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Program Example 1: Automatic Trapezoidal Profile without External Interrupt

The Automatic Trapezoidal Profile we want to perform is drawn and labeled in the following

figure. It consists of a non-zero starting velocity, and moderate target velocity.

The following program will realize the profile drawn above, when executed. 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.

DL06 Micro PLC User Manual, 3rd Edition, Rev. C

E–48

Appendix E: High-speed Input and Pulse Output Features

SP0

K30

Load constant K30 into the accumulator. This selects

Mode 30 as the HSIO mode.

OUT

V7633

Output the 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 a

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

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.

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

OUT

V7637

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.

Trapezoidal Profile

Time

Accel = 2 sec Decel = 4 sec

Velocity

Start position

Target position = 5000

Target Velocity = 1 kHz

Starting

Velocity = 40Hz

In this example the

ending velocity is not

selected.

Continued on next page.

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