Specifications

Motion 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”. V7632 is used to select
pulse/direction or CW/CCW modes for the pulse outputs. Input X1 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.
DL06 Micro PLC User Manual, 3rd Edition, Rev. C
E–41
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
Physical I/O Configuration
Input Configuration Register Function Hex Code Required
– V7632
Y0 = Pulse
Y1 = Direction
0103
Y0 = CW Pulse
Y1 = CCW Pulse
0003 (default)
X0 V7634
pulse input 0005
filtered input xx06, xx = filter time, 0-9 (BCD) (default)
X1 V7635
pulse input 0005
filtered input xx06, xx = filter time, 0-99 (BCD) (default)
X2 V7636
pulse input 0005
filtered input xx06, xx = filter time, 0-99 (BCD) (default)
X3 V7637
pulse input 0005
filtered input xx06, xx = filter time, 0-99 (BCD) (default)
Motion Control Profile Specifications
Parameter Specification
Profiles
Automatic Trapezoidal – Accel Slope / Target Velocity / Decel Slope
Step Trapezoidal - Step Acceleration / Deceleration
Velocity Control – Speed and Direction only
Position Range –8388608 to 8388607
Positioning Absolute / relative command
Velocity Range 40 Hz to 10 kHz
V-memory registers V3630 to V3652 (Profile Parameter Table)
Current Position CT174 and CT175 (V1174 and V1175)
Logical I/O/ Functions
Logical I/O Function
SP104
Profile Complete – the HSIO turns on SP104 to the CPU when the profile completes,
and it goes back off when Start Profile (Y0) turns on.
X1
External Interrupt - If the interrupt feature is selected for the Automatic Trapezoidal
profile or the Step Trapezoidal Profile, the DL06 keeps outputting pulses until X1
turns on. After it is on, the unit outputs the pulses that are defined as the Target
position.
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 CT174/CT175, and turn on Y1. At that transition, the value in
CT174/CT175 becomes the current position.