Ladder Interface Software Manual Version 1.0 beta 01/09
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1 Ladder Interface Software Manual Version 1.0 beta 01/09 Galil's Ladder Interface Software is a software tool for the RIO-471x0 compact PLC. The software converts a relay Ladder Logic program into code for input into the RIO controller. Ladder Logic is often used by programmable logic controller (PLC) programmers to graphically input I/O logic. While direct RIO programming using Galil's two-letter text instructions allows for flexible coding, it is sometimes easier to determine the I/O logic visually with Ladder Logic. The Ladder Interface Software provides an easy-to-use graphical interface that allows object types for: contacts, coils, control relays, boxes (including timers, counters and data manipulation) and analog I/O. The software generates an RIO program from the specified objects in the flow diagram. In addition to generating optimized code, Galil's Ladder Interface Software automatically adds determinism to the RIO program.
2 Steps to Running a Ladder Program 1. Open the Ladder Interface software and construct the ladder diagram using contacts, coils and boxes to create the machine logic. Save the Ladder Logic program (.lad) 2. When the ladder logic program is saved, a.dmc file will automatically be created in the same directory. It contains the Galil code for downloading onto the RIO- 471x0. 3. To download the.dmc code, you must first install the GalilTools software. To get scope capability, the full version is required, to just download and run a program the free "Lite" version will work 4. After GalilTools is installed, connect to the RIO-471x0 and open the.dmc file that was created. 5. Click the "Execute" button to download the.dmc file and execute the Ladder program. Anytime the Ladder Logic program is changed, the.lad file must be saved. Then a new.dmc file will be created and must be downloaded to the RIO via GalilTools in order for the changes to take effect. Copyright 2008 Galil Motion Control Inc. 270 Technology Way, Rocklin, CA USA. All rights reserved
3 Memory Map Locations for RIO-471x0 Data Discrete digital inputs Discrete digital outputs X0 - X15 Y0 - Y15 RIO-471x0 Range Digital output register (16 bits) V0 Digital input register (16 bits) V100 Current timer value V200 - V207 Current counter value V250 - V257 Analog inputs V300 - V307 Analog outputs V400 - V407 User variable space (4.2 format) V500 - V524 Control relays C0 - C15 Timers T0 - T7 Counters CT0 - CT7 K constants No limit on total number.galil 4.2 format (except where noted)
4 AND - logical AND AND's multiple elements on a rung. A logical AND compares two inputs. If they are both "TRUE", then the result is "TRUE", otherwise, the result is "FALSE". Type: Layout
5 OR - logical OR OR's multiple elements on a rung. The logical OR compares two inputs. If either or both are TRUE, then the result is TRUE, otherwise, the result is FALSE. Type: Layout
6 STR - Store - Normally Open X0-X15 Y0-Y15 C0-C15 T0-T7 CT0-CT7 A Normally Open contact evaluates true only when the input is active. In the example below, the digital output Y0 evaluates TRUE when the digital input X1 evaluates TRUE. When X1 evaluates FALSE, likewise Y0 evaluates FALSE. Type: Contact
7 STRE - Equal to V0, V100 V200-V207 V250-V257 V300-V307 V400-V407 V500-V524 Knnnn Equal to contact compares the two values and outputs TRUE when the values are equal, otherwise it is FALSE Type: Contact
8 STRGE - Greater than or equal to V0, V100 V200-V207 V250-V257 V300-V307 V400-V407 V500-V524 Knnnn Greater than or equal to contact evaluates TRUE if the first value is greater than or equal to the second value Type: Contact
9 STRGT - Greater than V0, V100 V200-V207 V250-V257 V300-V307 V400-V407 V500-V524 Knnnn Greater than contact evaluates TRUE if the first value is greater than the second value Type: Contact
10 STRI - Store Immediate - Normally Open X0-X15 Y0-Y15 C0-C15 T0-T7 CT0-CT7 This contact follows the same logic as the standard normally open contact except the input or memory location is read at the time the code executes instead of at the beginning of the scan Type: Contact
11 STRLE - Less than or equal to V0, V100 V200-V207 V250-V257 V300-V307 V400-V407 V500-V524 Knnnn Less than or equal to contact evaluates TRUE if the first value is less than or equal to the second value Type: Contact
12 STRLT - Less than V0, V100 V200-V207 V250-V257 V300-V307 V400-V407 V500-V524 Knnnn Less than contact evaluates TRUE if the first value is less than the second value Type: Contact
13 STRN - Store Not - Normally Closed X0-X15 Y0-Y15 C0-C15 T0-T7 CT0-CT7 A Normally Closed contact is the logical inversion (or NOT) of a normally open contact. The normally closed contact evaluates true only when the input is NOT active. In the example below, when the digital input X1 evaluates FALSE, the digital output Y0 evaluates TRUE. Likewise, when X1 evaluates TRUE, the output Y0 evaluates FALSE. Type: Contact
14 STRNE - Not equal to V0, V100 V200-V207 V250-V257 V300-V307 V400-V407 V500-V524 Knnnn Not equal to contact compares the two values and outputs TRUE when the values are not equal, otherwise it is FALSE Type: Contact
15 STRNI - Store Immediate - Normally Closed X0-X15 Y0-Y15 C0-C15 T0-T7 CT0-CT7 This contact follows the same logic as the standard normally closed contact except the input or memory location is read at the time the code executes instead of at the beginning of the scan Type: Contact
16 END - Program End N/A End of Ladder Program Type: Coil
17 NOP - No operation N/A No operation is performed Type: Coil
18 OUT - Output Y0-Y15 C0-C15 This outputs the current state of the rung (TRUE or FALSE) to an output bit or memory location. In the example below, the output Y0 follows the same logic states as the input X1. The memory range C0-C15 can also be used to trigger "Control Relays". These act like digital outputs but have no physical outputs associated with them. Type: Coil
19 OUTI - Immediate output Y0-Y15 C0-C15 Similar to the OUT instruction, this coil outputs the current state of the rung but instead of waiting until the end of the scan - it outputs the logic at the time the instruction is executed. Type: Coil
20 PD - Positive differential output Y0-Y15 C0-C15 This coil, upon a FALSE-TRUE transition, will turn TRUE for exactly one scan and then return FALSE. This is sometimes referred to as a "one-shot" coil. Type: Coil
21 RST - Reset latching output Y0-Y15 C0-C15 The RST coil resets a latching output or memory location. Once the location is reset, it is not necessary for the input to stay on. Type: Coil
22 SET - Latching output Y0-Y15 C0-C15 This coil, upon a FALSE-TRUE transition, will turn TRUE and remain TRUE regardless of following transitions. The SET will only set FALSE upon a FALSE-TRUE transition of the RST coil. Type: Coil
23 SKPR - Skip Rungs Reset K0-K3 The SKPS and SKPR must be used as a pair. When the SKPS is TRUE, it will allow interpretation of all rungs up to the following SKPR. When the SKPS is FALSE, all rungs up to the following SKPR will not be interpreted. Note that while the rungs are not interpreted while SKPS is FALSE, these rungs still count to towards the scan time to insure deterministic timing. The argument K0 is reserved for future use. Type: Coil
24
25 SKPS - Skip Rungs Set K0-K3 The SKPS and SKPR must be used as a pair. When the SKPS is TRUE, it will allow interpretation of all rungs up to the following SKPR. When the SKPS is FALSE, all rungs up to the following SKPR will not be interpreted. Note that while the rungs are not interpreted while SKPS is FALSE, these rungs still count to towards the scan time to insure deterministic timing. The argument K0 is reserved for future use. Type: Coil
26
27 STOP - Program stop N/A Halts execution of Ladder program. The default argument of K0 halts the main thread. Use Kx where x is the thread number to halt execution of other threads. Type: Coil
28 GALIL Cmd - Galil command box Cmd is any valid Galil command Sends valid Galil command to controller. The command will be sent on every scan that the rung evaluates TRUE therefore the user should take care in what command is being output. If an MG command is used, this will send messages out the communications port and could slow down scan times (especially when using RS-232). A PD (Positive Differential) output should be used in conjunction with this box to only have the command run one time. Type: Boxes (Special)
29 - Analog input V300-V307 Read analog input at a specified variable location. Analog inputs should be accessed on the RIO using V300-V307. In the example below, a sine wave is coming in on the analog input 6 and two comparative contacts are used to set digital outputs Y0 and Y2 when the voltage goes below the constant K2 (2Volts) or above the constant K3 (3Volts). Type: Boxes (Data manipulation and math functions)
30 - Analog output V400-V407 Written at specific variable location. Type: Boxes (Data manipulation and math functions)
31
32 ADD - Add to accumulator Add V variable location or K constant to accumulator value Type: Boxes (Data manipulation and math functions) V0, V100 V200-V207 V250-V257 V300-V307 V400-V407 V500-V524 K0 - Kmax
33
34 AND - And accumulator AND accumulator value with variable location Type: Boxes (Data manipulation and math functions) V0, V100 V200-V207 V250-V257 V300-V307 V400-V407 V500-V524 K0 - Kmax
35 DEC - Decrement variable value This decrements the value of the V location by 1 Type: Boxes (Data manipulation and math functions) V0, V100 V200-V207 V250-V257 V300-V307 V400-V407 V500-V524
36 DIV - Divide from accumulator Divide accumulator value by V variable location or K constant Type: Boxes (Data manipulation and math functions) V0, V100 V200-V207 V250-V257 V300-V307 V400-V407 V500-V524 K0 - Kmax
37
38 INC - Increment variable value This increments the value of the V location by 1 Type: Boxes (Data manipulation and math functions) V0, V100 V200-V207 V250-V257 V300-V307 V400-V407 V500-V524
39 INV - Inverse accumulator N/A Inverse accumulator (1's complement) Type: Boxes (Data manipulation and math functions)
40 LD - Load accumulator Loads a value into the accumulator Type: Boxes (Data manipulation and math functions) V0, V100 V200-V207 V250-V257 V300 - V307 V400-V407 V500-V524 K0 - Kmax
41
42 MUL - Multiply from accumulator Multiply accumulator value by V variable location or K constant Type: Boxes (Data manipulation and math functions) V0, V100 V200-V207 V250-V257 V300-V307 V400-V407 V500-V524 K0 - Kmax
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44 OR - Or accumulator Or accumulator value with variable location Type: Boxes (Data manipulation and math functions) V0, V100 V200-V207 V250-V257 V300-V307 V400-V407 V500-V524 K0 - Kmax
45 OUT - Output accumulator V0, V100 V200-V207 V250-V257 V300-V307 V400-V407 V500-V524 Outputs the current value of the accumulator to the specified memory location Type: Boxes (Data manipulation and math functions)
46
47 ROTL - Rotate accumulator left K1 - K16 Rotate accumulator left by Knn bits Type: Boxes (Data manipulation and math functions)
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49 ROTR - Rotate accumulator right K1 - K16 Rotate accumulator right by Knn bits Type: Boxes (Data manipulation and math functions)
50
51 SHFL - Shift accumulator left K1 - K16 Shift accumulator left by Knn bits Type: Boxes (Data manipulation and math functions)
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53 SHFR - Shift accumulator right K1 - K16 Shift accumulator right by Knn bits Type: Boxes (Data manipulation and math functions)
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55 SUB - Subtract from accumulator Subtract V variable location or K constant from accumulator value Type: Boxes (Data manipulation and math functions) V0, V100 V200-V207 V250-V257 V300-V307 V400-V407 V500-V524 K0 - Kmax
56
57 XOR - Exclusive OR accumulator Exclusive OR evaluates true when inputs are different Type: Boxes (Data manipulation and math functions) V0, V100 V200-V207 V250-V257 V300-V307 V400-V407 V500-V524 K0 - Kmax
58 CTD - Down counter CT0-CT7 K0-Kmax Upon a FALSE-TRUE transition of a rung, the down counter decrements it's internal counter by one. A preset value is assigned as Kn, where n is an integer value. When the current counter value is greater than the preset value, the counter done bit is set TRUE. Then the current counter value is less than the preset value, the counter done bit is set FALSE. Note: The CTD may only be used in conjunction with the CTU, and must be the rung directly following the CTU. The CTD and CTU will share the same counter number (ie. CT0) as well as preset value (Kn). Type: Boxes (Counters/Timers)
59 CTU - Up counter CT0-CT7 K0-Kmax Upon a FALSE-TRUE transition of a rung, the up counter increments it's internal counter by one. A preset value is assigned as Kn, where n is an integer value. When the current counter value exceeds the preset value, the counter done bit is set TRUE. The done bit and current count can be reset by the RES box. Type: Boxes (Counters/Timers)
60 RES - Reset box V0 V200-V207 V250-V257 V400-V407 V500-V524 The RES box is used to reset variable locations within the ladder code. It can be used to reset the current timer or counter value, or to reset a user variable location (V500-V524). If the RES box is to be used to reset the counter or timer value, it must be placed on the rung directly after the counter or timer it is to effect. Type: Boxes (Counters/Timers)
61
62 RTO - Accumulating timer T0-T7 K0-Kmax This timer operates similarly to the On-delay timer. Upon a rung evaluating as TRUE, the timer begins counting in msec. Upon the rung evaluating as FALSE, the timer stops counting, but is not zeroed. The time is retained. On the next rung TRUE condition, the counter continues counting, thereby measuring accumulated TRUE time of the rung. The preset Kn is set to a value in msec. When the accumulated time is greater than the preset value Kn, the done bit is set. Done bit and accumulated time can only be reset by using the RES box. Type: Boxes (Counters/Timers)
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64 TOF - Off delay timer T0-T7 K0-Kmax The Off-delay timer, upon the rung evaluating as FALSE, will begin timing in msec. The timer will remain timing while the rung evaluates as FALSE. A preset value is assigned as Kn, where n is a time in msec. When the current timer value exceeds the preset value Kn AND the rung remains FALSE, the timer done bit Tn will set TRUE. When the rung evaluates as TRUE, the timer is held to 0 and the done bit is FALSE. Type: Boxes (Counters/Timers)
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66 TON - On delay timer T0-T7 K0-Kmax The On-delay timer, upon the rung evaluating as TRUE, will begin timing in msec. The timer will remain timing while the rung evaluates as TRUE. A preset value is assigned as Kn, where n is a time in msec. When the current timer value exceeds the preset value Kn AND the rung remains TRUE, the timer done bit Tn will set TRUE. When the rung evaluates as FALSE, the timer is held to 0 and the done bit is FALSE. Type: Boxes (Counters/Timers)
67
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