Galil Motion Control RIO-47 series RIO-47100, User Manual

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Galil Motion Control RIO-47 series
RIO-47100 User Manual Download Page 80

Command

Description

AF

Analog Input for feedback

AZ

Analog Output for control

KP

Proportional Gain

KD

Derivative Gain

KI

Integral Gain

IL

Integrator Limit

DB

Deadband

CL

Control Loop Update Rate

PS

Commanded Setpoint

TE

Tell Error

AQ

Analog Input Range

DQ

Analog Output Range

*Note – All PID parameters are burnable except PS, DB, AQ, and DQ. If you issue a BN with the PID’s

enabled the default values for PS,DB,AQ, and DQ will be in effect upon power up.
To understand how a Process Control Loop works on the RIO, consider an example where it is
desirable to control the temperature of an oven.  The key items needed to do this are a heater, a
temperature sensor, the oven itself, and a RIO unit to control the process.  As shown in the diagram
below, the heating element is coupled to the “System” which in this case is the oven.  The
temperature sensor provides feedback to the RIO in the form of an analog input.  The RIO unit then
compares the desired set-point (entered by the PS command) with the temperature sensor.  The
difference between the two is called the error “E”.  The error goes through a PID digital filter and
then through a Digital to Analog Converter (DAC) which outputs a control voltage to the heater to
close the loop.

The example program below uses analog input 0 as the feedback from the temperature sensor and
analog output 0 as the control voltage to the heater. An update rate of 25msec was set using the CL
command, but a slower update rate could have been chosen due to the slow nature of temperature
response. The PID values entered were experimentally found to provide optimum results based on
the system. The desired set-point was chosen as 1V. A dead-band of 0.1V was added in order to
prevent the system from responding to minor disturbances of the sensor.

#PCL

CL 25;

'25msec update rate

AF 0;

'analog input 0 as feedback

AZ 0;

'analog output 0 as control

KP 1;

'proportional gain to 1

KD 10;

'derivative gain to 10

KI 0.5;

'integral gain to 0.5

DB 0.1;

'deadband of 0.1V

PS 1.8;

'set-point at 1.8V

Chapter 5 Programming ▫ 80 RIO-47xxx Rev. 1.0r

Figure 5.1: Process Control Loop

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Summary of Contents for RIO-47 series RIO-47100

Page 1: ...USER MANUAL RIO 47xxx Manual Rev 1 0r Galil Motion Control Inc 270 Technology Way Rocklin California 916 626 0101 support galilmc com galil com 04 2016 ...

Page 2: ... RECORD 38 CHAPTER 4 I O 41 INTRODUCTION 41 SPECIFICATIONS 41 CHAPTER 5 PROGRAMMING 55 OVERVIEW 55 EDITING PROGRAMS 55 PROGRAM FORMAT 55 EXECUTING PROGRAMS MULTITASKING 58 DEBUGGING PROGRAMS 58 PROGRAM FLOW COMMANDS 60 MATHEMATICAL AND FUNCTIONAL EXPRESSIONS 68 VARIABLES 70 OPERANDS 71 ARRAYS 72 OUTPUT OF DATA NUMERIC AND STRING 74 PROGRAMMABLE I O 77 REAL TIME CLOCK 81 APPENDIX 82 ELECTRICAL SPEC...

Page 3: ...IONS 105 CONTACTING US 105 TRAINING SEMINARS 106 WARRANTY 107 A1 SCB 48206 108 DESCRIPTION 108 SPECIFICATIONS 109 WIRING 109 DIMENSIONS 109 OPERATION 110 A2 SCB 48306 48316 113 DESCRIPTION 113 SPECIFICATIONS 114 WIRING 114 OPERATION 115 A3 POWER SUPPLIES 116 ...

Page 4: ...trollers and it utilizes the same software programs Interrogation commands have been included to allow a user to instantly view the entire I O status I O hardware or Ethernet handle availability see the TZ ID and TH commands The purpose of an RIO board is to offer remote I O for a system and to provide the ability to synchronize complex events To do this the RIO consists of two boards a high speed...

Page 5: ...llow the format RIO 47xxx yyy such as RIO 47122 422 HS Note multiple Standard Options yyy can be ordered per RIO Table 1 1 below describes the RIO and its options For in depth details regarding the Standard Options yyy please see the Ordering Options section in the Appendix For full part number information of the RIO product line see the RIO part number generator http www galil com order part numb...

Page 6: ...xpanded Memory Base plus RTC 4 20mA HS x x 2 0 Base plus Analog I O upgraded to 10V configurable Base plus 16Bit x x 2 2 Base plus Expanded Memory Analog I O upgraded to 10V configurable Base plus 16Bit RTC 4 20mA HS PWM QUAD SSI and BiSS x x 4 2 Base plus Expanded Memory Analog I O upgraded to 10V configurable Dual Ethernet ports no PoE All 16 outputs upgraded to 500mA sourcing Base plus 16Bit RT...

Page 7: ...ons to add Analog 16 500mA sourcing optoisolated digital outputs 16 optoisolated digital inputs 422 NO DIN Additional Options Additional Features Additional yyy Options x x 0 2 Base plus Expanded Memory Base plus RTC HS 4 20mA 1LSNK 1LSRC 2LSNK 2LSRC PWM AI_10v12bit AI_10v16bit 8AO_10v12bit 8AO_10v16bit 8AO_5v12bit QUAD SSI and BiSS Chapter 1 Overview 7 RIO 47xxx Rev 1 0r ...

Page 8: ...Features and yyy Standard Options Standard vs Expanded Memory Feature Standard Expanded Variable Range 2 billion 2 billion Variable Resolution 1 x 10 4 1 x 10 4 of array elements 400 1000 of program lines 202 402 of variables 126 254 of labels 62 126 of control loops 2 6 of Ethernet handles 3 5 Auto MDIX NO YES 10 100 Mbits s 100 Mbit s Standard 10 Mbit s with jumper added Auto negotiated Real tim...

Page 9: ...e controller Figure 1 1 and Figure 1 2 shows a diagram of the LED bank followed by the description of the four lights on the RIO 471xx except for the RIO 47142 and the RIO 472xx Figure 1 1 Diagram of LED bank on the RIO 471xx Green Power LED PWR The green status LED indicates that the power has been applied properly to the RIO Red Status Error LED ERR The red error LED will flash on briefly at pow...

Page 10: ...us of the port s Ethernet connection Green Link LED LNK The green LED indicates there is a valid Ethernet connection This LED will show that the physical Ethernet layer the cable is connected This LED will also blink to show both transmitted and received activity across the connection Orange LED SPD The orange LED indicates the speed of the Ethernet connection It will be illuminated for a 100bT co...

Page 11: ...712x The mechanical layout and dimensions are the same for the RIO 4710x and RIO 4712x products RIO 47100 RIO 47122 etc Figure 2 1 Outline of RIO 47100 Dimensions listed in the Appendix under RIO Dimensions Chapter 2 Getting Started 11 RIO 47xxx Rev 1 0r ...

Page 12: ...main difference is the dual Ethernet switch integrated into the RIO RIO 4720x Figure 2 3 Outline of RIO 4720x Dimensions listed in the Appendix under RIO Dimensions Chapter 2 Getting Started 12 RIO 47xxx Rev 1 0r Figure 2 2 Outline of the RIO 47142 Dimensions listed in the Appendix under RIO Dimensions ...

Page 13: ...RIO 47300 Chapter 2 Getting Started 13 RIO 47xxx Rev 1 0r Figure 2 4 Outline of the RIO 47300 Dimensions listed in the Appendix under RIO Dimensions ...

Page 14: ...d reset button is pressed or the controller is power cycled Whenever the I O board has a master reset all parameters programs arrays and variables stored in non volatile memory will be erased this will set the RIO board back to factory defaults The UPGD jumper enables the user to unconditionally update the board firmware This jumper is not necessary for firmware updates when the RIO board is opera...

Page 15: ...hernet Jumpers on PoE DC Power Input1 Jumpers on EXT AUX DC Power Connector Type RIO 47100 YES 18 36 VDC 2 pin Molex 2 RIO 47102 YES 18 36 VDC 2 pin Molex 2 RIO 47120 YES 18 36 VDC 2 pin Molex 2 RIO 47122 YES 18 36 VDC 2 pin Molex 2 RIO 47142 NO 9 48 VDC 2 pin Molex 2 RIO 47200 YES 18 36 VDC Screw Terminals 3 RIO 47202 YES 18 36 VDC Screw Terminals 3 RIO 47300 NO 9 48 VDC Screw Terminals 3 Table 2...

Page 16: ...ibed in Table 2 2 below Galil s communication software is already configured for this and thus an unnecessary step if using Galil software Port Setting Required RIO Configuration Data Bits 8 Parity None Start Bits 1 Stop Bits 1 Flow Control Hardware Table 2 2 Required Port Settings to communicate to an RIO using RS232 Check to insure that the baud rate jumpers See Jumper Descriptions have been set...

Page 17: ...t can be accessed by typing the IP address of the controller into a standard web browser The controller comes from the factory without any IP address assigned so a user must go through the steps outlined above to establish an IP address before the web server is accessible Figure 2 5 shows an output of the RIO Web Server Figure 2 5 RIO Web Server Output Chapter 2 Getting Started 17 RIO 47xxx Rev 1 ...

Page 18: ...d but can be set to 19 2k baud by placing a jumper on J5 The serial port has a 4 bytes FIFO Handshaking Modes The RS232 port is configured for hardware handshaking In this mode the RTS and CTS lines are used The CTS line will go high whenever the RIO is not ready to receive additional characters The RTS line will inhibit the RIO board from sending additional characters Note The RTS line goes high ...

Page 19: ...ket Ethernet Capabilities by Model Model Auto MDIX Dual Port 10 100 Mbits s RIO 47100 NO NO 100 Mbits standard 10 Mbits w jumper installed RIO 47102 YES NO Auto negotiate RIO 47120 NO NO 100 Mbits standard 10 Mbits w jumper installed RIO 47122 YES NO Auto negotiate RIO 47142 YES YES Auto negotiate RIO 47200 NO NO 100 Mbits standard 10 Mbits w jumper installed RIO 47202 YES NO Auto negotiate RIO 47...

Page 20: ... IP address MS sets the email source or from address and MD sets the destination or to address There is a maximum character limit for the MS and MD commands of 30 characters An example of this is shown here MA 10 0 0 1 example SMTP Email Server IP address MD someone example com sample destination email address MS me example com sample source address MG Testing Email M Message to send via Email Ple...

Page 21: ...lue will be 2 31 See the Command Reference for more information on the SA command The RIO can communicate through its different channels which can be tightly controlled When a device queries the RIO it will receive the response unless it explicitly tells the RIO to send it to another device When a command that generates an unsolicited response is part of a downloaded program the response will rout...

Page 22: ... CW1 to be set so that it can differentiate between solicited and unsolicited messages If you have difficulty receiving characters from the controller or receive garbage characters instead of messages check the status of the CW command The second field of the CW command controls whether the product should pause while waiting for the hardware handshake to enable the transmission of characters over ...

Page 23: ...his chapter uses the symbol to signify that numbers are in hexadecimal notation As a Modbus Master The RIO 47xxx provides three method of Modbus communication as a master 1 The first method of Modbus communication uses standard Galil commands The following commands support Modbus IN AN OUT SB CB OB and AO See the RIO command reference individually for each command on how to address a Modbus slave ...

Page 24: ... be sent to the RIO master DM myarray 2 myarray 0 170 Note 170 is 10101010 in binary meaning outputs 1 3 5 and 7 would be toggled on where the remaining would be turned off or remain off 2 Send the appropriate MB command Use function code 15 for setting outputs The following command would be issued to the RIO master MBB 15 0 16 myarray Both 1 and 2 will result in the same outputs being toggled The...

Page 25: ...333 myanalog 3 13107 3333 The 32 bit hex value must then be converted into volts Analog input 3 401CCCCD 2 45 V Analog input 4 C0C33333 6 1 V As a Modbus Slave Function Code RIO Slave Description 1 Read Digital Outputs 2 Read Digital Inputs 3 Read Analog Inputs1 4 Read Analog Outputs1 5 Write Digital Output 6 Write Digital Outputs 7 Read Digital Outputs 15 Write Digital Outputs 16 Write Analog Out...

Page 26: ... a request to read discrete inputs This will read digital inputs from an RIO configured as a slave The RIO will accepts the following range request Starting Address Range 0000 0017 referencing digital inputs 0 15 Quantity of Inputs Range 0001 0018 The RIO will respond to a request with function code 02 followed by the byte count in hex which describes the number of bytes of digital inputs being re...

Page 27: ...counts Address range 0000 000E Quantity of Registers up to 0008 MI 1 is set register data is 32 bit floating volts Address range 0000 0007 Quantity of Registers up to 0010 The RIO will respond to a request with function code 03 followed with a byte count in hex as calculated Equation 3 3 Where Number of Analog Inputs is equal to the number of analog inputs the master is trying to query n 1 if MI 0...

Page 28: ...nction code 4 is in Table 3 7 below Command Description MV Swaps the response of function code 3 and 4 MI Configures if the RIO will respond with a 16 bit integer or a 32 bit float Table 3 7 Important configuration commands for Function Code 4 The RIO will accept different address ranges for a read input registers request depending on the state of the MI command MI 0 is set register data is 16 bit...

Page 29: ... Function Code 6 06 Preset Single Register Modbus function code 06 is a request to write to a single register This will write the first 16 digital outputs of an RIO configured as a slave The RIO will accepts the following range request Starting Address 0000 Register value range 0000 FFFF The RIO will respond with a Modbus packet that is identical to the packet it received Same as Coil Map as in Ta...

Page 30: ...at ME Enables a master to write and read to arrays to array locations of an RIO slave Table 3 10 Important configuration commands for Function Code 16 The RIO will accept different starting address ranges for a write multiple registers request depending on the state of the MI command MI 0 is set register data is 16 bit integer counts Address range 0000 000E MI 1 is set register data is 32 bit floa...

Page 31: ...ster can query the function code of the last response it received using the _MW command see command reference The _MW command can be used to determine if an exception has occurred The _MW1 command see the command reference can be used to query the exception code Galil Modbus Packet Structure The following section provides examples in order to explain Galil s implementation of Modbus The following ...

Page 32: ...st and response packets would form as follows Master Request Slave Response Field Name Hex Field Name Hex Function 02 Function 02 Starting Address High 00 Byte Count 02 Starting Address Low 02 Inputs Status 9 2 CD Quantity of Inputs High 00 Inputs Status 13 10 0C Quantity of Inputs Low 0C 1st Byte of Response Word bit 7 6 5 4 3 2 1 0 Input 9 8 7 6 5 4 3 2 Value 1 1 0 0 1 1 0 1 2nd Byte of Response...

Page 33: ... 80 Quantity of Registers Low 04 B0 RegVal3 High 32 12904 RegVal2 Low 00 RegVal3 Low 68 RegVal3 High 3F 1 4673 RegVal4 High 3F 16160 BB RegVal4 Low 20 D0 RegVal5 High 4C 19480 Reg Val3 Low 00 RegVal6 Low 18 With the slave MI 0 set the Galil master s would have the following information stored in it s arrays array 0 16249 array 1 45056 array 2 16315 array 3 53248 With the slave MI 1 set the Galil m...

Page 34: ...56 array 1 0 array 2 16320 array 3 0 With the slave MI 1 set the Galil master s would have the following information stored in it s arrays array 0 19661 array 1 26214 array 2 32768 array 3 39321 Function Code 5 05 Assume that the command issued from the Galil Master is MBm 5 7 1 The Modbus request and response packets would form as follows Master Request Slave Response Field Name Hex Field Name He...

Page 35: ... 0 on the master Galil master will equal 170 Function Code 15 0F Assume the desired setting for digital outputs on the Galil slave in descending order from 15 0 are as follows 0101010110101010 And that the command issued from the Galil Master is MBm 15 0 16 array where array 0 AA array 1 55 Note AA55 results in the binary value of 1 s and 0 s representing the desired outputs as listed above The Mo...

Page 36: ...0 A0 00 RegVal0 Low 00 RegVal1 High 40 40 00 RegVal1 Low 00 As a result the Galil slave will have analog output 1 set to 5V and analog output 2 set to 3V Example 2 Assume the desired setting for digital outputs on the Galil slave in descending order from 15 0 are as follows 0101010110101010 And that the command issued from the Galil Master is MBm 16 2 2 array where array contains FFFF 9999 6666 33...

Page 37: ...unts Range hex 0 0 5V 0 32572 0x0000 0x7FF0 1 0 5V 0 32572 0x0000 0x7FF0 Analog Outputs Analog Range Counts Range decimal Counts Range hex 0 5V 0 65520 0x0000 0xFFF0 10V Configurable Analog I O Options 12 or 16 bit versions Analog Inputs AQ x m see command reference for details m Analog Range Counts Range decimal Counts Range hex 1 5V 32768 to 32767 0x8000 0x7FFF 2 10V 32768 to 32767 0x8000 0x7FFF...

Page 38: ...w Data Record Map Key Acronym Meaning UB Unsigned byte UW Unsigned word SL Signed long UL Unsigned long RIO Data Record RIO 471xx 472xx Data Record DATA TYPE ITEM UB 1st byte of header UB 2nd byte of header UB 3rd byte of header UB 4th byte of header UW Sample number UB Error Code UB General Status UW Analog Out Channel 0 counts UW Analog Out Channel 1 counts UW Analog Out Channel 2 counts UW Anal...

Page 39: ... UW1 Analog In Channel 7 counts UW Digital outputs 0 15 UW Digital outputs 16 23 UW Digital inputs 0 15 UW Digital inputs 16 23 UL Pulse Count SL ZC data user configurable variable SL ZD data user configurable variable QUAD BISS SSI The data record for the RIO 47122 RIO 47142 RIO 47202 or RIO 47300 ordered with an encoder option QUAD BISS or SSI contains the following information appended to the s...

Page 40: ...T 12 BIT 11 BIT 10 BIT 9 BIT 8 1 N A N A N A N A N A N A N A BIT 7 BIT 6 BIT 5 BIT 4 BIT 3 BIT 2 BIT 1 BIT 0 N A N A N A N A N A N A N A N A Bytes 2 3 of Header Bytes 2 and 3 make up a word which represents the Number of bytes in the data record including the header Byte 2 is the low byte and byte 3 is the high byte Note The header information of the data records is formatted in little endian Gene...

Page 41: ... digital outputs labeled DO Table 4 1 shows the default output ratings for Bank 0 DO 7 0 Bank 1 DO 15 8 and Bank 2 DO 23 16 for each model Table 4 1 also lists whether or not the product has the OUTC jumpers available The OUTC jumpers are used to bypass optoisolation by using the RIO s internal 5V see OUTC jumpers for details Model Bank 0 DO 7 0 Bank 1 DO 15 8 Bank 2 DO 23 16 OUTC Jumpers RIO 4710...

Page 42: ...loads such as solenoids or relays The outputs are configured for hi side sourcing only Electrical Specifications Output PWR OPnA Max Voltage 24 VDC Output PWR OPnA Min Voltage 12 VDC Max Drive Current per Output 0 5 A not to exceed 3A per Bank Wiring Information With this configuration the output power supply will be connected to Output PWR labeled OPnA and the power supply return will be connecte...

Page 43: ...n The output power supply will be connected to Output PWR labeled OPnB and the power supply return will be connected to Output GND labeled OPnA where n denotes 0 1 or 2 referring to Bank 0 Bank 1 and Bank 2 respectively Note that the load is wired between Output PWR and DO The wiring diagram for Bank 0 is shown in Figure 4 4 Bank 1 in Figure 4 6 and Bank 2 in Figure 4 5 Refer to Connectors for RIO...

Page 44: ...utput power supply will be connected to Output PWR labeled OPnA and the power supply return will be connected to Output GND labeled OPnB where n denotes 0 1 or 2 referring to Bank 0 Bank 1 and Bank 2 respectively Note that the load is wired between DO and Output GND The wiring diagram for Bank 0 is shown in Figure 4 7 Bank 1 in Figure 4 8 and Bank 2 in Figure 4 9 Refer to Connectors for RIO 47xxx ...

Page 45: ...standard optoisolated outputs found on the RIO 47xxx will have a limited bandwidth 50Hz that will not allow the full range of frequency and duty cycle available from the DY FQ and PM commands The RIO can be ordered with a PWM option that will bypass the optoisolated outputs and provide buffered outputs for DO 15 14 See the PWM section in the Appendix for more information Digital Inputs The RIO 47x...

Page 46: ...Minimum current to turn off Inputs once activated hysteresis 0 5 mA Maximum current per input1 11 mA Internal resistance of inputs 2 2 kΩ 1 See the Input Current Limitations section below for details Wiring the Digital Inputs To take full advantage of optoisolation an isolated power supply should be used to provide the voltage at the input common connection Connecting the ground of the isolated po...

Page 47: ...n input These external resistors can be placed in series between the inputs and their power supply Vs To determine if an additional resistor R is required follow Equation 3 4 below for guidance Chapter 4 I O 47 RIO 47xxx Rev 1 0r Figure 4 11 Digital Input wiring for Bank 0 DI 7 0 Figure 4 12 Digital Input wiring for Bank 1 DI 15 8 Figure 4 13 Digital Input wiring for Bank 2 or DI 23 16 ...

Page 48: ...here n 0 1 and 2 representing input banks INC0 INC0A INC1 INC1A or INC2A m 7 0 15 8 and 23 16 depending on the bank of INCn INCnA Chapter 4 I O 48 RIO 47xxx Rev 1 0r Figure 3 14 Wiring diagram showing how to put R in series between Vs and INCn INCnA to limit current through the bank ...

Page 49: ... 47300 Bank 0 DI 7 0 INC0A INC0B INC0A INC0B Bank 1 DI 15 8 INC1A INC1B INC1A INC1B Bank 2 DI 23 16 INC2A INC2B INC2A INC2B Table 4 3 Listing of INC Jumpers and Input Reference Ground by model 1 Labeled N C see RIO 471xx 44 pin D Sub Connector for correct pin outs 2 Location of the jumpers are in the Appendix listed under Jumper Descriptions 3 Usually this can remain a No Connect Alternatively the...

Page 50: ...Rev 1 0r Figure 4 16 Wiring diagram with INC jumpers installed on the RIO 47100 Figure 4 17 Wiring diagram with INC jumpers installed on the RIO 47200 Figure 4 18 Wiring diagram with INCnA INCnB jumpers installed on the RIO 47300 ...

Page 51: ...counter 0 if disabled 1 if enabled When the PC command is enabled input DI3 will count high or low going edges The operand _PC is used to report back the number of pulses counted The maximum frequency of the input is limited by the optocouplers to 300 Hz 50 duty cycle If a higher frequency is needed order the HS option in the Appendix HS Option Required with Expanded Memory RIO s The Expanded Memo...

Page 52: ...have compare Table 4 4 with Table 1 1 which also lists the default analog options for each standard RIO part number 0 5V Analog Outputs Analog outputs 0 7 found on the basic RIO products have a 0 5V range and 12bit resolution Electrical Specifications Maximum Output Voltage 5V Minimum Output Voltage 0V Resolution 12 bit 0 5V range Maximum Current Output 4mA sink source 10V Configurable Analog Outp...

Page 53: ...0k input impedance Electrical Specifications Input Impedance 100kΩ Differential Mode The 0 5V analog inputs can be set for a differential mode See the AQ command in the command reference for more information Note The AQ command is also used for the 10V Configurable Analog Inputs but as a different range for the parameters Table 4 6 covers the AQ settings for the 0 5V Analog Inputs AQ Differential ...

Page 54: ...ifferential Mode The AQ command also allows the RIO to change the configuration from the default 8 single ended analog inputs to 4 differential analog inputs AQ Differential Pairs AQ 0 1 Input 0 Input 1 and 5V input range AQ 2 2 Input 2 Input 3 and 10V input range AQ 4 3 Input 4 Input 5 and 0 5V input range AQ 6 4 Input 6 Input 7 and 0 10V input range Table 4 8 Differential analog input channels o...

Page 55: ... in the Editor window After downloading a program use the XQ command to execute the program The RIO also has an internal editor that may be used to create and edit programs in the RIOs memory The internal editor is a rudimentary editor and is only recommended when operating with Galil s DOS utilities or through a simple RS 232 communication interface such as Windows Hyperterminal See the ED comman...

Page 56: ...utines supported by the RIO Sample programs for these subroutines can be found in the section Automatic Subroutines for Monitoring Conditions AUTO Automatic Program Execution on power up ININTn Label for Input Interrupt subroutine CMDERR Label for incorrect command subroutine TCPERR Ethernet communication error AUTO is a special label for automatic program execution A program which has been saved ...

Page 57: ... extend beyond the confines of the 40 character maximum line length TEST IF var100 100 var101 50 MG Condi tion satisfied ELSE MG Stop ENDIF EN This allows for a more efficient command compressing b the continuation of message commands MG on multiple lines c Longer IF JP JS conditional statements Note the total length of a multi line command can not exceed 80 characters Lock Program Access using Pa...

Page 58: ...ead use the instruction HX n where n is the thread number Note that both the XQ and HX commands can be performed from within an executing program For example Instruction Interpretation TASK1 Task1 label AT0 Initialize reference time CB1 Clear Output 1 LOOP1 Loop1 label AT 10 Wait 10 msec from reference time SB1 Set Output 1 AT 40 Wait 40 msec from reference time then initialize reference CB1 Clear...

Page 59: ...e currently defined For example if an RIO has a maximum of 400 and up to 6 arrays and a single array of 100 elements is defined the command DM will return the value 250 and the command DA will return 5 To list the contents of the variable space use the interrogation command LV List Variables To list the contents of array space use the interrogation command LA List Arrays To list the contents of th...

Page 60: ...he thread must be already running when the interrupt occurs the interrupt subroutine is to be run When the interrupt occurs the specified thread s main program will be paused to allow the interrupt subroutine to be executed Therefore the user has the choice of interrupting a particular thread execution upon an input interrupt see II command The input interrupt routines are specified using ININTn w...

Page 61: ...Q B 1 Execute B in thread 1 II1 0 1 3 ININT1 in thread 0 when input 1 low and input 3 high II2 1 5 10 ININT2 in thread 1 when input 5 low and input 10 high AI 13 14 Trippoint on inputs 13 and 14 LOOP JP LOOP Pseudo program Loop indefinitely EN End program B Program Label AI 7 8 Trippoint on inputs 7 and 8 LOOP2 SB10 Set bit 10 high WT500 Wait for half a second CB10 Set bit 10 low WT500 Wait for 50...

Page 62: ...mma designates IF The logical condition tests two operands with logical operators Logical operators Operator Description less than greater than equal to less than or equal to greater than or equal to not equal Conditional Statements The conditional statement is satisfied if it evaluates to any value other than zero The conditional statement can be any valid RIO numeric operand including variables ...

Page 63: ...olute value of variable V2 is greater than 2 JP C V1 V7 V8 V2 Jump to C if the value of V1 times V7 is less than or equal to the value of V8 V2 JP A Jump to A Using If Else and Endif Commands The RIO provides a structured approach to conditional statements using IF ELSE and ENDIF commands Using the IF and ENDIF Commands An IF conditional statement is formed by the combination of an IF and ENDIF co...

Page 64: ... if 1st IF conditional true MG INPUT 1 AND INPUT 2 ARE INACTIVE Message to be executed if 2nd IF conditional is true ELSE ELSE command for 2nd IF conditional statement MG ONLY INPUT 1 IS ACTIVE Message to be executed if 2nd IF conditional is false ENDIF End of 2nd conditional statement ELSE ELSE command for 1st IF conditional statement MG ONLY INPUT 2 IS ACTIVE Message to be executed if 1st IF con...

Page 65: ...y inserting a special predefined label in the applications program The pre defined labels are SUBROUTINE DESCRIPTION AUTO Automatic Program Execution on power up AUTOERR Automatic Program Execution on power up if error condition occurs ININTn Input specified by II goes low n from 0 to 3 CMDERR Bad command given TCPERR Ethernet communication error COMINT Communication Interrupt Routine For example ...

Page 66: ... a new number In multitasking applications there is an alternate method for handling command errors from different threads Using the XQ command along with the special operands described below allows the controller to either skip or retry invalid commands OPERAND FUNCTION _ED1 Returns the number of the thread that generated an error _ED2 Retry failed command operand contains the location of the fai...

Page 67: ...Skip invalid command ENDIF EN End of command error routine Example Ethernet Communication Error This simple program executes in the RIO and indicates via the serial port when a communication handle fails By monitoring the serial port the user can re establish communication if needed Instruction Interpretation LOOP Simple program loop JP LOOP EN TCPERR Ethernet communication error auto routine MG P...

Page 68: ...ation Precision and Range The controller stores non integers in a fixed point representation not floating point Numbers are stored as 4 bytes of integer and 2 bytes of fraction within the range of 2 147 483 647 9999 The smallest number representable and thus the precision is 1 65536 or approximately 0 000015 Example Using basic mathematics it is known that 1 4 80 000 112 000 However using a basic ...

Page 69: ...iable FLEN as fractional part of variable LEN FLEN 10000 FLEN Shift FLEN by 32 bits IE convert fraction FLEN to integer LEN1 FLEN 00FF Mask top byte of FLEN and set this value to variable LEN1 LEN2 FLEN FF00 100 Let variable LEN2 top byte of FLEN LEN3 LEN 000000FF Let variable LEN3 bottom byte of LEN LEN4 LEN 0000FF00 100 Let variable LEN4 second byte of LEN LEN5 LEN 00FF0000 10000 Let variable LE...

Page 70: ...ay be combined with mathematical expressions The order of execution of mathematical expressions is from left to right and can be over ridden by using parentheses Examples V1 ABS V7 The variable V1 is equal to the absolute value of variable V7 V2 5 SIN POS The variable V2 is equal to five times the sine of the variable POS V3 IN 1 The variable V3 is equal to the digital value of input 1 Variables T...

Page 71: ...signs the value of V1 plus V3 times V4 to the variable V2 Var CAT Assign the string CAT to variable Var Displaying the value of variables at the terminal Variables may be sent to the screen using the format variable For example V1 returns the value of the variable V1 V1 or MG V1 are also valid ways of displaying a variable Operands Operands allow status parameters of the RIO to be incorporated int...

Page 72: ...me can contain up to eight characters starting with an uppercase alphabetic character The number of entries in the defined array is enclosed in Example DM IOSTAT 100 Defines an array names IOSTAT with 100 entries DA Frees array space using Deallocate command Assignment of Array Entries Like variables each array element can be assigned a value Assigned values can be numbers or returned values from ...

Page 73: ...bove example can also be executed with the automatic data capture feature described below Uploading and Downloading Arrays to On Board Memory Arrays may be uploaded and downloaded using the QU and QD commands QU array start end delim QD array start end where array is an array name such as A Start is the first element of array default 0 End is the last element of array default last element Delim sp...

Page 74: ...fies recording in progress Data Types for Recording Data type Description _TIn Inputs at bank n 0 or 1 _OPn Output bank n status 0 or 1 _AFn Analog input status 0 7 _AOn Analog output status 0 7 Operand Summary Automatic Data Capture _RC Returns a 0 or 1 where 0 denotes not recording 1 specifies recording in progress _RD Returns address of next array element Deallocating Array Space Array space ma...

Page 75: ...iable RESULT is equal to 4 1 this statement returns the following The Final Value is 00004 10 If the value of the variable RESULT is equal to 999999 999 the above message statement returns the following The Final Value is 99999 99 The message command normally sends a carriage return and line feed following the statement The carriage return and the line feed may be suppressed by sending N at the en...

Page 76: ... a response to interrogation commands or variables and arrays can be removed by the use of the command LZ The default value for LZ is 1 meaning that the leading zeroes do not get printed out unless LZ0 command is entered Example Using the LZ command LZ0 Disables the LZ function MG IN 0 Print input status of bank 1 0000000001 0000 Response from Interrogation Command With Leading Zeros LZ1 Enables t...

Page 77: ...ecify local format 0010 00 New format V1 4 2 Specify hex format 000A 00 Hex value V1 ALPHA Assign string ALPHA to V1 V1 S4 Specify string format first 4 characters ALPH The local format is also used with the MG command see page 76 Programmable I O As described earlier the RIO has 16 digital inputs 16 digital outputs 8 analog inputs and 8 analog outputs The paragraphs below describe the commands th...

Page 78: ...ommand gives the input status of an entire bank where n is the bank number 0 or 1 The AI command is a trippoint that pauses program execution until the specified combination of inputs is high or low Example Using Inputs to control program flow Instruction Instruction JP A IN 1 0 Jump to A if input 1 is low MG IN 2 Display the state of input 2 AI 7 6 Wait until input 7 is high and input 6 is low An...

Page 79: ...of 12 bits 16 bit optional The Analog Output voltage range is configurable using the DQ command when using RIOs with the 10V configurable option Use the ID command to see the model number of the RIO Note When analog output values are accessed from the Data Record or from the Record Array function the returned value will be an integer number that represents the analog voltage For an RIO with 0 5V a...

Page 80: ...esired set point entered by the PS command with the temperature sensor The difference between the two is called the error E The error goes through a PID digital filter and then through a Digital to Analog Converter DAC which outputs a control voltage to the heater to close the loop The example program below uses analog input 0 as the feedback from the temperature sensor and analog output 0 as the ...

Page 81: ... are equipped with a real time clock feature The real time clock provides true time in seconds minutes and hours The RT command provides a method to set the time and operands to return the current time The default real time clock does not persist through a power cycle and must be set whenever power is restored The Expanded Memory models can also be ordered with a clock upgrade RTC including a high...

Page 82: ...tts 4 Watts RIO 4712x 18 36 VDC 2 6 Watts 4 Watts RIO 47142 9 48 VDC 2 6 Watts 4 Watts RIO 472xx 18 36 VDC 2 1 Watts 4 Watts RIO 47300 9 48 VDC 2 6 Watts 4 Watts Power ratings with no external connections to the RIO Before connecting power to the RIO read the section Step 2 Connect Power to the RIO Power Supply Options Galil offers several power supply options as accessories to the RIO For more de...

Page 83: ...to order an RIO with these options see our RIO 47xxx part number generator on our website http www galilmc com products rio 47xxx part number php DIN If ordered with the DIN option the RIO has a DIN rail mount attached to the case This option is valid for all RIO 471xx controllers It is not valid for the RIO 472xx family as the RIO 472xx comes in a DIN rail mount by default Part number ordering ex...

Page 84: ...d is 18 to 36 VDC This option is only available for the RIO 471xx products Contact Galil if this option is needed on a RIO 472xx The RIO will no longer have the option to be powered over PoE with this modification Part number ordering example RIO 47120 12V 2LSRC If a RIO 471xx is ordered with the 2LSRC option then outputs 8 15 are configured to source current They will be capable of 5 24VDC with 2...

Page 85: ... the SE command configures the encoder when the SSI option is ordered The register that is read using the QE command is updated by the RIO every 25ms See the QE WE and SE commands in the RIO command reference for more information Part number ordering example RIO 47122 QUAD Electrical Specifications Input buffers AM26LV32 Output buffers SSI Clock AMP26LV31 QUAD maximum frequency 8 MHz1 Single Ended...

Page 86: ... 31 DI14 Channel 1 A 2 2 DI12 Channel 1 A 1 1 DI15 Channel 1 B 17 17 DI13 Channel 1 B 41 4 N C Ground Table A 2 The encoder pins located on the DIGITAL 44 pin HD D sub connector RIO 47202 Label Encoder Signal 0A Channel 0 A 0A Channel 0 A 0B Channel 0 B 0B Channel 0 B 1A Channel 1 A 1A Channel 1 A 1B Channel 1 B 1B Channel 1 B GND Ground Table A 3 The screw terminal labels for the encoder connecti...

Page 87: ... 1 Data 17 17 DI13 Channel 1 Data 41 4 N C Ground Table A 5 The encoder pins located on the DIGITAL 44 pin HD D sub connector RIO 47202 Label Encoder Signal 0A Channel 0 Clock 0A Channel 0 Clock 0B Channel 0 Data 0B Channel 0 Data 1A Channel 1 Clock 1A Channel 1 Clock 1B Channel 1 Data 1B Channel 1 Data GND Ground Table A 6 The screw terminal labels for the encoder connections as seen on the SCB 4...

Page 88: ...1 on 44 Pin D Sub Connector N C RIO 47142 Pin 41 on 44 Pin D Sub Connector N C RIO 47202 Screw Terminal AGND RIO 47300 Screw Terminal GND Table A 8 Reference Ground connections for PWM signals The PWM output frequency is set with the FQ command The actual output frequency f a measured at Digital Outputs 14 and 15 can be calculated as shown below 10 311 Hz In this frequency range f a is equal to FQ...

Page 89: ...le as an input with the HS option The maximum frequency of pulses that can be captured is increased to 3Mhz 50 duty cycle If higher values are required please consult factory Part number ordering example RIO 47102 HS Note the termination resistor labeled DNI in Figure A 6 is not installed with the HS option Contact Galil if termination resistor is required 16Bit The 16 option specifies 16 bit reso...

Page 90: ...lating the current for an RIO with 10V analog inputs is ImA 2 105 V The equation for calculating the current for an RIO with 0 5V analog inputs is ImA 2 11 V Where ImA current in mA V Voltage reading from RIO Part number ordering example RIO 47120 4 20mA AO Option SCB 48608 The RIO 472xx by default does not have analog outputs however analog outputs can be added using the AO option When analog out...

Page 91: ... SCB 48608 on the RIO 472xx See 10V Configurable Analog Outputs in Chapter 4 for more information Part number ordering example RIO 47200 8AO_10v12bit Qty 8 10V configurable analog outputs with 12 bit resolution 8AO_10v16bit This option adds 16 bit 10V configurable analog outputs via the SCB 48608 on the RIO 472xx See 10V Configurable Analog Outputs in Chapter 4 for more information Part number ord...

Page 92: ... Input or Output 31 INC4B 1 Input Reference Ground Bank 4 INC4A Input Common Bank 4 OP4B Output GND Bank 4 OP4A Output PWR Bank 4 IO32 Input or Output 32 IO33 Input or Output 33 IO34 Input or Output 34 IO35 Input or Output 35 IO36 Input or Output 36 IO37 Input or Output 37 IO38 Input or Output 38 IO39 Input or Output 39 INC5B 1 Input Reference Ground Bank 5 INC5A Input Common Bank 5 OP5B Output GN...

Page 93: ... 10 provide the wiring diagrams for these inputs INC Jumpers The INC jumpers on the 24ExIN option provides the same functionality as described in Digital Inputs INC jumpers pg 49 Figure 4 11 below provides a wiring jumper for using INC jumpers with input Banks 3 5 Appendix 93 RIO 47xxx Rev 1 0r Figure A 8 Wiring diagram for DI 31 24 Bank 3 Figure A 9 Wiring diagram for DI 39 32 Bank 4 Figure A 10 ...

Page 94: ...Digital Outputs 500mA Sourcing Outputs HSRC pg 42 Figure A 12 Figure A 14 provide the wiring diagrams for digital output Banks 3 5 Appendix 94 RIO 47xxx Rev 1 0r Figure A 11 INC jumpers wiring diagram for input Banks 3 5 Figure A 12 Wiring diagram for DO 31 24 Bank 3 Figure A 13 Wiring diagram for DO 39 32 Bank 4 Figure A 14 Wiring diagram for DO 47 40 Bank 5 ...

Page 95: ...utput PWR Bank 0 Input Reference Ground Rarely used but if wired improperly will cause damage to the controller Only to be used when the INC jumpers are installed See INC jumpers section for more detail When ordered with 2LSRC this pin will actually be Output Power Ground for Bank 1 When ordered with 2LSRC this pin will actually be 5 24V Output Power Supply for Bank 1 4 When ordered with HS option...

Page 96: ...DI4 Digital Input 4 DO8 Digital Output 8 DI5 Digital Input 5 DO9 Digital Output 9 DI6 Digital Input 6 DO10 Digital Output 10 DI7 Digital Input 7 DO11 Digital Output 11 INC1A Input Common Bank 1 DO12 Digital Output 12 INC1B3 Input Reference Ground Bank 1 DO13 Digital Output 13 DI8 Digital Input 8 DO141 Digital Output 14 DI9 Digital Input 9 DO151 Digital Output 15 1 PWM outputs See PWM option in App...

Page 97: ...ital input 10 DI11 Digital input 11 DI12 Digital input 12 DI13 Digital input 13 DI14 Digital input 14 DI15 Digital input 15 INC1B 1 Input Reference Ground Bank 1 N C No connect OP1B Output GND Bank 1 OP1A Output PWR Bank 1 DO8 Digital output 8 DO9 Digital output 9 DO10 Digital output 10 DO11 Digital output 11 DO12 Digital output 12 DO13 Digital output 13 DO14 2 Digital output 14 DO15 2 Digital out...

Page 98: ...d varies slightly with product Some products will also have a dual Ethernet port Use the table below as reference Product Port 1 Port 2 RIO 4712x RIO 4710x J1 RIO 47142 J1 J7 RIO 472xx J1 RIO 47300 J1 J2 The pin outs for each Ethernet port is the same between products and single versus Dual Ethernet ports Their pin outs are listed below Pin Signal 1 TXP 2 TXN 3 RXP 4 Reserved 5 Reserved 6 RXN 7 Re...

Page 99: ...ber Type MOLEX 39 31 0020 MOLEX 39 01 2025 MOLEX 44476 3112 2 Position 1 The mating connectors listed are not the only mating connectors available from Molex See http www molex com for the full list of available mating connectors Appendix 99 RIO 47xxx Rev 1 0r ...

Page 100: ...s unresponsive 19 2 Set baud Rate to 19 2k default without jumper is 115k OPT 10BaseT Ethernet Communication RIO 472xx Jumper Label Function If jumpered JP5 MRST Master Reset enable Returns RIO to factory default settings and erases non volatile memory Requires power on or RESET to be activated UPGD Used to upgrade controller if the unit becomes unresponsive 19 2 Set baud Rate to 19 2k default wit...

Page 101: ...JP13 INC0A Connects INC0A 5V and INC0B to GND INC0B JP14 INC1A Connects INC1A 5V and INC1B to GND INC1B JP15 INC2A Connects INC2A 5V and INC2B to GND INC2B Appendix 101 RIO 47xxx Rev 1 0r ...

Page 102: ...RIO Dimensions RIO 4710x RIO 4712x Figure A 15 Dimensions for RIO 471xx in inches RIO 47142 Appendix 102 RIO 47xxx Rev 1 0r Figure A 16 Dimensions of the RIO 47142 in inches ...

Page 103: ...RIO 472xx Figure A 17 Dimensions for RIO 472xx in mm RIO 47300 Appendix 103 RIO 47xxx Rev 1 0r Figure A 18 Dimensions of RIO 47300 in inches ...

Page 104: ...ture Device See A1 SCB 48206 for details SCB 48306 KTYPE 26 pin D high density Signal Conditioning Board provides interface for up to six K type thermocouples with screw terminal type connectors SeeA2 SCB 48306 48316 for details SCB 48316 KTYPE 26 pin D high density Signal Conditioning Board provides interface for up to six K type thermocouples with thermocouple mating type connectors SeeA2 SCB 48...

Page 105: ...al Motion Control Applications by Dr Jacob Tal Motion Control by Microprocessors by Dr Jacob Tal Contacting Us Galil Motion Control 270 Technology Way Rocklin CA 95765 Phone 916 626 0101 Fax 916 626 0102 E Mail Address support galilmc com URL www galil com Appendix 105 RIO 47xxx Rev 1 0r ...

Page 106: ...ic introduction or refresher on how to successfully implement servo motion control systems TIME 4 hours 8 30 am 12 30 pm ADVANCED MOTION CONTROL WHO SHOULD ATTEND Those who consider themselves a servo specialist and require an in depth knowledge of motion control systems to ensure outstanding controller performance Also prior completion of Motion Control Made Easy or equivalent is required Analysi...

Page 107: ...rol properly packaged and with transportation and insurance prepaid We will reship at our expense only to destinations in the United States Any defect in materials or workmanship determined by Galil Motion Control to be attributable to customer alteration modification negligence or misuse is not covered by this warranty EXCEPT AS SET FORTH ABOVE GALIL MOTION CONTROL WILL MAKE NO WARRANTIES EITHER ...

Page 108: ...e Analog 26 pin high density D sub connector and will use Analog Inputs 0 5 on the RIO for the 6 RTD inputs RTD 0 5 AI 0 5 1 It is oriented vertically from the RIO connector as shown in Figure A1 1 Other mounting options are available upon request Figure A1 1 RIO 47122 with SCB 48206 1 Analog inputs 0 5 will not be available for general use analog inputs when the SCB 48026 is connected to the RIO ...

Page 109: ...Input Range 18 230 Ω1 Temperature Range 100 Ω RTD 200 to 350 deg C1 1 If greater than 230Ω 350 deg C is required contact Galil Wiring The SBC 48206 has qty 6 3 wire RTD inputs The RTD is wired directly to the screw terminals as indicated in Figure A1 2 below Figure A1 2 RTD wiring to SBC 48206 A1 SCB 48206 109 RIO 47xxx Rev 1 0r ...

Page 110: ... of RTD V Analog Read from RIO There are 2 methods for calculating the temperature once the resistance of the RTD has been calculated Note The following calculations assume an RTD with R0 100 Ω and α 0 00385 Platinum RTD Method 1 This method strictly uses the RTD coefficient and assumes a proportional relationship between impedance and temperature The equation for this is given in the following eq...

Page 111: ...mperature of the RTD In reality the relationship between impedance and temperature is not linear so if higher precision is required from the temperature reading the following Method should be used Method 2 This method uses the following equations to calculate the temperature of the RTD These equations more accurately describe the relationship between temperature and impedance of the RTD than Metho...

Page 112: ...culate deg C r r0 JS Celcius Tc0 Tc r r1 JS Celcius Tc1 Tc r r2 JS Celcius Tc2 Tc r r3 JS Celcius Tc3 Tc r r4 JS Celcius Tc4 Tc r r5 JS Celcius Tc5 Tc AT 100 wait 100 ms from last time ref JP Calc Celcius sqrt SQR 992137 445376 761 2471 r Tc 25613 43488 sqrt 7 569408 REM adjust for Tc 0 deg C IF Tc 0 Ta Tc 100 Tc Tc 239062873 536 Tc Ta Ta 0 2311 Tc Tc Ta ENDIF EN A1 SCB 48206 112 RIO 47xxx Rev 1 0...

Page 113: ... 26 pin high density D sub connector and will use Analog inputs 0 5 on the RIO for the 6 thermocouple inputs TC 0 5 AI 0 5 1 It is oriented vertically from the RIO connector as shown in Figure A2 1 Other mounting options are available upon request By default the SCB 483x6 will be setup for type K thermocouple inputs Types E J and T are also available The thermocouples interfacing to the SCB 483x6 ...

Page 114: ...emperatures are outside of listed ranges 2 Voltage Constant will change if Range is modified Wiring The SCB 483x6 has qty 6 thermocouple inputs The thermocouples interfacing to the SCB 483x6 must have an Ungrounded or Exposed Junction contact Galil if Grounded Junction Figure A2 4 thermocouples are required The wiring of the thermocouple to the SCB 483x6 is shown in Figure A2 3 below A2 SCB 48306 ...

Page 115: ...s section The equation for calculating Temperature in deg C is Temperature deg C AN 0 5 1000 Voltage Constant Where AN 0 5 Analog input readings for TC 0 5 Voltage Constant Voltage constant for SCB 483x6 and thermocouple type is defined in the Specifications section The below code uses analog inputs 0 5 and stores the temperature into array Tc 0 5 written for type K thermocouples MAIN REM Analog i...

Page 116: ...ing mode supplies come with a 2 pin Molex Mini Fit Jr TM connector to allow for mating directly to the RIO PS 2 50 24 Electrical Specifications Power 60 W Max Voltage Output 24 VDC Max Current 2 5 Amps Input 100 240 VAC 50 60Hz UL E183223 32 WK CE Certified Figure 1 PS 0 25 24 Power Supply A3 Power Supplies 116 RIO 47xxx Rev 1 0r ...

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