- Parker Compact Servo Controller User Guide

Operating Instructions
COMPAX-M / -S
PLC sequential step tracking
122
8.4.34 PLC sequential step tracking
Use the function "O5 toggles when position/speed reached" and a marker in the
PLC to implement precise tracking of the COMPAX.
This also recognizes positioning processes which are completed again during the
next PS cycle.
V
P229
PLC internal
position reached
Flag
PLC
⊕
O5
Flag
PLC
O5
POSAPOSR POSR
The PLC marker is toggled when a positioning command is transmitted.
The "EXCLUSIVE-OR" operation of the PLC marker and output O5 can be
processed as a PLC-internal "Position reached" message.
Implementation:
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