H0-CTRIO,  H2-CTRIO,  H4-CTRIO,  T1H-CTRIO Updated: 10/07/2008
Specification Firmware Documentation CTRIO Workbench FAQs
 
The CTRIO modules are our new High Speed I/O module for DL05 / DL06, DL205, DL405 and Terminator I/O control systems.

The modules have 8 counter / timer inputs (the H0-CTRIO has 4 inputs) that can be independently configured in a wide variety of ways. Here are some of the more popular configurations available:

  • 2 quadrature inputs, each with an external reset and a count inhibit
  • 4 high speed up or down counters, each with an external reset
  • 4 Pulse Catch Inputs that can capture a pulses as small as 25µSec
  • 4 Edge Triggered Timers that calculate elapsed time between pulses from the same input at 1 µSec resolution
  • 2 Dual Edge Timers that calculate elapsed time between pulses from different inputs at 1 µSec resolution

The modules also have 4 outputs (H0-CTRIO has 2 outputs) that can be independently configured as follows:

  • 4 discrete outputs controlled by preset tables in the CTRIO
  • 2 pulse outputs for stepper motor control. You control them with output profiles. The profiles can be trapezoids, S-curves, dynamic positioning, dynamic velocity or home searches.
  • 4 raw outputs

Since the H0-CTRIO is essentially one half of an H2-CTRIO, that is, having one half of the available inputs and outputs, it can only be configured for one half of the number of input and output selections, e.g. only 1 quadrature input with external reset and inhibit and one pulse output for stepper control.

The CTRIO Workbench uses a graphical interface to setup the different operational modes. You'll simply use the configuration dialogs to define the inputs, outputs and tables the way you want. As you configure the various inputs and outputs, the CTRIO Workbench will dynamically change to show you what options have been chosen and what options remain. This means that you can't create a configuration that won't work, CTRIO Workbench won't let you define operational parameters that are incompatible. When you've completed the configuration the CTRIO Workbench will write the settings to the module's FLASH memory

As part of it's normal operation, the CTRIO modules can automatically scale the raw input values. There's a scaling wizard to help you setup the scaling parameters and even a 'scaling calculator' to let you test your scaling configuration before you commit it to the module. Once the scaling has been setup, the CTRIO will present both the raw and scaled values to the controlling CPU as often as needed.

  H0-CTRIO H2-CTRIO H4-CTRIO T1H-CTRIO
Module Type

Intelligent

Modules per CPU
(in the local base)

DL-05 - 1
DL-06 - 4

D2-240   - 6
D2-250   - 5
D2-250-1 - 5
D2-260   - 5
H2-EBC   - 5
H2-EBC-F - 4
H2-WPLC  - 4

D4-450   - 8
H4-EBC   - 8
H4-EBC-F - 8

T1H-EBC    - 14
T1H-EBC100 - 14
T1H-PBC    -  4

Modules per System
(via ERM & EBC remote bases)

For WinPLCs, DL205 CPUs and DL405 CPUs, you can add additional bases with CTRIO modules by using our ERMs and EBCs, limited only by the amount of PLC memory available for the I/O mapping and by the available power budget.

Power Consumption

250mA @ 5VDC

400mA @ 5VDC

Slot Placement Restrictions N/A Not in Slot 0
Not in Expansion I/O
N/A N/A
Operating Environment

0 - 60 ºC (32 – 140 ºF)
5% to 95% humidity (non-condensing)

Module Inputs

Sink or Source

Max Frequency 100kHz
Minimum Pulse Width µSec
Input Voltage 9 - 30VDC @ 5-12mA *
Max Voltage Drop 0.3V
Off Voltage Blocking   36 VDC
OFF to ON Response   < 1 µSec
ON to OFF Response   < 1µSec
Module Outputs If Discrete outputs:
        2 Sink or Source
        isolated **
If Discrete outputs:
        4 Sink or Source
        isolated **
If Pulse output:
        1 Channel
        20Hz - 25 kHz
If Pulse outputs:
        2 Channels
        20Hz - 25 kHz
thermal, over-voltage and over-current protected
Voltage Range 5 - 36VDC
Maximum Current 1Amp / Point ***
Maximum Leakage Current 150µA at 36VDC
Maximum voltage Drop 0.3V
OFF Voltage Blocking 36 VDC
OFF to ON Response <3 µSec
ON to OFF Response <3 µSec
Notes   * Nominal range is 8mA @ 24VDC, OFF below 2VDC @ 3mA, ON above 9VDC
 ** channel-to-channel isolation can be jumper disabled to save wiring time
*** outputs can be paralleled for higher current rating
Firmware

H0-CTRIO.Zip 
Last Update   :  06 January 2006
File Size        :  90 Kb
Version          :  v2.1.16
View the CTRIO Revision History

 

H2-CTRIO.Zip
Last Update   :  06 January 2006
File Size        :  90 Kb
Version          :  v2.1.16
View the CTRIO Revision History

 

H4-CTRIO.Zip 
Last Update : 
06 January 2006
File Size        :  90 Kb
Version          :  v2.1.16
View the CTRIO Revision History

 

T1H-CTRIO.Zip 
Last Update   :  06 January 2006
File Size        :  90 Kb
Version          :  v2.1.16
View the CTRIO Revision History

 

CTRIO Workbench

CTRIO Workbench v2.1.12
Last Update   : 6 October 2008
File Size         : 3.4Mb
view the CTRIO Revision History

NOTES:

  • If you are using the CTRIO modules with AutomationDirect PLCs, you must have DirectSOFT32 or DirectSOFT5 installed on the PC that will run CTRIO Workbench.
  • If you're using DirectSOFT32 V3.0, you also must have Build 71 or later installed, use this link to get the latest DirectSOFT32 Service Pack.
  • If you are using the CTRIO modules with either the T1K-MODBUS or T1K-DEVNETS interface modules, you too will need to have DirectSOFT32 or DirectSOFT5  installed. This is because the configuration ports on these interface modules use the KSequence protocol. The CTRIO Workbench uses the DirectSOFT's communications server as it's KSequence driver. If you don't already have one of the DirectSOFT versions installed on the PC, you can use download and install DirectSOFT100 (the free version of DirectSOFT5)
  • New H2-CTRIOs are preloaded with firmware version 2.0.1 (or later). This firmware version requires CTRIO Workbench version 2 for proper configuration. 

    Because of the addition of customer requested features, this new firmware has an expanded I/O map. There are an additional 32 Input bits and 32 Output bits (4 V memory words total). If you are using a DL240, DL250 or DL260 CPU, you may need to adjust V memory assignments in your PLC programming because of the additional usage by the version 2 firmware. For H2-PBC, an updated .GSD file is required. This file is available from the above website. For other DL205 controllers (WinPLC or EBC), your programming is not impacted by these new firmware features.

    For example, if your previous CTRIO I/O map used V2000->V2023 for Inputs from CTRIO to PLC and V2024->V2053 for Outputs, you’ll need to adjust the Output V memory start address by 32 bits to make room for the additional Inputs. The version 2 CTRIO in this case maps V2000->V2025 for Inputs and V2026->V2057 for Outputs.
Example PLC I/O Mapping H2-CTRIO Inputs (to PLC) Outputs (from PLC)
Version 1.0.1 V2000->V2023 V2024->V2053
Version 2.x.x V2000->V2025 V2026->V2057

We'll continue to make Version 1.1-Beta of CTRIO Workbench and the H2-CTRIO Version 1.1 User Manual for those who want to continue using Version 1.0.1 firmware for the H2-CTRIO.

If you prefer to continue using v1.0.1 firmware and its associated CTRIO Workbench v1.1, then you will need to use the CTRIO Workbench “Update Firmware” function to load the previous version 1.0.1 firmware to the CTRIO before attempting to configure the module.

CTRIO Workbench Version 1.1 Beta
Last Update    : March 2002
File Size          : 1.01Mb
Version           : v1.1

H2-CTRIO Version 1.1 User Manual

 

Documentation

Use these following links to view the user manuals for these products

Product Advisories

For each of the following products that support a CTRIO module, these Product Advisories detail the minimum hardware, firmware and software revisions that are needed:

NOTE: you will need the Adobe Acrobat Reader to view the files (available at Adobe Acrobat Free Reader ).

 

FAQs
 
CTRIO FAQs

FAQ0001
03-May-2002
Q: Are the outputs of the CTRIO module published in V-memory? 
A: Yes in v2.x of the firmware, but not in v1.x. However, even if you have v1.x, if you know where to look, you can use the RD command to see the bits.


FAQ0002
29-May-2002
Q: What causes CTRIO to sometimes get double counts or be sensitive to noise?
A: If the CTRIO is counting double you can bet that it is literally seeing two edges. If the input signal is differential this could happen. You should not allow an input to CTRIO to traverse both sides of ground (M). Signal quality should be checked using an oscilloscope. This would reveal whether it is due to a differentiation, or noise. Things to consider for better noise immunity:

  1. Use the shortest distance possible for wiring.
  2. Use shielded cabling.
  3. Use good routing practices (don't run signal wire parallel to high voltage, or near electrically noisy devices).
  4. Isolate the "M" terminal of CTRIO so that it is not common with higher current devices (i.e. a 2mA current in "M" leg can cause a false ON state in CTRIO).
  5. Use bipolar sensor outputs (i.e. totem-pole / push-pull).

FAQ0003
28-Jun-2002
Q: Can't get software reset to function properly from Ladders; and having quite a variety of other malfunctions.
A: 100% of the time we have found this to be a bug in the program. Therefore it it recommended:

  1. Disable the ladders (by inserting an End at the beginning).
  2. Use the CTRIO Workbench software and the Monitor I/O function to see if you can perform the action with the buttons.
  3. If you can, then this is proof that it is a ladders programming error.

FAQ0004
03-Jul-2002
Q: Can Pulse Profile parameters (e.g. accel/decel) be changed on the fly from ladders?
A: No. However, here are some ideas to possibly solve this:

  • Use multiple Pulse Profiles (250+) and then switch between them to obtain different accel/decel settings.
  • Create your own "profiles" in the PLC and use the CTRIO's 0x20 Velocity Mode to output the different Frequencies and Counts you have calculated to simulate acceleration and deceleration.

FAQ0005 (similar to DirectSOFT FAQ109; ERM FAQ0018)
08-Jul-2002
Q: While installing CTRIO Workbench various problems are encountered.
A: Although installation problems are uncommon the following errors have been seen:

  • (1) "Unable to load INSTCTR.DLL"
       Suggested solutions:
    - You are trying to install CTRIO Workbench v2.x onto a Win95 PC. It is not compatible with Win95.
    - You are trying to install CTRIO Workbench v1.x onto a PC that has DirectSOFT v4.x. It is not compatible with that version.
    - You are trying to install CTRIO Workbench onto a Win98 PC that has a system problem. First try installing in the Safe Mode. If this doesn't work you may have to reinstall Win98.
     
  • (2) "CTRIO.EXE setup error"
    You are probably trying to install CTRIO Workbench onto Win2K/WinNT/WinXP without Administrator rights to the PC.
     
  • (3) "Illegal operation"
    This is usually only encountered when installing on a Win98 PC. Installing in Safe Mode usually fixes this.
     
  • (4) PC appears to lock up.
    The PC probably did not lock up. For some reason sometimes during the install procedure the install will pop up a dialog and wait for your response. The window that has this dialog sometimes loses focus and gets hidden behind other windows that may be open. Therefore try pressing the ALT-TAB, switching to each open window and then minimizing it thus looking for the dialog that might be behind. This usually works and when the dialog is found, simply press the <OK> button and the install will continue.

FAQ0006
21-May-2002
Q: Have CTRIO configured for Count Capture. When I get a pulse for capture on Input D the count is captured properly. However when I get a Reset on Input C not only is the current count cleared (as expected), the captured count is also cleared!
A: There are two ways in which a Reset can occur. (1) Hardware Reset with Input C; (2) Software Reset with Reset Bit from PLC. Formerly the Hardware Reset did indeed behave this way. It would clear both the Current Count and the Captured Count. The Software Reset however, only cleared the Current Count and left the Captured Count intact. However, for consistency purposes (and some other reasons) we changed the behavior of the Hardware Reset to be identical to that of the Software Reset with regards to the clearing of the Capture Count. This behavior was changed in H2-CTRIO firmware version v2.1.7. See below for Timing diagrams.


FAQ0007
06/03-2002
Q: Are there examples of each of the CTRIO functions?
A: The manual describes them, and there are several example programs and configuration files under the HAPTools\CTRIO folder.


FAQ0008
01/13-2003
Q: Encountering various problems when starting up CTRIO Workbench:
A: Here are some of the more common problems:

  • (1) In CTRIO Workbench the "Scan Time" and "Max Scan Time" fields are blank.
    This means there is an older copy of the DSPLINK.DLL file in the HAPTools folder on your PC. Make sure that at least the April 4, 2002 version of DSPLINK.DLL file is in the DirectSOFT folder and eliminate the one in the HAPTools Folder entirely; it is not needed.
     
  • (2) CTRIO Workbench indicates the CTRIO module is in "Startup" mode and all fields are greyed out.
    This indicates the CTRIO Workbench cannot communicate with the CTRIO. The comm issue is not between PC and the PLC, but rather it is between the PLC and the CTRIO in the base (i.e. backplane comms are failing). Some reasons for this are:
    o - The CTRIO has a damaged backplane connector.
    o - The CTRIO is not seated properly in the base (particularly if using DL05, DL06 or DL405).
    o - The CTRIO is in the slot adjacent to the CPU (slot 0) and you are using a D2-240, 250 or 260 CPU. Move it to another slot.
    o - You are using CTRIO Workbench v1.1 with a CTRIO that has firmware version 2.0.1 or later. Update your Workbench.
    o - You are using CTRIO Workbench v1.1 and starting it from DirectSOFT. Either start it from DS Launch or upgrade CTRIO and Workbench.
    o - The PLC has old firmware. The Product Advisory details the revision levels required.
    o - The PLC power is OFF.
    o - You have a DL205 in a "-1" base and you have an H2-EBC, H2-WinPLC or H2-PBC that is incompatible with the newer "-1" bases. (If you have an older EBC, PBC or WinPLC, you must either RMA them back to Automation Direct for upgrade, or send them to us (Host Engineering, Inc).
         Hardware requirements for -1 base usage:
              H2-EBC must be 7F, 8F or later.
              H2-EBC-F must be 1F or later.
              H2-WPLC1, WPLC2 must be 4K, 5K or 6K or later.
              H2-WPLC3 must be 1K or later.
              H2-PBC must be 2D or later.
              (NOTE: "7F" meaning - "7" is bare board revision. "F" is the revision of the assembly drawing.)
     
  • (3) DS Launch does not display the CTRIO Workbench 2 startup options.
    For DS Launch to display these startup selections on its menu you must have at least DirectSOFT v4.0 Build 18 or later.
     
  • (4) In DirectSOFT (PLC --> Tools) there are multiple listings of CTRIO and ERM Workbench.
    We're not sure how this happens. But the options are setup in the Windows Registry. To remove them manually it is required that changes be made directly to the Registry. This is not recommended for the normal user! And on some PCs the Administrator does not permit it. However, if you dare:
    1.  Select Start --> Run...
    2.  Type in regedit and press the <OK> button.
    3.  Open HKEY_LOCAL_MACHINE folder.
    4.  Open SOFTWARE folder.
    5.  Open Host Engineering, Inc. folder.
    6.  Click on the HAPTools folder.

    Now in the right window you will see five strings values:

    (Default)    REG_SZ   (value not set)
    a                REG_SZ   CTRIO Workbench2;;CTRIO configuration utility;;C:\HAPTools\CTRIOwb2.EXE
    b                REG_SZ   ERM Workbench;;Ethernet Remote Master Workbench configuration utility;;C:\HAPTools\ERMWB.EXE
    InstallList    REG_SZ   ab
    NextInstall  REG_SZ   c

    To remove them completely right-click on a, b, InstallList and NextInstall one at a time and delete them. The only string value that should remain is (Default).

    If you are plagued by multiple menu selections, then just make the registry entries look exactly like the above.
     
  • (5) In DirectSOFT selecting PLC --> Tools causes PC to lock up.
    We have found this to sometimes happen in versions earlier than v4.0 Build 18, when you have installed CTRIO Workbench and/or ERM Workbench under a different folder other than from c:\HAPTools. To fix:
    1. Uninstall CTRIO Workbench & ERM Workbench (Start --> Programs --> AutomationDirect Tools --> Uninstall).
    2. Reinstall CTRIO Workbench & ERM Workbench with the default folder (c:\HAPTools). To do this run the DirectSOFT install, but select the <Custom> install button and uncheck everything except CTRIO Workbench & ERM Workbench. In other words, you probably don't need (or want) to reinstall DirectSOFT, but merely the Workbenches.
       
  • (6) Get "Error reading Shared RAM!"
    This means that the CTRIO cannot read/write to the PLC across the backplane. This is commonly caused by one of the following:

    - You are trying to connect to a CTRIO via DCM, ECOM or serial connection and you have selected DirectNET protocol. You must use K-sequence protocol. Or for the ECOM you can also use ECOM protocol (recommended).
    - You are trying to connect to a CTRIO that is installed in a PLC rack whose CPU has a password and it has not been unlocked by DirectSOFT. To fix you must connect with DirectSOFT and enter the password.
    - Try reseating the CTRIO or trying a different slot.
    - The slot, backplane, CPU or CTRIO is defective. Replace.
     
  • (7) Get "Error reading configuration"
    This means that CTRIO workbench is not getting enough of the PLC's time to upload the CTRIO configuration across the backplane. This is commonly caused by the PLC being too busy with other comms. This can be confirmed by switching the PLC to STOP and then back to TERM (this will take it out of RUN mode!), and then trying again. If it works, then this is confirmation.

FAQ0009
03-Jun-2003
Q: When editing Pulse Profiles there is nothing indicating that a particular pulse profile is active or has been selected. Instead, the tabs give the impression that they are all equally selectable.
A: Host changed from the tab select to a list in CTRIOwb v2.0.


FAQ0010
03-Jun-2002
Q: Variables in a CTRIO in PLC rack to Think&Do make sense in Monitor I/O, but not when CTRIO is plugged into WinPLC.
A: Host added the ability to display the Monitor I/O in several different formats, including WinPLC format to CTRIOwb v2.0.


FAQ0011
03-Jun-2002
Q: CTRIO Workbench doesn't automatically enable link if you double-click on it.
A: Added this feature to CTRIO Workbench v2.0.


FAQ0012 (see also WinPLC FAQ0036; EBC FAQ0079)
04-Feb-2008
Q: When trying to connect to CTRIO in WinPLC or EBC/EBC100 base with CTRIO Workbench, getting "Error reading base definition".
A: This is usually caused by the CTRIO Workbench not having enough of the backplane bandwidth to complete a connection. Thus, depending on what type of base the CTRIO is installed in:

     If WinPLC:  Try stopping the WinPLC's application from running; then try CTRIO Workbench again.

     If EBC/EBC100: Try stopping the master that is currently polling, or disconnect from the master altogether; then try CTRIO Workbench again.


FAQ0013 (see also EBC FAQ0048; ERM FAQ0031; WinPLC FAQ0029; SDK FAQ0013)
22-Nov-2002
Q: Is it possible to utilize the CTRIO System Functions everywhere it can be installed?
A: In firmware v2.x System Functions were added to the CTRIO products (H0-, H2-, H4- and T1H-CTRIO). These System Functions would allow you to write (and read) various internal registers of the CTRIO. The following table shows what scenarios that these System Functions can be used and how to use them:

  System Function CTRIO Configuration
Local DL PLC Base Remote DL PLC Base DL PLC with ERM/EBC WinPLC (Think&Do) Local Base WinPLC (Think&Do) with ERM/EBC Think&Do (Entivity) to EBC Ethernet SDK to EBC
Mapped System Functions (i.e. in V-memory) Status of Inputs YES NO (4) YES YES YES YES YES
Mode & Status of Outputs YES NO (4) YES YES YES YES YES
CTRIO Shared RAM System Functions 0x01 - Read all registers YES (1) NO (4) NO (5) YES (2) YES (2) YES (2) YES (3)
0x02 - Write all registers YES (1) NO (4) NO (5) YES (2) YES (2) YES (2) YES (3)
0x04 - Write one register YES (1) NO (4) NO (5) YES (2) YES (2) YES (2) YES (3)
0x05 - Write reset value YES (1) NO (4) NO (5) YES (2) YES (2) YES (2) YES (3)

(1) - Use RD/WT instruction in Ladders.
(2) - Use Shared RAM Operations for CTRIO in a CALL block.
(3) - Use Ethernet SDK routine HEIWriteSharedRAM / HEIReadSharedRAM.
(4) - Not possible because CTRIO will not work in remote bases.
(5) - Not possible because Ladders cannot tell the ERM to access the Shared RAM of CTRIO in EBC base.


FAQ0014 (see also WinPLC FAQ0013, EBC FAQ0030)
11-Feb-2003
Q: What is the expected hit on the scan time for adding an H2-CTRIO to WinPLC or EBC rack? When I connect with Entivity and add more than one H2-CTRIO I get a timeout.
A: This is different for each product:

For WinPLC, there could be a detectable hit (however, small) simply because it has a comparatively slower processor (100MHz).

On the EBC itself, the addition of a CTRIO will probably not be noticeable at all simply because the EBC has only one thing to do . . . update its I/O.

On a Think&Do or Entivity application there will be about 7ms/CTRIO hit due to the number of tags that are created to handle the extra I/O scanning of the CTRIO from the PC. Thus, in the Connectivity Center of this software, under "Attributes" you must increase the "Timeout Value for Retries(ms)" value accordingly.


FAQ0015
20-Dec-2002
Q: Using CTRIO v2.0. If running velocity mode, can the number of pulses that have been output be read?
A: There is a register that can be read out that will contain the number of counts that have been sent out since the output enable bit was set. There is an example program on Host's website that shows how this is accomplished.


FAQ0016 (see also WinPLC FAQ0007)
17-Feb-2003
Q: Is there a way to change the preset values in multiple Preset Tables from WinPLC to CTRIO on the fly?
A: Basically there are two choices to do this with CTRIO:

  1. Make a Preset Table that turns on an output and use the "0x15 - Edit Entry / Reload" command to change the preset value in this table when needed
  2. Configure multiple Preset Tables (there are 256 tables available) with different preset values and using the "0x10 - Load Table" command to load the different ones when needed.

FAQ0017
17-Feb-2003
Q: Can the CTRIO be made to count in both directions (quadrature encoder) but only in a positive range (e.g. 0-499)?
A: Not easily. Here is how it could work:

  1. Create a Preset Table to handle the positive direction by making it reset the count to 0 (zero) when it reaches a count of 499.
  2. To handle the negative direction, read the count from the CTRIO in the PLC for two consecutive scans and compare them. If the count went down between scans, then set a C-bit to indicate a negative direction. As long as the count goes down, keep the bit set.
  3. If the count increases, clear the C-bit.
  4. If the count keeps decreasing and reaches 0 (zero), then execute a System Command to the CTRIO and write the current count to +499.

In the above solution, the positive direction would work flawlessly, but the negative direction would be sensitive to the speed at which the encoder is turning along with the speed of the PLC scan. Also, depending on which direction is more critical in your application, you could just as easily make a Preset Table to handle the negative direction and the PLC program to handle the positive direction.


FAQ0018
04-Jan-2008
Q: What is the input impedance of the CTRIO input?
A: On the input of the CTRIO is a JFET (Junction Field Effect Transistor) in a constant-current source arrangement. In this manner it guarantees the input current will be between 5-15mA for the range of 9-30V. So, the input impedance varies based on this characteristic. So at the high voltage extreme:

  • 30V input at 15mA = 30/15m = 2
  • 30V input at 5mA = 30/5 = 6KΩ

FAQ0019
06-Feb-2008
Q: How does the Pulse Catch function operate? (The manual is a bit unclear).
A: Below is an example timing diagram of the functionality of Pulse Catch with notes at the end explaining. The settings used to generate this diagram are not likely in the real world, but are given here as only an example.

CTRIO Workbench configuration for the diagram:
     - Input C = Pulse Catch
     - Pulse In = Rising Edge
     - Minimum Width In = 300µs
     - Pulse Out Width = 1ms

NOTES:
- The 1st thing to do is to SET the Enable Capture bit. This will cause the CTRIO to start looking for the pulse on Input C.
- The 1st pulse is ignored (200µs*) because it doesn't meet the 300µs minimum configured.
- The 2nd pulse is captured (400µs**) because it meets the 300µs minimum configured.
- The 3rd pulse is ignored (400µs***) because though it meets the 300µs minimum configured, it occurs during a capture.
- The Capture Start Bit comes ON as soon as an edge is detected and goes OFF if the pulse does not meet the 300µs minimum. However, it stays ON through the duration of a catch.
- The Output Pulse Bit comes ON as soon as the minimum 300µs minimum is met and stays ON for the Pulse Out Width of 1ms as configured.
- The CTRIO Output, if configured for this, will perfectly track the Output Pulse Bit.

Thus, the 2nd pulse is the one that is captured above, and reflected in the 1ms output. In a more practical application, the pulse width would probably be in the <25ms range (as above), but the Pulse Out Width would probably be much longer (e.g. >25ms) so that the PLC would be insured of "seeing" it. 


FAQ0020
06-Feb-2008
Q: Is it possible to reset the Preset Table's pointer back to the 1st entry in the Table without resetting the Count or disabling the Output?
A: Yes. The "'round-about" way of doing this is to simply reload the exact same unchanged Preset Table (0x10 Load Preset Table).


FAQ0021
18-Mar-2003
Q: Will the CTRIO retain the current count upon power loss? (i.e. Does it have retentive count capability?)
A: The CTRIO itself does not have this capability, however, there is a way to accomplish this if you have CTRIO v2.0 or later by utilizing the new CTRIO System Commands and the retentive V-memory of the host PLC. (Sorry, there is no way to do this if you are using CTRIO v1.0)  :(    However, if you have CTRIO v2.0, you can use the System Commands to read and write to individual registers of the CTRIO from the PLC program; including writing to the current count. Thus, you can add code to the PLC program that will store the current count into retentive PLC V-memory every scan during normal operation. Then if power is lost, the current count will be retained in the PLC's retentive V-memory. Then, when power is restored, on the first PLC scan, this V-memory location can be written back directly to the current count of the CTRIO. Thus a "simulated" retentive action is accomplished.

To see how this is accomplished, you can download the CTRIO v2.0 examples from this website. Click: http://www.hosteng.com/HW-Products/CTRIO/CTRIO.htm#Documentation. Or if that doesn't work:

  1. Go to http://www.hosteng.com
  2. Click Please Continue>>.
  3. In the left column click Hardware.
  4. Under that click CTRIO.
  5. You can either click on Documentation at the top of the page, or scroll down until you see Documentation.
  6. Click on CTRIO_DL205_Examples and download.
  7. Unzip the folder into your projects folder.

Now you can open the project "Retentive Current Count" from DirectSoft and study the code to see how this is accomplished. Documentation for the new System Commands is also in the CTRIO v2.0 Manual.


FAQ0022
18-Mar-2003
Q: Trying to control a stepper motor drive, but sometimes it moves in the wrong direction (e.g. staring up; homing).
A: Make sure that your stepper motor and stepper motor drive don't have a minimum frequency. If they do, then make sure, of course, that the CTRIO output frequencies are configured to put out at least that minimum frequency requirement or else you can get erratic performance (i.e. reversing direction) from your motor.


FAQ0023
13-Aug-2002
Q: What is the resolution of the Edge Timer?
A: The maximum resolution is one microsecond (1µs).


FAQ0024
03-Apr-2003
Q: The CTRIO stays in the booter (OK and ERR LEDs are blinking) after attempting to upgrade its firmware; or gets "OS loader failure" error.
A: This is normally a bandwidth problem (i.e. the firmware telegrams aren't getting there in an efficient fashion. Here are some things that will cause this:

  1. If firmware upgrade is attempted while the PLC/WinPLC is in the RUN mode.
  2. If firmware upgrade is attempted while the EBC is talking to an ERM.
  3. If firmware upgrade is attempted while you are online with DirectSoft and Status is turned on.
  4. If firmware upgrade is attempted through an ECOM that is being used by an EZ Ethernet adapter.

So, before attempting to upgrade, make sure that none of the above is true (e.g. PLC is in PGM mode; ERM (not EBC) is unplugged from network to free up the EBC; DirectSoft isn't connected at all; etc.). If your CTRIO is in the booter mode already (OK and ERR LEDs are blinking), just rerun the firmware upgrade with the above precautions.


FAQ0025
06-Oct-2008
Q: When attempting to use the Import function for Freeform Pulse Profile, get "Error on line 1: ..." no matter what I do.
A: This is a bug exclusive to CTRIO Workbench v2.1.11 (all earlier versions work). This can be fixed by upgrading to:

CTRIO Workbench v2.1.12 (or later)

To download the latest CTRIO Workbench:
(1)  Goto www.hosteng.com.
(2)  In left column, click Hardware --> CTRIO.
(3)  Scroll down to CTRIO Workbench v2.1.12 (or later) link.


FAQ0026 (deleted)


FAQ0027
29-Aug-2002
Q: Is it possible to write a value to the current count in the CTRIO?
A: Yes, using System Command 0x02 Write all registers, and System Command 0x04 Write one register (see manual for details).


FAQ0028
03-Sep-2002
Q: It appears that the CTRIO sometimes misses the Z-pulse from my encoder.
A: If this appears to happen (usually at higher frequencies) then you should upgrade the CTRIO to at least v2.0. There was a small window of time in the older CTRIO (v1.0) where it was possible for this to occur. The CTRIO firmware v2.0.1 fixes this.


FAQ0029
09-Sep-2002
Q: With a 100KHz pulse input, how many counters can the CTRIO support?
A: The H2-CTRIO and H4-CTRIO can have 2 quadrature or 4 regular counters configured. The H0-CTRIO can have 1 quadrature and 2 regular counters configured.


FAQ0030
25-Sep-2003
Q: Using Process Commands, the Command Complete bit never gets set. Everything in Monitor I/O works, however.
A: Consider:

  • You could have a bug in your PLC program causing this. Therefore, try putting an END at the top of your program and then manipulating the CTRIO bits and words manually in a Data View. If manual control works, you have a bug in your PLC program.
  • There was a bug in the H2-CTRIO firmware in versions less than (<) v2.1.6 where if you were using 4-range I/O mapping in the CTRIO that the Command Complete bit would never come on. Therefore if you have versions earlier than v2.1.6, then upgrade.

FAQ0031
30-Sep-2003
Q: I need to read both the speed/velocity of my encoder input as well as the position (raw count). Is this possible?
A: Both the Scaled Units and the Raw Value are output from the CTRIO to the PLC in the I/O Mapping.


FAQ0032
30-Sep-2003
Q: I need to control a CTRIO output based on both a speed/velocity input reading from my encoder as well as the position (raw count). Is this possible?
A: Even though Scaled Units and Raw Value are output from the CTRIO to the PLC in the I/O Mapping, you cannot configure a single CTRIO output to respond based on both the speed/velocity (Scaled Units) value and the position (Raw Value). You could, however, hook the encoder to 2 channels of the CTRIO and use 2 outputs; 1 to respond to the speed/velocity (Scaled Units) value and the other to respond to the position (Raw Value).


FAQ0033
30-Sep-2003
Q: Will the H2-CTRIO work with the F2-DEVNETS-1?
A: No, the H2-CTRIO will not work with the F2-DEVNETS-1 (nor the earlier F2-DEVNETS) nor are there any plans to make these work together. However the T1K-DEVNETS is currently (2nd Quarter 2004) being worked on to work with the T1H-CTRIO.


FAQ0034 (see also ERM FAQ0019; EBC FAQ0029)
30-Sep-2003
Q: Will the CTRIO work in the local expansion bases of DL205 or DL405 line?
A: No. Do not install the H4-CTRIO nor the H2-CTRIO in local expansion. It will however work in the ERM/EBC configuration. So you can expand the I/O using the ERM/EBC instead.


FAQ0035
26-Sep-2002
Q: How many quadrature encoders can I connect to a CTRIO?
A: The H2-CTRIO and H4-CTRIO can support 2 quadrature encoders each. The H0-CTRIO can support only 1.


FAQ0036
26-Sep-2002
Q: Using Temposonic quadrature absolute encoder, and occasionally the count in the CTRIO module jumps by 65,536 counts.
A: The Temposonic quadrature encoders actually artificially generate pulse trains based on the absolute position of their magnets. The faster versions are of high enough resolution that when they are at rest the electronic pulse generator inside is actually jittering. This causes direction changes for the CTRIO that are much too fast for it to handle (i.e. out of spec for the speed of the inputs); in fact, the direction changes are taking place faster than a real encoder with real mechanical motion could possibly generate. Thus it is not recommended that these style of encoders be used with the CTRIO unless you make sure that the resolution is large enough (i.e. not as sensitive) so as not to artificially generate these direction changes too quickly.


FAQ0037
30-Sep-2002
Q: How is the Rate calculation performed by the CTRIO.
A: Basically, the formula is:

Or simplified as:

Where:

R = Result
M = Multiplier
U = Units in seconds
P = Pulse interval in seconds
C = Counts per unit
S = Scale offset

So as an example if in your CTRIO configuration you had selected:

  • Output Format = Integer x100 (2 implied decimal places); then M = 100.
  • Counts / unit = 1000; then C = 1000
  • Scale Offset = 5; then S = 5
  • Unit Time Base = minutes; then U = 60

With this configuration, let's say the CTRIO measures one pulse interval on its input of 60 milliseconds; then P = 0.06. Therefore:

If in doubt, always use CTRIO Workbench's "Interval Scaling Calculator" while doing the configuration. This will help you understand what is going on with the settings you are picking.


FAQ0038
10-Jul-2002
Q: Using Data Smoothing for a Rate calculation in H2-CTRIO, the initial value is way off, but after several samples it starts working correctly.
A: This was a bug in the CTRIO firmware. This behavior is corrected in v2.0.1 firmware.


FAQ0039 (see also EBC FAQ0038; PBC FAQ0006)
27-Aug-2002
Q: In order to use the newer T1H-CTRIO or H4-CTRIO, what are the requirements as far as configuration software, hardware and firmware?
A: Here are the requirements:

  • CTRIO Workbench needs to be at least v2.1.2.
  • T1H-CTRIO firmware needs to be at least v2.1.2.
  • H4-CTRIO firmware needs to be at least v2.1.2.
  • If using T1H-CTRIO in T1H-EBC the T1H-EBC hardware needs to be at least "2I" and firmware v1.0.444.
  • If using T1H-CTRIO in T1H-PBC the T1H-PBC hardware needs to be at least "2D" and firmware v1.1.10.
  • If using H4-CTRIO in H4-EBC the H4-EBC hardware needs to be at least "4F" and firmware v2.1.328.
  • If using H4-CTRIO in D4-450 the D4-450 needs to be at least T1.985.

FAQ0040
08-Oct-2002
Q: When my CTRIO outputs are tied to Preset Tables, I cannot disable them. Why?
A: CTRIO outputs have two names:

  • Raw Outputs - These outputs are turned ON and OFF with the Output Enable bit.
  • Discrete Outputs - These outputs are tied to a Preset Table function and the Output Enable bit has no effect on them. Instead they are exclusively controlled by the Preset Table itself. This is by design for the purpose that once you configure the Discrete Output to a Preset Table there will be no PLC Ladders necessary for it to function. It is considered in an "Automatic" mode. If, however, you send a command to this channel, then it will go into a "Manual" mode and from that point on, it will have to be controlled by Ladders using the Enable Output bit.

FAQ0041
08-Oct-2002
Q: What is the minimum firmware version of the DL250-1 necessary to work with the H2-CTRIO?
A: All DL250-1 PLCs work with the H2-CTRIO. However, if you have the older DL250, then it must have firmware v1.56 or later.


FAQ0042
08-Oct-2002
Q: When CTRIO is powered up, the ERR light comes on.
A: This ERR light indicates a serious and fatal error in the CTRIO has occurred. Check:

  • Make sure the CTRIO is plugged in securely to the base.
  • The base could be bad. Swap out with another one to make sure.
  • The CTRIO itself could be bad.

FAQ0043 (see also EBC FAQ0043; PBC FAQ0008)
11-Oct-2002
Q: How many T1H-CTRIOs can be installed in one base?
A: For T1H-EBC, 13. For T1H-PBC, 2. The limit is data budget.


FAQ0044
22-Oct-2002
Q: Using a Preset Table I cannot get RESET COUNT at 1250 and RESET COUNT at -1250 to work.
A: This problem actually stems from a misunderstanding as to how the CTRIO's Preset Tables function. Your table:

RESET COUNT at 1250
RESET COUNT at -1250

When the CTRIO sees a RESET COUNT instruction it zero's the count as expected, but it also resets the pointer back to the beginning of the table; which means that once the count is reset after reaching the value of 1250, it is goes back and starts looking for 1250 to happen again.

The function you are trying to get to work is more properly called a programmable limit switch (PLS). We are considering adding this function to the CTRIO in the future.


FAQ0045 (deleted)


FAQ0046 (see also EBC FAQ0047; ECOM FAQ0036; EDRV FAQ0009; ERM FAQ0030; EZ Ethernet FAQ0018; PBC FAQ0009; PSCM FAQ0001; WinPLC FAQ0018; NetEdit FAQ0014)
07-Nov-2002
Q: What software tool do I use to upgrade/downgrade my Host Engineering hardware?
A: Refer to the following:

Host Hardware Part Number Firmware/Booter Upgrade Tool
CTRIO H0-CTRIO
H2-CTRIO
H4-CTRIO
CTRIO Workbench
EBC
EBC100
H2-EBC
H4-EBC
T1H-EBC
NetEdit3
T1H-EBC100 NetEdit3 (v3.4 or higher)
H2-EBC100 NetEdit3 (v3.5 or higher)
ECOM
ECOM100
H0-ECOM
H2-ECOM
H4-ECOM
NetEdit3
H0-ECOM100
H2-ECOM100
H4-ECOM100
NetEdit3 (v3.5 or higher)
EDRV EDRV NetEdit3
ERM H2-ERM
H4-ERM
NetEdit3 or ERM Workbench
EZ Ethernet EZ Ethernet
EZ EtherPLUS
EZ Touch
PBC H2-PBC NetEdit3
PSCM H0-PSCM
H2-PSCM
WinPLC WinPLC WinPLC Workbench

NOTE: All the firmware for the above products can be downloaded using NetEdit3's File --> Live Update... The firmware files are stored in c:\HAPTools\Images folder.


FAQ0047 (deleted)


FAQ0048
15-Feb-2008
Q: How do I change direction on the Pulse Outputs (i.e. direction of the motor)?
A: Direction is changed depending on the Pulse Profile you have loaded to control the Pulse Output.

COMMAND CODE TABLE DIRECTION CHANGE EXAMPLE
MAPPING (1)
0x10 - Load Table Trapezoid Direction bit C204
S-Curve Direction bit C204
Symmetrical S-Curve Direction bit C204
Dynamic Positioning Parameter3 & Current Position (2) V2020-V2021
(decimal)
Dynamic Velocity Sign of Parameter3 (3) V2020-V2021
(signed decimal)
Home Search Direction bit C204
Free Form Direction bit C204
0x20 - Velocity Mode (4) Direction bit C204
0x21 - Run to Limit Mode (4) Direction bit C204
0x22 - Run to Position Mode (4) Direction bit C204

NOTES:
   (1)
- The example mapping is based on PLC - Mapped Addresses (4 ranges) with:
             Starting V address for word inputs:   V2000-V2017
             Starting V address for bit inputs:  V40600.0-V40605.15 (C0-C137)
             Starting V address for word outputs:  V2020
             Starting V address for bit outputs: V40606.0-V40613.15 (C140-C277)
   (2) - The CTRIO determines the direction by taking the difference between Parameter3 minus Current Position. If the result is positive, the Pulse Outputs will go one way; if negative, the other.
   (3) - Parameter3 is a signed decimal double-word. If it is negative, Pulse Outputs will go in one direction; if positive, the other.
   (4) - No tables are associated with these direct commands.

For NOTE (3) above, to load a negative value (32-bit 2's compliment; decimal) into Parameter3 (e.g. V2020-V2021) starting with a BCD number in V3000-V3001 you would do the following logic; if, however, the value in V3000-3001 is already in binary format then you would, of course, leave out the BIN box:


FAQ0049
01-Nov-2002
Q: Can the H2-CTRIO interrupt the PLC when it reaches a certain count like the CTRINT module?
A: No. The H2-CTRIO does not have the ability to interrupt the CPU like the CTRINT. The reason is the DL205 backplane does not have an interrupt line for each slot. The slot adjacent to the CPU (Slot 0) has 4 of its address lines converted to interrupt lines that are only useable by the CTRINT.


FAQ0050
02-Dec-2002
Q: Is the CTRIO configuration stored in battery-backed-up RAM?
A: No. The configuration for the CTRIO is stored in NVRAM (Non-volatile RAM) and therefore will not be lost on power failure or battery failure.


FAQ0051 (see also DirectSOFT FAQ0163; ERM FAQ0032)
10-Dec-2002
Q: Will DirectSOFT work on Win95 32-bit OS?
A: We have seen this work on a few and not work on others. If it doesn't work we do not know of anything that can be done to make it work. However CTRIO Workbench and ERM Workbench will not even install if the InstallShield engine (used to install DirectSOFT) recognizes that the PC is Win95.


FAQ0052
19-Dec-2002
Q: Is there a minimum load required for the CTRIO outputs?
A: No. The CTRIO output is a FET (Field Effect Transistor) which is normally 50m Ω(ohms). Leakage for this device is typically at 150μ amps at temperature extremes. Thus if the load is so small as to require only 150μ amps, then it could inadvertently turn on.


FAQ0053
10-Feb-2003
Q:  Installed CTRIO Workbench v2.0 but no options to launch it show up in DSLaunch.
A: By installing CTRIO Workbench v2.0, changes are made to the DS400.INI file. However because you are using an older version of DirectSOFT these menu items cannot be displayed in DSLaunch. In order for these launch items to show up on the DSLaunch menu, CTRIO Workbench v2.0 requires at least DirectSOFT v4.0 Build 18.


FAQ0054
25-Feb-2003
Q:  Need to know more about how to configure and control the CTRIO from the PLC program.
A: Try reviewing the flowcharts in our document (see CTRIO Flow Charts.PDF), this answers most questions.


FAQ0055 (see also EBC FAQ0049)
10-Mar-2003
Q:  Are there any slot restrictions for the CTRIO if installed in an EBC?
A: The following restrictions apply:

  • If using H2-EBC with a hardware revision less than 9A, you can install H2-CTRIO in all slots except Slot 0 (the one adjacent to the EBC itself).
  • If using H2-EBC with a hardware revision of 9A or greater, there are no slot restrictions.
  • If using H4-EBC there are no slot restrictions.
  • If using T1H-EBC there are no slot restrictions.

FAQ0056
13-Mar-2003
Q:  While testing Run-to-Position function using Monitor I/O; it seems it doesn't function properly when I enter certain values for the next position.
A: This was a bug in CTRIO Workbench v2.0. The problem was that in Monitor I/O the position value in the CTRIO was internally using an Integer instead of a Floating Point value. To fix, upgrade to CTRIO Workbench v2.1.


FAQ0057
20-Jul-2004
Q:  In the Automation Direct catalog (pg. 4-68) it is stated that the CTRIO under certain conditions can output a pulse of up to 50 KHz; but Monitor I/O will not allow me to input a frequency higher than 25 KHz.
A: This was an original intention of the CTRIO, but it did not end up that way. The catalog is incorrect as the CTRIO stands now. The upper limit of the Pulse Output is indeed 25 KHz like Monitor I/O limits you to.


FAQ0058
06-Oct-2004
Q:  Will a TTL encoder work with the CTRIO?
A: Not directly; you will have to build a circuit to step up the voltage into the CTRIO's specified range. (The schematic can be downloaded here.) Or you can order these boards from Host Engineering, Inc, P/N = CTRIO-TTLANNEX. Contact support@hosteng.com. This board can also be used as a buffer between some low-voltage switches (e.g. Sauer-Danfoss KPPG16408 hall-effect switch) and the CTRIO to allow them to work.


FAQ0059
09-Nov-2004
Q: What is the maximum length between edges that the CTRIO's Edge Timer can measure?
A: The CTRIO's Edge Timer can measure a maximum of 268,435,455µs between edges. (i.e. 268.4 seconds or about 4 ½ minutes).


FAQ0060
18-Nov-2004
Q: How can I wire an open-collector quadrature encoder to the CTRIO?
A: You can use the following diagram for the H2-CTRIO for all CTRIOs. Just pay attention to the signal names on the CTRIO connector:


FAQ0061
06-Aug-2004
Q: What causes the Output Stalled error bit to come on?
A: This bit means the Pulse Output train was interrupted because the CTRIO was too busy doing other things. Some things to try:

  • Eliminate or reduce the use of the Edge Timing function.
  • Eliminate or reduce the use of Rate Scaling.
  • Reduce the frequency of the Pulse Output(s).
  • Eliminate or reduce the use of other Pulse Outputting.
  • Add a second CTRIO and divide these tasks among them.

FAQ0062 (see also EBC FAQ0054; NetEdit FAQ0015)
02-Feb-2005
Q: Using an EBC100 and Modbus TCP protocol, how can I figure out where the CTRIO parameters are mapped into the Modbus addresses?
A: The easiest way to do this is to use NetEdit3 and CTRIO Workbench in combination. Follow these steps:

  1. Using NetEdit3 (at least v3.4) to view the network that the EBC100 is connected to.
  2. Right-click on the EBC100 and pick "Show Base Contents..."
  3. Scroll down until you see your CTRIO I/O listed. It will look something like this:

    Base 0 : Slot 8 - Module Type 38 - T1H-CTRIO
                   96 - Bit inputs                     (Modbus 584/984 - Inputs 10025-10120)
                   96 - Bit outputs                   (Modbus 584/984 - Coils 25-120)
                   12 - Word outputs              (Modbus 584/984 - Holding registers 40017-40028)
                    8 - Double word inputs       (Modbus 584/984 - Input registers 30049-30064)
                    4 - Double word outputs     (Modbus 584/984 - Holding registers 40029-40036)

Here you can see that NetEdit3 has provided the Modbus addressing for you. Next you need only to see how these work in the CTRIO.

  1. Using CTRIO Workbench (at least v2.1.9) connect to your CTRIO via the EBC100.
  2. Press the <I/O Map...> button. (This is assuming that you have already configured your CTRIO the way you want).
  3. Select "EBC - Mapped to MODBUS/TCP."
  4. For "Starting input reg for word inputs:" enter the "Input register" number that you saw in NetEdit3 (e.g. 30049 in above example).
  5. For "Starting input for bit inputs:" enter the "Inputs" number that you saw in NetEdit3 (e.g. 10025 in above example).
  6. For "Starting holding reg for word outputs:" enter the smallest "Holding registers" address that you saw in NetEdit3 (e.g. 40017; not 40029 in above example).
  7. For "Starting coil for bit outputs:" enter the "Coils" number that you saw in NetEdit3 (e.g. 25 in above example).

After manually entering these numbers from NetEdit3 into CTRIO Workbench's I/O mapping screen you can now see all the parameters and their appropriate Modbus TCP addressing.


FAQ0063
15-Feb-2005
Q: Can I change the default folder for storing the CTRIO Workbench configuration files (.CWB)?
A: Yes. CTRIO Workbench uses the default projects folder as defined in the DS400.INI (or DS300.INI) file. When CTRIO Workbench starts up it looks for the DS300.INI file first and if it finds it, it will use the default projects folder as defined there. If it does not find the DS300.INI file, it will look for the DS400.INI file and use the default projects folder as defined there. If it cannot find the DS400.INI file then it will fault with: "Critical Error - ERROR 1004 - Invalid INI File" and will close when you press the <OK> button.

To change the default folder:

  1. Close CTRIO Workbench (if you have it open).
  2. From Windows desktop, Start --> Run...
  3. Type in "ds400.ini" or "ds300.ini" whichever one you have.


     
  4. Press <OK> button. This should open up a text editor (usually Notepad) showing the contents of this file.
  5. Find the heading [PATHS]. Under this heading you will see a "PATH" line, looks something like:
    PATH=C:\DirectSOFT4\Projects\
  6. Edit this path to point to one of your own choosing.
  7. Save the file and exit.
  8. Restart CTRIO Workbench.

Now when you use the <Write File> button the default folder will be the one you entered.


FAQ0064
16-Feb-2005
Q: Using the "BCD (rounded)" selection for Position Scaling; the Position Scaling Calculator depicts a different behavior than what the CTRIO actually does.
A: Yes, this is a bug in the Position Scaling Calculator in versions of CTRIO Workbench of v2.1.9 or less. The incorrect behavior is in the Position Scaling Calculator itself. The CTRIO is actually functioning correctly in that it rounds the scaled value up like you would think (and like the function's name says). However, the Position Scaling Calculator does not round up; instead it is truncating the fraction.


FAQ0065
08-Mar-2005
Q: How many Presets can be added to each Preset Table?
A: 255.


FAQ0066
08-Mar-2005
Q: How many Presets Tables can the CTRIO have?
A: 255.


FAQ0067
08-Mar-2005
Q: Can the duty cycle of the pulse output be changed if using Dynamic Velocity or Dynamic Positioning?
A: No. The duty cycle of the pulse output can, however, be changed using the System Commands "0x20 - Velocity Mode" and "0x22 - Run-to-Position Mode."


FAQ0068
21-Sep-2005
Q: Can the accel/decel rates of the Dynamic Velocity Pulse Profile be increased to greater than 50,000? (i.e. instantaneous)
A: No. The highest rate is 50,000. If instant change from one frequency to another is desired you will have to use the Free Form Pulse Profile. This Pulse Profile has no accel/decel parameters and so you can output a number of pulses at one frequency and then go instantly to a different number of pulses at a different frequency. Of course the downside is that you no longer have the "dynamic" feature of Dynamic Velocity Pulse Profile.


FAQ0069 (see also EBC FAQ0066)
26-Jul-2005
Q: When using H2-CTRIO in H2-EBC100, the Output Active bit for the CTRIO doesn't come on, however, it works in an H2-EBC.
A: This is a bug caused by the firmware of the H2-EBC100. The DWORD outputs were not getting written to the CTRIO properly. It is fixed in:

H2-EBC100 firmware v4.0.457 or higher.


FAQ0070
14-Nov-2005
Q: When using Data Smoothing, what do each of the notches mean from "min" to "max"?
A: From "min" to "max" each notch represents an increasing number of samples that are averaged together to get a smoothing affect. The exact number of samples that are averaged respectively from "min" to "max" positions are:

For Rate Data Smoothing (10 slider positions): 1, 2, 3, 5, 7, 10, 13, 17, 21, 25

For Interval Data Smoothing (12 slider positions): 1, 2, 3, 5, 7, 10, 13, 17, 21, 25, 30, 36


FAQ0071
10-Nov-2005
Q: When using Interval Rate Scaling, if Data Smoothing is adjusted to anything other than Minimum, zero (0) is given in the Scaled Value answer.
A: This is a bug in CTRIOs with firmware that was accidentally introduced in v2.0.1 and up. Firmware v1.x actually worked! However, we have fixed this problem in the latest CTRIO firmware (v2.1.15).


FAQ0072 (see also EBC FAQ0072; ERM FAQ0047; SDK FAQ0015)
09-Jan-2006
Q: In my H2-ERM/H2-EBC (or H2-EBC100) configuration, the H2-CTRIO word output (WO) and double-word output (DWO) mapping is different than where CTRIO Workbench indicates they should be.
A: This is caused by an I/O mapping problem in the H2-EBC and H2-EBC100 that is fixed in EBC firmware v2.1.441 and later. It has to do with the H2-CTRIO "I/O type." The H2-CTRIO is now reported as a Type 7 module instead of a Type 5 module. This new reclassification of the H2-CTRIO as a Type 7 allows the EBC to manage the order in which things get mapped.

The symptom shows up as a mapping discrepancy in the order in which the CTRIO puts the DWOs and the WOs VS where the ERM Workbench maps them in PLC memory.

For example, for comparison see the chart below:

H2-CTRIO Mapping Component H2-CTRIO mapping in H2-EBC (H2-EBC100) with firmware less than v2.1.441 H2-CTRIO Mapping in H2-EBC (H2-EBC100) with firmware v2.1.441 or later
96 Discrete Input (DI) X340-477 (V40416-40423) X340-447 (V40416-40423)
96 Discrete Output (DO) Y320-457 (V40515-40522) Y320-457 (V40515-40522)
12 Word Output (WO) V2100-2113 V2110-2123
8 Double Word Input (DWI) V2000-2017 V2000-2017
4 Double Word Output (DWO) V2114-2123 V2100-2107

NOTE: If you update the EBC firmware to fix this problem, make sure that you are at least using CTRIO Workbench v2.1.10 to configure the H2-CTRIO.


FAQ0073
03-Jan-2006
Q: Can the Reset Value as configured on the Config I/O page of CTRIO Workbench be changed on the fly from ladders?
A: No, not that one. Basically there are two Reset Values:

  1. Hardware Reset Value that is on the Config I/O page of CTIRO Workbench cannot be changed from ladders. This value is the one that will be written to the Current Count when a hardware reset is seen (i.e. Input C) as configured.
  2. Software Reset Value that is the result of using the Reset Bit. This particular Reset Value is a software-only Reset Value and is the value that is written to the Current Count when the Reset Bit is set by ladders. This value can be changed on the fly from ladders using System Function 0x05 "Write reset value."

FAQ0074
31-Jan-2006
Q: In the S-Curve (& Symmetrical S-Curve) Pulse Profiles, what do the Min Freq Change and Min Entry Time parameters do?
A: These parameter define the resolution of the S-Curve itself. First of all, the CTRIO is not designed to be a sophisticated motion control device. When you use CTRIO Workbench to configure an S-Curve Pulse Profile, Workbench calculates entries for a table that defines the curve. It is this table that is downloaded into the CTRIO itself. In other words, the CTRIO itself does not do complex math "on the fly" to come up with this curve; that would take too much valuable CTRIO scantime. Instead, the CTRIO is just blindly outputting values from this predefined table. With that understanding:

Min Freq Change: This is a percentage (between 1-10%) that changes the vertical frequency resolution of the output curve. In other word, it is the Y-axis of the graphical representation that you see in CTRIO Workbench. If you change this value and press the <Calculate Profile> button you will notice the vertical resolution of the graph changes. With 1% the CTRIO can use more frequencies and so it is smoother; at 10% the CTRIO will use less frequencies and so it become very course.

Min Entry Time: This is a time (between 1-255ms) that changes the horizontal time resolution of the output curve. In other words, it is the X-axis of the graphical representation that you see in CTRIO Workbench. If you change this value and press the <Calculate Profile> button you will notice the horizontal resolution of the graph changes. With 1ms the CTRIO can use smaller steps and so it is smoother; at 255ms the CTRIO will use less time increments and so it becomes very course.

Thus, with these 2 parameters you control the smoothness of the CTRIO output curve. If you make both parameters very small, the S-Curve will look very smooth, but you also create a bigger table and thus take up more configuration space in the CTRIO:

 If you make both parameters very large, the S-Curve will look very course, but you also create a smaller table and thus take up very little configuration space in the CTRIO.


FAQ0075
08-Feb-2006
Q: Will the CTRIO support differential encoder outputs?
A: No. The CTRIO inputs are single-ended in that the M connection is common to all 4 inputs (A, B, C, D). Tying 2 differential encoder outputs together is not a good idea so we'd be limited to 1 input at the most (e.g. A and M). Also because of the sink/source capabilities of the CTRIO inputs, a positive or a negative signal above 9V threshold would be treated as an ON. So even using a single differential signal greater than 9V each side of ground (M), the CTRIO would count both states as ON and therefore count at twice the expected rate. If distance and electrical noise are the reason for using the differential encoder, twisted pair wiring is usually good enough because the CTRIO inputs stay OFF at up to 2 mA and 2V.


FAQ0076
13-Feb-2006
Q: Using quadrature counter at 1X, how does the CTRIO increment counts after a reset? Does it synchronize to the rising edge of Input A?
A: After a reset, the CTRIO count defaults to the DOWN direction. Thus if the CTRIO is to count pulses in the UP direction after the reset, then, depending on the configuration, it may need as much as 4 edges to reestablish the UP direction. However, if the CTRIO is to count pulses in the DOWN direction, it will continue without having to reestablish a direction.

For the COUNTING-UP scenario, the rules are:

For 1X quadrature counting: After the reset CTRIO is in the DOWN direction. It takes 4 edges to reestablish the UP direction. On the 4th edge CTRIO will increment the count and then from this point onward it will increment the count on the rising edge of Input A

For 2X quadrature counting: After the reset CTRIO is in the DOWN direction. It takes 2 edges to reestablish the UP direction. On the 2nd edge CTRIO will increment the count and then from here it will increment the count when Input A and Input B are in opposite states or after 2 more edges (which ever comes first). Then from this point onward it will increment the count when Input A and Input B are in opposite states.

For 4X quadrature counting: After the reset CTRIO is in the DOWN direction. It only takes 1 edge to reestablish the UP direction. So CTRIO counts all edges all the time.

These COUNTING-UP rules are displayed in the following tables:

Count gets Reset while Input A = 0 and Input B = 0:

Input A Input B Count (1X) Count (2X) Count (4X)
1 0 0 0 1
1 1 0 1 2
0 1 0 1 3
0 0 1 2 4
1 0 2 3 5
1 1 2 3 6
0 1 2 4 7
0 0 2 4 8
1 0 3 5 9

Count gets Reset while Input A = 1 and Input B = 0:

Input A Input B Count (1X) Count (2X) Count (4X)
1 1 0 0 1
0 1 0 1 2
0 0 0 1 3
1 0 1 2 4
1 1 1 2 5
0 1 1 3 6
0 0 1 3 7
1 0 2 4 8
1 1 2 4 9

Count gets Reset while Input A = 1 and Input B = 1:

Input A Input B Count (1X) Count (2X) Count (4X)
0 1 0 0 1
0 0 0 1 2
1 0 0 1 3
1 1 1 2 4
0 1 1 3 5
0 0 1 3 6
1 0 2 4 7
1 1 2 4 8
0 1 2 5 9

Count gets Reset while Input A = 0 and Input B = 1:

Input A Input B Count (1X) Count (2X) Count (4X)
0 0 0 0 1
1 0 0 1 2
1 1 0 1 3
0 1 1 2 4
0 0 1 2 5
1 0 2 3 6
1 1 2 3 7
0 1 2 4 8
0 0 2 4 9

For the COUNTING-DOWN scenario, the rules are:

For 1X quadrature counting: After the reset CTRIO is in the DOWN direction therefore it will continue to count down on the falling edge of Input A.

For 2X quadrature counting: After the reset CTRIO is in the DOWN direction therefore it will continue to count down when Input A and Input B are in the same state.

For 4X quadrature counting: After the reset CTRIO is in the DOWN direction therefore it will continue to count down on all edges all the time.

These COUNTING-DOWN rules are displayed in the following tables:

Count gets Reset while Input A = 0 and Input B = 0:

Input A Input B Count (1X) Count (2X) Count (4X)
0 1 0 0 -1
1 1 0 -1 -2
1 0 0 -1 -3
0 0 -1 -2 -4
0 1 -1 -2 -5
1 1 -1 -3 -6
1 0 -1 -3 -7
0 0 -2 -4 -8
0 1 -2 -4 -9

Count gets Reset while Input A = 0 and Input B = 1:

Input A Input B Count (1X) Count (2X) Count (4X)
1 1 0 -1 -1
1 0 0 -1 -2
0 0 -1 -2 -3
0 1 -1 -2 -4
1 1 -1 -3 -5
1 0 -1 -3 -6
0 0 -2 -4 -7
0 1 -2 -4 -8
1 1 -2 -5 -9

Count gets Reset while Input A = 1 and Input B = 1:

Input A Input B Count (1X) Count (2X) Count (4X)
1 0 0 0 -1
0 0 -1 -1 -2
0 1 -1 -1 -3
1 1 -1 -2 -4
1 0 -1 -2 -5
0 0 -2 -3 -6
0 1 -2 -3 -7
1 1 -2 -4 -8
1 0 -2 -4 -9

Count gets Reset while Input A = 1 and Input B = 0:

Input A Input B Count (1X) Count (2X) Count (4X)
0 0 -1 -1 -1
0 1 -1 -1 -2
1 1 -1 -2 -3
1 0 -1 -2 -4
0 0 -2 -3 -5
0 1 -2 -3 -6
1 1 -2 -4 -7
1 0 -2 -4 -8
0 0 -3 -5 -9

FAQ0077
13-Feb-2006
Q: Does the Scan Time of the CTRIO (as indicated in CTRIO Workbench) affect the response time of the Pulse Output to Presets in the Preset Tables?
A: Yes. There are 3 levels of processing in the CTRIO; (1) hardware dependant; (2) interrupt dependant and (3) scan time dependant. In the case of Presets in the Preset Tables that change the state of the Pulse Outputs, this is handled in the (3) scan time dependant processing. Thus, the maximum time from reaching a Preset count to a change in the Pulse Output as configured in a Preset Table is the Scan Time of the CTRIO. For this to be any different the CTRIO would have to have much faster hardware, which would be more expensive. Thus for an example:

Count coming into the CTRIO rising-edge counter at a rate of 25 KHz and we have a Preset Table with an entry of SET at 12 and a CTRIO Scan Time of 600 µs.
     -  At 25 KHz, that is a rising edge every 1 / 25000 = 0.00004 seconds (or 40 µs)
     -  The count of 12 will take 12 x 40 µs = 480 µs
     -  If this event occurred immediately after the CTRIO had already updated its Pulse Outputs, then it could be about 600 µs before the Pulse Output was updated. Thus an event that should've happened in 480 µs ended up taking 480 + 600 = 1.08 ms. This would tend to give you a similar response for all Preset Values that are faster than the Scan Time of the CTRIO.


FAQ0078
13-Feb-2006
Q: Does the CTRIO have a "follower" mode (i.e. produce a Pulse Output at the same velocity as an encoder input)?
A: No, there is no intrinsic follower mode for the CTRIO. The only way to make the CTRIO Pulse Output follow the Rate of a CTRIO counter input is:

  1. Configure a CTRIO output as a Pulse Output.
  2. Configure a Dynamic Velocity Pulse Profile.
  3. Configure a CTRIO Input Channel as a counter and use the Scaling Wizard to make it yield a Rate.
  4. In the PLC program, load the Dynamic Velocity Pulse Profile Table.
  5. In the PLC program load the V-memory for the CTRIO "Scaled Units" and output that to the V-memory for the CTRIO "Parameter 3" (Velocity).

This should work well in most applications simply because the delay between a change of Rate on the CTRIO Input to the change of Velocity on the CTRIO Pulse Output will, at the most, be about 2 PLC scantimes (i.e. in the millisecond range).


FAQ0079
27-Feb-2007
Q: What is the difference between Edge-Triggering and Level-Triggering?
A: Here are the differences:

EDGE TRIGGERING: The inputs are sampled by the CTRIO hardware every 16 MHz clock cycle. If the edge exceeds 2V and 2mA, then an edge is reported to the CTRIO firmware as a trigger interrupt. Thus the CTRIO hardware is totally in control of the triggering.

LEVEL TRIGGERING: The inputs are sampled by the CTRIO hardware every 16 MHz clock cycle. If the edge exceeds 2V and 2mA, then a change of state is reported to the CTRIO firmware. As the CTRIO firmware scans and notices there has been a change of state from 0 to 1 of one of its inputs, then it "knows" there was a trigger. Thus the triggering is based not on just an edge detection by the hardware, but also is somewhat delayed by the scantime of the CTRIO.

Therefore, if edge triggering is falsely being triggered by an excessively noisy signal, oftentimes changing to level triggering will filter these false triggers out. However, nothing is a good substitute for a clean signal on the inputs in the first place.


FAQ0080
09-Mar-2007
Q: Can the configuration of the CTRIO be printed out using CTRIO Workbench?
A: No, but the configuration can be saved in a .CWB file. The only thing that can be printed out is the I/O map.