Topic: DMD0522

CTAXJOG - CTRIO2 Axis Jog Mode

Note: The CTAXJOG instruction can only be used with the CTRIO2 module.

The CTRIO2 Axis Jog Mode (CTAXJOG) instruction is used to put the Pulse Output Device into the Jog Mode, allowing forward and reverse manually controlled moves to be easily commanded. Once in Jog Mode, moves are commanded by turning ON either the FW (Forward) or RV (Reverse) input leg. The moves will execute using the parameters defined by a previously executed Axis Configuration (CTAXCFG) instruction. Click here for more information on the Axis Configuration instruction.

CTAXJOG acts as a simple velocity move with an optional slower speed (Alternate Maximum Frequency) than was configured for the axis by the CTAXCFG instruction.

The red triangle in the upper left corner indicates the CTRIO2 Axis Jog Mode (CTAXJOG) is a Fully Asynchronous instruction.

Inputs:

The first input (E/R) in the Enable / Reset input. When this input logic is ON the specified Pulse Output will be enabled (.OutputEnabled = ON) and as long as both the FW input logic and the RV input logic are OFF then the specified Pulse Output will also be suspended (.OutputSuspended = ON).

The second input (FW) is the Forward input. When the E/R input is ON and this input logic is ON the CTRIO2 will emit pulses for the forward (clockwise) direction, ramping up to the Maximum Frequency using the Acceleration Rate specified in the Axis Configuration (CTAXCFG) instruction - if an optional Alternate Maximum Frequency is specified the ramp will use this value instead. When FW goes OFF the CTRIO2 will ramp down to zero using the Deceleration Rate specified in the Axis Configuration (CTAXCFG) instruction.

The third input (RV) is the Reverse input. When the E/R input is ON and this input logic is ON the CTRIO2 will emit pulses for the reverse (counter-clockwise) direction, ramping up to the Maximum Frequency using the Acceleration Rate specified in the Axis Configuration (CTAXCFG) instruction - if an optional Alternate Maximum Frequency is specified the ramp will use this value instead. When RV goes OFF the CTRIO2 will ramp down to zero using the Deceleration Rate specified in the Axis Configuration (CTAXCFG) instruction.

Note: if both the Forward (FW) and Reverse (RV) inputs are ever on at the same time the CTRIO2's output will be suspended and will decelerate to zero (0) at the Deceleration Rate specified in the Axis Configuration (CTAXCFG).

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 CTRIO2 Devices to interact with. Before this instruction can select a Pulse Output Device, a CTRIO2 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 CTRIO2 devices go to the Module Configuration Section under System Configuration.

Note: no devices available - indicates that there are no CTRIO2 Devices that have been pre-configured to perform this instruction. Selecting 'create module' from the drop-down list will invoke the Create New Module Configuration dialog.

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 CTRIO2 module was configured during the Module Configuration phase.

Zero Count at Completion - optionally elect to reset the current position value for the Pulse Output (.OutputPosition = 0) once the E/R input logic is OFF signifying the completion of the CTRIO2 Axis Jog Mode (CTAXJOG).

Alternate Maximum Frequency - optionally designates the frequency (in pulses per second) that the pulse output will ramp towards that is different from what is specified in the Axis Configuration (CTAXCFG) instruction. This can be any positive constant value or any readable numeric location.

On Success - designates which of the following actions to take if the CTRIO2 Axis Jog Mode operation was successful.

• SET BIT - The specific BIT location will be turned OFF when the CTRIO2 Axis Jog Mode (CTAXJOG) instruction is first enabled, and then SET ON when the instruction is subsequently 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 CTRIO2 Axis Jog Mode (CTAXJOG) 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 CTRIO2 Axis Jog Mode operation was unsuccessful. For example if this instruction tries to target a CTRIO module (not a CTRIO2), or if the specified output device is not configured as a Pulse Output.
 

• SET BIT - The specific BIT location will be turned OFF when the CTRIO2 Axis Jog Mode (CTAXJOG) 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 CTRIO2 Axis Jog Mode (CTAXJOG) instruction, you cannot specify a Stage in a different Program code block. This selection will function the same as 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 CTRIO2 generates an Error Code that can be read in the <Module Name>.ErrorCode (Module Name is the name assigned to the CTRIO2 in the Module Configuration). The List of Error Code values (in decimal) follows:

Status Display:

The Status display of the CTRIO2 Axis Jog (CTAXJOG) instruction shows:

• Values: .OutputPosition, Zero Count at Completion (if configured), Alternate Maximum Frequency (if configured)
   

• Hightlight: .OutputEnabled, .OutputActive, .Direction, .OutputSuspended, .OutputStalled bits
   

• ON/OFF: On Success, On Error bits

CTRIO2 Structure Field Care-Abouts:

The following is a list of the"dot" fields of each Pulse Output Structure that are programmatically used with the CTRIO2 Axis Jog Mode (CTAXJOG) instruction. To see a complete listing of all CTRIO structures and members, goto the Project Browser --> Configuration --> Memory --> I/O --> Specialty.

COLOR KEY

Blue: CTRIO2 Input

Maroon: CTRIO2 Output

Black: CTRIO2 Module

Silver: Not used for this instruction

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

See Also:

• CTRIO2 Axis Configuration
   

• CTRIO2 Axis Run Dynamic Position Mode
   

• CTRIO2 Axis Run Dynamic Velocity Mode
   

• CTRIO2 Axis Run Trapezoid
   

• CTRIO2 Axis Run Trapezoid w/ Limits
   

• CTRIO2 Axis Jog Mode

Example 1 of 2:

Description of a Typical CTRIO2 Axis Jog Mode (CTAXJOG) Stage Diagram:

To the right is a stage diagram of a simple sequence control that would use a stepper motor to manually home a machine.

Initially the Config stage waits for Begin to come ON. When Begin comes ON, the CTRIO2 axis is defined and the process transitions to the Home stage.

The Home stage remains enabled until the operator has manually positioned the machine to his satisfaction, then manually sets the Homed button.

The Stop stage simply exits the Program code block.

Description of a Typical CTRIO2 Axis Jog Mode (CTAXJOG) Stage Ladder:

To the right is the ladder equivalent of the above stage diagram that uses the CTAXJOG instruction to manually home a machine.

This example presupposes the existence of the following System Configuration for the CTRIO2 (PLC --> System Configuration --> Module Configuration(s) --> CTRIO_000 -->):

• Configure I/O --> Outputs --> Out0 --> Pulse (Step/Dir) or Pulse (CW/CCW).

• A stepper motor is wired to CTRIO2's Output 0 and Output 1.

Config is the initial stage and waits for the input Configure bit to come ON. When it does the CTRIO2 axis is configured using the CTAXCFG instruction. If there is an error then transition is made to the ErrorStage stage where ladder logic should exist (not shown here) that would properly handle the error (e.g. to process the $CTRIO_000.ErrorCode value). If the configuration was successful, then transition is made to the Home stage. Since the CTAXCFG is configured to Do Not Initialize Output Position then $CTRIO_000_Out0.OutputPosition is not zeroed.

Home is the main CTAXJOG instruction stage. This stage must be remain enabled during the entire jogging process. When the Jog bit is turned ON the following happens:

1. If there is an error then the transition is immediately made to the ErrorStage stage.

2. If there is no error, then the CTRIO2's Pulse Output is enabled ($CTRIO_000_Out0.OutputEnabled = ON).

3. The CTRIO2's Pulse Output is suspended ($CTRIO_000_Out0.OutputSuspended = ON).

4. The CTRIO2 Pulse Output Device is temporarily reconfigured to use a Maximum Frequency of 250 instead of the 1000 that was initially set by the CTAXCFG instruction.

The Jog bit will remain ON until the jogging process is complete. When the Jog bit is reset to OFF the CTAXJOG instruction terminates and transitions to the Stop stage.

The Forward and Reverse bits are used to move the motor clockwise and counter-clockwise respectively. When either one of these bits is set the $CTRIO_000_Out0.OutputSuspended bit will go OFF and the motor will accelerate to the Alternate Maximum Frequency value. When that bit goes OFF, the motor will decelerate back to zero and the $CTRIO_000_Out0.OutputSuspended bit will come back ON.

Once the CTAXJOG is disabled the following happens:

1. The CTRIO2 Pulse Output is disabled ($CTRIO_000_Out0.OutputEnabled = OFF).

2. Because of the CTAXJOG parameter "Zero Count at Completion", the CTRIO Output Position is zeroed ($CTRIO_000_Out0.OutputPosition = 0).

3. The CTRIO's Pulse Output is no longer suspended ($CTRIO_000_Out0.OutputSuspended = OFF).

4. The On Success transitions to the Stop stage.

The Stop stage merely exits this Program code block.

Example 2 of 2: