Home

RIO-47100 User Manual

1. 68 VARIABLES feios docas EE 69 Programmable Variables ied eu iere etr cet ded Ve rire da sentava santa To eR e eae Deed 69 OPERANDS taa isis 70 Examples of Internal Variables AA 70 Special Operands KeyWords sissie nono none enne ennt ener inneren eene nennen 70 RRE EE 71 IR Klee 71 Assignment of Array Entries 44222214 ettet hier rr ERNE EN i iee FEER kukkuda don tees 71 Using a Variable to Address Array Blementzs renerne nennen eene nennen enne nennen 72 Uploading and Downloading Arrays to On Board Memor 72 Automatic Data Capture into Arrays sst oerein ne ben sense redder nennen ester EEE EERTE E regeres use 72 Deallocating Array p tina 73 INPUT OF DATA NUMERIC AND STRING nn nono nn E E EAEE AEREE 74 NS TS EGRE RU ee 74 OUTPUT OF DATA NUMERIC AND STRING sr rare E E a A roerne 74 Sending MESSAGES RE 74 Displaying Variables E e 76 Formatting Variables and Array Elements rr nono netten enne nennen nre 76 PROGRAMMABLE AAA NO TI IR Cat EE 17 Digital KO EE 78 Analog Inputs or NON 78 Analog O IDLH UE 79 APPENDIX PA NN 80 ELECTRICAL SPECIFICATIONS 5 ettet neo E NO PEE t t NO We RERO TIER Mee dece de 80 Input Output eec eR need ue d arp eie ec een ia o peers 80 Power Requirements ege ee ie 80 PERFORMANCE SPEGIEICATIONS eege tirer rette dao Ee eee er hee P es maca ea 80 RIOATI O mE 80 RIO EE 80 CERTIFICA TON Sa in 81 ERR EE 81 VE 81 liac 81 CONNECTORS ON THE RT
2. Analog Outputs DQx m see command reference for details m Analog Range Counts Range decimal Counts Range hex 1 0 5V 0 65535 0x0000 OXFFFF 2 0 10V 0 65535 0x0000 OXFFFF 3 5V 0 65535 0x0000 OXFFFF 4 10V 0 65535 0x0000 OxFFFF RIO 471x0 Chapter 3 Communication e 39 Data Record QR and DR Commands The RIO can provide a block of status information back to the host computer in a single Ethernet packet using either the QR or DR commands The QR command returns the Data Record as a single response The DR command causes the controller to send a periodic update of the Data Record out a dedicated UDP Ethernet handle The Data Record response packet contains binary data that is a snapshot of the controller s VO status Since the Data Record response contains all information in binary format the result of this command cannot be displayed in a Galil terminal The QR and DR commands will return 4 bytes of header information followed by an entire data record A data record map is provided below RIO Data Record DATA TYPE ITEM UB 1 byte of header UB 2 byte of header UB 3 byte of header UB 4 byte of header UW Sample number UB Error Code UB General Status UW Analog Out Channel O counts UW Analog Out Channel 1 counts UW Analog Out Channel 2 counts UW Analog Out Channel 3 counts UW Analog Out Channel 4 counts UW Analog Out Channel 5 counts UW Ana
3. Note INCOB and INCIB are only valid when INC jumpers are used 2 When ordered with 08 15 SOURCE this pin will actually be Output Power Ground for DO 8 15 3 When ordered with 08 15 SOURCE this pin will actually be 5 24V Output Power Supply for DO 8 15 RIO 471x0 Appendix e 81 26 pin D Sub Connector RIO 471xx Description Description Description No Connect No Connect No Connect 47100 No Connect 47120 12V out 10mA No Connect 47100 No Connect 47120 12V out 10mA Analog Input 7 Ground Analog Input 6 Analog Input 4 Analog Input 5 Analog Input 3 Analog Input 1 Analog Input 2 Analog Input O Ground Ground Analog Output 7 Analog Output 5 Analog Output 6 Analog Output 4 Analog Output 2 Analog Output 3 Analog Output 1 GND Analog Output O Screw Terminals RIO 472xx Label Description Label Description 18 36 18 16VDC logic power input DIO Digital Input 10 RET Return side of logic power input DI11 Digital Input 11 AGND Analog Ground DI12 Digital Input 12 AGND Analog Ground DI13 Digital Input 13 AIO Analog Input O DII4 Digital Input 14 All Analog Input 1 DIIS Digital Input 15 AD Analog Input 2 OPOA 12 24V Output Power Supply for DO 0 7 AI3 Analog Input 3 OPOB Output Power GROUND for DO 0 7 AI4
4. RIO 471x0 Appendix e 83 Jumper Description for RIO Label Function If jumpered JP5 MRST Master Reset enable Returns RIO to factory default settings and erases EEPROM Requires power on or RESET to be activated E uu a a corrupt 192 Set baud Rate to 19 2k default without jumper is 1 15k JOPT 10BaseT Ethernet Communication JP6 AUX Power for board comes from 2pin Molex Connector 18 36V DC 4 jumpers P7 J PoE Power for board comes from Power over Ethernet No power cable 4 jumpers 1s necessary Ethernet cable with PoE Switch is required Label Function If jumpered JP102 Connects INCO amp INC1 to 5V and INCOB amp INCIB to GND JP102 OUTC Connects OP1A to GND and OPIB to 5V 84 Appendix RIO 471x0 RIO Dimensions RIO 471xx te RIO 47100 me OKK DIGITAL 15 OPOA 30 OPOA 14 DO1 44 DO 43003 22202 43904 42 DO6 28 DOS 12 DO7 4NC 37 G 11 OPIA 40 DOS 10 D010 390012 2 DON 90013 280015 2004 opta emm DNC 7010 app POL ep aom SOL eme ang 9D ANC epp RC spp 32 DI11 17 DI43 2DI12 app ONS ipm 5 24VDC OR GND INC1 5 24VDC OR GND o a gt x ES a GND GND 5 24VDC OPOA OPOB OP1B INCO 8 DO 15 8 OPTA DI 7 0 ANALOG SERIAL 9 CND 25401 18400 g 402 am 25404 17403 7405 18 36VDC 24 AO7 o 6 GND um OD sam zum Uz AMA um Zeie 3A aw Pme NC 9NC NO INC GALIL MOTION CONTROL ETHERNET PoE MADE IN USA OUTPU
5. SB Red Uses variable Red in SB command inputl _ IN 1 Assigns value of digital input 1 status to variable input1 Programmable Variables The RIO allows the user to create up to 126 variables Each variable is defined by a name which can be up to eight characters The name must start with an alphabetic character however and numbers are permitted in the rest of the name Spaces are not permitted Variable names should not be the same as RIO instructions For example RS is not a good choice for a variable name Examples of valid and invalid variable names are Valid Variable Names STATUS1 TEMPI POINT Invalid Variable Names REALLONGNAME Cannot have more than 8 characters 123 Cannot begin variable name with a number STATZ Cannot have spaces in the name RIO 471x0 Chapter 5 Application Programming e 69 Assigning Values to Variables Assigned values can be numbers internal variables and keywords functions RIO board parameters and strings the range for numeric variable values is 4 bytes of integer 27 followed by two bytes of fraction 2 147 483 647 9999 Numeric values can be assigned to programmable variables using the egual sign Any valid RIO functions can be used to assign a value to a variable For example s12 9 ABS V2 or s2 IN 1 Arithmetic operations are also permitted To assign a string value the string must be in quotations String variables can contain up to six characters that mu
6. Mathematical Operators For manipulation of data the RIO provides the use of the following mathematical operators Operator Function IO i Ka Subtraction Multiplication Logical Or On some computers a solid vertical line appears as a broken line The numeric range for addition subtraction and multiplication operations is 2 147 483 647 9999 The precision for division is 1 65 000 Mathematical operations are executed from left to right Calculations within parentheses have precedence Examples SPEED 7 5 V1 2 The variable SPEED is egual to 7 5 multiplied by V1 and divided by 2 COUNT COUNT 2 The variable COUNT is equal to the current value plus 2 RESULT Vall Puts the value of Vall 28 28 in RESULT 40 cosine of 45 is COS 45 40 28 28 K 0IN 1 amp OIN 2 K is equal to 1 only if Input 1 and Input 2 are high Note Mathematical operations can be done in hexadecimal as well as decimal Just precede hexadecimal numbers with a sign so that the RIO recognizes them as such Bit Wise Operators The mathematical operators amp and are bit wise operators The operator amp is a Logical And The operator is a Logical Or These operators allow for bit wise operations on any valid RIO numeric operand including variables array elements numeric values functions keywords and arithmetic expressions The bit wise operators may also be used with strings This is useful for separating character
7. Note The part number listed below is the connector that is found on the controller For more information see the Molex website http www molex com VDC 18 36V DC GROUND Molex Part Number Pin Part Number x2 Type 39 31 0020 44476 3112 2 Position Warning Damage can occur if a supply larger than 36VDC is connected to the board 2 PoE Power over Ethernet This configuration needs the four jumpers on JP6 to be placed on the side labeled PoE Once this is done the controller will derive its power directly from the Ethernet cable A PoE style switch can be used such as the FS108P from Netgear Applying power will turn on the green LED power indicator Step 3 Install the Communications Software After applying power to the computer install the Galil software that enables communication between the I O board and your PC Itis strongly recommended to use the Galil software GalilTools when communicating to the RIO unit Please see the GalilTools Manual for a complete description of how to install and connect to Serial or Ethernet controllers http www galilmc com products software galiltools html Step 4 Establish Communications between RIO and the Host PC Communicating to the RIO using Galil Software RS 232 To use serial communication connect a 9pin straight through RS 232 cable CABLE 9 PIND between the serial port of the RIO and the computer or terminal communications port The RIO serial port is
8. USER MANUAL RIO 47xxx Manual Rev 1 0f By Galil Motion Control Inc Galil Motion Control Inc 270 Technology Way Rocklin California 95765 Phone 916 626 0101 Fax 916 626 0102 Email supportOgalilmc com URL www galilmc com Rev Date 3 2009 Contents A NN I CHAPTER I OVERVIEW EE 1 INTRODUCTON Ii 1 PART NUMBERING OVERVIEW nitro in 2 RIQ 47XXO VS RIOSTIXX2 tia cases debts coset a e ee deg ee 2 Microcomputer Section secesie eerie tete de oe ido Lomani nee deena ente reete En 3 Communication EH 3 CHAPTER 2 GETTING STARTED erecto terere egeo doe IVa dae de du toes svae ene ones dando cole soda taaan 4 IX O THDocH 4 RI O24 72 Xx Gebees re ish Eege eege AE ee pda TS DO RO NS E AS NR M 5 INSTALLING THE RIO BOARD Eieren 6 Step T Configure el 6 Step 2 Connecting Powerto the RIO enatis t Usk ss E EEG E REESE os sue REIHE Rana 6 Step 3 Install the Communications Software 7 Step 4 Establish Communications between RIO and the Host PC senere serene ener ennen 7 Communicating to the RIO using Galil Software 7 Using Non Galil Communication Software eese eene nennen neen rennen 8 CHAPTER 3 COMMUNICATION ee eeeeee ense enne tn tne th sensns tissus tasse ta sesta sess tuse era ne secs ae snes seen assess sene es 11 INTRODUCTION aire 11 RS232 PORT isaer e OLDE ALUL ELS
9. 1 at the end of the command line indicates a restart therefore the existing program stack will not be removed when the above format executes The following example shows an error correction routine that uses the operands Example Command Error w Multitasking Instruction FA JPRA EN B N 17 SBN TY EN CMDERR IF TC 6 N 1 XO ED2 ED1 1 ENDIF IF TC 1 XQ _ED3 _ED1 1 ENDIF EN Interpretation Begin thread 0 continuous loop End of thread 0 Begin thread 1 Create new variable Set the 17th bit an invalid value Issue invalid command End of thread 1 Begin command error subroutine If error is out of range SB 8 Set N to a valid number Retry SB N command If error is invalid command TY Skip invalid command End of command error routine Example Ethernet Communication Error This simple program executes in the RIO and indicates via the serial port when a communication handle fails By monitoring the serial port the user can re establish communication if needed Instruction Interpretation LOOP Simple program loop JP LOOP EN FTCPERR Ethernet communication error auto routine MG P1 IA4 Send message to serial port indicating which handle did not receive proper acknowledgment RE Return to main program Note The TCPERR routine only detects the loss of TCP IP Ethernet handles not UDP 66 Chapter 5 Application Programming RIO 471x0 Mathematical and Functional Expressions
10. Function Code 6 06 Preset Single Register Description Modbus function code 06 is a request to write to a single register This will write all 16 digital outputs of an RIO configured as a slave Operating as a master The function code of the response can be queried with the MW command If an exception occurred the exception code of the response can be queried with MW1 Example Normal Response Exception Response _ MW results in 06 _MW results in 86 MWI1 contains 01 or 02 Ways to use function code 6 with Galil commands 1 MB command in raw packet mode 2 MB command with Modbus function code 6 Operating as a slave The RIO will accept a preset single register request with a starting address of 0000 The register values can range from 0x0000 to OxFFFF and correspond to a binary representation of the 16 digital outputs The RIO will respond with a Modbus packet that is identical to the packet it received 30 Chapter 3 Communication RIO 471x0 Coil Mapping Coil Addresses Coil Addresses 0 Digital Output O 8 Digital Output 8 1 Digital Output 1 9 Digital Output 9 2 Digital Output 2 10 Digital Output 10 3 Digital Output 3 11 Digital Output 11 4 Digital Output 4 12 Digital Output 12 5 Digital Output 5 13 Digital Output 13 6 Digital Output 6 14 Digital Output 14 7 Digital Output 7 15 Digital Output 15 Examples For the following example array contains 0 0 0 0 0 6 1 6 0 0 55 A A MBA 1 12 array
11. RIO 471x0 Chapter 4 1 0 e 53 Chapter 5 Application Programming Overview The RIO provides a versatile programming language that allows users to customize the RIO board for their particular application Programs can be downloaded into the RIO memory freeing up the host computer for other tasks However the host computer can send commands to the RIO at any time even while a program is being executed In addition to commands that handle I O the RIO provides commands that allow it to make decisions These commands include conditional jumps event triggers and subroutines For example the command JP LOOP n lt 10 causes a jump to the label LOOP if the variable n is less than 10 For greater programming flexibility the RIO provides user defined variables arrays and arithmetic functions The following sections in this chapter discuss all aspects of creating applications programs The RIO 47xx0 program memory size is 200 lines x 40 characters The RIO 47xx2 increases the memory size to a total of 400 lines x 40 characters Editing Programs Use Galil software to enter programs in the Editor window After downloading a program use the XQ command to execute the program The RIO also has an internal editor that may be used to create and edit programs in the RIOs memory The internal editor is a rudimentary editor and is only recommended when operating with Galil s DOS utilities or through a simple RS 232 communication interface such as Wi
12. Request Response Response 32 bit Floating Point Real Value 16 bit Integer Real Value Field Name hex Field Name hex volts Field Name hex counts Function 03 Function 03 Function 03 Starting Address High 00 Byte Count 08 Byte Count 08 Starting Address Low 02 RegVal2 High 3F 0 9753 RegVal2 High 25 9600 Quantity of Registers High 00 79 RegVal2 Low 80 Quantity of Registers Low 04 BO RegVal3 High 32 12904 RegVal2 Low 00 RegVal3 Low 68 RegVal3 High 3F 1 4673 RegVal4 High 3F 16160 BB RegVal4 Low 20 DO RegVal5 High 4C 19480 RegVal3 Low 00 RegVal5 Low 18 With the slave MI set to 0 the master RIO s arrays will look like this array 0 216249 array 1 245056 array 2 216315 array 3 253248 With the slave MI set to 1 the master RIO s arrays will look like this array 0 9600 array 1 12904 array 2 16160 array 3 19480 24 Chapter 3 Communication RIO 471x0 Function Code 4 04 Read Input Registers Description Modbus function code 04 is a request to read input registers In its default configuration the RIO 471x0 responds to this command with analog output register information To configure the RIO to respond to a function code 4 request with analog input information see the MV command in the command reference Operating as a master The function code of the response can be queried with the MW command If an exception occurred the exception code of the response can be queried with MW1 Example Normal Response Exception R
13. SAA55 MBA 15 0 16 array Request to write AA55 to digital outputs 15 0 Packets The command MBA 15 0 16 array when array contains AA55 results in the following packets being sent when one RIO is the master and another RIO is the slave communicating over handle A port 502 Modbus The slave RIO s outputs 15 0 will be set to the following 1 is on O is off Output 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Value 0 1 0 1 0 1 0 1 1 0 1 0 1 0 1 0 Request Response Field Name hex Field Name hex Function 15 Function 15 Starting Address High 00 Starting Address High 00 Starting Address Low 00 Starting Address Low 00 Quantity of Outputs High 00 Quantity of Outputs High 00 Quantity of Outputs Low 10 Quantity of Outputs Low 10 Byte Count 02 Outputs Value High AA Outputs Value Low 55 RIO 471x0 Chapter 3 Communication e 35 Function Code 16 10 Write Multiple Registers Description Modbus function code 10 is a request to write multiple registers also known as analog outputs Operating as a master The function code of the response can be queried with the MW command If an exception occurred the exception code of the response can be queried with MW1 Example Normal Response Exception Response _MW results in 10 _MW results in 90 MWI1 contains 01 or 02 Ways to use function code 16 with Galil commands 1 MB command
14. The reset line on the controller is held low or is being affected by noise 2 There is a failure on the controller and the processor is resetting itself 3 There is a failure with the output IC that drives the error signal Green Link LED LNK The green LED indicates there is a valid Ethernet connection This LED will show that the physical Ethernet layer the cable is connected Activity ACT The amber LED indicates traffic across the Ethernet connection This LED will show both transmit and receive activity across the connection RIO 471x0 Chapter 1 Overview e 3 Chapter 2 Getting Started RIO 471xx 3 88 SEI D DIGITAL DONE pos apo M t Fa o Domp apog 29 DO2 DOdE3 apoio 48D03 anos 13004 Beda r 42008 38008 12007 soda OD 41 NIC 11 OPIA DOS open sonog DO 409010 DOSE 11014 390012 2 DOM 99943 pona H 380015 24 DOM gopig DIE Epis a7zinco ENC org 22 Dna APIS aepp DM epp sg opm abrio 21 DI4 Se Dim Obi 25015 pr 5DI6 e el88 ao EI SNC opp ANC SL EIS Soloz 4 20 DIJO pza Zou 18DDO DD SS SNS D O apis 17 DI13 nas a tu Jud DIS DEE i amp elaaloo So co lt lt e B els S lo EXT POWER a la SERIAL RE ue CE Ed 26 A01 e 8 A02 28 25 25 A04 7 AOS SEH 16 A06 map SGN jap g e Am MAP van 8 21 AIG ele SAT i one TING The 10N C O GALIL MOTION CONTROL ETHERNET PoE MADE IN USA Figure 2 1 Outline of
15. This is a hands on seminar and students can test their application on actual hardware and review it with Galil specialists TIME Two days 8 30 am 5 00 pm RIO 471x0 Appendix e 89 WARRANTY All products manufactured by Galil Motion Control are warranted against defects in materials and workmanship The warranty period for all products is 18 months except for motors and power supplies which have a 1 year warranty In the event of any defects in materials or workmanship Galil Motion Control will at its sole option repair or replace the defective product covered by this warranty without charge To obtain warranty service the defective product must be returned within 30 days of the expiration of the applicable warranty period to Galil Motion Control properly packaged and with transportation and insurance prepaid We will reship at our expense only to destinations in the United States Any defect in materials or workmanship determined by Galil Motion Control to be attributable to customer alteration modification negligence or misuse is not covered by this warranty EXCEPT AS SET FORTH ABOVE GALIL MOTION CONTROL WILL MAKE NO WARRANTIES EITHER EXPRESSED OR IMPLIED WITH RESPECT TO SUCH PRODUCTS AND SHALL NOT BE LIABLE OR RESPONSIBLE FOR ANY INCIDENTAL OR CONSEQUENTIAL DAMAGES COPYRIGHT 2008 The software code contained in this Galil product is protected by copyright and must not be reproduced or disassembled in any form w
16. handle A port 502 Modbus MI is set to 1 on the slave Request Response Counts Field Name hex Field Name hex Function 10 Function 10 Starting Address Hi 0 Starting Address Hi 0 Starting Address Lo 2 Starting Address Lo 2 Quantity Outputs Hi 0 Quantity of Registers Hi 0 Quantity Outputs Lo 2 Quantity of Registers Lo 2 Byte Count 4 RegVal0 High FF RegVal0 Low FF RegVall High 99 RegVall Low 99 The slave RIO will have analog output 2 set to 5V and analog output 3 set to 3V 38 Chapter 3 Communication RIO 471x0 Analog IO Ranges The analog inputs and outputs range from different values depending on the configuration of the RIO 471x0 This information is specifically important when using the RIO to communicate as a modbus slave and MI is set to 1 RIO 47100 Analog Inputs AQx m see command reference for details m Analog Range Counts Range decimal Counts Range hex 0 0 5V 0 32572 0x0000 Ox7FFO 1 5V 0 32572 0x0000 0x7FFO Analog Outputs Analog Range Counts Range decimal Counts Range hex 0 5V 0 65520 0x0000 OxFFFO RIO 47120 12 or 16 bit version Analog Inputs AQx m see command reference for details m Analog Range Counts Range decimal Counts Range hex 1 5V 32768 to 32767 0x8000 0x7FFF 2 10V 32768 to 32767 0x8000 0x7FFF 3 0 5V 0 65535 0x0000 OXFFFF 4 0 10V 0 65535 0x0000 OXFFFF
17. is used to prompt the user to input numeric or string data Using the IN command the user may specify a message prompt by placing a message in quotations When the RIO executes an IN command it will wait for the input of data The input data is assigned to the specified variable or array element Note The IN command is only valid when communicating through RS232 This command will not work through the Ethernet An Example for Inputting Numeric Data HA IN Enter output number OUT EN In this example the message Enter output number is displayed on the computer screen The RIO board waits for the operator to enter a value The operator enters the numeric value that is then assigned to the variable OUT Inputting String Variables String variables with up to six characters may input using the specifier Sn where n represents the number of string characters to be input If n is not specified six characters will be accepted For example IN Enter X Y or Z V S specifies a string variable of up to six characters to be input Output of Data Numeric and String Numerical and string data can be output from the RIO board using several methods The message command MG can output string and numerical data Also the RIO can be commanded to return the values of variables and arrays as well as other information using the interrogation commands such as V1 and TZ Sending Messages Messages may be sent using the message co
18. the RIO Note that the RIO by default Sending Modbus Packets The RIO programming language provides 3 ways of issuing Modbus packets as a master 1 Issue the MB command of type Mbh 1 len array This Galil command allows the user complete control over the creation of their Modbus packet len is the number of bytes to be included in the packet and array is the name of the array containing the Modbus packet Each element of array may contain only one byte and array must contain the entire Modbus packet including transaction identifiers protocol identifiers length field Modbus function code and data specific to that function code 2 Issue the MB command of type Mbh addr x m n array This Galil command allows the user to send a Modbus command easily by allowing the user to select a few key parameters and allowing the controller to do the rest addr is the Unit ID field which if not set Galil will automatically set to the value of the handle the communication is over Handle A 01 B 02 etc Also as a slave the RIO ignores the Unit ID field x is the function code of the Modbus command m is the address at which to begin reading or writing n is either the number of coils or the number of registers to read write array is the array in which data from a read gets stored or where data to write is stored See individual function code descriptions in the command reference for specifics of this command 16 Chapter 3 Co
19. 0 1 1 0 1 1 1 Request Response Field Name hex Field Name hex Function 02 Function 02 Starting Address High 00 Byte Count 02 Starting Address Low 02 Inputs Status 9 2 CD Quantity of Inputs High 00 Inputs Status 13 10 0C Quantity of Inputs Low 0C 1 Byte of Response Word bit 7 6 5 4 3 2 1 0 Input 9 8 7 6 5 4 3 2 Value 1 1 0 0 1 1 0 1 2 Byte of Response Word bit 15 14 13 12 11 10 9 8 Input X X X X 13 12 11 10 Value 0 0 0 0 1 1 0 1 Note bits in the response marked X are not valid input response data but are instead 0 s that fill the remainder of the byte Inputs report back a O when active and a 1 when inactive On the master RIO array 0 205 and array 1 12 after the MBA 2 2 12 array command is issued RIO 471x0 Chapter 3 Communication e 21 Function Code 3 03 Read Holding Registers Description Modbus function code 03 is a request to read holding registers In its default configuration the RIO 471x0 responds to this command with analog input register information To configure the RIO to respond to a function code 3 request with analog output information see the MV command in the command reference Operating as a master The function code of the response can be queried with the _MW command If an exception occurred the exception code of the response can be queried with MW1 Example Normal Response Exception
20. 4 BIT3 BIT 2 BIT 1 BITO Program N A N A N A N A Waiting for Trace On Echo On Running input from IN command ZC and ZD Commands Another important feature of the data record is that it contains two variables that can be set by the user The ZC and ZD commands are responsible for these variables Each variable can be a number a mathematical equation or a string See the Command Reference for more information on the ZC and ZD commands RIO 471x0 Chapter 3 Communication e 41 Chapter 4 I O Introduction The standard RIO controller has 16 digital inputs 16 digital outputs 8 analog inputs and 8 analog outputs The interrogation command TZ allows the user to get a quick view of the HO configuration and bit status Specifications Access to I O points is made through the 44pin and 26pin High Density D Sub connectors on the top of the unit Pin outs and I O specifications are listed below 44 pin D Sub Connector Digital I O RIO 471xx Description Description Description Digital Input 15 No Connect INCIB Digital Input 14 Digital Input 12 Digital Input 13 Digital Input 11 Digital Input 9 Digital Input 10 Digital Input 8 No Connect Input Common DI 8 15 No Connect INCOB Digital Input 6 Digital Input 7 Digital Input 5 Digital Input 3 Digital Input 4 Digital Input 2 Digital Input 0 Digital Input 1 Input Common DI 0 7 5 24V Output Powe
21. 4 bytes 32 bit floating point per analog output register in ascending order from the analog output referenced in the address RIO 471x0 Chapter 3 Communication e 25 Galil Register Map Register Address 32 Bit Floating Point Counts 0 Analog Output O Analog Output 0 1 Analog Output 1 2 Analog Output 1 Analog Output 2 3 Analog Output 3 4 Analog Output 2 Analog Output 4 5 Analog Output 5 6 Analog Output 3 Analog Output 6 7 Analog Output 7 8 Analog Output 4 9 10 AnalogOutput 5 11 12 Analog Output 6 13 14 Analog Output 7 15 Examples MBA 4 2 4 array MG AO 1002 Request the status of Registers 2 5 AOI and AO2 if MIO and AO2 AO3 AO4 AOS if MI1 The response is stored in array Requests the status of analog output 2 result is transmitted via ethernet or serial 26 Chapter 3 Communication RIO 471x0 Packets The command MBA 4 2 4 array results in the following packets being sent when one RIO is the master and another RIO 47100 is the slave communicating over handle A port 502 Modbus When MI is set to O the response is given as volts in 32 bit Floating Point When MI is set to 1 the response is given as counts in 16 bit decimal notation Assume analog outputs in ascending order from 0 7 are 5 1 1 5 2 2 5 3 3 5 4 Slave MIO Slave MII Request Response Response 32 bit Floating Point Real Value 16 bit decimal Real Value Field Name hex Field Name hex volts Field Name h
22. 6 1 Input 6 amp Input 7 Table 1 Differential Analog Input Channels on RIO 4710x RIO 4712x The default resolution for the RIO 4712x is 12bit with a 16bit option The part number is RIO 4712x 16 for the 16 bit version Input Impedance Single Ended 42k Q Differential 31k Q RIO 471x0 Chapter 4 I O e 47 Use the AQ command to specify the analog input range on the RIO 4712x AQ Input Range AQ 0 1 Set input O to have 5V input range AQ 1 2 Set input 1 to have 10V input range AQ 2 3 Set input 2 to have 0 5V input range AQ 3 4 Set input 3 to have 0 10V input range Table 2 Setting Input Ranges on RIO 4712x On the RIO 4712x the AQ command also allows the RIO to change the configuration from the default 8 single ended analog inputs to 4 differential analog inputs AQ Differential Pairs AQ 0 1 Input O amp Input 1 and 5V input range AQ 2 2 Input 2 amp Input 3 and 10V input range AQ 4 3 Input 4 amp Input 5 and 0 5V input range AQ 6 4 Input 6 amp Input 7 and 0 10V input range Table 3 Differential Analog Input Channels on RIO 4712x RIO 472xx The default resolution for the RIO 472xx is 12 bit with a 16 bit option The part number is RIO 472xx 16 for the 16 bit version Input Impedance default 12 bit Single Ended 100kO Input Impedance With 10V option Single Ended 42k Q Differential 31k Q See the AQ command in the command referen
23. Analog Input 4 DOO Digital Output 0 AIS Analog Input 5 DOI Digital Output 1 AI6 Analog Input 6 DO2 Digital Output 2 AI Analog Input 7 DO3 Digital Output 3 INCOA Input common DI 0 7 DO4 Digital Output 4 INCOB No connect for standard configuration DOS Digital Output 5 DIO Digital Input O DO6 Digital Output 6 Dil Digital Input 1 DO7 Digital Output 7 DD Digital Input 2 OPIA 12 24V Output Power Supply for DO 8 15 DI3 Digital Input 3 OPIB Output Power GROUND for DO 8 15 DI4 Digital Input 4 DOS Digital Output 8 DIS Digital Input 5 DO Digital Output 9 DI6 Digital Input 6 DO10 Digital Output 10 DI7 Digital Input 7 DO11 Digital Output 11 INCIA Input common DI 8 15 DO12 Digital Output 12 INCIB No connect for standard configuration DO13 Digital Output 13 DIS Digital Input 8 DO14 Digital Output 14 DI9 Digital Input 9 DO15 Digital Output 15 82 Appendix RIO 471x0 132 RS 232 Port DB 9 Pin Male Standard connector and cable 9Pin Note A straight thru serial cable should be used to connect the RIO to a standard PC serial port pinl to pinl pin2 to pin 2 etc J1 Ethernet Port 10 100 Base T RJ 45 J5 Power 2 pin Molex for 18 36VDC if not using Power over Ethernet Note The part number listed below is the connector that is found on the controller For more information see the Molex website http www molex com GND Ground 18 36VDC Molex Part Number Pin Part Number x2 Type 39 31 0020 44476 3112 2 Position
24. Analog Inputs Analog inputs are accessed with the AN n function where n is the number assigned to the analog input channel The returned value will be a voltage reading with 12 bit resolution 16bit optional on RIO 47120 The standard voltage range is 0 to 5 VDC on the RIO 47100 The voltage input range is configurable on the RIO 47120 using the AQ command Note When analog input values are accessed from the Data Record or from the Record Array function the returned value will be an integer number that represents the analog voltage For a RIO 47100 the equation used to determine the decimal equivalent of the analog voltage is as follows N V V10 4095 Vhi V10 8 Where N is the integer equivalent of the analog voltage V is the expected analog voltage Vlo is the lowest voltage in the total range OV for the standard analog input module and Vhi is the highest voltage in the total range 5V for the standard module The data range for N is 0 32760 These integer values will also be returned when accessing the analog inputs by the API calls in C C or Visual Basic The AQ command also configures the analog inputs to be either 8 single ended default or 4 differential inputs The AA command is a trippoint that halts program execution until the specified voltage on an analog input is reached The third field of the AA command controls whether the trippoint will be satisfied when going higher or lower than the voltage With a comma
25. Chapter 4 1 0 e 43 High Power Sourcing Outputs On the RIO 471xx digital outputs 0 7 are opto isolated sourcing power outputs On the RIO 472xx all 16 of the digital outputs are configured this way by default 12 24VDC with 500mA of current capability per output The internal circuit diagram is shown here 33V 33 1 T OPOA m du em YOR p AMAA gt A Le fest A IRF7342 S A logg 2S MMBDI204 OPOB V5 CPU OPOA should be connected to the positive side of a 12 24VDC external power supply OPOB should be connected to Ground on the external power supply OPOA and OPOB are the Output Power for Bank 0 The device that needs to be turned on off solenoid relay etc should be connected with the positive side of the device connected to the digital output DO 7 0 and the negative side connected to the Ground of the power supply When the SBn Set Bit n command is given this will provide a positive voltage to the device on the output pin to turn it on with up to 500mA of current available A CBn Clear Bit n will remove the voltage to turn it off The bold connections in the schematic above are external connections There are two internal 2Amp fuses for the high power outputs One fuse for outputs 0 3 and another fuse for outputs 4 7 These fuses are not field replaceable Low Power Sinking Outputs Digital Outputs 8 15 are opto isolated sinking outputs on the RIO 471xx by default none of the digital outputs o
26. FORMAT ease riS iSR 54 Usig Eabelsn PIOPTGIDS oen trate pee EEN 55 Special EE 55 Commenting e Te 55 Program Lines Greater than 40 Characters sees eene nennen nennt enne nennen nene 56 ii Contents RIO 471x0 Lock Program Access using Password 56 EXECUTING PROGRAMS MULTITASKINGo ccoocconoononnconacinoncnnnnanonannncnnnranonornnonnonarnnan an cnn ip o E a Vaen ariin 57 DEBUGGINGPROGRAMS oiiro ME 58 Trace Commands osse ro eerte R tente eset e eere edt eite devint nee ebd E reve e ue A 58 Error Code Command i reet ee do deu see estendia dE rie der RN eene Ue ees ees ix 58 RAM Memory Interrogation Commande 58 Operands 1414085 niet eer et e OR e ER EOM eei i p tr re be A AU ge dE p res 58 Deb ggem Example sis innare hp ENEE EPOR Dp ERE ERES 59 PROGRAM FLOW COMMANDS rero EO D enin ae RAE ERA st apunedes E 59 Interrupts a oh t ee e e COE EO CH TEU KEE PEOR RE ELM p DSL LR e PERSEO RC res 59 Explosion e p ete p der eR nin 60 Conditional J inps nint eere Rp d EO tete OR ee e RE aries 61 Using If Else and Endif Commande 63 Stack Manipulation d Red etit Ure ERR REPRE DR E Er or cb ac PR ELEME Reden 64 Auto Starb Routine nsoto eo ada 64 Automatic Subroutines for Monitoring Conditions eene enne 64 MATHEMATICAL AND FUNCTIONAL EXPRESSIONS EN 67 Mathematical Operators iii ee cele apr nepote tepore ete en Deed ance lee Po ee eae e 67 BitWise Operators aiio ee rrt d eate ecce te AA 67 la te e
27. IF conditional statements This technique is known as nesting and the RIO allows up to 255 IF conditional statements to be nested This is a very powerful technique allowing the user to specify a variety of different cases for branching Command Format IF ELSE and ENDIF IF conditional statement s Execute commands proceeding IF command up to ELSE command if conditional statement s is true otherwise continue executing at ENDIF command or optional ELSE command ELSE Optional command Allows for commands to be executed when argument of IF command evaluates not true Can only be used with IF command ENDIF Command to end IF conditional statement Program must have an ENDIF command for every IF command Example using IF ELSE and ENDIF Instruction Interpretation TEST Begin Main Program TEST RIO 471x0 Chapter 5 Application Programming e 63 LOOP TEMP IN 1 I IN 2 JSHCOND TEMP 1 JPELOOP EN COND IF IN 1 0 IF IN 2 0 MG INPUT 1 AND INPUT 2 ARE INACTIVE ELSE MG ONLY INPUT 1 IS ACTIVE ENDIF ELSE MG ONLY INPUT 2 IS ACTIVE ENDIF Begin loop inside main program TEMP is equal to 1 if either Input 1 or Input 2 is high Jump to subroutine if TEMP equals 1 Loop back if TEMP doesn t equal 1 End of main program Begin subroutine COND IF conditional statement based on input 1 274 IF conditional statement executed if 1 IF conditional true Message to be executed if 2 IF cond
28. Response MW results in 03 MW results in 83 MWI contains 01 or 02 When using the MB command with Modbus function code 03 response data will be stored in the array referenced in the command line When using AN 9 AN contains the response data which can either be stored to a variable or transmitted via serial port or ethernet Ways to use function code 3 with Galil commands 1 MB command in raw packet mode 2 MB command with Modbus function code 3 3 O AN see ANT in the command reference Operating as a slave The RIO will accept different starting address ranges for a read holding registers request depending on the state of the MI command If MI is set to O register data is volts in 32 bit floating point the RIO will accept a read holding registers request with an address range of 0000 000E If MI is set to 1 register data is counts in 16 bit decimal The RIO will accept a read holding registers request with an address range of 0000 0007 The RIO will accept a request with a quantity of registers field up to 0008 if MI is set to 0 and 00010 if MI is set to 1 The RIO will respond with a byte count ranging from 0000 to 0020 if MI is 0 and from 0000 to 0010 if MI is 1 Byte Count 2 NumberOfRegisters where NumberOfRegisters is equal to the number of analog inputs you are trying to read multiplied by 2 if MI is 0 or 1 if MI is 1 The RIO will respond with a byte count field equal to the byte count
29. accept a request for up to all 16 of its digital inputs with a quantity of inputs range of 0001 0010 The RIO will respond with a byte count of either 01 or 02 which describes the number of bytes of digital inputs being returned byte count quantity of inputs 8 if the remainder is not 0 byte count quantity of inputs 8 1 The RIO will respond with a input status of 1 or 2 bytes equal to the byte count ranging from 0001 FFFF with each bit representing the state of a digital input 1 or 0 The LSB of the first input status byte refers to the input addressed by the request packet Coil Mapping Coil Addresses Coil Addresses 0 Digital Input O 8 Digital Input 8 1 Digital Input 1 9 Digital Input 9 2 Digital Input 2 10 Digital Input 10 3 Digital Input 3 11 Digital Input 11 4 Digital Input 4 12 Digital Input 12 5 Digital Input 5 13 Digital Input 13 6 Digital Input 6 14 Digital Input 14 7 Digital Input 7 15 Digital Input 15 20 Chapter 3 Communication RIO 471x0 Examples MBA 2 2 12 array Request the status of discrete inputs 2 13 result is stored in array MG IN 1002 Requests the status of input 2 result is transmitted via serial port or ethernet Packets The command MBA 2 2 12 array results in the following packets being sent when one RIO is the master and another RIO is the slave communicating over handle A port 502 Modbus Assume digital inputs in descending order from 15 0 are 0 1 1 1 0 0 1 1 0
30. and specifies hexadecimal nis the number of digits to the left of the decimal and m is the number of digits to the right of the decimal For example Examples V1 10 Assign V1 Vl Return V1 0000000010 0000 Default Format Vl F4 2 Specify local format 0010 00 New format V1 4 2 Specify hex format 000A 00 Hex value VIZ ALPHA Assign string ALPHA to VI V1 S4 Specify string format first 4 characters ALPH The local format is also used with the MG command see page 75 Programmable I O As described earlier the RIO has 16 digital inputs 16 digital outputs 8 analog inputs and 8 analog outputs The paragraphs below describe the commands that are used for I O manipulation and interrogation Digital Outputs The most common method of changing the state of digital outputs is by using the set bit SB and clear bit CB commands The following table shows an example of the SB and CB commands Instruction Interpretation SB2 Sets bit 2 CB1 Clears bit 1 The Output Bit OB instruction is useful for setting or clearing outputs depending on the value of a variable array input or expression Any non zero value results in a set bit Instruction Interpretation OB1 POS Set Output 1 if the variable POS is non zero Clear Output 1 if POS equals 0 OB2 OIN 1 Set Output 2 if Input 1 is high If Input 1 is low clear Output 2 OB3 IN 1 amp GIN 2 Set Output 3 only if Input 1 and Input 2 are high OB2 COUNT
31. firmware This jumper is not necessary for firmware updates when the RIO board is operating normally but may be necessary in cases of a corrupted EEPROM EEPROM corruption should never occur under normal operating circumstances however corruption is possible if there is a power fault during a firmware update If EEPROM corruption occurs your board may not operate properly In this case install the UPGD jumper and use the update firmware function in the Galil software to re load the system firmware Setting the Baud Rate on the RIO The default baud rate for the RIO is 115K jumper OFF The jumper labeled 19 2 also located at JP5 allows the user to select the serial communication baud rate The baud rate can be set using the following table 19 2 BAUD RATE OFF 115k Step 2 Connecting Power to the RIO Since the RIO can be powered using either a 18 36V DC power input or a PoE Power over Ethernet switch there are two possible connection options shown here 1 EXT 18 36VDC power input is the default configuration The four jumpers on JP6 will be located on the side labeled EXT Apply a DC power supply in the range of 18 36V to the 2 pin molex connector The 6 Chapter 2 Getting Started RIO 471x0 power supply should be capable of delivering up to 4 Watts The RIO uses Molex Pitch Mini Fit Jr Receptacle Housing connectors for connecting DC Power For more information on the connectors go to http www molex com
32. in raw packet mode 2 MB command with Modbus function code 16 3 AO x See command reference for details Note The RIO acting as a master can write up to 123 registers at a time with function code 16 per the Modbus specification The Modbus transaction results are available with the MW and MW1 commands Operating as a slave The RIO will accept different starting address ranges for a write multiple registers request depending on the state of the MI command If MI is set to O register data is volts in 32 bit floating point the RIO will accept an address range of 0001 000E If MI is set to 1 register data is count in 16 bit decimal the RIO will accept a write multiple registers request with an address range of 0000 0007 The RIO will respond with function code 16 a 2 byte starting address field identical to the starting address field of the request packet and a 2 byte quantity of registers field identical to the quantity of registers field of the request packet 36 Chapter 3 Communication RIO 471x0 Galil Register Map Register Address 32 Bit Floating Point Counts 0 Analog Output O Analog Output 0 1 Analog Output 1 2 Analog Output 1 Analog Output 2 3 Analog Output 3 4 Analog Output 2 Analog Output 4 5 Analog Output 5 6 Analog Output 3 Analog Output 6 7 Analog Output 7 8 Analog Output 4 9 10 Analog Output 5 11 12 Analog Output 6 13 14 Analog Output 7 15 Examples For the following example array cont
33. oa 81 RIO 471x0 Contents e iii 44 pin D Sub Connector RIO 471xx nono nono none nn nro nere ternene e nene seen trennen 81 26 pin D S b Connector RIO AVR dia 82 Screw Terme KRIER etc 82 172 RS 232 Port DB 9 Pin d DOEN 83 J1 Ethernet Port 10 100 Base T RJ 45 MGM smsssseneneeeeeree renerne renere ener reen en een enne rennen nene nennen enne enne 83 J5 Power 2 pin Molex for 18 36VDC if not using Power over Ethernet eee 83 JUMPER DESCRIPTION FOR BIO 84 RIO DIMENSIONS 23 io 85 RIDA TIKK c eege 85 RIDATI E 86 ACCESSORIES AND OPTIONS erre erre EE a E EE E E E ses es esee eset esse esee esee esee 87 LIST OF OTHER PUBLICATIONS sese e ese esses assesses esesesaseses esee stes assesses assesses esses 88 CONTACTING DELENIT 88 RGL Me 89 MARRAN RE 90 INDEX NAO 91 This page is left blank intentionally iv Contents RIO 471x0 Chapter 1 Overview Introduction Derived from the same fundamentals used in building the Galil motion controllers the RIO 47xxx is a programmable remote I O controller that conveniently interfaces with other Galil boards through its Ethernet port The RIO is programmed exactly the same way as a DMC Digital Motion Controller with the exception of a few revised commands and the removal of all motion related commands Communication with the RIO even works the same way as with other Galil controllers and it utilizes the same software programs Interrogation commands hav
34. raw packet mode 2 MB command with Modbus function code 7 Operating as a slave The RIO will accept a read exception status request The RIO will respond with function code 07 and will return 1 byte of output data ranging from 00 to FF with each bit representing the state of a digital output 1 or 0 The LSB of the output data byte is digital output O and the MSB of the output data byte is digital output 7 32 Chapter 3 Communication RIO 471x0 Coil Mapping Coil Addresses 0 Digital Output O 1 Digital Output 1 2 Digital Output 2 3 Digital Output 3 4 Digital Output 4 5 Digital Output 5 6 Digital Output 6 7 Digital Output 7 Examples MBA 7 array Request to read exception status Packets The command MBA 7 array results in the following packets being sent when one RIO is the master and another RIO is the slave communicating over handle A port 502 Modbus Assume digital outputs in descending order from 15 0 are 0 1 0 1 0 1 0 1 1 0 1 0 1 0 1 0 55AA Request Response Field Name hex Field Name hex Function 07 Function 07 Output Data AA array 0 on the master RIO will equal 170 in this example RIO 471x0 Chapter 3 Communication e 33 Function Code 15 0F Write Multiple Coils Description Modbus function code 0F is a request to write multiple coils This will write multiple digital outputs to an RIO configured as a slave Operating as a master The function code of the res
35. starting address ranging from 0000 000F referencing digital outputs 0 15 The RIO will respond with a Modbus packet that is identical to the packet it received 28 Chapter 3 Communication RIO 471x0 Coil Mapping Addresses Addresses N HA A a A UU Examples Digital Output 0 Digital Output 1 Digital Output 2 Digital Output 3 Digital Output 4 Digital Output 5 Digital Output 6 Digital Output 7 Digital Output 8 Digital Output 9 Digital Output 10 Digital Output 11 Digital Output 12 Digital Output 13 Digital Output 14 Digital Output 15 For the following example array contains 0 0 0 0 0 6 1 5 0 7 FF 00 MBA 1 12 array Request to set digital output 7 high MBA 5 7 1 Request to set digital output 7 high SB1007 Request to set digital output 7 high OB1007 IN 1000 Request to set digital output 7 high if digital output 0 is high Packets The command MBA 5 7 1 results in the following packets being sent when one RIO is the master and another RIO is the slave communicating over handle A port 502 Modbus Request Response Field Name hex Field Name hex Function 05 Function 05 Starting Address High 00 Starting Address High 00 Starting Address Low 07 Starting Address Low 07 Output Value High FF Output Value High FF Output Value Low 00 Output Value Low 00 As a result of the MB command above the slave RIO will have output 7 turned on RIO 471x0 Chapter 3 Communication e 29
36. the Galil software needs a value of CW1 to be set so that it can differentiate between solicited and unsolicited messages If you have difficulty receiving characters from the controller or receive garbage characters instead of messages check the status of the CW command The second field of the CW command controls whether the product should pause while waiting for the hardware handshake to enable the transmission of characters over RS 232 CW 0 or continue processing commands and lose characters until the hardware handshake allows characters to be sent CW 1 Other Protocols Supported Galil supports DHCP ARP BOOT P and Ping which are utilities for establishing Ethernet connections ARP is an application that determines the Ethernet hardware address of a device at a specific IP address BOOT P is an application that determines which devices on the network do not have an IP address and assigns the IP address you have chosen to it Ping is used to check the communication between the device at a specific IP address and the host computer The RIO can communicate with a host computer through any application that can send TCP IP or UDP IP packets A good example of this is Telnet a utility that comes standard with the Windows operating system When using DHCP and a DNS Domain Name Server the DNS will assign the name RIO47100 n to the controller where n is the serial number of the unit RIO 471x0 Chapter 3 Communication e 15 Mo
37. the devices in a specific multicast group the information can be sent to the multicast IP address rather than to each individual device IP address All Galil devices belong to a default multicast address of 239 255 19 56 This multicast IP address can be changed by using the TA gt u command Unsolicited Message Handling Unsolicited messages are any messages that are sent from the controller that are not directly requested by the host PC An example of this is a MG or TP command inside of a program running on the controller Error messages are also unsolicited because they can come out at any time There are two software commands that will configure how the controller handles these unsolicited messages CW and CF The RIO has 3 Ethernet handles as well as 1 serial port where unsolicited messages may be sent The CF command is used to configure the controller to send these messages to specific ports In addition the Galil software has various options for sending messages using the CF command For more information see the CF command description in the Command Reference The CW command has two data fields that affect unsolicited messages The first field configures the most significant bit MSB of the message A value of 1 will set the MSB of unsolicited messages while a value of 2 suppresses the MSB Programs like HyperTerminal or Telnet need to use a setting of CW2 for the unsolicited messages to be readable in standard ASCII format However
38. 1 Set Output 2 if element 1 in array COUNT is non zero The output port can be set by specifying the OP Output Port command This instruction allows a single command to define the state of the entire output bank where 20 is bit O 2 is bit 1 and soon A 1 designates that the output is on RIO 471x0 Chapter 5 Application Programming e 77 For example Instruction Interpretation OP6 Sets bits 1 and 2 of bank 0 high All other bits on bank 0 are 0 2 22 2 6 OP0 0 Clears all bits of bank 0 and 1 OP0 7 Sets output bits 0 1 and 2 to one 20 21 22 on bank 1 Clears all bits on bank 0 The state of the digital outputs can be accessed with the 9 OUT n where n is the output number Ex MGOGOUT 1 displays the state of output number 1 Digital Inputs The digital inputs are accessed by using the IN n function or the TI n command The IN n function returns the logic level of a specified input n where n is the input bit number The IQ command determines the active level of each input The TI n command gives the input status of an entire bank where n is the bank number 0 or 1 The AI command is a trip point that pauses program execution until the specified combination of inputs is high or low Example Using Inputs to control program flow Instruction Instruction JP A OIN 1 0 Jump to A ifinput 1 is low MGOIN 2 Display the state of input 2 AI 7 amp 6 Wait until input 7 is high and input 6 is low
39. 1 meaning that the leading zeroes do not get printed out unless LZO command is entered Example Using the LZ command LZO Disables the LZ function MGOIN 0 Print input status of bank 1 0000000001 0000 Response from Interrogation Command With Leading Zeros LZI Enables the LZ function MGOIN 0 Print input status of bank 1 1 0000 Response from Interrogation Command Without Leading Zeros Formatting Variables and Array Elements The Variable Format VF command is used to format variables and array elements The VF command is specified by VF m n where m is the number of digits to the left of the decimal point 0 thru 10 and n is the number of digits to the right of the decimal point 0 thru 4 A negative sign for m specifies hexadecimal format The default format for VF is VF 10 4 Hex values are returned preceded by a and in 2 s complement V1 10 Assign V1 V1 Return V1 0000000010 0000 Default format VF2 2 Change format V1 Return V1 10 00 New format VF 2 2 Specify hex format V1 Return V1 0A 00 Hex value VFI Change format V1 Return V1 9 Overflow 76 Chapter 5 Application Programming RIO 471x0 Local Formatting of Variables VF command is a global format command that affects the format of all relevant returned values and variables Variables may also be formatted locally To format locally use the command Fn m or n m following the variable name and the symbol F specifies decimal
40. 11 In EE 11 LE Dee 11 ETHERNET CONFIGURATI N edere steer v est setut kee rtu o a EE reto e iros ente reet to rd renes 12 Communication Protocols cccccesccescceseceseeesecseecaeeeseeeneeececsneeseeesecssecsaecsaecsaecaeecaeeeaeceneeeeeeeeeeeeeneeeeenaes 12 Jumper Configuration for 10BaseT AAA 12 Addressing meu S 12 RIO 471x0 Contents e i Email fromithe RIO ssa sito ISS A E Sara eet an dal 13 Communicating with Multiple Devices ice nono nono corona conc ere renser nennen trennt 14 Handling Communication Errors id 14 MONCADA A ba Eege DN 15 Unsolicited Message Handle 15 Other Protocols Supported c r ere te tee db e e NEN NEED 15 MODBUS WITH THE RIO nidore neo ero rendre te n OD ER RR ORE EORR 16 Sending Modbus Packets irs eenen reri n aro D PEOR Rp a Ee c C DOR EAE Pedes 16 Modbus Exceptions poat o ame on mete nte ie IER a Pr RR TRIER eS 17 Function Code 1 01 Read Cosi 18 Function Code 2 02 Read Discrete Input 20 Function Code 3 03 Read Holding Registers essere nennen 22 Function Code 4 04 Read Input Registerg essent eene nennen 25 Function Code 5 05 Write Single Col 28 Function Code 6 06 Preset Single Register 30 Function Code 7 07 Read Exception Stats 32 Function Code 15 0F Write Multiple Coils sessssesseseeseeeereener eene enne 34 Function Code 16 10 Write Multiple Registers oooocnicnic
41. 2 11 10 9 8 Coil X X X X 13 12 11 10 Value 0 0 0 0 1 1 0 0 Note bits in the response marked X are not valid coil response data but are instead 0 s that fill the remainder of the byte On the master RIO array 0 205 and array 1 12 after the MBA 2 2 12 array command is issued RIO 471x0 Chapter 3 Communication e 19 Function Code 2 02 Read Discrete Inputs Description Modbus function code 02 is a request to read discrete inputs This will read digital inputs from an RIO configured as a slave Operating as a master The function code of the response can be queried with the MW command If an exception occurred the exception code of the response can be queried with MW1 Example Normal Response _MW results in 02 Exception Response _MW results in 82 MWI contains 01 or 02 When using the MB command with Modbus function code 02 response data will be stored in the array referenced in the command line When using IN EIN contains the response data which can either be stored to a variable or transmitted via serial port or ethernet Ways to use function code 2 with Galil commands 1 MB command in raw packet mode 2 MB command with Modbus function code 2 3 QIN see IN in the command reference Operating as a slave The RIO will accept a read discrete inputs request with a starting address ranging from 0000 000F referencing digital inputs 0 15 The RIO will
42. A port number may also be specified but if it is not it will default to 1000 The protocol TCP IP or UDP IP to use must also be designated at this time Otherwise the board will not connect to the slave Ex IHB 151 25 255 9 lt 179 gt 2 This will open handle 2 and connect to the IP address 151 25 255 9 port 179 using TCP IP Once the IH command is used to connect to slaves the user can communicate to these slaves by sending commands to the master The SA command is used for this purpose and it has the following syntax SAh command string Here command string will be sent to handle h For example SAA XQ command will send an XQ command to the slave server on handle A A more flexible form of the command is SAh field1 field2 field3 field4 field8 where each field can be a string in quotes or a variable When the Master client sends an SA command to a Slave server it is possible for the master to determine the status of the command The response _IHh4 will return the number 1 to 4 1 indicates waiting for the acknowledgement from the slave 2 indicates a colon command accepted has been received 3 indicates a question mark command rejected has been received 4 indicates the command timed out If a command generates multiple responses such as the TE command the values will be stored in SAhO thru _SAhn where n is the last field If a field is unused its SA value will be 2 31 See the Command Reference for more i
43. Ethernet is a local area network through which information is transferred in units known as packets Communication protocols are necessary to dictate how these packets are sent and received The RIO supports two industry standard protocols TCP IP and UDP IP The board will automatically respond in the format in which it is contacted TCP IP is a connection protocol The master must be connected to the slave in order to begin communicating Each packet sent is acknowledged when received If no acknowledgement is received the information is assumed lost and is resent Unlike TCP IP UDP IP does not require a connection This protocol is similar to communicating via RS232 If a cable is unplugged the device sending the packet does not know that the information was not received on the other side Because the protocol does not provide for lost information the sender must re send the packet Galil recommends using TCP IP for standard communication to insure that if a packet is lost or destroyed while in transit it will be resent However UDP is recommended in certain situations such as launching Data Record information to a host for graphing or data collection Each packet must be limited to 470 data bytes or less This is not an issue when using Galil software as the Galil Ethernet driver will take care of the low level communication requirements The IK command blocks the controller from receiving packets on Ethernet ports lower than 1000 excep
44. G LEN6 S4 Display LENO as string message of up to 4 chars MG LENS S4 Display LENS as string message of up to 4 chars MG LEN4 S4 Display LENA as string message of up to 4 chars MG LEN3 S4 Display LEN as string message of up to 4 chars MG LEN S4 Display LEN as string message of up to 4 chars MG LEN S4 Display LEN as string message of up to 4 chars EN This program will accept a string input of up to 6 characters parse each character and then display each character Notice also that the values used for masking are represented in hexadecimal as denoted by the preceding For more information see the section on Sending Messages page 74 To illustrate further if the user types in the string TESTME at the input prompt the RIO will respond with the following T Response from command MG LEN6 S4 E Response from command MG LENS S4 S Response from command MG LENA S4 T Response from command MG LEN3 S4 M Response from command MG LEN S4 E Response from command MG LEN S4 Functions SIN n Sine of n n in degrees with range of 32768 to 32767 and 16 bit fractional resolution COS n Cosine of n n in degrees with range of 32768 to 32767 and 16 bit fractional resolution TAN n Tangent of n n in degrees with range of 32768 to 32767 and 16 bit fractional resolution O ASIN n Arc Sine of n between 90 and 90 Angle resolution in 1 64000 degrees ACOS n A
45. O 472xx This option removes the din rail clips The unit will still be in a plastic trey 08 15 SOURCE option If a RIO 471xx is ordered with the 08 15 SOURCE option then outputs 8 15 are configured to source current They will be capable of 5 24VDC with 25mA of current in a sourcing configuration 3 3V 33V VV ATA TA Ve CPU xb VS OPIA should be connected to the positive side of 5 24VDC external power supply OP1B should be connected to Ground on the external power supply OPIA and OPIB are the Output Power for Bank 1 The output can source up to 25mA of current The device should be connected between the digital output DO 15 8 and the return side of the power supply OP1B When current is not flowing though the optocoupler CB the 10k resistor pulls down the output pin to OPIB When current is flowing through the optocouple SB the digital output switches to the voltage supplied by OPIA and is able to source 25mA of current The bold connections in the schematic above are external connections 16Bit The 16 option specifies 16 bit resolution on the analog inputs and outputs This option is valid on the RIO 4712x only 422 This option allows the RIO to communicate via RS 422 instead of RS 232 It is only available on the RIO 472xx as a standard option If required on the RIO 471xx please consult the factory Pin Number Description Pin Number Description 1 RT
46. P C V1 V7 lt V8 V2 Jump to C if the value of V1 times V7 is less than or equal to the value of V8 V2 JP A Jump to A Using If Else and Endif Commands The RIO provides a structured approach to conditional statements using IF ELSE and ENDIF commands Using the IF and ENDIF Commands An IF conditional statement is formed by the combination of an IF and ENDIF command The IF command has arguments of one or more conditional statements If the conditional statement s evaluates true the command interpreter will continue executing commands which follow the IF command If the conditional statement evaluates false the RIO will ignore commands until the associated ENDIF command is executed OR an ELSE command occurs in the program see discussion of ELSE command below Note An ENDIF command must always be executed for every IF command that has been executed Using the ELSE Command The ELSE command is an optional part of an IF conditional statement and allows for the execution of commands only when the argument of the IF command evaluates False The ELSE command must occur after an IF command and has no arguments If the argument of the IF command evaluates false the RIO will skip commands until the ELSE command If the argument for the IF command evaluates true the RIO board will execute the commands between the IF and ELSE commands Nesting IF Conditional Statements The RIO allows for IF conditional statements to be included within other
47. RIO 471xx units in inches 4 Chapter 2 Getting Started RIO 471x0 RIO 472xx o 0000000000000000 0000000000000000 S sumuawRRSRERERAE ESSESSSESEEREERE Figure 2 2 Outline of RIO 472xx units in centimeters RIO 471x0 Chapter 2 Getting Started e 5 Installing the RIO Board Installation of a complete operational RIO system consists of 4 steps Step 1 Configure jumpers Step 2 Connect power to the RIO Step 3 Install the communications software Step 4 Establish communications between the RIO and the host PC Step 1 Configure Jumpers Power Input Jumpers AUX vs PoE The RIO can be powered using either a 18 36V DC power input or a PoE Power over Ethernet switch to deliver power over the Ethernet cable The default configuration is the 18 36VDC power input If PoE is used the four jumpers on JP6 located next to Ethernet connector must be moved from AUX to PoE Master Reset and Upgrade Jumper Jumpers labeled as MRST and UPGD are located at J5 next to the reset button The MRST jumper is for a master reset When MRST is jumpered the RIO will perform a master reset upon a power cycle to the board or when the board reset button is pushed Whenever the I O board has a master reset all programs arrays and variables stored in EEPROM will be erased this will set the RIO board back to factory defaults The UPGD jumper enables the user to unconditionally update the board
48. Request to write digital outputs 15 0 to 55AA MBA 6 0 855AA Request to write digital outputs 15 0 to 55AA Note writing digital outputs 15 0 to 55AA results in digital outputs 15 0 in descending order being 0 1 0 1 0 1 0 1 1 0 1 0 1 0 1 0 Packets The command MBA 6 0 55AA results in the following packets being sent when one RIO is the master and another RIO is the slave communicating over handle A port 502 Modbus Request Response Field Name hex Field Name hex Function 06 Function 06 Starting Address High 00 Starting Address High 00 Starting Address Low 00 Starting Address Low 00 Register Value High 55 Register Value High 55 Register Value Low AA Register Value Low AA RIO 471x0 Chapter 3 Communication e 31 Function Code 7 07 Read Exception Status Description Modbus function code 07 is a request to read the 8 exception status outputs This will read digital outputs 0 7 of an RIO configured as a slave Operating as a master The function code of the response can be queried with the _MW command If an exception occurred the exception code of the response can be queried with MW1 Example Normal Response Exception Response _MW results in 07 _MW results in 87 MWI1 contains 01 or 02 When using the MB command with Modbus function code 07 response data will be stored in the array referenced in the command line Ways to use function code 7 with Galil commands 1 MB command in
49. S 6 RTS 2 TXD 7 TXD 3 RXD 8 RXD 4 CTS 9 CTS 5 GND RIO 471x0 Chapter 4 I O e 51 52 Chapter 4 I O RIO 471x0 0 7 or 8 15 SINK SOURCE These four options are only available on the RIO 472xx By default the RIO 472xx has all 16 high power outputs These options allow either of the two banks of 8 outputs to be configured for low power sinking or low power sourcing For example if output 0 7 need to be configured for low power sourcing the option would be 0 7SOURCE The circuits for low power sourcing and sinking will be the same as the circuits for the low power outputs previously defined HS This option changes digital input 3 to a high speed digital input It is only available on the RIO 472xx and RIO 4712x as a standard option With this option the input becomes a TTL level input It is activated by connecting the input to the AGND terminal The maximum frequency of pulses that can be captured is increased to 3Mhz If higher values are required please consult factory 10V12 Bit This option changes the analog inputs on the RIO 472xx to accept 10V analog signals with 12 bit resolution The range of the analog inputs can be changed with the AQ command similar to the RIO 4712x 10V16 Bit This option changes the analog inputs on the RIO 472xx to accept 10V analog signals with 16 bit resolution The range of the analog inputs can be changed with the AQ command similar to the RIO 4712x
50. T SOURCE DO 7 0 500mA SINK 25mA RIO 471x0 Appendix e 85 RIO 472xx 0000000000000000 000000000 0000000 A Sete 86 Appendix RIO 471x0 Accessories and Options Product Description RIO 47100 Remote I O controller with 0 5V analog I O 12bit RIO 47120 Remote I O controller with 10V analog I O 12bit RIO 47120 16 Remote I O controller with 10V analog I O 16bit ICS 48026 M 26 pin D high density male to screw terminals Use 1 for each RIO 471x0 to break out analog signals ICS 48044 M 44 pin D high density male to screw terminals Use 1 for each RIO 471x0 to break out analog signals CABLE 44M 1M 44 pin D high density male cable to discrete wires Use 1 for each RIO 471x0 to break out analog signals 1M 1 meter length Order 2M for 2 meter length CABLE 26M 1M 26 pin D high density male cable to discrete wires Use 1 for each RIO 471x0 to break out analog signals RIO 471x0 Appendix e 87 List of Other Publications 1 Step by Step Design of Motion Control Systems by Dr Jacob Tal Motion Control Applications by Dr Jacob Tal Motion Control by Microprocessors by Dr Jacob Tal Contacting Us Galil Motion Control 270 Technology Way Rocklin CA 95765 Phone 916 626 0101 Fax 916 626 0102 E Mail Address support galilmc com URL www galilmc com 88 Appendix RIO 471x0 Training Seminars Galil a l
51. UNT Report input bit value COUNT COUNT 1 Increment counter JP FLOOP COUNT lt 10 Loop until 10 elements have been stored EN End Program The above example records 10 input bit values for bank O at a rate of one value per 10 msec The values are stored in an array named INPUT The variable COUNT is used to increment the array element counter The above example can also be executed with the automatic data capture feature described below Uploading and Downloading Arrays to On Board Memory Arrays may be uploaded and downloaded using the QU and QD commands QU array start end delim QD array start end where array is an array name such as A Start is the first element of array default 0 End is the last element of array default last element Delim specifies whether the array data is separated by a comma delim 1 or a carriage return delim 0 The file is terminated using lt control gt Z lt control gt Q lt control gt D or Automatic Data Capture into Arrays The RIO provides a special feature for automatic capture of data such as inputs or outputs Up to four types of data can be captured and stored in four arrays The capture rate or time interval may be specified Recording can be done as a one time event or as a circular continuous recording Command Summary Automatic Data Capture RA n m 0 pl Selects up to four arrays for data capture The arrays must be defined with the DM command 72 Chapter 5 Applicatio
52. administrator for information regarding email settings Note it is strongly recommended that the email messaging freguency is limited so as not to overload the email server RIO 471x0 Chapter 3 Communication e 13 Communicating with Multiple Devices The RIO is capable of supporting multiple masters or slaves A typical scenario would be connecting a PC a master and a motion controller a 2nd master that can both send commands to the RIO board over Ethernet on different handles Note The term master is equivalent to the Internet client and the term slave is equivalent to the Internet server An Ethernet handle is a communication resource within a device The RIO 47xx0 can have a maximum of 3 Ethernet handles open at any time This number is increased to 5 Ethernet handles on the RIO 47xx2 If all handles are in use and another device tries to connect it will be sent a reset packet showing that the RIO cannot establish any new connections NOTE A reset will cause the Ethernet connection to be lost There are a number of ways to reset the board Hardware resets push reset button or power down RIO board and software resets through Ethernet or RS232 by entering the RS command When the RIO acts as the master the IH command is used to assign handles and connect to its slaves The IP address may be entered as a 4 byte number separated with commas industry standard uses periods or as a signed 32 bit number
53. age range that is set using the DQ command The default outputs have a 12bit DAC resolution order RIO 4712x 16 for 16 bit resolution The analog outputs can sink or source up to 4mA of current See the DQ command in the Command Reference for a full explanation DQ Analog Output Range DQ 0 1 Sets AOO to 0 5VDC DQ 1 2 Sets AO1 to 0 10VDC DQ 2 3 Sets AO2 to 5VDC DQ 3 4 Sets AOS to 10VDC Analog Inputs Each analog input goes through its own internal ADC Analog to Digital Converter but when differential mode is chosen the inputs are treated as pairs The difference of two analog inputs is the value reported by the controller The same analog value is reported on both pairs of inputs The table below shows how the differential channels are grouped For instance if ANO is at 1 5 VDC and ANI is at OVDC a value of 1 5V is reported on 9 AN 0 and AN 1 Here s the equation used to get the analog value for a sample pair of inputs O and 1 AI value InputO Inputl RIO 4710x Analog Inputs 0 7 have a voltage range of 0 5VDC They have 12bit ADC a resolution of approximately 1 22mV with a 100k input impedance Depending on the hardware configuration the AQ command behaves differently Check the ID command to see what style of RIO hardware is installed AQ Differential Pairs AQ 0 1 Input O amp Input 1 AQ 2 1 Input 2 amp Input 3 AQ 4 1 Input 4 amp Input 5 AQ
54. ains 0 0 0 0 0 15 1 16 0 2 0 4 8 64 160 0 0 64 64 0 0 MBA 1 21 array Request to write 5V to analog output 1 and 3V to analog output 2 For the following example array contains 40A0 0000 4040 0000 40A00000 is 32 bit Floating Point for 5 0000 decimal and 40400000 is 32 bit Floating Point for 3V decimal MBA 16 2 4 array AO1001 5 Request to write 5V to analog output 1 and 3V to analog output 2 Request to write 5V to analog output 1 RIO 471x0 Chapter 3 Communication e 37 Packets The command MBA 16 2 4 array results in the following packets being sent when one RIO is the master and another RIO is the slave and array contains 40A0 0000 4040 0000 communicating over handle A port 502 Modbus MI is set to O on the slave Request Response 32 Bit Floating Point Field Name hex Field Name hex Function 10 Function 10 Starting Address Hi 0 Starting Address Hi 0 Starting Address Lo 2 Starting Address Lo 2 Quantity Outputs Hi 0 Quantity of Registers Hi 0 Quantity Outputs Lo 4 Quantity of Registers Lo 4 Byte Count 8 RegVal0 High 40 AO 0 RegVal0 Low 0 RegVall High 40 40 0 RegVall Low 0 The slave RIO will have analog output 1 set to 5V and analog output 2 set to 3V Example 2 The command MBA 16 2 2 array results in the following packets being sent when one RIO is the master and another RIO 47100 is the slave and array contains FFFF 9999 6666 3333 communicating over
55. ce for a full explanation 48 Chapter 4 UO RIO 471x0 Analog Process Control Loop A Process Control Loop allows closed loop control of a process or device The RIO 471x0 has two independent PID filters to provide process control of two devices simultaneously The RIO 471x2 has a total of 6 PID loops available and the RIO 472xx has O PID loops The set of commands shown in the table below are used to set the structure of the Process Control Loop Command Description AF Analog Input for feedback AZ Analog Output for control KP Proportional Gain KD Derivative Gain KI Integral Gain IL Integrator Limit DB Deadband CL Control Loop Update Rate PS Commanded Setpoint TE Tell Error AQ Analog Input Range DQ Analog Output Range To understand how a Process Control Loop works on the RIO consider an example where it is desirable to control the temperature of an oven The key items needed to do this are a heater a temperature sensor the oven itself and a RIO unit to control the process As shown in the diagram below the heating element is coupled to the System which in this case is the oven The temperature sensor provides feedback to the RIO in the form of an analog input The RIO unit then compares the desired set point entered by the PS command with the temperature sensor The difference between the two is called the error E The error goes through a PID digital filter and then th
56. configured as DATASET Ethernet Connect the RIO Ethernet port to your computer via a crossover Ethernet cable or to a network hub with a straight through Ethernet cable RIO 471x0 Chapter 2 Getting Started e 7 Using Non Galil Communication Software RS 232 The RIO serial port is configured as DATASET The computer or terminal must be configured as a for full duplex no parity 8 data bits one start bit and one stop bit A standard Windows HyperTerminal session can connect to the controller using a straight through serial cable Check to insure that the baud rate jumpers have been set to the desired baud rate as described above Also the hardware handshake lines RTS CTS need to be connected See Chapter 3 for more information on Handshake Modes Ethernet Connect the RIO Ethernet port to your computer via a crossover or null modem Ethernet cable or to a network hub by a straight through Ethernet cable An IP address needs to be assigned via a DHCP server through Galil software or via a serial cable using the IA command See Chapter 3 for more information on how to establish an IP address Once an IP address is established a standard Windows Telnet session can connect to the controller Sending Test Commands to the Terminal after a successful Connection After connecting to the computer or terminal press lt carriage return gt or the lt enter gt key on the keyboard In response to carriage return CR the controll
57. d by unconditional jump statements Note When using multiple II commands in a program each II command must point to a unique label and must activate on an unused thread Two or more II commands cannot be set to execute on the same thread nor can multiple II commands be pointed to the same ININTn label Please see the II command in the RIO 47xxx command reference for more details RIO 471x0 Chapter 5 Application Programming e 59 Examples MG Loop stops RIO HININT2 MG Blinker stops WT10000 RII 1 Interrupt Instruction Interpretation FA Program Label XQ B 1 Execute B in thread 1 111 0 1823 HININTI in thread O when input 1 low and input 3 high ID 1 5 amp 10 ININT2 in thread 1 when input 5 low and input 10 high AI 13 amp 14 Trippoint on inputs 13 and 14 LOOP JP LOOP Pseudo program Loop indefinitely EN End program B Program Label AI 7 amp 8 Trippoint on inputs 7 and 8 LOOP2 SB10 Set bit 10 high WT500 Wait for half a second CB10 Set bit 10 low WT500 Wait for 500msec JP LOOP2 Create a light blinker effect EN End program ININT1 Input interrupt program label Print message saying loop program in main thread halted Return to main program without restoring trippoint but keeping the interrupt enabled Print message saying blinker effect in thread halted since ININT2 runs in thread 1 Wait 10 seconds for user to reset inputs 5 and 10 Return to thread 1 s main program blinker continues whi
58. dbus with the RIO The RIO 47xxx supports Modbus TCP and requires an Ethernet connection between its master or slave devices As a Modbus class 1 device the RIO supports the following Modbus function codes Of the Modbus function codes the RIO supports all are supported by the RIO when it operates as a master also known as a client or when it operates as a slave server Function Code Modbus Description Galil Description 1 Read Coil Status Read Digital Outputs 2 Read Input Status Read Digital Inputs 3 Read Holding Registers Read Analog Inputs 4 Read Input Registers Read Analog Outputs 5 Force Single Coil Write Digital Output 6 Preset Single Register Write Digital Outputs 7 Read Exception Status Read Digital Outputs 15 Force Multiple Coils Write Digital Outputs 16 Preset Multiple Registers Write Analog Outputs Notel By default the RIO uses function code 3 for analog inputs and function code 4 for analog outputs For a majority of Modbus devices this functionality is inverted Use the MV command to switch the functionality Please see the command reference for details Note2 The remainder of this document uses the symbol to signify that numbers are in hexadecimal notation Setup Modbus TCP requires an Ethernet connection between master and slave Modbus TCP also requires that all slaves communicate with their masters over port 502 See the IH command to setup port communication for
59. digital outputs from an RIO configured as a slave Operating as a master The function code of the response can be queried with the MW command If an exception occurred the exception code of the response can be queried with MW1 Example Exception Response _MW results in 81 MWI1 contains 01 or 02 Normal Response _MW results in 01 When using the MB command with Modbus function code 1 response data will be stored in the array referenced in the command line When using OUT EOUTT contains the response data which can either be stored to a variable or transmitted via serial port or ethernet Ways to use function code 01 with Galil commands 1 MB command in raw packet mode 2 MB command with Modbus function codel 3 EOUT see EOUT in the command reference Operating as a slave The RIO will accept a read coils request with a starting address ranging from 0000 000F referencing digital outputs 0 15 The RIO will accept a request for up to all 16 of its digital outputs with the quantity of coils ranging from 0001 0010 The RIO will respond with function code 01 followed by a byte count of either 01 or 02 which describes the number of bytes of digital outputs being returned byte count quantity of outputs 8 if the remainder is not 0 byte count quantity of outputs 8 1 The RIO will respond with a coil status of 1 or 2 bytes equal to the byte count ranging from 0001 FFFF with each bit representing t
60. e been included to allow a user to instantly view the entire I O status VO hardware or Ethernet handle availability see the TZ ID and TH commands The purpose of an RIO board is to offer remote I O in a system and the ability to synchronize complex events To do this the RIO consists of two boards a high speed processor with integrated Ethernet and an I O board consisting of digital inputs digital outputs analog inputs and analog outputs If different I O requirements are required a custom I O board can be made to mate up directly with the RIO processor RIO 471x0 Chapter 1 Overview e 1 Part Numbering Overview Highlights Standard Options RIO 47100 Metal case DIN 0 5V Analog IO 08 15 SOURCE 8 high power optoisolated digital outputs 8 low power optoisolated digital outputs 16 optoisolated digital inputs RIO 47102 Same as RIO 47100 but with expanded memory DIN 08 15 SOURCE RIO 47120 Same as RIO 47100 but with 10V analog IO DIN 08 15 SOURCE 16 Bit 422 HS RIO 47122 Same as RIO 47120 but with expanded memory DIN 08 15 SOURCE 16 Bit 422 HS RIO 47200 Same as RIO 47100 except 422 Screw terminals instead of D Subs Din rail mount with metal cover 0 7 SINK or 0 7 SOURCE 8 15 SINK or 8 15SOURCE All 16 outputs are high power HS No analog outputs contact factory if required 10V12 Bit 10V16 Bit NO DIN For details on all
61. e to communicate with the RIO REM as in remark statements may also be included REM statements begin with the word REM and may be followed by any comments that are on RIO 471x0 Chapter 5 Application Programming e 55 the same line The Galil terminal software will remove these statements when the program is downloaded to the RIO board For example HOUTPUT REM PROGRAM LABEL SB1 CB2 REM Set Bit 1 and Clear bit 2 EN REM END OF PROGRAM Since the REM statements will be removed when the program is downloaded to RIO be sure to keep a copy of the program with comments stored on the PC Program Lines Greater than 40 Characters Line Continuation Character A new character ascii character 96 has been included to allow a command in an application program to extend beyond the confines of the 40 character maximun line length TEST IF var100 100 amp var101 50 MG Condi tion satisfied ELSE MG Stop ENDIF EN This allows for a more efficient command compressing b the continuation of message commands MG on multiple lines c Longer IF JP amp JS conditional statements Note the total length of a multi line command can not exceed 80 characters Lock Program Access using Password The RIO can lock out user access to the internal program using the PW and cntrl L cntrl K commands The PW sets the Password for the unit and the cntrl L cntrl K will lock the application program from being viewed o
62. eader in motion control with over 500 000 controllers working worldwide has a proud reputation for anticipating and setting the trends in motion control Galil understands your need to keep abreast with these trends in order to remain resourceful and competitive Through a series of seminars and workshops held over the past 15 years Galil has actively shared their market insights in a no nonsense way for a world of engineers on the move In fact over 10 000 engineers have attended Galil seminars The tradition continues with three different seminar each designed for your particular skill set from beginner to the most advanced MOTION CONTROL MADE EASY WHO SHOULD ATTEND Those who need a basic introduction or refresher on how to successfully implement servo motion control systems TIME 4 hours 8 30 am 12 30 pm ADVANCED MOTION CONTROL WHO SHOULD ATTEND Those who consider themselves a servo specialist and require an in depth knowledge of motion control systems to ensure outstanding controller performance Also prior completion of Motion Control Made Easy or equivalent is required Analysis and design tools as well as several design examples will be provided TIME 8 hours 8 00 am 5 00 pm PRODUCT WORKSHOP WHO SHOULD ATTEND Current users of Galil motion controllers Conducted at Galil s headquarters in Rocklin CA students will gain detailed understanding about connecting systems elements system tuning and motion programming
63. ed messages Error Code Command When a program error occurs the RIO halts the program execution at the point of the error To display the last line number of program execution issue the command MG ED The user can obtain information about the type of error condition that occurred by using the command TC1 This command returns a number and text message which describe the error condition The command TCO or TC will return the error code without the text message For more information about the command TC see the Command Reference RAM Memory Interrogation Commands For debugging the status of the program memory array memory or variable memory the RIO has several useful commands The command DM will return the number of array elements currently available The command DA will return the number of arrays that can be currently defined For example the RIO has a maximum of 400 array elements in up to 6 arrays If a single array of 100 elements is defined the command DM will return the value 250 and the command DA will return 5 To list the contents of the variable space use the interrogation command LV List Variables To list the contents of array space use the interrogation command LA List Arrays To list the contents of the program space use the interrogation command LS List Program To list the application program labels only use the interrogation command LL List Labels Operands In general all operands provide i
64. eng TO 67 Oe GE 53 A menus 47 53 55 Stack a ed eie cde 71 Functions Programmable sese 70 Arithmetic o ooococnnoncccnonancnonananonnnnos 47 55 60 63 Serial Port sie tees 5 6 ard Wate tecti tete 70 ME RR E OR tee 62 Output of Data 67 Special EE 48 I O Stacks esti et te Ra iae me 71 Digital Input 62 71 Zero Stack soc idet a en 71 Digital Out 62 70 e TEE 63 Output of Data 67 Interrogation seen 67 Input Interrupt eet 53 Stop Code ombres 63 oke SR 67 elle 48 Internal Variable s sie 55 63 Automatic Subroutine oooooocnnoncccnononccnnnnnnonons 57 Jnterrogatpon sees 67 Terminal taaan 63 68 Interrupt castas RESENS 48 53 Time J mpers e oetsenomte er erp 9 ClOCK tene eee EEG 64 KeyWord erue eme S 55 60 63 Time Interval esee 65 Label o eege Eeer 47 RIO 471x0 Index e 91 Variable Zero Stacks ee area seara eae rss 71 Internal reiten 55 63 92 Index RIO 471x0
65. er responds with a colon Now type TZ CR This command directs the RIO to return the current I O status The controller should respond with something similar to the following SD Block 0 7 0 Inputs value 255 1111 1111 Block 1 15 8 Inputs value 255 1111 1111 Block 0 7 0 Outputs value 0 0000 0000 Block 1 15 8 Outputs value 0 0000 0000 Analog Inputs 7 0 0 0000 0 0000 0 0000 0 0000 0 0037 0 0012 0 0000 0 0000 Analog Outputs 7 0 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 8 Chapter 2 Getting Started RIO 471x0 RIO Web Server The RIO has a built in web server that can be accessed by typing the IP address of the controller into a standard web browser The controller comes from the factory without any IP address assigned so a user must go through the steps outlined above to establish an IP address before the web server is accessible Here s an example screenshot of the web server RIO 1 0 Controller Mozilla Firefox File Edit View History Bookmarks Split Tools Help lt a e it C http 192 168 15 4 RIO CONTROLLER DIGITAL INPUT STATES i5 14 13 n n s 0 AAN E Firmware Rev 1 0 im aal DIGITAL OUTPUT STATES jas 14 13 12 12 10 9 8 7 6 s 4 3 2 1 o GALIL IAEA THREAD STATUS Serial Number 3 2969844 Command SB4 execute RIO 471x0 Chapter 2 Getting Started e 9 This page intentionall
66. errupt routine to Main Program and do not re enable trippoints Example Command Error Instruction Interpretation BEGIN Begin main program IN ENTER THE OUTPUT 0 15 OUT Prompt for output number SB OUT Set the specified bit JP BEGIN Repeat EN End main program CMDERR Command error utility JP DONE _ED lt gt 3 Check if error on line 3 JP DONE _TC lt gt 6 Check if out of range MG VALUE OUT OF RANGE Send message MG TRY AGAIN Send message ZS 1 Adjust stack JP BEGIN Return to main program DONE End program if other error ZSO Zero stack EN End program The above program prompts the operator to enter the output port to set If the operator enters a number out of range greater than 15 the CMDERR routine will be executed prompting the operator to enter a new number In multitasking applications there is an alternate method for handling command errors from different threads Using the XQ command along with the special operands described below allows the controller to either skip or retry invalid commands OPERAND FUNCTION Returns the number of the thread that generated an error _ED2 Retry failed command operand contains the location of the failed command _ED3 Skip failed command operand contains the location of the command after the failed command RIO 471x0 Chapter 5 Application Programming e 65 The operands are used with the XQ command in the following format XQ ED2 or ED3 ED1 1 Where the
67. esponse _ MW results in 04 _MW results in 84 MWI1 contains 01 or 02 When using the MB command with Modbus function code 04 response data will be stored in the array referenced in the command line When using EAO EAO contains the response data which can either be stored to a variable or transmitted via serial port or ethernet Ways to use function codel with Galil commands 1 MB command in raw packet mode 2 MB command with Modbus function code 4 3 AO see EAOT in the command reference Operating as a slave The RIO will accept different address ranges for a read input registers request depending on the state of the MI command If MI is set to O register data is volts in 32 bit floating point the RIO will accept a read input registers request with an address range of 0000 000E If MI is set to 1 register data is counts in 16 bit decimal The RIO will accept a read input registers request with an address range of 0000 0007 The RIO will accept a request with a quantity of registers field up to 0008 if MI is set to O and 00010 if MI is set to 1 The RIO will respond with a byte count ranging from 0000 to 0010 if MI is 1 and from 0000 to 0020 if MI is O byte count 2 NumberOfRegisters where NumberOfRegisters is equal to the number of analog outputs you are trying to read multiplied by 2 if MI is 0 or 1 if MI is 1 The RIO will respond with an input registers field consisting of either 2 bytes counts or
68. ex counts Function 04 Function 04 Function 04 Starting Address High 00 Byte Count 08 Byte Count 08 Starting Address Low 02 RegVal2 High 3F 1 0000 RegVal2 High 4C 19661 Quantity of Registers High 00 80 RegVal2 Low CD Quantity of Registers Low 04 00 RegVal3 High 66 26214 RegVal2 Low 00 RegVal3 Low 66 RegVal3 High 3F 1 5000 RegVal4 High 80 32768 CO RegVal4 Low 00 00 RegVal5 High 99 39321 RegVal3 Low 00 RegVal5 Low 99 With the slave MI set to 0 the master RIO s arrays will look like this array 0 216256 array 1 0 array 2 16320 array 3 0 With the slave MI set to 1 the master RIO s arrays will look like this 19661 26214 32768 39321 array 0 array 1 array 2 array 3 RIO 471x0 Chapter 3 Communication e 27 Function Code 5 05 Write Single Coil Description Modbus function code 05 is a request to write a single coil This will write a digital output of an RIO configured as a slave Operating as a master The function code of the response can be queried with the MW command If an exception occurred the exception code of the response can be queried with MW1 Example Normal Response Exception Response _ MW results in 05 MW results in 85 MWI contains 01 or 02 Ways to use Function Code 5 with Galil commands 1 MB command in raw packet mode 2 MB command with Modbus function code 5 3 SB 4 CB 5 OB Operating as a slave The RIO will accept a write single coil request with a
69. field in the request packet The RIO will respond with a register value field consisting of either 2 bytes counts or 4 bytes 32 bit floating point per analog input in ascending order from the analog input referenced in the address 22 Chapter 3 Communication RIO 471x0 Galil Register Map Register Address 32 Bit Floating Point Counts 0 Analog Input O Analog Input O 1 Analog Input 1 2 Analog Input 1 Analog Input 2 3 Analog Input 3 4 Analog Input 2 Analog Input 4 5 Analog Input 5 6 Analog Input 3 Analog Input 6 7 Analog Input 7 8 Analog Input 4 9 10 Analog Input 5 11 12 Analog Input 6 13 14 Analog Input 7 15 Examples MBA 3 2 4 arrayl MG AN 1002 Request the status of holding registers 2 5 AN1 and AN2 if MIO or AN2 AN3 ANA ANS if MI1 The response is stored in array Requests the status of analog input 2 result is transmitted via serial port or ethernet RIO 471x0 Chapter 3 Communication e 23 Packets The command MBA 3 2 4 array results in the following packets being sent when one RIO is the master and another RIO 47100 is the slave communicating over handle A port 502 Modbus When MI is set to O the response is given as volts in 32 bit Floating Point When MI is set to 1 the response is given as counts in 16 bit decimal notation Assume analog inputs in ascending order from 0 7 are 4822 9753 1 4673 1 9629 2 4622 2 9675 3 4583 3 9600 Slave MIO Slave MII
70. g 70 Chapter 5 Application Programming RIO 471x0 Returns the available array memory Returns the number of available variables TIME Free Running Real Time Clock Resets with power on Note TIME does not use an underscore character as other keywords Note All these keywords have corresponding commands except for TIME Examples of Keywords Vl DA Assign V1 the number of available array names V3 TIME Assign V3 the current value of the time clock Arrays For storing and collecting numerical data the RIO 47xx0 provides array space for 400 elements This number is increased to 1000 array elements on the RIO 47xx2 The arrays are one dimensional and up to 6 different arrays may be defined Each array element has a numeric range of 4 bytes of integer 2 followed by two bytes of fraction 2 147 483 647 9999 Arrays can be used to capture real time data such as the bit status of a particular I O bank Defining Arrays An array is defined with the command DM The user must specify a name and the number of entries to be held in the array An array name can contain up to eight characters starting with an uppercase alphabetic character The number of entries in the defined array is enclosed in Example DM IOSTAT 100 Defines an array names IOSTAT with 100 entries DA Frees array space using Deallocate command Assignment of Array Entries Like variables each array element can be assigned a value Assi
71. gned values can be numbers or returned values from instructions functions and keywords Array elements are addressed starting at count O For example the first element in the OUTPUT array defined with the DM command DM OUTPUTT 7 would be specified as OUTPUT O Values are assigned to array entries using the equal sign Assignments are made one element at a time by specifying the element number with the associated array name NOTE Arrays must be defined using the command DM before assigning entry values Examples DM OUTPUT 10 Dimension Output Array OUTPUT 1 3 Assigns the second element of the array OUTPUT the value of 3 OUTPUT 1 Returns array element value OUTPUT 9 TIO Assigns the 10th element of the array OUTPUT the value for bank O digital inputs data 2 COS POS 2 Assigns the third element of the array data the cosine of the variable POS multiplied by 2 RIO 471x0 Chapter 5 Application Programming e 71 TIMER 1 TIME Assigns the second element of the array timer the returned value of the TIME keyword Using a Variable to Address Array Elements An array element number can also be a variable This allows array entries to be assigned sequentially using a counter For example Instruction Interpretation FA Begin Program COUNT 0 DM POS 10 Initialize counter and define array FLOOP Begin loop WT 10 Wait 10 msec INPUT COUNT TIO Record bank 0 s input bit value into array element INPUT CO
72. he state of a digital output 1 or 0 The LSB of the first coil status byte refers to the output addressed by the request packet Coil Mapping Coil Addresses Coil Addresses 0 Digital Output O 8 Digital Output 8 1 Digital Output 1 9 Digital Output 9 2 Digital Output 2 10 Digital Output 10 3 Digital Output 3 11 Digital Output 11 4 Digital Output 4 12 Digital Output 12 5 Digital Output 5 13 Digital Output 13 6 Digital Output 6 14 Digital Output 14 7 Digital Output 7 15 Digital Output 15 18 Chapter 3 Communication RIO 471x0 Examples MBA 1 2 12 array Request the status of coils 2 13 result is stored in array MGQOUT 1002 Requests the status of coil 2 result is transmitted via serial port or ethernet Packets The command MBA 1 2 10 array results in the following packets being sent when one RIO is the master and another RIO is the slave communicating over handle A port 502 Modbus Assume digital outputs in descending order from 15 0 are 0 1 1 1 0 0 1 1 0 0 1 1 0 1 1 1 Request Response Field Name hex Field Name hex Function 01 Function 01 Starting Address High 00 Byte Count 02 Starting Address Low 02 Outputs Status 9 2 CD Quantity of Outputs High 00 Outputs Status 13 10 0C Quantity of Outputs Low 0C 1 Byte of Response Word bit 7 6 5 4 3 2 1 0 Coil it 9 8 7 6 5 4 3 2 Value 1 1 0 0 1 1 0 1 2 Byte of Response Word bit 15 14 13 1
73. is accessible through screw terminals only Below are the details Label Description Label Description 18 36 18 16VDC logic power input DIO Digital Input 10 RET Return side of logic power input DI11 Digital Input 11 AGND Analog Ground DI12 Digital Input 12 AGND Analog Ground DI13 Digital Input 13 AIO Analog Input 0 DII4 Digital Input 14 All Analog Input 1 DIIS Digital Input 15 AD Analog Input 2 OPOA 12 24V Output Power Supply for DO 0 7 AI3 Analog Input 3 OPOB Output Power GROUND for DO 0 7 AI4 Analog Input 4 DOO Digital Output 0 AIS Analog Input 5 DOI Digital Output 1 AI6 Analog Input 6 DO2 Digital Output 2 AI7 Analog Input 7 DO3 Digital Output 3 INCOA Input common DI 0 7 DO4 Digital Output 4 INCOB No connect for standard configuration DOS Digital Output 5 DIO Digital Input O DO6 Digital Output 6 DII Digital Input 1 DO7 Digital Output 7 DD Digital Input 2 OPIA 12 24V Output Power Supply for DO 8 15 DI3 Digital Input 3 OPIB Output Power GROUND for DO 8 15 DI4 Digital Input 4 DOS Digital Output 8 DIS Digital Input 5 DO9 Digital Output 9 DI6 Digital Input 6 DO10 Digital Output 10 DI7 Digital Input 7 DO11 Digital Output 11 INCIA Input common DI 8 15 DO12 Digital Output 12 INCIB No connect for standard configuration DO13 Digital Output 13 DIS Digital Input 8 DO14 Digital Output 14 DI9 Digital Input 9 DO15 Digital Output 15 RIO 471x0
74. ithin an executing program For example Instruction Interpretation HTASKI Task1 label ATO Initialize reference time CB1 Clear Output 1 FLOOP1 Loop label AT 10 Wait 10 msec from reference time SB1 Set Output 1 AT 40 Wait 40 msec from reference time then initialize reference CB1 Clear Output 1 JP FLOOP1 Repeat Loop TASK2 Task2 label XQ TASKI1 1 Execute Task1 LOOP2 Loop label W T20000 Wait for 20 seconds HXI Stop thread 1 MG DONE Print Message EN End of Program The program above is executed with the instruction XQ TASK2 0 which designates TASK2 as the main thread i e Thread 0 TASK1 is executed within TASK2 RIO 471x0 Chapter 5 Application Programming e 57 Debugging Programs The RIO provides commands and operands that are useful in debugging application programs These commands include interrogation commands to monitor program execution determine the state of the RIO board and the contents of the program array and variable space Operands also contain important status information which can help to debug a program Trace Commands The trace command causes the RIO to send each line in a program to the host computer immediately prior to execution Tracing is enabled with the command TR1 TRO turns the trace function off Note When the trace function is enabled the line numbers as well as the command line will be displayed as each command line is executed The program lines come back as unsolicit
75. ithout prior written consent of Galil Motion Control Inc 90 Appendix RIO 471x0 Index Absolute Value sne 56 62 Special E 48 Addres8 ini CR tac ee 80 Logical Operator eee 54 Arithmetic Functions 47 55 60 63 Masking ATAY ii cere 2 47 51 55 60 70 73 Bit2 WINSELER 60 Automatic Subroutine esee 57 Math Function Baud Rate seme sma 6 9 Absolute Value ssseeeee 56 62 Bit Wiseu i e dee 60 Bit W186z 1 oie ene es 60 Circular Record Aas 65 CODE ah ag eimi 64 uM 63 Logical Operator eene 54 Command Summary sees 64 65 EE 62 Communication Mathematical Expression 60 62 Baud Rate uie etre EGER UE 6 9 Memory scere etr teer eng 47 51 54 64 65 Ha ndsh k tura RR 9 NITET 2 47 51 55 60 70 73 Serial Porte 5 6 Download 47 65 Conditional jump eieeeeeeeee 47 52 71 M 883867 5 strain o oerte ee egeat sessions 51 61 COSE agone es rtr 64 Modbus 11 14 15 16 17 18 19 20 22 23 25 Cycle Time 26 27 28 29 30 31 32 33 34 36 LI TEE 64 Multitasking eee 50 IR 51 Operand Digital Input 62 71 Internal Variable ses 55 63 Digital Out 62 70 Operators Download 47 65 Bit E 60 Edit MOE Zieser AER ra 52 Output of Data esee 67 Error EE 63 Program Flow see 47 52 e
76. itional is true ELSE command for 2 IF conditional statement Message to be executed if 2 IF conditional is false End of 2 conditional statement ELSE command for 1 IF conditional statement Message to be executed if 1 IF conditional statement End of 1 conditional statement W AIT Label to be used for a loop JP W AIT IN 1 0 amp IN 2 0 Loop until both input and input 2 are not active EN End of subroutine Stack Manipulation It is possible to manipulate the subroutine stack by using the ZS command Every time a JS instruction interrupt or automatic routine such as ININTn or CMDERR is executed the subroutine stack is incremented by 1 up to a maximum of 16 Normally the stack is restored with an EN instruction Occasionally it is desirable not to return back to the program line where the subroutine or interrupt was called The ZS1 command clears 1 level of the stack This allows the program sequencer to continue to the next line The ZSO command resets the stack to its initial value For example if an interrupt occurs and the HININTI routine is executed it may be desirable to restart the program sequence instead of returning to the location where the interrupt occurred To do this give a ZS ZS0 command at the end of the ININT1 routine Auto Start Routine The RIO has a special label for automatic program execution A program that has been saved into the RIO non volatile memory can be automatically executed upo
77. l condition Jump to location if logical condition is satisfied The destination is a program line number or label where the program sequencer will jump if the specified condition is satisfied Note that the line number of the first line of program memory is 0 The comma designates IF The logical condition tests two operands with logical operators RIO 471x0 Chapter 5 Application Programming e 61 Logical operators Le jlesthan o O gt ETE A ET lt ess than or equal to lt gt lt greater than or equal to Conditional Statements The conditional statement is satisfied if it evaluates to any value other than zero The conditional statement can be any valid RIO numeric operand including variables array elements numeric values functions keywords and arithmetic expressions If no conditional statement is given the jump will always occur Examples Number V1 6 Numeric Expression V1 V7 6 ABS V1 gt 10 Array Element V1 lt Count 2 Variable VI lt V2 Internal Variable _TI1 255 _DM lt 100 I O V1 gt QIN 2 IN 1 0 Multiple Conditional Statements The RIO will accept multiple conditions in a single jump statement The conditional statements are combined in pairs using the operands and I The operand between any two conditions requires that both statements be true for the combined statement to be true The operand between any two conditions requires that only one stateme
78. l equivalent of the analog voltage is as follows N V Vlo 4095 Vhi Vlo Where N is the integer equivalent of the analog voltage V is the expected analog voltage Vlo is the lowest voltage in the total range 0V for the standard analog input module and Vhi is the highest voltage in the total range 5V for the standard module These integer values will also be returned when accessing the analog inputs by the API calls in C C or Visual Basic The AO command can also be used to set the analog voltage on ModBus devices over Ethernet Instruction Instruction AO 7 1 5 Set the output voltage on output 7 to 1 5V MG AO 2 Display the analog voltage reading on output 2 RIO 471x0 Chapter 5 Application Programming e 79 Appendix Electrical Specifications Input Output Digital I O DAC Output Current 47120 12V out Power Requirements 18 36 VDC See Chapter 4 4mA max output per channel 10mA max output Typical 2 5 Watts Max 4 Watts Performance Specifications RIO 47xx0 Variable Range Variable Resolution Variable Size Array Size Max Program Labels Program Size RIO 47xx2 Variable Range Variable Resolution Variable Size Array Size Max Program Labels Program Size 2 billion 1 104 126 variables 400 elements 6 array names 62 200 lines x 40 characters 2 billion 1 1074 256 variables 1000 elements 6 array names 126 400 lines x 40 characters 80 Appendi
79. le restoring trippoint on inputs 5 and 10 interrupt disabled Note This multitasking program can be executed with the instruction XQ A 0 designating A as the main thread i e Thread 0 B is executed within A Event Trigger This example waits for input 1 to go low and input 3 to go high and then execute the TZ interrogation command Note The AI command actually halts execution of the program until the input occurs If you do not want to halt the program sequences use the Input Interrupt function II or a conditional jump on an input such as JP GO IN 1 0 GIN 3 1 Instruction Interpretation INPUT Program Label AI 1 amp 3 Wait for input 1 low and input 3 high TZ List the entire I O status EN End program 60 Chapter 5 Application Programming RIO 471x0 Conditional Jumps The RIO provides Conditional Jump JP and Conditional Jump to Subroutine JS instructions for branching to a new program location based on a specified condition The conditional jump determines if a condition is satisfied and then branches to a new location or subroutine Unlike event triggers such as the AI command the conditional jump instruction does not halt the program sequence Conditional jumps are useful for testing events in real time They allow the RIO to make decisions without a host computer Command Format JP and JS JS destination logical condition Jump to subroutine if logical condition is satisfied JP destination logica
80. line feed may be suppressed by sending NJ at the end of the statement This is useful when a text string needs to surround a numeric value Example HA FNAME John LNAME Smith MG The name is FNAME S3 N MG LNAME S6 EN When A is executed the above example will appear on the screen as The name is John Smith Using the MG Command to Configure Terminals The MG command can be used to configure a terminal Any ASCII character can be sent by using the format n where n is any integer between 1 and 255 Example MG 407 4255 sends the ASCII characters represented by 7 and 255 to the bus Summary of Message Functions Surrounds text string Fn m Formats numeric values in decimal n digits to the right of the decimal point and m digits to the left RIO 471x0 Chapter 5 Application Programming e 75 Zn m Formats values like Fn m except leading zeroes are removed p 8 En Outputs message to Ethernet handle n where n is A B or C p 8 P1 Outputs message to Serial port Sends Email message see MA MD MS commands Displaying Variables and Arrays Variables and arrays may be sent to the screen using the format variable or array x For example V1 returns the value of V1 Removing Leading Zeros from Response The leading zeros on data returned as a response to interrogation commands or variables and arrays can be removed by the use of the command LZ The default value for LZ is
81. log Out Channel 6 counts UW Analog Out Channel 7 counts UW Analog In Channel O counts UW Analog In Channel 1 counts UW Analog In Channel 2 counts UW Analog In Channel 3 counts UW Analog In Channel 4 counts UW Analog In Channel 5 counts UW Analog In Channel 6 counts UW Analog In Channel 7 counts UW Output State UW Input State UL Pulse Count SL ZC data user configurable variable SL ZD data user configurable variable Note UB Unsigned Byte UW Unsigned Word 2 bytes SL Signed Long Word This data can be broken up into sections The Data Record Map includes the 4 bytes of header The General Data Block consists of the sample number the error code and the general status The I O Data Block includes all the other items in the above table 40 Chapter 3 Communication RIO 471x0 Explanation of Status Information Header Information Bytes 0 1 of Header The first two bytes of the data record provide the header information BIT 15 BIT 14 BIT 13 BIT 12 BIT 11 BIT 10 BIT 9 BIT 8 1 N A N A N A N A N A N A N A BIT 7 BIT 6 BIT 5 BIT 4 BIT 3 BIT 2 BIT 1 BIT O N A N A N A N A N A N A N A N A Bytes 2 3 of Header Bytes 2 and 3 make up a word which represents the Number of bytes in the data record including the header Byte 2 is the low byte and byte 3 is the high byte Note The header information of the data records is formatted in little endian General Status Information 1 Byte BIT 7 BIT 6 BIT 5 BIT
82. mmand MG This command sends specified text and numerical or string data from variables or arrays to the screen Text strings are specified in quotes and variable or array data is designated by the name of the variable or array For example MG The Final Value is RESULT In addition to variables functions and commands responses can be used in the message command For example MG The input is OIN 1 Formatting Messages String variables can be formatted using the specifier Sn where n is the number of characters 1 thru 6 For example MG STR 83 74 Chapter 5 Application Programming RIO 471x0 This statement returns 3 characters of the string variable named STR Numeric data may be formatted using the Fn m expression following the completed MG statement n m formats data in HEX instead of decimal The actual numerical value will be formatted with n characters to the left of the decimal and m characters to the right of the decimal Leading zeros will be used to display specified format For example MG The Final Value is RESULT F5 2 If the value of the variable RESULT is equal to 4 1 this statement returns the following The Final Value is 00004 10 If the value of the variable RESULT is equal to 999999 999 the above message statement returns the following The Final Value is 99999 99 The message command normally sends a carriage return and line feed following the statement The carriage return and the
83. mmunication RIO 471x0 3 Issue another Galil command that supports Modbus The following Galil commands support Modbus and are an easy way to use the Modbus protocol SB CB AO OB IN OUT AN AO The I O number variable to use with these commands when using Modbus can be calculated as follows I O Number HandleNum 1000 bitNum Modbus Exceptions An RIO configured as a slave will return an exception response if it receives an invalid request e g An invalid function code or a communication error As a class 1 Modbus device the RIO 47xxx can respond with exception codes 01 or 02 Exception code 01 is returned when a request referencing an Illegal Function is received Exception code 02 is returned when a request referencing an Illegal Data Address is received When an Exception Response occurs the function code of the response is 80 added to the original function code e g Improper use of function code 01 will result in the exception response 81 An RIO 47xxx configured as a master can query the function code of the last response it received using the MW command see command reference The MW command can be used to determine if an exception has occurred The MW1 command see the command reference can be used to query the exception code RIO 471x0 Chapter 3 Communication e 17 Function Code 1 01 Read Coils Description Modbus function code 01 is a request to read coils This will read
84. mmunication RIO 471x0 DHCP server on the network the controller will be dynamically assigned an IP address from the server Setting the board to DHO will prevent the controller from being assigned an IP address from the server The second method to assign an IP address is to use the BOOT P utility via the Ethernet connection The BOOT P functionality is only enabled when DH is set to 0 Either a BOOT P server on the internal network or the Galil software may be used When opening the Galil Software it will respond with a list of all RIO boards and controllers on the network that do not currently have IP addresses The user must select the board and the software will assign the specified IP address to it This address will be burned into the controller BN internally to save the IP address to the non volatile memory Note if multiple boards are on the network use the serial numbers to differentiate them CAUTION Be sure that there is only one BOOT P or DHCP server running If your network has DHCP or BOOT P running it may automatically assign an IP address to the RIO board upon linking itto the network In order to ensure that the IP address is correct please contact your system administrator before connecting the I O board to the Ethernet network The third method for setting an IP address is to send the IA command through the RS 232 port Note The IA command is only valid if DHO is set The IP address may be entered as a 4 byte numbe
85. n Programming RIO 471x0 RD Selects the type of data to be recorded where typel type2 type3 and typel type2 type3 type4 type 4 represent the various types of data see table below The order of data type is important and corresponds with the order of n m o p arrays in the RA command The RC command begins data collection Sets data capture time interval where n is an integer between and 8 and designates 2 msec between data mis optional and specifies the number of elements to be captured If m is not defined the number of elements defaults to the smallest array defined by DM When mis a negative number the recording is done continuously in a circular manner _RD is the recording pointer and indicates the address of the next array element n 0 stops recording RC Returns a O or 1 where O denotes not recording 1 specifies recording in progress Data Types for Recording Data type m ECTS Output bank n status 0 or T Analog input status 0 7 Analog output status 0 7 Operand Summary Automatic Data Capture RC Returns a O or 1 where O denotes not recording 1 specifies recording in progress RD Returns address of next array element Deallocating Array Space Array space may be deallocated using the DA command followed by the array name DA 0 deallocates all the arrays RIO 471x0 Chapter 5 Application Programming e 73 Input of Data Numeric and String Input of Data The command IN
86. n power up or reset simply by beginning the program with the label FAUTO Note The program must be saved into non volatile memory using the command BP Automatic Subroutines for Monitoring Conditions Often it is desirable to monitor certain conditions continuously without tying up the host or RIO program sequences The RIO can monitor several important conditions in the background These conditions include checking for the occurrence of a defined input position error a command error or an Ethernet communication error Automatic monitoring is enabled by inserting a special predefined label in the applications program The pre defined labels are SUBROUTINE DESCRIPTION FAUTO Automatic Program Execution on power up FAUTOERR Automatic Program Execution on power up if error condition occurs ININTn Input specified by II goes low n from 0 to 3 64 Chapter 5 Application Programming RIO 471x0 FCMDERR Bad command given TCPERR COMINT Communication Interrupt Routine For example the ININT label could be used to designate an input interrupt subroutine When the specified input occurs the program will be executed automatically NOTE An application program must be running for automatic monitoring to function Example Input Interrupt Instruction Interpretation HA Label 110 0 1 Input Interrupt on 1 LOOP JP LOOP EN Loop ININTO Input Interrupt MG INPUT 1 IS HIGH Send Message to screen RIO Return from int
87. n the RIO 472xx are configured this way If ordered with 08 15 SOURCE option please see the section below 5 24VDC with 25mA of current capability in a sinking configuration 44 Chapter 4 1 0 RIO 471x0 33Y 3 3V VS opel DO 15 8 opia V CPU OPIB should be connected to the positive side of a 5 24VDC external power supply OPIA should be connected to Ground on the external power supply OPIA and OPIB are the Output Power for Bank 1 The output can sink up to 25mA of current The device should be connected between the digital output DO 15 8 and the positive side of the power supply When current is not flowing through the opto coupler CB the 10k resistor pulls up the output pin to the voltage supplied to OPIB When current is flowing through the opto coupler SB the digital output drops to Ground supplied by OP1A and is able to sink up to 25mA of current The bold connections in the schematic above are external connections OUTC jumpers The OUTC jumpers can be used when an external power supply is not desired for digital outputs 8 15 These low power outputs can use the internal 5V from the RIO instead To do this place a jumper on the pins labeled OUTC as shown here Note These jumpers DO NOT supply power to high power digital outputs an external supply is required for these outputs OLNO Digital Inputs Digital inputs 0 15 are opto isolated inputs with a range of 5 24VDC There is a 2 2k internal se
88. nd such as AA 1 4 5 0 if the specified voltage is exceeded prior to arrival at the AA command the program will continue to execute without a pause Analog inputs are useful for reading special sensors such as temperature tension or pressure The range of AA is dependant on the AQ setting Here are some examples of using the Analog inputs Instruction Instruction 78 Chapter 5 Application Programming RIO 471x0 JP C OAN 1 gt 2 Jump to A if analog input number 1 is greater than 2 volts MGOAN 2 Display the analog voltage reading on input 2 AA 1 4 5 0 Wait until the voltage on input 1 goes above 4 5V AA 1 3 2 1 Wait until the voltage on input 1 goes below 3 2V Analog Outputs Analog output voltage is set with the AO command The AO command has the format AO m n where m is the output pin and n is the voltage assigned to it The analog output voltage is accessed with the AO n function where n is the analog output channel Analog output modules come with a resolution of 12 bits 16bit optional The standard voltage range is 0 to S VDC for the RIO 47100 The Analog Output voltage range is configurable using the DQ command when using the RIO 47120 Use the ID command to see the model number of the RIO Note When analog output values are accessed from the Data Record or from the Record Array function the returned value will be an integer number that represents the analog voltage For a RIO 47100 the equation used to determine the decima
89. ndows Hyperterminal See the ED command in the Command Reference for more info Program Format A RIO program consists of instructions combined to solve a programmable logic application Action instructions such as setting and clearing I O bits are combined with Program Flow instructions to form the complete program Program Flow instructions evaluate real time conditions such as elapsed time or input interrupts and alter program flow accordingly A delimiter must separate each RIO instruction Valid delimiters are the semicolon or carriage return The semicolon is used to separate multiple instructions on a single program line where the maximum number of characters on a line is 40 including semicolons and spaces A line continuation character below the on a standard keyboard allows a command to be continued on the next line in the case that 40characters is not enough for a single command see example at the end of this section 54 Chapter 5 Application Programming RIO 471x0 Using Labels in Programs All RIO programs must begin with a label and end with an End EN statement Labels start with the number sign followed by a maximum of seven characters The first character must be a letter after that numbers are permitted Spaces are not allowed The maximum number of labels that can be defined in the RIO 47xx0 is 62 The RIO 47xx2 increases this to a total of 126 labels Valid labels BASICIO SQUARE X1 Hin
90. nformation on the SA command Which devices receive what information from the RIO depends on various things If a device queries the RIO it will receive the response unless it explicitly tells the RIO to send it to another device If the command that generates a response is part of a downloaded program the response will route to whichever port is specified by the CF command either a specific Ethernet handle or the RS232 port If the user wants to send the message to a port other than what is specified by the CF command add an Eh or P1 to the end of the command Ex MG EB Hello will send the message Hello to handle 2 and MG P1 Hello will send it to the serial port Handling Communication Errors A reserved automatic subroutine which is identified by the label TCPERR can be used to catch communication errors If an RIO has an application program running and the TCP or UDP communication is 14 Chapter 3 Communication RIO 471x0 lost the TCPERR routine will automatically execute The TCPERR routine should be ended with the RE command Multicasting A multicast may only be used in UDP IP and is similar to a broadcast where everyone on the network gets the information but specific to a group In other words all devices within a specified group will receive the information that is sent in a multicast There can be many multicast groups on a network and are differentiated by their multicast IP address To communicate with all
91. nformation that may be useful in debugging an application program Below is a list of operands that are particularly valuable for program debugging To display the value of an operand the message command may be used For example since the operand _ED contains the last line of program execution the command MG _ED will display this line number _ED contains the last line of program execution useful to determine where program stopped _DL contains the number of available labels 62 max _UL contains the number of available variables 126 max _DA contains the number of available arrays 6 max _DM contains the number of available array elements 400 max 58 Chapter 5 Application Programming RIO 471x0 Debugging Example The following program has an error It attempts to set bit 14 high but SD is used as the command instead of SB When the program is executed the RIO stops at line 001 The user can then query the RIO board using the command TC1 The RIO responds with the corresponding explanation Instruction Interpretation LS List Program 000 A Program Label 001 SD14 Set bit 14 high 002 SB15 Set bit 15 high 003 MG DONE Print message 004 EN End XQ HA Execute A 7001 SD14 Error on Line 1 TC1 Tell Error Code 130 Unrecognized Command This command doesn t MG ED Print line number where problem occurred 1 00 The error occurred on line 1 of the program Program Flow Commands The RIO provides i
92. nnnicoccnonococnconononncnnnnonnon no nonnon no nennen nennen 36 Analog JO Ranges 4 pee etra a 39 DATA TE 40 OR and DR Commands ENEE is 40 RIO Data Record eie recreo rr e erit e YO VERSES ee e Wir e de meu MERE ER eve eee sena 40 Explanation of Status Intormaton reen renen ener nnn trennen trennen enne 41 CHAPTER 4 LO enero tre TD 42 INTRODUCTION reiten e rep EE tos ku e NERA eeh Eeer 42 SPECIFICATION S assess EE 42 44 pin D Sub Connector Digital I O RIO 47 xx eene enne eene trenes 42 26 pin D Sub Connector Analog UO 43 Screw Terminals RIO 272xx cerco raro t nnno rie o e RERO nde 43 High Power Spee Outputs 5 5 2 ennt Th Eh KUDUMA ALUSE EAKAD ok Th KUKE Ok Uhke AEDA KEE 44 Low Power Sinking Outputs 0 1 AIA MAGUS Ak ro e DR EES E a Kh 44 IER CH EE 45 Analog Outputs E 47 Analog Inputs ort rre enema em e e n re UR REA UO PEERS 47 Analog Process Control LOOD 1 22 or o tee vee etr reb CENAS ant Pee ro pe ses 49 Pulse Counter Input ii erre e ip nO S rer a e RE LOC erbe eee tee pe e LS ehk 50 STANDARD OPTIONS 5 tecestisei Ni 50 DIN astilla on tl 50 NO DIN EE 51 08 15 SOURCE Optl10D rrt irit aid 51 OB 51 AMD A AAA ba ee AR ae 51 0 7 or 8215 SINK SOURCE ui ad 53 Fl KT 53 310V12 Bit EE 53 310V TOBA i 53 CHAPTER 5 APPLICATION PROGRAMMING ereereneoonennooosonoonnonsenaoanonao on tne n sens enses ense en rn coses 54 A O krae 54 EDITING PROGRAMS A l n e ri eR He EEN rre uti Eed eg 54 PROGRAM
93. nstructions to control program flow The RIO program sequencer normally executes program instructions sequentially The program flow can be altered with the use of interrupts and conditional jump statements Interrupts To function independently from the host computer the RIO can be programmed to make decisions based on the occurrence of an input interrupt causing the RIO board to wait for multiple inputs to change their logic levels before jumping into a corresponding subroutine Normally in the case of a Galil controller when an interrupt occurs the main thread will be halted However in the RIO the user can indicate in which thread the thread must be already running when the interrupt occurs the interrupt subroutine is to be run When the interrupt occurs the specified thread s main program will be paused to allow the interrupt subroutine to be executed Therefore the user has the choice of interrupting a particular thread execution upon an input interrupt see II command The input interrupt routines are specified using ININTn where n can be 0 3 In this way the RIO can make decisions based on its own I O status without intervention from a host computer The Return from Interrupt RI command is used to return from this subroutine to the place in the program where the interrupt had occurred If it is desired to return to somewhere else in the program after the execution of the ININTn subroutine the Zero Stack ZS command is used followe
94. nt be true for the combined statement to be true Note Each condition must be placed in parentheses for proper evaluation by the RIO In addition the RIO executes operations from left to right For example using variables named V1 V2 V3 and V4 JP TEST V1 lt V2 amp V3 lt V4 In this example this statement will cause the program to jump to the label TEST if V1 is less than V2 and V3 is less than V4 To illustrate this further consider this same example with an additional condition JP TEST V1 lt V2 amp V3 lt V4 V5 lt V6 This statement will cause the program to jump to the label TEST under two conditions 1 If V1 is less than V2 AND V3 is less than V4 OR 2 If V5 is less than V6 Using the JP Command If the condition for the JP command is satisfied the RIO branches to the specified label or line number and continues executing commands from this point If the condition is not satisfied the RIO board continues to execute the next commands in sequence 62 Chapter 5 Application Programming RIO 471x0 Instruction Interpretation JP Loop COUNT lt 10 Jump to Loop if the variable COUNT is less than 10 JS MOVE2 GIN 1 1 Jump to subroutine MOVEZ2 if input 1 is logic level high After the subroutine MOVE is executed the program seguencer returns to the main program location where the subroutine was called JP BLUE ABS V2 gt 2 Jump to BLUE if the absolute value of variable V2 is greater than 2 J
95. o go below 2 5 to compensate for a negative error and above 2 5V to compensate for positive error The AQ and DQ must be set on the RIO 47120 to configure the Analog input and output ranges before the process control loops are run and prior to setting AZ amp AF The range of the PS command is dependant on the AQ command Pulse Counter Input Digital input 3 DI3 is a special purpose input that when enabled is used to count pulses coming in To enable the pulse counter the PC command must be issued with the following syntax PCn where n 0 default input DI3 is a general purpose input n 1 sets input DI3 to be a rising edge pulse counter also clears the pulse counter n 1 sets input DI3 to be a falling edge pulse counter also clears the pulse counter n returns the status of the pulse counter 0 if disabled 1 if enabled When the PC command is enabled input DI3 will count high or low going edges The operand _PC is used to report back the number of pulses counted The maximum frequency of the input is limited by the opto couplers to 1 2kHz If a higher frequency is needed please contact Galil Standard Options DIN If ordered with the DIN option the RIO has a DIN rail mount attached to the case This option is valid for all RIO 471xx controllers It is not valid for the RIO 472xx family as the RIO 472xx comes in a DIN rail mount by default 50 Chapter 4 I O RIO 471x0 NO DIN This option is only valid with the RI
96. ponse can be queried with the MW command If an exception occurred the exception code of the response can be queried with MW1 Example Normal Response Exception Response MW results in 0F _ MW results in 8F MWI1 contains 01 or 02 Ways to use function code 15 with Galil commands 1 MB command in raw packet mode 2 MB command with Modbus function code 15 Operating as a slave The RIO will accept a write multiple coils request with a starting address ranging from 0000 000F referencing digital outputs 0 15 The RIO will accept a request for up to all 16 of its digital outputs or 0001 0010 The RIO will respond with function code 0F a starting address field which matches the starting address field of the request packet and a quantity of outputs which matches the quantity of outputs field of the request packet 34 Chapter 3 Communication RIO 471x0 Coil Mapping Coil Addresses Coil Addresses 0 Digital Output O 8 Digital Output 8 1 Digital Output 1 9 Digital Output 9 2 Digital Output 2 10 Digital Output 10 3 Digital Output 3 11 Digital Output 11 4 Digital Output 4 12 Digital Output 12 5 Digital Output 5 13 Digital Output 13 6 Digital Output 6 14 Digital Output 14 7 Digital Output 7 15 Digital Output 15 Examples For the following example array contains 0 0 0 0 0 9 1 15 0 0 0 16 2 A A 55 MBA 1 15 array Request to write AA55 to digital outputs 15 0 For the following example array contains
97. putl Invalid labels HI Square 123 PROGRAMMING longer than 7 characters Special Labels The RIO also has some special labels which are used to define input interrupt subroutines and command error subroutines The following is a list of the automatic subroutines supported by the RIO Sample programs for these subroutines can be found in the section Automatic Subroutines for Monitoring Conditions AUTO Automatic Program Execution on power up ININTn Label for Input Interrupt subroutine CMDERR Label for incorrect command subroutine TCPERR Ethernet communication error AUTO is a special label for automatic program execution A program which has been saved into the controller non volatile memory using the BP Burn Program command can be automatically executed upon power up or reset by beginning the program with the label AUTO Commenting Programs Using an Apostrophe to Comment The RIO provides an apostrophe for commenting programs This character allows the user to include up to 39 characters on a single line after the apostrophe and can be used to include comments from the programmer as in the following example OUTPUT PROGRAM LABEL SB1 CB2 Set Bit 1 and Clear Bit 2 EN END OF PROGRAM Note The NO command also works to comment programs The inclusion of the apostrophe or NO commands will require process time by the RIO board Using REM Statements with the Galil Terminal Software When using Galil softwar
98. r Supply for DO 8 151 No Connect Digital Output 15 Digital Output 13 Digital Output 14 Digital Output 12 Digital Output 10 Digital Output 11 Digital Output 9 Output Power Ground for DO 8 15 3 Digital Output 8 No Connect Digital Output 7 Output Power GROUND for DO 0 7 Digital Output 6 Digital Output 4 Digital Output 5 Digital Output 3 Digital Output 1 Digital Output 2 Digital Output O 12 24V Output Power Supply for DO 0 7 12 24V Output Power Supply for DO 0 7 1 INCOB and INCIB are only valid when INC jumpers are used 2 When ordered with 08 15 SOURCE this pin will actually be Output Power Ground for DO 8 15 3 When ordered with 08 15 SOURCE this pin will actually be 5 24V Output Power Supply for DO 8 15 42 Chapter 4 UO RIO 471x0 26 pin D Sub Connector Analog I O Description Description Description No Connect No Connect No Connect No Connect No Connect No Connect Analog Input 7 Ground Analog Input 6 Analog Input 4 Analog Input 5 Analog Input 3 Analog Input 1 Analog Input 2 Analog Input O Ground Ground Analog Output 7 Analog Output 5 Analog Output 6 Analog Output 4 Analog Output 2 Analog Output 3 Analog Output 1 GND Analog Output O Screw Terminals RIO 472xx On the RIO 472xx series the IO
99. r delimited by commas industry standard uses periods or a signed 32 bit number e g IA 124 51 29 31 or IA 2083724575 Type in BN to save the IP address to the RIO non volatile memory NOTE Galil strongly recommends that the IP address selected is not one that can be accessed across the Gateway The Gateway is an application that controls communication between an internal network and the outside world The third level of Ethernet addressing is the UDP or TCP port number The Galil board does not require a specific port number The port number is established by the client or master each time it connects to the RIO board Typical port numbers for applications are Port 23 Telnet Port 502 Modbus Port 80 HTTP Email from the RIO If the RIO is on a network with a SMTP Mail Server the RIO is capable of sending an email message using the MG command There are three configuration commands necessary to send an email from the RIO unit MA MS and MD MA sets the smtp email server IP address MS sets the email source or from address and MD sets the destination or to address There is a maximum character limit for the MS and MD commands of 30 characters An example of this is shown here MA 10 0 0 1 example SMTP Email Server IP address MD someone example com sample destination email address MS me Oexample com sample source address MG Testing Email M Message to send via Email Please contact your system
100. r edited The commands ED UL LS and TR will give privilege error 106 when the RIO is in a locked state The program will still run when locked The locked or unlocked state can be burned with the BN command Once the program is unlocked it remains accessible until a lock command or a reset with the locked condition burned in occurs An example of how to lock the program is shown here PW test test FLE test 1 E Locks 0 nlocks ES 2 TCl 106 Privilege violation 56 Chapter 5 Application Programming RIO 471x0 Executing Programs Multitasking The RIO can run up to 4 independent programs or threads simultaneously They are numbered O thru 3 where O is the main thread The main thread differs from the others in the following ways 1 Only the main thread thread 0 may use the input command IN 2 When interrupts are implemented for command errors the subroutines are executed in thread O However for the ININTn subroutines the RIO has the ability to execute multiple input interrupts HININTn on designated threads not limited to the main thread For more information refer to the II command in the Command Reference To begin execution of the various programs use the following instruction XQ A n Where A represents the label and n indicates the thread number To halt the execution of any thread use the instruction HXn where n is the thread number Note that both the XQ and HX commands can be performed from w
101. rc Cosine of n between 0 and 180 Angle resolution in 1 64000 degrees ATAN n Arc Tangent of n between 90 and 90 Angle resolution in 1 64000 degrees 68 Chapter 5 Application Programming RIO 471x0 IN n Return digital input at general input n where n starts at 0 OUTIn Return digital output at general output n where n starts at 0 AN n Return analog input at general input n where n starts at 0 AO n Return analog output at general output n where n starts at 0 Note These functions are multi valued An application program may be used to find the correct band Functions may be combined with mathematical expressions The order of execution of mathematical expressions is from left to right and can be over ridden by using parentheses Examples V1 ABS V7 The variable V1 is equal to the absolute value of variable V7 V2 5 OSIN POS The variable V2 is equal to five times the sine of the variable POS V3 IN 1 The variable V3 is equal to the digital value of input 1 Variables For applications that require a parameter that is variable the RIO 47xx0 board provides 126 variables The RIO 47xx2 increases this to 254 total available variables These variables can be numbers or strings A program can be written in which certain parameters such as I O status or particular I O bit are defined as variables The variables can later be assigned by the operator or determined by program calculations Example
102. ries resistor to INCO Input Common Bank 0 for inputs 0 7 and INC1 Input Common Bank 1 for inputs 8 15 The series resistor limits the current through the PS2805 opto coupler The INCO and INC1 can either be connected to the positive side of a DC power supply or to the Ground side of a DC power supply When a device is connected to the digital input current flowing through the opto coupler will cause the input to turn on The logic of the input can be configured using the IQ command RIO 471x0 Chapter 4 I O e 45 5V to 24V or GND INCO INC1 Toggle Switch 5V to 24V or GND needs to be the opposite of DII79 what goes into INCO and INC1 DI 15 8 PS2805 INC jumpers The INC jumpers can be used when an external power supply is not desired for digital inputs 0 15 These inputs can use the internal 5V from the RIO instead To do this place a jumper on the pins labeled INC as shown here When using the INC jumpers the digital inputs must have a reference This reference comes from the RIO from pin34 INCOB for inputs 0 7 and from pin 16 INC1B for inputs 8 15 Toggle Switch DIO DI7 or DI8 DI15 INCOB pin 34 or INC1B pin 16 46 Chapter 4 UO RIO 471x0 Analog Outputs RIO 4710x Analog Outputs 0 7 on the RIO 4710x are 12 bit analog outputs and have a voltage range of 0 5VDC The outputs can sink or source up to 4mA of current RIO 4712x Analog Outputs 0 7 on the RIO 4712x have a configurable volt
103. rough a Digital to Analog Converter DAC which outputs a control voltage to the heater to close the loop EE RIO 47100 eessen Kh Temperature i Setpoint PS E PID Digital DAC Y Heater System T po c l gt Filter ADC A Ks Temperature Feedback Sensor Volts RIO 471x0 Chapter 4 I O e 49 The example program below uses analog input O as the feedback from the temperature sensor and analog output O as the control voltage to the heater An update rate of 25msec was set using the CL command but a slower update rate could have been chosen due to the slow nature of temperature response The PID values entered were experimentally found to provide optimum results based on the system The desired set point was chosen as 1V A dead band of 0 1V was added in order to prevent the system from responding to minor disturbances of the sensor PCL CL 25 25msec update rate AF 0 analog input 0 as feedback AZ 0 analog output 0 as control KP 1 proportional gain to 1 KD 10 derivative gain to 10 KI 0 5 integral gain to 0 5 DB 0 1 deadband of 0 1V PS 1 8 set point at 1 8V Note When the Process Control Loop is enabled the Analog output voltage is normalized to half of the total voltage input For instance with a 0 5V analog input range such as the RIO 47100 the voltage is normalized to 2 5V This allows the output t
104. s from an input string When using the input command for string input the input variable will hold up to 6 characters These characters are combined into a single value which is represented as 32 bits of integer and 16 bits of fraction Each ASCII character is represented as one byte 8 bits therefore the input variable can hold up to six characters The first character of the string will be placed in the top byte of the variable and the last character will be placed in the lowest significant byte of the fraction The characters can be individually separated by using bit wise operations as illustrated in the following example Instruction Interpretation RIO 471x0 Chapter 5 Application Programming e 67 FTEST Begin main program IN ENTER LEN S6 Input character string of up to 6 characters into variable LEN FLEN FRAC LEN Define variable FLEN as fractional part of variable LEN FLEN 10000 FLEN Shift FLEN by 32 bits IE convert fraction FLEN to integer LEN 1 FLEN Z 00FF Mask top byte of FLEN and set this value to variable LENT LEN2 FLEN amp S FF00 100 Let variable LEN2 top byte of FLEN LEN3 LEN amp 000000FF Let variable LEN3 bottom byte of LEN LEN4 LEN 0000FF00 100 Let variable LEN4 second byte of LEN LEN5 LEN 00FF0000 1000 Let variable LENS third byte of LEN 0 LEN6 LEN amp FF000000 1000 Let variable LEN6 fourth byte of LEN 000 M
105. st be in quotation Examples INTWO TD Assigns returned value from TI2 command to variable INTWO INPUT IN 1 Assigns logical value of input 1 to variable INPUT V2 V14 V3 V4 Assigns the value of V1 plus V3 times V4 to the variable V2 Var CAT Assign the string CAT to variable Var Displaying the value of variables at the terminal Variables may be sent to the screen using the format variable For example Vl returns the value of the variable VI V1 or MG V1 are also valid ways of displaying a variable Operands Operands allow status parameters of the RIO to be incorporated into programmable variables and expressions Most RIO commands have an equivalent operand which are designated by adding an underscore _ prior to the command see command reference Examples of Internal Variables INIZGIN 1 Assigns value of input 1 to the variable INI JP LOOP AN 0 lt 2 Jump to LOOP if analog input O is less than 2 JP ERROR TC 1 Jump to ERROR if the error code equals 1 Operands can be used in an expression and assigned to a programmable variable but they cannot be assigned a value For example _TIO 1 is invalid Special Operands Keywords The RIO provides a few additional operands that give access to internal variables that are not accessible by standard RIO commands BN Returns serial of the board _BN Returns the number of arrays available _DL DL Returns the number of available labels for programmin
106. t for ports 0 23 25 68 80 and 502 To receive packets on all ports set IK to 0 NOTE In order not to lose information in transit Galil recommends that the user wait for an acknowledgement of receipt of a packet before sending the next packet Jumper Configuration for 10BaseT If 10BaseT communication is required a jumper must be placed on the pins labeled OPT The default is no jumper which is 100BaseT Ethernet communication Addressing There are three levels of addresses that define Ethernet devices The first is the MAC or hardware address This is a unique and permanent 6 byte number No other device will have the same MAC address The RIO MAC address is set by the factory and the last two bytes of the address are the serial number of the board To find the Ethernet MAC address for a RIO unit use the TH command A sample is shown here with a unit that has a serial number of 3 Sample MAC Ethernet Address 00 50 4C 28 00 03 The second level of addressing is the IP address This is a 32 bit or 4 byte number that usually looks like this 192 168 15 1 The IP address is constrained by each local network and must be assigned locally Assigning an IP address to the RIO board can be done in a number of ways The first method for setting the IP address is using a DHCP server The DH command controls whether the RIO board will get an IP address from the DHCP server If the unit is set to DH1 default and there is a 12 Chapter 3 Co
107. the options please see Chapter 4 I O RIO 47xx0 vs RIO 47xx2 Hof of of of of Controller array program A of labels control Ethernet A variables elements lines loops handles RIO 47xx0 400 200 126 62 2 3 RIO 47xx2 1000 400 256 126 6 3 2 Chapter 1 Overview RIO 471x0 RIO Functional Elements Microcomputer Section The main processing unit of the RIO is a specialized 32 bit Freescale Microcomputer with 32KB SRAM and 256KB of Embedded Flash memory The SRAM provides memory for variables array elements and application programs The flash memory provides non volatile storage of variables programs and arrays it also contains the RIO firmware The RIO can process individual Galil Commands in approximately 40 microseconds Communication The communication interface with the RIO consists of one RS 232 port default is 115 kBaud s and one 10 100Base T Ethernet port jumper configurable There are four status LEDs on the RIO that indicate operating and error conditions on the controller Figure 1 1 shows a diagram of the LED bank followed by the description of the four lights PWR EJ EJ LNK ERR CJC ACT Figure 1 1 Diagram of LED bank on the RIO Green Power LED PWR The green status LED indicates that the power has been applied properly to the RIO Red Status Error LED ERR The red error LED will flash on briefly at power up After the initial power up condition the LED will illuminate for the following reasons 1
108. x RIO 471x0 Certifications The RIO 471xx is certified for the following when the product or package is marked ETL AMTER TSG ETL LISTED EI CONFORMS TO cQ IIs UL STD 61010 1 LISTE 3137106 CERTIFIED TO CAN CSA STD C22 2 NO 61010 1 CE CE marked EMC Directive 2004 108 EC ROHS ROHS Compliant Connectors on the RIO 44 pin D Sub Connector RIO 471xx Description Description Description Digital Input 15 No Connect INCIB 1 Digital Input 14 Digital Input 12 Digital Input 13 Digital Input 11 Digital Input 9 Digital Input 10 Digital Input 8 No Connect Input Common DI 8 15 No Connect INCOB Digital Input 6 Digital Input 7 Digital Input 5 Digital Input 3 Digital Input 4 Digital Input 2 Digital Input 0 Digital Input 1 Input Common DI 0 7 5 24V Output Power Supply for DO 8 15 2 No Connect Digital Output 15 Digital Output 13 Digital Output 14 Digital Output 12 Digital Output 10 Digital Output 11 Digital Output 9 Output Power Ground for DO 8 15 3 Digital Output 8 No Connect Digital Output 7 Output Power GROUND for DO 0 7 Digital Output 6 Digital Output 4 Digital Output 5 Digital Output 3 Digital Output 1 Digital Output 2 Digital Output O 12 24V Output Power Supply for DO 0 7 12 24V Output Power Supply for DO 0 7
109. y left blank 10 Chapter 2 Getting Started RIO 471x0 Chapter 3 Communication Introduction The RIO has one RS 232 port and one Ethernet port The RS 232 port is the data set and it is a standard serial link with a communication baud rate up to 115kbaud The Ethernet port is jumper configurable for 10 or 100Base T default RS232 Port The RIO board has a single RS232 connection for sending and receiving Commandes from a PC or other terminal The pin outs for the RS232 connection are as follows RS232 Port 1 1 N C No Connect 6 N C 2 TXD Transmit Data 7 RTS Ready to Send 3 RXD Receive Data 8 CTS Clear to Send 4 N C 9 N C Can connect 5V if needed 5 Ground RS 232 Configuration Configure the PC for 8 data bits no parity one stop bit and hardware handshaking The baud rate for the RS232 communication defaults to 115k baud but can be set to 19 2k baud by placing a jumper on J5 Handshaking Modes The RS232 port is configured for hardware handshaking In this mode the RTS and CTS lines are used The CTS line will go high whenever the RIO is not ready to receive additional characters The RTS line will RIO 471x0 Chapter 3 Communication e 11 inhibit the RIO board from sending additional characters Note The RTS line goes high for inhibit This handshake procedure is required and ensures proper communication especially at higher baud rates Ethernet Configuration Communication Protocols The

RIO-47100 User Manual

Contents

Download Pdf Manuals

Related Search

Related Contents