User`s Manual for the HE150RTU100
Contents
1. Figure 1 1 HE150RTU100 1 5 Jumper Settings The HE150RTU100 is equipped with several hardware jumpers JP1 JP3 JP5 and JP6 are factory configured jumpers The user should not modify these jumpers Changing any of the pre configured jumpers may cause the module to malfunction Table 1 2 Jumper Setting JP1 Short pins 2 and 3 to enable watchdog recommended Short pins 1 and 2 to disable watchdog JP2 Short to apply 5VDC to the RS 485 port JP3 Hitachi module ID code Short pins 3 and 4 for CPU Link module JP4 NV RAM density Short pins 1 and 2 for 64k or 128k open for 32k JP5 Short pins 1 and 2 to cause MPU port 1 bit 1 to read back as a 0 JP6 Short pins 1 and 2 to allow the PLC to reset the module by asserting a back plane reset signal If open the module is reset by power cycle or watchdog JP2 enables and disables the 5 VDC power supply on pin 5 of the 15 pin auxiliary port If this jumper is installed 5 VDC is supplied to pin 5 STOP Do not connect pin 5 of the auxiliary port to pin 5 on the PLC programming port with JP2 installed If these pins are connected with this jumper installed DAMAGE WILL BE CAUSED TO BOTH THE PLC POWER SUPPLY AND THE ASCII BASIC MODULE JP4 sets the RAM density Short pins 1 and 2 for 64k or 128k open for 32k This jumper needs to be changed if additional memory is added CHAPTER 2 INSTALL CONFIG 5 Nov 1998 PAGE 9 CHAPTE2. 0005 with an arithmetic block in the PLC Baud rates of up to 115 2K are supported in either ASCII or modes Note that there are limitations in the number of stop bits and parity selections 1 2 Specifications Table 1 1 HE150RTU100 Specifications Mounting Requirement One I O slot in BSH rack Power Requirements 170mA O 5VDC 0 to 60 C 32 to 140 F 0 to 95 humidity non condensing Operating Environment User Memory Dual port 1 024 words 2 048 bytes Communications One BS A One RS 485 port Protocol MODBUS Speed 300 to 115 200 Baud Modes RTU or ASCII 1 3 System Requirements The HE150RTU100 Module requires a I O slot in a BSH rack follow directions in the PLC manual for module insertion and removal b One H 252 H 252B or H 252C CPU c Programming software for the PLC Actsip H ActWin or other 1 4 Physical Layout Two important precautions should be observed while handling the module 1 Never insert or remove the module into or out of the PLC unit while power is applied to the back plane If this practice is repeated the module WILL eventually BE DAMAGED 2 Always observe reasonable static discharge precautions while handling the module Touch a grounded metal surface to discharge any static build up before touching the module CHAPTER 1 INTRODUCTION 5 Nov 1998 PAGE 8 RTU Slave Module O pcs Horner Electric TXA O
3. Request To Send Output 15 CTS Clear To Send Input CHAPTER 3 OPERATION 5 Nov 1998 PAGE 13 3 3 Frame Protocol RTU mode sends each byte of information in binary form thus requiring 8 bits of transmitted data ASCII mode divides a byte of information into two nibbles of 4 bits each and then transmits each nibble as a 7 bit hexadecimal character Therefore ASCII mode uses twice as many transmitted characters however debugging with printable ASCII characters can be much easier Therefore setting the mode to either ASCII or indirectly sets whether the data size to 7 or 8 bits In addition to the mode the baud rate parity and the number of stop bits must be set to that used the bus All these parameters are changeable with software configuration Note The following frame protocol combinations are NOT valid for the HE150RTU100 and should NOT be used as the bus frame protocol ASCII mode 1 Stop Bits and No Parity This combination requires 2 stop bits before the HE150RTU100 accepts any characters and thus is invalid RTU mode 2 Stop Bits and either Even or Odd Parity This combination generates only 1 stop bit which may or may not effect the application s reception of characters and thus is invalid 3 4 Handshaking The HE150RTU100 provides five 5 different handshaking modes to provide for multi drop configurations or to limit data flow back to masters with hardware software limitations T
4. The slave ignores all messages that have invalid checksums and assumes the master has received any responses sent It is the Master node s responsibility to provide time out and retry provisions Before the HE150RTU100 responds appropriately to Modbus commands it must be configured to the frame protocol used on the bus This includes items such the media RS 485 RS 232 or Modem frame protocol such as ASCII or RTU baud rate parity and stop bits and finally optional handshaking 3 2 Port Selection Either RS 232 or RS 485 may be used for communications through the software configuration The LED s on the front panel monitor activity on these ports See Figure 1 1 Table 3 1 Port 1 RS 232 Pin Signal Name Direction 1 DCD Always High Output 2 TXD Transmit Data Output 3 RXD Receive Data Input 4 No Connection N A 5 GND Signal Ground N A 6 DSR Always High Output 7 CTS Clear To Send Input 8 RTS Request To Send Output 9 RI Always High Output Table 3 2 Port 2 RS 485 Pin Signal Name Direction 1 Not Used 2 Not Used 3 Not Used 4 Not Used 5 PWR 5 VDC Power N A 6 RTS Request To Send Output 7 GND Signal and Power Ground N A 8 CTS Clear To Send Input 9 TERM Termination Input 10 RXD Receive Data Input 11 RXD Receive Data Input 12 TXD Transmit Data Output 13 TXD Transmit Data Output 14 RTS
5. Invalid reference or size exceeded table bounds 03 Illegal data value Not valid data for a particular reference 04 Failure in device Valid configuration identifier lt gt CHAPTER 4 WIRING 5 Nov 1998 PAGE 17 CHAPTER 4 WIRING 4 1 RS 232 Connections RS 232 Port External Modem 9 pin D sub 25 pin D sub Figure 4 1 RS 232 to Telephone Modem HE693RTM705 M M Md m RS 232 Port 25 pin D sub HE693RTM705 85 232 Port 25 pin D sub u 9 pin D sub Figure 4 2 HE150ETN150 to HE693RTM705 Modbus Master Port 1 CHAPTER 4 WIRING 5 Nov 1998 PAGE 18 4 2 RS 485 Connections HE693RTM705 Modbus Master RS 485 Port Pone 15 pin D sub 25 pin D sub RT 24 RD B 25 RD A 13 SD B 21 SD A 9 RTS B 22 RTS A 10 CTS B 23 CTS A 11 07 7 RS 485 Port 15 pin D sub Figure 4 2 HE150ETN150 to HE693RTM705 Modbus Master Port 1
6. not respond to the CTS line within a specified period the transmit buffer is flushed CTS is dropped and the frame is lost See section 2 3 to set the modem TAT CHAPTER 3 OPERATION 5 Nov 1998 PAGE 14 3 5 DCS Active Detection The HE150RTU100 provides the capability to optionally monitor the activity from the Modbus master Should that activity drop off a bit is set in both the DCS Status Bit as specified in WL0004 and the Modbus exception status byte furthermore the DCS LED begins to flash at a 1 second intervals This provides a method for the CPU maintenance operator to determine if the master is functioning properly The DCS Status Bit and the DCS LED is reset immediately when communications with the master is restored The bit in the Exception status byte remains set until after the Modbus Read Exception command is received To enable this feature set the DCS Time out WL0003 with the amount of time the HE150RTU100 waits after the last communication with the master before setting the DCS Status Bit and flashing the DCS LED Time out value must be between 1 to 320 seconds Setting DCS Time out to 0 disables this feature Note When setting DCS Time out the DCS Status Bit WL0004 must also be set If specified L register in WLO0004 is invalid i e above 3FFF or in the CPU write area between TOP and END the DCS Time out function is disabled 3 6 Front Panel Diagnostic LED s Referring to Figure 1 1 RXA an
7. obligation of HE APG under this warranty shall be limited to the repair or exchange of any part or parts which may prove defective under normal use and service within two 2 years from the date of manufacture or eighteen 18 months from the date of installation by the original purchaser whichever occurs first such defect to be disclosed to the satisfaction of HE APG after examination by HE APG of the allegedly defective part or parts THIS WARRANTY IS EXPRESSLY IN LIEU OF ALL OTHER WARRANTIES EXPRESSED OR IMPLIED INCLUDING THE WARRANTIES OF MERCHANTABILITY AND FITNESS FOR USE AND OF ALL OTHER OBLIGATIONS OR LIABILITIES AND HE APG NEITHER ASSUMES NOR AUTHORIZES ANY OTHER PERSON TO ASSUME FOR HE APG ANY OTHER LIABILITY IN CONNECTION WITH THE SALE OF THIS Modbus Slave THIS WARRANTY SHALL NOT APPLY TO THIS MODBUS SLAVE OR ANY PART THEREOF WHICH HAS BEEN SUBJECT TO ACCIDENT NEGLIGENCE ALTERATION ABUSE OR MISUSE HE MAKES NO WARRANTY WHATSOEVER IN RESPECT TO ACCESSORIES OR PARTS NOT SUPPLIED BY HE THE TERM ORIGINAL PURCHASER AS USED IN THIS WARRANTY SHALL BE DEEMED TO MEAN THAT PERSON FOR WHOM MODBUS SLAVE IS ORIGINALLY INSTALLED THIS WARRANTY SHALL APPLY ONLY WITHIN THE BOUNDARIES OF THE CONTINENTAL UNITED STATES In no event whether as a result of breach of contract warranty tort including negligence or otherwise shall HE APG or its suppliers be liable of any special consequential incidental or penal damages including but not limite
8. 0AH 2 Stop Bits No Parity RS 232 Port Port Parameter RTU Mode WLO001 20497 or 5011H No Handshaking 9600 Baud Radio Modem Turn Around Time Disabled WL0002 0 DCS Time out 60 seconds WL0003 60 or 3CH DCS Status Bit use L1000 WL0004 4096 or 1000H Valid configuration present identifier WLO005 42405 or CPU Settings WL1 TOP 0000 END OOFF Setting WL0000 to WL0005 is generally accomplished using an arithmetic block as shown in Figure 2 2 Figure 2 2 Arithmetic Block Example WLOO00 WLOOO1 WL0002 WLO0003 WLO004 WLO005 Note WL0005 must be set not equal to ASA5H and then equal to any time the configuration is changes for the new configuration to take effect CHAPTER 3 OPERATION 5 Nov 1998 PAGE 12 CHAPTER 3 OPERATION 3 1 Modbus Protocol Modbus is a master slave protocol that supports on a common bus one master and up to 247 slaves Note that when RS 485 is used for Modbus it is typically limited to 32 units As a Modbus slave the HE150RTU100 must be assigned a unique address Address O is reserved for broadcasting a message to all nodes The HE150RTU100 processes broadcast messages but no response packet is returned The Modbus master issues a command to start the transaction The command contains a unit address specifying the slave to respond The slave processes the command and returns a single response Message integrity is assured through use of checksums included in the messages
9. 100 specific Diagnostic Codes 01 and 02 3 8 Modbus Responses Modbus commands and responses consist of message frames that contain the following information a Slave Address b Function Code C Data d Error Check Code If the address in a Modbus command matches a slave address and the received data is validated by the slave with the Error Check Code then that slave executes the indicated function The slave then issues a response based on that function Alternately if an address of O broadcast in the Modbus command all Modbus slaves execute the command however in this case no slave issues a response Note that only CHAPTER 3 OPERATION 5 Nov 1998 PAGE 16 Function Codes of 5 6 15 16 72 and some sub functions of Function 8 may be broadcast A normal response contains the same slave address and function code as the request however the individual data field s may vary according to the function If the Modbus slave detects an error either internally or in the command parameters the command is not executed and an Exception Response is returned An exception response is indicated by setting the high bit in the returned function code and returned data byte describing the exception The HE150RTU100 supports the standard Exception codes listed below Table 3 6 Exception Codes Code Name Description 01 Illegal function Invalid command function was sent 02 Illegal data address
10. 17 4 2 RS 485 Gonnections tu l uu iere beet a 18 PREFACE 5 Nov 1998 PAGE 6 CHAPTER 1 INTRODUCTION 5 Nov 1998 PAGE 7 CHAPTER 1 INTRODUCITON 1 1 General Congratulations on your purchase of the Horner Electric s Modbus Slave for the Hitachi H 252 series The HE150RTU100 is a Modbus slave module that allows Modbus communications on either RS 232 or RS 485 The HE150RTU100 allows a Modbus master to access 252 series PLC reference data as though it were Modbus I O This data may be accessed using standard Modbus commands such as Read Force Coils and Read Preset Registers The data accessible on the 252 series PLC is the CPU Link data area Data in the CPU Link area may be accessed from the PLC by either word or bit accesses Likewise when accessing that data though Modbus an analogue command will reference the associated WL word data and a discrete command will reference the associated L bit data Read and Write packets of up to 2000 discrete or 125 analogue values are supported Message reception LED s and Modbus Diagnostic and Exception commands are also supported to provide easy set up and troubleshooting Also provided to the PLC 15 a time out indicator DCS active which indicates a break in communications with the Modbus master Configuration of the port operation and associated frame protocol parameters are easily accomplished by setting 6 Link words WL0000 through
11. 50RTU100 must start at WLOO00 Top and end at or above WL0005 End This 6 word area must be updated by the PLC with the port configuration parameters for the HE150RTU100 If additional write area is for the CPU link area is continued immediately above the configuration link words by extending the End parameter Furthermore use care notto overwrite the configuration link words during operation The HE150RTU100 continuously monitors WLOOO0 to WLOOO5 for the initial configuration and any changes thereafter The HE150RTU100 reconfigures the Modbus port any time the Valid configuration present identifier word WL0005 changes from a value not equal to A5A5H to a value equal to Note At start up and when the identifier word is not equal to A5A5H the DCS light remains lit solid to indicate that the HE150RTU100 is not configured Additionally if the port was previously configured and the identifier word is changed from A5A5H Modbus requests will return a Device Error The following specifies the format of the Configuration Link words Table 2 1 Configuration Link Words Link Word Description Options WLOOOO Slave Station ID 1 to 247 WL0001 Port Parameter See Table 2 2 WL0002 Radio Modem Turn Around Time ms 0 to disable 1 to 1000 WLO003 DCS Time out seconds 0 to disable 1 to 320 WLO004 DCS Status Bit set if loss of Any Link bit above END i e L1000 communication with Master
12. HORNER APG User s Manual for the HE150RTU100 Modbus Slave for the Hitachi 252 Series First Edition November 05 1998 MANO121 E 01 PREFACE 5 Nov 1998 PAGE 3 PREFACE This manual explains how to use the Horner APG Modbus RTU slave for the Hitachi H 252 Series Copyright O 1998 Horner APG LLC 640 North Sherman Drive Indianapolis Indiana 46201 All rights reserved No part of this publication may be reproduced transmitted transcribed stored in a retrieval system or translated into any language or computer language in any form by any means electronic mechanical magnetic optical chemical manual or otherwise without the prior agreement and written permission of Horner APG LLC All software described in this document or media is also copyrighted material subject to the terms and conditions of the Horner Software License Agreement Information in this document is subject to change without notice and does not represent a commitment on the part of Horner APG LLC Hitachi is a trademark of Hitachi Corporation For user manual updates contact Horner APG Technical Support Division at 317 916 4274 or visit our website at www heapg com PREFACE 5 Nov 1998 PAGE 4 LIMITED WARRANTY AND LIMITATION OF LIABILITY Horner APG LLC HE APG warrants to the original purchaser that the Modbus Slave manufactured by HE is free from defects in material and workmanship under normal use and service The
13. R 2 INSTALLATION AND CONFIGURATION 2 1 Basic Module Installation Remove power to the CPU Base Install the HE150RTU100 module in a free slot see limitations below Configure the PLC CPU Link Parameter and I O slot type as Link Insert a block in the PLC program to initialise the 6 configuration Link words WLO to WL5 Connect the Modbus master to the appropriate port Start Modbus master application Qx Or qoo cs 2 2 PLC Configuration for Module The HE150RTU100 is a CPU Link type module see Hitachi manuals for more information Up to two link type modules can be placed in a higher function base with a CPU module Do not place the HE150RTU100 in an expansion base Each installed link type module requires configuration information to be entered into the PLC though a programming device This information contains the position and type of module in the base and the link parameter which defines the output area used by the HE150RTU100 Two data areas are reserved in the PLC for up to two CPU Link modules Each area is dedicated to its associated CPU Link module and is 1 024 words wide Each data area is also dividable though PLC set up into an input and output section The area designated as output is continuously transferred from the PLC to the HE150RTU100 The area designated as input is continuously transferred from the HE150RTU100 to the PLC Therefore the PLC program blocks must reference data elements in the area designated as ou
14. WLO005 Valid configuration present identifier A5A5H for valid configuration Anything else for invalid configuration Table 2 2 Configuration Link Word WL0001 Link Bit Description Options 0010 Stop Bits 0 1 Stop Bit 1 2 Stop Bits 0011 Use Parity Bit 0 Parity Bit 1 Parity Bit 0012 Type of Parity 0 Odd Parity 1 Even Parity 0013 Port 0 RS 232 1 RS 485 0014 Modbus Transfer mode 0 ASCIl Mode 1 RTU Mode 0015 Not Used 0 0016 Not Used 0 0017 Not Used 0 0018 0 1 Software 2 Hardware 0019 i Pangena ng 3 Multi drop 4 Radio Modem 001A Not Used 0 0018 Not Used 0 001C 0 300 4 4800 8 28 800 001D 1 600 5 9600 9 38 400 001 Port Baud Rate 2 1200 6 14400 57 600 001F 3 2400 7 19 200 B 115 200 CHAPTER 2 INSTALL CONFIG 5 Nov 1998 PAGE 11 2 4 Configuration Example The following configuration sets up the HE150RTU100 at slave station ID 12 The protocol properties are RS 232 9600 baud 2 stop bits no parity and no handshaking The modem TAT is disabled DCS is enabled with a delay of 60s and L1000 is used as the DCS Status Bit The CPU write space is set to WL0000 to WLOOFF The HE150RTU100 is placed in slot 3 and can write from WLO100 to WLO3FF Table 2 3 Configuration Example Setting Link Word Value Slave Station ID 12 WLO0000 12 or 00
15. able 3 3 Handshaking Handshaking Description No No hardware handshaking is provided If the slave returns data at a rate and value the master is unable to handle data is lost If the RS 485 is used the transmit driver is enabled continuously Software The HE150RTU100 module suspends sending data on the reception of a XOFF character Transfer continues on the reception of a XON character Note This mode should not be used with RTU mode Hardware The HE150RTU100 asserts CTS continuously to sender RTS is monitored during HE150RTU100 transmissions If the master drops the RTS line low the HE150RTU100 suspends the transfer Transfer continues when the master raises the RTS line Multi drop Multi drop handshaking is required for RS 485 multiple node either single or half duplex or single node half duplex configurations The transmit driver is only enabled when the HE150RTU100 is transmitting For RS 232 this mode controls the CTS signal for compatibility with RS232 to RS485 converters that are operated in a half duplex mode Note When multi drop handshaking is enabled no other handshaking is available Radio Modem This mode is similar to hardware handshaking with the exception that CTS is only asserted when the HE150RTU100 has data to send Thereafter the HE150RTU100 sends or suspends data transfer based on the RTS line The radio modem mode also provides an optional modem turn around timer TAT If the modem does
16. d TXA flicker when there is activity on the RS 232 port Similarly RXB and TXB flicker when there is activity on the RS 485 port On power up or if the valid configuration parameter ID is not set the DCS light is solidly lit Once the configuration is properly set the DCS light goes out Thereafter if the DCS timer has not timed out or is not enabled the DCS LED momentarily lights when a valid Modbus message has been received and is being processed HE150RTU100 If RX light is flashing and the DCS is not this generally indicates that the frame protocol is incorrect If DCS is enabled and timed out this LED flashes every 1 second 3 7 Supported Modbus Commands The following Modbus commands are supported Table 3 4 Supported Modbus Commands Code Meaning VO Unit Min Max Duplicates 01 Read Coil Status l Bit 1 2000 02 Read Input Status 1 2000 01 03 Read Holding Registers Word 1 125 04 Read Input Registers Word 1 125 03 05 Force single coil O Bit 1 1 06 Preset Single Register Word 1 1 07 Read Exception Status Bit 8 8 08 Loopback Diagnostic Test A 15 Force Multiple Coils Bit 1 2000 16 Preset Multiple Registers Word 1 125 Indicates that this command duplicates that function code listed The reference accessed is instead determined by the specified reference Address CHAPTER 3 OPERATION 5 Nov 1998 PAGE 15 3 7 1 Modbus command descrip
17. d to loss of profit or revenues loss of use of the products or any associated equipment damage to associated equipment cost of capital cost of substitute products facilities services or replacement power down time costs or claims of original purchaser s customers for such damages To obtain warranty service return the product to your distributor with a description of the problem proof of purchase post paid insured and in a suitable package ABOUT PROGRAMMING EXAMPLES Any example programs and program segments in this manual or provided on accompanying diskettes are included solely for illustrative purposes Due to the many variables and requirements associated with any particular installation Horner APG cannot assume responsibility or liability for actual use based on the examples and diagrams Itis the sole responsibility of the system designer utilising the Modbus Slave Module to appropriately design the end system to appropriately integrate the Modbus Slave Module and to make safety provisions for the end equipment as is usual and customary in industrial applications as defined in any codes or standards which apply Note The programming examples shown in this manual are illustrative only Proper machine operation is the sole responsibility of the system integrator PREFACE 5 Nov 1998 PAGE 5 Table of Contents CHAPTER 13 INTRODUGITON comia ida ia 7 A OO 7 1 2 Specifications um eur ita 7 1 3 System Requirements mii
18. i ras 7 1 4 Physical ba yout ce ec o PD ia Ad 7 1 5 JUMPER SOTINGS 0n ipte 8 CHAPTER 2 INSTALLATION AND 9 2 1 Basic Module Installation Be qa m RR OE e uad 9 2 2 PLC Configuration for Module 1 9 2 3 Configuration Link Words WL0000 to 0005 00 0 10 2 4 Configuration Example coco rect ase dee Pre oe UTE 11 CHAPTER 3 OPERATION ken isn heben 12 3 1 Modb s doo o A aE EE E eet ee ar 12 3 2 Port Selection zie AN 12 39 24 Ko EE EET 13 93 4 Handshaking rene iier tepore eite Ee ie reed T ai 13 3 5 DOS Active DetectlOD cote torto a tenere Leto sss 14 3 6 Front Panel Diagnostic 6 ini rece eden nahm 14 3 7 Supported Modbus 14 3 7 1 Modbus command descriptions eene 15 3 7 2 Read Exception Status command HE150RTU100 15 3 7 3 Loopback Diagnostics Test command HE150RTU100 specifics 15 3 8 Modbus RESPONSES cct nere ote etie lidia Det me el e ERR ug E ste E Re S 15 CHAPTER 4 WIRING u 17 451 RS 232 GONNMECIONS sorte rete a
19. tions It is not in the scope of this document to describe each command in detail For more specific information on the standard Function Codes Sub function Codes and exception responses refer to the Gould Modbus Protocol Reference Guide PI MBUS 300 Rev published by Gould Inc HE150RTU100 specific information is described below for the Read Exception Status and the Loopback Diagnostic Test 3 7 2 Read Exception Status command HE150RTU100 specifics The Modbus Read Exception Status command returns a byte value that indicates the status of the HE150RTU100 The following defines each bit in the status byte Bit 7 6 5 4 3 2 1 0 DCS Time out has occurred cleared after Read Exception Status command CPU HE150RTU100 has been reset since last Read Exception Status command 3 7 3 Loopback Diagnostics Test command HE150RTU100 specifics The HE150RTU100 supports the following standard Diagnostic Codes for the Loopback Diagnostics Test command Table 3 5 Supported Loopback Diagnostic Test Commands Code Meaning 00 Return 2 byte Data Field loopback test 01 Reset HE150RTU100 02 Return 16 bit HE150RTU100 diagnostic register always zero 04 Force Slave into listen only mode 10 Clear counters and diagnostics register 11 Return 16 bit bus message count 12 Return 16 bit bus invalid error check count 13 Return 16 bit Slave message count 14 Return 16 bit Slave no response count HE150RTU
20. tput for sending data to the Master and reference the data elements in the area designated as inputs for receiving data from the Master Likewise the Modbus master must use offsets into the output area for reading data and offsets into the output area for writing data TOP ia INPUT END Remainder OUTPUT amp 4 HE150RTU100 Figure 2 1 Hitachi Link Areas The data output area is defined with the programming device under PLC set up Link Parameters 1 amp 2 Link Parameter 1 is for the leftmost CPU Link module in the base Link Parameter 2 is for the rightmost additional CPU Link module in the base Each Link Parameter has two separate values that are Top and End Setting the Top and End Link Parameters sets the space in the Link data area that is designated output The remainder of the 1 024 words is designated as input See below for Link Parameters Top and End limitations NOTE With the HE150RTU100 properly inserted and configured the CPU when going to RUN mode may give Self Diagnostic Error WRFOO indication of 59 Special Function Module Error This is not a fatal error and can be ignored If any other error is specified for the base location of the HE150RTU100 check in the CPU user s manual for more information CHAPTER 2 INSTALL CONFIG 5 Nov 1998 PAGE 10 2 3 Configuration Link Words WL0000 to WL0005 When configuring the PLC the Link Parameters entry for the associated HE1
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