GR3xx - Micro Controller
Contents
1. bee Analogue inputs inputs Analogue inputs with a Analogue outputs outputs Real time clock module GR380 Maximum module expansions Maximum 1 points with expansions Modbus protocol No No Yes Yes Yes Yes Yes slave Application program 8K 8K 16K 32K 32K 32K 32K memory Flash type bytes Application program 8K 8K 16K 32K 32K 32K 32K memory RAM type Retentive bit memory 16 16 32 32 32 32 32 words 16 bits Total memory amount for operands Floating point math operation Keyboard Serial interfaces 1x RS232 1x RS232 1x RS232 1x RS232 1x RS232 1x RS232 1x RS232 HardFlex No No No Yes Yes Yes Yes Architecture MasterTool 3 51 or greater version 3 60 or greater version Programming MT4100 or MT4000 Notes Counters the standard product has 1 counter with 24 bits resolution and 12 counter modes Different configuration can use HardFlex architecture functions which can be provide by consulting Counter Inputs the counter and digital input use the same connection 11 to 14 inputs The user can choose how to use the connection counter or digital functions High Speed Outputs the modules that use this characteristic are supply with the HardFlex GR900 that allows the use of two outputs with frequency up to 20 KHz These outputs can be configure with other characteristics according to different HardFlex configurations Optionally the outputs can be used like common digital l2. External power supply Isolation voltage from logical circuit Maximum power consumption Power dissipation with full load Standards IEC 61131 2009 Operating temperature 0 to 60 Dimensions W x H x D mm 100 x 127 x 54 Serial Port The GR3xx micro controllers have a optimal communication capability that provides a wide range of communication features It allows the communication among several equipment by Alnet V2 0 or Modbus RTU protocols The communication rates for the serial port are the following amm Communication Rate bps ALNET I 9600 4800 2400 1200 600 300 MODBUS 19200 9600 4800 2400 1200 600 300 The serial port allows the connection of modems or radio modems that use RTS and CTS signals In addition the PO9901 WebGate Plus module adds an Ethernet port to the Serie Grano This port provides communication capabilities that let the GR3xx UCP communicate with other Altus controllers interfaces and runtimes software Runtime Software or HMs Communication Altus S A 5 Micro Controller GR3xx Doc Code CE110100 Revision E IHMs or Runtime COM 1 RS232 GR3xx had MODBUS Remote Communication Serie PONTO 11111111 111141 111111 UCP 242 AL1413 MODBUS Net RS485 AL1413 GR3xx Altus S A 6 Micro Controller GR3xx Doc Code CE110100 Revision E Ethernet Communication The GR3xx micro controllers can be connected to an Ethernet net providin
3. 1 E 124 5 Ooooooooooo 00000040000000000 c2 5 TE 99 0 Manuals For correct application and utilization the User s Manual must be consulted GR3xx Revision E 03052900A For further technical details configuration installation and programming of Serie Grano products please consult following documents MU210000 Serie Grano User s Manual MAN MT4100 MT4100 User s Manual Altus S A 23
4. 24 Vdc not isolated 1A with all points on 2 A with only one point on by group of 4 Maximum output impedance Output current Status indicator One LED by output point High Speed Outputs Notes GR350 GR351 GR370 GR371 High speed output model 2 source outputs not isolated Minimum voltage output 20 Vdc 24 Vdc power supply Output modes PTO Pulse Train Output Mode PWM Pulse Wide Modulation Mode VF Variable Frequency Mode Terminal block configuration FO and F1 HardFlex outputs or bits 2 and 3 from second output octet Switching frequency 0 to 20 kHz Short circuit Isolation from logical circuit No isolation from user and system Diagnostic indicator Short circuit It is suggest the use of an external impedance of 1 5 kQ These outputs can be used for Stepper motor control position e Connection to converter blocks F V frequency voltage increasing analog output capacity GR3xx Revision E Not only standard functions can be set to high speed outputs but also new functions with special characteristics that changes the hardware behavior New functions modules can be supply under consulting for complex high speed application and time critical functions Altus S A Micro Controller Doc Code CE110100 Counter Inputs Notes Voltage input 15 to 30 Vdc for 1 signal _ Eee Input impedance Isolation from logical circuit No isolation from
5. E Analog Outputs GR370 GR371 Analog output model 2 analog outputs not isolated 0 2 Full scale 25 C 0 01 Full scale C Terminal block configuration PO e P P1 eP Range 0 to 10 Vdc 0 to 30 000 Output current 5 mA typical with RL 2 kQ Accuracy Isolation from logical circuit No isolation between user and system Short circuit Real Time Clock Module The real time clock module is an optional item and must be buy independently because it can be used only in some modules GR380 Real time clock module Clock to count second minute hour month day day of week and year Resolution Leap year Automatic until 2100 year Clock backup Battery life expect Operating Temperature Altus S A 13 Micro Controller GR3xx Doc Code CE110100 Revision E Software Characteristics GR310 GR316 GR330 GR350 GR351 GR370 GR371 Programming language Diagram and logic blocks structured in modules with functions and sub routines On line programming 256 Numeric operands memory words 1 Kbytes on GR310 16bits 1 Kbytes on GR316 4 Kbytes on GR330 8 Kbytes on GR350 and GR351 8 Kbytes on GR370 and GR371 Available operands M memory 16 bits some models do not use floating point BCD 32 bits operands F floating point TM memory table TD BCD table TF floating point table KM 16bits constant KD BCD constant KF floating point constant Typical memory occupatio
6. to electrical diagrams The power supply must be projected to support the micro controller load input components sensors load and output components load 3 The T terminals drive energy to transistor outputs and must be connected to 24 Vdc power supply It is suggest the use of protection circuits to reduce electrical noise and assure output operation 4 The digital inputs work with sensors that use PNP output positive switching or dry contacts It can be used sensors with two or three wires The sensors must be connected to any 10 and 17 or JO and J5 terminal The negative terminal of the three wire sensors must be connected to any I terminal The sensors must supply correctly signal according to micro controller specification 5 It is necessary the use of protection circuits when loads are actuated by relay contacts 6 The thermocouple measurement must be done by the connection of positive pole to AO and A3 terminals and the negative pole to A The environment temperature compensation cold junction is made automatically by native module sensor In case of open thermocouple junction the values will go to end of scale which it will activated the open thermocouple diagnosis 7 In case of voltage measurement the positive pole must be connected to AO and A3 terminals and the negative pole to A terminals which are common for all inputs The micro controller only measures positive voltages If any negative voltage is driven in the
7. 0 Note UCPs Related Products GR370 GR371 GR310 GR316 GR330 F RAIZN 034 F ARQ2 035 F ARQ4 036 GR350 GR351 GR370 GR371 F ARQ8 037 GR330 GR350 GR351 F ARQ12 038 GR370 GR371 F ARQ15 039 F ARQ16 040 F ARQ24 041 F MOBT 043 GR350 GR351 GR370 GR371 GR310 GR316 GR330 GR350 GR351 GR370 F STCP 044 GR371 F CTRL 059 F NORM 071 F COMPF 072 F AES 087 F ANDT 090 F ORT 091 F XORT 092 F NEGT 093 F Modules available within MasterTool Programming GR310 GR316 GR330 GR350 GR351 GR370 GR371 F F_M 051 GR310 GR316 GR330 GR350 GR351 GR370 GR371 F Module available within AL 2700 function package F FMUL 054 F FDIV 055 The functions not included on MasterTool Programming can be purchased separately Altus S A GR3xx Revision E 17 Micro Controller GR3xx i ne a SS aa Doc Code CE110100 Revision E Terminal Connection The following pictures illustrate the electric diagram connection for Serie Grano GR310 2 55 nS DN 36 C eg 1 DIGITAL OUTPUTS uo F 22 14 gt tO lt 22 53 5 NN N aX mx mx e DIGITAL INPUTS e gt 2 2 E uo p 5 aL FF 05 4 5 Sata 9L ux mx aX I mi DIGITALOUTPUTS o o 4 a 02 mme 4 208 E C P 9 lt 22 5 dli 5 ES N ax m
8. Doc Code CE110100 Micro Controller GR3xx Revision E Product Description The Serie GR3xx provides our smallest and most economical programmable controllers Their characteristics make them ideal solutions for medium and small application including control task in machines and process that involves position and analogue interface The 1 options provide great flexibility and can be expand with up to 56 1 points The GR3xx micro controller has the maximum main features 14 Digital inputs 24 Vdc 8 Transistor outputs 2 Relay outputs 4 Analogue inputs 0 to 10 Vdc 2 of them support thermocouple type J or K 2 Analogue outputs 0 to 10 2 High speed outputs with frequency up to 20 2 1 High speed counter 24 bits resolution up down up to 20 KHz 12 operation modes that allows the use of transducers and position encoders Interruption input HardFlex architecture extremely flexible architecture that allows reprogramming of high speed hardware functions Set points keyboard Expand with up to 1 I O module Native Modbus RTU protocol slave LEDs indicators show status Automatic addressing to expand modules On line programming PID Algorithm Real Time Clock Module Retentive bit memory without battery necessity Great memory capacity with high performance Serial communication port includes Modbus or Alnet protocols Diagnostic information available on runtime software and application prog
9. HN i N N N N N sjndino n SS SSS No o sindino sindino jeu iq a cacar JojsisueJ Siosues VV a J9eNIS 2 Aejay JOJSISUEJ 2 5705095 5105095 sindjno amz 5 5 1 5000 91 n jey6ig 1524 1 epia ses m NES Li sindino Bojeuy 1 lt Altus S GR3xx Micro Controller Revision E Doc Code CE110100 24 V90LcCOLCO 5 5 5 ag x a a 2 Da oe 5 5 22 25 2 5 20 gt d gt TE E ay x zt 2 g 2 a lt wo A 2 1 o TORRES Hote 2 Ei HH m 11 E HH i T H i i x IE i 1 HB sindino sindino m JOjSISUEJ Slosuog 8 lt gt sindino M e lt ebia sea lt 4 9JIM c E e lt q sindin sinduj Bojeuy 21 Altus S A Micro Controller GR3xx Doc Code CE110100 Revision E Notes 1 The power supply common point 0 V must be connected to electrical panel grounding This connection is suggested to minimize electrical noise on the automation system 2 The power supply must be connected to 24 Vdc and 0 V terminal module according
10. X aX 5 DIGITAL INPUTS Altus 5 A 18 Revision E GR3xx Micro Controller Doc Code CE110100 19 VWZO8ZOLEO V 0LZOLCO ol S o b 8 2 5 2 22 5 m 9 8 g amp 5 i Q EE i 2 i g H ii i 8 o 7 So 5 gt H BIB IR x T N Ji N di ws L1 ie x o ile ALI Eia li T Il il NAAN 111 sindjno sindjno ej6iq 8 E LE sindino sindino i 1L M Aejay JOjsisuEl SJOSUSS 5105098 Kejay Jo sisueJ 108095 siosuas a 9JIM 9JM Z sindino ame M 2 e s 1524 lt Altus S A GR3xx Revision E 20 24 Micro Controller Doc Code CE110100 VvOLZOLCO VSOLZOLEO ET al F o E 1 S di 8 Lgs 5 5 8 19 E 5 Z 25 25 2 3 2 ay o SI 8 z z 2 Z 58 38 ka 2 dl 5 8 2 z 8 Q 5 2 c a g a 2 I i i H tf a 5 e i i i o ji H 2 H i lel la 4 H H tu 9 ps 2 alls 4 i HH NNN
11. connector IBM PC standard It is used on 1 to connect the following equipment 9900 Webgate or PO9901 Webgate Plus GR380 Real time clock module which can be used with the micro controller GR350 GR351 GR370 e GR371 GR381 Cable assembled with two female connectors to connected expansion modules GR900 HardFlex characteristic that allows the use of fast counter application on micro controller GR350 GR351 GR370 e GR371 GR901 HARDFLEX characteristic that allows the use of fast counter application and fast pulse output It includes the option of acceleration and deceleration ramp to motion control applications GR902 HardFlex characteristic that allows the use of fast counter application and fast PWM output It includes the option of acceleration and deceleration ramp to motion control applications PO9901 It allows the connection of Altus CPs on Ethernet TCP IP net FT1 5 FT10 IHM interface used with Altus CPs through serial port by Alnet protocol Altus S A 3 Micro Controller GR3xx Doc Code CE110100 Revision E Functional Characteristics ansie GR350 GR35 Digitalinputs 6 10 1 n n mw Transistoroutputs 4 4 8 8 8 8 8 Retay outputs o 2 2 2 2 2 High speed outputs 2 2 2 2 Counters o teats 1045 104 8 1048 1
12. g remote data acquisition and control functions The UCP can be accessed by runtime software or browser allowing remote programming and I O pass thru commands Further more it is possible to communicate with other controller to interlocking commands Runtime Software Browser PO7091 e d PO3342 AL 3405 e AL 200x PO7091 e PO3242 HardFlex Architecture The HardFlex Architecture which is native in some Serie Grano models provides a flexible and capable structure with hardware reprogramming functions This architecture allows the programming of specific functions according with user necessities to fill a process lack It helps the communication between HardFlex CP and equipment with different communication standards There are machines sensors and transducers that have the same functions but use different communications standards according to each manufacturer HardFlex Architecture comes to bond and facilitate machine communication standard where the code and decode communication function is installed on CP An example of this case can be find when the user purchases a transducer to position control Supposing that the purchased transducer is the best for his application but it comes with an uncommon signal A CP to decode or code this signal can be expensive difficult to find or will be necessary the development of special circuits to adjust the signal It is possible with the use of CPs Grano a hardware reprogra
13. ge for large data quantities using register and fields concepts F ARQ2 035 F ARQ4 036 F ARQ8 037 F ARQ12 038 F ARQ15 039 F ARQ16 040 F ARQ24 041 F MOBT 043 F STCP 044 F CTRL 059 Improve block copies between numeric and table operands CP status operands Improve lead lag algorithms Improve proportional integral and derivative controlling it has some differences from F PID 033 Operand normalizes function F PID16 056 F NORM 071 F COMPF 072 Compare operands according a range Executes an immediately scanning of I O points with image memory CLIE actualization and specified physical positions Improve logical operation AND between simple operands M or D and or tables TM or TD It can be perform up to 255 logical operations with one unique function call F ANDT 090 Improve logical operation OR between simple operands M or D and or F ORT 091 tables TM or TD It can be perform up to 255 logical operations with one unique function call Improve logical operation XOR between simple operands M or D and or tables TM or TD It can be perform up to 255 logical operations with one unique function call F XORT 092 Improve logical operation NOT between simple operands M or D and or tables TM or TD It can be perform up to 255 logical operations with one unique function call F FMUL 054 F FDIV 055 F NEGT 093 GR3xx Revision E 16 Micro Controller Doc Code CE11010
14. inputs they will be short circuited by a diode with the 0 Vdc In this case the value will be zero 8 The voltage outputs have the positive pole connected to PO and P1 The negative pole is connected to A terminal which is common for the two outputs The P terminal is internally connected to 0 Vdc 9 It is suggest the use of shielded cable when using thermocouple measurement The thermocouples cables must be grounded in one extremity and most near from module terminal connection 10 The three terminals C are short circuited providing different points to connections 11 The analog input signals must be grounded only in one extremity and most near from module terminal connection 12 The analog output signals must use shielded cable The cables must be grounded in one extremity and most near from module terminal connection 13 The models that allows modules expansion are connected by the expansion cable GR381 Altus S A 22 Micro Controller Doc Code CE110100 Physical Dimensions mm dimensions VE VEVEYEN m IT I iT n
15. mming then the uncommon standard will be Funca decode and process by the CPU Also it exists the possibility to use functions with high speed outputs like PWM Pulse Wide Modulation PTO Pulse Train Output de Hardware and other for closed control loop Hardware Configuravel Altus S A 7 Micro Controller Doc Code CE110100 Digital Inputs Input voltage 24 nominal 15 to 30 Vdc for 1 signal 0 to 5 for 0 signal 24 Vic Input impedance Terminal block configuration 10 to 17 E0 JO to J5 E1 Input type Type 1 switches and 2 wire sensors Input delay time 2 ms 24 Vdc typical Isolation from logical circuit No isolation between user and system Status Indicator One LED by input point Relay Outputs Altus S A 5 30 0 5 A 48 Resistive load 0 150 A 125 Vdc 1 5 A 125 1 5 A 240 Minimum contact load 10 mA 12 Terminal block configuration RO RO dry contact R1 R1 dry contact Expected life 10 10 operations with nominal load 7 5 ms to close Operate release Time 8 5 ms to open Switching frequency Maximum 0 5 Hz with nominal load Status indicator One LED by output point GR3xx Revision E Micro Controller Doc Code CE110100 Transistor Outputs GR310 GR316 GR330 GR350 GR351 GR370 GR371 Transistor output model 8 transistor source outputs
16. n be used for temperature measurement with thermocouples The filtering parameterization is set by software according available values It is resolve by software and simulated time constant RC analogue filter Altus S A 11 Micro Controller Doc Code CE110100 Thermocouple Input Notes 2 Thermocouple inputs Thermocouple must be isolated 0 4 Full scale 25 0 01 Full scale C 12 bits linearity guarantee Input impedance Maximum voltage without 12 damage Fer 400 ms 1s or 10s configurable by software Terminal block configuration A0 e A A1 e A Cold junction compensation Temperature sensor range Compensation range temperature environment at 80 C Precision 5 C Supported thermocouple C Model Resolution ITS 90 Graphic J 0 5 C K Tito 1250 C 0 5 C Supported thermocouple F Model Resolution 179 90 Graphic J T K E Diagnostic Open circuit Over range The thermocouple must be isolated without machine contact The terminal A must be used only for analog input with negative signal polarity The terminals AO A1 A2 e A3 must be connected to positive signal voltage Temperature the thermocouple must be connected only AO A e A1 A The terminals A must be connected a negative polarity The temperature is measured over the initial temperature Altus S A GR3xx Revision E 12 Micro Controller GR3xx Doc Code CE110100 Revision
17. n by contact 7 bytes instruction Notes All numeric operands KM KD M D TM TD and TF allow values representing with arithmetic signal The application program configures the number of simple operands and tables M D TM TD and TF which it is limited by the available operands memory capacity see comparative table Altus S A 14 Micro Controller Doc Code CE110100 Instruction List Relay Contact MOV Simple operand movement MOP Operand block movement Data Handling MOB Operand block movement MOT Table movement CAB Block charge CAR Operand charge Comparison gt Bigger than Addition Subtraction x Multiplication B D Binary decimal conversion Conversions 7 Decimal binary conversion AND _ Binary AND 3 2 OR Binary OR Binary operations Binary XOR NEG NOT operator CON Simple counter Counting COB Up down counter TEE Timer on delay Timing 3 TED Timer off delay LDI On off indexed points Indexed TEI Status test for indexed points CHF Function module call CHP Procedure module call Altus S A GR3xx Revision E 15 Micro Controller Doc Code CE110100 Module Functions List Altus S A Function Modules Description PID algorithm function Square root for memory or real operand In case of memory operand the QUOVIS result can be normalized for a previously scale It allows the stora
18. or Alnet peer to peer to CPU from Serie Ponto Piccolo or Grano Assembled with two RJ45 male connectors AL 1715 Cable assembled with one RJ45 serial connector and one RS232 9 pin male sub D connector IBM PC standard It is used on to connect the following equipment e 5 which uses IBM PC standard connector to local supervision process standard microcomputer to supervision software standard microcomputer to UCP programming port through MasterTool Software AL 1718 Cable assembled with one RJ45 serial connector and one RS232 9 pin male sub D connector Altus standard It is used on COM 1 to connect the following equipment e AL 1413 module RS232 5485 Transceiver Altus S A Micro Controller GR3xx Doc Code CE110100 Revision E AL 1719 Cable assembled with one RJ45 serial connector and one RS232 9 pin male sub D connector Altus standard It is used on COM1 to connect the following equipment e IHM Foton 5 or Foton 10 AL 1720 Cable assembled with one RJ45 serial connector and one RS232 9 pin male sub D connector Altus standard It is used on COM1 to connect the following equipment IHM Foton 1 or Foton AL 1721 Cable assembled with one RJ45 serial connector and one RS232 9 pin male sub D connector Altus standard It is used on COM1 to connect the following equipment Modem AL 1726 Cable assembled with one RJ45 serial connector and one RS232 9 pin female sub D
19. ow current Interruption Input the digital and interruption input use the same connection 10 input With the use of E 020 module on application program the input will be set to positive edge interrupt Otherwise the input will be set like common digital input Expansion Modules the GR351 and GR371 can be used like expansion modules The expansion executes a different application program Ladder that changes information through a expansion bus with high speed characteristics Real Time Clock Module The GR380 module allows this characteristic MasterTool The Serie Grano is programmed by any MasterTool with hardkey upper than 3 51 version including MasterTool PL HardFlex Architecture The modules which permit the use of HardFlex architecture comes with native GR900 version Versions with different solutions are available to order Altus S A 4 Micro Controller GR3xx Doc Code CE110100 Revision E General Characteristics GR310 GR316 GR330 GR350 GR351 GR370 GR371 Status and diagnostic LEDs indicators EX PG ER DG AL TR One LED by I O point On line programming Typical program scan time 1 6 ms Kwords RS232 Communication port COM 1 TX RX RTS and CTS Maximum analog 1 points Limited by the availability of UCP and expansion modules analog channels Power supply protection Polarity inversion Watchdog Terminal and Connector Configuration 1 RJ45 connector COM 1 Spring terminals to field wiring connection
20. ram Identification cards to signals Mounted on DIN TS35 rail HARDFLEX Architecture a characteristic that allows reprogramming of high speed hardware functions It is ideal to solve complex and time critical process on machines and great speed applications Altus can provide library functions and under consulting develop new library functions These functions not only can be used to execute specific applications with counters and high speed outputs but also logical I O operations For further information see HardFlex Technical Characteristics documentation Ordering Information Included Items The product packing comes with Micro Controller Installation Guide Altus S A 1 Micro Controller Doc Code CE110100 Product Code Use the following codes when ordering the product am am 1001 600 Micro Gontroler amos GR350 14D1 12DO Counter Micro Controler GR351 ____ 140 1200 Counter Expansion Micro Controller Related Products Depending on your system requirements the following products might be ordered along with the GR3xx Notes sf EmpansionCable ___________ GR9D HardFiex 1 fast counter 1 PTO output LGR902 HardFiex 1 fast counter 1 PWM output _______________ Operator Panel Operator Panel Operator Panel 150 _______ 5 __________ GR3xx Revision E AL 1714 Cable to connect a serial communication interface Modbus
21. user and system Switching frequency 0 to 20 kHz GR3xx Revision E Not only standard functions can be set to high speed outputs but also new functions with special characteristics that changes the hardware behavior New functions modules can be supply under consulting for complex high speed application and time critical functions These outputs can be used for Special fast counters Time difference between inputs e Frequency converter to digital value increasing analog capacity through converter V F blocks e t is available 6 high speed counter inputs 4 set to factory configuration with 24 bits counter and 2 reserved for optimized functions The high speed counter inputs and common digital inputs use the same terminals which will be set according application Altus S A Attention In case of high speed counter and high speed output configuration see HardFlex GR9xx Technical Documentation for further information 10 Micro Controller GR3xx Doc Code CE110100 Revision E Analog Inputs Analog input model 4 analog inputs not isolated 0 2 Full scale 25 C 0 01 Full scale C 12 bits linearity guarantee Input impedance 1 3 Voltage input 13 kQ Two thermocouple inputs Accuracy 2 ms 150 ms 1 25 10 s configurable by software Maximum voltage without damage B Steps Resolution 26 mV if 5 above the maximum limit Diagnostic Indicator Notes Two analog inputs ca
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