAX M/S lies between +/- 4 000 000. 1.7.3 Unsigned Unsigned values are unsigned quantities. Type Value range Length Unsigned8 0...255 1 Byte Unsigned16 0...65 535 2 Byte Unsigned32 0...4 294 967 295 4 Byte Coding binary

Interbus-S 10 2. Object index 2.1 Communication objects: Overview sorted by Symbol Command Symbol Service Index Index pointer Sub- index Byte PD See page Deceleration time ACCEL_NEG wr 0x5feb 37 0 2 - 48 Acceleration time ACCEL_POS wr 0x5fea 36 0 2 - 47 Operation mode display BETR_ART_AZ rd 0x6061 66 0 2 - 16 Operation mode selection code BETRIEBSART rd/wr 0x6060 65 0 2 - 16 Special commands for COMPAX XX70 CAM_CMD wr 0x5fcc 6 1...6 4 - 39 Read and write curve memory CAM_MEM rd/wr 0x5fcb 5 0 3 - 62 Set and read curve memory pointer CAM_MEM_P rd/wr 0x5fca 4 0 2 - 62 Command input in ASCII format COMMAND rd/wr 0x5fe6 32 0 20 - 23 Control commands CONTROL wr 0x5fe9 35 0 1 A 22 CPX control word CPX_STW rd/wr 0x5fd2 12 0 2 A 18 CPX status word CPX_ZSW rd 0x5fd3 13 0 2 I 19 Max motor speed value DREHZAHLMAX rd/wr 0x6080 81 0 2 - 44 Function group description FKT_GRUPPE rd 0x600f 61 1...7 4 - 14 Traverse speed actual value GESCHW_IST rd 0x606c 70 0 4 - 46 Max speed value GESCHW_MAX rd/wr 0x607f 80 0 4 - 44 Reference run speed GESCHW_REF rd/wr 0x6099 88 0 4 - 46 Set and read pointer GOTO rd/wr 0x5ff2 44 0 1 - 60 Position limit value min-max GRENZEN rd/wr 0x607d 78 1...2 4 - 36 Process input data description IN_SELECT rd/wr 0x5ffd 55 0...2 3 - 77 Logic state of the 16 digit. inputs INPUT_WORD rd 0x5ff8 50 0 2 I 51 Position actual value LAGE_IST rd 0x6064 67 0 4 I 35 Target position default POSITION_TARGET rd/wr 0x607a 76 0 4 A 33 Torque actual value MOMENT_IST rd 0x6077 74 0 2 - 30 Torque max value MOMENT_MAX rd/wr 0x6072 71 0 2 - 29 Read/write program memory (ASCII) N rd/wr 0x5ff1 43 1 ... 250 32 - 54 Rated torque motor NENNMOMENT rd/wr 0x6076 73 0 2 - 29 Motor nominal current NENNSTROM rd/wr 0x6075 72 0 2 - 30 Read/write program memory (binary) Nx rd/wr 0x5fd5 15 1 ... 250 20 - 54 Write/read objects via process data channel OBJECT_REQ wr 0x5fc5 - 0 6 A 66 write/read acknowledgement/ answer obj. via PDK OBJECT_RSP rd 0x5fc6 - 0 6 I 66 Enable process output data OUT_ENABLE rd/wr 0x5fff 57 0 1 - 78 Process input data description OUT_SELECT rd/wr 0x5ffe 56 0...2 3 - 77 Set or reset a digital output OUTPUT wr 0x5ff6 48 1...16 1 - 51 Mask outputs OUTPUT_MASK rd/wr 0x5ff5 47 0 2 - 52 Logic state of the 16 digit. Outputs OUTPUT_WORD rd/wr 0x5ff7 49 0 2 I/O 51 Reduce traverse speed OVERRIDE rd/wr 0x5fee 40 0 1 A 41 Read/write parameters in ASCII format P rd/wr 0x5fe7 33 1 ... 250 32 - 23 Enable PA data PA_ENABLE rd/wr 0x6002 60 0 1 - 74 PA data description PA_SELECT rd/wr 0x6001 59 0...13 19 - 73 Initialise the PA data description PAD_INI rd/wr 0x5fd1 11 1...4 3 - 76 PE data description PE_SELECT rd/wr 0x6000 58 0...13 19 - 72 Initialise the PE data description PED_INI rd/wr 0x5fd0 10 1...4 3 - 75 Polarities POLARITAET rd/wr 0x607e 79 0 1 - 38 Positioning window POS_FENSTER rd/wr 0x6067 69 0 4 - 37 Absolute positioning POSA wr 0x5ff0 42 0 6 - 32 Relative positioning POSR wr 0x5fef 41 0 6 - 33 Change traverse speed POSR0SPEED wr 0x5fed 39 0 3 - 42 Comparator function (active low) POSROUTPUTN wr 0x5fe3 29 1...16 4 - 53 Comparator function (active high) POSROUTPUTP wr 0x5fe2 28 1...16 4 - 53 Speed step profile POSRXSPEEDY wr 0x5fe4 30 0 8 - 42 Speed step profile with ACCEL PRXSDYALZ wr 0x5fc7 1 0 10 - 43 Read/write parameters in binary format Px rd/wr 0x5fd4 14 1 ... 250 4 - 24

11 Command Symbol Service Index Index pointer Sub- index Byte PD See page Lag RAMPE_NEG rd/wr 0x6084 84 0 4 - 49 Rapid stop RAMPE_NOTS rd/wr 0x6085 85 0 4 - 49 Acceleration RAMPE_POS rd/wr 0x6083 83 0 4 - 48 Accelerate reference run RAMPE_REF rd/wr 0x609a 89 0 4 - 50 Ramp form speed RAMPENFORM rd/wr 0x6086 86 0 2 - 47 Reference measurement offset REALNULL rd/wr 0x607c 77 0 4 - 36 Reference run selection code REF_MODE rd/wr 0x6098 87 0 2 - 38 Status query in ASCII format S rd 0x5fe8 34 1...39 32 - 28 Actual position S1 rd 0x5ff9 51 0 6 - 26 COMPAX operating hours S10 rd 0x5fdb 21 0 4 - 26 Loop counter for a running REPEAT loop S11 rd 0x5fda 20 0 2 - 27 Position of the absolute value sensor S12 rd 0x5fd9 19 0 4 - 35 Target position S2 rd 0x5fdf 25 0 4 - 27 Diagnosis values S23_S26 rd 0x5fd8 18 1...4 2 - 27 Contour error S3 rd 0x5ffa 52 0 2 I 15 Error message S30 rd 0x5fd7 17 1...2 1 - 26 Device identification S31_S39 rd 0x5fd6 16 1...9 3 - 15 Current axis process speed S4 rd 0x5ffc 54 0 2 I 45 Current motor torque S5 rd 0x5ffb 53 0 2 I 30 Temperature of the power output stage S6 rd 0x5fde 24 0 2 - 26 Control voltage and intermediate circuit voltage S7_S8 rd 0x5fdd 23 1...2 2 - 31 Number of axis motion cycles S9 rd 0x5fdc 22 0 4 - 27 Contour error window SCHLEPP_FEN rd/wr 0x6065 68 0 4 - 37 Traverse speed SPEED rd/wr 0x5fec 38 0 2 A 41 Run program record N START_N wr 0x5ff4 46 0 1 A 60 Start program from record N START_N_GO wr 0x5fe5 31 0 1 A 61 Status byte STATUSBYTE rd 0x5fcf 9 0 1 I 17 Status word STATUSWORD rd 0x6041 64 0 2 I 20 Control byte STEUERBYTE rd/wr 0x5fce 8 0 1 A 17 Control word CONTROLWORD rd/wr 0x6040 63 0 2 A 19 Fault code STOERUNG rd 0x603f 62 0 2 - 25 Transfer current position in record N TEACH_N wr 0x5ff3 45 0 1 - 61 Traverse speed VERF_GESCHW rd/wr 0x6081 82 0 4 - 45 COMPAX – enter or read variables VX rd/wr 0x5fcd 7 40 4 - 62 Synchronisation with automatic reverse travel WAITPOSA wr 0x5fe0 26 0 4 - 39 Synchronisation without automatic reverse travel WAITPOSR wr 0x5fe1 27 0 4 - 40 Intermediate circuit voltage ZWK_SPG rd 0x6079 75 0 2 - 31 Column PD shows whether the respective object can be depicted on the process data channel. The following are explanations of the abbreviations in column PD: • E Object can be depicted in the process input data. • A Object can be depicted in the process output data. • E/A Object can be depicted in the process input and output data. • - not possible to depict on the process data channel.

Interbus-S 12 2.2 Communication objects: Overview sorted by Index Command Symbol Service Index Index Index Sub- index Byte PD See page Write/read objects via process data channel OBJECT_REQ wr 0x5fc5 - 0 6 A 66 Write/read acknowledgement/ answer obj. via PDK OBJECT_RSP rd 0x5fc6 - 0 6 I 66 Speed step profile with ACCEL PRXSDYALZ wr 0x5fc7 1 0 10 - 43 Set and read curve memory pointer CAM_MEM_P rd/wr 0x5fca 4 0 2 - 62 Read and write curve memory CAM_MEM rd/wr 0x5fcb 5 0 3 - 62 Special commands for COMPAX XX70 CAM_CMD wr 0x5fcc 6 1...6 4 - 39 COMPAX – Input or read variables VX rd/wr 0x5fcd 7 40 4 - 62 Control byte STEUERBYTE rd/wr 0x5fce 8 0 1 A 17 Status byte STATUSBYTE rd 0x5fcf 9 0 1 I 17 Initialise the PE data description PED_INI rd/wr 0x5fd0 10 1...4 3 - 75 Initialise the PA data description PAD_INI rd/wr 0x5fd1 11 1...4 3 - 76 CPX control word CPX_STW rd/wr 0x5fd2 12 0 2 A 18 CPX status word CPX_ZSW rd 0x5fd3 13 0 2 I 19 Read/write parameter in binary format Px rd/wr 0x5fd4 14 1 ... 250 4 - 24 Read/write program memory (binary) Nx rd/wr 0x5fd5 15 1 ... 250 20 - 54 Device identification S31_S39 rd 0x5fd6 16 1...9 3 - 15 Error message S30 rd 0x5fd7 17 1...2 1 - 26 Diagnosis values S23_S26 rd 0x5fd8 18 1...4 2 - 27 Position of the absolute value sensor S12 rd 0x5fd9 19 0 4 - 35 Loop counter for a running REPEAT loop S11 rd 0x5fda 20 0 2 - 27 COMPAX operating hours S10 rd 0x5fdb 21 0 4 - 26 Number of axis motion cycles S9 rd 0x5fdc 22 0 4 - 27 Control voltage and intermediate circuit voltage S7_S8 rd 0x5fdd 23 1...2 2 - 31 Temperature of power output stage S6 rd 0x5fde 24 0 2 - 26 Target position S2 rd 0x5fdf 25 0 4 - 27 Synchronisation with automatic reverse travel WAITPOSA wr 0x5fe0 26 0 4 - 39 Synchronisation without automatic reverse travel WAITPOSR wr 0x5fe1 27 0 4 - 40 Comparator function (active high) POSROUTPUTP wr 0x5fe2 28 1...16 4 - 53 Comparator function (active low) POSROUTPUTN wr 0x5fe3 29 1...16 4 - 53 Speed step profile POSRXSPEEDY wr 0x5fe4 30 0 8 - 42 Start program from record N START_N_GO wr 0x5fe5 31 0 1 A 61 Command input in ASCII format COMMAND rd/wr 0x5fe6 32 0 20 - 23 Read/write parameters in ASCII format P rd/wr 0x5fe7 33 1 ... 250 32 - 23 Status query in ASCII format S rd 0x5fe8 34 1...39 32 - 28 Control commands CONTROL wr 0x5fe9 35 0 1 A 22 Acceleration time ACCEL_POS wr 0x5fea 36 0 2 - 47 Deceleration time ACCEL_NEG wr 0x5feb 37 0 2 - 48 Traverse speed SPEED rd/wr 0x5fec 38 0 2 A 41 Change traverse speed POSR0SPEED wr 0x5fed 39 0 3 - 42 Reduce traverse speed OVERRIDE rd/wr 0x5fee 40 0 1 A 41 Relative positioning POSR wr 0x5fef 41 0 6 - 33 Absolute positioning POSA wr 0x5ff0 42 0 6 - 32 Read/write program memory (ASCII) N rd/wr 0x5ff1 43 1 ... 250 32 - 54 Set and read record pointer GOTO rd/wr 0x5ff2 44 0 1 - 60 Transfer current position in record N TEACH_N wr 0x5ff3 45 0 1 - 61 Run program record N START_N wr 0x5ff4 46 0 1 A 60 Mask outputs OUTPUT_MASK rd/wr 0x5ff5 47 0 2 - 52 Set or reset a digital output OUTPUT wr 0x5ff6 48 1...16 1 - 51 Logic state of the 16 digit. outputs OUTPUT_WORD rd/wr 0x5ff7 49 0 2 I/O 51 Logic state of the 16 digit. inputs INPUT_WORD rd 0x5ff8 50 0 2 I 51 Actual position S1 rd 0x5ff9 51 0 6 - 26 Contour error S3 rd 0x5ffa 52 0 2 I 15 Current motor torque S5 rd 0x5ffb 53 0 2 I 30 Current axis process speed S4 rd 0x5ffc 54 0 2 I 45 Process input data description IN_SELECT rd/wr 0x5ffd 55 0...2 3 - 77 Process input data description OUT_SELECT rd/wr 0x5ffe 56 0...2 3 - 77

OUT_ENABLE rd/wr 0x5fff 57 0 1 - 78 PE data description PE_SELECT rd/wr 0x6000 58 0...13 19 - 72 PA data description PA_SELECT rd/wr 0x6001 59 0...13 19 - 73 Enable PA data PA_ENABLE rd/wr 0x6002 60 0 1 - 74 Function group description FKT_GRUPPE rd 0x600f 61 1...7 4 - 14 Fault code STOERUNG rd 0x603f 62 0 2 - 25 Control word CONTROLWORD rd/wr 0x6040 63 0 2 A 19 Status word STATUSWORD rd 0x6041 64 0 2 I 20 Operating mode selection code BETRIEBSART rd/wr 0x6060 65 0 2 - 16 Operating mode display BETR_ART_AZ rd 0x6061 66 0 2 - 16 Position actual value LAGE_IST rd 0x6064 67 0 4 I 35 Contour error window SCHLEPP_FEN rd/wr 0x6065 68 0 4 - 37 Positioning window POS_FENSTER rd/wr 0x6067 69 0 4 - 37 Traverse speed actual value GESCHW_IST rd 0x606c 70 0 4 - 46 Torque max value MOMENT_MAX rd/wr 0x6072 71 0 2 - 29 Motor nominal current NENNSTROM rd/wr 0x6075 72 0 2 - 30 Rated torque motor NENNMOMENT rd/wr 0x6076 73 0 2 - 29 Torque actual value MOMENT_IST rd 0x6077 74 0 2 - 30 Intermediate circuit voltage ZWK_SPG rd 0x6079 75 0 2 - 31 Target position default POSITION_TARGET rd/wr 0x607a 76 0 4 A 33 Reference measurement offset REALNULL rd/wr 0x607c 77 0 4 - 36 Position limit value min-max GRENZEN rd/wr 0x607d 78 1...2 4 - 36 Polarities POLARITAET rd/wr 0x607e 79 0 1 - 38 Max speed GESCHW_MAX rd/wr 0x607f 80 0 4 - 44 Max motor speed value DREHZAHLMAX rd/wr 0x6080 81 0 2 - 44 Process speed VERF_GESCHW rd/wr 0x6081 82 0 4 - 45 Acceleration RAMPE_POS rd/wr 0x6083 83 0 4 - 48 Lag RAMPE_NEG rd/wr 0x6084 84 0 4 - 49 Rapid stop RAMPE_NOTS rd/wr 0x6085 85 0 4 - 49 Ramp form speed RAMPENFORM rd/wr 0x6086 86 0 2 - 47 Reference run selection code REF_MODE rd/wr 0x6098 87 0 2 - 38 Reference run speed GESCHW_REF rd/wr 0x6099 88 0 4 - 46 Reference run acceleration RAMPE_REF rd/wr 0x609a 89 0 4 - 50 Column PD shows whether the respective object can be depicted on the process data channel. The following are explanations of the abbreviations in column PD: • E Object can be depicted in the process input data. • A Object can be depicted in the process output data. • E/A Object can be depicted in the process input and output data. • - not possible to depict on the process data channel. Objects with an index >0x6000 are COMPAX–specific objects!

Interbus-S 14 2.3 Device identification 2.3.1 FKT_GRUPPE Function group description This parameter displays the function groups from which functions are integrated in the device. The parameter is a field with 4*n entries. Each entry consists of the profile group, the profile version, the function group identifier and the function version. Object Description Index 0x600f Symbol FKT_GRUPPE Length 4 Access groups 0 Object code Array Elements 7 Password 0 Data type Octet String Access rights Read all PD Map Not possible Data Description Data byte Meaning Data byte Meaning 1...2 Profile number 3...4 Function groups number Profile number Data byte 1 Data byte 2 b15 b12 b11 b4 b3 b0 Profile group Profile version Profile group Meaning Profile group Meaning 0x00 No profile (manufacturer specific) 0x07 Encoder 0x01 Sensor/actuator 0x08 Process controller 0x02 DRIVECOM 0x09 Robot control 0x03 reserved 0x0A Screw control 0x04 Interface components 0x0B ISO valve terminal 0x05 reserved 0x0C Weld control 0x06 reserved 0x0D Operating/display device Function groups No. Data byte 3 Data byte 4 b15 b8 b7 b0 Function group identification Function version Fn. group Meaning Funct. group Meaning 0x01 Status equipment device control 0x06 Position functions 0x02 General functions 0x07 Torque functions 0x03 Operation mode functions 0x08 Actual value generator 0x04 Speed functions 1 0x09 Factor functions 0x05 Speed functions 2 0x0a Program functions Example Read 3. function group description. Service Read request Param. counter 3 Sub-index 3 Command Code 0x8081 Index 0x600f

Data byte [Bit] Assignment Data byte [Bit] Assignment 1 [7,6,5,4] 1011 4 [7,6,5,4] 105 1 [3,2,1,0] 1010 4 [3,2,1,0] 104 2 [7,6,5,4] 109 5 [7,6,5,4] 103 2 [3,2,1,0] 108 5 [3,2,1,0] 102 3 [7,6,5,4] 107 6 [7,6,5,4] 101 3 [3,2,1,0] 106 6 [3,2,1,0] 100 Sub-index Assignment Sub-index Assignment 1 Software version 6 Date, version of bus option 2 Software date 7 Device identification 3 Job number 8 Device family 4 Part number 9 Device 5 Version In Sub-index 2 and 6, the data bytes are assigned as follows: Data byte 1 2 3 4 5 6 Assignment Day Month Year Version Identifier

Interbus-S 16 2.4 Control 2.4.1 Operating mode Operation mode selection code. Selection function that determines the operation mode. Object Description Index 0x6060 Symbol BETRIEBSART Length 2 Access groups 0 Object code Simple var. Password 0 Data type Integer16 Access rights Read/write all PD Map Not possible Data Description Selection code Operation mode Selection code Operation mode -2 Reset mode 1 Target position input -1 Continuous mode 3 Speed input 2 Example The operation mode "Position target input" must be set. Service Write request Index 0x6060 1. data byte 0x00 Command Code 0x8082 Sub-index 0 2. data byte 0x01 Param. counter 4 Length 2 2.4.2 BETR_ART_AZ Operation mode display. This parameter indicates the current operation mode. The meaning of the displayed value corresponds to the operation mode selection code. Object Description Index 0x6061 Symbol BETR_ART_AZ Length 2 Access groups 0 Object code Simple var. Password 0 Data type Integer16 Access rights Read all PD Map Not possible

The record pointer is set to the corresponding program record. The program can be started, stopped, and continued. " The machine zero is approached with the record selection = "0000" and "Start". An error acknowledgement is possible. Object Description Index 0x5FCE Symbol STEUERBYTE Length 1 Access groups 0 Object code Simple var. Password 0 Data type Octet String Access rights Read/write all PD Map PAD Data Description Data byte [Bit] Assignment Meaning 1 [7] Quit (not when P190=22) Error acknowledge with a positive edge 1 [6] Stop with ramp P10 without clearing with a positive edge 1 [5] Continue ("1") / new start ("0") with Start Continue: Continue program New start: Prog. start at selected record 1 [4] Start / Stop # Start after the response defined in Bit 5 $ Stop 1 [3] Record select (23) Note! 1 [2] Record select (22) With the record selection = "0000" and "New start", 1 [1] Record select (23) the machine zero point is approached 1 [0] Record select (20) The "Quit" command is not accepted for P190=22 (DRIVECOM profile 22) (Error message aknowledgement as outlined in the status chart on page 77). 2.4.4 STATUSBYTE The status byte shows information about the status of the device as well as messages. Object Description Index 0x5FCF Symbol STATUSBYTE Length 1 Access groups 0 Object code Simple var. Password 0 Data type Octet String Access rights Read all PD Map PED Data Description Data byte [Bit] Assignment 1 [7] Machine zero point approached 1 [6] Idle after stop 1 [5] Programmed nominal position reached 1 [4] Motor stalled 1 [3] Lag error 1 [2] Ready for start (see below) 1 [1] Warning 1 [0] Fault Meaning of "Ready for Start" "Ready for Start" is used to control the program and is set % when the program is halted by a WAIT START instruction and is waiting for the START signal. % after an interruption with STOP or BREAK and these signals no longer occur. % after a rectified error. % after power on. % at the program end with the command END. "Ready for Start" has no meaning when commands are input directly.

Interbus-S 18 2.4.5 CPX_STW Activation of device control commands and setting/resetting of virtual inputs E17...E32 Control of the COMPAX M/S via the CPX control word is only possible when the relevant bits in P221 are set. The virtual inputs E17...E32 can be queried in the data memory. Object Description Index 0x5FD2 Symbol CPX_STW Length 2 Access groups 0 Object code Simple var. Password 0 Data type Octet string Access rights Read/write all PD Map PAD Data Description Data byte [Bit] Assignment Data byte [Bit] Assignment 1 [15...8] E32...E25 2 [7..0] E24...E17 Data byte [Bit] Function without shift Function with shift Enable 1 [7..2] none None P222/Bit 7 ... 0 1 [1] ObjectReqEnable ObjectReqEnable see below 1 [0] FreezePAD FreezePAD see below 2 [7..6] none None P221/Bit 7 ... 6 2 [5] STOP BREAK P221/Bit 5 2 [4] START None P221/Bit 4 2 [3] QUIT (not when P190=22) Teach real zero P221/Bit 3 2 [2] Hand- Approach real zero (RZ) P221/Bit 2 2 [1] Hand+ Approach machine zero (MZ) P221/Bit 1 2 [0] SHIFT P221/Bit 0 & The functions ObjectReqEnable and FreezePAD are only active in CPX_STW when PD-Length = 4 and P196 Bit 7 = 1 and P196 Bit 5 = 1 ! For a detailed description, please see page 64 The "Quit" command is not accepted for P190=22 (DRIVECOM profile 22) (Error message aknowledgement as outlined in the status chart on page 77). By partially reassigning the input functions to STEUERWORT, the function is limited by the multiple function E1. : Example: If a function with E1 occupies the control word (e.g. Teach real null), then additional E1 functions (such as the "QUIT" function) are ignored by the inputs. Therefore: If you need all the input functions, the function must be completely reassigned, either to the inputs (P221 = 0) or to the control word (P221 = 63). Command recognition The control word is cyclically transmitted from the Interbus Master via the bus. Note! When a PLC is the Master, the control word may not be present for too short a time. The PLC and Interbus-S cycles are asynchronous. If the control word is output for just one PLC cycle (scan), data may be lost. Rectify the problem with: ! A control word which is available for a sufficiently long time or ! by re-reading the object "CPX_STW". The command has been recognised if the change is in this object. COMPAX - E/A - Functions over the control word (Data bits 1[1], 1[0], 2[7], ... 2[2]) COMPAX does not recognise a direct reassignment of the E/A functions by removing a function and setting another function simultaneously; Exception: STOP and BREAK (these are always recognised immediately). Therefore proceed as follows: ! Remove the previous functions by sending a "null telegram" (allow status to remain until it has been recognised by the COMPAX). ! When the COMPAX is ready, set a new function.

! Reset Hand+: data bit 1[0] = "0" ! Wait until COMPAX has recognised through the Interbus-S (till "Ready to start" has been set) or Handshake through CPX_STW. ! Set Hand-: data bit 1[1] = "1" 2.4.6 CPX_ZSW The CPX status word shows information about the status of the device as well as messages. COMPAX Software Version 3.64 or above allows the status information S16 and S17 to be assigned to CPX_ZSW via parameter 203 Bit 0 = 1. Object description Index 0x5FD3 Symbol CPX_ZSW Length 2 Access groups 0 Object code Simple var. Password 0 Data type Octet String Access rights Read all PD Map PED Data description (P203 Bit 0 = 0) Data byte [Bit] Assignment Data byte [Bit] Assignment 1 [7] Status A16 2 [7] Motor stalled 1 [6] Status A15 2 [6] Lag error 1 [5] Status A14 2 [5] Idle after stop 1 [4] Status A13 2 [4] Target position reached 1 [3] Status A12 2 [3] Ready for start 1 [2] Status A11 2 [2] MN was reached 1 [1] Status A10 2 [1] No warning 1 [0] Status A9/AckToggle 2 [0] No fault Data description (P203 Bit 0 = 1) Data byte [Bit] Assignment Data byte [Bit] Assignment 1 [7] --- 2 [7] 2 [6] 0 0 OUTPUT A0 = x after OUTPUT A0 = 0 1 [6] RUN ("0"= off or turned off in the event of an error) 0 1 1 0 after OUTPUT A0 = 1 after OUTPUT A0 = 2 1 [5] Reserved 2 [5] Idle after stop 1 [4] Stop over input E6 2 [4] Target position reached 1 [3] Program memory running 2 [3] Ready for start 1 [2] Command active 2 [2] MN was reached 1 [1] Service password active 2 [1] No warning 1 [0] Password 302 active/AckToggle 2 [0] No fault & The status information AckToggle only appears in CPX_ZSW when PD-Length = 4 and P196 Bit 7 = 1 and OBJECT_REQ is on the PAD channel or can be temporarily assigned to the PAD channel. (P196 Bit 5 = 1)! For a description please see page 64onwards.

Interbus-S 20 2.4.7 STEUERWORT Some bits in the control word influence the status equipment of the device control, enabling functions and determining the operating status of the devices. The manufacturer-specific bits (Data byte 1 bits 2...6) serve to activate devices control commands, which are only effective if P221 is used to provide the appropriate enabling (see CPX_STW). The SPM bit (Data byte 1 bit 7) is used to acknowledge an existing pop-up message. Object Description Index 0x6040 Symbol STEUERWORT Length 2 Access groups 0 Object code Simple var. Password 0 Data type Octet String Access rights Read/write all PD Map PAD Data Description Data byte [Bit] Assignment Data byte [Bit] Assignment 1 [7] SPM 2 [7] Reset fault 1 [6] STOP 2 [6] Target position relative or absolute 1 [5] START 2 [5] 1 [4] Hand- 2 [4] New set point 1 [3] Hand+ 2 [3] Enable operation 1 [2] Approach machine zero (MZ) 2 [2] Rapid stop 1 [1] ObjectReqEnable 2 [1] Disable voltage 1 [0] FreezePAD 2 [0] Power on & The functions ObjectReqEnable and FreezePAD are only active in STEUERWORT when PD-Length = 4 and P196 Bit 7 = 0 and P196 Bit 5 = 1 ! For a description, please see page 64.onwards 2.4.8 STATUSWORT The status word displays information regarding the status of the devices and messages, when SPM (status word) is not equal to SPM (control word). The status word displays pop-up messages, when SPM (status word) is not equal to SPM (control word). Object Description Index 0x6041 Symbol STATUSWORT Length 2 Access groups 0 Object code Simple var. Password 0 Data type Octet String Access rights read all PD Map PED Data Description Data byte [Bit] Assignment Data byte [Bit] Assignment 1 [7] SPM 2 [7] Warning 1 [6] Idle after stop 2 [6] Switch on disabled 1 [5] MN was reached 2 [5] Rapid stop 1 [4] Actual value acknowledgement 2 [4] Voltage disabled 1 [3] Limit value 2 [3] Fault 1 [2] Set point reached 2 [2] Operation enabled 1 [1] Remote 2 [1] Switched on 1 [0] Message/AckToggle 2 [0] Ready to start & The status information AckToggle only appears in STATUSWORT when PD-Length = 4 and P196 Bit 7 = 0 and OBJECT_REQ is on the PAD channel or can be assigned to the PAD channel temporarily. (P196 Bit 5 = 1)! For a description, please see page 64onwards.

21 2.4.9 Pop-up message processing COMPAX can display the following pop-up messages via the status word: % an error has occurred. % the programmed set point has been reached. % the programmed comparator point has been reached. The pop-up messages can be enabled individually via P193 (activated). Pop-up message Valency automatic error message 1 automatic "position reached" message 2 automatic comparator switch points report 4 " " " " The required settings can be obtained by inputting the sum of the significants in P193 If the pop-up message processing is active and there is a pop-up message, COMPAX interrupts the normal status display in the status word, toggles the pop-up message flag "SPM" and displays the actual pop-up message in the status word. The Master accepts the pop-up message and acknowledges it by toggling the "SPM" in the control word. " " " " The status word displays a pop-up message, when SPM (status word) is not equal to SPM (control word). Status word with pop-up messages Data byte [Bit] Assignment Data byte [Bit] Assignment 1 [7] SPM 2 [7] 1 [6] 2 [6] 1 [5] Pop-up message identifier 2 [5] Error No. 1 [4] 2 [4] or 1 [3] 1 = error 2 [3] Comparator No. 1 [2] 2 = set point reached 2 [2] 1 [1] 3 = Comparator point reached 2 [1] 1 [0] 2 [0]

Interbus-S 22 2.4.10 CONTROL Control commands. Compax commands which do not require additional values. The required commands are activated by reading in the relevant command number. Object Description Index 0x5fe9 Symbol CONTROL Length 1 Access groups 0 Object code Simple var. Password 0 Data type Unsigned8 Access rights write all PD Map PAD Data Description Comma nd no. Function Comman d No. Function 1 Go to machine home 12 Drive dead with opened brake 2 Program start 13 Program jump via external inputs 3 Stop program/positioning 14 Deactivate password protection (GOTO 302) 4 Break off program/positioning 15 Activate password protection (GOTO 270) 5 Acknowledge error 16 Deactivate password protection (GOTO 620) 6 Read current position as real null 17 Declare curve valid 7 Declare valid 18 Not-Stop with clear 8 Declare configuration valid 19 Not-Stop without clear 9 Traverse speed from external encoder 20 OBJECT_RSP temporarily enabled on PED 10 Drive under torque with opened brake 21 OBJECT_RSP temporarily disabled on PED 11 Drive dead with closed brake 22-24 Not assigned Example The drive must approach the machine zero point. Service Write request Index 0x5fe9 Data byte 0x01 Command Code 0x8082 Sub-index 0 Param. counter 4 Length 1

upper case letters). Object Description Index 0x5fe6 Symbol COMMAND Length 20 Access groups 0 Object code Simple var. Password 0 Data type Visible string Access rights Read/write all PD Map Not possible Data Description Coding ASCII Value range 0x20 ... 0x7f Data byte Assignment Data byte Assignment 1 1. character of the command string 20 20. character of the command string Example The drive must travel 15.8 mm relative (RS232 command: "POSR15.8"). Service Write request Length 20 5. data byte 0x31 ("1") Command Code 0x8082 1. data byte 0x50 ("P") 6. data byte 0x35 ("5") Param. counter 13 2. data byte 0x4f ("O") 7. data byte 0x2e (".") Index 0x5fe6 3. data byte 0x53 ("S") 8. data byte 0x38 ("8") Sub-index 0 4. data byte 0x52 ("R") 9...20. data byte 0x20 (" ") 2.4.12 P Write/read COMPAX parameters in ASCII format. The corresponding parameter is selected using the Sub-index (Sub-index = parameter No.). Object Description Index 0x5fe7 Symbol P Length 32 Access groups 0 Object code Array Elements 250 Password 0 Data type Visible-String Access rights read/write all PD Map not possible Data Description Data format ASCII Value range 0x20 ... 0x7f Data byte Assignment Data byte Assignment 1 1. character of the ASCII response 32 32. character of the ASCII response Example The COMPAX parameter 3 must have the value -1055.88. Command: P003=-1055.88 Service Write request 2. data byte 0x30 ("0") 9. data byte 0x35 ("5") Command Code 0x8082 3. data byte 0x30 ("0") 10. data byte 0x35 ("5") Param. counter 19 4. data byte 0x33 ("3") 11. data byte 0x2e (".") Index 0x5fe7 5. data byte 0x3D ("=") 12. data byte 0x38 ("8") Sub-index 3 6. data byte 0x2d ("-") 13. data byte 0x38 ("8") Length 32 7. data byte 0x31 ("1") 14...32. data byte 0x20 (" ") 1. data byte 0x50 ("P") 8. data byte 0x30 ("0")

Interbus-S 24 2.4.13 Px Read/write COMPAX parameters in binary format. The corresponding parameter is selected using the Sub-index (Sub-index = parameter No.). Object Description Index 0x5fd4 Symbol Px Length 4 Access groups 0 Object code Array Elements 250 Password 0 Data type Integer32 Access rights Read/write all PD Map Not possible Data Description Parameter Resolution Parameter Resolution 001 .. 005 1 ⇔ 0.001 035 .. 036 1 ⇔ 0.000001 006 .. 010 1 037 .. 049 1 ⇔ 0.001 011 .. 016 1 ⇔ 0.001 050 .. 072 1 017 .. 020 1 073 .. 099 1 ⇔ 0.001 021 .. 022 1 ⇔ 0.000001 100 .. 186 1 023 .. 029 1 187 .. 196 1 ⇔ 0.001 030 .. 034 1 ⇔ 0.001 197 .. 250 1 Example Parameter 11 must be given the value 5000. Service Write request Sub-index 11 3. data byte 0x4b Command Code 0x8082 Length 4 4. data byte 0x40 Param. counter 5 1. data byte 0x00 Index 0x5fd4 2. data byte 0x4c

If COMPAX is not in the "Fault" status, this object then gives the value 0. Object Description Index 0x603f Symbol STOERUNG Length 2 Access groups 0 Object code Simple var. Password 0 Data type Octet String Access rights Read all PD Map Not possible Data Description Data byte [Bit] Coding Data byte [Bit] Coding 1 [7 ... 4] Main groups 2 [7 ... 0] Details 1 [3 ... 0] Subgroups Fault codes: Code COMPAX error 0000h E00 Stop/no error 6320h E01 Not configured 6320h E02 Limits 1000h E03 1000h E04 7300h E05 MN-Ini not found 1000h E06 8200h E07 Processor error 8200h E08 Synchronous stop is enabled 8200h E09 Drive not working 8611h E10 Contour error too large 8600h E11 Prog. position not reached 7320h E12 Slip error 7300h E13 Ini 1 not damped 7300h E14 Ini 2 not bed. 7320h E15 Error in the 2. position measuring system 6300h E16 Record number does not exist 6300h E17 Record number too large 6300h E18 Record 250 is assigned 6300h E19 No room in memory 8612h E20 Target position behind pos. limit stop 8612h E21 Target position behind neg. limit stop 8500h E22 MN is not approached 6200h E23 Command is not allowed 8400h E24 Speed is invalid 8600h E25 Position is invalid 6300h E26 END command missing for REPEAT 6320h E27 Parameter cannot be written to 1000h E28 6320h E29 Motor values missing 5500h E30 Hardware fault 6320h E31 Parameter error 6320h E32 Parameter error 6300h E33 Data memory error 6300h E34 Data memory error 5500h E35 Hardware fault Code COMPAX error 5500h E36 Hardware fault 5111h E37 Auxiliary voltage +15V missing 5120h E38 Voltage in the intermediate circuit too high 4210h E39 Temperature too high 1000h E40 5410h E41 Output stage signals error 7303h E42 Resolver error 2300h E43 Output loaded 5111h E44 Pos. auxiliary voltage outside tolerance 5111h E45 neg. auxiliary voltage outside tolerance 5112h E46 24V too large 5112h E47 24V too small 4310h E48 Thermostatic switch motor indicates error 7121h E49 Motor/drive indicates disabling 8612h E50 Limit switch 1 activated 8612h E51 Limit switch 2 activated 7200h E52 Error in emergency stop controlling 7120h E53 Motor loaded 8400h E54 Speed too high 8000h E55 External emergency stop 8000h E56 Emergency stop directly in COMPAX M 5120h E57 Voltage in the intermediate circuit too low 4200h E58 Temperature getting too high 1000h E59 7200h E60 Slip warning 1000h E61 1000h E62 1000h E63 1000h E64 7305h E65 Encoder module not enabled 1000h E66 1000h E67 1000h E68 1000h E69 1000h E70 1000h E71...E255

Interbus-S 26 2.5.2 S30 Error message. This object contains the error number of the current error and the last occurring error. If the error number of the current error = 0, there is no error. Object Description Index 0x5fd7 Symbol S30 Length 1 Access groups 0 Object code Array Elements 2 Password 0 Data type Unsigned8 Access rights Read all PD Map Not possible Data Description Sub-index Assignment Sub-index Assignment 1 Error number of current error 2 Error number of last error 2.5.3 S6 Temperature of the power output stage. Object Description Index 0x5fde Symbol S6 Length 2 Access groups 0 Object code Simple var. Password 0 Data type Unsigned16 Access rights Read all PD Map Not possible Data Description Unit degrees Celsius Resolution 1 ⇔ 0.1°C 2.5.4 S10 COMPAX operating hours Object Description Index 0x5fdb Symbol S10 Length 4 Access groups 0 Object code Simple var. Password 0 Data type Unsigned32 Access rights read all PD Map Not possible Data Description Unit Hours Resolution 1 ⇔ 0.1 h

Object Description Index 0x5fdc Symbol S9 Length 4 Access groups 0 Object code Simple var. Password 0 Data type Unsigned32 Access rights read all PD Map not possible 2.5.6 S11 Loop counter for a running REPEAT loop. Object Description Index 0x5fda Symbol S11 Length 2 Access groups 0 Object code Simple var. Password 0 Data type Unsigned16 Access rights read all PD Map not possible 2.5.7 S23_S26 Status of the drive, the switch, the limits and the output stage. Object Description Index 0x5fd8 Symbol S23-S26 Length 2 Access groups 0 Object code Array Elements 4 Password 0 Data type Octet String Access rights read all PD Map not possible Data Description Data byte [Bit] Assignment Data byte [Bit] Assignment 1 [7 ... 0] Status bits 2 [7 ... 0] Status bits Sub-index Assignment Sub-index Assignment 1 Status drive 3 Status limits 2 Status switch 4 Status final step For explanations of status bits, please see product manual COMPAX-M/S!

Interbus-S 28 2.5.8 S All Compax status values that exist for the RS232 interface can be read with this object. The response is made available in plain text (as ASCII string). The corresponding status is selected using the Sub-index (Sub-index = status No.). Object Description Index 0x5fe8 Symbol S Length 32 Access groups 0 Object code Array Elements 250 Password 0 Data type Visible-String Access rights read all PD Map not possible Data Description Coding ASCII Value range 0x20 ... 0x7f Data byte Assignment Data byte Assignment 1 1. character of the response string 32 32. character of the response string Example Read S23. Service Read Request Param. counter 3 Sub-index 23 Command Code 0x8081 Index 0x5fe8

2.6.1 MOMENT_MAX 29 2.6 Torque, current, voltage 2.6.1 MOMENT_MAX Max. torque value. This value is the maximum permissible torque for the motor. Object Description Index 0x6072 Symbol MOMENT_MAX Length 2 Access groups 0 Object code Simple var. Password 0 Data type Unsigned16 Access rights read/write all PD Map not possible Data Description Unit Per-thousands of motor rated torque Resolution 1 ⇔ 1 per-thousand Example The max. torque of the motor should be 400 per-thousands of the motor rated torque. Service Write request Index 0x6072 1. data byte 0x01 Command Code 0x8082 Sub-index 0 2. data byte 0x90 Param. counter 4 Length 2 2.6.2 NENNMOMENT Rated torque motor. This value can be found on the rating plate of the motor. Object Description Index 0x6076 Symbol NENNMOMENT Length 2 Access groups 0 Object code Simple var. Password 0 Data type Unsigned16 Access rights Read/write all PD Map Not possible Data Description Unit Nm Resolution 1 ⇔ 0.1 Nm Example The rated torque of the motor HDX115C6-88S is 5.2 Nm. Service Write request Index 0x6076 1. data byte 0x00 Command Code 0x8082 Sub-index 0 2. data byte 0x34 Param. counter 4 Length 2

Interbus-S 30 2.6.3 MOMENT_IST Torque actual value. The torque actual value corresponds to the current torque in the drive motor. Object Description Index 0x6077 Symbol MOMENT_IST Length 2 Access groups 0 Object code Simple var. Password 0 Data type Integer16 Access rights Read all PD Map Not possible Data Description Unit Per-thousands of motor rated torque Resolution 1 ⇔ 1 per-thousand 2.6.4 S5 Current motor torque. Value in % of the rated torque. Object Description Index 0x5ffb Symbol S5 Length 2 Access groups 0 Object code Simple var. Password 0 Data type Integer16 Access rights Read all PD Map PED Data Description Unit % Resolution 1 ⇔ 1/64%; (6400 ⇔ 100%) 2.6.5 NENNSTROM Motor nominal current. This value can be found on the rating plate of the motor. Object Description Index 0x6075 Symbol NENNSTROM Length 2 Access groups 0 Object code Simple var. Password 0 Data type Unsigned16 Access rights Read/write all PD Map not possible Data Description Unit Ampere Resolution 1 ⇔ 0.1 A Example The nominal current of the motor HDX115C6-88S is 5.1 Ampere. Service Write request Index 0x6075 1. data byte 0x00 Command Code 0x8082 Sub-index 0 2. data byte 0x33 Param. counter 4 Length 2

2.6.6 ZWK_SPG 31 2.6.6 ZWK_SPG Intermediate circuit voltage. This parameter describes the current intermediate circuit voltage in the drive controller. Object Description Index 0x6079 Symbol ZWK_SPG Length 2 Access groups 0 Object code Simple var. Password 0 Data type Unsigned16 Access rights read all PD Map not possible Data Description Unit Volt Resolution 1 ⇔ 1 V 2.6.7 S7_S8 Control voltage and power or intermediate circuit voltage. Object Description Index 0x5fdd Symbol S7-S8 Length 2 Access groups 0 Object code Array Elements 2 Password 0 Data type Unsigned16 Access rights read all PD Map not possible Data Description Unit Volt Resolution 1 ⇔ 0.1 V Sub-index Assignment Sub-index Assignment 1 Control voltage 2 intermediate circuit voltage Example Read current intermediate circuit voltage. Service Read Request Param. counter 3 Sub-index 2 Command Code 0x8081 Index 0x5fdd Length 0

Interbus-S 32 2.7 Positioning 2.7.1 POSA Absolute positioning. Reference point is real zero (RN). Positioning is done with the acceleration time (brake time) set by ACCELL-POS (ACCEL-NEG) and the velocity set by SPEED. If these values were not set, then valid are substitute values: SPEED: Parameter P002; ACCEL: Parameter P006 Object Description Index 0x5ff0 Symbol POSA Length 6 Access groups 0 Object code Simple var. Password 0 Data type Octet String Access rights Write all PD Map Not possible Data Description Data format BCD Unit mm (or inch) Value range -4 000 000 000 ... +4 000 000 000 Resolution 1 ⇔ 0.001 mm (or inch) Data byte [Bit] Assignment Data byte [Bit] Assignment 1 [7 ..... 0] Value sign (0x00 ⇔ +; 0xff ⇔ -) 2 [7,6,5,4] 109 4 [3,2,1,0] 104 2 [3,2,1,0] 108 5 [7,6,5,4] 103 3 [7,6,5,4] 107 5 [3,2,1,0] 102 3 [3,2,1,0] 106 6 [7,6,5,4] 101 4 [7,6,5,4] 105 6 [3,2,1,0] 100 Example The drive must travel to the absolute position 7350.150 mm. Service Write request Sub-index 0 3. data byte 0x07 Command Code 0x8082 Length 6 4. data byte 0x35 Param. counter 6 1. data byte 0x00 5. data byte 0x01 Index 0x5ff0 2. data byte 0x00 6. data byte 0x50

Object Description Index 0x5fef Symbol POSR Length 6 Access groups 0 Object code Simple var. Password 0 Data type Octet String Access rights Write all PD Map Not possible Data Description Data format BCD Unit mm (or inch) Value range -4 000 000 000 ... +4 000 000 000 Resolution 1 ⇔ 0.001 mm (or inch) Data byte [Bit] Assignment Data byte [Bit] Assignment 1 [7 ..... 0] Value sign (0x00 ⇔ +; 0xff ⇔ -) 2 [7,6,5,4] 109 4 [3,2,1,0] 104 2 [3,2,1,0] 108 5 [7,6,5,4] 103 3 [7,6,5,4] 107 5 [3,2,1,0] 102 3 [3,2,1,0] 106 6 [7,6,5,4] 101 4 [7,6,5,4] 105 6 [3,2,1,0] 100 Example The drive should travel relative to -37891.210 mm. Service Write request Sub-index 0 3. data byte 0x37 Command Code 0x8082 Length 6 4. data byte 0x89 Param. counter 6 1. data byte 0xff 5. data byte 0x12 Index 0x5fef 2. data byte 0x00 6. data byte 0x10 2.7.3 LAGE_ZIEL Target position default. Absolute positioning. Reference point is the real null (RN) or relative positioning: set by the data byte 2 Bit 6 (0 = absolute; 1 = relative). Positioning is done with the acceleration time (brake time) set by ACCELL-POS (ACCEL-NEG) and the velocity set by SPEED. If these values were not set, then valid are substitute values: SPEED: Parameter P002; ACCEL: Parameter P006 Object Description Index 0x607a Symbol LAGE_ZIEL Length 4 Access groups 0 Object code Simple var. Password 0 Data type Integer32 Access rights Read/write all PD Map PAD Data Description Unit mm (or inch) Resolution 1 ⇔ 0.001 mm (or inch) The object "target position" can be assigned to the cyclical process output data channel. Then you can cyclically specify new set points. The acceptance of a new set point (see also PA_ENABLE Bit 7) requires a handshake. This is done using the following bits: ! Control word byte 2 bit 4 "new set point" and ! Status word byte 1 bit 4 "acknowledge record point"

Interbus-S 34 Function: New set point Set point acknowledgement (1) (3) (2) (4) Transition 1 2 3 4 Meaning New target value Set point acknow- ledgement New set point Set point acknow- ledgement Conditions Target val.- acknowledgement. ="0" actual value can be transferred Set point acknowledgement ="1" Set point recognised New set point ="0" Target val.- acknowledgement ="0" New target value can be transferred Automatic acceptance of the target position from the PAD channel for value changes can be turned off with the Bit 7 from PA_ENABLE (see page 74). Example The drive must travel to the absolute position -1000.000 mm. Service Write request Sub-index 0 3. data byte 0xbd Command Code 0x8082 Length 4 4. data byte 0xc0 Param. counter 5 1. data byte 0xff Index 0x607a 2. data byte 0xf0 2.7.4 S1 Actual position Current position in relation to real zero. Object Description Index 0x5ff9 Symbol S1 Length 6 Access groups 0 Object code Simple var. Password 0 Data type Octet String Access rights Read all PD Map Not possible Data Description Data format BCD Unit mm (or inch) Value range -4 000 000 000 ... +4 000 000 000 Resolution 1 ⇔ 0.001 mm (or inch) Data byte [Bit] Assignment Data byte [Bit] Assignment 1 [7 ..... 0] Value sign (0x00 ⇔ +; 0xff ⇔ -) 2 [7,6,5,4] 109 4 [3,2,1,0] 104 2 [3,2,1,0] 108 5 [7,6,5,4] 103 3 [7,6,5,4] 107 5 [3,2,1,0] 102 3 [3,2,1,0] 106 6 [7,6,5,4] 101 4 [7,6,5,4] 105 6 [3,2,1,0] 100

Current drive position. Object Description Index 0x6064 Symbol LAGE_IST Length 4 Access groups 0 Object code Simple var. Password 0 Data type Integer32 Access rights Read all PD Map PED Data Description Unit mm (or inch) Resolution 1 ⇔ 0.001 mm (or inch) 2.7.6 S2 Target position. End position of the current or last positioning cycle implemented. Object Description Index 0x5fdf Symbol S2 Length 4 Access groups 0 Object code Simple var. Password 0 Data type Integer32 Access rights Read all PD Map Not possible Data Description Unit mm (or inch) Resolution 1 ⇔ 0.001 mm (or inch) 2.7.7 S12 Position of the absolute value sensor (Option A1). Object Description Index 0x5fd9 Symbol S12 Length 4 Access groups 0 Object code Simple var. Password 0 Data type Integer32 Access rights Read all PD Map Not possible Data Description Unit mm (or inch) Resolution 1 ⇔ 0.001 mm (or inch)

Interbus-S 36 2.7.8 REALNULL Reference measurement offset. Difference between real null point and machine zero point. After the reference run, all positioning processes refer to the real null point. Object Description Index 0x607c Symbol REALNULL Length 4 Access groups 0 Object code Simple var. Password 0 Data type Integer32 Access rights Read/write all PD Map Not possible Data Description Unit mm (or inch) Resolution 1 ⇔ 0.001 mm (or inch) Example The real null point should be -500.000 mm. Service Write request Sub-index 0 3. data byte 0x5e Command Code 0x8082 Length 4 4. data byte 0xe0 Param. counter 5 1. data byte 0xff Index 0x607c 2. data byte 0xf8 2.7.9 GRENZEN Position limit value min-max. The position limit values are software end limits and correspond to the absolute position limits, within which the set values and actual values (in absolute form) must be moved. Each new target position is checked with these limits. They always refer to the machine zero point; therefore they must be corrected using the reference measurement offset. Object Description Index 0x607d Symbol GRENZEN Length 4 Access groups 0 Object code Array Elements 2 Password 0 Data type Integer32 Access rights Read/write all PD Map Not possible Data Description Unit mm (or inch) Resolution 1 ⇔ 0.001 mm (or inch) Sub-index Assignment Sub-index Assignment 1 Negative limit stop 2 Positive limit stop Note the number range for the Integer32 formats (see page 9 under "1.7.2 Integer"). Limits outside -2 147 483 - +2 147 483 units cannot be depicted. Example The position limit value min. (neg. limit stop) is set at -1650.000 mm. Service Write request Sub-index 1 3. data byte 0xd2 Command Code 0x8082 Length 4 4. data byte 0x0b Param. counter 5 1. data byte 0xff Index 0x607d 2. data byte 0xe6

Once the position actual value lies within this window, the Bit "Position reached" is set in the status word. Object Description Index 6067 Symbol POS_FENSTER Length 4 Access groups 0 Object code Simple var. Password 0 Data type Unsigned32 Access rights Read/write all PD Map Not possible Data Description Unit mm (or inch) Resolution 1 ⇔ 0.001 mm (or inch) Example The positioning window is set to 15.000 mm. Service Write request Sub-index 0 3. data byte 0x3a Command Code 0x8082 Length 4 4. data byte 0x98 Param. counter 5 1. data byte 0x00 Index 0x6067 2. data byte 0x00 2.7.11 SCHLEPP_FEN Contour error window. The contour error window lies symmetrically around the currently set position set point. If the current position indicator actual value lies outside this window, a contour error occurs. Object Description Index 0x6065 Symbol SCHLEPP_FEN Length 4 Access groups 0 Object code Simple var. Password 0 Data type Unsigned32 Access rights Read/write all PD Map Not possible Data Description Unit mm (or inch) Resolution 1 ⇔ 0.001 mm (or inch) Example The contour error window is set to 10.000 mm. Service Write request Sub-index 0 3. data byte 0x27 Command Code 0x8082 Length 4 4. data byte 0x10 Param. counter 5 1. data byte 0x00 Index 0x6065 2. data byte 0x00

Interbus-S 38 2.7.12 S3 Contour error. Difference between set and actual position in a positioning cycle. Object Description Index 0x5ffa Symbol S3 Length 2 Access groups 0 Object code Simple var. Password 0 Data type Integer16 Access rights read all PD Map PED Data Description Unit mm (or inch) Resolution 1 ⇔ 1/256 mm (or inch) 2.7.13 POLARITAET Polarities. The set point and actual values are multiplied, depending on the polarity, with 1 or -1. This allows the user to reverse the direction of orientation Object Description Index 0x607e Symbol POLARITAET Length 1 Access groups 0 Object code Simple var. Password 0 Data type Octet String Access rights Read/write all PD Map Not possible Data Description Data bit 7 Assignment Data bit 7 Assignment = 1 Reversal of direction (motor left) = 0 default (motor right) The other bits are irrelevant for COMPAX. Example The motor should turn clockwise. Service Write request Index 0x607e 1. data byte 0x80 Command Code 0x8082 Sub-index 0 Param. counter 4 Length 1 2.7.14 REF_MODE Reference run selection code. Selection function with which the reference run method is written. Object Description Index 0x6098 Symbol REF_MODE Length 2 Access groups 0 Object code Simple var. Password 0 Data type Integer16 Access rights Read/write all PD Map Not possible

12 MN-Ini. approach in direction 2 The COMPAX parameter P213 is influenced by this object. The direction in which the machine zero is approached is also influenced by the COMPAX parameters P212 (machine zero mode) and P3 (speed of machine zero travel). Example The machine zero point initiator is approached with the positive direction in the reference run. Service Write request Index 0x6098 1. data byte 0x00 Command Code 0x8082 Sub-index 0 2. data byte 0x08 Param. counter 4 Length 2 2.7.15 CAM_CMD Special commands for COMPAX XX70. The Sub-index is used to select the corresponding command (Sub-index = CAM command). Object Description Index 0x5fcc Symbol CAM_CMD Length 4 Access groups 0 Object code Array Elements 6 Password 0 Data type Integer32 Access rights Write all PD Map Not possible Data Description Sub-index Command Resolution 1 SETC 1 2 SETM 1 ⇔ 0.001 3 SETS 1 ⇔ 0.001 4 POSR CAM - 5 LOOP 1 6 VF - 2.7.16 WAITPOSA Synchronisation with automatic reverse travel (clocked command; COMPAX XX50). Starting from the rest position of the drive, a complete synchronisation move is carried out. The value for this object is the processing interval (length of material when cutting). Object Description Index 0x5fe0 Symbol WAITPOSA Length 4 Access groups 0 Object code Simple var. Password 0 Data type Integer32 Access rights Write all PD Map Not possible Data Description Unit mm (or inch) Resolution 1 ⇔ 0.001 mm (or inch)

Interbus-S 40 Example A cutting length of 205.000 mm is required. Service Write request Sub-index 0 3. data byte 0x20 Command Code 0x8082 Length 4 4. data byte 0xc8 Param. counter 5 1. data byte 0x00 Index 0x5fe0 2. data byte 0x03 2.7.17 WAITPOSR Synchronisation without automatic reverse travel (clocked command; COMPAX XX50). Starting from the rest position of the drive, a complete synchronisation move is carried out. The value for this object is the processing interval (length of material when cutting). Object Description Index 0x5fe1 Symbol WAITPOSR Length 4 Access groups 0 Object code Simple var. Password 0 Data type Integer32 Access rights Write all PD Map Not possible Data Description Unit mm (or inch) Resolution 1 ⇔ 0.001 mm (or inch) Example A cutting length of 720.000 mm is required. Service Write request Sub-index 0 3. data byte 0xfc Command Code 0x8082 Length 6 4. data byte 0x80 Param. counter 5 1. data byte 0x00 Index 0x5fe1 2. data byte 0x0a

The value is valid until a new value is programmed. The set speed can be reduced by using the OVERRIDE object. A speed change during the positioning cycle is possible by using the POSR0SPEED object. Object Description Index 0x5fec Symbol SPEED Length 2 Access groups 0 Object code Simple var. Password 0 Data type Integer16 Access rights Read/write all PD Map PAD Data Description Unit % Resolution 1 ⇔ 1/64%; (6400 ⇔ 100%) Example The drive should travel at 75% of the nominal speed. Service Write request Index 0x5fec 1. data byte 0x12 Command Code 0x8082 Sub-index 0 2. data byte 0xc0 Param. counter 4 Length 2 2.8.2 OVERRIDE Reduce traverse speed. Software emulation of an external potentiometer on the override input (X11.6). Object Description Index 0x5fee Symbol OVERRIDE Length 1 Access groups 0 Object code Simple var. Password 0 Data type Unsigned8 Access rights Read/write all PD Map PAD Data Description Unit % Resolution 1 ⇔ 1/255%; (255 ⇔ 100%) Example The traverse speed must be reduced by 50%. Service Write request Index 0x5fee Data byte 0x80 Command Code 0x8082 Sub-index 0 Param. counter 4 Length 1

Interbus-S 42 2.8.3 POSR0SPEED Changing traverse speed during a positioning cycle. Object Description Index 0x5fed Symbol POSR0SPEED Length 3 Access groups 0 Object code Simple var. Password 0 Data type Octet String Access rights Write all PD Map Not possible Data Description Data format BCD Unit % Value range 1 ... 600 000 Resolution 1 ⇔ 0.001 % Data byte [Bit] Assignment Data byte [Bit] Assignment 1 [7,6,5,4] 105 2 [3,2,1,0] 102 1 [3,2,1,0] 104 3 [7,6,5,4] 101 2 [7,6,5,4] 103 3 [3,2,1,0] 100 Example The drive should continue travel at 35% of the nominal speed. Service Write request Index 0x5fed 1. data byte 0x03 Command Code 0x8082 Sub-index 0 2. data byte 0x50 Param. counter 5 Length 3 3. data byte 0x00 2.8.4 POSRXSPEEDY Speed step profile. Every revolution step profile can have a maximum of 8 revolution steps. The position value is given as a relative measurement. It is referenced to the positioning start point. Object Description Index 0x5fe4 Symbol POSRXSPEEDY Length 8 Access groups 0 Object code Simple var. Password 0 Data type Octet String Access rights Write all PD Map Not possible Data Description Data byte Assignment Data byte Assignment 1 Highest value byte of the position 4 Lowest value byte of the position Coding Complement to two Unit mm (or inch) Value range -2 147 483 648 ... +2 147 483 647 Resolution 1 ⇔ 0.001 mm (or inch) Data byte Assignment Data byte Assignment 5 Highest value byte of the speed 8 Lowest value byte of the speed Coding binary Unit % Value range 1 ... 600 000 Resolution 1 ⇔ 0.001 %

Service Write request Length 8 5. data byte 0x00 Command Code 0x8082 1. data byte 0x00 6. data byte 0x00 Param. counter 7 2. data byte 0x08 7. data byte 0x80 Index 0x5fe4 3. data byte 0xd9 8. data byte 0xe8 Sub-index 0 4. data byte 0xa0 2.8.5 PRXSDYALZ Speed step profile. Every revolution step profile can have a maximum of 8 revolution steps. The position value is given as a relative measurement. It is referenced to the positioning start point. Object Description Index 0x5fc7 Symbol PRXSDYALZ Length 10 Access groups 0 Object code Simple var. Password 0 Data type Octet String Access rights Write all PD Map Not possible Data Description Data byte Assignment Data byte Assignment 1 Highest value byte of the position 4 Lowest value byte of the position Coding Two’s complement Unit mm (or inch) Value range -2 147 483 648 ... +2 147 483 647 Resolution 1 ⇔ 0.001 mm (or Inch) Data byte Assignment Data byte Assignment 5 Highest value byte of the speed 8 Lowest value byte of the speed Coding binary Unit % Value range 1 ... 600 000 Resolution 1 ⇔ 0.001 % Data byte Assignment Data byte Assignment 9 MSB of the ramp time 10 LSB of the ramp time Coding binary Unit ms Value range 0 ... 65 000 Resolution 1 ⇔ 1 ms

Interbus-S 44 2.8.6 DREHZAHLMAX Maximum motor speed value. The maximum speed is given for both directions of rotation with a resolution of 1 rpm. These are for the protection of the motor and can be found in the motor data sheet. Object Description Index 0x6080 Symbol DREHZAHLMAX Length 2 Access groups 0 Object code Simple var. Password 0 Data type Unsigned16 Access rights Read/write all PD Map Not possible Data Description Unit Rpm Resolution 1 ⇔ 1 rpm Example The max. speed of the motor is 6000 rpm. Service Write request Index 0x6080 1. data byte 0x17 Command Code 0x8082 Sub-index 0 2. data byte 0x70 Param. counter 4 Length 2 2.8.7 GESCHW_MAX Maximum speed The maximum speed applies to both rotation directions. Object Description Index 0x607f Symbol GESCHW_MAX Length 4 Access groups 0 Object code Simple var. Password 0 Data type Unsigned32 Access rights Read/write all PD Map Not possible Data Description Unit % Resolution 1 ⇔ 0.001 % Example The maximum speed is set to 95% of the nominal speed. Service Write request Sub-index 0 3. data byte 0x73 Command Code 0x8082 Length 4 4. data byte 0x18 Param. counter 5 1. data byte 0x00 Index 0x607f 2. data byte 0x01

The value is valid until a new value is programmed. The set speed can be reduced by using the OVERRIDE object. A speed change during the positioning cycle is possible by using the POSR0SPEED object. Object Description Index 0x6081 Symbol VERF_GESCHW Length 4 Access groups 0 Object code Simple var. Password 0 Data type Integer32 Access rights Read/write all PD Map Not possible Data Description Unit % Resolution 1 ⇔ 0.001 % Example The drive should travel at 66% of the nominal speed. Service Write request Sub-index 0 3. data byte 0x01 Command Code 0x8082 Length 4 4. data byte 0xd0 Param. counter 5 1. data byte 0x00 Index 0x6081 2. data byte 0x01 2.8.9 S4 Current axis process speed. Value in % of the nominal speed (nominal rpm * travel per motor revolution). Object Description Index 0x5ffc Symbol S4 Length 2 Access groups 0 Object code Simple var. Password 0 Data type Integer16 Access rights Read all PD Map PED Data Description Unit % Resolution 1 ⇔ 1/64%; (6400 ⇔ 100%)

Interbus-S 46 2.8.10 GESCHW_IST Traverse speed - actual value. Value in % of the nominal speed (nominal rpm * travel per motor revolution). Object Description Index 0x606c Symbol GESCHW_IST Length 4 Access groups 0 Object code Simple var. Password 0 Data type Integer32 Access rights Read all PD Map Not possible Data Description Unit % Resolution 1 ⇔ 0.001 % 2.8.11 GESCHW_REF Reference run speed. Speed set point for approaching the machine zero point. Given in % of the nominal speed (nominal rpm * travel per motor revolution). Object Description Index 0x6099 Symbol GESCHW_REF Length 4 Access groups 0 Object code Simple var. Password 0 Data type Unsigned32 Access rights Read/write all PD Map Not possible Data Description Unit % Resolution 1 ⇔ 0.001 % Example The reference run speed is set to 20% of the nominal speed. Service Write request Sub-index 0 3. data byte 0x4e Command Code 0x8082 Length 4 4. data byte 0x20 Param. counter 5 1. data byte 0x00 Index 0x6099 2. data byte 0x00

Selection function with which the acceleration process is written. Object Description Index 0x6086 Symbol RAMPENFORM Length 2 Access groups 0 Object code Simple var. Password 0 Data type Integer16 Access rights Read/write all PD Map Not possible Data Description Selection code Ramp shape Selection code Ramp shape -1 square 2 without jerk 0 linear Example The drive must travel with a squared ramp form. Service Write request Index 0x6086 1. data byte 0xff Command Code 0x8082 Sub-index 0 2. data byte 0xff Param. counter 4 Length 2 2.9.2 ACCEL_POS Acceleration time. Time setting for the acceleration process. Also the time setting for the deceleration process as long as the object ACCEL-NEG or RAMPE-NEG has not been written to. The time specification applies to nominal speed (100%). t SPEED 100% ACCEL_POS a = • Object Description Index 0x5fea Symbol ACCEL_POS Length 2 Access groups 0 Object code Simple var. Password 0 Data type Unsigned16 Access rights Write all PD Map Not possible Data Description Value range 0 ... 65 000 Unit ms Resolution 1 ⇔ 1 ms Example The next positioning process must be implemented with an acceleration time of 1000 ms. Service Write request Index 0x5fea 1. data byte 0x03 Command Code 0x8082 Sub-index 0 2. data byte 0xe8 Param. counter 4 Length 2

Interbus-S 48 2.9.3 ACCEL_NEG Deceleration time. Time setting for the deceleration process. The time specification applies to nominal speed (100%). t SPEED 100% ACCEL_NEG a = • Object Description Index 0x5feb Symbol ACCEL_NEG Length 2 Access groups 0 Object code Simple var. Password 0 Data type Unsigned16 Access rights Write all PD Map Not possible Data Description Value range 0 ... 65 000 Unit ms Resolution 1 ⇔ 1 ms Example The next positioning process must be implemented with an acceleration time of 2500 ms. Service Write request Index 0x5feb 1. data byte 0x09 Command Code 0x8082 Sub-index 0 2. data byte 0xc4 Param. counter 4 Length 2 2.9.4 RAMPE_POS Acceleration. Time setting for the acceleration process. Also the time setting for the deceleration process as long as the object ACCEL-NEG or RAMPE-NEG has not been written to. The time specification applies to nominal speed (100%). t SPEED 100% RAMPE_POS a = • Object Description Index 0x6083 Symbol RAMPE_POS Length 4 Access groups 0 Object code Simple var. Password 0 Data type Unsigned32 Access rights Read/write all PD Map Not possible Data Description Value range 0 ... 65 000 Unit ms Resolution 1 ⇔ 1 ms Example The acceleration time is set to 470 ms. Service Write request Sub-index 0 3. data byte 0x01 Command Code 0x8082 Length 4 4. data byte 0xd6 Param. counter 5 1. data byte 0x00 Index 0x6083 2. data byte 0x00

The time specification applies to nominal speed (100%). t SPEED 100% RAMPE_NEG a = • Object Description Index 0x6084 Symbol RAMPE_NEG Length 4 Access groups 0 Object code Simple var. Password 0 Data type Unsigned32 Access rights Read/write all PD Map Not possible Data Description Value range 0 ... 65 000 Unit ms Resolution 1 ⇔ 1 ms Example The deceleration time is set to 1525 ms. Service Write request Sub-index 0 3. data byte 0x05 Command Code 0x8082 Length 4 4. data byte 0xf5 Param. counter 5 1. data byte 0x00 Index 0x6084 2. data byte 0x00 2.9.6 RAMPE_NOTS Rapid stop. Time setting for the deceleration process if the command rapid stop (Bit 2 in the control word) is given, a limit switch is activated or after an emergency stop. The time specification applies to nominal speed (100%). t SPEED 100% RAMPE_NOTS a = • Object Description Index 0x6085 Symbol RAMPE_NOTS Length 4 Access groups 0 Object code Simple var. Password 0 Data type Unsigned32 Access rights Read/write all PD Map Not possible Data Description Value range 0 ... 65 000 Unit ms Resolution 1 ⇔ 1 ms Example The braking time for rapid stop is set to 125 ms. Service Write request Sub-index 0 3. data byte 0x00 Command Code 0x8082 Length 4 4. data byte 0x7d Param. counter 5 1. data byte 0x00 Index 0x6085 2. data byte 0x00

Interbus-S 50 2.9.7 RAMPE_REF Reference run acceleration. Acceleration time for approaching the machine zero point. The time specification applies to nominal speed (100%). t SPEED 100% RAMPE_REF a = • Object Description Index 0x609a Symbol RAMPE_REF Length 4 Access groups 0 Object code Simple var. Password 0 Data type Unsigned32 Access rights Read/write all PD Map Not possible Data Description Value range 0 ... 65 000 Unit ms Resolution 1 ⇔ 1 ms Example The acceleration time for the reference run is set to 733 ms. Service Write request Sub-index 0 3. data byte 0x02 Command Code 0x8082 Length 4 4. data byte 0xdd Param. counter 5 1. data byte 0x00 Index 0x609a 2. data byte 0x00

Some inputs are assigned fixed control functions. Input Assignment Input Assignment 1 SHIFT 1 & 3 Find real null (RN) 2 Hand+ 1 & 4 Teach real zero 3 Hand- 1 & 5 Reserved 4 Quit 1 & 6 Break 5 START 9...13 Freely assignable in standard model 6 STOP 14 Activate label reference 7...8 Freely assignable in standard model 15 Faster start 1 & 2 Find machine zero (MN) 16 Label input Object Description Index 0x5ff8 Symbol INPUT_WORD Length 2 Access groups 0 Object code Simple var. Password 0 Data type Octet String Access rights Read all PD Map PED Data Description Data byte [Bit] Assignment Data byte [Bit] Assignment 1 [7] Status input 16 2 [7] Status input 8 1 [0] Status input 9 2 [0] Status input 1 2.10.2 OUTPUT_WORD Logic state of the 16 digital outputs. Some outputs are assigned a fixed status information. Output Assignment Output Assignment 1 no fault 5 Programmed nominal position reached 2 No warning 6 Idle after stop 3 Machine zero has been approached 7...15 Freely assignable in standard model 4 Ready for start 16 Label present after max. feed length This object allows the outputs to be set or reset to default. Each output which must be influenced via the Interbus-S, must be specifically enabled with the object OUTPUT-MASK. The output thereby loses any status information which was assigned to it. Object Description Index 0x5ff7 Symbol OUTPUT_WORD Length 2 Access groups 0 Object code Simple var. Password 0 Data type Octet string Access rights Read/write all PD Map PED & PAD Data Description Data byte [Bit] Assignment Data byte [Bit] Assignment 1 [7] Status output 16 2 [7] Status output 8 1 [0] Status output 9 2 [0] Status output 1

Interbus-S 52 2.10.3 OUTPUT Set or reset a digital output. The corresponding output is selected using the Sub-index (Sub-index = output no.). Some outputs have a fixed status information assigned (see OUTPUT-WORD). Object Description Index 0x5ff6 Symbol OUTPUT Length 1 Access groups 0 Object code Array Elements 16 Password 0 Data type Boolean Access rights Write all PD Map Not possible Data Description Data byte Function Data byte Function = 0xff (TRUE) Output [Sub-index] = 1 = 0x00 (FALSE) Output [Sub-index] = 0 Example Output 13 must be set. Service Write request Index 0x5ff6 Data byte 0xff Command Code 0x8082 Sub-index 13 Param. counter 4 Length 1 2.10.4 OUTPUT_MASK Mask outputs. Each output which must be influenced via the Interbus-S, must be specifically enabled (masked). The output thereby loses any status information which was assigned to it. After Power On, the OUTPUT-MASK has the value 0, i.e. all outputs are disabled for the IBS (not masked). Object Description Index 0x5ff5 Symbol OUTPUT_MASK Length 2 Access groups 0 Object code Simple var. Password 0 Data type Octet string Access rights Read/write all PD Map Not possible Data Description Data byte [Bit] Assignment Data byte [Bit] Assignment 1 [7] Mask output 16 2 [7] Mask output 8 1 [0] Mask output 9 2 [0] Mask output 1 Example Outputs 9 - 16 must be masked. Service Write request Index 0x5ff5 1. data byte 0xff Command Code 0x8082 Sub-index 0 2. data byte 0x00 Param. counter 4 Length 2

Set an unassigned output within a positioning cycle. The position value is given as a relative measurement. It is referenced to the positioning start point. A maximum of 8 comparators can be set for a positioning process. The corresponding output is selected using the Sub-index (Sub-index = output no.). Object Description Index 0x5fe2 Symbol POSROUTPUTP Length 4 Access groups 0 Object code Array Elements 16 Password 0 Data type Integer32 Access rights Write all PD Map Not possible Data Description Unit mm (or inch) Resolution 1 ⇔ 0.001 mm (or inch) Example Output 11 must be set when the drive has travelled 888 mm. Service Write request Sub-index 11 3. data byte 0x65 Command Code 0x8082 Length 4 4. data byte 0x00 Param. counter 5 1. data byte 0x00 Index 0x5fe2 2. data byte 0x04 2.10.6 POSROUTPUTN Comparator function (active low). Reset an unassigned output within a positioning cycle. The position value is given as a relative measurement. It is referenced to the positioning start point. A maximum of 4 comparators can be set for a positioning process. The corresponding output is selected using the Sub-index (Sub-index = output no.). Object Description Index 0x5fe3 Symbol POSROUTPUTN Length 4 Access groups 0 Object code Array Elements 16 Password 0 Data type Integer32 Access rights Write all PD Map Not possible Data Description Unit mm (or inch) Resolution 1 ⇔ 0.001 mm (or inch) Example Output 11 must be reset when the drive has travelled 1888 mm. Service Write request Sub-index 11 3. data byte 0xa7 Command Code 0x8082 Length 4 4. data byte 0x40 Param. counter 5 1. data byte 0x00 Index 0x5fe3 2. data byte 0x13

Interbus-S 54 2.11 Programming 2.11.1 N Reading and writing the program memory with command records in plain text (ASCII format). The record number is determined with the sub-index (Sub-index = record No.) Object Description Index 0x5ff1 Symbol N Length 32 Access groups 0 Object code Array Elements 250 Password 0 Data type Visible string Access rights Read/write all PD Map Not possible Data Description Data format ASCII Value range 0x20 ... 0x7f Data byte 1 1st character of the command record Data byte 32 32 nd character of the command record Example Record 5 must be written with the command "POSA 250". Service Write request Length 20 5. data byte 0x20 (" ") Command Code 0x8082 1. data byte 0x50 ("P") 6. data byte 0x32 ("2") Param. counter 19 2. data byte 0x4f ("O") 7. data byte 0x35 ("5") Index 0x5ff1 3. data byte 0x53 ("S") 8. data byte 0x30 ("0") Sub-index 5 4. data byte 0x41 ("A") 9...32. data byte 0x20 (" ") Long, combined commands with 32 characters cannot be completely displayed. These commands can however be written with the use of command abbreviations. 2.11.2 Nx Reading and writing the program memory with command records in binary format. The record number is determined with the Sub-index (Sub-index = record No.) Object Description Index 0x5fd5 Symbol Nx Length 20 Access groups 0 Object code Array Elements 250 Password 0 Data type Octet string Access rights Read/write all PD Map Not possible Data Description Data byte Assignment 1 Record length (number of relevant record data) 2 1 st character of the record content ... 20 last character of the record contents

Definition of the command code A command code consists of 1 byte. Sorted by command code Code Command 0x20 Empty instruction (No Operation) 0x01 VALIDP / C / F 0x41 POSA value / POSA HOME 0x42 GOSUB 0x43 SETC n 0x45 END 0x47 GOTO 0x49 IF Ex=y ... / IF ERROR ... / IF STOP ... 0x4A IF < Comparison operator > ... 0x4B LOOP n 0x4C ACCEL value 0x4D SETM Value 0x4F OUTPUT Ax=y 0x50 Pn=. . . 0x51 SETS 0x52 POSR value / POSR CAM 0x53 SPEED value / SPEED SYNC 0x54 REPEAT Value 0x55 RETURN 0x56 Vn=. . . 0x57 WAIT value / WAIT START 0x61 POSA Parameter 0x6B LOOP Parameter 0x6C ACCEL Parameter 0x6D SETM Parameter 0x72 POSR Parameter 0x73 SPEED Parameter 0x74 REPEAT Parameter 0x77 WAIT Parameter 0xC1 POSA Variable 0xCB LOOP Variable 0xCC ACCEL Variable 0xCD SETM Variable 0xD2 POSR Variable 0xD3 SPEED Variable 0xD4 REPEAT Variable 0xD7 WAIT Variable Sorted by command code Code Command 0x6C ACCEL Parameter 0xCC ACCEL Variable 0x4C ACCEL value 0x45 END 0x42 GOSUB 0x47 GOTO 0x4A IF ... 0x49 IF Ex=y ... / IF ERROR ... / IF STOP ... 0x20 Empty instruction (No Operation) 0x4B LOOP n 0x6B LOOP Parameter 0xCB LOOP Variable 0x4F OUTPUT Ax=y 0x50 Pn=. . . 0x61 POSA Parameter 0xC1 POSA Variable 0x41 POSA value / POSA HOME 0x72 POSR Parameter 0xD2 POSR Variable 0x52 POSR value / POSR CAM 0x74 REPEAT Parameter 0xD4 REPEAT Variable 0x54 REPEAT Value 0x55 RETURN 0x43 SETC n 0x6D SETM Parameter 0xCD SETM Variable 0x4D SETM Value 0x51 SETS 0x73 SPEED Parameter 0x3D SPEED Variable 0x53 SPEED value / SPEED SYNC 0x01 VALIDP / C / F 0x56 Vn=. . . 0x77 WAIT Parameter 0x7D WAIT Variable 0x57 WAIT VALUE/ WAIT START

Interbus-S 56 Operand codes An operand consists of 7 bytes; 1 byte for the type indicator and 6 data bytes. Operand Type D1 D2 D3 D4 D5 D6 Parameter 0x50 No.H Nr.L 0x00 0x00 0x00 0x00 Status 0x53 No.H Nr.L 0x00 0x00 0x00 0x00 Variable 0x56 No.H Nr.L 0x00 0x00 0x00 0x00 Constants 0x20 NL NM NH VL VM VH Comparison operator codes A comparison operator consists of 1 byte. Comparison operator Symbols Code Equal = 0x3D Less than < 0x3C More than > 0x3E Equal to/less than <= 0xBC Equal to/greater than >= 0xBE Does not equal <> 0xBB Arithmetic operator codes An arithmetic operator consists of 1 byte. Arithmetic Operator Symbols Code Addition + 0x2B Subtraction - 0x2D Multiplication * 0x2A Division / 0x2F Whole number division \ 0x5C Modulo calculation % 0x25 The following set memory – command code table is a result of the application of these codes. All of the commands are listed individually here!

Command Code ACCEL Parameter 0x6C No.H Nr.L ACCEL Variable 0xCC No.H Nr.L ACCEL Value 0x4C MSB LSB END 0x45 0x00 GOSUB EXT 0x42 0x00 0x00 GOSUB Value 0x42 MSB LSB GOTO EXT 0x47 0x00 0x00 GOTO Value 0x47 MSB LSB IF ERROR GOSUB n 0x49 0x00 0xFF 0x31 0x42 n MSB n LSB IF Ex=y GOSUB n 0x49 x MSB x LSB y 0x42 n MSB n LSB IF Ex=yy GOSUB n 0x49 x MSB x LSB y1 y2 0x42 n MSB n LSB IF Ex= . . . ... ... ... ... ... ... ... ... IF Ex=yyyyyyyy GOSUB n 0x49 x MSB x LSB y1 y2 y3 y4 y5 y6 y7 y8 0x42 n MSB n LSB IF Ex=y GOTO n 0x49 x MSB x LSB y 0x47 n MSB n LSB IF Ex=yy GOTO n 0x49 x MSB x LSB y1 y2 0x47 n MSB n LSB IF Ex= . . . ... ... ... ... ... ... ... ... IF Ex=yyyyyyyy GOTO n 0x49 x MSB x LSB y1 y2 y3 y4 y5 y6 y7 y8 0x47 n MSB n LSB IF GOTO n 0x4A O1Type O1D1 O1D2 O1D3 O1D4 O1D5 O1D6 Vglop O2Type O2D1 O2D2 O2D3 O2D4 O2D5 O2D6 0x47 n MSB n LSB IF < Comparison operator > GOSUB n 0x4A O1Type O1D1 O1D2 O1D3 O1D4 O1D5 O1D6 Vglop O2Type O2D1 O2D2 O2D3 O2D4 O2D5 O2D6 0x42 n MSB n LSB IF STOP GOSUB n 0x49 0x00 0xFE 0x31 0x42 n MSB n LSB LOOP n 0x4B n MSB n LSB LOOP Parameter 0x6B No.H Nr.L LOOP Variable 0xCB No.H No .L OUTPUT Ax=y 0x4F x MSB x LSB y OUTPUT Ax=yy 0x4F x MSB x LSB y1 y2 OUTPUT Ax=. . . ... ... ... ... ... ... OUTPUT Ax=yyyyyyyy 0x4F x MSB x LSB y1 y2 y3 y4 y5 y6 y7 y8 OUTPUT A0=y 0x4F 0x00 0x00 y POSA HOME 0x41 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF POSA Parameter 0x61 No.H Nr.L 0x00 0x00 0x00 0x00 POSA Variable 0x1C No.H Nr.L 0x00 0x00 0x00 0x00 POSA Value t 0x41 NL NM NH VL VM VH POSR CAM 0x52 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF POSR Parameter 0x72 No.H Nr.L 0x00 0x00 0x00 0x00 POSR Variable 0x2D No.H Nr.L 0x00 0x00 0x00 0x00 POSR Value 0x52 NL NM NH VL VM VH REPEAT Parameter 0x74 No.H Nr.L REPEAT Variable 0x4D No.H Nr.L REPEAT Value t 0x54 MSB LSB RETURN 0x55 0x00 SETC n 0x43 n MSB n LSB SETM Value 0x4D NL NM NH VL VM VH SETM Parameter 0x6D No.H Nr.L 0x00 0x00 0x00 0x00 SETM Variable 0xCD No.H Nr.L 0x00 0x00 0x00 0x00 SETS 0x51 SPEED Parameter 0x73 No.H Nr.L 0x00 0x00 0x00 0x00 SPEED Variable 0x3D No.H Nr.L 0x00 0x00 0x00 0x00

Interbus-S 58 Command Code SPEED Value 0x53 NL NM NH VL VM VH SPEED SYNC 0x53 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF VALIDP 0x01 0x56 0x50 VALIDC 0x01 0x56 0x43 VALIDF 0x01 0x56 0x46 WAIT Parameter 0x77 No.H Nr.L WAIT Variable 0x7D No.H Nr.L WAIT Value 0x57 MSB LSB WAIT START 0x57 0x00 0x00 POSA Value WAIT Value 0x41 NL NM NH VL VM VH 0x57 MSB LSB POSA . . . WAIT . . . ... ... ... ... ... ... ... (Combinations examples.: ... Value ... .V12, ... .P40 ... .V10) ... ... ... ... ... ... ... POSA Variable WAIT Variable 0x1C No.H Nr.L 0x00 0x00 0x00 0x00 0x7D No.H Nr.L POSR Value OUTPUT Ax=y 0x52 NL NM NH VL VM VH 0x4F x MSB x LSB y POSR Parameter OUTPUT Ax=y 0x72 No.H Nr.L 0x00 0x00 0x00 0x00 0x4F x MSB x LSB y POSR Variable OUTPUT Ax=y 0x2D No.H Nr.L 0x00 0x00 0x00 0x00 0x4F x MSB x LSB y POSR Value t SPEED Value 0x52 NL NM NH VL VM VH 0x53 NL NM NH VL VM VH POSR . . . SPEED . . . ... ... ... ... ... ... ... (Combinations examples.: ... Value ... .V12, ... .P40 ... .V10) ... ... ... ... ... ... POSR Variable SPEED Variable 0x2D No.H Nr.L 0x00 0x00 0x00 0x00 0x3D No.H Nr.L 0x00 0x00 0x00 0x00 POSR Value SPEED Value ACCEL Value 0x52 NL NM NH VL VM VH 0x53 NL NM NH VL VM VH 0x4C MSB LSB POSR ... SPEED ... ACCEL ... ... ... ... ... ... ... ... (Combinations examples.: ... Value ... .V12 ... .V13, ... .P40 ... .V10 ... .P41) ... ... ... ... ... ... ... ... POSR Variable SPEED Variable ACCEL Variable 0x2D No.H Nr.L 0x00 0x00 0x00 0x00 0x3D No.H Nr.L 0x00 0x00 0x00 0x00 0xCC No.H Nr.L POSR Value WAIT Value 0x52 NL NM NH VL VM VH 0x57 MSB LSB POSR . . . WAIT . . . ... ... ... ... ... ... ... ... (Combinations examples.: ... Value ... .V12, ... .P40 ... .V10) ... ... POSR Variable WAIT Variable 0x2D No.H Nr.L 0x00 0x00 0x00 0x00 0x7D No.H Nr.L SPEED Value WAIT Value 0x53 NL NM NH VL VM VH 0x57 MSB LSB SPEED . . . WAIT . . . ... ... ... ... ... ... ... ... (Combinations examples.: ... Value ... .V12, ... .P40 ... .V10) ... ... SPEED Variable WAIT Variable 0x3D No.H Nr.L 0x00 0x00 0x00 0x00 0x7D No.H Nr.L WAIT POSA Value 0x57 0x00 0x00 0x41 NL NM NH VL VM VH WAIT POSR Value 0x57 0x00 0x00 0x52 NL NM NH VL VM VH Pn= [ ] 0x50 n MSB n LSB O1Type O1D1 O1D2 O1D3 O1D4 O1D5 O1D6 AriOp O2Type O2D1 O2D2 O2D3 O2D4 O2D5 O2D6

0x56 n MSB n LSB O1Type O1D1 O1D2 O1D3 O1D4 O1D5 O1D6 AriOp O2Type O2D1 O2D2 O2D3 O2D4 O2D5 O2D6 Key: No.H: High byte of the parameter/variable number Nr.L: Low byte of the parameter/variable number MSB: High byte of an integer value LSB: Low byte of an integer value NL: Low byte of the fractional digit of a value in DSP number format NM: Mid byte of the fractional digit of a value in DSP number format NH: High byte of the fractional digit of a value in DSP number format VL: Low Byte of the integral digit of a value in DSP number format VM: Mid Byte of the integral digit of a value in DSP number format VH: High byte of the integral digit of a value in DSP number format O1Type: Type indicator of the 1. operand O1D1...O1D6: Data for the 1 st operand O2Type: Type indicator of the 2. operand O2D1...O2D6: Data for the 2 nd operand Vglop: Comparison operator AriOp: Arithmetic Operator y (y1, y2, ...) y=0x30 for "1" and y=0x31 for "0"

Interbus-S 60 2.11.3 GOTO Set and read record pointer. Object Description Index 0x5ff2 Symbol GOTO Length 1 Access groups 0 Object code Simple var. Password 0 Data type Unsigned8 Access rights Read/write all PD Map Not possible Data Description Data format Binary Unit Record number Value range 1 ... 250 Resolution 1 Example The record pointer is set to command record 18. Service Write request Index 0x5ff2 Data byte 0x12 Command Code 0x8082 Sub-index 0 Param. counter 4 Length 1 2.11.4 START_N Run program record N. Only this record is processed. The record pointer remains at this program record. Object Description Index 0x5ff4 Symbol START_N Length 1 Access groups 0 Object code Simple var. Password 0 Data type Unsigned8 Access rights Write all PD Map PAD Data Description Data format Binary Unit Record number Value range 1 ... 250 Resolution 1 Example Program record 26 must be processed. Service Write request Index 0x5ff4 Data byte 0x1a Command Code 0x8082 Sub-index 0 Param. counter 4 Length 1

The record pointer is set to the corresponding program record and then the program is started. Object Description Index 0x5fe5 Symbol START_N_GO Length 1 Access groups 0 Object code Simple var. Password 0 Data type Unsigned8 Access rights Write all PD Map PAD Data Description Data format Binary Unit Record number Value range 1 ... 250 Resolution 1 Example The program must be processed from record 50. Service Write request Index 0x5fe5 Data byte 0x32 Command Code 0x8082 Sub-index 0 Param. counter 4 Length 1 2.11.6 TEACH_N Take over current position in record N. The command "POSA current position" is stored in record N. Object Description Index 0x5ff3 Symbol TEACH_N Length 1 Access groups 0 Object code Simple var. Password 0 Data type Unsigned8 Access rights Write all PD Map Not possible Data Description Data format Binary Unit Record number Value range 1 ... 250 Resolution 1 Example The current position must be stored in record 70. Service Write request Index 0x5ff3 Data byte 0x46 Command Code 0x8082 Sub-index 0 Param. counter 4 Length 1

Interbus-S 62 2.11.7 CAM_MEM_P Special command for COMPAX XX70. Set and read curve memory pointer. Object Description Index 0x5fca Symbol CAM_MEM_P Length 2 Access groups 0 Object code Simple var. Password 0 Data type Unsigned16 Access rights Read/write all PD Map Not possible Data Description Data format Binary Unit Curve memory number Value range 1 ... 5460 Resolution 1 2.11.8 CAM_MEM Special command for COMPAX XX70. Read and write the curve memory. The curve memory number is defined by the current value of the curve memory pointer (CAM_MEM_P). The curve memory pointer is automatically incremented after this object is accessed. Object Description Index 0x5fcb Symbol CAM_MEM Length 3 Access groups 0 Object code Simple var. Password 0 Data type Octet string Access rights Read/write all PD Map Not possible Data Description Data byte 1 2 3 Meaning Record memory contents Assignment MSB ... LSB 2.11.9 VX Enter or read COMPAX variable. The corresponding variable is selected using the Sub-index (Sub-index = variable No.). Sub-index = 40 addresses variable 0 of the COMPAX, with which all variables can be set to the same value. Object Description Index 0x5fcd Symbol VX Length 4 Access groups 0 Object code Array Elements 40 Password 0 Data type Integer32 Access rights Read/write all PD Map Not possible

Variable Resolution Variable Resolution 001 .. 005 1 ⇔ 0.001 023 .. 029 1 006 .. 010 1 030 .. 034 1 ⇔ 0.001 011 .. 016 1 ⇔ 0.001 035 .. 036 1 ⇔ 0.000001 017 .. 020 1 037 .. 040 1 ⇔ 0.001 021 .. 022 1 ⇔ 0.000001 Data description (P196 Bit 4 = "1") (New from Interbus-S - Software V2.12 onwards) Variable Resolution 001 .. 040 1 ⇔ 0.001

Interbus-S 64 OBJECT_REQ and OBJECT_RSP for 8 byte process data channel The two new objects OBJECT_REQ and OBJECT_RSP make it possible to access all communication objects (or certain elements) with a data width of ≤ 4 byte via the process data channel. The object OBJECT_REQ can be assigned to the PAD channel (PAD3...PAD8): ♦ permanently with P139 = 6276352 (=0x5fc500) ♦ temporarily (if P196 Bit 5 = 1) as follows: 1. Save values of PAD3...PAD8 if necessary (save target values). 2. FreezePAD (STEUERWORT/CPX_STW Data byte1 Bit 1) = 1 This freezes the previous PAD, no more value changes on the PAD are made. 3. Wait until AckToggle(STATUSWORT/CPX_ZSW Data byte1 Bit0) has changed its value. 4. PAD3...PAD8 = 0 5. ObjectReqEnable (STEUERWORT/CPX_STW Data byte1 Bit0) = 1 6. Wait until AckToggle(STATUSWORT/CPX_ZSW Data byte1 Bit0) has changed its value. PAD3...PAD8 will now be transferred to OBJECT_REQ 7. write and/or read all required objects 8. ObjectReqEnable (STEUERWORT/CPX_STW Data byte1 Bit0) = 0 9. Wait until AckToggle(STATUSWORT/CPX_ZSW Data byte1 Bit0) has changed its value. 10. Reset PAD3...PAD8 to their original target values 11. FreezePAD (STEUERWORT/CPX_STW Data byte1 Bit 1) = 0 12. Wait until AckToggle(STATUSWORT/CPX_ZSW Data byte1 Bit0) has changed its value. PAD3...PAD8 will now be transferred to the original objects Object OBJECT_RSP can be assigned to the PED channel (PED3...PED8): ♦ permanently with P135= 6276608 (0x5fc6000) ♦ temporarily parallel with ObjectReqEnable (STEUERWORT/CPX_STW Data byte1 Bit0) = 1 (if P196 Bit 6=0 and P196 Bit 5 = 1)) or separately via the object CONTROL

2.11.9 VX 65 Example: P196 Bit 0..2 = "4" (8 Byte process data), P196 Bit 7 ="0" (PD1/2 = STEUERWORT / STATUSWORT), P196 Bit 5 = "1" (OBJECT_REQ and OBJECT_RSP can be temporarily assigned to PD), P196 Bit 6 = "0" (OBJECT_RSP automatically assigns PED as answer to OBJECT_REQ) Basic setting for PAD with P139="6322688" (LAGE_ZIEL=PAD3-6) and P142="6289152" (OUTPUT_WORD=PAD7-8) and for PED with P135="6317056" (LAGE_IST=PED3-6) and P138="6289408" (INPUT_WORD=PED7-8) In this example you should make a backup copy of the contents of LAGE_ZIEL and OUTPUT_WORD before you switch to OBJECT_REQ. PAD Master ⇒ ⇒ ⇒ ⇒ COMPAX PAD1 PAD2 PAD3 PAD4 PAD5 PAD6 PAD7 PAD8 STEUERWORT 1[1] ObjectReqEnable = "0" 1[0] FreezePAD = "0" PED Master ⇐ ⇐ ⇐ ⇐ COMPAX PED1 PED2 PED3 PED4 PED5 PED6 PED7 PED8 STATUSWORT 1[0] AckToggle = "0" (angenommener Anfangszustand) FreezePAD = "1" COMPAX freezes previous PAD; does not read from PAD anymore PAD Master ⇒ ⇒ ⇒ ⇒ COMPAX PAD1 PAD2 PAD3 PAD4 PAD5 PAD6 PAD7 PAD8 STEUERWORT 1[1] ObjectReqEnable = "0" 1[0] FreezePAD = "1" Wait until COMPAX AckToggle = "1" message: PED Master ⇐ ⇐ ⇐ ⇐ COMPAX PED1 PED2 PED3 PED4 PED5 PED6 PED7 PED8 STATUSWORT 1[0] AckToggle = "1" Describe PAD with "0" and set ObjectReqEnable = "1" PAD Master ⇒ ⇒ ⇒ ⇒ COMPAX PAD1 PAD2 PAD3 PAD4 PAD5 PAD6 PAD7 PAD8 STEUERWORT 1[1] ObjectReqEnable = "1" 1[0] FreezePAD = "1" PED Master ⇐ ⇐ ⇐ ⇐ COMPAX PED1 PED2 PED3 PED4 PED5 PED6 PED7 PED8 STATUSWORT 1[0] AckToggle = "0" Transfer PAD with OBJECT_REQ (P23=200% write) PAD Master ⇒ ⇒ ⇒ ⇒ COMPAX PAD1 PAD2 PAD3 PAD4 PAD5 PAD6 PAD7 PAD8 STEUERWORT 1[1] ObjectReqEnable = "1" 1[0] FreezePAD = "1" PED Master ⇐ ⇐ ⇐ ⇐ COMPAX PED1 PED2 PED3 PED4 PED5 PED6 PED7 PED8 STATUSWORT 1[0] AckToggle = "1" POSITION_TARGET POSITION_TARGET POSITION_TARGET POSITION_TARGET POSITION_TARGET POSITION_TARGET Set ObjectReqEnable = "0" PAD Master ⇒ ⇒ ⇒ ⇒ COMPAX PAD1 PAD2 PAD3 PAD4 PAD5 PAD6 PAD7 PAD8 STEUERWORT 1[1] ObjectReqEnable = "0" 1[0] FreezePAD = "1" POSITION_TARGET POSITION_TARGET POSITION_TARGET POSITION_TARGET POSITION_TARGET POSITION_TARGET Answer from COMPAX by changing AckToggle PED Master ⇐ ⇐ ⇐ ⇐ COMPAX PED1 PED2 PED3 PED4 PED5 PED6 PED7 PED8 STATUSWORT 1[0] AckToggle = "0" POSITION_TARGET POSITION_TARGET POSITION_TARGET POSITION_TARGET POSITION_TARGET POSITION_TARGET Set PAD to the original value and set FreezePAD = "0" PAD Master ⇒ ⇒ ⇒ ⇒ COMPAX PAD1 PAD2 PAD3 PAD4 PAD5 PAD6 PAD7 PAD8 STEUERWORT 1[1] ObjectReqEnable = "0" 1[0] FreezePAD = "0" POSITION_TARGET POSITION_TARGET PED Master ⇐ ⇐ ⇐ ⇐ COMPAX PED1 PED2 PED3 PED4 PED5 PED6 PED7 PED8 STATUSWORT 1[0] AckToggle = "1" POSITION_TARGET POSITION_TARGET OBJECT_REQ, OBJECT_RSP This procedure allows you to write and read several objects. Switch back to cyclic process data:

Interbus-S 66 OBJECT_REQ Write or read communication via process data channel. The object is selected with the 7 Bit-wide index pointer (please see footnote); the respective element of an object is selected with the sub-index. The highest bit of the data byte 1 determines the object access (0 = write; 1 = read). The acknowledgement for a write-access or the answer for a read-access is passed onto the object OBJECT_RSP. Every value change in OBJECT_REQ is acknowledged by the complementation of AckToggle (STATUSWORT/CPX_ZSW Data byte1 Bit 0). If the value change results in the writing or reading of an object, AckToggle is only complemented when the write/read process is completely finished. If the index pointer does not equal 0, every value change in OBJECT_REQ results in writing or reading the selected objects or one of its elements. If an object is described with the same value in succession (z. B. POSR), the index pointer must be set to 0 and then reset to its original value. Object Description Index 0x5FC5 Symbol OBJECT_REQ Length 6 Access groups 0 Object code Simple var. Password 0 Data type Octet string Access rights Write all PD Map PAD Data Description Data byte [Bit] Assignment Data byte[Bit] Assignment 1[7] 0 = Object write; 1 = Object read 3 Object-Data byte 1 1 [6 ... 0] Index(Object) pointer1 4 Object-Data byte 2 5 Object-Data byte 3 2 Sub-index 6 Object-Data byte 4 OBJECT_RSP Acknowledgement for a write-access or answer to a read-access to an object via OBJECT_REQ. Object Description Index 0x5FC6 Symbol OBJECT_RSP Length 6 Access groups 0 Object code Simple var. Password 0 Data type Octet string Access rights Read all PD Map PED Data Description Data byte Assignment -Write-access Assignment –Read-access Assignment -error 1 like OBJECT_REQ like OBJECT_REQ 0xFF 2 like OBJECT_REQ like OBJECT_REQ like OBJECT_REQ 3 like OBJECT_REQ Object data byte 1 Error number 4 like OBJECT_REQ Object data byte 2 0x00 5 like OBJECT_REQ Object data byte 3 0x00 6 like OBJECT_REQ Object data byte 4 0x00 No.: Meaning No.: Meaning 82 Wrong index(object)-pointer. 84 Object cannot be read. 83 Incorrect Sub-index. 85 Object cannot be written. The specific COMPAX error messages are outlined in the COMPAX product manual. 1 Please ensure that the index pointer and not the index of the required object is entered. You will find the respective index pointer for the onject in the object overview from page 10onwards.

2.12.1 PAD_Steuerung 67 2.12 Process data control This function emulates the process data, which are transmitted via the process data channel, on the communication objects. The COMPAX process data channel has a width of 2, 4 or 6 bytes; depending on the value in parameter 196. Each byte can be read and written by COMPAX. The data read by COMPAX from the process data channel are called process output data (PA data). The data written by COMPAX into the process data channel are called process input data (PE data). Through the emulation of COMPAX communication objects to the PE data, the latter are cyclically read on the process data channel. The PA data which are emulated to a COMPAX communication object cyclically describe this object. The allocation of process data to certain communication objects is determined by the objects "PE_SELECT" and "PA_SELECT" (the objects "IN_SELECT" and "OUT_SELECT" are previous names). Both objects "PED_INI" and "PAD_INI" determine which allocation shall be valid after Power-On (this corresponds to the settings through the COMPAX - Parameter). The PA data can be enabled or disabled with the objects "OUT_ENABLE" or "PA_ENABLE". After Power On the PA data are enabled! 2.12.1 PAD_Steuerung The process output data can be used to cyclically write to the following COMPAX communication objects. Object name Description Index COMPAX - Parameter 2 Byte see dec hex P139 ... P142 Number page STEUERBYTE Control byte 24526 0x5fce 1 17 STEUERWORT Control word 24640 0x6040 2 19 CPX_STW COMPAX control word/virtual inputs 24530 0x5fd2 2 18 CONTROL Control commands 24553 0x5fe9 1 22 LAGE_ZIEL Target position default 24698 0x607a 4 33 SPEED Traverse speed 24556 0x5fec 2 41 OVERRIDE Reduce traverse speed 24558 0x5fee 1 41 OUTPUT_WORD 16 Dig. Set/reset outputs 24567 0x5ff7 2 51 START_N Execute program record N 24564 0x5ff4 1 60 START_N_GO Program start beginning at record N 24549 0x5fe5 1 61 OBJECT_REQ Read and write objects through PAD 24517 0x5fc5 6276352 6 65 Because the PAD channel has a max. length of 8 bytes, it is not possible to have simultaneous access all the objects listed here. This means you need to make an appropriate selection. 2 Index * 256 + Sub-index

Interbus-S 68 Setting the PAD: ! using the object "Process Output Data Description" (PA_SELECT; see page 73), or ! using the COMPAX parameters P139, P140, P141, P142 (corresponds to the object PAD_INI; see page 76). You may place each of the named objects on the PAD channel according to its required bytes. Set the corresponding COMPAX parameter to the value given for the respective object (see table above). Length Possible assignment in the PAD channel Object: in byte PAD1 PAD2 PAD3 PAD4 PAD5 PAD6 PD-Length=8Byte (P196 Bit 0...2="4") PAD3 PAD4 PAD5 PAD6 PAD7 PAD8 P139 P140 P141 P142 STEUERBYTE 1 CONTROL 1 OVERRIDE 1 START_N 1 START_N_GO 1 STEUERWORT 2 CPX_STW 2 SPEED 2 OUTPUT_WORD 2 LAGE_ZIEL 4 OBJECT_REQ 6 Please ensure that there is no double assignment on the PAD channel. Double assigning occurs, for example, if the POSITION_TARGET is in PAD1 - PAD4, and P141 is used to assign PAD3 again. The proper action in this case would be: LAGE_ZIEL on PAD1 - PAD4 via P139 = and P140 = P141 = 0! PA_SELECT allows the channels to be freely assigned. You will find depictions of the various possibilities of parameters P139-P142. PADs disable / enable The PAD's can be individually disabled and enabled using the object "Enable Process Output Data" (PA_ENABLE see page 74). This means an object is only written with the value from the PAD channel if the corresponding PAD's are also enabled. After "Power on" the PAD's are enabled, i.e., normally no setting needs to be made here. After power on, the COMPAX parameters P139, P140, P141 and P142 initialise the objects PA_INI and PA_SELECT and thereby the PAD channel. The PAD_INI object can be used to read and write these parameters. Notes Note the following when configuring the PAD: • After Power On, the PAD's are enabled if a valid configuration for the PAD is entered in the COMPAX parameters P139 ... P142. • Note the length (number of bytes) of an object. An object can be represented on the PADs if the corresponding number of PAD bytes are free, i.e. not occupied by any other objects. • Using the null object (Index and Sub-index = 0) or by setting the corresponding COMPAX parameter to "0", an object can again be removed (deleted) from the PAD channel.

2.12.1 PAD_Steuerung 69 Example assignments for the PAD's The POSITION_TARGET and SPEED objects are represented on the PAD's.3 PAD1(3) PAD2(4) PAD3(5) PAD4(6) PAD5(7) PAD6(8) Bit0 PA_ENABLE Bit1 Bit2 Bit3 Bit4 Bit5 LAGE_ZIEL SPEED DB1 (MSB) DB2 DB3 DB4 (LSB) DB2 (LSB) DB1 (MSB) "1" "0" "1" "0" "1" "0" "1" "0" "1" "0" "1" "0" Object "PA_SELECT" (see page 73) Using the object "PA_SELECT", the PAD assignment can be changed during operation: Sub-index Meaning value dec hex 1 PAD length (not variable) 6 0x06 2 Object index assigned for PAD1 (3) 24698 0x607a 3 Object sub-index assigned for PAD1 (3) 0 0x00 4 Object index assigned for PAD2 (4) 0 0x0000 5 Object sub-index assigned for PAD2 (4) 0 0x00 6 Object index assigned for PAD3 (5) 0 0x0000 7 Object sub-index assigned for PAD3 (5) 0 0x00 8 Object index assigned for PAD4 (6) 0 0x0000 9 Object sub-index assigned for PAD4 (6) 0 0x00 10 Object index assigned for PAD5 (7) 24556 0x5fec 11 Object sub-index assigned for PAD5 (7) 0 0x00 12 Object index assigned for PAD6 (8) 0 0x0000 13 Object sub-index assigned for PAD6 (8) 0 0x00 After changing the PAD - assignment via object "PA_SELECT", PA_ENABLE is set to "0" to avoid an undefined condition. After a PAD change the PAD's must be manually enabled again using the PA_ENABLE object. So that this setting of the PAD channel is already available upon power-up, the corresponding COMPAX parameters (P139 ... P142) resp. PAD_INI are to be assigned as follows: Sub-index Meaning value (Parameter) dec hex 1 (P139) Object index and sub-index assigned for PAD1 (3) 6322688 0x607a00 2 (P140) Object index and sub-index assigned for PAD2 (4) 0 0x000000 3 (P141) Object index and sub-index assigned for PAD3 (5) 0 0x000000 4 (P142) Object index and sub-index assigned for PAD5 (7) 6286336 0x5fec00 3 The PAD numbers in brackets are valid for a PD length of 8 bytes (P196 Bit 0...2 = "4").

Interbus-S 70 2.12.2 PED_Steuerung The process input data can be used to cyclically read from the following COMPAX communication objects. Object name Description Index COMPAX - Parameter 4 Byte see dec hex P135 ... P138 Number page STATUSBYTE Status byte 24527 0x5fcf 1 17 STATUSWORT Status word 24641 0x6041 2 20 CPX_ZSW COMPAX status word 24531 0x5fd3 2 19 LAGE_IST Actual position value 24676 0x6064 4 35 INPUT_WORD Log. state of the 16 dig. inputs 24568 0x5ff8 2 51 OUTPUT_WORD Log. state of the 16 dig. outputs 24567 0x5ff7 2 51 S3 Lag error 24570 0x5ffa 2 15 S4 Current traverse speed 24572 0x5ffc 2 45 S5 Current motor torque 24571 0x5ffb 2 30 OBJECT_RSP COMPAX – answer to OBJECT_REQ 24518 0x5fc6 6276608 6 66 Because the PED channel has a max length of 8 byte, it is not possible to read all listed objects simultaneously. This means you need to make an appropriate selection. Setting the PED ! via the object "Process Input Data Description", or ! via the COMPAX parameters P135, P136, P137, P138 (corresponds to the object PED_INI). You may place each of the named objects on the PED channel according to its required bytes. Set the corresponding COMPAX parameter to the value given for the respective object (see table above). Length Possible assignment in the PED channel in byte PED1 PED2 PED3 PED4 PED5 PED6 PD-Length=8Byte (P196 Bit 0...2="4") PED3 PED4 PED5 PED6 PED7 PED8 Object: P135 P136 P137 P138 STEUERBYTE 1 STATUSWORT 2 CPX_ZSW 2 S3 2 S4 2 S5 2 INPUT_WORD 2 OUTPUT_WORD 2 LAGE_IST 4 OBJECT_RSP 6 Ensure that there is no double assignment in the PED channel. Double assignment occur when e.g. LAGE_IST is on PED1 - PED4 and a further assignment of PED3 (5) is undertaken via P137. The proper action in this case would be: POSITION_ACTUAL to PED1 - PED4 using P135 = 6317056 and P136 = P137 = 0! 4 Index * 256 + Sub-index

2.12.2 PED_Steuerung 71 The COMPAX parameters P135, P136, P137 and P138 initiate the object PI_SELECT and thereby the PED channel after the COMPAX is turned on. These parameters can be read and written to using the PED_INI object. PE_SELECT allows the channels to be freely assigned. You will find depictions of the various possibilities of parameters P135 - P138. Notes Note the following when configuring the PED: • Note the length (number of bytes) of an object. An object can be represented on the PED's only if the corresponding number of PED bytes is available, i.e. are not occupied by any other objects. • An object can be removed (deleted) again from the PED channel either by using the null object (Index and Sub-index = 0) or by setting the corresponding COMPAX parameter to "0". Example for configuring the PED's Represent the object INPUT_WORD, S3 and S4 on the PEDs. PED1 (3)5 PED2 (4) PED3 (5) PED4 (6) PED5 (7) PED6 (8) INPUT_WORD S3 S4 DB1 (MSB) DB2 (LSB) DB1 (MSB) DB2 (LSB) DB1 (MSB) DB2 (LSB) Configure PE_SELECT as follows: Using the object "PE_SELECT", the PAD assignment can be changed during operation: Sub-index Meaning value dec hex 1 PED length (not variable) 6 0x06 2 Object index assigned for PED1 (3) 24568 0x5ff8 3 Object sub-index assigned for PED1 (3) 0 0x00 4 Object index assigned for PED2 (4) 0 0x0000 5 Object sub-index assigned for PED2 (4) 0 0x00 6 Object index assigned for PED3 (5) 24570 0x5ffa 7 Object sub-index assigned for PED3 (5) 0 0x00 8 Object index assigned for PED4 (6) 0 0x0000 9 Object sub-index assigned for PED4 (6) 0 0x00 10 Object index assigned for PED5 (7) 24572 0x5ffc 11 Object sub-index assigned for PED5 (7) 0 0x00 12 Object index assigned for PED6 (8) 0 0x0000 13 Object sub-index assigned for PED6 (8) 0 0x00 To ensure that this setting of the PED channel is present upon Power On, the corresponding COMPAX parameters (P135 ... P138) or PED_INI must be assigned as follows: Sub-index Meaning value (Parameter) dec hex 1 (P135) Object index and sub-index assigned for PED1 (3) 6289408 0x5ff800 2 (P136) Object index and sub-index assigned for PED2 (4) 0 0x000000 3 (P137) Object index and sub-index assigned for PED3 (5) 6289920 0x5ffa00 4 (P138) Object index and sub-index assigned for PED5 (7) 6290432 0x5ffc00 5 The PED numbers in brackets are valid for a PD length of 8 bytes (P196 Bit 0...2 = "4").

Interbus-S 72 2.12.6 PE_SELECT Process Input Data - Description. This parameter contains the data that define which process input data are emulated on which communication objects. Communication objects which can be emulated on PED data are designated in the respective object descriptions. Object Description Index 0x6000 Symbol PE_SELECT Access groups 0 Object code Record Password 0 Data type PDB structure Access rights Read/write all PD Map not possible Data Description Sub-index Assignment Data type Length 1 Length of the process data channel Unsigned 8 1 2 Device parameter index, which assigns 1 st (3 rd )6 PE data byte Unsigned16 2 3 Device parameter sub-index, which assigns 1 st (3 rd ) PE data byte Unsigned 8 1 4 Device parameter index, which assigns 2 nd (4 th ) PE data byte Unsigned16 2 5 Device parameter sub-index, which assigns 2 nd (4 th ) PE data byte Unsigned 8 1 6 Device parameter index, which assigns 3 rd (5 th ) PE data byte Unsigned16 2 7 Device parameter sub-index, which assigns 3 rd (5 th ) PE data byte Unsigned 8 1 8 Device parameter index, which assigns 4 th (6 th ) PE data byte Unsigned16 2 9 Device parameter sub-index, which assigns 4 th (6 th ) PE data byte Unsigned 8 1 10 Device parameter index, which assigns 5 th (7 th ) PE data byte Unsigned16 2 11 Device parameter sub-index, which assigns 5 th (7 th ) PE data byte Unsigned 8 1 12 Device parameter index, which assigns 6 th (8 th ) PE data byte Unsigned16 2 13 Device parameter sub-index, which assigns 6 th (8 th ) PE data byte Unsigned 8 1 Example The object "LAGE_IST" must be emulated on the PE data. PD-Length ≤≤≤≤ 6: The 1 st data byte from "LAGE_IST" assigns the 3 rd byte of the PE data; the 4 th ,5 th , 6 th data byte the others. PD-Length = 8: The 1 st data byte from "LAGE_IST" assigns the 5 th byte of the PE data; the 6 th ,7 th , 8 th data byte the others. Service Write request Index 0x6000 1. data byte 0x60 Command Code 0x8082 Sub-index 0x06 2. data byte 0x64 Param. counter 5 Length 2 6 The PD numbers in brackets are valid for a PD length of 8 bytes (P196 Bit 0...2 = "4").

2.12.7 PA_SELECT 73 2.12.7 PA_SELECT Process Output Data - Description. This parameter contains the data that define which process output data are emulated on which communication objects. Communication objects which can be emulated on PA data are designated in the respective object descriptions. Object Description Index 0x6001 Symbol PA_SELECT Access groups 0 Object code Record Password 0 Data type PDB structure Access rights read/write all PD Map not possible Data Description Sub-index Assignment Data type Length 1 Length of the process data channel Unsigned 8 1 2 Device parameter index, which assigns 1 st (3 rd )7 PA data byte Unsigned16 2 3 Device parameter sub-index, which assigns 1 st (3 rd ) PA data byte Unsigned 8 1 4 Device parameter index, which assigns 2 nd (4 th ) PA data byte Unsigned16 2 5 Device parameter sub-index, which assigns 2 nd (4 th ) PA data byte Unsigned 8 1 6 Device parameter index, which assigns 3 rd (5 th ) PA data byte Unsigned16 2 7 Device parameter sub-index, which assigns 3 rd (5 th ) PA data byte Unsigned 8 1 8 Device parameter index, which assigns 4 th (6 th ) PA data byte Unsigned16 2 9 Device parameter sub-index, which assigns 4 th (6 th ) PA data byte Unsigned 8 1 10 Device parameter index, which assigns 5 th (7 th ) PA data byte Unsigned16 2 11 Device parameter sub-index, which assigns 5 th (7 th ) PA data byte Unsigned 8 1 12 Device parameter index, which assigns 6 th (8 th ) PA data byte Unsigned16 2 13 Device parameter sub-index, which assigns 6 th (8 th ) PA data byte Unsigned 8 1 Example The object "LAGE_ZIEL" must be emulated on the PA data. PD-Length ≤≤≤≤ 6: The 1 st data byte from "LAGE_ZIEL" assigns the 2 nd byte of the PA data; the 3 rd ,4 th , 5 th data byte the others. PD-Length = 6: The 1 st data byte from "LAGE_ZIEL" assigns the 4 th byte of the PA data; the 5 th ,6 th , 7 th data byte the others. Service Write request Index 0x6001 1. data byte 0x60 Command Code 0x8082 Sub-index 0x04 2. data byte 0x7a Param. counter 5 Length 2 7 The PD numbers in brackets are valid for a PD length of 8 byte (P196 Bit 0...2 = "4").

Interbus-S 74 2.12.8 PA_ENABLE Enable process output data. Each bit of this parameter is associated with a byte of the process output data channel. Meaning: Bit = 0 the corresponding process data value is disabled Bit = 1 the corresponding process data value is enabled If an object takes up several bytes on the PA data channel, the logic state of the bit which is associated with the first byte of this object is the one used, and the other associated bits are not relevant. Object Description Index 0x6002 Symbol PA_ENABLE Length 1 Access groups 0 Object code Simple var. Password 0 Data type Octet string Access rights Read/write all PD Map Not possible Data Description Bit Assignment Bit Assignment 7 ="1": autom. Acceptance of a modified LAGE_ZIEL of the PA data is disabled 3 4 th (6 th ) byte of the PA data 6 None 2 3 rd (5 th ) byte of the PA data 5 6 th (8 th )8 byte of the PA data 1 2 nd (4 th ) byte of the PA data 4 5 th (7 th ) byte of the PA data 0 1 (3 rd ). byte of the PA data Bit Function Data byte Function = 0 (FALSE) Process data value disabled = 1 (TRUE) Process data value enabled Example The process data value which assigns the 3 rd (5 th ) byte of the PA data (and other if applicable) should be enabled. The other process data values are disabled. Service Write request Index 0x6002 Data byte 0x04 Command Code 0x8082 Sub-index 0 Param. counter 4 Length 1 8 The PD numbers in brackets are valid for a PD length of 8 bytes (P196 Bit 0...2 = "4").

2.12.9 PED_INI 75 2.12.9 PED_INI Initialising the process input data description. This object contains the data that define which process input data are emulated on which communication objects after COMPAX is switched on. Communication objects which can be emulated on PED data are designated in the respective object descriptions. Object Description Index 0x5fd0 Symbol PED_INI Length 3 Access groups 0 Object code Array Elements 4 Password 0 Data type Octet String Access rights read/write all PD Map not possible Data Description Sub-index PE assignment Data byte 1 Data byte 2 Data byte 3 1 Stipulate object which will assign the 1 st (3 rd )9 PE data byte. Object Index (High Byte) Object Index (Low Byte) Object Sub-index 2 Stipulate object which will assign 2 nd (4 th ) PE data byte. Object Index (High Byte) Object Index (Low Byte) Object Sub-index 3 Stipulate object which will assign 3 rd (5 th ) PE data byte. Object Index (High Byte) Object Index (Low Byte) Object Sub-index 4 Stipulate object which will assign 5 th (7 th ) PE data byte. Object Index (High Byte) Object Index (Low Byte) Object Sub-index Example The object "INPUT-WORD" must be emulated on the PE data after 'Power On'. The 1 st data byte from "INPUT-WORD" assigns the 5 th (7 th ) byte of the PE data; the 2 nd data byte the others. Service Write request Index 0x5fd0 1. data byte 0x5f Command Code 0x8082 Sub-index 0x04 2. data byte 0xf8 Param. counter 5 Length 3 3. data byte 0 9 Die PD - Nummern in der Klammer gelten bei einer PD-Length von 8 Byte (P196 Bit 0...2 = "4").

Interbus-S 76 2.12.10 PAD_INI Initialising the Process Output Data - Description. This object contains the data that define which process output data are emulated on which communication objects after COMPAX is switched on. Communication objects which can be emulated on PA data are designated in the respective object descriptions. Object Description Index 0x5fd1 Symbol PAD_INI Length 3 Access groups 0 Object code Array Elements 4 Password 0 Data type Octet String Access rights read/write all PD Map not possible Data Description Sub-index PA assignment Data byte 1 Data byte 2 Data byte 3 1 Stipulate object which will assign 1 st (3 rd )10 PA data byte. Object Index (High Byte) Object Index (Low Byte) Object Sub-index 2 Stipulate object which will assign 2 nd (4 th ) PA data byte. Object Index (High Byte) Object Index (Low Byte) Object Sub-index 3 Stipulate object which will assign 3 rd (5 th ) PA data byte. Object Index (High Byte) Object Index (Low Byte) Object Sub-index 4 Stipulate object which will assign 5 th (7 th ) PA data byte. Object Index (High Byte) Object Index (Low Byte) Object Sub-index Example The object "OUTPUT-WORD" must be emulated on the PE data after 'Power On'. The 1 st data byte from "OUTPUT_WORD" assigns the 3 rd (5 th ) byte of the PA data; the 2 nd data byte the others. Service Write request Index 0x5fd1 1. data byte 0x5f Command Code 0x8082 Sub-index 0x03 2. data byte 0xf7 Param. counter 5 Length 3 3. data byte 0 10 Die PD - Nummern in der Klammer gelten bei einer PD-Length von 8 Byte (P196 Bit 0...2 = "4").

2.12.3 IN_SELECT 77 2.12.3 IN_SELECT Process Input Data - Description. This object defines, which communication object or communication object element will be depicted on the 1 st (3 rd )11 byte (and if applicable, the subsequent bytes) process input data of the process data channel.. Object Description Index 0x5ffd Symbol IN_SELECT Access groups 0 Object code Record Password 0 Data type 15 Access rights read/write all PD Map not possible Data Description Sub-index Assignment Data type Length 1 Device parameter index, which assigns 1 st (3 rd ) PE data byte Unsigned16 2 2 Device parameter sub-index, which assigns 1 st (3 rd ) PE data byte Unsigned 8 1 Example The object "INPUT-WORD" must be emulated on the PE data. The 1 st data byte from "INPUT-WORD" assigns the 1 st (3 rd ) byte of the PE data; the 2 nd data byte the others. Service Write request Index 0x5ffd 1. data byte 0x5f Command Code 0x8082 Sub-index 0x00 2. data byte 0xf8 Param. counter 5 Length 3 3. data byte 0 2.12.4 OUT_SELECT Process Output Data - Description. This object defines which communication object or element of a communications object is emulated on the 1. byte (and if necessary on the following bytes) of the process output data of the process data channel. Object Description Index 0x5ffe Symbol OUT_SELECT Access groups 0 Object code Record Password 0 Data type 15 Access rights read/write all PD Map not possible Data Description Sub-index Assignment Data type Length 1 Device parameter index, which assigns 1 st (3 rd ) PA data byte Unsigned16 2 2 Device parameter sub-index, which assigns 1 st (3 rd ) PA data byte Unsigned 8 1 Example The object "OUTPUT-WORD" must be emulated on the PA data. The 1 st data byte from "OUTPUT-WORD" assigns the 1 st (3 rd ) byte of the PA data; the 2 nd data byte the others. Service Write request Index 0x5ffe 1. data byte 0x5f Command Code 0x8082 Sub-index 0x00 2. data byte 0xf7 Param. counter 5 Length 3 3. data byte 0 11 Die PD - Nummern in der Klammer gelten bei einer PD-Length von 8 Byte (P196 Bit 0...2 = "4").

This parameter is allocated to the 1 st (3 rd )12 byte of the process output data channel. Meaning: "OUT_ENABLE" = FALSE the corresponding process data value is disabled "OUT_ENABLE" = TRUE the corresponding process data value is enabled Object Description Index 0x5fff Symbol OUT_ENABLE Length 1 Access groups 0 Object code Simple var. Password 0 Data type Boolean Access rights read/write all PD Map not possible Data Description Data byte Function Data byte Function = 0x00 (FALSE) Process data value disabled = 0xff (TRUE) Process data value enabled Example The process data value which assigns 1 st (3 rd ) byte of the PA data (and if necessary the others) should be enabled. Service Write request Index 0x5fff Data byte 0xff Command Code 0x8082 Sub-index 0 Param. counter 4 Length 1 12 Die PD - Nummern in der Klammer gelten bei einer PD-Length von 8 Byte (P196 Bit 0...2 = "4").

COMPAX Softw are-Version 3. 01 From program version V3.01onwards, the operating type 'DRIVECOM-PROFIL' is available in all COMPAX variants. It can be activated via P190=22. Please note that P190 must be at this value by 'Power-On', in order that the turn on procedure defined in the DRIVECOM profile can run completely (this varies from the normal COMPAX behaviour after ‘Power-on’). According to DRIVECOM specifications there are a series of statuses that are accepted by the device in sequence. The corresponding status equipment is integrated in the COMPAX. The conditions are outlined in diagrams and tables in the documentation 'DRIVECOM-PROFILE technology’. The following description of device statuses is therefore only given as a supplement to the DRIVECOM documentation: Conditions diagram START NOT READY TO SWITCH ON xx00h statusword SWITCH ON DISABLED READY TO SWITCH ON SWITCHED ON OPERATION ENABLE FAULT REACTION ACTIVE FAULT statusword statusword statusword statusword statusword statusword xx60h* xx21h xx23h xx27h QUICK STOP ACTIVE xx07h xx28h controlword xx1x x1xx controlword lock voltage xxxx xx0x quick stop xxxx x01x controlword lock voltage xxxx xx0x controlword lock voltage xxxx xx0x quick stop xxxx x01x controlword shutdown xxxx x110 controlword shutdown xxxx x110 controlword switch on xxxx x111 controlword shutdown xxxx x110 controlword operation enable xxxx 1111 controlword operation disable xxxx 0111 controlword quick stop xxxx x01x controlword reset fault 0xxx xxxx 1xxx xxxx controlword lock voltage xxxx xx0x The COMPAX command OUTPUT A0=... may not be used for active operating type 'DRIVECOM-PROFIL' .

Interbus-S 80 Status Description NICHT-EINSCHALTBEREIT: ! Self-test is running ! Initialisation is running ! Drive function is disabled ! All functions are disabled EINSCHALTSPERRE: ! Software/hardware initialisation is terminated ! Communication via all interfaces is enabled ! Modifications to parameters, variables, records is possible ! Drive function is disabled (motor dead) ! Display shows 'OFF' EINSCHALTBEREIT: ! Communication through all interfaces is enabled ! Modifications to parameters, variables, records is possible ! Drive function is disabled (motor dead) ! Display shows 'OFF' EINGESCHALTET: ! Communication through all interfaces is enabled ! Modifications to parameters, variables, records is possible ! Drive function is disabled (but motor has current) ! Display shows 'run' BETRIEB-FREIGEGEBEN: ! Communication through all interfaces is enabled ! Modifications to parameters, variables, records is possible ! Drive function is enabled (motor has current) ! Display shows 'run' SCHNELLHALT-AKTIV: ! Communication through all interfaces is enabled ! Modifications to parameters, variables, records is possible ! Drive implements the STOP function (motor has current) ! Display shows 'run' STÖRUNG: ! Communication through all interfaces is enabled ! Modifications to parameters, variables, records is possible ! Drive function is disabled ! Display shows 'Exx' STÖRUNGSREAKTION: ! Error handling only, no static device status

No. Meaning Minimum value Default value Maximum value When valid P190 Set operating type "DRIVECOM profile 22" ="0": DRIVECOM profile defined turn on procedure inactive ="22": DRIVECOM profile defined turn on procedure active Power on P191 Bus time-out ="0": no response, except error message E73, during a time-out ="1": stop with E73 and shut down during activation of holding brake VP P193 Pop-up messages ="1": autom. Error message ="2": autom. "position reached" - message ="4": autom. comparator switch points report immediately P196 Process data length & protocol Bit 0..2 = 0 PD-Length 1 word, PED/PAD=INPUT/OUTPUT_WORD Bit 0..2 = 1 PD-Length 1 word Bit 0..2 = 2 PD-Length 2 words Bit 0..2 = 3 PD-Length 3 words Bit 0..2 = 4 PD-Length 4 words; no PCP communication Bit 4 = 0 Resolution from V1...V40 like P1...P40 Bit 4 = 1 Resolution from V1...V40: 1 ⇔ 0.001 Bit 5 = 0 OBJECT_REQ/RSP can not be assigned to PD temp. Bit 5 = 1 OBJECT_REQ/RSP can be assigned to PD temp. Bit 6 = 0 OBJECT_RSP autom. assigns PED3..8 if ObjectReqEnable = 1 Bit 6 = 1 OBJECT_RSP must be assigned to PED3..8 explicitly Bit 7 = 0 PED/PAD1..2=STATUS/STEUERWORT if PD-Length = 4 Bit 7 = 1 PED/PAD1..2=CPX_ZSW/CPX_STW if PD-Length = 4 Power on P135 Object index and sub-index which assigns the 1. (3.)13 PE data byte after turning on. Value: Index •••• 256 + Sub-index 0 0 16777215 Power on P136 Object index and sub-index which assigns the 2. (4.) PE data byte after turning on. Value: Index •••• 256 + Sub-index 0 0 16777215 Power on P137 Object index and sub-index which assigns the 3. (5.) PE data byte after turning on. Value: Index •••• 256 + Sub-index 0 0 16777215 Power on P138 Object index and sub-index which assigns the 5. (7.) PE data byte after turning on. Value: Index •••• 256 + Sub-index 0 0 16777215 Power on P139 Object index and sub-index which assigns the 1. (3.) PA data byte after turning on. Value: Index •••• 256 + Sub-index 0 0 16777215 Power on P140 Object index and sub-index which assigns the 2. (4.) PA data byte after turning on. Value: Index •••• 256 + Sub-index 0 0 16777215 Power on P141 Object index and sub-index which assigns the 3. (5.) PA data byte after turning on. Value: Index •••• 256 + Sub-index 0 0 16777215 Power on P142 Object index and sub-index which assigns the 5. (7.) PA data byte after turning on. Value: Index •••• 256 + Sub-index 0 0 16777215 Power on P203 Assigning status S16 and S17 to CPX_ZSW Bit 0=0 CPX_ZSW has a standard assignment Bit 0=1 S16, S17 assigns CPX_ZSW Bit 1=0 LAGE_IST has a standard assignment Bit 1=1 S13 assigns LAGE_IST immediately P221 Standard functions of the digital inputs accessible from the CONTROLWORD object. Physical inputs freely available. Is written by the object INPUT_MASK data byte 2. 0 0 255 immediately P222 Standard functions of the digital inputs E9...E16 accessible from the CONTROLWORD object. Physical inputs freely available. Is written by the object INPUT_MASK data byte 1. 0 0 255 immediately P223 Outputs A1...A8 are accessible from object OUTPUT_WORD. Written by the object OUTPUT_MASK data byte 2. 0 0 255 immediately P224 Outputs A9...A16 are accessible from object OUTPUT_WORD. Written by the object OUTPUT_MASK data byte 1. 0 0 255 immediately 13 Die PD - Nummern in der Klammer gelten bei einer PD-Length von 8 Byte (P196 Bit 0...2 = "4").

Interbus-S 82 5. COMPAX Interbus-S Error messages No. Cause Remedy / Causes Acknowl edge with No power to drive E73 Time-out error The error response is influenced with P191. Re-send the characters 1 nein 2 1 No acknowledgement necessary; the error message is cancelled after the next errorless transmission. 2 Depends on P191.

8 byte process data channel..............65 8 Byte Process data channel...............6 Absolute positioning ..........................33 Absolute value sensor .......................36 ACCEL_NEG.....................................49 ACCEL_POS.....................................48 Acceleration.......................................48 AckToggle..............................20, 22, 67 Actual position ...................................35 Arithmetic operator codes..................57 Assignment of PED and PAD ..............6 BETR_ART_AZ .................................17 Boolean ...............................................9 Bus connection....................................4 Bus wiring............................................4 C03......................................................8 CAM_CMD ........................................40 CAM_MEM ........................................63 CAM_MEM_P....................................63 COMMAND........................................24 Command code .................................56 Command code table ........................58 Command codes ...............................56 Command recognition by means of the control word.............................19 Commands ........................................24 Communication....................................5 Comparator function..........................54 Comparison operator codes ..............57 Compatibility........................................3 COMPAX operating hours .................27 COMPAX Parameters .......................82 COMPAX variable, enter or read.......63 Conditions diagram............................80 Context Management ..........................5 Contour error .....................................39 Contour error window ........................38 Control...............................................17 CONTROL.........................................23 Control commands ............................23 Control voltage ..................................32 CPX_STW .........................................19 CPX_ZSW .........................................20 Cyclic process data .............................6 Data types ...........................................9 Device identification...........................15 Diagnosis...........................................26 DREHZAHLMAX ...............................45 DRIVECOM-PROFILE 22..................80 Error message...................................27 Fault codes........................................26 FKT_GRUPPE...................................15 FreezePAD..................................19, 21 G Device allocation..............................3 GESCHW_IST...................................47 GESCHW_MAX.................................45 GESCHW_REF .................................47 GOTO................................................61 GRENZEN.........................................37 Handshake ........................................34 Identification code................................5 IN_SELECT ...................................... 78 Index-pointer..................................... 10 INPUT_WORD.................................. 52 Inputs/outputs ................................... 52 Integer ................................................ 9 Intermediate circuit voltage............... 32 LAGE_IST......................................... 36 LAGE_ZIEL....................................... 34 Loop counter..................................... 28 MOMENT_IST .................................. 31 MOMENT_MAX................................ 30 Motion cycles of the axis................... 28 N ....................................................... 55 NENNMOMENT................................ 30 NENNSTROM................................... 31 Nx ..................................................... 55 Object index...................................... 10 OBJECT_REQ.................................. 67 OBJECT_RSP .................................. 67 OBJECT_RSP temporarily disabled on PED............................... 23 OBJECT_RSP temporarily enabled on PED................................ 23 ObjectReqEnable........................ 19, 21 Operand Codes ................................ 57 OPERATING MODE......................... 17 OUT_ENABLE .................................. 79 OUT_SELECT .................................. 78 OUTPUT........................................... 53 OUTPUT_MASK............................... 53 OUTPUT_WORD.............................. 52 OVERRIDE....................................... 42 P ....................................................... 24 P196 ................................................... 6 P196 Bit 4 ......................................... 64 PA_ENABLE..................................... 75 PA_SELECT..................................... 74 PAD_INI............................................ 77 PAD_Steuerung................................ 68 PADs disable / enable ...................... 69 Parameter data................................... 6 Parameters ....................................... 24 PCP .................................................... 6 PDU Length ........................................ 5 PE_SELECT..................................... 73 PED_INI............................................ 76 PED_Steuerung................................ 71 POLARITAET ................................... 39 Pop-up message processing ............ 22 POS_FENSTER................................ 38 POSA................................................ 33 Position actual value......................... 36 Position limit value min-max ............. 37 Positioning ........................................ 33 Positioning window ........................... 38 POSR................................................ 34 POSR0SPEED ................................. 43 POSROUTPUTN .............................. 54 POSROUTPUTP............................... 54 POSRXSPEEDY............................... 43 Power or intermediate circuit voltage .............................................. 32 Process data control ......................... 68 Process data length ............................ 6 Programming .................................... 55 PRXSDYALZ..................................... 44 Px...................................................... 25 RAMPE_NEG.................................... 50 RAMPE_NOTS ................................. 50 RAMPE_POS.................................... 49 RAMPE_REF .................................... 51 RAMPENFORM ................................ 48 REALNULL ....................................... 37 REF_MODE ...................................... 39 Reference run selection code ........... 39 Relative positioning........................... 34 S........................................................ 29 S1...................................................... 35 S10.................................................... 27 S11.................................................... 28 S12.................................................... 36 S2...................................................... 36 S23_S26 ........................................... 28 S3...................................................... 39 S30.................................................... 27 S31_S39 ........................................... 16 S4...................................................... 46 S5...................................................... 31 S6...................................................... 27 S7_S8 ............................................... 32 S9...................................................... 28 SCHLEPP_FEN ................................ 38 Selectable Data Channels................... 6 Setting the bus .................................... 8 Setting the PAD ................................ 69 Setting the PED ................................ 71 SPEED.............................................. 42 Speed step profile............................. 43 SSK13................................................. 4 START_N.......................................... 61 START_N_GO .................................. 62 STATUSBYTE................................... 18 STATUSWORT................................. 21 STEUERBYTE .................................. 18 STEUERWORT................................. 21 STOERUNG...................................... 26 Target position .................................. 36 TEACH_N ......................................... 62 Temperature of the power output stage ................................................. 27 temporary assignment of PD............... 7 Torque............................................... 31 Traverse speed................................. 46 Unsigned............................................. 9 Variables-Access ................................ 5 VERF_GESCHW .............................. 46 VFD-Support....................................... 5 VX ..................................................... 63 WAITPOSA....................................... 40 WAITPOSR....................................... 41 ZWK_SPG ........................................ 32