CTRIO & CTRIO2 - AutomationDirect
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
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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
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Chapter 1: Introduction
Typical Counter Applications:
• High-speed cut to length operations using encoder input
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• Pick-and-place or indexing functions controlling a stepper drive
• Dynamic registration for web material control
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• Accurate frequency counting for speed control with onboard scaling
• Positioning (e.g. flying punch)
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• PLS - programmable limit switch functions for packaging, gluing or labeling
• Stepper motor drive control
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• Valve control
• Rate monitoring for speed and/or flow
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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
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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.
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Support Systems for the H0-CTRIO(2):
You can use the H0-CTRIO(2) module in:
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• DirectLOGIC 05/06 PLC systems
Support Systems for the H2-CTRIO(2):
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You can use the H2-CTRIO module in:
• DirectLOGIC 205 PLC systems (D2-240, D2-250-1 or D2-260)
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• DL205 WinPLC systems (H2-WPLCx-xx)
• PC-based control strategies using the H2-EBC interface module
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• Hx-ERM networks using the H2-EBC interface module
• Profibus systems using the H2-PBC slave interface module
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• Do-more PLC systems (H2-DM1, H2-DM1E)
Support Systems for the H4-CTRIO:
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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
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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
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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
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앧2.1 billion (32 bits or 31 bits + sign bit)
Counter I/O User Manual, 2nd Ed., Rev. D
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Chapter 1: Introduction
CTRIO Specifications
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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)
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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
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Chapter 1: Introduction
1 H2-CTRIO(2) LED Indicators
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H2-CTRIO(2) LED Descriptions
OK
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ER
1A
4
2A
0-3
5
H2-CTRIO(2) LED Diagnostic Definitions
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OK
ER
Description
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H2-CTRIO(2) LED Diagnostic Definitions
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1A /2A
13
0-3
14
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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
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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.
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Chapter 1: Introduction
1 T1H-CTRIO LED Indicators
T1H-CTRIO LED Descriptions
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OK
ER
3
CH1
CH2
4
1A - 1D
2A - 2D
5
Y0 - Y3
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7
T1H-CTRIO LED Diagnostic Definitions
OK
ER
Description
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T1H-CTRIO LED Diagnostic Definitions
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CH1
CH2
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Y0 - Y3
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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
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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
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Chapter 1: Introduction
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Counter I/O User Manual, 2nd Ed., Rev. D
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