Specifications
Mode 30: Pulse Output
Purpose
The HSIO circuit in Mode 30 generates output pulse
trains suitable for open-loop control of a single-axis
motion positioning system. It generates pulse (stepper
increment) and direction signals which you can connect
to motor drive systems and perform various types of
motion control. Using Mode 30 Pulse Output, you can
select from three profile types detailed later in this
appendix:
• Automatic Trapezoidal – Accel Slope to Target Velocity to Decel Slope
• Step Trapezoidal – User defined step acceleration/deceleration and target velocity
• Velocity Control – Speed and Direction only
The HSIO circuit becomes a high-speed pulse generator (up to 10 kHz) in Mode 30. By
programming acceleration and deceleration values, position and velocity target values, the
HSIO function automatically calculates the entire motion profile. The figure below shows the
DL06 generating pulse and direction signals to the drive amplifier of a stepper positioning
system. The pulses accomplish the profile independently and without interruption to ladder
program execution in the CPU.
In the figure above, the DL06 generates pulse and
direction signals. Each pulse represents the smallest
increment of motion to the positioning system (such as
one step or micro-step to a stepper system).
Alternatively, the HSIO Pulse Output Mode may be
configured to deliver counter clock-wise (CCW) and
clock-wise (CW) pulse signals as shown to the right.
NOTE: The pulse output is designed for open loop stepper motor systems. This, plus its minimum
velocity of 40 pps, make it unsuitable for servo motor control.
DL06 Micro PLC User Manual, 3rd Edition, Rev. C
E–38
Appendix E: High-speed Input and Pulse Output Features
1
2
3
4
E
6
7
8
9
10
11
12
13
14
A
B
C
D
Trapezoidal Profile
Time
Decel
Velocity
Accel
Drive
Amplifier
Stepper
Motor
Pulse
Direction
DL06 Micro PLC
L
O
G
I
C
K
o
y
o
0
6
C0 C4C2X1X3 X4 X6 X11X13 X14 X16 X21X23 N.C.
C1 C3X2 X5 X7 X10 X12 X15 X17 X20 X22X0
N.C.
AC
(
N
)
24V
0
V
N.C.
C
1 C3Y0 Y15Y12Y10 Y17Y7Y5Y2
C0 C2 Y16Y14Y13Y11Y6Y4Y3Y1
L
G
G
AC
(
L
)
D0-06DR
2
.0A
O
UTPUT: 6-240V 50 - 60Hz 2.0A,
6
- 27V
I
NPUT: 12 - 24V 3 - 15mA
Y
X
4
0VA50-60Hz
P
WR: 100-240V
0 1 2 3 4 5 6 7 10 11 1 2 13 14 15 16 17 20 21 22
23
PORT1 PORT2
TERM
RUN STOP
PWR
RUN
C
PU
T
X1
RX1
T
X2
R
X2
CCW Pulse
CW Pulse
Drive
Amplifier