Home

FMT/BIS Training Manual

1. FMT 100A and FMT 100B e 16 inputs s 8 relay outputs FMT 100C and FMT 100D e 16 inputs s 16 outputs PNP 100 mA FMT 100E and FMT 100F s 8 inputs s 80utputs PNP 500 mA FMT 100J s 4 analogue inputs 8 bit 0 10v 0 4v or 0 20 mA s 4 analogue outputs 8 bit 0 10V and 0 20 mA with JACO s 8digital inputs s 5digital outputs PNP 100 mA FMT 200D s 48 inputs 24v bipolar s 32 outputs PNP 500 mA FMT 200J s 8 analogue inputs 12 bit 0 10v 0 4v or 0 20 mA s 4 analogue outputs 12 bit 0 20 mA e 32 inputs 24v bipolar s 24 outputs PNP 500 mA BIS 100 e Plug in Fieldbus Module s 4 inputs 24v bipolar e 4 outputs Relay 4 lt FMT BIS Products Colter Group Training Manual FMT 400 e Expandable rack system with plug in cards s Up to 1024 digital in and 1024 digital out e Up to 256 analogue in and 256 analogue out s Up to 8 communication ports 6 as RS485 s Upto 4 fieldbus modules s High speed input module e Plug in Flash card module 5 FMT BIS Products Colter Group Training Manual Controller Features e Opto isolation on all analogue and digital inputs and outputs e Real Time Clock e Communications e FMT 100 One programming general purpose RS232 e FMT 200 One programming general purpose RS232 One general purpose RS232 Two general purpose RS232 or RS485 s FMT 400 One programming general purpose RS232 One general purpose RS232 Up to 6 general purpose RS232 or RS485 U
2. On Line When this button is clicked on and you are connected to the FMT which has your project downloaded to it then you will be able to see the FMT stepping through your code monitor registers etc Off Line If you are On Line then you will be taken Off Line when this button is clicked on You must be Off Line in order to make changes to your instruction module The Main Menu Edit drop down menu From this menu you can select from Undo Redo Cut Copy Paste and Delete these work in the same way as described in the Tool Bar of the Instruction Editor Search drop down menu From this menu you can select from Find Replace and Search Again Find Prompts you to enter a string of characters to be searched for then searches the current module for matching text Replace Prompts you to enter a string of characters to be searched for then a second set with which to replace the original Search Again Repeats the last search operation with the same search data case sensitivity and direction The search starts from the current cursor position You can set the following options to optimize the search and replace operation for your exact needs Direction The direction can be set to search either up towards the beginning of the module or down towards the end of the module You should select which direction you want Match whole word only If this option is selected then only the
3. goto loop 45 Instruction Example Colter Group Training Manual Additional Examples Example 1 Inputs IO Left limit I1 Right limit Outputs Qo Move Right Q1 Move Left The target is moved left until the left limit is reached waits for 2 seconds then moves right until the right limit is reached Repeat continuously I 46 lt Additional Examples Colter Group Training Manual Example 2 Inputs IO Left Limit I1 Right Limit I2 Bottom Limit I3 Top Limit I4 Go button Outputs Qo Table Cylinder Off left On Right Q1 Punch Cylinder Off up On Down GO Pushbutton 4 Q0 OFF ex Q0 ON aum 11 When the Go button is pressed QO drives the table to be under the punch After a 0 5 second delay the punch comes down and then retracts The table can then return Add a pause button that can be pressed anywhere in the cycle Add a display showing the total number of parts produced Add a facility to raise an alarm if any movement takes longer than 2 seconds 47 Additional Examples Colter Group Training Manual Example 3 Inputs AIO Water Temperature IO Run Button Outputs Qo Heating Element While the Run input is on the water should be heated until a set temperature is reached when the heater is switched off GG 33 Ai0 GO Pushbutton 10 Q0 Add a header tank to feed the water heater Inputs I1 Low Water Level I2 High Water Level Outputs Q1 Water Valve
4. make sure port is not in use if flag2 was set then keyl was pressed so send text saying ON otherwise send text saying OFF make sure port is not in use if flag3 was set then keyl was pressed so send text saying ON otherwise send text saying OFF turn off flag to say display written to waiting for next key press loop back to start Example 5 Worked Answer This example contains 2 modules Module 1 oe oe oe oe eoe oe eoe eoe oe eoe oe eoe eoe oe eoe eoe eoe oe eoe oe eoe eoe oe eoe eoe oe eoe eoe oe eee oe eee e e e e A A x AAEE AAE AAA Training course worked Example 5 Date 31 08 01 Module Example 5 MAIN Version 1 00 Description Colter HMI Connection Engineer JMG west oe ye st Eh oe oe eoe oboe eoe oe oe eoe eoe eoe e ee oe eot oboe eoe oe T e oboe eoe oe oe es oe oe ee oe oe eoe eoe eoe Roe o B B n 6 BG BG n B B B G t hL oe oo oe oe o o B AG x XR A AG AAE AG AAA Code Entry Point oe oko oe oe oe oe x e e e x R AAA AAA AHA xXx ram erase move 0 POINTER 2 oko ooo x B XR T AR AG BG BAG AR x XAR HK KEY PRESS STORED IN AUBBOUATED RAM KKKKKKKKKEKKKKKAKKEK xA A AR XR AG Xx label start start of code wait for IO or Il or I2 or I3 or I4 wait for any input if IO if TU came on put a 1 in allocated RAM move 1 r101 1 and then increment the RAM WRITE pointer add 1 1 POINTER1 POINTER1 wait not IO wart for Input O to go off else if
5. turn off q3 stop wrapper goto start Module 2 tbt e oboe oe o o Go GR Go eR Go GR GR GR Go o Go o IR o o e R G b B ATCA o e R G B B G G B B G BG B G B B B AC ACA AC B BG GF ALC ACA t At x Training course worked Example 6 Date 03 09 01 Module Example 6 INTERUPT Version 1 00 n Description Process code Engineer JMG x LE KKK KKK oce oe oe oe oe eoe oe eoe oe oe oe oe oce oe oe oe oe A AAA AAA A AAA AAA A AAA AAA AA AAA AAA AAA AAA AA A X B AAA B amp B EE E ak oce oe ke eoe eoe oe eoe oe oe oe e x AE E A RB GB BG BG EL Code Entry Point EA ook ke ceo eoe oe eoe eoe oe oe E L EE B X B XA R amp E amp AG E move w0 w1 1 save the encoder value at the registration point turn off q1 select slow speed add 1 2000 w1 w1 add set point to encoder to find stop point turn on f0 indicate we have detected the mark to the main module end int 66 Example 6 Worked Answer Colter Group Training Manual
6. If you click on the small down arrow by the side of the Run button you will be presented with a list of options N Flex32 File View Compile Diagnostics Of ee Ml 8 Project Module Run Print E v Compile v Download v SetRIC w Bun The options presented are Compile Download Set RTC and Run Compile If this option is unticked then the previously compiled dld file will be downloaded to the FMT BIS This is useful if for example you wish to provide a customer with a set of down loadable compiled files see note below but do not wish to provide them with the source code instruction language and ladder modules Download If this option is un ticked then the project will not be downloaded to the FMT BIS when the Run button is clicked Set RTC If this option is un ticked then the FMT BIS s clock will not be set to your PC s clock Run If this option is un ticked then the project will not run when it is downloaded to the FMT BIS It can be made to Run later however by clicking on the Run button in the monitor window or by downloading your project again with the Run option ticked Note The files needed for a compiled project download without the source code are the files found in your project directory with the following file extensions xxxxx prj the main project file xxxxx sym the symbol name file XXXXX idx the symbol name index file Xxxxx tsf the text string fil
7. BBR88888BB888888 012345 6 7 8 9101112131415 0123456 78 9101112131415 OBOOOBEDODBEBOHU D A ACTIVE 88888888 D 16 17 18 19 20 2122 23 System Healthy AGO A91 AG2 AG3 1 TUEUEIRIEIEIEIRE EIE PE P d S e U C 21e zl 16 17 18 1320 2122 2324 25 26 2728 293031 umJunggB8HHHOHHUUDOHH Fint Fox Txe Tx Ou PORT 2 RS485 PORT3 RS485 Rint Fixe Txt Tun ty FiunfStap L B SUPPLY FMT Alarms FMT 20 Flash Memory Card There are no errors or warnings to display ysterny Healthy AGO AGT AQ AG3 7 mmm 16 17 18 19 20 2122 23 38 Flex32 programming package PORT 2 RS485 PORT3 RS485 Rut Fix Txe Tx Ou bnr Fix Txe Tx 0v Colter Group Training Manual Oscilloscope The Oscilloscope may be selected by clicking on the Scope button on the Flex32 toolbar The Oscilloscope is usefull for debugging and monitoring facilities magnitude over a period of time Oscilloscope In xj C 0200501 C265 C 10 20 50 Click on various part of the Oscilloscope window shown below to find out how it functions 39 Flex32 programming package Colter Group Training Manual Programming Lead The programming lead Order Code FMT PROGRAMMING LEAD is used to connect your PC to any of the range of FMT controllers Note For FMT 100 s a Serial Port Adapter Order Code FMT 374 is required so that the programming lead can be connected to the FMT 100 To make your own programming lead foll
8. Module2 KAZ KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KK KKK KK KK KK KKK B x6 Xx W Training course worked Example 2 Date 29 08 01 Module Example 2 Display Version 1 00 Description Prints Process count to display Engineer JMG w EA d d d d d dd d dad E L A AAA A AA AA AA AAA A AAA AAA AA AAA AAA E E AAA AA AAA AAA E LA d d d d d d d di EA E EAA AE EA AE EA AE AEAEE Cade Entry Point KKK KKK KKK KKK KKK KKK KKK Th TT BG BB Th hab label start start of code if 0 product has been made text tx0 8 print total to display turn off f0 reset flag for next time end if goto start 58 Example 2 Worked Answer Colter Group Training Manual Module3 tth oe oe oe oe oe oe oe oe oe eoe oe eoe eoe AAA AAA AAA AAA A AAA AAA AAA AA AA eoe oe eoe oe oe A AAA AAA e v TT B A 8 TT BG GB BG Kh hT Th Training course worked Example 2 Module Example 2 Alarm Description Monitor process duration ye X X N X Lap dp d d d d dd d dd dd dX KKK KKK KKK KKK KKK KKK KK KKK KKK KKK KKK KKK dd dd dd dd dE d d d d d d d d d Date 29 08 01 Version 1 00 Engineer JMG X de Xe 3k oce oe ke eee oe eoe oe oe e A Th hT A amp BG kT Th Cade Entry Point KAZ ke KKK KKK KKK KKK KKK KKK Th TT BG BB Th hb name TIME OUT 25 timeout set to 5 seconds move 0 r1 2 reset alarm counts label start start of code this loop is executed 5 times a second wait for 200
9. Project notes editor You can make helpful notes about your project using the Project Notes feature of Flex32 To make notes about you project Click on the Notes page of the Project Configuration Screen Type your notes in the available space Your project notes will be saved when you next save the project configuration click the Save button on the Project Configuration Screen or save the entire project click Save Project from the file drop down menu 13 lt Flex32 programming package Colter Group Training Manual Preserve Select which FMT facilities are preserved and which are cleared on start up High Speed Configure the FMT high speed inputs for counters encoders etc The FMT 100 and FMT 200 hardware include circuitry to process high speed events on selected inputs These inputs can be configured to implement one of the following high speed facilities Incremental Pulse Encoder High Speed Counter Fast Edge Catching Event driven user instruction program The FMT 100 s support two high speed inputs IO and 11 using WO as a 32 bit counter to hold the total The FMT 200 s support eight inputs IO 17 using WO W3 as counters The operation of the high speed features is set up in the High Speed page of the project configuration Screen 14 Flex32 programming package Colter Group Training Manual Incremental pulse encoder The diagram below shows how to connect an incremental pulse encoder PNP outputs to
10. Facility IH C Facility It C Facility Ili PID operates when ON Output Auta is normal operation In Suspends the inclusion of new facility is zero when DFF manual the output is not driven data into the integral term Deadband 0 100 Min Output Power 0 10022 Inverse Output Facility Constant 0 05 Constant DO A03 C Facility w Facility m1001 Dutput is unchanged if input is Minimum value of the output The inverse of the value of the within deadband of setpoint facility output facility Integral Limit 0 100 gt Max Output Power D 10077 7 Midpower Point 0 100 C Constant 10 00 Constant 10 00 Constant DO Facility AG 1 Facility m1002 Facite pions Sets the maximum value Maximum value of the output The value of the output facility saturation for the integral term facility when input equals setpoint PID Loop Number Total PID Loops Apply Cancel Control This can either be fixed or a facility Click on the button to choose the facility which can either be a digital input I digital output A or a flag F PID process is enabled when this selection is ON and disabled when OFF Auto Manual This can either be fixed or a facility Click on the button to choose the facility which can either be a digital input 1 digital output A or a flag F PID process is enabled when
11. above Use allocated RAM to create a data log that records the actions of the operator Allow the contents of the log to be viewed on the display using the function buttons to scroll through the records Use the Allocated RAM page of the FLEX32 monitor form to extract the logged data to a text file Modify the code to store the log on a plug in flash card instead of allocated RAM Allow for the card to be erased by the operator 50 Additional Examples Colter Group Training Manual Example 6 Execute module on input interrupt Enter the following program into a new module called conveyor this module will mimic a conveyor motor encoder combination O0 Brake On Off Q1 Conveyor Slow Fast Q3 Wrap and remove I2 Stop Start I3 Detector WO Encoder count Encoder pulse 0 1mm KKK KKK KKK KKK KK KKK KKK KK KKK KKK KK KKK KKK KK KK KK KKK AA eoe oe KKK KKK KK KKK KKK KK KK KK KKK Training course worked Example 5 Date 03 09 01 Module Example 6 Conveyor Version 1 00 r Description pseudo Conveyor Engineer JMG w deo ve b n b v v n b n x G sb dd hdd ddd hdd eoe oboe hdd eon o b v hd b v oe ob ov b o b n b B v n dah hd dd hd ddd Xbox otio b ot o b d bah kah Go B BG GB n B GG A nG B b Code Entry Point wx kak kah oe o b kh d o a kah GI GG B n B kah CEA kh kah 3b boe kah Ge o eR Go h n B BG B o B BG Gn e Th kot B CONVEYOR Xbox boe o Ge kh bh bah kh kah G Gb o BG B o B n G ote n o B B ALC
12. application The more often you update the I O the slower the code will execute Setting the I O interval to O will update the I O in between every line of code this gives the fastest I O update but the slowest code execution Number of Inputs and Outputs Used When set to zero the firmware will update all the analogue and digital I O In some applications where I O is not used you can set the number of each facility you wish to be processed other facilities outside of this range will be ignored and seen by the program as always off Project Configuration 12 e Flex32 programming package Colter Group Training Manual Comms The settings of the FMT communication ports All FMT and BIS controllers have serial communication ports This screen is where you can set up the communications parameters for each of the comms ports on the controller you are using E Project Configuration Select the port you wish to configure by clicking on the buttons labelled PortO to Port7 Only the buttons for the ports available on the controller you are using will be enabled Select the baud rate number of data bits number of stop bits and parity from the radio button boxes Select the protocol from the right hand radio button box If you with to drive the communication port using the serial in and text commands from either the Ladder or Instruction modules then select User Code otherwise select one of the build in protocols from the list Notes
13. e g e Turn on q0 e add 1 r1 r1 e Subroutines e Call MySub e Sub MySub Code here is the subroutine End Sub 43 Instruction Language Colter Group Training Manual Instruction Functions Turn On off e FIFO e Turn On e Init Fifo e Turn Off s Fifo In s Fast on s Fifo Out s Fast off e Stack Timers e Init Stack e On Delay e Stack Push e OT Delay Stack Pop 16 bit Operations e 32 Bit Operations e Add Add e Subt e Subt e Mul e Mull e Div e Div e BIL And Bit And I e BIL Or e BIL Or e Bit Xor e Bit Xor e Square e Square e Square root e Square root e Neg s Neg e Lsl e Lel e sr e Ler e Rol e Roll e Ror s HRorl e Binary2Bcd e Ror e Bcd2Binary s Text Move e Text e Move e Get Number Shift Register Get Number e nit Shift e Clock Shift 44 Instruction Functions Serial In e Serial In e Close Port e Compare Text RAM storage s Ram Erase s Ram Read s Ram Write Flash Card Storage s Flash Erase e Flash Read e Flash Write Miscellaneous e Set RTC e Buzz Floating Point Operations Add f e Subt f e Mulf e Div f e Squaref e Square root f e Sin f e Cos T e Tan T e Arctan_f e Exp f s Inf s Log f e Power f Colter Group Training Manual Instruction Example label loop wait for the Go button to be pressed and released wait for IO wait not I0 move the cylinder to the end turn on g0 wait for I1 sak Gnd Deck turn off q0
14. if an output is forced on then the program can not turn it off until the force is cleared Fre AIW Clicking on this will enable all the inputs and outputs that have been selected for multiple selection see the Rem section of this help to be set forced on or off All facilities that have been forced can also have the forces cleared Note Be careful to ensure that nothing has been selected other than inputs and or outputs otherwise for example numbers may be forced into registers if these happened to be selected which could lead to unpredictable results Style Selecting this will enable the value in the facility currently highlighted to be displayed in decimal hexadecimal voltage current or text text takes the value and displays the ASCII character which corresponds with it Close Clicking on this will close the monitor window Start Starts user program execution if it has been stopped Stop Stops user program execution if it is currently running 35 Flex32 programming package Colter Group Training Manual Alarm Selecting this will enable you to view any errors or warnings on the FMT Forc d l This button will be illuminated if there are any inputs currently forced on Clicking on it will enable the force to be removed Forc d Q This button will be illuminated if there are any outputs currently forced on Clicking on it will enable the force to be removed Battery This button will illuminate i
15. options Symbol Names Clicking on this will present you with a list of symbol names used in you project and what facility the symbol name has been assigned to Clicking in the symbol names column and typing a name will show you which facility is associated with the name you have just entered or nearest name if the one that you typed does not exist Clicking in the functions column and typing a function will show you what name is associated with the function that you have just typed or nearest function if the one that you just typed does not exist Double clicking on a symbol name in the list will place this name in your module after the current cursor position Functions Clicking on this will present you with a list of function that can be used in you instruction module You can scroll up and down the list and double clicking on a function will place it in your module after the current cursor position leaving you to fill in the appropriate detail eg registers constants Keywords Clicking on this will present you with a list of keywords for example else if until Double clicking on a keyword will place it in your instruction module after the current cursor position If the Usage button on the main toolbar is clicked then all the facilities that are used in your project will be shown in a list The facilities are listed along with their short and long symbol names The multiple number of the facility being used is also shown a
16. received text with stored text 41 Ladder Functions Colter Group Training Manual Ladder Example S N FLEX32 LADDER EXAMPLE LAD DE 8 ses a X AA 2 m Save SaveAs Print Cut Copy Paste Delete Change Compile On Line Off Line Close A4 flashes every second if 16 is ON or every 4 seconds if IB is FF 10006 sec Q5 is ON if the seconds are less than 20 gt A CPOA01 Fac A Bed Fac B CLOOO1 dE W dp tp Akt Ak ARS Alta Ctrl Ctel2 Cees Cui n gs f Q IR iw qe 005 9 Ctrl Ctel9 Cred Me Ak Shf0 Altes Ald n Shf5 Sh 6 Sht Sh 8 Sh Crrl6 Ctrl D A5 Ctris ae Shf2 S Shri Enter the above example in a ladder module download and test in debug 42 Ladder Example Colter Group Training Manual Instruction Language e Keywords Wait For I3 TES code only executed when 15 is on Else If 17 code only executed when 15 is off but I7 is on Else code only executed when 15 is off and I7 is off End if e Repeat 3 this code executed 3 times End_Repeat e While AIO lt 750 this code executed all the time the value of AIO is less than 750 End While e Do this code executed continually until the value of R24 is greater then 40 Until R24 gt 40 e For R100 0 to 99 this code executed 100 times with R100 equal to 0 1 2 99 Next e Alert ErrorSub when 16 0 e Conditions used with some keywords e g If R3 100 e While 14 OR I3 and F4 e Functions
17. the FMT this can enable you to see what is happening to for example data in a register To view and edit the monitor click on the Monitor button on the main toolbar The monitor window will then appear Monitor rigt pushval disch valve bar valve steer right steer posn 00000 00000 00000 When the monitor window appears you will be presented with three pages Facilities Forces and Allocated RAM Facilities monitor page Add Clicking on this button will enable you to add a facility to monitor you will be presented with a box in which to enter the data about the facility that you wish to monitor Add Monitor 34 Flex32 programming package Colter Group Training Manual Enter the facility that you wish to monitor in the Facility to monitor box The repeat number to be entered will determined the amount of facilities to monitor eg a repeat number of 5 entered when the facility to be monitored is q0 would mean that q0 to q4 would be displayed in the facility monitor Clicking on the various options in the Display As section will enable you to display the data in your facility in the ways listed Voltage and current displays are only really applicable to analogue inputs and outputs Del Clicking on this button will remove the facility that has been highlighted from the those being monitored To highlight and remove multiple facilities hold down the left mouse button over the facility to h
18. 19200 38400 57600 Data Bits 5 6 7 8 Parity error checking None Odd Even Mark Space Stop Bits 1 2 1 5 Data for one character Data Unit for 8 data bits even parity 1 stop bit afa fafa fa lela fafa fa fo Stop Bit f et T Start Bit Farity Bit Data Bits Electrical signals RS232 3 Ow Ow 2 RS485 ato 12 w to 12 w 53 Appendix A Serial Communications Colter Group Training Manual Appendix B ASCII Table cojoo N o jo Om od o I NIWAS al s ala YR d od B leb oo 4 O O1 B OD MO gt mini lt ixiz lt ic lo zlo v o z z r x e r o nmolo w gt ea QP RL N PIS cCc ooI 90900 5 3 zx LT qm09 1io0 oo0oomv o o 54 Appendix B ASCII Table Colter Group Training Manual Appendix C Ziegler Nichols Closed Loop Tuning The Ziegler Nichols Closed Loop method is one of the more common methods used to tune control loops It was first introduced in a paper published in 1942v by J G Ziegler and N B Nichols both of whom at the time worked for Taylor Instrumentation companies of Rochester NY The open loop method is useful for most process control loops To use the method the loop is tested with the controller in automatic The Closed Loop method determines the gain at which a loop with proportional only cont
19. ALAS x label start start of code wait for I2 if q0 and ql af brake is released and motor is in high speed add 1 30 w0 w0 run encoder 30x faster else if q0 and ql 0 if brake is released and motor is in slow speed add 1 1 w0 w0 run encoder at single speed end if goto start This example represents an automatic Wrapping machine The machine is started and the conveyor belt is set at fast speed when a parcel is detected by the detector it needs to slow down the conveyor increment by a further 200mm and then apply the brake The parcel is then wrapped and removed by activating A3 whilst sounding the bleeper and then 2 seconds later the conveyor is started up again in fast and waits for the next package Use an interrupt driven module to detect the package and slow the conveyor Write the current operation and encoder value to the display Note In interrupt mode the entire module will be executed at the exact moment that the specified input comes on It should be remembered that executing large sections of code on an input interrupt will reduce the capacity of the FMT to process the other code within the project You are limited to executing 20 steps of code in one interrupt before the firmware will raise an Input Interrupt overrun error 51 Additional Examples Colter Group Training Manual Example 7 Serial Communications This exercise requires two FMTs to communicate with each other The obj
20. AV M TOA taag HE LET Select the fieldbus port you wish to configure from the buttons labelled FBO to FB3 Only the buttons for the ports which exist on the controller you are using will be enabled For all fieldbus modules except Ethernet you should select Normal Fieldbus Operation In this mode blocks of data are transferred between the fieldbus module and FMT BIS 16 bit registers Select the start number and size of the block of registers to be written to from the fieldbus in the first two edit boxes and the start number and size of the block of FMT BIS registers to be written out to the fieldbus You can also select the interval in milliseconds between transfers to from the fieldbus unit In the example below registers R100 to R119 are written to with data from the fieldbus every 10ms Registers R200 to R209 are read and sent out to the fieldbus module every 10ms 17 Flex32 programming package Colter Group Training Manual For Ethernet modules only you can select Comms Port Emulation for Ethernet This option uses the FMT firmware to handle Modbus TCP messages and is the preferred solution for most ethernet applications In the example below the fieldbus module is set up to use the firmware to process modbus TCP commands as Slave Address 1 18 lt Flex32 programming package Colter Group Training Manual RAM Define the amount of allocated RAM The FMT contains battery backed memory w
21. Calculation to start the checksum calculation from the current cursor position Click on end checksum to end the checksum calculation on the data The calculation will be performed on the data between the start and end checksum calculation commands You should then place a print checksum command which will print the checksum in the format that you chose from the various formats that you are presented with Display When clicking on this button you will be presented with formatting options for your text string which will be useful if you are printing you text string to the FMT 200 s or FMT 400 s built in display Close Clicking on this button will enable you to close the Text String Editor Ladder module editor The Ladder Editor is used to write project instruction modules in FLEX 32 utilizing the Ladder logic language Using the Ladder Module editor Starting a new Project and Module 1 If you need to start a new project then do so by selecting New Project from the File menu Follow the on screen instructions that you are presented with 2 From the project configuration screen left click on the New button which is situated between Available Ladder Modules and Project Ladder Modules 22 Flex32 programming package Colter Group Training Manual 3 After entering a suitable name for your module you will enter the module editor Entering Ladder code into your Ladder module One you are in the Ladder module editor you can
22. Colter Group FMT BIS Training Manual Gonar ca Ltd E Tel i fe pou e d ius KE il s salt ne s I wvUIILCIILS GUNE 1 UUU Taig maudi Contents Contents 2 FMT BIS Products 4 FMT 100A and FMT 100B 4 FMT 100C and FMT 100D 4 FMT 100E and FMT 100F 4 FMT 100J 4 FMT 200D 4 FMT 200J 4 BIS 100 E 4 FMT 400 5 Controller Features 6 Facilities 7 Internal Operation 8 Flex32 programming package 9 Project Configuratio 9 Symbol Name 20 Text String Editor 21 Ladder Module Editor 21 Instruction Module 22 PID 27 Project Compile amp Download the RUN button 32 Facility Usage 33 Debugging Screens 33 Programming Lead 40 Help 40 Ladder Functions 41 Ladder Example 42 Instruction Language 43 Instruction Functions 44 Instruction Example 45 Additional Examples 46 Example 1 46 Example 2 47 Example 3 48 Example 4 49 2 Contents Colter Group Training Manual Example 5 Example 6 Example 7 Appendix A Serial Communications Communication Parameters Electrical signals Appendix B ASCII Table Appendix C Ziegler Nichols Closed Loop Tuning Example 1 Worked Answer Example 2 Worked Answer Example 3 Worked Answer Example 4 Worked Answer Example 5 Worked Answer Example 6 Worked Answer 3 FMT BIS Products Colter Group Training Manual 50 51 52 53 53 53 53 55 56 57 60 62 64 66 FMT BIS Products
23. E Else If Head F1002 basic v auto 1 SCADA LOOP If Read F1002 basic v auto 1 SCADA LOOP Else If Read F1002 basic v auto 1 GENERAL VALVE CONTF If Read F1004 basic v ok 1 GENERAL VALVE CONTE Else If Read F1004 basic v ok 1 GENERAL VALVE CONTF If Read F1004 basic v ok 1 GENERAL VALVE CONTF If Head F1004 basic v ok 1 GENERAL VALVE CONTF Else If Head F1004 basic v ok 1 GENERAL VALVE CONTF Else If Head F1004 basic v ok 1 GENERAL VALVE CONTF Else If Head F1004 basic ok 1 GENERAL VALVE CONTE Read k Debugging screens Information Alarms The FMT CPU s generate alarms when they detect that something is wrong These can be viewed from the Alarm screen Alarms are categorized as Errors Warnings or Information Errors are serious and cause the program to stop all outputs are turned off and the error LED illuminates Warnings cause no effect on the operation of the user program but indicate something is wrong The warning LED illuminates Information level alarms are provided to help you find possible errors in your application and do not cause the error or warning LEDS to illuminate A list of these errors and warnings can be found under Errors and Warnings in Flex32 Help Contents Monitor The Monitor window allows you to monitor all FMT facilities and to force inputs and outputs 33 Flex32 programming package Colter Group Training Manual The monitor can be very useful because of it s ability to monitor the facilities in
24. Find Import Export Multi Close Inputs Outputs Analogue In Analogue Qut Registers Wide Regs Flags Timers Text HU Pump1 Pump Une Pump2 Pump Two Stop Stop Button Emstop Emergency Stop There are various buttons along the toolbar of the Symbol Name Editor from left to right these are Save Saves the symbol names Print Prints the symbol names Clear Clears the entry that you are working on Find This will prompt you to enter a symbol name to find from all the symbol names that have been entered 20 Flex32 programming package Colter Group Training Manual Import This button will enable you to load previously saved symbol name files the file extensions are def for the default symbol name file which comes with Flex32 and is in the Flex32 root directory and txt fora exported symbol name file of your own creation Export This button enables you to export you symbol names currently in use to a text file you can chose which directory to export the files to This feature is useful if you wish to use your symbol names from your current project in another project When you have entered the file name you wish to use then you will be presented with the box below RB Export Symbol Names BIS E Current Facility Input Ju Export All Input Symbol Names Tick this box to save all symbol names for the current facility po n g p C Leave the box unticked to specif
25. GO Pushbutton I2 10 H Add a display of the current temperature and the set point Allow the user to adjust the set point using the up and down function keys 0000 48 Additional Examples Colter Group Training Manual Example 4 SYSTEM unu eeec ED ED ED FD Colter 35 amp Colter Systems Write a program that decodes the key presses and then displays which buttons are pressed Use a Flag to show the state of each key HMI Operation When a function key is pressed or released a three character message is transmitted by the HMI Start Character ASCII lt STX gt Data ASCII 0 to representing the pattern of keys pressed Terminating Character ASCII lt CR gt Examples of the data byte that is sent back for various key presses is shown below Key F1 pressed ASCII 1 31 Hex 00110001 binary Key F3 pressed ASCII 4 34 Hex 00110100 binary Key F1 and F4 pressed at the same time ASCII 9 39 Hex 00111001 binary Keys F1 F2 F3 and F4 all pressed ASCII SF Hex 00111111 binary Set the communications port to Baud Rate 9600 Data bits 8 Parity No Parity 49 lt Additional Examples Colter Group Training Manual Example 5 Inputs IO Run Button I1 Stop Button I2 Pause Button I3 Increment Set Point I4 Decrement Set Point A machine is controlled by the buttons described
26. I1 move 2 r101 1 add l1 1 POINTER1 POINTER1 etc wait not I1 else if I2 move 3 101 1 add 1 1 POINTER1 POINTER1 etc wait not I2 else if I3 move 4 r101 1 add l1 1 POINTER1 POINTER1 etc wait not I3 else if I4 move 5 r101 1 add 1 1 POINTER1 POINTER1 etc wait not I4 end if call RAM WRITE SUB call subroutine that writes the RAM location goto start Ioop back to start oe oce eoe eoe oe eoe eoe oe e x e e BG B AB BG XR AAA SUBROUTINES koe koe oe eoe eoe eoe oe eoe e e e x e e AAA B AG AG AB BR B B AR XX sub RAM WRITE SUB write the value of the input pressed registers to the allocated ram Ram Write r1l01 POINTER1 1 end sub 64 Example 5 Worked Answer Colter Group Training Manual Module 2 KAZ KKK KKK KKK KKK KKK KKK KKK KKK KK KKK KK KKK KK KKK KKK KKK KKK KK KKK KKK KKK KKK A B KK KK KKK KKKHK Training course worked Example 5 Date 31 08 01 Module Example 5 RAM READ Version 1 00 w Description Colter HMI Connection Engineer JMG x Lcd X po AEE EAA LAA EASES AAAS dh hhh dh dh kdt dh a LE oe ke eoe oe oe oe eoe o oe oe v x X B x A E BG BB E x amp Code Entry Point 3k ck oe ke ce oe eoe oe eoe oe eoe eoe eoe oe oe AE X E LAE XB amp BG E Xo e e AG x x x x A Ekkk READ ALLOCATED RAM oe eoo oe ooo AAA A G A AR AAA AG AAA AAA AAA label start start of code wait for key f3 or key f4 if key 3 add 1 1 POINTER2 POINTER2 add 1 r103 r103 wait
27. Inverted Output Master Contact Reset The Tool Bar Starting with the lefthand side of tool bar in the instruction editor the buttons will be described in some more detail Save When clicked on with the lefthand button of your mouse this button will save you module at the stage that it is at when you click the button You must first give you module a name before you use the save command This is done using the Save As button When this is clicked on you will be prompted to enter a name for you module 23 Flex32 programming package Colter Group Training Manual Print This button will be enabled when you have just edited something in your module for example if you have just deleted a part of your module but now realize you shouldn t have then click on this and what you have just deleted will be reinstated Cut To use this button you must first highlight some Ladder code to cut do this as you would in a word processor now click on the Cut button The highlighted Ladder code will be cut to the clipboard Copy To use this button you must first highlight some Ladder code to copy do this as you would in a word processor now click on the Copy button The highlighted Ladder code will be copied to the clipboard Paste To use this button there must be some Lader code in the clipboard Position the cursor where you want the pasted Ladder code to start and click on the Paste button The Ladder code in the
28. TT Training course worked Example 2 Date 29 08 01 Module Example 2 Main Version 1 00 S Description Main process control Engineer JMG Lap d d d d dd d dd dX KKK KK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KK d dd dd dd dE d d d d d d d d di tK eoe eoe oe oe oe eoe e v A Th hT Th bh Th T Alert Functions Tbh eoe oe oe eoe eoe oe eoe oe eoe oe e e x M Th TT BG BB Th kat alert fred when I5 pause if I5 comes on LA oe ke eoe oe oe oe eoe oe oe oe x KKK A X A BG GB BG B BB B B Xx amp Code Entry Point KKK KKK eoe oe oe oe eoe oe oe eoe oe oe AA B AR AB XB XB a AG BG Xx amp label start start of code wait for I4 start Dutton turn_on Q0 move target to the right wait_for I1 wait for target to reach end On_Delay t0 0 0 0 5 turn on 0 5 sec timer wait Eor t0 Wait for 2 seconds turn on Q1 move punch downwards wait for I2 wait for punch to hit bottom turn on FO flag to say punch was successful add 1 r0 r0 count of how many products produced turn off Q1 retract punch wait for 13 wait for punch to fully retract turn off QO retract table wait for IO wait for table to be fully retracted goto start loop back to start ak ck ke ok L TL oe oe x e B LL TL L B BG B XB L Code FOF Subroutine 3k ck oe KEK KKK KKK KKK KKK KKK KKK KKK B XB B BG BR BG Xx amp sub fred wait not I5 continue cycle if I5 goes off end sub 57 Example 2 Worked Answer Colter Group Training Manual
29. able in the instruction editor these are available as buttons that can be clicked on the tool bar of the instruction module editor screen Some useful editing functions are also available from the main menu these being under the menus Edit Search and Bookmark The Tool Bar Starting with the lefthand side of tool bar in the instruction editor the buttons will be described in some more detail Save When clicked on with the lefthand button of your mouse this button will save you module at the stage that it is at when you click the button You must first give you module a name before you use the save command This is done using the Save As button When this is clicked on you will be prompted to enter a name for you module Undo This button will be enabled when you have just edited something in your module for example if you have just deleted a part of your module but now realize you shouldn t have then click on this and what you have just deleted will be reinstated Redo This has the opposite effect of undo If you have just undone something that you wish you had not then click on Redo Cut To use this button you must first highlight some text to cut do this as you would in a normal word processor now click on the Cut button The highlighted text will be cut to the clipboard Copy To use this button you must first highlight some text to copy do this as you would in a normal word processor now click o
30. ain tool bar Monitor Advanced Click On Line to monitor PID control using the time scale selected from the right hand column PID Control i Oy xi Configuration Monitor a On Li Q Off Line C sec C 5sec fe 10sec C min C Smin 1 min C hour 5hour Eoi 34 Integral m ot Manual at rae enm KA S red I u Deadband 0 100z Min Output Power D 10027 Inverse Output Facility 3 p j Ir 0 m al Limit 0 100 Max Output Power 0 100 Midpower Point 0 100 o o PID Loop Number Total PID Loops Apply Cancel Selecting Advanced shows the values of the parameters setup in the advanced configuration page If constants have been selected then their values can be altered by means of the up down arrows The resultant change can then be observed on the monitor screen Facilities can be altered by using the Monitor box from the icon on the main tool bar 31 Flex32 programming package Colter Group Training Manual Project compile and download the Run button To download your project to your FMT BIS click on the Run button on the Flex32 toolbar R Flex32 File View Compile Diagnostics L e b amp Project Module Run Print When the Run button is clicked all the modules currently selected in your project will be compiled and downloaded to you FMT BIS
31. an FMT 100 Note the use of screened cable to avoid false pulses from electrical noise FMT 100 There are three options for the resolution with which the FMT will count pulses from a particular encoder Times one will count once per encoder cycle i e 100 counts per revolution for a 100 p p r encoder Times two will count twice for every cycle i e 200 counts per revolution for a 100 p p r encoder Times four will count four times for every cycle i e 400 counts per revolution for a 100 p p r encoder A ALELEL4 LK LK LE LA BUA Late LL Times One Counting only on rising edge of A dYxitivivivtiviiv B Times Two Counting on both edges of A dtiti viti vivitiv e LULU ULLA UL UT Times Four Counting on both edges of A and B In all cases above the current total is stored in 32 bit register WO The value in WO can be read by the application programme at any time You can also clear or pre set the count at any time by moving a number to WO with a move function High speed counter The high speed counter option is similar to the encoder setting but intended for general purpose counting This option can be used to count pulses which are too fast to be reliably counted within the normal loop code The 32 bit registers WO to W3 are used to hold the counter value There are three high speed options for counters The examples below are for the first channel using IO I1 Count up only Each rising edge on input IO
32. atus e Allocated RAM e Flash Cards Data Storage Program Storage 7 Facilities Colter Group Training Manual Internal Operation e What is a Project e What is a Module Ladder Modules Instruction Modules e Principles of Operation Operation with Ladder modules only Operation with Instruction modules only Operation with both Ladder and Instruction modules e Optimising Performance I O update time VO used 8 Internal Operation Colter Group Training Manual Flex32 programming package Project Configuration The project configuration form is where most of the details for the project are entered Some configuration can be made without requiring a full compile and download these are handled under the On Line adjustments The FMT type Station number and Description are entered when the project was created but may be edited from the Project page of the main Project Configuration screen The available modules both Ladder and Instruction can be viewed or added to removed from the project on the tabbed pages on the project pages Source Store downloads the entire project including comments symbol names and source code into the non volatile memory of the FMT E Project Configuration r 7 FMAOCUB 9 Test code for the FMT 400 Other pages on this form are for configuring Rack Configuration of modules within an FMT 400 rack The FMT 400 modular controller requires the arrangement of modules wit
33. clipboard will be pasted into the current cursor position Change To use this button you must first have a facility currently highlighted in your ladder code When this button is clicked you will be able to change the parameters of the facility currently highlighted Compile When this button is clicked on your Ladder code that you have entered into the Ladder editor will be compiled into a form of code that is common to both ladder and instruction modules this code is unseen by the user but is used in the download process to the FMT The Instruction module is also checked to make sure that it is acceptable to the FMT and that the source code does not have any errors present On Line When this button is clicked on and you are connected to the FMT which has your project downloaded to it then the current state of the ladder elements will be shown with elements that are on being highlighted in yellow Off Line If you are On Line then you will be taken Off Line when this button is clicked on You must be Off Line in order to make changes to your instruction module The Main Menu Edit drop down menu From this menu you can select from Undo Redo this has the opposite effect of undo if you have just undone something that you wish you had not then click on Redo Cut Copy Paste and Delete these work in the same way as described in the Tool Bar of the Ladder Editor You can also select whether S
34. d flash write functions you must set the card mode to User Data store 19 Flex32 programming package Colter Group Training Manual Symbol Name editor Any facility can be given a symbol name Symbol names can be very useful when writing a program You can assign symbol names to any facility in the FMT To assign symbol names to facilities you should use the Symbol Name Editor Open the editor if it is not already open you will see various pages that you can select from each with different facilities on them eg Inputs Outputs Registers When you are on the page that you require you can assign a symbol name to the facility that you want to name You should write this name in the short name column of the relevant facility if the symbol name is being used in ladder code up to a maximum of 6 characters or if the symbol name is being used in instruction language you should write the name in the long name column of the relevant facility up to a maximum of 12 characters Note that short symbol names can be used in the instruction language but long symbol names can not be used in ladder code Long names and comments are optional When you have assigned a symbol name to a facility then type this instead of the facility For instance if you assign the name pump to output QO Then instead of typing TURN ON Q0 you would type TURN ON pump The Symbol name editor Symbol Name Editor iof x E amp o m uc O Save Print Clear
35. decremented decrement setpoint by 100 loop back to start 61 Example 3 Worked Answer Colter Group Training Manual Example 4 Worked Answer This example contains 2 modules Module 1 TET TTT TTT TTT TT ET TTT TTT TET TTT TTT TET Th AAA AA TTT TET AAA A TET TTT TTT TT Training course worked Example 4 Date 30 08 01 Module Example 4 Main Version 1 00 S Description Colter HMI Connection Engineer JMG Lap dp d d d d dd d KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK dd dd dE dd d d d d d d di tk eoe oe oe eoe oe oe e v A Th h Th bh BG gx T Code Entry Point 3k oce oe ke oce oe oe oe oe eoe oe eoe oe oe oe e o e Th x M Th Th B BB Th hh KK e o x v e e t KR KK x x A A C HMI DECODE KEYS 3k coke oe oce oe oe oe oe eoe oe oe eoe oe oe eoe Th kT e B Ax M Th Td BG BB Th hb turn on f100 label start start of code do serial in r0 10 x0d 9999 x0003 3 Serial In buffer size terminator timeout mode port until p3 ok or p3 err until port returns a comms ok or comms error if r0 x02 cheok for valid string move r1 r100 1 move key value into another register turn on f100 flag to say valid value in R100 end if loop back to start goto start 62 lt Example 4 Worked Answer Colter Group Training Manual Module 2 TKT d d h Th dd KT A A TT AA AA RA A A A A A A A A K A AA ee Training course worked Example 4 Date 30 08 01 Module Exa
36. e xxxxx alt the Alert code file xxxxx dld the main download file mcb the module control block for each instruction module where xxxxx is your project name 32 Flex32 programming package Colter Group Training Manual Facility Usage If the Usage button on the main toolbar is clicked then all the facilities that are used in your project will be shown in a list The facilities are listed along with their short and long symbol names The multiple number of the facility being used is also shown along with the module name that the facility is used in the function that controls the facility is shown and also whether the facility is being read or written to by the function Facility Usage is only available once a Compile or Test Compile has been performed B Facility Usage IDX CI Find Print Exit a 0 SCADA LOOP jv ve ied Q 0000 E SCADA LOOP Move Write F1000 basic v open 1 GENERAL VALVE CONTF If Head F1000 basic v open 32 SCADA LOOP Move Write F1000 basic v open 1 GENERAL VALVE CONTE Else If Read F1001 basic v shut 1 GENERAL VALVE CONTF If Head F1001 basic v shut 1 GENERAL VALVE CONTF Else If Read F1002 basic v auto 1 GENERAL VALVE CONTF If Read F1002 basic v auto 1 GENERAL VALVE CONTF Else If Head F1002 basic v auto 1 GENERAL VALVE CONTF Else If Read F1002 basic v auto 1 GENERAL VALVE CONTF If Head F1002 basic v auto 1 GENERAL VALVE CONTF Else If Read F1002 basic v auto 1 GENERAL VALVE CONT
37. e left hand side of the picture To change a module click on the picture of that module The Rack Configuration Dialog will appear Rack Configuration ES Select Module 16 Channel Digital In AC 16 1 Range 0 To 15 v coe Select the new element form the drop down list then enter the range if required in the boxes The example above shows a 16 channel input card configured as IO to 115 Continue in this way until the rack is complete i Project Configuration D s CJ New Save Save s Print Close ee 1 0 Update Comms Notes Preserve High Speed Fieldbus RAM Flash Card WARHIHG Fil Daly 3 45 Awp Pane After the rack configuration is downloaded to the FMT as part of the compile and download process If the firmware detects a discrepancy between the actual hardware and the downloaded configuration then an appropriate warning is raised 11 Flex32 programming package Colter Group Training Manual VO update Set the intervals at which the firmware updates the digital and analogue inputs and outputs These settings control how often the firmware update the I O hardware Digital and Analogue Update Intervals If your project uses any ladder modules the the I O update is handled at the end of every ladder scan and these settings have no effect If your project only uses instruction language modules then you can set the number of milliseconds between UO updates depending on the nature of your
38. ect is to read the first 16 inputs from one FMT and display their state on the other FMTs outputs Method 1 Linkline Connect both FMT Port 2s together Set Port 2 to be Linkline with one FMT as station 0 and the other as station 1 Use the first register of each station s Linkline block to transfer its inputs to the other stations Method 2 Modbus You will need to connect Port 2 on each FMT to Port 3 on the other Set up Port 3 as a modbus slave 9600 baud 8 data bits 1 stop bit no parity Set Port 2 to user code Write an application module to use the Modbus_Master function to read the state of the other FMTs inputs Method 3 Custom serial protocol You will need to connect Port 2 on each FMT to Port 3 on the other Set up both Port 2 and Port 3 for user code at 9600 baud 8 data bits 1 stop bit no parity Use the Text function to send the following string out of port 2 lt stx gt D lt Data1 gt lt Data0 gt lt checksum gt lt etx gt where lt stx gt and etx are ASCII control characters Data1 is a byte representing the state of inputs 8 to 15 Data0 is a byte representing the state of inputs 0 to 7 Checksum is a one byte additive checksum Use the Serial In function to receive the same format string from the other FMT on Port 3 52 e Additional Examples Colter Group Training Manual Appendix A Serial Communications Communication Parameters Baud Rate Speed 75 110 300 600 1200 2400 4800 9600
39. enter facilities in your Ladder logic program To enter ladder code you should position your cursor on the ladder rung where you wish to enter you code Now click on the facility that you wish to add facilities are all presented as buttons at the bottom of the Ladder editor When you click on a facility you will be required to complete some details about the facility that you are placing in the ladder code for example if the facility was an output you will be required to complete some detail about which output you are going to use After you have filled in the required details then the facility will be placed where your cursor is positioned lt untitled gt B x B o Ba X A AM 8 alia Save Save s Print Cut Copy Paste Delete Change Compile On Line Off Line Close Normally Open Contacts Rising Edge Contacts INPUTS INPUTS Links Normally Closed Contacts Falling Edge Contacts a Sp INPUTS ee ee ee ee at AF Vr 4H Sp Ar up JH Yu Jr nr AH up lige ara ln Shi Shf2 Shf3 Sh4 Alti Alt2 A3 Alt4 Ctrll Ctrl2 CerlS Ctrl 3 NME lt A gt ER iw re Qa Eben SMS s3hf6 Shf ad Shf9 Ctrl amp Ctrl Ctrl Comment E ST Brar MC sim Ee E 4h ee ed Cerl9 CerlO Ake Al operations Label F I F Timer Comparator Turn Off 1 amp bit Floating point Master Contact Shift Register Set ResetLatch operations operations
40. erial ports with the text command The text strings are entered using the text string editor and downloaded as part of the program Text strings can include control characters for including registers timers counters and also data and time in your text strings To enter a text string you must use the Text String Editor This is a window in the Flex32 package You will see that it resembles a table with the text string numbers down the lefthand side The text strings can be assigned a long and short name in the symbol name editor and these will be shown alongside the text string if 21 Flex32 programming package Colter Group Training Manual it has been assigned with a name You can enter your text string in the column marked Text For correct formatting of the text string please see Text String Format There are various buttons along the toolbar of the Text String Editor from left to right these are Save Saves the text strings Control Click on this button to select from various ASCII control characters to put in your text string The character you select will be put into you text string immediately after the current cursor position ASCII Click on this button to place an ASCII character in your text string The two question marks that appear after the should be replaced with the hex value of the ASCII character that you require Please see the ASCII Table if you need to know the value for you chosen character Va
41. f the battery in the FMT currently connected is running low Info Clicking on this button will provide you with information about the FMT that is currently connected eg FMT type firmware version etc Forces monitor page Any time a facility is forced or set to a new value it is recorded on the Forces page of the monitor form This list of forces can be re executed or saved to disk for later use Monitor disch valve Forced On TWO BALE Del Clicking on this button will remove the force that has been highlighted from the list To highlight and remove multiple forces hold down the left mouse button over the force to highlight and press the space bar to select Keep selecting facilities in this manner until you do not want to select any more then release the mouse button and click on Del Del All Clicking on this button will clear all the forces from the list Save Clicking on this button will provide you with an opportunity to save your force list You will be prompted to enter a name for the setup to be saved as The setup will be saved as xxxx mff the x s being whatever you type in for the file name in your project directory 36 Flex32 programming package Colter Group Training Manual Load Clicking on this button will enable you to load a force list that has been previously saved You can either load a setup from you current project directory or you can load monitor setups from other pro
42. hich is used to store your program If you wish you can use some of this RAM to hold data instead of program code but obviously the maximum size of your program will be smaller This allocated RAM is accessed by the functions ram erase ram read and ram write Sufficient RAM in the form of 16 bit words must be allocated for your applications storage using the RAM page on the Project Configuration screen Notes Allocated RAM is battery backed and will not be cleared unless you call ram erase For large blocks of allocated RAM the erase time can be significant approximately 150mS for 100 000 16 bit words Flash Card Define the use for the FMT 200 FMT 400 plug in flash card Some members of the FMT family have a socket to accept a plug in Flash Card This card can be used to store either a program or data There are three modes these are Programme storage Programme storage with auto update User Data store To set the mode select the Flash Card page from the project configuration screen Programme storage In this mode your program that is present in the FMT s internal flash memory is downloaded to the Flash Card When the Flash Card is inserted into the FMT s Flash Card socket and the FMT is then powered up then the programme that is present in the Flash Card will automatically run on the FMT but it will not be transferred to the internal flash If the FMT is powered up next time with the Flash Card no longe
43. hin a rack to be configured as part of the project The FMT 400 system comprises of the Rack Full or Half rack the CPU module of your choice the power supply and the I O modules of your choice After deciding where the Modules should go in the rack they should be physically placed in their positions with the power turned OFF After the modules have been placed in position you can now begin configuring the FMT 400 using Flex32 The following screen shots highlight the key points of configuring the FMT 400 9 Flex32 programming package Colter Group Training Manual The CPU type that is to be used should first be selected from the FMT Type drop down menu within the Project page of the Flex32 project configuration screen Project Configuration D m Ll New Save Save amp s Print Close Project Rack 1 0 Update Comms Notes Preserve High Speed Fieldbus RAM Flash Card 4 FMT Type Station Number FMT 400 CPLI B o M FMT 100E amp FMT 100F jodules Store Source FMT 400 CPLI B FMT 400 CPU C Project Ladder Modules Project Configuration D R amp C New Save Saves Prnt Close Project Rack 1 0 Update Comms Notes Preserve High Speed Fieldbus RAM Flash Card 4 gt WARMING Pil Olg 3 15 Amp frer 10 Flex32 programming package Colter Group Training Manual To change the type or rack click on the edge of the rack at th
44. how Symbol Names is selected If it is then names assigned to facilities will be shown If is is not then the actual facility will be displayed Search drop down menu This does not function in the Ladder editor Bookmark drop down menu This does not function in the Ladder editor More Useful Features When editing your module if you click the right hand mouse button while you have a facility highlighted you will be presented with a list of five options Change To use this button you must first have a facility currently highlighted in your ladder code When this button is clicked you will be able to change the parameters of the facility currently highlighted Normally Open This only works when an input contact is highlighted if you click normally open then the input currently highlighted will be changed to a normally open contact Normally Closed This only works when an input contact is highlighted if you click normally closed then the input currently highlighted will be changed to a normally closed contact Edge Up This only works when an input contact is highlighted if you click Edge Up then the input currently highlighted will be changed to a rising edge triggered contact Edge Down This only works when an input contact is highlighted if you click Edge Down then the input currently highlighted will be changed to a falling edge triggered contact 24 Flex32 programming package Colter Group Traini
45. ighlight and press the space bar to select while still holding down the mouse button point to the next facility to select and press down the space bar to select it Keep selecting facilities in this manner until you do not want to select any more then release the mouse button and click on Del Del All Clicking on this button will clear all the facilities from the list Save Clicking on this button will provide you with an opportunity to save your facility monitor name setup You will be prompted to enter a name for the setup to be saved as The setup will be saved as xxxx msu the X s being whatever you type in for the file name in your project directory Load Clicking on this button will enable you to load a monitor setup that has been previously saved You can either load a monitor setup from you current project directory or you can load monitor setups from other projects by going to their directory If no monitor setups are listed in you project directory when you click Load then non have been saved previously Set Force Facility OF e amp Force Clicking on this button will provide you with the opportunity to set force input or outputs on off When a facility is set then it is still under program control eg if an output is set on then the net time the program in the FMT turns the output off then it will be able to do so When a facility is forced then the program can not control it any more eg
46. ion will be attempted 20 times before an error occurs Input interrupt instruction code A new feature with FLEX32 as part of the instruction language is module execution when an input comes on A module is written using the normal suite of instruction commands but the final statement must be a END INT command In addition to selecting the correct setting of the high speed input in the High Speed page of the project configuration screen it is also necessary to select the operating mode of the module for input interrupt from the control menu option for further details please see the Module Control help Note The maximum number of lines of code that can be executed is 20 an error will occur for more than this Commands that cause execution to stop i e wait for type commands are permitted but not recommended execution will be attempted 20 times before an error occurs Maximum values The following maximum values apply to the high speed features on both FMT 100 and FMT 200 products Maximum frequency for counting 10kHz total Maximum frequency for encoder 2 5kHz total Minimum pulse time 50us NOTE Selecting a high speed option does not affect the normal operation of the input Fieldbus Configure the BIS 100 FMT 400 fieldbus modules BIS 100 and FMT 400 controllers can be fitted with fieldbus modules for communicating with any of the standard fieldbus technologies 16 Flex32 programming package Colter Group Training Manual O OL BOT
47. ive Time Seconds Dig Out Cycle Time Seconds Constant fo 0 Constant fi Facility if Facility Iti Time over which the differential Time over which the digital term acts output PWM operates loop controls the process PID Loop Number fo Total PID Loops i Appi First select the total PID loops to be configured and also the loop number Each loop will require to be configured separately When all of the parameters have been completed then click the Apply button Input Facility Click on this button to input the current process value which can be an analogue input Al analogue output AQ or register R The process value has a range of 0 10000 is volatile and user program adjustable Setpoint Selecting Constant allows a fixed value to be entered via the up down arrows within the range 0 10000 If Facility is used then click on the button to input either an analogue input Al analogue output AQ or a register R again choosing within the range 0 10000 The process setpoint is non volatile preserved through power down and user program and online adjustable Proportional Band This can be either a constant or facility in the same manner as Setpoint The range is 0 00 100 00 non volatile preserved through power down and user program and online adjustable A value of zero will disable the PID Integral Time This can be eithe
48. jects by going to their directory Reforce Re sends all the force commands current shown on the force list Force Clicking on this button will provide you with the opportunity to set force input or outputs on off This functions in exactly the same way as the Force button on the Facilities page Close Clicking on this will close the monitor window Allocated RAM monitor page Clicking on this page will enable you to view the contents of any Allocated RAM you may have in the FMT Monitor Facillies Forces am CO no Em The Start Location box allows you to enter the location that you wish to start reading the value of 16 bit words in allocated RAM The Read Count box enables you to specify how many 16 bit words you wish to view For instance if there were sixty 16 bit words in allocated RAM and you wished to view the first twenty five then you would set the Start Location to 0 and the Read Count to 30 this would show you the contents of the 16 bit words 0 to 29 Clicking on the disk icon will save all the allocated RAM to a text file on disk in a suitable format for importing into a spreadsheet or database 37 Flex32 programming package Colter Group Training Manual 16 17 18 1320 2122 2324 25 26 2728 233031 umusuHuugug9uugumgu8u FMT 200 compact EN S eodoq Flash Memory Card PORTO PORT 1 PORT 2 PORT 3 BRB u n B B A m PD TSD FD T D baD TD baD TxD chats cts PROGRAMMING TE Colter
49. long with the module name that the facility is used in the function that controls the facility is shown and also whether the facility is being read or written to by the function PID configuration Click the P I D button on the main toolbar to be shown all the available facilities for configuring PID indow Help UE ov T z 5 Over Moi Project Symbol Test Usage et Adjust The maximum number of PID loops that can be supported by FMT BIS hardware is as follows SJ IES sene 1 FMTI 200 ctore tei 16 27 Flex32 programming package Colter Group Training Manual BIS 100 eer 16 FMT 400 CPU A 8 FMT 400 CPU B 16 FMT 400 CPU C 64 Basic PID Control Pile xi Configuration Monitor Advanced Proportional Band 0 10027 Output Facility C Constant 00 Ag InputFaclity Facility n1000 AID Percentage of the range over The facility which the FID which propotional gain applies drives to control the process The facility which represents the current process value Integral Time Seconds Digital Output Facility Constant E m Setpoint 0 10 000 C Facility In Ms C Constant X Time over which the integral Pulse width modulated digital Facility An term acts Reset time equivalent of the PID output The target to which the PID Derivat
50. lue Click on this button to place the value of a 16 bit register or the value of a 32 bit register or the value of a timer or the value of a counter You will be prompted to select the formatting for the value that is to be printed When you have selected what value and formatting you want then you will see four question marks appear after the text string code You need to replace these question marks with the register timer or counter that you want Buffer Click on this button to print a string of characters using the data in the registers starting at R If using fixed length buffer denoted by SR the length of the string will be characters If using terminated buffer denoted by SR the string will continue until a terminating character is met or until 250 characters have been sent The terminating character is the character whose ASCII value is hex Insert Click on this button to link another text string into the present one This will allow you to cascade several text strings together Type the number of the text string that you wish to cascade in place of the question marks which appear DateTime Clicking on this button will allow you to insert the command for date time into your text string You will need to chose from the various formatting options that you have the choice of Check Clicking on this button enables you to place a checksum calculation on you text string Click on Start
51. mple 4 Display Version 1 00 S Description Colter HMI Connection Engineer JMG KKK KKK KKK KKK KK KKK KKK KKK KKK KKK KKK KKK KKK KKK KK KKK KKK KKK K KKK KK KKK KKK K KK KKK kh Eh h 3k oce oe KKK KKK KKK KKK KK KKK Th T Th T Code Entry Point 3k oce oe ke oce oe eoe oe eoe eoe AAA AAA A TT B BB hh at On Delay t3 0 0 5 0 wait for t3 turn on f100 wait for display to get it s marbles together when display is powered up a value will appear on screen KK KK o x e e e t KR AK KR A A HMI DISPLAY KEY PRESSES Sk coke eoe oe eoe oe eoe oe e v TT B A Th BG B BG Kh KT Tah label start wait for f100 move r100 f0 4 wait_for p3free text tx5 3 wait_for p3free if f0 text tx2 3 else text tx3 3 end_if wait_for p3free if f1 text tx2 3 else text tx3 3 end_if wait_for p3free if f2 text tx2 3 else text tx3 3 end_if wait_for p3free if f3 text tx2 3 else text tx3 3 end_if turn_off f100 goto start start of code Wait for valid value move key presses out to flags Keyl F0 Key2 Fl etc make sure port is not in use move to start of first line cx book make sure port is not in use if flag0 was set then keyl was pressed so send text saying ON otherwise send text saying OFF make sure port is not in use if flagl was set then keyl was pressed so send text saying ON otherwise send text saying OFF
52. ms wait not 200ms monjtor table if q0 and I1 0 or q0 0 and I0 0 if table is moving but end stop isn t reached add 1 r1 r1 else all ok clear the count move 0 r1 1 end if monitor punoh if ql and I2 0 or gl 0 and I3 0 if punch is moving but end stop isn t reached add 1 r2 r2 else all ok clear the count move 0 r2 1 end if heck all axis for error if rl gt TIME OUT or r2 gt TIME OUT turn on q6 else turn off q6 end if loop back to start goto start 59 Example 2 Worked Answer Colter Group Training Manual Example 3 Worked Answer This example contains 2 modules Module 1 TET TTT TTT TTT TTT TTT TTT TET TTT TTT TET TPT TTT TTT AAA AAA A A TET TTT TTT TT Training course worked Example 3 Date 30 08 01 Module Example 3 Main Version 1 00 S Description Main process control Engineer JMG Lap d d d d d dd d dd KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK dd dd dE d d d d d d d d di tK oce eoe oe oe oe oe eoe e v A Th hT Th bh Th T Code Entry Point Sh That oe ke oboe oe oe KT oe se oe oe ooo oe oe oe o eoe e oe o e b o f BG n gB ooo Eh Th Kh oe toe to t oe eR t t Xx TEMPERATURE MONITORING Tk oe oe oe eoe oe Th oe e B Ax M Th Th Th Th kab label start start of code move S000 70 2 make setpoint 5000 if IO and aid lt r0 GO is on and temperature is less than setpoint turn_on Q0 tu
53. n the Copy button The highlighted text will be copied to the clipboard 25 Flex32 programming package Colter Group Training Manual Paste To use this button there must be some text in the clipboard Position the cursor where you want the pasted text to start and click on the Paste button The text in the clipboard will be pasted into the current cursor position Delete Clicking on this button will delete any text that is currently highlighted Indent To use this button first highlight a line of text to indent then click on the Indent button Unind This button performs the opposite of the Indent button ie it remove the indents from any text that you highlight Font This when clicked on will enable you to change select different fonts and to enable you to change the properties of the font that you are using Compile When this button is clicked on your source code that you have entered into the Instruction Editor will be compiled into a form of code that is common to both ladder and instruction modules this code is unseen by the user but is used in the download process to the FMT The Instruction module is also checked to make sure that it is acceptable to the FMT and that the source code does not have any errors present Control When this button is clicked on you will be presented with four ways in which your instruction module code can be executed for more information please see Module Control
54. ng Manual Instruction module editor The Instruction Editor is used to write project instruction modules in FLEX 32 utilizing the text based instruction language The editor works in much the same way as a basic word processor terms of entering text functions such as Cut amp Paste and Find amp Replace etc are available Using the Instruction Module editor Starting a new Project and Module 1 If you need to start a new project then do so by selecting New Project from the File menu Follow the on screen instructions that you are presented with 2 From the project configuration screen left click on the New button which is situated between Available Instruction Modules and Project Instruction Modules 3 After entering a suitable name for your module you will enter the module editor Entering code into your instruction module One you are in the Instruction Module editor you can enter in your program text in much the same way as you would on a word processor When you are entering functions and facilities etc into the editor you will see that they are highlighted in different colours for example outputs e g Q1 are displayed in red and text string numbers e g TX12 are highlighted in grey this will enable you to follow your code more easily If you type in something incorrectly the word you have just typed in will appear underlined This enables mistakes to be easily seen There are various useful editing functions avail
55. no effect Inverse Output Facility Click on this button to select the inverse output to which the PID drives to control the process This can be either an analogue output AQ or register R and has a range of 0 10000 is volatile and user program and on line adjustable Midpower Point This can be either a constant or facility in the same manner as Deadband The range is 0 00 100 00 Monitor Basic Click On Line to monitor PID control using the time scale selected from the right hand column PID Control Isi Xx Configuration Monitor Sec 10sec C min 5min C 10min C hour Shour Basic Advanced Proportional Band 0 100Z7 Output Facility Input Facility lE im m o Integral Time Seconds r Digital Output Facility 0 10 000 i xij E Setpoint 0 10 14 s Derivative Time Seconds Dig Qut Cycle Time Seconds o o1 j o 1 2 0 PID Loop Number E Total PID Loops 30 Flex32 programming package Colter Group Training Manual Selecting Basic shows the values of the parameters setup in the basic configuration page If constants have been selected then their values can be altered by means of the up down arrows The resultant change can then be observed on the monitor screen Facilities can be altered by using the Monitor box from the icon on the m
56. not key f3 else if key f4 subt l 1 POINTER2 POINTER2 subt 1 r103 r103 wait not key f4 end if call RAM READ SUB text tx10 8 goto start loup back o start 3 coke ke oe oe eoe oe oe oe oe Th oe e B Ax M Th TT Kh Th hat SUBROUTINES KRAZA oe eoe oe oe eoe oe A oe oe eoe eoe eoe oe A t RAKE KT XR t x sub RAM READ SUB read the data back Ram Read POINTER2 r102 1 Ram_Read pointer destination number end_sub 65 Example 5 Worked Answer Colter Group Training Manual Example 6 Worked Answer This example contains 2 modules pseudo conveyor module Module 1 AKASAKA EASA EASA EA EAE oe b EA EASA AE EAE A EAE bah TEE AE EAT AEA EE sb TE o TC A CA CA CASE w Training course worked Example 5 Date 03 09 01 Module Example 6 main Version 1 00 Description Process code Engineer JMG W KAZ d d d d dd d KKK KKK AAA AA AAA AAA AA AA AA AA AAA AAA AA AA A AAA AAA AAA AA AAA dd dd dE d d d d d d d d di label start start of code wait for I2 wait for the operator to press the start button turn on g0 start motor in Fast turn on q1 wait for 0 wait for the interrupt module to see the mark wait for w0 gt wl wait for encoder count to equal setpoint encoder fast off g0 put brake on turn off f0 clear flag turn on q3 start wrapper repeat 4 wait for 2 seconds sounding the buzzer Buzz 25 on delay t0 0 0 0 50 wait for tO end repeat
57. ow the connection diagram below PC Comms Port FMT BIS S way 25 way Port 0 3 2 2 2 3 3 5 7 7 Shell 1 6 The correct cable to use is 4 core non twisted screened cable specified suitable for RS232 communications Please Note The maximum specified distance for RS232 communications is 15 metres Note For PC s without an RS232 COM port then a USB to RS232 converter will be required You will need to know the port number Windows has configured your adapter to which must be in the range COM1 4 Flex32 can only support COM1 4 Help Flex32 help file www coltergroup co uk 40 Flex32 programming package Colter Group Training Manual Ladder Functions e Inputs on off edge fast edge e Outputs on off e Timers on delay off delay pulse e Counters count up count down pre set clear e Comparators greater less than equal to e 16 Bit 32 Bit and Floating Point operations Add Subtract Multiply Divide Square Square Root And Or Exclusive Or Negate Logical shift Rotate Binary to BCD BCD to Binary Sine Cosine Tangent Arctan Exp Ln Log and Power Floating point only e Move inputs outputs and flags to from registers analogue inputs and outputs to from registers 16 Bit or 32 Bit registers to from 16 Bit or 32 Bit registers e Data Handling with flags and registers Shift Register Stack FIFO e Serial Communications Send out Text string Receive number text data e Compare
58. p to 4 Fieldbus modules e BIS 100 One programming general purpose RS232 One general purpose RS232 Two general purpose RS232 or RS485 One Fieldbus modules e PID e Built in Communication Protocols Modbus RTU Mitsubishi Protocol 1 Linkline and Linkline Plus e LED indication for All digital inputs and outputs System healthy Serial port activity Running e High speed features Incremental pulse encoder Up down counter Fast edge catching Interrupt driven instruction module s Data Storage Battery backed RAM all FMT s Plug in Flash Card FMT 200 and 400 e Display and Function Keys FMT 200 and FMT 400 Use under program control for error messages changing set points etc View and clear system errors and warnings Set date and time Set programming station number Set or clear I O forces Set monitor mode View analogue inputs 6 Controller Features Colter Group Training Manual Facilities e Inputs e Outputs s Analogue Inputs e Analogue Outputs e Flags e Counters 0 99 999 999 e Timers 0 99 hours 59 minutes 59 99 seconds e 16 Bit 0 65 535 and 32 Bit registers 0 4 294 967 295 e Floating Point 9 26418 to 5 4e 20 positive or 9 2e 18 to 2 7e 20 e Text strings e Internal registers Information scan time divide remainder Date and Time Facility preservation during power down High speed options Communication Status e Internal Flags Clock pulses Errors and warnings Communication st
59. r a constant or facility in the same manner as Setpoint The range is 0 3000 seconds non volatile preserved through power down and user program and online adjustable A value of zero will disable this function 28 Flex32 programming package Colter Group Training Manual Derivative Time This can be either a constant or facility in the same manner as Setpoint The range is 0 00 65 00 seconds non volatile preserved through power down and user program and online adjustable A value of zero will disable this function Output Facility Click on this button to select the output which the PID drives to control the process This can be either an analogue output AQ or register R and has a range of 0 10000 is volatile and user program and on line adjustable Digital Output Facility Click on this button to select the digital output for PMW output This can be a digital output Q or a flag F and is volatile and has no other facilities Digital Output Cycle Time This can be either a constant or facility in the same manner as Setpoint The range is 1 600 seconds non volatile preserved through power down and user program and online adjustable A value of zero will disable output operation Advanced PID Control Pile Es I Configuration Monitor Basic Advanced Control c Auto Manual Integral Hold On Auto On C Off C Manual C Off C
60. r present then the program that was in the Flash Card will no longer be present in the FMT Programme storage with auto update In this mode your program that is present in the FMT s internal flash memory is downloaded to the Flash Card When the flash card is inserted into the FMT s Flash Card socket and the FMT is then powered up then the program that is present in the Flash Card will automatically run on the FMT it will also be copied into the FMT s internal flash so that the program that was present on the Flash Card will now be present in the FMT when it is next powered up even if the Flash Card is no longer present User Data store In this mode the Flash Card is used for data storage eg data logging However the Flash Card can still be used for programme storage in this mode in order to use it the programme should be downloaded to the Flash Card as normal In order to use the program when the Flash Card is inserted into the FMT s Flash Card socket keys F1 and F2 should be held down while the FMT is next powered up The FMT will then display the message Run card program press F4 to run the program the FMT will then display the message Update int flash press F3 to do this Only select Update int flash if you want to copy the programme that is in the Flash Card into the internal flash If however you only want to run the programme then press F1 F2 or F4 when Update int flash is displayed Note To use the flash erase flash read an
61. rked Answer This example contains 1 module Lap dp d d d d dd dd dd KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK dd d dd d d dd d ss Module Example 1 3k O3 X OO X Training course worked Example 1 Description Simple Conveyor htt oe eoe oe oe ke oe oe eoe oe oe eoe oe eoe oe eoe eoe A A AA A AAA AAA AAA AA AA eoe eoe AAA AAA AA eoe eo AAA M A TT kT Th bh AG BG T Date 03 09 01 Version 1 00 Engineer JMG Meo X 3 Xe X LE oe ke eoe oe oe oe eoe oe oe oe e x EEE kkk B BG B B x amp X Code Entry Point EE oce ke oe oe oe oe eoe oe eoe eoe oe eoe oe oe B EEE EEE kkk 2k ck ke ke ee oe oe oe eoo oe oe e x e BG x A X A BG GB BG B BG BB Bx Xx SIMPLE CONVEYOR LE oe ke ce oe oe eoe eoe oe oe oe eoe oe oe eoe oe e x e B B kk E LAE label start start of code turn on QO move wait for I1 wait turn off g0 Turn On Delay t0 0 0 2 0 turn wait Eor t0 Wait turn on Q1 move wait for IO wait turn off ql Turn On Delay t0 0 0 2 0 turn wait for t0 Wait goto start 56 Example 1 Worked Answer target to the right for target to reach end off conveyor on 2 sec timer for 2 seconds target to the left for target to reach end off conveyor on 2 sec timer for 2 seconds Colter Group Training Manual Example 2 Worked Answer This example contains 3 modules Module1 KAZ AA AAA AAA AA AAA AAA AA AAA AAA AAA AAA A T A AAA AA AA A A AAA AAA A A AAA AAA AA AA AAA T TT TTT
62. rn on heater else turn off 00 otherwise turn the heater off end if TTT e o x x e KKK WATER LEVEL MONITORING TTT kT bh eoe oe oe oe eoe oe Th x X h TT BG B BG Kh hT Th if not I1 water level is low turn on header tank turn on Q1 end if if I2 water level is too high turn off header tank turn off Q1 end if goto start loop back to start 60 Example 3 Worked Answer Colter Group Training Manual Module 2 KAAMR kT ee h TT Kh kT A A TT AA AA ARA A A A A A A A A K A AA R AA KA AA AAA HA Th ee Th hT Th kT Th Training course worked Example 3 Date 30 08 01 Module Example 3 display Version 1 00 a Description Main process control Engineer JMG Lid d WR xdg X opor oW hhh dh hhh hhh Lh Lh kh cg LE ke ke ceo oe oe oe eoe oe oe oe A AAA GB BG kkk Code Entry Point 2k ck oe ke oce oe eoe eoe oe oe oe eoe oe AE E EE B X B XR A amp E amp E TET Eh oe oe o x Th kT Th KT Th Th TEMPERATURE MONITORING KK KKK KKK oe oe KK KKK KKK KKK TT Kh Th hab label start start of code if r2 lt gt ai0 or key f3 or key f4 update the display when the temperature changes move ai0 r2 1 wait for P8free text tx1 8 end_if if key f3 wait not key f3 add 100 r0 r0 text tx1 8 end_if if key f4 wait not key f4 subt 100 r0 r0 text tx1 8 end_if goto start or the setpoint is changed setpoint is being incremented increment setpoint by 100 setpoint is being
63. rol will oscillate and then derives the controller gain reset and derivative values from the gain at which the oscillations are sustained and the period of oscillation at that gain The ZN Closed Loop method should produce tuning parameters which will obtain quarter wave decay This is considered good tuning but is not necessarily optimum tuning Steps Ensure that the process is lined out with the loop to be tuned in automatic with a gain low enough to prevent oscillation Increase the gain in steps of one half the previous gain After each increase if there is no oscillation change the setpoint slightly in order to trigger any oscillation Adjust gain so that the oscillation is sustained that is continues at the same amplitude If the oscillation is increasing decrease the gain sightly If it is decreasing increase the gain slightly Make note of the gain which causes sustained oscillations and the period of oscillation These are the ultimate Gain GU and the Ultimate Period PU respectively Calculate the tuning for the following set of equations Use the set which corresponds with the desired configuration P only PI or PID Tuning Equations P Only Gain 0 5 GU PI Gain 0 45 GU Reset 1 2 x PU PID Gain 0 6 GU Reset 2 x PU Derivative PU 8 Taken from Process Control Solutions 55 e Appendix C Ziegler Nichols Closed Loop Tuning Colter Group Training Manual Example 1 Wo
64. this selection is AUTO and when Manual disabled but will keep tracking Integral Hold This can either be fixed or a facility Click on the button to choose the facility which can either be a digital input 1 digital output A or a flag F When this selection is OFF it suspends the inclusion of new data into the integral term 29 Flex32 programming package Colter Group Training Manual Deadband Selecting Constant allows a fixed value to be entered via the up down arrows within the range 0 00 100 00 If Facility is used then click on the button to input either an analogue input Al analogue output AQ or a register R again choosing within the range 0 00 100 00 The process setpoint is non volatile preserved through power down and user program and online adjustable Integral Saturation Limit This can be either a constant or facility in the same manner as Deadband The range is 0 00 100 00 non volatile preserved through power down and user program and online adjustable A value of 100 has no effect Min Output Power This can be either a constant or facility in the same manner as Deadband The range is 0 10000 non volatile and preserved through power down A value of zero has no effect Min Output Power This can be either a constant or facility in the same manner as Deadband The range is 0 10000 non volatile and preserved through power down A value of 10000 has
65. whole word will be matched If this is not selected then the search string could be entered as just part of a word eg par would match with part and particular if match whole word is not selected Match case The search can be set up to be case sensitive or not If you select case sensitive Colter will not match with colter or COLTER If you do not select this option then Colter will match colter and COLTER Replace All 26 Flex32 programming package Colter Group Training Manual You can have the search and replace operation find and replace all matching texts through the module if you select this Find Next Clicking on this will search for the next matching text after the one that has just been found Bookmark drop down menu From this menu you can set bookmarks in your instruction module so that you can jump to and from them You can set a bookmark in you module by clicking on the line of text that you wish to bookmark then select Set from the Bookmark drop down menu select the bookmark number that you want and the bookmark will be placed for you next to your selected line of text To jump to a bookmark select Goto from the Bookmark drop down menu then select the bookmark number that you wish to go to The cursor will be placed on the book marked line More Useful Features When editing you module if you click the right hand mouse button while pointing over you code you will be presented with a list of three
66. will increase the total in WO by one Input 1 is unused Count down only Each rising edge on input IO will decrease the total in WO by one Input 11 is unused Count up and count down Each rising edge on input IO will increase the total in WO by one Each rising edge on input l1 will decrease the total in WO by one In all cases above the current total is stored in 32 bit register WO The value in WO can be read by the application programme at any time You can also clear or pre set the count at any time by moving a number to WO with a move function 15 Flex32 programming package Colter Group Training Manual FMT 100 TEE Photocell 1 Photocell 2 Fast pulse catching In normal operation the code you write for the FMT can only respond to pulses which are longer than the loop time of the program For example if the loop time is 10mS your program will not reliably respond to input signals unless they are at least 10mS long To cope with shorter pulses you can use the high speed features to catch pulses and guarantee they are seen by at least one application program loop You can select from the following options Catch high speed positive edges on 10 only 11 unused Catch high speed positive edges on 10 and l1 Note The maximum number of lines of code that can be executed is 20 an error will occur for more than this Commands that cause execution to stop i e wait for type commands are permitted but not recommended execut
67. y individual Ral xo 0d symbol names from the current facility Export the symbol names for Input 0 to 7 Click either Yes to save symbol names of T current facility shown H s 7 j Wo Click No if you do not want to save the symbol names for the current facility v Yes All No All X Cancel You will see that there are several choices you can either chose to save the individual facility symbol names if you click Yes you will then move on to the next facility Input Output etc If you click No then the symbol names for the current facility shown will not be saved You can also chose which symbol names that are saved by un ticking the Export All xxxx Symbol Names box where xxxx represents the current facility You can then specify which names are saved eg Inputs from 0 to 7 Clicking Yes All will save all symbol names of all facilities Clicking No All will not save any symbol names Clicking Cancel will cancel the export Load When clicked will prompt you for a text file containing symbol names Multi Toggles between all facility pages and one row of pages which have to be scrolled along in order to access the other pages Close Clicking on this button will close the Symbol Name Editor Text String Editor Text Strings are pre entered in the text string editor and sent out using the Text function Text strings are used to store pre defined messages for sending out the s

FMT/BIS Training Manual

Contents

Download Pdf Manuals

Related Search

Related Contents