Positioning and control functionsIndividual configuration of synchronous motors95UnithardwareConnectorassignment / cableTechnical dataConfigurationPositioning andcontrol functionsOptimizationfunctionsInterfacesAccessories /optionsStatusParameterError list8.4 Positioning and control functionsThe COMPAX basic unit is designed to meet the technical control requirements ofa servo axis. Special control commands are implemented in the different unitvariants for synchronisation or gearing functions. The support of a superordinatecontrol unit is required for more complex systems, especially for the co-ordinationof several axes. Parker supplies solutions based on PCs and PLCs, as well as thecompact industrial computer COMTAC as a multi-axis simultaneous control unit.Up to 250 sequentially numbered sets of commands can be stored in the COMPAXprogram memory. Program execution can be controlled via data interfaces orbinary inputs/outputs. It is possible to select addresses (data record selection)using the interpretation of the adjoining binary input signals (external data recordselection).The command set structure has been deliberately kept simple and resembles thewell-known programming language Basic. Program control instructions, comparatorfunctions, setting/resetting of outputs and the motion-related commands forspecifying velocity, position, acceleration time, etc. are also possible.N001: ACCEL 250 acceleration time 250 msN002: SPEED 80 velocity 80%N003: REPEAT 10 specified wait loop 1sN004: IF I7=1 GOTO 9 query I7 to log. 1N005: WAIT 100 waiting time 100 msN006: END end REPEAT loopN007: OUTPUT O7=1 sets output; no positioningN008: GOTO 13N009: POSA 1250 positioningN010: OUTPUT O8=1 sets O8 for 500 msN011: WAIT 500N012: OUTPUT O8=0N013: ENDThe range of commands used with the compact COMPAX servo control unit isdeliberately different in terms of type and range to the standardized NCprogramming standards as described in DIN 66024 and DIN 66025. COMPAX isnot designed with the control and calculation capability of a complete CNCcontroller, even though it can perform many CNC functions.All commands are processed in sequence (sequential step programming). Theprogram can be interrupted or suspended using a break or stop signal. The axis isthen decelerated using the preset time delay. The program can then be continuedfrom another point.Once "Power on" is in place, the data record indicator is at 1. If the program is tostarted at another point, the data record indicator can be adjusted using thecommand "GOTO xxx" (The direct command is only recognized by COMPAX if A4"Ready for start" ="1").Using the "START" command (via the digital Input I5 or using the direct "START"command via an interface), you can start the program from the selected datarecord number.The data record indicator is set to 001 using the "Find machine zero" or"Approach real zero".This function can be set to binary inputs using parameter P211.Program example:Start program
