RIO-CU5 RIO-CU24 RIO-CU5L RIO-CU24L "How to - esco
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1. PWM Safe State Value 2 bytes default 0 Counter Control Safe State Value default 0 Output Control Safe State Value default 0 Active Output Assembly default Assembly 105 Note Gate Interval will default to 10ms GMM Configuration Assembly Backplane bus attribute 10 Counter Configuration default 0 Filter Selection default 0x78 Time Base or PWM Period 2 bytes default 0 Decimal Position default 0 Scalar default 0 Rollover Value 4 bytes default OxOOFFFFFF Preset Value 4 bytes default 0 ON Value for Output Window 0 4 bytes default 0 OFF Value for Output Window 0 4 bytes default 0 ON Value for Output Window 1 4 bytes default 0 OFF Value for Output Window 1 4 bytes default 0 PWM Safe State Value 2 bytes default 0 Counter Control Safe State Value default 0 Output Control Safe State Value default 0 Active Output Assembly default Assembly 105 For definitions see RIO CU5 24 specification 44 of 51 Title RIO CU5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide Produced IO Message high byte of high word Counter value 4 bytes low byte of high word high byte of low word low byte of low word high byte of high word Stored Accumulated value low byte of high word 4 bytes high byte of low word low byte of low word PE EF NR 0O FS FS OS OS Module and Output Statu2. Z Input Pulse V 5 MHz Internal Updated Here Frequency Sampling Clock 1 10 20 Accumulated Count __ UUUUUUUUUUUUUUUUUULLY C outputs Upaatea lt gt Continuously Assumes symmetrical pulse 50 duty cycle so Period Sample Time On X 2 On amp Off Frequency 1 Period If Count 20 Scalar 1 and Clock Period 1 5 MHz Frequency 1 20 1 X 1 5 MHz X21 125 kHz As the frequency of the incoming pulse train at the Z Gate Reset terminal increases the number of sampled pulses from the SMHz clock decreases Since accuracy is related to the number of pulses received over the sample period the accuracy will decrease with increasing frequencies at the Gate Reset terminal Refer to the Operation of Scalar information and table in the Period Rate Mode ll of 51 Title RIO CU5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide 2 5 Rate Measurement Mode The Rate Measurement Mode will return an incoming frequency and a total accumulated count to the Backplane bus based upon a user selected sample period This mode determines the frequency and total number of input pulses by counting the number of incoming pulses over a user specified sample period At the end of the interval the module returns a value representing the sampled number of pulses and a value indicating the incoming frequency When the count and frequency are updated any associated outputs are ch
3. Output 0 Ties Output 1 Ties Alignment reserved 0 Rollover Value Preset Value ON Value 1 OFF Value 1 ON Value 2 OFF Value 2 ON Value 3 OFF Value 3 ON Value 4 OFF Value 4 PWM Safe State Value Counter Control SSV Output Control SSV RPI HIHIHIHIHIHRIHRIHRIRIBR IMJ RP Re Re RIM el ele Note Assembly 123 was added at firmware revision 3 001 It was needed to provide long word alignment 27 of 51 Title RIO CU5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide 4 3 2 RIO CU5 24 Parameter Classes Class Code OF Class Attributes None Class Services None Instance Attributes 1 Data Get Set Instance Services OxOE Get Attribute Single 0x10 Set Attribute Single Parameter 1 Set Get Counter Configuration 1 2 Filter Selection 1 3 Decimal Position 1 4 i Active Output Assembly 1 5 Time Base or PWM Period 2 6 Gate Interval 1 7 5 Scalar 1 8 i Output 0 Ties 1 9 i Output 1 Ties 1 10 Rollover Value 4 11 i Preset Value 4 12 i ON Value 1 4 13 OFF Value 1 4 14 ON Value 2 4 15 OFF Value 2 4 16 a ON Value 3 4 17 i OFF Value 3 4 18 ON Value 4 4 19 OFF Value 4 4 20 PWM Safe State Value 2 21 i Counter Control SSV 1 22 Output Control SSV 1 23 Requested Poll Produce Assy 1 24 R
4. 5Vdc lt 180mA provided on Backplane bus Power for the two outputs RIO CUS amp RIO CU24 only will come from the User Power 10 28 8Vdc connection on Backplane bus Four screw terminals Vaux and Vaux will be available to land wires from an auxiliary power supply to power an encoder or other input device The VHSC does not use Vaux it is for customer wiring convenience only and may be expanded using the 0 1 _ CHASGND CHASGND 2 3 From Pwr Supply V To Encoder RIO SC SP 42 of 51 Title RIO CUS5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide 43 of 51 Title RIO CU5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide 5 0 Added Profiles for Series B RIO CU5 amp RIO CU24 Configuration Profibus Configuration Message 38 bytes Product Code High Byte DeviceNet Product Code Product Code Low Byte D R Offset Diag 0 off R Reserved Offset 1 63 Counter Configuration default 0 Filter Selection default 0x78 Time Base or PWM Period 2 bytes default 0 Decimal Position default 0 Scalar default 0 Rollover Value 4 bytes default OxXOOFFFFFF Preset Value 4 bytes default 0 ON Value for Output Window 0 4 bytes default 0 OFF Value for Output Window 0 4 bytes default 0 ON Value for Output Window 1 4 bytes default 0 OFF Value for Output Window 1 4 bytes default 0
5. RIO CU5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide Channel Status Word Backplane bus attribute 11 with channel number in the data field of the request message INPUT 1 Rsvd Channel Number 0 1 0 Error Code Possible error codes Channel Direction input Channel Type 2 words Error code No Error Lower Limit Exceeded ZD asserted General Error EF asserted Configuration Error PE asserted Channel Direction output OUTPUTS 0 Rsvd Channel Number 1 2 1 1 Error Code Channel Type word Error code Possible error codes No Error General Error FS asserted Profibus Identity Backplane bus attribute 16 Length Identity 7 6 5 4 3 2 1 0 cnsis size Direction Length Length 0 1 to 16 words or bytes Direction 00 01 input 10 output 11 in amp out 00 special Size 1 0 byte 1 word Consistency 1 0 over byte word 1 over length Profibus ID 0xCO0 0x40 0xC4 46 of 51 Title RIO CU5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide RIO CUSL amp RIO CU24L Configuration Profibus Configuration Message 18 bytes Product Code High Byte DeviceNet Product Code Product Code Low Byte D R Offset Diag 0 off R Reserved Offset 1 63 Counter Configu
6. 103 0x67 Get Present Channel Data Stored Channel Data Status 104 0x68 Get Programming Error Code 105 0x69 Set Get Counter Control Output Control 106 Ox6a Set Get PWM Value 107 Ox6b Set Get PWM Value Counter Control Output Control 108 Ox6c Set Get Counter Configuration Filter Selection Decimal Position Active Output Assembly Time Base or PWM Period Gate Interval Scalar Output 0 Ties Output 1 Ties Rollover Value Preset Value ON Value 1 OFF Value 1 ON Value 2 OFF Value 2 ON Value 3 OFF Value 3 ON Value 4 OFF Value 4 PWM Safe State Value Counter Control SSV NIAIAIAIAIAIAIAIAIAIAjleilejelel RRR eRe eRe ION RsReJMINMIJHIBRlMI BRIN Output Control SSV Assembly 101 is produced for a polled connection Assembly 102 is produced for a COS connection Assembly 103 104 107 and 108 are by Explicit message only and Assembly 105 amp 106 are consumed in a polled connection as directed by Parameter 4 26 of 51 Title RIO CU5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide INSTANCE Services FIELD BYTES 123 Ox7b Set Get Counter Configuration Filter Selection Decimal Position Reserved set to 0 Time Base or PWM Period Gate Interval Scalar
7. In mode 3 the rising edge of a pulse input on the Z Gate Reset terminal will stop counting read and store the current counter value in the Stored Accumulated Count word and reset the counter to zero The counter does not count while the input pulse on the Z Gate Reset terminal is high Counting resumes from zero on the falling edge of the pulse at the Gate Reset terminal The stored count information will remain until it is overwritten with new data Store Reset Wait Start Counter has stopped Counting Stop Count Store SS Start Counting and Reset to zero from zero Store Count Mode 4 Store Reset Start In mode 4 the rising edge of a pulse input on the Z Gate Reset terminal will store the current counter value in the Stored Accumulated Count word and reset the counter to zero The counter will continue counting while the Z Gate Reset terminal is high The stored count information will remain until it is overwritten with new data Store Reset Start Start Counting Store Count N and Reset to zero Continue Counting S a 17 of 51 Title RIO CUS5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide 3 2 Output Control To connect an output to a compare window the user could program the module accordingly Tie Output 0 to Window 0 Program Window 0 ON Value to 2000 Program Window 0 OFF Value to 5000 ON OFF Operation of Output 0 Output remains energized for 3000 additional counts Output tur
8. PWM 3 and rate measurement 7 configurations are used The maximum value is 200 38 of 51 Title RIO CUS5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules Scalar How to Use Guide This byte scales the Z signal in the period rate 5 continuous rate 6 and pulse generator 8 configurations If the filter is applied then the filtered Z is scaled Only one bit of the scalar should be set Selecting a scalar will cause accumulated counts to be adjusted accordingly i e selecting a scalar of 128 will increase the accumulated count by 128 after 128 Z pulses have been received It is highly recommended that anytime Z is scaled divide by 2 4 8 etc the Z input should be filtered otherwise noise could cause erroneous frequency readings 0 Z Fin 0 149Hz Z 2 Fmin 0 298Hz Z 4 Fin 0 596Hz 2 8 Fin 1 192Hz 2 16 Fin 2 384Hz 2 32 Fin 4 768Hz 64 Frin 9 537Hz 2 128 Fmin 19 073Hz SS Fmin indicates the frequency at which the 24bit counter overflows Output 0 1 Ties RIO CU5 and RIO CU 24 only The bits in these two bytes connect the specified output to the appropriate compare window There are four windows associated with the counter Each output may be connected to any number of windows from one to all four The bits are defined as follows TO Tie Output to 1 Compare Window also the PWM signal in PWM 3 configuration T1 Tie Output to 2 Compare Window T2 Tie Output to 3 Compare Windo
9. Reset pin be divided by a user defined number There is one scalar value for each counter Acceptable values for the scalar are 1 2 4 8 16 32 64 and 128 The default value for each scalar is 1 Note that a 0 scalar is equivalent to a 1 The product of the Sample Period times the scalar should be less than 6 71 seconds in order to avoid a zero frequency detect indication 5 MHz sample time 200ns 16 777 216 counts x 200ns x 2 half cycles of Z 6 71 seconds 10 of 51 Title RIO CUS5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide 2 4 Continuous Rate Mode RIO CU5 amp RIO CU24 only The Continuous Rate Mode will return an incoming frequency and a total accumulated count to Backplane bus by gating an internal SMHz internal clock with an external signal Similar to the Period Rate mode except outputs in this mode are updated continuously This mode determines the frequency and total number of input pulses by counting the number of internal SMHz clock pulses over a user specified number of input signal pulses Each output is turned on as soon as the turn on count is reached and turned off as soon as the turn off count is reached As the internal S5MHz clock is counted the outputs dynamically track the 5MHz count Continuous Rate Mode A Not Used B Not Used Input A Input B Input Z Gate Reset Encoder Pulse Generator Scalar 5 MHz Clk RIO CU5 24
10. basic encoder types absolute and incremental A single output incremental encoder is called a tachometer encoder A dual channel incremental encoder with one channel leading the other by 90 is called a quadrature encoder A system using a quadrature encoder may include an optional zero pulse or index serving as a reference mark for system reset The principal disadvantage of a system using incremental encoders is that a power interruption causes the loss of position reference so a system must be reinitialized or returned to a known zero position Absolute encoders typically have higher speed requirements 200 KHz typical for motion control applications An absolute encoder has a unique code associated with each position so the exact position is always known even if the system power is turned off 7of 51 Title RIO CUS5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide 2 2 1 Encoder Mode X1 X2 X4 Multiplying Encoder Mode A Input A B p Input B Z Store Count Input Z Gate Reset Quadrature Encoder RIO CU5 24 Forward Rotation Reverse Rotation oe ME ee B Input 1 2 3 2 1 0 X1 Count 1 2 3 4 5 6 5 4 3 2 1 0 X2 Count Outputs 1 2 3 J4 5 j6 7 8 19 10 11 J12 11 109 I8 17 16 15 4 1 3 2 1 JO Updated gt X1 Multiplying Encoder Mode Quadr
11. of Counters Maximum Count Value Number of Inputs Input Voltage Input Current Input Off State Current Input Off State Voltage Input On State Current Input On State Voltage Maximum On State Voltage Input Filter Selections Maximum Input Frequency 30 28 8 Input a a Voltage 20 1 16 777 215 24 bit counter 1 group of A Aretum B Bretum and Z Zretum 5Vdc RIO CU5 amp RIO CUSL or 15 24Vdc RIO CU24 amp RIO CU24L 19 1mA 5Vdc 25 7mA 6Vdc RIO CUS amp RIO CUSL 6 lmA 15Vdc 10 2mA 24Vdc RIO CU24 amp RIO CU24L lt 0 250mA lt 1 25Vdce RIO CUS amp RIO CUSL lt 1 8Vdc RIO CU24 amp RIO CU24L gt 5mA gt 2 6Vdce RIO CUS amp RIO CUSL gt 12 5Vde RIO CU24 amp RIO CU24L 6V RIO CUS amp RIO CUSL See derating figure below RIO CU24 amp RIO CU24L 5 selections OFF or 10us 100uUs 1 0ms 10 0ms per A B Z group See text for details 1 0MHz counter and encoder x1configurations no filters 500kHz encoder x2 configuration no filters 250kHz encoder x4 configuration no filters 10 20 30 40 50 Module Ambient Still Air Temperature C 21 of 51 Title RIO CUS5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide 4 1 4 Output Specifications This section only applies to RIO CU5 amp RIO CU24 Number of Outputs Output Control Output Supply Voltage Range Off State Leakage Current On State Voltage Drop On State Current Max
12. system side red yellow LEDs 1 Network status system side red green LEDs 1 Module status system side red green LEDs Modules are pre qualified for 1250Vacrms between each of the four isolated areas Module 1 a System side Backplane bus b A B Z inputs c OO O1 and user power supply d Chassis Ground Module 2 a System side Backplane bus b Chassis Ground c Vaux d User power supply common No additional external power is needed to power the module 24Vdc nominal range 10 28 8Vdc 2 97 L x 0 472 W x 2 21 H or 75 5mm x 12mm x 56mm Does not represent power required to supply the outputs 23 of 51 Title RIO CU5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide Environmental Conditions Operational Temperature Storage Temperature Relative Humidity Shock Operating Non operating Vibration Conductors Wire Size Category 4 2 4 2 1 20 to 55 C 4 to 131 F 40 to 85 C 40 to 185 F 5 to 95 non condensing operating 5 to 80 non condensing non operating 30g peak acceleration 11 1 ms pulse width 50g peak acceleration 11 1 ms pulse width Tested 5g 10 500Hz per IEC 68 2 6 14 gauge stranded maximum 3 64 inch 1 2mm insulation maximum 2 Pin and Wiring Assignments High Speed Counter Module to Terminal Base Connector The Counter Modules plug into a terminal base via a 20 position edge card connector which enables the module to make connectio
13. that accumulation can follow in these modes is 200Hz x scalar value ex 200Hz x 128 is 25kHz Finally in rate measurement 7 configuration it is the total number of pulses seen at the A input accumulated over each period as specified by the product of the time base x gate interval The range of values occupy the entire 32 bit size from 0 lt value lt OxFFFFFFFF 4 294 967 295 Changing the configuration does not clear these words Module Channel Status PE Programming Error bit If an incomplete incorrect or conflicting set of configuration parameters are sent to the module the PE bit will be asserted and an error code will be placed in the Programming Error Code word assembly 6816 The module will not enter a normal operational state Bit definitions for the error code are E10 An invalid assembly was chosen for poll consumption 0 105 or 106 are valid E9 The decimal point position is outside of acceptable range E8 Counter 0 window ON amp OFF values are equal and not zero OR Counter 0 window ON or OFF value greater than the Rollover E7 A tie has been connected to an unprogrammed window E6 A configuration was selected that requires the scalar and none was programmed OR Multiple scalars were selected E5 The preset is out of range 2 Rollover E4 A rollover of zero was programmed though PWM was not selected OR A rollover was programmed and PWM was selected OR Rollover is out of range gt 0x01000000 E3 A config
14. 0 OFi0E9 B8 E7 E6 E5 B4 E3 E2 El EO Output Information Counter Control 0O 0 0 0 0VRCP CR Output Control DS ES OE FO DS ES OE FO PWM Value 16 bit decimal value with range from 0 9500 0 95 00 Configuration Information Counter Configuration ZI MD MD MD CF CF CF CF Filter Selection 0 ZF BF AF FS FS FS FS Decimal Position 8 bit value used to modify the Present Channel Data display Active Output Assembly Assembly 0 105 or 106 Time Base or PWM Period 16 bit value used to set the time base or PWM period Gate Interval 8 bit value used to set the gate interval Scalar 8 bit value used to divide the Z input by 2 Output 0 Ties 0 O OS OTST TITO Output 1 Ties 0 0 OTS T2 TI TO Rollover Value 32 bit value at which the counter is commanded to rollover Preset Value 32 bit value the counter is to be set when CP is asserted ON Value 1 OFF Value 1 ON Value 2 OFF Value 2 32 bit values that set the 4 compare windows ON Value 3 OFF Value 3 id ON Value 4 OFF Value 4 PWM Safe State Value 16 bit safe state value for the PWM signal Counter Control Safe State Value O 0 0 0 0YVRCP CR Output Control Safe State Value DS ES OE FO DS ES OE FO Requested Poll Produce Assy VHSCx 101 102 or 103 RIO CUSL RIO CU24L 101 102 103 Requested COS Produce Assy VHSCx 102 or 103 RIO CUSL RIO CU24L 102 103 Requested Poll Consume Assy VHSCx 0 105 or 106 4 3 6 ASA Information Vendor ID 1 AB P
15. 1 Title RIO CU5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules 6 0 How to Use Guide Settable Assemblies New for Series C The VHSC and RIO CUSL RIO CU24L catalogs have an additional feature for series C It is now possible to set the produce and consume VHSC only connection paths to the desired assembly On the RIO CUS5 and RIO CU24 Parameters 23 through 25 specifies the requested assembly to be used 23 Requested Poll Produce Assy 0x65 0x66 0x67 24 Requested COS Produce Assy 0x66 and 0x67 25 Requested Poll Consume Assy 0x00 0x69 0x6A 0x6B On the RIO CUSL and RIO CU24L Parameters 23 through 25 specifies the requested assembly to be used 11 Requested Poll Produce Assy 0x65 0x66 0x67 12 Requested COS Produce Assy 0x66 and 0x67 These are available for the DeviceNet network These parameters are stored in EEPROM but are over ridden when the module is used with any other network 49 of 51 Title RIO CUS5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide 7 0 Product Revision RIO CUS A Cat Rev Package Assy FW Description 126590 A01 96355471 A01 1 001 Release 127099 B01 96355472 A01 1 001 Add UL CUL 127423 C01 96355473 A01 1 001 Improve retention of writeable label 128487 D01 96355473 A01 1 001 Change shipping carton 128676 E01 96355473 A01 1 001 Add web address to carton 129038 F01 96355474 A01 1 002 Prevent incomplete data from being sent in poll message add
16. ASIC is loaded with the new operational parameters 15 of 51 Title RIO CUS5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide 3 Operating Mode Features 3 1 Operating Mode Features The Z Gate Reset Terminal will operate in one of four modes when the Store Count feature is in use The four figures below detail the operation in each mode Store Count Mode 1 Store Continue In mode 1 the rising edge of a pulse input on the Z Gate Reset terminal will cause the current counter value to be read and stored in the Read Data file The counter will continue counting The stored count will be available in the Stored Accumulated Count word The stored count information will remain until it is overwritten with new data Store Continue Read Store Count and Continue Counting N Store Count Mode 2 Store Wait Resume In mode 2 the rising edge of a pulse input on the Z Gate Reset terminal will read and store the current counter value in the Stored Accumulated Count word and inhibit counting while the Z Gate Reset terminal is high Counting resumes on the falling edge of the pulse at the Z Gate Reset terminal The stored count information will remain until it is overwritten with new data Store Wait Resume N Stop Counting Store Count Resume Counting ak e 16 of 51 Title RIO CU5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide Store Count Mode 3 Store Reset Wait Start
17. FS is asserted to indicate a fault Output Enable When this bit is set to 1 outputs are permitted to turn on from either a force on FO a compare match or as directed by the PWM settings When OE equals zero the module turns the associated output OFF Bit 5 amp 1 represent outputs 1 amp 0 respectively Force Output When this bit is set to 1 outputs are turned on if OE is 1 When FO equals zero Outputs may then be controlled by a compare match or as directed by the PWM settings Bit 4 amp 0 represent outputs 1 amp 0 respectively PWM Value RIO CU5 and RIO CU 24 only When the module is programmed for a PWM 3 configuration the time base is enabled the counter for the respective channel its rollover AND its 1 ON and 1 OFF value are utilized Ties may be used to direct the PWM signal to any or both outputs The range of PWM values is 0 lt value lt 9500 decimal i e 0 00 lt value lt 95 00 Entering a value below 0 will result in a PWM of 0 a value greater than 9500 will result in a PWM of 95 00 The actual duty cycle observed at the output will depend on the turn on and turn off times of the MOSFET the energy storage capability of the cable load and the resistance from output to return 35 of 51 Title RIO CU5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide Update Output Output Wrot Register Counter Comparators To Output Opto 0 E To Output Opt
18. NVS RIO CU5 B 128637 A01 96393871 A01 2 001 Hazardous rating limit windows to rollover GMM object RIO CUS C 130575 A01 96401671 A01 3 001 Pulse generator settable assemblies assembly 123 fast power up 131253 B01 96401672 A01 3 002 Permit faster input updates in GMM RIO CU24 A Cat Rev Package Assy FW Description 126590 A01 96351471 A01 1 001 Release 127099 B01 96351472 A01 1 001 Add UL CUL 127423 C01 96351473 A01 1 001 Improve retention of writeable label 128487 Dol 96351473 A01 1 001 Change shipping carton 128676 E01 96351473 A01 1 001 Add web address to carton 129038 F01 96351474 A01 1 002 Prevent incomplete data from being sent in poll message add NVS RIO CU24 B 128637 A01 96394071 A01 2 001 Hazardous rating limit windows to rollover GMM object Assy 123 RIO CU24 C 130575 A01 96401871 A01 3 001 Pulse generator settable assemblies assembly 123 fast power up 131253 B01 96401872 A01 3 002 Permit faster input updates in GMM 50 of 51 Title RIO CU5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide 1794 RIO CUSL A Cat Rev Package Assy FW Description 126590 A01 96355671 A01 1 001 Release 127099 B01 96355672 A01 1 001 Add UL CUL 127423 C01 96355673 A01 1 001 Improve retention of writeable label 128487 Dol 96355673 A01 1 001 Change shipping carton 128676 E01 96355673 A01 1 001 Add web address to carton 129038 F01 96355674 A01 1 002 Prevent incomplete data from being sent in poll mess
19. O CU5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide Decimal Position This byte changes the significant digits of the frequency or counter display In the frequency modes period rate 5 continuous rate 6 rate measurement 7 for example a 2 will move the decimal point left 2 places dividing the frequency value by 100 a 1 moves it right multiplying by 10 The firmware checks for placement to be in the range 4 lt value lt 2 A value outside the range will move the decimal point to the zero position and assert the programming error PE bit Moving the decimal point to the left i e negative allows high frequencies commonly present in rate measurement mode to fit within a single 16 bit word Moving the decimal point to the right i e positive allows low frequencies commonly present in period and continuous rate modes to have resolution displayed to 0 1Hz and 0 01Hz Frequencies should be kept below 3 2kHz for 0 1Hz resolution and below 320Hz for 0 01Hz Scalars of Z 128 Z 64 Z 32 and Z 16 should not be used when decimal positioning is applied 0 is the default setting In the counter modes counter 0 x1 encoder 1 x2 encoder 2 pwm 3 x4 encoder 4 it attenuates the counter display for example 20 divides count 1 by 20 The value may be in the range 0 lt value lt 255 The result of requesting a number other than performs the function COUNT 1 ATTENUATION This is useful
20. Title RIO CUS5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide RIO CU5 RIO CU24 RIO CU5L RIO CU24L How to Use Guide April 29 2002 lof 51 Title RIO CU5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide Table of Contents L PRODUCT OVERVIEW csccsessscccssnssserssnssscvessacdavestessvvastessnecsssousbesdsvsessstsnsausessusascessusassesscasecseussnassovosnedensesseses 1i SYSTEM OVERVIEW errot OEE AER EEEE EEE AE dotnwdieyselewdleledtabadenaaueuceudsbnedeedebueduelemmedecedeneee 12 MODULE OVERVIEW viiren En rae EE e EEEE EEEE r EEEE EEA EE EET Ea EEn 1 3 FUNCTIONAL OVERVIEW iorri Ei EEAO ENANA EO NEEE ENEE EEEE OE E EEEREN 1A OPERATING MODE OVERVIEW 6 ccsssccescnssccrnseeccowdeseadarcccccceedacaversdbcbwarebavsednsacedsebabessevowdereecveseceesesacdesdacene neds Ie 2l COUNTE NOE aa A A A S PA ENCODER MODES secre nerea E E E n a a enn a aiias Zed Encoder Mode Xi X2 X4 MUG VIS sisinio iiin e RERE AEE iE 25s PERIODI RATE MODE eccriene ae e abode enna lave vesowens adascedesedasneeesacuseSeleteesdauseesedelaaueececaseusent 2 4 CONTINUOUS RATE MODE RIO CUS5 amp RIO CU24 ONLY se neesssereereesssssreeerersrerreseeesrssreeerressosseeeresreeee ZS RATE MEASUREMENT MODE cccccccssssssseeecceeessesseccecceescausseccccceseeaueccesseceseeaueneeceeeessauanessesssaueneeeeeeesees 2 6 PWM MODE RIO CUS AND RIQ CUI24 ONLY 5 ccscsecshecescdiessssesesedevsessve
21. age add NVS RIO CU5L B 128637 A01 96394271 A01 2 001 Hazardous limit windows to rollover GMM object RIO CU5L C 130575 A01 96402071 A01 3 001 Pulse generator settable assemblies assembly 123 fast power up 131253 B01 96402072 A01 3 002 Permit faster input updates in GMM consume LSB in GMM 1794 RIO CU24L A Cat Rev Package Assy FW Description 126590 A01 96352271 A01 1 001 Release 127099 B01 96352272 A01 1 001 Add UL CUL 127423 C01 96352273 A01 1 001 Improve retention of writeable label 128487 Dol 96352273 A01 1 001 Change shipping carton 128676 E01 96352273 A01 1 001 Add web address to carton 129038 F01 96352274 A01 1 002 Prevent incomplete data from being sent in poll message add NVS RIO CU24L B 128637 A01 96394471 A01 2 001 Hazardous limit windows to rollover GMM object RIO CU24L C 130575 AOL 96402271 A01 3 001 Pulse generator settable assemblies assembly 123 fast power up 131253 B01 96402272 A01 3 002 Permit faster input updates in GMM consume LSB in GMM 51 of 51
22. ature input signals are used to count on the Leading up direction OR Trailing down direction edge of A for a bi directional count and channel B is used to determine the direction B leads A Count Down B follows A Count Up X2 Multiplying Encoder Mode Quadrature input signals are used to count on Leading AND Trailing edges of A for a bi directional count and channel B is used to determine the direction B leads A Count Down B follows A Count Up X4 Multiplying Encoder Mode Quadrature input signals are used to count on Leading AND Trailing edges of A AND B for a bi directional count and channel B is used to determine the direction B leads A Count Down B follows A Count Up 8 of 51 Title RIO CU5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide 2 3 Period Rate Mode The Period Rate Mode will return an incoming frequency and a total accumulated count to the Backplane bus by gating an internal SMHz internal clock with an external signal This mode determines the frequency and total number of input pulses by counting the number of internal SMHz clock pulses over a user specified number of input signal pulses At the end of the specified number of pulses the module returns the frequency 0 1MHz When the frequency is updated both outputs are checked against their associated presets Period Rate Mode A Not Used B Not Used Inpu
23. cation for every wire 0 1 0 1 0 1 A M A CHASGND CHASGND AQ OA 2 3 2 3 2 2 ow BO B M QR BO B A Bi 4 5 Zon o e ZA Z HOH OV ZA QZ 6 7 6 7 6 7 of Boat y CHASGND CHAS GND RIO CU5 24 Terminal Wiring RIO CUS5L RIO CU24L Terminal Wiring 4 3 Input Output Information Configuration Data The Counter Modules require several words to communicate real time input and output data as well as non real time module information i e description revision etc and configuration The following tables show the words which must be exchanged Data may be read or written get or set service using an Explicit Message For example to read the Present Channel Data Assembly 6516 10110 can be requested Service Class Instance Attribute OE get 04 assembly 65 Present Data 03 Data Attribute Data is ordered accordingly 8 bit byte byteO 16 bit word byteO bytel where byte0 is the LSB 32 bit long word byte0 bytel byte2 byte3 4 3 1 RIO CU5 amp RIO CU24 Assemblies Class Code 04 Class Attributes None Class Services None Instance Attributes 3 Data Get Set Instance Services OxOE Get Attribute Single 0x10 Set Attribute Single 25 of 51 Title RIO CU5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide Instantiated Instances INSTANCE Services FIELD BYTES 101 0x65 Get Present Channel Data 4 Status 102 0x66 Get Stored Channel Data Status
24. dsecauscevonvsesvsedesessoseessnsevosseescvesevess aks PULSE GENERATOR MODE RIO CUS5 AND RIO CU24 ONLY NEW FOR SERIES C o cccccccsscssssseseceeccesenaneeeeeeees 2 8 NEW DATA UA os cco cc st vbacccceccacetooedcnsednecuense EA naced vadvodline chine A EK EEA 2 9 DEFAULT CONFIGURATION 6 lt 0s5035sessssessccoeseosveeceetecesndbsapsenenecvesgabesedse nes devsegeserdondvessareasededeoseseacecetencdsosoadens 210 APPLICATION OF NEW CONFIGURA TIONS roeines ioen t e eeaeee EERE EEEE EAEE E EEKE E EESE ETEEN AAEE ARNES OPERATING MODE FEATURES ccsssssssssssssssssssssssssssssssssssssssssssssssessssssesssssscssscsssesssssscssssessscssessoess p 3l OPERATING MODE FEATURES soen nonin e aE E EE E EER AR en iei ai e ariaa 3 2 OUTPUT CONTRO eE EEE EEEN EEE E OAE AEE ENOTA EELE EONA ESROS EEEO SOEC E EROE PRODUCT SPECIFICATIONS sscssssssssssssssssssscessssssssssssssssssssssssssssessssessesssssssssssssessssssssssssssscssosssossoess gt 4 1 VO INTERFACE SPECICATION ooren EEEE ar EEEE ERRE E RATER dete ORAR AE aude aoi aP RERE 444 3 15 24 VDC Input Point Features Considerations ousensia isosisko iiia 4 1 2 Lead Breakage Missing Pulse Zero Frequency Considerations cccsscceescecesseceseeceesneecneeeseeensnees dda dnpit Specii CHOBE os 0 60 ccs sdue cacssaine inin ETEEN EEEE E REENER AE ANE 4 1 4 Output Specifications This section only applies to RIO CUS amp RIO CU24 esence di
25. e counter its rollover and its first On Off compare window Window 0 is assigned for internal use by the module If an output is tied to compare window 0 that output will have a duty cycle controlled by the PWM output value output word 2 or 3 Additionally the remaining three compare windows associated with the channel i e the counter may be programmed with On and Off values thereby providing signals related to the PWM signal generated by compare window 0 When using a counter in PWM mode its rollover is internally set to PWM period x 5MHz rollover i e 0 to rollover 1 Example 100ms x 5MHz 500 000 0 to 499 999 where PWM period is the product of the time base times the gate interval 5MHz is the internal sample rate Thus to generate additional signals from a counter set up for PWM compare windows through 3 may be programmed for On and Off values in the range of 0 to rollover 1 2 7 Pulse Generator Mode RIO CU5 and RIO CU24 only New for Series C The Pulse Generator Mode uses the Z input to enable the counter Specifying the window compare values appropriately may then be used to generate a pulse When the Z input is inactive the counter is cleared and held at zero Once the Z input goes active the counter begins incrementing at a 1 25MHz rate until the Z input returns to its inactive state If the Z input remains active greater than 13 4 seconds the counter will saturate at OxXOOFFFFFF and remain th
26. eakage since a broken wire will time out the watchdog 19 of 51 Title RIO CU5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide Zero Frequency Typically uses an input pulse to calculate an input frequency and verify it is above an error threshold This method does detect Lead Breakage since a broken wire will generate a 0 Hz frequency Missing Pulse or Zero Frequency will also detect a customer device stuck high or low since the counter is monitoring for a change in the input state Currently the Counter Encoder Modes do not have Zero Frequency Detection the A amp B inputs are time independent only looking for input edge changes to increment decrement the count value The Period Rate and Continuous Rate modes do have Zero Frequency Detection since the Z input is monitored for Zero Frequency in Firmware A and B inputs not used and not monitored The Rate Measurement mode inherently has Zero Frequency Detection since no A pulses in any sample period are 0 Hz B and Z inputs not used and not monitored Operational Mode Zero Input Frequency Monitored Detection Encoder N Nore Continuous Rate Y ZOny Rate Measurement Y AOnly PWM N PW Pulse Generator None 20 of 51 Title RIO CUS5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide 4 1 3 Input Specifications Number
27. ecked against their associated presets Frequency is calculated by dividing the accumulated count by the user selected time period and is returned in the read data Allowable time periods are 10 milliseconds to 3 seconds in 10 millisecond increments with a default value of 1 second Note that a 0 time period is equivalent to the 1 second default Rate Measurement Mode A Input B Not Used Z Not Used Gate Reset Input A Input B Input Z Encoder Pulse Generator Time Base RIO CU5 24 A Input Pulse Internal Sampling Gate Accumulated Count Frequency Calculated User Selectable Sample Period Outputs Updated Here 10 ms to 3 seconds in 10 ms increments If Sample Period is 50 ms and Count 3 then Frequency 3 50 ms 60 Hz 12 of 51 Title RIO CU5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide 2 6 PWM Mode RIO CUS5 and RIO CU24 only The Pulse Width Modulation mode uses the counter to generate a continuous rolling sequence of numbers The real time PWM value written to the module is converted to a window edge so that a variable duty cycle signal can be generated The counter will reset to zero based upon the PWM Period programmed into the module Any output tied to Window 0 will transmit the PWM signal By specifying the PWM mode configuration word 0 a period configuration word 2 and a gate interval configuration word 3 or 4 th
28. equested COS Produce Assy 1 25 i Requested Poll Consume Assy 1 Note Parameters 23 24 amp 25 are new for Series C firmware revision 3 001 28 of 51 Title RIO CU5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide 4 3 3 RIO CUS5L amp RIO CU24L Assemblies Class Code 04 Class Attributes None Class Services None Instance Attributes 3 Data Get Set Instance Services OxOE Get Attribute Single 0x10 Set Attribute Single Instantiated Instances INSTANCE Services FIELD BYTES 101 0x65 Get Present Channel Data Status 102 0x66 Get Stored Channel Data Status 103 0x67 Get Present Channel Data Stored Channel Data Status 104 0x68 Get Programming Error Code 105 0x69 Set Get Counter Control 106 Ox6a Set Get Counter Configuration Filter Selection Decimal Position Reserved Time Base Gate Interval Scalar Rollover Value Preset Value Counter Control SSV 123 Ox7b Set Get Counter Configuration Filter Selection Decimal Position Reserved Time Base Gate Interval Scalar Rollover Value Preset Value BBR PR PVR Rey Repel Rel Re RIBR TR TR IRR RT Rel Rey RIMM IJHIBRI MI RIN 29 of 51 Title RIO CU5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide Counter Control SSV 1 Alig
29. ere providing a timeout hold function This state can be exited by toggling the Counter Preset bit once an appropriate Preset Value has been initialized usually zero It should be noted that opposed to the other modes the CP bit must be explicitly set and cleared This mode may also be used to count the active duration of the Z input trigger Present Channel Data and the number of triggers received Stored Channel Data Counts cannot be attenuated in this mode The Z input invert works in this mode so that a de energized Z input may be recognized as active The scalar is available in this mode which permits output pulses to be generated over multiple Z activations 13 of 51 Title RIO CU5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules 2 8 How to Use Guide New Data Indicator A two bit counter C1 amp CO will be available which will be updated every time an event occurs indicating that new data is available in the Stored Accumulated Count words Events are defined by Any active gate transition in any of the Store Count Counter or Encoder modes The end of the gate sample period in either the Period Rate Continuous Rate or Pulse Generator modes The end of the programmed sample period in the Rate Measurement or PWM mode To use these bits reliably acquisition of data from the Counter Module must occur faster than the events which cause C1 CO to increment When C1 CO is updated a Chan
30. esessscssossscssssssssssscssssssessssssssessesssscssesssesssssseses Title RIO CU5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide 5 0 ADDED PROFILES FOR SERIES B 000 sscsssccccssscsscccesccncsersesecsscsscnsseescsscsesessossssscssonsssssesesssesssoncsee 44 ROLUS Be RIOYA oi aucecous esta iee o EE EEEE REEE NR EEEE EEN ERR 44 ROC USLA MOLUM irer a KE EE EEE R AE ESN EEN EE EE EEEE RE EEE E E UE TRA 47 6 0 SETTABLE ASSEMBLIES NEW FOR SERIES C ssssssessoessoessoessoessoesosoessoesoesosesooesoossoossoossoosesosssossseessees 49 7 0 PRODUCT REVISION scsssssssssssscssscsssscsscsesssssssesssescsesssessesessssssssseesssesssesssesceeseesesseesesseseseseseesseseseees 50 3 of 51 Title RIO CU5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide 1 Product Overview 1 1 System Overview The Counter Modules are inserted into the EH RIO product platform which provides common packaging terminal bases and communications The microprocessor provides the Backplane bus interface and supervisory functions needed to communicate the counter ASIC s information The Counter Modules contain the I O circuitry counter ASIC and the Backplane bus interface and when plugged into its EH RIO terminal base allows connectivity between the Backplane bus and the customer field input and output devices 1 2 Module Overview The Counter Modules install into the EH RIO Terminal Base RIO BSC BSP o
31. for scaling a large counter value to a smaller 16 bit value or a percentage 1 is the default setting and zero reverts to 1 to prevent a divide by zero This feature has no effect in pulse generator 8 configuration Active Output Assembly RIO CU5 and RIO CU24 only This byte permits selection of either assembly 105 0x69 Counter Output Control or 106 Ox6A PWM Value for poll consumption Entering a zero will cause the default assembly 105 to be selected This is available on the RIO CU5 24s only For Series C and later Parameter 25 must be zero to access this legacy operation Time Base PWM Period This word sets the fundamental time base for the counter Its resolution is in milliseconds with minimum 10ms intervals i e an interval of 10 milliseconds is a value of 10 1 second is 1000 The maximum value that may be programmed is 3 seconds 3000 The time base must be entered when the PWM 3 and rate measurement 7 configurations are used Gate Interval This byte sets the counter s gate interval using the time base setting as its time unit i e its resolution is determined by the time base The actual gate interval is the product of the time base and the gate interval ex 50ms gate interval may be produced with a time base of 10 and a gate interval of 5 or a time base of 50 and a gate interval of 1 The maximum value of the product of time base x gate interval is 3 seconds The gate interval must be entered when the
32. ge Of State COS message can be sent 2 9 Default Configuration The module s default configuration will be VHSC Counter Mode 0x00 50Hz filter on A B and Z 0x78 Decimal Position 0x00 Active Output Assembly is 105 0x00 No time base 0x0000 No gate interval 0x00 No scalar 0x00 Output 0 untied 0x00 Output 1 untied 0x00 Rollover OxOOFFFFFF Preset 0x00000000 Window comparators 0x00000000 all PWM Safe State 0x0000 Counter Control Safe State 0x00 Output Control Safe State 0x00 RIO CU5L amp RIO CU24L Counter Mode 0x00 50Hz filter on A B and Z 0x78 Decimal Position 0x00 Reserved 0x00 No time base 0x0000 No gate interval 0x00 No scalar 0x00 Rollover OxOOFFFFFF Preset 0x00000000 Counter Control Safe State 0x00 14 of 51 Title RIO CU5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide 2 10 Application of New Configurations When a configuration is sent to the RIO CUS5 24 it is checked for consistency before being applied If an error is found in the configuration the PE bit is asserted and the module locally retains its previous configuration To isolate any problems an improperly configured module may have the user application program i e ladder program should monitor this error If the configuration is considered acceptable the counter ASIC is disabled i e counting is suspended and outputs are shut off while the
33. hotodiode of the opto isolator and that channel will be off Its corresponding input status indicator will be off All 3 Inputs are electrically identical A B Z and consist of the following Channel A and A return Channel B and B return Gate Z and Z return There are 2 basic classes of driver devices built into encoders and other pulse sources single ended and differential A single ended driver output consists of a signal and a ground reference A differential driver consists of a pair of totem pole outputs driven out of phase One terminal actively sources current while the other sinks and there is no direct connection to ground Differential line drivers provide reliable high speed communication over long wires Most differential line drivers are powered by 5V and are more immune to noise than single ended drivers at any operating voltage 4 1 2 Lead Breakage Missing Pulse Zero Frequency Considerations First a few definitions are needed to define the intended operation of the Counter Modules Lead Breakage Typically requires a shunt resistor across the load to detect 3 levels of current input states Open Wire Off Device Off Wire OK Device Off On Wire OK Device On This method does not check the input against a time base only that the device wiring current loop is intact Missing Pulse Typically uses an input pulse to reset a watchdog timer fixed or programmable HW This method does detect Lead Br
34. igurations PWM 3 period rate 5 continuous rate 6 rate measurement 7 is O lt value lt OxXOOFFFFFF The maximum value is OXOOFFFFFF 16 777 215 When a tie is connected to a window comparator that window must be specified i e ON value OFF value 0 These Windows are always interpreted as counts regardless of the configuration setting and may be computed as follows counts scalar x 2 5E6 desired_freq period rate 5 continuous rate 6 counts time_base sec x gate_interval x desired_freq rate measurement 7 Safe State Values When either the host transitions to PROGRAM mode or a communication fault i e broken network cable occurs the module copies these safe state words into its real time working buffer The definitions are identical to those described under Real time Output Data with the following exception entering a PWM Safe State value outside of the range 0 9500 will result in a Hold Last State to be executed 40 of 51 Title RIO CUS5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide 4 4 Status Diagnostic LEDs The Counter Modules have several system side LEDs which behave according to the Common LED definitions in FS X0220 1 red green module status 1 red green network status 3 yellow input status 2 red yellow output status RIO CUS and RIO CU24 only The behavior for these LEDs is described as follows Module Status Solid Green Module is operating no
35. imum Max Module Output Current Short Circuit Current Open Wire Detection Delay Time Off On Delay Time On Off 1 isolated group of 2 capable of 0 5A max 24Vdc Outputs may be tied to any of 4 compare windows 10 28 8Vdc lt 0 5mA lt 0 3Vdc 0 5A 0 5A 1 0A 6A Outputs are short circuit protected and based upon programming either cycle until the fault is corrected or latch off Short circuit detected when output is turned ON Open wire detected when output is turned OFF 25us load dependent 150us load dependent Exceeding the maximum input voltage may cause permanent damage to the input 22 of 51 Title RIO CUS5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide 4 1 5 General Specifications Terminal Base Compatibility Terminations Backplane bus Current Power Dissipation Keyswitch Position Indicators Isolation Voltage External DC Power Field Power Bus Dimensions RIO BSC BSP or RIO BSC3 BSP3 A M1 0 Aree M1 1 B M1 2 Bree M1 3 Z M1 4 Zes M1 5 Out 0 ChasGnd opt M1 6 Out 1 ChasGnd opt M1 7 ChasGnd M2 0 ChasGnd M2 1 Out 0 Return M2 2 Outl Return M2 3 Vaux M2 4 Vaux M2 5 Vaux M2 6 Vaux M2 7 160mA RIO CUSL and RIO CU24L 180 mA RIO CUS5 and RIO CU24 1 5W RIO CUS 1 9W RIO CU24 1 1W RIO CUSL 1 5 W RIO CU24L 2 3 Input status system side yellow LEDs 2 Output status
36. la General SPCC OBIOUS ornini iina ie e eei E E E A EE N A SEEE OEE ERENER 4 2 PIN AND WIRING ASSIGNMENTS aae eR ERRE ER E EER EE REEERE E EE E ERNE 4 2 1 High Speed Counter Module to Terminal Base Connectort sesssceeseesereereeereereeereeereerrrerrrerrrerere 422 Terminal Base Field Wiring ASStOMMEnIS oniieesiisseeoskiieesees inensis onanii nesh 4 3 INPUT OUTPUT INFORMATION CONFIGURATION DATA arerioei ror iei korner Erosie ror i orire irr SE EKEKO 4 3 1 RIO CUS amp RIO CU24 Assemblies o ccecccccccccceessssceseeeeeeeeeseseeeeeeessesseaeeeeeeesssssaseesaaeesessessaaseeseesesensaeaaaas ee VESC Tarni er CLASS 50905 saci dec nade E E ae as A RRA BE AA 4 3 3 RIO CUSL amp RIO CU24L ASSCMDIICS ccccccccccccscsccccceesecsneesaaeeeessesssaceeesessssusauaeeaaeeeessessaaaeeesesenenessaaeees dad RIOCUSERIO CU24L Parameter Cosse eieiei eset as bac ea iieii aea ENAR vtniian ES NERE ESNS Lar Ea a ED A E E E E OE E A J0 ASA ROUN o e E A E A E ETE BED A E E A E E N T E duducuena suaneduch C E S e E E E E E E LLS MOMMY IO DO ioa e EEEE EE AAA EEE E E E AA E E EE E S 4 4 STATUS NS LEDS r E KENEAN EREE EO EAEE ERATA AEAEE EEA 4 5 EOLA TON eie EA E EE E E EEE EEEE E EE O TEE 4 6 POWER REQUIREMENTS AND CONNECTIONS recie ioneina vacaeleuhadeatanhedaslebiedecsietecdeleneadacteetdanlebivdevdentucdueeevesd 2of 51 OPERATING MODES ccssssssssssssscsesscssssscssscssssssssssscssssss
37. multiple modules The counter has four user selectable On Off values i e windows associated with it Either output may be tied to any or all of the window signals 4of 51 Title RIO CU5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide 1 4 Operating Mode Overview Counter Mode Read incoming single phase pulses return a binary count Encoder Mode Read incoming 2 phase quadrature pulses return a binary count Period Rate Mode Count internal clocks during the On period return a frequency Outputs updated only at the end of the period Continuous Rate Mode Count internal clocks during the On period return a frequency Outputs updated continuously during the period Rate Measurement Mode Read pulses during the sample period return a frequency PWM Mode Generate a pulse width modulated signal RIO CUS amp RIO CU24 only Pulse Generator Mode Generate a pulse return width and quantity of trigger RIO CUS amp RIO CU24 only 2 Operating Modes There are 7 operating modes in the RIO CUS5 CU24 modules and 4 in the RIO CUSL CU24L modules Counter Encoder Period Rate Continuous Rate Rate Measurement PWM and Pulse Generator Modes The operation of the Counter and Encoder modes is nearly identical The only difference between the two modes is in the type of feedback 1 phase vs 2 phase for the count direction up or down That is in Encoder mode a transition is expected o
38. n B for counting to proceed in a direction whereas in Counter mode the B input may be left at a static level All operating modes are selected by writing appropriate configuration data to the module Sof 51 Title RIO CUS5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide 2 1 Counter Mode The Counter Mode reads incoming pulses and returns a binary number 0 16 777 215 max to the Backplane bus The Counter mode accepts only single phase inputs The module will determine the Phase B input state and count up or down accordingly Channel A Input is used as the counting pulse while channel B is used to determine the direction B High Count Down B Low or floating not connected Count Up The Channel B input may be tied high or low for unidirectional counting or toggled for bi directional counting Counter Mode Input A B Direction Z Store Count Gate Reset Input B Input Z Single Phase Pulse Generator RIO CUS 24 Count Up Count Down Outputs Updated Continuously 6 of 51 Title RIO CU5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide 2 2 Encoder Modes The Encoder Mode reads incoming pulses and returns a binary number 0 16 777 215 max to the Backplane bus The Encoder mode will accept only 2 phase quadrature inputs The module will sense the relationship between the 2 phases and count up or down accordingly There are two
39. nment reserved 0 1 Assembly 101 is produced for a polled connection Assembly 102 is produced for a COS connection Assembly 103 104 and 106 are by Explicit message only and Assembly 105 is consumed in a polled connection Note Assembly 123 was added at firmware revision 3 001 30 of 51 Title RIO CUS5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules 4 3 4 How to Use Guide RIO CU5L RIO CU24L Parameter Classes Class Code OF Class Attributes None Class Services None Instance Attributes 1 Data Get Set Instance Services OxOE Get Attribute Single 0x10 Set Attribute Single Parameter 1 Set Get Counter Configuration 1 2 m Filter Selection 1 3 5 Decimal Position 1 4 i Reserved 1 5 7 Time Base 2 6 Gate Interval 1 7 a Scalar 1 8 i Rollover Value 4 9 Preset Value 4 10 Counter Control SSV 1 11 i Requested Poll Produce Assy 1 12 i Requested COS Produce Assy 1 Note Parameters 11 amp 12 are new for Series C firmware revision 3 001 31 of 51 Title RIO CU5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide 4 3 5 Format of the Data Input Information Present Channel Data 32 bit value of the present counter state Stored Channel Data 32 bit value of the stored accumulated count Status PE EF NR OFS FS OS OS 02S BS AS C1 CO ZD 0 Programming Error Code PE 0 0
40. ns ON at count value of 2000 Output turns OFF at count value of 5000 If the OFF value is greater than the ON value the output turns ON at 2000 and OFF at 5000 Left figure If the ON value is greater than the OFF value the output turns OFF at 2000 and ON at 5000 Right figure Effect of ON OFF Value on Output Output remains Energized Output remains De Energized for 3000 additional counts for 3000 additional counts Output turns ON Output turns OFF Output turns OFF Output turns ON at count of 2000 at count of 5000 at count of 2000 at count of 5000 Turn Off Value gt Turn On Value Turn On Value gt Turn Off Value 18 of 51 Title RIO CU5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide 4 Product Specifications 4 1 I O Interface Specifications 4 1 1 5 15 24 VDC Input Point Features Considerations The input circuitry of RIO CU5 and RIO CUSL modules will be compatible with a 5Vdc differential line driver single ended driver open collector circuit and electromechanical switches The input circuitry of RIO CU24 and RIO CU24L modules will be compatible with a 15 24Vdc differential line driver single ended driver open collector circuit and electromechanical switches To turn on an input circuit the user must source current through the input resistors sufficient to turn on the opto isolator in the circuit If no connection is made to a pair of input terminals no current will flow through the p
41. ns to screw or spring clip terminals for customer field device I O and power In addition Backplane bus signals also make connections through this interface A signal description follows Module 1 M1 Module 2 M2 Description Pin Number Description Pin Number 1 Screw 0 A 1 2 Screw 1 Aret 2 3 Screw 2 B 3 4 Screw 3 Bret 4 5 Screw 4 Z 5 6 Screw 5 Zret 6 7 Screw 6 Output 0 Ground CU5L CU24L 7 8 Screw 7 Output 1 Ground CU5L CU24L 8 9 Chassis Ground 9 10 Chassis Ground 10 11 User_Supply for outputs 11 12 User_Supply for outputs 12 13 Common 13 14 Common 14 15 Bus_Can_H 15 16 Ground 16 17 Bus_Can_L 17 18 Vcc 18 19 Bus_Ena_In_L 19 20 Bus_Ena_Out_L 20 24 of 51 Screw 0 Chassis Ground for shield Screw Chassis Ground for shield Screw 2 Common output return Screw 3 Common output return Screw 4 Vaux for encoder Screw 5 Vaux for encoder Screw 6 Vaux for encoder Screw 7 Vaux for encoder Chassis Ground Chassis Ground No Connect No Connect Common Common No Connect No Connect No Connect No Connect Bus_En pass thru Bus_En pass thru Title RIO CUS5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide 4 2 2 Terminal Base Field Wiring Assignments The proposed terminal assignments for customer connections to the EH RIO Terminal Base are shown below To meet European standards the terminal base assignments provide one lo
42. o 1 Register Enable Register Counter to Output Logical Connectivity 36 of 51 Title RIO CUS5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide 4 3 9 Configuration Data Counter Configuration This byte sets the counter configuration 2 1 0 lt COUNTER 0 CF gt 0 counter encoder xl encoder x2 pwm RIO CU5 and RIO CU24 only encoder x4 period rate continuous rate RIO CU5 and RIO CU24 SOOO OOD AW PRPRPODOOSO FOOrRrFOOSO OrPOFRORF only oO bh bh bh rate measurement 1 0 0 0 pulse generator store count disabled mode 1 store continue mode 2 store wait resume mode 3 store reset wait start mode 4 store reset start reserved reserved reserved 0 Z input is not inverted 1 Z input is inverted PRREROOCCO FPROOFRROAOO FOROCOFOFRSA Filter Selection This byte sets the A B Z input filters F 6 5 4 3 2 1 O lt COUNTER 0 0 ZF BF AF lt FS gt 0 0 0 0O no filter 0 0 0 1 50kHz 10us 0us 1 6ps 0 0 1 0 5kHz 100us 0us 13 2 us 0 1 0 O 500Hz 1 0ms 0us 125 us 1 0 0 0 50Hz 10 0ms 0ms 1 25ms 0 A input not filtered 1 apply filter to A input 0 B input not filtered 1 apply filter to B input 0 Z input not filtered ul apply filter to Z input See section Real Time Input Data Stored Accumulated Count and Configuration Data Scalar Assumes 50 duty cycle 37 of 51 Title RI
43. r BSC3 BSP3 and interface with the EH RIO DeviceNet Pass through RIO DNP the EH RIO DeviceNet Adapter RIO DNA or Profibus Adapter RIO PBA The Counter Module serves as a signal conditioner and function block i e a counter between the customer process signals on the Terminal Base and the Backplane bus containing the command information The three main functional blocks are the customer digital I O interface the counter ASIC and the microprocessor 1 3 Functional Overview The Counter Module accepts feedback from an encoder either single ended or differential pulse generators or mechanical limit switches at frequencies up to 1 MHz A filter is available with four settings 50Hz 500Hz 5kHz or 50kHz or may be turned off to achieve the fastest counting rate The input voltage range is 5Vdc RIO CUS or RIO CUSL or 15 24Vdc RIO CU24 or RIO CU24L The module returns the count or frequency in the form of a 24 bit binary number 0 16 777 215 expressed in a 32 bit long word Each counter has a user selectable Preset and Rollover value associated with it The RIO CUS5 RIO CU24 have 2 outputs that access Customer Power from the Backplane bus to facilitate various output device s voltage requirements The outputs are rated to source 0 5Amp at 10Vdc to 28 8Vdc The outputs RIO CU24 amp RIO CUS5 have been designed so that it is possible to tie them to an input RIO CU24 amp RIO CU24L which allows the user to cascade counters of
44. ration default 0 Filter Selection default 0x78 Time Base 2 bytes default 0 Decimal Position default 0 Scalar default 0 Rollover Value 4 bytes default OxOOFFFFFF Preset Value 4 bytes default 0 Counter Control Safe State Value default 0 Note Gate Interval will default to 10ms GMM Configuration Assembly Backplane bus attribute 10 Counter Configuration default 0 Filter Selection default 0x78 Time Base 2 bytes default 0 Decimal Position default 0 Scalar default 0 Rollover Value 4 bytes default OxOOFFFFFF Preset Value 4 bytes default 0 Counter Control Safe State Value default 0 For definitions see RIO CUSL RIO CU24L specification Produced IO Message high byte of high word Counter value 4 bytes low byte of high word high byte of low word low byte of low word high byte of high word Stored Accumulated value low byte of high word 4 bytes high byte of low word low byte of low word PE EF NR 0 0 0 0 0 Module Status 0 ZS BS AS Cl CO ZD O Input and Counter Status Reserved N E PSB Status ZS set if Z input is energized BS set if B input is energized AS set is A input is energized C1 CO event count see manual for complete description ZD set when in certain modes the signal frequency is zero PE set when the programming configuration is in e
45. rmally Flashing Green Device in standby needs commissioning or HW being programmed Solid Red Unrecoverable fault Flashing Red Minor fault Flash Red Green Device in self test Dark No power Network Status firmware common to other modules will be employed Solid Green On line connected Flashing Green On line not connected Solid Red Critical link failure duplicate MAC ID etc Flashing Red Connection timed out Flash Red Green Special fault see DeviceNet specification Dark Not powered or not on line Input Status Solid Yellow Input is ON Flashing Yellow Input is toggling Dark Input is OFF Output Status RIO CU5 and RIO CU24 only Solid Yellow Output is ON Flashing Yellow Output is toggling Solid Red Flashing Red Output is faulted open short or no output power Flash Red Yellow Output is toggling and faulted open Dark Output is OFF Al of 51 Title RIO CUS5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide 4 5 Isolation The Counter Module s isolation barriers have been tested to 1100Vdc 1min for UL and 2200Vdc 1 minute for stress between the following areas Module 1 a System side Backplane bus b A B Z inputs c OO O1 and user power supply d Chassis Ground Module 2 used with RIO CUS and RIO CU24 a System side b Chassis Ground c User power supply common d Vaux 4 6 Power Requirements and Connections The Counter Modules will use System side power
46. roduct Type 109 RIO CUS5 Product Code 13 RIO CU24 Product Code 14 RIO CUSL Product Code 15 RIO CU24L Product Code 16 32 of 51 Title RIO CU5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules 4 3 7 How to Use Guide Input Data Present Channel Data This is a 32 bit unsigned long word value representing the current count of the 24 bit counter configurations count 0 xl encoder 1 x2 encoder 2 PWM 3 x4 encoder 4 pulse generator 8 or the frequency configurations period rate 5 continuous rate 6 rate measurement 7 The range of values is 0 lt value lt OXOOFFFFFF 16 777 215 Stored Accumulated Channel Data This is a 32 bit unsigned long word value representing the stored count of the counter at the time of some specified event In counter configurations configurations count 0 xl encoder 1 x2 encoder 2 x4 encoder 4 without store modes selected these words are not updated With store modes selected they are the stored value of the counter at the time of the specified event ex rising edge of Z input In PWM 3 configuration it is the counter value at the end of the period specified by the product of the time base x gate interval In period rate 5 continuous rate 6 and pulse generator 8 configurations it is the total accumulation of unscaled Z pulses i e if scaling is set to 128 after 128 Z pulses the accumulator will increase by 128 counts The maximum frequency
47. rror EF set when an EEPROM fault has been detected NR set when module is not ready Error Exists set if any channel has an error New Status set if the channel has new status cleared when master reads Channel Status attribute 11 of the Backplane bus Object 47 of 51 Title RIO CU5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide Consumed IO Message VR CP CR Counter Controls Not Used VR assertion causes the stored accumulated value to be cleared CP assertion causes the counter to be loaded with the preset value CR assertion causes the counter to be cleared Channel Status Word Backplane bus attribute 11 with channel number in the data field of the request message INPUT 1 Rsvd Channel Number 0 Channel Direction input 1 1 JO Error Code Channel Type 2 words Error code Possible error codes 0 No Error 8 Lower Limit Exceeded ZD asserted 9 General Error EF asserted 10 Configuration Error PE asserted Profibus Identity Backplane bus attribute 16 Length Identity 7 6 5 4 3 2 1 0 cnsis size Direction Length Length 0 1 to 16 words or bytes Direction 00 01 input 10 output 11 in amp out 00 special Size 1 0 byte 1 word Consistency 1 0 over byte word 1 over length Profibus ID 0xC0 0x40 0xC4 48 of 5
48. s 0 ZS BS AS Cl CO ZD O Input and Counter Status Reserved N E PSB Status ZS set if Z input is energized BS set if B input is energized AS set is A input is energized C1 CO event count see manual for complete description ZD set when in certain modes the signal frequency is zero PE set when the programming configuration is in error EF set when an EEPROM fault has been detected NR set when module is not ready FS set when a fault is present on an output OS set when an output is on Error Exists set if any channel has an error New Status set if the channel has new status cleared when master reads Channel Status attribute 11 of the Backplane bus Object Consumed IO Message DS ES OE FO DS ES OE FO Output Controls VR CP CR Counter Controls OR MSB PWM Value 2 bytes LSB VR assertion causes the stored accumulated value to be cleared CP assertion causes the counter to be loaded with the preset value CR assertion causes the counter to be cleared DS assertion causes a 50ms filter to be placed on the output diagnostics ES assertion causes the output to act as an electronic fuse OE assertion allows any source to turn on the output FO assertion causes the output to turn on if enabled 45 of 51 Title
49. t A Input B Input Z Gate Reset Encoder Pulse Generator Scalar 5 MHz Clk RIO CU5 24 Z Input Pulse Y 5 MHz Internal LLL Sampling Clock 10 1 Frequency amp Outputs Accumulated Count ULL Updated Here gt lt Assumes symmetrical pulse 50 duty cycle so Period Sample Time On X 2 On amp Off Frequency 1 Period If Count 20 Scalar 1 and Clock Period 1 5 MHz Frequency 1 20 1 X 1 5 MHz X21 125 kHz As the frequency of the incoming pulse train at the Z Gate Reset terminal increases the number of sampled pulses from the 5MHz clock decreases Since accuracy is related to the number of pulses received over the sample period the accuracy will decrease with increasing frequencies at the Gate Reset terminal Refer to the following Scaling table 9 of 51 Title RIO CUS5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide Relationship Between Sampled Pulses and Input Frequency Input Frequency at Sample Pulses for Z Gate Reset 1 2 Cycle of Z Terminal in Hz Gate Reset Pulse 500 250 To some extent scaling the input frequency through the use of a scalar can lessen the decrease in accuracy A scalar value of 1 will only return an accurate input frequency if incoming input pulses have a 50 duty cycle Operation of Scalar In the Period Rate and Continuous Rate modes the scalar lets the incoming pulse train at the Z Gate
50. uration requiring time base was selected and no gate interval was set OR Gate interval is out of range gt 200 OR Product of time base and gate interval is greater than 3 seconds E2 A time base was entered that is not a multiple of 10 OR Time base is out of range gt 3000 i e 3 seconds El ZF BF AF were selected and no filter was programmed OR 33 of 51 Title RIO CU5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules EF NR FS OS ZS BS AS How to Use Guide Multiple filters were selected E0 A reserved configuration mode was programmed EEPROM Fault status bit If a fault is detected with the EEPROM during power up tests this bit is asserted to 1 It indicates that the content of the EEPROM has been corrupted most likely caused by loss of power during an executing write Not Ready status bit Whenever power is applied to the module the hardware must be initialized During this time the NR bit will be asserted Output Fault Status indicators where bit 11 is output 1 and bit 10 is output 0 A 1 indicates the output is either shorted or open Output Status indicators where bit 9 is output 1 and bit 8 is output 0 A 1 indicates the output is ON 0 it is OFF Z input Status This bit indicates the present status of the Z input A 1 indicates Z is ON a zero that it is OFF This bit is unaffected by Z Invert ZI in the Counter Configuration word B input Status This bit indicates the present stat
51. us of the B input A 1 indicates B is ON a zero that it is OFF A input Status This bit indicates the present status of the A input A 1 indicates A is ON a zero that it is OFF C 1 0 Stored data count This count cycles through 00 01 10 11 00 Each ZD time the stored accumulated count words are updated C 1 0 is incremented This feature assumes the host s sample rate including network delay and program scan is as fast or faster than the frequency of the event which updates C 1 0 Zero frequency Detected This bit becomes operational when frequency configurations are programmed configurations period rate 5 continuous rate 6 rate measurement 7 In period rate 5 and continuous rate 6 configurations counts are acquired during the ON state of the Z input At very low frequencies the counter saturates indicating a zero frequency detect The time it takes to determine a zero frequency in these two configurations can be as long as 6 7 seconds 16 777 216 counts x 1 SMHz x 2 half cycles of Z In rate measurement 7 configuration pulses on the A input are counted over a sample interval specified by the time base The time it takes to determine a zero frequency in this configuration will be determined by the sample interval ex time base 0 300 second 300 milliseconds to determine ZF 34 of 51 Title RIO CU5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules 4 3 8 How to Use Guide O
52. utput Data Counter Control VR CP CR Value Reset of stored accumulated count The transition of this bit from a 0 1 clears the stored accumulated count word The module will return this bit to zero Counter Preset The transition of this bit from a 0 1 sets the counter to the value specified by the Preset words The module will return this bit to zero Outputs are adjusted according to the window compare values In configuration pulse generator 8 this bit must be returned to zero explicitly 0 1 0 the module does not clear it Counter Reset The transition of this bit from a 0 1 clears the counter The module will return this bit to zero Outputs are adjusted according to the window compare values Output Control RIO CUS5 and RIO CU 24 only DS ES OE FO Diagnostic Speed When this bit is set to 1 the short circuit and open wire diagnostics will be filtered SOms to prevent nuisance trips caused by noisy environments When this bit is a zero diagnostics will respond in under 8ms to a fault condition Electronic fuse Select When this bit is set to 1 outputs will be disabled upon the detection of a fault short circuit or open wire and the output fault status indicator FS will be latched Recovery from a faulted state is achieved by sending ES 0 and OE 1 for the afflicted output When ES equals zero a faulted output will continue to operate as instructed until the fault is removed In either case
53. w T3 Tie Output to 4 Compare Window Rollover This long word sets the number of counts the counter will accumulate before rolling over For example a value of 1000 will produce a count sequence of 998 999 0 1 2 while incrementing or 2 1 0 999 998 while decrementing Rollover is a 32 bit number with a useable range of 1 lt value lt 0x01000000 16 777 216 In PWM 3 configuration this value should be zero in count 0 xl encoder 1 x2 encoder 2 and x4 encoder 4 configurations it should be specified to some non zero value and in period rate 5 continuous rate 6 rate measurement 7 and pulse generator 8 configurations is a don t 9 care 39 of 51 Title RIO CU5 RIO CU24 RIO CUSL and RIO CU24L Counter Modules How to Use Guide Preset This long word sets the preset value the counter will be loaded with when a Counter Preset CP command is issued Preset is a 32 bit number with a range of 0 lt value lt Rollover 16 777 215 max Counter ON and OFF Windows RIO CUS and RIO CU 24 only These long words program the four compare window s ON and OFF values The first compare window for each counter is utilized in PWM 3 configuration and when PWM is programmed for a channel the associated compare window should remain at 0 The range of each entry in configuration count 0 x1 encoder 1 x2 encoder 2 x4 encoder 4 is 0 lt value lt Rollover The range of each entry in conf
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