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1. ERR OK Yo A e BO CTR TMR IN 9 30V 5 12mA DC Pulse Out 5 86V A qw is D A c mm e ET c p B HFE 100 0 1W pod D Who g m m z E o Ye m pemi Yo c oo v 10K OUT B HFE gt 100 HO CTRIO 0 1W 10 E Power c amp T X 10K Gnd BD ure 100 01W 10 E 9 30VDC are 2 6 Counter I O User Manual 2nd Ed Rev D Chapter 2 Installation and Field Wiring HO CTRIO 2 TTL Input Wiring ERR OK e AG Yo so 9 CTR TMR Il IN 9 30V 5 12mA DC Pulse Out 5 36V 1A NPN General Purpose Transistor m lt 1 A c TTL Device am B i 1 c HFE 100 E D f im 10 bow E I T Yc ux D Jv pum to iii UT HO CTRIO n E TTL Device 10K B HFE 100 0 1W 10 ji I HO 9 30VDC TTL Device n TTL Device HFE gt 100 0 1W 10 E Counter I O User Manual 2nd Ed Rev D 2 7 Chapter 2 Installation and Field Wiring HO CTRIO 2 Output Wiring Schematic 2 See page 2 3 for locating and setting the jumpers Q vc CTRIO Output 5 to 36VDC Yn where n 0
2. 1M e e 2M YO e e Y1 YO e e Y2 pM YO e e Y3 CO ee C1 tee co e e c2 CO C3 H2 CTRIO 2 Jumper Functions H2 CTRIO H2 CTRIO2 Function Install jumper to internally connect the input commons 1M and 2M in order to reduce wiring if appropriate Install jumper s to internally connect YO to other Y terminals in order to reduce wiring if appropriate Connect wire at YO Install jumper s to internally connect CO to other C terminals in order to reduce wiring if appropriate Connect wire at CO Install jumper s to internally connect C3 to other C terminals in order to reduce wiring if appropriate Connect wire at C3 2 12 Counter I O User Manual 2nd Ed Rev D Chapter 2 Installation and Field Wiring Wiring the H2 CTRIO 2 Module The H2 CTRIO 2 module has two independent input channels each consisting of 4 optically isolated input points pts LA 1D on common 1M and pts 2A 2D on common 2M The inputs can be wired to either sink or source current The module has 4 optically isolated output points pts YO Y3 with isolated commons C0 C3 respectively The outputs must be wired so positive current flows into Cn terminal and then out of the Yn terminal see the diagram below and the schematic on page 2 19 Remember that th
3. User Bus Terminals no internal connection to CTRIO O O O O O O O O O O O O O O O O USER BUS 1 0jHj DI HI BI B D D1 D D D4 HB D HEB D This example assumes that the Step Amplifier interface to be optocoupler LEDs common anodes at the OPTO Power terminal with internal current limiting resistors This is a standard method but you must consult you step amplifier documentation to ensure that this method is applicable Counter I O User Manual 2nd Ed Rev D l 2 35 Chapter 2 Installation and Field Wiring Solid State Input Device Wiring to the TLH CTRIO Module NPN Field Device This drawing illustrates wiring that is typical for Channel 1 terminals 1A 1B 1C and 1D The same circuitry is also present at the corresponding Channel 2 terminals iai The same circuitry is present at the corresponding Channel 2 terminal PNP Field Device This drawing illustrates wiring that is typical for Channel 1 terminals 1A 1B 1C and 1D The same circuitry is also present at the corresponding Channel 2 terminals 24VDC f i ENI Sensing Circuit The same circuitry is present at the corresponding Channel 2 terminal 2 36 Counte
4. 8 7 Run to Position Mode inc 62424 eee ex RA Y ORS bones BOR eeS rs 8 8 Run to Position Mode with DirectSOFT IBox Instructions 8 9 System Functions Examples Overview seres 8 10 Simulating Retentive Counter uuu su ueste tact dete es 8 11 Reading CTRIO Internal Registers s xe nux cos ace RR ee 8 12 Chapter 8 DirectLOGIC Programming Examples DirectLOGIC Programming Examples Overview NOTE The programming examples on the following pages are provided as is without a guarantee of any kind This Chapter is provided by our technical support group to assist others We do not guarantee the examples are suitable for a particular application nor do we assume any responsibility for them in your application Chapter 6 Program Control contains flowcharts that provide detailed steps needed to execute a pulse profile or System Functions command The DirectSOFT programming examples provided on the following pages are simple examples that are intended to assist you in the basics of loading and running various output pulse profiles The examples are complete enough to load a profile process the command and load the Parameter registers necessary to execute the profile Two System Functions examples are also provided Load and Run a Pulse Profile example You will need to have a Trapezoid S Curve Symmetrical S Curve Home Search or Free Form profile configured using the Configure I O dialog You will also nee
5. D2 250 1 v 3 5 or later v 3 0C Build 71 or later any 1 0 slot except 0 D2 260 v 1 2 or later v 4 0 or later any 1 0 slot except 0 H2 WinPLC xK or later any 1 0 slot except 0 H2 EBC v 2 1 357 or later prior to Rev 9A any 1 0 slot except 0 Rev 9A or later any 1 0 slot H2 PBC prior to Rev 4A any 1 0 slot except 0 Rev 4A or later any 1 0 slot Do more None Counter I O User Manual 2nd Ed Rev D l 2 11 Chapter 2 Installation and Field Wiring Updated firmware versions can be downloaded from our web site at www automationdirect com SPECIAL NOTE For applications requiring multiple CTRIO modules DirecfiLOGIC CPUs and dynamic access in ladder logic to CTRIO data we recommend using the D2 250 1 or D2 260 CPU These CPUs support Bit of Word addressing 32 bit math instructions and have adequate memory for multiple CTRIO 2 applications Setting H2 CTRIO 2 Jumpers Jumpers are provided to connect input commons or outputs output commons Use of these jumpers is not necessary to set up the CTRIO module The jumpers are provided solely for convenience in wiring H2 CTRIO2 ES m TM C3 H CO C3 H C2 C3 H C1 Y2 L YO H2 CTRIO _ a Y3 L YO M YISL Y0 7
6. Deceleration Time Total Pulses The total amount of output pulses that will be generated during the Trapezoidal profile Accel Time The amount of time required for the Start Frequency to ramp up the Position Frequency Decel Time The amount of time required for the Position Frequency to ramp down to the End Frequency Start Freq The frequency at which the Trapezoidal profile will begin Pos Freq The target frequency to which the Start Frequency rises End Freq The frequency to which the Position Frequency falls Counter I O User Manual 2nd Ed Rev D 5 13 Chapter 5 Configuring the CTRIO Outputs a Trapezoid Plus Profile The Trapezoid Plus profile is only available when using an Hx CTRIO2 See Trapezoid description for a general description of this profile The profile resembles Trapezoid Profile but has four additional features 1 The target position is a variable parameter 3 set by the base controller instead of a constant specified in the profile 2 The profile can be asymmetrical Accel and Decel rates are separate 3 Encoder Feedback can be added useful for correcting excessive lash or slippage in the system 4 Allows output rates up to 250kHz E When Use Encoder for Position is enabled the target position is specified in units of the encoder Encoder feedback determines when deceleration of a move should begin and determines when the move should stop If Scale Factor is set incorrectly the ou
7. NOTE When using an input channel as the Stop Trigger with this profile the Stop Trigger must be beyond the first limit in the same direction The output cannot change direction to reach the second limit Use Home Search if the output must Reverse to Limit 2 The Trapezoid with Limits profile offers several routines using a Decel Trigger and Stop Trigger Specify the Decel Trigger as the rising or falling edge of a CTRIO2 input The Stop Trigger can be a position relative to the Decel Trigger the opposite edge of the Decel Trigger or the rising or falling edge of another CTRIO2 input NOTE The Trapezoid with Limits profile requires that CRTIO2 inputs C and or D are configured for Limit Out X where X is the output channel being used x oak The TrapLimit profile runs to the Decel Trigger and begins decelerating Name If the StopTrigger is a Limit Switch the profile decels to the Creep Frequency and stops at the Stop Limit Switch Profile Type If the Stop Trigger is Position the profile resets the internal position counter or encoder Trapezoid S Curve Symmetrical S Curve Dynamic Positioning Dynamic Velocity ioning Plus CTRIO2 s CTRIO2 File Stats File Number 2 Total Entries Blocks Used 1 ea position to 0 at the Decel Limit Switch and then dynamically runs to the position specified by the output s Parameter 3 Decel Trigger Limit Switch on CHIC v Stop Trigger Let Switch on chio v Minimum F
8. Support Systems for the H CTRIO You can use the H4 CTRIO module in DirectLOGIC 405 PLC systems D4 450 only PC based control strategies using the H4 EBC interface module Hx ERM networks using the H4 EBC interface module Support Systems for the T1IH CTRIO You can use the T1H CTRIO module in PC based control strategies using the T1 H EBC interface module Profibus systems using the T1H PBC slave interface module e Hx ERM networks using the T1H EBC interface module 1 4 l Counter I O User Manual 2nd Ed Rev D Chapter 1 Introduction CTRIO Specifications EE General Module Type Intelligent Modules Per Base Limited only by power consumption A None 1 0 map directly in PLC memory V memory for DirectLOGIC PLCs and data 1 0 Points Used structures for Do more PLCs or PC control access Field Wiring Connector Standard removable terminal block ae Ve at 2 Tom Base Power Supply Heroa nO mA Max at 5V from Base Power Supply H2 Internal Power Consumption 350 ma at 5V from Base Power Supply HO CTRIO 2 All 1 0 in ON State at Max Voltage Current Operating Environment 32 F to 140 F 0 C to 60 C Humidity non condensing 5 to 95 Manufacturer Host Automation Products LLC 2500V 1 0 to Logic 1000V among Input Channels and All Outputs HO H2 H4 Isolation T1H CTRIO 1500V 1 0 to Logic 1000V among Input Channels and All Outputs HO H2 CTRIO2 CTRIO Input Specifications
9. Counter I O User Manual 2nd Ed Rev D 2 25 Chapter 2 Installation and Field Wiring H4 CTRIO Stepper Servo Drive Wiring Example m 2 gt N UJ De O 6606990900 2M T ap NC Step Amplifier Step Amplifier CO 5 36VDC 5 36VDC C2 OPTO Power OPTO Power y2 Pulse or CW Pulse or owe Direction or CCW Nul Qe Direction or CCW C vs D Y1 m This example assumes that the Step Amplifier interface to be optocoupler LEDs common anodes at the OPTO Power terminal with internal current limiting resistors This is a standard method but you must consult you step amplifier documentation to ensure that this method is applicable 2 26 Counter I O User Manual 2nd Ed Rev D Chapter 2 Installation and Field Wiring Solid State Input Device Wiring to the H4 CTRIO Module NPN Field Device This drawing illustrates wiring that is typical for Channel 1 terminals 1A 1B 1C and 1D The same circuitry is also present at the corresponding Channel 2 terminals Sensing Circuit The same circuitry is present at the corresponding Channel 2 terminal PNP Field Device This drawing illustrates wiring that is typical for Channel 1 terminals 1A 1B 1C and 1D The same circuitry is also present at the corresponding Channel 2 terminals 24VDC
10. Counter I O User Manual 2nd Ed Rev D 6 2 1 ON for the Pulse Output Width duration specified in Configure 1 0 NOTE The CTRIO will not recognize any input pulses while the Output Pulse is active Take this into consideration when configuraing the Pulse Output Width time Chapter 6 Program Control MM M Runtime Changes to CTRIO Configured Preset Tables DL PLCs Presets and preset tables can be set up entirely within CTRIO Workbench so that no program control is necessary to assign discrete Preset Tables to CTRIO Input Fuctions You can make runtime edits to presets preset tables from your control program To make a runtime change a series of commands must be executed which will pass new values to a preset table or call a different preconfigured table Command Codes are passed to the CTRIO module to effect the required edit Each Command Code has its own syntax and all Command Codes must be presented in a particular sequence The command code and associated parameters must be loaded into the appropriate memory locations A Process Command instruction must be passed to the CTRIO module A Command Complete signal must be received and the Command Error bit must stay at zero Finally the Enable Output instruction must be passed to the CTRIO module Some changes require a combination of Command Codes so those changes must follow the steps above for each Command Code proce
11. la soci t AutomationDirect nous nous efforcons constamment d am liorer nos produits et services C est pourquoi nous nous r servons le droit d apporter des modifications aux produits ou aux publications en tout temps sans pr avis ni quelque obligation que ce soit La pr sente publication peut aussi porter sur des caract ristiques susceptibles de ne pas tre offertes dans certaines versions r vis es du produit rques de commerce La pr sente publication peut contenir des r f rences des produits fabriqu s ou offerts par d autres entreprises Les d signations des produits et des entreprises peuvent tre des marques de commerce et appartiennent exclusivement leurs propri taires respectifs AutomationDirect nie tout int r t dans les autres marques et d signations Copyright 2012 Automationdirect com Incorporated Tous droits r serv s Nulle partie de ce manuel ne doit tre copi e reproduite ou transmise de quelque fa on que ce soit sans le consentement pr alable crit de la soci t Automationdirect com Incorporated AutomationDirect conserve les droits exclusifs l gard de tous les renseignements contenus dans le pr sent document Notes CTRIO HIGH SPEED COUNTER USER MANUAL WVAUTOMATIONDIRECT Please include the Manual Number and the Manual Issue both shown below when communicating with Technical Support regarding this publication Manual Number HX CTRIO M Issue Second Edition Rev D Iss
12. llle 6 45 vi Counter I O User Manual 2nd Ed Rev D Table of Contents Run at Velocity on CTRIO until Input Function Value Position 6 46 System FuncHons i e yr VY d a a e a E E se dre dr ed boe e od 6 47 Reading All CTRIO s Internal Registers Flowchart 0000 eee 6 48 Writing to All CTRIO s Internal Registers Flowchart llle 6 49 Writing to One CTRIO Internal Register Flowchart l l ees 6 50 Chapter 7 Using Monitor I O Do more and Monitor CTRIO 2 0 0 cece eee eee eee eens 7 2 Using the Monitor I O Dialog eeeeee RII 7 2 I O Status amp Input Functions lsleeeleeee I 7 3 Output FUNCIONS octo horreur ese ne e arx WEE Ee a Reema eere 7 4 System F nctlOns deg RR Ex Rome eec Hee eS EERE SESE EE EE ES 7 6 Monitor I O Error Codes cc ccc ce ec ee cee Rh es 7 7 Chapter 8 DirectLOGIC Programming Examples DirectLOGIC Programming Examples Overview eee eee eee eee 8 2 Load and Run a Pulse Profile 55s cnn eee e t hr o n eee eee 8 3 Dynamic Positioning Positioning Plus lee II 8 4 Dynamic Velocity 2 o eee podada hun rc on n 9 9 p ee eR dn 8 5 Velocity Mode i e r9 guo ees Rak ora ko a i RR OR a RR AR RR 8 6 Run to Limit Mode iisosooo ek Re o y a a xk e a RR ORTA RR URS ER Ras 8 7 Run to Position Mode 62600 cscs Oa 9a ra rack ee ee hy yh hn 8 8 Run to Position Mode with DirectSO
13. ow This example assumes that the Step Amplifier interface to be optocoupler LEDs common anodes at the OPTO Power terminal with internal current limiting resistors This is a standard method but you must consult you step amplifier documentation to ensure that this method is applicable 2 18 Counter I O User Manual 2nd Ed Rev D Chapter 2 Installation and Field Wiring Solid State Input Device Wiring to the H2 CTRIO 2 Module NPN Field Device This drawing illustrates wiring that is typical for Channel 1 terminals 1A 1B 1C and 1D The same circuitry is also present at the corresponding Channel 2 terminals Sensing Circuit The same circuitry is present at the corresponding Channel 2 terminal PNP Field Device This drawing illustrates wiring that is typical for Channel 1 terminals 1A 1B 1C and 1D The same circuitry is also present at the corresponding Channel 2 terminals 24VDC UI i UN Sensing NM 1A The same circuitry is present at the corresponding Channel 2 terminal Counter I O User Manual 2nd Ed Rev D 2 19 Chapter 2 Installation and Field Wiring Installing the H4 CTRIO The H4 CTRIO module is compatible with two DL405 CPU slot interface devices Consideration must be given to the firmware versions of the CPU slot interfac
14. BH 10 Counter I O User Manual 2nd Ed Rev D Chapter 4 Configuring the CTRIO Inputs Reset 1 and Reset 2 Hard Resets for Counters Only Reset 1 is available only if you have selected a Counter or Quad Counter as the primary function For example if you have chosen either counter function single ended or quadrature on terminal 1A you will have an option of using terminal 1C for a hard reset signal Other options are available on J terminal 1D Those options are i D Capture and Inhibit see next page P Unassigned Ip Reset Reset 2 is available if you have bg selected to use terminal 1B for a counter input Reset 2 will reset the counter connected to terminal 1B ao a Two distinct types of hard resets are available One is zp an edge reset The other is a level reset The Edge lt Q md n 1 2 Reset sets the current count to zero on the specified neu edge rising or falling of the reset pulse see upper q example The Level Reset resets the count to zero as UD uc long as the reset pulse is held high or low depending eg a on configuration When the reset pulse disappears g qp Edge Reset E the count resumes see lower example 4 B If the Reset options are not available in the Configure s Q7 T O dialog then you have selected input functions 9 e that do not use the reset modifier NOTE Reset 1 and Res
15. Rev D ON when out pulse train has been suspended Chapter 6 Program Control Dynamic Velocity For Dynamic Velocity the motion limits of clockwise acceleration and deceleration and counter clockwise acceleration and deceleration come from the CTRIO Workbench Profile The target velocity is stored in a register in the CPU controller The program needs to prepare the Load Table command by selecting Command Code 0010 Hex BCD set Word Parameter 1 to the File number of the profile example File 3 Dynamic Velocity 1 and set Word Parameter 3 to the desired target velocity Then the program can set the Process Command bit and watch for the Command Complete bit Then the program should clear the Process Command bit Set the Enable Output bit to start the output pulses The velocity can be changed on the fly by entering a different value into the target velocity register The velocity will ramp up down to the new target velocity at the specified accel decel rates Clearing the Enable Output bit will always suspend pulsing See Chapter 8 for a DirectLOGIC programming example that executes a Dynamic Velocity pulse profile using the bit D word addressing in the table below Dynamic Velocity using the CTRIO YO and Y1 PEE controll RUG Stained ELE Cono IEEE SEIS utputs Base Inputs Base Name Outputs Base Inputs Base Addr V2030 Addr V2000 Acti z E cti
16. 20 Velociy Mode sd 10 Load T able O21 Run to Link Mode Fen 0x11 Clear Table 22 Run ta Position Mode 3j lumber J 3D mh p Ti Enable Output Enable uipa Enable Opt 7 Dis Diecion Process Command Process Command Puis Cancel Outre Enabled on Output Enabled Uf QupaEnabiet ow Outpt Enabled Ol Odpakrabind or Position Loaded OF Poston Loaded 7 Dufgut Active on Table Complete On Output Bective oF Table Complete am Otek Stalled Off Ovx Stated os Commard Enot Di Corenared Enor Dif Command Enor os Comme Emo oi Command Complete on Command Complete of Command Complete oi Command Complete oil CTRIO read of PLC outputs is gt gt Suspended Click to enable CTRIO vend of PLC capus i gt gt Suspended Clek to enable Done Las Enor Code 10 No eror lastEno Code 0 No ence In the example above Outputs 0 and 1 are configured for Pulse step and direction Output 2 is configured to Preset mode assigned to Ch1 Fn1 quad counter and Output 3 is configured as Raw mode In the screen capture on the left notice the pull down menu The menus are context sensitive They will change to display values that are appropriate to the CTRIO s configuration Here you have acccess to all pulse profile commands Command 0x10 will allow you to load any configured Pulse Profiles Trapezoidal S Curve Dynamic Positioning etc In the screen capture on the right you ll see we have selected Pulse Profile number 2 for this exam
17. 21 9 Timer Timed Out Bit 2 10 18 29 20 2 20 10 21 2 21 10 Pulse Catch Output Pulse State 0 8 16 24 20 0 20 8 21 0 21 8 Pulse Catch Start 1 9 17 25 20 1 20 9 21 1 21 9 Output Status Bit Definitions for Preset Table Control Output Status Offsets are listed in the order of the Output 0 Output 3 Output x Status Bits transfers from CTRIO to CPU Bit Offsets WinPLC EBC PBC DEVNETS MODBUS V memory Offsets DirectLOGIC PLCs Command Error 38 46 54 62 22 6 22 14 23 6 23 14 Command Complete 39 47 55 63 Output Status Bit Definitions Pulse Output Output Status Offsets are listed in the order of the Output 0 1 2 3 Status Bit CTRIO to CPU Bit Offsets WinPLC EBC PBC DEVNETS MODBUS 22 7 22 15 23 7 23 15 V memory Offsets from Input Start octal Output Enabled 32 48 22 0 23 0 Position Loaded 33 49 22 1 23 1 Output Suspended 34 50 22 2 23 2 Output Active 36 52 22 4 23 4 Output Stalled 37 53 22 5 23 5 Command Error 38 54 22 6 23 6 Command Complete 39 55 22 7 23 7 Counter I O User Manual 2nd Ed Rev D 6 5 Chapter 6 Program Control TTL 9 Output Memory Map for Data Transfers from DL CPUs to CTRIO The following table shows which memory locations are used for memory transfer
18. CTRIO x Source To Load L Channel Commons From YO z olololololololololololololololo 1M 1M 1M 1M CO CO C1 C1 2M 2M 2M 2M C2 C2 C3 C3 en L d Ini rom Loat ponio oln ooon icti i 7 User Bus Terminals no internal connection to CTRIO 9o O O O O O O O O O O O O O O O USER BUS 1 USER BUS 2 Yooo OPO EW 0 0 0 0 yoyo 5 36VDC_ gt USER BUS 1 CO 24VDC USER BUS 2 Y1 OVDC 2 30 Counter I O User Manual 2nd Ed Rev D Chapter 2 Installation and Field Wiring T1H CTRIO Quadrature Encoder Wiring Example Input Output Channels o O O O O O O O O O O O O O O O NPN Open Collector Output 1A 1B 1C 1D YO YO Y1 Y1 2A 2B 2C 2D Y2 Y2 Y3 Y3 Encoder ga ini BiBn a B I B B BIO HID Channel Commons 9o O O O O O OJO O O O JO O 1M CO CO C1 C1 2M 2M 2M 2M C2 C2 C3 C3 DIHEB DOIDB DIHID oO B1 U U D User Bus Terminals no internal connection to CTRIO 2 USER BUS 1 1M 24VDC 9 30VDC _ USER BUS 2 OVDC Counter I O User Manual 2nd Ed Rev D l 2 31 Chapter 2 Installation and Field Wiring T1H CTRIO TTL Quadrature Encoder Field Wi
19. D Chapter 1 Introduction HO CTRIO 2 LED Indicators ER HO CTRIO 2 LED Descriptions Module OK User Program Error Ch1 F1 Resource State Ch1 F2 Resource State Output Status HO CTRIO 2 LED Diagnostic Definitions OK ERR Description ON OFF RUN Mode ON ON Hardware Failure Blinking Blinking Boot Mode Used for Field OS Upgrades Blinking OFF Program Mode OFF Blinking Module Self diagnostic Failure OFF ON Module Error Due to Watchdog Timeout OFF OFF No Power to Module HO CTRIO 2 LED Diagnostic Definitions Blinks when Channel 1 Function 1 is counting or timing Blinks when Channel 1 Function 2 is counting or timing Follow actual output state ON output is passing current Counter I O User Manual 2nd Ed Rev D 1 7 Chapter 1 Introduction E H2 CTRIO 2 LED Indicators H2 CTRIO 2 LED Descriptions Module OK User Program Error Channel 1 Status Channel 2 Status Output Status H2 CTRIO 2 LED Diagnostic Definitions Description ON RUN Mode ON ON Hardware Failure H2 CTRIO Not Used H2 CTRIO2 Blinking Blinking Boot Mode Used for Field OS Upgrades Blinking OFF Program Mode OFF Blinking Module Self diagnostic Failure Blinks may be coded by counts OFF ON Module Error Due to Watchdog Timeout OFF OFF No Power to Module H2 CTRIO 2 LED Di
20. D 6 19 Chapter 6 Program Control i M Y Edge and Dual Edge Timer Timeout Function The Timer Timeout Function is available for use with standard and Free Run Timers It is primarily used in Free Run timing of recurring events rate velocity calculations etc The specified Timeout Period is in effect once the timer is enabled until receiving the first configured input edge Then it is in effect until receiving the next edge of the timing input to complete the timing cycle Standard Timers Once the timer is enabled the Timeout Bit is set if the time that it takes the CTRIO to see the configured input edge exceeds the specified Timeout Period The program will need to turn off the Enable Timer Capture bit and confirm the Timer Capture Complete bit and Timeout bit resets before attempting the next time capture cycle Once timing has been initiated if the time before the CTRIO sees the next configured edge exceeds the specified Timeout Period the Timeout bit is set The Timer register values are 6 reset to zero The program will need to turn off the Enable Timer Capture bit and confirm the Timer Capture Starting bit Timer Capture Complete bit and the Timeout bit reset before attempting the next time capture cycle Free Run Timers The Timeout Bit is set if the time that it takes the CTRIO to see the configured input edge exceeds the specified Timeout Period The Timeout bit resets when the next ti
21. E Pulse Catch Edge Timer Dual Edge Timer Coresi 4 2 Counter I O User Manual 2nd Ed Rev D Chapter 4 Configuring the CTRIO Inputs EERE For Do more users the Workbench options have been built into the Do more Designer software The configuration dialog is found by first opening the System Configuration window by selecting the XY Configure button in the main toolbar System Configuration Configuration Entries H2 DM1 CPU Configuration CPU Configuration Serial Port Mode Time I O Configuration Do Module Configuration s The CPU s internal serial port can be used for aut Device Configuration programming for guest protocols or configured x as a general purpose port and placed under I O Mappings program control 9e Memory Configuration j Do more Programming gt e C K Sequence Server i F E 100 Ei Modbus RTU Server Slave os E ET aitat For 2 jus z Outpu Options A tim Modbus RTU Client Master im H ug XY ra win C General Purpose Mode Info Configure Devices Check F Dok Sting m Modbus TCP Server Configuration Di C equipped with Ethernet ports can provide a Mod bus TCP TVEr dmurn of A EE TET can support a me Orr ste ENS With the System Configuration page open select the Module Configuration s page from the lefthand column On this page highlight the desired CTRIO module and click Edit Confi
22. Inputs H2 H4 T1H CTRIO 8 pts sink source 100 kHz Max H2 H4 T1H CTRIO H2 CTRIO2 8 pts sink source 250 kHz Max H2 CTRIO2 4 pts sink source 100 kHz Max HO CTRIO Inputs HO CTRIO 2 4 pts sink source 250 kHz Max HO CTRIO2 ini 5 usec HO H2 H4 T1H CTRIO Minimum Pulse Width beet i0 H CTRIOD O Input Voltage Range 9 30 VDC Maximum Voltage 30 VDC Input Voltage Protection Zener Clamped at 33 VDC Rated Input Current 8 mA typical 12 mA maximum Minimum ON Voltage 9 0 VDC Maximum OFF Voltage 2 0 VDC Minimum ON Current 5 0 mA 9 VDC required to guarantee ON state Maximum OFF Current 2 0 mA Less than 3 usec HO H2 H4 TTH CTRIO OFF to ON Response Less than 0 5 usec HO H2 CTRIO2 Less than 3 usec HO H2 H4 T1H CTRIO ON to OFF Response Less than 0 TM HO H2 CTRIO2 CTRIO Input Resources P CTRIO2 H2 H4 TIH CTRIO 4 2 per each 4 input channel group supports 2 quadrature counters max Counter Timer HO CTRIO 2 2 2 per single 4 input channel supports 1 quadrature counter max 1X 2X or 4X Quadrature Up or Down Counter Edge Timer Dual Edge Timer Resource Options Input Pulse Catch Reset Inhibit Capture Timer Range Resolution 4 2 billion 32 bits 1 usec Counter Range 2 1 billion 32 bits or 31 bits sign bit Counter I O User Manual 2nd Ed Rev D 1 5 Chapter 1 Introduction CTRIO Specifications Outputs
23. g aled Command Error Of Command Error Command Error Of Commande Command Complete Of mand Complete Command Complete otf CTRIO read of PLC outputs is gt gt Suspended lt lt Click to enable Last Eror Code D No error Pulse Output Command Codes 0x20 0x21 and 0x22 Velocity mode 0x20 is shown in the example above Depending upon which command is selected different parameter fields status bits and control bits will apply No matter which one is selected be sure to fill in the parameter fields with valid entries refer to chapter6 and then Process the Command Counter I O User Manual 2nd Ed Rev D 7 5 Chapter 7 Using Monitor I O Ei System Functions The Systems Functions dialog allows you read from or write to the current input count and the current output pulse count under the following conditions The current input count can be read from or written to if the input is configured for a Counter or Quad Counter Timer values are not accessable The current output pulse count can be read from or written to only if the pulse output is running Dynamic Velocity or Dynamic Positioning profiles DirectLogic Users The reading from and writing to the CTRIO internal registers is accomplished using the DirectLOGIC Read from Intelligent module RD and Write to Intelligent module WT instructions respectively See chapter 8 for Systems Functions ladder logic examples EBC WinP
24. s internal jumpers must be set to the High Side Common position for high side switching sourcing outputs or to the Low Side Common position for low side switching sinking outputs The sink source jumper selection sets both outputs to the same option 2 Source operation is the factory default setting H0 CTRIO H0 CTRIO2 _ M H Lr n A z ES Bu 77 UU TUU TUU AB nnn TIT OOOOOCOCO OOOOOOCO G eojoo ojeo o olo ojoo oojoojo Jumper Selections Jumper Selections Sourcing Outputs Sinking Outputs Sourcing Outputs Sinking Outputs Oe 9 9 9009000 OOICOJ OCO OO O O 0 99 00295 OCO High Common position Low Common position High Common position Low Common position for switching the high for switching the low for switching the high for switching the low side of a DC load side of a DC load side of a DC load side of a DC load Counter I O User Manual 2nd Ed Rev D 2 3 Chapter 2 Installation and Field Wiring Wiring the HO CTRIO 2 Module The HO CTRIO 2 module has one input channel consisting of 4
25. 00 c eee ee ee 2 9 Solid State Input Device Wiring to the HO CTRIO 2 Module 0000 2 10 Installing the H2 CTRIO 2 Module seseee I 2 11 Setting the H2 CTRIO 2 Jumpers csse RR EE ERR ERR E Bee 2 12 Wiring the H2 CTRIO 2 Module ssseeeee I E 2 13 H2 CTRIO 2 Quadrature Encoder Wiring Example llleleeeeeeen 2 14 H2 CTRIO 2 TTL Quadrature Encoder Field Wiring Example sess 2 15 H2 CTRIO 2 TTL Input Wiring Example ssseeeeee II 2 16 H2 CTRIO 2 Output Wiring Schematic 0 0 0 e 2 17 H2 CTRIO 2 Stepper Servo Drive Wiring Example llleleee ees 2 18 Solid State Input Device Wiring to the H2 CTRIO 2 Module 0004 2 19 Installing the H4 CTRIO Module seeeee II 2 20 Wiring the H4 CTRIO Module sinccr erisa smrad iata E I eee 2 21 H4 CTRIO Quadrature Encoder Wiring Example 0 0 00 e ee eee 2 22 H4 CTRIO TTL Quadrature Encoder Field Wiring Example 00 0000000 2 23 H4 CTRIO TTL Input Wiring Example ss socane iniciacion RII 2 24 H4 CTRIO Output Wiring Schematic 0 2 0 eee eee eee 2 25 H4 CTRIO Stepper Servo Drive Wiring Example esee 2 26 Solid State Input Device Wiring to the H4 CTRIO Module sees 2 27 Installing the TTH CTRIO Module sese RII 2 28 Wiring the TIH CTRIO Module sseeee RII I 2 29 T1H CTRIO Quadrature Encoder Wiring Example e
26. 007 CTRIO CTRIO2 DL205 Local I O Master gt DL205 Base gt Slot 7 Edit Config So m Delete Config system Configuration Assign Config Configuration Entries CPU Configuration k Cancel Hi I O Configuration EE EE __NewConfg Module Configuration s lt Device Configuration I O Mappings Memory Configuration If you are using a Do more CPU the rest of this chapter does not pertain to you See the following chapters for information on configuring the inputs and outputs of your module using Do more Designer What is CTRIO Workbench 3 2 CTRIO Workbench is the software utility you will use to configure the CTRIO modules inputs and outputs Workbench also lets you setup the CTRIOS built in scaling function that will scale signals to desired engineering units switch between the CTRIO s Program mode and Run mode monitor I O status and functions and have diagnostic control of module functions Counter I O User Manual 2nd Ed Rev D Chapter 3 Introduction to CTRIO Workbench NOTE CTRIO Workbench Version 2 2 0 is required for the Hx CTRIO2 Download the latest version of the CTRIO Workbench utility at no charge from the Host Engineering Web site www hosteng com Installing CTRIO Workbench The CTRIO Workbench utility installs directly from its executable file Double click on the Setup exe icon The install shield will step you through the installation process The utility installs i
27. 6 Hex Output 2 First Scan 3 Hex Ch2 Fn2 7 Hex Output 3 SPO LD 2 L 4 K1 CTRIO base slot number LD 8 bytes of data will be written to Ke the CTRIO V2100 V2103 LD Offset 80 Hex is the beginning of 50 the Command Frame in the CTRIO WT V2100 System Command Code Register Always ON nie TMRF TO 3 The 50ms Timer allows enough time for the KS CTRIO module to come up in RUN mode after the PLC is changed from RUN STOP RUN The Process Command timer is not needed for power cycle operations TO B2060 7 since the PLC will enter RUN mode after the 4 SET CTRIO module If the timer is not used and the PLC is changed from RUN STOP RUN a zero System Command System Command value will be written to the CTRIO module Error Complete B2024 6 B2024 7 B2060 7 5 ay 4 RST Process Command TAO K10 LDD 6 gt V2002 Current Raw Count Register OUTD WT instruction will write Raw Count to CTRIO V2102 on power cycle or RUN STOP RUN change Reset Count co B2054 1 7 OUT Input Counter Reset 3 c END Counter I O User Manual 2nd Ed Rev D 8 1 1 Chapter 8 DirectLOGIC Programming Examples Reading CTRIO Internal Registers The following Systems Functions example uses the Write to Intelligent Module WT and Read from Intelligent Module RD instructions to read all of the CTRIO s internal registers every 900ms and place the data starting at V2200 Ini
28. Addr V2030 Bit of Word Name Action Command Code V2040 V2040 Set to 10 Load Stored Profile Parameter 1 V2041 V2041 File of desired Dynamic Positioning Profile Process Command V2056 7 C227 Turn ON until Command Complete status bit is returned see step 4 Command Complete Status V2022 7 When ON Profile is now loaded clear Process Command bit step 3 Command Error V2022 6 ON if Command or Parameters are invalid Enable Output V2056 0 Turn ON to assume 0 position Turn OFF to disable pulses and zero position Output Enable Status V2022 0 When ON pulses are now enabled and last position is retained Parameter 3 V2031 V2030 V2081 V2030 Target position User defined DWord Go To Position V2056 1 C221 Starts pulses with direction to obtain the new position relative to previous position Position Loaded Status V2022 1 When ON Go To position is acknowledged Output Active Status V2022 4 When ON module is pulsing OFF with Position Loaded status ON new position move has completed Go To Position V2056 1 Turn OFF to be ready to load a new position Suspend Output V2056 2 Turn ON to pause output pulses without resetting pulse count Output Suspend V2022 2 To seek the next position repeat steps 7 10 6 36 Counter I O User Manual 2nd Ed
29. CTRIO from the Offline utility ee ELS zm ae B Installed Modules Config ID Save the configuration file to disk 8 Chi Fnt Unassigned and connect to the CTRIO using PM LU Unassigned the appropriate Workbench Er i h n write the Ch2 Fn1 Unassigned Special support version Ch2 Fn2 Cancel Unassigned file to the CTRIO Config Information Bree Total Blocks 255 VOMa inputs Gere GexCog Free Blocks 249 PresetTebles Total Preset Tables 0 Config Stat Pulse Profiles Total Pulse Profiles 0 Qui Counter I O User Manual 2nd Ed Rev D 3 3 Chapter 3 Introduction to CTRIO Workbench Online CTRIO Configuration To configure the CTRIO module Online a CTRIO must be installed in the PLC base or Terminator I O system and the system power must be on Your PC communicates with the CTRIO module through the PLC or interface device port DirectSOFT5 Users xi 3 You will need to connect your PC to the CPU pua 55 DCM or ECOM module If you are linked to your em CPU through DzrectSOFT5 CTRIO Workbench TUE will start via the existing link If you are a disconnected from your PLC and start CTRIO Workbench you will be prompted to establish a link UTE FA to your CTRIO module 2k DirectSOFT on the Web m Applications FE DirectSOFT 5 Programming c l Utilities L Visit AutomationDirect al Visit Host Engineering L Host Forum FAQs Downloads
30. CTRIO read of PLC outputs i Suspended Cick to enable Lack Enor Code U No eno In the example above the Current Count for Ch1 Fnl Quad counter is 994 The Reset Count button can be used to reset the count to the configured Reset Value For Ch1 Fn2 the Edge Timer is captured at 38us The Enable Capture bit must be on prior to when the configured edge input occurs Note that Output Status Out 0 and Out 3 are ON Out 0 is configured for pulse output and Out 3 is configured for a Raw discrete output These outputs can be controlled from the Output Functions window Counter I O User Manual 2nd Ed Rev D l 7 3 Chapter 7 Using Monitor I O E Output Functions The Output Functions dialog includes all Output Function Word and DWord Parameters file number duty cycle target position etc and status bits passed from the CTRIO module to the CPU Output Enabled Command Complete etc The control bits that would be passed from the CPU to the CTRIO are also included Enable Output Go to Position Direction etc A x 170 Slalus amp Input Functions Dutput Functions System Functor x 1 0 Stahus L Input Functions OUA Functiont Sistine Functions Puke Steg Pulse Drechon Dscrele on Ch Fn Preset Made Pidie teg Pulse Duecton D aciete co Chi Fat fam Preset Mode Command Command Commie 11 Load Table m0 Lond Tarte it aan nnm pese 010 Load Table z 0x10 Load Table
31. Capture setup the module s input and Position scaled to x0 1 as Integer x10 output functions E IERAAOAANUBRgE Select Discrete Tables to Name CTRIO_000_CiF2 manage preset and PLS tables for ChijFn2 igned discrete outputs Select Pulse Profiles to manage profiles for pulse outputs Name crRIO 000 C2F1 Name TRI D Out Each configured resource will i take automatically generate a device Ch2 Fni Quad Counter Out 2 Unassigned object that is available to CTRIO specific instructions The pees name and resource Name Name VM AZZS name fields will become Do more 2d beiee eE system devices Choose Ch2 Fn2 Out 3 meaningful and unique names for em ed each configured resource Select Input Filters to Es 3 W E 7 ES configure the input filter times Input Filters Chi A 1000 ns ChiB 3000 ns chic 100075 Ch1D 100005 E RUD OIO Ch2A 1000ns Ch2B 1000ns Ch2C 1000ns Ch2D 1000 ns only Discrete Tables Fie Name Taere SS Tinstucton Total Bods 256 Blocks Free 249 Export to CtrioWB File ihe ee a 77777 79 p 5 ciel Sj You should now have the Configure I O window open similar to the one shown here with a tab for each input Channel The input options are listed by function Four boxes labeled A B C and D correspond to the input terminals on the face of the module 1A 1D or 2A 2D A D for the H0 CTRIO 2 The Output functions are listed as
32. Chapter2 Install CTRIO Chapter 2 Configure the CTRIO in Do more Designer s System Configuration Chapter 3 4 5 amp Do more Help File Configure the CTRIO using CTRIO Workbench Chapters 3 4 5 Test the wiring using CTRIO Workbench s Monitor I O Dialog Chapter 7 Test the wiring using Do more Designer s Monitor CTRIO Chapter 7 amp Do more Help File Manually manipulate CTRIO from the controller using DataView Chapter 8 amp Do more Help File Map the memory in the controller Chapter 6 Manually manipulate CTRIO from the controller Chapter 8 Write control program Chapter 8 amp Do more Help File Write control program Chapter8 Counter I O User Manual 2nd Ed Rev D 1 1 1 Chapter 1 Introduction d Notes 1 12 Counter I O User Manual 2nd Ed Rev D INSTALLATION AND FIELD WIRING In This Chapter Installing the HO CTRIO 2 Module 0 eee cece eee 2 2 Setting the HO CTRIO 2 Jumpers seh sanake ee Dee ee Lee Ree eae ee 2 3 Wiring the HO CTRIO 2 Module 0 cece ee amiat iea a a a eeee 2 4 HO CTRIO 2 Quadrature Encoder Wiring Example 0 0 00 eee eee eee 2 5 HO CTRIO 2 TTL Quadrature Encoder Field Wiring Example 0000005 2 6 HO CTRIO 2 TTL Input Wiring Example 2 0 eiside reni eee eee 2 7 HO CTRIO 2 Output Wiring Schematic 1 0 0 ee e 2 8 HO CTRIO 2 Stepper Servo Drive Wiring Example 0
33. DirectLOGIC PLCs 26 0 26 8 27 0 27 8 26 7 26 15 27 7 27 15 Output Control Bit transfers from CPU to CTRIO Enable Output Go to Position Suspend Output Direction Process Command Bit Offsets WinPLC EBC PBC DEVNETS MODBUS 32 48 33 49 34 50 36 52 39 55 V memory Offsets from Output Start octal 26 0 27 0 26 1 27 1 26 2 27 2 26 4 27 4 26 7 27 7 Read as Level Rising Edge Level Level Rising Edge Counter I O User Manual 2nd Ed Rev D 6 7 Chapter 6 Program Control iY Output Control Bit Definitions Raw Mode Output Control Offsets are listed in the order of the Output 0 Output 3 Output n Control Bits Bit Offsets WinPLC EBC PBC V memory Offsets transfers from CPU to CTRIO DEVNETS MODBUS DirectLOGIC PLCs Enable Output 32 40 48 56 26 0 26 8 27 0 27 8 System Functions Status Bit Definitions From Table on page 6 2 DirectLOGIC Offset n 24 Status Bits V memory Offsets transfers from CTRIO to CPU DirectLOGIC PLCs 6 System Command Error 24 6 System Command Complete 24 7 Chi A 25 0 Chi B 25 1 Ch1C 25 2 Ch1D 25 3 Ch2A 254 Ch2 B 25 5 Ch2 C Ch2 D Out 0 Active Out 0 Mode Out 1 Active Out 1 Mode Out 2 Active Out 2 Mode Out 3 Active Out 3 Mode System Functions Control Bit Definitions From Table on page 6 4 DirectLOGIC Offset n 30 Control Bits
34. H2 H4 T1H CTRIO H2 CTRIO2 CTRIO Output Specifications 4 pts independently isolated current sourcing or sinking FET Outputs open drain and source with floating gate drive Outputs HO CTRIO 2 2 pts isolated either both current sourcing or both current sourcing FET Outputs open drain and source with floating gate drive Pulse Output Control Range 20 Hz to 25 kHz HO H2 H4 TTH CTRIO 20 Hz to 250 kHz H0 H2 CTRIO2 Voltage range 5VDC 36VDC HO H2 H4 TTH CTRIO H2 CTRIO2 Maximum voltage 36VDC HO H2 H4 TIH CTRIO H2 CTRIO2 Output clamp voltage 60VDC HO H2 H4 T1H CTRIO Maximum load current 1 0A H0 H2 H4 TTH CTRIO 1 0A at 23 C 0 5A at 60 C H2 CTRIO2 0 5A at 23 C 0 33A at 60 C HO CTRIO2 Maximum load voltage 33VDC HO Fa Ha 36VDC HO H2 H4 TIH CTRIO H2 CTRIO2 Maximum leakage current 100A Inrush current 1A for 10ms HO CTRIO2 2A for 10ms H2 CTRIO2 5A for 20ms HO H2 H4 TTH CTRIO OFF to ON response less than 3ysec Ho H2 H4 TTH CTRIO HO CTRIO2 less than 1psec H2 CTRIO2 ON to OFF response less than 3ysec Ho H2 H4 TTH CTRIO HO CTRIO2 less than 1psec H2 CTRIO2 ON state V drop 0 3V HO H2 H4 T1H CTRIO 0 45V H2 CTRIO2 External power supply for loop power only not required for internal module function Overcurrent protection 15A max H0 H2 H4 TTH CTRIO Self resettin
35. Input Function will compare against 6 The flowchart on the following page provides the logical sequence necessary to execute a Run to Position pulse profile See Chapter 8 for a DirectLOGIC programming example that executes a Run to Position pulse profile using the bit D word addressing in the table on page 6 47 Parameter 2 Word Parameter 2 defines three elements of the Run to Position routine Bit 12 determines if the specified position is greater than or equal or less than the current Input Function position value Bits 9 and 8 determine which Input Function to use for the comparison The low byte specifies the duty cycle Specified Position Parameter 2 Parameter 2 Parameter 2 Hex Parameter 3 is Bit 12 Bits 9 amp 8 Duty cycle at 50 less than Ch1 Fn1 00 0000 greater than Ch1 Fn1 00 1000 less than Ch1 Fn2 01 0100 1100 0200 1200 0300 1300 greater than Ch1 Fn2 less than Ch2 Fn1 greater than Ch2 Fn1 less than Ch2 Fn2 greater than Ch2 Fn2 O O O Comparison Bits 15 12 Input Function Bits 11 8 Greater Than or Equal 0001 1Hex Ch 1 Fn 1 0000 OHex Less Than 0000 OHex Ch 1 Fn2 0001 1Hex Ch 2 Fn 1 0010 2Hex Ch 2 Fn2 0011 3Hex 6 44 Counter I O User Manual 2nd Ed Rev D Chapter 6 Program Control Run to Position Mode Flowchart The flowchart below provides the logical sequence necessary to execute a Run to Position Mode pulse profi
36. MODBUS Users 3 uninstall You will need to connect your PC to the RJ12 serial port on EE ERM Workbench the PBC DEVNETS or MODBUS interface device eS teeter i CTRIO Workbench EBC WinPLC Access the various support versions at Netedt Start gt Programs gt AutomationDirect Tools gt CTRIO EI DBWin32 Logger Workbench or in the DirectSOFT5 Launch Window CTRIO WB 2 DirectLogic PLC Utilities menu Then select the appropriate Workbench CTRIO WB 2 EBC WinPLC version CTRIO WB 2 Offline You will be prompted to establish a serial link to your FA cTRIO WB 2 PBC CTRIO module M Select the PC serial port Workbench will use to e m esmem reas connect to the CTRIO module pm isis m Em Wien ome sanc uam Goto RII T ACA fu oara oa __ Ce Mote UO One pes ote Mme oae cr a Militi Teta Beans ome ron oma _ Con Cote fn Bese Pese Tats to Pot Titio Carty me Phabail Tui Nine Posies 1198 Successful On line Connection Once you are connected to your CTRIO module you will enter the main window of CTRIO Workbench Here you select the CTRIO module you wish to configure by clicking on its slot number in the Installed Modules box You will be able to enter Workbench s Configuration dialog and after successfully configuring the module you will be able to toggle the CTRIO module between Program Mode and Run Mode and enter the Monitor I O dialog B CTRIO Workbench Acl xl Current PLC Current Module Modu
37. Rev D 6 25 Chapter 6 Program Control pe Pulse Output Status Control Bits and Command Codes DL PLCs Output Status Bit Definitions Pulse Output Pulse output control Offsets are listed in the order of Outputs 0 1 2 3 Status Bit CTRIO to CPU Bit Offsets WinPLC EBC PBC DEVNETS MODBUS V memory Offsets from Input Start octal Output Enabled 32 48 22 0 23 0 Position Loaded 33 49 22 1 23 1 Output Suspended 34 50 22 2 23 2 Output Active 36 52 22 4 23 4 Output Stalled 37 53 22 5 23 5 Command Error 38 54 22 6 23 6 Command Complete 39 55 Output Control Bit Definitions Pulse Output Pulse output control Offsets are listed in the order of Outputs 0 1 2 3 Control Bit CPU to CTRIO Bit Offsets WinPLC EBC PBC DEVNETS MODBUS V memory Offsets from Output Start octal 22 7 23 7 Read as Enable Output 32 48 26 0 27 0 Level Go to Position 33 49 26 1 27 1 Rising Edge Suspend Output 34 50 26 2 27 2 Level Direction 36 52 26 4 27 4 Level Process Command 39 55 26 7 27 7 Output Control D Words Pulse Output Pulse output control Offsets are listed in the order of Outputs 0 1 2 3 Word Control CPU to CTRIO Word Offsets WinPLC EBC PBC DEVNETS MODBUS Rising Edge V memory Offsets from Output Start octal Command Code
38. Tables then select Add PLS Table as seen on following page Name the table and if the PLS entries will be populated from ladder in Do more leave the table empty and click OK Otherwise use the buttons on the right to build and modify a PLS table If an input channel has scaling it will show in the Scales list and entries can optionally be entered in scaled units after selecting the appropriate entry in the Scales list 5 8 Counter I O User Manual 2nd Ed Rev D Edit CTRIO CTRIO2 C Module Configuration Name CTRIO 000 Info Module Type CTRIO CTE Configure I O Name ChifFni Unassigned Chi Fn2 Unassigned Name omo moce Ch2 Fn1 Discrete Output Tables Input Filters am Add Pre E Chapter 5 Configuring the CTRIO Outputs xi x File Number 1 Defaut Output State of C On Name pl Add PLS Ent Seales di PLS Enty Delete ntr NOTE PLS Tables are stored as RAW counts The scales are provided to simply table ediing by OK allowing value enty n scaled units Cancel each configured resource Select Input Filters to configure the input filter times This is supported by the CTRIO2 only Total Blocks 256 Blocks Free 249 Export to CtrioWB File Profile Type Pulse Profiles Fie Name Import from CtrioWB File OK Cancel The table entries are very simple Select a default value
39. Velocity a register C3 D Change Velocity Complete Initialize Settings CO B2056 0 8 tF RST Enable Output This rung stops the pulse output by B2056 7 disabling the Enable Output bit It RST Process Command also resets the position count to 0 7 END Counter I O User Manual 2nd Ed Rev D 8 5 Chapter 8 DirectLOGIC Programming Examples Velocity Mode The following example program loads and executes a Velocity Mode pulse profile For Parameter 3 a specific number of pulse output counts can be specified or if set to FREF Hex the pulse output will remain ON at the specified Target Velocity until the output is disabled First Scan SPO LD Load Velocity 1 Mode 0x20 Hex Command Code ES p Register Initialize Settings co ID Target Velocity 2 I V3000 Decimal This rung loads Target Velocity Duty Cycle and Pulse Count into the Parameter registers Parameter 1 Run Frequency 0 specifies 50 duty cycle Hex Parameter 2 Duty Cycle Kffffffff Hex specifies unlimited pulse count use decimal value otherwise Parameter 3 Target Pulse Count B2056 7 SET Process Command 1 Initialize Settings SET Complete Set x B2056 4 3 i OUT Direction Initialize Settings Command Command Complete Complete Error C1 B2022 7 B2022 6 B2056 7 Thi its for th s ei t RST Frovess Command
40. and confirm the Timer Capture Starting and Timer Capture Complete bits reset before attempting the next time capture cycle Turning OFF the Enable Timer Capture bit resets the timers register values to zero Free Run Timers If the Free Run Timer option was configured the Enable Timer Capture bit is not available When the configured input edge occurs the CTRIO will begin timing The Timer Capture Starting bit will be ON while the timing is in progress and will turn OFF when the next configured input edge occurs When this edge occurs the Timer in progress time register resets to zero The previous time register will always retain the most recent captured time value PLC Control Outputs Base Addr V2030 Bit of Word PLC Status Inputs Base Addr V2000 Bit of Word PLC Control Outputs Base Addr V2030 Control Relay D2 240 PLCStatus Inputs Base Addr V2000 Control Relay D2 240 Description Parameter 1 V2001 V2000 V2001 V2000 Previous Time Parameter 2 V2003 V2002 V2003 V2002 In Progress Time Timer Capture Starting V2020 0 C160 On when Time Capture is in progress Enable Timer Capture V2054 0 Turn ON to Enable Timer Capture Function Not available when Free Run Timer option is selected Timer Capture Complete V2020 1 On when Timing is complete Timer Timeout Bit V2020 2 Counter I O User Manual 2nd Ed Rev
41. assigned to the Q vw Quad Counter function using the Preset Tables dialog A Refer to Creating and Using the Output Tables e section in Chapter 5 for details e NOTE To insure proper operation the field device RR j wiring and the configuration must be compatible beet Firin 1 L For wiring information see Chapter 2 Is ed Onan cona por Bees RE Notice that the module s four input terminals are represented by the A B C P x g a and D boxes on the left side of this dialog ias aan If you are wiring your quadrature counter inputs to terminal 1A and 1B you will e jose nae need to select the Channel 1 tab near the Re M top of this window and click Quad Counter in box A Notice that input B is 2 BY now slaved to input A Paetsch Dua Edge Timer At this point you have three decisions to make regarding your quadrature input EN 1 A multiplier can be applied to the quadrature input to increase its resolution Select 1x 2x or 4x 1X pulses processed on leading edge of input A 2X pulses are processed on both edges of input A 4X pulses processed on both edges of input A and both edges of input B 2 The Reset Value is assigned by clicking in the data input field and typing in a value When the count is reset using any of the reset methods the count value returns to the Reset Value The reset options are described in more detail later in this chapter 3 Th
42. del gobierno que pueden ayudar a determinar cuales c digos y normas son necesarios para una instalaci n y operaci n segura Si no se siguen todos los c digos y normas aplicables puede resultar en dafios al equipo o lesiones serias a personas No garantizamos los productos descritos en esta publicaci n para ser adecuados para su aplicaci n en particular ni asumimos ninguna responsabilidad por el dise o de su producto la instalaci n u operaci n Nuestros productos no son tolerantes a fallas y no han sido dise ados fabricados o intencionados para uso o reventa como equipo de control en l nea en ambientes peligrosos que requieren una ejecuci n sin fallas tales como operaci n en instalaciones nucleares sistemas de navegaci n a rea o de comunicaci n control de tr fico a reo m quinas de soporte de vida o sistemas de armamentos en las cuales la falla del producto puede resultar directamente en muerte heridas personales o dafios f sicos o ambientales severos Actividades de Alto Riesgo Automationdirect com espec ficamente rechaza cualquier garant a ya sea expresada o implicada para actividades de alto riesgo Para informaci n adicional acerca de garant a e informaci n de seguridad vea la secci n de T rminos y Condiciones de nuestro cat logo Si tiene alguna pregunta sobre instalaci n u operaci n de este equipo o si necesita informaci n adicional por favor ll menos al n mero 770 844 4200 en Estados Unidos Esta p
43. for the discrete output the output will be in this state if the input is not within a defined range Add an entry for each range of input at values where the output should be in the opposite state Edit PLS Table x a GLISSE m Default Output State Off C On Name Add PLS Entry Eae pisent Scales Output ON when greater than or equal to 45 AND less than 235 NOTE PLS Tables stored as RAW co The scales are provided to simplify table editing by OK allowing value entry in scaled units Cancel NOTE Unlike a preset table events in a PLS table can occur in any order even simultaneously In ladder use the CTRIO Table Load CTTBLLD instruction to load the table for an output Loading the table could take multiple scans When CTTBLLD s On Success indication becomes true set the output s EnableOutput structure member to begin using the table For more detailed information see the Do more Designer help file topics for CTRIO Module Configuration CTTBLADD CTTBLCLR CTTBLEDT and CTTBLLD Counter I O User Manual 2nd Ed Rev D 5 9 Chapter 5 Configuring the CTRIO Outputs Creating and Using the Output Preset Tables Preset tables can be used only when the corresponding input is configured for a timer or quad counter that is not scaled or if a counter is set to Position scaling For DirectLOGIC users click the Output Preset Tables Lx Preset Tables button on the main
44. it will turn ON Edit the behavior of a Discrete Output triggered by a Rate Level by using the Edit Level Response Command Command Code 30Hex The Level Behavior setting for Parameter 1 is given in the table below Level Behavior for Discrete Output Parameter 1 Contents ON when greater than Level Rate setting 0000 Hex ON when less than Level Rate setting 0080 Hex OFF when greater than Level Rate setting 0001 Hex OFF when less than Level Rate setting 0081 Hex The Deadband is written to Parameter 2 as a x10 integer one implied decimal position To achieve a 10 096 deadband the control program needs to write 100 decimal 64 Hex to Parameter 2 The Level Rate setting is written to Parameter 3 in the same format as Input Parameter 1 of the CTRIO Function to which this Discrete Output has been assigned 6 24 Counter I O User Manual 2nd Ed Rev D Chapter 6 Program Control Load Preset Table Flowchart The flowchart below provides the logical sequence necessary to load and execute a discrete output preset table Load 10 into Command Code Verify that the Hex CTRIO is configured correctly At this point your table is active Load Table Number into Parameter 1 Decimal Verify that you ve entered the correct table number RESET Enable Output Is Command Complete ON RESET Process Command RESET Process Command Counter I O User Manual 2nd Ed
45. main Workbench dialog is the Config Information Config Status indicator If the current configuration is different n from the CTRIO and different from any saved files the indicator tal Blocks 256 will display the word Changed If the current configuration has Free Blocks 249 been written to the module or a file the message will read Same as Module Same as File or Same as Both Config Status Changed Program Mode Configuring the CTRIO Module After the configuration is created or changed in CTRIO Workbench it must be written to the CTRIO module This is accomplished by returning to 0 BBE the main CTRIO Workbench window and clicking on Write Module Config Operations If the configuration was created using Workbench Offline ram pe version you must connect your PC to the CTRIO module TT through the CPU controller and write the configuration to ResdModue the module NOTE Entering program mode takes the CTRIO module offline Input pulses are not read or processed in Program mode and all outputs are disabled CPUS will hold last value in memory while the CTRIO is in Program Mode Run Mode Start Processing I O Pulses with the CTRIO Module Selecting Run Mode causes the CTRIO module to begin processing pulses based on the I O configuration you created In Run mode the CTRIO Workbench utility also allows you to monitor and verify the proper operation of inpu
46. refer to LE H D e dm LEE Ct e the specifications on lb ane Lu LEE e ea Yi Eu pages 1 5 and 1 6 for may DO Yt D Y3 4 nc more information ihe Gp ip Y3 D NOTES d V H4 CTRIO L 1 Inputs 1A 1B 1C 1D and 2A 2B 2C 2D require user provided 9 30VDC power sources Terminals 1M and 2M are the commons for Channel 1 and Channel 2 inputs Maximum current consumption is 12mA per input point 2 Polarity of the input power sources shown above can be reversed Consideration must be given however to the polarity of the field device Many field devices are designed for only one polarity and can be damaged if power wiring is reversed 3 Outputs have one polarity only as shown above and are powered by user provided 5 36VDC power sources The maximum allowable current per output circuit is 1A Counter I O User Manual 2nd Ed Rev D 2 2 1 Chapter 2 Installation and Field Wiring H4 CTRIO Quadrature Encoder Wiring Example Oe ocan A Ge Z em L e Gp ve Ge OM m gt gt m D N O Ds O CEEE 3AA0E 6 J i I 9 30VDC Q by Sourcing Encoder Sourcing Encoder eee 2 22 Counter I O User Manual 2nd Ed Rev D Chapter 2 Installation and Field Wiring H4 CTRIO TTL Quadrature Encoder Fie
47. sequence The first preset is Entry Number 0 the second preset is 1 and so forth Entry Type for Edit Table Entry Commands The Entry Type is defined according to the table below Entry Type Write Output ON Set Write Output OFF Reset Pulse Output ON Pulse Output OFF Toggle Output Reset Function Edits preset that resets count Counter I O User Manual 2nd Ed Rev D 6 23 Chapter 6 Program Control a Discrete Outputs Driven from a Scaled level Edit Level Response Command Code 30 If a Counter or Timer function is scaled to produce a rate alarm level settings can be used to trigger discrete outputs at values predetermined by the user The alarm levels can be set within CTRIO Workbench or from the user s control program Additionally a deadband percentage in tenths of a percent can be set to prevent the output from changing too frequently near the Rate Level threshold ON when greater condition example Consider a Discrete Output set to turn ON when a level gets to 100 with a 10 deadband The output will turn ON when the level gets to 100 If the level drops the output will stay on until the level drops below 90 where it will turn OFF OFF when less condition example 6 Consider a Discrete Output set to turn OFF when less at 100 When the level gets to 100 the output turns OFF If the level rises again the output will stay OFF until the level gets to 110 where
48. stage control options for the complete or error events Stage programming tends to be well suited to motion applications which are often sequential processes Do more CTRIO2 Axis Mode instructions CTRIO2 Axis Configuration CTAXCFG CTRIO2 Axis Run Dynamic Position CTAXDYNP CTRIO2 Axis Run Dynamic Velocity CTAXDYNV CTRIO2 Axis Run Trapezoid CTAXTRAP CTRIO2 Axis Run Trapezoid with Limits CTAXLIMT CTRIO2 Axis Jog CTAXJOG See Do more Designer help file for more information 5 26 Counter I O User Manual 2nd Ed Rev D PROGRAM CONTROL In This Chapter Do more and Program Control dace sche dem e weed es 6 2 Input Memory Map for Data Transfers from CTRIO to DL CPUs 6 4 Output Memory Map for Data Transfers from DL CPUs to CTRIO 6 6 VO Map Dialog sa ee eee oA ROG RR RR RR AC a ode 6 9 Addressing Conventions with V memory Examples for DirectLOGIC PLCS esca d ick ade Gi pd ERR RARE USER Cg d 6 14 Input Function Status Control Bits and Parameters 6 15 INPUL FUNCHONGS sueesua ys aX ECERERPTC ER S PE Reals d ER we 6 18 Runtime Changes to CTRIO Configured Preset Tables DL PLCs 6 22 Pulse Output Status Control Bits and Command Codes DL PLCs 6 26 Pulse Output Profiles DE PLCs 22233 pe n EEEERE S ESO PEOR d 6 30 System FUNCONS o seai e dde 9 RR ee ir pete ob Chee E d 6 47 Chapter 6 Program Control EY Do more and Program Control Much of Chapter 6 of this manual does not apply to a
49. 0 1 2 and 3 These numbers correspond to the markings beside the module s output terminals YO Y3 YO Y1 for the HO CTRIO 2 E Channel 1 Channel 2 Outputs Inputs Ir Function 1 i a Quad Counter fan gi Pulse Step Dir Pulse CW CCW Ini s ES mj Function 2 a 7 aw Pulse Step Dir Pulse CW CCW PUnassioned Unassigned Ran EJ Dual Edge Timer Counter I O User Manual 2nd Ed Rev D Chapter 4 Configuring the CTRIO Inputs For DirectLOGIC users be sure to write the changes to the module from Workbench when the configuration is complete For example you might click on Counter in the A box then OK to return to the main Workbench window Once you arrive back at the main window you must click Write Module to save your selection to the module The module will need to be in Program Mode to perform the Write Module operation If you do not perform the Write Module operation or a Write File operation your configuration will be lost upon quitting Workbench This applies to all changes to the module configuration Configuration dialog stores the CTRIO s configuration as a permanent part of the Do more controller s System Configuration For Do more users the Write Module button does not exist because the Module Input Function Selections Supported Functions The input channels offer the same configuration options The
50. 0 6 10 16 Word Parameter 1 7 11 17 Word Parameter 2 DWord Control CPU to CTRIO 2 8 Word Offsets WinPLC EBC PBC DEVNETS MODBUS 12 20 V memory Offsets from Output Start octal DWord Parameter 3 0 2 6 26 Counter I O User Manual 2nd Ed Rev D 0 4 Chapter 6 Program Control SS Command Code and Parameter Definitions Command HowBeD Sascha Word Parameter 2 DWord Parameter 3 Trapezoid or S curve Symmetrical S Curve Load Table from ROM Home Search File Number Load Table from ROM ee Target Position decimal Load Table from ROM E Number a Target Velocity decimal Velocity Mode METTE Duty Media 99 Number of Pulses BCD Hex Edge amp TM Run Frequency Run to Limit Mode 20Hz 25KHz Duty aD 99 Run Frequency Buty cycle 10 10 00 Desired Input Function Value Run to Position Mode 20Hz 25KHz Hex BCD decimal A value of 0 will generate a duty cycle of 50 Fields above separated by an amp indicate a code with different definitions for each byte high byte and low byte For example to enter the Pulse Output to Limit command set the high byte of the Word Parameter 2 to the edge you wish to terminate the output pulses see definition following and set the low byte to the desired duty cycle In order to process a command first the program must load the Command Code and required DWord Word and bit para
51. 2 7 B20226 B2056 7 4 HI AF Initialize Settings co 5 AF RST Enable Output Reset Count C3 B2054 1 6 OUT Input Counter Reset 7 END 8 8 Counter I O User Manual 2nd Ed Rev D Chapter 8 DirectLOGIC Programming Examples a Run to Position Mode with DirectSOFT IBox Instructions This is the equivalent ladder using IBox instructions in DirectSOFT to the ladder shown on the previous page The CTRIO Config IBox sets up the CTRIO module in Slot 2 The CTRIO has been c nfigured to use V2000 through V2025 for its input data and V2030 through V2060 for its output data CTRIO Config 1 CTRIO 1B 1000 CTRIO K1 Slot Local K2 Workspace V400 Input V2000 V2025 Output V2030 V2061 This CTRIO Run to Position Mode IBox sets up Output 0 in CTRIO 1 to output pulses at a Frequency of 1000 Hz Using the Gi r than Ch1 Fn1 comparison the output will remain active until the input of 1500 is reached CTRIO Run To Position Mode re CTRRTPM 1B 1012 2 AN CTRIO K1 Output KO Frequency K1000 Function K10 Duty Cycle K0 Position K1500 Workspace V401 Success C100 Error C101 CTRRTPH Failure ae oe C101 3 i d CTRIO K1 Workspace v402 Error Code V403 Ifthe Run to Position re OK set the Direction Bit and Enable the output CTRRTPM_Success Out 0 Direction C100 B2056 4 4
52. 2 if this CTRIO function is scaled in your configuration Rung 2 uses the CTREGWR instruction to write the retained value back into the CTRIO s internal register on the First Scan ladder that references the current count of this CTRIO needs to be held off until this CTREGWR instruction NOTE Since CTREGWR is an asynchronous instruction note the red triangle execution of any other returns its On Success bit or its On Success JMP to Stage For detailed information on the CTREGWR CTRIO Write Register instruction see Do more Designer help file topic DMD0527 Counter I O User Manual 2nd Ed Rev D 9 9 Chapter 9 Do more Programming Examples MMMmmm Reading CTRIO Internal Registers For most applications reading CTRIO Internal Registers using ladder is not necessary All the data needed from the module is already made available in the Do more CPU through the CTRIO module structure For a list of CTRIO module structures see Help File topic DMD0313 High Speed I O Applications There are some registers in the CTRIO whose values are not available in structures Examples are the Reset Value for a resettable counter and Filter Time for inputs To read these values into ladder use the CTREGRD CTRIO Read Register instruction as shown below Ctr RegRd C7 CTREGRD CTRIO Read Register 3 gt Module Device CTRIO_000 Module Structure SCTRIO 000 Source Register B Ch1Fn1 Reset value Destination CtroC1F1RstV
53. 2056 4 C224 Set ON or OFF for Direction of Rotation Process Command V2056 7 C227 Turn ON Command Complete status bit is returned see step 4 Command Status V2022 7 When ON command has been accepted clear Process Command bit step 3 Command Error V2022 6 ON if Command or Parameters are invalid Enable Output V2056 0 Turn ON to start pulses Output Active Status V2022 4 ON while pulsing OFF when limit has stopped pulsing Suspend Output V2056 2 Turn ON to pause output pulses without resetting pulse count Output Suspended V2022 2 ON when out pulse train has been suspended Counter I O User Manual 2nd Ed Rev D 6 43 Chapter 6 Program Control Run to Position Mode NOTE Run to Position Mode controls the pulse outputs directly from the CPU controller program No i CTRIO Workbench Pulse Profile is required for this mode The Run to Position Mode command Command 0022Hex BCD allows Pulse Outputs that terminate when the specified Input Function Value position count is reached Set Word Parameter 1 to the desired Frequency Set Word Parameter 2 Low Byte to the Duty Cycle and the High Byte to the Compare Functions as defined below Leaving the Duty Cycle set to 0 achieves the default 50 otherwise it can be set in 1 increments by writing this value from 1 to 99 Hex BCD Word Parameter 3 specifies the value that
54. 3 Chapter 4 Configuring the CTRIO Inputs Configure I O Dialog Overview a Configure 10 Channel 1 Channel 2 Inputs E E Counter Quad Counter Counter d The Configure I O dialog is the location where input and output functions are assigned to the module The choice of input and output functions determines which options are available The input and output function boxes prompt you with selections for supported functions The configuration software disallows any unsupported selections For DirectLOGIC users from the main CTRIO Workbench window click on the Go to PROGRAM Mode button if in RUN Mode Then click on the Config I O button to arrive at a dialog shown below Notice that the window has a tab for each input Channel m Module Configuration Config IO NOTE You don t have to be in PROGRAM mode to enter the Configure 1 0 dialog however you must be in PROGRAM mode to save the configuration to the CTRIO module H2 H4 T1H CTRIO H2 CTRIO2 Configure I O Dialog gt p Function 1 H0 CTRIO 2 Function 2 E A e m li Configure I O Dialog Edge Timer Dual Edge Timer x Channel 1 Outputs pl densa Inputs 4 Function 1 Edge Timer Dual Edge Timer Counter Quad Counter Raw Pulse Step Dii Puk CO ce ig Counter Pulse Catch Edge Timer Dual Edge Timer Function 2 si E El
55. C PLC 2 ranges mode When using the CTRIO module with a DirectLOGIC PLC enter the starting V memory location for the inputs and outputs in the appropriate fields at the top of the I O Map dialog In the I O Map dialog shown below note that the Input Output and Systems Functions addresses shown are in word and bit of word formats Thus word and bit of word addressing will need to be used in the ladder logic program to address the CTRIO s control and status words bits xj Enable Wie to PLC V Oupa Mao Enable Read bom PLC fv vao SurrgVad elxoupar V0 Nana Flange Famozoss fangs koa Dala CTO oCormote Inpa Data fCTHIDo Conirolr V2020 9 Capase Complete V220 10 Timed Out Oupa Date Cirie CTRIO Oud Daia Cordo CTRIO Dpat OMA CortroltoCT RIO Output Dats Cortroder CTRIO VIET T VEEL Enable Capa 7 I ms J Eom mem ote Counter I O User Manual 2nd Ed Rev D 6 9 Chapter 6 Program Control ee I O Map with DirectLOGIC PLC 4 ranges mode When using the CTRIO module with a DirectLOGIC PLC in 4 ranges mode enter the starting V memory location for the word inputs and outputs and the starting V memory location for the bit inputs and outputs Control relays V40600 range would usually be used for bit control In the I O Map dialog below note that Input Output and Systems Functions addresses shown are in word and Control Relay formats Thus word and Control Relay a
56. CTRIO Name PLC Example 1 Bit of Word see note 2 D2 250 1 260 D4 450 PLC Example 2 Control Relay see note 1 D2 240 CPU Command Code V2040 V2040 Parameter 1 V2041 V2041 Parameter 2 V2042 V2042 Parameter 3 V2031 V2030 V2031 V2030 Enable Output V2056 0 C220 Go to Position V2056 1 C221 Suspend Output V2056 2 C222 Direction V2056 4 C224 Process Command V2056 7 6 28 Counter I O User Manual 2nd Ed Rev D C227 Chapter 6 Program Control Memory Mapping Example for D2 240 CPU NOTE 1 The D2 240 CPU does not support bit of word addressing The status and control bits must be mapped to control relay words An example of mapping code is shown below SP 1 LD VC220 OUT V2056 LD V2022 OUT VC120 NOTE 2 For example DirectSOFT uses B2022 2 in the ladder code to indicate that you are addressing the third bit of V memory register 2022 The B prefix indicates bit of word addressing Counter I O User Manual 2nd Ed Rev D 6 29 Chapter 6 Program Control so RRR RRR Pulse Output Profiles DL PLCs Loading a pre defined Pulse Profile is the easiest method for pulse output motion control Command Code 0010 Hex BCD For the Trapezoid S Curve Symmetrical S Curve Home Search and Free Form profiles all of the required characteristics o
57. D boxes on the left side of this Quit rin ed ty AA dialog If you are wiring your input to terminal 1C you will need to select the 4 E B Edge Timer Disente an Cht Fri Channel 1 tab near the top of this window and click Pulse Catch in box C Three selections must be made in Ceca conjunction with the Pulse Catch option 1 First a decision must be made whether to look for the rising edge of the pulse or the falling edge of the pulse This is a critical decision Careful attention should be paid to the type of output the field device generates If the signal voltage is normally low but a short duration pulse sends the signal to the ON state you will want to trigger off the rising edge and vice versa 2 The second decision you will need to make is the minimum pulse width you want to capture Transients below this width will not be recorded Set this value by typing the desired value in the Minimum Width In field 3 The final decision to be made is the length of pulse the CTRIO module should send in response to the input pulse Make this setting by typing in the desired value in the Pulse Out Width field gt S gt a m 3 a n 20 8 status bit I s is S Seg 260900 g Z Z A N z lt o 8 gJ A w OSS SLE Ei n g Counter I O User Manual 2nd Ed Rev D Chapter 4 Configuring the CTRIO Inputs Edge Timer The Edge
58. D l 2 15 Chapter 2 Installation and Field Wiring gt H2 CTRIO 2 TTL Input Wiring NPN General Purpose Transistor c ne d g D gr Q p 29 om QD k e ge E bs e e HFE 100 HFE 100 E C HFE 100 E 2 16 Counter I O User Manual 2nd Ed Rev D B B 10K 0 1W 10 10K 0 1w 10 10K 0 1W 10 TTL Device TTL Device TTL Device TTL Device Chapter 2 Installation and Field Wiring H2 CTRIO 2 Output Wiring Schematic The CTRIO outputs are individually isolated DC switches that can be used to break the high or the low side of a DC load 2 Cn where n 0 1 2 3 CTRIO Output 5 to 36VDC O Yn Load 5 to 36VDC Q Cn where n 0 1 2 3 CTRIO Output Yn Counter I O User Manual 2nd Ed Rev D l 2 17 Chapter 2 Installation and Field Wiring H2 CTRIO 2 Stepper Servo Drive Wiring Example gt e 2A Q us 2B D ac 2C Q w 2D O m m D Step Amplifier D e 5 36VDC C2 Step Amplifier OPTO Power 7 D co 5 36VDC D OPTO Power 5 Yz f Pulse or CW E Q vo e 9 e Pulse or CW Direction or CCW C3 2 Q Direction or CCW Ya
59. DL205 Base gt Slot 2 DL205 Local I O Master gt DL205 Base gt Slot 0 DL205 Local I O Master gt DL205 Base gt Slot 3 DL205 Local I O Master gt DL205 Base gt Slot 5 Assian Config Counter I O User Manual 2nd Ed Rev D 5 3 Chapter 5 Configuring the CTRIO Outputs Now the Edit CTRIO CTRIO2 Configuration window should be open click the Configure I O button x r Module Configuration Name CTRIO_000 Info Module Type CTRIO CTRIO2 Assigned to DL205 Local I O Master DL205 Base Slot 0 CONFIGURATION NOTES Configure 1 0 Name CTRIO 000 CiFi M Select Configure I O to ChifFni Quad Counter w Capture setup the module s input and Position scaled to x0 1 as Integer x10 output functions E IERAAOAANUBRgE Select Discrete Tables to Name CTRIO_000_CiF2 manage preset and PLS tables for ChijFn2 igned discrete outputs Select Pulse Profiles to manage profiles for pulse outputs Name crRIO 000 C2F1 Name TRI D Out Each configured resource will i take automatically generate a device Ch2 Fni Quad Counter Out 2 Unassigned object that is available to CTRIO specific instructions The pees name and resource Name Name VM AZZS name fields will become Do more 2d beiee eE system devices Choose Ch2 Fn2 Out 3 meaningful and unique names for em ed each configured resource Select Input Filters to Es 3 W E 7 ES configure the
60. DWord Control DWord Offsets WinPLC EBC PBC V memory Offsets CPU to CTRIO DEVNETS MODBUS from Output Start octal DWord Parameter 3 0 2 0 4 Parameter 2 Word Parameter 3 DWord DirectLOGIC n 12 DirectLOGIC n 0 n 1 decimal decimal Load Table from RAM File Number decimal 3 Clear RAM Table Initialize RAM Table Entry Type decimal Pulse Time Preset Count Time4 Command Code Parameter 1 Word DirectLOGIC n 10 Hex BCD DirectLOGIC n 11 Add Table Entry Entry Type decimal Pulse Time Preset Count Time4 2 3 Edit Table Entry File amp 2 14 HE VBGD Entry Type Pulse Time Preset Count Time4 Write RAM to ROMS 999 g 2 3 Edit and Reload File amp 2 15 HeNBCD Entry Type Pulse Time Preset Count Time4 Initialize Table on Reset Entry Type decimal Pulse Time Preset Count Time4 Run to Position Target Position Edit Level Response Level Behavior decimal Deadband Level Rate Setting If appropriate for Entry Type in ms Field entries separated by an amp are to be loaded in the high byte and low byte of that word See example on page 6 7 3 Entry types are defined below Follows format of Input DWord Parameter 1 5 Flash ROM is rated for 100 000 writes Counter Quad Counter Reset must be ON to perform the Edit Entry Number for Edit Table Entry Commands The Entry Number refers to the position of the preset in the table
61. DZrectSOFT5 users will find CTRIO Workbench in the CEES DSLaunch Window s Utilities section i CTRIO WB 2 EBC WinPLC if CTRIO WB 2 PBC f CTRIO WB 2 Offline Hi ERM Workbench i DBWin32 Logger DNLoader NetEdit 3 WinPLC EBC and PLC gt ERM gt EBC Users 8 uninstall CTRIO Workbench DirectLogic PLC CTRIO Workbench EBC WinPLC You will need to connect your PC to the RJ45 Ethernet port on the WinPLC or EBC interface device directly or via hub EN switch etc Connect to the ST style fiber optic port on the Hx M erm workbench EBC F units NetEdt fal CTRIO WB 2 DirectLogic PLC Access the WinPLC and EBC support version at ES EBC WinPLC Start gt Programs gt AutomationDirect Tools CTRIO Workbench i cmo we 2 offine uL or in the DzrectSOFT5 Launch Window Utilities menu Then A crio we 2 Pec select the appropriate Workbench version ae You will be prompted to establish an Ethernet link to m je mee sexes your CTRIO module ee i vam eem NOTE WinPLCs will need to be given an IP address before lt ro Dem connecting with Workbench we 5 2 EBCs will need to have an address selected by DIP Switch or Sg ee via NetEdit before connecting with Workbench Mee cane aS MAE wue ve omer Ocoto BOE ae x 3 H Counter I O User Manual 2nd Ed Rev D Chapter 3 Introduction to CTRIO Workbench PBC DEVNETS and
62. Dynamic Position File Number Do son Target Position D1 sT2 On Success Set bit c3 1 SUS On Error Set bit C4 StartMove C1 SCTRIO 000 OutD0 AtPosition SCTRIO 000 Out0 GotoPosition 2 s SET 3 NOP For detailed information on the CTDYNPOS CTRIO Run Dynamic Position Mode instruction see Do more Designer help file topic DMD0516 9 4 Counter I O User Manual 2nd Ed Rev D Chapter 9 Do more Programming Examples Dynamic Velocity Make sure DO of the instruction Dynamic Velocity File Number has the correct file number Set the target velocity in D1 and turn on CO to load the profile The sign of the value in D1 determines the pulse output direction The velocity can be changed on the fly by placing a new value in D1 ff stet Page D man Qe CTRUNPOS RunProfile co CTDYNVEL CTRIO Run Dynamic Velocity Mode Pulse Output Device QCTRIO 000 OutO Pulse Output Structure SCTRIO 000 Out0 Dynamic Velocity File Number son Frequency ST2 On Success Set bit n On Error Set bit For detailed information on the CTDYNVEL CTRIO Run Dynamic Velocity Mode instruction see Do more Designer help file topic DMD0517 Counter I O User Manual 2nd Ed Rev D l 9 5 Chapter 9 Do more Programming Examples Velocity Mode Load the desired frequency into DO and select the desired direction using C2 Turn on CO to start the output The velocity can be changed on the fly by placing
63. FT IBox Instructions 4 8 9 System Functions Examples Overview eee 8 10 Simulating Retentive Counter 0 0 0 cece cece eee eee eee 8 11 Reading CTRIO Internal Registers 0 ccc eee ee eee eee ee 8 12 Chapter 9 Do more Programming Examples Do more Programming Examples Overview 0 eee 9 2 Load and Run a Pulse Profile 0 cc cece eee eee eens 9 3 Dynamic Positioning Positioning Plus leeeee eee eee ees 9 4 Dynamic Velocity lt 2 24 6962 skr ehe e he RR RO REOR C ewe ewe eee dt 9 5 Counter I O User Manual 2nd Ed Rev D l vii Table of Contents C mmm Velocity Mode erre a wea eae adds E UR RR 9 6 Run to Limit Mode 4 5 ccc cece eee rr eee eked bese kokida iaiia 9 7 Run to Position Mode 6 cece ce eee eee eee eee eee ees 9 8 System Functions Examples Overview cece eee eee eee ee ee eens 9 9 Simulating Retentive Counter 0 0 0 cece ee ee eee eee eee eee 9 9 Reading CTRIO Internal Registers 0 0 cece ee eee eee ee 9 10 Counter I O User Manual 2nd Ed Rev D INTRODUCTION TO THE CTRIO amp CTRIO2 MODULES In This Chapter CTRIO and CTRIO2 Module Overview 000 eee eee 1 2 Support Systems for the CTRIO Modules 2 005 soo 0 004 wes 1 4 CTRIO Specifications uo cae usta e don drap a REUS at Hut d COE PURGE 1 5 HOC TRIOUPD LED Indicators 4 4 44 oo E 09D d o DUE cee n 1 7 H2 CTRIO 2 LED Indicato
64. LC PBC DEVNETS MODBUS Users The Systems Functions dialog is available for use when connected to these interface devices 7 however there is currently no way for the user control program to read from or write to the CTRIO s internal registers Monitor 1 0 E x 1 0 Status amp Input Functions Output Functions System Functions SysCmd Offset 0x80 0x81 Offset Register Value 0402 Write all registers 0x04 Write one register 082 0x85 Chl Fni E 0305 Write reset value O86 0x89 Ch1 Fn2 o OBA O8D Ch2 Fni D OWE Ox9i Ch2 Fn2 D Process SysCmd 0492 0495 Output 0 2766 Sse Enie Off OK95 0x99 Output1 o SysCmd Complete Of Ov9A 0x9D Output 2 o DGE DAl Duput3 D CTRIO read of PLC outputs is Suspended Click to enable Last Enor Code 0 No error 7 6 Counter I O User Manual 2nd Ed Rev D Chapter 7 Using Monitor I O EY Monitor I O Error Codes The appropriate error code listed below will be displayed on the Monitor I O Status Bar when an error occurs Error Code Description 0 No error 100 Specified command code is unknown or unsupported 101 File number not found in file system 102 File type is incorrect for specified output function 103 Profile type is unknown 104 Specified input is not configured as a limit on this output 105 Specified limit input edge is out of range 106 Specified input function i
65. O I O data mapped in the word and CR bit areas of CPU memory shown on page 6 29 6 30 Counter I O User Manual 2nd Ed Rev D Chapter 6 Program Control ET Trapezoid S Curve Symmetrical S Curve Home Search Free Form Profiles For predefined Trapezoid S Curve Symmetrical S Curve Home Search and Free Form profiles the program needs to prepare the Load Table command by selecting Command Code 0010 Hex BCD and setting Word Parameter 1 to the File number of the profile example File 1 Trapezoid 1 Then the program can set the Process Command bit and watch for the Command Complete bit Then the program should clear the Process Command bit and set the Direction bit if necessary and finally the Enable Output bit to start the output pulses Clearing the Enable Output bit will always suspend pulsing and reset any profile in progress to it s beginning Once complete the profile remains loaded and can be restarted by clearing the Enable Output changing the direction bit if desired and again setting the Enable Output The flowchart on the next page provides the logical sequence necessary to execute a Trapezoidal S Curve Symmetrical S Curve Home Search or Free Form pulse profile For the Home Search routine a CTRIO input must be assigned to Limit by the CTRIO 6 Workbench Configure I O dialog See Chapter 8 for a DirectLOGIC programming example that loads and runs a pulse profile using the bit D word addressing in the table on the pa
66. OGIC and ThinknDo users the logical sequence necessary to read from and write to the CTRIO s internal registers The CTRIO s internal current count register can be read from or written to to if the input is configured for a Counter or Quadrature Counter Timer values are not accessable The CTRIO s internal current output pulse count can be read from or written to only if the pulse output is running Dynamic Velocity or Dynamic Positioning profiles See Chapter 8 for DirectLOGIC programming examples that use the RD and WT instructions to execute system function commands See Chapter 9 for Do more programming examples using read and write instructions to execute system function commands PLC Control Outputs Base Addr V2030 Bit of Word PLC Status Inputs Base Addr V2000 Bit of Word PLC Control Outputs Base Addr V2030 Control Relay D2 240 PLC Status Inputs Base Addr V2000 Control Relay D2 240 Action User User 1 Hex Read All Registers Specifed to use 2 Hex Write All Registers with RD WT 4 Hex Write One Register Instruction 5 Hex Write Reset Value Command Specifed to use Code with RD WT Instruction System Command Error System Command Complete Process Command ON if Command or Parameters are V2024 6 invalid When ON command has been V2024 7 accepted clear s Command i Turn ON Command Complete status V2060 7 bit is returned NOTE 1 T
67. OK Cancel The Pulse Time is set in ms 1 000 ms 1 sec For a description of the Output Functions see page 5 6 Output Function poe To set a particular table as the default table use the Set Default Output Settings dialog described on page 5 6 C Reset C Pulse On C Pulse Off Pulse Time C Toggle p ims C Reset Count Cancel 5 10 Counter I O User Manual 2nd Ed Rev D Chapter 5 Configuring the CTRIO Outputs Using the Discrete Outputs in Level Mode If a Counter or Timer function is scaled to produce a rate alarm level settings can be used to trigger discrete outputs at values predetermined by the user Click the Level button on the Configure I O dialog This will open the Default Output Settings Level Mode dialog The alarm level is set within the Default Output Settings Level Mode dialog Default Output Settings x Also a deadband percentage in tenths of a r Default Level Command percent can be set to prevent the output from changing too frequently chattering near the Rate C None Level threshold ON when value is greater than level ON when greater condition example C ON when value is less than level Consider a Discrete Output set to turn ON when a level gets to 500 rpm with a 1096 deadband The output will turn ON when the level gets to 100 If C OFF when value is greater than level C OFF when value is less than level the level drops the output will stay on un
68. Outd CTRIO_000_Outo 1 Ch1D 1 Low Do D1 c3 c4 2 POM For detailed information on the CTRUNVEL CTRIO Run Velocity Mode instruction see Do more Designer help file topic DMD0530 Counter I O User Manual 2nd Ed Rev D l 9 7 Chapter 9 Do more Programming Examples E RRR Run to Position Mode This is the equivalent ladder in Do more Designer to the ladder shown on the previous two pages Choose the Terminate Pulses when Position is reached option and select the desired stop conditions when programming the CTRUNVEL instruction shown below As configured by default the move completes when the counts on an encoder connected to Ch1 are less than the value in DO Load the desired position into DO the desired frequency into D1 and select the direction using C2 Turn on CO to start the move ee UU dp swt Pace Co stan Ge cumpos 4 RunToPos co CTRUNVEL CTRIO Run Velocity Mode me Pulse Output Device CTRIO_000_Outd Pulse Output Structure SCTRIO_000_Outo SetDirection Terminate Pulses when Position is reached Stop When 0x00 Ch1 Fn1 is less than Target Position Do Frequency sott Duty Cycle ST2 On Success Set bit On Error Set bit For detailed information on the CTRUNVEL CTRIO Run Velocity Mode instruction see Do more Designer help file topic DMD0530 9 8 Counter I O User Manual 2nd Ed Rev D Chapter 9 Do more Programming Examples System Functions Examples Ove
69. Output END Counter I O User Manual 2nd Ed Rev D 8 7 Chapter 8 DirectLOGIC Programming Examples a Run to Position Mode The following example program loads and executes a Run to Position Mode pulse profile Turn on CO to run the pulse profile First Scan SPO m Initialize Settings co ITI 2 Ul LD V3000 OUT V2041 LD K1000 OUT V2042 LDD V3001 OUTD V2030 B2056 7 This rung loads Target Velocity Compare format Duty Cycle Input Function and Position Compare Value into the Parameter registers C Set Direction Load Run to Position Mode 0x22 Hex Command Code Register Target Velocity Decimal Parameter 1 Run Frequency Specifies Parameter 3 is Greater than or Equal to Ch1Fn1 Value and 50 duty cycle Hex Parameter 2 Function Duty Cycle Specified position to compare against Input Function Value Decimal Parameter 3 Input Function DWord value for Position Comparison SET Process Command 1 SET Initialize Settings Complete Complete bit with no Command Error before Enabling the Output RST Process Command This rung waits for the Command B2056 0 SET Enable Output output by disabling the Enable Output bit c1 RST Initialize Settings Complete This rung stops the pulse B2056 0 C2 B2056 4 3 OUT Direction Initialize Settings Command Command Complete Complete Error C1 B202
70. Parameter Definitions llle 6 27 Status and Control Bits Registers llle 6 28 Memory Mapping Example for D2 240 CPU 00 0 eee eee eee 6 29 Pulse Output Profiles DL PLCs eeeeee RII 6 30 Trapezoid S Curve Symmetrical S Curve Home Search Free Form Profiles 6 31 Trapezoid S Curve Symmetrical S Curve Home Search Free Form Flowchart 6 32 Running a Trapezoid S Curve Symm S Curve Home Search Free Form Profile 6 33 Dynamic Positioning and Dynamic Positioning Plus 0 0 00 e ce eee 6 34 Dynamic Positioning and Dynamic Positioning Plus Flowchart 6 35 Dynamic Positioning and Dynamic Positioning Plus using the CTRIO YO and Y1 6 36 Dynamic Velocity ceu rr wee ee 6 RR RR 8 ars OE EAR IR E Ane Tre e 6 37 Dynamic Velocity using the CTRIO YO and Yl ww ee eee 6 37 Dynamic Velocity Mode Flowchart sesssisgssssscavieietetetr eee 6 38 Velocity Mode sane dig dno E rn desc dcc n due dd e neha EE ds 6 39 Velocity Mode control on CTRIO YO amp Yl oo eee 6 39 Velocity Mode Flowchart 2 2c eee e usw me kar m9 ye yer ERE da 6 40 Run to Limit MOGde scsi died a det dee ded wa od esa baw dal wwe de ce eed 6 41 Run to Limit Mode Flowchart 0 0 cece eee eee eee ee 6 42 Run at Velocity on CTRIO YO amp Y1 until Discrete Input Limit 6 43 Run to Position Mod uesosecreRPRPPSPe5ed deer dde cec eoa ceca a 6 44 Run to Position Mode Flowchart
71. Preset T ables Preset Tables ami Workbench dialog This will open the Output Preset Tables dialog To create a new table click Add or Edit This will open the Edit Preset Table dialog For Do more users from the Edit CTRIO CTRIO2 c H Configuration page click the Discrete Tables button Delete This will open the Discrete Output Tables dialog To create a new table click Add or Edit This will open the Edit Preset Table dialog Build a Preset Table by adding preset entries one at a time Click Add Preset or Edit Preset to open the Edit Preset Entry dialog um i the Edit Preset Table dialog below the output is SET at count 100 Once the output is SET if the count drops below 100 the output will not go OFF it will remain SET Once a step is complete the focus is on the NOTE The preset tables work similiar to an event drum not a programmable limit switch For example in next step and that step only On the Edit Preset Entry dialog select one ENESE Fi of the six Output Functions Set the preset Fie Nunber 1 PEENI Add Preset value in engineering units if the signal has NS Pulse ON for 2000 ms at 300 been scaled Set the preset value in raw ia ind n count if the signal has not been scaled We eH Delete Preset discuss scaling elsewhere in this chapter Ta Pulse ON and Pulse OFF require a Pulse Time setting Move Down Sort Ascending Sort Descending
72. Refer to Chapters 4 and 5 to determine what input and output configurations are possible NOTE Field device wiring must be compatible with the module configuration See the notes below for further details about power source considerations circuit polarities and field devices Also refer to the specifications on pages 1 5 and 1 6 for more information NOTES 1 Inputs A B C and D require user provided 9 30VDC power sources Terminal M is the commons for the inputs Maximum current consumption is 12mA per input point 2 Polarity of the input power sources shown above can be reversed Consideration must be given however to the polarity of the field device Many field devices are designed for only one polarity and can be damaged if power wiring is reversed 3 The maximum allowable current per output circuit is 1A 2 4 Counter I O User Manual 2nd Ed Rev D Chapter 2 Installation and Field Wiring H0 CTRIO 2 Quadrature Encoder Wiring Example 4 ERR OK vo A e BO Y1 CTR TMR I DC Pulse Out 5 36V 1A a A B o s e Z f p D M Ce yc Gnd vo ERA ae v Power T OUT 9 30VDC HO CTRIO Sourcing Encoder Counter I O User Manual 2nd Ed Rev D 2 5 Chapter 2 Installation and Field Wiring HO CTRIO 2 TTL Quadrature Encoder Field Wiring
73. Sennen ee Home Search Routines 1 Run to Limit 1 at Frequency 1 Frequency 1 Limit 1 Home Frequency 2 Frequency 1 2 Run to Limit 1 at Frequency 1 then continue to Limit 2 at Frequency 2 H Limit 2 Home Limit 1 3 Run to Limit 1 at Frequency 1 then reverse to Limit 2 at Frequency 2 Frequency 1 lec 2 o l Frequency 2 mue dmn gt t t Limit 1 Limit 2 Home 4 Run to Limit 1 at Frequency 1 then continue to Count at Frequency 2 Frequency2 Frequency 1 Count Home Limit 1 5 Run to Limit 1 at Frequency 1 then reverse to Count at Frequency 2 Frequency 1 Iq o Frequency 2 Counter I O User Manual 2nd Ed Rev D 5 2 1 Chapter 5 Configuring the CTRIO Outputs i Trapezoid with Limits Profile The Trapezoid with Limits profile is only available when using an Hx CTRIO2 The profile is a homing routine similar to Home Search but has five additional features 1 The profile is trapezoidal has linear accel and decel rates allowing for faster homing routines without stalling the stepper 2 The profile can be asymmetrical Accel and Decel rates are separate 3 Encoder Feedback can be added useful for correcting excessive lash or slippage in the system 4 Allows output rates up to 250kHz 5 When Stop Trigger is position it is a variable parameter 3 set by the base controller
74. This file can imported into your DirectSOFT ladder logic program DirectSOFT gt File gt Import gt Element Documentation If you have more than one CTRIO module in a system and intend to create a csv file for more than one module use the Add Prefix or Add Suffix option to distinguish one module s nicknames from the others For example add add prefix or suffix S1 to identify the CTRIO module s nicknames in slot 1 Export to DirectSOFT x Export Filename CTRIO CSV r Prefis Suffis D e dt Mee post Kumar ok Qut Window tp Aon OSG 6RAY IRAT v OSTA E 9 m 0 570 EAllsx un 5 A c D E F 6 H Cunt Count At Reset Value et NOTE The exported nicknames are not unique to a specific slot number or module If vou have multiple modules installed and wish to export from more than one module you will need to specify a unique prefix suffix If specified this two character identifier will be added to the beginning or end of each nickname to ensure uniqueness E ptus Output Enabled Po None C Add Prefix Add Suffix Unique Slot ID 1 or 2 characters aivan 21 620560 22 e256 1 OK Cancel Ime 24 82056 4 Counter I O User Manual 2nd Ed Rev D 6 13 Chapter 6 Program Control i M M Addressing Conventions with V memory Examples for DirectLOGIC PLCs Example for Bit accessed Data in PLC CPUs In this exam
75. Timer measures the time from the rising edge of one pulse to the rising edge of the next pulse or the rising edge of one pulse to the falling edge of the same pulse or the falling edge of one pulse to the falling edge of the next pulse Encoders proximity sensors etc can be connected to input C and or input D on either channel or both channels The CTRIO discrete output s can be assigned to the Timer function using the Preset Tables dialog Refer to Creating and Using the Output Tables section in Chapter 5 for details NOTE To insure proper operation the field device wiring and the configuration must be compatible For wiring information see Chapter 2 Notice that the module s four input terminals are represented by the A B C and D boxes on the left side of this dialog If you are wiring your input to terminal 1C you will need to select Ij gt gt I i a is I is SSES Sn DS NO 8 E S Q0 A iu 4 SSS ONSE ES the Channel 1 tab near the top of this window and click Edge Timer in box C 1 First designate the pulse edges you want to measure between There are four choices You can measure the time from the leading edge of the upward pulse to the leading edge of the next upward pulse or from the trailing edge of an upward pulse to the trailing edge of the next upward pulse or from the leading edge of an upward pulse to the
76. UI i UN Sensing NM 1A The same circuitry is present at the corresponding Channel 2 terminal Counter I O User Manual 2nd Ed Rev D l 2 27 Chapter 2 Installation and Field Wiring Installing the TLH CTRIO The TIH CTRIO module is compatible with several Terminator I O Network interface assure their compatibility with the T1H CTRIO see chart below A devices Consideration must be given to the firmware versions of the Network interfaces to The T1H CTRIO module plugs into any valid I O slot in a Terminator I O system The T1H CTRIO cannot be used in Serial Remote I O bases T1K RSSS For installation instructions refer to the Terminator I O Installation and I O Manual T1K INST M The first time you power up the CTRIO module you should see the OK LED blinking The blinking LED indicates that the module is in program mode CPU and CTRIO Compatibility Chart CPU slot Device Firmware Hardware T1H EBC v 1 0 444 or later v 2l or later T1K PBC v 1 1 10 or later v 2D or later Updated firmware versions can be downloaded from our web site at www automationdirect com NOTE The T1H CTRIO is only supported by the T1H EBC T1H EBC100 and T1H PBC 2 28 Counter I O User Manual 2nd Ed Rev D Chapter 2 Installation and Field Wiring Wiring the T1H CTRIO Module Apply the labels that come with the 1 0 module to t
77. V memory Offsets transfers from CPU to CTRIO DirectLOGIC PLCs Process System Command 30 7 6 8 Counter I O User Manual 2nd Ed Rev D Chapter 6 Program Control 1 O Map Dialog The I O Map dialog is accessible from the main Workbench dialog On the main Workbench dialog click the button labeled I O Map The I O Map dialog divides the controller I O memory used by the CTRIO module into three groups 1 0 Map Input Functions Output Functions and System Functions Just below the Map Display Mode field you will see tabs to switch between Input Functions Output Functions and System Functions Click on the Input Functions tab or Output Functions tab to display the CTRIO module s assigned input or output functions quad counter pulse catch pulse out discrete out etc For each input and or output function assigned the I O Map dialog displays the Input Data 6 CTRIO gt Controller addresses and Output Data Controller gt CTRIO addresses based on the Map Display Mode and the starting I O addresses specified The memory map addresses displayed correspond to the offset addresses shown in the tables on the previous pages Click on the System Functions tab to display the System Functions addressing The command bits are used when reading from and writing to the CTRIO s internal registers The other bits can be used to monitor the status of each individual I O point on the module I O Map with DirectLOGI
78. V2301 The Low Word is V2300 and the High Word is V2301 6 14 Counter I O User Manual 2nd Ed Rev D Chapter 6 Program Control sss Input Function Status Control Bits and Parameters Input Function Status Bit Definitions Input function offsets are listed in the order of Ch1 Fn1 Ch1 Fn2 Ch2 Fn1 Ch2 Fn2 Ch x Fn x Status Bits transfers from CTRIO to CPU Bit Offsets WinPLC EBC PBC DEVNETS MODBUS V memory Offsets DirectLOGIC PLCs Count Capture Complete Bit 0 8 16 24 20 0 20 8 21 0 21 8 Timer Capture Start 0 8 16 24 20 0 20 8 21 0 21 8 Timer Capture Complete Timing OR At Reset Value Counting 1 9 17 25 20 1 20 9 21 1 21 9 Timer Timed Out Bit 2 10 18 29 20 2 20 10 21 2 21 10 Pulse Catch Output Pulse State 0 8 16 24 20 0 20 8 21 0 21 8 Pulse Catch Start 1 9 17 25 Input Function Control Bit Definitions Input function offsets are listed in the order of Ch1 Fn1 Chl Fn2 Ch2 Fn1 Ch2 Fn2 Ch n Fn n Control Bits transfers from CPU to CTRIO Bit Offsets WinPLC EBC PBC DEVNETS MODBUS 20 1 20 9 21 1 21 9 V memory Offsets DirectLOGIC PLCs Enable Count Capture 0 8 16 24 24 0 24 8 25 0 25 8 Enable Timer Capture 0 8 16 24 24 0 24 8 25 0 25 8 Enable Pulse Catch 0 8 16 24 24 0 24 8 25 0 25 8 Reset 1 9 17 25 Input Function Status DWord Par
79. VAUTOMATIONDIRECT CTRIO High Speed Counter Module Manual Number HX CTRIO M M WARNING Thank you for purchasing automation equipment from Automationdirect com doing business as AutomationDirect We want your new automation equipment to operate safely Anyone who installs or uses this equipment should read this publication and any other relevant publications before installing or operating the equipment To minimize the risk of potential safety problems you should follow all applicable local and national codes that regulate the installation and operation of your equipment These codes vary from area to area and usually change with time It is your responsibility to determine which codes should be followed and to verify that the equipment installation and operation is in compliance with the latest revision of these codes At a minimum you should follow all applicable sections of the National Fire Code National Electrical Code and the codes of the National Electrical Manufacturer s Association NEMA There may be local regulatory or government offices that can also help determine which codes and standards are necessary for safe installation and operation Equipment damage or serious injury to personnel can result from the failure to follow all applicable codes and standards We do not guarantee the products described in this publication are suitable for your particular application nor do we assume any responsibility for your pro
80. Would you like me to suspend output reads Yes No The Monitor I O dialog is divided into three functional areas I O Status amp Input Functions Output Functions and System Functions Just below the Windows title bar you will see tabs to switch between the three Functions The functions are described on the pages that follow x 170 Status amp Input Functions Output Functions System Functions 7 2 Counter I O User Manual 2nd Ed Rev D Chapter 7 Using Monitor I O I O Status amp Input Functions I O Status amp Input Functions dialog includes all Input Function DWord Parameters raw count time scaled count time etc and status bits passed from the CTRIO module to the CPU Capture Starting Complete bits etc The control bits that would be passed from the CPU to the CTRIO are also included Function enable bits etc The current status of each configured input and output is shown just below the Input Status and Output Status columns x VO Status amp Input Functions Quiyad Furetions System Funes Carne 1 Charel Input Status Oot Status Irou Status Dutout Status Guo Owl A 8 c D 042 043 8 t b ENSE NUBE o6 0057 S Deceeni OR Oi 008 7008 i BERGEN Input Functions IMrgu Functions usd Courter Edge Tamer Urconligaed Uncorirgued Cumert Count 9554 Last Time 30 Timer 30 Capared Start w Ar Reset Value UH Care Corolete On fe Enatie Capture Reset Count
81. You can also access this help file topic by opening Monitor CTRIO and pressing F1 Using the Monitor I O Dialog NOTE It is highly recommended to simulate your CTRIO Counter Timer or Pulse Output Profile etc application using Monitor 1 0 before attempting to control the module from your controller program Monitor 1 0 is extremely useful for debugging and the commissioning of a new system Monitor 1 0 allows you to confirm proper configuration of the module as well as field wiring and external device operation The Monitor I O dialog is accessible from the main Workbench dialog when the module is in Run Mode Monitor 1 0 On the main Workbench dialog click the button labeled Monitor I O After clicking on the Monitor I O button the dialog below will appear if you have mapped the I O in the CTRIO to the controller Here you have the ability to suspend CTRIO reads from the CPU controller Doing so will allow Monitor I O to control the CTRIO without any control program intervention With the output reads suspended the Monitor I O dialog allows you to simulate program control for example enabling a timer resetting a counter running a pulse profile or turning on an output configured for Raw mode etc When exiting Monitor I O you will be prompted to re enable the controller output reads Attention x CTRIO is currently reading output data from the controller This will interfere with the I O Monitor s ability to control CTRIO
82. a new value in D1 The direction is latched in when the instruction is enabled To change direction the instruction must first be disabled CO OFF fr Start Page Cn man Ge crRUNPOS VelocityMode F co CTRUNVEL CTRIO Run Velocity Mode J Pulse Output Device CTRIO_000_Outo SetDirection Pulse Output Structure SCTRIO_000_Outd c2 Terminate Pulses never Frequency Do sof Duty Cycle D1 ST2 On Success Set bit c3 On Error Set bit C4 NoP For detailed information on the CTRUNVEL CTRIO Run Velocity Mode instruction see Do more Designer help file topic DMD0530 9 6 Counter I O User Manual 2nd Ed Rev D Chapter 9 Do more Programming Examples ah Run to Limit Mode Choose the Terminate Pulses when Limit Level is detected option when selecting the CTRUNVEL instruction shown below Load the desired frequency into DO and select the desired direction using C2 Turn on CO to start the output When Ch1D meets the limit condition Low in this example the move stops TE surtPoce Co pin Go craunmos je 8a Xix a x VelocityMode co CTRUNVEL 1 1 Pulse Output Device Pulse Output Structure SetDirection c2 Limit Input Q R Limit Level Frequency sott Duty Cycle ST2 On Success Set bit On Error Set bit Terminate Pulses when Limit Level is detected CTRIO Run Velocity Mode CTRIO_000_
83. agnostic Definitions 1A 2A Blinking 7 times per second Input is Configured as Counter and is Changing Following State of Input Input is not Configured as Counter 0 3 Follow actual output state ON output is passing current 1 8 l Counter I O User Manual 2nd Ed Rev D Chapter 1 Introduction H4 CTRIO LED Indicators H4 CTRIO LED Descriptions OK Module OK ER User Program Error COUNTER 1 0 1A 1D ChiA Ch1D Input Status diio al 2A 2D Ch2A Ch2D Input Status Chl F1 F2 Chi Resource State Ch2 F1 F2 Ch Resource State YO Y3 Output Status H4 CTRIO LED Diagnostic Definitions OK ER Description ON OFF RUN Mode Blinking Blinking Boot Mode Used for Field OS Upgrades Blinking OFF Program Mode OFF Blinking Module Self diagnostic Failure OFF ON Module Error Due to Watchdog Timeout OFF OFF No Power to Module User Terminal Block is not Properly Installed H4 CTRIO LED Diagnostic Definition 1A 1D Follow actual input state Ch1 2A 2D Follow actual input state Ch2 Ch1 F1 blinks when Channel 1 Function 1 is counting or timing Ch1 F2 blinks when Channel 1 Function 2 is counting or timing Ch2 F1 blinks when Channel 2 Function 1 is counting or timing Ch2 F2 blinks when Channel 2 Function 2 is counting or timing YO Y3 Follow actual output state ON output is passing current slightly This is to be expected a
84. al On Success Set bit Crt RgRdSucc On Error Set bit CrtoRgRdErT 4 NOP NOTE The CTREGRD instruction can also be used to read the accumulator for a counter channel However this value is already available in structure elements iReg1 iReg2 fReg1 or fReg2 The only time CTREGRD would need to be used to read the accumulator is if scaling and capture are enabled and the raw accumulator value is needed in ladder In the sample ladder above turn on C7 to read in the Channell Functionl Reset Value of the CTRIO module in slot 0 The value will be written into address nicknamed CtrOCIFIRstVal For detailed information on the CTREGRD CTRIO Read Register instruction see Do more Designer help file topic DMD0526 9 10 Counter I O User Manual 2nd Ed Rev D
85. am p omame Swegtysshieereos F Ludus For the T1H PBC enter a 2 byte Output Offset to accomodate memory used by the Hot Swap base rescan feature 6 12 Counter I O User Manual 2nd Ed Rev D Chapter 6 Program Control Printing a Memory Map Report You can print an I O Memory Map Report from the I O Map Report dialog or save as a txt file Click on the Report button located near the bottom of the I O Map dialog to x display the Memory Map Report dialog Chi rt Quad Courter z The addresses listed in the Memory Map Y20201 eA Resa Vate Report are a combination of the Input W201 Reset Functions Output Functions and Systems TEGENE Functions addresses shown in the I O Map EE dialog It is very convenient to have a Vato Captured Start 2020 8 Capture Complete printed list of the CPU controller I O 2054 8 Enable Capture memory used by the CTRIO module when attempting to write the control program ouga tee a 2022 0 Output Enabled 2022 1 Position Loaded Exporting to DirectSOFT You can export a csv file containing addressing and nicknames used in the I O Map dialog Click on the Export button located near the bottom of the I O Map dialog to display the Export to DirectSOFT dialog shown below on the left The csv file shown below on right contains a combination of the Input Functions Output Functions and Systems Functions addressing and nicknames shown in the I O Map dialog
86. ameters Input function offsets are listed in the order of Ch1 Fn1 Chl Fn2 Ch2 Fn1 Ch2 Fn2 and are in decimal format DWord Status CTRIO to CPU DWord Offsets WinPLC EBC PBC DEVNETS MODBUS 24 1 24 9 25 1 25 9 V memory Offsets from Output Start octal DWord Parameter 1 0 2 4 6 0 4 10 14 DWord Parameter 2 Configured Function from CTRIO Workbench 1 3 5 7 Parameter 1 Contents DWORD 2 6 12 16 Parameter 2 Contents DWORD Non scaled Counter Raw Input Value Not Used Scaled Counter Scaled Value pos or rate Raw Value Non scaled Counter with Capture Raw Value Captured Value Scaled Counter with Capture Scaled Value pos or rate Captured Value Non scaled Timer Previous Time us In Progress Time us Scaled Timer Scaled Interval rate In Progress Time us Pulse Catch Not Used receives a sufficiently long pulse input Not Used NOTE If you select the discrete on chx fnx option for an input channel using pulse catch mode you will get a message when you exit the I O config screen noting pulse follower mode or Pulse extension mode for this output channel This means only that the output will pulse for the specified duration when the input Counter I O User Manual 2nd Ed Rev D 6 15 Chapter 6 Program Control i M M Example Input Control Status Bits a
87. annel 2 inputs Maximum current consumption is 12mA per input point 2 Polarity of the input power sources shown above can be reversed Consideration must be given however to the polarity of the field device Many field devices are designed for only one polarity and can be damaged if power wiring is reversed 3 Outputs have one polarity only as shown above and are powered by user provided 5 36VDC power sources The maximum allowable current per output circuit is 1A for the H2 CTRIO and 1A at 23 C or 0 5A at 60 C for the H2 CTRIO2 Counter I O User Manual 2nd Ed Rev D l 2 13 Chapter 2 Installation and Field Wiring H2 CTRIO 2 Quadrature Encoder Wiring Example gt S a w N a C S oqo o meoeqe e Ej 8 uy DAA0E 6 M e 9 30VDC 9 S 5 OSOs S Q 2 Sourcing Encoder Sourcing Encoder 2 S2 o YO Q ES 2 14 Counter I O User Manual 2nd Ed Rev D Chapter 2 Installation and Field Wiring H2 CTRIO 2 TTL Quadrature Encoder Field Wiring 1A e 2A e 1B c 3B e B 10K K D af 1C D 0 1W KA A 10 1D e PE z OD m rus 2M D c D NC B 10K egy HFE gt 100 q To KA E Yo e C3 Q c Power DA l g So 5 JE Nu d Counter I O User Manual 2nd Ed Rev
88. applicable will remain PLC Control Outputs Base Addr V2030 Bit of Word PLC Status Inputs Base Addr V2000 Bit of Word PLC Control Outputs Base Addr V2030 Control Relay D2 240 PLC Status Inputs Base Addr V2000 Control Relay D2 240 Description Parameter 1 V2001 V2000 V2001 V2000 refer to table on page 6 16 Parameter 2 V2003 V2002 V2003 V2002 refer to table on page 6 16 Counter Capture Complete V2020 0 C160 On when Count Capture is complete Available only when input D is configured for Capture input Enable Count Capture V2054 0 Turn ON to Capture Count Available only when input D is configured for Capture input Reset V2054 1 Turn ON to Reset Counter Value to Reset Value At Reset Value V2020 1 6 18 Counter I O User Manual 2nd Ed Rev D On when Counter is at Reset Value Chapter 6 Program Control nana Edge Timer and Dual Edge Timer Parameters 1 and 2 are explained on page 6 16 and will be mapped to V2000 V2003 in this example Standard Timers When the Enable Timer Capture bit is ON and the configured input edge occurs the CTRIO will begin timing The Timer Capture Starting bit will be ON while the timing is in progress and will turn OFF when the next configured input edge occurs and the Timer Capture Complete bit turns ON The program will need to turn off the Enable Timer Capture bit
89. apture V2054 0 C260 Bit Enable Pulse Catch V2054 0 C260 Bit Reset V2054 1 C261 Bit 6 16 Counter I O User Manual 2nd Ed Rev D Chapter 6 Program Control Memory Mapping Example for D2 240 CPU NOTE 1 The D2 240 CPU does not support bit of word addressing The status and control bits must be mapped to control relay words An example of mapping code is shown below SP 1 NOTE 2 For example DirectSOFT uses B2020 1 in the ladder code to indicate that you are addressing the second bit of V memory register 2020 The B prefix indicates bit of word addressing LD VC260 OUT V2054 LD V2020 OUT VC160 Counter I O User Manual 2nd Ed Rev D 6 17 Chapter 6 Program Control i MM M Input Functions Counter amp Quadrature Counter Parameters 1 and 2 are explained on page 6 16 and will be mapped to V2000 V2003 in this example If input D is configured for count Capture the Enable Count Capture bit must be ON in order for input D to be able to snapshot the current count The Count Capture Complete bit is used to indicate the acquisition has occurred The program will need to turn OFF the Enable Capture and confirm the Capture Complete bit resets before attempting the next count capture The Reset bit will reset raw and scaled values to the specified reset value The last captured value if
90. arantissons pas que les produits d crits dans cette publication conviennent votre application particuli re et nous n assumons aucune responsabilit l gard de la conception de l installation ou du fonctionnement de votre produit Nos produits ne sont pas insensibles aux d faillances et ne sont ni con us ni fabriqu s pour l utilisation ou la revente en tant qu quipement de commande en ligne dans des environnements dangereux n cessitant une s curit absolue par exemple l exploitation d installations nucl aires les syst mes de navigation a rienne ou de communication le controle de la circulation a rienne les quipements de survie ou les syst mes d armes pour lesquels la d faillance du produit peut provoquer la mort des blessures corporelles ou de graves dommages mat riels ou environnementaux activit s risque lev La soci t AutomationDirect nie toute garantie expresse ou implicite d aptitude l emploi en ce qui a trait aux activit s risque lev Pour des renseignements additionnels touchant la garantie et la s curit veuillez consulter la section Modalit s et conditions de notre documentation Si vous avez des questions au sujet de l installation ou du fonctionnement de cet quipement ou encore si vous avez besoin de renseignements suppl mentaires n h sitez pas nous t l phoner au 770 844 4200 Cette publication s appuie sur l information qui tait disponible au moment de l impression
91. arrive back at the main window you must click Write Module to save your selection to the module The module will need to be in Program Mode to perform the Write Module operation If you do not perform the Write Module operation or a Write File operation your configuration will be lost upon quitting Workbench This applies to all changes to the module configuration For Do more users the Write Module button does not exist because the Module Configuration dialog stores the CTRIO s configuration as a permanent part of the Do more controller s System Configuration Output Function Selections 5 Supported Functions The module supports four output functions e Raw Pulse Step Direction Pulse CW CCW Discrete Ch 1 2 Fn 1 2 Each function uses one or two output terminals for making connections to field devices plus a common Combinations of the listed functions are possible The configuration dialog disallows any unsupported configurations CTRIO Memory Usage Pulse Profiles and Preset Tables CTRIO configuration software can create a maximum of 255 predefined Pulse Profiles The total number of Pulse Profiles available is 255 minus the number of predefined Preset Tables Pulse Profiles and Preset Tables are saved as File 1 through File 255 The module has 256 Total Blocks of memory allocated for Pulse Profiles and Preset Tables usage The number of memory blocks used varies between Pulse Profiles and Preset Tables Pulse P
92. ase Addr V2000 Bit of Word PLC Control Outputs Base Addr V2030 Control firey PLC Status Inputs Base Addr V2000 Control Hele Action Command Code V2040 V2040 Set to 10 Load Stored Profile Parameter 1 V2041 V2041 File of stored profile determined by user Process Command V2056 7 C227 Turn ON until Command Complete status bit is returned see step 4 Command Complete Status V2022 7 When ON Profile is now loaded clear Process Command bit step 3 Command Error V2022 6 ON if Command or Parameters are invalid Set Direction V2056 4 Set ON or OFF for Direction of Rotation Enable Output V2056 0 Turn ON to start pulses Output Enable tatus V2022 0 When ON module is confirming Enable Output utput ive Status V2022 4 When ON module is pulsing OFF with Enable Status ON profile has completed isable utput V2056 0 Turn OFF when pulse status is OFF and Enable Status is ON spend utput V2056 2 Turn ON to pause output pulses without resetting pulse count utput Suspended V2022 2 ON when out pulse train has been suspended Counter I O User Manual 2nd Ed Rev D 6 33 Chapter 6 Program Control EY Dynamic Positioning and Dynamic Positioning Plus For Dynamic Positioning Positioning Plus only the motion limits of Min Frequency Max Frequency and Acce
93. ations are used for memory transfers from the CTRIO module to the CPU The starting memory location is defined by the user in the I O Map within CTRIO Workbench If you are using the DirectLOGIC CPU you will use the memory address offsets in the second column If you are using an H2 WinPLC EBC PBC MODBUS or DEVNETS in the CPU slot you will use the non PLC offsets in column one Data Type and Offset WinPLC EBC PBC DEVNETS MODBUS Address for Inputs DirectLOGIC Definition Format dwxX0 n 0 Ch 1 Fn 1 Parameter 1 DWord dwX1 n 2 Ch 1 Fn 1 Parameter 2 DWord dwX2 n 4 Ch 1 Fn 2 Parameter 1 DWord dwX3 n 6 Ch 1 Fn 2 Parameter 2 DWord dwX4 n 10 Ch 2 Fn 1 Parameter 1 DWord dwX5 n 12 Ch 2 Fn 1 Parameter 2 DWord dwX6 n 14 Ch 2 Fn 2 Parameter 1 DWord dwX7 n 16 Ch 2 Fn 2 Parameter 2 DWord bX0 7 bX8 15 n 20 Ch 1 Fn 1 Status Low Byte Ch 1 Fn 2 Status High Byte Word 4 4 4 4 4 4 4 4 2 bX16 23 bX24 31 n 21 Ch 2 Fn 1 Status itn ats Ch 2 Fn 2 Status High Byte Word bX32 39 bX40 47 n 22 Output 0 Status Low Byte Word bX48 55 bX56 63 n 23 Output 1 Status High Byte Output 2 Status Low Byte Output 3 Status High Byte Word bX64 71 bX72 bx80 bx88 n 24 Input n Parameter Definitions Parameter values are in Decimal fo
94. bY56 63 Output 1 Control High Byte Output 2 Control Low Be Output 3 Control High Byte Word bX64 71 bX72 79 bx80 87 bx88 95 System Functions Read Write CTRIO Internal Registers see p 6 6 for bit definitions DWord 52 Total Bytes Output n Parameter Definitions Parameters are in decimal format Configured Profile from Parameter 1 Contents Parameter 2 Contents Parameter 3 Contents CTRIO Workbench WORD WORD DWORD Trapezoid Trapezoid with Limits File of stored profile Not Used Not Used S Curve Symmetrical S Curve File of stored profile Not Used Not Used Dynamic Positioning Positioning Plus File of stored profile Not Used Target Position 6 6 Counter I O User Manual 2nd Ed Rev D Configured Profile from CTRIO Workbench WORD Parameter 1 Contents Chapter 6 Program Control WORD Parameter 2 Contents Parameter 3 Contents DWORD Dynamic Velocity File of stored profile Not Used Target Velocity Home Search File of stored profile Not Used Not Used Trapezoid Plus File of stored profile Not Used Target Position Free Form File of stored profile Not Used Not Used NOTE For DirectSOFT users the 1 0 Map dialog displays the exact memory locations in use by the CTRIO module Within the I O Map dialog you can print out a report of memory loctions in use Output n Para
95. caled Value 300 As an example let s say you have a 1 000 Cale Options l Data Smoothing pulse revolution encoder and you want to 727772 ES np qM use it to measure RPM of the encoder mn j m shaft You would enter 1 000 for the Counts unit and minutes as the Time Base A check using the calculator over a sample E time of 1 000 ms 1 second reveals that 5 000 counts equals 300RPM 5000 counts 1000 counts per rev 5 revolutions 5 revolutions 1 sec x 60 sec 1 minute 300 RPM Data Smoothing allows rolling averages to be taken to calculate a value Min 1 sample max 25 samples in the rolling average Counter I O User Manual 2nd Ed Rev D E 15 Chapter 4 Configuring the CTRIO Inputs Using the Scaling Wizard with Timer Functions Scaling raw signals to engineering units is accomplished using the Scaling Wizard Start the Scaling Wizard by clicking the ruler button on the Configure I O dialog Funetion2 This button appears only after you select one of the Counter or Timer functions Edge Timer E Edel Hi FreeRun T Interval Scaling Timer To select Interval Scaling click the radio button beside the word Interval Now click Next to move to the Output Settings dialog On the Output Settings dialog you will notice the field for engineering units Enter an Engineering Units T up to 4 characters appropriate value for Interval Scaling for Output Forma
96. ced to the same 0 location as the first move Clearing the Enable Output bit will disable output pulsing and reset the current position to 0 First Scan 1L LD mm Load Table Command i 0x10 Hex OUT V2040 Command Code Register Initialize Settings co LD Table File Number 2 K1 Decimal i This rung loads loads the NU Parameter 1 Profile Dynamic Positioning profile File Number c1 _______ PD Initialize Settings Complete Initialize Settings Complete C1 B2056 7 3 SET Process Command C3 Go to Position Change Complete Command Command Complete Error B2022 7 B2022 6 B2056 7 4 lA RST Process Command This rung waits for the Command C2 A ser Enable Output COMPIete bit with no Command Go to Position Start Error before Enabling the Output B2056 1 RST Go to Position Go to Position Enable Start Bit Output 5 pi aga LDD vapoo Target Pulse Count Position This rung loads the Target Pulse Count QUTD 030 Parameter 3 Target Position into Parameter Pulse Count 3 register c3 Go to Position L PD Go to Position Change Complete Change Complete ri SET Goto Position This rung starts the pulse output to the m Position Count specified in Parameter 3 Initialize Settings co B2056 0 7 RST Enable Output This run stops the pulse output B2056 7 by disabling the Enable Output bit RST It also resets the
97. compatibity with the HaC TPO M you segate speed beyond AK for your Ho CTRIOZ consider using the Dynamic Postion Pha or Trapezoid Phas proles x e Chapter 5 Configuring the CTRIO Outputs Er Trapezoid Profile The Trapezoid profile changes the velocity in a linear fashion from the specified Start Frequency until the specified target Position Frequency is reached During decelerating the velocity changes in a linear fashion from the specified Position Frequency until the specified End Frequency and Total Pulses is reached Acceleration Time Edit Pulse Profile E xj r Profile Info Nam Peak Freg Position Frequency 1000 Hz Profile Type Total Time 10 97 sec S Curve s Symmetrical S Curve Accel Time Dynamic Positioning 1002 ms Dynamic Velocity Home Search Decel Time 1006 ms Free Form Dynamic Positioning Plus CTRIO2 Trapezoid Plus CTRIO2 Trapezoid w Limits CTRIO2 Start Frequency End Frequency File Stats Fons 3 Total Pulses 10000 Accel Time 1000 ms Pecel Time 1000 ms Total Entries Start Freq 40 Hz Pos Freq 1000 Hz EndFreq 40 Hz Bodo 1 NOTE The Hx CTRIO s pulse outputs are limited to 25KHz This profile has been increas to B4KHz to support the Hx CTRIO2 while maintaining compatibilty with the Hx CTRIO Calculate Profile If you require speeds beyond 64KHz for your Hx CTRIO2 consider using the Dynamic Position Plus or Trapezoid Plus profiles
98. d Rev D 2 29 Chapter 2 Installation and Field Wiring T1H CTRIO Input Field Wiring Input Output Channels 9o O O O O O O O O O O O O O O O 1A 1B 1C 1D YO YO Y1 Y1 2A 2B 2c 2D Y2 Y2 Y3 Y3 NPN Device oono no aooaa PNP Device Output Output NPN Device PNP Device Output Output tk Channel Commons k o O O O O O O O O OO O O O O O 1M 1M 1M 1M Co CO C1 C1 2M 2M 2M 2M C2 C2 C3 C3 gigja arujujuj lU WO 01 U U U D User Bus Terminals no internal connection to CTRIO 9 O O O O O O O O O O O O O O O USER BUS 1 USER BUS 2 a OU 9 30VDC_ F USER BUS 1 1M 24VDC USER BUS 2 2M OVDC T1H CTRIO Output Field Wiring Input Output Channels 9 O O O O O O O O O O O O O O O 1A 1B 1C 1D YO YO Y1 Y1 2A 2B 2C 2D Y2 Y2 Y3 Y3 Bo a gujH g BD H D D DB U 1 U
99. d is stored in the CPU ea ecce Somme AEE eaten The CPU will push the configuration to LIT edo a Mile fi amp Comm Shahus Booker verson 102 the installed CTRIO 2 module as a ava Read Fle appropriate ek coke uly Furctons Mntied Mendes Cort 10 Any other base controller CTRIO Workbench is a separate utility that One Gaerne eee ee communicates with a CTRIO 2 Cn Ou Discrete on Chl fol Specal module through the base controller to meme configure the CTRIO 2 The a Hadna rdo configuration is stored in the CTRIO 2 rec mx _ m woi v vate Va Caw Cor and is a file that should also be stored on 59 1255 Preset tation ean Frnt Tatie 3 H Config Status your computer Configuring the Soe asus PeP Tara uter 3 CTRIO 2 is a process separate from programming the base controller CTRIO Configuration The CTRIO 2 module configuration created with CTRIO Workbench will define the following Inputs 1 Assign the input points e Quadrature encoder with AB or ABZ Tachometer 1 2 Counter I O User Manual 2nd Ed Rev D Chapter 1 Introduction Discrete unassigned 2 Functions applied to discrete inputs Simple discrete input Pulse catch high speed discrete input with programmable filter Timing edge timer period dual edge timer time difference of two inputs Reset counts Z input from encoder Capture counts copy counts to a register nhibit cou
100. d to have the appropriate Pulse Profile Table File Number decimal stored in V3000 for this example You must turn CO on to load and run the pulse profile C2 controls the pulse output direction Dynamic Positioning Positioning Plus Profile example You will need to have a Dynamic Positioning Positioning Plus profile configured as Table File Number 1 using the Configure I O dialog You will also need to have the appropriate Target Pulse Count Position signed decimal stored in V3000 for this example You must turn CO on to initialize the settings Then turn C2 on to Go to Position Dynamic Velocity Profile example You will need to have a Dynamic Velocity profile configured as Table File Number 1 using the Configure I O dialog You will also need to have the appropriate Target Velocity signed decimal stored in V3000 for this example You must turn CO on to initialize the settings and enable the output Velocity Mode Run to Limit Mode and Run to Position Mode examples No CTRIO Pulse Profile Tables are necessary to execute these profiles but the Outputs need to be configured for Step Direction or CW CCW using the Configure I O dialog All parameters are stored in memory as shown in the examples You must turn CO on to initialize the settings and to run the pulse profile C2 controls the pulse output direction For Run to Position Mode Chl Inputs A amp B must be configured for Quad Counter in CTRIO Workbench The position from that enco
101. ddressing will need to be used in the ladder logic program to address the CTRIO control and status words bits Remember that che CTRIO will consume the address ranges listed in all four range fields xj We Map Latte Wie PLE T Dp Maw Erstis end bom PLC F Steg siden he word neue 2330 Slate V oddone tor werd opu FED SS x Rege Fano an Range Faso a SuteVadenteMredc VeRO tomga Van Range vance 00605 15 Page paio as Mnt Functions Oupa Functions System Functions AA nt Quad Courter Ord Lig Te TRO Cortei od Daa CTRD Cote inout Data CTRIO o Corio Dist Data forts CTR Output Data Cortese ETANO Output Data Cors s CTERO Output Data Corm 9 CTAN PaE Raves NOA re pee i gt Racer VICES Urubi Cape ox ej nen eom j NOTE This mode exists specifically for using the CTRIO with the D2 240 CPU If not using the D2 240 CPU then use the 2 ranges mode mentioned on the previous page 6 10 Counter I O User Manual 2nd Ed Rev D Chapter 6 Program Control I O Map with DirectLOGIC PLC with CTRIO in ERM EBC Network When using the CTRIO module with a DirectLOGIC PLC with the CTRIO module in an ERM EBC network first configure the ERM network using the ERM Workbench utility Then from ERM Workbench enter the CTRIO s starting input and output V Map addresses into the CTRIO Workbench s I O Map starting V memory location for the bt inputs and out
102. der is used to stop the move Simulating Retentive Counter example This Systems Functions example uses the Write to Intelligent WT instruction to write the current count stored in the PLC s retentive memory to the CTRIO s current count register on a power cycle or a RUN STOP RUN PLC mode change No permissive bits are required to be turned on in this example Reading CTRIO Internal Registers example This Systems Functions example uses the Write to Intelligent Module WT and Read from Intelligent Module RD instructions to read all of the CTRIO s internal registers every 900ms You must turn CO on to initialize the settings to perform the Read routine 8 2 Counter I O User Manual 2nd Ed Rev D Chapter 8 DirectLOGIC Programming Examples Load and Run a Pulse Profile The following example program loads and executes a Pulse Profile that was created using CTRIO Workbench Pulse Profiles dialog This example can be used for Trapezoid S Curve Symmetrical S Curve Home Search and Free Form profiles Home Search requires that CTRIO inputs C and or D are configured for Limit Out 0 and or Limit Out 2 The Pulse Profile number is stored in V3000 for this example Turning on CO will load and run the pulse profile First Scan SPO Load Table Command 0x10 Hex Command Code Register Initialize Settings co LD Table File Number T V3000 Decimal This rung loads the Pulse Profile Table number from V3000 in
103. duct design installation or operation Our products are not fault tolerant and are not designed manufactured or intended for use or resale as on line control equipment in hazardous environments requiring fail safe performance such as in the operation of nuclear facilities aircraft navigation or communication systems air traffic control direct life support machines or weapons systems in which the failure of the product could lead directly to death personal injury or severe physical or environmental damage High Risk Activities AutomationDirect specifically disclaims any expressed or implied warranty of fitness for High Risk Activities For additional warranty and safety information see the Terms and Conditions section of our catalog If you have any questions concerning the installation or operation of this equipment or if you need additional information please call us at 770 844 4200 This publication is based on information that was available at the time it was printed At AutomationDirect we constantly strive to improve our products and services so we reserve the right to make changes to the products and or publications at any time without notice and without any obligation This publication may also discuss features that may not be available in certain revisions of the product This publication may contain references to products produced and or offered by other companies The product and company names may be trademarked and are th
104. e sees 2 35 Solid State Input Device Wiring to TIH CTRIO Module 05 2 36 Chapter 3 Introduction to CTRIO Workbench Configuring a CTRIO Module for Do more CPUs 0 cee ee eee eee 3 2 What is CTRIO Workbench esee n n 3 2 Installing CTRIO Workbench m Ry RERRRRRRRRRIDDU ERG Y ee es 3 3 Getting Started with CTRIO Workbench 0 eee eee eee eens 3 3 Offline CTRIO Configuration 0 0 llle III 3 3 Online CTRIO Configuration ses 0 0 llle II 3 4 Successful On line Connection sssssesssrsaranasans i mret enge e 3 5 Module Modes of Operation 0 ccc eee eee nn 3 6 Program Mode Configuring the CTRIO Module esee 3 6 Run Mode Start Processing I O Pulses with the CTRIO Module 3 6 Chapter 4 Configuring the Inputs Configure I O Dialog Overview cece cee ee ee hn 42 Input Function Selections 0 cece eee ee eee eee eens 4 5 Supported FUNCIONS esse m RERO ITI PUES EEE De ae a 4 5 Discrete Outputs Pre Assigned to Input Functions 0 00 0 e ee eee 4 5 Counter EUnctlon odo aede neve n ar anal ana ea ca icc ed d RR bee eren e ed 4 6 Quad Counter ciciciciii et rru EEE EEE ROAST AO RO E TE e 47 Pulse Catch vr ELE PE np coe be Eini E EEEE ENEE EE 4 8 Edge Timer 2 552522 he RR RR RR RR RR Eur aae auum tee dak eS 4 9 Dual Edge Tim r 12 222 oikhik o Rh Rb aee ho re ERR R RR Rd 4 10 Reset 1 and Reset 2 Hard R
105. e into Parameter 2 You can change the Frequency and or the Duty Load new Hex Cycle as often as you need parameter values you can even change them while the output is active SET Process Make sure Command the Input is ON configured as a Limit New Frequency or Duty Cycle The Output Active bit will be ON until the CTRIO sends out all of the pulses you configured Is Output Active ON You can also suspend the pulse output at any time with the Suspend Output bit Complete RESET Output Enable RESET Process Command Yes Change Direction RESET Output Enable RESET Process Command 6 42 Counter I O User Manual 2nd Ed Rev D a Chapter 6 Program Control Run at Velocity on CTRIO YO amp Y1 until Discrete Input Limit Name PLC Control Outputs Base Addr V2030 Bit of Word PLC Status Inputs Base Addr V2000 Bit of Word PLC Control Outputs Base Addr V2030 Control Relay D2 240 PLC Status Inputs Base Addr V2000 Control Relay D2 240 Action Command Code V2040 V2040 Set to 21 Hex Run to Limit Mode Parameter 1 V2041 V2041 Set initial run frequency 20Hz 25000Hz decimal Parameter 2 V2042 V2042 Select discrete input edge in high byte low byte duty cycle 1 99 Example rising input 1D at Duty 45 set this parameter to 212D Hex Set Direction V
106. e Inhibit 1 Inhibit 1 is available only if you have selected a Counter or Quad Counter as the primary function For example if you have chosen either counter function on terminal 1A you will have an option of using terminal 1D for an inhibit signal ao The Inhibit 1 signal prevents the CTRIO from zo A a d counting pulses The Inhibit feature is available with xo n E the A Counter or Quad Counter on each channel Pu NOTE Inhibit 1 represents a hard wired input to terminal D An ha Oo appropriate field device must be connected to the designated D e terminal to perform the inhibit function D a pie qp Qo YO o e a Q e B 12 Counter I O User Manual 2nd Ed Rev D Chapter 4 Configuring the CTRIO Inputs Introduction to the Scaling Wizard Scaling raw signals to engineering units is accomplished using the Scaling Wizard Start FEE the Scaling Wizard by clicking the ruler button Cel on the Configure I O dialog This button to Courier A appears only after you select one of the Counter Hlc m or Timer functions The Scaling Wizard options are different for the Counter functions as compared with the Poa eoo Timer functions Position and Rate scaling are available when you select a Counter function Interval scaling is available when you select a Timing function We will step through the dialogs used for eac
107. e Configuration s The CPU s internal serial port can be used for aut Device Configuration programming for guest protocols or configured 7 as a general purpose port and placed under Sel 1 O Mappings program control EE Memory Configuration t Do more Programming gt r4 7 C K Sequence Server i E 4 X 100 i Modbus RTU Server Slave of 2 Previous Next Output Options fe C Modbus RTU Client Master su H 5 9 Xv amp d C Gereral Purpose Mode Info Configure Devices Check F Device Settings r Modbus TCP Server Configuration Do more GPUs equipped with Ethernet parts can odbus TCP Server Defe Server can support a maximum of 16 concu IEEE EE EE EAE a EC SIRE Do With the System Configuration page open select the Module Configuration s page from the lefthand column On this page highlight the desired CTRIO module and click Edit Config System Configuration m Module Configurations CPU Configuration Modules that are programmable by Do more instructions require a Module Configuration The Module Configuration provides a logical connection I O Configuration between the program and the module eliminating the need for Base Slot addressing in the program Monte configaretionla Certain modules have additional setup informati that is provided through the Module Configuration Device Configuration I O Mappings Memory Configuration DL205 Local I O Master gt DL205 Base gt Slot 4 DL205 Local 1 O Master gt
108. e encoder has a higher resolution than the stepper 5 14 Counter I O User Manual 2nd Ed Rev D Chapter 5 Configuring the CTRIO Outputs S Curve Profile The S Curve profile can be used for applications that are sensitive to sudden changes in position or velocity resulting with vibrations or jerky reactions The S Curve profile provides more controlled acceleration and deceleration periods than the Trapezoidal profile by increasing the transistion times Edit Pulse Profile xj Profile Info Name Peak Freq 1000 Hz Profile Type Total Time 10 99 sec Symmetrical S Curve Accel Time Dynamic Positioning 1000 ms Dynamic Velocity Home Search Decel Time Free Form 1000 ms Dynamic Positioning Plus CTRIO2 Trapezoid Plus CTRIO Trapezoid w Limits CTRIO2 File Stats p 215 AG Total Pulses 10000 Accel Time 1000 ms Decel Time 1000 ms Total Enties StetFreg 40 Hz PosFreg 1000 Hz EndFeg 40 Hz Blocks Used T Min Freq Change 3 Min Enty Time I ms NOTE The Hx CTRIO s pulse outputs are limited to 25kHz This profile has been increased Calculate Profile to BAKHz to support the Hi CTRIO2 while maintaining compatibility with the Hx CTRIO Total Pulses The total amount of output pulses that will be generated during the Trapezoidal profile Accel Time The amount of time required for the Start Frequency to ramp up the Position Frequency Decel Time The amount of time required
109. e internal CTR 24VDC jumpers can be used to N OUTS connect the input commons or e o6 OKIE Elo outputs output commons O 2 ib ERI 1 11 together ac ee ET cz m2 TOD CTR E03 The module is configured D 5 o RO using CTRIO Workbench to oop 1D IN9 30VDC 5 12mA accommodate the user s e 75164 OUT 5 36VDC application The function of o oD m per point each input counting timing koc lay D nin AAA D reset etc and output pulse x Qu nel a op LB IB Q output discrete output etc is TUS dg e lac ICE i qo defined in the configuration of E D pE ea zp 2b D 2 the module i 22 gr jM UM d aed YO Refer to Chapters 4 and 5 to E eo ee c NEP S D decrminewiatinparand eea up leo S etermine what input an E c v2 Po output configurations are v3 a c3 Loe 2 et P ekio ibl Pene vi Cl p D possible gol 9 Y3 q pou Yi D NOTE Field device wiring must be compatible with the module configuration g See the notes below for further details about power source considerations circuit polarities and field devices NOTES 1 Inputs 1A 1B 1C 1D and 2A 2B 2C 2D require user provided 9 30VDC power sources Terminals 1M and 2M are the commons for Channel 1 and Ch
110. e last remaining decision to be made is about scaling Clicking the button with the ruler symbol starts the Scaling Wizard The Scaling Wizard is intelligent in that it offers only those scaling options that are appropriate for your input selections We discuss the scaling wizard in greater detail later in this chapter Counter I O User Manual 2nd Ed Rev D 4 7 Chapter 4 Configuring the CTRIO Inputs Pulse Catch The CTRIO Pulse Catch function allows a very short duration pulse to be qualified and lengthened to a time period long enough to guarantee that it is seen by the CPU CPU scans necessarily vary with the length and complexity of the user s program A scan frequency of several milliseconds or more is common A pulse that lasts less than one millisecond is typically hard to catch during the CPU scan The CTRIO module s Pulse Catch function sees the fast incoming signal and holds its status in a status bit until the CPU can see it A x discrete output s can also be tied to PE follow the Pulse Catch input eds Futon Lil ESUIUEEH Pure Catch a 5 NOTE To insure proper operation the field E Pein Pise Sie device wiring and the configuration must be rimm E Disce on Chet mpatible For wiring information Pee Ou 5 Guarda o THEMES sj oF mmm Disciele on Chi Frit Notice that the module s four input Function 2 terminals are represented by the A B C E eenaa Ho ei P and
111. e sole property of their respective owners AutomationDirect disclaims any proprietary interest in the marks and names of others Copyright 2012 Automationdirect com Incorporated All Rights Reserved No part of this manual shall be copied reproduced or transmitted in any way without the prior written consent of Automationdirect com Incorporated AutomationDirect retains the exclusive rights to all information included in this document A ADVERTENCIA X Gracias por comprar equipo de automatizaci n de Automationdirect com Deseamos que su nuevo equipo de automatizaci n opere de manera segura Cualquier persona que instale o use este equipo debe leer esta publicaci n y cualquier otra publicaci n pertinente antes de instalar u operar el equipo Para reducir al m nimo el riesgo debido a problemas de seguridad debe seguir todos los c digos de seguridad locales o nacionales aplicables que regulan la instalaci n y operaci n de su equipo Estos c digos varian de rea en rea y usualmente cambian con el tiempo Es su responsabilidad determinar cuales c digos deben ser seguidos y verificar que el equipo instalaci n y operaci n est n en cumplimiento con la revisi n mas reciente de estos c digos Como m nimo debe seguir las secciones aplicables del C digo Nacional de Incendio C digo Nacional El ctrico y los c digos de NEMA la Asociaci n Nacional de Fabricantes El ctricos de USA Puede haber oficinas de normas locales o
112. ecs beyond BAKH for yena Ho Fun lo Lard 1 at Frequency 1 then reverse to Lana 2 al Frequency 2 Fie Stats wLmis pro Run to Land 1 at Fiequsecy 1 then contras to Court at Frequency 2 Flun to Lim 1 at Frequency 1 then reverte to Count at Frequency 2 Fle Number 4 Total Eriries Blocks Used MF Frequency TOD s Lin oic Evert Hh Frequency 2 100 Hz o Limt2 0 v Evert Highlevel z Cokvlote Profle Trapezudd Pha CTRIOZ E Z Tiapezoid w Limis CTRIO2 o Senet NOTE The HxCTRIO s pulte cutouts are bined to 25KHz This crcfle har been increased to 64K Ha lo support the Hi CTRIO2 wide maniars compalibility vat thre HaCT RIO M you regure speeds beyond EAKH 2 for your Hue CT RIOZ corada usn the Tiapezord Fie Stats wL profile File Number 4 Tolal Ene Blocks Used 1 Calculate Profle cave Frequency 1 The frequency at which the Home Search will begin Limit 1 Home Search Frequency 1 will run to CTRIO input Limit 1 and stop unless Frequency 2 is enabled Frequency 2 if enabled Once Limit 1 is reached the pulse output will continue at Frequency 2 until CTRIO Limit 2 is reached or pulse Count is reached at Frequency 2 Limit 2 if enabled Home Search Frequency 2 will run to CTRIO input Limit 2 and stop Count if enabled The number of output pulse counts generated at Frequency 2 before terminating 5 20 Counter I O User Manual 2nd Ed Rev D Chapter 5 Configuring the CTRIO Outputs
113. elections ides Fog reg Reano cce ae 5 5 Raw Output were dx ete teehee See eREE Se Cats Coes ee ened 5 6 Discrete Outputs poche oh iby anti eee eee eee a 5 7 puce on ns 64 ote ke Oke eee ee eae a a e 4 5 12 Trapezoid Profile so eesenr esas Sed Rd cao PIER TR d a a 5 13 Trapezoid Plus Frome c a aoc uro RECS Gee Cn y eee ERR 5 14 SCUVE Profile cure nae cose RES ERE eee we Rar IE do aded 5 15 Symmetrical S Curve Profile 49 0008 cte ee ee m i 5 16 Dynamic Positioning PEDI uoa dene e done acies 5 17 Dynamic Positioning Plus Profile 34 euenire Ere ERES ER 5 18 Dynamic Velocity Profiles x 4 2 iex ore xx e dade 4 Rr e REOR RC n 5 19 Home Search Profile s ue ucc aci b eoe becky te OR e ees 5 20 Trapezoid With Limits Profile 2s sedo ints es dower wn doa cos 5 22 Free Form Prolle erg vua oc ile ereh dre dnt te CR LAE d 5 25 Additional Pulse Profiles 1 2oa RE RR RR REA AREE XS 5 26 Chapter 5 Configuring the CTRIO Outputs ees Configure I O Dialog Overview Channel 1 Channel 2 Inputs The Configure I O dialog is the location where input and output functions are assigned to the module The choice of input and output functions determines which options are available The input and output function boxes prompt you with selections for supported functions The configuration software disallows any unsupported selections For DirectLOGIC users from the main CTRIO Workbench window click on the Go to PROGRAM Mode butt
114. en used with a Do more CPU Counter I O User Manual 2nd Ed Rev D 1 3 Chapter 1 Introduction Typical Counter Applications a1 High speed cut to length operations using encoder input Pick and place or indexing functions controlling a stepper drive Dynamic registration for web material control Accurate frequency counting for speed control with onboard scaling Positioning e g flying punch PLS programmable limit switch functions for packaging gluing or labeling Stepper motor drive control Valve control Rate monitoring for speed and or flow Support Systems for the CTRIO Modules The CTRIO modules are compatible with several CPU slot interfaces Consideration must be given to the firmware versions of the CPU slot interfaces to assure their compatibility with the CTRIO See Chapter 2 for CPU CTRIO compatibility listings Multiple CTRIO modules can reside in the same base provided that the backplane power budget is adequate Support Systems for the HO CTRIO 2 You can use the HO CTRIO 2 module in DirectLOGIC 05 06 PLC systems Support Systems for the H2 CTRIO Q You can use the H2 CTRIO module in DirectLOGIC 205 PLC systems D2 240 D2 250 1 or D2 260 e DL205 WinPLC systems H2 WPLCx xx PC based control strategies using the H2 EBC interface module Hx ERM networks using the H2 EBC interface module Profibus systems using the H2 PBC slave interface module Do more PLC systems H2 DM1 H2 DMIE
115. er Manual 2nd Ed Rev D Chapter 4 Configuring the CTRIO Inputs Rate Scaling Counter To select Rate Scaling click the radio button beside the word Rate Now click Next to move to the Output Settings dialog Scaling Wizard Output Settings x Engineering Units RPM up to 4 characters On the Output Settings dialog you will notice the field for engineering units Enter an appropriate value for Rate Scaling for Output Format C Floating Point Integer rounded example RPM fps flow etc Seven data types Vignette are available including BCD to make values Integer x100 2 implied decimal places more easily used by DirectLOGIC PLCs BCD rounded BCD x10 1 implied decimal place BCD x100 2 implied decimal places Cancel lt Back VIIA Click Next to open the Rate Settings dialog BEDEIT Lx It is here that you enter the counts per unit Unit Definition of time and the time base A scale offset is Counts unit 1000 Rate Scaling Calculator l rovi j he resul Enter a count value and sample a EON ded to adj Sree eee by 4 Scale Offset fe time in ms to confirm scaling constant amount configuration Unit Time Base This window contains a calculator to double Foe Counts in sample 5000 check your Rate Settings Enter a value into oe the Raw Value field to see the equivalent minutes Sample Time tooo jms n a value in engineering units ipu S
116. es that are available to use that are not created using the Pulse Ouput Profiles Tables These profiles Velocity Mode Run to Limit Mode and Run to Position Mode are discussed at the end of this chapter Creating Pulse Output Profile Tables 5 12 For DirectLOGIC users click the Pulse Profiles button Pulse Profiles on the main Workbench dialog For Do more users click the Pulse Profiles button from the Edit CTRIO CTRIO2 Configuration window This will open the Pulse Profiles Tables dialog To create a new profile click Add or Edit This will open the Edit Pulse Profile dialog On the Edit Pulse Profile dialog select one of the ten Pulse Profile Types This dialog is used to name and define the pulse profile parameters The various parameter fields contain typical default values The configuration software will disallow any invalid parameter entries Counter I O User Manual 2nd Ed Rev D File 2 dynamic pos x Add Edit Copy Delete HEE DLL Te Fam Jman Poitionng Pun fCTRIOZI 2 pecca Phas CT FIC Trapezoid w umis CTRIOZ Fie Siats Fio hunter 7 Total Ero Blocks Used 7 Coleutate Paoli Total Pubes 10000 Accel Tise 100 ma Decel Tine 00 me Bathie Wz Posfeg 100 Hz End Foe 40 We NOTE Tha HeCTRIO s palse cups ane led to 26K 42 Tha prole has been incisatad o BARM to support the He CTRID2 whe martaning
117. es the logical sequence necessary to execute a Run to Limit pulse profile See Chapter 8 for a DirectLOGIC programming example that executes a Run to Limit Mode pulse profile using the bit D word addressing in the table on page 6 44 Parameter 2 Word Parameter 2 defines three elements of the Run to Limit routine Bits 13 and 12 determine which edge s to terminate Output Pulses and Bits 9 and 8 determine which CTRIO Input terminal to use for the limit The low byte specifies the duty cycle ww en Rau EU Rising Edge Ch1 C 00 00 0000 Falling Edge Ch1 C 01 00 1000 Both Edge Ch1 C 10 00 2000 Rising Edge Ch1 D 00 01 0100 Falling Edge Ch1 D 01 1100 Both Edge Ch1 D 10 2100 Rising Edge Ch2 C 00 0200 Falling Edge Ch2 C 01 1200 Both Edge Ch2 C 10 2200 Rising Edge Ch2 D 00 0300 Falling Edge Ch2 D 01 1300 Both Edge Ch2 D 10 2300 Edge s Bits 15 12 CTRIO Input Bits 11 8 Rising 0000 OHex Chic 0000 OHex Falling 0001 1Hex Ch1D 0001 1Hex Both 0010 2Hex Ch2C 0010 2Hex Ch2D 0011 3Hex Counter I O User Manual 2nd Ed Rev D 6 41 Chapter 6 Program Control Run to Limit Mode Flowchart The flowchart below provides the logical sequence necessary to execute a Run to Limit Mode pulse profile Load 21 into Command Code Hex Select Direction Load Frequency At this point the CTRIO will into Parameter 1 begin outputting pulses Decimal SET Output Enabl
118. es to assure their compatibility with the H4 CTRIO see chart below The H4 CTRIO module plugs into any I O slot of any DirectLOGIC 405 base H EBCs support the use of the H4 CTRIO in DL405 local expansion bases The H CTRIO cannot be used in Serial Remote I O bases For installation instructions refer to the e DL405 User Manual D4 USER M if using a DirectLOGIC PLC DL405 Installation and I O Manual D4 INST M if using an H EBC interface The first time you power up the CTRIO module you should see the OK LED blinking The blinking LED indicates that the module is in program mode CPU and CTRIO Compatibility Chart CPU slot Device Firmware Hardware DireciSOFT32 April 2000 or carier H8 MS v 2 00 SH RISC v 1 500 v 4 0 Build 16 or later May 2000 or later H8 CISC v 2 00 SH RISC v 2 500 2 1 3298 or later v 4F or later Updated firmware versions can be downloaded from our web site at www automationdirect com 2 20 Counter I O User Manual 2nd Ed Rev D Chapter 2 Installation and Field Wiring Wiring the H4 CTRIO Module mi The H4 CTRIO module has two independent input channels each consisting of 4 optically isolated input points pts 1A 1D on common 1M and pts 2A 2D on common 2M The inputs can be wired to either sink or source current The module has 4 optically isolated output points pts Y0 Y3 on isolated commons C0 C3 respectively The outputs must be wired so t
119. esets for Counters Only 0 0000 4 11 Soft Resets xus d er Ree UR PP PER irae en ra aoe Gib oe 4 11 Capture T oues s y emn oed dE ER ARE E ed aa e 1 A Mu du 4 12 Inhibit 1 Rr yr EEE eR Aa RRR SERS i os a es 4 12 Introduction to the Scaling Wizard 1 6 cece eee eee eee eee 4 13 Counter I O User Manual 2nd Ed Rev D iii Table of Contents eee Scaling Wizard Examples for Counter Functions 0 0000 e ee eee 4 13 Position Scaling Counter cece cc eee tee I 4 14 Rate Scaling Counter 2 0 cee ce hh I 9h 4 15 Using the Scaling Wizard with Timer Functions 0 0 0 e eee eee 4 16 Interval Scaling IME os edu re pede eG RE Ue ar erue acd ieee ed 4 16 Chapter 5 Configuring the Outputs Configure I O Dialog Overview 2 0 cece ee eee Rh hn 5 Output Function Selections 0 ccc eee ee hn 5 5 Supported FUNCTIONS vassese tee ee eher teh ed eee eG E EA RR RR EE EE 5 5 CTRIO Memory Usage Pulse Profiles and Preset Tables 004 5 5 Raw Output EDT 5 6 Discrete Outputs ia shake ceca ele Sh y e V NOT C ete ee a ANA TP TR TR Cu RR 5 Creating and Using the Programmable Limit Switch CTRIO2 only 5 8 Creating and Using the Output Preset Tables 00 00 0002 ee eee 5 10 Using the Discrete Outputs in Level Mode lesse 5 11 P lse Outputs 4 ehe erac tea eet a e e bk eC RC RP VE Ya e ie 5 12 Crea
120. et 2 represent hard wired inputs to cr terminal C or D An appropriate field device must be e g connected to the designated terminal to perform the reset D ie n 1 nj o A function x D Q 1D D 9 g p eD e Level Reset c Y2 QD Q e o 1 a e Soft Resets Soft resets are available by turning on the appropriate control bit in your control program Counters only or by using the Reset Count function within a Discrete Output Preset Table configuration Counters Timers Counter control bit resets are always level resets meaning they hold the count at zero until the reset bit is turned off Counter I O User Manual 2nd Ed Rev D BL 1 1 Chapter 4 Configuring the CTRIO Inputs Capture 1 Capture 1 is available only if you have selected a Counter or Quad Counter as the primary function For example if you have chosen either counter functionon 2 terminal 1A you will have an option of using terminal s Q 1D for a capture signal qp q n 1 on n 2 Capture 1 snapshots the current count into the 2nd Q e D Word register Parameter 2 The Capture feature is XQ ow available with a single ended Counter on input A or a gy D Quad Counter on inputs A and B eg e e X NOTE Capture 1 represents a hard wired input to terminal D A D captare An appropriate field device must be connected to the a B designated terminal to perform the capture function g a
121. f acceleration run frequency and total pulse count etc are entered in the CTRIO Workbench Pulse Profile entry window For Dynamic Positioning Dynamic Positioning Plus Trapezoid Plus Trapezoid with Limits and Dynamic Velocity profiles the target position and target velocity are stored in a memory location in the controller All other profile characteristics are entered in the CTRIO Workbench Pulse Profile entry window For Velocity Mode Command Code 0020 Hex BCD Run to Limit Mode Command Code 21 Hex BCD and Run to Position Mode Command Code 22 Hex BCD all 6 profile parameters are stored in the controllers memory registers No CTRIO Workbench Pulse Profile is required In order to process a command first the program must load the Command Code and required DWord Word and bit parameters Then the program should drive the Process Command bit to a 1 and look for the CTRIO to acknowledge the command with the Command Complete bit Finally the program should remove the Process Command bit and set the Enable Output bit when appropriate If the Command Error bit is received the CTRIO was unable to process the command due to an illegal value in either the Command Code or parameter files On the pages that follow Pulse Profile and System Functions flowcharts are provided to give an overview of the steps needed to execute a pulse output profile or a SystemFunctions command DirectLOGIC PLC addressing tables are also provided with CTRI
122. for the Position Frequency to ramp down to the End Frequency Start Freq The frequency at which the Trapezoidal profile will begin Pos Freq The target frequency to which the Start Frequency rises End Freq The frequency to which the Position Frequency falls Min Freq Change The amount of calculated frequency change that must take place before stepping to the next frequency Min Entry Time The amount of time spent in each step Counter I O User Manual 2nd Ed Rev D 5 15 Chapter 5 Configuring the CTRIO Outputs ees Symmetrical S Curve Profile The Symmetrical S Curve profile can also be used for applications that are sensitive to sudden changes in position or velocity resulting with vibrations or jerky reactions The Symmetrical S Curve provides more controlled acceleration and deceleration periods than a Trapezoidal profile by increasing the transistion times The S Curve and Symmetrical S Curve profiles differ in that the Symmetrical S Curve has symmetrical acceleration and deceleration profiles The Decel Time and End Frequency are determined by the Accel Time and Start Frequency The Symmetrical S Curve uses less memory than the S Curve profile Edit Pulse Profile E x Profile Info Name Peak Freq 1000 Hz Profile Type Total Time 10 88 sec Symmetrical S Curve Dynamic Positioning Dynamic Velocity Home Search Decel Time Free Form 1000 ms Dynamic Positioning Plus CTRIO2 Trapezoid P
123. g System Configuration m Module Configurations Modules that are programmable by Do more instructions require a Module Configuration The Module Configuration provides a logical connection between the program and the module eliminating the need for Base Slot addressing in the program CPU Configuration I O Configuration lodule Configuration s Certain modules have additional setup informatio that is provided through the Module Configuration Device Configuration I O Mappings Memory Configuration New Config ECOM ECOM100 SERIO SERIO4 ERM ERM100 DL205 Local I O Master gt DL205 Base gt Slot 7 DL205 Local I O Master gt DL205 Base gt Slot 4 DL205 Local I O Master gt DL205 Base gt Slot 2 DL205 Local I O Master gt DL205 Base gt Slot 0 DL205 Local I O Master gt DL205 Base gt Slot 3 DL205 Local I O Master gt DL205 Base gt Slot 5 Delete Config Assian Config Cx c tee Counter I O User Manual 2nd Ed Rev D 4 3 Chapter 4 Configuring the CTRIO Inputs Now the Edit CTRIO CTRIO2 Configuration window should be open click the Configure I O button x r Module Configuration Name CTRIO_000 Info Module Type CTRIO CTRIO2 Assigned to DL205 Local I O Master DL205 Base Slot 0 CONFIGURATION NOTES Configure 1 0 Name CTRIO 000 CiFi M Select Configure I O to ChifFni Quad Counter w
124. g overcurrent protection HO CTRIO2 Thermal shutdown Tjunction 150 C Overtemperature reset Tjunction 130 C Duty cycle range 1 to 99 in 1 increments fonte HO H2 CTRIO H2 H4 T1H CTRIO 0 1 to 99 9 in 0 1 increments HO H2 CTRIO2 Configurable Presets a single b multiple Pulse output Discrete outputs H2 H4 T1H CTRIO H2 CTRIO2 bead output can be assigned one preset or b each output can be assigned one table of presets one table can contain max 128 presets max predefined tables 255 CTRIO Output Resources Pulse outputs 2 channels 2 outputs per each channel Discrete outputs 4 pts Pulse output Discrete outputs HO CTRIO 2 Pulse outputs 1 channel 2 outputs per single channel Discrete outputs 2 pts Resource Options Pulse outputs pulse direction or cw ccw Profiles Trapezoid S Curve Symmetrical S Curve Dynamic Positioning Dynamic Velocity Home Search Free Form Dynamic Positioning Plus CTRIO2 Trapezoid Plus CTRIO2 Trapezoid w Limits CTRIO2 Velocity Mode Run to Limit Mode Run to Position Mode Discrete outputs configurable for set reset pulse on pulse off toggle reset count functions assigned to respond to Timer Count input functions Raw mode Direct access to discrete outputs from user application program Target Position Range 2 1 billion 32 bits or 31 bits sign bit 1 6 Counter I O User Manual 2nd Ed Rev
125. g to CTRIO Internal Memory Writing to the CTRIO s internal registers is basically a two step process Step one is using the WT instruction to send a System Function s command and the desired data values to the CTRIO s Shared RAM Step two is using the Process Command bit to tell the CTRIO to process the command and data values that are in the CTRIO s Shared RAM This moves the data values from the Shared RAM into the CTRIO s internal registers Steps 1 and 2 WT instruction command and data and Process Command Bit PLC V memory gt CTRIO Shared RAM CTRIO Shared RAM gt Process Command to internal processor CTRIO Shared RAM gt internal data registers NOTE This function is not available when the CTRIO module is installed in a EBC expansion base 8 10 Counter I O User Manual 2nd Ed Rev D Chapter 8 DirectLOGIC Programming Examples MM M Kl Simulating Retentive Counter The following Systems Functions example uses the Write to Intelligent WT instruction to write the current count stored in the PLC s retentive memory to the CTRIOS current count register on a power cycle or a RUN STOP RUN PLC mode change First Scan SPO j System Functions Command 0x04 Hex Write One Register System Command Code Register Specifies which CTRIO register will be written to when WT Instruction is executed Hex 0 Hex Ch1 Fn1 4 Hex Output 0 1 Hex Ch1 Fn2 5 Hex Output 1 2 Hex Ch2 Fn1
126. ge 6 34 NOTE For a Home Search Profile if you are at the home position and the Home Search profile is initiated there will not be any pulse outputs Counter I O User Manual 2nd Ed Rev D l 6 3 1 Chapter 6 Program Control Trapezoid S Curve Symmetrical S Curve Home Search Free Form Flowchart The flowchart below provides the logical sequence necessary to execute a Trapezoid S Curve Symmetrical S Curve Home Search or Free Form pulse profile Load 10 into Command Code Verify that the HEX CTRIO is configured correctly Load Pulse Profile Number into Parameter 1 Decimal Is Table Number Correct SET Process Command ON Verify that you ve entered the correct table number Command Complete ON RESET Process Command Is Command Error ON RESET Process Command At this point the profile will The Output Active bit will be Wait here until Output Active Select Direction begin to run SET RESET Output Enable Output Enable ON while the profile is running goes OFF indicating the profile has completed Run Profile Again RESET Output Enable 6 32 Counter I O User Manual 2nd Ed Rev D i _ Chapter 6 Program Control Running a Trapezoid S Curve Symmetrical S Curve Profile Home Search or Free Form Profile on CTRIO YO amp Y1 Name PLC Control Outputs Base Addr V2030 Bit of Word PLC Status Inputs B
127. h scaling type Substitute appropriate values to set up scaling for your application Scaling Wizard Examples for Counter Functions On the counter Scaling Wizard you can select None Scaling type Function Used with Notes Position or Rate No scaling is accomplished if the None Cre Ho E moves 1 iti Converts raw counts to engineering Counter Typically used fi its of dist b button 1S selected Position units using linear interpolation User Quad counter position size red ui be scaling is appropriate for Erin det Tv etw min measuring distance position C Rate Converts count rate to engineering Counter Typically used for units of speed flow units by sampling count normalizing to Quad counter velocity etc Rate is preferred over or size Rate scaling 1S desired timebase and scaling to Interval for count frequencies over i engineering units an 2 emus Emel reuse oe it appropriate for velocity RPM freona Mt Mises flow or similar rate based Euer count time i Esci Edge iti Like pes Interval is typically used for it i idth Dual Edge Tir nit eed flow velocity etc measurements You may want converting to fen Pere PR Tei ava z pare SCR ten the t ired timebase and scaling t tf isl than 5kHz to read the Notes and other eredi hough may be used as igh 10KH2 information before leaving this pus iurc window Cancel Counter I O User Manual 2nd Ed Rev D E 13 Chapter 4 Configuring the CTRIO Inputs Po
128. hat positive current flows into Cn terminal and then out of the Yn terminal see the diagram below and the schematic on page 2 25 The module is configured using CTRIO Workbench to accommodate the user s application The function of each input counting timing reset etc and output pulse output discrete output etc is defined in the configuration of the module cou NTER I O B OK ER TB 2A F1 1A F1 2B F2 1B F2 2C Y2 1C YO 2D Y3 1D Y1 H4 CTRIO INPUT 9 30VDC 5 12mA OUTPUT 9 36VDC 1 0A Max per point 1A Refer to Chapters 4 and 1B 5 5 to determine what 28 5 o o Oo input and output E 2A D D PTE D configurations are D 1B e 2 qu possible kc 29 Gs BET a a he o o 2D NOTE Field device wiring cD 8 Ji i i 1D H 1M must be compatible with 35 de oe the module configuration ae D Lr due eee em NC ha Cy See the notes below for Dd amp NC NC Gg further details about i NC i tpt eo D EC p a power source e2 D L mH GBL considerations circuit f ap vel Ts r ye YO polarities and field 1 7 v2 OFF 2 LIR devices Also
129. he 1 0 The TIH CTRIO module has two independent input channels each consisting of 4 optically isolated input points pts 1A 1D on common 1M and pts 2A 2D on common 2M The inputs can be wired to either sink or source current The module has 4 optically isolated output points pts Y0 Y3 on isolated commons C0 C3 respectively The outputs must be wired so that positive current flows into Cn terminal and then out of the Yn terminal see the diagram on the following page and the schematic on page 2 34 The module is configured using CTRIO Workbench to accommodate the user s application The function of each input counting timing reset etc and output pulse output discrete output etc is defined in the configuration of the module Refer to Chapters 4 and 5 to determine what input and output configurations are possible NOTE Field device wiring must be compatible with the module configuration See the notes below for further details about power source considerations circuit polarities and field devices Also refer to the specifications on pages 1 5 and 1 6 for more information 3 base terminals to properly identify the base terminal p
130. he D2 240 CPU does not support bit of word addressing The status and control bits must be mapped to control relay words An example of mapping code is shown below SP 1 LD VC200 OUT V2060 LD V2024 OUT VC100 NOTE 2 For example DirectSOFT uses B2020 1 in the ladder code to indicate that you are addressing the second bit of V memory register 2020 The B prefix indicates bit of word addressing Counter I O User Manual 2nd Ed Rev D 6 47 Chapter 6 Program Control C a a aaam aaa Reading All CTRIO s Internal Registers Flowcharts The flowcharts below provide the logical sequence necessary to Read the CTRIOS internal registers Reading the CTRIO s internal registers is a two step process 1 Ask the CTRIO to transfer the internal register values to its shared RAM 2 Transfer the values from the CTRIO s shared RAM to the controller s memory DirectLOGIC Read from CTRIO This command tells the CTRIO to copy all 8 of it s internal register values 4 bytes per value into it s shared RAM making them accessible to the CPU 2 The 32 bytes of data make up the 8 CTRIO register values They are arranged as follows Bytes 0 8 Cht Fn1 Bytes 4 7 Cht Fn2 Bytes 8 11 Ch2 Fn1 Bytes 12 15 Ch2 Fn2 Bytes 16 19 Output 0 Bytes 20 23 Output 1 Bytes 24 27 Output 2 Bytes 28 31 Output 3 Use the PLC s WT instruction to wr
131. hen Use Encoder for Position is enabled the target position is specified in units of the encoder Encoder feedback determines when deceleration of a move should begin and determines when the move should stop E See Dynamic Position for a general description of this profile It ponus Frequency Seling ai Hm 100 T a gee Mamunreq Xo He Decanae fia pas Prue Tyee Tipasa F Use Encoder ka Posion Encoder tot Chinell C Channel Scoe Factor Dewdent 0 courts Select cour channel contysed as quad courte Enter the Quipu Ang Stenge Encode tale as the Scam Facha Erie an ochonal Encoder deadar Fie Stats Fie Number Tersi Ernies Blocks Used j CE om Minimum Freq The frequency at which the profile will begin and end Maximum Freq The maximum steady state frequency the profile can attain during a move Accel Rate The rate at which the output frequency will increase at the start of the profile Decel Rate The rate at which the output frequency will decrease at the end of the profile Encoder Input Select the channel where the encoder is connected Scale Factor This is the output to input resolution stepper encoder ratio In other words if the stepper motor being used is a 1000 ppr pulses per revolution and the encoder is 800 ppr then the scale factor would be 1000 800 1 25 Deadband This is the number of position counts away from the target position that causes no action This can reduce hunti
132. i our Out 0 Enable B2056 0 ieu oUr This rung stops the pulse count by disabling the Enable Output bit Try RTPM Out 0 Enable co B2056 0 5 fe nme Reset Count In Count Reset C3 B2054 1 6 our 1 oe Counter I O User Manual 2nd Ed Rev D 8 9 Chapter 8 DirectLOGIC Programming Examples System Functions Examples Overview NOTE System Functions are supported only when the CTRIO module is installed in the same base as the DirecttLOGIC CPU The Systems Functions examples on the following pages use the DirectLOGIC Write to Intelligent Module WT and or Read from Intelligent Module RD instructions to write to or read from the CTRIOS internal registers Reading From CTRIO Internal Memory Reading the CTRIO s internal memory consists of several steps Step one is using the WT instruction to send a Systems Functions command to the CTRIO telling it to put its internal register values into the CTRIO s shared RAM Step two is processing the request for the internal register values using the Process Command bit Step three is using the RD instruction to read the values from the CTRIO s shared RAM memory into PLC V memory Steps 1 and 2 WT instruction and Process Command PLC V memory gt CTRIO s Shared RAM CTRIO s Shared RAM gt Process Command to internal processor CTRIO s Shared RAM lt Internal data values Step3 RD instruction PLC V memory lt CTRIO s Shared RAM Writin
133. igure I O dialog Velocity Mode Run to Limit Mode and Run to Position Mode examples No CTRIO Pulse Profile Tables are necessary to execute these profiles but the Outputs need to be configured for Step Direction or CW CCW using the Configure I O dialog All parameters are stored in memory as shown in the examples For Run to Position Mode Chl Inputs A amp B must be configured for Quad Counter in the Configure I O dialog The position from that encoder is used to stop the move Simulating Retentive Counter example This Systems Functions example uses the Write to Intelligent WT instruction to write the current count stored in the PLC s retentive memory to the CTRIO s current count register on a power cycle or a RUN STOP RUN PLC mode change No permissive bits are required to be turned on in this example Reading CTRIO Internal Registers example This Systems Functions example uses the Write to Intelligent Module WT and Read from Intelligent Module RD instructions to read all of the CTRIO s internal registers every 900ms You must turn CO on to initialize the settings to perform the Read routine 9 2 Counter I O User Manual 2nd Ed Rev D Chapter 9 Do more Programming Examples Load and Run a Pulse Profile Make sure DO of the instruction Position File Number has the correct file number choose the direction with C2 and turn on CO to begin the move Optional Target Position is ignored by the instruction when used
134. ilty with hw Ha CTRIO Ox Cancel Total Pulses Provided by the utility the total number of output pulses that will be generated during the profile Total Time The total time required for the profile to run to completion Import Opens a dialog that allows importing a CSV file Importing the CSV replaces the existing entries A CSV file used to create the profile seen above would look like 200 20 100 30 Add or Edit Step Will invoke the Edit Pulse Entry dialog seen below This window will allow you to modify or create pulse entries x Step Number 3 i Pulse Count E 1 to 2147483647 fF 28te 25000 He TRID Frequency 20 to 65535 Hz CTRIO2 OK Cancel ok Pulse Count The number of pulses to generate for this step Frequency The frequency of pulses during this step Counter I O User Manual 2nd Ed Rev D 5 25 Chapter 5 Configuring the CTRIO Outputs Additional Pulse Profiles Three additional pulse profiles are available to use that are not defined or created using the Pulse Profiles Table dialog however the output s must be configured for Pulse Step Direction or Pulse CW CCW using the Configure I O dialog The profile parameters are stored in the CPU controller memory registers The profiles are briefly described below and will be discussed in detail in Chapter 6 With all three profiles the output is a step response output to the specified target frequency thus no E acceleration decele
135. in the note above does not apply to EBC WinPLC or EBC Think amp Do systems Counter I O User Manual 2nd Ed Rev D 6 11 Chapter 6 Program Control I O Map with an H2 PBC or T1H PBC Profibus DP Controller When using the CTRIO module with an H2 PBC or T1H PBC native Profibus addressing will be displayed in the I O Map as shown below For the T1H PBC the first two output bytes of memory are automatically reserved for the Hot Swap base rescan feature The H2 PBC does not support the Hot Swap feature H2 PBC I O Map T1H PBC I O Map ita if One Map Fae E wou Funcions cd Note that output bytes 0 1 are reserved for the Hot Swap base rescan feature Creating an offline file for H2 T1H CTRIO module For the T1H PBC enter a 2 byte Output Offset to accommodate memory used by the Hot Swap base rescan feature This does not apply to an H2 PBC system The example shown below assumes the TIH CTRIO module is the first module in the system The CTRIO modules consume 44 bytes of input memory and 52 bytes of output memory The maximum amount of I O memory per H2 T1H PBC station is 244 input bytes and 242 output bytes You may need to refer to the Profibus User Manuals H2 PBC M TIH PBC M for information on bytes used by discrete and or analog I O modules to be able to determine the appropriate Starting input and output byte offset addresses for the CTRIO module CI Mao Deckay Mode oc ro
136. input filter times Input Filters Chi A 1000 ns ChiB 3000 ns chic 100075 Ch1D 100005 E RUD OIO Ch2A 1000ns Ch2B 1000ns Ch2C 1000ns Ch2D 1000 ns only Discrete Tables Fie Name Taere SS Tinstucton Total Bods 256 Blocks Free 249 Export to CtrioWB File ihe ee a 77777 79 p 5 ciel Sj You should now have the Configure I O window open similar to the one shown here with a tab for each input Channel The input options are listed by function Four boxes labeled A B C and D correspond to the input terminals on the face of the module 1A 1D or 2A 2D A D for the H0 CTRIO 2 The Output functions are listed as 0 1 2 and 3 These numbers correspond to the markings beside the module s output terminals YO Y3 YO Y1 for the HO CTRIO 2 E Channel 1 Channel 2 Outputs Inputs Ir Function 1 i a Quad Counter fan gi Pulse Step Dir Pulse CW CCW Ini s ES mj Function 2 a 7 aw Pulse Step Dir Pulse CW CCW PUnassioned Unassigned Ran EJ Dual Edge Timer Counter I O User Manual 2nd Ed Rev D Chapter 5 Configuring the CTRIO Outputs ae For DirectLOGIC users be sure to write the changes to the module from Workbench when the configuration is complete For example you might click on Discrete Output in the 0 box then OK to return to the main Workbench window Once you
137. ion is acknowledged the program can load the next position into the DWord Parameter 3 When Pulses Active Status goes to 0 then setting the GoTo Position control bit will again start the output toward the new position The CTRIO moves to the new position relative to its previous position as long as the Enable Output control bit remains set Clearing the Enable Output bit will disable output pulsing and reset the current position to 0 See Chapter 8 for a DirectLOGIC programming example that executes a Dynamic Positioning Positioning Plus pulse profile using the bit D word addressing in the table on page 6 37 E ani DirectSOFT The sign of the value in the Target Position ia register Parameter 3 determines the co ED direction of the pulse train output In the l piii DirectLOGIC programming example to BIN the right BCD 5000 is converted to decimal 5000 when CO is turned ON You could load LD a V memory location n instead of using a constant as shown in the F m use o o example OUTD INV V3000 6 34 Counter I O User Manual 2nd Ed Rev D Chapter 6 Program Control Dynamic Positioning or Dynamic Positioning Plus Flowchart The flowchart below provides the logical sequence necessary to execute a Dynamic Positioning Positioning Plus pulse profile Load 10 into Command Code Verify that the Hex CTRIO is configured correctly Load Pulse Profi
138. is zeroed out and the output begins to slow down at Decel Rate 4 Deceleration ends at Creep Freq and the move continues towards the Stop Trigger a position relative to the Decel Trigger The Stop Trigger is the position 2000 in this example 5 When the Stop Trigger is reached the output stops Example Trapezoid with Limits using a position for the Stop Trigger The Stop Trigger position requires change of direction Position Velocity 1 Move starts at the Minimum Freq and accelerates at Accel Rate 2 Acceleration ends at Maximum Freq and move continues at that rate 3 When the Decel Trigger is reached the position register is zeroed out and the output begins to slow down at Decel Rate 4 Deceleration ends at Minimum Freq and the move changes direction to move back towards the Stop Trigger a position relative to the Decel Trigger 5 When the Stop Trigger is reached position 400 in this example the output stops 5 25 Counter I O User Manual 2nd Ed Rev D Chapter 5 Configuring the CTRIO Outputs H Free Form Profile The Free Form profile allows for stepping between output frequencies with no acceleration or deceleration ramps Profiles up to 256 steps can be imported from a CSV file Total Puer Tots Tee EES we Blocks Used 1 NOTE The HeCTRIO s pve odpa we lmied lo Z9Ha Tha profle haz been raresved Vo AH lo support te Fa CTRIOZ nhie mariar cormpahi
139. ite the 2 byte command code 01 Read All Registers to the CTRIO at offset 80 hex Make sure the parameters you re using are correct SET Process Command Command Complete ON Use the PLC s RD instruction to read the 32 bytes from the CTRIO s shared RAM at offset 82 hex and place them in the PLC s v memory n ut This command tells the CTRIO to copy all 8 of it s internal register values into it s shared RAM making them accessible amp Dias The 8 CTRIO register values are arranged as follows DWORD 0 Cht Fn1 DWORD 1 Cht Fn2 DWORD 2 Ch2 Fn1 DWORD 3 Ch2 Fn2 DWORD 4 Output 0 DWORD 5 Output 1 DWORD 6 Output 2 DWORD 7 Output 3 6 48 Counter I O User Manual 2nd Ed Rev D ThinknDo Read from CTRIO Use ThinknDo s Call Block to write the 2 byte command code 01 Read All Registers to the CTRIO at address 80 Make sure the parameters you re using are correct SET Process Command Is Command Complete ON Use ThinknDo s Call Block to read the 8 DWORD values from the CTRIO s shared RAM at address 82 Chapter 6 Program Control ST Writing to All CTRIO s Internal Registers Flowcharts The flowcharts below provide the logical sequence necessary to Write to all of the CTRIO s internal registers Writing to the CTRIO s internal registers is a two step process 1 Transfer the data values from the controller s mem
140. ith the tape measure symbol starts the Scaling Wizard We discuss the scaling wizard later in this chapter The Scaling Wizard is intelligent in that it offers scaling options that are appropriate for your input selections Counter I O User Manual 2nd Ed Rev D 4 9 Chapter 4 Configuring the CTRIO Inputs Dual Edge Timer The Dual Edge Timer is designed to measure from a pulse edge on one incoming signal to a pulse edge on another incoming signal The user selects whether to measure between rising edges falling edges etc The choices are summarized in the tables below The CTRIO discrete output s can be assigned to the Dual Edge Timer function using the Preset Tables dialog Refer to Creating and Using the Output Tables section in Chapter 5 for details E Dual Edge Timer at Function 1 Dual Edge Timer at Function 2 Rising edge of C to rising edge of D Rising edge of D to rising edge of C Rising edge of C to falling edge of D Rising edge of D to falling edge of C Falling edge of C to rising edge of D Falling edge of D to rising edge of C Falling edge of C to falling edge of D Falling edge of D to falling edge of C NOTE To insure proper operation the field device wiring and the configuration must be compatible For wiring information see Chapter 2 Notice that the module s four input terminals are represented by the A B C and D boxes on the left side of this dialog If you are wiring your inputs to ter
141. l After this command is processed the Run Frequency and Duty Cycle fields can be adjusted by direct access In order to change directions from Pulse Output in Velocity mode the Enable Output bit must first be cleared which stops the Pulse Outputs Then after the new direction bit is written the Enable Output bit can be set to resume pulsing The flowchart on the following page provides the logical sequence necessary to execute a Velocity Mode pulse profile See Chapter 8 for a DirectLOGIC programming example that executes a Velocity Mode pulse profile using the bit D word addressing in the table below Velocity Mode control on CTRIO YO amp Y1 Name PLC Control Outputs Base Addr V2030 Bit of Word PLC Status Inputs Base Addr V2000 Bit of Word PLC Control Outputs Base Addr V2030 Control Relay D2 240 PLC Status Inputs Base Addr V2000 Control Relay D2 240 Action Command Code V2040 V2040 Set to 20 Hex Pulse at Velocity Parameter 1 V2041 V2041 Set initial run frequency 20Hz 25000Hz decimal Parameter 2 V2042 V2042 Duty cycle b 99 can leave 0 for 50 decimal Parameter 3 V2031 V2030 V2031 V2030 Number of pulses DWord set to FFFF FFFF for no limit Hex Set Direction V2056 4 C224 Set ON or OFF for Direction of Rotation Process Command V2056 7 C227 Turn ON Command Complete status bit is returned
142. ld Wiring m amp 1A 1B B ic HFE gt 100 e 0 1W 1D 10 2D e E B GM Gp Nc co 2D urt gt 100 L MA dp vo 0 1W Y p Qo 1096 Y1 is e Power c B 10k Tis HFE gt 100 Gnd 01W 10 5VDC G 9 30VDC Il Counter I O User Manual 2nd Ed Rev D 2 23 Chapter 2 Installation and Field Wiring H4 CTRIO TTL Input Wiring 2 Md General Purpose Transistor y e e pe i TTL Device 2B B 10K D HFE gt 100 1C 2C D 0 1W D 10 2D e gy 2M amp NC NC in co amp e e TTL Device Yo Y2 HFE gt 100 p RN ei 0 1W C3 D E 10 P ml Ya 65 xm 9 30VDC TX E TTL Device B 10K HFE 100 0 1W E 10 c TTL Device B 10K HFE 100 0 1W 1096 m 2 24 Counter I O User Manual 2nd Ed Rev D Chapter 2 Installation and Field Wiring H4 CTRIO Output Wiring Schematic The CTRIO outputs are individually isolated DC switches that can be used to break the high or the low side of a DC load 2 Q Cn where n 0 1 2 3 CTRIO Output 451036VDC Q Yn Load 5 to 36VDC C3 Cn where n 0 1 2 3 CTRIO Output C Yn
143. le Load 22 into Command Code Hex Load Frequency into Parameter 1 Decimal mM Load Function Duty Cycle into Parameter 2 Hex er Load Position value into Parameter 3 Decimal J SET Process Command ON Make sure the Input is configured as a Counter Command Complete RESET Process Command RESET Process Command Select Direction At this point the CTRIO will begin outputting pulses SET Output Enable You can change the Frequency and or the Duty Cycle as often as you need you can even change them while the output is active Load new parameter values New Frequency or Duty Cycle The Output Active bit will be ON until the CTRIO sends out all of the pulses you configured Is Output Active ON You can also suspend the pulse output at any time with the Suspend Output bit RESET Output Enable Change Direction RESET Output Enable Counter I O User Manual 2nd Ed Rev D 6 45 Chapter 6 Program Control a MMMM 3 Run at Velocity on CTRIO until Input Function Value Position Name PLC Control Outputs Base Addr V2030 Bit of Word PLC Status Inputs Base Addr V2000 Bit of Word PLC Control Outputs Base Addr V2030 Control Relay D2 240 PLC Status Inputs Base Addr V2000 Con
144. le number into Parameter 1 Decimal Is Table Number Correct SET Process Command Verify that you ve entered the correct table number Complete ON RESET Process Command RESET Process Command Turning on Output Enable sets the zero point for the CTRIO that is the current di position value is set to 0 SET Enable Output The direction will be determined automatically ie Load Position by the CTRIO Value into Parameter 3 Signed Decimal SET Go To Position Once the current position is loaded The CTRIO will begin to send output pulses You can suspend the pulse output at any time by using the Suspend Output bit Is Position Loaded Using Suspend Output will ON NOT reset the zero point RESET Go To Position If you have more position values you can load them as soon as the Position Loaded bit comes ON You don t have to wait for the currently loaded position to be reached More Positions RESET Enable Output Counter I O User Manual 2nd Ed Rev D 6 35 Chapter 6 Program Control a MMMMM 3 Dynamic Positioning or Dynamic Positioning Plus using the CTRIO YO and Y1 PLC Status Inputs ase Addr V2000 Control Relay D2 240 PLC Control Outputs Base Addr V2030 Control Relay D2 240 PLC Status Inputs Base Addr V2000 Bit of Word PLC Control Outputs Base
145. le Status Config Operations Type Name Jrite Module DU256 Edi cmo Molle Mode MERA Eerie pestir Scan Time 426 us Read Module 250 41KSeq Max Scan Time 562us MEE Write File Comm Status Booter version 1 0 2 OS Version 201 Read File Select PLC E r Module Configuration r Utility Functions Installed Modules Config ID Goto PROGRAM Chl Fni Quad Counter w Capture Out 0 1 Pulse Output Monitorl O Step Direction Chi Ena Ch2 Fn1 Out2 Discrete on Chl Fn p Special Preset Mode lodate Fi Rescan gar Out3 Raw l Hardware Info r Config Information TotalBlocks 256 VOMep Inputs V2 Outputs v2030 Cea Conio Free Blocks 233 PresetTables Total Preset Tables 1 Config Status Same as Module Pulse Profiles Total Pulse Profiles 1 Quit Counter I O User Manual 2nd Ed Rev D 3 5 Chapter 3 Introduction to CTRIO Workbench Module Modes of Operation Toon Read File Utility Functions On the CTRIO Workbench main window a single button toggles between Run Mode and Program Mode The Module Mode indicator will tell you which mode your module is in You can make configuration changes in either Run Mode or Program x Chil Mode but to save your configuration to the module you must click Write Module which is only active in Program Mode igned In the lower left corner of the
146. le with Do more CPUs and several DL205 CPU slot interface devices Consideration must be given to the firmware version of the CPU to assure Chapter 2 Installation and Field Wiring Installing the H2 CTRIO 2 Module their compatibility with the H2 CTRIO 2 see chart below The H2 CTRIO 2 module plugs into any I O slot of any Do more or DirectLOGIC 205 base except slot 0 when using a DirectLOGIC PLC Slot 0 is also not allowed if using the H2 CTRIO and a WinPLC or H2 PBC controller However slot 0 is available for the H2 CTRIO 2 module when using the H2 EBC interface devices Slot 0 is the I O slot adjacent to the CPU The H2 CTRIO 2 cannot be used in DL205 local expansion bases or in Serial Remote I O bases For installation instructions refer to the DL205 User Manual D2 USER M if using a DzrectLOGIC PLC DL205 Installation and I O Manual D2 INST M if using a WinPLC EBC Profibus slave interface module Do more H2 series PLC Harware User Manual H2 DM M if using a Do more PLC The first time you power up the CTRIO module you should see the OK LED blinking The blinking LED indicates that the module is in program mode CPU and CTRIO Compatibility Chart CPU slot Device Firmware Hardware DirectSOFT5 Slot Restrictions H2 CTRIO 2 D2 240 v 3 22 or later v 3 0C Build 71 or later any 1 0 slot except 0 D2 250 v 1 56 or later v 3 0C Build 71 or later any 1 0 slot except 0
147. leeeeeeeeeee hn 1 8 H4 CTRIO LED Indicators leseeeeeeee I n 1 9 TIH CTRIO LED Indicators eeeeeeeeee hh hn 1 10 CTRIO Module Workflow Diagram eeee RII 1 11 Chapter 2 Installation and Field Wiring Installing the HO CTRIO 2 Module cece ee eee ee eee eee 2 2 CPU and CTRIO Compatibility Chart csse 2 2 Setting HO CTRIO 2 Jumpers 0 0 ccc ce ee eee eee hh nnn 2 3 Wiring the HO CTRIO 2 Module 0 cece eee ee eee n 2 4 HO CTRIO 2 Quadrature Encoder Wiring Example 0 00000 eeeuee 2 5 HO CTRIO 2 TTL Quadrature Encoder Field Wiring esses 2 6 Table of Contents RRR HO CTRIO 2 TTL Input Wiring 2 0 ec eee ee eee 2 HO CTRIO 2 Output Wiring Schematic 0 cee ee ee eee 2 8 HO CTRIO 2 Stepper Servo Drive Wiring Example sees 2 9 Solid State Input Device Wiring to the HO CTRIO 2 Module 2 10 Installing the H2 CTRIO 2 Module ee eee eee eee eee eee 2 11 CPU and CTRIO Compatibility Chart scele 2 11 Setting H2 CTRIO 2 Jumpers 0 cece cc eee n 2 12 Wiring the H2 CTRIO 2 Module cece ee eee eee ee eee eee 2 13 H2 CTRIO 2 Quadrature Encoder Wiring Example lese 2 14 H2 CTRIO 2 TTL Quadrature Encoder Field Wiring 2 15 H2 CTRIO 2 TTL Input Wiring 2 ce IRI 2 16 H2 CTRIO 2 Output Wiri
148. leleeeeeee 2 31 T1H CTRIO TTL Quadrature Encoder Field Wiring Example lessen 2 32 T1H CTRIO TTL Input Wiring Example sselee RIA 2 33 T1H CTRIO Output Wiring Schematic llle 2 34 T1H CTRIO Stepper Servo Drive Wiring Example 0 0 00 cece e 2 35 Solid State Input Device Wiring to the TTH CTRIO Module 000000000 2 36 Chapter 2 Installation and Field Wiring Installing the HO CTRIO 2 Module The HO CTRIO 2 module is compatible with DirectLOGIC DL05 and DL06 PLCs Consideration must be given to the firmware versions of the PLCs to assure their 2 compatibility with the HO CTRIO 2 see chart below The HO CTRIO 2 module plugs into any option card slot of any DL05 and DL06 PLC For installation instructions refer to the DL05 or DL06 User Manual D0 USER M or D0 06USER M The first time you power up the CTRIO module you should see the OK LED blinking The blinking LED indicates that the module is in program mode CPU and CTRIO Compatibility Chart PLC CPU Firmware DirecfSOFT5 v 4 60 or later v 4 0 Build 16 or later v 1 40 or later v 4 0 Build 16 or later Updated firmware versions can be downloaded from our web site at www automationdirect com NOTE CTRIO Workbench Version 2 2 0 is required for the HO CTRIO2 2 2 Counter I O User Manual 2nd Ed Rev D Chapter 2 Installation and Field Wiring Setting HO CTRIO 2 Jumpers The module
149. leration rate come from the CTRIO Workbench Profile After loading a Dynamic Positioning Positioning Plus Profile setting the Enable Output causes the CTRIO module to assume a position of 0 pulses The program should write the next target position in DWord Parameter 3 and set the Go to Position bit This will cause the CTRIO to set both the Pulses Active and the New Position Loaded bit and begin to output pulses The number of pulses and direction are determined by the CTRIO based on the difference between the current location and the specified target location The flowchart on the following page provides the logical sequence necessary to execute this type of pulse profile The program can monitor the state of the Pulses Active bit and the New Position Loaded bit to determine when the new position has been attained The New Position Loaded status bit will always follow the state of the Load Seek New Position control bit This status bit should be used to signal the program that the CTRIO has received the new state of the control bit Position Loaded Status Bit Pulses Active Status Bit V40622 1 or C441 V40622 0 or c440 CTRIO Pulse Output State 0 Idle Go To Position Acknowledged Pulsing 1 0 Still Pulsing Go To Position Control Bit is OFF 1 Go To Position Acknowledged Position Attained You do not have to wait on the CTRIO to complete a move that is in progress before loading the next target location After the GoTo Posit
150. lus CTRIO2 Trapezoid w Limits CTRIO2 Accel Time 1000 ms File Stats Fie Hunber 4 Total Pulses 10000 Accel Time 1000 ms e 100 n Total Entries Start Freq 40 Hz Pos Freq 1000 Hz 4 F Blocks Used 1 Min Freq Change 3 X Min Entry Time 10 ms Calculate Profile NOTE The Hx CTRIO s pulse outputs are limited to 25KHz This profile has been increased to 64KH2 to support the Hx CTRIO2 while maintaining compatibility with the Hx CTRIO Conc Total Pulses The total amount of output pulses that will be generated during the Trapezoidal profile Accel Time The amount of time required for the Start Frequency to ramp up the Position Frequency This also represents the deceleration time Start Freq The frequency at which the Trapezoidal profile will begin This also represents the end frequency Pos Freq The target frequency to which the Start Frequency rises Min Freq Change The amount of calculated frequency change that must take place before stepping to the next frequency Min Entry Time The amount of time spent in each step 5 16 Counter I O User Manual 2nd Ed Rev D Chapter 5 Configuring the CTRIO Outputs nS ASA Dynamic Positioning Profile The Dynamic Positioning profile is a trapezoidal profile with identical acceleration deceleration rates and identical starting stoping frequencies The maximum target frequency is specified The target position of output pulses is loca
151. mand 3 Ch2 Fn2 code 04 Write One Register 4 Ouput 0 the 2 byte destination register 5 Ouput 1 value and the 4 byte value to 6 Ouput 2 the CTRIO s shared RAM at 7 Ouput 3 offset 80 hex SET Make sure the parameters Process s 9 you re using Command ThinknDo Write to CTRIO The Destination Register values are as follows 0 Ch1 Fn1 1 Ch1 Fn2 2 Ch2 Fn1 3 Ch2 Fn2 Use ThinknDo s Call Block to write the 2 byte command code 04 Write One Register the 2 byte destination register value land the 4 byte value to the CTRIO s shared RAM at Address 80 Make sure the parameters you re using SET Process Command are correct are correct Command Complete Complete ON 6 50 Counter I O User Manual 2nd Ed Rev D UsiNc Monitor 1 O In This Chapter Do more and Monitor CTRIO 455 4x yx ro p CAEDE wo 7 2 Using the Monitor I O Dialog suis urat oie Onde e d 7 2 Monitor 1 0 Error Codes iss valo alea dora sorpi entei en duce ae 7 7 Chapter 7 Using Monitor I O i MM M Do more and Monitor CTRIO In Do more Monitor CTRIO is part of the Do more Designer programming software To access Monitor CTRIO in Do more Designer look under the PLC menu and select Monitor CTRIO Module For detailed information on using Monitor CTRIO Module in Do more Designer see help file topic DMD0308 Monitor CTRIO Module
152. meter Definitions Parameters are in decimal format unless specified Profiles Completely Controlled by User Program Parameter 1 Contents WORD Parameter 2 Contents WORD Parameter 3 Contents DWORD Velocity Mode Initial Frequency Duty Cycle Number of Pulses Hex Not Used Input Function Comparison Value Run to Limit Mode Initial Frequency Input Edge Duty Cycle Hex Input Function Comparison and Duty Cycle Hex Run to Position mode Initial Frequency Input Function Control Bit Definitions Input function offsets are listed in the order of Ch1 Fn1 Ch1 Fn2 Ch2 Fn1 Ch2 Fn2 Ch n Fn n Control Bits transfers from CPU to CTRIO Enable Count Capture Enable Timer Capture Enable Pulse Catch Reset Bit Offsets WinPLC EBC PBC DEVNETS MODBUS 0 8 16 24 0 8 16 24 0 8 16 24 1 9 17 25 V memory Offsets DirectLOGIC PLCs 24 0 24 8 25 0 25 8 24 0 24 8 25 0 25 8 24 0 24 8 25 0 25 8 24 1 24 9 25 1 25 9 Output Control Bit Definitions for Preset Table Control Output Control Offsets are listed in the order of the Output 0 Output 3 Output n Control Bits transfers from CPU to CTRIO Enable Output Process Command Bit Offsets WinPLC EBC PBC DEVNETS MODBUS 32 40 48 56 39 47 55 63 Output Control Bit Definitions Pulse Output Pulse output control Offsets are listed in the order of Outputs 0 1 2 3 V memory Offsets
153. meters Then the program should drive the Process Command bit to a 1 and look for the CTRIO to acknowledge the command with the Command Complete bit Finally the program should remove the Process Command bit and set the Enable Output bit when appropriate If the Command Error bit is received the CTRIO was unable to process the command due to an illegal value in either the Command Code or parameter files DWord and Word values for pulse outputs are unsigned integers Counter I O User Manual 2nd Ed Rev D 6 27 Chapter 6 Program Control EY Status Bits Example using V2000 as base input address For Output Channel 1 Status bits received from CTRIO to CPU Name PLC Example 1 Bit of Word see note 2 D2 250 1 260 D4 450 D2 240 PLC Example 2 Control Relay see note 1 Value Output Enabled V2022 0 C120 ON when Enable Output is ON Position Loaded V2022 1 C121 Used for Dynamic Positioning Output Suspended V2022 2 C122 ON when Output pulse is suspended Output Active V2022 4 C124 ON when Output is Pulsing Output Stalled V2022 5 C125 CTRIO Output Fault should never be ON Command Error V2022 6 C126 ON if Command or Parameters are invalid Command Complete V2022 7 C127 ON if Module Receives Process Command Control Bits Registers Example using V2030 as base output address for Output Channel 1 Control DWords Words and bits sent from CPU to
154. minals 1C and 1D you will need to select the Channel 1 tab near the top of this window and click Dual Edge Timer in box C or D At this point you have four decisions to make regarding your input at 1C or 1D 1 First designate the pulse edges you want to measure between 2 The Free Run option is assigned by clicking in the appropriate box If your application calls for velocity measurements to be taken at the commencement of some event do not use Free Run If your application calls for velocity measurement on a continuous basis you should use Free Run Cr xj 3 The Enable Timeout option is assigned by Fir em e t clicking in the appropriate box and specifying a i mec Dat Ton Timeout period Once the timer is enabled the des S Timeout Bit is set if the time that it takes the r CTRIO to see the configured input edge exceeds mr e F is the specified Timeout Period Also if the time before the CTRIO sees the next configured edge pipa i exceeds the specified Timeout Period the Timeout a bit is set More information about the Timeout function can be found in chapter 6 ae a E eco 4 The last remaining decision to be made is about scaling Clicking the button with the tape measure symbol starts the Scaling Wizard We discuss the SES scaling wizard later in this chapter The Scaling Wizard is intelligent in that it offers scaling options that are appropriate for your input selections
155. ming cycle begins The Previous Time register value is reset to zero Once timing has been initiated if the time before the CTRIO sees the next configured edge exceeds the specified Timeout Period the Timeout bit is set The Timer register values are reset to zero The Timeout bit resets when the next timing cycle begins 6 20 Counter I O User Manual 2nd Ed Rev D EL oou Pulse Catch Input Function When the Enable Pulse Catch bit is ON and the configured input edge occurs the CTRIO will begin timing and the Pulse Catch Starting bit will turn ON If the input signal remains active for the specified qualification period the Pulse Catch Output Pulse State bit will turn ON for the configured duration If a discrete output is assigned to follow the pulse state it will also turn ON for the configured duration Unlike the Count or Time capture the Pulse Catch function is automatically reset as long as the Enable Pulse Catch bit remains ON PLC Control Outputs Base Addr V2030 Bit of Word PLC Status Inputs Base Addr V2000 Bit of Word PLC Control Outputs Base Addr V2030 Control Relay D2 240 Chapter 6 Program Control PLCStatus Inputs Base Addr V2000 Control Relay D2 240 Description Pulse Catch Starting V2020 0 C160 On when Pulse Catch is in progress Enable Pulse Catch V2054 0 Turn ON to Enable Pulse Catch Function Pulse Catch Output Pulse State V2020 1
156. module supports five primary input functions e Counter e Quadrature Counter Pulse Catch Edge Timer Dual Edge Timer Each of the primary functions uses one or two input terminals for making connections to field devices plus a common Combinations of the listed functions are possible The configuration dialog disallows any unsupported configurations Three secondary input functions are also supported Reset Capture Inhibit Each secondary input modifies the primary input functions in some way and uses one input terminal Limit Out 0 and Limit Out 2 input functions are only available for use when the outputs are set to pulse output mode Discrete Outputs Pre Assigned to Input Functions CTRIO discrete outputs can be assigned to the Counter Timer and Pulse Catch input functions within the Configure I O dialog The outputs respond to presets assigned by the user in the Preset Tables dialog The presets are assigned based on the scaled value of an input or the raw value if it has no scaled value The CTRIOS four outputs can all be assigned to one function or they can be grouped within functions and within channels in any manner selected by the user See Chapter 5 for more information on using Preset Tables Counter I O User Manual 2nd Ed Rev D H 5 Chapter 4 Configuring the CTRIO Inputs Counter Function The CTRIO module supports up or down counting using single ended encoders or other single ended pulse sou
157. n found in Do more Designer help file topics for the CTRIO Heer instructions SCTRIO 000 OutputState SCTRIO 000 ScanTime Counter I O User Manual 2nd Ed Rev D Chapter 6 Program Control ET Registers not available through structures are accessed using the two ladder instructions CTREGRD and CTREGWR An example of the CTREGWR instruction is shown here For a list of registers available through these instructions see Do more Designer help topics DMD0526 and DMD0527 o CTRIO Write Register Module Device CTRIO_000 oy Module Structure CTRIO_000 Source Destination Register 4 Outo Position gt 0 Ch1Fn1 Accumulator 1 Ch1Fn2 Accumulator 2 Ch2Fn1 Accumulator 3 Ch2Fn2 Accumulator 4 Out0 Position 5 Out1 Position 6 Out2 Position 7 Out3 Position 8 Ch1Fn1 Reset value 9 Ch1Fn2 Reset value 10 Ch2Fn1 Reset value 11 Ch2Fn2 Reset value 12 Ch1A Filter Time CTRIO2 13 Ch1B Filter Time CTRIO2 14 Ch1C Filter Time CTRIO2 15 Ch1D Filter Time CTRIO2 16 Ch2A Filter Time CTRIO2 17 Ch2B Filter Time CTRIO2 18 Ch2C Filter Time CTRIO2 19 Ch2D Filter Time CTRIO2 On Success Setbit C JMP1 On Error Setbit C JMP Counter I O User Manual 2nd Ed Rev D 6 3 Chapter 6 Program Control a Input Memory Map for Data Transfers from CTRIO to DL CPUs The following table shows which memory loc
158. nction Status Bit Definitions llle 6 15 Input Function Control Bit Definitions cse 6 15 Input Function Status DWord Parameters 0 eee eee eee eee 6 15 Status Redlsters cse eeu SS OSG OG E eS aoe ee eae 6 16 Control Registers iis isss iss ba whe ew LR REESE eee Ered 6 16 Memory Mapping Example for D2 240 CPU 6 cece en 6 17 Counter I O User Manual 2nd Ed Rev D l v Table of Contents Input Functions exacte steele neuria co Ce wale T GR OR a ls D Co TR DR GR OA 6 18 Counter amp Quadrature Counter clle 6 18 Edge Timer and Dual Edge Timer 0 2 eee eee eee 6 19 Edge and Dual Edge Timer Timeout Function llle 6 20 Puls Catch Input FUrICHOD 2 ode Ie dedo enne tt e woe ache ane PR a 6 21 Runtime Changes to CTRIO Configured Preset Tables DL PLCs 6 22 Entry Number for Edit Table Entry Commands 0 0 0 ce eee eee eee 6 23 Entry Type for Edit Table Entry Commands 0 000 ee eee eee eee 6 23 Discrete Outputs Driven from a Scaled level l llis 6 24 Load Preset Table Flowchart 0 0 0 cee eee eee I 6 25 Pulse Output Status Control Bits and Command Codes DL PLCs 6 26 Output Status Bit Definitions Pulse Output 0 00020 6 26 Output Control Bit Definitions Pulse Output llle 6 26 Output Control D Words Pulse Output 20 eee eee eee 6 26 Command Code and
159. nd Parameter Register Addresses The following tables provide example addresses based on V2000 selected for the base input address and V2030 selected for the base output address The Input Functions discussed on the following pages use these example addresses Status Registers Example using V2000 as base input address for Input Channel 1 Status bits and DWords received from CTRIO to CPU PLC Example 1 PLC Example 2 Name Bit of Word see note 2 Control Relay see note 1 Value D2 250 1 260 D4 450 D2 240 E V2020 0 C160 ON when Capture is complete Timer Capture Starting V2020 0 C160 On when Timer Capture begins Timer Capture Complete Timing OR At Reset Maus V2020 1 C161 Counting ON when Timer Capture complete eT E On when specified Timer Time Out period Timer Timed Out Bit V2020 2 C162 is exceeded Pulse Catch Output ON for the specified pulse time if input pulse Pulse State V2020 0 C160 qualifies as a valid pulse Pulse Catch Starting V2020 1 C161 ON when pulse edge occurs Parameter 1 V2001 V2000 V2001 V2000 Decimal Parameter 2 V2003 V2002 V2003 V2002 Decimal Control Registers Example using V2030 as base output address for Input Channel 1 Control bits sent from CPU to CTRIO PLC Example 1 Bit of Word PLC Example 2 Control Relay see Name see note 2 D2 250 1 260 D4 450 note 1 D2 240 CPU Format Enable Counter Capture V2054 0 C260 Bit Enable Timer C
160. nd does not necessarily indicate a transient condition of the function e NOTE Due to the multiplexed design of the DL405 LED matrix OFF state LEDs may appear to blink ON f corresponding to the LED Counter I O User Manual 2nd Ed Rev D 1 9 Chapter 1 Introduction E T1H CTRIO LED Indicators T1H CTRIO LED Descriptions Module OK OK ERR CHI CH2 User Program Error Channel 1 Status Channel 2 Status Channel 1 A D Input Status Channel 2 A D Input Status Output Status y2 Y3 EDT T S 1A 18 16 10 SAGO EE Y TLLA gu w vv T1H CTRIO LED Diagnostic Definitions OK ER Description ON OFF RUN Mode ON ON Hardware Failure Blinking Blinking Boot Mode Used for Field OS Upgrades Blinking OFF Program Mode OFF Blinking Module Self diagnostic Failure OFF ON Module Error Due to Watchdog Timeout OFF OFF No Power to Module T1H CTRIO LED Diagnostic Definitions Blinks when Channel 1 Function 1 is counting or timing Blinks when Channel 2 Function 1 is counting or timing Follow actual output state ON output is passing current l 10 Counter I O User Manual 2nd Ed Rev D Chapter 1 Introduction CTRIO Module Workflow Diagram m The following workflow diagrams show the steps needed with their associated chapters in this manual to install a CTRIO module into your system DirectLOGIC WinPLC or EBC Do more Install CTRIO
161. ng or ringing as the profile attempts to get to the target position Be sure to include a deadband when the encoder has a higher resolution than the stepper 5 18 Counter I O User Manual 2nd Ed Rev D Chapter 5 Configuring the CTRIO Outputs noO Dynamic Velocity Profile The Dynamic Velocity profile is a trapezoidal profile with the direction acceleration and deceleration rates specified The target velocity is located in a memory register in the CPU controller Once the CPU controller initiates the profile output pulses will be generated at the target velocity until the CPU controller disables the output pulses Cochwise Accel Rate 1100 per Cochae Decel Rate 1000 per Couierciockwae Accal Rate 1000 pis Courteretochndee Decei Rate 1000 prs Lx Cancel Clockwise Accel Rate The clockwise rate at which the output will ramp up from Opss to the target velocity that is specified in the CPU controller memory register Clockwise Decel Rate The clockwise rate at which the output will ramp down from the target velocity that is specified in the CPU controller memory register to Opss Counter Clockwise Accel Rate The counter clockwise rate at which the output will ramp up from Opss to the target velocity that is specified in the CPU controller memory register Counter Clockwise Decel Rate The counter clockwise rate at which the output will ramp down from the target velocity that is specified in the CPU controller mem
162. ng Schematic 0 0 cece ee eee 2 17 H2 CTRIO 2 Stepper Servo Drive Wiring Example esee 2 18 Solid State Input Device Wiring to the H2 CTRIO 2 Module 2 19 Installing the H4 CTRIO 0 0 ec ce RI nn 2 20 CPU and CTRIO Compatibility Chart lcseseeeee n 2 20 Wiring the H4 CTRIO Module 0 ccc ee eee hn 2 21 H4 CTRIO Quadrature Encoder Wiring Example sees 2 22 H4 CTRIO TTL Quadrature Encoder Field Wiring eese 2 23 H4 CTRIO TTL Input Wiring sissssrasrssanaaa aa naani RII 2 24 H4 CTRIO Output Wiring Schematic llleeeeeee een 2 25 H4 CTRIO Stepper Servo Drive Wiring Example eee 2 26 Solid State Input Device Wiring to the H4 CTRIO Module 2 27 Installing the TIH CTRIO lseeeeeeeee RI hn 2 28 CPU and CTRIO Compatibility Chart llle 2 28 Wiring the T1H CTRIO Module 0 cece eee nnn 2 29 T1H CTRIO Output Field Wiring 0 0 0 eee eee ee nee 2 30 T1H CTRIO Input Field Wiring 0 0 00 ccc eee ee eee 2 30 T1H CTRIO Quadrature Encoder Wiring Example esee 2 31 T1H CTRIO TTL Quadrature Encoder Field Wiring lees 2 32 ii Counter I O User Manual 2nd Ed Rev D Table of Contents TIH CTRIO TTL Input Wiring 0 ce cee ee ee eens 2 33 T1H CTRIO Output Wiring Schematic llleeeeeeeeee 2 34 T1H CTRIO Stepper Servo Drive Wiring Exampl
163. nting 3 Scaling of timing functions or encoder inputs Outputs 1 Assign the output points Stepper control Step Direction or CW CCW Discrete 2 Pulse profiles for stepper outputs to follow Trapezoid S curve Symmetrical S curve Dynamic Position Dynamic Velocity Home Dynamic Position Plus Trapezoid Plus Trapezoid with Limits CTRIO2 only and CTRIO Workbench v2 2 0 required 3 Associate output functions with inputs Programmable Limit Switch or PLS CTRIO2 only and CTRIO Workbench v2 2 0 required Preset tables CTRIO Functions As mentioned above the CTRIO 2 module supports five primary input functions Counter Quad Counter Pulse Catch Edge Timer and Dual Edge Timer Three secondary input functions are also supported These functions Reset Capture and Inhibit each modify the primary input functions in some way Information is available about each of the primary and secondary functions in chapter 4 The CTRIO module supports three primary output functions Pulse train output for servo stepper motor control configurable for CW CCW or step and direction discrete output functions assigned to Counter Timer input functions and raw output control directly from the CPU interface program Information is available about each of the output functions in chapter 5 NOTE Before a CTRIO 2 will do anything it must be configured in run mode and the memory must be mapped Mapping the memory is not required wh
164. nto CHAP Tools directory Find shortcuts to CTRIO Workbench from the Windows Start Menu under All Programs gt AutomationDirect Tools Getting Started with CTRIO Workbench Several paths are available to start CTRIO Workbench All users will find CTRIO Workbench at Start gt Programs gt AutomationDirect Tools CTRIO Workbench DizrectSOFT5 users will find CTRIO Workbench in the Utilities section of the DSLaunch Window Offline CTRIO Configuration A complete CTRIO configuration file cwb can be created Offline Refer to chapter 6 for offline addressing guidelines for some of the interface devices To launch the CTRIO Workbench 2 Ra Programs g 3Com NIC Utilities Offline version go to S Document Accessories Start gt Programs gt AutomationDirect Eh Settings Lo Ea irn Ae Ees E j DirectLogic Tools gt CTRIO WB2 Offline X Search E Jasc Software i S A CTRIO WB 2 EBC WinPLC crobal istiller 5 ESSE In the Workbench Offline window T pun aine shown to the right click on the Select iffistart PLC button Select desired PLC m or interface device Curent PLC Current Module Module Status Config Operations RT pr d Type 5 Hee ite Modul The only limitations in the EN UN ix ad e ofii h Address Description Seats ine version are that you Offline Max Scan Time ETE cannot access Monitor I O and a Sa Joffine Setup Eei ee E i Read File that you cannot connect to the aa joe rn
165. oad 10 into Command Code Verify that the Hex CTRIO is configured correctly Load Pulse Profile Number into Parameter 1 Decimal SET Process Command Verify that you ve entered the correct table number Is Command Complete ON RESET Process Command RESET Process Command The CTRIO is continually reading the Velocity register in the CPU When a new value appears in this register the CTRIO will use the SET profile settings to move to Output Enable the new velocity The direction is determined automatically from the sign of the velocity value Positive values will produce CW pulses Load Velocity value into Negative values will produce Parameter 3 CCW pulses You can change the velocity value as often as you need You can also suspend the pulse output at any time with the Suspend Output bit RESET Output Enable 6 38 Counter I O User Manual 2nd Ed Rev D Chapter 6 Program Control Velocity Mode NOTE Velocity Mode controls the pulse outputs directly from the CPU controller program No CTRIO Workbench Pulse Profile is required for this mode Velocity Mode command Command 0020 Hex BCD allows a specified number of pulse output counts or the number of Pulses can be set to FFFFFFFF in Hex for unlimited pulse counts Leaving the Duty Cycle set to 0 achieves the default 50 otherwise it can be set in 1 increments by writing this value from 1 to 99 decima
166. oints Terminator I O U WSU JU UCRIU ZU Input Output Channels ug a O O O O O O O O O O OJO O O O O TIH CTRIQ 1A 1B 1C 1D Yo YO Y1 Y1 2A 2B 2C 2D Y2 Y2 Y3 Y3 ie ee COO OO OOo ojo d D N Channel Commons N 1A 1B 1C 1D YO Y1 2A 2B 2C 2D Y2 Y3 O O O O JOJOQ OI OO0 O O Oo Oo OJOoO0 We 9 9 990 o ooo o o oo o o o 1M 1M 1M 1M CO CO C1 C1 2M 2M 2M 2M C2 C2 C3 C3 CEA is S 88 8 8 H8 HH HHHS Seg p pnjo a ujuju n u u u a u u n n s c OO66ooSoSoSSoS Se User Bus Terminals no internal connection to CTRIO is OS SS SOSSOSSSSOSSS o ojojo o o ojo o o o o o o o o H Fon 3E USER BUS 1 USER BUS 2 O L OO OJO O OOJOO d gH DI OBI NOTES 1 Inputs 1A 1B 1C 1D and 2A 2B 2C 2D require user provided 9 30VDC power sources Terminals 1M and 2M are the commons for Channel 1 and Channel 2 inputs Maximum current consumption is 12mA per input point Polarity of the input power sources can be reversed Consideration must be given however to the polarity of the field device Many field devices are designed for only one polarity and can be damaged if power wiring is reversed 3 Outputs have one polarity only and are powered by user provided 5 36VDC power sources The maximum allowable current per output circuit is 1A 4 User Bus 1 and User Bus 2 are each an independent 8 wiring terminal bus They can be used for additional power rail connections Counter I O User Manual 2nd E
167. on if in K z RUN Mode Then click on the Config I O button to arrive at Se a dialog shown below Notice that the window has a tab for each Config ID input Channel Channel 1 and Channel 2 offer the same configuration options Remember that the HO CTRIO 2 only has one input channel H2 H4 T1H CTRIO H2 CTRIO2 Configure I O Dialog Outputs p Function Is Counter Raw Quad Counter Pulse Step Dir Pulse CW CCW E H ae Function 2 A e mms Configure I O Dialog Edge Timer Pulse Step Dir Dual Edge Timer Pulse Cw CCW x Channel 1 Outputs je Unos Inputs Function 1 Pulse Catch Raw Edge Timer fal e Dual Edge Timer Counter Raw Quad Counter Pulse Step Dir Pulse CW CCW Carcel z m E Counter 1 Function 2 E Pulse Catch L Edge Timer Dual Edge Timer P Pulse Catch a Edge Timer Dual Edge Timer Coresi 5 2 Counter I O User Manual 2nd Ed Rev D Chapter 5 Configuring the CTRIO Outputs m For Do more users the Workbench options have been built into the Do more Designer software The configuration dialog is found by first opening the System Configuration window by selecting the XY Configure button in the main toolbar System Configuration Configuration Entries M H2 DM1 CPU Configuration CPU Configuration Serial Port Mode Time E I O Configuration Do Modul
168. on pub c edic ced Control Relay Control Relay Bit of Word Bit of Word 240 Command V2040 V2040 Set to 10 Load Stored Profile File containing cw accel decel and Parameter 1 V2041 V2041 cew acccel decel Process Turn ON until Command Complete Command V2056 7 C227 status bit is returned Command rar When ON Profile is now loaded SITAS V2022 7 clear Process Command bit Command ON if Command or Parameters are Error V2022 6 invalid Turn ON to ramp to target velocity Enable Output V2056 0 C220 Turn OFF to disable pulses Parameter 3 V2031 V2030 MM Target velocity User defined DWord s V2022 4 When ON module is pulsing Suspend Turn ON to pause output pulses Output V2056 2 without resetting pulse count Output ON when out pulse train has been Suspended V2022 2 suspended The sign of the value in the Target Velocity 1 P K5000 register Parameter 3 determines the direction of the pulse train output In the DirectLOGIC programming example to the right BCD 5000 is _finv converted to decimal 5000 when CO is turned ON You could load LD a V memory location instead of using a constant as shown in the example For a D2 250 use ADDD ADDB K1 OUTD V3000 6 37 Counter I O User Manual 2nd Ed Rev D Chapter 6 Program Control Dynamic Velocity Mode Flowchart The flowchart below provides the logical sequence necessary to execute a Dynamic Velocity pulse profile L
169. on de Automationdirect com en faisant des affaires comme AutomationDirect Nous tenons ce que votre nouvel quipement d automatisation fonctionne en toute s curit Toute personne qui installe ou utilise cet quipement doit lire la pr sente publication et toutes les autres publications pertinentes avant de l installer ou de l utiliser Afin de r duire au minimum le risque d ventuels probl mes de s curit vous devez respecter tous les codes locaux et nationaux applicables r gissant l installation et le fonctionnement de votre quipement Ces codes different d une r gion l autre et habituellement voluent au fil du temps Il vous incombe de d terminer les codes respecter et de vous assurer que l quipement l installation et le fonctionnement sont conformes aux exigences de la version la plus r cente de ces codes Vous devez tout le moins respecter toutes les sections applicables du Code national de pr vention des incendies du Code national de l lectricit et des codes de la National Electrical Manufacturer s Association NEMA Des organismes de r glementation ou des services gouvernementaux locaux peuvent galement vous aider d terminer les codes ainsi que les normes respecter pour assurer une installation et un fonctionnement s rs L omission de respecter la totalit des codes et des normes applicables peut entrainer des dommages l quipement ou causer de graves blessures au personnel Nous ne g
170. optically isolated input points pts A D on common M The inputs can be wired to either sink or source current 2 The module has 2 optically isolated output points pts YO Y1 on common YC The outputs can be wired to either sink or source current but the sink source jumper selection sets both outputs to the same B B ERR option Sourcing outputs must co 7 Or IN Yo be wired so positive current EN A AO r A 9 v1 flows into the YC terminal and oe ae BO l B CTR TMR IN then out of the Yn terminal n 9 30 V cc 5 1 2mA ig OO Tf fl Sinking outputs must be wired oo VEA ko D je so positive current flows into m Es mu la Yn terminal and then out of oe E pM e En Ly E i the YC terminal see the awe Em th vc rx c diagram to the right and the eee ness HO Yo j schematic on page 2 8 Yt mi e Source operation is the factory Bee m s eed Yc default setting for the outputs E T 1sasvac l v The module is configured our HO CTRIO using CTRIO Workbench to accommodate the user s application The function of each input counting timing reset etc and output pulse output discrete output etc is defined in the configuration of the module
171. opulate their entries up to 128 from ladder If using the ladder instructions run them after a power cycle to regenerate the tables To use a PLS table an output must be configured as a discrete output paired with a counter E or timer input function For example Channel 1 inputs A and B could be configured for quadrature counting which would be ChannellFunctionl Output 0 could be configured as Discrete on Ch1 Fn1 When a PLS table is loaded for Output 0 the CTRO2 will monitor the input value for Ch1 Fn1 Channell quad counter and Output 0 will be the output turned ON and OFF by the table xi Channel 1 Channel 2 Outputs Inputs p Function 1 4 Ta Unassigned Quadrature Counter d Unassigned fs 2 Counter R aw Pulse Step Dir El Countin _1X Pulse CW C Quad Counter Unassigned Reset p Raw i M Discrete on Chi Fnt p Function 2 Unassigne ol Unassigned L4 Reset Fn 1 Raw Pulse Step Dir Pulse CW CCw Discrete on Ch1 Fn1 Raw Capture Fn 1 Discrete on Chl Fn1 Pulse Catch Edge Timer Dual Edge Timer OK Cancel NOTE Since a CTRIO Output s function is fixed in the configuration an output cannot be changed i programmatically to reference a different input function This specific change requires a configuration change and project transfer To create a PLS table from the EditCTRIO CTRIO2 Configuration window click Discrete
172. or 1 Load Load 451036VDC Yn where n 0 or 1 CTRIO Output Q YC 2 8 Counter I O User Manual 2nd Ed Rev D Chapter 2 Installation and Field Wiring HO CTRIO 2 Stepper Servo Drive Wiring Example IN A B C D Step Amplifier oi 5 36VDC M OPTO Power xi YC Pulse or wG Yo Direction or CCW Y1 OUT See page 2 3 for locating and setting the jumpers Counter I O User Manual 2nd Ed Rev D 2 9 Chapter 2 Installation and Field Wiring Solid State Input Device Wiring to the HO CTRIO 2 Module NPN Field Device Sensing Circuit This drawing illustrates wiring that is typical for Channel 1 terminals 1A 1B 1C and 1D The same circuitry is also present at the corresponding Channel 2 terminals PNP Field Device corresponding Channel 2 terminal The same circuitry is present at the Sensing Circuit This drawing illustrates wiring that is typical for Channel 1 terminals 1A 1B 1C and 1D The same circuitry is also present at the corresponding 2 10 Counter I O User Manual 2nd Ed Rev D 9 Channel 2 terminals Sy ees fc Nu a 1A e O 1M The same circuitry is present at the corresponding Channel 2 terminal The H2 CTRIO 2 module is compatib
173. ory register to Opss Counter I O User Manual 2nd Ed Rev D 5 19 Chapter 5 Configuring the CTRIO Outputs EY Home Search Profile BEBE The Home Search profile is used to find the home position which is usually a reference point to which the object being moved can return upon command at any time during or after the execution of a positioning profile There are several Home Search routines to choose from all with the option to designate whether you want Limit 1 and or Limit 2 a CTRIO discrete input to register on the rising edge falling edge high level or low level signal Limit 1 and Limit 2 can be the opposite edges of the same physical CTRIO input NOTE The Home Search profile requires that CTRIO inputs C and or D are configured for Limit Out 0 or Limit 2 This is done using the Configure 1 0 dialog It dit Pulse Profile E x Hone Seach Procedaes Fun to Lint at frequency 1 then continue to Lint 2 at Frequency 2 Run to Limit 1 ai Frequency 1 then reverse In Linit 2 af Frequency 2 Profle Type Fun to Lint 1 at Feequercy 1 then continue I0 Count at Frequency 2 3 Bunto Lit 1 at Frequency 3 then reverse to Court at Frequency 2 Symmetical Curve Dynamic Pasiiceing unamic Velocity Frequency 1000 Hz tme omnc v Evert He Y x Pons wi C02 x isi Home Search Procedures NOTE The HxCTRIIO r pulse outputs are feted to BAKH to support the He CTRIO2 while maint M you rogat sp
174. ory to the CTRIO s shared RAM 2 Ask the CTRIO to transfer these values from its shared RAM to it s internal registers ThinknDo Write to CTRIO DirectLOGIC Write to CTRIO Use ThinknDo s Call Block to write the 2 byte command code 02 Write All Registers and the 8 DWORD values to the CTRIO s shared RAM at Address 80 Use the PLC s WT instruction to transfer the 2 byte command code 02 Write All Registers and the 32 bytes of data to the CTRIO s shared RAM at Address 80 Make sure the MUR parameters Command you re using are correct Make sure the AC parameters Command you re using are correct Is Command Complete ON Is Command Complete ON Counter I O User Manual 2nd Ed Rev D 6 49 Chapter 6 Program Control i aMMMMMMMM iMMMMMMMMMMMMMMiiiMMMMMMMMMMMMMMMmmmmmMmMmMIMl Writing to One CTRIO Internal Register Flowcharts The flowcharts below provide the logical sequence necessary to Write to one of the CTRIO s internal registers Writing to a CTRIO internal register is a two step process 1 Transfer the data value from the controller s memory to the CTRIO s shared RAM 2 Ask the CTRIO to transfer this value from its shared RAM to it s internal registers DirectLOGIC Write to CTRIO The Destination Register values are as follows 0 Ch1 Fn1 1 Cht Fn2 Use the PLC s WT instruction 2 Ch2 Fni to write the 2 byte com
175. ount into Parameter 3 Decimal New Frequency or Duty Cycle The Output Active bit will be ON until the CTRIO sends out all of the pulses you configured Is Output Active ON You can also suspend the pulse output at any time with the Suspend Output bit SET RESET Process Process Command Command RESET Output Enable Change Direction Command Complete ON RESET Is Command Error ON Output Enable 6 40 Counter I O User Manual 2nd Ed Rev D Chapter 6 Program Control Run to Limit Mode E NOTE Run to Limit Mode controls the pulse outputs directly from the CPU controller program No CTRIO Workbench Pulse Profile is required for this mode The Run to Limit Command 0021Hex BCD can be used to seek limit positions or for Home Search routines You may want to consider using the Trapezoid with Limits Profile or the Home Search Pulse Profile created using Workbench unless you need the CPU controller to control the entire profile and parameters etc The CTRIO input must be assigned for Limit by the CTRIO Workbench utility Set Word Parameter 1 to the desired Frequency Set Word Parameter 2 Low Byte to the Duty Cycle and the High Byte to the Edge to Seek as defined below Leaving the Duty Cycle set to 0 achieves the default 50 otherwise it can be set in 1 increments by writing this value from 1 to 99 Hex BCD The flowchart on the following page provid
176. ple To run a configured Pulse Profile follow these steps 1 select Command Code 10 0x10 2 enter the desired Pulse Profile Number in the File Number field 3 click the Process Command button and confirm the Command Complete bit is ON If the Command Error is ON an explanation of the error will appear on the dialog status line Then turn the Process Command button OFF 4 select the Direction leaving the Direction button OFF selects forward clicking the button ON selects the reverse direction 5 dick on Enable Output to run the Pulse Profile The Output Enabled and Output Active indicators will turn ON When the profile is complete the Output Active indicator will turn OFE Turning OFF the Enable Output during the profile run will terminate the pulse output To run the profile again turn OFF the Enable Output and then re enable it Counter I O User Manual 2nd Ed Rev D Chapter 7 Using Monitor I O aa F In the screen capture on the right on the previous page notice the drop down menu Here you have access to all of the Preset Table Commands The Load Table Command 0x10 will allow you to load any configured Preset Tables In the screen capture on the left you ll see we have selected Preset Table number 1 for this example Remember that Output 2 is assigned to Input Function Ch1 Fn1 which is configured as a Quad Counter Input To load a configured Preset Table for Output 2 to use based on Ch1 Fn1 s count follow the step
177. ple the V memory location V2524 contains a value equal to 514 in decimal 514 decimal 0202 Hex 0000 0010 0000 0010 binary The bit V2524 1 refers to the 2nd to the least significant bit set to 1 in this example Likewise V2524 9 refers to bit number 9 the 10th from the least significant bit also set to 1 in this example Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 V2524 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 V2524 9 1 V2524 1 1 RE Addressing High and Low Byte of Word Parameters In the following example the V memory location V2510 contains a value equal to 3 decimal in the high byte and 10 decimal in the low byte 3 decimal 03 Hex 0000 0011 binary in the high byte and 10 decimal 0A Hex 0000 1010 binary in the low byte This example could represent the Command Code Edit Table Entry The value 03 Hex would represent the File number in the high byte and the 0A Hex would represent the remainder of the Command Code in the low byte High Byte Low Byte Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 V2510 0 0 0 0 0 0 1 1 0 0 0 0 1 0 1 0 ee E High Nibble Low Nibble High Nibble Low Nibble Addressing High and Low Word of DWord Parameters Double Word parameters are addressed in a similar fashion to the high and low bytes of a Word Parameter For example a DWord that begins in V2300 consumes both V2300 and
178. position count to Process Command 8 4 Counter I O User Manual 2nd Ed Rev D Chapter 8 DirectLOGIC Programming Examples Dynamic Velocity The following example program executes a Dynamic Velocity pulse profile Turn CO on to load the profile number process the command and enable the output The Target Velocity needs to be specified inV3000 The velocity can be changed on the fly by entering a different value into V3000 The sign of the value in the target velocity register controls the pulse output direction Clearing the Output Enable bit will always suspend pulsing First Scan SPO D Load Table L HI K10 Command 0x10 Hex OUT V2040 Command Code Register Initialize Settings 5 ra LD Table File Number B Ld Decimal This rung loads loads the Our Parameter 1 Profile namic Velocity profile vent File Number in Parameter 1 C1 PD Initialize Settings Complete Initialize Settings Complete C1 B2056 7 3 SET Process Command c3 Change Velocity Complete Command Complete Command Error B2022 7 B2022 6 B2056 7 4 ME RST Process Command This rung waits for the Command sae Complete bit with no Command SET Enable Output Error before Enabling the Output Change Velocity Enable Start Output C2 B2056 0 TDD 5 1 1 3000 Target Velocity This run g loads the Target Velocity holding register into OUTD Parameter 3 is Target
179. pplications using Do more as the controller The section Pulse Output Profiles functional descriptions of the various pulse profiles should be useful to Do more users as these profiles are available on Do more as well However Do more users using a CTRIO2 also have Axis Mode profiles available Each is controlled by a dedicated ladder instruction Please see Do more Designer help file for more information on Axis Mode instructions for the CTRIO2 One of the goals of the development of Do more was to simplify use of modules such as the CTRIO 2 When used with Do more Program Control is handled natively using memory structures and dedicated ladder instructions There is no CTRIO Memory Map to configure With Do more different CTRIO 2 registers are accessed through data structures or using the ladder instructions CT RIO Read Register CTREGRD and CTRIO Write Register CTREGWR The data structures and other registers are automatically created when the module is added and relevant features are selected in the CTRIO 2 s configuration The data structures have names such as CTRIO_000_C1F1 AtResetValue The structure name is broken down as follows CTRIO 000 CIFI AtResetValue corresponds to a system address CTRIO signifies that this structure pertains to a CTRIO module 000 is the default designator for a CTRIO module in slot 0 C1F1 corresponds to input Channel 1 Function 1 Out0 would Module Level Structures refer to Ou
180. puts V Map location due to the 8 pt discrete input module preceeding the CTRIO module aens os waaa aint t me oe DFU enith ect TISTET nw See Note a NOTE If there is an 8 pt discrete I O module preceeding the CTRIO module in the EBC base enter the the appropriate starting V memory bit I O address in CTRIO Workbench with a V40xxx 8 address as shown in 1 0 Map example below to the right This corrects the word offset created by the 8 pt discrete I O module In the example below to the left note that V40416 Hi 8 15 is the starting ERM Workbench CTRIO input Above er Stating adde to mend ovenae oI Froon arg assen sal Sting V den ba b uns CEES Reo uum reps oaa 15 Vega Furctors Output Functions System Functions os Mt uad Courter OA ape Tn pem orte J row Data ICTFID gt Conteollen rou Dato TRIO Conmolles Duet Data Corti TRIO Opus Dana Cortes CTRA Output Data Corin s CTRIO Ou Data Corton TARO vexit Mem VENIRET XP be Ceu ii omn mm ibm I O Map with EBC WinPLC When using the CTRIO module in an EBC WinPLC system non PLC system the addressing will be shown as Native EBC WinPLC addresses or if using Think amp Do ne addressing can be shown as Native Think amp Do addresses Just click on the desired mode in the m ene Map Display Mode field The 8 pt module offset or described
181. r I O User Manual 2nd Ed Rev D INTRODUCTION TO CTRIO WORKBENCH In This Chapter Configuring a CTRIO Module for Do more CPUs 3 2 What is CTRIO Workbench xus enn ry RE s 3 2 Getting Started with CTRIO Workbench 4st ker 3 3 Module Modes of Operation asx essc hr RR RR eee Ree as 3 6 Chapter 3 Introduction to CTRIO Workbench Configuring a CTRIO Module for Do more CPUs With Do more CPUs the CTRIO Workbench software utility is not used The functionality of CTRIO Workbench is integrated into the Module Configuration for the CTRIO module To access it in Do more Designer open the System Configuration page select Module Configuration from the directory on the left then find the CTRIO module you are configuring in the list provided Click the module to select it then select Edit Config System Configuration g x Configuration Entries T Module Configurations CPU Configuration Modules that are programmable by Do more instructions require a Module Configuration The Module Configuration provides a logical connection I O Configuration between the program and the module eliminating the need for Base Slot addressing in the program Module Configuration s Certain modules have additional setup information that is provided through the Module Configuration Device Configuration I O M iini Module Name Nen Config lemory Configuration DL205 Local I O Master gt DL205 Base gt Slot 0 CTRIO
182. ration parameters are configured Velocity Mode User specifies the target frequency pulse train duty cycle and the step count Once initiated the output will begin pulsing at the target frequency and continue until the step count is reached With a step count of OxFFFFFFFE the pulse output will continue indefinetly until the control program disables the output Run to Limit Mode User specifies target frequency and pulse train duty cycle A CTRIO module input C or D must be configured as a Limit input When the Limit is reached the pulse output is disabled Run to Position Mode User specifies target frequency pulse train duty cycle and target position The current position is obtained from the specified Input Function i e Quadrature counter When the current position reaches the specified target position the pulse output is disabled The comparing of the current and target position can be based on greater than or equal to or less than values Hx CTRIO2 with Do more In addition to the profiles in this manual when an Hx CTRIO2 is used with Do more Axis Mode instructions are also available With Axis Mode it is not necessary to store profiles in the CTRIO2 Instead profile parameters are specified in a CTAXCFG CTRIO2 Axis Configuration instruction Then other Axis Mode instructions call for motion from the module which carries out their requests while adhering to the CTAXCFG parameters Axis Mode instructions also have
183. rces as inputs Encoders proximity sensors etc can be connected to input A and or input B a on either channel or both channels The C and D inputs o ge are available to modify the A and B inputs The C and D O q inputs can be used for Reset Inhibit or Capture These Do E functions are explained later in this chapter The CTRIO 2 sd discrete output s can be assigned to the Counter function ac D using the Preset Tables dialog Refer to Creating and Using k e the Output Tables section in Chapter 5 for details D 2 NOTE To insure proper operation the field device wiring and the He e configuration must be compatible For wiring information see Q a I amp Chapter 2 e S The modules four input terminals are represented by the A B C and D boxes on the left side of this dialog If you are wiring your counter input to terminal 1A you will want to select the Channel 1 tab near the top of this window and click Counter in box A At this point you have four decisions to make regarding your input at 1A 1 Select count up or count down A button in the Function 1 box toggles between Up and Down counting Click the button labeled Up or Down to see the change to the opposite count direction tonowe m eee x 2 Each input pulse is counted but you are free to gurat omma ne designate whether you want the count to register ven v is m corem on the
184. rd complete B2056 0 bit with no Command SET Enable Output FU A Enabling Initialize Settings CO C1 Initialize Settings RST Complete This is rung stops the pulse output by B2056 0 ea re nable RST Enable Output Output b END 8 6 Counter I O User Manual 2nd Ed Rev D Chapter 8 DirectLOGIC Programming Examples Run to Limit Mode The following example program loads and executes a Run to Limit Mode pulse profile Turn on CO to run the profile CTRIO input C or D must be assigned to Limit for this profile First Scan SPO Load Run to Limit Mode 0x21 Hex Command Code Register Initialize Settings co Target Velocity Decimal This rung loads the Target Velocity the Limit Input and Edge andDuty Cycle into the Parameter registers Parameter 1 Run Frequency 0 specifies Rising Edge Ch1 C 50 Duty Cycle Hex Parameter 2 register Edge Input Duty Cycle B2056 7 SET Process Command C1 Initialize Settings SET Complete Set Direction C2 B2056 4 c OUT Direction Initialize Settings Command Command Complete Complete Error This rung waits C1 B20227 B2022 6 B2056 7 for the 4 RST Process Command CO efe bit B2056 0 with no SET Enable Output Bena Er the Output Initialize Settings CO C1 RST Initialize Settings Complete This rung stops the pulse output by disabling the Enable Output bit B2056 0 RST Enable
185. req 100 Hz Maximum Freq 10000 Hz Event Rising Edge v Event Risng Edge gt Accel Rate 10000 pps Decel Rate 10000 pps Creep Freq 1000 He C oe Decel Trigger The CTRIO2 input to use as the Decel Trigger Hitting this limit during the move will either reset counts to 0 if Stop Trigger is position or initiate deceleration to the Creep Frequency if Stop Trigger is a CTRIO2 input Event The edge of the limit switch to use as the Decel Trigger 5 22 Counter I O User Manual 2nd Ed Rev D Chapter 5 Configuring the CTRIO Outputs D U 5 Stop Trigger The CTRIO2 input or position that stops the output If Position is selected Parameter 3 defines the target position This is relative to 0 which is clocked in when the Decel Triggers Event condition is met Position can be positive or negative Event The edge of the limit switch to use as the Stop Trigger Minimum Freq The frequency at which the profile will begin and end Maximum Freq The maximum steady state frequency the profile can attain during a move Accel Rate The rate at which the output frequency will increase at the start of the profile Decel Rate The rate at which the output frequency will decrease when Decel Trigger is reached Creep Freq The slower rate to use between the Decel Trigger and the Stop Trigger I3 Encoder Input Select the channel where the encoder is connected Scale Factor This is the output to inpu
186. ring Input Output Channels o O O O O O O O O O O O 1A 1B 1C 1D YO YO Y1 Y1 2A 2B 2C 2D O GY OPO 010 JB UU 1 LU Channel Commons 2 0 O OJO O O O O O O jojojo 1M 1M 1M Co CO C1 C1 2M 2M 2M 2M a B B1B BIB DU DH 1 C C2 C2 C3 C3 000o User Bus Terminals no internal connection to CTRIO 2 29 9 2 29 29 2 Q O O O HFE gt 100 USER BUS 1 USER BUS 2 DI HIB DIH DJBEB 01 0 D D D D D H Power 5VDC A I eo c i a2 33 M La N ATIS F V 9 30VDC R 2 32 Counter I O User Manual 2nd Ed Rev D Chapter 2 Installation and Field Wiring T1H CTRIO TTL Input Wiring Input Output Channels e O O O O OJO OI O O O O OJOJOJO O NPN 1A 18 1C 1D Yo YO Y1 Y1 2A 2B 2C 2D Y2 Y2 Y3 Y3 General Purpose Transistor H O O O O 0 ojo TTL Device E zep 5100 Channel Commons 10 O O O O OJO O O O O O O OJO O O 1M 1M 1M 1M CO co C1 c1 2M 2M 2M 2M C2 C2 C3 C3 B OJOJOO O OIO jd Hd D O DI DI ojoo User Bus Terminals no internal connec
187. rising edge of the pulse the falling edge or iei fes EU w FU use Cw Cw both The button with the graphical B conn rural Daens on On representation of a pulse toggles between these s choices x f Pow 3 The Reset value is assigned by clicking and Function 2 typing a value in the data input field This value is for hardwired resets When the hardwired reset is activated the count value returns to the reset value 4 The last remaining decision to be made is about scaling Clicking the button with the ruler symbol starts the Scaling Wizard We discuss the scaling Cx c wizard later in this chapter The Scaling Wizard is intelligent in that it offers scaling options that are appropriate for your input selections 1 6 Counter I O User Manual 2nd Ed Rev D Chapter 4 Configuring the CTRIO Inputs Quad Counter 1A The CTRIO module supports quadrature counting ao 9 A using quadrature encoders as inputs Connect your 0 B encoder to input A and input B on either channel A qp oO second quadrature encoder can be connected to the Q w other channel The C and D inputs are available to 2 control the quadrature input counting The C and D ND D inputs can be used for Reset Inhibit or Capture o 8 These functions are explained later in this chapter D pe The CTRIO discrete output s can be
188. rmat Configured Function from CTRIO Workbench System Functions Read Write CTRIO Internal Registers see p 6 6 for bit definitions DWord 44 Total Bytes Parameter 1 Contents DWORD Parameter 2 Contents DWORD Non scaled Counter Raw Input Value Not Used Scaled Counter Scaled Value pos or rate Raw Value Non scaled Counter with Capture Raw Value Captured Value Scaled Counter with Capture Scaled Value pos or rate Captured Value Non scaled Timer Previous Time us In Progress Time us Scaled Timer Scaled Interval rate In Progress Time us Pulse Catch Not Used Counter I O User Manual 2nd Ed Rev D Not Used Chapter 6 Program Control Input Function Status Bit Definitions Input function offsets are listed in the order of Ch1 Fn1 Chl Fn2 Ch2 Fn1 Ch2 Fn2 Ch x Fn x Status Bits transfers from CTRIO to CPU Bit Offsets WinPLC EBC PBC DEVNETS MODBUS NOTE For DirectSOFT users the 1 0 Map dialog displays the exact memory locations in use by the CTRIO module Within the I O Map dialog you can print out a report of memory loctions in use V memory Offsets DirectLOGIC PLCs Count Capture Complete Bit 0 8 16 24 20 0 20 8 21 0 21 8 Timer Capture Start 0 8 16 24 20 0 20 8 21 0 21 8 Timer Capture Complete Timing OR At Reset Value Counting 1 9 17 25 20 1 20 9 21 1
189. rofile Tables x Pulse Profiles Trapezoid 1 File 3 Dynamic Position File 4 5 Curve File 5 Symmetric S Curve File 6 Drill Home Search Add Config Information Total Blocks 256 1 0 Map Free Blocks 248 EF Tables Config Status BS SS SS Madar Pulse Profiles Copy Delete Exit Counter I O User Manual 2nd Ed Rev D 5 5 Chapter 5 Configuring the CTRIO Outputs Raw Output The CTRIO module supports Raw output mode This mode allows the CPU controller program to have direct access to the A module output points Each output can be configured for Raw e output mode and each will have a unique control bit qp NOTE To insure proper operation the field device wiring and the Q configuration must be compatible For wiring information see Chapter 2 7 ND Refer to Output Control Bit Definitions Raw Mode on page ka 6 5 for Raw output control bit addressing 2 o 9 OSES OF hae amp z 5 a S s E 2 gt E ic x The modules output terminals are Sgt ER represented by the 0 1 2 and 3 boxes 0 and 1 for the HO CTRIO 2 on the f right side of this dialog 9l a lom Pidie Step Dir Puise ICW CCw Rie 3 xj By 5 6 Counter I O User Manual 2nd Ed Rev D Chapter 5 Configuring the CTRIO Output
190. rs llle 1 8 H4 CTRIO LED Indicators 4 aca oor mor ed eo sdbeex ences ox 1 9 T1H CTRIO LED Indicators os uiu te keen oe lee etek eke eee 1 10 CTRIO Module Workflow Diagram 0000 eee eee 1 11 Chapter 1 Introduction CTRIO and CTRIO2 Module Overview CTRIO 2 modules are programmable high speed discrete I O modules that accept signals from encoders and T discrete devices such as limit switches and generate precision output signals for stepper control or other motion FI related discrete functions CTRIO 2 i modules are coprocessors having their own scan time and their own HO CTRIO 2 H2 CTRIO 2 H4 CTRIO T1H CTRIO configurations They have their own run mode and program mode independent of the base controller NOTE For ease of documentation purposes CTRIO will be used to designate all four CTRIO modules HO CTRIO 2 H2 CTRIO 2 H4 CTRIO and T1H CTRIO when the functionality and or description applies to all four modules NOTE The T1H CTRIO is only supported by the T1H EBC T1H EBC100 and T1H PBC CTRIO Workbench CTRIO Workbench is the utility used to configure the many functions available listed below for a CTRIO 2 module CTRIO Workbench is used in one of two ways depending on the base controller Do more CTRIO Workbench is an integrated utility of Do more Designer SET PEE The configuration becomes part of the rome Nome ERN me ILL CIRIO 1 CPU project an
191. rview NOTE System Functions are supported only when the CTRIO module is installed in the same base as the CPU The Systems Functions examples on the following pages use the Do more Designer s CTREGWR CTRIO Write Register and CTREGRD CTRIO Read Register instructions to write to or read from the CTRIO s internal registers Simulating Retentive Counter The following example uses the CTREGWR CTRIO Write Register instruction to write the current count stored in the PLC s retentive memory to the CTRIO s current count register after a power cycle or a RUN STOP RUN PLC mode change SFirstScan STO MOVE Move Value 1 L Source SCTRIO 000 C2F1 iReg1 Destination CtrCntCopy SFirstScan STO CTREGWR CTRIO Write Register 2 L V Module Device CTRIO_000 Module Structure SCTRIO_000 Source CtrCntCopy Destination Register 2 Ch2Fn1 Accumulator On Success Set bit CtRegWrSucc On Error Set bit CtRegWrErr 3 NOP Rung 1 copies the CTRIOS counts value from channel 2 into a retentive memory location on every scan except the First Scan NOTE This example uses the iReg1 member which contains integer raw counts when no scaling is applied in the CTRIO module configuration If scaling WERE applied for this CTRIO function iReg1 would contain the scaled value and iReg2 would contain the raw counts CTREGWR only writes to the raw counts accumulator so use iReg
192. rview oxi d eec cce cee Eee 9 9 Simulating Retentive Counter isis aces rok oe gr UGS be dee esas 9 9 Reading CTRIO Internal Registers 20500600000 ba ere m oe eee 9 10 Chapter 9 Do more Programming Examples Do more Programming Examples Overview NOTE The programming examples on the following pages are provided as is without a guarantee of any kind This Chapter is provided by our technical support group to assist others We do not guarantee the examples are suitable for a particular application nor do we assume any responsibility for them in your application The Do more Designer programming examples provided on the following pages are simple examples that are intended to assist you in the basics of loading and running various output pulse profiles The examples are complete enough to load a profile process the command and load the Parameter registers necessary to execute the profile Two System Functions examples are also provided Load and Run a Pulse Profile example You will need to have a Trapezoid S Curve Symmetrical S Curve Home Search or Free Form profile configured using the Configure I O dialog Dynamic Positioning Positioning Plus Profile example You will need to have a Dynamic Positioning Positioning Plus profile configured as Table File Number 1 using the Configure I O dialog Dynamic Velocity Profile example You will need to have a Dynamic Velocity profile configured as Table File Number 1 using the Conf
193. s NANANA Discrete Outputs The CTRIO module has four discrete outputs numbered Y0 Y3 Y0 Y1 x for the HO CTRIO 2 The outputs respond to presets assigned by the Outputs user in the Configure I O dialog Unassigned The presets are assigned based on the scaled value of an input or the raw value if it has no scaled value The four outputs can all be assigned to one function or they can be grouped within functions and within channels in any manner selected by the user aw Pulse Step Dir Pulse Cw CCW To assign output presets begin by selecting the ouput on the Configure B f ete nct I O dialog The outputs are identified based on terminal number In the example to the right output terminal 0 is designated for a discrete output Raw Iz ion i Pulse Step Dir Once the output selection is made a new button l 0 Preset Seta appears on the Configure I O dialog The button is Soa BAT Discrete on Ch1 Fn1 labeled as shown to the right The leading numeral represents the number of the output terminal Clicking on the Preset button causes the Default Output Settings dialog to pop up Default settings are loaded on power up Raw Discrete on Ch1 Fnl On the Output Settings dialog select Use Single Preset We will bes CAE HD phe ey chapter Now click OK to arrive at the Edit Preset Entry dialog C None PUE Six output functions are available as shown in the fig
194. s below 1 select Command Code 10 0x10 2 enter the desired Preset Table Number in the File Number field 3 click the Process Command button and confirm the Command Complete bit is ON If the Command Error is ON an explanation of the error will appear on the dialog status line Then turn the Process Command button OFF 4 click on the Enable Output to allow the output to operate based on the Preset Table and current status of Ch1 Fn1 quad counter input As the encoder s count on Ch1 Fn1 changes the output 2 turns ON and OFF based on the 7 entries in Preset Table number 1 Turning the Enable Output OFF while the Preset Table is being executed will disable the output Monitor 1 0 E x 1 0 Status amp Input Functions Output Functions System Functions Pulse Step Pulse Direction Discrete on Ch1 Frnt Raw eset Mode Command Command Command Command CEETTCITENE z Joxt0 Load Table zl p p p Frequency 1000 1 Hi File Number 1 a ul Duty Cycle p aj af a 7 Step Count O FFFFFFFF 1 mti on a Enable Out El Enable Output Enable Output Direction Jirectior Directior Process Command i Command Process Command Output Enabled off tput Enable Output Enabled GA Output Enabled Off Position Loaded Off Position Loade Position Loade Position Loaded Output Active Otf Sutput Act Table Complete Off Output Active zn Output Stalled Off Output Stalled Dutput Stalled
195. s from the CPU module to the CTRIO The starting memory location is defined by the user in the I O Map within CTRIO Workbench If you are using a DirectLOGIC CPU you will use the memory address offsets in the second column If you are using a WinPLC EBC PBC DEVNETS or MODBUS interface you will use the non PLC offsets in column one Data Type and Offset WinPLC EBC PBC DEVNETS MODBUS Address for Inputs DirectLOGIC Definition Format dwY0 n 0 Output 0 Parameter 3 DWord A dwY1 n 2 Output 1 Parameter 3 DWord dwY2 n 4 Output 2 Parameter 3 DWord dwY3 n 6 Output 3 Parameter 3 DWord wYO Output 0 Command Word wY1 Output 0 Parameter 1 Word wY2 Output 0 Parameter 2 Word wY3 Output 1 Command Word wY4 Output 1 Parameter 1 Word wY5 Output 1 Parameter 2 Word wY6 Output 2 Command Word wY7 Output 2 Parameter 1 Word wY8 Output 2 Parameter 2 Word wY9 Output 3 Command Word wY10 Output 3 Parameter 1 Word wY11 Output 3 Parameter 2 Word bY0 7 bY8 15 Ch 1 Fn 1 Control Low Byte Ch 1 Fn 2 Control High Byte DO PO no PSE PSE PY PO PO PO PY PY NINI BY AJA Word bY16 23 bY24 31 Ch 2 Fn 1 Control Low Byte Ch 2 Fn 2 Control High Byte Word bY32 39 bY40 47 Output 0 Control Low Ei Word bY48 55
196. s unconfigured or invalid 107 Specified input function number is out of range 108 Specified preset function is invalid 109 Preset table is full 110 Specified table entry number is out of range 111 Specified register number is out of range 112 ororo x VO Stats t lg Funchons Output Functions System Functions Cheni 1 Crei irp Sinus p Statue Irgat Status Dudput Slate A 8 D D r Out A 8 c 042 043 En Ea o 000 D Dooseo 008 108 008 OF Deceeon ME Inest Quad Counter Cunert Cort LE At Reset Value t Enable Capture Reret Count Specified register is in unconfigured input or output Functions trou Functions Edge Timer Uncentgued Uncontgured Last Tim Ter 3 Cophaed Stat O Capture Complete w CTRIO read of PLC outputs i 5 Surpendedec Cick to enable Status bar Counter I O User Manual 2nd Ed Rev D 7 7 Chapter 7 Using Monitor I O i M Notes 7 8 Counter I O User Manual 2nd Ed Rev D DinEcTLOGIC HAPTER PROGRAMMING EXAMPLES In This Chapter DirectLOGIC Programming Examples Overview 8 2 Load and Run a Pulse Profile a uim t teo ee REC RR 8 3 Dynamic Positianing Positioning Plus iss eene ER ERR 8 4 Dynamic Velocity a ueteri ania boe n db d RUNE UR ER a 8 5 Velocity MOO 4a sad ss eed RC HEC ade RO UR e 8 6 Run to Limit Mode M
197. see step 4 Command Status V2022 7 When ON command has been accepted clear Process Command bit step 3 Command Error V2022 6 ON if Command or Parameters are invalid Enable Output V2056 0 Turn ON to start pulses Disable Output V2056 0 Turn OFF to start pulses Suspend Output V2056 2 Turn ON to pause output pulses without resetting pulse count Output Suspended V2022 2 ON when out pulse train has been suspended While Velocity Mode Control is running Run Frequency step 2 and Duty Cycle step 3 may be actively changed simply by writing a new Parameter value Since no accel decel parameters are specified in this profile the output change is a step response Counter I O User Manual 2nd Ed Rev D 6 39 Chapter 6 Program Control Velocity Mode Flowchart The flowchart below provides the logical sequence necessary to execute a Velocity Mode pulse profile Load 20 into Select Command Code Direction Hex At this point the CTRIO will Load the begin outputting pulses Frequency into B SET Parameter 1 Output Enable Decimal Load the Duty Verify the You can change the Cycle value into CTRIO is Frequency and or the Duty Load new Parameter 2 configured Cycle as often as you need parameter values correctly you can even change them Hex i h A while the output is active Load the Pulse C
198. sition Scaling Counter To select Position Scaling click the radio button beside the word Position Now click Next to move to the Output Settings dialog On the Output Settings dialog you will notice the field for engineering units Enter an appropriate value for Position Scaling for Engineering Units up to 4 characters example yards feet meters cubic inches etc Output Format C Floating Point S d ilable includi BCD nteger rounded even cata YpSsS are aval a e anc uding C Integer 10 1 implied decimal place to make values more easily used by Integer x100 2 implied decimal places DirectL IC PL C BCD rounded Mis ES e Cs C BCD x10 1 implied decimal place Click Next to open the Position Settings C BCD 100 2 implied decimal places dialog It is here that you enter the span of raw counts that equates to a span of engineering units This window contains a calculator to double check RAU TENS ters iret RT TTT ES x the meaning of your Position Settings Enter a value into the Raw Value field to see the equivalent Minimum Raw Value 0 counts value in engineering units Maximum Raw Value fi 000 counts Minimum Scaled Value o yds Maximum Scaled Value 300 yds Position Scaling Calculator Cancel lt Back C new Enter a raw count value to confirm scaling configuration Raw Value 25d counts Scaled Value 75 yds Cancel lt Back rein B 14 Counter I O Us
199. ssed Output Control and Status Offsets are listed in order of Output 0 Output 3 Control Bit transfers from CPU to CTRIO Bit Offsets WinPLC EBC PBC DEVNETS MODBUS V memory Offsets DirectLOGIC PLCs Enable Output 32 40 48 56 26 0 26 8 27 0 27 8 Process Command Status Bit transfers from CTRIO to CPU 39 47 55 63 Bit Offsets WinPLC EBC PBC DEVNETS MODBUS 26 7 26 15 27 7 27 15 V memory Offsets DirectLOGIC PLCs Command Error 38 46 54 62 22 6 22 14 23 6 23 14 Command Complete 39 47 55 63 22 7 22 15 23 7 23 15 In order to process a command first the program must load the Command and Required Word and DWord Parameters Then the program should drive the Process Command bit to a 1 and look for the CTRIO to acknowledge the command with the Command Complete bit Finally the program should remove the Process Command bit and set the Enable Output bit when appropriate If the Command Error bit is received the CTRIO was unable to process the command due to an illegal value in either the Command Code or Parameter fields Word Control CPU to CTRIO Word Offsets WinPLC EBC PBC DEVNETS MODBUS V memory Offsets from Output Start octal Command Code 0 6 10 16 Word Parameter 1 1 7 11 17 Word Parameter 2 2 8 12 20 6 22 Counter I O User Manual 2nd Ed Rev D Chapter 6 Program Control i
200. t C Floating Point example RPM fps flow etc Seven data types are Integer rounded available including BCD to make values more Ires cres a sd Integer x100 2 implied decimal places easily used by DirectLOGIC PLCs BCD rounded BCD x10 1 implied decimal place BCD x100 2 implied decimal places Cancel lt Back eeee ec Scaling Wizard Interval Settings x Click Next to open the Interval Settings Unit Definition Data Smoothing dialog It is here that you enter the Ansonnocnug j 8 it fi min p max counts per unit of time and the time Penal M base A scale offset is also provided to Scale Offset 0 adjust the result by a constant amount D eiee IEEE Unit Time Base Enter a pulse interval in This window contains a calculator to C mal microseconds to confirm scaling double check the meaning of your Rate configuration Setti E lue he R seconds ettings Enter a value into the Raw _ Pies Pulse Time 1 H e Value field to see the equivalent value in PIDE Scaled Value engineering units Data Smoothing allows rolling averages to be taken to calculate a value Min 1 sample max 25 samples in the rolling average Cancel lt Back Finish B 16 Counter I O User Manual 2nd Ed Rev D CONFIGURING THE OUTPUTS APTER In This Chapter Configure I O Dialog Overview xs os cce am ame c mm en 5 2 Output Function S
201. t resolution stepper encoder ratio In other words if the stepper motor being used is a 1000 ppr pulses per revolution and the encoder is 800 pps then the scale factor would be 1000 800 1 25 Deadband This is the number of position counts away from the target position that causes no action This can reduce hunting or ringing as the profile attempts to get to the target position Be sure to include a deadband when the encoder has a higher resolution than the stepper Example Trapezoid with Limits using a limit switch for the Stop Trigger Position Velocity 1 Move starts at the Minimum Freq and accelerates at Accel Rate 2 Acceleration ends at Maximum Freq and move continues at Maximum Freq 3 When the Decel Trigger is reached the position register is zeroed out and the output begins to slow down at Decel Rate 4 Deceleration ends at Creep Freq and the move continues towards the Stop Trigger a limit switch 5 When the Stop Trigger is reached the output stops Counter I O User Manual 2nd Ed Rev D 5 23 Chapter 5 Configuring the CTRIO Outputs Example Trapezoid with Limits using a position for the Stop Trigger The Stop Trigger position does not require change of direction Position Velocity 1 Move starts at the Minimum Freq and accelerates at Accel Rate 2 Acceleration ends at Maximum Freq and move continues at that rate 3 When the Decel Trigger is reached the position register
202. ted in a memory register in the CPU controller Once the position is reached the output is disabled and a new target position can be specified in the memory register todit Pulse Profite E E xi Profie Into Wwe Mr Freq 40 He Mavimum Freq 1000 Hz Accel Rae 1000 pis NOTE The Hi CTRIU s pulve outpulz are lied to ZGKHz The proie has been nowased to G amp KHz to support the Hos CTRIO2 while maintaining comostiblity vath the He TIO M Kyou tequite speeds beyond GAKHz for vour Hx CTRIO2 consider using the Dynamic Paston Pas prolin FS Trapezoid w Lmis ICTRIO2 Fle Stats Fie Number 4 Total Enriet Blocks Used 1 Csiculale Protie nk Cancel Accel Rate The rate at which the Minimum Frequency will to ramp up the Maximum Frequency This sets the deceleration rate as well Minimum Freq The frequency at which the profile will begin Maximum Freq The target frequency to which the Minimum Frequency rises Counter I O User Manual 2nd Ed Rev D 5 17 Chapter 5 Configuring the CTRIO Outputs i M Dynamic Positioning Plus Profile The Dynamic Positioning Plus profile is only available when using an Hx CTRIO2 The profile resembles Dynamic Position but adds two features 1 The profile can be asymmetrical Accel and Decel Rates are separate 2 Encoder Feedback can be added useful for correcting excessive lash or slippage in the system W
203. tialize System Functions co LD System Functions Command 1 K1 0x01 Hex Read all Registers OUT System Command V2100 Code Register Initialize System Functions co LD 2 j K1 CTRIO base slot number LD 2 bytes of data will be K2 written to the CTRIO LD Offset 80 Hex is the beginning of s the Command Frame in the CTRIO WT V2100 System Command Code Register B2060 7 c OUT Process Command Initialize System System System Command Command Functions Error Complete co B2024 6 B2024 7 LD 3 l t l K1 CTRIO base slot number LD 32 bytes of data will be K32 Read from the CTRIO Offset 82 Hex is the beginning of the Input and Output Registers within the Command Frame System Command Code Register The Timer controls how often the internal registers are Read RD from the CTRIO Initialize System Functions TO co 5 c T END 8 12 Counter I O User Manual 2nd Ed Rev D Do MORE PROGRAMMING APTER EXAMPLES In This Chapter Do more Programming Examples Overview sss 9 2 Load and Run a Pulse Profile sis es ema S arched ore RR Re 9 3 Dynamic Positioning Positioning Plus seeeeeeeens 9 4 Dynamic Velocity suceder uia a boe ente dob C ARE GC ER t rad 9 5 Velocity MO 4a dk ss on CRUCE CHECA ee RO ORE ere 9 6 Run to Limit Mode Arr 9 7 Run to Position Mode ueste ves umo P REAPER CEA REPRE AE Ge 9 8 System Functions Examples Ove
204. til the Levels 500 level drops below 450 rpm where it will turn OFF ie Hd OFF when less condition example Deadband po x Consider a Discrete Output set to turn OFF when less at 500 When the level gets to 500 the output Cae turns OFF If the level rises again the output will stay OFF until the level gets to 550 where it will turn ON Counter I O User Manual 2nd Ed Rev D 5 ll Chapter 5 Configuring the CTRIO Outputs ee Pulse Outputs The CTRIO module offers up to two axes of motion control YO and Y1 as an axis and or Y2 and Y3 as an axis The H0 CTRIO 2 has one axis of motion control YO and Y1 The outputs can be configured for CW CCW or step and direction operation The outputs respond to profiles defined by the user and called by the user control program The following pulse profiles are supported Trapezoid S Curve Symetrical S Curve Dynamic Positioning Dynamic Velocity Home Search Free Form Dynamic Positioning Plus CTRIO2 Trapezoid Plus CTRIO2 Trapezoid w Limits CTRIO2 Choreel Chee 2 Meus er Quad Counter Li il RN due Dual E doe Tier mt Out IT END 3 Edge Tene Dual Edge Timer Um Our 0 Lei Out Dues Function 1 Unaraned T Raw E Putse OW ACL m Function Unassigned Rowe Hed Pulte Se E Pulse Profile Tables r Pulse Profiles File 1 2axisJog There are three additional pulse profil
205. ting Pulse Output Profile Tables lle 5 12 Trapezoid Profile i e eee tae daw arr RR RR E RR RR RR Eh e dpa d 5 13 Trapezoid Plus Profile lcs III 5 14 S Curv Profile 4 222 c EPEREEERU IA 4 x cee e eR Cees IET Y IET 5 15 Symmetrical S Curve Profile ccc cece eee hn 5 16 Dynamic Positioning Profile leen 5 17 Dynamic Positioning Plus Profile leeeeeee nh 5 18 Dynamic Velocity Profile lleeeeeeeeee nn 5 19 Home Search Profile 1 sese eee heh hh hona hte Ra uh Ran 5 20 Home Search ROUTINES 2 de aedem eas ile gis aid cd bee pee DR wee 5 21 Trapezoid with Limits Profile ccce IA 5 22 Free Form Profile 1 2 sse e ra Rh RR RR RR RR ddoi Rx RR RR as 5 25 Additional Pulse Profiles llle hn 5 26 Hx CTRIO2 with Do more lesse eee eee 5 26 iv Counter I O User Manual 2nd Ed Rev D Table of Contents ET Chapter 6 Program Control Do more and Program Control 0 cece ee ee eee eee eens 6 2 Input Memory Map for Data Transfers from CTRIO to DL CPUs 6 4 Input n Parameter Definitions seiss ete eieiaeo eee eee 6 4 Input Function Status Bit Definitions llle 6 5 Output Status Bit Definitions for Preset Table Control 004 6 5 Output Status Bit Definitions Pulse Output llle 6 5 Output Memory Map for Data Transfers from DL CPUs to CTRIO 6 6 Output n Parameter Defini
206. tion to CTRIO f O O O O O O O OJ O O O O O O O O TTL Device USER BUS 1 USER BUS 2 10K ifn Oy O O O 0 O 0 0 O 0 0 a BI HT 10 E C TTL Device 10K B HFE 100 0 1W 10 E N C LAZ 9 30VDC c TTL Device 10K pg HFE 100 0 1W 10 E Counter I O User Manual 2nd Ed Rev D l 2 33 Chapter 2 Installation and Field Wiring T1H CTRIO Output Wiring Schematic The CTRIO outputs are individually isolated DC switches that can be used to break the high EB or the low side of a DC load Cn where n 0 1 2 3 CTRIO Output 5 to 36VDC Yn Load Load 5 to 36VDC O Cn where n 0 1 2 3 CTRIO Output yn 2 34 Counter I O User Manual 2nd Ed Rev D Chapter 2 Installation and Field Wiring T1H CTRIO Stepper Servo Drive Wiring Example Input Output Channels O O E O O O O GI O O OE 1A 1B 1C 1D YO YO Y1 Y1 2A 2B 2C 2D Y2 Y2 Y3 Y3 Step Amplifier S Of WOM OPO O O OU Wyola Step Amplifier i ji 5 36VDC L 5 36VDC E OPTO Power i OPTO Power ail Channel Commons e Pulse or CW ue s e e e e e e e ele e e e e e e o 1M 1M 1M 1M co co C1 C1 2M 2M 2M 2M C2 C2 C3 C3 Direction or CCW Direction or COW F
207. tions 0 0 0 0 cee eee 6 6 Input Function Control Bit Definitions scele 6 7 Output Control Bit Definitions for Preset Table Control 00 6 7 Output Control Bit Definitions Pulse Output 00 eee ee eee 6 7 Output Control Bit Definitions Raw Mode 0 00 ee eee 6 8 System Functions Status Bit Definitions 2 0 0 0 eee eee eee 6 8 System Functions Control Bit Definitions 00 eee eee ee eee 6 8 l O Map Dialog 5 223522z 3 mh eed Rh km honte hc eh hm m a Ron be dee ad 6 9 I O Map with DirectLOGIC PLC 2 ranges mode 000s eee eee 6 9 I O Map with DirectLOGIC PLC 4 ranges mode 0 0020 e eee 6 10 I O Map with DirectLOGIC PLC with CTRIO in ERM EBC Network 6 11 VO Map with EBC WInPLG i eee en RR RR ack RA Dawe X RR RR RR CR A 6 11 I O Map with an H2 PBC or T1H PBC Profibus DP Controller 6 12 Printing a Memory Map Report 0 cece en 6 13 Exporting to DirectSOFT isses eee es Dea eee eee ea OE SES n 6 13 Addressing Conventions with V memory Examples for DirectLOGIC PLCs 6 14 Example for Bit accessed Data in PLC CPUs 0 0 cece ee eee 6 14 Addressing High and Low Byte of Word Parameters 2000 eee eee 6 14 Addressing High and Low Word of DWord Parameters 000 6 14 Input Function Status Control Bits and Parameters esses 6 15 Input Fu
208. to Parameter 1 OUT Parameter 1 register V2041 Profile File Number B2056 7 c 4d SET Process Command iG Initialize Setti nitialize settings SET Complete Direction Control C2 B2056 4 E OUT Direction Initialize Settings Command Command Complete Complete Error C1 B2022 7 B2022 6 B2056 7 RST Process Command This rung waits for the Command Complete bit with no Command Error before Enabling the Output B2056 0 SET Enable Output Initialize Settings CO C Initialize Settings 1 RST Complete B2056 0 This rung stops the pulse output l RST Enable Output by disabling the Enable Output bit B2056 7 RST Process Command END Counter I O User Manual 2nd Ed Rev D 8 3 Chapter 8 DirectLOGIC Programming Examples LER Dynamic Positioning Positioning Plus The following example program runs a Dynamic Positioning Positioning Plus pulse profile Turn on C0 to load the profile number and process the command The first move starts at position count 0 Turning on C2 will start the pulse output to position specified in Parameter 3 The output will move in whichever direction is appropriate to reach the position specified in Parameter 3 To make additional moves wait for the current move to complete load a new value into the Target Pulse Count register and set the Go to Position bit Subsequent moves are still referen
209. tput 0 AtResetValue is the structure member chosen in this particular case the value will go HIGH when the CTRIO TT satin count has been reset to the configured reset value SCTRIO_000 Ch1B SCTRIO 000 Ch1C Using the DataView tool of Do more Designer a list of SCTRIO 000 Ch1D possible structure members for a configured CTRIO module is SCTRIO 000 Ch2A h bel SCTRIO 000 Ch2B shown below SCTRIO 000 Ch2C SCTRIO 000 Ch2D Function Level Output Level SCTRIO 000 ErrorCode Structures Structures SCTRIO 000 InputState CTRIO 000 MaxScanTi Sctrio 002 c1t1 SCTRIO 002 Out0 ae e SCTRIO 002 C1F1 AtResetValue SCTRIO 002 Out0 AtPosition ere SCTRIO 002 C1F1 CountCaptured SCTRIO 002 Out0 AtVelocity IO 000 Out DiscOn SCTRIO 002 C1F1 EnableCapture SCTRIO 002 Out0 Direction se soe os SCTRIO 002 C1F1 fReg1 SCTRIO 002 Out0 GotoPosition SCTRIO 000 Out1DiscEnabled SCTRIO 002 C1F1 fReg2 SCTRIO 002 Out0 OutputActive SCTRIO 000 Out1DiscOn SCTRIO 002 C1F1 iReg1 SCTRIO 002 Out0 OutputEnabled SCTRIO 000 Out1PulseActive SCTRIO 002 C1F1 iReg2 SCTRIO 002 Out OutputPosition SCTRIO 000 OuttType SCTRIO 002 C1F1 Reset SCTRIO 002 Out0 OutputStalled SCTRIO 000 Out2DiscEnabled Eu DA 7 CTRIO_000 Out2DiscOn SCTRIO 002 Out0 OutputSuspend SCTRIO 000 0 A 000 Out2PulseActive SCTRIO 002 Out0 OutputVelocity SCTRIO_000 Out2Type m SCTRIO 000 Out3DiscEnabled A list of CTRIO data structures and their definitions can be SCTRIO_000 Out3DiscO
210. tput could overshoot the target position or start decelerating too soon Edit Pulse Profile 1 x Profile Info Fi y Settings Name Minimum Freq 100 Hz Accel Rate 10000 pss Maximum Freq 10000 Hz Decel Rate 10000 pss Profile Type Target position is specified at run time through Parm3 Use Encoder for Postion Dyn Home Search Free Form E E Dynamic Positioning Plus CTRIO2 Trapezoid w Limits CTRIO2 Fie Stats File Number 2 Total Entries Blocks Used 1 Crea Minimum Freq The frequency at which the profile will begin and end Maximum Freq The maximum steady state frequency the profile can attain during a move Accel Rate The rate at which the output frequency will increase at the start of the profile Decel Rate The rate at which the output frequency will decrease at the end of the profile Encoder Input Select the channel where the encoder is connected The inputs for the encoder A amp B must be configured for Quad Counter Scale Factor This is the output to input resolution stepper encoder ratio In other words if the stepper motor being used is a 1000 ppr pulses per revolution and the encoder is 800 ppr then the scale factor would be 1000 800 1 25 Deadband This is the number of position counts away from the target position that causes no action This can reduce hunting or ringing as the profile attempts to get to the target position Be sure to include a deadband when th
211. trailing edge of the same pulse or finally from the leading edge of a downward pulse to the trailing edge of the same downward pulse The last option could be restated as timing At this point you have four decisions to make regarding your input at 1C CO Ourrett Curve Duos boss hrami o meem Cap Tn 2 mer 5 bx F x Ps Hz H wi fee frais Teese M a Tasos Dose on DAFA Juin be n a Ie Pulse Catchy Am n Ede ra Decree on DAR pid from the trailing edge of an upward pulse to the rising edge of the next upward pulse 2 The Free Run option is assigned by clicking in the appropriate box If your application calls for velocity measurements to be taken at the commencement of some event do not use Free Run If your application calls for velocity measurement on a continuous moving average basis you should use Free Run 3 The Enable Timeout option is assigned by clicking in the appropriate box and specifying a Timeout period Once the timer is enabled the Timeout Bit is set if the time that it takes the CTRIO to see the configured input edge exceeds the specified Timeout Period Also if the time before the CTRIO sees the next configured edge exceeds the specified Timeout Period the Timeout bit is set More information about the Timeout function can be found in chapter 6 4 The last remaining decision to be made is about scaling Clicking the button w
212. trol Relay D2 240 Action Command Code V2040 V2040 Set to 22 Hex Pulse at velocity until Function Input Limit Parameter 1 V2041 V2041 Set initial run frequency 20Hz 25000Hz decimal Parameter 2 V2042 V2042 Bits 15 12 Comparison Bits 11 8 Input Function to use Low Byte Duty cycle 1 99 can leave 0 for 5096 Hex Parameter 3 V2031 V2030 V2031 V2030 Specified position for Input Function DWord to compare against decimal Set Direction V2056 4 C224 Set ON or OFF for Direction of Rotation Process Command V2056 7 C227 Turn ON Command Complete status bit is returned see step 4 Command Status V2022 7 When ON command has been accepted clear Process Command bit step 3 Command Error V2022 6 ON if Command or Parameters are invalid Enable Output V2056 0 Turn ON to start pulses Output Active Status V2022 4 ON while pulsing OFF when position is reached Suspend Output V2056 2 Turn ON to pause output pulses without resetting pulse count Output Suspended V2022 2 6 46 Counter I O User Manual 2nd Ed Rev D ON when out pulse train has been suspended Chapter 6 Program Control SS System Functions System Functions Commands are primarily used to read from and write to the CTRIO s internal registers The flowcharts on the following pages provide DzrectL
213. ts and outputs You can see the count change reset etc using the Monitor I O dialog Monitor I O is very useful for debugging and commissioning of a new system See chapter 7 for information on Monitor I O The CTRIO mode follows the CPU mode If the CPU is placed in Run Mode the CTRIO module will also enter Run Mode If the CPU is placed in STOP or PROGRAM Mode the CTRIO will enter Program Mode The CTRIO also responds to mode changes made in Workbench and can be placed in Run Mode while the CPU is in Stop or Program Mode The CTRIO module responds to the most recent change whether performed in Workbench or from the CPU NOTE The CTRIO module will not enter Run Mode if it does not have a valid configuration Counter I O User Manual 2nd Ed Rev D CONFIGURING THE INPUTS In This Chapter Configure I O Dialog Overview co os 460404 t is mee eae eee a es 4 2 Input Function Selections ictses enar eons eur Rec S 4 5 OUNIEE Pr 4 6 Quadrature Counter 15 dore wae eee ei thie e URES on 4 7 Pulse Catch isc cdadetet hee Fee e ee ee heen teed noe he ee a5 4 8 Edge TIME uiscera ace dr be RUE EO QUA RP E D dc ee 4 9 DUM Edge TIME serrer oh eo eee Ee ac dato ob e eot d 4 10 Reset 1 and Reset 2 Hard Resets for Counters Only 4 11 Soft Resets sania tue seed oe boar ee teehee bee cueneeced 4 11 Capture teuducws ipari bevewesensev ends E EEDEN Paene 4 12 lr Mr Tr 4 12 Introduction to the Scaling Wizard oon nn 4 1
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215. ue Date 02 13 Publication History Issue Description of Changes First Edition Original Rev A Corrections Rev B Corrections Second Edition Added T1H CTRIO and H4 CTRIO Updated for CTRIO Workbench version 2 Rev A Added HO CTRIO and flowcharts Rev B Corrections Rev C Made corrections and updated manual Updated manual with new HO CTRIO2 and H2 CTRIO2 information Added Do more PLC series data and examples Updated CTRIO Workbench section with new pulse profiles available Made minor corrections throughout manual Rev D Notes TABLE OF CONTENTS Chapter 1 Introduction to the CTRIO amp CTRIO2 Modules CTRIO and CTRIO2 Module Overview 6 cece ee eee ee eee eee 1 2 CTRIO Workbench 2225 RR Rer Rp x ped RR ERR RARE hada ada d ae 1 2 CTRIO Configuration eee ee ee qn pd dd Peu hare EU Jed ob edd ee 1 2 CTRIO FUnctlOns sisi thee SReREH REPRE ee eee E RE A wh ed AR ook Be 1 3 Typical Counter Applications lisse RR 1 4 Support Systems for the CTRIO Modules l l 1 4 HOsCIRIOC2 jada ws ete oie ee d au Rd deut Be eels ae ns OG 1 4 H2 CTRIO 2 eEPRPSPPIEECEEQOPSI T 66545 begeben des 1 4 H4 CURIO PERPE 1 4 IESGTRIO onem meteo Gee eee nee ee EH dU eee 1 4 CTRIO Specifications 1 eee hm her th e race lc Ks e CA RR O28 P e RC dcc 1 5 HO CTRIO 2 LED Indicators eeleeeeeeeeeee nnn 1 7 H2 CTRIO 2 LED Indicators lll
216. ure ice rum below Set the preset value in engineering units if the signal has been scaled Set the preset value in raw count if the signal has not been scaled We discuss scaling in EdtPreset chapter 4 Pulse ON and Pulse OFF require a Pulse Time M setting The Pulse Time is set in msec 1 000 sec 1 msec Unscaled teen ei SET Edit Preset Entry x yes Function Preset Set C Reset E feet Output Function Definitions C Pulse On Set Writes output ON maintained A Bois Oft iea Time Reset Writes output above OFF A sae ms Pulse On Writes output ON for specified time Pulse Off Writes output OFF for specified time Toggle Changes state of output Cancel Reset Count Resets the count to Preset Value Counter I O User Manual 2nd Ed Rev D 5 7 Chapter 5 Configuring the CTRIO Outputs C C Creating and Using the Programmable Limit Switch CTRIO2 only A Programmable Limit Switch PLS is a discrete output table used to turn an output ON or OFF at multiple points across an input s range The PLS function is only available in the Hx CTRIO2 A PLS table must be created in the CTRIO module configuration Once created it can be edited using the configuration application or for Do more systems it can be edited using the PLS instructions in ladder For greater flexibility when using Do more systems create PLS tables in the CTRIO module configuration then p
217. with a fixed profile This field is the equivalent of Parameter 3 for other profiles in DirectLOGIC 181 en dp start Page Co man Ge crRunPos dbx RunProfile aj co CTRUNPOS CTRIO Run Position Mode 1 E EIR Pulse Output Device CTRIO_000_Outo DirectionControl c2 Pulse Output Structure SCTRIO 000 OutO 1 4 DIR Position File Number Do sott Optional Target Position D1 ST2 On Success Set bit ca n E SUS On Error Set bit C4 2 NOP 3 NoP For detailed information on the CTRUNPOS CTRIO Run Position Mode instruction see Do more Designer help file topic DMD0529 Counter I O User Manual 2nd Ed Rev D l 9 3 Chapter 9 Do more Programming Examples M Dynamic Positioning Positioning Plus Make sure DO of the instruction Dynamic Position File Number has the correct file number Set the target position in D1 and turn on C0 to load the profile and zero out the position register CTRIO 000 Out0 OutputPosition Turn on C1 to start the move Pulses are generated to move toward the position specified in D1 The structure member AtPosition turns on when the move completes After a move completes load the next position into D1 and turn on C1 to start another move E start Pope Co gon Go creummos itx T RunProfile co CTDYNPOS CTRIO Run Dynamic Position Mode 1 EIR Pulse Output Device CTRIO_000_Outd Pulse Output Structure SCTRIO_000_Outo

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