CTTBLLD - CTRIO Load Table

DMD0534

Help File Version: 2.9.4.37

CTTBLLD - CTRIO Load Table

The CTRIO Load Table (CTTBLLD) instruction is used to load one of the preconfigured Output Preset Tables in a CTRIO module, or one of the preconfigured PLS Tables in a CTRIO2 module, for one of the CTRIO's Discrete Outputs. The CTTBLLD instruction can be used with both the CTRIO and CTRIO2 module.

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.

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

no devices available - indicates that there are no CTRIO Discrete 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 Discrete Output device can then be configured.

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

File Number - specifies which of the preconfigured Output Preset Tables to load.

Fixed File - displays a list of the preconfigured Output Preset Tables and PLS Tables that were read from the CTRIO module during the Module Configuration phase. Select the desired file number from the list.
Variable File Number - specifies a memory location where the Output Preset table number resides. This can be 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 the Values: File Number, the Highlight: .OutputEnabled, and .TableComplete 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.

CTRIO Structure Field Care-Abouts:

The following is a list of the"dot" fields of the CTRIO structure that are programmatically used with the CTRIO Load Table (CTTBLLD) 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: CTRIO Input

Maroon: CTRIO Output

Black: CTRIO Module

Silver: Not used for this instruction

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

CTRIO_000	CTTBLLD
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 CTRIO: 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 CTRIO: Signed-integer or BCD scaled value; otherwise, signed-integer raw count
_CxFx.iReg2	RO	Dword	If any scaling is configured for CxFx in CTRIO: 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
_Outx.EnableOutput	R/W	Bit	Set ON to enable the CTRIO discrete output that will operate with the Preset Table
_Outx.GotoPosition
_Outx.Output
_Outx.OutputActive
_Outx.OutputEnabled	RO	Bit	ON when CTRIO output has been enabled
_Outx.OutputPosition
_Outx.OutputStalled
_Outx.OutputSuspended
_Outx.OutputVelocity
_Outx.TableComplete	RO	Bit	ON when the last entry in the Preset Table has been executed (i.e. the count is higher than the last preset in the table)
.ErrorCode	RO	Word	Last CTRIO error code
.Mode	RO	Word	Indicates CTRIO mode: 2 = RUN; 1 = PROGRAM
.ScanTime	RO	Word	CTRIO scan time in microseconds
.MaxScanTime	RO	Word	Maximum CTRIO scan time in microseconds
.InputState	RO	Word	Upper byte is not used. Lower byte's nibbles indicate CTRIO'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 CTRIO output configuration and state: .OutxType, .OutxDiscOn, .OutxDiscEnabled, .OutxPulseActive. It is a composite of these members
.ChxA	RO	Bit	ON when CTRIO Channel x Input A is ON
.ChxB	RO	Bit	ON when CTRIO Channel x Input B is ON
.ChxC	RO	Bit	ON when CTRIO Channel x Input C is ON
.ChxD	RO	Bit	ON when CTRIO Channel x Input D is ON
.OutxType	RO	Bit	Configuration: ON if CTRIO output x is configured for pulse output
.OutxDiscOn	RO	Bit	Status: ON if CTRIO output x logic is ON (if output x is enabled then the physical output will also be ON)
.OutxDiscEnabled	RO	Bit	Configuration: ON if CTRIO output x is configured for discrete output
.OutxPulseActive	RO	Bit	Status: ON if CTRIO 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 CTRIO Load Table (CTTBLLD) Stage Diagram:

This is a stage diagram of a simple sequence control that loads a Preset Table for a CTRIO discrete output, enables the output and utilizes the Preset Table. When the table is complete, the discrete output is then disabled and the Preset table cleared out for this CTRIO discrete output.

LdPT (Load Preset Table) is the initial stage that loads a particular Preset Table for a CTRIO discrete output. When loaded successfully it transitions to the next stage.

EnOut (Enable Output) stage resets a CTRIO input count (mechanically associated with the CTRIO pulse output) to zero and enables the CTRIO discrete output for use with the Preset Table just loaded. When successful it transitions to the next stage.

RunPT (Run Preset Table) runs a CTRIO pulse output that is associated with the CTRIO input count in order to make use of the Preset Table. When a certain number of pulses has been reached the process is complete and transition is made to the next stage to clean up.

DisOut (Disable Output) stage disables the CTRIO discrete output and transitions to the next stage.

ClrTbl (Clear Table) stage uses the CTTBLCLR instruction to clear the Preset Table from the CTRIO discrete output.

Exit stage exits the Program code block.

Description of a Typical CTRIO Clear Table (CTTBLLD) Stage Ladder:

To the right is equivalent ladder for the above stage diagram of a simple sequence control that loads a Preset Table for a CTRIO discrete output, enables the output and utilizes the Preset Table. When the table is complete, the discrete output is then disabled and the Preset table cleared out for this CTRIO discrete output.

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

Configure I/O -->

Channel 1 --> Quad Counter.
Outputs -->

Out0 --> Pulse (Step/Dir)
Out2 --> Discrete on Ch1/Fn1.

Discrete Tables --> Add Preset Table: with the following parameters:
File Number: 1
Name: MyPT
Scales: Unscaled
Entry: SET at 2000
Entry: RESET at 4000
A quadrature encoder is wired to CTRIO's Channel 1 Input A & B that is physically associated with the motor attached to the CTRIO's Output 0 & 1.
A stepper motor is wired to CTRIO's Output 0 & 1 that is physically associated with the quadrature encoder attached to the CTRIO's Channe 1 Input A & B.
A discrete device that utilizes the CTRIO's Output is wired to CTRIO's Output 2.

LoadPT (Load Preset Table) is the initial stage that executes a CTTBLLD instruction to load the MyPT Preset Table for CTRIO discrete output Out2. When loaded successfully it transitions to the EnableOut stage. If there is an error transition is made to the ErrorStage stage where logic (not shown here) should exist to handle the error.

EnableOut stage resets CTRIO Channel 1 Function 1 input count to zero and enables the CTRIO discrete output Out2 for use with the MyPT Preset Table just loaded. When the feedback bits (.OutputEnabled, .AtResetValue) show this is successful transition is made to the RunPT stage.

RunPT (Run Preset Table) executes a CTRUNVEL instruction that generates 35,000 pulses out the CTRIO pulse output Out0 at Frequency 1000 pps. If there is an error, transition is made to the ErrorStage stage. Since this output is physically associated with the CTRIO Channel 1 Function 1 quadrature encoder input, the input count increases, exercising the Preset Table and the CTRIO discrete output Out2. When 35,000 pulses have been output, the process is complete and transition is made to the DisableOut stage to clean up. Suspend bit is used to temporarily suspend the CTRUNVEL if need be.

DisableOut stage disables the CTRIO discrete output and transitions to the ClearTable stage.

ClearTable stage uses the CTTBLCLR instruction to clear the Preset Table from the CTRIO discrete output Out2 and transitions to the Exit stage. If there is an error, transition is made to the ErrorStage stage.

Exit stage exits the Program code block.

ErrorStage is where logic (not shown here) should exist to handle the errors for this sequence.