- Parker Compact Servo Controller User Guide
Operating Instructions
COMPAX-M / -S
Changes in speed within a positioning process [POSR SPEED]
102
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
Position
Speed
100%
Start x y
z
25%
10%
10%
2000ms
2000ms
100ms
100ms
300ms
1000ms
1 Position 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.
Compatibility:
Function:
POSR x SPEED y
ACCEL z
Example:
Note:
Example:
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