Parker LVD1 - Page 71

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
91.070.8
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