Horner APG XL4 OCS - Manual (Page 55)

MAN0964-01-EN CH.11
June 29, 2012 Page 55 of 122
Note for standard I/O modules (1E3, 1E4 and 1E5 models) that the nominal output driver
turn-on-time delay (to reach 50% output) is 25 microseconds. Therefore, this limitation
should be considered when determining both the minimum pulse width and the duty cycle
accuracy of the application. Special high speed output options will be available.
11.4.3 HSC Output (High Speed Counter Match)
When either Q1 or Q2 is configured for HSC Output operation, HSC1 or HSC2 turns on, off or
toggles based on a comparison between the counter accumulator and match registers. See
details above in the high speed input section.
11.4.4 Stepper Function
The XL4 supports two stepper functions, one on each high speed output.
The Stepper requires five parameters (%AQs) to be set for operation. These parameters may be
set at run-time but are ‘latched’ when the stepper is commanded to start.
Start Frequency (cycles per second)
This value sets the frequency for the first cycle during the acceleration phase and the
frequency of the last cycle during the deceleration phase. When an acceleration or
deceleration count is specified, the Start Frequency must be greater than 0 and must not
exceed the run frequency or an error is generated.
Run Frequency (cycles per second)
This value sets the frequency for the last cycle during the acceleration phase, the
consistent frequency during the run phase, and the frequency of the first cycle during the
deceleration mode. The Run Frequency must be greater than 0 and must not exceed
5000 cycles/sec. or an error is generated.
Acceleration Count
This value sets the number of cycles to occur within the acceleration phase. The
frequency of the cycles within this mode will vary linearly between the specified Start and
Run frequency. The Accel count must not equal 1 or an error is generated. Setting this
value to zero disables this phase.
Run Count
This value sets the number of cycles to occur within the run phase. The frequency of the
cycles within this mode is constant at the specified Run frequency. The Run count may
be any value. Setting this value to zero disables this phase.
Deceleration Count
This value sets the number of cycles to occur within the deceleration phase. The
frequency of the cycles within this phase will vary linearly between the specified Run and
Stop frequency. The Decel count must not equal 1 or an error is generated. Setting this
value to zero disables this phase.
The stepper provides two Boolean registers to provide stepper status
Ready/Done
A high indication on this register indicates the stepper sequence can be started (i.e. not
currently busy).