User manual

High-Speed Input and
Pulse Output Features
3--26
High-speed Input and Pulse Output Features
DL105 PLC User Manual, 3 rd Edition
The motion control profiles generated in Pulse Output Mode have the following
specifications:
Parameter Specification
Profiles Trapezoidal -- Accel Slope / Target Velocity / Decel Slope
Registration -- Velocity to Position Control on Interrupt
Velocity Control -- Speed and Direction only
Position Range --88388608 to 88388607
Positioning Absolute / relative command
Velocity Range 40 Hz to 7 kHz
V-memory registers V2320 to V2325 (Profile Parameter Table)
Current Position CT76 and CT77 (V1076 and V1077)
The configurable discrete I/O options for Pulse Output Mode are listed in the table
below. Physical input X0 is not available, because the CPU uses logical X0 contact to
sense “profile complete”. Therefore, V7634 is put to another use: selecting
pulse/direction or CCW/CW modes for the pulse outputs. Inputs X1 and X3 can only
be filtered inputs. Input X2 is dedicated as the external interrupt for use in registration
mode.
Physical
Input
Configuration
Register
Function Hex Code
Required
-- V7634 Y0 = Pulse
Y1 = Direction
0103
Y0 = CW Pulse
Y1 = CCW Pulse
0003
X1 V7635 Filtered Input xx06 (xx = filter time)
X2 V7636 External Interrupt 1006
X3 V7637 Filtered Input xx06 (xx = filter time)
The following logical I/O references define functions that allow the HSIO to
communicate with the ladder program.
Logical
I/O
Function
X0 Profile Complete -- the HSIO turns on X0 to the CPU when the
profile completes. Goes back off when Start Profile (Y0) turns on.
Y0 Start Profile -- the ladder program turns on Y0 to start motion. If
turned off before the move completes, motion stops. Turning it on
again will start another profile, unless the current position equals
the target position.
Y1 Preload Position Value -- if motion is stopped and Start Profile is off,
you can load a new value in CT76/CT77, and turn on Y1. At that
transition, the value in CT76/CT77 becomes the current position.
Motion Profile
Specifications
Physical I/O
Configuration
Logical I/O
Functions