Parker Hannifin S.p.A. - Divisione S.B.C. LVD User’s Manual
70
Example 9: 32 positionings
Referring to the figure below, assume you need to move the carriage to 32 different
positions selected by means of five digital signals.
The positions are set in the first parameters (memorizable) in the table in resolver steps
taking the position of the proximity sensor as the zero value. The table parameters are
assumed as long format, so the zero position corresponds to [Pr43=0, Pr44=0] and [Pr43=1,
Pr44=0], position 1 corresponds to [Pr43=2, Pr44=least significant part of the long format]
and [Pr43=3, Pr44=most significant part of the long format], and so forth. When the machine
is powered up the drive remains in standby mode awaiting the homing execution command:
when a pulse command is supplied to digital input 6 of the
LVD
drive homing procedure 2
will be performed (cf. chapter
Other useful functions
). At this point digital inputs 1, 2, 3, 4
and 5 select the position to be reached, while a pulse on digital input 6 makes it possible to
perform positioning by means of a trapezoidal profile; the binary selection code for the profile
must be set at least 13 msec before transmitting the execution command. The following
diagram shows the relationship between the parameters in the table and the encoding on the 5
digital inputs; for example, only input 1 when set to 1 selects position 1, while the distance in
steps between the zero axis point and position 1 is set in steps in parameter Pr44[2,3], bearing
in mind that one revolution of the motor shaft corresponds to 4096 steps.
After having set the default values, set the following parameters on the
LVD
:
Pr4=10 axis homing speed
Pr31=9, b99.11=1, b40.2=1, b40.12=1
Pr51=profile acceleration ramp, Pr52=profile execution speed
Pr44[0,1]=0, Pr44[2,3]=position 1, ... up to Pr44[62,63]=position 31
digital inputs 1,..5 = profile selection code
M
MOTOR
PROXIMITY SWITCH
CARRIAGE
0
1
...
...
30
31
POSITIONS:
input 5
input 4
input 3
input 2
input 1
position
dimension
0
0
0
0
0
0
Pr44[0,1]=0
0
0
0
0
1
1
Pr44[2,3]
0
0
0
1
0
2
Pr44[4,5]
..
..
..
..
..
...
Pr44[..,..]
1
1
1
1
0
30
Pr44[60,61]
1
1
1
1
1
31
Pr44[62,63]