CTRIO2 Axis Configuration

Topic: DMD0520

Help File Version: 2.9.4.37

CTAXCFG - CTRIO2 Axis Configuration

This instruction can only be used with the CTRIO2 module.

The CTRIO2 Axis Configuration (CTAXCFG) instruction is used to define the characteristics of a profile that will be used by subsequent CTRIO2 Axis instructions. This instruction requires that the output channel that will be placed under Axis mode control is already configured for Pulse / Direction or CW / CCW pulse output mode by the System Configuration for the CTRIO.

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.

Pulse Output Device - selects which preconfigured CTRIO Pulse Output device to use. Before this instruction can select a Pulse Output device, a CTRIO Device must be configured with at least one of its output channels setup for Pulse / Direction or CW / CCW pulse output mode.

no devices available - indicates that there are no CTRIO Pulse Output devices that have been configured that can perform this instruction.

create module - will open the Create New Module Configuration dialog where a CTRIO Module can be created and then a CTRIO Pulse Output device can then be configured.

Pulse Output Structure - this field displays the name of the Pulse Output Structure that will be used by this instruction. This structure was created when the CTRIO module was configured during the Module Configuration phase.

Minimum Frequency- specifies the starting frequency (in pulses per second) for the pulse output. The minimum output frequency is 20Hz, so any Frequency value between 0 and 20 will result in a 20Hz output signal. This can be any positive constant value or any readable numeric location.

Maximum Frequency - specifies the target frequency (in pulses per second) that the pulse output will ramp towards. This can be any positive constant value or any readable numeric location.

Acceleration Rate (pulses / sec2 ) - specifies the rate at which the Minimum Frequency will to ramp toward the Maximum Frequency. This can be any positive constant value or any readable numeric location.

Deceleration Rate (pulses / sec2 ) - specifies the rate at which the Maximum Frequency will to ramp toward the Minimum Frequency. This can be any positive constant value or any readable numeric location.

Encoder Feedback - optionally selects an encoder for feedback and any required scaling of the encoder value, select from: None - no encoder feedback will be used, Channel 1 - selects the encoder connected to Channel 1, or Channel 2 - selects the encoder connected to Channel 2.

Scale Factor (Pulse Output / Encoder) - enables optional scaling to account for different resolutions between the encoder and the stepper motor. This value is derived by dividing the stepper motor resolution (in pulses per revolution) by the encoder resolution (also in pulses per revolution, after adjusting for X2 or X4 pulse counts). This can be any positive constant value between 9.809089E-45 to 2,147,483,647 or any readable numeric location.

Encoder Deadband (counts) - specifies a number of pulses to use as a deadband around the target pulse count. This is helpful in preventing jitter of the stepper motor. This count value is applied equally above and below the target pulse count. A good minimum value is the number of encoder pulses that are generated by one stepper pulse, mathematically this equates to (2 / Scale Factor). This can be any positive constant value or any readable numeric location.

Initialize Output Position - optionally specifies whether to initialize the current position value (.OutputPosition) to the supplied value when this instruction is executed. This can be any positive or negative constant value or any readable 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: .OutputPosition, Minimum Frequency, Maximum Frequency, Acceleration Rate, Deceleration Rate, (Pulse Output/Encoder) Scale Factor (if configured), Encoder Deadband (if configured), and Initialize Output Position (if configured). It also shows Highlights: .OutputEnabled, .OutputActive, .Direction, .OutputSuspended, and .OutputStalled bits.

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.

CTRIO2 Structure Field Care-Abouts:

The following is a list of the"dot" fields of the CTRIO2 structure that are programmatically used with the CTRIO2 Axis Configuration (CTAXCFG) instruction. To see a complete listing of all CTRIO structures and members, go to the Project Browser --> Configuration --> Memory --> I/O --> Specialty.

COLOR KEY

Blue: CTRIO2 Input

Maroon: CTRIO2 Output

Black: CTRIO2 Module

Silver: Not used for this instruction

Note: The red "x" is the digit 0, 1, 2, or 3.

CTRIO_000	CTAXCFG
MEMBER	R/W	TYPE	DESCRIPTION
_CxFx.AtResetValue	RO	Bit	ON if CxFx count is at reset value
_CxFx.CaptureComplete
_CxFx.CapturedStart
_CxFx.CountCaptured
_CxFx.EnableCapture
_CxFx.fReg1	RO	Dword	If floating-point scaling is configured for CxFx in CTRIO2: Floating-point scaled value; otherwise, number has no meaning
_CxFx.fReg2
_CxFx.iReg1	RO	Dword	If integer or BCD scaling is configured for CxFx in CTRIO2: Signed-integer or BCD scaled value; otherwise, signed-integer raw count
_CxFx.iReg2	RO	Dword	If any scaling is configured for CxFx in CTRIO2: Signed-integer raw count; otherwise, number has no meaning
_CxFx.Output
_CxFx.Reset	R/W	Bit	Set ON to reset CxFx count
_CxFx.Timeout
_Outx.AtPosition	RO	Bit	If CTAXDYNP is used: ON when CTRIO2 has reached Target Position
_Outx.AtVelocity	RO	Bit	If CTAXDYNV is used: ON when CTRIO2 has reached Frequency
_Outx.Direction	RO	Bit	If CTAXLIMT is used: ON when its DIR input was ON before the E/R input came ON & motor is moving counter-clockwise If CTAXJOG is used: ON when its RV input is ON & motor is moving in counter-clockwise direction
_Outx.EnableOutput
_Outx.GotoPosition	R/W	Bit	If CTAXDYNP is used: Set ON to initiate a move; CTRIO2 resets OFF when moving
_Outx.Output
_Outx.OutputActive	RO	Bit	ON when CTRIO2 output is generating pulses
_Outx.OutputEnabled	RO	Bit	ON when E/R input comes ON which enables CTRIO2 output
_Outx.OutputPosition	RO	Dword	CTRIO2 output raw position (or encoder feedback position if CTAXCFG is configured as such)
_Outx.OutputStalled	RO	Bit	ON if CTRIO2 output cannot generate pulses because its scan time is too high
_Outx.OutputSuspended	RO	Bit	If using CTAXDYNP, CTAXDYNV, CTAXLIMT or CTAXTRAP: ON when their SUS input comes ON which suspends the CTRIO2 output If using CTAXJOG: ON when its E/R comes ON & neither FW nor RV inputs are ON, which suspends the CTRIO2 output
_Outx.OutputVelocity	RO	Dword	Current pulses per second rate being output by the CTRIO2
_Outx.TableComplete
.ErrorCode	RO	Word	Last CTRIO2 error code
.Mode	RO	Word	Indicates CTRIO2 mode: 2 = RUN; 1 = PROGRAM
.ScanTime	RO	Word	CTRIO2 scan time in microseconds
.MaxScanTime	RO	Word	Maximum CTRIO2 scan time in microseconds
.InputState	RO	Word	Upper byte is not used. Lower byte's nibbles indicate CTRIO2's channel's input's state in order: .ChxD, .ChxC, .ChxB, .ChxA. It is a composite of these members
.OutputState	RO	Word	Each nibble indicates a CTRIO2 output configuration and state: .OutxType, .OutxDiscOn, .OutxDiscEnabled, .OutxPulseActive. It is a composite of these members
.ChxA	RO	Bit	ON when CTRIO2 Channel x Input A is ON
.ChxB	RO	Bit	ON when CTRIO2 Channel x Input B is ON
.ChxC	RO	Bit	ON when CTRIO2 Channel x Input C is ON
.ChxD	RO	Bit	ON when CTRIO2 Channel x Input D is ON
.OutxType	RO	Bit	Configuration: ON if CTRIO2 output x is configured for pulse output
.OutxDiscOn	RO	Bit	Status: ON if CTRIO2 output x logic is ON (if output x is enabled then the physical output will also be ON)
.OutxDiscEnabled	RO	Bit	Configuration: ON if CTRIO2 output x is configured for discrete output
.OutxPulseActive	RO	Bit	Status: ON if CTRIO2 output x is generating pulses

NOTES:

(1)This structure member only available for CTRIO2 (not CTRIO). For CTRIO this remains zero.

Example 1 of 2:

Description of a Typical CTRIO2 Axis Configuration (CTAXCFG) Stage Diagram:

This is a stage diagram of a simple sequence control that would move a motor to any number of positions and stop.

Initially the Config stage waits for Begin to come ON. When Begin comes ON, the CTRIO2 axis is configured and the process transitions to the Position stage.

The Position stage puts the CTRIO2 pulse output in the Dynamic Position mode. Once this is complete (Ready = ON) then the Move stage is enabled (not transitioned to). The reason for this is because the Position stage must remain enabled to keep the CTRIO2 pulse output in the Dynamic Position mode through the whole process.

The Move stage sets the CTRIO2's GotoPosition bit and waits for the AtPosition bit to come on indicating the pulse output has reached its position (Positioned = ON). Then the stage transitions to the InPos stage.

The InPos stage waits for either the NextMove or the Done buttons. If this was the last move, then the Done button converges both the Position and InPos stage and transitions to the Stop stage. If this was not the last move, then another position is given and the NextMove button transitions back to the Move stage.

The Stop stage simply exits this Program code block.

Description of a Typical CTRIO2 Axis Configuration (CTAXCFG) Stage Ladder:

This is the ladder equivalent of the above stage diagram that uses the CTAXDYNP instruction which will move a stepper motor attached to the CTRIO2's pulse output to any number of subsequent positions utilizing an axis configuration (CTAXCFG) profile, and then stop. Click here for more information on the CTAXDYNP instruction.

This example presupposes the existence of the following System Configuration for the CTRIO2 (PLC --> System Configuration --> Module Configuration(s) --> CTRIO_000 -->):

Configure I/O --> Outputs --> Out0 --> Pulse (Step/Dir) or Pulse (CW/CCW).
A stepper motor is wired to CTRIO2's Output 0 and Output 1.

Config is the initial stage which waits for the input Begin to come ON. It is assumed that the first position value is loaded into the Target variable before turning on the Begin bit. Once Begin comes ON the PositionEnable bit is set ON, the CTAXCFG instruction configures an axis and when it is finished it jumps to the Position stage.

Position is the main CTAXDYNP instruction stage. This stage remains enabled during all moves. Instead of transitioning to the next stage (Move), the next stage will merely be enabled. PositionEnable is already ON when first entering this stage and will enable the CTAXDYNP instruction. Then the following things occur:

The Pulse Output Device ($CTRIO_000_Out0) will be placed in the "Dynamic Position Mode."
The current position value ($CTRIO_000_Out0.OutputPosition) is set to 0 because the Current Position parameter is set to "Zero-out".
The CTRIO2's Pulse Output is enabled ($CTRIO_000_Out0.OutputEnabled = ON).

The PositionEnable bit will remain ON for all moves. It will be cleared OFF at the completion of the last move.

The CTAXDYNP'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 CTRIO2's output to decelerate and stop. Turning it back OFF will cause the CTRIO2's output to accelerate and complete a move.

The On Success parameter jumps to the Stop stage. This will occur when PositionEnable 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 CTAXDYNP is enabled, the $CTRIO_000_Out0.OutputEnabled bit will be set ON by the Pulse Output Device (this could take a couple of scans). When this occurs the next stage (Move) is enabled.

Move stage accomplishes all moves. In order to do this the newest position value is assumed to be already written to the Target and the $CTRIO_000_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_000_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 waits for either the NextMove or Done bit. If this was not the last move, then a new position value is written to the Target variable and the NextMove bit is toggled. The NextMove bit resets itself OFF immediately just in case the move is so small that it completes before this bit can be manually turned OFF causing the program to oscillate between the Move and InPos stages. Setting NextMove ON causes a transition back to the Move stage. If this was the last move, then the Done bit is toggled. This disables the InPos stage and resets the PositionEnable bit.

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

The CTRIO2 pulse output is disabled ($CTRIO_000_Out0.OutputEnabled = OFF).
The On Success transitions to the Stop stage.

The Stop stage merely exits this Program code block.