INTRODUCTION TO THE CTRIO & CTRIO2 MODULES CHAPTER 1 In This Chapter... CTRIO and CTRIO2 Module Overview . . . . . . . . . . . . . . . . . . . . . . .1–2 Support Systems for the CTRIO Modules . . . . . . . . . . . . . . . . . . . . .1–4 CTRIO Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1–5 H0-CTRIO(2) LED Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1–7 H2-CTRIO(2) LED Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1–8 H4-CTRIO LED Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1–9 T1H-CTRIO LED Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1–10 CTRIO Module Workflow Diagram . . . . . . . . . . . . . . . . . . . . . . . . .1–11 Chapter 1: Introduction CTRIO and CTRIO2 Module Overview 1 2 3 4 5 6 7 8 9 10 11 12 13 14 A B C D 1–2 CTRIO(2) modules are programmable high-speed discrete I/O modules that accept signals from encoders and discrete devices such as limit switches, and generate precision output signals for stepper control or other motionrelated discrete functions. CTRIO(2) modules are coprocessors, having H0-CTRIO(2) H2-CTRIO(2) H4-CTRIO T1H-CTRIO their own scan time and their own configurations. They have their own run mode and program mode, independent of the base controller. NOTE: For ease of documentation purposes, CTRIO will be used to designate all four CTRIO modules (H0CTRIO(2), H2-CTRIO(2), H4-CTRIO and T1H-CTRIO) when the functionality and/or description applies to all four modules. NOTE: The T1H-CTRIO is only supported by the T1H-EBC, T1H-EBC100 and T1H-PBC. CTRIO Workbench CTRIO Workbench is the utility used to configure the many functions available (listed below) for a CTRIO(2) module. CTRIO Workbench is used in one of two ways, depending on the base controller: • Do-more: CTRIO Workbench is an integrated utility of Do-more Designer. The configuration becomes part of the CPU project and is stored in the CPU. The CPU will push the configuration to the installed CTRIO(2) module as appropriate. • Any other base controller: CTRIO Workbench is a separate utility that communicates with a CTRIO(2) module through the base controller to configure the CTRIO(2). The configuration is stored in the CTRIO(2) and is a file that should also be stored on your computer. Configuring the CTRIO(2) is a process separate from programming the base controller. CTRIO Configuration The CTRIO(2) module configuration created with CTRIO Workbench will define the following: Inputs: 1. Assign the input points • Quadrature encoder with AB or ABZ • Tachometer Counter I/O User Manual, 2nd Ed., Rev. D Chapter 1: Introduction • Discrete (unassigned) 2. Functions applied to discrete inputs • Simple discrete input • Pulse catch (high-speed discrete input with programmable filter) • Timing: edge timer (period), dual edge timer (time difference of two inputs) • Reset counts (Z input from encoder) • Capture counts (copy counts to a register) • Inhibit counting 3. Scaling of timing functions or encoder inputs Outputs: 1. Assign the output points • Stepper control: Step/Direction or CW/CCW • Discrete 2. Pulse profiles for stepper outputs to follow • Trapezoid, S-curve, Symmetrical S-curve, Dynamic Position, Dynamic Velocity, Home • Dynamic Position Plus, Trapezoid Plus, Trapezoid with Limits (CTRIO2 only and CTRIO • Workbench v2.2.0 required) 3. Associate output functions with inputs • Programmable Limit Switch or ‘PLS’ (CTRIO2 only and CTRIO Workbench v2.2.0 • required) • Preset tables CTRIO Functions As mentioned above, the CTRIO(2) module supports five primary input functions: Counter, Quad Counter, Pulse Catch, Edge Timer, and Dual Edge Timer. Three secondary input functions are also supported. These functions, Reset, Capture, and Inhibit, each modify the primary input functions in some way. Information is available about each of the primary and secondary functions in chapter 4. The CTRIO module supports three primary output functions: Pulse train output for servo/stepper motor control, configurable for CW/CCW or step and direction, discrete output functions assigned to Counter/Timer input functions, and raw output control directly from the CPU interface program. Information is available about each of the output functions in chapter 5. NOTE: Before a CTRIO(2) will do anything, it must be configured, in run mode, and the memory must be mapped. Mapping the memory is not required when used with a Do-more CPU. Counter I/O User Manual, 2nd Ed., Rev. D 1 2 3 4 5 6 7 8 9 10 11 12 13 14 A B C D 1–3 Chapter 1: Introduction Typical Counter Applications: • High-speed cut to length operations using encoder input 1 • Pick-and-place or indexing functions controlling a stepper drive • Dynamic registration for web material control 2 • Accurate frequency counting for speed control with onboard scaling • Positioning (e.g. flying punch) 3 • PLS - programmable limit switch functions for packaging, gluing or labeling • Stepper motor drive control 4 • Valve control • Rate monitoring for speed and/or flow 5 Systems for the CTRIO Modules 6 Support The CTRIO modules are compatible with several CPU-slot interfaces. Consideration must be given to the firmware versions of the CPU-slot interfaces to assure their compatibility with 7 the CTRIO. (See Chapter 2 for CPU/CTRIO compatibility listings). Multiple CTRIO modules can reside in the same base provided that the backplane power budget is adequate. 8 Support Systems for the H0-CTRIO(2): You can use the H0-CTRIO(2) module in: 9 • DirectLOGIC 05/06 PLC systems Support Systems for the H2-CTRIO(2): 10 You can use the H2-CTRIO module in: • DirectLOGIC 205 PLC systems (D2-240, D2-250-1 or D2-260) 11 • DL205 WinPLC systems (H2-WPLCx-xx) • PC-based control strategies using the H2-EBC interface module 12 • Hx-ERM networks using the H2-EBC interface module • Profibus systems using the H2-PBC slave interface module 13 • Do-more PLC systems (H2-DM1, H2-DM1E) Support Systems for the H4-CTRIO: 14 You can use the H4-CTRIO module in: • DirectLOGIC 405 PLC systems (D4-450 only) A • PC-based control strategies using the H4-EBC interface module • Hx-ERM networks using the H4-EBC interface module B Support Systems for the T1H-CTRIO: C You can use the T1H-CTRIO module in: • PC-based control strategies using the T1H-EBC interface module D • Profibus systems using the T1H-PBC slave interface module • Hx-ERM networks using the T1H-EBC interface module 1–4 Counter I/O User Manual, 2nd Ed., Rev. D Chapter 1: Introduction CTRIO Specifications General Module Type Modules Per Base Intelligent I/O Points Used None, I/O map directly in PLC memory (V-memory for DirectLOGIC PLCs and data structures for Do-more PLCs) or PC control access Limited only by power consumption Field Wiring Connector Standard removable terminal block 400 mA Max at +5V from Base Power Supply (H2, H4, T1H-CTRIO) mA Max at +5V from Base Power Supply (H2-CTRIO2) Internal Power Consumption 275 250 mA at +5V from Base Power Supply (H0-CTRIO(2)) (All I/O in ON State at Max Voltage/Current) 32°F to 140°F (0°C to 60°C), Humidity (non-condensing) 5% to 95% Operating Environment Manufacturer Host Automation Products, LLC Isolation 2500V I/O to Logic, 1000V among Input Channels and All Outputs (H0, H2, H4, T1H-CTRIO) 1500V I/O to Logic, 1000V among Input Channels and All Outputs (H0, H2-CTRIO2) CTRIO Input Specifications Inputs (H2, H4, T1H-CTRIO, H2-CTRIO2) 8 pts. sink/source 100 kHz Max (H2, H4, T1H-CTRIO) 8 pts. sink/source 250 kHz Max (H2-CTRIO2) Inputs (H0-CTRIO(2)) 4 pts. sink/source 100 kHz Max (H0-CTRIO) 4 pts. sink/source 250 kHz Max (H0-CTRIO2) Minimum Pulse Width 5 µsec (H0, H2, H4, T1H-CTRIO) 0.5 µsec (H0, H2-CTRIO2) Input Voltage Range 9-30 VDC Maximum Voltage Input Voltage Protection Rated Input Current Minimum ON Voltage Maximum OFF Voltage Minimum ON Current Maximum OFF Current 30 VDC OFF to ON Response ON to OFF Response Zener Clamped at 33 VDC 8 mA typical, 12 mA maximum 9.0 VDC 2.0 VDC 5.0 mA (9 VDC required to guarantee ON state) 2.0 mA Less than 3 µsec (H0, H2, H4, T1H-CTRIO) Less than 0.5 µsec (H0, H2-CTRIO2) Less than 3 µsec (H0, H2, H4, T1H-CTRIO) Less than 0.5 µsec (H0, H2-CTRIO2) CTRIO Input Resources Counter/Timer (H2, H4, T1H-CTRIO, 4, (2 per each 4 input channel group); supports 2 quadrature counters max. H2-CTRIO2) 2, (2 per single 4 input channel); supports 1 quadrature counter max. Counter/Timer (H0-CTRIO(2)) Resource Options Timer Range/ Resolution Counter Range 1X, 2X, or 4X Quadrature, Up or Down Counter, Edge Timer, Dual Edge Timer, Input Pulse Catch, Reset, Inhibit, Capture 앧4.2 billion (32 bits); 1 µsec 1 2 3 4 5 6 7 8 9 10 11 12 13 14 A B C D 앧2.1 billion (32 bits or 31 bits + sign bit) Counter I/O User Manual, 2nd Ed., Rev. D 1–5 Chapter 1: Introduction CTRIO Specifications 1 2 3 4 5 6 7 8 9 10 11 12 13 14 A B C D CTRIO Output Specifications Outputs (H2, H4, T1H-CTRIO, H2-CTRIO2) Outputs (H0-CTRIO(2)) Pulse Output Control Range Voltage range Maximum voltage Output clamp voltage Maximum load current Maximum load voltage Maximum leakage current Inrush current 4 pts, independently isolated, current sourcing or sinking FET Outputs: open drain and source with floating gate drive 2 pts, isolated, either both current sourcing or both current sourcing FET Outputs: open drain and source with floating gate drive 20 Hz to 25 kHz (H0, H2, H4, T1H-CTRIO) 20 Hz to 250 kHz (H0, H2-CTRIO2) 5VDC - 36VDC (H0, H2, H4, T1H-CTRIO, H2-CTRIO2) 36VDC (H0, H2, H4, T1H-CTRIO, H2-CTRIO2) 60VDC (H0, H2, H4, T1H-CTRIO) 1.0A (H0, H2, H4, T1H-CTRIO) 1.0A at 23°C, 0.5A at 60°C (H2-CTRIO2) 0.5A at 23°C, 0.33A at 60°C (H0-CTRIO2) 33VDC (H0-CTRIO2) 36VDC (H0, H2, H4, T1H-CTRIO, H2-CTRIO2) 100µA 1A for 10ms (H0-CTRIO2) 2A for 10ms (H2-CTRIO2) 5A for 20ms (H0, H2, H4, T1H-CTRIO) OFF to ON response less than 3µsec (H0, H2, H4, T1H-CTRIO, H0-CTRIO2) less than 1µsec (H2-CTRIO2) ON to OFF response less than 3µsec (H0, H2, H4, T1H-CTRIO, H0-CTRIO2) less than 1µsec (H2-CTRIO2) 울 0.3V (H0, H2, H4, T1H-CTRIO) 울 0.45V (H2-CTRIO2) for loop power only, not required for internal module function* 15A max (H0, H2, H4, T1H-CTRIO) Self resetting overcurrent protection (H0-CTRIO2) Tjunction = 150°C ON state V drop External power supply Overcurrent protection Thermal shutdown Overtemperature reset Tjunction = 130°C Duty cycle range 1% to 99% in 1% increments (default = 50%) (H0, H2, H4, T1H-CTRIO) 0.1% to 99.9% in 0.1% increments (H0, H2-CTRIO2) Configurable Presets a) single b)multiple a) each output can be assigned one preset, or b) each output can be assigned one table of presets, one table can contain max. 128 presets, max. predefined tables = 255 Pulse output / Discrete outputs (H2, H4, T1H-CTRIO, H2-CTRIO2) Pulse output / Discrete outputs (H0-CTRIO(2)) Pulse outputs: 2 channels (2 outputs per each channel) Discrete outputs: 4 pts. CTRIO Output Resources Pulse outputs: 1 channel (2 outputs per single channel) Discrete outputs: 2 pts. Resource Options Pulse outputs: pulse/direction or cw/ccw; Profiles:Trapezoid, S-Curve, Symmetrical S-Curve, Dynamic Positioning, Dynamic Velocity, Home Search, Free Form, Dynamic Positioning Plus (CTRIO2),Trapezoid Plus (CTRIO2), Trapezoid w/Limits (CTRIO2), Velocity Mode, Run to Limit Mode, Run to Position Mode Discrete outputs: configurable for set, reset, pulse on, pulse off, toggle, reset count functions (assigned to respond to Timer/Count input functions). Raw mode: Direct access to discrete outputs from user application program Target Position Range 앧2.1 billion (32 bits or 31 bits + sign bit) 1–6 Counter I/O User Manual, 2nd Ed., Rev. D Chapter 1: Introduction H0-CTRIO(2) LED Indicators H0-CTRIO(2) LED Descriptions Module OK OK User Program Error ERR Ch1 F1 Resource State A Ch1 F2 Resource State B Output Status Y0 - Y1 H0-CTRIO(2) LED Diagnostic Definitions ERR Description OK ON OFF RUN Mode ON ON Hardware Failure Blinking Blinking Boot Mode - Used for Field OS Upgrades Blinking OFF OFF Blinking Program Mode OFF ON Module Error Due to Watchdog Timeout OFF OFF No Power to Module Module Self-diagnostic Failure H0-CTRIO(2) LED Diagnostic Definitions A B Y0 - Y1 Blinks when Channel 1 Function 1 is counting or timing Blinks when Channel 1 Function 2 is counting or timing Follow actual output state; ON = output is passing current Counter I/O User Manual, 2nd Ed., Rev. D 1 2 3 4 5 6 7 8 9 10 11 12 13 14 A B C D 1–7 Chapter 1: Introduction 1 H2-CTRIO(2) LED Indicators 2 H2-CTRIO(2) LED Descriptions OK 3 ER 1A 4 2A 0-3 5 H2-CTRIO(2) LED Diagnostic Definitions 6 OK ER Description 7 8 9 10 11 H2-CTRIO(2) LED Diagnostic Definitions 12 1A /2A 13 0-3 14 A B C D Module OK User Program Error Channel 1 Status Channel 2 Status Output Status ON OFF RUN Mode ON ON Blinking Blinking Blinking OFF OFF Blinking OFF ON Module Error Due to Watchdog Timeout OFF OFF No Power to Module Hardware Failure (H2-CTRIO) Not Used (H2-CTRIO2) Boot Mode - Used for Field OS Upgrades Program Mode Module Self-diagnostic Failure (Blinks may be coded by counts) Blinking 7 times per second Input is Configured as Counter and is Changing Following State of Input Input is not Configured as Counter Follow actual output state; ON = output is passing current 1–8 Counter I/O User Manual, 2nd Ed., Rev. D Chapter 1: Introduction H4-CTRIO LED Indicators H4-CTRIO LED Descriptions Module OK OK User Program Error ER Ch1A - Ch1D Input Status 1A - 1D Ch2A - Ch2D Input Status 2A - 2D (Ch1) F1 - F2 Ch1 Resource State (Ch2) F1 - F2 Ch2 Resource State Output Status Y0 - Y3 OK ER H4-CTRIO LED Diagnostic Definitions Description ON OFF Blinking Blinking Blinking OFF OFF Blinking OFF ON Module Error Due to Watchdog Timeout OFF No Power to Module OFF TB RUN Mode Boot Mode - Used for Field OS Upgrades Program Mode Module Self-diagnostic Failure User Terminal Block is not Properly Installed H4-CTRIO LED Diagnostic Definition 1A - 1D 2A - 2D (Ch1) F1 (Ch1) F2 (Ch2) F1 (Ch2) F2 Y0 - Y3 Follow actual input state / Ch1 Follow actual input state / Ch2 blinks when Channel 1 Function 1 is counting or timing blinks when Channel 1 Function 2 is counting or timing blinks when Channel 2 Function 1 is counting or timing blinks when Channel 2 Function 2 is counting or timing Follow actual output state; ON = output is passing current NOTE: Due to the multiplexed design of the DL405 LED matrix, OFF state LEDs may appear to blink ON slightly. This is to be expected and does not necessarily indicate a transient condition of the function corresponding to the LED. Counter I/O User Manual, 2nd Ed., Rev. D 1 2 3 4 5 6 7 8 9 10 11 12 13 14 A B C D 1–9 Chapter 1: Introduction 1 T1H-CTRIO LED Indicators T1H-CTRIO LED Descriptions 2 OK ER 3 CH1 CH2 4 1A - 1D 2A - 2D 5 Y0 - Y3 6 7 T1H-CTRIO LED Diagnostic Definitions OK ER Description 8 9 10 11 12 T1H-CTRIO LED Diagnostic Definitions 13 CH1 CH2 14 Y0 - Y3 A B C D Module OK User Program Error Channel 1 Status Channel 2 Status Channel 1 A-D Input Status Channel 2 A-D Input Status Output Status ON OFF RUN Mode ON ON Hardware Failure Blinking Blinking Blinking OFF OFF Blinking OFF ON Module Error Due to Watchdog Timeout OFF OFF No Power to Module Boot Mode - Used for Field OS Upgrades Program Mode Module Self-diagnostic Failure Blinks when Channel 1 Function 1 is counting or timing Blinks when Channel 2 Function 1 is counting or timing Follow actual output state; ON = output is passing current 1–10 Counter I/O User Manual, 2nd Ed., Rev. D Chapter 1: Introduction CTRIO Module Workflow Diagram The following workflow diagrams show the steps needed, with their associated chapters in this manual, to install a CTRIO module into your system. DirectLOGIC, WinPLC or EBC Do-more Counter I/O User Manual, 2nd Ed., Rev. D 1 2 3 4 5 6 7 8 9 10 11 12 13 14 A B C D 1–11 Chapter 1: Introduction 1 Notes: 2 3 4 5 6 7 8 9 10 11 12 13 14 A B C D 1–12 Counter I/O User Manual, 2nd Ed., Rev. D
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