Specifications

Examples and tips
PROGRAMMING MANUAL 246
Revision 5.0
Example: We have a Sigma-II and a Junma driver assigned to controller
axes 0 and 3. For the Sigma-II driver, we want to use input signal EXT1
(mapped to CN1-44 if Pn511.2 is set to 4) to serve as reverse limit input for
axis 0. For the Junma driver, we want to use input signal EXT1 (CN1-2) as
reverse limit for axis 3. We can do this with these commands:
REV_IN AXIS(0) = 22
REV_IN AXIS(3) = 22
Note that even though REV_IN parameters for both axes have the same
value, the real inputs used are not the same. For axis 0 the input on CN1-44
of the Sigma-II driver (assigned to axis 0) is used, but for axis 3 the input on
CN1-41 of the Junma driver (assigned to axis 3) is used. Therefore we say
that those inputs are accessed per axis, they are not unique for the whole
controller. In general, these two inputs have a different status at the same
time. Also note that neither of these two inputs can be accessed using the
command IN. For example the command IN(22) returns the status of
controller software input 22 (unique for all axes), which has a different status
than Servo Driver inputs mapped to the same number. However, the
command INVERT_IN(22) inverts the status of input 22 read by the
controller. It affects not only the unique software input 22, which is
accessible with the IN command, but all axis-specific inputs 22, which in this
example are the EXT1 inputs of the connected Servo Drivers.
5.1.5 Origin search
The origin search or homing functionality is often seen as a particular
sequence of movements of an axis at the start-up phase of the machine.
This sequence is done automatically in most cases, without the input from
the operator of the machine. In general, an origin search procedure couples
a position to a specific axis. It depends on the encoders used (absolute or
relative), on the system used (linear or circular), and on the mechanical
construction of the machine. Absolute encoders do not need a movement
during the origin search procedure, because the exact positions are
transferred directly to the system. For other encoder types, a movement is
necessary, since there is no knowledge of the exact position within the
Note
If a forward limit, reverse limit and origin input signal are used for
an axis, it is strongly recommended to use the following settings
for the axis:
BASE(axis_number)
DAT_IN=18
' /DEC input in the corresponding Servo Driver is
' assigned
FWD_IN=16
INVERT_IN(16,ON)
' P_OT input in the corresponding Servo Driver is
‘ assigned. It is necessary to invert the signal
' because a Normally Closed input is expected.
REV_IN=17
INVERT_IN(17,ON)
' N_OT input in the corresponding Servo Driver is
‘ assigned. It is necessary to invert the signal
' because a Normally Closed input is expected
Also note that INVERT_IN inverts the selected input in all axes.