Specifications

Step Trapezoidal Profiles Defined
The step trapezoidal profile is a combination of velocity and position control modes. The
move begins by accelerating to a programmed velocity. The velocity is sustained and the move
is of indefinite duration. When an external interrupt signal occurs (due to registration
sensing), the profile switches from velocity to position control. The move ends by continuing
motion a pre-defined distance past the interrupt point (such as a drill hole location). The
deceleration ramp is applied in advance of the target position.
Define steps 1 through 4 for gradual acceleration to the target velocity and define steps 5
through 8 for gradual deceleration from the target velocity. This type of profile is appropriate
for applications involving large stepper motors and/or large inertia loads. It can, however, be
used to provide gradual ramping in applications involving smaller motors and loads.
Velocity Control Defined
The Velocity Control defines only the direction and speed of motion. There is no target
position specified, so the move can be of indefinite length. Only the first velocity value needs
to be defined. The remaining velocity values can be created while motion is in progress.
Arrows in the profile shown indicate velocity changes.
DL06 Micro PLC User Manual, 3rd Edition, Rev. C
E–46
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
Step Trapezoidal Profile
Time
Acceleration Deceleration
Velocity (Hz)
800
200
400
600
Target = 7000 pulses
positioning velocity = 1000 Hz
0 pulses
7000 pulses
1000
1
2
3
4 5
6
7
8
100 200 300
400 400
300 200 100
5000
6000 pulses
1000 pulses
Velocity Control Profile
Time
Velocity (Hz)
800
200
400
600