VersaMax Nano_Micro PLC CPUs, GFK
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1. add 32 For example set Config Word to 0 for default PID configuration Add 1 to change the Error Term from SP PV to PV SP add 2 to change the Output Polarity from CV PID Output to CV PID Output or add 4 to change Derivative Action from Error rate of change to PV rate of change etc2. after the command block Recommendation Be sure the command word and data words are located contiguously in memory with the rest of the COMMREQ command block They should immediately follow the Start Location of Command Word in the COMMREQ command block If HSC Enable is On while in Stop mode and the High speed Counter is configured for its output to be Off when placed in Run mode the output will momentarily turn on when the PLC state changes from Stop to Run Recommendations 1 Avoid setting the HSC PWM PT Output Enable bits to 1 outputs enabled during a Stop to Run transition Be sure no programmer HMI or other device enables these bits while the PLC is in either Stop No I O mode or Stop I O Scan mode Never set the HSC PWM PT Output Enable bits to 1 using stored reference table values These bits should always be GFK 2068D enabled from the application program programmer HMI or other source The application program should always set the HSC PWN PT Output Enable bits to 0 disable outputs on the last scan of the PLC The last scan can be detected using the LST_SCN system status reference S0002 See the User Manual for additional information about system status references PID Filter for the Derivative Term In the Micro PLC User s Manual GFK 1645C Chapter 19 The PID Function the table in the Parameter Block for the PID Function section should be modified as shown below For Address 12 the Config W
3. GFK 2068D of random variations and step input changes in the Set Point and Process Variable inputs Details are on the next page Changing the Integral Rate Ki parameter value of a PID function block from 2 to 1 that is from 0 002 to 0 001 Repeats Sec or from 1 to 2 will not cause a step change to the Integral Term and the Control Variable Changing the Integral Rate parameter value from 1 to 0 or from 0 to 1 causes a step change in both the Integral Term and the Control Variable This result is expected An Integral Rate value of zero specifies that the Integral Term contribution to the Control Variable is zero while a non zero value specifies a non zero contribution Operating Notes Restrictions Password Protection In prior versions of VersaPro software password protection for Micro and Nano CPUs was Disabled by default With VersaPro 2 03 the default has been changed to Enabled Attempting to download a new hardware configuration with password enabled the new default to a PLC whose current configuration is set for password disabled the previous default will result in a password configuration mismatch error To avoid this situation either change the new configuration to passwords disabled or short the PLC s super capacitor to clear the PLC s memory and then download the new configuration Addition of Modules versus Extra Modules If an Expansion Unit that is part of the system configuration is powered up after t
4. October 4 2004 Important Product Information VersaMax Nano PLC and Micro PLC CPUs This document contains important information about the following VersaMax Nano PLC and Micro PLC models IC200NAL110 BC IC200NAL211 BC IC200NDD010 CE IC200NDD101 CE IC200NDRO01 CE IC200NDRO10 CE IC200UAA003 BE IC200UAA007 BE IC200UAL004 BE IC200UAL005 BE IC200UAL006 CF IC200UAR014 BE IC200UAR028 BE IC200UDD104 BE IC200UDD110 BE IC200UDD112 BE IC200UDD120 BE IC200UDD212 BE IC200UDRO001 BE IC200UDRO002 BE IC200UDRO003 BE IC200UDRO05 BE IC200UDRO06 BE IC200UDR010 BE IC200UEX209 B IC200UEX210 B IC200UEX211 B IC200UEX212 B IC200UEX213 B IC200UEX214 B IC200UEX215 B IC200UEX222 B IC200UEX616 B IC200UEX626 B IC200UEX636 B The suffix letters following CPU part numbers indicate the hardware version followed by the firmware version Expansion units do not have firmware so only the hardware version is indicated Downloadable Firmware Upgrade Kits 44A752236 G02 R2 02 for all 14pt Micro CPUs 44A752237 G02 R2 02 for all 23 28pt Micro CPUs except IC200UDD120 44A752238 G02 R2 02 for 28pt Micro CPU with ESCP IC200UDD120 44A752239 G02 R2 02 for all Nano CPUs except IC200NAL1 10 211 44A752240 G02 R2 02 for Analog Nano CPUs IC200NAL1 10 211 Electronic Documentation Available All VersaMax Nano Micro PLC user documentation specifications and CAD drawings are available for download from the GE Fa
5. he CPU an addition of module fault is logged in the I O Fault Table Unless a fault exists the fault table shows the module s reference address The module is included in the I O scan If an Expansion Unit that is NOT part of the system configuration is powered up after the CPU an extra module fault is logged in the I O Fault Table The module has no reference address and its I O is not scanned Expansion Units must be properly configured and properly connected Make sure no Analog Expansion Unit error exists Analog Expansion Units When an Analog Expansion Unit IC200UEX616 IC200UEX626 IC200UEX636 fails it drives a signal low which in turn causes the loss of all other Analog Expansion Units in the system Discrete expansion units cabled after the first analog expansion unit will also be lost Such a failure can also subsequently affect the operation of any discrete expansion units should any of them later be powered down Consult the user s manual GFK 1645C for detailed troubleshooting instructions to be used in isolating expansion unit failures For a Discrete Expansion Unit the PWR LED is on ONLY when that expansion unit is powered up For all expansion units other than analog expansion IC200UEX616 IC200UEX626 IC200UEX636 the PWR LED is also on if any other expansion unit or the CPU to which it is connected is powered up In addition the PWR LED on an Analog Expansion Unit remains on lit dimly when
6. nd limits then the error term is set to zero action Otherwise the error term is not affected by the deadband limits If bit 3 is 1 deadband action occurs If the error term is within the deadband limits then the error is forced to zero If however the error term is outside the deadband limits then the error term is reduced by the deadband limit Error Term Error Term deadband limit A similar adjustment occurs when the error term is less than the lower deadband limit Bit 4 Anti When bit 4 is 0 the anti reset windup action uses a reset reset windup back calculation When the output is clamped this replaces the action accumulated Y remainder value with whatever value is necessary to produce the clamped output exactly When bit 4 is 1 the accumulated Y term is replaced by the value of the Y term at the start of the calculation In this way the pre clamp Y value is held as long as the output is clamped Bit 5 When bit 5 is 0 no derivative term filtering occurs Derivative When bit 5 is 1 the rate of change of the Derivative Term is Term filter limited This improves PID loop stability by reducing the effects of random variations noise and step changes in the Set Point and Process Variable inputs Bit 0 Bit 5 Remember that the bits are set in powers of 2 To set bit 0 add 1 to the Config Word parameter value To set bit 1 add 2 To set bit 2 add 4 To set bit 3 add 8 To set bit 4 add 16 To set bit 5
7. nuc website http www gefanuc com support Printed user manuals are available as part number GFK 1645C New Features 1 An optional filter for the Derivative Term has been added This filter improves PID control loop stability by limiting the contributions of random variations and step input changes in the Set Point and Process Variable inputs See the VersaMax Micro PLC User s Manual GFK 1645Dfor details Port 2 now supports Modbus RTU Please see GFK 2220 Modbus RTU Master Communications for information about Modbus RTU Installing RTU Master requires a port setup COMMREQ c from the application program to SYSID 0 TASK 20 Fixed for this Version 1 A type B type counter configured for single shot operation now changes its outputs correctly after hitting a high or low limit When the High speed Counter HSC is configured for A quad B in continuous mode and is counting down it now wraps to the high limit when reaching the low limit after a COMREQ loads the accumulator The Nano Micro PLC now correctly rejects an RTU query that is more than 265 bytes in length When a channel on the HSC is configured with a high limit less than 32767 and the application uses a COMMREQ to change the count direction the value in the count register is not forced to the maximum or minimum when the direction changes An optional filter for the Derivative Term has been added that improves PID control loop stability by limiting the contributions
8. ord the Low Biit Units are changed to Low 6 Bits used Description The low 6 bits of this word are used to modify six default PID settings The 10 high order bits should be set to 0 Set the low bit bit 0 to 1 to modify the standard PID Error Term from the normal SP PV to PV SP reversing the sign of the feedback term This is for Reverse Acting controls where the CV must go down when the PV goes up Set the second bit bit 1 to 1 to invert the Output Polarity so that CV is the negative of the PID output rather than the normal positive value Set the third bit bit 2 to 1 to modify the Derivative Action from using the normal change in the Error term to the change in the PV feedback term Set the fourth bit bit 3 to activate deadband processing Set the fifth bit bit 4 to activate anti reset windup action Set the sixth bit bit 5 to activate derivative filtering Bit 0 Error When bit 0 is 0 Error Term SP PV Term When bit 0 is 1 Error Term PV SP Bit 1 Output When bit 1 is 0 the CV output represents the output of the PID Polarity calculation When bit 1 is set to 1 the CV output represents the negative of output of the PID calculation Bit 2 When bit 2 is 0 the derivative action is applied to the error term Derivative When bit 2 is 1 the derivative action is applied to PV action on PV Bit 3 When bit 3 is 0 no deadband action occurs If the error is Deadband within the deadba
9. roblem If this message appears the VersaPro application becomes unstable and a shutdown of the application is required using the task manager After this is completed reopen VersaPro to resume operation Serial Communications RTU communications RTU communications on port 2 are not reliable with scan times above 140 milliseconds For a Micro PLC Serial Port 2 SNP master using modems for communications using an Attach requesting piggyback status returns zeros instead of the status information Recommendation the same piggyback status can be obtained by using the PLC Short Status command For a Micro PLC Serial Port 2 SNP master a communications request occasionally returns error code 0E05 when it should return OE06 For a Micro PLC Serial Port 2 SNP Master a communications request occasionally returns error code 070C when it should return 0C08 High speed Counter Input references 1489 1493 are overwritten by the HSC function and are not available to the application program Recommendation Avoid using references 1489 1493 which are located immediately before the rest of the HSC input references in the application program When sending data commands to the High speed Counter using the COMMREQ function the CPU ignores the data type and start location parameters These parameters specify where the command and data words are located in CPU memory The CPU expects these three parameters to be located immediately
10. the unit is powered down separately from the CPU This is due to current leakage in the expansion cable DIP Switch SW6 on an analog expansion unit controls the maximum value for the unit s analog inputs and analog outputs as follows SW6 OFF gt 4096 32767 counts 10V ON 4000 32000 counts 10V 32767 counts 10 23V By default DIP Switch SW6 should be set in the OFF position 32726 counts 10V Hardware configuration settings to default When VersaPro 2 03 is used to open a hardware configuration for a Nano Micro PLC system that was constructed with an earlier VersaMax Nano PLC and Micro PLC CPUs October 4 2004 VersaPro version it prompts to convert the files into a new format During this process any high speed counter parameters may be replaced with the original default settings Verify all the CPU configuration settings following the folder upgrade VersaPro errors When opening multiple monitoring windows in VersaPro while connected to a Micro or Nano CPU one of the following error messages may be infrequently observed 0x010D Lost communication with COM server or Too many windows open If this happens close the error window exit the VersaPro application and then reopen VersaPro to resume monitoring On rare occasions Versapro may display the error message This action cannot be completed because the other program is busy Choose Switch To to activate the busy program amp correct the p
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