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Manual LG Programmable Logic Controller GLOFA GM6 Series

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1. Minimum load voltage current 5VDC 1 mA Maximum load voltage current 250 VAC 110 VDC Maximum switching frequency 1200 times per hour Surge absorber None Mechanical 20 million times or more Rated load voltage current 100 000 times or more Service life Electrical 200 VAC 1 5 A 240 VAC 1 A COS 0 7 100000 times or more 200 VAC 1 A 240 VAC 0 5 A COSY 0 35 100000 times or more 24 VAC 1 A 100 VDC 0 1 A L R 7 ms 100000 times or more Response time el HOS or ees On Off 12 ms or less Common terminal arrangement 8 points COM Internal current consumption 400mA Operation indicator LED turns on at ON state of output External connections Weight Internal Circuit 18 point terminal block connector M3 x 6 screws 0 19 kg JES Terminal Block Number Chapter 7 INPUT AND OUTPUT MODULES 7 3 3 16 point transistor output module sink type Models Transistor Output Module Specifications G6Q TR2A Number of output points 16 points Insulation method Photo coupler Rated load voltage current 12 24 VDC Operating load voltage range 10 2 to 26 4 VDC Maximum load current 0 5 A point 4 A COM Off leakage current 0 1 mA Maximum inrush current 4A 10 ms or less Maximum voltage drop at ON circuit 15 VDC 0 5A Surge absorber Clamp Diode Response Off gt On 2 ms or less time On Off 2 ms or less
2. 1 Please be careful to input 100 times scaled up values for P GAIN and TT 2 _TIME D_TIME S_TIME and REF are 10 times scaled up not 100 times 15 18 Chapter 15 THE PID FUNCTIONS 15 3 3 Auto tuning function block PID6AT Function block Description Input EN enable input of function block SV set value goal value data input range 0 4000 PV present value input range 0 4000 S_TIME scan time input sampling interval PID6AT BOOL BOOL INT range 0 100 NT USINT RIPPLE select the wave form to be used for auto NT tuning operation Select 1 in general case BOOL Output nI UINT DONE Turn on whenever the auto tuning operation UINT UINT is completed UINT END Turns on when the F B operation is completed with no error and keep the status until next F B execution STAT shows the error code MV the manipulated value of current loop on which the auto tuning operation is performed range 0 4000 P the proportional gain constant obtained by auto tuning operation range 0 01 100 00 the integral time constant obtained by auto tuning operation D the derivative time constant obtained by auto tuning operation 15 19 Chapter 15 THE PID FUNCTIONS 1 80 of PV SV setting value the designated value and PV process value present value of GM6 PID operation have the range 0 4000 The range is set wi
3. No EN_P EN EN D Operation 1 1 enable 0 disable 0 disable P operation 2 1 enable 1 enable 0 disable PI operation 3 1 enable 1 enable 1 enable PID operation 4 0 disable 0 disable 0 disable On Off operation 4 The GM6 CPU module can handle only integer not the floating point type Therefore to enhance the accuracy of PID operation the PID6CAL function block is designed to input the P_GAIN data as the 100 times scaled up For example if the designated P_GAIN is 98 actual input data of P GAIN should be 9800 If the designated P_GAIN is 10 99 input 1099 to the P_GAIN 5 _TIME and D_TIME are 10 times scaled up For example input 18894 if the designated I_TIME value is 1889 4 The range of actual input is 0 20000 6 S_TIME is the period of reading data sampling and also 10 times scaled up Generally it should be synchronized with external trigger input EN input of function block to perform proper PID operation The range of sampling time is 0 1 10 seconds and actual input range is 0 100 7 REF may be useful parameter according to the control system type especially velocity pressure or flux control system The REF input is also 10 times scaled up and the actual range is 0 10 8 TT tracking time constant parameter is used to cancel anti windup operation The range of TT is 0 01 10 and the actual input range that are 100 times scaled up is 0 1000 9 N high fre
4. 4 With integral operation the manipulate value MV is increased or decreased continuously in accordance time in order to eliminate the deviation between the SV and PV When the deviation is very small the proportional operation can not produce a proper manipulate value and an offset remains between PV and SV The integral operation can eliminate the offset value even the deviation is very small The period of the time from when the deviation has occurred in action to when the MV of action become that of P action is called Integration time and represented as Ki Integral action when a constant deviation has occurred is shown as the following Fig 2 4 Fig 2 4 The integral action with constant deviation Deviation lt lt MV of action Kp E MV of D action Time The expression of action is as following K MV Eat Ti As shown in the expression Integral action can be made stronger or weaker by adjusting integration time K in action That is the more the integration time the longer the integration time as shown in Fig 2 5 the lesser the quantity added to or subtracted from the MV and the longer the time needed for the PV to reach the SV As shown in Fig 2 6 when the integration time given is short the PV will approach the SV in short time since the quantity added or subtracted become increased But If the integration time is too short then oscillations occur t
5. Rated input current 7mA Operating voltage range 20 4 to 28 8 VDC ripple less than 5 Maximum simultaneous input points 60 simultaneously ON ON voltage ON current 15 VDC or higher 4 3 mA or higher OFF voltage OFF current Input impedance 5 VDC or lower 1 7 mA or lower Approx 3 3 KQ OFF ON Response time 5 ms or less ON OFF Common terminal 5 ms or less 32 points COM Internal current consumption 75 mA Operating indicator External connections LED turns on at ON state of input D Sub 37p connector M3 x 6 screws Weight 0 11 kg Internal Circuit Connector Pin Number 7 6 OOGODDCGCOGGOO000000 oOGGAAGSAASSAASSAAS Chapter 7 INPUT AND OUTPUT MODULES 7 2 6 B point 110 VAC input module Models AC Input Module Specifications G6I A11A Number of input points 8 points Insulation method Photo coupler Rated input voltage 100 to 120 VAC 50 60 Hz Rated input current 7mA 110 VAC 60 Hz Operating voltage range 85 to 132 VAC 50 60 Hz 3 Hz Maximum simultaneous input points 100 8 points COM simultaneously ON Inrush current 300 mA 0 3 ms or lower 132 VAC ON voltage ON current OFF voltage OFF current 80 VAC or higher 5 mA or higher 30 VAC or lower 2 mA or lower Input impedance Approx 15 KO OFF ON 15 ms or less Response time ON OFF
6. 25 ms or less Common terminal 8 points COM Internal current consumption 41 mA Operating indicator LED turns on at ON state of input External connections 9 point terminal block connector M3 x 6 screws Weight 0 14 kg EE Internal Circuit Terminal Block Number 7 7 Chapter 7 INPUT AND OUTPUT MODULES 7 2 7 B point 220 VAC input module Specifications AC Input Module G6I A21A Number of input points 8 points Insulation method Photo coupler Rated input voltage 200 to 240 VAC 50 60 Hz Rated input current 11 mA 220 VAC 60 Hz Operating voltage range 170 to 264 VAC 50 60 Hz 3 Hz Maximum simultaneous input points 100 8 points COM simultaneously ON Surge input current 600 mA 0 12 ms or lower 264 VAC ON voltage ON current 80 VAC or higher 5 mA or higher OFF voltage OFF current 30 VAC or lower 2 mA or lower Input impedance Approx 20 KO Response time DEEG ON Oos ON OFF 25 ms or less Common terminal 8 points COM Internal current consumption 40 mA Operating indicator LED turns on at ON state of input External connections Weight AC 220V 9 point terminal block connector M3 x 6 screws Internal Circuit Terminal Block Number 7 8 Chapter 7 INPUT AND OUTPUT MODULES 7 3 Digital Output Module Specifications 7 3 1 8 point relay output modul
7. High speed link 1 can be set as GLOFA 422 485 network type b The setup is similar as the high speed link parameter setup with other communication modules such as Fnet module Max 64 items can be assigned _ The size of data block is assigned by the unit of word and the Max size is 60 words Area setup Send From 1 Q M To Q M Receive From l O M To Q M 14 3 Chapter 14 THE RS 422 485 COMMUNICATION OF GM6 CPUB 14 4 The status flag 1 Communication error counter flag Flag name M422 ERR CNTIn Array_Byte Type n 0 31 Description Each byte of the _M422 ERR_CNT n array indicates how many times communication errors occurred at the relevant station For example the _M422 ERR_CNT 5 is the error counter of station 5 2 The error code Flag name M422 ERRIn Array_Byte Type n 0 31 Description 0 No error 1 Timeout error 2 NAK 3 Operation mode and error of slave station Flagname _S422 STATE n Array_Byte Type n 0 31 Description Bit 0 Indicates an error of slave PLC 0 No error 1 Error occurred Bit 1 Bit 3 Reserved Bit 4 Bit 7 Indicates the operation mode of slave PLC Bit 4 STOP Bit 5 RUN Bit 6 PAUSE Bit 7 DEBUG 4 The status flag of master station Flag name M422 STATE Byte Type n 0 31 Description Bit 0 Turn on when the CPU module is assigned as master station but it is not B type GM6 CPUB Bit 1 Turn on when the master station numb
8. Not doing so could cause poisonous pollution or explosion CONTENTS Chapter 1 GENERAL 1 1 Guide to User s Manual ss ss sesse sesse ek Ee OE ER ER OO ER ER EK OE ER ER EK SO EER Ee Re ee EE ee 1 1 1 2 Features ees sesse eke EE EE KEER EER RE EER ER EE EER E EE ER esse ER ER EER R ER ER ee eee eee EEE EEE EEE E EE EER E EE ENE EE EER EER ENE Ee Ee ee 1 2 1 3 Terminology EE en aeaeneeeseee ene 1 3 Chapter 2 SYSTEM CONFIGURATION 2 1 Overall Configuration RE TE NE EE OE RE OE EE EE EE EE 2 1 2 2 Product List ssssessesssessssssesocsoosooososeooecoosooososcossesoccoosoossossooseooseoososeossesossoosoossoesosesooeeoso 2 2 2 2 1 QM6 series Configuration RE EE RE OE RE 2 2 2 3 System Configuration TyYDEeS reses se sees se EE ER EE ER OER EE ER OER Ke OER ee Ee ee Ee ee ee es 2 3 2 3 1 Basic System RE N MA EE re sid Ge eN ED DR wegel vey Ai EG EE Ge ee es 2 3 2 3 2 Computer Link System EE EE EE ETA 2 3 2 3 3 Network System RE EER RE EA EE EE OE OR steaks 2 4 Chapter 3 GENERAL SPECIFICATION 3 1 General Specifications siese see ee ER EE ER EE ER EE ER EE ER EE ER EE ER Ke Ee ee Ee esas ee Ee 3 1 Chapter 4 CPU MODULE 4 1 Performance SpecificationS ss ee Ee EE ER EE ER EE ER EE ER EE ER EE ER ee ER ee Ee ee ee es 4 1 4 2 Operation processing siese Ee ER EE ER EE ER EE ER EE ER OER Ke GER ee Ee Ke ee Ee ee ee Ee 4 2 4 2 14 Operation processing Metodes is eect RE ee Re 4 9 4 2 2 Operation processing at momentary power failure OCCUIe
9. 2 GM6 CPUA B C features 1 High speed operation processing High speed processing of 0 5 us step with an operation dedicated processor included 2 Heightened Self diagnosis Cause of errors is easily found as error codes has been more divided in accordance with their contents 3 Restart mode setting The User can set Cold Warm restart mode in accordance with the environment 4 Debug operation On line debugging is available if the PLC operation mode is set to debug operation mode Debugging functions e Executed by one instruction e Executed by the break point settings e Executed by the device status e Executed by the specified scan times 5 Various Program Executions Time driven task external and internal contact task programs as well as scan program can be executed by setting the execution condition The user can set variously the program execution mode 6 Various data type Chapter 1 1 3 Terminology INTRODUCION The following table gives definition of terms used in this manual Definition Remarks Module A standard element that has a specified function which configures the system Devices such as I O board which inserted onto the mother board or base unit Example CPU module Power Supply module VO module PLC system A system which consists of the PLC and peripheral devices A user program can control the system Cold Restart To restart the PLC system and user programs after al
10. Describes the check items and method for long term normal operation of the PLC system Describes various operation errors and corrective actions Chapter 13 Chapter 16 Built in special functions of GM6 CPU module Describes Cnet communication dedicated for GM6 CPU Ch 13 RS 422 master communication Ch 14 PID control Ch 15 and High speed counter Ch 16 Appendix 1 System Definitions Describes parameter setting for basic VO module and communications module Appendix 2 Function Function Block List Describes the types and processing time of function function block Appendix 3 Flag List Describes the types and content of various flags Appendix 4 REMARK Dimensions Shows dimensions of the CPU VO module and base board 1 This manual does not describes the special communications module and programming for them For their own functions refer to the related User s Manual Chapter 1 INTRODUCION 1 2 Features 1 GLOFA GM series features 1 Design on the basis of international standard specifications IEC 1131 3 e Easy programming device support e Languages in compliance with IEC 1131 3 are given IL LD SFC 2 Open network by use of communications protocol in compliance with international standard specifications 3 High speed processing with an operation dedicated processor included 4 Various special modules that enlarge the range of application of the PLC
11. G6Q RY1A 210 G6L FUEA Relay output module Fnet I F module G6Q RY2A G6L RBEA Triac output module G6Q SS1A G6L DUEA Positioning module G6F POPA Dnet I F module G6L DSIA G6L DSQA 8 1 Chapter 8 POWER SUPPLY MODULE 8 2 Specifications Item GM6 PAFA GM6 PAFB GM6 PDFA GM6 PD3A Input voltage 85 to 264 VAC 85 to 264 VAC 12 24VDC 24VDC Input frequency 50 60 Hz 47 to 63 Hz Input current 0 7 0 35A 0 7 0 35A 1 5A 12VDC 0 7A 24VDC Inrush current 30 Aor less 40A or less Efficiency 70 or more rated load 110 220 VAC 60 or more rated input rated load Input fuse 250 VAC 2A 250VAC 3A Allowable momentary power failure Output voltage 20 ms or less 5 VDC 1ms or less Output current 5VDC 2A Over current protection 5 VDC 2 2 Aor more Output voltage 24 VDC 15VDC Output current 24VDC 0 3A 15 VDC 0 5A 15VDC 0 2A Over current protection 24 VDC 0 33 A or more 15 VDC 0 55 A 15VDC 0 22 A Voltage status indicator LED turns On at normal output voltage Used wire specifications 0 75 to 2 mm Weight Chapter 8 POWER SUPPLY MODULE 8 3 Names of Parts The followings describe names of parts and their purposes of the power supply module Name Purpose Power L
12. S e Station number commands and type of command are the same as computer request format e BCC When command is one of lower case w only one lower byte of the value resulted by adding 1 Byte each to ASCII values from ACK to ETX is converted into ASCII added to BCC and sent 13 18 Chapter 13 DEDICATED Cnet COMMUNICATION FOR GM6 4 Response format for NAK response Error code Format name Header Command nmana Tail type Hex 2 Bytes ASCII value H3230 H57 77 H5353 H34323532 Ho3 e Station number commands and type of command are the same as computer request format e BCC When command is one of lower case w only one lower byte of the value resulted by adding 1 Byte each to ASCII values from NAK to ETX is converted into ASCII added to BCC and sent e Error code is hex and 2 Bytes ASCII code 4 Bytes which indicates type of error For the details see Appendix B Error Code Table 5 Example of use This supposes that HOOFF is written in MW230 address Computer request format Format ioe eon Number of LE Variable Command name Tail BCC name blocks length name EIE ASCII H254D573 H303046 H3031 H57 77 H5353 H3031 H3036 23330 OS ros For PLC ACK response after execution of command name T ASCII HO6 H3031 H57 77 H5353 H03 value For PLC NAK response after execution of command a H3031 H57 77 H5353 Error code 4 jos 13 19 Chapter 13 DEDICATED C
13. The motor has speed limit the valve can not flow over the maximum value When the control system has wide PV range the PV can be over the maximum output value of actuator At this time the actuator keeps the maximum output regardless the change of PV while the PV is over the maximum output value of actuator It can shorten the lifetime of actuator When the control action is used the deviation term is integrated continuously It makes the output of control action very large especially when the response characteristic of system is slow This situation that the output of actuator is saturated is called as windup It takes a long time that the actuator returns to normal operating state after the windup was occurred 15 10 Chapter 15 THE PID FUNCTIONS The Fig 2 12 shows the PV and MV of PI control system when the windup occurs As shown as the Fig 2 12 the actuator is saturated because of the large initial deviation The integral term increase until the PV reaches to the SV deviation 0 and then start to decrease while the PV is larger than SV deviation lt 0 However the MV keeps the saturated status until the integral term is small enough to cancel the windup of actuator As the result of the windup the actuator will output positive value for a while after the PV reached to the SV and the system show a large overshoot A large initial deviation load disturbance or mis operation of devices can cause windup of actuato
14. Time driven task program Up to 8 programs are applicable gt Single internal task program Up to 8 programs are applicable gt Interrupt external task program Up to 8 programs are applicable e Time driven task program gt The program is executed by the time internal set before e Single internal task program gt The corresponding program will be executed at the rising edge and on state of internal contact in the program gt The detection of the start up condition will be executed after the scan program has been processed e Interrupt external task program gt The program is executed according to the external signal a input to the interrupt module 1 Refer to section 4 3 3 task for details of task program 2 For interrupt signal processing the GM6 series use general digital input module instead of external interrupt input module Refer 4 3 3 task for details Chapter 4 CPU MODULE 4 3 3 Task The followings explain the program structure and tasks of the GMWIN that is the GLOFA GM programming S W in order to give an understanding of the task function Program 1 Program Block program Program 2 Function Program 3 Program Block P 4 rogram Task 2 Function Block program Program 5 Program Block Task 3 Program 6 program Function Program 1 Program Block REMARK 1 A task executes the some function as the control panel which are used to execute programs Each task consi
15. condition Re apply the power and if an error occurs replace the memory module STOP 0 4 sec When power is appli Memory module program fault Correct the memory module program and re operate the system STOP 0 4 sec Change into the RUN mode An normal program Re load the program and start it STOP 0 4 sec Change into the RUN mode Inconsistency between the specified modules by parameters and the loaded modules Module type inconsistency error Refer to the flags _IO_TYER _l O_ DEER N _lO_TYER n and correct the incorrective slot and re start the system STOP 0 4 sec Change into the RUN mode Module dismounting or additional mounting during run Module mounting dismounting error Refer to the flags _IO_DEER _IO_ DEER N 10 DEER n and correct the in corrective slot and re start the system When scan completes Fuse disconnection during run Fuse disconnection error er to the flags _FUSE_ER FUSE ER N SE ERIn and correct the in corrective slot and re rt the system When scan completes Abnormal I D module data access during run Abnormal special link module data access during run During run Scan time over than the scan delay time specified by parameters module read write error er to the flags IO_RWER _IP_RWER_N _IO_RWER n and restart the system Special link module interface error Refer to the flags _SP_IFER _IP_ IF
16. 6 RS Preference reset table 48 72 2 7 5 8 7 TON ON delay timer 56 200 2000 8 5 11 1 1 2 The items marked with 1 The size of the program memory which a program occupies when it uses the function once 2 The size of the program memory which a program occupies only one time though it uses the function many times 3 The size of the program memory which a program occupies whenever it uses the function block once The occupied memory size and processing speed of IL programs are same as LD programs has following meaning App3 2 App 4 DIMENSIONS Appendix 4 Dimensions Unit mm 1 CPU module PAU REM 110 2 0 Module 110 D D Ze S ANAL p ZIC iv ZIC st rages App4 1 App 4 DIMENSIONS 3 Power Supply Module POWER O GM6 PAFA Unit mm A B c D E GM6 B04M 230 5 244 92 0 110 62 GM6 B06M 300 5 314 92 0 110 62 GM6 B08M 370 5 384 92 0 110 62 GM6 B12M 510 5 524 92 0 110 62 App4 2 App 4 DIMENSIONS App4 3
17. Common terminal arrangement 16 points COM Internal current consumption 180 mA External Voltage 24 VDC 10 ripple voltage 4Vp p or less power supply Current 48 mA or less 24VDC COM Operation indicator LED turns on at ON state of output External connections 18 point terminal block connector M3 x 6 screws Weight 0 18 kg Internal Circuit Terminal Block Number Chapter 7 INPUT AND OUTPUT MODULES 7 3 4 16 point transistor output module source type Models Transistor Output Module Specifications G6Q TR2B Number of output points 16 points Insulation method Photo coupler Rated load voltage current 12 24 VDC Operating load voltage range 10 2 to 26 4 VDC Maximum load current 0 5 A point 4 A COM Off leakage current 0 1 mA or less Maximum inrush current 4A 10 ms or less Maximum voltage drop at ON circuit 15 VDC 0 5A Surge absorber Clamp diode Response Off gt On 2 ms or less time On Off 2 ms or less Common terminal arrangement 16 points COM Internal current consumption 180 mA External Voltage power supply Current 24 VDC 10 ripple voltage 4VP P or less 48 mA or less all points ON Operation indicator LED turns on at ON state of output External connections 18 point terminal block connector M3 x 6 screws Weight 0 18 kg Photo Coupler Internal Circui
18. D action is as following Wai dt 5 Derivative action is used only in PID action in which P and actions combine with D action 15 6 Chapter 15 THE PID FUNCTIONS 15 2 1 4 PID action 1 PID action controls the control object with the manipulation quantity produced by P I D action 2 PID action when a given deviation has occurred is shown as the following Fig 2 8 Deviation PID action action P action Fig 2 8 PID action with a constant deviation Chapter 15 THE PID FUNCTIONS 15 2 1 5 Forward Reverse action 1 PID control has two kind of action forward action and reverse action The forward action makes the PV reaches to SV by outputting a positive MV when the PV is less than SV 2 Adiagram in which forward and reverse actions are drawn using MV PV and SV is shown as Fig 2 9 Fig 2 9 MV of forward reverse action Reverse action Forward action Reverse action Forward action 3 Fig 2 10 shows examples of process control by forward and reverse actions respectively KC temperature time time Reverse action for Cooling Forward action for Heating Fig 2 10 PV of forward reverse action Chapter 15 THE PID FUNCTIONS 15 2 1 6 Reference value In general feedback control system shown as the Figure 2 10 the deviation value is obtained by the difference of PV and SV P I and D operations are performed based on this deviation value However each of P and D operation
19. External device malfunction The PLC user program detects malfunctions of external devices If a fatal error is detected the system enters into the STOP state and if an ordinary error is detected the system continues its operation REMARK 1 In occurrence of a fatal error the state is to be stored in the representative system error flags and an ordinary error in the representative system warning flags 2 For details of flags refer to Appendix 2 Flag List Chapter 4 CPU MODULE 4 3 5 Precautions when using special modules This system offers convenience and high performance in using special modules compared with the existing methods Therefore take some precautions when composing the system Check the system after the following items have been thoroughly understood 1 Special module programming 1 Special function block is offered for each special module to make programs concise and to prevent errors in writing down the user program 2 Function blocks are largely of two types Initialization function block for initializing special modules and control function block for control of the operations of special modules Function block functions as an interface between the user program data and the special modules As it includes the function that watches the operation status of special modules and indicates the error status other separate error detection program does not have to be written For detailed description of fu
20. If an error occurs it will be stored to the following flags and the STOP LED flickers e Representative system error flag CNT ER e Representative system warning flag CNF WAR REMARK 1 Refer to 12 5 Error Code List of Chapter 12 Troubleshooting for details of contents of self diagnosis and corrective actions Chapter 4 CPU MODULE 4 5 3 Remote function The CPU module can be controlled by external operations from GMWIN and computer link module etc For remote operation set the mode setting switch of CPU module to remote position 1 Remote RUN STOP 1 The remote RUN STOP permits external operations to RUN STOP the CPU module under the condition that the mode setting switch of CPU module is in the remote position 2 This function is convenient when the CPU module is located on the place where it is difficult to control the CPU module or the user want to control the CPU module in the control panel from outside 2 Remote PAUSE 1 The remote PAUSE permits external operations to execute PAUSE operations under the condition that the mode setting switch of CPU module is in the remote position The PAUSE operations stop the CPU module operation processing while maintaining the On Off state of the output module 2 This function is convenient when the user wants to maintain the ON state of the output module under the condition the CPU module has been stopped 3 Remote DEBUG 1 This function permits external operation
21. O module mainly consist of semiconductor devices and its service life is semi permanent However periodic inspection is requested for ambient environment may cause damage to the devices When inspecting one or two times per six months check the following items Check Items Judgment Corrective Actions Ambient Temperature 0 to 55 C Adjust the operating temperature and environment Humidity 5 to 95 RH humidity with the defined range Vibration No vibration Use vibration resisting rubber or the vibration prevention method Play of modules No play allowed Securely enrage the hook Connecting conditions of terminal screws No loose allowed Retighten terminal screws Change rate of input voltage 15 to 15 Hold it with the allowable range Spare parts 11 2 Daily Inspection Check the number of spare parts and their storage conditions condition The following table shows the inspection and items which are to be checked daily Check Items Check points Judgment Cover the shortage and improve the storage Corrective Actions Base unit conditions mounting Check for loose mounting screws The base unit should be securely mounted Retighten Screws Mounting conditions of VO modules Connecting conditions of terminal block or extension cable Check if the hook is securely engaged e Check if the upper cover is securely mounted Check for loose terminal
22. Processing with time 0 ms Scan starts and the scan program PO starts its execution 0 to 6 ms The program PO is being executed 30 32 34 img 6 to 8 ms Execution request for P3 is input and PO is stopped and P3 is executed Execution request for P1 by E_INT1 at the 7 ms is ignored as the P2 is being executed 8 to 10 ms P3 finishes its execution and the PO stopped continues its execution 10 to 12 ms PO is stopped and P1 is executed due to execution request for P1 12 to 20 ms P2 finishes its execution and the PO stopped continues its execution 20 ms Execution requests for P1 and P3 are simultaneously exist but the higher priority P1 is executed and P3 is ready for its execution 20 to 22 ms PO is stopped and P1 is executed 22 to 24 ms P1 finishes its execution and the higher priority P3 is executed before PO 24 to 25 ms P3 finishes its execution and the PO stopped completes its execution 25 ms Execution request for P2 is checked at the finish time of the scan program P0 and P2 is executed 25 to 30 ms The program P2 is executed 30 to 32 ms Execution request for P1 is input and P2 is stopped and P1 finishes its execution 32 to 34 ms P1 finishes its execution and the P2 stopped finishes its execution 34 ms A new scan starts PO starts its execution Chapter 4 CPU MODULE 4 3 4 Error Handling 1 Error Classification Errors occur due to various causes suc
23. Restart C Slave I CResource CPU Property Name Scan W D Timer Resource RESO 200 MS CANCEL HELP 1 Configuration PLC Name e lt is a representative name for the PLC system It is used to designate this PLC system when a network system is configured using communication modules 2 Enabling Disabling the control of the PLC via communications e This parameter is used to enable or disable the remote control of this PLC system through the FAM or computer link module etc except for the GMWIN If this parameter has been set to enable change of the operation mode and download of programs are available via communications App1 1 App 1 SYSTEM DEFINITIONS 3 Restart Mode e This parameter is used to set the restart mode in the PLC system When the system re starts one of the cold restart or warm restart is selected in compliance with the parameter setting 4 Resource CPU Name e Resource Name is the name that each CPU module configuring the PLC has When configuring a network system the name is used to designate each CPU module that is used the system e Only one CPU module can be mounted in the GM3 4 series therefore only the resource 0 is valid 5 Scan Watch Dog Time e This parameter is used to set the maximum allowable execution time of an user program in order to supervisor its normal or abnormal operation e Only one CPU module can be mounted in the GM3 4 series therefore scan watch dog
24. STOP mode In this mode programs are not operated 1 Processing when the operation mode changes The output image area is cleared and output refresh is executed 2 Operation processing contents 1 VO refresh is executed 2 Normal or abnormal operation and mounting conditions of the loaded module are checked 3 Communications service or other internal operations are processed 4 4 3 PAUSE mode In this mode the program operation is temporarily stopped If it returns to the RUN mode the operation continues from the state before the stop 1 Processing when the operation mode changes Data area clear and input image clear are not executed and the operating conditions just before the mode change is maintain 2 Operation processing contents 1 VO refresh is executed 2 Normal or abnormal operation and mounting conditions of the loaded module are checked 3 Communications service or other internal operations are processed 4 4 4 DEBUG mode In this mode errors of a program are searched and the operation sequence is traced Changing into this mode is only possible in the STOP mode In this mode a program can be checked with examination on its execution state and contents of each data 1 Processing when the operation mode changes 1 Data area is initialized at the starting time of the mode change complying with the restart mode which has been set on the parameters 2 The output image area is cleared and output refresh is ex
25. To output the maximum input value 48 738 12 9 MOVE To copy data 8 1 0 MUL dint Multiplication 24 65 9 MUL int Multiplication 24 35 9 MUX int To output a selected input value 56 682 15 8 MUX dint To output a selected input value 84 682 53 2 ROL To rotate left 40 160 9 7 BCD_TO_DINT Conversion of BCD type into DINT type 12 300 273 9 BCD_TO_INT Conversion of BCD type into INT type 12 200 111 9 BCD_TO_SINT Conversion of BCD type into SINT type 12 140 40 9 BYTE_TO_SINT Conversion of BCD type into SINT type 8 0 4 DATE_TO_STRING Conversion of DATE type into string 48 458 205 9 DINT_TO_INT Conversion of DINT type into INT type 8 1 3 DINT_TO_BCD Conversion of DINT type into BCD type 12 278 446 9 DT_TO_DATE Conversion of DT type into DATE type 16 3 3 DT_TO_TOD Conversion of DT type into TOD type 16 12 4 1 DT_TO_STRING Conversion of DT type into string 48 780 524 9 DWORD TO WORD Conversion of DWORD type into WORD type 8 1 3 INT TO DINT Conversion of INT type into DINT type 12 0 9 INT TO BCD Conversion of INT type into BCD type 12 180 129 9 NUM TO STRING int Conversion of number into string 52 808 159 9 SINT_TO_BCD Conversion of SINT type into BCD type 12 140 67 9 STRING_TO_INT Conversion of string into INT type 16 1308 281 9 CONCAT To concatenate strings 72 248 54 9 DELETE To delete string 68 298 63 9 EQ Equality comparison 20 788 38 3 FIND To find a string 40 222 73 9 INSERT To insert a string 68 524 418 9 LEFT To obtain the left part of a
26. WEEN D e Maximum I O points 256 GM6 CPUA ae e Special functions RS 232 communication e Maximum I O points CPU module GM6 CPUB e Special functions RS 422 485 communication RTC PID e Maximum I O points GM6 CPUC a e Special functions RS 232C communication RTC PID HSC HELEN WEEN EI EET MELT on EEC roaren souca srka CE MAL AI E GE INN e 32 point 12 24 VDC input module current source input ll aaa pepo DI INN WE OGE ESE HEMELE EN GN RENEE NN EEN RENEE EEDEN NN ENGEN GN e 32 point transistor output module 0 1A source output Y NETNOU NN EEN ELE EE IELEINAUIEI TEI INN NN GM6 PAFA Free Voltage e 5 VDC 2A 24VDC 0 3A bard 100 Je5VDC 2A Power supply module 240VAC Je 415 VDC 0 5A 15VDC 0 2A GM6 PD3A DC24V EI Ass VDG 2A GM6 PDFA DC12 24V 2 2 Chapter 2 SYSTEM CONFIGURATION WE EEN WE EEN EE e Special modules A D conversion module D A conversion module High speed counter module Positioning module G6F AD2A G6F DA2V G6F DA1A G6F HSCA G6F POPA e Voltage current input 4 channels e DC 10 to 10V DC 20 to 20 mA e Voltage output 4 channels e DC 10 to 10V e Current output 4 channels e DC 4 to 20 mA e Counting range 0 to 16 777 215 24 bit binary e 50 kHz 1 channel e Pulse output 2 axes control Communication modules Others Fnet I F module G6L FUEA e For Fnet I F e 1 Mbps base band e For twisted cable Fnet remote I
27. address are read Also it is supposed that H1234 is entered in MW20 and data of H5678 is entered in QWO0 2 1 Computer request format Format Comma MEE Vele Variable Variable Variable nae Header Command eine of e has sa BCC yP blocks length a re fe fe Eis EI H255157 ASCII H3031 H52 72 H5953 H3032 Haoas 125405 Ha0aa 302E322 Hod value 73230 E31 For PLC ACK response after execution of command Format Station Comman Comman Number amog omoes Header r of Data of Data Tail BCC name No d dtype of blocks data data Frame Ex ACK H01 R r SS H02 H02 H1234 H02 H5678 ETX BCC ASCII H3132 H3536 valie H06 H3031 H52 72 H5353 H3032 H3032 3334 H3032 3738 H03 For PLC NAK response after execution of command Ee EE er e z name type Er NAK H01 R r Error code 2 ASCII jaag H3031 H52 72 H5353 Error code 4 H03 13 12 Chapter 13 DEDICATED Cnet COMMUNICATION FOR GM6 2 Continuous reading RSB of direct variable 1 Introduction This is a function that reads the PLC device memory directly specified in accord with memory data type With this data is read from specified address as much as specified 2 Request format Format Command Variable Variable Number of data Header Command Tail name type length name Max 120 Bytes fn ENQ H10 IRO HOG MD100 HOS ASCII H254D44 H05 H3130 H5342 H3036 313030 H3035 wj REMAR
28. and operating status e Power ON or OFF e Status of VO devices e Condition of wiring I O wires extension and communications cables e Display states of various indicators such as POWER LED RUN LED STOP LED and I O LED After checking them connect the peripheral devices and check the operation status of the PLC and the program contents 2 Trouble Check Observe any change in the error conditions during the following e Set the mode setting switch to the STOP position and then tum the power ON and OFF 3 Narrow down the possible causes of the trouble Deduce where the fault lies i e e Inside or outside of the PLC e 1 0 module or another module e PLC program 12 2 Troubleshooting This section explains the procedure for determining the cause of troubles as well as the errors and corrective actions for the error codes Occurrence of error Is the power LED turned OFF Flowchart used when the POWER LED is turned OFF Is the stop LED flickering Flowchart used when the STOP LED is flickering Are the RUN and STOP LED turned OFF Flowchart used when the RUN and STOP LED is turned OFF VO module dose not operate properly Flowchart used when the output load of the output module dose not Program cannot be written Flowchart used when a program cannot be written to the PLC i Chapter 12 TROUBLE SHOOTING 12 2 1 Troubleshooting flowchart used when the POWER LED turns OFF The following flowchart explains corrective action procedure us
29. and the D A 03 outputs data only when the data has been changed DC32 32 point DC input module A D A D conversion module D A D A conversion module RY32 32 point relay output module e As cold warm restart makes the whole system restart the cold warm restart program consists of only initialization program of special module 2 program e Project Configuration Restart prj rr EDEN source def0000 prj P gt PROJECT gt PLC Type GM6 CONFIGURATIONCPLC gt Configuration Name UNNAMED E ACCESS VARIABLES variables declared RESOURCECCPU gt Name RES B RESOURCE GLOBALS variables declared TASK DEFINITIONS 1 tasks defined DI LD 1 PROGRAM INST oc gmvin36 sourcetmoname src E COMMENTS for DIRECT VARIABLES gt variables declared PARAMETERS B 1 0 PARAMETERS E LINK PARAMETERS INCLUDED LIBRARIES Fe BASIC PARAMETERS Chapter 4 CPU MODULE e Program cw rst src cold warm restart initialization program Variable Name ee Data type Initial value Description INI START VAR BOOL Start condition of initialization AD INLACT VAR __ ARRAY 4 OF BOOL Shows active channel AD01_DT VAR ARRAY 4 OF BOOL Set by parameter Select digital output type AD01_CH VAR ARRAY 4 OF BOOL Set by parameter Select channel to be used AD2INI VAR FB Instance AD2INI STAT VAR USINT Shows error status AD01_FE VAR ARRAY 4 OF
30. different meaning In other field however it doesn t care letters are capital or small For example YmW100 and mw100 are exactly same command 1 The CPU A type does not support this function 2 The CPU A type does not support this function 13 7 Chapter 13 DEDICATED Cnet COMMUNICATION FOR GM6 13 6 Data type When direct variables and named variables are read written attention must be paid to data type of direct and named variables 1 Data type of direct variables Memory device type of GLOFA GM PLC M Internal memory Q Output I Input Memory device type of GLOFA GK PLC P M L K C D T S F Data type for direct variables is indicated next to direct variable indicating character Table 13 3 List of data types of direct variables Datatype Ind charac Eampleofuse X 58H MX0 QX0 0 0 1X0 0 0 PX0 LX0 FX0 BYTE B 42H MB10 QB0 0 0 IB0 0 0 WORD W 57H MW10 QW0 0 0 IW0 0 0 PWO LWO FWO DWO DOUBLE WORD D 44H MD10 QD0 0 0 1D0 0 0 REMARK 1 The read write of named variables will be available with the next version of CPU A type 13 8 Chapter 13 DEDICATED Cnet COMMUNICATION FOR GM6 13 7 Execution of commands Ex 1 Separately reading RSS direct variables 1 Introduction This is a function that reads PLC device memory directly specified in accord with memory data type Separate device memory can be read up to 4 at a time 2 Request fo
31. eek GER GER GE ER ER Ee eee ee eee seen seen eke Re ee ke ee 4 32 4 5 5 Direct VO Operation lee eee seen eeeesaeeeeeseesneeen aa e 4 33 4 5 6 External Device Error Diagnosis Male erat 4 33 4 6 Memory Configuration EO AT 4 36 4 7 VO No Allocation Method sesse sesse se se ee AE EE OE EE KERE EE GE AE RA EE EE RE ER AE Ke EE EE EE GR ee Ke 4 38 4 8 N mes of Ie EE EE EE EE EE EE RE RE ER EE 4 39 Chapter 5 BATTERY 5 1 Specifications sesse esse ses see Ee ER ER KO ER ER ER ER KS ER KO ER OR RE ER KO ER KO Ee Ke EE ee ER Ke Ee Ke ee ee 5 1 5 2 Handling INStructions ss sesse sees vee er ee ER KO ER ER ER ER ES ER KO ER ER Ee ER KO ER KO Ee Ke EE ee ER Ke Ee Ke ee ee eg 5 1 5 3 Battery Replacement ss ss sesse se see ER ES ER KO ER EE EE ER KO ER KO ER ER EE ER KO ER Ke OE Ee Ke ER ee ER Ke Ee Ke ees 5 1 O my 9 D Fad Oo C 2 eo ae m de m JI g JI O Q JI gt z TI m gt N mn m O J lt lt GERS EE EE EE ER RO TE EE EE E ET EES 6 1 6 3 Handling RE EE RR ces cube ccs ORE NEE AR RE OE RE IE 6 1 Chapter 7 DIGITAL INPUT AND OUTPUT MODULES 7 1 Notes on Selecting Input and Output Modules s sesse sesse se EE ER EE ER EE ER EE ER EE ER Ke ee 7 1 7 2 Digital Input Module Specifications sesse se ER EE ER EE ER EE ER EE ER EE ER Ee Ke ee 7 9 7 2 1 16 point 24VDC input module source sink type WE GE ER EE Ge N DE N Ge ee EE ee Ee 7 9 7 2 2 16 point 24VDC input module source type CEES PrP E
32. exposed to 1 Water leakage and dust 2 Continuous shocks or vibrations 3 Direct sunlight 4 Dew condensation due to rapid temperature change 5 Higher or lower temperatures outside the range of 0 to 55 C 6 Relative humidity outside the range of 5 to 95 7 7 Corrosive or flammable gases 2 Precautions during installing 1 During drilling or wiring do not allow any wire scraps to enter into the PLC 2 Install it on locations that are convenient for operation 1 2 3 Make sure that it is not located on the same panel that high voltage equipment located 4 Make sure that the distance from the walls of duct and external equipment be 50 mm or more 5 5 Be sure to be grounded to locations that have good ambient noise immunity 3 Heat protection design of control box 1 When installing the PLC in a closed control box be sure to design heat protection of control box with consideration of the heat generated by the PLC itself and other devices 2 It is recommended that filters or closed heat exchangers be used Chapter 10 INSTALLATION AND WIRING The following shows the procedure for calculating the PLC system power consumption 1 PLC system power consumption block diagram CPU Communic Communic Output Input Special ations ations module module module tae module module Ry tensistoy 2 Power consumption of each part 1 Power consumption of a power supply module Approxima
33. from or written to and indicates the slot locations in the bit map read write occurred of base units This flag detects that initialization cannot be executed for special or Special link module link module of a slot or normal interface is impossible due to module N IFEREN DIN 0 1015 interface error slot No malfunction and indicates the lowest slot No of the detected slot numbers This flag detects that initialization cannot be executed for special or _IP_IFERR n BYTE motoi Special link module link module ofa slot or normal interface is impossible due to module interface error location malfunction and indicates the slot locations in the bit map of base units This flag detects fatal error of external devices and its content is ANC ERRIn UINT n 0to7 External device fatal written to this flag A number that identifies error type will be written error A to each of the sixteen locations The number 0 is not allowed External device If the user program indicates a warning on the flag ANC WBIn the _ANC_WAR n UINT n 0to7 rdin rv efror bit locations are sequentially written to ANC WARIn from u ANC WARIO complying with their occurrence sequence External device The user program detects ordinary error of external device and the ANC_WBIn alr adel ordinary error bit map errors are indicated on a bit map The number 0 is not allowed The flag detects that task collision has occurred because while a _TC_BMAP n BIT n 0t07 Task collisi
34. has been Data area initialization complying with the restart mode set changed from the STOP mode to the Data area initialization complying with the restart Check on the effectiveness of the program and decision on the possibility of the execution Execution of input refresh Execution of programs and task programs Check on the normal operation of the loaded modules and their mounting conditions Processing the communications service or other internal operations Execution of output refresh The RUN mode is maintained Is the operation mode changed Changed into another mode Operation with the operation mode changed 1 Processing when the operation mode changes Initialization of data area is executed when the first scan starts 1 If the PLC is in the RUN mode when applying the power 2 If the operation mode has been changed into from the STOP mode into the RUN mode the initialization is executed complying with the restart mode set cold warm 3 The possibility of execution of the program is decided with check on its effectiveness 2 Operation processing contents VO refresh and program operation are executed 1 Task programs are executed with the detection of their start up conditions 2 Normal or abnormal operation and mounting conditions of the loaded module are checked 3 Communications service or other internal operations are processed 4 24 Chapter 4 CPU MODULE 4 4 2
35. input condition CD load LD and setting value PV NAME CTD BOOL BOOL BOOL INT INT e If the counting value CV decrements and reaches 0 the output contact Q turns on If the load LD signal is turned on the counting value is set to the setting value and the output contact Q turns off 4 7 Chapter 4 CPU MODULE 3 Increment Decrement Counter e lt should have Increment input condition CU Decrement input condition CD load LD and setting value PV INT e If reset signal R turns on counting value CV is set to 0 e If load signal LD turns on counting value is set to setting value PV e lt is increased by tat the rising edge of increment input CU and decreased by 1 at the edge of decrement input CD If counting value CV is equal or larger than setting value PV QU will be on and if counting value CV is equal or less than setting value PV QD will be on 2 Counting speed e The counting speed is decided by scan time and it will be counted when on time or off time of input condition is larger than each scan time Max Counting speed Cmax n 100 Xx 1 ts pps n Duty ts scan time s e Duty is percent of on time off time on off ET To Ti lt T2 n T1 11472 x 100 Ti gt T2 n T2 T1 T2 x 100 4 8 Chapter 4 CPU MODULE 4 3 Program 4 3 1 Program Configuration A program consists of all of the function elements that is needed to execute a
36. instructions for use of the system 10 2 1 Power Supply Wiring 1 When voltage fluctuations are larger than the specified value connect a constant voltage transformer Base 2 Use a power supply which generates minimal noise across wire and across PLC and ground When excessive noise is generated connect an insulating transformer 3 When wiring separate the PLC power supply from the VO and power device as shown below Main power supply PLC power supply de VO Ag vi Main circuit power el Coil Chapter 10 INSTALLATION AND WIRING 4 Notes on using 24 VDC output of the power supply module e To protect the power supply modules do not supply one I O module with 24 VDDC from several power supply modules connected in parallel e If 24 VDC output capacity is sufficient for one power supply module supply 24 VDC from the external 24 VDC power supply as shown below 5 Twist the 110 VAC 220 VAC and 24 VDC cables as closely as possible Connect modules with the shortest possible wire lengths 7 To minimize voltage drop use the thickest max 2 mm2 wires possible for the 100 VAC 200VAC and 24 VDC cables 8 Do not bundles the 100 VAC and 24 VDC cables with main circuit high voltage large current wires or the I O signal wires If possible provide more than 100 mm distance between the cables and wires 8 As a lightning protection measure connect a surge absorber as shown below Surg
37. mounting and dismounting of various modules 1 Module mounting e Insert the module to mounting slot with sliding guide e Check that the module is firmly mounted onto the base board Locking part for Hook Sliding Locked Hook Tiii I LLLL LL AE Dr AE sc AE sc Note The CPU module should be mounted on the next of the power module If the CPU module is mounted other slot when a power module that has 15VDC output GM6 PAFB the CPU module will be damaged Therefore please be sure to mount CPU module on the proper slot Chapter 10 INSTALLATION AND WIRING 2 Module dismounting e First push the locked hook D and pull the module with direction of arrow 2 TIT LLLLLL EE ET MEEL WEST MELK MES WEK MET WS MET VST ME SS DEBT AE DEB DEB DEB DEB MES MES IZ IS es Nt N SZ 7 7 7 LACE A A A A Ww w w LLLLLL 2 Ww 10 8 Chapter 10 INSTALLATION AND WIRING 10 2 Wiring The followings explains the wiring
38. of registers of tens kQ When the wiring distance from the output module to the load is long there may be a leakage current due to the line capacity Esel When the load is C R type timer time constant fluctuates e Leakage current by surge absorbing circuit which is connected to output element in parallel e Drive the relay using a contact and drive the C R type timer using the since contact e Use other timer than the C R contact Some timers have half ware rectified internal circuits therefore be cautious Een 6 Tee The load does not turn OFF e Sneak current due to the use of two different power supplies Output Eie e E1 lt E2 sneak current e E1 is switched Off and E2 is switched ON sneak current Output circuit troubles and corrective actions continued 12 9 e Use only one power supply e Connect a sneak current prevention diode Figure below Output If the load is the relay etc connect a counter electromotive voltage absorbing code as show by the dot line Chapter 12 Condition TROUBLE SHOOTING Cause Corrective Action The load off response time is long e Over current at Off state The large solenoid current fluidic load L R is large such as is directly driven with the transistor output Output Off current e The off response time can be delayed by one or more second as some loads make the current flow across t
39. restart mode parameter has been set to the cold restart mode 2 All data are cleared with 0 and only the variables to which their initial value has been defined will be set to their initial value 3 Though the parameter has been set to the warm restart mode cold restart will be executed at the first execution of a program after it has been changed 4 In case of selection Reset command in the GMWIN it restarts in accordance with setting in parameter and in case of selection Overall Reset command it restarts as cold restart mode 2 Warm Restart 1 Itis executed when the restart mode parameter has been set to the warm restart mode 2 A data which set as retain amp initial will be retain and a data which set as initial value will be set with default value during the warm restart All other data will be cleared with 0 3 Though the parameter has been set to the warm restart mode cold restart will be executed at the first execution of a program after it has been stopped due to its download or error 4 Though the parameter has been set to the warm restart mode cold restart will be executed if data contents are abnormal i e the data does not remain at a power failure Chapter 4 CPU MODULE e Restart mode is executed as the figure given below when the power has been re applied during execution of the CPU module Operation mode STOP Operation in the STOP Abnormal Data that remain
40. string 56 158 33 4 LEN To obtain the length of a string 16 48 17 5 LIMIT str To output upper or lower limits 80 794 80 9 MAX str To output the maximum input value 76 738 68 4 MID To obtain the middle part of a string 64 236 47 1 REPLACE To replace a string with another 73 584 97 9 RIGHT To obtain the right part of a string 56 226 53 9 ADD_TIME time Time addition 40 280 11 6 DIV_TIME i1 time Time division 40 266 67 9 1 The items marked with has following meaning 1 The size of the program memory which a program occupies when it uses the function once 2 The size of the program memory which a program occupies only one time though it uses the function many times 3 of IL programs 2 input variables 10 strings 2 The above shows the function list when programs are written with IL Instruction List language If programs are written with LD Ladder diagram the following differences occur 1 16 byte will be added to the size of the PB 2 In non execution 0 4 will be added to the processing speed In execution 0 8 usec will be added App3 1 App 3 FUNCTION FUNCTION BLOCK LIST 2 Function Block List i Size of PB Size of library l Processing speed usec Name Function byte 1 Size byte 2 Size of garance GM3 GM4 memory 3 CTU Addition counter 72 110 6 10 2 12 8 CTUD Addition subtraction counter 112 186 6 15 6 18 4 F_TRIG Descending edge detection 40 38 1 5 7 6
41. that is indicated into hex decimals are as follows Station number Command type in case that command type is numerical means data type when main commands are R r and W w All items indicating data size of data area structurized Command type register number for monitor register and execution command M n All contents of data Frame number of domain For hex decimal data H such as HO1 H12345 H34 H12 or H89AB indicates that the data is a type of hex decimal Chapter 13 DEDICATED Cnet COMMUNICATION FOR GM6 2 Sequence of command frame 1 Sequence of command request frame ENQ Station No Command Formatted data EOT BCC PLC ACK response ad Command Data or null Data or null null PLC NAK response 2 Sequence of Download upload frame ENQ Station No Start Command Data EOT BCC ENQ Station No Command Formatted data EOT BCC Down upload command frame No H0001 Down upload end command frame No HFFFF 13 6 Chapter 13 DEDICATED Cnet COMMUNICATION FOR GM6 13 5 List of commands Commands used in dedicated communication service are as below Table Table 13 2 List of commands Command Main command Command type Contents Sign ASCII code Sign ASCII code ne H72 Reads direct variables of Bit Byte Word Dword and Direct Indivi r R H52 SS 5353 Lword type var H72 Reads direct va
42. to consider that point when writing a task program e For example if a timer and a counter have been used in a 10 sec cycle time driven task program the timer can occur up to 10 sec error and an input which has been changed within 10 sec will not be counted because the counter checks its input status every 10 sec 2 Execution priority e The higher priority task program will be executed firstly e If a newly invoked task has higher priority than that of existing tasks which are under execution they are temporary stopped and task has higher priority will be executed e When determining the priority of a task program consider the characteristics importance and urgency of the program 3 Processing delay time The following factors influence on the processing delay of task program consider the characteristics importance and urgency of the program e Task detection delay Refer to the detailed description of each task e Execution delay due to the execution of prior task programs e Delay due to the execution of higher priority task programs while executing task programs Chapter 4 CPU MODULE 4 Relationship of task program to initialization or scan program e User defined tasks will not start while the initialization task program is being executed e As scan program has the lowest priority if a task is invoked the scan program will be stopped and the task programs will be processed prior to them Therefore if tasks are invoked many times or conce
43. 234 5678 and 9ABC in order actual ASCII code converted values are 31323334 35363738 39414243 and the contents is to be entered in data area 4 Response format for PLC NAK response Format Error code Header Command Command type Tail name aid bad ncaa Reema Hex 2 Bytes ashes Le EX ASCII allie H15 H3130 H52 72 H5342 H31313332 H03 e Station number commands and type of command are the same as computer request format e BCC When main command is lower case like r only one lower byte of the value resulted by adding ASCII values from NAK to ETX is converted into ASCII added to BCC and sent When main command is upper case like r BCC is not used e Error code is hex and 2 Bytes ASCII code 4 Bytes which indicates type of error For the details see Appendix B Error Code Table 13 15 Chapter 13 DEDICATED Cnet COMMUNICATION FOR GM6 5 Example of use This example supposes when 2 DOUBLE WORDs from MDO of station No 10 are read Also it is supposed that the following data are entered in MDO and MD1 MDO H12345678 MD1 H9ABCDEFO Computer request format z Number Format Header Command gotek Variable Variable of Tail BCC name length name data El value H3041 H52 72 H5342 H3034 H254D4430 H3032 H04 For PLC ACK response after execution of command Format Command ane ae Header Command h Tail BCC yP ri el EE ASCII H3031 H313233343536373839 For PLC NAK response afte
44. AR will be reset Chapter 4 CPU MODULE Example Error 2 _ANNUN_WR _ANC _WAR 0 _ANC _WARII _ANNUN_WR _ANC _WAR 0 _ANC _WARII _ANNUN_WR _ANC _WAR 0 _ANC _WARII _ANNUN_WR _ANC _WAR 0 _ANC _WARII cooooooorF OOOOOOO HM OOOOOOO HM OOOOOOO HM If the user program had detected a system fault and set _ANC_WB 10 to ON the states of ANNUN WR and _ANN_WAR 0 7 will be shown as left after the scan has been finished After the next scan has been finished if the numbers 1 2 3 10 15 40 50 60 and 75 of _ANC_WB n are tuned on _ANC_WAR n will be shown as left Power converter Signal converter heater After the next scan has been finished if the numbers 1 2 3 10 15 40 50 60 and 75 of _ANC_WB n are tuned on ANC WARIn will be shown as left The No 10 warning has been released the content of ANC WARIO will be cleared and the contents of _ANC_WAR 1 7 will shift into the lower elements The content of _ANC_WAR 7 will has been cleared by the shifting and the content of ANC WBI75 will be written to ANC_WAR 7 If all warnings indicated on the ANC WBln are released during operation the ANNUN_WR and ANC WARIn will be shown as left Chapter 4 CPU MODULE 4 6 Memory Configuration The CPU module includes two types of memory that are available by the user One is program memory which is used to store the user programs written to implement
45. B QB IB KMW SOW olW MD QD ID aa 0I ML MX QX SIX MB QB IB MW QW olW MD QD ID OL MIL 7 0 GM3 MX QX IX MB QB IB AMW QW IW MD QD ID GM4 MX QX IX MB QB IB AMW QW IW MD QD ID GM5 MX QX IX MB QB IB AMW QW IW MD QD ID GM6 MX QX IX MB QB IB MW QW olW MD QD ID For how to specify the area of each device in GLOFA GM and GK series see GLOFA PLC technical data REMARK Device data type of each must be same If data type of the first block is WORD and the second block is DOUBLE WORD error occurs 3 Response format for PLC of ACK response Comma nd Mae Variable Command of length type blocks 1 block Max 4 blocks e Station number commands type of command and number of blocks are the same as computer request format e BCC When command is one of lower case r only one lower byte of the value resulted by adding 1 Byte each to ASCII values from ACK to ETX is converted into ASCII added to BCC and sent e Number of data means Byte number of hex type and is converted into ASCII This number is determined according to memory type X B W D L included in direct variable name of computer request format 13 10 Chapter 13 DEDICATED Cnet COMMUNICATION FOR GM6 Table 13 5 Number of data according to variables _ S e Available direct variable Number of data BOOL X MX QX 1X P M L K F 1 C D S X 1 Only lowest bit of these is avai
46. BCC and sent e In computer request format register No can be set to 00 31 HO0 H1F 3 Response format for PLC ACK response lt Incase that the register format of register No is the separate reading of direct variable Format Header Command Register Number of Number Tail name No blocks of data aa ACK H10 Y y HIF H01 H04 H9183AABB ASCI fhos H3130 H59 79 Hatar Haoat Haosa 99313833 biog aie 414242 T Incase that the register format of register No is the continuous reading of direct variable Format Header Command Register Number of Tail name No data ed ACK H10 Y y HIF H04 H9183AABB ASCII Value Hos H3130 H59 79 H313F H3034 H3931383341414242 H03 13 26 Chapter 13 DEDICATED Cnet COMMUNICATION FOR GM6 Incase that the register format of register No is the reading of named variable Format Hasder Command Register Number of Number of Tail name No blocks data Frame Ex ACK H10 Y y H1F H01 H04 H9183AABB ETX BCC ASCI H06 H3130 H59 79 H313F H3031 H3034 ee ener H03 value 414242 e Data format such as number of blocks and number of data is the same as the contents of variable writing e Station number commands and register No are the same as computer request format e BCC When main command is one of lower case y only one lower byte of the value resulted by adding 1 Byte each to ASCII values from ACK to ETX is converted into ASCII added to BCC and sent 4
47. BOOL Enable Disable average function AVG_NUM VAR _ ARRAY 4 OF BOOL Set by parameter 22 Chapter 4 CPU MODULE e Program scan src scan program Variable Name es Data type Description READ VAR FB Instance AD CH VAR ARRAYI4 OF BOOL Assign a channel of AD module to be used READ DONE VAR ARRAY 4 OF BOOL Indicates the reading operation is completed READ STAT VAR USINT Shows the error status of AD read FB READ ACT VAR ARRAYI4 OF BOOL Shows the error status of AD read FB READ DATA VAR ARRAYI4 OF INT Digital data converted from analog input WRITE_1 VAR FB Instance DA01 DT VAR ARRAYI4 OF INT Digital data to be output WRITE_1 DONE VAR BOOL Indicates the write operation is completed WRITE_1 STAT VAR USINT Shows the error status of DA write FB WRITE_2 VAR FB Instance DA02_DT VAR ARRAYI4 OF INT Digital data to be output WRITE_2 DONE VAR BOOL Indicates the write operation is completed WRITE_2 STAT VAR USINT Shows the error status of DA write FB Chapter 4 CPU MODULE 4 4 Operation Modes The CPU module operates in one of the four modes the RUN STOP PAUSE and DEBUG mode The following describes the PLC operation processing in each operation mode 4 4 1 RUN mode In this mode programs are normally operated The first scan start in the RUN mode If the operation mode is the RUN hias mode when the power is applied Mode condition at the If the operation mode
48. DEBUG state e Flickering when an error is detected by self diagnosis during operation 3 Battery installing connector It used to connect to the backup battery Sets the operation mode of the CPU module e RUN Program operation is executed e STOP Program operation is temporarily stopped e PAU REM PAUSE Program operation is temporarily stopped REMOTE Used for the remote operation 5 DIP S W for flash memory See chap 6 No Name Function 4 Mode setting switch Chapter 4 CPU MODULE GM6 CPUA N A The terminal block is not installed GM6 CPUB RS 422 485 interface terminal block GM6 CPUC High speed counter input terminal block GM6 CPUB GM6 CPUC D 2 6 Terminal block for built in ies EE aa special function ROB dB 24V SDA COM SDB PRE 24V SG PRE OV It used to connect to peripheral devices GMWIN etc GM6 CPUA and GM6 CPUC have built in RS 232C interface function and o DeO is it shares the RS 232C connector with peripheral device interface Refer the chapter 13 for details The followings shows the LED status complying with the operation mode and the operation mode complying with the position of the mode setting switch 1 LED status complying with the operation mode Operation Mode ED Ee RUN STOP Local Run On Off Local Stop Off On Local Pause Off Off Remote Run On Off Remote Stop Off On Remote Pause
49. E EE ECCT TEE 7 3 7 2 3 32 point 24VDC input module source sink type RR EE NE 7 4 7 24 32 point 24VDC input module source type RE EE ORE 7 5 7 2 5 8 point 110VAC input lee TE tenets ness eee ee sense eneen eee ne een eeetaeee aa 7 6 7 2 6 8 point 220VAC input eed Ne 7 7 7 3 Digital Output Module Specifications ss sesse see ER KS ER ER ER KO ER KO ER ER ES ER KO ER Ke ee es 7 8 7 3 1 16 point relay output module ER EA N ES ee ee 7 8 7 3 2 16 point transistor output module sink type EE OE EE eu sh gel aed cunts EE sus 7 9 7 3 3 32 point transistor output module sink type ER EE EE N 7 10 7 34 8 point triac output mo d le eraa eee ec ee teen EE Ed 7 11 Chapter 8 POWER SUPPLY MODULE 8 1 Selection of power supply TT EE ee 8 1 8 2 Specifications sesse se ER EE ER EE ER EE ER EE ER ES ER ES ER GER Ke EO ER ee Ee Ke ee Ee ee ee 8 2 8 3 Names of Parts ss ss ss ss ss ss se EE EE EE EE EE EE EE EE EE EE EE EE EE EE ee ee ER ER ER ER ER ER ER ee ee ee ee ee ee ee ee 8 3 Chapter 9 BASE BOARD 9 1 Specifications RE EE RE OE EE RT 9 1 9 2 Names Of Parts ss ss sos ssss ss sses ese Ee Ee Ee SO Oe OR OE OE OE OE AE EE esse sees sees ee OE OE OE RE AE EE eee OE OE RE REG EE EO Ee De De Oe ee Ee 9 1 Chapter 10 INSTALLATION AND WIRING 10 1 Installation sesse ses se oes ER EO EE ER EE OE KEER EE OG EE ER ER EO OE RE EER EE OG Re RR EE ee ee Ke 10 1 10 1 1 Installation Environment sesse ss se se ses ek ese Ek ee ee eN ee ee Ee eens eens ee ee ee eens ee
50. ED It used to indicate the 5 VDC power supply Power input terminal LG terminal Connect 110 or 220 VAC power GM6 PAFA GM6 PAFB Connect 12 24VDC power GM6 PDFA Connect 24VDC power GM6 PD3A Line Ground FG terminal 24 VDC and DC24G terminal Frame Ground GM6 PAFA It used the 24 VDC power to supply to the other module No connection GM6 PAFB GM6 PDFA_ No connection GM6 PD3A 8 3 Chapter 9 BASE BOARD Models Chapter 9 BASE BOARD 9 1 Specifications 1 GM6 items GM6 B04M GM6 BOGM GM6 BOSM Mounting I O modules 4 modules 6 modules 8 modules Outer dimensions mm 244 x 110 x 62 314 x 110 x 62 384 x 110 x 62 Panel installation hole size 4 5 for M4 screw Weight kg 0 24 9 2 Names of Parts Mount ing 7 Hole LI Te O CPU Module Connector 1 0 Module Connector Module Mounting Guide Rail Power Module Connector 9 1 Chapter 10 INSTALLATION AND WIRING Chapter 10 INSTALLATION AND WIRING 10 1 Installation 10 1 1 Installation Environment This unit has high reliability regardless of its installation environment but be sure to check the following for system reliability and stability 1 Environment requirements Avoid installing this unit in locations which are subjected or
51. ED is turned OFF is flickering during operation RUN and STOP LED is turned ACE Turn the power supply module from OFF to ON Are RUN and STOP LED Turned OFF contact the nearest service center Chapter 12 TROUBLE SHOOTING 12 2 4 Troubleshooting flowchart used when the output load of the output module does not turns on The following flowchart explains corrective action procedure used when the output load of the output module does not turn ON during operation Output load does not turn N s the indicator LED of the output module ON heck the output status in monitor Measure the mode of the peripheral devices voltage across module input terminal and CPU s the indicator LED Of th input module ON heck the input signal OFF in the voltage of powe monitor mode with the peripheral supply for load applied j heck the wiring load of the powe the voltage of pow upply for load and restore the supply for load applied power Check external wiring and external input equipment heck the wiring load of the powe Outp t module defect upply for load and restore the power 1 If the input or load signals are not switched OFF see Section 12 4 1 Chapter 12 TROUBLE SHOOTING 12 2 5 Troubleshooting flowchart used when a program cannot be written to the CPU module The following flowchart shows the corrective action procedure used when a program cannot be written to t
52. ER EE ER EE ER EE Ee Ke EE Ee Ke ee 12 7 12 4 Troubleshooting Examples ss ss ss se ese es EE ER ER RR SEE ER ER RR KERSE SEE ER Ee Re Ke ee SE ER Ee Ee Ke Ke ee EE Ee Ee 12 8 12 4 1 Input Circuit troubles and corrective ACTIONS sesse sees Ek Ee EER ER EER ER Ee AAR eN Se AA ER een eN 12 8 12 4 2 Output circuit troubles and corrective ACTIONS sesse esse ss se se Ee Ee ER EN Se GR Ee ee AR ek ee ee 12 9 12 5 Error Code List sesse sees osse oe see OER EER OR Oe Oe Se Ee ORE ER OR Oe Oe Se Oe Oe Se Ee ORE ninte Se Ee He ER eN ee 12 11 Chapter 13 Dedicated Cnet communication for GM6 ER ET DT Te le Ee ee 13 1 13 2 The example of system configuration EE EE EE Se er 13 2 13 3 The pin assignment of RS 232C connector of the GM6 dedicated Cnet communication 13 3 13 4 Frame Structure sscccccccsversrscscveveceesesceeeeeeseeeeeeees esse sees esse eee OE RE AE AE EE EO EO eres OR OE OE OE AE AE ee 13 4 13 5 List of commandS sesse sesse se oo EE ER EE OE KEER ER EE OE RE EER EE Oe RE RE EER Ee See RE EER Ee oe ee Ke 18 7 13 6 Data EE 13 8 13 7 Execution of commands EX sesse sesse sesse ee se ee Ee ee Ee Ke ee Ee Ke GE Ee Ke ee Ee ee EE Ee Ke ee Ee Ke ee Ee ee 13 9 13 8 Error code during NAK occurrence for GM6 dedicated communication sesse ses ses er eers 13 29 APPENDIXES Appendix 1 System Definitions ss iese see Ee EE ER EE ER EE ER EE ER EE ER EE ER Ke SE Ee Ke ee Ee APP 1 1 Appendix 2 EIE EE APP 2 1 Appendix 3 Function Function Bloc
53. ER_N _IP_IFER n and restart the system Check the scan delay time specified by parameters and correct the parameters or the program and then re start the program When scan completes During execution of program When power is applied When scan completes During execution of program During execution of program Unreadable instructions in the user program Re load the program and re start it During execution of program External device fatal error Refer to the external device fatal error flags ANNUN ER ANC ERRIn and correct the fault devices and then re start the system When scan completes The E STOP function has been executed Correct the program so that the error elements that invoked the E_STOP function can be eliminated in the program and re start the system Cold re start During execution of program Communications module configuration error If the number of computer 4communications module is included then adjust the maximum number with in 8 When power is appli Special Communications module initialization failure Adjust the number of high speed communications modules loaded When power is appli Data memory backup error If the battery has no error When power is appli RTC data error If the battery has no error re set the time using the GMWIN When power is appli When scan complet Lower battery voltage Replace the b
54. Error code during NAK occurrence for GM6 dedicated communication H0190 Error Error type Contents Action to take code H0001 PLC system error Interface with PLC impossible Power On Off Error occurred when ASCII data Check whether ANONG naracar than H0011 Data error od upper and lower cases and digits value is converted into digits has been used correct and execute again H0021 Instruction error Using wrong instruction Inspect instruction H0031 Instruction type error Instruction is used in wrong type Inspect instruction type H1132 Device memory error Wrong specified device memory Inspect device type Execution data number ex H1232 Data size error ceeding 120 Bytes Correct data length H2432 Data type error Data type mismatch with actual Equalize variable and data type of PLC variable program EE 2 Inspect format correct and then execute H7132 Variable request format error is missing again H2232 Area exceeding error M I Q area exceeding error Inspect area difinition and execute again l Execute again after adjusting monitor Monitor execution error Registered number exceeding range eis registration number to 31 or less ME Execut in after justing monitor H0290 Monitor registration error Registered number exceeding range OR Ee ajusting mente registration number to 31 or less H6001 Syntax error_6001 Not available instruction is used be e
55. F module G6L RBEA e For Fnet remote I F e 1 Mbps base band e For twisted cable Computer Link module G6L CUEB e RS 232C G6L CUEC e RS422 Dnet I F module Dust Proof Module G6L DUEA e Dnet I F master module e Complying with ODVA Open Devicenet Vendor Association 2 0 standard G6L DSIA e Dnet I F slave input module e 12 24 VDC input 16 points e Complying with ODVA Open Devicenet Vendor Association 2 0 standard G6L DSQA GM6 DMMA e Dnet I F slave output module e Relay output 16 points e Complying with ODVA Open Devicenet Vendor Association 2 0 standard e Protect empty slot for dust 2 3 Chapter 2 SYSTEM CONFIGURATION 2 3 System Configuration Types System configuration is classified into 3 types that Basic system Computer link system executing data communications between the CPU module and a computer by use of a computer link module G6L CUEB C and Network system controlling the PLC and remote I O modules 2 3 1 Basic System The following describes basic system Slot number Example of System configuration Base Board Maximum number of Input Output modules 8 modules Maximum number of Input Output points le point module mounted 126 poins e 32 point module mounted 256 points CPU module GM6 CPUA GM6 CPUB GM6 CPUC Power Supply module GMG PAFA GM6 PAFB GM6 PD3A GM6 PDFA G6O Special mogul Communication eee 64 points are al
56. ION FOR GM6 BOOL Byte WORD DOUBLE WORD LONG WORD GM1 MB QB IB AMW QW IW MD QD ID ML QL IL GM2 MB QB IB MW QW lW MD QD ID ML QL IL ama MB QB IB MW QW lW MD QD ID ML QL IL GM4 MB QB IB MD QD ID ML QL IL GM5 MB QB IB AMW QW IW MD QD ID ML QL IL GM6 de MB QB IB MW QW IW MD QD ID ML QL IL 3 Request format for ACK response EE EE eee Frame EX ASCII value eh H3130 H57 77 H5342 e Station number command and command type are the same as computer request format e BCC When command is one of lower case w only one lower byte of the value resulted by adding 1 Byte each to ASCII values from ACK to ETX is converted into ASCII added to BCC and sent 4 Response format for PLC NAK response Format Command Error code Header Command Tail name type Hex 2 Bytes Frame Ex ENQ H10 Wiw H1132 EOT BCC ASCII value H3130 H57 77 H5342 H31313332 H03 i al e Station number command and command type are the same as computer request format e BCC When command is one of lower case w only one lower byte of the value resulted by adding 1 Byte each to ASCII values from ACK to ETX is converted into ASCII added to BCC and sent e Error code is hex and 2 Bytes ASCII code 4 Bytes which indicates type of error For the details see Appendix B Error Code Table 13 21 Chapter 13 DEDICATED Cnet COMMUNICATION F
57. If only P control is used input proper value other 0 e EN_P EN EN_D setting f REF TT N g MV_MAX MV_MIN MVMAN h S_TIME 2 Auto tuning parameters a PV setting b S_TIME EN P 1 EN_l 1 EN_D 1 PID operation REF 10 TT 5 N 1 MV_MAX 4000 MC_MIN 0 MAMAN 2000 _TIME 100 sampling time 10 seconds 1600 100 C _TIME 100 sampling time 10 seconds 15 22 Chapter 15 THE PID FUNCTIONS 3 A D module setting a Channel setting use channel 0 b Output data type 48 4047 c Input processing Sampling 4 D Amodule setting a Channel setting use channel 0 15 4 3 Program description 15 4 3 1 Use only PID operation without A T function 1 Convert the measured temperature 0 250 C to current signal 4 20mA and input the current signal to the channel 0 of A D module Then the A D module converts the analog signal to digital value 0 4000 2 PID6CAL function block will calculate manipulate value MV 0 4000 based on PID parameter settings P_GAIN _TIME D_TIME etc and PV from A D module Then the calculated MV is output to the channel 0 of D A module 3 D A module will convert the MV 0 4000 to analog signal 4 20mA and output to the actuator power converter 15 4 3 2 Use PID operation with A T function 1 Convert the measured temperature 0 250 C to current signal 4 20mA and input the current signal to the channel 0 of A D module T
58. K Number of data specifies the number according to the type of direct variable Namely if the data type of direct variable is double word and number of data is 5 it means that read 5 DOUBLE WORDS e BCC When command is one of lower case r only one lower byte of the value resulted by adding 1 Byte each to ASCII values from ENQ to EOT is converted into ASCII added to BCC e Name length of direct variable This indicates the number of name s characters that means direct variable which is allowable up to 16 characters This value is one of ASCII converted from hex type and the range is from HO1 ASCII value 3031 to H1O ASCII value 3130 e Direct variables Address to be actually read is entered in this This must be ASCII value within 16 characters and in this name digits upper lower case and only are allowable to be entered Continuous reading of direct variables available according to PLC type are as follows 13 13 Chapter 13 DEDICATED Cnet COMMUNICATION FOR GM6 Table 13 6 Readable continuous variable area feor se WORD _DOUBLEWORD__ LONG WORD M1 MB QB IB YMW QW olW MD QD ID ML QL IL p MB QB IB AMW QW IW MD QD ID ML QL IL o MB QB IB AMW QW IW MD QD ID ML QL lIL MB OB IB YMW QW olW MD QD ID ML QL IL MB QB IB AMW QW IW MD QD ID ML QL IL GM6 MB OB IB AMW QW IW MD QD ID ML QL IL 3 For PLC ACK response af
59. M DEFINITIONS Base Slot Type Select DEF MODULE Cancel Help 0 0 Parameter Paints a lt l O Parameters Setting List gt Description Applicable Modules DC input DC input module G6I D22A 16 points G6I D24A 32 points G6l D22B 16 points G6I D24B 32 points 110 VAC input 110 VAC input module 220 VAC input Relay output SSR output 220 VAC input module Relay outout module Triac output module G6I A11A 8 points G6I A21A 8 poi G6Q RY2A 16 points G6Q SS1A 8 points TR output Transistor output G6Q TR2A 16 points G6Q TR4A 32 points A D A D conversion module G6F AD2A 4 channels DAV DAI D A conversion module G6F DA2V 4channels voltage type G6F DA2I 4channels current type HSC High speed counting module G6F HSCA 1 channels GLOFA Fnet Fnet I F module G6L FUEA GLOFA Cnet Cnet I F module G6L CUEB G6l CUEC DEF All input modules G6I D22A 16 points G6I D24A 32 points G6I D22B 16 points G6I D24B 32 points G6I A11A 8 points G6I A21A 8 points DEF_O DEF_IO All output modules All mixed I O modules G6Q RY2A 16 points G6Q Ed points 16 DEF SP All communications special modules e All special modules e All communications modules DEF_MODULE All modules e All input modules e All output modules e All mixed I O modules e All special modules e All communicat
60. NCE ere ee RE 4 3 ES ANN EL AE EE OR OR EE 4 4 4 2 4 Scan Watchdog TIETE SE RE GE EG EI ae Ee Ge ea eo 4 4 4 2 5 Timer LE 4 5 4 2 6 Counter processing ree RE ER RE ER EER ee Re ee ER SR ee ee eke ee SR ese ee ee ee eer ee 4 7 43 Program EE ED EE EE ER OE EE OE OE ET De 4 9 4 3 1 Program Configuration ree ees ere ee ER RR RR ER ER REKE ER See ER eke ee SR ese Res eke ee er ee 4 9 4 3 2 Program Execution Procedures ere ee eek ee Ee ERK RR ee ee ee See Ee ee ee ee eke ees 4 10 EEUE GEE EE EE OE OE TR 4 13 ETNIES 4 19 4 3 5 Precautions when using Special Te ene eeeaeeenen seen enna een enes 4 20 4 4 Operation Rl EE AE IE NE EENES NE EEK EEEE EDENE ATE ESES aaee 4 24 44 1 RUN mode sesse se ss Ee aea A Ee Ee Gee ER ee EERE He Ne AA ER ee ee AEEA a 4 24 AAD STOP Ode OE EE RE OE ER OE db oe savers EE OR OE OE EI 4 25 4 4 3 PAUSE Mode esse sees see oek oek ek RE Ee eee ee eee eek eee eek EER Ee ee ese eee eek eee eek ek EEE ee DEES 4 25 4 4 4 DEBUG mode sissit nasaan ER ER anes nese eee eek esse see ER Ee RE Ee Ee ee SESE ee eN SEHR eke Re EE 4 25 445 Operation Mode Change ET EE EE EE exhs 4 26 4 5 IT Te ed ee 4 28 4 5 1 Restart mode sesse ss Ee EE eens nee ER Ee AAR AR ee enna eee eee ee ee eens eee EE EERE EERE Ee N EEE REESE EE EEE 4 28 45 2 Self diagnosis AE ME E OO EE Ee 4 30 4 5 3 Remote function reses ee Re ee ER EE EER ER EE EER PER ER ee eee es een eee esse eee ER Ee ee Re Re ee Re Re ee 4 31 4 5 4 VO Force On Off functiON ee sesse ee ee ee
61. OMMUNICATION OF GM6 CPUB 14 6 Communication method and termination resistor 1 Data type Data bit 8 bits Stop bit 1 bit Parity None 2 Communication speed Baud rate Selectable one of 9600 19200 38400 bps 3 Termination resistor When use a long cable for connecting two or more PLCs a termination resistor should be connected at the both ends of network Otherwise the communication can be disturbed by the reflected wave of cable The termination resistor should be 1 2W grade and have the equivalent resistance with the characteristic impedance of cable When use the RS 422 protocol connect two termination resistors between SDA and SDB RDA and RDB With the RS 485 protocol connect a termination resistor between RDA and RDB or SDA and SDB 14 7 RS 422 485 pin assignment 1 The RS 422 network is connected with 5 pin connector The following table shows the name and description of each pins and direction of signal Pin No MASTER Signal direction SLAVE 1 RDA EE SDA 2 RDB SE SDB 3 SDA i RDA 4 SDB RDB 5 SG gt SG 2 When using RS 485 interface connect cable as RS 422 interface then interconnect RDA and SDA RDB and SDB With the RS 485 interface the send receive signals share one line and communication is performed as half duplex method Chapter 15 THE PID FUNCTIONS Chapter 15 THE PID FUNCTIONS 15 1 Introductions This chapter will provide information about t
62. OR GM6 5 Example of use This supposes that HAA15056F is written in QD0 0 0 of No 1 address Computer request format Format Head name Comm Command Variable Variable Number and type length name of data Frame R HAA150 er H414131 ASCII H254442302 valie H3031 H57 77 H5342 H3038 E302E30 H3031 3503536 For PLC ACK response after execution of command name ASCII HO6 H3031 H57 77 H5342 H03 value For PLC NAK response after execution of command n Ee i La ASCII H3031 H57 77 H5342 Error code 4 value 13 22 Chapter 13 DEDICATED Cnet COMMUNICATION FOR GM6 5 Monitor registers X 1 Introduction Monitor register can separately register up to 32 in combination with actual variable reading command and carries out the registered one through monitor command after registration 2 Request format EIE AE IE tee EE EN Oe kl H3130 H58 78 H3146 e BCC When command is one of lower case x only one lower byte of the value resulted by adding 1 Byte each to ASCII values from ENQ to EOT is converted into ASCII added to BCC and sent e Register No This can be registered up to 32 0 31 HOO H1F and if an already registered No is registered again the one of current execution is registered e Register format This is used to before EOT in command of formats of separate reading of direct variable continuous reading and named variable reading Register format Register f
63. Remote Debug Off Off 2 Operation mode complying with the position of the mode setting switch Position of Mode switch Operation Mode Es STOP PAU REM Reoite Stop PAU REM RUN Local Run RUN PAU REM Local Pause Change of remote mode is available only after the operation mode has entered into the remote STOP mode caution 1 In case of local pause disable it operated as Remote Run Chapter 5 BATTERY Chapter 5 BATTERY 5 1 Specifications Item Specifications Normal voltage 3 0 VDC Warranty life time 5 years Application Programs and data backup and RTC runs in power failure Specifications Lithium Battery 3 V External dimension mm 014 5 x 26 5 2 Handling Instructions 1 Do not heat or solder its terminals 2 Do not measure its voltage with a tester or short circuit 3 Do not disassemble 5 3 Battery Replacement Backup battery needs periodic exchange When the battery exchange it should be done at power on otherwise some or all data will be lost The following shows the battery replacement procedure Battery replacement Open the cover of the CPU module Release the existing battery from the holder and disconnect the connector Insert a new battery into the holder in the exact direction and connect the connector Yes Battery error Chapter 6 MEMORY MODULE Chapter 6 USING THE USER PROGRAM IN FLASH MEMORY This chap
64. Response format for PLC NAK response ET w i a H3130 H59 79 H3146 H31313332 GIE e Station number commands and register No are the same as computer reguest format e BCC When command is one of lower case y only one lower byte of the value resulted by adding 1 Byte each to ASCII values from NAK to ETX is converted into ASCII added to BCC and sent e Error code is hex and 2 Bytes ASCIl code 4 Bytes which indicates type of error For the details see Appendix A2 Error Code Table 13 27 Chapter 13 DEDICATED Cnet COMMUNICATION FOR GM6 5 Example of use This supposes that reading the variable registered with register No 1 in station No 1 is carried out It is also supposed that the one registered is a named variable reading the number of blocks is 1 and the data type is DINT Computer request format pane Header Station No Command Register No Tail Frame check Frame Ex ENQ HOT Y y H01 EOT BCC ASCII value H05 H3031 H59 79 H3031 H04 For PLC ACK response after execution of command Format Header Command Register Number of Number of Tail name No blocks data Frame Ex ACK H01 Y y H01 H01 H04 H23422339 ETX BCC ASCII H3233343232 H3031 H59 79 H3031 H3031 H3034 333339 joo For PLC NAK response after execution of command fasolvave ens root reer eer Erereegeg HOS o 13 28 Chapter 13 DEDICATED Cnet COMMUNICATION FOR GM6 13 8
65. STOP gt Remote PAUSE Remote STOP gt DEBUG Remote RUN Remote PAUSE Remote RUN gt Remote STOP Remote RUN DEBUG Remote PAUSE Remote RUN Remote PAUSE gt Remote STOP Remote PAUSE Remote DEBUG DEBUG Remote STOP DEBUG Remote RUN DEBUG Remote PAUSE PAU REM x x fe x E fe x fe fe fe x fe xX x fe X fe fe x fe fe fe x fe 4 Remote operation mode change enable disable It is possible to disable the mode change for system protection so that some parts of the operation mode sources cannot change the mode If remote operation mode change has been disabled the operation mode change is possible only by the mode setting switch and GMWIN To enable the remote operation change set the parameter Enabling the PLC control by communications to enable For details refer to the Appendix 1 System Definitions Chapter 4 CPU MODULE 4 5 Functions 4 5 1 Restart mode The restart mode defines how to initialize variables and the system and how to operate in the RUN mode when the system starts its operation with the RUN mode by re application of the power or mode change Two restart modes cold and warm restart are available and the execution condition for each restart mode is given below For details refer to the 4 5 1 Basic Parameters Edit of the GMWIN User s Manual Section 4 5 Parameters Edit 1 Cold Restart 1 It is executed when the
66. This supposes that the variable which data type of station No 1 is UINT and the variable name is ASDF is monitor registered with No 1 Computer request format Format Head Comm Regist name er and er No ca Register format Number Variable Variable Tail of blocks length name ASDF ASCII value H3031 H58 78 H3031 ne i 13 24 Chapter 13 DEDICATED Cnet COMMUNICATION FOR GM6 For PLC ACK response after execution of command Format name Header Station No Command Register No Tail Frame check Frame Ex ACK H01 X x H01 ETX BCC ASCII value H06 H3031 H58 78 H3031 H03 For PLC NAK response after execution of command Format name Header Command onran Auf Gee Tail eo Hex 2 _ Fane wa frat LE 13 25 Chapter 13 DEDICATED Cnet COMMUNICATION FOR GM6 6 Monitor execution Y 1 Introduction This is a function that carries out the writing of the variable registered by monitor register This also specifies registered No and carries out the writing of the variable registered in the No 2 Request format Fates fo MG WINE o EE ASCII El H3130 H59 79 H3146 e Register No uses the same No as the No registered during monitor register for monitor execution e BCC When main command is one of lower case y only one lower byte of the value resulted by adding 1 Byte each to ASCII values from ENQ to EOT is converted into ASCII added to
67. User s Manual LG Programmable Logic Controller GLOFA GM6 Series LG Industrial Systems SAFETY INSTRUCTIONS To prevent injury and property damage follow these instructions Incorrect operation due to ignoring instructions will cause harm or damage the seriousness of which is indicated by the following symbols This symbol indicates the instant death or N DANGER serious injury if you don t follow instructions This symbol indicates the possibility of death N WARNING or serious injury N CAUTION This symbol indicates the possibility of injury or damage to property N The meaning of each symbol on equipment is as followed A This is the safety alert symbol Read and follow instructions carefully to avoid dangerous situation A This symbol alerts the user to the presence of dangerous voltage Inside the product that might cause harm or electric shock SAFETY INSTRUCTIONS Design Precautions gt Install a safety circuit external to the PLC that keeps the entire system safe even when there are problems with the external power supply or the PLC module Otherwise serious trouble could result from erroneous output or erroneous operation Outside the PLC construct mechanical damage preventing interlock circuits such as emergency stop protective circuits positioning upper and lower limits switches and interlocking forward reverse operation When the PLC detects the following problems it will stop calculation
68. V 6 Power consumption of the special module power supply e Ws lsv x 5 loay x 24 hoov x 100 W The sum of the above values is the power consumption of the entire PLC system e W Wew Wsv Waay Wout Win Ws W Check the temperature rise within the control panel with calculation of that total power consumption W The temperature rise in the control panel is expressed as T W UA C W Power consumption of the entire PLC system obtained as shown above A Control panel inside surface area m2 U 6 if the control panel temperature is controlled by a fan etc 4 if control panel air is not circulated Chapter 10 INSTALLATION AND WIRING 10 1 2 Handling Instructions To installing the temperature measuring resistor input module be sure to check the following e Do not drop it off and make sure that strong shock should not be applied e Do not unload the PCB from its case It can cause faults e During wiring be sure to check any foreign matter like wire scraps should not enter into the upper side of the PLC If any foreign matter has entered into it always eliminate it e Do not load or unload the module while the power supply is being connected 1 VO module handling instructions The followings explains instructions for handling or installing the input module 1 I O module specifications re check Re check the input voltage for the input module If a voltage over the maximum switching capacity is applied i
69. a system by the user The other is data memory which stores data during operation 1 Program memory configuration The table given below shows the contents to be stored and the storage capacity of program memory ltem Memory Capacity Overall program memory area 68 k bytes Parameter area e Basic parameter area e I O parameter area 2 k bytes e High speed link parameter area e Interrupt setting information area Program area e Scan program area e Task program area e User defined function function block area e Standard library area e Access variable are e Variable initialization information area e Protective variable specification information area 66 k bytes 2 Data memory Configuration The table given below shows the contents to be stored and the storage capacity of program memory Item Memory Capacity Overall data memory area 32 k bytes System area 1k bytes e O information table e Force I O table System flag area 1 5 k bytes Input image area lX 128 bytes Output image area QX 128 bytes Direct variable area M 2 to 8k bytes Symbolic variable area maximum 29 k bytes the size of direct variable area Stack area 3 k bytes Chapter 4 CPU MODULE 3 Purpose 1 System area it used to store the self created data of the CPU module for system management and GMWIN system control data 2 System flag area it used to user flags and system flags The u
70. al operation P operation 1 P action means a control action that obtain a manipulate value which is proportional to the deviation E the difference between SV and PV 2 The deviation E is obtained by multiplying a reference value to the actual difference between SV and PV It prevents the deviation from a sudden change or alteration caused by external disturbance The formula of deviation is as following MV Kpx bxSV PV Kp the proportional constant gain b reference value SV set value PV present value 3 If the Kp is too large the PV reaches to the SV swiftly but it may causes a bad effect like oscillations shown in the Fig 2 1 4 If the Kp is too small oscillation will not occur However the PV reaches to the SV slowly and an offset may appear between PV and SV shown in the Fig 2 2 5 The manipulation value MV varies from 0 to 4 000 User can define the maximum value of MV MV_MAX and minimum value MV_MIN within the range 0 4 000 6 When an offset remains after the system is stabilized the PV can be reached to the SV by adding a certain value This value is called as bias value and user can define the bias value with GM WIN software Chapter 15 THE PID FUNCTIONS Fig 2 1 When the proportional constant Kp is large Fig 2 1 When the proportional constant Kp is small 15 3 Chapter 15 THE PID FUNCTIONS 15 2 1 2 Integral operation I action 1 UI 3
71. allation Locations of slots where I O modules are loaded are indicated in location the bitmap of base units App2 6 App 2 FLAG LIST 7 Communications Flag GLOFA Mnet Fnet Cnet Flag List 1 Communication Module Information Flag List e n is the number of slot where a communications module is loaded n 0 to 7 Keyword Type sit Name Description _CnVERNO UINT Mnet Fnet Cnet Communications module e Communications module O S version No version No _CnSTNOH UINT Mnet Fnet Cnet Communications module station e Indicates the number which is set on communications module station switch _CnSTNOL UDINT No Mnet MAC station No marked on the front of communication module Fnet Station switch No marked on the front of communications module Cnet Station No set by the frame editor _CnSTNOH Station No set on the side of RS 232C _CnSTNOL Station No set on the side of RS 422 _CnTXECNT UINT Mnet Fnet Cnet Communications frame sending e Increments by one whenever sending error of communications frame occurs error e Connection condition of network is evaluated by this value e In Cnet this value is the sum of errors occurred during receiving through RS 232 and RS 422 _CnRXECNT UINT Mnet Fnet Cnet Communications frame e Increments by one whenever communications service fails receiving error e Connection condition of network is evalu
72. ams _10N BOOL First scan On Turn On only during the first scan after the operation has started _1OFF BOOL First scan Of Turn Off only during the first scan after the operation has started _STOG BOOL 7 Scan Toggle Toggles On Off at every scan while a user program is being executed On at the first scan Initialization Program If this flag is set to on in the initialization program in an user program the INT_DONE BOOL Enable Complete initialization program stop its operation and the scan program will starts _INT_DATE DATE RTC present date Date Data of standard format Reference date Jan 1 1984 _RTC_TOD TOD RTC present time Time Data Reference time 00 00 00 _RTC_WEEK UNIT RTC present day Day data 0 Monday 1 Thuesday 2 Wednesday 3 Thursday 4 Friday 5 Saturday 6 Sunday 1 Flags with the mark are initialized when the initialization program starts and after its execution has been competed the flags will change in accordance with the restart mode set e If cold or warm restart has been set the flags will be initialized when the scan program starts its execution If hot restart has been set the flags will be restored to the state before the last stop when the scan program starts its execution 2 Representative System Error Flag List Keyword Type Bit No Name Description _CNF_ER WORD Representati System error This flag handles the following operati
73. and turn off all output in the case of watchdog timer error module interface error or other hardware errors However one or more outputs could be turned on when there are problems that the PLC CPU cannot detect such as malfunction of output device relay transistor etc itself or I O controller Build a fail safe circuit exterior to the PLC that will make sure the equipment operates safely at such times Also build an external monitoring circuit that will monitor any single outputs that could cause serious trouble gt Make sure all external load connected to output does NOT exceed the rating of output module Over current exceeding the rating of output module could cause fire damage or erroneous operation gt Build a circuit that turns on the external power supply when the PLC main module power is turned on If the external power supply is turned on first it could result in erroneous output or erroneous operation SAFETY INSTRUCTIONS Design Precautions gt Do not bunch the control wires or communication cables with the main circuit or power wires or install them close to each other They should be installed 100mm 3 94inch or more from each other Not doing so could result in noise that would cause erroneous operation Installation Precautions gt Use the PLC in an environment that meets the general specification contained in this manual or datasheet Using the PLC in an environment outside the range of the gen
74. are available REMARK Setting range of watchdog 1 65 535ms 1ms base 4 2 5 Timer Processing The CPU module timer is on incremental timer which increase its present value according to the measuring time Three types of On Delay Timer TON Off Delay Timer TOF and Pulse Timer TP are available 4 4 Chapter 4 CPU MODULE Its measuring range is 0 001 to 4 294 967 295 sec 1 193 hours by 1 ms For details refer to GLOFA GM Programming ii Txx BOOL IN Q BOOL TIME PT ET TIME 1 On Delay Timer Process Time Change and Contact On Off Timer Process time is newly changed when the timer function block is executed When the process time reaches the setting time process time setting time the Timer output contact turns on On Delay Timer Timing Diagram is shown as below 2 Off Delay Timer Process Time Change and Contact On Off e If input condition turns on timer output contact Q turns on If input condition turns off timer process time change starts e The process time is newly changed when the timer function block is executed When the process time reaches the setting time process time setting time the contact Q turns off The following diagram shows Off Delay Timer Timing Chapter 4 CPU MODULE 3 Pulse Timer Process Time Change and Contact On Off If input condition turns on output contact Q turns on The process time is newly changed when the timer funct
75. assurance interval 12 Detailed Description of error contents 13 Configuration Diagram for the applied system Chapter 12 TROUBLE SHOOTING 12 4 Troubleshooting Examples Possible troubles with various circuits and their corrective actions are explained 12 4 1 Input circuit troubles and corrective actions The followings describe possible troubles with input circuits as well as corrective actions Condition Cause Corrective Action Input signal close not turn OFF Leakage current of external device such as a drive by non contact switch Input signal does not turn OFF Leakage current of external device Drive by a limit switch with neon lamp Leakage current External device e Connect an appropriate register and capacity which will make the voltage across the terminals of the input module lower than AC input e C and R values are determined by the leakage current value Reminded value C 0 1 0 47 uF R 47 1200 1 2W Or make up another independent display circuit Input signal does not turn OFF Input signal does not turn OFF Leakage current due to line capacity of wiring cable Leakage current external device Leakage current of external device Drive by switch with LED indicator DC input Leakage current External device e Power supply is located on the external device side as shown below exteranl device e Connect an appropriate registe
76. ated by this value Overall network communications quantity and program stability are also evaluated by this value _CnSVCFCNT UINT Mnet Fnet Cnet Communications service e Indicates the maximum time that is spent until every station connected to processing error network has the token at least one time and sends a sending frame _CnSCANAV UINT Mnet Fnet Cnet Maximum communications scan e Indicates the average time that is spent until every station connected to time unit 1 ms network has the token at least one time and sends a sending frame _CnSCANMN UINT Mnet Fnet Cnet Average communications scan e Indicates the minimum time that is spent until every station connected to time unit 1 ms network has the token at least one time and sends a sending frame _CnLINF UIN Mnet Fnet Cnet Minimum communications scan e Indicates operation state of communications module with a word time unit 1 ms _CnLNKMOD BIT 15 Operation mode RUN 1 e Indicates that operation mode of communications module is in the normal TEST 0 operation mode or test mode _CnINRING BIT 14 In ring N RING 1 e Indicates that the communications module can communicates IN RING 1 with other station or not CNIFERR BIT 13 Interface error error 1 e Indicates that interface with communications modules has been stopped gt e e Indicates that service cannot be offered due to insufficient common RAM _CnSVBSY BIT 12 Insufficient common RAM Insufficient 1 e Indi
77. attery which the power is being applied 12 11 When power is appli When scan completes Chapter 13 DEDICATED Cnet COMMUNICATION FOR GM6 Chapter 13 DEDICATED Cnet COMMUNICATION FOR GM6 13 1 Introduction The GM6 CPU module provides some basic Cnet communication functions without Cnet module Although all functions of Cnet module are not supported it will be very useful functions for users to perform simple Cnet communication If your needs are read write variables 1 Q M devices and Monitoring you don t need to buy Cnet module It will save your money and slot for Cnet module The Cnet functions provided by CPU A type module are as following Individual read instruction Continuous read instruction Individual write instruction Continuous write instruction Monitoring variables registration Monitoring execution 1 1 communication only dedicated protocol RS 232 communication only REMARK Because the dedicated Cnet communication for GM6 does not support all functions of Cnet module there are some limitations as following comparison with using Cnet module 1 At the pressing time the RS 422 protocol is not supported Only RS 232C protocol is supported RS422 protocol will be available with the next version of GM6 CPU 2 Only the 1 1 communication is available The 1 N communication multi drop which have Master amp Slave station will be available with the next version of GM6 CPU 3 Becaus
78. bers of program blocks 100 Initialization programs 1 LINT types i Task External interrupt tasks The type of task is Programs variable however total Internal task 1 point occupies 20 byte of symbolic variable area 1 point occupies 8 byte of symbolic variable area numbers of tasks is 8 Operation modes Restart modes Self diagnostic functions Data protection method at power failure Built in special functions RS 232C RTC PID control RUN STOP PAUSE and DEBUG Cold Warm Watch dog timer Memory error detection I O error detection Battery error detection Power supply error detection etc Set to Retain variables at data declaration RS 422 485 4 1 PID control Chapter 4 CPU MODULE 4 2 Operation Processing 4 2 1 Operation Processing Method 1 Cyclic operation A PLC program is sequentially executed from the first step to the last step which is called scan This sequential processing is called cyclic operation Cyclic operation of the PLC continues as long as conditions do not change for interrupt processing during program execution This processing is classified into the following stages EA EN e Stage for the start of a scan processing it is executed only one time when the power is applied or reset is executed It executes the following processing gt VO modules reset Execution of self diagnosis b_Dateolane__ _ BUO madia sddraaa allanation_or tune eaiteotan e Input module con
79. cates communications module hardware defect or system O S error _CnCRDER BIT 11 Communications module system error error 1 _NETn_LIV k BIT Fnet Stations connected to the e Indicates whether k remote station or local PLC is connected to the network k 0 to 63 ARRAY network 1 connected or not The state value is written to each bit These values shows present k Station No O disconnected state of the network Write is disabled _NETn_RST k BIT Fnet Re connection of a station e Indicates re connected stations which had been disconnected before on a k 0 to 63 ARRAY 1 re connected 0 no changed bitmap Because this value has been replaced with 1 when re connected k Station No condition the user program has to clear this value with 0 so that next re connection can be detected Write is enabled _NETn_232 k BIT Cnet The indication that the user e When a receiving frame is received through RS 232C while the part of RS k 0 to 63 ARRAY defined frame has been 232C in Cnet is operating in the user defined mode the bit corresponding to k Station No received Indicated at each setting No is turned ON If RCV_MSG F B has read that that bit will be setting No Received 1 cleared with 0 _NETn_422 k BIT Cnet The indication that the user e When a receiving frame is received through RS 422 while the part of RS k 0 to 63 ARRAY defined frame has been 232C in Cnet is operating in the user defined mode the bit correspon
80. ce time of the time driven tasks whose execution requests have been ignored will be written at its corresponding location of the flag _TC_CNT n e The timer that invokes the execution request for time driven task programs will be incremented only when the operation mode is in the RUN mode If the RUN mode has been changed into the PAUSE mode while operating with the RUN mode and then the operation mode has been changed again into the RUN mode the operation time spent with the PAUSE mode will be ignored e When setting the execution cycle for a time driven task program be cautious that execution requests for many time driven task programs can occur If four time driven task programs of cycle 2 4 10 and 20sec are used four execution requests will occur every 20 sec and scan time can be momentarily extended Chapter 4 CPU MODULE 4 External contact program processing method The following explains in the case that the task start up condition of a task program has been set to an external input signal 1 Settings that have to be set for the input module e Acontact of input module can be used as interrupt input 2 Settings that have to be set for the task e Set the contact No of input module and priority for the task that will be used as start up conditions of the task programs to be executed Priority will be the task number 3 External contact task processing e The CPU module checks the occurrence of interrupt input every 1ms and execut
81. change the operation mode 1 Change by the mode setting switch of CPU module 2 Change by the GMWIN connected with the CPU module communications port 3 Change by the GMWIN connected to the remote CPU module through Fnet 4 Change by the user s command using FAM or computer link module etc 5 Change by the STOP function ESTOP function during program execution 2 Operation mode change by the mode setting switch of CPU module The following shows the operation mode change by the mode setting switch of CPU module Mode setting switch position Operation mode RUN Local RUN STOP Local STOP STOP PAU REM Remote STOP PAU REM gt RUN _ Local RUN RUN PAU REM 2 Local PAUSE Remote RUN PAU REM STOP Local STOP REMARK 1 If the operation mode changes from RUN mode to local RUN mode by the mode setting switch the PLC operates continuously without stop 2 If Local PAUSE disable or Local PAUSE enable is set by parameter in GMWIN it operated as Remote RUN or Local PAUSE Chapter 4 CPU MODULE 3 Remote operation mode change Remote operation mode change is available only when the operation mode is set to the remote STOP mode i e the mode setting switch position is in the STOP gt PAU REM Mode setting Mode change by Mode change using FAM switch Made Change the GMWIN or computer link etc position Remote STOP gt Remote RUN Remote
82. cks of the parameters set k 0 to 63 Array communications state _HSmSTATE k HSmMODIK amp _HSmTRX k amp HSMERRIK k Station No information _HSmMOD k Bit Fnet Mnet K Data Block setting stations Indicates the operation modes of stations set the K data block of parameters k 0 to 63 Array mode information RUN 1 k Station No others 0 HSmTRXIK Bit Fnet Mnet K Data Block communications e Indicates that communications of the K data block of parameters are normally k 0 to 63 Array state information Normal 1 operating as set or not k Station No abnormal 0 HSmERRIK Bit Fnet Mnet K Data Block setting stations Indicates that the stations set in the K data block of parameters have an error k 0 to 63 Array state information Normal 1 or not k Station No abnormal 0 App2 8 App 3 FUNCTION FUNCTION BLOCK LIST Appendix 3 Function Function Block List 1 Function List Size of Processing speed Name Function a 4 is library usec 3 bs byte 2 GM6 ABS int Absolute value operation 24 1 2 ADD int Addition 24 1 7 AND word Logical multiplication 16 4 3 DIV int Division 32 se 32 9 DIV dint Division 32 62 9 EO int Equality comparison 20 1 6 LIMIT int To output upper and lower limits 48 794 11 8 MAX int
83. consumption 210 mA Operation indicator LED turns on at ON state of output External connections 9 point terminal block connector M3 x 6 screws Weight 0 16 kg Internal Circuit Terminal Block Number 7 15 es Chapter 8 POWER SUPPLY MODULE Chapter 8 POWER SUPPLY MODULE This chapter describes the selection method type and specifications of the power supply module 8 1 Selection of power supply module Selection of the power supply module is determined by the total current consumption of digital input modules special modules and communications modules etc whose powers are supplied by the power supply module If total load overrun the rated output capacity the system will not normally operate When configuring a system select a power supply module with due consideration of current consumption of each module 1 Current consumption GM6 series modules unit mA Current Current Consumption Module Models Consumption GM6 CPUA 170 G6Q TR2A 180 Modules Models CPU module GM6 CPUB 210 G6Q TR2B 170 Transistor output GM6 CPUC 170 module G6Q TR4A G6l D21A 40 G6Q TR4B G6I D22A 70 A D conversion module G6F AD2A 24 VDC input G6l D22B 70 G6F DA2V module D A conversion module G6l D24B 75 High speed counting Ger usca module 110 VAC input module 220 VAC input module G6I A11A 35 G6L CUEB Computer link module G6I A21A 35 G6L CUEC
84. control is as following P n KP x SV n PV n n sampling number K proportional gain constant b reference value SV set value PV present value 15 2 2 2 control The continuous formula of control is as following K p I t A e s ds I t integral term K proportional gain constant Ti integral time e s deviation value By deviation about t we can obtain dl K ae e e SV PV deviation value dt Ti The digitized formula is as following I n 1 I n _ K h Ti e n h sampling period I n 1 wos es Ti 15 13 Chapter 15 THE PID FUNCTIONS 15 2 2 3 D control The continuous formula of derivative term is as following EE epeka N dt dt N high frequency noise depression ration y the object to be controlled PV The digitized formula is as following Use Tustin approximation method 2Td hN 2KTAN D n DEI l O dinn OP Td AN b ye 15 2 2 4 Pseudo code of PID control The pseudo code of PID control is as following Step 1 Get constants that are used for PID operation h Bi K x integral gain Ti _ 2xTd Nxh 2xTd Nxh _ 2xKxNxTd 2xTd Nxh A Tt Step 2 Read SV and PV value PV adin ch1 Step 3 Calculate the proportional term P K x b x SV PV Step 4 Update the derivative term initial value of D 0 D As x D Bd x PV PV_old Step 5 Calculate the MV initial value of I 0 MV P 1 D derivation gain AO ant
85. crews Re tighten Screws should not be loose Retighten Distance between terminals Connecting conditions Visual check Proper clearance Correct Loose connector Line voltage check Visual check Measure voltage across 110 220 VAC terminal Connectors should not be loose 85 264VAC GM6 PAFA B 10 5 28VDC GM6 PDFA 20 28VDC GM6 PD3A Retighten connector mounting Change supply power Check battery replacement time and battery capacity reduction Visual check e Check total power failure time and the specified source life e Battery capacity reduction should not be indicated No melting disconnection If battery capacity reduction is not indicated Change the battery when specified service life is exceeded If fuse melting disconnection change the fuse periodically because a surge current can cause heat Chapter 12 TROUBLE SHOOTING Chapter 12 TROUBLE SHOOTING The following explains contents diagnosis and corrective actions for various errors that can occur during system operation 12 _ Basic Procedures of Troubleshooting System reliability not only depends on reliable equipment but also on short down times in the event of faults The short discovery and corrective action is needed for speedy operation of system The following shows the basic instructions for troubleshooting 1 Visual checks Check the following points e Machine motion In stop
86. ding to k Station No received Indicated at each setting No is turned ON If RCV_MSG F B has read that that bit will be setting No Received 1 cleared with 0 App2 7 App 2 FLAG LIST 1 Communications Module Information Flag List continued Applicable Keyword Type Net Name Description _FSMn_reset BIT Fnet Remote I O station S W reset e Requests reset for remote I O station Write is enabled Request can be done individually or wholly complying with the settings in the FSMn_st_no _FSMn_io_reset BIT Fnet Remote VO station digital output e Requests output reset for remote I O station Write is enabled reset e Request can be done individually or wholly complying with the settings in the FSMn_st_no _FSMn_hs_reset BIT Fnet Remote 1 O station high speed e If a momentary power failure occurs in the remote I O station the operation link information initialization mode bit of high speed link information turns off and link trouble has the value 1 If the bit is turned on to clear that bit the operation mode bit turns on and link trouble is cleared with 0 e Request can be done individually or wholly complying with the settings in the FSMn_st_no _FSMn_st_no USINT Numbers of VO stations where e Sets the numbers of VO stations where _FSMn_reset _FSMn_io_reset and _FSMn_reset _FSMn_io_reset and _FSMn_hs_reset will be executed Write is enabled _FSMn_hs_reset wil
87. ditions are read and stored into the input image area before Input image area refresh operation processing of a program Program is sequentially executed from the first step to the last step Program operation processing Program start e The contents stored in the output image area is output to output modules when Output image area refresh operation processing of a program is finished e Stage for return processing after the CPU module has finished 1 scan The END processing following processing are executed gt Self diagnosis gt Change of the present values of timer and counter etc gt Processing data communications between computer link module and communications module P Checking the switch for mode setting 4 2 Chapter 4 CPU MODULE 2 Time driven interrupt operation method In time driven interrupt operation method operations are processed not repeatedly but at every pre set interval Interval in the GM6 CPU module can be set to between 0 01 to 4294967 29 sec This operation is used to process operation with a constant cycle 3 Event driven interrupt operation method If a situation occurs which is requested to be urgently processed during execution of a PLC program this operation method processes immediately the operation which corresponds to interrupt program The signal which informs the CPU module of those urgent conditions is called interrupt signal The GM6 CPU module has two kind of interrupt operation
88. e Models Relay Output Module Specifications G6Q RY1A Number of output points 8 points Insulation method Relay insulation Rated load voltage amp current 24 VDC 2A resistance point 220 VAC 2A COSW 1 point Minimum load voltage current 5 VDC 1mA Maximum load voltage current 250 VAC 125 VDC Maximum switching frequency 1200 times per hour Surge absorber None Mechanical 20 million times or more Rated load voltage current 100000 times or more Service life Electrical 200 VAC 1 5 A 240 VAC 1 A COSY 0 7 100000 times or more 200 VAC 1 A 240 VAC 0 5 A COSY 0 35 100000 times or more 24 VAC 1 5 A 100 VDC 0 1 A L R 7 ms 100000 times or more Response time Off On 10 ms or less On Off 12 ms or less Common terminal arrangement 1 points COM Internal current consumption 210mA Operation indicator LED turns on at ON state of output External connections 18 point terminal block connector M3 x 6 screws Weight 0 16 kg Internal Circuit Terminal Block No 7 9 Chapter 7 7 3 2 Models Specifications INPUT AND OUTPUT MODULES 16 point relay output module Relay Output Module G6Q RY2A Number of output points 16 points Insulation method Photo coupler Rated load voltage amp current 24 VDC 2A resistance point 5 A COM 220 VAC 2A COS 1 point 5A COM
89. e absorber for lightening 1 Ground the surge absorber E1 and the PLC E2 separately from each other 2 Select a surge absorber making allowances for power voltage rises 9 Use a insulating transformer or noise filter for protection against noise 10 Twist every input power supply wires as closely as possible Do not allow the transformer or noise filter across the duct 10 10 Chapter 10 INSTALLATION AND WIRING 10 2 2 Input and Output Devices Wiring 1 Applicable size of wire for VO wiring is 0 3 to 2 mm2 However it is recommended to use wire of 0 3mm for convenience 2 Separate the input and output lines 3 I O signal wires must be at least 100 mm away from high voltage and large current main circuit wires 4 When the I O signal wires cannot be separated from the main circuit wires and power wires ground on the PLC side with batch shielded cables PLC Shielded cable 5 If wiring has been done with a piping ground the piping 6 Separate the 24 VDC I O cables from the 110 VAC and 220 VAC cables 7 If wiring over 200 m or longer distance problems can be caused by leakage currents due to line capacity Refer to the Section 12 4 Examples 10 2 3 Grounding 1 This PLC has sufficient protection against noise so it can be used without grounding except for special much noise However when grounding it should be done conforming to below items 2 Ground the PLC as independently a
90. e the GM6 CPUA module has only one serial port supports RS 232C the general RS 232C cable can not be used Also the cable for Cnet module can not be used with GM6 CPUA module See the chapter 13 3 of this manual for the detailed pin assign for GM6 CPUA module Chapter 13 DEDICATED Cnet COMMUNICATION FOR GM6 13 2 The example of system configuration Generally the system configuration have two types the 1 1 communication with PC and the connection with monitoring device like PMU The configuration when connected to PC With this configuration the communication program of PC can be a user s own program written in C or other programming language or a commercial software like FAM or CIMON GLOFA PLC GM6 P ie L W U EEN N T GM6 EI BM Compatible PC RS 232C Interface The example of 1 1 connection Cnet connection with PC The configuration when connected to PMU GLOFA PLC GM6 acO TES PMU LGIS RS 232C Interface The example of 1 1 connection with LGIS protocol Cnet connection with PMU 13 2 Chapter 13 DEDICATED Cnet COMMUNICATION FOR GM6 13 3 The pin assignment of RS 232C connector of the GM6 dedicated Cnet communication The 1 1 connection with PC PC PLC GM6 1 1 2 3 4 n 5 5 6 6 7 7 8 8 9 9 lt The pin assignment of RS232C conn
91. ector which are used the connection of PC and GM6 CPU gt The 1 1 connection with the monitoring unit like PMU PMU PLC GM6 lt The pin assignment of RS232C connector which are used the connection of PMU and GM6 CPU gt 13 3 Chapter 13 DEDICATED Cnet COMMUNICATION FOR GM6 13 4 Frame structure 1 Basic structure of frame 1 Request frame external communication devices Cnet module Max 256 Bytes Header Station Type of Tail Frame ENQ pan fom NT on eae 2 ACK response frame Cnet module external communication devices when data is normally received Max 256 Bytes Header Station Type of Tail Frame ENQ Structurized data area or null ETX check Bcc 3 NAK response frame Cnet module external communication devices when data is abnormally received Max 256 Bytes Header Station Type of Tail Frame NAK Error code ASCII 4 Bytes ETX check BCC REMARK The contents of the code used are as below Table Control characters are importantly used during serial communication so they must be well acquainted Table 13 1 Control characters Code Original word Start code of request frame Acknowledge Start code of ACK response frame End ASCII code of request frame 05 06 i 04 13 4 Chapter 13 DEDICATED Cnet COMMUNICATION FOR GM6 REMARK Numerical data of all frames is ASCII code of hex value as long as there is not any definition The contents
92. ecuted 2 Operation processing contents 1 VO refresh is executed by one time every scan 2 Communications service or other internal operations are processed 3 Debug operation conditions e Two or more of the following four operation conditions can be simultaneously specified Operation conditions Description Executed by the one If an operation command is ordered the system operates one operation unit operation unit step over and stops Executed to the specified e If break step is specified in the program the operation stops at those step breakpoint before execution e Up to 8 breakpoints can be specified Chapter 4 CPU MODULE Executed according to If the contact area to be watched and the condition Read Write Value the contact state where the operation has to stop are specified the operation stops when the specified operation occurs at the specified contact after execution Executed by the specified If the number of scan that will be operated is specified the operation stops scan number after it has operated by the specified scan number 4 Operation method 1 Execute the operation after the debug operation conditions have been set in the GMWIN 2 In task programs each task can be specified to operation enable disable For detailed operation method refer to the GMWIN User s Manual Chapter 9 4 4 5 Operation mode change 1 Operation mode change methods The following method are used to
93. ed when the power is all lied or the POWER LED tums OFF during operation Power LED is turned OFF Is the power supply operaie Apply the power supply Does the Power LED turn ON See the supply power to within the rated power Is the voltage 85 to 264VAC line Does the Power LED turn ON Is Fuse disconnected Does the Power LED turn ON Is the power supply Does the Power LED turn ON Over current protection Device activated Does the Power LED turn ON Write down the troubleshooting questionnaires and contact the nearest c j omplete service center p 12 2 Chapter 12 TROUBLE SHOOTING 12 2 2 Troubleshooting flowchart used when the STOP LED is flickering The following flowchart explains corrective action procedure use when the power is applied starts or the STOP LED is flickering during operation Read the error code in the system S W error Correct the program Set the operation mode to the STOP Write the program newly Set the operation mode to the RUN orrect in accordance with thel error contents Write down the troubleshooting questionnaires and contact the Complete nearest service center 12 3 Chapter 12 TROUBLE SHOOTING 12 2 8 Troubleshooting flowchart used when the RUN and STOP LEDs turns off The following flowchart explains corrective action procedure use when the power is applied starts or the RUN and STOP L
94. er of basic parameter setting is duplicated with one of the slave station numbers of high speed link parameters setting Bit 2 Turn on when the M area of high speed link parameter setting is out of the range 5 The scan time of RS422 485 communication Description _M422_SCAN_MAX Time Type The maximum scan time _M422_SCAN_MIN Time Type The minimum scan time _M422_SCAN_CUR Time Type The current scan time Scan time A total time of the processing time of the all parameter settings From the execution of the first parameter setting to the next execution Chapter 14 THE RS 422 485 COMMUNICATION OF GM6 CPUB 14 5 Monitoring Users can monitor the communication status of R 422 485 network with the monitor function of the GMWIN software The high speed link parameter 1 monitoring screen is used for monitoring the RS422 485 network status The CPU module should be a B type and assigned as master station in the basic parameter setting Otherwise the monitor screen will show the status of high speed link service Inthe monitoring screen the following flags are shown Master PLC parameter _M422_STATE On Off The scan time of communication _M422_SCAN_MAX Maximum scan time _M422_SCAN_MIN Minimum scan time _M422_SCAN_CUR Current scan time No Type From To Size The contents of high speed link 1 parameters Error counter and code M422 ERR_CNT M422 ERR Slave PLC _ 422_STATE Chapter 14 THE RS 422 485 C
95. eral specifications could result in electric shock fire erroneous operation and damage to or deterioration of the product Completely turn off the power supply before loading or unloading the module Not doing so could result in electric shock or damage to the product Make sure all modules are loaded correctly and securely Not doing so could cause a malfunction failure or drop Make sure I O and extension connectors are installed correctly Poor connection could cause an input or output failure When install the PLC in environment of much vibration be sure to insulate the PLC from direct vibration Not doing so could cause electric shock fire and erroneous operation Be sure to there are no foreign substances such as conductive debris inside the module Conductive debris could cause fires damage or erroneous operation SAFETY INSTRUCTIONS Wiring Precautions AN Warning gt Completely turn off the external power supply when installing or placing wiring Not doing so could cause electric shock or damage to the product Make sure that all terminal covers are correctly attached Not attaching the terminal cover could result in electric shock Ax Caution Be sure that wiring is done correctly be checking the products rated voltage and the terminal layout Incorrect wiring could result in fire damage or erroneous operation Tighten the terminal screws with the specified torque If the terminal screws are loose i
96. ernal monitoring is being executed for programs or variables Bit 15 Remote mode ON Operation in the remote mode Representati GMWIN ve keyword connection state Connection state between CPU module and GMWIN Local GMWIN f Bit 0 connection Local GMWIN connection state GMWIN_CNF Byte Bit 1 Remote GMWIN Remote GMWIN connection state connection Remote Bit 2 communications Remote communications connection state connection Representati Restart mode Restart type of program which is being executed in present History ve keyword information spes prog 9 P y _RST_TY Byte Bit 0 Cold restart Bit 1 Warm restart See the Section 4 5 1 Bit 2 Hot restart During esi Bad ene _INIT_RUN Bool initialization An initialization program written by the user is being executed _SCAN_MAX Unit aan SCAN Maximum scan time is written during operation time ms Minimum scan aen ETE p _SCAN_MIN Unit time ms Minimum scan time is written during operation _SCAN_CUR Unit ie soan lime Present scan time is continuously updated during operation BCD data of present time of RTC Example 96 01 12 00 00 00 XX _RTC _TIME 0 year RTC _TIME 1 month RTC _TIME 2 day AE EIE EED NN HALON i Eresenttime RTC _TIME 3 hour RTC _TIME 4 minute RTC TIMEIS second _RTC _TIME 6 day of the week RTC _TIME 7 unused Day of the week 0 Mon 1 Tue 2 Wed 3 Thur 4 Fri 5 Sat 6 Sun _SYS_ERR Unit Error code Error type See the Sect
97. es the task program which are designated by the contact at which the signal has been occurred 4 Precautions for using an external contact task e While a task program which are designated by an input module having interrupt input contact is being executed or ready for its execution if an execution request of a task program has been occurred to the same input contact then the newly invoked task will be ignored the representative task collision warning flag _TASK_ERR will be set to ON the detailed system error flag _TC_BAMP n will be set to ON at its corresponding location and the occurrence time of the external task whose execution request has been congested e Execution request for a task program can be accepted only when the operation mode is in the RUN mode That is if the RUN mode has been changed into the PAUSE mode while operating with the RUN mode and the operation mode has been changed into the RUN mode again all execution requests occurred during the operation with the PAUSE mode will be ignored 5 Internal task program processing method The following explains the processing method when the task start up condition of a task program has been set to the contact of direct variable area I Q or M or automatic variable area 1 Settings that have to be set for the task e Set the contact No of input module and priority for the task that will be used as start up conditions of the task programs to be executed Priority will be the ta
98. executing the initialization program 2 Scan program 1 Function e In order to process signals which repeats constantly the program executes its sequential operation repeatedly from the first step to the end step e f the interrupt task execution condition has been satisfied by a time driven task or event driven task module during scan program execution the program that is under execution will be temporary stopped and the corresponding task program will be executed e If the scan program has been completely executed the single task internal interrupt execution condition will be checked and the corresponding task program will be executed 2 configuration e Up to 100 scan programs can be used If task programs are used the usable number is reduced as many as that of the used task programs e Program has been not specified to initialization or task program when writing that program it will be automatically specified to scan program e Scan program has lowest execution priority and the priorities of scan program are determined their registration sequence in the GMWIN screen when writing those programs Chapter 4 CPU MODULE 3 Task program 1 Function e In order to process internal external signal which occurs periodically or non periodically the task program temporarily stop the operation of scan program and processes first the corresponding function 2 Types e Task programs are classified into the three types as below gt
99. h as PLC system defect system configuration fault or abnormal operation result Errors are classified into fatal error mode which stops system operation for system stability and ordinary error mode which continues system operation with informing the user of its error warning The main factors that occurs the PLC system error are given as followings e PLC hardware defect e System configuration error eOperation error during execution of the user programs e External device malfunction 2 Operation mode at error occurrence In case of error occurrence the PLC system write the error contents the corresponding flags and stops or continues its operation complying with its operation mode 1 PLC hardware defect The system enters into the STOP state if a fatal error such as the CPU module defect has occurred and continues its operation if an ordinary error such as battery error has occurred 2 System configuration error This error occurs when the PLC hardware configuration differs from the configuration defined in the software The system enter into the STOP state 3 Operation error during execution of the user programs If the numeric operation error of these errors occurs during execution of the user programs its contents are marked on the error flags and the system continues its operation If operation time overruns the watch dog time or I O modules loaded are not normally controlled the system enters into the STOP state 4
100. he PLC module Program cannot be written to the PC ODIT Set the mode setting switch to thel remote STOP mode and execute he program write the mode setting switch set the remote Read the error code using the peripheral devices and correct the contents Is the STOP LED flickering 12 6 Chapter 12 TROUBLE SHOOTING 12 3 Troubleshooting Questionnaire When problems have been met during operation of the GM6 series PLC please write down this questionnaires and contact the service center via telephone or facsimile e For errors relating to special or communications modules use the questionnaire included in the user s Manual of the unit 1 Telephone amp FAX No Tel FAX 2 Used Equipment 3 Details of used Equipment CPU module OS version No Serial No GMWIN version No used to compile programs 4 General description of the device or system used as the control object 5 Operations used by the CPU module Operation by the mode setting switch Operation by the GMWIN or communications 6 Is the STOP LED of the CPU module turned ON Yes No 7 GMWIN error message 8 Used initialization program initialization program 9 History of corrective actions for the error message in the article 7 10 Other tried corrective actions 11 Error character sties e Repetitive Periodic Related to a particular sequence Related to environment e Sometimes General error
101. he built in PID Proportional Integral Differential function of B and C type CPU module GM6 CPUB and GM6 CPUC The GM6 series does not have separated PID module like GM3 and GM4 series and the PID function is integrated into the CPU module B and C type The PID control means a control action in order to keep the object at a set value SV It compares the SV with a sensor measured value PV Present Value and when a difference between them E the deviation is detected the controller output the manipulate value MV to the actuator to eliminate the difference The PID control consists of three control actions that are proportional P integral I and differential D The characteristics of the PID function of GM6 is as following the PID function is integrated into the CPU module Therefore all PID control action can be performed with F B Function Block without any separated PID module Forward reverse operations are available P operation PI operation PID operation and On Off operation can be selected easily The manual output the user defined forced output is available By proper parameter setting it can keep stable operation regardless of external disturbance The operation scan time the interval that PID controller gets a sampling data from actuator is changeable for optimizing to the system characteristics Chapter 15 THE PID FUNCTIONS 15 2 PID control 15 2 1 Control actions 15 2 1 1 Proportion
102. he diode at the off time of the transistor output e Insert a small L R magnetic contact and drive the load using the same contact Output Output destroyed transistor is Surge current of the white lamp Output A surge current of 10 times or more when turned ON 12 10 e To suppress the surge current make the dark current of 1 3 to 1 5 rated current flow Output Source type transistor output Chapter 12 Error code list Cause TROUBLE SHOOTING Corrective Action Operati on status STOP LED Flickerin g cycle Diagnosis time OS ROM error Contact the service center if it reactively occurs when the power is re applied Defect 0 4 sec When power is appli OS ROM error Defect 0 4 sec When power is appli RTC fault Defect 0 4 sec When power is appli Dedicated fault processor Defect 0 4 sec When power is appli Program memory fault Defect 0 4 sec When power is appli Data memory fault Defect 0 4 sec When power is appli Watch dog error due to OS program congestion RE apply the power Reset 0 4 sec During run Program backup error memory Replace the battery if it has error check the program after cc loading it and if an error is detected replace the CPU module STOP 0 4 sec When power is appli Memory module defect Check and correct the memory module mounting
103. hen the A D module converts the analog signal to digital value 0 4000 2 A T function block will calculate manipulate value MV 0 4000 based on the SV and PV from A D module Simultaneously the A T module will calculate P and D parameters 3 The END output of A T module will be 1 when the A T operation is completed Then PID module will start operation with PID parameters that are calculated by A T module 4 D A module will convert the MV 0 4000 to analog signal 4 20mA and output to the actuator power converter 15 23 Chapter 15 THE PID FUNCTIONS Example program of 15 4 3 1 O GMWIN for Windows c tgmwinttsourcetdef0001 pri ct gmwinttsourcetnonameDd src sjoe wle A Of ms s ltl Sie REIS as EE MI eel Chapter 15 THE PID FUNCTIONS Example program of 15 4 3 2 continue to next page 15 25 Chapter 15 THE PID FUNCTIONS Example program of 15 4 3 2 continued 15 26 Chapter 16 BUILT IN HIGH SPEED COUNTER OF GM6 CPUC Chapter 16 BUILT IN HIGH SPEED COUNTER OF GM6 CPUC 16 1 Introductions This chapter describes the specification handling and programming of built in high speed counter of GM6 CPUC module The built in high speed counter of GM6 CPUC Hereafter called HSC has the following features 3 counter functions as followings 1 phase up down counter Up down is selected by user program 1 phase up down counter Up d
104. herefore the proper P and value is requested 15 4 Chapter 15 THE PID FUNCTIONS 5 Integral action is used in either PI action in which P action combines with action or PID action in which P and D actions combine with action Fig 2 5 The system response when a long integration time given Fig 2 6 The system response when a short integration time given Chapter 15 THE PID FUNCTIONS 15 2 1 3 Derivative operation D action 1 When a deviation occurs due to alteration of SV or external disturbances D action restrains the changes of the deviation by producing MV which is proportioned with the change velocity a velocity whose deviation changes at every constant interval in order to eliminate the deviation gt D action gives quick response to control action and has an effect to reduce swiftly the deviation by applying a large control action in the direction that the deviation will be eliminated at the earlier time that the deviation occurs gt D action can prevent the large changes of control object due to external conditions 2 The period of time from when the deviation has occurred to when the MV of D action become the MV of P action is called derivative time and represented as Kd 3 The D action when a constant deviation occurred is shown as Fig 2 7 Fig 2 7 Derivative action with a constant deviation Deviation Manipulation quantity in D action Manipulation quantity 4 The expression of
105. his must be ASCII value within 16 characters and in this name digits upper lower case and only are allowable to be entered e Data Ifthe value to be written in MW100 area is H A the data format must be HOOOA If the value to be written in MD100 area is H A the data format must be HOOOOOOOA In data area the ASCII value converted from hex data is entered 13 17 Chapter 13 DEDICATED Cnet COMMUNICATION FOR GM6 The following shows direct variables available according to PLC type soor Bye WORD _DOUBLEWORD GM1 2 MX QX SIX MB QB IB gt MW QW IW MD QD ID GM3 4 5 MX QX IX MB QB IB MW QW IW MD QD ID MX AX IX MB OQB IB YMW QW IW MD QD ID GM5 MX OX IX MB QB IB MW QW IW MD QD ID GM6 MX QX IX MB QB IB MW QW IW MD QD ID Ex 1 If type of data to be currently written is DOUBLE WORD the data is H12345678 ASCII code converted value of this is 3132333435363738 and this content must be entered in data area Namely most significant value must be sent first least significant value must be last REMARK 1 Device data types of each blocks must be same 2 If data type is BOOL the data to be written is indicated by 1 Byte of hex Namely if Bit value is 0 it must be indicated by HO0 3030 and if 1 by HO1 3031 3 Response format for ACK response Format name_ Header Staton No Command Command ype Fee ASOT va END N WA IM
106. hut down Each history log in contains the last 16 operation histories 1 Error occurrence e Record occurrence time and error code when an error occurred while the CPU is in RUN mode 2 Mode change e Record the mode change time operation mode and restart mode when a operation mode is changed 3 Power failure e Record the occurrence time and total occurrence number when the AC failure occur while the CPU is in RUN mode 4 5 6 External Device Error Diagnosis function Flags are given for the user to implement easily the program in which the error detection of external devices and system stop and warning are coded By use of these flags error indication of external devices is possible without complex programming and monitoring of the error location can be done without special tools GMWIN etc or source programs 1 External device fault detection and classification 1 The user program detects external device faults The faults are classified into fatal fault error where the PLC stops its operation and ordinary fault warning where operation continues 2 The flag ANC ERRIN is used to indicate error The flag ANC_WN n is used to indicate warning 2 External Device Fatal fault Error Processing 1 If an error of external device is detected and the error type where other value than 0 is used is written to the system flag ANC ERRIn the flag will checked at the time that scan program finishes its execution If an error is i
107. i windup gain Step 6 Check the actuator is saturated or not U sat MV U_low U_high Step 7 Output the MV value to the D A module Step 8 Update the integral term l I bi x SV PV A0 x U MV Step 9 Update the PV_old value PV_old PV 15 14 Chapter 15 THE PID FUNCTIONS 15 3 Function blocks For the PID operation of GM6 CPUB and GM6 CPUC following 2 function blocks are included in the GMWIN software version 3 2 or later No Name Description 1 PID6CAL Perform the PID operation 2 PID6AT Perform the auto tuning operation 1 GM6 PID function blocks do not support array type 2 Refer the GMWIN manual for the registration and running of function block 3 GM6 CPUA does not support PID operation 15 15 Chapter 15 THE PID FUNCTIONS 15 3 1 The function block for PID operation PID6CAL Function block Description 544435 PID6CAL EN DONE MAN MV D R STAT SV Q_MAX PV Q_MIN BIAS EN_P EN_ EN_D P_GAIN TIME D TIME BOOL INT USINT BOOL BOOL Input EN enable signal of the PID6CAL F B MAN manual operation mode 0 auto 1 manual D R select direction of operation 0 forward 1 reverse SV set value data input input range 0 4000 PV present value data input BIAS feed forward or offset value input for disturbance compensation input range 0 4000 EN P enable signal of proportional control 0 d
108. ic Parameters of GMWIN software Set the High speed link 1 of the High Speed Link Parameters Enable the high speed link 1 with Link Enable menu 1 Basic parameter setup Basic Parameter UNNAMED Configuration PLC Name PLC Ver v1 0 V Remote Access Right Communication Station Number 0 Cant pause by key Baud Rate s 38400 Restart Mode Master C Slave C Cold Restart TimeOut 500 10m Warm Restart MV Read Status of Slave PLC Resource CPU Property Name Scan W D Timer Resource RESO 200 ms cont ren a Station number Assign the station number of master station in the range of 0 31 b Baud rate Select the communication as 9600 19200 or 38400 bps c Master Slave Only GM6 CPUB can be set as master station If the CPU is selected as master station the network type of high speed link 1 is automatically set as GLOFA 422 485 d Timeout Set the period that the interval until a timeout error occurs The default value is 500msec and minimum value is 10msec 1x10msec e Read status of slave PLC If check this item the master station reads the status of slave PLCs and Chapter 14 THE RS 422 485 COMMUNICATION OF GM6 CPUB store the status at the corresponding flags 2 High speed link parameter setup High Speed Link Parameter Oi speed sd Al speea ik s High SpeedlLink Utem Edit oral gi D INAN a Only the
109. ignal TEST MODE A phase input B phase input COM Preset input Preset COM 16 2 Chapter 16 BUILT IN HIGH SPEED COUNTER OF GM6 CPUC 16 3 3 External interface circuit No of terminal Signal type Operation voltage Internal circuit 14 264 A phase pulse oN VDC input 24VDC Less than 2 5VDC 14 264 B phase pulse VDC input 24VDC Less than 2 5VDC COM Preset input 24V Preset COM 16 4 Wiring 16 4 1 Wiring instructions A high speed pulse input is sensitive to the external noise and should be handled with special care When wiring the built in high speed counter of GM6 CPUC take the following precautions against wiring noise 1 Be sure to use shielded twisted pair cables Also provide Class 3 grounding 2 Do not run a twisted pair cable in parallel with power cables or other I O lines which may generate noise 3 Before applying a power source for pulse generator be sure to use a noise protected power supply 4 For 1 phase input connect the count input signal only to the phase A input for 2 phase input connect to phases A and B 16 3 Chapter 16 BUILT IN HIGH SPEED COUNTER OF GM6 CPUC 16 4 2 Wiring examples 1 Voltage output pulse generator 24V Pulse Generator EE de 1 CHSC 16 4 Chapter 16 BUILT IN HIGH SPEED COUNTER OF GM6 CPUC 16 5 Programming 16 5 1 Func
110. ime specified by the parameter CODE ER BOOL Bit 9 Program code error This flag indicates that an unreadable instruction has been met while executing an user program P BCK ER BOOL Bit 14 Program error This flag indicates that program execution is impossible due to destroyed memory or program error App2 1 App 2 FLAG LIST 3 Representative System Warning Flag List Keyword Type Bit No Name Description Representa _CNF_WAR WORD tive System warning This flag treats the below warning flags relating to continuous operation in batch keyword _D_BCK_ER BOOL Bit 1 Data backup error This flag indicates This flag indicates that the program had been stopped during restore from power failure due to causes such as power off and then cold Abnormal restart has been executed and the continuous operation which retains _AB_SD_ER BOOL Bit 3 shutdown the data is impossible Usable in the initialization program Automatically reset when the initialization program has finished The same things given above will be applied when the program has been stopped by the ESTOP function Task collision This flag indicates that task collision has occurred as execution request _TASK_ERR BOOL Bit 4 plus cycle and for a same task had been repeatedly invoked Refer to the flag external tasks _TC_BMAP n and TC CNTIn This flag detects and indicates that the voltage of the battery which
111. ion 12 5 Error Code List App2 5 App 2 FLAG LIST 6 System Configuration status Information Flag 1 User Program Status Information Keyword Type Data sg Name Description range Representative System S W GM1 0 GM2 1 GM3 2 GM4 3 GM 4 keyword configuration information FSM 5 6 Twofold 16 Bit 0 Basic parameter error Checks and indicates Basic parameter error VO configuration BON _DOMAN ST BYTE Bit 1 parameter error Checks and indicates I O configuration parameter error Bit 2 Program error Checks and indicates Program error Bit 3 Access variable error Checks and indicates Access variable error Bit 4 High speed link Checks and indicates High speed link parameter error parameter error 2 Operation Mode change switch Status Information Data Setting En Keyword Type range Name Description Representative Mode setting switch i keyword position Indicates the state mode setting switch of CPU module _KEY_STATE BYTE Bit 0 KEY_STOP Indicates that the mode setting switch is in the STOP state Bit 1 KEY_RUN Indicates that the mode setting switch is in the RUN state Bit 2 KEY_PAUSE REMOTE Indicates that the mode setting switch is in the PAUSE REMOTE state 3 VO Module Installation Status Information Data Setting TE Keyword Type range Name Description JO INSTALLIn BYTE n Oto VO module inst
112. ion block is executed When the process time reaches the setting time process time setting time the contact Q turns off The contact turns off after the setting time regardless of input condition off status The following diagram shows pulse timer timing 4 Timer error The maximum timer error is 1 scan time time from the start of scan to execution of the timer function block 4 6 Chapter 4 CPU MODULE 4 2 6 Counter Processing The CPU module counter increment decrement the present counting value by the detection of rising edge off on of input signal Three types of counter are increment counter Decrement counter and Increment Decrement Counter For details refer to GLOFA GM Programming e The Increment counter is a counter which increment the present counting value e The Decrement counter is a counter which decrement the present counting value e The Increment Decrement counter is a counter which compares the counting values of two input conditions 1 Counter Present Value Change and Contact On Off 1 Increment Counter e t should have Input condition CU reset condition R and setting value PV NAME CTU BOOL BOOL BOOL INT INT e If the counting value CV increments and reaches the setting value PV the output contact Q turns on When the reset signal is turn on the counting value is set to 0 and the output contact Q turns off 2 Decrement Counter e It should have
113. ions module 5 Data communications cycle Used to set the cycle of sending and receiving of data 6 Area Q and M areas should be set by the decimal number or word 7 Size Number of words that will be sent and received App1 5 App 2 FLAG LIST Appendix 2 Flag List 1 User Flag List Keyword Type Write Name Description _LER BOOL Enable Operation error latch Operation error latch flag by the program block BP Error indication flag occurred while executing a program block _ERR BOOL Enable Operation error latch Operation error flag by the operation function FN or function block FB flag Itis newly changed whenever an operation is executed T20MS BOOL 20 ms Clock These clock signals are used in the user programs toggles on off every T100MS BOOL 100 ms Clock half cycle The clock signal can be delayed or distorted in accordance with _T200MS BOOL 200 ms Clock program execution time as the signal toggles after scan has been _T1S BOOL 1s Clock finished therefore it is recommended that clock of enough longer than _T2S BOOL 2s Clock scan time be used Clock signals starts from Off when the initialization _T10S BOOL 10s Clock program or scan program starts 7208 BOOL m 20s clock e Example _T100MS clock _T60S BOOL 60s Clock _ON BOOL Always On Usable in user programs _OFF BOOL Always Off Usable in user progr
114. ions modules DEF_EMPTY Empty slot App1 4 App 1 SYSTEM DEFINITIONS 3 Communications Parameters These high speed link parameters are used to set the opposite station for data communications data and communications cycle when communicating a defined data repeatedly through communication modules For detailed descriptions refer to the User s Manual relating to data communications High Link 1 Set m Network Type a OK C GLOFA Mnet Cancel C GLOFA Enet Help C GLOFA Fdnet Network C GLOFA Fdnet Cable C GLOFA Dnet dit Slot No Jo zl SelfStation No 1 Network type Used to set the type of the communications module 2 Slot No Location number of slot where the communications module has been mounted 3 Local No Local number of the module which executes high speed link communications High Link 1 Item 0 Edit r Station Type Station No Mode Black No C Local fib C Send fo Remote Receive Area Send Period From FM Fa ay 030 D 200ms i Size To C My C ziw EO 130 EE Cancel Help 1 Station type Type of the communications module in the opposite station Local or remote will be set 2 Station No Used to indicate the station that has invoked data during communications 3 Mode Used to set the communications mode to Send or Receive re ae ae N 4 Block No Designating number for identification of a data block in the same communicat
115. is _BAT_ERR BOOL Bit 5 Battery fault used to backup user programs and data memory is lower than the defined value External device This representative flag indicates that the user program has detected an _ANNUN_WR BOOL Bit 6 F ordinary fault of external devices and has written it to the flag ANC WB warning detection In Bit 7 High speed link _HSPMT1_ER BOOL Bit 8 parameter 1 error _HSPMT2_ER BOOL Bit 9 ee This representative flag detects error of each high speed link parameter 5 h dlink when the high link has been enabled and indicates that high speed link _HSPMT3_ER BOOL Bit 10 91 Speen cannot be executed It will be reset when the high speed link is disabled parameter 3 error P High speed link _HSPMT4_ER BOOL Bit 11 parameter 4 error App2 2 App 2 FLAG LIST 4 Detailed System Error and Warning Flag List Keyword Type Di is Name Description range This flag detects that VO configuration parameters of each slot differ THE numbEror SIGI from the real loaded module configuration or a particular module is AD TER N UINT Dip is ee type ds loaded onto the slot where modules cannot be loaded and indicates j the lowest slot No of the detected slot numbers The location of slot This flag detects that VO configuration parameters of each slot differ IO_TYERRIn BYTE n 0to4 where module type is from the real loaded module configuration or a particular m
116. is valid to only the resource 0 6 Unable to Pause by mode setting switch e Set When switch mode is changed from run to pause remote RUN gt PAU REM PLC is operated as Local Pause mode e Default do not set When switch mode is changed from run to pause remote RUN gt PAU REM PLC is operated as Remote RUN mode App1 2 App 1 SYSTEM DEFINITIONS 2 VO Configuration Parameters These parameters are used to set the configuration of a system that will be operated They set the modules that will be mounted and operated onto their own slot in the base unit If a parameter that has been set and the real mounted module are different the operation will not be executed When writing a new project I O configuration parameters will be all set to default DEF MODULE If O configuration parameters are set to default the operation starts on the basis of the configuration of the real mounted module when the power is applied Therefore though a power failure had occurred during normal operation or the system configuration had been changed due to slip out of a mounted module operation starts and continues when the power has been re applied because the system considers that it is a normal operation state To prevent this error be sure to set correctly the VO configuration parameters complying with the real modules that shall be mounted and operated 01 0 Parameter ET EA EA ET EF E rr App1 3 Keywords App 1 SYSTE
117. isable 1 enable EN enable signal of integral control 0 disable 1 enable EN_D enable signal of derivative control 0 disable 1 enable P_GAIN the proportional gain constant range 0 01 100 00 TIME the integration time range 0 0 2000 0 D_TIME the deviation time range 0 0 2000 0 MV_MAX the maximum value of MV range 0 4000 MV MIN the minimum value of MV range 0 4000 MVMAN the input data of manual operation mode range 0 4000 S_TIME operation scan time range 0 1 10 REF the reference value range 0 1 1 TT tracking time constant range 0 01 10 00 N high frequency noise depression ratio range 1 10 Output DONE completion flag of PID operation MV output manipulation value range 0 4000 STAT error code output O MAX shows MV is limited with maximum value Q_MIN shows MV is limited with minimum value 15 16 Chapter 15 THE PID FUNCTIONS 1 SV setting value the designated value and PV process value present value of GM6 PID operation have the range 0 4000 The range is set with the consideration of the resolution of A D and D A module of GM6 series 12 bits and offset value 2 The BIAS data is used for the compensation of offset in the proportional control 3 In GM6 CPUB and GM6 CPUC only the following 4 operation modes are available Other operation modes such as PD or are not permitted
118. itude 2 000 m or less Pollution 2 Cooling method REMARK 1 IEC International Electromechanical Commission international standards in area of Air cooling An international electric s and electronics civilian institute who establishes 2 Pollution An indicator which indicates pollution degree which determine insulation performance of equipment Pollution 2 means that non conductive pollution usually occurs but temporal conduction occurs with condensing Chapter 4 CPU MODULE Chapter 4 CPU MODULE 4 1 Performance specifications The following shows the general specifications of the GLOFA GM series Specifications GM6 CPUA GM6 CPUB GM6 CPUC Operation method Cyclic operation of stored program Interrupt task operation Po VO control method Scan synchronized batch processing method Refresh method EE Ladder Diagram LD Instruction List IL Sequential Function Chart SFC Special function block Each special module have their own special function blocks Processing f speed Basic function block Programming memory capacity 68 k bytes 17 k steps VO points 256 points Direct variable area 2 to 8 k bytes Data memory Programming language Refer to Appendix 3 Symbolic variable area 30 k bytes Direct variable area No limitations in points Time range 0 01 to 4294967 29 sec 1193 hours No limitations in points Counter j Counting range 32768 to 432767 Num
119. k List ss sesse sesse ee Ee EE ER EE ER EE ER EE ER EE ER ee Ee APP 3 1 Appendix 4 Dimensions ss sesse ee EE ER ER RR KS EE EE ER ER RR REGSE EE ER ER ER Re ee e EE ER Ee Re Ke Ke ee ee ee Ee Ke ee APP 4 1 Chapter 1 INTRODUCION GENERAL Chapter 1 1 1 Guide to User s Manual This User s Manual gives the specifications performance and handling instructions for each of the necessary units of the GLOFA GM6 series PLC system The configuration of the User s Manual is as follows No Title Content Chapter 1 General Describes configuration of this manual units features and terminology Chapter 2 System Configuration Describes available units and system configurations in the GLOFA GM6 series Chapter 3 General Specifications Describes general specifications of units used in the GLOFA GM6 series Chapter 4 CPU Module Describes the performance specifications and functions of the CPU module Chapter 5 Battery Chapter 6 Using the user program in flash memory Chapter 7 Chapter 8 Digital Input and output Module Power Supply Module Chapter 9 Base Board Describes the specifications and handling instructions for other modules except for the CPU module Chapter 10 Installation and Wiring Describes installation wiring and handling instructions for reliability of the PLC system Chapter 11 Chapter 12 Maintenance Troubleshooting
120. l be executed Write is enabled e 00 to 63 individual station No setting e 255 Whole station No setting 2 Detailed High Speed Link Information Flag List Keyword Type Ee Name Description _HSmRLINK Bit Fnet Mnet High speed link RUN link e Indicates that all stations are normally operating complying with the parameter information set in the high speed link This flag turns on under the following conditions 1 All stations set in the parameter are in the RUN mode and have no error and 2 All blocks set in the parameter normally communicate and 3 The parameter set in all stations which are set in the parameter normally communicate e Once this flag is turned on it maintains that state as long as link enable does not make that state stopped _HSmLTRBL Bit Fnet Mnet High speed link trouble e This flag turns on when under the condition that _HSmRLINK is turned on information communications of the stations and data blocks set in the parameter is under the following conditions 1 A station set in the parameter is not in the RUN mode or 2 A station set in the parameter has an error or 3 The communications of data blocks set in the parameter does not normally operate e This flag turns on if the above conditions 1 2 and 3 occur If those conditions are restored it will turn off again _HSmSTATE k Bit Fnet Mnet K Data Block overall e Indicates overall communications state of every blo
121. l of the data Variables and programs of I O image area of internal register of timer of counter were set to the specified conditions automatically or manually Warm Restart VO Image Area In the warm restart mode The power supply Off occurrence will be informed to the user program and the PLC system restarts with the previous user defined data and user program after the power supply Off Internal memory area of the CPU module which used to hold VO statuses Watch Dog Timer Supervisors the pre set execution times of programs and warns if a program is not completed within the pre set time Function Function Block Operation Unit which outputs immediately its operation result of an input while four arithmetic operations comparison operation store their results in the inside of instructions Operation Units which store operation result in the inside of instruction such as timer and counter and use the operation results which have been stored through many scans Symbolic Variable Variables used after the user s definition of their names and types Declarations as INPUT_0 IX0 0 2 RESULT MD1234 makes INPUT 0 and RESULT be able to used instead of IX0 0 2 and MD123 in programming A peripheral device for the GLOFA GM series It executes program creation edit compile and debugging Abbreviation of the word Factory Automation Monitoring S W It is used to call S W packages fo
122. lable MB QB IB P M L K F T C D S W WORD W MW SOW IW P M L K F T C D S W DOUBLE WORD D MD QD ID P M L K F T C D S W 4 e Indata area there are the values of hex data converted to ASCII code Ex 1 The fact that number of data is HO4 ASCII code value H3034 means that there is hex data of 4 Bytes in data DOUBLE WORD Hex data of 4 Bytes is converted into ASCII code in data Ex 2 If number of data is H04 and the data is H12345678 ASCII code converted value of this is 31 32 33 34 35 36 37 38 and this contents is entered in data area Namely highest value is first lowest value is last REMARK If data type is BOOL data read is indicated by one Byte of hex Namely if Bit value is 0 it indicated by HOO and if 1 by HOT 4 Response format for NAK response Format Error code rascivaue Hts Wan soa wes ees woe e Station number commands and type of command are the same as computer request format e BCC When command is one of lower case r only one lower byte of the value resulted by adding 1 Byte each to ASCII values from NAK to ETX is converted into ASCII added to BCC and sent e Error code is hex and 2 Bytes ASCIl code 4 Bytes which indicates type of error For the details see Appendix B Error Code Table 13 11 Chapter 13 DEDICATED Cnet COMMUNICATION FOR GM6 5 Example of use e This example supposes when 1 WORD from MW20 of station No 1 and 1 WORD from OWO 2 1
123. located to each slot in a base board whatever it is empty or not There s no limitation for the location and the number of special modules on base board Special modules do not have fixed I O numbers while a fixed VO number is allocated to a digital VO module A dedicated function block controls a special module and memory is allocated automatically VO number allocation e To use A D D A conversion module be sure to select GM6 PAFB power suppl Note for power supply module selection module that supplies 15VDC instead of 24VDC 15VDC power is need for operation of internal analog circuit of A D and D A conversion modules 2 4 Chapter 2 SYSTEM CONFIGURATION 2 3 2 Computer Link System Computer Link System communicates data between the CPU module and peripheral devices like a computer or a printer by use of RS 232C and RS 422 or RS 485 interface of the computer link module The G6L CUEB or G6L CUEC are the computer link module for GM6 series For details of computer link module refer to related User s Manual 2 3 3 Network System The Network system adapted in the GLOFA series a Fnet system that satisfies the IEC ISA field bus specifications Fnet system as a network system is used for data communications between CPU modules and control of remote I O modules so that distribution of control and concentration of supervision could be easy For details refer to Fnet system user s manual Chapte
124. m voltage drop at ON circuit 3 0 VDC Surge absorber None Response Off On 2 ms or less time On Off 2 ms or less Common terminal arrangement 32 points COM Internal current consumption 180 mA External Voltage 10 2 to 26 4 VDC power supply Current 36 mA or less 24 VDC COM Operation indicator LED turns on at ON state of output External connections Weight Internal circujt D Sub 37p connector Connector Pin No The total current of each 8 points 0 7 8 15 16 23 and 24 31 should be lower than 600mA 7 14 OODOGCOCDGGCOC000000 OOCGOOGOOAOAOAOASODOO 17 18 36 Chapter 7 INPUT AND OUTPUT MODULES 7 3 7 8 point triac output module Models Specifications Triac Output Module G6Q SS1A Number of output points 8 points Insulation method Photo coupler Rated load voltage 100 to 240 VAC 50 to 60 Hz Minimum load voltage 264 VAC Maximum load current 1A point 4A 1 COM Minimum load current 20 mA Off leakage current 2 5 mA 220 VAC 60 Hz Maximum inrush current 40 A 10 ms or less Maximum voltage drop at ON circuit 1 5 VAC or less 2 A Surge absorber Varistor 387 to 473 V C R absorber Off gt On 1ms or less Response time On Off 1ms 0 5 cycle or less Common terminal arrangement 8 points COM Internal current
125. methods which are internal and external interrupt signal methods 4 2 2 Operation processing at momentary power failure occurrence The CPU module detects any momentary power failure when the input line voltage to the power supply module falls down below the defined value When the CPU module detects any momentary power failure the following operations will be executed 1 Momentary power failure within 20 ms 1 The operation processing is stopped with the output retained t 2 The operation processing is resumed when normal status is restored npg Pett 3 The output voltage of the power supply module retains the defined value Momentary power fellure Win Zo ms 4 The watch dog timer WDT keeps timing and interrupt timing normally while the operations is at a stop 2 Momentary power failure exceeding 20 ms e The re start processing is executed as the power is applied Sewn input power Momentary power failure exceeding 20 ms REMARK 1 Momentary power failure The PLC defining power failure is a state that the voltage of power has been lowered outside the allowable variation range of it The momentary power failure is a power failure of short interval several to tens ms 4 3 Chapter 4 CPU MODULE 4 2 3 Scan Time The processing time from a 0 step to the next 0 step is called scan time 1 Expression for scan time Scan time is the addition value of the processing time of scan program that the user has writte
126. mum size divide the program blocks or use global variables Chapter 4 CPU MODULE 4 7 VO No Allocation Method 1 VO No allocation means to give an address to each module in order to read data from input modules and output data to output modules 2 Fixed 64 points are allocated to each module for I O points 3 Fixed 64 points are allocated regardless of mounting dismounting or type of modules 4 The following shows VO No allocation method Input I X 0 0 0 Output Q X 0 1 15 Contact number on I O a Slot number of Base 1 Base number 1 Although there is no expansion base A base having more than 8 I O slot which has a plan to develop set by 1 as base number Chapter 4 CPU MODULE 4 8 Names of Parts The following describes the names and functions of parts of the CPU module No Name Function Indicates the operation status of the CPU module e On when the CPU module operates with the mode setting switch in the local or remote RUN state 1 RUN LED e Off when the followings occur The voltage is not normally supplied to the SPU module The mode setting switch is in the STOP or PAU REM state An error which makes operation stop is detected e On when the mode setting switch is in the local or remote STOP state e Off when the followings occur 2 STOP LED The mode setting switch is in the local RUN or local PAUSE state The operation state is in the RUM PAUSE
127. n of the task program processing time and the PLC internal processing time 1 Scan time Scan program processing time Task program processing time PLC internal processing time e Scan program processing time The processing time used to process a user program that is not specified to a task program e Task program processing time Total of the processing times of task programs executed during one scan e PLC internal processing time Self diagnosis time VO refresh time Internal data processing time Communications service processing time 2 Scan time differs in accordance with the execution or non execution of task programs and communications processing etc 2 Flag 1 Scan time is stored in the following system flag area e SCAN_MAX Maximum scan time unit 1 ms e SCAN MIN Minimum scan time unit 1 ms e SCAN_CUR Current scan time unit 1 ms 4 2 4 Scan Watchdog Timer 1 Watchdog timer is used to detect a delay of abnormal operation of sequence program Watchdog time is set in menu of basic parameter of GMWIN 2 When watchdog timer detects an exceeding of preset watchdog time the operation of PLC is stopped Immediately and all output is off 3 If an exceeding of preset watchdog time is expected in sequence program use WDT_RST function WDT_RST function make elapsed watchdog time as zero 4 In order to clear watchdog error using manual reset switch restarting the PLC and mode change to STOP mode
128. n Gee ER ee ee 10 1 10 1 2 Handling Ted RE EE EE EE nee a EEN EEE REESE SESE EE EERE EEE EE EEE 10 4 10 1 3 Module Loading and Unloading EE RE EE OO EN 10 7 TREER EE EE snes 10 9 10 2 1 Power Supply Wiring RE EE OE EE EER EE Cows 10 9 10 2 2 Input and Output Devices Wiring AE DE AE ESAS 10 11 10 2 3 Grounding EE EE EA EE OG 10 11 10 2 4 Cable Specification for wiring AE EE EE Wades 10 12 Chapter 11 MAINTENANCE 11 1 Maintenance and Inspection sesse se ER EE ER EE ER EE ER EE ER EE ER EE ER Ke EE Ee Ke EE ee 11 1 ER AE MEE ea anaeneseeeee ones 11 1 MENT TALE Te EE ones 11 2 Chapter 12 TROUBLESHOOTING 12 1 Basic Procedures of Troubleshooting EE EO EE EE EE ER 12 1 12 2 Troubleshooting sesse ss se ee EE ER EE SEE ER ER RE REGS SE ER ER Ke REGEER ER Ee Re Ke ee SE ER Ee Ee Ke ee ee ee ER 12 1 12 2 1 Troubleshooting flowchart used when the POWER LED turns OFF sesse sesse ese ese see 12 2 12 2 2 Troubleshooting flowchart used when the STOP LED is flickering oeer 12 3 12 2 3 Troubleshooting flowchart used when the RUN and STOP LEDs turns off sesse see 12 4 12 2 4 Troubleshooting flowchart used when the output load of the output module does not turns Ofer sree ses se ee eee RE EE ER ER Se Re AE AR seen enna een AE en ek en eens 12 5 12 2 5 Troubleshooting flowchart used when a program Cannot be written to the CPU module sees se EER GE ER EE OR ER EE Ee R ER Ee EER ee ER Ese eres 12 6 12 3 Troubleshooting Questionnaire ss sesse se ER EE ER EE
129. n oe ge Di H6010 Syntax error_6010 Check the system is in stop mode H6020 Syntax error_6020 Check the connection of RS 232C port H6030 Syntax error_6030 Check each frame has ENQ EOT H6040 Devide the text into several frames as a text Syntax error_6040 Text of one frame exceed 256byte does not exceed 256 byte Syntax error_6050 Check the BCC is correct H6050 13 29 Chapter 14 THE RS 422 485 COMMUNICATION OF GM6 CPUB Chapter 14 THE RS 422 485 COMMUNICATION OF GM6 CPUB 14 1 Introductions 1 The GM6 CPUB module can be used as the master station of RS422 485 network and applicable for the 1 N network of GLOFA PLCs and or PC 2 To operate the GM6 CPUB as the master station basic parameters and high speed link parameters should be set properly 3 The dedicated GLOFA Cnet protocol is used for transmission control 4 The GM6 CPUA and GM6 CPUC does not support the master station function 14 2 Features 1 Max 64 high speed link items can be assigned 2 Max 32 stations can be linked 3 According to the parameter setting the operation mode and error code of slave stations is stored at the relevant flag 4 The communication status can be monitored with the monitoring function of GMWIN software Chapter 14 THE RS 422 485 COMMUNICATION OF GM6 CPUB 14 3 Parameter setup To start RS422 485 communication The CPU module type should be a B type CPU GM6 CPUB Set the communication parameters of the Bas
130. nction block refer to the User s Manuals of special modules and GLOFA GM instructions 2 Special Module Initialization This means to define the operations of a special module It is done with initialization function block Generally it specifies the data range to used channel resolution or filtering method etc It defines the hardware characteristics and only one time execution at system start is sufficient REMARK 1 As the initialization should be finished before the scan program starts its execution its program should be written in the restart program initialization task program 3 Control of special modules In control the operations of special modules write the program using function blocks which correspond to the operations that have to be controlled These function blocks can locate at any place within the program REMARK 1 If a power failure occurs in the base unit where special units are loaded special modules data are removed Therefore data should be newly written down in the program Chapter 4 CPU MODULE 4 Restart Program Example 1 System Configuration The followings give an example for writing the initialization program of the system where a special module has been loaded onto its basic base unit shown as below figure The followings describe an example for writing the cold warm restart program and scan program for the scan program where the D A 02 outputs data every scan
131. ndicated on the flag it will be also indicated on the ANNUN ER of the representative system error flag CNF ER the PLC turns all output modules off and the error state will be same as the PLC self diagnosis 2 The user can know the cause of error by use of the GMWIN and also by direct monitoring of the flag ANC ERRII 3 As the flag ANC ERRIn has sixteen elements n 0 to 15 the user can classify error states largely User defined error No can be written to the elements A number of 1 to 65535 is usable Error Example MOV 10 Chapter 4 CPU MODULE 3 External device Ordinary fault Warning Processing 1 If a warning of external device is detected and the corresponding flag of the system flag ANC WBln is set to on the flag will checked from the ANC WBIO at the time that scan program finishes its execution If an error is indicated on the flag it will be also indicated on the ANNUN WR of the representative system warning flag _CNF_WAR External device waning numbers will be written to from ANC WARIO to ANC WARI7 according to occurrence sequence 2 The user can know the cause of error by use of the GMWIN and also by direct monitoring of the flags ANC WARIn and ANC WBInl 3 If an external device waning is removed that is the elements of ANC WARIn are released from warning the corresponding ANC WARIn will be automatically cleared If all element flags are cleared the flag ANNUN WR of the system flag _CNF_W
132. net COMMUNICATION FOR GM6 4 Continuous writing of direct variable WSB 1 Introduction This is a function that directly specifies PLC device memory and continuously writes data from specified address as much as specified length 2 Request format Variable Variable Number of data name Max 120 Bytes ASCII 57 H254D44 H3131313 H3130 77 H5342 H3036 313030 H3031 132323232 H04 REMARK 1 Number of data specifies the number according to the type of direct variable Namely if the data type of direct variable is DOUBLE WORD and number of data is 5 it means that write 5 DOUBLE WORDS e BCC When command is one of lower case w only one lower byte of the value resulted by adding 1 Byte each to ASCII values from ENQ to EOT is converted into ASCII added to BCC e Protocol of continuous writing function of direct variable has not Number of blocks e Name length of direct variable This indicates the number of name s characters that means direct variable which is allowable up to 16 characters This value is one of ASCII converted from hex type and the range is from HO1 ASCII value 3031 to H10 ASCIl value 3130 e Direct variables Address to be actually read is entered in this This must be ASCII value within 16 characters and in this name digits upper lower case and only are allowable to be entered Direct variables available according to PLC type are as follows 13 20 Chapter 13 DEDICATED Cnet COMMUNICAT
133. ns 18 point terminal block connector M3 x 6 screws Weight 0 15 kg Response time Internal Circuit Terminal Block Number 7 4 Chapter 7 INPUT AND OUTPUT MODULES 7 2 4 32 point 12 24 VDC input module source sink type Specifications DC Input Module G6I D24A Number of input points 32 points Insulation method Photo coupler Rated input voltage 12 24 VDC Rated input current 3 7 mA Operating voltage range 10 2 to 26 4 VDC ripple less than 5 Maximum simultaneous input points 60 simultaneously ON ON voltage ON current 9 5 VDC or higher 3 5 mA or higher OFF voltage OFF current Input impedance 5 VDC or lower 1 5 mA or lower Approx 3 3 KQ OFF ON Response time 5 ms or less ON OFF Common terminal 5 ms or less 32 points COM Internal current consumption 75 mA Operating indicator External connections LED turns on at ON state of input D Sub 37p connector M3 x 6 screws Weight 0 11 kg Internal Circuit Connector Pin Number DC12 24V 7 5 OODOGIOGGGGO0000000 oOGGAAGSAASSAASAOS Chapter 7 INPUT AND OUTPUT MODULES 7 2 5 32 point 24 VDC input module source type Specifications DC Input Module G6I D24B Number of input points 32 points Insulation method Photo coupler Rated input voltage 24 VDC
134. ntrated sometimes the scan time may be extended abnormally Be cautious when setting task conditions 5 Protection of the programs under execution from task programs e If problems can be occur in case that program lose its execution continuousness by the task programs which have higher proprieties the execution of task programs can be partly perverted For program protection use the DI function Task program start up disable or El function task program start up enable 3 Time driven task program processing method The followings explain the processing method of a task program when its task condition start up condition has been set to be driven by time 1 Settings that have to be set for the task e Set the task execution cycle and its priority which are used as start up conditions for the task programs to be executed Priority number will be assigned as task number automatically 2 Time driven task processing e The corresponding time driven interrupt task program will be executed every setting time internal execution cycle 3 Precautions for using the time driven task program e While a time driven task program is being executed or ready for its execution if a same priority task program has been invoked to be executed the newly invoked task will be ignored the representative task collision warning flag TASK ERR will be set to ON the detailed system error flag TC BMAPIn will be set to ON at its corresponding location and occurren
135. odule is id inconsistent loaded onto the slot where modules cannot be loaded and indicates the slot locations in the bit map of base units The number of slot This flag detects that module configuration of each slot has been where module changed that is module mounting dismounting error has been IO DEER N di dee mounting dismounting occurred and indicates the lowest slot No of the detected slot error occurred numbers The location of slot This flag detects that module configuration of each slot has been where module changed that is module mounting dismounting error has been IO DEERRIn BYTE roe mounting dismounting occurred and indicates the slot locations in the bit map of base error occurred units The number of slot This flag detects that fuses of fuse mounted modules has broken FUSE_ER_N GNT Otoda where fuse breaks and indicates the lowest slot No of the detected slot numbers The location of slot This flag detects that fuses of fuse mounted modules has broken FUSE_ERP n BYTE Ede where fuse breaks and indicates the slot locations in the bit map of base units The number of slot This flag detects that input modules of a slot cannot be normally _IO_RWER_N UINT 0 to 15 where VO module read from or written to and indicates the lowest slot No of the read write occurred detected slot numbers The location of slot This flag detects that input modules of a slot cannot be normally _IO_RWERR n BYTE n 0to 1 where I O module read
136. on bit map task was being executed or ready for execution an execution request has occurred for the same task indicates the errors on a bit map This flag detects task collision occurrence time for each task when _TC_CNT n UINT n 0to7 Task collision counter executing a user program indicates the task collision occurrence time App2 3 App 2 FLAG LIST 4 Detailed System Error and Warning Flag List continued Keyword Type DA Dig Name Description range DATE amp The first detection date and time of battery voltage drop are written BAT ER TM TIME TT Batter voltage drop time to this flag It will be reset if the battery voltage has been restored Momentary power The accumulated momentary power failure occurrence times during AC_F_CNT HINT oR failure occurrence count operation in the RUN mode is written to this flag _AC_F_TM n Fie n 0to15 pale The times of the latest sixteen momentary power failures are written The times and error codes of the latest sixteen errors are written to this flag _ERR_HIS n n 0to15 Error history e Stop time DATE amp TIME 8 bytes e Error code UINT 2 bytes The times operation modes and restart modes of the latest sixteen Operati d operation mode changes are written to this flag MODE HISIn n Oto 15 Dee ce e Change time DATE amp TIME 8 bytes Write is available in user programs change history e Operation mode UINT 2 b
137. on stop error flags in batch ve keyword fatal error Module type This representative flag indicates that I O configuration parameters differ _IO_TYER BOOL Bit 1 ie errot from the real loaded module or that a certain module is loaded onto a slot y where it should not be loaded Refer to _IO_TYER_N and _IO_DEER n Module This representative flag indicates that module configuration of each slot _IO DEER BOOL Bit 2 loading unloading has been changed during operation Refer to _IO_DEER_N and error _IO_DEER n Fuse disconnection This representative flag indicates that one of fuses of slots including them FUSE _ER BOOL H error has disconnection Refer to FUSE_ER_N and FUSE ERIn i VO module This representative flag indicates that a VO module does normally 10 _RWER BODL Bita read write error executes read write Refer to _IP_RWER_N and _IP_IFER n Special communicat This representative flag indicates that special or communications module _SP _IFER BOOL Bit5 ions module has failed in initialization or normal interface is impossible due to module interface error malfunction Refer to _IP_IFER_N and IP IFERIn External device fatal This representative flag indicates that an external device has fatal error ANNUN_ER BOOL Bre fault detection error The error code has been written to ANC_ERR n Bit 7 Scan watch dog This flag indicates that the scan time of a program has overrun the scan WD_ER BOOL Big error watchdog t
138. operation is in the Initialization Run mode e Restart operation is executed complying External task program Executed only when the Time driven task condition has been satisfied Executed only when the condition has been satisfied END processing 1 1 Inthe GLOFA PLC the time driven interrupt task programs and event driven interrupt task programs are called task program Event driven programs are classified into single task internal interrupt or interrupt task external interrupt according to the S W and H W interrupt signaling method Chapter 4 CPU MODULE 1 Initialization program 1 Function e The Initialization program initializes the program to execute scan and task programs e The initialization can be executed with the restart mode which has been specified for program 2 Restart mode execution conditions e The initialization tasks can be specified as below complying with the purpose of the initialization task gt Program for Cold Worm restart started by the INIT task 3 Cold Warm Restart program e The initialization program specified to _INIT task is executed with cold or warm restart mode when the operation starts e This initialization program executes the operations repeatedly until the setting conditions are satisfied that is until the Flag INIT DONE in the initialization program turns on However the VO refresh is still executed 4 Flag e INIT RUN flag is on during
139. ormat of request formats must select and use only one of the followings M Separate reading of direct variable Number of blocks 2 Bytes Variable length 2 Bytes Variable name 16 Bytes Es 1 block Max 4 blocks 2 Continuous reading of direct variable RSB Variable length 2 Bytes Variable name 16 Bytes Number of data 1 block Max 4 blocks 13 23 Chapter 13 DEDICATED Cnet COMMUNICATION FOR GM6 3 Response format for PLC ACK response Format name Header Station No Command Register No Tail Frame check Frame Ex ACK H10 X x H1F ETX BCC ASCII value H06 H3130 H58 78 H3146 H03 e Station number command and resister No are the same as computer request format e BCC When command is one of lower case x only one lower byte of the value resulted by adding 1 Byte each to ASCII values from NAK to ETX is converted into ASCII added to BCC and sent 4 Response format for PLC NAK response ae H3130 H58 78 H3146 H31313332 of e Station number main commands and resister No are the same as computer request format e BCC When command is one of lower case x only one lower byte of the value resulted by adding 1 Byte each to ASCII values from NAK to ETX is converted into ASCII added to BCC and sent e Error code is hex and 2 Bytes ASCIl code 4 Bytes which indicates type of error For the details see Appendix A2 Error Code Table 5 Example of use
140. own is selected by external B phase input 2 phase up down counter Up down is automatically selected by the phase difference between phase A and B Multiplication 1 2 or 4 with 2 phase counter 2 phase pulse input multiplied by one Counts the pulse at the leading edge of phase A 2 phase pulse input multiplied by two Counts the pulse at the leading falling edge of phase A 2 phase pulse input multiplied by four Counts the pulse at the leading falling edge of phase A and B 16 2 Performance specifications Items Specifications Types Phase A Phase B Preset Input signal Rated level 24VDC 13mA Signal type Voltage input Counting range 0 16 777 215 Binary 24 bits Max counting speed 50k pps Up Down 1 phase Sequence program or B phase input selection 2 phase Auto select by phase difference of phase A and B Multiplication 1 2 or 4 Preset input Sequence program or external preset input 16 1 Chapter 16 BUILT IN HIGH SPEED COUNTER OF GM6 CPUC 16 3 Input specifications 16 3 1 Function of input terminals Items Specifications Rated input 24VDC 13mA A B phase On voltage 14VDC or higher Off voltage 2 5VDC or lower Rated input 24VDC 10mA On voltage 19VDC or higher Preset input Off voltage 6V or lower On delay time Less than 1 5ms Off delay time Less than 2ms 16 3 2 Names of wiring terminals No of terminal Input s
141. particular control It is to be stored in the internal RAM of the CPU module or the flash memory of the memory module The function elements are classified as below Function Elemente Processing Operation e Executed when the power is applied or the CPU operation is transited to the RUN Initialization mode program e Executes the initial fixes data setting for execution of scan program and the initialization of peripheral devices on special modules Scan program e Processes the constantly repeated signals which are executed every scan e When the following time conditional processing is required the program is executed complying with the time interval setting l gt In case that the processing need a shorter interval than that of average one scan Time driven task program processing time gt In case that the processing need a longer interval than that of average one scan processing time gt In case that the processing should be executed by the specified time interval ae ak e A shorter processing is executed for internal or external interrupt 4 9 Chapter 4 CPU MODULE 4 3 2 Program Execution Procedure The followings explain the program execution procedure when the power is applied or the mode setting switch of CPU module is in the RUN status Program operation processing is executed as the procedure given below Operation start e Executed when the power has been E applied or the CPU
142. quency noise depression ratio parameter is used for derivative control operation and shows the ratio of high frequency noise depression If there is a lot of high frequency noise in the control system select the N value as higher value Otherwise leave the N parameter as 1 The range of N is 0 10 and it is not scaled up so input the designated value directly 15 17 Chapter 15 THE PID FUNCTIONS 15 3 2 The error code of PID6CAL F B The following table shows error codes and descriptions of PID6CAL function block e Error code inti STAT output Description Countermeasure 0 Normal operation 1 SV is out of range Change the SV within 0 4000 2 MVMAN is out of range Change the MVMAN within 0 4000 3 P_GAIN is out of range Change the P_GAIN within 0 10000 4 _TIME is out of range Change the I TIME within 0 20000 5 D_TIME is out of range Change the D_TIME within 0 20000 6 S_TIME is out of range Change the S_TIME within 0 100 7 Local REF is out of range Change the REF within 0 10 8 TT is out of range Change the TT within 0 1000 9 N is out of range Change the N within 0 1000 Only P PI and PID controls are available with 10 EN and or EN_D is set as 1 GM6 CPUB and GM6 CPUC Please change when EN_P is 0 the setting of EN_P EN_I and EN D by reference to the chapter 15 3 1 Pant Replace the CPU module with GM6 CPUB or 40 CPU type is mismatched GM6 CPUC
143. r SV SV Time Time MV without windup MV with windup Integral ter messe Proportional term There are several methods to avoid the windup of actuator The most popular two methods are adding 15 11 Chapter 15 THE PID FUNCTIONS another feedback system to actuator and using the model of actuator The Fig 2 13 shows the block diagram of the anti windup control system using the actuator model As shown in the Fig 2 13 the anti windup system feedback the multiplication of gain 1 Tt and Es to the input of integral term The Es is obtained as the difference value between actuator output U and manipulation value of PID controller MV The Tt of the feedback gain is tracking time constant and it is in inverse proportion with the resetting speed of integral term Smaller Tt will cancel the windup of actuator faster but too small Tt can cause anti windup operation in derivative operation The Fig 2 14 shows several Tt value and PV in the PI control system RX F Actuator model Es Fig 2 13 The block diagram of anti windup control system Time Fig 2 14 The PV output characteristics with different Tt values 15 12 Chapter 15 THE PID FUNCTIONS 15 2 2 Realization of PID control on the PLC In this chapter it will described that how to get the digitized formula of the P I and D terms Then the pseudo code of PID control will be shown 15 2 2 1 P control The digitized formula of P
144. r 3 GENERAL SPECIFICATIONS Chapter 3 GENERAL SPECIFICATION 3 1 General specifications The following shows the general specifications of the GLOFA GM series Item Specifications References Operating ambient temperature Storage ambient temperature 0 25 55 C 75 C Operating ambient humidity 5 95 RH non condensing Storage ambient humidity 5 95 RH non condensing Vibration Occasional vibration Frequency Acceleration Amplitude Sweep count 10 lt fe57 Hz 57 lt f lt 150 Hz 9 8 m s 41 G 0 075 mm Continuous vibration Frequency Acceleration Amplitude 10 lt f lt 57 Hz 57 lt f lt 150 Hz 4 9 m s 0 56 0 035 mm 10 times per axis on X Y Z axis IEC 1131 2 Shocks Maximum shock acceleration 147 m s2 15G Duration time 11 ms Pulse wave half sine pulse 3 shocks per axis on X Y Z axis IEC 1131 2 Noise Immunity Square wave Impulse Noise 1 500 V Electronic discharge Radiated electromagnetic field noise Fast transient burst noise Item Voltage 4 kV 27 500 MHz 10 V m Power supply Digital VO gt 24V Digital VO lt 24V Analog VO interface IEC 1131 2 IEC 801 3 IEC 1131 2 IEC 801 3 IEC 1131 2 IEC 801 4 Voltage 2kV 1kV 0 25 kV Operating ambience Free of corrosive gases and excessive dust IEC 1131 2 Alt
145. r execution of command is R r SB Error code 2 ETX BCC EX ASCII o H3041 H52 72 H5342 Error code 4 wj value 13 16 Chapter 13 DEDICATED Cnet COMMUNICATION FOR GM6 3 Separate writing of direct variable WSS 1 Introduction This is a function that directly specifies PLC device memory and writes in accord with data type Device memory can be separately written up to 4 memories at a time 2 Request format Format aes Variable Variable Command Tail name length name Frame Jeng H20 we MW100 HOOE2 EO acc EX T ASCI H254D57 H3030 1 blocks can be repeatedly set up to 4 blocks e BCC When command is one of lower case w only one lower byte of the value resulted by adding 1 Byte each to ASCII values from ENQ to EOT is converted into ASCII added to BCC and sent e Number of blocks This specifies how much of the blocks composed of Variable length Variable name are in this request format This can set up to 4 blocks Therefore the value of Number of blocks must be HO1 ASCII value 3031 HO4 ASCII value 3034 e Variable length Name length of direct variable This indicates the number of the name s characters that registered in direct variable of PLC which is allowable up to 16 characters This value is one of ASCII converted from hex type and the range is from HO1 ASCII value 3031 to H10 ASCII value 3130 e Direct variable This is an address of variable to be actually read T
146. r process supervision It means startup conditions for a program There are three types of periodic task internal contact task and external contact task which starts by the input signals of external input modules Chapter 1 INTRODUCION Definition Remarks Sink Input Current flows from the switch to the PLC input terminal if a input signal turns on Common Current flows from the PLC input terminal to the switch after a input signal turns on Switch Sink Output Source Output Output contact A power source source Fieldbus Network Computer Network Chapter 2 SYSTEM CONFIGURATION Chapter 2 SYSTEM CONFIGURATION The GLOFA GM6 series has various modules suitable to configuration of the basic computer link and network systems This chapter describes the configuration and features of each system 2 1 Overall Configuration The following shows the overall configuration of the GLOFA GM6 series 1 Batter Power Supply Base board GM6 BO Module GM6 PAFL Input Module Output Module Special Module Communication G6l G6Q A G6F Module G6L 2 1 Chapter 2 SYSTEM CONFIGURATION 2 2 Product List The following table shows product list of GLOFA GM6 series 2 2 1 GM6 series Configuration WENE NN
147. r proper auto tuning operation The On Off operation will be occur at the 80 of PV value Perform A T operation at the 1 cycle Perform A T operation at the 2 cycle When the RIPPLE 0 When the RIPPLE 1 15 20 Chapter 15 THE PID FUNCTIONS 15 3 4 Error codes of auto tuning function block PID6AT The following table shows error codes and descriptions of PID6AT function block e Error code inti STAT output Description Countermeasure 0 Normal operation 1 SV is out of range Change the SV within 0 4000 It may caused by fault of A D module Check 2 re PV is out of range the A D module 3 S_TIME is out of range Change the S_TIME within 0 100 rae Replace the CPU module with GM6 CPUB or 4 CPU type is mismatched GM6 CPUC 15 21 Chapter 15 THE PID FUNCTIONS 15 4 Programming 15 4 1 System configuration GM6 PAFB GM6 CPUB Input Output A D Input D A Output or module module module module module module PV DC4 20mA 1 5V GMWIN V3 2 or later RS 232C MV DC4 20mA 1 5V Signal converter Temperature sensor Electric oven 0 200 C heater Power converter 15 4 2 Initial setting 1 PID operation parameters a Auto Manual operation setting Auto b Forward Reverse operation Forward c SV setting 1600 100 C d BIAS setting 0
148. r triac output modules with a load that is frequently opened and closed or with an inductive load as in those cases the life span of a relay output module will become shorter than specified 7 1 Chapter 7 INPUT AND OUTPUT MODULES 7 2 Digital Input Module Specifications 7 2 1 8 point 12 24 VDC input module source sink type Specifications DC Input Module G6I D21A Number of input points 8 points Insulation method Photo coupler Rated input voltage Rated input current 12 VDC 3 mA 7 mA Operating voltage range 10 2 VDC to 28 8 VDC ripple less than 5 Maximum simultaneous input points 100 simultaneously ON ON voltage ON current 9 5 VDC or higher 3 5 mA or higher OFF voltage OFF current 5 VDC or lower 1 5 mA or lower Input impedance Approx 3 3 KQ OFF ON 5 ms or less Response time ON OFF 5 ms or less Common terminal 8 points COM Internal current consumption 40 mA Operating indicator LED turns on at ON state of input External connections 9 point terminal block connector M3 x 6 screws Weight 0 12 kg Photo coupler 7 2 p G6I D21A y Chapter 7 INPUT AND OUTPUT MODULES 7 2 2 16 point 12 24 VDC input module source sink type Model DC Input Module Specifications G6I D22A Number of input points 16 points Insulation method Photo coupler Rated input
149. r which will make the voltage across input module terminal and common higher than the OFF voltage as shown below DC input Input signal does not turn OFF e Sneak current due to the use of two different power supplies E1 E2 l e E1 gt E2 Sneaked DC input 12 8 e Use only one power supply e Connect a sneak current prevention diode as shown below Chapter 12 TROUBLE SHOOTING 12 4 2 Output circuit troubles and corrective actions The following desires possible troubles with output circuits as well as corrective actions Condition Cause Corrective Action When the output is Off excessive voltage is applied to the load e Load is half wave rectified inside in some cases it is true of a solenoid e When the polarity of the power supply is as shown in N C is charged When the polarity is as shown inS the voltage charged in C plus the line voltage are applied across D Max voltage is approx Output DER If a resistor is used in this way it does not pose a problem to the output element But it may make the performance of the diode D which is built in the load drop to cause problems e Connect registers of tens to hundreds kQ across the load in parallel The load does not turn OFF e Leakage current by surge absorbing circuit which is connected to output element in parallel Output Leakage current e Connect C and R across the load which are
150. riables of Byte Word Dword and Reading Contin r R SB 5342 Lword type in block unit H52 Continuous reading Bit is unavailable H72 H00 Reads data according to data type of named variable Indivi r R 3030 3134 Variable to be read must be one registered in access wise H52 H14 variable area ie H72 H15 Reads data of array named variable Array r R H52 H27 3135 3237 Variable to be read must be one registered in access variable area ae H77 Writes data to direct variable of Bit Byte Word Direct Indivi w W H57 SS 5353 Dword Lword type Mol 477 Writes data to direct variable of Byte Word Dword Writing Contin w W SB 5342 Lword type in block unit H57 Continuous reading Bit is unavailable Writes variable of each data type using variable a H77 HOO name Named Oe O H57 H14 EG Variable to be read must be one registered in access Var variable area Writing 477 H15 Writes data to array named variable Array w W H57 H27 3135 3237 Variable to be read must be one registered in access variable area Monitor H78 H00 Register variable to be monitored If registered Var x X H58 H31 3030 3331 variable is named one variable to be read must be Register one registered in access variable area Monitor H79 H00 l l l Executi y Y H59 H31 3030 3331 Carries out the registered variable to monitor on REMARK In the main command the capital and small letter have
151. rmat PC gt PLC Format Comman atalka Variable Variable i Header Command of Tail name d type blocks length name ASCI H05 H3230 Hpg H5353 H3031 H3036 De H04 value 72 30 N Ee 4 1 block Setting can be repeated up to 4 block e BCC When command is one of lower case r only one lower byte of the value resulted by adding 1 Byte each to ASCII values from ENQ to EOT is converted into ASCII and added to BCC e Number of blocks This specifies how much of the blocks composed of Variable length Variable name are in this request format This can be set up to 4 Therefore the value of Number of blocks must be HO1 ASCIL value 3031 H04 ASCII value 3034 e Variable length Name length of direct variable This indicates the number of name s characters that means direct variable which is allowable up to 16 characters This value is one of ASCII converted from hex type and the range is from HO1 ASCII value 3031 to H10 ASCIl value 3130 e Direct variables Address to be actually read is entered This must be ASCII value within 16 characters and in this name digits upper lower case and only are allowable to be entered REMARK 1 Numerical data of frame Ex is hex value and H is unnecessary during preparing real frame 13 9 Chapter 13 DEDICATED Cnet COMMUNICATION FOR GM6 Direct variables available according to PLC type are as follows Table 13 4 Type of direct variables LONG 0 0 MX QX IX M
152. rns on after the F B is executed with no error STAT Indicates the operation status of F B CNT The current value of HSC 0 16 777 215 CY Carry flag 0 OFF 1 ON STAT CNT CY 16 6 Chapter 16 BUILT IN HIGH SPEED COUNTER OF GM6 CPUC CHSC_PRE CHSC_PRE Set the preset value of HSC N T T T Ta Input REQ Request signal for F B execution PSET Set the preset value 0 16 777 215 CHSC_PRE REQ DONE Output l l DONE Turns on after the F B is executed with no error STAT Indicates the operation status of F B PSET STAT When the PRE_I E is set as 0 Preset input by sequence program the current value of HSC is changed as the assigned preset value with the rising edge of REQ input When the PRE_I E is set as 1 Preset input by external preset input the current value of HSC is changed as the assigned preset value with the rising edge of external preset input At this time the REQ input of CHSC_PRE is ignored The CY output is set off while the CHSC_PRE F B is executing The CHSC_PRE F B is disabled while the CT_E input of CHSC_WR F B is 0 Counter disabled 16 7 Chapter 16 BUILT IN HIGH SPEED COUNTER OF GM6 CPUC CHSC_SET CHSC_SET Assign a setting value to be compared with the current value of HSC OOo To T T T Ja FUNCTION BLOCK REQ Request signal for F B execution SET Set a setting value 0 16 777 215 CHSC_SET REQ DONE DONE Turns on after the F B is executed wi
153. s at power failure Normal Cold Restart Restart mode Warm Restart Warm Restart execution RUN mode Cold Restart execution 4 Data initialization according to the restart mode The variables relating to the restart mode are classified into three types i e default variable initialization variable and retain variable The following table shows the initialization method for each type variable Mode Variable type cot am Default Initialized with 0 Initialized with 0 Retain Initialized with 0 Previous value is retained AE Initialized with the user initialized with the user defined Initialization defined value value Retain amp Initialization initialized with the user Previous value is retained defined value 1 Definitions 1 Default variable A variable whose initial value is not defined or previous value will not be retained 2 Initialization variable A variable whose initial value is defined 3 Retain variable A variable whose previous value will be retained Chapter 4 CPU MODULE 4 5 2 Self diagnosis 1 Functions 1 The self diagnosis function permits the CPU module to detect its own errors 2 Self diagnosis is carried out when the PLC power supply is turned on and when an error occurs the PLC is in the RUN state If an error is detected the system stops operation to prevent faulty PLC operation 2 Error flag
154. s possible Class 3 grounding should be used grounding resistance 100 Q or less 3 When independent grounding is impossible use the joint grounding method as shown in the figure below B Class 3 grounding Class 3 grounding A Independent grounding Best B Joint grounding Good C Joint grounding Not allowed 4 Use 2 mm or more wire for grounding line Make the distance as short as possible with the grounding point located to nearest to the PLC 5 Ground LG Power Supply Module separately with FG Base board 10 11 Chapter 10 INSTALLATION AND WIRING Power Supply Power Supply Power Supply LG A Independent grounding BEST B Joint grounding GOOD C Joint Grounding Not Allowed 6 If a malfunction occurs depend on grounding point separate FG Base Board with ground 10 2 4 Cable Specifications for wiring Kinds of external connection Cable Specifications Minimum Maximum Digital Input 0 18 AWG 24 1 5 AWG16 Digital Output 0 18 AWG24 2 0 AWG14 Analog Input Output 0 18 AWG24 1 5 AWG16 Communication 0 18 AWG24 1 5 AWG16 Main Power 1 5 AWG16 2 5 AWG12 Grounding 1 5 AWG16 2 5 AWG12 10 12 Chapter 11 MAINTENANCE Chapter 11 MAINTENANCE Be sure to perform daily and periodic maintenance and inspection in order to maintain the PLC in the best conditions 11 1 Maintenance and Inspection The I
155. s to execute DEBUG operations under the condition that the mode setting switch of CPU module is in the remote position The DEBUG operations execute programs complying with the specified operation conditions 2 This function is convenient when program execution or contents of any data are checked for debugging of the program 4 Remote reset 1 This function permits remote operations to reset the CPU module which locates in the place where direct operations cannot be applied when an error has occurred 1 For remote function operations refer to the GMWIN User s Manual Chapter 7 On line Chapter 4 CPU MODULE 4 5 4 VO Force On Off function 1 Force On Off setting method Force on off setting is applied to input area and output area Force on off should be set for each input and output the setting operates from the time that Force VO setting enable is set This setting can be done when I O modules are not really loaded 2 Force on off Processing timing and method 1 Force Input e After data have been read from input modules at the time of input refresh the data of the junctions which have been set to force on off will be replaced with force setting data to change the input image area And then the user program will be executed with real input data and force setting data 2 Force output e When a user program has finished its execution the output image area has the operation results At the time of o
156. s use different deviation values according to the characteristics of each control actions The expression of PID control is as following ie dEd MV RE Bi s ds Td p EO di MV Manipulate value K Proportional gain Ti Integral time Td Derivative time Ep Deviation value for proportional action Ei Deviation value for integral action Ed Deviation value for derivative action The deviation values of P and D action is described as following equations Ep bx SV PV Ei SV PV Ed PV The b of the first equation is called as reference value It can be varied according to the load disturbance of measurement noise PID MV PV gt Process controller 1 Fig 2 10 Diagram of simple feedback system Chapter 15 THE PID FUNCTIONS The figure 2 11 shows the variation of PV according to the several different reference values b As shown in the Fig 2 11 the small reference value produces small deviation value and it makes the control system response be slow In general control system is required to be adaptable to various external internal changes Especially it should shows a stable transient response with the sudden change of the SV to be robust to load disturbances and or measurement noise Time Figure 2 11 The PI control with several reference values 15 2 1 7 Integral windup All devices to be controlled actuator has limitation of operation
157. screws The hook should be securely engaged Screws should not be loose Securely engage the hook Retighten terminal screws Check the distance between solderless terminals Proper clearance should be provided Correct Check connectors of extension cable Connectors should not be loose Correct Power LED Check that the LED is ON ON OFF indicates an error See chapter 12 Run LED Check that the LED is ON during Run ON ON or flickering indicates an error Stop LED Input LED Check that the LED is OFF during Run Check that the LED turns ON and OFF OFF ON indicates an error ON when input is ON OFF when input is off Output LED Check that the LED turns ON and OFF ON when output is ON OFF when output is OFF Chapter 11 11 3 Periodic Inspection MAINTENANCE Check the following items once or twice every six months and perform the needed corrective actions Check Items Checking Methods Judgment Corrective Actions temperature Ambient humidity Ambient environment Ambience Measure with thermometer and hygrometer Measure corrosive gas 0 to 55 C 5 to 95 RH There should be no corrosive gases Looseness play Move the unit The module should be mounted securely PLC conditions Ingress of dust or foreign material Visual check No dust or foreign material Retighten screws Loose terminal s
158. se board together with a large sized electromagnetic contact or no fuse breaker which produces vibration on the same panel Mount them on different panels or keep the base board away from such a vibration source 4 Mount the wire duct as it is needed If the clearances are less than those in Fig 10 1 follow the instructions shown below e If the wire duct is mounted on the upper part of the PLC make the wiring duct clearance 50mm or less for good ventilation Also allow the distance enough to press the hook in the upper part from the upper part of the PLC e If the wire duct is mounted on the lower part of the PLC make optic or coaxial cables contact it and consider the minimum diameter of the cable 5 To protect the PLC from radiating noise or heat allow 100 mm or more clearances between it and parts Left or right clearance and clearance from other device in the left or right side should be 50 mm or more 100mm or more O O Base boar O oO High voltage 100mm or more device Other O O O O i Heat generating device gt Fig 10 1 PLC 50mm or more 10 5 Chapter 10 INSTALLATION AND WIRING C 2 rg se VERRE AK relay etc io RR RR 100mm or more OL n 0 Fig 10 2 Clearance from the front device Fig 10 3 Vertical mounting Fig 10 4 Horizontal mounting 10 6 Chapter 10 INSTALLATION AND WIRING 10 1 3 Mounting and Dismounting of module The following explains the
159. ser operates it with flag name 3 Input image area It used to store input data read from input modules Overall size is IX0 0 0 to IX1 7 63 The redundant area Actual input module is not installed can be used as auxiliary relay in user program Especially it is convenient to use the data storing area of remote input through high speed link 4 Output image area It used to store operation results The stored data are automatically output to output modules Overall size is QX0 0 0 to QX1 7 63 The redundant area Actual output module is not installed can be used as auxiliary relay in user program Especially it is convenient to use the data storing area of remote output through high speed link 5 Direct variable area The user can use this area to access direct memory data through the variable names such as MXO MBO MWO and MDO which was pre defined by the system Memory size is defined when program is made by user and it refers to App1 System Definitions 6 Symbolic variable area It used to store the variables that the user created that is whose names the user defined when writing a program Global variables and instance memory are located in this area The variables used in program blocks locates in the PB instance memory of the program and the memory used in function block locates in the FB instance memory The maximum size of the PB instance memory is 32 Kbytes If the used size overruns the maxi
160. sk number 2 Internal contact task processing e After the execution of scan program has been completed in the CPU module the internal contacts that are the start up conditions of the task program will be checked and the internal task programs where rising edge or on state has been occurred will be executed in accordance with its parameter 3 Precautions when using an internal task program e The internal task program is executed when scan program has finished its execution Therefore though the execution condition for the internal task program has been invoked in the scan program or task program time driven external the task start up condition will not be immediately executed but will be executed when scan program has finished its execution Chapter 4 CPU MODULE e If execution of an internal task program is requested the execution conditions will be checked when scan program has finished its execution Therefore if an internal task execution conditions during one scan has been occurred and disappeared if the specified contact has been turned from OFF to ON and then from ON to OFF by scan program or time driven or external task program the task will not be executed as the execution condition can not be detected at the time that execution conditions are being checked 6 Task processing at momentary power failure e In case of the power failure of 20 ms or less the ready tasks before the power failure will be executed a time dri
161. ssing global variables used commonly in other programs special modules or communications modules problems can occur REMARK 1 For examination on processing speed of scan program and task program refer to the Scan time Calculation Example in the Section 4 2 3 Scan Time Chapter 4 CPU MODULE 8 Example of program configuration and processing When the task and program have been registered as below e Task registration T SLOW interval T 10ms priority 0 PROC_1 single MXO priority 3 E INT1 interrupt X0 0 1 priority 0 e program registration program PO program P1 with the task T_SLOW program P2 with the task PROC_1 program P3 with the task E_INT1 If program execution time is equal to external interrupt occurrence time e Execution time for each program PO 17 ms P1 2 ms P2 7 ms P3 2 ms e Interrupt E_INT occurrence time Occurred at the 6 7 20 ms after the operation started e PROC_1 Invoked during execution of scan program Program execution is shown as below Scan start first start Scan program One scan complete complete A new scan start Execution T N of PO aa EE E E of P1 T_SLOW invoked Execution of P2 PROC 1 detected Execution of a U invoked Time 0 87 8 12 20 o Program execution without stop Temporary stop during prgram execution g Program execution delayed e
162. sts of one or more program blocks in the three types of program Those programs are called task programs A program to which a task has not been specified as marked with 1 will be automatically specified to scan program Chapter 4 CPU MODULE 1 Task types and functions The following table show the types and functions of tasks dain Tite Time driven task External interrupt task Internal interrupt task Specifications Number 8 8 8 EA The rising edge or on Start up condition TEN eee At the rising edge of input state of the BOOL variable by the 10msec contact on the designated slot data which has been specified of buffer data Detection and execution Executed periodically as setting time Immediately executed when an edge occurs in the interrupt module Executed with edge detection after scan program has been finished Maximum 1msec delay Delayed for the same time Detection delay time Up to 1msec delay Input module delay Within as mainom eer TING 3msec Level 0 to 7 Execution priority Level 0 has highest Level 0 to 7 Level 0 to 7 priority 1 Up to 8 task programs are available 2 Task program processing Method The following explains the common processing method and instructions for task programs 1 Task program characteristics e The task program will be executed when a execution condition is satisfied while the scan program is repeatedly processed at every scan Be sure
163. t Transistor Terminal Block No DO12 24V Chapter 7 INPUT AND OUTPUT MODULES 7 3 5 32 point transistor output module sink type Models Transistor Output Module Specifications G6Q TR4A Number of output points 32 points Insulation method Photo coupler Rated load voltage current 12 24 VDC Operating load voltage range 10 2 to 26 4 VDC Maximum load current 0 1 A point 2 A COM Off leakage current 0 1 mA or less Maximum inrush current 0 4A 10 ms or less Maximum voltage drop at ON circuit 2 5 VDC Surge absorber Response 2 ms or less time On Off 2 ms or less Common terminal arrangement 32 points COM Internal current consumption 180 mA External Voltage 10 2 to 26 4 VDC power supply Current 36 mA or less 24 VDC COM Operation indicator LED turns on at ON state of output External connections D Sub 37p connector Weight 0 11 kg Connector Pin Number 7 13 Chapter 7 INPUT AND OUTPUT MODULES 7 3 6 32 point transistor output module source type Models Specifications Transistor Output Module G6Q TR4B Number of output points 32 points Insulation method Photo coupler Rated load voltage current 12 24 VDC Operating load voltage range 10 2 to 26 4 VDC Maximum load current 0 1 A point 2A COM Off leakage current 0 1 mA or less Maximum inrush current 0 4 A 10 ms or less Maximu
164. t can cause faults destruction or fire 2 Used wire Select the wire with due consideration of ambient temperature and rated current Its minimum specifications should be AWG22 0 3 mm or more 3 Environment When wiring the I O module if it locates near a device generating an cause short circuit destruction or malfunction 4 Polarity Before applying the power to a module that has polarities be sure to check its polarities 5 Wiring e Wiring I O wires with high voltage cable or power supply line can cause malfunction or disorder e Be sure that any wire does not pass across during input LED I O status will not be clearly identified e If an inductive load has been connected to output module connect parallel surge killer or diode to a load Connect the cathode part of diode to the part of the power supply Chapter 10 INSTALLATION AND WIRING 6 Terminal block Check its fixing During drilling or wiring do not allow any wire scraps to enter into the PLC It can cause malfunction and fault 7 Be cautious that strong shock does not applied to the I O module Do not separate the PCB from its case 2 Base board mounting instructions The following explains instructions for mounting the PLC onto the control panel 1 Allow sufficient distance from the upper part of the module for easy module replacement 2 Do not mount the PLC in a vertical or horizontal position because it affects on ventilation 3 Do not mount the ba
165. t could result in short circuits fire or erroneous operation Be sure to ground the FG or LG terminal to the protective ground conductor Not doing so could result in erroneous operation Be sure there are no foreign substances such as sawdust or wiring debris inside the module Such debris could cause fire damage or erroneous operation SAFETY INSTRUCTIONS Startup and Maintenance Precautions ZIN Warning gt Do not touch the terminals while power is on Doing so could cause electric shock or erroneous operation gt Switch all phases of the external power supply off when cleaning the module or retightening the terminal or module mounting screws Not doing so could result in electric shock or erroneous operation gt Do not charge disassemble heat place in fire short circuit or solder the battery Mishandling of battery can cause overheating or cracks which could result in injury and fires ZN Caution gt Do not disassemble or modify the modules Doing so could cause trouble erroneous operation injury or fire gt Switch all phases of the external power supply off before mounting or removing the module Not doing so could cause failure or malfunction of the module gt Use acellular phone or walky talky more than 30cm 11 81 inch away from the PLC Not doing so can cause a malfunction Disposal Precaution wax Caution gt When disposing of this product treat it as industrial waste
166. tely 70 of the power supply module current is converted into power and 30 of that 70 dissipated as heat i e 3 7 of the output power is actually used e Wpw 3 7 Isv x 5 l24v x 24 W where Isv 5 VDC circuit current consumption of each module la 24 VDC circuit average current consumption of output modules with points simultaneously switched ON Not for 24 VDC power supplied from external or power supply modules that has no 24 VDC output 2 Total 5 VDC power consumption The total power consumption of all modules is the power of the 5 VDC output circuit of the power supply module e Wev lsv x 5 W 3 Average 24 VDC power consumption with points simultaneously switched ON The total power consumption of all modules is the average power of the 24 VDC output circuit of the power supply module Was 24v x 24 W 4 Average power consumption by voltage drop of output modules with points simultaneously switched ON e Wout lout x Vdrop x output points x the rate of points switched on simultaneously W lout output current actual operating current A Vdrop voltage dropped across each output load V Chapter 10 INSTALLATION AND WIRING 5 Average power consumption of input circuits if input modules with points simultaneously switched ON e Win lin x E x input points x the rate of points switched on simultaneously W lin input current effective value for AC A E input voltage actual operating voltage
167. ter describes user program storage and operation it Flash memory is used to store a user program and installed in PLC 6 1 Structure 6 2 How to use OD Dip switch for operation Read Write is available to flash memory in accordance with selection of DIP switch Selection of DIP switch for flash memory Operation Ba O Z PLC is operated by the program in flash memory when power on or PLC reset ON su PLC recognize that no program is in flash memory Caution Lower switch should be at the off position User program can be written to flash memory at the PLC stop mode and then the selection of switch is ignored 6 1 Chapter 7 INPUT AND OUTPUT MODULES Chapter 7 DIGITAL INPUT AND OUTPUT MODULES 7 1 Notes on Selecting Input and Output Modules The followings describe instructions for selection of digital VO modules that will be used in the GLOFA GM6 series 1 The types of digital input are current sink input and current source input When selecting DC input modules consider the specifications of those input devices as the wiring method of the external inout power supply varies complying with the type of digital input In the GM6 series the types are dedicated source input and source sink common DC input 2 Maximum simultaneous input points differs with the type of a module Check the specifications of the input module to be applied before use 3 Use transistor o
168. ter execution of command Format Header Command Number Command Tail name type of data Frame H112233445566778899AABBC CK H313132323333343435353636 ASCII 3737383839394 1 41424243434 value os Hot eeu Hoe oie 4444545464631313232333334 us 343535 e Station number main commands and type of command are the same as computer request format e BCC When main command is lower case like r only one lower byte of the value resulted by adding ASCII values from ACK to ETX is converted into ASCII added to BCC and sent When main command is upper case like r BCC is not used e Number of data means Byte number of hex type and is converted into ASCII This number is determined by multiplying the data number of computer request format by the data size in below Table according to memory type B W D L included in direct variable name of computer request format 13 14 Chapter 13 DEDICATED Cnet COMMUNICATION FOR GM6 Table 13 7 Available direct variables Available direct variable Number of data an WOW SOW SGP MLKFTCD SW DOUBLE WORD D MD QD ID 4 Ex 1 When memory type included in direct variable name of computer request format is W WORD and data number of computer request format is 03 data number of PLC ACK response after execution of command is indicated b e n data area the value converted from hex data to ASCII code is entered Ex 2 In just above example when data contents of 3 WORDs are 1
169. th no error STAT Indicates the operation status of F B SET STAT Run a task program when the current value of HSC reaches to the setting value To run a task program define a high speed counter task program as following figure and write a task program Define Task Task Name HSC_TASK OK Task Number 2 Cancel Condition Help C Single Edge Level Priority C Interval Interrupt dd d 16 8 Chapter 16 BUILT IN HIGH SPEED COUNTER OF GM6 CPUC 16 5 2 Error code of F B 1 The following table shows error codes appear at the STAT output Error code Description 00 No error 01 Built in high speed counter is not found GM6 CPUA GM6 CPUB CPU module 02 Input data error at MULT input of CHSC_WR Except 1 2 4 on 2 Phase Mode 03 PSET CHSC_PRE or SET CHSC_SET is out of specified range 0 16 777 215 04 Execute Preset command while the HSC is disabled status 16 9 App 1 SYSTEM DEFINITIONS Appendix 1 System Definitions 1 Basic Parameters The basic parameters are necessary for operation of the PLC and used to allocate memory set the restart mode and set the scan watch dog time etc Basic Parameter Configuration PLC Name GLOFA GM6 PLC Ver v1 6 IV Remote Access Right Communication Stattion Number Cant pause by key 0 7 Baud Rate Restart Mode 19200 19200 C Cold Restart Master Warm
170. th the consideration of the resolution of A D and D A module of GM6 series 12 bits and offset value When setting the SV or PV please be careful convert the analog value of control object temperature velocity etc to digital value that are the output of A D convert module For example assume that PID control is used for temperature control with Pt100 operation range 0 C 250 C and the goal value is 100 C The equivalent digital output of A D module voltage output range 1 5V is 1600 if the A D module outputs 0 1V with 0 C and 4000 5V with 250 C Therefore the input of SV should be 1600 not 2 S_TIME is the period of reading data sampling and 10 times scaled up for more precious operation Generally it should be synchronized with external trigger input EN input of function block to perform proper PID operation The range of sampling time is 0 1 10 seconds and actual input range is 0 100 The GM6 CPUB and GM6 CPUC module perform auto tuning operation based on the frequency response method PID parameters are obtained by On Off operation during 1 cycle of PV variation The RIPPLE parameter shows at which cycle the CPU module will perform auto tuning operation If 0 is selected the CPU will get PID parameters during the first cycle of PV variation If 1 is selected the second cycle will be used refer Fig 12 15 for detailed information Other choice of RIPPLE parameter is not allowed In general case select 1 fo
171. tion block F B CHSC_WR CHSC_WR EI EE GEEN EE FUNCTION BLOCK Input REQ Request signal of F B execution PHS Operation modes selection 0 1 phase counter 1 2 phase counter CHSC_WR MULT Assign the multiplication factor DONE BOOL MULT 1 2 or 4 U D_I E Assign the count direction up down PHS STAT USINT selector 0 Set by sequence program MULT 1 Set by B phase input signal 1 up count 0 down count ne CY_R Carry reset signal 1 reset DOWN Select the count direction 0 up 1 down when the counter is set as 1 phase counter and up down is selected by sequence program PHS 0 amp U D VE 0 REQ CY R CT E Counter enable signal 0 Counter disable 1 Enable PRE_I E Assign PRESET input 0 PRESET by sequence program 1 PRESET by external input at the PRESET terminal Output DONE Turns on after the F B is executed with no error STAT Indicate the operation status of F B The MULT input will be dummy input when the HSC is set as 1 phase counter PHS 0 When the HSC is set as 2 phase counter the U D_I E and DOWN input will be dummy input PHS 1 The current value of HSC will be cleared as 0 when the CT_E counter enable is 0 16 5 Chapter 16 BUILT IN HIGH SPEED COUNTER OF GM6 CPUC CHSC_RD CHSC_RD Read the current value and operation status of HSC ENE EN EE EIE Input REQ Request signal for F B execution CHSC_RD Output REQ DONE DONE Tu
172. utput refresh the data of the junctions which have been set to force on off will be replaced with force setting data and the replaced data will be output However the force on off setting does not change the output image area data while it changes the input image area data 3 Force on off processing area e Input output areas for force on off setting are larger than the real I O areas If remote I O is specified using this area the force on off function is as just available in it as in the basic I O areas 4 Precautions e Turning the power off and on change of the operation mode or operation by reset switch GM3 does not change the previous force on off setting data They remain within the CPU module and operation is executed with the same data e Force I O data will not be cleared even in the STOP mode e If a program is downloaded or its backup breaks the force on off setting data will be cleared The operating program in memory differs from the program in the flash memory so that if operation restarts with the program in the flash memory the on off setting data will be also cleared e When setting new data disable every I O settings using the setting data clear function and set the new data 1 For detailed operation refer to the GMWIN User s Manual Chapter 7 Force VO setting Chapter 4 CPU MODULE 4 5 5 History Log In The GM6 CPU stores 3 operation histories such as error occurrence mode change and power s
173. ven task will be invoked with calculation of the power failure time and time driven tasks invoked repeatedly before the power failure will be ignored 7 Examination on task program After writing down a task program be sure to examine the following items 1 Task setting has been correctly done If tasks are invoked more frequently than necessary or several tasks are invoked simultaneously within one scan the scan time become longer and irregular In case that the task setting cannot be changed check the maximum scan time 2 Task priorities are properly arranged The lower priority tasks still may not be processed after its time due to delay by higher priority tasks In some cases if the prior tasks have been delayed and next task occurs task collision can occur Set the priority with due consideration of items such as urgency and execution time of a task 3 Task programs are written as shortly as possible If execution time of a task program is long the scan time may become longer and irregular and also collision of task programs may occur Therefore write task programs as shortly as possible 4 Protection of lower priority programs against higher priority program isn t needed during execution of those programs If the priority of a task program or a scan program has been set to lower priority and other tasks must not interrupt during its execution use the function DI and El to protect the program partly When proce
174. voltage 12 24 VDC Rated input current 3 7 mA Operating voltage range 10 2 VDC to 26 4 VDC ripple less than 5 Maximum simultaneous input points 100 8 points COM simultaneously ON ON voltage ON current 9 5 VDC or higher 3 5 mA or higher OFF voltage OFF current 5 VDC or lower 1 5 mA or lower Input impedance Approx 3 3 KQ OFF ON 5 ms or less ON OFF 5 ms or less Common terminal 8 points COM Internal current consumption 70 mA Operating indicator LED turns on at ON state of input External connections 18 point terminal block connector M3 x 6 screws Weight 0 15 kg Response time G6I D22A Internal Circuit Terminal Block Number 7 3 Chapter 7 INPUT AND OUTPUT MODULES 7 2 3 16 point 24 VDC input module source type Model DC Input Module Specifications G6I D22B Number of input points 16 points Insulation method Photo coupler Rated input voltage 24 VDC Rated input current 7mA Operating voltage range 20 4 VDC to 28 8 VDC ripple less than 5 Maximum simultaneous input points 100 8 points COM simultaneously ON ON voltage ON current 15 VDC or higher 4 3 mA or higher OFF voltage OFF current 5 VDC or lower 1 7 mA or lower Input impedance Approx 3 3 KQ OFF ON 5 ms or less ON OFF 5 ms or less Common terminal 8 points COM Internal current consumption 70 mA Operating indicator LED turns on at ON state of input External connectio
175. ytes e Restart UINT 2 bytes App2 4 App 2 FLAG LIST 5 System Operation status Information Flag List Keyword Type se Name Description y GM1 0 GM2 1 GM3 2 GM4 3 GM 4 _CPU_TYPE Unit 0 to 16 System type FSM 5 6 Twofold 16 _VER_NUM Unit O S version No System O S version No _MEM_TYPE Unit 1t05 vo Ma Type of program memory module 0 Unloading state type 0 to 5 Representati PLC mode and f F ve keyword operation status System operation mode and operation state information Bit 0 Local control Operation mode change is possible only by mode change switch or GMWIIN Bit 1 STOP Bit 2 RUN Bit3 PAUSE CPU module operation state Bit 4 DEBUG Operation mode Bit 5 change factor Operation mode change by mode change switch Bit 6 peta moda Operation mode change by GMWIN change factor Operation mode _SYS_STATE Word Bit 7 change factor Operation mode change by remote GMWIN Bit 8 Operation mode Operation mode change by communications change factor Bit 9 STOP by STOP Operation in the RUN mode is stopped by STOP function after the scan has function finished Bit 10 Force input Input junction force On Off is being executed Bit 11 Force output Output junction force On Off is being executed Bit 12 ie ESIOR Operation in the RUN mode is directly stopped by ESTOP function Bit 13 Bit 14 During monitoring Ext

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