CTDYNPOS - CTRIO Run Dynamic Position Mode

DMD0516

CTDYNPOS - CTRIO Run Dynamic Position Mode

The CTRIO Run Dynamic Position Mode (CTDYNPOS) instruction is used to select and load a one of the pre-configured Dynamic Position or Dynamic Position Plus Profiles in the System Configuration for the CTRIO, and put the Pulse Output Device into Dynamic Position Mode, allowing successive moves to be easily commanded. Once in Dynamic Position Mode, moves are commanded by changing the Target Position value and setting (one-shot) the .GotoPosition bit for the Pulse Output Device. The moves will execute using the parameters defined in the specified profile.

The red triangle in the upper left corner indicates the CTRIO Run Dynamic Positioin Mode (CTDYNPOS) is a Fully Asynchronous instruction.

Note: The CTDYNPOS instruction can be used with both the CTRIO and CTRIO2 modules.

Inputs:

The first input (E/R) is the Enable / Reset input. When this input logic comes ON the Pulse Output Device is placed in the "Dynamic Positioning Mode", the specified Dynamic Position File Number will be loaded, the current position value will be set to 0 (e.g. .OutputPosition = 0) and the Output will be enabled (.OutputEnabled = ON). It must remain ON until all desired positions have been reached. When this input logic goes OFF the Pulse Output Device is removed from "Dynamic Positioning Mode", the Output will be disabled (.OutputEnabled = OFF) and the On Success or On Error bit is set.

The second input (SUS) is the Suspend input. This input has different effects on the CTRIO output depending on the pulse profile specified by the Dynamic Position File Number parameter:

DEVICE	CTRIO/CTRIO2 PULSE PROFILE	EFFECT
CTRIO2	Dynamic Positioning	When SUS input comes ON the CTRIO2 will abruptly stop emitting output pulses. When SUS input returns to OFF the CTRIO2 will abruptly start emitting the remaining output pulses. (Refer to Abrupt Suspend picture below)
CTRIO2	Dynamic Positioning Plus (CTRIO2)	When SUS input comes ON, the CTRIO2 will ramp down to zero using the Decel Rate specified in the Dynamic Positioning Plus (CTRIO2) profile. When SUS input returns to OFF the CTRIO2 will ramp up to the Maximum Freq using the Accel Rate both which are specified in the Dynamic Positioning Pluse (CTRIO2) profile. (Refer to Deceleration Suspend picture below)
CTRIO	Dynamic Positioning	When SUS input comes ON the CTRIO will abruptly stop emitting output pulses. When SUS input returns to OFF the CTRIO will abruptly start emitting the remaining output pulses. (Refer to Abrupt Suspend picture below)
CTRIO	Dynamic Positioning Plus (CTRIO2)	Note: Attempting to use this pulse profile with the CTRIO will result in an Error 103 (see chart below).

Abrupt Suspend

Deceleration Suspend

Parameters:

Note: Use the F9 key (Element Browser) or Down-Arrow key (Auto-Complete) at any time to see a complete list of the memory locations that are valid in the current field of the instruction.

Pulse Output Device - designates which of the pre-configured CTRIO Devices to interact with. Before this instruction can select a Pulse Output Device, a CTRIO Device must be configured with at least one of its output channels setup for Pulse/Direction or CW/CCW pulse output mode.

Part of the configuration for a device is assigning a name to the device. It is that name which will show up in the Pulse Output Device selection drop-down menu. For more information on configuring CTRIO devices go to the Module Configuration Section under System Configuration.

Note: no devices available - indicates that there are no CTRIO Devices that have been pre-configured to perform this instruction.

Note: create module - Selecting this will immediately pull up the System Configuration and allow the creation of a new module (see Module Configuration Section under System Configuration.)

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

Dynamic Position File Number - designates which Dynamic Position Profile to Run. The profile can be specified in one of the following three ways:

Fixed File - displays a list of the Dynamic Position Profiles that were read from the CTRIO module during the Module Configuration phase. Select the desired profile from the list. Available Profiles:

PROFILE (Silver text indicates the profile cannot be used with CTDYNPOS)	CTRIO	CTRIO2
Trapezoid
S-Curve
Symmetrical S-Curve
Dynamic Positioning	Yes	Yes
Dynamic Velocity
Home Search
Free Form
Dynamic Positioning Plus (CTRIO2)	No	Yes
Trapezoid Plus (CTRIO2)
Trapezoid w/Limits (CTRIO2)

Variable File Number - designates a location in the Do-more controller where the Dynamic Position Profile number will be read. This can be any readable numeric location.
Constant File Number - specify the Dynamic Position Profile number as a constant number from 1 to 255.

Target Position - specifies the next target position value for the Dynamic Position Profile. The direction (clockwise or counter-clockwise) is inferred from the difference between the Target Position and the current position (.OutputPosition), that is, if the Target Position is greater than the current position, pulses for a clockwise move are emitted; if the Target Position is less than the current position, pulses for a counter-clockwise move are emitted. This can be any positive or negative constant value or any readable numeric location.

On Success - designates which of the following actions to take if the CTRIO Run Dynamic Position Mode operation is successful.

Note: On Success is not indicated upon the completion of every move (.GotoPosition bit transitioning from OFF to ON). Instead, the .AtPosition bit of the Pulse Output Device structure is the proper feedback bit for each move. In other words, while the E/R (Enable / Reset) input is ON, the Pulse Output Device is considered in the "Dynamic Position Mode". When the E/R (Enable / Reset) input goes OFF, this is when On Success will be indicated.

Set bit - The specific BIT location will turn OFF when the CTRIO Run Dynamic Position Mode (CTDYNPOS) instruction is first enabled, and then SET ON when the instruction is disabled, if the operation is successful. This value can be any writable bit location.
JMP to Stage - JMP to the specified Stage. The target Stage must be in the same Program code block as the CTRIO Run Dynamic Position Mode (CTDYNPOS) instruction, you cannot specify a Stage in a different Program code block. This selection will function like a standalone Jump to Stage instruction. Click here for more information on the Jump To Stage instruction.

On Error - designates which of the following two actions to take if the CTRIO Run Dynamic Position Mode (CTDYNPOS) operation is unsuccessful. For example if the specified Dynamic Position Profile is missing, or the specified Profile number is the wrong type for a Pulse Output.

Set bit - The specific BIT location will turn OFF when the CTRIO Run Dynamic Position Mode (CTDYNPOS) instruction is first enabled, and then SET ON if the operation is unsuccessful. This value can be any writable bit location.
JMP to Stage - JMP to the specified Stage. The target Stage must be in the same Program code block as the CTRIO Run Dynamic Position Mode (CTDYNPOS) instruction, you cannot specify a Stage in a different Program code block. This selection will function like a standalone Jump to Stage instruction. Click here for more information on the Jump To Stage instruction.

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 CTRIO Run Dynamic Position Mode (CTDYNPOS) instruction shows:

Values: .OutputPosition, Target Position, Dynamic Position File Number
Highlights: .OutputEnabled, .OutputActive, .AtPosition, .OutputSuspended, .OutputStalled, .GotoPosition bits.
ON/OFF: On Success, On Error bits

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 Run Dynamic Position Mode (CTDYNPOS) instruction. To see a complete listing of all CTRIO structures and members, goto 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	CTDYNPOS
MEMBER	R/W	TYPE	DESCRIPTION
_CxFx.AtResetValue	RO	Bit	ON if CxFx count is at reset value
_CxFx.CaptureComplete
_CxFx.CapturedStart
_CxFx.CountCaptured
_CxFx.EnableCapture
_CxFx.fReg1	RO	Dword	If floating-point scaling is configured for CxFx in CTRIO2: Floating-point scaled value; otherwise, number has no meaning
_CxFx.fReg2
_CxFx.iReg1	RO	Dword	If integer or BCD scaling is configured for CxFx in CTRIO2: Signed-integer or BCD scaled value; otherwise, signed-integer raw count
_CxFx.iReg2	RO	Dword	If any scaling is configured for CxFx in CTRIO2: Signed-integer raw count; otherwise, number has no meaning
_CxFx.Output
_CxFx.Reset	R/W	Bit	ON to reset CxFx count
_CxFx.Timeout
_Outx.AtPosition	RO	Bit	ON when CTRIO has reached Target Position
_Outx.AtVelocity
_Outx.Direction	RO	Bit	If using CTRIO2: ON when motor is moving counter-clockwise
_Outx.EnableOutput
_Outx.GotoPosition	R/W	Bit	Set ON to initiate a move; CTRIO resets OFF when moving
_Outx.Output
_Outx.OutputActive	RO	Bit	ON when CTRIO output is generating pulses
_Outx.OutputEnabled	RO	Bit	ON when E/R input comes ON which enables CTRIO output
_Outx.OutputPosition	RO	Dword	Output raw position (or encoder feedback position if using a Dynamic Position Plus (CTRIO2) profile and "Use Encoder for Position" is selected)
_Outx.OutputStalled	RO	Bit	ON if CTRIO output cannot generate pulses because its scantime is too high
_Outx.OutputSuspended	RO	Bit	ON when the SUS input comes ON which suspends the CTRIO output
_Outx.OutputVelocity	RO	Dword	If using CTRIO2: Current pulses per second rate being output by the CTRIO2
_Outx.TableComplete
.ErrorCode	RO	Word	Last CTRIO error code
.Mode	RO	Word	Indicates CTRIO mode: 2 = RUN; 1 = PROGRAM
.ScanTime	RO	Word	CTRIO scantime in microseconds
.MaxScanTime	RO	Word	Maximum CTRIO scantime 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

Example 1 of 2:

Description of a Typical CTRIO Run Dynamic Position Mode (CTDYNPOS) Stage Diagram:

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

Initially the Position stage waits for the CTDYNPOS to put the CTRIO pulse output in the Dynamic Position mode. Once this is complete (Enabled = ON) then the Move stage is enabled (not transitioned to). The reason for this is because the Position stage must be left enabled to keep the CTRIO pulse output in the Dynamic Position mode until the last move is complete.

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

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

The Stop stage simply exits this Program code block.

Description of a Typical CTRIO Run Dynamic Position Mode (CTDYNPOS) Stage Ladder:

To the right is the ladder equivalent of the above stage diagram that uses the CTDYNPOS instruction which will move a stepper motor attached to the CTRIO's pulse output to any number of subsequent positions utilizing a pre-configured pulse profile, and then stop.

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

Configure I/O --> Outputs --> Out0 --> Pulse (Step/Dir) or Pulse (CW/CCW).
Pulse Profiles --> Add --> Name: DynaPos, Profile Type: Dynamic Positioning, with values for Minimum Freq, Maximum Freq and Accel Rate.
A stepper motor is wired to CTRIO2's Output 0 and Output 1.

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

The CTRIO's pulse output will be placed in the Dynamic Position Mode.
The CTRIO's pulse output is enabled ($CTRIO_000_Out0.OutputEnabled = ON).

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

The CTDYNPOS's SUS (Suspend) input is controlled by the Suspend bit. This bit must remain OFF for any given move to complete. Turning this bit ON will cause the CTRIO's output to immediately stop. Turning it back OFF will cause the CTRIO's output to abruptly start again and complete a move.

The On Success parameter jumps to the Stop stage. This will occur when PositionEnable is cleared OFF and everything was successful.

The On Error parameter jumps to the ErrorStage stage. In this stage should exist logic (not shown here) that would properly handle the error (e.g. to process the $CTRIO_000.ErrorCode value).

Once the CTDYNPOS is enabled, the $CTRIO_000_Out0.OutputEnabled bit will be set ON (this could take a couple of scans). When this occurs the next stage (Move) is enabled.

Move stage accomplishes all moves. In order to do this the newest position value is assumed to be already written to the Target and the $CTRIO_000_Out0.GotoPosition bit is set ON. The CTRIO will clear this bit when the move begins. Once the bit is cleared, then the $CTRIO_000_Out0.AtPosition bit is monitored for completion of the move. Once that bit is set ON by the CTRIO, this move is complete and the Move stage transitions to the InPos stage.

The InPos stage waits for either the NextMove or Done bit. If this was not the last move, then a new position value is written to the Target variable and the NextMove bit is toggled. This causes a transition back to the Move stage. If this was the last move, then the Done bit is toggled. This disables the InPos stage and resets the PositionEnable bit.

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

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

The Stop stage merely exits this Program code block.