Table of Contents. Chapter 1: Introduction to the CTRIO & CTRIO2 Modules. Chapter 2: Getting Started, Basics and Examples

Transcription

1 Chapter 1: Introduction to the CTRIO & CTRIO2 Modules Introduction Conventions Used CTRIO and CTRIO2 Module Overview Available Functions Unsuitable Applications Support Systems for the CTRIO(2) Modules H0 CTRIO(2) H2 CTRIO(2) H4 CTRIO T1H CTRIO CTRIO(2) Specifications H0 CTRIO(2) LED Indicators H2 CTRIO(2) LED Indicators H4 CTRIO LED Indicators T1H CTRIO LED Indicators Overview, How it Works as Part of the Control System Basic Operation CTRIO Workbench CTRIO(2) Module Work Flow Diagram Chapter 2: Getting Started, Basics and Examples Overview Basic Motion Functions, Summary of Examples Get Position Using an Encoder Get Rate Using an Encoder

2 Measure Timing Between Pulse Edges Output Position Pulses Home an Output Output PWM Pulses Programmable Limit Switch or Preset Tables Output Discrete On/Off From Ladder Detailed Example: Configure and Test a Quadrature Input Basic Steps Equipment Needed Launch CTRIO Workbench Config I/O I/O Map Download Configuration Monitor I/O Detailed Example: Configure and Test Pulse Output with a Trapezoidal Profle Basic Steps Launch Workbench Config I/O I/O Map Pulse Profile Tables Download Configuration Monitor I/O Flow Chart Example: Configure and Test a Pulse Output with a Trapezoidal Profile Chapter 3: Installation and Field Wiring Installing the H0 CTRIO(2) Module CPU and CTRIO Compatibility Chart Setting H0 CTRIO(2) Jumpers Wiring the H0 CTRIO(2) Module H0-CTRIO(2) Quadrature Encoder Wiring Example H0 CTRIO(2) TTL Quadrature Encoder Field Wiring H0 CTRIO(2) TTL Input Wiring H0 CTRIO(2) Output Wiring Schematic H0 CTRIO(2) Stepper/Servo Drive Wiring Example Solid State Input Device Wiring to the H0-CTRIO(2) Module ii

3 Installing the H2 CTRIO(2) Module CPU and CTRIO Compatibility Chart Setting H2 CTRIO(2) Jumpers Wiring the H2 CTRIO(2) Module H2 CTRIO(2) Quadrature Encoder Wiring Example H2 CTRIO(2) TTL Quadrature Encoder Field Wiring H2 CTRIO(2) TTL Input Wiring H2 CTRIO(2) Output Wiring Schematic H2 CTRIO(2) Stepper/Servo Drive Wiring Example Solid State Input Device Wiring to the H2-CTRIO(2) Module Installing the H4 CTRIO CPU and CTRIO Compatibility Chart Wiring the H4 CTRIO Module H4 CTRIO Quadrature Encoder Wiring Example H4 CTRIO TTL Quadrature Encoder Field Wiring H4 CTRIO TTL Input Wiring H4 CTRIO Output Wiring Schematic H4 CTRIO Stepper/Servo Drive Wiring Example Solid State Input Device Wiring to the H4-CTRIO Module Installing the T1H CTRIO CPU and CTRIO Compatibility Chart Wiring the T1H CTRIO Module T1H CTRIO Input Field Wiring T1H CTRIO Output Field Wiring T1H CTRIO Quadrature Encoder Wiring Example T1H CTRIO TTL Quadrature Encoder Field Wiring T1H CTRIO TTL Input Wiring T1H CTRIO Output Wiring Schematic T1H CTRIO Stepper/Servo Drive Wiring Example Solid State Input Device Wiring to T1H CTRIO Module iii

4 Chapter 4: Workbench Overview Configuring a CTRIO Module for Do-more CPUs What is CTRIO Workbench? Installing CTRIO Workbench Getting Started with CTRIO Workbench Offline CTRIO Configuration Online CTRIO Configuration Successful On line Connection Module Modes of Operation Program Mode Configuring the CTRIO(2) Module Run Mode Start Processing I/O Pulses with the CTRIO(2) Module Suspend (Output Reads) Chapter 5: CTRIO Workbench, Configuring Inputs Configure I/O Dialog Overview Input Function Selections Making Selections Counter Function Quadrature Counter Pulse Catch Edge Timer Dual Edge Timer Reset Fn1 and Reset Fn2 (Hard Resets for Counters Only) Soft Resets Capture Fn Inhibit Fn Limit Out Introduction to the Scaling Wizard Scaling Wizard Examples for Counter Functions Position Scaling (Counter) Rate Scaling (Counter) Using the Scaling Wizard with Timer Functions Interval Scaling (Timer) iv

5 Chapter 6: CTRIO Workbench Configuring Outputs Configure I/O Dialog Overview Output Function Selections Supported Functions CTRIO Memory Usage: Pulse Profiles and Preset Tables Raw Output Discrete Outputs Creating and Using a Single Preset Creating and Using the Programmable Limit Switch (CTRIO2 only) Creating and Using the Output Preset Tables Using the Discrete Outputs in Level Mode Using the Discrete Output for Pulse Output Function Pulse Outputs Creating Pulse Profiles Chapter 7: CTRIO Workbench, I/O Map I/O Map Dialog I/O Map with DirectLogic PLC (2 ranges) I/O Map with DirectLOGIC PLC (4 ranges) I/O Map with DirectLOGIC PLC with CTRIO(2) in ERM/EBC Network I/O Map with EBC/WinPLC I/O Map with an H2-PBC or T1H-PBC Profibus DP Controller Creating an Offline File for H2-CTRIO(2)/T1H-CTRIO Module Printing a Memory Map Report Exporting to DirectSOFT Chapter 8: CTRIO Workbench, Monitor I/O Table of Contents Using the Monitor I/O Dialog I/O Status & Input Functions Output Functions System Functions Monitor I/O Error Codes v

6 Chapter 9: Output Functions vi Runtime Changes to CTRIO Configured Preset Tables (DL PLCs) Entry Number for Edit Table Entry Commands Entry Type for Edit Table Entry Commands Pulse Output Profiles (DL PLCs) Fixed, Predefined Profiles Trapezoid Profile S Curve Profile Symmetrical S Curve Profile Home Search Profile Home Search Routines Free Form Profile Pulse Output Status/Control Bits and Command Codes (DL PLCs) Trapezoid, S-Curve, Symmetrical S-Curve, Home Search, Free Form Profiles Command Code and Parameter Definitions Running a Trapezoid, S-Curve, Symmetrical S-Curve Profile, Home Search or Free Form Profile on CTRIO(2) Y0 & Y DirectLOGIC Programming Examples Overview Load and Run a Pulse Profile Trapezoid with Limits Profile Trapezoid with Limits (CTRIO2) Profile Pulse Output Status/Control Bits and Command Codes (DL PLCs) Load and Run a Trapezoid with Limits Profile Trapezoid Plus (CTRIO2) Profile Pulse Output Status/Control Bits and Command Codes (DL PLCs) Load and Run a Trapezoid Plus or Trapezoid with Limits Profile Dynamic Positioning Plus and Dynamic Positioning Profiles Dynamic Positioning Plus (CTRIO2) Profile Pulse Output Status/Control Bits and Command Codes (DL PLCs) Dynamic Positioning or Dynamic Positioning Plus Using the CTRIO(2) Y0 and Y Dynamic Positioning/Positioning Plus Example Dynamic Velocity Profile Pulse Output Status/Control Bits and Command Codes (DL PLCs)

7 Dynamic Velocity Using the CTRIO(2) Y0 and Y Dynamic Velocity Example Velocity Mode Pulse Output Status/Control Bits and Command Codes (DL PLCs) Velocity Mode control on CTRIO(2) Y0 and Y Velocity Mode Example Run to Limit Mode Pulse Output Status/Control Bits and Command Codes (DL PLCs) Run at Velocity on CTRIO(2) Y0 and Y Run to Limit Mode Example Run to Position Mode Pulse Output Status/Control Bits and Command Codes (DL PLCs) Run at Velocity on CTRIO(2) until Input Function Value Position Run to Position Mode with DirectSOFT IBox Instructions Run to Position Mode Example Raw Output Pulse Output Status/Control Bits and Command Codes (DL PLCs) Chapter 10: Input Functions Table of Contents Input Memory Mapping for Counter Data Transfer Example Input Control/Status Bits and Parameter Register Addresses Input(n) Parameter Definitions Counter & Quadrature Counter Input Function Status Bit Definitions Input Memory Map for Scaled Counter Data Input(n) Parameter Definitions Counter & Quadrature Counter Input Function Status Bit Definitions Input Memory Map for Capture Count Data Transfers Input(n) Parameter Definitions Input Function Status Bit Definitions Input Memory Map for Edge Timer and Dual Edge Timer Input(n) Parameter Definitions Input(n) Parameter Edge Timer and Dual Edge Timer Edge and Dual Edge Timer Timeout Function vii

8 Input Function Status Bit Definitions Inhibit Input(n) Parameter Definitions Input Function Status Bit Definitions Input Memory Map for Pulse Catch Data Transfers Input(n) Parameter Definitions Input Function Status Bit Definitions Chapter 11: Runtime Table Functions Introduction to Runtime Table Functions Preset Tables and Programmable Limit Switch (PLS) Tables Load Preset Table Load Table Clear Preset Table Create Preset Table (Initialize Table) Create Preset Tables on Reset (Initialize Table on Reset) Add Entry to Preset Table Edit Preset Table Entry Edit Preset Table Entry and Reload Write File to ROM Create Preset Table on Reset Update Level (Edit Level Response) Appendix A: Memory Mapping Input Memory Map for data Transfers from CTRIO(2) to DL-CPUs... A-2 Input(n) Parameter Definitions... A-2 Input Function Status Bit Definitions... A-3 Output Status Bit Definitions (for Preset Table Control)... A-3 Output Status Bit Definitions (Pulse Output)... A-3 Output Memory Map for data Transfers from DL-CPUs to CTRIO(2)... A-4 Output Parameter Definitions... A-4 Output(n) Parameter Definitions Based on User Program... A-5 Input(n) Function Control Bit Definitions... A-5 Output(n) Control Bit Definitions... A-5 System Functions Status Bit Definitions... A-6 Addressing Conventions... A-7 viii

9 Addressing High and Low Byte of Word Parameters... A-7 Addressing High and Low Word of DWord Parameters... A-7 Input Function Status/Control Bits and Parameters... A-8 Input Function Status Bit Definitions... A-8 Input(n) Function Control Bit Definitions... A-8 Input Function Status DWord Parameters... A-8 Example Input Control/Status Bits and Parameter Register Addresses... A-9 Memory Mapping Example for D2-240 CPU... A-10 Appendix B: System Functions Table of Contents System Functions... B-2 Write all Registers (DL-PLC)... B-3 Write One Register (IBoxes)... B-4 Write One Register (DL-PLC)... B-5 Read Error Code (IBoxes)... B-6 Read Error Code (DL-PLC)... B-7 ix

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