Parker Hauser COMPAX-M Series Interface Manual

Also see for Hauser COMPAX 02XXM Series: User guide

2.7 Positioning2.7.2 POSR332.7.2 POSRRelative positioning. Reference point is the current position.Object DescriptionIndex 0x5fefSymbol POSR Length 6 Access groups 0Object code Simple var. Password 0Data type Octet String Access rights Write all PD Map Not possibleData DescriptionData format BCD Unit mm (or inch)Value range -4 000 000 000 ... +4 000 000 000 Resolution 1 ⇔ 0.001 mm (or inch)Data byte [Bit] Assignment Data byte [Bit] Assignment1 [7 ..... 0] Value sign (0x00 ⇔ +; 0xff ⇔ -)2 [7,6,5,4] 10 9 4 [3,2,1,0] 10 42 [3,2,1,0] 10 8 5 [7,6,5,4] 10 33 [7,6,5,4] 10 7 5 [3,2,1,0] 10 23 [3,2,1,0] 10 6 6 [7,6,5,4] 10 14 [7,6,5,4] 10 5 6 [3,2,1,0] 10 0ExampleThe drive should travel relative to -37891.210 mm.Service Write request Sub-index 0 3. data byte 0x37Command Code 0x8082 Length 6 4. data byte 0x89Param. counter 6 1. data byte 0xff 5. data byte 0x12Index 0x5fef 2. data byte 0x00 6. data byte 0x102.7.3 LAGE_ZIELTarget position default.Absolute positioning. Reference point is the real null (RN) or relative positioning: set by the data byte 2 Bit 6 (0 = absolute; 1 =relative).Positioning is done with the acceleration time (brake time) set by ACCELL-POS (ACCEL-NEG) and the velocity set by SPEED.If these values were not set, then valid are substitute values: SPEED: Parameter P002; ACCEL: Parameter P006Object DescriptionIndex 0x607aSymbol LAGE_ZIEL Length 4 Access groups 0Object code Simple var. Password 0Data type Integer32 Access rights Read/write all PD Map PADData DescriptionUnit mm (or inch) Resolution 1 ⇔ 0.001 mm (or inch)The object "target position" can be assigned to the cyclical process output data channel. Then you can cyclically specify new setpoints. The acceptance of a new set point (see also PA_ENABLE Bit 7) requires a handshake. This is done using the followingbits:! Control word byte 2 bit 4 "new set point" and! Status word byte 1 bit 4 "acknowledge record point"