DL06 Micro PLC User Manual, 3rd Edition, Rev. E
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Table of Contents
Step Trapezoidal Profile .......................................................................................... E–44
Choosing the Profile Type ...................................................................................... E–45
Automatic Trapezoidal Profile Defined .................................................................... E–45
Step Trapezoidal Profiles Defined ........................................................................... E–46
Velocity Control Defined ........................................................................................ E–46
Automatic Trapezoidal Profile Operation ................................................................ E–47
Program Example 1: Automatic Trapezoidal Profile without External Interrupt ....... E–48
Preload Position Value ............................................................................................ E–49
Program Example 2: Automatic Trapezoidal Profile with External Interrupt ............ E–50
Program Example 3: Automatic Trapezoidal Profile with Home Search ................... E–53
Step Trapezoidal Profile Operation ......................................................................... E–58
Program Example 4: Step Trapezoidal Profile ........................................................ E–59
Velocity Profile Operation ....................................................................................... E–62
Program Example 5: Velocity Profile ....................................................................... E–63
Automatic Trapezoidal Profile Error Codes .............................................................. E–65
Troubleshooting Guide for Mode 30 ...................................................................... E–65
Symptom: The stepper motor does not rotate. ...................................................... E–65
Symptom: The motor turns in the wrong direction. ............................................... E–66
Mode 40: High-Speed Interrupts ............................................................................ E–67
Purpose .................................................................................................................. E–67
Functional Block Diagram ....................................................................................... E–67
Setup for Mode 40 ................................................................................................. E–68
Interrupts and the Ladder Program ........................................................................ E–68
External Interrupt Timing Parameters ..................................................................... E–69
Timed Interrupt Parameters .................................................................................... E–69
X Input/Timed INT Configuration .......................................................................... E–69
Program Example 1: External Interrupt .................................................................. E–70
Program Example 2: Timed Interrupt .................................................................... E–71
Mode 50: Pulse Catch Input .................................................................................... E–72
Purpose .................................................................................................................. E–72
Functional Block Diagram ....................................................................................... E–72
Pulse Catch Timing Parameters .............................................................................. E–72
Setup for Mode 50 ................................................................................................. E–73
X Input Configuration ............................................................................................ E–74
Program Example 1: Pulse Catch ........................................................................... E–75
Mode 60: Discrete Inputs with Filter ...................................................................... E–76
Purpose .................................................................................................................. E–76
