Parker Compax3 Fluid T40 User Manual

Parker EME
Motion control
192-121102 N04 June 2008 199
5.7.2. Superimposed positioning (MC_MoveSuperImposed)
FB name MC_MoveSuperImposed
Superimposing of an active positioning with an additional relative distance.
The positioning process that is currently underway is not interrupted by
MC_MoveSuperImposed; it is superimposed instead
VAR_IN_OUT
Axis
INT Axis ID; constant: AXIS_REF_LocalAxis
VAR_INPUT
Execute
BOOL Starts the sequences of the module with positive edge
Distance
REAL
Additional distance for superimposed positioning
(configured unit [Units] ) (positive and negative direction)
<value range> (see page Fehler! Textmarke nicht
definiert.)
MoveVelocity
REAL
Value of the maximum speed difference compared to the
speed of the current positioning (always positive) (not
necessarily reached) [units/s] <Value range> (see page
Fehler! Textmarke nicht definiert.)
Acceleration
DINT Value of acceleration (always positive) [units/s²] <value
range> (see page Fehler! Textmarke nicht definiert.)
Deceleration
DINT
The value of deceleration (always positive) [units/s²]
<value range> (see page Fehler! Textmarke nicht
definiert.)
Jerk
DINT Value of the acceleration jerk (see page 183) [Units/s³]
(al
ways positive) <value range> (see page Fehler!
Textmarke nicht definiert.)
JerkDecel
DINT
Value of the deceleration jerk [units/s³] (always positive)
<value range> (see page Fehler! Textmarke nicht
definiert.)
VAR_OUTPUT
Done
BOOL Additional distance was added to the current positioning
Busy
BOOL Superimposed motion is performed
CommandAborted
BOOL Positioning aborted
Error
BOOL Error while executing module
Note:
 The values Distance, Velocity, Acceleration, Deceleration, Jerk JerkDecel are no
absolute values, they are added to the current movement.
 A stop of the axis will interrupt the current as well as the superimposed
movement.
 In the PLCopen state "Standstill" the MC_MoveSuperImposed module acts like
the MC_MoveRelative module.
 MC_MoveSuperImposed does not interrupt an active command.
 ”Position reached” (Object 420.6) is not influenced by the additional movement
triggered by MC_MoveSuperImposed.
 This module cannot be operated with C3_ShiftPosition and MC_Phasing at a
time.
 The position of the module in the structure image (see page 412).

Parker Compax3 Fluid T40 Specifications

General

Series	Compax3
Power Supply Voltage	24 VDC
Output Current	40A
Protection Class	IP20
Communication	CANopen, RS232
Operating Temperature	0°C to +45°C
Relative Humidity	5 to 95 %, non-condensing
Storage Temperature	-25 to +70 °C