BRX User Manual, 2nd Edition Chapter 12 Ch12

User Manual: Chapter 12 BRX Do-more Platform User Manual and Inserts

Open the PDF directly: View PDF .
Page Count: 125

Download
Open PDF In Browser	View PDF

BRX Do-more!
Onboard Motion Control
and Highspeed I/O

Chapter

In This Chapter...
Overview................................................................................................................... 12-2
Unsuitable Applications............................................................................................ 12-3
BRX Wiring Examples: High-Speed Inputs ............................................................. 12-4
BRX Wiring Examples: High-Speed Outputs, continued......................................... 12-8
Available High-Speed Input and Output Features................................................. 12-11
1. Input Filters....................................................................................................... 12-12
2. Interrupt Setup.................................................................................................. 12-14
3. High-Speed I/O ................................................................................................ 12-23
BRX High-Speed Examples..................................................................................... 12-34
BRX High-speed Instructions ................................................................................ 12-56
AXCAM................................................................................................................. 12-57
AXCONFIG............................................................................................................ 12-63
AXFOLLOW........................................................................................................... 12-67
AXGEAR................................................................................................................ 12-71
AXHOME............................................................................................................... 12-75
AXJOG................................................................................................................... 12-82
AXPOSSCRV.......................................................................................................... 12-84
AXPOSTRAP........................................................................................................... 12-89
AXRSTFAULT......................................................................................................... 12-94
AXSETPROP........................................................................................................... 12-96
AXVEL................................................................................................................... 12-99
TDODECFG......................................................................................................... 12-102
TDOPLS............................................................................................................... 12-104
TDOPRESET......................................................................................................... 12-114

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1 Overview
The purpose of this chapter is to help the user understand the capabilities and the flexibility
of the BRX built-in motion control and high-speed input and output (HSIO). This section
2
will show the user the steps needed to setup the I/O for use with the High-Speed functions,
provide various wiring examples, detailed programming examples and explain the available
3
high-speed instructions.
All inputs and outputs can be selected for use in an HSIO application. However, the standard
4
I/O will work at a lower response time. This flexibility frees up the high-speed inputs and
outputs. For example, in a BRX 18/18E MPU, when setting up a pulse train output (PTO)
as Step/Direction control to a stepper motor, it is possible to select a high-speed output for
5
the STEP signal and a standard output for the Direction signal. By doing this, a high speed
output is made available that can be used for another high speed output function, such as
6
PWM.
The High-Speed inputs (as fast as 250kHz) can be used as High-Speed counters, as triggers for
7
Interrupt Service Routines (ISR), and as edge timers. The High-Speed counter values can be
used as accurate position feedback and engineered values for rate and position. The Interrupt
Service Routine (ISRs) can be used to run through logic based on events that are too fast for
8
standard input triggers and normal PLC logic scan.
With the high-speed outputs (as fast as 250kHz), it is possible to perform homing moves,
9
trapezoid and s-curve moves, jog and velocity moves, and pulse width modulation (PWM).
Also available are electronic camming and gearing instructions, providing additional ways to
10
handle follower type moves.
The following table shows the BRX platform HSI specifications.
11
HSI Specifications
12
Item
10/10E
18/18E
36/36E
13
14
15
A
B
C
D
Input Type

Sink/Source

Total Inputs *

20**

High-Speed Inputs

X0–X9

Location

X0–X5

Frequency

0 to 250kHz

Minimum Pulse width for HSI

0.5 μs

Off to On Response

< 2µs

On to Off Response

< 2µs
* Refer to the specific wiring chapter for the discrete input specs of the specific model you are using.
** Standard inputs may be used with high-speed functions, but at lower response frequencies of
approximately 120Hz.

12-2

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

Overview, continued
The following table shows the BRX platform HSO specifications.

HSO Specifications
Parameter

10/10E

Output Type

18/18E

36/36E

High-Speed

Total Outputs *

16**

High-Speed Outputs

Location
Off to On Response
On to Off Response
Max Switching Frequency

Y0–Y1

Y0–Y3

Y0–Y7

< 2µs
< 2µs
1m cable; 250kHz
10m cable; 100kHz

* Refer to the specific wiring chapter for the discrete output specs of the specific model you are using.
** Standard outputs may be used with high-speed functions, but at lower response frequencies of
approximately 110Hz.

Unsuitable Applications
There are situations where HSIO is not an appropriate control choice:
•
Mechanical contacts used as counter or encoder inputs: Reliable readings are not possible using
mechanical contacts. The bounce of mechanical contacts will cause the BRX MPU input to see more
edges than intended.
•
Direct connection to TTL, line driver or differential encoders: A BRX MPU input cannot
accept these low voltage inputs directly. (Consider using the FC-ISO-C signal conditioner to be able
to input these signal types.)
•

Absolute encoders are not suitable for use with the high speed inputs of the BRX MPU.

BRX User Manual, 2nd Edition

12-3

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1 BRX Wiring Examples: High-Speed Inputs
Quadrature Encoder Input
2
Do-more! BRX Open-Collector Output
BRX MPU
Input
(Sinking) Encoder Wiring
Example
3
4
5
Sinking
6
Encoder
7
8
9
10
Do-more! BRX Push-Pull Totem Pole
11
BRX MPUExample
Input
(Sourcing) Encoder Wiring
12
13
14
Sourcing
A
Encoder
15
B
A
Z
B
C
9-30 VDC
D
1C X0 X1 X2 X3 X4

A
B
Z

9-30 VDC

1C X0 X1 X2 X3 X4

12-4

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

BRX Wiring Examples: High-speed Inputs, continued
NPN/PNP Input
Example
Do-more!
BRX PNP/NPN Wiring Example

1C X0 X1 X2 X3 2C X4 X5 X6 X7

Sourcing

Signal

Sinking

BRX User Manual, 2nd Edition

12-5

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

BRX Wiring Examples: High-speed Inputs, continued

Do-more!
BRX
Quadrature
Encoder Wiring Example
Differential
Line Driver
Encoder
Input
BRX MPU Input
Differential Line
Driver Encoder
A
A
B
B
Z
Z

FC-ISO-C
+Ai

nC X0 X1 X2 X3 X4

-Ai
+Bi
-Bi
+Zi
-Zi
COM
COM
V+
0V
Ao

ISOLATION
BOUNDARY

Ao
Bo
Bo
Zo
Zo
0V
0V

FC-ISO-C

FC-ISO-C Dipswitch Settings

DIP Switch 1
Input DIP 1 2
Setup
1 1

3 4 5 6 7
1 0 0 0 0

8
0

12345678
DIP
ON↓

DIP Switches

DIP Switch 2
Output DIP 1 2 3 4 5 6 7 8
Setup
0 0 0 0 0 0 0 0

12345678
DIP
ON↓

DIP Switches

12-6

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

BRX Wiring Examples: High-speed Outputs
SureServo Driver
WiringBRX
Example
Do-more!
Servo Drive Wiring Example
VDD
PULL HI
PULSE
/PULSE
SIGN
/SIGN
COM-

VDD
PULL HI
PULSE
/PULSE
SIGN
/SIGN
COM-

Sure Servo Drive wired
to Sinking Outputs

1kΩ
1kΩ

Sure Servo Drive wired
to Sourcing Outputs
1C Y0 Y1 Y2 Y3

Note:
VDD = 24VDC
1kΩ resistor is needed for
servo to handle this voltage.

1C Y0 Y1 Y2 Y3

1kΩ resistors are not needed
if a 5VDC source is used.

NOTE:
must consult
SureServo
documentation
specific
Note: Customer
mustCustomer
consult SureServo
documentation
for specific
details on thefor
servo
drive.

details on the servo drive.

BRX User Manual, 2nd Edition

12-7

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1 BRX Wiring Examples: High-Speed Outputs, continued
Stepper Drive Output
Do-more!
Do-more!
BRX Stepper
BRX Stepper
Drive Output
Drive Output
Wiring Example
Wiring Example
2
3
4
StepperStepper
Drive Drive
StepperStepper
Drive Drive
5–36 VDC
5
SinkingSinking
Sourcing
Sourcing
5–36 VDC
6
7
8
BRX MPU Output
9
10
11
12
13
14
15
A
B
C
D
DIR DIR +
STEP STEP +

DIR DIR +
STEP STEP +

1C Y0 Y1 Y2
1C Y3
Y0 1C
Y1 Y0
Y2 Y1
Y3 Y2
Y0 Y1 Y2 Y3
1C Y3

12-8

BRX User Manual, 2nd Edition

DIR DIR +
STEP STEP +

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

BRX Wiring Examples: High-speed Outputs, continued
BRX MPU to Stepper/Servo Drive Output
Detailed output wiring example between a BRX MPU and the SureStep Stepping System
Detailed Output Wiring Example between a BRX MPU
components.
and the SureStep Stepping System components
Step Motor
Power Supply
STP-PWR-xxxx

AC Power

120/240
VAC

GND
L2
L1

5 VDC xx VDC

–
+
0 VDC

–
+

Step Motor Drive
STP-DRV-xxxx

EN–
EN+

VDC+
VDC–

Cable Color Code
Term Wire Pin #
A+
Red
1
A– White
2
B+ Green 3
B– Black
4

DIR+
STEP–

A–

STEP+

Y0
+5 VDC

B–

12" Motor Pigtail
with Connector
Connector

Step Motor
STP-MTR(H)-xxxxx

DIR–

A+
B+

N/C
N/C

Front View

Extension Cable
with Connector
STP-EXT(H)-020

1C Y0 Y1 Y2 Y3

BRX MPU
Sinking
Sinking Output

Wiring Diagram for a BRX MPU Using the SureStep Stepping System Components.

BRX User Manual, 2nd Edition

12-9

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

AC Power

120/240
VAC

GND
L2
L1

–

5 VDC xx VDC

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

+
0 VDC

–
+

Step Motor Drive
STP-DRV-xxxx

EN–
EN+

Cable Color Code
Term Wire Pin #
A+
Red
1
A– White
2
B+ Green 3
B– Black
4

DIR–

VDC–

DIR+

A+

STEP–

A–

STEP+

B+

Y1
Y0
+5 VDC

B–

12" Motor Pigtail
with Connector
Connector

Step Motor
STP-MTR(H)-xxxxx

VDC+

N/C
N/C

Extension Cable
with Connector
STP-EXT(H)-020

Front View

1C Y0 Y1 Y2 Y3

BRX MPU
Sourcing
Sourcing Output

Wiring Diagram for a BRX MPU Using SureStep Stepping System Components.

12-10

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

Available High-Speed Input and Output Features
The following High-Speed input and output features are available on the BRX Do-more!
MPUs. Reference the specific numbered topic listed below for directions on configuring that
particular feature.
1.

Input Filters

Interrupt Setup
a. Setup Input Interrupts
b. Setup Timer Interrupts
c. Setup Match Register Interrupts
d. Interrupt Instructions

High-Speed I/O (Counters, Timers, Pulse outputs, PWM and Table driven outputs)
a. Counters
b. Timers
– Interval Scaling
c. Axis/Pulse Outputs
d. PWM (Pulse Width Modulation)
e. Table Driven Outputs
– Preset Tables
– Programmable Limit Switch (PLS)

To access all of the High-Speed input and output setup, go to Do-more! Designer menu PLC>System Configuration:

BRX User Manual, 2nd Edition

12-11

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

1. Input Filters
In the System Configuration window, select (a) the BRX Onboard I/O option under the
Configuration Entries panel.

The on-board discrete inputs on all of the BRX hardware platforms can be configured to use
(b) input filtering. Filters are typically used on inputs that are operating in electrically noisy
environments to remove “false positives”. This is accomplished by requiring the input signal
remain above the input hardware threshold level longer than the filter time so the CPU will see
that input as ON. Once ON, it must be OFF for more than the filter time before the CPU
will see that input as OFF.
ON
Input Signal
OFF

Filter
Time

ON
Input sent
to the CPU
OFF

12-12

BRX User Manual, 2nd Edition

Filter
Time

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O
Clicking on (b) Filters... opens the Setup Discrete Input Response Times dialog box (below).

Choose Preferred Filter Scale – Sets format for all of the Inputs values entered in the form.
NOTE: Be sure to select the Filter Scale before entering values in fields. If you change the Preferred Filter
Scale after entering values then any values that are not valid in that scale will be set to 0.

The Filter Scale can be specified in the following formats:
•

A frequency in the range of 0–250000 Hz.

•
A time value in milliseconds in the range of 0–112, microseconds in the range of 0 - 111848, or
nanoseconds in the range of 0–111848093.
•

The number of 13.33 nanosecond clocks in the range of 0–8388607.

An input filter value of 0 will use the default filter value of 1 microsecond. Selecting one format
to specify the filter value will automatically show the filter value in the other two formats.

BRX User Manual, 2nd Edition

12-13

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

2. Interrupt Setup
In the System Configuration window, select (a) the BRX Onboard I/O option under the
Configuration Entries panel.

Clicking on (b) Interrupts... opens the Setup Interrupt Triggers dialog box (below).
A PLC normally reads inputs at the top of the
scan and writes outputs at the bottom of the scan.
The ladder logic is solved after the inputs are read
and after the ladder is solved the outputs are
written. Because the PLC can change the amount
of work it does from scan to scan, the PLC scan
time will also change accordingly, which will
directly affect how frequently inputs will be read
and outputs will be written. Interrupts are a
method of triggering an action or code segment
immediately after the qualifying condition(s)
becomes true, regardless of variations in the
PLC scan time. In the BRX PLC, this can be
accomplished by using hardware (a) Input Events,
(b) Timers or (c) Match Registers, (matching a
register count). There are 12 Interrupt triggers
available: 4 Input Interrupts, 4 Timer Interrupts
and 4 Match Register Interrupts.
Click on (d) Event 1... to bring up the Setup Input Event dialog box.

12-14

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

2a. Setup Input Interrupts:
Input Interrupts can be used to respond to transitions of discrete inputs that occur during a
PLC scan. Input Interrupts can be triggered in several different ways:
•

Any (a) of the on-board discrete inputs

•

Single Input (b, dropdown menu at right) (OR Rising Edge, OR Falling Edge or OR Either )

•

Combinations of Inputs (c, dropdown menu at right) (AND High Level or AND Low Level)

Next, choose to assign the input event to (d) an existing Interrupt Service Routine (ISR) or
(e) create a new ISR.
For this exercise we will click on (e, above) to create a new ISR (a, below) and enter a name for
the ISR, (b) click the Create button.

Dropdown Menu
Interrupt Selections

BRX User Manual, 2nd Edition

12-15

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Input Interrupt Example 1
In the configuration below (a) of ISR_1, if (b) EITHER Input 0 or Input 1 goes from false to
true, the Interrupt Service Routine ISR_1 will run.

Input Interrupt Example 2
In the configuration below of (a) ISR_1, Input 0 must be true and when (b) Input 1 goes from
false to true, the Interrupt Service Routine ISR_1 will run.

12-16

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

2b. Setup Timer Interrupts
Timer Interrupts use a hardware
timer to run an Interrupt Service
Routine in situations where you
need an action to occur at regular
intervals that are not affected by
variations in the PLC scan time.
This can be situations that require
actions to occur at exact repeating
intervals (Recurrent), or actions
that occur after a precise amount of
delay time (One Shot).

Timer Interrupts are fairly simple
to setup. There are two modes:
One Shot or Recurrent. The
Timer Duration is in microseconds
resolution. As with the Input
Interrupt setup, an existing (a)
ISR can be specified or a new one
can be created from this dialog by
clicking on (b) Create ISR button.
One Shot – The ISR will run only
once at the time period specified
after putting the PLC into Run.
In order for this Interrupt to
run again, the PLC will need to
transition from Stop/Program
to Run or you can use the (c)
INTCONFIG instruction in ladder logic to trigger it again. The INTCONFIG instruction is
very useful and will be discussed in more detail later.
Recurrent – the ISR will run continuously at the time period specified after putting the PLC
in Run mode or it can be controlled (turned on or off ) by using the INTCONFIG instruction.
NOTE: The Timer Interrupt will be triggered when the PLC goes from Stop/Program mode to Run mode. To
stop this from taking place, you can use the ISRname.Inhibit bit to disable the ISR from triggering when the
PLC first goes into Run mode.

BRX User Manual, 2nd Edition

12-17

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

2c. Setup Match Register

The Match Register function allows you to compare one of the hardware based registers to a
value. When that condition is met, the specified Interrupt Service Routine will run. As with
the other Interrupt functions, you can pick from a previously created ISR or you can create
one from this dialog (a).
(b) ...when – specifies which of the High-Speed input or output locations to use in the
comparison.
Choose from the following:
High-Speed Ctr / Tmr 1 Accumulator
High-Speed Ctr / Tmr 2 Accumulator
High-Speed Ctr / Tmr 3 Accumulator
Pulse Output 1 Position
Pulse Output 2 Position
Pulse Output 3 Position
(c) ...is – specifies the math operator to use when performing the comparison.
Choose from the following:
Equal To
Not Equal To
Greater Than
Greater Than or Equal To
Less Than
Less Than or Equal To

12-18

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O
(d) ...this value - specifies the 32-bit signed decimal constant value to compare to the register
contents. This can be any constant value between -2147483648 and 2147483647.
The specified ISR will run once when the operand condition is met. For example: In the case
of Greater than, the ISR will run when the High-Speed Ctr/Tmr or Pulse Output position is
above the set point. It will not run again until the value has gone below the set point and then
back above it again. The same is true for Not Equal to - the ISR will run the very first time
after going into Run Mode if the High-Speed Ctr/Tmr or Pulse Output position is not equal
to the set point. It will not run again until the High-Speed Ctr/Tmr or Pulse Output position
becomes equal to the set point and then moves off of that value.

BRX User Manual, 2nd Edition

12-19

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

2d. Interrupt instructions
There are four Interrupt instructions:
•

INTCONFIG (Configure Interrupt)

•

INTDECONFIG (Deconfigure Interrupt)

•

INTSUSPEND (Suspend Interrupts)

•

INTRESUME (Resume Interrupts)

NOTE: If you are doing ISRs, you should use one or more of the Immediate Output instructions:
OUTI (Out Immediate)
SETI (Set Immediate)
RSTI (Reset Immediate).
These will help get a faster response from a Y in the ISRs.

A brief explanation of the use of these instructions will be given here. For full details on these
instructions, refer to the help file.
For each instruction, there is an Input Leg action selection: Power flow enabled or Edge
triggered. A Power flow enabled will lock the instruction on. So if an INTCONFIG instruction
was configured as Power flow enabled, the rung became true and an INTDECONFIG
instruction was enabled, the Interrupts would still occur. Choosing Edge triggered will invoke
the action once and other instructions may change the current behavior.
NOTE: If an Interrupt Trigger was created using the Interrupt Triggers setup in System Configuration, be
aware that these instructions DO NOT change that configuration. The Interrupt Trigger configuration will
return each time the BRX CPU transitions from PROGRAM to RUN mode.

INTCONFIG

12-20

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O
The INTCONFIG instruction performs the
same Interrupt setup located within the System
Configuration. The instruction allows you to
dynamically change the setup in applications where
this may be required. One example is to calculate
a Match Register value in Ladder Logic using the
MATH instruction to D100, then use D100 in an
INTCONFIG. If the INTDECONFIG instruction
is used to disable Interrupts, this instruction is
required to re-enable them.

INTDECONFIG
This instruction disables the Interrupt(s) selected. Individual Interrupts may be selected as
well as choosing to disable all of them. To re-enable Interrupts, the PLC must transition
from Program to Run or the INTCONFIG instruction must be used. To temporarily disable
Interrupts, use the INTSUSPEND instruction.

INTSUSPEND
The INTSUSPEND instruction temporarily
suspends the interrupts and does not allow the ISRs
to run. To enable the interrupts to function again, use
the INTRESUME instruction. When interrupts are
suspended using the INTSUSPEND instruction and
one or more triggers take place, only one iteration of
the interrupt will be available to be triggered after it is
no longer suspended.

INTRESUME
The INTRESUME instruction resumes the normal
processing of suspended interrupts. When the
INTRESUME instruction is enabled, if one or more
than one trigger took place while suspended, only one
will be triggered when it resumes.
Clear any Pending interrupts: When enabled, it
resets the trigger that took place while suspended.
For example, if one or more triggers take place while
suspended and the Clear any Pending Interrupts was not enabled, when interrupts are resumed,
it will immediately execute the interrupt routine one time. If, however, the Clear any Pending
Interrupts was enabled, any trigger that took place while suspended would be reset and when
interrupts resume, it would start the normal processing of the interrupts.

BRX User Manual, 2nd Edition

12-21

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Interrupt Service Routines
Only a brief explanation will be given of the Interrupt Service Routine. This topic is defined
in the help file as well.
When an Interrupt Service Routine (ISR) is created, a structure is created. The members of
the structure are as follows:
•

.ExecutionTime – Time, in microseconds, it took to run the ISR the last time it ran.

•
.HasRun – Should be on if the ISR has run at least once since the last Program to Run
transition.
•
.Inhibit – Enabling this bit will prevent the ISR from running. The actions do NOT get
queued when this bit is enabled and the hardware interrupt becomes true for this ISR.
•
.Latency – Time in microseconds elapsed between when the hardware Interrupt occurred and
when the ISR execution began.
•
.RunCounter – Indicates how many times the ISR has run since the past Program to Run
transition.

These structure members may be helpful in troubleshooting the process when using Interrupts.

12-22

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

3. High-Speed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

(a) Counters
(b) Timers
(c) Axis/Pulse Outputs
(d) Pulse Width Modulation (PWM) Outputs
(e) Table Driven Outputs

BRX User Manual, 2nd Edition

12-23

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

3a. Counters

A structure is created when this function is used. The name of the structure is configurable
in the Device Name field. For the description of this function we will use the default name
HsCtrTmr1.
(a) The BRX PLC allows for either 3 High-Speed Counters or 3 High-Speed Timers. Counters may be
used in 5 different configurations with different options for the “Edge” to count:
Up Counter (Rising Edge, Trailing Edge or Both): Uses a single input and increments the
count in the $HsCtrTmr1.Acc register.
Down Counter (Rising Edge, Trailing Edge or Both): Uses a single input and decrements the
count in the $HsCtrTmr1.Acc register.
Quad Counter (1X, 2X or 4X): Uses 2 inputs and counts in both positive and negative
directions based upon which of the inputs is ‘leading’.
Bidirectional Counter: Uses 2 inputs. The first input is the count input. The second input
determines whether the count is incrementing (when input is low) or decrementing (when
input is high).
Up/Down Counter: Uses 2 inputs. The first input increments the count. The second input
decrements the count.
(b) Initial Reset Value: The $HsCtrTmr1.Acc register will be loaded with the value configured in this
field when the Reset Input goes true.
(c) Reset Input: When this condition is met, the $HsCtrTmr1.Acc register will be loaded with the value
specified in the (b) Initial Reset Value field. The Input can be configured to indicate a true condition
when the Rising Edge occurs, the Falling Edge, High Level or Low Level.
(d) Enable Capture Input: When this condition is met AND when $HsCtrTmr1.EnableCapture is

12-24

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O
true, the current value that is in the $HsCtrTmr1.Acc register will be loaded into the $HsCtrTmr1.
CapturedValue register. When this occurs, the structure member, $HsCtrTmr1.CountCaptured will be
true. To capture again, the $HsCtrTmr1.EnableCapture bit must be turned off and back on. This Input
can be configured to indicate a true condition on Rising Edge or Falling Edge.
(e) Inhibit Input: When this condition is met, the $HsCtrTmr1.Acc register will cease to increment
or decrement. The Input can be configured to indicate a true condition on High Level or Low Level.

Counter Scaling
Position
Configure the Min Raw, Max Raw, Min Scaled and Max Scaled values for a linear interpolated
result. That result will be placed in the
$HsCtrTmr1 structure member $HsCtrTmr1.
ScaledValue .

Rate
The scaling feature allows you to convert the raw
input pulse count to engineering units
more appropriate to the process that
the PLC is running. The scaled value
will be placed in the structure member:
$HsCtrTmr1.ScaledValue.
NOTE: The raw value is used for Match
Register functionality. However, the Preset
Command table and PLS table can use the
scaled value.

Rate scaling is a measurement of distance
over time. The following parameters are
used in calculating the .ScaledValue:
(a) Raw Counts / Unit: The raw
count value that would comprise
1 scaled unit value. So for
calculated RPMs of an encoder,
this might be the Pulses Per Revolution of the encoder.
(b) Unit Time Base: A time base for the scaled unit value. In the example of calculating
RPMs, this value would be units per minute.
(c) Scale Offset: Simply a value added to the resulting .ScaledValue.
(d) Calc Interval: Specifies how often (in milliseconds) the rate calculation is performed. The
higher the value, the lower the impact on performance to the system. The calculation should
be performed no faster than the process requires. If the application generates very slow pulse
signals, consider using the Interval Scaling, discussed later in this chapter.
(e) Data Filter: Entering a value into this field will apply a time constant filter to a rolling
average resulting in a ‘smoother’ value.

BRX User Manual, 2nd Edition

12-25

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

3b. Timers
There are 2 types (a) of High-Speed Timers for
the BRX PLC: Edge Timer (1 Input) and Dual
Edge Timer (2 Inputs).
Edge Timer:
With the Edge Timer,
measurements can be taken in 4 possible ways:
•
From rising edge of one pulse to the rising
edge of the next pulse
•
From rising edge to falling edge of the same
pulse
•
From falling edge of one pulse to the rising
edge of the next pulse
•
From falling edge of one pulse to the falling
edge of the next pulse

Dual Edge Timer: With the Dual Edge Timer, measurements can be taken in 4 possible ways:
•

From the rising edge of input 1 to the rising edge of the subsequent pulse of Input 2

•

From the rising edge of input 1 to the falling edge of the subsequent pulse of Input 2

•

From the falling edge of input 1 to the rising edge of the subsequent pulse of Input 2

•

From the falling edge of input 1 to the falling edge of the subsequent pulse of Input 2

When a High-Speed Timer is configured, a structure is created. To use the timer, the
$HsCtrTmr1.EnableTimer bit must be enabled. The BRX PLC will then look for the first
pulse. When the first pulse is read, the timer begins. The current time value (in microseconds)
can be seen in the $HsCtrTmr1.Acc register. When the second pulse has been read, the time
value is moved into the $HsCtrTmr1.LastTime register and the timer stops. To run again,
disable the $HsCtrTmr1.EnableTimer bit and re-enable. There are 2 other bits to indicate the
state that the timer is in. The $HsCtrTmr1.TimerStarted indicates that the timer is active. The
$HsCtrTmr1.TimerComplete bit indicates that the timer has completed.
Enable Free Run: When the (b) Enable Free Run checkbox is selected, the timer will continue
on subsequent pulses and the $HsCtrTmr1.EnableTimer bit only needs to be enabled once and
not re-enabled for subsequent timer measurements.
NOTE: The timer will ‘free run’ and will not stop in between pulses. The BRX PLC is just grabbing snapshots
of the configured pulse timing.

Enable Timeout: The Enable Timeout (c) feature gives an indication that the first pulse
has been received but the second has not been received within the time period specified (in
microseconds). When the timeout occurs, it will not successfully complete the timer even
though the second pulse may eventually arrive. The $HsCtrTmr1.EnableTimer bit must be
disabled and re-enabled.

12-26

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

Interval Scaling
The Scaling Interval feature (right) allows
you to convert the raw input pulse count
to engineering units more appropriate to
the process that the PLC is running. The
scaled value will be placed in the structure
member: $HsCtrTmr1.ScaledValue.
NOTE: The raw value is used for Match Register
functionality. However, the Preset Command
table and PLS table can use the scaled value.

Interval scaling measures the time between
pulses to calculate the frequency. The
result is a measurement of unit movement
over time. The following parameters are
used in calculating the .ScaledValue:
Raw Counts / Unit: This is the raw count value that would comprise 1 scaled unit value. So for
calculated RPMs of an encoder, this might be the Pulses Per Revolution of the encoder.
Unit Time Base: This is the time base for the scaled unit value. In the example of calculating
RPMs, this value would be units per minute.
Scale Offset: This is simply a value added to the resulting .ScaledValue.
Data Filter: Entering a value into this field will apply a time constant filter to a rolling average
resulting in a ‘smoother’ value.

BRX User Manual, 2nd Edition

12-27

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

3c. Axis/Pulse Outputs
The Axis/Pulse Output Configuration window
allows you to specify the type of pulse train
(mode) to output as well as the physical output
points to use for this Axis. The software will
indicate and warn if there are conflicts specified
for the output points selected in this or other axis
configurations.
There are four Pulse Output Modes:
1. Virtual (a): Axis can execute profiles for
master/slave operations with other axes, or can
trigger Table Driven Outputs or Match Register
interrupts, but does not drive physical I/O.
NOTE: A Virtual axis will not generate pulses to
physical outputs of the PLC. Convenient for testing.

2. Step/Direction (b): The output specified for
Function Output 1 will pulse at the speed and/or amount (Position) specified. The output specified
for Function Output 2 will be low for a positive position value move or high for a negative position
value move.
3. CW/CCW (c): The output specified for “Function Output 1” will pulse at the speed and/or
amount (Position) specified when the Position value is positive. The output specified for Function
Output 2 will pulse at the speed and/or amount (Position) specified when the Position value is negative.
4. Quadrature (d): In Quadrature mode, both outputs specified will pulse at the speed and/or
amount (Position) specified in 4X fashion (both leading and trailing edges are considered a pulse). If
the position value specified is a positive value, the output specified for Function Output 1 will lead. If
the position value specified is a negative value, the output specified for Function Output 2 will lead.

12-28

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

3c. Axis/Pulse Outputs, continued
When an Axis is created, a structure is available for use in control and monitoring. Each
member takes the form of $Axisn.member, where “n” is the Axis number (0 to 3) and “member”
is the element word or bit referenced. Each member and an explanation of that structure are
listed below.
.TargetVelocity (Signed DWord): When using an AXVEL instruction, this is the target Velocity (When
using an AXPOSTRAP or AXPOSSCRV instruction, the velocity configured in the AXCONFIG
instruction is the velocity that is used).
.TargetPosition (Signed DWord, Read Only): This is the target position that has been configured
successfully by an AXPOSTRAP or AXPOSSCRV instruction.
.CurrentVelocity (Signed DWord, Read Only): This is velocity that the axis is currently running at.
.CurrentPosition (Signed DWord, Read Only): This is the pulse count where the Axis is currently
located.
.FollowingError (Signed DWord, Read Only): When an Axis is configured to use encoder feedback as
the Axis position, the FollowingError is the difference between the output pulse count (TargetPosition)
and the encoder input value (Current Position). This value is always reported in pulse counts, not in
encoder count values.
.MstSlvCoordError (Signed DWord, Read Only): This error is the difference between the position of
the Master Axis and the projected location of the Slave Axis when using the AXGEAR, AXFOLLOW
and AXCAM instruction.
.Suspend (Bit): Enabling the Suspend bit will halt the axis motion where it is at (honoring the accel
and decel parameters). Disabling the bit will resume the axis motion.
.MasterEnable (Bit): This must be enabled for an axis instruction to function. It gets enabled
automatically after the AXCONFIG has completed successfully.
.Configured (Bit, Read Only): This bit is true when the axis has been successfully configured by the
AXCONFIG instruction.
.Active (Bit, Read Only): This bit is true when the axis is in motion (pulses are being generated).
.AtVelocity (Bit, Read Only): This bit is true when the axis is generating the pulses at the frequency
specified by an AXPOSTRAP or AXPOSSCRV , an AXVEL or other axis instructions (TargetVelocity
= CurrentVelocity).
.AtPosition (Bit, Read Only): This bit is true when the position specified by an AXPOSTRAP or
AXPOSSCRV has been achieved (TargetPosition = CurrentPosition).
.ScriptBusy (Bit, Read Only): Reserved
.Fault (Bit, Read Only):
Will be SET when either Fault Limit for an Axis
is ON, or when the Axis’ MasterEnable has been manually turned OFF.
A Reset Axis Limit Fault (AXRSTFAULT) or an Axis Configuration (AXCONFIG) instruction must
be executed to clear the Fault in the Axis before the Axis will operate again.

3d. PWM (Pulse Width Modulation)
The PWM function has no associated instructions. In the “PWM Output Configuration”,

BRX User Manual, 2nd Edition

12-29

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O
specify the output to control. Once this function has been configured, a structure is created.
The function is used by manipulating the members of that structure. The structure members
are defined below:

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

.EnableOutput (Bit): Set this bit ON to generate output pulses, set the bit OFF to stop generating
output pulses.
.PeriodScale (Bit): This specifies the time base for the output
pulses. OFF = Microseconds (μs), ON = Milliseconds (mS).
.Period (Unsigned Word): Specifies the amount of time (in
microseconds or milliseconds) for one complete pulse. This
can be any positive constant value from 0–65535.
NOTE: Remember, this value is NOT a frequency specified in
Hz, this is the duration (milliseconds or microseconds) of one
pulse. Because Frequency and Period are reciprocals of each
other, the following formulas can be used to convert a value
specified in Hz to a Period value in milliseconds or microseconds:
Converting Hz to millisecond period = (1/ Hz) * 1000.
For example: 60Hz = (1 / 60) * 1000 = 17 milliseconds.
Converting Hz to microsecond period = (1/ Hz) * 1000000. For
example: 60Hz = (1 / 60) * 1000000 = 16667 microseconds.

.DutyCycle (Real): The DutyCycle determines the percentage
of time that the output is high versus low. 10% Duty Cycle
would mean that the output is high for 10% of the Period (or
cycle) and low for 90% of the Period. This can be any Real
value between 0.0 and 100.0.

12-30

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

3e. Table Driven Outputs
Table Driven Outputs are a method to control outputs
at High-Speed based upon set points from a High-Speed
counter, timer or axis position. Typically, controlling outputs
from a set point in ladder would incur ‘jitter’ delays from
one scan to the next. When controlling outputs at HighSpeed, the ladder scan variation may produce undesired
changes in response from one scan to the next. Using table
driven outputs will eliminate this ladder scan variation.
There are 2 methods of controlling table driven outputs:
Preset Tables or Programmable Limit Switch (PLS). The
TDOPRESET instruction is used for Preset Tables and the
TDOPLS instruction is used for PLS.

Preset Tables
Preset Tables will always run in order from first to last. This
means that it must always be known whether the count will
increment or decrement and at what point it will do this.
If unexpected direction changes in count may occur, the
Programmable Limit Switch function may be a better choice
for that application.
As mentioned above, the table will always run from first (top
of table) to last (bottom of table). In order to restart the table from the top, the Reset Table &
Acc function should be used as one of the steps in the table.
There are 6 Preset functions to choose from in the table:
Set: This function will turn the Table Driven Output ON. A Reset must be used to turn the output
OFF.
Reset: This function will turn the Table Driven Output OFF.
Pulse ON: This function will turn the Table Driven Output ON for the specified “Pulse Time” (in
microseconds). At the end of the specified Pulse Time, the output will turn OFF.
Pulse OFF: If the output is ON, this function will turn the Table Driven Output OFF for the specified
“Pulse Time” (in microseconds). At the end of the specified Pulse Time, the output will return to ON.
Toggle: This function will set the Table Driven Output to the opposite state from what it is currently
at. If the output was ON, this function will turn it OFF. If the output was OFF, this function will
turn it ON.
Reset Table & Acc: Performs a reset of the Master Register which sets its current count value to the
Initial Reset Value specified in the Timer/Counter Function setup, and sets the current step in the
Preset Table to Step 0.

BRX User Manual, 2nd Edition

12-31

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

3e. Table Driven Outputs, continued
When a Preset Table is configured, a structure becomes available for use in control and
monitoring. The members of the structure are as follows:
.EnableOutput (Bit): This Bit is automatically set ON when the Preset Table is first loaded, and
automatically turned OFF when the Table Driven Output is deconfigured. The ladder logic program
can manually turn this Bit OFF to stop the table from writing it’s state data to the Table Driven Output
without having to use the TDODECFG instruction. While this bit is ON, the Preset Table updates
the Table Driven Output.
.OutputState (Bit, Read Only): This bit is ON when the Table Driven Output is ON.
.StepNumber (Signed Byte): The zero-based step number from the table that is currently active. A step
number of -1 indicates the Preset Table is either in Level Reset or is unconfigured.
.InputValOffset (Signed DWord): The current count value from the Master Register can be adjusted
by a fixed amount before the comparison in the step is performed by entering that offset value here.
.ResetEdge (Bit): Turn this Bit ON to reset the Preset Table to Step 0, the PLC will automatically turn
this bit back off.
.ResetLevel (Bit): Turn this Bit ON to reset the Preset Table to Step 0. Leaving the Bit ON will hold
the Table in Reset until this Bit is turned OFF.

For more information on using the TDOPRESET instruction and the Preset Table function,
reference the help file.

Programmable Limit Switch (PLS)
Unlike the Preset Table, the PLS (Programmable Limit Switch) will act upon the output
whenever the High-Speed I/O Source Register is within the configured entry points no matter
the direction it may have entered the range specified.
The entry requires specifying the low range (ON when Greater Than or Equal to) and high
range (and Less Than) fields.
The On when Greater than or equal to field must always be a lower value than the and Less
Than field.
Multiple entries can be configured to control the output at different ranges but they cannot
overlap each other.
The PLS can control the output so that its default state is ON and the entries configured will
turn the output OFF within those ranges.

12-32

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

3e. Table Driven Outputs, continued
The same structure that is used for the Preset Table is used for the PLS Table with a few minor
changes in behavior. The explanations are given below:
.EnableOutput (Bit): This Bit is automatically set ON when the PLS Table is first loaded, and
automatically turned OFF when the Table Driven Output is deconfigured. The ladder logic program
can manually turn this Bit OFF to stop the table from writing it’s state data to the Table Driven Output
without having to use a TDODECFG instruction. If this Bit is ON the PLS Table will update the
Table Driven Output.
.OutputState (Bit, Read Only): This bit is true when the Table Driven Output being controlled by
the PLS is currently true.
.StepNumber (Signed Byte): The zero-based step number from the table that is currently active. A
step number of -1 indicates the PLS Table is between ON positions or is unconfigured.
.InputValOffset (Signed DWord): The current count value from the Master Register can be adjusted
by a fixed amount before the comparison in the step is performed by entering that offset value here.
.ResetEdge and .ResetLevel: Not used with the PLS function.

For more information on using the TDOPLS and PLS function, reference the Help file.

BRX User Manual, 2nd Edition

12-33

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

BRX High-Speed Examples
This section includes brief descriptions of how to implement some common motion control
solutions. The information provided should give the user a good understanding of what basic
steps are required to implement the desired function.
Later in the chapter, we will present detailed examples that will guide you step by step, on how
to read a quadrature encoder value and how to generate a trapezoid profile using High-Speed
outputs.

Get Position Using an Encoder
To read the position of an encoder, follow these basic steps in the Do-more! Designer software:
1.

From the Dashboard page – Select High-Speed I/O.

Counter/Timer Functions – Select Function 1.

Select Counter – Configure the counter for Quad Counter and select X0 and X1 as your inputs.

Optional – Setup scaling or enable rotary mode.

Download the configuration to the BRX CPU and set it to RUN.

6. While connected with the CPU, verify that the encoder counts are appearing in a DataView
window. Use the address $HsCtrTmr1.acc to monitor the accumulated encoder pulses.

Get Rate Using an Encoder
To read the rate of an encoder, follow these basic steps in the Do-more! Designer software:
1.

From the Dashboard page – Select High-Speed I/O.

Counter/Timer Functions – Select Function 1.

Select Counter – Configure the counter for Quad Counter and select X0 and X1 as your inputs.

Enable Scaling – Select Rate.

Enter the conversion parameters.

Download the configuration and verify the CPU is in RUN mode.

7. While connected with the CPU, verify the encoder rate values are appearing in a DataView
window. Use the address $HsCtrTmr1.scaledvalue to monitor the rate value.

Measure Timing Between Pulse Edges
To measure the time between edges of a pulse, follow these basic steps in the Do-more! Designer
software:
1.

From the Dashboard page – Select High-Speed I/O.

Counter/Timer Functions – Select Function 2.

3. Select Timer – Keep the default device name, @HsCtrTmr2. Select Edge Timer function. For
this test, use one of the encoder inputs, i.e. X0. Select appropriate options (Free-run is suggested for
testing since it does not require any ladder programming to function).

12-34

Optionally, setup scaling if needed.

Download the configuration and verify the CPU is in RUN mode.

While connected with the CPU, verify that the pulse measurements are showing up in a DataView

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O
window. Use the address $HsCtrTmr2.LastTime to monitor the previous amount of time between
pulses.

Pulse Train Output – Move to a Specific Position
The following steps will explain what is needed for the BRX CPU to prompt a stepper motor,
for example, to move an absolute number of steps:
1.

From the Dashboard page – Select High-Speed I/O.

Axis/Pulse Outputs – Select Axis 1.

3. Axis 1 Configuration – Keep the default Device name, @Axis1. Select Pulse Output. Select
the Output Type required by your controller. For this example, we are using Step/Direction with a
SureStep stepper drive. Select Y0 for Step and Y1 for Direction.
4.

Download the configuration to the CPU.

5. AXCONFIG ladder rung – Configure the AXCONFIG instruction for Device
@AXIS1. Use the defaults for all the fields. The move instructions use the Accel/Decel and Min/Max
frequencies configured in this instruction.
6. AXPOSTRAP ladder rung – Configure the AXPOSTRAP for Device @Axis1. For Move Type,
select Single Move and Power Flow Enabled. For Target Type, select Relative and for Position Value
use the default of 1000. For Linear vs Rotary, select Linear.
7.

Download program and verify the CPU is in RUN mode.

8. Trigger the AXCONFIG ladder rung – When the AXCONFIG instruction is triggered, the
MasterEnable and the EnableOutput heap items will be ON. The success bit will be ON.
9. Turn on the AXPOSTRAP ladder rung – Every time the rung is powered on and left on, the
instruction will send out a pulse train that matches the target position value. The CurrentPosition will
increase from 0 to 1000 the first time the rung is turned on. The target position will display 1000.
AtPosition turns on when the target position is reached. If you turn the rung off and back on, the
CurrentPosition will increase from 1000 to 2000.
10. A detailed example using the AXPOSTRAP will be provided later in this chapter. For detailed
information of the instructions, review the Do-more! Designer Help topics.

Pulse Train Output – To Home an Output
The following steps will explain what is needed for the BRX CPU to prompt a stepper motor,
for example, to find a Home position:
1.

From the Dashboard page – Select High-Speed I/O.

Axis/Pulse Outputs – Select Axis 1.

Download the configuration to the CPU.

AXHOME ladder rung – Configure the AXHOME for Device @Axis1. For this example, we

BRX User Manual, 2nd Edition

12-35

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

use X2 as our Discrete Input Limit 1. Enter a value for Homing Velocity. Select the Discrete input
and event type. Select the Homing Termination. For this example, we will use Decelerate to 0 after
reaching input limit 1 and zero out the position value when Home is reached. Edge-triggered is
selected for the input leg.
7.

Download program and verify the CPU is in RUN mode.

8. Trigger the AXCONFIG ladder rung – When the AXCONFIG instruction is triggered, the
MasterEnable and the EnableOutput heap items will be ON. The AXCONFIG success bit will be
ON.
9. Trigger the AXHOME ladder rung – Turning on the input to the AXHOME rung, will trigger
the HOME move. The input does not have to remain on for the HOME move to continue when the
edge-triggered input is selected. Pulse outputs will be generated while the discrete input limit 1 is not
reached. Once the discrete input limit 1 is reached, the pulse output will decelerate to 0, as configured
for this example. During the HOME move, the CurrentPosition will increase. Once the HOME
position is reached, the CurrentPosition is reset to 0.

Output Pulse Width Modulated (PWM) Pulses
To generate PWM outputs, follow these basic steps:
1.

From the Dashboard page – Select High-Speed I/O.

PWM Outputs – Select PWM 1.

3. PWM 1 Configuration – Enable PWM. Keep the default Device name, @PWMOut1. Select
output Y2, for example.
4. Download the program (no ladder instructions need to be added for this test) and verify the CPU
is in Run.
5. Use Data View to control the PWM 1 output. Use heap items .EnableOutput, .PeriodScale,
.Period and .DutyCycle.
6. $PWMOut1.DutyCycle – Specifies the percentage of one period where the output is ON, during
the remaining portion the output will be OFF. This can be any Real value between 0.0 and 100.0.
7. $PWMOut1.PeriodScale – Selects the time base for the output pulses, OFF = microseconds (μs),
ON = milliseconds (ms).
8. $PWMOut1.Period – Specifies the amount of time (in microseconds or milliseconds) for one
complete pulse. This can be any positive constant value from 0–65535.
NOTE: Remember, this value is NOT a frequency specified in Hz, this is the duration (in microseconds or
milliseconds) of one pulse. Because Frequency and Period are reciprocals of each other, the following
formulas can be used to convert a value specified in Hz to a Period value in milliseconds or microseconds:
a. Converting Hz to millisecond period = (1/ Hz) * 1000. For example: 60Hz = (1 / 60) * 1000 = 17 milliseconds.
b. Converting Hz to microsecond period = (1/ Hz) * 1000000. For example: 60Hz = (1 / 60) * 1000000 =
16667 microseconds.

9. $PWMOut1.EnableOutput - Set this ON to generate output pulses, set OFF to stop generating
output pulses.

Table Driven Output using a Preset Table
1. Configure a High-Speed input to read encoder values. See section on “Get Position using an
Encoder”.
2.

12-36

From the Dashboard page – Select High-Speed I/O.

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O
3.

Table Driven Output – Select Table 1.

Table Driven Output Configuration – Enable Table Driven Output.
a.
This is used to trigger High-Speed outputs in response to High-Speed counters, timers
and pulse outputs.
b.
Use ladder instructions TDOPRESET, TDOPLS and TDODECFG to setup and
manage tables.

Select output Y3.

Download changes to the CPU.

Add a rung with the instruction TDOPRESET and a rung with the instruction TDODECFG.

Once the TDOPRESET is running, it takes over the discrete output assigned to Table1.

To release the discrete output from being controlled by Table 1, use TDODECFG.

BRX User Manual, 2nd Edition

12-37

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Detailed Example: Configure and Test a Quadrature Input
This example walks through the steps required to get the counts from a quadrature encoder.
Phase A of the encoder is wired to input X0 and Phase B of the encoder is wired to input X1.
The Basic Steps
1.

Wire the encoder and connect Do-more! Designer to the BRX CPU.

Configure a High-Speed Input as a quadrature counter.

Download the program changes to the CPU and place the CPU in Run.

4. Use DataView and Trend View to verify the encoder values are being read correctly by the BRX
CPU.

Equipment Used
BRX MPU with DC inputs. A quadrature encoder (Open collector or Totem Pole) properly
powered and connected to inputs X0 and X1 of the BRX.
Launch Do-more! Designer. By default, the Tip of the Day will pop up. Close it.

12-38

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

Detailed Example: Configure and Test a Quadrature Input, continued
The Select Project window will be displayed next. Select New Offline Project. Launch the

Do-more! Designer Software.
In the New Offline Project window select the BRX MPU model you are working with. Rename
the project as Quad Encoder in the New Project Name field (bottom left). Press the OK
button to accept the selections.

BRX User Manual, 2nd Edition

12-39

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Detailed Example: Configure and Test a Quadrature Input, continued
The Dashboard page is displayed and the screen will look as follows:

Mouse over the BRX MPU in the Dashboard BRX Onboard I/O view, orange blocks will
appear around the various built-in MPU features. Select the inputs orange block (a). Select
Configure counter/timer functions (b) to access the Setup BRX High-speed I/O page.

12-40

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

Detailed Example: Configure and Test a Quadrature Input, continued
From the Setup BRX High-speed I/O page, select Function 1 under the Counter/Timer
Functions section.

Selecting (a) Counter from the Setup
BRX Counter/Timer dialog box. The
dialog box will fill in with counter
parameters. For this example, we will
keep the default (b) Device Name of
HsCtrTmr1. Select (c) Quad Counter
from the dropdown menu, leaving it at
(d) 1X counting resolution and select
input (e) X0 (Phase A) and input (f) X1
(Phase B).
Click OK to return to the Dashboard
screen. Write the changes to the PLC
and verify you are in Run mode.
At this point, we have configured inputs
X0 and X1 for quadrature counter highspeed inputs. No ladder is needed to
monitor the counts from the encoder.

BRX User Manual, 2nd Edition

12-41

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Detailed Example: Configure and Test a Quadrature Input, continued
Displaying Encoder Values via Data View
Create a New Data View window. From the menu select Debug -> Data View and New.

Alternately, you can use the Data icon (right) on the toolbar to open a new
Data View window.
The Data1 window is displayed. Start by typing
$HsCtrTmr1 on row 1 under the Element
column. Make this Data1 window wider by
placing the mouse on the right edge of the
window, left clicking and dragging to the right.
As you can see at right under Status, the Heap
items .AtResetValue, .EnableCapture, and
“.Acc”. The value in parenthesis is the current
value. As you turn your encoder, the value for
“.Acc” will change. If you move the encoder in
the clockwise direction the values will increase.
When the encoder moves in the counterclockwise direction, the value decreases. (The
reverse maybe true depending on the wiring of
the encoder phase A and phase B).

12-42

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

Detailed Example: Configure and Test a Quadrature Input, continued
It is possible to view one Heap item per Data
View row. The available Heap items for the
$HsCtrTmr1 can be found under the Project
Browser -> Configuration -> Memory -> I/O
-> Specialty -> $HsCtrTmr1 as shown at right.

Displaying Encoder values using Trend View
Trend View is a very powerful utility, one that can be used to troubleshoot the control system.
We highly recommend you use this tool to the fullest.
Create a new Trend View from the Debug Menu or the Trend icon (below, right) on the
toolbar, as shown below.

BRX User Manual, 2nd Edition

12-43

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Detailed Example: Configure and Test a Quadrature Input, continued
In Trend View, using a single pane, add the accumulated value of the high-speed counter,
$HsCtrTmr1.Acc. As the encoder is turned, you can see the accumulated value changing on
the Trend View pane.
52,984

52,984

44,153

35,323

26,492

17,661

SHsCtrTmr1.Acc

8,830

-0
08:17:49

12-44

8,830

08:17:56

08:18:03

08:18:09

BRX User Manual, 2nd Edition

08:18:16

08:18:23

08:18:29

08:18:36

08:18:43

-0
08:18:49

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

Detailed Example: Configure and Test a High-Speed Pulse Output with a
Trapezoid Profile
This example walks through the steps required to use a BRX MPU to generate a pulsed output
with a trapezoid profile using the built-in high-speed outputs.
The Basic Steps
1.

Gather and wire up the hardware (not covered here).

2. Launch the Do-more! Designer software and connect to a BRX MPU with DC sinking or
sourcing outputs.
3.

Configure Axis 1 to use Y0 for Step and Y1 for Direction.

Write the necessary ladder program to generate the trapezoid profile.

Download and run the program.

Show how Data View and Trend View can be used to monitor and control the profile.

Equipment Needed
A BRX MPU with DC sinking or sourcing outputs, i.e. BX-DM1E-10ED23-D. A stepper
drive and motor properly powered and wired to the BRX MPU outputs. Alternately, the
output activity can be monitored in Data View or in Trend View, encase a stepper or similar
hardware is not available.
Launch the Do-more! Designer Software. By default, the Tip of the Day will pop up. Close it.

BRX User Manual, 2nd Edition

12-45

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Detailed Example: Configure and Test a High-Speed Pulse Output with a
Trapezoid Profile, continued
The Select Project window will be displayed next. Select New Offline Project.

In the New Offline Project windows select the BRX MPU model you are working with. Rename
the project as Trapezoid, in the New Project Name field. Press the OK button to accept the
selections.

12-46

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

Detailed Example: Configure and Test a High-Speed Pulse Output with a
Trapezoid Profile, continued
The Dashboard page is displayed and the screen will look as follows:

Mouse over the BRX MPU in the Local BRX Onboard I/O view. Select (a) the outputs orange
block. Select Configure high-speed outputs (b) to access the Setup BRX High-speed I/O page.

BRX User Manual, 2nd Edition

12-47

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Detailed Example: Configure and Test a High-Speed Pulse Output with a
Trapezoid Profile, continued

From the Setup BRX High-speed
I/O page, select Axis 1 under the
Axis/Pulse Outputs section.

The
Axis/Pulse
Output
Configuration window comes
up. Select (a) Pulse Output.
Use the default device name,
$Axis 1. For this exercise, select
Pulse Output, Step/Direction,
Y0 for Step and Y1 for Direction,
as shown below.
Press (b) OK to return to the
Setup BRX High-Speed I/O
window. Press OK again to
return to the Dashboard screen.
Save the project at this time.
At this point, we have configured
outputs Y0 and Y1 for Step and
Direction high-speed outputs.
Next, we will write the necessary
ladder to generate a trapezoid
profile with the configured highspeed outputs.

12-48

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

Detailed Example: Configure and Test a High-Speed Pulse Output with a
Trapezoid Profile, continued
Ladder Program for Trapezoid Profile
Start by opening the $Main code block (a), as shown below.

We will add two rungs to the ladder diagram by selecting two instructions from the Instruction
Toolbox in the (b) High-Speed/Axis section. The ladder will look like the one shown below.
On rung 1 we will place the AXCONFIG instruction and on rung 2 we will place the
AXPOSTRAP instruction. The following page discusses setting the instruction parameters
when placing these instructions.

BRX User Manual, 2nd Edition

12-49

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Detailed Example: Configure and Test a High-Speed Pulse Output with a
Trapezoid Profile, continued
With the cursor on rung 1, Select
AXCONFIG from the tool palette.
AXCONFIG is needed to setup the
runtime parameters for an Axis. An
Axis has no default values and must be
configured before it can be used. For
this example, we will configure the
AXCONFIG with the values as shown
in the dialog box on the right. Since
we have configured Axis 1 for Step/
Direction, change the AXCONFIG Axis
Device field to @Axis 1. For the purpose
of our example, leave all other fields at
their default values.

Move cursor to rung 2 and select
AXPOSTRAP from the tool palette.
AXPOSTRAP is used to move an Axis
from its current position to a specified
target position using the configured
parameters to generate a trapezoid move
profile.
For the purpose of this example, change
the (a) Axis Device to @Axis 1 and change
the (b) Target Type to Relative, leaving
the other parameters at their default
values. You can change the (c) Position
Value if your setup requires additional
steps to approximate the trapezoid move.
When you use the Relative target type,
the profile will move the number of steps
indicated by the (c) Position Value each
time the AXPOSTRAP instruction is
triggered.
Write the program to the BRX CPU and verify it is in RUN mode.

12-50

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

Detailed Example: Configure and Test a High-Speed Pulse Output with a
Trapezoid Profile, continued
Displaying and controlling the trapezoid profile move using Data View
From the menu select a new Data View under the Debug -> Data View menu. Alternately,
you can use the Data icon (shown on right) on the toolbar ribbon to open a new Data View
window.

The Data1 window is displayed (right). Start by typing C0 on row 1 and C3 on row 2,
under the (a) Element column. Make the Data1 window wider by placing the mouse on
the right edge of the window (b), left clicking
and dragging to the right. Select (c) the yellow
E icon in order to display (d) the Edits
column. Be sure All Status On (toolbar
ribbon) is selected.

Under the Edits column (d), you will see ON
and OFF buttons adjacent to C0 and C3.
We will use these to trigger our two rungs of
instructions. In Data View, to configure AXIS1 parameters, double-left click the ON button
for C0 element.
NOTE: The first time you use this feature, the program will ask you to confirm the writes. If you prefer check
the box so that it will not ask you again.

BRX User Manual, 2nd Edition

12-51

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Detailed Example: Configure and Test a High-Speed Pulse Output with a
Trapezoid Profile, continued
After triggering C0, the ladder will display the following status as shown below.

In the AXCONFIG instruction, we see (a) .MasterEnable and (b) .EnableOutput are
highlighted in blue and C1 is set to ON. These indicate that Axis1 is configured and ready
to be used.
The AXPOSTRAP instruction in Rung 2 shows Axis 1 parameters have been configured (d)
(.MasterEnable is highlighted) and it is ready to start sending pulses (e) (.EnableOutput is
highlighted).
C0 can be turned off once the On Success bit (c), of the AXCONFIG turns on.
We are now ready to initiate our trapezoid move.

12-52

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

Detailed Example: Configure and Test a High-Speed Pulse Output with a
Trapezoid Profile, continued
Double-left click on the C3 ON button in Data View. The trapezoid move will begin. Status
indicators on (a) the AXPOSTRAP instruction will provide feedback about the move. The
following graphic shows its status after the move is complete. Notice (b) the Current Position is
now 1000 and the (c) Target Position is 1000. The field device should have moved 1000 steps.

BRX User Manual, 2nd Edition

12-53

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Detailed Example: Configure and Test a High-Speed Pulse Output with a
Trapezoid Profile, continued
Displaying $Axis1 Current and Target values using Trend View
As mentioned before, Trend View is a very powerful utility, one that can be used to troubleshoot
the control system.
Open Trend View from the Debug Menu or the Trend icon (right) on the toolbar, as shown
below.

12-54

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

Detailed Example: Configure and Test a High-Speed Pulse Output with a
Trapezoid Profile, continued
In Trend View, using a single pane, add $Axis1.CurrentPosition to a pane.
Every time the AXPOSTRAP instruction is triggered, 1000 pulses are generated. In the Trend
View snapshot that follows, we can see the instruction was triggered twice. It started at 0
counts and reached 1000 counts the first trigger. On the second trigger, it started at 1000 and
reached 2000 counts.

There are many settings available that allow the user to meet application needs. Please review
the Do-more! Designer High-speed Instruction Help topics for detailed information.

BRX User Manual, 2nd Edition

12-55

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

BRX High-speed Instructions
In this section we will give an overview of the high-speed instructions available to the BRX
Do-more! CPU. They will be presented in this section as in the Instruction Toolbox, in
alphabetical order.
1. AXCAM – Axis Electronic Camming
2. AXCONFIG – Axis Configuration
3. AXFOLLOW – Axis Position Following with Offset
4. AXGEAR – Axis Electronic Gearing
5. AXHOME – Axis Perform Home Search
6. AXJOG – Axis Jog Mode
7. AXPOSSCRV – Axis Move to Position Using S-Curve
8. AXPOSTRAP – Axis Move to Position Using Trapezoid
9. AXRSTFAULT – Reset Axis Limit Fault
10. AXSETPROP – Set Axis Properties
11. AXVEL – Axis Set Velocity Mode
12. TDODECFG – Deconfigure Table Driven Output
13. TDOPLS – Load Programmable Limit Switch Table for Table Driven Output
14. TDOPRESET – Load Preset Table for Table Driven Output

An expanded discussion of each of these instructions can be found in the Do-more! Designer
online Help files under the High-Speed/Axis topic.

12-56

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

AXCAM
The Axis Electronic Camming (AXCAM) instruction is used to establish a Master/Slave
connection for an Axis so that its movement is synchronized to another Axis or to a HighSpeed Counter/Timer. The Slave Axis (Axis 1, below) position is derived from the Master
position. Any time the Master Axis moves to a new position the Slave Axis will also move to a
corresponding position as directed by the Cam Table. Pulse Outputs for a given Axis cannot
be commanded until the AXCONFIG instruction has been configured and run successfully.
An (a) Axis Device (the slave axis) and
either a (b) Master Axis, High-speed
Counter or Timer must be configured
before the AXCAM instruction can be
used. This is setup in the “Setup BRX
High-speed I/O” dialog in the BRX
Onboard I/O section of the System
Configuration. This dialog box can
be opened directly from the AXCAM
instruction by clicking on the (c)
Configure Axis... button and (d) Configure Master Register Device... button (see AXCAM
graphic below).
NOTE: Axis0 is a ‘virtual axis’ and will not generate pulses to physical outputs of the PLC. Axis0 can be
used for generating pulse output profile register values to be used for Table Driven Outputs (TDOPRESET or
TDOPLS) or as the master for other axes in following-type applications (AXCAM, AXFOLLOW or AXGEAR).

After the Axis has been configured, the AXCAM instruction may now be used (For more details
see the High-speed I/O Hardware Configuration section).

BRX User Manual, 2nd Edition

12-57

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

AXCAM, continued
Points and segments:
A Cam Table describes a motion profile that clearly assigns a slave position for each master
position of a specific master position range.
Cam tables are entered as a series of up to 64 segments. All of the segments are the same size in
that they are equal divisions of the total span of the Master Axis travel.
A segment describes the distance traveled and the position of the axis. It is equal to the difference
between the previous and current positions. Each segment is executed over a defined distance
traveled for the Master Axis. When executing these segments, the profiling software in the
controller will fit a smooth curve to the data with an updated velocity profile every millisecond.

Curve Fitting
The Cubic Interpolation method fits a cubic trajectory between each pair (segment) of cam
table entries.
All segment transitions are curved, even for a linear progression between the segments. The
only exception is on the last 2 table segments. The last 2 segments will be a linear progression
unless Rotary mode has been selected. In Rotary mode, there will be curves on the last position
of the table to the first position of the table.
Master Register: This is the Axis, High-Speed Counter or Timer that provides the position source
value. This can be any of the Axes or High-Speed Counter/Timers.
Non-Axis Master Filter Time: This parameter is only enabled if the Master Register is a High-Speed
Counter/Timer. This value is the Filter Time Constant which specifies how often (in Seconds) the
Slave’s position is calculated. This can be any constant value or any numeric location.
Configure Master Register Device: This button will open the BRX High-Speed Input or Axis/Pulse
Output dialog in the System Configuration.
Linear vs. Rotary: This setting selects the behavior that will occur when the end of the table has been
reached.
•
Linear: The first two and the last two table positions are used to calculate a linear
trajectory (from 0 at the start
Linear Mode
of the table) and the CPU will
continue to output pulses until
the instruction is terminated.

12-58

BRX User Manual, 2nd Edition

....... Calculated from first and last two points and the extrapolated trajectory.
---- Actual Output pulse. All segements are curved except for first and last.

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

AXCAM, continued
•
Rotary: This selection will ‘loop’ the
table to start at the beginning. The modulus
of the Master Register is used as the table
Master Value.

Rotary Mode

Master Position Offset: A pulse count value
that is added to the Master Axis position 0
Table will loop back to start position but the transition
before the associated Slave position value is
from last position to first position will be curve fitted.
calculated. This can be any constant value or
any numeric location. If this value is a numeric location the value is read from that location only when
the instruction is first enabled.
Load Slave Curve Fitting Points from Data Block: The data for the curve is located in PLC memory.

• Length from Starting Master Position: The total number of pulse counts the
Master will move.
• Number of Curve Fitting Points: The number of segments to divide the Length
from Master Position into. There must be at least 3 curve fitting points in the table with
a maximum of 64.
• Slave Curve Fitting Table Starting Address: The beginning address in PLC
memory where the curve data is stored.
Fixed Curve Fitting Points: The data for the curve is in the instruction table.

• Length from Starting Master Position: The total number of pulse counts the
Master will move.
• Number of Curve Fitting Points: The number of segments to divide the Length
from Master Position into. There must be at least 3 curve fitting points in the table
with a maximum of 64.
Enable Relative Mode: If selected, the function is enabled. The Slave Axis’ current position is stored
internally and that position becomes the new 0 for the Slave Axis. As the Master Axis moves, the Slave
position values are now relative to this stored position.

On Success:
• Set Bit: The bit will become FALSE when the instruction is enabled and will
remain FALSE until the enable leg goes back OFF. Once the enable leg turns OFF,
if the instruction’s device/parameters were valid, this bit will turn ON once the
.CurrentVelocity reaches 0.
• JMP to Stage: Similarly, the JMP will not occur until after the instruction is
enabled, then disabled, and all the instruction device/parameters were valid and the
.CurrentVelocity reaches 0.
On Error:
• Set Bit: The bit will become FALSE when the instruction is enabled and will
become TRUE if there was a problem with the parameters configured in the instruction,
with the devices specified or if the AXCAM move was interrupted before completion.
• JMP to Stage: If there was a problem with the parameters configured in the
instruction, with the devices specified or the AXCAM move was interrupted before
completion, the PLC will jump to that stage.

BRX User Manual, 2nd Edition

12-59

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

AXCAM, continued
Example AXCAM
In this example we will demonstrate the use of the AXCAM instruction in conjunction with the
AXCONFIG instruction to create a circular path output using multiple axes.
The radius of the circle (50000) is loaded into D10. The center position is: X=100000,
Y=100000. The path followed is defined in the program SineCalculation.
Axes 0,1 & 2 are defined with the AXCONFIG instruction. The AXCAM instruction creates
the movement of the Axes to define the path traveled. The program SineCalculation is called to
perform the necessary math calculations to create a circular path output. The SineCalculation
is called for each segment in the camming table (61 segments).
The following pages show the ladder program that defines this operation.

(Ladder continued on next page.)

12-60

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

AXCAM, continued

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

(Ladder continued from previous page.)

BRX User Manual, 2nd Edition

12-61

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

AXCAM, continued
Program: SineCalculation
A program is written to perform a separate calculation to create a circular path output.

12-62

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

AXCONFIG
The
Axis
Configuration
(AXCONFIG)
instruction
configures the parameters for a
specific Axis so that it may be
used for all of the other AXIS
commands.
Pulse Outputs
for a given AXIS cannot
be commanded until the
AXCONFIG instruction has
been run successfully. When
the AXCONFIG instruction
has been successfully created
and initiated, the .MasterEnable
structure member for that AXIS
will become true and the AXIS
may be commanded by other
Axis instructions.
An (a, above and Axis 1 below) Axis Device must be configured before the AXCONFIG
instruction can be used. This is setup in the Setup BRX High-speed I/O dialog found in the
BRX Onboard I/O section of the System Configuration. This dialog can be opened directly
in the instruction from the (b) Configure Axis… button (see AXCONFIG graphic above).
After the Axis has been configured
(see the High-speed I/O Hardware
Configuration section for more
details), the AXCONFIG instruction
may now be used.
NOTE: Axis0 is a ‘virtual axis’ and will
not generate pulses to physical outputs
of the PLC. Axis0 can be used for
generating pulse output profile register
values to be used for Table Driven
Outputs (TDOPRESET or TDOPLS) or as
the master for other axes in followingtype applications (AXCAM, AXFOLLOW
or AXGEAR).

BRX User Manual, 2nd Edition

12-63

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

AXCONFIG, continued
Linear vs Rotary: This setting selects the behavior that will occur when the end of the table
has been reached.
•
Linear: Linear actuators move forward or backward on a fixed linear path. The movement of
linear actuators are defined in linear units such as inches or millimeters. Since linear actuators only
move in two directions on a fixed path, linear actuators are defined as finite, meaning they have a set
distance that they can travel in either direction before they must stop.
•
Rotary: Rotary actuators produce rotary motion, meaning that the actuator revolves on a
circular path. Movement from this type of actuator is defined in rotary units, typically degrees. A
rotary table doesn’t have a fixed distance it can travel; it can keep spinning in the same direction
indefinitely. The count for a rotary input is kept within a defined range (Rotary Range Length).
Once the count has exceeded the high limit of the specified Rotary Range Length, it will reset to 0.
If the Axis position is decreasing (negative velocity value), when it falls below 0, it will go to the high
value specified in the Rotary Range Length.

Initial Output Position: The current count will be set to this value when the Axis is first
enabled and any time the Axis is reset. This can be any constant value or any numeric location.
Minimum Velocity (pulses/sec): The slowest frequency of output pulses that will be generated
when the output is enabled. This can be any positive constant from 10 to 250000 or any
numeric location with a value in that range.
Maximum Velocity (pulses/sec): The fastest frequency of output pulses that will be generated
when the output is enabled. This can be any positive constant from 10 to 250000 or any
numeric location with a value in that range.
Acceleration Rate (pulses/sec2): The rate at which the pulses will be generated when the axis
is ramping up from a slower pulse rate to a higher pulse rate. This can be any positive constant
or any numeric location with a value in that range.
Deceleration Rate (pulses/sec2): The rate at which the pulses will be generated when the axis is
ramping down from a faster pulse rate to a slower pulse rate. This can be any positive constant
or any numeric location with a value in that range.
Fault Deceleration Rate (pulses/sec2): Any time a Fault Limit is reached or the Axis
.MasterEnable is turned OFF, the Axis will decelerate to 0 at this specified rate. A value of
0 will cause the Axis to immediately stop moving. This can be any positive constant or any
numeric location with a value in that range.
Encoder Feedback: Enable this option if an incremental encoder is being used to provide the
speed reference feedback. The Axis structure contains a .FollowingError that indicates the
difference in the commanded position and the encoder feedback. This can indicate a stalled
motor, mechanical slippage or other problem in the application.

12-64

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

AXCONFIG, continued
•
High-speed Input Function 1/High-speed Input Function 2/High-speed Input Function 3:
Choose one of these options for the encoder feedback. The High-speed Counters must be setup in the
Setup BRX Counter/Timer section of the BRX Onboard I/O>High-speed I/O… section in the System
Configuration. Click on the Configure High-speed Input… button to access this directly.
•

Position Based on:

Encoder: This option will place the specified High-speed Input Function into the
.CurrentPosition member of the Axis configured in this instruction. The
difference in the specified High-speed Input Function and the actual pulse
output count of the Axis configured in this instruction will be indicated in the
.FollowingError.
Pulse Output: This option will indicate the actual pulse output count of the Axis
configured in this instruction into the .CurrentPosition member and the
.FollowingError will indicate the difference between .CurrentPosition and the
High-speed Input Function that has been specified.
•
Pulse Output/Encoder Scale: If the motor and the encoder have different pulse-per-revolution
values, enter the scale value required to bring them into alignment.
•
Encoder Deadband (counts): Having some deadband value around the encoder current position
can prevent the pulse output from generating alternating small pulses trying to get the input value
to an exact number. This value is applied both above and below the encoder value. For example: A
value of 2 will be a deadband of 2 above and 2 below for a span of 4 counts.
Enable Positive/Clockwise Motion Fault-Limit: Enable this option to use a physical input that will
cause the Axis to Fault (Stop) if the input becomes true or false (based on the setting below) when
moving in the Clockwise or Positive direction. This is typically used as an over-travel limit switch.
If a Fault-Limit is tripped, use the Axis Reset Fault (AXRSTFLT) instruction or re-trigger the Axis
Config (AXCONFIG) instruction to clear the fault. Any attempt to move in the same direction that
caused the fault will immediately generate another fault condition. Movement of the Axis in the
opposite direction is permitted.

Limit Input: This needs to be one of the onboard X discrete input elements. This
is where the over travel limit switch would be wired to.
Stop/fault when Limit is: Choose OFF to cause the Axis to fault (stop) when the
specified input goes from True to False. Choose ON to cause the Axis to fault
(stop) when the specified input goes from False to True.
Enable Negative/Counter-Clockwise Motion Fault-Limit: Enable this option to use a physical input
that will cause the Axis to Fault (Stop) if the input becomes true or false (based on the setting below)
when moving in the Counter-Clockwise or Negative direction. This is typically used as an over-travel

BRX User Manual, 2nd Edition

12-65

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

AXCONFIG, continued
limit switch.
If a Fault-Limit is tripped, use the Axis Reset Fault (AXRSTFLT) instruction or re-trigger the Axis
Config (AXCONFIG) instruction to clear the fault. Any attempt to move in the same direction that
caused the fault will immediately generate another fault condition. Movement of the Axis in the
opposite direction is permitted.

Limit Input: This needs to be one of the onboard “X” discrete input elements.
This is where the over travel limit switch would be wired to.
Stop/fault when Limit is: Choose OFF to cause the Axis to fault (stop) when the
specified input goes from True to False. Choose ON to cause the Axis to
fault (stop) when the specified input goes from False to True.
On Success:
•
Set Bit: The bit will become FALSE when the instruction is enabled and will become TRUE if
the parameters configured in the instruction and proper devices were specified.
•
JMP to Stage: If the parameters configured in the instruction and proper devices were
specified, the PLC will jump to that stage.

On Error:
•
Set Bit: The bit will become FALSE when the instruction is enabled and will become TRUE if
there was a problem with the parameters configured in the instruction or with the devices specified.
•
JMP to Stage: If there was a problem with the parameters configured in the instruction or with
the devices specified, the PLC will jump to that stage.

12-66

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

AXFOLLOW
The Axis Position Following with Offset (AXFOLLOW) instruction is used to establish a
Master/Follower connection for an Axis so that the Follower’s movement is synchronized to the
Master’s movement. The Master can be another Axis or a High-Speed Counter/Timer. Pulse
Outputs for a given AXIS cannot be commanded until the AXCONFIG instruction has been
configured and run successfully.
Because the Follower Axis will need the ability to overtake the Master Axis during a Goto
Relative Offset operation, ensure that the Maximum Velocity and Acceleration parameters of
the Master and Follower Axes have been configured with enough capacity to allow this. The
Follower Axis can be made more responsive by configuring it with higher Maximum Velocity or
a faster Acceleration or both.
If the instruction is enabled with the Goto Offset Signal OFF, the Axis will behave in a Velocityfollowing manner. As soon as the Goto Offset Signal turns ON, the Axis will now behave
in a Position-following manner and will remain so until the instruction is terminated. If the
instruction is enabled with the Goto Offset Signal ON, the Axis will behave in a Positionfollowing manner until the instruction is terminated.
To help keep track of the Axes movement relative to each other, any time the Axis is in Position
Following mode the Follower Axis associated structure member, .MstSlvCoordError, will
contain the difference (in pulse counts) between the Master Axis position and the Follower Axis’
position.
An (a) Axis Device (the slave axis) and either a (b) Master Axis, High-speed Counter or Timer
must be configured before the AXFOLLOW instruction can be used. This is setup in the
Setup BRX High-speed I/O dialog that is in the BRX Onboard I/O section of the System
Configuration. This dialog can be opened directly in the instruction from the (c) Configure
Axis… button and (d) Configure Master Register Device... button.

After the Axis has been configured (see the High-speed I/O Hardware Configuration section for
more details), the AXFOLLOW instruction may now be used.

BRX User Manual, 2nd Edition

12-67

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

AXFOLLOW, continued
NOTE: Axis0 is a ‘virtual axis’ and will not
generate pulses to physical outputs of the
PLC. Axis0 can be used for generating
pulse output profile register values to be
used for Table Driven Outputs (TDOPRESET
or TDOPLS) or as the master for other
axes in following-type applications (AXCAM,
AXFOLLOW or AXGEAR).

Master Register: This is the Axis,
High-Speed Counter or Timer that
provides the position source value.
This can be any of the Axes or HighSpeed Counter/Timers.
Non-Axis Master Filter Time: This
parameter is only enabled if the Master
Register is a High-Speed Counter/
Timer. This value is the Filter Time
Constant which specifies how often (in
Seconds) the Slave’s position is calculated. This can be any constant value or any numeric
location.
Configure Master Register Device: This button will open the BRX High-Speed Input or Axis/
Pulse Output dialog in the System Configuration.
Gear Ratio Multiplier: A multiplier that will be applied when the Follower’s position
is calculated. This can be any constant value or any numeric location. Unlike the similar
parameter in the Electronic Gearing (AXGEAR) instruction, this value cannot be adjusted
while the instruction is enabled.
Relative Offset Position: The Follower’s position value will be adjusted by this pulse count
value each time the Goto Offset Signal turns ON. This can be any constant value or any
numeric location.
Relative Offset Velocity: The additional velocity the Follower Axis will use when moving to the
Relative Offset Position. This value specifies how much faster (in pulses/second) the Follower
Axis can move than the Master Axis when attempting to move to the Relative Offset Position.
This value can be any constant between 0 and 250,000 or any numeric location containing a
value in that range.
Goto Offset Signal: Each time this Bit transitions from OFF to ON, the Follower Axis will
attempt to move to the Relative Offset Position using the Relative Offset Velocity. If the
Relative Offset Position is reached the instruction will turn this Bit OFF. This can be any Bit
memory address.

12-68

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

AXFOLLOW, continued
NOTE: If the Bit assigned to the Goto Offset Signal stays ON, it indicates the Follower Axis does not have the
capacity to overtake the Master Axis. Make the Follower Axis more responsive by configuring it with higher
Maximum Velocity or a faster Acceleration, or both.

On Error:
•
Set Bit: The bit will become FALSE when the instruction is enabled and will become TRUE if
there was a problem with the parameters configured in the instruction, with the devices specified or if
the AXFOLLOW move was interrupted before completion.
•
JMP to Stage: If there was a problem with the parameters configured in the instruction, with the
devices specified or the AXFOLLOW move was interrupted before completion, the PLC will jump to
that stage.

BRX User Manual, 2nd Edition

12-69

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

AXFOLLOW, continued
Example AXFOLLOW ladder.
Rung 1 configures Axis 1 parameters. Rung 2 configures Axis 2 parameters. Rung 3 uses the
AXVEL instruction to set the velocity structure. Rung 4 sets the AXFOLLOW instruction that
will describe the motion of both axes.

12-70

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

AXGEAR
The Axis Electronic Gearing (AXGEAR) instruction is used to create a type of Master/Slave
connection that will synchronize the movement of one axis relative to another axis or a HighSpeed Counter/Timer. Pulse Outputs for a given AXIS cannot be commanded until the
AXCONFIG instruction has been configured and run successfully.
AXGEAR always behaves in a Position-Following mode. The Slave axis position is derived from
the Master position so that any time the position of the Master Axis changes, the position of the
Slave Axis will move to a position that has been modified by the user-supplied gear ratio. When
the move to position operation is enabled, the AXGEAR instruction will use the current values
of the Gear Ratio, the Axis Maximum Velocity, Accel, Decel and the Master’s Target Position to
calculate the move profile. Any changes to the Gear Ratio and Target Position will result in a
trajectory change of the AXGEAR Axis.
To help keep track of the Axes movement relative to each other, any time the Axis is in Electronic
Gearing mode the Slave Axis associated structure member, .MstSlvCoordError, will contain the
difference (in pulse counts) between the Master Axis position and the Slave Axis position.
An (a) Axis Device (the slave axis) and either a (b) Master Axis, High-speed Counter or Timer
must be configured before the AXGEAR instruction can be used. This is setup in the Setup BRX
High-speed I/O dialog that is in the BRX Onboard I/O section of the System Configuration.
This dialog can be opened directly in the instruction from the (c) Configure Axis… button and
(d) Configure Master Register Device... button.

After the Axis has been configured (For more details, see the High-speed I/O Hardware
Configuration section), the AXGEAR instruction may now be used.

BRX User Manual, 2nd Edition

12-71

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

AXGEAR, continued
NOTE: Axis0 is a ‘virtual axis’ and will
not generate pulses to physical outputs
of the PLC. Axis0 can be used for
generating pulse output profile register
values to be used for Table Driven
Outputs (TDOPRESET or TDOPLS) or as
the master for other axes in followingtype applications (AXCAM, AXFOLLOW
or AXGEAR).

Master Register: This is the Axis,
High-Speed Counter or Timer that
the Slave Axis will be electronically
geared to. This can be any of the
Axes or High-Speed Counter/
Timers.
Non-Axis Master Filter Time:
This parameter is only enabled if
the Master Register is a High-Speed
Counter/Timer. This value is the Filter Time Constant which specifies how often (in Seconds)
the Slave’s position is calculated. This can be any constant value or any numeric location.
Configure Master Register Device: This button will open the BRX High-Speed Input or Axis/
Pulse Output dialog in the System Configuration.
Gear Ratio Multiplier: A multiplier that will be applied each time the Slave’s position is
calculated. A value of 0 will cause the Slave Axis to stop. This can be any constant value or any
numeric location.
On Success:
•
Set Bit: The bit will become FALSE when the instruction is enabled and will remain FALSE until
the enable leg goes back OFF. Once the enable leg turns OFF, if the instruction’s device/parameters
were valid, this bit will turn ON once the .CurrentVelocity reaches 0.
•
JMP to Stage: Similarly, the JMP will not occur until after the instruction is enabled, then
disabled, and all the instruction’s device/parameters were valid and the .CurrentVelocity reaches 0.
On Error:
•
Set Bit: The bit will become FALSE when the instruction is enabled and will become TRUE if
there was a problem with the parameters configured in the instruction, with the devices specified or if
the AXGEAR move was interrupted before completion.
•
JMP to Stage: If there was a problem with the parameters configured in the instruction, with the
devices specified or the AXGEAR move was interrupted before completion, the PLC will jump to that
stage.

12-72

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

AXGEAR, continued
Example AXCAM ladder.
This example demonstrates the usage of the AXGEAR instruction. Axes 0, 1& 2 are configured
in the first scan with AXCONFIG.

(Ladder continued on next page.)

BRX User Manual, 2nd Edition

12-73

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

AXGEAR, continued
In this section when C66 goes high AXCAM is executed. Axis 1 and Axis 2 will move
proportionally depending on the data specified in gear ratio multiplier field of the AXGEAR
instruction. Virtual Axis 0 position is the pointer used. As the Virtual Aixs 0 moves from
position 0 to position 10000 the position of Axis 1 and Axis 2 will follow proportionally to the
values in R0 and R1. Axis 2 rotation should be opposed to Axis 1.
(Ladder continued from previous page.)

12-74

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

AXHOME
The Axis Perform Home Search (AXHOME) instruction is used to perform the necessary
steps to move the specified Axis to a known starting position. Pulse Outputs for a given
AXIS cannot be commanded until the AXCONFIG instruction has been configured and run
successfully.
An (a) Axis Device must be configured before the AXHOME instruction can be used. This is
setup in the “Setup BRX High-speed I/O” dialog that is in the “BRX Onboard I/O” section
of the System Configuration. You can link directly with the (b) Configure Axis… button in
the AXHOME instruction.

BRX User Manual, 2nd Edition

12-75

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

AXHOME, continued
After the Axis has been configured (see the High-speed I/O Hardware Configuration section
for more details), the AXHOME instruction may now be used.

NOTE: Axis 0 is a ‘virtual axis’ and will not generate pulses to physical outputs of the PLC. Axis0 can be
used for generating pulse output profile register values to be used for Table Driven Outputs (TDOPRESET or
TDOPLS) or as the master for other axes in following-type applications (AXFOLLOW or AXGEAR).

Homing Velocity (Signed): The maximum velocity the Axis will ramp up to when moving
toward Discrete Input Limit 1. The Axis will ramp up and down using the Axis current
Acceleration and Deceleration settings. This can be any constant value from -250000 to -10,
0, and 10 to 250000 or any numeric location containing a value in that range. The sign of
the value will indicate the direction of travel. Positive numbers will move the Axis clockwise,
negative numbers will move the Axis counter-clockwise.

12-76

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

AXHOME, continued
Discrete Input Limit 1: The Home Search operation requires at least one discrete input.
•
Discrete Input: The discrete input where the Home limit switch is connected. This must be one
of the on-board discrete inputs.
•
Event: Selects which of the following conditions will indicate the Home switch has been
reached:

1. Rising Edge
2. Falling Edge
3. Rising OR
Falling Edge
4. High Level
5. Low Level
Termination: Specifies what action to take after reaching the Home switch (Input Limit 1)
•
Position: Use the Axis current positioning configuration to move the Axis to an absolute pulse
count relative to the position of Discrete Input Limit 1.

Offset from Limit 1: When Discrete Input Limit 1 is reached, the Axis marks the
position of the switch and will then move the Axis toward the specified Position.
•

Creep to Second Position: Move the Axis to a second discrete Input Limit switch.

Creep Velocity (Signed): The maximum frequency the Axis will ramp up to when
moving toward Discrete Input Limit 2. The Axis will ramp up and down using the
Axis current Acceleration and Deceleration settings. This can be any constant value
between -250000 to -10, 0, and 10 to 250000 or any numeric location containing
a value in that range. The sign of the value will indicate the direction of travel:
positive numbers will move the Axis clockwise, negative numbers will move the Axis
counter-clockwise.
Discrete Input Limit 2: Use a discrete input for Limit 2. This could be a second
discrete input or the same input as Discrete Input Limit 1.
Discrete Input: The discrete input where the Discrete Input Limit 2 switch is
connected. This must be one of the on-board discrete inputs.
Event: Selects which of the following conditions will indicate the Home switch
has been reached:
• Rising Edge
• Falling Edge
• Rising OR
Falling Edge
• High Level
• Low Level

Decelerate to 0 Velocity: The Axis will decelerate from the Homing Velocity to 0.

BRX User Manual, 2nd Edition

12-77

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

AXHOME, continued
Zero Position At: Enable this option to have the Axis set its Current Position to 0 after the
following step of the Home Search operation:
•
Limit 1: Set the Current Position to 0 when the Discrete Input Limit 1 switch is reached. Any
additional movement of the Axis during the Termination phase will be reflected in the Axis Current
Position value.
•
Home/When Done: Set the Current Position to 0 when all phases of the Home Search
operation is complete.

Input Leg: Specifies how the instruction will be enabled to run:
•
Edge Triggered: Each time the input logic transitions from OFF to ON this instruction will run
to completion. This selection does not allow the Home Search operation to be interrupted once it has
started except by manually turning OFF the .MasterEnable for the Axis, which will put the Axis into a
fault condition that must be cleared before the Axis will be permitted to move. Use the AXRSTFAULT
(Reset Axis Limit Fault) instruction to clear an Axis Fault.
•
Power Flow Enabled: When the Input logic transitions from OFF to ON the instruction will
begin to execute and will continue executing as long as the input logic remains ON. This selection
allows the Home Search operation to be interrupted by turning the input logic OFF. This is an error
condition but it does not put the Axis into a Fault condition.

On Success:
•
Set Bit: The bit will become FALSE when the instruction is enabled and will become TRUE if
the parameters configured in the instruction and proper devices were specified and the Home operation
completes uninterrupted.
•
JMP to Stage: If the parameters configured in the instruction and proper devices were specified,
the PLC will jump to that stage once the Home operation completes.

On Error:
•
Set Bit: The bit will become FALSE when the instruction is enabled and will become TRUE if
there was a problem with the parameters configured in the instruction, with the devices specified or if
the Home operation was interrupted before completion.
•
JMP to Stage: If there was a problem with the parameters configured in the instruction, with the
devices specified or the Home operation was interrupted before completion, the PLC will jump to that
stage.

12-78

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

AXHOME, continued
Examples of various AXHOME configurations are considered on the following pages.
Termination at Position
of Limit 1
Example 1: Termination
at Position
of Limit 1
(Axis moves back to Limit 1 Position)
Accel
Rate

Decel
Rate
Limit 1

Start

Decel Rate

Accel Rate

Homing Velocity

$Axis1.CurrentPosition
goes to here.

The Axis decelerates, changes direction and goes back to
$Axis.CurrentPosition = 0 (Not looking at Limit 1 anymore).

Example 2: Termination Using Creep to Limit 2.

The Axis decelerates, changes direction and goes back to the
falling edge of Limit 2 and the $Axis.CurrentPosition goes
to 0 Take note that Limit 2 is the same physical switch in this
situation. It could be a different one if it would make better
sense for the application.

BRX User Manual, 2nd Edition

12-79

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

AXHOME, continued
Example 3: Using Level and Edge Limits, Sharing the Same Input.

The Axis decelerates, changes direction and goes back to the
Falling Edge of Limit 2 and the $Axis.CurrentPosition goes to
0. Take note that Limit 2 is the same physical switch in this
situation. It could be a different one if it would make better
sense for the application.

Example 4: Using Level and Edge Limits,
Sharing the Same Input.

This is the same setup as the prior example but the Input
for limit 1 on ON at the time of enabling the AXHOME
instruction. The first movement does not occur in this case and
the Axis creeps back to the Falling Edge of the switch.

12-80

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

AXHOME, continued
Example 5: Termination Decelerate to 0 Velocity.

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

In this case, when the AXHOME operation is complete, the
$Axis1.CurrentPosition will contain a negative value.

Example 6: Termination Decelerate to 0 Velocity.

In this case, when the AXHOME operation is complete, the
$Axis1.CurrentPosition will go to a 0 value.

BRX User Manual, 2nd Edition

12-81

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

AXJOG
The Axis Jog (AXJOG) instruction sets an Axis into a mode where its position can be manually
adjusted by moving the Axis in the forward or reverse direction. Jogging is a simple velocity
move that uses the Acceleration and Deceleration parameters specified in the Axis Configuration
to ramp up to and ramp down from the Target Velocity specified in the AXJOG instruction or
the Maximum Velocity specified in the Axis Configuration, whichever is lower.
An (a) Axis Device must be configured
before the AXJOG instruction can
be used. This is done in the Setup
BRX High-speed I/O dialog that is
in the “BRX Onboard I/O” section
of the System Configuration. You
can open this dialog directly with the
(b) Configure Axis… button.

After the Axis has been configured (below) the AXJOG instruction may now be used (See the
High-speed I/O Hardware Configuration section for more details).

NOTE: Axis0 is a ‘virtual axis’ and will not generate pulses to physical outputs of the PLC. Axis0 can be
used for generating pulse output profile register values to be used for Table Driven Outputs (TDOPRESET or
TDOPLS) or as the master for other axes in following-type applications (AXCAM, AXFOLLOW or AXGEAR).

12-82

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

AXJOG, continued
Zero Count at Completion: When this option is enabled the Current Position of the Axis
will be set to 0 when the Enable/Reset input transitions from ON to OFF. If this option is
not enabled, the Axis will retain the contents of the Current Position after the Jog is complete.
Target Velocity: Specifies the speed that the Axis will output pulses when the Enable Leg
of the AXJOG is ON and either the Forward or Reverse Leg is ON. If this value is higher
than the Maximum Velocity specified in the Axis Configuration, the Axis Configuration value
will be used. Forward and Reverse moves will use the Axis Configuration’s Acceleration and
Deceleration values when ramping up to and ramping down from the Maximum Velocity
allowed.
On Success:
•
Set Bit: The bit will become FALSE when the instruction is enabled and will remain FALSE until
the enable leg goes back OFF. Once the enable leg turns OFF, if the instruction’s device/parameters
were valid, this bit will turn ON once the .CurrentVelocity reaches 0.
•
JMP to Stage: Similarly, the JMP will not occur until after the instruction is enabled, then
disabled, and all the instruction’s device/parameters were valid and the .CurrentVelocity reaches 0.

On Error:
•
Set Bit: The bit will become FALSE when the instruction is enabled and will become TRUE
when proper instruction parameters are NOT properly entered or the instruction IS NOT completed
successfully. The specified bit is enabled with a SET operation, not an OUT operation. The On Error
bit will remain ON even if the instruction input logic goes OFF.
•
JMP to Stage: when proper instruction parameters are NOT properly entered or the instruction
IS NOT completed successfully, the PLC will jump to that stage.
NOTE: Because this instruction puts the Axis into an operational mode (as opposed to performing a single
operation), On Success is defined as getting the Axis into Jog mode with no errors. This means that the On
Success indication will turn ON after the Enable/Reset input logic transitions from ON to OFF and the Axis’
Current Velocity is at 0. When these conditions are met the Axis’ Mode is “Idle”. You should wait until the
On Success indication turns ON before attempting to execute any other Axis instruction.

Example Ladder Logic:

BRX User Manual, 2nd Edition

12-83

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

AXPOSSCRV
The Axis Move to Position Using S-Curve (AXPOSSCRV) instruction is used to move an Axis
from its current position to a specified target position using the Axis configured parameters
and the specified Jerk parameter which will yield an s-curve velocity profile. Pulse Outputs
for a given Axis Device cannot be commanded until the AXCONFIG instruction has been
configured and run successfully.
An (a) Axis Device must be configured before the AXPOSSCRV instruction can be used.
This is setup in the Setup BRX High-speed I/O dialog that is in the BRX Onboard I/O section
of the System Configuration. You can open this dialog directly with the (b) Configure Axis…
button.

After the Axis has been configured (see the High-speed I/O Hardware Configuration section
for more details), the AXPOSSCRV instruction may now be used.

NOTE: Axis0 is a ‘virtual axis’ and will not generate pulses to physical outputs of the PLC. Axis0 can be
used for generating pulse output profile register values to be used for Table Driven Outputs (TDOPRESET or
TDOPLS) or as the Master for other axes in following-type applications (AXCAM, AXFOLLOW or AXGEAR).

12-84

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

AXPOSSCRV, continued
Input Leg
•
Edge Triggered: The move to position operation will be performed each time the input transitions
from OFF to ON. Once a move to position operation is in progress it can only be stopped by manually
setting the axis .MasterEnable member to OFF, which will put the axis into a Fault state.
•
Power flow Enabled: The move to position operation will begin when the input transitions from
OFF to ON and will continue to completion as long as the input remains ON. This selection has the
benefit of being able to interrupt a move to position operation by setting the input state to OFF and
NOT putting the Axis into a Fault state.

Target Type
•
Absolute: Absolute moves are measured from the axis zero position. When an axis is initialized,
its current position is set to 0. An absolute move to 10000 will generate 10000 pulses to move the axis
forward 10000 pulses. A subsequent absolute move to -10000 will
(Absolute)
generate 20000 pulses to move the axis backward past 0 to the -10000
Position Value
position. If you execute an absolute move with a Position Value that
is the same as the Axis Current Position the axis will not move as the 0
Current
Target
Position
Position
absolute position is already reached.
•
Relative: Relative moves are measured from the Axis’ current
position. When an axis is initialized, its current position is set to
0. A relative move to 10000 will generate 10000 pulses to move the axis forward 10000 pulses.
A subsequent relative move of -10000 will generate 10000 pulses to
move the axis backward to that 0 position.
(Relative)
•
Zero-out Current Position Before Initial Move: Enable this
option to have the axis set its Current Position value to 0 before any
move operation.

Position Value

Current
Position

Target
Position

•
Position Value: The target position (pulse count) to move the
axis to. This can be any constant value, or any numeric location with
a value in that range.

BRX User Manual, 2nd Edition

12-85

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

AXPOSSCRV, continued
Linear vs. Rotary
•
Linear: The series of pulses will produce forward or backwards motion along a fixed linear path.
If the Target Position value is a higher value than the Current Position value, the resulting move will
be in the positive (increasing) direction. If the Target Position value is a lower value than the Current
Position, the resulting move will be in the negative (decreasing) direction.
•
Rotary: The series of pulses will produce Clockwise or CounterClockwise motion along a fixed
circular path either as an absolute position value or relative position as noted in the discussion below.

Move to Absolute Target in Clockwise Direction: Taking into account the Rotary
Range specified in the AXCONFIG and the Target Position Value, the PLC will always
generate pulses in an increasing (positive)
direction. So if the Target Position value is
lower than the Current Position, the PLC will
‘roll over’ in the clockwise direction to achieve
the position. If the Target Position Value
specified exceeds the Rotary Range, the Axis
will move to the modulus result. For example:
If the Rotary Range is 0–359 (360 degrees) and
a Target Position Value of 500 was specified, the
Axis will output 140 pulses.
Move to Absolute Target in Counterclockwise
Direction: Taking into account the Rotary
Range specified in the AXCONFIG and the
Target Position Value, the PLC will always generate pulses in a decreasing (negative)
direction. So if the Target Position value is
higher than the Current Position value, the
PLC will ‘roll over’ in the Counter clockwise
direction to achieve the position. If the Target
Position Value specified exceeds the Rotary
Range, the Axis will move to the modulus result.
For example: If the Rotary Range is 0–359 (360
degrees) and a Target Position Value of 500 was
specified, the Axis will output 220 pulses.

12-86

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

AXPOSSCRV, continued
Move to Absolute Target in Shortest
Direction: Taking into account the Rotary
Range specified in the AXCONFIG and the
Target Position Value, the PLC will calculate
the shortest distance between the Target
Position Value and the Current Position
value and go in either Clockwise or Counter
Clockwise direction to achieve the target. If
the Target Position Value specified exceeds
the Rotary Range, the Axis will move to the
modulus result. For example: If the Rotary
Range is 0–359 (360 degrees) and a Target
Position Value of 500 was specified, the Axis
will output 140 pulses.
Relative Rotary Target Type, so sign of
Position Value parameter specifies direction:
A positive Position Value will move the Axis
in a Clockwise direction and a negative
Position Value will move the Axis in a
Counter Clockwise direction. If the Target
Position Value specified exceeds the Rotary
Range, the Axis will move to the modulus
result. For example: If the Rotary Range is
0–359 (360 degrees) and a Target Position
Value of 500 was specified, the Axis will
output 140 pulses.
Jerk: The Jerk term specifies how quickly the Axis is allowed to achieve maximum Acceleration
and Deceleration on its way to reaching maximum Velocity. This value is specified in pulses/
sec3.
Supersede Default Properties: These parameters allow this AXPOSSCRV instruction to
override the values specified in the AXCONFIG instruction. They only temporarily change
the values in the AXCONFIG for this movement. To permanently change the parameters in
the AXCONFIG, use the Set Axis Properties (AXSETPROP) instruction.
•
Maximum Velocity (pulses/sec): The fastest frequency of output pulses that will be generated
during the move to position operation. This can be any positive constant from 10 to 250000, or any
numeric location with a value in that range.
•
Acceleration Rate (pulses/sec2): The rate at which the pulses will be generated when the axis is
ramping up from a slower pulse rate to a higher pulse rate. This can be any positive constant or any
numeric location with a value in that range.
•
Deceleration Rate (pulses/sec2): The rate at which the pulses will be generated when the axis is
ramping down from a higher pulse rate to a slower pulse rate. This can be any positive constant or any
numeric location with a value in that range.

BRX User Manual, 2nd Edition

12-87

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

AXPOSSCRV, continued
On Success:
•
Set Bit: The bit will become FALSE when the instruction is enabled and will become TRUE when
instruction parameters are properly entered and the instruction completes successfully. The specified bit
is enabled with a SET operation, not an OUT operation. The On Success bit will remain ON even if
the instruction input logic goes OFF.
•
JMP to Stage: When instruction parameters are properly entered and the instruction completes
successfully, the PLC will jump to that stage.

Example Usage:

12-88

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

AXPOSTRAP
The Axis Move to Position Using Trapezoid (AXPOSTRAP) instruction is used to move
an Axis from its current position to a specified target position using the Axis’ configured
parameters which will yield a trapezoid velocity profile (linear acceleration and deceleration).
Pulse Outputs for a given AXIS cannot be commanded until the AXCONFIG instruction has
been configured and run successfully.
An (a) Axis Device must be configured before the AXPOSTRAP instruction can be used. This
is setup in the Setup BRX High-speed I/O dialog that is in the BRX Onboard I/O section of
the System Configuration. This dialog can be opened directly in the instruction from the (b)
Configure Axis…” button.

After the Axis has been configured (below), the AXPOSTRAP instruction may now be used
(See the High-speed I/O Hardware Configuration section for more details).

NOTE: Axis0 is a ‘virtual axis’ and will not generate pulses to physical outputs of the PLC. Axis0 can be
used for generating pulse output profile register values to be used for Table Driven Outputs (TDOPRESET or
TDOPLS) or as the Master for other axes in following-type applications (AXCAM, AXFOLLOW or AXGEAR).

BRX User Manual, 2nd Edition

12-89

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

AXPOSTRAP, continued
Move Type
•

Single move: The axis will perform 1 move to the specified position.

Edge Triggered: The move to position operation will be performed each time the input
transitions from OFF to ON. Once a move to position operation is in progress it can
only be stopped by manually setting the axis .MasterEnable member to OFF, which will
put the axis into a Fault state.
Power flow Enabled: The move to position operation will begin when the input
transitions from OFF to ON and will continue to completion as long as the input
remains ON. This selection has the benefit of being able to interrupt a move to position
operation by setting the input state to OFF and NOT putting the axis into a Fault state.
•
Multi-move: The axis can perform multiple moves by changing the “Position Value” register and
triggering the “Update Target Position” bit.
•
Trigger Target Position: Specify an internal bit for this field. Changing this bit from OFF to
ON will result in the PLC changing its Target Position (without stopping) to the value loaded into the
“Position Value” register. The PLC will automatically turn the “Update Target Position” bit back OFF
after changing its target position. The .AtPosition bit member of the Axis structure can be monitored
to ensure completion.

Target Type
•
Absolute: Absolute moves are measured from the axis
zero position. When an axis is initialized, its current position
is set to 0. An absolute move to 10000 will generate 10000
pulses to move the Axis forward 10000 pulses. A subsequent
absolute move to -10000 will generate 20000 pulses to move
the Axis backward past 0 to the -10000 position. If you
execute an absolute move with a Position Value that is the
same as the axis Current Position the axis will not move as the
absolute position is already reached.
•
Relative: Relative moves are measured from the axis current position. When an axis is initialized,
its current position is set to 0. A relative move to 10000
will generate 10000 pulses to move the axis forward 10000
pulses. A subsequent relative move of -10000 will generate
10000 pulses to move the Axis backward to that 0 position.

12-90

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

AXPOSTRAP, continued
•
Zero Current Position Before Initial Move: Enable
this option to have the Axis set its Current Position value to
before any move operation.

Single Move: Current Position is set to 0
before the move to position operation begins.
Multi-Move: Current Position is set to 0
before the first move to position but does not
happen on subsequent OFF to ON transitions
of the Trigger Target Position.
•
Position Value: The target position (pulse count) to move the Axis to. This can be any constant
value, or any numeric location with a value in that range.

Linear vs. Rotary:
•
Linear: The series of pulses will produce forward or backwards motion along a fixed linear path.
If the Target Position value is a higher value than the Current Position value, the resulting move will
be in the positive (increasing) direction. If the Target Position value is a lower value than the Current
Position, the resulting move will be in the negative (decreasing) direction.
•

Rotary

Move to Absolute Target in Clockwise Direction: Taking into account the Rotary
Range specified in the AXCONFIG and the Target Position Value, the PLC will always
generate pulses in an increasing (positive)
direction. So if the Target Position value is
lower than the Current Position, the PLC
will ‘roll over’ in the clockwise direction to
achieve the position. If the Target Position
Value specified exceeds the Rotary Range, the
Axis will move to the modulus result. For
example: If the Rotary Range is 0–359 (360
degrees) and a Target Position Value of 500
was specified, the Axis will output 140 pulses.
Move to Absolute Target in Counterclockwise
Direction: Taking into account the Rotary
Range specified in the AXCONFIG and the
Target Position Value, the PLC will always
generate pulses in a decreasing (negative)
direction. So if the Target Position value is
higher than the Current Position value, the
PLC will ‘roll over’ in the Counter clockwise
direction to achieve the position. If the Target
Position Value specified exceeds the Rotary
Range, the Axis will move to the modulus
result. For example: If the Rotary Range is
0–359 (360 degrees) and a Target Position
Value of 500 was specified, the Axis will output
220 pulses.

BRX User Manual, 2nd Edition

12-91

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

AXPOSTRAP, continued
Move to Absolute Target in Shortest
Direction:
Taking into account
the Rotary Range specified in the
AXCONFIG and the Target Position
Value, the PLC will calculate the
shortest distance between the Target
Position Value and the Current Position
value and go in either Clockwise or
Counter Clockwise direction to achieve
the target. If the Target Position Value
specified exceeds the Rotary Range, the
Axis will move to the modulus result.
For example: If the Rotary Range
is 0–359 (360 degrees) and a Target
Position Value of 500 was specified, the
Axis will output 140 pulses.
Relative Rotary Target Type, so sign
of Position Value parameter specifies
direction: A positive Position Value will
move the Axis in a Clockwise direction
and a negative Position Value will
move the Axis in a Counter Clockwise
direction. If the Target Position Value
specified exceeds the Rotary Range, the
Axis will move to the modulus result.
For example: If the Rotary Range
is 0–359 (360 degrees) and a Target
Position Value of 500 was specified, the
Axis will output 140 pulses.

Supersede Default Properties
Selecting these parameters allows the AXPOSTRAP instruction to override the values specified
in the AXCONFIG instruction. They only temporarily change the values in the AXCONFIG
for this movement. To permanently change the parameters in the AXCONFIG, use the Set
Axis Properties (AXSETPROP) instruction.
•
Maximum Velocity (pulses/sec): The fastest frequency of output pulses that will be generated
during the move to position operation. This can be any positive constant from 10 to 250000, or any
numeric location with a value in that range.
•
Acceleration Rate (pulses/sec2): The rate at which the pulses will be generated when the axis is
ramping up from a slower pulse rate to a higher pulse rate. This can be any positive constant or any
numeric location with a value in that range.
•
Deceleration Rate (pulses/sec2): The rate at which the pulses will be generated when the axis is
ramping down from a higher pulse rate to a slower pulse rate. This can be any positive constant or any
numeric location with a value in that range.

12-92

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

AXPOSTRAP, continued
On Success:
•
Set Bit: The bit will become FALSE when the instruction is enabled and will become TRUE when
instruction parameters are properly entered and the instruction completes successfully. The specified
bit is enabled with a SET operation, not an OUT operation. The On Success bit will remain ON even
if the instruction input logic goes OFF.
•
JMP to Stage: When instruction parameters are properly entered and the instruction completes
successfully, the PLC will jump to that stage.

Example Usage:

BRX User Manual, 2nd Edition

12-93

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

AXRSTFAULT
The Reset Axis Limit Fault (AXRSTFAULT) instruction is used to clear the fault in an axis
that has either reached one of the configured Fault Limits while it was moving or has had its
.MasterEnable manually reset.
After the instruction has cleared the fault state in an axis fault, any attempt to move the Axis
in the same direction that caused the fault will immediately generate another fault condition.
Movement of the axis in the opposite direction that caused the fault is permitted.
The AXCONFIG (Axis Configuration) instruction will also reset an Axis that is in a fault state.
An (a) Axis Device must be configured before the AXRSTFAULT instruction can be used.
This is setup in the Setup BRX High-speed I/O dialog that is in the BRX Onboard I/O section
of the System Configuration. This dialog can be opened directly in the instruction from the
(b) Configure Axis… button.

After the axis has been configured (see the High-speed I/O Hardware Configuration section for
more details), the AXRSTFAULT instruction may now be used.

NOTE: Axis0 is a ‘virtual axis’ and will not generate pulses to physical outputs of the PLC. Axis0 can be
used for generating pulse output profile register values to be used for Table Driven Outputs (TDOPRESET or
TDOPLS) or as the Master for other axes in following-type applications (AXCAM, AXFOLLOW or AXGEAR).

12-94

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

AXRSTFAULT, continued
On Success:
•
Set Bit: The bit will become FALSE when the instruction is enabled and will become TRUE
when instruction parameters are properly entered and the instruction completes successfully. The
specified bit is enabled with a SET operation, not an OUT operation. The On Success bit will remain
ON even if the instruction input logic goes OFF.
•
JMP to Stage: When instruction parameters are properly entered and the instruction completes
successfully, the PLC will jump to that stage.

Example Usage

BRX User Manual, 2nd Edition

12-95

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

AXSETPROP
The Set Axis Properties (AXSETPROP) instruction is used to make runtime changes to the
configured parameters of an Axis.
An (a) Axis Device must be configured before the AXSETPROP instruction can be used. This
is setup in the Setup BRX High-speed I/O dialog that is in the BRX Onboard I/O section of
the System Configuration. This dialog can be opened directly in the instruction from the (b)
Configure Axis… button.

After the Axis has been configured (below) the AXSETPROP instruction may now be used (see
the High-speed I/O Hardware Configuration section for more details).

NOTE: Axis0 is a ‘virtual axis’ and will not generate pulses to physical outputs of the PLC. Axis0 can be
used for generating pulse output profile register values to be used for Table Driven Outputs (TDOPRESET or
TDOPLS) or as the master for other axes in following-type applications (AXCAM, AXFOLLOW or AXGEAR).

12-96

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

AXSETPROP, continued
Position: The current count will be set to this value when this instruction is enabled. This can be any
constant value or any numeric location.
Minimum Velocity (pulses/sec): The slowest frequency of output pulses that will be generated when
the output is enabled. This can be any positive constant from 10 to 250000 or any numeric location
with a value in that range.
Maximum Velocity (pulses per second): The fastest frequency of output pulses that will be generated
when the output is enabled. This can be any positive constant from 10 to 250000 or any numeric
location with a value in that range.
Acceleration Rate (pulses/sec2): The rate at which the pulses will be generated when the axis is ramping
up from a slower pulse rate to a higher pulse rate. This can be any positive constant or any numeric
location with a value in that range.
Deceleration Rate (pulses/sec2): The rate at which the pulses will be generated when the axis is
ramping down from a faster pulse rate to a slower pulse rate. This can be any positive constant or any
numeric location with a value in that range.
Fault Deceleration Rate (pulses/sec2): Any time a Fault Limit is reached or the Axis .MasterEnable is
turned OFF, the axis will decelerate to a velocity of 0 pulses/sec at this specified rate. A value of 0 will
cause the Axis to immediately stop moving. This can be any positive constant or any numeric location
with a value in that range.
Pulse Output/Encoder Scale: If the motor and the encoder have different pulse-per-revolution values,
enter the scale value required to bring them into alignment.
Encoder Deadband (counts): Having some deadband value around the encoder current position can
prevent the pulse output from generating alternating small pulses trying to get the input value to an
exact number. This value is applied both above and below the encoder value. For example: A value of
2 will be a deadband of 2 above and 2 below for a span of 4 counts.

On Success:
•
Set Bit: The bit will become FALSE when the instruction is enabled and will become TRUE when
instruction parameters are properly entered and the instruction completes successfully. The specified
bit is enabled with a SET operation, not an OUT operation. The On Success bit will remain ON even
if the instruction input logic goes OFF.
•
JMP to Stage: When instruction parameters are properly entered and the instruction completes
successfully, the PLC will jump to that stage.

BRX User Manual, 2nd Edition

12-97

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

AXSETPROP, continued
Example Usage

12-98

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

AXVEL
The Axis Set Velocity Mode (AXVEL)
instruction is used to put an axis into
an operation mode where its movement
is controlled by velocity rather than
position. Pulse Outputs for a given
axis cannot be commanded until the
AXCONFIG instruction has been
configured and run successfully.
The ladder logic input to this instruction
is an Enable/Reset, which means that
when the Input logic turns ON the
axis will ramp up to the axis structure’s
.TargetVelocity value, and when the
Input logic turns OFF the axis will
ramp down to a velocity of 0 and the
instruction will end.
While the instruction is enabled,
changing the axis associated structure
member .TargetVelocity will dynamically
change the output pulse frequency and will follow the specified Acceleration/Deceleration
Mode of the instruction to achieve the speed change.
An (a) Axis Device must be configured before the AXVEL instruction can be used. This is
setup in the Setup BRX High-speed I/O dialog that is in the BRX Onboard I/O section of
the System Configuration. This dialog can be opened directly in the instruction from the
(b) Configure Axis… button.
After the axis has been configured (below), the AXVEL instruction may now be used (See the
High-speed I/O Hardware Configuration section for more details).

NOTE: Axis0 is a ‘virtual axis’ and will not generate pulses to physical outputs of the PLC. Axis0 can be
used for generating pulse output profile register values to be used for Table Driven Outputs (TDOPRESET or
TDOPLS) or as the Master for other axes in following-type applications (AXCAM, AXFOLLOW or AXGEAR).

BRX User Manual, 2nd Edition

12-99

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

AXVEL, continued
Using Velocity Value in: This field indicates the proper axis structure member to use for the
desired Velocity.
Initialize .TargetVelocity (signed): Enable this option to set the velocity of the axis when this
instruction is enabled. A non-zero value will cause the axis to begin moving at the specified
velocity as soon as this instruction is enabled. This value can be any constant between -250000
to -10, 0, and 10 to 250000 or any numeric location containing a value in that range. The sign
of the value will indicate the direction of travel: positive numbers will cause the axis to move
clockwise, negative numbers will cause the axis to move counter-clockwise. Any value that is
below the axis Configured Minimum Velocity will result in the Axis Minimum Velocity being
used.

Acceleration/Deceleration Mode:
Specifies what level of Acceleration / Deceleration to use when the axis is changing to a new
Target Velocity. The graphic will change with the selection to display what the velocity curve
will look like for that selection.
•
Trapezoid Accel / Decel: The axis will ramp from the Current Velocity to the new Target Velocity
value using the axis currently configured Acceleration and Deceleration values which results in a
trapezoid velocity path.
•
S-Curve Accel / Decel: The axis will ramp from the Current Velocity to the new Target Velocity
value using the axis currently configured Acceleration and Deceleration values in addition to the
following Jerk parameter which results in an s-curve velocity path.
•
Apply Jerk to Accel / Decel (pulses / sec3): This selection is only available for S-Curve Accel
/ Decel. Whereas the Acceleration and Deceleration values specify how quickly the Axis is allowed
to reach maximum velocity, the Jerk parameter specifies how quickly the Axis is allowed to achieve
maximum Acceleration and Deceleration. This can be any positive constant greater than 0 or any
numeric location with a value in that range.
•
None (Instantaneous): The axis will immediately begin moving at the specified Target Velocity
value; there is no ramp up or ramp down to the new velocity.

Supersede Acceleration Rate (pulses/sec2): When the axis is ramping up from a slower velocity
to a higher velocity use the specified rate instead of the axis configured acceleration rate. This
can be any positive constant or any numeric location with a value in that range.
Supersede Deceleration Rate (pulses/sec2): When the axis is ramping down from a faster
velocity to a slower velocity use the specified rate instead of the axis configured deceleration
rate. This can be any positive constant or any numeric location with a value in that range.
On Success:
•
Set Bit: The bit will become FALSE when the instruction is enabled and will remain FALSE until
the enable leg goes back OFF. Once the enable leg turns OFF, if the instruction device/parameters were
valid, this bit will turn ON once the .CurrentVelocity reaches 0.
•
JMP to Stage: Similarly, the JMP will not occur until after the instruction is enabled, then
disabled, and all the instruction device/parameters were valid and the .CurrentVelocity reaches 0.

AXVEL, continued
On Error:

12-100

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O
•
Set Bit: The bit will become FALSE when the instruction is enabled and will become TRUE
when proper instruction parameters are NOT properly entered or the instruction IS NOT completed
successfully. The specified bit is enabled with a SET operation, not an OUT operation. The On Error
bit will remain ON even if the instruction input logic goes OFF.
•
JMP to Stage: When proper instruction parameters are NOT properly entered or the instruction
IS NOT completed successfully, the PLC will jump to that stage.
NOTE: Because this instruction puts the Axis into an operational model (as opposed to performing a single
operation), On Success is defined as getting the Axis into Velocity mode with no errors. This means that
the On Success indication will turn ON after the Enable/Reset input logic transitions from ON to OFF and the
Axis’ Current Velocity is at 0. When these conditions are met the Axis’ Mode is “Idle”. You should wait until
the On Success indication turns ON before attempting to execute any other Axis instruction.

Example Usage

BRX User Manual, 2nd Edition

12-101

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

TDODECFG
Once a TDOPLS-Load Programmable Limit Switch Table for Table Driven Output or
TDOPRESET-Load Preset Table for Table Driven Output has been enabled it will continue to
control that output even if the input logic is no longer ON. Use the Deconfigure Table Driven
Output (TDODECFG) instruction to stop the Preset Table or PLS table from controlling the
Table Driven Output.
This instruction is useful for situations when the application may require changing control of
the Table Driven Output from one instruction, such as a TDOPRESET, to another.
There is one item that must be configured externally to the instruction in order to use the
TDODECFG function: (a )Table Driven Output Device. This item is setup in the Setup BRX
High-speed I/O dialog that is in the BRX Onboard I/O section of the System Configuration.
This dialog can be opened directly in the instruction from the (b) Configure Table Driven
Outputs…” button.

After the Table Driven Output has been configured (below), the TDODECFG instruction may
now be used (see the High-speed I/O Hardware Configuration section for more details).

12-102

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

TDODECFG, continued
On Success:
•
Set Bit: The bit will become FALSE when the instruction is enabled and will become TRUE when
instruction parameters are properly entered and the instruction completes successfully. The specified
bit is enabled with a SET operation, not an OUT operation. The On Success bit will remain ON even
if the instruction input logic goes OFF.
•
JMP to Stage: When instruction parameters are properly entered and the instruction completes
successfully, the PLC will jump to that stage.

Example Usage

BRX User Manual, 2nd Edition

12-103

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

TDOPLS
A Load Programmable Limit Switch Table for Table Driven Output (TDOPLS) contains a
table with a series of start and stop positions similar to the cams on a shaft. These cam positions
are compared to the current count value of the specified Master Register, which can be a Highspeed Counter, Timer or AXIS Current position value. When the count value falls between
any of the positions in the table, the discrete output that is specified is turned ON or OFF
according to the table configuration. Each table can have up to 64 cam positions. Each PLS
table compares the count value of one Master Register counter and can drive one High-speed
I/O discrete output.
Once a PLS table has been enabled for a Table Driven Output it will continue to control that
output even if the input logic is no longer ON. Use the De-configure Table Driven Output
(TDODECFG) instruction to stop the PLS table from controlling the Table Driven Output.
There are two items that must be configured externally to the instruction in order to use the
PLS feature: (a) a Table Driven Output Device and (b) a Master Register. Both of these items
are setup in the Setup BRX High-speed I/O dialog that is in the BRX Onboard I/O section of
the System Configuration. This dialog can be opened directly in the instruction from the (c)
Configure Table Driven Outputs… and (d) Configure Master Register Device… buttons.

12-104

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

TDOPLS, continued
Refer to both graphics below. After the (b) Table Driven Output Device and (a) Master Register
Device have been configured (see the High-speed I/O Hardware Configuration section for more
details), the TDOPLS instruction may now be used.

BRX User Manual, 2nd Edition

12-105

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

TDOPLS, continued
Initialize .InputValOffset: A positive value in this field (a) means that the entries will act at a
lower value than shown. A negative value means that the entries will act at a higher value than
shown. For example: An offset of 500 is configured in the .InputValOffset field (a). The first
entry (b, c) is configured to turn ON the output at 1000 and (d, e) turn OFF at 2000. When
the table runs, the output will actually turn ON at a value of 500 and turn OFF at 1500. If the
.InputValOffset was configured for -500, the first output would have turned ON at a value of
1500 and OFF at 2500.

12-106

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

TDOPLS, continued
Source Register Scaling: The TDOPLS instruction can use the raw count value from the
specified Master Register or, if scaling was enabled in the High-speed I/O setup, the scaled value
to do its comparisons.
•
Raw Pulse Counts (No Scaling) – Select this option to enter the Preset Count values in the Table
as raw count values. The image below shows (a) Raw Pulse Counts (No Scaling selected, indicating
the Master Register scaling was not enabled. The (b) table entry shows that the values entered are based
on raw counts.

•
Use Source Register Scaling – If the Master Register has been configured to scale the current
count value you can use the scaled values in the table by selecting this option and entering values that
are scaled the same as the Master Register. The image below shows (a) Use Source Register Scaling
selected, indicating the Master Register scaling was enabled. The (b) table entry shows that the entries
are based on the scaled values.

BRX User Manual, 2nd Edition

12-107

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

TDOPLS, continued
Load Raw PLS Table from Data Block (a): When enabled, the values used by the PLS Table
come from the values stored in the specified memory range. This allows for more dynamic
control of the PLS function.
•
Table Start Address (b): The beginning address in PLC memory where the PLS table data is
stored.
•
Number of PLS Steps (c): The number of steps in the PLS table that are stored in PLC memory.
A PLS Table can have up to 64 steps.
•
Table Data Block Range (d): Using the two values above, this shows the range of PLC memory
that will be used as the PLS data table. With a starting address of D0 and a total of 2 steps, the memory
range is D0 to D3.
NOTE: The PLC TDO PLS Table Editor button is available only when the Do-more! Designer software is
connected and Online with the BRX CPU.

•
PLC TDO PLS Table Editor button (e): Click this to open the PLS Table Editor. The editor
allows you to edit the data values in the specified Data Block. The data configuration options on this
dialog (Default Output State, value for “Greater Than or Equal”, value for “Less Than”) are the same
as the main dialog. Detailed information of the PLC TDO PLS Table Editor dialog screen is discussed
later in this section.

12-108

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

TDOPLS, continued

Default Output State (a): The Default Output state determines the starting state of the Output
when the PLS instruction is enabled and the state that the Output is in when the count is NOT
within the Entry comparisons. If the Default Output State is OFF, the Output will be ON
when the count is within the Entry comparison values. If the Default Output State is ON, the
Output will be OFF when the count is within the Entry comparison values.
Raw (or Scaled) PLS Count Steps Output ON when (b): A table of entries that determines
the Output state when the TDOPLS is running.
•
The entries in the table (b) can be constants or variables. If variables are used, the instruction
must be disabled and re-enabled after the variable value has been changed. The values in the entry
table cannot be overlapping.
•
The values must be increasing with the Entry numbers. In other words, the values in (c) And
Less Than must be larger than the value in (d) Greater Than or Equal to.

Output On/Off when Greater Than or Equal to: The value that represents the
lower edge of the cam position. This can be any value between -2,147,483,648 and
2,147,483,647.
And Less Than: The value that represents the upper edge of the cam position. This
can be any value between -2,147,483,648 and 2,147,483,647.
If invalid entry values are used when specifying constant values, the Do-more! Designer
programming software will indicate an error (below) and not allow the instruction configuration
to be completed.

BRX User Manual, 2nd Edition

12-109

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

TDOPLS, continued
If variables are used and invalid entry values are specified, the “On Error” state will become true
(Set Bit or JMP to Stage).
If the Scaling was configured for the Master Register counter and the Use Source Register
Scaling option was specified, the entry values will be the scaled values and no conversion will
be necessary.
Insert (e): Add an empty Step above the currently highlighted Step in the table.
Remove (f): Delete the currently highlighted Step from the table.
Import (g): Import the contents of the PLS Table from a CSV file. The format of the import
file is two numbers per line, separated by a comma or whitespace, all numbers must be in
ascending order, and a maximum of 64 lines. Please review CSV file formatting information
later in this TDOPLS instruction section, under the section explaining the PLC TDO PLS
Table Editor dialog.
On Success (h):
•
Set Bit: The bit will become FALSE when the instruction is enabled and will become TRUE when
instruction parameters are properly entered and the instruction completes successfully. The specified bit
is enabled with a SET operation, not an OUT operation. The On Success bit will remain ON even if
the instruction input logic goes OFF.
•
JMP to Stage: If the parameters configured in the instruction and proper devices were specified,
the PLC will jump to that stage.

On Error (i):
•
Set Bit: The bit will become FALSE when the instruction is enabled and will become TRUE if
there was a problem with the parameters configured in the instruction or with the devices specified.
•
JMP to Stage: If there was a problem with the parameters configured in the instruction or with
the devices specified, the PLC will jump to that stage.

12-110

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

TDOPLS, continued
PLC TDO PLS Table Editor: Allows you to edit the data values in the specified Data Block.
The data configuration options on this dialog (Default Output State, value for “Greater Than
or Equal”, value for “Less Than”) are the same as the main dialog.
NOTE: Initial values for Default Output State, PLS Table Start Address, and Number of PLS Entries come
from the main instruction editor. If these values are changed while editing the table data with this dialog those
values will be updated on the main instruction editor when this dialog is closed.
NOTE: If the PLC TDO PLS Table Editor dialog is opened when the Number of PLS Entries is a variable
(memory address), the value in that location is read and the data in that number of rows will be read from the
PLC to prefill the table. The Also Write Table Length to PLC selection will be enabled and that variable location
will be prefilled here so that when the table data is written back to the PLC this location will be updated as well.
NOTE: A graph of the current PLS Table configuration is displayed at the bottom of the editor which shows
each of the entries. Clicking on the graph will place the cursor on the table entry that contains that location.
If incorrect data values are entered, i.e. overlapping data, a message will be displayed instead of the graph.

•

PLC TDO PLS Table Editor Dialog:

Source Register Scaling (a): Same as the main dialog. The TDOPLS instruction can
use the raw count value from the specified Master Register or, if scaling was enabled in
the High-speed I/O setup, it can use the scaled value to do its comparisons.

PLS Data Entry (b): Same as main dialog. Entries must be unique within the Table,
the lower and upper positions of a step cannot overlap the other cam positions. The
data has to be incremental.

BRX User Manual, 2nd Edition

12-111

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

TDOPLS, continued
Output On/Off when Greater Than or Equal to: The value that represents the
lower edge of the cam position. This can be any value between -2,147,483,648
and 2,147,483,647.
And Less Than: The value that represents the upper edge of the cam position.
This can be any value between -2,147,483,648 and 2,147,483,647.
Default Output State (c): Same as main dialog. Specifies the state of the first entry in
the table.
OFF (default): The output is OFF to start with. The first entry in the table will
be a point which the output turns ON and subsequent entries will flip between
OFF / ON / OFF / etc.
ON: The output is ON to start with. The first entry in the table will be a point
which the output turns OFF and subsequent entries will flip between ON / OFF /
ON / etc.
Read from PLC button (d): Overwrite the contents of
the table with values from the PLC memory location
specified in the Load Raw PLS Table from Data Block
section.
Confirmation is requested before reading the PLC
data. In this example the starting data block is D0,
D10 holds a value of 5, which indicates 10 DWords
will be read:
Write to PLC (e): Overwrite the contents of PLC
memory at the location specified in the Load Raw PLS
Table from Data Block section with the current contents
of the table.
Confirmation is requested before writing data to the
PLC. In this example, there are 5 rows of data. A 5 is
written o D10 and the 10 DWords of data is written
to D0 to D9.
Insert Row button (f): (Insert button in main dialog) add an empty Step above the
currently highlighted Step in the table.
Append Row (g): Add a new row after the current last step in the table.
Delete Row button (h): (Remove button in main dialog) delete the currently
highlighted Step from the table.
Clear Table button (i): Will display a confirmation dialog explaining it will delete all
rows and the table will end up with a single row with values of 0 for the Greater Than
or Equal to and 0 for and Less Than.
Import button (j): (Import button in main dialog) Import the contents of the PLS
Table from a CSV file. The format of the import file is two numbers per line, separated
by a comma or whitespace, all numbers must be in ascending order, and a maximum
of 64 lines.

12-112

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

TDOPLS, continued
NOTE: Any available text editor or an Excel worksheet can be used to create a CSV file. Just save the file
as a .CSV file type.

Example of how data should be formatted in the CSV file:
a.
Two integer values per row
separated by comma (surrounded
by any amount of white space) or
just white space.
b.
You can also have empty rows.
c.
You can also use a line comment
starting with two forward slashes: // This is a comment
Example on how to format the data per line in the CSV file:
a.
Simple comma separated values 1 and 2. (See line one below.)
b.
Some white space before and/or after the comma is OK (see line two below).
c.
Whitespace before, between, and after is OK also (i.e. comma is optional, see
line three below).
d. Comment line (no data allowed). (see line four below.)

BRX User Manual, 2nd Edition

12-113

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

TDOPRESET
A Load Preset Table for Table Driven Output (TDOPRESET) instruction contains a series of
steps that are processed in the order they appear in the table. These steps compare the current
count value of the specified Master Register, which can be a High-speed Counter, Timer or
AXIS Current position value, to the Preset Count in the Step, and when the count values
match, the step action is performed on the selected discrete output and the next step in the
table becomes the active step. Each Preset Table can have up to 64 steps. Each Preset Table
compares the count value of one Master Register counter and can drive one High-speed I/O
discrete output.
Once a Preset table has been enabled for a Table Driven Output, it will continue to control
that output even if the input logic is no longer ON. Use the Deconfigure Table Driven
Output (TDODECFG) instruction to stop the Preset table from controlling the Table Driven
Output.
There are two items that must be configured externally to the instruction in order to use
the Preset feature: (a) A Table Driven Output Device and (b) a Master Register Device.
Both of these items are setup in the Setup BRX High-speed I/O dialog that is in the BRX
Onboard I/O section of the System Configuration. This dialog can be opened directly in
the instruction from the (c) Configure Table Driven Outputs… and (d) Configure Master
Register Device…buttons.

12-114

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

TDOPRESET, continued
After the (a) Table Driven Output Device and (b) Master Register Device have been configured
(see the High-speed I/O Hardware Configuration section for more details), the TDOPRESET
instruction may now be used.

BRX User Manual, 2nd Edition

12-115

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

TDOPRESET, continued
Initialize .InputValOffset: A positive value in this field means that the entries will act at a lower
value than shown. A negative value means that the entries will act at a higher value than shown.
For example: An offset of 500 is configured in the .InputValOffset field. The first entry is
configured to SET the output at 1000. When the table runs, the output will actually SET at a
value of 500. In the .InputValOffset was configured for -500, the first output would have SET
at a value of 1500.

Source Register Scaling: The TDOPRESET instruction can use the raw count value from the
specified Master Register or, if scaling was enabled in the High-speed I/O setup, the scaled value
to do its comparisons.

•
Raw Pulse Counts (No Scaling) (a): Select this option to enter the Preset Count values in the
Table as raw count values. The image above shows (a) Raw Pulse Counts (No Scaling) selected,
indicating the Master Register scaling was not enabled. The (b) Raw Preset Count Steps table entry
shows that the values entered are based on raw counts.

12-116

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

TDOPRESET, continued
•
Use Source Register Scaling: If the Master Register has been configured to scale the current count
value you can use the scaled values in the table by selecting this option and entering values that are scaled
the same as the Master Register. The image below shows (a) Use Source Register Scaling selected,
indicating the Master Register scaling was enabled. The (b) Scaled Preset Steps table entry shows that
the entries are based on the scaled values.

Load Raw Preset Table from Data Block (a): When enabled, the values used by the Preset

BRX User Manual, 2nd Edition

12-117

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

TDOPRESET, continued
Table come from the values stored in the specified memory range. This allows for a more
dynamic control of the Preset function.
•
Table Start Address (b): The beginning address in PLC memory where the Preset table data is
stored. This must be a block of Signed DWords.
•
Number of Preset Steps (c): The number of steps in the Preset table that are stored in PLC
memory. A Preset Table can have up to 64 steps.
•
Table Data Block Range (d): Using the two values above, this shows the range of PLC memory
that will be used as the Preset data table. With a starting address of D0 and a total of 10 steps, the
memory range is D0 to D19. Data formatting will be discussed in the PLC TDO Preset Table Editor
section found later in this section.
NOTE: The PLC TDO Preset Table Editor button is available only when the Do-more! Designer software is
connected and Online with the BRX CPU.

•
PLC TDO Preset Table Editor button (e): Click to open the PLC TDO Preset Table Editor
which allows you to edit the data values in the specified Data Block. The data configuration options
on this dialog (Preset Count, Preset Function, Function Parameter) are the same as the main dialog.
Detailed information of the PLC TDO Preset Table Editor dialog screen is discussed later in this
section.

Raw (or Scaled) Preset Count Entries Output xx when: This is the table of entries for Raw

12-118

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

TDOPRESET, continued
(or Scaled) Preset Count Steps (a): This is the list of steps that determines the Table Driven
Output state when the TDOPRESET is running.
•

Preset count: The pulse count values in the table can be constants or variables. If variables are

used, the instruction must be disabled and re-enabled after the variable value has been changed. This
can be any value in the range of -2,147,483,648 and 2,147,483,647.
•
Preset Function (b): Select the action to perform on the Table Driven Output when the Step is
triggered.

1.
2.
3.
4.
5.
6.
•

Set: Turns ON the Table Driven Output.
Reset: Turns OFF the Table Driven Output.
Reset Table/Acc: Performs a reset of the Master Register which sets its current
count value to the Initial Reset Value specified in the Timer/Counter Function
setup, and sets the current step in the Preset Table to Step 0.
Pulse On: Turns ON the Table Driven Output for the amount of time
specified in the Function Parameter, which is the duration of the output pulse
in microseconds (1 to 16,777,215).
Pulse Off: Turns OFF the Table Driven Output for the amount of time
specified in the Function Parameter, which is the duration of the output pulse
in microseconds (1 to 16,777,215).
Toggle: Inverts the state of the Table Driven Output. If the Table Driven
Output is currently ON, it is turned OFF, or it is turned ON if it is currently
turned OFF.

Several things to consider when using this instruction:

Unlike the TDOPLS instruction, the values in the entry table do not have to
be increasing with the Entry numbers. The table runs step by step in order
of entry. Therefore, if the value in a higher entry is lower than a previous
entry, the current count value must be decreasing in order for the step to be

BRX User Manual, 2nd Edition

12-119

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

TDOPRESET, continued

completed. For example, if Step 0 is configured as Set at 500 and Step 1 is
configured as Reset at 0, the Output will be Set ON when the current counts
reach 500 or more and the Output will be Reset to OFF when the current
counts decrease to 0 or less.
In order for the table to run continuously, the final entry function must be to
(X) Reset Count. After the step with the Reset Count function is complete,
the table will start over at Step 0. When the TDOPRESET instruction is
disabled and re-enabled, it will start over at Step 0.
If the Scaling was configured for the Master Register counter and the “Use
Source Register Scaling” option was specified, the Step values will be entered as
scaled values and no conversion will be necessary.

•

Insert button (c): add an empty Step above the currently highlighted Step in the table.

•

Remove button (d): delete the currently highlighted Step from the table.

•
Import button (e): Import the contents of the Preset table from a CSV file. The format of the
import file is two or three numbers per line, separated by a comma or whitespace, and a maximum of 64
lines. Please review the CSV file formatting information later in this TDOPRESET instruction section,
under the section explaining the PLC TDO Preset Table Editor dialog.

On Success (f):
•

Set Bit: The bit will become FALSE when the instruction is enabled and will become TRUE
when instruction parameters are properly entered and the instruction completes successfully. The
specified bit is enabled with a SET operation, not an OUT operation. The On Success bit will
remain ON even if the instruction input logic goes OFF.

•

JMP to Stage: When instruction parameters are properly entered and the instruction completes
successfully, the PLC will jump to that stage.

On Error (g):
•
Set Bit: The bit will become FALSE when the instruction is enabled and will become when proper
instruction parameters are NOT properly entered or the instruction IS NOT completed successfully.
The specified bit is enabled with a SET operation, not an OUT operation. The On Error bit will
remain ON even if the instruction input logic goes OFF.
•
JMP to Stage: When proper instruction parameters are NOT properly entered or the instruction
IS NOT completed successfully, the PLC will jump to that stage.
NOTE: Initial values for Preset Table Start Address, and Number of Table Rows to be Read (or Number of
Preset Steps) come from the main instruction editor. If these values are changed while editing the table
data with this dialog, those values will be updated on the main instruction editor when this dialog is closed.
NOTE: If the Number of Preset Steps is a variable (memory address), the value in that location is read and
the data in that number of rows will be read from the PLC to prefill the table. The Also Write Table Length
to PLC selection will be enabled and that variable location will be prefilled here so that when the table data is
written back to the PLC this location will be updated as well.

12-120

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

TDOPRESET, continued
PLC TDO Preset Table Editor

•

Source Register Scaling (a): Same as the main dialog. The TDOPRESET instruction can use the
raw count value from the specified Master Register or, if scaling was enabled in the High-speed
I/O setup, it can use the scaled value to do its comparisons.

•

Raw (or Scaled) Preset Count Steps (b): Same as main dialog. This is the list of steps that
determines the Table Driven Output state when the TDOPRESET is running.

Preset count: The PLC TDO Preset Table Editor is reading a block of D
memory, it is editing the values that go into that block. The Preset Count in
the PLC TDO Preset Table Editor can only be contant values. This value can
be in the range of -2,147,483,648 and 2,147,483,647.
Preset Functions: Select the action to perform on the Table Driven Output
when the Step is triggered.
•
Set: Turns ON the Table Driven Output.
•
Reset: Turns OFF the Table Driven Output.
•
Reset Table/Acc: Performs a reset of the Master Register which sets its
current count value to the Initial Reset Value specified in the Timer/
Counter Function setup, and sets the current step in the Preset Table
to Step 0.

BRX User Manual, 2nd Edition

12-121

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

TDOPRESET, continued
•

12-122

Pulse On: Turns ON the Table Driven Output for the amount of time
specified in the Function Parameter, which is the duration of the output
pulse in microseconds (1 to 16,777,215).
•
Pulse Off: Turns OFF the Table Driven Output for the amount of time
specified in the Function Parameter, which is the duration of the output
pulse in microseconds (1 to 16,777,215).
•
Toggle: Inverts the state of the Table Driven Output. If the Table
Driven Output is currently ON, it is turned OFF, or it is turned ON if
it is currently turned OFF.
Read from PLC button (c): Overwrite the contents of the table with values
from the PLC memory location specified in the Load Raw Preset Table from
Data Block section.
•
Confirmation is requested before
reading the PLC data. In this
example the starting data block
is D0, D30 is the memory
address that stores the Number
of Preset Steps. This has a value
of 4. Eight DWords will be read
from the PLC starting at D0:
Write to PLC (d): overwrite the contents
of PLC memory at the location specified
in the Load Raw Preset Table from Data
Block section with the current contents
of the table.
•
Confirmation is requested before
writing data to the PLC. The four
rows of data are stored in D0 to
D7
•
Confirmation request before
writing data to the PLC with the
Also write Table Length to PLC
enabled. In this example, there are
4 rows of data. A 4 is written to
D30 and the 8 DWords of data is
written to D0 to D7.

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

TDOPRESET, continued
5.

Format of the Preset Data Read from PLC or Written to the PLC memory
addresses: When using the PLC TDO Preset Table Editor, the data values
in the specified memory locations must be formatted properly. Improperly
formatted data will generate a warning message. The following example shows
a range of D0 to D7, which corresponds to a starting Preset Data Table address
of D0 and 4 steps. Each step is comprised of two DWords. Each Preset table
entry consists of 2 signed DWord locations:
•
The first DWord location corresponds to the Preset Count where the
specified command will take place. This can be any value between
-2,147,483,648 and 2,147,483,647.
•
The second DWord location contains the Function Code for the
command to be performed and the additional data required by a
command code.
•
The upper BYTE (Byte 0) contains one of the following values to
indicate the action:
0: Set
1: Reset
2: Pulse ON
3: Pulse OFF
4: Toggle
5: Reset Table & Acc
•
When using the Pulse ON or Pulse OFF command, the lower 3
BYTEs of the second DWord location will contain the amount of
time (in microseconds) the pulse will be ON or OFF respectively.
•
Example: This shows the Preset Table filled in with the desired values:
Line 1
Step 0: Preset Count of 500. Set = Code 0.
Line 2
Step 1: Preset Count of 300. Reset = Code 1.
Line 3
Step 2: Preset Count of 500. Pulse ON = Code 2.
Function Parameter of 1,000,000.

BRX User Manual, 2nd Edition

12-123

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

TDOPRESET, continued
Line 4
Step 3: Preset Count of 1000. Reset Table/Acc = Code 5.
•
The following Data View shows the Native values for the Data Block
range of D0 to D7 associated with our example:

•

The following Data View shows the second DWord of each step in
BCD/HEX data type:
D1 corresponds to SET (code 0) of Step 0.
D3 corresponds to RESET (code 1) of Step 1.
D5 corresponds to Pulse ON (code 2) of Step 2.
D7 corresponds to Reset Table/Acc (code 5) of Step 3.

•

The upper Byte represents the Function Code. The lower three Bytes
represent the Function Parameter value. 0Xuullllll.
For Step 0, function code 0 (Set) is uu = 00.
For Step 1, function code 1 (Reset) is uu = 01.
For Step 2, function code 2 (Pulse ON) is uu = 02. Pulse ON has a
function parameter of time in microseconds, which is llllll = 0F4240.
Converting Hex 0F4240 to Decimal is 1,000,000.
For Step 3, function code 5 (Reset Table/Acc) is uu = 05.
If, for example, we want to change the Pulse ON to last 2,500,000
microseconds, D5 would have a BCD/HEX value = 0X022625A0.

•

12-124

BRX User Manual, 2nd Edition

Chapter 12: BRX Do-more! Onboard Motion Control and Highspeed I/O

TDOPRESET, continued
•

Insert Row button (e): (Insert button in main dialog) add an empty Step above the currently
highlighted Step in the table.

•

Append Row (f): Add a new row after the current last step in the table.

•

Delete Row button (g): (Remove button in main dialog) delete the currently highlighted Step
from the table.

•

Clear Table button (h): Will display a confirmation dialog explaining it will delete all rows and
the table will end up with a single row to Set at a Preset Value of 0.

•

Import button (i): (Import button in main dialog) Import the contents of the PLS Table from a
CSV file. The format of the import file is two or three numbers per line, separated by a comma
or whitespace, with a maximum of 64 lines.

Below is an example of how data should be formatted in the CSV file.

Column A holds the Preset Count. This can be any value between
-2,147,483,648 and 2,147,483,647
Column B holds the Preset Function code. The following table shows
the available function codes.
Preset Function Codes
0

SET

No function parameter needed

RESET

No function parameter needed

PULSE ON

Requires function parameter.
Time in microseconds: 1 to 16,777,215

PULSE OFF

Requires function parameter.
Time in microseconds: 1 to 16,777,215

TOGGLE

No function parameter needed

RESET TABLE
& COUNT

No function parameter needed

Column C holds the Function Parameter, which is the amount of time
(in microseconds) the pulse will be ON or OFF. This is required for the
PULSE ON and PULSE OFF function codes.
Column D holds the comments, which is indicated by the “//” before
the text.

BRX User Manual, 2nd Edition

12-125

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
B
C
D

Source Exif Data:

File Type                       : PDF
File Type Extension             : pdf
MIME Type                       : application/pdf
PDF Version                     : 1.6
Linearized                      : Yes
Author                          : AutomationDirect
Create Date                     : 2017:08:03 13:58:36-04:00
Modify Date                     : 2017:08:03 15:19:14-04:00
Subject                         : Do-more! BRX Micro PLC Unit (MPU)
Has XFA                         : No
Language                        : en-US
Tagged PDF                      : Yes
XMP Toolkit                     : Adobe XMP Core 5.4-c006 80.159825, 2016/09/16-03:31:08
Metadata Date                   : 2017:08:03 15:19:14-04:00
Creator Tool                    : Adobe InDesign CC 2017 (Windows)
Instance ID                     : uuid:46ed8fd2-bf21-4d1f-bd5b-dcc2dc05336a
Original Document ID            : xmp.did:CD8117340C206811822ABDC16248B012
Document ID                     : xmp.id:c4326782-ac49-5346-9730-263c2840caab
Rendition Class                 : proof:pdf
Derived From Instance ID        : xmp.iid:58cbdd1c-5766-c74e-80f9-313cba7638a4
Derived From Document ID        : xmp.did:f0628330-3170-1340-8fff-37175cb9c4aa
Derived From Original Document ID: xmp.did:CD8117340C206811822ABDC16248B012
Derived From Rendition Class    : default
History Action                  : converted
History Parameters              : from application/x-indesign to application/pdf
History Software Agent          : Adobe InDesign CC 2017 (Windows)
History Changed                 : /
History When                    : 2017:08:03 13:58:36-04:00
Format                          : application/pdf
Title                           : BRX User Manual, 2nd Edition
Description                     : Do-more! BRX Micro PLC Unit (MPU)
Creator                         : AutomationDirect
Producer                        : Adobe PDF Library 15.0
Trapped                         : False
Page Layout                     : SinglePage
Page Mode                       : UseOutlines
Page Count                      : 125

EXIF Metadata provided by EXIF.tools

BRX User Manual, 2nd Edition Chapter 12 Ch12

Navigation menu

Versions of this User Manual:

Views

Navigation