Parker Hannifin S.p.A. - Divisione S.B.C. LVD User’s Manual
71
digital input 6 = homing / execute positioning pulse command
digital input 7 = PNP axis zero proximity sensor
digital output 0 = homing executed
digital output 1 = in position (within error window Pr56)
voltage free contact output = Drive OK
Drive pico-PLC program:
LD
91.8
ANDN 94.13
SET
91.0
LD
90.6
ANDN 91.0
SET
94.13
SET
91.8
LD
99.13
ADD
90.72.43
RST
43.0
RST
43.6
RST
43.7
LDN
70.8
AND
91.0
AND
90.6
SET
70.8
RST
70.4
SET
94.0
SUB
44.60.64
AND
99.2
SET
70.4
LDN
91.0
OR
70.8
OR
70.5
OUTN 91.1
RST
70.5
LD
41.4
OUT
91.6
END
If homing 2 concluded,
set digital output 0
If digital output 6
execute homing 2 if not
yet executed
program Pr43 with the
code of the required
profile
if execute positioning
command, no profile in
progress and homing
already executed,
calculate space between
current position and
required position, select
direction and start
profile
indicates that motor
shaft is in required
position with precision
defined by error window
Pr56
Drive OK signal
program end
SET
SET
SET
91.8
94.13
99.13
91.8
91.0
94.13
ADD
90 72 43
90.6
91.0
91.0
70.8
SUB
44 60 64
90.6
99.2
70.8
91.0
70.5
RST
70.5
END
RST
43.0
SET
70.4
SET
70.8
41.4
91.6
RST
43.6
RST
43.7
RST
70.4
SET
94.0
91.1