High-Speed Input and
Pulse Output Features
3–38
High-speed Input and Pulse Output Features
Profile / Target Velocity
LD
K9100
Select Registration Profile,
relative positioning, and a
target velocity of 1000 pps
(9xxx times 10 pps).
OUT
V2320
Target Position
SP0
LDD
K50
The constant K50 selects
a target position of 50
pulses (CW direction).
OUTD
V2321
OUT
V2323
LD
K4
The constant K4 selects a
starting velocity of 40 Hz
(4 x 10 pps).
Starting Velocity
OUT
V2324
LD
K20
The constant K20 selects
an acceleration time of 2
seconds (20 x 100 mS).
Acceleration
OUT
V2325
We’ll choose the same for
the deceleration value.
Deceleration
C10
SET
Turn on Start Profile,
searching for either the
home limit or the CW limit
(depends on our starting
position).
Y0
Search in CW direction
C0
RST
Y0
LDD
K80000200
The constant –K200
selects a target
position of –200
pulses, which is in
the CCW direction.
OUTD
V2321
CW Limit found
C3 X2
RST
Y0
LDD
K0
Load the constant
K0 for our initialized
position.
OUTD
V1076
Output this constant
to C1076/V1077.
SET
Go CW back to
home.
C4
Home Limit found, CW search direction
Turn off Start Profile.
SET
The CW limit has
been reached.
C1
C0
RST
Y0
Home Limit found, CW search direction
Turn off Start Profile.
Turn off Start Profile.
SET
C0
Set C0 to indicate the CW
home search has begun.
C0
C1 X3
X7
SET
C10
Start the home search
when X7 turns on.
C1
TMR
K5
Add a timer to
create a slight
delay before
reversing motor.
T0
T0
SET
C2
CCW delay done.
SET
Start profile again.
Y0
C2
SET
C3
LDD
K50
Load a small
positive position
count (go CW).
OUTD
V2321
CCW past home
CCW past home
C3 X2
C4
TMR
K5
Add a timer to
create a slight
delay before
reversing motor.
T1
T1
SET
C5
CW delay done.
SET
Start profile again.
Y0
C1 C3 X2
C5
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”.
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