- Parker Compact Servo Controller User Guide
Positioning and control functions
Comparators during positioning [POSR OUTPUT]
103
Unit
hardware
Connector
assignment / cable
Technical dataConfigurationPositioning and
control functions
Optimization
functions
InterfacesAccessories /
options
StatusParameterError list
8.4.14 Comparators during positioning [POSR OUTPUT]
Setting and resetting freely assignable outputs within a positioning process.
A maximum of 8 comparators can be set in one positioning process. The
comparator value is specified as a relative dimension. It is referenced to the
positioning start point.
POSR value OUTPUT output = 1/0
Value: only positives value are permitted (unit corresponds to P90); two digits
after the decimal points (three for inches) a control parameter (P40..P49)
or a variable (V1..V39)
e.g. POSR .P40 OUTPUT A7=1.
N001: ACCEL 250 Acceleration and braking time = 250 ms
N002: SPEED 50 Starting velocity = 50%
N003: POSR 150 OUTPUT A8=1 1st comparator at start position 150, sets output O8 to
1.
N004: POSR 300 OUTPUT A7=1 2nd comparator at start position 300, sets output O7 to
1.
N005: POSR 500 OUTPUT O7=0 3rd comparator at start position 500, sets output O7 to
0.
N006: POSR 900 OUTPUT O8=0
4th comparator at start position
±
900, sets output O8 to
0.
N007: POSA 1000 Positioning command to 1000 (Position +1000 is
approached; the travel-dependent comparators are set
once the relative positions have been reached).
N008: POSR 200 OUTPUT O7=1 Prepares new comparators.
Outputs O1 to O6 can also be used as comparators once enabled via P225
(see Page 139).
Diagram of specified example for POSR OUTPUT
0 100
starting position
300-150 500
1000
900
200 300 500 700 800 900
absolute position
position relative to starting position
150-300-500
-900
-100-200-300-400-500-600-700-800-900-1000
POSA 1000
400 600
A8
A7
Diagram of example using POSA -1000 as positioning
0 100
starting position
300-150 500
1000
900
200 300 500 700 800 900
150-300-500
-900
-100-300-500-600-700-900-1000
POSA 1000
400 600-800 -400 -200
position relative to starting positionen
absolute position
A8
A7
POSR
OUTPUT
Syntax:
Examples: