Lenco Marine 15054-001 Boating Equipment User Manual
Contents
1. 30 2 2 2 B xillar register esed eia eet Eit IE 30 2 2 3 Iur 31 2 2 4 LINK register EE 31 2 2 5 File register 34 2 2 6 Special 34 2 3 Network support function 38 2 3 1 IC memory card data access through computer link 38 2 3 2 TOSLINE S20LP loop support _ 41 2 3 3 Ethernet SUpport c ptt a ato buen ald 42 2 4 EE 43 2 41 Double word multiplication and division D 44 2 4 2 Essential PID PIDS aee etn ner nacen 46 2 4 3 Floating point essential PID FPID3 2 4 22222 51 2 4 4 Expanded data transfer XFER 56 2 4 5 Network data send SEND iussa aede ettet toe te uda 62 2 4 6 Network data receive RECV 66 User s Manual 7 8 PROSEC Section 1 T3H Overview 1 1 Introducing the T3H 10 1 2 Differences between T3H and T3 11 1 3 components 12 1 4 Specifications 20 User s Manual 9 1 T3H Overview 1 1 Introducing the T3H The TSH is a high performance large scale programmable controller Program memory capacity The T3H is available in two CPU types PU325H and PU326H Each type has the following user program2. Host 8 9 10 11 12 13 14 15 2x o3 uw 5 0 7 LC A ADR S T Status 68 Sum Status T3H operation status User s Manual 39 2 Expanded Functions NOTE VAV 1 The maximum message text length is limited to 255 bytes 2 Shortening expression for starting register bank number and data MW only are available E g F9 for F00009 When shortening expression is used the maximum number of MW command can be increased more than 46 words In this case it is limited by the maximum message text length 255 bytes 3 When an error has occurred error response CE or EE is returned If designated register or bank is out of the effective range EE115 register no size error is returned If IC memory card is not installed or MMR setting for PU slot is not made EE128 No IC card error is returned If IC memory card is used for program storage EE132 IC card type error is returned If IC memory card is set as write protect EE134 IC card write protect error is returned 4 For general information of computer link function refer to T series Computer Link Operation Manual PROSEC 2 Expanded Functions 2 3 2 TOSLINE S20LP loop support In addition to the standard bus connection type TOSLINE S20 here called S20 the optical loop connection type TOSLINE S20LP here called S20LP can be used with the T3H SN325 T3H station module of S20LP By using the S20LP high speed con
3. Divergence 1 logarithm lesa essential PID transfer aa read Divergence Ill write Convergence m eermeec E 0 05n t I O 6 8 3 05 Basic unit SFC simultaneous 3 52 sequences Convergence 11 6 45 7 93n Expansion unit 52 XFER 286 48 4 5n 302 46 9 02 register gt 520 on basic unit register gt S20 on expansion unit 394 69 7 49n 520 on basic unit register 417 97 9 51n 520 on expansion unit register 252 4441 54n register gt EEPROM 185 88 1 58n EEPROM gt register 186 7541 53n register IC 185 3 1 58 register 179 99 1 09 register register 3 READ 261 01 9 97n Basic unit 280 62 12 86n Expansion unit 4 WRITE 252 04 9 93 Basic unit 278 57 12 91 Expansion unit User s Manual 25 1 T3H Overview NOTE When index modification digit designation or direct I O register IW OW is IV W used for an operand the additional time is required per one operand as shown below Additional time by Operand format operand modification us 0 ndex modification i Digit designation 60 100 11 3 0 n 1 Direct Direct I O with digit designation 26 PROSEC Section 2 Expanded Functions 2 1 System operation 28 2 2 Expanded registers 30 2 3 Network support function 38 2 4 Instructions 43 User s Manual 27 2 Expanded Functions 2 1 System operation
4. Normal execution ON B 3 B 2 overflow B 3 B 2 0 Operand Name Con Index WIWINIWIW WIW data te TT LTT TEE E EE FL Fac 11 qr p TR aes Example RO200 1 400351 0350 D0252 D0261 gt D0401 D0400 When R0200 is ON the double word data of D0351 D0350 is multiplied by the data of D0262 D0261 and the product is divided by the data of D0264 D0263 then the quotient is stored in 00401 00400 and the remainder in D0403 D0402 PROSEC 2 Expanded Functions If the data of D0351 D0350 is 23437688 00262 0261 is 1876509 and D0264 D0263 is 113487 the quotient 387542471 is stored in 00401 00400 and the remainder 64815 is stored in D0403 D0402 D0351 D0350 23437688 D0264 D0263 x 113487 D0401 D0400 387542471 D0403 D0402 64815 D0262 D0261 1876509 Note e Edge execution modifier is also available for this instruction User s Manual 45 2 Expanded Functions 2 4 2 Essential PID PID3 FUN 156 PID3 Essential PID Expression Input PID3 C Output Function Performs PID Proportional Integral Derivative control which is a fundamental method of feed back control Pre derivative real PID algorithm This PID3 instruction has the following features e For derivative action incomplete derivative is used to suppress interference of high frequency noise and to expand the stable applicatio
5. 6 PP EP Uy FEL dy g g g LILIANA O 0 O O O 11111111 In this configuration the can handle up to 76 I O modules If 64 points I O modules are mounted on all the I O slots 76 slots the T3H can control up to 4864 points of discrete I O NOTE The unit configuration using other expansion interface modules are the IV V same as that of T3 Refer to the T3 User s Manual 16 PROSEC T3H 1 T3H Overview 3 Power supply module The power supply module for the T3 is also used with the T3H The following two types are available depending on power voltage Rated voltage PS361 100 120 Vac 200 240 Vac selectable 50 60 Hz PS332 24 Vdc NOTE IV Y For details refer to the T3 User s Manual 4 Rack The rack base board for the T3 is also used with the T3H The following four types are available Number of slot BU31A 1 for PS 1 for IF 1 for CPU 10 for I O s For basic unit BU315 1 for PS 1 for IF 1 for CPU 5 for I O s BU35B 1 for PS 1 for IF 11 for I O s For expansion BU356 1 for PS 1 for IF 6 for I O s unit NOTE For details refer to the User s Manual 5 Expansion cable The following types of the expansion cables are available Cable length Remarks CS3R5 For standard expansion CS301 CS302 1m With both end connectors 50 pin CL3R5 For long dist
6. 0 72n 65 4 68 1 4 69 bit file bit shift TSHR carr 0 81n right bit rotate left with 88 m bit file n bit rotate TRRC i right with carry 73 m bit file n bit shift bit file n bit rotate left with carry 74 Shift register 5 Bi directional shift register 6 Device shift SFT 1282 91 Demulttiplexer 1 bit rotate right RTR1 92 Table bit transfer 9 1 bit rotate left n bit rotate right 1 jn bit rotate left N 8 101 Less than or equal than than or equal 65 66 68 69 22 PROSEC 1 T3H Overview Instruction execution speed continued No time us No time us 104 Double word equal D 448 4 9 equal n qum aaa than D than or equal 141 Disable interrupt DI 5288 xp Orcum initialize 0 02n 146 Step sequence STO U lt output 2 44n or equal 147 148 Timertrigger TRG 289 0 02n 1 31 12 94 R 153 154 PIDS TR L 155 Calendar operation L PI V 382 48 Essential PID 158 Drum sequencer DRU 16 46 eee Pr eadem 4 62n 122 160 123 Double word bit Dai 124 SCH 0 72n 0 81 164 Average value 1 03 N T G R D S 3 M F G D L N D D L L AX IN E User s Manual 23 1 T3H Overview Instruction execution speed continued time us No time us PID subtraction w
7. 10 ms interval is necessary for data writing 60 PROSEC 2 Expanded Functions Note e Edge execution modifier is also available for this instruction e The XFER instruction is not executed as error in the following cases ERF S0051 is set to ON registers 2 When the source destination table of transfer is out of the valid range CPU register to When the transfer size is 0 or more than 256 expanded F register When the source destination table of transfer is out of the valid range When IC memory card is not installed or MMR setting is not made When the IC memory card is write protect state for data writing When program is stored in the IC memory card detected only T3H CPU register to When the transfer size is 0 or more than 256 S20 S20LP When the source destination table of transfer is out of the valid range When channel designation is other than 1 or 2 other than 1 for T2 When S20 S20LP is not installed or not allocated When status flag area is not sufficient When an odd address is designated as the leading address in the case of S20 S20LP is set as double word access When the transfer size is odd address in the case of S20 S20LP is set as double word access When the S20 S20LP module is not normal CPU register to When the transfer size is 0 or more than 256 EEPROM When the source destination table of transfer is out of the valid range When the data writing address range exceeds page boundary When this instruct
8. 12500 C1 Internal work area C 9 Operation 1 When the instruction input is OFF Initializes the PID3 instruction Operation mode is set as specified by B 8 A 5 bit 0 1 lt B 8 bit 0 1 Auto mode SV is set as specified by B 4 ASV lt ISV Manual mode MV is set as current MV MMV lt MV Internal calculation data is initialized MV remains unchanged 2 When the instruction input is ON Executes PID calculation every n scan which is specified by B 72 The following operation modes are available according to the setting of A 5 e Auto mode This is a normal PID control mode with ASV as set value Set value differential limit DSV manipulation value upper lower limit MH ML and differential limit DMV are effective Bump less changing from auto mode to manual mode is available Manual mode manipulation value MMV is over written by current MV automatically MMV lt MV User s Manual 49 2 Expanded Functions Manual mode In this mode the manipulation value MV can be directly controlled by the input value of MMV MV differential limit for manual mode DMMV is effective MH ML and DMV are not effective When mode is changed from manual to auto or cascade the operation is started from the current MV Cascade mode This is a mode for PID cascade connection PID is executed with CSV as set value Different from the auto mode set value differential limit is not effective Manipulation value upper lower limit MH ML and differ
9. 2 1 1 Auto RUN Standby selection The initial operation mode HALT or RUN just after power on is determined by the user setting status of the Auto RUN Standby selection When the setting status is Auto RUN The T3H s initial operation mode is determined by the mode control switch HALT RUN P RUN When this switch is in RUN or P RUN the T3H moves into RUN mode automatically Standby T3H stays in HALT mode regardless of the mode control switch HALT RUN P RUN after power on Then the operation mode can be changed manually i e by programmer command or by changing the mode control switch The Auto RUN Standby selection is included in the system information memory and the selection is made by using the programmer NOTE 1 The default setting is Standby VW 2 Different from the T3H in case of the T3 this selection is made by the hardware switch RAM ROM switch Timer interrupt interval In the T3H the timer interrupt program is available with the interval setting of 1 to 1000 ms in 1 ms increments In case of the T3 it is 2 to 1000 ms in 1 ms increments NOTE If you use the timer interrupt with 1 ms interval consider to minimize the execution time of the timer interrupt program If the interrupt task requires long time the T3H cannot assign enough time for main program execution As the result scan time over error will occur In case of the T3H SFC Sequential Function Char
10. Data range 0 0 to 327 67 B 3 B 2 Integral time 0 to 32 767 min stop if TI 0 Data range 0 0 to 32 767 B 5 B 4 Derivative time TD 0 to 32 767 min Data range 0 0 to 32 767 B 7 B 6 dead band GP 0 to 10 96 Data range 0 0 to 10 0 B 9 B 8 Auto mode initial set value ISV 0 to 100 95 Data range 0 0 to 100 0 B 11 B 10 Input filter constant FT 0 to less than 1 Data range 0 0 to less than 1 0 B 13 B 12 ASV differential limit DSV 0 to 100 At Data range 0 0 to 100 0 B 15 B 14 MMV differential limit DMMV 0 to 100 At Data range 0 0 to 100 0 User s Manual 53 2 Expanded Functions B 17 B 16 Initial status STS B 17 B 16 F 0 F C 8 4 0 EEE Initial operation mode 00 Manual mode 01 Auto mode 10 Cascade mode 11 Reserve Direct reverse selection 0 Direct 1 Reverse B 19 B 18 MV upper limit MH 25 to 125 Data range 25 0 to 125 0 B 21 B 20 MV lower limit ML 25 to 125 Data range 25 0 to 125 0 B 23 B 22 MV differential limit DMV 0 to 100 At Data range 0 0 to 100 0 B 25 B 24 Control interval setting n 1 to 32767 times Data range 1 0 to 32767 0 Executes PID every n scan Therefore control interval At n x constant scan interval It is treated as n 1 whenn lt 0 C 1 C Manipulation value MV 25 to 125 Data range 25 0 to 125 0 C 3 C 2 Internal work area C 15 C 14 Operation 1 When the instruction input is OFF Initializes the FPID3 inst
11. Manual mode manipulation value is over written by current MV automatically MMV lt MV And bump less changing from cascade mode to auto mode is available Auto mode set value ASV is over written by current CSV automatically ASV lt CSV e MV tracking This function is available in auto and cascade modes When the tracking designation 10 bit 2 is ON tracking input TMV is directly output as MV Manipulation value upper lower limit MH ML is effective but differential limit DMV is not effective When the tracking designation is changed to OFF the operation is started from the current MV Note FPID3 instruction is only usable on the main program FPID3 instruction must be used under the constant scan mode The constant scan interval can be selected in the range of 10 to 200 ms 10 ms increments The data handled by the FPID3 instruction are 96 units Therefore process input value PVC manipulation value MV etc should be converted to units scaling before and or after the FPID3 instruction User s Manual 55 2 Expanded Functions 2 4 4 Expanded data transfer XFER FUN 236 XFER Expanded data transfer Expression Input XFER B gt C Output Function When the input is ON data block transfer is performed between the source which is indirectly designated by A and 1 and the destination which is indirectly designated by C and 7 The transfer size number of words is designated by B The trans
12. T3H self station target station RW 100 D1000 RW 101 D1001 Rw227 pi127 _ When R0020 is ON 128 words data starting with RW100 is transferred to D1000 and after of the T3H on which station No 3 S20LP is installed When the operation is completed the status is set in RWO5O and instruction output comes ON Note Keep the input ON until the output comes ON e This instruction becomes error complete in the following cases ERF S0051 is set to ON 1 Target station No is invalid for S20LP 2 Invalid register designation In case of T and C registers gt T and C C is only possible 3 Source destination register address range is out of valid range 4 Destination register is write protected b Response time out is occurred 6 If expanded F register is designated when MMR setting is not made when IC card is not installed when IC card is used to store program when IC card is write protected for destination e By using SW067 register write protect is available against SEND instruction of other F 9 8 7 6 5 4 3 2 1 0 swoz JSwjc T fyw 0 Write enable 1 Write protect Both F register in CPU and expanded F register in IC card e Resetting the status register operand B is necessary at the first scan e When using the TOSLINE S20LP or Ethernet module EN311 read the manual for these network modules User s Manual 65 2 Expanded Functions 2 4 6
13. This instruction is not available on the T3 Expanded data transfer FUN236 XFER Data transfer instruction between special objects i e expanded file register in IC memory card data in EEPROM TOSLINE S20 scan memory etc Some functions are added to this instruction for the T3H Network data send FUN239 SEND Used to peer to peer communication via TOSLINE S20LP or Ethernet This instruction is also used for Ethernet module EN311 control This instruction is not available on the T3 Network data receive FUN240 RECV Used to peer to peer communication via TOSLINE S20LP or Ethernet This instruction is also used for Ethernet module EN311 control This instruction is not available on the T3 User s Manual 43 2 Expanded Functions 2 4 4 Double word multiplication and division D FUN 042 Dx Double word multiplication and division Expression Input 0 B 1 B gt 1 Output Function When the input is ON the data of A 7 A is multiplied by the data of B 1 B and the product is divided by B 3 B 2 then the quotient is stored in C 1 C and the remainder in C 3 C 2 The data range is 2147483648 to 2147483647 If the result quotient is out of the data range the following limit value is stored Positive overflow quotient 2147483647 remainder 0 Negative overflow quotient 2147483647 remainder 0 Execution condition Input Operation OFF Noexecution o F ON B 3 B 270 nooverllow
14. blocks set as GLOBAL the data transfer is as follows 1 If CH1 is receive and CH2 is send receive data is read and written into both W register and CH2 2 If CH1 is send and CH2 is receive CH2 receive data is read and written into both W register and CH1 3 If both CH1 and CH2 are send W register data is written into both CH1 and CH2 4 If both CH1 and 2 are receive The receive data of GLOBAL setting channel is read and stored in W register NOTE VAV In case of TOSLINE S20LP it has 4096 words of scan memory The leading 2048 words can be assigned straight to W register The following 2048 words can be accessed by using XFER instruction User s Manual 33 2 Expanded Functions 2 2 5 File register The T3H has 32768 words of file register in the CPU module Function type Type Address range Quantity Expression code example File register F 0000 9999 32768 words F9000 10000 32767 For the address range F0000 to F9999 normal direct addressing is available as follows D1000 MOV F9999 However for the addresses F10000 and after direct addressing is not possible To use this address range with an instruction the index modification must be used D1000 MOV F0000 If 1230000 D1000 data is transferred to F30000 2 2 6 Special register The T3H has 256 words of special register as same as the T3 However within the address range some functions are added according to function
15. of your application system Hazard Classifications In this manual the following two hazard classifications are used to explain the safety precautions WARNING _ Indicates a potentially hazardous situation which if not avoided could result in death or serious injury CAUTION Indicates a potentially hazardous situation which if not avoided may result in minor or moderate injury It may also be used to alert against unsafe practices Even a precaution is classified as CAUTION it may cause serious results depending on the situation Observe all the safety precautions described on this manual User s Manual 1 Safety Precautions Safety Precautions Installation N CAUTION 1 Excess temperature humidity vibration shocks or dusty and corrosive gas environment can cause electrical shock fire or malfunction Install and use the T3H and in the environment described in the T3 User s Manual Hardware 2 Improper installation directions or insufficient installation can cause fire or the units to drop Install the T3H in accordance with the instructions described in the T3 User s Manual Hardware 3 Turn off power before installing or removing any units modules or terminal blocks Failure to do so can cause electrical shock or damage to the T3H and related equipment 4 Entering wire scraps or other foreign debris into to the T3H and related equipment can cause fire or malfunction Pay attention to p
16. 1664 W1727 27 LINK 0640 0703 W1728 W1791 28 J LINK 0704 0767 W1792 W1855 29 LINK 0768 0831 W1856 W1919 30 LINK 0832 0895 W1920 W1983 31 LINK 0896 0959 W1984 W2047 32 LINK 0960 1023 32 PROSEC T3H 2 Expanded Functions When GLOBAL setting is used the link registers of GLOBAL setting block are assigned to both CH1 and CH2 S20 s T3H s link register Block CH1 S20 CH2 S20 W scan memory scan memory Wot92 WO255 4 LINK 0192 0255 WO256 w0319 5 GLOBAL 0256 0319 0256 0819 Wo320 w0383 6 GLOBAL 0320 0383 0320 0383 110384 W0447 7 GLOBAL 0384 0447 0384 0447 Wo448 W0511 8 GLOBAL 0448 0511 0448 0511 W0512 WO0575 9 LINK 0512 0575 W1536 W1599 25 LINK 0512 0575 W1216 W1279 20 LINK W1280 W1343 21 W1344 W1407 2 W1408 Wi471 23 J LWIAT2s WISIS 24 2 i oT e The blocks 1 16 are dedicated to the CH1 S20 and the blocks 17 32 are dedicated to the CH2 S20 It is not allowed to assign the blocks 1 16 to CH2 and blocks 17 32 to CH1 e For the blocks set as LINK or GLOBAL the performs data read from S20 for data receive area and data write to S20 for data send area The data transfer direction read or write is automatically decided by the T3H according to the S20 s receive send setting e For the
17. 20 mA 12 bit resolution DA364 4 channels analog output 5 V 10 V 0 5V 0 10V or 1 5 V 12 bit resolution DA374 4 channels analog output 0 20 mA or 4 20 mA 12 bit resolution 12 Special 2 channel pulse input 5 12 V 50 kHz max 24 bit counter interrupt function AS311 Communication interface 2 port of RS 232C RS 422 full duplex ASCII code no protocol 300 600 1200 2400 4800 9600 19200 bps CD332 Change detect DC input 8 points input 12 to 24 Vdc 10 mA point interrupt function NOTE VAV For detailed specifications refer to the T3 User s Manual 18 PROSEC 1 T3H Overview 7 Data transmission module The following types of data transmission modules are available computer link T3H to T3H and socket service TOSLINE S20 High speed T3 T3H control data common link 2 Mbps Co axial optical 4 k words scan memory optical loop TOSLINE F10 750 k bps common NOTE 2 1 Maximum number of modules available T3H is as follows VAV Ethernet 4 TOSLINE S20 and S20LP total 2 TOSLINE F10 8 2 Ethernet module and TOSLINE S20LP are under development 8 Module internal current consumption The table below shows the internal 5 Vdc current consumption max value of each T3H module Use this data to check the power capacity consumption consumption 800 mA Expansion I F 170 mA 100 mA 450 mA Analog output 180 mA DC input TOSLINE S20 AC input DC output TOSLIN
18. 20LP scan memory to 4095 T3H No EEPROM D register H20 0 to 8191 TSH T3 Source read 0 to 4095 T2 1 to 256 Destination write 1 to 128 1 to 64 T3 1 to 32 T2 1 Two format types of the IC memory card is available They are 8 words bank type H05 and 64 k words bank type H06 Type HO6 is available only in the CPU register m D register W register H03 0 to 999 T3H 0 to 127 T2 HOO H01 H04 H05 2 Channel 1 CH1 only for the T2 9 The status flag is created only when S20 is designated as transfer source 4 S20LP is available only with the T3H The S20LP does not have the scan healthy map Therefore status flag is not created for S20LP User s Manual 57 2 Expanded Functions CPU register lt gt Expanded F register IC memory Expanded F register configuration lt Type H05 gt Type H06 gt F0000 F00000 F8191 F0000 Bank 1 F8191 F0000 F8191 F65535 F00000 Bank 2 F0000 Bank 15 F8191 F57343 Example R8888 1 I QLRUB8B8 XFER RUB82 RUB18 Source designation Transfer size Destination designation RWO00 002 00045 RWO10 RW001 00000 RWO011 00000 D0000 CPU register 45 words transfer Bank 1 F0000 Expanded F register When R0000 is ON 45 words data starting with 00000 is transferred to Bank 1 0000 and after in the IC memory card Remarks e When the IC memory card is used for expanded F register MMR settin
19. 96 Safety Precautions This manual is prepared for users of Toshiba s Programmable Controller T3H Read this manual thoroughly before using the T3H Also keep this manual and related manuals so that you can read them anytime while the T3H is in operation General Information 1 The T3H has been designed and manufactured for use in an industrial environment However the T3H is not intended to be used for systems which may endanger human life Consult Toshiba if you intend to use the T3H for a special application such as transportation machines medical apparatus aviation and space systems nuclear controls submarine systems etc The T3H has been manufactured under strict quality control However to keep safety of overall automated system fail safe systems should be considered outside the T3H In installation wiring operation and maintenance of the T3H it is assumed that the users have general knowledge of industrial electric control systems If this product is handled or operated improperly electrical shock fire or damage to this product could result This manual has been written for users who are familiar with Programmable Controllers and industrial control equipment Contact Toshiba if you have any questions about this manual Sample programs and circuits described in this manual are provided for explaining the operations and applications of the T3H You should test completely if you use them as a part
20. CAUTION Remove the mount paper before wiring Do not touch terminals while power on Peel off the label from the mount paper Hazardous voltage can shock burn or cause death and stick it near the power terminals Do not touch terminals while power on where it can be readily seen c MM Take off this sheet before wiring Contact Toshiba if the label is damaged User s Manual 5 About This Manual About This Manual The T3H is a high speed and large capacity version of the T3 All the hardware components used for the system i e rack power supply module I O modules etc are used with the T3H CPU Regarding software function the T3H has all the T3 s functions and has some expanded functions This manual explains the expanded functions of the T3H and functional differences between the T3H and the T3 Therefore for your better understanding of the T3H read the following T3 manuals at first to understand the T3 system then read this manual T3 manuals T3 User s Manual Hardware UM TS03 E002 T3 User s Manual Function UM TS03 E003 T series Instruction Set UM TS03 E004 T series Computer Link Operation Manual 503 008 T3 Analog Input Module AD368 UM TSOS E016 Analog Output Module DA364 DA374 503 017 T3 Pulse Input Module 12 UM TSOS E018 T3 ASCII Module AS311 UM TSOS E020 Terminology The following is a list of abbreviations a
21. E F10 User s Manual 19 1 T3H Overview 1 4 Specifications Functional specifications Type Scan system O update Program memory Main memory RAM battery backed Auxiliary memory EEPROM built in IC card option Program capacit 64 k steps Programming language Ladder diagram with function block SFC sequential function chart Instructions Ladder Basic instructions 24 types Function instructions 206 types SFC Step transition sequence selection simultaneous sequences jump etc 0 54 us transfer 0 90 us addition Multitasking 1 Main program 4 Sub program 1 Timer interrupt 1 1000 ms 1 ms units 8 I O interrupt task switch 500 us or less 256 Subroutine I O capacity 2432 points using 32 points I O modules 4864 points using 64 points I O modules Local I O space 8192 points 512 words X XW and Y YW batch I O User data Counter Data register Index register 3 words I J K F register and user defined ranges of RW T C D RAS Self diagnosis Power interruption main expansion power failure CPU RAM ROM check I O response I O bus check I O registration I O parity battery level watch dog timer program check others Debugging On line trace monitor force sampling trace status latch single step N scan execution break point others RAM data back up Lithium battery type TBT911 AS Recommended replacement every 2 years 20 PROSEC 1 T3H Overview Instruction executio
22. H even if two S20 s are used the scan memory of each S20 can be fully mapped to the W register Channel 1 S20 is allocated to the blocks 1 to 16 and channel 2 S20 is allocated to the blocks 17 to 32 The allocation example below shows the case of all the blocks are set as LINK T3H s link register Block CH1 S20 CH2 S20 W scan memory scan memory W0000 W0063 1 LINK 0000 0063 0064 0127 2 LINK 0064 0127 wo128 wo191 3 LINK 0128 0191 W0192 WO0255 4 LINK 0192 0255 WO0256 W0319 5 LINK 0256 0319 W0320 W0383 6 LINK 0320 0383 0384 00447 7 LINK 0384 0447 W0448 WO511 8 LINK 0448 0511 0512 100575 9 LINK 0512 0575 0576 10639 10 LINK 0576 0639 WO0640 W0703 11 LINK 0640 0703 0704 0767 12 LINK 0704 0767 0768 100831 13 LINK 0768 0831 W0832 WO0895 14 LINK 0832 0895 0896 100959 15 LINK 0896 0959 W0960 W1023 16 LINK 0960 1023 W1024 W1087 17 LINK 0000 0063 W1088 W1151 18 LINK 0064 0127 W1152 W1215 19 LINK 0128 0191 W1216 W1279 20 LINK 0192 0255 W1280 W1343 21 LINK 0256 0319 W1344 W1407 22 LINK 0320 0383 W1408 W1471 23 LINK 0384 0447 W1472 W1535 24 J LINK 0448 0511 W1536 W1599 25 LINK 0512 0575 W1600 W1663 26 LINK 0576 0639 W
23. Network data receive RECV FUN 240 RECV Network data receive Expression Input A Output Function This instruction reads the designated range of register data from another T3H through the network Network TOSLINE S20LP or Ethernet The transfer source register target station is designated by A 5 and A 6 The transfer destination register self station is designated by A 3 and A 4 The transfer size number of words is designated by A 2 The maximum transfer size is 128 words S20LP or 485 words Ethernet The designation method of the target station is different between S20LP and Ethernet This instruction is also used for other functions of the Ethernet module Refer to the Ethernet module EN31 1 manual for detailed functions used for the EN311 Execution condition OFF Noexecution OFF fs SOB dace ON 2 ON During execution Normal complete When error is occurred see Note Operand Name Device Devce RHegstr Con ndex TEETER T Pr eee A Transfer parameter Baus lt In case of S20LP gt F 0 lt In case of Ethernet gt 8 7 0 MID CH O fixed 1 Request command 2 Transfer size A43 Register type self station A 4 Leading address self station A 5 Registertype target station A46 Leading address target station A A48 Target station IP address A10 T
24. TOSHIBA 503 032 PROGRAMMABLE CONTROLLER PROSEC USER S MANUAL TOSHIBA CORPORATION Important Information Misuse of this equipment can result in property damage or human injury Because controlled system applications vary widely you should satisfy yourself as to the acceptability of this equipment for your intended purpose In no event will Toshiba Corporation be responsible or liable for either indirect or consequential damage or injury that may result from the use of this equipment No patent liability is assumed by Toshiba Corporation with respect to use of information illustrations circuits equipment or examples of application in this publication Toshiba Corporation reserves the right to make changes and improvements to this publication and or related products at any time without notice No obligation shall be incurred other than as noted in this publication This publication is copyrighted and contains proprietary material No part of this book may be reproduced stored in a retrieval system or transmitted in any form or by any means electrical mechanical photocopying recording or otherwise without obtaining prior written permission from Toshiba Corporation TOSHIBA Corporation 1996 All rights reserved Ethernet is a registered trademark of Xerox Corporation PROSEC and TOSLINE are registered trademarks of TOSHIBA Corporation Publication number UM TS03 E032 1st edition June 19
25. al i Differential limit moe PV n 2 0 1 1 PVC MVS Velocity Position MV MVn 1 H L Upper lower limit Digtal filter DMV Differential limit Integral action control When MV is limited H L DMV and the integral value has same sign as limit over integral action is stopped Velocity Position conversion In Direct mode MV increases when PV is increased MV MV AMV In Reverse mode MV decreases when PV is increased MV AMV Gap dead band operation Errore SV PV GP Algorithm Digital filter PVn 1 FT PVC FT PVn 1 Here 0 000 lt FT lt 0 999 User s Manual 47 2 Expanded Functions PID algorithm 2 AP Aln E AD MV MV 1 n 1 SV PV If GP z 0 Gap is applied AI S At lr If T 0 Al 0 oe Tp PVn 1 PVn At Dn 1 Dr Dn Di 1 0 1 Fixed Parameter details A 1 2 A 3 A 4 5 B 1 B 2 B 3 4 5 B 6 B 7 Process input value PVC 0 00 to 100 00 Auto mode set value ASV 0 00 to 100 00 Cascade mode set value CSV 0 00 to 100 00 Manual mode MV MMV 25 00 to 125 00 MV tracking input TMV 25 00 to 125 00 Mode setting MODE F C 8 4 0 Proportional gain Kp 0 00 to 327 67 Integral time T 0 000 to 32 767 min stop if T 0 Derivative time Tp 0 000 to 32 767
26. ance expansion CL301 1 1 MWith both end connectors 68 NOTE For details refer to the User s Manual User s Manual 17 1 T3H Overview 6 I O module The following types of I O modules are available Description DI334 DC input 32 points input 8 points common 12 to 24 Vdc 10 mA point DI334H 32 points input 8 points common 12 to 24 Vdc 10 mA point high speed response DI335 64 points input 8 points common 24 Vdc 5 mA point connector type DI335H 64 points input 8 points common 24 Vdc 5 mA point high speed response connector type IN354 AC input 32 points input 8 points common 100 to 120 Vac 10 mA point IN364 32 points input 8 points common 200 to 240 Vac 10 mA point DO333 DC output 16 points output 8 points common 12 to 24 Vdc 2 A point 5 A common DO334 32 points output 16 points common 12 to 24 Vdc 0 5 A point 5 A common DO335 64 points output 8 points common 5 to 24 Vdc 0 1 A point connector type AC363 AC output 16 points output 8 points common 100 to 240 Vac 2 A point 5 A common AC364 32 points output 16 points common 100 to 240 Vac 0 5 A point 3 2 A common 5 A module RO364 Relay 32 points output 8 points common 240 Vac 24 Vdc output 2 A point 5 A common RO363S 16 points output isolated contact 240 Vac 24 Vdc 2 A point AD368 Analog 8 channels analog input 5 V 10 V 0 5V 0 10 V 1 5 20 mA 0 20 mA or 4
27. arget station UDP port No Note Parameters for the Ethernet varies depending on the request command Above figure shows the parameters for the register read write command 0021 Refer to the EN311 manual 66 PROSEC 2 Expanded Functions F E D C B 8 7 0 Abn Busy Status 0 TermSTS 1 Transmission error information if TermSTS is Inside the parameter Request command 0 fixed H0021 Register read write for other commands refer to EN311 manual Transfer size 1 to 128 1 to 485 number of words max 84 words for T or C register max 323 words for T or C register designation across T511 and T512 is designation across T511 and T512 is not allowed not allowed Register type XW YW register W register LW register RW register D register F register CPU Expanded F register IC card 8k words bank is bank No 01 OF Expanded F register IC card 64k words bank is bank No 01 02 T register C register SW register Leading address Designates the leading register address to be transferred Response time limit Specifies the time limit of the response from target station 0 1 s units When the bit F is set to ON the following default value is used Ethernet 30 s target station target station User s Manual 67 2 Expanded Functions Inside the parameter cont d complete Transmission port busy Status Initial state While send r
28. ctrical shock or damage to the T3H and related equipment 3 Replace a blown fuse with a specified one Failure to do so can cause fire or damage to the T3H 4 Perform daily checks periodical checks and cleaning to maintain the system in normal condition and to prevent unnecessary troubles 5 Check by referring Troubleshooting section of the T3 User s Manual Hardware when operating improperly Contact Toshiba for repairing if the T3H or related equipment is failed Toshiba will not guarantee proper operation nor safety for unauthorized repairing 6 The contact reliability of the relays used in the relay output module will reduce if the switching exceeds the specified life Replace the module if exceeded 7 Replace the battery every 2 years to maintain the T3H s program and data normally 8 Do not modify the T3H and related equipment in hardware nor software This can cause fire electrical shock or injury 9 Pay special attention for safety if you attempt to measure circuit voltage at the T3H s terminal 10 Turn off power before replacing modules Failure to do so can cause electrical shock or damage to the T3H and related equipment If you attempt to replace an I O module while power on by using on line I O replacement function carefully check for safety PROSEC Safety Precautions Safety Label The safety label as shown on the right is attached to the power terminal of the T3H N
29. d the status is set in RW060 and instruction output comes ON Note Keep the input ON until the output comes ON e This instruction becomes error complete in the following cases ERF S0051 is set to ON 1 Target station No is invalid for S20LP 2 Invalid register designation In case of T and C registers T and C C is only possible 3 Source destination register address range is out of valid range 4 Destination register is write protected b Response time out is occurred 6 If expanded F register is designated when MMR setting is not made when IC card is not installed when IC card is used to store program when IC card is write protected for destination e By using SWO67 self station s register write protect is available F 9 8 7 6 5 4 3 2 1 0 swoz RW LW W Yw 0 Write enable 1 Write protect Both F register in CPU and expanded F register in IC card e Resetting the status register operand B is necessary at the first scan e When using the TOSLINE S20LP or Ethernet module EN311 read the manual for these network modules User s Manual 69 TO PROSEC TOSHIBA TOSHIBA CORPORATION Industrial Equipment Department 1 1 Shibaura 1 chome Minato ku Tokyo 105 8001 JAPAN Tel 03 3457 4900 Fax 03 5444 9268
30. e to do so may cause unexpected behavior of the loads 5 Set operation mode switches of the and I O modules Improper switch settings may cause malfunction of the T3H and related equipment 6 Do not use any modules of the T3H for the purpose other than specified This can cause electrical shock or injury 7 Configure the external circuit so that the external power required for output modules and power to the loads are switched on off simultaneously Also turn off power to the loads before turning off power to the T3H 8 Install fuses appropriate to the load current in the external circuits for the relay output modules Failure to do so can cause fire in case of load over current 9 Check for proper connections on wires connectors and modules Insufficient contact can cause malfunction or damage to the T3H and related equipment 10 Turn off power immediately if the T3H is emitting smoke or odor Operation under such condition can cause fire or electrical shock Also unauthorized repairing will cause fire or serious accidents Do not attempt to repair Contact Toshiba for repairing User s Manual 3 Safety Precautions Maintenance N CAUTION 1 Do not charge disassemble dispose in a fire nor short circuit the batteries It can cause explosion or fire Observe local regulations for disposal of them 2 Turn off power before removing or replacing units terminal blocks or wires Failure to do so can cause ele
31. ential limit DMV are effective Bump less changing from cascade mode to manual mode is available Manual mode manipulation value is over written by current MV automatically MMV lt MV And bump less changing from cascade mode to auto mode is available Auto mode set value ASV is over written by current CSV automatically ASV lt CSV MV tracking This function is available in auto and cascade modes When the tracking designation A 5 bit 2 is ON tracking input TMV is directly output as MV Manipulation value upper lower limit MH ML is effective but differential limit DMV is not effective When the tracking designation is changed to OFF the operation is started from the current MV Note PID3 instruction is only usable on the main program PID3 instruction must be used under the constant scan mode The constant scan interval can be selected in the range of 10 to 200 ms 10 ms increments The data handled by the PID3 instruction are units Therefore process input value PVC manipulation value MV etc should be converted to units scaling before and or after the PID3 instruction For this purpose the function generator instruction FUN165 FG is convenient 50 PROSEC 2 Expanded Functions 2 4 3 Floating point essential PID FPID3 FUN 232 FPID3 Floating point essential PID Expression Input A 7 A FPID3 B 1 B 2 C 1 C Output Function Performs PID Proportional Integral Derivative control which
32. equesting 5 While waiting response 3 Complete TermSTS Normal complete Register designation error Response time out Parameter error Register write protect Reserve Module error send time out No send channel Invalid station No Transfer size error Boundary error Transmission error Bit 7 indicates the error is occurred I O no answer error whether self station or target station IC card designation error 0 Self station Reserve 1 Target station Reserve Transmission error When TermSTS is HOB the error information is stored 0 for other cases information For detailed information refer to the S20LP or EN311 manual Example R8838 1 RW838 RECU RUB68 Ethernet channel 1 Request command H21 Register read write Transfer size 200 words Self station F register Leading address F5000 Target station D register Leading address D4000 Response time limit 5 second Target station IP address 133 113 98 10 H85 H71 H62 H0A Target station UDP port No 1024 Send requesting 0 60001 0 0 RWoeif 0 2 68 PROSEC 2 Expanded Functions Ethernet IP address 133 113 98 10 T3H T3H self station target station F5000 D4000 F5001 D4001 F5199 pD4199 i When R0030 is ON 200 words data starting with D4000 of the T3H on which EN311 IP address 133 113 98 10 is installed is read and stored in F5000 and after When the operation is complete
33. even in P RUN data writing into 00000 to 04095 by instruction is allowed except for some instructions However in case of T3H data writing into 00000 to 04095 by instruction is inhibited if in P RUN User s Manual 13 1 T3H Overview Battery cover A battery has been installed inside this cover at the factory shipment The battery keeps the RAM contents user program and user data and supports the clock calendar operation during power off The same battery as the T3 s is used Programmer port The programmer T PDS is connected to the T3H through this port The same connection cable as the T3 s is used Computer link port The T3H CPU module has the computer link function as standard This port is used to connect between T3H and a computer The T series computer link protocol is supported by T3H IC memory card slot Optional IC memory card type ME914 can be used with the T3H By using the IC memory card user program saving loading or user data expansion is available NOTE For details of the operation mode and functions refer to the T3 User s VAV Manual 14 PROSEC T3H 1 T3H Overview 2 Expansion interface module The expansion interface modules for the T3 i e IF311 IF351 IF312 IF352 and IF353 are also used with the When the IF311 or IF312 is used with the up to three expansion units can be connected as same as the T3 On the other hand the IF321 is a dedicated expansion inter
34. expansion of the The table below shows the added functions on the special register They not used with the T3 Special Name Function device VO error map 4 2 VO error map 4 3 O error map 44 7 50506 error map 4 6 ON when I O error detected in unit 4 slot 6 50508 error map 4 8 ON when I O error detected in unit 4 slot 8 50509 I O error map 4 9 ON when I O error detected in unit 4 slot 9 S050A l O error map 4 10 ON when I O error detected in unit 4 slot 10 5050 5050 50500 Reserve for future use 5050 S050F PROSECT3H 2 Expanded Functions device error map 5 0 error map 5 1 error map 5 2 error map 5 3 error map 5 4 error map 5 5 error map 5 6 error map 5 7 error map 5 8 error map 5 9 error map 5 10 Reserve for future use error map 6 0 error map 6 1 error map 6 2 error map 6 3 error map 6 4 error 6 5 error map 6 6 error map 6 7 error map 6 8 error map 6 9 error map 6 10 Reserve for future use device Sampling trace cop E Reserve for future use S062F Special Name Function register SW067 Write protect for Used for setting write protect against SEND and SEND RECV RECV instructions User s Manual 35 2 Expanded Functions Special Name Function register The corresponding bit is ON when the W register is updated normall
35. face module for the T3H When the IF321 is used instead of the IF311 up to 6 expansion units can be connected In the maximum configuration the T3H can control up to 76 I O modules Type Description IF321 For basic unit Standard expansion type Only for T3H 2 channels 2 m max between units 6 m IF311 max in total cable length for each T3 T3H 1 channel channel common Long distance expansion type 40 m max in cable length unit one channel only unit lt Channel 2 expansion connected to the expansion 4 lt Channel 1 expansion connected to the expansion 1 User s Manual 15 1 T3H Overview The figure below shows the T3H s maximum expansion configuration T3H CPU IF321 PS Power supply module Basic unit IF Expansion interface module CPU CPU module lO W O module or data transmission module Py ty dy O O OJ O O O Expansion unit 1 Expansion unit 4 Py Ey dy g g LLLI P ggg ggg Expansion unit 2 Expansion unit 5 Py Ey ay gb g EIE O O OJ O O O O 0 O O O O O OJO Expansion unit 3 Expansion unit
36. fer size is 1 to 256 words except for writing into EEPROM Data transfer between the following objects are available e CPU register lt CPU register e CPU register lt Expanded F register IC memory e CPU register gt TOSLINE S20 or TOSLINE S20LP here called S20 or S20LP e CPU register lt EEPROM D register Execution condition Output OFF No execution o Z oZ o Z 1 1 OFF ON Normalexecution ON When error is occurred see Note iui Con Index EPSP parameter eee E M DE RED HER E P ed d E RE spese T T ES parameter Source parameter Transfer size and status Destination parameter A Bank CH B Transfersze Bank CH 1 Leading address 1 Status flag C1 Leading address Scan healthy map B 16 Max 16 words e Refer to the following table for contents of each designation e The status flag is created only when the transfer from S20 to Register 56 PROSEC 2 Expanded Functions Transfer parameter table Transfer object Bank CH TYPE Leading address flag 0 to 255 T3 0 to 63 T2 0 to 1023 3 2 W register 0 to 255 T3H T3 T2 1to 256 No 0 to 4095 T2 F register 0 to 32767 T3H 1 256 0 to 1023 T2 Expanded F register No IC memory card 0 to 65535 bank 1 T3H N 0 to 57343 bank 2 T3H S20 scan memor to 1023 T3H T3 T2 Yes S
37. g on the PU slot is necessary by I O allocation e n case of the T2 the capacity of F register in CPU is 1024 words However the T2 can access 8192 words x 15 banks 122880 words of expanded F register in the IC memory card e When type HO6 is used in the the expanded F register can be accessed as F00000 to F65535 bank 1 and F00000 to F57343 bank 2 58 PROSEC 2 Expanded Functions CPU register lt gt S20 S20LP scan memory Example ROOGA 1 80000 XFER RUB82 RUB18 Source designation Transfer size Destination designation 000 RWOO2 00010 010 RW001 00000 RWO011 00000 W0000 CPU register 10 words transfer Channel 1 S20 S20LP scan memory address 00000 When R0000 is ON 10 words data starting with 0000 is transferred to scan memory address 00000 and after of channel 1 S20 S20LP Remarks e When writing data into S20 S20LP scan memory confirm that the address range is S20 S20LP s data send block e f S20 S20LP scan memory is accessed only by this XFER instruction the network assignment i e LINK or GLOBAL setting is not necessary e When S20 is designated as source the status flag scan healthy map for the read out data is stored in operand B 1 and after Status flag is not created for S20LP For example when 99 words data is read from S20 with using RW030 as transfer size designation RW031 to RW037 7 words are used to store the scan healthy map Status flag sca
38. gister For 8 k words per bank F0000 to F8191 Upper case F For 64 words per bank 10000 to 165535 bank 1 L f f0000 to 157343 bank 2 Ower case Bank For 8 k words per bank 1to 15 For 64 k words per bank 1 to 2 N Number of registers to be read 1 to 61 61 words max Sum Check sum Response message format Host 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 MIR Dataf Dataf2 n b n 4 n3 2 n 1 n l Data N 1 amp Sum Data Data in hexadecimal 38 PROsEC 2 Expanded Functions Expanded file register data Write MW Request message format Host 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 M W _ Starting N Sar yd um gt be shortened n 5 n 4 n3 2 n 1 n Data N 1 Data N amp Sum CR lt N E a Can be shortened Can be omitted ADR Station address 01 to 32 Starting register For 8 k words per bank F0000 to F8191 lt Upper case F For 64 words per bank 10000 to 165535 bank 1 L f 10000 to 157343 bank 2 2858 Bank For 8 k words per bank 1 to 15 For 64 k words per bank 1 to 2 N Number of registers to be written 1 to 46 see Note Data Data in hexadecimal Sum Check sum Response message format
39. ion is executed during EEPROM access inhibited 10 ms When the CPU does not have EEPROM When source destination designation is invalid When an invalid transfer combination is designated When the index modification is used for an operand and register boundary error is occurred as the result of the index modification in this case the instruction output comes OFF User s Manual 61 2 Expanded Functions 2 4 5 Network data send SEND FUN 239 SEND Network data send Expression Input A SEND Output Function This instruction sends the designated range of register data to another T3H through the network Network TOSLINE S20LP or Ethernet The transfer source register self station is designated by A 3 and A 4 The transfer destination register target station is designated by A 5 and A 6 The transfer size number of words is designated by A 2 The maximum transfer size is 128 words S20LP or 485 words Ethernet The designation method of the target station is different between S20LP and Ethernet This instruction is also used for other functions of the Ethernet module Refer to the Ethernet module EN31 1 manual for detailed functions used for the EN311 Execution condition OFF Noexecution OFF fs SOB dace ON 2 ON During execution Normal complete When error is occurred see Note Operand Name Device Devce RHegstr Con ndex TEETER T Pr eee A Tra
40. is a fundamental method of feed back control Pre derivative real PID algorithm The operation of this FPID3 instruction is the same as the PID3 FUN156 instruction except for dealing data as floating point data Execution condition Operation Output Initialization ON Execute PID every setting interval ON when execution iui Con Index EPSP DS Ee PI HER MEM OH etal RS E EE ES REA parameter E RE PR lena chee output data Input data Control parameter Output data B 1 B C 1 C Manipulation value MV set value ASV Mode setting MOD A mode Auto mode Initial status STS C mode Cascade mode M mode Manual mode MV differential limit DMV Control interval setting n User s Manual 51 2 Expanded Functions Control block diagram Integral control Integral 1 m mode Aln ASV MV n DSV Proportional Differential MVC Sine i Sia se 401 44 5 Ke LAM VSIMVSI E i MV CSV E gt Cascade Derivative mode Tos 4 ix Tos Manual i Differential limit moe PV n 2 0 1 1 PVC MVS Velocity Position MV MVn 1 H L U
41. ister address to be transferred Response time limit Specifies the time limit of the response from target station 0 1 s units When the bit F is set to ON the following default value is used Ethernet 30 s target station target station User s Manual 63 2 Expanded Functions Inside the parameter cont d complete Transmission port busy Status Initial state While send requesting 5 While waiting response 3 Complete TermSTS Normal complete Register designation error Response time out Parameter error Register write protect Reserve Module error send time out No send channel Invalid station No Transfer size error Boundary error Transmission error Bit 7 indicates the error is occurred I O no answer error whether self station or target station IC card designation error 0 Self station Reserve 1 Target station Reserve Transmission error When TermSTS is HOB the error information is stored 0 for other cases information For detailed information refer to the S20LP or EN311 manual Example R0026 1 R4010 SEND RU858 S20LP channel 1 target station No is 3 Transfer size 128 words Self station RW register Leading address RW 100 Target station D register Leading address D1000 Response time limit 1 second Send requesting gt 050001 0 0 Rwost 0 64 PROSEC T3H 2 Expanded Functions TOSLINE S20LP Station No 3 T3H
42. ith carr conversion um conversion ucc absolute value inversion addition subtraction multiplication division absolute value greater than P gear point 7 2 greater than or equal Floating point equal complement conversion equal Bil ll than 4 0 33n Emus epe than or eq ual EE limit 13 86 189 Double word binary DBIN 32 58 conversion c ds point lower limit point dead 20 68 band conversion NN root 192 BCD addition 25 26 193 BCD subtraction B 25 26 223 pains point FPID2 217 48 deviation square PID 194 multiplication 39 66 224 Floating point sine FSIN 129 08 195 BCD division 34 86 BCD 48 86 addition 225 Floating point FCOS 148 48 cosine subtraction 198 Double word BCD 199 Double word BCD Ban carr 201 BCD subtraction amm addition with carry 24 PROSECT3H 1 T3H Overview Instruction execution speed cont d No time us tangent sine No time us SFCinitialize 19748 SFCiniialstep 315 SFCstp 1122 SFCendstep 126 SFC macro step 396 point arc 221 98 cosine Floating point arc tangent 230 Floating point FEXP 141 08 exponential FATAN 189 98 FC end FC jump FC wait step FC transition S SFC alarm step S S S SFC label SFC macro entr E AEN Divergence 1
43. liary device R 000 999F 16000 points R725B 30 PROSEC 2 Expanded Functions 2 2 3 Timer The T3H has 1000 points of timer Function type Type Address range Quantity Expression code example 000 999 1000 words T670 000 999 1000 points 670 The proportion of the 0 01 s base and the 0 1 s base timers within this 1000 points can be specified by user This setting information is stored in the system information 10 ms Timer Range Setting TOOO lt User setting max 999 NOTE VAV T3H internally the register ranges T000 to T511 and T512 to T999 are handled separately Therefore index modification or table designation across these ranges are not allowed For example T450 TMOV 100 D1000 Not allowed 7450 62 D1000 Allowed 7512 TMOV 38 D1062 2 2 4 Link register The T3H has 2048 words of link register This link register is prepared for the TOSLINE S20 here called S20 Function type Type Address range Quantity Expression code example Link register 0000 2047 2048 words W1500 0000 999F 16000 points Z847E The link device Z corresponds to a bit in a link register W The bit access as Z device is available for the leading 1000 words of W register User s Manual 31 2 Expanded Functions Regarding the network assignment the W register is divided into 32 blocks 64 words per one block The S20 has 1024 words of scan memory In case of the T3
44. memory capacity PU325H 32 k steps PU326H 64 k steps I O points The can handle up to 76 I O modules in its local configuration And the has 512 words of external I O register data memory If all the I O modules are discrete I Os the can control up to 4864 points 64 points x 76 4864 points If all the I O modules are analog I Os the can control up to 512 channels of analog signals High speed processing A standard 16 bit micro processor and a special designed language processor are used in the T3H CPU This dual processor architecture provides high speed processing 0 09 us contact 0 18 us coil 0 54 us 16 bit transfer 0 90 us 16 bit addition Multitasking The T3H supports the multitask processing By using this function suitable control interval for a target application can be obtained 1 x internal timer interrupt interval setting 1 to 1000 ms 1 ms units 8 x I O interrupts activated by external events 1 x main program core of the user program 4 x sub programs activated from other tasks and executed as back ground job Multiple programming languages The T3H supports two types of programming languages i e ladder diagram and SFC Sequential Function Chart The ladder diagram is suited for logic control and the SFC is suited for sequential control These languages can be used in mixture High performance software The T3H supports 24 basic ladder instructions and 204 functio
45. min Gap dead band GP 0 00 to 10 00 95 Auto mode initial set value ISV 0 00 to 100 00 96 Input filter constant FT 0 000 to 0 999 ASV differential limit DSV 0 00 to 100 00 At MMV differential limit DMMV 0 00 to 100 00 At 48 PROSEC Data range Data range Data range Data range Data range to 10000 0 to 10000 0 to 10000 2500 to 12500 2500 to 12500 Operation mode 00 Manual mode 01 Auto mode 10 Cascade mode 11 Reserve Tracking designation 0 No 1 Yes Data range Data range Data range Data range Data range Data range Data range Data range 0 to 32767 0 to 32767 0 to 32767 0 to 1000 0 to 10000 0 to 999 0 to 10000 0 to 10000 2 Expanded Functions B 8 Initial status STS F 8 4 0 Initial operation mode 00 Manual mode 01 Auto mode 10 Cascade mode 11 Reserve Direct reverse selection 0 Direct 1 Reverse B 9 MV upper limit MH 25 00 to 125 00 Data range 2500 to 12500 B 10 MV lower limit ML 25 00 to 125 00 95 Data range 2500 to 12500 B 11 differential limit DMV 0 00 to 100 00 At Data range 0 to 10000 B 12 Control interval setting n 1 to 32767 times Data range 1 to 32767 Executes PID every n scan Therefore control interval At n x constant scan interval It is treated as n 1 when n lt 0 C Manipulation value MV 25 00 to 125 00 95 Data range 2500 to
46. n error Not lit Normal BATT Battery voltage is normal green Not lit Battery voltage is low battery replacement is required RAM ROM switch RAM User program stored in RAM is used Program transfer from EEPROM to RAM is not executed At the beginning of RUN mode user program stored in EEPROM is transferred to RAM It is called Initial load If an IC memory card which contains user program has been installed the IC memory card becomes transfer source If mode control switch is in P RUN the initial load is not executed Note In case of T3 the RAM ROM switch has the function of auto RUN standby selection in addition to the initial load selection However in case of T3H the RAM ROM switch only has the function of initial load selection as mentioned above Mode control switch User program execution is stopped HALT mode Normally programming is performed in the HALT mode T3H operation mode control by programmer is not allowed T3H executes user program cyclically RUN mode It is the normal switch position under operation Even in the RUN mode program changes are possible However saving into the EEPROM is available only in the HALT mode T3H operation mode control by programmer is possible T3H executes user program cyclically RUN mode User program and the leading 4 words of D register 00000 to 04095 are write protected T3H operation mode control by programmer is possible Note In case of
47. n healthy map 1 Scan normal 0 Not normal Rwos7 _ 1999897 0 is stored in the excess bits User s Manual 59 2 Expanded Functions CPU register gt EEPROM D register EEPROM D register configuration lt gt T3 T2 D0000 D0000 D0000 D0127 D0063 D0031 D0128 D0064 D0032 D0255 D0127 D0063 D0256 D0128 D0064 D0383 D0191 D0095 D7936 D8128 D4064 Page 64 Page 128 Page 128 D8191 D8191 D4095 128 words page 64 pages 64 words page 128 pages 32 words page 128 pages Total 8192 words Total 8192 words Total 4096 words Example R8888 1 XFER RUB882 RUB818 Source designation Transfer size Destination designation Rwo000 RWO002 00032 RW010 RW001 00100 RWO 1 1 00064 D0100 CPU register 32 words transfer D0064 EEPROM When R0000 is ON 32 words data starting with 00100 is transferred to 00064 and after in the EEPROM Data write into EEPROM Remarks e EEPROM is internally divided by page e Writing data into the EEPROM is available within one page at a time For data reading from the EEPROM there is no need to consider the pages e The EEPROM has a life limit for data writing into an address It is 100 000 times Pay attention not to exceed the limit EEPROM alarm flag S0007 is not updated by executing this instruction e Once data writing into the EEPROM is executed EEPROM access read write is prohibited for the duration of 10 ms Therefore minimum
48. n instructions Floating points data processing is also available The T3H can be applied to complex control applications Network support The T3H can be connected to work stations personal computers through Ethernet Peer to peer communications between two T3H s via Ethernet is also available For high speed control data linkage TOSLINE S20 F10 can be used 10 PROSEC 1 T3H Overview 1 2 Differences between T3H and T3 The table below summarizes the differences between the T3H and T3 All other functions supported by the T3 can also be supported by the T3H as same 32 k steps PU325H 32 k steps 64 k steps PU326H PU315 and PU325 Built in EEPROM No PU315 PU325H and PU326H Yes PU325 Programming instructions All T3 s instructions plus FUN042 D FUN156 PID3 FUN232 FPID3 FUN239 SEND FUN240 RECV Execution speed us 0 09 contact 0 15 contact 0 18 coil 0 3 coil 0 9 addition 1 5 addition supported in local when IF321 is used operation setting selection system information RAM ROM switch X XW Y YW R RW 1000 words S SW Timer T T 1000 points 512 points proportion of 0 1s and 000 063 0 15 0 01s timer is user T064 T511 0 015 definable Link register Z W 16000 points 8192 points for TOSLINE S20 2048 words 1024 words bit access available for bit access available for leading 1000 words leading 512 words Link register L LW 4096 points 256 words Same as lef
49. n range e Controllability and stability are enhanced in case of limit operation for MV by using digital PID algorithm succeeding to benefits of analog PID Auto cascade and manual modes are supported in this instruction Digital filter is available for PV Direct reverse operation is selectable Execution condition Output Initialization ON Execute PID every setting interval execution iui Con Index 7 RR RESO SIT IEEE IE parameter eee lle ER output data Input data Control parameter Output data A B C Manipulation value A 1 B 1 C 1 A 2 C mode set value __ CSV B 2 C 2 3 B 3 C 3 4 4 C 4 Last SV 5 5 5 5 6 C 6 B 7 C 7 A mode Auto mode B 8 C 8 C mode Cascade mode B 9 C 9 M mode Manual mode 10 MV lower limit ML B 11 MV differential limit DMV 12 Control interval setting n 46 PROSECT3H 2 Expanded Functions Control block diagram Integral 6 control le Integral 1 x Auto m mode Aln ASV MV n DSV Proportional Differential MVC Sine i Sia se 401 5 5 a Ke LAM VSIMVSI E HIL MV CSV E gt Cascade Derivative mode Tos 4 ix Tos Manu
50. n speed oe BM jNOcontact NCcontact TH NE contact E rising eee Mal falling Col 048 ___ x d 009 Inverter jIF 009 invertcol 1 018 0 36 ict ser contact doe ES contact Positive pulsecoil P 036 Negative pulse N 0 36 Jump control set__ JCS 009 Jump control reset_ JCR 0 09 lEn 2 i END t ON delaytimer TON 0 18 JOFF delaytimer TOF 0 18 Singleshottimer SS 0 18 Couter CNT 048 Mastercontro set MCS 0 09 Master control reset MCR O09 transfer 20 NOT 0 37 0 49 26 Table invert transfer TNOT 24 44 BELRE 58n Fas uufipicaion No time us addition T Bead o n Subtraction 33 Double word P Magica bc MN LL division 35 Addition with carry carry Double word D C subtraction with Ee eee single division 61 07 37 Double word addition with carry 38 carry 8 67 42 Double word multiplication and increment HER ae HEY 323 decreneni 48 AND 484 51 Double word OR DOR Exclusive OR Not exclusive OR d 40 72n 0 72n User s Manual 21 1 T3H Overview Instruction execution speed continued No time us 0 72n m gene um OR
51. nd acronyms used in this manual us ASCII AWG BCC CPU EEPROM H LED LSB ms MSB RAM ROM SFC Vac Vdc 6 PROSEC microsecond American Standard Code For Information Interchange American Wire Gage Block Check Code Central Processing Unit Electrically Erasable Programmable Read Only Memory hexadecimal when it appears in front of an alphanumeric string Input Output Light Emitting Diode Least Significant Bit millisecond Most Significant Bit Random Access Memory Read Only Memory Sequential Function Chart AC voltage DC voltage Contents Safety Precautions ised i eee 1 About This Manual esse eene nennen nnne 6 6 ser nod CERE 9 1 1 Introd ing the TIH 10 1 2 Differences between and 11 1 3 TSH components 0 00 12 1 4 SPSCHICAUIONS lt 20 2 Expanded Functions 2 21 27 2 1 System operation te Fred Fe eer e ete denota e 28 2 1 1 Auto RUN Standby selection 2 28 2 1 2 Timer interrupt interval 28 2 1 3 Saving the sampling trace condition _ 29 2 2 Expanded registers cete eh ter ter ee de ce e d d 30 2 2 1 ExternalJ OWedIster
52. nsfer parameter Baus lt In case of S20LP gt F 0 lt In case of Ethernet gt 8 7 0 MID CH O fixed 1 Request command 2 Transfer size A43 Register type self station A 4 Leading address self station A 5 Registertype target station A46 Leading address target station A A48 Target station IP address A10 Target station UDP port No Note Parameters for the Ethernet varies depending on the request command Above figure shows the parameters for the register read write command 0021 Refer to the EN311 manual 62 PROSECT3H 2 Expanded Functions F E D C B 8 7 0 Abn Busy Status 0 TermSTS 1 Transmission error information if TermSTS is Inside the parameter Request command 0 fixed H0021 Register read write for other commands refer to EN311 manual Transfer size 1 to 128 1 to 485 number of words max 84 words for T or C register max 323 words for T or C register designation across T511 and T512 is designation across T511 and T512 is not allowed not allowed Register type XW YW register W register LW register RW register D register F register CPU Expanded F register IC card 8k words bank is bank No 01 OF Expanded F register IC card 64k words bank is bank No 01 02 T register C register SW register Leading address Designates the leading reg
53. ory card is displayed gt To copy the sampling data stored the T3H s file register to an memory card set the special device 50620 to ON and display the sampling trace condition By this operation the sampling trace condition and the sampling data stored in file register are copied into the IC memory card User s Manual 29 2 Expanded Functions 2 2 Expanded registers The T3H has the same types of registers as the T3 However the address ranges of some registers are expanded in the T3H This section explains the expanded registers and the notes NOTE VAV For details of functions of each register device refer to the T3 User s Manual 2 2 1 External I O register The T3H can handle up to 76 I O modules Accordingly the T3H has 512 words of external I O register Function type Type Address range Quantity Expression example Input register Output register Direct input register 000 511 Total 512 words 0000 511F Total 8192 points Regarding the allocation the channel 1 of the IF321 is assigned to Unit 1 to 3 and the channel 2 of the IF321 is assigned to Unit 4 to 6 The XW YW registers are assigned in the sequence of Unit 0 1 6 Direct output register Input device Output device 2 2 2 Auxiliary register The T3H has 1000 words of auxiliary register Function type Type Address range Quantity Expression code example Auxiliary register 000 999 1000 words RW725 Auxi
54. pper lower limit Digtal filter DMV Differential limit Integral action control When MV is limited H L DMV and the integral value has same sign as limit over integral action is stopped Velocity Position conversion In Direct mode MV increases when PV is increased MV MV AMV In Reverse mode MV decreases when PV is increased MV AMV Gap dead band operation Errore SV PV GP Algorithm Digital filter PVn 1 FT PVn 1 0 FT lt 1 52 PROSEC T3H 2 Expanded Functions PID algorithm 2 AP Aln E AD MV MV 1 On 1 SV PV 0 Gap is applied Alp Cv At lr If T 0 Al 0 aD Tp PVn 1 PVn At Dn i Dr Dn Dn 1 0 1 Fixed Parameter details 1 Process input value PVC 0 100 Data range 0 0 to 100 0 A 3 A 2 Auto mode set value ASV 0 to 100 96 Data range 0 0 to 100 0 A 5 A 4 Cascade mode set value CSV 0 to 100 96 Data range 0 0 to 100 0 A 7 A 6 Manual mode MV MMV 25 to 125 Data range 25 0 to 125 0 A 9 A 8 MV tracking input TMV 25 to 125 Data range 25 0 to 125 0 11 10 setting MODE 11 10 0 F C 8 4 0 Operation mode 00 Manual mode 01 Auto mode 10 Cascade mode 11 Reserve Tracking designation 0 No 1 Yes B 1 B Proportional gain KP 0 to 327 67
55. r to peer communication By using SEND instructions any register data of a can be sent to other T3H and any register data of other T3H can be read into a T3H via Ethernet e Socket service Communication between a computer and a T3H user program is available by using SEND and RECV instructions Maximum 8 ports of socket are available The protocol can be selected either TCP IP or UDP IP for each port Up to four EN311 s can be installed on a T3H To activate the EN311 SEND instruction is required to set parameters IP address UDP port number and to send commands communication start etc NOTE A 1 The Ethernet module EN311 is under development 2 For details of the EN311 refer to the separate manual for EN311 42 PROSECT3H 2 Expanded Functions 2 4 Instructions This section explains the specifications of the following instructions Double word multiplication and division FUN042 D Combination instruction of multiplication and division for double word data This instruction is not available on the T3 Essential PID FUN156 PID3 PID Proportional Integral Derivative control instruction which has the following features Incomplete derivative action expanding stable application range Essential digital algorithm succeeding to benefits of analog PID This instruction is not available on the T3 Floating point essential PID FUN232 FPID3 Essential PID instruction for floating point data
56. revent entering them into the T3H and related equipment during installation and wiring Wiring N CAUTION 1 Turn off power before wiring to minimize the risk of electrical shock 2 Exposed conductive parts of wire can cause electrical shock Use crimp style terminals with insulating sheath or insulating tape to cover the conductive parts Also close the terminal covers securely on the terminal blocks when wiring has been completed 3 Operation without grounding may cause electrical shock or malfunction Connect the ground terminal on the T3H to the system ground 4 Applying excess power voltage to the T3H can cause explosion or fire Apply power of the specified ratings described in the T3 User s Manual Hardware 5 Improper wiring can cause fire electrical shock or malfunction Observe local regulations on wiring and grounding 2 PROSEC T3H Safety Precautions Operation N WARNING 1 Configure emergency stop and safety interlocking circuits outside the T3H Otherwise malfunction of the T3H can cause injury or serious accidents N CAUTION 2 Operate the T3H and the related modules with closing the terminal covers Keep hands away from terminals while power on to avoid the risk of electrical shock 3 When you attempt to perform force outputs RUN HALT controls etc during operation carefully check for safety 4 Turn on power to the T3H before turning on power to the loads Failur
57. ruction Operation mode is set as specified by B 17 B 16 A10 bit 0 1 lt B 76 bit O 1 Auto mode SV is set as specified by B 9 B 8 ASV lt ISV Manual mode MV is set as current MV MMV MV Internal calculation data is initialized MV remains unchanged 2 When the instruction input is ON Executes PID calculation every n scan which is specified by B 25 B 24 The following operation modes are available according to the setting of A 11 A 10 e Auto mode This is a normal PID control mode with ASV as set value Set value differential limit DSV manipulation value upper lower limit MH ML and differential limit DMV are effective Bump less changing from auto mode to manual mode is available Manual mode manipulation value MMV is over written by current MV automatically MMV lt MV PROSEC 2 Expanded Functions e Manual mode In this mode the manipulation value MV can be directly controlled by the input value of MMV MV differential limit for manual mode DMMV is effective MH ML and DMV are not effective When mode is changed from manual to auto or cascade the operation is started from the current MV e Cascade mode This is a mode for PID cascade connection PID is executed with CSV as set value Different from the auto mode set value differential limit is not effective Manipulation value upper lower limit MH ML and differential limit DMV are effective Bump less changing from cascade mode to manual mode is available
58. t for TOSLINE F10 32768 words File register F 32768 words 8192 words Index register 3 words Same as left LJ Networking Ethernet TOSLINE S20 TOSLINE S20 TOSLINE F10 TOSLINE F10 RS 485 computer link RS 485 computer link User s Manual 1 1 1 T3H Overview 1 3 T3H components 1 CPU module Two types of T3H CPU modules are available PU325H EEPROM RAM battery backed User program 32 k steps Ladder diagram and SFC PU326H EEPROM RAM battery backed User program 64 k steps Ladder diagram and SFC PU325H Product identification RUN PAUETe Status LEDs 0 RAM nou 8 RAM ROM switch RUN HALT e P RUN Mode control switch HALT RUN P RUN BATTERY Battery cover Programmer port RS 232C D Sub 9 pin female connector IC memory card slot Computer link port RS 485 D Sub 15 pin female connector Module fixing screw The external feature of the T3H CPU is the same as the T3 CPU except for the product identification 12 PROSEC 1 T3H Overview Status LEDs RUN User program is being executed RUN mode green User program execution is stopped HOLD mode Not lit User program execution is stopped HALT or ERROR mode FAULT CPU or program error red Hardware initialization error Not lit Normal error Hardware initializatio
59. t can also be programmed on the interrupt program as well as Ladder diagram 28 PROSEC 2 Expanded Functions 2 1 3 Saving the sampling trace condition The sampling trace function is available on the T3H as well as the T3 In addition to all the sampling trace functions on the T3 the T3H can save the sampling trace condition into the IC memory card By using this function the sampling trace data which is collected and saved in the IC memory card on one T3H can be displayed using other T3H via the IC memory card This function is used as follows T3H which performs sampling data collection e Install the memory card in the T3H CPU module e Set MMR for the PU slot in the I O allocation in order to use an IC memory card for sampling data storage e Set the special device 50620 to ON e Edit the sampling trace condition The edited condition is also saved into the IC memory card e Execute the sampling trace The sampling data is saved into the IC memory card e Remove the IC memory card T3H which is used to display the sampling data stored in the IC memory card e Install the IC memory card in which the sampling trace data is stored Set MMR for the PU slot in the I O allocation in order to use an IC memory card for sampling trace function e Monitor the sampling trace condition The condition stored in the IC memory card is displayed e Display the sampling trace data The sampling data stored in the IC mem
60. trol data linkage is available as same as the S20 Furthermore peer to peer communication between T3H s becomes available via S20LP e Up to two S20LP can be installed on S20LP and S20 total e The S20LP has 4 k words of scan transmission capacity The leading 2 k words of the scan memory can be assigned to T3H s link register W And the following 2 k words can be read written by using XFER instruction e The S20LP does not have the scan healthy map Therefore SW128 to SW255 are not used for the S20LP e The S20LP has the loop map which indicates loop connection status of each station This loop map can be read by using READ instruction By using SEND and instructions any register data of a can be sent to other T3H and any register data of other T3H can be read into a T3H via S20LP peer to peer communication NOTE IV 1 The S20LP is under development 2 For details of the S20LP refer to the separate manual for S20LP User s Manual 41 2 Expanded Functions 2 3 8 Ethernet support The Ethernet module EN311 is available for the By using the EN311 the can be connected to Ethernet network Using the Ethernet module the T3H supports the following communication functions e Computer link function Host computer on the Ethernet can perform data read write T3H status read program up load down load etc for the T3H by using the T series computer link command e Pee
61. y The lowest address of W register corresponds to bit 0 in the SW register and in the order TOSLINE S20 scan healthy map NOTE VAV In case of TOSLINE S20LP it does not have the scan healthy map Therefore these SW registers are not effective for the TOSLINE S20LP 36 PROSEC 2 Expanded Functions register The corresponding bit is ON when the W register is updated normally The lowest address of W register corresponds to bit 0 in the SW register and in the order TOSLINE S20 scan healthy map NOTE VAV In case of TOSLINE S20LP it does not have the scan healthy map Therefore these SW registers are not effective for the TOSLINE S20LP User s Manual 37 2 Expanded Functions 2 3 Network support function 2 3 1 memory card data access through computer link The expanded file register data stored in the IC memory card can be read written through RS 485 computer link There are two types of data storage format for the IC memory card They are 8 k words per bank and 64 k words per bank Refer to XFER instruction Note that the computer link command for these formats are slightly different Expanded file register data read MR Request message format Host T3H 4 7 10 11 12 13 14 15 16 17 18 19 20 21 22 23 CALADA IMIA Starting register Bak N amp Sum nl lt gt lt gt gt Can be shortened Can be omitted ADR Station address 01 to 32 Starting re
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