DMD0534
CTTBLLD - CTRIO Load Table
The CTRIO Load Table (CTTBLLD) instruction is used to load one of the pre-configured Output Preset Tables in a CTRIO module, or one of the pre-configured PLS Tables in a CTRIO2 module, for one of the CTRIO's Discrete Outputs.
The red triangle in the upper left corner indicates the CTRIO Load Table (CTTBLLD) is a Fully Asynchronous instruction.
Note: The CTTBLLD instruction can be used with both the CTRIO and CTRIO2 module.
Inputs:
The input is edge-triggered, meaning that each time this input logic transitions from OFF to ON, the CTRIO Load Table (CTTBLLD) will:
Load the specified Output Preset table on the CTRIO Discrete Output Device
Run to completion, even if the input logic goes OFF before the operation is complete
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.
Discrete Output Device
- designates which of the pre-configured CTRIO Discrete Output Devices
to interact with. Before this instruction can select a Discrete Output
Device, a CTRIO Device must be configured with at least one of its output
channels setup for Discrete 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 Discrete 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.
Discrete Output Structure -
File Number - designates which
of the pre-configured Output Preset Tables to load.
The table can be specified in one of the following three ways:
Fixed File - displays a list of the pre-configured Output Preset Tables and PLS Tables that were read from the CTRIO module during the Module Configuration phase. Select the desired profile from the list.
Variable File Number - designates the Location where the Output Preset table number will be read. This can be any readable numeric location.
Constant File Number - specify the Output Preset Table number as a constant number from 1 to 255.
On Success - designates which of the following actions to take if the CTRIO Load Table operation is successful, that is, the specified Output Preset Table or PLS Table is loaded.
SET BIT - The specific BIT location will be turned OFF when the CTRIO Load Table (CTTBLLD) 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 Load Table (CTTBLLD) 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 Load Table operation is unsuccessful. For example if the specified Output Preset Table is missing, or the specified Output Preset Table number is the wrong type for a CTRIO Discrete output.
SET BIT - The specific BIT location will be turned OFF when the CTRIO Load Table (CTTBLLD) 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 Load Table (CTTBLLD) 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 Load Table (CTTBLLD) instruction shows:
Values: File Number
Highlight: .OutputEnabled, .TableComplete 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 Load Table (CTTBLLD) 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 |
CTTBLLD |
||
|
MEMBER |
R/W |
TYPE |
DESCRIPTION |
|
_CxFx.AtResetValue |
RO |
Bit |
|
|
_CxFx.CaptureComplete |
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_CxFx.CapturedStart |
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_CxFx.CountCaptured |
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_CxFx.EnableCapture |
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|
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|
_CxFx.fReg1 |
RO |
Dword |
If floating-point scaling is configured for CxFx in CTRIO: 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 CTRIO: Signed-integer or BCD scaled value; otherwise, signed-integer raw count |
|
_CxFx.iReg2 |
RO |
Dword |
If any scaling is configured for CxFx in CTRIO: Signed-integer raw count; otherwise, number has no meaning |
|
_CxFx.Output |
|
|
|
|
_CxFx.Reset |
R/W |
Bit |
Set ON to reset CxFx count |
|
_CxFx.Timeout |
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_Outx.AtPosition |
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_Outx.AtVelocity |
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_Outx.Direction |
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|
_Outx.EnableOutput |
R/W |
Bit |
Set ON to enable the CTRIO discrete output that will operate with the Preset Table |
|
_Outx.GotoPosition |
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|
_Outx.Output |
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_Outx.OutputActive |
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|
_Outx.OutputEnabled |
RO |
Bit |
ON when CTRIO output has been enabled |
|
_Outx.OutputPosition |
|
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|
_Outx.OutputStalled |
|
|
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_Outx.OutputSuspended |
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_Outx.OutputVelocity |
|
|
|
|
_Outx.TableComplete |
RO |
Bit |
ON when the last entry in the Preset Table has been executed (i.e. the count is higher than the last preset in the table) |
|
.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 |
See Also:
CTTBLLD - CTRIO Load Table
Example 1 of 2:
Description of a Typical CTRIO Load Table (CTTBLLD) Stage Diagram:
To the right is a stage diagram of a simple sequence
control that loads a Preset Table for a CTRIO discrete output, enables
the output and utilizes the Preset Table. When the table is complete,
the discrete output is then disabled and the Preset table cleared out
for this CTRIO discrete output.
LdPT (Load Preset Table) is the initial stage that loads a particular Preset Table for a CTRIO discrete output. When loaded successfully it transitions to the next stage.
EnOut (Enable Output) stage resets a CTRIO input count (mechanically associated with the CTRIO pulse output) to zero and enables the CTRIO discrete output for use with the Preset Table just loaded. When successful it transitions to the next stage.
RunPT (Run Preset Table) runs a CTRIO pulse output that is associated with the CTRIO input count in order to make use of the Preset Table. When a certain number of pulses has been reached the process is complete and transition is made to the next stage to clean up.
DisOut (Disabe Output) stage disables the CTRIO discrete output and transitions to the next stage.
ClrTbl (Clear Table) stage uses the CTTBLCLR instruction to clear the Preset Table from the CTRIO discrete output.
Exit stage exits the Program code block.
Description of a Typical CTRIO Clear Table (CTTBLLD) Stage Ladder:
To the right is equivalent ladder for the above stage
diagram of a simple sequence control that loads a Preset Table for a CTRIO
discrete output, enables the output and utilizes the Preset Table. When
the table is complete, the discrete output is then disabled and the Preset
table cleared out for this CTRIO discrete output.
This example presupposes the existence of the following System Configuration for the CTRIO (PLC --> System Configuration --> Module Configuration(s) --> CTRIO_000 -->):
Configure I/O -->
Channel 1 --> Quad Counter.
Outputs -->
Out0 --> Pulse (Step/Dir)
Out2 --> Discrete on Ch1/Fn1.
Discrete Tables --> Add Preset Table: with the following parameters:
File Number: 1
Name: MyPT
Scales: Unscaled
Entry: SET at 2000
Entry: RESET at 4000A quadrature encoder is wired to CTRIO's Channel 1 Input A & B that is physically associated with the motor attached to the CTRIO's Output 0 & 1.
A stepper motor is wired to CTRIO's Output 0 & 1 that is physically associated with the quadrature encoder attached to the CTRIO's Channe 1 Input A & B.
A discrete device that utilizes the CTRIO's Output is wired to CTRIO's Output 2.
LoadPT (Load Preset Table) is the initial stage that executes a CTTBLLD instruction to load the MyPT Preset Table for CTRIO discrete output Out2. When loaded successfully it transitions to the EnableOut stage. If there is an error transition is made to the ErrorStage stage where logic (not shown here) should exist to handle the error.
EnableOut stage resets CTRIO Channel 1 Function 1 input count to zero and enables the CTRIO discrete output Out2 for use with the MyPT Preset Table just loaded. When the feedback bits (.OutputEnabled, .AtResetValue) show this is successful transition is made to the RunPT stage.
RunPT (Run Preset Table) executes a CTRUNVEL instruction that generates 35,000 pulses out the CTRIO pulse output Out0 at Frequency 1000 pps. If there is an error, transition is made to the ErrorStage stage. Since this output is physically associated with the CTRIO Channel 1 Function 1 quadrature encoder input, the input count increases, exercising the Preset Table and the CTRIO discrete output Out2. When 35,000 pulses have been output, the process is complete and transition is made to the DisableOut stage to clean up. Suspend bit is used to temporarily suspend the CTRUNVEL if need be.
DisableOut stage disables the CTRIO discrete output and transitions to the ClearTable stage.
ClearTable stage uses the CTTBLCLR instruction to clear the Preset Table from the CTRIO discrete output Out2 and transitions to the Exit stage. If there is an error, transition is made to the ErrorStage stage.
Exit stage exits the Program code block.
ErrorStage is where logic (not shown here) should exist to handle the errors for this sequence.
Example 2 of 2:
