Parker EME
Introduction
192-121102 N04 June 2008 5
4.3.2.3 Example: Setting the Oscilloscope ........................................................... 95
4.3.3. Control Loop Dynamics ...................................................................................... 97
4.3.3.1 Preparatory settings for the controller alignment...................................... 98
4.3.3.2 Signal filtering with external command value ........................................... 102
4.3.3.3 Controller structure of main axis ............................................................... 105
4.3.3.4 Controller strucutre auxiliary axis.............................................................. 106
4.3.3.5 Feedforward main axis (status controller)................................................. 107
4.3.3.6 Feedforward auxiliary axis (status controller) ........................................... 108
4.3.3.7 Position controller main axis (status controller) ........................................ 109
4.3.3.8 Position controller auxiliary axis (status controller)................................... 113
4.3.3.9 Filter main axis.......................................................................................... 116
4.3.3.10 Filter auxiliary axis .................................................................................... 117
4.3.3.11 Analog Input.............................................................................................. 118
4.3.3.12 Force-/Pressure Control main axis ........................................................... 123
4.3.3.13 Force-/Pressure Control auxiliary axis...................................................... 127
4.3.3.14 Output signal conditioning 0 ..................................................................... 131
4.3.3.15 Step-by-step optimization ......................................................................... 138
4.3.4. Input simulation ................................................................................................... 147
4.3.4.1 Calling up the input simulation.................................................................. 147
4.3.4.2 Functionality.............................................................................................. 148
4.3.5. Setup mode .......................................................................................................... 149
4.3.5.1 Motion objects in Compax3 ...................................................................... 150
4.3.6. ProfileViewer for the optimization of the motion profile ................................. 150
4.3.6.1 Mode 1: Time and maximum values are deduced from Compax3
input values............................................................................................... 151
4.3.6.2 Mode 2: Compax3 input values are deduced from times and
maximum values....................................................................................... 151
5. Motion control.......................................................................................152
5.1 Programming based on IEC61131-3................................................... 152
5.1.1. Prerequisites ........................................................................................................ 152
5.1.2. CoDeSys / Compax3 target system (Target Package)..................................... 153
5.1.2.1 Program development and test................................................................. 153
5.1.2.2 Recipe management................................................................................. 154
5.1.3. Languages supported ......................................................................................... 154
5.1.4. Function range supported .................................................................................. 154
5.1.4.1 Operators supported................................................................................. 154
5.1.4.2 Standard functions supported................................................................... 155
5.1.4.3 Standard function modules supported...................................................... 156
5.1.5. Data types supported.......................................................................................... 157
5.1.6. Retain Variables................................................................................................... 157
5.1.7. Recipe table with 9 columns and 32 lines......................................................... 157
5.1.8. Maximum program size....................................................................................... 158
5.1.9. Cycle time............................................................................................................. 158
5.1.10. Access to the Compax3 object directory.......................................................... 158
5.1.11. Compilation, debugging and down/upload of IEC61131 programs ............... 159
5.1.12. General rules / timing.......................................................................................... 160
5.1.13. Library constants................................................................................................. 161
5.2 Status diagrams................................................................................... 162
5.2.1. Status diagram of Compax3F main axis ........................................................... 162
5.2.2. Status diagram of Compax3F auxiliary axis ..................................................... 163
5.2.3. Status diagram of the virtual master ................................................................. 164
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