High-Speed Input and
Pulse Output Features
3–35
High-Speed Input and Pulse Output Features
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
Time
Accel = 2 sec Decel = 4 sec
Velocity
Start position
Target position = 5000
Target Velocity = 1 kHz
Starting
Velocity = 40
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.
SP0
LD
K30
Load constant K30 into the accumulator. This selects
Mode 30 as the HSIO mode.
OUT
V7633
Output this constant to V7633, the location of the HSIO
Mode select register.
LDA
O2320
Load the octal address of the beginning of the Profile
Parameter Table. The LDA instruction converts this to a
hex number in the accumulator.
OUT
V7630
Output this address to V7630, the location of the pointer
to the Profile Parameter Table.
DirectSOFT
Mode 30
LD
K2006
Load the constant K2006 which is required to select X1
as a filtered input with a 20 mS filter time constant.
Filtered Inputs
OUT
V7635
Output this constant to V7635, configuring X1.
LD
K103
Load the constant K103 which is required to select
pulse and direction for physical Y0 and Y1 functions,
respectively (your application may use CCW and CW).
OUT
V7637
Output this constant to V7637, configuring the pulse
output type.
Select Pulse /
Direction
LD
K1006
Load the constant K1006 which is required to select the
external interrupt.
OUT
V7636
Output this constant to V7636, configuring X2, the
registration interrupt input.
Locate Parameter
Table (optional)
Registration Profile
Program Example
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