AMD K3780E-D Specification

AMD K3780E-D Specification
HIGH-SPEED INPUT AND
PULSE OUTPUT FEATURES
A PPENDIX
E
In This Chapter:
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .E–2
Choosing the HSIO Operating Mode . . . . . . . . . . . . . . . . . . . . . . . .E–4
Mode 10: High-Speed Counter . . . . . . . . . . . . . . . . . . . . . . . . . . . .E–6
Mode 20: Quadrature Counter . . . . . . . . . . . . . . . . . . . . . . . . . . .E–18
Mode 30: Pulse Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .E–24
Trapezoidal Profile Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . .E–31
Registration Profile Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . .E–34
Velocity Profile Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .E–39
Mode 40: High-Speed Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . .E–44
Mode 50: Pulse Catch Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .E–49
Mode 60: Discrete Inputs with Filter . . . . . . . . . . . . . . . . . . . . . . .E–52
Appendix E: High-speed Input and Pulse Output Features
1 Introduction
Built-in Motion Control Solution
2
Many machine control applications require various
types of simple high-speed monitoring and control.
These applications usually involve some type of motion
3
control, or high-speed interrupts for time-critical
events. The DL05 Micro PLC solves this traditionally
expensive problem with built-in CPU enhancements.
Let’s take a closer look at the available high-speed I/O
features.
The available high-speed input features are:
D
E
6
7
8
9
10
11
1
1
14
A
B
C
D
R
PW
N
RU
U
CP
TX1
1
RX
TX2
2
RX
• High Speed Counter (5 kHz max.) with up to 24 counter presets and built-in interrupt subroutine,
counts up only, with reset
• Quadrature encoder inputs to measure counts and clockwise or counter clockwise direction (5 kHz
max.), counts up or down, with reset
• High-speed interrupt input for immediate response to critical or time-sensitive tasks
• Pulse catch feature to monitor one input point, having a pulse width as small as 100 µs (0.1ms)
• Programmable discrete filtering (both on and off delay up to 99ms) to ensure input signal integrity
(this is the default mode for inputs X0–X2)
The available pulse output features are:
• Single-axis programmable pulse output (7 kHz max.) with three profile types, including trapezoidal
moves, registration, and velocity control
Availability of HSIO Features
IMPORTANT: Please note the following restrictions on availability of features:
• High-speed input options are available only on DL05s with DC inputs.
• Pulse output options are available only on DL05s with DC outputs.
• Only one HSIO feature may be in use at one time. You cannot use a high–speed input feature and
the pulse output at the same time.
Specifications
DL05 Part Number
D0–05AR
D0–05DR
D0–05AD
D0–05DD
D0–05AA
D0–05DA
D0–05DR–D
D0–05DD–D
E–2
Discrete Input Type Discrete Output Type
AC
DC
AC
DC
AC
DC
DC
DC
Relay
Relay
DC
DC
AC
AC
Relay
DC
DL05 Micro PLC User Manual, 6th Edition, Rev. C
High-Speed Input
Pulse Output
No
Yes
No
Yes
No
Yes
Yes
Yes
No
No
Yes
Yes
No
No
No
Yes
Appendix E: High-speed Input and Pulse Output Features
Dedicated High- Speed I/O Circuit
The internal CPU’s main task is to execute the ladder program and read/write all I/O points
during each scan. In order to service high-speed I/O events, the DL05 includes a special
circuit which is dedicated to a portion of the I/O points. Refer to the DL05 block diagram in
the figure below.
6 Discrete Outputs
DL05
PLC
D
Output Circuit
Y0, Y1
Y2 - Y5
High-Speed
I/O Circuit
CPU
X0 - X2
X3 -X7
Input Circuit
8 Discrete Inputs
The high-speed I/O circuit (HSIO) is dedicated to the first three inputs (X0 – X2) and the
first two outputs (Y0 – Y1). We might think of this as a “CPU helper”. In the default
operation (called “Mode 60”) the HSIO circuit just passes through the I/O signals to or from
the CPU, so that all eight inputs behave equally and all six outputs behave equally. When the
CPU is configured in any other HSIO Mode, the HSIO circuit imposes a specialized
function on the portion of inputs and outputs shown. The HSIO circuit operates
independently of the CPU program scan. This provides accurate measurement and capturing of
high-speed I/O activity while the CPU is busy with ladder program execution.
Wiring Diagrams for Each HSIO Mode
After choosing the appropriate HSIO mode for your application, you’ll need to refer to the
section in this chapter for that specific mode. Each section includes wiring diagram(s) to help
you connect the High-Speed I/O points correctly to field devices. An example of the
quadrature counter mode diagram is shown below.
Signal Common
Phase B
+
Phase A
Encoder Input Wiring
1
2
3
–
12 – 24 VDC
E
6
7
8
9
10
11
1
1
14
A
B
C
D
Encoder
DL05 Micro PLC User Manual, 6th Edition, Rev. C
E–3
Appendix E: High-speed Input and Pulse Output Features
1 Choosing the HSIO Operating Mode
Understanding the Six Modes
2
The High-Speed I/O circuit operates in one of the 6 basic modes as listed in the table below.
The number in the left column is the mode number (later, we’ll use these numbers to
configure the PLC). Choose one of the following modes according to the primary function
3
D
E
6
7
8
9
10
11
1
1
14
A
B
C
D
E–4
you want from the dedicated High-Speed I/O circuit. You can simply use all eight inputs and
six outputs as regular I/O points with Mode 60.
High Speed I/O Basic Modes
Mode Number
Mode Name
Mode Features
10
High-Speed Counter
5 kHz counter with 24 presets and reset input, counts
up only, causes interrupt on preset
20
Quadrature Counter
Channel A / Channel B 5 kHz quadrature input, counts
up and down
30
Pulse Output
40
High-Speed Interrupt
Generates an interrupt based on input transition or
time
50
60
Pulse Catch
Discrete/Filtered Input
Captures narrow pulses on a selected input
Rejects narrow pulses on selected inputs
Stepper control – pulse and direction signals,
programmable motion profile (7kHz max.)
In choosing one of the six high-speed I/O modes, the I/O points listed in the table below
operate only as the function listed. If an input point is not specifically used to support a
particular mode, it usually operates as a filtered input by default. Similarly, output points
operate normally unless Pulse Output mode is selected.
Physical I/O Point Usage
Mode
DC Input Points
X0
X1
X2
High-Speed Counter
Counter clock
Filtered Input
Quadrature Counter
Phase A Input
Phase B Input
High-Speed Interrupt
Pulse Catch
Interrupt Input
Pulse Input
Filtered Input
Filtered Input
Filtered Input or
Reset Cnt
Filtered Input or
Reset Cnt
Filtered Input
Filtered Input
Pulse Output
Filtered Input
Filtered Input
Filtered Input
Filtered Input
Filtered Input
Filtered Input
Filtered Input
DC Output Points
Y0
Y1
Regular Output
Regular Output
Regular Output
Regular Output
Regular Output Regular Output
Regular Output Regular Output
Pulse or CW Direction or CCW
Pulse
Pulse
Regular Output Regular Output
Default Mode
Mode 60 (Filtered Inputs) is the default mode. The DL05 is initialized to this mode at the
factory, and any time you reset V-memory scratchpad. In the default condition, X0–X2 are
filtered inputs (10 ms delay) and Y0–Y1 are standard outputs
DL05 Micro PLC User Manual, 6th Edition, Rev. C
Appendix E: High-speed Input and Pulse Output Features
Configuring the HSIO Mode
If you have chosen a mode suited to the high-speed I/O needs of your application, we’re ready
to proceed to configure the PLC to operate accordingly. In the block diagram below, notice
the V-memory detail in the expanded CPU block. V-memory location V7633 determines the
functional mode of the high-speed I/O circuit. This is the most important V-memory
configuration value for HSIO functions!
D
Output Circuit
DL05
PLC
Y2 - Y5
Y0 - Y1
CPU
I/O Data
High-Speed
I/O Circuit
V-Memory
Mode Select
V7633
X0 - X2
xxxx
X3 -X7
Input Circuit
The contents of V7633 is a 16-bit word, to be entered in binary–coded decimal. The figure
below defines what each 4-bit BCD digit of the word represents.
Memory Location V7633
Bits
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
0
0
0
0
0
0
0
0
1
0
1
0
0
0
0
1
2
3
0
Bits 8 - 12, 14 and 15 are
not used in V7633.
Bit 13 is used to power-up
in RUN, only if Mode Switch
is in TERM position.
5
0
0
HSIO Mode Setup (BCD)
10
20
30
40
50
60
=
=
=
=
=
=
High-Speed Counting Mode
Quadrature Counting Mode
Pulse Output Train
High-Speed Interrupts
Pulse Catching
Discrete Filtered Inputs (default)
Bits 0 – 7 define the mode number 10, 20.. 60 previously referenced in this chapter. The
example data “2050” shown selects Mode 50 – Pulse Catch (BCD = 50). The DL05 PLC
ignores bits 8 - 12, 14 and 15 in V7633 (see System V-memory Map on page E-26).
Configuring Inputs X0 – X2
In addition to configuring V7633 for the HSIO mode, you’ll need to program the next three
locations in certain modes according to the desired function of
V-Memory
input points X0 – X2. Other memory locations may require
Mode V7633 xxxx
configuring, depending on the HSIO mode (see the
corresponding section for particular HSIO modes).
X0 V7634 xxxx
X1 V7635 xxxx
X2 V7636 xxxx
DL05 Micro PLC User Manual, 6th Edition, Rev. C
E
6
7
8
9
10
11
1
1
14
A
B
C
D
E–5
Appendix E: High-speed Input and Pulse Output Features
1 Mode 10: High-Speed Counter
Purpose
2
The HSIO circuit contains one high-speed counter. A single pulse train from an external
source (X0) clocks the counter on each signal leading edge. The counter counts only upwards,
from 0 to 99999999. The counter compares the current count with up to 24 preset values,
3
D
E
6
7
8
9
10
11
1
1
14
A
B
C
D
which you define. The purpose of the presets is to quickly cause an action upon arrival at
specific counts, making it ideal for such applications as cut-to-length. It uses counter registers
CT76 and CT77 in the CPU.
Functional Block Diagram
Refer to the block diagram below. When the lower byte of HSIO Mode register V7633
contains a BCD “10”, the high-speed up counter in the HSIO circuit is enabled. X0
automatically becomes the “clock” input for the high-speed counter, incrementing it upon
each off-to-on transition. The external reset input on X2 is the default configuration for
Mode 10. Input X1 is the filtered input, available to the ladder program.
Output Circuit
DL05
PLC
Y0 - Y1
HSIO
I/O data
COUNTER
Reset
CLK
X0
Y2 - Y5
X2
FILTER
Mode Select
X1
CPU
V-memory
V7633
0010
X3 - X7
Input Circuit
Instead of using X2 as a dedicated reset input, you can configure X2 as a normal filtered
input. In this way, the counter reset must be generated in ladder logic.
DL05
PLC
Output Circuit
Y2 - Y5
Y0 - Y1
HSIO
I/O data
CLK
X0
Reset
CPU
V-memory
COUNTER
FILTER
Mode Select
X1-X2
V7633
0010
X3-X7
Input Circuit
Next, we will discuss how to program the high-speed counter and its presets.
E–6
DL05 Micro PLC User Manual, 6th Edition, Rev. C
Appendix E: High-speed Input and Pulse Output Features
Wiring Diagram
A general wiring diagram for counters/encoders to the DL05 in HSIO Mode 10 is shown
below. Many types of pulse-generating devices may be used, such as proximity switches,
single-channel encoders, magnetic or optical sensors, etc. Devices with sinking outputs (NPN
open collector) are probably the best choice for interfacing. If the counter sources to the
inputs, it must output 12 to 24 VDC. Note that devices with 5V sourcing outputs will not
work with DL05 inputs.
Interfacing to Counter Inputs
D
Signal
Counter Input Wiring
–
+
Signal Common
Interfacing to Counter Outputs
The DL05’s DC inputs are flexible in that they detect current flow in either direction, so they
can be wired to a counter with either sourcing or sinking outputs. In the following circuit, a
counter has open-collector NPN transistor outputs. It sinks current from the PLC input
point, which sources current. The power supply can be the FA–24PS or another supply
(+12VDC or +24VDC), as long as the input specifications are met.
Counter Output
X0 Input
Input
(sourcing)
Output
(sinking)
12-24 VDC Supply
–
Ground
+
Common
In the next circuit, an encoder has open-emitter PNP transistor outputs. It sources current to
the PLC input point, which sinks the current back to ground. Since the encoder sources
current, no additional power supply is required. However, note that the encoder output must
be 12 to 24 volts (5V encoder outputs will not work).
Counter Output
X0 Input
+12 to 24 VDC
Input
Output (sourcing)
:
Ground
1
2
3
(sinking)
E
6
7
8
9
10
11
1
1
14
A
B
C
D
Common
DL05 Micro PLC User Manual, 6th Edition, Rev. C
E–7
Appendix E: High-speed Input and Pulse Output Features
Setup for Mode 10
1
2
3
Recall that V7633 is the HSIO Mode Select register. Refer to the diagram below. Use BCD
10 in the lower byte of V7633 to select the High-Speed Counter Mode. The DL05 does not
use bits 8 - 12, 14 and 15 in V7633.
Memory Location V7633
Bits
0
14
0
13
0
12 11
0
0
D
E
6
7
8
9
10
11
1
1
14
A
B
C
D
15
0
10
9
0
0
8
0
7
0
0
For the function of bits 8 - 15,
refer
3-5.
refertotopage
page E-5.
6
5
0
0
4
1
3
2
0
1
0
1
0
0
0
0
HSIO Mode Setup (BCD)
10 = High-Speed Counter
Choose the most convenient method of programming V7633 from the following:
• Include load and out instructions in your ladder program
• DirectSOFT 5’s memory editor or Data View
• Use the Handheld Programmer D2–HPP
We recommend using the first method above so that the HSIO setup becomes an integral part
of your application program. An example program later in this section shows how to do this.
Presets and Special Relays
The goal of counting is to do a special action when the count reaches a preset value. Refer to
the figure below. The counter features 24 presets, which you can program. A preset is a
number you derive and store so that the counter will constantly compare the current count
with the preset. When the two are equal, a special relay contact is energized and program
execution jumps to the interrupt routine. We recommend using the special relay(s) in the
interrupt service routine to cause any immediate action you desire. After the interrupt service
routine is complete, the CPU returns to the ladder program, resuming program execution
from the point of interruption. The compare function is ready for the next preset event.
CPU Scan
Counter
Input
Update
Current
Value
X0, counter clock
Reset
X2, external reset
V-memory Preset Data
V2320 0000
1000
V2322 0000
2000
V2324 0000
2500
V2326 0000
3175
V2376
E–8
0921
Does
count
= Preset?
0000
DL05 Micro PLC User Manual, 6th Edition, Rev. C
=
Ladder
Program
Execution
Current
Instruction
Output
Update
INT
HSIO
Interrupt
Routine
Program
SPxxx
IRT
Appendix E: High-speed Input and Pulse Output Features
Preset Data Starting Location
Preset Table Pointer
V7630 is a pointer location which points to the beginning of the
Preset Data Table. The default starting location for the Preset
Data Table is V2320 (default after initializing scratchpad
V-memory). However, you may change this by programming a
different value in V7630. Use the LDA and OUT instructions as
shown:
LDA
O2000
Load the octal address,
convert to hex, leave
result in accumulator.
OUT
V7630
Output this address to
V7630, the location of the
pointer to the Preset data.
Using Fewer than 24 Presets
When using fewer than 24 preset registers, the HSIO looks for
“0000 FFFF” (use LDD Kffff ) in the next preset location to
indicate the last preset has been reached. The example to the right
uses four presets. The 0000 FFFF in V2331-V2330 indicates the
previous preset was the last.
V7630
2000
V2000
V2002
V2004
V2006
0000
0000
0000
0000
1000
2000
2500
3175
V2076
0000
0000
V2320
V2322
V2324
V2326
V2330
0000
0000
0000
0000
0000
1000
2000
2500
3175
FFFF
NOTE: Each successive preset must be greater than the previous preset value. If a preset value is
less than a lower-numbered preset value, the CPU cannot compare for that value, since the counter
can only count upwards.
Equal Relay Numbers
The following table lists all 24 preset register default locations. Each occupies two 16-bit
V-memory registers. The corresponding special relay contact number is in the next column.
We might also call these “equal” relay contacts, because they are true (closed) when the
present high-speed counter value is equal to the preset value. Each contact remains closed
until the counter value equals the next preset value.
Preset Register Table
Preset
Preset V-memory
Register
Special Relay
Number
Preset
Preset V-memory
Register
Special Relay
Number
1
2
3
4
5
6
7
8
9
10
11
12
V2321 / V2320
V2323 / V2322
V2325 / V2324
V2327 / V2326
V2331 / V2330
V2333 / V2332
V2335 / V2334
V2337 / V2336
V2341 / V2340
V2343 / V2342
V2345 / V2344
V2347 / V2346
SP540
SP541
SP542
SP543
SP544
SP545
SP546
SP547
SP550
SP551
SP552
SP553
13
14
15
16
17
18
19
20
21
22
23
24
V2351 / V2350
V2353 / V2352
V2355 / V2354
V2357 / V2356
V2361 / V2360
V2363 / V2362
V2365 / V2364
V2367 / V2366
V2371 / V2370
V2373 / V2372
V2375 / V2374
V2377 / V2376
SP554
SP555
SP556
SP557
SP560
SP561
SP562
SP563
SP564
SP565
SP566
SP567
DL05 Micro PLC User Manual, 6th Edition, Rev. C
1
2
3
D
E
6
7
8
9
10
11
1
1
14
A
B
C
D
E–9
Appendix E: High-speed Input and Pulse Output Features
1
2
3
D
Calculating Your Preset Values
The preset values occupy two data words each. They can range in value from 0000 0000 to
9999 9999, just like the high-speed counter value. All 24 values are absolute values, meaning
that each one is an offset from the counter zero value.
The preset values must be individually derived for each application. In the industrial lathe
diagram below, the PLC monitors the position of the lead screw by counting pulses. At points
A, B, and C along the linear travel, the cutter head pushes into the work material and cuts a
groove.
PLC
E
6
7
8
9
10
11
1
1
14
A
B
C
D
E–10
Industrial Lathe
@
A
Counter
Device
X0, counter clock
Motor
Start
The timing diagram below shows the duration of each equal relay contact closure. Each
contact remains on until the next one closes. All go off when the counter resets.
Equal Relays
A
B
C
SP540
SP541
SP542
NOTE: Each successive preset must be two numbers greater than the previous preset value. In the
industrial lathe example, B>A+1 and C>B+1.
X Input Configuration
The configurable discrete input options for High-Speed Counter Mode are listed in the table
below. Input X0 is dedicated for the counter clock input. Input X1 can be a normal or filtered
input. The section on Mode 60 operation at the end of this chapter describes programming
the filter time constants. Input X2 can be configured as the counter reset, with or without the
interrupt option. The interrupt option allows the reset input (X2) to cause an interrupt like
presets do, but there is no SP relay contact closure (instead, X2 will be on during the
interrupt routine, for 1 scan). Or finally, X2 may be left simply as a filtered input.
DL05 Micro PLC User Manual, 6th Edition, Rev. C
Appendix E: High-speed Input and Pulse Output Features
Input Options
Input
Configuration Register
Function
Hex Code Required
X0
V7634
Counter Clock
X1
V7635
Counter Reset (with interrupt)
0001
xx06, xx = filter time
0 - 99 ms (BCD)
0007* (default) 0207*
0107*
0307*
Filtered Input
xx06, xx= filter time
0 - 99 ms (BCD)
Filtered Input
Counter Reset (no interrupt)
X2
V7636
D
*With the counter reset, you have the option of a normal reset or a faster reset. However, the
fast reset does not recognize changed preset values during program execution. When ‘0007’ or
‘0107’ are set in V7636 and preset values are changed during program execution, the DL05
recognizes the changed preset values at the time of the reset. When ‘0207’ or ‘0307’ are set in
V7636 the CPU does not check for changed preset values, so the DL05 has a faster reset
time.
Writing Your Control Program
You may recall that the counter instruction is a standard instruction in the DL05 instruction
set. Refer to the figure below. The mnemonic for the counter is UDC (up-down counter).The
DL05 can have up to 128 counters, labeled CT0 through CT177. The high speed counter in
the HSIO circuit is accessed in ladder logic by using UDC CT76. It uses counter registers
CT76 and CT77 exclusively when the HSIO mode 10 is active (otherwise, CT76 and CT77
are available for standard counter use). The HSIO counter needs two registers because it is a
double-word counter. It has three inputs as shown. The first input (Enable) allows counting
when active. The middle input is a dummy and has no function other than it is required by
the built-in compiler. The bottom signal is the reset. The Dummy Input must be off while
the counter is counting.
Standard Counter Function
UP Count
UDC
CTxx
DOWN Count
Reset Input
HSIO Counter Function
Enable Input
UDC
CT76
Dummy Input
Kxxxxxxxx
Counts UP and DOWN
Preload counter by write to value
Reset input is internal only
Reset Input
Kxxxxxxxx
Counts UP only
Can use Dummy Input to change count
Reset may be internal or external
DL05 Micro PLC User Manual, 6th Edition, Rev. C
1
2
3
E
6
7
8
9
10
11
1
1
14
A
B
C
D
E–11
Appendix E: High-speed Input and Pulse Output Features
1
2
3
D
E
6
7
8
9
10
11
1
1
14
A
B
C
D
E–12
The next figure shows how the HSIO counter will appear in a ladder program. Note that the
Enable Interrupt (ENI) command must execute before the counter value reaches the first
preset value. We do this at powerup by using the first scan relay. When using the counter but
not the presets and interrupt, we can omit the ENI.
DirectSOFT
Direct
SOFT32
SP1
ENI
Required
XX
Enable Input
XX
XX
Dummy Input
UDC
CT76
Kxxxxxxxx
Reset Input
Preset Range:
1-99999999
When the enable input is energized, the high-speed counter will respond to pulses on X0 and
increment the counter at CT76 – CT77. The reset input contact behaves in a logical OR
fashion with the physical reset input X2 (when selected). So, the high speed counter can
receive a reset from either the contact(s) on the reset rung in the ladder, OR the external reset
X2 if you have configured X2 as an external reset.
Program Example: Counter Without Preset
The following example is the simplest way to use the high-speed counter, which does not use
the presets and special relays in the interrupt routine. The program configures the HSIO
circuit for Mode 10 operation, so X0 is automatically the counter clock input. It uses the
Compare-double (CMPD) instruction to cause action at certain count values. Note that this
allows you to have more than 24 “presets”. Then it configures X2 to be the external reset of
the counter.
DL05 Micro PLC User Manual, 6th Edition, Rev. C
Appendix E: High-speed Input and Pulse Output Features
Program Example (cont’d)
1
2
3
DirectSOFT
Direct
SOFT32
First Scan Only
SP0
Load constant K10 into the accumulator. This
selects Mode 10 as the HSIO mode.
LD
K10
Mode 10
OUT
V7633
D
Load the constant required to configure X0 as
the counter clock.
LD
K1
OUT
V7634
Configure
Inputs
Output the constant K10 to V7633, the
location of HSIO Mode select register.
LD
K1006
OUT
V7635
Output the constant K1 to V7634, the location of
the setup parameter for X0.
Load the constant required to configure input
as filtered inputs.
Output the constant K1006 to V7635, the location
of setup parameter for X1.
Load the constant required to configure X2 as
an external reset without interrupt.
LD
K7
OUT
V7636
Output the constant K7 to V7636, the location of
the setup parameter for X2.
SP1
UDC
CT76
SP1
Kxxxxxxxx
SP1
SP1
LDD
V1076
CMPD
K309482
SP62
Y0
OUT
END
CT76 is the HSIO counter. The first rung’ s SP1
always enables the counter. The dummy input in
the middle is always of f. The third rung’s Reset
input is always of f, because we will use the
external reset.
Load the current count of the HSIO counter in
V1076 and V1077 into the accumulator
Use the Compare-double instruction to compare
the double word in the accumulator to the constant
K309482
The execution of the above CMPD instruction turns
on special relay contact SP62 if the current count
is greater than the comparison number (K309482).
END coil marks the end of the main program.
The compare double instruction above uses the current count of the HSIO counter to turn
on Y0. This technique can make more than 24 comparisons, but it is scan-time dependent.
However, use the 24 built-in presets with the interrupt routine if your application needs a
very fast response time, as shown in the next example.
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Appendix E: High-speed Input and Pulse Output Features
Counter With Presets Program Example
1
2
3
The following example shows how to program the HSIO circuit to trigger on three preset
values. You may recall the industrial lathe example from the beginning of this chapter. This
example program shows how to control the lathe cutter head to make three grooves in the
work-piece at precise positions. When the lead screw turns, the counter device generates
pulses which the DL05 can count. The three preset variables A, B, and C represent the
positions (number of pulses) corresponding to each of the three grooves.
Preset Data
D
A V2320 0000
B V2322 0000
C V2324 0000
V2326
E
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7
8
9
10
11
1
1
14
A
B
C
D
E–14
I/O
Assignments
0000
1500
3780
4850
FFFF
X3 - Cutter head extended
X4 - Cutter head retracted
Y0 - Lead screw motor
Y1 - Cutter head solenoid
Industrial Lathe
A
Counter
Device
Start
B
Cutter head
C
Lead screw
Direct
SOFT32
DirectSOFT
SP0
ENI
SP0
LD
K10
OUT
V7633
LD
K1
OUT
V7634
Select Mode 10
SP0
Load Presets
LD
K107
Enable Interrupts before reaching a preset
generates an interrupt. Special Relay SP0 is on
during the first CPU scan.
Load constant K10 into the accumulator . This
selects Mode 10 as the HSIO mode.
Output this address to V7633, the location of
HSIO Mode select register .
Load the constant required to configure X0 as
the counter clock.
Output the constant K1 to V7634, the location of
the setup parameter for X0.
Load the constant required to configure X2 as
an external reset with interrupt.
OUT
V7636
Output the constant to V7636, the location of the
setup parameter for X2.
LDA
O2320
Load the octal address O2320 into the
accumulator. This instruction automatically
converts the address into hex.
OUT
V7630
Output this address to V7630, the location of
the pointer to the Preset Table.
LDD
K1500
OUTD
V2320
LDD
K3780
OUTD
V2322
Load the preset A value into the accumulator.
Output the accumulator contents to the memory
location for preset 1.
Load the preset B value into the accumulator .
Output the accumulator contents to the memory
location for preset 2.
DL05 Micro PLC User Manual, 6th Edition, Rev. C
Appendix E: High-speed Input and Pulse Output Features
Load the constant Kffff into the accumulator. This
value represents the end of the preset list.
1
2
3
Output the accumulator contents to the memory
location for preset 4 (end of preset marker).
D
Load the preset C value into the accumulator.
LDD
K4850
Output the accumulator contents to the memory
location for preset 3.
OUTD
V2324
LDD
Kffff
OUTD
V2326
SP1
UDC
CT76
SP1
Kxxxxxxxx
CT76 is the HSIO counter. The first rung’s SP1
always enables the counter. The dummy input in
the middle is off (unused in this example).
SP1
The third rung’s Reset input is normally off,
because we will use the external reset. You can
optionally reset the counter value on each powerup
using the SP0 contact.
SP0
X3
Y1
RST
X4
Y0
SET
END
INT
Turn lead screw on again, after cutter head has
retracted.
END coil marks the end of the main program.
The INT label marks the beginning of the interrupt
service routine program.
O0
SP540
Input X3 energizes when the groove has finished
cutting. So, we retract the cutter head.
Preset 1
Y0
RSTI
Inside the interrupt service routine, we turn OFF the
lead screw motor immediately.
Y1
SET
These special “equal” relays turn on individually as
the corresponding preset is reached. In this
application, each results in the cutting of a groove
(Y1), so they are logically ORed together.
SP541
Preset 2
SP542
Preset 3
X2
Y2
SET
IRT
Input X2 will be energized inside the interrupt
routine if X2 external interrupt was the source.
Return from the interrupt service routine.
Some applications will require a different type of action at each preset. It is possible for the
interrupt routine to distinguish one preset event from another, by turning on a unique output
for each equal relay contact SPxxx. We can determine the source of the interrupt by
examining the equal relay contacts individually, as well as X2. The X2 contact will be on
(inside the interrupt routine only) if the interrupt was caused by the external reset, X2 input.
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Appendix E: High-speed Input and Pulse Output Features
1
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3
D
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C
D
E–16
Counter With Preload Program Example
The following example shows how you can preload the current count with another value.
When the preload command input (X4 in this example) is energized, we disable the counter
from counting with C0. Then we write the value K3000 to the count register (V1076V1077). We preload the current count of the counter with K3000. When the preload
command (X4) is turned off, the counter resumes counting any pulses, but now starting from
a count of 3000.
Direct
SOFT32
DirectSOFT
SP0
Load constant K10 into the accumulator . This
selects Mode 10 as the HSIO mode.
LD
K10
Select Mode 10
Output this address to V7633, the location of
HSIO Mode select register .
OUT
V7633
Load the constant required to configure X0 as
the counter clock.
LD
K1
Output the constant K1 to V7634, the location of
the setup parameter for X0.
OUT
V7634
Load the constant required to configure X2 as
an external reset with interrupt.
LD
K107
Output the constant to V7636, the location of the
setup parameter for X2.
OUT
V7636
C0
SET
C0
UDC
CT76
C1
K99999999
Set C0 on at powerup to enable counting.
CT76 is the HSIO counter . The first rung’ s C0
contact enables the counter. The dummy input is in
the middle.
C2
The third rung’s Reset input is normally off,
because we will use the external reset. You can
optionally reset the counter value on each powerup
using the SP0 contact.
SP0
X4
C0
RST
Load the BCD value K3000 into the
accumulator.
LDD
K3000
Output the constant to V1076/V1077, the location
of the accumulated count for CT76.
OUTD
V1076
C0
C1
When the preload request is made, the user turns
on X4. First we disable counting by resetting C0,
the counter ’s enable input.
C1
PD
Generate a preload counter input pulse, which
causes the counter to preload from V1076-V1077.
C0
SET
Enable the counter by setting C0, when the
preolad pulse on C1 has occurred (C1 is off).
END
END coil marks the end of the main program.
DL05 Micro PLC User Manual, 6th Edition, Rev. C
Appendix E: High-speed Input and Pulse Output Features
Troubleshooting Guide for Mode 10
If you’re having trouble with Mode 10 operation, please study the following symptoms and
possible causes. The most common problems are listed below.
Symptom: The counter does not count.
Possible causes:
1. Field sensor and wiring – Verify that the encoder, proximity switch, or counter actually turns on
and illuminates the status LED for X0. The problem could be due to sinking-sourcing wiring
problem, etc. Remember to check the signal ground connection. Also verify that the pulse on-time
is long enough for the PLC to recognize it.
2. Configuration – use the Data View window to check the configuration parameters. V7633 must
be set to 10, and V7634 must be set to 1 to enable the HSIO counter mode.
3. Stuck in reset – check the input status of the reset input, X2. If X2 is on, the counter will not
count because it is being held in reset.
4. Ladder program – make sure you are using counter CT76 in your program. The top input is the
enable signal for the counter. It must be on before the counter will count. The middle input is the
dummy input. The bottom input is the counter reset, and must be off during counting.
Symptom: The counter counts but the presets do not function.
Possible causes:
1. Configuration – Ensure the preset values are correct. The presets are 32-bit BCD values having a
range of 0 to 99999999. Make sure you write all 32 bits to the reserved locations by using the
LDD and OUTD instructions. Use only even–numbered addresses, from V2320 to V2376. If
using less than 24 presets, be sure to place “0000FFFF” in the location after the last preset used.
2. Interrupt routine – Only use Interrupt #0. Make sure the interrupt has been enabled by executing
an ENI instruction prior to needing the interrupt. The interrupt routine must be placed after the
main program, using the INT label and ending with an interrupt return IRT.
3. Special relays – Check the special relay numbers in your program. Use SP540 for Preset 1, SP541
for Preset 2, etc. Remember that only one special equal relay contact is on at a time. When the
counter value reaches the next preset, the SP contact which is on now goes off and the next one
turns on.
Symptom: The counter counts up but will not reset.
Possible causes:
1. Check the LED status indicator for X2 to make sure it is active when you want a reset. Or, if you
are using an internal reset, use the status mode of DirectSOFT 5 to monitor the reset input to the
counter.
DL05 Micro PLC User Manual, 6th Edition, Rev. C
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Appendix E: High-speed Input and Pulse Output Features
1 Mode 20: Quadrature Counter
Purpose
2
The counter in the HSIO circuit can count two quadrature signal pulses instead of a single
pulse train (mode 10 operation). Quadrature signals are commonly generated from
incremental encoders, which may be rotary or linear. The quadrature counter has two ranges
3
D
E
6
7
8
9
10
11
1
1
14
A
B
C
D
from 0 to 99999999 or -8388608 to 8388607. Using CT76 and CT77, the quadrature
counter can count at up to a 5 kHz rate. Unlike Mode 10 operation, Mode 20 operation can
count UP or DOWN, but does not feature automated preset values or “interrupt on external
reset” capability. However, you have the standard ladder instruction preset of CT76.
Functional Block Diagram
The diagram below shows HSIO functionality in Mode 20. When the lower byte of HSIO
Mode register V7633 contains a BCD “20”, the quadrature counter in the HSIO circuit is
enabled. Input X0 is dedicated to the Phase A quadrature signal, and input X1 receives Phase
B signal. X2 is dedicated to reset the counter to zero value when energized.
DL05
PLC
HSIO
Phase
A
X0
Mode select
Phase
Reset
B
X1
Y2 - Y5
I/O data
COUNTER
X2
CPU
V-memory
V7633
0020
X3 - X7
Input Circuit
Quadrature Encoder Signals
Quadrature encoder signals contain position and direction information, while their frequency
represents speed of motion. Phase A and B signals shown below are phase-shifted 90 degrees,
thus the quadrature name. When the rising edge of Phase A precedes Phase B’s leading edge
(indicates clockwise motion by convention), the HSIO counter counts UP. If Phase B’s rising
edge precedes Phase A’s rising edge (indicates counter-clockwise motion), the counter counts
DOWN.
Leading Edge Signal
90˚ phase shift
Clockwise sequence
Phase A
Phase B
Counterclockwise sequence
Phase A
Phase B
Leading Edge Signal
E–18
Output Circuit
Y0, Y1
one cycle
DL05 Micro PLC User Manual, 6th Edition, Rev. C
Appendix E: High-speed Input and Pulse Output Features
Wiring Diagram
A general wiring diagram for encoders to the DL05 in HSIO Mode 20 is shown below.
Encoders with sinking outputs (NPN open collector) are probably the best choice for
interfacing. If the encoder sources to the inputs, it must output 12 to 24 VDC. Note that
encoders with 5V sourcing outputs will not work with DL05 inputs.
1
2
3
D
Signal Common
Phase B
+
Phase A
12 – 24 VDC
–
Encoder Input Wiring
Encoder
Interfacing to Encoder Outputs
The DL05’s DC inputs are flexible in that they detect current flow in either direction, so they
can be wired to an encoder with either sourcing or sinking outputs. In the following circuit,
an encoder has open-collector NPN transistor outputs. It sinks current from the PLC input
point, which sources current. The power supply can be the +24VDC auxiliary supply or
another supply (+12VDC or +24VDC), as long as the input specifications are met.
Encoder Output,
(one phase)
Phase A or B Input
Input
Output
(sourcing)
(sinking)
12-24 VDC Supply
–
Ground
+
Common
In the next circuit, an encoder has open-emitter PNP transistor outputs. It sources current to
the PLC input point, which sinks the current back to ground. Since the encoder sources
current, no additional power supply is required. However, note that the encoder output must
be 12 to 24 volts (5V encoder outputs will not work).
Encoder Output,
(one phase)
Phase A or B Input
+12 to 24VDC
Input
Output (sourcing)
Ground
(sinking)
Common
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Appendix E: High-speed Input and Pulse Output Features
1
2
3
Setup for Mode 20
Recall that V7633 is the HSIO Mode Select register. Refer to the diagram below. Use BCD
20 in the lower byte of V7633 to select the High-Speed Counter Mode. The DL05 does not
use bits 8 - 12, 14 and 15 in V7633.
Memory Location V7633
Bits
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
0
0
0
0
0
0
0
0
0
1
0
0
0
0
D
E
6
7
8
9
10
11
1
1
14
A
B
C
D
E–20
0
See page E-5
0
2
0
0
HSIO Mode Setup (BCD)
20 = Quadrature Counter
Choose the most convenient method of programming V7633 from the following:
• Include load and out instructions in your ladder program
• DirectSOFT 5’s memory editor
• Use the Handheld Programmer D2–HPP
We recommend using the first method above so that the HSIO setup becomes an integral
part of your application program. An example program later in this section shows how to do
this.
X Input Configuration
The configurable discrete input options for High-Speed Counter Mode are listed in the table
below. Input X0 is dedicated for Phase A, and input X1 is for Phase B. Input X2 is the reset
input to the quadrature counter, but it does not cause an interrupt. The section on Mode 60
operation at the end of this chapter describes programming the filter time constants.
Input
Configuration
Register
Function
Hex Code Required
0002 (default) quadrature,
absolute 0 to 99999999
0012 quadrature, absolute
-8388608 to 8388607
X0
V7634
X1
V7635
X2
V7636
Phase A
1002 quadrature, absolute
0 to 99999999, X4 counting
1012 quadrature, absolute
-8388608 to 8388607,
X4 counting
Phase B
0000
Counter Reset (no interrupt)
0007
Discrete filtered input
1006
DL05 Micro PLC User Manual, 6th Edition, Rev. C
Appendix E: High-speed Input and Pulse Output Features
Writing Your Control Program
You may recall that the Up-Down counter instruction is standard in the DL05 instruction
set. Refer to the figure below. The mnemonic for the counter is UDC (up-down counter).
The DL05 can have up to 128 counters, labeled CT0 through CT177. The quadrature
counter in the HSIO circuit is accessed in ladder logic by using UDC CT76. It uses counter
registers CT76 and CT77 exclusively when the HSIO mode 20 is active (otherwise, CT76
and CT77 are available for standard counter use). The HSIO counter needs two registers
because it is a double-word counter. It also has three inputs as shown, but they are redefined.
The first input is the enable signal, the middle is a preload (write), and the bottom is the
reset. The enable input must be on before the counter will count. The enable input must be
off during a preload.
Standard Counter Function
UP Count
DOWN Count
Reset Input
UDC
CTxx
HSIO Counter Function
Enable Input
Preload Input
Kxxxxxxxx
Reset Input
UDC
CT76
Kxxxxxxxx
Counts UP and DOWN (from X0, X1)
Counts UP and DOWN
Can use Preload Input to change count
Preload counter by write to value
Reset input may be internal or external
Reset input is internal only
The next figure shows the how the HSIO quadrature counter will appear in a ladder program.
Enable Input
Preload Input
Reset Input
UDC
CT76
Kxxxxxxxx
Preset Range:
1-99999999
When the enable input is energized, the counter will respond to quadrature pulses on X0 and
X1, incrementing or decrementing the counter at CT76 – CT77. The reset input contact
behaves in a logical OR fashion with the physical reset input X2. This means the quadrature
counter can receive a reset from either the contact(s) on the reset rung in the ladder, OR the
external reset X2.
Quadrature Counter w/Preload Program Example
Since presets are not available in quadrature counting, this mode is best suited for simple
counting and measuring. The example program on the following page shows how to
configure the quadrature counter. The program configures the HSIO circuit for Mode 20
operation, so X0 is Phase A and X1 is Phase B clock inputs. Counter w/Preload
DL05 Micro PLC User Manual, 6th Edition, Rev. C
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Appendix E: High-speed Input and Pulse Output Features
1
2
3
Program Example (cont’d)
DirectSOFT
SP0
Select Mode 20
D
E
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7
8
9
10
11
1
1
14
A
B
C
D
Load constant K20 into the accumulator. This selects
Mode 20 as the HSIO mode.
LD
K20
OUT
V7633
Output this address to V7633, the location of the HSIO
Mode select register.
LD
K2
Load the constant required to configure X0 as Phase A
input.
OUT
V7634
Output the constant to V7634, the location of the setup
register for X0.
LD
K0
Load the constant required to configure X1 as Phase B
input.
OUT
V7635
Output the constant to V7635, the location of the setup
register for X1.
LD
K7
Load the constant required to configure X2 as an external
reset.
OUT
V7636
Output the constant to V7636, the location of the setup
register for X2.
C0
SET
Set C0 on at powerup to enable counting.
C0
UDC
C1
CT76 is the HSIO quadrature counter.The first rung’s C0
always enables the counter.The dummy input is used by
the built-in compiler.
CT76
K99999999
C2
The third rung’s Reset input is normally off
f,
because we will use the external reset. You can
optionally reset the counter value on each powerup
using the SP0 contact.
SP0
SP1
Load the current value of the counter into the accumulator
on each scan.
LDD
V1076
Compare the value in the accumulator with the constant
K44292. If they are equal, the SP61 contact will be
turned on.
CMPD
K44292
SP61
Y0
SET
*
Set Y0 to ON when the counter reaches or exceeds
our comparison value while COUNTING UP.
Y1
SET
*
Set Y1 to ON when the counter reaches or goes below
our comparison value while COUNTING DOWN.
SP62
SP61
SP60
END
END coil marks the end of the main program.
* NOTE: You can reset Y0 and Y1 at a convenient stage in the program by using the RST instruction.
E–22
DL05 Micro PLC User Manual, 6th Edition, Rev. C
Appendix E: High-speed Input and Pulse Output Features
Counter Preload Program Example
1
2
3
To preload the counter, just add the following example rungs to the program above.
X4
C0
RST
Preload counter
Load the BCD value K3000 into the
accumulator.
LDD
K3000
Output the constant to V1076/V1077, the location
of the accumulated pulse count.
OUTD
V1076
C0
C1
When the preload request is made, the user turns
on X4. First we disable counting by resetting C0,
the counter ’s enable input.
C1
PD
Generate a preload counter input pulse, which
causes the counter to preload from V1076-V1077.
C0
SET
Enable the counter by setting C0, when the
preload pulse on C1 has occurred (C1 is off).
D
Troubleshooting Guide for HSIO Mode 20
If you’re having trouble with Mode 20 operation, please study the following symptoms and
possible causes. The most common problems are listed below.
Symptom: The counter does not count.
Possible causes:
1. Field sensor and wiring – Verify that the encoder or other field device inputs actually turn on and
illuminates the status LEDs for X0 and X1. A standard incremental encoder will visibly, alternately
turn on the LEDs for X0 and X1 when rotating slowly (1 RPM). Or, the problem could be due to
a sinking-sourcing wiring problem, etc. Remember to check the signal ground connection. Also
verify that the pulse on-time, duty cycle, voltage level, and frequency are within the input
specifications.
2. Configuration – make sure all of the configuration parameters are correct. V7633 must be set to
20, and V7634 must be set to “0002” to enable the Phase A input, and V7635 must be set to
“0000” to enable the Phase B input.
3. Stuck in reset – check the input status of the reset input, X2. If X2 is on, the counter will not
count because it is being held in reset.
4. Ladder program – make sure you are using counter CT76 in your program. The top input is the
enable signal for the counter. It must be on before the counter will count. The middle input is the
dummy input and must be off for the counter to count. The bottom input is the counter reset, and
must be off during counting.
Symptom: The counter counts in the wrong direction
(up instead of down, and visa-versa).
Possible causes:
1. Channel A and B assignment – It’s possible that Channel A and B assignments of the encoder
wires are backwards from the desired rotation/counting orientation. Just swap the X0 and X1
inputs, and the counting direction will be reversed.
Symptom: The counter counts up and down but will not reset.
Possible causes:
1. Check the LED status indicator for X2 to make sure it is active when you want a reset. Also verify
the configuration register V7636 for X2 is set to 7. Or, if you are using an internal reset, use the
status mode of DirectSOFT 5 to monitor the reset input to the counter.
DL05 Micro PLC User Manual, 6th Edition, Rev. C
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Appendix E: High-speed Input and Pulse Output Features
1 Mode 30: Pulse Output
Purpose
2
The HSIO circuit in Mode 30 generates output pulse
trains suitable for open-loop control of a single-axis
motion positioning system. It generates pulse (stepper
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Trapezoidal Profile
Velocity
increment) and direction signals which you can connect
to motor drive systems and perform various types of
motion control. Using Mode 30 Pulse Output, you can
select from three profile types detailed later in this
chapter:
Decel
Accel
Time
• Trapezoidal – Accel Slope to Target Velocity to Decel Slope
• Registration – Velocity to Position Control on Interrupt (also used for home search moves)
• Velocity Control – Speed and Direction only
The HSIO circuit becomes a high-speed pulse generator (up to 7 kHz) in Mode 30. By
programming acceleration and deceleration values, position and velocity target values, the
HSIO function automatically calculates the entire motion profile. The figure below shows the
DL05 generating pulse and direction signals to the drive amplifier of a stepper positioning
system. The pulses accomplish the profile independently and without interruption to ladder
program execution in the CPU.
Stepper
Motor
Drive
Amplifier
DL05 Micro PLC
Pulse
Direction
In the figure above, the DL05 generates pulse and
direction signals. Each pulse represents the smallest
increment of motion to the positioning system (such as
one step or micro-step to a stepper system).
Alternatively, the HSIO Pulse Output Mode may be
configured to deliver counter clock-wise (CCW) and
clock-wise (CW) pulse signals as shown to the right.
CCW Pulse
CW Pulse
Drive
Amplifier
NOTE: The pulse output is designed for open loop stepper motor systems. This, plus its minimum
velocity of 40 pps make it unsuitable for servo motor control.
DL05 Micro PLC User Manual, 6th Edition, Rev. C
Appendix E: High-speed Input and Pulse Output Features
Functional Block Diagram
The diagram below shows HSIO functionality in Mode 30. When the lower byte of HSIO
Mode register V7633 contains a BCD “30”, the pulse output capability in the HSIO circuit
is enabled. The pulse outputs use Y0 and Y1 terminals on the output connector. Remember
that the outputs can only be DC type to operate.
Output Circuit
DL05
PLC
Y0
(Pulse / CW)
D
Y1
(Direction / CCW)
Y2 - Y5
HSIO
SP 104 Profile Complete
Y0 Start Profile
PULSE GEN
CPU
Y1 Preload Position Value
Interrupt
X2 during
Registration
Profile only
FILTER
X1 Filtered Input
Mode select
X0, X1, X2
1
2
3
V-memory
V7633
xx30
X3 - X7
Input Circuit
IMPORTANT NOTE: In Pulse Output Mode, Y0 and Y1 references are redefined or are used differently
in two ways. Physical references refer to terminal screws, while logical references refer to I/O
references in the ladder program. Please read the items below to understand this very crucial point.
Notice the I/O point assignment and usage in the above diagram:
• X0 and X1 can only be filtered inputs in Pulse Output Mode, and they are available as an input
contacts to the ladder program.
• X2 behaves as an external interrupt to the pulse generator for registration profiles. In other profile
modes, it can be used as a filtered input just like X1 (registration mode configuration shown above).
• References “Y0” and “Y1” are used in two different ways. At the discrete output connector, Y0 and
Y1 terminals deliver the pulses to the motion system. The ladder program uses logical references Y0
and Y1 to initiate “Start Profile” and “Load Position Value” HSIO functions in Mode 30.
Hopefully, the above discussion will explain why some I/O reference names have dual
meanings in Pulse Output Mode. Please read the remainder of this section with care, to
avoid confusion about which actual I/O function is being discussed.
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Appendix E: High-speed Input and Pulse Output Features
1
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Wiring Diagram
The generalized wiring diagram below shows pulse outputs Y0 and Y1 connected to the drive
amplifier inputs of a motion control system.
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+
Signal Common
Motor
+24 VDC
–
Amplifier
Pulse
Direction
Pulse Output Wiring
Power Input
Interfacing to Drive Inputs
The pulse signals from Y0 and Y1 outputs will typically go to drive input circuits as shown
above. Remember that the DL05’s DC outputs are sinking-only. It will be helpful to locate
equivalent circuit schematics of the drive amplifier. The following diagram shows how to
interface to a sourcing drive input circuit.
Drive Input
Y0, Y1 Pulse Output
Power
+DC Power
+V
Output
(sinking)
Common
+
Input
(sourcing)
–
Ground
The following circuit shows how to interface to a sinking drive input using a pullup resistor.
Please refer to Chapter 2 to learn how to calculate and install Rpullup.
Y0, Y1 Pulse Output
+DC power
(sinking)
Power
R pullup
(sourcing)
Output
Drive Input
+
Input
(sinking)
–
Ground
Supply
Common
DL05 Micro PLC User Manual, 6th Edition, Rev. C
R Input
Appendix E: High-speed Input and Pulse Output Features
Motion Control Profile Specifications
1
2
3
The motion control profiles generated in Pulse Output Mode have the following
specifications:
Motion Control Profile Specifications
Parameter
Specification
Trapezoidal – Accel Slope / Target Velocity / Decel Slope
Registration – Velocity to Position Control on Interrupt
Velocity Control – Speed and Direction only
–8388608 to 8388607
Absolute / relative command
40 Hz to 7 kHz
V2320 to V2325 (Profile Parameter Table)
CT76 and CT77 (V1076 and V1077)
Profiles
Position Range
Positioning
Velocity Range
V-memory registers
Current Position
D
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 I/O Configuration
Physical Input
Configuration Register
Function
Hex Code Required
V7637
Y0 = Pulse Y1 = Direction
Y0 = CW Pulse
Y1 = CCW Pulse
Discrete filtered input
Discrete filtered input
Discrete filtered input
0103
–
X0
X1
X2
V7634
V7635
V7636
0003
xx06, xx = filter time
0 99 (BCD)
Logical I/O Functions
The following logical I/O references define functions that allow the HSIO to communicate
with the ladder program.
Logical I/O/ Functions
Logical I/O
Function
SP 104
Profile Complete – the HSIO turns on SP104 to the CPU
when the profile completes. Goes back off when Start
Profile (Y0) turns on.
Y0
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.
Y1
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.
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Appendix E: High-speed Input and Pulse Output Features
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Setup for Mode 30
Recall that V7633 is the HSIO Mode Select register. Refer to the diagram below. Use BCD
30 in the lower byte of V7633 to select the High-Speed Counter Mode. The DL05 does not
use bits 8 - 12, 14 and 15 in V7633.
Memory Location V7633
Bits
15
14 13
0
0
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0
12
11
10
9
8
7
6
5
4
3
2
1
0
0
0
0
0
0
0
1
1
0
0
0
0
0
3
See page E-5
0
0
HSIO Mode Setup (BCD)
30 = Pulse Output
Choose the most convenient method of programming V7633 from the following:
• Include load and out instructions in your ladder program
• DirectSOFT 5’s memory editor
• Use the Handheld Programmer D2–HPP
We recommend using the first method above so that the HSIO setup becomes an integral
part of your application program. An example program later in this section shows how to do
this.
Memory Location V2320 (default)
Bits
15
14
13
12
0
0
0
0
0
11 10
9
8
7
6
5
4
3
2
1
0
1
1
0
0
0
0
0
0
0
1
7
0
0
0
Profile Select (BCD)
Target V elocity Value
0 = Trapezoidal Profile, Absolute Position
8 = Trapezoidal Profile, Relative Position
9 = Registration Profile, Relative Position
2 = Velocity Profile
Range = 4 to 700, representing
40 Hz to 7 kHz pulse rate
Profile / Velocity Select Register
The first location in the Profile Parameter Table stores two key pieces of information. The
upper four bits (12–15) select the type of profile required. The lower 12 bits (0-11) select the
Target Velocity.
The ladder program must program this location before initiating any of the three profiles.
The LD and OUT instruction will write all 16 bits, so be sure to fully specify the full fourdigit BCD value for the Position/Velocity Select Register each time.
The absolute and relative selection determines how the HSIO circuit will interpret your
specified target position. Absolute position targets are referenced to zero. Relative position
targets are referenced to the current position (previous target position). You may choose
whichever reference method that is most convenient for your application.
DL05 Micro PLC User Manual, 6th Edition, Rev. C
Appendix E: High-speed Input and Pulse Output Features
Profile Parameter Table
Profile Table Pointer
V7630 is a pointer location which points to the
beginning of the Profile Parameter Table. The
default starting location for the profile parameter
table is V2320. However, you may change this by
programming a different value in V7630.
Remember to use the LDA (load address)
instruction, converting octal into hex.
The HSIO uses the next V-memory register past
the bottom of the profile parameter table to
indicate profile errors. See the error table at the
end of this section for error code definitions.
V7630
V2320
V2321
V2323
V2324
V2325
2320
Profile Parameter Table
xxxx
xxxx
xxxx
xxxx
xxxx
xxxx
Pulse Output Error Code
V2326
00xx
Trapezoidal Profile
V-Memory
Function
Range
Units
V2320, bits 12 – 15
V2320,
V2321/ 2322
V2323
V2324
V2325
V2326
Trapezoidal Profile
Target Velocity Value
Target Position Value *
Starting Velocity
Acceleration Time
Deceleration Time
Error Code
0=absolute, 8=relative
4 to 700
–8388608 to 8388607
4 to 100
1 to 100
1 to 100
(see end of section)
–
x 10 pps
Pulses
x 10 pps
x 100 ms
x 100 ms
–
* To set a negative number, put 8 in the most significant digit. For example: 8388608 is 88388608 in V2321 and
V2322.
Registration Profile
V-Memory
Function
Range
Units
V2320, bits 12 – 15
V2320, bits 0 – 11
V2321/ 2322
V2323
V2324
V2325
V2326
Registration Profile
Target Velocity Value
Target Position Value*
Starting Velocity
Acceleration Time
Deceleration Time
Error Code
9=relative
4 to 700
–8388608 to 8388607
4 to 100
1 to 100
1 to 100
(see end of section)
–
x 10 pps
Pulses
x 10 pps
x 100 ms
x 100 ms
–
* To set a negative number, put 8 in the most significant digit. For example: 8388608 is 88388608 in V2321 and
V2322.
Velocity Profile
V-Memory
Function
Range
Units
V2320
V2321/ 2322
V2323
V2326
Velocity Profile
Direction Select
Velocity
Error Code
2000 only
80000000=CCW, 0=CW
4 to 700
(see end of section)
–
Pulses
x 10 pps
–
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Appendix E: High-speed Input and Pulse Output Features
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Choosing the Profile Type
Pulse Output Mode generates three types of motion profiles. Most applications use one type
for most moves. However, each move can be different if required.
• Trapezoidal – Accel Slope to Target Velocity to Decel Slope
• Registration – Velocity to Position Control on Interrupt
• Velocity Control – Speed and Direction only
Trapezoidal Profile Defined
Trapezoidal Profile
Velocity
Fixed Velocity
The trapezoidal profile is the most common positioning
Accel
Decel
profile. It moves the load to a pre-defined target position by
creating a move profile. The acceleration slope is applied at
the starting position. The deceleration slope is applied
Time
backwards from the target position. The remainder of the Start position Target position
move in the middle is spent traveling at a defined velocity.
Trapezoidal profiles are best for simple point-to-point moves, when the distance between the
starting and ending positions of the move is known in advance.
Registration profiles solve a class of motion control
problems. In some applications, product material in work
moves past a work tool such as a drill station. Shown to the
right, registration marks on the scrap area of the work-piece
Scrap
allow a machine tool to register its position relative to the
Finished part area
Area
rectangle, to drill properly.
Home search moves allow open-loop motion systems to recalibrate (preload) the current position value at powerup.
direction of motion
Registration and Home Search Profiles Defined
Registration profiles are a combination of velocity and
position control modes. The move begins by accelerating to a
programmed velocity. The velocity is sustained and the move
is of indefinite duration. When an external interrupt signal
occurs (due to registration sensing), the profile switches from
velocity to position control. The move ends by continuing
motion a pre-defined distance past the interrupt point (such
as a drill hole location). The deceleration ramp is applied in
advance of the target position.
Registration marks
Registration Profile
Velocity
DL05 Micro PLC User Manual, 6th Edition, Rev. C
Position
Control
Accel
Decel
Target position
Interrupt
Velocity Profile Defined
The velocity profile controls only the direction and speed of
motion. There is no target position specified, so the move
can be of indefinite length. Only the first velocity value
needs to be defined. The remaining velocity values can be
created while motion is in progress. Arrows in the profile
shown indicate velocity changes.
Velocity
Control
Velocity
Velocity Profile
Time
Appendix E: High-speed Input and Pulse Output Features
Trapezoidal Profile Operation
Trapezoidal Profile Applications
The trapezoidal profile is best suited for simple point-to-point moves, when the target
position is known in advance. Starting velocities must be within the range of 40 pps to 1k
pps. The remainder of the profile parameters are in the profile parameter table.
1
2
3
Trapezoidal Profile
D
Velocity
Target Velocity
Accel
Decel
Starting
Velocity
Time
Start position
Start
Y0
Profile
Complete
SP104
Target position
The time line of signal traces below the profile indicates the order of events. The HSIO uses
logical output Y0 as the Start input to the HSIO, which starts the profile. Immediately the
HSIO turns off the Profile Complete signal (SP104), so the ladder program can monitor the
progress of the move. Typically a ladder program will monitor this bit so it knows when to
initiate the next profile move.
If you are familiar with motion control, you’ll notice that we do not have to specify the
direction of the move. The HSIO function examines the target position relative to the current
position, and automatically outputs the correct direction information to the motor drive.
Notice that the motion accelerates immediately to the starting velocity. This segment is useful
in stepper systems so we can jump past low speed areas when low-torque problems or a
resonant point in the motor might cause a stall. (When a stepper motor stalls, we have lost
the position of the load in open-loop positioning systems). However, it is preferable not to
make the starting velocity too large, because the stepper motor will also “slip” some pulses due
to the inertia of the system.
When you need to change the current position value, use logical Y1 output coil to load a new
value into the HSIO counter. If the ladder program loads a new value in CT76/CT77
(V1076/V1077), then energizing Y1 will copy that value into the HSIO circuit counter. This
must occur before the profile begins, because the HSIO ignores Y1 during motion.
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Appendix E: High-speed Input and Pulse Output Features
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Trapezoidal Profile Program Example
The 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.
Trapezoidal Profile
Velocity
Target V elocity = 1 kHz
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Accel = 2 sec
Decel = 4 sec
Starting
Velocity = 40
Time
Start position
Target position = 5000
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.
DirectSOFT
SP0
LD
K30
Mode 30
OUT
V7633
Locate Parameter
Table (optional*)
LDA
O2320
OUT
V7630
Select Pulse /
Direction
Filtered Inputs
L o a constant
d
K30 into the accumulator. This selects
Mode 30 as the HSIO mode.
Output the constant to V7633, the location of the HSIO
Mode select register.
Load the octal address of the beginning of the Profile
Parameter Table. The LDA instruction converts this to a
hex number in the accumulator.
Output this address to V7630, the location of the pointer
to the Profile Parameter Table.
LD
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 CCW
and CW).
OUT
V7637
Output this constant to V7637, configuring the pulse
output type.
LD
K1006
L o a the
d 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.
OUT
V7636
this
O u tp u
t constant to V7636, configuring X2.
* If the Locate Parameter Table is not used you must remove both the LDA function
and the OUT function below it.
E–32
DL05 Micro PLC User Manual, 6th Edition, Rev. C
Appendix E: High-speed Input and Pulse Output Features
Program Example (cont’d)
SP0
SP0
Profile/Target
Profile/Target
Velocity
Velocity
Target Position
Target Position
Starting Velocity
Starting Velocity
Load the constant K100 which is required to select
Load
the constant
which
is requiredand
to select
Trapzoidal
Profile,K100
absolute
positioning,
a target
Trapzoidal
velocity of Profile,
1 kHz. absolute positioning, and a target
velocity of 1 kHz.
Output this constant to V2320, the location of the Profile
Output
this constant
to V2320,
the location of the Profile
Select/Starting
Velocity
setup register.
Select/Starting Velocity setup register.
Load the constant K5000 which selects a target
Load
the of
constant
K5000Don’t
whichforget
selects
a target
position
5000 pulses.
to use
double
position
of (8-digit
5000 pulses.
Don’t forget
to use double
word size
BCD position
value).
word size (8-digit BCD position value).
Output this constant to V2321 and V2322, the location of
Output
this Position
constantdouble-word
to V2321 and
V2322, the location of
the Target
register.
the Target Position double-word register.
LD
K100
LD
K100
OUT
V2320
OUT
V2320
LDD
K5000
LDD
K5000
OUTD
V2321
OUTD
V2321
LD
K4
LD
K4
Output this constant to V2323, the location of the starting
Output
constantregister.
to V2323, the location of the starting
velocitythis
parameter
velocity parameter register.
Load the constant K20 which is required to select an
Load
the constant
K20
which is (20
required
select an
acceleration
time of
2 seconds
x 100toms).
acceleration time of 2 seconds (20 x 100 ms).
LD
K20
LD
K20
Output this constant to V2324, the location of the
Output
this constant
to V2324,
the location of the
acceleration
parameter
register.
acceleration parameter register.
OUT
V2324
OUT
V2324
Deceleration
Deceleration
Start Profile
Start
X3 Profile
X3
Profile Complete
SPProfile
104 Complete
SP 104
D
Load the constant K4 which is required to select a
Load
thevelocity
constant
required
starting
ofK4
40 which
Hz (4 is
x 10
pps). to select a
starting velocity of 40 Hz (4 x 10 pps).
OUT
V2323
OUT
V2323
Acceleration
Acceleration
1
2
3
Load the constant K40 which is required to select a
Load
the constant
K40
which is (40
required
select a
deceleration
time of
4 seconds
x 100toms).
deceleration time of 4 seconds (40 x 100 ms).
LD
K40
LD
K40
Output this constant to V2325, the location of the
Output
this constant
to V2325,
the location of the
deceleration
parameter
register.
deceleration parameter register.
OUT
V2325
OUT
V2325
Y0
Y0
OUT
OUT
Y2
Y2
OUT
OUT
Preload Position Value
We use a spare filtered input to allow the operator
We
use the
a spare
filtered
input
allow the
operator
to start
profile.
When
the to
operator
turns
X3 ON,
to
start output
the profile.
Whenthe
theprofile.
operator
X3 ON,
logical
Y0 starts
Theturns
operator
must
logical
output
Y0until
starts
profile.
The operator must
maintain
X3 on
thethe
profile
is complete.
maintain X3 on until the profile is complete.
SP104 is the logical output of the HSIO to indicate
SP104
is the
logical output
of the
to indicate
the move
is complete.
We use
Y2HSIO
to energize
an
the
move is complete.
We use
to energize an
annunciator
that the profile
hasY2
finished.
annunciator that the profile has finished.
At any time you can write (preload) a new position into the current position value. This often
done after a home search (see the registration example programs).
SP0
SP0
Profile/Target
Profile/Target
Velocity
Velocity
LDD
K1000
LDD
K1000
OUTD
V1076
OUTD
V1076
Y1
Y1
PD
PD
Load the constant K1000 as the new current position
Load
value.the constant K1000 as the new current position
value.
Output this constant to V1076/V1077 (CTA76/CTA77),
Output
this constant
to V1076/V1077
(CTA76/CTA77),
the location
of the current
position value.
the location of the current position value.
Turn on Y1 for 1 scan. The off-to-on transition
Turn
on Y1
1 scan.
The offthe
-to-on
transition
causes
the for
HSIO
to preload
current
position
causes
HSIO to preload the current position
with thethe
value
with the value
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Appendix E: High-speed Input and Pulse Output Features
1 Registration Profile Operation
Registration Applications
2
1. In a typical application shown to the right,
product material in work moves past a work tool
such as a drill. Registration marks on the scrap
3
area of the work-piece allow a machine tool to
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Finished part area
Scrap
Area
register its position relative to the rectangle, to
direction of motion
drill properly.
Registration marks
2. In other examples of registration, the work
piece is stationary and the tool moves. A drill bit
may approach the surface of a part in work,
preparing to drill a hole of precise depth.
Detect contact
However, the drill bit length gradually decreases
due to tool wear. A method to overcome this is to detect the moment of contact with the part
surface on each drill, moving the bit into the part a constant distance after contact.
3. The home search move allows a motion system to calibrate its position on startup. In this
case, the positioning system makes an indefinite move and waits for the load to pass by a
home limit switch. This creates an interrupt at the moment when the load is in a known
position. We then stop motion and preload the position value with a number which equates
to the physical “home position”.
The registration profile begins with only velocity control. When an interrupt pulse occurs on
physical input X2, the starting position is declared to be the present count (current load
position). The velocity control switches to position control, moving the load to the target
position. Note that the minimum starting velocity is 40 pps. This instantaneous velocity
accommodates stepper motors that can stall at low speeds.
The time line of signal traces below the profile indicates the order of events. The CPU uses
Registration Profile
Velocity
Target Velocity
Accel
Decel
Starting
Velocity
Start
position
Start
Target
position
Time
Y0
External Interrupt X2
Profile Complete
SP104
logical output Y0 to start the profile. Immediately the HSIO turns off the Profile Complete
signal (SP104), so the ladder program can monitor the move’s completion by sensing the
signal’s on state.
DL05 Micro PLC User Manual, 6th Edition, Rev. C
Appendix E: High-speed Input and Pulse Output Features
Registration Profile Program Example
The registration 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.
Registration Profile
Velocity
Target V elocity = 1 kHz
Accel = 2 sec
D
Decel = 4 sec
Starting
Velocity = 40
Time
Start position
Target position = 5000
The following program will realize the profile drawn above, when executed. The first program
rung contains all the necessary setup parameters. We only have to do this once in the
program, so we use first-scan contact SP0 to trigger the setup.
DirectSOFT
SP0
LD
K30
Mode 30
OUT
V7633
Locate Parameter
Table (optional*)
LDA
O2320
OUT
V7630
Select Pulse /
Direction
LD
K103
OUT
V7637
Filtered Inputs
LD
K2006
OUT
V7635
LD
K1006
OUT
V7636
Load constant K30 into the accumulator. This selects
Mode 30 as the HSIO mode.
Output this constant to V7633, the location of the HSIO
Mode select register.
Load the octal address of the beginning of the Profile
Parameter Table. The LDA instruction converts this to a
hex number in the accumulator.
Output this address to V7630, the location of the pointer
to the Profile Parameter Table
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).
Output this constant to V7637, configuring the pulse
output type.
Load the constant K2006 which is required to select X1
as a filtered input with a 20 ms filter time constant.
Output this constant to V7635, configuring X1.
Load the constant K1006 which is required to select the
external interrupt.
Output this constant to V7636, configuring X2, the
registration interrupt input.
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* If the Locate Parameter Table is not used you must remove both the LDA function
and the OUT function below it.
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Appendix E: High-speed Input and Pulse Output Features
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Program Example (cont’d)
SP0
Profile / Target
Velocity
Target Position
Load the constant K9100 which is required to select
Registration Profile, relative positioning, and a target
velocity of 1 kHz (9xxx times 10 pps).
LD
K9100
OUT
V2320
Load the constant K5000 which selects a target
position of 5000 pulses. Don’t forget to use double
word size (8-digit BCD position value).
LDD
K5000
OUTD
V2321
Starting Velocity
Output this constant to V2323, the location of the starting
velocity parameter register.
Load the constant K20 which is required to select an
acceleration time of 2 seconds (20 x 100 ms).
LD
K20
OUT
V2324
Deceleration
Output this constant to V2321 and V2322, the location of
the Target Position double-word register.
Load the constant K4 which is required to select a
starting velocity of 40 Hz (4 x 10 pps).
LD
K4
OUT
V2323
Acceleration
Output this constant to V2320, the location of the Profile
Select / Starting Velocity setup register .
Output this constant to V2324, the location of the
acceleration parameter register.
Load the constant K40 which is required to select a
deceleration time of 4 seconds (40 x 100 ms).
LD
K40
OUT
V2325
Output this constant to V2325, the location of the
deceleration parameter register.
Start Profile
X3
Y0
SET
Profile Complete
SP104
Y2
OUT
C0
PD
C0
We use an input to allow the operator to start the
profile. X3 is a momentary Start switch. When the
operator turns X3 ON, logical output Y0 starts the
profile. The operator must maintain X3 on until the
profile is complete.
SP104 is the logical output of the HSIO to indicate
the move is complete. W e use Y2 to energize an
annunciator that the profile has finished. This won’t
occur until after the interrupt from X2 has occurred
and the profile is complete.
Y0
RST
The profile will begin when the start input (X3) is given. Then the motion begins an
indefinite move, which lasts until an external interrupt on X2 occurs. Then the motion
continues on for 5000 more pulses before stopping.
DL05 Micro PLC User Manual, 6th Edition, Rev. C
Appendix E: High-speed Input and Pulse Output Features
Home Search Program Example
One of the more challenging aspects of motion control is the establishment of actual position
at powerup. This is especially true for open-loop systems which do not have a position
feedback device. However, a simple limit switch located at an exact location on the
positioning mechanism can provide “position feedback” at one point. For most stepper
control systems, this method is a good and economical solution.
1
2
3
Load
Positioning System
Limit Switches
D
Motor
CCW limit (X1)
Motion
Numbering System
-3000
-2000
Home limit (X2)
-1000
0
1000
CW limit (X3)
2000
3000
In the drawing above, the load moves left or right depending on the CCW/CW direction of
motor rotation. The PLC ladder program senses the CCW and CW limit switches to stop the
motor, before the load moves out-of-bounds and damages the machine. The home limit
switch is used at powerup to establish the actual position. The numbering system is arbitrary,
depending on a machine’s engineering units.
At powerup, we do not know whether the load is located to the left or to the right of the
home limit switch. Therefore, we will initiate a home search profile, using the registration
mode. The home limit switch is wired to X2, causing the interrupt. We choose an arbitrary
initial search direction, moving in the CW (left-to-right) direction.
• If the home limit switch closes first, then we stop and initialize the position (this value is typically
“0”, but it may be different if preferred).
• However, if the CW limit switch closes first, we must reverse the motor and move until the home
limit switch closes, stopping just past it.
In the latter case, we repeat the first move, because we always need to make the final approach
to the home limit switch from the same direction, so that the final physical position is the same
in either case!
DirectSOFT
Direct SOFT
SP0
LD
K30
Mode 30
OUT
V7633
Locate
Parameter
Table (optional*)
LDA
O2320
Selects Mode 30 as
the HSIO mode.
LD
K2006
Configure the address
of the parameter table.
OUT
V7630
Select Pulse /
Direction
LD
K103
Filtered Inputs
Configure the Y0 and Y1
pulse outputs for pulse
and direction, respectively .
OUT
V7635
The constant K2006
selects a 20 ms filter
time constant.
Output this constant to
V7635, configuring X1.
LD
K1006
The constant K1006
selects a 10 ms filter
time constant.
OUT
V7636
Output this constant to
V7636, configuring X2, the
registration interrupt input.
E
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7
8
9
10
11
1
1
14
A
B
C
D
OUT
V7637
* If the Locate Parameter Table is not used you must remove both the LDA function and the OUT function below it.
DL05 Micro PLC User Manual, 6th Edition, Rev. C
E–37
Appendix E: High-speed Input and Pulse Output Features
1
2
3
D
Profile / Target Velocity
SP0
LD
K9100
Select Registration Profile,
relative positioning, and a
target velocity of 1000 pps
(9xxx times 10 pps).
OUT
V2320
Starting Velocity
C1
TMR
T0
K5
T0
The constant K4 selects a
starting velocity of 40 Hz
(4 x 10 pps).
LD
K4
CCW past home
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7
8
9
10
11
1
1
14
A
B
C
D
E–38
OUT
V2323
Acceleration
C2
C3
X2
The constant K20 selects
an acceleration time of 2
seconds (20 x 100 ms).
LD
K20
Deceleration
OUT
V2325
X7
C10
SET
C0
We’ll choose the same for
the deceleration value.
Target Position
C3
OUTD
V2321
Y0
SET
C0
SET
X2
C1
X3
C4
T1
Set C0 to indicate the CW
home search has begun.
LDD
K80000200
OUTD
V2321
C1
SET
C3
SET
CCW past home
Load a small
positive position
count (go CW).
Turn off Start Profile.
Y0
RST
Turn off Start Profile.
C4
SET
Go CW back to
home.
Add a timer to
create a slight
delay before
reversing motor.
C5
SET
CW delay done.
Y0
SET
Start profile again.
Home Limit found, CW search direction
C0 C1 C3 X2
Y0
RST
Start profile again.
TMR
T1
K5
Turn on Start Profile,
searching for either the
home limit or the CW limit
(depends on our starting
position).
CW Limit found
C0
Y0
SET
Home Limit found, CW search direction
Start the home search
when X7 turns on.
The constant K50 selects
a target position of 50
pulses (CW direction).
LDD
K50
CCW delay done.
OUTD
V2321
Search in CW direction
C10
C2
SET
LDD
K50
OUT
V2324
Add a timer to
create a slight
delay before
reversing motor.
C5
The constant –K200
selects a target
position of –200
pulses, which is in
the CCW direction.
Y0
RST
Turn off Start Profile.
LDD
K0
Load the constant
K0 for our initialized
position.
OUTD
V1076
Output this constant
to C1076/V1077.
The CW limit has
been reached.
The home search profile will execute specific parts of the program, based on the order of
detection of the limit switches. Ladder logic sets C0 to initiate a home search in the CW
direction. If the CW limit is encountered, the program searches for home in the CCW
direction, passes it slightly, and does the final CW search for home. After reaching home, the
last ladder rung preloads the current position to “0”.
DL05 Micro PLC User Manual, 6th Edition, Rev. C
Appendix E: High-speed Input and Pulse Output Features
Velocity Profile Operation
Velocity Profile Applications
The velocity profile is best suited for applications which involve motion but do not require
moves to specific points. Conveyor speed control is a typical example.
Velocity
1
2
3
D
Time
Start
Y0
Profile
Complete
SP104
The time line of signal traces below the profile indicates the order of events. Assuming the
velocity is set greater than zero, motion begins when the Start input (Y0) energizes. Since
there is no end position target, the profile is considered in progress as long as the Start input
remains active. The profile complete logical input to ladder logic (X0) correlates directly to
the Start input status when velocity profiles are in use.
While the Start input is active, the ladder program can command a velocity change by writing
a new value to the velocity register (V2323 by default). The full speed range of 40 Hz to 7
kHz is available. Notice from the drawing that there are no acceleration or deceleration ramps
between velocity updates. This is how velocity profiling works with the HSIO. However, the
ladder program can command more gradual velocity changes by incrementing or
decrementing the velocity value more slowly.
A counter or timer can be useful in creating your own acceleration/deceleration ramps. Unless
the load must do a very complex move, it is easier to let the HSIO function generate the
accel/decel ramps by selecting the trapezoidal or registration profiles instead.
Unlike the trapezoidal and registration profiles, you must specify the desired direction of
travel with velocity profiles. Load the direction select register (V2321/V2322 by default) with
8000 0000 hex for CCW direction, or 0 for CW direction.
DL05 Micro PLC User Manual, 6th Edition, Rev. C
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Appendix E: High-speed Input and Pulse Output Features
1
2
3
Velocity Profile Program Example
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
Velocity
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11
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B
C
D
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Time
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
DirectSOFT 5
SP0
LD
K30
Mode 30
OUT
V7633
Locate Parameter
Table (optional*)
LDA
O2320
OUT
V7630
Select Pulse /
Direction
LD
K103
OUT
V7637
Filtered Inputs
LD
K1006
OUT
V7635
OUT
V7636
Load constant K30 into the accumulator. This selects
Mode 30 as the HSIO mode.
Output this constant to V7633, the location of the HSIO
Mode select register.
Load the octal address of the beginning of the Profile
Parameter Table. The LDA instruction converts this to
hex number in the accumulator.
Output this address to V7630, the location of the pointer
to the Profile Parameter Table.
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).
Output this constant to V7637, configuring the pulse
output type.
Load the constant K1006 which is required to select
filtered inputs with a 10 ms filter time constant.
Output this constant to V7635, configuring X1.
Output this constant to V7636, configuring X2.
* If the Locate Parameter Table is not used you must remove both the LDA function
and the OUT function below it.
DL05 Micro PLC User Manual, 6th Edition, Rev. C
Appendix E: High-speed Input and Pulse Output Features
Program Example (cont’d)
SP0
Profile / Target
Velocity
Select Direction
LD
K2000
OUT
V2320
LDD
K80000000
OUTD
V2321
Set Velocity
Load the constant K2000 which is required to select
Velocity Profile. This data word contains no velocity
information in the case of velocity mode.
Output this constant to V2320, the location of the Profile
Select setup register .
Load the constant K80000000 which selects CCW
direction for Velocity Profiles. Don’t forget to use double
word size (8-digit BCD position value).
Output this constant to V2321 and V2322, the location of
the Target Position double-word register.
Load the constant K10 which is required to select an
initial velocity of 100 pps (uses x10 multiplier).
LD
K10
OUT
V2323
Output this constant to V2323, the location of the velocity
parameter register . After the program is running, we can
write here again, using discrete input switches.
Start Profile
X1
Y0
OUT
We use a spare filtered input to allow the operator
to start the profile. When the operator turns X1 ON,
logical output Y0 starts the profile. The operator must
maintain X1 on until the profile is complete.
Go Slow
X2
LD
K50
OUT
V2323
Load the constant K50 which is required to select a
velocity of 500 pps when the operator closes X2.
Output this constant to V2323, the location of the velocity
parameter register . The speed will change immediately.
Go Moderately
X3
Go Fast
X4
LD
K200
OUT
V2323
LD
K600
OUT
V2323
Load the constant K200 which is required to select a
velocity of 2000 pps when the operator closes X3.
Output this constant to V2323, the location of the velocity
parameter register . The speed will change immediately.
Load the constant K600 which is required to select a
velocity of 6000 pps when the operator closes X4.
Output this constant to V2323, the location of the velocity
parameter register . The speed will change immediately.
DL05 Micro PLC User Manual, 6th Edition, Rev. C
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Appendix E: High-speed Input and Pulse Output Features
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Pulse Output Error Codes
The Profile Parameter Table starting at V2320 (default location) defines the profile. Certain
numbers will result in a error when the HSIO attempts to use the parameters to execute a
move profile. When an error occurs, the HSIO writes an error code in V2326.
Most errors can be corrected by rechecking the Profile Parameter Table values. The error is
automatically cleared at powerup and at Program-to-Run Mode transitions.
Error Code
Error Description
0000
0010
0020
0021
0022
0030
0040
0041
0042
0050
0051
0052
0060
0061
0062
No error
Requested profile type code is invalid (must use 0, 1, 2, 8, or 9)
Target Velocity is not in BCD
Target Velocity is specified to be less than 40 pps
Target Velocity is specified to be greater than 7,000 pps
Target Position value is not in BCD
Starting Velocity is not in BCD
Starting Velocity is specified to be less than 40 pps
Starting Velocity is specified to be greater than 1,000 pps
Acceleration Time is not in BCD
Acceleration Time is zero
Acceleration Time is greater than 10 seconds
Deceleration Time is not in BCD
Deceleration Time is zero
Deceleration Time is greater than 10 seconds
Troubleshooting Guide for HSIO Mode 30
If you’re having trouble with Mode 30 operation, please study the following symptoms and
possible causes. The most common problems are listed below:
Symptom: The stepper motor does not rotate.
Possible causes:
1. Configuration – Verify that the HSIO actually generates pulses on outputs Y0 and Y1. Watch the
status LEDs for Y0 and Y1 when you start a motion profile. If the LEDs flicker on and off or are
steadily on, the configuration is probably correct.
2. Programming error – If there are no pulses on Y0 or Y1 you may have a programming error.
Check the contents of V2326 for an error code that may be generated when the PLC attempts to
do the move profile. Error code descriptions are given above.
3. Check target value – The profile will not pulse if the count value is equal to the target value
(ex. count = 0, target= 0)
DL05 Micro PLC User Manual, 6th Edition, Rev. C
Appendix E: High-speed Input and Pulse Output Features
4. Wiring – Verify the wiring to the stepper motor is correct. Remember the signal ground
connection from the PLC to the motion system is required.
5. Motion system – Verify that the drive is powered and enabled. To verify the motion system is
working, you can use Mode 60 operation (normal PLC inputs/outputs) as shown in the test
program below. With it, you can manually control Y0 and Y1 with X0 and X1, respectively. Using
an input simulator is ideal for this type of manual debugging. With the switches you can singlestep the motor in either direction. If the motor will not move with this simple control, Mode 30
operation will not be possible until the problem with the motor drive system or wiring is corrected.
6. Memory Error – HSIO configuration parameters are stored in the CPU system memory.
Corrupted data in this memory area can sometimes interfere with proper HSIO operation. If all
other corrective actions fail, initializing the scratchpad memory may solve the problem. Use
DirectSOFT 5 to select PLC > Setup > Initialize Scratch Pad from the Menu bar.
DirectSOFT
SP0
Load constant K60 into the accumulator. This
selects Mode 60 as the HSIO mode.
LD
K60
Mode 60
OUT
V7633
Filtered Inputs
LD
K1006
OUT
V7634
OUT
V7635
OUT
V7636
X0
X1
Output the constant to V7633, the location of the
HSIO Mode select register.
Load the constant K1006 which is required to configure
filtered inputs with a time constant of 10 ms.
Output this constant to V7634, configuring X0.
Output this constant to V7635, configuring X1.
Output this constant to V7636, configuring X2.
Y0
OUT
Use a switch on X0 input to manually control output Y0.
Y1
OUT
Use a switch on X1 input to manually control output Y1.
END
END coil marks the end of the main program..
Symptom: The motor turns in the wrong direction.
Possible causes:
1. Wiring – If you have selected CW and CCW type operation, just swap the wires on Y0 and Y1
outputs.
2. Direction control – If you have selected Pulse and Direction type operation, just change the
direction bit to the opposite state.
DL05 Micro PLC User Manual, 6th Edition, Rev. C
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Appendix E: High-speed Input and Pulse Output Features
1 Mode 40: High-Speed Interrupts
Purpose
2
The HSIO Mode 40 provides a high-speed interrupt to the ladder program. This capability is
provided for your choice of the following application scenarios:
3
• An external event needs to trigger an interrupt subroutine in the CPU. Using immediate I/O
instructions in the subroutine is typical.
D
E
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C
D
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• An interrupt routine needs to occur on a timed basis which is different from the CPU scan time
(either faster or slower). The timed interrupt is programmable, from 5 to 999 ms.
Functional Block Diagram
The HSIO circuit creates the high-speed interrupt to the CPU. The following diagram shows
the external interrupt option, which uses X0. In this configuration X1 and X2 are normal
filtered inputs.
DL05
PLC
Output Circuit
Y0, Y1
HSIO
Y2 -Y5
I/O data
Interrupt
Interrupt
Mode select
FILTER
X0
X1, X2
CPU
V-memory
V7633
0040
X3 - X7
Input Circuit
Alternately, you may configure the HSIO circuit to generate interrupts based on a timer, as
shown below. In this configuration, inputs X0 through X2 are filtered inputs.
DL05
PLC
Output Circuit
Y0, Y1
HSIO
FILTER
Y2 - Y5
I/O data
Interrupt
Timer
Interrupt
Mode select
CPU
V-memory
V7633
X3 - X7
X0, X1, X2
Input Circuit
DL05 Micro PLC User Manual, 6th Edition, Rev. C
0040
Appendix E: High-speed Input and Pulse Output Features
Setup for Mode 40
Recall that V7633 is the HSIO Mode Select register. Refer to the diagram below. Use BCD
40 in the lower byte of V7633 to select the High-Speed Counter Mode. The DL05 does not
use bits 8 - 12, 14 and 15 in V7633.
Memory Location V7633
Bits
15
14
13
12 11
0
0
0
0
0
10
9
8
7
6
5
4
3
2
1
0
0
0
0
1
0
0
0
0
0
0
0
See page E-5
4
0
0
D
HSIO Mode Setup (BCD)
40 = High-Speed Interrupt
Choose the most convenient method of programming V7633 from the following:
• Include load and out instructions in your ladder program
• DirectSOFT 5’s memory editor
• Use the Handheld Programmer D2–HPP
We recommend using the first method above so that the HSIO setup becomes an integral
part of your application program. An example program later in this section shows how to do
this.
Interrupts and the Ladder Program
Refer to the drawing below. The source of the interrupt may be external (X0), or the HSIO
timer function. The setup parameter in V7634 serves a dual purpose:
• It selects between the two interrupt sources, external (X0) or an internal timer.
• In the case of the timer interrupt, it programs the interrupt timebase between 5 and 999 ms.
The resulting interrupt uses label INT 0 in the ladder program. Be sure to include the Enable
Interrupt (ENI) instruction at the beginning of your program. Otherwise, the interrupt
routine will not be executed.
CPU Scan
Input
Update
X0, External Interrupt
TIMER
Interrupt source /
Time select
V7634
xxx4
INT
Ladder
Program
Execution
current
instruction
1
2
3
Interrupt
Routine
Program
IRT
Input
Update
DL05 Micro PLC User Manual, 6th Edition, Rev. C
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Appendix E: High-speed Input and Pulse Output Features
External Interrupt Timing Parameters
1
2
3
Signal pulses at X0 must meet certain timing criteria to guarantee an interrupt will result.
Refer to the timing diagram below. The input characteristics of X0 are fixed (it is not a
programmable filtered input). The minimum pulse width is 0.1 ms. There must be some
delay before the next interrupt pulse arrives, such that the interrupt period cannot be smaller
than 0.5 ms.
0.5 ms minimum
0.1 ms minimum
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D
External
Interrupt
X0
Time
Timed Interrupt Parameters
When the timed interrupt is selected, the HSIO generates the interrupt to ladder logic. There
is no interrupt “pulse width” in this case, but the interrupt period can be adjusted from 5 to
999 ms.
5 ms to 999 ms
Timed
Interrupt
Time
X Input/Timed INT Configuration
The configurable discrete input options for High-Speed Interrupt Mode are listed in the table
below. Input X0 is the external interrupt when “0004” is in V7634. If you need a timed
interrupt instead, then V7634 contains the interrupt time period, and input X0 becomes a
filtered input (uses X1’s filter time constant by default). Inputs X1, and X2, can only be
filtered inputs, having individual configuration registers and filter time constants. However,
X0 will have the same filter time constant as X1 when the timed interrupt is selected.
Input
Configuration Register
Function
Hex Code Required
V7634
Uses X1’s time setting in V7635
External Interrupt
Filtered Input (when timed
interrupt is in use)
0004 (default)
xxx4, xxx = INT timebase
5 - 999 ms (BCD)
X1
V7635
Filtered Input
xx06 (xx = filter time)
0 - 99 ms (BCD)
X2
V7636
Filtered Input
xx06 (xx = filter time)
0 - 99 ms (BCD)
X0
Independent Timed Interrupt
Interrupt O1 is also available as an interrupt. This interrupt is independent of the HSIO
features. Interrupt O1 uses an internal timer that is configured in V memory location V7647.
The interrupt period can be adjusted from 5 to 9999 ms. Once the interrupt period is set and
the interrupt is enabled in the program, the CPU will continuously call the interrupt routine
based on the time setting in V7647.
Input
Configuration Register
Function
Hex Code Required
–
V7647
High-Speed Timed Interrupt
xxxx (xxxx = timer setting) 5- 9999 ms (BCD)
E–46
DL05 Micro PLC User Manual, 6th Edition, Rev. C
Appendix E: High-speed Input and Pulse Output Features
External Interrupt Program Example
The following program selects Mode 40, then selects the external interrupt option. Inputs X1
and X2 are configured as filtered inputs with a 10 ms time constant. The program is
otherwise generic, and may be adapted to your application.
DirectSOFT
SP0
Mode 40
External Interrupt
Filtered Inputs
Load constant K40 into the accumulator. This
selects Mode 40 as the HSIO mode.
LD
K40
OUT
V7633
Output this constant to V7633, the location of the
HSIO Mode select register.
OUT
V7634
Output this constant to V7634, configuring the
external interrupt option for X0.
OUT
V7635
Output this constant to V7635, configuring X1.
LD
K4
LD
K1006
OUT
V7636
INT Enable
Main Program
INT
Y5
RST
ENI
END
O0
Interrupt Routine
SP1
Load the constant K4 which is required to select the
external interrupt option. X0 is the interrupt input.
Load the constant K1006 which is required to select
filtered inputs with a 10 ms filter time constant.
Output this constant to V7636, configuring X2.
Reset output Y5.
Enable Interrupts at the beginning of the program.
Insert Main Program rungs here for your application.
END coil marks the end of the main program..
The INT label marks the beginning of the interrupt
service routine program.
Y5
SETI
IRT
Insert interrupt service routine rungs here for your
application.
Use the pulse catch input to set output Y5 on.
Return to the main ladder program.
DL05 Micro PLC User Manual, 6th Edition, Rev. C
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Timed Interrupt Program Example
The following program selects Mode 40, then selects the timed interrupt option, with an
interrupt period of 100 ms.
100 ms
Timed
Interrupt
Time
Inputs X0, X1, and X2, are configured as filtered inputs with a 10 ms time constant. Note
that X0 uses the time constant from X1. The program is otherwise generic, and may be
adapted to your application.
DirectSOFT
SP0
Load constant K40 into the accumulator. This
selects Mode 40 as the HSIO mode.
LD
K40
Mode 40
OUT
V7633
Timed Interrupt
LD
K1004
OUT
V7634
Filtered Inputs
LD
K1006
OUT
V7635
OUT
V7636
INT Enable
ENI
END
O0
Output this constant to V7634, configuring the timed
interrupt for 100 ms period.
Load the constant K1006 which is required to select
filtered inputs with a 10 ms filter time constant.
Output this constant to V7635, configuring X1 and X0.
Output this constant to V7636, configuring X2.
Enable Interrupts at the beginning of the program.
END coil marks the end of the main program.
The INT label marks the beginning of the interrupt
service routine program.
Interrupt Routine
SP1
Load the constant K1004 which is required to select
the timed interrrupt option, with a period of 100 ms.
Insert Main Program rungs here for your application.
Main Program
INT
Output this constant to V7633, the location of the
HSIO Mode select register.
Insert interrupt service routine rungs here for your
application.
LD
K1
Load constant K1 into the accumulator.
ADD
V2000
Add the value in the accumulator with the value in
memory location V2000.
OUT
V2000
Output the result into memory location V2000.
IRT
Return to the main ladder program.
DL05 Micro PLC User Manual, 6th Edition, Rev. C
Appendix E: High-speed Input and Pulse Output Features
Mode 50: Pulse Catch Input
Purpose
The HSIO circuit has a pulse-catch mode of operation. It monitors the signal on input X0,
preserving the occurrence of a narrow pulse. The purpose of the pulse catch mode is to enable
the ladder program to “see” an input pulse which is shorter in duration than the current scan
time. The HSIO circuit latches the input event on input X0 for one scan. This contact
automatically goes off after one scan.
Functional Block Diagram
Refer to the block diagram below. When the lower byte of HSIO Mode register V7633
contains a BCD “50”, the pulse catch mode in the HSIO circuit is enabled. X0 automatically
becomes the pulse catch input, which sets the latch on each rising edge. The HSIO resets the
latch at the end of the next CPU scan. Inputs X1 and X2 are available as filtered discrete inputs.
DL05
PLC
Output Circuit
Y0, Y1
HSIO
Y2 -Y5
CPU
I/O data
LATCH
V-memory
Set
X0
Reset
scan
FILTER
Mode select
X1, X2
V7633
0050
X3 - X7
Input Circuit
Pulse Catch Timing Parameters
Signal pulses at X0 must meet certain timing criteria to guarantee a pulse capture will result. Refer
to the timing diagram below. The input characteristics of X0 are fixed (it is not a programmable
filtered input). The minimum pulse width is 0.1 ms. There must be some delay before the next
pulse arrives, such that the pulse period cannot be smaller than 0.5 ms. If the pulse period is
smaller than 0.5 ms, the next pulse will be considered part of the current pulse.
0.5 ms minimum
0.1 ms minimum
Pulse
Input
X0
Time
NOTE The pulse catch and filtered input functions are opposite in nature. The pulse catch feature on
X0 seeks to capture narrow pulses, while the filter input feature on X1 and X2 seeks to reject narrow
pulses.
DL05 Micro PLC User Manual, 6th Edition, Rev. C
1
2
3
D
E
6
7
8
9
10
11
1
1
14
A
B
C
D
E–49
Appendix E: High-speed Input and Pulse Output Features
1
2
3
Setup for Mode 50
Recall that V7633 is the HSIO Mode Select register. Refer to the diagram below. Use BCD
50 in the lower byte of V7633 to select the High-Speed Counter Mode. The DL05 does not
use bits 8 - 12,14 and 15 in V7633.
Memory Location V7633
Bits
15 14
0
0
D
E
6
7
8
9
10
11
1
1
14
A
B
C
D
E–50
13 12
11
10
9
8
7
6
5
4
3
2
1
0
0
0
0
0
0
1
0
1
0
0
0
0
0
0
See page E-5
5
0
0
HSIO Mode Setup (BCD)
50 = Pulse Catch Input
Choose the most convenient method of programming V7633 from the following:
• Include load and out instructions in your ladder program
• DirectSOFT 5’s memory editor
• Use the Handheld Programmer D2–HPP
We recommend using the first method above so that the HSIO setup becomes an integral
part of your application program. An example program later in this section shows how to do
this.
X Input Configuration
The configurable discrete input options for Pulse Catch Mode are listed in the table below.
Input X0 is the pulse input, and must have “0005” loaded into it configuration register
V7634. Inputs X1 and X2 can only be filtered inputs. Each input has its own configuration
register and filter time constant.
Input
Configuration
Register
Function
Hex Code Required
X0
V7634
Pulse Catch Input
X1
V7635
Filtered Input
0005
xx06 (xx = filter time)
0 - 99 ms (BCD)
X2
V7636
Filtered Input
xx06 (xx = filter time)
0 - 99 ms (BCD)
DL05 Micro PLC User Manual, 6th Edition, Rev. C
Appendix E: High-speed Input and Pulse Output Features
Pulse Catch Program Example
The following program selects Mode 50, then programs the pulse catch code for X0. Inputs
X1 and X2 are configured as filtered inputs with 10 and 30 ms time constants respectively.
The program is otherwise generic, and may be adapted to your application.
DirectSOFT
SP0
Load constant K50 into the accumulator. This
selects Mode 50 as the HSIO mode.
LD
K50
Mode 50
OUT
V7633
Pulse Catch
LD
K5
Filtered Inputs
D
Output this constant to V7633, the location of the
HSIO Mode select register.
Load the constant K5 which is required to configure X0
as the pulse catch input.
OUT
V7634
LD
K1006
OUT
V7635
LD
K3006
OUT
V7636
Output this constant to V7634, configuring the pulse
catch option for X0.
Load the constant K1006 which is required to select
filtered inputs with a 10 ms filter time constant.
Output this constant to V7635, configuring X1.
Load the constant K3006 which is required to select
filtered inputs with a 30 ms filter time constant.
Output this constant to V7636, configuring X2.
Main Program
X0
Y0
SET
END
Use the pulse catch input to set output Y0 on. This will
work even for a very short pulse on X0.
END coil marks the end of the main program.
DL05 Micro PLC User Manual, 6th Edition, Rev. C
1
2
3
E
6
7
8
9
10
11
1
1
14
A
B
C
D
E–51
Appendix E: High-speed Input and Pulse Output Features
1 Mode 60: Discrete Inputs with Filter
Purpose
2
The last mode we will discuss for the HSIO circuit is Mode 60, Discrete Inputs with Filter.
The purpose of this mode is to allow the input circuit to reject narrow pulses and accept wide
ones, as viewed from the ladder program. This is useful in especially noisy environments or
3
D
E
6
7
8
9
10
11
1
1
14
A
B
C
D
E–52
other applications where pulse width is important. In all other modes in this chapter, X0 to
X2 usually support the mode functions as special inputs. Only spare inputs operate as filtered
inputs by default. Now in Mode 60, all three inputs X0 through X2 function only as discrete
filtered inputs.
Functional Block Diagram
Refer to the block diagram below. When the lower byte of HSIO Mode register V7633
contains a BCD “60”, the input filter in the HSIO circuit is enabled. Each input X0 through
X2 has its own filter time constant. The filter circuit assigns the outputs of the filters as logical
references X0 through X2.
DL05
PLC
Output Circuit
Y0, Y1
Y2-Y5
HSIO
I/O data
FILTERS
X0-X2
Mode select
X0
X1
X2
CPU
V-memory
V7633
0060
X3-X7
Input Circuit
Input Filter Timing Parameters
Signal pulses at inputs X0 – X2 are filtered by using a delay time. In the figure below, the
input pulse on the top line is longer than the filter time. The resultant logical input to ladder
is phase-shifted (delayed) by the filter time on both rising and falling edges. In the bottom
waveforms, the physical input pulse width is smaller than the filter time. In this case, the
logical input to the ladder program remains in the OFF state (input pulse was filtered out).
Filter Time
Physical Input
X0
Logical Input
X0
Physical Input
X0
Logical Input
X0
Filter Time
Time
DL05 Micro PLC User Manual, 6th Edition, Rev. C
Appendix E: High-speed Input and Pulse Output Features
Setup for Mode 60
Recall that V7633 is the HSIO Mode Select register. Refer to the diagram below. Use BCD
60 in the lower byte of V7633 to select the High-Speed Counter Mode. The DL05 does not
use bits 8 - 12,14 and 15 in V7633.
Memory Location V7633
Bits
15 14
0
0
13
12
11
10
9
8
7
6
5
4
3
2
1
0
0
0
0
0
0
0
1
1
0
0
0
0
0
0
See page E-5
6
0
D
0
HSIO Mode Setup (BCD)
60 = Discrete Filtered Inputs
Choose the most convenient method of programming V7633 from the following:
• Include load and out instructions in your ladder program
• DirectSOFT 5’s memory editor
• Use the Handheld Programmer D2–HPP
We recommend using the first method above so that the HSIO setup becomes an integral
part of your application program. An example program later in this section shows how to do
this.
X Input Configuration
The configurable discrete input options for Discrete Filtered Inputs Mode are listed in the
table below. The filter time constant (delay) is programmable from 0 to 99 ms (the input acts
as a normal discrete input when the time constant is set to 0). The code for this selection
occupies the upper byte of the configuration register in BCD. We combine this number with
the required “06” in the lower byte to get “xx06”, where xx = 0 to 99. Input X0, X1, and X2
can only be filtered inputs. Each input has its own configuration register and filter time
constant.
Input
Configuration
Register
Function
Hex Code Required
X0
V7634
Filtered Input
xx06 (xx = filter delay time)
0 - 99 ms (BCD)
X1
V7635
Filtered Input
xx06 (xx = filter delay time)
0 - 99 ms (BCD)
X2
V7636
Filtered Input
xx06 (xx = filter delay time)
0 - 99 ms (BCD)
DL05 Micro PLC User Manual, 6th Edition, Rev. C
1
2
3
E
6
7
8
9
10
11
1
1
14
A
B
C
D
E–53
Appendix E: High-speed Input and Pulse Output Features
1
2
3
Filtered Inputs Program Example
The following program selects Mode 60, then programs the filter delay time constants for
inputs X0, X1, and X2. Each filter time constant is different, for illustration purposes. The
program is otherwise generic, and may be adapted to your application.
DirectSOFT
SP0
D
E
6
7
8
9
10
11
1
1
14
A
B
C
D
E–54
Load constant K60 into the accumulator. This
selects Mode 60 as the HSIO mode.
LD
K60
Mode 60
OUT
V7633
Filtered Inputs
LD
K1006
OUT
V7634
LD
K2006
OUT
V7635
LD
K5006
OUT
V7636
Main Program
Output the constant to V7633, the location of the
HSIO Mode select register.
Load the constant K1006 which is required to configure
filtered inputs with a time constant of 10 ms.
Output this constant to V7634, configuring X0.
Load the constant K2006 which is required to select
filtered inputs with a 20 ms filter time constant.
Output this constant to V7635, configuring X1.
Load the constant K5006 which is required to select
filtered inputs with a 50 ms filter time constant.
Output this constant to V7636, configuring X2.
Insert Main Program rungs here for your application.
END
END coil marks the end of the main program..
DL05 Micro PLC User Manual, 6th Edition, Rev. C
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