Specifications

DL06 Micro PLC User Manual, 3rd Edition, Rev. C
E–43
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
Profile / Velocity Select Register
The first location in the Profile Parameter Table stores two key pieces of information. The
upper four bits (12–15) select the type of profile required. The lower 12 bits (0-11) select the
Target Velocity.
The ladder program must program this location before initiating any of the three profiles.
The LD and OUT instruction will write all 16 bits, so be sure to fully specify the full four-
digit BCD value for the Profile / Velocity Select Register each time.
The absolute and relative selection determines how the HSIO circuit will interpret your
specified target position. Absolute position targets are referenced to zero. Relative position
targets are referenced to the current position (previous target position). You may choose
whichever reference method is most convenient for your application.
Profile Parameter Table
V7630 is a pointer location which points to
the beginning of the Profile Parameter Table.
The default starting location for the profile
parameter table is V3630. However, you may
change this by programming a different value
in V7630. Remember to use the LDA (load
address) instruction, converting octal into hex.
The HSIO uses the next V-memory register
past the bottom of the profile parameter table
to indicate profile errors. See the error table at
the end of this section for error code
definitions.
Automatic Trapezoidal Profile
Profile Parameter Table
V3630 xxxx
V3631 xxxx
V3633 xxxx
V3634 xxxx
xxxx
V7630 3630
Profile Table
Pointer
V3635 xxxx
V3636 00xx
Pulse Output Error Code
V-Memory Function Range Units
V3630, bits 12–15
Automatic Trapezoidal Profile
without Ending Velocity
(Ending Velocity is fixed to 0.)
4=absolute w/o interrupt
5=absolute with interrupt*
C=relative w/o interrupt
D=relative with interrupt*
–
Automatic Trapezoidal Profile
with Ending Velocity
(Use V3637 to set up
Ending Velocity.)
6=absolute w/o interrupt
7=absolute with interrupt*
E=relative w/o interrupt
F=relative with interrupt*
–
V3630, bits 0–11 Target Velocity 4 to 999 or 0 to 1000 x 10 pps
V3631 / V3632 Target Position** –8388608 to 8388607 Pulses
V3633 Starting Velocity 4 to 100 x 10 pps
V3634 Acceleration Time 1 to 100 x 100 mS
V3635 Deceleration Time 1 to 100 x 100 mS
V3636 Error Code (see end of section) –
V3637 Ending Velocity 4 to 100 x 10 pps
* If you select to use interrupt, the DL06 will not start looking for your target count
until the interrupt X1 is on.
**To set a negative number, put 8 in the most significant digit. For example: -
8388608 is 88388608 in V3631 and V3632.