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HIGH-SPEED INPUT ANDPULSE OUTPUT FEATURESEEEEAAPPENDIXPPENDIXIn This Appendix...Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Absolute and Incremental PresetsTwo preset modes are available, absolute and incremental. Presets are entered into acontiguous block of V-memory regis

Preset Data Starting LocationV7630 is the pointer to the V-memory location which contains the beginning of the PresetData Tables. The default starting

Equal Relay NumbersThe following table lists all 24 preset register default locations for each high-speed counter.Each occupies two 16-bit V-memory re

Calculating Your Preset ValuesThe preset values occupy two data words each. They can range in value from -8388608 to8388607, just like the high-speed

DL06 Micro PLC User Manual, 3rd Edition, Rev. CE–14Appendix E: High-speed Input and Pulse Output Features1234E67891011121314ABCDX Input ConfigurationT

Writing Your Control ProgramThe mnemonic for the counter instruction is UDC (up-down counter).The DL06 can haveup to 128 counters, labeled CT0 through

DL06 Micro PLC User Manual, 3rd Edition, Rev. CE–16Appendix E: High-speed Input and Pulse Output Features1234E67891011121314ABCDProgram Example 1: Cou

DL06 Micro PLC User Manual, 3rd Edition, Rev. CE–17Appendix E: High-speed Input and Pulse Output Features1234E67891011121314ABCDProgram Example: (cont

Program Example 2: Counter With PresetsThe following example shows how to program the HSIO circuit to trigger on three presetvalues. You may recall th

DL06 Micro PLC User Manual, 3rd Edition, Rev. CE–19Appendix E: High-speed Input and Pulse Output Features1234E67891011121314ABCDUDCCT174K99999999SP1SP

IntroductionBuilt-in Motion Control SolutionMany machine control applications require varioustypes of simple high-speed monitoring and control.These a

DL06 Micro PLC User Manual, 3rd Edition, Rev. CE–20Appendix E: High-speed Input and Pulse Output Features1234E67891011121314ABCDSome applications will

Program Example 3: Counter With PreloadThe following example shows how you can preload the current count with another value.When the preload command i

DL06 Micro PLC User Manual, 3rd Edition, Rev. CE–22Appendix E: High-speed Input and Pulse Output Features1234E67891011121314ABCDX4RSTWhen the preload

Troubleshooting Guide for Mode 10If you’re having trouble with Mode 10 operation, please study the following symptoms andpossible causes. The most com

Mode 20: Up/Down CounterPurposeThe counter in the HSIO circuit can count up/down signals from two separate sources (i.e.,two single channel encoders)

Quadrature Encoder SignalsQuadrature encoder signals contain position and direction information, while their frequencyrepresents speed of motion. Phas

Interfacing to Encoder OutputsThe DL06’s DC inputs are flexible in that they detect current flow in either direction, so theycan be wired to an encode

DL06 Micro PLC User Manual, 3rd Edition, Rev. CE–27Appendix E: High-speed Input and Pulse Output Features1234E67891011121314ABCDSetup for Mode 20Remem

DL06 Micro PLC User Manual, 3rd Edition, Rev. CE–28Appendix E: High-speed Input and Pulse Output Features1234E67891011121314ABCDX Input ConfigurationT

DL06 Micro PLC User Manual, 3rd Edition, Rev. CE–29Appendix E: High-speed Input and Pulse Output Features1234E67891011121314ABCDWriting Your Control P

Dedicated High- Speed I/O CircuitThe internal CPU’s main task is to execute the ladder program and read/write all I/O pointsduring each scan. In order

Program Example 1: Quadrature Counting with an InterruptBelow is a simple example of how quadrature counting with an interrupt can be programmed.DL06

DL06 Micro PLC User Manual, 3rd Edition, Rev. CE–31Appendix E: High-speed Input and Pulse Output Features1234E67891011121314ABCDThe Load Accumulator i

Program Example 2: Up/Down Counting with Standard InputsIn this example, there is a conveyor belt “A” that transports bottles to be inspected. Duringt

continued from previous pageDL06 Micro PLC User Manual, 3rd Edition, Rev. CE–33Appendix E: High-speed Input and Pulse Output Features1234E678910111213

Program Example 3: Quadrature CountingIn this example, a wooden workpiece is being drilled with 3 holes and then the holes areinjected with glue for d

DL06 Micro PLC User Manual, 3rd Edition, Rev. CE–35Appendix E: High-speed Input and Pulse Output Features1234E67891011121314ABCDENDRSTRSTSETRSTOUTSETO

DL06 Micro PLC User Manual, 3rd Edition, Rev. CE–36Appendix E: High-speed Input and Pulse Output Features1234E67891011121314ABCDENDRSTRSTSETRSTOUTSETO

Troubleshooting Guide for Mode 20If you’re having trouble with Mode 20 operation, please study the following symptoms andpossible causes. The most com

Mode 30: Pulse OutputPurposeThe HSIO circuit in Mode 30 generates output pulsetrains suitable for open-loop control of a single-axismotion positioning

Functional Block DiagramThe diagram below shows HSIO functionality in Mode 30. When the lower byte of HSIOMode register V7633 contains a BCD “30”, the

Choosing the HSIO Operating ModeUnderstanding the Six ModesThe High-Speed I/O circuit operates in one of 6 basic modes as listed in the table below. T

DL06 Micro PLC User Manual, 3rd Edition, Rev. CE–40Appendix E: High-speed Input and Pulse Output Features1234E67891011121314ABCDWiring DiagramThe gene

Motion Profile SpecificationsThe motion control profiles generated in Pulse Output Mode have the followingspecifications:Physical I/O ConfigurationThe

Setup for Mode 30Recall that V7633 is the HSIO Mode Select register. Refer to the diagram below. Use BCD30 in the lower byte of V7633 to select the Hi

DL06 Micro PLC User Manual, 3rd Edition, Rev. CE–43Appendix E: High-speed Input and Pulse Output Features1234E67891011121314ABCDProfile / Velocity Sel

Step Trapezoidal ProfileDL06 Micro PLC User Manual, 3rd Edition, Rev. CE–44Appendix E: High-speed Input and Pulse Output Features1234E67891011121314AB

Choosing the Profile TypePulse Output Mode generates three types of motion profiles. Most applications use one typefor most moves. However, each move

Step Trapezoidal Profiles DefinedThe step trapezoidal profile is a combination of velocity and position control modes. Themove begins by accelerating

Automatic Trapezoidal Profile OperationStarting velocities must be within the range of 40 pps to 1k pps. The remainder of the profileparameters are in

Program Example 1: Automatic Trapezoidal Profile without External InterruptThe Automatic Trapezoidal Profile we want to perform is drawn and labeled i

Continued from previous page.Preload Position ValueAt any time you can write (preload) a new position into the current position value. This isoften do

Default ModeMode 60 (Filtered Inputs) is the default mode. The DL06 is initialized to this mode at thefactory, and any time you initialize the scratch

Program Example 2: Automatic Trapezoidal Profile with External InterruptRegistration Applications:1. In a typical application shown to the right,produ

The Automatic Trapezoidal profile we want to perform is drawn and labeled in the followingfigure. It consists of a non-zero starting velocity, and mod

Continued from previous pageThe profile will begin when the start input (X3) is given. Then the motion begins anindefinite move, which lasts until an

Program Example 3: Automatic Trapezoidal Profile with Home SearchOne of the more challenging aspects of motion control is the establishment of actual

Continued on next pageDL06 Micro PLC User Manual, 3rd Edition, Rev. CE–54Appendix E: High-speed Input and Pulse Output Features1234E67891011121314ABCD

Continued from previous pageContinued on next pageDL06 Micro PLC User Manual, 3rd Edition, Rev. CE–55Appendix E: High-speed Input and Pulse Output Fea

Continued from previous pageContinued on next pageDL06 Micro PLC User Manual, 3rd Edition, Rev. CE–56Appendix E: High-speed Input and Pulse Output Fea

Continued from previous pageThe home search profile will execute specific parts of the program, based on the order ofdetection of the limit switches.

Step Trapezoidal Profile OperationWith this step trapezoidal profile, you can control the acceleration and deceleration slopes asyou want.The time lin

Program Example 4: Step Trapezoidal Profile Continued on next pageDL06 Micro PLC User Manual, 3rd Edition, Rev. CE–59Appendix E: High-speed Input and

DL06 Micro PLC User Manual, 3rd Edition, Rev. CE–6Appendix E: High-speed Input and Pulse Output Features1234E67891011121314ABCDConfiguring the HSIO Mo

Continued from previous pageContinued on next pageDL06 Micro PLC User Manual, 3rd Edition, Rev. CE–60Appendix E: High-speed Input and Pulse Output Fea

DL06 Micro PLC User Manual, 3rd Edition, Rev. CE–61Appendix E: High-speed Input and Pulse Output Features1234E67891011121314ABCDContinued from previou

Velocity Profile OperationThe velocity profile is best suited for applications which involve motion but do not requiremoves to specific points. Convey

DL06 Micro PLC User Manual, 3rd Edition, Rev. CE–63Appendix E: High-speed Input and Pulse Output Features1234E67891011121314ABCDProgram Example 5: Vel

Program Example Cont’dDL06 Micro PLC User Manual, 3rd Edition, Rev. CE–64Appendix E: High-speed Input and Pulse Output Features1234E67891011121314ABCD

DL06 Micro PLC User Manual, 3rd Edition, Rev. CE–65Appendix E: High-speed Input and Pulse Output Features1234E67891011121314ABCDAutomatic Trapezoidal

4. Wiring – Verify the wiring to the stepper motor is correct. Remember the signal groundconnection from the PLC to the motion system is required.5. M

Mode 40: High-Speed InterruptsPurposeThe HSIO Mode 40 provides a high-speed interrupt to the ladder program. This capability isprovided for your choic

Setup for Mode 40Recall that V7633 is the HSIO Mode Select register. Refer to the diagram below. Use BCD40 in the lower byte of V7633 to select high-s

DL06 Micro PLC User Manual, 3rd Edition, Rev. CE–69Appendix E: High-speed Input and Pulse Output Features1234E67891011121314ABCDExternal Interrupt Tim

Mode 10: High-Speed CounterPurposeThe HSIO circuit contains two high-speed counters. A single pulse train from an externalsource (X0) clocks the count

Program Example 1: External Interrupt The following program selects Mode 40, then selects the external interrupt option for inputsX0 and X1. Inputs X2

Program Example 2: Timed Interrupt The following program selects Mode 40, then selects the timed interrupt option, with aninterrupt period of 100 ms.I

DL06 Micro PLC User Manual, 3rd Edition, Rev. CE–72Appendix E: High-speed Input and Pulse Output Features1234E67891011121314ABCDMode 50: Pulse Catch I

When to use Pulse Catch ModeUse the pulse catch mode for applications where the input (e.g. X0) can not be used in the userprogram because the pulse w

X Input ConfigurationThe configurable discrete input options for Pulse Catch Mode are listed in the table below.Each input has its own configuration r

Program Example 1: Pulse Catch The following program selects Mode 50, then programs the pulse catch code for X0 and X1.Inputs X2, and X3 are configure

DL06 Micro PLC User Manual, 3rd Edition, Rev. CE–76Appendix E: High-speed Input and Pulse Output Features1234E67891011121314ABCDMode 60: Discrete Inpu

Setup for Mode 60Recall that V7633 is the HSIO Mode Select register. Refer to the diagram below. Use BCD60 in the lower byte of V7633 to select the Hi

Program Example: Filtered Inputs The following program selects Mode 60, then programs the filter delay time constants forinputs X0, X1, X2, and X3. Ea

Wiring DiagramA general wiring diagram for counters/encoders to the DL06 in HSIO Mode 10 is shownbelow. Many types of pulse-generating devices may be

Setup for Mode 10V7633 is the HSIO Mode Select register. Refer to the diagram below. Use BCD 10 in thelower byte of V7633 to select the High-Speed Cou