- Parker Compact Servo Controller User Guide
Operating Instructions
COMPAX-M / -S
Absolute positioning [POSA]
96
8.4.1 Absolute positioning [POSA]
Reference point is real zero (RZ).
Positioning is executed with the acceleration speed set using ACCEL and the
velocity set using SPEED. If these values have not previously been set, substitute
values will apply:
SPEED: parameter P2; ACCEL: parameter P6 (see Page 212)
POSA value
Value: figure with two digits after the decimal point (three for inches) in the unit
defined in P90; a control parameter (P40..P49) or a variable (V1..V39)
e.g. POSA .P40
The range is defined by the software end limits P11 and P12.
N005: POSA 150.50 Absolute positioning to +150.5 units
N006: POSA -500 Absolute positioning to -500 units
♦
A position approached manually can be transferred as a POSA command into a
previously selected data record using "TEACH data record" (via an interface).
♦
POSA HOME command via interface triggers "find machine zero".
POSA HOME is not permitted in the COMPAX – program.
When in continuous mode, relative positioning is also adopted with POSA.
8.4.2 Relative positioning [POSR]
The reference point is the current position.
POSR value
Value: two digits after the decimal point (three for inches) in the unit defined in
P90; a control parameter (P40..P49) or a variable (V1..V39)
e.g. POSR .P40
The range is defined by the software end limits P11 and P12.
N005: POSR 2000
N006: POSR-100.25
Relative positioning by +2000
Relative positioning by -100.25
The positioning commands POSR and POSA can be controlled using binary input I15 "Fast start". This
function is switched on using P18. COMPAX then waits until I15="1" before it executes POSR or
POSA (see Page 151).
POSA
Syntax:
Example:
Additional function:
POSR
Syntax:
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