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High-Speed Input and Pulse Output Features
3–40
High-speed Input and Pulse Output Features
The velocity profile we want to perform is drawn and labeled in the following figure.
Each velocity segment is of indefinite length. The velocity only changes when ladder
logic (or other device writing to V-memory) updates the velocity parameter.
Velocity Profile
Time
Velocity
The following program uses dedicated discrete inputs to load in new velocity values.
This is a fun program to try, because you can create an infinite variety of profiles with
just two or three input switches. The intent is to turn on only one of X1, X2, or X3 at a
time. 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.
SP0
LD
K30
Load constant K30 into the accumulator. This selects
Mode 30 as the HSIO mode.
OUT
V7633
Output this constant to V7633, the location of the HSIO
Mode select register.
LDA
O2320
Load the octal address of the beginning of the Profile
Parameter Table. The LDA instruction converts this to
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
LD
K1006
Load the constant K1006 which is required to select
filtered inputs with a 10 mS filter time constant.
OUT
V7635
Output this constant to V7635, configuring X1.
Filtered Inputs
OUT
V7636
Output this constant to V7636, configuring X2.
LD
K103
Load the constant K103 which is required to select
pulse and direction for physical Y0 and Y1 functions,
respectively (your application may use CCW and CW).
OUT
V7637
Output this constant to V7637, configuring the pulse
output type.
Select Pulse /
Direction
Locate Parameter
Table
(optional)
Velocity Profile
Program Example