Parker Products COMPAX-M /-S (L) manual Preparatory instructions, Syntax Example

Positioning and control functions

Preparatory instructions

8.4.12 Preparatory instructions

The following command combinations are preparatory instructions for creating speed step profiles or setting comparator switch points . The prepared positioning process is started using POSA or POSR. Note the following:

♦Combined commands can be mixed (POSR SPEED, POSR OUTPUT).

♦A total of 8 combined commands can be programmed per positioning process.

♦The positioning values of the command combinations are always positive and refer to the start point of the positioning process. They represent differences in travel. The direction is specified by the next positioning command. This can be relative (POSR) or absolute (POSA) . Meaning:

♦The positioning values for speed steps, ramp times or comparators always apply from the point at which positioning starts (for POSA and POSR)

♦The positioning values for speed steps, ramp times or comparators are numerical values:

♦If the following positioning is positive, COMPAX calculates them as positive values.

♦If the following positioning is negative, COMPAX calculates them as negative values.

♦If a process cycle has been interrupted by "Stop", continue the cycle using "Start".

♦The preparatory instructions are canceled by the "Hand+/-", "Find machine zero" and "Approach real zero" commands.

8.4.13Changes in speed within a positioning process [POSR SPEED]

Unit	hardware
Connector	assignment / cable
Technical data
Configuration
Positioning and	control functions
Optimization	functions

POSR SPEED

Syntax:

Example:

Each speed step profile can have a maximum of 8 speed steps. The comparator value is specified as a relative dimension. It is referenced to the positioning start point.

POSR value 1 SPEED value 2

Value 1: only positive values permitted (unit corresponds to P90); two digits after the decimal point (three for inches), a control parameter (P40..P49) or a variable V1 ... V39.

Value 2: no digits after the decimal point; numerical value, a control parameter (P40..P49) or a variable V1 ... V39.

e.g.: POSR .P40 SPEED .P41

N001:	ACCEL 250	Acceleration and braking time = 250 ms
N002:	SPEED 20	Starting velocity = 20%

N003: POSR 150 SPEED 30 1st speed step when starting position ± 150, sets velocity to 30%.

N004: POSR 300 SPEED 50 2st speed step when starting position ± 300, sets velocity to 50%.

N005: POSR 500 SPEED 80 3st speed step when starting position ± 500, sets velocity to

	80%.
N006: POSR 900 SPEED 60	4st speed step when starting position ± 900, sets velocity to
	60%.
N007: POSA -1000	Positioning command to position -1000 (position -1000 is
	approached with all of or one part of the speed step profile
	depending on the start point).
N008: POSR 200 SPEED 50	Prepares a new speed step profile.
N009: ...

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