Specifications

Step Trapezoidal Profile Operation
With this step trapezoidal profile, you can control the acceleration and deceleration slopes as
you want.
The time line of signal traces below the profile indicates the order of events. The HSIO uses
logical output Y0 as the start input to the HSIO, which starts the profile. Immediately, the
HSIO turns off the Profile Complete signal (SP104), so the ladder program can monitor the
progress of the move. Typically, a ladder program will monitor this bit so it knows when to
initiate the next profile move. You can also use the external interrupt (X1). Once the external
interrupt feature selected for the profile, the DL06 keeps outputting the pulses until X1 turns
on. Then the DL06 outputs the pulses defined as the target position.
Each acceleration and deceleration slope consists of 4 steps. You can set up the velocity and
the distance (number of pulses) of each step. You don’t need to use all 4 steps of each slope.
For instance, if you want to use only 2 steps, just set zero to the velocity and the distance of
the 3rd and 4th step. If the acceleration slope and the deceleration slope are identical, you
can just put zero into all the velocity and the distance parameters for the deceleration slope.
DL06 Micro PLC User Manual, 3rd Edition, Rev. C
E–58
Appendix E: High-speed Input and Pulse Output Features
11
2
3
4
E
6
7
8
9
10
11
12
13
14
A
B
C
D
Accel Decel
Start position
Target position
Start
Profile Complete
Y
0
SP104
X1
External Interrupt
(Optional)
Step Trapezoidal Profile
Time
Velocity (Hz)
800
200
400
6
00
1000
1
2
3
4
5
6
7
8
Step
Step
Step
Step
StepStep
Step
Step