Parker Compax3 Fluid T40

Motion control C3F_T40
160 192-121102 N04 June 2008
5.1.12. General rules / timing
General rules
Within an IEC cycle, only one positioning module may be activated!
If 2 positioning modules are activated within one IEC cycle, it is not defined which
one is executed.
 The outputs "Done", "InVelocity", "Error", "ErrorID" and "CommandAborted" reset
with the falling edge of the "Execute" input.
 If the "Execute" input goes back to FALSE again before the module action (for
example positioning) has been completed ("pulse to Execute"), the corresponding
outputs (for example "Done") will still be set for exactly ONE cycle upon
termination.
 The outputs "Done" and "Error" are never simultaneously TRUE.
 If the instance of a function module receives a new "Execute" signal before the
function ends, the module will not show any response (no "Done" and no
"Command Aborted") in reference to the previous action.
 Parameters are accepted with the rising edge of the "Execute" signal.
 To be able to accept modified parameters, the module must be triggered again
with an "Execute" signal.
 If an input parameter is missing, the previous value of this instance will be used in
accordance with IEC61131-3.
 The default value is used the first time a call is made.
 "Position" is a value that is defined for a reference system, i.e. a specific position
value is a fixed location in the reference system.
 "Distance" is the difference between 2 positions.
 "Velocity", "Acceleration", "Deceleration" and "Jerk" are always positive variables.
 "Position" and "Distance" may be positive or negative.
 All function modules have an "Error" output that can be activated by a module
during a module sequence.
 The ErrorID (error number) can be read by an axis error with the
"MC_ReadAxisError" module.
The "Done" output is set if the function module has been successfully executed.
If one positioning process is interrupted by a second before it is complete, the first
function module will not set "Done".
"CommandAborted" is set if a positioning process is interrupted by a second
positioning process, by "MC_Stop" or MC_Power.
The reset behavior of "CommandAborted" is the same as "Done".
If "CommandAborted" occurs, the other outputs will be reset.
Please note that the limits are specified in revolutions.
To convert to the configured unit, multiply the min/max values by the "travel
distance per motor revolution".
With a configured linear motor, all revolution data must be replaced by pitch.
To convert to the configured unit, the min/max values must be multiplied by the
pitch length (see the technical data for the motor).
Positioning
Status of the
outputs
Input parameters
Missing input
parameters
Position and
distance
Sign
Error handling
Behavior of the
"Done" - output
Behavior of the
"CommandAborted"
output
Value range of the
movement
parameters
Linear motors