Chapter. Output Functions. In This Chapter...

Transcription

1 Output Functions hapter In This hapter... Runtime hanges to TRIO onfigured Preset Tables (L PLs)... Pulse Output Profiles (L PLs)... Trapezoid Profile... S-urve Profile... Symmetrical S-urve Profile... Home Search Profile... Free Form Profile... Pulse Output Status/ontrol its and ommand odes (L PLs)... irectlogi Programming Examples Overview... Trapezoid with Limits Profile... 0 Trapezoid with Limits (TRIO) Profile... Trapezoid Plus (TRIO) Profile... ynamic Positioning Plus and ynamic Positioning Profiles... ynamic Positioning Plus (TRIO) Profile... ynamic Positioning/Positioning Plus Example... ynamic Velocity Profile... Velocity Mode... Run to Limit Mode... Run to Position Mode... Run to Position Mode... Run to Position Mode Example... Raw Output...

2 hapter : Output Functions 0 Runtime hanges to TRIO onfigured Preset Tables (L PLs) Presets and preset tables can be set up entirely within TRIO Workbench so that no program L NI control is necessary to assign discrete Preset Tables to TRIO Input Functions. You can make runtime edits to presets/preset tables from your control program. To make a runtime change, a series of commands must be executed which will pass new values to a preset table or call a different pre-configured table. ommand odes are passed to the TRIO() module to effect the required edit. Each ommand ode has its own syntax, and all ommand odes must be presented in a particular sequence: The command code and associated parameters must be loaded into the appropriate memory locations. Process ommand instruction must be passed to the TRIO() module. ommand omplete signal must be received and the ommand Error bit must stay at zero. Finally, the Enable Output instruction must be passed to the TRIO() module. Some changes require a combination of ommand odes so those changes must follow the steps above for each ommand ode processed (Output ontrol and Status Offsets are listed in order of Output 0 - Output ). ontrol it (transfers from PU to TRIO()) it Offsets: PL, E, P, EVNETS, MOUS irectlogi PLs Enable Output, 0,,.0,.,.0,. Process ommand,,,.,.,.,. Status it (transfers from TRIO() to PU) it Offsets: PL, E, P, EVNETS, MOUS irectlogi PLs ommand Error,,,.,.,.,. ommand omplete,,,.,.,.,. In order to process a command, first the program must load the ommand and Required Word and Word Parameters. Then the program should turn ON the Process ommand bit and look for the TRIO() module to acknowledge the command with the ommand omplete bit. Finally the program should reset the Process ommand bit and set the Enable Output bit when appropriate. If the ommand Error bit is received, the TRIO() module was unable to process the command due to an illegal value in either the ommand ode or Parameter fields. Word ontrol PU to TRIO() Word Offsets: PL, E, P, EVNETS, MOUS from Output Start (octal) ommand ode 0, 0, Word Parameter,, Word Parameter,, 0 Word Parameter 0, 0, ounter I/O User Manual, rd Edition

3 hapter : Output Functions ommand irectlogi n+0 Load File See Topic in Manual Load Table, Load a Pulse Profile (Trapezoid, S-urve, Symmetrical S-urve, Home Search, Free Form) ode (hex) Parameter (Word) irectlogi n+ Parameter (Word) irectlogi n+ 0 File. (decimal) N/ N/ Load File Trapezoid with Limits 0 File. (decimal) N/ Load File Trapezoid Plus 0 File. (decimal) N/ Load File ynamic Positioning, ynamic Positioning Plus 0 File. (decimal) N/ Load File ynamic Velocity 0 File. (decimal) N/ lear Preset Table lear Preset Table N/ N/ N/ reate Preset Table reate Preset Table dd Table Entry Edit Table Entry Edit and Reload Initialize Table on Reset dd Entry to Preset Table Edit Preset Table Entry Edit Preset Table Entry and Reload reate Preset Table on Reset Pulse at Velocity Velocity Mode 0 File. & File. & Entry Type (decimal) Entry Type (decimal) Entry Number & Entry Type (hex) Entry Number & Entry Type (hex) Entry Type (decimal) Frequency (decimal) Pulse Time Pulse Time Pulse Time (decimal) Pulse Time (decimal) Pulse Time (decimal) uty ycle (decimal) If appropriate for Entry Type (in ms). Field entries separated by an & are to be loaded in the high byte and low byte of that word. See example on page -. Entry numbers are defined below. Entry types are defined below. Follows format of Input Word Parameter. Flash ROM is rated for 00,000 writes. ounter/quad ounter Reset must be ON to perform the Edit. Parameter (Word) irectlogi n+0/n+ Stop Position, Optional (decimal) Target Position (decimal) Target Position (decimal) Target Velocity (decimal) N/ Preset ount (decimal) Preset ount (decimal) Preset ount (decimal) N/ Number of Pulses 0 ounter I/O User Manual, rd Edition

4 hapter : Output Functions 0 ommand irectlogi n+0 * value of 0 will generate a duty cycle of 0%. If appropriate for Entry Type (in ms). Field entries separated by an & are to be loaded in the high byte and low byte of that word. See example on page -. Entry numbers are defined below. Entry types are defined below. See Topic in Manual Run to Limit Run to Limit Follows format of Input Word Parameter. Flash ROM is rated for 00,000 writes. ode (hex) ounter/quad ounter Reset must be ON to perform the Edit. Parameter (Word) irectlogi n+ Frequency (decimal) Run to Position Run to Position Frequency (decimal) Edit Level Response Update Level 0 Function (hex) Entry Number for Edit Table Entry ommands The Entry Number refers to the position of the preset in the table sequence. The first preset is Entry Number 0, the second preset is and so forth. Entry Type for Edit Table Entry ommands The Entry Type is defined according to the table below. Parameter (Word) irectlogi n+ Input /Edge & uty ycle (0 - )* (Hex/) Function (hex) & uty ycle eadband (decimal) Write RM to ROM Write File to ROM N/ N/ N/ Entry Type ode tes Write Output ON (Set) 0 - Write Output OFF (Reset) - Pulse Output ON - Pulse Output OFF - Toggle Output - Reset Function Edits preset that resets count Parameter (Word) irectlogi n+0/n+ N/ Target Position (decimal) Scaled Level (decimal) ounter I/O User Manual, rd Edition

5 hapter : Output Functions Pulse Output Profiles (L PLs) The two charts below summarize the capabilities and requirements of the various Pulse Output Profiles. Information on each is found in this chapter. Options Position Source hange target position on the fly ccel/decel ramps Maximum pulse rate Encoder Feedback Possible Requires TRIO See Page(s) ynamic Positioning Plus - Specify 0kHz From controller separately Trapezoid Plus - ynamic Positioning S-urve Symmetrical S-urve Trapezoid Hard-coded in pulse profile One setting for both Specify separately One setting for both Specify separately khz Free Form ne - The older TRIO outputs can only achieve khz maximum. TRIO outputs are limited to khz when using these profiles. It is possible to pre-load a new target position value, to be used on the next move, while the output is in motion. However, the new move needs to be triggered by the program after the current move is completed. Profile Trapezoid with Limits Home Search Run to Limit ccel and ecel Ramps reep to second limit or position hange velocity manually on the fly Multiple limits or triggers on a single home search Single input can act as multiple triggers Profile defined in TRIO Workbench Requires TRIO Fixed, Predefined Profiles Trapezoid, S-urve, Symmetrical S-urve, Home Search and Free Form profiles are the most basic. The parameters for these profiles are defined in TRIO Workbench and cannot be changed programmatically See Page(s) ounter I/O User Manual, rd Edition

6 0 hapter : Output Functions Trapezoid Profile The Trapezoid profile changes the velocity in a linear fashion from the specified Start Frequency until the specified target Position Frequency is reached. uring deceleration, the velocity changes in a linear fashion from the specified Position Frequency until the specified End Frequency and Total Pulses is reached. Start Frequency cceleration Time eceleration Time Position Frequency End Frequency Total Pulses: The total number of output pulses that will be generated during the Trapezoid profile. ccel Time: The amount of time required for the Start Frequency to ramp up to the Position Frequency. ecel Time: The amount of time required for the Position Frequency to ramp down to the End Frequency. Start Freq: The frequency at which the Trapezoid profile will begin. Pos Freq: The maximum steady state frequency the profile can attain during a move. End Freq: The lowest Frequency of movement during deceleration. The Frequency drops to zero upon reaching this value. L NI ounter I/O User Manual, rd Edition

7 hapter : Output Functions S-urve Profile The S-urve profile can be used for applications that are sensitive to sudden changes in the rate of acceleration. L NI Total Pulses: The total number of output pulses that will be generated during the S-urve profile. ccel Time: The amount of time required for the Start Frequency to ramp up the Position Frequency. ecel Time: The amount of time required for the Position Frequency to ramp down to the End Frequency. Start Freq: The frequency at which the S-urve profile will begin. Pos Freq: The maximum steady state frequency the profile can attain during a move. End Freq: The lowest Frequency of movement during deceleration. The Frequency drops to zero upon reaching this value. Min Freq hange: The amount of calculated frequency change that must take place before stepping to the next frequency. Min Entry Time: The amount of time spent in each step. 0 ounter I/O User Manual, rd Edition

8 hapter : Output Functions 0 Symmetrical S-urve Profile The Symmetrical S-urve profile can also be used for applications that are sensitive to sudden changes in the rate of acceleration. The S-urve and Symmetrical S-urve profiles differ in that the Symmetrical S-urve has symmetrical acceleration and deceleration profiles. The ecel Time and End Frequency are determined by the ccel Time and Start Frequency. The Symmetrical S-urve uses less memory than the S-urve profile. Total Pulses: The total number of output pulses that will be generated during the Symmetrical S-urve profile. ccel Time: The amount of time required for the Start Frequency to ramp up the Position Frequency. This also represents the deceleration time. Start Freq: The frequency at which the Symmetrical S-urve profile will begin. This also represents the End Frequency. Pos Freq: The maximum steady state frequency the profile can attain during a move. Min Freq hange: The amount of calculated frequency change that must take place before stepping to the next frequency Min Entry Time: The amount of time spent in each step. L NI ounter I/O User Manual, rd Edition

9 hapter : Output Functions Home Search Profile The Home Search profile is used to find the home position, which is usually a reference point L NI to which the object being moved can return upon command at any time during or after the execution of a positioning profile. There are several Home Search routines to choose from, all with the option to designate whether you want Limit and/or Limit (a TRIO() discrete input) to register on the rising edge, falling edge, high level or low level signal. Limit and Limit can be the opposite edges of the same physical TRIO() input. NOTE: The Home Search profile requires that TRIO() inputs and/or are configured for Limit Out 0 or Limit. This is done using the onfigure IO dialog. Frequency : The frequency at which the Home Search will begin. Limit : Home Search Frequency will run to TRIO() input Limit and stop unless Frequency is enabled. Frequency : (if enabled) Once Limit is reached, the pulse output will continue at Frequency until TRIO() Limit is reached or pulse ount is reached at Frequency. Limit : (if enabled) Home Search Frequency will run to TRIO() input Limit and stop. ount: (if enabled) The number of output pulse counts generated at Frequency before terminating. Event: Specifies the condition that will terminate this leg of the Home Search. 0 ounter I/O User Manual, rd Edition

10 hapter : Output Functions 0 Home Search Routines : Run to Limit at Frequency. Position Velocity Limit (Home) Frequency : Run to Limit at Frequency, then continue to Limit at Frequency. Position Velocity Limit (Home) Limit Frequency Frequency : Run to Limit at Frequency, then reverse to Limit at Frequency. Position Velocity Limit Limit (Home) Frequency Frequency 0 ounter I/O User Manual, rd Edition

11 hapter : Output Functions : Run to Limit at Frequency, then continue to ount at Frequency. ount (Home) Limit Position Velocity Frequency Frequency : Run to Limit at Frequency, then reverse to ount at Frequency. Limit ount (Home) Frequency Position Velocity Frequency 0 ounter I/O User Manual, rd Edition

12 0 hapter : Output Functions Free Form Profile The Free Form profile allows for stepping between output frequencies with no acceleration or deceleration ramps. Profiles, up to steps, can be imported from a SV file. Total Pulses: Provided by the utility, the total number of output pulses that will be generated during the profile. Total Time: The total time required for the profile to run to completion. Import: Opens a dialog that allows importing a SV file. Importing the SV replaces the existing entries. The contents of a SV file used to create the profile seen above would appear like this: 00,0 00,0 dd or Edit Step: Will invoke the Edit Pulse Entry dialog above. This window will allow you to modify or create pulse entries. Pulse ount: The number of pulses to generate for this step. Frequency: The frequency of pulses during this step. L NI ounter I/O User Manual, rd Edition

13 hapter : Output Functions Pulse Output Status/ontrol its and ommand odes (L PLs) Output Status it efinitions (Pulse Output) Pulse output control Offsets are listed in the order of Outputs 0/, /. Status it TRIO() to PU Output ontrol it efinitions (Pulse Output) Pulse output control Offsets are listed in the order of Outputs 0/, /. ontrol it PU to TRIO() Output ontrol ()Words (Pulse Output) Word ontrol PU to TRIO() Word Offsets: PL, E, P, EVNETS, MOUS Pulse output control Offsets are listed in the order of Outputs 0/, /. from Output Start (octal) ommand ode 0, 0, Word Parameter,, Word Parameter,, 0 Word ontrol PU to TRIO() it Offsets: PL, E, P, EVNETS, MOUS it Offsets: PL, E, P, EVNETS, MOUS Word Offsets: PL, E, P, EVNETS, MOUS from Input Start (octal) Output Enabled,.0,.0 Position Loaded,.,. Output Suspended, 0.,. Output ctive,.,. Output Stalled,.,. ommand Error,.,. ommand omplete,.,. from Output Start (octal) from Output Start (octal) Word Parameter 0, 0, Read as: Enable Output,.0,.0 Level Go to Position,.,. Rising Edge Suspend Output, 0.,. Level irection,.,. Level Process ommand,.,. Rising Edge L NI 0 ounter I/O User Manual, rd Edition

14 hapter : Output Functions 0 Trapezoid, S-urve, Symmetrical S-urve, Home Search, Free Form Profiles For predefined Trapezoid, S-urve, Symmetrical S-urve, Home Search and Free Form profiles, the program must prepare the Load Table command (see table on next page), by L NI selecting ommand ode = 000 Hex/ and setting Word Parameter to the File number of the profile (example: File Trapezoid ). Then the program sets the process ommand bit and watches for the ommand omplete bit. Then the program will clear the process ommand bit and set the irection bit (if necessary) and finally the Enable Output bit to start the output pulses. learing the Enable Output bit will always suspend pulsing and reset any profile in progress to it s beginning. Once complete, the profile remains loaded and can be restarted by clearing the Enable Output, changing the irection bit (if desired), and again setting the Enable Output. For the Home Search routine, a TRIO() input must be assigned to Limit by the TRIO Workbench onfigure I/O dialog. NOTE: For a Home Search Profile, if you are at the home position and the Home Search profile is initiated, there will not be any pulse outputs. Pulse Profile programming example, that loads and runs a pulse profile implementing the bit/()word addressing suggested in the table on the page -, is discussed in pages following. ounter I/O User Manual, rd Edition

15 hapter : Output Functions ommand ode and Parameter efinitions ommand ode (Hex/) Load File from ROM 0 Load File from ROM 0 Load File from ROM 0 Velocity Mode 0 Run to Limit Mode Run to Position Mode * value of 0 will generate a duty cycle of 0% Word Parameter (decimal) File Number Trapezoid or S-curve Symmetrical S-urve Home Search File Number ynamic Positioning File Number ynamic Velocity Run Frequency (TRIO: 0Hz - KHz TRIO: 0Hz - KHz) Run Frequency (TRIO: 0Hz - KHz TRIO: 0Hz - KHz) Run Frequency (TRIO: 0Hz - KHz TRIO: 0Hz - KHz) Word Parameter Word Parameter Where the fields of the Parameters in the table above are separated by an & character, this indicates a code with different definitions for each byte (high byte and low byte). For example, to enter the Pulse Output to Limit command, set the high byte of the Word Parameter to the Edge used to terminate the output pulses (see definition following), and set the low byte to the desired duty cycle. In order to process a command, first the program must load the ommand ode and required Word, Word, and bit parameters (Word and Word values for pulse outputs are unsigned integers). Then the program will turn ON the process ommand bit and look for the TRIO() module to acknowledge the command with the ommand omplete bit. Finally, the program will reset the process ommand bit and set the Enable Output bit when appropriate. If the ommand Error bit is received, the TRIO() module was unable to process the command due to an illegal value in either the ommand ode or parameter files.. N/ uty ycle (0 to )* (decimal) Input / Edge & uty ycle (0 to )* (Hex/) ompare Function & uty ycle (0 to )* (Hex/) N/ Target Position (decimal) Target Velocity (decimal) Number of Pulses (decimal) N/ esired Input Function Value (decimal) 0 ounter I/O User Manual, rd Edition

16 0 hapter : Output Functions Steps Running a Trapezoid, S-urve, Symmetrical S-urve Profile, Home Search or Free Form Profile on TRIO() Y0 & Y L NI 0 The required basic steps for a L-PL to run a Trapezoid, S-urve, Symmetrical S-urve profile, Home Search or Free Form profile are outlined in this table. The steps coordinate with the flow chart steps on page - (left hand side). Pulse Output Status/ontrol its are shown on the following page. Name ommand ode PL ontrol Outputs ase ddr = V00 (it-of-word) V00 PL Status Inputs ase ddr = V000 (it-of-word) N/ PL ontrol Outputs ase ddr = V00 (ontrol Relay) -0 V00 Parameter V0 V0 Parameter V0 - V00 Process ommand ommand omplete Status ommand Error Set irection Enable Output Output Enable Status Output ctive Status isable Output Suspend Output Output Suspended V0 - V00 V0. N/ V0. N/ PL Status Inputs ase ddr = V000 (ontrol Relay) -0 N/ V0. ction Set to 0 (Load Stored Profile) File # of stored profile, determined by user Target Position: User efined (Word) Target Position is only used with Trapezoid Plus and Trapezoid with Limits Turn ON until ommand omplete status bit is returned (see step ) When ON, Profile is now loaded, clear Process ommand bit (step ) ON if ommand or Parameters are invalid V0. Set ON or OFF for irection of Rotation N/ N/ V0.0 0 Turn ON to start pulses N/ V0.0 0 N/ V0. V0.0 0 N/ V0. N/ N/ V0. N/ When ON, module is confirming Enable Output When ON, module is pulsing, OFF with Enable Status ON = profile has completed Turn OFF when pulse status is OFF and Enable Status is ON Turn ON to pause output pulses without resetting pulse count ON when out pulse train has been suspended ounter I/O User Manual, rd Edition

17 PRMETERS: () [irection] Out0-: n+. Out-: n+. () [EnableOutput] Out0-: n+.0 Out-: n+.0 () [OutputEnabled] Out0-: n+.0 Out-: n+.0 Run Pulse Profile (Trapezoid, S-urve, Symmetrical S-urve, Home Search, Free Form) (Ioxes) Success Start Make sure a TRIO (I-000) "TRIO onfig" is programmed at top of ladder Execute TRLPR (I-00) "TRIO Load Profile" Success or Error? () Set [irection] = ON/OFF () Set [EnableOutput] = ON [OutputEnabled] TRIO: Outputs pulses as specified Pulse Profile complete? Reset [EnableOutput] = OFF Error hapter : Output Functions Handle Error 0 STOP ounter I/O User Manual, rd Edition

18 0 hapter : Output Functions PRMETERS: () [ommandode]: Out0-: n+0 Out-: n+ () [Parameter] Out0-: n+ Out-: n+ () [Processmd] Out0-: n+. Out-: n+. () [mdomplete] Out0-: n+. Out-: n+. () [mderror] Out0-: n+. Out-: n+. () [irection] Out0-: n+. Out-: n+. () [EnableOutput] Out0-: n+.0 Out-: n+.0 () [OutputEnabled] Out0-: n+.0 Out-: n+.0 Run Pulse Profile (Trapezoid, S-urve, Symmetrical S-urve, Home Search, Free Form) (L-PL) Start () Set [ommandode] = 0 (hex) () Set [Parameter] = File # (decimal) () Set [Processmd] = ON [mdomplete] [mderror] () Reset [Processmd] = OFF () Set [irection] = ON/OFF () Set [EnableOutput] = ON [OutputEnabled] TRIO: Outputs pulses as specified Pulse Profile complete? Reset [EnableOutput] = OFF Handle Error ounter I/O User Manual, rd Edition STOP

19 hapter : Output Functions irectlogi Programming Examples Overview L NI NOTE: The irectsoft programming examples provided on the following pages are simple examples that are intended to assist you in the basics of loading and running various output pulse profiles. The examples are complete enough to load a profile, process the command and load the Parameter registers necessary to execute the profile. Two System Functions examples are also provided. Load and Run a Pulse Profile Example: You will need to have a Trapezoid, S-urve, Symmetrical S-urve, Home Search or Free Form profile configured using the onfigure I/O dialog. You will also need to have the appropriate Pulse Profile Table File Number (decimal) stored in V000 for this example. You must turn 0 on to load and run the pulse profile. controls the pulse output direction. The example program on the following page loads and executes a Pulse Profile that was created using TRIO Workbench Pulse Profiles dialog. This example can be used for Trapezoid, S-urve, Symmetrical S-urve, Home Search and Free Form profiles (Home Search requires that TRIO inputs and/or are configured for Limit Out 0 and/or Limit Out ). The Pulse Profile number is stored in V000 for this example. Turning on 0 will load and run the pulse profile. 0 ounter I/O User Manual, rd Edition

20 0 hapter : Output Functions irect First Scan SP0 Initialize Settings 0 This rung loads the Pulse Profile Table number from V000 into Parameter register. irection ontrol Initialize Settings omplete Initialize Settings 0 ommand omplete ommand Error This rung waits for the ommand omplete bit with no ommand Error before Enabling the Output. This rung stops the pulse output by disabling the Enable Output bit. Trapezoid with Limits Profile Trapezoid with Limits is used for homing an axis by stopping a movement based on limit inputs tied to one or two input channels of the TRIO. Several combinations of input events are available to trigger the deceleration to the creep frequency and to trigger the actual stop. One of the possible stop triggers is position. If used, indicate the desired stop position in Parameter. L OUT L OUT K0 V00 V000 V0 0. ( SET ) ( SET ) 0. ( OUT ) 0. ( RST ) 0.0 ( SET ) ( RST ) 0.0 ( RST ) 0. ( RST ) ( EN ) Process ommand Initialize Settings omplete irection Process ommand Enable Output Initialize Settings omplete Enable Output Process ommand Load Table ommand 0x0 (Hex) ommand ode Register Table File Number (ecimal) Parameter : Profile File Number 0 ounter I/O User Manual, rd Edition

21 hapter : Output Functions Trapezoid with Limits (TRIO) Profile L NI Trapezoid with Limits (TRIO) profile is only available when using a TRIO module. Trapezoid with Limits is a homing routine, typically used to find a hard reference point for the axis. There are other routines to home an axis, but this is typically the one to use. The profile is a homing routine similar to Home Search but has five additional features:. The profile is trapezoidal (has linear accel and decel rates), allowing for faster homing routines without stalling the stepper.. The profile can be asymmetrical. (ccel and ecel rates are separate). Encoder Feedback can be added, useful for correcting excessive lash or slippage in the system.. llows output rates up to 0kHz.. When Stop Trigger is position, it is a variable (parameter in the output memory map), set by the base controller. NOTE: When using an input channel as the Stop Trigger with this profile, the Stop Trigger must be beyond the first limit in the same direction. The output cannot change direction to reach the second limit. Use Home Search if the output must Reverse to Limit. This profile offers several routines using a ecel Trigger and Stop Trigger. Specify the ecel Trigger as the rising or falling edge of a TRIO input. The Stop Trigger can be a position relative to the ecel Trigger, the opposite edge of the ecel Trigger or the rising or falling edge of another TRIO input. NOTE: This profile requires that TRIO inputs and/or are configured for Limit Out X, where X is the output channel being used. ecel Trigger: The TRIO input used as the ecel Trigger. Hitting this limit during the move will either reset counts to 0 (if Stop Trigger is position) or initiate deceleration to the reep Frequency (if Stop Trigger is a TRIO input). Event: The edge of the limit switch used as the ecel Trigger. Stop Trigger: The TRIO input or position that stops the output. If Position is selected, Parameter in the output memory map defines the target position. This is relative to 0, which is clocked in when the ecel Trigger Event condition is met. Position can be positive or negative. Event: The edge of the limit switch used as the Stop Trigger. 0 ounter I/O User Manual, rd Edition

22 hapter : Output Functions 0 Minimum Freq: The frequency at which the profile will begin and end. Maximum Freq: The maximum steady state frequency the profile can attain during a move. ccel Rate: The rate at which the output frequency will increase during the acceleration period. ecel Rate: The rate at which the output frequency will decrease when ecel Trigger is reached. reep Freq: The (slower) rate to use between the ecel Trigger and the Stop Trigger. Encoder Input: Select the channel where the encoder is connected. Scale Factor: This is the output to input resolution (stepper/encoder) ratio. In other words, if the stepper motor being used is a 000 ppr (pulses per revolution) and the encoder is 00 ppr, then the scale factor would be 000/00 =.. eadband: This is the number of position counts away from the target position that causes no action. This can reduce hunting or ringing as the profile attempts to get to the target position. e sure to include a deadband when the encoder has a higher resolution than the stepper. Example: Trapezoid with Limits using a limit switch for the Stop Trigger. : Move starts at the Minimum Freq and accelerates at ccel Rate. Position Velocity : cceleration ends at Maximum Freq and move continues at Maximum Freq. : When the ecel Trigger is reached, the position register is zeroed out and the output begins to slow down at ecel Rate. : eceleration ends at reep Freq and the move continues towards the Stop Trigger, a limit switch. : When the Stop Trigger is reached, the output stops. ounter I/O User Manual, rd Edition

23 hapter : Output Functions Example: Trapezoid with Limits using a position for the Stop Trigger. The Stop Trigger position does not require change of direction. Position Velocity : Move starts at the Minimum Freq and accelerates at ccel Rate. : cceleration ends at Maximum Freq and move continues at that rate. : When the ecel Trigger is reached, the position register is zeroed out and the output begins to slow down at ecel Rate. : eceleration ends at reep Freq and the move continues towards the Stop Trigger, a position relative to the ecel Trigger. The Stop Trigger is the position -000 in this example. : When the Stop Trigger is reached, the output stops. Example: Trapezoid with Limits using a position for the Stop Trigger. The Stop Trigger position requires change of direction. Position Velocity : Move starts at the Minimum Freq and accelerates at ccel Rate. : cceleration ends at Maximum Freq and move continues at that rate. : When the ecel Trigger is reached, the position register is zeroed out and the output begins to slow down at ecel Rate. : eceleration ends at Minimum Freq and the move changes direction to move back towards the Stop Trigger, a position relative to the ecel Trigger. : When the Stop Trigger is reached (position 00 in this example), the output stops ounter I/O User Manual, rd Edition 0

24 0 hapter : Output Functions Pulse Output Status/ontrol its and ommand odes (L PLs) Output Status it efinitions (Pulse Output) Pulse output control Offsets are listed in the order of Outputs 0/, /. Status it TRIO() to PU Output ontrol it efinitions (Pulse Output) Pulse output control Offsets are listed in the order of Outputs 0/, /. ontrol it PU to TRIO() Output ontrol ()Words (Pulse Output) Word ontrol PU to TRIO() Word Offsets: PL, E, P, EVNETS, MOUS Pulse output control Offsets are listed in the order of Outputs 0/, /. from Output Start (octal) ommand ode 0, 0, Word Parameter,, Word Parameter,, 0 Word ontrol PU to TRIO() it Offsets: PL, E, P, EVNETS, MOUS it Offsets: PL, E, P, EVNETS, MOUS Word Offsets: PL, E, P, EVNETS, MOUS from Input Start (octal) Output Enabled,.0,.0 Position Loaded,.,. Output Suspended, 0.,. Output ctive,.,. Output Stalled,.,. ommand Error,.,. ommand omplete,.,. from Output Start (octal) from Output Start (octal) Word Parameter 0, 0, Read as: Enable Output,.0,.0 Level Go to Position,.,. Rising Edge Suspend Output, 0.,. Level irection,.,. Level Process ommand,.,. Rising Edge L NI ounter I/O User Manual, rd Edition

25 hapter : Output Functions Load and Run a Trapezoid with Limits Profile Example: You will need to have a Trapezoid Plus or Trapezoid with Limits profile configured using the onfigure I/O dialog. You will also need to have the appropriate Pulse Profile Table File Number (decimal) stored in V000 for this example. You must turn 0 on to load and run the pulse profile. PRMETERS: () [Parameter] Out0-: n+0- Out-: n+- () [irection ] Out0-: n+. Out-: n+. () [EnableOutput] Out0-: n+.0 Out-: n+.0 () [OutputEnabled] Out0-: n+.0 Out-: n+.0 () [Outputctive] Out0-: n+. Out-: n+. Run Trapezoid With Limits (Ioxes) Success Start Make sure a TRIO (I-000) "TRIO onfig" is programmed at top of ladder Execute TRLPR (I-00) "TRIO Load Profile" Success or Error? Stop Trigger = Position? () Set [irection] = ON/OFF () Set [EnableOutput] = ON [OutputEnabled] TRIO: Outputs pulses as specified [Outputctive] Reset [EnableOutput] = OFF Error NOTE: n example program using these Ioxes can be found in the ppendices of the irectlogi user manuals for L0, L0 and L0. Set [Parameter] = Position Handle Error 0 STOP ounter I/O User Manual, rd Edition

26 hapter : Output Functions 0 PRMETERS: () [ommandode]: Out0-: n + 0 Out-: n + () [Parameter]: Out0-: n + Out-: n + () [Parameter]: Out0-: n + 0- Out-: n + - () [Processmd]: Out0-: n +. Out-: n +. () [mdomplete]: Out0-: n +. Out-: n +. () [mderror]: Out0-: n +. Out-: n +. () [irection]: Out0-: n +. Out-: n +. () [EnableOutput]: Out0-: n +.0 Out-: n +.0 () [OutputEnabled]: Out0-: n +.0 Out-: n +.0 (0) [Outputctive]: Out0-: n +. Out-: n +. Run Trapezoid With Limits (L-PL) STRT () Set [ommandode] = 0 (hex) () Set [Parameter] = File # (decimal) () Set [Processmd] = ON [mdomplete] [mderror] Reset [Processmd] = OFF Stop Trigger = Position? () Set [irection] = ON/OFF () Set [EnableOutput] = ON [OutputEnabled] TRIO Outputs pulses as specified [Outputctive] Reset [EnableOutput] = OFF STOP Set [Parameter] = Position NOTE: n example program using these Ioxes can be found in the ppendices of the irectlogi user manuals for L0, L0 and L0. Handle Error ounter I/O User Manual, rd Edition

27 hapter : Output Functions L NI The following example program loads and executes a Trapezoid with Limits Profile that was created using TRIO Workbench Pulse Profiles dialog. These profiles can only be used with a TRIO module. The Pulse Profile number is stored in V000. Turning on 0 will load the pulse profile and target position, and run the profile. 0 ounter I/O User Manual, rd Edition

28 hapter : Output Functions 0 Trapezoid Plus (TRIO) Profile Trapezoid Plus Trapezoid Plus is used for executing trapezoidal moves to a position value. The desired position is specified in Parameter. In a Trapezoid Plus profile, it is possible to pre-load a new target position value, to be used on the next move, while the output is in motion. However, the new move needs to be triggered by the program after the current move is completed. In addition, this profile allows for different acceleration and deceleration rates. The proper sequence of events for using this profile can be found in the previous flow charts and those that follow. The Trapezoid Plus (TRIO) profile is only available when using a TRIO module. See Trapezoid description for a general description of this profile. The profile resembles Trapezoid Profile, but has four additional features: : The target position is a variable (Parameter in the output memory map) set by the base controller, instead of a constant specified in the profile. : The profile can be asymmetrical (ccel and ecel rates are separate). : Encoder Feedback can be added, useful for correcting excessive lash or slippage in the system. : llows output rates up to 0kHz. L NI ounter I/O User Manual, rd Edition

29 hapter : Output Functions Trapezoid Plus, cont d When Use Encoder for Position is enabled, the target position is specified in units of the encoder. Encoder feedback determines when deceleration of a move should begin and determines when the move should stop. If Scale Factor is set incorrectly, the output could overshoot the target position, or start decelerating too soon. Minimum Freq: The frequency at which the profile will begin and end. Maximum Freq: The maximum steady state frequency the profile can attain during a move. ccel Rate: The rate at which the output frequency will increase during the acceleration period. ecel Rate: The rate at which the output frequency will decrease during the deceleration period. Encoder Input: Select the channel where the encoder is connected. The inputs for the encoder (&) must be configured for Quad ounter. Scale Factor: This is the output to input resolution (stepper/encoder) ratio. In other words, if the stepper motor being used is a 000 ppr (pulses per revolution) and the encoder is 00 ppr, then the scale factor would be 000/00 =.. eadband: This is the number of position counts away from the target position that causes no action. This can reduce hunting or ringing as the profile attempts to get to the target position. e sure to include a deadband when the encoder has a higher resolution than the stepper. 0 ounter I/O User Manual, rd Edition

30 0 hapter : Output Functions Pulse Output Status/ontrol its and ommand odes (L PLs) L NI Output Status it efinitions (Pulse Output) Pulse output control Offsets are listed in the order of Outputs 0/, /. Status it TRIO() to PU Output ontrol it efinitions (Pulse Output) Pulse output control Offsets are listed in the order of Outputs 0/, /. ontrol it PU to TRIO() Output ontrol ()Words (Pulse Output) Pulse output control Offsets are listed in the order of Outputs 0/, /. Word ontrol PU to TRIO() Word Offsets: PL, E, P, EVNETS, MOUS from Output Start (octal) ommand ode 0, 0, Word Parameter,, Word Parameter,, 0 Word ontrol PU to TRIO() it Offsets: PL, E, P, EVNETS, MOUS it Offsets: PL, E, P, EVNETS, MOUS Word Offsets: PL, E, P, EVNETS, MOUS from Output Start (octal) from Input Start (octal) Output Enabled,.0,.0 Position Loaded,.,. Output Suspended, 0.,. Output ctive,.,. Output Stalled,.,. ommand Error,.,. ommand omplete,.,. from Output Start (octal) Word Parameter 0, 0, Read as: Enable Output,.0,.0 Level Go to Position,.,. Rising Edge Suspend Output, 0.,. Level irection,.,. Level Process ommand,.,. Rising Edge 0 ounter I/O User Manual, rd Edition

31 hapter : Output Functions PRMETERS: () [Parameter] Out0-: n+0- Out-: n+- () [EnableOutput] Out0-: n+.0 Out-: n+.0 () [OutputEnabled] Out0-: n+.0 Out-: n+.0 () [Outputctive] Out0-: n+. Out-: n+. Run Trapezoid PLUS (Ioxes) Success Start Make sure a TRIO (I-000) "TRIO onfig" is programmed at top of ladder Execute TRLPR (I-00) "TRIO Load Profile" Success or Error? Error () Set [Parameter] = Position () Set [EnableOutput] = ON [OutputEnabled] TRIO: Outputs pulses as specified [Outputctive] Goto another Position? Reset [EnableOutput] = OFF Reset [EnableOutput] = OFF NOTE: n example program using these Ioxes can be found in the ppendices of the irectlogi user manuals for L0, L0 and L0. Handle Error 0 STOP ounter I/O User Manual, rd Edition

32 hapter : Output Functions 0 PRMETERS: () [ommandode]: Out0-: n+0 Out-: n+ () [Parameter] Out0-: n+ Out-: n+ () [Parameter] Out0-: n+0- Out-: n+- () [Processmd] Out0-: n+. Out-: n+. () [mdomplete] Out0-: n+. Out-: n+. () [mderror] Out0-: n+. Out-: n+. () [EnableOutput] Out0-: n+.0 Out-: n+.0 () [OutputEnabled] Out0-: n+.0 Out-: n+.0 () [Outputctive] Out0-: n+. Out-: n+. Run Trapezoid PLUS (L-PL) Start () Set [ommandode] = 0 (hex) () Set [Parameter] = File # (decimal) Set [Processmd] = ON [mdomplete] [mderror] Reset [Processmd] = OFF () Set [Parameter] = Position () Set [EnableOutput] = ON [OutputEnabled] TRIO: Outputs pulses as specified [Outputctive] Goto another Position? Reset [EnableOutput] = OFF Reset [EnableOutput] = OFF NOTE: n example program using these Ioxes can be found in the ppendices of the irectlogi user manuals for L0, L0 and L0. Handle Error STOP ounter I/O User Manual, rd Edition

33 hapter : Output Functions Load and Run a Trapezoid Plus Profile The following example program loads and executes a Trapezoid Plus or Trapezoid with Limits Profile that was created using TRIO Workbench Pulse Profiles dialog. These profiles can L NI only be used with a TRIO module. The Pulse Profile number is stored in V000 and the Target Position is stored in V00-V00. Turning on 0 will load the pulse profile and target position, and run the profile. 0 ounter I/O User Manual, rd Edition

34 hapter : Output Functions 0 ynamic Positioning Plus and ynamic Positioning Profiles ynamic Positioning Plus and ynamic Positioning profiles are very similar and are covered together in this section. The table below summarizes their differences. L NI Options Position Source ynamic Positioning Plus From controller hange target position on the fly ccel/decel ramps Specify separately Maximum pulse rate Encoder Feedback Possible Requires TRIO 0kHz ynamic One setting Positioning From controller khz for both The older TRIO outputs can only achieve khz maximum. TRIO outputs are limited to khz when using these profiles. The ynamic Positioning profile is a trapezoidal profile with identical acceleration/deceleration rates and identical starting/stopping frequencies. The maximum target frequency is specified. The target position (# of output pulses) is located in a memory register in the PU/controller. Once the position is reached, the output is disabled and a new target position can be specified in the memory register. Minimum Freq: The frequency at which the profile will begin and stop. Maximum Freq: The maximum steady state frequency the profile can attain during a move. ccel Rate: The rate at which the output will ramp from the Minimum Frequency to the Maximum Frequency. This sets the deceleration rate as well. ounter I/O User Manual, rd Edition

35 hapter : Output Functions ynamic Positioning Plus (TRIO) Profile L NI The ynamic Positioning Plus (TRIO) profile is only available when using a TRIO module. The profile resembles a ynamic Positioning Profile, but adds three features: : The profile can be asymmetrical (ccel and ecel Rates are separate). : Encoder Feedback can be added, useful for correcting excessive lash or slippage in the system. : llows output rates up to 0kHz. When Use Encoder for Position is enabled, the target position is specified in units of the encoder. Encoder feedback determines when deceleration of a move should begin and determines when the move should stop. See ynamic Positioning Profile for a general description of this profile. Minimum Freq: The frequency at which the profile will begin and end. Maximum Freq: The maximum steady state frequency the profile can attain during a move. ccel Rate: The rate at which the output frequency will increase during the acceleration period. ecel Rate: The rate at which the output frequency will decrease during the deceleration period. Encoder Input: Select the channel where the encoder is connected. Scale Factor: This is the output to input resolution (stepper/encoder) ratio. In other words, if the stepper motor being used is a 000 ppr (pulses per revolution) and the encoder is 00 ppr, then the scale factor would be 000/00 =.. eadband: This is the number of position counts away from the target position that causes no action. This can reduce hunting or ringing as the profile attempts to get to the target position. e sure to include a deadband when the encoder has a higher resolution than the stepper. 0 ounter I/O User Manual, rd Edition

36 hapter : Output Functions 0 Pulse Output Status/ontrol its and ommand odes (L PLs) Output Status it efinitions (Pulse Output) Pulse output control Offsets are listed in the order of Outputs 0/, /. Status it TRIO() to PU Output ontrol it efinitions (Pulse Output) Pulse output control Offsets are listed in the order of Outputs 0/, /. ontrol it PU to TRIO() Output ontrol ()Words (Pulse Output) Pulse output control Offsets are listed in the order of Outputs 0/, /. Word ontrol PU to TRIO() Word Offsets: PL, E, P, EVNETS, MOUS from Output Start (octal) ommand ode 0, 0, Word Parameter,, Word Parameter,, 0 Word ontrol PU to TRIO() it Offsets: PL, E, P, EVNETS, MOUS it Offsets: PL, E, P, EVNETS, MOUS Word Offsets: PL, E, P, EVNETS, MOUS from Input Start (octal) Output Enabled,.0,.0 Position Loaded,.,. Output Suspended, 0.,. Output ctive,.,. Output Stalled,.,. ommand Error,.,. ommand omplete,.,. from Output Start (octal) L NI from Output Start (octal) Word Parameter 0, 0, Read as: Enable Output,.0,.0 Level Go to Position,.,. Rising Edge Suspend Output, 0.,. Level irection,.,. Level Process ommand,.,. Rising Edge ounter I/O User Manual, rd Edition

37 hapter : Output Functions ynamic Positioning/ynamic Positioning Plus, (cont d) For ynamic Positioning/Positioning Plus only, the motion limits of Min Frequency, Max Frequency, and cceleration rate come from the TRIO Workbench Profile. fter loading a ynamic Positioning/Positioning Plus Profile, setting the Enable Output causes the TRIO() module to assume a position of 0 pulses. The program should write the target position in Word Parameter, and set the Go to Position bit. This will cause the TRIO() module to set both Pulses ctive and the New Position Loaded bit, then begin to output pulses. The number of pulses and direction are determined by the TRIO() module based on the difference between the current location and the specified target location. The program can monitor the state of the Pulses ctive bit and the New Position Loaded bit to L NI Position Loaded Status it V0. or Pulses ctive Status it V0.0 or 0 TRIO() Pulse Output State 0 0 Idle Go To Position cknowledged, Pulsing 0 Still Pulsing, Go To Position ontrol it is OFF 0 Go To Position cknowledged, Position ttained determine when the new position has been attained. The New Position Loaded status bit will always follow the state of the Load/Seek New Position control bit. This status bit should be used to signal the program that the TRIO() module has received the new state of the control bit. You do not have to wait on the TRIO() module to complete a move that is in progress before loading the next target location. fter the GoTo Position is acknowledged, the program can load the next position into the Word Parameter. When Pulses ctive Status goes to 0, then setting the GoTo Position control bit will again start the output toward the new position. The TRIO() module moves to the new position relative to its previous position as long as the Enable Output control bit remains set. learing the Enable Output bit will disable output pulsing and reset the current position to 0. The following pages show a irectlogi programming example that executes a ynamic Positioning/Positioning Plus pulse profile using the bit/()word addressing in the table on page -. The sign of the value in the Target Position register (Parameter ) determines the direction of the pulse train output. In the irectlogi programming example to the right, 000 is converted to decimal -000 when 0 is turned ON. You could load (L) a V memory location instead of using a constant as shown in the example. irectsoft 0 L IN INV OUT K000 K V000 0 ounter I/O User Manual, rd Edition

38 hapter : Output Functions 0 Steps ynamic Positioning or ynamic Positioning Plus Using the TRIO() Y0 and Y The required basic steps for a L-PL to run ynamic Positioning or ynamic Position Plus are outlined in this table. The steps describe the sequence and coordinate with the ladder code sequence on page -. Name ommand ode PL ontrol Outputs ase ddr = V00 (it-of-word) V00 PL Status Inputs ase ddr = V000 (it-of-word) PL ontrol Outputs ase ddr = V00 (ontrol Relay) -0 V00 Parameter V0 N/ V0 Process ommand ommand omplete Status ommand Error Enable Output V0. N/ V0. N/ Repeat steps -0 to seek the next position. PL Status Inputs ase ddr = V000 (ontrol Relay) -0 N/ V0. V0.0 N/ 0 N/ Output Enable Status N/ V0.0 N/ Parameter V0 / V00 V0 / V00 N/ N/ Go To V0. Position 0 Position Loaded Status Output ctive Status Go To Position Suspend Output Output Suspend N/ V0. N/ V0. V0. N/ V0. N/ N/ V0. N/ ction L NI Set to 0 (Load Stored Profile) File # of desired ynamic Positioning Profile Turn ON until ommand omplete status bit is returned (see step ) When ON, Profile is now loaded, clear Process ommand bit (step ) ON if ommand or Parameters are invalid Turn ON to assume 0 position, Turn OFF to disable pulses and zero position When ON, pulses are now enabled and last position is retained Target position: User defined (Word) Starts pulses with direction to obtain the new position relative to previous position. When ON, Go To position is acknowledged When ON, module is pulsing, OFF with Position Loaded status ON = new position move has completed Turn OFF to be ready to load a new position Turn ON to pause output pulses without resetting pulse count ON when out pulse train has been suspended ounter I/O User Manual, rd Edition

39 hapter : Output Functions PRMETERS: () [EnableOutput] Out0-: n+.0 Out-: n+.0 () [OutputEnabled] Out0-: n+.0 Out-: n+.0 () [Parameter] Out0-: n+0- Out-: n+- () [GotoPosition] Out0-: n+. Out-: n+. () [PositionLoaded] Out0-: n+. Out-: n+. ynamic Position or ynamic Position PLUS (Ioxes) Success Start Make sure a TRIO (I-000) "TRIO onfig" is programmed at top of ladder Execute TRLPR (I-00) "TRIO Load Profile" Success or Error? Set [EnableOutput] = ON [OutputEnabled] () Set [Parameter] = Position () Set [GotoPosition] = ON [PositionLoaded] Reset [GotoPosition] = OFF TRIO: Outputs pulses as specified t Position? Finished? Reset [EnableOutput] = OFF Error New Position? NOTE: n example program using these Ioxes can be found in the ppendices of the irectlogi user manuals for L0, L0 and L0. Handle Error 0 STOP ounter I/O User Manual, rd Edition

40 hapter : Output Functions 0 PRMETERS: () [ommandode]: Out0-: n+0 Out-: n+ () [Parameter] Out0-: n+ Out-: n+ () [Processmd] Out0-: n+. Out-: n+. () [mdomplete] Out0-: n+. Out-: n+. () [mderror] Out0-: n+. Out-: n+. () [EnableOutput] Out0-: n+.0 Out-: n+.0 () [Outputenabled] Out0-: n+.0 Out-: n+.0 () [Parameter] Out0-: n+0- Out-: n+- () [GotoPosition] Out0-: n+. Out-: n+. (0) [PositionLoaded] Out0-: n+. Out-: n+. ynamic Position or ynamic Position PLUS (L-PL) Start () Set [ommandode] = 0 (hex) () Set [Parameter] = File # (decimal) () Set [Processmd] = ON [mdomplete] [mderror] () Reset [Processmd] = OFF () Set [EnableOutput] = ON [OutputEnabled] () Set [Parameter] = Position () Set [GotoPosition] = ON [PositionLoaded] Reset [GotoPosition] = OFF TRIO: Outputs pulses as specified t Position? Finished? Reset [EnableOutput] = OFF New Position? NOTE: n example program using these Ioxes can be found in the ppendices of the irectlogi user manuals for L0, L0 and L0. Handle Error STOP 0 ounter I/O User Manual, rd Edition

41 ynamic Positioning/Positioning Plus Example L NI The following example program runs a ynamic Positioning/Positioning Plus pulse profile. Turn on 0 to load the profile number and process the command. The first move starts at position count = 0. Turning on will start the pulse output to position specified in Parameter. The output will move in whichever direction is appropriate to reach the position specified in Parameter. To make additional moves, wait for the current move to complete, load a new value into the Target Pulse ount register and set the Go to Position bit. Subsequent moves are still referenced to the same 0 location as the first move. learing the Enable Output bit will disable irect output pulsing and reset the current position to 0. First Scan SP0 Initialize Settings 0 Initialize Settings omplete ommand ommand omplete Error Go to Position Start Go to Position Enable Start it Output 0.0 Go to Position hange omplete Initialize Settings 0 Go to Position hange omplete L OUT L OUT L OUT K0 V00 K V0 ( P ) 0. ( SET ) 0. ( RST ) 0.0 ( SET ) 0. ( RST ) V000 V00 ( P ) 0. ( SET ) 0.0 ( RST ) 0. ( RST ) Load Table ommand 0x0 (Hex) ommand ode Register Table File Number (ecimal) Parameter : Profile File Number Initialize Settings omplete Process ommand Process ommand Enable Output Go to Position Target Pulse ount Position Parameter : Target Pulse ount Go to Position hange omplete Go to Position Enable Output Process ommand hapter : Output Functions This rung loads ynamic Positioning profile. This rung waits for the ommand omplete bit with no ommand Error before Enabling the Output. This rung loads the Target Pulse ount Position into Parameter register. This rung starts the pulse output to the Position ount specified in Parameter. This rung stops the pulse output by disabling the Enable Output bit. It also resets the position count to 0. 0 ounter I/O User Manual, rd Edition

42 hapter : Output Functions 0 ynamic Velocity Profile The ynamic Velocity profile is a trapezoidal profile with the directional acceleration and deceleration rates specified. The target velocity is located in a memory register in the PU/controller. Once the PU/controller initiates the profile, output pulses will be generated at the target velocity until the PU/ controller disables the output pulses. lockwise ccel Rate: The clockwise rate at which the output will ramp up from 0Hz to the target velocity that is specified in the PU/controller memory register. lockwise ecel Rate: The clockwise rate at which the output will ramp down from the target velocity that is specified in the PU/controller memory register to 0Hz. ounter-lockwise ccel Rate: The counter-clockwise rate at which the output will ramp up from 0Hz to the target velocity that is specified in the PU/controller memory register. ounter-lockwise ecel Rate: The counter-clockwise rate at which the output will ramp down from the target velocity that is specified in the PU/controller memory register to 0Hz. ynamic Velocity Profile For the Example that follows you will need to have a ynamic Velocity profile configured as Table File Number using the onfigure I/O dialog box. You will also need to have the appropriate Target Velocity (signed decimal) stored in V000 for this example. You must turn 0 on to initialize the settings and enable the output. L NI ounter I/O User Manual, rd Edition

43 hapter : Output Functions Pulse Output Status/ontrol its and ommand odes (L PLs) Output Status it efinitions (Pulse Output) Pulse output control Offsets are listed in the order of Outputs 0/, /. L NI Status it TRIO() to PU Output ontrol it efinitions (Pulse Output) Pulse output control Offsets are listed in the order of Outputs 0/, /. Output ontrol ()Words (Pulse Output) ontrol it PU to TRIO() Pulse output control Offsets are listed in the order of Outputs 0/, /. Word ontrol PU to TRIO() Word Offsets: PL, E, P, EVNETS, MOUS from Output Start (octal) ommand ode 0, 0, Word Parameter,, Word Parameter,, 0 Word ontrol PU to TRIO() it Offsets: PL, E, P, EVNETS, MOUS it Offsets: PL, E, P, EVNETS, MOUS Word Offsets: PL, E, P, EVNETS, MOUS from Input Start (octal) Output Enabled,.0,.0 Position Loaded,.,. Output Suspended, 0.,. Output ctive,.,. Output Stalled,.,. ommand Error,.,. ommand omplete,.,. from Output Start (octal) from Output Start (octal) Word Parameter 0, 0, Read as: Enable Output,.0,.0 Level Go to Position,.,. Rising Edge Suspend Output, 0.,. Level irection,.,. Level Process ommand,.,. Rising Edge 0 ounter I/O User Manual, rd Edition

44 0 hapter : Output Functions Steps ynamic Velocity (cont d) For ynamic Velocity, the motion limits of clockwise acceleration and deceleration, and counter clockwise acceleration and deceleration come from the TRIO Workbench Profile. The target velocity is stored in a register in the PU/controller. The program needs to prepare the Load Table command by selecting ommand ode = 000 Hex/, set Word Parameter to the File number of the profile (example: File ynamic Velocity ) and set Word Parameter to the desired target velocity. Then the program can set the Process ommand bit and watch for the ommand omplete bit. Then the program should clear the Process ommand bit. Set the Enable Output bit to start the output pulses. The velocity can be changed on the fly by entering a different value into the target velocity register and setting the Process ommand bit. The velocity will ramp up/down to the new target velocity at the specified ccel/ecel rates. learing the Enable Output bit will always suspend pulsing. The following pages show a programming example that executes a ynamic Velocity pulse profile using the bit/()word addressing in the table below. ynamic Velocity using the TRIO() Y0 and Y L NI Name ommand ode PL ontrol Outputs ase ddr = V00 (it-of-word) PL Status Inputs ase ddr = V000 (it-of-word) PL ontrol Outputs ase ddr = V00 (ontrol Relay) -0 The sign of the value in the Target Velocity register (Parameter ) determines the direction of the pulse train output. In the irectlogi programming example to the right, 000 is converted to decimal -000 when 0 is turned ON. You could load (L) a V memory location instead of using a constant as shown in the example. PL Status Inputs ase ddr = V000 (ontrol Relay) -0 ction V00 V00 Set to 0 (Load Stored Profile) Parameter V0 N/ V0 N/ File # containing W accel/decel and W acccel/decel Process V0. Turn ON until ommand omplete ommand status bit is returned ommand omplete V0. When ON, Profile is now loaded, clear Process ommand bit Status N/ N/ ommand ON if ommand or Parameters are V0. Error invalid Enable V0.0 N/ 0 Turn ON to ramp to target velocity, Output Turn OFF to disable pulses. N/ Target velocity: User defined Parameter V0 / V00 N/ V0 / V00 (Word) Output ctive Status N/ V0. N/ When ON, module is pulsing Suspend Turn ON to pause output pulses V0. N/ N/ Output without resetting pulse count 0 Output ON when out pulse train has been N/ V0. N/ Suspended suspended irectsoft 0 L IN INV K000 K ounter I/O User Manual, rd Edition OUT V000

45 hapter : Output Functions PRMETERS: () [Parameter] Out0-: n+0- Out-: n+- () [EnableOutput] Out0-: n+.0 Out-: n+.0 () [OutputEnabled] Out0-: n+.0 Out-: n+.0 ynamic Velocity (Ioxes) Success Start Make sure a TRIO (I-000) "TRIO onfig" is programmed at top of ladder Execute TRLPR (I-00) "TRIO Load Profile" Success or Error? () Set [Parameter] = Velocity () Set [EnableOutput] = ON [OutputEnabled] TRIO: Outputs pulses as specified Finished? Reset [EnableOutput] = OFF STOP Error New Velocity? NOTE: n example program using these Ioxes can be found in the ppendices of the irectlogi user manuals for L0, L0 and L0. Set [Parameter] = Velocity Handle Error 0 ounter I/O User Manual, rd Edition

46 hapter : Output Functions 0 PRMETERS: () [ommandode]: Out0-: n+0 Out-: n+ () [Parameter] Out0-: n+ Out-: n+ () [Processmd] Out0-: n+. Out-: n+. () [mdomplete] Out0-: n+. Out-: n+. () [mderror] Out0-: n+. Out-: n+. () [Parameter] Out0-: n+0- Out-: n+- () [EnableOutput] Out0-: n+.0 Out-: n+.0 () [OutputEnabled] Out0-: n+.0 Out-: n+.0 ynamic Velocity (L-PL) Start () Set [ommandode] = 0 (hex) () Set [Parameter] = File # (decimal) () Set [Processmd] = ON [mdomplete] [mderror] TRIO: Outputs pulses as specified () Reset [Processmd] = OFF () Set [Parameter] = Velocity () Set [EnableOutput] = ON [OutputEnabled] Finished? Reset [EnableOutput] = OFF STOP New Velocity? NOTE: n example program using these Ioxes can be found in the ppendices of the irectlogi user manuals for L0, L0 and L0. Reset [Processmd] = OFF Set [Parameter] = Velocity Handle Error ounter I/O User Manual, rd Edition

47 hapter : Output Functions ynamic Velocity Example The following example program executes a ynamic Velocity pulse profile. Turn 0 on to L NI load the profile number, process the command and enable the output. The Target Velocity needs to be specified inv00. The velocity can be changed on the fly by entering a different value into V00. The sign of the value in the target velocity register controls the pulse output direction. learing the Output Enable bit will always suspend pulsing. 0 ounter I/O User Manual, rd Edition

48 0 hapter : Output Functions Velocity Mode Velocity Mode is used to set the output to a frequency and duty cycle. NOTE: Velocity Mode controls the pulse outputs directly from the PU/controller program. TRIO Workbench Pulse Profile is required for this mode. Velocity Mode is not defined or created using the Pulse Profiles Table dialog in TRIO Workbench. However, the output must be configured for Pulse (Step/irection) or Pulse (W/W) using the onfigure IO dialog. The profile parameters are specified in PU/controller memory registers. There are no acceleration ramps with Velocity Mode. The output will step directly to the specified frequency and to the specified duty cycle. The user specifies the target frequency, pulse train duty cycle and the step count. Once initiated, the output will begin pulsing at the target frequency and continue until the step count is reached. There is no ramping to the target frequency. With a step count of 0xFFFFFFFF, the pulse output will continue indefinitely until the control program disables the output. Velocity Mode command (ommand = 000 Hex/) allows a specified number of pulse output counts or the number of Pulses can be set to FFFFFFFF in Hex for unlimited pulse counts. Leaving the uty ycle set to 0 achieves the default (0%), otherwise it can be set in % increments by writing this value from to decimal. fter this command is processed, the Run Frequency and uty ycle fields can be adjusted by direct access. In order to change directions from Pulse Output in Velocity mode, the Enable Output bit must first be cleared (which stops the Pulse Outputs). Then after the new irection bit is written, the Enable Output bit can be set to resume pulsing. Refer to the following table for a irectlogi programming example that executes a Velocity Mode pulse profile using bit/()word addressing. L NI ounter I/O User Manual, rd Edition

49 hapter : Output Functions Pulse Output Status/ontrol its and ommand odes (L PLs) L NI Output Status it efinitions (Pulse Output) Pulse output control Offsets are listed in the order of Outputs 0/, /. Status it TRIO() to PU Output ontrol it efinitions (Pulse Output) Pulse output control Offsets are listed in the order of Outputs 0/, /. ontrol it PU to TRIO() Output ontrol ()Words (Pulse Output) Pulse output control Offsets are listed in the order of Outputs 0/, /. Word ontrol PU to TRIO() Word Offsets: PL, E, P, EVNETS, MOUS from Output Start (octal) ommand ode 0, 0, Word Parameter,, Word Parameter,, 0 Word ontrol PU to TRIO() it Offsets: PL, E, P, EVNETS, MOUS it Offsets: PL, E, P, EVNETS, MOUS Word Offsets: PL, E, P, EVNETS, MOUS from Output Start (octal) from Input Start (octal) Output Enabled,.0,.0 Position Loaded,.,. Output Suspended, 0.,. Output ctive,.,. Output Stalled,.,. ommand Error,.,. ommand omplete,.,. from Output Start (octal) Word Parameter 0, 0, Read as: Enable Output,.0,.0 Level Go to Position,.,. Rising Edge Suspend Output, 0.,. Level irection,.,. Level Process ommand,.,. Rising Edge 0 ounter I/O User Manual, rd Edition

50 hapter : Output Functions 0 Steps Name ommand ode PL ontrol Outputs ase ddr = V00 (it-of-word) V00 PL Status Inputs ase ddr = V000 (it-of-word) PL ontrol Outputs ase ddr = V00 (ontrol Relay) -0 V00 Parameter V0 V0 Parameter V0 N/ V0 Parameter V0 / V00 V0 / V00 Set irection V0. Velocity Mode ontrol on TRIO() Y0 and Y Process ommand ommand Status V0. N/ ommand Error Enable Output V0.0 PL Status Inputs ase ddr = V000 (ontrol Relay) -0 ction While Velocity Mode ontrol is running, Run Frequency (step ) and uty ycle (step ) may be actively changed simply by writing a new Parameter value. Since no ccel/ecel parameters are specified in this profile, the output change is a step response. N/ V0. N/ V0. Set to 0 Hex (Pulse at Velocity) Run frequency, decimal TRIO: 0Hz-000Hz TRIO: 0Hz-000Hz uty cycle (-) (can leave 0 for 0%) decimal Number of pulses (Word); set to FFFFFFFF for no limit, Hex Set ON or OFF for irection of Rotation Turn ON ommand omplete status bit is returned (see step ) When ON, command has been accepted, clear Process ommand bit (step ) ON if ommand or Parameters are invalid Turn ON to start pulses 0 0 isable Output V0.0 0 Turn OFF to start pulses N/ N/ Turn ON to pause output Suspend V0. pulses without resetting pulse Output count Output ON when out pulse train has N/ V0. N/ Suspended been suspended 0 ounter I/O User Manual, rd Edition

51 hapter : Output Functions NOTE: n example program using these Ioxes can be found in the ppendices of the irectlogi user manuals for L0, L0 and L0. 0 ounter I/O User Manual, rd Edition

52 hapter : Output Functions 0 PRMETERS: () [ommandode]: Out0-: n+0 Out-: n+ () [Parameter] Out0-: n+ Out-: n+ () [Parameter] Out0-: n+ Out-: n+0 () [Parameter] Out0-: n+0- Out-: n+- () [Processmd] Out0-: n+. Out-: n+. () [mdomplete] Out0-: n+. Out-: n+. () [mderror] Out0-: n+. Out-: n+. () [irection] Out0-: n+. Out-: n+. () [EnableOutput] Out0-: n+.0 Out-: n+.0 (0) [OutputEnabled] Out0-: n+.0 Out-: n+.0 Velocity Mode (L-PL) Start () Set [ommandode] = 0 (hex) () Set [Parameter] = Frequency (decimal) () Set [Parameter] = uty ycle (hex) () Set [Parameter] = Pulse ount (decimal) () Set [Processmd] = ON [mdomplete] [mderror] Reset [Processmd] = OFF () Set [irection] = ON/OFF () Set [EnableOutput] = ON [OutputEnabled] TRIO: Outputs pulses as specified New Frequency or uty ycle? hange irection? Reset [EnableOutput] = OFF STOP Load new parameters Reset [EnableOutput] = OFF Handle Error ounter I/O User Manual, rd Edition

53 Velocity Mode Example L NI The following example program loads and executes a Velocity Mode pulse profile. For Parameter, a specific number of pulse output counts can be specified or if set to ffffffff Hex, the pulse output will remain ON at the specified Target Velocity until the output is disabled. Once running, velocity and duty cycle can be changed on the fly by loading new values into V0 and V0 irect respectively. First Scan SP0 Initialize Settings 0 This rung loads Target Velocity, uty ycle and Pulse ount into the Parameter registers. Set irection Initialize Settings ommand ommand omplete omplete Error Initialize Settings 0 L OUT L OUT L OUT L OUT K0 V00 V000 V0 K0 V0 Kffffffff V00 0. ( SET ) ( SET ) 0. ( OUT ) 0. ( RST ) 0.0 ( SET ) ( RST ) 0.0 ( RST ) ( EN ) irection hapter : Output Functions Load Velocity Mode 0x0 (Hex) ommand ode Register Target Velocity (ecimal) Parameter : Run Frequency Process ommand Initialize Settings omplete Process ommand Enable Output Initialize Settings omplete Enable Output 0 specifies 0% duty cycle (Hex) Parameter : uty ycle Kffffffff (Hex) specifies unlimited pulse count; use decimal value otherwise Parameter : Target Pulse ount This rung waits for the ommand omplete bit with no ommand Error before Enabling the Output. This rung stops the pulse output by disabling the Enable Output bit. 0 ounter I/O User Manual, rd Edition

54 hapter : Output Functions 0 Run to Limit Mode Run to Limit is used to make a simple move to a limit input on the TRIO() module. If using a TRIO module, consider using Trapezoid with Limits instead. Run to Limit Mode is not defined or created using the Pulse Profiles Table dialog NI in TRIO Workbench. However, an output must be configured for Pulse (Step/ irection) or Pulse (W/W) using the onfigure IO dialog. lso, an input must be configured as a limit for the Output channel to be used. The profile parameters are specified in PU/controller memory registers. There are no acceleration ramps with Run to Limit Mode. The output will step directly to the specified frequency and duty cycle. The user specifies the frequency, pulse train duty cycle and which edge of which limit input to stop at. When the Limit is reached the pulse output is disabled. NOTE: Run to Limit Mode controls the pulse outputs directly from the PU/controller program. TRIO Workbench Pulse Profile is required for this mode. Set Word Parameter to the desired Frequency. Set Word Parameter Low yte to the uty ycle and the High yte to the appropriate Input and signal Edge. Leaving the uty ycle set to 0 achieves the default (0%), otherwise it can be set in % increments by writing this value from to Hex/. L ounter I/O User Manual, rd Edition

55 hapter : Output Functions L NI Pulse Output Status/ontrol its and ommand odes (L PLs) Output Status it efinitions (Pulse Output) Pulse output control Offsets are listed in the order of Outputs 0/, /. Status it TRIO() to PU Output ontrol it efinitions (Pulse Output) Pulse output control Offsets are listed in the order of Outputs 0/, /. ontrol it PU to TRIO() Output ontrol ()Words (Pulse Output) Pulse output control Offsets are listed in the order of Outputs 0/, /. Word ontrol PU to TRIO() Word Offsets: PL, E, P, EVNETS, MOUS from Output Start (octal) ommand ode 0, 0, Word Parameter,, Word Parameter,, 0 Word ontrol PU to TRIO() it Offsets: PL, E, P, EVNETS, MOUS it Offsets: PL, E, P, EVNETS, MOUS Word Offsets: PL, E, P, EVNETS, MOUS from Input Start (octal) Output Enabled,.0,.0 Position Loaded,.,. Output Suspended, 0.,. Output ctive,.,. Output Stalled,.,. ommand Error,.,. ommand omplete,.,. from Output Start (octal) from Output Start (octal) Word Parameter 0, 0, Read as: Enable Output,.0,.0 Level Go to Position,.,. Rising Edge Suspend Output, 0.,. Level irection,.,. Level Process ommand,.,. Rising Edge 0 ounter I/O User Manual, rd Edition

56 hapter : Output Functions 0 Run to Limit Mode, cont d Parameter Word Parameter defines three elements of the Run to Limit routine. its and determine which edge(s) to terminate Output Pulses and its and determine which TRIO() module input terminal to use for the limit. The low byte specifies the duty cycle. Edge(s) its.. Rising Falling oth Edge to Seek 0000, 0Hex 000, Hex 000, Hex Parameter its & Parameter its & TRIO Input its.. h h h h Parameter (Hex) (uty cycle at 0%) Rising Edge h Falling Edge h oth Edge h Rising Edge h Falling Edge h oth Edge h Rising Edge h Falling Edge h oth Edge h Rising Edge h Falling Edge h 0 00 oth Edge h , 0Hex 000, Hex 000, Hex 00, Hex ounter I/O User Manual, rd Edition

57 hapter : Output Functions Steps Run at Velocity on TRIO() Y0 and Y until iscrete Input Limit ynamic Velocity Example Name ommand ode PL ontrol Outputs ase ddr = V00 (it-of-word) V00 PL Status Inputs ase ddr = V000 (it-of-word) PL ontrol Outputs ase ddr = V00 (ontrol Relay) -0 V00 Parameter V0 V0 N/ Parameter V0 V0 0 Example: You will need to have a ynamic Velocity profile configured as Table File Number using the onfigure I/O dialog. You will also need to have the appropriate Target Velocity (signed decimal) stored in V000 for this example. You must turn 0 on to initialize the settings and enable the output. Set irection Process ommand ommand Status ommand Error Enable Output Output ctive Status Suspend Output Output Suspended V0. V0. N/ PL Status Inputs ase ddr = V000 (ontrol Relay) -0 N/ V0. N/ V0. ction Set to Hex (Run to Limit Mode) Set initial run frequency, decimal TRIO: 0Hz-000Hz TRIO: 0Hz - 000Hz Select discrete input edge in high byte, low byte = duty cycle (-) Example: rising input at uty = %, set this parameter to Hex Set ON or OFF for irection of Rotation Turn ON ommand omplete status bit is returned (see step ) When ON, command has been accepted, clear Process ommand bit (step ) ON if ommand or Parameters are invalid V0.0 N/ 0 N/ Turn ON to start pulses N/ V0. N/ V0. N/ N/ N/ V0. N/ L NI ON while pulsing, OFF when limit has stopped pulsing Turn ON to pause output pulses without resetting pulse count ON when out pulse train has been suspended 0 ounter I/O User Manual, rd Edition

58 hapter : Output Functions 0 PRMETERS: () [irection] Out0-: n+. Out-: n+. () [EnableOutput] Out0-: n+.0 Out-: n+.0 () [OutputEnabled] Out0-: n+.0 Out-: n+.0 Run To Limit Mode (Ioxes) Success Start Make sure a TRIO (I-000) "TRIO onfig" is programmed at top of ladder Execute TRRTLM (I-0) "TRIO Run To Limit Mode" Success or Error? () Set [irection] = ON/OFF () Set [EnableOutput] = ON [OutputEnabled] TRIO: Outputs pulses as specified Limit reached? Reset [EnableOutput] = OFF STOP Error Set Frequency Set uty ycle Reset [EnableOutput] = OFF New Frequency or uty ycle? hange irection? NOTE: n example program using these Ioxes can be found in the ppendices of the irectlogi user manuals for L0, L0 and L0. Handle Error ounter I/O User Manual, rd Edition

59 hapter : Output Functions PRMETERS: () [ommandode]: Out0-: n+0 Out-: n+ () [Parameter] Out0-: n+ Out-: n+ () [Limit-uty] Out0-: n+ Out-: n+0 () [Processmd] Out0-: n+. Out-: n+. () [mdomplete] Out0-: n+. Out-: n+. () [mderror] Out0-: n+. Out-: n+. () [irection] Out0-: n+. Out-: n+. () [EnableOutput] Out0-: n+.0 Out-: n+.0 () [OutputEnabled] Out0-: n+.0 Out-: n+.0 KEY: xxyy (hex): xx: Limit 00 = h Input High 0 = h Input Low 0 = h Input High = h Input Low 0 - h Input High = h Input Low 0 = h Input High = h Input Low yy: uty ycle Run To Limit Mode (L-PL) Start () Set [ommandode] = (hex) () Set [Parameter] = Frequency (decimal) () Set [Limit-uty] = xxyy (hex) () Set [Processmd] = ON [mdomplete] [mderror] Reset [Processmd] = OFF () Set [irection] = ON/OFF () Set [EnableOutput] = ON [OutputEnabled] TRIO: Outputs pulses as specified Limit reached? Reset [EnableOutput] = OFF STOP Set Frequency Set uty ycle Reset [EnableOutput] = OFF New Frequency hange or uty ycle? irection? Handle Error 0 ounter I/O User Manual, rd Edition

60 0 hapter : Output Functions Run to Limit Mode Example The following example program loads and executes a Run to Limit Mode pulse profile. Turn on 0 to run the profile. TRIO input or must be assigned to Limit for this profile. Once running, velocity and duty cycle can be changed on the fly by loading new values into V0 and V0 respectively. irect First Scan SP0 Initialize Settings This rung 0 loads the Target Velocity, Limit Input, Edge and uty ycle into the Parameter registers. Set irection Initialize Settings omplete Initialize Settings 0 ommand omplete This rung stops the pulse output by disabling the Enable Output bit. ommand Error L OUT L OUT L OUT K V00 V000 V0 K0 V0 0. ( SET ) ( SET ) 0. ( OUT ) 0. ( RST ) 0.0 ( SET ) ( RST ) 0.0 ( RST ) ( EN ) irection Load Run to Limit Mode 0x (Hex) ommand ode Register Target Velocity (ecimal) Parameter : Run Frequency 0 specifies: Rising Edge, h, 0% uty ycle (Hex) Parameter register: Edge, Input, uty ycle Process ommand Initialize Settings omplete Process ommand Enable Output Initialize Settings omplete Enable Output L NI This rung waits for the ommand omplete bit with no ommand Error before Enabling the Output. 0 ounter I/O User Manual, rd Edition

61 hapter : Output Functions Run to Position Mode Run to Position is used to make a simple move to a new position. If using a TRIO module, L NI consider using ynamic Positioning Plus instead. ynamic Positioning Plus is almost always the better choice. Run to Position Mode is not defined or created using the Pulse Profiles Table dialog in TRIO Workbench. However, an output must be configured for Pulse (Step/irection) or Pulse (W/ W) using the onfigure IO dialog. lso, an input must be configured as a counter. The profile parameters are specified in PU/controller memory registers. There are no acceleration ramps with Run to Limit Mode. The output will step directly to the specified frequency and duty cycle. Use caution when choosing the frequency to avoid stalling a stepper. The user specifies the target frequency, pulse train duty cycle, input function to compare, direction and target position. The current position is obtained from the specified Input Function (i.e. Quadrature counter). When the current position satisfies the comparison specified, the pulse output is disabled. The comparison of the current and target positions can be based on greater than or equal to or less than operators. NOTE: Run to Position Mode controls the pulse outputs directly from the PU/controller program. TRIO Workbench Pulse Profile is required for this mode. The Run to Position Mode command (ommand = 00Hex/) allows generating output pulses at a steady frequency until some value has been reached on a counter input. Select the direction using the direction bit. Set Word Parameter to the desired Frequency. Set Word Parameter Low yte to the uty ycle and the High yte to the ompare Functions as defined below. Leaving the uty ycle set to 0 achieves the default (0%), otherwise it can be set in % increments by writing this value from to Hex/. Word Parameter specifies the value that Input Function will compare against. 0 ounter I/O User Manual, rd Edition

62 hapter : Output Functions 0 Pulse Output Status/ontrol its and ommand odes (L PLs) Output Status it efinitions (Pulse Output) Pulse output control Offsets are listed in the order of Outputs 0/, /. Status it TRIO() to PU Output ontrol it efinitions (Pulse Output) Pulse output control Offsets are listed in the order of Outputs 0/, /. ontrol it PU to TRIO() Output ontrol ()Words (Pulse Output) Pulse output control Offsets are listed in the order of Outputs 0/, /. Word ontrol PU to TRIO() Word Offsets: PL, E, P, EVNETS, MOUS from Output Start (octal) ommand ode 0, 0, Word Parameter,, Word Parameter,, 0 Word ontrol PU to TRIO() it Offsets: PL, E, P, EVNETS, MOUS it Offsets: PL, E, P, EVNETS, MOUS Word Offsets: PL, E, P, EVNETS, MOUS from Input Start (octal) Output Enabled,.0,.0 Position Loaded,.,. Output Suspended, 0.,. Output ctive,.,. Output Stalled,.,. ommand Error,.,. ommand omplete,.,. from Output Start (octal) from Output Start (octal) Word Parameter 0, 0, Read as: Enable Output,.0,.0 Level Go to Position,.,. Rising Edge Suspend Output, 0.,. Level irection,.,. Level Process ommand,.,. Rising Edge L NI ounter I/O User Manual, rd Edition

63 hapter : Output Functions Parameter Word Parameter defines three elements of the Run to Position routine. it determines if the specified position is greater than or equal or less than the current Input Function position value. its and determine which Input Function to use for the comparison. The low byte specifies the duty cycle. Specified Position (Parameter ) is: Parameter it Parameter its & Parameter (Hex) (uty cycle at 0%) Less than h/fn Greater than h/fn Less than h/fn Greater than h/fn 0 00 Less than h/fn Greater than h/fn 0 00 Less than h/fn Greater than h/fn 00 omparison its.. Greater Than or Equal 000, Hex Less Than 0000, 0Hex Input Function its.. h Fn 0000, 0Hex h Fn 000, Hex h Fn 000, Hex h Fn 00, Hex 0 ounter I/O User Manual, rd Edition

64 hapter : Output Functions 0 Steps Run at Velocity on TRIO() until Input Function Value Position Name ommand ode PL ontrol Outputs ase ddr = V00 (it-of-word) V00 PL Status Inputs ase ddr = V000 (it-of-word) PL ontrol Outputs ase ddr = V00 (ontrol Relay) -0 V00 Parameter V0 V0 Parameter V0 N/ V0 Parameter V0 / V00 0 L NI Set irection Process ommand ommand Status ommand Error Enable Output Output ctive Status Suspend Output Output Suspended V0 / V00 V0. V0. N/ V0. N/ PL Status Inputs ase ddr = V000 (ontrol Relay) -0 N/ V0. ction Set to Hex (Pulse at velocity until Function Input Limit) Set initial run frequency, decimal TRIO: 0Hz-000Hz TRIO: 0Hz - 000Hz its -: omparison its -: Input Function to use Low yte: uty cycle (-) (can leave 0 for 0%) Hex Specified position for Input Function Word to compare against, decimal Set ON or OFF for irection of Rotation Turn ON ommand omplete status bit is returned (see step ) When ON, command has been accepted, clear Process ommand bit (step ) ON if ommand or Parameters are invalid V0.0 N/ 0 N/ Turn ON to start pulses N/ V0. N/ V0. N/ N/ N/ V0. N/ ON while pulsing, OFF when position is reached Turn ON to pause output pulses without resetting pulse count ON when out pulse train has been suspended ounter I/O User Manual, rd Edition

65 hapter : Output Functions PRMETERS: () [irection] Out0-: n+. Out-: n+. () [EnableOutput] Out0-: n+.0 Out-: n+.0 () [OutputEnabled] Out0-: n+.0 Out-: n+.0 Run To Position Mode (Ioxes) Success Start Make sure a TRIO (I-000) "TRIO onfig" is programmed at top of ladder Execute TRRTPM (I-0) "TRIO Run To Position Mode" Success or Error? () Set [irection] = ON/OFF () Set [EnableOutput] = ON [OutputEnabled] TRIO: Outputs pulses as specified Position reached? Reset [EnableOutput] = OFF STOP Error Set Frequency Set uty ycle Reset [EnableOutput] = OFF New Frequency or uty ycle? hange irection? NOTE: n example program using these Ioxes can be found in the ppendices of the irectlogi user manuals for L0, L0 and L0. Handle Error 0 ounter I/O User Manual, rd Edition

66 hapter : Output Functions 0 PRMETERS: () [ommandode]: Out0-: n+0 Out-: n+ () [Parameter] Out0-: n+ Out-: n+ () [Funct-uty] Out0-: n+ Out-: n+0 () [Parameter] Out0-: n+0- Out-: n+- () [Processmd] Out0-: n+. Out-: n+. () [mdomplete] Out0-: n+. Out-: n+. () [mderror] Out0-: n+. Out-: n+. () [irection] Out0-: n+. Out-: n+. () [EnableOutput] Out0-: n+.0 Out-: n+.0 (0) [OutputEnabled] Out0-: n+.0 Out-: n+.0 KEY: xxyy (hex): xx: Funct 00 = <h/fn 0 = >h/fn 0 = <h/fn = >h/fn 0 = <h/fn = >h/fn 0 = <h/fn = >h/fn yy: uty ycle Run To Position Mode (L-PL) Start () Set [ommandode] = (hex) () Set [Parameter] = Frequency (decimal) () Set [Funct-uty] = xxyy (hex) () Set [Parameter] = Position (decimal) () Set [Processmd] = ON [mdomplete] [mderror] Reset [Processmd] = OFF () Set [irection] = ON/OFF () Set [EnableOutput] = ON [OutputEnabled] TRIO: Outputs pulses as specified Position reached? Reset [EnableOutput] = OFF STOP Set Frequency Set uty ycle Reset [EnableOutput] = OFF New Frequency hange or uty ycle? irection? Handle Error ounter I/O User Manual, rd Edition

67 hapter : Output Functions Run to Position Mode with irectsoft Iox Instructions This is the equivalent ladder using Iox instructions in irectsoft to the ladder shown on the previous page. Turn on 0 to run the pulse profile. Once running, velocity and duty cycle can be changed on the fly by loading new values into V0 and V0 respectively. L NI 0 ounter I/O User Manual, rd Edition

68 hapter : Output Functions 0 Run to Position Mode Example The following example program loads and executes a Run to Position Mode pulse profile. Turn L NI on 0 to run the pulse profile. Once running, velocity and duty cycle can be changed on the fly by loading new values into V0 and V0 respectively. irect SP0 0 Set irection Initialize Settings 0 Reset ount First Scan Initialize Settings This rung loads Target Velocity, ompare format, uty ycle, Input Function and Position ompare Value into the Parameter registers. Initialize Settings ommand omplete omplete ommand Error L OUT L OUT L OUT L OUT K V00 V000 V0 K000 V0 V00 V00 0. ( SET ) ( SET ) 0. ( OUT ) 0. ( RST ) 0.0 ( SET ) ( RST ) 0.0 ( RST ) 0. ( OUT ) ( EN ) irection Load Run to Position Mode0x (Hex) ommand ode Register Target Velocity (ecimal) Parameter : Run Frequency Specifies Parameter is Greater than or Equal to hfn Value and 0% duty cycle (Hex) Parameter : Function/uty ycle Specified position to compare against Input Function Value (ecimal) Parameter : Input Function Word value for Position omparison Process ommand Initialize Settings omplete Process ommand Enable Output Initialize Settings omplete Enable Output Input ounter Reset This rung waits for the ommand omplete bit with no ommand Error before Enabling the Output. This rung stops the pulse output by disabling the Enable Output bit. ounter I/O User Manual, rd Edition

69 hapter : Output Functions Raw Output The TRIO() module supports Raw output mode. This L NI mode allows the PU/controller program to have direct access to the module s output points. Each output can be configured for Raw output mode and each will have a unique control bit. Refer to Output ontrol it efinitions (Raw Mode) in ppendix for Raw output control bit addressing. The module output terminals are represented by the 0,,, and boxes (0 and for the H0-TRIO()) on the Outputs tab at the right side of this onfigure IO dialog box. M Y Y M N 0 Y0 Y 0 ounter I/O User Manual, rd Edition