CTRUNPOS - CTRIO Run Position Mode

DMD0529

CTRUNPOS - CTRIO Run Position Mode

The CTRIO Run Position Mode (CTRUNPOS) instruction is used to load and run one of the pre-configured Pulse Profiles in the System Configuration for the CTRIO.

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

Note: The CTRUNPOS instruction can be used with both the CTRIO and CTRIO2 module.

Inputs:

The first input (E/R) in the Enable / Reset input. When this input logic is ON the specified Pulse Profile will be loaded, and the Output will be enabled (.OutputEnabled = ON) and the move will be executed.

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

DEVICE	CTRIO/CTRIO2 PULSE PROFILE	EFFECT
CTRIO2	Trapezoid S-Curve Symmetrical S-Curve Home Search Free Form Trapezoid w/Limits (CTRIO2)	If the DIR input is OFF when the E/R input comes ON, the CTRIO2 will generate pulses for clockwise (positive) direction. If the DIR input is ON when the E/R input comes ON, the CTRIO2 will generate pulses for counter-clockwise (negative) direction.
CTRIO2	Trapezoid Plus (CTRIO2)	The DIR input has no effect. The direction is determined by the sign of the Trapezoid-Plus Target Pos. parameter. If positive, the CTRIO2 will generate pulses for clockwise (positive) direction. If negative, the CTRIO2 will generate pulses for counter-clockwise (negative) direction.
CTRIO	Trapezoid S-Curve Symmetrical S-Curve Home Search Free Form	If the DIR input is OFF when the E/R input comes ON, the CTRIO will generate pulses for clockwise (positive) direction. If the DIR input is ON when the E/R input comes ON, the CTRIO will generate pulses for counter-clockwise (negative) direction.
CTRIO	Trapezoid Plus (CTRIO2) Trapezoid w/Limits (CTRIO2)	Note: Attempting to use these pulse profiles with the CTRIO will result in an Error 103 (see chart below).

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

DEVICE	CTRIO/CTRIO2 PULSE PROFILE	EFFECT
CTRIO2	Trapezoid S-Curve Symmetrical S-Curve Home Search Free Form	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 the Abrupt Suspend picture below)
CTRIO2	Trapezoid Plus (CTRIO2) Trapezoid w/Limits (CTRIO2)	When SUS input comes ON, the CTRIO2 will ramp down to zero using the Decel Rate specified in the pulse 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 pulse profile. (Refer to the Deceleration Suspend picture below)
CTRIO	Trapezoid S-Curve Symmetrical S-Curve Home Search Free Form	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 the Abrupt Suspend picture below)
CTRIO	Trapezoid Plus (CTRIO2) Trapezoid w/Limits (CTRIO2)	Note: Attempting to use these pulse profiles with the CTRIO will result in an Error 103 (see chart below).

Abrupt Suspend

Deceleration Suspend

Parameters:

Note: Use the F9 key (Element Browser) 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.

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.

Position File Number - designates which of the pre-configured Pulse Profiles to Run. The profile can be specified in one of the following three ways:

Fixed File - displays a list of the pre-configured Pulse 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 CTRUNPOS)	CTRIO	CTRIO2
Trapezoid	Yes	Yes
S-Curve	Yes	Yes
Symmetrical S-Curve	Yes	Yes
Dynamic Positioning
Dynamic Velocity
Home Search	Yes	Yes
Free Form	Yes	Yes
Dynamic Positioning Plus (CTRIO2)
Trapezoid Plus (CTRIO2)	No	Yes
Trapezoid w/Limits (CTRIO2)	No	Yes

Variable File Number - designates a location where the Pulse Profile number will be read. This can be any readable numeric location.

Optional Target Position - Note: this parameter can only be used with a Trapezoid Plus or the Trapezoid w/Limits profile in the CTRIO2 module - specifies the target position count value. This can be any positive or negative constant value or any readable numeric location. If this parameter is greater than the current position (.OutputPosition), pulses for a clockwise move are emitted. If this parameter is less than the current position (.OutputPosition), pulses for a counter-clockwise move are emitted.

On Success - designates which of the following actions to take if the CTRIO Run Position Mode operation is successful, that is, the specified Pulse Profile is loaded, and that Pulse Profile has run to completion.

SET BIT - The specific BIT location will be turned OFF when the CTRIO Run Position Mode (CTRUNPOS) instruction is first enabled, and then SET ON 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 Position Mode (CTRUNPOS) 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 Position Mode operation is unsuccessful. For example if the specified Pulse Profile is missing, or the specified Profile number is the wrong type for a Pulse Output.

SET BIT - The specific BIT location will be turned OFF when the CTRIO Run Position Mode (CTRUNPOS) 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 Position Mode (CTRUNPOS) 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 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 Position Mode (CTRUNPOS) instruction shows:

Values: Target Position or Optional Target Position if a CTRIO2 Trapezoid Plus or Trapezoid w/Limits profile is being used.
Highlight: .OutputEnabled, .OutputActive, .Direction, .OutputSuspended, .OutputStalled, 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 Position Mode (CTRUNPOS) 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	CTRUNPOS
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
_Outx.Direction	RO	Bit	If using CTRIO2: ON when motor is moving counter-clockwise
_Outx.EnableOutput
_Outx.GotoPosition
_Outx.Output
_Outx.OutputActive	RO	Bit	ON when CTRIO output is generating pulses
_Outx.OutputEnabled	RO	Bit	ON when CTRIO output has been enabled
_Outx.OutputPosition	RO	Dword	Output raw position, or if Position File Number is Trapezoid Plus or Trapezoid w/Limits profile (CTRIO2 only) with Use Encoder for Position, then: CTRIO2 output position (scaled by the profile's Scale Factor)
_Outx.OutputStalled	RO	Bit	ON if CTRIO output cannot generate pulses because its scantime is too high
_Outx.OutputSuspended	RO	Bit	ON when CTRIO output has been suspended
_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 Position Mode (CTRUNPOS) Stage Diagram:

To the right is a stage diagram of a simple sequence control that would home a motor to position and then allow any number of moves using the CTRUNPOS instruction, a CTRIO2 and a predefined Trapezoid PLUS Pulse Profile.

Initially the Home stage homes the motor. When this is complete it transitions to the Zero stage.

The Zero stage resets the CTRIO2 output position to zero (0) after the homing and then transitions to the Position stage.

The Position stage positions the motor depending upon a variable. When this position is reached it transitions to the InPos stage where the decision is made as to whether this was the last move or not.

The InPos stage is where the decision is made as to whether there is another position to move to, or if the sequence is complete. If it was not the last move, a new value is loaded in the position variable and transition is made back to the Position stage. If it was the last move then transition is made to the Stop stage.

The Stop stage simply exits the Program code block.

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

To the right is the ladder equivalent of the above stage diagram that uses the CTRUNPOS instruction which will home a stepper motor attached to the CTRIO2's pulse output and then allow any number of relative moves to subsequent positions and then stop.

Note: Since CTRIO2 pulse profiles are being used, this example cannot be used for a CTRIO module.

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).
Inputs -->

A --> Quad Counter.
D --> Limit Out 0.

Pulse Profiles -->

File 15 --> Trapezoid w/Limits -->
  Decel Trigger: Limit Switch on Ch1D, Event: Rising Edge
  Stop Trigger: Position
  Values for Minimum Freq, Maximum Freq, Accel Rate, & Decel Rate
  Use Encoder for Position: Encoder Input: Channel 1
       Values for Scale Factor & Deadband
File 12 --> Trapezoid Plus -->
  Values for Minimum Freq, Maximum Freq, Accel Rate, Decel Rate
  Use Encoder for Position: Encoder Input: Channel 1
  Values for Scale Factor & Deadband

A stepper motor is wired to CTRIO2 Output 0 and Output 1.
A quadrature encoder associated with the stepper motor is wired to CTRIO2 Input A and Input B.
A normally open proximity sensor is wired to CTRIO2 Input D.

Home is the initial state which waits for HomeStart bit to come ON. The HomeDIR bit must be turned ON if home position is to be searched for in the counter-clockwise direction, or left OFF if home position is in the clockwise direction. This bit must be in the desired state before HomeStart bit is turned ON. The HomeSUS bit can be used to temporarily suspend the home-search. When the HomeStart bit comes ON, if there is an error the CTRUNPOS instruction will immediately transition to the ErrorHandler stage, where ladder logic should exist (not shown here) to handle the error (e.g. read $CTRIO_000.ErrorCode). If no error occurs the CTRUNPOS loads the Trapezoid w/Limits profile and begins to accelerate toward maximum frequency (according to the pulse profile's parameter values) searching for a signal on the CTRIO2's Input D. As configured in the profile, when the CTRIO2 sees the signal on Input D, the profile decelerates to the HomePosition value. When complete the CTRUNPOS transitions to the Zero stage.

Zero stage uses the CTREGWR instruction to write a zero (0) to the output position ($CTRIO_000_Out0.OutputPosition) and clears the quadrature encoder count by turning ON the $CTRIO_000_C1F1.Reset bit. If there is an error, transition is made to the ErrorHandler stage. If it completes without error, transition is made to the Position stage. When the Zero stage is exited, it will turn the $CTRIO_000_C1F1.Reset bit back OFF so the quadrature counter is free to count.

Position stage waits for PositionRun bit to come ON. Since the Position File Number being used is a Trapezoid Plus profile, the DIR input on the CTRUNPOS instruction has no effect (see chart above), thus, it is set to $Off. The PositionSUS bit can be used to temporarily suspend the move if necessary. Before the PositionRun bit is turned ON, the TargetPosition must be set to the desired relative position. If reverse motion is desired a negative number must be used. When the PositionRun bit comes ON, if there is an error the CTRUNPOS instruction will immediately transition to the ErrorHandler stage. If no error occurs the CTRUNPOS loads the Trapezoid Plus profile and begins to accelerate toward maximum frequency (according to the pulse profile's parameter values) and decelerate to the TargetPosition value position until it is reached. When the position is reached the CTRUNPOS instruction transitions to the InPos stage.

In the InPos stage the decision is made as to whether this was the last move or not. If there are more relative moves to be executed, a new relative position value must be written to TargetPosition and then the NextMove bit must be turned ON. Turning the NextMove bit ON, will turn itself OFF (to prevent multiple moves) and transition back to the Position stage for another execution of the CTRUNPOS instruction. If this was the last move, the Done bit is turned ON and the Program code block is exited.