LEXIUM MHDA1004, User Manual, Page: 186 / 204

172
I/O Expansion Card, continued
Controlling Pre-
programmed
Motion Tasks
The additional I/O points provided by the expansion card are used for controlling
the execution of pre-programmed, independent motion tasks which can be stored in
the drive via the Unilink configuration software. The I/O is used to provide the num-
ber of the next internally stored motion task to be executed by the drive and to syn-
chronize the start and finish of these tasks. When connected through this simple
discrete I/O interface to a Modicon/Telemecanique PLC, a very cost effective, high
functionality single axis positioner can be realized without the expense of purchas-
ing any special external positioning modules.
Programming
the PLC
As the interface between the drive and the PLC is realized with standard discrete
I/O in this configuration, the user is free to program the PLC in any preferred lan-
guage. The PLC will handle all program flow and branching while the drive will exe-
cute the appropriate motion task when commanded by the PLC. Up to 180
separate motion tasks can be stored in the drive’s standard non-volatile memory.
An additional 75 motion tasks can be stored in the drive’s volatile memory at sys-
tem start-up.
Motion Task
Coordination
Coordination between the PLC and the drive is achieved through the "In position"
output of the drive, the "Start next motion task" input to the drive and the required
discrete inputs to the drive corresponding to the binary decoded address of the
next motion task to be executed.
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