ver.2 BSIO32ex module designed Industrial Machinery main controll

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ver.2 BSIO32ex module designed Industrial Machinery main controll

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BSIO32ex Programmable Controller, Inputs Outputs with Port
ver.2
BSIO32ex module designed Industrial Machinery main controller, controller features machine. Standard 24-volt power used both input sensor output load devices. This board will support only BASIC Stamp BS2p40 (See Note Below). This board used control Industrial Processes, equipment functions, without having learn ladder logic. Before reading further, review safety responsibility section page
Features
High Speed Opto-Isolated Inputs Inputs Configurable either Devices High Current Sinking Drivers, Using ULN2803 Driver Fly-Back Diodes Protection from Inductive Spikes Outputs Logic State Indicators Inputs Outputs Port with Serial Backpack equipped Expansion Port Direct Access Expansion port Direct Auxiliary Access Rail Mounting Ease Installation Board Switching Regulator volt Logic Level Power Screw Terminal Connections Ease Installation Board Programming Port, Connector
Getting Started
correctly install your Stamp Module, must identify Stamp module match this Socket BSIO32ex board prior insertion. (See BASIC Stamp Programming Manual 2.0, Page Socket Notch smaller than indicated drawing.)
This Basic Stamp Module this must match matching Socket. Socket
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BSIO32ex w/AUX, Ports
Note: BASIC Stamps, PBasic References products Trademarks Parallax, Inc.
BSIO32ex Power
BSIO32ex module will typically powered from stand-alone 24-volt power supply, which available from electronic parts distributors, like DigiKey, Newark, Jameco. This 24-volt power must routed through rail mounted fuse holder. power delivered this board should fused safety. Failure fuse power supplied board could result damage board electronics, reverse power connected. shorting diode installed board. Should power applied reverse direction, this shorting diode will conduct blow fuse supplied. current consumption each individual sensor output loads connected module should measured. This will help determine capacity power supply size fuse needed safe reliable operation. NOTE: BASIC Stamp's board 5-volt regulator used. -volt power Stamp delivered (VDD) BS2p40 from switching regulator (Power Trends) mounted BSIO32ex module. BASIC Stamp Programming Manual 2.0, Pages 16,17.) power supplied BSIO32ex module connected input output terminals common power buss. proper operation, very important that other power source, additional power supply used power loads directly connected BSIO32ex module. mismatched power supplies could lead false logic state indication outputs, damage electrical components. wide range input voltages maybe applied without affecting +5vdc logic level power. switching power supply requires minimum volts more than volts properly condition power. important consideration match power supplied your output load devices. your application will actuate 12-volt devices such lights, motors, solenoids relays, then 13.8 volts typical automotive electrical systems will provide adequate power BSIO32ex module control 12-volt devices. industrial environment most sensors controls volts (direct current). Control devices such relays, pneumatic solenoids other inductive devices will have minimum operating voltage, below which, they will actuate. minimum operating voltage devices decide should bench tested, using variable voltage source. reliable operation should verify that voltage supplied BSIO32ex module your power supply will have positive margin reliable actuation. Failure determine your operating margin could result intermittent operation loads, additional loads come on-line.
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BSIO32ex w/AUX, Ports
Green LED's input Logic State Indicators, means High.
Input Connectors, Pins P8-P15, Jumpers Configure, Input Section Manual Board Labels. Switching 5volt Regulator Note: Labels Printed Circuit Board Address, Power Connections Logic State Indications.
Input Connectors, Pins P0-P7, Jumpers Configure, Input Section Manual Board Labels.
Jumpers
Port Programming Port Auxiliary Port Port Port Address Jumper Selected Auxiliary Output Terminals X0-X7, Lower Terminal +24vdc Upper Terminal Switched Open Collector. LED's Output State Logic Indicators, means Address Energized Logical Main Power Input +24vdc Buss
Auxiliary Output Terminals X8-X15, Lower Terminal +24vdc Upper Terminal Switched Open Collector.
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BSIO32ex w/AUX, Ports Safety Programming Responsibility Policy
When designing industrial equipment industrial process, time operators machine process exposed physical dangers created process, machinery. mechanisms should appropriately guarded accordance with OSHA other industrial standards. Some guards physical covers others electronic, such light curtain. familiar with these standards methods equipment construction, then need more research, seek professional help, prior implementing industrial control solution. differences complexity each application, responsibility safe installation, hands those implementing solution. program implemented must fully debugged tested safe proper operation. programming examples contained this document education purposes only, used concepts programmer, tool effectively develop implement industrial control solution. This document cannot cover potential problems this document address potential solutions. problems solutions responsibility programmer those involved with machine design construction those engineering industrial process. Failure address issues safety, machine guards, both physical electronic, well programming permit safe interaction operators result injury death. purchaser this product assumes responsibility safe installation implementation industrial process control solution. Please seek professional services, familiar with requirements techniques facilitate safe installation. this product constitutes acceptance this Safety Programming Responsibility Policy. agree with this Policy please return product refund, less restocking charges. (This product manual document available free from distributors this product, permit purchaser review acceptability this product, prior purchase.)
Communications Programming Port
standard Connector provided BSIO32ex module download your program into Basic Stamp. There need remove Basic Stamp program device. will need supply power board, mentioned above, 9-30 volts order program Basic Stamp plugged into board. (See Basic Stamp Programming Manual More Details Programming Port, Page 27.)
Outputs
output connections shown powered from main power input terminals. This input power common power buss input output screw terminal locations. lower terminal +VDC upper terminal labeled with address numbers 0-15, switched connection. (See Printed Circuit Board these labels). These output terminals labeled X0-X15 switched ground open collectors from Power Darlington transistor array, part number ULN2803A. more information these Power Darlington Transistor Driver Chips, document obtained from these websites:
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BSIO32ex w/AUX, Ports
When Stamp addresses output pin, switching high, (logic level approx. +5vdc) Darlington Drivers array saturates, sinking power both connected load logic indicator ground. lights indicate load this output energized. diode internal each transistor Darlington array provides transient spike protection, when transistor turned off. NOTE: drive higher voltage device than have provided power for. Example: Such trying drive 48-volt relay using volts available output terminal. device will fail actuate. NOTE: power high voltage device from external power supply then sink this power common ground BSIO32ex board. Example: Providing volts previously mentioned relay then sinking this power common ground buss will cause faulty operation. power difference between volts will drive current through flyback diode burn this diode excessive current flow. Also once load energized, fail disconnect this current flow. current flow from 48-volt supply damage 24-volt supply connected BSIO32ex module. NOTE: drive lower voltage device such 12-volt relay using external 12-volt power supply while supplying volts BSIO32ex module. output indicator that output will light continuously, current flow from 24-volt BSIO power buss through volt device external power supply. power lower voltage load device using power supplied BSIO32ex module through output screw terminals, provided, that install current-limiting resistor series with load. Power supplied BSIO32ex module should match power required (current voltage) loads attached output terminals. typical installation would 12-14 volts volt rated loads, 24-26 volts standard industrial sensors controls. Loads like pneumatic solenoid, have built logic indicators internal back diodes, which polarity sensitive. When connecting these devices, make sure that device output terminals wired correct polarity. output schematic shown entire circuit attached output pins. output circuit simply duplicated times BSIO32ex board.
Output Driver Limits
Maximum current output Maximum current entire driver Typical current limit nominal application times outputs less output
long driver life best maximum current capability. need more than continuous duty basis, please consider using extra driver module like rated that load.
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BSIO32ex w/AUX, Ports Typical 24-volt Output Connections
+24vdc From Stamp Auxiliary Pins 0-15 3.3K Power Driver
5-24vd Input
120-240 Output
ULN2803 Darlington Array
Output Terminals
NOTE: high power loads must controlled with appropriate high power driver. example shown above, using solid state relay control resistive heating element powered 120-240 proper control many kilowatts power using output BASIC Stamp.
+24vdc From Auxiliary Pins 0-15 3.3K Pressure Solenoid Valve
ULN2803 Darlington Array
Output Terminals
Note: LED's, light indicate load this output energized.
Output Control
BS2p40 Basic Stamp total pins. These pins split evenly with pins Main I/O, also referred name P0-P15 another pins with alternate name X0X15. Pins named X0-X15 under used output pins. other pins numbered P0-P15 under Main used Inputs. address these separate groups pins, Basic Stamp must directed specific group using commands. Mainio will direct Stamp address input pins P0-P15 Auxio will direct Stamp look output pins X0-X15. Thus these commands will heavily used through
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BSIO32ex w/AUX, Ports
control program look logic state Inputs then control logic state specific output pins. (See Stamp Programming Manual more details MAINIO, AUXIO TERMIO commands.) control logic state output pin, typically commands will used PBasic source code software, High Pin# Pin#. write logic state output shown below. (See Stamp Programming Manual more details commands HIGH pin#.)
Auxio High `Use Auxio switch output pins `Consider conveyor motor controlled power relay `Auxiliary turn motor high command turn off, command
number outputs used increases, tracking which connected what, will become more difficult. Thus facilitate programming (constant) assignment ability within PBasic programming software. ability name output with alias name that identifies function, makes easy read understandable source code. good programming technique identify these names beginning your program. this section, alias your output control numbers, with specific names, which relate functions controlling.
DispenseMotor `Output Alias Names `this motor control relay
Once assign name number, then this high level name reference pin.
Auxio High DispenseMotor `one must switch from main aux. Pins `address outputs `motor turns `wait second `motor turns `switch back input pins
Pause 1000 Mainio DispenseMotor
sample program listed this manual, another example alias names used software coding easy reading outputs being controlled. words followed labels. Please refer Basic Stamp Programming Manual more details constants, variable names, reserved names inputs outputs, program labels Goto, Gosub Return directives programming. Your application/program complexity vary, control functions need implement.
Input Configuration
Stamp Main pins P0-P15 used solely inputs. logic state information will travel direction these pins, into BSIO32ex module. Logic state information cannot transmitted these
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BSIO32ex w/AUX, Ports
pins, exception occurs when using expansion ports. input logic state shown green array center board. powered input connections depicted page powered from main power input terminals, well output terminals. four input terminals labeled +VDC, with center terminals being connected opto-isolator last four terminals labeled Gnd. (See labels printed circuit board). Note: Where place jumper will depend flavor, polarity sensor used. Note: inputs BSIO32ex normally pulled low. When green logic state input illuminated, diode inside associated opto-isolator energized. result logical Stamp's pin. output opto-isolator sources power from volt buss driving both driver Green Stamp Input high. When green illuminated, logic state stamp "0", condition. When green illuminated, logic state stamp "1", HIGH condition. input terminals each input easily configured variety input sensors control devices. inputs configured work with either NPN, output drivers contained proximity photo sensors. Switches open collector transistor sensors board powered, isolated; with their power being supplied from external source. using standard industrial sensors then following color code will useful. black output signal wire typically terminated center terminals depending flavor sensor, PNP. whole purpose here provide complete electrical circuit, which will energize within opto-isolator. Note: verify manufacturer your sensor using same color code electrical connections, consult data sheet your sensor. Most 24-volt industrial proximity optical sensors will follow wiring color code listed below. Brown Black Blue +24vdc Signal Ground
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BSIO32ex w/AUX, Ports Proximity Sensor
following schematics complete input circuit present BSIO32ex module. input circuit simply duplicated times, each Stamp input pin. connection labeled BSIO pin" directly connected stamp corresponding address label BSIO32ex module. ground shown common buss ground from main fused power input terminals.
+24vdc Input Terminals 4.7K H11A817DQT +5vdc
Main Pins 0-15
Place Jumper Here Complete Circuit.
1.0K
+5vdc 220-330 Input Logic State Driver, ULN2803, Green Indicator,
4.7K
Proximity Sensor
+24vdc H11A817DQT 4.7K
+5vdc
Main Pins 0-15 Place Jumper Here Complete Circuit.
1.0K
+5vdc 220-330 Input Logic State Driver, ULN2803, Green Indicator,
4.7K
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BSIO32ex w/AUX, Ports Open Collector Photo-Transistor Panel Switch
SPDT momentary switch used place transistor. +24vdc H11A817DQT 4.7K +5vdc
Main Pins 0-15 Place Jumper Here Complete Circuit.
1.0K
+5vdc 220-330 Input Logic State Driver, ULN2803, Green Indicator,
4.7K
Externally Powered Switch/Input
input control does need power from BSIO32ex module only being used logic state select switch, case using open collector phototransistor, control panel switch, then only terminals needed complete opto-LED circuit.
+24vdc H11A817DQT 4.7K +5vdc
Main Pins 0-15
Jumper, Opto Circuit Complete. +5vdc Input Logic State Driver, ULN2803, Green Indicator,
1.0K
4.7K
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BSIO32ex w/AUX, Ports
opto-isolator used import digital signal from another powered device, while maintaining electrical isolation. Note: only sources; signals will damage opto-isolator. input signal source, signal power through full wave rectifier with output filter capacitor maintain correct polarity when connecting input terminals. filtered output should exceed volts high gain Opto-Isolator, wide range input voltages will switch logic state input pin. voltage level lower than volts, then test input proper logic operation with this lower voltage.
Pulse Stretching Inputs
Each input channel capable transferring digital logic states, Information also transmitted pulse width, using Pulsin Pulsout command. (See Stamp Programming Manual Details this command.) slow switching times some opto-isolators, width incoming pulse will stretched. slow switching will fixed offset additional time incoming signal. Example: pulse width sent from BSIO (BSIO16 BSIO32ex) module using Pulsout command (using Pulsout value BSII Stamp) second BSIO32ex module, which receiving that pulse through opto-isolator input terminals. sent pulse width read second BSIO32ex module using Pulsin command. This received pulse 100us looks longer, showing Pulsin count 52-53 (plus minus us). Pulsout will read Pulsin 22-23 after being sent through opto-isolator. amount pulse stretching fixed, this offset maybe subtracted software retrieve original value sent. datasheet H11A817DQT Opto shows turn-on time turn-off time resulting pulse stretch approximately
Input Interrogation Software
Your program will typically interrogate input logic condition then branch some program label, when tested condition true. (See BSII Memory Reserved Names INS, INL, INH, INA, INB, INC, IND, IN0-IN15 Pins Stamp Programming Manual.) .Then command typical gather information from input information. Basic Stamp specific reserved names input output pins. example: "IN0" used below, reserved name. Remember appropriate command (Mainio Auxio) direct Stamp's attention correct group pins when interrogating Inputs Setting Outputs.
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BSIO32ex w/AUX, Ports
Pbasic Commands Bold
Sample Section Your Program `Output Alias Names DispenseMotor
`this motor control relay
Main_program: Mainio Then Start_process Then Stop_process Goto Main
`switch input pins `the logic states your program `different, depending your situation
Start_process: Auxio High DispenseMotor Goto Main Stop_process: Auxio DispenseMotor Goto Main
`switch output addressing `turn motor
`switch output addressing `turn motor
reserved names used make distinction between inputs outputs. Inputs interrogated bits, nibbles, byte word-size numeric values, using these reserved names. Example: Interrogating lower byte, pins their decimal value:
Mainio Then `make sure address input pins some function label
Typically logic conditions within real program will complex. Multiple inputs tested using Then statements determine what routine program will branch initiate some action, machine function. order preserve computing speed stamp module, program should only test functions process next, sequence events. Other repetitive functions, that need scanned constantly, should written once, called multiple places using Gosub command. Thus need look operator's input Cycle Stop button, accomplished under label Cycle_Stop_Button: which called from multiple locations within program. Thus anywhere program loop, waiting something happen, inserting Gosub Cycle_Stop_Button loop, operator's pressing Cycle Stop button will caught program then processed this label. Note: This example above confused with -stop Function, which should wired hardware hardwired function. Most -stop Circuits normally closed must this state machine run.
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BSIO32ex w/AUX, Ports
If.Then logic statements results hard coded logic sequences, which very little Stamp's variable space. This makes long programs possible with much original variable space available other functions, such software counters, flags, input switch bits momentary logic inputs implementation logic sequencers software. Most industrial processes occur sequence events, which allows write controlling program similar fashion, that will duplicate sequence operation. If.Then statements allow branch conditions they occur, creating different sequences based conditions within process.
Distributed Control Architecture
Other configurations machine control architecture will also facilitate closed loop program operation. Distributed processing having sufficient speed, processing power count control elaborate machines processes tasks. Take example -station turret, with station empty between load unload stations, with station positions left processing product steps. Each load unload station with it's pick place robot would have controller. Each processing stations would have dedicated controller. master controller would control turret index rotation monitor other stations. With each rotation index turret, master controller would send start process stations around turret. Each controller would then check specific station process item present item present) then carry that process step. When stations done with their process step, they would send "Done" signal master controller, which would then index turret repeat process over again. "Done" signal received back from seven processing stations, then master controller could sound error production operator, reporting which station problem screen. Thus with multiple BSIO controllers using distributed control architecture, accomplish complex task, which much controller itself.
Open Control Loops Closed Control Loop Programming
following program example open loop program. open loop program, requested actions monitored verified sensors. Thus cannot sure that action requested actually occurred. have more robust process, machine vendors will build control systems with feedback, closing request loop. example: sensors installed detect mechanical positions their mechanical stroke. order build closed loop system, need more inputs.
Sample Program
Conveyor Sorting Program Box_size Conveyor_Motor RightLanePush LeftLanePush Dispense_Motor `set variable size `Output Alias Names `this motor control relay `air solenoid `air solenoid `this motor control relay Page
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BSIO32ex w/AUX, Ports
Warning_Light Dropgate `this sinks light bulb current `air solenoid `Etc. rest fast slow conveyor will allow space `between boxes they transfer next belt `address output pins `Turns motor This Conveyor fast `Turns motor This Conveyor slow `Turn Warning Light
Start: Pause Auxio High High Main: Gosub Box_detect Gosub Box_sort Goto Main 1000 ConveyorMotor DispenseMotor WarningLight
Box_detect: Mainio Then Stop_Dispense Return Stop_dispense: Auxio DispenseMotor Box_size Return Box_sort: Mainio Box_size Box_size Box_size Box_size Box_size Return
`Turn dispense conveyor stop boxes
`switch output pins `conveyor off, sort current next `move sensor array into variable
Then Then Then Then Then
`determine size then sort `switch input pins Very_large_box `all sensors blocked Big_box `top sensor beam blocked Medium_box `top middle sensor blocked Small_box `let straight through Start present, sensors blocked
Very_large_box: Auxio High Warning_Light Pause 2000 Mainio then Start Goto Very_large_box Return
`switch output pins `alert operators over size
`switch inputs pins `IN5 operators Resume Button Input
BigBox: Auxio High RightLanePush Pause 2000 RightLanePush Return
`switch output pins `push right side `retract push right cylinder
Medium_Box: Auxio
`switch output pins Page
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BSIO32ex w/AUX, Ports
High LeftLanePush Pause 2000 LeftLanePush Return `push medium left side conveyor `retract push left cylinder
Small_Box: Auxio High Dropgate Pause 2000 Dropgate Return
`switch output pins `drop down chute `close chute
example machine program above consists incoming conveyors series outgoing conveyors, each side. Four light beam sensor's shoot diagonally across incoming staging area. These four beams connected input pins (IN0-IN3), with least significant address being highest beam above surface conveyor belt detect largest sizes. additional beam (IN4) shot across staging area near drop gate detect that arrived. staging area conveyor never stops, this lowers friction when moving left right. adjacent conveyors left right receive boxes, pushed left right. drop gate allows small boxes proceed straight ahead down chute, when gate drops. operator's notified remove from staging area then press resume button (IN5). program easy follow accomplishes task needing automated. write program closed loop control mode, additional sensors would added push left-right cylinders both ends, well drop gate positions. Additional If.Then statements would also added check that cylinders arrive stops intended. For.Next loops could used provide time function checking cylinder arrived not, with ability send error message display. example: closed loop version Medium _box sorting function would
$4054 `sets serial baud rate stamp `you will still have other `LCD commands your program fast slow conveyor will allow space `between boxes they transfer next belt `Turns motor This Conveyor fast `Turns motor This Conveyor slow `Turn Warning Light
Start: Auxio High ConveyorMotor High DispenseMotor WarningLight
Homing Code shown
`start additional code needed home `all positions they correct, `safe position starting process
`**************** program code shown below, only ************* `**************** expansion routine show type ************* `**************** structure which implement error messages. ************* Digital Design Solutions, Inc. Currituck Mooresville, N.C. 28117 Phone 704-500-6024 5/25/02 Page
BSIO32ex w/AUX, Ports
Medium_Box: Auxio High LeftLanePush
`switch output pins `push medium left side conveyor
Mainio `switch input pins Then mb_ext_reverse `cylinder extension sensor Pause Next `instead pause, gosub check something `would make better time
mb_extend_error: Auxio `switch output pins High WarningLight serout LCD,15,[ place cylinder failed extend error message here Mainio IN15 Then Start Goto mb_extend_error `switch input pins `IN5 Resume Button Input
mb_ext_reverse: Auxio LeftLanePush
`switch output pins `retract push left cylinder
Mainio `switch input pins Then mb_reset `cylinder retraction sensor Pause Next `instead pause, gosub check something `would make better time
mb_return_error: Auxio `switch output pins High Warning Light Serout LCD,15,[ place cylinder failed retract error message here Mainio IN15 Then Start Goto mb_return_error mb_reset: Return `switch input pins `IN5 operators Resume Button Input
this example closed loop function programming, above For.Next loop provides adjustable timing delay/pause functions while If.Then statement checks action requested completed. This replaces previous open loop control function, which used only Pause statement allow time motion requested, reach intended destination before starting next function. this example closed loop control, stroke motion detected prior For.Next loop expiring error message skipped. cylinder fails reach intended destination then
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BSIO32ex w/AUX, Ports
controller will send error message display will loop here until corrected. heavy, push cylinder move proper conveyor, creating error condition.
Alternate Programming Structure Multiple Tasks
When using BSIO Module with large number possiblility implement control involving several industrial processes, which happen asynchronously possible. Thus several tasks each with there sequence events programmed occur independently. Using correct program structure making this happen. complexity such control coding implement, only outline structure will shown order provide this method tool your situation. machine have several stations under control with each station executing different sequential task. following items important programming such multiple task controller. program must dwell pause location program program will check task ready take action sequence step program uses variable sequence counter keep track each task each task given equal access speed processing
Example Multi-Task Program
Declare variable each task sequence, also have other declarations your program these listed this skeleton structure example purposes
tach byte task_1_seq task_2_seq `variable hold drill speed `this will allow steps given task need more steps byte variable size
task_1_seq task_2_seq
`all sequence counters should zero number deemed `starting point controlling tasks each station `with several tasks part program "the main program" tasks important
Task_1: task_1_seq task_1_seq task_1_seq task_1_seq task_1_seq task_1_seq
then then then then then then
T1Seq_0 T1Seq_1 T1Seq_2 T1Seq_3 T1Seq_x T1Seq_15
`the value sequence/task variable will determine where program wish jump thus exclude other `code, this will speed program. program duplicates `if.then's number sequence steps required `the particular process station require more less than shown here using nibble size variable.
T1Seq_0: mainio then start_motor goto Task_2 `your test code will different, however what important `that testing some input condition which base some action conditon ready action desired move task
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BSIO32ex w/AUX, Ports
start_motor: auxio motor Task_1_seq goto Task_2 condition were testing correct then initiate some `action like turning some motor perform some function process `with task completed then task sequence variable incremented `next important step, number incremented maybe change `another value altogether, keep mind that value will direct `program next code examine
T1Seq_1: mainio then insert `again some code test given condition some action goto Task_2 `taken if.then statement true then with program insert: auxio plug_push Task_1_seq=2 goto Task_2 `Your .Code T1Seq_15: sequence events given station some event will mainio then Seq_reset `determine sequence, thus need goto Task_2 `reset mechanics machine known state start again
`plug push assigned which controls pneumatic `cylinder, then increment task variable sequence number `jump Task
Seq_reset: auxio motor clamp gate Task_1_seq goto Task_2
`thus previous conditions need reset depending what `happened during previous steps, this just example `the important item that after states reset begin again `the variable which directs program sequence must reset also `with sequence number this task back zero program `will start again
Task_2: task_2_seq then T2Seq_0 task_2_seq task_2_seq task_2_seq task_2_seq then T2Seq_1 then T2Seq_2 then T2Seq_3 then T2Seq_15 `the value sequence/task variable will determine where `program wish jump second task exclude `all other code, this will speed program `the program duplicates if.then test just like Task_1 `number sequence step required this process station
T2Seq_0: mainio then drill goto Task_1
test some condition, this case detects clamp `holding block material this station where task executes `it's control
drill: auxio station drill task_2_seq goto Task_1
`perhaps this station will drill hole piece material `the drill station turned sequence number changed `the item here demonstrated that program jumps back forth `between task task check various conditions which each T2Seq_1: `station needs accomplish Mainio `with drill want make sure turning pulsin 10,1,tach check tachometer sensor input sensor tach then drill_hole know from previous measurement that tach >400 then drill_fail `pulse less than 200, drill speed, more than goto Task_1 `indicates problem drill_hole: auxio
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BSIO32ex w/AUX, Ports
serout LCD,15,[I,clear] hole_cylinder goto Task_1 previously sent fail message, drill speed now, `clear screen with drill speed correct, turn pneumatic `cylinder which extends drill into material
drill_fail: auxio serout LCD,15,[I,line2, "Drill Speed"] goto Task_1
`send drill motor fail message `notification machine operator
T2Seq_2:
`Your test condition code, true will jump some action wish take `perhaps test make sure drill reached bottom hole depth `desired before retracting
goto Task_1 `Your Action Code T2Seq_2 Here: task_2_seq goto Task_1 `Your Code T2Seq_3 through T2Seq_14 here T2Seq_15: `The code testing resulting action taken shown
task_2_seq goto Task_1
`machine station reset code, begin process again remember reset sequence number variable sequence
This type programming structure adaptable multiple tasks. Task_1 calls Task_2 which then calls Task_3 which calls Task_4 which then calls beginning Task_1 which have different number tasks perform their station. Thus these operate asynchronously within program. your program large, call another task maybe rather than goto command. refers program number which each task located. this case remember save write task_X_seq variable scratch then retrieve upon entering each program. This will allow keep track sequence numbers each task. (See Get, Commands your Stamp Programming Manual.)
Multi-Task Overview
overall structure multi-task coding maybe viewed series gosub's which call specific task sequence task number variable. coding below only example programming architecture. impossible cover possible variations that maybe encountered industrial environment.
byte byte byte byte byte variable which holds sequence number directing program variable Task_1 just Task_0, each task `its variable, continue till tasks have there variable `use only size needed each Task sequence, `use state variable, steps, byte 256. `Initialize variables correct value starting machine
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BSIO32ex w/AUX, Ports
Machine_homed Machine_homed machine many times allowed start machine known state. Once machine homed `the changed logic state `Thus should subroutine home machine process. `All this depends design your machine/process. `Once task initiated home should example.
gosub
home_machine
Loop: gosub gosub gosub gosub gosub gosub gosub gosub gosub gosub Task_0 Task_1 Task_2 Task_3 Task_N Task_0_reset Task_1_reset Task_2_reset Task_N_reset Gobal_reset
`The number task's dependent your application. `Each task sequence have reset sequence `based value task sequence variable enter reset, assign operator button allow reset industrial process. have global machine reset which `will reset processes, with push button `assigned input.
goto Loop Task_0: branch [T0_a,T0_b,T0_c,T0_d,T0_x]
`The value will jump program correct sequence, skipping steps `already accomplished.
Test_Code Return Action Label: Action_Code T0=1 Return Test_Code Return Action Label: Action_Code T0=2 Return Test_Code Return Action Label: Action_Code T0=3 Return T0_x: Test_Code Return Action Label: Action_Code T0=0 Return T0_c: T0_b:
T0_a:
test code true continue action code, test code shows false then return multitask loop `Remember that task variable must next `step branch work `Return multi-task loop test code true continue action code, test code shows false then return multitask loop `Set variable next branch location `Return multi-task loop test code true continue action code, test code shows false then return multitask loop `Set variable next branch location `Return multi-task loop `Continue adding steps till sequence steps covered test code true continue action code, test code shows false then return multitask loop `Reset task sequence variable zero `Return multi-task loop
Task_1: branch T1_a,T1_b,T1_c,T1_d,T1_x]
`The value will jump program correct sequence, skipping steps `already accomplished.
Digital Design Solutions, Inc. Currituck Mooresville, N.C. 28117 Phone 704-500-6024 5/25/02
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BSIO32ex w/AUX, Ports
Test_Code Return Action Label: Action_Code T1=1 Return Test_Code Return Action Label: Action_Code T1=2 Return Test_Code Return Action Label: Action_Code T1=3 Return T1_x: Test_Code Return Action Label: Action_Code T1=0 Return T1_c: T1_b: T1_a: test code true continue action code, test code shows false then return multitask loop `Remember that task variable must `next step branch work `Return multi-task loop test code true continue action code, test code shows false then return multitask loop `Set variable next branch location `Return multi-task loop test code true continue action code, test code shows false then return multitask loop `Set variable next branch location `Return multi-task loop `Continue adding steps till sequence steps covered test code true continue action code, test code shows false then return multitask loop `Reset task sequence variable zero `Return multi-task loop
Task_2: branch T2_a,T2_b,T2_c,T2_d,T2_x]
`The value will jump program correct sequence, skipping steps `already accomplished.
T2_a: Test_Code Return Action Label: Action_Code T2=1 Return Test_Code Return Action Label: Action_Code T2=2 Return Test_Code Return Action Label: Action_Code T2=3 Return T2_x: Test_Code Return Action Label: Action_Code T2=0 Return T2_c: T2_b: test code true continue action code, test code shows false then return multitask loop `Remember task variable must next step `for branch work `Return multi-task loop test code true continue action code, test code shows false then return multitask loop `Set variable next branch location `Return multi-task loop test code true continue action code, test code shows false then return multitask loop `Set variable next branch location `Return multi-task loop `Continue adding steps till sequence steps covered test code true continue action code, test code shows false then return multitask loop `Reset task sequence variable zero `Return multi-task loop
Task_3: branch T3_a,T3_b,T3_c,T3_d,T3_x]
`The value will jump program correct sequence, skipping steps `already accomplished.
Digital Design Solutions, Inc. Currituck Mooresville, N.C. 28117 Phone 704-500-6024 5/25/02
Page
BSIO32ex w/AUX, Ports
Test_Code Return Action Label: Action_Code T3=1 Return Test_Code Return Action Label: Action_Code T3=2 Return Test_Code Return Action Label: Action_Code T3=3 Return T3_x: Test_Code Return Action Label: Action_Code T3=0 Return T3_c: T3_b: T3_a: test code true continue action code, test code shows false then return multitask loop `Remember that task variable must next `step branch work `Return multi-task loop test code true continue action code, test code shows false then return multitask loop `Set variable next branch location `Return multi-task loop test code true continue action code, test code shows false then return multitask loop `Set variable next branch location `Return multi-task loop `Continue adding steps till sequence steps covered test code true continue action code, test code shows false then return multitask loop `Reset task sequence variable zero `Return multi-task loop
Task_N: branch TN_a,TN_b,TN_c,TN_d,TN_x]
`The value will jump program correct sequence, skipping steps `already accomplished.
Test_Code Return Action Label: Action_Code TN=1 Return Test_Code Return Action Label: Action_Code TN=2 Return Test_Code Return Action Label: Action_Code TN=3 Return TN_x: Test_Code Return Action Label: Action_Code TN=0 Return TN_c: TN_b:
TN_a:
test code true continue action code, test code shows false then return multitask loop `Remember that task variable must next `step branch work `Return multi-task loop test code true continue action code, test code shows false then return multitask loop `Set variable next branch location `Return multi-task loop test code true continue action code, test code shows false then return multitask loop `Set variable next branch location `Return multi-task loop `Continue adding steps till sequence steps covered test code true continue action code, test code shows false then return multitask loop `Reset task sequence variable zero `Return multi-task loop
Your application have multiple tasks, however structure used here also applicable single task control solutions. sequence variable aids program direction reset sequences.
Digital Design Solutions, Inc. Currituck Mooresville, N.C. 28117 Phone 704-500-6024 5/25/02
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BSIO32ex w/AUX, Ports Port
Many times during programming, process writing code made easier exporting task variables screen, thus what current state process machine line code inserted beginning main loop, send this data LCD, tasks only tested/executed once each loop, process ready execution.
port provided center BSIO32ex module. mating connector provided with Module facilitate LCD's wired serial backpack module. typical serial backpack used LCD's sold Scott Edwards Electronics. connector identical input connector serial backpack. provide some selection, this port jumper address option. Several auxiliary pins available used module. port will prevent output pins other control purposes. NOTE: jumper only, will cause contention excessive current draw, damaging BS2p40.
Aux. Port Port
additional direct ports available this board. These electrical connections direct pins both Main Auxiliary pins. Logic indicator LED's port will show LED's when these pins driven either Stamp, external driver they used inputs. Port Lines direct Stamp Main Pins. However this port jumpers specific pair Pins must moved from headers left Stamp module identical labels Header above Port Connector. This will disable lines connected OptoIsolators will prevent there anything other than communications with devices BSIO module. These lines exclusively I2C, rather other forms communications also possible, microwire, wire) wire devices also this port. (See Stamp Programming Manual more details commands.) Note: Upon moving jumpers, these lines will change flavor from pull-down logic 4.7K pull-up logic facilitate communications. green Logic indicators will available lines while being used this purpose. Power also available these port connectors power external volt TTL, CMOS electronics. (See printed circuit board Labels next these connectors specific pins available.) Special Function circuits added these ports additional control. ADC's, DAC's, modules, external EEPROM, solid state temperature sensors, analog pressure sensors thermocouple inputs just some extra features that added these port connections.
Digital Design Solutions, Inc. Currituck Mooresville, N.C. 28117 Phone 704-500-6024 5/25/02
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BSIO32ex w/AUX, Ports Direct Serial Communication
direct pins used either port Expansion Ports, used bi-directional serial communication with board electronics. Note: in-line current limiting resistor should installed serial line prevent current overload direct should serial line driven both ends opposite logic states. Failure install current limiting resistor could result damage both Stamp module external electronic circuitry.
Serial Communications Opto-Isolated
Opto-Isolation inputs open collector outputs will maintain polarity logic states from module another. Thus BS2p40 Stamp BSIO32ex module transmit inverted serial data standard open collector output through opto-isolator BS2p40 Stamp another BSIO32ex BSIO16ex module.
BSIO Module Transmitting Serial +24vdc H11A817DQT 4.7K
BSIO32ex Module Receiving Serial Data
+24vdc
ULN2803 Darlington Array
Jumper Configuration Header
balance input circuitry shown. pages
logical placed output driver transmitting module will translate logical input receiving module. BSIO16 module also transmit serial data BSIO32ex module using this wiring configuration. Note: This mode serial communication bi-directional.
Digital Design Solutions, Inc. Currituck Mooresville, N.C. 28117 Phone 704-500-6024 5/25/02
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BSIO32ex w/AUX, Ports Rail Mounting
plastic mounting feet under module standard rail. This rail material maybe purchased from Newark Electronics other electronic parts vendors. Newark Electronics 1-800-463-9275 Stock# Stock# 96F6501 92N4515 Aluminum Rail (1000mm) Aluminum Rail feet
Your automation projects need other components with rail mounting capability. sorts components come with rail mounting, Power Supplies, Sensor Amplifiers, drivers, relays others. Newark offers many other products Industrial Control Automation. search will reveal other companies offering similar products. Keyence, Honeywell, Balluff, Banner, Omron, IDEC, NaiS, CRYDOM, Allen Bradley offer components, like optical sensors, proximity sensors, control panel switches, solid state relays magnetic relays industrial environment. Bimba have pneumatic cylinders, flow controls solenoids mechanical motion generation control using compressed air.
Basic Stamp Components
other required components, like Programming Cables, Stamp Programming Manual BASIC Stamp Modules, these ordered from Parallax, Inc.
Digital Design Solutions, Inc. Currituck Mooresville, N.C. 28117 Phone 704-500-6024 5/25/02
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BSIO32ex w/AUX, Ports
Contact Information
Digital Design Solutions, Inc. Currituck Mooresville, N.C. 28117 Phone (704) 500-6024 Applications Engineering Please E-mail Anderson ronaldsa@earthlink.net Parallax, Inc. Menlo Drive, Suite Rocklin, California 95765, Toll-Free Sales: (888) 512-1024 Office/Technical Support: (916) 624-8333 Fax: (916) 624-8003
Sites: Parallax, Inc.
http://www.parallaxinc.com
Digital Design Solutions, Inc. Currituck Mooresville, N.C. 28117 Phone 704-500-6024 5/25/02
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BSIO32ex w/AUX, Ports Notes:
Digital Design Solutions, Inc. Currituck Mooresville, N.C. 28117 Phone 704-500-6024 5/25/02
Page

ver.2 BSIO32ex module designed Industrial Machinery main controll

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