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1. EN_ and or EN_D is set as 1 when EN Pis 0 a Replace the CPU module with GM6 CPU type is mismatched CPUB or GM6 CPUC 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 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 MV range 0 100 RIFPLE oe RIPPLE select the wave form to be used for auto PID6AT EN Sp tuning operation Select 1 in general case END Output PV DONE Turn on whenever the auto tuning operation is completed 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 1 80 of PV Chapter 15 The PID functions SV setting value the designated value and PV process value present value of GM6 PID operation have the range O
2. H3031 H313233343536373839 For PLC NAK response after execution of command S me value Ex mh ie H3041 H52 72 H5342 Error code 4 jos 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 Command Mallee Variable Variable name ommani type a length name yP blocks g sr se e pe is r ne ASCII H254D57 H3030 So 05 H3230 H5354 H3031 H3036 313030 4532 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 H01 ASCII value 3031 H04 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 31
3. disable specification ano AS Specifying count time averaging AD01_NT Setting count time average value AD01_INI REQ DONE BASE STAT SLOT ACT CH DATA TYPE FILT _EN FILT _VAL AVG EN AVG SEL NUM TIME HHH The moduk D A 02 intialization HH 0 Specifying the loaded base No 2 Specifying the loaded slot No DA_CH Specifying the used channel DA02_DT Specifying the data type Specifying the D A conversion DA02_SE module output status when the CPU modules is in the STOP state HHH The moduk D A 03 intialization AHF 0 Specifying the loaded base No 3 Specifying the loaded slot No DA03_CH Specifying the used channel DA03_DT Specifying the data type DA03_SE AD01_STAT Indicating the error status during initialization function block execution 1_ACT Indicating the run channels during initialization function block execution DA02_INI DAA4INI REQ DONE BASE STAT DA02 STAT ESA Indicafing the error status during initialization function block execution SLOT ACT DA02_ACT Indicating the run channels during initialization function block execution CH DATA TYPE SEL DAO3_INI DAA4INI REQ DONE BASE STAT DA03_STAT Indicating the error status during initialization function block execution SLOT ACT DA03_ACT Indicating the run channels during initialization function block execution CH DATA TYPE SEL Specifying the D A conversion module output status when the CPU modules is in
4. 31 Description Each byte of the M422 ERR_CNIT 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 Flagname M422 ERR n Array Byte Type n 0 31 Description 0 No error 1 Timeout error 2 NAK 3 Operation mode and error of slave station Flag name S422 STATE n Array Byte Type n 0 31 Description Bit O 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 O 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 number 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 Remark Scan time A total time of the processing time of the all parameter settings From the execution of the first paramete
5. Ca N Internal Circuit ocooo ooo ooo ooo wo wo wo Connector Pin Number Chapter 7 INPUT AND OUTPUT MODULES 7 2 5 8 points 110 VAC input module AC Input Module A k AIA Number of input points 8 points Insulation method Photo coupler Rated input voltage 100 to 120 VAC 50 60 Hz Rated input current 7 mA 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 300 mA 0 3 ms or lower 132 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 10 kQ OFF ON 15 ms or less Response time ON OFF 25 ms or less 8 points COM Internal current consumption 60 mA Operating indicator LED turns on at ON state of input External connections 9 point terminal block connector M3 x 6 screws Internal Circiut AC 110V Terminal Block Number 7 6 Chapter 7 INPUT AND OUTPUT MODULES 7 2 6 8 points 220 VAC input module 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 Maximum simultaneous input points 100 8 points COM simultaneously ON Response time AT A C 8 pointsICOM 60 mA Operating indicator LED turns on at ON state of input 9 point terminal block connector M3 x 6 screws 0 14 k
6. IMO Programmable Logic Controller G6 Series IMO Precision Controls Ltd Chapter 1 GENERAL 1 1 Guide to User s Manual 1 1 1 2 Features 1 2 1 3 Terminology 1 3 Chapter 2 SYSTEM CONFIGURATION 2 1 Overall Configuration 2 1 2 2 Product List 2 2 2 2 1 GM6 series Configuration 2 2 2 3 System Configuration Types 2 3 2 3 1 Basic System 2 3 2 3 2 Computer Link System 2 3 2 3 3 Network System 2 4 Chapter 3 GENERAL SPECIFICATION 3 1 General Specifications 3 1 Chapter 4 CPU MODULE 4 1 Performance Specifications 4 1 4 2 Operation processing 4 2 4 2 1 Operation processing Methods 4 2 4 2 2 Operation processing at momentary power failure occurrence 4 3 4 2 3 Scan Time 4 4 4 2 4 Scan Watchdog Timer 4 4 4 2 5 Timer processing 4 5 4 2 6 Counter processing 4 7 4 3 Program 4 9 4 3 1 Program Configuration 4 9 4 3 2 Program Execution Procedures 4 10 4 3 3 Task 4 13 4 3 4 Error Handling 4 19 4 3 5 Precautions when using special modules 4 20 4 4 Operation Modes 4 24 4 4 1 RUN mode 4 24 4 4 2 STOP mode 4 25 4 4 3 PAUSE mode 4 25 4 4 4 DEBUG mode 4 25 4 4 5 Operation Mode Change 4 26 4 5 Functions 4 28 4 5 1 Restart mode 4 28 4 5 2 Self diagnosis 4 30 4 5 3 Remote function 4 31 4 5 4 I O Force On Off function 4 32 4 5 5 Direct I O Operation function 4 33 4 5 6 External Device Error Diagnosis function 4 33 4 6 Memory Configuration 4 36 4 7 I O No Allocation Method 4 38 4 8 Names of Parts 4 39 Chapter 5 BATTERY 5
7. 4000 PV present value data input BIAS feed forward or offset value input for disturbance compensation input range 0 4000 PID6CAL EN _P enable signal of proportional control EN DONE 0 disable 1 enable MAN MV EN_I enable signal of integral control D R STAT 0 disable 1 enable Sy Q MAX END enable signal of derivative control py Q MIN 0 disable 1 enable BIAS T P_GAIN the proportional gain constant range 0 01 100 00 EN_P TIME the integration time ENJ range 0 0 2000 0 EN_D D_TIME the deviation time range 0 0 2000 0 P_GAIN MV_MAX the maximum value of MV I_TIME range 0 4000 D_TIME MV_MIN the minimum value of MV REF 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 Q 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 an
8. BYTE TO SINT Conversion of BCD ype ini SINT ype 8 DATE To_STRING Conversion of DATE tpe iio sting a8 se 05g DINT TO INT Conversion of DINT type into INT type ONTO Bo Conversion of DINT ype ite BCD ye ta tag DT_TO_DATE _ Conversion of DT hype info DATE ype L e ff 8 DT TO _TOD Conversion of DT type into TOD type DORO IO WORD T Comeon Gi DWORNA ei a a E INT_TO_ DINT Conversion of INT type into DINT type SINT_TO_BCD Conversion of SINT type into BCD type 140 67 9 DELETE Us delete string 68 298 63 9 INSERT To insert a string 68 524 418 9 LIMIT eat To output upper or lower limits 80 794 80 9 REPLACE To replace a string with another 73 584 97 9 RIGHT To obtain the right part of a string ADD_TIME time Time addition DIV_TIME i1 time REMARK 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 Appendix 3 Function Function Block
9. 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 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 Appendix 1 System definitions 2 I O 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 lf I O configuration parameters are set to default the operation starts on the basis of the configuration of the real mounted module wh
10. Twofold 16 VER_NUM Unit _ O S version No System O S version No _MEM_TYPE ao module Type of program memory module 0 Unloading state type 0 to 5 Representati PLC mode an System operation mode and operation state information ve keyword operation status ei cantel sly mode change is possible only by mode change switch or STOP DEBUG change factor Operation mode change factor Operation mode change factor Bit 8 peranan moge 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 Input junction force On Off is being executed Force output Output junction force On Off is being executed Bit 12 ae POE Operation in the RUN mode is directly stopped by ESTOP function Bit 14 During in External monitoring is being executed for programs or variables Bit15 Remote mode ON Operation in the remote mode a GMWIN Connection state between CPU module and GMWIN ve keyword connection state Bit 0 Local GMWIN Local GMWIN connection state connection _GMWIN_CNF Byte CPU module operation state Bit 6 Operation mode change by GMWIN _SYS_STATE Word Bit 7 Operation mode change by remote GMWIN Remote GMWIN Remote Remote GMWIN connection state connection state connection Remote Bit 2 communications Remote communications connect
11. 1 For remote function operations refer to the GMWIN User s Manual Chapter 7 On line Chapter 4 CPU module 4 5 4 I O 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 I O 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 output 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 Precautio
12. 1 Specifications 5 1 5 2 Handling Instructions 5 1 5 3 Battery Replacement 5 1 Chapter 6 USING THE USER PROGRAM IN FLASH MEMORY 6 1 Structure 6 1 6 3 Handling 6 1 Chapter 7 DIGITAL INPUT AND OUTPUT MODULES 7 1 Notes on Selecting Input and Output Modules 7 1 7 2 Digital Input Module Specifications 7 2 7 2 1 16 point 24VDC input module source sink type 7 2 7 2 2 16 point 24VDC input module source type 7 2 3 32 point 24VDC input module source sink type 7 4 7 2 4 32 point 24VDC input module source type 7 5 7 2 5 8 point 110VAC input module 7 6 7 2 6 8 point 220VAC input module 1 1 7 3 Digital Output Module Specifications 7 8 7 3 1 16 point relay output module 7 8 7 3 2 16 point transistor output module sink type 7 9 7 3 3 32 point transistor output module sink type 7 10 7 3 4 8 point triac output module 7 11 Chapter 8 POWER SUPPLY MODULE 8 1 Selection of power supply module 8 1 8 2 Specifications 8 2 8 3 Names of Parts 8 3 Chapter 9 BASE BOARD 9 1 Specifications 9 1 9 2 Names of Parts 9 1 Chapter 10 INSTALLATION AND WIRING 10 1 Installation 10 1 10 1 1 Installation Environment 10 1 10 1 2 Handling Instructions 10 4 10 1 3 Module Loading and Unloading 10 7 10 2 Wiring 10 9 10 2 1 Power Supply Wiring 10 9 10 2 2 Input and Output Devices Wiring 10 11 10 2 3 Grounding 10 11 10 2 4 Cable Specification for wiring 10 12 Chapter 11 MAINTENANCE 11 1 Maintenance and Inspection 11 1 11 2 Dail
13. 18 kg Internal Circuit Terminal Block Number 7 9 Chapter 7 INPUT AND OUTPUT MODULES 7 3 3 32 point transistor output module sink type Transistor Output Module seana a Response 2 ms or less time 2 ms or less External 24 VDC 10 ripple voltage 4VP P or less power supply 36 mA or less 24 VDC COM LED turns on at ON state of output 37 pin D Sub connector 0 11 kg a w N A 3 f OOCOCOOOOOOCOCOC00000 o Internal w 1 1 Circuit w wo w o oocoooo doodo oodo oda Connector Pin Number Chapter 7 INPUT AND OUTPUT MODULES 7 3 4 8 point triac output module Triac Output Module Specifications po BASSIA 1 5 VAC or less 2 A Response time gees ims 0 5 cycle or less 8 points COM 210 mA LED turns on at ON state of output 9 point terminal block connector M3 x 6 screws 0 16 kg Internal Circuit Terminal Block Number Chapter 8 POWER SUPPLY MODULES 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 th
14. 2 Bytes ASCII 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 name Famel v0 ASCII value wo o o SSC For PLC ACK response after execution of command Format Header Command Register Number of Number of Tail name No blocks data Frame ASCII H3233343232 H3031 H59 79 H3031 H3031 H3034 333339 jos For PLC NAK response after execution of command msaa ms froo HSH e fE mms 13 28 Chapter 13 Dedicated Cnet communication for GM6 13 8 Error code during NAK occurrence for GM6 dedicated communication code H0001 PLC system error Interface with PLC impossible Power On Off x Check whether another character than Error occurred when ASCII data WOI a H0011 Data error e upper and lower cases and digits value is converted into digits has been used correct and execute again H0021 Using wrong instruction Inspect instruction H0031 Instruction type error Instruction is used in wrong type Inspect instruction type H1132 Wrong specified device memory Inspect device type H1232 Dat
15. 3 Debug operation conditions e Two or more of the following four operation conditions can be simultaneously specified 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 f break step is specified in the program the operation stops at those step breakpoint before execution e Up to 8 breakpoints can be specified 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 lf 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 Users Manual Chapter 9 4 4 5 Operation mode change 1 Operation mode change methods The following method are used to 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 t
16. 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 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 O 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 O 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
17. Execute Preset command while the HSC is disabled status 16 10 Appendix 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 PLG Name GLOFA GMB PLO Ver v1 6 W Remote Access Right Communication Stattion Mumber o Baud Rate 19200 tf Waster Cant pause by key Restart lode Cold Restart f Warm Restart O Slave ResourceflPlt Property Mame Scan WO Timer Resource RESO 200 ma owce ee 1 Configuration PLC Name e t 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 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 APP1 1 Appendix 1 System definitions 4 Resource
18. In general case select 1 for 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 Error code ares STAT output Type Description Countermeasure SV is out of range Change the SV within 0 4000 PV is out of rande It may caused by fault of A D module J Check the A D module 3 S_TIME is out of range Change the S_TIME within 0 100 Replace the CPU module with GM6 4 CPU type is mismatched CPUB or GM6 CPUC 15 21 Chapter 15 The PID functions 15 4 Programming 15 4 1 System configuration Input Output A D Input D A Output module module module module module module PV DC4 20mA GMWIN V3 2 or later RS 232C 1 5V MV DC4 20mA Temperature aang sensor Electric oven 0 200 C heater oe a 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 O If only P control is used input proper value other 0 e EN P EN_1 EN _D setting EN P 1 EN_l 1 EN
19. 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 Deviation Manipulation quantity in D action Manipulation quantity Fig 2 7 Derivative action with a constant deviation 4 The expression of D action is as following Mso dt 5 Derivative action is used only in PID action in which P and actions combine with 15 6 Chapter 15 The PID functions D action 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 l action P action Fig 2 8 PID action with a constant deviation 15 7 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 A diagram in which forward and reverse actions are drawn using MV PV and SV is shown as Fig 2 9 S Reverse action Forward action Fig 2 9 MV of forward reverse action 3 Fig 2 10 shows examples of process control by forward and reverse actions respectively K temperature time time Reverse action for Cooling Forward action for Heating Fig 2 10 PV o
20. Mame Scan vWD Timer Resource JRESO zoo ms cae ee 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 G Series 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 store the status at the corresponding flags 14 2 Chapter 14 The RS422 485 communication of GM6 CPUB 2 High speed link parameter setup High speed Link Parameter Pe Gt adaa EVA SGT SEE LT 4 High peed iLink Qtem Edit J Loe e a Only the High speed link 1 can be set as G Series 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 Q M To Q M 14 3 Chapter 14 The RS422 485 communication of GM6 CPUB 14 4 The status flag 1 Communication error counter flag Flag name M422 ERR_CNT n Array_Byte Type n 0
21. No DA02_DT DATA Inputting the digital data to be set HHH Writing the channel data to the moduk D A 03 only when the writing command is applied H HHH Using the MOV function at hot restart only when the data restore is needed H The DA03_OUT which is declared as a resource STAT STAT global variable DA03_DATA DA03_WR DA03_WR_O _CHANGE DA4AWR K REQ DONE The D A conversion writing has normally finished DA03_DT DA0Q3_OUT 0 Specifying the loaded Base No BASE STAT DA03_STAT Indicating the error status during writing function block execution DA03_ACT Indicating the run channels during writing function block execution 3 Specifying the loaded Slot No SLOT ACT DA03_CH Specifying the used channel No DA03_OUT Inputting the digital data to be set 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 mode ae when the power is applied Mode condition at the start If the operation mode has been changed Data area initialization complying with the restart mode set from the STOP mode to the RUN mode Data area initialization complying with the restart mode Check on the effectiveness of t
22. Receive 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 Appendix 2 Flag List 3 Representative System Warning Flag List Representa _CNF_WAR WORD tive System warning This flag treats the below warning flags relating to continuous operation keyword in batch _D_BCK_ER BOOL BO Data backup error Data backup error error This fiag indicates This fiag indicates 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 Aona restart has been executed and the continuous operation which retains _AB_SD_ER Bit 3 idon 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 Bit 4 plus cycle and for a same task had been repeatedly invoked Refer to the flag external tasks _TC_BMAP n and _TC_CNT n This flag detects and indicates that the voltage of the battery which is _BAT_ERR Bit 5 Battery fault used to backup user programs and data memory is lower than the defined value This r
23. _ANC WARIO 10 operation the AANNUN_WR and _ANC_WARIn will be shown as left _ANC _WAR 1 0 _ANC _WAR 2 0 _ANC _WARJ3 0 _ANC _WAR 4 0 _ANC _WAR 5 0 _ANC _WAR 6 0 _ANC _WAR 7 0 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 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 tem Memory Capacity Overall program memory area 68 k bytes Parameter area e Basic parameter area e 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 66 k bytes e Standard library area e Access variable are e Variable initialization information area e Protective variable specification information area 2 Data memory Configuration The table given below shows the contents to be stored and the storage capacity of program memory Memory Capacity Overall data memory area 32 k bytes System area 1 k bytes e O information table e Force I O table system flag area 1 5 k bytes Input image area IX 128 k bytes Output image area QxX 128 k bytes Direct v
24. and in this name digits upper lower case and only are allowable to be entered 1 Numerical data of frame Ex is hex value and H is unnecessary during preparing real frame 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 AMX QX IX MB QB IB AMW QW IW MD QD ID ee 0 ML QL IL MX QX 7o1X MB QB IB HMW QW IW MD QD ID aa iati X IX MB QB IB HMW QW IW MD QD ID GM4 MX QX IX MB QB IB HMW QW IW MD QD ID o GM5 MX QX IX MB QB IB MW QW IW MD QD ID a MX QX IX MB QB IB HMW QW IW MD QD ID For how to specify the area of each device in GLOFA GM and GK series see GLOFA PLC technical data 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 Response format for PLC of ACK response Format Comma nd MAMIE Variable Header Command of Tail name type Bleeke length Frame ack H20 Hoo Hass Ex sie H3230 H5353 H3031 0002 ee 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 sen
25. e _INIT_RUN flag is on during 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 f 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
26. 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 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 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 an
27. examine the following items 1 Task setting has been correctly done lf 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 processing 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 tim
28. following describes basic system Slot number Example of System configuration Base Board The above figure shows the configuration where 16 input output modules are loaded Maximum number of Input Output modules BS modules e 16 point module mounted 128 points Maximum number of Input Output points 55 int rodularmotiniad 256 points CPU module GM6 CPUA Power Supply module GM6 PAFA GM6 PAFB Basic Base Unit GM6 B04 06 08M G l 64 points are allocated 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 I O number is allocated to a digital I O module A dedicated function block controls a special module and memory is allocated automatically I O number allocation 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 Chapter 2 SYSTEM CONFIGURATION 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
29. is entered Ex 2 In just above example when data contents of 3 WORDs are 1234 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 E d ormar Header Command Command type A Tail name Hex 2 Bytes 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 MDO0 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 sb Format Header Command Command Variable Variable Tail BCC name type length name ae o fe fe fpe fe fere H3041 H52 72 H5342 H3034 H254D4430 H3032 wo For PLC ACK response after execution of command Format Command mtes aei ne Header Command ne of Tail BCC yP blocks D a ACK se FT fho sasere acer 12345678 9ABCDEFO 9ABCDEFO x Bcc
30. 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 4 18 Chapter 4 CPU module 4 3 4 Error Handling 1 Error Classification Errors occur due to various causes such 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 Th
31. 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 QWO 2 1 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 Number Variabl Format Header Cannan Comma of Variable Variable Variable Tail BCC name nd type name blocks 0 z maje H255157 ou H05 H3031 H52 72 H5353 H3032 H3035 PAN H3038 302E322 H04 value 73230 E31 For PLC ACK response after execution of command Format pag Comman Number NILES Mast Eee Header as oF blocka rof of Tail BCC yP data data Frame ASCII H3132 H3536 H3031 H52 72 H5353 H3032 H3032 3334 H3032 3738 os For PLC NAK response after execution of command Pe Pe 5 ai H3031 H52 72 H5353 Error code 4 os 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 a
32. 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 2 4 Chapter 3 GENERAL SPECIFICATIONS Chapter 3 GENERAL SPECIFICATION 3 1 General specifications The ola shows the general specifications of the GLOFA GM series oa temperature Storage ambient P E Se eee en 5 95 RH non condensing humidity Storage ambient 5 95 RH non condensing humidity Occasional vibration vibration ae To ee a 10 lt f lt 57 Hz 5 Vibration setes sams 10 times per IEC 1131 2 Continuous vibration ae Amp ES at 10 lt f lt 57 Hz 0 035 mm 57 lt f lt 150Hz 4 9 mis 710 56 oe gs Maximum shock acceleration 147 m s4 15G Shocks Duration time 11 ms IEC 1131 2 Pulse wave half sine pulse 3 shocks per axis on X Y Z axis Impulse Noise Electronic l IEC 1131 2 aie aaa IEC 801 3 Radiated eae IEC 1131 2 Noise Immunity d field 27 500 MHz 10 V m IEC 801 3 Digital I O Digital VO lt 24V IEC 1131 2 pal gt 24V Analog I O IEC 801 4 noise interface 0 25kKV 8 Operating Free of corrosive gases and excessive dust IEC 1131 2 ambience 9 Altitude 2 000 m or less Lo a Pollution 2 ss Eo Cooling method Air cooling REMARK 1 IEC International Electromechanical Commission An international c
33. reading of direct variable Format Header Command Register Number of Number Tail name No blocks of data Frame ASCII H3931383341 H3130 H59 79 H313F H3031 H3034 414242 ios 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 e g ASCII SUE H06 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 eadar Command Register Number of Number of Tail name No blocks data Frame ASCII H3931383341 H3130 H59 79 H313F H3031 H3034 414242 jis 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 Response format for PLC NAK response e Station number commands and register No are the same as computer request 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
34. 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 Wor 124 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 l 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 V 6 Power consumption of the special module power supply Ws lay X 5 logy X 24 laggy X 100 W The sum of the above values is the power consumption of the entire PLC system W Wow Woy Waay Wour 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 INST
35. 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 4 19 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 function 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 ra
36. the three types as below P 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 P 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 P The detection of the start up condition will be executed after the scan program has been processed e Interrupt external task program P The program is executed according to the external signal a input to the interrupt module REMARK 1 Refer to section 4 3 3 task for details of task program 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 1 Program 2 Function Program 3 Program Block Program 4 Task 2 Function Block program 3 Program 5 Program Block Task 3 Program 6 program 7 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 consists of one or more program blocks in the three types of program Those programs are called task programs A program to which a tas
37. value MV 0 4000 based on the SV and PV from A D module Simultaneously the A T module will calculate P l 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 geh dor ndis c Wgm nile parc et roa LE ea Pr fea Wam amier TUNE hal Aran errs ii si ot aa Hegi niea al ol inizia Line wie Sila E mg 15 24 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 16 1 IMPFOGUCTIONS nsten aaae Kaera havi eda 16 16 1 16 2 Performance specifications ccccceeecceeeeeeeeeeeeneeeeneeenseceneeseneseeeesaaees 16 16 2 16 3 Inp t specifications pciiini ee aa EAA Kaaa 16 16 3 16 3 1 Function of input terminals nsere e aaa a e iaa 16 16 3 16 3 2 Names of wiring terminals cccccccseeeeeeeeeeeeeeceeeeeeseeeeeaeeeeesaeeeeses 16 16 3 16 35 32 External te Mae GCU risasi tte steasideneasdaten Hneecledn in dgndgrettutdlte 16 16 4 1604 WINO Gerosa tetaeus feteetavelbsa
38. windup control system E SV PV 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 control is as following P n K bx 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 et I t aa e s ds I t integral term l K proportional gain constant Ti integral time e s deviation value By deviation about t we can obtain 2 7 e SV PV deviation value dt Ti The digitized formula is as following I n 1 I n _ K e n h sampling period h Ti Taye eas Ti 15 13 Chapter 15 The PID functions 15 2 2 3 D control The continuous formula of derivative term is as following Td d d x D D KTd 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 AN 2KTdN D n D n 1 _ 2Td hN 2Td hN bo y n 15 2 2 4 Pseudo code of PID control The pseudo code of PID control is as following Step 1 Get co
39. 0 H57 77 H5353 H03 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 E d Format name Header Command Salil ets Tail type Hex 2 Bytes i H3230 H5353 H34323532 H03 e Station number commands and type of command are the same as computer request format ASCII 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 ASCIl 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 iei Command Number of satelol Variable Command name Tail BCC name type blocks length name po e fe e owe eo ss H3031 H57 77 H5353 H3031 H3036 NES SNS reat H04 value 23330 For PLC ACK response after execution of command name 7 ASCII H06 H3031 H57 77 H5353 H03 value For PLC NAK response after execution of command E ASCII Jalie H15 H3031 H57 77 H5353 Error code 4 H0
40. 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 DSU a 2 ESS HACO Cnet connection with PC The configuration when connected to PMU n posms ART zZz Cug Z ACO Cnet connection with PMU 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 lt The pin assignment of RS232C connector which are used the connection of PC and GM6 CPU gt The 1 1 connection with the monitoring unit like PMU O 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 he Station Type o Tail Frame A a an Suan EOT _ oneck BCO 2 ACK response frame Cnet module external communication devices when data is normally received Max 256 Bytes ine Station Type of Tail Frame Struct
41. 10 12 Chapter 11 MAINTENACE 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 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 0 to 55 C Adjust the operating temperature and environment Humidity 5 to 95 RH humidity with the defined range Use vibration resisting rubber or the vibration prevention method Play of modules No play allowed Securely enrage the hook Connecting conditions of No loose allowed Retighten terminal screws terminal screws Change rate of input voltage 15 to 15 Hold it with the allowable range Spare parts Check the number of spare parts Cover the shortage and improve the storage and their storage conditions condition 11 2 Daily Inspection The following table shows the inspection and items which are to be checked daily Check Items Check points Judgment Corrective Actions eee mounung Check for loose mounting screws for loose Check for loose mounting screws screws The base unit should be securely mounted base unit should be The base unit should be securely mounted mounted Retighten Screws Retigh
42. 3 13 19 Chapter 13 Dedicated Cnet 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 Tail name Max 120 Bytes ASCII H57 ka H3131313 SC fies H3130 77 H5342 H3036 343030 H3031 132323232 04 EE 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 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 Protocol of continuous writing function of direct variable has not Number of blocks 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 H01 ASCII value 3031 to H10 ASCIlI value 3130 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 follow
43. 30 e Direct variable This is an address of variable to be actually read This 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 H0000000A 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 BOOL bye WORD DOUBLEWORD GM1 2 MX QX IX MB QB IB MW QW W MD QD ID GM3 4 5 MX QX IX MB QB IB MW QW IW MD QD ID MX QX YX MB QB IB MW QW W MD QD ID GM5 MX QX IX MB QB IB MW QW IW MD QD ID Y MX QX IX MB QB IB MW QW W 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 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 H00 3030 and if 1 by H01 3031 3 Response format for ACK response Famel TK ASCII value H323
44. ALLATION 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 I O 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 it 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 f
45. Bit is unavailable Writes variable of each data type using variable Indivi ya 80803184 e Named H57 Variable to be read must be one registered in access Var variable area Writing i Writes data to array named variable 3135 3237 Variable to be read must be one registered in access variable area Monitor H00 Register variable to be monitored If registered Var 3030 3331 variable is named one variable to be read must be ae H31 Register one registered in access variable area Monitor H00 Executi H31 3030 3331 Carries out the registered variable to monitor In the main command the capital and small letter have different meaning In other field however it doesn t care letters are capital or small For example mW100 and mw100 are exactly same command 1 The CPU A type does not support this function 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 Data type Ind charac Example of use MD10 QD0 0 0 1D0 0 0 1 The
46. C 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 Surge absorber for lightening REMARK 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 I O wiring is 0 3 to 2 mm 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 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 capa
47. F circuit which is connected to output which are of registers of tens kQ element in parallel When the wiring distance from the output module to the load is long there may be a leakage current Output due to the line capacity C OR R When the load is C R e Leakage current by surge absorbing e Drive the relay using a contact and type timer time constant circuit which is connected to output drive the C R type timer using the since fluctuates element in parallel contact e Use other timer than the C R contact Some timers have half ware rectified internal circuits therefore be cautious Cro The load does not turn e Sneak current due to the use of two e Use only one power supply Output OFF different power supplies e Connect a sneak current prevention diode Figure below Output Output e E1 lt E2 sneak current e E1 is switched Off and E2 is switched If the load is the relay etc connect a ON sneak current counter electromotive voltage absorbing code as show by the dot line 12 9 Chapter 12 TROUBLE SHOOTING Output circuit troubles and corrective actions continued Corrective Action The load off response e Over current at Off state e Insert a small L R magnetic contact time is long The large solenoid current fluidic load and drive the load using the same L R is large such as is directly driven contact with the transistor output Output Output e The off response time can be delaye
48. FA 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 RUN O stop O CPU Module RS 232C Cable ome PAFK i 1 1 nn ae 1 m An KEA ie wD i wy we I L Power Supply Base board GM6 BO M Module GM6 PAF LID NA as ly as ly Z SE z S S Sg NZ S SE Sj SANANANANAN ANAN AND Z SE NE SE Sk SE al 5 SE aklat ale atr atz at atl atla ZS 7 Ta lt a K 7i Ta a K J Ta aU a 74 Ta lt a IK 74 Ta lt a Z Ta Ni i Ta Si 74 ZIS Z ASRS aS VIL IIL MANANA NAINA AYN _EJENENENEN ADENAN W N N N NA N EJESNEN ENEN aise ais NIZNMNANANANYNARY 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 e Maximum I O points 256 Lo G6 D22A 16 point 24 VDC input module current source amp sink input G6I D22B e 16 point 24 VDC input module current source input vga input module __COPD24A 32point 24 VDC input modue curent source amp sinkinpul e 32 point 24 VDC input module current source input Mo CoAT e Bpoint HOVAC
49. I O 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 input 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 or 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 16 points 24 VDC input module source sink type DC Input Module Specifications po ZA Number of input points 16 points Insulation method Photo coupler Rated input voltage 24 VDC Rated input curent Operating voltage range 20 4 VDC to 28 8 VDC ripple less than 5 100 8 points COM simultaneously ON ON voltage ON current 15 VDC or higher 4 3 mA or higher Input impedance Approx 3 3 kQ 1 2 4 8 ms or less Response time ON OFF 1 2 48msor less B poinis COM Internal current consumption 70 mA Operating indicator LED turns on at ON state of input 18 points termi
50. Initialization programs 1 INIT Time driven tasks Task The type of task is Programs External interrupt tasks variable however total Internal task numbers of tasks is 8 Operation modes RUN STOP PAUSE and DEBUG Poe Restart modes Cold Warm Watch dog timer Memory error detection I O error detection Battery Self diagnostic functions error detection Power supply error detection etc Internal current consumption 0 15A Data protection method at power failure Set to Retain variables at data declaration Weight 0 11 Kg 4 1 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 Operation Start e Stage for the start of a scan processing itis executed only one time when eae Ate the power is applied or reset is executed It executes the following processing mialzaton P O modules reset Execution of self diagnosis gt Data clear gt 1 O module address allocation or type registration eee Input module conditions are read and stored into the input image area before Input image area refresh operation processing of a progr
51. Leakage current of external device e Connect an appropriate register which turn OFF Drive by switch with LED indicator will make the voltage across input module terminal and common higher than the OFF voltage as shown below Leakage current DC input External device Input signal does not e Sneak current due to the use of two e Use only one power supply turn OFF different power supplies e Connect a sneak current prevention diode as shown below DC input E1 E2 l E1 E2 e E1 gt E2 Sneaked DC input 12 8 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 Corrective Action Cause When the output is Off excessive voltage is applied to the load e Load is half wave rectified inside e Connect registers of tens to hundreds in some cases it is true of a solenoid kQ across the load in parallel e When the polarity of the power supply is as shown in C is charged When the polarity is as shown in the voltage charged in C plus the line voltage are applied across D Max voltage is approx lf 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 The load does not turn e Leakage current by surge absorbing e Connect C and R across the load OF
52. List 2 Function Block List sane Size of PB Size of library Processing speed usec p Size of instance byte 1 Size byte 2 memory 3 F_TRIG Descending edge detection Preference reset table REMARK 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 The size of the program memory which a program occupies whenever it uses the function block once 2 The occupied memory size and processing speed of IL programs are same as LD programs APP3 2 Appendix 4 Outer Dimensions Appendix 4 Dimensions Unit mm 1 CPU module 2 0 Module APP4 1 Appendix 4 Outer Dimensions 3 Power Supply Module eee GE ef EE EEE ems om oes om e eursom os su 2s m e ees foes oe APP4 2 Appendix 4 Outer Dimensions APP4 3
53. RS 422 e Increments by one whenever communications service fails e Connection condition of network is evaluated by this value Overall network communications quantity and program stability are also evaluated by this value network has the token at least one time and sends a sending frame e Indicates the average time that is spent until every station connected to e Indicates the minimum time that is spent until every station connected to network has the token at least one time and sends a sending frame e Indicates operation state of communications module with a word e Indicates that operation mode of communications module is in the normal operation mode or test mode e Indicates that the communications module can communicates IN_RING 1 with other station or not e Indicates that interface with communications modules has been stopped e Indicates that service cannot be offered due to insufficient common RAM e Indicates communications module hardware defect or system O S error e Indicates whether k remote station or local PLC is connected to the network or not The state value is written to each bit These values shows present state of the network Write is disabled e Indicates re connected stations which had been disconnected before on a bitmap Because this value has been replaced with 1 when re connected the user program has to clear this value with O so that next re connection can be detected Write is enabled
54. S SS a TTT LAMM Me A A AEG ACS SN SSD OSS DS OW SEED OSS BSS OSS BSE OSE LSD OSS E L DSS a LSS a ZI SSO ISSO LSS I SSG ISSO ZS EE GZS Chapter 10 INSTALLATION AND WIRING The followings explains the wiring 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 Constant voltage transformer 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 I O and power device as shown below Main power sal PLC power supply vc_o com a I O power supply oF vVcVv _ Main circuit power supply 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 f 24 VDC output capacity is sufficient for one power supply module supply 24 VDC from the external 24 VDC power supply as shown below Supply 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 mm wires possible for the 100 VAC 200VA
55. T CY R 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 O 16 6 Chapter 16 Built in high speed counter of GM6 CPUC CHSC_AD Read the current value and operation status of HSC ft fe Input REQ Request signal for F B execution Output DONE Turns on after the F B is executed with no error STAT Indicates the operation status of F B STAT CNT The current value of HSC 0 16 777 215 CY Carry flag O OFF 1 ON CHSC_RD REQ DONE 16 7 Chapter 16 Built in high speed counter of GM6 CPUC CHSC_PRE CHSC_PRE Set the preset value of HSC ee ee ee ee ee EA FUNCTION BLOCK Descr iption REQ Request signal for F B execution Set the preset value 0 16 777 215 CHSC_PRE REQ DONE Turns on after the F B is executed with no error PSET STAT STAT Indicates the operation status of F B When the PRE_I E is set as O 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 t
56. Variabl Variabl Tail Panne and ANG umber ariable ariable of blocks length name Frame Ex ENQ H01 X HOt ROA Hot Hos jasoF EOT BCC ASCII value H3031 H58 78 H3031 A H3031 H3034 eee ioe 13 24 Chapter 13 Dedicated Cnet communication for GM6 For PLC ACK response after execution of command KE ASCII value H3031 H58 78 H3031 For PLC NAK response after execution of command Format name Header Command commana HIEI ERG Tail type Hex 2 Bytes X FrametEx Nak HOT fo fon T Eror code ASCII value H3031 H58 78 H3031 Error code 4 H03 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 Fame Ex Yo ASCII value H3130 H59 79 H3146 H Oo o l 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 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 Incase that the register format of register No is the separate
57. W IW MD QD ID YML QL IL GM6 MB QB IB HMW QW IW MD QD ID ML QL lL 3 For PLC ACK response after execution of command Format Header Command Number i Command Tail name type of data Frame H112233445566778899AABBC H313132323333343435353636 ASCII 3737383839394141424243434 value ae pened meets ise es 4444545464631313232333334 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 OOOO O ea O r C WORM SW HOW ANAP MLKFTCDSN DOUBLE WORD D MD 400 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 by e n data area the value converted from hex data to ASCII code
58. _D 1 PID operation f REF TT N REF 10 TT 5 N 1 g MV_MAX MV_MIN MVMAN MV_MAX 4000 MC_MIN 0 MAMAN 2000 h S_TIME S_TIME 100 sampling time 10 seconds 2 Auto tuning parameters a PV setting 1600 100 C b S_TIME S_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 A module 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 O 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 I_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 Then the A D module converts the analog signal to digital value 0 4000 2 A T function block will calculate manipulate
59. a size error Seon te MUMDET SOX Cares dats length ceeding 120 Bytes H2432 Data type error Data type mismatch with actual Equalize variable and data type of PLC variable program H7132 Variable request format error ei format correct and then execute H2232 M I Q area exceeding error Inspect area difinition and execute again H0190 Monitor execution error Registered number exceeding range Eece ogi aver Jog A cm registration number to 31 or less H0290 Monitor registration error Registered number exceeding range ae agan Aar aaiusting manitor registration number to 31 or less Syntax error _6001 Not available instruction is used H6040 Syntax error_6040 Text of one frame exceed 256byte Devide the text into several frames as a text does not exceed 256 byte H6050 Syntax error _6050 Check the BCC is correct 13 29 Chapter 14 The RS422 485 communication of GM6 CPUB 14 1 14 2 14 3 14 4 14 5 14 6 14 7 HMTROOUCTIONS 55 gai te geile e lune este anduhets 14 1 FCOUUNCS iens a aitetes oad watt N 14 1 Parameter setU iecccecciecsciccdeees e aS 14 2 THe Stats lag oniar R 14 4 NITION O arsar A tee ud tench tas fa 14 5 Communication method and termination resistor 14 6 RS 422 485 pin assignment ccccceeeeeeeeeeeeeeeeeeeees 14 6 Chapter 14 The RS422 485 communication of GM6 CPUB 14 The RS422 485 communication of GM6 CPUB 14 1 Introductions 1 The GM6 CPUB module can be used as th
60. am e Program is sequentially executed from the first step to the last step Program operation processing Program start Pw Program end 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 P Change of the present values of timer and counter etc P 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 methods which are internal and external interrupt signal methods 4 2 2 Operation processing
61. am 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 task number 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_BMAP n will be set to ON at its corresponding location and occurrence 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 onl
62. 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 base 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 lf the clearances are less than those in Fig 10 1 follow the instructions shown below e f 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 f the wire duct is mounted on the lower part of the PLC make optic or coaxial cabl
63. ariable area YM 2 to 8 k 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 user operates it with flag name 3 Input image area it used to store input data read from input modules Overall size is 1X0 0 0 to IX1 7 63 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 5 Direct variable area The user can use this area to access direct memory data through the variable names such as MX0 MBO MW0 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 maximum size divide the program bl
64. at module configuration of each slot has been where module changed that is module mounting dismounting error has been 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 10_DEERRIn ee where module changed that is module mounting dismounting error has been _IO_DEER_N 0 to 15 mounting dismounting occurred and indicates the slot locations in the bit map of base error occurred units FUSE ER N 0015 The number of slot This flag detects that fuses of fuse mounted modules has broken a where fuse breaks and indicates the lowest slot No of the detected slot numbers woti The location of slot This flag detects that fuses of fuse mounted modules has broken l 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 0 to 15 where I O module read from or written to and indicates the lowest slot No of the _FUSE_ERR n _IO_RWER_N read write occurred detected slot numbers The location of slot This flag detects that input modules of a slot cannot be normally n 0 to 1 where I O module read 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 0 to 15 Special link m
65. 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 2 The operation processing is resumed when normal status is restored Input Power 3 The output voltage of the power supply module retains the defined value Momentary power failure within 20 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 ewe 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 written of the task program processing time and the PLC internal processing time 1 Scan time S
66. aunavatetieaddeenremanidocacentedes 16 16 5 1e T Wining instructions naea ee cea eer est E eee 16 16 5 16 4 2 VWINNGVEXAINDICS jcnatercee tat tacectece es aueeseeneensaeeetanatett tants waiestiettaezeese 16 16 5 16 5 Programm hig iane a a E tees uence 16 16 6 16S FUNCOM DIOCKIE B laarsen EA RA 16 16 6 Chapter 16 Built in high speed counter of GM6 CPUC 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 down 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 1 Chapter 16 Built in high speed counter of GM6 CPUC 16 2 Performance specifications Items Specifications Phase A Phase B Preset Rated level 24VDC 13
67. can know the cause of error by use of the GMWIN and also by direct monitoring of the flag _ANC_ERRJn Chapter 4 CPU module 3 As the flag _ANC_ERRJn 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 detection Example 10 _ANC_ERR 0 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_WBj n is set to on the flag will checked from the _ANC_WBJ0 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_WARJ0 to ANC_WAR 7 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_WARJn and _ANC_WB Jn 3 If an external device waning is removed that is the elements of ANC_WAR n are released from warning the corresponding _ANC_WAR Jn will be automatically cleared If all element flags are cleared the flag _ANNUN_WR of the system flag _CNF_WAR will be reset Chapter 4 CPU module Example Error detection ANCWB 10 py If the user program had detected a system fault and set _ANNUN_WR 1 _ANC WARIO 10 _ANC_WB 10 to ON
68. can 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 I O 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 are available REMARK Setting range of watchdog 1 65 535ms 1ms base 4 4 Chap
69. 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 f 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 concentrated 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 f problems can be occur in case that progr
70. city 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 as 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 10 11 Chapter 10 INSTALLATION AND WIRING 5 Ground LG Power Supply Module separately with FG Base board 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 Cab e Specifications Minimum Digital Input 0 18 AWG 24 Digital Output AWG24 gt lt O1 imum AWG16 AWG14 AWG16 AWG16 AWG12 AWG12 18 Analog Input Output 18 AWG24 18 AWG24 5 AWG16 1 5 AWG16 2 CO Sz Ro Sz 0 5 Oo1
71. cle 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 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 Corrective Action Input signal close not Leakage current of external device e Connect an appropriate register and turn OFF such as a drive by non contact switch capacity which will make the voltage across the terminals of the input module a m i Leakage current Q AC input Input signal does not Leakage current of external device turn OFF Drive by a limit switch with neon lamp e C and R values are determined by the S o leakage current value S Reminded value C 0 1 0 47 External device R 47 a 120Q 1 2W Or make up another independent display circuit Input signal does not Leakage current due to line capacity of e Power supply is located on the turn OFF wiring cable external device side as shown below external device L Leakage current T external device exteranl device Input signal does not
72. cold delay time specified by program start the program parameters Unreadable instructions l During execution of 41 in the user program Re load the program and re start it STOP program cold Ederna devica taa Refer to the external device fatal error sie flags _LANNUN_ER _ANC_ERRJn and correct the STOP 0 4 sec When scan completes cold fault devices and then re start the system Correct the program so that the error elements that invoked the E_STOP function can be eliminated in the During execution of program and re start the system Cold re start program Communications or If the number of computer 4communications module is 100 jea configuration included then adjust the maximum number with in 8 STOP 0 4 sec When power is applied cold Special 101 Communications Adjust the number of high speed communications STOP Gece When power is applied The E STOP function has been executed module initialization modules loaded failure 501 RTC data error If the battery has no error re set the time using the RUN Pace When power is applied GMWIN When scan completes l TDR l When power is applied L batt It Replace the batt hich th b lied 12 11 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
73. ction block PID6GAT cceeeeeeeee 15 21 POG FAM Oeds na n a aa 15 22 15 4 1 System configuration cccceeccccseeecceeeeeceseeeceeeeceeaeeeseueeessseeeseeeessees 15 22 EA 2 miak Setge o aaao 15 22 15 43 Pr gram GESCnpllOlsi 22 ie sc2225s em N 15 23 Chapter 15 The PID functions 15 The PID functions 15 1 Introductions This chapter will provide information about the 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 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
74. d by one or more second as some loads make the current flow across the diode at the off time of the transistor output Output transistor is Surge current of the white lamp e To suppress the surge current make destroyed the dark current of 1 3 to 1 5 rated Output current flow Output A surge current of 10 times or more when turned ON Source type transistor output 12 10 Chapter 12 TROUBLE SHOOTING 12 5 Error code list Operati age Error p LED re Cause Corrective Action on ETR Diagnosis time code Flickerin status g cycle Contact the service center if it reactively occurs when 3 OS ROM error Defect 0 4 sec When power is applied Ca Reen S O Deet 0 4 sec When powers applied 6 Program memory faut Defect 04sec When power is applied 7 Data memory fault i Defect 0 4 sec When power is applied Watch dog error due to p Replace the battery if it has error check the program rogram memory nie l 20 after cc loading it and if an error is detected replace STOP 0 4 sec When power is applied Cold backup error the CPU module Check and correct the memory module mounting 21 Memory module defect condition Re apply the power and if an error occurs STOP 0 4 sec When power is applied Cold replace the memory module Memory module Correct the memory module program and re operate Change into the RUN program fault the system STOF Oe SeN mode wan 23 An normal program Re load the p
75. d 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 I are not permitted 1 enable 0 disable PI operation 1 enable 1 enable PID operation 0 disable disable O 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 I TIME and D_TIME are 10 times scaled up For example input 18894 if the designated _ 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 O 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 O 10 8 TT tracking time constant parameter
76. d DC24G terminal GM6 PAFA It used the 24 VDC power to supply to the other module No connection GM6 PAFB No connection 8 3 Chapter 9 BASE BOARD AND EXPANSION CABLE Chapter 9 BASE BOARD 9 1 Specifications 1 GM3 GM6 B04M GM6 B06M GM6 B08M Mounting TO 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 35 0 75 9 2 Names of Parts SSD YLS OBST WSS Ss Ly L Lg DT 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 exposed to 1 Water leakage and dust 2 3 4 Continuous shocks or vibrations Direct sunlight Dew condensation due to rapid temperature change 5 6 7 Higher or lower temperatures outside the range of 0 to 55 C Relative humidity outside the range of 5 to 95 emer OT Tee ees 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 4 Make sure that the distance from
77. d in case of selection Overall Reset command it restarts as cold restart mode 2 Warm Restart 1 It is 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 down load and 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 gt Operation in the STOP mode Abnormal Data that remains at power failure Normal Restart mode Warm Restart Warm Restart execution RUN mode 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 Default Initialized with 0 Initialized with 0 Initialized w
78. e Calculation Example in the Section 4 2 3 Scan Time 4 17 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 MX0O priority 3 E_INT1 interrupt 0 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 P0 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 t A new scan start j Execution of PO Execution of P1 T_SLOW invoked Execution of P2 PROC_1 detected Execution of invoked Time 0 678 12 20 22 32 34 ms E Program execution without stop Temporary stop during prgram execution a Program execution delayed e 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 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
79. e All communications modules DEF_EMPTY Empty slot APP1 4 Appendix 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 Network Type ee e GLOFA Fret C GLOFA binet Lancel C GLOFA Enet Help C GLOFA Fdret Network C GLOFA Fdnet Cable C GLOFA Onet pz E Slot No SelfStatian Mo 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 Mode C Send i Receive fh e aw e aw EE High Link 1 tem 0 Edit Block Mo Station Mo a Station Type t Local Remote Send Period D 200ms Size Coah Co oaie 20M hao Cancel Help 1 Station type Type of the communications module in the opposite station Local or remote will be set 2 3 Mode 4 Block No Designating number for identification of a data block in the same communications 2 Station No Used to indicate the station that has invoked data during communications Used to set the communications mode to Send or
80. e Run mode e Restart operation is executed complying with the initialization task _INIT HINIT a External task program Executed only when the condition Time driven task program has been satisfied Executed only when the condition has been satisfied END processing REMARK 1 1 In the 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 I O refresh is still executed 4 Flag
81. e When a receiving frame is received through RS 232C while the part of RS 232C in Cnet is operating in the user defined mode the bit corresponding to setting No is turned ON If RCV_MSG F B has read that that bit will be Cleared with 0 e When a receiving frame is received through RS 422 while the part of RS 232C in Cnet is operating in the user defined mode the bit corresponding to setting No is turned ON If RCV_MSG F B has read that that bit will be cleared with 0 APP2 7 Appendix 2 Flag List 1 Communications Module Information Flag List continued temo om AR e en _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 henna alll ell neice FSMn_st_no _FSMn_io_reset BIT Fnet Remote I O 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 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 t
82. e 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 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
83. e master station of RS422 485 network and applicable for the 1 N network of G series 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 G Series 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 14 1 Chapter 14 The RS422 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 Basic 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 Configuration PLEI Name FL Ver w1 0 W Remote Access Right Communication Station Number fo Baud Rate 38400 i Waster TimeOut 500 10m W Read Status of Slave PLO Can t pause by key Restart Mode Slave C Cold Restart Warm Restart ResourceflPlu Property
84. e 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 rst wats Teco oe T oee een Consumption Consumption CPU module GM6 CPUA 100 A D conversion module G6F AD2A Ooa G6l D22A EEN G6F DA2V D A conversion module 24 VDC input G6 D22B D22B G6F DA2I DA2I module G6D24B D24B G6LCUEB CUEB a link module module 220 VAC input 8 1 Chapter 8 POWER SUPPLY MODULES 8 2 Specifications GM6 PAFA GM6 PAFB Input voltage ies 50 60 Hz 47 to 63 Hz requenc Input Allowable momentary 20 ms or less power failure Output voltage 5 VDC 9VDC 2A i a 3A 15 VDC 0 5 A 45VDC 0 2 A Over current 5 VDC 2 2 A or more a aan ee A protection 24 VDC 0 33 A or more a 15VDC 0 22 A Voltage status indicator LED turns On at normal output voltage Used wire specifications 0 75 to 2 mm Weight 0 32 kg Output current REMARK To use A D and D A modules G6F AD2A G6F DA2V G6F DA21 choose the GM6 PAFB power module 8 2 Chapter 8 POWER SUPPLY MODULES 8 3 Names of Parts The followings describe names of parts and their purposes of the power supply module Purpose Power LED It used to indicate the 5 VDC power supply Power input terminal It used to connect 110 or 220 VAC power LG terminal Line Ground FG terminal Frame Ground 5 24 VDC an
85. en 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 I O configuration parameters complying with the real modules that shall be mounted and operated Base DO Parameter p w tw APP1 3 Appendix 1 System definitions Base OSlot O O Parameter Type Select Points Cancel Help lt l O Parameters Setting List gt __Keywords Description Applicable Modules DC input DC input module G6l D22A 16 points G6l D24A 32 points G6l D22B 16 points G6I D24B 32 points SSR output TR output G6Q TR2A 16 points G6Q TR4A 32 points DAV DAI G6F DA2V 4channels voltage type G6F DA2I 4channels current type module GLOFA Fnet Fret I F module G6L FUEA GLOFA Cnet Cnet I F module G6L CUEB G6I CUEC DEF_ All input modules G6I D22A 16 points G6I D24A 32 points G6l D22B 16 points G6I D24B 32 points G6I A11A 8 points G6I A21A 8 points G6Q RY2A 16 points G6Q SS1A 8 points G6Q TR2A 16 points G6Q TR4A 32 points DEFIO All mixed I O modules 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
86. epresentative flag indicates that the user program has detected an _ANNUN_WR BOOL Bit 6 ordinary fault of external devices and has written it to the flag ANC_WB External device warning detection een 3 HSPMT1_ER BOOL B Speen ps parameter 1 error _HSPMT2_ER BOOL Bit 9 FUON peeo ng This representative flag detects error of each high speed link parameter parameter 2 error ee an l High sseedink when the high link has been enabled and indicates that high speed link _HSPMT3_ER BOOL Bit 10 cannot be executed It will be reset when the high speed link is disabled parameter 3 error HSPMT4 ER BOOL Bit11 ign speee ins parameter 4 error APP2 2 Appendix 2 Flag List 4 Detailed System Error and Warning Flag List range This flag detects that I O configuration parameters of each slot differ The number of slot IO TYER N UINT 0 to 15 whose modules wie ie from the real loaded module configuration or a particular module is A yp loaded onto the slot where modules cannot be loaded and indicates inconsistent the lowest slot No of the detected slot numbers This flag detects that I O configuration parameters of each slot differ from the real loaded module configuration or a particular module is loaded onto the slot where modules cannot be loaded and indicates the slot locations in the bit map of base units The location of slot _IO_TYERR n where module type is inconsistent The number of slot This flag detects th
87. eps 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 actuator SV Time MV N n SV Time MV without windup MV with windup Integral term 3 Ween Proportional term eee 15 11 Chapter 15 The PID functions There are several methods to avoid the windup of actuator The most popular two methods are adding 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 E PV Actuator model VET Actuator Es 1 Tt Fig 2 13 The block diagram of anti
88. es 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 iimm o more O D Base uboard G High voltage 1mm or mare device O O Base tiboard e _ 0 Heal generating devica O X Somm or more Fig 10 1 PLC mounting Chapter 10 INSTALLATION AND WIRING Contactor relay etc PLC 100mm or more Fig 10 2 Clearance from the front device Fig 10 3 Vertical mounting Fig 10 4 Horizontal mounting Chapter 10 INSTALLATION AND WIRING 10 1 3 Mounting and Dismounting of module The following explains the 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 Hook Deo OED OEE DEED OEE OSES PSE LSS PSS E l DSSS LEE Io ISSCC ISS ao ZS JISC LEEF _ Sliding Locked Hook H H Chapter 10 INSTALLATION AND WIRING 2 Module dismounting e First push the locked hook and pull the module with direction of arrow SO YESS So YES VEE VSS YESS DSL YEEESSS YESS YEE EAER a ER LEERE AERE AAEREN E EERE AERE AERE EEE Z CCE LIC LIZ LALI LE m A S
89. ess 9 110 220 VAC terminal 170 to 264VAC ge SUPE P e Check total power failure If battery capacity Check battery replacement time and the specified source reduction is not Battery time and battery capacity life indicated Change the reduction e Battery capacity reduction battery when specified should not be indicated service life is exceeded Ambient environment Retighten screws Connecting conditions Visual check Proper clearance Correct If fuse melting disconnection change Fuse Visual check No melting disconnection 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 1 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 and operating status e Power ON or OFF e Status of I O 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 con
90. f 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 operations 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 REMARK
91. f forward reverse action 15 8 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 and D operations are performed based on this deviation value However each of P I and D operations use different deviation values according to the characteristics of each control actions The expression of PID control is as following 1 dEd MV K Ep El s ds Td Ep a s 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 a Process controller Fig 2 10 Diagram of simple feedback system 15 9 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 vario
92. 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 Data Block overall e Indicates overall communications state of every blocks of the parameters set k 0 to 63 Array ai state _HSmSTATE k _HSmMODjk amp _HSmTRX k amp _HSmMERRJk Station No information SOT Bit Fnet Mnet K Data Block setting stations e 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 _HSmTRX k 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 _HSmERR k Bit Fnet Mnet K Data Block setting stations e 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 Appendix 3 Function Function Block List Appendix 3 Function Function Block List 1 Function List i Processing speed Z E To output the maximum input value MuL din Multiplication ooo S aA S y O MUL int Multiplication 24 35 9 ROL To rotate left 40 160 9 7 BCD TO DINT Conversion of BCD type into DINT type 12 30 BCD TOR _SINT Conversion of BCD type into SINT type 140 a8
93. 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 4 2 Wiring examples 1 Voltage output pulse generator 24V Pulse Generator 16 5 Chapter 16 Built in high speed counter of GM6 CPUC 16 5 Programming 16 5 1 Function block F B CHSC_WR CHSC_WR E a Se E FUNCTION BLOCK Input REQ Request signal of F B execution PHS Operation modes selection 0 1 phase counter 1 2 phase counter MULT Assign the multiplication factor REO DONE MULT 1 2 or 4 U D_I E Assign the count direction up down CHSC_WR selector O Set by sequence program 1 Set by B phase input signal 1 up count O down count UID Carry reset signal 1 reset 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_ E 0 CI_E Counter enable signal O Counter disable 1 Enable PRE_I E Assign PRESET input O PRESET by sequence program PRESET by external input at the PRESET terminal PHS STAT MUL
94. 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 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 Because 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
95. g Internal Circuit AC 220V Terminal Block Number l 1 Chapter 7 INPUT AND OUTPUT MODULES 7 3 Digital Output Module Specifications 7 3 1 16 point relay output module Relay Output Module Specifications 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 Y 1 point 5A COM Minimum load voltage current Maximum load voltage current Maximum switching frequenc Surge absorber Mechanical 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 COS 0 35 100000 times or more 24 VAC 1 5 A 100 VDC 0 1 A L R 7 ms 100000 times or more Off gt On 10 ms or less On Off 12 ms or less 8 points COM 415mA LED turns on at ON state of output External connections 18 point terminal block connector M3 x 6 screws Weight 0 19 kg oes Internal Circuit Terminal Block Number 7 8 Chapter 7 INPUT AND OUTPUT MODULES 7 3 2 16 point transistor output module sink type Specifications G6Q TR2A Maximum load current 0 5 A point 4 A COM Surge absorber Clamp Diode Response 2 ms or less time 2 ms or less 16 points COM 185 mA External Voltage 24 VDC 10 ripple voltage 4VP P or less power supply 30 mA or less all points ON LED turns on at ON state of output 18 point terminal block connector M3 x 6 screws 0
96. he 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 O Counter disabled 16 8 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 ee ee FUNCTION BLOCK Input REQ Request signal for F B execution SET Set a setting value 0 16 777 215 CHSC_SET Output DONE Turns on after the F B is executed with no error REQ DONE SET STAT STAT Indicates the operation status of F B 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 JHSC_TASK Task Number Cancel Condition f Single rterval i Interrupt 16 9 Chapter 16 Built in high speed counter of GM6 CPUC 16 5 2 Error code of F B The following table shows error codes appear at the STAT output p00 No error o O O S Built in high speed counter is not found GM6 CPUA GM6 CPUB CPU module E Input data error at MULT input of CHSC_WR 2 Phase Mode HIM 1 2 4 OINO SSL M 01 02 03 PSET CHSC_PRE or SET CHSC_SET is out of specified range 0 16 777 215 04 OOO G
97. he 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 hot 3 The possibility of execution of the program is decided with check on its effectiveness 2 Operation processing contents I O 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 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 conten
98. he settings in the FSMn_st_no _FSMn_st_no USINT Numbers of I O stations where e Sets the numbers of I O stations where _FSMn_reset _FSMn_io_reset and _FSMn_reset _FSMn_io_reset _FSMn_hs_reset will be executed Write is enabled and _FSMn_hs_reset will be e00 to 63 individual station No setting executed Write is enabled e 255 s gt Whole station No setting a Detailed High Speed Link Information Flag List Keyword Tee e eo ea a Description _HSmRLINK Fnet Mnet eee 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 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
99. he supply power to within the rated power Is the line voltage 85 to 264VAC Yes No Yes Does the Power z LED turn ON Yes Is Fuse disconnected Replace the fuse No No Yes Does the Power LED turn ON No Is the power supply module Bixad tothe base Fix the power supply module correctly ixed to the base Does the Power LED turn ON Yes p 1 Eliminate the excess current 2 Switch the input power OFF then ON No Over current protection Device activated Yes Complete Does the Power LED turn ON Write down the troubleshooting questionnaires and contact the nearest service center 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 flag S W error Correct the program Set the operation mode to the STOP mode Write the program newly Set the operation mode to the RUN mode Program error No Correct in accordance with the error contents Yes Program error Write down the troubleshooting questionnaires and contact the nearest Complete service center 12 3 Chapter 12 TROUBLE SHOOTING 12 2 3 Troubleshooting flowchart used when the RUN and STOP LEDs turns off The following flowchart explains c
100. he 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 Local RUN STOP Local STOP STOP PAU REM Remote STOP PAU REM gt RUN _ Local RUN RUN PAU REM 7 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 PAU REM Mode setting Mode change by Mode change using FAM switch modeenandge the GMWIN or computer link etc position Ranois STOP RemotwRUN fo Remote STOP Remote PAUSE Remote STOP DEBUG S Rerois RUN gt Re oo o oo Remote RUN Remote STOP a fener Rerols PAUSE Rerl RON e a Remote PAUSE Remote STOP a T a p Po DEBUG Remote RUN DEBUG Remote PAUSE 4 Remote operation mode change
101. hooting 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 the PLC module Program cannot be written to the PC CPU No Set the mode setting switch to the Is the mode setting switch remote STOP mode and execute set the remote STOP the program write 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 j 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 arti
102. inputmodle i GBLAZTA e 8 point 220 VAC input module Sid L G6 RY2A e 16 pointrelay output modde etl ouput nodule LSE TR2A 16 point tansistor output moduie 0 5A sinkopa T G6QTRAA e 32 oint transistor output module 0 1A sink output G8G SS1A e Spointtiac ouputmoauety ooo a GM6 B04M e Up to 4 I O modules can be mounted Main base unit GM6 B06M e Up to 6 I O modules can be mounted GM6 B08M e Up to 8 I O modules can be mounted Eo GM6 PAFA Free Voltage e 5 VDC 2 A 24VDC 0 3A Power supply module e5VDC 2A Gunna e 15VDC 0 5A 15VDC 0 2A A D conversion e Voltage current input 4 channels F AD2A D A conversion e Voltage current input 2 channels Special modules G6F DA1A e DC 10 to 10V DC 4 to 20 mA T High speed GEF HSCA Counting range 0 to 16 777 215 24 bit binary counter module e 50 kHz 1 channel e For Fnet I F Fnet I F module G6L FUEA e 1 Mbps base band e For twisted cable dul ar Computer Link G6L CUEB e RS 232C ae module G6L CUEC e RS422 Ss Communication Others UST ils GM6 DMMA e Protect empty slot for dust Module 2 2 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
103. ion state connection ve keyword information i Cold restar See the Section 4 5 1 Hot restart _INIT_RUN Bool p uring An initialization program written by the user is being executed initialization _SCAN_MAX punt o scan Maximum scan time is written during operation _SCAN_MIN punt fo Tot scan Minimum scan time is written during operation _SCAN_CUR punt fo a Scar ane Present scan time is continuously updated during operation BCD data of present time of RTC Example 96 01 12 00 00 00 XxX RTC _TIME 0 year RTC _TIME 1 month RTC _TIME 2 day ee ee NOE piPresenume RTC _TIME 3 hour RTC _TIME 4 minute RTC _ TIMEJ5 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 Error type See the Section 12 5 Error Code List APP2 5 Appendix 2 Flag List 6 System Configuration status Information Flag 1 User Program Status Information Data setting ime D o System S W GM1 0 GM2 1 GM3 2 GM4 3 GM o configuration information FSM 5 6 a 16 Bit CO Checks and indicates Basic parameter error C configuration DOMAN ST BYTE Checks and indicates I O configuration parameter error Bit Bitz o Checks and indicates Program error Bit ee Checks and indicates Access variable error a speed nk Checks and indicates High speed link parameter error parameter error 2 Operation Mode change switch Status I
104. irectly output to the direct output module 3 Force on off e Force on off settings are still effective when processing direct I O 1 For detailed direct I O functions refer to the GLOFA GM commands 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_ERR n 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_ERR Jn the flag will checked 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_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
105. 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 l 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 task 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 prog
106. 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 O 1000 9 N high frequency 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 Error code ee STAT output Type Description Countermeasure Local 40 ee ETE Remarks SV is out of range Change the SV within 0 4000 MVMAN is out of range Change the MVMAN within 0 4000 P_GAIN is out of range Change the P_GAIN within 0 10000 TIME is out of range Change the _ TIME within 0 20000 D_TIME is out of range Change the D_TIME within 0 20000 S_TIME is out of range Change the S_TIME within 0 100 REF is out of range Change the REF within 0 10 TT is out of range Change the TT within 0 1000 N is out of range Change the N within 0 1000 Only P Pl and PID controls are available with GM6 CPUB and GM6 CPUC Please change the setting of EN _P EN_I and EN_D by reference to the chapter 15 3 1
107. ith 0 Previous value is retained ree 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 REMARK 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 Cold Restart Cold Restart execution 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 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 o
108. ivilian institute who establishes international standards in area of _ electric s and electronics 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 pT tems Specifications Operation method Cyclic operation of stored program Interrupt task operation I O control method Scan synchronized batch processing method Refresh method Ladder Diagram LD Programming language Instruction List IL Sequential Function Chart SFC Operator LD 13 IL 24 ee 11 instructions Basic function block Special function block Each special module have their own special function blocks Basic function Refer to Appendix 3 Basic function block Programming memory capacity 68 k bytes 17 k steps I O points 256 points Direct variable area 2 to 8 k bytes Data memory Symbolic variable area 30 k bytes Direct variable area Tver No limitations in points 1 point occupies 20 bytes Time range 0 01 to 4294967 29 sec 1193 hours of symbolic variable area No limitations in points 1 point occupies 8 bytes Counter anol abl Counting range 32768 to 32767 of symbolic variable area Program types Processing speed
109. k 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 Time driven task External interrupt task Internal interrupt task Specifications Number oo 8S o 8 S 8 Time driven interrupt at the rising edge of input mi of the BOOL De Start up condition up fe e contact on the designated slot data which has been y specified of buffer data Immediately executed when ERNEA with edge detection after scan an edge occurs in the roaram has been interrupt module PE finished Detection and Executed periodically execution as setting time ee Cn mser cea Delayed for the same time Detection delay time Up to 1msec delay Input ace ae maximuniscan tiie 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 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
110. mA Signal type Voltage input Counting range 0 16 777 215 Binary 24 bits Max counting speed 50k pps Up Sequence program or B phase input Auto select by phase difference of phase A and B Down selection Multiplication 1 2 0r4 Preset input Sequence program or external preset input 16 2 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 On voltage 14VDC or higher Off voltage 2 5VDC or lower Rated input 24VDC 10mA On voltage 19VDC or higher input On delay time Less than 1 5ms Off delay time Less than 2ms 16 3 2 Names of wiring terminals RUN O STOP O GM6 CPUC ROM MODE TEST MODE terminal Preset input Preset COM 16 3 Chapter 16 Built in high speed counter of GM6 CPUC 16 3 3 External interface circuit Internal circuit Nes Signal type Operation voltage terminal 14 26 4 oes 1 A phase pulse VDC input 24VDC OFF Less than 2 0VDC Input 8900 14 26 4 B phase pulse VDC input 24VDC Less than Orr 2 0VDC fem o 19 ON 26 4 Preset input V 24V 6 V OFF or less 16 4 Chapter 16 Built in high speed counter of GM6 CPUC 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
111. n UINT n 0to7 Task collision counter executing a user program indicates the task collision occurrence time APP2 3 _IP_IFERR n _ANC_ERR n Appendix 2 Flag List 4 Detailed System Error and waning Flag List continued range DATE amp The first detection date and time of battery voltage drop are written BAT_ER_TM TIME Batter voltage drop time 4 this flag It will be reset if the battery voltage has been restored Momentary power The accumulated momentary power failure occurrence times during failure occurrence count operation in the RUN mode is written to this flag _AC_F_TM n i 8 n 0to15 ot The times of the latest sixteen momentary power failures are written _AC_F_CNT 0 to 65535 The times and error codes of the latest sixteen errors are written to l l this flag _ERR_HIS n n 0to 15 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 Oskia 4 operation mode changes are written to this flag _MODE_HIS n n 0 to 15 estar z e Change time DATE amp TIME 8 bytes 9 y e Operation mode UINT 2 bytes e Restart UINT 2 bytes Write is available in user programs APP2 4 Appendix 2 Flag List 5 System Operation status Information Flag List Data setting ge ably Type range Name neue O CPU TYPE Unit 0 to 16 System type GM1 0 GM2 1 GM3 2 GM4 3 GM 4 FSM 5 6
112. n No Formatted data a Staton No Data ol PLC NAK response PLC ACK response 2 Sequence of Download upload frame Station No Start Command Saton no Corana ator ENQ Station No Command Formatted data EOT BCC Down upload command frame No H0001 Station No Data or nul Down upload end command frame No HFFFF Station No Formatted data Station No Data or nul 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 Command type Contents Sign ASCII code Sign ASCII code H72 Reads direct variables of Bit Byte Word Dword and Direct r R H52 ne Lword type yar 472 Reads direct variables of Byte Word Dword and Reading Contin r R ae SB 5342 Lword type in block unit H52 Continuous reading Bit is unavailable H72 H00 Reads data according to data type of named variable N Indivi r R 459 H14 3030 3134 Variable to be read must be one registered in access a H52 variable area A Reads data of array named variable Reading H72 9 Array r R ie 3135 3237 Variable to be read must be one registered in access H52 H27 variable area Writes data to direct variable of Bit Byte Word Writes data to direct variable of Byte Word Dword nee Contin w W Hi 5342 Lword type in block unit a Continuous reading
113. nal block connector M3 x 6 screws Weight 0 15 kg Internal Circuit Terminal Block Number 7 2 Chapter 7 INPUT AND OUTPUT MODULES 7 2 2 16 points 24 VDC input module source type DC Input Module Specifications G6I D22B Number of input points 16 points 1 2 4 8 ms or less Response time 1 2 4 8 ms or less 70 mA LED turns on at ON state of input 18 point terminal block connector M3 x 6 screws 0115ko Internal Circuit Terminal Block Number 7 3 Chapter 7 INPUT AND OUTPUT MODULES 7 2 3 32 points 24 VDC input module source sink type Ms DC Input Module Insulation method Photo coupler Operating voltage range 20 4 to 28 8 VDC ripple less than 5 OFF voltage OFF current 5 VDC or lower 1 7 mA or lower 1 2 4 8 ms or less Operating indicator LED turns on at ON state of input Response time a w N aN N N OOCOCOCOOOOOOCO00000 OODDOOCOO0CO00CO000O N N Internal n Y Circuit Nn nN Y wo w w E fan zee ar ow wo O Connector Pin Number Chapter 7 INPUT AND OUTPUT MODULES 7 2 4 32 points 24 VDC input module source type Ms DC Input Module Insulation method Photo coupler Operating voltage range 20 4 to 28 8 VDC ripple less than 5 OFF voltage OFF current 5 VDC or lower 1 7 mA or lower 1 2 4 8 ms or less Operating indicator LED turns on at ON state of input Response time N N gt OOCOCOCOOCOO COC O00000
114. nect 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 turn 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 O 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 I O module dose not operate properly Flowchart used when the output load of the output module dose not turn on Program cannot be written Flowchart used when a program cannot be written to the PLC ut Chapter 12 TROUBLE SHOOTING 12 2 1 Troubleshooting flowchart used when the POWER LED turns OFF The following flowchart explains corrective action procedure used when the power is all lied or the POWER LED turns OFF during operation Power LED is turned OFF Is the power supply operating Apply the power supply Yes No Does the Power LED turn ON No See t
115. nformation Data Setting es SS me ee Representative Mode peling swiicn Indicates the state mode setting switch of CPU module keyword position _KEY_STATE KEY STOP Indicates that the mode setting switch is in the STOP state KEY_RUN Indicates that the mode setting switch is in the RUN state KEY PAUSE REMOTE ee that the mode setting switch is in the PAUSE REMOTE 3 I O Module Installation Status Information Data Setting niet 10_INSTALLIn BYTE eiii I O module installation Locations of slots where I O modules are loaded are indicated in location the bitmap of base units APP2 6 Appendix 2 Flag List 7 Communications Flag GLOFA Mnet Fnet Cnet Flag List 1 Communication Module Information Flag List e nis the number of slot where a communications module is loaded n 0 to 7 _CnVERNO UINT Mnet Fnet Cnet _CnSTNOH _CnSTNOL _CnTXECNT _CnRXECNT Mnet Fnet Cnet UINT UDINT UINT Mnet Fnet Cnet Mnet Fnet Cnet _CnSVCFCNT UINT Mnet Fnet Cnet _CnSCANAV UINT Mnet Fnet Cnet _CnSCANMN UINT Mnet Fnet Cnet _CnLINF _CnLNKMOD _CnINRING _CnIFERR _CnSVBSY _CnCRDER _NETn_LIV k k 0 to 63 k Station No _NETn_RSTIk k 0 to 63 k Station No _NETn_232 k k 0 to 63 k Station No _NETn_422 k k 0 to 63 k Station No Mnet Fnet Cnet BIT Fnet ARRAY BIT Fnet ARRAY BIT Cnet ARRAY BIT Cnet ARRAY Communications version No Communications module
116. nge 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 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
117. ns 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 f 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 REMARK 1 For detailed operation refer to the GMWIN User s Manual Chapter 7 Force I O setting Chapter 4 CPU module 4 5 5 Direct I O Operation function This function is usefully available when an input junction state is directly read during execution of a program and used in the operation or the operation result is directly output to an output junction 1 Direct input e Direct input is executed by use of the DIRECT_IN function If this function is used the input image area will be directly updated and applied to the continuing operations 2 Direct output e Direct output is executed by use of the DIRECT_O function If this function is used the data of the output image area which has the operation results by the time will be d
118. nstants that are used for PID operation Bi Kxo integral gain _ 2xTd Nxh 7 2XTd Nxh T 2xKxNxTd 2xTd NXh A0 A anti windup gain Tt Step 2 Read SV and PV value PV adin ch1 Step 3 Calculate the proportional term P Kx bx 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 0 MV P 1 D derivation 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 bi x SV PV AO 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 PID6CAL Perform the PID operation PID6AT Perform the auto tuning operation Remarks 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 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
119. ocks or use global variables Chapter 4 CPU module 4 7 VO No Allocation Method 1 I O 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 O No allocation method Input X 0 0 0 Output Q X 0 1 15 Contact number on I O module Slot number of Base 0 7 Base number 0 1 REMARK 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 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 DEBUG state e Flickering when an error i
120. odule link module of a slot or normal interface is impossible due to module 3 interface error slot No malfunction and indicates the lowest slot No of the detected slot _1O_RWERR n _IP_IFER_N numbers This flag detects that initialization cannot be executed for special or eaii Special link module link module of a slot or normal interface is impossible due to module ete interface error location malfunction and indicates the slot locations in the bit map of base units Etema dejicetat This flag detects fatal error of external devices and its content is n 0to7 Shor written to this flag A number that identifies error type will be written to each of the sixteen locations The number 0 is not allowed B tera device If the user program indicates a warning on the flag _ANC_WBjn the _ANC_WAR In n 0to7 neeo bit locations are sequentially written to _ANC_WAR n from y _ANC_WAR 0 complying with their occurrence sequence _ANC_WBIn BIT n 0 to 127 External device The user program detects ordinary error of external device and the 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 l Duni task was being executed or ready for execution an execution 1O BMAPID BH ee Task gonsion pitmap 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
121. or the details see Appendix B Error Code Table 13 21 Chapter 13 Dedicated Cnet communication for GM6 5 Example of use This supposes that HAA15056F is written in QD0 0 0 of No 1 address Computer request format Format ip Comm Command Variable Variable Number name and type length name of data H414131 ASC Hos H3031 H57 77 H5342 Haos 254442302 i3031 3503536 are E302E30 a For PLC ACK response after execution of command H3031 H5342 Error code 4 aT 13 22 Chapter 13 Dedicated Cnet communication for GM6 5 Monitor register 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 C 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 H00 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 format of request formats must select and use only one of the followings Separate reading of direc
122. orrective action procedure use when the power is applied starts or the RUN and STOP LED is turned OFF is flickering during operation RUN and STOP LED is turned OFF Turn the power supply module from OFF to ON Are RUN and STOP LED Turned OFF contact the nearest service center Complete 12 4 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 ON No Is the indicator LED of the output module ON Check the output status in monitor Measure the voltage mode of the peripheral devices across module input terminal and CPU terminal Is the indicator LED Of the input module ON No Check the input signal OFF in monitor mode with the peripheral devices Is the voltage of power supply for load applied Check the wiring load of the power supply for load and restore the power Is the voltage of power ly for load lied supply tor load apple Check external wiring and external input equipment Check the wiring load of the power supply for load and restore the power Contact the nearest service center REMARK 1 If the input or load signals are not switched OFF see Section 12 4 1 Chapter 12 TROUBLE SHOOTING 12 2 5 Troubles
123. r setting to the next execution 14 4 Chapter 14 The RS422 485 communication of GM6 CPUB 14 5 Monitoring Users can monitor the communication status of RS422 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 In the 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 14 5 Chapter 14 The RS422 485 communication 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
124. r 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 therefore 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 15 5 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
125. rams 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 4 16 Chapter 4 CPU module e f 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 driven 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
126. 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 15 2 Chapter 15 The PID functions sV A i Offset Fig 2 1 When the proportional constant Kp is large Offset 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 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 2 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 3 Integral action when a constant deviation has occurred is shown as the following Fig 2 4 Deviation Fig 2 4 The integral action with constant deviation 4 The expression of action is as following uv Edt 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 o
127. read write of named variables will be available with the next version of CPU A type The CPU A type does not support this function 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 format PC gt PLC Comman Nelsa Variable Variable sielulitielie d type a length name yP blocks g z H5353 H3031 H3036 oo ey 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 H01 ASCII 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 H01 ASCII value 3031 to H10 ASCII value 3130 e Direct variables Address to be actually read is entered This must be ASCII value within 16 characters
128. 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 MASTER Signal direction 1 RDA t SDA o w e l SDA RDA C ss 2 When using RS 485 interface connect cable as RS 422 interface then interconnect RDA and or B WwW DM SDA RDB and SDB With the RS 485 interface the send receive signals share one line and communication is performed as half duplex method 14 6 15 1 15 2 15 3 15 4 Chapter 15 The PID function PVEROCGUCUIONS iuea ts copter tere iten tacc ce eter at cuneate a namie danes 15 1 PID CONTO Losine aars 15 2 tS A FCONTO ACION Sa i oievnecne muauardeniee 15 2 15 2 2 Realization of PID control on the PLC ssssssssssssssssesnnesssrrersrsrrrrerrre 15 13 FUNCTION DIOCKS coiii Ei 15 15 15 3 1 The function block for PID operation PID6CAL c cc ceeeeeeeeeeeees 15 16 15 3 2 The error code of PID6CAL F B cecceseeeeceeeenereneeneerenseneeeneeeees 15 18 15 3 3 Auto tuning function block PIDGAT cccsececeseeeeeeeeeeeseeeeeeeeeeeees 15 19 15 3 4 Error codes of auto tuning fun
129. rogram and start it STOP ae Neen Inconsistency between Module type inconsistency error the specified modules Refer to the flags _IO_TYER _ O_ DEER_N Change into the RUN 0 by parameters and the _lO TYER n and correct the incorrective slot and re STOP 0 4 sec mode Cold loaded modules start the system Module aISMMOUARAG OF Module mounting dismounting error additional sitar Refer to the flags _IO_DEER IO_ DEER_N STOP 04 Whensean Gonpletes Cold g IO_DEER n and correct the in corrective slot and re TEC p during run start the system Fuse disconnection error Fuse disconnection Refer to the flags _FUSE_ER FUSE _ER_N 32 during run FUSE_ERj n and correct the in corrective slot and re STOP 0 4 sec When scan completes Cold start the system Ahhaa LID odil I O module read write error When scan completes 33 data access during run Refer to the flags IO_RWER _IP_RWER_N STOP 0 4sec During execution of cold g _IO_RWER n and restart the system program 31 ents or When power is applied Abnormal special link Special link module interface error When lt ean conipletes 34 module data access Refer to the flags _SP_IFER IP_IFER_N IP_IFER STOP 0 4 sec Duri Hi f cold during run n and restart the system uring execution program During run Scan time amp Check the scan delay time specified by parameters and 40 a tha ie scan correct the parameters or the program and then re STOP 0 4 sec During execution of
130. s 13 20 Chapter 13 Dedicated Cnet communication for GM6 p eoo ye WORD DOUBLEWORD LONG WORD GM1 MB QB IB HMW QW IW MD QD ID ML QL IL GM2 MB QB IB AMW QW IW MD QD ID ML QL IL GM3 MB QB IB AMW QW lW MD QD ID ML QL IL GM4 MB QB IB HMW QW IW MD QD ID ML QL IL GMS MB QB IB AMW QW IW MD QD ID ML QL IL GM6 MB QB IB AMW QW IW MD QD ID ML QL IL 3 Request format for ACK response Format name Header Staton No Command Command iype Tall Frame check Frame CK ASCII value H3130 H57 77 H5342 H 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 name type Hex 2 Bytes W Fame E A192 ASCII value 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 e Error code is hex and 2 Bytes ASCII code 4 Bytes which indicates type of error F
131. s detected by self diagnosis during operation 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 DIP S W for flash memory See chap 6 5 Battery installing connector It used to connect to the backup battery 6 RS 232C connector It used to connect to peripheral devices GMWIN etc Mode setting switch Chapter 4 CPU module REMARK 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 LED Status Operation Mode Off Off On Remote Stop Remote Pause Remote Debug 2 Operation mode complying with the position of the mode setting switch Change of remote mode is available only after the operation mode has entered into the remote STOP mode caution 1 Incase of local pause disable it operated as Remote Run Chapter 5 BATTERY Chapter 5 BATTERY 5 1 Specifications Specifications Normal voltage 3 0 VDC Application Programs and data backup and RTC runs in power failure Specifications Lithium Battery 3 V External dimension mm 014 5 x 26 9 2 Handling Instructions 1 Do not heat or solder its terminals 2 Do not measure its voltage with a tester or short circ
132. s 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 gt 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 e f 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 O and the output contact Q turns off Decrement Counter e t should have input condition CD load LD and setting value PV NAME CTD BOOL BOOL BOOL INT e f the counting val
133. s specified 2 Request format Command Variable Variable Number of data Command Tail type length name Max 120 Bytes r H254D44 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 H01 ASCII value 3031 to H10 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 Boor tye wo f nouseworo LONGWORD few WMBHOBAB WMWAOWAW UMDAODAD ANLAM M2 MB QB IB MW QW olW MD QD ID MIL QL IL oma M5608 m8 UMWAOWAW ID 60D ID OMBAOBAB UMWAONAW MD OD IO AML AL VI TE MB QB IB AMW Q
134. station No Communications frame sending error Communications frame receiving error Communications processing error Maximum communications scan time unit 1 ms Average communications scan time unit 1 ms Minimum communications scan time unit 1 ms Operation mode TEST 0 RUN 1 In ring IN_RING 1 Interface error error 1 Insufficient common RAM Insufficient 1 Communications module system error error 1 Stations connected the network 1 connected 0 disconnected Re connection of a station 1 re connected 0 no changed condition The indication that the user defined frame has been received Indicated at each setting No Received 1 The indication that the user defined frame has been received Indicated at each setting No Received 1 Description module e Communications module O S version No e Indicates the number which is set on communications module station switch 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 e Increments by one whenever sending error of communications frame occurs 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
135. t 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 OO Available direct variable Number of data BOOL X MX QX IX P M L K F T C D S X 1 Only lowest bit of these is available Byte B MB QB IB P M L K F T C D S W 1 WORD W MW QW IW P M L K F T C D S W DOUBLE WORD D MD QD ID P M L K F 1 C D S W e n data 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 lf 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 H01 4 Response format for NAK response Format Error code Fame Ex Rt SEZ ASCII value H3230 H52 72 H5353 H31313332 HO f e Station number commands and type of command are the same as computer request format e BCC When command is one of
136. t variable Number of blocks 2 Bytes Variable length 2 Bytes Variable name 16 Bytes Pee pO 1 block Max 4 blocks Continuous reading of direct variable 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 Formata Header SaonNo Commend Repro Tai_ Fanecheck ramets ack to xis ASCII value H3130 H3146 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 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 ASCII code 4 Bytes which indicates type of error For the details see Appendix A2 Error Code Table 5 Example of use 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 f Computer request format Register format Format pes Comm Regist N
137. ten Screws Mounting conditions of e Check if the hook is securely engaged Securely engage I O modules e Check if the upper cover is securely mounted a engages the hook 7 Check for loose terminal screws Screws should not be loose AUGEN Connecting conditions terminal screws of terminal block or Check the distance between solderless Poner cl atance should bemraidad extension cable terminals Run LED Check that the LED is ON eee Run a or enue indicates an error Sp ED Chek Hate LED OFF ing un OFF OW cas nero put LED Check thatthe LED tums ONand OFF ON when inputs ON OFF wheninputisof ON when output is ON Output LED Check that the LED turns ON and OFF OFF when output is OFF ae Chapter 11 MAINTENACE 11 3 Periodic Inspection Check the following items once or twice every six months and perform the needed corrective actions Check Items Checking Methods Judgment Corrective Actions temperature 0 to 55 C Ambient Measure with thermometer humidity and hygrometer Measure gt 99 RH l corrosive gas There should be no corrosive Ambience gases Looseness l The module should be Move the unit pla mounted securel PLC Ingress of conamong eui Visual check No dust or foreign material foreign material Loose screws Distance between terminals Loose Connectors should not be Retighten connector Visual check connector loose mounting screws Breson Measure voltage across 85 to 132VAC PRS etait iat c
138. ter 4 CPU module 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 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 NAME 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 f 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 4 5 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 function block is executed When the process time reaches the setting time process time setting time the contact Q turn
139. the STOP state ADO01_INI DA02_IN DAQ03_INI _IN I ON DONE DONE DONE ae ee ee e The initialization The initialization The initialization Initialization program function block function block function block complete AD01_INI has normally DA02_INI has normally DA03_INI has normally finished finished finished Chapter 4 CPU module e Program scan src Scan program Comment Line Line Line Line Line Comment Line Line Line Line Line Line 11 12 Comment Comment Comment Line Line Line Line Line Line 16 20 21 HHH Reading the data of the moduel A D 01 every scan H AD01_RD AD01_RD_0 AD4RD K REQ DONE The A D conversion writing has normally finished 0 BASE STAT AD01_STAT hna Me leated ae He Indicating the error status during the reading function block execution 1 SLOT DATA f ADO1_DT Specifying the loaded Slot No Indicating the A D conversion value data of the used channels AD01_CH CH Specifying the used channel No HHH Reading the data of the moduel D A 02 every scan 4 DAO2_WR DAO2_WR_0 DA4AWR K REQ DONE The D A conversion writing has normally finished 0 BASE STAT DA02_STAT Specifying the loaded Base No Indicating the error status during writing function block execution 2 SLOT DATA f DA02_ACT Specifying the loaded Slot No hg the run channels during writing STAT block execution DA02_CH CH Specifying the used channel
140. the states of ANNUN_WR and _ANC_WAR 1 0 _ANN_WAR 0 7 will be shown as left after the scan has been _ANC_WAR 2 0 finished _ANC __WARJ3 0 _ANC __WAR 4 0 _ANC __WAR 5 0 _ANC __WAR 6 0 _ANC __WAR 7 0 _ANNUN_WR 1 After the next scan has been finished if the numbers 1 2 3 10 15 _ANC _WAR 0 10 40 50 60 and 75 of ANC_WBJn are tuned on ANC_WARJn will be _ANC _WAR 1 0 shown as left _ANC _WAR 2 0 ANC _WAR 3 0 As the number 10 has turned on has occurred in the previous scan _ANC _WAR 4 0 though the number 10 has lower priority than the numbers 1 2 and 3 it ANC _WAR 5 0 will be the lower element of ANC_WAR n The _ANC_WB 75 is not _ANC _WARJ6 0 indicated as it is turned on and the warning that occurred before has _ANC_WARI7 0 written to the AANC_WARJn _ANNUN_WR 1 After the next scan has been finished if the numbers 1 2 3 10 15 _ANC __WAR O 10 40 50 60 and 75 of ANC_WBJn are tuned on _ANC_WARJn will be _ANC _WAR 1 0 shown as left ae Win 2 The No 10 warning has been released the content of ANC_WARJ0 will ANC _WARIA 0 be cleared and the contents of _ANC_WAR 1 7 will shift into the lower _ANC_WAR 5 0 elements The content of ANC_WAR will has been cleared by the _ANC _WAR 6 0 shifting and the content of ANC_WB 75 will be written to ANC WAR 7 _ANC __WAR7 0 _ANNUN_WR 1 If all warnings indicated on the _ANC_WBJn are released during
141. 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 15 1 Chapter 15 The PID functions 15 2 PID control 15 2 1 Control actions 15 2 1 1 Proportional 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
142. the walls of duct and external equipment be 50 mm or more 3 Make sure that it is not located on the same panel that high voltage equipment located 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 2 Power consumption of each part 1 Power consumption of a power supply module Approximately 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 Wow 3 7 l y x 5 lzy x 24 W where I 5 VDC circuit current consumption of each module l 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 Wey lay x 5 W 3 Average 24 VDC power consumption with points
143. tion elements are classified as below Function Processing Operation Elements pit 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 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 gt Tmediventak In case that the processing need a shorter interval than that of average one scan rogram processing time p P 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 agrestis task 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 Initialization program e Executed when the power has been applied lt q eee veseed cueweTexedeeveveduewen ced eee e codedeu be devede cd oeeevedeeedade cue vevdevedoaedetteredeees or the CPU operation is in th
144. ts 1 I O 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 I O 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 executed 2 Operation processing contents 1 I O refresh is executed by one time every scan 2 Communications service or other internal operations are processed Chapter 4 CPU module
145. ue CV decrements and reaches O 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 t should have Increment input condition CU Decrement input condition CD load LD and setting value PV BOOL BOOL INT e f reset signal R turns on counting value CV is set to 0 e f load signal LD turns on counting value is set to setting value PV e It is increased by at 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 1 ts S n Duty ts scan time s e Duty is percent of on time off time on daf L T4 T2 n T4 T1 T2 100 T4 T2 n T2 T14 T2 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 particular control It is to be stored in the internal RAM of the CPU module or the flash memory of the memory module The func
146. uit 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 Stop LED flickering Yes Complete Battery error j Chapter 6 MEMORY MODULE Chapter 6 USING THE USER PROGRAM IN FLASH MEMORY This chapter describes user program storage and operation it Flash memory is used to store a user program and installed in PLC Dip switch for operation Os 6 2 How to use Read Write is available to flash memory in accordance with selection of DIP switch Selection of DIP switch for flash l Operation memory PLC is operated by the program in flash memory when power on or PLC reset 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 4 Notes on Selecting Input and Output Modules The followings describe instructions for selection of digital
147. urized data area or null ETX check BCC 3 NAK response frame Cnet module external communication devices when data is abnormally received Max 256 Bytes ney Station oe Tail Frame a ETX _ oheck BCC 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 Original word Contents ENQ Header Start code of request frame ACK Header Acknowledge Start code of ACK response frame NAK Header Not acknowledge Start code of NAK response frame EOT Tail End of text End ASCII code of request frame ETX Tail End Text End ASCII code of response frame Chapter 13 Dedicated Cnet communication for GM6 Numerical data of all frames is ASCII code of hex value as long as there is not any definition The contents 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 H01 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 Sequence of command request frame Statio
148. us 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 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 ke
149. warm restart program consists of only initialization program of special module 2 program e Project Configuration Restart prj yc gm wins source defQ000 pri P PROJECT PLC Type GM6 CONFIGURATION PLC Configuration Mame UNNAMED E ACCESS VARIABLES variables declared RES OURCECCPUD A Name RES B RESOURCE GLOBALE H variables declared B TASK DEFINITIONS 1 tasks defined DE LD 1 PROGRAM INSTA gt ciRgmvinsh source nonameff src E COMMENTS for DIRECT VARIABLES O variables declared PARAMETERS Ey BASIC PARAMETERS 0 B I O0 PARAMETERS B LINK PARAMETERS INCLUDED LIBRARIES Chapter 4 CPU module e Program cw_rst src cold warm restart initialization program Comment Comment Line 2 Line 3 Line 4 Line 5 Line 6 Line 7 Line 8 Line 9 Line 10 Line 11 Line 12 Comment Line 14 Line 15 Line 16 Line 17 Line 18 Line 19 Line 20 Comment Line 22 Line 23 Line 24 Line 25 Line 26 Line 27 Line 28 Line 29 Line 30 Initialization of special moduk at cold warm restart which are loaded onto the basic and extension base units HHH The moduk A D 01 intialization H4 0 Specifying the loaded Base No Specifying the loaded Slot s AD01_CH Specifying the used channel No AD01_DT Specifying the data type AD01_FE Filter enable disble specification AD01_FV Setting the filter value AD01_AE Average processing enable
150. y Inspection 11 1 11 3 Periodic Inspection 11 2 Chapter 12 TROUBLESHOOTING 12 1 Basic Procedures of Troubleshooting 12 1 12 2 Troubleshooting 12 1 12 2 1 Troubleshooting flowchart used when the POWER LED turns OFF 12 2 12 2 2 Troubleshooting flowchart used when the STOP LED is flickering 12 3 12 2 3 Troubleshooting flowchart used when the RUN and STOP LEDs turns off 12 4 12 2 4 Troubleshooting flowchart used when the output load of the output module does not turns on 12 5 12 2 5 Troubleshooting flowchart used when a program cannot be written to the CPU module 12 6 12 3 Troubleshooting Questionnaire 12 7 12 4 Troubleshooting Examples 12 8 12 4 1 Input circuit troubles and corrective actions 12 8 12 4 2 Output circuit troubles and corrective actions 12 9 12 5 Error Code List 12 11 Chapter 13 Dedicated Cnet communication for GM6 13 1 Introduction 13 1 13 2 The example of system configuration 13 2 13 3 The pin assignment of RS 232C connector of the GM6 dedicated Cnet communication 13 3 13 4 Frame structure 13 4 13 5 List of commands 13 7 13 6 Data type 13 8 13 7 Execution of commands Ex 13 9 13 8 Error code during NAK occurrence for GM6 dedicated communication 13 29 APPENDICES Appendix 1 System Definitions APP 1 1 Appendix 2 Flag List APP 2 1 Appendix 3 Function Function Block List APP 3 1 Appendix 4 Dimensions APP 4 1 Chapter 2 SYSTEM CONFIGURATION Chapter 2 SYSTEM CONFIGURATION The GLO
151. y when the operation mode is in the RUN mode lf 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 A contact 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 executes 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

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