Parker Products COMPAX-M /-S (L) manual Compatibility, Posr x Speed y Accel z

Operating Instructions	COMPAX-M / -S
Changes in speed within a positioning process [POSR SPEED]

POSA

POSR

SPEED

ACCEL

OUTPUT

Password

SPEED

SYNC

Mark reference

POSR

SPEED

POSR

OUTPUT

Cam controller

WAIT

GOTO

GOSUB

RETURN

END

REPEAT

IF I..

Comparison

WAIT Start

GOTO /

GOSUB EXT

IF Error/ Stop

Arithmetic

Position monitoring

Idle display

Speed monitoring

Engage / disengage brake / final stage

Variable voltage

Compatibility:

Function:

POSR x SPEED y ACCEL z

Example:

Note:

Example:

Speed step profile extended by ramp time

Speed step profiling is still possible in the previous version with no restrictions.

♦In addition to the new velocity, the acceleration time can be defined for the speed step profile.

This becomes effective at the transition to the defined velocity and remains valid until a new acceleration time is defined.

♦The braking time is assigned within the speed step profile, not by using ACCEL-, but defined by the velocity change.

♦The deceleration ramp for the target position is defined by the previously set ramp (braking time applicable before the speed step profile).

Abbreviation: PR x SD y AL z

x, y, z: number, parameter .P40 (P40-P49) or variable .V1 (V1-V39)

PR .P40 SD .V31 AL 200

♦The last ramp time selected using a prepared command from ACCEL remains valid for future positioning processes.

♦The situation with SPEED is same.

♦A braking time previously defined with ACCEL- remains unaffected.

ACCEL 1000			Generally valid acceleration time
ACCEL -2000			Generally valid braking time
SPEED 25			Generally valid velocity
POSR x SPEED 100 ACCEL 300			1st speed step at position x
POSR y SPEED 10 ACCEL 100			2nd speed step at position y
POSA z			Start positioning to z
POSA 0			Return with SD 10, AL100 and AL-2000
100%
Speed		300ms
				100ms
	1000ms
25%					2000ms
10%						z
10%	Start	x	y			Position
	2000ms			100ms

1Position x is reached at 25% velocity and 1000ms acceleration time.

2 Position y is reached at 100% velocity and 300ms acceleration time.

3 Position z is reached at 10% velocity and 100ms acceleration time.

4 To stop at position z, a braking ramp of 2000ms is used for early deceleration.

5. After the command POSA 0, the drive returns to the starting point (= position 0). The drive accelerates for the last set 100 ms to the last set velocity of 10% and returns to position 0. The braking time of 2000 ms set before the speed step profile is used as the braking ramp.

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