Changing Pulse Profiles

[DHV Challenger]

I am using a stepper system, and have the CTRIO outputs setup for step and direction.  In my app, I am rotating a turret as fast as possible, and trying to stop it accurately.  I have set up a Prox as a limit input, and call two pulse profile moves.  One is a mode 10 S-curve move to position (to move the bulk of the distance as quickly as possible), and the next is a mode 10 Home search to limit one (which stops the turret accurately on a flag).  As I wish to execute these two moves as quickly as possible, what is the best  (quickest) way to call the second pulse profile move?  Now I wait for the outputs active bit to go low (showing the first move is complete), clear enable outputs, load the next pulse profile file number, set process command, wait for command complete, and then enable outputs (to start the next pulse profile).  Any better ideas?  On a side note, when are you guys going to break down and build a true motion controller for AD PLCs?

[Greg]

My first thought is, why are you using 2 Pulse Profiles? I am assuming you just want to Run-to-Limit, right? Or did you think it necessary to use the Home Search to just slow it down? I'm not fully understanding why the need for 2. For example, if you are just wanting to move to the limit input (your prox), you could use Run-to-Limit (0x21). Since Run-to-Limit allows you to change the frequency of the CTRIO output on the fly, you could start out slow, build up to very fast, and then back to slow... and the whole time it will be automatically looking for, say, a rising edge limit on the CTRIO input.

Does that help?

Also, as far as when we are building a true motion controller, we are already working on one... but I don't know the time frame yet. One of the CTRIO guys might answer that.