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Moacon manual - Comfile Technology

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1. comfile The first time the program is run Comfile Technology is written to FRAM exer fll Comfile Technology w If the MOACON is powered off and powered back on again FRAM will still contain the string Comfile Technology ex rx tl mmea oO Tad FRAM contains Comfile Technology Comfile Technology MOACON User s Manual 62 of 162 MOACON User s Manual Watchdog Timer A watchdog timer is a timer that triggers a system reset if the system does not service the timer before a specified timeout is reached The Watchdog timer will count up from O to To prevent the CPU from being reset the a specified timeout When the timeout is watchdog timer must be cleared before the reached it will reset the CPU timeout is reached Watchdog Timer CPU Watchdog Timer CPU Run wdtClear Timeout wdtOn void wdtOn u8 timeout timeout A number corresponding to a specified timeout 0 6 Enables the watchdog timer with a specified timeout timeout The following table maps timeout to a corresponding time span t meout TimeSpan_ 0 0 4 seconds Time Span is accurate within 5 wdtClear void wdtClear Resets the watchdog timer back to 0 Comfile Technology MOACON User s Manual 63 of 162 MOACON User s Manual In the following program the watchdog timer is set to approximately 6 5 seconds The first for loop will be able to count to 10 because the watchdog timer is being
2. if data exists in the receive buffer deltaT comGetInterval 0 Time since last packet was received comGets 0 c 64 Remove data from receive buffer In the program above comGets is used to remove data from the receive buffer as it arrives comGetInterval will report the amount of time in milliseconds since the last comGets function call Comfile Technology MOACON User s Manual 102 of 162 MOACON User s Manual comLen ul6 comLen u8 comCh comCh Channel number Gets the amount of data in receive buffer for channel comCh If data is not taken out of the receive buffer with functions like comGet and the receive buffer is filled any additional incoming data will be discarded To avoid losing incoming data be sure to read data as it arrives comFlush void comFlush u8 comCh comCh Channel number Clears the receive buffer for channel comCh comGets short comGets u8 comCh u8 dest ul6 length comCh Channel number dest Pointer to where data that is read should be stored length The amount of data in bytes to read Returns 1 if data is read 0 if data is not read Reads length bytes from the receive buffer on channel comCh and stores the data in memory at address dest include moacon500 h void cmain void cas se GA y openCom 0 115200 C8N1 Channel 0 115200 Baud Ii dara bits 8 mo parity stos bicss 1 Ain 618 Repeat forever if comLen 0 gt 0 Sick data
3. 0x03 1 Error Check CRC 2 Start address is the address of the first word to set and data is a byte array containing the value for each byte to set Length is the number of words to set and byte count is size of the data in bytes Comfile Technology MOACON User s Manual 154 of 162 MOACON User s Manual Modbus RTU Library startModbusRtu void startModbusRtu u8 comCh u8 slaveAdr u16 regBuffer u16 bitBuffer comCh The RS 232 channel to listen on slaveAdr The Modbus slave address regBuffer Word data memory bitBuffer Bit data memory Starts a Modbus slave on the MOACON listening on RS 232 channel comCh with Modbus slave address slaveAdr regBuffer and bitBuffer are the areas of memory from which the master will read and write word data and bit data respectively These buffers must be declared static Because the MOACON uses the Modbus protocol over and RS 232 channel it is necessary to open the RS 232 with the openCom function before calling startModbusRtu Sue taio us Mibietoal IL LIO Jj static ul6 MDregister 10 openCom 2 38400 C8N1 startModbusRtu 2 1 MDregister MDcoil NOTE Although the MOACON can have more than one RS 232 channel using the CPU Module and the Communication Module the MOACON does not support multiple Modbus slaves running simultaneously RTU_readCoils short RTU readCoils u8 comCh u8 slaveAdr us result ul6 targetAdr u8 numOfCoils comCh The RS 232 channel to use slaveAdr The M
4. 10V ON 0 5V RS DAOUT2 RS DAOUT2 Specifications Analog Output Operating Temperature 10 50 C no condensation Operating Humidit 35 85 RH Output Resolution 0 60 000 Communication Method RS 485 Maximum Conversion Rate 0 60 000 600ms Isolation Method No Isolation Comfile Technology MOACON User s Manual 119 of 162 MOACON User s Manual dacOut void dacOut u8 daclId u8 dacCh ul6 daValue dacld The ID of the DA Output Module 0 9 dacCh The channel on the DA Output Module 1 2 daValue The output magnitude 0 60 000 Sets the output of the digital to analog converter DAC on DA Voltage Output Module dacId channel dacCh daValue is the magnitude of the output voltage represented as a number between 0 and 60 000 Up to 10 DA Voltage Output Modules can be installed in a single system providing a total of 20 DA output channels daValue corresponds linearly to the output voltage 0 10V dipswitch OFF 0 5V dipswitch ON 10V OV 0 60000 Output load should be at least 1KQ The following sample program slowly increases the voltage from O to 10V 1V at a time include moacon500 h void cmain void while 1 Run forever ul6 v Os for v 0 v lt 60000 v 6000 Increase by 1V 6000 until 10V 60000 dacOuc 0 2 1 Set output voltage delay 1000 Wait for 1 second Comfile Technology MOACON User s Manual 120 of 162 MOACON User s Manual DA Current Ou
5. C8N1 lira 0 115200 Beal data bits 8 no parity stop bits 1 while 1 Repeat forever delay 500 Wait for 500ms comPrint 0 abc r n Transmits abc and a new line comString can be specified as a string literal by surrounding text in quotes In the example above abc is the text and r n are carriage return and new line characters respectively so each abc appears on a new line Like the printf function comPrint may optionally contain format specifiers that are substituted by the additional arguments argo argn COMPRA 0 YQ 4 ad el Dahil s cans itis See ES OE AiO Comfile Technology MOACON User s Manual 100 of 162 comGet short comGet u8 comCh comCh Channel number MOACON User s Manual returns 0 OxFF if successful and 1 OxFFFF otherwise Reads a sing character from the receive buffer for channel comCh Bytes received are stored in a 255 byte receive buffer comGet reads from this buffer one byte at a time The comLen function can be used to see if there is any data in the receive buffer The following program echoes received data back to the sender one byte at a time include moacon500 h void cmain void short c openCom 0 115200 C8N1 while 1 if comLen 0 gt 0 c comGet 0 comPut 0 c Comfile Technology MOACON User s Manual Channel 0 115200 Baud Hi leita Tues By 00 parity Stoo lees I Repeat forever if d
6. Counter Module Comfile Technology MOACON User s Manual MOACON User s Manual High Speed Counter Module The high speed counter module features high speed counter input or encoder input and PWM outputs Unlike other MOACON I O modules care needs to be taken to ensure signals stay within 0 5V High Speed Counter Input Encoder Input HCNT HCNT PWM E n co d e r l i 5V HCNT HCNT HCNT PWM EEEE Z D PWM Input signals should be within 0 5V 2V and greater is a Logic High When inputting between 12V 24V connect a 2 2k2 0 5W resistor in series HCNT ff HCNT z HCNT PWM HCNT PWM High Speed Pulse Encoder Comfile Technology MOACON User s Manual 85 of 162 MOACON User s Manual High Speed Counter Module Library countMode void countMode u8 cntChannel u8 cntMode cntChannel Channel number 0 or for DP HCNT cntMode Operation mode 0 basic counter 1 encoder counter cntMode 0 basic counter increments on both the rising and falling edge of the input cntMode 2 basic counter increments on the rising edge of the input cntMode 3 basic counter increments on the falling edge of the input cntMode encoder counter that counts up or down based on the phase difference between A and B When cntMode is O 2 or 3 the channel functions as a basic counter The module reads from port A AO for channel 0 A1 for channel 1 When in this mode nothing sh
7. MOACON User s Manual Chapter 3 Programming the MOACON Comfile Technology MOACON User s Manual MOACON User s Manual The MOACON is programmed using the ANSI C programming language C is an extremely common programming language that has been around for more than 40 years and there are many great C programming resources available It would be futile and unproductive to try and reproduce that material here so this manual will only discuss the aspects of C programming that are applicable to the MOACON Readers are encouraged to obtain additional material on programming in C to supplement this manual MOACON Studio MOACON Studio is the integrated software development environment used to program the MOACON The image below describes the main window 2 Project View 3 Help Window Ors Gyro 1 Source Editor EN Moacon Studio macon studio files c e project Ele Edit Run Tools Help AS MESES E E Project Macon Studio Files en er H u f Macon studio Files c include moaconS00 h 2 void cmain void 4 Debug Terminal 5 Output Window Source Editor Text editor for source code Project View Displays a list of all files in the current project Help Window Shows command syntax and other documentation as you type in the source editor Debug Terminal Output window for debugging messages Output Window Shows compiler messages download messages and more Comfile Technology MOA
8. void motorMove u8 motionID u8 stCh u32 position motionID The ID of the Motion Control Module stCh The channel on the Motion Control Module 0 or 1 position The position in steps to move the motor to Moves the motor specified by motionID and stCh to the specified position If position is the same as the current position the motor will not move If position is less than the current position the motor will move backwards If position is greater than the current position the motor will move forward The current position can be set to 0 using the setMotorPos function Comfile Technology MOACON User s Manual 109 of 162 MOACON User s Manual setMotorPos void setMotorPos u8 motionID u8 stCh u32 position motionID The ID of the Motion Control Module stCh The channel on the Motion Control Module 0 or 1 position The value of the motor s current position Sets the motor s current position to position The motor s starting position home can be set by moving the motor to it s home and calling setMotorPos with position equal to 0 This method essentially calibrates the motor to its position in the physical world The motor is identified by id of the Motion Control Module motionID and the module s channel stCh LIMIT HOME LIMIT It is recommend that this function be called at least once when the system is powered on or initialized getMotorPos u32 getMotorPos u8 motionID u8 stCh motionID The ID of the Mot
9. Manual The sampling rate of the Temperature Input Module is 200ms per channel and is constantly sampling the temperature sensor getTemp returns the most recently sampled value The Temperature Input Module samples all channels at once so at 200ms per channel the total sampling time for four channels is 800ms Therefore there is no benefit in calling getTemp at a rate greater than 800ms as it will always return the same value getTemp s execution time is roughly 3ms When the system is first powered on all four channels are scanned once Calling getTemp at this time will return an invalid value Please allow at least 800ms from the time the system is powered on before calling getTemp The following is an image of a PT100 temperature sensor Comfile Technology MOACON User s Manual 125 of 162 MOACON User s Manual Chapter 10 Ethernet Module Comfile Technology MOACON User s Manual MOACON User s Manual Ethernet Module The Ethernet module provides TCP IP capabilities to the MOACON LED Descriptions TX Transmit RX Receive ERR Data IP Conflict FULL Full duplex 100M 100Mb Ethernet Enabled LINK Connection Status Network Connectivity Ethernet devices are usually connected to one another through a hub or switch Each device must have a unique MAC and IP Address The hub switch connects all devices to each other forming a local network MOACON MOACON MOACON If connecting several devices
10. Output from the e Project Ele Edit Run Tools Help MOACON is displayed in IDVGHa xXz alge he Debug Terminal Project HelloWord E Heloword c i include moacon500 h 2 void cmain void Repeat Forever while 1 1 Print Hello World to the debug console printf Hello World r n Preparing to compile 0 00 sec ompiling lelloWord c 5 The MOACON will begin executing the program immediately Output from the programs printf statement will be displayed in the Debug Terminal Note that the program is not running on the PC it is running on the MOACON If you disconnect the MOACON from the PC there will be no output in the Debug Terminal Comfile Technology MOACON User s Manual 48 of 162 MOACON User s Manual Compiler Errors Often during development syntax errors and other errors can prevent a program from being compiled include moacon500 h void cmain void Repeat Forever while 1 Print Hello World to the debug console princi Micllo norida ERROR No semicolon For example in the source above there is no semicolon after the printf statement This is a syntax error in C EN Moacon Studio HelloWord c e Project File Edit Run Tools Help DRA Project HelloWord Heloword c i include moacon500 h 2 void cmain void 31 Repeat Forever Double Click to while 1 i scroll to the line 1 a Print Hello World to the debug termina
11. Technology MOACON User s Manual 69 of 162 MOACON User s Manual Chapter 5 Digital I O Modules Comfile Technology MOACON User s Manual MOACON User s Manual Source and Sink Outputs The MOACON Digital 1 O Modules come in 2 flavors the Source Output Module and the Sink Output Module When turned on the load s positive terminal is When turned on the load s negative terminal is connected to the positive supply rail connected to the negative supply rail CF DOSO8 Specifications Ports Operating Voltage 12 24VDC Output Voltage 10 30VDC Maximum Output Current 1A Port 4A COMMON Minimum Output Current 0 5mA 12 24VDC Maximum On Off switching 1KHz 1000 times per frequency second Status LED Lights when port is ON 2 independent Internal module circuitry 12 24VDC 12 24VDC p SEA ES Optical Isolator CF DOSO8 Comfile Technology MOACON User s Manual 71 of 162 MOACON User s Manual 8 Port DC Sink Output Module 3 3 27 VDC 3 30VDC 1A Port 4A COMMON 0 5mA Maximum On Off switching 1KHz 1000 times per secon Lights when port is ON 2 independent Ale el e Ra o EEEE i Optical L Isolator 3 3 27VDC Pa ES CF DOSI8 The Sink Output module requires two power sources The DC 24V power source is used to drive the internal FET The Sink Output Module has a wider output voltage range than the Source Output Module DC
12. User s Manual 5 of 162 MOACON User s Manual Table of Contents Chapter 1 MOACON Overview ii cccccccnensaienisnnencsnninsnencacterttnnnserisssanschansisnensedestitnnatanenivecesctnass 10 MOACON SUC 001 A A A A id 11 CPU MOQUE vin a 12 MOQUISS ocio rd AAA IA e ARRE AAA AR 13 a NN 14 Installing General DIO MOqUlES iio root las 15 Installing Expansion DIO Modules nidio en esecudeatewec s t EA TADE NESE ES 17 TIM Analog Modules e 20 Installing Special Purpose Modules iisisiiriisniinpin smbr e iniia 21 Tastalina Motion Control Moduls iaa 22 Module ISTMO SUIT di 23 Special Purpose MOM ais 23 Digtal TO MOQUE cir T a aa vege mseaneamoa E EA 23 Analog Modules Motion Control Modules Expansion Digital I O ModuleS s ssssssssssrssrrsrrrrrrsrrsresee 23 Small System CONTIGUCATI N cord a A RARA 24 e LE e A O o O E 26 MOACON AM EEE Aaa nana aisle sbi a bs a E E aha aa ESE 27 DP CPU500 Specicati NS 00 00 A AR 27 INSTA ici A AAA A AR 28 SUP ViG POB ii E ios adds 29 A A enna T 30 Power Relay ca 31 Relay Power AN 32 eS RE E Lao i RETT T r E E E 34 Chapter 3 Programming the MOACON ococcccccccccccoconnnnnnnnannnnonnnncnnnnennnnnnnnnnnnnn nn nn nene nnnnnnnnnrrrrnnnnnnn 42 MOSCONUSRUAIO cocinera A A RA lA 43 Creating amp PRR OE cioen E a a aaa ae aR REN 44 Compiling and Executing A PRO siii E EE NEEE EAE deat 46 See ETA EOS E A E E RE TTT 49 Adding Source File
13. a connection is closed the two connection endpoints must SOCK_CLOSING close in an orderly fashion sending a series of handshaking SOCK_TIME_WAIT packets to one another until the connection is finally closed SOCK_CLOSE_WAIT When a socket is disconnecting it may be in any one of these SOCK_LAST_ACK states until it is closed netSend u8 netSend u8 socketNum u8 buffer u16 length socketNum The socket number 0 3 buffer The location of the data to send length The number of bytes to send Returns 1 if successful 0 otherwise Sends length bytes of data in buffer out socket socketNum This function is especially useful for sending binary data A connection must be established SOCK_ESTABLILSHED to send data u8 data Comfile netSend 0 data 7 netPrint void netPrint u8 socketNum char formatString arg0 argn socketNum The socket number 0 3 formatString A character string to be printed that can optionally contain format specifiers arg0 argn An optional set of arguments to be used by format specifiers Returns 1 if successful 0 otherwise Sends a character string formatString out socket socketNum The format string can optionally contain format specifiers just like the printf function A connection must be established SOCK_ESTABLILSHED to send data Comfile Technology MOACON User s Manual 131 of 162 MOACON User s Manual u8 lucky 7 netPrint 0 Sd is a lucky number lucky netTxFre
14. debugLocate void debugLocate x y x The cursor s x coordinate y The cursor s y coordinate Moves the cursor to the position that is x characters from the left of the Debug Terminal and y characters from the top of the Debug Terminal This will be the point at which the next character will be printed debugPut void debugPut ch ch The ASCII code of the character or the character to be printed to the Debug Terminal Prints a single ASCII character to the Debug Terminal Both debugPut a and debugPut 97 print the character a 97 is the ASCII code for the character a in decimal printf u32 printf char formatString arg0 argn formatString A character string to be printed that can optionally contain format specifiers arg0 argn An optional set of arguments to be used by format specifiers returns The number of characters printed Prints a string to the Debug Terminal The string may optionally contain format specifiers that are substituted by the additional arguments argo argn printf a d b d tempi tempj Comfile Technology MOACON User s Manual 52 of 162 MOACON User s Manual The MOACON supports the following format specifiers Specifier Description Prints Signed decimal integer 100 10 Unsigned lower case hexadecimal integer Ab 12ab Unsigned upper case hexadecimal integer AB_12AB e Acharacter __ a A Unsigned decimal integer 100 12 A decimal floating point numbe
15. is not used Dipswitch 2 ON 0 10V Dipswitch 2 OFF 1 5V Comfile Technology MOACON User s Manual 114 of 162 MOACON User s Manual RS SADIN6 6 Channel 12 bit Analog Input Module The RS SADIN6 is a high speed 6 channel 12 bit analog to digital conversion module capable of reading all 6 channels in approximately 6ms Switching between voltage and current readings does not require a separate dipswitch To read current ranges from 0 20mA simply connect a 2501 1 tolerance across the and input terminals Voltage transmitter 2509 1 1W RS SADING RS SADIN6 Comfile Technology MOACON User s Manual 115 of 162 MOACON User s Manual AD Input Module Library getAdc int getAdc us adclId u8 adcCh adcld The ID of the AD Input Module 0 9 adcCh The channel on the AD Input Module 1 4 returns the digitally converted value read from the ADC Gets the digitally converted value from analog to digital converter ADC on AD Input Module adclId channel adcCh getAdc is for the RS ADIN4 module The module ID adcId is set using the rotary switch on the module s face Dipswiteh 2 Return Value Exceptions O ON 0 10V Value between 0 and Open Circuit 310 320 10 000 a Below 0 8V 11 111 OFF 1 5V o between 0 nd Above 5 2V 55 555 Open Circuit 11 111 include moacon500 h void cmain void int voltage while 1 Run forever voltage getAdc 0 1
16. reading is successful 0 is returned include moacon500 h void cmain void int sAdcData 6 wie as while 1 aj getSadc 0 sAdcData delay 500 printf sadin chl 7 Lea sadebata r n sAdcData Exa sadebate Exa sAdcData eva sadeData r n sAdcData x 7 printf sadin ch2 x 7 Pra Scala cas 7 printf sadin ch4 x 7 print sad iia ca x dP dP dP W ce oO x x 0 1 121 3 4 151 7 point ii saci ene Data is copied to array in increasing order from channel 1 to channel 6 In the example above channel 1 s value is stored in sAdcData 0 and channel 6 s value is stored in sAdcData 5 Comfile Technology MOACON User s Manual 117 of 162 MOACON User s Manual AD Input Module s Sampling Frequency The RS ADIN4 s sampling frequency is 30ms per channel so sampling all 4 channels will take 120ms Therefore it is unnecessary to perform call getAdc faster than 120ms as it will always return the same value The getAdc function call takes approximately 3ms The RS HADIN4 s sampling frequency is 240ms per channel so sampling all 4 channels will take approximately 960ms Therefore it is also unnecessary to call getHadc at a rate greater than 960ms as it too will always return the same value When the system is first powered on all four channels are scanned once Calling getAdc or getHadc at this time will return an invalid value W
17. to determine if the motor is moving and or how much longer the motor has left to move by returning how many pulses the Motion Control Module has left to send The following program moves a motor to position 100 000 waits for the movement to finish and then moves the motor back to its starting position include moacon500 h Waits for motor to finish moving void motorWaitToFinish u8 motionId u8 stChannel Get the current number of pulses left to send u32 pulseCount motorStat motionId stChannel While there are still pulses remaining i e the motor is still moving while pulseCount gt 0 Get the current number of pulses left to send pulseCount motorStat motionld stChannel Print the number of pulses remaining to the debug console printf Sd pulses remaining r n pulseCount delay 500 Give the CPU a break void cmain void moro scans 0 O SOO SOOO 10007 inireializs ns Morok setMotorPos 0 0 0 Current position is starting position motorMove 0 0 100000 Move the motor to position 100 000 motorWaitToFinish 0 0 Wait for the motor to finish moving motorMove 0 0 0 Move motor back to starting position motorWaitToFinish 0 0 Wait for the motor to finish moving Comfile Technology MOACON User s Manual 111 of 162 MOACON User s Manual Chapter 9 Analog Modules Comfile Technology MOACON User s Manual MOACON User s Manual AD Input M
18. to the Internet typically they all must traverse a gateway and or router The gateway router has two ports one connected to the Internet and one connected to the local network The gateway router must have one unique MAC and IP address for the Internet port and a separate MAC and IP address for the local network port The gateway router then brokers data back and forth between the Internet and the local network Gateway MOACON MOACON MOACON Comfile Technology MOACON User s Manual 127 of 162 MOACON User s Manual TCP Client Server Communication TCP Client Server communication is the typical method in which two nodes on a network communicate with one another A server listens for a connection from a client When a client connects the server confirms the connection from the client Once the connection is established they can transmit and receive data to and from one another 1 Server listens for 2 Client requests a 3 Server confirms the 4 Client and server connection connection to the server connection with the transmit and receive client data Server Listening Confirm Connection Connection y Established The following diagram illustrates how a network might look with a PC as a server and several MOACONSs as clients Server Il I l Client Client Client Comfile Technology MOACON User s Manual 128 of 162 MOACON User s Manual Ethernet Module Library Network programming uses Intern
19. 0 or 1 O Off 1 On Sets portNumber s output state on value 1 or off value 0 The port block containing the given port portNumber must have its I O mode set to Output beforehand POr TOACA 1 4 NS port 20 on portOut 20 0 ff tirne port 20 ones portBlockOut void portBlockOut u8 portBlockNumber u8 value portBlockNumber Port block number 0 through 5 value O through 255 Sets the output state of all ports in the given port block portBlockNumber value is a bit array corresponding to the 8 individual ports in the port block If portBlockNumber were 1 value s bit O would correspond to port 10 and value s bit 7 would correspond to port 17 PSOMEBLESkO we iL 7 2 Ports 10 12 ON Ports 13 17 OFF EPT 10000 OLTI portOff void portOff ul6 portNumber portNumber The port number to turn off Sets the output state of the given port portNumber to off porron e 20i Wirsas gone 210 ouese portOn void portOn ul6 portNumber portNumber The port number to turn on Sets the output state of the given port portNumber to on poOrtOm 2O p 7 Wurems ore ZO o Comfile Technology MOACON User s Manual 76 of 162 MOACON User s Manual portReverse void portReverse ul6 portNumber portNumber The port number to toggle Toggles the output state of the given port portNumber porton 20 fy Miras pore 20 om DOmEReVe Se 20 Turns port 20 GPE portReverse 20 Turns port 20 back on portOu
20. 2 void cmain void 31 5 9 When MOACON Studio is run the main window will appear a MaxportDownloader Uninstall Cubloc Studio Uninstall MaxportDownloader CuPanel Editor Remove CuPanel Editor TinyPLC Studio Uninstall CuPanel Editor SMA AAA E USB driver for Moacon a 10 Before MOACON Studio can be used with the MOACON the USB driver must be installed Go to Start gt Programs gt Comfile Tools gt USB driver for Moacon to begin the installation Comfile Technology MOACON User s Manual 38 of 162 MOACON User s Manual fm Silicon Laboratories CP210x USB to UART Bridge Driver Installer E Silicon Laboratories Silicon Laboratories CP210x USB to UART Bridge Installation Location Driver Version 6 1 C Program Files Silabs MCU CP210x 11 When the window above appears accept the defaults or change the installation location and click the Install button Scanning a Please wait while system is scanned 12 The installation program will scan your computer for existing drivers Success 13 When the installation is complete the window above will appear Click the OK button to finish Comfile Technology MOACON User s Manual 39 of 162 MOACON User s Manual 14 Once the installation is finished power on the MOACON and connect PC to the MOACON s Download port with a USB cable Computer Management E File A
21. A A E A A 76 DOE A E E daaaanees 76 E NR 76 O A NA 76 A i jacosisaiuaianadacacrnnssaderouscrunimaadaar gt sdaeass ob mandeindnddaeGad hinasnaecenseamed eee eee saaa nie baoabeass rea TuanaluRnTE 77 POROUS BE A a a na 77 EROS AU MITE as 78 Digital Input Module LIDERAN cono a A A A e 79 ts A AN 79 a NN 79 16 P rt Digital Trip EXPO SOU 0 aaa a aE Eara E AE E EEEE 80 P EEES i e a ETT E 80 Digital Input Expansion Module LIBDFSPY 000 din 81 A eenen r ane E A EE AE a O OENE 81 Solar o 1010 81 E E A AET 81 Pott Relay Output EXPANSION Module osina aN A A dann 82 RES BD S AE e o 0 O ines 82 Relay Output Expansion Module LID cc id aain oae R DETA 83 EREI iro AA E AA O r aa A O 83 A A EEEE OAT 83 Chapter 6 High Speed Counter Module oooooccconnnnnnnccccocncconeccnnnnnnnnnnnanannnccnnnnnnnnnnnnnnnnnnnnnnn nar rrrnnnannn 84 High Speed Counter MOJU A lt oo ia A A A iiD AE AORE idR 85 High Speed Cute Module OBRTA 0 A A A ENEE 86 CATE ITI Ss criai rr A conden ET Ea i TAEDA A E E E A EREA 86 COLAC ss EAE A R ODO ADELA aa AAA 87 ANA A OA 88 AAA A secdidasasiibabenas AREA a e Ae RE R E A O A 88 A AN 89 DIO a A a A ia a 90 Comfile Technology MOACON User s Manual 7 of 162 MOACON User s Manual O 91 Ae ON 92 Chapter 7 Communication Module ccccccccconnnnnninnnnnnccnconencnnnnncnnnnnnnnnnn nananana nananana aena 94 CAMI CACAO MITE is 95 Communication Module LAA dad
22. CHO Built in RS 232 Channel O for O interfacing to RS 232 capable devices RS232 CHO 5V OUTPUT Internally generated 5V output terminal n gt POWER INPUT 24V Power Input Use either the 3 barrel jack or the header but not both 5V OUTPUT POWER INPUT POWER INPUT DP CPUS00 DP CPU500 Specifications Input Voltage 24VDC Input Voltage Range 18 28VDC Approx RTC Battery Life Operating Temperature 0 55 C Storage Temperature 20 70 C Comfile Technology MOACON User s Manual 27 of 162 MOACON User s Manual Installation All modules should be secured to the slot board with screws Vibration and shock can result in poor electrical contact and other problems Failure to secure the modules with screws may result in malfunction and or damage Please avoid operating the MOACON in the following conditions e Where ambient temperature exceeds 55 C Where relative humidity is not within 30 60 Where the MOACON could be subject to excessive vibration or shock In direct sunlight Near a heat source Near a transformer of other high voltage source Comfile Technology MOACON User s Manual 28 of 162 MOACON User s Manual Supplying Power It is recommended to separate the power to the CPU module and the power that drives the I O circuits Two 24V power sources can be used as shown below One powers the CPU while the other drives the I O circuit I O POWER w NOISE FILTER Separating the CPU s power a
23. CON User s Manual 43 of 162 MOACON User s Manual Creating a Project File Edit Run New Project Open Project Close Project Save Project Add Files To Project Recent Projects Exit To create a project in MOACON Studio choose Project gt New Project from the main menu New Project Project Directory C Moacon Studio Projects MyProject Ma Project Name MyProject Cancel From the New Project dialog that appears create or browse to an empty folder The folder s name will become the project s name When the project is created a ProjectName csp file will be created in this folder this is the MOACON Studio project file In the example above a file named MyProject csp will be created in the folder C Moacon Studio Projects MyProject Comfile Technology MOACON User s Manual 44 of 162 MOACON User s Manual 3 Open File Tabs EN Moacon Studio MyProject c 1 Project Root PECES a Dig x se o Project MyProject MyProject c i include moaconS00 h 2 void cmain void 2 Default c File After creating a new project the project will open in MOACON Studio and create a default ProjectName c file In the example above for project MyProject a default MyProject c file was created 1 Project Root The root of the project Source files will appear as children of this root 2 Default c File The default source file New source files can be crea
24. Least Significant Byte 0x00 1 Length Most Significant Byte 0x00 1 Length Least Significant Byte 0x03 1 Error Check CRC 2 Response Frame from Slave Data Byte Count Slave Address 0x03 1 Function Code 0x03 1 Byte Count 0x06 1 Data 1 Most Significant Byte 0x03 1 Data 1 Least Significant Byte OxE8 1 Data 2 Most Significant Byte 0x01 1 Data 2 Least Significant Byte OxF4 1 Data 3 Most Significant Byte 0x05 1 Data 4 Least Significant Byte 0x33 1 Error Check CRC 2 The register address is the address of the first register to read Length is the number of bytes to read Comfile Technology MOACON User s Manual 150 of 162 MOACON User s Manual Function Code 05 Force Single Coil This function sets the value of a single bit at a given address Example Query Frame from Master Data Byte Count Slave Address 0x03 1 Function Code 0x05 1 Start Address Most Significant Byte 0x00 1 Start Address Least Significant Byte 0x01 1 Data Most Significant Byte OxFF 1 Data Least Significant Byte 0x00 1 Error Check CRC 2 Response Frame from Slave Data Byte Count Slave Address 0x03 1 Function Code 0x05 1 Start Address Most Significant Byte 0x00 1 Start Address Least Significant Byte 0x01 1 Data Most Significant Byte OxFF 1 Data Least Significant Byte 0x00 1 Error Check CRC 2 Start address is the address of the bit to set and data is the value to set the bit to To turn a bit ON data must be OxFFOO To tur
25. MOACON User s Manual Modular Industrial Controller MOACON User s Manual Last Updated 2015 10 13 This manual is published in electronic format only Everything for Embedded Control COMFILE TECHNOLOGY Comfile Technology Inc www ComfileTech com Copyright 1996 2011 Comfile Technology Comfile Technology MOACON User s Manual 1 of 162 MOACON User s Manual Notice This manual may be changed or updated without notice Comfile Technology Inc is not responsible for any actions taken outside the explanation of this manual This product is protected by patents across the world You may not change copy reproduce or translate it without the consent of Comfile Technology Inc Warranty Comfile Technology provides a one year warranty on its products against defects in materials and workmanship If you discover a defect Comfile Technology will at its option repair the product replace the product or refund the purchase price Simply return the product with a description of the problem and a copy of your invoice if you do not have your invoice please include your name and telephone number This warranty does not apply if the product has been modified or damaged by accident abuse or misuse 30 Day Money Back Guarantee If within 30 days of having received your product you find that it does not suit your needs you may return it for a refund Comfile Technology will refund the purchase price of the product
26. ON User s Manual ie Setup Moacon Studio Select Destination Location Where should Moacon Studio be installed Cal Setup will install Moacon Studio into the following folder To continue click Next If you would like to select a different folder click Browse Program Files Comfile Tools Moacon Studio Browse At least 69 0 MB of free disk space is required When the window above appears accept the default or change the installation folder to your liking and click the Next button a Setup Moacon Studio Select Start Menu Folder Where should Setup place the program s shortcuts Setup will create the program s shortcuts in the following Start Menu folder To continue click Next f you would like to select a different folder click Browse M When the window above appears accept the default or change the start menu folder and click the Next button Comfile Technology MOACON User s Manual 35 of 162 MOACON User s Manual 16 Setup Moacon Studio Select Additional Tasks Which additional tasks should be performed Select the additional tasks you would like Setup to perform while installing Moacon Studio then click Next Additional icons 5 Check the Create a desktop icon checkbox to indicate whether or not you want a desktop icon and click the Next button 18 Setup Moacon Studio Ready to Install Setup is now ready to begin installing Moacon Studio on your com
27. OTION STEP is a pulse signal used to control the speed NS of the motor It cannot drive a motor and is intended to be used by a motor driver rather than the motor itself DIR is the signal used to control the direction of rotation It too cannot drive a motor and is intended to be used by a motor driver CW 5V CCW OV Pears end LIMIT is the signal used for stopping the motor When the LIMIT signal is received STEP is stopped immediately eo a oe fe 1 Each channel has two limit inputs that should A be supplied with DC 24V DC24V RS MOT2 Up to 10 Motion Control Modules can be installed in a single system by giving each module a unique ID using the rotary switch on the face of the module With the ability to install up to 10 Motion Control Modules in a single system and each module providing 2 channels up to 10 independent motion controllers can be used simultaneously The Motion Control Module can create an accelerating pulse up to 50KHz Maximum Frequency e 50KHz Starting Frequency Acceleration Deceleration i gt Output Pulse a Comfile Technology MOACON User s Manual 107 of 162 MOACON User s Manual To drive a stepper motor a separate motor driver is needed In general there are two types of motion control systems Open loop systems and closed loop systems Closed loop systems receive feedback from the motor about the motor s current speed while open loop systems receive no feedback from t
28. Off Switching Frequen e 10Hz 10 times per second Status LED Lights when port is ON Common Terminal 8 Independent 6 27 VDC 6 240 VAC 50 60 Hz Relay Drive Circuit RS EDOR8 The rotary switch on the face of the module is used to assign the module to a port block A ee Oe 7 OOo 8 O 80wsz Oooo A MA k Comfile Technology MOACON User s Manual 82 of 162 MOACON User s Manual Relay Output Expansion Module Library eRelay void eRelay ul6 eportNumber u8 value eportNumber The expansion port number of an individual port not a port block value 0 or 1 0 0ff 1 On Sets eportNumber s output state on value 1 or off value 0 eRelay 60 1 fi meroes port 60 om eRelay 60 0 Turns port 60 off eRelayBlock void eRelayBlock ul6 eRelayID us value eRelayID The module s ID port block number 0 through 9 value 0 through 255 Sets the output state of all ports in the given port block eRelayID value is a bit array corresponding to the 8 individual ports in the port block If eRelayID were 1 value s bit O would correspond to port 10 and value s bit 7 would correspond to port 17 eRelayBlock 1 7 Ports 10 12 ON Ports 13 17 OFF 7 0000 0111 Keep in mind the Expansion Relay Output Module s maximum on off switching speed is 10 times a second 10Hz Comfile Technology MOACON User s Manual 83 of 162 MOACON User s Manual Chapter 6 High Speed
29. Output Modules can output a pulse of up to 1KHz meaning it can be switched on and off at about 1000 times per second Comfile Technology MOACON User s Manual 72 of 162 MOACON User s Manual 8 Port Relay Output Module 6 27VDC 6 240VAC 5 30VDC 5 264 VAC 4 A Port 4A COMMON 100 mA 5VDC Maximum On Off Switching 25Hz 25 times per second Frequency Status LED Lights when port is ON Common Terminals 8 Independent 6 27 VDC 6 240 VAC A 50 60 Hz lt gt Relay Drive Circuit 6 27VDC 4A 6 240VAC 4A CF DORL8 This is a 4A load per port relay output module capable of up to AC 240V If a high switching frequency is needed using the DC Output Modules is recommended After prolonged used the relay s mechanical contacts may become worn and will need to be replaced Individual relays are not available so the entire module will need to be replaced Comfile Technology MOACON User s Manual 73 of 162 MOACON User s Manual Digital Output Module Library portinit void portInit u8 portBlockNumber u8 mode portBlockNumber Port Block Number e g 0 for ports 0 7 1 for ports 10 17 etc mode 0 or 1 O Output 1 Input Intitializes a port block s I O mode as either Input or Output In order to use a port for output its I O mode must be changed to Output Likewise in order to use a port for input its I O mode must be changed to Input Ports are initialized to Input when the system i
30. PP RARA 122 Temperature TOPE MAA a a der 123 Temperature Input Modales shawna eaiaek Haamreeeecmamereeed 124 o A NN 124 Chapter 10 Ethernet Module 0 ccccsiesescccsccisccnnecicceessenssssnencctentecenecteedsaseeseteusdqnsncccatansaeeeeesennns 126 Ethernet Moduls conca rd ARA TA ERA AI ARA A AA 127 LEN Desert ani ic 127 Network Conme UWE ca 127 TCP CSM Servar Comunista inn a a ia ada 128 Eee Module ISLE ri A A ai 129 Comfile Technology MOACON User s Manual 8 of 162 MOACON User s Manual DOTA A A AA A a A A 129 PP A RNA 129 AS A B PPPP LORO IS AS 130 NO 130 a A NO 130 A A NR O 130 DCESERTUS 000100 id ARA DAA AIDA A IAEA AAA DEAR AAA EA 131 EEI A O RN 131 18 18 5d 8 E POPPOOA ON ru NA 131 DEE A AD 132 NT 132 DORIA E L E E 132 Sample Progra ici an AE AAA AAA ARDE AAA 132 Chapter 11 Display LIBTary ion 136 CUSpla y DEVICES carrito io diia ADS AAA EA A 137 CLE D MIDE ii A IR AAA AAA AA ARA a 138 A NO 138 a elta ia oi ciao E AAA AAA AAA AAA AA AAA ARA 138 A NO 138 8 EE RN 138 CCOO ipod AAA ATI AAA EIE DAA AA IAEA 138 CIC LOCADO viii isscatecsvnesnctiss cieacdaciacas N E E 139 O O 139 a E l LR AAA AAA AE IA ARA AAA AAA AA 139 CSG A an dra dci 140 EST A Dia eii 141 CESPED crap A E E A A A E 142 ESE AA AAA A as 143 A O 144 Chabter 12 Modbus RTU ina aa cdi 146 PDOUE MOUDUS iiinn onia etaoanenseimancas nemonedoeas AEO OET E E aeameunne de 147 Function Code 01 02 Rea
31. Read from the ADC Module 0 Channel 1 printf Sd r n voltage Print value to the debug console delay 100 Wait for 100ms getHadc int getHadc u8 adcId u8 adcCh adcld The ID of the AD Input Module 0 9 adcCh The channel on the AD Input Module 1 4 returns the digitally converted value read from the ADC Gets the digitally converted value from analog to digital converter ADC on AD Input Module adcId channel adcCh getHadc is for the RS HADIN4 module The module ID adcId is set using the rotary switch on the module s face Dipswitch 2 Return Value Exceptions ON 0 10V Value between 0 and Open Circuit 3100 3200 100 000 OFF 1 5V Value between 0 and Below 0 8V 111 111 100 000 Above 5 2V 555 555 Open Circuit 111 111 Comfile Technology MOACON User s Manual 116 of 162 MOACON User s Manual getSadc int getSadc us adcld int array adcld The ID of the AD Input Module 0 9 array A pointer to an array of 6 integers to store the values of each channel returns 0 if successful 1 if unsuccessful Reads the digitally converted values all 6 channels from Analog Input module adcId and stores the values in array getSadc is for the RS SADIN6 module The usage differs slightly getAdc and getHadc as all channels can be read with one function call int sAdcDatal 6 aj getSadc 0 sAdcData If reading fails whether due to a wrong module ID or other factors 1 is returned If
32. The address where the data should be written to value Word value to write returns the status of this function call 1 Success 0 Timeout 1 Data Error Writes a word value value to slave device slaveAdr at address targetAdr on RS 232 channel comCh Returns a number indicating whether or not the function call was successful res RTU_writeCoil 0 1 0x0000 0x1234 Write word 0x1234 to slave device 1 address 0x0000 RTU_writeCoils short RTU_writeCoils u8 comCh u8 slaveAdr u16 targetAdr u8 value comCh The RS 232 channel to use slaveAdr The Modbus slave address of the device to write to targetAdr The address where the data should be written to value Bit array to write 8 bits returns the status of this function call 1 Success 0 Timeout 1 Data Error Writes an array of bits value to slave device slaveAdr at address targetAdr on RS 232 channel comCh Returns a number indicating whether or not the function call was successful Although function code 15 is for writing several bits this function can write at most 8 bits res RTU_writeCoils 0 1 0x0000 0x12 Write bit array 0x12 to slave device 1 address 0x0000 Comfile Technology MOACON User s Manual 157 of 162 MOACON User s Manual getCrc ul6 getCre u8 targetArray ul6 length targetArray Array of bytes to compute a CRC for length The number of bytes in the array returns the CRC Computes a Modbus 16 bit CRC for an array of data targetArray of leng
33. When installed in position 30 its ports will be assigned numbers 30 through 37 Comfile Technology MOACON User s Manual 15 of 162 MOACON User s Manual The following image illustrates a CPU module installed with 6 general DIO modules One CPU module installed with 6 DIO modules More than one of the same type of general DIO module can be installed concurrently as shown below 7 One CPU module installed with 3 identical output modules Comfile Technology MOACON User s Manual 16 of 162 MOACON User s Manual Installing Expansion DIO Modules WARNING Do not plug or unplug modules while the power is on Maximum Number of Concurrent Model Name Model Type Modules 12 EDI16 16 pin Expansion Digital Input Module 8 RS EDOR8 8 pin Expansion Relay Output Module The MOACON provides a total of 48 digital I O ports If more than 48 are needed these expansion DIO modules can be used to increase the number of digital I O ports Up to 8 12 EDI16 modules can be installed to expand DC input to a maximum of 128 pins Up to 10 RS EDOR8 modules can be installed to expand relay output to a maximum of 80 pins The expansion DIO modules can be installed in any slot on either the 10 slot main board or the 5 slot expansion board except the CPU slot Comfile Technology MOACON User s Manual 17 of 162 MOACON User s Manual The dipswitch on the side of the 12 EDI16 digital input expansion module is u
34. a dais 97 A A A O NA 97 CA e anes 99 A O A dadanaseutaned TAEA 100 A NR RN 101 E A ANO 102 A A O 103 CONNG CUS ria RA AI ARIAS AAA RASTREO IAEA AGAR 103 COMPUESTA AA AAA TIHANE 104 A A A NN 104 Chapter 8 Motion Control Module ooooooonccccnnnncccccnnnnnnnanannonncccnnnnnnnnncnnnnnnnnnnn nac nnn nn cnn nana nenna 106 2 AXIS Moton Control Mod le rios siii dai iii ies 107 Open LOOP eaa A E A 108 BRE Motion COMO IB da 109 IDO TO pol EE A AAA AAA AAA AAA AAA AAA AAA 109 TIDEDEMOWE cc cr A A E E A AAA 109 AA LE aE T a sir A A AI IA A 110 CICMOTOEPOS o A A A A 110 A A 110 RELIKEN A ON 111 Chapter 9 Analog MOGiINeS iscic is ccsseceeticnecctecccssesdedcensasesesntetacestsctssdeeentsdeasseanstaviverstetansssuseecessenns 112 AD Taput Module so cccssasssescesvveesertennds nnna aA aA ud iannesassrssaaaes ANNES AREE EAEE iaa Eaa 113 ES ADIMA RS HADING ESTEROS ica 113 RS SADING SPECICIO S 50d ra RR EA RA a A acne 113 RS ADIN4 RS HADIN4 Analog Input M d l n siaewew EEEE EN EEDE usc 114 RS SADING 6 Channel 12 bit Analog Input Modular ia 115 AD Input Mod le IBC ai aan 116 COCA tido ae DEA A AAA dE ES AA verbeanenneeenaes 116 DOC 00000100000 00000 1000 RADAR ARA AAA AAA AAA AIRE AAA AAA 116 ARA A sv tri AR ARA AAA AI dia 117 DA FUE Output MONA o id le is 119 RS DAQUT2 SECIICSNOAS A aon a aaa TOETSE EAEE Ea e AENEA EEES 119 ACO ii AAA AAA AAA TAT 120 DA Current QUU MOdU E 00 A ARARE EALE eai 121 RS DAGUT2B ESAS A A a RENS 121 AA
35. al socketOpen socket 8080 listen socket break case SOCK ESTABLISHED printf Established r n netPrint socket netPrint socket char hello netPrint socket netPrint socket oan 5S y Comfile Technology 1f not listening MTE COSE If connection established MOACON User s Manual If connection status changes start listening start listening respond ETU PO AOO Oi NANDU Content Type cerda 2 Hello from the MOACON Content Length hello oa Sere Leet das lio 133 of 162 MOACON User s Manual break case SOCK LISTEN 1f listening just wait ace bal Sieeiastiave ie in p break case SOCK CLOSE WAIT ME lien disconnects disconnect printf Closing r n disConnect socket break default break delay 10 Wait for 10 milliseconds The MOACON will begin listening for connections exer ff tl A Listening Enter the URL to the MOACON socket listening on port 8080 http 192 168 0 12 8080 Windows no f SAZ http 192 168 0 12 8080 gle Favorites http 192 168 0 12 8080 Hello from the MOACON The MOACON responds and begins listening for a new connection Comfile Technology MOACON User s Manual 134 of 162 MOACON User s Manual Listening Established Listening Comfile Technology MOACON User s Manual 135 of 162 MOACON User s Manual Cha
36. ata exists in the receive buffer Get one byte Send byte back to sender 101 of 162 MOACON User s Manual comGetinterval u8 comGetInterval u8 comCh comCh Channel number returns the time interval in milliseconds between packets Gets the time interval in milliseconds between packets of data received on channel comCh Often packets of data are sent wrapped in a start and stop code and therefore when parsing data it is easy to know when all data has been received START STOP However one problem with this approach is the start and stop codes cannot be used in the data payload unless they are escaped To get around this limitation some protocols separate packets by intervals of time At Modbus RTU is one example of this method PACKET PACKET 4 PACKET comGetInterval is needed to implement this kind of protocol When a packet of data arrives in the receive buffer comGetInterval will return the amount of time in milliseconds that has elapsed between when data was removed from the receive buffer and when data arrived in the receive buffer up to 255ms To accurately measure the time between packets packets should be removed from the receive buffer immediately when they arrive include moacon500 h void cmain void u8 deltaT 0 Glaaie 62 openCom 0 115200 C8N1 Channel 0 115200 Baud Mi deara bircs E nO parici otoo lomess 1 while 1 Repeat forever if comLen 0 gt 64
37. ce between function codes 1 and 2 and there is no difference between function codes 3 and 4 Comfile Technology MOACON User s Manual 148 of 162 MOACON User s Manual Function Code 01 02 Read Coil Input Status In the MOACON function codes 1 and 2 are identical These two functions read bit values starting at a given address Example Query Frame from Master Data Byte Count Slave Address 0x03 1 Function Code 0x01 1 Start Address Most Significant Byte 0x00 1 Start Address Least Significant Byte 0x00 1 Length Most Significant Byte 0x00 1 Length Least Significant Byte 0x08 1 Error Check CRC 2 Response Frame from Slave Data Byte Count Slave Address 0x03 1 Function Code 0x01 1 Byte Count 0x01 1 Data 1 0x53 1 Error Check CRC 2 The start address is the address of the first bit to read Length is the number of bits to read however the response will always be in multiples of 8 bits For example if length is 5 the response will contain 8 bits If length is 14 the response will be 16 bits Comfile Technology MOACON User s Manual 149 of 162 MOACON User s Manual Function Code 03 04 Read Holding Input Registers In the MOACON function codes 3 and 4 are identical These two functions read one ore more word 16 bits values starting at a given address Example Query Frame from Master Data Byte Count Slave Address 0x03 1 Function Code 0x03 1 Start Address Most Significant Byte 0x00 1 Start Address
38. ch 15 2011 EecWrrtel s 0x03 eos a OseS gt rtcWrite 2 0x13 01917223 jem olas Cl Oil gt eolica 0 025 gt while 1 Run forever Print the current date and time to the debug console prints Lhe Current date and time Us Eau printf 20 02X 02X 02X 02X 02X 302x r n yyyy mm dd hh mm ss rtcRead 6 rtcRead 5 rtcRead 4 year month day rtcRead 2 rtcRead 1 rtcRead 0 hour minute second delay 1000 The current date and time is 2011 03 15 13 23 23 The current date and time is 2011 03 15 4 Comfile Technology MOACON User s Manual 60 of 162 MOACON User s Manual FRAM Functions The MOACON has 32KB of FRAM Ferroelectric Random Access Memory memory It is non volatile so it retains data even without power Retaining memory between power cycles has traditionally been implemented using EEPROMs or battery backup Battery backup uses a battery to maintain memory in internal SRAM However the battery must be monitored to ensure it has a charge and is replaced periodically which places a maintenance burden on the operators EEPROMs incur a few milliseconds of latency when writing and are limited in the number of write erase cycles FRAM can retain data for about 10 years without the need for a battery backup has a lower writing latency and has a greater maximum number of write erase cycles framWrite void framWrite ul6 fadr u8 fData fAdr Address in FRAM
39. channel to use slaveAdr The Modbus slave address of the device to read from result Buffer to store register word data to targetAdr The address of the data to read numOfRegss Number of registers words to read returns the status of this function call 1 Success 0 Timeout 1 Data Error Performs the same operation as RTU_readRegs but uses Modbus function code 4 The MOACON does not distinguish between function codes 3 and 4 but some PLCs do This function is provided so the MOACON can interface properly with those PLCs that distinguish between function codes 3 and 4 Comfile Technology MOACON User s Manual 156 of 162 MOACON User s Manual RTU_writeCoil short RTU writeCoil u8 comCh u8 slaveAdr ul6 targetAdr us value comCh The RS 232 channel to use slaveAdr The Modbus slave address of the device to write to targetAdr The address where the data should be written to value Bit value 0 or 1 to write returns the status of this function call 1 Success 0 Timeout 1 Data Error Writes a bit value value to slave device slaveAdr at address targetAdr on RS 232 channel comCh Returns a number indicating whether or not the function call was successful res RIU writeCoil 0 1 0x0000 1 Write a 1 to slave device 1 address 0x0000 RTU_writeReg short RTU_writeReg u8 comCh u8 slaveAdr u16 targetAdr ul6 value comCh The RS 232 channel to use slaveAdr The Modbus slave address of the device to write to targetAdr
40. cleared after each iteration The second for loop however will not be able to finish counting because the watchdog timer will reset the CPU after 6 5 seconds include moacon500 h void cmain void primer Street Progeny in wdtOn 4 Set watchdog timer to 6 5 seconds ime ab OF for i l i lt 10 i Count to 10 printf Sd r n i Print count to debug console delay 1000 Wait for 1 second wdtClear Clear the watchdog timer foie f a lt 10p ish jf Mey to Corne co 10 printf Sd r n 1 Print count to debug console delay 1000 Wait for 1 second yr Ww sn UO e 0 0 9 1 1 2 3 4 5 6 u ct fo e ct as Un Oo Q R J B Comfile Technology MOACON User s Manual 64 of 162 MOACON User s Manual Timer A timer triggers an event at a specified periodic interval Intervals can be as long as 65 seconds or as short as 1ms startTimerEvent void startTimerEvent ul6 interval interval The amount of time between each event in milliseconds 1 65 535 Starts a timer that triggers events every interval milliseconds These timers can be used to trigger background processes at regular intervals thus simulating multitasking Care must be taken when using these timers The process triggered by the event i e service routine must execute in less time than the timer s interval If the service routine cannot finish in time the system will never be able
41. ction View Window Help e 01739203 gA 2 Display adapters 2 DVD CD ROM drives 43 Human Interface Devices 3 IDE ATA ATAPI controllers 9 Keyboards E Mice and other pointing devices i El H W E W H Monitors E Network adapters Ports COM amp LPT J 9 USB to Serial Port Driver COM1 AF USB to Serial Port Driver COM2 MR Processors Sound video and game controllers sp Storage volumes System devices Universal Serial Bus controllers 0 E E 15 In the PC s Device Manager you ll see that a COM port was created Silicon Labs CP210x USB to UART Bridge In the image above the MOACON is on COM4 but every PC will be different Comfile Technology MOACON User s Manual 40 of 162 16 Open MOACON Studio and select Tools gt Comm Port Settings from the menu a dc MOACON User s Manual Moacon Studio macon studio files c e Project File Edit Run EEE Help iD Be X Text Editor Preference E Project Macon Studio Macon Studio Files SPIt wv 1 macon studio files c COMM Port Settings fon y Refresh Available Port List 17 Select the COM port on which the MOACON is connected This should be the port shown in step 15 COMA MOACON projects can now be created and downloaded to the MOACON using MOACON Studio Comfile Technology MOACON User s Manual 41 of 162
42. ction calls cledCls void clcdCls Clears the CLCD screen May take as long as 100ms clcdCsr void cledCsr u8 onOff onOff 0 Off 1 On Shows or hides the cursor on the CLCD module If onOff is 0 the cursor is hidden if onOff is 1 the cursor is shown The default is 1 On clcdPrint void cledPrint u8 cx u8 cy char formatString arg0 argn cx x position column of first character to be printed cy y position row of first character to be printed formatString A character string to be printed that can optionally contain format specifiers arg0 argn An optional set of arguments to be used by format specifiers Prints a character string formatStrng on the CLCD device at location cx cy formatString can contain format specifiers just like the printf function See the printf function for more details Comfile Technology MOACON User s Manual 138 of 162 MOACON User s Manual clcdLocate void cledLocate u8 cx u8 cy cx X position column of first character to be printed cy y position row of first character to be printed Moves the CLCD module s cursor to the location cx cy clcdBlit void clcdBlit u8 onOff onOff 0 Off 1 On Turns the CLCD module s backlight on onOff 1 or off onOff 0 clcdPower void cledPower u8 onOff onOff 0 Off 1 On A 5V power source is supplied by the MOACON to the CLCD display module This function turns the power on onOff 1 or off onOff 0 The follo
43. d be sure not to switch the relay on or off at a frequency greater than 2Hz Comfile Technology MOACON User s Manual 31 of 162 MOACON User s Manual Relay Power Wiring Do not wire the power for an external relay to the same circuit as the controller s SMPS Switched Mode Power Supply as noise from the relay switching on and off can negatively influence the operation of the power supply Incorrect Correct To achieve a more reliable operation connect a shield transformer 1 1 before the controller s power supply 1 1 Transformer Noise Filter SMPS MOACON Power Supply Ground Ground Power wiring is very important If power supply noise cannot be controlled the system will not be stable Ensure the following to keep noise at a minimum Power wires should be thick and twisted together to reduce noise Isolation transformer wires should also be twisted together to reduce noise and connected in close proximity to the controller Be sure the SMPS is properly grounded Do not put AC and DC signals in close proximity to one another Separate signal wires and power wires by at least 20cm Separate input and output signal wires Keep magnetic switches potential relays and power relays away from the controller Ne DUDO Also be aware of the capabilities of your power supply Overloading your power supply may result in overheating and ultimate system failure Keeping your control panel properly ventilated e
44. d Coil input SAHS cositas diodo aia 149 Function Code 03 04 Read H ldi g input RegiSterS issic a ia 150 Function Code 05 Porce Single COll arrr aaa EE EEEa E EA AEA EREE 151 Function Code 06 Preset Single Registers iii Eana NANSO 152 Function Code 15 1 Force Multiple COSsen E Ai 153 Function Code 16 Preset Multiple Registers cocos a 154 Modus ATI iii pcia EDITE bi i TiDi 155 Strt Mod DUSR UH iii ci AAA AAA AAA AAA AAA AAA AAA 155 RTU A a I EAA ESEE R EPERE LEETE RIAR wadeeectesteasnriesenaeecsesssaaeds teed casa SEE 155 TUS E E A O 156 RTU POAGARCOS iniri nannan A AAA ARA AAA AAA A ARA AAA RARAS 156 TUS NTC A iaa 157 RTU a A O 157 RTU WNECONS eire aran inar ii AAA AAA AAA RAE AAA ARA AAA IAEA EEG AAA AAA ANER 157 0 A T ANNA 158 Ch pter 14 APPNO iaa 160 External DIMENSIONS u a o did AE EER 161 Comfile Technology MOACON User s Manual 9 of 162 MOACON User s Manual Chapter 1 MOACON Overview Comfile Technology MOACON User s Manual MOACON User s Manual MOACON Studio MOACON Studio is the integrated development environment software needed to develop for the MOACON It can be downloaded from the Comfile Technology website at www ComfileTech com MOACON Studio features a C compiler source editor RS 232 communication USB downloading and debugging and more The source editor features syntax highlighting command completion and context sensitive help making learning developing and testing MOACON software
45. de features for Digital I O Relay Output Analog to Digital and Digital to Analog Conversion Motor control Temperature Monitoring RS 232 Communication Ethernet and the potential for more The free integrated development environment software MOACON Studio features a C compiler source editor RS 232 communication USB downloading and debugging and more The source editor features syntax highlighting command completion and context sensitive help making learning developing and testing MOACON software projects a truly productive and enjoyable experience We hope that you find the MOACON s unique features and flexibility ideally suited for both your current and future projects Comfile Technology Comfile Technology MOACON User s Manual 3 of 162 MOACON User s Manual Frequently Asked Questions Q What software is needed to use the MOACON You only need MOACON Studio It is an integrated development environment that contains everything you need to program the MOACON It can be downloaded from www ComfileTech com Q I m currently using Comfile Technology s CUBLOC How is the MOACON different The CUBLOC is a microcontroller capable of simultaneous execution of both BASIC and Ladder Logic The code is interpreted which in comparison with the MOACON results is a slower execution speed The CUBLOC is primary targeted for customers who wish to manufacture mass quantities of custom PCB products with the goal of reducing prod
46. e ul6 netTxFree u8 socketNum socketNum The socket number 0 3 Returns the number of available bytes in the transmit buffer Gets the number of available bytes in the transmit buffer for socket socketNum When the netSend and netPrint fuctions are used the data to be sent is stored in the socket s transmit buffer to be transmitted by the Ethernet Module However the CPU is much faster than the typical Ethernet network and can sometimes fill the buffer before the Ethernet Module can transmit it on the network Therefore it is wise to check if there is room in the transmit buffer before calling netSend or netPrint The transmit buffer is 2KB 2048 bytes so if this function returns 2048 the entire buffer is free and there is no data waiting to be sent netRecv ul6 netRecv u8 socketNum us buffer u16 length socketNum The socket number 0 3 buffer The location in memory to store the received data length The number of bytes to receive Returns the number of bytes read from the receive buffer Takes length bytes of data out of the receive buffer on socket socketNum and stores the data in memory location buffer A connection must be established SOCK_ESTABLILSHED to receive data To know how much data can be read from the receive buffer use the netRxLen function netRxLen ul6 netRxLen us socketNum socketNum The socket number 0 3 Returns the number of available bytes in the receive buffer Gets the number of by
47. ed on 0 when turned off 1 or when turned on or off 2 0 1 2 Rising Edge Falling Edge Rising and Falling Edge Turned ON Turned OFF Turned ON or OFF Comfile Technology MOACON User s Manual 67 of 162 MOACON User s Manual extintEvent void extIntEvent u8 extIntPort extIntPort The port on which the interrupt was triggered The interrupt service routine for the external interrupts This function is executed when any of the external events are triggered extIntPort is the port on which the external interrupt was triggered include moacon500 h void cmain void startExtIntEvent 10 0 Port 10 triggerd on rising edge startExtIntEvent 11 2 Port 11 triggered on rising and falling edge while 1 Run forever printf Main Routine r n delay 1000 void extIntEvent u8 extIntPort switch extIntPort case 10 1f event was triggered on port 10 prine Y Lince iercwjoi aa pore 10 we in y break case 11 1f event was triggered on port 11 wane Mareas Cia pore Ii e in e break Main Routine Main Routine Interrupt Interrupt on Routine Routine Routine Routine Interrupt on Interrupt on Comfile Technology MOACON User s Manual 68 of 162 MOACON User s Manual stopExtintEvent void stopExtIntEvent u8 extIntPort extIntPort The port to stop using as an external interrupt 10 17 Stops using port extIntPort as an external interrupt Comfile
48. el PWM channel freqValue Approximate frequency Creates a pulse on PWM channel pwmChannel of frequency freqValue freqOut can only be used on one channel in a group at a time The High Speed Counter Module has 2 PWM groups so 2 waveforms with different frequencies can be created oad FreqOut 0 440 GROUP1 Creates a waveform of approximately 440Hz E on PWM channel 0 pwm functions cannot be GROUP2 used on channels 1 2 or 3 FreqOut 5 30000 Creates a waveform of approximately 30kHz DP HCNT pwm functions cannot be used on channels 4 6 or 7 freqOut is just a specialized form of the pwm function so to turn off the pulse use the pwmOff function freqOut 0 435 Create a 435Hz pulse on PWM channel 0 delay 1000 Run the pulse for 1 second pwmoff 0 Turn off the pulse Comfile Technology MOACON User s Manual 91 of 162 MOACON User s Manual Using the PWM Output The 5V PWM output does not provide much current to drive certain loads An NPN transistor can be used as shown below to provide more current to loads such as a DC fan motor HCNT HCNT PWM 12V 24VDC DC MOTOR FAN DP HCNT The transistor will have to be one that can bear the load of the motor A heat sink may be needed to keep the transistor from overheating Comfile Technology MOACON User s Manual 92 of 162 MOACON User s Manual MEMO Comfile Technology MOACON User s Manual 93 of 162 MOACON Us
49. emperature sensor can measure temperatures between 100 and 500 C with a precision of 0 5 PT100 PT100 amp PT100 PT100 RS THRT4 Comfile Technology MOACON User s Manual 123 of 162 MOACON User s Manual Temperature Input Module Library getTemp int getTemp u8 templd us tempCh templd The ID of the Temperature Input Module 0 9 tempCh The channel on the Temperature Input Module 1 2 returns the temperature in C multiplied by 10 1000 5000 Gets the temperature read from a PT100 sensor connected to Temperature Input Module templd on channel tempCh The return value is the temperature in C multiplied by 10 In other words if get Temp returns the value 205 the actual temperature is 20 5 C If an error occurs the following values may be returned Exception Description 20001 20003 An error occurred while transmitting the value to the CPU 20004 Invalid module ID 20005 Sensor is not connected 55555 Value exceeds valid maximum 11111 Value is below valid minimum The following sample program prints the temperature to the debug console every second include moacon500 h void cmain void int temp 0 while 1 temp getTemp 0 1 Get the Temperatur Print the temperature e g Temp 20 5 printf Temp d d r n temp 10 temp 10 delay 1000 Nate ror AS econ al Comfile Technology MOACON User s Manual 124 of 162 MOACON User s
50. er 0 3 port TCP port Returns 1 if successful 0 otherwise Opens a socket socketNum on the TCP port port Port can be any number from O through 65 535 NOTE Any socket opened with a call to socketOpen must eventually be closed with a call to socketClose The Ethernet module is not reset when the CPU module is reset so it may be necessary to call socketClose at the beginning of a program to be sure the socket is closed before it is used Comfile Technology MOACON User s Manual 129 of 162 MOACON User s Manual socketClose void socketClose u8 socketNum socketNum The socket number 0 3 Closes the socket socketNum Open sockets that are no longer needed in a program should always be closed listen u8 listen u8 socketNum socketNum The socket number 0 3 Returns 1 if successful 0 otherwise Listens for incoming connections on the socket socketNum connect u8 connect u8 socketNum u8 destIP u16 destPort socketNum The socket number 0 3 destIP The IP address of the device to connect to destPort The TCP port to connect to Returns 1 if successful 0 otherwise Requests a connection to IP address destIP on port destPort using the socket socketNum The socket socketNum must first be opened using the socketOpen function u8 GatewayIP 192 168 0 1 u8 SubnetMask 255 255 255 0 u8 MacAdr 0 0 34 53 12 0 u8 Devicelp 1192 168 0 12 u8 destIP 192 168 0 2 netBegin GatewayIP Sub
51. er s Manual Chapter 7 Communication Module Comfile Technology MOACON User s Manual MOACON User s Manual Communication Module The MOACON can support up to 3 RS 232 485 channels One channel 0 is built into the CPU Module Channels 1 and 2 can be found on the Communication Module RS232 CH1 avOINMOG 2 ry N 8 o RS232 CHO D a N 8 e 5 RS232 ZH TETSY CH2 RS485 DP CPU500 DP COMM2 CPU Module Communication Module Channel 0 can be used with Comfile Tehnology s User Interface Panels e g UIF 420A It includes a 5V power source on pin 9 that can be turned on and off with the comPower function RS 232 pin configuration is shown in the image below Like channel O channels 1 and 2 have a 5V power source on pin 9 but unlike channel 0 it cannot be turned off a a S GND Eo Female Type Comfile Technology MOACON User s Manual 95 of 162 MOACON User s Manual On the Communication Module channel 1 is dedicated to RS 232 but channel 2 can be switched between RS 232 and RS 485 If the MOACON is used as a master in an RS 485 network be sure to turn the RS 485 terminator DIP Switch 1 ON as shown in the image below MOACON If several MOACONSs are used as slaves in an RS 485 network only the MOACON located at the end needs its terminator turned ON Term R On MOACON MOACON MOACON Term R Off Term R Off Term R On Generally when usin
52. et Sockets which are endpoints in computer networks based on the Internet Protocol IP The Ethernet Module supports up to 4 sockets 0 3 Each socket holds a 2KB transmit buffer and a 2KB receive buffer for a total of 4KB per socket Because there are 4 sockets a total of 16KB is allocated However this memory is separate from the CPU so the program s main memory is not negatively affected Readers are encouraged to familiarize themselves with socket programming to better understand how to use the MOACON s Ethernet Module library There are many great socket programming resources available so this manual will not attempt to reproduce that material here netBegin void netBegin u8 gatewayIP u8 subnetMask u8 macAdr u8 devicelp gatewaylP Gateway IP address subnetMask Subnet mask macAdr MAC Address devicelp IP address of the Ethernet Module Configures the TCP IP network settings of the Ethernet Module The Ethernet Module does not support DHCP The MAC address and the IP address must be unique on the network u8 GatewayIP 192 168 0 1 u8 SubnetMask 255 255 255 0 u8 MacAdr 0 0 34 53 12 0 u8 DeviceIp 192 168 0 12 u8 destIP 192 168 0 2 netBegin GatewayIP SubnetMask MacAdr Devicelp The MOACON supports the ICMP protocol so after a call to netBegin the IP settings can be tested by sending a ping command to the MOACON socketOpen u8 socketOpen u8 socketNum u16 port socketNum The socket numb
53. excluding shipping handling costs This does not apply if the product has been altered or damaged Disclaimer of Liability Comfile Technology Inc is not responsible for special incidental or consequential damages resulting from any breach of warranty or under any legal theory including lost profits downtime goodwill damage to or replacement of equipment or property and costs or recovering reprogramming or reproducing any data stored in or use with Comfile Technology products Copyright amp Trademarks CUBLOC is a registered trademark of Comfile Technology Inc WINDOWS is a trademark of Microsoft Corporation Other trademarks are of their respective owners Copyright 2006 2011 by Comfile Technology Inc All rights reserved Comfile Technology MOACON User s Manual 2 of 162 MOACON User s Manual Introduction The MOACON is a C programmable modular industrial controller Its modular design enables customers to purchase just the modules needed and aggregate them in a way that customizes the MOACON precisely for a product s specific requirements and provides adaptability should those requirements change MOACON s Primary Features Modular Design C Programmable 32 bit ARM Processor USB Downloading and Debugging MOACON Studio Free Integrated Development Environment IDE Software We ON e The MOACON boasts a 32 bit ARM CPU Module for fast and complex computation and data processing Individual modules inclu
54. exists in the receive butter comGets 0 c 64 Read data from receive buffer in store it El ame erore iwr aba Char arian Cr The example program above reads data from the receive buffer as it arrives and stores it in char array c Comfile Technology MOACON User s Manual 103 of 162 MOACON User s Manual comPuts void comPuts u8 comCh u8 src ul6 length comCh Channel number src Pointer to data that should be sent length The amount of data in bytes to send Transmits length bytes of data from memory address src out channel comCh include moacon500 h void cmain void chars e Wielilo Worm s openCom 0 115200 C8N1 Channel 0 115200 Baud ff caca loskiesss 8 mo parity Stoo boicss i while 1 Repeat forever compu es On Cr 5 7 Transmits Hello on channel 0 The example program above prints 5 characters Hello from the string stored at address c comPower void comPower u8 onoff onoff 0O off 1 on Turns the 5V power to RS 232 channel 0 on or off Comfile Technology MOACON User s Manual 104 of 162 MOACON User s Manual MEMO Comfile Technology MOACON User s Manual 105 of 162 MOACON User s Manual Chapter 8 Motion Control Module Comfile Technology MOACON User s Manual MOACON User s Manual 2 Axis Motion Control Module The Motion Control Module is a 2 Axis pulse output stepper motor control module STEP and DIR are DC 5V output signals M
55. file Technology MOACON User s Manual 54 of 162 MOACON User s Manual Memory The MOACON has 512KB of flash memory for executable code However some of this memory is consumed by the MOACON OS The exact amount of memory depends on the MOACON OS version but at the time this manual was written it was about 20KB The MOACON also has 64KB of data memory Like the program memory some of this is consumed by the MOACON OS Again the exact amount consumed depends on the MOACON OS version but at the time this manual was written it was about 10KB 512KB 64KB 32KB A E FLASH SRAM F RAM Program Data Nonvolatile Data The size of the program can be determined when a program is compiled If the program exceeds the amount of available memory an out of memory error will occur The MOACON also has 32KB of non volatile memory that is retained even when the MOACON is powered off This memory can be accessed with the framRead and framWrite functions The MOACON does not have a battery backup feature so if data must be retained between power cycles be sure to store this data in FRAM Comfile Technology MOACON User s Manual 55 of 162 MOACON User s Manual Chapter 4 System Library Comfile Technology MOACON User s Manual MOACON User s Manual delay void delay u32 interval interval Number of milliseconds to pause Pauses execution for interval milliseconds Please be aware that the accuracy of this function may
56. g RS 485 users need to manage the Transmit Enable signal The MOACON however manages this internally so the user doesn t have to All MOACON RS 232 send and receive signals are 12V Comfile Technology MOACON User s Manual 96 of 162 MOACON User s Manual Communication Module Library openCom void openCom u8 comCh u32 comBaud u8 comMode comCh Channel number comBaud Baud rate comMode Communication mode data bits parity and stop bits Opens the port on channel comCh with the given baud rate comBaud and the communication mode comMode comBaud is the baud rate It can be set to any value between 300 and 115200 but generally it is set to one of the following values 1200 2400 4800 9600 14400 19200 28800 38400 57600 76800 115200 comMode sets the number of data bits stop bits and parity for the port Several constants have been predefined to make this argument easier to set and understand They are shown in the table below Data Bits Parity Comfile Technology MOACON User s Manual 97 of 162 MOACON User s Manual openCom clears and allocates 255 bytes for the receive buffer The receive buffer s size cannot be set by the user The following is a sample programming demonstrating the use of openCom include moacon500 h void cmain void fi Caamasl 0 115200 Banc openCom 0 115200 C8N1 fii dere bits 8 mo periliey stos boites 1 while 1 Repeat forever dela
57. he motor Step Motor MOACON Open Loop System MOACON Step Motor Encoder Closed Loop System Moacon controlled It is possible to implement a closed loop system with the MOACON using the High Speed Counter Module as shown in the figure above but this approach is not recommended because the MOACON likely cannot be solely dedicated to monitoring the motor s movement Therefore an external closed loop motion control system as shown below is recommended MOACON Servo cial Step Motor Encoder Closed Loop System External to the Moacon Comfile Technology MOACON User s Manual 108 of 162 MOACON User s Manual 2 Axis Motion Control Library motorSetup void motorSetup u8 motionID u8 stCh u32 freqBase u32 freqTop u32 stepAccel motionID The ID of the Motion Control Module stCh The channel on the Motion Control Module 0 or 1 freqBase The starting frequency speed in Hz to be sent to the motor driver maximum 50KHz freqTop The top frequency speed in Hz to be sent to the motor driver freqAccel The acceleration deceleration in Hz sec to be sent to the motor driver Sets the starting speed top speed and acceleration deceleration that the motor should use when the motor starts and stops The motor is identified by the id of the Motion Control Module motionID and the module s channel stCh Top Speed Starting Speed Acceleration Deceleration m gt Output Pulse motorMove
58. hen using the RS ADIN4 module please allow at least 120 ms from the time the system is powered on before calling getAdc Similarly when using the RS HADIN4 module please allow at least 960ms from the time the system is powered on before calling getHadc The RS SADIN6 s sampling frequency is the fastest of all analog input modules at 10s of microseconds There is no need to wait for sampling before calling getSadc AD Input Module s Internals The AD Input Modules have built in low pass filter and noise canceling circuitry Since the A D pins are not exposed the user is not expected to design additional circuitry In addition the AD Input Modules have their own dedicated microcontroller for performing the conversion so they do not have to rely on the MOACON s CPU Conversion is performed by the AD Input Module itself and the getAdc getHadc functions just read the results The RS HADIN4 has the benefit of a higher resolution using Voltage to Frequency chips but takes longer to do the conversion Therefore the RS HADIN4 may not be suitable for high frequency signals Comfile Technology MOACON User s Manual 118 of 162 MOACON User s Manual DA Voltage Output Module The DA Voltage Output Module is a 2 channel 0 5V 0 10V digital to analog voltage converter module The voltage range is configured using the dipswitch on the side of the module Dipswitch Configuration Channel 1 Output Channel 2 Output Voltage Voltage OFF 0
59. input state of eportNumber Reads the input state of the given expansion port eportNumber If the voltage on the port is less than the module s Off Level portIn returns O Off If the voltage on the port is greater the module s On Level portlIn returns 1 On u8 i eportIn 0x10 Reads the input state of port 0x10 and stores the result in variable i eportBlockin ul6 eportBlockIn u8 eportBlockNumber eportBlockNumber The expansion port block to read 0 through 5 returns a bit array containing the input state of each port in portBlockNumber Reads the input state of all ports in the given expansion port block eportBlockNumber returning a 16 bit array containing the input state of each of the 16 ports in the port block If eportBlockNumber is 0x10 bit 0 of the return value would correspond to port 0x10 and bit 15 would correspond to port Ox1iF If eportBlockIn 1 returned a value of 257 b0000 0001 0000 0001 this would mean ports 0x10 and 0x18 would be on and the other 14 ports would be off u8 i eportBlockIn 0x10 Read input state of ports 0x10 0x1F Bit 15 14 13 12 11 io 9 8st 7 ets 413 2104 pee 1F 1E 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 Hex Comfile Technology MOACON User s Manual 81 of 162 MOACON User s Manual 8 Port Relay Output Expansion Module RS EDORS Specifications 6 27VDC 6 240VAC 5 30VDC 5 264 VAC 4 A Port 4A COMMON 100 mA 5VDC Maximum On
60. intf statement will print Hello World to the Debug Terminal The carriage return Ar and new line An will ensure each Hello Word gets printed on a new line The Run Icon Click to download to the MOACON and begin executing AS Moacon Studio HelloWord c e Project Ele Edit Run Tools Me MECITEE Project HelloWord Heloword c 1 include moacon500 h void cmain void 31 Repeat Forever while 1 1 Print Hello World to the debug console printf Hello World r n 3 With the MOACON powered on and connected to the PC via USB click the Run icon a Comfile Technology MOACON User s Manual 46 of 162 MOACON User s Manual EN Moacon Studio HelloWord c e Project Fie Edit Run Tools Help RVse X e n e Project HelloWord Heloword c 1 include moacon500 h 2 void cmain void 31 Output from the 4 Repeat Forever s m 5 while 1 compiler will be J i displayed in the Output 7 Print Hello World to the debug console 8 printf Hello World r n Window Preparing to compile 0 00 sec HelloWord c Result 0 error s 0 warning s Downloading ompiled and downloaded successfully 12027 bytes sent Downloading Step 6 18 3 OK 4 MOACON Studio will compile the program and download it to the MOACON Comfile Technology MOACON User s Manual 47 of 162 MOACON User s Manual EN Moacon Studio HelloWord c N
61. ion Control Module stCh The channel on the Motion Control Module 0 or 1 returns the motor s current position Gets the motor s current position The motor is identified by id of the Motion Control Module motionID and the module s channel stCh motorStop void motorStop u8 motionID u8 stCh motionID The ID of the Motion Control Module stCh The channel on the Motion Control Module 0 or 1 Immediately terminates any pulses being sent to the motor stopping the motor s movement The motor is identified by id of the Motion Control Module motionID and the module s channel stCh Comfile Technology MOACON User s Manual 110 of 162 MOACON User s Manual motorStat u32 motorStat u8 motionID u8 stCh motionID The ID of the Motion Control Module stCh The channel on the Motion Control Module 0 or 1 returns the number of pulses left to send to the motor Returns the number of pulses left to send to the motor from the last call to motorMove The motor is identified by id of the Motion Control Module motionID and the module s channel stCh When motorMove is called the Motion Control Module sends a stream of pulses that cause the motor to move motorMove essentially tells the Motion Control Module how many pulses to send in total If the stream of pulses is rather long and or the wavelength of the pulse the motor s speed is rather slow it may take some time for the motor to arrive at its final position motorStat can be used
62. k and Battery Built in RS 232 Port LCD and 7 Segment Control Port 24V Power Input Built in Power Regulator Comfile Technology MOACON User s Manual 12 of 162 MOACON User s Manual Modules The MOACON has several modules that can be purchased to support a variety of features DIO Modules Digital Input Output Modules Model A A CF DOSI8 8 pin DC Sink Output Module DC 3 3V 27V 1A CF DOSO8 8 pin DC Source Output Module DC 12V 24V 1A DC 6 27V 4A CF DORL8 8 pin Relay Output Module AC 6 240V 4A CF DIDC8 8 pin DC Input Module DC 12V 24V 12 EDI16 16 pin Digital Input Expansion Module DC 12V 24V ARA DC 6 27V 4A RS EDOR8 8 pin Digital Output Expansion Module AC 6 240V 4A Analog Modules Model BEA ZN RS ADIN4 AD Input Module cnn Teese AD O 10V 1 5V 4 lt 20mA Conversion RS HADIN4 High Resolution AD Input 4 Channel 16 6 bit AD O 10V 1 5V 4 20mMA Module Converter RS THRT4 Temperature Input Module Channel PT1000 100 500 C Temperature Sensor z 2 Channel DA Voltage 2 Channel 16 bit DA As y RS 2 Channel DA Current 2 Channel 16 bit DA Specialized Modules Model EE Serial Communication 2 RS 232 Ports 2 Channel High Speed Counter Input DP HCNT High Speed Counter OR 2 Channel Encoder Input AND 8 Channel PWM Output DP ETHER Ethernet Module Ethernet Port rs Mmor2 Z7Axis Motion Control 2 Axis Stepper Motor Control Module Comfile Technology MOACON User s Manual 13 of 162 MOACON User
63. l with the error printf Hello World r n A Moacon Studio Projects HelloWord HelloWord c 9 error expected before token lesult 1 error s 0 warning s annot proceed due to one or more errors When the compiler encounters such an error a message will be displayed in the output window You can double click the message in the output window and the source editor will scroll to the line with the error Comfile Technology MOACON User s Manual 49 of 162 MOACON User s Manual Adding Source Files to a Project A project can contain many source files and may be necessary to keep a large project organized Follow the procedure below to add source files to a project Moacon Studio myproject c c Project EM Edit Run Tools Help D y ENGLE Ctrl N Open File Ctri O a Proj Close File Save File Ctrl 5 i include moacon500 h Save File As 2 void cmain void Save All Files 1 Choose File gt New File from the menu A new source file called Text2 will appear in the source editor myproject c Tex2 i int sum int a int b 2 return a b 4 2 Enter some code Save Source File Save in Dest e eE Oy Documents 3 My Computer Amy Network Places meme fee Save as type C source file c h y Cancel 3 Save the file File gt Save File and give it a new name In the image above the file name will be sum c Comfile Tech
64. le Technology MOACON User s Manual 162 of 162
65. me from Slave Data Byte Count Slave Address 0x03 1 Function Code OxOF 1 Start Address Most Significant Byte 0x00 1 Start Address Least Significant Byte 0x00 1 Length Most Significant Byte 0x00 1 Length Least Significant Byte 0x10 1 Error Check CRC 2 Start address is the address of the first bit to set and data is a bit array containing the value for each bit to set Length is the number of bits to set and byte count is size of the data in bytes Comfile Technology MOACON User s Manual 153 of 162 MOACON User s Manual Function Code 16 Preset Multiple Registers This function sets the value of multiple words 16 bits each starting at a given address Example Query Frame from Master Data Byte Count Slave Address 0x03 1 Function Code 0x10 1 Start Address Most Significant Byte 0x00 1 Start Address Least Significant Byte 0x00 1 Length Most Significant Byte 0x00 1 Length Least Significant Byte 0x03 1 Byte Count 0x06 1 Data 1 Most Significant Byte OxD1 1 Data 1 Least Significant Byte 0x03 1 Data 2 Most Significant Byte Ox0A 1 Data 2 Least Significant Byte 0x12 1 Data 3 Most Significant Byte 0x04 1 Data 3 Least Significant Byte 0x05 1 Error Check CRC 2 Response Frame from Slave Data Byte Count Slave Address 0x03 1 Function Code 0x10 1 Start Address Most Significant Byte 0x00 1 Start Address Least Significant Byte 0x00 1 Length Most Significant Byte 0x00 1 Length Least Significant Byte
66. n a bit OFF data must b 0x0000 Comfile Technology MOACON User s Manual 151 of 162 MOACON User s Manual Function Code 06 Preset Single Registers This function set the value of a single word 16 bits at a given address Example Query Frame from master Data Byte Count Slave Address 0x03 1 Function Code 0x06 1 Start Address Most Significant Byte 0x00 1 Start Address Least Significant Byte 0x01 1 Data Most Significant Byte 0x12 1 Data Least Significant Byte 0x34 1 Error Check CRC 2 Response Frame from Slave Data Byte Count Slave Address 0x03 1 Function Code 0x06 1 Start Address Most Significant Byte 0x00 1 Start Address Least Significant Byte 0x01 1 Data Most Significant Byte 0x12 1 Data Least Significant Byte 0x34 1 Error Check CRC 2 Start address is the address of the word to set and data is the value to set the word to Comfile Technology MOACON User s Manual 152 of 162 MOACON User s Manual Function Code 15 Force Multiple Coils This function sets the value of multiple bits starting at a given address Example Query Frame from Master Data Byte Count Slave Address 0x03 1 Function Code Ox0OF 1 Start Address Most Significant Byte 0x00 1 Start Address Least Significant Byte 0x00 1 Length Most Significant Byte 0x00 1 Length Least Significant Byte 0x10 1 Byte Count 0x02 1 Data Most Significant Byte OxD1 1 Data Least Significant Byte 0x05 1 Error Check CRC 2 Response Fra
67. nd I O power will result in a more stable operation The system will be less susceptible to noise and if a short occurs in the I O circuit the CPU and therefore the rest system will not be negatively affected When powering the CPU from an A C power source a noise filter is also recommended Comfile Technology MOACON User s Manual 29 of 162 MOACON User s Manual Surge Killer When using the Relay Output Module with a large capacity product it is recommended to add a relay that can bear a large load ly 3i EGLE When such a relay is added turning the relay on and off can cause a large voltage surge to occur due to the coil s inductance This voltage surge should be removed to ensure the stability of the entire system and the longevity of the relay s life A spark killer or surge killer can be used to guard against this anomaly As shown in the pictures below the surge killer should be connected in parallel to the source of the surge Comfile Technology MOACON User s Manual 30 of 162 MOACON User s Manual Power Relay Wiring If using a magnetic contact attach a surge killer as shown in the pictures below The following schematic illustrates how to attach the surge killer to an AC circuit In a DC circuit a diode can be used A typical diode used for this purpose is the 1N4148 Optical Isolator This method is less expensive and more effective in eliminating noise in the circuit When using this metho
68. netMask MacAdr Devicelp socketOpen 0 82 connect 0 dest IP 5000 NOTE Any socket connect with a call to connect must eventually be disconnected with a call to disConnect The Ethernet module is not reset when the CPU module is reset so it may be necessary to call disConnect at the beginning of a program to be sure the socket is disconnected before it is used disConnect u8 disConnect u8 socketNum socketNum The socket number 0 3 Returns 1 if successful 0 otherwise Terminates a connection previously established using the connect function Connected sockets that are no longer needed in a program should always be disconnected Comfile Technology MOACON User s Manual 130 of 162 MOACON User s Manual netStatus u8 netStatus u8 socketNum socketNum The socket number 0 3 returns a value indicating the connection status Gets the connection status of the socket socketNum Constants have already been predefined for convenience Value Defined Constant Description SOCK_CLOSED The socket is closed SOCK_INIT The socket has been opened SOCK_LISTEN The socket is listening for connections When a connection is being made the two endpoints must share SOCK_SYNSENT a series of handshaking packets with one another until the SOCK_SYNRECV connection is finally established When a socket is connecting it SOCK_ESTABLISHED may be in any one of these states until the connection is established SOCK_FIN_WAIT When
69. ng can contain format specifiers just like the printf function See the printf function for more details NOTE CSG devices can only display ASCII characters 0x30 0x39 and 0x41 0x4F Examples int a 123 csobe MeO Y sacl a int a 123 escjprciiae 00 Yada 0 p AS csobe nme O EQU a Comfile Technology MOACON User s Manual 141 of 162 MOACON User s Manual csgPrintDot void csgPrintDot u8 csgSlaveAdr u8 dot0 us dotl u8 dot2 u8 dot3 char formatString arg0 argn csgSlaveAdr Slave address of the CSG device dot0 Dot 1 from the left O Off 1 On dotl Dot 2 from the left O Off 1 On dot2 Dot 3 from the left 0 0ff 1 On dot3 Dot 4 from the left 0 Off 1 On formatString A character string to be printed that can optionally contain format specifiers argo0 argn An optional set of arguments to be used by format specifiers Prints any or all of the 4 dots dotO dot3 on the CSG device on address csgSlaveAddress along with a character string formatStrng formatString can contain format specifiers just like the printf function See the printf function for more details Examples int a 123 CEGLeLMEDOE 10 1 0 0 0 EOS a int a 123 GSCGLELMEDOE O O 0 1 0 EOI a Ono EAEN ENE Comfile Technology MOACON User s Manual 142 of 162 MOACON User s Manual csgNput void csgNput u8 csgSlaveAdr u8 csgDigit u8 csgData csgSlaveAdr Slave address
70. nology MOACON User s Manual 50 of 162 MOACON User s Manual A Moacon Studio sum c i New Project Open Project E Close Project Save Project 1 int sum i Add Files To Project return Recent Projects 4 Exit 4 The file has now been saved but is not yet part of the project Choose Project gt Add Files To Project from the menu Add Files To Project Multi Select A Files of type Source fiest c y Cancel 5 Browse to the file to add and click the Open button Moacon Studio sum c e Project File Edit Run Tools DIES x gt ejO Project MyProject O MyProject c sum c 6 The new file will then appear in the Project View window At this point if you compile the project all source files will be compiled AN Moacon Studio sum c New Project Open Project E Close Project severroet Add Files To Project Recent Projects Exit 7 Choose Project gt Save Project from the menu to save your changes to the current project Comfile Technology MOACON User s Manual 51 of 162 MOACON User s Manual Debug Terminal The Debug Terminal is an essential tool for displaying information on a program while it is executing The following functions can be used to customize the way information is displayed in the Debug Terminal debugCls void debugCls Clears all text in the debug terminal
71. o perform the given function 4 Error Code CRC for RTU or LRC for ASCII to verify the transmission integrity Modbus reply frames also vary but typically they contain the following 1 Slave Address The address of slave device the reply is from 2 Function Code The function performed by the slave device 3 Data Information about the function performed 4 Error Code CRC for RTU or LRC for ASCII to verify the transmission integrity This very brief introduction to Modbus is all that is needed to understand the information to follow It is out of the scope of this document to explain Modbus in detail so to learn more please see The Modbus Organization The MOACON only supports Modbus RTU Comfile Technology MOACON User s Manual 147 of 162 MOACON User s Manual Modbus RTU Function Codes The Modbus specification defines a set of function codes that specify how to read and write bits or words 16 bits Modbus uses the term coil to refer to a bit and register to refer to a word The MOACON supports the following function codes Function Code eee MOACON Modbus Beaman Function Description OASmenon Read Coil Status Read 1 or more bits RTU_readCoils Read Input Status Read or more bits RTU_readCoils Read Holding Registers Read 1 or more words RTU_readRegs 6 Preset Single Register Write 1 word RTU_writeReg 16 Preset Multiple Registers Write multiplewords In the MOACON there is no differen
72. odbus RTU Comfile Technology MOACON User s Manual MOACON User s Manual About Modbus Modbus is a protocol created by Modicon in 1979 to communicate with industrial electronic devices and has proliferated to become the de facto standard in the industry Modbus uses a request reply protocol with a single master device and one or more slave devices The master sends a request to a single slave and that slave replies with a response to the master s request A slave can only respond to requests from the master it cannot initiate communication on its own ASK MASTER ANSWER HMI PC SCADA PLC MOACON Each slave has its own unique address The master can only communicate with one slave at a time These requests and replies are called frames Modbus supports two frame formats Remote Terminal Unit RTU and American Standard Code for Information Interchange ASCII The RTU format encodes each frame in a compact binary form and uses a Cyclic Redundancy Check CRC to verify the integrity of the transmission The ASCII format encodes each frame as a set of ASCII characters and uses a Longitudinal Redundancy Check LRC to verify the integrity of the transmission Modubus request frames vary but typically they contain the following 1 Slave Address The address of the slave device the request is intended for 2 Function Code The function to performed on the slave device read write etc 3 Data Information needed t
73. odbus slave address of the device to read from result Buffer to store coil bit data to targetAdr The address of the data to read numOfCoils Number of coils bits to read returns the status of this function call 1 Success 0 Timeout 1 Data Error Reads numOfCoils bits from slave device slaveAdr at address targetAdr on RS 232 channel comCh and stores the data in result Returns a number indicating whether or not the function call was successful u8 coilBuffer 100 es RIU reacio ls 0 1 coi lBurter 4 12 p Comfile Technology MOACON User s Manual 155 of 162 MOACON User s Manual RTU_readRegs short RTU_readRegs u8 comCh u8 slaveAdr u8 result ul6 targetAdr u8 numOfRegs comCh The RS 232 channel to use slaveAdr The Modbus slave address of the device to read from result Buffer to store register word data to targetAdr The address of the data to read numOfRegss Number of registers words to read returns the status of this function call 1 Success 0 Timeout 1 Data Error Reads numOfRegs words from slave device slaveAdr at address targetAdr on RS 232 channel comCh and stores the data in result Returns a number indicating whether or not the function call was successful This function used Modbus function code 3 u8 registerBuffer 100 es RIU readiegs 0 1 ae sireordsuitites 0 2 y RTU_readinRegs short RTU_readInRegs u8 comCh u8 slaveAdr u8 result ul6 targetAdr u8 numOfRegs comCh The RS 232
74. odule There are 3 AD input modules RS ADIN4 is a low resolution module and RS HADIN4 is a high resolution module and RS SADIN6 is a high speed module RS ADIN4 RS HADIN4 Specifications Operating Temperature 10 50 C no condensation Operating Humidit 35 85 RH Input Resistance 590KQ Veas Banos 1 5V mode 0 5 5 5V Damage may occur if used in excess of this range P 9 9 0 10V mode 0 5 10 5V Damage may occur if used in excess of this range Communication Method RS 485 Packet Transmission Isolation Method No Isolation Isolation Method No Isolation The AD Input Modules inputs are not isolated so please be sure not to provide voltage or current in excess of the specified ranges Doing so could cause permanent damage Comfile Technology MOACON User s Manual 113 of 162 MOACON User s Manual RS ADIN4 RS HADIN4 Analog Input Module The AD Input Modules can be wired to read voltage sources or current sources When reading voltages sources the modules can be configured for a 0 10V range or a 1 5V range using the dipswitch on the side of the module When reading a current source 4 20mA connect a 2501 resister across the input terminals Reading a voltage source 0 10V 1 5V Reading a 4 20mA Current Source Current transmitter Voltage transmitter 2502 1 2502 1 OUT RS ADIN4 RS ADIN4 The input voltage range can be adjusted using dipswitch 2 Dipswitch 1
75. of the CSG device csgDigit The digit location to print csgData 0 3 0 Far Left 3 Far Right csgData The ASCII code of the character to print 0x30 0x39 0x41 0x4F Prints a character csgData on the CSG device on address csgSlaveAddress in the digit location csgDigit The digit location is one of the 4 digits on the CSG device with 0 being the far left and 3 being the far right The CSG device can only display ASCII characters 0x30 0x39 0x41 0x4F csgNput 0 0 0x42 Print the letter b in the far left digit location L I Comfile Technology MOACON User s Manual 143 of 162 MOACON User s Manual csgXput void csgXput u8 csgSlaveAdr u8 csgDigit u8 csgData csgSlaveAdr Slave address of the CSG device csgDigit The digit location to print csgData 0 3 0 Far Left 3 Far Right csgData A bit array with each bit corresponding to an individual LED Turns on or off specific LEDs specified by csgData on the CSG device on address csgSlaveAdr in digit location csgDigit csgData is a bit array in which each bit corresponds to a different LED as shown in the following table min Bit7 Bite Bits Bit4 Bits Bit2 Biti Bito R Dot G F E D c B A Ch escout 0 1 0505 LOIOIGL A m C G ON B D E Dee OTT Comfile Technology MOACON User s Manual 144 of 162 MOACON User s Manual MEMO Comfile Technology MOACON User s Manual 145 of 162 MOACON User s Manual Chapter 12 M
76. on channel pwmChannel pwmWidth specifies the width of an entire pulse i e the pulse period and pwmDuty specifies the duration for which the pulse is ON This therefore implies that pwmDuty should always be less than pwmWidth Pwm 0 500 1000 50 Pwm 0 800 1000 80 Pwm 0 200 1000 20 The pulse is started once pwn is called pwmOff is used to turn off the pulse The High Speed Counter Module has a total of 8 PWM channels The channels however are organized into two groups Each group s period pwmWidth must be the same pwm 0 10 400 0 pwm 1 40 400 l pwm 2 200 400 z GROUP1 Baits a 1 G0Ke i pwm 4 1000 1024 5 GROUP2 pwm 5 160 1024 7 4 5 6 80 1024 dg 10 L024 a E o 3 DP HCNT Comfile Technology MOACON User s Manual 89 of 162 MOACON User s Manual The PWM s frequency can be determined by the following formula 72 000 000 requency ee id pwmWidth For a pwmWidth of 65 535 the frequency would be 1099Hz pwm 0 32768 65535 A 1099Hz pulse Please note that this formula is just an approximation so when precision is needed the actual frequency should be measured and adjusted as necessary pwmOff void pwmOff u8 pwmChannel pwmChannel PWM channel Stops the pulse on channel pwmChannel Comfile Technology MOACON User s Manual 90 of 162 MOACON User s Manual freqOut void freqOut u8 pwmChannel u32 freqVal pwmChann
77. ose modules WU Note that when using the Small System Configuration the general DIO modules can be installed in any of the board s slots labeled DIO Just like the 10 slot board the slot in which the general DIO module is installed determines its port number When the 5 slot board is used as an expansion board however the general DIO modules cannot be installed in the 5 slot board When the 5 slot board is used as an expansion board the expansion DIO modules must be used instead Comfile Technology MOACON User s Manual 24 of 162 MOACON User s Manual The following image shows the 5 slot board being used independently as a main board CPU module 3 DIO modules and one communication module CPU module a high speed counter module and one communication module Comfile Technology MOACON User s Manual 25 of 162 MOACON User s Manual Chapter 2 Setup Comfile Technology MOACON User s Manual 26 of 162 MOACON User s Manual MOACON CPU Module The MOACON CPU module DP CPU500 comes with an external power supply 5V 2A Output 10W power supply This power supply will power all the modules in the system when connected to the CPU module so power supplies are not included with any other IO module POWER LED Lit when power supplied CPU STATUS LED Set using statusLed command POWER LED ORO STATUS LED PWR STATUS DOWNLOAD Connect to PC Use for program 5 downloading and debugging z DOWNLOAD Q RS232
78. ould be connected to port B BO for channel 0 Bi for channel 1 HCNT HCNT PWM High Speed Pulse When cntMode is 1 the channel functions as an encoder counter HCNT HCNT PWM Encoder The module counts up or down based on the phase difference between A and B If A leads B the counter counts up If B leads A the counter counts down countMode will always initialize the count to 0 The count will roll over 65 535 to O if increasing and O to 65 535 if decreasing when the count exceeds 65 535 16 bit maximum or falls below 0 Comfile Technology MOACON User s Manual 86 of 162 MOACON User s Manual count ul6 count u8 cntChannel cntChannel Channel number 0 or for DP HCNT returns the current value of the counter on channel cntChannel Reads the current value of the counter on channel cntChanne The counter counts independently of the processor so while other parts of the program may be running the counter is still counting Calling count returns the current value in the counter countMode 0 0 Set channel 0 to function as a basic counter ul6 cnt count 0 Read current count from channel 0 countMode 0 1 Set channel 0 to function as an encoder counter ul6 cnt count 0 Read current count from channel 0 If reading signed values is desired the return value should be interpreted in 2 s complement 1 OxFFFF and should be stored as a singed 16 bit integer short data type 16 bit
79. projects a truly productive and enjoyable experience e Moacon Studio modbusslave c e Project File Edit Run Tools Help vaa modbusslave c Project MODBUSSLAVE MODBUSSLAVE c include moacon500 h void cmain void u MDcoil 100 ul MDregister 100 openCom 0 576 coment startModbusRtu 0 1 MDregister MDcoil cledI2cInit 0 clcdPower 1 MDregister 0 MDregister 1 MDcoil 0 By just clicking the Run icon q MOACON Studio compiles and downloads the current MOACON project to the CPU module where it begins executing immediately Once downloaded the MOACON can be disconnected from the PC and the MOACON will execute the compiled code as a standalone program The program will be retained in the CPU module s flash memory even if the MOACON is powered off When powered back on the MOACON will immediately begin executing the downloaded program A new program can be downloaded from MOACON Studio at any time replacing any existing program in the CPU module s flash memory Comfile Technology MOACON User s Manual 11 of 162 MOACON User s Manual CPU Module The CPU module is the MOACON s core processing module Q e 2 e gt DP CPU500 The CPU module features the following e 32 bit ARM Processor ARM CORTEX Clock Speed 72MHz Program Memory 512KB Flash Memory Data Memory 64KB SRAM Non volatile Memory 32KB F RAM Built in Real Time Cloc
80. pter 11 Display Library Comfile Technology MOACON User s Manual MOACON User s Manual Display Devices The MOACON s CPU module includes two display ports on the side of the module for interfacing to Comfile Technology s various display devices One port is for interfacing to Comfile Technology s 7 segment display devices CSG 4M CSG 4S and the other is for interfacing to Comfile Technology s character LCD CLCD devices CLCD420 B CLSD420 G CLCD216 G all of which are available at www ComfileTech com M CLCD420 B1G G Q CLCD420 B CLCD216 G CLCD and CSG devices interface cable can be up to 3 meters in length A 1 meter cable is available at www ComfileTech com Comfile Technology MOACON User s Manual 137 of 162 MOACON User s Manual CLCD Library The CLCD library is used to display information on Comfile Technology s CLCD devices Each CLCD device must have a unique I2C slave address configured by a dipswitch on the back of the device See the CLCD manual at www ComfileTech com for more information cledi2cInit void cledI2cInit u8 cledAdr cledAdr The I2C slave address of the CLCD module Initializes the CLCD library to use slave address clcdAdr for all function calls This function must be called before any subsequent CLCD functions clcdUartinit void cledPower u8 channel channel The RS 232 channel to use Intitializes the CLCD library to use the given RS 232 channel for all fun
81. puter Click Install to continue with the installation or click Back i you want to review or change any settings Destination location C Program Files Comfile Tools Moacon Studio Start Menu folder Comfile Tools Additional tasks Additional icons Create a desktop icon 6 Review the installation summary If you need changes click the Back button If everything is to your liking click the Install button Comfile Technology MOACON User s Manual 36 of 162 MOACON User s Manual ie Setup Moacon Studio Installing Please wait while Setup installs Moacon Studio on your computer C Comfile Tools Moacon Studio CFC files arm gec arm none eabi bin c exe We 7 MOACON Studio will begin installing Wait for it to finish 18 Setup Moacon Studio Completing the Moacon Studio Setup Wizard Setup has finished installing Moacon Studio on your computer The application may be launched by selecting the installed icons Click Finish to exit Setup 8 When the installation is finished decide if you want to run MOACON Studio immediately by checking the Launch Moacon Studio checkbox and click the Finish button Comfile Technology MOACON User s Manual 37 of 162 E Moacon Studio Macon Studio Files c e Project Ele Edit Run Tools Help MOACON User s Manual DJE Xren Project Macon Studio Files Macon Studio Files c 1 include moacon500 h
82. r 0 123534 A string of characters Comfile Technology Scientific notation 7 3458485e 07 Escape character Examples int x 345 float y 34 564 cine LON yal e primer Wal Eat a ie VSOIM Oe ie ia o rca UG DNA EOS fe primes ff jorerimnes Es ZAG SI 0000000345 34 57 printf is an extremely common output statement in the C programming language and readers are encouraged to obtain additional C programming resources to learn more about this function Comfile Technology MOACON User s Manual 53 of 162 MOACON User s Manual Data Types The MOACON Studio compiler supports the following data types char unsigned char short unsigned char int unsigned int long unsigned long float double long long Signed 8 bit number Unsigned 8 bit number Signed 16 bit number Unsigned 16 bit number Signed 32 bit number Unsigned 32 bit number Same as int Same as unsigned int 32 bit floating point number IEEE single precision 64 bit floating point number IEEE single precision Signed 64 bit number To make the syntax more compact the following types have also been defined define u8 define ul6 define u32 unsigned char unsigned short unsigned long These types have already been pre defined so it is not necessary for users to define them They can be used right out of the box void cmain void u8 i 8 bit unsigned number wsZ lag 32 bit unsigned number Use Com
83. s Manual Module Board The main module board comes in a 10 slot configuration If 10 slots are insufficient a 5 slot extension board can be connected to the 10 slot board to increase the capacity for additional modules If 15 slots are still not enough an additional 5 slot Extension board can be connected increasing the capacity to a maximum of 20 modules The module board array must be terminated so if you connected additional module boards be sure to terminate the last board in the array A terminator is included with each board Comfile Technology MOACON User s Manual 14 of 162 MOACON User s Manual Installing General DIO Modules WARNING Do not plug or unplug modules while the power is on Module Name Module Type Maximum Number of Concurrent Modules CF DOSI8 8 pin DC Sink Output E A AAA AAA CF DOSO8 8 pin DC Source Output 6 gt S O CF DORL8 8 pin RELAY Output A CF DIDC8 8 pin DC Input A The CPU module must be mounted on the far left of the 10 slot main board in the position labeled CPU General Digital I O DIO modules can be installed in the 6 slots directly to the right of the CPU module in the slots labeled DIO The slot in which the DIO module is installed determines its I O port number 0 10 20 30 40 50 DIO Port Number 0 0 E o 10 20 30 40 50 ee l C 7 17 27 37 47 57 When a general DIO module is installed in position 0 its ports will be assigned numbers 0 through 7
84. s first powered on The MOACON ports I O mode can only be set in blocks The MOACON s ports are organized in blocks of 8 Block Block O Block 1 Block 2 Block 3 Block 4 Block 5 Number 0 10 20 30 40 50 Ports O 7 Ports 10 17 Ports 20 27 Ports 30 37 Ports 40 47 Ports 50 57 Setting mode to 0 will put the port block in Output mode and setting mode to 1 will put the port block in Input mode Comfile Technology MOACON User s Manual 74 of 162 BEE a ec MOACON User s Manual In the image above there are 3 output modules and 3 input modules The following code would be used to set the ports I O mode for this configuration OE Inmate 0 10 g Block Soria Glen y Block OIE Inmate 2 10 y Block pomeltade Bp 1 y Block port Liaaic 4 1 p Block portrai 1 y Block Sia tes SA e in in in in in in Output mode Output mode Output mode Input mode Input mode Input mode Because ports are initialized to Input when the system is first powered on this code can be reduced to the following porte lmit 0 0 4 Block 0 in Output mode por morei 0 y Block 1 in Output mode port lmit 2 0 4 Block 2 in Output mode Port blocks 3 4 and 5 are in Input mode by default Comfile Technology MOACON User s Manual 75 of 162 MOACON User s Manual portOut void portOut ul6 portNumber u8 value portNumber Port Number of an individual port not a port block value
85. s to A PEO ci a AA A a i 50 Debug EUIAdid ilad Hag EE 52 DEDUGOSS E AAA la IAE AAA AAA AAA 52 ACUINGEDESES 000000 00d TIA RADA AAA A AAA EIA A AAA 52 11 A AAA RA 52 DEE td AA A A A A a A A a a 52 Data TD A A a 54 A NO 55 Chapter 4 System LIDO y ccsnsceccpecceeasecasnsvsassednandcneesecosnctisnstunssa sanagauantdnensceneccxnaweensesddvecccsada 56 GOI RO 57 SIS A A AAA A Paeeaadad na59 Had AA 58 RealTime Cloacas iria oc A SI AAA a TA A 59 ETA O es 60 FUESE AAA ti 60 ERARIO a 61 A a 61 A A O 61 Watehdog TIMET cc a AI REI A AIRE IA GA a ER 63 Comfile Technology MOACON User s Manual 6 of 162 MOACON User s Manual IRON A A A E A AAA 63 AECE iaa 63 MVE iris EIA A A AA A 65 SESE TURE VION A A es 65 CE didsa ge nenenantaunves OAE ETRA 65 SONITONO 66 Sadda A SEDES a A E Weeieamegiamennek 67 SESIPENEIEV ONE 5 00 AA sede anes tate deserssacsaed SEA AAA A 67 ELU OEE VBE iis iniciar Aid TE A AEREA ERA DAA vas AAA AAA ca RARA A ARI 68 SCODEXTINTEVODE caninas di da A ARANA RA PERA AAA AAA 69 Chapter 5 Digital VO Modules icon ii iii 70 SOMETE OS IM MEE oc A IA 71 SPOT DE Source QUEBUENO is ia Pda 71 CE DOSOS Specifications Ai a aE 71 gePort DC Sink Output MOTOS a ae 72 CFE DOSIS Specie gOS io A AA Ad 72 SPOT Relay UE MOGUES iaeiiai TAANA EV EARNE aA nA aa rach 73 CF REDS SAN et NNN dada 73 Digital Output Module LICEO a 74 olola Aa PTE E E 74 BOE PEPA OO EE TE
86. se note however that although the MOACON s RTC is better than most it is not 100 accurate The RTC is powered by a battery that keeps the RTC counting when no power is supplied to the MOACON The battery s life span is approximately 10 years The following table illustrates the format in which the RTC data is stored in memory Data is stored in Binary Coded Decimal BCD RTC A ME 1 digit 1 digit Hour__ O0to23 igi 1 digit Day 1to7 MN 1 digit Date 1to31 1 digit Month 1to12 1 digit 00 to 99 2 digit 1 digit Days of the week the Day field are coded as shown in the following table Sunda Friday 6 The hour field ranges from 0 to 23 so one can distinguish between AM and PM Comfile Technology MOACON User s Manual 59 of 162 MOACON User s Manual rtcRead us rtcRead u8 rtcAdr rtcAdr Address of the RTC data field e g day month year etc from which to read Reads the RTC value from the RTC data field s address rtcAdr rtcWrite void rtcWrite u8 rtcAdr u8 rtcData rtcAdr Address of the RTC data field e g day month year etc to set rtcData Value to set Sets the RTC data field at address rtcAdr to the value rtcData The following program sets the current date and time and then prints the current date and time to the debug console include moacon500 h void cmain void Set the current date and time gece teto Oi 5 2011 03 15 Mar
87. sed to assign the module to a port block Dipswitch Port Block Port Number ODO uration Ce ae MIES OF Comfile Technology MOACON User s Manual 18 of 162 MOACON User s Manual The rotary switch on the face of the RS EDOR8 relay output expansion module is used to assign the module to a port block 6 27VDC 4A 6 240VAC 4A RS EDOR8 ID Port Block Output Ports YA oz Comfile Technology MOACON User s Manual 19 of 162 MOACON User s Manual Installing Analog Modules WARNING Do not plug or unplug modules while the power is on Module Name Module Type Maximum Number of Concurrent Modules RS ADIN4 4 Channel AD Input RS HADIN4 4 Channel High Resolution AD Input RS THRT4 4 Channel Temperature Input RS DAOUT2 2 Channel DA Voltage Output RS DAOUT2B 2 Channel DA Current Output Analog modules can be installed in any slot except the CPU slot 10 Slot Main Board 5 Slot Extension Board Analog Module Installation Slots If the 10 slot main board does not have enough vacant slots the analog modules can be installed in any of the 5 slot expansion board slots A maximum of 10 analog modules of the same type can be installed concurrently Each module must be given a different ID number using the rotary switch on the module s face Comfile Technology MOACON User s Manual 20 of 162 MOACON User s Manual Installing Special Purpose Modules WARNING Do not plug or unplug modules
88. signed integers have a range of 32 768 to 32 767 countMode 0 1 Set channel 0 to function as an encoder counter short cnt count 0 Read current count from channel 0 signed numbers If you need to scale the counter to support higher count values use the countPrescaler function Comfile Technology MOACON User s Manual 87 of 162 MOACON User s Manual countPrescaler void countPrescaler u8 cntChannel ul6 prescale Value cntChannel Channel number 0 or 1 for DP HCNT prescaleValue 0 65 535 Scales the counter to support a higher count by dividing the count by a prescale value prescaleValue The default prescale value is 0 which is division by 1 i e each pulse will increment decrement the counter by 1 Therefore the divisor is equal to prescaleValue 1 Ao am a Prescaler Counter BO If prescaleValue is 5 the divisor would then be 5 1 6 meaning every 6 pulses will increment decrement the counter by 1 Prescaler countPrescaler initializes the counter to 0 countReset void countReset u8 cntChannel cntChannel Channel number 0 or 1 for DP HCNT Initializes the counter on channel cntChannel to 0 Comfile Technology MOACON User s Manual 88 of 162 MOACON User s Manual pwm void pwm u8 pwmChannel ul6 pwmDuty ul6 pwmWidth pwmChannel PWM channel pwmDuty Duration for which the pulse is ON pwmWidth Pulse period Sets the duty cycle and period of the pulse width modulator PWM
89. specially in hot weather will help reduce the risk of overheating Comfile Technology MOACON User s Manual 32 of 162 MOACON User s Manual Wiring PVC coated wire with a thickness of about AWG20 is suitable for most I O signals AWG20 wire is available at www ComfileTech com Strip the wire with a wire stripping tool insert into the module s terminal block and tighten with a screwdriver Soldering the ends of the wires is not recommended Correct Incorrect Be sure no bare wire is exposed outside of the terminal block as shown above For power signals using a wire thickness between AWG16 AWG12 is recommended Comfile Technology MOACON User s Manual 33 of 162 MOACON User s Manual Software Installation This section will explain how to install MOACON Studio and the MOACON s USB driver These instructions will describe the procedure for Windows XP but the procedure is similar for Windows Vista and Windows 7 1 Download MOACON Studio setup program from the Comfile Technology website at www ComfileTech com and execute in on a PC fe Setup Moacon Studio Welcome to the Moacon Studio Setup Wizard This will install Moacon Studio on your computer It is recommended that you close all other applications before continuing Click Next to continue or Cancel to exit Setup 2 When the window above appears click the Next button Comfile Technology MOACON User s Manual 34 of 162 3 4 MOAC
90. t state of each port in portBlockNumber Reads the input state of all ports in the given port block portBlockNumber returning a 8 bit array containing the input state of each of the 8 ports in the port block If portBlockNumber is 1 bit O of the return value would correspond to port 10 and bit 7 would correspond to port 17 If portBlockIn 1 returned a value of 7 b0000 0111 this would mean ports 10 12 would be on and ports 13 17 would be off u8 i portBlockIn 20 Reads the input state of ports 20 27 Comfile Technology MOACON User s Manual 79 of 162 MOACON User s Manual 16 Port Digital Input Expansion Module 12 24 VDC l IES 12 24VDC i TE 12 24VDC ES 12 24VDC oe Input Impedance 4 7K2 24VDC OFF Level lt 7 4VDC ON Level gt 7 5VDC NP of of a 2 of mh fof Q 8 12 24VDC COM eiel Optical Isolator Sinking raa Sourcing 11 c3 eE Be Field i Field x a Device Device Ww A A AAA fis INPUT Sa 12 EDI16 The DIP switch on the side of the module is used to assign the module to a port block Port Port A E A 0x10 Ox1F 5 0x50 0x5F a 0x20 0x2F E 0x60 0x6F Eju H 0x30 0x3F 7 0x70 0x7F oe ee Comfile Technology MOACON User s Manual 80 of 162 MOACON User s Manual Digital Input Expansion Module Library eportin u8 eportIn ul6 eportNumber eportNumber The expansion port number from which to read returns the
91. tStat void portOutStat ul6 portNumber portNumber The port number to toggle Reads the current output state of portNumber u8 state portOutStat 20 Reads the current output state of port 20 Comfile Technology MOACON User s Manual 77 of 162 MOACON User s Manual 8 Port Digital Input Module CF DIDC8 Specifications Ports E Operating Voltage INPUT 12 24VDC Input Impedance 4 7KQ 24VDC OFF Level lt 6 2VDC ON Level gt 7 2VDC 12 24VDC _ 4 E 12 24VDC _ im 12 24VDC Q gt n D es a 8 e a a el st ry ft COM i Optical i Isolator aa aaa 2 1 _ Sinking Sourcing y Field ip Field 1 7 Device Device A Z Q 0 PAS A ER INPUT o Q CF DIDC8 Comfile Technology MOACON User s Manual 78 of 162 MOACON User s Manual Digital Input Module Library portin u8 portIn ul6 portNumber portNumber The port number from which to read returns the input state of portNumber Reads the input state of the given port portNumber If the voltage on the port is less than the module s Off Level portIn returns O Off If the voltage on the port is greater the module s On Level portIn returns 1 On US al orar 210 6 Reads the input state of port 20 and stores the result in variable i portBlockin u8 portBlockIn u8 portBlockNumber portBlockNumber The port block to read 0 through 5 returns a bit array containing the inpu
92. ted and added to the project The source files do not have to reside in the project folder 3 Open File Tabs Any file open for editing will appear as a tab in the Source Editor Window include moacon500 h Device Declaration void cmain void Program s Entry Point The include moacon500 h statement is a device declaration statement used to include code that is specific to the model of the CPU module in this case the DP CPU500 It should be included at the top of the main source file cmain is the program s entry point i e the first function the program calls when it is executed Note that in most C programs the program s entry point is usually called main but for the MOACON it is cmain Comfile Technology MOACON User s Manual 45 of 162 MOACON User s Manual Compiling and Executing a Project In this section we will create a very simple MOACON project download it to the MOACON and execute it The famous Hello World program will be used to illustrate the procedure New Project Project Directory C Moacon Studio Projects HelloWord M Project Name HelloWord Cancel 1 Create a new project called HelloWorld include moacon500 h void cmain void Repeat Forever while 1 Print Hello World to the debug console primer MEST Iker MozleXryad y 2 Enter the code above in the HelloWorld c source file The while 1 code block will execute forever without exiting The pr
93. tes in the receive buffer for socket socketNum Each socket s receive buffer is 2KB 2048 bytes To make room for more data in the receive buffer call netRecv If room is not made available in the receive buffer by the time more data arrives the newly arrived data will be discarded Because there is no receive event for the Ethernet Module a timer should be used to periodically check if data has been received Sample Program The following program implements a simple web server on the MOACON It will listen on port 8080 and respond to any connection with Hello from the MOACON Comfile Technology MOACON User s Manual 132 of 162 include moacon500 h include lt string h gt void cmain void Configure the network settings u8 GatewayIP 192 168 0 1 u8 SubnetMask 255 255 255 0 u8 MacAdr 0 0 34 53 12 0 u8 DeviceIp 192 168 0 12 netBegin GatewayIP SubnetMask MacAdr Use socket 0 u8 socket 0 MOACON User s Manual Devicelp Ensure socket is disconnected and closed disConnect socket close socket Keep track of the connection status u8 currentStatus OxFF u8 lastStatus OxFF while Run forever 1 netStatus socket lastStatus currentStatus if currentStatus lastStatus currentStatus switch currentStatus case SOCK_INIT jo INE E Maicao y socketOpen socket 8080 listen socket break case SOCK CLOSED FOIE AIOE MCI sed
94. th bytes This function is provided should it be necessary to create a custom Modbus frame to send using the RS 232 communication library functions u8 txFrame 8 ul6 cre targetAdr numberOfCoils targetAdr 0x0000 numberOfCoils 1 txFrame 0 1 Slave address 1 txFrame 1 1 Function Code 1 txFrame 2 targetAdr gt gt 8 Target Address MSB txFrame 3 targetAdr Target Address LSB txFrame 4 numberOfCoils gt gt 8 Length MSB txFrame 5 numberOfCoils Length LSB crc getCrc txFrame 6 Compute CRC txFrame 6 crc gt gt 8 CRC MSB ExErame AE ENTRE US Comfile Technology MOACON User s Manual 158 of 162 MOACON User s Manual MEMO Comfile Technology MOACON User s Manual 159 of 162 MOACON User s Manual Chapter 14 Appendix Comfile Technology MOACON User s Manual 160 of 162 MOACON User s Manual External Dimensions All units are in millimeters mm MOACON Module 92 6 3 80 5 Comfile Technology MOACON User s Manual 161 of 162 MOACON User s Manual 10 Slot Board 7 5 18 5 22 3 178 4 28 8 7 5 alt i Mi gt 00 5 Slot Board 162 am ot mmm 15 84 15 84 14 7 5 28 9 22 5 66 9 28 9 7 5 T ol 5 N o o gt 00 El to 22 1 Comfi
95. to exit out to the main routine timerEvent void timerEvent This is the function that is called when a timer s event fires The following program demonstrates how to use the startTimerEvent function with the timerEvent function include moacon500 h void cmain void startTimerEvent 500 Execute timerEvent every 500ms while 1 Run forever delay 2000 Pause for 2 seconds void timerEvent printf Timer Event Fired r n Print to the debug console ex ernx tl A Timer Event Fired Timer Event Fired Comfile Technology MOACON User s Manual 65 of 162 MOACON User s Manual stopTimerEvent void stopTimerEvent Stops the timer Comfile Technology MOACON User s Manual 66 of 162 MOACON User s Manual External Interrupts The MOACON has the ability to receive external interrupts on ports 10 through 17 When an interrupt is received an interrupt service routine ISR is executed A Digital Input Module can be installed in slot 10 to receive interrupt signals Port 10 17 CPU Module External Interrupt startExtIintEvent void startExtIntEvent u8 extIntPort ul6 extIntType extIntPort The port to use as an external interrupt port 10 17 extIntType 0 Rising Edge 1 Falling Edge 2 Rising and Falling Edge Tells the MOACON to configure extIntPort as an external interrupt port extIntType configures the interrupt to trigger when turn
96. to write data fData Data to write Writes fData to FRAM address fAdr Addresses O through Ox7EFF are available for use The last 256 bytes addresses 0x7F00 through Ox7FFF are reserved for the system and should not be used framRead u8 framRead ul6 fadr fAdr Address in FRAM to read from returns the data read Gets a byte of data from FRAM address fAdr The following program demonstrates reading and writing to FRAM If FRAM does not contain the string Comfile Technology at address 0 the string is written to FRAM After writing to FRAM if the MOACON is powered off and powered back on the string will be retained include moacon500 h include lt string h gt void cmain void char text STRING LEN const char const comfile Comfile Technology const u8 STRING LEN 19 Comfile Technology plus X0 terminator SO for i 0 i lt STRING LEN i Clear text one character at a time Comfile Technology MOACON User s Manual 61 of 162 MOACON User s Manual E IAN OE for i 0 i lt STRING LEN 1 i Read data from FRAM one byte at a time and store in variable text text i framRead i if strcmp text comfile 0 T text does not equal comfile for i 0 i lt STRING LEN 1 i write comfile to FRAM one byte at a time framWrite i comfileti printf Ss written to FRAM r n comfile else if text equals comfile i printf FRAM contains s r n
97. tput Module The DA Current Output Module is a 2 channel 0 20mA 4 20mA digital to analog current converter module The current range is configured using the dipswitch on the side of the module Dipswitch Configuration Channel 1 Output Channel 2 Output Current Current OFF 4 20mA ON 0 20mA RS DAOUT2 RS DAOUT2B Specifications Analog Output Operating Temperature 10 50 C no condensation Operating Humidit 35 85 RH Output Resolution 0 60 000 Communication Method RS 485 Maximum Conversion Rate 0 60 000 600ms Isolation Method No Isolation Comfile Technology MOACON User s Manual 121 of 162 MOACON User s Manual dacOut2 void dacOut2 u8 dacld u8 dacCh ul6 daValue dacld The ID of the DA Output Module 0 9 dacCh The channel on the DA Output Module 1 2 daValue The output magnitude 0 60 000 Sets the output of the digital to analog converter DAC on DA Current Output Module dacId channel dacCh daValue is the magnitude of the output current represented as a number between 0 and 60 000 Up to 10 DA Current Output Modules can be installed in a single system providing a total of 20 DA output channels daValue corresponds linearly to the output current 4 20mA dipswitch OFF O 20mA dipswitch ON 20mA OmA 0 60000 Comfile Technology MOACON User s Manual 122 of 162 MOACON User s Manual Temperature Input Module The Temperature Input Modules used with a PT100Q t
98. uction costs 7 The MOACON is a 32 bit ARM processor based modular C A programmable controller The code is compiled rather than interpreted resulting in much faster execution Due to the MOACON s modular design a variety of features such as Ethernet temperature monitoring digital to analog NEO conversion and more can be aggregated to customize the Ra MOACON for a specific product s requirements or added at a later time as a product s requirements change Q What s the maximum number of digital I O ports supported by the MOACON Used in combination with the I O Expansion Modules the MOACON can support up to 256 ports 48 Default Digital I O Ports 128 Expandable Digital Input Ports e 80 Expandable Relay Output Ports Q Is multitasking supported Multitasking is not supported but using timers background processing can be simulated Comfile Technology MOACON User s Manual 4 of 162 MOACON User s Manual Q What is needed to get started using the MOACON The MOACON START PACK contains everything that is needed to get started and should be purchased first Additional modules can be purchased separately to fulfill any remaining requirements START PACK Contents MOACON CPU Module DP CPU500 e 8 Pin Digital Input Module CF DIDC8 e 8 Pin Digital Output Module CF DORL8 e 10 Slot Module Base e Power Supply 24VDC 0 62A Output e Power Cable Wire e USB Download Cable Comfile Technology MOACON
99. ultaneously Module names starting with RS imply that the module is connected internally to an RS 485 network Comfile Technology MOACON User s Manual 22 of 162 MOACON User s Manual Module Installation Summary The following image summarizes the installation of each type of module Special Purpose Modules Module names beginning with DP Digital IO Modules CPU Module names beginning Module with CF rre Analog Modules Motion Control Modules Expansion Digital I O Modules Module names beginning with RS or I2 The appropriate installation slot can be determined just by the mode name The special purpose modules whose names begin with DP e g DP COMM2 communication module DP HCNT high speed counter module or the DP ETHER Ethernet module can be installed in any of the main board s slots except the CPU slot Comfile Technology MOACON User s Manual 23 of 162 MOACON User s Manual Small System Configuration If you only require five modules or less the 5 slot extension board can be used independently as a main board This is referred to as the Small System Configuration With the CPU module installed in the slot labeled CPU the remaining 4 slots can be used to host DIO modules expansion DIO modules analog modules motion control modules and or special purpose modules 0 10 20 30 DIO expansion DIO analog motion control and or special purp
100. vary and should not be used in situations where precise timing is needed include moacon500 h void cmain void Port riire 27100 7 arias pues 2027 steve TINE while 1 Run forever portone 20 1 7 Ser pore ZO miga delay 100 Wait for 100ms portOut 20 0 See pore 20 tow delay 100 Wait for 100ms To wait for times less than ims or to achieve a higher precision a spin wait function can be used The CPU will spin in a loop for a specified number of iterations void spinWait u32 countdown for countdown gt 0 countdown Loop until countdown reaches 0 Each iteration will consume a very small amount of time so this method can be used to simulate a very short delay or a delay with higher precision Comfile Technology MOACON User s Manual 57 of 162 MOACON User s Manual statusLed void statusLed u8 onoff onoff 0 Off 1 ON Turns the status LED on the CPU Module on or off Lighting or flashing the status LED is a simple way to convey the status of the system The status LED is off by default statusLed 1 Mens as Sireeios IED On POWER LED STATUS LED OVOINMOG D a N pa fe ae 3 DP CPU500 Comfile Technology MOACON User s Manual 58 of 162 MOACON User s Manual Real Time Clock The MOACON CPU Module has a built in Real Time Clock RTC The chip contains a temperature sensor to compensate for drift due to temperature fluctuations Plea
101. while the power is on Model Name Model Type Maximum Number of Concurrent Modules DP COMM2 Communication Module DP HCNT High Speed Counter Module DP ETHER Ethernet Module Only one of each type of special purpose module can be installed at a time For example you can install one communication module one high speed counter module and one Ethernet module concurrently but you can t install 2 or more communication modules high speed counter modules or Ethernet modules concurrently 10 Slot Main Board 5 Slot Expansion Board Special Purpose As shown in the image above special purpose modules can be installed in any vacant slot on the 10 slot main board Special Purpose Modules cannot be installed in the expansion boards Comfile Technology MOACON User s Manual 21 of 162 MOACON User s Manual Installing Motion Control Modules WARNING Do not plug or unplug modules while the power is on Module Name Module Type Maximum Number of Concurrent Modules RS MOT2 2 Axis Motion Control Module Analog modules can be installed in any slot except the CPU slot Up to 10 Motion Control Modules can be installed concurrently If the 10 slot main board does not have enough vacant slots the motion control modules can be installed in any of the 5 slot expansion board slots Up to 10 Motion Control Modules can be installed concurrently so a maximum of 20 stepper motors can be controlled sim
102. wing program demonstrates how to use the CLCD library include moacon500 h void cmain void cledi2aimie 0 7 CLCD on slave address 0 clcdPower 1 Power on the CLCD device delay 100 cales Clear the screen ime B 12Q3678 9 Sci oun og Fron 12307 while 1 Run forever delay 500 Cikecieiciine Spi Yc stip Pelai coma ae Coloma 5 cow 1 Comfile Technology MOACON User s Manual 139 of 162 MOACON User s Manual CSG Library The CSG library is used to display information on Comfile Technology s 7 segment display devices Each CSG device must have a unique I2C slave address configured by a dipswitch on the back of the device Up to 4 CSG devices can be daisy chained together to make a longer composite display Each device must have a different slave address Fl cl a mi Cl cl Qo mi Cl cl fa mi gm cl a 0 17 EJ COS 1 EJ CILA OS CS ES CI BA CS EJ EJ 11 Slave AddressO Slave Address 1 Slave Address 2 Slave Address 3 Comfile Technology MOACON User s Manual 140 of 162 csgPrint MOACON User s Manual void csgPrint us csgSlaveAdr char formatString argo argn csgSlaveAdr Slave address of the CSG device formatString A character string to be printed that can optionally contain format specifiers arg0 argn An optional set of arguments to be used by format specifiers Prints a character string formatStrng on the CSG device on address csgSlaveAddress formatStri
103. y 500 Wait for 500ms comPrint 0 abc r n transmits abc and a new line comPut 0 0x41 transmits the letter TAY ASCII 0x41 Connect a PC to MOACON s RS 232 channel 0 and use HyperTerminal to view the output MOACON HyperTerminal Eile Edit View Call Transfer Help Dw 3 DA Auto detect 1152008 N 1 98 of 162 Comfile Technology MOACON User s Manual MOACON User s Manual comPut void comPut u8 comCh u8 comChar comCh Channel number comChar Byte to transmit Transmits a single byte comChar on channel comCh To send ASCII characters comChar should be the character s ASCIT code include moacon500 h void cmain void openCom 0 115200 C8N1 Channel 0 115200 Baud i Ceca isis no peritey Stoa lolis 1 while 1 Repeat forever delay 500 Wait for 500ms comPut 0 0x41 1 MRS sc AN ASCL OAL Compu 0 1B 8 Vi eransmi ecs chewlkercernat Su A character s ASCII code can be specified using a numeric literal e g 0x41 or using a character literal e g A To send more than one character use the comPrint function Comfile Technology MOACON User s Manual 99 of 162 MOACON User s Manual comPrint void comPrint u8 comCh char comString arg0 argn comCh Channel number comString String of characters to transmit Transmits a string of characters comString on channel comCh include moacon500 h void cmain void openCom 0 115200

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