Parker EME
Device assignment
New Compax3 functions
192-120111 N1 C3 T30 T40 - March 2004 5
4.2.1.1 Stiffness of the speed controller .........................................................82
4.2.1.2 Damping of the speed controller.........................................................83
4.2.1.3 Filter for speed value..........................................................................83
4.2.1.4 Advanced control parameters.............................................................84
4.2.2. Calibration of the analog input ....................................................................87
4.2.2.1 Offset alignment.................................................................................87
4.2.2.2 Gain alignment...................................................................................88
4.2.3. Turning the motor holding brake on and off ...............................................89
4.3 Synchronization ..................................................................................... 90
4.3.1. Master reference system..............................................................................90
4.3.1.1 Time frame predefined setpoint value.................................................90
4.3.2. HEDA.............................................................................................................91
5. Programming based on IEC61131-3 ......................................................92
5.1 General.................................................................................................... 92
5.1.1. Requirements ...............................................................................................93
5.1.2. CoDeSys / Compax3 target system (Target Package) ................................93
5.1.2.1 Program development and test...........................................................94
5.1.2.2 Recipe management ..........................................................................94
5.1.3. Languages supported ..................................................................................94
5.1.4. Function range supported ...........................................................................95
5.1.4.1 Operators supported ..........................................................................95
5.1.4.2 Standard functions supported.............................................................96
5.1.4.3 Standard function modules supported ................................................96
5.1.5. Data types supported...................................................................................97
5.1.6. Retain Variables ...........................................................................................97
5.1.7. Recipe table with 9 columns and 32 lines...................................................98
5.1.8. Maximum program size................................................................................98
5.1.9. Cycle time.....................................................................................................98
5.1.10. Access to the Compax3 object directory ....................................................99
5.1.11. Compilation, debugging and down/upload of IEC61131 programs ...........99
5.2 Motion control via function modules ................................................. 100
5.2.1. Compax3 – status diagram ........................................................................ 101
5.2.2. Virtual Master ............................................................................................. 102
5.2.3. Library constants ....................................................................................... 103
5.2.4. General rules / timing................................................................................. 104
5.2.5. Control functions ....................................................................................... 106
5.2.5.1 Energizing the power output stage (MC_Power) ...............................106
5.2.5.2 Stop (MC_Stop) ............................................................................... 107
5.2.5.3 Opening the brake (C3_OpenBrake) ................................................ 108
5.2.6. Reading values...........................................................................................109
5.2.6.1 Reading the current position (MC_ReadActualPosition)....................109
5.2.6.2 Read access to the (C3_READARRAY) array .................................. 111
5.2.6.3 Reading the device status (MC_ReadStatus) ...................................112
5.2.7. Motion functions ........................................................................................ 113
5.2.7.1 Dynamic positioning......................................................................... 113
5.2.7.2 Absolute positioning (MC_MoveAbsolute) ........................................ 114
5.2.7.3 Relative positioning (MC_MoveRelative) ..........................................117
5.2.7.4 Additive positioning (MC_MoveAdditive)........................................... 119
5.2.7.5 Continuous positioning (MC_MoveVelocity)...................................... 121
5.2.7.6 Machine zero (MC_Home) ............................................................... 123
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