RIO-47xxx
Manual Rev. 1.0j
USER MANUAL
By Galil Motion Control, Inc.
Galil Motion Control, Inc.
270 Technology Way
Rocklin, California 95765
Phone: (916) 626-0101
Fax: (916) 626-0102
Email:
support@galilmc.com
URL: www.galilmc.com
Rev Date 08/2010
Contents
CONTENTS ...................................................................................................................................................... I
CHAPTER 1 OVERVIEW ..............................................................................................................................1
INTRODUCTION ...............................................................................................................................................1
PART NUMBERING OVERVIEW ........................................................................................................................2
RIO-47XX0 VS. RIO-47XX2 ...........................................................................................................................3
RIO Functional Elements..........................................................................................................................3
CHAPTER 2 GETTING STARTED...............................................................................................................4
RIO-471XX.....................................................................................................................................................4
RIO-472XX.....................................................................................................................................................5
INSTALLING THE RIO BOARD .........................................................................................................................5
Step 1. Configure Jumpers........................................................................................................................5
Step 2. Connecting Power to the RIO........................................................................................................6
Step 3. Install the Communications Softwa re ............................................................................................7
Step 4. Establish Communications between RIO and the Host PC...........................................................7
Communicating to the RIO using Galil Software......................................................................................7
Using Non-Galil Communication So ftware..............................................................................................7
CHAPTER 3 COMMUNICATION .............................................................................................................. 10
INTRODUCTION .............................................................................................................................................10
RS232 PORT .................................................................................................................................................10
RS-232 Configuration .............................................................................................................................10
ETHERNET CONFIGURATION .........................................................................................................................10
Communication Protocols....................................................................................................................... 10
Jumper Configuration for 10BaseT.........................................................................................................11
Addressing...............................................................................................................................................11
Email from the RIO.................................................................................................................................12
Communicating with Multiple Devices...................................................................................................12
Handling Communication Errors ............................................................................................................13
Multicasting.............................................................................................................................................13
Unsolicited Message Handling................................................................................................................13
Other Protocols Supported......................................................................................................................14
MODBUS WITH THE RIO ...............................................................................................................................14
Raw Modbus Send/Receive.....................................................................................................................15
Modbus Read/Write to Array Table........................................................................................................15
Sending Modbus Packets.........................................................................................................................15
Modbus Exceptions.................................................................................................................................15
Function Code 1 ($01) - Read Coils........................................................................................................17
Function Code 2 ($02) - Read Discrete Inputs ........................................................................................19
RIO-47xxx Contents ● i
Function Code 3 ($03) - Read Holding Registers ...................................................................................21
Function Code 4 ($04) - Read Input Registers ........................................................................................24
Function Code 5 ($05) - Write Single Coil .............................................................................................27
Function Code 6 ($06) - Preset Single Register......................................................................................29
Function Code 7 ($07) – Read Exception Status.....................................................................................31
Function Code 15 ($0F) – Write Multiple Coils .....................................................................................33
Function Code 16 ($10) – Write Multiple Registers ...............................................................................35
Analog IO Ranges...................................................................................................................................38
DATA RECORD..............................................................................................................................................39
QR and DR Commands...........................................................................................................................39
RIO Data Record.....................................................................................................................................39
Explanation of Status Information...........................................................................................................40
CHAPTER 4 I/O ............................................................................................................................................. 41
INTRODUCTION .............................................................................................................................................41
SPECIFICATIONS............................................................................................................................................41
Digital Outputs........................................................................................................................................41
Digital Inputs...........................................................................................................................................44
Analog Outputs .......................................................................................................................................45
Analog Inputs..........................................................................................................................................45
Analog Process Control Loop .................................................................................................................47
CHAPTER 5 PROGRAMMING................................................................................................................... 49
OVERVIEW....................................................................................................................................................49
EDITING PROGRAMS .....................................................................................................................................49
PROGRAM FORMAT.......................................................................................................................................49
Using Labels in Programs.......................................................................................................................50
Special Labels .........................................................................................................................................50
Commenting Programs............................................................................................................................50
Program Lines Greater than 40 Characters..............................................................................................51
Lock Program Access using Password....................................................................................................51
EXECUTING PROGRAMS - MULTITASKING.....................................................................................................52
DEBUGGING PROGRAMS ...............................................................................................................................52
Trace Commands.....................................................................................................................................53
Error Code Command .............................................................................................................................53
RAM Memory Interrogation Commands ................................................................................................53
Operands .................................................................................................................................................53
Debugging Example:...............................................................................................................................53
PROGRAM FLOW COMMANDS .......................................................................................................................54
Interrupts.................................................................................................................................................54
Examples:................................................................................................................................................55
Conditional Jumps...................................................................................................................................56
Using If, Else, and Endif Commands......................................................................................................58
Stack Manipulation..................................................................................................................................59
Auto-Start Routine ..................................................................................................................................59
Automatic Subroutines for Monitoring Conditions.................................................................................59
MATHEMATICAL AND FUNCTIONAL EXPRESSIONS........................................................................................61
Mathematical Operators..........................................................................................................................61
Bit-Wise Operators..................................................................................................................................63
Functions.................................................................................................................................................64
VARIABLES ...................................................................................................................................................64
Programmable Variables .........................................................................................................................64
OPERANDS ....................................................................................................................................................65
Examples of Internal Variables:..............................................................................................................65
Special Operands (Keywords).................................................................................................................66
ARRAYS........................................................................................................................................................66
ii Contents RIO-47xxx
Defining Arrays.......................................................................................................................................66
Assignment of Array Entries...................................................................................................................66
Using a Variable to Address Array Elements..........................................................................................67
Uploading and Downloading Arrays to On Board Memory....................................................................67
Automatic Data Capture into Arrays.......................................................................................................67
Deallocating Array Space........................................................................................................................68
INPUT OF DATA (NUMERIC AND STRING)......................................................................................................69
Input of Data............................................................................................................................................69
OUTPUT OF DATA (NUMERIC AND STRING) ..................................................................................................69
Sending Messages...................................................................................................................................69
Displaying Variables and Arrays.............................................................................................................71
Formatting Variables and Array Elements..............................................................................................71
PROGRAMMABLE I/O....................................................................................................................................72
Digital Outputs........................................................................................................................................72
Digital Inputs...........................................................................................................................................73
Analog Inputs..........................................................................................................................................73
Analog Outputs .......................................................................................................................................74
REAL TIME CLOCK........................................................................................................................................74
APPENDIX......................................................................................................................................................75
ELECTRICAL SPECIFICATIONS .......................................................................................................................75
Input/Output............................................................................................................................................75
Power Requirements................................................................................................................................75
PERFORMANCE SPECIFICATIONS ...................................................................................................................76
RIO-47xx0...............................................................................................................................................76
RIO-47xx2...............................................................................................................................................76
CERTIFICATIONS ...........................................................................................................................................76
ETL .........................................................................................................................................................76
CE............................................................................................................................................................76
ROHS......................................................................................................................................................76
STANDARD OPTIONS.....................................................................................................................................77
-DIN ........................................................................................................................................................77
-NO DIN..................................................................................................................................................77
-422 .........................................................................................................................................................77
-RTC........................................................................................................................................................77
-08-15 SOURCE (2LSRC) option...........................................................................................................78
-0-7 or -8-15 SINK/SOURCE.................................................................................................................78
-QUAD and -SSI.....................................................................................................................................78
-PWM......................................................................................................................................................79
-HS ..........................................................................................................................................................80
-16Bit.......................................................................................................................................................80
AI_10v12Bit............................................................................................................................................81
AI_10v16Bit............................................................................................................................................81
-(4-20mA)................................................................................................................................................81
AO Option (SCB-48608).........................................................................................................................81
CONNECTORS FOR RIO-47XXX.....................................................................................................................83
44 pin D-Sub Connector – RIO-471xx....................................................................................................83
26 pin D-Sub Connector – RIO-471xx....................................................................................................83
Screw Terminals – RIO-472xx................................................................................................................84
J2 RS-232 Port: DB-9 Pin Male.............................................................................................................84
J1 Ethernet Port: 10/100 Base-T (RJ-45) ................................................................................................85
J5 Power: 2 pin Molex.............................................................................................................................85
JUMPER DESCRIPTION FOR RIO ....................................................................................................................86
RIO DIMENSIONS..........................................................................................................................................87
RIO-471xx...............................................................................................................................................87
RIO-472xx...............................................................................................................................................88
RIO-47xxx Contents ● iii
ACCESSORIES AND OPTIONS .........................................................................................................................89
LIST OF OTHER PUBLICATIONS .....................................................................................................................90
CONTACTING US...........................................................................................................................................90
TRAINING SEMINARS ....................................................................................................................................91
WARRANTY...............................................................................................................................................92
A1 – SCB-48206 ..............................................................................................................................................93
DESCRIPTION ................................................................................................................................................93
SPECIFICATIONS............................................................................................................................................94
WIRING.........................................................................................................................................................94
OPERATION...................................................................................................................................................94
Method 1 .................................................................................................................................................95
Method 2 .................................................................................................................................................96
A2 – SCB-48306/48316 ...................................................................................................................................97
DESCRIPTION ................................................................................................................................................97
SPECIFICATIONS............................................................................................................................................98
WIRING.........................................................................................................................................................98
OPERATION...................................................................................................................................................99
INDEX ...........................................................................................................................................................100
iv Contents RIO-47xxx
Chapter 1 Overview
Introduction
Derived from the same fundamentals used in building the Galil motion controllers, the RIO-47xxx is a
programmable remote I/O controller that conveniently interfaces with other Galil boards through its Ethernet
port. The RIO is programmed exactly the same way as a DMC (Digital Motion Controller) with the
exception of a few revised commands and the removal of all motion-related commands. Communication
with the RIO even works the same way as with other Galil controllers, and it utilizes the same software
programs. Interrogation commands have been included to allow a user to instantly view the entire I/O status,
I/O hardware, or Ethernet handle availability (see the TZ, ID and TH commands).
The purpose of an RIO board is to offer remote I/O in a system and the ability to synchronize complex
events. To do this, the RIO consists of two boards – a high speed processor with integrated Ethernet and an
I/O board consisting of digital inputs, digital outputs, analog inputs, and analog outputs. If different I/O
requirements are required –a custom I/O board can be made to mate up directly with the RIO processor.
RIO-47xxx Chapter 1 Overview ● 1
Part Numbering Overview
Highlights Options
RIO-47100 Metal case
0-5V Analog IO
8 high power optoisolated digi t a l outp ut s
8 low power optoisolated digital outputs
16 optoisolated digital inputs
RIO-47102 Same as RIO-47100 but with expanded memory -DIN
RIO-47120 Same as RIO-47100 but with +-10V analog IO -DIN
RIO-47122 Same as RIO-47120 but with expanded memory -DIN
RIO-47200 Same as RIO-47100 except
-Screw terminals instead of D-Subs
-Din rail mount with metal cover
-All 16 outputs are high power
-No analog outputs (use AO option to add analog)
For details on all the options please see Standard Options in the Appendix.
-DIN
-08-15 SOURCE
-HS
-422
-4-20mA
-PWM
-08-15 SOURCE
-HS
-422
-4-20mA
-RTC
-PWM
-08-15 SOURCE
-16 Bit
-422
-HS
-4-20mA
-PWM
-08-15 SOURCE
-16 Bit
-422
-HS
-4-20mA
-RTC
-PWM
-QUAD
-SSI
-422
-0-7 SINK or -0-7 SOURCE
-8-15 SINK or -8-15SOURCE
-HS
-10V12-Bit
-10V16-Bit
-NO DIN
-4-20mA
-PWM
(8AO_5v_12bit),
(8AO_10v12bit),(8AO_10v16bit)
2 Chapter 1 Overview RIO-47xxx
RIO-47xx0 vs. RIO-47xx2
# of
Ethernet
handles
Controller
RIO-47xx0
RIO-47xx2
# of array
elements
400 200 126 62 2 3
1000 400 256 126 6 5
# of
program
lines
# of
variables
# of labels
# of control
loops
RIO Functional Elements
Microcomputer Section
The main processing unit of the RIO is a specialized 32-bit Freescale Microcomputer with 32KB SRAM and
256KB of Embedded Flash memory. The SRAM provides memory for variables, array elements and
application programs. The flash memory provides non-volatile storage of variables, programs, and arrays; it
also contains the RIO firmware. The RIO can process individual Galil Commands in approximately 40
microseconds.
The RIO product line has a maximum of 10,000 write cycles for burning (BN, BP, BV combined).
Communication
The communication interface with the RIO consists of one RS-232 port (default is 115 kBaud/s) and one
10/100Base-T Ethernet port (jumper configurable).
There are four status LEDs on the RIO that indicate operating and error conditions on the controller. Figure
1-1 shows a diagram of the LED bank followed by the description of the four lights.
PWR
ERR
Figure 1-1 - Diagram of LED bank on the RIO
Green Power LED (PWR) - The green status LED indicates that the power has been applied
properly to the RIO.
Red Status/Error LED (ERR) - The red error LED will flash on briefly at power up. After the
initial power up condition, the LED will illuminate for the following reasons:
1. The reset line on the controller is held low or is being affected by noise.
2. There is a failure on the controller and the processor is resetting itself.
3. There is a failure with the output IC that drives the error signal.
Green Link LED (LNK) – The green LED indicates there is a valid Ethernet connection. This
LED will show that the physical Ethernet layer (the cable) is connected.
Activity (ACT) – The amber LED indicates traffic across the Ethernet connection. This LED will
show both transmit and receive activity across the connection.
LNK
ACT
RIO-47xxx Chapter 1 Overview ● 3
Chapter 2 Getting Started
RIO-471xx
Figure 1: Outline of RIO-471xx (Dimensions listed in the Appendix)
4 Chapter 2 Getting Started RIO-47xxx
RIO-472xx
Figure 2: Outline of RIO-472xx (Dimensions listed in the Appendix)
Installing the RIO Board
Installation of a complete, operational RIO system consists of 4 steps:
Step 1. Configure jumpers
Step 2. Connect power to the RIO
Step 3. Install the communications software
Step 4. Establish communications between the RIO and the host PC
Step 1. Configure Jumpers
Power Input Jumpers (AUX vs PoE)
The RIO can be powered using either a 18-36V DC power input or a PoE (Power over Ethernet) switch to
deliver power over the Ethernet cable. The default configuration is th e 18-36VDC power input. If PoE is
used, the four jumpers on JP6 for the RIO-471xx and JP1 for the RIO-472xx must be moved from AUX to
PoE.
Master Reset and Upgrade Jumper
Jumpers labeled as MRST and UPGD are located at JP5 for the RIO-471xx and JP2 for the RIO-472xx , next
to the reset button. The MRST jumper is for a master reset. When MRST is jumpered, the RIO will perform
a master reset upon a power cycle to the board or when the board reset button is pushed. Whenever the I/O
board has a master reset, all programs, arrays, and variables stored in non-volatile memory will be erased –
this will set the RIO board back to factory defaults.
RIO-47xxx Chapter 2 Getting Started ● 5
The UPGD jumper enables the user to unconditionally update the board firmware. This jumper is not
necessary for firmware updates when the RIO board is operating normally, but may be necessary in cases of
a corrupted non-volatile memory. non-volatile memory corruption should never occur under normal
operating circumstances; however, corruption is possible if there is a power fault during a firmware update.
If non-volatile memory corruption occurs, your board may not operate properly. In this case, install the
UPGD jumper and use the update firmware function in the Galil software to re-load the system firmware.
Setting the Baud Rate on the RIO
The default baud rate for the RIO is 115K (jum per OFF) .
The jumper labeled “19.2,” also located at JP5 for the RIO-471xx and JP2 for the RIO-472xx, allows the user
to select the serial communication baud rate. The baud rate can be set using the following table:
19.2 BAUD RATE
OFF 115k
ON 19.2k
Step 2. Connecting Power to the RIO
Since the RIO can be powered using either a 18-36V DC power input or a PoE (Power over Ethernet) switch,
there are two possible connection options shown here:
1) EXT: 18-36VDC power input is the default configuration. The four jumpers on JP6 for the RIO-471xx
and JP1 for the RIO-472xx . Apply a DC power supply in the range of 18-36V to the 2-pin molex
connector. The power supply should be capable of delivering up to 4 Watts. The RIO uses Molex Pitch
Mini-Fit, Jr.™ Receptacle Housing connectors for connecting DC Power. For more information on the
connectors, go to
Note: The part number listed below is the connector that is found on the controller. For more information see
the Molex website.
2) PoE: Power over Ethernet. This configuration needs the four jumpers on JP6 fo r the RIO-471xx and JP1
for the RIO-472xx to be placed on the side labeled PoE. Once this is done, the controller will derive its
power directly from the Ethernet cable. A PoE style switch can be used such as the FS108P from Netgear.
http://www.molex.com/.
http://www.molex.com/
Molex Part Number Pin Part Number (x2) Type
39-31-0020 44476-3112 2 Position
Warning: Damage can occur if a supply larger than 36VDC is connected to the board.
Applying power will turn on the green LED power indicator.
6 Chapter 2 Getting Started RIO-47xxx
Step 3. Install the Communications Software
After applying power to the computer, install the Galil software that enables communication between the I/O
board and your PC. It is strongly recommended to use the Galil software “GalilTools” when communicating
to the RIO unit. Please see the GalilTools Manual for a complete description of how to install and connect to
Serial or Ethernet controllers.
http://www.galilmc.com/products/software/galiltools.html
Step 4. Establish Communications between RIO and the Host PC
Communicating to the RIO using Galil Software
RS-232:
To use serial communication, connect a 9pin straight-through RS-232 cable (CABLE-9-PIND) between the
serial port of the RIO and the computer or terminal communications port. The RIO serial port is conf igured
as DATASET.
Ethernet:
Connect the RIO Ethernet port to your computer via a crossover Ethernet cable, or to a network hub with a
straight through Ethernet cable.
Using Non-Galil Communication Software
RS-232:
The RIO serial port is configured as DATASET. The computer or terminal must be configured as a for full
duplex, no parity, 8 data bits, one start bit and one stop bit. A standard Windows HyperTerminal session can
connect to the controller using a straight-through serial cable.
Check to insure that the baud rate jumpers have been set to the desired baud rate as described above. Also,
the hardware handshake lines (RTS/CTS) need to be connected. See Chapter 3 for more information on
‘Handshake Modes.’
Ethernet:
Connect the RIO Ethernet port to your computer via an Ethernet crossover cable, or to a network hub by a
straight through Ethernet cable. An IP address needs to be assigned via a DHCP server, through Galil
software, or via a serial cable using the IA command. See Chapter 3 for more information on how to
establish an IP address. Once an IP address is established, a standard Windows Telnet session can connect to
the controller.
* Note that the RIO-471x2 supports auto-crossover detection (auto MDIX)
Sending Test Commands to the Terminal after a successful Connection
After connecting to the computer or terminal, press <carriage return> or the <enter> key on the keyboard. In
response to carriage return {CR}, the controller responds with a colon, :
Now type
RIO-47xxx Chapter 2 Getting Started ● 7
TZ {CR}
This command directs the RIO to return the current I/O status. The controller should respond with something
similar to the following:
:TZ
Block 0 (7-0) Inputs - value 255 (1111_1111)
Block 1 (15-8) Inputs - value 255 (1111_1111)
Block 0 (7-0) Outputs - value 0 (0000_0000)
Block 1 (15-8) Outputs - value 0 (0000_0000)
Analog Inputs(7-0)
0.0000,0.0000,0.0000,0.0000,0.0037,0.0012,0.0000,0.0000
Analog Outputs(7-0)
0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000
8 Chapter 2 Getting Started RIO-47xxx
RIO Web Server
The RIO has a built-in web server that can be accessed by typing the IP address of the controller into a
standard web browser. The controller comes from the factory without any IP address assigned so a user must
go through the steps outlined above to establish an IP address before the web-server is accessible.
shows an output of the RIO Web Server:
Figure 3
Figure 3: RIO Web Server Output
RIO-47xxx Chapter 2 Getting Started ● 9
Chapter 3 Communication
Introduction
The RIO has one RS-232 port and one Ethernet port. The RS-232 port is the data set, and it is a standard
serial link with a communication baud rate up to 115kbaud. The Ethernet port is jumper configurable for 10
or 100Base-T (default).
RS232 Port
The RIO board has a single RS232 connection for sending and receiving commands from a PC or other
terminal. The pin-outs for the RS232 connection can be found in the Appendix -
J5 Power: 2 pin Molex.
RS-232 Configuration
Configure the PC for 8 data bits, no parity, one stop bit, and hardware handshaking. The baud rate for the
RS232 communication defaults to 115k baud but can be set to 19.2k baud by placing a jumper on J5. The
serial port has a 4 bytes FIFO.
Handshaking Modes
The RS232 port is configured for hardware handshaking. In this mode, the RTS and CTS lines are used. The
CTS line will go high whenever the RIO is not ready to receive additional characters. The RTS line will
inhibit the RIO board from sending additional characters. Note: The RTS line goes high for inhibit. This
handshake procedure is required and ensures proper communication especially at higher baud rates.
Ethernet Configuration
Communication Protocols
The Ethernet is a local area network through which information is transferred in units known as packets.
Communication protocols are necessary to dictate how these packets are sent and received. The RIO
supports two industry standard protocols, TCP/IP and UDP/IP. The board will automatically respond in the
format in which it is contacted.
10 Chapter 3 Communication RIO-47xxx
TCP/IP is a "connection" protocol. The master must be connected to the slave in order to begin
communicating. Each packet sent is acknowledged when received. If no acknowledgement is received, the
information is assumed lost and is resent.
Unlike TCP/IP, UDP/IP does not require a "connection". This protocol is similar to communicating via
RS232. If a cable is unplugged, the device sending the packet does not know that the information was not
received on the other side. Because the protocol does not provide for lost information, the sender must resend the packet.
Galil recommends using TCP/IP for standard communication to insure that if a packet is lost or destroyed
while in transit, it will be resent. However UDP is recommended in certain situations such as launching Data
Record information to a host for graphing or data collection.
Each packet must be limited to 470 data bytes or less. This is not an issue when using Galil software as the
Galil Ethernet driver will take care of the low level communication requirements.
The IK command blocks the controller from receiving packets on Ethernet ports lower than 1000 except for
ports 0, 23, 25, 68, 80 and 502. To receive packets on all ports, set IK to 0.
NOTE: In order not to lose information in transit, Galil recommends that the user wait for an
acknowledgement of receipt of a packet before sending the next packet.
Jumper Configuration for 10BaseT
If 10BaseT communication is required, a jum per must be placed on the pins labeled OPT. The default is no
jumper which is 100BaseT Ethernet communication.
Addressing
There are three levels of addresses that define Ethernet devices. The first is the MAC or hardware address.
This is a unique and permanent 6 byte number. No other device will have the same MAC address. The RIO
MAC address is set by the factory and the last two bytes of the address are the serial number of the board.
To find the Ethernet MAC address for a RIO unit, use the TH command. A sample is shown here with a unit
that has a serial number of 3:
Sample MAC Ethernet Address: 00-50-4C-28-00-03
The second level of addressing is the IP address. This is a 32-bit (or 4 byte) number that usually looks like
this: 192.168.15.1. The IP address is constrained by each local network and must be assigned locally.
Assigning an IP address to the RIO board can be done in a number of ways.
The first method for setting the IP address is using a DHCP server. The DH command controls whether the
RIO board will get an IP address from the DHCP server. If the unit is set to DH1 (default) and there is a
DHCP server on the network, the controller will be dynamically assigned an IP address from the server.
Setting the board to DH0 will prevent the controller from being assigned an IP address from the server.
The second method to assign an IP address is to use the BOOT-P utility via the Ethernet connection. The
BOOT-P functionality is only enabled when DH is set to 0. Either a BOOT-P server on the internal network
or the Galil software may be used. When opening the Galil Software, it will respond with a list of all RIO
boards and controllers on the network that do not currently have IP addresses. The user must select the board
and the software will assign the specified IP address to it. This address will be burned into the controller
(BN) internally to save the IP address to the non-volatile memory. Note: if multiple boards are on the
network – use the serial numbers to differentiate them.
CAUTION: Be sure that there is only one BOOT-P or DHCP server running. If your network has
DHCP or BOOT-P running, it may automatically assign an IP address to the RIO board upon linking
it to the network. In order to ensure that the IP address is correct, please contact your system
administrator before connecting the I/O board to the Ethernet net work.
RIO-47xxx Chapter 3 Communication ● 11
The third method for setting an IP address is to send the IA command through the RS-232 port. (Note: The
IA command is only valid if DH0 is set). The IP address may be entered as a 4 byte number delimited by
commas (industry standard uses periods) or a signed 32 bit number (e.g. IA 124,51,29,31 or IA 2083724575).
Type in BN to save the IP address to the RIO non-volatile memory.
NOTE: Galil strongly recommends that the IP address selected is not one that can be accessed across the
Gateway. The Gateway is an application that controls communication between an internal network and the
outside world.
The third level of Ethernet addressing is the UDP or TCP port number. The Galil board does not require a
specific port number. The port number is established by the client or master each time it connects to the RIO
board. Typical port numbers for applications are:
Port 23: Telnet
Port 502: Modbus
Port 80: HTTP
Email from the RIO
If the RIO is on a network with a SMTP Mail Server, the RIO is capable of sending an email message using
the MG command. There are three configuration commands necessary to send an email from the RIO unit –
MA, MS and MD. MA sets the smtp email server IP address. MS sets the email source or “from” address
and MD sets the destination or “to” address. There is a maximum character limit for the MS and MD
commands of 30 characters. An example of this is shown here:
MA 10,0,0,1; ‘example SMTP Email Server IP address
someone@example.com; ‘sample destination email address
MD
me@example.com; ‘sample source address
MS
MG "Testing Email"{M}; ‘Message to send via Email
Please contact your system administrator for information regarding email settings.
Note: it is strongly recommended that the email messaging frequency is limited so as not to overload the
email server.
Communicating with Multiple Devices
The RIO is capable of supporting multiple masters or slaves. A typical scenario would be connecting a PC (a
master) and a motion controller (a 2nd master) that can both send commands to the RIO board over Ethernet
on different handles.
Note: The term “master” is equivalent to the Internet “client” and the term “slave” is equivalent to the
Internet “server”.
An Ethernet handle is a communication resource within a device. The RIO-47xx0 can have a maximum of 3
Ethernet handles open at any time. This number is increased to 5 Ethernet handles on the RI O-47xx2. If all
handles are in use and another device tries to connect, it will be sent a "reset packet" showing that the RIO
cannot establish any new connections.
NOTE: A reset will cause the Ethernet connection to be lost. There are a number of ways to reset the board.
Hardware resets (push reset button or power down RIO board) and software resets (through Ethernet or
RS232 by entering the RS command).
When the RIO acts as the master, the IH command is used to assign handles and connect to its slaves. The IP
address may be entered as a 4 byte number separated with commas (industry standard uses periods) or as a
signed 32 bit number. A port number may also be specified, but if it is not, it will default to 1000. The
protocol (TCP/IP or UDP/IP) to use must also be designated at this time. Otherwise, the board will not
12 Chapter 3 Communication RIO-47xxx
connect to the slave. (Ex: IHB=151,25,255,9<179>2. This will open handle #2 and conn ect to the IP
address 151.25.255.9, port 179, using TCP/IP)
Once the IH command is used to connect to slaves, the user can communicate to these slaves by sending
commands to the master. The SA command is used for this purpose, and it has the following syntax.
SAh= "command string"
Here "command string" will be sent to handle h. For example, SAA=”XQ” command will send an XQ
command to the slave/server on handle A. A more flexible form of the command is
SAh= field1,field2,field3,field4 ... field8
where each field can be a string in quotes or a variable.
When the Master/client sends an SA command to a Slave/server, it is possible for the master to determine the
status of the command. The response _IHh4 will return the number 1 to 4. 1 indicates waiting for the
acknowledgement from the slave. 2 indicates a colon (command accepted) has been received. 3 indicates a
question mark (command rejected) has been received. 4 indicates the command timed out.
If a command generates multiple responses (such as the TE command), the values will be stored in _SAh0
thru _SAhn where n is the last field. If a field is unused, its _SA value will be -2^31.
See the Command Reference for more information on the SA command.
Which devices receive what information from the RIO depends on various things. If a device queries the
RIO, it will receive the response unless it explicitly tells the RIO to send it to another device. If the
command that generates a response is part of a downloaded program, the response will route to whichever
port is specified by the CF command (either a specific Ethernet handle or the RS232 port). If the user wants
to send the message to a port other than what is specified by the CF command, add an {Eh} or {P1} to the
end of the command (Ex. MG{EB}"Hello" will send the message "Hello" to handle #2 and MG{P1}”Hello”
will send it to the serial port).
Handling Communication Errors
A reserved automatic subroutine which is identified by the label #TCPERR can be used to catch
communication errors. If an RIO has an application program running and the TCP communication is lost, the
#TCPERR routine will automatically execute. The #TCPERR routine should be ended with the RE
command.
Multicasting
A multicast may only be used in UDP/IP and is similar to a broadcast (where everyone on the network gets
the information) but specific to a group. In other words, all devices within a specified group will receive the
information that is sent in a multicast. There can be many multicast groups on a network and are
differentiated by their multicast IP address. To communicate with all the devices in a specific multicast
group, the information can be sent to the multicast IP address rather than to each individual device IP
address. All Galil devices belong to a default multicast address of 239.255.19.56. This multicast IP address
can be changed by using the IA>u command.
Unsolicited Message Handling
Unsolicited messages are any messages that are sent from the controller that are not directly requested by the
host PC. An example of this is a MG or TP command inside of a program running on the controller. Error
messages are also “unsolicited” because they can come out at any time. There are two software commands
that will configure how the controller handles these unsolicited messages: CW and CF.
The RIO has 3 Ethernet handles as well as 1 serial port where unsolicited messages may be sent. The CF
command is used to configure the controller to send these messages to specific ports. In addition, the Galil
RIO-47xxx Chapter 3 Communication ● 13
software has various options for sending messages using the CF command. For more information, see the CF
command description in the Command Reference.
The CW command has two data fields that affect unsolicit ed messages. The first field configures the most
significant bit (MSB) of the message. A value of 1 will set the MSB of unsolicited messages, while a value
of 2 suppresses the MSB. Programs like HyperTerminal or Telnet need to use a setting of CW2 for the
unsolicited messages to be readable in standard ASCII format. However, the Galil software needs a value of
CW1 to be set so that it can differentiate between solicited and unsolicited messages. If you have difficulty
receiving characters from the controller, or receive garbage characters instead of messages, check the status
of the CW command.
The second field of the CW command controls whether the product should pause while waiting for the
hardware handshake to enable the transmission of characters over RS-232 (CW,0), or continue processing
commands and lose characters until the hardware handshake allows characters to be sent (CW,1).\
Other Protocols Supported
Galil supports DHCP, ARP, BOOT-P, and Ping, which are u tilities for establishing Ethernet connections.
ARP is an application that determines the Ethernet (hardware) address of a device at a specific IP address.
BOOT-P is an application that determines which devices on the network do not have an IP address and
assigns the IP address you have chosen to it. Ping is used to check the communication between the device at
a specific IP address and the host computer.
The RIO can communicate with a host computer through any application that can send TCP/IP or UDP/IP
packets. A good example of this is Telnet, a utility that comes standard with the Windows operating system.
When using DHCP and a DNS (Domain Name Server), the DNS will assign the name “RIO47100-n” to the
controller where n is the serial number of the unit.
Modbus with the RIO
The RIO-47xxx supports Modbus/TCP, and requires an Ethernet connection between its master or slave
devices.
As a Modbus class 1 device, the RIO supports the following Modbus function codes:
Func tion Code Modbus Desc ri ption Gali l Descript i on
1 Read Coil St at us Read Digital Outputs
2 Read Input S t atus Read Digital Inputs
3 Read Holding Regi st ers Read Anal og Input s
4 Read Input Regist ers Read Anal og Output s
5 Forc e Singl e Coi l Write Digi t al O utput
6 Pres et S i ngl e Regis t er Writ e Digi t al Outputs
7 Read Exc eption Sta t us Read Digit al O ut puts
15 Force Multiple Coils Write Digital Outputs
16 P reset Mult i pl e Regi st ers W rite A nal og O ut pu t s
Of the Modbus function codes the RIO supports, all are supported by the RIO when it operates as a master
(also known as a client) or when it operates as a slave (server).
Note 1: By default the RIO uses function code 3 for analog inputs and function code 4 for analog outputs.
For a majority of Modbus devices this functionality is inverted. Use the MV command to switch the
functionality. Please see the command reference for details.
Note 2: The remainder of this document uses the '$' symbol to signify that numbers are in hexadecimal
notation.
14 Chapter 3 Communication RIO-47xxx
Setup
Modbus/TCP requires an Ethernet connection between master and slave. Modbus/TCP also requires that all
slaves communicate with their masters over port 502. See the IH command to setup port communication for
the RIO.
Raw Modbus Send/Receive
Firmware revisions Rev D and newer support raw Modbus read/write functionality. This provides the user
with the most flexibility for interfacing to modbus devices. Specifying a -1 for the Modbus function code
enables the raw read/write of Modbus functions.
See the MB command in the RIO Command Reference for further details.
Modbus Read/Write to Array Table
Firmware revisions Rev D and newer support the ability to read from and write to array data on the RIO. Up
to 1000 elements are available in the RIO-471x2 and 400 in the RIO-47xx0. Each element is accessible as a
16 bit unsigned integer (Modbus register 1xxx) -OR- as a 32 bit floating point number (Modbus registers
2xxx).
See the ME command in the RIO Command Reference for further details.
Sending Modbus Packets
The RIO programming language provides 3 ways of issuing Modb us packets as a master.
1) Issue the MB command of type Mbh = -1,len,array[]
This Galil command allows the user complete control over the creation of their Modbus packet.
len is the number of bytes to be included in the packet, and array[ ] is the name of the array
containing the Modbus packet. Each element of array[] may contain only one byte, and array[] must
contain the entire Modbus packet, including transaction identifiers, protocol identifiers, length field,
Modbus function code, and data specific to that function code.
2) Issue the MB command of type Mbh = addr, x, m, n, array[]
This Galil command allows the user to send a Modbus command easily by allowing the user to
select a few key parameters, and allowing the controller to do the rest. addr is the Unit ID field,
which if not set, Galil will automatically set to the value of the handle the communication is over
(Handle A=$01, B=$02, etc). Also, as a slave the RIO ignores the Unit ID field. x is the function
code of the Modbus command. m is the address at which to begin reading or writing. n is either the
number of coils or the number of registers to read/write. array[] is the array in which data from a
read gets stored or where data to write is stored. See individual function code descriptions in the
command reference for specifics of this command.
3) Issue another Galil command that supports Modbus
The following Galil commands support Modbus, and are an easy way to use the Modbus protocol:
SB,CB,AO,OB,@IN[],@OUT[],@AN[],@AO[]. The I/O number (variable) to use with these
commands when using Modbus can be calculated as follows:
I/O Number = (HandleNum*1000) + (bitNum)
Modbus Exceptions
An RIO configured as a slave will return an exception response if it receives an invalid request (e.g. An
invalid function code, or a communication error). As a class 1 Modbus device the RIO-47xxx can respond
with exception codes $01 or $02. Exception code $01 is returned when a request referencing an Illegal
RIO-47xxx Chapter 3 Communication ● 15
Function is received. Exception code $02 is returned when a request referencing an Illegal Data Address is
received.
When an Exception Response occurs, the function code of the response is $80 added to the original function
code (e.g. Improper use of function code $01 will result in the exception response $81)
An RIO-47xxx configured as a master can query the function code of the last response it received using the
_MW command (see command reference). The _MW command can be used to determine if an exception has
occurred. The _MW1 command (see the command reference) can be used to query the exception code.
16 Chapter 3 Communication RIO-47xxx
Function Code 1 ($01) - Read Coils
Description
Modbus function code $01 is a request to read coils. This will read digital outputs from an RIO configured as
a slave.
Operating as a master
The function code of the response can be queried with the _MW command. If an exception occurred, the
exception code of the response can be queried wi t h _MW1.
Example:
_MW results in $01 _MW results in $81
_MW1 contains $01 or $02
When using the MB command with Modbus function code 1, response data will be stored in the array
referenced in the command line. When using @OUT[], @OUT[] contains the response data, which can either
be stored to a variable or transmitted via serial port or ethernet.
Ways to use function code $01 with Galil commands:
1. MB command in raw packet mode
2. MB command with Modbus function code1
3. @OUT[] (see @OUT[] in the command reference)
Operating as a slave
The RIO will accept a read coils request with a starting address ranging from $0000-$000F, referencing
digital outputs 0-15. The RIO will accept a request for up to all 16 of its digital outputs, with the quantity of
coils ranging from $0001-$0010. The RIO will respond with function code $01 followed by a byte count of
either $01 or $02, which describes the number of by t es of d i gi t a l out puts being returned (byte count =
quantity of outputs/8; if the remainder is not 0, byte count = quantity of outputs/8 +1). The RIO will respond
with a coil status of 1 or 2 bytes (equal to the byte count) ranging from $0001-$FFFF, with each bit
representing the state of a digital output (1 or 0). The LSB of the first coil status byte refers to the output
addressed by the request packet.
Coil Mapping
Normal Response Exception Response
Coil Addresses Coil Addresses
0 Digital Output 0 8 Digital Output 8
1 Digital Output 1 9 Digital Output 9
2 Digital Output 2 10 Digital Output 10
3 Digital Output 3 11 Digital Output 11
4 Digital Output 4 12 Digital Output 12
5 Digital Output 5 13 Digital Output 13
6 Digital Output 6 14 Digital Output 14
7 Digital Output 7 15 Digital Output 15
RIO-47xxx Chapter 3 Communication ● 17
Examples:
MBA= ,1,2,12,array[] Request the status of coils 2-13 (result is stored in array[])
MG@OUT[1002] Requests the status of coil 2 (result is transmitted via serial port or
ethernet)
Packets
The command MBA=,1,2,10,array[] results in the following packets being sent, when one RIO is the master,
and another RIO is the slave, communicati ng over handle A, port 502(Modbus). Ass um e digit a l outputs, in
descending order from 15-0 are: 0,1,1,1,0,0,1,1,0,0,1,1,0,1,1,1
Request Response
Field Name (hex) Field Name (hex)
Function 01 Function 01
Starting Address High 00 Byte Count 02
Starting Address Low 02 Outputs Status 9-2 CD
Quantity of Outputs High 00 Outputs Status 13-10 0C
Quantity of Outputs Low 0C
st
1
Byte of Response Word
bit 7 6 5 4 3 2 1 0
Coil # 9 8 7 6 5 4 3 2
Value 1 1 0 0 1 1 0 1
nd
2
Byte of Response Word
bit 15 14 13 12 11 10 9 8
Coil # X X X X 13 12 11 10
Value 0 0 0 0 1 1 0 0
Note: bits in the response marked 'X' are not valid coil response data, but are instead 0's that fill the
remainder of the byte
On the master RIO, array[0]=205 and array[1]=12 after the MBA= ,2,2,12,array[]command is issued
18 Chapter 3 Communication RIO-47xxx
Function Code 2 ($02) - Read Discrete Inputs
Description
Modbus function code $02 is a request to read discrete inputs. This will read digital inputs from an RIO
configured as a slav e.
Operating as a master
The function code of the response can be queried with the _MW command. If an exception occurred, the
exception code of the response can be queried wi t h _MW1.
Example:
_MW results in $02 _MW results in $82
_MW1 contains $01 or $02
When using the MB command with Modbus function code $02, response data will be stored in the array
referenced in the command line. When using @IN[], @IN[] contains the response data, which can either be
stored to a variable or transmitted via serial port or ethernet.
Ways to use function code 2 with Galil commands:
1. MB command in raw packet mode
2. MB command with Modbus function code 2
3. @IN[] (see @IN[] in the command reference)
Operating as a slave
The RIO will accept a read discrete inputs request with a starting address ranging from $0000-$000F,
referencing digital inputs 0-15. The RIO will accept a request for up to all 16 of its digital inputs, with a
quantity of inputs range of $0001-$0010.
The RIO will respond with a byte count of either $01 or $02, which describes the number of bytes of digital
inputs being returned (byte count = quantity of inputs/8 ; if the remainder is not 0, byte cou nt = quantity of
inputs/8 +1). The RIO will respond with a input status of 1 or 2 bytes (equal to the byte count) ranging from
$0001-$FFFF, with each bit representing the state of a digital input (1 or 0). The LSB of the first input status
byte refers to the input addressed by the request packet.
Coil Mapping
Normal Response Exception Response
Coil Addresses Coil Addresses
0 Digital Input 0 8 Digital Input 8
1 Digital Input 1 9 Digital Input 9
2 Digital Input 2 10 Digital Input 10
3 Digital Input 3 11 Digital Input 11
4 Digital Input 4 12 Digital Input 12
5 Digital Input 5 13 Digital Input 13
6 Digital Input 6 14 Digital Input 14
7 Digital Input 7 15 Digital Input 15
RIO-47xxx Chapter 3 Communication ● 19
Examples:
MBA= ,2,2,12,array[] Request the status of discrete inpu ts 2-13 (result is stored in array[])
MG@IN[1002] Requests the status of input 2 (result is transmitted via serial port or
ethernet)
Packets:
The command MBA=,2,2,12,array[] results in the following packets being sent, when one RIO is the master,
and another RIO is the slave, communicating over handle A, port 502(Modbus). Assume digital inputs, in
descending order from 15-0 are: 0,1,1,1,0,0,1,1,0,0,1,1,0,1,1,1.
Request Response
Field Name (hex) Field Name (hex)
Function 02 Function 02
Starting Address High 00 Byte Count 02
Starting Address Low 02 Inputs Status 9-2 CD
Quantity of Inputs High 00 Inputs Status 13-10 0C
Quantity of Inputs Low 0C
st
1
Byte of Response Word
bit 7 6 5 4 3 2 1 0
Input # 9 8 7 6 5 4 3 2
Value 1 1 0 0 1 1 0 1
nd
2
Byte of Response Word
bit 15 14 13 12 11 10 9 8
Input # X X X X 13 12 11 10
Value 0 0 0 0 1 1 0 1
Note: bits in the response marked 'X' are not valid input response data, but are instead 0's that fill the
remainder of the byte. Inputs report back a 0 when active and a 1 when inactive
On the master RIO, array[0]=205 and array[1]=12 after the MBA= ,2,2,12,array[] command is issued
20 Chapter 3 Communication RIO-47xxx
Function Code 3 ($03) - Read Holding Registers
Description
Modbus function code $03 is a request to read holding registers. In its default configuration the RIO-471x0
responds to this command with analog input register information. To configur e the RIO to respond to a
function code 3 request with analog output information see the MV command in the command reference.
Operating as a master
The function code of the response can be queried with the _MW command. If an exception occurred, the
exception code of the response can be queried wi t h _MW1.
Example:
_MW results in $03 _MW results in $83
_MW1 contains $01 or $02
When using the MB command with Modbus function code $03, response data will be stored in the array
referenced in the command line. When using @AN[], @AN[] contains the response data, which can either be
stored to a variable or transmitted via serial port or ethernet.
Ways to use function code 3 with Galil commands:
1. MB command in raw packet mode
2. MB command with Modbus function code 3
3. @AN[] (see @AN[] in the command reference)
Operating as a slave
The RIO will accept different starting address ranges for a read hol ding re gisters request depending on the
state of the MI command. If MI is set to 0 (register data is volts in 32-bit floating point), the RIO will accept
a read holding registers request with an address range of $0000-$000E. If MI is set to 1 (register data is
counts in 16-bit decimal), The RIO will accept a read holding registers request with an address range of
$0000-$0007. The RIO will accept a request with a quantity of registers field up to $0008 if MI is set to 0,
and $00010 if MI is set to 1.
The RIO will respond with a byte count ranging from $0000 to $0020 if MI is 0, and from $0000 to $0010 if
MI is 1 (Byte Count = 2*NumberOfRegisters, where NumberOfRegisters is equal to the number of analog
inputs you are trying to read multiplied by 2 if MI is 0, or 1 if MI is 1). The RIO will respond with a byte
count field equal to the byte count field in the request packet. The RIO will respond with a register value
field consisting of either 2 bytes (counts) or 4 bytes (32-bit floating point) per analog input in ascending
order from the analog input referenced in the address.
Normal Response Exception Response
RIO-47xxx Chapter 3 Communication ● 21
Galil Register Map
Register
Address
32-Bit Floatin g Point Counts
0 Analog Input 0 Analog Input 0
1A
nalog Input1
2 Analog Input 1 Analog Input 2
3A
nalog Input3
4 Analog Input 2 Analog Input 4
5A
nalog Input5
6 Analog Input 3 Analog Input 6
7A
nalog Input7
8Analog Input 4
9
10 Analog Input 5
11
12 Analog Input 6
13
14 Analog Input 7
15
Examples:
MBA= ,3,2,4,array[] Request the status of holding registers 2-5 (AN1 an d AN 2 i f MI0, or
AN2, AN3, AN4, AN5 if MI1). The response is stored in array[]
MG@AN[1002] Requests the status of analog input 2 (result is transmitted via serial port
or ethernet).
22 Chapter 3 Communication RIO-47xxx
Packets:
The command MBA=,3,2,4,array[] results in the following packets being sent, when one RIO is the master,
and another RIO-47100 is the slave, communicating over handle A, port 502(Modb us). When MI is set to 0
the response is given as volts in 32-bit Floating Point. When MI is set to 1 the response is given as coun ts in
16-bit decimal notation. Assume analog inputs in ascending order from 0-7 are: .4822, .9753, 1.4673, 1.9629,
2.4622, 2.9675, 3.4583, 3.9600
Slave MI0 Slave MI1
Re quest Response Re sponse
Field Name (hex) Field Name (hex) (volts ) Field Name (hex ) (counts)
Function 03 Function 03 Function 03
Starti ng Addres s High 00 By te Count 08 Byt e Count 08
Starti ng Addres s Low 02 RegVal2 Hi gh 3F 0.9753 RegV al 2 Hi gh 25 9600
Quanti ty of Regist ers Hi gh 00 79 RegVal2 Lo w 80
Quanti ty of Regist ers Low 04 B0 RegVal3 Hi gh 32 12904
32-bit F loa t i ng Point Real V alu e 16-bit Integer Real Val ue
RegVal2 Low 00 RegVal3 Low 68
RegVal3 Hi gh 3F 1.4673 RegVal4 Hi gh 3F 16160
BB RegVal4 Lo w 20
D0 RegV al 5 Hi gh 4C 19480
RegVal3 Low 00 RegVal5 Low 18
With the slave MI set to 0, the master RIO’s arrays will look like this:
array[0]=16249
array[1]=45056
array[2]=16315
array[3]=53248
With the slave MI set to 1, the master RIO’s arrays will look like this:
array[0]=9600
array[1]=12904
array[2]=16160
array[3]=19480
RIO-47xxx Chapter 3 Communication ● 23
Function Code 4 ($04) - Read Input Registers
Description
Modbus function code $04 is a request to read input registers. In its default configuration the RIO-471x0
responds to this command with analog output register information. To configure the RIO to respond to a
function code 4 request with analog input information see the MV command in the command reference.
Operating as a master
The function code of the response can be queried with the _MW command. If an exception occurred, the
exception code of the response can be queried wi t h _MW1.
Example:
_MW results in $04 _MW results in $84
_MW1 contains $01 or $02
When using the MB command with Modbus function code $04, response data will be stored in the array
referenced in the command line. When using @AO[], @AO[] contains the response data, which can either be
stored to a variable or transmitted via serial port or ethernet.
Ways to use function code1 with Galil commands:
1. MB command in raw packet mode
2. MB command with Modbus function code 4
3. @AO[] (see @AO[] in the command reference)
Operating as a slave
The RIO will accept different address ranges for a read input registers request depending on the state of the
MI command. If MI is set to 0 (register data is volts in 32-bit floating point), the RIO will accept a read input
registers request with an address range of $0000-$000E. If MI is set to 1 (register data is counts in 16-bit
decimal), The RIO will accept a read input registers request with an address range of $0000-$0007. The RIO
will accept a request with a quantity of registers field up to $0008 if MI is set to 0, and $00010 if MI is set to
1. The RIO will respond with a byte count ranging from $0000 to $0010 if MI is 1, and from $0000 to $0020
if MI is 0 ((byte count = 2*NumberOfRegisters, where NumberOfRegisters is equal to the number of analog
outputs you are trying to read multiplied by 2 if MI is 0, or 1 if MI is 1). The RIO will respond with an input
registers field consisting of either 2 byte s (counts) or 4 bytes (32-bit floating point) per analog output register
in ascending order from the analog output referenced in the address.
Normal Response Exception Response
24 Chapter 3 Communication RIO-47xxx
Galil Register Map
Register
Address
32-Bit Floatin g Point Counts
0 Analog Output 0 Analog Output 0
1 Analog Output 1
2 Analog Output 1 Analog Output 2
3 Analog Output 3
4 Analog Output 2 Analog Output 4
5 Analog Output 5
6 Analog Output 3 Analog Output 6
7 Analog Output 7
8 Analog Output 4
9
10 AnalogOutput 5
11
12 Analog Output 6
13
14 Analog Output 7
15
Examples:
MBA= ,4,2,4,array[] Request the status of Registers 2-5 (AO1 and AO2 if MI0, and AO 2,
AO3, AO4, AO5 if MI1). The response is stored in array[]
MG@AO[1002] Requests the status of analog output 2 (result is transmitted via ethernet or
serial)
RIO-47xxx Chapter 3 Communication ● 25
Packets:
The command MBA=,4,2,4,array[] results in the following packets being sent, when one RIO is the master,
and another RIO-47100 is the slave, communicating over handle A, port 502(Modb us). When MI is set to 0
the response is given as volts in 32-bit Floating Point. When MI is set to 1 the response is given as coun ts in
16-bit decimal notation. Assume analog outputs in ascending order from 0-7 are: .5, 1, 1.5, 2, 2.5, 3, 3.5, 4
Slave MI0 Slave MI1
Re quest Response Re sponse
Field Name (hex) Field Name (hex) (volts ) Field Name (hex ) (counts)
Function 04 Function 04 Function 04
Starti ng Addres s High 00 By te Count 08 Byt e Count 08
Starti ng Addres s Low 02 RegVal2 Hi gh 3F 1.0000 RegV al 2 Hi gh 4C 19661
Quanti ty of Regist ers Hi gh 00 80 RegVal2 Lo w CD
Quanti ty of Regist ers Low 04 00 RegVal3 Hi gh 66 26214
32-bit F loa t i ng Point Real V alu e 16-bit dec i m al Real V a l ue
RegVal2 Low 00 RegVal3 Low 66
RegVal3 Hi gh 3F 1.5000 RegVal4 Hi gh 80 32768
C0 RegV al 4 Low 00
00 RegVal5 Hi gh 99 39321
RegVal3 Low 00 RegVal5 Low 99
With the slave MI set to 0, the master RIO’s arrays will look like this:
array[0]=16256
array[1]=0
array[2]=16320
array[3]=0
With the slave MI set to 1, the master RIO’s arrays will look like this:
array[0]=19661
array[1]=26214
array[2]=32768
array[3]=39321
26 Chapter 3 Communication RIO-47xxx
Function Code 5 ($05) - Write Single Coil
Description
Modbus function code $05 is a request to write a single coil. This will write a digital output of an RIO
configured as a slav e.
Operating as a master
The function code of the response can be queried with the _MW command. If an exception occurred, the
exception code of the response can be queried wi t h _MW1.
Example:
_MW results in $05 _MW results in $85
_MW1 contains $01 or $02
Ways to use Function Code 5 with Galil commands:
1. MB command in raw packet mode
2. MB command with Modbus function code 5
3. SB
4. CB
5. OB
Operating as a slave
The RIO will accept a write single coil request with a starting address ranging from $0000-$000F,
referencing digital outputs 0-15.
The RIO will respond with a Modbus packet that is identical to the packet it received.
Normal Response Exception Response
RIO-47xxx Chapter 3 Communication ● 27
Coil Mapping
Coil Addresses Coil Addresses
0 Digital Output 0 8 Digital Output 8
1 Digital Output 1 9 Digital Output 9
2 Digital Output 2 10 Digital Output 10
3 Digital Output 3 11 Digital Output 11
4 Digital Output 4 12 Digital Output 12
5 Digital Output 5 13 Digital Output 13
6 Digital Output 6 14 Digital Output 14
7 Digital Output 7 15 Digital Output 15
Examples:
For the following example, array[] cont ains [0,0,0,0,0,6,1,5,0,7,$FF,$00 ]
MBA= -1,12,array[] Request to set digital output 7 high
MBA=,5,7,1 Request to set digital output 7 high
SB1007 Request to set digital output 7 high
OB1007,@IN[1000] Request to set digital output 7 high if digital output 0 is high
Packets:
The command MBA=,5,7,1 results in the following packets being sent, when one RIO is the master, and
another RIO is the slave, communicating over handle A, port 502(Modbus) .
Request Response
Field Name (hex) Field Name (hex)
Function 05 Function 05
Starting Address High 00 Starting Address High 00
Starting Address Low 07 Starting Address Low 07
Output Value High FF Output Value High FF
Output Value Low 00 Output Value Low 00
As a result of the MB command above, the slave RIO will have output 7 turned on.
28 Chapter 3 Communication RIO-47xxx
Function Code 6 ($06) - Preset Single Register
Description
Modbus function code $06 is a request to write to a single register. This will write all 16 digital outputs of an
RIO configured as a slave.
Operating as a master
The function code of the response can be queried with the _MW command. If an exception occurred, the
exception code of the response can be queried wi t h _MW1.
Example:
_MW results in $06 _MW results in $86
_MW1 contains $01 or $02
Ways to use function code 6 with Galil commands:
1. MB command in raw packet mode
2. MB command with Modbus function code 6
Operating as a slave
The RIO will accept a preset single register request with a starting address of $0000. The register values can
range from 0x0000 to 0xFFFF and correspond to a binary representation of the 16 digital outputs. The RIO
will respond with a Modbus packet that is identical to the packet it received.
Normal Response Exception Response
RIO-47xxx Chapter 3 Communication ● 29
Coil Mapping
Coil Addresses Coil Addresses
0 Digital Output 0 8 Digital Output 8
1 Digital Output 1 9 Digital Output 9
2 Digital Output 2 10 Digital Output 10
3 Digital Output 3 11 Digital Output 11
4 Digital Output 4 12 Digital Output 12
5 Digital Output 5 13 Digital Output 13
6 Digital Output 6 14 Digital Output 14
7 Digital Output 7 15 Digital Output 15
Examples:
For the following example, array[] cont ains [0,0,0,0,0,6,1,6,0,0,$55,$AA]
MBA= -1,12,array[] Request to write digital outputs 15-0 to $55AA
MBA= ,6,0,$55AA Request to write digital outputs 15-0 to $55AA
Note: writing digital outputs 15-0 to $55AA results in digital outputs 15-0 in descending order, being
0,1,0,1,0,1,0,1,1,0,1,0,1,0,1,0.
Packets:
The command MBA= ,6,0,$55AA results in the following packets being sent, when one RIO is the master,
and another RIO is the slave, communicating over handle A, port 502(Modbus).
Request Response
Field Name (hex) Field Name (hex)
Function 06 Function 06
Starting Address High 00 Starting Address High 00
Starting Address Low 00 Starting Address Low 00
Register Value High 55 Register Value High 55
Register Value Low AA Register Value Low AA
30 Chapter 3 Communication RIO-47xxx
Function Code 7 ($07) – Read Exception Status
Description
Modbus function code $07 is a request to read the 8 exception status outputs. This will read digital outputs 07 of an RIO configured as a slave.
Operating as a master
The function code of the response can be queried with the _MW command. If an exception occurred, the
exception code of the response can be queried wi t h _MW1.
Example:
_MW results in $07 _MW results in $87
_MW1 contains $01 or $02
When using the MB command with Modbus function code $07, response data will be stored in the array
referenced in the command line.
Ways to use function code 7 with Galil commands:
1. MB command in raw packet mode
2. MB command with Modbus function code 7.
Operating as a slave
The RIO will accept a read exception status request. The RIO will respond with function code $07, and will
return 1 byte of output data ranging from $00 to $FF, with each bit representing the state of a digital output
(1 or 0). The LSB of the output data byte is digital output 0, and the MSB of the output data byte is digital
output 7.
Normal Response Exception Response
RIO-47xxx Chapter 3 Communication ● 31
Coil Mapping
Coil Addresses
0 Digital Output 0
1 Digital Output 1
2 Digital Output 2
3 Digital Output 3
4 Digital Output 4
5 Digital Output 5
6 Digital Output 6
7 Digital Output 7
Examples:
MBA= ,7,array[] Request to read exception status
Packets:
The command MBA= ,7,array[] results in the following packets being sent, when one RIO is the master, and
another RIO is the slave, communicating over handle A, port 502(Modbus). Assume digital outputs, in
descending order from 15-0 are:0,1,0,1,0,1,0,1,1,0,1,0,1,0,1,0. ($55AA)
Request Response
Field Name (hex) Field Name (hex)
Function 07 Function 07
Output Data AA
array[0] on the master RIO will equal 170 in this example.
32 Chapter 3 Communication RIO-47xxx
Function Code 15 ($0F) – Write Multiple Coils
Description
Modbus function code ($0F) is a request to write multiple coils. This will write multiple digital outputs to an
RIO configured as a slave.
Operating as a master
The function code of the response can be queried with the _MW command. If an exception occurred, the
exception code of the response can be queried wi t h _MW1.
Example:
_MW results in $0F _MW results in $8F
_MW1 contains $01 or $02
Ways to use function code 15 with Galil commands:
1. MB command in raw packet mode
2. MB command with Modbus function code 15
Operating as a slave
The RIO will accept a write multiple coils request with a starting address ranging from $0000-$000F,
referencing digital outputs 0-15. The RIO will accept a request for up to all 16 of its digital outputs, or
$0001-$0010.
The RIO will respond with function code $0F, a starting address field which matches the starting address
field of the request packet, and a quantity of outputs which matches the quantity of outputs field of the
request packet.
Normal Response Exception Response
RIO-47xxx Chapter 3 Communication ● 33
Coil Mapping
Coil Addresses Coil Addresses
0 Digital Output 0 8 Digital Output 8
1 Digital Output 1 9 Digital Output 9
2 Digital Output 2 10 Digital Output 10
3 Digital Output 3 11 Digital Output 11
4 Digital Output 4 12 Digital Output 12
5 Digital Output 5 13 Digital Output 13
6 Digital Output 6 14 Digital Output 14
7 Digital Output 7 15 Digital Output 15
Examples:
For the following example, array[] contains [0,0,0,0,0,9,1,15,0,0,0,16,2,$AA,$55]
MBA= -1,15,array[] Request to write $AA55 to digital outputs 15-0
For the following example, array[] contains [$AA55]
MBA= ,15,0,16,array[] Request to write $AA55 to digital outputs 15-0
Packets:
The command MBA= ,15,0,16,array[] (when arra y contains [$AA55]) results in the following packets being
sent, when one RIO is the master, and another RIO is the slave, communicating over handle A, port
502(Modbus). The slave RIO’s outputs 15-0 will be set to the following (1 is on 0 is off):
Output 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Value 0 1 0 1 0 1 0 1 1 0 1 0 1 0 1 0
Request Response
Field Name (hex) Field Name (hex)
Function 15 Function 15
Starting Address High 00 Starting Address High 00
Starting Address Low 00 Starting Address Low 00
Quantity of Outputs High 00 Quantity of Outp uts High 00
Quantity of Outputs Low 10 Quantity of Outputs Low 10
Byte Count 02
Outputs Value High AA
Outputs Value Low 55
34 Chapter 3 Communication RIO-47xxx
Function Code 16 ($10) – Write Multiple Registers
Description
Modbus function code ($10) is a request to write multiple registers, also known as analog outputs
Operating as a master
The function code of the response can be queried with the _MW command. If an exception occurred, the
exception code of the response can be queried wi t h _MW1.
Example:
_MW results in $10 _MW results in $90
_MW1 contains $01 or $02
Ways to use function code 16 with Galil commands:
1. MB command in raw packet mode
2. MB command with Modbus function code 16
3. AO[x] See command reference for details
Note: The RIO acting as a master can write up to 123 registers at a time with function code 16 per the
Modbus specification.
The Modbus transaction results are available with the _MW and _MW1 commands.
Operating as a slave
The RIO will accept different starting address ranges for a write multiple registers request depending on the
state of the MI command. If MI is set to 0 (register data is volts in 32-bit floating point), the RIO will accept
an address range of $0001-$000E. If MI is set to 1 (register data is count in 16-bit decimal), the RIO will
accept a write multiple registers request with an address range of $0000-$0007. The RIO will respond with
function code 16, a 2 byte starting address field identical to the starting address field of the request packet,
and a 2 byte quantity of registers field identical to the quantity of registers field of the request packet.
Normal Response Exception Response
RIO-47xxx Chapter 3 Communication ● 35
Galil Register Map
Register
Address
32-Bit Floatin g Point Counts
0 Analog Output 0 Analog Output 0
1 Analog Output 1
2 Analog Output 1 Analog Output 2
3 Analog Output 3
4 Analog Output 2 Analog Output 4
5 Analog Output 5
6 Analog Output 3 Analog Output 6
7 Analog Output 7
8 Analog Output 4
9
10 Analog Output 5
11
12 Analog Output 6
13
14 Analog Output 7
15
Examples:
For the following example, array[] contains [0,0,0,0,0,15,1,16,0,2,0,4,8,64,160,0,0,64,64,0,0]
MBA= -1,21,array[] Request to write 5V to analog output 1 and 3V to analog output 2
For the following example, array[] contains [$40A0, $0000, $4040, $0000] ($40A00000 is 32-bit Floating
Point for 5.0000 decimal and $40400000 is 32-bit Floating Point for 3V decimal)
MBA= ,16,2,4,array[] Request to write 5V to analog output 1 and 3V to analog output 2
AO1001,5 Request to write 5V to analog output 1
36 Chapter 3 Communication RIO-47xxx
Packets:
The command MBA= ,16,2,4,array[] results in the following packets being sent, when one RIO is the master,
and another RIO is the slave, and array[] contains [$40A0,$0000,$4040,$0000], communicating over handle
A, port 502(Modbus). MI is set to 0 on the slave.
Request
Response
32-Bit Floating Point
Field Name (hex) Field Name (hex)
Function 10 Function 10
Starting Address Hi 0 Starting Address Hi 0
Starting Address Lo 2 Starting Address Lo 2
Quantity Outputs Hi 0 Quantity of Registers Hi 0
Quantity Outputs Lo 4 Quantity of Registers Lo 4
Byte Count 8
RegVal0 High 40
A0
0
RegVal0 Low 0
RegVal1 High 40
40
0
RegVal1 Low 0
The slave RIO will have analog output 1 set to 5V and analog output 2 set to 3V
Example 2
The command MBA= ,16,2,2,array[] results in the following packets being sent, when one RIO is the master,
and another RIO-47100 is the slave, and array[] contains [$FFFF,$9999,$6666,$3333], communicating over
handle A, port 502(Modbus). MI is set to 1 on the slave.
Request
Response
Counts
Field Name (hex) Field Name (hex)
Function 10 Function 10
Starting Address Hi 0 Starting Address Hi 0
Starting Address Lo 2 Starting Address Lo 2
Quantity Outputs Hi 0 Quantity of Registers Hi 0
Quantity Outputs Lo 2 Quantity of Registers Lo 2
Byte Count 4
RegVal0 High FF
RegVal0 Low FF
RegVal1 High 99
RegVal1 Low 99
The slave RIO will have analog output 2 set to 5V and analog output 3 set to 3V
RIO-47xxx Chapter 3 Communication ● 37
Analog IO Ranges
The analog inputs and outputs range from different values depending on the configuration of the RIO-471x0.
This information is specifically important when using the RIO to communicate as a modbus slave and MI is
set to 1.
RIO-47100
Analog Inputs
AQx,m(see command reference for details)
m Analog Range Counts Range(decimal) Counts Range(hex)
0 0-5V 0-32572 0x0000 - 0x7FF0
1 +/-5V 0-32572 0x0000 - 0x7FF0
Analog Outputs
Analog Range Counts Range(decimal) Counts Range(hex)
0-5V 0-65520 0x0000 - 0xFFF0
RIO-47120 (12 or 16 bit version)
Analog Inputs
AQx,m(see command reference for details)
m Analog Range Counts Range(decimal) Counts Range(hex)
1 +/5V -32768 to 32767 0x8000 - 0x7FFF
2 +/-10V -32768 to 32767 0x8000 - 0x7FFF
3 0-5V 0-65535 0x0000 - 0xFFFF
4 0-10V 0-65535 0x0000 - 0xFFFF
Analog Outputs
DQx,m(see command reference for details)
m Analog Range Counts Range(decimal) Counts Range(hex)
1 0-5V 0-65535 0x0000 - 0xFFFF
2 0-10V 0-65535 0x0000 - 0xFFFF
3 +/-5V 0-65535 0x0000 - 0xFFFF
4 +/-10V 0-65535 0x0000 - 0xFFFF
38 Chapter 3 Communication RIO-47xxx
Data Record
QR and DR Commands
The RIO can provide a block of status information back to the host computer in a single Ethernet packet
using either the QR or DR commands. The QR command returns the Data Record as a single response. The
DR command causes the controller to send a periodic update of the Data Record out a dedicated UDP
Ethernet handle. The Data Record response packet contains binary data that is a snapshot of the controller’s
I/O status.
Since the Data Record response contains all information in binary format; the result of this command cannot
be displayed in a Galil terminal.
The QR and DR commands will return 4 bytes of header information, followed by an entire data record. A
data record map is provided below.
RIO Data Record
DATA TYPE ITEM
UB 1st byte of header
UB 2nd byte of header
UB 3rd byte of header
UB 4th byte of header
UW Sample number
UB Error Code
UB General Status
UW Analog Out Channel 0 (counts)
UW Analog Out Channel 1 (counts)
UW Analog Out Channel 2 (counts)
UW Analog Out Channel 3 (counts)
UW Analog Out Channel 4 (counts)
UW Analog Out Channel 5 (counts)
UW Analog Out Channel 6 (counts)
UW Analog Out Channel 7 (counts)
UW* Analog In Channel 0 (counts)
UW* Analog In Channel 1 (counts)
UW* Analog In Channel 2 (counts)
UW* Analog In Channel 3 (counts)
UW* Analog In Channel 4 (counts)
UW* Analog In Channel 5 (counts)
UW* Analog In Channel 6 (counts)
UW* Analog In Channel 7 (counts)
UW Output State
UW Input State
UL Pulse Count
SL ZC data – user config urable variable
SL ZD data – user confi gu rable v ari abl e
Note: UB=Unsigned Byte, UW=Unsigned Word (2 bytes of “Little Endian”), SL=Signed Long Word
*These may be signed or unsigned words depending on the AQ setting on the RIO-4712x. For example, if
the bytes received from the data record packet for analog input 0 were 00 80, it could have the following
meaning, depending on AQ
RIO-47xxx Chapter 3 Communication ● 39
Little Endian AQ0,1 AQ0,2 AQ0,3 AQ0,4
80 00 -5 Volts -10 Volts 2.5 Volts 5 Volts
This data can be broken up into sections. The Data Record Map includes the 4 bytes of header. The
General Data Block consists of the sample number, the error code, and the general status. The I/O Data
Block includes all the other items in the above table.
Explanation of Status Information
Header Information –
Bytes 0, 1 of Header:
The first two bytes of the data record provide the header information.
BIT 15 BIT 14 BIT 13 BIT 12 BIT 11 BIT 10 BIT 9 BIT 8
1 N/A N/A N/A N/A N/A N/A N/A
BIT 7 BIT 6 BIT 5 BIT 4 BIT 3 BIT 2 BIT 1 BIT 0
N/A N/A N/A N/A N/A N/A N/A N/A
Bytes 2, 3 of Header:
Bytes 2 and 3 make up a word, which represents the Number of bytes in the data record, including the
header. Byte 2 is the low byte, and byte 3 is the high byte.
Note: The header information of the data records is formatted in little endian.
General Status Information (1 Byte)
BIT 7 BIT 6 BIT 5 BIT 4 BIT 3 BIT 2 BIT 1 BIT 0
Program
Running
N/A N/A N/A N/A Waiting for
input from IN
command
Trace On Echo On
ZC and ZD Commands
Another important feature of the data record is that it contains two variables that can be set by the user. The
ZC and ZD commands are responsible for these variables. Each variable can be a number, a mathematical
equation, or a string. See the Command Reference for more information on the ZC and ZD commands.
40 Chapter 3 Communication RIO-47xxx
Chapter 4 I/O
Introduction
The standard RIO controller has 16 digital inputs, 16 digital outputs, 8 analog inputs and 8 analog outputs.
The interrogation command, TZ, allows the user to get a quick view of the I/O configuration and bit status.
Specifications
Access to I/O points is made through the 44pin and 26pin High Density D-Sub connectors on the top of the
unit. Pinouts for the
Digital Outputs
High Power Digital Outputs
On the RIO-471xx digital outputs 0-7 are opto-isolated sourcing power outputs. On the RIO-472xx all 16 of
the digital outputs are configured this way by default. 12-24VDC with 500mA of current capability per
output. The internal circuit diagram is shown in
Connectors for RIO-47xxx are listed in the Appendix.
Figure 4:
Figure 4: High Power Sourcing Outputs
OP0A should be connected to the positive side of a 12-24VDC external power supply.
OP0B should be connected to Ground on the external power supply
OP0A and OP0B are the Output Power for Bank 0. The device that needs to be turned on/off (solenoid,
relay, etc…) should be connected with the positive side of the device connected to the digital output DO [7:0]
and the negative side connected to the Ground of the power supply. When the SBn (Set Bit n) command is
RIO-47xxx Chapter 4 I/O ● 41
given, this will provide a positive voltage to the device on the output pin to turn it on (with up to 500mA of
current available). A CBn (Clear Bit n) will remove the voltage to turn it off. The bold connections in
are external connections.
4
Figure
RIO-471xxx
There are two internal 2 Amp fuses for the high power outputs, one fuse for outputs 0-3 and another fuse for
outputs 4-7. These fuses are not field-replaceable.
RIO-472xx
OP1A and OP1B are the Output Power for Bank 1 – digital outputs 8-15.
There are two internal 4 Amp fuses for the high power outputs, one fuse for outputs 0-7 (OP0A/OP0B), and
another fuse for outputs 8-15 (OP1A/OP1B). These fuses are not field-replaceable.
Low Power Sinking Outputs
Digital Outputs 8-15 are opto-isolated sinking outputs on the RIO-471xx (by default none of the digital
outputs on the RIO-472xx are configured this way). If ord ered with -08-15 SOURCE option, please see the
section below. 5-24VDC with 25mA of current capability in a sinking configuration.
Figure 5: Low Power Sinking Outputs
OP1B should be connected to the positive side of a 5-24VDC external power supply.
OP1A should be connected to Ground on the external power supply.
OP1A and OP1B are the Output Power for Bank 1. The output can sink up to 25mA of current. The device
should be connected between the digital output DO[15:8] and the positive side of the power supply. When
current is not flowing through the opto-coupler (CB), the 10k resistor pulls-up the output pin to the voltage
supplied to OP1B. When current is flowing through the opto-coupler (SB), the digital output drops to
Ground (supplied by OP1A) and is able to sink up to 25mA of current. The bold connections in
external connections.
Figure 5 are
OUTC jumpers
The OUTC jumpers can be used when an external power supply is not desired for digital out put s 8-15. These
low power outputs can use the internal +5V from the RIO instead. To do this, place a jumper on the pins
labeled OUTC as shown here:
Note: These jumpers DO NOT supply power to high power digital outputs;, an external supply is required
for these outputs
42 Chapter 4 I/O RIO-47xxx
OUTC
INC
PWM Outputs
With firmware revisions Rev D and newer, Digital Outputs 14 and 15 can be setup independently as PWM
outputs using the DY, FQ and PM commands. The standard opto-isolated outputs found on the RIO-47xxx
will have a limited bandwidth (50Hz) that will not allow the full range of frequency and duty cycle available
from the DY, FQ and PM commands. The RIO can be ordered with a –PWM option that will bypass the
opto-isolated outputs and provide buffered outputs for DO14:15. See the
All RIO-47122 Encoder Options will utilize Digital Inputs 12,13,14 and 15 and Digital Outputs 12,13,14 and
15. These digital inputs and outputs will not be available as standard digital I/O when the -QUAD or -SSI
option is ordered with the RIO-47122.
The QE command is used to read the encoder register, the WE command sets the current position of the
encoder (-QUAD only) and the SE command configures the encoder when the –SSI option is ordered. The
register that is read using the QE command is updated by the RIO every 25ms. See the QE, WE and SE
commands in the RIO command reference for more information.
-QUAD and -SSI
Electrical Specifications
Power: The encoders must be powered by an external power
supply. The RIO does not supply power to the
encoder.
Input buffers: AM23LV32
Output buffers (SSI Clock): AMP26LV31
-QUAD maximum frequency: 8 MHz
1
Hardware update rate. Register read by the QE command is updated at a rate of 40Hz.
1
-QUAD Pinout
Encoder Signal Label (Connector.Pin)
Channel 0 A+ DO14 (J4.24)
Channel 0 A- DO12 (J4.39)
Channel 0 B+ DO15 (J4.38)
Channel 0 B- DO13 (J4.9)
Channel 1 A+ DI14 (J4.31)
Channel 1 A- DI12 (J4.2)
Channel 1 B+ DI15 (J4.1)
Channel 1 B- DI13(J4.17)
Ground N/C (J4.41)
-SSI Pinout
Encoder Signal Label (Connector.Pin)
RIO-47xxx Chapter 4 I/O ● 43
Channel 0 Clock+ DO14 (J4.24)
Channel 0 Clock- DO12 (J4.39)
Channel 0 Data+ DO15 (J4.38)
Channel 0 Data- DO13 (J4.9)
Channel 1 Clock+ DI14 (J4.31)
Channel 1 Clock - DI12 (J4.2)
Channel 1 Data+ DI15 (J4.1)
Channel 1 Data- DI13(J4.17)
Ground N/C (J4.41)
Part number ordering example: RIO-47122-QUAD
-PWM section in the Appendix for more information.
Digital Inputs
Digital inputs 0-15 are opto-isolated inputs with a range of 5-24VDC. There is a 2.2k internal series resistor
to INC0 (Input Common Bank 0) for inputs 0-7 and INC1 (Input Common Bank 1) for inputs 8-15. The
series resistor limits the current through the PS2805 opto-coupler. The INC0 and INC1 can either be
connected to the positive side of a DC power supply or to the Ground side of a DC power supply. When a
device is connected to the digital input, current flowing through the opto-coupler will cause the input to turn
on. The logic of the input can be configured using the IQ command.
+5V to 24V
or
GND
Toggle
+5V to 24V or GND
(needs to be the opposite of
what goes into INC0 and INC1)
Switch
Figure 6: Digital Inputs
INC jumpers
The INC jumpers can be used when an external power supply is not desired for digital inputs 0-15. These
inputs can use the internal +5V from the RIO instead. To do this, place a jumper on the pins labeled INC as
shown here:
OUTC
INC
When using the INC jumpers, the digital inputs must have a reference. This reference comes from the RIO
from pin 34 (INC0B) for inputs 0-7 and from pin 16 (INC1B) for inputs 8-15.
44 Chapter 4 I/O RIO-47xxx
Toggle
Switch
DI0-DI7
or
DI8-DI15
INC0B (pin 34)
or
INC1B (pin 16)
Pulse Counter Input
Digital input 3 (DI3) is a special purpose input that (when enabled) is used to count pulses coming in. To
enable the pulse counter, the PC command must be issued with the following syntax:
PCn where
n=0 (default) input DI3 is a general purpose input
n=1 sets input DI3 to be a rising edge pulse counter (also clears the pulse counter)
n=-1 sets input DI3 to be a falling edge pulse counter (also clears the pulse counter)
n=? returns the status of the pulse counter (0 if disabled, 1 if enabled)
When the PC command is enabled, input DI3 will count high or low going edges. The operand _PC is used
to report back the number of pulses counted. The maximum frequency of the input is limited by the optocouplers to 300 Hz. If a higher frequency is needed order the
-HS option in the Appendix.
Analog Outputs
RIO-4710x:
Analog Outputs 0-7 on the RIO-4710x are 12 bit analog outputs and have a voltage range of 0-5VDC. The
outputs can sink or source up to 4mA of current.
RIO-4712x:
Analog Outputs 0-7 on the RIO-4712x have a configurable voltage range that is set using the DQ command.
The default outputs have a 12bit DAC resolution (order RIO-4712x-16 for 16 bit resolution). The analog
outputs can sink or source up to 4mA of current. See the DQ command in the Command Reference for a
full explanation.
DQ Analog Output Range
DQ 0,1 Sets AO0 to 0-5VDC
DQ 1,2 Sets AO1 to 0-10VDC
DQ 2,3 Sets AO2 to +/-5VDC
DQ 3,4 Sets AO3 to +/-10VDC
Analog Inputs
Each analog input goes through its own internal ADC (Analog to Digital Converter) but when differential
mode is chosen – the inputs are treated as “pairs”. The difference of two analog inputs is the value reported
by the controller. The same analog value is reported on both “pairs” of inputs. The table below shows how
the differential channels are grouped. For instance, if AN0 is at 1.5VDC and AN1 is at 0VDC, a value of
1.5V is reported on @AN[0] and @AN[1].
RIO-47xxx Chapter 4 I/O ● 45
−
=
Here’s the equation used to get the analog value for a sample pair of inputs (0 and 1).
10_ InputInputvalueAI
RIO-4710x:
Analog Inputs 0-7 have a voltage range of 0-5VDC. They have 12bit ADC (a resolution of approximately
1.22mV) with a 100k input impedance.
Depending on the hardware configuration, the AQ command behaves differently. (Check the ID command to
see what style of RIO hardware is installed.)
AQ Differential Pairs
AQ 0,1 Input 0 & Input 1
AQ 2,1 Input 2 & Input 3
AQ 4,1 Input 4 & Input 5
AQ 6,1 Input 6 & Input 7
Table 1: Differential Analog Input Channels on RIO-4710x
RIO-4712x:
The default resolution for the RIO-4712x is 12bit with a 16bit option. The part number is RIO-4712x-16 for
the 16 bit version.
Input Impedance:
Single Ended: 42k Ω
Differential: 31k Ω
Use the AQ command to specify the analog input range on the RIO-4712x.
AQ Input Range
AQ 0,1 Set input 0 to have +/-5V input ra nge
AQ 1,2 Set input 1 to have +/-10V input range
AQ 2,3 Set input 2 to hav e 0-5V input range
AQ 3,4 Set input 3 to have 0-10V input range
Table 2: Setting Input Ranges on RIO-4712x
On the RIO-4712x, the AQ command also allows the RIO to change the configuration from the default 8
single ended analog inputs to 4 differential analog inputs.
AQ Differential Pairs
AQ 0,-1 Input 0 & Input 1 and +/-5V input range
AQ 2,-2 Input 2 & Input 3 and +/-10V input range
AQ 4,-3 Input 4 & Input 5 and 0-5V input range
AQ 6,-4 Input 6 & Input 7 and 0-10V input range
Table 3: Differential Analog Input Channels on RIO-4712x
RIO-472xx
The default resolution for the RIO-472xx is 12 bit with a 16 bit option. The part number is RIO-472xx-16 for
the 16 bit version.
Input Impedance (default 12 bit):
Single Ended: 100kΩ
46 Chapter 4 I/O RIO-47xxx
Input Impedance (With +-10V option)
Single Ended: 42k Ω
Differential: 31k Ω
See the AQ command in the command reference for a full explanation.
Analog Process Control Loop
A Process Control Loop allows closed loop control of a process or device. The RIO-471x0 has two
independent PID filters to provide process control of two devices simultaneously. The RIO-471x2 has a total
of 6 PID loops available. The default configuration for the RIO-472xx has no analog outputs and therefore 0
PID loops. If the RIO-472xx is ordered with analog outputs, then it will have 2 PID loops available. The set
of commands shown in the table below are used to set the structure of the Process Control Loop.
Command Description
AF Analog Input for feedback
AZ Analog Output for control
KP Proportional Gain
KD Derivative Gain
KI Integral Gain
IL Integrator Limit
DB Deadband
CL Control Loop Update Rate
PS Commanded Setpoint
TE Tell Error
AQ Analog Input Range
DQ Analog Output Range
*Note – All PID parameters are burnable except PS, DB, AQ, and DQ. If you issue a BN with the PID’s
enabled the default values for PS,DB,AQ, and DQ will be in effect upon power up.
To understand how a Process Control Loop works on the RIO, consider an example where it is desirable to
control the temperature of an oven. The key items needed to do this are a heater, a temperature sensor, the
oven itself, and a RIO unit to control the process. As shown in the diagram below, the heating element is
coupled to the “System” which in this case is the oven. The temperature sensor provides feedback to the RIO
in the form of an analog input. The RIO unit then compares the desired set-poin t (entered by the PS
command) with the temperature sensor. The difference between the two is called the error “E”. The error
goes through a PID digital filter and then through a Digital to Analog Converter (DAC) which outputs a
control voltage to the heater to close the loop.
Temperature
Setpoint
(PS)
+
ADC
RIO-47100
E
Σ
-
PID Digital
Filter
Figure 7: Process Control Loop
DAC Heater System
Feedback
V
(Volts)
Kh
Τ
Ks
Temperature
Sensor
RIO-47xxx Chapter 4 I/O ● 47
The example program below uses analog input 0 as the feedback from the temperature sensor and analog
output 0 as the control voltage to the heater. An update rate of 25msec was set using the CL command, but a
slower update rate could have been chosen due to the slow nature of temperature response. The PID values
entered were experimentally found to provide optimum results based on the system. The desired set-point
was chosen as 1V. A dead-band of 0.1V was added in order to prevent the system from responding to minor
disturbances of the sensor.
#PCL
CL 25; '25msec update rate
AF 0; 'analog input 0 as feedback
AZ 0; 'analog output 0 as control
KP 1; 'proportional gain to 1
KD 10; 'derivative gain to 10
KI 0.5; 'integral gain to 0.5
DB 0.1; 'deadband of 0.1V
PS 1.8; 'set-point at 1.8V
Note: When the Process Control Loop is enabled, the Analog output voltage is normalized to half of the total
voltage input. For instance, with a 0-5V analog input range such as the RIO-47100 – the voltage is
normalized to 2.5V. This allows the output to go below 2.5 to compensate for a negative error and above
2.5V to compensate for positive error.
The AQ and DQ must be set on the RIO-47120 to configure the Analog input and output ranges before the
process control loops are run and prior to setting AZ & AF. The range of the PS command is dependant on
the AQ command.
Current vs Flow Control Mode
The PID loop on the RIO-47xxx by default works as a “current” mode loop. This means that when position
error is 0 the analog output will also be set to zero.
Firmware revisions Rev D and newer allow the user to set a negative value for the DB command that will set
the Process control loop into a flow control or velocity mode. When DB is set to a negative value, the analog
output will be held at its current value and the PID’s will be held constant when the feedback is within the
range set by the DB command. This mode is preferable for many fluid and temperature control applications.
48 Chapter 4 I/O RIO-47xxx
Chapter 5 Programming
Overview
The RIO provides a versatile programming language that allows users to customize the RIO board for their
particular application. Programs can be downloaded into the RIO memory, freeing up the host computer for
other tasks. However, the host computer can send commands to the RIO at any time, even while a program
is being executed.
In addition to commands that handle I/O, the RIO provides commands that allow it to make decisions. These
commands include conditional jumps, event triggers, and subroutines. For example, the command
JP#LOOP, n<10 causes a jump to the label #LOOP if the variable n is less than 10.
For greater programming flexibility, the RIO provides user-defined variables, arrays, and arithmetic
functions. The following sections in this chapter discuss all aspects of creating applications programs. The
RIO-47xx0 program memory size is 200 lines x 40 characters. The RIO 47xx2 increases the memory size to
a total of 400 lines x 40 characters.
Editing Programs
Use Galil software to enter programs in the Editor window. After downloading a program, use the XQ
command to execute the program. The RIO also has an internal editor that may be used to create and edit
programs in the RIOs memory. The internal editor is a rudimentary editor and is only recommended when
operating with Galil’s DOS utilities or through a simple RS-232 communication interface such as Windows
Hyperterminal. See the ED command in the Command Reference for more info.
Program Format
A RIO program consists of instructions combined to solve a programmable logic application. Action
instructions, such as setting and clearing I/O bits, are combined with Program Flow instructions to form the
complete program. Program Flow instructions evaluate real-time conditions, such as elapsed time or input
interrupts, and alter program flow accordingly.
A delimiter must separate each RIO instruction. Valid delimiters are the semicolon (;) or carriage return.
The semicolon is used to separate multiple instructions on a single program line where the maximum number
of characters on a line is 40 (including semicolons and spaces). A line continuation character ( ` ) (below the
~ on a standard keyboard) allows a command to be continued on the next line in the case that 40characters is
not enough for a single command (see example at the end of this section).
RIO-47xxx Chapter 5 Programming ● 49
Using Labels in Programs
All RIO programs must begin with a label and end with an End (EN) statement. Labels start with the number
(#) sign followed by a maximum of seven characters. The first character must be a letter; after that, numbers
are permitted. Spaces are not allowed.
The maximum number of labels that can be defined in the RIO-47xx0 is 62. The RIO-47xx2 increases this to
a total of 126 labels.
Valid labels:
#BASICIO
#SQUARE
#X1
#input1
Invalid labels:
#1Square
#123
#PROGRAMMING (longer than 7 characters)
Special Labels
The RIO also has some special labels, which are used to define input interrupt subroutines and command
error subroutines. The following is a list of the automatic subroutines supported by the RIO. Sample
programs for these subroutines can be found in the section Automatic Subroutines for Monitoring Conditions.
#AUTO Automatic Program Execution on power up
#ININTn Label for Input Interrupt subroutine
#CMDERR Label for incorrect command subroutine
#TCPERR Ethernet communication error
#AUTO is a special label for automatic program execution. A program which has been saved into the
controller non-volatile memory using the BP (Burn Program) command can be automatically executed upon
power up or reset by beginning the program with the label #AUTO.
Commenting Programs
Using an Apostrophe to Comment
The RIO provides an apostrophe (‘) for commenting programs. This character allows the user to include up
to 39 characters on a single line after the apostrophe and can be used to include comments from the
programmer as in the following example:
#OUTPUT
‘ PROGRAM LABEL
SB1; CB2
‘Set Bit 1 and Clear Bit 2
EN; ‘END OF PROGRAM
Note: The NO command also works to comment programs. The inclusion of the apostrophe or NO
commands will require process time by the RIO board.
Using REM Statements with the Galil Terminal Software
When using Galil software to communicate with the RIO, REM, as in remark, statements may also be
included. ‘REM’ statements begin with the word ‘REM’ and may be followed by any comments that are on
50 Chapter 5 Programming RIO-47xxx
the same line. The Galil terminal software will remove these statements when the program is downloaded to
the RIO board. For example:
#OUTPUT
REM PROGRAM LABEL
SB1;CB2;
REM Set Bit 1 and Clear bit 2
EN
REM END OF PROGRAM
Since the REM statements will be removed when the program is downloaded to RIO, be sure to keep a copy
of the program with comments stored on the PC.
Program Lines Greater than 40 Characters
Line Continuation Character
A new character ( ` ) {ascii character 96} has been included to allow a command in an application program to
extend beyond the confines of the 40 character maximum line length.
#TEST
IF((var100=100)& (var101=50));MG"Condi`
tion satisfied”;ELSE;MG”Stop”;ENDIF
EN
This allows for
a) more efficient command compressing
b) the continuation of message commands (MG) on multiple lines.
c) Longer IF, JP, & JS conditional statements
(Note: the total length of a multi-line command can not exceed 80 characters)
Lock Program Access using Password
The RIO can lock out user access to the internal program using the PW and {cntrl}L{cntrl}K commands.
The PW sets the Password for the unit and the {cntrl}L{cntrl}K will lock the application program from being
viewed or edited . The commands ED, UL, LS and TR will give privilege error #106 when the RIO is in a
locked state. The program will still run when locked. The locked or unlocked state can be burned with the
BN command. Once the program is unlocked, it remains accessible until a lock command or a reset (with
the locked condition burned in) occurs. An example of how to lock the program is shown here:
:PW test, test
:^L^K test,1 1 locks, 0 unlocks
:LS
?
TC1
106 Privilege violation
RIO-47xxx Chapter 5 Programming ● 51
Executing Programs - Multitasking
The RIO can run up to 4 independent programs or threads simultaneously. They are numbered 0 thru 3,
where 0 is the main thread.
The main thread differs from the others in the following ways:
1. Only the main thread, thread 0, may use the input command, IN.
2. When interrupts are implemented for command errors, the subroutines are executed in thread 0. However
for the #ININTn subroutines, the RIO has the ability to execute multiple input interrupts (#ININTn) on
designated threads, not limited to the main thread. For more information, refer to the II command in the
Command Reference.
To begin execution of the various programs, use the following instruction:
XQ #A,n
Where A represents the label and n indicates the thread number. To halt the execution of any thread, use the
instruction
HX n
where n is the thread number.
Note that both the XQ and HX commands can be performed from within an executing program.
For example:
Instruction Interpretation
#TASK1 Task1 label
AT0 Initialize reference time
CB1 Clear Output 1
#LOOP1 Loop1 label
AT 10 Wait 10 msec from reference time
SB1 Set Output 1
AT -40 Wait 40 msec from reference time, then initialize reference
CB1 Clear Output 1
JP #LOOP1 Repeat Loop1
#TASK2 Task2 label
XQ #TASK1,1 Execute Task1
#LOOP2 Loop2 label
WT20000 Wait for 20 seconds
HX1 Stop thread 1
MG”DONE” Print Message
EN End of Program
The program above is executed with the instruction XQ #TASK2,0 which designates TASK2 as the main
thread (i.e. Thread 0). #TASK1 is executed within TASK2.
Debugging Programs
The RIO provides commands and operands that are useful in debugging application programs. These
commands include interrogation commands to monitor program execution, determine the state of the RIO
52 Chapter 5 Programming RIO-47xxx
board and the contents of the program, array, and variable space. Operands also contain important status
information, which can help to debug a program.
Trace Commands
The trace command causes the RIO to send each line in a program to the host computer immediately prior to
execution. Tracing is enabled with the command, TR1. TR0 turns the trace function off. Note: When the
trace function is enabled, the line numbers as well as the command line will be displayed as each command
line is executed. The program lines come back as unsolicited messages.
Error Code Command
When a program error occurs, the RIO halts the program execution at the point of the error. To display the
last line number of program execution, issue the command, MG _ED.
The user can obtain information about the type of error condition that occurred by using the command TC1.
This command returns a number and text message, which describe the error condition. The command TC0
(or TC) will return the error code without the text message. For more information about the command TC,
see the Command Reference.
RAM Memory Interrogation Commands
For debugging the status of the program memory, array memory, or variable memory, the RIO has several
useful commands. The command DM ? will return the number of array elements currently available. The
command DA? will return the number of arrays that can be currently defined. For example, the RIO has a
maximum of 400 array elements in up to 6 arrays. If a single array of 100 elements is defined, the command
DM ? will return the value 250, and the command DA ? will return 5.
To list the contents of the variable space, use the interrogation command LV (List Variables). To list the
contents of array space, use the interrogation command LA (List Arrays). To list the contents of the program
space, use the interrogation command LS (List Program). To list the application program labels only, use the
interrogation command LL (List Labels).
Operands
In general, all operands provide information that may be useful in debugging an application program. Below
is a list of operands that are particularly valuable for program debugging. To display the value of an operand,
the message command may be used. For example, since the operand, _ED, contains the last line of program
execution, the command MG _ED will display this line number.
_ED contains the last line of program execution (useful to determine where program stopped)
_DL contains the number of available labels (62 max.)
_UL contains the number of available variables (126 max.)
_DA contains the number of available arrays (6 max.)
_DM contains the number of available array elements (400 max.)
Debugging Example:
The following program has an error. It attempts to set bit 14 high, but “SD” is used as the command instead
of “SB”. When the program is executed, the RIO stops at line 001. The user can then query the RIO board
using the command, TC1. The RIO responds with the corresponding explanation:
Instruction Interpretation
:LS List Program
000 #A Program Label
RIO-47xxx Chapter 5 Programming ● 53
001 SD14 Set bit 14 high
002 SB15 Set bit 15 high
003 MG”DONE” Print message
004 EN End
:XQ #A Execute #A
?001 SD14 Error on Line 1
:TC1 Tell Error Code
130 Unrecognized Command This command doesn’t
:MG_ED Print line number where problem occurred
1.00 The error occurred on line 1 of the program
Program Flow Commands
The RIO provides instructions to control program flow. The RIO program sequencer normally executes
program instructions sequentially. The program flow can be altered with the use of interrupts and conditional
jump statements.
Interrupts
To function independently from the host computer, the RIO can be programmed to make decisions based on
the occurrence of an input interrupt, causing the RIO board to wait for multiple inputs to change their logic
levels before jumping into a corresponding subroutine. Normally, in the case of a Galil controller, when an
interrupt occurs, the main thread will be halted. However, in the RIO, the user can indicate in which thread
(the thread must be already running when the interrupt occurs) the interrupt subroutine is to be run. When
the interrupt occurs, the specified thread’s main program will be paused to allow the interrupt subroutine to
be executed. Therefore, the user has the choice of interrupting a particular thread execution upon an input
interrupt (see II command). The input interrupt routines are specified using #ININTn where n can be 0-3. In
this way, the RIO can make decisions based on its own I/O status without intervention from a host computer.
The Return from Interrupt (RI) command is used to return from this subroutine to the place in the program
where the interrupt had occurred. If it is desired to return to somewhere else in the program after the
execution of the #ININTn subroutine, the Zero Stack (ZS) command is used, followed by unconditional jump
statements.
Note: When using multiple II commands in a program, each II command must point to a unique label and
must activate on an unused thread. Two or more II commands cannot be set to execute on the same thread,
nor can multiple II commands be pointed to the same #ININTn label. Please see the II command in the RIO47xxx command reference for more details.
54 Chapter 5 Programming RIO-47xxx
Examples:
Interrupt
Instruction Interpretation
#A Program Label
XQ#B,1 Execute #B in thread 1
II1,0,-1&3 #ININT1 in thread 0 when input 1 low and input 3 high
II2,1,-5&10 #ININT2 in thread 1 when input 5 low and input 10 high
AI 13&14 Trippoint on inputs 13 and 14
#LOOP;JP#LOOP Pseudo program – Loop indefinitely
EN End program
#B Program Label
AI 7&-8 Trippoint on inputs 7 and 8
#LOOP2
SB10 Set bit 10 high
WT500 Wait for half a second
CB10 Set bit 10 low
WT500 Wait for 500msec
JP#LOOP2 Create a ‘light-blinker’ effect
EN End program
#ININT1 Input interrupt program label
MG”Loop stops” Print message, saying loop program in main thread halted
RI0 Return to main program without restoring trippoint, but keeping the
interrupt enabled
#ININT2
MG”Blinker stops” Print message, saying blinker effect in thread 1 halted, since #ININT2
runs in thread 1
WT10000 Wait 10 seconds for user to reset inputs 5 and 10
RI1,1 Return to thread 1’s main program (blinker continues) while restoring
trippoint on inputs 5 and 10; interrupt disabled
Note: This multitasking program can be executed with the instruction XQ #A,0 designating A as the main
thread (i.e. Thread 0). #B is executed within A.
Event Trigger
This example waits for input 1 to go low and input 3 to go high, and then execute the TZ interrogation
command. Note: The AI command actually halts execution of the program until the input occurs. If you do
not want to halt the program sequences, use the Input Interrupt function (II) or a conditional jump on an
input, such as:
JP #GO,(@IN[1] = 0) | (@IN[3] = 1).
Instruction Interpretation
#INPUT Program Label
AI-1&3 Wait for input 1 low and input 3 high
TZ List the entire I/O status
EN End program
RIO-47xxx Chapter 5 Programming ● 55
Conditional Jumps
The RIO provides Conditional Jump (JP) and Conditional Jump to Subroutine (JS) instructions for branching
to a new program location based on a specified condition. The conditional jump determines if a condition is
satisfied and then branches to a new location or subroutine. Unlike event triggers such as the AI command,
the conditional jump instruction does not halt the program sequence. Conditional jumps are useful for testing
events in real-time. They allow the RIO to make decisions without a host computer.
Command Format - JP and JS
Format Description
JS destination, logical condition Jump to subroutine if logical condition is satisfied
JP destination, logical condition Jump to location if logical condition is satisfied
The destination is a program line number or label where the program sequencer will jump if the specified
condition is satisfied. Note that the line number of the first line of program memory is 0. The comma
designates "IF". The logical condition tests two operands with logical operators.
56 Chapter 5 Programming RIO-47xxx
Logical operators:
Operator Description
< less than
> greater than
= equal to
<= less than or equal to
>= greater than or equal to
<> not equal
Conditional Statements
The conditional statement is satisfied if it evaluates to any value other than zero. The conditional statement
can be any valid RIO numeric operand, including variables, array elements, numeric values, functions,
keywords, and arithmetic expressions. If no conditional statement is given, the jump will always occur.
Examples:
Number V1=6
Numeric Expression V1=V7*6
@ABS[V1]>10
Array Element V1<Count[2]
Variable V1<V2
Internal Variable _TI1=255
_DM<100
I/O V1>@IN[2]
@IN[1]=0
Multiple Conditional Statements
The RIO will accept multiple conditions in a single jump statement. The conditional statements are
combined in pairs using the operands “&” and “|”. The “&” operand between any two conditions, requires
that both statements be true for the combined statement to be true. The “|” operand between any two
conditions requires that only one statement be true for the combined statement to be true.
Note: Each condition must be placed in parentheses for proper evaluation by the RIO. In addition, the RIO
executes operations from left to right.
For example, using variables named V1, V2, V3 and V4:
JP #TEST, (V1<V2) & (V3<V4)
In this example, this statement will cause the program to jump to the label #TEST if V1 is less than V2 and
V3 is less than V4. To illustrate this further, consider this same example with an additional condition:
JP #TEST, ((V1<V2) & (V3<V4)) | (V5<V6)
This statement will cause the program to jump to the label #TEST under two conditions: 1) If V1 is less than
V2 AND V3 is less than V4. OR 2) If V5 is less than V6.
Using the JP Command:
If the condition for the JP command is satisfied, the RIO branches to the specified label or line number and
continues executing commands from this point. If the condition is not satisfied, the RIO board continues to
execute the next commands in sequence.
Instruction Interpretation
RIO-47xxx Chapter 5 Programming ● 57
JP #Loop,COUNT<10 Jump to #Loop if the variable, COUNT, is less than 10
JS #MOVE2,@IN[1]=1 Jump to subroutine #MOVE2 if input 1 is logic level high. After
the subroutine MOVE2 is executed, the program sequencer returns
to the main program location where the subroutine was called.
JP #BLUE,@ABS[V2]>2 Jump to #BLUE if the absolute value of variable, V2, is greater
than 2
JP #C,V1*V7<=V8*V2 Jump to #C if the value of V1 times V7 is less than or equal to the
value of V8*V2
JP#A Jump to #A
Using If, Else, and Endif Commands
The RIO provides a structured approach to conditional statements using IF, ELSE and ENDIF commands.
Using the IF and ENDIF Commands
An IF conditional statement is formed by the combination of an IF and ENDIF command. The IF command
has arguments of one or more conditional statements. If the conditional statement(s) evaluates true, the
command interpreter will continue executing comman ds which follow the IF command. If the conditional
statement evaluates false, the RIO will ignore commands until the associated ENDIF command is executed
OR an ELSE command occurs in the program (see discussion of ELSE command below).
Note: An ENDIF command must always be executed for every IF command that has been executed.
Using the ELSE Command
The ELSE command is an optional part of an IF conditional statement and allows for the execution of
commands only when the argument of the IF command evaluates False. The ELSE command must occur
after an IF command and has no arguments. If the argument of the IF command evaluates false, the RIO will
skip commands until the ELSE command. If the argument for the IF command evaluates tru e, the RIO board
will execute the commands between the IF and ELSE commands.
Nesting IF Conditional Statements
The RIO allows for IF conditional statements to be included within other IF conditional statements. This
technique is known as 'nesting' and the RIO allows up to 255 IF conditional statements to be nested. This is a
very powerful technique allowing the user to specify a variety of different cases for branching.
Command Format - IF, ELSE and ENDIF
Function Condition
IF conditional statement(s) Execute commands proceeding IF command (up to ELSE command)
if conditional statement(s) is true, otherwise continue executing at
ENDIF command or optional ELSE command.
ELSE Optional command. Allows for commands to be executed when
argument of IF command evaluates not true . Can onl y be used with
IF command.
ENDIF Command to end IF conditional statement. Program must have an
ENDIF command for every IF command.
Example using IF, ELSE and ENDIF:
Instruction Interpretation
#TEST Begin Main Program "TEST"
#LOOP Begin loop inside main program
58 Chapter 5 Programming RIO-47xxx
TEMP=@IN[1]|@IN[2] TEMP is equal to 1 if either Input 1 or Input 2 is high
JS#COND, TEMP=1 Jump to subroutine if TEMP equals 1
JP#LOOP Loop back if TEMP doesn’t equal 1
EN End of main program
#COND Begin subroutine “COND”
IF (@IN[1]=0) IF conditional statement based on input 1
IF (@IN[2]=0)
MG "INPUT 1 AND INPUT 2 ARE
nd
2
IF conditional statement executed if 1st IF
conditional true
Message to be executed if 2
nd
IF conditional is true
INACTIVE"
MG "ONLY INPUT 1 IS ACTIVE”
ELSE
ENDIF
ELSE command for 2nd IF conditional statement ELSE
Message to be executed if 2
End of 2nd conditional statement ENDIF
ELSE command for 1
Message to be executed if 1st IF conditional statement MG"ONLY INPUT 2 IS ACTIVE"
End of 1
st
conditional statement
nd
IF conditional is false
st
IF conditional statement
#WAIT Label to be used for a loop
JP#WAIT,(@IN[1]=0) & (@IN[2]=0) Loop until both input 1 and input 2 are not active
EN End of subroutine
Stack Manipulation
It is possible to manipulate the subroutine stack by using the ZS command. Every time a JS instruction,
interrupt or automatic routine (such as #ININTn or #CMDERR) is executed, the subroutine stack is
incremented by 1 (up to a maximum of 16). Normally the stack is restored with an EN instruction.
Occasionally it is desirable not to return back to the program line where the subroutine or interrupt was
called. The ZS1 command clears 1 level of the stack. This allows the program sequencer to continue to the
next line. The ZS0 command resets the stack to its initial value. For example, if an interrupt occurs and the
#ININT1 routine is executed, it may be desirable to restart the program sequence instead of returning to the
location where the interrupt occurred. To do this, give a ZS (ZS0) command at the end of the #ININT1
routine.
Auto-Start Routine
The RIO has a special label for automatic program execution. A program that has been saved into the RIO
non-volatile memory can be automatically executed upon power up or reset, simply by beginning the
program with the label #AUTO.
Note: The program must be saved into non-volatile memory using the command, BP.
Automatic Subroutines for Monitoring Conditions
Often it is desirable to monitor certain conditions continuously without tying up the host or RIO program
sequences. The RIO can monitor several important conditions in the background. These con ditions include
checking for the occurrence of a defined input, position error, a command error, or an Ethernet
communication error. Automatic monitoring is enabled by inserting a special, predefined label in the
applications program. The pre-defined labels are:
SUBROUTINE DESCRIPTION
#AUTO Automatic Program Execution on power up
#AUTOERR Automatic Program Execution on power up if error condition occurs
#ININTn Input specified by II goes low (n from 0 to 3)
#CMDERR Bad command given
RIO-47xxx Chapter 5 Programming ● 59
#TCPERR Ethernet communication error
#COMINT Communication Interrupt Routine
For example, the #ININT label could be used to designate an input interrupt subroutine. When the sp ecified
input occurs, the program will be executed automatically.
NOTE: An application program must be running for automatic monitoring to function.
Example - Input Interrupt
Instruction Interpretation
#A Label
II0,0,1 Input Interrupt on 1
#LOOP;JP#LOOP;EN Loop
#ININT0 Input Interrupt
MG “INPUT 1 IS HIGH” Send Message to screen
RI0 Return from interrupt routine to Main Program and
do not re-enable trippoints
Example - Command Error
Instruction Interpretation
#BEGIN Begin main program
IN "ENTER THE OUTPUT (0-15)", OUT Prompt for output number
SB OUT Set the specified bit
JP #BEGIN Repeat
EN End main program
#CMDERR Command error utility
JP#DONE,_ED<>3 Check if error on line 3
JP#DONE,_TC<>6 Check if out of range
MG "VALUE OUT OF RANGE" Send message
MG "TRY AGAIN" Send message
ZS1 Adjust stack
JP #BEGIN Return to main program
#DONE End program if other error
ZS0 Zero stack
EN End program
The above program prompts the operator to enter the output port to set. If the operator enters a number out
of range (greater than 15), the #CMDERR routine will be executed prompting the operato r to enter a new
number.
In multitasking applications, there is an alternate method for handling command errors from different
threads. Using the XQ command along with the special operands described below allows the controller to
either skip or retry invalid commands.
OPERAND FUNCTION
_ED1 Returns the number of the thread that generated an error
_ED2 Retry failed command (operand contains the location of the failed command)
_ED3 Skip failed command (operand contains the location of the command after the
failed command)
The operands are used with the XQ command in the following format:
60 Chapter 5 Programming RIO-47xxx
XQ _ED2 (or _ED3),_ED1,1
Where the “,1” at the end of the command line indicates a restart; therefore, the existing program stack will
not be removed when the above format executes.
The following example shows an error correction routine that uses the operands.
Example - Command Error w/Multitasking
Instruction Interpretation
#A Begin thread 0 (conti n uous loop)
JP#A
EN End of thread 0
#B Begin thread 1
N=17 Create new variable
SB N Set the 17th bit, an invalid value
TY Issue invalid command
EN End of thread 1
#CMDERR Begin command error subroutine
IF _TC=6 If error is out of range (SB 8)
N=1 Set N to a valid number
XQ _ED2,_ED1,1 Retry SB N command
ENDIF
IF _TC=1 If error is invalid command (TY)
XQ _ED3,_ED1,1 Skip invalid command
ENDIF
EN End of command error routine
Example – Ethernet Communication Error
This simple program executes in the RIO and indicates (via the serial port) when a communication handle
fails. By monitoring the serial port, the user can re-establish communication if needed.
Instruction Interpretation
#LOOP Simple program loop
JP#LOOP
EN
#TCPERR Ethernet communication error auto routine
MG {P1}_IA4
RE Return to main program
Note: The #TCPERR routine only detects the loss of TCP/IP Ethernet handles, not UDP.
Send message to serial port indicating which handle did not receive
proper acknowledgment.
Mathematical and Functional Expressions
Mathematical Operators
For manipulation of data, the RIO provides the use of the following mathematical operators:
RIO-47xxx Chapter 5 Programming ● 61
Operator Function
+ Addition
- Subtraction
* Multiplication
/ Division
& Logical And (Bit-wise)
| Logical Or (On some computers, a solid vertical line appears as a broken line)
( ) Parenthesis
% Modulus
The numeric range for addition, subtraction and multiplication operations is +/-2,147,483,647.9999. The
precision for division is 1/65,000.
Mathematical operations are executed from left to right. Calculations within parentheses have precedence.
Examples:
SPEED=7.5*V1/2 The variab le, SPEED, is equal to 7.5 multiplied by V1 and divided
by 2
COUNT=COUNT+2 The variable, COUNT, is equal to the current value plus 2.
RESULT=Val1 (@COS[45]*40)
K=@IN[1]&@IN[2] K is equal to 1 only if Input 1 and Input 2 are high
Puts the value of Val1 - 28.28 in RESULT. 40 * cosine of 45° is
28.28
Note: Mathematical operations can be done in hexadecimal as well as decimal. Just precede hexadecimal
numbers with a $ sign so that the RIO recognizes them as such.
62 Chapter 5 Programming RIO-47xxx
Bit-Wise Operators
The mathematical operators & and | are bit-wise operators. The operator, &, is a Logical And. The operator,
|, is a Logical Or. These operators allow for bit-wise operations on any valid RIO numeric operand,
including variables, array elements, numeric values, functions, keywords, and arithmetic expressions. The
bit-wise operators may also be used with strings. This is useful for separating characters from an input
string. When using the input command for string input, the input variable will hold up to 6 characters. These
characters are combined into a single value, which is represented as 32 bits of integer and 16 bits of fraction.
Each ASCII character is represented as one byte (8 bits), therefore the input variable can hold up to six
characters. The first character of the string will be placed in the top byte of the variable and the last character
will be placed in the lowest significant byte of the fraction. The characters can be individually separated, by
using bit-wise operations as illustrated in the following example:
Instruction Interpretation
#TEST Begin main program
IN "ENTER",LEN{S6} Input character string of up to 6 characters into variable
‘LEN’
FLEN=@FRAC[LEN] Define variable ‘FLEN’ as fractional part of variable
‘LEN’
FLEN=$10000*FLEN Shift FLEN by 32 bits (IE - convert fraction, FLEN, to
integer)
LEN1=(FLEN&$00FF) Mask top byte of FLEN and set this value to variable
‘LEN1’
LEN2=(FLEN&$FF00)/$100 Let variable, ‘LEN2’ = top byte of FLEN
LEN3=LEN&$000000FF Let variable, ‘LEN3’ = bottom byte of LEN
LEN4=(LEN&$0000FF00)/$100 Let variable, ‘LEN4’ = second byte of LEN
LEN5=(LEN&$00FF0000)/$1000
0
LEN6=(LEN&$FF000000)/$1000
000
MG LEN6 {S4} Display ‘LEN6’ as string message of up to 4 chars
MG LEN5 {S4} Display ‘LEN5’ as string message of up to 4 chars
MG LEN4 {S4} Display ‘LEN4’ as string message of up to 4 chars
MG LEN3 {S4} Display ‘LEN3’ as string message of up to 4 chars
MG LEN2 {S4} Display ‘LEN2’ as string message of up to 4 chars
MG LEN1 {S4} Display ‘LEN1’ as string message of up to 4 chars
EN
Let variable, ‘LEN5’ = third byte of LEN
Let variable, ‘LEN6’ = fourth byte of LEN
This program will accept a string input of up to 6 characters, parse each character, and then display each
character. Notice also that the values used for masking are represented in hexadecimal (as denoted by the
preceding ‘$’). For more information, see the section on Sending Messages (page 69).
To illustrate further, if the user types in the string “TESTME” at the input prompt, the RIO will respond with
the following:
T Response from command MG LEN6 {S4}
E Response from command MG LEN5 {S4}
S Response from command MG LEN4 {S4}
T Response from command MG LEN3 {S4}
M Response from command MG LEN2 {S4}
E Response from command MG LEN1 {S4}
RIO-47xxx Chapter 5 Programming ● 63
Functions
Function Description
@SIN[n] Sine of n (n in degrees, with range of -32768 to 32767 and 16-bit fractional resolution)
@COS[n] Cosine of n (n in degrees, with range of -32768 to 32767 and 16-bit fractional resolution)
@TAN[n] Tangent of n (n in degrees, with range of -32768 to 32767 and 16-bit fractional resolution)
@ASIN[n]*
@ACOS[n]*
@ATAN[n]*
@COM[n] 1’s Complement of n
@ABS[n] Absolute value of n
@FRAC[n] Fraction portion of n
@INT[n] Integer portion of n
@RND[n] Round of n (Rounds up if the fractional part of n is .5 or greater)
@SQR[n] Square root of n (Accuracy is +/-.004)
@IN[n] Return digital input at gen eral input n (where n starts at 0)
@OUT[n] Return digital output at general output n (where n starts at 0)
@AN[n] Return analog input at general input n (where n starts at 0)
@AO[n] Return analog output at general output n (where n starts at 0)
*: These functions are multi-valued. An application program may be used to find the correct band.
Arc Sine of n, between -90° and +90°. Angle resolution in 1/64000 degrees.
Arc Cosine of n, between 0 and 180°. Angle resolution in 1/64000 degrees.
Arc Tangent of n, between -90° and +90°. Angle resolution in 1/64000 degrees
Functions may be combined with mathematical expressions. The order of execution of mathematical
expressions is from left to right and can be over-ridden by using parentheses.
Examples:
V1=@ABS[V7] The variable, V1, is equal to the absolute value of variable V7.
V2=5*@SIN[POS] The variable, V2, is equal to five times the sine of the variable, POS.
V3=@IN[1] The variable, V3, is equal to the digital value of input 1.
Variables
For applications that require a parameter that is variable, the RIO-47xx0 board pr ovides 126 variables. The
RIO-47xx2 increases this to 254 total available variables. These variables can be numbers or strings. A
program can be written in which certain parameters, such as I/O status or particular I/O bit, are defined as
variables. The variables can later be assigned by the operator or determined by program calculations.
Example:
SB Red Uses variable “Red” in SB command
input1=_@IN[1] Assigns value of digital input 1 status to variable “input1”
Programmable Variables
The RIO allows the user to create up to 126 variables. Each variable is defined by a name, which can be up
to eight characters. The name must start with an alphabetic character, however, and numbers are permitted in
the rest of the name. Spaces are not permitted. Variable names should not be the same as RIO instructions.
For example, RS is not a good choice for a variable name.
Examples of valid and invalid variable names are:
Valid Variable Names
STATUS1
64 Chapter 5 Programming RIO-47xxx
TEMP1
POINT
Invalid Variable Names
REALLONGNAME ; Cannot have more than 8 characters
123 ; Cannot begin variable name with a number
STAT Z ; Cannot have spaces in the name
Assigning Values to Variables:
Assigned values can be numbers, internal variables and keywords, functions, RIO board par ameters and
strings; the range for numeric variable values is 4 bytes of integer (2
2,147,483,647.9999).
Numeric values can be assigned to programmable variables using the equal sign.
Any valid RIO functions can be used to assign a value to a variable. For example, s1=@ABS[V2] or
s2=@IN[1]. Arithmetic operations are also permitted.
To assign a string value, the string must be in quotations. String variables can contain up to six characters
that must be in quotation.
Examples:
INTWO=_TI2 Assigns returned value from TI2 command to variable INTWO.
INPUT=@IN[1] Assigns logical value of input 1 to variable INPUT
V2=V1+V3*V4 Assigns the value of V1 plus V3 times V4 to the variable V2.
Var="CAT" Assign the string CAT to variable Var
31
) followed by two bytes of fraction (+/-
Displaying the value of variables at the terminal
Variables may be sent to the screen using the format, variable=. For example, V1= , returns the value of the
variable V1. V1=? or MG V1 are also valid ways of displaying a variable.
Operands
Operands allow status parameters of the RIO to be incorporated into programmable variables and
expressions. Most RIO commands have an equivalent operand - which are designated by adding an
underscore (_) prior to the command (see command reference).
Examples of Internal Variables:
IN1=@IN[1] Assigns value of input 1 to the variable IN1.
JP #LOOP,@AN[0]<2 Jump to #LOOP if analog input 0 is less than 2
JP #ERROR,_TC=1 Jump to #ERROR if the error code equals 1.
Operands can be used in an expression and assigned to a programmable variable, but they cannot be assigned
a value. For example: _TI0=1 is invalid.
RIO-47xxx Chapter 5 Programming ● 65
Special Operands (Keywords)
The RIO provides a few additional operands that give access to internal variables that are not accessible by
standard RIO commands.
Operand Function
_BN *Returns serial # of the board.
_DA *Returns the number of arrays available
_DL *Returns the number of available labels for programming
_DM *Returns the available array memory
_UL *Returns the number of available variables
TIME Free-Running Real Time Clock (Resets with power-on).
Note: TIME does not use an underscore character (_) as other keywords.
*: All these keywords have corresponding commands except for TIME.
Examples of Keywords:
V1=_DA Assign V1 the number of available array names
V3=TIME Assign V3 the current value of the time clock
Arrays
For storing and collecting numerical data, the RIO-47xx0 provides array space for 400 elements. This
number is increased to 1000 array elements on the RIO-47xx2. The arrays are one-dimensional, and up to 6
different arrays may be defined. Each array element has a numeric range of 4 bytes of integer (2
by two bytes of fraction (+/-2,147,483,647.9999). Arrays can be used to capture real-time data, such as the
bit status of a particular I/O bank.
Defining Arrays
An array is defined with the command DM. The user must specify a name and the number of entries to be
held in the array. An array name can contain up to eight characters, starting with an uppercase alphabetic
character. The number of entries in the defined array is enclosed in [ ].
Example:
DM IOSTAT[100] Defines an array names IOSTAT with 100 entries
DA *[] Frees array space using Deallocate command
Assignment of Array Entries
Like variables, each array element can be assigned a value. Assigned values can be numbers or returned
values from instructions, functions and keywords.
Array elements are addressed starting at count 0. For example, the first element in the OUTPUT array
(defined with the DM command, DM OUTPUT[ 7] ) w ould be specified as OUTPUT[0].
31
) followed
Values are assigned to array entries using the equal sign. Assignments are made one element at a time by
specifying the element number with the associated array name.
NOTE: Arrays must be defined using the command, DM, before assigning entry values.
Examples:
66 Chapter 5 Programming RIO-47xxx
DM OUTPUT[10] Dimension Output Array
OUTPUT[1]=3 Assigns the second element of the array, OUTPUT, the value of
3.
OUTPUT[1]= Returns array element value
OUTPUT[9]=_TI0 Assigns the 10th element of the array, OUTPUT, the value for
bank 0 digital inputs
data [2]=@COS[POS]*2 Assigns the third element of the array “data” the cosine of the
variable POS multiplied by 2.
TIMER[1]=TIME Assigns the second element of the array timer the returned value
of the TIME keyword.
Using a Variable to Address Array Elements
An array element number can also be a variable. This allows array entries to be assigned sequentially using a
counter.
For example:
Instruction Interpretation
#A Begin Program
COUNT=0;DM POS[10] Initialize counter and define array
#LOOP Begin loop
WT 10 Wait 10 msec
INPUT[COUNT]=_TI0 Record bank 0’s input bit value into array element
INPUT[COUNT]= Report input bit value
COUNT=COUNT+1 Increment counter
JP #LOOP,COUNT<10 Loop until 10 elements have been stored
EN End Program
The above example records 10 input bit values for bank 0 at a rate of one value per 10 msec. The values are
stored in an array named INPUT. The variable, COUNT, is used to increment the array element counter.
The above example can also be executed with the automatic data capture feature described belo w.
Uploading and Downloading Arrays to On Board Memory
Arrays may be uploaded and downloaded using the QU and QD commands.
QU array[],start,end,delim
QD array[],start,end
where array is an array name such as A[].
Start is the first element of array (default=0)
End is the last element of array (default=last element)
Delim specifies whether the array data is separated by a comma (delim=1) or a carriage return (delim=0).
The file is terminated using <control>Z, <control>Q, <control>D or \.
Automatic Data Capture into Arrays
The RIO provides a special feature for automatic capture of data such as inputs or outputs. Up to four types
of data can be captured and stored in four arrays. The capture rate or time interval may be specified.
Recording can be done as a one-time event or as a circular continuous recording.
RIO-47xxx Chapter 5 Programming ● 67
Command Summary - Automatic Data Capture
Command Description
RA n[],m[],o[],p[] Selects up to four arrays for data capture. The arrays must be defined
with the DM command.
RD
type1,type2,type3,type4
RC n,m The RC command begins data collection. Sets data capture time interval
RC? Returns a 0 or 1 where, 0 denotes not recording, 1 specifies recording in
Selects the type of data to be recorded, where type1, type2, type3, and
type 4 represent the various types of data (see table below). The order of
data type is important and corresponds with the order of n,m,o,p arrays
in the RA command.
where n is an integer between 1 and 8 and designates 2
data. m is optional and specifies the number of elements to be captured.
If m is not defined, the number of elements defaults to the smallest array
defined by DM. When m is a negative number, the recording is done
continuously in a circular manner. _RD is the recording pointer and
indicates the address of the next array element. n=0 stops recording.
progress
Data Types for Recording:
n
msec between
Data type Description
_TIn Inputs at bank n (0 or 1)
_OPn Output ba nk n st at us (0 or 1)
_AFn Analog input status (0-7)
_AOn Analog output status (0-7)
Operand Summary - Automatic Data Capture
_RC Returns a 0 or 1 where, 0 denotes not recording, 1 specifies recording in
progress
_RD Returns address of next array element.
Deallocating Array Space
Array space may be deallocated using the DA command followed by the array name. DA*[0] deallocates all
the arrays.
68 Chapter 5 Programming RIO-47xxx
Input of Data (Numeric and String)
Input of Data
The command, IN, is used to prompt the user to input numeric or string data. Using the IN command, the
user may specify a message prompt by placing a message in quotations. When the RIO executes an IN
command, it will wait for the input of data. The input data is assigned to the specified variable or array
element.
Note: The IN command is only valid when communicating through RS232. This command will not work
through the Ethernet.
An Example for Inputting Numeric Data
#A
IN "Enter output number", OUT
EN
In this example, the message “Enter output number” is displayed on the computer screen. The RIO board
waits for the operator to enter a value. The operator enters the numeric value that is then assigned to the
variable, OUT.
Inputting String Variables
String variables with up to six characters may input using the specifier, {Sn} where n represents the number
of string characters to be input. If n is not specified, six characters will be accepted. For example, IN "Enter
X,Y or Z", V{S} specifies a string variable of up to six characters to be input.
Output of Data (Numeric and String)
Numerical and string data can be output from the RIO board using several methods. The message command,
MG, can output string and numerical data. Also, the RIO can be commanded to return the values of variables
and arrays, as well as other information using the interrogation commands, such as V1=? and TZ.
Sending Messages
Messages may be sent using the message command, MG. This command sends specified text and numerical
or string data from variables or arrays to the screen.
Text strings are specified in quotes and variable or array data is designated by the name of the variable or
array. For example:
MG "The Final Value is", RESULT
In addition to variables, functions and commands, responses can be used in the message command. For
example:
MG "The input is", @IN[1]
Formatting Messages
String variables can be formatted using the specifier, {Sn} where n is the number of characters, 1 thru 6. For
example:
MG STR {S3}
RIO-47xxx Chapter 5 Programming ● 69
This statement returns 3 characters of the string variable named STR.
Numeric data may be formatted using the {Fn.m} expression following the completed MG statement.
{$n.m} formats data in HEX instead of decimal. The actual numerical value will be formatted with n
characters to the left of the decimal and m characters to the right of the decimal. Leading zeros will be used
to display specified format.
For example:
MG "The Final Value is", RESULT {F5.2}
If the value of the variable RESULT is equal to 4.1, this statement returns the following:
The Final Value is 00004.10
If the value of the variable RESULT is equal to 999999.999, the above message statement returns the
following:
The Final Value is 99999.99
The message command normally sends a carriage return and line feed following the statement. The carriage
return and the line feed may be suppressed by sending {N} at the end of the statement. This is useful when a
text string needs to surround a numeric value.
Example:
#A
FNAME=“John”
LNAME=“Smith”
MG “The name is ”, FNAME{S3} {N}
MG “ ”,LNAME{S6}
EN
When #A is executed, the above example will appear on the screen as:
The name is John Smith
Using the MG Command to Configure Terminals
The MG command can be used to configure a terminal. Any ASC II ch aracter can be sent by usi ng the form at
{^n} where n is any integer between 1 and 255.
Example:
MG {^07} {^255}
sends the ASCII characters represented by 7 and 255 to the bus.
Summary of Message Functions:
Function Description
" " Surrounds text string
{Fn.m} Formats numeric values in decimal n digits to the right of the decimal
point and m digits to the left
{$n.m} Formats numeric values in hexadecimal
{^n} Sends ASCII character specified by integer n
{N} Suppresses carriage return/line feed
{Sn} Sends the first n characters of a string variable, where n is 1 thru 6.
70 Chapter 5 Programming RIO-47xxx
{Zn.m} Formats values like {Fn.m} except leading zeroes are removed
{En} Outputs message to Ethernet handle n where n is A,B or C
{P1} Outputs message to Serial port
{M} Sends Email message (see MA, MD, MS commands)
Displaying Variables and Arrays
Variables and arrays may be sent to the screen using the format, variable= or array[x]=. For example, V1=
, returns the value of V1.
Removing Leading Zeros from Response
The leading zeros on data returned as a response to interrogation commands or variables and arrays can be
removed by the use of the command, LZ. The default value for LZ is 1, meaning that the leading zeroes do
not get printed out unless LZ0 command is ente red.
Example - Using the LZ command
LZ0 Disables the LZ function
MG@IN[0] Print input status of bank 1
0000000001.0000
LZ1 Enables the LZ function
MG@IN[0] Print input status of bank 1
1.0000 Response from Interrogation Command
Response from Interrogation Command
(With Leading Zeros)
(Without Leading Zeros)
Formatting Variables and Array Elements
The Variable Format (VF) command is used to format variables and array elements. The VF command is
specified by:
VF m.n
where m is the number of digits to the left of the decimal point (0 thru 10), and n is the number of digits to
the right of the decimal point (0 thru 4).
A negative sign for m specifies hexadecimal format. The default format for VF is VF 10.4
Hex values are returned preceded by a $ and in 2's complement.
:V1=10 Assign V1
:V1= Return V1
0000000010.0000 Default format
:VF2.2 Change format
:V1= Return V1
10.00 New format
:VF-2.2 Specify hex format
:V1= Return V1
$0A.00 Hex value
:VF1 Change format
:V1= Return V1
9 Overflow
RIO-47xxx Chapter 5 Programming ● 71
Local Formatting of Variables
VF command is a global format command that affects the format of all relevant returned values and
variables. Variables may also be formatted locally. To format locally, use the command, {Fn.m} or {$n.m}
following the variable name and the ‘=’ symbol. F specifies decimal and $ specifies hexadecimal. n is the
number of digits to the left of the decimal, and m is the number of digits to the right of the decimal. For
example:
Examples:
:V1=10 Assign V1
:V1= Return V1
0000000010.0000 Default Format
:V1={F4.2} Specify local format
0010.00 New format
:V1={$4.2} Specify hex format
$000A.00 Hex value
:V1="ALPHA" Assign string "ALPHA" to V1
:V1={S4} Specify string format first 4 characters
ALPH
The local format is also used with the MG command (see page 70).
Programmable I/O
As described earlier, the RIO has 16 digital inputs, 16 digital outputs, 8 analog inputs and 8 analog outputs.
The paragraphs below describe the commands that are used for I/O manipulati o n a n d in t errogation.
Digital Outputs
The most common method of changing the state of digital outputs is by using the set bit ‘SB’ and clear bit
‘CB’ commands. The following table shows an example of the SB and CB commands.
Instruction Interpretation
SB2 Sets bit 2
CB1 Clears bit 1
The Output Bit (OB) instruction is useful for setting or clearing outputs depending on the value of a variable,
array, input or expression. Any non-zero value results in a set bit.
Instruction Interpretation
OB1,POS Set Output 1 if the variable POS is non-zero. Clear Output 1 if
POS equals 0.
OB2,@IN [1] Set Output 2 if Input 1 is high. If Input 1 is low, clear Output 2.
OB3,@IN [1]&@IN [2] Set Output 3 only if Input 1 and Input 2 are high.
OB2,COUNT [1] Set Output 2 if element 1 in array COUNT is non-zero.
The output port can be set by specifying the OP (Output Port) command. This instruction allows a single
command to define the state of the entire output bank, where 20 is bit 0, 21 is bit 1 and so on. A 1 designates
that the output is on.
72 Chapter 5 Programming RIO-47xxx
For example:
Instruction Interpretation
OP6
OP0,0 Clears all bits of bank 0 and 1
OP0,7
Sets bits 1 and 2 of bank 0 high. All other bit s on ba nk 0 are 0. (21 + 22 = 6)
Sets output bits 0, 1 and 2 to one (20 + 21 + 22 ) on bank 1. Clears all bits on
bank 0.
The state of the digital outputs can be accessed with the @OUT[n] where n is the output number (Ex:
MG@OUT[1] displays the state of output number 1).
Digital Inputs
The digital inputs are accessed by using the @IN[n] function or the TI n command. The @IN[n] function
returns the logic level of a specified input, n, where ‘n’ is the input bit number. The IQ command determines
the active level of each input. The TI n command gives the input status of an entire bank, where ‘n’ is the
bank number, 0 or 1. The AI command is a trip-point that pauses program execution until the specified
combination of inputs is high or low.
Example – Using Inputs to control program flow
Instruction Instruction
JP #A,@IN[1]=0 Jump to A if input 1 is low
MG@IN[2] Display the state of input 2
AI 7&-6 Wait until input 7 is high and input 6 is low
Analog Inputs
Analog inputs are accessed with the @AN[n] function where n is the number assigned to the analog input
channel. The returned value will be a voltage reading with 12 bit resolution (16bit optional on RIO-47120).
The standard voltage range is 0 to +5VDC on the RIO-47100. The voltage input range is configurable on the
RIO-47120 using the AQ command.
Note: When analog input values are accessed from the Data Record or from the Record Array function, the
returned value will be an integer number that represents the analog voltage. For a RIO-47100, the equation
used to determine the decimal equivalent of the analog voltage is as follows:
N= (((V-Vlo)*4095)/(Vhi-Vlo))*8
Where N is the integer equivalent of the analog voltage, V is the expected analog voltage, Vlo is the lowest
voltage in the total range (0V for the standard analog input module) and Vhi is the highest voltage in the total
range (5V for the standard module). The data range for N is 0-32760.
These integer values will also be returned when accessing the analog inputs by the API calls in C/C++ or
Visual Basic.
The AQ command also configures the analog inputs to be either 8 single en ded (defa ult ) o r 4 di ffe rent i a l
inputs.
The AA command is a trippoint that halts program execution until the specified voltage on an analog input is
reached. The third field of the AA command controls whether the trippoint will be satisfied when going
higher or lower than the voltage. With a command such as AA 1,4.5,0 - if the specified voltage is exceeded
prior to arrival at the AA command, the program will continue to execute without a pause. Analog inputs are
useful for reading special sensors such as temperature, tension or pressure. The range of AA is dependant on
the AQ setting. Here are some examples of using the Analog inputs:
RIO-47xxx Chapter 5 Programming ● 73
Instruction Instruction
JP #C,@AN[1]>2 Jump to A if analog input number 1 is greater than 2 volts
MG@AN[2] Display the analog voltage reading on input 2
AA 1,4.5,0 Wait until the voltage on input 1 goes above 4.5V
AA 1,3.2,1 Wait until the voltage on input 1 goes below 3.2V
Analog Outputs
Analog output voltage is set with the AO command. The AO command has the format AO m,n where m is
the output pin and n is the voltage assigned to it. The analog output voltage is accessed with the @AO[n]
function where n is the analog output channel. Analog output modules come with a resolution of 12 bits
(16bit optional). The standard voltage range is 0 to +5VDC for the RIO-47100. The An alog Output voltage
range is configurable using the DQ command when using the RIO-47120. Use the ID command to see the
model number of the RIO.
Note: When analog output values are accessed from the Data Record or from the Record Array function, the
returned value will be an integer number that represents the analog voltage. For a RIO-47100, the equation
used to determine the decimal equivalent of the analog voltage is as follows:
N= ((V-Vlo)*4095)/(Vhi-Vlo)
Where N is the integer equivalent of the analog voltage, V is the expected analog voltage, Vlo is the lowest
voltage in the total range (0V for the standard analog input module) and Vhi is the highest voltage in the total
range (5V for the standard module).
These integer values will also be returned when accessing the analog inputs by the API calls in C/C++ or
Visual Basic.
The AO command can also be used to set the analog voltage on ModBus devices over Ethernet
Instruction Instruction
AO 7,1.5 Set the output voltage on output 7 t o 1. 5V
MG@AO[2] Display the analog voltage reading on output 2
Real Time Clock
The RIO-471x2 firmware revision D and above is equipped with a real time clock feature. The real time
clock provides true time in seconds, minutes and hours. The RT command provides a method to set the time
and operands to return the current time. The default real time clock does not persist through a power cycle
and must be set whenever power is restored.
The RIO-471x2 can be ordered with a clock upgrade (-RTC) including a higher precision clock than the
default, and a battery backup for the time hardware. All hardware is within the standard sheet metal
footprint. The –RTC clock will continue to run when power is removed from the RIO. The –RTC option
also provides a calendar function including year, month of year, day of month, and day of week. This feature
can be set and queried through the RY command.
Both versions of the RIO-471x2 real time clock can be set to a TIME protocol (RFC 868) server. Using IH,
the RIO can connect to a TIME server over TCP on port 37 and receive the 32bit response. The firmware
will then set the time and calendar (if applicable) to the TIME server value. The command RO is used to set
the GMT time zone offset for localization of the current time. The TIME protocol synchronization is
designed to connect to a server on the local network. Contact Galil if a local server is not available (e.g. an
Internet Gateway is required to contact NIST).
See the
74 Chapter 5 Programming RIO-47xxx
-RTC section in the Appendix for further details and specifications for the real time clock.
Appendix
Electrical Specifications
Input/Output
Digital I/O See Chapter 4.
DAC Output Current 4mA max output per channel
47120: +/-12V out 10mA max output
Power Requirements
18-36 VDC Typical: RIO-4710x – 1.4W
RIO-4712x – 2.6W
RIO-47200 – 2.1W
Max: 4 Watts
RIO-47xxx Appendix ● 75
Performance Specifications
RIO-47xx0
Variable Range: +/-2 billion
Variable Resolution:
Variable Size 126 variables
Array Size: 400 elements, 6 array names
Max Program Labels: 62
Program Size: 200 lines x 40 characters
Maximum N umber of Burn Cycles: 10,000 (BP, BN, BV combined)
RIO-47xx2
Variable Range: +/-2 billion
Variable Resolution:
Variable Size 256 variables
Array Size: 1000 elements, 6 array names
Max Program Labels: 126
Program Size: 400 lines x 40 characters
Maximum N umber of Burn Cycles: 10,000 (BP, BN, BV combined)
1 ⋅ 10-4
1 ⋅ 10-4
Certifications
The RIO-471xx is certified for the following when the product or package is marked.
ETL
CE
http://www.galilmc.com/products/ce_documents/rio47000_ce_dc.pdf
ROHS
ROHS Compliant
76 Appendix RIO-47xxx
Standard Options
The RIO-47xxx can be ordered in many different configurations and with different options. This section
provides information regarding the different options available on the RIO-47xxx. For more information on
pricing and how to order an RIO with these options, see our RIO-47xxx part number generator on our
website.
http://www.galilmc.com/products/rio-47xxx-part-number.php
-DIN
If ordered with the –DIN option the RIO has a DIN rail mount attached to the case. This option is valid for all
RIO-471xx controllers. It is not valid for the RIO-472xx family as the RIO-472xx comes in a DIN rail mount
by default.
Part number ordering example: RIO-47100-DIN
-NO DIN
This option is only valid with the RIO-472xx. This option removes the din rail clips. The unit will still be in a
plastic tray.
Part number ordering example: RIO-47200-NO DIN
-422
This option allows the RIO to communicate via RS-422 instead of RS-232.
Pin Number Description Pin Number Description
1 RTS- 6 RTS+
2 TXD- 7 TXD+
3 RXD- 8 RXD+
4 CTS- 9 CTS+
5 GND
Part number ordering example: RIO-47100-422
-RTC
The RIO-471x2 provides a real time clock feature. –RTC provides an extended feature set.
Real time clock RIO-471x2 RIO-471x2-RTC
RT providing Hours, Minutes, Seconds Yes Yes
RY providing Year, Month of year, Day of month, Day of week No Yes
Settable via TIME protocol server (IH and RO commands) Yes Yes
Clock persists through RIO power loss No Yes
No-power clock battery life
*Time till failure pending at the time of publication
N/A More than 1 week*
Part number ordering example: RIO-47122-RTC
RIO-47xxx Appendix ● 77
-08-15 SOURCE (2LSRC) option
If a RIO-471xx is ordered with the -08-15 SOURCE option then outputs 8-15 are configured to source
current. They will be capable of 5-24VDC with 25mA of current in a sourcing configuration.
Figure 8: Low Power Sourcing Outputs
OP1A should be connected to the positive side of 5-24VDC external power supply.
OP1B should be connected to Ground on the external power supply.
OP1A and OP1B are the Output Power for Bank 1. The output can source up to 25mA of current. The device
should be connected between the digital output DO[15:8] and the return side of the power supply (OP1B).
When current is not flowing though the optocoupler (CB), the 10k resistor pulls-down the output pin to
OP1B. When current is flowing through the optocoupler (SB), the digital output switches to the voltage
supplied by OP1A and is able to source 25mA of current, The bold connections in the schematic above are
external connections.
Part number ordering example: RIO-47100-(1HSRC,2LSRC)
-0-7 or -8-15 SINK/SOURCE
These four options are only available on the RIO-472xx. By default the RIO-472xx has all 16 high power
outputs. These options allow either of the two banks of 8 outputs to be configured for low power sinking or
low power sourcing. For example, if output 0-7 need to be configured fo r low power sourcing and outputs 815 need to be configured for high power sourcing the option would be (1LSRC, 2HRSC). The circuits for
low power sourcing and sinking will be the same as the circuits for the low power outputs previously defined
in Chapter 4.
Part number ordering example: RIO-47200-(1LSNK,2LSRC)
-Outputs 0-7 low power sinking, Outputs 8-15 low power sourcing
-QUAD and -SSI
All RIO-47122 Encoder Options will utilize Digital Inputs 12,13,14 and 15 and Digital Outputs 12,13,14 and
15. These digital inputs and outputs will not be available as standard digital I/O when the -QUAD or -SSI
option is ordered with the RIO-47122.
The QE command is used to read the encoder register, the WE command sets the current position of the
encoder (-QUAD only) and the SE command configures the encoder when the –SSI option is ordered. The
78 Appendix RIO-47xxx
register that is read using the QE command is updated by the RIO every 25ms. See the QE, WE and SE
commands in the RIO command reference for more information.
Electrical Specifications
Power: The encoders must be powered by an external power
supply. The RIO does not supply power to the
encoder.
Input buffers: AM23LV32
Output buffers (SSI Clock): AMP26LV31
-QUAD maximum frequency: 8 MHz
1
Hardware update rate. Register read by the QE command is updated at a rate of 40Hz.
1
-QUAD Pinout
Encoder Signal Label (Connector.Pin)
Channel 0 A+ DO14 (J4.24)
Channel 0 A- DO12 (J4.39)
Channel 0 B+ DO15 (J4.38)
Channel 0 B- DO13 (J4.9)
Channel 1 A+ DI14 (J4.31)
Channel 1 A- DI12 (J4.2)
Channel 1 B+ DI15 (J4.1)
Channel 1 B- DI13(J4.17)
Ground N/C (J4.41)
-SSI Pinout
Encoder Signal Label (Connector.Pin)
Channel 0 Clock+ DO14 (J4.24)
Channel 0 Clock- DO12 (J4.39)
Channel 0 Data+ DO15 (J4.38)
Channel 0 Data- DO13 (J4.9)
Channel 1 Clock+ DI14 (J4.31)
Channel 1 Clock - DI12 (J4.2)
Channel 1 Data+ DI15 (J4.1)
Channel 1 Data- DI13(J4.17)
Ground N/C (J4.41)
Part number ordering example: RIO-47122-QUAD
-PWM
Using the DY, PM and FQ commands, digital outputs 14 and 15 can be configured as PWM outputs with a
frequency range of 10-20,000 Hz. This is only available on firmware Revs D and above. By default the
maximum frequency output will be limited by the bandwidth of the digital outputs. With the -PWM option
the opto-isolated outputs are bypassed and buffered outputs are supplied for DO 14:15.
RIO-47xxx Appendix ● 79
Electrical Specifications for DO14:15 with –PWM option
V
I
Output Voltage Range 0V to 3.3V
O
Current output - Sink/Source 5 mA (Max)
O
Figure 9: -PWM option
For the standard low power digital outputs found on the RIO-471xx the bandwidth is 50 Hz.
Part number ordering example: RIO-47102-PWM
-HS
This option changes digital input 3 ( DI 3) to a high speed digital input. It is available on the RIO-47xxx as a
standard option. With this option, the input becomes a TTL level input that is differential with respect to
digital input 2 (DI2 is not available as an input with the –HS option). The maximum frequency of pulses that
can be captured is increased to 3Mhz. If higher values are required, please consult factory.
Figure 10: -HS Option
Part number ordering example: RIO-47100-HS
-16Bit
The -16 option specifies 16 bit resolution on the analog inputs and outputs. This option is v alid on the RIO4712x and RIO-472xx only.
80 Appendix RIO-47xxx
Part number ordering example: RIO-47120-16bit
AI_10v12Bit
This option changes the analog inputs on the RIO-472xx to accept +-10V analog signals with 12 bit
resolution. The range of the analog inputs can be changed with the AQ command, similar to the RIO-4712x.
Part number ordering example: RIO-47200-(AI_10v12bit)
AI_10v16Bit
This option changes the analog inputs on the RIO-472xx to accept +-10V analog signals with 16 bit
resolution. The range of the analog inputs can be changed with the AQ command, similar to the RIO-4712x.
Part number ordering example: RIO-47200-(AI_10v16bit)
-(4-20mA)
This option installs resistors in parallel with each analog input. On RIO’s with 0-5V analog input ranges the
resistor is 1000 ohms and on RIO’s with +/-10V analog input ranges the resistor value is 475 ohms.
An RIO with +/-10V analog inputs should be configured for 0-10V range (AQ n, 4). With this setting, the
range for 4-20mA will be 1.9V-9.5V. The equation for calculating the current is:
I
=2.105 V
mA
Where I
V = Voltage reading from RIO
Part number ordering example: RIO-47120-(4-20mA)
= current in mA
mA
AO Option (SCB-48608)
The RIO-47200 by default does not have analog outputs however analog outputs can be added using the AO
option. When analog outputs are added, a new screw terminal board is added called the SCB-48608 and is
attached to the RIO-47200 at the factory (cannot be installed in the field). This board supplies 8 analog
outputs to the RIO-47200.
The option can be ordered with +/-10V configurable analog outputs in either 12 or 16 bits – same as RIO4712x, or with 0-5V analog outputs 12 bit resolution – same as RIO-4710x. See the DQ command for
specifics on the +/-10V configurable options.
Figure 11: SCB-48608
RIO-47xxx Appendix ● 81
The +/-12V terminals will provide +/-12V output only when the outputs are ordered as +/-10V configurable
outputs. Maximum current draw is 10mA each.
When then 0-5V analog outputs are ordered the +/-12V terminals will be No Connects.
Part number ordering example: RIO-47200-(8AO_10v12bit)
Qty 8 +/-10V configurable analog outputs with 12 bit resolution.
82 Appendix RIO-47xxx
Connectors for RIO-47xxx
44 pin D-Sub Connector – RIO-471xx
Pin Label Description Pin Label Description Pin Label Description
1 DI15 Digital Input 15 16 No Connect / INC1B ¹ 31 DI14 Digital Input 14
2 DI12 Digital Input 12 17 DI13 Digital Input 13 32 DI11 Digital Input 11
3 DI9 Digital Input 9 18 DI10 Digital Input 10 33 DI8 Digital Input 8
4 N/C No Connect 19 INC1 Input Common DI[8-15] 34 N/C No Connect / INC0B ¹
5 DI6 Digital Input 6 20 DI7 Digital Input 7 35 DI5 Digital Input 5
6 DI3
7 DI0 Digital Input 0 22 DI1 Digital Input 1 37 INC0 Input Common DI[0-7]
8 OP1B²
9 DO13 Digital Output 13 24 DO14
10 DO10 Digital Output 10 25 DO11 Digital Output 11 40 DO9 Digital Output 9
11 OP1A³
12 DO7 Digital Output 7 27 OP0B
13 DO4 Digital Output 4 28 DO5 Digital Output 5 43 DO3 Digital Output 3
14 DO1 Digital Output 1 29 DO2 Digital Output 2 44 DO0 Digital Output 0
15 OP0A
4
Digital Input 3 21 DI4 Digital Input 4 36 DI2
+5-24V Output Power
Supply for DO[8-15]²
Output Power Ground
for DO[8-15]³
+12-24V Output Power
Supply for DO[0-7]
23 N/C DO15
26 DO8 Digital Output 8 41 N/C No Connect
30 OP0A
No Connect 38 Digital Output 15
5
Digital Output 14 39 DO12 Digital Output 12
Output Power GROUND
for DO[0-7]
+12-24V Output Power
Supply for DO[0-7]
42 DO6 Digital Output 6
4
5
Digital Input 2
¹Note: INC0B and INC1B are only valid when INC jumpers are used.
² When ordered with -08-15 SOURCE this pin will actually be Output Power Ground for DO[8-15 ]
³ When ordered with -08-15 SOURCE this pin will actually be +5-24V Output Power Supply for DO[8-15]
4
When ordered with –HS option DI3 is high-speed input+ and DI2 is high-speed input- (DI2 is lost)
5
PWM outputs. See –PWM option in Appendix and Chapter 4.
26 pin D-Sub Connector – RIO-471xx
Pin Label Description Pin Label Description Pin Label Description
1 N/C No Connect 10 N/C No Connect 19 N/C No Connect
2
3 AI7 Analog Input 7 12 GND Ground 21 AI6 Analog Input 6
4 AI4 Analog Input 4 13 AI5 Analog Input 5 22 AI3 Analog Input 3
5 AI1 Analog Input 1 14 AI2 Analog Input 2 23 AI0 Analog Input 0
6 GND Ground 15 GND Ground 24 AO7 Analog Output 7
7 AO5 Analog Output 5 16 AO6 Analog Output 6 25 AO4 Analog Output 4
8 AO2 Analog Output 2 17 AO3 Analog Output 3 26 AO1 Analog Output 1
9 GND GND 18 AO0 Analog Output 0
N/C
+12V
47100: No Connect
47120: +12V out (10mA) 11 N/C No Connect 20
N/C 47100: No Connect
-12V 47120: -12V out (10mA)
RIO-47xxx Appendix ● 83
Screw Terminals – RIO-472xx
Label Description Label Description
18-36 18-36VDC logic power input DI10 Digital Input 10
RET Return side of logic power input DI11 Digital Input 11
AGND Analog Ground DI12 Digital Input 12
AGND Analog Ground DI13 Digital Input 13
AI0 Analog Input 0 DI14 Digital Input 14
AI1 Analog Input 1 DI15 Digital Input 15
AI2 Analog Input 2 OP0A +12-24V Output Power Supply for DO[0-7]
AI3 Analog Input 3 OP0B Output Power GROUND for DO[0-7]
AI4 Analog Input 4 DO0 Digital Output 0
AI5 Analog Input 5 DO1 Digital Output 1
AI6 Analog Input 6 DO2 Digital Output 2
AI7 Analog Input 7 DO3 Digital Output 3
INC0A Input common DI[0-7] DO4 Digital Output 4
INC0B No connect for standard configuration DO5 Digital Output 5
DI0 Digital Input 0 DO6 Digital Output 6
DI1 Digital Input 1 DO7 Digital Output 7
DI2 Digital Input 2
Digital Input 3
DI4 Digital Input 4 DO8 Digital Output 8
DI5 Digital Input 5 DO9 Digital Output 9
DI6 Digital Input 6 DO10 Digital Output 10
DI7 Digital Input 7 DO11 Digital Output 11
INC1A Input common DI[8-15] DO12 Digital Output 12
INC1B No connect for standard configuration DO13 Digital Output 13
DI8 Digital Input 8 Digital Output 14
DI9 Digital Input 9 Digital Output 15
1
PWM outputs. See –PWM option in Appendix and Chapter 4.
2
When ordered with –HS option DI3 is high-speed input+ and DI2 is high-speed input- (DI2 is lost)
2
2
OP1A +12-24V Output Power Supply for DO[8-15]
OP1B DI3 Output Power GROUND for DO[8-15]
1
DO14
1
DO15
J2 RS-232 Port: DB-9 Pin Male
Standard connector and cable, 9Pin.
Pin Signal
1 No Connect
2 TXD
3 RXD
4 No Connect
5 Ground
6 No Connect
7 CTS
8 RTS
9 No Connect
84 Appendix RIO-47xxx
Note: A straight-thru serial cable should be used to connect the RIO to a standard PC serial port
(pin1 to pin1, pin2 to pin 2, etc…)
J1 Ethernet Port: 10/100 Base-T (RJ-45)
Pin Signal
1 TXP
2 TXN
3 RXP
4 Reserved
5 Reserved
6 RXN
7 Reserved
8 Reserved
J5 Power: 2 pin Molex
Voltage range is 18-36VDC for RIO-471xxx. Not used with RIO-47200.
This connector is not used when powering the RIO via POE.
The part number listed below is the connector that is found on the controller. For more information see the
Molex website.
http://www.molex.com/
Pin Signal
1 GND (Ground)
2 18-36VDC
Molex Part Number Pin Part Number (x2) Type
39-31-0020 44476-3112 2 Position
RIO-47xxx Appendix ● 85
Jumper Description for RIO
Jumper Label Function (If jumpered)
JP5 MRST Master Reset enable. Returns RIO to factory default settings
and erases non-volatile memory. Requires power-on or RESET
to be activated.
UPGD Used to upgrade controller firmware when resident firmware is
corrupt.
19.2 Set baud Rate to 19.2k (default without jumper is 115k)
OPT 10BaseT Ethernet Communication
Jumper Label Function (If jumpered)
JP6 AUX
(4 jumpers)
JP7 PoE
(4 jumpers)
Power for board comes from 2pin Molex Connector (18-36V DC)
Power for board comes from Power over Ethernet (No power cable
is necessary – Ethernet cable with PoE Switch is required)
Jumper Label Function (If jumpered)
JP102 INC Connects INC0 & INC1 to +5V and INC0B & INC1B to GND
JP102 OUTC Connects OP1A to GND and OP1B to +5V
86 Appendix RIO-47xxx
RIO Dimensions
RIO-471xx
Units in centimeters
RIO-47xxx Appendix ● 87
RIO-472xx
Units in millimeters
88 Appendix RIO-47xxx
Accessories and Options
Product Description
RIO-47100
RIO-47120
RIO-47120-16
ICS-48026-M
ICS-48044-M
SCB-48206
SCB-48306
CABLE-44M-1M
CABLE-26M-1M
Remote I/O controller with 0-5V analog I/O; 12bit
Remote I/O controller with ±10V analog I/O; 12bit
Remote I/O controller with ±10V analog I/O; 16bit
26-pin D high-density male to screw terminals.
Use 1 for each RIO-471x0 to break out analog signals
44-pin D high-density male to screw terminals.
Use 1 for each RIO-471x0 to break out analog signals
26-pin D high-density Signal Conditioning Board interfaces
to up to six RTDs (Resistive Temperature Device)
26-pin D high-density Signal Conditioning Board provides
interface for up to six thermocouples
44-pin D high-density male cable to discrete wires.
Use 1 for each RIO-471x0 to break out analog signals
-1M = 1 meter length. Order -2M for 2 meter length
26-pin D high-density male cable to discrete wires.
Use 1 for each RIO-471x0 to break out analog signals
RIO-47xxx Appendix ● 89
List of Other Publications
"Step by Step Design of Motion Control Systems"
by Dr. Jacob Tal
"Motion Control Applications"
by Dr. Jacob Tal
"Motion Control by Microprocessors"
by Dr. Jacob Tal
Contacting Us
Galil Motion Control
270 Technology Way
Rocklin, CA 95765
Phone: 916-626-0101
Fax: 916-626-0102
E-Mail Address: support@galilmc.com
URL: www.galilmc.com
90 Appendix RIO-47xxx
Training Seminars
Galil, a leader in motion control with over 500,000 controllers working worldwide, has a
proud reputation for anticipating and setting the trends in motion contro l. Galil
understands your need to keep abreast with these trends in order to remain resourceful and
competitive. Through a series of seminars and workshops held over the past 15 years,
Galil has actively shared their market insights in a no-nonsense way for a world of
engineers on the move. In fact, over 10,000 engineers have attended Galil seminars. The
tradition continues with three different seminar, each designed for your particular skill set-from beginner to the most advanced.
MOTION CONTROL MADE EASY
WHO SHOULD ATTEND
Those who need a basic introduction or refresher on how to successfully implement servo
motion control systems.
TIME: 4 hours (8:30 am-12:30 pm)
ADVANCED MOTION CONTROL
WHO SHOULD ATTEND
Those who consider themselves a "servo specialist" and require an in-depth knowledge of
motion control systems to ensure outstanding controller performance. Also, prior
completion of "Motion Control Made Easy" or equivalent is required. Analysis and design
tools as well as several design examples will be provided.
TIME: 8 hours (8:00 am-5:00 pm)
PRODUCT WORKSHOP
WHO SHOULD ATTEND
Current users of Galil motion controllers. Conducted at Galil's headquarters in Rocklin,
CA, students will gain detailed understanding about connecting systems elements, system
tuning and motion programming. This is a "hands-on" seminar and students can test their
application on actual hardware and review it with Galil specialists.
TIME: Two days (8:30 am-5:00 pm)
RIO-47xxx Appendix ● 91
WARRANTY
All products manufactured by Galil Motion Control are warranted against defects in
materials and workmanship. The warranty period for all products is 18 months except for
motors and power supplies which have a 1 year warranty.
In the event of any defects in materials or workmanship, Galil Motion Control will, at its
sole option, repair or replace the defective product covered by this warranty without
charge. To obtain warranty service, the defective product must be returned within 30 days
of the expiration of the applicable warranty period to Galil Motion Control, properly
packaged and with transportation and insurance prepaid. We will reship at our expense
only to destinations in the United States.
Any defect in materials or workmanship determined by Galil Motion Control to be
attributable to customer alteration, modification, negligence or misuse is not covered by
this warranty.
EXCEPT AS SET FORTH ABOVE, GALIL MOTION CONTROL WILL MAKE NO
WARRANTIES EITHER EXPRESSED OR IMPLIED, WI TH RESPECT TO SUCH
PRODUCTS, AND SHALL NOT BE LIABLE OR RESPONSIBLE FOR ANY
INCIDENTAL OR CONSEQUENTIAL DAMAGES.
COPYRIGHT (2008)
The software code contained in this Galil product is protected by copyright and must not be
reproduced or disassembled in any form without prior written consent of Galil Motion
Control, Inc.
92 Appendix RIO-47xxx
A1 – SCB-48206
Description
The SCB-48206 Signal Conditioning Board interfaces to up to six 3-wire RTD’s (Resistive Temperature
Device). The SCB-48206 is designed to work with the RIO-4712x.
The SCB-48206 plugs directly into the Analog 26-pin high-density D-sub connector and will use Analog
Inputs 0-5 on the RIO for the 6 RTD inputs. (RTD[0:5] = AI[0:5]).
connector as shown in Figure 12. Other mounting options are available upon request.
Figure 12: RIO-47122 with SCB-48206
1
It is oriented vertically from the RIO
1 Analog inputs 0-5 will not be available for general use analog inputs when the SCB-48026 is connected to the RIO.
RIO-47xxx A1 – SCB-48206 ● 93
Specifications
Number of Inputs 6 RTD inputs
RTD input – Analog Input Map RTD[0:5] = AI[0:5]
Output Range 0-5V
Excitation Current 1 mA
Input Range 18 – 230 Ω
Temperature Range (100 Ω RTD) -200 to 350 deg C
1 If greater than 230Ω (350 deg C) is required, contact Galil.
1
1
Wiring
The SBC-48206 has qty 6, 3-wire RTD inputs. The RTD is wired directly to the screw terminals as indicated
Figure 13 below.
in
Figure 13: RTD wiring to SBC-48206
Operation
The SBC-48206 will send a 0-5V analog voltage to the RIO that is related to the resistance of the RTD.
When using the SBC-48026, the analog inputs should be set to 0-5V inputs for the 6 RTD inputs. This is
done with the AQ command with a setting of 3 (AQ n,3 – where n = 0-5).
The calculation for the resistance of the RTD from the analog voltage is given from the following equation.
R = (1000*V)/21
Where R = Resistance of RTD
V = Analog Read from RIO
There are 2 methods for calculating the temperature once the resistance of the RTD has been calculated.
Note: The following calculations assume an RTD with R0 = 100 Ω and α = 0.00385 (Platinum RTD).
94 A1 – SCB-48206 RIO-47xxx
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