Parker Products COMPAX-M /-S (L) Interface functions Direct command entry, Positioning commands

Operating Instructions		COMPAX-M / -S
RS232 interface
	8.6.3.2 Interface functions

Direct command entry

Commands permitted for the various modes of operation

Example 1:

Example 2:

When making direct command entries via RS232, use the abbreviated form for most instructions (two letters).

Refer to table on Page 165!

When using "Direct command entry", write an "END" instruction in data memory No. 1 because the start command refers to the program memory if the unit contains no direct commands.

Preparatory positioning commands

3. These commands can be transmitted to COMPAX when idle and during a positioning process.

4. The commands are accepted with the next positioning command

Instruction	Abbreviated	Meaning
	form
ACCEL	AL	Accelerating and braking time in ms
ACCEL-	AL-	Separate specification of braking time.
SPEED	SD	Velocity in %
POSR value1	PR SD	Preparation for speed step profiling.
SPEED value2
POSR value1	PR OT	Sets comparator function.
OUTPUT Oxx=y		The comparators are also indicated using
		"CRLF> comparator No." via RS232 (see
		example 2).

POSR 100 SPEED 50 CR LF or

PR 100 SD 50 CR LF

Prepares a speed step.

PR 200 OT O9=1 1st comparator

PR 100 OT O10=1 2nd comparator

POSA1000$

The following signs are returned:

♦2 CRLF > after 100 units

♦1 CRLF > after 200 units

♦$ CRLF > after 1000 units

Positioning commands

♦Positioning commands can be transmitted to COMPAX when idle and during a positioning process.

♦If the axis is moving, the command is acknowledged negatively.

♦The current settings (ACCEL, SPEED, ...) apply to the positioning command; i.e. these settings can still be modified before the positioning command is transmitted.

♦A positioning command specified by the interfaces is interrupted by a reference journey prompted by the digital inputs. (POSA, POSR, LOOP).

Example 1:

Influencing the active positioning process

Instruction		Abbr. form	Meaning
POSA		PA	Absolute position
POSA HOME		PH	Find machine zero
POSR		PR	Relative position
OUTPUT O0		OT O0	Switch off drive
POSA 2500CRLF	or PA 2500CRLF

Proceed to position 2500

This command is only permitted if COMPAX has not received any more commands since the positioning command currently being processed (excluding commands which are not position dependent, such as OUTPUT, GOTO and ACCEL, ACCEL-).

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