Specifications

Program Example 4: Step Trapezoidal Profile
Continued on next page
DL06 Micro PLC User Manual, 3rd Edition, Rev. C
E–59
Appendix E: High-speed Input and Pulse Output Features
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2
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E
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A
B
C
D
Mode 30
LD
K30
Load the constant K30 which is required to select
Mode 30 as the HSIO mode.
OUT
V7633
Output this constant to V7633, the location of the
HSIO mode selection register.
.
Locate Parameter
Table*
SP0
LDA
O3630
Load the octal address O3630 of the beginning of
the Profile Parameter Table.
OUT
V7630
Output this constant to V7630, the location of the
pointer to the Profile Parameter Table.
OUT
V7632
Output this constant to V7632, configuring pulse
output type.
LD
K3
Load the constant K3 which is required to select CW
and CCW for physical Y0 and Y1 functions.
Select CW/CCW
OUT
V7634
Output this constant to V7634, configuring X0.
LD
K2006
Load the constant K2006 which is required to
select X0 as a filtered input with a 20ms filter time
constant.
Filtered Inputs
OUT
V7635
Output this constant to V7635, configuring X1.
LD
K1006
Profile/Target
Velocity
Program
Example
OUT
V7636
LD
K1006
OUT
V7637
LD
K1006
OUT
V3630
Output this constant to V3630, the location of the
profile select/starting velocity setup register.
LD
K8100
Load the constant K8100 which is required to select
trapezoidal profile, relative positioning, without
interrupt and a target velocity of 1kHz.
OUTD
V3631
Output this constant to V3631 and V3632, the location of the
target position double-word register.
LDD
K30000
Load the constant K30000 which selects a target
position of 30000 pulses. Don't forget to use double
word size (8-digit BCD position value).
Target Position
Load the constant K1006 which is required to
select X3 as a filtered input with a 10ms filter time
constant.
Load the constant K1006 which is required to
select X2 as a filtered input with a 10ms filter time
constant.
Load the constant K1006 which is required to
select X1 as a filtered input with a 10ms filter time
constant.
Output this constant to V7636, configuring X2.
Output this constant to V7637, configuring X3.
* If the Locate Parameter Table is not used you must remove both the LDA function
and the OUT function below it.