User guide

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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
address of the next internally stored motion task to be executed by the drive and to
synchronize the start and finish of these tasks. When connected through this sim-
ple 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 pur-
chasing 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.
Motion Task
Application
Examples
Two examples of motion task applications are as follows:
l If the application under consideration requires configuration and storage of 50
separate motion tasks in the drive, then 6 discrete inputs to the drive must be
reserved to uniquely address each task with a 7th discrete input of the drive
dedicated to the "Start next motion task" bit and a discrete output of the drive
dedicated to the "In position" bit.
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