CTREGRD - CTRIO Read Register

DMD0526

Help File Version: 2.9.4.37

CTREGRD - CTRIO Read Register

The CTRIO Read Register (CTREGRD) instruction is used to read values from selected internal registers of the CTRIO and store those values in locations in the Do-more CPU. The CTREGRD instruction can be used with both the CTRIO and CTRIO2 modules.

Parameters:

Note: Use the F9 key to open the Default Element Selection Tool (the Element Picker or the Element Browser) or use the Down-Arrow key (Auto-Complete) on any parameter field to see a complete list of the memory locations that are valid for that parameter of the instruction.

Module selects which CTRIO module to use.

create module will open the Create New Module Configuration dialog where a CTRIO Module can be created.

Module Structure is the name of the Module structure that will be used by this instruction. This structure was created when the CTRIO module was setup during the Module Configuration phase.

Source Register - selects which of the following internal registers to read:

0 - Ch1Fn1 Accumulator: Channel 1 Function 1 raw count value (e.g. .iReg1 if Ch1Fn1 is unscaled or .iReg2 if Ch1Fn1 is scaled).
1 - Ch1Fn2 Accumulator: Channel 1 Function 1 raw count value (e.g. .iReg1 if Ch1Fn2 is unscaled or .iReg2 if Ch1Fn2 is scaled).
2 - Ch2Fn1 Accumulator: Channel 1 Function 1 raw count value (e.g. .iReg1 if Ch2Fn1 is unscaled or .iReg2 if Ch2Fn1 is scaled).
3 - Ch2Fn2 Accumulator: Channel 1 Function 1 raw count value (e.g. .iReg1 if Ch2Fn2 is unscaled or .iReg2 if Ch2Fn2 is scaled).
4 - Out 0 Position: Output 0's position value.
5 - Out 1 Position: Output 1's position value.
6 - Out 2 Position: Output 2's position value.
7 - Out 3 Position: Output 3's position value.
12 - Ch1A Filter Time (CTRIO2): Software noise filter value in nanoseconds for Channel 1 Input A (for full explanation see here).
13 - Ch1B Filter Time (CTRIO2): Software noise filter value in nanoseconds for Channel 1 Input B (for full explanation see here).
14 - Ch1C Filter Time (CTRIO2): Software noise filter value in nanoseconds for Channel 1 Input C (for full explanation see here).
15 - Ch1D Filter Time (CTRIO2): Software noise filter value in nanoseconds for Channel 1 Input D (for full explanation see here).
16 - Ch2A Filter Time (CTRIO2): Software noise filter value in nanoseconds for Channel 2 Input A (for full explanation see here).
17 - Ch2B Filter Time (CTRIO2): Software noise filter value in nanoseconds for Channel 2 Input B (for full explanation see here).
18 - Ch2C Filter Time (CTRIO2): Software noise filter value in nanoseconds for Channel 2 Input C (for full explanation see here).
19 - Ch2D Filter Time (CTRIO2): Software noise filter value in nanoseconds for Channel 2 Input D (for full explanation see here).

Destination is the memory location to store the value read from the CTRIO module. This can be any 32-bit writable numeric location.

The On Success and On Error parameters specify what action to perform when this instruction completes. You do not have to use the same type of selection for both On Success and On Error.

If the Set Bit selection is used for either On Success or On Error, the specified BIT location will be SET OFF when the instruction is first enabled and will remain OFF until the instruction completes. Once complete, the appropriate Success or Error bit location ON. The specified Bit location is enabled with a SET (Latch) operation meaning that it will remain ON even if the input logic for the instruction goes OFF.

If the JMP to Stage selection is used for either On Success or On Error the target Stage must be in the same Program code-block as this instruction, you cannot specify a target Stage that exists in a different Program code-block. When the operation finishes, the target Stage will be enabled the same way as a standalone Jump to Stage (JMP) instruction would do it. The JMP to Stage option will only be available if this instruction is placed in a Program code-block.

On Success selects which of the following actions to perform if the operation is successful:

Enable SET Bit then specify any writable bit location.
Enable JMP to Stage then specify any Stage number from S0 to S127 in the current Program code-block.

On Error selects which of the following actions to perform if the operation is unsuccessful:

Enable SET Bit then specify writable bit location.
Enable JMP to Stage then specify any Stage number from S0 to S127 in the current Program code-block.

If either the On Success or On Error selections are set to JMP to Stage, Automatically create the SG box for any NEW stage number will be enabled which will automatically create any target stage that does not already exist.

Below this rung will create the new target stage on a new rung following this instruction.
At end of code-block will create the new target stage as the last rung of this Program.

Note: any time the On Error condition occurs, the CTRIO generates an Error Code that can be read in the <Module Name>.ErrorCode (Module Name is the name assigned to the CTRIO in the Module Configuration). The List of Error Code values (in decimal) follows:

Error Code	Description
000	No Error
100	Specified command code is unknown or unsupported
101	File number not found in the file system
102	File type is incorrect for specified output function
103	Profile type is unknown
104	Specified input is not configured as a limit on this output
105	Specified limit input edge is out of range
106	Specified input function is unconfigured or invalid
107	Specified input function number is out of range
108	Specified preset function is invalid
109	Preset table is full
110	Specified Table entry is out of range
111	Specified register number is out of range
112	Specified register is an unconfigured input or output
113	Specified output is not configured as a limit on this output
114	Specified preset function invalid in PLS table
115	Specified PLS function invalid in preset table
116	PLS table entries overlap
117	Attempted to use axis function when pulse output is not in Axis Mode
118	Specified output isn't a pulse output

Status Display:

The status display of the instruction shows Values: Destination.

The red triangle in the upper left corner of the status display indicates this is a Fully Asynchronous instruction.

The gray triangle at the right end of the input leg indicates the input is edge-triggered, meaning this instruction will execute each time the input logic transitions from OFF to ON.

Example 1 of 2:

Description of a Typical CTRIO Read Register (CTREGRD) Stage Diagram:

This is a stage diagram of a simple sequence control that would move a motor to any number of positions and when finished, read that position back from the CTRIO.

Note:: This would not be necessary with a CTRIO2 module since the output position is available as a structure member (.OutputPosition). But this particular structure member is not supported in the CTRIO, so the only way to read the output position is via a CTREGRD instruction.

The Position stage puts the CTRIO pulse output into the Dynamic Position mode. Once this is complete (Ready = ON) then the Move stage is enabled (not transitioned to) so that both stages are running in parallel. The reason for this is because the Position stage must be left enabled to keep the CTRIO pulse output in the Dynamic Position mode through all the moves.

Once the CTRIO pulse output has reached its new position (AtPosition = ON), then it transitions to the InPos stage.

In the InPos stage another position can be loaded and then the NextMove can be set ON to transition back to the Move stage to move the motor to another position, or the Done button can be set ON to finish things up. If Done is set ON, then both the Position and InPos (In Position) stages converge and transition to the ReadPos (Read Position) stage.

Once the position is read by the ReadPos stage, transition is made to the Stop stage.

Description of a Typical CTRIO Read Register (CTREGRD) Stage Ladder:

This is the ladder equivalent of the above stage diagram that uses the CTDYNPOS instruction to move a stepper motor attached to the CTRIO's pulse output to any number of positions provided by an HMI device and then uses the CTREGRD instruction to read the final position back from the CTRIO. (For information on the functionality of the CTDYNPOS instruction click here.)

Note: Reading the output position with the CTREGRD is not necessary if using a CTRIO2 module since the output position is available as a structure member (.OutputPostion).

This example presupposes the use of a CTRIO (instead of a CTRIO2) module and the existence of the following System Configuration for the CTRIO (PLC --> System Configuration --> Module Configuration(s) --> CTRIO_001 -->):

Configure I/O --> Outputs --> Out0 --> Pulse (Step/Dir).
Pulse Profiles --> File 1 --> Dynamic Positioning --> (values for Minimum Freq, Maximum Freq and Accel Rate).
A stepper motor is wired to CTRIO's Output 0 and Output 1.

Position is the main CTDYNPOS instruction stage. This stage remains enabled for all moves. Instead of transitioning to the next stage (Move), the next stage is merely enabled. When Begin bit comes ON it will enable the CTDYNPOS instruction. Then the following things occur:

The Pulse Output Device ($CTRIO_001_Out0) will be placed in the "Dynamic Position Mode."
The specified Dynamic Position File Number (1:DynaPos(Dynamic Position)) is loaded into CTRIO memory.
The current position value (internal to CTRIO) is set to 0.
The CTRIO's Pulse Output is enabled ($CTRIO_001_Out0.OutputEnabled = ON).

The Begin bit will remain ON for all moves. It will be cleared OFF at the completion of the last move. The CTDYNPOS's SUS (Suspend) input is controlled by the Suspend bit. This bit must remain OFF for any given move to complete. Turning this bit ON will cause the CTRIO's output to immediately stop. Turning it back OFF will cause the CTRIO's output to abruptly start again and complete a move.

The On Success parameter jumps to the ReadPos stage. This will occur when Begin is cleared OFF and everything was successful.

The On Error parameter jumps to the ErrorStage stage. In this stage should exist logic (not shown here) that would properly handle the error (e.g. to process the $CTRIO_000.ErrorCode value).

Once the CTDYNPOS is enabled, the $CTRIO_001_Out0.OutputEnabled bit will be set ON by the Pulse Output Device. When this occurs the next stage (Move) is enabled.

Move stage accomplishes the first move and any subsequent moves. Initially it is assumed a new position has been written to the HMI_Position variable. To move, the $CTRIO_001_Out0.GotoPosition bit is set ON. The Pulse Output Device will clear this bit when the move begins. Once the bit is cleared, then the $CTRIO_001_Out0.AtPosition bit is monitored for completion of the move. Once that bit is set ON by the Pulse Output Device, this move is complete and the Move stage transitions to the InPos stage.

The InPos stage turns ON Positioned to indicate the position has been reached. This stage waits for either the NextMove bit or the Done bit to be toggled ON. It is assumed these bits are momentary contacts. If another position is desired, then HMI_Position is provided a new value and the NextMove bit is toggled. When NextMove bit comes ON the InPos stage transitions back to the Move stage. If this is the last move, then the Done bit is toggled. When Done comes ON then Begin bit is cleared OFF and InPos stage disables itself (SGRST). When the InPos stage is transitioned out of, it will turn the Positioned bit OFF to indicate another move is in progress or all moves are complete.

The Begin bit resets the CTDYNPOS instruction in the Position stage above. This causes the following to happen:

The CTRIO pulse output is disabled ($CTRIO_001_Out0.OutputEnabled = OFF).
The On Success transitions to the ReadPos stage.

The ReadPos stage uses the CTREGRD instruction to read the 4 - Out0 Position value from the CTRIO's internal register and stores that value in Read_Position variable. When successful it transitions to the Stop stage.

The Stop stage merely exits this Program code block.