Motion Control Profile Specifications; Physical I/O Configuration; Logical I/O Functions - Automation Direct DL05 User Manual

Motion Control Profile Specifications

The motion control profiles generated in Pulse Output Mode have the following
specifications:
Parameter
Profiles
Position Range
Positioning
Velocity Range
V-memory registers
Current Position

Physical I/O Configuration

The configurable discrete I/O options for Pulse Output Mode are listed in the table below.
The CPU uses SP 104 contact to sense "profile complete". V7637 is used to select
pulse/direction or CCW/CW modes for the pulse outputs. Input X2 is dedicated as the
external interrupt for use in registration mode.
Physical Input
–
X0
X1
X2

Logical I/O Functions

The following logical I/O references define functions that allow the HSIO to communicate
with the ladder program.
Appendix E: High-speed Input and Pulse Output Features
Motion Control Profile Specifications
Trapezoidal – Accel Slope / Target Velocity / Decel Slope
Registration – Velocity to Position Control on Interrupt
Velocity Control – Speed and Direction only
V2320 to V2325 (Profile Parameter Table)
Physical I/O Configuration
Configuration Register
V7637
V7634
V7635
V7636
Logical I/O/ Functions
Logical I/O
SP 104
Y0
Y1
DL05 Micro PLC User Manual, 6th Edition, Rev. A
Specification
–8388608 to 8388607
Absolute / relative command
40 Hz to 7 kHz
CT76 and CT77 (V1076 and V1077)
Function
Y0 = Pulse Y1 = Direction
Y0 = CW Pulse
Y1 = CCW Pulse
Discrete filtered input
Discrete filtered input
Discrete filtered input
Function
Profile Complete – the HSIO turns on SP104 to the CPU
when the profile completes. Goes back off when Start
Profile (Y0) turns on.
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.
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.
1
2
3
E
6
7
8
9
10
Hex Code Required
0103
11
0003
xx06, xx = filter time
1
0 99 (BCD)
1
14
A
B
C
D
E–27
D