Parker Products COMPAX-M /-S (L) Stop program, N001 if Stop Gosub, N241 Wait Start, N243 Return

Operating Instructions	COMPAX-M / -S
STOP / BREAK handling [IF STOP GOSUB xxx]

POSA

POSR

SPEED

ACCEL

OUTPUT

Password

SPEED SYNC

Mark reference

POSR SPEED

POSR OUTPUT

Cam controller

Stop program:

Error program with

WAIT START

Priority:

The stop program must not contain

♦any motion commands (POSA, POSR, POSR ..., WAIT POSA, WAIT POSR, SPEED in the speed control mode, ),

♦any sub-program jumps (GOSUB, IF ... GOSUB, ...),

♦any COMPAX XX70 commands,

♦any approach real zero and find machine zero commands,

♦any speed step commands (POSR ... SPEED ...) or

♦comparator commands (POSR ... OUTPUT ...)

and is used to bring the individual outputs (e.g. the control output for a pump or a valve) into a safe status.

The 'WAIT START' instruction must be included; it stops the programming procedure before an external START is executed again.

Then OUTPUT instructions can again be present for resetting the outputs. There must be a RETURN or END instruction at the end of the stop program.

♦The END instruction stops the program.

♦The RETURN instruction executes a jump back into the previously interrupted program line, a travel motion which was interrupted by STOP is continued; the next command is executed after the BREAK.

The error program has priority over the stop program.

A running stop program is interrupted by the error program and continued after the error program has run.

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

Main Program	Stop Program
Example:
N001: IF STOP GOSUB 240	N240: OUTPUT O9=0
N002: OUTPUT O9=1	N241: WAIT START
N003: POSA 0	N242: OUTPUT O9=1
N004: POSA 4000	N243: RETURN
N005: OUTPUT O9=0

N006: GOTO 002

If the axis has been stopped due to a STOP, e.g. during POSA 4000 positioning, sub-program jump is then made to program line 240 and output O9 is set to zero at this point.

The program then stops in program line 241 and waits until a new start occurs.

At program line 242, output O9 is switched on again, at program line 243, a jump is made back to the previously interrupted program line N004.

The axis therefore executes the rest of the travel to position 4000 and the main program is then continued at program line N005.

If the stop program is concluded using END rather than RETURN, the program indicator remains in the same position. The program stops running at this point. Machine zero has to approached or the program indicator must be reset explicity.

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