BRX User Manual, 2nd Edition Chapter 12 Ch12

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

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Chapter

BrX do-More!

onBoard MotIon control

and HIGHsPeed I/o

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

BRX User Manual, 2nd Edition

12-2

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

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

high-speed instructions.

All inputs and outputs can be selected for use in an HSIO application. However, the standard

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

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

PWM.

The High-Speed inputs (as fast as 250kHz) can be used as High-Speed counters, as triggers for

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

standard input triggers and normal PLC logic scan.

With the high-speed outputs (as fast as 250kHz), it is possible to perform homing moves,

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

handle follower type moves.

The following table shows the BRX platform HSI speciﬁcations.

HSI Specications

Item 10/10E 18/18E 36/36E

Input Type

Sink/Source

Total Inputs *

6 10 20**

High-Speed Inputs

6 10 10

Location

X0–X5 X0–X9 X0–X9

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 specic wiring chapter for the discrete input specs of the specic model you are using.

** Standard inputs may be used with high-speed functions, but at lower response frequencies of

approximately 120Hz.

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

12-3

BRX User Manual, 2nd Edition

Overview, continued

The following table shows the BRX platform HSO speciﬁcations.

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.

HSO Specications

Parameter 10/10E 18/18E 36/36E

Output Type

High-Speed

Total Outputs *

4 8 16**

High-Speed Outputs

2 4 8

Location

Y0–Y1 Y0–Y3 Y0–Y7

Off to On Response

< 2µs

On to Off Response

< 2µs

Max Switching Frequency

1m cable; 250kHz

10m cable; 100kHz

* Refer to the specic wiring chapter for the discrete output specs of the specic model you are using.

** Standard outputs may be used with high-speed functions, but at lower response frequencies of

approximately 110Hz.

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

BRX User Manual, 2nd Edition

12-4

BRX Wiring Examples: High-Speed Inputs

Quadrature Encoder Input

BRX MPU Input

Do-more! BRX Open-Collector Output

(Sinking) Encoder Wiring Example

Sinking

Encoder

1C X0 X1 X2 X3 X4

9-30 VDC

Do-more! BRX Push-Pull Totem Pole

(Sourcing) Encoder Wiring Example

Sourcing

Encoder

1C X0 X1 X2 X3 X4

9-30 VDC

BRX MPU Input

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

12-5

BRX User Manual, 2nd Edition

Do-more! BRX PNP/NPN Wiring Example

Sourcing Sinking

Signal

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

BRX Wiring Examples: High-speed Inputs, continued

NPN/PNP Input Example

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

BRX User Manual, 2nd Edition

12-6

BRX Wiring Examples: High-speed Inputs, continued

Differential Line Driver Encoder Input

FC-ISO-C Dipswitch Settings

Input DIP 1 2 3 4 5 6 7 8

Setup 1 1 1 0 0 0 0 0

DIP Switch 1

DIP Switches

12345678

DIP ON↓

Output DIP 1 2 3 4 5 6 7 8

Setup 0 0 0 0 0 0 0 0

DIP Switch 2

DIP Switches

12345678

DIP ON↓

FC-ISO-C

+Ai

-Ai

+Bi

-Bi

COM

-Zi

+Zi

V+

ISOLATION

BOUNDARY

Differential Line

Driver Encoder

nC X0 X1 X2 X3 X4

Do-more! BRX Quadrature Encoder Wiring Example

BRX MPU Input

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

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BRX User Manual, 2nd Edition

BRX Wiring Examples: High-speed Outputs

SureServo Driver Wiring Example

NOTE: Customer must consult SureServo documentation for speciﬁc details on the servo drive.

Note:

VDD = 24VDC

1kΩ resistor is needed for

servo to handle this voltage.

1kΩ resistors are not needed

if a 5VDC source is used.

Do-more! BRX Servo Drive Wiring Example

Sure Servo Drive wired

to Sinking Outputs

Sure Servo Drive wired

to Sourcing Outputs

VDD

PULL HI

PULSE

/PULSE

SIGN

/SIGN

COM-

VDD

PULL HI

PULSE

/PULSE

SIGN

/SIGN

COM-

1C Y0 Y1 Y2 Y3

1kΩ

Note: Customer must consult SureServo documentation for specific details on the servo drive.

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

BRX User Manual, 2nd Edition

12-8

BRX Wiring Examples: High-Speed Outputs, continued

Stepper Drive Output

Do-more! BRX Stepper Drive Output Wiring Example

Stepper Drive

Sinking

Stepper Drive

Sourcing

DIR -

DIR +

STEP -

STEP +

DIR -

DIR +

STEP -

STEP +

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

Do-more! BRX Stepper Drive Output Wiring Example

Stepper Drive

Sinking

Stepper Drive

Sourcing

DIR -

DIR +

STEP -

STEP +

DIR -

DIR +

STEP -

STEP +

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

BRX MPU Output

5–36 VDC

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

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BRX User Manual, 2nd Edition

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

components.

VDC+

EN–

STP-DRV-xxxx

Step Motor

Power Supply

–

Step Motor Drive

VDC–

A+

A–

B+

B–

EN+

DIR–

DIR+

STEP–

STEP+

Connector

12" Motor Pigtail

with Connector

STP-PWR-xxxx

xx VDC5 VDC

120/240

VAC

GND

–

+5 VDC

0 VDC

AC Power

Front View

Red

White

Green

Black

A+

A–

B+

B–

Cable Color Code

WireTe rm Pin #

N/C

Extension Cable

with Connector

STP-EXT(H)-020

Step Motor

STP-MTR(H)-xxxxx

Detailed Output Wiring Example between a BRX MPU

and the SureStep Stepping System components

Sinking

1C Y0 Y1 Y2 Y3

BRX MPU

Sinking Output

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

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

BRX User Manual, 2nd Edition

12-10

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

components.

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

VDC+

EN–

STP-DRV-xxxx

Step Motor

Power Supply

–

Step Motor Drive

VDC–

A+

A–

B+

B–

EN+

DIR–

DIR+

STEP–

STEP+

Connector

12" Motor Pigtail

with Connector

STP-PWR-xxxx

xx VDC5 VDC

120/240

VAC

GND

–

+5 VDC

0 VDC

AC Power

Front View

Red

White

Green

Black

A+

A–

B+

B–

Cable Color Code

WireTe rm Pin #

N/C

Extension Cable

with Connector

STP-EXT(H)-020

Step Motor

STP-MTR(H)-xxxxx

Detailed Output Wiring Example between a BRX MPU

and the SureStep Stepping System components

Sourcing

1C Y0 Y1 Y2 Y3

BRX MPU

Sourcing Output

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

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BRX User Manual, 2nd Edition

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

2. Interrupt Setup

a. Setup Input Interrupts

b. Setup Timer Interrupts

c. Setup Match Register Interrupts

d. Interrupt Instructions

3. 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:

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

BRX User Manual, 2nd Edition

12-12

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.

OFF

Input Signal

OFF

Input sent

to the CPU

Filter

Time

Filter

Time

Filter

Time

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BRX User Manual, 2nd Edition

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.

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

BRX User Manual, 2nd Edition

12-14

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

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.

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

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BRX User Manual, 2nd Edition

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

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

BRX User Manual, 2nd Edition

12-16

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.

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

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BRX User Manual, 2nd Edition

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.

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

BRX User Manual, 2nd Edition

12-18

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

Choose from the following:

Equal To

Not Equal To

Greater Than

Greater Than or Equal To

Less Than

Less Than or Equal To

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BRX User Manual, 2nd Edition

(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.

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

BRX User Manual, 2nd Edition

12-20

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

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BRX User Manual, 2nd Edition

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.

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

BRX User Manual, 2nd Edition

12-22

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.

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BRX User Manual, 2nd Edition

3. High-Speed I/O

(a) Counters

(b) Timers

(d) Pulse Width Modulation (PWM) Outputs

(e) Table Driven Outputs

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

BRX User Manual, 2nd Edition

12-24

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.

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

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BRX User Manual, 2nd Edition

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

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.

(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.

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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.

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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.

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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.

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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”,

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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:

.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.

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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 High-

Speed, 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.

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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.

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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.

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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.

2. Counter/Timer Functions – Select Function 1.

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

4. Optional – Setup scaling or enable rotary mode.

5. 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.

2. Counter/Timer Functions – Select Function 1.

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

4. Enable Scaling – Select Rate.

5. Enter the conversion parameters.

6. 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.

2. 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).

4. Optionally, setup scaling if needed.

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

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

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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.

2. 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.

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

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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.

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

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3. Table Driven Output – Select Table 1.

4. 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.

5. Select output Y3.

6. Download changes to the CPU.

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

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

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

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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.

2. Conﬁgure a High-Speed Input as a quadrature counter.

3. 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.

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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.

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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.

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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 high-

speed inputs. No ladder is needed to

monitor the counts from the encoder.

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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 counter-

clockwise direction, the value decreases. (The

reverse maybe true depending on the wiring of

the encoder phase A and phase B).

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BRX User Manual, 2nd Edition

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.

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12-44

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

44,153

35,323

26,492

17,661

8,830

-0

52,984

44,153

35,323

26,492

17,661

8,830

-0

08:17:49 08:17:56 08:18:03 08:18:09 08:18:16 08:18:23 08:18:29 08:18:36 08:18:43 08:18:49

SHsCtrTmr1.Acc

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BRX User Manual, 2nd Edition

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.

4. Write the necessary ladder program to generate the trapezoid proﬁle.

5. Download and run the program.

6. 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.

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12-46

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.

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BRX User Manual, 2nd Edition

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.

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12-48

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 high-

speed outputs.

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BRX User Manual, 2nd Edition

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.

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12-50

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.

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BRX User Manual, 2nd Edition

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.

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12-52

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.

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BRX User Manual, 2nd Edition

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.

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BRX User Manual, 2nd Edition

12-54

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.

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BRX User Manual, 2nd Edition

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.

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BRX User Manual, 2nd Edition

12-56

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.

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BRX User Manual, 2nd Edition

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 High-

Speed 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).

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12-58

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

of the table) and the CPU will

continue to output pulses until

the instruction is terminated.

....... Calculated from first and last two points and the extrapolated trajectory.

---- Actual Output pulse. All segements are curved except for first and last.

Linear Mode

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BRX User Manual, 2nd Edition

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.

Master Position Offset: A pulse count value

that is added to the Master Axis position

before the associated Slave position value is

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.

Table will loop back to start position but the transition

from last position to first position will be curve fitted.

Rotary Mode

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12-60

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.)

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BRX User Manual, 2nd Edition

AXCAM, continued

(Ladder continued from previous page.)

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

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12-62

AXCAM, continued

Program: SineCalculation

A program is written to perform a separate calculation to create a circular path output.

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BRX User Manual, 2nd Edition

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 following-

type applications (AXCAM, AXFOLLOW

or AXGEAR).

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12-64

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.

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• 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

AXCONFIG, continued

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12-66

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.

AXCONFIG, continued

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BRX User Manual, 2nd Edition

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 Velocity-

following 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 Position-

following 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.

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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 High-

Speed Counter/Timers.

Non-Axis Master Filter Time: This

parameter is only enabled if the Master

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.

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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 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 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.

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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.

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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 High-

Speed 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.

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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 following-

type 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.

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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.)

AXGEAR, continued

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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.)

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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.

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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.

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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:

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.

1. 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.

2. 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:

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

• Rising Edge

• Falling Edge

• Rising OR

Falling Edge

• High Level

• Low Level

1. Rising Edge

2. Falling Edge

3. Rising OR

Falling Edge

4. High Level

5. Low Level

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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.

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AXHOME, continued

Examples of various AXHOME conﬁgurations are considered on the following pages.

Example 1: Termination at Position of Limit 1

Homing Velocity

Decel Rate

Decel

Rate

Accel Rate

Start

Accel

Rate

Limit 1

$Axis1.CurrentPosition

goes to here.

Termination at Position of Limit 1

(Axis moves back to Limit 1 Position)

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.

The Axis decelerates, changes direction and goes back to

$Axis.CurrentPosition = 0 (Not looking at Limit 1 anymore).

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AXHOME, continued

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

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.

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.

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AXHOME, continued

Example 5: Termination Decelerate to 0 Velocity.

Example 6: Termination Decelerate to 0 Velocity.

In this case, when the AXHOME operation is complete, the

$Axis1.CurrentPosition will contain a negative value.

In this case, when the AXHOME operation is complete, the

$Axis1.CurrentPosition will go to a 0 value.

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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).

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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:

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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).

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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

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.

• 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: 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.

Current

Position

0 Target

Position

(Absolute)

Position Value

Current

Position

0 Target

Position

(Relative)

Position Value

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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.

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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.

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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.

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.

Example Usage:

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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).

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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.

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AXPOSTRAP, continued

• Zero Current Position Before Initial Move: Enable

this option to have the Axis set its Current Position value to 0

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.

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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.

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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.

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.

Example Usage:

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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).

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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.

On Error:

• Set Bit: The bit will become FALSE when the instruction is enabled and will become TRUEwhen

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.

Example Usage

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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).

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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.

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.

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AXSETPROP, continued

Example Usage

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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).

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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:

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• 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

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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).

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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.

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.

Example Usage

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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 High-

speed 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.

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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.

TDOPLS, continued

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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.

TDOPLS, continued

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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.

TDOPLS, continued

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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.

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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.

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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.

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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.

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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.

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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.)

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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

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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.

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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.

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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

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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

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(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. Set: Turns ON the Table Driven Output.

2. Reset: Turns OFF the Table Driven Output.

3. 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.

4. 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).

5. 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).

6. 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:

1. 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

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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.

2. 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.

3. 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.

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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.

1. 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.

2. 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.

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• 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.

3. 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:

4. 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

• 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.

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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.

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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.

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• 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.

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.

TDOPRESET, continued

Preset Function Codes

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

BRX User Manual, 2nd Edition Chapter 12 Ch12

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