Parker Compax3 Fluid T40

Parker EME
Motion control
192-121102 N04 June 2008 205
5.9.1. Switching: from force to position mode (C3_pQ)
FB name C3_pQ
Activate pQ (Volume flow control / position control) – Mode depending on the conditions
 Switching to pressure / force control: see in this module description
 Switching back to position control:
 Actual speed > setpoint speed from the motion profile or
 Target position from the original positioning reached.
VAR_IN_OUT
Axis
INT Axis ID (Library constants)
Note: C3_pQ_Force is only possible for the main axis
VAR_INPUT
Enable
BOOL
Starts the sequence of the module at positive edge and terminates
the qQ mode at negative edge
Mode
C3_pQ_MODE Switching conditions from position to pressure/force control:
EVENT_EXTERN
External event: Any object (given by "ExtObjectSource") can be
configured as source (Index.Sub). via an additional mask
(ExtObjMask), an AND-link is established.
ABS_FORCE_PRESSURE_THRESHOLD
Controller-Actual-Pressure/Force > Value
"PressureForceThreshold"
ABS_FORCE_PRESSURE_GRADIENT
Pressure/Force-Gradient > Value
"PressureForceGradientThreshold".
The gradient exceeds the parameterized value.
ABS_ACTUALPOS_THRESHOLD
Value of the actual position > parameterized position value
"PosThreshold" AND
Value of the actual position <parameterized position value
"PosThreshold" + PosWindow
ABS_DEMANDPOS_THRESHOLD
Value of the setpoint position > parameterized position value
"PosThreshold" AND
Value of the setpoint position < parameterized position value
"PosThreshold" + PosWindow
PressureForceSetpointSource
DWORD
Pointer to the source of the setpoint value of the pressure/force
controller
Note: The source must have the type INT or DINT
PressureForceThreshold
DINT
The pressure/force threshold in [mbar], [psi] or [N] at which the
switching to pressure/force control takes place.
Note: This parameter is only relevant in the
Mode=ABS_FORCE_PRESSURE_THRESHOLD.
PressureForceGradientThresh
old
DINT
The pressure/force change threshold in [mbar], [psi] or [N] at which
the switching to pressure/force control takes place.
Note: This parameter is only relevant in the
Mode=ABS_FORCE_PRESSURE_GRADIENT.
GradientFilterTimeConstant
INT
The filter time constant in [µs] of the filter at which the
pressure/force gradient is filtered.
ExtObjectSource
DWORD
Pointer to any object that is intended to be the source of the
external exent.
Note: This parameter is only relevant in the
Mode=EVENT_EXTERN.