Bosch Rexroth OptiFeed-FS EcoDrive 03 FLP04VRS, Functional Description

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ECODRIVE03-FL*-04VRS Writing the User Program
6-31
DOK-ECODR3-FL*-04VRS**-FK01-EN-P
CPL - Clear Position Lag
Axis: 1
The position lag of the axis is set to zero on a one-time basis. Normally,
this action is useful only for special tasks such as moving to a positive
stop. When this task is performed, buildup of a substantial position lag is
possible because the monitoring systems are deactivated and the
performance of the drive has been affected.
CAUTION
This command directly accesses the position
control circuit. It is therefore possible for
unauthorized changes to be made in the values
for length, position and acceleration.
The program proceeds to the next instruction following the time period of
one cycle.
CPS - Compare and Set a Bit
or
Result Bit M2, M3, M4 , M8
DKC21.3 : Q0.00.4-Q0.01.3
DKC 3.3 : Q2,020,0-Q2,050,7
Tolerance Range
Compare Operand 2
Operational Sign for Compare Operand 2
Compare Conditions
= equal to (with tolerance range)
> greater than
< less than
>= greater than or equal to
<= less than or equal to
<> not equal to (with tolerance range)
Compare Operand 1
The result bit is set when the comparison has been made. Otherwise, the
result bit is deleted. For the compare conditons ’same’ and ’different,’ the
comparison is met when the difference between the two operands lies
within the tolerance range.
The program proceeds to the next instruction following the time period of
one cycle.
CPL 1
CPS V600
>
= + V601 V602 M2.02.0
CPS V600
>
= +12345.123 1234.12 M2.02.0