CTRIO2 Axis Run Trapezoid

Topic: DMD0524

Help File Version: 2.9.4.37

CTAXTRAP - CTRIO2 Axis Run Trapezoid

This instruction can only be used with the CTRIO2 module.

The CTRIO2 Axis Run Trapezoid (CTAXTRAP) instruction is used to define and initiate a single move. The position move is specified in terms of absolute or relative position values. The moves will execute using the parameters defined by a previously executed Axis Configuration (CTAXCFG) instruction.

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.

Target Type - this option specifies how to interpret the target position value:

Absolute - select this option to generate a move to a fixed location. The number of pulses emitted and the direction of the move are determined by the difference between Target Position value and the current Pulse Output position (.OutputPosition). For example, move to the 2-foot position (a point), regardless of the current output position. To move to another location after a move is complete disable the E/R input, change the Target Position and re-enable the E/R leg.
Relative - select this option to generate a move relative to the current Pulse Position value (.OutputPosition). The sign of the Target Position value will determine the direction of the move: positive values emit pulses for a move in the clockwise direction, negative values emit pulses for a move in the negative direction. For example, move 2 feet forward (a distance) from the current output position. To move another 2 feet forward, disable then enable the E/R input after the previous move completes.

Zero-out position before Run - select this to zero-out the current Pulse Position value (.OutputPosition) before doing the Relative move.

Target Position - specifies the fixed location (a point) if the Target Type is Absolute, or the number of steps (a distance) to move if the Target Type is Relative. 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

Instruction Inputs:

The first input (E/R) in the Enable / Reset input. When this input logic is ON the specified Pulse Output will be enabled (.OutputEnabled = ON) and the Pulse Output Device will begin to move in the direction specified by the Target Type and Target Position.

The second input (SUS) is the Suspend input.

When this input logic transitions ON, the CTRIO2 will ramp down to zero using the Deceleration Rate specified in the Axis Configuration (CTAXCFG) instruction. No additional pulses will be emitted as long as this input remains ON.

When this input logic transitions OFF the CTRIO2 will ramp up to the Maximum Frequency using the Acceleration Rate specified in the Axis Configuration (CTAXCFG) instruction toward the Target Position.

Status Display:

The status display of the instruction shows Values: .OutputPosition, and Target Position, and Highlights: .OutputEnabled, .OutputActive, .OutputSuspended, and .OutputStalled bits.

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

CTRIO2 Structure Field Care-Abouts:

The following is a list of the"dot" fields of each Pulse Output Structure that are programmatically used with the CTRIO2 Axis Run Trapezoid (CTAXTRAP) 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	CTAXTRAP
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
_Outx.AtVelocity
_Outx.Direction	RO	Bit	ON when motor is moving counter-clockwise
_Outx.EnableOutput
_Outx.GotoPosition
_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	ON when the SUS input comes 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 Run Trapezoid (CTAXTRAP) Stage Diagram:

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

Initially the Config stage waits for Configured to come ON. When it does the CTRIO2 axis has been configured and the process transitions to the TrapRun stage.

The TrapRun stage runs a trapezoid motion to the relative position specified. When that position is reached it transitions to the InPos stage.

If that was the last relative position then the InPos stage transitions to the Stop stage when the Done bit comes ON. If that was not the last relative position then the InPos stage transitions back to the TrapRun stage when a new relative position has been written and the NextMove bit turns ON.

The Stop stage merely exits this Program code block.

Description of a Typical CTRIO2 Axis Run Trapezoid (CTAXTRAP) Stage Ladder:

This is the ladder equivalent of the above stage diagram that uses the CTAXTRAP instruction which will move a stepper motor attached to the CTRIO2's pulse output to any number of relative positions using an axis configuration (CTAXCFG) profile, and then stop.

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 Configure bit to come ON. When it does if there is an error then it immediately transitions to the ErrorStage. If there is no error then the CTAXCFG instruction configures an axis. When it is finished it jumps to the TrapRun stage.

TrapRun stage waits for RunTrap bit to come ON. When it does this enables the CTAXTRAP instruction which causes the following to happen:

If there is an error then the CTAXTRAP instruction immediately transitions to the ErrorStage.
If there is no error then the CTRIO2 pulse output is enabled ($CTRIO_000_Out0.OutputEnabled = ON).
The CTRIO2 output accelerates at the Acceleration Rate toward Maximum Frequency and decelerates at the Deceleration Rate (all as specified in the CTAXCFG instruction) as it approaches the relative Target Position value stored in the Position variable.
Once the Target Position is reached it disables the pulse output ($CTRIO_000_Out0.OutputEnabled = OFF) and transitions to the InPos stage.

If during the execution of this move, the Suspend bit comes ON then the CTRIO2 output will decelerate to zero. When Suspend bit goes back OFF it will accelerate back towards the CTAXCFG's Maximum Frequency.

When the InPos stage is enabled it will reset the RunTrap bit OFF. If that was the last relative move then the Done bit would be turned ON and transition would be made to the Stop stage. If this was not the last relative move then another value should be loaded into the Position variable and the NextMove bit should be toggled ON. When the NextMove bit comes ON it will clear itself OFF and set the RunTrap bit back ON and transition back to the TrapRun stage.