Specifications

DL06 Micro PLC User Manual, 3rd Edition, Rev. C
E–63
Appendix E: High-speed Input and Pulse Output Features
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Program Example 5: Velocity Profile
The velocity profile we want to perform is drawn and labeled in the following figure. Each
velocity segment is of indefinite length. The velocity only changes when ladder logic (or other
device writing to V-memory) updates the velocity parameter.
The following program uses dedicated discrete inputs to load in new velocity values. This
program is fun to try, because you can create an infinite variety of profiles with just two or
three input switches. The intent is to turn on only one of X2, X3, or X4 at a time. The
beginning of the program contains all the necessary setup parameters for Pulse Output Mode
30. We only have to do this once in the program, so we use first-scan contact SP0 to trigger
the setup.
SP0
LD
K30
Load constant K30 into the accumulator. This selects
Mode 30 as the HSIO mode.
OUT
V7633
Output this constant to V7633, the location of the HSIO
Mode select register.
LDA
O3630
Load the octal address of the beginning of the Profile
Parameter Table. The LDA instruction converts this to
hex number in the accumulator.
OUT
V7630
Output this address to V7630, the location of the pointer
to the Profile Parameter Table.
Direct SOFT
Mode 30
LD
K1006
Load the constant K1006 which is required to select
filtered inputs with a 10 mS filter time constant.
OUT
V7634
Output this constant to V7634, configuring X0.
Filtered Inputs
OUT
V7635
Output this constant to V7635, configuring X1.
LD
K103
Load the constant K103 which is required to select
pulse and direction for physical Y0 and Y1 functions,
respectively (Use K3 if your application needs CW and CCW).
OUT
V7632
Output this constant to V7632, configuring the pulse
output type.
Select Pulse /
Direction
Locate Parameter
Table (optional*)
OUT
V7636
Output this constant to V7636, configuring X2.
OUT
V7637
Output this constant to V7637, configuring X3.
* If the Locate Parameter Table is not used y ou must remove both the LDA function
and the OUT function below it.
Velocity Profile
Time
V
elocity