Home

T100MD+ PLC User`s Manual - Triangle Research International

1. Device ID Header FCS Teminator The host computer program should always check the retumed response for possibilities of enors in the command and take necessary action 3 3 SHOULD YOU USE POINT TO POINT OR MULTI POINT PROTOCOL Although at first the point to point protocol appears sampler in format having no ID and no FCS computation the communication procedure is actually more complex since it involves the need to synchronize the two communicating devices by exchanging the Contol E character The lack of enor checking also makes the protocol less reliable especially in noisy envionment In fact the TLServer software as well as the Ethemet XServer will only accept multi point communication protocol from the client software with the exception of the IR command which is needed to obtain the ID of a PLC with unknown ID 3 12 TIOOMD amp MX PLC Chapter 3 Host Communication 3 4 Hence if you were to wite yourown communication program to talk to the PLCs we would strongly recommend using only the multi point protocol exclusively due to its simplicity and builtin enor checking Capability TROUBLE SHOOTING AN RS485 NETWORK a Single faulty device If a single device on the RS485 network becomes inaccessible problems can be isolated to this particular device Check for loose or broken wiring or wong DIP switch settings Also double check the device ID using the hostlink command rR sent via the RS232C port of the
2. WRITEMODBUS commands the latter two are for communicating using MODBUS protocols only Only the master can issue commands to the slave PLCs To transmit a command the master contoller must first enable its RS 485 transmitter and then send a multi point command to the network of contollers After the last stop bit has been sent the master controller must relinquish the RS485 bus by disabling its RS485 transmitter and enabling its receiver At this point the master will wait fora response from the slave contoller that is being addressed Since the command contains the ID of the target controller only the controller with the corect ID would respond to the command by sending back a response string For the network to function properly it is obvious that no two nodes can have the same ID You can use the Setup Serial Port command in TLServer to set the ID for each M series PLC You can also use the IW command to set the device ID Also all nodes must be configured to the same baud rate and communication format Also care should be taken to ensure that the powersupplies for all the controllers are properly isolated from the main so that no large ground potential differences exst between any controllers on the network 3 2 4 Multi Masters RS485 Networking Fundamentals Since any TLOOMD or TI00MX is capable of sending out network commands the obvious queston is whether multiple masters are allowed on the R485 network It is pos
3. 0020 1 to 40020 1 0021 1 to 40021 1 0022 1 to 40022 1 AJAJAJA O OD D D O D gt D gt OMRON is a registered trademark of OMRON Corporation 5 3 TIOOMD amp MX PLC Chapter 5 Modbus Omron Protocols Support T100M Variables OMRON MODBUS Timer 1 to 64 IR128 to IR191 40129 to 40192 Present Values Counter 1 to 64 IR256 to IR319 40257 to 40320 Present Values Clock TIME 1 TIME 2 TIME 3 Date DATE 1 DATE 2 DATE 3 DATE 4 Data Memory DM 1 DM 1 DM 2 DM 2 DM 4000 DM 4000 5 2 MODBUS RTU Protocol Support The new Rev D of the TLOOMD or TLOOMX PLCs also supports the MODBUS RIU protocol The difference between the ASCII and RIU protocols is that the latter transmits binary data directly instead of converting one byte of binary data into two ASCII characters A message frame is determined by the silent interval of 3 5 character times between characters received at the COMM port Other than that the function codes and memory mappings are identical to the MODBUS ASCII protocol Table 5 1 therefore applies to MODBUS RIU protocol as well MO BBUS RIU has following command and response format Start Address Function Data CRC 16 END Silence of 3 5 1 byte 1 byte byte 2 bytes Silence of 3 5 chartimes chartimes The following Function Codes are supported 06 Preset Multiple Word Registers 5 4 TIOOMD amp MX PLC 5 3 5 4 OMRON Host Link Command Suppor
4. PLC capability making the M senes truly super PLCs Chapter 5 Modbus Omron Protocols Support 5 6 Copyright 2001 2004 Triangle Research International All rights Reserved
5. To White to CtrPV 1 to 2 using this command send O1WRO256xxxxyyyyff where xxx and yyyy are the hex values to be written to CtPV 1 amp 2 III Read Data Memory DM 1 to DM 4000 Command Format Device ID Header DM Address Dec DM count Hex FCS Response Format a s R o s s 16 16 16 16 Ss a a Device ID Header Status 1 Data Hex 00 OK _ _ _ P r_r_ Last data FCS 4 21 T100MD amp MX PLC Chapter 4 Command Response Format E g To read DM 112 to 130 19 words send 01RD0112001357 The PLC will send retum a response 01RD00xxxxyyyyzzzz IV WRITE Data Memory DM 1 to DM 4000 Command Format afajwjojn n n n ie s6 16 16 a Device ID Header DM Start Addr Dec 1 data _ Last data FCS Response Format Device ID Header Status FCS 00 OK E g To Write to DM 1200 to 1201 using this command send 01WD1200xxxxyyyyff where Xxx and yyy are the values to be written to DM 1200 amp DM 1201 4 22 Chapter 5 MODBUS OMRON Protocols Support The TLOOM PLC supports a subset of the OMRON and MODBUS Both ASCII and RIU modes are supported compatible communication protocols so that it can be easily linked to third party contol software hardware products such as SCADA software touch panels etc The PLC automatically recognizes the type of command format and will respond wit
6. To connectan indicatorlamp to Input 9 of the PLC You will need to program the switch to connect to IR00 8 for OMRON protocol However If you have defined the PLC as MODBUS type then this indicator lamp should be connected to bit address 1 0265 In either case there is no need to leam about the actual command format of the protocol itself as the SCADA software will automatically generate the required commands to access the input address that has been chosen for the object 5 5 TIOOMD amp MX PLC 5 5 Example 2 To display reading from ADC 3 asa bargraph on SCADA Since the data from ADC 3 is not directly mapped to MODBUS or OMRON in Table 5 1 you need to add a statement in the custom function that reads the ADC 3 and copy itinto a data memory e g DM 100 ADC 3 Now you can program the bar graph on the SCADA screen to be connected to DM 100 if you use OMRON protocol For MODBUS protocol the object should be connected to the address 41100 Using The T100M PLC as MODBUS Master The TLOOM PLCs supports for MODBUS protocol goes beyond being a MODBUS slave only You can use the TBASC READMOBUS and WRITEMODBUS commands as well as READMB2 and WRITEMB2 for PLC with firmware revision r44 and above to send out MODBUS ASCII or RTU commands to access any other TLOOM PLC or any third party MODBUS slave devices The READMODBUS or READMB2 command use MODBUS Function 03 to read from the slave and WRITEMODBUS or WRITEMB2 use
7. 8 or 16 bits organized into channels 4 16 TILOOMD amp MX PLC Chapter 4 Command Response Format Command Format Ee I O Bit address 00 Clear I O bit OFF Hex FF SET I O bit ON Response Format wlej jo I O Type Bit address nnnn Hex Input 1 to 256 0000 to OOFF Output 1 to 256 0100 to OLFF Timer 1 to 256 0200 to 02FF Counter 1 to 256 0300 to O3FF Relay 1 to 256 0400 to 04FF Relay 257 to 512 0500 to O5FF E g to force output 1 to ON send wb0100FF To tum it OFF send 70010000 4 41 Testing of Host Link Commands You can try out all the hostink commands using the TServers Serial Communication Setup However the TlServer is designed to accept only multi point protocol except the IR command which is necessary to obtain the device ID from the PLC So you have to enter all your host link commands in multi point format Since the multi point protocol requires an FCS frame check sequence character to be appended to the end of the command sting you may be able to get around it by using the wildcard FCS 00 in place of the actual FCS Eg To read input channel 02 from PLC with ID 01 you can enter the command sting as 01RI0200 For TLServer version 2 1 and above there is an FCS button that let you compute the actual FCS for the string in the command string text field You can then use the actual FCS w
8. DAC Interfacing to Industrial Analog Sensors Real world sensors such as a J or K type thermo couple temperature probe produce only micro volts of signal voltage in response to temperature changes These signals are too weak to be read by the A D converters and hence they must be amplified to a higher voltage and curent level before they can be read by the 0 1V or 0 5V range of the Analog inputs The amplification stage is known as a Signal Conditioner A Sgnal Conditioner consists of a precision instumentation amplifier circuit to eliminate common 1 12 T100MD amp MX PLCs Chapter 1 Installation mode noise that will swamp the weak signal if not handled propery You can buy standard ready made signal conditioners fora J or K type thermocouple or you Can Create you own using a highly integrated single chip IC available from vendors such as Analog Device Inc e g AD594 AD595 or from Linear Technology Inc The signal conditioners may have their own power supply When selecting a Signal conditioner make sure that you select one with output signal in either 0 1V 0 5V 0 10V 0 20mA or 4 20mA ranges to match that available on the PLC so that the analog data can be read easily 1 9 Serial Communication Ports The latest revision Rev D or D 1 of the T100M features two independent serial ports that can simultaneously communicate with other devices using a variety of protocols They can also be programmed to accept orsend ASCII or bi
9. MODBUS Function 16 to write to the slave Note that when using READMODBUS or WRITEMODBUS command the 40001 address stated in Table 5 1 should be interpreted as address 0000 and 40002 as address 0001 41001 as address 1000 etc This is in accordance with the specifications stated in MODBUS protocol MODICON defined zero offset address for the MODBUS protocol yet in their holding register definition these are supposed to start from address 40001 hence the unusual conespondence But to maintain compatibility with the MODBUS specifications we have to adhere to their definitions M PLC As MODBUS RTU Master The new Rev D TLOOM PLC can also act as a MODBUS RIU master The same READMODBUS and WRITEMOBUS commands can be used to send and receive MODBUS RIU commands What you need to do is to add 10 decimal to the COMM port number to signal to the processor that you wish to use MODBUS RIU instead of ASCII to talk to the slaves l e you should specify port 11 to use RIU commands on COMM and specify port 13 to use RIU commands on COMM3 Eg the statement DM 10 READMODBUS 13 8 16 will access via COMM3 the slave with ID 08 and read the content of register 16 This register comesponds to MODICON address 40017 and is the OUTPUT 1 of the slave PLC The ability to speak MODBUS RTU greatly extends the type of peripherals that can be used with a TLOOM PLC You can now make use of many off the shelf third party RIU devices to extend the
10. Networking Using MODBUS Protocols 4 19 4 45 Using OMRON s Host ink Commands I Read IR Registers 4 20 II Write IR Registers 4 21 I Read Multiple DMs 4 21 I Write Multiple DMs 4 22 Chapter 5 MODBUS OMRON Protocols Support 5 1 MODBUS ASCII Protocol Support 5 1 5 2 MODBUS RIU Protocol Support 5 4 5 3 OMRON Host Link Command Support 5 5 5 4 Appliation ample Interfacing to SCADA Software 5 5 5 5 Using The TLOOM PLC as MODBUS Master 5 6 Chapter 1 Special I Os and Analog Interfacing 1 1 Introduction A Standard TLOOMD PLC features the following 1 4to 8 channels of 10 bit Analog Inputs 4 on TLOOMD1616 2 1to 2 channels of 8 bit Analog outputs 3 2 channel programmable Motion Contolless for controlling stepper motors up to 20 000 pulses per second 2 channel Pulse Width Modulated PWM outputs 2 channel 32 bit High Soeed Counters HSC counts up to 10 000 Hz 4 channel Intemupt Inputs 2 channel pulse measurement inputs capable of measuring frequency and pulse width of incoming pulses up to 10 000 Hz 8 Realtime Clock Calendar for programming scheduled ON OFF events 9 6016 Words 16 bit of EEPROM Program Memory expandable to 8190 Words with optional IC M2018P 10 1700 Words 16 bit of programmable EEPROM for users data expandable to 7750 Words with optional IC M2018P 11 Built in 16 channels of PID computation engines let TLOOM PLCs directly provide PID type digital contol for process automation 12 One Independe
11. The master will send commands to all the slaves using the NETCMD or READMODBUS WRIEMODBUS READMB2 WRITEMB2 statements and coordinate information flow between the PLCs This allows a big system to be built by employing multiple units of M or Hseries PLCs connected in a network This results in more elegant implementation of complex contol systems and simplifies maintenance jobs INTERFACING OTHER DEVICES TO MODBUS OR INTERNET Since the TLOOM PLC supports MODBUS protocols a master PLC can serve as the gateway to interface non MODBUS enabled PLCs such as the H series and E10 PLCs orthe l 7000 analog modules to third party SCADA software or MMI hardware that speaks MODBUS It also allows these devices to be controlled or monitored on the Intemet via a TLOOM PLC The master T100M will use its RS485 port to pull data from these devices into its data memory The data memory in the TLOOM PLCs are in tum accessible by a SCADA program using the MODBUS protocol and are also accessible from the Intemet using the TRILOGI client server software 1 15 TIOOMD amp MX PLCs Chapter Installation 1 9 3 Changing Baud Rate and Communication Formats Use of the SETBAUD Statement The TLOOM PLC s COMM ports are highly configurable Both COMM portscan be setto a wide range of baud rates You can also program them to communicate in either 7 or 8 data bits 1 or 2 stop bits odd even or no parity The baud rate and communication formats of
12. characters from 0000 to 9999 Note that this headercontains small letter u instead of U in the RU command TIOOMD amp MX PLC Chapter 4 Command Response Format 4 12 Read Variable Integers A to Z Command Format PR v 1 aphabet bn ema A B C Z Response Format Paty eee eee e ey To 8 Hexadecimal Digit for 32 bit integer E g To read the value of the variable K send hostlink command RvIK If variable K contains the value 123456 1E240 PLC will send the response string as RVI0001E240 4 13 Read Variable Strings A to Z Command Format R Vv alphabet bn na A B C Z Response Format RJv sfelafa ela a 9 ASCII characters of the string variable length E g To read the value of the string variable M send host link command Rv sm If variable M contains the string Hello Word the PLC will send the response sting as RVSHello World 4 14 Read Variable Data Memory DM 1 to DM 4000 Command Format LR v i6 168 16 16 e 0001 to OFAO 400010 Response Format Rav 168 16 160 5 SE a 4 Hexadecimal Digit for 16 bit integer E g To read the value of DM 3600 send hostlink command RVDOE10 If variable DM 3600 contains the value 12345 3039 PLC will send the response string as RVD3039 4 6 TILOOMD amp MX PLC Chapter 4 Command Re
13. communication format may be changed using the SetBAUD TBASC command described in the Programmers Reference Part Il TBASIC Multiple Communication Protocols The competent T100M family of PLCs supports many different communication protocols to allow maximum application flexibility In addition to its own native set of communication protocols the TLOOM PLC also understands and speaks the following protocols 1 MODBUS ASCII mode compatible communication protocol 2 MODBUS RIU mode compatible communication protocol For Rev D board with Firmware revision r32 and above only 3 OMRON Host Link Commands for the C20H PLC family Note all tademars belong to their respective owners The native host link command protocol will be described in detail in this chapter as well as in Chapter 4 The MODBUS and OMRON compatible protocols will be described in Chapter 5 Native Mode Communication Protocols When a T1OOM PLC receives a native hostlink command from COMM1 or COMMS it will automatically send a response sting conesponding to the command This operation is totally transparent to the user and need not be handled by the user s program All TLOOM PLCs support both point to point one to one and multi point one to many communication protocols Each protocol has a different command structure as described below 3 1 POINT TO POINT COMMUNICATION In a point to point communication system the host computer s RS2
14. form Pressing the lt D gt key will change it backto decimal mode 2 3 T100MD amp MX PLC Chapter 2 Operating Procedure You can also examine the values of other system variables such INPUT OUTPUT J EMINT etc by right scrolling until you reach the last window If you wish to modify the content of any variable simply press the lt E gt key as for Edit and you can enter the variable name followed by the sign and the value The entered value for the variable will be immediately updated into the PLC 2 5 3 Force Setting Resetting I O Bits While in TRILOGI 5 x Full Screen on Line Monitoring window you can use left mouse button to click on any I O bit shown on the screen The selected I O bit of the controller will be forced to ON by TRILOGI using host link commands When you release the left mouse button the affected I O bit will be tumed OFF You can also force toggle the I O bit using the right mouse button If the selected bit is a physical input bit orhas been assigned to an output coil controlled by the ladder diagram it will only be affected forone scan time After that the controller will refresh its input output according to the actual states of the physical inputs and outputs determined by the outcome of the ladder program This is sometimes useful during program testing or debugging for temporarily ovemding an I O that does not respond as predicted Please see the Intemet TRILOGI Programmers R
15. of the first 8 counters can be used as step counters for the sequencers that corespond to sequencers seq to Seq8 Each step of the sequencer up to 31 can be used as a contact to the ladder diagram as SeqN Xx where N sequencers 1 to 8 XX Step 0 31 Please refer to TRILOGI Programmer s Reference for detailed descriptions of the built in sequencers 1 25 2 1 2 2 2 3 Chapter 2 Operating Procedure Programming The TLOOMD contolleris programmed using the software DOS TRILOGI Version 4 X or Intemet TRILOGI 5 x which run on an IBM compatible PC This is a full screen ladder logic editor compiler and simulator software TRILOGI is a software package that provides a powerful programming and debugging environment for programming using the powerful ladder BASC programming language Please refer to the Intemet TRILOGI Programmer s Manual for details Simulation A great feature unique to the TRILOGI development environment is the builtin simulator With the simulator you can interact with your program by simulating the input conditions using your mouse or keyboard and examine the status and present values of the outputs relays timers and counters on screen immediately Most Custom functions written in TBASIC can also be simulated and all the variables can be examined readily on the simulator screen The simulator does not require any physical connection to the target PLC and thus offers the most effective way of tes
16. pair could be falsely interpreted as data The two biasing resistors are necessary to ensure robust data communication in actual applications Some RS485 converters may already have biasing built in so the biasing resistors may not be needed However if the master is an M series PLC then you should use the biasing resistor to fix the logic states to a known state Although in lab environment the PLCs may be able to communicate without the biasing resistors their use is strongly recommended for industial applications 3 4 TIOOMD amp MX PLC Chapter 3 Host Communication 3 2 2 Protection of RS485 Interface The simple direct mult drop wiring shown in Figure 3 2 will work well if all the networked PLCs are in close proximity and they all share a common power supply They will even work for long distance as long as no wiring enor ever occurred However in an industrial environment the PLCs are most likely farapart and they each may have their own power supply Since processes are often modified regulary and if one day somebody by mistake shorts one of the PLC s RS485 to high voltage all the PLCs connected to the same RS485 wiring will be fried simultaneously This can result in very costly down time for the whole process since all the PLCs connected to the network will need to be repaired Hence for networking over long distances and involving more than a few PLCs it is important to either strengthen or protect the R485 interf
17. required by some modems to work propery so these pins are connected as shown in the diagram COMM3 Two wire RS485 Port This half duplex port is meant for networking or for connecting to optional peripherals such as a serial LCD message display unit MDS100 touch panel HMI orfor inte communication between PLCs Up to 32 RS232 devices may be linked together in an R485 network By replacing the RS485 driver with a low power R485 driver IC such as SN75HVD3082 up to 256 PLCs may be connected together The R485 port is available on a 2 way screw terminal to the left side of the power supply terminal please refer to Installation Guide For successful Communication using the RS485 port you need to corectiy connect the and terminals to the R485 equipment using a twisted paircable If you are using the PC as the network host you will need a RS232C to RS485 converter such as the Auto485 The following describes some possible uses of the RS485 port a PROGRAMMING AND MONITORING A T100M PLC can be programmed wa its R485 port on a one to one or mult drop manner Since most PCs only have RS232 port s you need to purchase a RS232 to RS485 converter in order to program the PLC via its COMM3 port Most commonly available type of R485 converters today use the RTS signal to contol the RS485 transmitter direction which is supported by TRILOGI Version 4 x and the TLServer software However we strongly recommend auto tumaround
18. switch SW1 4 before transfering the program and then tum it OFF when you want the program to run If emors occur during program downloading and communication is aborted the CPU will not execute the partially transmitted program to forestall undesirable consequences If everything goes well you may retum to the editor by pressing any key Transfer Protection Password The DOS version TRILOGI 4 1x allows the user to define a Transfer protection password of between 1 to 6 characters by selecting the Set Password item from the Target Access menu Once a password has been defined you will be prompted to enter the password whenever you want to transfer a program to the PLC Program transfer will be aborted if incorect password is entered This is to prevent alteration of the PLC program by unauthorized personnel If you have forgotten the password then the only way to re program the PLC is to first delete the password using the Delete Password and Clear Program command in the Target Access menu The program in the PLC will be deleted when this command is executed You have to download the new program into the PLC for it to operate The password security against unauthorized programming is not supported on Intemet TRILOGI Version 5 x There are already two levels of password structure on Intemet TRILOGI one is defined on the TLServer and the other is defined by executing the SETPASSWORD TASIC command We feel that adding one
19. the serial ports are set by the following command SETBAUD ch baud_no ch represents the COMM port number 1 or 3 only The baud_no parameters takes value from 0 255 amp HO to amp HFF which gives additional configuration of communication format The upper 4 bits of baud_no specify the communication format number of data bits number of stop bits and parity and the lower 4 bits represent the baud rate Hence the baud_no for 8 data bit 1 stop bit and no panty is the same as the old models providing compatbility across the family Once the new baud rate has been set it will not be changed until execution of another SETBAUD statement or when the power is tumed OFF The baud rate is not affected by software RESET The available baud rates and their coresponding baud rate numbers for COMM1 are shown below 1110 rox 1111 xox Where xxx represents the baud rate of the comm potrt as follow xxxx_ 0000 0001 0010 0011 0100 0101 0110 0111 xxxx 1000 1001 1010 1011 1100 1101 1110 1111 Baud Rate 100K 250K 500K 110 150 300 600 1200 A table of all the available baud rates and COMM formats is shown in the following page The communication format written as 7 2 e means 7 data bits 2 stop bits and even party Likewise 8 1 n means 8 data bits 1 stop bit and no parity You can use the table to select the baud number fora certain baud rate and COMM format Note that the circuit design
20. the following web page to download the visual basic sample program http www tri plc com applications V Bsample htm 4 18 TLOOMD amp MX PLC Chapter 4 Command Response Format 4 43 Inter PLC Networking Using NETCMD Command All M series PLCs are able to send out host link commands to other M series or Hseries PLCs using the builtin TBASIC function NETCMD This function accepts host link commands in mult point format and automatically computes the Frame Check Sequence FCS characters append them to the command sting and send out the whole command sting together with the terminators The function then waits for a response string and checks the integrity of the received response sting for enor This function retums a string only if a proper response sting has been received Please refer to the TBASC Reference for detailed explanation of this command The NETCMD function therefore greatly simplifies the programming tasks for handling networking between PLCs The programmer only needs to constuct the conect command sting according to the formats described in this chapter pass the formatted string to the NETCMD function and then check for the response string An M series PLC may use the NETCMD to map the VO of another PLC into its intemal relays and use the other PLC as its remote I O There are two programming examples in your TRILOGI TL4 directory which illustrate the use of NETCMD to a Os of slave
21. type of converter such as the Auto485 adapter configured in Auto mode for use with Windows program Under 1 14 T100MD amp MX PLCs Chapter 1 Installation Windows the application software does not have very deterministic control of the RTS pin at precise timing and that can contibute to occasional loss of communication when the RS485 transceiver is not switched at proper moment Programming via COMM3 is particulary useful if COMM1 is already assigned to other tasks such as interfacing to modem bar code readers SCADA system or MMI the programmer can continue to program and monitor the PLC using its R485 port while its COMM1 is actively communicating with other devices This makes it much easier to troubleshoot communication problems at COMMI since you can continuously monitor the data exchange between the PLC and the extemal devices connected to its COMMI1 b CONNECT MANY PLCs TO A ONE TLSERVER OR ETHERNET XSERVER An Ethemet XServer ora single PC running the TLServer program can provide network services to all the PLCs connected to it via RS485 for remote programming monitoring and contol via the Intemet using the Intemet TRILOGI 5 x or TRi Exc elLink clients c DISTRIBUTED CONTROL Another important use of the RS485 d port will be to connect a TLOOM PLC to other M series H series or E10 PLCs One TLOOM PLC will act as the master and all other PLCs will act as Slaves Each PLC must be given a unique ID
22. 08h 01 to 08h Response Format LR A 16 16 to 160 16 te 16 0 So 7 T _ Tr__rr r_ _ Starting channel Ending channel 16 bit Data Hex 16 bit Data Hex E g To read 4 channels of Analog starting fom Ch 2 Send RA0204 The response string will contain 4 sets of data for channel 2 3 4 and 5 4 35 Read EEPROM Integer Data r47 Firmware Only Command Format EEPROM starting Word Count Address Hex 01 to 20h Response Format PR x 1 16 16 t6 16 16 16 16 Sy gg 1 EEPROM Integer Last EEPROM 16 bit Data Hex 16 bit Data Hex 4 14 TLOOMD amp MX PLC Chapter 4 Command Response Format Maximum allowable word count per command is 32 01 to 20 Hex If count is gt 32 only the first 32 words will be retumed E g To read the 10 words of EEPROM data starting from address 100 send hostlink command Rx100640A The response sting will contain 10 sets of 16 bit data 4 ASCII hex digit per set 4 36 Read EEPROM String Data r47 Firmware Only Command Format xk cs EEPROM String starting Address Hex Response Format pix slalalfa afale 9 E g To read the string data stored at EEPROM address 10 send hostlink command Rx 000A The response sting will contain sting data stored in the EEPROM maximum 40 characters 4 37 Write Analog Output r47 Firmware Only Upon recei
23. 32C serial port is connected to the PLC s COMM1 At any one 3 1 T100MD amp MX PLC Chapter 3 Host Communication time only one contoller may be connected to the host computer The host link commands do not need to specify any controller ID code and are therefore of simpler format as shown below Command Response Block Format Point to Point Header Data Teminator Each command block starts with a two byte ASCII character header followed by a number of ASCII data and ends with a terminator which comprises an character and a camage retum ASCII value 13 The header denotes the purpose of the command For example RI for Read Input WO for Wite Output etc The data is usually the hexadecimal representation of numeric data Each byte of binary data is represented by two ASCII characters 00 to FF To begin a communication session the host computer must first send one byte of ASCII character Ctr E 05Hex via its serial port to the controller This informs the controller that the host computer wishes to send a point to point hostlink command to it Thereafter the host computer must wait to receive an echo of the Ctr E character from the controller Reception of the echoed Ctr E character indicates that the controller is ready to respond to the command from the host computer At this moment the host computer must immediately send the command block to the controller and then wait to receive the response block from
24. C ground power terminal of every PLC The grounded shield then provides a common ground reference for all the different PLCs power supplies Even though the RS485 network may still work without a Common ground reference because the signal wire pair will somehow pull all the RS485 to some reference point Failure to provide a common ground is a potential source of serious trouble as signal wires with a floating ground easily induce large voltage differences between nodes when subjected to electomagnetic interference Hence for reliable operation it is important to provide the common ground A grounded shield also has the additional advantage of shielding the electical signals from EMI 3 2 3 Single Master RS485 Networking Fundamentals RS485 is a half duplex network i e the same two wires are used for both transmission of the command and reception of the response Of course at any one time only one transmitter may be active The TLOOM PLCs implement master slave network protocol The network requires a master contoller which is typically a PC equipped with an RS485 interface In the 3 6 T100MD amp MX PLC Chapter 3 Host Communication case of a PC you can purchase an RS 485 adapter card oran RS232C to RS485 converter and connect it to the RS232C serial port A TIOOM PLC can also be programmed to act as the master it can communicate with other PLCs by executing the NETTMD function or the READMODBUS or the
25. If more than 256 bytes have been stored the buffer waps around and the oldest data is overwritten first and so on The following describes how INCOMM and INPUT PRINT and OUICOMM functions interact with the serial buffer a INCOMM n Every execution of the INCOMM n function removes one Character from the circular buffer When no more data is available in the buffer this function retums a 1 The data removed by INCOMM will no longerbe available forthe INPUI command INPUT n When the INPUT n function is executed the CPU checks the COMM n buffer to see if there is a byte with the value 13 the ASCII CR character which acts as a terminator for the sting If a sting is present all the characters that make up the string will be removed from the COMM buffer If a completed sting is not present then the COMM buffer will not be affected and INPUT n retums a null string This ensures that before a complete sting is received the serial characters will not be lost because of the unsuccessful execution of the INPUT n function PRINT n The PRINT statement transfers its entire argument to a 256 byte serial out buffer which is separate from the seral in buffer The PRINT statement therefore does not affect the content of the serial buffer for incoming characters The operating system handles the actual transfer of each byte of data out of the serial out buffer in a timely manner Again each COMM port has its own indep
26. LOOM controllers to be networked together using very low cost twisted pair cables Standard RS 485 allows up to 32 contollers including the host computer node to be networked together When fitted with 1 8 power RS485 driver such as the 75HVD3082 up to 256 devices can be connected together The twisted paircable goes from node to node in a daisy chain fashion and should be terminated by a 120 ohm resistor as shown below o 5V Terminating resistor Host Computer wit RS 485 or M series PLC T100MD T100MX RS485 RS485 Figure 3 2 Note that the two wires are not interchangeable so they must be wired the same way to each controller The maximum wire length should not be more than 1200 meters 4000 feet RS 485 uses balanced or differential drivers and receivers this means that the logic state of the transmitted signal depends on the differential voltage between the two wires and not on the voltage with respectto a common ground As there will be times when no transmitters are active which leaves the wires in floating state it is a good practice to ensure that the RS 485 receivers will indicate to the CPUs that there is no data to receive In orderto do this we should hold the twisted pair in the logic 1 state by applying a differential bias to the lines using a pair of 5600 to 1KQ biasing resistors connected to a 9V at least 5V and OV supply as shown in Figure 3 2 Otherwise random noise on the
27. PLC If all attempts fail either replace the entire PLC orthe SN75176 chip that handles the R485 interfacing and try again b Multiple faulty devices If all the PLCs are inaccessible by the host computer it may possibly be due to a faulty RS232C to RS485 converter at the PC If this is the case disconnect the R485 converter from the network and check it using a single PLC Replace the converter if it is confirmed to be faulty Next check the wire from the converterto the beginning of the network A broken wire here can lead to the failure of the entire network Since an R485 network links many PLCs together electric ally and in a daisy chain fashion problems occumng along the RS485 network sometimes affect the operation of the entire network For example a broken wire at the terminal of one node may mean that all the PLCs connected after this node become inaccessible by the master If the RS485 interface of one of the PLCs has short circuited because of component failure then the entire network goes down with it too This is because no other node is able to assert proper signals on the two wires that are also common to the shorted device Hence when trouble shooting a faulty RS485 network it may be necessary to isolate all the PLCs from the network Thereafter reconnect one PLC at a time to the network starting from the node nearest to the host computer Use the TRILOGI program to check communication with each PLC until the faulty un
28. PLC to the master Please study the two examples REMOTE H PC4 and REMOTE M PC4 carefully to understand the mechanism of mapping I Os between the PLC The TRILOGI program REMOTE H PC4 will work on both H and M series PLCs as Slaves whereas the program REMOTE M PC4 will only work with M series slave PLC This is because the M series host link command set is a superset of H series host link command set and this example uses the more efficient M series host link commands to read write 16 bit data for networking between M series PLC 4 44 Inter PLC Networking Using MODBUS Protocols The TLOOM PLCs may also pass data to each other using special MODBUS commands which are even simpler to use than NETICMD but are resticted to accessing variables that are mapped into MODBUS address structure Please refer to the next chapter as well as the TBASC Reference manual for details on using the READMODUS and WRITEMODBUS as well as the READMB2 and WRITEMB2 commands 4 19 TLOOMD amp MX PLC Chapter 4 Command Response Format 4 45 Using OMRON Host Link Commands Since the TLOOM PLCs also support OMRON C20H Host Link commands which are very similar in construct to our multi point command response format you can also make use of OMRON commands to supplement the native host link commands We will only discuss four of the OMRON host link commands RR NR RD a
29. TLOOMD amp T100MX Super Programmable Controllers O UR User s Triangle R esearch M a n u a International Inc Copynght Notice and Disclaimer All rights reserved No parts of this manual may be reproduced in any form without the express written permission of TRI Tiangle Research Intemational Inc Ri makes no representations or waranties with respect to the contents hereof In addition information contained herein are subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless TRi assumes no responsibility for emors or omissions or any damages resulting from the use of the information contained in this publication MS DOS and Windows are trademarks of Microsoft Inc All othertrademarks belong to their respective owners Conditions of Sale and Product Warranty Triangle Research Intemational Inc TRi and the Buyer agree to the following terms and conditions of Sale and Purchase 1 The TIOOMD and TLOOMX Programmable Controllers are guaranteed against defects in matenals or workmanship for a period of one year from the date of registered purchase Any unit which is found to be defective will at the discretion of TRi be repaired orreplaced TR will not be responsible for the repair or replacement of any unit damaged by user modification negligence abuse improper installation or mishandling TR is not responsible to the Buyer for any loss or c
30. ace as described below 1 You can replace the standard RS485 driver 75176 on the PLC by a fault tolerant RS485 driver IC with part number LT1785AIN8 This 8 pin IC is made by Linear Technology and can withstand wrong voltages of up to 60V As an added bonus the LT1785AIN8 is a 1 4 power RS485 driver which means up to 128 PLCs can be connected together Unfortunately this IC is much more expensive than 75176 and hence it is not provided as standard component on the TLOOM PLC You can purchase the IC from any major electronic catalog company or contact sales tri plc com fora quotation of this IC driver 2 When using non fault tolerant R485 driver such as SN75176 or SN75HVD3082 we stongly recommend the following protection circuit to be added between every PLC s R485 and the twisted pair multi drop network cable 3 5 TIOOMD amp MX PLC Chapter 3 Host Communication RS485 Network Ground the Shield Figure 3 3 Note e As can be seen from the circuit the two 9V Zener diodes Clamp the signal voltage to the PLC s R485 interface to between 9V and 0 7V If the high voltage persists the 0 1A fuse will blow effectively disconnecting the PLC from the offending network voltage e Even if you choose to replace the R485 driver by LT1785AIN8 IC instead of using the zener fuse pair wiring you should sill use shielded twisted pair cables as the mult drop network backbone and connect the shield to the OV D
31. ame way as the 64 timers Please refer to last section 4 6 Read Timer Contacts for details 4 8 Read Timer Present Value P V Command Format ee Tine SI nn Timer1 00 Timer16 0F Timer64 3F Response Format A M hie hojo 10 o Timer present value in Decimal T100MD amp MX PLC Chapter 4 Command Response Format 4 9 Read Timer Set Value S V Command Format Pana eee es ood nn Timer1 00 Timer16 0F Timer64 3F Response Format PR m 10 107 10 gt Timer Set Value in Decimal The Set Value S V of the specified timer is retumed in decimal form as four byte ASCII text characters from 0000 to 9999 Note that this command header contains small letter m instead of M in the RM command 4 10 Read Counter Present Value P V Command Format glulo n fo y nn Counter1 00 Counter16 0F Counter64 3F Response Format PR u 10 10 10 10 9 Counter present value in Decimal The Present Value of the specified counter is retumed in decimal form as fourbyte ASCII text characters from 0000 to 9999 4 11 Read Counter Set Value S V Command Format Parsee eReaes nn Counter1 00 Counter16 0F Counter64 3F Response Format AJ u 10 108 io 10 5 Og IE Counter Set Value in Decimal The Set Value of the specified counter is retumed in decimal form as four byte ASCII text
32. bus Omron Protocols Support Table 5 1 Memory Mapping of TLOOM to other PLCs a mp a oup a ooo me a ooo comer nf o 49 to 64 IR51 0 to IR51 15 Reay n 49 to 64 IR67 0 to IR67 1 65 to 80 IR68 0 to IR68 1 81 to 96 IR69 0 to IR69 1 97 to 112 IR70 0 to IR70 1 113 to 128 IR71 0 to IR71 1 129 to 144 IR72 0 to IR72 1 145 to 160 IR73 0 to IR73 1 161 to 176 IR74 0 to IR74 1 177 to 192 IR75 0 to IR75 1 193 to 208 IR76 0 to IR76 1 209 to 224 1R77 0 to IR77 1 497 to 512 IR96 0 to IR96 15 MODBUS is a registered trademark o oj oj 1 aj oj o aj ajajajaj VIa C1 o MODBUS Word MODBUS Bit Addr mapping Addr Mapping eno il 0002 1 to 40002 1 0003 1 to 40003 1 0004 1 to 40004 1 0005 1 to 40005 16 0006 1 to 40006 16 40033 1 to 40033 16 40034 1 to 40034 16 40035 1 to 40035 16 40036 1 to 40036 16 40049 1 to 40049 16 40050 1 to 40050 16 40051 1 to 40051 16 40052 1 to 40052 16 817 to 832 0065 1 to 40065 16 0066 1 to 40066 16 0067 1 to 40067 16 40068 1 to 40068 16 1073 to 1088 1 40069 1 to 40069 16 40070 1 to 40070 16 40071 1 to 40071 16 40072 1 to 40072 16 1137 to 1152 40073 1 to 40073 16 40074 1 to 40074 16 40075 1 to 40075 16 40076 1 to 40076 16 1201 to 1216 0077 1 to 40077 16 0078 1 to 40078 16 AGE 40097 1 to 40097 16 1521 to 1536 of Groupe Schneider 0001 1 to 40001 1 DPbIDD O OD OD D gt 0017 1 to 40017 1 0018 1 to 40018 1 0019 1 to 40019 1
33. complete its job after a fixed time say 0 1 seconds and tum off its comesponding token relay bit The token master then passes the token to the next PLC on the list and so on until the last PLC has relinquished its token and the token is passed back to the first PLC on the list again This way at any one time there will only be one active network master the one with the token and hence there is no danger of conflicting signals or garbled messages to handle Pros and Cons This method also does not incur any hardware cost but it requires the programmer to draw up a plan on what intemal relay or variable to use as the token and how the PLC can relinquish its token to the token master it could be by fixed timing or by retuming a message to relinquish the token It is a challenging job for programmers unfamiliar with networking scheme but with some experimentation it can be achieved readily 06 x Rotating Master Signal In this scheme we make use of the digital inputs of the TLOOM PLCs to grant the PLC the right to act as the network master Lets call this input the Be the Master input We can use a low cost Hseries PLC running a sequencer to activate the Be the Master input line of each PLC one ata time Each PLC is given a fixed amount of time to be the master e g 0 1s each Only when the Be the Master input is ON can the T100M PLC start sending out host link commands to other PLCs So at any one time there
34. contact to activate the SEIPROTOCOL command than you will need to cycle the power to the PLC with DIP switch 4 set to ON to halt the execution of the SETPROTOCOL command Also remember that when the PLC is reset this way its COMM1 will power up at 9600 bps only so you will need to temporarily configure TServers serial port to 9600bps to communicate with it 1 9 5 Accessing the COMM Ports from within TBASIC Besides responding automatically to specific communication protocols described in section 1 9 4 both the serial ports COMM 1 and 3 are fully accessible by the user program using the TRASIC commands INPUI INCOMM PRINT and OUICOMM lt is necessary to understand how these commands interact with the operating system as follow When serial data are received by a COMM port the operating system of TLOOM automatically stores them into a 256 bytes circular buffer so that they can be retrieved by user programs later The senal data are buffered even if they are incoming commands of one of the Supported protocols described in section 1 9 4 In addition processing of a recognized protocol command does not remove the 1 19 TIOOMD amp MX PLCs Chapter Installation characters from the serial buffer queue so these data are s ll visible to the user s program Each COMM port has its own separate 256 byte senal in buffer As long as the userprogram retrieves the data before the 256 byte buffer is filled up no data will be lost
35. cy during online monitoring Inputs based on intenupts such as the High Speed Counters however will not be affected 2 7 Get PLC s Hardware Info You can find out the PLC s firmware version number the maximum of input outputs relays timers and counters supported on this PLC as well as the total amount of program memory available The same info will be displayed when you try to transfera program to the PLC 2 8 Set PLC s Real Time Clock This command lets you set the time and date of the PLC s built in Real Timer Clock RIC When you execute this command It will open up a table pre filled with time and date data based on your PC s curent date and time but you can change the date and time value before updating to the PLC The special bit RIC En will be tumed OFF after you have executed this command MX RTC Module When the PLC poweris tumed off the built in RIC will stop operating and the date and time setting will be lost When the power is re applied to the PLC the RIC must be reset to some factory pre determined date and time values In order to maintain the clock settings non volatility you can purchase the MX RIC option The MX RIC module is a special socket attached to the TLOOMD s data RAM and provides a Lithium battery backed real time clock that continues to run even when the PLC power is tumed off The Set PLC s Real Time Clock command will also set the date and time within the MX RIC module if instal
36. d Counter Contacts 4 4 4 8 Read Timer Present Value P V 4 4 4 9 Read Timer Set Value S V 4 5 4 10 Read Counter Present Values P V 4 5 4 11 Read Counter Set Value S V 4 6 4 12 Read Vanable Integers A to J 4 6 4 13 Read Variable Strings A to Z 4 6 4 14 Read Variable Data Memory DM 1 to DM 4000 4 6 4 15 Read Variable System Variables 4 7 4 16 Read Variable High Speed Counter HSCPM 4 8 4 17 White Inputs 4 8 4 18 White Outputs 4 8 4 19 White Relays 4 9 4 20 White TimerContacts 4 9 4 21 White Countercontacts 4 9 4 22 Mite Timer Present Value P V 4 9 4 23 White Timer Set Value S V 4 10 4 24 White Counter Present Value P V 4 10 4 25 White Counter Set Value S V 4 10 4 26 White Variable Integers A to 2 4 11 4 27 Wite Variable Stings A to Z 4 11 4 28 White Variable Data Memories DM 1 to DM 4000 4 11 Table of Contents 4 29 White Variable System Variables 4 12 4 30 White Varable High Speed Counter HSCPM 4 12 4 31 Update Real Time Clock Module 4 12 4 32 Halting the PLC 4 13 4 33 Resume PLC Operation 4 13 4 34 Read Analog Input 4 14 4 35 Read EEPROM Integer Data 4 15 4 36 Read EEPROM Sting Data 4 15 4 37 White Analog Output 4 15 4 38 White EEPROM Integer Data 4 16 4 39 Write EEPROM Sting Data 4 16 4 40 Force Set Clear Single I O Bit 4 16 4 41 Testing of Host ink Commands 4 17 4 42 Visual Basic Sample Program 4 17 4 43 InterPLC Networking Using NETTMD command 4 18 4 44 Inter PLC
37. e HSC 1 decrements Note that if input 4 is OFF then pulse trains amving at input 3 is considered to lead the input 4 and HSC 1 will be incremented Likewise if input 3 is OFF then pulse trains amving at input 4 will decrement HSC 1 Input 5 and 6 fom the inputs for High Soeed Counter channel 2 and they operate in the same way as Input 3 and 4 for HSC 1 described above The fact that the TLOOM PLC automatically takes care of the direction of rotation of the quadrature encoder greatly simplifies the programmers task of handling high speed encoder feedback The HSCdef statement can be used to define a CusFn to be executed when the HSC reaches a certain pre defined value Within this CusFn you can define the action to be taken and define the next CusFn to be executed when the HSC reaches another value Enhanced Quadrature Decoding The default method in which the PLC handles quadrature signal as described above is somewhat simplistic It does not take into consideration the jiggling effect that occurs when the encoder is positioned at the transition edge of a phase Mechanical vibration could cause multiple counts if the rotor shaft jiggle at the transition edge of the phase resulting in multiple triggering of the counter This simplistic implementation however does have the advantage that the HSC can also be used for single phase high speed counting For M series PLC with firmware revision of 39 and above an enhanc
38. e aborted If this happens you need to simplify your program to optimize the use of program memory On Line Monitoring amp Control TRILOGI allows direct control of the PLC operation from within the program You can enterthis mode by selecting the On Line Monitoring command from the Controller main menu or by pressing the Cti M hot key A Full Screen On Line Monitoring screen will appear The following are what may be done in this mode 2 5 1 Monitoring PLC s I O Logic States TRILOGI continuously monitors the I O logic states and present values of the timers and counters of the controller and displays them on screen You may use the mouse to click on the scroll bar of each I O column to scroll up and down to view elements outside of the window The on off logic state of each I O element is clearly visible on screen 2 5 2 Viewing and Modifying PLC s Intemal Variables If you click on the View button while you are within the Full Screen On Line Monitoring screen a View Variables window will be opened You can examine the values of all the 26 integer variables A to Z string vanables A to z Data Memory DM 1 to DM 4000 and other special intemal variables such as ADC DAC PWM and the Real Time Clock The values displayed in this window reflect the actual values of these variables in real time The numbers are usually displayed in decimal form but if you press the lt H gt key it will change into hexadecimal
39. ecific communication protocols The following describes how the automatic protocol recognition scheme works 1 When the PLC is powered ON both COMM ports are set to the AUTO mode which means that they are open minded and listen to all serial data coming through the COMM ports The CPU tres to determine if the serial data conforms to a certain protocol and if so the COMM mode is determined automatically 2 Once the protocol is recognized the CPU sets that COMM port to a specific COMM mode which enables it to process and respond only to commands that confom to that protocol Enor detection data such as the FCS LRC or CRC are computed accordingly which are used to verify the integrity of the received commands If emors are detected in the command the CPU responds in accordance with the action specified in the respective protocols When the COMM port enters a specific COMM mode it will regard commands of other protocol as errors and will not accept them Hence for example if COMM 1 has received a valid MODBUS RIU command which puts it in a RIU mode it will no longer respond to TRILOGl s attempts to communicate with it using the NATIVE mode You will receive a communication enor if you try to use TRILOGI to access a PLC COMM port that has just been communicating in other protocol modes a 4 To improve the flexbility of switching fom one COMM mode to another The TLOOM incorporates a COMM mode self reset t
40. ed quadrature decoding routine is provided which will lock out multiple counting by examining the co relationship between the two phases You can configure the M series PLC to use the enhanced quadrature counting by using the SETSYSIEM command as follows SETSYTEM 4 n n 0 simple decoding for both HSC1 amp HSC2 default n 1 forenhanced quadrature decoding in HSC1 only n 2 forenhanced quadrature decoding in HSC2 only n 3 forenhanced quadrature decoding in both HSC1 amp HSC2 Interfacing to 5V type Quadrature Encoder If you have a choice you should select an encoder that can produce 12V or 24V output pulses so that they can drive the inputs 3 4 5 or 6 directly If you have 5V type of encoder only then you need to add a transistor driver to interface to the PLC s inputs The simplest way is to use an IC driver ULN2003 connected as shown in Figure 1 5 1 8 TIOOMD amp MX PLCs Chapter Installation ULN2003A 16 Input 3 Input 4 n 2 A PLC s OV terminal ov eee eee eee eee eee terres 5V Phase A 1 5V Phase B T100MD1616 Figure 1 5 Interfacing 5V type Rotary Encoder 1 6 Using Interrupt Inputs During normal PLC ladder program execution the CPU scans the entire ladder program starting from the first element progressively solving the logic equation at each circuit until it reaches the last element After which it will update the physical Inputs and Outputs I O at the end of the
41. eference for more details 2 5 4 Suspending PLC s Ladder Program You can suspend the operation of the contoller at any time by pressing the lt P gt key or by clicking the Pause button A waming message will appear and the PAUSE button will be displayed in RED color When the contoller is suspended its program will not be executed untl it is resumed by pressing the lt P gt key again At this tme you can force set or reset any relay or output bits This is convenient during programming or debugging as you can contol the output driver to bring any physical component to any desired locations effortlessly 2 6 Ladder Monitoring When the Full Screen Online Monitoring window is opened you can also monitor the logic states of I Os directly on the ladder logic editor itself TRILOGI will continuously update the controllers I O logic states 2 4 T100MD amp MX PLC Chapter 2 Operating Procedure and display any ON I O bit with highlighted label names on the ladder diagram Note On Line Monitoring action is achieved by continuously sending host link commands to the PLC and analyzing the response stings immediately in order to update the screen Since the contoller must spare some time to process the hostlink commands the overall scan time will sow down during on line monitoring So please take precaution that programs which require fast scan time such as counters fed by the 0 01s and 0 02s clock sources may lose some accura
42. endent 256 byte seral out buffer and hence the two serial ports can operate totally independent of each other Note that the PLC automatically enables the R485 transmit driver when it sends serial characters out of its COMM3 port When the stop bit of the last character in the serial out buffer has been sent out the operating system immediately disables the RS485 driver and enables the receiver This greatly eases the use of the R485 port since there is no need for user to bother with the often critical timing of contolling the R485 driver receiver direction 1 20 T100MD amp MX PLCs Chapter 1 Installation d OUICOMM This command sends only a single byte out of the serial COMM port without going through the serial out buffer For COMM3 it enables the RS485 transmitter before sending the character and disables it immediately after the stop bit has been sent out 1 9 6 Using Modem to Remotely Program Monitor T100MD PLC TLServer 2 x supports remote dial up to TIOOMD PLC via standard off the shelf modems It takes two modems to communicate between two devices The host end of the modem setup and configuration is handled TLServer software itself whereas on the PLC Side the PLC has to configure the modem so that it can successfully communicate with the host computer running TRILOGI a Wiring The modem is often connected to the PLC s COMM1 Since the serial port on most modems are DCE type you will need a make a special al
43. ented by two ASCII characters 00 to FF It is a result of Exclusive OR sequentially performed on each character in the block starting from in the device number to the last character in the data An example is as follow pefolatrivyi jala el le woe ey Ne i Device ID Header Data FCS 0100 0000 XOR 0 0011 0000 XOR 4 0011 0100 XOR R 0101 0010 XOR V 0101 0110 XOR l 0100 1001 XOR A 0100 0001 T100MD amp MX PLC Chapter 3 Host Communication 0100 1000 48 Value 48 g is then converted to ASCII characters 4 0011 0100 and 8 0011 1000 and placed in the FCS field FCS calculation program example The following C function will compute and retum the FCS forthe sting passed to it unsigned char compute_FCS unsigned char string unsigned char result result stringtt first byte of string while string result string XOR operation return result A Visual Basic rutine for FCS computation is included in the source code of a sample communication program you can download from http www tri plc com applications SerialComm zip 3 2 6 Communication Procedure Unlike the point to point communication protocol the host computer must NOT send the CTRL E character before sending the command block After the host computer has sent out the multi point hostlink command block only the controller with the corect device ID will respond Hence it is essential to ensure that ev
44. ery controller on the R485 network assumes a different ID Otherwise contention may occur i e two controllers simultaneously sending data on the receiver bus resulting in garbage data being received by the host On the other hand if none of the controller IDs match that specified in the command block then the host computer will receive no response atall The PLC automatically recognizes the type of command protocols point to point or multi point sent by the host computer and it will respond accordingly If a mult point command is accepted by the controller the response block will start with a character followed by its device ID and the same header as the command This will be followed by the data requested by the command a response block FCS and the terminator 3 11 TIOOMD amp MX PLC Chapter 3 Host Communication Framing Enors When the controller receives a multi point hostlink command block it computes the FCS of the command and compares it with the FCS field received in the command block If the two do not match then a framing enor has occuned The controller will send the following Framing Error Response to the host Framing Error Response Bloc k Mult point only Device ID Header FCS Teminator Command Enors If an unknown command is received or if the command is illegal such as an attempt to access an unavailable channel the following enor response will be received Enor Response Format
45. es two channels of PWM on its outputs 7 PWM ch 1 and 8 PWM ch 2 Since these two outputs are high voltage high curent outputs 24V 1A or 10A on some PLC models they can be used to directly contol the speed of a small DC motor They can also directly drive proportonal variable position valves whose opening is dependent on the applied voltage Increasing Output Drive C urent Non Opto Isolated The TLOOMD888 has two channel of 10A current sinking PWM outputs which should be sufficient for many applications However the two channel PWM outputs on T100MD1616 as well as the TLOOMX 3224R and TLOOMX 4832 are all limited to 1A current each If you need to control power devices that demand more than the 1A curent on these PLCs you can use the following circuit to amplify the drive current 1 5 TIOOMD amp MX PLCs Chapter Installation 24V 2k2 IRF9530 or IRF9520 P channel MOSFET PLC s 2k2 D output 7 or 8 ED Load max 12A 24VDC Figure 1 3 The MOSFET driver IRF9530 can drive up to 12A of curnents this is the actual circuit designed into the two 10A PWM outputs on T100MD2424 However note that the output will be converted into a source PNP type The above circuit is also not opto isolated and hence you have to take the usual precautions of preventing the large curent load demand from interfering with the power supply voltage of the PLC Increasing Output Drive Curent Opto Isola ted The adva
46. g TLOOMD Super PLC to the sting variable P send hostink command WvSPT100MD Super Puos 4 28 Write Variable Data Memory DM 1 to DM 4000 Command Format fw Lv o pete eis eee TS ee 21 LT 16 bit Index to array 16 bit Integer Data 0001 to OFAO 400010 4 11 T100MD amp MX PLC Chapter 4 Command Response Format Response Format wel ee ey E g To wnte the value 1234 4D2 g to DM 1000 send hostlink command WVD03E804D2 1000 3E8 g 4 29 Write Variable System Variables Variable Variable ci 08 datei 09 OA timed 04 _ ADC OB ime 06 Pwr oD a or Nota system variable in TRASIC Command Format w y rr 2111_ type Index 16 bit Integer Data type 01 to OD denote the type of system variable to access index 01 to 1F index into the array starting from 01 Response Format Example To set clq1 which represents the hour of the RIC to 14 send the command wvs0801000E to the PLC 4 30 Write Variable High Speed Counter HSCPV Command Format ONGncccocGGOES 1or2 8 Hexadecimal Digit for 32 bit integer Response Format E g To clear the value of HSCPM2 send hostlink command WVH200000000 4 12 T100MD amp MX PLC Chapter 4 Command Response Format 4 31 Update Real Time Clock Module Command Format Response Format If the battery backed MX RIC module is i
47. h the comect response These are accomplished without any user intervention and without any need to configure the PLC at all Both MODBUS and Omron protocols use the same device ID address 00 to FF as the native protocol described in Chapter 3 Since the addresses of VO and intemal varables in the TLOOM PLC are organized very differently from the OMRON or Modicon PLCs we need to map these addresses to the conesponding memory areas in the other PLCs so that they can be easily accessed by their conesponding protocols All I Os timers counters intemal relays and data memory DM 1 to DM 4000 are mapped to Modbus Holding Registers space The Inputs Outputs Relays Timers and Counters bits are mapped to MODBUS Bit address space as shown in Table 5 1 Note that inputs and outputs bits are always mapped according to Table 5 1 whether it is MODBUS function 01 02 or 05 However 32 bit vanables and sting variables are not mapped since they are fundamentally quite different in their implementation among different PLCs Intemal vanables which are not mapped can be still be accessed by copying the contents of these variables to unused data memory DM n these can be easily accomplished within a CusFn so that they can be accessed by these third party protocols 5 1 MODBUS ASCII Protocol Support T100M supports MODBUS ASCII protocols with the following command and response format LRC Check _ 2chas 2chas chas 2chas 2char The foll
48. he defined acceleration and maximum pulsing rate specified by STEPSPEED and STEPMOVE commands You cannot directly connect the pulses to the stepper motor You will need a stepper motor driver which you can buy fom the motor vendor Depending on the power output the number of phases of the stepper motor and whether you need micro stepping the drivercan vary in size and cost Most stepper motor drivers have opto isolated inputs which accept a direction signal and stepping pulse signal from the Stepper Motor Controller In this case the TLOOM is the Stepper Motor Controller which will supply the required pulse and direction select signals to the driver Note that the digital output 1 and 2 automatically become the direction select signals for Stepper controller 1 and 2 respectively when the stepper controllers are being used The direction pin is tumed ON when the motor moves in the negative direction and tumed OFF when the stepper motor moves in the positive direction The SEPMOVEABS command makes it extremely simple to position the motor at an absolute location while the STEPMOVE command let you implement incremental move in either directions foreach channel Interfacing to 5V Stepper Motor Driver Inputs Some stepper motor drivers accept only 5V signals from the stepper motor controller In such case you need to determine whether the driver s inputs are opto isolated If they are then you can simply connect a 2 2K curent
49. heck the following items in the response string to verify that the sting retumed from NETCMD function indeed comes from the PLC that it had talked to and not from another PLC which ties to send a command to someone else i The IDisconect ii The headeris identical to the command sting ii The length of response string is corect Pros and Cons This method does not incur any hardware cost but it requires careful programming and strict checking of the response string and hence requires more effort to program It is also the least desirable if the network traffic is moderately high as many collisions will occur and there is danger of some undetected enor being allowed to pass through Y Token Awarding Scheme A token is a software means of telling a PLC that it has been given the right to temporarily act as the master A TLOOMD PLC ora host PC can serve as the token master An intemal relay bit ora variable of the PLC can be defined as the token The token master will begin by giving the token i e by setting the token relay bit to T or the token variable to some fixed value to the first PLC on the list The PLC that has the token can then send host link commands to other PLCs When it has finished the job it can then send a command to the token master to relinquish its token If it is 3 8 TIOOMD amp MX PLC Chapter 3 Host Communication based on a fixed timing scheme the master can assume that the PLC will
50. imer such that a specific COMM mode will time out automatically and enters into AUTO mode after 10 seconds if no more commands are received from that COMM port When a user wants to switch 1 18 T100MD amp MX PLCs Chapter 1 Installation from one COMM mode to another he she often will be changing the serial connector from one device to another During this time there is no data received by the COMM port which presents an opportunity for it to reset its COMM mode However the surest way to reset the specific COMM mode is to cycle the power to the PLC so that its COMM port will be reset to AUTO mode and ready to communicate with any supported protocols u if you wish to use the COMM port for se al data input only you can use the SETPROTOCOL command to set the COMM port to NO PROTOCOL This can prevent the PLC from enoneously teating some serial data as the header of an incoming communication protocol and respond to it automatically SETPROTOCOL can also be used to set the PLC to a specific protocol This may be desirable if the COMM port has a specific role and you do not want it to enter other modes by mistake Please refer to the TBASC Programmers Reference manual for detailed description of the SEPROTOCOLcommand Note if you fix a COMM port to a non native non auto mode TRILOGI will not be able to communicate with the PLC anymore You may have to power cycle the PLC to reset the COMM mode If you use lstScan
51. it Conversion Time 10us per channel Notes 1 Although the A D converters actual resolutions are only 10 bit and the D A converters actual resolutions are only 8 bit TLOOM PLCs normalize all the analog data to 12 bit numbers Hence you will find that ADC n function retums the value as 0 4 8 12 16 4092 not 4095 since the least significant two bits are always zero Similarly the D A converters shift the 12 bit normalized value applied to it by four bits to the right to convert it into an 8 bit quantity before applying the value to the DAC hardware Hence the full scale value of D A occur when the actual digital code 255 When nomailized to 12 bit quantities 255 x16 4080 The reason fornomailizing all analog data to 12 bit is that in future if new models of PLCs with higher resolution A D or D A converters are introduced the users PLC program need not be modified since there will not be needs to change the computational expression when all data are already treated as 12 bit full scale 1 11 T100MD amp MX PLCs Chapter 1 Installation ADC n value 4092 4088 4084 A 0 Input Voltage 1 AVcc Figure 1 7 Transfer Function for 10 bit ADC DAC Output AVcc 255 256 254 256 N IN e gt N oa D SetDAC value 0 16 32 48 4064 4080 Figure 1 8 Transfer Function for 8 bit
52. it has been identified TIOOMD amp MX PLC Chapter 3 Host Communication This page is intentionally left blank 3 14 Chapter 4 Command Response Format This chapter describes the detail formats of the command and response blocks for all M series PLC host link commands Only the formats for the point to point Communication protocol are presented but all these commands are available to the multi point protocol as well To use a command for multi point system simply add the device ID nn before the command headerand the FCSat the end of the data See Chapter 3 for detailed descriptions of multi point communication command format 4 1 Device ID Read Command Format oe Response Format Ari ote sie Device ID 00 to FF The device ID is to be used for multi point communication protocol where the host computer can selectively communicate with any controller connected to a common RS485 bus see Chapter 3 for details The ID has no effect for point to point communication The device ID is stored in the PLC s EEPROM and therefore will remain with the controller until it is next changed 4 2 Device ID Write Command Format Pt wie fie D Device ID 00 to FF Response Format pw fo E g To set the PLC s ID to 0A send command string Imoa to PLC 4 3 Read Digital Input Channels Command Format Lai ES IAS 8 bit Channel Hex TIOOMD amp MX PLC Chapter 4 Command Respo
53. ith the command string to completely test your command E g If you type in the string O01RI02 in the command sting but do not press Enter then click on the FCS button the FCS for this sting will be computed and shown as FCS 58 as shown in the following figure 4 17 TIOOMD amp MX PLC Chapter 4 Command Response Format E Serial Communication Setup amp Test ioj xj Port Name comi Baud Rate 38400 Data Bits 8 Stop Bits 1 Parity None v Time Out ms 500 Close Port Open Port E Modem E Auto Answer Phone Wo Command String Press lt Enter gt to Send 01R102 Response Strings amp Modem Messages Change PLCID Close F1 Help You now can enter the complete command sting as Q 01RI0258 and it will be accepted by TLServer Note If the PLC has executed a SETPROTOCOL n 5 to configure its seral port into pure native mode then wildcard FCS will not be accepted and you must use the actual FCS with your command The FCS button makes it much easier than computation by hand If you have changed some data using the wite command then activate On Line Monitoring and examine the changes made using the View Variables window 4 42 Visual Basic Sample Program To help users get started writing their own Visual Basic program to communicate with the PLC we have created a sample Visual Basic program with full source code listing Please visit
54. iver IC It is required that each PLC has an RS232 to 4 wire conversion interface so that they can be connected by a fourwire RS485 RS422 network to the SCADA host system Of course there must also be a 4 wire RS485 RS422 converter at the host computer The two COMM ports capability of the TLOOMD Rev D can be used to their fullest extent in such a situation Please consult your local supplier or email to info tri plic com for questions regarding such applications 1 10 DIP SWITCHES values are Os timers and counters as well as all intemal retentive variables retain their value after power off in the battery backed RAM DAC PWM data will not be retained however Suspends execution of ladder logic program But host communication remains active When power on with this switch closed default baud rate for COMMI1 9600 bps instead of 38 400 bps Usefulness of SW1 4 We have taken every effort to ensure that the host communication is always available even when the userprogram ends up in a dead loop This allows the user to re transfer a new program to the PLC and overwnte the bad program However you may stil encounter a situation whereby after transfering a new program to the PLC you keep encountering communication enor and could not erase the bad program This is especially common if you are playing with the communication commands such as S ET BAUD S ETPROTOCOL PRI INT Or OUTCOMM which may modif
55. l Numbers All M series PLC supports 512 internal relays the channel definition of the first 256 internal relays is the same as the inputs and the outputs The remaining relays and their assigned channels are shown in the following table bit7 Relay numbers bito CH20 264 263 262 261 260 259 258 257 CH21 r CH22i CH23 285 284 282 281 GHIA 296 295 294 293 292 291 290 289 CH25 CH26 CH27 6 317 316 314 313 CH28 328 327 326 325 324 323 322 321 CH29 4 CH2A CH3E CH3F 6 4 6 Read Timer Contacts Command Format prep re ee 8 bit Channel Hex Response Format Ea Ea o TIOOMD amp MX PLC Chapter 4 Command Response Format 47 8 bit data in Hex Definition of Timer Contact Channel Numbers A timer contact is a single bit of memory and 8 timer contacts are grouped into one 8 bit channel similar to that of the inputs outputs etc The following table shows the timer numbers defined in TRILOGI s Timer entry table and their corresponding channel numbers Cho oli atenei di CHI CH2 CHA A089 6 ili I 6 Bora 84 a8 CHS CH CH7 Read Counter Contacts Command Format Coira i SS 8 bit channel Hex Response Format PR cj te ret o 8 bit data in Hex Definition of Counter Contact Channel Numbers The 64 counter contacts are assigned channel in exactly the s
56. l halt at the CusFn where the error took place If the programmer now executes the On Line Monitoring command in TRILOGI the cause of the run time error and the CusFn where the error occurred will be reported on TRILOGI screen TBASIC simulator captures many possible run time errors including out of range values but in TIOOM PLC only a few most important run time errors are reported The remainings are ignored The following are the few run time errors that will be reported in TIOOM PLC I Divide By Zero ii FOR NEXT loop with STEP O iii Call Stack Overflow Circular CALL suspected iv Illegal Opcode Please inform manufacturer v System Variable Index out of range This is normally caused by using an unavailable subscript E g DM O INPUT 1 DM 5000 etc Check the subscript value especially if it contains a variable e g DM X if X 0 this will lead to a runtime error All run time errors should be identified and corrected before proceeding any further 1 12 Internal Relays Timers amp Counters etc All T1OQOM PLCs support up to 512 internal relays 64 timers any one or all can be configured as High Speed timers 64 counters 8 clock sources of various periods 0 01s 0 02s 0 05s 0 1s 0 2s 0 5s 1 sec and 1 minute T100M also supports 8 sequencers of 32 steps each A sequencer is a highly convenient feature for programming machines or processes that operate in fixed sequences Any one or all
57. laim of special or consequential damages arising from the use of the product The product must NOT be used in applications where failure of the product could lead to physical ham or loss of human life Buyer is responsible to conduct their own tests to meet the safety regulation of their respective industry Products distributed but not manufactured by TRi cany the full original manufacturers waranty Such products include but are not limited to power supplies sensors V O modules and battery backed RAM TR reserves the right to alter any feature or specification at any time Notes to Buyer If you disagree with any of the above tems or conditions you should promptly retum the unit to the manufacturer or distibutor within 30 days from date of purchase fora full refund Table of Contents Chapter 1 Special I Os and Analog Interfacing Inttoduction Special Digital I Os Stepper Motors Controller Outputs PWM Outputs Using High Soeed Counter Inputs with Rotary Encoder Using Interrupt Inputs Using Pulse Measurement Inputs Analog I Os Serial Communication Ports 1 9 1 COMM1 RS232C with Female DB9 1 9 2 COMMS Two wire R485 Port amp Applications 1 9 3 Changing Baud Rate and Communication Format Use of SETBAUD Statement 1 9 4 Support of Multiple Communication Protocols 1 9 5 Accessing the COMM Ports from within TBASC 1 9 6 Using Modem to Remotely Program Monitor PLC 1 9 7 Constructing a 2 Multi dr
58. led The MX RIC module also maintains the contents of all the I Os and intemal variables stored in the PLC s data RAM in the event of power lost The DIP switch SW1 1 can be set to avoid clearing of the variables when 2 5 T100MD amp MX PLC Chapter 2 Operating Procedure 2 9 power on please referto section 1 10 fordetails This may be useful for control systems that must maintain the contents of all data in the event of a powerfailure Trouble Shooting Communication Errors If you keep encountering the Communication Error message when you execute any command under the Controller menu the following are some possible causes 1 The TLOOMD is not connected to the cable 2 The host computer COM port is not connected to the cable 3 Wrong COM port numberis specified forthe PC Try another one 4 Power to PLC is not tumed on or an inadequate power supply has been used Make sure that the CPU power supply is within specifications Try another power supply 5 Faulty serial port of host computer Try another computer with a good working COM port 6 Faulty serial cable Try anothercable 7 Faulty PLC Retum the unit to authorized dealer for servicing Communication Errors After Transferring A User Program If you have been able to communicate with the PLC but all a sudden after transfering a new TRILOGI program into the PLC you keep encountering the Communication Enor messages then the most likely Causes a
59. limiting resistor in series to the path from the PLC s output to the drivers inputs as shown in the following diagram Stepper Motor Driver 12 24V DC T100MD1616 PLC Power Supply e a i ci i OUTPUTS Calculation Ip 10mA R V 5 0 01 e g for V 24V R 24 5 0 01 1 9K Select R 2K2 Rating 19 2200 0 16W Use 0 5W resistor Figure 1 1 However if the stepper motor driver input is only 5V CMOS level and non opto isolated then you need to convert the 12 24V outputs to 5V This can 1 3 TIOOMD amp MX PLCs Chapter Installation be achieved using low cost transistor such as a 2N4403 A better way is to use an opto isolator with logic level output as shown in Figure 1 2 This provides a galvanic isolaton between the PLC and the stepper motor driver 5V OV Stepper s supply Logic output OO 12 24V DC Optoisolator Power Supply Pelee pece er or PLO Quality Technology OUTPUTS 2 To 5V CMOS stepper driver input 2K2 resistor SmA max 2 2K Figure 1 2 Conversion of TLOOMD outputs to 5V logic level 1 4 PWM Outputs Pulse Width Modulation PWM is a highly efficient and convenient way of controlling output voltage to devices with large time constants such as controlling the speed of a DC motor the power to a heating element or the position of a proportional valve PWM works by first tuming the output to full voltage fora short while and then shutting it off for another shor
60. load torque A PID function may also be invoked to provide sophisticated PID type of speed contol c The TLOOM PWM can be used to contol the speed of small motors For larger motors industnal strength variable speed drivers should be used instead 1 5 Using High Speed Counter Inputs with A Rotary Encoder Technical Specifications No of Channels Maximum acceptable pulse rate 10KHz for T100MD 4KHz for T100MX Quadrature signal decoding Relevant TBASIC Commands HSCDEF HSCOFF HSCPV Desc riptions Input 3 4 and Inputs 5 6 form two channels of high speed counter inputs which can interface directly to a rotary encoder that produces quadrature outputs A quadrature encoder produces two pulse trains at 90 phase shift from each other as follows Direction of Rotation 90 w Phase A Phase B lt lt 90 Direction of Rotation When the encoder shaft rotates in one direction phase A leads phase B by 90 degrees When the shaft rotates in the opposite direction phase B will lead phase A by 90 degrees The quadrature signals therefore provide an indication of the direction of rotation TLOOM handles the quadrature signals as follows if the pulse train amving at input 3 leads the pulse train at input 4 the High Speed Counter HSC 1 7 TLOOMD amp MX PLCs Chapter 1 Installation 1 increments on every pulse If the pulse train amiving at input 3 lags the pulse trains at input 4 then th
61. more password layer to the whole PLC programming environment will only serve to confuse the users We have thus decided to omit this from the Intemet TRILOGI Version 5 x However if you attempt to use Version 5 x to transfer program to a PLC previously protected by TA1 EXE TRILOGI Version 5 x will still prompt you for a Prog Transfer password You will need to enter the authenticated password in order to proceed any further In other words you can still use T41 EXE to manage define ordelete the Transfer Protection password forthe PLC 2 4 Errors and Problems Any error in the source file detected during compilation will abort the program transfer process immediately The cause of the first enor will be 2 2 T100MD amp MX PLC Chapter 2 Operating Procedure 2 5 reported on screen although you should never encounter this problem if you had simulated the program successfully in TRILOGI This is because TRILOGI s ease of programming reduces the possibility of enors to a minimum and any enor would have been detected and rectified before any simulation can take place PLC Program length is measured in 16 bit words Up to 6016 words may be programmed into a TLOOMD PLC expandable to 8190 words with an optional hardware module M2018P available from the manufacturer If your program exceeds the maximum allowable program size after compilation the compiler will record this as an enor and the downloading process will b
62. n defined asa special input cannot simultaneously act as another special input E g Pin 3 cannotbe used as high speed counterand at the same time serves as a pulse measuring pin Special Outputs Output Stepper pulse output PWM output __1 Direction for Ch 1 Pe Direction for Ch 2 Ch 2 aa ss ci gt a __ RES et These special I O therefore share the same electrcal specifications as the ON OFF type I O which have already been described in the Installation Guide 1 3 Stepper Motors Controller Outputs Technical Specifications No of Channels Max Pulse Rate pps 20000 single channel running 10000 two channels running i Maximum Load Current 1A 24V DC Velocity Profile Trapezoidal Defined by STEPSPEED accelerate from 1 8 max pps to max pps decelerate from max pps to 1 8 max pps Maximum number of steps 2 21 2 1x10 TBASIC commands STEPSPEED STEPMOVEABS STEPCOUNTABSI STEPMOVE STEPSTOP STEPCOUNT It is essential to understand the difference between a stepper motor Controller and a stepper motor Driver A stepper motor Driver comprises the power electronics circuitry that provides the voltage current and phase rotation to the stepper motor coils 1 2 TIOOMD amp MX PLCs Chapter Installation The T100M s built in StepperMotor Controller on the other hand only generates the required number of pulses and sets the direction signal according to t
63. nary data using the TBASC builtin commands such as INPUT n INCOMM n PRINT n OUICOMM n d The first serial port COMM 1 is an RS232C port which is compatible with most PC RS232C ports The second serial port COMM3 is a two wire R485 port that allows multiple PLCs to be connected to a single host computer or a master PLC for networking orto implementa distibuted control system 1 9 1 COMM1 RS232C Port with Female DB9 Connector This port is configured as a DCE Data Communication Equipment and is designed to connect directly to the PC s serial port without the need for a null modem COMM1 communicates with the host computer ata default baud rate of 38 400 bit per second with 8 data bits 1 stop bit and no panty if DIP switch SW1 4 is set during power on COMM1 default baud rate will be changed to 9600 baud This is the main communication port for program transfer and on line monitoring of the PLC The pin connections with the host PC are shown below T100MX COMM1 Female DB9 Host PC COM1 or COM2 Male DB9 Figure 1 9 Connecting COMMI1 with PC 1 13 T100MD amp MX PLCs Chapter 1 Installation 1 9 2 However to connect COMM1 to another DCE device e g a modem you need to make a special cable which swaps the transmit and receive signals as follow T100MD COMMI1 Female DB9 Modem Female DB9 Figure 1 10 Connecting COMM1 to a MODEM Pin 4 and 6 are handshaking signals whose presence may be
64. nd WD in this section because these commands can be used by users to read write to multiple I O registers and data memory ina single command Note Since the M series native protocol command set typically only supports read write of single variable and data memory if you want to read write multiple memory location in a single command you can make use of these OMRON host link commands I Read IR Registers This command refers to Table 5 1 in Chapter 5 to map the PLC s I Os to OMRON IR register space from IRO to IR519 Command Format eye SN eT Device ID Header IR Address Dec IR count Hex S FCS Response Format a a R R s s 16 167 16 16 Nem oe Device ID Header Status 1 Data Hex 00 OK 15 Bad Fr gt gt _ _ _ Last data FCS E g To read Timer PV 1 to 7 using this command send 01RR012800074D The PLC will send retum a response 01RR00xxxxyyyyzzzz 4 20 T100MD amp MX PLC Chapter 4 Command Response Format ll WRITE IR Registers This command refers to Table 5 1 in Chapter 5 to map the PLC s I Os to OMRON IR register space from IROOO to IR519 Command Format afajwjR n n n n 6 16 16 16 ee a Device ID Header IR Start Addr Dec 1 data 1_ r Last data FCS Response Format Device ID Header Status FCS 00 OK E g
65. nse Format Response Format esce te tee if E 4 4 8 bit Data Hex Definition of Input Channels The following table shows the input numbers as defined in TRILOGI s Input entry table corresponding to the input channel number CHOO CHO GHO2 CHO3 CHO4 CHO5 CHO6 CH07 CHO8 CHO9 CHOA CHOB CHOC 2 CHIE CHIFy Bit7 Input Output Numbers BitO Ea a a ae a 32 3 30 29 28 27 26 25 80 79 78 77 76 75 74 73 68 87 86 85 84 83 82 81 96 95 94 93 92 91 90 89 104 108 102 101 100 99 98 97 The 8 bit inputs of each channel is represented by two bytes ASCII text expression of its hexadecimal value For example if inputs 1 to 3 are logic O s inputs 4 to 10 are logic 1 s and all other inputs are logic 0 s then if you send command R1I00 you will get response RIF8 F8 1111 1000 Read Digital Output Channels Command Format rea rr 8 bit Channel Hex Response Format ro te fe gt 8 bit data Hex TIOOMD amp MX PLC Chapter 4 Command Response Format Please refer to the Input Output vs Channel Number table described in the section 4 3 Read Digital Input Channels for details 4 5 Read Internal Relay Channels Command Format pese 245 8 bit Channel Hex Response Format e efis i lt o _ 8 bit data Hex Definition of Internal Relay Channe
66. nstalled this command forces he PLC to white the values of the TIME and DAE variables into the RIC module This command will be ignored by a PLC without the RIC module 4 32 Halting the PLC Command Format Response Format When the PLC receives this command it temporarily halts the execution of the PLC s ladder program after the curent scan However the PLC continues to scan the I Os and processes host link commands sent to it and will report the current I O data and intemal variables to the host computer 4 33 Resume PLC Operation Command Format Response Format When the PLC receives this command it will esume execution of the ladder program if it has been halted previously by the C2 command Otherwse this Command has no effect 4 13 T100MD amp MX PLC Chapter 4 Command Response Format Important Note The following Host Link Commands RA RXI RX WA WXI WX and Wb are available only on newest M series PLCs installed with CPU firmware version r47 amp above You can check your CPU firmware version by using the Controller gt Get PLC Hardware Info on the TRILOGI software 4 34 Read Analog Input r47 Firmware Only This command forces the PLC to refresh the value of its ADC data at the analog channel before retuming its value in the response sting ie no need for PLC to execute ADC n function to refresh the analog input Command Format Starting Analog Channel count Channel 01
67. nt RS232 port for connection to a host PC for programming or monitoring 13 One independent RS485 port for networking or for connecting to extemal peripherals such as LCD display and RS485 based analog VO cards etc 14 Industry Standard Protocols Both RS232 and R485 serial port simultaneously support multiple communication protocols as follow i Native ASCII based Host Link Commands ii MODBUS RIU protocols ili MODBUS ASCII Protocols iv OMRON C20H Host Link Commands 15 Watch Dog Timer WDT which resets the PLC if the CPU malfunctions due to hardware or software enor A system reset by WOT can be determined by the STATUS 1 command 1 2 Special Digital I Os Four of the first 8 ON OFF inputs of the TLOOM PLC can be configured as special inputs such as High Speed Counters Intemupts and Pulse Measurement Some of the first 8 outputs can also be configured as PWM and the stepper controller pulse outputs If these special I Os are not used then they can be used as ordinary ON OFF type I O in the ladder diagram Note that if two special functions share the same I O then only one of them can be active at any one time The location of these special I O are tabulated as follows 1 1 T100MD amp MX PLCs Chapter 1 Installation Special Inputs High Speed Counter Pulse Measurement 1 ee a ea e LI 5 Ch 2 PhaseA Ch 3 6 Ch 2 PhaseB Ch 4 ae cares e n A 7 a l regi e cia i Note A pi
68. ntage of using PWM is that you can easily amplify the drive current to a larger load such asa larger permanent magnet DC motor by using a power transistor or power MOSFET to boost the curent switching capability If the load is of different voltages and the load current is high you should use an opto isolator to isolate the PLC from the load as in Figure 1 4 Flyback Diode Bridge Rectifier 4V 4N35 12 24V DC Optoisolator Power Supply AC Source for PLC 220K bg OUTPUTS taba Eta acme cian ma eee N channel Power MOSFET Voltage divider to obtain approx e g IRF530 can sink 12A DC 10V DC at gate G For DC48V at up to DC100V max load choose R1 3 9K R2 1K Figure 1 4 PWM Speed Control of a large DC Motor T100MD amp MX PLCs Chapter 1 Installation Note a The opto isolator must be able to operate ata frequency matching that of the PWM frequency otherwise the resulting output waveform will be distorted and effective soeed contol cannot be attained b The simple PWM speed contol scheme described above is open loop type and does not regulate the speed with respect to changing load torque Closed loop speed control is attainable if a tachometer either digital or analog is used which feeds back to the CPU the actual speed Based on the error between the set point speed and the actual speed the software can then adjust the PWM duty cycle accordingly to offset speed variation caused by the varying
69. ny one or all of inputs 3 to 6 can be used as interrupt inputs when defined by the INTDEF statement The Interrupt inputs may also be defined as either rising edge triggered input goes from OFF to ON or falling edge triggered input goes from ON to OFF When the defined edges occur the defined CusFn will be immediately executed irrespective of the current state of execution of the ladder program Using Pulse Measurement Inputs TIO0M PLC provides a very straightforward means to measure the pulse width or frequency of a square wave pulse train arriving at ifs Pulse Measurement PM inouts 3 or 4 To use the input to measure pulse width or frequency execute the PMON statement to configure the relevant input to become a pulse measurement input Thereafter the pulse width in us or the pulse frequency in Hz can be easily obtained from the PULSEWIDTH n or PULSEFREQUENCY n function 24V Vernio id pap pe ag per aT NPN type Optical Sensor Input 3 T100MD PLC Figure 1 6 Setting Up a Simple Tachometer or Encoder Applications 1 One useful application of the PM capability is to measure the speed of rotation of a motor A simple optical sensor coupled with a rotating disk with slots fitted to the shaft of a motor see Figure 1 6 can be fabricated economically When the motor turns the sensor will generate a series of pulses The frequency of this pulse train relates directly to the rotational speed of the mo
70. o 07 Response Format 4 22 Write Timer Present Value P V Command Format y Timer1 00 New timer PV Timer64 3F Hex T100MD amp MX PLC Chapter 4 Command Response Format Response Format Please note that the timer number starts fom 00 which represent timer 1 01 represents tmer 2 and so on 4 23 Write Timer Set Value S V Command Format Timer1 00 New timer SV Timer64 3F Hex Response Format Note the 2nd characteris a lowercase m instead of the uppercase M of WM command 4 24 Write Counter Present Value P V Command Format Counter1 00 New PV Counter64 3F Hex Response Format 4 25 Write Counter Set Value S V Command Format Counter1 00 New Counter SV Counter64 3F Hex 4 10 T100MD amp MX PLC Chapter 4 Command Response Format Response Format Note the 2nd character is a lower case u instead of the upper case U of the WU command 4 26 Write Variable Integers A to Z Command Format A B C 2 8 Hexadecimal Digit for 32 bit integer Response Format Eg To assign variable K to number 56789 ODD5 send hostink Command WvIK00000DD5 4 27 Write Variable Strings A to Z Command Format w v faphabet a a ala 9 A B C Z ASCII characters of the string variable length Response Format Lane e ESE E g To assign the strin
71. o the PLC input 5 if you are resticted to select only MODBUS 1x address space then you will have to map the switch to 1 0005 and likewise you can map the switch to output 2 using MOBDUS address 1 0258 But if the driver allows the switch to be mapped to Ox space then you can use MODBUS register space 0 0005 and 0 0258 for the mapping with identical result WORD ADDRESS MAPPING As shown in Table 5 1 to access DM 1 from the PLC you use MODBUS address space 4 1001 and so on To access the Real Time Clock Hour data MME 1 use 4 0513 The I O channels can also be read or written as 16 bit words by using the addresses from 4 0001 to 4 0320 Some MODBUS drivers such as National Instument Looktout software even allow you to manipulate individual bit within a 16 bit word So it is also possible to map individual I O bit to 4x address space E g Input bit 1 can be mapped to 4 0001 1 and output bit 2 is mapped to 4 0257 2 etc This is how it is shown in Table 5 1 However if you do not need to manipulate the individual bit then you simply use the address 4 0001 to access the system variable INPUT 1 and address 4 0257 to access the system variable QUTPUT 1 Note that INPUT 1 and QOUTPUT 1 are TBASIC system variables and they each contain 16 bits that reflect the on off status of the actual physical input and output bits 1 to 16 Chapter 5 Modbus Omron Protocols Support 5 2 T100MD amp MX PLC Chapter 5 Mod
72. of COMM1 limits its physical maximum baud rate to 100kbps although its UART can work at up to 500K bits per second COMM3 can workat the higher baud rate of up to 500K bps 1 16 T100MD amp MX PLCs Chapter 1 Installation Baud No Table All numbers in Hexadecimal amp H00 to amp HFF zo z2n 72e 720 7B 9B DB FB 7D 9D DD FD 100K__ 08 48 68 88 C8 E8 18 58 78 98 D8 F8 250K 09 49 69 89 C9 E9 19 59 79 99 D9 F9 500K E g To setbaud rate of COMM3 to 19200 7 data bit 1 stop bit and even parity execute the statement SETBAUD 3 amp HC4 Important Since the two COMM ports are independent they can be set to different format and baud rate from each other Please note that if you change the baud rate orcommunication format to something that is different from that set in the TLServer then both the TLServer and TRILOGI will no longer be able to communicate with the PLC via this COMM port You will have to either configure the Servers serial port setting using its Serial Communication Setup routine to match the PLC oryou can cycle the power to the PLC to reset the COMM port to the default format 38 400 8 n 1 If you had used IstScan contact to activate the SETBAUD command than you will need to cycle the power to the PLC with DIP switch 4 set to ON to halt the execution of the SETBAUD command Also remember that when the PLC is re
73. ollow a RTC Error Green LED This indicator will be tumed ON after a power ON or WDT reset unless an optional battery backed MX RIC module has been installed This indicates that the real time clock RIC has been reset to some factory s pre set date and time The RIC Er flag in the Special Bit menu will also be tumed ON This indicator will be tumed OFF automatically after you have set the PLC s date and time using the Set PLC s Real Time Clock command in the Controller pull down menu b Pause Red LED This indicator will be tumed ON if one of the following occurred i PLC s EEPROM is conupted ii A PAUSE statement has been executed iii The user halts the PLC by pressing the lt P gt key during On Line Monitoring iv DIP Switch SW1 4 is tumed ON which halts the program 1 23 TIOOMD amp MX PLCs Chapter 1 Installation If this light is ON please connect the host computer running TRILOGI to the PLC and run the On Line Monitoring program You will be informed of the reason that caused the PAUSE condition Except for condition i and iv you can release the PLC from the PAUSE state by pressing the lt P gt key during On Line Monitoring If the PLC s EEPROM is corrupted then you must re transfer your program to the PLC again c Run Error Red LED When this indicator turns ON it shows that a run time error had occurred during execution of a TBASIC command The system wil
74. op Network 1 10 DIP Switches 1 11 CPU Status Indicators 1 12 Intemal Relays Timers amp Counters etc Chapter 2 Operating Procedure 2 1 2 2 2 3 2 4 2 5 Programming Simulation Transfering Program to PLC Errors and Problems On Line Monitoring amp Contol 2 5 1 Monitoring PLC s I O Logic States 2 5 2 Viewing and Modifying PLC s Intemal Variables 2 5 3 Force Setting Resetting I O Bits 2 5 4 Suspending PLC s Ladder Program Ladder Monitoring Get PLC s Hardware Info Set PLC s Real Time Clock Trouble Shooting Communication Enors Page 1 1 1 1 1 2 1 4 1 7 1 9 1 10 1 10 1 13 1 13 1 14 1 16 1 18 1 19 1 21 1 22 1 22 1 23 1 24 2 1 2 1 2 1 2 2 2 3 2 3 2 3 2 4 2 4 2 4 2 5 2 6 Table of Contents Chapter 3 Host Communication 3 1 Point to point Communication 3 2 3 2 Mult Point Communication System 3 3 3 2 1 RS485 Network Interface Hardware 3 4 3 2 2 Protection of R485 Interface 3 5 3 2 3 Single Master R485 Networking Fundamentals 3 6 3 2 4 Multi Masters R485 Networking Fundamentals 3 7 3 2 5 Command Response Block Format Multipoint 3 10 3 2 6 Communication Procedure 3 11 3 3 Shoud You Use Point to Point or Multi point Protocol 3 11 3 4 Trouble Shooting R485 Network 3 13 Chapter 4 Command Response Format 4 1 Device ID Read 4 1 4 2 Device ID Wite 4 1 4 3 Read Input Channels 4 1 4 4 Read Output Channels 4 2 4 5 Read Relay Channels 4 3 4 6 Read TimerContacts 4 3 4 7 Rea
75. owing Function Codes are supported 01 02 Read I O bit Use Bit Address Mapping in Table 5 1 03 04 Read I O Word registers Force I O Bit Use Bit Address Mapping in Table 5 1 16 06 PresetSingle Word Register 16 Preset Multiple Word Registers The exactcommand response format of the MODBUS protocol can be found at http www modbus org However if your only purpose is to interface the PLC to other MODBUS host such as LCD touch panel or SCADA software then there is no need to know the undenying protocol 5 1 TIOOMD amp MX PLC command format All you need to know is which PLC s system Variable is Mapped to which MODBUS register as shown in Table 5 1 BIT ADDRESS MAPPING All the M series I O bits are mapped identically to both the MODBUS Ox and 1x space The bit register offset is shown in the last column of Table 5 1 Although MODBUS name the Ox address space as Coil which means output bits and the 1x address space as Input Status which means input bits only the TLOOM PLCs treat both spaces the same Some MODBUS drivers only allow read from Ox space and write to 1x space but you still use the same offset shown on Table 5 1 Example 1 To map a lamp symbol to PLC Input 5 you select the MODBUS register address 0 0005 You can also map a lamp symbol to the PLC s output 2 In that case you should map it to MODBUS register address 0 0258 2 To map a toggle switch symbol t
76. re 1 Your program has changed the serial port setting to other than 8 data bit 1 stop bit and no parity Or you have change the baud rate to values not supported by TL Server 2 You are executing PRINT OUICOMM NET MD READMODBUS or WRITEMODBUS on the same COMM port which TRILOGI connects to TRILOGI reports a comm enor when it receives data that is different from the expected response from the slave To fix the above situation tum ON DIP Switch SW1 4 and reset the PLC change the Baud rate setting in Serer to 9600 and attempt to communicate with the PLC again If you are able to communicate with the PLC then the problem must definitely be caused by some offending codes in your TRLOGI program Corect the enor and re transfer the program before tuming OFF DIP SW1 4 and change TLServer baud back to default 38400 bps 2 6 Chapter 3 Host Communication While a TLOOMD or TLOOMX PLC is running a host computer or another TLOOM PLC this abbreviation is used to refer to both the TLOOMD and TLOOMX in this manual may send ASCII sting commands to it to read or write to its inputs outputs relays timer counters and all the intemal variables These ASCII commands are known as the host link commands and are to be senally transmitted via RS232C or RS485 port to and from the controller The default serial port settings of TLOOM PLC for hostlink communication are 38400 baud 8 data bit 1 stop bit no parity The baud rate and the
77. scan Hence the locaton of a logic element within the ladder diagram is important because of this sequential nature of the program execution When scanning the ladder program the CPU uses some intemal memory variables to represent the logic states of the inputs obtained during the last VO refresh cycle Likewise any changes to the logic state of the outputs are temporanily stored in the output memory variable not the actual output pin and will only be updated to the physical output during the next I O refresh You may see that any changes to the input logic state will only be noticed by the CPU when it has completed the current scan and starts to refresh its input variables The input logic state must also persist for at least one scan time to be recognized by the CPU In some situations this may not be desirable because any response to the event will take at least one scan time ormore An intenupt input on the other hand may occur randomly and the CPU will have to immediately suspend whatever it is doing and start servicing the intenupt Hence the CPU responds much faster to an intemupt input In addition intenupts are edge tiggered meaning that the intenupt condition occurs when the input either changes from ON to OFF or from OFF to ON Consequently the input logic state need not persist for longer than the logic scan time forit to be recognized by the CPU 1 9 TIOOMD amp MX PLCs Chapter 1 Installation 1 7 A
78. set this way its COMM1 will power up at 9600 bps only so you will need to temporarily configure TServers serial port to 9600bps to communicate with it If you need to re access the port using TRILOGI then you will need to reset the PLC with DIP switch 4 set to ON so that the program will not execute a SETRAUD command 1 9 4 Support of Multiple Communication Protocols The TLOOM PLC is a real communication wizard It has been designed to understand and speak many different types of 1 17 TIOOMD amp MX PLCs Chapter Installation communication protocols some of which are extremely widely used de facto industry standard as follows a NATIVE HOST UNK COMMAND b MODBUS ASCII Trademark of Groupe Schneider c MODBUS RTU Trademarkof Groupe Schneider d OMRON C20H protocols Trademark of Omron Corp of J apan The command and response formats of the NATIVE protocols are described in details in Chapter 3 amp 4 The other protocols and their address mapping to TLOOM are described in Chapter 5 The two independent COMM ports 1 amp 3 support all the above protocols Each COMM port can communicate using the same or different protocols independent of the other The most wonderful feature of TLOOM PLC is that the support of all the above mentioned protocols can be fully automatic and totally transparent to the users There is no DIP switch to set and no special configuration software to run to configure the port for a sp
79. sible to have multiple masters on a single R485 network provided the issues of collision and arbitration are taken care of There are several means to achieve these objectives 1 Multiple Access with Collision Detection There is nothing to stop any PLC from sending out host link commands to other PLCs However If more than one PLC simultaneously enables their transmitters and send out host link commands then the signals wil conflict and the messages will be garbled up If the network traffic is low 3 7 T100MD amp MX PLC Chapter 3 Host Communication then the solution may be a matter of having the master check for the conect response after sending out a command string If there is enor in the response sting the master should back off the network for a short while use different timing for different PLCs and then re send the command until a corect response string is obtained This scheme is similar to the CSMA CD Camer Sensing Multiple Access C ollision Detection commonly used in Ethemet Fortunately the NETCMD function of TLOOM PLC automatically senses the RS485 lines until they are free before sending out the command sting to reduce the chance of a collision It also checks the integrity of the response string for comect FCS Frame Check Sequence characters before retuming the string Please refer to the Programmers Reference for detail description of the NETIC MD function However the program must still c
80. so known as nul modem cable to connect them as shown in figure 1 10 If the modem only has a DB25 connector you Can connect the wires as shown in the following diagram T100MD COMMI1 Female DB9 Modem Female DB25 Figure 1 11 Connecting TLOOMD COMMI to a modem s DB25 port Note that pin 6 DSR and pin 20 DTR at the modem end are tied together This is often required to inform the modem that the device is ready for operation so that the modem can work properly A modem may also be connected to COMM3 for multi drop remote programming and monitoring using TRILOGI 5 x software However you will need to purchase an auto tuma round type RS232 to RS485 converter such as the Auto485 b Programming Please refer to the Intemet TRILOGI version 5 2 Programmers Reference guide Chapter 3 for programming details for the PLC to communicate with the PC via modem 1 21 T100MD amp MX PLCs Chapter 1 Installation 1 9 7 Constructing a 2 Multi drop Network For complex distibuted applications the built in RS485 port may be required for intemal networking between PLCs for data exchange Yet some or all the PLCs may need to be connected to a SCADA system or MMI It is possible to constuct a second multi drop network around the PLC COMM port 1 However this will require a 4 wire RS485 or RS422 constuction since the PLC COMM port 1 does not have built in signal to enable disable the transmitter and receiver of an RS485 dr
81. sponse Format 4 15 Read Variable System Variables This command allows you to read all the M series PLC s 16 bit system variables such as the inputs outputs J relays counters timers timers P V counters P V CLK and DATE Although inputs outputs etc are also accessible via the RI RO RR commands the RVS command can access them as 16 bit words instead of as 8 bit bytes in those commands For the 32 bit system variable HSCPV use the RVH command described in the next section to access it It may be more conventonal for some SCADA software driverto use a single header command RVS to access all the I O varying only the type numberto access different I O types The RVS command also can be used to access the intemal variables used to store ADC DAC and PWM values obtained during the latest execution of the ADC setDAC or setPWM statement These are however not system variables in TBASIC sense Eg it is illegal to use ADC 2 to access the ADC channel 2 in TBASIC you have to use the ADC 2 function instead An 8 bit hexadecimal number is used to denote the type of system variable as shown in the following table Variable Variable cid 08 datel 09 0A rs Joal ADC OB timer 04 timer 06 PWM OD CHUPM 07 Nota system variable in TBRASIC Command Format R Jv s on n ie 1e D wee P y t
82. t Chapter 5 Modbus Omron Protocols Support Command Type Level of Support a TEST b STATUS READ c ERROR Read d IR Area READ RR Full support 0000 to 1000 amp TC Status READ f DM AREA READ RD Fulisuppot h Status Write Dury ewas OW ooo always OK IR Area WRITE Full Support o lt OOOO O O HR AR LR Area WH WJ Dummy always OK amp TC Status WRITE WL WG KRCIO Dummy for other areas for Channel or Bit QQIR Dummy for other areas always 0000 Some OMRON host link commands are described in Section 4 45 For other commands please refer to Omron C20H C40H PLC Operation manual published by OMRON Corporation If your purpose is only to use the PLC s OMRON mode with SCADA or HMI then there is no need to leam the actual command response format Application Example Interfacing to SCADA Software SCADA software or MMI systems also known as LCD Touch Panels nomally use object oriented programming method Graphical objects such as switches indicator lights or meters etc are picked from the library and then assigned to a certain I O or intemal data address of the PLC When designing a SCADA system first you need to define the PLC type You can choose the MODBUS ASCII MODBUS RTU or OMRON C20H Once a graphical object has been created you will need to edit its connection and at this point you will be presented with a selection table that corespond to the memory map of that PLC type Example 1
83. t while and then tuming it on again and so on in accurate time intervals This can be illustrated in the following diagram Load yoo Vru The average voltage seen by the load is detemined by the duty cycle of the PWM wave fom The duty cycle is defined as follow a Duty Cycle rem 100 Period a b Frequency 1 period Hz 1 4 T100MD amp MX PLCs Chapter 1 Installation Average voltage duty cycle multiplied by the full load voltage Vi Since the voltage applied to the load is either Fully ON or Fully OFF it is highly efficient because the switching transistors are working in their saturated and cut off region and dissipate very litte power when it is fully tumed ON or OFF Technical Specifications No of Channels a Duty Cycle range 0 00 to 100 00 Actual Resolution Available Frequencies Hz 16 32 63 250 500 2000 8000 and 32000 Hz Relevant TBASIC commands setPWM The frequency of the PWM waveform can also be varied TLOOM supports the following frequencies 16 32 63 250 500 2000 8000 and 32000 Hz Usually it is better to select as high a frequency as possible because the resulting effect is smoother for higher frequencies However some systems may not respond properly if the PWM frequency is too high in such cases a lower frequency should be selected The TRASC setPwM statement controls the frequency and duty cycle settings of the PWM channel The TLOOM PLC featur
84. the controller The entire communication session is depicted in Figure 2 1 After the controller has received the command it will send a response block back to the host computer and this completes the communication session If the controlleraccepts the command the response block will start with the same header as the command followed by whatever information that has been requested by the command and the terminator 3 2 TIOOMD amp MX PLC 3 2 Host Computer The M series PLC Send Ctrl E 05H and wait for echo Ready to process command return Ctrl E 05H Send Command string to controlle Wait for response Execute command Return Response string to host Accept Response Check for errors Figure 3 1 If an unknown command is received or if the command is illegal such as access to an unavailable output or relay channel the following error response will be received Error Response Format Enaz The host computer program should always check the retumed response for possibiliies of enor in the command and take necessary actions MULTI POINT COMMUNICATION SYSTEM In this system one host computer may be connected to either a single TLOOM via either RS232 or R485 or multiple TLOOM PLCs on an RS485 network Chapter 3 Host Communication TIOOMD amp MX PLC Chapter 3 Host Communication 3 2 1 RS485 Network Interface Hardware The built in RS 485 interface allows the T
85. tng and debugging your ladder logic program prior to the installation of the hardware Programming and debugging time can be greatly reduced if you make good use of the simulator feature to eliminate as many logic errors as possible before testing the program on the actual hardware It also helps to reduce the chances of costy damage to the machine due to programming eror Transferring Program to the PLC Once you are satisfied with the TRILOGI simulated scenarios retum to the ladder logic editor by pressing the lt ESC gt key To transfer the ladder program to TLOOMD first connect the PC s serial port to COMM1 of the PLC and then tum on its power supply You may press lt Ctr T gt on the keyboard or open the Controller pul down menu and select item Program Transfer TRILOGI will query the target controller to obtain its maximum number of inputs outputs etc TRLOGI will recompile the ladder program to ensure that these limits are not violated When compilation is successful the compiled code will be tansferred to the TLOOMD PLC in within seconds 2 1 T100MD amp MX PLC Chapter 2 Operating Procedure After the program has been successfully tansfered you will be prompted to indicate if you wish to clear all outputs relays timers counters and all the intemal system variables to OFF A program that is suc cessfully transferred will be executed at once If you do not want the program to execute immediately you may tum ON DIP
86. tor and can be used to provide precise soeed control Note that the above setup can also double as a low cost position feedoack encoder when used with the high speed counter since the number of pulses counted can be used to determine the displacement 2 Some transducers incorporate Voltage Controlled Oscillator VCO type of outputs that represent the measured quantities in terms of varying 1 10 T100MD amp MX PLCs Chapter 1 Installation frequency of the output waveform Such transducers may be used conveniently by TLOOM PLCs using the pulse measurement capability However the frequency of such signal must be below 10 000 Hz 3 For an application that requires measurement of the frequency of a high speed counter you will need to feed the pulse inputs into both input 3 and Input 5 In this case HSC 2 is used together with PM 1 to count the input pulses as well as measure its frequency This is because an input pin that has been defined as High Speed Counter Cannot simultaneously be defined as Pulse measurement pin If you execute both the HSC DEF 1 and PMON 1 in the same program the last executed command will take precedence 1 8 Analog I Os A D Electric al C haracteristic s No of A D channel 4 to 8 depending on the model Resolution 10 bit Built in Sample amp Hold Yes Conversion Time 10us perchannel D A Electrical C harac teristics No of A D channel 1 or2 depending on the model Resolution 8 b
87. ving this command the PLC updates the value of its DAC data at the analog output channel i e no need for PLC to execute SETDAC to update the analog output Command Format wafanane e r re ie ie 16 6 o P _ fa Starting Analog channel DAC output data DAC output data channel 01 02h count for 1 channel for subsequent ch Response Format Sn channel count Hex 4 15 TIOOMD amp MX PLC Chapter 4 Command Response Format 4 38 Write EEPROM Integer Data r47 Firmware Only Command Format eel Starting EEPROM count Hex data for starting Address 0001 xxxx 01 20h EEPROM address COMGE data for subsequent EEPROM addresses Response Format Maximum allowable word count percommand is 32 01 to 20 Hex 4 39 WRITE EEPROM String Data r47 Firmware Only Command Format w x s n n n n efa a jo as _ l EEPROM String ASCII characters Address Hex max 40 characters Response Format w x s 9 E g To wite the sting data Hello TRi at EEPROM String address 12 send hostlink command Rx 000CHello TRi 4 40 Force Set Clear Single I O Bit r47 Firmware Only This new Wbnnnnxx command allows you to change a single I O bit on the PLC You can force set or clear any single input output relay timer or counter bit This has advantage over other write commands such as WI WO etc that affects the entire group of
88. will only be one master on the network and no conflict will occur as a result Pros and Cons This method is the easiest to program since there is no need to handle the token with the token master or perform extensive enor check on the response string However this method uses one input of each PLC and as many outputs on the mastersignal generator PLC as there are PLC masters It also requires wiring the PLCs to the mastersignal generator PLC and hence is the most costly method of all 3 9 TIOOMD amp MX PLC Chapter 3 Host Communication 3 2 5 Command Response Block Format Multi point Device ID Header Data FCS Terminator Each command block starts with the character and two byte hexadecimal representation of the controllers ID 00 to FF and ends with a two byte Frame Check Sequence FCS and the terminator FCS is provided for detecting communication errors in the senal bit stream If desired the command block may omit calculating the FCS simply by putting the characters 00 in place of the FCS Note we call 00 the wildcard FCS which is available when the PLC is in auto protocol mode This is to facilitate easy testing of mult point protocol However the wildcard FCS is disabled if the PLC has executed the SETPROTOCOL n 5 to put its COMM port n into pure native mode In that case you will have to supply the actual FCS to yourcommand sting Calculation of FCS The FCS is 8 bit data repres
89. y the communication baud rate communication format or protocol or sending data out of a COMM port that conflicts with TRILOGI In such cases 1 22 TIOOMD amp MX PLCs Chapter Installation you can tum ON DIP Switch SW1 4 and perform a poweron reset for the PLC The PLC will not execute the bad program that causes communication problem and you can then transfer a new program into the PLC to clearup the problem Note that when the PLC is power reset with DIP Switch 4 set to ON it s default baud rate and communication format for COMM1 becomes 9600 8 n 1 COMM3 is not affected You will need to manually change the TServers serial port settings to 9600 n 8 1 in order to communicate with the PLC after a powerreset with DIP Switch 4 set to ON Remember to switch back to 38 400 after you have cleared the offending PLC program otherwise if the PLC is again power reset with DIP Switch 4 tumed OFF you will face problem communicating with it again because this time it would assume a baud rate of 38 400 1 11 CPU Status Indicators There are three LED indicators on 00 TLOOMD with the markings shown on the right TLOOMX has a fourth a indicator named MDT which indicate a Watch Dog Timer reset All these indicators will be lighted up during poweron when the CPU loads the PLC program from EEPROM Thereafter they should go off and if any one of them remains lighted it represents the various operating status of the PLC as f
90. ype Index type 01 to OD denote the type of system variable to access index 01 to 1F indexinto the anay starting from O1 Response Format PR v s 16 16 161 160 S 4 Hexadecimal Digit for 16 bit integer TILOOMD amp MX PLC Chapter 4 Command Response Format Example To read the value of DATE 2 which represents the month of the RIC send command Rvs0902 and if the PLC responds with RvS0005 it means the month is May 4 16 Read Variable High Speed Counter HSCPV Command Format asl cdi Channel 1 or 2 Response Format GGI 8 Hexadecimal Digit for 32 bit integer E g To read the value of HSCPV 2 send hostlink command RvH2 If variable HSCPV 2 contains the value 123456 1E240 PLC will send the response sting as RVH0001E240 4 17 Write Inputs Command Format IEEE Channel Data 00 to OF Response Format PETE TTL 4 18 Write Outputs Command Format w oia on refi 3 m Channel Data 00 to OF Response Format ue Pose 4 8 T100MD amp MX PLC Chapter 4 Command Response Format 4 19 Write Relays Command Format pw R no n fie te o Channel Data Response Format ares 4 20 Write Timer contacts Command Format Channel Data 00 to 07 Response Format 4 21 Write Counter contacts Command Format Channel Data 00 t

T100MD+ PLC User`s Manual - Triangle Research International

Contents

Download Pdf Manuals

Related Search

Related Contents