Battery-Backed-Ram

While traditional PLCs work by cyclically scanning the entire ladder logic routine and processing a lot of information that is irrelevant to the immediate task, CTC controllers execute only portions of a program at any given time. Only the active "step" in each task is executed at any given time, resulting in less CPU overhead and superior performance. CTC has found that its controllers run faster than most others because of this fundamental difference in program architecture. While actual performance metrics depend on the controller model, number of concurrent tasks, and other variables, a CTC controller can execute a ten-task application in less than 8 msec.

Go to the document download page on our Web site, where you can download our "Quick Reference Register Guide."

2600XM controllers: 1 Amp
2700 controllers: 1.5 Amps

M1-20A: source 500 mA per output, 3 ADC per module
M1-20B: source +5V, 375mA per output, 3 ADC per module
M1-21A: sink 350mA per output, 1A per module
M1-22A: sink 500mA per output, 3A per module

5100 Controller: 3A per controller
5200 Controller: 9A per controller

All AC powered CTC controllers will run on 50Hz / 60Hz

CTC offers a utility called CTCutils to transfer an application program from a controller to Quickstep running on a PC.

The 2600XM/2700 Series can perform peer-to-peer communications from rack to rack offering a form of expansion. Refer to the model 2217 networking module for more information.

When a controller is powered up, one of the first things it does is create a resource map of the modules contained in its rack. It does this by interrogating each slot of the controller to see if it is populated with a module. If populated, the module’s Auto ID number along with its location is recorded. After all Auto ID numbers and locations have been recorded, a resource map is created. The resource map allows the Quickstep program to know exactly what it has for resources and how to address them.

The installation guide for every CTC module contains the revision of the product and the revisions of controller firmware support it.

From time to time CTC will release a new version of a controller’s operating system to support new products that plug into the rack or to make bug fixes. It may become necessary to upgrade your existing controller for one of these reasons. Firmware upgrades are free to all CTC customers. EPROM's can be mailed out for field upgrades.

Up to 16 axes of motion may operate with one CTC controller. In applications above 16 axes, divide these axes between multiple controllers.

• 2601 : 24K
• 2700 : 28K
• 2700AP: 64K
• MultiPro™ (all models) : 24K
• 5100: 64K

Note: Refer to the memory usage table for more information.

Two RS-232 communications ports, 490 volatile registers, and 4500 nonvolatile registers.

It is 8 - 14 times faster.

Existing software will work, but Quickstep 2.2 and CTCMon 2.7 are required for accessing the full range of 2703 features.

It is recommended that a controller be mounted on a vertical panel with enough room for air to flow through the rack area. (4 inches clearance top and bottom and 2 inches on either side for 2600XM's and 2700's; 2 inches top, bottom and sides for Multipro's) All CTC controllers are rated to 50 C. Some means of cooling is recommended in applications where high temperatures are generated near or below the controller.

You have a software fault in your QuickStep program. There are many reasons for a software fault to occur. Some of the most common are:

• Your program is trying to use a resource that doesn't exist in the controller, e.g. inputs, outputs, servos, analog, register, etc.
• Your program is attempting to turn or zero a motor that is either un-profiled or already in motion.
• Your program has recurred. You have called too many multitasks.

Use the monitor utility to view the program step status. At the bottom of the window you will see the fault -- the step in the program in which it occurred -- and a brief description of the fault. Use that information to try and solve the problem.

Every CTC controller has a built-in watchdog timer that monitors successful operation of the controller's microprocessor. In the event the microprocessor fails to perform properly, the watchdog timer resets the microprocessor, disables all digital outputs, and stops program operation. In most cases, you can still communicate to the controller via RS-232. Some of the most common reasons for a watchdog fault are:

• AC input power dips, causing the controller's +5VDC supply to fall below allowable operating range.
• There's an invalid program in the controller -- program integrity is verified each time the controller is powered.
• Severe electrical noise in the operating environment.
• The controller is unable to communicate with one of the modules in its rack (a remote possibility).

In extreme cases the controller may not come back into operation, even when power is cycled. Please check in with CTC Tech Support; the controller may have to be sent back to the factory for servicing.

Often when creating multiple machines, it is desirable to copy over the nonvolatile registers which may contain valuable operating parameters. These registers are often set through CTC Monitor and are not included in the QuickStep program, so they may be overlooked when building multiple machines. CTC Monitor contains register upload and download functions that can be used to move the registers from one controller to another. These register transfer options are found under the File menu in the main CTC Monitor window. The register upload prompts you to save the register data to a text file, and the download asks you which file you wish to download. In this way, multiple register files for different machines or configurations can be saved for future use.

A few tips to make the transfer go more smoothly:

• Increase the timeout value specified in the CTC Monitor communications settings to 1000 ms
• Verify the upload by viewing the saved register file by using the "Open register file" selection under CTC Monitor's File menu
• Remember to change the timeout back to the default 250 ms when you are finished!

13002

13014 - 13020. They are Seconds, Minutes, Hours, Days, Month, Year, and Day of the Week respectively.

Quickstep™ Related Questions

State language expresses a program as a series of steps. The steps are exactly equivalent to those that an automated machine goes through in its function. There's a one-to-one correspondence between what the machine will do on a step-by-step basis and the way the program is structured. There is almost no interpretation involved to get from concept to programming. In effect, a step is a very comprehensive description of the machine's performance and operation.

CTC addresses this need with a very powerful multi-tasking framework--actually an operating-system approach. Because we have developed purpose-built hardware and an operating system that runs on it, we were able to create a real-time operating system that supported multi-tasking with a state language interpreter. So we can run multiple state language tasks simultaneously--just as though you have 3, 4, 5, 6, or 20 controllers running your machine.

The latest version of Quickstep is available to licensed users by contacting CTC Technical Support. Visit the Download Center on our website for the latest versions of CTC Monitor, Easybuilder, and other CTC software.

Store the output number of the output that will be turned off to register 13009.

2600 controllers: 1024

MultiPro controllers: 1024

2700 controllers: 1280

255 data table columns may be allocated and used in the Quickstep configuration for 2600XM, 2700 series, and MultiPro controllers. Registers 131 and 132 must be used to get at data beyond column 32. Please see the Quick Reference Register Guide list for further details.

2600XM controller: 1 ms

2601 controller: 1 ms

MultiPro series controller: 1 ms

2700 controller: 0.45 ms

1. a volatile register?

-2,147,483,648 to +2,147,483,648 (a 32-bit signed integer)

2. a non-volatile register?

-2,147,483,648 to +2,147,483,648 (a 32-bit signed integer)

3. a data table location?

0 to 65,535 (a 16-bit unsigned integer)

1. Column Access: store the row number to register 126, the data table row pointer. Access the value using a Data Table Column defined in the Quickstep symbol table.



2. Store the data table row number to register 131, the column number to register 132, and access the value in register 9000

1. in a monitor statement?

Digital inputs, flags and servo status.

2. in an if statement?

Registers, analog inputs, thumbwheels, counters, dta table values, servo positions and servo errors. Additional resources can be used through register access to the resources.

3. in a delay statement?

Registers 1 to 125, thumbwheels, counters, analog inputs, and data table values. Additional registers and resources can be used by storing the resource value to a register from 1 to 125 and then using the register in a delay statement.

1. How fast are CTC input counters?

There are eight input-linkable counters -- each may be programmed to automatically monitor any three inputs to perform "count-up," "count-down," and "reset" functions. Each counter can count up to the following rates:

3 inputs being counted: 500 Hz

4 to 6 inputs being counted: 250 Hz

7 to 8 inputs being counted: 166 Hz

2. Can I trigger an output upon reaching a setpoint?

Yes, a software counter can be linked to the output of the same number so that the output is turned on whenever the counter reaches a setpoint. To enable this feature, store the setpoint to register 5801 for counter 1 output 1, for counter 2 and output 2, etc.

• For digital resources the MONITOR function is used to test the state of the variable.

Example: Monitor input_1_on goto next

• For analog resources the IF function is used to test the value of the variable.

Example: If reg_501 >= 12345 goto next

A very broad question whose answer is specific to the machine in question. Here we hope to provide some tools and guidance to help you solve your problems.

• Is the fault light on? If it is, is it flashing or steady?

1. If it is flashing, you have a software fault. Use the monitor utility to view the program step status. At the bottom of that window you will the fault, the step in the program in which it occurred, and a brief description of the fault. Use that information to try and solve the problem.

2. If the fault light is on steady, you have a hardware fault. Start diagnosing this problem with a visual inspection of the controller, making sure it is clear of foreign objects. Remove power from the controller, and then remove all the modules. Inspect for foreign objects on all the modules and the controller. Also, be sure all socketed chips are firmly seated. You can also try powering the controller with all the modules removed to see if the fault status changes. If so, try inserting one module at a time (with power off) to see if a particular module is causing the fault.

• If the fault light is off, check the status of the power supplies (logic and I/O) and check external power supplies, if any. If those are OK, use the monitor utility to look at the program status and check I/O and register status.

• If all else fails, contact CTC for support.

When multitasking, the controller will completely scan the instructions in the active step of one of the current tasks, then move onto the next task, scanning the instructions within its active step, and so on. Therefore...

• 2601 : 28
• 2600XM : 28
• 2700 : 56
• 2700AP: 84
• MultiPro™ (all models) : 28

Eight, but multiple "do" statements can be used to create more multitasks, up to the controller limits.

Any one task can be given higher priority by incorporating the following statement into the first step of that task:

Store 1000 to Reg_13011

Once you have completed writing your Quickstep application program, you compile the program, converting it to what is called object code. The object code is stored in a file with an extension of .dso, which is loaded into the controller. Simply select download from the project area of the Quickstep Editor.

• Add, Subtract, Multiply, Divide, Modulo
• AND, OR, EXOR, NOT AND, NOT OR, NOT EXOR
• <, >, =, =>, <=, <>
• ROR, ROL (Rotate Right, Rotate Left)

The "do" and "done" commands must exist by themselves in a step because of the nature of their operation.

"Cancel other tasks" causes ALL other tasks to stop running and cease to exist EXCEPT for the task that contained it. Control of the application

Absolutely!

In a Quickstep Program the "If" statement is used to test the value in a register. For example:

If reg_502 >= 12345 goto next

There are several errors that may occur when trying to download programs to the controller from Quickstep 2.1. The errors are always identified by a numeric code. Here are the most common errors and their solutions:

• 179 - Initialization error -- indicates that the serial port selected for the download is being used by another program. Frequently, the other program is CTC Monitor. Click on the "Suspend Monitoring" button in the main CTC Monitor window and retry the download.
  
  
• 185 - Wrong architecture -- indicates the .dso file was compiled for a different controller type than the controller to which it is being downloaded. Change the controller type in the Quickstep Parameters window, recompile the program, and retry the download.
  
  Error 185 will also be generated by Quickstep 2.1 SE (Special Edition for the 2601 controller ONLY) if it is used to attempt to download to any controller other than the 2601. The version of Quickstep can be identified from the About option under the Help menu in Quickstep Editor. The 2601 Special Edition will be identified on this screen.
  
  
• 206 - A bad response error -- this error may occur in either of the following circumstances:
  1. the selected serial port is connected to a device other than a CTC controller. Make sure the controller is connected to the selected serial port and retry the download.
  2. the controller is programmed to transmit messages over the serial port where the download is being attempted. To overcome problems with message transmitting, try a different serial port if possible. Also, try starting the download to the controller's on-board serial port within 5 seconds of powering up the controller.
     
     
• 236 - A timeout error -- the computer received no response. This is caused by the timeout value being too small, the controller being turned off, a faulty cable connection to the controller, the wrong serial port being selected, or the wrong communications settings being used. Double check all connections and communications settings and retry the download. If the download still fails, increase the timeout value in the Quickstep communications settings and then retry the download.
  
  

If you have repeated problems establishing communications with a controller, remember that all CTC controllers will force the on-board serial port to maintain default settings and disallow message transmitting for the first five seconds after powerup. Try starting your download or establishing communications within 5 seconds of powering up the controller using the default 9600 baud communications settings through the on-board serial port. This will eliminate any problems that may arise if message transmitting is being used or serial port parameters are changed on the controller.

I/O Related Questions:

2600XM and 2700-5 controllers: 160

2600XM-10 and 2700-10 controllers: 320

2700-16 controllers: 512

Any 2700 controller with a Model 2716D DeviceNet Master module: 2048

1. 2202: 24 outputs
2. 2221: 32 outputs

2001 - 29999 for individual inputs 1 to 999
11001 - 11032 for inputs 1 to 1024 in groups of 32
11101 - 11064 for inputs 1 to 1024 in groups of 16
11101 - 11128 for inputs 1 to 1024 in groups of 8

1001 - 1999 for individual outputs 1 through 999
10001 - 10032 for outputs 1 to 1024 in groups of 32
10101 - 10064 for outputs 1 to 1024 in groups of 16
10101 - 10128 for outputs 1 to 1024 in groups of 8

8001 - 8128 for analog inputs 1 to 128

8501 - 8628 for analog outputs 1 to 128

Using the white plug on the right side of the controller, an external 24 VDC supply can be brought into the controller. You can order the 2885 pigtail for external power supplies, or the 2895 connector kit if you wish to make your own cable.

The backplane can support up to 10 amps.

See the WWW, or your local industrial or electrical supplier.

• Digital I/O modules are optically isolated from the main processor but the power supply and return are directly connected to the main 24 VDC supply.
• Analog I/O modules have their own isolated power supplies and are optically isolated from the main processor.

There are 8 Input-linkable Counters -- each may be programmed to automatically monitor any three inputs to perform "count-up", "count-down" and "reset" functions. Internal count rate up to:

3 inputs being counted 500 Hz

4 to 6 inputs being counted 250 Hz

7 to 8 inputs being counted 166 Hz

A counter can be linked to the output of the same number so that the output is turned on whenever the counter reaches a setpoint. To enable this feature, store the setpoint to register 5801 for counter 1 and output 1, 5802 for counter 2 and output 2, etc.

[1] Step_1

;;;Sample code for using register 5803. Counter 3 is started. When counter 3 reaches 100, output 3 will turn on.

----------------------------------

<NO CHANGE IN DIGITAL OUTPUTS>

----------------------------------

start cntr_3 up (Input_1A) down (Input_2A) reset (Input_8B)

store 100 to reg_5803

goto next

Each 24VDC digital output can drive loads up to 0.5 amps.

• On sourcing digital outputs, power is provided to one side of the load when the output is turned on. The other side of the load is already connected to the return (common) on the power source.
• On sinking digital outputs, one side of the load has power applied to it at all times. The other side is tied to the output device. When the output is turned on, it completes the circuit by connecting the load to the power supply return (common).
• On sourcing digital inputs, power is supplied to the switch or other device at all times and the other side of the device is connected to the input. When the switch is closed, power is applied to the input causing a change in state.
• On sinking digital inputs, the input has power on it and is connected to one side of the switch or other devise. The other side of the switch is connected to the power supply return (common). When the switch is closed, the voltage level on the input is pulled down to common, changing the state of the input.
• All of Control Technology's 24 VDC digital I/O modules are of the sinking type, with one exception. The 2203 digital I/O module has a sourcing counterpart called the 2203SRC.

1. The 2208 accepts a quadrature encoder input and can accept pulse rates up to 1 MHz.
2. The 2208 U/D accepts an up/down counter input (counts up on channel A, down on channel B) and can also accept pulse rates up to 1 MHz. This module can also be used to count pulses of a digital input by using only Channel A on the module.

The Model 2220's thresholding feature enables you to quickly turn an output on or off based on the value of a specific analog input. This enables you to quickly and easily program a digital output and automatically maintain a digital feedback loop for a value represented by an analog input.

The thresholding feature is managed by the 2220's on-board processor. This threshold management allows very fast response of the digital output to changes of the analog input value, independent of any other operations occurring in the controller.

To threshold a digital output to an analog input, the output must use the digital output on the 2220 module that corresponds to the analog input being used. Then, the threshold values need to be stored to special purpose registers. The minimum threshold value, sometimes referred to as the "on" threshold, is stored in register 19001, 19002, and so on for analog input 1, analog input 2, and so on. The digital output will turn on whenever the input value is below the value stored in these registers. The maximum threshold value, or the "off" threshold, is stored in register 19501, 19502, etc. The digital output will turn off whenever the analog input value exceeds the value in this register.

When using the thresholding feature, the values in registers 19001 and 19501 should be separated enough so that noise on the analog input signal does not repeatedly pulse the output on and off by quickly passing through both threshold values on a continuous basis. For example, if your analog input has 10 millivolts of background noise, the maximum threshold value should be at least 10 millivolts greater than the minimum threshold value.

Additionally,the output can be manually turned off by storing a 0, or turned on by storing a 1, to register 18001, 18002, etc. for the first, second, etc. digital outputs that are on the Model 2220 modules. Keep in mind that if thresholding is active, it may cause the output to quickly revert back to its previous state.

You can disable either or both threshold values simply by storing a value less than -10,000,000 to the minimum threshold registers 19001, 19002, etc. or a value greater than +10,000,000 to the maximum threshold registers 19501, 19502, etc. This allows the thresholding feature to be used only to automatically turn off the output, while the output can be manually turned on by using the store commands to the 18001, 18002, etc.

More details about the thresholding feature may be found by referring to the Model 2220 Installation Guide or by contacting CTC Technical Support.

J type (2334J and 2335J ) and K type.

No, when you read the thermocouple inputs you get the actual temperature already compensated by the Cold Junction in degrees F, C or K, (which ever “units of measure” you selected via the Ain conv. type registers and Ain units registers). See the Model 5200 Analog Modules Application Guide for information on register settings.

Motion Related Questions

2600XM and 2700-5 controllers: 10

2600XM-10, 2700-10, and 2700-16 controllers: 16

1. PID - Used with servo amplifiers/drives operating in torque or current mode.
2. PAV - Used with servo amplifiers/drives operating in velocity mode.
3. Direct - Used to directly specify the command voltage with no feedback loop.

The filter selection can be made in Registers 17001, 17011, etc. for axis 1, axis 2, etc. See the Quick Reference Register Guide or the 2219 Installation Guide for more details.

Note that the servo is by default uninitialized at startup. Thereafter, the following events will cause a 2219 module to become uninitialized:

• The servo experiences following error exceeding +/- 32768 steps.
• The kill input for the servo axis becomes active.

In either case a complete profile instruction must be executed to re-initialize the axis.

Store the value -2,147,483,648 (the most negative number that can be represented with a 32 bit number) to the registration window (Register 16001 for axis 1, 16011 for axis 2, etc.) to allow registration to occur at any servo position. Then store 0 to the Registration Status (Register 16004 for axis 1, 16014 for axis 2, etc.) to enable registration.

P: 1 to 255
I and D: 0 to 255

Both: 0 - 32767

	Axis 1	Axis 2	Axis 3	Axis 4
Start	15160	15170	15180	15190
Reset	15161	15171	15181	15191
Home	15162	15172	15182	15192
Forward Limit	15163	15173	15183	15193
Reverse Limit	15164	15174	15184	15194

Only the first 16 inputs in the controller can be used as limit switch inputs. See the Module SS installation and application guides for more information on using limit switch inputs with the model 5x00 controller.

Registration 1: Input 999
Registration 2: Input 1000

M1-40: 6,000,000 counts/second
TT: 1,000,000 steps/second

Communications Questions:

A single DeviceNet network can contain 64 nodes, allowing 64 devices to be placed on a single network. This would allow a CTC 2700 controller with a 2716D DeviceNet communications module to control 63 other devices over a DeviceNet network.

32,767 nodes.

• 2601 : 2
• 2600XM : up to 13
• 2700 : up to 13
• MultiPro: 2
• 5100: 2

300, 600, 1200, 2400, 9600, 19200, and 38400

Store the number for the Baud Rate to Register 12301(store a 5 to set baud to 9600, 6 for 19,200, and 7 for 38,400 baud).

Store the Communications Port number to Register 12000.

Store a 0 to Register 12304 to disable the response, and a 1 to re-enable it.

Store the number of the data table row that contains the ASCII message to Register 12001.

There are 16- and 32-bit .dll files available from the Download Center on CTC's Web site. These files contain functions that may be called from Visual Basic and C++ applications allowing the programmer to pass information between the PC and the controller.

Sending a message from the data table out the Comm port to a display or other ASCII device is done by storing the data table row number, for that message, to register 12001. To show that the Comm port is busy, register 12000 will show a value of 1 while the message is being transmitted. Once the message is done transmitting, the value in register 12000 will return to a 0.

Yes, through ASCII command sets specific to the device in question, you can communicate to other devices.

Yes. If you require modem connections, please contact Tech Support.

CTC offers adapters for connection to a 25-pin D-shell (2880A) or a 9-pin D-shell (2880B) connector. Should you wish to make your own connectors, see the illustrations below:

 

No. Once you setup these addresses in the registers with CTMON and write a "1" to register 20096 they get stored in flash memory, and will take effect on the next power-cycle.

CTC binary protocol over CTNet and TCP/IP, Modbus/TCP, SOAP, RMI, SMTP, HTTP

The default RS232 communications baud rate for the 2600 & 2700 Series Controllers is 9600. The default RS232 communications baud rate for the 5100 Blue Fusion Series controllers is 19200.

Touchscreen Related Questions:

• If this message is steady and not blinking, it indicates that there is no communication between the touchscreen and the controller. In this case you should check the cabling and communications settings of the touchscreen and the controller.
• If the message is blinking or flickering, there is an incorrect tag associated with one of the screen's objects. For example, you may have set a numeric display tag to R9999 instead of R999, asking the touchscreen to display the value in register 9999, which does not exist in the controller. Invalid tags for the watchdog tag or panel trigger tag can also cause this same error.

Sometimes it is necessary to adjust the screen contrast. This can be accomplished by pressing both top corners of the toucscreen. A contrast selection bar will appear at the bottom of the screen. Touching the contrast choices on the bar will change the contrast. Different contrast settings can be used to adjust the screen for different viewing angles. When you are done adjusting the contrast, touch any area off the contrast bar to resume normal touchscreen operation. If you cannot find a suitable contrast setting, you may need to replace the bulb of the touchscreen. Contact CTC Technical Support for more information.

If the touchscreen should lock up and not function when a partially completed download is interrupted, the touchscreen can be reset by initializing the touchscreen's memory. To do this, press one bottom corner and both top corners of the touchscreen simultaneously. This will cause a maintenance menu to appear at the bottom of the screen. Select the "OFFLINE" button on this menu and another menu will appear. This time select "INITIALIZE" and then "INITIALIZE MEM." You will be prompted for a password to initialize the memory. The password is "1101." Press "START" and when the intiialization is complete, you can exit out of the menus and proceed with downloading your project file.

Most buttons that you can use in your QuickPanel designs can perform only one function. If you need to have a single button perform multiple functions, you can layer two or more buttons on top of each other so that when you press the top button on the touchscreen, the function of each of the buttons is performed. This enables you to change multiple registers or flags with one press of the touchscreen without having to write any additional Quickstep programming to perform the additional functions when the button is pressed. This is a useful shortcut in many applications.

The 4010 uses 16 bit unsigned values allowing data in the range of 0 to 65535 to be displayed and written.

Registers and Data Values can be accessed with the 4010. Note that most controller resources can be accessed through registers, making them accessible with the 4010.

Tech Support