Specifications

Choosing the Profile Type
Pulse Output Mode generates three types of motion profiles. Most applications use one type
for most moves. However, each move can be different if required.
• Automatic Trapezoidal – Accel Slope to Target Velocity to Decel Slope
• Step Trapezoidal – Velocity to Position Control on Interrupt
• Velocity Control – Speed and Direction only
Automatic Trapezoidal Profile Defined
The automatic trapezoidal profile is the most common positioning profile. It moves the load
to a pre-defined target position by creating a move profile. The acceleration slope is applied at
the starting position. The deceleration slope is applied backwards from the target position.
The remainder of the move in the middle is spent traveling at a defined velocity.
Registration profiles solve a class of motion control
problems. In some applications, product material in work
moves past a work tool such as a drill station. Shown to the
right, registration marks on the scrap area of the work-
piece allow a machine tool to register its position relative to
the rectangle, to drill properly.
Home search moves allow open-loop motion systems to re-
calibrate (preload) the current position value at powerup.
The user determines the starting velocity, the acceleration/deceleration times, and the total
number of pulses. The CPU computes the profile from these inputs.
DL06 Micro PLC User Manual, 3rd Edition, Rev. C
E–45
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
Automatic Trapezoidal Profile
Time
Acceleration
Deceleration
Velocity (Hz)
800
200
400
600
Starting velocity =
40 to 1000 Hz
Target = 7000 pulses
positioning velocity = 800 Hz
100 ms to 10 secs 100 ms to 10 secs
0 pulses
7000 pulses
Ending velocity =
0 Hz or 40 to 1000 Hz
Finished part area
Scrap
Area
Registration marks
direction of motion