CTRIO2 - Axis Run Dynamic Velocity Mode

Topic: DMD0521

CTAXDYNV - CTRIO2 Axis Run Dynamic Velocity Mode

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

The CTRIO2 Axis Run Dynamic Velocity Mode (CTAXDYNV) instruction is used to put the Pulse Output Device into the Dynamic Velocity Mode, allowing successive velocities to be easily commanded. Once in Dynamic Velocity Mode, velocities are commanded by simply changing the Frequency value. The velocities will execute using the parameters defined by an Axis Configuration (CTAXCFG) instruction. Click here for more information on the Axis Configuration instruction.

The red triangle in the upper left corner indicates the CTRIO2 Axis Run Dynamic Velocity Mode (CTAXDYNV) is a Fully Asynchronous instruction.

Inputs:

The first input (E/R) in the Enable / Reset input. When this input logic is ON the Pulse Output Device is placed in the "Dynamic Velocity Mode" and the Output will be enabled (.OutputEnabled = ON).

The second input (SUS) is the Suspend input.

When this input logic transitions ON, the CTRIO2 will ramp down to zero using the Deceleration Rate specified in the Axis Configuration (CTAXCFG). Click here for more information on the Axis Configuration instruction. No additional pulses will be emitted as long as this input remains ON.

When this input logic transitions, OFF the CTRIO2 will ramp up to the Maximum Frequency using the Acceleration Rate specified in the Axis Configuration (CTAXCFG). Click here for more information on the Axis Configuration instruction.

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.

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.

Frequency - specifies the frequency for the Dynamic Velocity Profile. This can be any positive or negative constant value in the range of 0 to 250000 for the CTRIO2, or any readable numeric location.

On Success - designates which of the following actions to take if the CTRIO2 Axis Run Dynamic Velocity Mode operation is successful.

Note: On Success is not indicated upon the every Frequency value change. While the E/R (Enable / Reset) input is ON, the Pulse Output Device is considered in the "Dynamic Velocity 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 CTRIO2 Axis Run Dynamic Velocity Mode (CTAXDYNV) 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 CTRIO2 Axis Run Dynamic Velocity Mode (CTAXDYNV) 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 Run Dynamic Velocity Mode operation is unsuccessful. For example if the specified Dynamic Velocity Profile is missing (i.e. an Axis Configuration (CTAXCFG) instruction has not been executed beforehand).

SET BIT - The specific BIT location will turn OFF when the CTRIO2 Axis Run Dynamic Velocity Mode (CTAXDYNV) 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 Run Dynamic Velocity Mode (CTAXDYNV) 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 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:

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 CTRIO2 Axis Run Dynamic Velocity Mode (CTAXDYNV) instruction shows:

Values: .OutputVelocity, .OutputPosition, Frequency
Hightlight: .OutputEnabled, .OutputActive, .OutputSuspended, .OutputStalled, .AtVelocity bits
ON/OFF: On Success, On Error bits

CTRIO2 Structure Field Care-Abouts:

The following is a list of the"dot" fields of the CTRIO2 structure that are programmatically used with the CTRIO2 Axis Run Dynamic Velocity Mode (CTAXDYNV) 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.

CTRIO_000	CTAXDYNV
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	Set ON to reset CxFx count
_CxFx.Timeout
_Outx.AtPosition
_Outx.AtVelocity	RO	Bit	ON when CTRIO2 has reached Frequency
_Outx.Direction	RO	Bit	ON when motor is moving counter-clockwise
_Outx.EnableOutput
_Outx.GotoPosition
_Outx.Output
_Outx.OutputActive	RO	Bit	ON when CTRIO2 output is generating pulses
_Outx.OutputEnabled	RO	Bit	ON when E/R input comes ON which enables CTRIO2 output
_Outx.OutputPosition	RO	Dword	CTRIO2 output raw position (or encoder feedback position if CTAXCFG is configured as such)
_Outx.OutputStalled	RO	Bit	ON if CTRIO2 output cannot generate pulses because its scantime is too high
_Outx.OutputSuspended	RO	Bit	ON when the SUS input comes ON which suspends the CTRIO2 output
_Outx.OutputVelocity	RO	Dword	Current pulses per second rate being output by the CTRIO2
_Outx.TableComplete
.ErrorCode	RO	Word	Last CTRIO2 error code
.Mode	RO	Word	Indicates CTRIO2 mode: 2 = RUN; 1 = PROGRAM
.ScanTime	RO	Word	CTRIO2 scantime in microseconds
.MaxScanTime	RO	Word	Maximum CTRIO2 scantime in microseconds
.InputState	RO	Word	Upper byte is not used. Lower byte's nibbles indicate CTRIO2'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 CTRIO2 output configuration and state: .OutxType, .OutxDiscOn, .OutxDiscEnabled, .OutxPulseActive. It is a composite of these members
.ChxA	RO	Bit	ON when CTRIO2 Channel x Input A is ON
.ChxB	RO	Bit	ON when CTRIO2 Channel x Input B is ON
.ChxC	RO	Bit	ON when CTRIO2 Channel x Input C is ON
.ChxD	RO	Bit	ON when CTRIO2 Channel x Input D is ON
.OutxType	RO	Bit	Configuration: ON if CTRIO2 output x is configured for pulse output
.OutxDiscOn	RO	Bit	Status: ON if CTRIO2 output x logic is ON (if output x is enabled then the physical output will also be ON)
.OutxDiscEnabled	RO	Bit	Configuration: ON if CTRIO2 output x is configured for discrete output
.OutxPulseActive	RO	Bit	Status: ON if CTRIO2 output x is generating pulses

Example 1 of 2:

Description of a Typical CTRIO2 Axis Run Dynamic Velocity Mode (CTAXDYNV) Stage Diagram:

To the right is a stage diagram of a simple sequence control that would run a motor at any number of different velocities.

Initially the Config stage waits for Configure to come ON. When it does, the CTRIO2 axis is defined and the process transitions to the Velocity stage.

The Velocity stage puts the CTRIO2 pulse output in the Dynamic Velocity mode. Once this is complete (OutEn = ON) then the RunVel stage is enabled (not transitioned to). The reason for this is because the Velocity stage must be left enabled to keep the CTRIO2 pulse output in the Dynamic Velocity mode through the whole process.

In the RunVel stage exists ladder logic that would write any number of velocity values as needed for the process. When the last velocity has finished, then Done comes on and it transitions to the Stop stage where the Program code block is exited.

Description of a Typical CTRIO2 Axis Run Dynamic Velocity Mode (CTAXDYNV) Stage Ladder:

To the right is the ladder equivalent of the above stage diagram that uses the CTAXDYNV instruction which will run a stepper motor attached to the CTRIO2's pulse output at any number of velocities using a movement profile that is defined by the CTAXCFG instruction. Click here for more information on the CTAXCFG instruction.

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 Velocity stage.

Velocity stage is the main CTAXDYNV instruction stage. This stage must remain enabled during the entire velocity process. When VelocityEnable bit comes ON the following happens:

The Pulse Output Device ($CTRIO_000_Out0) will be placed in the "Dynamic Velocity Mode."
The CTRIO2's Pulse Output is enabled ($CTRIO_000_Out0.OutputEnabled = ON).
The CTRIO2 output will start accelerating toward the value stored in the Speed variable.

The VelocityEnable must be reset OFF when all velocities are completed.

Note: Turning VelocityEnable bit OFF will cause the CTRIO2 output to abruptly stop generating pulses. Thus it is usually a good idea to either enable Suspend bit so that the CTRIO2 output decelerates to zero velocity or write a zero (0) to the CTAXDYNV's Frequency parameter (Speed) before turning VelocityEnable bit OFF.

When VelocityEnable comes ON, 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 there is no error then neither the On Success nor On Error stages will not be transitioned to until the CTAXDYNV instruction is disabled.

Once the CTAXDYNP has properly enabled the CTRIO2's output then the $CTRIO_000_Out0.OutputEnabled bit will be set ON and the RunVel stage is enabled (not transitioned to).

In the RunVel stage should exist the ladder logic (not shown here) that would write various velocity values to the Speed variable as the process requires. When the process is deemed as complete RunVel stage should turn VelocityEnable bit OFF observing the cautions noted in the above Note. Turning VelocityEnable bit OFF causes the following to happen:

The CTRIO2 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.

Example 2 of 2: