Specifications

Motion Control Profile Specifications
The motion control profiles generated in Pulse Output Mode have the following
specifications:
Physical I/O Configuration
The configurable discrete I/O options for Pulse Output Mode are listed in the table below.
The CPU uses SP 104 contact to sense “profile complete”. V7637 is used to select
pulse/direction or CCW/CW modes for the pulse outputs. Input X2 is dedicated as the
external interrupt for use in registration mode.
Logical I/O Functions
The following logical I/O references define functions that allow the HSIO to communicate
with the ladder program.
DL05 Micro PLC User Manual, 6th Edition, Rev. C
E–27
Appendix E: High-speed Input and Pulse Output Features
1
2
3
D
E
6
7
8
9
10
11
1
1
14
A
B
C
D
Physical I/O Configuration
Physical Input Configuration Register Function Hex Code Required
–
V7637 Y0 = Pulse Y1 = Direction 0103
Y0 = CW Pulse
Y1 = CCW Pulse
0003
X0 V7634 Discrete filtered input
xx06, xx = filter time
0 99 (BCD)
X1 V7635 Discrete filtered input
X2 V7636 Discrete filtered input
Motion Control Profile Specifications
Parameter Specification
Profiles
Trapezoidal – Accel Slope / Target Velocity / Decel Slope
Registration – Velocity to Position Control on Interrupt
Velocity Control – Speed and Direction only
Position Range –8388608 to 8388607
Positioning Absolute / relative command
Velocity Range 40 Hz to 7 kHz
V-memory registers V2320 to V2325 (Profile Parameter Table)
Current Position CT76 and CT77 (V1076 and V1077)
Logical I/O/ Functions
Logical I/O Function
SP 104
Profile Complete – the HSIO turns on SP104 to the CPU
when the profile completes. Goes back off when Start
Profile (Y0) turns on.
Y0
Start Profile – the ladder program turns on Y0 to start
motion. If turned off before the move completes, motion
stops. Turning it on again will start another profile, unless
the current position equals the target position.
Y1
Preload Position Value – if motion is stopped and Start
Profile is off, you can load a new value in CT76/CT77, and
turn on Y1. At that transition, the value in CT76/CT77
becomes the current position.