Positioning and control functionsPreparatory instructions101UnithardwareConnectorassignment / cableTechnical dataConfigurationPositioning andcontrol functionsOptimizationfunctionsInterfacesAccessories /optionsStatusParameterError list8.4.12 Preparatory instructionsThe following command combinations are preparatory instructions for creatingspeed step profiles or setting comparator switch points . The prepared positioningprocess is started using POSA or POSR. Note the following:♦ Combined commands can be mixed (POSR SPEED, POSR OUTPUT).♦ A total of 8 combined commands can be programmed per positioning process.♦ The positioning values of the command combinations are always positive andrefer to the start point of the positioning process. They represent differences intravel. The direction is specified by the next positioning command. This can berelative (POSR) or absolute (POSA) . Meaning:♦ The positioning values for speed steps, ramp times or comparators always applyfrom the point at which positioning starts (for POSA and POSR)♦ The positioning values for speed steps, ramp times or comparators are numericalvalues:♦ If the following positioning is positive, COMPAX calculates them as positivevalues.♦ If the following positioning is negative, COMPAX calculates them as negativevalues.♦ If a process cycle has been interrupted by "Stop", continue the cycle using"Start".♦ The preparatory instructions are canceled by the "Hand+/-", "Find machine zero"and "Approach real zero" commands.8.4.13 Changes in speed within a positioning process [POSR SPEED]Each speed step profile can have a maximum of 8 speed steps. The comparatorvalue is specified as a relative dimension. It is referenced to the positioning startpoint.POSR value 1 SPEED value 2Value 1: only positive values permitted (unit corresponds to P90); two digits afterthe decimal point (three for inches), a control parameter (P40..P49) or avariable V1 ... V39.Value 2: no digits after the decimal point; numerical value, a control parameter(P40..P49) or a variable V1 ... V39.e.g.: POSR .P40 SPEED .P41N001: ACCEL 250 Acceleration and braking time = 250 msN002: SPEED 20 Starting velocity = 20%N003: POSR 150 SPEED 30 1st speed step when starting position ±150, sets velocity to30%.N004: POSR 300 SPEED 50 2st speed step when starting position ±300, sets velocity to50%.N005: POSR 500 SPEED 80 3st speed step when starting position ±500, sets velocity to80%.N006: POSR 900 SPEED 60 4st speed step when starting position ±900, sets velocity to60%.N007: POSA -1000 Positioning command to position -1000 (position -1000 isapproached with all of or one part of the speed step profiledepending on the start point).N008: POSR 200 SPEED 50 Prepares a new speed step profile.N009: ...POSR SPEEDSyntax:Example:
