- Parker Compact Servo Controller User Guide
Operating Instructions
COMPAX-M / -S
RS232 interface
162
8.6.3.2 Interface functions
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
form
Meaning
ACCEL AL Accelerating and braking time in ms
ACCEL- AL- Separate specification of braking time.
SPEED SD Velocity in %
POSR value1
SPEED value2
PR SD Preparation for speed step profiling.
POSR value1
OUTPUT Oxx=y
PR OT Sets comparator function.
The comparators are also indicated using
"C
R
L
F
> comparator No." via RS232 (see
example 2).
Example 1: POSR 100 SPEED 50 C
R
L
F
or
PR 100 SD 50 C
R
L
F
Prepares a speed step.
Example 2: PR 200 OT O9=1 1st comparator
PR 100 OT O10=1 2nd comparator
POSA1000$
The following signs are returned:
♦
2 C
R
L
F
> after 100 units
♦
1 C
R
L
F
> after 200 units
♦
$ C
R
L
F
> after 1000 units
♦
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).
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
Example 1: POSA 2500C
R
L
F
or PA 2500C
R
L
F
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-).
Direct
command entry
Commands
permitted for the
various modes of
operation
Positioning
commands
Influencing the
active positioning
process