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1. Function Read Type of the FESTO CP module Value following reset Last value or new type Write New type cf the following table Value range 0 65535 CP Module Entry for Valve Terminal Entry for I O Type Configuration CPV10 GE FB 4 100 32 CPV10 GE FB 6 101 32 CPV10 GE FB 8 102 32 CPV14 GE FB 4 110 32 CPV14 GE FB 6 111 32 CPV14 GE FB 8 112 32 CPV18 GE FB 4 125 32 CPV18 GE FB 6 126 32 CPV18 GE FB 8 127 32 CP E16 M8 240 02 CP E16 M12 241 02 CP E16N M8 248 02 CP E16N M12 249 02 CP A8 M12 200 32 CP A8N M12 208 32 CPA 10 14 MFB IFB 150 32 CPA 18 MFB IFB 152 32 Jetter AG NANO B 14 4 Register Description of the FESTO CP Module Register 2021 I O Configuration Function Description Read I O configuration of the FESTO CP module Value following reset Last value or new I O configuration Write Illegal Value range 02 for input module L 32 for output module Settings by FESTO Table of Existing Festo CP Modules Configuration 1 Festo CP Module Register 2019 2 Festo CP Module Serial Number Pointer 3 Festo CP Module Register 2018 4 Festo CP Module Register 2020 5 Festo CP Module Valve Terminal Type 6 Festo CP Module esto CP Module Register 2021 O Configuration Number of Festo CP Modules in Register 2017 Fig 65 Regi
2. NANO B plus Modules N PS1 plus Modules 7 89 5 S00820000 008 Fel poese jagezea Fa esees mieeee fal j ae eseeet passes oe S a E E A E Se aA fos A bl T gr g g LVE Bes a gg a ge pe Vien oll BE av MARE sP PATR anew aon Donici SA Paat 4 eseeo Jecoee _ losees lesoee _ loseca esceo jeooee issos JX2 SBK1 eer eee JX2 SBK1 aa eat ws i ee SSS rae SS B 2 a a E oe ee es 2 eh me oe sell BB om ES nonm Sone Mleseanl eoeee _ eooee joweee Mfesoas fessos H N PS1 plus Modules N PS1 plus Modules N PS1 plus Modules Fig 32 Decentralised Arrangement on the JETTER System Bus Jetter AG 151 13 Expansion Modules PROCESS PLC 152 13 1 3 Direct Connection of FESTO CP Modules to the JETTER System Bus FESTO CP modules can
3. The NANO controller provides 4 text buffers for multi display mode Using the DISPLAY_TEXT Of DISPLAY_REG commands data can be written into this buffer When using these commands the device number defines the buffer which is activated by the corresponding command If a device number between 1 and 4 is used the buffer is addressed directly If device number 0 is used that buffer is addressed at which register 2824 points This way it is possible to divert a text for which device number 0 was specified to several displays With the help of registers 2825 through 2828 a buffer can be assigned to each display Register 2825 Text Buffer for Display 1 Function Description Read Set number of text buffer Value following reset 1 Write A new text buffer is assigned to display 1 Value range 1 4 96 Jetter AG NANO B Jetter AG 6 6 Registers for User Interfaces Register 2826 Text Buffer for Display 2 Function Description Read Set number of text buffer Value following reset 2 Write A new text buffer is assigned to display 2 Value range 1 4 Register 2827 Text Buffer for Display 3 Function Description Read Set number of text buffer Value following reset 3 Write A new text buffer is assigned to display 3 Value range 1 4 Register 2828 Text Buffer for Display 4 Function Description Read Set number of text buffer Value fol
4. Connect shield with the greatest possible surface area Use metallised housing only 15 pin male SUB D connector PIN Signal PIN 4 DC 24 V 15 7 Gnd 12 10 SDB RDB 6 11 SDA RDA 7 12 RDB SDB 4 13 RDA SDA 5 Important The connection cable DK 422 can be obtained from JETTER AG In case you prefer to fabricate your own cable the following minimum requirements also with a view to EMC must be met 1 Number of cores 2 Core cross sectional area 3 Connector male 4 Maximum cable length 5 Shield 6 0 25 mm SUB D metallised 400 m complete shielding no paired shielding The shield must be connected to the metallised connector housings on both ends of the cable with the greatest possible surface area Jetter AG NANO B 2 2 Electrical Connection ES Important When the DK 422 cable is used care must be taken that the end marked with CPU is connected to the basic controller NANO B The other end of the cable must be connected to the user interface If the cable is connected the other way round the port of the user interface will be destroyed ES Important If you prefer to manufacture the cables yourself be sure to unambiguously mark the cable ends with CPU and LCD to prevent incorrect connection If the cable is connected the other way round the port of the user interface will possibly be destroyed Visualisation The process visualisat
5. Jetter AG NANO B 2 2 Electrical Connection Pin Assignment 15 pin male SUB D connector 8 gi PIN Signal Interface 1 2 d o e 2 TXD Programming interface or o e VIADUKT RS 232 o 3 RXD e 10 9 4 24 V 5 es a 6 7 GND Ground 8 Data JETWay H or JETWay R 9 Data 10 SDB LCD RS 422 11 SDA 12 RDB 13 RDA 14 15 Important Power consumption through pin 4 of the 9 pin SUB D connector or pin 4 of the 15 pin SUB D connector is limited to a maximum of 750 mA In case both connectors are used simultaneously power consumption of the 9 pin and 15 pin SUB D connectors is limited to a maximum of 750 mA Jetter AG 21 2 Installing the NANO B Controller PROCESS PLC Programming Please refer to Programming Interface JETWay H PC on page 24 Interface RS232 to PC ES 22 Programming Cable EM PK PROCESS PLC Shield PC Shield js mn e 9 pin male SUB D 9 pin connector female SUB D Connect shield with the greatest connector possible surface area Use metallised housing only PIN Signal PIN 2 TXD RXD 2 3 RXD TXD 3 7 Gnd 5 For hardware handshake pins 7 and 8 as well as pins 1 4 and 6 have to be short circuited on the PC side COM1 Important The connection cable EM PK can be obtained
6. kkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkxkxkxk pO HEHHEHEHEHEHHHH H EHH HH H HH H EHH HH H HH H H H H H H H H H H H H The function Print sends a character to the printer ee DEF_FUNCTION Print PR Par rChar WHEN BIT_SET REG rStatus Bit zbBusy THEN REGISTER_LOAD rData with R rChar THEN RETURN END_DEF TASK tPrinter REGISTER_LOAD rControl with 4 r REGISTER_LOAD rChar with zFirst Char MARKE sPrnLoop IF REG rChar lt zLastChar THEN Print rChar R rChar REGINC rChar GOTO sPrnLoop ELSE Print rChar 10 Print rChar 13 THEN LABEL sPrnLoop1l GOTO sPrnLoop1 End of program Wait until the printer is ready Busy Output of character Terminate reset and select printer Reset 1 Select 0 First character Check character Last character Output of character Next character Repeat Received character Line feed Carriag return End of program 235 13 Expansion Modules PROCESS PLC 236 Symbollisting pRRRRRKEKKE Task KKKKKKKKKKKKKKKKKK tPrinter 0 p kk kk kk kkk Labels kkkkxkkkkkkkkkxkxkxk sPrnLoop sPrnLoop1 p kkkkkkkkk Registers kKKKKKK kk kk The following register values are for a module located on the first module position after the NANO B controller rData 3001 Data register rStatus 3002 Status register rControl 3003 Control register
7. 199 13 Expansion Modules PROCESS PLC EMC N CNT 1 Module Test with Damped Oscillation Damped Oscillation Frequency 1 MHz Source Impedance 200 2 Repeat Factor 400 s Test voltage 1 kV DIN EN 61131 2 DIN EN 61000 4 12 Interference Immunity Process Measuring and Control lines Long Bus Lines and Long Control Lines Parameter Value Reference Asymmetric RF Frequency 0 15 80 MHz DIN EN 50082 2 amplitude Test voltage 10 V DIN EN 61000 4 6 modulated AM 80 with 1 kHz Source Impedance 150 Q Criterion A Burst Test voltage 2 kV DIN EN 50082 2 tr tn 5 50 ns DIN EN 61131 2 Repetition rate 5 kHz DIN EN 61000 4 4 Criterion A Interference Immunity Mains Inputs and Outputs for AC and DC Parameter Value Reference Asymmetric RF Frequency 0 15 80 MHz DIN EN 50082 2 amplitude Test voltage 10 V DIN EN 61000 4 6 modulated AM 80 with 1 kHz Source Impedance 150 Q Criterion A Burst Test voltage 2 kV DIN EN 50082 2 tr tn 5 50 ns DIN EN 61131 2 Repetition rate 5 kHz DIN EN 61000 4 4 Criterion A Test with Damped Oscillation DIN EN 61131 2 Damped Frequency 1 MHz DIN EN 61000 4 12 Oscillation Source Impedance 200 2 Repeat Factor 400 s Test voltage 1 kV Criterion A 200 Jetter AG NANO B Jetter AG 13 8 N CNT 1 Module Single and Dual Channel Counter 13 8 3 Description of Connections For input purposes the expansion module is p
8. Jetter AG 79 6 User Interfaces Operator Guidance PROCESS PLC 6 4 3 Control Characters for Text Output The two characters and serve as control characters for text output DELSCR __ _ When this character is used first the displayed text is deleted and then irrespective of the specified parameter the given text is displayed starting from cursor position 1 This character does only make sense when it is placed at the beginning of the text as otherwise the first part of the text would be displayed first and then would be deleted immediately This character has got the meaning DELSCR Delete Screen If this character is to be displayed the character code for DELSCR can be changed in the special register DELEOL This character deletes the rest of a line from the present cursor position on It is also referred to as DELEoL Delete End Of Line Examples DISPLAY_TEXT 0 cp 0 _Actual Position By using this instruction the entire LCD display is deleted first and Actual position is then displayed on the upper line of the display cursor position 1 Any numeral displayed previously will be ignored following pEuscr The following display will appear Actual Position DISPLAY_TEXT 0 cp 25 _Set Position After issuing this instruction the text Set Position is written at the given cursor position i e at the beginning of the second line of the display Then the rest of this line is deleted
9. NANO B Jetter AG 13 8 N CNT 1 Module Single and Dual Channel Counter EMC N CNT 1 Module Emitted Interference Parameter Value Reference Enclosure Frequency band 30 230 DIN EN 50081 1 MHz limit 30 dB uV m at DIN EN 50081 2 10m DIN EN 55011 e Frequency band 230 1000 MHz limit 37 dB uV m at 10m class B Interference Immunity Enclosure Parameter Value Reference RF Field Frequency band 27 1000 DIN EN 61131 2 amplitude MHz test signal strength 10 V m DIN EN 50082 2 modulated AM 80 with 1 kHz DIN EN 61000 4 3 Criterion A Electromagnetic Frequency 900 5 MHz DIN EN 50082 2 RF Field pulse Test field strength 10 V m DIN EN 61000 4 3 modulated 50 ON period Repetition rate 200 Hz Criterion A Magnetic Field 50 Hz DIN EN 50082 2 with Mains 30 A m DIN EN 61000 4 8 Frequency ESD Discharge through air DIN EN 61131 2 Test Peak Voltage 15 kV DIN EN 50082 2 Humidity Rating RH 2 ESD 4 DIN EN 61000 4 2 Contact Discharge Test peak voltage 4 kV severity level 2 Criterion A Interference Immunity Signal and Data Lines Parameter Value Reference Asymmetric RF Frequency 0 15 80 MHz DIN EN 50082 2 amplitude Test voltage 10 V DIN EN 61000 4 6 modulated AM 80 with 1 kHz Source Impedance 150 Q Criterion A Burst Test voltage 2 kV DIN EN 50082 2 tr tn 5 50 ns Repetition rate 5 kHz Criterion A DIN EN 61131 2 DIN EN 61000 4 4
10. Value 0 German Value 1 English Value following reset 0 Write New setting for the language of integrated user interface functions Value 0 German Value 1 English Value range 0 1 By using this register the language for communication functions between user interface and operator is set The language setting refers to operating system functions of the user interface but not to texts output by the user Such operating system functions are for example the monitor functions for registers flags inputs and outputs Register 2822 User Interface Baud Rate Function Description Read Present user interface baud rate 0 150 1 300 2 600 3 1200 4 2400 5 4800 6 9600 7 19200 Value following reset 6 Write New user interface baud rate 0 150 1 300 2 600 3 1200 4 2400 5 4800 6 9600 7 19200 Value range 0 7 95 6 User Interfaces Operator Guidance PROCESS PLC Register 2823 PC Interface Baud Rate Function Description Read Present PC interface baud rate Value following reset 6 Write New PC interface baud rate 0 150 1 300 2 600 3 1200 4 2400 5 4800 6 9600 7 19200 Value range 0 7 Register 2824 Indirect Buffer Number with Device 0 Function Description Read Set buffer number Value following reset 2 Write New value for indirect buffer number Value range 0 4
11. max 98 Slaves DELTA NANO B NANO A NANO A Corl wea ae SLAVE SLAVE Low Level max 98 Slaves Remote Peripheral Devices max 98 Slaves SLAVE SLAVE SLAVE gages REMOTE O NANO B NANO A Valve Terminal Festo Type 2 or Type 3 Fig 25 JETWay R for the Process Level 108 Jetter AG NANO B ber A a ll N N I Jetter AG 7 3 N SEND Registers and N GET Registers 7 3 N SEND Registers and N GET Registers Note These register numbers are not influenced by the number offset defined in register 2702 7 3 1 N SEND REGISTER Note The PROCESS PLC NANO B can be operated as master or slave in a JETWAY R network By using the following instruction the master controller can write values into registers of slave controllers N SEND REGISTER to lt PASE gt from Reg lt Source Reg gt to Reg lt Destination Reg gt e lt PASE gt PASE stands for the network number of the slave controller which is to be addressed via the network e lt Source Reg gt Here the number of the register is specified the value of which is to be transmitted to a slave via the network lt Destination Reg gt Here the number of the register is specified into which the value f
12. 1 must be existing The display to which 1 was assigned is the master LCD After power up only the first LCD user interface is synchronised with the PROCESS PLC The other LCDs remain inactive until they receive command signals Note User input and monitor mode can be activated at the same time only for one display Note e Power supply of several LCD user interfaces cannot be performed by the controller itself e LCD user interfaces have to be supplied by a separate 15 V to 30 V DC power supply unit e Power consumption of individual LCD user interfaces has to be taken into account during system design and for using the system e For connecting several user interfaces to the LCD port of the PROCESS PLC you need an adaptor or modified connecting cables e The originally shipped cables have to be modified according to Fig 23 page 77 e In multi display mode only user interfaces with RS 422 interface can be used Jetter AG NANO B 6 3 Multi Display Mode Connecting Cable LCD User Interface 1 15 pin SUB D connector PIN Signal seals ROE tie 7 RDA ee BOB hs 5 SDA 15 DC 24V 12 GND Connecting Cable LCD User Interface 2 15 pin SUB D connector PIN Signal 4 PLC Side Connection 15 pin SUB D connector PIN Si
13. Core cross sectional area Connector male Shield Cable capacitance Resistivity Cable length 5 0 25 mm SUB D metallised complete shielding no paired shielding maximum 60 amp maximum 70 a maximum of 30 m for a maximum transfer rate of 1MBit s The shield must be connected to the connector housings on both ends of the cable with the greatest possible surface area shield TS ane yo Jetter AG NANO B 2 2 Electrical Connection 2 2 3 Digital Inputs On the basic controller 8 terminals have been provided for digital inputs 24 V signals The 0 V signal is to be connected to the 0 V terminal of the electric cabinet Technical Data of Digital Inputs Amount of inputs 8 Rated input voltage DC 24 V Voltage range 20 30 V Input current approx 8mA Input resistance 3 0 kQ Input delay time approx 3 ms Signal voltage ON min 15 V Signal voltage OFF max 10 V Electrical isolation None Numbering System of Basic Controller Inputs Input Number Input 1 101 Input 8 108 cf chapter 5 1 Addressing Digital Inputs Outputs page 48 is TRANSFORMER DC 24V Fig 7 Connection Details for Digital Inputs Jetter AG 31 2 Installing the NANO B Controller PROCESS PLC 2 2 4 Digital Outputs On the basic controller 8 terminals have been provided for digita
14. D connector Shield TSS DISS VN Connect shield with the greatest possible surface area Use metallised housing only 8 HEKERE NR a 15 pin male SUB D connector PIN Signal PIN 4 DC 24 V 15 7 Gnd 12 10 SDB RDB 6 11 SDA RDA 7 12 RDB SDB 4 13 RDA SDA 5 141 11 User Programmable Interface 142 PROCESS PLC User Programmable Interface Cables for RS232 PC or LCD Sockets PROCESS PLC Shield Specification RS485 9 pin male SUB D connector PC Shield ISS or a A E TN E 15 pin male SUB D connector LCD Connect shield with the greatest possible surface area Use metallised housing only PIN Signal Comment 7 Gnd 8 Data 9 Data Jetter AG NANO B 11 2 Register Description 11 2 Register Description Register 10000 Configuration for User Programmable Interface Function Description Read Present configuration Value following reset 0 Write Present output mask 0 No user programmable interface 1 PC RS232 PRIM 2 LCD RS422 RS232 PRIM 3 JETWay RS485 PRIM Value range 02023 Note _ The user may program one interface exclusively Pa Default settings nO PRIM 8N1 9600 PRIM user programmable interface Register 10001 Baud Rat
15. DISPLAY TEXT 0 cp 0 ERROR After issuing this instruction the text ERROR is written starting from the present cursor position While doing so this text is simply attached to any already existing text Register 2814 The cursor position is indirectly specified by register 2814 Note N Pi If register 2814 is containing a value 0 this value is interpreted as cursor N position and the text ERROR is written at the given position e g with the following instruction DISPLAY_TEXT 0 cp 1 Error 80 Jetter AG NANO B Jetter AG 6 4 Programming the User Interfaces 6 4 4 Displaying Register Contents A register value can be output on a user interface using the following instruction DISPLAY_TEXT lt DeviceNo gt cp lt Cursorpos gt Reg lt RegNo gt The parameters DeviceNo and CursorPos have got exactly the same function as described for the DISPLAY_TEXT instruction refer to chapter 6 4 3 Control Characters for Text Output page 80 Additionally a register number is to be specified Of course this is the number of the register the contents of which are to be displayed For this purpose indirect addressing can be applied as well Examples DISPLAY_REG 0 cp 17 Reg 100 Through this instruction register 100 is displayed on the LCD If register 2812 has not been changed since reset the register value is displayed at the end of the first display line as shown below assumption the displ
16. ON period Repetition rate 200 Hz DIN EN 50082 2 DIN EN 61000 4 3 Criterion A Magnetic Field 50 Hz DIN EN 50082 2 with Mains 30 A m DIN EN 61000 4 8 Frequency ESD Discharge through air DIN EN 61131 2 Test Peak Voltage 15 kV DIN EN 50082 2 Humidity Rating RH 2 ESD 4 DIN EN 61000 4 2 Contact Discharge Test peak voltage 4 kV severity level 2 Criterion A Interference Immunity Signal and Data Lines Parameter Value Reference Asymmetric RF amplitude modulated Frequency 0 15 80 MHz Test voltage 10 V AM 80 with 1 kHz Source Impedance 150 Q Criterion A DIN EN 50082 2 DIN EN 61000 4 6 Burst Test voltage 2 kV tr tn 5 50 ns Repetition rate 5 kHz Criterion A DIN EN 50082 2 DIN EN 61131 2 DIN EN 61000 4 4 160 Jetter AG NANO B Jetter AG 13 3 N OD 4 2 Module 4 Digital Outputs EMC N OD 4 2 Module Test with Damped Oscillation Damped Oscillation Frequency 1 MHz Source Impedance 200 Q Repeat Factor 400 s Test voltage 1 kV DIN EN 61131 2 DIN EN 61000 4 12 Interference Immunity Process Measuring and Control lines Long Bus Lines and Long Control Lines Parameter Value Reference Asymmetric RF Frequency 0 15 80 MHz DIN EN 50082 2 amplitude Test voltage 10 V DIN EN 61000 4 6 modulated AM 80 with 1 kHz Source Impedance 150 Q Criterion A Burst Test voltage 2 kV DIN EN 50082 2 tr tn 5 50 ns DIN EN 6
17. The priority of these functions can be increased by means of flags 2056 and 2057 In this case interfaces are always served between two tasks In most cases default setting is best since the highest priority usually is given to automatic functions and not to operating functions Changing these flags is practical for example when switching the system from automatic mode to manual mode In register 2026the priority of a task is defined by the user Note _ By using the instruction DELAY 0 with parameter 0 task switching is induced If during processing a task encounters DELAY 0 it switches immediately to the next task By using the instruction DELAY 0 low priority can be assigned to tasks or program parts A task which is controlling the displays needs not have for example the same response time as a task for automatic mode Insertion of one or more DELAY 0 instructions into user interface tasks results in time saving which is made available to other task 272 Jetter AG NANO B Jetter AG Appendices Appendix C Glossary Sequential Control System Axis Actuator Analog Statement List Resolution Output Driver Bit coded Burst Bus CAN Bus Digital DIP switch DIN Rail Control system with sequential processing Stepping is initiated either by feedback signals from the machine process dependent sequential control or time controlled time dependent sequential control Aprincipal
18. 10000 4 The number of decimal positions for data input is defined through the value of this register As an alternative instead of register 2807 register 2808 can also be used A maximum of four decimal positions is possible Jetter AG NANO B 6 5 Fixed point Numbers Register 2808 Decimal Positions for USER_INPUT Register Value Decimal Positions 0 0 1 1 2 2 3 3 4 4 The number of decimal positions for data input is defined through the value of this register As an alternative instead of register 2808 register 2807 can also be used A maximum of four decimal positions is possible Example Data is downloaded from the user interface to register 200 using the following instruction USER_INPUT 0 cp 1 reg 200 Once the value 20 00 is entered by the operator the following values appear in the relevant registers Register 200 2000 Register 2807 100 Divisor for value output USER_INPUT Register 2808 2 Decimal positions for USER_INPUT Note N i The numerical value of register 200 is 2000 For representation purposes on the 7 display a decimal point is added only The operator has to input the value for gt register 200 only together with the desired decimal places From this input the values of register 2807 and register 2808 will result Jetter AG 85 6 User Interfaces Operator Guidance PROCESS PLC 86 Default Value in Register 2815 6 5 3 USER
19. 108 301 308 13 Expansion Modules PROCESS PLC 13 6 N IA 4 Module Analog Inputs The N IA 4 module is for measuring analog input voltages and currents The measured values are evaluated and processed by the application program 13 6 1 Physical Dimensions of the N IA 4 Module 69 45 X1 fosos ov U1 11 U2 12 ANALOG INPUT 114 ANALOG INPUT U3 13 U4 l4 OV 99209 49 Fig 43 Physical Dimensions of the Analog Input Module N IA 4 176 Jetter AG NANO B Jetter AG 13 6 N IA 4 Module Analog Inputs 13 6 2 Overview and Technical Data Technical Data of the N IA 4 Module Power Supply e centralised arrangement via basic unit cf fig 13 1 1 Centralised Arrangement on the JETTER System Bus page 151 e decentralised arrangement via power supply N PS 1 cf chapter 13 1 2 Decentralised Arrangement on the JETTER System Bus page 151 Connections to the basic unit via JETTER system bus Male connector SUB D 9 pins Input terminals Screw terminals Enclosure Aluminium powder coated black Dimensions H x W x Din mm 114 x 45 x 70 Weight 190g Mounting DIN Rail Input quantity 4 channels U 4 4 for voltage 4 4 for current Voltage Range Unipolar 0 10 V Bipolar 10 V 10V Value range voltage Unipolar 0 4095 Bipolar 2048 2047 Cu
20. 67 5 Software Programming PROCESS PLC Special 1 Value Range Register Function 2 Reset Value Number 3 Cross Reference 2702 Register offset 1 0 65535 2 0 3 chapter 7 4 Registers for Network Operation page 112 2703 Flag offset 1 0 65535 2 0 3 chapter 7 4 Registers for Network Operation page 112 2704 Input offset 1 0 65535 2 100 3 chapter 7 4 Registers for Network Operation page 112 2705 Output offset 1 0 65535 2 100 3 chapter 7 4 Registers for Network Operation page 112 2706 Output mask 1 0 65535 2 1000 3 chapter 7 4 Registers for Network Operation page 112 2707 Indirect network number 1 0 126 2 0 3 chapter 7 4 Registers for Network Operation page 112 2708 Time out period for network 1 0 65535 ms 2 250 ms 2709 Network response time 1 0 65535 ms 2 0 3 chapter 7 4 Registers for Network Operation page 112 2710 Quantity of network errors 1 0 255 2 0 3 chapter 7 4 Registers for Network Operation page 112 68 Jetter AG NANO B Jetter AG 5 3 Register Description Special 1 Value Range Register Function 2 Reset Value Number 3 Cross Reference 2711 Error code of the last access tothe 1 0 255 network 2 O 3 chapter 7 4 Registers for Network Operation page 112 2712 Next master 1 0O 255 Multimaster mode 2 O 2713 Maximum network numb
21. 9 Register number 3029 4 2 10 9 3003 203 13 Expansion Modules PROCESS PLC Note N Pai When the register number is called in the SYMPAS program the number of the L module s OS version is displayed With inquiries always identify this number Addressing the Configuration of the N CNT 1 Module Virtual Outputs Counter Register Configuration and action of virtual outputs values Dual channel 3yy0 xx01 0 enable STR counter disable REF through 1 enable REF disable STR 3yy3 xx02 0 Dual channel circuit configu ration with quadruple evaluation 1 Single channel circuit confi guration with single evalu ation The rising edge is counted only 3yy5 xx03 0 _ Transmission of actual axis position is stopped 1 Transmission of actual axis position is started and sent to the bus SSI Absolute 3yy6 xx04 0 Dual channel counter Postion Encoder 1 SSI Absolute Position Encoder xx06 0 Gray code evaluation 1 Binary code evaluation xx07 0 Parity check OFF 1 Parity check ON xx08 0 odd parity 1 even parity Single channel 3yy4 xx05 0 counting up counter 1 counting down Bit 3 in the status register 3yy3 is reset by entering 1 during configuration xx Module number YY Module number 2 204 Jetter AG NANO B 13 8 N CNT 1 Module Single and Dual Channel Counter It is possible to operate the dual channel counter both as single channel and dual
22. Connections to the basic unit via JETTER system bus Male connector SUB D 9 pins Output terminals Screw terminals Enclosure Aluminium powder coated black Dimensions H x W x Din mm 114 x 45 x 70 Weight 200 g Mounting DIN Rail Number of outputs N OA 2 2 channels U 4 5 for voltage Number of outputs N OA 4 4 channels U 4 4 for voltage Voltage Range Bipolar 10V 4 10V Value range voltage Bipolar 2048 2047 Resolution voltage 12 Bit Voltage supply of analog outputs DC 24 V 15 through 20 150 mA maximum Output current max 10 mA Delay Time lt 4ms Electrical isolation None Heat loss of CPU logic circuit 0 3 Watt Output Voltage Accuracy Classes of the N OA 2 and N OA 4 Modules Type of Error Input Maximum Error Configuration in LSB in mV Zero Error Bipolar 6 LSB 29 3 mV Gain Error Bipolar 6 LSB 29 3 mV The typical output voltage accuracy is higher 189 13 Expansion Modules PROCESS PLC EMC of the N OA 2 and N OA 4 Modules Emitted Interference Parameter Value Reference Enclosure e Frequency band 30 230 MHz limit 30 dB uV m at 10m e Frequency band 230 1000 MHz limit 37 dB uV m at 10m class B DIN EN 50081 1 DIN EN 50081 2 DIN EN 55011 Interference Immunity Enclosure Parameter Value Reference RF Field
23. Integers can have a leading sign positive or negative or be unsigned positive In addition to this distinction is made between long and short integers depending on the number of bytes they occupy in the memory Short integers comprise a smaller range of numbers e g 32 768 to 32 767 than long integers do e g 2 147 483 648 to 2 147 483 647 On Jetter controllers integer values are defined for a range of 24 bit 8 388 608 to 8 388 607 Programming language using nonencrypted or legible text Graphic representation of control functions in imitation of schematic diagrams used in contactor technology However current paths are horizontally located one below the other and different symbols are used A device e g a PASE E that controls another device e g a NANO B called the slave 1 bit storage position for intermediate results which are required for linkage purposes The state of the bit is either 0 or 1 A device for funneling signals from several input lines to one output line A mode of operation offered by an operating system in which a computer works on more than one task at a time Using this function registers I Os can be monitored and altered during operation A method of processing that can run only on a computer that contains two or more processors running simultaneously Parallel processing differs from multitasking in the way a task is distributed over the available processors Example T
24. RS 232 Interface for connecting user interface and visualisation equipment RS 232 RS 422 Fieldbus interface JETWay RS485 System bus interface JETTER System Bus Interface Power supply unit requirements DC 24 V 20 30 V at the terminals X1 residual ripple lt 5 filtered double isolation between output SELV or PELV and input Power loss Time Interval lt 10ms_ to DIN EN 61131 2 Time interval between two voltage dips gt 1s Severity level PS2 Heat loss of CPU logic circuit 2 5 Watt CPU power consumption incl 8 digital outputs but without expansion modules 96 Watt 8 x 0 5 A x 24 V Enclosure Aluminium powder coated black Dimensions H x W x Din mm 114x110x70 Weight 720g Mounting DIN Rail Not all of the four interfaces are available at the same time see chapter 2 2 2 Interfaces page 19 42 Jetter AG NANO B Jetter AG 3 2 Technical Data NANO B Basic Unit Terminals Power supply Screw terminals Digital inputs and outputs Screw terminals Analog I O s Screw terminals Fast dual channel counter Screw terminals Stepper motor control with DIR STEP Screw terminals Programming interface Female connector SUB D 9 pins User programmable serial interface Female connector SUB D 9 or 15 pins depending on configuration Field
25. Register 2707 Indirect Network Number Function Description Read Indirect network number Value following reset 0 Write New indirect network number Value range 2 127 If as network number parameter of a network instruction 0 is specified the contents of register 2707 serve as network number Register 2708 Time out Period for Network Function Description Read Present time out period Value following reset 250 Write New time out period Value range 0 65536 ms Jetter AG 115 7 Network Operation PROCESS PLC Register 2709 Network Response Time Function Description Read Present response time Value following reset 0 Write Illegal Value range 0 65536 ms Register 2710 Amount of Network Errors Function Description Read Present error count Value following reset 0 Write Illegal Value range 0 255 Register 2711 Error Code of Network Access Function Description Read Present error code 0 No error detected 1 Time out 2 Checksum error 3 Error message from slave 4 No master specified Value following reset 0 Write New error code Value range 0 65536 116 Jetter AG NANO B Jetter AG 8 1 Description of Connections 8 Single Dual Channel Counter 8 1 Description of Connections For connection of the single
26. Signal voltage OFF max 10 V Electrical isolation None Jetter AG NANO B 13 2 N ID 8 Module 8 Digital Inputs EMC N ID 8 Module Emitted Interference Parameter Value Reference Enclosure Frequency band 30 230 MHz limit 30 dB uV m at 10m e Frequency band 230 1000 MHz limit 37 dB uV m at 10m class B DIN EN 50081 1 DIN EN 50081 2 DIN EN 55011 Interference Immunity Enclosure Parameter Value Reference RF Field amplitude modulated Frequency band 27 1000 MHz test signal strength 10 V m AM 80 with 1 kHz Criterion A DIN EN 61131 2 DIN EN 50082 2 DIN EN 61000 4 3 Electromagnetic RF Field pulse modulated Frequency 900 5 MHz Test field strength 10 V m 50 ON period Repetition rate 200 Hz DIN EN 50082 2 DIN EN 61000 4 3 Criterion A Magnetic Field 50 Hz DIN EN 50082 2 with Mains 30 A m DIN EN 61000 4 8 Frequency ESD Discharge through air DIN EN 61131 2 Test Peak Voltage 15 kV DIN EN 50082 2 Humidity Rating RH 2 ESD 4 DIN EN 61000 4 2 Contact Discharge Test peak voltage 4 kV severity level 2 Criterion A Interference Immunity Signal and Data Lines Parameter Value Reference Asymmetric RF amplitude modulated Frequency 0 15 80 MHz Test voltage 10 V AM 80 with 1 kHz Source Impedance 150 Q Criterion A DIN EN 50082 2 DIN EN 61000 4 6 Burst Test voltage 2 kV tr tn 5 50 ns Re
27. The slave inputs are specifically loaded into the master register 2600 The user flags are overlaid on this register This way the program has high rate access to slave inputs via these master flags Overlaying of flags on registers by the example of register 2600 Bit 0 1 2 3 4 zi 21 22 23 Value 1 0 0 0 1 oe 0 1 0 Flag 0 1 2 3 4 21 22 23 IF FLAG 3 OR FLAG 21 THEN 7 Network Operation 112 PROCESS PLC Note Overlaying of slave registers with inputs outputs and flags of the slave controller is demonstrated here by example of overlaid inputs of a NANO slave and a NANO master By analogy this procedure has to be applied to outputs flags and additional PROCESS PLGs such as DELTA and PASE E for differing applications 7 4 Registers for Network Operation Each PROCESS PLC system has got at least one interface for networking via the JETTER network JETWay The registers 2700 through 2711 described below serve the definition of transmission parameters and node numbers of this RS485 Overview Network Registers Register Designation 2700 Network number 2701 Baud Rate 2702 Register offset 2703 Flag offset 2704 Input offset 2705 Output offset 2706 Output mask 2707 Indirect network number 2708 Time out period for network 2709 Network response time 2710 Number of network errors 2711 Error code of
28. channel counter Selection between the counter types is made by setting the virtual output xx02 Whenever the dual channel counter is operated as single channel counter the counting direction is defined through the voltage applied to channel 2 K2 In this case the following conditions apply e for positive counting direction K2 0 0 V e for negative counting direction K2 1 24 V Setting the Dual Channel Counter to Zero The dual channel counter can be set to zero initialisation either through hardware or through software e For initialisation through hardware the input of terminal REF is to be set to zero REF 0 Through its 15 pin SUB D connector the incremental encoder supplies KO 1 refer to fig 50 Pulse sequence of counting signals page 206 e initialisation via software is carried out by entering zero into register 3yy0 When the dual channel counter is set to zero bit 3 of the status register 3yy3 is set The status register 3yy3 is scanned by the application program Strobe Function The strobe function can only be used with the dual channel counter In order to activate the strobe function the virtual output zz01 of the dual channel counter must be set to zero The strobe function is used to store a count to register 3yy2 when a signal rising edge is applied The delay time of the display caused by the strobe function is less than 1 ms Once the strobe signal is applied bit 0 is set in the stat
29. page 44 the manufacturer is to be contacted beforehand Who is permitted to operate the PROCESS PLC NANO B Only instructed trained and authorised persons are permitted to operate the PROCESS PLC NANO B Mounting and backfitting may only be carried out by specially trained personnel as specific know how in the field of electrical engineering will be required Maintenance of the PROCESS PLC NANO B The PROCESS PLC NANO B is maintenance free Therefore for the operation of the module no inspection or maintenance are required Shutting down and disposing of the PROCESS PLC NANO B The environmental regulations for the respective country apply to shutting down and disposing of the PROCESS PLC NANO B on the operating company s premises 1 Safety Instructions Danger Caution Es Important wee 4 Note ee 12 PROCESS PLC Descriptions of Symbols This sign is to indicate a possible impending danger of serious physical damage or death This sign is to indicate a possible impending danger of light physical damage This sign is also to warn you of material damage This sign is to indicate a possible impending situation which might bring damage to the product or to its surroundings You will be informed of various possible applications e g with regard to installation and will receive further useful suggestions Enumerations are marked by full stops strokes or scores Operating ins
30. 1 1999 2622 2637 2649 Register 2836 Register Number for Controlling LEDs of Display 4 Function Description Read Set register number for controlling LEDs of display 4 Value following reset 2649 Write New register number defining which of the flags resp register bits are for controlling LEDs of display 4 Value range 1 1999 2622 2637 2649 These registers are for assigning flags which control LEDs of displays to several address areas Following a reset the LEDs of all displays are assigned to those flags to which they are assigned in single display mode i e to the flags 2224 through 2235 With the help of registers 2833 through 2836 a register can be assigned to each display The lower 12 bits of these registers then control the LEDs If a given register is overlaid by flags LEDs can also be addressed via these flags and not only via register bits Example Flags 2224 through 2239 are overlaid on register 2649 99 6 User Interfaces Operator Guidance PROCESS PLC User Interface Priority N A 100 6 7 User Interface related Flags Flag 2057 LCD operation after each user task Function Description Read Present user interface priority Flag 0 The user interface will be serviced upon completion of all user tasks low priority Flag 1 The user interface will be serviced after each user task high priority Value following reset 0 W
31. 1 0 Flag 216 217 218 219 220 ef 237 238 239 50 Jetter AG NANO B Programming with the Aid of Flags Jetter AG 5 2 Access to Flags Example 1 A program is to start execution of a process when the start button is pressed and automatic mode is enabled through the corresponding flag being set e g in another task WHEN E eStartButton Flag mAutomaticMode THEN Example 2 Execution of a second task the automatic task is to be started in the main task using a flag TASK tMainT as es ss arate IF E eStartButton THEN Flag mAutomaticMode THEN TASK tAutomat 1 Mo0de gt s3 lt 9 3 sess a ee a WHEN Flag mAutomaticMode THEN THEN GOTO mAutomaticMode 51 5 Software Programming 5 2 2 Special Flags PROCESS PLC The operating system of the Process PLC makes various special flags available which can be used to control and modify functions The functions of these special flags are listed in the following table _7 Note Exceptions will be referred to separately Pi p As a rule setting a flag means enabling the corresponding function Functions of Special Flags Control of User Interface LEDs 2224 LED of 2230 LED of 2225 LED of 2231 LED of 2226 LED of 2232 LED of ED 2227
32. 185 187 187 189 192 195 197 197 198 201 207 212 212 213 216 219 Table of Contents PROCESS PLC 13 9 5 Hardware and Software Flow Control of the N SER 1 Module 223 13 9 6 Sample Program 224 13 10 Parallel Interface Module N PRN 1 227 13 10 1 Physical Dimensions of the N PRN 1 Module 227 13 10 2 Overview and Technical Data 228 13 10 3 Description of Connections 231 13 10 4 Register Description N PRN 1 Module 233 13 10 5 Sample Program 235 13 11 N PS1 Module Power Supply Unit for Remote Modules 237 13 11 1 Physical Dimensions of the N PS 1 and N PS 1CP Modules 237 13 11 2 Technical Data 239 13 11 38 Description of Connections of the N PS 1 Module 242 13 11 4 Description of Connections of the N PS 1CP Module 243 14 NANO Network Topology and FESTO CP Modules 244 14 1 FESTO CP Modules FESTO Tee Connector 244 14 2 Networking of NANO and FESTO CP Modules 245 14 3 FESTO CP Modules Attached to a NANO B Controller 246 14 3 1 Commissioning a PROCESS PLC NANO B C equipped with FESTO CP Modules 248 14 3 2 Comparing Set Actual Configuration 249 14 4 Register Description of the FESTO CP Module 251 14 5 Example Register Assignment of FESTO CP Modules 255 15 Error Handling 258 15 1 Hardware Errors 258 15 2 Application Program Errors 259 15 3 OS Error Messages 262 16 NANO C Differences from NANO B 264 List of Appendices Appendix A Downloading the Operating System 268 Appendix B Multitasking Operatin
33. 2805 Number of characters per line 1 0 255 2 24 3 chapter 6 6 Registers for User Interfaces page 87 2806 Text choice for DISPLAY_TEXT_2 1 0 255 2 0 0 Text 1 3 chapter 6 6 Registers 1 Text 2 for User Interfaces page 87 2807 DIVISOR USER_INPUT 1 0 65535 2 1 3 chapter 6 5 Fixed point Numbers page 83 2808 Number of decimal places 1 0 255 USER_INPUT 2 0 3 chapter 6 5 Fixed point Numbers page 83 2809 Divisor DISPLAY_REG 1 0 65535 2 1 3 chapter 6 5 Fixed point Numbers page 83 2810 Number of decimal places 1 0 255 DISPLAY_REG 2 0 3 chapter 6 5 Fixed point Numbers page 83 2812 Field length for integer display 1 0 255 register 2 8 3 chapter 6 6 Registers for User Interfaces page 87 64 Jetter AG NANO B Jetter AG 5 3 Register Description Special 1 Value Range Register Function 2 Reset Value Number 3 Cross Reference 2813 Field length USER_INPUT 1 0 255 2 8 3 chapter 6 6 Registers for User Interfaces page 87 2814 Indirect cursor position 1 0 255 2 0 3 chapter 6 6 Registers for User Interfaces page 87 2815 Default value 1 8388608 8388607 USER_INPUT 2 O 3 chapter 6 6 Registers for User Interfaces page 87 2816 Sign suppression 1 0 255 2 0 3 chapter 6 6 Registers for User Interfaces page 87 2817 Status USER_INPUT 1 0 255 2 Status 3 chapter 6 6 Registers for User Interf
34. 52 THEN character 53 GOTO mPRIMloop NO 54 THEN 55 SendPrim rSendChar R rChar 56 GOTO mPRIMloop End of Program 11 3 2 Symbol Listing KkKKKKKKKKK Task KKKKKKKKKKKKKKKKEKK tPRIMhandling 0 KkKKKKKKKKK Flags KkKKKKKKKKKKKKKKK PRIMloop KRKKKKKKKK Registers KKKKKKKK KKK rPRIMconfigl 10000 rPRIMconfig2 10002 rPRIMbaud 10001 rPRIMSend 10003 sending register rPRIMRec 10005 receiving register rRecCnt 10006 rec buffer occupancy rSendCnt 10004 send buffer occupancy rChar 100 Note In the example above sending and receiving of characters are divided into several functions e A character is sent if the value is written into the sending register e Occupancy of the the receiving buffer is queried from register 10006 e Access to register 10005 deletes characters contained in the receiving buffer e Occupancy of the the sending buffer is queried from register 10004 147 12 Real Time Clock PROCESS PLC 12 Real Time Clock With the help of a battery buffered register set access to the functions of the real time clock is made Overview Real Time Clock Registers Register Function 2911 Seconds 2912 Minutes 2913 Hours 2914 Day of the week with 0 Sunday 1 Monday 2 Tuesday 3 Wednesday 4 Thursday 5 Friday 6 Saturday 2915 Day 2916 Month 2917 Year 0 99 Sample Program for Real Time Clock The
35. 7 segment LED LCD 25 2 lines of 24 5 F keys with 5 mm character RS422 characters LED height backlit DK 422 each LCD 25L 1 line of 16 8 mm character RS422 characters height backlit DK 422 LED 25 1 line of 8 12 mm character RS422 characters height DK 422 LED 7 segment LED LCD 27 2lines of 24 5 F keys RS422 characters Cursor keypad DK 422 each Clear ENTER LCD 34 2 lines of 24 5 F keys backlit RS422 characters Special Function DK 422 each Keys Numeric keypad 75 6 User Interfaces Operator Guidance PROCESS PLC 76 N Pai ll A 6 2 Description of Connections The user interface cables DK 422 resp EM DK are used to connect user interfaces to the LCD input of the NANO B basic control unit Refer to specification for user interface cables on page 28 and page 23 6 3 Multi Display Mode Multi display mode allows a PROCESS PLC NANO B to be operated with up to four LCD user interfaces When doing so the same or different texts and or register contents can be displayed on the various user interfaces gt Specific parameters for the LCD user interface used are described in the corresponding Operator s Manual To each user interface a specific number has to be assigned If only one LCD user interface is used value 0 is assigned to it always VVV If more than one LCD user interface is used a value between 1 and 4 is assigned to each LCD user interface starting with 1 In this case a display with
36. Comparison between Functions NANO C Module NANO B Module e 10000 User Registers e 2000 User Registers 64 KByte Application program e 16 KByte Application program e 256 Floating point registers No floating point registers e Special Functions e Special Functions SF4 BCD gt HEX SF4 BCD gt HEX SF4 BCD gt HEX SF4 BCD gt HEX Square root Sine Cosine Tangens Arc Sin Arc Cosin Arc Tangens Exponential function Natural logarithm 10000 User Registers Numbering of user registers is carried out as follows O 1999 and 20000 27999 256 Floating point registers NANO B none Floating point registers are numbered as follows 65024 65279 with a value range from 8 43 1037 through 3 38 1038 Jetter AG NANO B Jetter AG Special Functions NANO B only SF4 BCD gt HEX SF5 HEX gt BCD Special functions are always called using two parameters The first parameter is the number of the register containing the operand The second parameter is the number of the register into which the results of the function have to be written for example SPECIAL FUNCTION 21 P1 65024 P2 65025 This function calculates the sine for the number contained in register 65024 and stores the result to register 65025 On principle it is permitted to specify integer registers for parameter transfer or for the result In most cases this makes no sense due to the value r
37. Count Count _ Register 2918 ___ _ Register 2919x 10 ms Note The count value is sensed earlier by the value register 2919 x 10 ms than count value Jetter AG NANO B Jetter AG 8 2 Register Description 119 9 Analog I Os PROCESS PLC 9 Analog I Os 9 1 Description of Connections For connection of analog inputs and outputs to the basic controller NANO B see chapter 2 2 6 Analog Inputs page 34 and chapter 2 2 7 Analog Output page 35 9 2 Register Description Register 2900 Peripherals Control Register Function Description Read Present value of the peripherals control register Value following reset 1 Write New value of the peripherals control register Value range 0 65536 Meaning of the individual bits BitO 0 A D converter for analog inputs deactivated Bit 0 1 A D converter for analog inputs activated Bit 1 0 Dual channel counter Bit 1 1 Single channel counter Register 2902 Analog Output X5 Function Description Read Present value for analog output X5 Value following reset 0 Write New value for analog output X5 Value range 0 255 120 Jetter AG NANO B 9 2 Register Description Register 2903 2906 Analog Input X5 Function Description Read Present value for analog input X5 Value following reset Analog voltage Write Illegal Val
38. Description Read Amount of FESTO CP modules recognised as connected to the JETTER bus and appearing in the configuration table Value following reset 0 Write Illegal Value range 0 8 Register 2018 Index to Configuration Table Function Description Read This index selects the FESTO CP module the configuration of which is to be read from registers 2019 through 2021 Register 2017 indicates how many FESTO CP modules are available Value following reset 1 Write New index Value range 1 8 The index is regarded as pointer The required FESTO CP module is selected from the table by using this pointer Register 2019 Check Number Function Description Read Check number of the FESTO CP module Value following reset Last value or new check number Write New check number Value range 0 65535 The check number of the FESTO CP module is entered into the table either manually by the user or automatically by the controller The check number is indicated as PN number on the nameplate of the FESTO module The following illustration is to show the elements a FESTO serial number consists of Example FESTO CP Serial Number PN 123456 CPV18 GE FB 4 ad Check Number Jetter AG 251 14 NANO Network Topology and FESTO CP Modules FESTO CP Module Types and I O Configuration 252 PROCESS PLC Register 2020 Type of the FESTO CP Module
39. EMC standards Important ES To avoid malfunctions the following must be ensured gt The shielding must be clamped under a strain relief with the greatest possible surface area gt The connection between the housing and the shielding must be electrically conducting gt The distance between unshielded conductor ends must be as short as possible Modifications and Alterations to the Module For safety reasons no modifications and changes to the PROCESS PLC NANO B and its functions are permitted Any modifications to the PROCESS PLC NANO B not expressly authorised by the manufacturer will result in a loss of any liability claims to Jetter AG The original parts are specially designed for the PROCESS PLC NANO B Parts and equipment of other manufacturers are not tested on our part and are therefore not released by us The installation of such parts may impair the safety and the proper functioning of the PROCESS PLC NANO B For any damages resulting from the use of non original parts and equipment any claims with respect to liability of Jetter AG are excluded 14 Jetter AG NANO B Jetter AG 1 Safety Instructions Malfunctions Malfunctions or other damages are to be reported to an authorised person immediately The PROCESS PLC NANO B must be protected from improper or inadvertent use Only qualified experts are allowed to carry out repairs Safety and protective devices e g the barrier and cover of the termina
40. H Cable 24 283 PROCESS PLC JETWay R Cable Maintenance Monitor Mode Mounting Position N NANO B Basic Unit Terminals Natural Logarithm Network Interface JETWay R Networking of lines O Open Collector Operating Conditions Output Driver Overlaying Flags on registers Inputs Register Overlaying of flags on registers Overview Network Registers Real Time Clock Registers Special Flags Special Registers User Interfaces Overvoltage Category P Parity check Parity error 27 11 76 45 43 266 27 244 38 44 173 204 210 Pin Assignment 15 pin male SUB D connector Pin Assignment 9 pin male SUB D connector Pollution Degree Programming Cable EM PK Programming Instruction REG REGDEC and REGINC REGZERO Programming interface JETWay H RS232 Programming with the Aid of Flags 284 21 20 44 22 58 60 59 24 22 51 Pulse Number R Register 10000 10001 10002 10003 10004 10005 10006 11100 11101 11102 11103 11104 11105 11106 11107 11108 11109 11110 11112 2001 2008 2009 2017 2018 2019 2020 2021 2027 2700 2701 2702 2703 2704 2705 2706 2707 2708 2709 2710 2711 2804 2805 2806 2807 2808 2809 2810 2812 2813 2814 Appendices 209 84 88 85 88 83 89 83 89 Jetter AG NANO B Jetter AG 2815 86 91 2816 92 2819 94 2820 94 2821 95 2822 95 2823 96 2824 96 2825 96 2826 97 2827 97 2828 97 2829 97 2830 97
41. If keyboard functions disabled for service staff are to be enabled again this can also be carried out through this register Jetter AG NANO B 6 6 Registers for User Interfaces Bit specific Functions of Register 2818 Bit Function Bit O 1 Key with monitor function for displaying WS register contents Bit 0 0 ea N Key Display of register contents WS Ko disabled but bits are set Bit 1 1 Key Entry of flags Bit 1 0 Key Entry of flags disabled Uy Bit 2 1 Al Key Access to outputs Bit 2 0 Key Access to outputs disabled UY Bit 3 1 a Key Access to inputs Q Bit3 0 P Key Access to inputs disabled Bit4 1 a Key Change of register contents Bit 4 0 Key Change of register contents disabled Bit5 1 a Key Change of flags Bit5 0 A Key Change of flags disabled Flag Change of state is disabled Bit 6 1 rea Key Change of outputs x a Bit 6 0 rN Key Change of outputs disabled Bit 7 1 Key Display of inputs Bit 7 0 peel Key Display of inputs disabled T Jetter AG 93 6 User Interfaces Operator Guidance PROCESS PLC 94 Register 2819 Switch over Time between Monitor Screen and Normal Display Function Description Read Present value for switch over time between monitor screen and normal display A multiple of the time base specified in register 2003
42. LED of A 2233 LED of fan 2228 LED of B 2234 LED of E 2229 LED of 2235 LED of ee Scanning of user interface keys 2181 2201 2182 2202 2183 2203 eQ 2184 2204 2185 2205 52 Jetter AG NANO B 5 2 Access to Flags Functions of Special Flags 2186 Se 2206 2187 ur 2207 2188 lt i FS 2208 2189 ur 2209 2190 a 2210 FO 2191 P 2211 P 2192 Se ED 2212 E gt 2193 ur 2214 2194 ier oO 2213 2195 a R 2215 R 2196 4 YO 2216 2197 Sl 2217 o 2198 2218 Gl 2199 1 2219 a 2221 ao 2220 2223 1 je 2222 C 2170 dur 2160 2171 TO 2161 D Jetter AG 53 5 Software Programming PROCESS PLC Functions of Special Flags 2172 Eel 2 2162 D 2173 OO 2163 S D an 2174 sE 4 2164 4 2175 ur 5 2165 A gt i AN A 2176 GO 2166 a j 7 i 7 J 2177 Cig D 2167 O 2178 ur O 2168 A j 2179 am O 2169 O 2200 ie Display Format 2060 DISPLAY_REG hexadecimal Prioritisation of System Tasks 2056 PC task afte
43. O71 O5v O2 O O2 Oru O3 O3 OER O4 O04 ODR O5 Os5 O STEP O6 COUNTER A B OV p ANALOG UT 2 ov T 2 3 A OV OUTOU 4 ov OUT ov INPUT 1 2 3 4 5 6 7 8 Fig 15 Arrangement of LEDs LED Meaning 24V Output supply OK 5V Internal logic voltage OK RUN lit Application program is running RUN flashing 1 Application program is not running Switch is set to STOP 2 Application program was stopped Switch is set to RUN To restart the program press Shift F2 in the Setup window 3 Program transfer gt Flash ERR Error Details of the error state are specified in registers 2008 through 2012 DIR Direction signal for stepper motor STEP Stepping signal for stepper motor A Channel 1 of single dual channel counter B Channel 2 of single dual channel counter Jetter AG 39 2 Installing the NANO B Controller PROCESS PLC 2 4 Description of the STOP RUN Switch ODR O85 O sTeP O6 COUNTER IN ANALOG OUT 1 2 3 4 5 6 7 8 A B OV 1 2 3 4 OV OUT OV 0SEO0E esej eceeaead Fig 16 STOP RUN Switch STOP Position If at the time of applying the power supply voltage to the control system the switch is in STOP position the application program will not start It can be activated by pressing SHIFT F2 in the SYMPAS program or through transfer of a program RUN Position If at the time of applying the power supply voltage to the control system
44. Read Present occupancy of the sending buffer Value following reset 0 Write Illegal Value range 0 128 Register 3yy5 Receiving Buffer Characters are Cleared at Access Function Description Read Received character Value following reset 0 Write Illegal Value range 0 255 8 bit format 0 127 7 bit format 221 13 Expansion Modules PROCESS PLC Note N Pai e The maximum size of receiving buffer is 129 characters Access to register r 3yy5 deletes the characters contained in the receiving buffer This means that for reprocessing a character must be stored before a read access is carried out e Reading from this register is only useful if the contents of the receiving buffer occupancy register 3yy6 are greater than 0 Register 3yy6 Receiving Buffer Occupancy Function Description Read Present occupancy of the receiving buffer Value following reset 0 Write Illegal Value range 0 129 Note N P e The characters that have been transmitted by the N SER 1 module via serial 7 N port are buffered in register 3yy6 They remain there until they are called up from a corresponding SYMPAS program e The receiving buffer can store a maximum of 129 characters If further characters are received from sender although the receiving buffer is full the last sent characters will get lost while bit 1 is set in the status register Register 3yy9 Version
45. System Bus N ID 8 Module 8 Digital Inputs Physical Dimensions Overview and Technical Data Description of Connections Description of LEDs N OD 4 2 Module 4 Digital Outputs Physical Dimensions Overview and Technical Data Description of Connections Description of LEDs N OD 8 Module 8 Digital Outputs Physical Dimensions Overview and Technical Data Description of Connections Description of LEDs N IO 16 Module Digital Inputs and Outputs Physical Dimensions of the N IO 16 Module Overview and Technical Data Description of Connections N IA 4 Module Analog Inputs Physical Dimensions of the N IA 4 Module Overview and Technical Data Description of Connections Register Description N IA 4 Module N OA 2 and N OA 4 Modules Analog Outputs Physical Dimensions of the N OA 2 and N OA 4 Modules Overview and Technical Data Description of Connections Register Description N OA 2 and N OA 4 Modules N CNT 1 Module Single and Dual Channel Counter Physical Dimensions of the N CNT 1 Module Overview and Technical Data Description of Connections Register Description N CNT 1 Module Serial Interface Module N SER 1 Physical Dimensions of the N SER 1 Module Overview and Technical Data Description of Connections Register Description N SER 1 Module 150 150 151 151 152 153 153 154 157 157 158 158 159 162 162 163 163 164 167 167 168 168 169 172 176 176 177 181
46. band DIN EN 50081 1 30 230 MHz limit 30 dB uV m DIN EN 50081 2 at 10 m DIN EN 55011 e Frequency band 230 1000 MHz limit 37 dB uV m at 10 m class B Interference Immunity Enclosure Parameter Value Reference RF Field Frequency band 27 1000 MHz DIN EN 61131 2 amplitude test signal strength 10 V m DIN EN 50082 2 modulated AM 80 with 1 kHz DIN EN 61000 4 3 Criterion A Electromagnetic RF Field pulse modulated Frequency 900 5 MHz Test field strength 10 V m 50 ON period Repetition rate 200 Hz DIN EN 50082 2 DIN EN 61000 4 3 Criterion A Magnetic Field 50 Hz DIN EN 50082 2 with Mains 30 A m DIN EN 61000 4 8 Frequency ESD Discharge through air DIN EN 61131 2 Test Peak Voltage 15 kV Humidity DIN EN 50082 2 Rating RH 2 ESD 4 DIN EN 61000 4 2 Contact Discharge Test peak voltage 4 kV severity level 2 Criterion A Interference Immunity Signal and Data Lines Parameter Value Reference Asymmetric Frequency 0 15 80 MHz DIN EN 50082 2 RF amplitude Test voltage 10 V DIN EN 61000 4 6 modulated AM 80 with 1 kHz Source Impedance 150 Q Criterion A Burst Test voltage 2 kV DIN EN 50082 2 tr tn 5 50 ns Repetition rate 5 kHz Criterion A DIN EN 61131 2 DIN EN 61000 4 4 46 Jetter AG NANO B Jetter AG 4 Operating Conditions EMC NANO B Basic Unit Test with Damped Oscillation Damped Oscillation Frequency 1 MHz Source Impeda
47. bit even 1 stop bit 3 8 bit odd 1 stop bit 4 8 bit no parity 1 stop bit 5 7 bit even 2 stop bit 6 7 bit odd 2 stop bit 7 7 bit no parity 2 stop bit 8 8 bit even 2 stop bits 9 8 bit odd 2 stop bits 10 8 bit no parity 2 stop bits 11 5 bit even 1 stop bits 12 5 bit odd 1 stop bits 13 5 bit even 1 stop bits 14 6 bit odd 1 stop bits 15 6 bit even 1 stop bits 16 6 bit odd 1 stop bits 17 5 bit no parity 1 4 Stop bit 18 5 bit even 1 1 Stop bit 19 5 bit odd 14 Stop bit 20 6 bit no parity 2 stop bits 21 6 bit even 2 stop bits 22 6 bit odd 2 stop bits 23 7 bit no parity 1 stop bit Value range 0 23 Note applies from firmware version 2 10 on To initialize the N SER 1 module values have to be entered into registers 3yy1 and 3yy2 Failure to do so may result in malfunctions Jetter AG NANO B Jetter AG 13 9 Serial Interface Module N SER 1 Register 3yy3 Sending buffer Function Description Read Latest character that has been sent or is to be sent Value following reset 0 Write Send a character Value range 0 255 8 bit format 0 127 7 bit format Important The maximum size of sending buffer is 128 characters Note Data are sent by the N SER 1 module only if the value is written into the sending register 3003 Register 3yy4 Sending Buffer Occupancy Function Description
48. by means of register 11102 may result in the axis to skip steps Therefore it is advisable to carry out reversal of direction by means of ramp functions Jetter AG NANO B 10 2 Firmware of Stepper Motor Control Register 11103 Set Speed Stepping Rate Function Description Read Maximum set speed of the axis Value following reset 100 Hz Write Specification of a new maximum set speed for the axis The new value is accepted immediately Value range 0 5000 in Hz When entering a new value into register 11103 distinction must be made between two system states 1 The axis is at standstill at the moment The new value is stored for the next positioning process 2 A positioning process presently is in progress The new value is accepted as new maximum set speed The maximum value is in creased or decreased to suit the new value Change of the maximum value does not take place steplessly but with the acceleration ramp specified in register 11105 Examples 1 THEN REGISTER_LOAD 11103 with 2500 This instruction forces the axis to travel with a stepping rate of 2500 Hz 2 THEN REG 11103 REG 11103 1000 The stepping rate of the axis is increased by 1000 Hz On principle the limiting value of 5000 Hz must not be exceeded Jetter AG 131 10 Stepper Motor Control PROCESS PLC Register 11104 Polarities Description Present polarity settings Value followin
49. destroyed For this purpose it is mandatory to read the description of connections given in the operator s manual of the relevant stepper motor and power amplifier manufacturer Malfunctions during operation of your plant can only be avoided if the connection is correct Connection according to fig 13 page 38 is only one option for connecting a specific stepper motor controller and is not universally applicable 37 2 Installing the NANO B Controller PROCESS PLC STEP and DIR outputs are open collector outputs The 0 V potential is applied to the terminals through these outputs The voltage is determined by the power circuitry of the stepper motor drive As a rule switching voltage is supplied by the power unit via pull up resistors thus enabling direct connection of motors STEP and DIR Signals Stepper Motor NANO B Driving Circuit Stepper Motor Controller 24V 0V Vey Limit Switch Limit Switch Reference Switch Power Amplifier Fig 13 NANO B Stepper Motor Driving Circuit Possible Internal e g 5Vor24V Circuitry DIR and STEP R Pull Up Resistor Stepper Motor Amplifier Fig 14 Exemple Internal Circuitry of a DIR and STEP Signal 38 Jetter AG NANO B 2 3 Description of LEDs 2 3 Description of LEDs Digital Input activated Digital Output activated 24 V signal applied 24 V signal applied OV 24V 24V 1 243 4 5 6 7 8 DIR STEP OV POWER OUTPUT SM stor iil J Ruy PC IN oul Owv O1
50. direction along which a movement of the tool or work piece occurs A component which is connected to the output of a controlled system and which converts an electrical signal into mechanical motion A parameter e g voltage which is steplessly adjustable Contrasted with digital Application program that lists control functions in the form of statements A resolution of 10 bit means that for example a value range of 0 10 V is divided into 21 1024 increments Output drivers are semiconductor components such as transistors with the N IO 16 module To function correctly they have to be connected to voltage and current Bit coded means that bits are evaluated individually 1 Short period of intense activity on an otherwise quiet data channel 2 Short isolated sequence of transmitted signals 3 Fast transient interference A set of hardware lines conductors used for data transfer among the components of a computer system Buses are characterised by the number of bits they can transfer at a single time Distinction is made between serial bus systems transmission of one bit at a time and parallel bus systems simultaneous transmission of a group of bits over separate wires Controller Area Network Bus Originally this bus was intended for use in automobiles due to its short cable length of 30 m maximum high bit rate of 1 Mbit s and its noise immunity The same demands apply to automation technology Therefore t
51. dual channel counter to the basic controller NANO B see chapter 2 2 5 Single and Dual Channel Counter page 33 8 2 Register Description Register 2900 Peripherals Control Register Function Description Read Present value of the peripherals control register Value following reset 1 Write New value of the peripherals control register Value range 0 65536 Meaning of the individual bits BitO 0 A D converter for analog inputs deactivated Bit 0 1 A D converter for analog inputs activated Bit 1 0 Dual channel counter Bit 1 1 Single channel counter Register 2901 Count Value of the Single Dual Channel Counter Function Description Read Present count value Value following reset 0 Write Count value will be overwritten Value range 8388608 8388607 117 8 Single Dual Channel Counter 118 PROCESS PLC Register 2918 Counting Rate Function Description Read Present value of the counting rate Value following reset 0 Write Disabled Value range 32768 32767 Register 2919 Time Base for Counting Rate Function Description Read Present value of the time base for counting rate Value following reset 10 100 ms Write The value of the time base for counting rate will be overwritten Value range 0 255 The counting rate is calculated by the following formula
52. entered into register 11105 this will have no effect on the motion in progress The new value for acceleration ramp will be used only when the next positioning process begins i e by writing into register 11102 or by issuing the Pos instruction In register 11105 the rate of rise of the stepping rate with which the axis accelerates when a motion is started is defined Please refer to Fig 28 page 133 The greater the value the higher the acceleration however the more critical the motor performance f Hz toi d eee 990 980 Steeper Ramp e g or He i s I I 1 1 1 S ty Default Value 10 Hz 4 4 30 I ms O 8 12 16 20 24 28 x Acceleration Deceleration Reg 11105 Reg 11106 Fig 28 Speed Profile of Acceleration Deceleration Ramps Jetter AG 133 10 Stepper Motor Control PROCESS PLC 134 Register 11106 Deceleration Ramp Function Description Read Present value of the deceleration ramp parameter Value following reset 10 Write Transfer of a new value for the deceleration ramp parameter Value range 1 255 Hz 4 ms When during a positioning process a new value is entered into register 11106 this will have no effect on the motion in progress The new value for deceleration ramp willbe used only when the next positioning process begins i e by writing into register 11102 or by issuing the Pos instruction In register 11106 the st
53. entire system configuration e The NANO B basic controller is designed to supply a maximum of 5 non intelligent expansion modules e The N PS 1 module is designed to supply a maximum of 5 non intelligent expansion modules e For each remote module set at least one N PS 1 module is required Even with intelligent modules the N PS 1 modules must be located at the beginning of the module set so as to meet EMC requirements e A maximum quantity of 15 non intelligent expansion modules may be linked together with the N PS 1 modules being ignored please refer to fig 31 Centralised Arrangement on the JETTER System Bus page 151 and fig 32 Decentralised Arrangement on the JETTER System Bus page 151 e Power supply of intelligent modules CAN DIMA N PID 1 N SM1 D N SM 2 and N SV1 is made through an individual power supply unit DC 24 V and not through a N PS 1 module e Intelligent modules are not designed to supply non intelligent expansion modules with voltage and current Therefore for a heterogeneous decentralised module set with intelligent and non intelligent expansion modules at least one N PS 1 module is required e One N IO 16 module is designed to supply a maximum of 3 expansion modules e Power supply of a FESTO CP module is always to be made through an individual supply unit Such a unit is for example a N PS 1CP power supply unit ora FESTO tee connector Jetter AG NANO B 13 1 Topology of the JETTER System Bus
54. from being destroyed a ra TRANSFORMER DC 24 V 114 IN ANALOG ou ovaz 3 4 n i EEEEGERE ES eo Fig 47 Example Wiring of Outputs of the N OA 4 Module 192 Jetter AG NANO B 13 7 N OA 2 and N OA 4 Modules Analog Outputs Addressing The register address is made up of the module number and the respective output Scheme for number Analog Outputs Coding of the registers 3 yy z Register 0 9 Module Number 2 Value Range 0 14 Note a e For determination of the module number only the non intelligent modules will lt lt DS be counted Intelligent modules such as SV SM PID etc located among the modules are not being taken into consideration e Module number 1 is always assigned to the basic control unit Starting from there the module numbers are being counted left to right For communication with the CPU 3 registers have been provided by the N OA 2 module and 5 registers by the N OA 4 module The operating system version number of the module can always be read from register 9 The registers are addressed as follows Register number 3000 module number 2 10 local register number Output of voltage values to the actuators is carried out via output channels 1 and 2 for the N OA 2 module resp 1 through 4 for the N OA 4 module Example Definition of Output Voltage Value 1534 is assigned to channel 1 register 3000 The resulting voltag
55. from JETTER AG In case you prefer to fabricate your own cable the following minimum requirements also with a view to EMC must be met 1 Number of cores 2 Core cross sectional area 3 Connector male 4 Maximum cable length 5 Shield 3 0 25 mm SUB D metallised 15m complete shielding no paired shielding The shield must be connected to the metallised connector housings on both ends of the cable with the greatest possible surface area Jetter AG NANO B Interface for LCD Displays ZS Jetter AG 2 2 Electrical Connection EM DK Cable for LCD 9 LCD 10 and LCD 12 PROCESS PLC Shield LCD Display fon 15 o Shield o9 o T o9 e o oO Sear E O O res O56 e O o oo 10 92 80 O15 15 pin male SUB Connect shield with the greatest L 15 pin female SUB D D connector possible surface area connector Use metallised housing only PIN Signal PIN 4 DC 24 V 15 7 Gnd 12 10 TXD RXD 9 12 RXD TXD 11 Important The connection cable EM DK can be obtained from JETTER AG In case you prefer to fabricate your own cable the following minimum requirements also with a view to EMC must be met 1 Number of cores 2 Core cross sectional area 3 Connector male 4 Maximum cable length 5 Shield 4 0 25 mm SUB D metallised 30 m complete shiel
56. in the SYMPAS Program 261 SYMPAS Programming Interface 268 Jetter AG NANO B Jetter AG Appendix F Index A Accuracy Classes of the N IA 4 Module Air Humidity Altitude Ambient Temperature Analog Input Analog Output Arc Cosin Arc Sin Arc Tangens Autoflash B Binary code Bit specific Functions of Register 2818 C CAN BUS Centronics Interface Class of Protection Corrosion Cosine Cursor Position D Damages in transit and storage Degree of Protection DELEOL DELSCR Device Number Dielectric Test Voltage Digital Inputs Digital Outputs DIN Rail DIP switch Disposal 181 44 44 44 121 120 266 266 266 260 204 93 30 227 45 44 265 79 45 45 80 80 78 45 31 32 45 26 11 Appendices E EMC NANO B Basic Unit 46 N CNT 1 Module 199 N IA 4 Module 179 N ID 8 Module 155 N IO 16 Module 170 N OA 2 Module 190 N OA 4 Module 190 199 229 N OD 4 2 Module 160 N OD 8 Module 165 N PRN 1 Module 229 N PS 1 Module 240 N PS 1CP Module 240 N SER 1 Module 214 EM DK Cable for LCD 9 LCD 10 and LCD 12 23 Error Messages via Special Flags 263 Exponential function 266 F FESTO CP Module Types 252 FESTO CP Valve Terminal 244 Firmware 220 Flag 2057 100 Free Falls Withstanding Test 45 Fully metallised housing 14 G Gray code 204 H Hardware Flow Control 223 Hardware Handshake 22 l Installation Accessories 17 Installation Sequence 16 Interface for LCD Displays 23 J JETWay
57. input the value 7 is to be entered into register 2813 Register 2814 Indirect Cursor Position for DISPLAY TEXT DISPLAY REG and USER_INPUT Function Description Read Present value for indirect cursor position Value following reset 0 Write New value for indirect cursor position Value range 0 127 If for the DISPLAY_TEXT DISPLAY_REG and USER_INPUT instructions the cursor position 0 is specified the cursor position contained in register 2814 will be used If the value in this register is 0 as well the text or value to be displayed will be attached the texts or values that have already been displayed Register 2815 Suggested default Value for the USER_INPUT instruction Function Description Read Present default value at the cursor position defined by the USER_INPUT instruction Value following reset 0 Write New default value for the USER_INPUT instruction 8388608 8388607 Value range Once a USER_INPUT instruction is activated a default value will appear at the defined cursor position This value is 0 by default If another value is to be displayed at this position the position is to be specified in 2815 91 6 User Interfaces Operator Guidance 92 PROCESS PLC Register 2816 Sign Suppression with the DISPLAY_REG Instruction Function Description Read Present value for sign suppression Value following reset 0 Write New value for sig
58. like a variable In an output instruction a certain value is assigned to the register above the equals sign In an input condition the content of a register is read In both cases the register accesses below the equals sign result in reading the register content Examples 1 THEN REG 1 REG 105 25 In this example an assignment output instruction is shown which is initiated by THEN Register 105 is read and its contents multiplied by 25 The result of this arithmetic operation will be stored in register 1 The contents of register 105 will remain unchanged Jetter AG NANO B Programming Jetter AG Instruction REGNULL 5 3 Register Description REG 1 REG 105 25 THEN In this case the expression REG 1 REG 105 25 isnot part of an output instruction but of an input condition In this part of the program the value of register 1 remains unchanged It will only be compared with the product REG 105 25 This instruction obtains direct access to the value of a register and can be dealt with like a variable In an output instruction a certain value is assigned to the register above the equals sign In an input condition the content of a register is read In both cases the register accesses below the equals sign result in reading the register content By using the instruction REGZERO a register value is set to 0 or a register is sensed whether its value is 0 REGNULL lt RegNo gt The meaning of this in
59. modulated AM 80 with 1 kHz Source Impedance 150 Q Criterion A Burst Test voltage 2 kV DIN EN 50082 2 tr tn 5 50 ns DIN EN 61131 2 Repetition rate 5 kHz DIN EN 61000 4 4 Criterion A Interference Immunity Mains Inputs and Outputs for AC and DC Parameter Value Reference Asymmetric RF Frequency 0 15 80 MHz DIN EN 50082 2 amplitude Test voltage 10 V DIN EN 61000 4 6 modulated AM 80 with 1 kHz Source Impedance 150 Q Criterion A Burst Test voltage 2 kV DIN EN 50082 2 tr tn 5 50 ns DIN EN 61131 2 Repetition rate 5 kHz DIN EN 61000 4 4 Criterion A Test with Damped Oscillation DIN EN 61131 2 Damped Frequency 1 MHz DIN EN 61000 4 12 Oscillation Source Impedance 200 2 Repeat Factor 400 s Test voltage 1 kV Criterion A 241 13 Expansion Modules PROCESS PLC 13 11 3 Description of Connections of the N PS 1 Module Power Supply DC 24 Volt Jetter System Bus Output for Additional Modules 26 29 O rons O Jetter System Bus Input for Incoming Jetter System Bus Cable JX2 SBK1 Fig 56 Connections of the N PS 1 Module For the incoming JETTER system bus a SUB D connector male and for the outgoing JETTER system bus a 9 pin SUB D connector female are available I Important The FESTO CP modules have to be connected in series at the end of the JETTER system bus FESTO CP modules do not enable automatic termination of the bus This must be done manually Junctions of the bus must be a
60. module Module number 4 Output number 1 Number of the virtual output 401 218 Jetter AG NANO B 13 9 Serial Interface Module N SER 1 13 9 4 Register Description N SER 1 Module Register 3yy0 Status register Function Description Read Present interface state Bit 0 0 Bit 1 1 Overflow receiving buffer Bit 2 1 Parity error during reception Bit 3 1 Framing error during reception Bit 4 1 Breaking off condition 1 Bit 5 0 Bit 6 0 Bit 7 1 Error in the present FIFO data Value following reset 0 Write Illegal Value range 0 255 Rx signal was logically 0 for the duration of one byte The status register is bit coded i e each bit indicates a specific state The status register is cleared when reading Register 3yy1 Baud Rate Function Description Read Present value of the baud rate Value following reset 6 Write new baud rate 0 150 bits s 1 300 bits s 2 600 bits s 3 1200 bits s 4 2400 bits s 5 4800 bits s 6 9600 bits s Default setting 7 19200 bits s 8 38400 bits s for RS485 only 9 57600 bits s for RS485 only 10 115200 bits s for RS485 only Value range 0 256 Jetter AG 219 13 Expansion Modules 220 PROCESS PLC Register 3yy2 Interface Configuration Function Description Read Present data format Value following reset 4 Write New data format 0 7 bit even 1 stop bit 1 7 bit odd 1 stop bit 2 8
61. ns Repetition rate 5 kHz Criterion A DIN EN 61131 2 DIN EN 61000 4 4 229 13 Expansion Modules PROCESS PLC EMC N PRN 1 Module Test with Damped Oscillation Damped Oscillation Frequency 1 MHz Source Impedance 200 Q Repeat Factor 400 s Test voltage 1 kV DIN EN 61131 2 DIN EN 61000 4 12 Interference Immunity Process Measuring and Control lines Long Bus Lines and Long Control Lines Parameter Value Reference Asymmetric RF Frequency 0 15 80 MHz DIN EN 50082 2 amplitude Test voltage 10 V DIN EN 61000 4 6 modulated AM 80 with 1 kHz Source Impedance 150 Q Criterion A Burst Test voltage 2 kV DIN EN 50082 2 tr tn 5 50 ns DIN EN 61131 2 Repetition rate 5 kHz DIN EN 61000 4 4 Criterion A Interference Immunity Mains Inputs and Outputs for AC and DC Parameter Value Reference Asymmetric RF Frequency 0 15 80 MHz DIN EN 50082 2 amplitude Test voltage 10 V DIN EN 61000 4 6 modulated AM 80 with 1 kHz Source Impedance 150 Q Criterion A Burst Test voltage 2 kV DIN EN 50082 2 tr tn 5 50 ns DIN EN 61131 2 Repetition rate 5 kHz DIN EN 61000 4 4 Criterion A Test with Damped Oscillation DIN EN 61131 2 Damped Frequency 1 MHz DIN EN 61000 4 12 Oscillation Source Impedance 200 2 Repeat Factor 400 s Test voltage 1 kV Criterion A 230 Jetter AG NANO B N a ee00e008000800000 gt LS Jetter
62. number of the operating system Function Description Read Version number of the operating system e g 101 V 1 01 Value following reset Version number of the operating system Write Illegal Value range 0 8388607 222 Jetter AG NANO B Hardware Flow Control Software Flow Control w ai A Jetter AG 13 9 Serial Interface Module N SER 1 13 9 5 Hardware and Software Flow Control of the N SER 1 Module The N SER 1 module supports hardware and software flow control These control functions are activated or deactivated through virtual outputs The flow control is to prevent the loss of data due to receiving buffer overflow For the N SER 1 module there are two possibilities of flow control 1 For hardware flow control two additional wires are used 2 For software flow control special characters are used Both with hardware and software flow control the receiving device informs the sending device that is not ready to receive data any more The N SER 1 module will send the respective stop signal by hardware or software when a receiving buffer occupancy of 60 characters has been reached When an occupancy of 56 characters has been reached readiness to receive will then be signaled The hardware flow control will be activated by setting the virtual output yyo1 and will be deactivated by clearing output yy01 The function will automatically be carried out by using the RTS and CTS signals
63. results For ex represents a divisor from which the amount of decimal positions ample if the divisor value is 10 the resulting amount of decimal positions will be 1 1 10 0 1 Register 2808 Amount of Decimal Positions for USER_INPUT of Fixed point Numbers Function Description Read Present amount of decimal positions for user inputs Value 0 No decimal position Value 1 1 decimal position Value 4 4 decimal positions Value following reset 0 Write Value range 0 4 Unlike register 2807 where the number of decimal positions is represented by a divisor in register 2808the number of decimal positions is specified directly 88 Jetter AG PROCESS PLC NANO B Jetter AG 6 6 Registers for User Interfaces Register 2809 Divisor for Displaying Fixed point Numbers for DISPLAY_REG Instruction Function Description Read Present value for the divisor to define the amount of decimal positions for DISPLAY_REG Value 0 No decimal position Value 10 1 decimal position Value 10000 4 decimal positions Value following reset 0 Write New value for the divisor to define the amount of decimal positions for DISPLAY_REG Value range 0 10000 The data being supplied by the NANO B controller are integer values If these are to be displayed with decimal positions on the user interface using the DISPLAY_REG instruction this can be achieved by usin
64. resumed and the axis travels to the initial target position Stop at the reference position default Do not stop at the reference position At the reference position the actual position is set to zero but not the set position Then the axis resumes travelling 129 10 Stepper Motor Control PROCESS PLC 130 Register 11102 Set Position Function Description Read Set position of the axis Value following reset 0 Write Specification of the next set point for the axis and immediate start of the positioning process Value range 8388608 8388607 23 bit signed integer Examples 1 THEN REGISTER_LOAD 11103 with 1000 REGISTER_LOAD 11102 with 10000 This instruction set is identical with the positioning instruction POS Axis11 Pos10000 v1000 The positioning process is started and the axis is moved to the absolute position 10000 2 THEN DISPLAY_REG 0 cp 1 Reg 11102 The present set position of the axis is displayed top left on the display 3 THEN REG 11102 REG 11102 100 Axis positioning to the relative position 100 is started i e the axis travels 100 steps further Positioning is carried out in absolute positioning mode Important Register 11102 can be altered any time during the positioning process From then on the positioning process will refer to the new value While doing so the axis does not stop Reversal of direction during a positioning process
65. so shake the cable Bit4 1 Slave module timeout e Access to intelligent Check power supply of the Module does not answer modules which have intelligent module not been inserted or Do not power up intelligent detected modules following power up Reg 12100 14199 of the CPU i e intelligent modules have to be powered up atthe same time as the rest of the system Ifthe 5 V LED of the relevant module is not illuminated return the module for repair Check addressing of registers for the module inthe SYMPAS program and correct it if necessary The module has to be detected in the module array with register 2015 and 2016 e Access to non Wrong calculation of register intelligent modules address which have not been Module defective inserted or detected Too many modules connected Reg 3000 3149 to the JETTER system bus cable JX2 SBK1 without power supply module PS1 e Intermittent electrical Check JETTER system bus contact or break of cable JX2 SBK1 for continuity JETTER system bus and short circuit While doing cable JX2 SBK1 so shake the cable Bit5 1 Illegal op code inthe RAM e g Modem with self Switch off self detection detection routine routine of the modem keeps sending data e faulty SYMPAS Repeat SYMPAS program program upload Bit6 1 Wrong programming ofan Faulty programming Activate syntax checking arithmetic calculation Following this reload
66. the counting register is decremented by one and is being checked whether it is 0 REGZERO 1 If the value is 0 the first THEN will be ignored and the loop will go to the second THEN to continue execution of the program there If the value of register 1 is not o the program will return to the starting point of the loop Jetter AG NANO B Jetter AG 5 3 4 Special Registers 5 3 Register Description Special 1 Value Range Register Function 2 Reset Value Number 3 Cross Reference Operating System and Error Messages 2000 Software version 1 0 65535 2 Version 2001 Status register 1 8388608 8388607 2 Status 3 chapter 15 Error Handling page 258 2002 Run Time Register Operating time 1 0 8388607 since reset in 0 1 s The unit is 2 0 dependent on register 2003 2003 Time base for DELAY as well as 1 0 255 START TIMER and TIMER END 2 10 100 ms 2006 Cycle time of all tasks in ms 1 0 255 2 not defined 2008 Operating system error 1 0O 65535 2 0 3 chapter 15 Error Handling page 258 2009 Number of the erroneous task 1 0 255 2 1 and 2 3 chapter 15 Error Handling page 258 2010 Program address of the error for 1 0 65535 internal use 2 0 2011 Time out of I O module 2 3 4 5 1 0 255 arw 1b 2 0 3 chapter 15 Error Handling page 258 2012 Time out of slave module 1 0 255 specifying module 2 0 3 chapter 15 Error Handling pag
67. the last access to the network This register can only be used in slave mode if the master controller is for example a DELTA no NANO B Jetter AG NANO B Jetter AG 7 4 Registers for Network Operation Register 2700 Node Number Function Description Read Present node number on the JETWay network Value following reset 2 Write New node number on the JETWay network Value 0 deactivated Value 1 Network master Value 2 127 Possible slave number Value range 0 127 Register 2701 Baud Rate JETWay R Function Description Read Present value for baud rate on the JETWay R Value following reset 10 115 2 kBaud Write New value for baud rate on the JETWay R 0 150 Bit s ts 300 Bit s 2 600 Bit s 3 1200 Bit s 4 2400 Bit s 5 4800 Bit s 6 9600 Bit s rs 19200 Bit s 8 38400 Bit s 9 57600 Bit s 10 115200 Bit s Value range 0 65536 Register 2702 Register Offset Function Description Read Present value for register offset Value following reset 0 Write New value for register offset Value range 0 65535 This value will be added to the register number of a 50000 number network access when for example a MIKRO controller is used 113 7 Network Operation PROCESS PLC Register 2703 Flag Offset Function Description Read Present value for flag offset Value following reset 0 Write New
68. the switch is in RUN position the application program will start 40 Jetter AG NANO B 3 1 Physical Dimensions 3 Basic Unit 3 1 Physical Dimensions 130 sa STSSTOOOG _ oy 49 COUNTER B INPUT IN ANALOG 12345 67 8 A ov OUT 14 2 3 4 ov OUTO ODCOOCQOQOO Fig 17 Mounting Dimensions of the NANO B Basic Unit 3 2 Technical Data Technical Data of the NANO B Basic Unit Program memory 16 KByte Flash EPROM User register 24 bits 2000 register in the RAM The RAM is battery backed The battery has a service life of approx 10 years Data format 24 Bit Integer 8 388 608 8 388 607 Internal intermediate 32 Bit results Quantity of flags 255 buffered and 1800 overlapped from register 0 74 Digital inputs cf page 31 DC 24 V Digital outputs cf page 32 Transistor DC 24 V 0 5 A pnp Analog inputs cf page 34 4 10 bit inputs 0 10 V Analog outputs cf page 35 1 8 bit output O 10 V Jetter AG 41 3 Basic Unit PROCESS PLC Technical Data of the NANO B Basic Unit Stepper motor controller cf page 36 and page 123 1 STEP DIR Open Collector Real time clock cf page 148 Single dual channel counter 24 V cf page 148 10 kHz User programmable serial interface refer to page 148 RS 232 RS 485 RS 422 7 Programming interface
69. to be checked whether in the windows 4 5 8 or 9 registers with a time out error message are displayed Fig 67 Error Message Time out If this is the case the registers in the corresponding windows have to be deleted and 0 has to be entered into register 2008 Fig 68 Resetting Register 2008 Jetter AG NANO B 15 2 Application Program Errors To check whether the SYMPAS program will access to registers which cause errors the NANO B must be powered on while the program is stopped If register 2008 continues to display 0 the error is caused by the SYMPAS program If a value other than 0 is displayed proceed according to Chapter 15 3 OS Error Messages 15 2 Application Program Errors Syntax Checking The programming interface SYMPAS includes a syntax checking function which intercepts errors in the application program When the program is uploaded from the PC to the controller syntax checking can either be enabled or disabled When working with SYMPAS it is advisable to leave syntax checking enabled since it spots fundamental errors If syntax checking is disabled it can happen that faulty programs are uploaded to the NANO B controller In this case errors will be reported in register 2008 Register 2001 signals whether the program is running properly or has been stopped Register 2001 Status register Function Description Read State Bit 0 0 Program has been stopped Bit 0 1 Program is runn
70. 0 3 chapter 6 6 Registers for User Interfaces page 87 2830 Basic key flag number for display 2 1 161 1824 2000 2 2000 3 chapter 6 6 Registers for User Interfaces page 87 Jetter AG NANO B Jetter AG 5 3 Register Description Special 1 Value Range Register Function 2 Reset Value Number 3 Cross Reference 2831 Basic key flag number for display 3 1 161 1824 2000 2 2000 3 chapter 6 6 Registers for User Interfaces page 87 2832 Basic key flag number for display 4 1 161 1824 2000 2 2000 3 chapter 6 6 Registers for User Interfaces page 87 2833 Register number for controlling 1 1 1999 2622 2637 LEDs of display 1 2649 2 2649 3 chapter 6 6 Registers for User Interfaces page 87 2834 Register number for controlling 1 1 1999 2622 2637 LEDs of display 2 2649 2 2649 3 chapter 6 6 Registers for User Interfaces page 87 2835 Register number for controlling 1 1 1999 2622 2637 LEDs of display 3 2649 2 2649 3 chapter 6 6 Registers for User Interfaces page 87 2836 Register number for controlling 1 1 1999 2622 2637 LEDs of display 4 2649 2 2649 3 chapter 6 6 Registers for User Interfaces page 87 Network Control 2700 Network number 1 0 255 2 2 3 chapter 7 4 Registers for Network Operation page 112 2701 Baud Rate 1 0 255 2 10 3 chapter 7 4 Registers for Network Operation page 112
71. 07 6 l Fig 29 Destination Window Bit 2 of the status register 11000 indicates whether the axis is in the destination window specified in register 11107 Register 11108 Digital Offset Acceleration Deceleration Stepping Rate Function Description Read Present value of the acceleration deceleration stepping rate Value following reset 10 Write Transfer of a new value for the acceleration deceleration stepping rate parameter Value range 0 65535 Hz When during a positioning process a new value is entered into register 11108 this will have no effect on the motion in progress The new value for acceleration deceleration stepping rate will be used only when the next positioning process begins i e by writing into register 11102 or by issuing the Pos instruction Jetter AG 135 10 Stepper Motor Control PROCESS PLC X i Acceleration Deceleration Reg 11105 i Reg 11106 Fig 30 Digital Offset Acceleration Deceleration Stepping Rate Register 11109 Actual Position Function Description Read Actual axis position Value following reset 0 Write Illegal Value range 23 bit signed integer This parameter is used to display the present actual position The internal count of the axis is displayed only as there is no feedback from the motor This value should always represent the instantaneous axis position Skipped steps will no
72. 1131 2 Repetition rate 5 kHz DIN EN 61000 4 4 Criterion A Interference Immunity Mains Inputs and Outputs for AC and DC Parameter Value Reference Asymmetric RF Frequency 0 15 80 MHz DIN EN 50082 2 amplitude Test voltage 10 V DIN EN 61000 4 6 modulated AM 80 with 1 kHz Source Impedance 150 Q Criterion A Burst Test voltage 2 kV DIN EN 50082 2 tr tn 5 50 ns DIN EN 61131 2 Repetition rate 5 kHz DIN EN 61000 4 4 Criterion A Test with Damped Oscillation DIN EN 61131 2 Damped Frequency 1 MHz DIN EN 61000 4 12 Oscillation Source Impedance 200 2 Repeat Factor 400 s Test voltage 1 kV Criterion A 161 13 Expansion Modules PROCESS PLC 13 3 3 Description of Connections On the expansion module 4 terminals have been provided for 24 V output signals The 0 V signal is to be connected to the 0 V terminal of the electric cabinet pe DRT 2 OVE TRANSFORMER OLTELT DC 24 V 114 INPUT COUNTER IN ANALOG our a4 5 678 v ov1 2 3 a ov oUTov nese 130 45 Fig 37 Example Output Wiring of an N OD 4 2 Module Addressing of For addressing of digital outputs refer to chapter 5 1 Addressing Digital Inputs Digital Outputs Outputs page 48 Addressing of outputs of N OD 4 2 modules is carried out the same way as with the N OD 8 module However it must be taken into account that there are only 4 outputs 13 3 4 Description of LEDs The LEDs show th
73. 13 1 1 Centralised Arrangement on the JETTER System Bus Incase of centralised arrangement the expansion modules are directly attached to the basic controller A centralised arrangement may include up to 15 non intelligent and 3 intelligent expansion modules Electrical and mechanical connection is realised via a SUB D connector These connectors excel by their reliable mechanical and electrical connections as well as good EMI characteristics JX2 SBK1 JX2 SBK1 e 82 mms on BE LE ol 88 88 e E of BE E NANO B max 5 Modules N PS1 max 5 Modules t N PS1 max 5 Modules L Keep length L of JX2 SBK1 as short as possible Fig 31 Centralised Arrangement on the JETTER System Bus 13 1 2 Decentralised Arrangement on the JETTER System Bus Use of the JETTER system bus as internal system bus allows that one or several modules can remotely be located at a maximum distance of 30 meters from the basic controller A decentralised arrangement may include up to 15 expansion modules Each decentralised module set must be connected to a N PS 1 power supply unit One power supply unit N PS 1 is designed for supplying 5 expansion modules The modules are controlled by the application program as if they were located in a centralised configuration
74. 2 10 local register number Examples Determination of the register numbers The number of the first expansion module s register is determined as follows Module number 2 Local register number 3 control register Register number 3000 2 2 10 3 3003 232 Jetter AG NANO B Jetter AG 13 10 Parallel Interface Module N PRN 1 13 10 4 Register Description N PRN 1 Module Note With the N PRN 1 module register 3yyo has got no function Register 3yy1 Data Register Function Description Read Last sent character Value following reset 0 Write Sending the character to the printer Value range 0 255 Once a character is entered into this register this character is sent to the printer Prior to sending this character a STROBE pulse with a pulse length of 5 us is generated and sent Register 3yy2 Status register Function Description Read Present interface state Bit 0 1 No function Bit 1 1 No function Bit 2 1 No function Bit 3 0 Error message Bit 4 1 Printer is online Bit 5 1 Paper tray is empty Bit 6 0 Acknowledge Bit 7 0 Printer is busy Value following reset Depending on printer status Write Illegal Value range 0 255 The status register is bit coded i e each bit indicates a specific state The status register is cleared when reading Note In case the printer is ready register 3yy2 contains the
75. 2 Output Voltage Function Description Read Present value of the output voltage Value following reset 0 Write New output voltage Value range Voltage bipolar 2048 2047 Register 3yy2 for N OA 4 Module only Channel 3 Output Voltage Function Description Read Present value of the output voltage Value following reset 0 Write New output voltage Value range Voltage bipolar 2048 2047 13 Expansion Modules PROCESS PLC Register 3yy3 for N OA 4 Module only Channel 4 Output Voltage Function Description Read Present value of the output voltage Value following reset 0 Write New output voltage Value range Voltage bipolar 2048 2047 Register 3yy9 for N OA 2 and N OA 4 Modules Version Number of the Operating System Function Description Read Version number of the operating system e g 101 V 1 01 Write Illegal Value range 23 bit signed integer 196 Jetter AG NANO B 13 8 N CNT 1 Module Single and Dual Channel Counter 13 8 N CNT 1 Module Single and Dual Channel Counter The N CNT 1 module is for counting events In this module a single and dual channel counter is included The single channel counter is used e g as workpiece counter and the dual channel counter e g as length counter The measured values are evaluated and processed by the application program 13 8 1 Physical Dimension
76. 2 A bipolar input voltage ranging from 10 V to 10 V is to be measured using channel 2 The output register is register 3001 3 An input current ranging from 0 to 20 mA is to be measured using channel 3 The output register is register 3002 4 A unipolar input voltage ranging from 0 to 10 V is to be measured using channel 4 The output register is register 3003 Note To carry out measurements the virtual outputs for the respective measuring method unipolar bipolar current have to be set in the SYMPAS program The assignment can be seen from table Input and Output Configuration of the N IA 4 Module page 183 Comments on the approach for task 1 Through channel 1 a voltage ranging from 0 V to 10 V is to be measured In the SYMPAS program the code of output xx01 becomes 201 and that of output xx05 becomes 205 since the first expansion module is assigned to module number 2 By resetting inputs 201 and 205 to zero a unipolar voltage measurement ranging from 0 V through 10 V with a value range from 0 4095 is defined The other tasks are accomplished in the same way For details refer to the following table Channel A D Value Measurement settings for Register Unipolar Bipolar Current Channel 1 3000 201 0 205 0 Channel 2 3001 202 0 206 1 Channel 3 3002 203 1 Channel 4 3003 204 0 208 0 Jetter AG NANO B Jetter AG 13 6 N IA 4 Module Analog Inputs 1
77. 2 Damped Frequency 1 MHz DIN EN 61000 4 12 Oscillation Source Impedance 200 2 Repeat Factor 400 s Test voltage 1 kV Criterion A 180 Jetter AG NANO B 13 6 N IA 4 Module Analog Inputs Accuracy Classes of the N IA 4 Module Type of Error Input Maximum Error Configuration in LSB in LSB Zero Error e Unipolar 5 LSB 12 2 mV e Bipolar 10LSB 48 8 mV e Current 10LSB 98 uA Gain Error e Unipolar 10LSB 24 4 mV e Bipolar 10LSB 48 8 mV e Current 10 LSB 98 uA The typical measuring accuracy is higher 13 6 3 Description of Connections On the expansion module 4 channels with 8 terminals have been provided for the inputs Theses terminals are grouped in the following way e four terminals for voltage measurement 10 V e four terminals for current measurement 0 through 20 mA Each channel can be switched individually between voltage and current All voltage and current input signals relate to 0 V Within the module the 0 V signal is connected to ground internally via the enclosure Important Apply to the analog inputs of the N IA 4 module a maximum voltage of 12 V or current of 50 mA This will prevent the N IA 4 module and the sensor e g a temperature sensor from being destroyed Jetter AG 181 13 Expansion Modules PROCESS PLC sal SHSSSTOOS OSG 3 4 s POWER OUTPUT 8M IN OUT OzuvO1 O01 O5sv O2 O2 Orw O3 O3 OER O4 O04 Opr O5
78. 2600 0 23 2601 24 47 2610 240 255 2611 2048 2071 2612 2072 2095 2620 2264 2287 2621 2288 2303 2622 0 15 2623 16 31 2637 240 255 2638 2048 2063 2639 2064 2079 2655 2320 2335 72 Jetter AG NANO B Jetter AG 5 3 Register Description Special 1 Value Range Register Function 2 Reset Value Number 3 Cross Reference Festo CP Valve Terminals 2017 Quantity of Festo CP modules 1 0 7 2 0 3 chapter 14 NANO Network Topology and FESTO CP Modules page 244 2018 Index to configuration table 1 1 8 2 1 3 chapter 14 NANO Network Topology and FESTO CP Modules page 244 2019 Check number 1 0 65535 2 Check number 3 chapter 14 NANO Network Topology and FESTO CP Modules page 244 2020 Type of the Festo CP module 1 0 65535 2 Type 3 chapter 14 NANO Network Topology and FESTO CP Modules page 244 2021 I O configuration 1 0 65535 2 I O configuration 3 chapter 14 NANO Network Topology and FESTO CP Modules page 244 73 6 User Interfaces Operator Guidance 74 6 User Interfaces Operator Guidance PROCESS PLC 6 1 Technical Data Overview User Interfaces Type Display Keys Comment Interface Cable LCD 9 2 lines of 24 12 F keys with OpenColl characters LED EM DK each Special Function Keys Numeric keypad LCD 10 2 li
79. 2831 98 2832 98 2833 98 2834 99 2835 99 2836 99 2900 117 120 2901 117 2902 120 2903 2906 121 2918 118 2919 118 2920 121 3yy0 185 195 207 3yy1 185 195 207 3yy2 185 195 207 220 3yy3 186 196 207 221 3yy4 208 221 3yy5 208 221 3yy6 209 222 3yy7 210 3yy8 211 3yy9 186 196 211 222 234 Residual Dangers 15 S Scope of Supply 16 Servo Control 208 Shielding in conformity with the EMC standards 14 Appendices Shock Resistance 45 Sine 265 Single Dual Channel Counter 33 Software Flow Control 223 Special Flags 52 Special functions 265 Square root 265 SSI Absolute Position En coder 202 216 231 STEP and DIR Signals 38 Storage temperature 44 SYMPAS Menu 26 System Bus Cable for NANO Expansion Modules 30 T Tangent 265 Tap Lines 244 Technical Data Basic Unit 41 The JETWay H board for PC s 25 Time Base 61 69 94 118 U Usage as Agreed Upon 11 Usage Other Than Agreed Upon 11 User Flags 50 User Interface Cable DK 422 28 User Interface Port 28 User Programmable Inter face 143 213 V VIADUKT Cable 29 Vibration Resistance 45 Visualisation Interface 29 285 Subsidiaries Jetter UK Ltd 43 Leighswood Road Aldridge GB West Midlands WS9 8AH Phone 44 1922 745200 Fax 44 1922 745045 E mail jetteruk btinternet com Jetter USA Inc 165 Ken Mar Industrial Parkway Broadview Heights OH 44147 2950 Phone 1 440 8380860 Fax 1 440 8380861 E mail bernd jetterus com 286 A Jetter J
80. 3 6 4 Register Description N IA 4 Module Register 3yy0 Channel 1 for input voltage current Function Description Read Present value for input voltage current Value following reset Present value for applied input voltage current Write Illegal Value range Voltage unipolar 0 4095 bipolar 2048 2047 Current 0 2047 Register 3yy1 Channel 2 for input voltage current Function Description Read Present value for input voltage current Value following reset Present value for applied input voltage current Write Illegal Value range Voltage unipolar 0 4095 bipolar 2048 2047 Current 0 2047 Register 3yy2 Channel 3 for input voltage current Function Description Read Present value for input voltage current Value following reset Present value for applied input voltage current Write Illegal Value range Voltage unipolar 0 4095 bipolar 2048 2047 Current 0 2047 185 13 Expansion Modules PROCESS PLC Register 3yy3 Channel 4 for input voltage current Function Description Read Present value for input voltage current Value following reset Present value for applied input voltage current Write Illegal Value range Voltage unipolar 0 4095 bipolar 2048 2047 Current 0 2047 Register 3yy9 Version number of the operating system
81. 33 Connecting FESTO CP Modules to the JETTER System Bus Jetter AG NANO B 13 2 N ID 8 Module 8 Digital Inputs 13 2 N ID 8 Module 8 Digital Inputs The N ID 8 module serves to connect centralised or decentralised actuators or valves 13 2 1 Physical Dimensions 69 le0ee Fig 34 Mounting Dimensions of the Digital Input Module N ID 8 Jetter AG 153 13 Expansion Modules PROCESS PLC 13 2 2 Overview and Technical Data Technical Data of the N ID 8 Module Digital Inputs DC 24 V 15 20 Power Supply centralised arrangement via basic unit cf chapter 13 1 1 Centralised Arrangement on the JETTER System Bus page 151 e decentralised arrangement via power supply N PS 1 cf chapter 13 1 2 Decentralised Arrangement on the JETTER System Bus page 151 Connecting to the basic unit via JETTER system bus Male connector SUB D 9 pins Input terminals Screw terminals LEDs inputs 1 8 24 volt are applied to the input Enclosure Aluminium powder coated black Dimensions H x W x D in mm 114 x 45 x 70 Weight 350 g Mounting DIN Rail Heat loss of CPU logic circuit 0 3 Watt Technical Data of N ID 8 Inputs Input quantity 8 Rated Input Voltage DC 24 V 15 20 Voltage Range 0 30V Input current approx 8mA Input resistance 3 0 kQ Input delay time approx 3 ms Signal voltage ON min 15 V
82. 7 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 FFEEEEFEFEL TFET EEL EEL EEEEETETEEEEEEEE TET TEETH EEE Et REGISTER_LOAD rHelp with R RecPRIM read character from buffer check character for valid range IF LIMITS Reg rHelp low R rFirstChar high R rLastChar Then REGISTER_LOAD RecPRIM with R rHelp character is valid ELSE REGZERO RecPRIM character is invalid THEN RETURN END_DEF DEF_FUNCTION SendPrim S Par rSendChar PEALE LELELELEE EEE ET AF EF TFET TFET EFETEFETEFETEFEP EEE EEE This function is used to write a character into the sending buffer PEPE ELELELELEL TEE EL AL ET ET ETETETET ETE EETETET ETE EP EEE EF WHEN REG rSendCnt Is there free space lt in the sending buffer 128 THEN REG rPRIMSend Send back modified character REG rSendChar 32 THEN RETURN END_DEF TASK tPRIMhandling REGISTER_LOAD rPRIMconfigl with 1 RS232 PC configuration REGISTER_LOAD rPRIMconfig2 with 2 Configuration even Parity 8 bit 1 stop bit REGISTER_LOAD rPRIMbaud with 7 19200 Baud LABEL mPRIMloop WHEN NOT Are there any incoming REGZERO rRecCnt characters THEN REG rChar RecPRIM rLastChar 90 rFirstChar 65 Jetter AG NANO B Jetter AG 11 3 Programming 50 IF 51 REGZERO rChar Is there a valid
83. A per output Output power of outputs 96 Watt Electrical isolation None Protective circuit Short circuit overvoltage overtemperature Protection against inductive loads yes Signal voltage ON typ V Supply 1 5 V Jetter AG NANO B 13 4 N OD 8 Module 8 Digital Outputs EMC N OD 8 Module Emitted Interference Parameter Value Reference Enclosure Frequency band 30 230 MHz limit 30 dB uV m at 10m Frequency band 230 1000 MHz limit 37 dB uV m at 10m class B DIN EN 50081 1 DIN EN 50081 2 DIN EN 55011 Interference Immunity Enclosure Parameter Value Reference RF Field amplitude modulated Frequency band 27 1000 MHz test signal strength 10 V m AM 80 with 1 kHz Criterion A DIN EN 61131 2 DIN EN 50082 2 DIN EN 61000 4 3 Electromagnetic RF Field pulse modulated Frequency 900 5 MHz Test field strength 10 V m 50 ON period Repetition rate 200 Hz DIN EN 50082 2 DIN EN 61000 4 3 Criterion A Magnetic Field 50 Hz DIN EN 50082 2 with Mains 30 A m DIN EN 61000 4 8 Frequency ESD Discharge through air DIN EN 61131 2 Test Peak Voltage 15 kV DIN EN 50082 2 Humidity Rating RH 2 ESD 4 DIN EN 61000 4 2 Contact Discharge Test peak voltage 4 kV severity level 2 Criterion A Interference Immunity Signal and Data Lines Parameter Value Reference Asymmetric RF amplitude modul
84. AG 13 10 3 Description of Connections 13 10 Parallel Interface Module N PRN 1 Pin Assignment 25 pin male SUB D connector PIN Signal Meaning Signal Direction 1 STROBE Signal to start data transfer to the printer 2 DATA 1 Data bit 1 to the printer 3 DATA 2 Data bit 2 to the printer 4 DATA 3 Data bit 3 to the printer 5 DATA 4 Data bit 4 to the printer 6 DATA 5 Data bit 5 to the printer 7 DATA 6 Data bit 6 to the printer 8 DATA 7 Data bit 7 to the printer 9 DATA 8 Data bit 8 to the printer 10 ACKNLG Acknowledgement signal from the printer 11 BUSY Printer is busy from the printer 12 PAPER END Paper tray is empty from the printer 13 SELECT Printer is on off line from the printer 14 AUTO FEED Line feed to the printer 15 ERROR Fault message from the printer 16 INIT Initialisation to the printer 17 SELECT IN Switch printer on line to the printer 18 GND Parallel ground line 19 GND Parallel ground line 20 GND Parallel ground line 21 GND Parallel ground line 22 GND Parallel ground line 23 GND Parallel ground line 24 GND Parallel ground line 25 GND Parallel ground line Important In case you buy a printer cable or fabricate your own cable the following minimum requirements also with a view to EMC must be met 1 Number of cores 2 Core cross sectional area 3 Connector male 4 Maximum cable length 5 Shield of 85 25 2m 0 25 mm SUB D metallised complete shie
85. AS program For more information refer to Fig 69 Autoflash Settings in the SYMPAS Program page 261 Only in case the autoflash function is activated the SYMPAS program is permanently stored to the flash memory of the CPU If the autoflash function is not activated the JETTER test program for example is in the CPU memory when the NANO B is restarted Jetter AG NANO B 15 2 Application Program Errors SYMPAS EXE Tb editor isplay type Mmes F Assembler Controller t pe RANOSBRNNIE ersion number Bwe g Conf igurat ion LL Iuto save environment Ha check Others ransmit Fig 69 Autoflash Settings in the SYMPAS Program The SYMPAS program is transferred by pressing ol rl Note SYMPAS programs should only be transferred upon completion of program r creation since the CPU s flash memory allows only a certain amount of write cycles approx 10000 Jetter AG 261 15 Error Handling 15 3 OS Error Messages PROCESS PLC Register 2008 Operating System Error messages Error Type of Error Error Cause Troubleshooting Bit2 1 No user program e No user SYMPAS Reload user program in the NANO B memory program present e No valid user program present Bit3 1 I O module timeout e Intermittent electrical Check JETTER system bus Module does not answer contact or break of cable JX2 SBK1 for continuity JETTER system bus and short circuit While doing cable JX2 SBK1
86. Addressing 13 8 N CNT 1 Module Single and Dual Channel Counter Important To avoid malfunctions the following must be ensured The shielding must be clamped under a strain relief with the greatest possible surface area e The connection between shielding and ground must be electrically conducting e The distance L of unshielded conductor ends must not exceed 8 cm The address is made up of the module number and the number of the respective input and output Coding of Counter Registers 3 yy z Register 0 9 Module Number 2 Value Range 0 14 Note For determination of the module number only the non intelligent modules will be counted Intelligent modules such as SV SM PID etc located among the modules are not being taken into consideration Module number 1 is always assigned to the basic control unit Starting from there the module numbers are being counted left to right For communication with the CPU 6 registers have been provided by the N CNT 1 module The operating system version number of the module can always be read from register 9 The other module registers are being defined by the function of the module The registers are addressed as follows Register number 3000 module number 2 10 local register number Example Determination of the register numbers The number of the third expansion module s register is determined as follows Module number 4 Local register number
87. CD 17 and LCD 19 haven t got any SHIFT functions Jetter AG NANO B Jetter AG 6 8 Controlling the Keys and LEDs of the User Interface Scanning Keys of the LCD 19 User Interface Flag Key Flag Key 2201 q 2234 Emte m O 2202 Z9 2235 O 1 2203 EQ 2236 1 STU 2204 Sh 2237 2 i WX 2205 cE 2238 3 a MLE 2206 EB 2239 4 JAIL 2221 gt 2240 5 MNO 2222 y 2241 POR 2223 i 2242 T 2224 2243 3 g DEF ee 2230 SMi 2244 9 ooo GHI 2231 D 2245 5 10 2232 ay 294 z 2 I 6 6 Space 2233 C 2248 2249 L 105 6 User Interfaces Operator Guidance 106 PROCESS PLC Scanning Keys of the LCD 27 User Interface Special Flags LED Key Special Flags LED Key 2209 D 2211 2210 D 2212 Note With the user interface LCD 27 merely flags 2209 through 2212 differ from table 1 Scanning of User Interface Keys on page 102 Jetter AG NANO B 98 Nodes Jetter AG 7 1 JETWay H JETTER Data Highway 7 Network Operation 7 1 JETWay H JETTER Data Highway The data highway JETWay H enables several networked control systems of the PROCESS PLC family to be controlled by a host computer Purely technical the maximum amount of nodes to be controlled is 126 However with such a number of nodes rea
88. Component Inputs Outputs NANO B 101 108 101 108 N IA 4 201 208 virtually N OA 4 301 308 virtually N OD 8 401 408 FESTO Tee Connector The FESTO Tee Connector does not require a number FESTO CP Valve Terminal 1 901 908 1001 1008 FESTO CP Valve Terminal 2 701 708 801 808 FESTO CP Input Module 501 508 601 608 O numbering is continued with the FESTO CP module with the least check number Note Following the numbering of NANO B modules numbering of inputs and outputs of the FESTO CP module is continued with the FESTO module with the least check number Please give heed to the difference in numbering of expansion modules from Jetter AG 257 15 Error Handling 258 PROCESS PLC 15 Error Handling When dealing with errors the following distinction has to be made e Hardware errors e Application program errors e Operating system errors 15 1 Hardware Errors If communication with a module connected to a NANO B is not possible via JETTER system bus this error is signaled by the following messages e register 2011 resp 2012 shows the number of the module where a communication time out has occurred e the red LED ERR on the NANO B basic controller is lit when register 2008 is not equal to zero If the computer is connected to the controller via a programming cable and if the SYMPAS program is activated in the first instance it is
89. ESS PLC NANO B into operation e reattach dismantled protective equipment and check it for proper functioning secure the PROCESS PLC NANO B against accidental contact with conductive parts and components connect only devices or electrical components to the signal lines of the PROCESS PLC NANO B that have been sufficiently separated from the connected electric circuits e a durable connection to the PROCESS PLC and the expansion modules must be provided Jetter AG 17 2 Installing the NANO B Controller PROCESS PLC 2 2 Electrical Connection 2 2 1 Power Supply OV 24V POWER STOP Fig 3 Power Supply Terminals Power supply is to be made through a 24 V DC power supply unit with SELV output The power supply must meet the following requirements Voltage range DC 20 30 V Filtration Residual ripple 5 Rating approx 100 W fully equipped CS Important If the NANO CPU is not supplied with sufficient power under voltage malfunctions may occur In case of centralised arrangement the digital expansion modules are also supplied through the basic controller In case of decentralised arrangement the digital expansion modules are supplied through the power supply unit N PS1 see chapter 13 Expansion Modules page 150 The intelligent expansion modules have got their own connection for the 24 V power supply 18 Jetter AG NANO B 2 2 2 Interfaces 2 2 Electrical Connection On the basic
90. Function Description Read Version number of the operating system e g 101 V 1 01 Write Illegal Value range 23 bit signed integer 186 Jetter AG NANO B 13 7 N OA 2 and N OA 4 Modules Analog Outputs 13 7 N OA 2 and N OA 4 Modules Analog Outputs The N OA 2 and N OA 4 modules are for outputting analog voltages These voltage values are used as manipulated variables for example for actuators etc Such voltage values are defined in a user program such as SYMPAS and are output by the module according to definition 13 7 1 Physical Dimensions of the N OA 2 and N OA 4 Modules Physical Dimensions of the N OA 2 69 45 Module x1 20009 1 0V 2 OV 24V ANALOG OUTPUT Fig 45 Physical Dimensions of the Analog Output Module N OA 2 Jetter AG 187 13 Expansion Modules PROCESS PLC Physical Dimensions of the N OA 4 Module 109000 1 OV 2 OV 24V ANALOG OUTPUT ANALOG OUTPUT 3 0V 4 OV OV Fig 46 Physical Dimensions of the Analog Output Module N OA 4 188 Jetter AG 13 7 N OA 2 and N OA 4 Modules Analog Outputs 13 7 2 Overview and Technical Data Technical Data of the N OA 2 and N OA 4 Modules Power Supply centralised arrangement via basic unit cf chapter 13 1 Topology of the JETTER System Bus page 150 e decentralised arrangement via power supply N PS 1 cf chapter 13 1 2 Decentralised Arrangement on the JETTER System Bus page 151
91. G Register Value Decimal Positions 1 0 10 1 100 2 1000 3 10000 4 The number of decimal positions is defined through the value of this register As an alternative instead of register 2810 register 2809 can also be used A maximum of four decimal positions is possible Register 2810 Decimal Positions for DISPLAY_REG Register Value Decimal Positions 0 0 1 1 2 2 3 3 4 4 The number of decimal positions is defined through the value of this register As an alternative instead of register 2810 register 2809 can also be used A maximum of four decimal positions is possible 83 6 User Interfaces Operator Guidance PROCESS PLC 84 Example The instruction DISPLAY_REG 0 cp 1 reg 200 is used to display the contents of register 200 on the LCD The number 20 00 for example is displayed by the following register definitions Register 200 2000 Register 2809 100 Divisor for Value Output DISPLAY_REG Register 2810 2 Decimal Positions for DISPLAY_REG Note The numeric value of register 200 remains unchanged For representation purposes on the display a decimal point is added only 6 5 2 Input of Fixed point Numbers For this purpose two additional special registers are available namely the registers 2807 and 2808 Register 2807 Divisor for Value Input USER_INPUT Register Value Decimal Positions 1 0 10 1 100 2 1000 3
92. He Ke Fe de Ke He de He ke He ke ke ke ke The program will receive the upper case characters gt from A to Z via the N SER 1 module and will then send them back as lower case characters a kkkkkkkkkxkkkkkxkkkkkkkkkkkkkkkk kkk xkkkkkxkkkxkkkkxkkkkxkkxkkk DEF_FUNCTION RecPRIM RP Par rFirstChar rLastChar Var rHelp ZFEEEALFEEEEEAFEFEEEEALEFEEEFEAEFEEEFE EEE EEEATE FETE EE TET The RecPRIM function is used to read a character from the receiving buffer ZFEEEALFEEEEAFALEEEEALEFEEEFEFEEEEEFFEFEEEEATE FEET EE TET REGISTER_LOAD rHelp with R rRecPRIM reading character from buffer checking character for valid range IF LIMITS Reg rHelp low R rFirstChar high R rLastChar Then REGISTER_LOAD RecPRIM with R rHelp character is valid ELSE REGZERO RecPRIM character is invalid THEN RETURN END_DEF DEF_FUNCTION SendPrim S Par rSendChar FEEEEEALEEEEEFEEEEEEEAFEFEEEEEAEEEEEFEFEEEEEFEE EEE EEE TT This function is used to write a character into the sending buffer FEEEEEALEEEEEFEEEEEEEAFEEEEEEEATEEEEEFEFEEEEAFE AEE EEE TT WHEN REG rSendCnt Is there free space lt jin the sending buffer 128 THEN REG rPRIMSend Send back modified Character REG rSendChar Jetter AG NANO B Jetter AG 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 13 9 Serial Interface Module N SER 1 32 THEN
93. I Inputs and Outputs Output SV Module Input 101 108 201 208 301 308 Note i a From example 2 can be seen that the module N SV 1 is not taken into p account when assigning numbers to digital inputs and outputs The N PS1 module is required as voltage supply module for the non x intelligent N ID8 module Please refer to chapter N PS1 Module Power Supply Unit for Remote Modules on page 237 When assigning input and output numbers the N PS1 module is not taken into account Jetter AG 49 5 Software Programming PROCESS PLC 5 2 Access to Flags 5 2 1 User Flags Flags 0 through 255 are freely available to the user These flags are overlaid on registers 2600 through 2610 such that whole flag ranges can be accessed through registers Logic operations are carried out using the word processing instructions W AND W OR and W XOR _7 Note N Pai pn All flags of the PROCESS PLC NANO B are remanent overo ra of Register Flag ee 200 0 8 2601 24 47 2602 48 71 2603 72 95 2604 96 119 2605 120 143 2606 144 167 2607 168 191 2608 192 215 2609 216 239 2610 240 2557 For the complete list of flags overlaid on registers please refer to page 72 Note N P 7 Bits 16 through 23 of register 2610 are 0 Example Overlaying of flags on registers by the example of register 2609 Bit 0 1 2 3 4 a 21 22 23 Reg 2609 1 0 0 0 1 he 0
94. Jetter AG 103 6 8 Controlling the Keys and LEDs of the User Interface Scanning of User Interface Keys i i Ay fa T CN EN CAN OG gt if O Ke Q a So fohe foe Se a0 6 nana x o ey EN E i AE E i EN fc EN ey E A ey fu uy Sez Se DEOL K QOO S N oa T o o r N mM q Ww N oa eee e e e amp St bye e Sey eh ee T N N N N N o N N N N N N N N N N 3 gt 2 x i 8 Or 5 AB O a E 5 fA ON O LA w D OOP ONO Oo mello CELC OCOL x a LLI l 9 a ee ee de Z s 8 s s s8 s si sis O N N N N N N N N N N N N N N N N 2 77 NANO B Jetter AG 6 User Interfaces Operator Guidance User Interfaces with Irregular Flag 104 Assignment PROCESS PLC Scanning Keys of the LCD 17 User Interface Flag Key Flag Key 2201 2234 F q 2202 2235 2203 2236 D 2204 2237 D 2205 2238 2206 2239 l 2221 2240 6 2222 D 2241 2223 2242 D 2224 2243 2230 a 2244 O 2231 R 2245 C 2232 2246 OQ 2233 2248 Note The user interfaces L
95. Lines Parameter Value Reference Asymmetric RF Frequency 0 15 80 MHz DIN EN 50082 2 amplitude Test voltage 10 V DIN EN 61000 4 6 modulated AM 80 with 1 kHz Source Impedance 150 Q Criterion A Burst Test voltage 2 kV DIN EN 50082 2 tr tn 5 50 ns DIN EN 61131 2 Repetition rate 5 kHz DIN EN 61000 4 4 Criterion A Interference Immunity Mains Inputs and Outputs for AC and DC Parameter Value Reference Asymmetric RF Frequency 0 15 80 MHz DIN EN 50082 2 amplitude Test voltage 10 V DIN EN 61000 4 6 modulated AM 80 with 1 kHz Source Impedance 150 Q Criterion A Burst Test voltage 2 kV DIN EN 50082 2 tr tn 5 50 ns DIN EN 61131 2 Repetition rate 5 kHz DIN EN 61000 4 4 Criterion A Test with Damped Oscillation DIN EN 61131 2 Damped Frequency 1 MHz DIN EN 61000 4 12 Oscillation Source Impedance 200 2 Repeat Factor 400 s Test voltage 1 kV Criterion A 191 13 Expansion Modules PROCESS PLC 13 7 3 Description of Connections On the expansion module 2 resp 4 channels have been provided for the outputs Each channel can be switched individually and provides bipolar voltage values of 10 V All voltage signals relate to 0 V Within the module the 0 V signal is connected to ground internally via the enclosure Important The supply voltage for analog outputs must not exceed 28 8 Volt 150 mA This will prevent the N OA 2 resp N OA 4 module and possibly the actuator
96. N ID 8 FESTO CP with 8 Basic Unit Output Module Input Module Valves Module 1 Module 2 Module 3 Module 4 Input Output Input Output 101 108 201 208 301 308 401 408 and Output 501 508 101 108 though unused Important Address numbers are assigned to FESTO CP modules only after NANO modules For more information refer to chapter 14 5 Example Register Assignment of FESTO CP Modules page 255 247 14 NANO Network Topology and FESTO CP Modules PROCESS PLC 14 3 1 Commissioning a PROCESS PLC NANO B C equipped with FESTO CP Modules The PROCESS PLC NANO B C and FESTO CP modules communicating via Jetter System Bus are initialised using the following flow chart Search for all specified FESTO CP modules Sorting acc to specification modules sorting acc to physical arrangement Search for all non intelligent NANO All FESTO CP modules found modules sorting acc to physical arrangement Search for all intelligent NANO module found Register 2017 0 Search for additional FESTO CP modules Sorting acc to check number in ascending order Does the type match the specification Search for all FESTO CP modules and sorting acc to check number in ascending order Register 2017 0 The specified module which was not found is replaced with the new module of the same type Register 2017 Am
97. NANO B and C 00000000E co Operator s Manual A Jetter Article 608 602 83 January 2002 Printed in Germany Edition 3 5 PROCESS PLC Edition 3 5 Jetter AG reserves the right to make alterations to its products in the interest of technical progress These alterations need not be documented in every single case This manual and the information contained herein have been compiled with due diligence However Jetter AG assumes no liability for printing or other errors or damages arising from such errors The brand names and product names used in this manual are trade marks or registered trade marks of the respective title owner Jetter AG NANO B Jetter AG How to Contact us Jetter AG Graterstrasse 2 D 71642 Ludwigsburg Germany Phone Switchboard 49 7141 2550 0 Phone Sales 49 7141 2550 530 Phone Technical Hotline 49 7141 2550 444 Telefax 49 7141 2550 425 E Mail Sales sales jetter de E Mail Technical Hotline hotline jetter de Internet Address http Avww jetter de This Manual is an Integral Part of the PROCESS PLC Systems NANO B and NANO C Model Serial No Year of Manufacture Order No To be entered by the customer Inventory No Place of operation Copyright 2002 by Jetter AG All rights reserved PROCESS PLC Significance of this Operator s Manual This manual is an integral part of the PROCESS PLC NANO B and must be kept in a w
98. O5 O stePO6 ov U1 iM U2 12 ANALOG INPUT 114 ooo0o00000 0000000 ANALOG INPUT U3 13 U4 4 ov COUNTER IN ANALOG OUT ov ovi 2 3 4 OUTO 130 45 Fig 44 Diagram of Input Wiring of an N IA4 Module Important To avoid malfunctions the following must be ensured e The shielding must be clamped under a strain relief with the greatest possible surface area The connection between shielding and ground must be electrically conducting The distance L of unshielded conductor ends must not exceed 8 cm Addressing Analog Inputs The address is made up of the module number and the number of the respective input or output Coding of the registers 3 yy z Register 0 9 Module Number 2 Value Range 0 14 182 Jetter AG NANO B Note 13 6 N IA 4 Module Analog Inputs For determination of the module number only the non intelligent modules will be counted Intelligent modules such as SV SM PID etc located among the modules are not being taken into consideration e Module number 1 is always assigned to the basic control unit Starting from there the module numbers are being counted left to right For communication with the CPU 10 registers and the output byte have been provided by the N IA 4 module The operating system version number of the module can always be read from register 9 The other module registers are being defined by t
99. Physical Dimensions of the Analog Output Module N OA 4 Example Wiring of Outputs of the N OA 4 Module Physical Dimensions of the Digital Counter Module N CNT 1 Example Input Wiring of the N CNT 1 Module Pulse sequence of counting signals Physical Dimensions of the Serial Interface Module N SER 1 Block Diagram of Interfaces of the N SER 1 module Physical Dimensions of the Parallel Interface Module N PRN 1 107 108 122 123 133 135 136 151 151 152 153 157 158 162 163 167 168 173 174 176 182 187 188 192 197 201 206 212 216 227 281 Appendices 282 Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig PROCESS PLC Mounting Dimensions of the N PS 1 Module 237 Physical Dimensions of the N PS 1CP Module 238 Connections of the N PS 1 Module 242 Connections of the N PS 1CP Module 243 Example FESTO CP Module 244 Physical Dimensions of the FESTO Tee Connector 244 Connection of FESTO CP Modules to the JETTER System Bus bus topology 245 Connection of FESTO CP Modules to the JETTER System Bus via Tap Lines 246 Flowchart for Commissioning NANO B C with FESTO CP Modules 248 Setting Configuration of FESTO CP Modules 249 Comparison of Set Configuration with Actual Configuration 250 Register Configuration of FESTO CP Modules 253 Example FESTO CP Modules connected to the JETTER System Bus 255 Error Message Time out 258 Resetting Register 2008 258 Autoflash Settings
100. RETURN END_DEF TASK tPRIMhandling REGISTER_LOAD rPRIMBaud with zBaud Setting Baud rate REGISTER_LOAD rPRIMconfig with zConfig Setting control byte LABEL fPRIMloop WHEN NOT Are there any incoming REGZERO rRecCnt characters THEN REG rChar RecPRIM rLastChar 90 rFirstChar 65 IF REGZERO rChar Is there a valid THEN character GOTO fPRIMloop NO THEN SendPrim rSendChar R rChar GOTO PRIMloop End of Program 225 13 Expansion Modules PROCESS PLC 226 ll Symbol Listing kkkkkkkkkxk Task kkkkkkkkkkkkkkkkkk tPRIMhandling 0 kkkkkkkkkxk Labels kkkkkkkkkkkkkkkk fPRIMloop kkkkkkkkkxk Registers kkkkkkkkkkkkkxk The following register values are valid for a N SER 1 module located on the first place after the basic controller NANO B rPRIMBaud 3001 Baud rates rPRIMConfig 3002 Control register rPRIMSend 3003 Sending register rSendCnt 3004 Send buffer occupancy rPRIMRec 3005 Receiving registers rRecCnt 3006 Rec buffer occupancy rChar 100 kkkkkkkkkxk Baud Rates kkkkkkkkkkkkkkkkxkxk zBaud 6 9600 KkKKKKKKKK Control Bytes KKKKKKKKKK zConfig 4 8 data bits no parity 1 stop bit Note In the example above sending and receiving of characters is divided into several functions e Data are sent by the N SER 1 module only if the value is written into the sending register 3003 Occupancy of the the receivin
101. ROCESS PLC Detail1 Inputs of the Single Channel Counter Module N CNT 1 Terminals 0V ane S Counter input aloe PN DOG S 0V STR OV INPUT Detail 2 ENC Inputs of the Dual Channel Counter Module N CNT 1 Maleconnector PIN SSI Absolute 24 Volt 5 Volt Differential SUB D 15 pins Position Encoder Encoder Voltage 1 GND GND GND 2 Reserved KO KO 8 415 e 3 Reserved Reserved KO e 4 DATA K1 K1 e e 5 DATA Reserved K1 6 Reserved K2 K2 i 7 9 7 Reserved Reserved K2 8 SSI CLK Reserved Reserved 9 SSI CLK Reserved Reserved 10 5 Volt 5 encoder Reserved 5 Volt 5 enco supply with a der supply with a maximum input maximum input current of 100 mA current of 100 mA 11 Reserved Reserved Reserved 12 Reserved Reserved Reserved 13 Reserved Reserved Reserved 14 Reserved Reserved Reserved 15 Reserved Reserved Reserved Terminals 0V STR Strobe REF Reference The counting inputs as well as the reference signal of the dual channel counter KO K1 K2 and REF can be filtered digitally This means that a counting pulse resp reference pulse will only be processed if a predefined set length is exceeded This way noise pulses are suppressed For more information see register 3yy8 on page 211 Terminals are not shown separately as detail 202 Jetter AG NANO B ie Jetter AG Register
102. The RTS line will be activated by the N SER 1 module in order to inform the sender that no more data can be received During the sending process the CTS line will be checked by the module If the CTS line is activated the sending process will be interrupted until this line is deactivated again The software flow control will be activated by setting the virtual output yyo2 and will be deactivated by clearing this output The function will automatically be carried out by using the characters XON value 11H and XOFF value 013H If no more data can be received by the N SER 1 module the XOFF character will be sent in order to inform the sender If data can be received again XON will be sent During the sending process it will be checked by the module whether the receiver is sending an XOFF If this is the case the sending process will be interrupted until an XON has been received Note The characters XON and XOFF must not be contained in the user data This may result in a shutdown of the plant 223 13 Expansion Modules 224 PROCESS PLC 13 9 6 Sample Program The usage of the N SER 1 module will be illustrated by the following exemplary program Program Listing 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 U AeA U NBEO oo O N O j FFE k k e E k k de de k de de K Fe de de ke Fe de de Fe Fe de de He e de e e de de e e He RR e Ke Fe He
103. Value following reset 35 Write New value for switch over time between monitor screen and normal display Value range 0 65536 If the monitoring functions for registers flags display or change of outputs and inputs have been activated the display of the user interface will be in monitor screen mode In register 2819 the switching over time between monitor screen and normal display is specified Switching over is carried out upon completion of inputs in monitor mode of the user interface Example A value of 35 in register 2819 stands for a switch over time of 3 5 seconds Register 2820 Switching over to Monitor Display Function Description Read Present state Switching over to monitor screen by pressing the ENTER key Value 0 Switching over by pressing ENTER enabled Value 1 Switching over by pressing ENTER disabled Value following reset 0 Write New state for switching over to monitor screen mode Value 0 Switching over by pressing ENTER enabled Value 1 Switching over by pressing ENTER disabled Value range 0 1 By pressing the ENTER key direct switching over to monitor screen can be carried out This function can be enabled or disabled using register 2820 Jetter AG NANO B Jetter AG 6 6 Registers for User Interfaces Register 2821 Display Language Function Description Read Present setting for the language of integrated user interface functions
104. X5 Technical Data of Analog Outputs Number of Analog Outputs 1 OUT Ground 0 V OUT 0 V Voltage Range 0 10V Frequency 0 5 Hz Ripple 10 mV Resolution 8 Bit Delay Time lt 120 ms Load Current Carrying Capability 10 mA INPUT 1 23 4 5 6 7 8 OA Os O7 O 8 COUNTER O O7 Os IN ANALOG Ov 1 2 ov toa S 4 Fig 11 Connection Details for Analog Output 35 2 Installing the NANO B Controller PROCESS PLC 2 2 8 Stepper Motor Control For stepper motor control 2 terminals for the DIR and STEP signal and one 0 V terminal have been provided on the basic controller X3 Technical Data Stepper Motor Control Positioning Range 8388608 8388607 Positioning Speed Max 5 kHz Acceleration Deceleration Ramp Linear rate programmable Acceleration Deceleration Frequency Programmable Frequency Setting Accurary 1 Hz resolution crystal calibrated Interface outputs to Power Amplifier Open collector DIR direction e STEP stepping pulse Load Current Carrying Capability of max 300 mA Outputs Inputs Limit switch LH side RH side 24 V NC or NO Reference switch 24 V NC or NO Note N incremental encoder Consequently the operator must ensure that the axis is smoothly moving and that settings for acceleration and deceleration ramps are not to steep otherwise the motor will skip steps Pa
105. _ FORMER a DC 24 V m Incremental Encoder Fig 9 Connection Details for Single Dual Channel Counter Technical Data Single Dual Channel Counter X4 Signal Voltage DC 24 V Operating Point e Low level up to 2 0 V e High level 20 30 V Pulse Frequency 10 kHz Connection of Counter X4 COUNTER A Channel 1 COUNTER B Channel 2 oV Ground _7 Note Asa rule use only 24 V sensors since 5 V sensors cannot be evaluated Jetter AG 33 2 Installing the NANO B Controller 34 2 2 6 Analog Inputs On the basic controller four terminals for voltage signals and one 0 V terminal have been provided for analog inputs X5 PROCESS PLC Technical Data of Analog Inputs Amount of Analog Inputs 4 IN 1 through IN 4 Ground 0 V INO V Voltage Range 0 10V Input Resistance 20 kQ Resolution 10 Bit Accuracy 1 Delay Time lt 10 ms cf register 2920 in chapter 5 3 4 Special Registers page 61 Note Bit o of register 2900 is set to 1 using the SYMPAS program or following a reset This way analog inputs are enabled od tS Qese as Fig 10 Connection Details for Analog Inputs Jetter AG NANO B 2 2 Electrical Connection 2 2 7 Analog Output On the basic controller one terminal for voltage signals and one 0 V terminal have been provided for analog outputs
106. _INPUT Suggested Value An additional special register i e register 2815 has been provided to suggest a value default value to the user when issuing the USER_INPUT instruction The value contained in register 2815 will be shown on the display followed by the cursor instead of 0 The operator may either confirm this value default value by pressing ENTER or alter it The altered value is accepted by pressing ENTER By pressing c clear the input is deleted then the suggested value contained in register 2815 will appear again Example 1 USER_INPUT 0 cp 1 Reg 100 Display Text The displayed value o is the default value of register 2815 Example 2 Reg2815 88 USER_INPUT 0 cp 1 Reg 100 Display Text The displayed value 88 is the defined value contained in register 2815 Jetter AG NANO B Bilingual Text Output Jetter AG 6 6 6 6 Registers for User Interfaces Registers for User Interfaces Register 2804 Amount of Characters of the User Interface Function Description Read Present value of the amount of user interface characters Value following reset 48 Write New value specifying the amount of characters for the connected user interface Value range 1 127 This register gets initialised by the connected user interface Register 2805 Amount of Characters per Line Function Description Read Present value Amount of characters per line
107. a o The stepper motor control functions without any feedback e g from an OV 24V 24V 1 2 3 4 5 6 7E POWER OUTPUT Fig 12 Connection Details for Stepper Motor Control 36 Jetter AG NANO B V7 lt ll ZS Jetter AG 2 2 Electrical Connection Stepper Motor Control Connection X3 X4 DIR X3 open collector Directional signal STEP X3 open collector Stepping signal 0 V X3 Ground IN 2 X4 Reference switch IN 3 X4 Negative limit switch IN 4 X4 Positive limit switch Note The limit and reference switches are physically identical with the digital inputs 102 IN 2 103 IN 3 and 104 IN 4 located on the basic control unit Definition of their function is made in register 11104 Note If in spite of correct wiring the axis cannot be positioned polarity reversal of limit switches can be a possible cause If the limit switches have been defined as NC s and if no signal is present the stepper motor will interpret this as if the axis had actuated the limit switch In this case positioning in direction of the limit switch is not possible Important Usually the power amplifier includes pull up resistors for STEP and DIR signals In case there are no pull up resistors an external circuitry with pull up resistors must be set up When doing so the maximum current is limited to 300 mA or else the transistors of the controller will be
108. a Highway 107 7 2 JETWay R Process Level 108 7 3 N SEND Registers and N GET Registers 109 7 3 1 N SEND REGISTER 109 7 3 2 N GET REGISTER 110 7 3 3 Access to slave inputs slave outputs and slave flags 110 7 4 Registers for Network Operation 112 8 Single Dual Channel Counter 117 8 1 Description of Connections 117 8 2 Register Description 117 9 Analog I Os 120 9 1 Description of Connections 120 9 2 Register Description 120 10 Stepper Motor Control 123 10 1 Overview and Technical Data 123 10 2 Firmware of Stepper Motor Control 124 10 2 1 Register Assignment 126 10 2 2 Register Description 127 10 3 Sample Programs 137 11 User Programmable Interface 140 11 1 Description of Connections Activation 140 11 2 Register Description 143 11 3 Programming 145 11 3 1 Program Listing 145 11 3 2 Symbol Listing 147 12 Real Time Clock 148 Jetter AG NANO B Jetter AG 13 13 1 13 1 1 13 1 2 13 1 3 13 2 13 2 1 13 2 2 13 2 3 13 2 4 13 3 13 3 1 13 3 2 13 3 3 13 3 4 13 4 13 4 1 13 4 2 13 4 3 13 4 4 13 5 13 5 1 13 5 2 13 5 3 13 6 13 6 1 13 6 2 13 6 3 13 6 4 13 7 13 7 1 13 7 2 13 7 3 13 7 4 13 8 13 8 1 13 8 2 13 8 3 13 8 4 13 9 13 9 1 13 9 2 13 9 3 13 9 4 Table of Contents Expansion Modules Topology of the JETTER System Bus Centralised Arrangement on the JETTER System Bus Decentralised Arrangement on the JETTER System Bus Direct Connection of FESTO CP Modules to the JETTER
109. aces page 87 2818 Restrictions of monitor functions 1 0 255 0 OFF 2 255 1 ON 3 chapter 6 6 Registers for User Interfaces page 87 2819 Display time of monitor functions 1 0 65535 2 350 3 chapter 6 6 Registers for User Interfaces page 87 2820 Switch to monitor display 1 0 255 2 0 3 chapter 6 6 Registers for User Interfaces page 87 2821 Dialog language 1 0 255 2 0 0 German 3 chapter 6 6 Registers 1 English for User Interfaces page 87 65 5 Software Programming 66 PROCESS PLC Special 1 Value Range Register Function 2 Reset Value Number 3 Cross Reference 2822 LCD interface baud rate 1 0 7 2 6 3 chapter 6 6 Registers for User Interfaces page 87 2823 PC interface baud rate 1 0 7 2 6 3 chapter 6 6 Registers for User Interfaces page 87 2824 Indirect buffer number when 1 0 4 device 0 is specified 2 2 3 chapter 6 6 Registers for User Interfaces page 87 2825 Text buffer for display 1 1 1 4 2 1 3 chapter 6 6 Registers for User Interfaces page 87 2826 Text buffer for display 2 1 1 4 2 2 3 chapter 6 6 Registers for User Interfaces page 87 2827 Text buffer for display 3 1 1 4 2 3 3 chapter 6 6 Registers for User Interfaces page 87 2828 Text buffer for display 4 1 1 4 2 4 3 chapter 6 6 Registers for User Interfaces page 87 2829 Basic key flag number for display 1 1 161 1824 2000 2 200
110. activated Bit 7 not assigned Bit 8 Did the limit switch trip 1 Yes Bit 9 11 not assigned Bit 12 Machine referencing 1 Machine referencing error error Bit 13 BUSY for instructions 1 Busy from 9 through 12 Bit 14 15 not assigned Bit 16 Axis in deceleration Bit 17 23 not assigned Jetter AG 1 Axis in deceleration 127 10 Stepper Motor Control 128 PROCESS PLC Register 11101 Instruction Register Function Description Read Instruction currently being executed or the last executed instruction Value following reset 0 Write A new instruction is issued to the stepper motor controller The instruction remains readable in register 11101 Value range 23 bit signed integer The instruction register of the stepper motor controller makes use of the following instructions 0 AXARR with deceleration ramp This instruction causes the axis to be decelerated with a deceleration ramp until the start stop frequency is preset again Setting the status Referencing Completed The actual position will be set to zero by this instruction Once the function Stop at the reference point instruction 22 Default is activated the set position will be set to zero as well Clearing the status Referencing Completed When the reference switch is operated next time the actual position is set to zero and the reference bit in register 11100 is set to Reference OK St
111. afe Extra Low Voltage Voltage up to 60 V galvanically separated from the network Stepper Motor Synchronous Serial Interface Step STatement List Type name of a plug in connector Servomotor 279 Appendices 280 SYMPAS tr tn TXD PROCESS PLC Symbolische Programmablaufsprache Symbolic Program Processing Language time rise time normal Rise time of a pulse total duration of a pulse Transmit TX Data A line used to transmit received serial data from one device to another e g from a computer to a modem Jetter AG NANO B Jetter AG Appendices Appendix E List of Illustrations Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig O00 0 Ol OO Ne Shielding in conformity with the EMC standards Example Connecting a LCD display to the PROCESS PLC NANO B Power Supply Terminals Block Diagram of NANO B Interfaces JETWay H PC Board SYMPAS Menu Special gt Interface Connection Details for Digital Inputs Connecting Digital Outputs Connection Details for Single Dual Channel Counter Connection Details for Analog Inputs Connection Details for Analog Output Connection Details for Stepper Motor Control NANO B Stepper Motor Driving Circui
112. ale connector SUB D 9 pins JETTER system bus 24 V connection e Terminal block X1 e With the N PS 1CP module only FESTO CP connector socket Power Supply DC 20 30 V at the terminal block X1 Power supply of FESTO DC 20 30 V CP valve terminal bus Power Loss e Time period lt 10 ms to DIN EN 61131 2 e Time interval between two voltage dips 2 1 s e Severity level PS2 H x W x Din mm Power consumption Depending on type and number of modules being connected Enclosure Aluminium powder coated black Dimensions 114 x 45x 70 Weight N PS 1 180g N PS 1CP 199 g Mounting DIN Rail Modules N PS 1 and N PS 1CP Light Emitting Diodes LED 24 V Supply voltage 24 V within the range of DC 20 30 V LED5V Internal logic voltage within the range of 5V 5 Jetter AG 239 13 Expansion Modules PROCESS PLC EMC of Modules N PS 1 and N PS 1CP Emitted Interference Parameter Value Reference Enclosure Frequency band 30 230 MHz limit 30 dB uV m at 10m Frequency band 230 1000 MHz limit 37 dB uV m at 10m class B DIN EN 50081 1 DIN EN 50081 2 DIN EN 55011 Interference Immunity Enclosure Parameter Value Reference RF Field amplitude modulated Frequency band 27 1000 MHz test signal strength 10 V m AM 80 with 1 kHz Criterion A DIN EN 61131 2 DIN EN 50082 2 DIN EN 61000 4 3 E
113. amplitude modulated Frequency band 27 1000 MHz test signal strength 10 V m AM 80 with 1 kHz Criterion A DIN EN 61131 2 DIN EN 50082 2 DIN EN 61000 4 3 Electromagnetic Frequency 900 5 MHz DIN EN 50082 2 RF Field pulse Test field strength 10 V m DIN EN 61000 4 3 modulated 50 ON period Repetition rate 200 Hz Criterion A Magnetic Field 50 Hz DIN EN 50082 2 with Mains 30 A m DIN EN 61000 4 8 Frequency ESD Discharge through air DIN EN 61131 2 Test Peak Voltage 15 kV DIN EN 50082 2 Humidity Rating RH 2 ESD 4 DIN EN 61000 4 2 Contact Discharge Test peak voltage 4 kV severity level 2 Criterion A Interference Immunity Signal and Data Lines Parameter Value Reference Asymmetric RF amplitude modulated Frequency 0 15 80 MHz Test voltage 10 V AM 80 with 1 kHz Source Impedance 150 Q Criterion A DIN EN 50082 2 DIN EN 61000 4 6 Burst Test voltage 2 kV tr tn 5 50 ns Repetition rate 5 kHz Criterion A DIN EN 50082 2 DIN EN 61131 2 DIN EN 61000 4 4 190 Jetter AG NANO B Jetter AG 13 7 N OA 2 and N OA 4 Modules Analog Outputs EMC of the N OA 2 and N OA 4 Modules Test with Damped Oscillation Damped Oscillation Frequency 1 MHz Source Impedance 200 Q Repeat Factor 400 s Test voltage 1 kV DIN EN 61131 2 DIN EN 61000 4 12 Interference Immunity Process Measuring and Control lines Long Bus Lines and Long Control
114. an be carried out by using the following instruction POS Axis lt Axis gt set position set speed Example THEN POS Axis11 Pos10000 v2500 WHEN AXARR Axis11 THEN In this example positioning is carried out as follows e The stepping rate is increased linearly to the steepness of the previously defined acceleration ramp up to the speed of 2500 2 5 kHz which has been set through the positioning instruction The rate will remain at 2 5 kHz until the positioning algorithm recognises that according to the previously defined steepness of the deceleration ramp the deceleration process has to be initiated e Deceleration is calculated in such a way that the target position will be approached linearly to the steepness of the previously defined deceleration ramp lf the travel is too short or the ramps are too flat and if the set maximum speed is not reached transition from acceleration to deceleration is made automatically at the right time More of these functions and many more possibilities are provided by the stepper motor controller For example values and parameters can perpetually be changed and adjusted during the positioning process For this purpose all internal values can be accessed directly with the help of registers Jetter AG 125 10 Stepper Motor Control PROCESS PLC 10 2 1 Register Assignment For each register the following items are quoted 1 The value of the register in case of a read a
115. ange Function 20 Square root Value range of argument 0 and positive numbers Value range of the result 0 and positive numbers Potential errors Negative number as argument Result in case of error 1 00 Computing time approx 0 5 ms Function 21 Sine sin Value range of argument 1000 to 1000 in radian measure Value range of the result 1 00 through 1 00 Potential errors None Computing time approx 2 6 ms Function 22 Cosine cos Value range of argument 1000 to 1000 in radian measure Value range of the result 1 00 through 1 00 Potential errors None Computing time approx 2 7 ms Function 23 Tangent tan Value range of argument 1000 to 1000 in radian measure Value range of the result 1013 through 1013 Potential errors None Computing time approx 2 5 ms 265 16 NANO C Differences from NANO B PROCESS PLC Function 24 Arc Sine arc sin Value range of argument Value range of the result Potential errors Result in case of error Computing time 1 00 through 1 00 7 2 through 2 2 Argument outside 1 1 1 00 approx 3 0 ms Function 25 Arc Cosine arc cos Value range of argument Value range of the result Potential errors Result in case of error Computing time 1 00 through 1 00 O through r Argument outside 1 1 1 00 approx 3 0 ms Function 26 Arc Tangent arc tan Value range of argument Value range of the result Computing ti
116. application program 13 9 1 Physical Dimensions of the N SER 1 Module 69 Fig 51 Physical Dimensions of the Serial Interface Module N SER 1 212 Jetter AG 13 9 Serial Interface Module N SER 1 13 9 2 Overview and Technical Data Technical Data of the N SER 1 Module Power Supply centralised arrangement via basic unit cf chapter 13 1 Topology of the JETTER System Bus page 150 e decentralised arrangement via power supply N PS 1 cf chapter 13 1 2 Decentralised Arrangement on the JETTER System Bus page 151 Connections to the basic unit via JETTER system bus Male connector SUB D 9 pins Serial interface port Male connector SUB D 15 pins Enclosure Aluminium powder coated black Dimensions H x W x Din mm 114 x 45 x 69 Weight 190g Mounting DIN Rail User Programmable Interface 15 pin socket for RS 232 150 19200 bits s RS 422 150 19200 bits s or RS 485 150 115200 bits s Electrical isolation None Heat loss of CPU logic circuit 0 35 Watt Rated current consumption approx 70 mA The N SER 1 module supports these protocols only LEDs of the N SER 1 module Tx Transmit Data The diode will flash up each time a bit is sent Rx Receive Data The diode will flash up each time a bit is received 213 13 Expansion Modules PROCESS PLC EMC N SER 1 Module Emitte
117. at a 24 V output signal is applied to the corresponding output 162 Jetter AG NANO B 13 4 N OD 8 Module 8 Digital Outputs 13 4 N OD 8 Module 8 Digital Outputs The N OD 8 serves for connecting centralised or decentralised actuators valves or contactors 13 4 1 Physical Dimensions 69 X 1 Fig 38 Physical Dimensions of the Digital Output Module N OD 8 Jetter AG 163 13 Expansion Modules 164 PROCESS PLC 13 4 2 Overview and Technical Data Technical Data of the N OD 8 Module Digital Outputs Transistor DC 24 V 0 5 A Power supply of the internal logic circuit e centralised arrangement via basic unit cf chapter 13 1 1 Centralised Arrangement on the JETTER System Bus page 151 e decentralised arrangement via power supply N PS 1 cf chapter 13 1 2 Decentralised Arrangement on the JETTER System Bus page 151 Connecting to the basic unit via JETTER system bus Male connector SUB D 9 pins Output terminals Screw terminals LEDs outputs 1 8 Output is set on 24 V Enclosure Aluminium powder coated black Dimensions H x W x Dinmm 114 x 45 x 70 Weight 350 g Mounting DIN Rail Heat loss of CPU logic circuit 0 3 Watt Technical Da ta of N OD 8 Inputs Quantity of outputs 8 Type of outputs Transistor pnp Rated voltage DC 24 V 15 20 Voltage Range 20 30 V Load current max 0 5
118. ated Frequency 0 15 80 MHz Test voltage 10 V AM 80 with 1 kHz Source Impedance 150 Q Criterion A DIN EN 50082 2 DIN EN 61000 4 6 Burst Test voltage 2 kV tr tn 5 50 ns Repetition rate 5 kHz Criterion A DIN EN 50082 2 DIN EN 61131 2 DIN EN 61000 4 4 Jetter AG 165 13 Expansion Modules PROCESS PLC EMC N OD 8 Mod ule Test with Damped Oscillation Damped Oscillation Frequency 1 MHz Source Impedance 200 Q Repeat Factor 400 s Test voltage 1 kV DIN EN 61131 2 DIN EN 61000 4 12 Interference Immunity Process Measuring and Control lines Long Bus Lines and Long Control L ines Parameter Value Reference Asymmetric RF Frequency 0 15 80 MHz DIN EN 50082 2 amplitude Test voltage 10 V DIN EN 61000 4 6 modulated AM 80 with 1 kHz Source Impedance 150 Q Criterion A Burst Test voltage 2 kV DIN EN 50082 2 tr tn 5 50 ns DIN EN 61131 2 Repetition rate 5 kHz DIN EN 61000 4 4 Criterion A Interference Immunity Mains Inputs and Outputs for AC and DC Parameter Value Reference Asymmetric RF Frequency 0 15 80 MHz DIN EN 50082 2 amplitude Test voltage 10 V DIN EN 61000 4 6 modulated AM 80 with 1 kHz Source Impedance 150 Q Criterion A Burst Test voltage 2 kV DIN EN 50082 2 tr tn 5 50 ns DIN EN 61131 2 Repetition rate 5 kHz DIN EN 61000 4 4 Criterion A Test with Damped Oscillation DIN EN 61131 2 Damped Frequenc
119. ating systems of the office realm nor in most other systems Except for some few special applications multiprocessor systems are not universally applicable to the wide range of control engineering due to the required hardware and software thus the high price Therefore in control systems a single processor is used managing parallel processing of all programs This also applies to PROCESS PLC systems There are several basic approaches to multitasking operating systems One of them is the time sharing method Time sharing runs several tasks by interleaving portions of processing time allotted to each task Each task is executed until its portion of time is elapsed Then control of the system is passed to the next task This process is continued until the initial task gets its turn then it starts once again Time slice Multitasking With PROCESS PLC systems an optimized time sharing multitasking is used It is possible to write up to 32 parallel programs called tasks In many cases in particular with micro controllers a number of 3 to 10 task is practicable Jetter AG NANO B ll Jetter AG Appendices Note A program always starts with TASK 0 Thus TASK 0 is the only task the existence of which is mandatory The order in which additional tasks are programmed is irrelevant For reasons of clarity a systematic and logical order of tasks is advisable Note The duration of program execution primarily depends on th
120. ation e 10Hz 57Hz withan to DIN EN 61131 2 Resistance amplitude of 0 0375 IEC 68 2 6 mm for continuous operation and a peak amplitude of 0 075 mm e 57 Hz 150 Hz 0 5g constant acceleration for continuous operation and 1 0 g constant acceleration as peak value 1 octave per minute 10 frequency sweeps sinusoidal all three spatial axes Free Falls Height of fall units within to DIN EN 61131 2 Withstanding Test packing 1 m DIN EN 60068 2 32 Shock Resistance 15 g occasionally for to DIN EN 61131 2 11 ms IEC 68 2 27 Degree of e IP20 to DIN EN 60529 Protection IP 10 bottom side of enclosure Mounting Position Any position snapped on DIN Rail acc to DIN EN DIN Rail 50022 Class of Protection Ill to DIN EN 61131 2 Dielectric Test Functional ground is to DIN EN 61131 2 Voltage connected to chassis ground internally Overvoltage II to DIN EN 61131 2 Category Power Loss e Time period lt 10 ms to DIN EN 61131 2 e Time intervall between two voltage dips 2 1 s Severity level PS2 IZ Important Measures to avoid damages in transit and storage gt The packing material and the storage place are to be chosen in a way that the values given in the above table Operating Parameters are kept to Jetter AG 45 4 Operating Conditions PROCESS PLC EMC NANO B Basic Unit Emitted Interference Parameter Value Reference Enclosure e Frequency
121. ay that it is always at hand until the PROCESS PLC NANO B will be disposed If the PROCESS PLC NANO B is sold transferred or lent this manual must be handed over In any case you encounter difficulties to clearly understand the manual please contact the manufacturer We would appreciate any kind of suggestion and contributions on your part and would ask you to inform or write us This will help us to produce manuals that are more user friendly and to address your wishes and requirements From this PROCESS PLC NANO B may result unavoidable residual risks to persons and property For this reason any person who has to deal with the operation transport installation maintenance and repair of the PROCESS PLC NANO B must have been familiarised with it and must be aware of these dangers Therefore this person must carefully read understand and observe this manual and especially the safety instructions Missing or inadequate knowledge of the manual results in the loss of any claim of liability on part of Jetter AG Therefore the operating company is recommended to have the instruction of the persons concerned confirmed in writing Jetter AG NANO B Jetter AG Table of Contents 1 2 2 1 2 2 2 2 1 2 2 2 2 2 3 2 2 4 2 2 5 2 2 6 2 2 7 2 2 8 2 3 2 4 3 1 3 2 5 1 5 1 1 5 1 2 5 2 5 2 1 5 2 2 5 3 5 3 1 5 3 2 5 3 3 5 3 4 6 1 6 2 6 3 6 4 6 4 1 6 4 2 Safety Instructions Installi
122. ay was empty before the instruction was issued and register 100 3567 The dots are to represent the positions which have still got the previous contents after issuing the instruction DISPLAY_TEXT 0 cp 25 Actual Position DISPLAY_REG 0 cp 41 Reg 12109 From this example can be seen how the two DISPLAY instructions can be combined usefully First the text Actual Position is written into the second line on the left while the rest of the second line is deleted dollar sign The second instruction is used to display the contents of register 12109 on the bottom right of the display With a servo controller module which is plugged onto module 2 the actual position is stored to this register For example the actual position of axis 21 has got the value 5400 Actual Position 5400 The dots are to represent the positions which have still got the previous contents after issuing the instruction 81 6 User Interfaces Operator Guidance PROCESS PLC 6 4 5 Query of Register Values The instruction USER_INPUT lt DeviceNo gt cp lt Cursorpos gt Reg lt RegNo gt serves to read in register values which can be input using a user interface To both of the parameters Device Number and Cursor Position the same conditions apply as to the DISPLAY_TExT instruction If cursor position o is entered the value contained in register 2814 is taken as cursor position for user input If the value of
123. bus interface JETWAY Female connector SUB D 9 or 15 pins JETTER System Bus Interface Female connector SUB D 9 pins with additional mechanical guiding for expansion modules Interface for connecting user inter face and visualisation equipment Female connector SUB D 9 or 15 pins 43 4 Operating Conditions 44 4 Note PROCESS PLC Operating Conditions The general technical specifications listed below apply to all modules of the PROCESS PLC NANO B In addition to this in the description of the expansion modules beginning from chapter 3 Basic Unit page 41 and chapter 13 Expansion Modules page 150 further technical data and operating conditions are specified Operating Parameters Condition Comment Ambient Temperature 0 50 C Storage 25 70 C to DIN EN 61131 2 temperature DIN EN 60068 2 1 DIN EN 60068 2 2 Air Humidity 5 95 to DIN EN 61131 2 No condensing Pollution Degree 2 to DIN EN 61131 2 Corrosion Immunity Chemical Resis tance No special protection against corrosion Ambient air must be free from higher concentra tions of acids alcaline so lutions salts metal va pours or other corrosive or electroconductive con taminants to DIN EN 61131 2 Operating Altitude Up to 2 000 m above sea level to DIN EN 61131 2 Jetter AG NANO B 4 Operating Conditions Operating Parameters Vibr
124. ccess using the following instruction LOAD_REGISTER 220 with R 111zz 2 The meaning of the register in case of a write access using the following instruction LOAD_REGISTER 111zz with R 220 3 The value range i e valid numerical values for the registers e 8 bit value for numbers from 0 through 255 e 16 bit value for numbers from 0 through 65535 e 23 bit signed integer for numbers from 8388608 through 8388607 4 The register value following reset Following power up to the registers their default values are assigned In case of a read access this value is uploaded 5 An example regarding the use of the register with a description of the effect resulting from the given instruction 126 Jetter AG NANO B 10 2 Firmware of Stepper Motor Control 10 2 2 Register Description Register 11100 Status register Description The conditions of the stepper motor controller are reported back Value following reset depending on card status Illegal Function Read Write Value range 23 bit signed integer Meaning of the individual status register bits Bit 0 Search for reference Reference switch has been found 1 Reference OK Bit 1 AXARR 1 AXARR Bit 2 Axis in the destination 1 Yes window Bit 4 Negative limit switch 1 Negative limit switch activated Bit 5 Positive limit switch 1 Positive limit switch activated Bit 6 Reference switch 1 Reference switch
125. circuit 0 35 Watt Rated current consumption approx 35 mA Jetter AG NANO B Jetter AG 13 10 Parallel Interface Module N PRN 1 EMC N PRN 1 Module Emitted Interference Parameter Value Reference Enclosure Frequency band 30 230 DIN EN 50081 1 MHz limit 30 dB uV m at DIN EN 50081 2 10m DIN EN 55011 e Frequency band 230 1000 MHz limit 37 dB uV m at 10m class B Interference Immunity Enclosure Parameter Value Reference RF Field Frequency band 27 1000 DIN EN 61131 2 amplitude MHz test signal strength 10 V m DIN EN 50082 2 modulated AM 80 with 1 kHz DIN EN 61000 4 3 Criterion A Electromagnetic Frequency 900 5 MHz DIN EN 50082 2 RF Field pulse Test field strength 10 V m DIN EN 61000 4 3 modulated 50 ON period Repetition rate 200 Hz Criterion A Magnetic Field 50 Hz DIN EN 50082 2 with Mains 30 A m DIN EN 61000 4 8 Frequency ESD Discharge through air DIN EN 61131 2 Test Peak Voltage 15 kV DIN EN 50082 2 Humidity Rating RH 2 ESD 4 DIN EN 61000 4 2 Contact Discharge Test peak voltage 4 kV severity level 2 Criterion A Interference Immunity Signal and Data Lines Parameter Value Reference Asymmetric RF Frequency 0 15 80 MHz DIN EN 50082 2 amplitude Test voltage 10 V DIN EN 61000 4 6 modulated AM 80 with 1 kHz Source Impedance 150 Q Criterion A Burst Test voltage 2 kV DIN EN 50082 2 tr tn 5 50
126. ck of parity errors is carried out a PPR count of 25 has to be used for calculations Jetter AG NANO B Jetter AG 13 8 N CNT 1 Module Single and Dual Channel Counter Register 3yy8 Filter Frequency Function Description Read Present value of filter frequency Value following reset 0 Write New value of filter frequency Value range 0 no filter frequency 192 feff 1 MHz 65472 fet 3906 25 Hz In register 3xx8 a filter frequency is preset This filter frequency is referred to as useful signal is being processed unfilteredly Using this useful signal the value for register 3xx8 is calculated by the following formula Register 3yy8 4200000 1 x 64 with f f in Hz lott ef Note The filter frequency of register 3yy8 can only be used for the dual channel counter Register 3yy9 Version number of the operating system Function Description Read Version number of the operating system e g 101 V 1 01 Value following reset Version number of the operating system Write Illegal Value range 0 8388607 211 13 Expansion Modules PROCESS PLC 13 9 Serial Interface Module N SER 1 The N SER 1 module provides the user with a programmable serial interface PRIM Through this module for instance data of a pair of scales communicating via a RS 232 interface can be sensed While doing so data are exchanged for example with a SYMPAS
127. col Interface Sub D Socket Interface PRIM 15 pin Sub D Fig 52 Block Diagram of Interfaces of the N SER 1 module Pin Assignment 15 pin male SUB D connector ee ie PIN Signal Interface Comment e 1 z x F es 2 TXD RS232 Transmit Data nd e 3 RXD RS232 Receive Data 4 RTS RS232 Output m ra 5 CTS RS232 Input 10 6 2 2 7 7 GND 8 Data RS485 9 Data RS485 10 SDB RS422 Sending 11 SDA RS422 Sending 12 RDB RS422 Receiving 13 RDA RS422 Receiving 14 P 15 For technical specifications on cable length diameter wiring and shielding see chapter 2 2 Electrical Connection page 18 216 Jetter AG NANO B 13 9 Serial Interface Module N SER 1 Interface with The interface between the module and the user s program is made up of seven the Application registers Program These registers are for configuring of the modules and for querying status information Register The register address is made up of the module number and the respective register Addressing number Coding of the registers 3yyz 3 yy z Register 0 9 Module Number 2 Value Range 0 14 Note P For determination of the module number only the non intelligent modules will be r counted Intelligent modules such as N SV 1 N SM 2 N PID 1 etc located gt among the digital input and output modules are not being taken into consideration Module number 1 is always assigned to the basic contr
128. controller there are three female connectors for various interfaces see fig 17 page 41 Assignment of these interfaces is shown in the following illustration Protocol Selector Interface Connector Interface 1 Prog pcoms PC PRIM 9 pin Sub D Interface 2 Pcoms LCD PRIM 15 pin Sub D Interface 3 JETWay PRIM Fig 4 Block Diagram of NANO B Interfaces Interface Function Specification 9 pin SUB D port e Programming RS232 front panel e Visualising RS232 e JETWay H R RS485 15 pin SUB D port e Programming RS232 front panel e User Interfaces RS422 e Visualising RS232 e JETWay R H RS485 9 pin SUB D port e Expansion by modules connected to system bus Jetter AG 2 Installing the NANO B Controller PROCESS PLC 20 Note Please note that simultaneous use of all interfaces is not possible For more information please refer to the following table RS232 RS232 RS485 RS 422 9 pin 15 pin 9 15 pin 15 pin RS 232 yes yes yes 9 pin RS232 yes yes no 15 pin RS485 yes yes yes 9 15 pin RS 422 yes no yes 15 pin RS485 short circuited on both plug connectors Pin Assignment 9 pin male SUB D connector PIN Signal Interface 1 2 TXD Programming interface or ae VIADUKT RS 232 4 24V 5 i poe 6 a 7 GND Ground 8 Data JETWay H or JETWay R 9 Data
129. corrected program 262 Jetter AG NANO B 15 3 OS Error Messages Register 2008 Operating System Error messages Error Type of Error Error Cause Troubleshooting Bit 7 1 Multiple entry of a label e Faulty programming Activate syntax checking number Following this reload corrected program Bit8 1 General syntax error e Faulty programming Activate syntax checking Following this reload corrected program Bit9 1 if flag 2065 is set one or Overload or short Eliminate short circuit more output drivers on the circuit of a set output basic controller are overloaded Bit10 1 Jump to a non existing No jump label defined Activate syntax checking label or subprogram in the SYMPAS check program and correct it program Error Messages of Special Flags Specified in Chapter 5 2 Access to Flags 2048 Time out I O module corresponds to register 2008 Bit 3 2049 Time out slave module corresponds to register 2008 Bit 4 2051 Time out during slave access through SYMPAS 2052 User programmable interface Parity error 2053 User programmable interface Frame error 2065 Enable error message CPU output driver For more information see register 2008 bit 3 Jetter AG 263 16 NANO C Differences from NANO B PROCESS PLC 264 16 NANO C Differences from NANO B The NANO C module has additional or improved functions as compared with the NANO B
130. cription of Connections On the expansion module 8 terminals have been provided for 24 V signals The 0 V signal is to be connected to the 0 V terminal of the electric cabinet oral oO 0 0 ls a Contact 2 obo0s i TRANSFORMER DORAN 0 leceec Fig 35 Diagram of Input Wiring of a N ID8 Module Addressing For more information on addressing digital inputs refer to chapter 5 1 Addressing Digital Inputs Digital Inputs Outputs page 48 Jetter AG 13 2 4 Description of LEDs The LEDs show that a 24 V input signal is applied to the corresponding input 157 13 Expansion Modules PROCESS PLC 13 3 N OD 4 2 Module 4 Digital Outputs The N OD 4 2 serves for connecting centralised or decentralised actuators valves or contactors 13 3 1 Physical Dimensions 69 1 2 OV 24V OUTPUT Fig 36 Physical Dimensions of the Digital Output Module N OD 4 2 158 Jetter AG NANO B 13 3 N OD 4 2 Module 4 Digital Outputs 13 3 2 Overview and Technical Data Technical Data of the N OD 4 2 Module Digital Outputs Transistor DC 24 V 2 0 A Power supply of the internal logic centralised arrangement via basic unit circuit cf chapter 13 1 1 Centralised Arrangement on the JETTER System Bus page 151 e decentralised arrangement via power supply N PS 1 cf chapter 13 1 2 Decentralised Arrangement on the JETTER System Bus page 151 Connec
131. d Interference Parameter Value Reference Enclosure Frequency band 30 230 MHz limit 30 dB uV m at 10m Frequency band 230 1000 MHz limit 37 dB uV m at 10m class B DIN EN 50081 1 DIN EN 50081 2 DIN EN 55011 Interference Immunity Enclosure Parameter Value Reference RF Field amplitude modulated Frequency band 27 1000 MHz test signal strength 10 V m AM 80 with 1 kHz Criterion A DIN EN 61131 2 DIN EN 50082 2 DIN EN 61000 4 3 Electromagnetic Frequency 900 5 MHz DIN EN 50082 2 RF Field pulse Test field strength 10 V m DIN EN 61000 4 3 modulated 50 ON period Repetition rate 200 Hz Criterion A Magnetic Field 50 Hz DIN EN 50082 2 with Mains 30 A m DIN EN 61000 4 8 Frequency ESD Discharge through air DIN EN 61131 2 Test Peak Voltage 15 kV DIN EN 50082 2 Humidity Rating RH 2 ESD 4 DIN EN 61000 4 2 Contact Discharge Test peak voltage 4 kV severity level 2 Criterion A Interference Immunity Signal and Data Lines Parameter Value Reference Asymmetric RF amplitude modulated Frequency 0 15 80 MHz Test voltage 10 V AM 80 with 1 kHz Source Impedance 150 Q Criterion A DIN EN 50082 2 DIN EN 61000 4 6 Burst Test voltage 2 kV tr tn 5 50 ns Repetition rate 5 kHz Criterion A DIN EN 50082 2 DIN EN 61131 2 DIN EN 61000 4 4 214 Jetter AG NANO B Jetter AG 13 9 Se rial Interface Modu
132. ding no paired shielding The shield must be connected to the metallised connector housings on both ends of the cable with the greatest possible surface area 23 2 Installing the NANO B Controller PROCESS PLC Programming Use of the JETWay H interface demonstrates the following advantages over the RS232 interface Interface JETWay H PC ES 24 99 PROCESS PLCs can be addressed from a SYMPAS workstation Transfer rates of up to 115 KBaud can be realised JETWay H Cable PROCESS PLC Shield Specification RS485 9 pin male SUB D connector Shield or TAS 15 pin male SUB D connector Connect shield with the greatest possible surface area Use metallised housing only PIN Signal JETWay card 7 Gnd 7 8 Data 8 9 Data 9 Important Also with a view to EMC the following minimum requirements apply to the JETWay H cable fabrication 1 Number of cores 2 Core cross sectional area 3 Connector male 4 Maximum cable length 5 Shield 3 0 25 mm SUB D metallised 400 m complete shielding no paired shielding The shield must be connected to the metallised connector housings on both ends of the cable with the greatest possible surface area Jetter AG NANO B 2 2 Electrical Connection JETWay H board Connection between the SYMPAS program and up to 99 Process PLC control for PCs systems via JETWay H is realised wi
133. directly be connected to the Process PLC NANO This means that no special bus node for either of the systems FESTO CP module or NANO controller is required Connection is carried out in the same way as for decentralised arrangement of digital and analog modules In addition to this aN PS 1CP power supply unit or a FESTO tee connector is required Either of the devices must be supplied with DC 24 V please refer to chapter 14 NANO Network Topology and FESTO CP Modules page 244 Line Structure Maximum Length 30 m 3m 0 3m Festo CP Module NANO B with Additional Tee con expansion expansion nector N PS1 with additional modules modules oq Wem expansion modules f leses k ha HOR C HOR GOR jnleoeee PS ws a2 5 Maximum overall length of tap lines Maximum length of a tap line segment ie gi y oe ery 2 St sein RAWE ar PARE kai esal feseeo feee JX2 Mossos losees U JX2 S Hisoves leeeee SBK1 SBK1 Tom l l 2099 Fig
134. download of an OS update 268 Jetter AG NANO B Appendices Appendix B Multitasking Operating System This chapter is directed at users who in greater detail want to know how the multitasking operating system of the NANO B basically works Basic Information on Multitasking A lot of control systems are operated with a program which is cyclically processed Cyclic processing is required if processing of several parallel programs is not feasible thus multitasking cannot be used Every system however small it may be includes parallel functions and processes Even if only one automatic process is required there are parallel functions or operator guidance functions to be monitored Execution of Parallel Functions by Multitasking The most practical approach to parallel processing is multitasking since it is the most distinct and in logical terms the simplest way of implementing parallel processing The reasons why this kind of technology has not yet been applied in control systems on a broad basis are as follows e PLC automation technology is to a high degree committed to its traditional concept using PLC languages such as ladder diagram function plan and statement list and as a result to the cyclic processing of programs e The well known realtime capable multitasking operating systems are very complex thus requiring high performance and therefore expensive hardware Also specialists are needed for their handling e T
135. e Function Description Read Present value of the baud rate Value following reset 6 Write new baud rate 0 150 bits s 1 300 bits s 2 600 bits s 3 1200 bits s 4 2400 bits s 5 4800 bits s 6 9600 bits s Default setting 7 19200 bits s 8 38400 bits s for RS485 only 9 57600 bits s for RS485 only 10 115200 bits s for RS485 only Value range 0 10 Jetter AG 143 11 User Programmable Interface PROCESS PLC Register 10002 Interface Configuration Function Description Read Present data format Value following reset 4 Write New baud rate 0 7 bit even 1 stop bit 1 7 bit odd 1 stop bit 2 8 bit even 1 stop bit 3 8 bit odd 1 stop bit 4 8 bit no parity 1 stop bit 5 7 bit even 2 stop bit 6 7 bit odd 2 stop bit 7 7 bit no parity 2 stop bit Value range 0 7 Register 10003 Sending Buffer Function Description Read Latest character that has been sent or is to be sent Value following reset 0 Write Send a character Value range 0 255 Important The maximum sending buffer size is 128 characters with a size of 8 bit Register 10004 Sending Buffer Occupancy Function Description Read Present occupancy of the sending buffer Value following reset 0 Write Illegal Value range 0 128 Register 10004 displays the number of received values 144 Jetter AG NANO B 11 3 Programming Register 10005 Receiving Buffer c
136. e switch Here the axis is stopped automatically and set position and actual position are set to zero Note N Paai Machine referencing is aborted if the reference switch is ignored and the positive limit switch is reached by the axis On the display an error message is shown In this case the error must be fixed before machine referencing can be repeated by pressing the F12 key on the display module LABEL 40 THEN REG LOAD 11103 with 25 Set speed REGISTER LOAD 11101 Automatic start with 12 WHEN Machine referencing wait un til processing is completed BIT_CLEAR REG 11100 Bit 13 THEN IF Check for errors BIT_CLEAR REG 11100 Bit 12 THEN 138 Jetter AG NANO B 10 3 Sample Programs GOTO 42 ELSE DISPLAY_TEXT 0 cp 1 Check reference switch DISPLAY TEXT 0 cp 25 Continue with F12 WHEN FLAG 2212 F12 on the display module has been pressed THEN GOTO 40 LABEL 42 THEN Additional program 2 Possibility In this case the positive limit switch also acts as reference switch here the reference switch and limit switch inputs must be interconnected This means that on principle the reference switch can be approached only from one direction Thus the reference signal is unambiguously defined LABEL 40 THEN POS Axis11 Pos4000000 v100 Rapid traverse to wards limit switch WHEN BIT_SET REG 11100 Bit 5 THEN POS Axis11 Pos 4000000 v10 Low speed reverse WHEN until lim
137. e 258 2013 Quantity of connected non 1 0 255 intelligent modules 2 Quantity 2014 Quantity of connected intelligent 1 0 255 modules 2 Quantity 2015 Pointer on module array 1 0 255 2 0 61 5 Software Programming PROCESS PLC Special Number Register Function 1 Value Range 2 Reset Value 3 Cross Reference 2016 Module array 2015 means pointer 2015 0 gt 2016 Qty of modules 2015 1 gt 2016 Code of the first module 2015 2 gt 2016 Code of the second module etc Codes 0 N OD8 1 N ID8 2 N IO16 3 N IA4 4 N OA4 5 N CNT 1 6 N PRN 1 7 N SER1 32 Outputs of FESTO CP Modules 33 Inputs of FESTO CP Modules 128 N SV1 129 CAN DIMA 130 N SM2 131 N SM1D 132 N PID1 133 N Profi 1 253 Dummy 254 Dummy I O 255 not identified 1 0 255 2 Qty of modules 2022 Version of the application program of non intelligent modules 2023 Bit coded list non intelligent modules dummy modules 1 0 65535 2 last setting 2024 Bit coded list non intelligent modules dummy modules 1 0 255 2 last setting 2027 Error of output driver 1 one bit per module 2028 Monitoring interval for I O modules 1 0 255 2 20 200 ms 62 Jetter AG NANO B Jetter AG 5 3 Register Description Special 1 Value Range Register Function 2 Re
138. e characters are to be displayed only the actually required number of positions can be assigned to the display by using register 2812 This is of special importance if a great number of texts and values are to be displayed on a user interface The following rule applies Contents of register 2812 Number of positions to be displayed sign For example value of register 2812 4 corresponds to 3 positions 1 sign e g 123 Note It should be considered that one position each is occupied by the sign and the decimal point If a 6 digit value is to be displayed into register 2812 the value 7 resp 8 is to be entered Register 2813 Field Length for USER_INPUT Instruction Function Description Read Present field length for the UsSER_INPUT instruction Value following reset 0 Write New field length for the usER_INpuT instruction Value range 1 8 A maximum of 8 positions can be assigned to a user input This also applies to the suggested value contained in register 2815 If values of two or three characters are to be entered only the actually required number of positions can be assigned to the display by using register 2813 This is of special importance if a great number of texts and values are to be displayed on a user interface Jetter AG NANO B Jetter AG 6 6 Registers for User Interfaces Note It should be considered that one position is occupied by the sign If a 6 digit value is to be
139. e g CPV 10 6E FB 8 modules terminal type 102 N OA 4 Valve terminal 2 e g CPV 10 6E FB 4 terminal type 100 N OD8 Input module e g CP E16 1112x2 terminal type 241 Jetter AG 255 14 NANO Network Topology and FESTO CP Modules 256 PROCESS PLC Register Assignment Resulting from the Exemplary Configuration Register cs d Reference to Additional Components Comments negister Registers Value 2013 9 3 non intelligent In this register modules FESTO CP mo 3 FESTO CP dules are counted Modules twice resulting in 3 3x2 9 2014 0 e intelligent module are not being used 2015 0 gt 2016 6 e 3non intelligent In this register modules FESTO CP mo 3 FESTO CP dules are counted Modules once resulting in with the following Re a codes 1 gt 3 for N IA4 2 gt 4 for N OA4 3 gt 0 for N OD8 4 gt 33 for FESTO CP Input Module 5 gt 32 for FESTO CP Valve Terminal 2 6 gt 32 for FESTO CP Valve Terminal 1 2017 3 3 FESTO CP Modules 2018 1 gt 2019 125 2020 241 gt FESTO CP Input Module 2021 2 2018 2 gt 2019 419 2020 100 gt FESTO CP Valve Terminal 2 2021 32 2018 3 gt 2019 18224 2020 102 gt FESTO CP Valve Terminal 1 2021 32 Jetter AG NANO B Jetter AG 14 5 Example Register Assignment of FESTO CP Modules Input and Output Numbering with Automatic Recognition Resulting from the Exemplary Configuration
140. e g of a word MMI Man Machine Interface ms Millisecond NUM 25 Keyboard module for LCD 16 user interface 278 Jetter AG NANO B Jetter AG PASE E PE PELV PID PLC PRIM PWM RDA RDB RS 232 RS 422 RS 485 RTC RXD SDA SDB SELV SM SSI STEP STL SUB D SV Appendices Programmierbare Ablaufsteuerungseinheit Typ E Programmable Sequential Control Type E Protective Earth Protective Extra Low Voltage Proportional Integral Differential Controller Programmable Logic Controller User programmable interface Pulse Width Modulation Receive Data A The first differential channel of the RS 422 interface Receive Data B The second differential channel of the RS 422 interface An accepted industry standard for serial communications connections RS Recommended Standard For transmission distances of up to 15 m No differential evaluation Transmitting and sending on different lines For transmission distances over 15 m Two lines with 2 differential evaluations each Transmitting and sending on different lines For transmission distances over 15 m Two lines with handling of differential signals Transmitting and sending on the same line Real Time Clock Receive RX Data A line used to carry received serial data from one device to another Send Data A The first differential channel of the RS 422 interface Send Data B The second differential channel of the RS 422 interface S
141. e is 7 5 volt Jetter AG 193 13 Expansion Modules PROCESS PLC N OA 2 Module Register assignment for analog outputs Outputs D A value Voltage Register Bipolar Channel 1 3yy0 10 V through 10 V Channel 2 3yy1 10 V through 10 V YY Module number 2 N OA 4 Module Register assignment for analog outputs Outputs D A value Voltage Register Bipolar Channel 1 3yy0 10 V through 10 V Channel 2 3yy1 10 V through 10 V Channel 3 3yy2 10 V through 10 V Channel 4 3yy3 10 V through 10 V YY Module number 2 Example Determining Register Numbers The number of the second expansion module s register is determined as follows Module number 3 Local register number 9 Register number 3019 3 2 10 9 3003 Note When the register number is called in the SYMPAS program the number of the a module s OS version is displayed With inquiries always identify this number 194 Jetter AG NANO B Jetter AG 13 7 N OA 2 and N OA 4 Modules Analog Outputs 13 7 4 Register Description N OA 2 and N OA 4 Modules Register 3yy0 for N OA 2 and N OA 4 Modules Channel 1 Output Voltage Function Description Read Present value of the output voltage Value following reset 0 Write New output voltage Value range Voltage bipolar 2048 2047 Register 3yy1 for N OA 2 and N OA 4 Modules Channel
142. e number of tasks being used The program length is only of secondary importance to the processing time Clever programming thus a limited number of tasks is crucial to a fast processing of a program Permanently Defined and User Defined Task Switching Conditions A task does not always make the most of the available processing time If for example the next instruction of a task is a delay which has not elapsed yet an immediate task switch takes place Such a task switch cannot be controlled by the program After the following instructions a task switch is inevitably carried out DELAY process has not been completed yet WHEN condition has not been fulfilled yet e USER_INPUT program waits until a value is entered by operator Additionally further task switching conditions can be defined in register 2004 e ifthe time specified in register 2005 has elapsed and a THEN instruction follows ifthe task encounters a GOTO instruction e if the condition of an IF instruction has not been fulfilled In addition to the user task three further functions are carried out in the background e interface for connection with the user interface e interface for connection with PC VIADUKT or graphic user interface e JETWay interface 271 Appendices PROCESS PLC Priorities The priority of managing the user interface and the serial interface can be defined In default setting both functions are carried out after all tasks have been processed
143. eepness of the deceleration ramp is defined Please refer to Fig 28 page 133 The greater the value the higher the deceleration and however the higher the risk of skipping steps during deceleration Register 11107 Destination Window Function Description Read Present value of the destination window parameter Value following reset 0 Write Transfer of a new value for the destination window parameter Value range 0 65535 Steps This new value is stored and will not be effective before the next positioning process When during a positioning process a new value is entered into register 11107 this will have no effect on the motion in progress The new value for the destination window will be used only when the next positioning process begins i e by writing into register 11102 or by issuing the Pos instruction By using the destination window parameter faster program flow can be achieved because the step enabling condition WHEN THEN is fulfilled already before the exact target position is reached Nevertheless the exact target position will be reached Jetter AG NANO B 10 2 Firmware of Stepper Motor Control ES Important The stepper motor will skip steps if the destination window value is other than zero and a reversal of direction of movement is carried out Reg 11100 Bit 2 l ee nn 0 tt 90 95 100 105 110 Set Position Travel Destination Window Reg 111
144. er 1 0O 255 Multimaster mode 2 0 2716 Token transfer time 1 8388608 8388607 Multimaster mode 2 O Time Registers 2002 Register runtime with an increment 1 0 8388607 of 0 1 s This register is linked with 2 0 register 2003 2003 Time base for DELAY as well as 1 0 255 START TIMER and TIMER END 2 10 100ms 2006 Cycle time of all tasks in ms 1 0 255 2 not defined 2300 2331 Task time register for delay 1 0 8388607 2 0 Single Dual Channel Counter 2901 Count value 1 8388608 8388067 2 0 3 chapter 8 Single Dual Channel Counter page 117 2918 Counting rate 1 32768 32767 2 0 2919 Time base for counting rate 1 0 255 2 10 100 ms Other Registers 2900 Peripheral devices monitoring 1 0O 65535 register 2 1 3 chapter 8 Single Dual Channel Counter page 117 and chapter 9 Analog I Os page 120 69 5 Software Programming PROCESS PLC Special 1 Value Range Register Function 2 Reset Value Number 3 Cross Reference AD DA Register 2902 Analog OUT 1 0 255 0 10 V 2 2 3 chapter 9 Analog I Os page 120 2903 2906 Analog IN1 4 1 0O 1023 2 depending on input value 3 chapter 9 Analog I Os page 120 2920 Slew rate limitation AD 1 2 2000 2 2 3 chapter 9 Analog I Os page 120 RTC Registers 2911 Seconds 3 chapter 12 Real Time Clock page 148 2912 Minutes 3 c
145. essing REGISTER_LOAD rVoltage with RR rvV Pointer gt The value of the register the number of which is specified in register r V Pointer is loaded into register rvoltage 4 Double indirect addressing Numerical example Register Number Value REG 64 111 REG 111 70035 REG 150 11 REG 11 any value The following instruction will be carried out with the given parameters REGISTER_LOAD R 150 with RR 64 gt This instruction will result in the following register values and the graphic representation shown in Fig 21 Register 64 111 remains unchanged Register 64 70035 remains unchanged Register 64 11 remains unchanged Register 64 R150 RR64 R111 70035 R 150 150 lue 70035 is copied to register 11 Fig 21 Example for Double Indirect Addressing Jetter AG 57 5 Software Programming PROCESS PLC Programming Instruction REG 58 5 3 3 Calculating with the Aid of Registers The following instructions are used for calculations e REG lt RegNo gt REGNULL lt RegNo gt REGDEC lt RegNo gt REGINC lt RegNo gt The register number can indirectly be specified for all four instructions Project File Edit Length 16 1 gt FL Help Shift F Syntax Check Ctr1 F Transmit Fi Menu Fig 22 Example of Register Arithmetic This instruction obtains direct access to the value of a register and can be dealt with
146. etric RF amplitude modulated Frequency 0 15 80 MHz Test voltage 10 V AM 80 with 1 kHz Source Impedance 150 Q Criterion A DIN EN 50082 2 DIN EN 61000 4 6 Burst Test voltage 2 kV tr tn 5 50 ns Repetition rate 5 kHz Criterion A DIN EN 50082 2 DIN EN 61131 2 DIN EN 61000 4 4 Jetter AG 179 13 Expansion Modules PROCESS PLC EMC N IA 4 Module Test with Damped Oscillation Damped Oscillation Frequency 1 MHz Source Impedance 200 2 Repeat Factor 400 s Test voltage 1 kV DIN EN 61131 2 DIN EN 61000 4 12 Interference Immunity Process Measuring and Control lines Long Bus Lines and Long Control Lines Parameter Value Reference Asymmetric RF Frequency 0 15 80 MHz DIN EN 50082 2 amplitude Test voltage 10 V DIN EN 61000 4 6 modulated AM 80 with 1 kHz Source Impedance 150 Q Criterion A Burst Test voltage 2 kV DIN EN 50082 2 tr tn 5 50 ns DIN EN 61131 2 Repetition rate 5 kHz DIN EN 61000 4 4 Criterion A Interference Immunity Mains Inputs and Outputs for AC and DC Parameter Value Reference Asymmetric RF Frequency 0 15 80 MHz DIN EN 50082 2 amplitude Test voltage 10 V DIN EN 61000 4 6 modulated AM 80 with 1 kHz Source Impedance 150 Q Criterion A Burst Test voltage 2 kV DIN EN 50082 2 tr tn 5 50 ns DIN EN 61131 2 Repetition rate 5 kHz DIN EN 61000 4 4 Criterion A Test with Damped Oscillation DIN EN 61131
147. etter AG Gr terstrasse 2 D 71642 Ludwigsburg Germany Phone 49 7141 2550 530 Fax 49 7141 2550 484 Internet http www jetter de E mail sales jetter de Jetter Asia Pte Ltd 32 Ang Mo Kio Industrial Park 2 07 03 Sing Industrial Complex Singapore 569510 Phone 65 4838200 Fax 65 4833881 E mail sales jetter com sg Jetter AG Switzerland M nchwilerstrasse 19 CH 9554 T gerschen Phone 41 719 1879 50 Fax 41 719 1879 69 E mail info jetterag ch Jetter AG Branches Jetter AG Buro Nord Am Nordbahnhof 5 D 59555 Lippstadt Phone 49 2941 6691 10 Fax 49 2941 6691 22 E mail dschnelle jetter de Jetter AG Buro Ost Gewerbepark am Wald 3d D 98693 Ilmenau Phone 49 3677 2000 54 Fax 49 3677 2000 55 E mail mjakob jetter de Jetter AG Jetter AG B ro S d Am Pulverl 5 D 85051 Ingolstadt Phone 49 841 97149 30 Fax 49 841 97149 40 E mail mkos jetter de Jetter AG B ro Netherlands Amperestraat 10 NL 4004 KB Tiel Phone 31 344654 944 Fax 31 344654 932 E mail ddeijs jetter de Jetter AG B ro Mitte Wohnbacher Strasse 19 D 61200 W lfersheim Phone 49 6036 984382 Fax 49 6036 984383 E mail jpommerening jetter de 287
148. f FESTO tee connectors via tap lines 114 46 Detail X Detail X Power Supply 1 O 4 O Oj2 3 PIN 1 24V Logics PIN 2 24V Load PIN3 OV PIN4 PE 88 91 Fig 59 Physical Dimensions of the FESTO Tee Connector Jetter AG NANO B 14 2 Networking of NANO and FESTO CP Modules ES Important FESTO tee connectors and the cables between tee connector and FESTO CP modules have to be purchased from FESTO As interconnecting cable between the PROCESS PLC NANO B and the FESTO tee connector a system bus cable for NANO expansion module is to be used For details see specification System Bus Cable for NANO Expansion Modules on page 30 14 2 Networking of NANO and FESTO CP Modules FESTO CP modules can directly be connected to the PROCESS PLC NANO B This means that no special bus node for either of the systems FESTO CP module or NANO B controller is required Connection is carried out in the same way as for decentralised arrangement of digital and analog modules on the JETTER system bus For more information refer to chapter 13 1 2 Decentralised Arrangement on the JETTER System Bus page 151 In addition to this a N PS 1CP power supply unit ora FESTO tee connector is required Either of the devices must be supplied with DC 24 V Note P If possible do not use tap lines for connecting FESTO CP valve terminals By N doing so you ensure cor
149. following sample program shows the present real time clock data on the display The following approach is used to display minutes and seconds with a leading zero gt For right justified display of numbers it is possible to specify the number of digits to be displayed by using register 2812 If less digits are allowed than there are significant digits in the number then leading digits are suppressed gt The program uses this approach by adding the value 100 to the number of seconds and minutes Then display of the leading 1 will be suppressed 148 Jetter AG NANO B 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 o y Vn UW BF W DY FP OO REGISTER_LOAD 2816 with 1 REGISTER_LOAD 2812 with 3 DISPLAY TEXT 0 cp 1 FLAG 100 SUBPROGRAM 900 DELAY 5 GOTO 100 a FLAG 900 REG 2917 lt 90 THEN DISPLAY_TEXT 0 ELSE DISPLAY TEXT 0 THEN DISPLAY _ REG DISPLAY _REG DISPLAY REG DISPLAY REG REG 900 REG 2912 100 DISPLAY REG REG 900 REG 2911 100 DISPLAY REG Return End of Program Jetter AG 0 cp 25 0 cp 28 0 cp 33 Display 0 cp 36 0 cp 39 0 cp 42 cp 27 cp 27 7No sign 2 digit numbers _The present time is 7 gt Displaying ive 20 28 Pie 19 a Reg 2915 Day Reg 2916 Month Reg 2917 Year T
150. g System 269 Appendix C Glossary 273 Appendix D List of Abbreviations 278 Appendix E List of Illustrations 281 Appendix F Index 283 Jetter AG NANO B Jetter AG 1 Safety Instructions 1 Safety Instructions The PROCESS PLCs NANO B or NANO C are in line with the current state of the art The PROCESS PLCs NANO B or NANO C fulfil the valid safety regulations and standards Special emphasis was given to the safety of the users In the following text the term NANO B is used for both PROCESS PLCs NANO B or NANO C Differences between these controllers are described explicitly Of course the following regulations apply to the user e relevant accident prevention regulations accepted safety rules e EC guidelines and other country specific regulations Usage as Agreed Upon Usage as agreed upon includes operation in accordance with the operating instructions The PROCESS PLC NANO B is used to control machinery such as conveyors production machines and handling machines Power supply of the PROCESS PLC NANO B must be made through the SELV module exclusively The use of other power supply modules is not admissible Usage Other Than Agreed Upon The PROCESS PLC NANO B must not be used in technical systems which to a high degree have to be fail save e g ropeways and aeroplanes If the PROCESS PLC NANO B is to be run under surrounding conditions which differ from the conditions mentioned in chapter 4 Operating Conditions
151. g buffer is queried from register 3006 e Access to register 3005 deletes characters contained in the receiving buffer Occupancy of the the sending buffer is queried from register 3004 Jetter AG NANO B 13 10 Parallel Interface Module N PRN 1 13 10 Parallel Interface Module N PRN 1 The N PRN 1 module allows data and control information to be output to a printer and status information to be read out of the printer Output of data is carried out via a CENTRONICS interface 13 10 1 Physical Dimensions of the N PRN 1 Module 69 88 804 Fig 53 Physical Dimensions of the Parallel Interface Module N PRN 1 Jetter AG 227 13 Expansion Modules 228 PROCESS PLC 13 10 2 Overview and Technical Data Technical Data of the N PRN 1 Module Power Supply centralised arrangement via basic unit cf chapter 13 1 Topology of the JETTER System Bus page 150 e decentralised arrangement via power supply N PS 1 cf chapter 13 1 2 Decentralised Arrangement on the JETTER System Bus page 151 Connections to the basic unit via JETTER system bus Male connector SUB D 9 pins Parallel interface port Male connector SUB D 25 pins Enclosure Aluminium powder coated black Dimensions H x W x Din 114 x 45 x 69 mm Weight 192 g Mounting DIN Rail Centronics Interface 25 pin socket Electrical isolation None Heat loss of CPU logic
152. g either register 2809 or 2810 Register 2809 represents a divisor from which the amount of decimal positions results For example if the divisor value is 10 the resulting amount of decimal positions will be 1 1 10 0 1 Register 2810 Amount of Decimal Positions for Displaying Fixed point Numbers for DISPLAY_REG Function Description Read Present value of the amount of decimal positions for DISPLAY_REG Value 0 No decimal position Value 1 1 decimal position Value 4 4 decimal positions Value following reset 0 Write Present value of the amount of decimal positions for DISPLAY_REG Value range 0 4 Unlike register 2809 where the amount of decimal positions is defined by a divisor in register 2810 the amount of decimal positions can be specified directly If for example 3 decimal positions are to be displayed the value 3 can directly be input into register 2810 In register 2809 though the divisor to be input would be 1000 89 6 User Interfaces Operator Guidance PROCESS PLC 90 Register 2812 Field Length for DISPLAY_REG Instruction Function Description Read Present field length for the DISPLAY_REG instruction Value following reset 8 Write New field length for the DISPLAY_REG instruction Value range 0 9 Definition of the number of positions to be displayed A maximum of 8 positions can be assigned to register display If values of two or thre
153. g reset 7 reference switch and limit switch N O New settings for polarity of reference and limit switch 0 55 Function Read Write Value range Bit 0 0s 1 Bit 1 0 1 Bit 2 0 1 Bit 4 0 1 Bit 5 0 132 This register is bit coded Reference switch 24 V is negative i e no voltage at the input means reference position Reference switch 24 V is positive i e voltage at the input means reference position Limit switch 24 V is negative i e no voltage at the input means limit position N C Limit switch 24 V is positive i e voltage at the input means limit position N O DIR level low for positive direction DIR level high for positive direction INPUT2 is used as reference input INPUT2 is used as input and the status bit Reference OK is 1 INPUTS is used as negative limit switch input INPUT4 is used as positive limit switch input INPUT2 is used as input INPUT4 is used as input and the status bits of the limit switches are 0 Jetter AG NANO B 10 2 Firmware of Stepper Motor Control Register 11105 Acceleration Ramp Function Description Read Present value of the acceleration ramp parameter Value following reset 10 Write Transfer of a new value for the acceleration ramp parameter Value range 1 255 Hz 4 ms i e every 4 ms the register value is increased by 10 Hz When during a positioning process a new value is
154. gnal E E RDB os 1 O E RDA cis 10 SDB SS Connecting Cable m SDA if LCD User Interface 3 15 pin SUB D connector PIN Signal if ea SDA oe if A tly SDB Sore if saagaa RDA i t 6 RDB eee DO 2AM a 12 GND Connecting Cable LCD User Interface 4 15 pin SUB D connector PIN Signal Power 5 SDA ie 4 SDB so wales RDA onal 6 RDB 44 15 DC 24V DC 24V L 12 GND Fig 23 Pin Assignment of Connecting Cable for Several LCD User Interfaces Important e Also with a view to EMC the following minimum requirements apply to the connecting cable fabrication 1 Number of cores 6 2 Core cross sectional area 0 25 mm 3 Connector male SUB D metallised 4 Maximum cable length 100 m 5 Shield complete shielding no paired shielding e The shield must be connected to the metallised connector housings on both ends of the cable with the greatest possible surface area Jetter AG 77 6 User Interfaces Operator Guidance PROCESS PLC 78 Device Number 6 4 Programming the User Interfaces This chapter gives a description of such instructions necessary for programming display and keyboard modules For programming the following instructions will be used e DISPLAY_TEXT e DISPLAY_REG e USER_INPUT 6 4 1 Display of Texts The following instruction is used to display text on the user interface DISPLAY_TEXT lt DeviceNo gt cp lt Cursorpos gt lt Text gt 6 4 2 Text Output Parame
155. guration i of 2nd CP module Load SET configuration 3rd CP Module Check Type IO of 3rd CP module Load SET configuration 4th CP Module lt Check Type IO of 4th CP module Sth CP Module lt Check Type I0 Help Shif t F F Transmit Fi Menu Fig 63 Setting Configuration of FESTO CP Modules 249 14 NANO Network Topology and FESTO CP Modules PROCESS PLC The program extract given in fig 64 is an example of a comparison between set and actual configuration The set configuration is contained in the registers starting with 100 and the actual configuration in the registers starting with 2019 Comparison of set configuration with actual configuration is used to determine that all FESTO CP modules for which the program was designed have been detected during initialisation of the PROCESS PLC system SYMPAS EXE Project File Edit Bloc ansfer isting Mo Length 65 0 77 SYMPASN TEST PNC Addressing ist CP Module sActual Check ist CP Mo 3Set Check ist CP Modul Comparison of set check number Actual Type ist CP type and lOs with actual check number eae sActual IO Configuration with flag 1 Set IO Configuration ist 3 Addr essing 2nd CP Module Fig 64 Comparison of Set Configuration with Actual Configuration 250 Jetter AG NANO B 14 4 Register Description of the FESTO CP Module 14 4 Register Description of the FESTO CP Module Register 2017 Amount of FESTO CP Modules Function
156. hapter 12 Real Time Clock page 148 2913 Hours 3 chapter 12 Real Time Clock page 148 2914 Day of the week 0 6 3 chapter 12 Real Time Clock page 148 2915 Day 3 chapter 12 Real Time Clock page 148 2916 Month 3 chapter 12 Real Time Clock page 148 2917 Year 0 99 3 chapter 12 Real Time Clock page 148 24 Combined Inputs 2400 101 108 201 208 301 308 2401 201 208 301 308 401 408 2413 1401 1408 1501 1508 1601 1608 70 Jetter AG NANO B Jetter AG 5 3 Register Description Special 1 Value Range Register Function 2 Reset Value Number 3 Cross Reference 16 Combined Inputs 2420 101 108 201 208 2421 201 208 301 308 2434 1501 1508 1601 1608 8 Combined Inputs 2440 101 108 2441 201 208 2455 1601 1608 24 Combined Outputs 2500 101 108 201 208 301 308 2501 201 208 301 308 401 408 2513 1401 1408 1501 1508 1601 1608 16 Combined Outputs 2520 101 108 201 208 2521 201 208 301 308 2534 1501 1508 1601 1608 8 Combined Outputs 2540 101 108 2541 201 208 2555 1601 1608 71 5 Software Programming PROCESS PLC Special 1 Value Range Register Function 2 Reset Value Number 3 Cross Reference Flags Overlaid on Registers 0 256 279 1 280 303 74 2032 2047
157. haracters are cleared at access Function Description Read Received character Value following reset 0 Write Illegal Value range 0 255 Note N Pai The maximum receiving buffer size is 128 characters with a size of 8 bit Access r to register 10005 deletes the characters contained in the receiving buffer This means that for reprocessing a character must be stored before a read access is carried out Register 10006 Receiving Buffer Occupancy Function Description Read Present occupancy of the receiving buffer Value following reset 0 Write Illegal Value range 0 128 11 3 Programming Use of the user programmable interface is shown in the sample program below 11 3 1 Program Listing 0 A k k k k k k k k k k k k k k k k k k k k k k k k k k k k k kk kk kk kk kk kk kkk kkk kkk kk kkk 1 The program will receive the upper case characters x 2 from A to Z via the N SER 1 module and will then 3 send them back as lower case characters 4 F k k k k k k k k k k k k k k k k k k k k k k k k k k kk kk kk kk kk kk kk kkk kkk kkk kk kkk 5 DEF_FUNCTION RecPRIM RP Par rFirstChar rLastChar Var rHelp p FEEEALEEEEEAFEFEEEEAFEFEEEFEFEFEEEEFFEFEFEEEAT TEEPE EP EET 7 This function is used to read a character from the receiving buffer Jetter AG 145 11 User Programmable Interface PROCESS PLC 146 11 12 13 14 15 16 1
158. he function of the module The registers are addressed as follows Register number 3000 module number 2 10 local register number _ Il Jetter AG Input and Output Configuration of the N IA 4 Module Inputs A D Value Voltage Current Register Unipolar Bipolar Channel 1 3yy0 Xxx0xxx0 XXX1Xxx0 XXXXXXX 1 Channel 2 3yy1 xx0xxx0X XX1xxx0x XXXXXX1X Channel 3 3yy2 XOxxx0Xx X1xxx0Xxx XXXXX1 XX Channel 4 3yy3 OXxxx0Xxx 1 xXxxOXxx XXXX 1 XXX Output TTTTTTTT TTTTTTTT TTTTTTTT Configura xx01 xx08 87654321 87654321 87654321 tion of virtu Output numbers al outputs xx Module number yy Module number 2 z Local register number predefined with 0 1 2 or 3 This number is of no rele vance to this configuration Example 1 Determining Register Numbers The number of the second expansion module s register is determined as follows Module number 3 Local register number 9 Register number 3019 3 2 10 9 3003 Note When the register number is called in the SYMPAS program the number of the module s OS version is displayed With inquiries always identify this number 183 13 Expansion Modules PROCESS PLC 184 Example 2 Configuring and Evaluating Measurements Task definitions with the first expansion module module 2 1 A unipolar input voltage ranging from 0 to 10 V is to be measured using channel 1 The output register is register 3000
159. he process of controlling servo axes is entirely taken on by the SV module This way the processing time of application program is not affected The quality of sameness or equivalence In the case of computers parity usually refers to an error checking procedure Depending on the definition the number of 1s must always be the same either even or odd for each group of bits transmitted without error 275 Appendices 276 Parity error Port Address Process Process level PROCESS PLC Pull Up Resistors Register Remanent Application Registers Sensor Slave TASK Time out Time sharing Token PROCESS PLC An error in parity indicates an error in transmitted data or in data stored in memory If a parity error occurs in communications all or part of a message programs must be retransmitted An address for a channel used to transmit data between an input or output device and the processor From the CPU s point of view a port is one or more locations in memory to which it can send data or from which it can receive data Special hardware such as an extension board saves data from the device to memory addresses and sends data from these addresses to the device Some port are meant only for input or output purposes A program or a part of it A related sequence of steps carried out by program Level of a system overriding the field level Compared with the traditional programmable logic contro
160. he realtime capability of multitasking operating systems known from the office realm is limited since numerous system functions such as access to hard disks mouse handling etc get access to program flow via interrupts e Due to the complexity of the known multitasking operating systems their application in the area of small and mid sized control system has not been possible so far Reproduction of the Real Process Flow Multitasking enables the program to be executed in a way that corresponds to the real process flow Jetter AG 269 Appendices 270 PROCESS PLC PROCESS PLC with Multitasking OS for Automation Technology To realise an OS with multitasking and a descriptive process oriented execution for the whole range of automation technology JETTER AG has developed an easy to use multitasking OS This OS was designed for meeting the demands of automation technology and already enables multitasking to be implemented into the micro controller NANO B Principle of Operation First of all distinction must be made between single processor and multiprocessor systems For processing applications with great volumes of data e g complex graphics multiprocessor systems are used in the EDP realm In such systems data are processed in parallel by several processors Multitasking Using Single Processor Systems In most cases parallel data processing using several processors is not being used neither in known multitasking oper
161. his bus system serial bus is used in Jetter control systems Presentation of a parameter e g time in the form of characters or figures This parameter in digital representation can be changed in given steps only Contrasted with analog Dual in line Package Switch Rail to DIN EN 50022 for mounting modules 273 Appendices 274 Download Electromagnetic Compatibility EMC Fieldbus Interface Field Level Firmware First In First Out Flash Memory Framing Error Function Plan Accuracy Floating Point Notation PROCESS PLC In communications to transfer a copy of a file from a remote computer to the requesting computer for example an OS from a PC to a PROCESS PLC Definition according to the EMC regulations EMC is the ability of a device to function in a satisfactory way in electro magnetic surroundings without causing electromagnetic disturbances itself which would be unbearable for other devices in these surroundings Interface for connection of field devices such as FESTO valve terminals Sensors and actuators located in the machinery Software routines stored in read only memory ROM For example startup routines and low level I O instructions are stored in firmware It falls between software and hardware in terms of ease of modification A method of processing a queue in which items are removed in the same order in which they were added The first element in is the first out A t
162. ignment Start of an automatic search for reference by means of a program which has been written with SYMPAS programming instructions 137 10 Stepper Motor Control PROCESS PLC Important Before and during machine referencing the actual position i e the value of register 11109 is not yet defined Operation of machinery in such an undefined state may result in damages to machines Therefore the reference position must be loaded and the actual position must be set to 0 before the machinery is operated 1 Possibility Machine referencing with internal program The reference switch is located somewhere within the positioning range between the two limit switches This reference switch is active over a greater travel than merely one step of the stepper motor In order to be able to determine a definite reference position it is necessary to approach the reference switch always from the same side In the given case this is to be done in positive direction The starting point for determining the direction is the negative limit switch The given machine referencing program first specifies the speed for machine referencing by loading a value into the speed register Then automatic machine referencing is started by means of one of the instructions of the instruction register First the axis approaches the negative limit switch ignoring the reference switch reverses direction and travels in positive direction until it will reach the referenc
163. ime Reg 2913 Hour Procedure for displaying the decimal place even if it is 0 Reg 900 Minute Procedure for displaying the decimal place even if it is 0 Reg 900 Second 149 13 Expansion Modules PROCESS PLC Centralised and Decentralised Arrangement of 150 Expansion Modules 13 Expansion Modules 13 1 Topology of the JETTER System Bus The NANO B control system can be expanded via digital and analog expansion modules The JETTER system bus port is located on the righthand side of the basic controller The internal system bus is a JETTER system bus The expansion modules are either centrally attached to the basic module or located distributedly at a distance of up to 30 meters from the basic module The basic module can be expanded to a maximum of e 136 digital inputs outputs including CPU I O gt non intelligent modules 64 analog inputs gt non intelligent modules e 61 analog outputs gt non intelligent modules e 16 hardware counters gt non intelligent modules e 3 servo axes gt intelligent modules e 7 stepper motor axes gt intelligent modules e 12 PID controllers gt intelligent modules Note In order to ensure flawless functioning of the centralised or decentralised arrangement the following boundary conditions as regards configuration must be met Failure to meet these boundary conditions will result in malfunctions of individual modules or a breakdown of the
164. ing Bit 1 not assigned Bit 2 0 Stepper motor disabled Bit 2 1 Stepper motor activated Write Bit 0 0 Stop program Bit 0 1 Start program Value range 0 5 The status register signals whether the program in the controller is currently running or has been stopped A program can be stopped e if a syntax error in the application program has been spotted The kind of error is displayed in register 2008 and LED ERR is lit e if the program has been stopped through the setup screen of SYMPAS by pressing SHIFT F3 F2 F4 or by writing into register 2001 e if the STOP RUN switch is in STOP position when the controller is powered up Jetter AG 259 15 Error Handling 260 PROCESS PLC Note The LED RUN signals whether the program is running properly or has been stopped LED RUN lit Program is running LED RUN is flashing Program has been stopped Register 2009 Status register Function Description Read Number of the task in which an error has occurred Value following reset 1 1 No error 2 The program code cannot be related to a task following program start or reset Write Error is deleted Value range 0 31 If in the application program an error has been spotted the number of the task in which the error has occurred can be read from this register Note The function Autoflash has to be activated to store a newly prepared SYMP
165. ion system VIADUKT can optionally be connected to the Interface PROCESS PLC by two different types of connectors Connector selection depends on the slot available and free to use on the NANO B For cable specification see Programming Interface RS232 to PC on page 22 VIADUKT Cable PROCESS PLC Shield VIADUKT RS232 9 pin male SUB D connector Shield or ris e 15 pin male SUB D connector Connect shield with the greatest possible surface area Use metallised housing only PIN Signal PIN 2 TXD RXD 2 3 RXD TXD 3 7 Gnd 5 For hardware handshake pins 7 and 8 as well as pins 1 4 and 6 have to be short circuited on the PC side COM1 Jetter AG 29 2 Installing the NANO B Controller CAN BUS 9 pin male or female SUB D connector ES 30 PROCESS PLC System Bus Cable for NANO Expansion Modules Signal Contact pin Contact socket CMODEO0 1 1 CL 2 2 GND 3 o 3 CMODE1 4 4 TERM 5 5 unused 6 6 CH 7 7 unused 8 8 Do not connect 9 9 Important A detailed description of the CAN bus and of the expansion modules will be given in chapter 13 1 Topology of the JETTER System Bus page 150 Also with a view to EMC the following minimum requirements apply to the system bus CAN BUS cable fabrication 1 Noo F wo ND Number of cores
166. it switch BIT_CLEAR REG 11100 Bit 5 has been released THEN REGISTER_LOAD 11101 with 4 Search for reference POS Axis11 Pos4000000 v1 Machine referencing jat very low speed WHEN BIT_SET REG 11100 Bit 0 Reference point found THEN Note a The difference between alternative 1 and 2 is the assignment of register REG r 11101 With REGISTER_LOAD 11101 with 12 the automatic program 12 is started and processed With REGISTER_LOAD 11101 with 4 the reference is cleared and for a while nothing happens When the axis approaches the next reference switch the new reference is set To do so an additional program is required Jetter AG 139 11 User Programmable Interface 140 PROCESS PLC 11 User Programmable Interface 11 1 Description of Connections Activation User Programmable Interface Cables for RS232 PC or LCD Sockets PROCESS PLC Shield VIADUKT RS232 9 pin male SUB D er connector Shield or Sea A ONI c 15 pin male SUB D connector Connect shield with the greatest possible surface area Use metallised housing only PIN Signal PIN 2 TXD RXD 2 3 RXD TXD 3 7 Gnd 5 Jetter AG NANO B Jetter AG 11 1 Description of Connections Activation User Programmable Interface Cables for RS422 LCD Sockets PROCESS PLC Shield User Interface 8 0e0e0e060 oa ay 15 pin male SUB
167. l box must never be shunted or by passed Dismantled protective equipment must be reattached prior to commissioning and checked for proper functioning Information Signs and Labels Writings information signs and labels always have to be observed and kept readable Damaged or unreadable information signs and labels are to be exchanged Residual Dangers Danger resulting from electric shock If the PROCESS PLC NANOSB is not isolated from the mains for example during maintenance and repair works you can suffer from an electric shock Please observe the following precautions in order to avoid injuries such as muscle cramps burns unconsciousness respiratory standstill gt Isolate the PROCESS PLC NANO B from the mains pull out the mains plug when working on the control system Have works on the electric and electronic system performed by qualified personnel only 2 Installing the NANO B Controller PROCESS PLC 2 2 1 Installing the NANO B Controller Mechanical Connection Scope of Supply e PROCESS PLC NANO B e Operator s Manual Installation Sequence Y Y V Y WV VW Check the shipment for completeness Choose the place of the DIN rail for mounting the PROCESS PLC NANO B and if necessary the expansion modules in your electric cabinet in accordance with chapter 13 Expansion Modules page 150 Mount the NANO B module and any expansion modules to the DIN rail according to chapter 13 Expansion Mod
168. l outputs 24 V signals The 0 V signal is to be connected to the 0 V terminal of the electric cabinet Technical Data of Digital Outputs Amount of outputs 8 Type of outputs Transistor pnp Rated voltage DC 24 V Voltage range 20 30 V Load current Max 0 5 A per output Electrical isolation None Protective circuit Short circuit overload overvoltage overtemperature protection Protection against inductive loads Yes Signal voltage ON Typ Vsupply 1 5 V Numbering system of Basic Controller Outputs Output Number Output 1 101 Output 8 108 cf chapter 5 1 Addressing Digital Inputs Outputs page 48 Actuator 1 Actuator 2 eat en i SACE Ensom stor i uv OUT LCD PC DC 2AN Pooo0000 0000000 Fig 8 Connecting Digital Outputs 32 Jetter AG NANO B 2 2 Electrical Connection 2 2 5 Single and Dual Channel Counter In register 2900 the counter can be set to single or dual channel operation The count value is stored to register 2901 It is possible to count events with a pulse frequency of up to 10 kHz With dual channel operation in register 2901 four fold evaluation with a counting frequency of 40 kHz is carried out When using the single channel counter with channel A the rising as well as the falling edge will be counted With single channel operation the counting frequency in register 2901 is 20 kHz TRANS
169. lave overlaid registers must be used Access is carried out in 3 steps 1 Transfer of input registers to a slave To do so overlaying of slave inputs with slave registers is used 2 Loading an overlaid input register into the master The overlaid input register is to be loaded into the master by using the N ceT REGISTER instruction This way the slave inputs are mapped within the master 3 Transfer of flag registers to the master Within the master the register in which the slave inputs are mapped in its turn is overlaid with flags Now access to slave inputs is carried out by the SYMPAS program with the help of flag instructions Jetter AG NANO B Jetter AG Example Overlaying 1 Step Overlaying of input registers in the slave Register 2400 of the NANO slave controller is overlaid with inputs 101 108 201 208 301 308 7 3 N SEND Registers and N GET Registers Overlaying of inputs on registers by the example of register 2400 Bit 0 1 2 3 4 21 22 23 Value 1 0 0 0 1 0 1 0 Input 101 102 103 104 105 306 307 308 2 Step Loading an overlaid input register into the master The contents of register 2400 overlaid inputs of the slave NANO with the network 3 is loaded into register 2400 of the master NANO by using the N GET REGISTER instruction N GET REGISTER from 3 Reg 2400 Reg here 2600 3 Step Overlaying of flag registers in the master controller
170. lding no paired shielding The shield must be connected to the metallised connector housings on both ends of the cable with the greatest possible surface area The braided shield has to be made of tin coated copper wires with a minimum degree of coverage 231 13 Expansion Modules PROCESS PLC Interface with The interface between the module and the user s program is made up of three the Application registers Program These registers are for configuring of the modules and for querying status information Register The register address is made up of the module number and the respective register Addressing number Coding of the registers 3yyz 3 yy z Register 0 9 Module Number 2 Value Range 0 14 Note P For determination of the module number only the non intelligent modules will be r counted Intelligent modules such as N SV 1 N SM1D N PID 1 etc located among the digital input and output modules are not being taken into consideration Module number 1 is always assigned to the basic control unit Starting from there the module numbers are being counted left to right For communication with the CPU three registers have been provided by the N PRN 1 module The operating system version number of the module can always be read from register 9 The other module registers are being defined by the function of the module The registers are addressed as follows Register number 3000 module number
171. le N SER 1 EMC N SER 1 Module Test with Damped Oscillation Damped Oscillation Frequency 1 MHz Source Impedance 200 2 Repeat Factor 400 s Test voltage 1 kV DIN EN 61131 2 DIN EN 61000 4 12 Interference Immunity Process Measuring and Control lines Long Bus Lines and Long Control Lines Parameter Value Reference Asymmetric RF Frequency 0 15 80 MHz DIN EN 50082 2 amplitude Test voltage 10 V DIN EN 61000 4 6 modulated AM 80 with 1 kHz Source Impedance 150 Q Criterion A Burst Test voltage 2 kV DIN EN 50082 2 tr tn 5 50 ns DIN EN 61131 2 Repetition rate 5 kHz DIN EN 61000 4 4 Criterion A Interference Immunity Mains Inputs and Outputs for AC and DC Parameter Value Reference Asymmetric RF Frequency 0 15 80 MHz DIN EN 50082 2 amplitude Test voltage 10 V DIN EN 61000 4 6 modulated AM 80 with 1 kHz Source Impedance 150 Q Criterion A Burst Test voltage 2 kV DIN EN 50082 2 tr tn 5 50 ns DIN EN 61131 2 Repetition rate 5 kHz DIN EN 61000 4 4 Criterion A Test with Damped Oscillation DIN EN 61131 2 Damped Frequency 1 MHz DIN EN 61000 4 12 Oscillation Source Impedance 200 2 Repeat Factor 400 s Test voltage 1 kV Criterion A 215 13 Expansion Modules PROCESS PLC 13 9 3 Description of Connections The user can select from interfaces with the specifications RS 232 RS 422 or RS 485 according to the diagram depicted in fig 52 Proto
172. lectromagnetic Frequency 900 5 MHz DIN EN 50082 2 RF Field pulse Test field strength 10 V m DIN EN 61000 4 3 modulated 50 ON period Repetition rate 200 Hz Criterion A Magnetic Field 50 Hz DIN EN 50082 2 with Mains 30 A m DIN EN 61000 4 8 Frequency ESD Discharge through air DIN EN 61131 2 Test Peak Voltage 15 kV DIN EN 50082 2 Humidity Rating RH 2 ESD 4 DIN EN 61000 4 2 Contact Discharge Test peak voltage 4 kV severity level 2 Criterion A Interference Immunity Signal and Data Lines Parameter Value Reference Asymmetric RF amplitude modulated Frequency 0 15 80 MHz Test voltage 10 V AM 80 with 1 kHz Source Impedance 150 Q Criterion A DIN EN 50082 2 DIN EN 61000 4 6 Burst Test voltage 2 kV tr tn 5 50 ns Repetition rate 5 kHz Criterion A DIN EN 50082 2 DIN EN 61131 2 DIN EN 61000 4 4 240 Jetter AG NANO B Jetter AG 13 11 N PS1 Module Power Supply Unit for Remote Modules EMC of Modules N PS 1 and N PS 1CP Test with Damped Oscillation Damped Oscillation Frequency 1 MHz Source Impedance 200 Q Repeat Factor 400 s Test voltage 1 kV DIN EN 61131 2 DIN EN 61000 4 12 Interference Immunity Process Measuring and Control lines Long Bus Lines and Long Control Lines Parameter Value Reference Asymmetric RF Frequency 0 15 80 MHz DIN EN 50082 2 amplitude Test voltage 10 V DIN EN 61000 4 6
173. ller an advanced control system developed by Jetter AG A functional resistor generating defined states for measurements and evaluations Such a resistor pulls up the potential to a high level in contrast to a pull down transistor pulling down the potential to the ground A high speed memory for a group of bits placed ina microprocessor or in another electronic device where data can be buffered for a specific purpose On JETTER controllers usually these are 24 bit wide storage positions in a remanent RAM Registers the information contents of which are maintained in case of a power supply interrupt Electronic detector pick up A device e g a NANO B controller which is controlled or influenced by another device called Master e g a NANO C controller A stand alone application or a subprogram that is run as an independent entity The amount of time the system will wait for a peripheral device to respond before it detects and reports this as an error The use of a computer system by more than one individual at the same time A unique structured data object or message that circulates continuously among the nodes of a token ring and describes the current state of the network Jetter AG NANO B Appendices Valve Terminal An array of pneumatic or hydraulic valves which are addressed via bus system Valve terminals are used for automation jobs on the field level Virtual Of or pertaining to a device service or sensor
174. lowing reset 4 Write A new text buffer is assigned to display 4 Value range 1 4 Register 2829 Basic Key Flag Number for Display 1 Function Description Read Set basic number Value following reset 2000 Write Basic number of flags which are used for display 1 to recognize keystrokes Value range 161 1824 2000 Register 2830 Basic Key Flag Number for Display 2 Function Description Read Set basic number Value following reset 2000 Write Basic number of flags which are used for display 2 to recognize keystrokes Value range 161 1824 2000 97 6 User Interfaces Operator Guidance 98 PROCESS PLC Register 2831 Basic Key Flag Number for Display 3 Function Description Read Set basic number Value following reset 2000 Write Basic number of flags which are used for display 3 to recognize keystrokes Value range 161 1824 2000 Register 2832 Basic Key Flag Number for Display 4 Function Description Read Set basic number Value following reset 2000 Write Basic number of flags which are used for display 4 to recognize keystrokes Value range 161 1824 2000 Registers 2829 through 2832 make possible to shift the flag area reflecting the key status of the displays within the whole flag range of the NANO controller Note The value following a reset maps the keys of all displays into the standard flag a
175. me 1013 through 1013 7 2 through 7 2 approx 2 5 ms Function 27 Exponential Function e Value range of argument Value range of the result Computing time 86 63 through 86 63 0 through 4 237 approx 3 0 ms Function 28 Natural Logarithm In Value range of argument Value range of the result Computing time 0 through 4 237 86 63 through 86 63 approx 3 0 ms Note a m SYMPAS programs for a NANO B controller can also be used for a NANO C p controller For this purpose the extensions of SYMPAS files for NANO B have to be renamed from PNB to PNC 266 Jetter AG NANO B Appendices Appendices Jetter AG 267 Appendices PROCESS PLC Appendix A Downloading the Operating System In the menu Transfer of the SYMPAS programming interface the operating system can be updated For this purpose operating system files OS are made available on the internet http www jetter de by JETTER AG De Listing Monitor Sc Editor gt File ENB NANO B gt File ENB File ENB gt Editor File ENB gt RAM Compare editor NANO B A x as Flash gt RAM Register gt File DA File DA gt Register Fig 70 SYMPAS Programming Interface gt For downloading an OS update time out must be set to 4000 ms in the SYMPAS menu Special Interface This is the default setting gt In addition to this the OS itself must be stopped during
176. n suppression Value 0 Sign will be displayed Value 1 Sign will not be displayed Value range 0 1 Register values can be displayed either with or without sign Values are displayed with sign by default By using register 2816 it is possible to suppress display of signs Register 2817 User Input Status Function Description Read Present user input status Value 0 User input has not been activated Value 1 User input has been activated Value following reset 0 Write New user input status Value 0 Termination without transfer of value Value 2 Termination with transfer of value Value range 0 2 From this register can be seen whether a user input is activated at the moment Thus for example proceeding from another task the time of the user input can be monitored Once a defined period is expired the user input can be terminated and the value shown on the display can be accepted by writing value 2 into register 2817 If value 0 has been written into register 2817 the user input is terminated without accepting the displayed value Register 2818 Keyboard Enable for User Interfaces Function Description Read Present status of keyboard enable Value following reset 255 Write New status of keyboard enable bit coded Value range 0 255 To allow the user to have access to defined operating functions certain keyboard areas can be enabled or disabled by register 2818
177. nce 200 Q Repeat Factor 400 s Test voltage 1 kV DIN EN 61131 2 DIN EN 61000 4 12 Interference Immunity Process measuring and control lines long bus lines and long control lines Parameter Value Reference Asymmetric Frequency 0 15 80 MHz DIN EN 50082 2 RF amplitude Test voltage 10 V DIN EN 61000 4 6 modulated AM 80 with 1 kHz Source Impedance 150 Q Criterion A Burst Test voltage 2 kV DIN EN 50082 2 tr tn 5 50 ns Repetition rate 5 kHz Criterion A DIN EN 61131 2 DIN EN 61000 4 4 Interference Immunity Mains Inputs and Outputs for AC and DC Parameter Value Reference Asymmetric Frequency 0 15 80 MHz DIN EN 50082 2 RF amplitude Test voltage 10 V DIN EN 61000 4 6 modulated AM 80 with 1 kHz Source Impedance 150 Q Criterion A Burst Test voltage 2 kV DIN EN 50082 2 tr tn 5 50 ns DIN EN 61131 2 Repetition rate 5 kHz DIN EN 61000 4 4 Criterion A Test with Damped Oscillation DIN EN 61131 2 Damped Frequency 1 MHz DIN EN 61000 4 12 Oscillation Source Impedance 200 Q Repeat Factor 400 s Test voltage 1 kV Criterion A 47 5 Software Programming PROCESS PLC 5 Software Programming 5 1 Addressing Digital Inputs Outputs 5 1 1 Basic Controller Numbering System of Basic Controller Inputs Input Number Input 1 101 Input 2 102 Input 8 108 Numbering System of Basic Controller Outputs Output Number Outpu
178. nce 200 Q Repeat Factor 400 s Test voltage 1 kV DIN EN 61131 2 DIN EN 61000 4 12 Interference Immunity Process Measuring and Control lines Long Bus Lines and Long Control Lines Parameter Value Reference Asymmetric RF Frequency 0 15 80 MHz DIN EN 50082 2 amplitude Test voltage 10 V DIN EN 61000 4 6 modulated AM 80 with 1 kHz Source Impedance 150 Q Criterion A Burst Test voltage 2 kV DIN EN 50082 2 tr tn 5 50 ns DIN EN 61131 2 Repetition rate 5 kHz DIN EN 61000 4 4 Criterion A Interference Immunity Mains Inputs and Outputs for AC and DC Parameter Value Reference Asymmetric RF Frequency 0 15 80 MHz DIN EN 50082 2 amplitude Test voltage 10 V DIN EN 61000 4 6 modulated AM 80 with 1 kHz Source Impedance 150 Q Criterion A Burst Test voltage 2 kV DIN EN 50082 2 tr tn 5 50 ns DIN EN 61131 2 Repetition rate 5 kHz DIN EN 61000 4 4 Criterion A Test with Damped Oscillation DIN EN 61131 2 Damped Frequency 1 MHz DIN EN 61000 4 12 Oscillation Source Impedance 200 2 Repeat Factor 400 s Test voltage 1 kV Criterion A 171 13 Expansion Modules N ai A ES 172 PROCESS PLC 13 5 3 Description of Connections On the expansion module 24 terminals have been provided for the 8 inputs For the 8 outputs on the expansion module 16 terminals have been provided Each output can be switched individually and provides voltage values according
179. ncoder it is required to switch over between the dual channel counter and the SSI absolute encoder through output xx04 Absolute encoders output their position value either in Gray code or in binary code Evaluation can be switched over between Gray code and binary code using output xx06 In order to activate parity check for an SSI absolute encoder output xx07 must be set to 1 Once parity check is activated you can toggle between even and odd parity through output xx08 If the N CNT 1 module detects a parity error the position value received is being ignored and register 3yy7 is incremented 209 13 Expansion Modules 210 PROCESS PLC Register 3yy7 Parity Error Count Function Description Read Present parity error count Value following reset 0 Write New parity error count Value range 8388608 8388607 Once a parity error is detected register 3yy7 is incremented by 1 The count is set by the application program For normal operation the count is set to zero Note If parity check is activated calculations for the value of register 3yy6 have to be carried out using a PPR count incremented by 1 as against the PPR count preset by the encoder Example If the encoder has got a resolution of 4096 increments per revolution and 4096 revolutions for calculations in register 3yy6 a PPR count of 24 has to be used if a check of parity errors is not carried out Once che
180. nes of 24 12 F keys with 9 mm character OpenColl characters LED height EM DK each Special Function backlit Keys Numeric keypad LCD 110 4 lines of 20 12 F keys with backlit RS422 characters LED DK 422 each Special Function Keys Numeric keypad LCD 12 2lines of 16 4 F keys designed for OpenColl characters Special Function installation in EM DK each Keys hand held operator Numeric keypad consoles LCD 16 4 lines of 20 5 F keys with allows modular RS422 characters LED expansion by DK 422 each keyboard NUM25 and handwheel HR1 modules LCD 17 Graphic 6 F keys with Visualisation with RS422 Display 128 x LED Numeric DK 422 240 Pixels Special Function objects Keys Text variables Numeric keypad Bargraph Cursor keypad D A transfer LCD 19 Graphic 6 F keys with Visualisation with RS422 Display 240 x LED Numeric DK 422 120 Pixels Special function objects keys with Text variables alphanumeric Bargraph function D A transfer Numeric keypad Cursor keypad LCD 23 2 lines of 24 Cursor left 5 mm character RS422 characters Cursor right height DK 422 each ENTER Jetter AG NANO B Jetter AG 6 1 Technical Data Overview User Interfaces Type Display Keys Comment Interface Cable LCD 23L 1 line of 16 Cursor left 8 mm character RS422 characters Cursor right height DK 422 ENTER LED 23 1 line of 8 12 mm character RS422 characters height DK 422
181. ng the NANO B Controller Mechanical Connection Electrical Connection Power Supply Interfaces Digital Inputs Digital Outputs Single and Dual Channel Counter Analog Inputs Analog Output Stepper Motor Control Description of LEDs Description of the STOP RUN Switch Basic Unit Physical Dimensions Technical Data Operating Conditions Software Programming Addressing Digital Inputs Outputs Basic Controller Expansion Modules Access to Flags User Flags Special Flags Register Description User Registers Programming with the Aid of Registers Calculating with the Aid of Registers Special Registers User Interfaces Operator Guidance Technical Data Description of Connections Multi Display Mode Programming the User Interfaces Display of Texts Text Output Parameters Table of Contents 11 16 16 18 18 19 31 32 33 34 36 39 40 41 41 41 44 48 48 48 48 50 50 52 55 55 55 61 74 74 76 76 78 78 78 Table of Contents PROCESS PLC 6 4 3 Control Characters for Text Output 80 6 4 4 Displaying Register Contents 81 6 4 5 Query of Register Values 82 6 5 Fixed point Numbers 83 6 5 1 Display of Fixed point Numbers 83 6 5 2 Input of Fixed point Numbers 84 6 5 3 USER_INPUT Suggested Value 86 6 6 Registers for User Interfaces 87 6 7 User Interface related Flags 100 6 8 Controlling the Keys and LEDs of the User Interface 101 7 Network Operation 107 7 1 JETWay H JETTER Dat
182. ns The positioning process is described in the programming manual in more detail Therefore please refer to the programming manual for additional information Note N A On the basic controller the axis number of the stepper motor axis is always 11 r All registers start with 111 if they are assigned to this axis This axis is always assigned to module number 1 Generally the following steps are required for programming a stepper motor axis 1 Loading of Parameters This has to be made at the beginning of the program with the help of the axis registers 11105 through 11108 Example THEN REGISTER_LOAD 11105 with R100 Acceleration REGISTER_LOAD 11106 with R101 Deceleration REGISTER_LOAD 11108 with R103 Start stop frequency The positioning parameters are defined by the program sequence as follows REGISTER 100 Value of acceleration ramp REGISTER 101 Value of deceleration ramp REGISTER 103 Value of start stop frequency In chapter 10 2 1 Register Assignment page 126 you will find a description of the characteristics of the parameters 124 Jetter AG NANO B 10 2 Firmware of Stepper Motor Control 2 Machine Referencing Before the first positioning process can be executed machine referencing is required Referencing can be initiated by entering a value into command register 11101 of the corresponding axis 3 Positioning Following machine referencing the positioning processes can be carried out This c
183. of user interface Value following reset 24 Write New value specifying the amount of characters for the connected user interface Value range 1 127 This register gets initialised by the connected user interface Register 2806 Text Choice for the DISPLAY_TEXT_2 Instruction Function Description Read Present value for the text to be displayed in connection with the DISPLAY_TEXT_2 instruction Value 0 Text 1 Value 1 Text 2 Value following reset 0 Write New value for text choice Value 0 Text 1 Value 1 Text 2 Value range 0 1 Using the DISPLAY_TEXT_2 instruction a choice can be made between two texts to be displayed e g for bilingual operator guidance Additional example Text 1 for the customer text 2 for the service staff In this register choice is made which one of the two texts is to be displayed 87 6 User Interfaces Operator Guidance Register 2807 Divisor for USER_INPUT of Fixed point Numbers Function Description Read Present value for the divisor to define the amount of decimal positions for user inputs Value 0 No decimal position Value 10 1 decimal position Value 10000 4 decimal positions Value following reset 1 Write Illegal Value range 0 10000 The data being supplied by the NANO B controller are integer values When data are mal positions by the user these data are read out of register 2807 or input with deci 2808 Register 2807
184. ol unit Starting from there the module numbers are being counted left to right For communication with the CPU 7 registers have been provided by the N SER 1 module The operating system version number of the module can always be read from register 9 The other module registers are being defined by the function of the module The registers are addressed as follows Register number 3000 module number 2 10 local register number Examples Determination of the register numbers The number of the first expansion module s register is determined as follows Module number 2 Local register number 3 sending buffer Register number 3000 2 2 10 3 3003 Jetter AG 217 13 Expansion Modules PROCESS PLC The number of the third expansion module s register is determined as follows Module number 4 Local register number 9 OS version Register number 3029 4 2 10 9 3003 Note P When the register number is called in the SYMPAS program the number of the module s OS version is displayed With inquiries always identify this number Addressing the Hard and software flow control is activated via the virtual outputs which are Virtual Outputs addressed as is being described below Coding of the virtual outputs yyzz yy zz Number of the Virtual Output Module Number 1 Value Range 0 14 Example Determination of virtual outputs Determination of the virtual output 1 of the 3rd expansion
185. op axis AXARR instruction This instruction serves to stop an axis without deceleration ramp This can be done only at low speed without skipping steps Automatic machine referencing at the speed given in register 11103 Start in positive direction giving heed to the reference switch Once the positive limit switch is operated during machine referencing the axis reverses the direction of motion and continues to travel in negative direction until either the reference switch has been activated and the actual position is set to zero or the negative limit switch has been operated This causes machine referencing to be terminated The set position is set to actual position and an error is reported to the status register 11100 through bit 12 Jetter AG NANO B Jetter AG 10 11 12 13 14 17 18 19 22 23 10 2 Firmware of Stepper Motor Control Automatic machine referencing at the speed given in register 11103 Start in negative direction giving heed to the reference switch Once the negative limit switch is operated the axis reverses the direction of motion and continues to travel in positive direction until e either the reference switch has been activated and the actual position is set to zero or the positive limit switch has been operated This causes machine referencing to be terminated The set position is set to actual position and an error is reported to the status register 11100
186. ount of FESTO CP modules Register 2019 2021 Check numbers type and IO configuration of FESTO CP modules Commissioning is continued Fig 62 Flowchart for Commissioning NANO B C with FESTO CP Modules 248 Jetter AG NANO B 14 3 FESTO CP Modules Attached to a NANO B Controller Jetter AG 14 3 2 Comparing Set Actual Configuration If a FESTO CP module has to be replaced the PROCESS PLC must be switched off beforehand Restart the PROCESS PLC system to activate the new FESTO CP module During start up the new module is detected and register 2021 is read in While doing so the module type is not determined This means that a FESTO CPV valve terminal type 4 can be replaced with a FESTO CPV valve terminal type 8 To ensure that the replacement is taken into account the user should write a SYMPAS program comparing SET with ACTUAL configuration Examples of such a program are given in fig 63 and fig 64 The program extract given in fig 63 shows that the set configuration of FESTO CP modules ist stored to registers starting with register 100 The information contained herein is required to compare set with actual configuration SYMPAS EXE Project File E Blo ansfer Listing on Length SYMPASNTEST PNC C Conf iguration type and IO configuration as ist CP Module Check Type I0 Load check number terminal y SET configuration 5 2nd CP Module lt Check Type IO Load SET confi
187. petition rate 5 kHz Criterion A DIN EN 50082 2 DIN EN 61131 2 DIN EN 61000 4 4 Jetter AG 155 13 Expansion Modules PROCESS PLC EMC N ID 8 Module Test with Damped Oscillation Damped Oscillation Frequency 1 MHz Source Impedance 200 2 Repeat Factor 400 s Test voltage 1 kV DIN EN 61131 2 DIN EN 61000 4 12 Interference Immunity Process Measuring and Control lines Long Bus Lines and Long Control Lines Parameter Value Reference Asymmetric RF Frequency 0 15 80 MHz DIN EN 50082 2 amplitude Test voltage 10 V DIN EN 61000 4 6 modulated AM 80 with 1 kHz Source Impedance 150 Q Criterion A Burst Test voltage 2 kV DIN EN 50082 2 tr tn 5 50 ns DIN EN 61131 2 Repetition rate 5 kHz DIN EN 61000 4 4 Criterion A Interference Immunity Mains Inputs and Outputs for AC and DC Parameter Value Reference Asymmetric RF Frequency 0 15 80 MHz DIN EN 50082 2 amplitude Test voltage 10 V DIN EN 61000 4 6 modulated AM 80 with 1 kHz Source Impedance 150 Q Criterion A Burst Test voltage 2 kV DIN EN 50082 2 tr tn 5 50 ns DIN EN 61131 2 Repetition rate 5 kHz DIN EN 61000 4 4 Criterion A Test with Damped Oscillation DIN EN 61131 2 Damped Frequency 1 MHz DIN EN 61000 4 12 Oscillation Source Impedance 200 2 Repeat Factor 400 s Test voltage 1 kV Criterion A 156 Jetter AG NANO B 13 2 N ID 8 Module 8 Digital Inputs 13 2 3 Des
188. r each user task 2057 LCD task after each user task 2058 JETWay task 2059 Time out monitoring of I O modules after each task particularly polling of FESTO CP modules 2061 Reading out of output states not from RAM but from the module Network Control via Special Flags 2062 Multimaster mode signals readiness to receive tokens on the network 2063 Master in multimaster mode 54 Jetter AG NANO B Jetter AG 5 3 Register Description 5 3 Register Description 5 3 1 User Registers e Inthe register range 0 through 1999 2000 remanent user registers are available to the user They serve as buffers for storage of comparison and measured values as well as of setpoints e These registers are 24 Bit wide and have got a value range from 8 388 607 through 8 388 608 e For example registers are loaded using the instruction REGISTER_LOAD Note The contents of the 2000 NANO B user registers are maintained after switching off the power supply 5 3 2 Programming with the Aid of Registers The instruction REGISTER LOAD x with a serves for loading of numeric values or contents of other registers into a register In the instruction above x represents the number of the register value a is to be written into by analogy with Fig 18 and Fig 19 register number 166 register number value value Fig 18 REGISTER_LOAD with Fig 19 REGISTER_LOAD with numeric parameters symbolic parameters 55 5 Software Prog
189. rChar 100 Character p kkkkkkk Numbers dede dede de dee dee deke d k zbBusy 7 Busy bit 0 Busy zbError 3 Error bit in the status register O Error zFirstChar 65 First character A zLastChar 90 Last character Z Jetter AG NANO B Physical Dimensions of the N PS 1 Module Jetter AG 13 11 N PS1 Module Power Supply Unit for Remote Modules 13 11 N PS1 Module Power Supply Unit for Remote Modules These power supply units are to supply decentralized digital expansion modules They convert 24 V into a logic voltage of 5 V The power supply unit is supplied with a voltage of 24 V via two terminals A maximum of five digital expansion modules can be connected to one power supply module Note Merely digital and analog input and output modules as well as the N CNT 1 module are supplied by the power supply modules N PS 1 or N PS 1CP Intelligent modules have got their own 24 volt power supply unit 13 11 1 Physical Dimensions of the N PS 1 and N PS 1CP Modules 69 Fig 54 Mounting Dimensions of the N PS 1 Module 237 13 Expansion Modules PROCESS PLC Physical Dimensions of the N PS 1CP Module Fig 55 Physical Dimensions of the N PS 1CP Module 238 Jetter AG NANO B 13 11 N PS1 Module Power Supply Unit for Remote Modules 13 11 2 Technical Data Modules N PS 1 and N PS 1CP Power Supply Unit for Remote Arrangement Connection to the M
190. ramming PROCESS PLC Indirect and Double Indirect Addressing 56 For the x and the a in the instruction shown above not only a number can be written but a register can be specified as well By pressing the space key an Ris placed in front of the register number If R y is written instead of x value a is written into the register the number of which is contained in register y If R b is written instead of a not the value itself but the content of the specified register is loaded into register x or R y If instead of a RR press space key twice is entered and then a number b first the value contained in the register with the number b is read REGISTER_LOAD x with RR b This value then serves as register number This means a new value is read in the register with the specified number and then stored to register x register number REC H value RRES ZEOLIT S Fig 20 Indirect and Double Indirect Addressing Examples 1 Loading of a number into a register REGISTER_LOAD rNewPosition with 1280 gt Value 1280 is loaded into the register rNewPosition 2 Copying one register into another register REGISTER_LOAD rVoltage with R rVoltagel gt The value which is contained in the register rVoltage1 will be loaded into register rVoltage In other words the contents of register rVoltagel1 is copied into register rVoltage Jetter AG NANO B 5 3 Register Description 3 Loading by double indirect addr
191. rea for single display mode i e from flag 2160 through 2223 The flag area for keys is calculated by the following formula Flag area for keys Basic number 160 223 If for example the basic number is set to 161 the F1 key is mapped to flag 40 Example Following a reset the F1 key is mapped to flag 2201 since the basic number is 2000 Register 2833 Register Number for Controlling LEDs of Display 1 Function Description Read Set register number for controlling LEDs of display 1 Value following reset 2649 Write New register number defining which of the flags resp register bits are for controlling LEDs of display 1 Value range 1 1999 2622 2637 2649 Jetter AG NANO B Jetter AG 6 6 Registers for User Interfaces Register 2834 Register Number for Controlling LEDs of Display 2 Function Description Read Set register number for controlling LEDs of display 2 Value following reset 2649 Write New register number defining which of the flags resp register bits are for controlling LEDs of display 2 Value range 1 1999 2622 2637 2649 Register 2835 Register Number for Controlling LEDs of Display 3 Function Description Read Set register number for controlling LEDs of display 3 Value following reset 2649 Write New register number defining which of the flags resp register bits are for controlling LEDs of display 3 Value range
192. rect operation of the system ll Arrangement without tap line e the FESTO CP module must always be located at the end of the bus line a terminating resistor 120 Q must be attached to the FESTO CP module The NANO modules do not require terminating resistors since these are included as standard Line Structure Maximum Length 30 m NANO B with Additional Festo Expansion Expansion Fieldbus Festo Modules Modules Node CP Module Tee connector JX2 JX2 120 Q SBK1 SBK1 Terminating Resistor Fig 60 Connection of FESTO CP Modules to the JETTER System Bus bus topology Jetter AG 245 14 NANO Network Topology and FESTO CP Modules PROCESS PLC i 246 If due to the arrangement of the machine and the control system a configuration with a tap line is required the following constraints have to be observed e the maximum length of all tap lines is 3 m e the tap line to the FESTO CP modules must be as short as possible In some cases it is necessary to place a FESTO tee connector with a higher degree of protection IP next to the valve terminal e itis not allowed to attach terminating resistors to FESTO CP modules e a maximum of 2 valve terminals and 1 input module can be connected to 1 FESTO tee connector Only FESTO CP modules occupy I O numbers but not the FESTO tee connector Line St
193. register 2814 is o default value following reset the present cursor position is used for user input The register number is the number of the register to which the value that has been entered is to be assigned Here simple indirect register addressing is possible as well Important As a rule for USER_INPUT 8 characters available This value which is stored to register 2813 can also be altered Example DISPLAY_TEXT 0 cp 1 _New Position USER_INPUT 0 cp 17 Reg 100 To provide meaningful user guidance the USER_INPUT instruction usually is combined with the DISPLAY_TExT instruction The effect of these two instructions is that the text New Position is displayed on the top left of the display Then the controller is waiting for a numeral to be entered This numeral will be stored to register 100 and will serve as new set position for positioning purposes 82 Jetter AG NANO B Jetter AG 6 5 Fixed point Numbers 6 5 Fixed point Numbers Fixed point numbers can be displayed and entered with the help of the user interface While doing so the functions of register 2812 Field length for DISPLAY_REG and register 2813 Field length for USER_INPUT remain unchanged These registers are specified as mentioned above 6 5 1 Display of Fixed point Numbers For this purpose two additional special registers are available namely the registers 2809 and 2810 Register 2809 Divisor for Value Output DISPLAY_RE
194. rface 26 Jetter AG NANO B 2 2 Electrical Connection Network Interface The network interface JETWay R serves for networking PROCESS PLC s and or networking of devices such as remote I Os valve terminals etc cf chapter 7 Network Operation page 107 JETWay R ZS Jetter AG JETWay R Cable PROCESS PLC Shield Specification RS485 9 pin male SUB D connector PC Shield or ONIE e 15 pin male SUB D connector LCD Connect shield with the greatest possible surface area Use metallised housing only PIN Signal Comment 7 Gnd 8 Data 9 Data Important e Also with a view to EMC the following minimum requirements apply to the JETWay R cable fabrication 1 Number of cores 2 Core cross sectional area 3 Connector male 3 0 25 mm SUB D metallised 4 Maximum cable length 400 m 5 Shield complete shielding no paired shielding e The shield must be connected to the metallised connector housings on both ends of the cable with the greatest possible surface area 27 2 Installing the NANO B Controller User Interface Port ZS 28 PROCESS PLC User Interface Cable DK 422 15 pin male SUB PROCESS PLC Shield User Interface 8 115 15 o Shield e o J e e y Bea e V e e E e Se 9 m o9 10 J D connector
195. rite Set flag for high user interface priority delete flag for low user interface priority Definition of the user interface priority The user interface is serviced by a kind of background task In most cases the user interface has got a priority lower than the priority of the application program In this case the user interface will not be serviced before complete processing of all user tasks Usually this is absolutely sufficient since processing will happen in the range of milliseconds which will not be regarded by the user as waiting time This waiting time increases if especially on four line displays a great number of values is being displayed and the system is waiting for user inputs Once the priority of the user interface is raised by setting flag 2057 the user interface is serviced after each user task The operating system is then servicing sequentially Task 0 user interface task 1 user interface task 2 user interface etc For further details on task processing refer to register description for task control Note For normal operation the user interface priority should be set to low i e flag 2057 0 If during user input there are remarkable delays the user interface priority can be raised by setting flag 2057 to 1 In most cases more complex user and display functions are required in manual and setting up mode of the machinery Thus it is possible to set this flag in manual mode high priority and
196. roller serves to control servo amplifiers for stepper motors equipped with STEP and DIR interfaces i e through stepping and direction pulses Stepper Motor Controller Fig 27 Stepper Motor with Motor Control and Power Amplifier Acceleration and deceleration are automatically preset by the microprocessor of the stepper motor control For activation entry of macro instructions such as the positioning instruction is sufficient POS Axis lt Axis gt set position set speed All values can be read back at any time The parameters including set position and set speed can be changed at any time Connecting the For stepper motor control 2 terminals for the DIR and STEP signal and one 0 V Stepper Motor Jetter AG Control terminal have been provided on the basic controller X3 Please refer to chapter 2 2 8 Stepper Motor Control page 36 123 10 Stepper Motor Control PROCESS PLC 10 2 Firmware of Stepper Motor Control The firmware allows a stepper motor control to operate a stepper motor axis Configura tion for operation and different operating conditions is made using different parameters Positioning processes are controlled by the following instructions POS Positioning AXARR Axis AXARR position query AXARR instruction AXARR Axis Continue to travel to old target position There is an additional option of positioning an axis that is control of the stepper motor through REGISTER_LOAD instructio
197. rom the master controller is to be transmitted This register is located on the slave controller with the slave number PASE Example N SEND REGISTER to 3 from Reg 100 to Reg 200 gt Following this instruction the value contained in register 100 of the master controller is entered into register 200 of the slave controller with the network number 3 109 7 Network Operation 110 PROCESS PLC 7 3 2 N GET REGISTER By using the following instruction the master controller can read out values from registers of slave controllers N GET REGISTER from lt PASE gt Reg lt Source Reg gt Reg here lt Destination Reg gt e lt PASE gt PASE stands for the network number of the slave controller which is to be addressed via the network lt Source Reg gt Here the number of the register is specified from which the value is to be transmitted to the master controller This register is located on the slave controller e lt Destination Reg gt Here the number of the master controller register is specified into which the value from the slave controller is to be transmitted Example N GET REGISTER from 4 Reg 150 Reg here 102 gt By this instruction the value contained in register 150 of the slave controller with the network number 4 is copied into register 102 of the master controller 7 3 3 Access to slave inputs slave outputs and slave flags In order to have access to inputs outputs and flags of a s
198. rovided with 2 counters equipped with 4 terminals and one SUB D connector 15 pins It is possible to operate the single and the dual channel counter in parallel Inputs are split into Terminals for 24 Volt single channel counter signals Terminals for 24 Volt dual channel counter control signals Transducers with 24 Volt signals or 5 Volt differential signals are connected to the dual channel counter input via the 15 pin SUB D connector RS422 port Signals of such transducers can be read in through adjustable digital filters As an alternative of using a dual channel counter an SSI absolute encoder can be connected to the 15 pin SUB D port Note All voltage input signals relate to 0 V Within the module the 0 V signal is connected to ground internally via the enclosure Configuration of the module is carried out through the virtual outputs Do not use inverted negative signals for 24 Volt encoder inputs Inverted signals cannot be evaluated Important Make sure that to the counter inputs of the N CNT 1 module a maximum voltage of 24 V 10 is applied This will prevent the N CNT 1 module and the incremental encoder from being destroyed Detail 1 SS ee FILS a Transformer DC 24 V wt ET O Oor O5 O85 OstepO6 Oe Qa Q7 Q7 ix Os Oe Os st 2a WY aroa ASOV wt a o Detail 2 Incremental 77 re 130 45 Fig 49 Example Input Wiring of the N CNT 1 Module 201 13 Expansion Modules P
199. rrent range 0 20 mA Value range current 0 2047 Input impedance Current 220 Q Resolution voltage 12 Bit Resolution current 11 Bit Sampling interval lt 13 ms Heat loss of CPU logic circuit 0 3 Watt Electrical isolation None 177 13 Expansion Modules PROCESS PLC 178 Jetter AG NANO B 13 6 N IA 4 Module Analog Inputs EMC N IA 4 Module Emitted Interference Parameter Value Reference Enclosure Frequency band 30 230 MHz limit 30 dB uV m at 10m e Frequency band 230 1000 MHz limit 37 dB uV m at 10m class B DIN EN 50081 1 DIN EN 50081 2 DIN EN 55011 Interference Immunity Enclosure Parameter Value Reference RF Field amplitude modulated Frequency band 27 1000 MHz test signal strength 10 V m AM 80 with 1 kHz Criterion A DIN EN 61131 2 DIN EN 50082 2 DIN EN 61000 4 3 Electromagnetic RF Field pulse modulated Frequency 900 5 MHz Test field strength 10 V m 50 ON period Repetition rate 200 Hz DIN EN 50082 2 DIN EN 61000 4 3 Criterion A Magnetic Field 50 Hz DIN EN 50082 2 with Mains 30 A m DIN EN 61000 4 8 Frequency ESD Discharge through air DIN EN 61131 2 Test Peak Voltage 15 kV DIN EN 50082 2 Humidity Rating RH 2 ESD 4 DIN EN 61000 4 2 Contact Discharge Test peak voltage 4 kV severity level 2 Criterion A Interference Immunity Signal and Data Lines Parameter Value Reference Asymm
200. ructure Maximum Length 30 m gt 3m 0 3 m Festo 08 fl CP Module Festo Maximum overall length of tap lines Maximum length of a tap line segment Fieldbus node NANO B with Additional Tee con 7 expansion expansion nector N PS1 with additional modules modules eq ha expansion modules 8 E s e T pie T EE mm Mee JX2 JX2 SBK1 SBK1 Fig 61 Connection of FESTO CP Modules to the JETTER System Bus via Tap Lines Important e Ifitis planned to use an arrangement of the PROCESS PLC other than the one described in chapter 13 1 Topology of the JETTER System Bus page 150 please contact a representative of JETTER AG JETTER personnel will help you to avoid malfunctions of your system as well as time consuming and cost intensive troubleshooting The functioning of the respective arrangement and the system compatible termination have to be determined and tested in each particular case 14 3 FESTO CP Modules Attached to a NANO B Controller The NANO B controller is a control system for digital and analog inputs and outputs The maximum degree of extension includes 136 digital inputs and outputs though it should be noted that the basic controller itself occupies 8 digital inputs and 8 digital outputs Therefore the basic controller can be expanded by 120 digital inputs and outputs cf chapter 13 1 Topology of the JETTER Sy
201. s of the N CNT 1 Module 69 Fig 48 Physical Dimensions of the Digital Counter Module N CNT 1 amp Jetter AG 197 13 Expansion Modules PROCESS PLC 13 8 2 Overview and Technical Data Technical Data of the N CNT 1 Module Power Supply centralised arrangement via basic unit cf chapter 13 1 Topology of the JETTER System Bus page 150 e decentralised arrangement via power supply N PS 1 cf chapter 13 1 2 Decentralised Arrangement on the JETTER System Bus page 151 Connections to the basic unit via JETTER system bus Male connector SUB D 9 pins Connection to counter inputs e Screw terminals e Male connector SUB D 15 pins Enclosure Aluminium powder coated black Dimensions H x W x Dinmm 114 x 45 x 69 Weight 190g Mounting DIN Rail Quantity of counters e 1 Single channel counter 1 dual channel counter Maximum counting frequency 10 kHz single channel counter Voltage input single channel counter 24 Volt Maximum counting frequency dual channel counter e 500 kHz at 24 Volt e 1 MHz at 5 Volt Voltage input dual channel counter e 24 Volt with operating point signal voltage ON at 15 V minimum signal voltage OFF at 10 V maximum e 5 Volt differential voltage Electrical isolation None Heat loss of CPU logic circuit 0 5 Watt Heat loss of incremental encoder input 0 5 Watt Jetter AG
202. set Value Number 3 Cross Reference Task Control 2004 Task switch conditions 1 0 255 Task switching always if 2 3 DELAY 3 Please refer to chapter e USER_INPUT Principle of Operation WHEN not fulfilled and also if on page 270 e Bit O 1 AND Task switch time out 2005 e Bit1 1AND GOTO e Bit 2 1AND IF not fulfilled 2005 Time out period for a task 1 0 255 Period after which a task is exited 2 20 20 ms at the latest 3 Please refer to chapter refer to register 2004 Principle of Operation on page 270 2006 Cycle time of all tasks in ms 1 0 255 2 not defined 2007 Number of the highest user task 1 0 31 2 Number 2025 Present task 2026 Prioritized task 1 0 31 255 2 255 no priorities assigned 2091 Reserve capacity of the stack in which the query is carried out 2100 2131 Task status 1 0 255 l 2 Status 255 Task is being processed 3 SYMPAS 254 DELAY Index window 253 USER_INPUT 250 WHEN_MAX 1 TASKBREAK 0 not existing 2200 2231 Task index 1 0 65535 2 TASK Start 3 SYMPAS Index window 2300 2331 Task time register for delay 1 0 8388607 2 0 63 5 Software Programming PROCESS PLC Special 1 Value Range Register Function 2 Reset Value Number 3 Cross Reference Control of User Interfaces LCD display 2804 Number of characters 1 0 255 2 48 3 chapter 6 6 Registers for User Interfaces page 87
203. sonable communication on the network gets next to impossible since transmission rate slows down Therefore it is advisable to limit the number of nodes to be controlled to 98 In detail network operation means e Visualisation e Programming e Data transfer e Production data acquisition e Service functions access to each control system In addition to this using a modem remote maintenance of the entire machinery of a plant is possible Note Please refer to chapter 2 2 Electrical Connection page 18 for description of wiring and parameter assignment of JETWay H etc up to 98 nodes OV ese es Fe a ne MIKRO IANO B Fig 24 JETWay H for the Management Level 107 7 Network Operation PROCESS PLG 7 2 JETWay R Process Level The JETWay R network has got two functions e The hierarchical networking of PROCESS PLC control systems e The connection of decentralized peripheral devices such as remote I Os or valve blocks The maximum amount of nodes per level is 99 This network is a monomaster network This means that there is one master and a maximum of 98 slaves per hierarchical level PASE E MASTER SLAVE High Level
204. stem Bus page 150 Such an expansion can be carried out using either NANO expansion modules or FESTO CP modules Jetter AG NANO B N N A Cai ZS Jetter AG 14 3 FESTO CP Modules Attached to a NANO B Controller Note If FESTO CP modules are attached they always occupy 16 digital outputs or 16 digital inputs When a FESTO output module is attached this means that irrespectively of the number of valves a FESTO CP valve terminal is equipped with always 16 digital outputs are reserved and that in register 2013 two inserted I O modules are displayed However in the module array of register 2015 and 2016 code number 32 appears only once cf chapter 5 3 4 Special Registers page 61 By analogy the FESTO input modules always occupy 16 input addresses though inthe module array of register 2015 and 2016 code number 33 appears only once Please give heed to the fact that per module always 16 input and output addresses have to be subtracted from the maximum number of possible digital inputs and outputs Important A maximum of 7 FESTO CP modules can be connected to a NANO B controller Example Addressing a NANO B equipped with a FESTO CP valve terminal As expansion modules one digital output and input module each are attached to a NANO B controller Last of all a FESTO CP valve terminal with 8 valves is added This configuration results in the following addressing scheme NANO B N OD 8
205. ster Configuration of FESTO CP Modules Note The entry of the check numbers is automated In the basic setting the default 7 value for the check number in register 2019 is zero By that means the NANO B automatically enters the check number of the FESTO CP modules into the configuration table of register 2018 When doing so the controller starts with the least check number and enters the check numbers in ascending order into the configuration table ll The check numbers of FESTO CP modules are to be entered into the configuration table by means of register 2018 in the same order in which they are intended to be addressed during operation The first entry is addressed as the first module the second entry as second module etc Jetter AG 253 14 NANO Network Topology and FESTO CP Modules PROCESS PLC i 254 Important The higher the check number the higher the logical not physical location of the FESTO CP module being addressed by the controller Register 2027 Output Driver Error FESTO CP Module Error Function Description Read Present error of the output driver resp FESTO CP module Bit 0 Local outputs short circuited Bit 1 23 One of the I O modules short circuited FESTO CP module error Value following reset 0 Write Illegal Value range 0 65535 An error of the locals outputs of a NANO module or a FESTO CP module is displayed through register 2027 A short circuited or an o
206. strobing signal before reset of strobe message Value following reset 0 Write Bits 0 and 4 are reset Value range 0 31 207 13 Expansion Modules PROCESS PLC Register 3yy4 Count of Single Channel Counter Function Description Read Present count of Single Channel Counter Value following reset 0 Write New count of Single Channel Counter Value range 8388608 8388607 Register 3yy5 Transmitting Rate of Actual Position to an Intelligent Servo or Stepper Motor Module Function Description Read Present value of transmitting rate Value following reset 0 Write New value of transmitting rate Value range liasa It is possible to use the N CNT 1 module in a servo control system as master module for position modules of the NANO series such as N SV1 CAN DIMA N SM2 N SM1D In this role the master module N CNT 1 is not controlled The axis which is controlled by the positioning module is to follow the master with a fixed or variable transmission ratio as to position In this case the position encoder mounted on the master axis is connected to the N CNT 1 module This module then transmits the read out position and the interval between two scans to the positioning module via JETTER system bus Then the position value can be read out of register 1y195 Register 3yy5 controls the transmission rate thus the bus load In case regis
207. struction as an input condition following IF or WHEN is explained in the example below Example REGZERO compared with REG IF IF REGZERO 49 REG 49 THEN 0 THEN gt These two program parts have the same functions On the righthand side of the example the comparison is carried out as a general arithmetic comparison On the lefthand side of the example the special instruction REGZERO is used Using REGZERO speeds up program execution 59 5 Software Programming Programming In struction REGDEC PROCESS PLC These two instructions serve for decreasing decrementing respectively increasing incrementing a register value by 1 Such functions are frequently and REGINC used in loops for increasing or decreasing counters and pointers Example REGDEC compared with REG THEN THEN REGDEC 100 REG 100 REG 100 1 gt These two program parts have the same functions With both of them the value of register 100 is decremented by 1 Example REGINC compared with REG THEN THEN REGDEC 88 REG 88 REG 88 1 gt These two program parts have the same functions With both of them the value of register 88 is incremented by 1 Example REGDEC and REGZERO REGISTER_LOAD 1 with 10 Label 55 REGDEC 1 IF REGZERO 1 THEN ELSE GOTO 55 THEN gt This way a loop can be realised which executes a certain number of 60 iterations During each run of the loop the value of
208. t 1 101 Output 2 102 Output 8 108 5 1 2 Expansion Modules The address is made up of the module number and the number of the respective input or output Coding of Input Output Number xyz Units Place 0 9 Tens Place 0 Module Number 2 16 Note When determining the module number only digital input or output modules are counted Intelligent modules such as N SV 1 N SM 1 N PID 1 etc located among the digital input and output modules are not taken into consideration Module number 1 is assigned to the basic control unit Starting from there the module numbers are counted left to right 48 Jetter AG 5 1 Addressing Digital Inputs Outputs NANO B Example 1 The table below shows the input output numbering for a basic controller with two N ID 8 modules and one N OD 8 output module arranged as follows NANO B N OD 8 N ID 8 N ID 8 Basic Output Input Input Controller Module Module Module Module 1 Module 2 Module 3 Module 4 Inputs and Outputs Output Input Input 101 108 201 208 301 308 401 408 Example 2 _ s L RUI gt O7 ossosa Basic controller with with a digital output module N OD 8 an intelligent expansion module N SV 1 a power supply module N PS1 and digital input module N ID 8 NANO B N OD 8 N SV 1 N ID 8 Basic Output Servo Input Controller Module Module Module Module 1 Module 2 Module 3 Module 4
209. t Exemple Internal Circuitry of a DIR and STEP Signal Arrangement of LEDs STOP RUN Switch Mounting Dimensions of the NANO B Basic Unit REGISTER_LOAD with numeric parameters REGISTER_LOAD with symbolic parameters Indirect and Double Indirect Addressing Example for Double Indirect Addressing Example of Register Arithmetic Pin Assignment of Connecting Cable for Several LCD User Interfaces 77 JETWay H for the Management Level JETWay R for the Process Level Slew Rate Limitation for AD Conversion Stepper Motor with Motor Control and Power Amplifier Speed Profile of Acceleration Deceleration Ramps Destination Window Digital Offset Acceleration Deceleration Stepping Rate Centralised Arrangement on the JETTER System Bus Decentralised Arrangement on the JETTER System Bus Connecting FESTO CP Modules to the JETTER System Bus Mounting Dimensions of the Digital Input Module N ID 8 Diagram of Input Wiring of a N ID8 Module Physical Dimensions of the Digital Output Module N OD 4 2 Example Output Wiring of an N OD 4 2 Module Physical Dimensions of the Digital Output Module N OD 8 Example Output Wiring of an N OD 8 Module Physical Dimensions of the Digital Input and Output Module N IO 16 Example Emergency Stop Circuitry of the N IO 16 Module Example Input Wiring of the N lIO 16 Module Physical Dimensions of the Analog Input Module N IA 4 Diagram of Input Wiring of an N IA4 Module Physical Dimensions of the Analog Output Module N OA 2
210. t be recorded Example WHEN REG 11109 gt 2000 THEN A 103 This program segment has the following meaning Wait until the axis has crossed position 2000 then activate output 103 136 Jetter AG NANO B Machine Referencing Jetter AG 10 3 Sample Programs Register 11110 Pulse Width of the STEP Pulse Function Description Read Pulse Width of the STEP Pulse Value following reset 1 8 68 us Offset 1 5 us Write New value Value range 1 20 practicable maximum value 65535 Pulse width value register 11110 8 68 us offset 1 5 us Register 11112 Actual Speed Function Description Read Actual speed Value following reset 0 Write Illegal Value range 0 5000 Hz presently calculated output frequency in Hz 10 3 Sample Programs Since there is no position feedback when positioning is carried out by means of stepper motors machine referencing is mandatory The internally recorded actual position is set to the present value in case steps have been skipped during positioning Machine referencing is required at least after the machinery is powered up in order to inform the control system of the actual axis position There are two possibilities to carry out machine referencing In the instruction register of the stepper motor control four different machine referencing modes have been stored which can be started by a register ass
211. ter 3yy5 0 about every 300 us position is sent after each scan cycle In normal operating mode such a high transmission rate is not required for good servo control With insignificant bus load caused by other modules such a high transmission rate has no adverse effect 208 Jetter AG NANO B Jetter AG 13 8 N CNT 1 Module Single and Dual Channel Counter Register 3yy6 Word Size of Absolute Value Function Description Read Present value of the word size of the absolute value Value following reset 0 Write New value of the word size of the absolute value Value range 0 19495 at pulse number 9 25639 at pulse number 12 27687 at pulse number 13 50215 at pulse number 24 52263 at pulse number 25 The value of register 3yy is calculated using the pulse number With the given pulse number the word size of the absolute value is calculated by the following formula Register 3yy6 Pulse Number 1 x2 1 x 1024 39 In order to use register 3yy6 an SSI absolute encoder is read in via the inputs of the dual channel counter The SSI cycle is read via PIN 8 and PIN 9 and the data bits via PIN 4 and PIN 5 of the 15 pin SUB D connector see ENC Inputs of the Dual Channel Counter Module N CNT 1 auf Seite 202 The SSI cycle is output with a frequency of 100 kHz This clock frequency permits use of cables of up to 400 meters in length In order to activate the absolute e
212. ters The parameter Device Number is specified by entering numerals from 0 through 9 0 through 4 Selection of a user interface 5 through 8 Not assigned 9 Selection of the user programmable interface PRIM Jetter AG NANO B 6 4 Programming the User Interfaces Cursor Position By this parameter the cursor position is defined where the first character of the text is to appear Cursor Positions of various User Interfaces Type Cursor Positions LCD 9 1 line 1 through 24 2 line 25 through 48 LCD 10 1 line 1 through 24 2 line 25 through 48 LCD 12 1 line 1 through 16 2 line 17 through 32 LCD 16 1 line 1 through 20 2 line 21 through 40 3 line 41 through 60 4 line 61 through 80 LCD 17 Status line 1 through 40 LCD 19 Status line 1 through 40 LCD 23 1 line 1 through 24 2 line 25 through 48 LCD 23L 1 through 16 1 through 16 LED 23 1 through 7 1 through 7 LCD 25 1 line 1 through 24 2 line 25 through 48 LCD 25L 1 through 16 1 through 16 LED 25 1 through 7 1 through 7 LCD 27 1 line 1 through 24 2 line 25 through 48 LCD 34 1 line 1 through 24 2 line 25 through 48 Cursor The cursor position 0 has a special meaning If cursor position 0 is set new text will Position 0 be attached to the text displayed last The cursor is located at exactly the same position where it had been positioned after execution of the last instruction DISPLAY_TEXT
213. th the help of the PC board shown below Pfosten X5 Pfosten X4__ Mre HCD 1 0592M Sig i ic 74HCT541 i 74HC573 8 i E 7576 T T 13 5l 74HC573 lt 14 74HC573 DIP Switch Fig 5 JETWay H PC Board The DIP switch is used to define the port address The default address 340h must be inserted into the AUTEXEC BAT as follows SET JETWAY_PORT 340h Note If it is intended to use the SYMPAS program together with the operating system r SS Windows NT and the JETWay port the program SETUP JETWAY BOARD must be installed Jetter AG 25 2 Installing the NANO B Controller PROCESS PLC DIP Switch A different port address can be selected using the DIP switch on the JETWay H board as shown above cf fig 5 page 25 DIP switch S on the JETWay H board PortX 7 S6 s5 S4 3 2 1 300h OFF OFF ON ON ON ON ON 310h OFF OFF ON ON ON OFF ON 320h OFF OFF ON ON OFF ON ON 330h OFF OFF ON ON OFF OFF ON 340h OFF OFF ON OFF ON ON ON 350h OFF OFF ON OFF ON OFF ON 360h OFF OFF ON OFF OFF ON ON Default setting The AUTEXEC BAT entry must be changed in accordance with the table as shown above SET JETWAY_PORT X During system configuration selection is made between programming interface RS232 and JETWay H in the SYMPAS menu menu item Special gt Interface F9 Transmit Fig 6 SYMPAS Menu Special gt Inte
214. through bit 12 Automatic machine referencing at the speed given in register 11103 Start in positive direction towards the positive limit switch ignoring the reference switch there reverse the direction of motion travel in negative direction giving heed to the reference switch If the negative limit switch is operated machine referencing is terminated and an error is reported to the status register 11100 Automatic machine referencing at the speed given in register 11103 Start in negative direction towards the negative limit switch ignoring the reference switch there reverse the direction of motion travel in positive direction giving heed to the reference switch If the positive limit switch is operated machine referencing is terminated and an error is reported to the status register No ramps Acceleration deceleration ramps are disabled i e the axis immediately travels to the target position at the stepping rate specified in register 11103 Acceleration deceleration ramps are not being used With ramps default Normal mode with acceleration deceleration ramp Relative positioning ON Positioning relates to the last set position but not to the reference position Absolute positioning ON default Positioning relates to the reference position After AXARR instruction continue to travel to former target position A positioning process which has been interrupted by an AXARR instruction or instruction 0 is
215. ting to the basic unit via Male connector SUB D 9 pins JETTER system bus Output terminals Screw terminals LEDs outputs 1 4 Output is set on 24 V Enclosure Aluminium powder coated black Dimensions H x W x D in mm 114x45x70 Weight 350 g Mounting DIN Rail Heat loss of CPU logic circuit 0 3 Watt Technical Data of the N OD 4 2 Outputs Quantity of outputs 4 Type of outputs Transistor pnp Rated voltage DC 24 V 15 20 Voltage Range 20 30 V Load current max 2 0 A per output Output power of outputs 192 Watt Electrical isolation None Protective circuit Short circuit overvoltage overtemperature Protection against inductive loads Yes Signal voltage ON Typ Vsupply 1 5 V Jetter AG 159 13 Expansion Modules PROG ESS PLC EMC N OD 4 2 Module Emitted Interference Parameter Value Reference Enclosure Frequency band 30 230 MHz limit 30 dB uV m at 10 m e Frequency band 230 1000 MHz limit 37 dB uV m at 10m class B DIN EN 50081 1 DIN EN 50081 2 DIN EN 55011 Interference Immunity Enclosure Parameter Value Reference RF Field amplitude modulated Frequency band 27 1000 MHz test signal strength 10 V m AM 80 with 1 kHz Criterion A DIN EN 61131 2 DIN EN 50082 2 DIN EN 61000 4 3 Electromagnetic RF Field pulse modulated Frequency 900 5 MHz Test field strength 10 V m 50
216. to delete it again in automatic mode low priority Jetter AG NANO B Jetter AG 6 8 Controlling the Keys and LEDs of the User Interface 6 8 Controlling the Keys and LEDs of the User Interface Note All keys and LEDs mentioned below in the tables Control of User Interfaces Keys and LEDs and Scanning of User Interface Keys apply to user interfaces according to table Overview User Interfaces of chapter 6 1 Technical Data page 74 Control of User Interfaces Keys and LEDs Special Flags LED Ke Special Flags LED Key 2224 LED a 2230 LED a 2225 LED YEO 2231 LED 2226 LED 2232 LED E 2227 LED A 2233 LED F10 2228 LED D 2234 LED E 2229 LED O 2235 LED ee 101 6 User Interfaces Operator Guidance 102 PROCESS PLC Scanning of User Interface Keys Special Flags LED Key Special Flags LED Key Function Keys 2201 2181 2202 w 2182 2203 2183 2204 2184 2205 2185 2206 2186 2207 2187 2208 2188 2209 2189 2210 2190 2211 2191 2212 2192 2214 2193 2213 2194 2215 2195 2216 2196
217. to table Technical Data of the N IO 16 Module page 169 The left 24 Volt terminal is for supplying the internal logic and the top level of the three level terminal block The right 24 Volt power supply terminal is for supplying the output drivers All voltage signals relate to 0 V Within the module the 0 V signal is connected to ground internally via the enclosure Note Please note that in registers 2015 and 2016 the N IO 16 module appears as 1 module though it performs the functions of 2 modules The N IO 16 module is to be regarded as one combined N PS 1 N OD 8 and N ID 8 module Therefore three non intelligent modules such as N ID 8 N OD 8 can be connected to the N IO 16 module and be supplied with voltage Important For Inputs three level terminal blocks are available Apply to the digital inputs of the N lIO 16 module a maximum voltage of 28 8 Volt This will prevent the N IO 16 module and the sensor e g an inductive limit switch from being destroyed Following power up the N IO 16 module is initialised by the NANO CPU via JETTER system bus During this process the various initialisation modes are displayed through LEDs RUN and ERR In the normal course of initialisation both LEDs flash up for a short time only Important Do not apply a voltage to individual digital outputs If application of voltage cannot be avoided for example for testing inputs outputs with the N IO 16 module wired in an elec
218. tor DC 24 V Fig 42 Example Input Wiring of the N IO 16 Module Coding of the Input Output Number xyz Units Place 0 9 Tens Place 0 Module Number 2 16 Jetter AG NANO B 13 5 N IO 16 Module Digital Inputs and Outputs Note For determination of the module number only the non intelligent modules will be p counted Intelligent modules such as SV SM PID etc located among the modules are not being taken into consideration Module number 1 is always assigned to the basic control unit Starting from there the module numbers are being counted left to right Numbering of Inputs and Outputs of the N IO 16 Module Example 1 The table below shows the input output numbering for a basic controller equipped with one N ID 8 module one N OD 8 output module and one N IO 16 module NANO B N OD 8 N IO 16 N ID 8 Basic Unit Output Module 1 0 Module Input Module Module 1 Module 2 Module 3 Module 4 Inputs and Output Input Input Outputs 201 208 301 308 401 408 101 108 Output 301 308 Example 2 The table below shows the input output numbering for a basic controller equipped with one N SV 1 module one N IO 16 output module and one digital output module N OD 8 NANO B N OD 8 N SV 1 N IO 16 Basic Unit Output Module Servo Module 1 O Module Module 1 Module 2 Module 3 Module 4 Inputs and Output II Outputs 201 208 SV module Input 101
219. tric cabinet the voltage has to be applied to the output drivers of the module before hand The output drivers will be destroyed if you fail to apply voltage to them Jetter AG NANO B Emergency Stop Circuitry of the N IO 16 Module Jetter AG 13 5 N IO 16 Module Digital Inputs and Outputs Note For fault free operation both 24 V terminals have to be connected up The 3 LEDs have the following meaning LED POWER green gt e LED ERR red gt e LED RUN green gt Voltage supply of the outputs is provided One or more output driver chips signal overload or error The operating system of the N IO 16 module has been activated Input and Output Terminal Assignment of the N IO 16 Module Terminal Signal Terminal block OUTPUT 24 Volt Supply voltage 0 Volt Gnd 1 8 Digital outputs Terminal block INPUT 24 Volt Sensor supply voltage S Sensor signal 0 Volt Gnd 1 8 Digital inputs Emergency Stop Driver Fig 41 Example Emergency Stop Circuitry of the N lIO 16 Module Note Once the Emergency Stop button is pressed all outputs are disabled However the logic circuit remains connected e g for scanning errors 173 13 Expansion Modules 174 PROCESS PLC INPUT wn D 8 looooooo00 0000 00000 DY SYSSOHDVS JIselgbocsels poses ms TRANSFORMER Actua
220. tructions are marked by this arrow Automatically running processes or results to be achieved are marked by this arrow Illustration of PC and user interface keys Jetter AG NANO B ES Jetter AG 1 Safety Instructions Ensure Your Own Safety Disconnect the PROCESS PLC NANOSB from the electricity mains to carry out maintenance work By doing so you will prevent accidents resulting from electric voltage and moving parts Instructions on EMI The noise immunity of a system corresponds to the weakest component of the system For this reason correct wiring and shielding of the cables is important Important Measures for increasing immunity to interference Shielding must be done on both ends of the applicable cables The entire shield must be drawn behind the isolation and then be clamped under a strain relief with the greatest possible surface area When the signal is connected to terminal screws The strain relief must directly and with the greatest possible surface area be connected with a grounded surface When male connectors are used Only use metallised connectors e g SUB D with metallised housing Please take care of direct connection here as well Y Y V VW On principle physical separation should be maintained between signal and voltage lines 1 Safety Instructions PROCESS PLC Male female SUB D connectors 9 15 or 25 pins with metallised housing Fig 1 Shielding in conformity with the
221. ue range 0 1023 Assignment of registers to analog inputs Register 2903 Analog input 1 Register 2904 Analog input 2 Register 2905 Analog input 3 Register 2906 Analog input 4 Register 2920 Slew Rate Limitation for AD Conversion Function Description Read Present value for AD conversion slew rate limitation Value following reset 2 Write New value for AD conversion slew rate limitation Value range 2 2000 0 32767 theoretical values Register 2920 specifies as a multiple of 1 digit ms which equals to approx 10 mV ms the slew rate limitation of the voltage input for AD conversion However only values from 2 to 2000 are practicable Values above 2000 have no further effect on slew rate limitation for AD conversion For additional information refer to fig 26 page 122 Jetter AG 121 9 Analog I Os 122 PROCESS PLC Max value Slew rate limitation line with a maximum value of 2000 vertical dotted line Examples of voltage characteristics at the analog input TK Various Slew Rate Limitation Lines Deere n eee ees Various Voltage Characteristics Fig 26 Slew Rate Limitation for AD Conversion Note Register 2920 addresses all analog inputs simultaneously Jetter AG NANO B 10 1 Overview and Technical Data 10 Stepper Motor Control 10 1 Overview and Technical Data The stepper motor control of the NANO B cont
222. uency band 230 1000 MHz limit 37 dB uV m at 10m class B DIN EN 50081 1 DIN EN 50081 2 DIN EN 55011 Interference Immunity Enclosure Parameter Value Reference RF Field amplitude modulated Frequency band 27 1000 MHz test signal strength 10 V m AM 80 with 1 kHz Criterion A DIN EN 61131 2 DIN EN 50082 2 DIN EN 61000 4 3 Electromagnetic RF Field pulse modulated Frequency 900 5 MHz Test field strength 10 V m 50 ON period Repetition rate 200 Hz DIN EN 50082 2 DIN EN 61000 4 3 Criterion A Magnetic Field 50 Hz DIN EN 50082 2 with Mains 30 A m DIN EN 61000 4 8 Frequency ESD Discharge through air DIN EN 61131 2 Test Peak Voltage 15 kV DIN EN 50082 2 Humidity Rating RH 2 ESD 4 DIN EN 61000 4 2 Contact Discharge Test peak voltage 4 kV severity level 2 Criterion A Interference Immunity Signal and Data Lines Parameter Value Reference Asymmetric RF amplitude modulated Frequency 0 15 80 MHz Test voltage 10 V AM 80 with 1 kHz Source Impedance 150 Q Criterion A DIN EN 50082 2 DIN EN 61000 4 6 Burst Test voltage 2 kV tr tn 5 50 ns Repetition rate 5 kHz Criterion A DIN EN 50082 2 DIN EN 61131 2 DIN EN 61000 4 4 170 Jetter AG NANO B Jetter AG 13 5 N IO 16 Module Digital Inputs and Outputs EMC N IO 16 Module Test with Damped Oscillation Damped Oscillation Frequency 1 MHz Source Impeda
223. ule Power supply of the internal logic circuit Own power supply unit DC 20 30 V Power Loss e Time period lt 10ms_ to DIN EN 61131 2 e Time interval be tween two voltage dips 21s e Severity level PS2 Connections to the basic unit via JETTER system bus Male connector SUB D 9 pins Input and output terminal blocks Double and three level terminal blocks Enclosure Aluminium powder coated black Dimensions 50 x 130 x 103 H x W x Din mm Weight 326 g Mounting DIN Rail Electrical isolation None Heat loss of CPU logic circuit 1 0 Watt Technical Data of N IO 16 Inputs Number of digital inputs 8 Rated Input Voltage DC 24 V 15 20 Voltage Range 0 30 V Input current approx 8mA Input resistance 3 0 kQ Signal voltage ON min 15 V Signal voltage OFF max 10 V Technical Data of the N IO 16 Outputs Number and type of outputs 8 transistor pnp Rated voltage DC 24 V 15 20 Rated output current 0 5 A Output power of outputs 96 Watt Protection against inductive yes loads short circuit over voltage and overtemperature Signal voltage S ON typically Vsupply 1 5 V 169 13 Expansion Modules PROCESS PLC EMC N IO 16 Module Emitted Interference Parameter Value Reference Enclosure Frequency band 30 230 MHz limit 30 dB uV m at 10m e Freq
224. ules page 150 Connect a user interface to your controller LCD port using the interface cable DK 422 Connect the NANO B controller to your computer using the programming cable EM PK Switch the controller on and download a SYMPAS program from your computer to your user interface Check the controller for proper functioning User Interface Cable DK 422 Fig 2 Example Connecting a LCD display to the PROCESS PLC NANO B 16 Jetter AG NANO B 2 1 Mechanical Connection Installation Accessories not included in the scope of delivery e DIN rail with mounting screws e Programming cable EM PK 0 5 m 2 5 m or 5 m long e User interface cable DK 422 2 5 m or 5 m long e Expansion modules according to chapter 13 Expansion Modules page 150 e Computer Notes on safety as regards the installation Caution Electric Shock If the PROCESS PLC NANO B and any expansion modules according to chapter 13 Expansion Modules page 150 are not isolated from the mains for example during installation maintenance and repair you can get an electric shock Please observe the following precautions in order to avoid injuries such as muscle cramps burns unconsciousness etc o gt Have works on the electric and electronic system performed by qualified personnel only gt Isolate the PROCESS PLC NANO B and associated peripheral devices from the mains when working on the control system gt Prior to putting the PROC
225. us register 3yy3 which is scanned by the application program Multiple strobing is indicated by bit 4 Bits 0 and 4 have to be reset by the application program Jetter AG 205 13 Expansion Modules PROCESS PLC OV 24 V X 1 S OV STR OV REF Count Frequency K2 hi O KO I l 1 i o cum REF Zeroing c gt Timet Fig 50 Pulse sequence of counting signals 206 Jetter AG 13 8 4 Register Description N CNT 1 Module 13 8 N CNT 1 Module Single and Dual Channel Counter Register 3yy0 Count of Dual Channel Counter Function Description Read Maximum count of dual channel counter Value following reset 0 Write New count of dual channel counter Value range 8388608 8388607 Register 3yy1 Offset value of Dual Channel Counter Function Description Read Present offset value of dual channel counter Value following reset 0 Write New offset value of dual channel counter Value range 8388608 8388607 Register 3yy2 Strobe Value of Dual Channel Counter Function Description Read Last strobe value of dual channel counter Value following reset 0 Write Illegal Value range 8388608 8388607 Register 3yy3 Status of Dual Channel Counter Function Description Read Status of dual channel counter bit coded Bit 0 Count is strobed Bit 3 Counter set to zero Bit 4 Strobing value is overwritten
226. value 223 OxDF 233 13 Expansion Modules PROCESS PLC Register 3yy3 Control Register Function Description Read Status of the control lines Value following reset 0 Write Setting the status of the control line Bit 0 1 Signal for starting data transmission is activated Bit 1 1 Line feed Bit 2 0 Printer reset Bit 3 0 Select printer Bit 4 0 No function Bit 5 0 No function Bit 6 0 No function Bit 7 0 No function Value range 0 15 Note Following reset the value 4 should be written into register 3yy3 to select the p printer and to terminate the reset state Register 3yy9 Version number of the operating system Function Description Read Version number of the operating system e g 101 V 1 01 Value following reset Version number of the operating system Write Illegal Value range 0 8888607 234 Jetter AG NANO B Jetter AG 13 10 Parallel Interface Module N PRN 1 13 10 5 Sample Program The usage of the N PRN 1 module will be illustrated by the following exemplary program Program Listing 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 o yy na uu RA WYN FF OO p RRR RR KEKE RR EK RE KR ER de He de EKER KEE KR EKER de Fe de de Ke He de de ke He ke ke ke ke Output of the characters A through Z on the printer by the program
227. value for flag offset Value range 0 65535 This value will be added to the flag number of a 50000 number network access when for example a MIKRO controller is used Register 2704 Input Offset Function Description Read Present value for input offset Value following reset 100 Write New value for input offset Value range 0 65535 This value will be added to the flag number of a 50000 number network access when for example a MIKRO controller is used Register 2705 Output Offset Function Description Read Present value for output offset Value following reset 100 Write New value for output offset Value range 0 65535 This value will be added to the flag number of a 50000 number network access when for example a MIKRO controller is used 114 Jetter AG NANO B 7 4 Registers for Network Operation Register 2706 Output Mask Function Description Read Present output mask Bit O 101 Bit 1 102 Bit 2 103 Bit 7 108 Bit 8 201 Bit 9 202 Bit 15 208 Value following reset 100 Write New output mask Value range 0 65536 This register is bit coded Set bits have only local effect i e with a remote scan the output will be disabled and won t be overwritten Overwriting is possible only with a master device such as a MIKRO by using 50000 numbers
228. verloaded local output can be a cause for such an error The cause of an error message of a FESTO CP module can be read out of register 2034 To do so the number of the FESTO CP module must have been entered into register 2018 Jetter AG NANO B 14 5 Example Register Assignment of FESTO CP Modules 14 5 Example Register Assignment of FESTO CP Modules Festo Festo CP Valve Terminal 1 CP Valve Terminal 2 Module No 6 Module No 5 Serial No 18224 Serial No 419 SJesss e oe eNom we Festo Fieldbus Node Tee Connector NANO B with Expansion Modules a usa Festo O Input Module iH iene caries EA JX2 5 QINTIN CATAN SBK1 Fig 66 Example FESTO CP Modules connected to the JETTER System Bus Note P Register assignments references to additional registers and additional r N information resulting from the configuration shown in fig 66 are as follows Configuration of the Exemplary Arrangement NANO Expansion P FESTO CP Modules Modules 3non intelligent N IA4 Valve terminal 1
229. voided If the modules are arranged in a different way the system will exhibit errors or won t work at all 242 Jetter AG NANO B 13 11 N PS1 Module Power Supply Unit for Remote Modules 13 11 4 Description of Connections of the N PS 1CP Module Power Supply DC 24 Volt Jetter System Bus Output for Additional Modules Jetter System Bus Input for Incoming Jetter System Bus Cable JX2 SBK1 Jetter System Bus Output for CP connecting cable for Festo CP Modules Fig 57 Connections of the N PS 1CP Module There is a male SUB D connector for the incoming JETTER system bus For FESTO CP valve terminals a CP connector female and for the outgoing JETTER system bus a 9 pin SUB D connector female are available Jetter AG 243 14 NANO Network Topology and FESTO CP Modules PROCESS PLC 244 14 NANO Network Topology and FESTO CP Modules The PROCESS PLC NANO B is internally operated with the JETTER system bus The JETTER system bus allows remote arrangement of NANO expansion modules at a distance of up to 30 meters Instead of expansion modules FESTO CP modules can be connected For more information refer to chapter 13 1 Topology of the JETTER System Bus page 150 14 1 FESTO CP Modules FESTO Tee Connector c BAEIEZ Te amp els Te FESTPFESTPESTPESTH ma Fig 58 Example FESTO CP Module FESTO CP modules are inserted into the network of NANO modules by means o
230. y 1 MHz DIN EN 61000 4 12 Oscillation Source Impedance 200 2 Repeat Factor 400 s Test voltage 1 kV Criterion A 166 Jetter AG NANO B Addressing Digital Outputs Jetter AG 13 4 N OD 8 Module 8 Digital Outputs 13 4 3 Description of Connections On the expansion module 8 terminals have been provided for 24 V output signals The 0 V signal is to be connected to the 0 V terminal of the electric cabinet rao TRANSFORMER OLTELT DC 24 V 114 COUNTER IN ANALOG our 78 v ovi 2 3 4 ov oUTov Heee mEn 130 45 Fig 39 Example Output Wiring of an N OD 8 Module For addressing of digital outputs refer to chapter 5 1 Addressing Digital Inputs Outputs page 48 13 4 4 Description of LEDs The LEDs show that a 24 V output signal is applied to the corresponding output 167 13 Expansion Modules PROCESS PLC 13 5 N IO 16 Module Digital Inputs and Outputs The N IO 16 module serves to connect centralised or decentralised pushbuttons or lamps 13 5 1 Physical Dimensions of the N IO 16 50 130 INPUT OQOO00000 103 OUTPUT O0000000 123 465 67 8 Fig 40 Physical Dimensions of the Digital Input and Output Module N IO 16 168 Jetter AG NANO B Jetter AG 13 5 N IO 16 Module Digital Inputs and Outputs 13 5 2 Overview and Technical Data Technical Data of the N IO 16 Mod
231. y input that is perceived to be what it is not in actuality usually as more real or concrete than it actually is XON XOFF An asynchronous communications protocol in which the receiving device uses special characters to control the flow of data from the transmitting device When the receiving device cannot continue to receive data it transmits an XOFF control character When transmission can resume the device signals the sender with an XON character Jetter AG 277 Appendices PROCESS PLC Appendix D List of Abbreviations AC Alternating Current A D Analog Digital ADC Analog to Digital Converter AM Amplitude Modulation ASCII American Standard Code for Information Interchange COM Device name for a serial port in Wintel systems The first serial port is identified as COM1 the second as COM2 etc CPU Central Processing Unit CSF Control System Function Chart D A Digital Analog DAC Digital to Analog Converter DC V Direct Current Voltage DIN Deutsches Institut f r Normung German Industry Standard DIR Direction EEPROM Electrically Erasable Programmable Read Only Memory EMC Electro Magnetic Compatibility ENG Encoder ERR Error ESD Electro Statical Discharge FIFO First In First Out Gnd Ground HR 1 Handrad 1 Thumbwheel 1 1 0 Input Output IEC International Electrotechnical Commission LAD LAdder Diagramm LC Liquid Crystal LCD Liquid Crystal Display LED Llight Emitring Diode LSB Least Significant Bit
232. ype of nonvolatile memory Flash memory is similar to EEPROM memory in function bit it must be erased in blocks whereas EEPROM can be erased one byte at a time With serial data transmission a so called frame is added to the data This frame consists of one start bit and one or several stop bits which define the beginning and the end of a data byte In a Jetter control a framing error indicates that the received character has not gota valid stop bit A graphic map of the control functions Each control job function is provided with a corresponding symbol The deviation between the actual position and the theoretical position The floating point notation is also called exponential notation It is a numeric format that can be used to represent very large and very small numbers Floating point numbers are stored in two parts a mantissa and an exponent For example 456000 is expressed as 456E3 Jetter AG NANO B Integer Plaintext High Level Language Ladder Diagram Master Flag Multiplexer Multitasking Monitor Mode Parallel Processing Parity Jetter AG Appendices Also called integral number A positive or negative integral number e G 37 50 or 764 In programming integer stands for a data type representing whole numbers Calculations with integers are considerably faster than calculations with floating point numbers Therefore integers are commonly used for counting and numbering procedures

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