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Series 90-30/20/Micro PLC CPU Instruction Set

1. Function Description Page CALL Causes program execution to go to a specified subroutine block 12 2 DOIO For one sweep immediately services a specified range of inputs or outputs All inputs or outputs ona 12 3 module are serviced if any reference locations on that module are included in the DO I O function Partial I O module updates are not performed Optionally a copy of the scanned I O can be placed in internal memory rather than the real input points SER Sequential Event Recorder collects a series of samples A function control block contains user 12 8 supplied configuration of function block execution sample configuration and operation parameters END Provides a temporary end of logic The program executes from the first rung to the last rung or the 12 21 END instruction whichever is encountered first This instruction is useful for debugging purposes but it is not permitted in SFC programming refer to the Note on page 12 8 MCR Programs a Master Control Relay An MCR causes all rungs between the MCR and its subsequent 12 22 and ENDMCR to be executed without power flow Logicmaster 90 30 20 Micro software supports two MCRN forms of the MCR function a nested form MCRN and a non nested form MCR ENDMCR _ Indicates that the subsequent logic is to be executed with normal power flow Logicmaster 90 12 25 and 30 20 Micro software supports two forms of the ENDMCR function a nested form ENDMCRN and
2. Abbreviation Function Description Page AND Logical AND If a bit in bit string I1 and the corresponding bit 8 3 in bit string I2 are both 1 place a 1 in the corresponding location in output string Q OR Logical OR If a bit in bit string I1 and or the corresponding 8 3 bit in bit string I2 are both 1 place a 1 in the corresponding location in output string Q XOR Logical exclusive If a bit in bit string I1 and the corresponding bit 8 5 OR in string I2 are different place a 1 in the corresponding location in the output bit string NOT Logical invert Set the state of each bit in output bit string Q to the 8 7 opposite state of the corresponding bit in bit string I1 SHL Shift Left Shift all the bits in a word or string of words to the left 8 8 by a specified number of places SHR Shift Right Shift all the bits in a word or string of words to the right 8 8 by a specified number of places ROL Rotate Left Rotate all the bits in a string a specified number of 8 10 places to the left ROR Rotate Right Rotate all the bits in a string a specified number of 8 57 places to the right BTST Bit Test Test a bit within a bit string to determine whether that 8 12 bit is currently 1 or 0 BSET Bit Set Set a bit in a bit string to 1 8 14 BCLR Bit Clear Clear a bit within a string by setting that bit to 0 8 14 BPOS Bit Position Locate a bit set to 1 in a bit string 8 16 MSKCMP Masked Compare Compare the contents of two separate bit
3. Function Mnemonic Group Instruction All BCD 4 INT DINT BIT BYTE WORD REAL Math Addition amp AD amp AD_I amp AD_DI amp AD_R Subtraction amp SUB amp SUB I amp SUB_DI amp SUB_R amp MUL_R Multiplication amp MUL amp MUL_I amp MUL_DI amp DIV R Division amp DIV amp DIV_I amp DIV_DI amp MOD_R amp SQ_R Modulo amp MOD amp MOD_I amp MOD_DI Square Root amp SQ amp SQ I amp SQ DI Sine amp SIN Cosine amp COS Tangent amp TAN Inverse Sine amp ASIN Inverse Cosine amp ACOS Inverse Tangent amp ATAN Base 10 Logarithm amp LOG Natural Logarithm amp LN Power of e amp EXP Power of x amp EXPT Relational Equal amp EQ amp EQ I amp EQ DI amp EQ R Not Equal amp NE amp NE I amp NE_DI amp NE_R amp GT_R Greater Than amp GT amp GT_I amp GT_DI amp GE R Greater or Equal amp GE amp GEI amp GE DI amp LT R Less Than amp LT amp LT I amp LT DI amp LE_R Less Than or Equal amp LE amp LE_I amp LE_DI Bit AND amp AN amp AN_W Operation og amp OR amp OR_W Exclusive OR amp XO amp XO_W NOT amp NOT amp NOT_W Bit Shift Left amp SHL amp SHL_W Bit Shift Right amp SHR amp SHR_W Bit Rotate Left amp ROL amp ROL_W Bit Rotate Right amp ROR amp ROR_W Bit Test amp BT amp BT W Bit Set amp BS amp BS W Bit Clear amp BCL amp BCL W Bit Position amp BP amp BP W Masked Compare amp MCMP amp MCM_W Conversion Convert to Integer amp TO_INT amp TO_INT_BCD4 amp MOV Convert to Double Integer a
4. N ok Q e e Valid reference or place where power may flow through the function T SA SB or SC only S cannot be used Example GFK 0467L In the following example whenever input I0001 is set the input bit string R0001 is rotated 3 bits and the result is placed in 9 R0002 After execution of this function the input bit string ROOO1 is unchanged If the same reference is used for IN and Q a rotation will occur in place mca 10001 I II I II ROL WORD ROO01 IN Q R0002 LEN 00001 CONST N 00003 R0001 MSB LSB ROOO2 after 10001 is set MSB LSB Chapter 8 Bit Operation Functions 8 11 BTST WORD 8 12 Parameters The Bit Test BTST function is used to test a bit within a bit string to determine whether that bit is currently 1 or 0 The result of the test is placed in output Q Each sweep power is received the BTST function sets its output Q to the same state as the specified bit If a register rather than a constant is used to specify the bit number the same function block can test different bits on successive sweeps If the value of BIT is outside the range 1 lt BIT lt 16 LEN then Q is set OFF
5. e Valid reference or place where power may flow through the function o Valid reference for INT data only not valid for DINT and REAL t Constants are limited to values between 32 768 and 432 767 for double precision signed integer operations Example In the following example the square root of the integer number located at A1001 is placed into the result located at RO003 whenever 9610001 is ON I0001 l I SQRT_ INT AIO001 IN Q R0003 GFK 0467L Chapter 6 Math Functions 6 9 a Trig Functions SIN COS TAN ASIN ACOS ATAN The SIN COS and TAN functions are used to find the trigonometric sine cosine and tangent respectively of its input When one of these functions receives power flow it computes the sine or cosine or tangent of IN whose units are radians and stores the result in output Q Both IN and Q are floating point values The ASIN ACOS and ATAN functions are used to find the inverse sine cosine and tangent respectively of its input When one of these functions receives power flow it computes the inverse sine or cosine or tangent of IN and stores the result in output Q whose units are radians Both IN and Q are floating point values The SIN COS and TAN functions accept a broad range of input values where 2 lt IN lt 26 263 9 22x1018 The ASIN and ACOS functions accept a narrow range of input values where 1 lt IN lt 1 Give
6. ccccecsseecceceeeeeeenneeeeeeeeeseeenaeeeeeeeeeeeeennnaeeeeeeeneeees 2 43 ModelL20 I O Modul s 4 eins Ea ATA 2 43 Configuration and Programming eed 2 44 Fault Explanation and Correction ecce ecce e eee eene eee eee ee e ee enaaue 3 1 Section 1 Fault Handling ses sacevs ccssiscscasccscscacessnscavecssscarstecoussadecceusesecscdeacewoass 3 2 Alarm Processor nui 3 2 Classes of Faults usus een auae uua A de 3 2 System Reaction to Faults 2 2 2 22 4 9 3 c st te Heu Heide CHER CELER ELE Be ege 3 3 Fault Tables ii A eee 3 3 Fault Acton teu e ue 3 4 Fault References ee eut aia 3 4 Fault Rererence Defimnitlofis cee eene eee 3 4 Additional Fault Effects 54528 athe athena hae 3 5 PLC Fault Table Display eoe ete d e e tenet nee 3 5 1 O Fault Table Display enne ene a tete oven tue oben tute oben sues cute sles bots EN ines 3 5 Accessing Additional Fault Information nennen 3 6 Section 2 PLC Fault Table Explanations ecce eee eere eere eene eene 3 7 Fault A VIUIEAETIRES casgauenagersasacceseyeseyezessanseietecedeye aa O E a Ea 3 8 Loss of or Missing Option Module eee eeesseeceesseeeeesneeecessneeecesnseeeesesaeees 3 8 Reset of Addition of or Extra Option Module ee ceecccccecceeeeeeeetnneeeeeeeeeeees 3 8 System Configuration Mismatch essen eene 3 9 Option Module Software Failure essen nne 3 10 Program Block Checksum Failur
7. svc_ INT INT REQ I I I MIN_SEC IN Q R0304 CONST IN Q R0300 CONST FNC LEN 00001 LEN 00007 00002 00001 __ I I R0300 PARM GFK 0467L Chapter 12 Control Functions 12 45 12 46 Parameter Block Contents Parameter block contents for the different data formats are shown on the following pages For both data formats e Hours are stored in 24 hour format e Day of the week is a numeric value To Change Read Date and Time Using BCD Format Value Day of the Week 1 Sunday 2 Monday 3 Tuesday 4 Wednesday 2 Thursday 6 Friday 7 Saturday In BCD format each of the time and date items occupies a single byte This format requires six words The last byte of the sixth word is not used When setting the date and time this byte is ignored when reading date and time the function returns a null character 00 High Byte Low Byte 1 change or 0 read 1 month year hours day of month seconds minutes null day of week Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 Example output parameter block Read Date and Time in BCD format Sun July 3 1988 at 2 45 30 p m address 0 address 1 1 address 2 07 88 address 3 14 03 address 4 30 45 address 5 00 01 GFK 0467L GFK 0467L To Change Read Date a
8. 0 11 11 0 1 0 0 12 M0017 606Fh 0 11 11 0 1 4 1 M Q M0033 000Fh 0 0 0 0 1141 1 BIT BN R0001 0 MC Q0001 OFF The contents of these references after the function block is executed are as follows I1 M0001 0 1 1 0 1 0 0 12 M0017 0 1 10 1 1 1 M Q 5M0033 0 0 0 0 1 1 1 BIT BN R0001 8 MC Q0001 ON Ladder Diagram Representation FST_SCN i ER ease COMP WORD Q0001 M0001 I1 MC S LEN 100001 ROO01 BIT MO017 I2 Q M0033 M0033 M BN ROOO1 Notice that in the example shown above we used the FST_SCN contact to force one and only one execution otherwise the masked compare would repeat not necessarily delivering the desired results Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Chapter GFK 0467L 9 Data Move Functions Data move functions provide basic data move capabilities This chapter describes the following data move functions Abbreviation MOVE Function Move Description Copy data as individual bits The maximum length allowed is 256 words except MOVE BIT is 256 bits Data can be moved into a different data type without prior con
9. Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Table 12 9 PID Parameter Details Continued Data Item Description CV Upper and INT values in CV Counts that define the highest and lowest value for CV These values are required and Lower Clamps the Upper Clamp must have a more positive value than the Lower Clamp or the PID block will not work 09 10 These are usually used to define limits based on physical limits for a CV output They are also used to scale the Bar Graph display for CV for the LM90 or ADS PID display The block has anti reset windup to modify the integrator value when a CV clamp is reached Minimum Slew A positive value to define the minimum number of seconds for the CV output to move from 0 to full travel Time 11 of 100 or 32000 CV Counts It is an inverse rate limit on how fast the CV output can be changed If positive CV can not change more than 32000 CV Counts times Delta Time seconds divided by Minimum Slew Time For example if the Sample Period was 2 5 seconds and the Minimum Slew Time is 500 seconds CV can not change more than 32000 2 5 500 or 160 CV Counts per PID solution As with the CV Clamps there is an anti windup feature that adjusts the integrator value if the CV rate limit is exceeded If Minimum Slew Time is 0 there is no CV rate limit Make sure you set Minimum Slew Time to 0 while you are tuning or adjusting PID loop gains Config W
10. SVC_ REQ l CONST FNC 0012 R4002 PARM Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 l EQ WORD l CONST I1 QI DISPLAY 0001 M R4002 I2 l GFK 0467L SVCREQ 13 Shut Down Stop PLC GFK 0467L Use SVCREQ function 13 in order to stop the PLC at the end of the next sweep All outputs will go to their designated default states at the beginning of the next PLC sweep An informational fault is placed in the PLC fault table noting that a SHUT DOWN PLC function block was executed The I O scan will continue as configured This function has no parameter block Example In the following example when a Loss of I O Module fault occurs SVCREQ function 13 executes Since no parameter block is needed the PARM input is not used however the programming software requires that an entry be made for PARM This example uses a JUMP to the end of the program to force a shutdown if the Shutdown PLC function executes successfully This JUMP and LABEL are needed because the transition to STOP mode does not occur until the end of the sweep in which the function executes LOS MD TO001 IL _ _ i M TOO01 I 1 1 gt gt END_PRG CONST FNC 0013 R1001 PARM END_PRG END OF PROGRAM LOGIC Note To ensure that the S0002 LST_SCN contact wil
11. MUL INT 22222272 i gt Ko Vor Wo Seo ker er I Q 22 9229 T2 This is the output parameter Q c for the function block These are the input parameters I1 and I2 for the function block Most function blocks do not change input data instead they place the result of the operation in an output reference 2 28 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L For functions that operate on tables a length can be selected for the function In the following function block the LEN operand specifies the number of words to be moved enable MOVE ok WORD l l LEN 00003 l l Timer counter BITSEQ and ID functions require an address for the location of three words registers which store the current value preset value and a control word or Instance of the function enable ONDTR Q 1 00s reset R address Power Flow In and Out of a Function GFK 0467L Power flows into a function block on the upper left Often enabling logic is used to control power flow to a function block otherwise the function block executes unconditionally each CPU sweep Enabling logic Power flow into the function Power flow out of the function s pcm 10001 g 00001 MUL_1 C INT js RO123 I1 Q RO124 Displays state of refer
12. t T M R 10009 l I CONST 4PV l 400005 E EF l R0100 SPA 10003 l l 1 1 MOVE_ l INT 10001 4 RO100 IN Q R0104 LEN 100001 cL 10003 l I gt DNCTR 10002 4 4 R 10009 I CONST 4PV l 00005 d cb l R0104 ee 10002 I MOVE_ INT 10003 l l 4 RO104 IN Q R0100 LEN 100001 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L GFK 0467L The second method shown below uses the ADD and SUB functions to provide storage tracking 10004 Ll 1 10005 M0001 I II I II ADD INT I R0201 I1 Q RO0201 CONST 12 00001 M0002 I II 1 SUB_ INT R0201 I1 Q RO0201 CONST I2 00001 __ Chapter 5 Timers and Counters M0001 T M0002 T Chapter 6 GFK 0467L Math Functions This chapter describes the math functions of the Series 90 30 20 Micro Instruction Set Abbreviation Function Description Page ADD Addition Add two numbers 6 2 SUB Subtraction Subtract one number
13. Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Note Coil checking for the BITSEQ function checks for 16 bits from the ST parameter even when LEN is less than 16 Valid Memory Types Parameter flow I WQ M T S G R AI AQ const none address enable R DIR STEP A 7 A ST et ok e Valid reference or place where power may flow through the function T SA SB SC only S cannot be used Example In the following example the sequencer operates on register memory kR0001 Its static data is stored in registers RO010 R0011 and R0012 When CLEAR is active the sequencer is reset and the current step is set to step number 3 The first 8 bits of 760ROO001 are set to zero When NXT_SEQ is active and CLEAR is not active the bit for step number 3 is cleared and the bit for step number 2 or 4 depending on whether DIR is energized is set 2 NXT_SEQ I I I BIT_I SEQ CLEAR l I II I IR l LEN DIRECT 00008 I I IDIR CONST STEP 00003 f ROO01 ST RO010 GFK 0467L Chapter 9 Data Move Functions 9 13 COMMREQ Use the Communication Request COMMREQ function if the program needs to communicate with an intelligent module such as a Gen
14. 100001 direction DIR l number STEP l l starting address ST l __ address Enter the beginning address here The control word stores the state of the Boolean inputs and outputs of its associated function block as shown in the following format I7 Le 5 4 3 2 1 0 oe Reserved Reserved OK status input EN enable input Note Bits O through 13 are not used Also note that bits need to be entered as 1 through 16 NOT 0 through 15 in the STEP parameter Parameters Parameter Description address Address is the location of the bit sequencer s current step length and the last enable and ok statuses enable When the function is enabled if it was not enabled on the previous sweep and if R is not energized the bit sequence shift is performed R When R is energized the bit sequencer s step number is set to the value in STEP default 1 and the bit sequencer is filled with zeros except for the current step number bit DIR When DIR is energized the bit sequencer s step number is incremented prior to the shift Otherwise it is decremented STEP When R is energized the step number is set to this value ST ST contains the first word of the bit sequencer ok The ok output is energized whenever the function is enabled LEN LEN must be between 1 and 256 bits
15. Example In the following example when called for by previous logic a parameter block for the time of day clock is built to first request the current date and time and then set the clock to 12 noon using the BCD format The parameter block is located at global data location R0300 Array NOON has been set up elsewhere in the program to contain the values 12 0 and 0 Array NOON must also contain the data at R0300 The BCD format requires six contiguous memory locations for the parameter block FST_SCN MOVE_ MOVE_ I I I I INT INT I CONST IN Q NOON CONST IN Q MIN SEC I I I I 04608 LEN 00000 LEN 100001 00001 210016 I I tMOVE MO VE 4 t SVC sTOOOL INT INT REQ CONST IN Q RO300 CONST IN Q RO301 CONST FNC 00000 LEN 00001 LEN 00007 100001 100001 R0300 PARM T0001 I10017 I II I II AND 4 ADD_ I l WORD INT R0303 I1 Q R0303 R0303 I1 Q R0303 CONST 12 NOON I2 OOFF hl TOOO1 10017 I I 1 MOVE_4 _ _ MovE_
16. Note Of the CPUs discussed in this manual Service Request 2 is supported only by 90 30 CPUs beginning with Release 8 0 There are three modes for each window Limited Mode The execution time of the window is limited to its respective default value or to a value defined using SVCREQ function 3 for the programmer communications window or SVCREQ function 4 for the systems communications window The window will terminate when it has no more tasks to complete Constant Mode Each window will operate ina RUN TO COMPLETION mode and the PLC will alternate among the three windows for a time equal to the sum of each window s respective time value If one window is placed in CONSTANT mode the remaining two windows are automatically placed in CONSTANT mode If the PLC is operating in CONSTANT WINDOW mode anda particular window s execution time is not defined using the associated SVCREQ function the default time for that window is used in the constant window time calculation 1 Run to Completion 2 Regardless of the window time associated with a particular Mode window whether default or defined using a service request function the window will run until all tasks within that window are completed A window is disabled when the time value is zero The parameter block has a length of three words High Byte Low Byte Background Window address 2 All parameters are output parameters It is not necessary to enter values in the p
17. AR plus the index into this array input NX The search continues until the array element of the search object IN is found or until the end of the array is reached If an array element is found output parameter FD is set ON and output parameter output NX is set to the relative position of this element within the array If no array element is found before the end of the array is reached then output parameter FD is set OFF and output parameter output NX is set to zero The valid values for input NX are 0 to LEN 1 NX should be set to zero to begin searching at the first element This value increments by one at the time of execution Therefore the values of output NX are 1 to LEN If the value of input NX is out of range 0 or 2 LEN its value is set to the default value of zero enable SRCH l l EO l WORD l starting address AR FD LEN 100001 input index NX NX output index I object of search IN l 10 6 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Parameters Parameter Description enable When the function is enabled the operation is performed AR AR contains the starting address of the array to be searched Input NX Input NX contains the index into the array at which to begin the search IN IN contains the object of the search Output NX Output NX holds the position within the array of t
18. FANUC GE Fanuc Automation Programmable Control Products Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual GFK 0467L June 1999 GFL 002 Warnings Cautions and Notes as Used in this Publication Warning notices are used in this publication to emphasize that hazardous voltages currents temperatures or other conditions that could cause personal injury exist in this equipment or may be associated with its use In situations where inattention could cause either personal injury or damage to equipment a Warning notice is used Caution notices are used where equipment might be damaged if care is not taken Note Notes merely call attention to information that is especially significant to understanding and operating the equipment This document is based on information available at the time of its publication While efforts have been made to be accurate the information contained herein does not purport to cover all details or variations in hardware or software nor to provide for every possible contingency in connection with installation operation or maintenance Features may be described herein which are not present in all hardware and software systems GE Fanuc Automation assumes no obligation of notice to holders of this document with respect to changes subsequently made GE Fanuc Automation makes no representation or warranty expressed implied or statutory with respect to and assumes no responsibility f
19. REO DINT CONST FNC RO131 I1 Q R0250 00016 R0131 PARM R0127 I2 iade SO SUB R 2s gt Chapter 12 Control Functions 12 59 12 60 SVCREQ 18 Read I O Override Status Use SVCREQ function 18 in order to read the current status of overrides in the CPU This feature is available only for 331 or higher CPUs For this function the parameter block has a length of 1 word It is an output parameter block only 0 No overrides are set 1 Overrides are set address SVCREQ 18 reports only overrides of I and Q references Example In the following example the status of I O overrides is always read into location R1003 If any overrides are present output T0001 is set on o 10001 I 1 1 1 svc_ REQ CONST FNC 00018 R1003 PARM CONST I1 Ql l 00001 R1003 12 sTOOOL Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L SVCREQ 23 Read Master Checksum Use SVCREQ function 23 to read the master checksums for the user program and the configuration The SVCREQ output is always set to ON if the function is enabled and the output block of information see below starts at th
20. Valid Memory Types Parameter flow I WQ M T S WG PR WAI AQ const none enable IN N Bl B2 Q et e e Valid reference or place where power may flow through the function T SA SB or SC only 96S cannot be used Example In the following example whenever input I0001 is set the output bit string represented by the nickname WORD is made a copy of WORDI left shifted by the number of bits represented by the nickname LENGTH The resulting open bits at the beginning of the output string are set to the value of 9010002 A I 10001 I II 1 1 SHL_ WORD WORD1 IN B2 OUTBIT LEN 00001 LENGTH N Q WORD2 GFK 0467L Chapter 8 Bit Operation Functions 8 9 ROL and ROR WORD 8 10 Parameters The Rotate Left ROL function is used to rotate all the bits in a string a specified number of places to the left When rotation occurs the specified number of bits is rotated out of the input string to the left and back into the string on the right The Rotate Right ROR function rotates the bits in the string to the right When rotation occurs the specified number of bits is rotated out of the input string to the right and back into the string on the left A string length of 1 to 256 words can be selected for
21. WAI AQ const none enable IN ok Q Valid reference or place where power may flow through the function GFK 0467L Chapter 11 Conversion Functions 11 9 Example A sei 1210002 I II REAL RANGE TO WORD WORD 200001 R0001 IN Q R0003 HI LIM L1 Q pi LOW LIM L2 l l l l l l l l l l R0003 IN l 11 10 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L TRUN INT Parameters DINT The Truncate function is used to round the real number toward zero The original data is not changed by this function Note The 35x and 36x series CPUs Release 9 or later and all releases of CPU352 are the only Series 90 30 CPUs with floating point capability therefore the TRUN function has no applicability for other 90 30 CPUs When the function receives power flow it performs the conversion making the result available via output Q For CPU 352 the function passes power flow when power is received unless the specified conversion would result in a value that is out of range or unless IN is NaN Not a Number For all other 35x and 36x series CPUs the function does not pass power enable ok TRUN_ l INT value to be converted IN Q output parameter Q Par
22. is set up on the first sweep The contact IO PRES when set indicates that the I O fault table contains an entry The PLC CPU sets the normally open contact in the sweep after the fault logic places a fault in the table If faults are placed in the table in two consecutive sweeps the normally open contact is set for two consecutive sweeps The example uses a parameter block located at RO600 After the SVCREQ function executes the fourth fifth and sixth words of the parameter block contain the address of the I O module that faulted 1 RO600 long short R0601 reference address R0602 rack number slot number R0603 I O bus no bus address R0604 point address R0605 fault data In the program the EQ_INT blocks compare the rack slot address in the table to hexadecimal constants The internal coil M0007 is turned on when the rack slot where the fault occurred meets the criteria specified above If 70M0007 is on its normally closed contact is off preventing the shutdown Conversely if 70M0007 is off because the fault occurred on a different module the normally closed contact is on and the shutdown occurs GFK 0467L Chapter 12 Control Functions 12 57 T0001 CAS M0007 M0007 R0600 M0007 CONST 0013 R0001 CONST 0001 CONST 0015 0109 CONST 0265 IO PRES GFK 0467L Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 199
23. 1 1 1 ES E9 GFK 0467L Chapter 4 Relay Functions 4 7 4 8 Continuation Coils lt gt and Contacts lt gt Continuation coils lt gt and continuation contacts lt gt are used to continue relay ladder rung logic beyond the limit of ten columns The state of the last executed continuation coil is the flow state that will be used on the next executed continuation contact There needs to be a continuation coil before the logic executes a continuation contact The state of the continuation contact is cleared when the PLC transitions from Stop to Run and there will be no flow unless the transition coil has been set since going to Run mode There can be only one continuation coil and contact per rung the continuation contact must be in column 1 and the continuation coil must be in column 10 An example continuation coil and contact are shown below Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Chapter Timers and Counters 5 This chapter explains how to use on delay and stopwatch type timers up counters and down counters The data associated with these functions is retentive through power cycles Abbreviation Function Page ONDTR Retentive On Delay Timer 5 3 TMR Simple On Delay Timer 5 5 OFDT Off Delay Timer 5 8 UPCTR Up Counter 5 11 DNCTR Down C
24. 2 Perform the corrections for corrupted memory Error Code Name Description Correction 27 through 4E PLC Operating Software Error The PLC operating software generates these errors when certain PLC operating software problems occur These errors should not occur in a production system Display the PLC fault table on the programmer Contact GE Fanuc PLC Field Service giving them all the information contained in the fault entry Error Code 4F Name Communications Failed Description The PLC operating software service request processor generates this error when it attempts to comply with a request that requires backplane communications and receives a rejected response Correction 1 Check the bus for abnormal activity 2 Replace the intelligent option module to which the request was directed Error Code 50 51 53 Name Description Correction System Memory Errors The PLC operating software generates these errors when its request for a block of system memory is denied by the memory manager because no memory is available or contains errors 1 Display the PLC fault table on the programmer Contact GE Fanuc PLC Field Service giving them all the information contained in the fault entry 2 Perform the corrections for corrupted memory Error Code Name Description Correction 52 Backplane Communications Failed The PLC operating software service request processor
25. 3 ANY FLT PERI APL FLTj2 2 Application aE Application program logic scan 2 8 ARRAY MOVEJ10 2 ASIN ATAN 6 10 BAD PWD BAD RAMj2 24 Base 10 logarithm function 6 12 Battery signal low 3 10 3 10 BCD Format for SER function block trigger timestamp 12 20 BCD 4 BCLR Bit clear function Bit operation functions Bit position function 8 16 Bit sequencer function 9 11 Bit set function 8 14 Bit test function 8 12 Index BITSEQ 9 11 memory required 9 11 BLKCLR BLKMOV Block clear function 9 7 Block locking feature 2 38 EDITLOCKJ2 38 permanently locking a subroutine 2 38 VIEWLOCK Block move function Boolean execution times A 11 CALL 12 2 Call function CFG_MM 2 24 Change Programmer Communications Window Mode and Timer Value 12 38 Change System Comm Window Mode and Timer Value 12 40 Change Read Constant Sweep Timer 12 33 Change Read Number of Words to Checksum Change Read a oxy Clock Checksum calculation Checksum failure program block 3 10 Clear Fault Tables 12 54 Clocks 2 34 elapsed time sorpa time of day clock 2 34 Coil with Multiple and Single coil checking Coils 4 continuation coil 4 8 4 8 negated coil 4 4 negated retentive coil 4 4 negative transition coil 4 5 positive transition coil RESET coil 4 5 retentive coil retentive RESET coil retentive SET coil 4 6 SET coil Comment function 12 2
26. Because this memory is intended for temporary use it is not retained through power loss or RUN TO STOP TO RUN transitions and cannot be used with retentive coils Retentiveness is based on the type of coil For more information refer to Retentiveness of Data on page 2 21 2 20 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Table 2 5 Discrete References Continued Type Description S The S prefix represents system status references These references are used to access special PLC data such as timers scan information and fault information System references include 96S WSA 96SB and SC references 96S 96S A SB and SC can be used on any contacts 96S A SB and 96SC can be used on retentive coils M 76S can be used as word or bit string input arguments to functions or function blocks 76S A SB and SC can be used as word or bit string input or output arguments to functions and function blocks G The G prefix represents global data references These references are used to access data shared among several PLCs G references can be used on contacts and retentive coils because G memory is always retentive G cannot be used on non retentive coils Transitions and Overrides The I Q 96M and G user references have associated transition and override bits T 96S 96S A SB and SC references have transition bits but not ov
27. ENDMCRN a non nested form ENDMCR JUMP Causes program execution to jump to a specified location indicated by a LABEL see below in the 12 26 and logic Logicmaster 90 30 20 Micro software JUMPN supports two forms of the JUMP function a non nested form JUMP and a nested form JUMPN LABEL and Specifies the target location of a JUMP instruction Logicmaster 90 30 20 Micro software supports two 12 28 LABELN forms of the LABEL function a non nested form LABEL and a nested form LABELN COMMENT Places a comment rung explanation in the program After programming the instruction the text can 12 29 be typed in by zooming into the instruction SVCREQ Requests a special PLC service See list of service requests on page 12 30 12 30 PID Provides two PID proportional integral derivative closed loop control algorithms 12 64 Standard ISA PID algorithm PIDISA Independent term algorithm PIDIND GFK 0467L 12 1 CALL Example 12 2 Use the CALL function to cause program execution to go to a specified subroutine block META 222222 SUBROUTINE When the CALL function receives power flow it causes the scan to go immediately to the designated subroutine block and execute it After the subroutine block execution is complete control returns to the point in the logic immediately following the CALL instruction The following example shows the subroutine CALL instruction as it appears in the calling block By positi
28. FNC 0046 ROO01 PARM CONST IN Ql R0008 5 LEN 0001 M0001 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L PID The Proportional plus Integral plus Derivative PID control function is the best known general purpose algorithm for closed loop process control The Series 90 PID function block compares a Process Variable PV feedback with a desired process Set Point SP and updates a Control Variable CV output based on the error The block uses PID loop gains and other parameters stored in an array of 40 16 bit words discussed on page 12 73 to solve the PID algorithm at the desired time interval All parameters are 16 bit integer words for compatibility with 16 bit analog process variables This allows AI memory to be used for input Process Variables and AQ to be used for output Control Variables The example shown below includes typical inputs S00007 enable ok Power flow out if OK I I IND set point RO0010 SP CV AQ0001 Control Variable 21000 25000 process variable AI0001 PV 20950 l l M0001 I I IMAN l l M0002 I UP M0002 DN R00100 RefArray is 40 R words reference array address As scaled 16 integer numbers many parameters must be defined in either PV counts or units or CV counts or units For example the S
29. Group Instruction All INT DINT BIT BYTE WORD REAL Data Move Move amp MOV amp MOV_I amp MOV_BI amp MOV_W amp MOV_R Block Move amp BLKM amp BLKM I amp BLKM W amp BLKM R Block Clear amp BLKC SER Shift Register amp SHF i amp AR W Bit Sequencer amp BI Communications Request amp COMMR amp AR W amp SRCHE W amp SRCHN W amp SRCHGT W amp SRCHGE W amp SRCHLT W amp SRCHLE W C 3 Appendix Key Functions D This appendix lists the keyboard functions that are active in the software environment To display this information on the programmer screen press ALT K to access key help Key Sequence Description Key Sequence Description Keys Available Throughout the Software Package ALT A Abort CTRL Break Exit package ALT C Clear field Esc Zoom out ALT M Change Programmer mode CTRL Home Previous command line contents ALT R Change PLC Run Stop state CTRL End Next command line contents ALT E Toggle status area CTRL Cursor left within the field ALT J Toggle command line CTRL gt Cursor right within the field ALT L List directory files CTRL D Decrement reference address ALT P Print screen CTRL U Increment reference address ALT H Help Tab Change increment field contents ALT K Key help Shift Tab Change decrement field contents ALT I Instruction mnemonic help Enter Accept field contents ALT N Toggle display options CTRL E Display last system error ALT T Start Teac
30. If the programming software is in OFFLINE mode no faults are displayed In ONLINE or MONITOR mode I O fault data is displayed In ONLINE mode faults can be cleared this feature may be password protected Once cleared faults which are still present are not logged again in the table GFK 0467L Chapter 3 Fault Explanation and Correction 3 5 Accessing Additional Fault Information 3 6 The fault tables contain basic information regarding the fault Additional information pertaining to each fault can be displayed through the programming software In addition the programming software can provide a hexadecimal dump of the fault The last entry Correction for each fault explanation in this chapter lists the action s to be taken to correct the fault Note that the corrective action for some of the faults includes the statement Display the PLC Fault Table on the Programmer Contact GE Fanuc Field Service giving them all the information contained in the fault entry This second statement means that you must tell Field Service both the information readable directly from the fault table and the hexadecimal information Field Service personnel will then give you further instructions for the appropriate action to be taken Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Section 2 PLC Fault Table Explanations GFK 0467L Each fault explanation contains a fault description and instructions to correc
31. In addition faulted board polling and board reconfiguration execution continue while in STOP mode For efficiency the operating system uses larger time slice values than those used in RUN mode usually about 50 milliseconds per window You can choose whether or not the I O is scanned I O scans may execute in STOP mode if the JOScan Stop parameter on the CPU detail screen is set to YES Chapter 2 System Operation 2 13 Communication Window Modes The default window mode for the programmer communication window is Limited mode That means that if a request takes more than 6 milliseconds to process it is processed over multiple sweeps so that no one sweep is impacted by more than 6 milliseconds For the 313 323 and 331 CPUs the sweep impact may be as much as 12 milliseconds during a RUN mode store The active window mode can be changed using the Sweep Control screen in Logicmaster for instructions on changing the active window mode refer to Chapter 5 PLC Control and Status in the Logicmaster 90 Series 90 30 20 Micro Programming Software User s Manual GFK 0466 Note If the system window mode is changed to Limited then option modules such as the PCM or GBC that communicate with the PLC using the system window will have less impact on sweep time but response to their requests will be slower 2 14 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Key Switch on 35x and 36x S
32. NOT PRESENT PROM TRUE STOP MODE 44 Y FALSE HHP NOT RUN STOP MODE COPY PRG CFG COPY KEYS amp REGS FROM PRG amp CFG FROM USD TO URAM USD TO URAM PRG or CFG CHECKSUM BAD Clear All Process LOW BATT STOP MODE y CLEAR PRG CFG AND REGS 19 STOP MODE STOP MODE PU MODE IS SAME AS POWERDOWN STOP MODE WT Figure 2 5 Power Up Sequence Prior to the START statement on the Power Up Flowchart the CPU goes through power up diagnostics which test various peripheral devices used by the CPU and tests RAM After completing diagnostics internal data structures and peripheral devices used by the CPU get initialized The CPU then determines if User Ram has been corrupted If User Ram is corrupted the user program and configuration are cleared out and defaulted and all user registers are cleared Chapter 2 System Operation 2 31 FLOW CHART TERMS PRG user program CFG user configuration REGS user registers 961 Q M G R AI and AQ references USD user storage device either an EEPROM or flash device URAM non volatile user ram which contains PRG CFG and REGS FLOW CHART EXPANDED TEXT 1 Q 3 4 G Are the CLR and M T keys being pressed on the HHP during power up to clear all URAM Is the USD present could only be missing on models that use EEPROM device and is the informatio
33. PV 00005 TMRID GFK 0467L Chapter 5 Timers and Counters 5 7 OFDT 5 8 The off delay timer OFDT increments while power flow is off and resets to zero when power flow is on Time may be counted in tenths of a second the default selection hundredths of a second or thousandths of a second The range is 0 to 32 767 time units The state of this timer is retentive on power failure no automatic initialization occurs at power up When the OFDT first receives power flow it passes power to the right and the current value CV is set to zero The OFDT uses word register as its CV storage location see the Parameters section on the next page for additional information The output remains on as long as the function receives power flow If the function stops receiving power flow from the left it continues to pass power to the right and the timer starts accumulating time in the current value Note If multiple occurrences of the same timer with the same reference address are enabled during a CPU sweep the current values of the timers will be the same The OFDT does not pass power flow if the preset value is zero or negative Each time the function is invoked with the enabling logic set to OFF the current value is updated to reflect the elapsed time since the timer was turned off When the current value CV is equal to the preset value PV the function stops passing power flow to the right When that occurs t
34. Patanieters dc S A BAAR A BARA AAS 6 14 Valid Memory PES Sui EH UU s 6 14 EX Arm plein A uuu uu uu Rt 6 15 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Chapter 7 Chapter 8 GFK 0467L Contents Relational FUICUOS miii icon 7 1 Standard Relational Functions EQ NE GT GE LT LBE oocccnnnnnnnnnnnonncnnnnnoninininonnnss 7 2 Parameters sou cotes ers enue usen Du eM nt E UM TUM E 7 2 Expanded Description nnn nn ERR ee 7 3 Valid Memory Types asin eae bee a aa as 7 3 Exaimple 2er ere tite 7 3 RANGE CNT DINT WORD nu RUD ELEME DEUS 7 4 Parameters ose RAS RA 7 5 Valid Memory bunc EE 7 5 Example lecitina 7 5 Example Die a tensor olere c h eo ado pardo ele cdi Duce Me 7 6 Bit Operation FOCOS AA A AAA 8 1 AND and OR WORD 5d 8 3 Para Meters isis ee AARAU ed tees 8 3 Valid Memory Types a eR AREE euet 8 4 l cup EDDIE 8 4 XOR WORD onto SODA 8 5 PM nae aie AN AAR Ae AN AANA ANA AN Naas 8 5 Valid Memory ly pes ios i d nd nd dd nens 8 6 Example decet e ee o a MODUM PM EL LLLA ALAS 8 6 NOT WORD 23 cusenesaessmeuumenssusuhe smehguguNenatuReSudenuu 8 7 Parameters eee iiec ue ue ueniet deis 8 7 Valid Memory Types ee ide 8 7 Example cold 8 7 SHL and SHR WORD cooccccocccconccononnconnnnononnncnoncccnnanononnncnnnnccnnnncnnnn non ana rnn ana nnnnccnnnccnnnss 8 8 A TELS Ip HB 8 9 Valid Memory Types 2 tete nsemmesmneesesseneni 8 9 lp cnn d x
35. Real indefinite divide 0 by 0 error AII other CPUs that support floating point operations produce one NaN output FFFF FFFF When an NaN result is fed into another function it passes through to the result For example if an NaN ADD is the first operand to the SUB REAL function the result of the SUB REAL is Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L NaN_ADD If both operands to a function are NaNs the first operand will pass through Because of this feature of propagating NaNs through functions you can identify the function where the NaN originated Note For NaN the ok output is OFF not energized The following table explains when power is or is not passed when dealing with numbers viewed as or equal to infinity for binary operations such as Add Multiply etc As shown previously outputs that exceed the positive or negative limits are viewed as POS_INF or NEG_INF respectively Table E 1 General Case of Power Flow for Floating Point Operations Operation Input 1 Input 2 Output Power Flow All Number Number Positive or No Negative Infinity All Except Infinity Number Infinity Yes Division GF K 0467L Appendix E Using Floating Point Numbers GFK 0467L 3 35x and 36x series CPUs key switch 2 15 ACOS cosel ADD_IOM ADD_SIO2 24 Addition function 6 2 Addition of I O module 3 17 Alarm 3 2 Alarm error codes Alarm processor 3 2 ALT keys AND
36. WARN MULTIPLE or MULTIPLE Refer to the Programming Software User s Manual GFK 0466 for more information about this feature The Q prefix is followed by the reference s address in the output table for example Q00016 Q references are located in the output status table which stores the state of the output references as last set by the application program This output status table s values are sent to output modules during the output scan A reference address is assigned to discrete output modules using the configuration software or the Hand Held Programmer Until a reference address is assigned no data is sent to the module A particular Q reference may be either retentive or non retentive 70M The M prefix represents internal references The coil check function checks for multiple uses of M references with relay coils or outputs on functions Beginning with Release 3 of the software you can select the level of coil checking desired STNGLE WARN MULTIPLE or MULTIPLE Refer to GFK 0466 for more information about this feature A particular 0M reference may be either retentive or non retentive T The T prefix represents temporary references Because these references are never checked for multiple coil use they can be used many times in the same program even when coil use checking is enabled T can be used to prevent coil use conflicts while using the cut paste and file write include functions
37. cleared during the transition from STOP to RUN mode Only valid if the PLCisin CONSTANT SWEEP mode 96S A0003 APL FLT Set when an application fault occurs Cleared when the PLC transitions from STOP to RUN mode 96S A0009 CFG MM Set when a configuration mismatch is detected during system power up or during a store of the configuration Cleared by powering up the PLC when no mismatches are present or during a store of configuration that matches hardware SAO0010 HRD_CPU Set when the diagnostics detects a problem with the CPU hardware Cleared by replacing the CPU module SA0011 LOW BAT Set when a low battery fault occurs Cleared by replacing the battery and ensuring that the PLC powers up without the low battery condition SA0014 LOS IOM Set when an I O module stops communicating with the PLC CPU Cleared by replacing the module and cycling power on the main rack SA0015 LOS_SIO Set when an option module stops communicating with the PLC CPU Cleared by replacing the module and cycling power on the main rack SA0019 ADD IOM Set when an I O module is added to a rack Cleared by cycling power on the main rack and when the configuration matches the hardware after a store SA0020 ADD SIO Set when an option module is added to a rack Cleared by cycling power on the main rack and when the configuration matches the hardware after a store SA0027 HRD SIO Set when a hardware failure is detec
38. so 27 411 0 1 0 13 Division DINT 375 346 348 175 41 1 0 o 13 Modulo Division INT 78 si 49 27 4 0 1 0 13 Modulo Div DINT 134 103 107 54 41 1 0 0 13 Square Root INT 153 124 123 65 42 0 1 0 9 Square Root DINT 268 239 241 120 42 0 0 1 9 Equal INT 66 35 36 19 41 1 1 0 9 Equal DINT 86 56 54 29 41 1 oO o 9 Not Equal INT 67 39 35 22 41 1 1 0 9 Not Equal DINT 81 51 51 28 1 1 o o 9 Greater Than INT 64 33 35 20 41 1 1 0 9 Greater Than DINT 8 59 s 32 41 1 oO o 9 Greater Than Eq INT 64 36 34 19 41 1 1 0 9 Greater Than Eq DINT 87 s 57 30 41 1 o o i 1 A 9 Less Than INT 66 35 19 41 15 1 0 9 Less Than DINT 87 57 30 41 1 1 0 9 Less Than Equal INT 66 36 34 21 41 1 1 0 9 Less Than Equal DINT 86 57 56 31 41 1 1 0 9 Range INT 92 58 54 29 46 1 0 1 Range DINT 106 75 57 37 s 0 o 0 Range WORD 93 60 54 22 ojojoj o Time in microseconds is based on Release 5 01 of Logicmaster 90 30 20 software for Models 311 313 340 and 341 CPUs Release 7 for the 331 For table functions increment is in units of length specified for bit operation functions microseconds bit for data move functions microseconds number of bits or words Enabled time for single length units of type R AI and
39. 0000 4 000000 2383019 34 00000 003620900 1 20000E 10 4 00000E 15 731 0388 9 92000E 28 Examples of invalid floating point number entries are shown below Invalid Entry Explanation 433E23 Missing decimal point 10e 19 Missing decimal point 10 e19 The mantissa cannot contain spaces between digits or characters This is accepted as 10 e0 and an error message is displayed 4 1e19 The exponent cannot contain spaces between digits or characters This is accepted as 4 1e0 and an error message is displayed GFK 0467L Appendix E Using Floating Point Numbers E 5 Errors in Floating Point Numbers and Operations On a 352 CPU overflow occurs when a number greater than 3 402823E 38 or less than 3 402823E438 is generated by a REAL function On all other 90 30 models that support floating point operations the range is greater than 2 or less than 2 When your number exceeds the range the ok output of the function is set OFF and the result is set to positive infinity for a number greater than 3 402823E 38 on a 352 CPU or 2 on all other models or negative infinity for a number less than 3 402823E 38 or 2 on all other models You can determine where this occurs by testing the sense of the ok output POS INF 7F800000h IEEE positive infinity representation in hex NEG INF FF800000h IEEE negative infinity representation in hex Note If you are using software floating point all models capable of
40. 1 202 2 540 32 64 word devices 18 382 25 377 70 777 PCM 311 not configured or 476 N A N A no application task read 128 R as 485 N A N A fast as possible ADC no task 476 N A N A I O Link Master no devices 569 865 1 932 16 64 point 4 948 7 003 19 908 devices I O Link Slave 32 point 087 146 553 64 point 154 213 789 For applications where the DSM s contributions to scan time will affect machine operation you may need to use the Do I O function block and the Suspend I O and Fast Backplane Status Access service requests to transfer necessary data to and from the Motion module without getting all the data every scan Refer to the Motion Mate DSM302 for Series 90 30 PLCs User s Manual GFK1464 for details Chapter 2 System Operation 2 5 2 6 Table 2 3 I O Scan Time Contributions for the 90 30 Series up to 341 in milliseconds CPU Model Module Type 331 340 341 311 313 Main Expansion Remote Main Expansion Remote Rack Rack Rack Rack Rack Rack 8 point discrete input 076 054 095 255 048 089 249 16 point discrete input 075 055 097 257 048 091 250 32 point discrete input 094 094 126 335 073 115 321 8 point discrete output 084 059 097 252 053 090 246 16 point discrete output 083 061 097 253 054 090 248 32 point discrete output 109 075 129 339 079 114 320 8 point com
41. 10 Inverse sine function 6 10 Inverse tangent function 6 10 IO FLT IO_PRES 2 25 J JUMP 12 26 Jump instruction 12 26 K Key switch on 35x and 36x series CPUs 2 15 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L GFK 0467L LABEL 12 28 Log nsmueion 1228 LE 7 1 Less than function 7 1 Less than or equal function 7 1 Levels privilege change requests 2 38 Links horizontal and vertical 4 7 LN 6 12 Locking unlocking subroutines Loa 612 Logarithmic functions 6 12 base 10 logarithm 6 12 natural logarithm Logic program checksum calculation 2 8 Logic solution 2 8 Logical AND function Logical NOT function 8 7 Logical OR function Logical XOR function LOS IOM LOS SIO Loss of I O module 3 16 Loss of or missing option module 3 8 Low battery signal 3 10 LOW_BAT 2 24 LT 7 1 Maintenance 3 1 Manuals for I O modules 2 40 Masked compare function 8 18 Master control ics function 12 22 Math functions ACOS 6 10 Index Index TAN 6 10 MCR Memory corrupted 3 7 Mnemonics instruction MOD 6 6 Model 20 I O modules 2 43 Model 30 I O modules 2 40 Modulo function 6 6 MOVE 9 2 Move function MSKCMP 8 18 MUL 6 2 Multiplication function 6 2 Natural logarithm function NE 7 1 Negated coil 4 4 Negated retentive coil Negative tr
42. 2 Instruction Timing High Performance Models Continued esee A 7 Table A 2 Instruction Timing High Performance Models Continued cooooocccnnnnccccnnoncnnonnnnranocnnnnanoninnass A 8 GFK 0467L Contents xvii Contents Table A 2 Instruction Timing High Performance Models Continued eese A 9 Table A 3 SER Function Block Timing cc csccccceesseocceessecceesescoceerensoceerenseceeesssccecersessecersessoneesens A 10 Table A 4 Instruction Sizes for 350 352 360 363 and 364 CPUs sese A 11 Table Blr PEC Pault Groups 5e oue eere dee lee ope Dee ete cte caede de enters Eae aee re exe De ade eee e een B 4 Table B 2 PLC Fault Action dde need eee ce ege dig etie Ege Pa eee dedos B 5 Table B 3 Alarm Error Codes for PLC CPU Software Faults ooonnocccnnonoccccnonoccnononononcnonnnnrnnccnnanccnnnnannss B 5 Table B 4 Alarm Error Codes for PLC Faults oooonooccccnnooccccnnononccnonononnncnnnnncnnnnnanccnnnnn cnn no nnnnnc cocoa nennen B 6 Table B 5 PLC Fault Data Illegal Boolean Opcode Detected ooooooocccnnoccccnnonacccnonanonnnononanonoconanacinnnass B 7 Table B 6 PLC F ult Ume Statup nhe Rede ete dise B 7 Table B 7 I O Fault Table Format Indicator Byte enne B 9 Table B 8 I O Reference Address sess nnne nennen enn nne seen B 9 Table B 9 I O Reference Address Memory Type cceessscecceesseneeeceeseeeesssseeeeee
43. 8 bits and any unused channels must be configured with a null channel description See Words 14 77 9 Number of Specifies the sample buffer size Valid choices are 1 to 1024 samples Actual buffer size in Samples bits is Number of Samples times Number of Channels 10 Number of Specifies the number of samples that are collected after the trigger condition becomes true Samples After This parameter can be set to a value between 0 and Number of Samples 1 This Trigger parameter is valid only when the Trigger Mode is set to Trigger Input 0 11 Input Module Specifies the location of the input module for data sampling slot in the main rack If the Slot value is 0 scanning of the input module is disabled When an input module is scanned its values are stored locally and the values of the reference addresses configured for the module are not affected To store values from the scanned input module into the data block sample buffer a channel description must be provided If the module is not present or faulted at the time of the scan the data returned will be zero A fault will not be logged in the fault table if this occurs fault indication will be left to the IO scanner 12 Data Block Specifies the data type allocated for the Data Block For example if you wanted to begin at Segment Selector RO100 you would enter 08 for this parameter Valid settings for this parameter include R 08h AI OAh AQ OCh For details on the dat
44. A string length of 1 to 256 words can be selected enable TEST WORD bit to be tested IN Q output parameter Q LEN 00001 l bit number of IN BIT l Parameter Description When the function is enabled the bit test is performed IN contains the first word of the data to be operated on BIT BIT contains the bit number of IN that should be tested Valid range is 1 lt BIT lt 16 LEN 39e Output Q is energized if the bit tested was a 1 LEN is the number of words in the string to be tested Note When using the Bit Test Bit Set Bit Clear or Bit Position function the bits are numbered 1 through 16 NOT 0 through 15 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Valid Memory Types Parameter enable flow 1 WQ M T S G R AI AQ const none IN BIT Q e Valid reference or place where power may flow through the function Example In the following example whenever input I0001 is set the bit at the location contained in reference PICKBIT is tested The bit is part of string PRD CDE If it is 1 output Q passes power flow and the coil Q0001 is turned on 10001 PRD CDE IN Ql LEN 1000011 I II BIT TEST WORD PICKBIT BIT GFK 0467L Chapter 8 Bit Operat
45. Battery Signal 3 10 Constant Sweep Time Exceeded 3 11 Application Fault 3 11 No User Program Present 3 12 Corrupted User Program on Power Up 3 12 Password Access Failure 3 12 PLC CPU System Software Failure 3 13 Communications Failure During Store 3 15 Chapter 3 Fault Explanation and Correction 3 7 Fault Actions Fatal faults cause the PLC to enter a form of STOP mode at the end of the sweep in which the error occurred Diagnostic faults are logged and corresponding fault contacts are set Informational faults are simply logged in the PLC fault table Loss of or Missing Option Module The Fault Group Loss of or Missing Option Module occurs when a PCM CMM or ADC fails to respond The failure may occur at power up if the module is missing or during operation if the module fails to respond The fault action for this group is Diagnostic Name Correction Error Code Description 1 42 Option Module Soft Reset Failed PLC CPU unable to re establish communications with option module after soft reset 1 Try soft reset a second time 2 Replace the option module 3 Power off the system Verify that the PCM is seated properly in the rack and that all cables are properly connected and seated 4 Replace the cables Name Correction Error Code Description All Others Module Failure During Configuration The PLC operating software generates this error when a module fails during power up or
46. CPU Instruction Set Reference Manual June 1999 GFK 0467L SER Data Block Format SER Operation GFK 0467L The SER Data Block contains the sample buffer sample offsets and trigger information This information is supplied by the CPU and you should only read from this data area It is your responsibility to allocate enough register space for the Data Block The block format is as follows Word Parameter Description Current sample offset number References the location where the most recent sample was placed The parameter is zero based Valid ranges are 1 to 1023 Register Location of Sample Num Bytes per Sample Offset Parameter 2 Sample Buffer Starting Register Note This value is not valid until a sample is taken This value is set to 1 when the SER function is reset through the Reset input Trigger sample offset number References the storage location of the sample obtained when the trigger condition transitioned to the True state The parameter is zero based Valid ranges are 0 to 1023 Register Location of Sample Num Bytes per Sample Offset Parameter 2 Sample Buffer Starting Register Note This value is not valid until the trigger condition is met This value is set to 0 when the SER function is reset through the reset input 2 through 5 Trigger Time Indicates the time according to the Time of Day clock within the PLC that the trigger condition transitioned to the true s
47. Chapter 2 System Operation 2 43 Configuration and Programming 2 44 Configuration is the process of assigning logical addresses as well as other characteristics to the hardware modules in the system It can be done either before or after programming using the configuration software or Hand Held Programmer however it is recommended that configuration be done first If that has not been done you should refer to the Programming Software User s Manual GFK 0466 to decide whether it is best to begin programming at this time Programming consists of creating an application program for a PLC Because the Series 90 30 90 20 and Series 90 Micro PLCs have a common instruction set all three can be programmed using Logicmaster 90 30 software Chapters 4 through 12 describe the programming instructions that can be used to create ladder logic programs for the Series 90 30 and Series 90 20 programmable controllers If Logicmaster 90 30 20 Micro programming software is not yet installed please refer to the Programming Software User s Manual GFK 0466 for instructions The user s manual explains how to create transfer edit and print programs Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Chapter 3 GFK 0467L Fault Explanation and Correction This chapter is an aid to troubleshooting the Series 90 30 90 20 and Micro PLC systems It explains the fault descriptions which appear in the PLC faul
48. Chapter 5 Timers and Counters 5 3 5 4 ONDTR enable INE o 10 10s reset R preset value PV __ address Parameters Parameter Description address The ONDTR uses three consecutive words registers of R memory to store the following Current value CV word 1 Preset value PV word 2 Control word word 3 When you enter an ONDTR you must enter an address for the location of these three consecutive words registers directly below the graphic representing the function Note Do not use this address with other instructions Caution Overlapping references will result in erratic operation of the timer enable When enable receives power flow the timer s current value is incremented R When R receives power flow it resets the current value to zero PV PV is the value to copy into the timer s preset value when the timer is enabled or reset Q Output Q is energized when the current value is greater than or equal to the preset value time Time increment is in tenths 0 1 hundredths 0 01 or thousandths 0 001 of seconds for the low bit of the PV preset value Valid Memory Types Parameter flow I Q M T S WG R AI AQ const none address enable R PV Q Valid reference or place where power may flow through the function Ser
49. Control Enabled Call a Subroutine 155 93 192 85 Do I O 309 278 323 177 PID ISA Algorithm 1870 1827 1812 929 PID IND Algorithm 2047 2007 2002 1017 End Instruction 41 38 91 91 0 7 1 0 0 12 56 82 30 15 56 82 30 15 Service Request 6 93 54 63 45 7 Read 37 309 161 7 Set 37 309 161 14 447 418 483 244 15 281 243 165 139 16 131 104 115 69 18 56 300 180 23 1689 1663 1591 939 26 30 1268 1354 6680 3538 29 55 41 Nested MCR ENDMCR Combined Cc rn rn NY NYDN WNW oc cc cccoco Oo occccccooco ooo O O ND OO NOD OD NOD Service request 426 30 was measured using a high speed counter 16 point output in a 5 slot rack Time in microseconds is based on Release 5 01 of Logicmaster 90 30 20 software for Models 311 313 340 and 341 CPUs Release 7 for the 331 For table functions increment is in units of length specified for bit operation functions microseconds bit for data move functions microseconds number Notes 1 2 ANNE Ww GFK 0467L of bits or words Enabled time for single length units of type R AI and WAQ COMMREQ time has been measured between CPU and HSC DOIO is the time to output values to discrete output module Where there is more than one possible case the time indicated above represents the worst possible case For instru
50. EXP 639 0 42 0 11 EXPT 89 1 54 1 17 Radian Conversion Convert RAD to DEG 65 1 32 1 11 Convert DEG to RAD 59 0 32 0 11 Notes 1 Time in microseconds is based on Release 7 of Logicmaster 90 30 20 Micro software for Model 351 and 352 CPUs For table functions increment is in units of length specified for bit operation functions microseconds bit for data move functions microseconds number of bits or words Enabled time for single length units of type R AI and AQ COMMREQ time has been measured between CPU and HSC DOIO is the time to output values to discrete output module m DIE Where there is more than one possible case the time indicated above represents the worst possible case Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Function Equal INT Equal DINT 2 2 16 Equal REAL 57 28 14 Not Equal INT 1 1 10 Not Equal DINT 1 1 16 Not Equal REAL 62 31 14 Greater Than INT 1 1 10 Greater Than DINT 1 1 16 Greater Than REAL 57 32 14 Greater Than Equal INT 1 1 10 Greater Than Equal DINT 1 1 10 Greater Than Equal REAL 57 31 14 Less Than INT 1 1 10 Less Than DINT 1 1 16 Less Than REAL 58 36 14 Less Than Equal INT 1 1 10 3 16 Less Than Equal REAL 37 37 14 L
51. Enabled Disabled Increment Enabled Disabled Increment Group Function Data Move Move INT 2 0 0 41 2 0 0 41 10 Move BIT 28 0 4 98 28 0 4 98 13 Move WORD 2 0 0 41 2 0 0 41 10 Move REAL 24 1 0 82 24 1 0 82 13 Block Move INT 0 2 0 28 Block Move WORD 4 4 3 0 28 Block Move REAL 41 0 41 0 13 Block Clear 1 0 0 24 1 0 0 24 11 Shift Register BIT 49 0 0 23 46 0 0 23 16 Shift Register WORD 27 0 0 41 27 0 0 41 16 Bit Sequencer 38 22 0 02 38 22 0 02 16 COMM REQ 765 0 765 0 13 Table Array Move INT 54 0 0 97 54 0 0 97 22 DINT 54 0 0 81 54 0 0 81 22 BIT 69 0 0 36 69 0 0 36 22 BYTE 54 1 0 64 54 1 0 64 22 WORD 54 0 0 97 54 0 0 97 22 Search Equal INT 37 0 0 62 37 0 0 62 19 DINT 41 1 1 38 41 1 1 38 22 BYTE 35 0 0 46 35 0 0 46 19 WORD 37 0 0 62 37 0 0 62 19 Search Not Equal INT 37 0 0 62 37 0 0 62 19 DINT 38 0 2 14 38 0 2 14 22 BYTE 37 0 0 47 37 0 0 47 19 WORD 37 0 0 62 37 0 0 62 19 INT 37 0 1 52 37 0 1 52 19 DINT 39 0 2 26 39 0 2 26 22 BYTE 36 1 1 24 36 1 1 24 19 WORD 37 0 1 52 37 0 1 52 19 Search Greater Than Equal INT 37 0 1 48 37 0 1 48 19 DINT 39 0 2 33 39 0 2 33 22 1 1 BYTE 37 1 34 37 1 34 19 WORD 37 0 1 48 37 0 1 48 19 Notes 1 Time in microseconds is based on Release 7 of Logicmaster 90 30 20 Micro software for 350 and 360 Series CPUs For table functions increment is in units of length specified for bit operation functions microseconds bit for data move function
52. I 2 1 Ith rack amp slot Rack and slot number in the form RRSS in hexadecimal where RR is the rack number and SS is the slot number of the Ith module to which the data will be sent Address I 2 2 Write data for Ith module This data value will be written to the Ith module Address N 2 1 Last rack amp slot Rack and slot number in the form RRSS in hexadecimal where RR is the rack number and SS is the slot number of the last module to which the data will be sent Address N 2 2 Write data for last module This data value will be written to the last module Address N 2 3 End of list indicator A zero in this word indicates the end of the list of modules Chapter 12 Control Functions 12 67 12 68 Read Write Data Function 3 The read write function reads a word of extra status data from a module specified in the parameter block then writes a data value between 0 and 15 from the parameter block to that module This read write process is repeated for each module in a list in the parameter block The parameter block N 3 3 words of reference memory where N is the number of modules with which data will be exchanged Table 12 7 Output Values for Read Write Data Function Location Field Meaning Address Function 3 read write Address 1 Error Code An error code is placed here if the function fails because
53. OFF Do not change the coil state Continuation lt gt ON Set next continuation contact ON Coil OFF Set next continuation contact OFF Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Normally Open Contact A normally open contact acts as a switch that passes power flow if the associated reference is ON 1 Normally Closed Contact A normally closed contact acts as a switch that passes power flow if the associated reference is OFF 0 Example The following example shows a rung with 10 elements having nicknames from El to E10 Coil E10 is ON when reference El E2 E5 E6 and E9 are ON and references E3 E4 E7 and E8 are OFF El E2 E3 EA E5 E6 E7 E8 E9 E10 I 1 1 171 171 IN Fg 171 171 1 C Coil A coil sets a discrete reference ON while it receives power flow It is non retentive therefore it cannot be used with system status references 76SA SB SC or G Example In the following example coil E3 is ON when reference El is ON and reference E2 is OFF El E2 E3 I 1 S a GFK 0467L Chapter 4 Relay Functions 4 3 Negated Coil A negated coil sets a discrete reference ON when it does not receive power flow It is not retentive therefore it cannot be used with system status references SA SB SC or G Example In the following example coil E3 is ON wh
54. Parameters Parameter Description address The OFDT uses three consecutive words registers of R memory to store the following Current value CV word 1 Preset value PV word 2 Control word word 3 When you enter an OFDT you must enter an address for the location of these three consecutive words registers directly below the graphic representing the function Note Do not use this address with other instructions Caution Overlapping references will result in erratic operation of the timer enable When enable receives power flow the timer s current value is incremented time Time increment is in tenths 0 1 hundredths 0 01 or thousandths 0 001 of seconds for the low bit of the PV preset value PV PV is the value to copy into the timer s preset value when the timer is enabled or reset Q Output Q is energized when the current value is less than the preset value The Q state is retentive on power failure no automatic initialization occurs at power up GFK 0467L Chapter 5 Timers and Counters 5 9 5 10 Valid Memory Types Example Parameter flow 1 Q M T 2S G R ZAI AQ const none address enable PV Q Valid reference or place where power may flow through the function In the following example an OFDT timer is used to turn off an output 70Q0001 whenever an input 201
55. Point Numbers esses E 4 Entering and Displaying Floating Point Numbers eee E 5 Errors in Floating Point Numbers and Operations see E 6 Contents xv Contents Fis re 2 1 PleC Sweep EET 2 3 Figure 2 2 Programmer Communications Window Flow Chart eene 2 10 Figure 2 3 System Communications Window Flow Chart eese 2 11 Figure 2 4 PCM Communications with the PLC eene nennen nennen 2 12 Figure 2 5 Power Up Sequence ita 2 31 Figure 2 6 Time Tick Contact Timing Diagram seseeesesseeeeeeeeeeeneeen ennemi 2 36 Figure 2 7 Series 90 30 I O Structure esses eene nennen enne naar anno enn n enne ee nennen enn 2 39 Figure 2 8 Series 90 30 L O Modul s 4 o ti i esos 2 40 Figure 12 1 Example of Pre Trigger SER Sampling eene eene 12 15 Figure 12 2 Example of Mid Trigger SER Sampling seen eee 12 15 Figure 12 3 Post Irigeer SER Sample 12 16 Figure 12 4 Independent Term Algorithm PIDIND eene eene 12 80 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Contents Table 2 1 Sweep Time Contribution esses nennen enne KEEA Ehab Haas enne CETS k 2 4 Table 2 2 I O Scan Time Contributions for the 90 30 35x and 36x Series in milliseconds 2 5 Table 2 3 I O Scan Time Contributio
56. any of the modules is not present inappropriate or not working No error code is set if the function executes but any of the modules does not receive the write data properly For details see Error Codes on page 12 69 Address 2 Error rack amp slot The rack amp slot number at which the error occurred Address 3 First rack amp slot Rack and slot number in the form RRSS in hexadecimal where RR is the rack number and SS is the slot number of the 1st module with which data will be exchanged Address 4 Read data from first module The data read from the first module will be placed here Address 5 Write data for first module This data value will be written to the first module Address 6 Second rack amp slot Rack and slot number in the form RRSS in hexadecimal where RR is the rack number and SS is the slot number of the 2nd module with which data will be exchanged Address 7 Read data from second The data read from the second module will be placed here module Address 8 Write data for second This data value will be written to the second module module Address I 1 3 3 Ith rack amp slot Rack and slot number in the form RRSS in hexadecimal where RR is the rack number and SS is the slot number of the Ith module with which data will be exchanged Address I 1 3 4 Read data from Ith module The data read from the Ith module will be placed here Address I 1 3 5 Write d
57. are still checked That means that the Manual Command can not change the output above the CV Upper Clamp or below the CV Lower Clamps and the output can not change faster than the Minimum Slew Time allowed Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Sample Period and PID Block Scheduling The PID block is a digital implementation of an analog control function so the dt sample time in the PID Output equation is not the infinitesimally small sample time available with analog controls The majority of processes being controlled can be approximated as a gain with a first or second order lag possibly with a pure time delay The PID block sets a CV output to the process and uses the process feedback PV to determine an Error to adjust the next CV output A key process parameter is the total time constant which is how fast does the PV respond when the CV is changed As discussed in the Setting Loop Gains section below the total time constant Tp Tc for a first order system is the time required for PV to reach 63 of its final value when CV is stepped The PID block will not be able to control a process unless its Sample Period is well under half the total time constant Larger Sample Periods will make it unstable The Sample Period should be no bigger than the total time constant divided by 10 or down to 5 worst case For example if PV seems to reach about 2 3 of its final value in 2 seconds the Sample Period
58. be compared against the range specified by L1 and L2 Q Output Q is energized when the value in IN is within the range specified by L1 and L2 inclusive Valid Memory Types Parameter flow I Q M T S G R WAI AQ const none enable L1 o o o o o et L2 o o o o o ex IN o o o o o Q e Valid reference or place where power may flow through the function o Valid reference for INT or WORD data only not valid for DINT t Constants are limited to integer values for double precision signed integer operations Example 1 In the following example AIO001 is checked to be within a range specified by two constants 0 and 100 een 10001 I II tRANGE INT l l Q0002 100 L1 Q 0 L2 SAI0001 IN RANGE Truth Table Enable State L1 Value L2 Value IN Value Q State 10001 Constant Constant A10001 Q0001 ON 100 0 lt 0 OFF ON 100 0 0 100 ON ON 100 0 100 OFF OFF 100 0 Not Applicable OFF GFK 0467L Chapter 7 Relational Functions 7 5 7 6 Example 2 In this example AI0001 is checked to be within a range specified by two register values I0001 I II RANGE INT l l l 00002 RO001 L1 Q ROOO2 L2 SAI0001 IN RANGE Truth Table Enable State L1 Value L2 Value IN Value Q State 10001 RO0001 R0002 AI0001 Q0001 ON 5
59. bit I1 32 bit I2 32 bit 7 digit base 10 number sign and decimal 35x and 36x series CPUs only Release 9 or later or all releases of CPU352 Note The input and output data types must be the same The MUL and DIV functions do not support a mixed mode as the 90 70 PLCs do For example the MUL INT of 2 16 bit inputs produces a 16 bit product not a 32 bit product Using MUL DINT for a 32 bit product requires both inputs to be 32 bit The DIV INT divides a 16 bit I2 for a 16 bit result while DIV DINT divides a 32 bit I1 by 32 bit I2 for a 32 bit result These functions pass power if there is no math overflow If an overflow occurs the result is the largest value with the proper sign and no power flow Be careful to avoid overflows when using MUL and DIV functions If you have to convert INT to DINT values remember that the CPU uses standard 2 s complement with the sign extended to the highest bit of the second word You must check the sign of the low 16 bit word and extend it into the second 16 bit word If the most significant bit in a 16 bit INT word is 0 positive move a 0 to the second word If the most significant bit in a 16 bit word is 1 negative move a 1 or hex OFFFFh to the second word Converting from DINT to INT is easier as the low 16 bit word first register is the INT part of a DINT 32 bit word The upper 16 bits or second word should be either a 0 positive or 1 negative value or the DINT number
60. configuration store 1 Power off the system Replace the module located in that rack and slot Reset of Addition of or Extra Option Module The Fault Group Reset of Addition of or Extra Option Module occurs when an option module PCM ADC etc comes online is reset or a module is found in the rack but none is specified in the configuration The fault action for this group is Diagnostic Three bytes of fault specific data provide additional information regarding the fault Correction 1 Update the configuration file to include the module 2 Remove the module from the system Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L System Configuration Mismatch The Fault Group Configuration Mismatch occurs when the module occupying a slot is different from that specified in the configuration file The fault action is Fatal Error Code 1 Name System Configuration Mismatch Description The PLC operating software system configurer generates this fault when the module occupying a slot is not of the same type that the configuration file indicates should be in that slot or when the configured rack type does not match the actual rack present Correction Identify the mismatch and reconfigure the module or rack Error Code 6 Name System Configuration Mismatch Description This is the same as error code 1 in that this fault occurs when the module occupyi
61. extra module GFK 0467L Chapter 3 Fault Explanation and Correction 3 17 Chapter Relay Functions 4 This chapter explains the use of contacts coils and links in ladder logic rungs Function Page Coils and negated coils 4 2 Normally open and normal closed contacts 4 1 Retentive and negated retentive coils 4 4 Positive and negative transition coils 4 5 SET and RESET coils 4 6 Retentive SET and RESET coils 4 7 Horizontal and vertical links 4 7 Continuation coils and contacts 4 8 Using Contacts A contact is used to monitor the state of a reference Whether the contact passes power flow depends on the state or status of the reference being monitored and on the contact type A reference is ON if its state is 1 it is OFF if its state is 0 Table 4 1 Types of Contacts Type of Contact Display Contact Passes Power to Right Normally Open When reference is ON Normally Closed I l When reference is OFF Continuation Contact lt gt _ _ If the preceding continuation coil is set ON GF K 0467L 4 2 Using Coils Coils are used to control discrete references Conditional logic must be used to control the flow of power to a coil Coils cause action directly they do not pass power flow to the right If additional logic in the program should be executed as a result of the coil condition an internal reference should be used for tha
62. floating point numbers E 1 Using Real numbers E 1 references 2 20 Register Reference system registers 2 20 Register references analog inputs analog outputs 2 20 Relational functions 12 63 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L GFK 0467L contacts 4 1 continuation coil 4 8 continuation contact horizontal and vertical links 4 7 negated coil 4 4 negated retentive coil 4 4 negative transition coil 4 5 normally closed contact 4 3 normally open contact positive transition coil RESET coil 4 5 retentive coil 4 4 retentive RESET coil 4 6 retentive SET coil 4 6 SET coil RESET coil BE cu addition of or extra option module 3 8 Reset Watchdog Timer 12 48 Retentive coit 4 4 Retentive RESET coil Retentive SET coil Retentiveness of data 2 21 ROL 8 10 ROR 8 10 Rotate left function 8 10 Rotate right function S Scan time contributions for 35x and 36x series CPUs Scan input Scan output 2 8 Search array move function 10 2 Search greater than or equal function Search less than or equal function 10 6 Security system locking unlocking subroutines 2 38 passwords privilege level change requests 2 38 privilege levels 2 37 Sequential Event Recorder 12 9 See SER function SER function 12 8 Series 90 20 PLC I O system model 20 I O modules Serie
63. following e The Micro PLC has the CPU power supply inputs and outputs all built into one small device e Most models also have a high speed counter e Because the CPU power supply inputs and outputs all built into one device it is very easy to configure The software structure for the 341 and lower Series 90 30 PLCs and Series 90 20 PLC uses an architecture that manages memory and execution priority in the 80188 microprocessor The 35x and 36x series of 90 30 PLCs use an 80386EX microprocessor The Series 90 Micro PLC uses the H8 microprocessor This operation supports both program execution and basic housekeeping tasks such as diagnostic routines input output scanners and alarm processing The system software also contains routines to communicate with the programmer These routines provide for the upload and download of application programs return of status information and control of the PLC In the Series 90 30 PLC the application user logic program that controls the end process to which the PLC is applied is controlled by a dedicated Instruction Sequencer Coprocessor ISCP The ISCP is implemented in hardware in the Model 313 and higher and in software in the Model 311 systems and the Micro PLC The 80188 microprocessor and the ISCP can execute simultaneously allowing the microprocessor to service communications while the ISCP is executing the bulk of the application program however the microprocessor must execute the non Bool
64. from another 6 2 MUL Multiplication Multiply two numbers 6 2 DIV Division Divide one number by another yielding a 6 2 quotient MOD Modulo Division Divide one number by another yielding a 6 6 remainder SQRT Square Root Find the square root of an integer or real value 6 8 SIN COS TAN Trigonometric Functions Perform the appropriate function on the real 6 10 ASIN ACOS value in input IN ATAN LOG LN Logarithmic Exponential Perform the appropriate function on the real 6 12 EXP EXPT Functions t value in input IN RAD DEG Radian Conversion Perform the appropriate function on the real 6 14 value in input IN 1 Trigonometric Functions Logarithmic Exponential Functions and Radian Conversion functions are only available on the model 35x and 36x series CPUs Release 9 or later and on all releases of CPU352 Note Division and modulo division are similar functions which differ in their output division finds a quotient while modulo division finds a remainder 6 1 a Standard Math Functions ADD SUB MUL DIV Math functions include addition subtraction multiplication and division When a function receives power flow the appropriate math function is performed on input parameters I1 and I2 These parameters must be the same data type Output Q is the same data type as I1 and I2 Note DIV rounds down it does not round to the closest integer For example 24 DIV 5 4 Math functions operate on
65. generates this error when it attempts to comply with a request that requires backplane communications and receives a rejected mail response 1 Check the bus for abnormal activity 2 Replace the intelligent option module to which the request was directed 3 Check parallel programmer cable for proper attachment Error Code Name Description Correction All Others PLC CPU Internal System Error An internal system error has occurred that should not occur in a production system Display the PLC fault table on the programmer Contact GE Fanuc PLC Field Service giving them all the information contained in the fault entry Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Communications Failure During Store The Fault Group Communications Failure During Store occurs during the store of program blocks and other data to the PLC The stream of commands and data for storing program blocks and data starts with a special start of sequence command and terminates with an end of sequence command If communications with the programming device performing the store is interrupted or any other failure occurs which terminates the load this fault is logged As long as this fault is present in the system the controller will not transition to RUN mode This fault is not automatically cleared on power up the user must specifically order the condition to be cleared The fault action for
66. however the same password can be used for more than one level Passwords are one to four ASCII characters in length they can only be entered or changed with the programming software or the Hand Held Programmer A privilege level change is in effect only as long as communications between the PLC and the programmer are intact There does not need to be any activity but the communications link must not be broken If there is no communication for 15 minutes the privilege level returns to the highest unprotected level Upon connection of the PLC the programming software requests the protection status of each privilege level from the PLC The programming software then requests the PLC to move to the highest unprotected level thereby giving the programming software access to the highest unprotected level without having to request any particular level When the Hand Held Programmer is connected to the PLC the PLC reverts to the highest unprotected level GFK 0467L Chapter 2 System Operation 2 37 Privilege Level Change Requests A programmer requests a privilege level change by supplying the new privilege level and the password for that level A privilege level change is denied if the password sent by the programmer does not agree with the password stored in the PLC s password access table for the requested level The current privilege level is maintained and no change will occur If you attempt to access or modify information in the PLC using the
67. is too big to convert to 16 bit Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L a Example A common application is to scale analog input values with a MUL operation followed by a DIV and possibly an ADD operation With a range up to 32000 using a MUL INT will overflow Using an AI value for a MUL DINT will also not work as the 32 bit I1 will combine 2 analog inputs at the same time You must move the analog input to the low word of a double register then test the sign and set the second register to 0 if positive or 1 if it was negative Use the double register with the MUL DINT for a 32 product for the following DIV function For example the following logic could be used to scale a 10 volt input All to 25000 engineering units in RS l EN ALW ON 1 I MOVE MOVE LT lt gt l l l l l l l INT INT INT 1 AI0001 IN Q R0001 CONST IN Q R0002 R0001 I1 Ql LEN 00000 LEN 00001 00001 l _ i I CONST I2 00000 l l lt gt MOVE_ l l INT CONST IN Q R0002 00001 LEN 00001 l 1 l _ n ALW ON 1 1 I MUL DIV DINT DINT RO001 I1 Q R0003 R0003 I1 Q R0005 l l CONST 12 CONST 12 0000025000 0000032000 GFK 0467L Chapte
68. light stops flashing the CPU will remain in its original state STOP FAULT mode with faults in the fault table If you turn the Key Switch from the STOP to RUN position again at this time the process will be repeated with this being the first transition The following table provides a summary of how the two CPU parameter settings affecting the Key Switch R S Switch and IOScan Stop and the Key Switch s physical position affect PLC R S Key Switch IOScan Stop Parameter in CPU Key Switch Parameter in CPU Configuration Position Configuration PLC Operation OFF X X All PLC Programmer Modes are allowed ON ON RUN X All PLC Programmer Modes are allowed ON OFF STOP X PLC not allowed to go to RUN ON Toggle Key X PLC goes to RUN if no fatal faults are present Switch from otherwise the RUN LED blinks for 5 seconds OFF STOP to ON RUN ON Toggle Key NO PLC goes to STOP NO IO Switch from ON RUN to OFF STOP ON Toggle Key YES PLC goes to STOP IO Switch from ON RUN to OFF STOP X Has no effect regardless of setting Enhanced Memory Protect with Release 8 and Later CPUs In the Release 8 and later CPUs the Key Switch has all the functionality discussed above plus by setting a parameter in the programming package it can be used to protect RAM so that the RAM cannot be changed from the programming software Two types of operations are blocked when this memory protection is enabled the user progra
69. non nested and a nested form The non nested form has been available since Release 1 of the software and has the form LABELOI where LABELOI is the name of the corresponding non nested LABEL instruction For non nested JUMPs there can be only a single JUMP instruction for each LABEL instruction The JUMP can be either a forward or a backward JUMP The range for non nested JUMPs and LABELs cannot overlap the range of any other JUMP LABEL pair or any MCR ENDMCR pair of instructions Non nested JUMPs and their corresponding LABELs cannot be within the scope of any other JUMP LABEL pair or any MCR ENDMCR pair In addition an MCR ENDMCR pair or another JUMP LABEL pair cannot be within the scope of a non nested JUMP LABEL pair Note The non nested form of the JUMP instruction is the only JUMP instruction that can be used in a Release 1 Series 90 30 PLC The nested JUMP function can be used and is suggested for use for all new applications Also please note that the 35x and 36x series CPUs support only nested jumps Non nested jumps are not supported on 35x and 36x series CPUs The nested form of the JUMP instruction has the form N gt gt LABELO1 where LABELO is the name of the corresponding nested LABEL instruction It is available in Release 2 and later releases of Logicmaster 90 30 20 Micro software and PLC firmware A nested JUMP instruction can be placed anywhere within a program as long as it doe
70. parameter Q l l constant value IN2 l l constant value IN3 constant value IN4 l l constant value IN5 constant value IN6 l l constant value IN7 I I Parameter Description enable When the function is enabled the block move is performed IN1 IN7 INI through IN7 contain seven constant values ok The ok output is energized whenever the function is enabled Q Output Q contains the first integer of the moved array IN1 is moved to Q Chapter 9 Data Move Functions 9 5 Valid Memory Types Example Parameter flow I WQ M T S G R WAI AQ const none enable INI IN7 ok Q ot Note For REAL data the only valid types are R AL and AQ e Valid reference for place where power may flow through the function o Valid reference for WORD data only not valid for INT or REAL T SA SB SC only 96S cannot be used Note Floating Point capabilities exist only on 35x and 36x series CPUs Release 9 or later or on all releases of CPU352 These 90 30 CPUs are the only ones capable of BLKMV REAL In the following example when the enabling input represented by the nickname FST_SCN is ON the BLKMOV function copies the seven input constants into memory locations R0010 through ROO16 FST_SCN Series 90 30 20 Micr
71. reference or place where power may flow through the function In the following example when input 10002 is set and no errors exist the integer at input location 10017 through 10032 is converted to four BCD digits and the result is stored in memory locations Q0033 through Q0048 Coil Q1432 is used to verify successful conversion 1510002 01432 INT C TO BCD4 10017 IN Q Q0033 __ Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L gt INT BCD 4 REAL The Convert to Signed Integer function is used to output the integer equivalent of BCD 4 or REAL data The original data is not changed by this function Note The REAL data type is only available on 35x and 36x series CPUs Release 9 or later or on all releases of CPU352 When the function receives power flow it performs the conversion making the result available via output Q The function always passes power flow when power is received unless the data is out of range enable HIEW I ok TO INT value to be converted IN Q output parameter Q Parameters Parameter Description enable When the function is enabled the conversion is performed IN IN contains a reference for the BCD 4 REAL or Constant value to be converted to integer ok The ok output is energized whenever enable is energized unless the data is out of range or NaN No
72. reset by a retentive RESET coil Retentive SET coils write an undefined result to the transition bit for the given reference Refer to the information on Transitions and Overrides in chapter 2 System Operation Retentive RESET Coil RM This coil sets a discrete reference OFF if it receives power flow The reference remains OFF until set by aretentive SET coil The state of this coil is retained across power failure or when the PLC transitions from STOP to RUN mode Retentive RESET coils write an undefined result to the transition bit for the given reference Refer to the information on Transitions and Overrides in chapter 2 System Operation Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Links Horizontal and vertical links are used to connect elements of a line of ladder logic between functions Their purpose is to complete the flow of logic power from left to right in a line of logic Note You can not use a horizontal link to tie a function or coil to the left power rail You can however use S7 the AWL_ON always on system bit with a normally open contact tied to the power rail to call a function every sweep Example In the following example two horizontal links are used to connect contacts E2 and ES A vertical link is used to connect contacts E3 E6 E7 E8 and E9 to E2 E2 E5 El A Y b E3 E6 E7 I II 1
73. same parameter block references 0 disabled 1 enabled address current timer value address 1 If word address 1 contains the hexadecimal value FFFF no timer value has ever been programmed Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L GFK 0467L Example This example shows logic in a program block When enabling contact OV SWP is set the constant sweep timer is read the timer is increased by two milliseconds and the new timer value is sent back to the PLC The parameter block is in local memory at location R3050 Because the MOVE and ADD functions require three horizontal contact positions the example logic uses discrete internal coil MO001 as a temporary location to hold the successful result of the first rung line On any sweep in which OV SWP is not set 70M0001 is turned off OV SWP M0001 1 MOVE_ SVC_ ADD C WORD REQ INT CONST IN Q R3050 CONST FNC R3051 I1 Q R3051 0003 LEN 0001 0001 R3050 PARM CONST I2 0002 MOOOL MOVE_ SVC_ WORD REQ CONST IN Q R3050 CONST FNC 0001 LEN 0001 0001 R3050 PARM Chapter 12 Control Functions 12 35 SVCREQ 2 Read Window Values Use SVCREQ function 2 to obtain the current window mode time values for the programmer communications window the system communications window and the background task window
74. sample are recorded The trigger sample will be recorded regardless of the number of samples taken Once triggered the event recorder continues sampling until the Number of Samples After Trigger is satisfied at which time it stops collecting samples until power flow is seen on the reset input If Trigger Mode is set to Full Buffer the trigger signal is ignored For information on configuring Trigger Mode see Function Control Block on page 12 10 Starting Reference The 78 word function control block array begins at this reference The function control block defines function block execution sample configuration and operation parameters For details see Function Control Bloc on page 12 10 ok The ok output is energized when the trigger conditions are satisfied specified by the Trigger Mode parameter and all sampling is complete The output continues to receive power flow regardless of the state of the enable input until the reset receives power flow Valid Memory Types Parameter flow I Q M T S G P R WAI AQ const none enable Control Block R T ok e Valid reference or place where power can flow through the function GFK 0467L Chapter 12 Control Functions 12 9 12 10 Function Control Block The function control block is a 78 word array that defines information about the data capture and trig
75. should be less than 0 2 seconds or 0 4 seconds worst case On the other hand the Sample Period should not be too small such as less than the total time constant divided by 1000 or the Ki Error dt term for the PID integrator will round down to 0 For example a very slow process that takes 10 hours or 36000 seconds to reach the 63 level should have a Sample Period of 40 seconds or longer Unless the process is very fast it is not usually necessary to use a Sample Period of 0 to solve the PID algorithm every PID sweep If many PID loops are used with a Sample Period greater than the sweep time there may be wide variations in PLC sweep time if many loops end up solving the algorithm at the same time The simple solution is to sequence a one or more bits through an array of bits set to 0 that is being used to enable power flow to individual PID blocks GFK 0467L Chapter 12 Control Functions 12 81 Determining the Process Characteristics The PID loop gains Kp Ki and Kd are determined by the characteristics of the process being controlled Two key questions when setting up a PID loop are 1 How big is the change in PV when CV changes by a fixed amount or what is the open loop gain 2 How fast does the system respond or how quick does PV change after the CV output is stepped Many processes can be approximated by a process gain first or second order lag and a pure time delay In the frequency domain the transfer function for a
76. sweep time exceeded PLC fault group B 4 program on power up 3 12 PLC fault table PLC fault table explanations 3 7 program block checksum failure 3 10 corrupted user fault category fault description fault handling 3 2 references 3 4 fault type 3 16 reset of addition of or extra option module 3 8 I O fault group system configuration mismatch 3 9 I O fault table system reaction to faults 3 3 I O fault table explanations 3 16 Faults interpreting B 1 interpreting a fault B 1 Flash protection on 35x and 36x series CPUs loss of I O module loss of or missing option module 3 8 low battery signal 3 10 no user program present 3 12 non configurable faults option module software failure 3 10 GFK 0467L Index Index 3 Index Index 4 Floating point numbers E 1 entering and displaying floating point numbers errors in floating point numbers and operations Es internal format of floating point numbers E 3 values of floating point numbers Function block parameters 2 28 Function block structure 2 26 format of program function blocks 2 26 format of relays 2 26 function block parameters 2 28 power flow 2 G Genius Global Data 2 43 Global data 2 43 Global data references Greater than function Greater than or equal function 7 1 ar 7 1 H Horizontal SE Housekeeping 2 7 HRD_CPU 2 24 HRD_FLTJ2 25 HRD_SIO I O data for
77. the DO I O DOIO function is available for Release 4 20 or later of Models 331 and later CPUs This enhanced version of the DOIO function can only be used on a single discrete input or discrete output 8 point 16 point or 32 point module The ALT parameter identifies the slot in the main rack that the module is located in For example a constant value of 2 in this parameter indicates to the CPU that it is to execute the enhanced version of the DOIO function block for the module in slot 2 Note The only checking done by the enhanced DOIO function block is to check the state of the module in the slot specified to see if the module is okay The enhanced DOIO function only applies to modules located in the main rack Therefore the ALT parameter must be between 2 and 5 for a 5 slot rack or 2 and 10 for a 10 slot rack The start and end references must be either I or Q These references specify the first and last reference the module is configured for For example if a 16 point input module is configured at 2010001 through 9610016 in slot 10 of a 10 slot main rack the ST parameter must be 2610001 the END parameter must be 2610016 and the ALT parameter must be 10 as shown below 10001 I pno 1o 10001 ST 10016 END Q0001 The following table compares the execution times of a normal DOIO function block for an 8 point 16 point or 32 point discrete inpu
78. the communications request is performed IN IN contains the first word of the command block SYSID SYSID contains the rack number most significant byte and slot number least significant byte of the target device TASK TASK contains the task ID of the process on the target device FT FT is energized if an error is detected processing the COMMREQ Valid Memory Types Parameter flow I Q M T S G R WAI AQ const none enable IN SYSID T ASK FT e Valid reference or place where power may flow through the function GFK 0467L Chapter 9 Data Move Functions 9 15 Example In the following example when enabling input 70M0020 is ON a command block located starting at KR0016 is sent to communications task 1 in the device located at rack 1 slot 2 of the PLC If an error occurs processing the COMMREQ Q0100 is set LI M0020 I II COMM_ REQ Q0100 ROOL6 IN FT y CONST SYSID CONST TASK 0102 00001 J Note For systems that do not have expansion racks the SYSID must be zero for the main rack Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Chapter 10 GFK 0467L Table Funct
79. these types of data Data Type Description INT Signed integer DINT Double precision signed integer REAL Floating Point Note The REAL data type is only available on 35x and 36x series CPUs Release 9 or later or on all releases of CPU352 The default data type is signed integer however it can be changed after selecting the function For more information on data types please refer to chapter 2 section 2 Program Organization and User References Data If the operation of INT or DINT results in overflow the output reference is set to its largest possible value for the data type For signed numbers the sign is set to show the direction of the overflow If the operation does not result in overflow and the inputs are valid numbers the ok output is set ON otherwise it is set OFF If signed or double precision integers are used the sign of the result for DIV and MUL functions depends on the signs of I1 and D2 enable HEMNE ok INT l l input parameter I1 I1 Q output parameter Q l l l l input parameter I2 I2 6 2 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Parameters Parameter Description enable When the function is enabled the operation is performed Il Il contains a constant or reference for the first value used in the operation 11 is on the left side of the mathematical equation as in
80. this group is Fatal Correction Clear the fault and retry the download of the program or configuration file GFK 0467L Chapter 3 Fault Explanation and Correction 3 15 Section 3 I O Fault Table Explanations The I O fault table reports data about faults in three classifications e Fault category e Fault type e Fault description The faults described on the following page have a fault category but do not have a fault type or fault group Each fault explanation contains a fault description and instructions to correct the fault Many fault descriptions have multiple causes In these cases the error code displayed with the additional fault information obtained by pressing CTRL F is used to distinguish different fault conditions sharing the same fault description For more information about using CTRL F refer to Appendix B Interpreting Fault Tables in this manual The Fault Category is the first two hexadecimal digits in the fifth group of numbers as shown in the following example 02 1F0100 00030101FF7F 0302 0200 84000000000003 Fault Category first two hex digits in fifth group The following table enables you to quickly find a particular I O fault explanation in this section Each entry is listed as it appears on the programmer screen Loss of I O Module The Fault Category Loss of I O Module applies to Model 30 discrete and analog I O modules There are no fault types or fault descriptions associa
81. to all Series 90 30 output modules Logic Program Checksum Calculation A checksum calculation is performed on the user program at the end of every sweep Since it would take too long to calculate the checksum of the entire program you can specify the number of words from 0 to 32 to be checked on the CPU detail screen If the calculated checksum does not match the reference checksum the program checksum failure exception flag is raised This causes a fault entry to be inserted into the PLC fault table and the PLC mode to be changed to STOP If the checksum calculation fails the programmer communications window is not affected The default number of words to be checksummed is 8 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Programmer Communications Window This part of the sweep is dedicated to communicating with the programmer If there is a programmer attached the CPU executes the programmer communications window The programmer communications window will not execute if there is no programmer attached and no board to be configured in the system Only one board is configured each sweep Support is provided for the Hand Held Programmer and for other programmers that can connect to the serial port and use the Series Ninety Protocol SNP protocol Support is also provided for programmer communications with intelligent option modules In the default limited window mode the CPU performs one operation f
82. without error Valid Memory Types Parameter flow I WQ M T S G R WAI AQ const none enable FNC PARM ok Valid reference or place where power can flow through the function Chapter 12 Control Functions 12 31 Example In the following example when the enabling input 9610001 is ON SVCREQ function number 7 is called with the parameter block located starting at R0001 Output coil Q0001 is set ON if the operation succeeds Q0001 10001 I II 1 1 Svc REQ CONST FNC 00007 R0001 PARM 12 32 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L SVCREQ 1 Change Read Constant Sweep Timer GFK 0467L Beginning with 90 30 CPU Release 8 use SVCREQ function 1 to e Disable CONSTANT SWEEP mode e Enable CONSTANT SWEEP mode and use the old timer value e Enable CONSTANT SWEEP mode and use a new timer value e Set a new timer value only e Read CONSTANT SWEEP mode state and timer value Note Of the CPUs discussed in this manual Service Request 1 is supported only by 90 30 CPUs beginning with Release 8 0 The parameter block has a length of two words To disable CONSTANT SWEEP mode enter SVCREQ function 1 with this parameter block 0 address To enable CONSTANT SWEE
83. 0 24 34 987 8 0 and 500 Initially 70AQ0001 is 5 When EN is ON each sweep will search the array looking for a match to the IN value of 0 The first sweep will start searching at AI0006 and find a match at AI0007 so FD is ON and 26AQ0001 is 7 The second sweep will start searching at AIO008 and find a match at 6AI0015 so FD remains ON and 6AQ0001 is 15 The next sweep will start at AI0016 Since the end of the array is reached without a match FD is set OFF and 0AQ0001 is set to zero The next sweep will start searching at the beginning of the array 10001 l I II I ISRCH_ EO INT AI0001 AR FD LEN 00016 AQ0001 NX NX AQ0001 CONST IN 0000 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 M0001 GFK 0467L Chapter Conversion Functions I1 Use the conversion functions to convert a data item from one number type to another Many programming instructions such as math functions must be used with data of one type This section describes the following conversion functions Abbreviation Function Description Page BCD 4 Convert to BCD 4 Convert a signed integer to 4 digit BCD 11 2 format INT Convert to Signed Integer Convert BCD 4 or REAL to signed integer 11 3 DINT Convert to Double Precision Convert REAL to double precision signed 11 5 Sign
84. 0 Powet p PRAA ele uiti 2 30 POWer DOWD 3 eet fd aet e e hi d e e f ees 2 33 Section 4 Clocks and TIMErS ccscccccccssusesscnccssccnsvscsecusdsssvenscsncacactonsecssvondsesces 2 34 Elapsed Time Clock eee dee ee mes 2 34 Time of Day Clock iii nc RR eR Oba false Ode Sdn epe dn Ode Suan Pee Bae 2 34 Watchdog Timer it epe hp pedea pe e eb e e eb o e peo bete 2 35 Elapsed Power Down Timer ccccnooocccnnnoncnccnononcnonononnnocnnnnnnncnnnnnnccnnnn nono enne enne 2 35 vii Contents Chapter 3 viii Constant S weep Duet oi eee e e ee aerea Rd gae Celi ee eta 2 35 Tame Tick Conta E E 2 36 Section 5 System Security cuire ee retenu orn Fa th na rav Ron Ia UE Ie vie E Re NR Eo eaa a RE 2 37 PaSSWOFPQS A autom on aae mec aiu Maca oc ar Ma arare Maced aum an ut EAA ANN 2 37 Privilege Level Change Requests snene rear eneret ae irea Se Eea TEES a Eii 2 38 Locking Unlocking Subroutines seen 2 38 Permanently Locking a Subroutine cooooocccnnnnccccnnonocnncnnnoncnonononanononnnanocnnnncnncnnnnnss 2 38 Section 6 Series 90 30 90 20 and Micro I O System 2 39 Series 90 30 I O Modul s 2 5 o Pee Ree des 2 40 T ODatasFOPInatsz td 2 42 Default Conditions for Series 90 30 Output Modules eene 2 42 Diagnostic Data eee Eu 2 42 Global Data E E aii 2 43 Genius Global Data 25 5 Lese erts eei ee eER INTRO Seo tes 2 43 Ethernet Communications
85. 00 0 lt 0 OFF ON 500 0 0 500 ON ON 500 0 gt 500 OFF OFF 500 0 Not Applicable OFF Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Chapter S GFK 0467L Bit Operation Functions Bit operation functions perform comparison logical and move operations on bit strings The AND OR XOR and NOT functions operate on a single word The remaining bit operation functions may operate on multiple words with a maximum string length of 256 words All bit operation functions require WORD data Although data must be specified in 16 bit increments these functions operate on data as a continuous string of bits with bit 1 of the first word being the Least Significant Bit LSB The last bit of the last word is the Most Significant Bit MSB For example if you specified three words of data beginning at reference RO100 it would be operated on as 48 contiguous bits 7R0100 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 bit1 LSB RO0101 32 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 R0102 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33 T MSB Note Overlapping input and output reference address ranges in multi word functions may produce unexpected results 8 2 The following bit operation functions are described in this chapter
86. 0001 turns on The output is turned on again 0 3 seconds after the input goes off Z s I0001 l Q0001 I II OFDT TT 0 10s CONST PV 400003 l SR00019 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L UPCTR The Up Counter UPCTR function is used to count up to a designated value The range is 0 to 32 767 counts When the up counter reset is ON the current value of the counter is reset to 0 Each time the enable input transitions from OFF to ON the current value is incremented by 1 The current value can be incremented past the preset value PV The output is ON whenever the current value is greater than or equal to the preset value The state of the UPCTR is retentive on power failure no automatic initialization occurs at power up enable Q l l l reset R I I preset value PV I __ address Parameters Parameter Description address The UPCTR uses three consecutive words registers of R memory to store the following Current value CV word 1 Preset value PV word 2 Control word word 3 When you enter an UPCTR you must enter an address for the location of these three consecutive words registers directly below the graphic representing the function Note Do not use this address with another up counter down counter or any other instruction or impro
87. 0898 IC693MDL630 24 VDC Positive Logic GFK 0898 IC693MDL632 125 VDC Positive Negative Logic GFK 0898 IC693MDL633 24 VDC Negative Logic GFK 0898 IC693MDL634 24 VDC Positive Negative Logic GFK 0898 IC693MDL640 16 24 VDC Positive Logic GFK 0898 IC693MDL641 16 24 VDC Negative Logic GFK 0898 IC693MDL643 16 24 VDC Positive Logic FAST GFK 0898 IC693MDL644 16 24 VDC Negative Logic FAST GFK 0898 IC693MDL645 16 24 VDC Positive Negative Logic GFK 0898 IC693MDL646 16 24 VDC Positive Negative Logic FAST GFK 0898 IC693MDL652 32 24 VDC Position Negative Logic GFK 0898 IC693MDL653 32 24 VDC Positive Negative Logic FAST GFK 0898 IC693MDL654 32 5 12 VDC TTL Positive Negative Logic GFK 0898 IC693MDL655 32 24 VDC Positive Negative Logic GFK 0898 IC693ACC300 8 16 Input Simulator GFK 0898 2 40 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Table 2 8 Series 90 30 I O Modules Continued Catalog Pub Number Points Description Number Discrete Modules Output IC693MDL310 12 120 VAC 0 5A GFK 0898 IC693MDL330 8 120 240 VAC 2A GFK 0898 IC693MDL340 16 120 VAC 0 5A GFK 0898 IC693MDL390 5 120 240 V AC Isolated 2A GFK 0898 IC693MDL730 8 12 24 VDC Positive Logic 2A GFK 0898 IC693MDL731 8 12 24 VDC Negative Logic 2A GFK 0898 IC693MDL732 8 12 24 VDC Positive Logic 0 5A GFK 0898 IC693MDL733 8 12 24 VDC Negative Logic 0 5A GFK 0898 IC693MDL734 6 125 VDC Positive Negative Logic 2A GFK 089
88. 1 CV 16 Non configurable set and maintained by the PLC Tracks CV out PV 17 Non configurable set and maintained by the PLC Tracks PV in must be set externally if Override bit 1 Output 18 Non configurable set and maintained by the PLC This is a signed word value representing the output of the function block before the application of the optional inversion If no output inversion is configured and the output polarity bit in the control word is set to 0 this value will equal the CV output If inversion is selected and the output polarity bit is set to 1 this value will equal the negative of the CV output Diff Term Used internally for storage of intermediate values Do not write to this location Storage 19 Int Term Used internally for storage of intermediate values Do not write to this location Storage 20 21 Slew Term Used internally for storage of intermediate values Do not write to this location Storage 22 Clock 23 25 Internal elapsed time storage time last PID executed Do not write to these locations Y Remainder 26 Holds remainder for integrator division scaling for 0 steady state error Lower and Optional INT values in PV Counts that define the highest and lowest display value for the SP and PV Upper Range Logicmaster Zoom key horizontal bar graph and ADS PID faceplate display 27 28 Reserved 29 34 29 34 are reserved for internal use 35 39 are reserved for external use They are reserved for GE Fanuc an
89. 113 will contain the Manual Command used to set the Control Variable and the integrator in Manual mode Table 12 8 PID Parameters Overview Register Parameter Low Bit Units Range of Values Ref 0000 Loop Number Integer 0 to 255 for user display only Ref 0001 Algorithm N A set and maintained by the Non configurable PLC Ref 0002 Sample Period 10 milliseconds 0 every sweep to 65535 10 9 Min Use at least 10 for 90 30 PLCs see Note on page 12 71 Ref 0003 Dead Band PV Counts 0 to 32000 never negative Ref 0004 Dead Band PV Counts 32000 to 0 never positive Ref 0005 Proportional Gain Kp 0 01 CV PV 0 to 327 67 Ref 0006 Derivative Gain Kd 0 01 seconds 0 to 327 67 sec Ref 0007 Integral Rate Ki Repeat 1000 Sec 0 to 32 767 repeat sec Ref 0008 CV Bias Output Offset CV Counts 32000 to 32000 add to integrator output Ref 0009 Upper Clamp CV Counts 32000 to 32000 gt Ref 10 output limit Ref 0010 Lower Clamp CV Counts 32000 to 32000 lt Ref 09 output limit Ref 0011 Minimum Slew Time Second Full 0 none to 32000 sec to move 32000 CV Travel Ref 0012 Config Word Low 5 bits used Bit 0 to 2 for Error OutPolarity Deriv Ref 0013 Manual Command CV Counts Tracks CV in Auto or Sets CV in Manual Ref 0014 Control Word Maintained by the PLC maintained unless set otherwise low PLC unless Bit 1 bit sets Override if 1 see descr
90. 2 The write data function writes a data value between 0 and 15 from the parameter block to one or more modules specified by a list in the parameter block The parameter block requires N 4 words of reference memory where N is the number of modules to which the data will be written Table 12 6 Output Values for Write Data Function Location Field Meaning Address Function 2 write data Address 1 Error Code An error code is placed here if the function fails because any of the modules is not present inappropriate or not working No error code is set if the function executes but any of the modules does not receive the write data properly For details see Error Codes on page 12 69 Address 2 Error rack amp slot The rack amp slot number at which the error occurred Address 3 First rack amp slot Rack and slot number in the form RRSS in hexadecimal where RR is the rack number and SS is the slot number of the 1st module to which the data will be sent Address 4 Write data for first module This data value will be written to the first module Address 5 Second rack amp slot Rack and slot number in the form RRSS in hexadecimal where RR is the rack number and SS is the slot number of the 2nd module to which the data will be sent Address 6 Write data for second module This data value will be written to the second module Address
91. 2 output Q is energized Greater Than When enabled if the value at input I1 is greater than or equal to the value at input I2 or Equal output Q is energized Less Than When enabled if the value at input I1 is less than the value at input I2 output Q is energized Less Than When enabled if the value at input I1 is less than or equal to the value at input 12 output or Equal Q is energized Valid Memory Types Example GFK 0467L Parameter flow I Q M T S G R AI WAQ const none enable n o o o o e D o o o o e Q Valid reference or place where power may flow through the function Valid reference for INT data only not valid for DINT or REAL Constants are limited to integer values for double precision signed integer operations In the following example two double precision signed integers PWR_MDE and BIN_FUL are compared whenever 9610001 is set If PWR MDE is less than or equal to BIN_FUL coil Q0002 is turned on a 10001 Ii 1 LE_ DINT Q0002 PWR E Ql Chapter 7 Relational Functions 7 3 RANGE INT DINT WORD The RANGE function is used to determine if a value is between the range of two numbers Note This function is available only to Release 4 41 or later CPUs The RANGE function operates on these types of data Data Type D
92. 20 3 83 3 86 4 48 2 48 19 DINT 206 168 135 87 79 38 38 19 8 62 8 60 1 36 4 88 19 BYTE 181 143 119 75 80 38 37 20 3 44 3 44 3 75 2 00 19 WORD 199 159 124 84 78 38 36 20 3 83 3 86 4 45 2 48 19 Search Less Than Equal INT 200 158 124 82 79 38 37 21 3 79 3 90 4 45 2 55 19 DINT 207 167 137 88 78 39 37 19 8 60 8 61 9 01 4 86 19 BYTE 180 143 119 74 78 40 37 19 3 46 3 44 3 73 2 02 19 WORD 200 158 3 79 3 90 4 45 2 55 Conversion Convert to INT 74 46 42 Convert to BCD 4 TT 42 Notes 1 Time in microseconds is based on Release 5 01 of Logicmaster 90 30 20 software for Models 311 313 340 and 341 CPUs Release 7 for the 331 For table functions increment is in units of length specified for bit operation functions microseconds bit for data move functions microseconds number of bits or words Enabled time for single length units of type R AI and AQ COMMREQ time has been measured between CPU and HSC DOIO is the time to output values to discrete output module Where there is more than one possible case the time indicated above represents the worst possible case For instructions that have an increment value multiply the increment by Length 1 and add that value to the base time ee PE A A 4 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Function Table A 1 Instruction Timing Standard Models C ontinued Disabled Increment
93. 22 1 10 7 Read 75 1 75 1 10 7 Set 75 1 75 1 10 14 121 1 121 1 10 1 46 1 10 16 36 1 36 1 10 18 261 1 261 1 10 23 426 0 426 0 10 26 30 2260 1 2260 1 10 0 a a A Nested MCR ENDMCR Combined Sequential Event See Table 26 50 See Table A 3 Recorder SER A 3 The PID times shown above are based on the 6 5 release of the 351 CPU 15 46 tt vo N l N l o Service request 26 30 was measured using a high speed counter 16 point output in a 5 slot rack Notes 1 Time in microseconds is based on Release 7 of Logicmaster 90 30 20 Micro software for 350 and 360 Series CPUs 2 For table functions increment is in units of length specified for bit operation functions microseconds bit for data move functions microseconds number of bits or words Enabled time for single length units of type R AI and AQ COMMREQ time has been measured between CPU and HSC DOIO is the time to output values to discrete output module Where there is more than one possible case the time indicated above represents the worst possible case For instructions that have an increment value multiply the increment by Length 1 and add that value to the base time ADM PW GFK 0467L Appendix A Instruction Timing A 9 A 10 Table A 3 SER Function Block Timing Configuration Example Time usec No power flow d
94. 255 ms address 12 38 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Example In the following example when 6M0125 transitions on the programmer communications window is enabled and assigned a value of 25 ms The parameter block is in memory location 6R5051 10001 M0125 Lg T M0125 T0002 I MOVE SVC C INT REQ CONST IN Q R5051 CONST FNC 00025 LEN 00003 0001 R5051 PARM To disable the programmer communications window use Service Request 3 to assign a value of zero 0 In this example when 6M0126 transitions on the programmer communications window is enabled and assigned a value of O ms The parameter block is in memory location 6R5051 10002 M0126 Lg M M0126 T0002 MOVE_ SVC C INT REO CONST IN Q R5051 CONST FNC 00000 LEN 00003 0001 Il R5051 PARM GFK 0467L Chapter 12 Control Functions 12 39 SVCREQ 4 Change System Comm Window Mode and Timer Value Use SVCREQ function 4 to change the system communications window mode and timer value The change will occur in the CPU sweep following the sweep in which the function is called Note Of the CPUs discussed in this manual Service Request 4 is supported only by 90 30 CPUs beginning with Release 8 0 The SVCREQ function 4 will pas
95. 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Constant Sweep Time Exceeded The Fault Group Constant Sweep Time Exceeded occurs when the PLC CPU operates in CONSTANT SWEEP mode and it detects that the sweep has exceeded the constant sweep timer The fault extra data contains the actual time of the sweep in the first two bytes and the name of the program in the next eight bytes The fault action for this group is Diagnostic Correction 1 Increase constant sweep time 2 Remove logic from application program Application Fault The Fault Group Application Fault occurs when the PLC CPU detects a fault in the user program The fault action for this group is Diagnostic except when the error is a Subroutine Call Stack Exceeded in which case it is Fatal Error Code 7 Name Subroutine Call Stack Exceeded Description Subroutine calls are limited to a depth of 8 A subroutine can call another subroutine which in turn can call another subroutine until 8 call levels are attained Correction Modify program so that subroutine call depth does not exceed 8 Error Code 1B Name CommReq Not Processed Due To PLC Memory Limitations Description No wait communication requests can be placed in the queue faster than they can be processed e g one per sweep In a situation like this when the communication requests build up to the point that the PLC has less than a minimum amount of memory avai
96. 5 8 ONDTR time tick contacts 2 36 TMR 5 5 Watchdog timer 2 35 Time tick contacts 2 36 Timing instruction high performance models A 6 SER standard models A 2 TMR 5 5 Transitions 2 21 Troubleshooting 3 1 accessing additional fault information 3 6 LO fault table 3 5 VO fault table explanations interpreting a fault non configurable faults PLC fault table 3 5 PLC fault table explanations 3 7 TRUN 11 11 Truncate function 11 11 U Up counter 5 11 UPCTR 5 11 User references analog inputs 2 20 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L GFK 0467L analog outputs 2 20 discrete inputs discrete internal discrete outputs 2 20 discrete references discrete temporary 2 20 global data 2 21 register references system references system registers system status Vertical link 4 7 VIEWLOCK Watchdog timer 2 35 Window programmer communications window 2 9 WworD 2 22 11 9 X XOR 8 5 Index Index Index 9
97. 8 IC693MDL740 16 12 24 VDC Positive Logic 0 5A GFK 0898 IC693MDL741 16 12 24 VDC Negative Logic 0 5A GFK 0898 IC693MDL742 16 12 24 VDC Positive Logic 1A GFK 0898 IC693MDL750 32 12 24 VDC Negative Logic GFK 0898 IC693MDL751 32 12 24 VDC Positive Logic 0 3A GFK 0898 IC693MDL752 32 5 24 VDC TTL Negative Logic 0 5A GFK 0898 IC693MDL753 32 12 24 VDC Positive Negative Logic 0 5A GFK 0898 IC693MDL930 8 Relay N O 4A Isolated GFK 0898 IC693MDL931 Relay BC Isolated GFK 0898 IC693MDL940 16 Relay N O 2A GFK 0898 Input Output Modules IC693MDR390 8 8 24 VDC Input Relay Output GFK 0898 IC693MAR590 8 8 120 VAC Input Relay Output GFK 0898 Analog Modules IC693ALG220 4ch Analog Input Voltage GFK 0898 IC693ALG221 4ch Analog Input Current GFK 0898 IC693ALG222 16 Analog Input Voltage GFK 0898 IC693ALG223 16 Analog Input Current GFK 0898 IC693ALG390 2ch Analog Output Voltage GFK 0898 IC693ALG391 2ch Analog Output Current GFK 0898 IC693ALG392 8ch Analog Output Current Voltage GFK 0898 IC693ALG442 4 2 Analog Current Voltage Combination Input Output GFK 0898 Chapter 2 System Operation 2 41 Table 2 8 Series 90 30 I O Modules Continued Catalog Pub Number Description Number Option Modules IC693APU300 High Speed Counter GFK 0293 IC693APU301 Power Mate APM Module 1 Axis Follower Mode GFK 0781 IC693APU301 Power Mate APM Module 1 Axis Standard Mode GFK 0840 IC693APU302 Power Mate APM Module 2 A
98. 8 12 Low battery signal Diagnostic 19 13 Constant sweep time exceeded Diagnostic 20 14 PLC system fault table full Diagnostic 21 15 T O fault table full Diagnostic 22 16 User Application fault Diagnostic Additional PLC fault codes As specified 128 80 System bus failure Fatal 129 81 No user s program on power up Informational 130 82 Corrupted user RAM detected Fatal 132 84 Password access failure Informational 135 87 PLC CPU software failure Fatal 137 89 PLC sequence store failure Fatal B 4 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Fault Action Each fault may have one of three actions associated with it These fault actions are fixed on the Series 90 30 PLC and cannot be changed by the user Table B 2 PLC Fault Actions Fault Action Action Taken by CPU Code Informational Log fault in fault table 1 Diagnostic Log fault in fault table 2 Set fault references Fatal Log fault in fault table 3 Set fault references Go to STOP mode Error Code The error code further describes the fault Each fault group has its own set of error codes Table B 3 shows error codes for the PLC Software Error Group Group 87H Table B 3 Alarm Error Codes for PLC CPU Software Faults Decimal Hexadecimal Name 20 14 Corrupted PLC Program Memory 39 27 Corrupted PLC Program Memory 82 52 Backplane Communications Failed 90 SA User Shut Down Requested All others P
99. 9 error code description and correction Communication request function 9 14 error code description and correction Communication window modes 2 14 Communications failure during store Index 1 Index Index 2 Communications with the PLC 2 12 Configuration 2 44 Configuration mismatch system Constant sweep time exceeded Constant sweep time mode Constant sweep timer 2 35 Contacts Continuation contact normally closed contact normally open contact Continuation coil Continuation contact Control functions Sequential Event Recorder 12 9 SER 12 8 SVCREQ 12 30 Conversion functions 11 1 WORD 11 9 Convert to BCD 4 function 11 2 Convert to double precision signed integer function 11 5 Convert to Real function 11 7 Convert to signed integer function 11 3 Convert to Word function 11 9 Corrupted memory Corrupted user program on power up 3 12 COS 6 10 Cosine function 6 10 Counters DNCTR 5 12 function block data 5 1 UPCTR CPU sweep CTRL keys D Data move functions 9 1 BITSEQ49 11 BLKCLR 9 7 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 BLKMOV COMMREQ 9 14 MOVE SHFR 9 8 Data retentiveness Data types Defaults conditions for Model 30 output modules 2 42 DEG 6 14 Diagnostic data 2 42 Diagnostic faults addition of O module 3 17 application fault 3 11 constant
100. 9 12 58 SVCREQ 16 Read Elapsed Time Clock GFK 0467L Use the SVCREQ function with function number 16 in order to read the value of the system s elapsed time clock This clock tracks elapsed time in seconds since the PLC powered on The timer will roll over approximately once every 100 years This function has an output parameter block only The parameter block has a length of 3 words seconds from power on low order address seconds from power on high order address 1 100 microsecond ticks address 2 The first two words are the elapsed time in seconds The last word is the number of 100 microsecond ticks in the current second Example In the following example when internal coil M0233 is on the value of the elapsed time clock is read and coil M0234 is set When it is off the value is read again The difference between the values is then calculated and the result is stored in register memory at location R0250 The parameter block for the first read is at RO127 for the second read at R0131 The calculation ignores the number of hundred microsecond ticks and the fact that the DINT type is actually a signed value The calculation is correct until the time since power on reaches approximately 50 years IL M0233 M0234 SSS EN a MMMM S CONST FNC 00016 R0127 PARM M0233 M0234 M0234
101. 90 30 20 Micro Programming Software User s Manual GFK 0466 B 1 B 2 The following diagram identifies each field in the fault entry for the System Configuration Mismatch fault displayed above 00 000000 000373F2 0B03 0100 000000000000000000047EDC0B0301000000000000000000 Fault Extra Data Error Code Fault Action Fault Group Task Sot Rack Spare Long Short Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L The System Configuration Mismatch fault entry is explained below All data is in hexadecimal Field Value Description Long Short 00 This fault contains 8 bytes of fault extra data Rack 00 Main rack rack 0 Slot 03 Slot 3 Task 44 Fault Group OB System Configuration Mismatch fault Fault Action 03 FATAL fault Error Code 01 The following paragraphs describe each field in the fault entry Included are tables describing the range of values each field may have Long Short Indicator This byte indicates whether the fault contains 8 bytes or 24 bytes of fault extra data Type Code Fault Extra Data Short 00 8 bytes Long 01 24 bytes Spare These six bytes are pad bytes used to make the PLC fault table entry exactly the same length as the I O fault table entry Rack The rack number ranges from 0 to 7 Zero is the main rack containing the PLC Racks 1 through 7 are expansion racks connected to the PLC
102. AQ COMMREQ time has been measured between CPU and HSC DOIO is the time to output values to discrete output module Where there is more than one possible case the time indicated above represents the worst possible case Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Table A 1 Instruction Timing Standard Models C ontinued Bit Logical AND 67 37 37 22 42 0 0 1 13 Operation Logical OR 68 38 38 21 42 0 0 1 13 Logical Exclusive OR 66 38 37 20 42 0 1 1 13 Logical Invert NOT 62 32 31 17 42 0 1 1 9 Shift Bit Left 139 89 90 47 74 26 23 13 11 61 11 61 12 04 6 29 15 Shift Bit Right 135 87 85 45 75 26 24 13 11 63 11 62 12 02 6 33 15 Rotate Bit Left 156 127 126 65 42 1 1 0 11 70 11 78 12 17 6 33 15 Rotate Bit Right 146 116 116 62 42 1 1 0 11 74 11 74 12 13 6 27 15 Bit Position 102 12 49 38 42 1 0 0 13 Bit Clear 68 38 35 21 42 1 1 1 13 Bit Test 79 49 51 28 41 0 0 1 13 Bit Set 67 37 37 20 42 0 0 0 13 Masked Compare WORD 217 154 141 74 107 44 39 21 25 Masked Compare DWORD 232 169 156 83 108 44 39 22 25 Data Move Move INT 68 37 39 20 43 0 0 0 1 62 1 62 5 25 1 31 13 Move BIT 94 62 64 35 42 0 0 0 12 61 12 64 12 59 6 33 13 Move WORD 67 37 40 20 41 0 0 0 1 62 1 63 5 25 1 31 13 Block Move INT 76 48 50 28 59 30 30 16 27 Bloc
103. CV output while the PID block is in Automatic mode When the Command block is switched to Manual mode this value is used to set the CV output and the internal value of the 13 integrator within the Upper and Lower Clamp and Slew Time limits Control Word This is an internal parameter that is normally left at 0 14 If the Override low bit is set to 1 this word and other internal SP PV and CV parameters must be used for remote operation of this PID block see below This allows remote operator interface devices such as a computer to take control away from the PLC program Caution if you do not want this to happen make use the Control Word is set to 0 If the low bit is 0 the next 4 bits can be read to track the status of the PID input contacts as long as the PID Enable contact has power A discrete data structure with the first five bit positions in the following format Bit Word Value Function Status or External Action if Override bit set to 1 0 1 Override If 0 monitor block contacts below If 1 set them externally 1 2 Manual If 1 block is in Manual mode other numbers Auto itis in Automatic mode 2 4 Enable Should normally be 1 otherwise block is never called 3 8 UP Raise If 1 and Manual Bit 1 is 1 CV is being incremented every solution 4 16 DN Lowerlf 1 and Manual Bit 1 is 1 CV is being incremented every solution SP 15 Non configurable set and maintained by the PLC Tracks SP in must be set externally if Override
104. D1 0 0 0 1 1 1 1 1 1 1 0 0 1 0 0 0 WORD2 1 1 0 1 1 1 O O 0 O 0 O0 1 1 1 1 RESULT 0 0 0 1 1 1 0 0 0 0 0 0 1 0 0 0 8 4 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L XOR WORD The Exclusive OR XOR function is used to compare each bit in bit string I1 with the corresponding bit in string I2 If the bits are different a 1 is placed in the corresponding position in the output bit string Each scan that power is received the function examines each bit in string I1 and the corresponding bit in string I2 beginning at the least significant bit in each For each two bits examined if only one is 1 then a 1 is placed in the corresponding location in bit string Q The XOR function passes power flow to the right whenever power is received If string I2 and output string Q begin at the same reference a 1 placed in string I1 will cause the corresponding bit in string I2 to alternate between 0 and 1 changing state with each scan as long as power is received Longer cycles can be programmed by pulsing the power flow to the function at twice the desired rate of flashing the power flow pulse should be one scan long one shot type coil or self resetting timer The XOR function is useful for quickly comparing two bit strings or to blink a group of bits at the rate of one ON state per two scans enable ESE ok WORD input para
105. EQ function has three input parameters and one output parameter When the SVCREQ receives power flow the PLC is requested to perform the function FNC indicated Parameters for the function begin at the reference given for PARM The SVCREQ function passes power flow unless an incorrect function number incorrect parameters or out of range references are specified Additional causes for failure are described on the pages that follow The reference given for PARM can represent any type of word memory R 96 AIL or AQ This reference is the first of a group that make up the parameter block for the function Successive 16 bit locations store additional parameters The total number of references required will depend on the type of SVCREQ function being used Parameter blocks can be used both as inputs for the function and as the location where data is output after the function executes Therefore data returned by the function is accessed at the same location specified for PARM enable ok REQ l l service number FNC l l l l beginning reference PARM l l t Parameters Parameter Description enable When enable is energized the request service request is performed FNC FNC contains the constant or reference for the requested service PARM PARM contains the beginning reference for the parameter block for the requested service ok The ok output is energized when the function is performed
106. Fault Specific Data An I O fault table entry may contain up to 5 bytes of I O fault specific data Symbolic Fault Specific Data Table B 12 lists data that is required for block circuit configuration Table B 12 1 0 Fault Specific Data Decimal Number Hex Code Description Circuit Configuration 1 Circuit is an input tristate 2 Circuit is an input 3 Circuit is an output Fault Actions for Specific Faults Forced unforced circuit faults are reported as informational faults All others are diagnostic or fatal The model number mismatch I O type mismatch and non existent I O module faults are reported in the PLC fault table under the System Configuration Mismatch group They are not reported in the I O fault table GFK 0467L Appendix B Interpreting Fault Tables B 11 1 O Fault Time Stamp The six byte time stamp is the value of the system clock when the fault was recorded by the PLC CPU Values are coded in BCD format Table B 13 1 0 Fault Time Stamp Byte Number Description 1 Seconds 2 Minutes 3 Hours 4 Day of the month 5 Month 6 Year B 12 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Appendix Instruction Mnemonics E In Program Display Edit mode you can quickly enter or search for a programming instruction by typing the ampersand amp character followed by the instruction s mnemonic For some instructions you can also sp
107. Hand Held Programmer without the proper privilege level the Hand Held Programmer will respond with an error message that the access is denied Locking Unlocking Subroutines Subroutine blocks can be locked and unlocked using the block locking feature of programming software Two types of locks are available Type of Lock Description View Once locked you cannot zoom into that subroutine Edit Once locked the information in the subroutine cannot be edited A previously view locked or edit locked subroutine may be unlocked in the block declaration editor unless it is permanently view locked or permanently edit locked A search or search and replace function may be performed on a view locked subroutine If the target of the search is found in a view locked subroutine one of the following messages is displayed instead of logic Found in locked block lt block_name gt Continue Quit or Cannot write to locked block block name Continue Quit You may continue or abort the search Folders that contain locked subroutines may be cleared or deleted If a folder contains locked subroutines these blocks remain locked when the programming software Copy Backup and Restore folder functions are used Permanently Locking a Subroutine 2 38 In addition to VIEW LOCK and EDIT LOCK there are two types of permanent locks If a PERMANENT VIEW LOCK is set all zooms into a subroutine are denied If a PERMANENT EDIT LOCK i
108. I1 I2 n I2 contains a constant or reference for the second value used in the operation 12 is on the right side of the mathematical equation as in I1 I2 ok The ok output is energized when the function is performed without overflow unless an invalid operation occurs Q Output Q contains the result of the operation Valid Memory Types Example GFK 0467L Parameter flow I Q M T S G PR WAI AQ const none enable n o o o o o e n o o o o o ok Q o o o o o e Valid reference or place where power may flow through the function o Valid reference for INT data only not valid for DINT or REAL t Constants are limited to values between 32 768 and 432 767 for double precision signed integer operations Note The default type is INT for 16 bit or single register operands Press F10 to change the Types selection to DINT 32 bit double word or REAL for the 35x and 36x series CPUs only PLC INT values occupy a single 16 bit register R AI or AQ DINT values require two consecutive registers with the low 16 bits in the first word and the upper 16 bits with the sign in second word REAL values in the 35x and 36x series CPU Release 9 or later and all releases of CPU352 also occupy a 32 bit double register with the sign in the high bit followed by the exponent and mantissa In the followin
109. IA 12 4 Valid Memory ly pes sacate e a e d te 12 4 Input Ex mple Luna 12 5 Input Example Zi 12 5 Contents xiii Contents Output Example l ote Ule eue de RPG ete dre ets 12 6 Output Example Zoco alain dano ea Edd de 12 6 Enhanced DO I O Function for 331 and Later CPUS oooooocccnnnoccccnnocncnnnnananononanannnnnnnass 12 7 SER E E E e ad O do e edo 12 8 E eatUres con aa 12 8 Sample SER Function Block eee ees 12 8 DET 12 9 Valid Memory Types hi ebbe epa e poa ebd e ede ebbe o e dee 12 9 Function Control Block eeeeeeeeeeseeeeeeeee eren enne 12 10 SIEMENS A E 12 12 SER Data Block Format et 12 13 SER Operation z 5222225c80e gen a nno e EE On E e Beste 12 13 sampling Modest daa 12 14 NI OS 12 16 SER Function Block Trigger Timestamp Formats eene 12 20 END An 12 21 55 etia o Eco Rp c ME 12 21 MORN MOR A Ss WORDEN 12 22 CPU Compatibility et eet teta 12 22 MCRN Opet tionm n unstnsstasat A A a aaiae 12 22 MCR Operation EEUU 12 23 P ramet rs nenssseseinsninsniehnseeme nsenssnsiensessnsdreienns 12 23 Differences Between MCRs and JUMPs eese 12 23 Exat ple 5 eee ii eh E 12 24 ENDMCRN ENDMGCR unis at rte LAE 12 25 Example conato 12 25 IOTER a a eea 12 26 Ib cung c a A EEE Sey tas Sos EEE EEEE 12 27 LAB allioli td 12 28 Example tete eet aS 12 28 COMMEBENT 5n ete ettet e E NI Ie NIE 12 29 SVCREQ ON 12 30 SNC RE
110. INT Signed integer DINT Double precision signed integer REAL Floating Point Note The REAL data type is only available on 35x and 36x series CPUs Release 9 or later or on all releases of CPU352 The default data type is signed integer however it can be changed after selecting the function For more information on data types please refer to chapter 2 section 2 Program Organization and User References Data OK is set ON if the function is performed without overflow unless one of these invalid REAL operations occurs e IN lt 0O e Nis NaN Not a Number Otherwise ok is set OFF enable ok INT l l input parameter IN IN Q output parameter Q l l Parameter Description enable When the function is enabled the operation is performed IN IN contains a constant or reference for the value whose square root is to be calculated If IN is less than zero the function will not pass power flow ok The ok output is energized when the function is performed without overflow unless an invalid operation occurs Q Output Q contains the square root of IN Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Valid Memory Types Parameter flow I WQ M T S G P R AI WAQ const none enable IN o o o o o ey ok e e Q o o o o o
111. K 0467L Chapter 12 Control Functions 12 49 SVCREQ 10 Read Folder Name Use SVCREQ function 10 to read the name of the currently executing folder Note Of the CPUs discussed in this manual Service Request 10 is supported only by 90 30 CPUs beginning with Release 8 0 The output parameter block has a length of four words It returns eight ASCII characters the last is a null character 00h If the program name has fewer than seven characters null characters are appended to the end Low Byte High Byte Example In the following example when enabling input 27610301 transitions off register location R0099 is loaded with the value 10 which is the function code for the Read Folder Name function The Program Block READ ID is then called to actually retrieve the folder name The parameter block is located at address RO100 READ ID is also used in the next example 10001 10301 Fd T 10301 f MOVE_ READ_ID WORD i See A CONST IN Q R0099 0010 LEN 0001 Program Block READ ID 10102 SVC R0099 FNC R0100 PARM 12 50 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L SVCREQ 11 Read PLC ID GFK 0467L Use SVCREQ function 11 to read the name of the Series 90 PLC executing the program Note Of the CPUs discussed in this manual Service Request 11 is supported only by 90 30 CPUs beginning with Releas
112. K 0467L Chapter 12 Control Functions 12 83 Setting Loop Gains Ziegler and Nichols Tuning Approach Once the three process model parameters K Tp and Tc are determined they can be used to estimate initial PID loop gains The following approach developed by Ziegler and Nichols in the 1940 s is designed to provide good response to system disturbances with gains producing a amplitude ratio of 1 4 The amplitude ratio is the ratio of the second peak over the first peak in the closed loop response 1 Calculate the Reaction rate R K Tc 2 For Proportional control only calculate Kp as Kp I R Tp Tc K Tp 3 For Proportional and Integral control use Kp 0 9 R Tp 0 9 Tc K Tp Ki 0 3 Kp Tp 4 For Proportional Integral and Derivative control use Kp G R Tp where G is from 1 2 to 2 0 Ki 0 5 Kp Tp Kd 0 5 Kp Tp 5 Check that the Sample Period is in the range Tp Tc 10 to Tp Tc 1000 Another approach the Ideal Tuning procedure is designed to provide the best response to SP changes delayed only by the Tp process delay or dead time Kp 2 Tc 3 K Tp Ki Tc Kd Ki 4 if Derivative term is used Once initial gains are determined they must be converted to integer User Parameters To avoid scaling problems the Process gain K should be calculated as a change in input PV Counts divided by the output step change in CV Counts and not in process PV or CV engineering units All
113. LC CPU Internal System Error Table B 4 shows the error codes for all the other fault groups GFK 0467L Appendix B Interpreting Fault Tables B 5 B 6 Table B 4 Alarm Error Codes for PLC Faults Decimal Hexadecimal Name PLC Error Codes for Loss of Option Module Group 4 44 2C Option Module Soft Reset Failed 45 2D Option Module Soft Reset Failed 255 FF Option Module Communication Failed 79 4F Loss of Daughterboard Error Codes for Reset of Addition of or Extra Option Module Group 8 2 2 Module Restart Complete 04 4 Addition of Daughterboard 05 5 Reset of Daughterboard All others Reset of Addition of or Extra Option Module Error Codes for Option Module Software Failure Group 10 hex 1 1 Unsupported Board Type 2 COMREQ mailbox full on outgoing message that starts the COMREQ 3 3 COMREQ mailbox full on response 5 5 Backplane Communications with PLC Lost Request 11 B Resource alloc tbl ovrflw etc error 13 D User program error 401 191 Module Software Corrupted Requesting Reload Error Codes for System Configuration Mismatch Group B hex 8 8 Analog Expansion Mismatch 10 A Unsupported Feature 23 17 Program exceeds memory limits 58 3A Mismatch of Daughterboard Error Codes for System Bus Error Group C hex All others System Bus Error Error Codes for Program Block Checks
114. Length Channel description 2 The second 17 117 Offset 0000 channel description selects the NULL Selector with length of 3 and offset of 0 The NULL selector causes channels 2 4 to be ignored or skipped These channels will always contain a sample value of Zero Seg Sel Length Channel description 3 The third 119 Offset 0012 channel description selects the Input Module Selector with a length of 3 and offset of 12 The Input Module Selector causes samples to be taken from the input module This channel description chooses the values in points 13 14 and 15 of the input module for channels 5 T a Seg Sel Length 18434 4802 Channel description 4 The fourth Offset 0008 channel description selects the Q Segment with a Length of 2 and offset of 8 This chooses Q0009 and Q0010 for channels 8 and 9 Seg Sel Length Channel description 5 The fifth Offset channel description is another Input Module Selector It has a length of 8 and offset of 0 This causes the values for points 1 to 8 of the input module to be placed in channels 10 17 Seg Sel Length Channel description 6 The sixth Offset channel description is another NULL Selector It has a Length of 7 and offset of 0 This NULL channel description causes channels 18 24 to be filled with Zeros This last channel description is required to pad the sample buffer out to the 24 bits specified in the number of channels parameter Since all 24 ch
115. M CONST I2 FFOO OOFF M0125 LT OR SVC_ WORD WORD REO R5060 I1 Q R5061 I1 Ql R5052 CONST FNC 0004 CONST 12 CONST 12 0025 0025 R5052 PARM Chapter 12 Control Functions 12 41 SVCREQ 6 Change Read Number of Words to Checksum Use the SVCREQ function with function number 6 in order to e Read the current word count e Seta new word count Successful execution will occur unless some number other than 0 or 1 is entered as the requested operation see below For the Checksum Task functions the parameter block has a length of 2 words To Read the Current Word Count Enter SVCREQ function 6 with this parameter block 0 address ignored address 1 After the function executes the function returns the current checksum in the second word of the parameter block No range is specified for the read function the value returned is the number of words currently being checksummed 0 address current word count address 1 To Seta New Word Count Enter SVCREQ function 6 with this parameter block 1 address new word count address 1 Entering 1 causes the PLC to adjust the number of words to be checksummed to the value given in the second word of the parameter block For either the 331 or 311 CPU the number can be either 0 or 32 in the 211 CPU the value can be either 0
116. M The six byte time stamp is the value of the system clock when the fault was Failure recorded by the PLC CPU Values are coded in BCD format Table B 6 PLC Fault Time Stamp Byte Number Description 1 Seconds 2 Minutes 3 Hours 4 Day of the month 5 Month 6 Year GFK 0467L Appendix B Interpreting Fault Tables B 7 I O Fault Table The following diagram identifies the hexadecimal information displayed in each field in the fault entry O FF0000 00037F7FFF7F 0702 OF 00 00 010000000000027EF00B0301000000000000000000 Fault Specific Data Fault Description Fault Type Fault Category Fault Action Fault Group Point Block I O Bus Slot Rack Reference Address Long Short B 8 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L GFK 0467L The following paragraphs describe each field in the I O fault table Included are tables describing the range of values each field may have Long Short Indicator This byte indicates whether the fault contains 5 bytes or 21 bytes of fault specific data Table B 7 1 0 Fault Table Format Indicator Byte Type Code Fault Specific Data Short 02 5 bytes Long 03 2 bytes Reference Address Reference address is a three byte address containing the I O memory type and location or offset in that memory which corresponds to the point experiencing the fault Or when a Genius block fault o
117. P input must be scaled over the same range as PV because the PID block calculates the error from the difference of these two inputs The PV and CV counts can be 32000 or 0 to 32000 matching analog scaling or from 0 to 10000 to display variables as 0 0096 to 100 0096 The PV and CV Counts do not have to have the same scaling in which case there will be scale factors included in the PID gains Note The PID will not execute more often than once every 10 milliseconds This could change your results if you set it up to execute every sweep and the sweep is less than 10 milliseconds In such a case the PID function will not run until enough sweeps have occurred to accumulate an elapsed time of 10 milliseconds For example if the sweep time is 9 milliseconds the PID function will execute every other sweep with an elapsed time of 18 milliseconds for every time it executes GFK 0467L Chapter 12 Control Functions 12 71 12 72 Parameters Parameter Description enable When enabled through a contact the PID function is performed SP SP is the control loop or process set point Set using PV Counts the PID adjusts the output CV so that PV matches SP zero error PV Process Variable input from the process being controlled often a AI input MAN When energized to 1 through a contact the PID block is in MANUAL mode If this parameter is not energized 0 the PID block is in automatic mode UP If energized along wi
118. P mode enter SVCREQ function 1 with this parameter block 1 address O or timer value address 1 Note If the timer should use a new value enter it in the second word If the timer value should not be changed enter 0 in the second word If the timer value does not already exist entering 0 will cause the function to set the OK output to OFF To change the timer value without changing the selection for sweep mode state enter SVCREQ function 1 with this parameter block address new timer value address 1 To read the current timer state and value without changing either enter SVCREQ function 1 with this parameter block Chapter 12 Control Functions 12 33 12 34 Note After using SVCREQ function 1 with the parameter block on the previous page Release 8 and higher CPUs will provide the return values 0 for Normal Sweep 1 for Constant Sweep Do not confuse this with the input values shown below Successful execution will occur unless 1 A number other than 0 1 2 or 3 is entered as the requested operation Disable CONSTANT SWEEP mode 0 Enable CONSTANT SWEEP mode Set a new timer value only Read CONSTANT SWEEP mode and timer value See Note above 2 The time value is greater than 2550 ms 2 55 seconds 3 Constant sweep time is enabled with no timer value programmed or with an old value of 0 for the timer After the function executes the function returns the timer state and value in the
119. PLC system It explains fault descriptions in the PLC fault table and fault categories in the I O fault table iii Preface Chapters 4 12 Series 90 30 20 Micro Instruction Set describe programming instructions available for Series 90 30 PLCs Series 90 20 PLCs and Series 90 Micro PLCs These chapters correspond to the main program function groups Appendix A Instruction Timing lists the memory size in bytes and execution time in microseconds for each programming instruction Memory size is the number of bytes required by the function in a ladder diagram application program Appendix B Interpreting Fault Tables describes how to interpret the message structure format when reading the fault tables using Logicmaster 90 30 20 Micro software Appendix C Instruction Mnemonics lists mnemonics that can be typed to display programming instructions while searching through or editing a program Appendix D Key Functions lists the special keyboard assignments used for the Logicmaster 90 30 20 Micro software A pull out quick reference card that lists key functions and instruction mnemonics follows this appendix Appendix E Using Floating Point Numbers describes special considerations for using floating point math operations Related Publications Logicmaster 90 Series 90 30 20 Micro Programming Software User s Manual GFK 0466 Logicmaster 90 Series 90 30 and 90 20 Important Product Information GFK 0468 Series 90 30 Prog
120. Q OVervie ws inuidudiilelerelediieiiesiteiiiediieiiiediieiiie die ide deddn 12 31 SVCREQ 1 Change Read Constant Sweep Timer eese 12 33 SVCREQ 2 Read Window Vales eaen eree EA ETEei 12 36 SVCREQ 3 Change Programmer Communications Window Mode and Timer Value12 38 SVCREQ 4 Change System Comm Window Mode and Timer Value 12 40 SVCREQ 6 Change Read Number of Words to Checksum 12 42 SVCREQ 7 Change Read Time of Day Clock eene 12 44 SVCREQ 8 Reset Watchdog Timer esee eee 12 48 SVCREQ 9 Read Sweep Time from Beginning of Sweep 12 49 SVCREQ 10 Read Folder Name ooccccccnnncnonnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnos 12 50 xiv Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Appendix A Appendix B Appendix C Appendix D Appendix E GFK 0467L Contents SVCREQ 11 Read PLC ID ooooocococanonononononaccnnononocnnaccnonennoncncnononononennononercncncnones 12 51 SVCREQ 12 Read PLC Run State cooooocnoncccnncccnonananonanonanaconncnanonanananannnnaccnnnes 12 52 SVCREQ 13 Shut Down Stop PLC eene 12 53 SVCREQ 14 Clear Fault Tables e 12 54 SVCREQ 15 Read Last Logged Fault Table Entry eese 12 55 SVCREQ 16 Read Elapsed Time Clock oooonnnncccnnonoccccnnonccnonononanoc
121. Reference for the second bit string to be compared M Reference for the bit string mask BIT Reference for the bit number where the next comparison should start MC User logic to determine if a miscompare has occurred Q Output copy of the mask M bit string BN Number of the bit where the last compare occurred LEN LEN is the number of words in the bit string Valid Memory Types GFK 0467L Parameter flow I Q 90M T S WG R eAI AQ const none enable n o o o o o e D o o o o o M o o o o of o BIT LEN et MC Q o o o o of o e BN Valid reference or place where power may flow through the function Valid reference for WORD data only not valid for DWORD SA SB SC only S cannot be used Max const value of 4095 for WORD and 2047 for DWORD 0 Chapter 8 Bit Operation Functions 8 19 8 20 Example In the following example after first scan the MSKCMPW function block is executed MO0001 through M0016 is compared with 70M0017 through M0032 M0033 through M0048 contains the mask value The value in R0001 determines at which bit position the comparison starts within the two input strings The contents of the above references before the function block is executed are as follows 11 MO0001 6C6Ch
122. Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L REAL INT DINT BCD 4 WORD The Convert to Real function is used to output the real value of the input data The original data is not changed by this function When the function receives power flow it performs the conversion making the result available via output Q The function passes power flow when power is received unless the specified conversion would result in a value that is out of range It is possible for a loss of precision to occur when converting from DINT to REAL since the number of significant bits is reduced to 24 Note This function is only available on 35x and 36x series CPUs Release 9 or later or on all releases of CPU352 enable ok TO REAL value to be converted IN Q output parameter Q __ Parameters Parameter Description enable When the function is enabled the conversion is performed IN IN contains a reference for the integer value to be converted to REAL ok The ok output is energized when the function is performed without error Q Q contains the REAL form of the original value in IN Valid Memory Types Parameter flow 1 Q M T PS G R WAI WAQ const none enable IN o o o o o ok Q Valid reference or place where power may flow through the functio
123. Types Parameter flow I WQ M T S G R WAI AQ const none enable IN t BIT ok e Valid reference or place where power may flow through the function T PSA SB or SC only S cannot be used Example In the following example whenever input I0001 is set bit 12 of the string beginning at reference 96RO0040 is set to 1 e I0001 l I I I I BIT_ SET WORD RO040 IN LEN 100001 CONST BIT 00012 J GFK 0467L Chapter 8 Bit Operation Functions 8 15 BPOS WORD 8 16 Parameters The Bit Position BPOS function is used to locate a bit set to 1 in a bit string Each sweep that power is received the function scans the bit string starting at IN When the function stops scanning either a bit equal to 1 has been found or the entire length of the string has been scanned POS is set to the position within the bit string of the first non zero bit POS is set to zero if no non Zero bit is found A string length of 1 to 256 words can be selected The function passes power flow to the right whenever enable is ON AE enable METAS ok BIT_ Pos WORD first word IN LEN 100001 POS position of non zero bit or 0 Parameter Description enable W
124. U Figure 2 7 Series 90 30 1 0 Structure Note The drawing shown above is specific to the 90 30 I O structure Intelligent and option modules are not part of the I O scan they use the System Communication Window For information about the 90 20 I O structure refer to the Series 90 20 Programmable Controller User s Manual GFK 0551 For information about the Micro PLC I O structure refer to the Series 90 Micro PLC User s Manual GFK 1065 GFK 0467L Chapter 2 System Operation 2 39 Series 90 30 I O Modules Series 90 30 I O modules are available as five types discrete input discrete output analog input analog output and option modules The following table lists the Series 90 30 I O modules by catalog number number of I O points and a brief description of each module Note All of the I O modules listed below may not be available at the time this manual is printed For current availability consult your local GE Fanuc PLC distributor or GE Fanuc sales representative Refer to the Series 90 30 I O Module Specifications Manual GFK 0898 for the specifications and wiring information of each Series 90 30 I O module Figure 2 8 Series 90 30 I O Modules Catalog Pub Number Points Description Number Discrete Modules Input IC693MDL230 120 VAC Isolated GFK 0898 IC693MDL231 240 V AC Isolated GFK 0898 IC693MDL240 16 120 VAC GFK 0898 IC693MDL241 16 24 VAC DC Positive Negative Logic GFK
125. U de 9 7 Valid Memory Types ettet TETE 9 7 Example cR RU ERU EUR ER eS e redit bent 9 7 SHERXBIT WORD 53 aae aaueaaueaaedeedanadate aate aue eei ee nds 9 8 Parameters isti aedeteele tates lebetcoiedateecleiedeecteie te dele etes Sede teeteie tese e det e etel 9 9 Valid Memory TyPES ooooocccnnooccccnnnonanocononanocononanncnnnnnnnonnnnn ono eene nene nenne enn nennen nenne 9 9 Example ia 9 10 Example Zenit A 9 10 BHSBO MB ee te 9 11 Memory Required for a Bit Sequencer ooooocnnnoccccnnnocanccnononnnnnnnnnnnonnnnnanoconananncnnnnass 9 11 Parameters erates tee 9 12 Valid Memory DPS etes eub ubuntu 9 13 cun c 9 13 COMMBEDQ 2 eee eoe o dete et eet eie e de mes 9 14 Command diro dem 9 14 P rameters 5 5s bbs SI UB ER Esso Oh Oba Gu Oe EH e Ee doe ad 9 15 Valid Memory Types eessccccesssecccessseeceesssaceccesseeecesseeecesssaeeesessaeeesesseeeeessaes 9 15 Example ci 9 16 Table Funcion iras 10 1 ARRAY MOVE INT DINT BIT BYTE WORD eene 10 2 Para Meters at e a A A A M A MD MALUM TALIA T 10 3 Valid Memory Types 10 3 Example 1x2 te ait nent nate ate ee eter test eee meis 10 4 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Chapter 11 Chapter 12 GFK 0467L Contents Example 2e x x EET 10 4 Example 3 iaa a E E TE A 10 5 Search BEunctionns 5355 o e tr ee t e eiit ha 10 6 A E uU UM M Ht 10 7 Valid Memory Types nenese aaa p
126. Z Z Z Z a aH A gt A a o m H H H H H H H n A D a e l l l l o o o o o o o d m HO HO HO HO HO HO HO o o lt i no Nt NO no uo no uo o o o o Zo ZO ZO ZO ZO Zo Zzo o o o o ON OO OO OO OO 00 OO A H o o Oc OF O OF OF OF OF oe amp ST 3 7 ge aes A A o d o o 74 oe o E 2 a N m st i o r d H Z Z Z Z Z a a 5 H H H H H H H l l l m m o N N o o o o d d Ho HO HO HO HO HO HO nd d no no no UY uo un uo o o Zo ZO ZO ZO ZO ZH Zo o o OO OO OO OO OO Oo OO 52 Oc Oc Gt Oc Oc Oc U oe oe l l 19 in o al NM o ao QAH mE d HO Ho ad DZ m oOsazudo H ud N NH A N H o H H H H wo o m A o0 A o o z d N nd o m d o o d o o o d o o d Oo Q o M o o o 2 o o Q o o o o o o de ni 4 n ge z m oe a oe 9e oe 9e ge GFK 0467L Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 12 86 Appendix A GFK 0467L Instruction Timing The Series 90 30 90 20 and Micro PLCs support many different functions and function blocks This appendix contains tables showing the memory size in bytes and the execution time in microseconds for each function Memory size is the number of bytes required by the function in a ladder diagram application program Two execution times are shown for each function Execution Time Description Enabled Time required to execute the function or function block when power flows into and out of the function Typical
127. a block see page 12 13 13 Data Block Offset Specifies the starting reference for the Data Block This parameter is zero based For example if you wanted to begin at RO100 you would enter 99 for this parameter Be sure to allow enough memory for the entire data block 14 77 Channel Specifies the reference location Segment Selector Length and Offset associated with a Descriptions particular channel There can be from 1 to 32 channel descriptions depending upon the number of channels being sampled and data length Data is returned in the order defined in this section Channel Segment Entered as a hexadecimal value this word defines the segment selector and data length in Selector Length bits MSB Segment Selector LSB Data Length The data length is useful for samples that are contiguous The Segment Selector can be set to any discrete data type I 46h Q 48h M 4Ch T 4Ah G 56h 96S 54h SA 4Eh SB 50h SC 52h Null Selector FFh and Input Module Selector 00h The length parameter can range from 1 32 but the sum of all of the lengths must not be greater than the Number of Channels parameter A length greater than 1 allows multiple contiguous channels to be configured with a single channel description Channel Offset Entered as a hexadecimal value this word defines the BIT offset for the data type or input module specified in the Segment Selector This offset is zero based The range for this par
128. a43064 START OF SWEEP HOUSEKEEPING HOUSEKEEPING yo NO ENABLED LOGIC SOLUTION PROGRAM D EXECUTION OF PLC yo ENABLED DATA OUTPUT SCAN PROGRAMMER PROGRAMMER COMMUNICATIONS SERVICE SYSTEM SYSTEM COMMUNICATIONS COMMUNICATIONS USER PROGRAM CHECKSUM CALCULATION DIAGNOSTICS START NEXT SWEEP Figure 2 1 PLC Sweep GFK 0467L Chapter 2 System Operation 2 3 As shown in the PLC sweep sequence several items are included in the sweep These items contribute to the total sweep time as shown in the following table Table 2 1 Sweep Time Contribution Sweep Element Description Time Contribution ms 4 351 352 350 and 36x series times for 350 and 36x series estimated to be the same Housekeeping e Calculate sweep time 0 279 e Schedule start of next sweep e Determine mode of next sweep e Update fault reference tables e Reset watchdog timer Data Input Input data is received from input and See Table 2 2 for scan time contributions option modules Program User logic is solved Execution time is dependent upon the length of the program Execution and the type of instructions used in the program Instruction execution times are listed in Appendix A Data Output Output data is sent to output and option See Table 2 2 for scan time contributions modules Service External Service requests from HHP 0 334 Devices programming devices and intelligent modules are process
129. aa 10 7 Example laa 10 7 le eund E 10 8 Conversion BUM COONS oasis cceceassececdectas cecncnstsctcececadvenceouctebcessccuceseesessenouccectondees 11 1 SS BCD 4 CIN Disc ita 11 2 Parameters duck icece ceceeeducedicede ceceetacudddede Stata KAS OCES Etis cedeceiuaadulecaditeaedya 11 2 Valid Memory TyP0es ccccccccccssssssennececceeeeeeennneeeceeeeeseeesnaeeeeeeeeeeeeeenaaeeeeeeeeeeees 11 2 Exatn ple e do S 11 2 LINT ABEDA REAL oe ec ete a eta ene 11 3 Parameters cono 11 3 Valid Memory Types ads 11 3 locum A A 11 4 gt DINT REAL ass a RnGSeHEgSRSSSNSSSEASENERC HERES RES RIS 11 5 Para Meter o O MGR Men Mets Mein Maat a Mt tate 11 5 Valid Memory Types eee terti edita 11 5 Example te co t RU EUER E E e ee EE NQERS 11 6 gt REAL INT DINT BCD 4 WORD ccoooocccoocccnooncnonanononanonancncnnnnananancnancccnnnccnnnos 11 7 Parameters adn 11 7 Valid Memory TyPOS ocooooonoocccnncconononanonnnnnncnnnnnnnnnnnnnnnccnonnnnnnnnnnnncnnnnnnnnnnnnnnnccnnannnes 11 7 EXAM ple NR 11 8 SWORD REAL citant 11 9 Para ceceseiaducddece ceceveddeueddede cuceneduandedabesebese a 11 9 Valid Memory Pei 11 9 Exatn ple 45 555 ree Un BE RE 11 10 TRUN GNE DINIS a A E E ta rt gata tae ae dee 11 11 Parametros 11 11 Valid Memory Pesada 11 11 EM Gove 11 12 Control Funes cionales carre 12 1 CATT ius Guu ihei eRe eRe Mule MGs Sekt NN CA 12 2 Example A eee ue 12 2 DOLIO nitet tete tete tte tte 12 3 CCS I
130. ailure is logged the Series 90 30 or 90 20 CPU immediately transitions into a special ERROR SWEEP mode No activity is permitted in this mode The only method of clearing this condition is to reset the PLC by cycling power PLC Sequence Store Failure During a sequence store a store of program blocks and other data preceded with the special Start of Sequence command and ending with the End of Sequence command if communications with the programming device performing the store is interrupted or any other failure occurs which terminates the download the PLC Sequence Store Failure fault is logged As long as this fault is present in the system the PLC will not transition to RUN mode PLC Fault Table Display The PLC Fault Table screen displays PLC faults such as password violations PLC configuration mismatches parity errors and communications errors The programming software may be in any operating mode If the programming software is in OFFLINE mode no faults are displayed In ONLINE or MONITOR mode PLC fault data is displayed In ONLINE mode faults can be cleared this may be password protected Once cleared faults which are still present are not logged again in the table except for the Low Battery fault I O Fault Table Display The I O Fault Table screen displays I O faults such as circuit faults address conflicts forced circuits and I O bus faults The programming software may be in any operating mode
131. also have beneficial effects such as when a new module comes online and is now available for use Or these conditions may only act as an alert such as a low battery signal which indicates that the battery protecting the memory needs to be changed Alarm Processor The condition or failure itself is called a fault When a fault is received and processed by the CPU it is called an alarm The software in the CPU which handles these conditions is called the Alarm Processor The interface to the user for the Alarm Processor is through the programming software Any detected fault is recorded in a fault table and displayed on either the PLC fault table screen or the I O fault table screen as applicable Classes of Faults 3 2 The Series 90 30 90 20 and Micro PLCs detect several classes of faults These include internal failures external failures and operational failures Fault Class Examples Internal Failures Non responding modules Low battery condition Memory checksum errors External I O Failures Loss of rack or module Addition of rack or module Operational Failures Communication failures Configuration failures Password access failures Note For information specific to Micro PLC fault handling refer to the Series 90 Micro PLC User s Manual GFK 1065 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L System Reaction to Faults Hardware failures r
132. alue in 9 R0001 is placed in R0033 ALW ON I 1 I Cos REAL R0001 IN Q R0033 43 141500 1 000000 Chapter 6 Math Functions 6 11 a Logarithmic Exponential Functions LOG LN EXP EXPT Parameters The LOG LN and EXP functions have two input parameters and two output parameters When the function receives power flow it performs the appropriate logarithmic exponential operation on the real value in input IN and places the result in output Q e For the LOG function the base 10 logarithm of IN is placed in Q e For the LN function the natural logarithm of IN is placed in Q e For the EXP function e is raised to the power specified by IN and the result is placed in Q e For the EXPT function the value of input I1 is raised to the power specified by the value I2 and the result is placed in output Q The EXPT function has three input parameters and two output parameters The ok output will receive power flow unless IN is NaN Not a Number or is negative enable ok REAL l l input parameter IN IN Q output parameter Q l l Parameter Description enable When the function is enabled the operation is performed IN IN contains the real value to be operated on ok The ok output is energized when the function is performed without overflow unless an invalid operation occurs and or IN is NaN or is negativ
133. ame If all corresponding bits in strings I1 and I2 match the function sets the miscompare output MC to 0 and BN to the highest bit number in the input strings The comparison then stops On the next invocation of MSKCMPW it will be reset to 0 If a Miscompare is Found When the two bits currently being compared are not the same the function checks the correspondingly numbered bit in string M the mask If the mask bit is a the comparison continues until it reaches another miscompare or the end of the input strings If a miscompare is detected and the corresponding mask bit is a 0 the function does the following 1 Sets the corresponding mask bit in M to 1 2 Sets the miscompare MC output to 1 3 Updates the output bit string Q to match the new content of mask string M 4 Sets the bit number output BN to the number of the miscompared bit 5 Stops the comparison Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L enable BREESE l l COMP l l WORD l input parameter I1 I1 MC miscompare LEN 100001 l l input parameter I2 I2 Q output parameter Q l l l l bit string mask M BN bit number for last miscompare l l l l bit number BIT __ Parameters Parameter Description enable Permissive logic to enable the function Il Reference for the first bit string to be compared 12
134. ameter Description Enable When the function is enabled the conversion is performed IN IN contains a reference for the real value to be truncated Ok The ok output is energized when the function is performed without error unless the value is out of range or IN is NaN Q Q contains the truncated INT or DINT value of the original value in IN Note It is possible for a loss of precision to occur when converting from REAL to DINT since the REAL has 24 significant bits Valid Memory Types Parameter flow 9 Q M T PS G R WAI WAQ const none enable IN ok Q o o o o o Valid reference or place where power may flow through the function o Valid for REAL_TRUN_INT only GFK 0467L Chapter 11 Conversion Functions 11 11 11 12 Example In the following example the displayed constant is truncated and the integer result 562 is placed in 9610001 ALW_ON I 1 I REAL TRUN INT CONST IN Q T0001 5 62987E 02 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Chapter 12 Control Functions This chapter describes the control functions which can be used to limit program execution and alter the way the CPU executes the application program Refer to Chapter 2 section 1 PLC Sweep Summary for information on the CPU sweep
135. ameter varies depending on the Segment Selector data type and length The offset indicates the location within the data table or input module at which to sample GFK 0467L Chapter 12 Control Functions 12 11 12 12 Status Extra Data States The Status Extra Data Word 1 in the function control block provides additional state information for the SER function Value State Description Reset State The Reset input is receiving power flow Sample Buffer Trigger Sample Offset Trigger Time and Current Sample Offset are all cleared to zero The output is held to no power flow Transition to the Inactive State occurs when the reset power flow is removed Status Extra Data has no significance and will be cleared to zero Inactive State between the Reset State and the Active State No actions are performed in this state The SER output is held to no power flow Transition to the Active State occurs when the function block receives enable power flow Active The Enable input has received power flow but the function block is not reset in error or triggered One sample is recorded for each execution when the function block is enabled The output is held to no power flow The Trigger condition specified by the Trigger Mode parameter is monitored and will cause transition to the Triggered State if conditions are true If more than the Number of Samples have been taken Status Extra Data will be set to 0x01 otherwi
136. annels are configured no more channel descriptions are needed 12 18 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L GFK 0467L Sample Contents The Table 12 2 summarizes the values contained in a single sample based upon the channel descriptions in the sample control block Table 12 2 Sample Contents for SER Example Channel Number Channel Contents 1 910001 Input Module Point 13 Input Module Point 14 Data Block for Control Block Example Table 12 3 lists the format of the data block resulting from the example control block given on page 12 17 Note that it begins at register 201 as described by the segment offset parameters Words 12 and 13 in the control block Table 12 3 Data Block for SER Control Block Example Offset Register Parameter Description Value dec Value hex 0 RO201 o Current sample offset 003B iili 203 206 Trigger time BCD Current sample offset is 59 meaning that the 59th sample is the last sample placed in the sample buffer not 59 registers With 3 bytes per sample the current offset is actually at 59 3 177 bytes or the high byte of the 89th register Since the trigger conditions have not been met the trigger sample and trigger time are O and the output is not set The sample buffer contains 512 samples where 59 is the newest sample and 60 is the oldest sample Chapter 12 Control Functions 12 19 12 20 SER Function Block T
137. ansition coil Nested ENDMCR 12 25 Nested MCR 12222 No user program present Normally closed contact Normally open contact 4 3 NOT Not equal function 7 1 OFDT 5 8 Off delay timer 5 8 On delay timer 5 5 ONDTR 5 3 Operation of system 2 1 Operational failures 3 2 Option module software failure 3 10 OR 8 3 Output references discrete 2 20 Output register references analog 2 20 Output scan Overrides Password access failure 3 12 Passwords PB_SUM 2 24 PCM communications with the PLC 2 12 Periodic subroutines 2 19 PID 12 71 Index 5 Index Index 6 PLC CPU system software failure PLC fault table error codes explanations fault action B 5 fault extra data PLC sweep 2 2 application program logic scan 2 8 configured constant sweep time mode constant sweep time mode 2 13 DSM communications with the PLCJ2 12 housekeeping 2 7 input scan logic program checksum calculation 2 8 logic solution output scan PCM communications with the PLC programmer communications window 2 9 scan time contributions for 35x and 36x series standard program sweep mode standard program sweep variations 2 13 STOP mode 2 13 sweep time calculation 2 7 sweep time contribution PLC system operation Positive transition coil POSIX Format for SER function block trigger timestamp 12 20 Power flow Power of e function Powe
138. anual GFK 0825 Series 90 Micro Programmable Logic Controller User s Manual GFK 1065 Series 90 PLC Serial Communications User s Manual GFK 0582 We Welcome Your Comments and Suggestions GFK 0467L At GE Fanuc Automation we strive to produce quality technical documentation After you have used this manual please take a few moments to complete and return the Reader s Comment Card located on the next page Libby Allen Sr Technical Writer Preface y Chapter 1 Chapter 2 GFK 0467L Contents MUNG OCU CHOI id 1 1 System OPO AA sees keros sissano soroen eenia oon 2 1 Section 1 PLC Sweep Summary ssssssscccccecessssoooccecesesssoooocccceessssoocecceessssoo 2 2 Standard Program Sweep 0 eeesceeessscccesssneeecessseeecsssseeecessneeeceessaeeceessaeeesesseeesessaaeees 2 2 Sweep Time Calculation eee Re PEE rta iere 2 7 Programmer Communications Window eese nere 2 9 System Communications Window sse eene nennen enhn nnne nnne 2 11 PCM Communications with the PLC Models 331 and Higher 2 12 DSM Communications with the PLC oooononnonnccccnncconanonananonocononnnnnannnnnnncnonnnnanannnnncnnos 2 12 Standard Program Sweep Variations eeeeesseeeeeseeeeeeeeeeeeee nennen 2 13 Constant Sweep Time Modest AA AA AAA 2 13 PLC Sweep When in STOP Mode esee eene nre 2 13 Communication Window Modes e
139. arameter block only The parameter block has a length of 3 words Power Down Elapsed Seconds low order address Power Down Elapsed Seconds high order address 1 100 Microsecond ticks address 2 The first two words are the power down elapsed time in seconds The last word is the remaining power down elapsed time in 100 microsecond ticks which is always 0 Whenever the PLC can not properly calculate the power down elapsed time the time will be set to 0 This will happen when the PLC is powered up with CLR M T pressed on the HHP This will also happen if the watchdog timer times out before power down Example In the following example when input 2610251 is ON the Elapsed Power Down Time is placed into the parameter block and the output coil 76Q0001 is turned on The parameter block is located at R0050 wm rs 1 10251 90001 Jed Se SC 3 REQ 0029 ROO50 PARM _ CONST FNC GF K 0467L Chapter 12 Control Functions 12 63 SVCREQ 45 Skip Next Output amp Input Scan 12 64 Suspend I O Use the SVCREQ function 45 to skip the next output and input scans Any changes to the output reference tables during the sweep in which the SVCREQ 45 was executed will not be reflected on the physical outputs of the corresponding modules Any changes to the physical input data on the modules will not be reflected in the corresponding input references duri
140. arameter block to program this function Output values for all three windows are given in milliseconds 12 36 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Example In the following example when enabling output 96Q0102 is set the PLC operating system places the current time values of the three windows in the parameter block starting at location R5010 Additional examples showing the Read Window Values function are included in the next three SYS REQ function descriptions 00102 SVC REQ CONST FNC 0002 R5010 PARM GFK 0467L Chapter 12 Control Functions 12 37 SVCREQ 3 Change Programmer Communications Window Mode and Timer Value Use SVCREQ function 3 to change the programmer communications window mode and timer value The change will occur in the CPU sweep following the sweep in which the function is called Note Of the CPUs discussed in this manual Service Request 3 is supported only by 90 30 CPUs beginning with Release 8 0 The SVCREQ function 3 will pass power flow to the right unless a mode other than 0 Limited 1 Constant or 2 Run to Completion is selected The parameter block has a length of one word To disable the programmer window enter SVCREQ function 3 with this parameter block High Byte Low Byte To enable the programmer window enter SVCREQ function 3 with this parameter block High Byte Low Byte Value from 1 to
141. asured between CPU and HSC DOIO is the time to output values to discrete output module Where there is more than one possible case the time indicated above represents the worst possible case For instructions that have an increment value multiply the increment by Length 1 and add that value to the base time SS UU REUS GFK 0467L Appendix A Instruction Timing A 3 Table A 1 Instruction Timing Standard Models C ontinued Function Enabled Disabled Increment Search Not Equal INT 198 159 124 83 79 39 36 21 1 93 1 93 2 48 1 52 19 DINT 201 163 132 84 79 37 35 21 6 49 6 47 6 88 3 82 19 BYTE 179 141 117 73 79 38 36 19 1 54 1 51 1 85 1 05 19 WORD 198 159 124 83 79 39 36 21 193 1 93 2 48 1 52 19 Search Greater Than INT 198 160 125 82 79 37 38 19 3 83 3 83 4 41 2 59 19 DINT 206 167 135 88 78 38 36 20 8 61 8 61 9 03 4 88 19 BYTE 181 143 118 73 79 37 36 19 3 44 3 44 3 75 2 03 19 WORD 198 160 125 82 79 37 38 19 3 83 3 83 4 41 2 59 19 Search Greater Than Eq INT 197 160 124 83 77 38 36 20 3 86 3 83 4 45 2 52 19 DINT 205 167 136 87 80 39 36 21 8 62 8 61 9 02 4 87 19 BYTE 180 142 118 75 79 37 37 20 3 47 3 44 3 73 2 00 19 WORD 197 160 124 83 TI 38 36 20 3 86 3 83 4 45 2 52 19 Search Less Than INT 199 159 124 84 78 38 36
142. ata for Ith module This data value will be written to the Ith module Address N 1 3 3 Last rack amp slot Rack and slot number in the form RRSS in hexadecimal where RR is the rack number and SS is the slot number of the last module with which data will be exchanged Address N 1 3 4 Read data from last module The data read from the last module will be placed here Address N 1 3 5 Write data for last module This data value will be written to the last module Address N 3 3 End of list indicator A zero in this word indicates the end of the list of modules Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L GFK 0467L Error Codes Value 1 Success the function has executed normally 1 Module not present in the specified slot 2 Module inappropriate module in the specified slot is not a smart module or does not support this functionality 3 Module not working module in the specified slot is not communicating with the CPU properly 4 Read data parity error parity error occurred during a read operation from an expansion or remote rack 5 Invalid function specified in the command block Example 1 The following example shows a Read of a single module at Rack 2 Slot 4 IN4 and IN5 must be set to zero 0 IN6 and IN7 are not important in this example If the function completes
143. ault group and action fault category fault type fault description fault specific data time stamp 12 55 In the first byte of word address 1 the Long Short indicator defines the quantity of fault specific data present in the fault entry It can be PLC Fault Table 00 8 bytes short 01 24 bytes long I O Fault Table 02 5 bytes short 03 21 bytes long Example 1 In the following example when input 2610251 is on and input 9610250 is on the last entry in the PLC fault table is read into the parameter block When input 9610251 is off and input 9610250 is on the last entry in the I O fault table is read into the parameter block The parameter block is located at location R0600 10250 I0251 I MOVE_ I 1 INT CONST IN Ql R0600 0000 LEN 0001 10250 I0251 l I MOVE_ INT CONST IN Q RO600 0001 LEN 0001 ALW_ON I I I I Svc REQ CONST FNC 0015 RO600 PARM 12 56 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Example 2 In the next example the PLC is shut down when any fault occurs on an I O module except when the fault occurs on modules in rack 0 slot 9 and in rack 1 slot 9 If faults occur on these two modules the system remains running The parameter for table type
144. be the same size as the reference type scanned If a discrete reference is used for ST and END then ALT must also be discrete If no reference is specified for ALT the real input points are updated When the DOIO function receives power flow and output references are specified the output points at the starting reference ST and ending at END are written to the output modules If outputs should be written to the output modules from internal memory other than Q or AQ the beginning reference can be specified for ALT The range of outputs written to the output modules is specified by the starting reference ST and the ending reference END Execution of the function continues until either all inputs in the selected range have reported or all outputs have been serviced on the I O cards Program execution then returns to the next function following the DO I O If the range of references includes an option module HSC APM etc then all of the input data 961 and AI or all of the output data Q and AQ for that module will be scanned The ALT parameter is ignored while scanning option modules Also the reference range must not include an Enhanced GCM module see Note below Note For Release 9 0 and later CPUs the DOIO function can be used with an Enhanced GCM module GFK 0467L Chapter 12 Control Functions 12 3 The function passes power to the right whenever power is received unless e Not all references of the type specified ar
145. bination input output 165 141 218 529 098 176 489 4 channel analog input 151 132 183 490 117 160 462 2 channel analog output 161 138 182 428 099 148 392 High Speed Counter 2 070 2 190 2 868 5 587 1 580 2 175 4 897 Power Mate APM 1 axis 2 330 2 460 3 175 6 647 1 750 2 506 5 899 Power Mate APM 2 axis 3 181 3 647 4 497 9 303 2 154 3 097 7 729 DSM 302 40 AI 6 AQ 3 613 4 081 5 239 11 430 2 552 3 648 9 697 50AL 9 AQ 4 127 4 611 5 899 13 310 2 911 4 170 11 406 64 AL 12 AQ 4 7115 5 276 6 759 15 747 3 354 4 840 13 615 GCM no devices 041 054 063 128 038 048 085 8 64 point devices 11 420 11 570 13 247 21 288 9 536 10 648 19 485 GCM no devices 887 967 1 164 1 920 666 901 1 626 32 64 point 4 120 6 250 8 529 21 352 5 043 7 146 20 052 devices PCM 311 not configured or N A 3 350 N A N A 1 684 N A N A no application task read 128 R as N A 4 900 N A N A 2 052 N A N A fast as possible ADC311 N A 3 340 N A N A 1 678 N A N A 16 channel analog input 1 370 1 450 1 937 4 186 1 092 1 570 3 796 current or voltage I O Link no devices 1 910 2 030 1 169 1 925 678 904 1 628 Master sixteen 64 point 6 020 6 170 8 399 21 291 4 992 6 985 20 010 devices VO Link Slave 32 point 206 222 289 689 146 226 636 64 point 331 350 409 1 009 244 321 926 For applications where the DSM s contributions to scan time will affect machine operation you may need to use the Do I O function block and the Suspend I O and Fast Ba
146. block causing the current sample offset to be incorrect and invalid data in the data block The Control Block of the SER function block is scanned every time the function block is executed in the Reset Active or Triggered State If you change a configuration parameter in the Control Block during program execution the change takes effect the next time the SER function block associated with that Control Block is scanned If an error is encountered operation stops and the Chapter 12 Control Functions 12 13 function block goes to the appropriate error state You must correct the error and then reset the function block enable the Reset input power flow to begin sampling again If you select an input module to be scanned the PLC will not verify that the module is a Discrete Input Module or that Channel Descriptions associated with the module have valid lengths and offsets based upon the module size You must correctly set up the sampling of an Input Module Although multiple channel descriptions can target an input module the module is still only scanned once per function block execution The SER function block can be placed in the normal user logic program or within a periodic subroutine If placed in the user logic program the resolution of the interval between scans is the resolution of the scan time which can vary depending on the number and types of functions active on any particular scan If placed in an interrupt subroutine the inter
147. ce array address SR DS destination array address LEN 100001 source array index SNX l l destination array index DNX l l l l elements to transfer N l 10 2 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Parameters Valid Memory Types GFK 0467L Parameter Description enable When the function is enabled the operation is performed SR SR contains the starting address of the source array For ARRAY MOVE BIT any reference may be used it does not need to be byte aligned However 16 bits beginning with the reference address specified are displayed online SNX SNX contains the index of the source array DNX DNX contains the index of the destination array N N provides a count indicator ok The ok output is energized whenever enable is energized DS DS contains the starting address of the destination array For ARRAY MOVE BIT any reference may be used it does not need to be byte aligned However 16 bits beginning with the reference address specified are displayed online LEN LEN specifies the number of elements starting at SR and DS that make up each array Parameter flow I Q M T S G R AT AQ const none enable SR o o o o AT o SNX e E A DNX N ok DS o
148. ckplane Status Access service requests to transfer necessary data to and from the Motion module without getting all the data every scan Refer to the Motion Mate DSM302 for Series 90 30 PLCs User s Manual GFK1464 for details Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Sweep Time Calculation GFK 0467L Table 2 1 lists the seven items that contribute to the sweep time of the PLC The sweep time consists of fixed times housekeeping and diagnostics and variable times Variable times vary according to the I O configuration size of the user program and the type of programming device connected to the PLC Example of Sweep Time Calculation An example of the calculations for determining the sweep time for a Series 90 30 model 331 PLC are shown in the table shown below The modules and instructions used for these calculations are listed below e Input modules five 16 point Series 90 30 input modules e Output modules four 16 point Series 90 30 output modules e Programming instructions A 1200 step program consisting of 700 Boolean instructions LD AND OR etc 300 output coils OUT OUTM etc and 200 math functions ADD SUB etc Housekeeping The housekeeping portion of the sweep performs all of the tasks necessary to prepare for the start of the sweep If the PLC is in CONSTANT SWEEP mode the sweep is delayed until the required sweep time elapses If the required time has already elapse
149. ction described in chapter 11 Conversion Functions to change the data to one of the data types listed above 10 1 ARRAY_MOVE INT DINT BIT BYTE WORD Use the Array Move ARRAY_MOVE function to copy a specified number of data elements from a source array to a destination array The ARRAY_MOVE function has five input parameters and two output parameters When the function receives power flow the number of data elements in the count indicator N is extracted from the input array starting with the indexed location SR SNX 1 The data elements are written to the output array starting with the indexed location DS DNX 1 The LEN operand specifies the number of elements that make up each array For ARRAY MOVE BIT when word oriented memory is selected for the parameters of the source array and or destination array starting address the least significant bit of the specified word is the first bit of the array The value displayed contains 16 bits regardless of the length of the array The indices in an ARRAY MOVE instruction are 1 based In using an ARRAY MOVE no element outside either the source or destination arrays as specified by their starting address and length may be referenced The ok output will receive power flow unless one of the following conditions occurs e Enable is OFF e Nc SNX 1 is greater than LEN e N DNX l is greater than LEN enable ok MOVE_ I BIT l l sour
150. ctions that have an increment value multiply the increment by Length 1 and add that value to the base time Appendix A Instruction Timing A 5 Table A 2 Instruction Timing High Performance Models Function Enabled Disabled Increment Enabled Disabled Group Function 350 351 36x 350 351 36x 350 351 36x Size On Delay Timer 6 4 5 15 Timer 3 3 2 2 15 Off Delay Timer 3 3 3 2 15 Counters Up Counter 1 3 2 2 13 Down Counter 3 3 1 2 I3 Math Addition INT 2 0 1 0 13 Addition DINT 2 0 2 0 19 Addition REAL 52 0 33 0 17 Subtraction INT 2 0 1 0 13 Subtraction DINT 0 2 0 19 Subtraction REAL 53 0 34 0 17 Multiplication INT 21 0 21 0 13 Multiplication DINT 24 0 24 0 19 Multiplication REAL 68 1 38 1 17 Division INT 22 0 22 0 13 Division DINT 25 0 25 0 19 Division REAL 82 2 36 2 17 Modulo Division INT 21 0 21 0 13 Modulo Div DINT 25 0 25 0 19 Square Root INT 42 1 41 1 10 Square Root DINT 70 0 70 0 13 Square Root REAL 137 0 35 0 11 Trigonometric SIN REAL 360 0 32 0 11 COS REAL 319 0 29 0 11 TAN REAL 510 1 32 1 11 ASIN REAL 440 0 45 0 11 ACOS REAL 683 0 63 0 11 ATAN REAL 264 1 33 1 11 Logarithmic LOG REAL 469 0 32 0 11 LN REAL 437 0 32 0 11 Exponential
151. current value is reset to zero and Q is turned off PV PV is the value to copy into the timer s preset value when the timer is enabled or reset Q Output Q is energized when TMR is enabled and the current value is greater than or equal to the preset value Valid Memory Types Parameter flow I WQ M T S G R WAI AQ const none address enable PV Q Valid reference or place where power may flow through the function Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Example In the following example a delay timer with address TMRID is used to control the length of time that coil DWELL is on When the normally open momentary contact DO_DWL is on coil DWELL is energized The contact of coil DWELL keeps coil DWELL energized when contact DO_DWL is released and also starts the timer TMRID When TMRID reaches its preset value of one half second coil REL energizes interrupting the latched on condition of coil DWELL The contact DWELL interrupts power flow to TMRID resetting its current value and de energizing coil REL The circuit is then ready for another momentary activation of contact DO_DWL DO DWL REL DWELL I II AA A 2 l DWELL Ih lt DWELL REL T u 0 1s I I CONST
152. d the OV_SWP SA0002 contact is set and the sweep continues without delay Next timer values hundredths tenths and seconds are updated by calculating the difference from the start of the previous sweep and the new sweep time In order to maintain accuracy the actual start of sweep is recorded in 100 microsecond increments Each timer has a remainder field which contains the number of 100 microsecond increments that have occurred since the last time the timer value was incremented Input Scan Scanning of inputs occurs during the input scan portion of the sweep just prior to the logic solution During this part of the sweep all Series 90 30 input modules are scanned and their data stored in l discrete inputs or AI analog inputs memory as appropriate Any global data input received by a Genius Communications Module an Enhanced Genius Communications Module or a Genius Bus Controller is stored in G memory Modules are scanned in ascending reference address order starting with the Genius Communications Module then discrete input modules and finally analog input modules If the CPU is in STOP mode and the CPU is configured to not scan I O in STOP mode the input scan is skipped Chapter 2 System Operation 2 7 2 8 Application Program Logic Scan or Solution The application program logic scan is when the application logic program actually executes The logic solution always begins with the first instruction in the user applicat
153. d 35 39 use and cannot be used for other purposes Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L GFK 0467L Internal Parameters in RefArray As described in Table 12 3 on the previous pages the PID block reads 13 user parameters and uses the rest of the 40 word RefArray for internal PID storage Normally you would not need to change any of these values If you are calling the PID block in Auto mode after a long delay you might want to use SVC_REQ 16 to load the current PLC elapsed time clock into Ref 23 to update the last PID solution time to avoid a step change on the integrator If you have set the Override low bit of the Control Word Ref 14 to 1 the next four bits of the Control Word must be set to control the PID block input contacts as described in Table 12 3 on the previous pages and the Internal SP and PV must be set as you have taken control of the PID block away from the ladder logic PID Algorithm Selection PIDISA or PIDIND and Gains The PID block can be programmed selecting either the Independent PID IND term or standard ISA PID ISA versions of the PID algorithm The only difference in the algorithms is how the Integral and Derivative gains are defined To understand the difference you need to understand the following Both PID types calculate the Error term as SP PV which can be changed to Reverse Acting mode PV SP if the Error Term low bit 0 in the Confi
154. d without the ALT parameter No error checking is performed to prevent overlapping reference addresses or module type mismatches Valid Memory Types Parameter flow I Q M T S G R WAI AQ const none enable ST END ALT ok e Valid reference or place where power can flow through the function 12 4 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Input Example 1 In the following example when the enabling input I0001 is ON references 10001 through 2010064 are scanned and Q0001 is turned on A copy of the scanned inputs is placed in internal memory from reference MO0001 through 6M0064 The real input points are not updated This form of the function can be used to compare the current values of input points with the values of input points at the beginning of the scan 10001 pno 1o 200001 10001 ST 10064 END M0001 ALT Input Example 2 In the following example when the enabling input 10001 is ON references 10001 through 2010064 are scanned and Q0001 is turned on The scanned inputs are placed in the input status memory from reference 10001 to 10064 This form of the function allows input points to be scanned one or more times during the program execution portion of the CPU swee
155. different types first use the appropriate conversion function described in chapter 11 Conversion Functions to change the data to one of the supported types If input parameters I1 and I2 match the specified relationship output Q receives power flow and is set ON 1 otherwise it is set OFF 0 enable ECE INT input parameter I1 I1 Q output parameter Q l l input parameter I2 I2 Parameters Parameter Description enable When the function is enabled the operation is performed Il Il contains a constant or reference for the first value to be compared 11 is on the left side of the relational equation as in I1 I2 n I2 contains a constant or reference for the second value to be compared 12 is on the right side of the relational equation as in I1 I2 Q Output Q is energized when I1 and I2 match the specified relation Note Il and I2 must be valid numbers i e cannot be NaN Not a Number 7 2 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Expanded Description Function Description Equal When enabled if the value at input I1 is equal to the value at input I2 output Q is energized Not Equal When enabled if the value at input I1 is NOT equal to the value at input 12 output Q is energized Greater Than When enabled if the value at input I1 is greater than the value at input I
156. e eese eene 3 10 Low Battery Signal 5nanonnonninanSeResegeme emedegedgsgndesesscpa 3 10 Constant Sweep Time Exceeded essere nennen 3 11 Application Pault 5 eR n RI um 3 11 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Chapter 4 Chapter 5 GFK 0467L Contents No User Program Present ieee iie nennen nennen 3 12 Corrupted User Program on Power Up eese nennen 3 12 Password Access Pailure AR EA dade udi 3 12 PLC CPU System Software Failure eeeeeseeeeeeeeeeeeen nennen eene 3 13 Communications Failure During Store eene 3 15 Section 3 VO Fault Table Explanations eee e eee ee ee eee ee eee eee etnuu 3 16 Loss ot W O Modules os unb bbb bosse 3 16 Addition of I O Module 0 ceceeeeeccccccceeeeeeenneeeceeceeeeennaeeeeeeeeseeeeanaeeeeeeeeseeeenaeeeeeees 3 17 Relay FUBCIODS sccsssensssscsuvcsssedenvessssovdeussdssvasscosesdussssvcssseassseonedivsscsouvesedssseanves s 4 1 Using CONLACS sss PEE m 4 1 Using Cols dS 4 2 Normally Open Contact l l eese RE E tenete nennen enn 4 3 Normally Closed Contact l I seen enne 4 3 ere cU 4 3 lo cun c 4 3 Negated Coil 355 5 niii iiti ariadna eode dida evade 4 4 Exp cet cete Cete Caste taste tac Cae Da UM 4 4 Retentive Coil M ixasasesasesanesanetenutusunusu usuusu
157. e Q Output Q contains the logarithmic exponential value of IN Note The LOG LN EXP and EXPT functions are only available on the 35x and 36x series CPUs Release 9 or later and on all releases of CPU352 Note When the input value IN for the EXP function is negative infinity o9 the function returns a value of 0 as expected In this case for the CPU352 the function does not pass power For all other 90 30 CPUs does pass power even though the output is 0 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Valid Memory Types Parameter flow 1 Q M T PS G R WAI AQ const none enable IN ok Q 5 For the EXPT function input IN is replaced by input parameters I1 and I2 Valid reference or place where power may flow through the function In the following example the value of AIO001 is raised to the power of 2 5 and the result is Example placed in ROOO1 ALW_ON l I SS REAL AI0001 I1 Q ROOO1 CONST 12 2 50000E 00 GFK 0467L Chapter 6 Math Functions 6 13 a Radian Conversion RAD DEG Parameters When the function receives power flow the appropriate conversion RAD_TO_DEG or DEG TO RAD i e Radian to Degree or vice versa is performed on the real value in input IN and the result is placed in output Q The ok out
158. e the output Control Variable is placed in the Manual Command parameter Ref 13 If power flow is provided to both Enable and Manual input contacts the PID block is placed in Manual mode and the output Control Variable is set from the Manual Command parameter Ref 13 If either the UP or DN inputs have power flow the Manual Command word is incremented or decremented by one CV count every PID solution For faster manual changes of the output Control Variable it is also possible to add or subtract any CV count value directly to from the Manual Command word The PID block uses the CV Upper and CV Lower Clamp parameters to limit the CV output If a positive Minimum Slew Time is defined it is used to limit the rate of change of the CV output If either the CV amplitude or rate limit is exceeded the value stored in the integrator is adjusted so that CV is at the limit This anti reset windup feature defined on page 12 78 means that even if the error tried to drive CV above or below the clamps for a long period of time the CV output will move off the clamp as soon as the error term changes sign This operation with the Manual Command tracking CV in Automatic mode and setting CV in Manual mode provides a bumpless transfer between Automatic and Manual modes The CV Upper and Lower Clamps and the Minimum Slew Time still apply to the CV output in Manual mode and the internal value stored in the integrator is updated This means that if you were to ste
159. e 8 0 The output parameter block has a length of four words It returns eight ASCII characters the last is a null character 00h If the PLC ID has fewer than seven characters null characters are appended to the end Low Byte High Byte Example In the following example when enabling input 9610001 transitions off register location R0099 is loaded with the value 11 which is the function code for the Read PLC ID function The program block READ ID is then called to actually retrieve the ID The parameter block is located at address RO100 Except for the enabling contact and function number this is the same code used in the previous example 10001 M0301 d M0301 MOVE READ ID WORD _ CONST IN Q R0099 0011 LEN 0001 Program Block READ_ID 200102 SVC_ REQ R0099 FNC R0100 PARM Chapter 12 Control Functions 12 51 12 52 SVCREQ 12 Read PLC Run State Use SVCREQ function 12 to read the current RUN state of the PLC CPU Note Of the CPUs discussed in this manual Service Request 12 is supported only by 90 30 CPUs beginning with Release 8 0 The parameter block is an output parameter block only it has a length of one word Example 1 run disabled address 2 run enabled In the following example the PLC run state is always read into location R4002 If the state is Run Disabled the CALL function calls program block DISPLAY 10102
160. e LABEL function a non nested and a nested form The non nested form LABELO1 must be used with the non nested JUMP function LABELOI The nested form LABELO1 nested must be used with the nested JUMP function N LABELOI The LABEL instruction has no inputs and no outputs there can be nothing either before or after a LABEL in a rung Non nested LABEL Nested LABEL 2222 2 2 nested In the following examples power flow from JUMP TESTI is resumed starting at LABEL TESTI Example of a non nested LABEL TEST1 Example of a nested LABEL l TEST1 nested Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L COMMENT Use the COMMENT function to enter a comment rung explanation in the program A comment can have up to 2048 characters of text It is represented in the ladder logic like this COMMENT The text can be read or edited by moving the cursor to COMMENT after accepting the rung and selecting Zoom F10 Comment text can also be printed Longer text can be included in printouts using an annotation text file as described below 1 Create the comment A Enter text to the point where the text from the other file should begin B Move the cursor to the beginning of a new line and enter M or i the drive followed by a colon the subdirectory or folder and the file name as shown in this example NI d text co
161. e address given in parameter 3 PARM of the SVCREQ function When a RUN MODE STORE is active the program checksums may not be valid until the store is complete Therefore two flags are provided at the beginning of the output parameter block to indicate when the program and configuration checksums are valid For this function the output parameter block has a length of 12 words with this format Master Program Checksum Valid 0 not valid 1 valid address Master Configuration Checksum Valid 0 not valid 1 valid address 1 Number of Program Blocks including _MAIN address 2 Size of User Program in Bytes DWORD data type address 3 Program Additive Checksum address 5 Program CRC Checksum DWORD data type address 6 Size of Configuration Data in Bytes address 8 Configuration Additive Checksum address 9 Configuration CRC Checksum DWORD data type address 10 Example In the following example when input 2610251 is ON the master checksum information is placed into the parameter block and the output coil 2Q0001 is turned on The parameter block is located at 9 R0050 La 10251 Q0001 i i Me aae E __ ec ON REQ CONST FNC 0023 ROO50 PARM GFK 0467L Chapter 12 Control Functions 12 61 SVCREQ 26 30 Interrogate 1 0 Use SVCREQ function 26 or 30 they are identical i e you can use either number to acc
162. e base for system software operations and timer function blocks it can not be reset from the user program or the programmer However the application program can read the current value of the elapsed time clock by using Service Request 16 Time of Day Clock The time of day in the 28 point Micro and Series 90 30 PLC Model 331 and higher is maintained by a hardware time of day clock The time of day clock maintains seven time functions e Year two digits e Month e Day of month e Hour e Minute e Second e Day of week The time of day clock is battery backed and maintains its present state across a power failure However unless you initialize the clock the values it contains are meaningless The application program can read and set the time of day clock using Service Request 7 The time of day clock can also be read and set from the CPU configuration software Note that the Hand Held Programmer does not allow you to change the Time of Day clock while key switch protection is active The time of day clock is designed to handle month to month and year to year transitions It automatically compensates for leap years until the year 2079 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Watchdog Timer A watchdog timer in the Series 90 30 PLC is designed to catch catastrophic failure conditions that result in an unusually long sweep The timer value for the watchdog timer is 200 milliseconds 500
163. e present within the selected range e The CPU is not able to properly handle the temporary list of I O created by the function e The range specified includes I O modules that are associated with a Loss of I O fault enable HIRE ok starting address ST l l l l l ending address END l l l I ALT Parameters Parameter Description enable When the function is enabled a limited input or output scan is performed ST ST is the starting address or set of input or output points or words to be serviced END END is the ending address or set of input or output points or words to be serviced ALT For the input scan ALT specifies the address to store scanned input point word values For the output scan ALT specifies the address to get output point word values from to send to the I O modules For Model 331 and later CPUs the ALT parameter can have an effect on speed of DOIO function block execution see Note below and the section on the enhanced DO T O function for 331 and later CPUs on page 12 4 ok The ok output is energized when the input or output scan completes normally Note For Model 331 and later CPUs the ALT parameter of the DOIO function block can be used to enter the slot of a single module in the main rack When that is done the DOIO function block will execute in 80 microseconds instead of the 236 microseconds required when the block is programme
164. ead Time of Day Clock 12 44 Use the SVCREQ function with function number 7 to read and set the time of day clock in the PLC Note This function is available only in 331 or higher 90 30 CPUs and on the 28 point Series 90 Micro PLC CPUs that is IC693UDROOS IC693UAA007 and IC693UDRO10 and the 23 point Series 90 Micro PLC CPUs IC693UAL006 Successful execution will occur unless 1 Some number other than 0 or 1 is entered as the requested operation see below 2 An invalid data format is specified 3 The data provided is not in the expected format For the date time functions the length of the parameter block depends on the data format BCD format requires 6 words packed ASCII requires 12 words 0 read time and date address 1 set time and date 1 BCD format address 1 3 packed ASCII format data address 2 to end In word 1 specify whether the function should read or change the values 0 read 1 change In word 2 specify a data format 1 BCD 3 packed ASCII with embedded spaces and colons Words 3 to the end of the parameter block contain output data returned by a read function or new data being supplied by a change function In both cases format of these data words is the same When reading the date and time words address 2 through address 8 of the parameter block are ignored on input Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L
165. eady wrapped at least once 2 102 Trigger mode 0 0000 The event recorder is configured to trigger based on the Trigger input 5 105 Reserved 0 to 0 s os Reserves 9 ww 7 e mew 9 ww 8 108 of channels 24 Sample configuration consists of 24 bits of data 3t of samples to be taken Sample buffer size is 512 samples Note that the sample buffer is not 512 bytes Itis 512 x 24 8 2 1536 bytes or 768 words Each sample is 3 bytes long of samples after trigger The number of samples to be collected after the trigger is 12 Input module slot The input module in rack 0 slot 4 will be scanned so its current values are available for sampling Data Block Segment Selector The data segment is 0x08 R Data Block Offset The offset is 200 which places the start of the data block at R0201 The offset is a zero based value but the register tables begin at R0001 Therefore the data block starting point is ROOO1 200 RO0201 GFK 0467L Chapter 12 Control Functions 12 17 Word Register Parameter Value Value Description dec hex Channel Descriptions The remaining words contain the channel descriptions In this example six channel descriptions have been defined Lom Set Sel Length 17921 4601 Channel description 1 The first channel 115 Offset 0000 description selects the I Segment with a length of 1 and an offset of 0 This chooses 9610001 for channel 1 Seg Sel
166. ean function blocks GFK 0467L 1 1 1 2 Faults occur in the Series 90 30 PLC Series 90 20 PLC and the Micro PLC when certain failures or conditions happen that affect the operation and performance of the system These conditions may affect the ability of the PLC to control a machine or process Other conditions may only act as an alert such as a low battery signal to indicate that the voltage of the battery protecting the memory is low and should be replaced The condition or failure is called a fault Faults are handled by a software alarm processor function that records the faults in either the PLC fault table or the I O fault table Model 331 and higher CPUs also time stamp the faults These tables can be displayed through the programming software on the PLC Fault Table and I O Fault Table screens in Logicmaster 90 30 20 Micro software using the control and status functions Note Floating point capabilities are only supported on the 35x and 36x series CPUs Release 9 or later and on all releases of CPU352 The Model 364 CPU release 9 10 or later is the only Series 90 30 CPU that supports EGD Note For additional information see the appendices in the back of this manual e Appendix A lists the memory size in bytes and the execution time in microseconds for each programming instruction e Appendix B describes how to interpret the message structure format when reading the PLC and I O fault tables e Appendix C lists instr
167. east one entry in the PLC fault table Cleared when the PLC fault table has no entries SC0013 IO PRES Set as long as there is at least one entry in the I O fault table Cleared when the I O fault table has no entries SC0014 HRD_FLT Set when a hardware fault occurs Cleared when both fault tables have no entries SC0015 SFT_FLT Set when a software fault occurs Cleared when both fault tables have no entries Note Any S reference not listed here is reserved and not to be used in program logic GFK 0467L Chapter 2 System Operation 2 25 Function Block Structure Each rung of logic is composed of one or more programming instructions These may be simple relays or more complex functions Format of Ladder Logic Relays The programming software includes several types of relay functions These functions provide basic flow and control of logic in the program Examples include a normally open relay contact and a negated coil Each of these relay contacts and coils has one input and one output Together they provide logic flow through the contact or coil Each relay contact or coil must be given a reference which is entered when selecting the relay For a contact the reference represents a location in memory that determines the flow of power into the contact In the following example if reference 7610122 is ON power will flow through this relay contact 10122 sy ie For a coil the reference represents a location in memory that is cont
168. ecify a reference address or nickname a label or a location reference address This appendix lists the mnemonics of the programming instructions for Logicmaster 90 30 20 Micro programming software The complete mnemonic is shown in column 3 of this table and the shortest entry you can make for each instruction is listed in column 4 At any time during programming you can display a help screen with these mnemonics by pressing the ALT and I keys Function Mnemonic Group Instruction All INT DINT BIT BYTE WORD REAL Contacts Any Contact amp CON amp CON Normally Open Contact amp NOCON amp NOCON Normally Closed Contact amp NCCON amp NCCON Continuation Contact amp CONC amp CONC Coils Any Coil amp COI amp COI Normally Open Coil amp NOCOI amp NOCOI Negated Coil amp NCCOI amp NCCOI Positive Transition Coil amp PCOI amp PCOI Negative Transition Coil amp NCOI amp NCOI SET Coil amp SL amp SL RESET Coil amp RL amp RL Retentive SET Coil amp SM amp SM Retentive RESET Coil amp RM amp RM Retentive Coil amp NOM amp NOM Negated Retentive Coil amp NCM amp NCM Continuation Coil amp COILC amp COILC Links Horizontal Link amp HO amp HO Vertical Link amp VE amp VE Timers On Delay Timer amp ON amp ON Elapsed Timer amp TM amp TM Off Delay Timer amp OF amp OF Counters Up Counter amp UP amp UP Down Counter amp DN amp DN GFK 0467L C 1
169. ed 1 LM 90 0 517 PCM 2 0 482 Reconfiguration Slots with faulted modules and empty slots 0 319 are monitored Diagnostics Verify user program integrity 0 010 per word checksummed each sweep 7 2 4 1 The scan time contribution of external device service is dependent upon the mode of the communications window in which the service is processed If the window mode is LIMITED a maximum of 8 milliseconds for the 311 313 323 and 331 CPUs and 6 milliseconds for the 340 and higher CPUs will be spent during that window If the window mode is RUN TO COMPLETION a maximum of 50 ms can be spent in that window depending upon the number of requests which are presented simultaneously These measurements were taken with the PCM physically present but not configured and with no application task running on the PCM The number of words checksummed each sweep can be changed with the SVCREQ function block These measurements were taken with an empty program and the default configuration The Series 90 30 PLCs were in an empty 10 slot rack with no extension racks connected Also the times in this table assume that there is no periodic subroutine active the times will be larger if a periodic subroutine is active The data input time for the Micro PLC can be determined as follows 0 365 ms fixed scan 0 036 ms filter time x total sweep time 0 5 ms Since the Micro PLC has a static set of I O reconfiguration is not necessary Si
170. ed Integer integer format REAL Convert to REAL Convert INT DINT BCD 4 or WORD to 11 7 REAL WORD Convert to WORD Convert REAL to WORD format 11 9 TRUN Truncate Round the real number toward zero 11 11 GFK 0467L 11 1 11 2 BCD 4 INT Parameters The Convert to BCD 4 function is used to output the 4 digit BCD equivalent of signed integer data The original data is not changed by this function Data can be converted to BCD format to drive BCD encoded LED displays or presets to external devices such as high speed counters When the function receives power flow it performs the conversion making the result available via output Q The function passes power flow when power is received unless the specified conversion would result in a value that is outside the range 0 to 9999 enable ok Valid Memory Types Example TO BCD4 value to be converted IN Q output parameter Q Parameter Description enable When the function is enabled the conversion is performed IN IN contains a reference for the integer value to be converted to BCD 4 ok The ok output is energized when the function is performed without error Q Output Q contains the BCD 4 form of the original value in IN Parameter flow I WQ M T S G R AI AQ const none enable IN ok Q e Valid
171. either function The number of places specified for rotation must be more than zero and less than the number of bits in the string Otherwise no movement occurs and no power flow is generated The ROL or ROR function passes power flow to the right unless the number of bits specified to be rotated is greater than the total length of the string or is less than zero The result is placed in output string Q If you want the input string to be rotated the output parameter Q must use the same memory location as the input parameter IN The entire rotated string is written on each scan that power is received enable ok WORD l l word to be rotated IN Q output parameter Q LEN 00001 l l number of bits N II I Parameter Description enable When the function is enabled the rotation is performed IN IN contains the first word to be rotated N N contains the number of places that the array is to be rotated ok The ok output is energized when the rotation is energized and the rotation length is not greater than the array size Q Output Q contains the first word of the rotated array LEN LEN is the number of words in the array to be rotated Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Valid Memory Types Parameter flow I WQ M T S G R WAI AQ const none enable IN
172. en reference El is OFF El E2 es _ Tf A E2 E3 SS ee Retentive Coil M Like a normally open coil the retentive coil sets a discrete reference ON while it receives power flow The state of the retentive coil is retained across power failure Therefore it cannot be used with references from strictly non retentive memory T Negated Retentive Coil M The negated retentive coil sets a discrete reference ON when it does not receive power flow The state of the negated retentive coil is retained across power failure Therefore it cannot be used with references from strictly non retentive memory T Positive Transition Coil T If the reference associated with a positive transition coil is OFF when the coil receives power flow it is set to ON Any contacts associated with that coil will change state for one PLC scan sweep If the rung containing the coil is skipped on subsequent sweeps it will remain ON This coil can be used as a one shot Each reference should only be used as a transition coil once in the application program so as to preserve the one shot nature of the coil Transitional coils can be used with references from either retentive or non retentive memory Q 26M T G 96S A SB or SC 4 4 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Negative Transition Coil J Example If the reference associated with this coil i
173. ence CONST IZ2 00002 Note Function blocks cannot be tied directly to the left power rail You can use 9687 the ALW ON always on bit with a normally open contact tied to the power rail to call a function every sweep Power flows out of the function block on the upper right It may be passed to other program logic or to a coil optional Function blocks pass power when they execute successfully Chapter 2 System Operation 2 29 Section 3 Power Up and Power Down Sequences There are two possible power up sequences in the Series 90 30 PLC a cold power up and a warm power up The CPU normally uses the cold power up sequence However in a Model 331 or higher PLC system if the time that elapses between a power down and the next power up is less than five seconds the warm power up sequence is used Power Up A cold power up consists of the following sequence of events A warm power up sequence skips Step 1 1 The CPU will run diagnostics on itself This includes checking a portion of battery backed RAM to determine whether or not the RAM contains valid data 2 Ifan EPROM EEPROM or flash is present and the PROM power up option in the PROM specifies that the PROM contents should be used the contents of PROM are copied into RAM memory If an EPROM EEPROM or flash is not present RAM memory remains the same and is not overwritten with the contents of PROM 3 The CPU interrogates each slot in the system to det
174. entire number Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Internal Format of Floating Point Numbers Floating point numbers are stored in single precision IEEE standard format This format requires 32 bits which translates to two adjacent 16 bit PLC registers The encoding of the bits is diagrammed below j4 Bits 17 32 M Bits 1 16 gt EEE 31 spe SSE Seay EEEE 23 bit mantissa Mr 8 bit exoonent lt 1 bit sian Bit 32 Register use by a single floating point number is diagrammed below In this diagram if the floating point number occupies registers R5 and R6 for example R5 is the least significant register and R6 is the most significant register Least Significant Register CE lt Bits 1 16 _ gt pe T1 Epp 53 Least Significant Bit Bit 1 4 vost Significant Bit Bit 16 Most Significant Register gt Bits 17 32 E LEES TEL ES ESTE E Least Significant Bit Bit 17 cx _ Most Significant Bit Bit 32 GFK 0467L Appendix E Using Floating Point Numbers E 3 Values of Floating Point Numbers E 4 Use the following tab
175. equire that either the system be shut down or the failure is tolerated I O failures may be tolerated by the PLC system but they may be intolerable by the application or the process being controlled Operational failures are normally tolerated Series 90 30 90 20 and Micro PLC faults have two attributes Attribute Description Fault Table Affected I O Fault Table PLC Fault Table Fault Action Fatal Diagnostic Informational Fault Tables Two fault tables are maintained in the PLC for logging faults the I O fault table for logging faults related to the I O system and the PLC fault table for logging all other faults The following table lists the fault groups their fault actions the fault tables affected and the name for system discrete 96S points that are affected Table 3 1 Fault Summary Fault Fault Group Fault Action Table Special Discrete Fault References Loss of or Missing I O Module Diagnostic VO io fit any flt io pres los iom Loss of or Missing Option Module Diagnostic PLC sy flt any flt sy pres los sio System Configuration Mismatch Fatal PLC sy flt any flt sy pres cfg mm PLC CPU Hardware Failure Fatal PLC sy flt any flt sy pres hrd cpu Program Checksum Failure Fatal PLC sy flt any flt sy pres pb sum Low Battery Diagnostic PLC sy flt any flt sy pres low bat PLC Fault Table Full Diagnostic sy full T O Faul
176. eries CPUs Change Mode and Flash Protect Each 35x and 36x series CPU has a key switch on the front of the module that allows you to protect Flash memory from being over written When you turn the key to the ON RUN position no one can change the Flash memory without turning the key to the OFF position Beginning with Release 7 of the 351and 352 CPUs the Key Switch has another function it allows you to switch the PLC into STOP mode into RUN mode and to clear non fatal faults as discussed in the next section Beginning with Release 8 of the 35x and the 36x series CPUs the Key Switch has an enhanced memory protection function it can be used to provide two additional types of memory protection see the Using the Release 8 and Later Memory Protection section If the key switch is enabled and in the ON RUN position you can change the Time of Day clock only through the programming software The Hand Held Programmer does not allow you to change the Time of Day clock while key switch protection is active Using the Release 7 and Later Key Switch Unlike the Flash Protection capabilities in the earlier release if you do not enable the Key Switch through the RUN STOP Key Switch parameter in the CPU s configuration screen the CPU does not have the enhanced control discussed here The operation of the Key Switch has the same safeguards and checks before the PLC goes to RUN mode just like the existing transition to RUN mode that is the PLC w
177. ermine which boards are present 4 The hardware configuration is compared with software configuration to ensure that they are the same Any mismatches detected are considered faults and are alarmed Also if a board is specified in the software configuration but a different module is present in the actual hardware configuration this condition is a fault and is alarmed 5 If there is no software configuration the CPU will use the default configuration 6 The CPU establishes the communications channel between itself and any intelligent modules 7 In the final step of the execution the mode of the first sweep is determined based on CPU configuration If RUN mode the sweep proceeds as described under STOP to RUN Mode Transition Figure 2 5 on the next page shows the decision sequence for the CPU when it decides whether to copy from PROM or to power up in STOP or RUN mode Note Steps 2 through 7 above do not apply to the Series 90 Micro PLC For information about the power up and power down sequences for the Micro refer to the Power up and Power down Sequences section of Chapter 5 System Operation in the Series 90 Micro PLC User s Manual GFK 1065 2 30 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L GFK 0467L 245680 Go to Clear All Process USD PRESENT AND VALID USD URAM PRG SRC PRG SRC PROM PROM URAM CORRUPT USD REG SRC PROM URAM USD PRG SRC
178. erride bits The CPU uses transition bits for counters and transitional coils Note that counters do not use the same kind of transition bits as coils Transition bits for counters are stored within the locating reference In the Model 331 and higher CPUs override bits can be set When override bits are set the associated references cannot be changed from the program or the input device they can only be changed on command from the programmer CPU Models 323 321 313 and 311 and the Micro CPUs do not support overriding discrete references Retentiveness of Data GFK 0467L Data is said to be retentive if it is saved by the PLC when the PLC is stopped The Series 90 PLC preserves program logic fault tables and diagnostics overrides and output forces word data R 96 ATI AQ bit data 961 SC G fault bits and reserved bits Q and 96M data unless used with non retentive coils and word data stored in Q and 96M T data is not saved Although as stated above SC bit data is retentive the defaults for S SA and SB are non retentive Q and M references are non retentive that is cleared at power up when the PLC switches from STOP to RUN whenever they are used with non retentive coils Non retentive coils include coils negated coils SET coils S and RESET coils R When Q or M references are used with retentive coils or are used as function block outputs the contents are retained thr
179. es power of X definitions of EXPT 6 12 Fault type 3 16 External I O failures 3 2 Faults red NM fault information 3 6 3 8 F actions addition of I O module Fast Backplane Status Access 12 65 additional fault effects Fatal faults 3 4 application ME PTT i classes of faults communications failure during store 3 15 ie eee 5 communications failure during store corrupted user program on power up option module software failure 3 10 constant sweep Hime exceeded 3 11 PLC CPU system software failure 3 13 ae esl on power up 3 12 program block checksum failure RE d 10 7 3l system configuration mismatch D aab Fault action 3 T O fault action diagnostic faults 3 4 fatal faults 5 4 le ca an ox I O fault action 1 informational faults I O fault table explanations internal failures PLC fault pons interpreting a fault fault actions gt loss of I O module 3 16 Fault category 3 16 loss of or missing En module Fault description 3 16 low battery signal3 10 Fault effects additional 3 5 no user program present 3 12 Fault explanations and correction operational failures 3 2 accessing additional fault information 3 6 option module software failure 3 10 addition of I O module password access failure application fault 3 11 PLC CPU system software failure 3 13 communications failure during store PLC fault action B 5 constant
180. escription INT Signed integer DINT Double precision signed integer WORD Word data type The default data type is signed integer however it can be changed after selecting the function For more information on data types please refer to chapter 2 section 2 Program Organization and User References Data When the function is enabled the RANGE function block will compare the value in input parameter IN against the range specified by limit parameters L1 and L2 When the value is within the range specified by L1 and L2 inclusive output parameter Q is set ON 1 Otherwise Q is set OFF 0 enable i INT i limit parameter L1 L1 Q output parameter Q limit parameter L2 ae value to be compared m Note Limit parameters L1 and L2 represent the end points of a range There is no minimum maximum or high low connotation assigned to either parameter Thus a desired range of 0 to 100 could be specified by assigning 0 to L1 and 100 to L2 or 0 to L2 and 100 to L1 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Parameters Parameter Description enable When the function is enabled the operation is performed L1 L1 contains the start point of the range L2 L2 contains the end point of the range IN IN contains the value to
181. ess Than Equal DINT 3 Range INT 2 2 13 Range DINT P 2 22 Range WORD 1 1 13 Bit Logical AND 2 2 13 Operation Logical OR 2 2 13 Logical Exclusive OR 1 1 13 Logical Invert NOT 1 1 10 Shift Bit Left 31 1 37 31 1 37 16 Shift Bit Right 28 3 03 28 3 03 16 Rotate Bit Left 25 3 12 25 3 12 16 Rotate Bit Right 25 4 14 25 4 14 16 Bit Position 20 20 13 Bit Clear 20 20 13 Bit Test 20 20 amp 13 Bit Set 19 19 13 Mask Compare WORD 52 52 25 Mask Compare DWORD 50 0 49 0 5 25 Notes 1 Time in microseconds is based on Release 7 of Logicmaster 90 30 20 Micro software for Model 351 and 352 CPUs m For table functions increment is in units of length specified for bit operation functions microseconds bit for data move functions microseconds number of bits or words Enabled time for single length units of type R AI and AQ COMMREQ time has been measured between CPU and HSC DOIO is the time to output values to discrete output module Where there is more than one possible case the time indicated above represents the worst possible case For instructions that have an increment value multiply the increment by Length 1 and add that value to the base time ADM PW Appendix A Instruction Timing A 7 A 8 Table A 2 Instruction Timing High Performance Models Continued Search Greater Than Function
182. estarting the watchdog timer does not adversely affect the controlled process This function has no associated parameter block however the programming software requires that an entry be made for PARM Enter any appropriate reference here it will not be used Example In the following example when enabling output QO127 or input 11476 or internal coil 260M0010 is set the watchdog timer is reset 00127 SVC_ REQ 11476 CONST FNC 0008 M0010 AI001 PARM jur mnm 12 48 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L SVCREQ 9 Read Sweep Time from Beginning of Sweep Use SVCREQ function 9 to read the time in milliseconds since the start of the sweep The data is in 16 bit Word format Note Of the CPUs discussed in this manual Service Request 9 is supported only by 90 30 CPUs beginning with Release 8 0 The parameter block is an output parameter block only it has a length of one word time since start of sweep address Example In the following example the elapsed time from the start of the sweep is always read into location 26R5200 If it is greater than the value in R5201 internal coil 70M0200 is turned on 00102 l SVC GT REQ WORD M0200 CONST FNC R5200 I1 QI E 0009 R5200 PARM R5201 112 GF
183. et to a different location than the second word Some applications choose to use the second word address for the PV such as using R0102 when the bottom data block starts at RO101 This allows an application to change the PV while the timer or counter is running Applications can read the first CV or third Control words but the application cannot write to these values or the function will not work Special Note on Certain Bit Operations When using the Bit Test Bit Set Bit Clear or Bit Position function the bits are numbered through 16 NOT 0 through 15 as shown above Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L ONDTR A retentive on delay timer ONDTR increments while it receives power flow and holds its value when power flow stops Time may be counted in tenths of a second the default selection hundredths of a second or thousandths of a second The range is 0 to 32 767 time units The state of this timer is retentive on power failure no automatic initialization occurs at power up When the ONDTR first receives power flow it starts accumulating time current value When this timer is encountered in the ladder logic its current value is updated Note If multiple occurrences of the same timer with the same reference address are enabled during a CPU sweep the current values of the timers will be the same When the current value equals or exceeds the preset value PV output Q is e
184. eterminate however using the following values Q RO001 IN R0004 LEN 5 words will yield valid contents Also please note that only 35x and 36x series CPUs Release 9 and later plus all releases of CPU352 have Floating Point capabilities at this time and therefore the only one capable of MOVE_REAL Parameter flow I WQ M T S G R WAI AQ const none enable IN o ok Q ot Note For REAL data the only valid types are R AI and AQ e Valid reference for BIT INT or WORD data or place where power may flow through the function For MOVE_BIT discrete user references I Q M and T need not be byte aligned o Valid reference for BIT or WORD data only not valid for INT T PSA SB SC only 96S cannot be used GFK 0467L Chapter 9 Data Move Functions 9 4 Example 1 Example 2 When enabling input Q0014 is ON 48 bits are moved from memory location MO0001 to memory location M0033 Even though the destination overlaps the source for 16 bits the move is done correctly except for the 351 and 352 CPUs as noted on previously ursa Q0014 I IMOVE WORD M0001 IN Q 2M0033 100003 LEN p Before using the Move function INPUT 9 M0001 through M0048 1 moors ppp 1 1 1 JoJo gri uoa o o o
185. ever since intelligent option modules are polled in a round robin fashion no intelligent option module has priority over any other intelligent option module In the default Run to Completion mode the length of the system communications window is limited to 50 milliseconds If an intelligent option module makes a request that requires more than 50 milliseconds to process the request is spread out over multiple sweeps so that no one sweep is impacted by more than 50 milliseconds a43066 START ANY REQUESTS IN QUEUE DEQUEUE A REQUEST PROCESS THE REQUEST WINDOW TIMER TIMEOUT POLLING SJOP RED YES RESTART POLLING Figure 2 3 System Communications Window Flow Chart GFK 0467L Chapter 2 System Operation 2 11 PCM Communications with the PLC Models 331 and Higher There is no way for intelligent option modules IOM such as the PCM to interrupt the CPU when they need service The CPU must poll each intelligent option module for service requests This polling occurs asynchronously in the background during the sweep see flow chart below When an intelligent option module is polled and sends the CPU a service request the request is queued for processing during the system communications window START a43067 POLL NEXT IOM STOP POLLING REQUEST RECEIVED QUEUE REQUEST Figure 2 4 PCM Communications with the PLC DSM Communications with the PLC The DSM302
186. ference Manual June 1999 GFK 0467L System Status References System status references in the Series 90 PLC are assigned to S SA SB and SC memory They each have a nickname Examples of time tick references include T 10MS T_100MS T SEC and T MIN Examples of convenience references include FST SCN ALW ON and ALW OFF Note 96S bits are read only bits do not write to these bits You may however write to 96S A SB and SC bits Listed below are available system status references which may be used in an application program When entering logic either the reference or the nickname can be used Refer to chapter 3 Fault Explanations and Correction for more detailed fault descriptions and information on correcting the fault You cannot use these special names in another context Table 2 7 System Status References Reference Nickname Definition 2080001 FST SCN Set to 1 when the current sweep is the first sweep S0002 LST SCN Reset from 1 to 0 when the current sweep is the last sweep S0003 T 10MS _ 0 01 second timer contact S0004 T 100MS 0 1 second timer contact S0005 T_SEC 1 0 second timer contact S0006 T_MIN 1 0 minute timer contact S0007 ALW ON Always ON S0008 ALW_OFF Always OFF S0009 SY FULL Set when the PLC fault table fills up Cleared when an entry is removed from the PLC fault table and when the PLC fault table is cleared S0010 IO FULL Se
187. first order lag system with a pure time delay is PV s CV s G s K e Tp sy 1 Tc s Plotting a step response at time tO in the time domain provides an open loop unit reaction curve CV Unit Step Output to Process PV Unit Reaction Curve Input from Process 45709 0 632K me The following process model parameters can be determined from the PV unit reaction curve K Process open loop gain final change in PV change in CV at time t0 Note no subscript on K Tp Process or pipeline time delay or dead time after tO before the process output PV starts moving Tc First order Process time constant time required after Tp for PV to reach 63 296 of the final PV Usually the quickest way to measure these parameters is by putting the PID block in Manual mode and making a small step in CV output by changing the Manual Command Ref 13 and plotting the PV response over time For slow processes this can be done manually but for faster processes a chart recorder or computer graphic data logging package will help The CV step size should be large enough to cause an observable change in PV but not so large that it disrupts the process being measured A good size may be from 2 to 10 of the difference between the CV Upper and CV Lower Clamp values 12 82 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Setting User Parameters Including Tuning Loop Gains As all PID parameter
188. floating point operations except the 352 CPU numbers are rounded to zero 0 at 1 175494E 38 Tf the infinities produced by overflow are used as operands to other REAL functions they may cause an undefined result This undefined result is referred to as an NaN Not a Number For example the result of adding positive infinity to negative infinity is undefined When the ADD_REAL function is invoked with positive infinity and negative infinity as its operands it produces an NaN for its result On a 352 CPU each REAL function capable of producing an NaN produces a specialized NaN which identifies the function NaN_SW FFFFFFFFh Software Floating Point NaN NaN_ADD 7F81FFFFh Real addition error value in hex NaN_SUB 7F81FFFFh Real subtraction error value in hex NaN_MUL 7F82FFFFh Real multiplication error value in hex NaN_DIV 7F83FFFFh Real division error value in hex NaN_SQRT 7F84FFFFh Real square root error value in hex NaN_LOG 7F85FFFFh Real logarithm error value in hex NaN_POWO 7F86FFFFh Real exponent error value in hex NaN_SIN 7F87FFFFh Real sine error value in hex NaN_COS 7F88FFFFh Real cosine error value in hex NaN_TAN 7F89FFFFh Real tangent error value in hex NaN_ASIN 7F8AFFFFh Real inverse sine error value in hex NaN_ACOS 7F8BFFFFh Real inverse cosine error value in hex NaN_BCD 7F8CFFFFh BCD 4 to real error REAL INDEF FFC00000h
189. g Word Ref 12 is set to 1 Reverse Acting mode can be used if you want the CV output to move in the opposite direction from PV input changes CV down for PV up rather than the normal CV up for PV up Error SP PV or PV SP if low bit of Config Word set to 1 The Derivative is normally based on the change of the Error term since the last PID solution which may cause a large change in the output if the SP value is changed If this is not desired the third bit of the Config Word can be set to 1 to calculate the Derivative based on the change of the PV The dt or Delta Time is determined by subtracting the last PID solution clock time for this block from the current PLC elapsed time clock dt Current PLC Elapsed Time clock PLC Elapsed Time Clock at Last PID solution Derivative Error previous Error dt or PV previous PV dt if 3rd bit of Config Word set to 1 The Independent term PID PID IND algorithm calculates the output as PID Output Kp Error Ki Error dt Kd Derivative CV Bias The standard ISA PID ISA algorithm has a different form PID Output Kc Error Error dt Ti Td Derivative CV Bias where Kc is the controller gain and Ti is the Integral time and Td is the Derivative time The advantage of ISA is that adjusting the Kc changes the contribution for the integral and derivative terms as well as the proportional one which may make loop tuning easier If you have PID gains in term
190. g example whenever input I0001 is set the integer content of RO002 is decremented by 1 and coil QO001 is turned on provided there is no overflow in the subtraction I0001 l Q0001 m SUB 1 INT RO002 I1 Q R0002 400095 CONST 12 00001 __ Chapter 6 Math Functions 6 3 a Math Functions and Data Types 6 4 Function Operation Displays as ADD INT Q 16 bit I1 16 bit I2 16 bit 5 digit base 10 number with sign ADD DINT Q 32 bit I1 32 bit I2 32 bit 8 digit base 10 number with sign ADD REAL Q 32 bit I1 32 bit I2 32 bit 7 digit base 10 number sign and decimal SUB INT Q 16 bit 2 I1 16 bit I2 16 bit 5 digit base 10 number with sign SUB DINT Q 32 bit I1 32 bit I2 32 bit 8 digit base 10 number with sign SUB REAL Q 32 bit I1 32 bit I2 32 bit 7 digit base 10 number sign and decimal MUL INT Q 16 bit 2 I1 16 bit I2 16 bit 5 digit base 10 number with sign MUL DINT Q 32 bit I1 32 bit I2 32 bit 8 digit base 10 number with sign MUL REAL Q 32 bit 2 I1 32 bit I2 32 bit 7 digit base 10 number sign and decimal DIV INT Q 16 bit I1 16 bit I2 16 bit 5 digit base 10 number with sign DIV DINT Q 32 bit I1 32 bit I2 32 bit 8 digit base 10 number with sign DIV REAL Q 32
191. ger is detected To configure this mode set Word 10 to a value of 0 so that when the trigger signal is activated sampling stops and a time stamp is generated All samples collected before the trigger 12 14 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Enable sampling starts Trigger SER stops sampling and generates time stamp Sample Sample 513 Sample Sample 514 Sample 2 Sample 515 Sample4 Sample 516 Number of Samples After Trigger 0 End of buffer Sample 506 Sample 507 Sample 508 Sample 509 Sample 510 Sample 511 Sample 512 Number of Samples gt Figure 12 1 Example of Pre Trigger SER Sampling Mid Trigger When buffer is filled new samples overwrite initial samples Collects samples continuously until Number of Samples After Trigger has been collected To configure this mode set Word 10 to a value between 1 and the Number of Samples Word 9 When the trigger signal is activated sampling continues until the configured number has been collected In the following example Number of Samples After Trigger is 12 When sampling is complete the buffer will contain 500 pre trigger samples and 12 post trigger samples Enable sampling starts Sampling stops when Number of Samples After Trigger is satisfied 12 Trigger SER generates time stamp and continues sampling E
192. ger mechanism for the SER function In a particular program only one Sequential Event Recorder function block can be associated with each function command block and data block Perform the following steps to configure parameters for the SER function block 1 Set up the stored values for the array as defined in the table below You can use block moves to initialize the registers or initialize the data in the register table and store the table before activating the SER function 2 Add the SER function block to your ladder logic Note If you require x channels where x is not equal to 8 16 24 but is less than 32 you must select a number of channels which is greater than x and a multiple of 8 and fill in a null channel description for the unused channels A null channel description has a segment selector of OxFFh a length parameter equal to the number of unused channels and a 0 offset Word Parameter Description 0 starting reference Status Read only variable that indicates the current state of the SER function block Additional information is provided in Status Extra Data Word 1 Note If an error is detected in the Control Block The status will be set to 6 the OK output will be cleared and no action will occur Settings for Status include 0 Reset 1 Inactive 2 Active 3 Triggered 4 Complete 5 Overrun Error 6 Parameter error Status Extra Data A read only variable that provides additi
193. gram and references if any 2 Replace the battery on the PLC CPU 3 Replace the expansion memory board on the PLC CPU 4 Replace the PLC CPU Error Code 2 Name Illegal Boolean OpCode Detected Description The PLC operating software operating software generates this error when it detects a bad instruction in the user program Correction 1 Restore the user program and references if any 2 Replace the expansion memory board on the PLC CPU 3 Replace the PLC CPU Password Access Failure The Fault Group Password Access Failure occurs when the PLC CPU receives a request to change to a new privilege level and the password included with the request is not valid for that level The fault action for this group is Informational Correction Retry the request with the correct password 3 12 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L PLC CPU System Software Failure Faults in the Fault Group PLC CPU System Software Failure are generated by the operating software of the Series 90 30 90 20 or Micro PLC CPU They occur at many different points of system operation When a Fatal fault occurs the PLC CPU immediately transitions into a special ERROR SWEEP mode No activity is permitted when the PLC is in this mode The only way to clear this condition is to cycle power on the PLC The fault action for this group is Fatal Error Code 1 through B Name User Mem
194. gth N BYTE Byte A Byte data type has an 8 bit value The valid range is 0 to 255 0 to FF in hexadecimal WORD Word A Word data type uses 16 consecutive bits of data memory but instead of the bits in the data location representing a number the bits are independent of each other Each bit represents its own binary state 1 or 0 and the bits are not looked at together to represent an integer number The valid range of word values is 0 to FFFF Register 1 16 bit positions 16 1 DWORD Double Word A Double Word data type has the same characteristics as a single word data type except that it uses 32 consecutive bits in data memory instead of 16 bits Register 2 Register 1 32 17 16 1 32 bit states BCD 4 Four Digit Binary Coded Decimal Four digit BCD numbers use 16 bit data memory locations Each BCD digit uses four bits and can represent numbers between 0 and 9 This BCD coding of the 16 bits has a legal value range of 0 to 9999 Register 1 41 3 2 1 1613 9 5 1 4 BCD digits Floating Point Real numbers use 32 consecutive bits actually two consecutive 16 bit memory locations The range of numbers that can be stored in this format is from 1 401298E 45 to 3 402823E 38 Register 2 Register 1 32 17 16 1 Two s Complement Value S Sign bit 0 positive 1 negative 2 22 Series 90 30 20 Micro PLC CPU Instruction Set Re
195. h mode F12 or Keypad Toggle discrete reference ALT Q Stop Teach mode F11 or Keypad Override discrete reference ALT n Playback file n n 0 thru 9 Keys Available in the Program Editor Only ALT B Toggle text editor bell Keypad Accept rung ALT D Delete rung element Delete rung Enter Accept rung ALT S Store block to PLC and disk CTRL PgUp Previous rung ALT X Display zoom level CTRL PgDn Next rung ALT U Update disk Horizontal shunt ALT V Variable table window Vertical shunt ALT F2 Go to operand reference table Tab Go to the next operand field Special Keys ALT O Password override Available only on the Password screen in the configuration software GFK 0467L D 1 The Help card on the next page contains a listing of the key help and also the instruction mnemonics help text for Logicmaster 90 30 20 Micro software This card is printed in triplicate and is perforated for easier removal from the manual Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L GF K 0467L Appendix D Key Functions Print side 1 of GFJ 055D on this page Print side 2 of GFJ 055D on this page Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Appendix Using Floating Point Numbers E There are a few considerations you need to understand when using floating point numbers The first section discusses these general considerations Refer to page E 5 and fol
196. he timer stops accumulating time see Part C below When the function receives power flow again the current value resets to zero a42932 ask ee E A y AA ENABLE and Q both go high timer is reset CV 0 ENABLE goes low timer starts accumulating time CV reaches PV Q goes low and timer stops accumulating time ENABLE goes high timer is reset CV 0 ENABLE goes low timer starts accumulating time ENABLE goes high timer is reset CV 0 E NABLE goes low timer begins accumulating time TATUDA o 1l CV reaches PV Q goes low and timer stops accumulating time enable Q time preset value PV address 3 words Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L When the OFDT is used in a program block that is not called every sweep the timer accumulates time between calls to the program block unless it is reset This means that it functions like a timer operating in a program with a much slower sweep than the timer in the main program block For program blocks that are inactive for a long time the timer should be programmed to allow for this catch up feature For example if a timer in a program block is reset and the program block is not called is inactive for four minutes when the program block is called four minutes of time will already have accumulated This time is applied to the timer when enabled unless the timer is first reset
197. he search target FD FD indicates that an array element has been found and the function was successful LEN LEN specifies the number of elements starting at AR that make up the array to be searched It may be to 32 767 bytes or words Valid Memory Types Parameter flow I Q M T S G R AT AQ const none enable AR o o o o A o NX in IN o o o o A o NX out FD e e Valid reference or place where power may flow through the function o Valid reference for INT BYTE or WORD data only not valid for DINT A Valid reference for BYTE or WORD data only not valid for INT or DINT Example 1 The array AR is defined as memory addresses ROO001 RO005 When EN is ON the portion of the array between RO0004 and RO0005 is searched for an element whose value is equal to IN If R0001 7 ROOO2 9 R0003 6 ROO04 7 ROOOS 7 and 6R0100 7 then the search will begin at R0004 and conclude at R0004 when FD is set ON and a 4 is written to R0101 10001 de TSRER EQ INT 00001 R0001 AR FD LEN 00005 CONST NX NX R0101 00003 R0100 IN GFK 0467L Chapter 10 Table Functions 10 7 10 8 Example 2 Array AR is defined as memory addresses AI0001 AI0016 The values of the array elements are 100 20 0 5 90 200 0 79 102 8
198. hem Correction Change the PLC program to send COMMREQs to the affected module at a slower rate Program Block Checksum Failure The Fault Group Program Block Checksum Failure occurs when the PLC CPU detects error conditions in program blocks received by the PLC It also occurs when the PLC CPU detects checksum errors during power up verification of memory or during RUN mode background checking The fault action for this group is Fatal Error Code All Name Program Block Checksum Failure Description The PLC Operating Software generates this error when a program block is corrupted Correction 1 Clear PLC memory and retry the store 2 Display the PLC fault table on the programmer Contact GE Fanuc PLC Field Service giving them all the information contained in the fault entry Low Battery Signal The Fault Group Low Battery Signal occurs when the PLC CPU detects a low battery on the PLC power supply or a module such as the PCM reports a low battery condition The fault action for this group is Diagnostic Error Code 0 Name Failed Battery Signal Description The CPU module or other module having a battery battery is dead Correction Replace the battery Do not remove power from the rack Error Code 1 Name Low Battery Signal Description A battery on the CPU or other module has a low signal Correction Replace the battery Do not remove power from the rack 3 10 Series 90
199. hen the fault is a point type fault 1 O Fault Group Fault group is the highest classification of a fault It identifies the general category of the fault The fault description text displayed by Logicmaster 90 30 20 Micro software is based on the fault group and the error codes Table B 10 lists the possible fault groups in the I O fault table Group numbers less than 80 Hex are maskable faults The last non maskable fault group Additional I O Fault Codes is declared for the handling of new fault conditions in the system without the PLC having to specifically know the alarm codes All unrecognized I O type alarm codes belong to this group Table B 10 1 0 Fault Groups Group Number Group Name Fault Action 3 Loss of or missing I O module Diagnostic 7 Addition of or extra I O module Diagnostic 9 IOC or I O bus fault Diagnostic A I O module fault Diagnostic Additional I O fault codes As specified Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L 1 0 Fault Action The fault action specifies what action the PLC CPU should take when a fault occurs Table B 11 lists possible fault actions Table B 11 1 0 Fault Actions Fault Action Action Taken by CPU Code Informational Log fault in fault table 1 Diagnostic Log fault in fault table 2 Set fault references Fatal Log fault in fault table 3 Set fault references Go to STOP mode I O
200. hen the function is enabled a bit search operation is performed IN IN contains the first word of the data to be operated on ok The ok output is energized whenever enable is energized POS The position of the first non zero bit found or zero if a non zero bit is not found LEN LEN is the number of words in the bit string Note When using the Bit Test Bit Set Bit Clear or Bit Position function the bits are numbered through 16 NOT 0 through 15 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Valid Memory Types Parameter flow I WQ 0M T S G R WAI AQ const none enable IN POS ok Valid reference or place where power may flow through the function Example In the following example if 10001 is set the bit string starting at M0001 is searched until a bit equal to 1 is found or 6 words have been searched Coil Q0001 is turned on If a bit equal to 1 is found its location within the bit string is written to 70AQ001 If 9610001 is set bit M0001 is O and bit M0002 is 1 then the value written to AQO01 is 2 eo 10001 Q0001 ae BIAS POS WORD MOO01 IN LEN 100006 POS AQ0001 GFK 0467L Chapter 8 Bit Operation Functions 6 17 MSKCMP WORD DWORD 8 18 The Masked Compa
201. ies 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Example TMR GFK 0467L In the following example a retentive on delay timer is used to create a signal 76Q001 1 that turns on 8 0 seconds after QO010 turns on and turns off when 96Q0010 turns off 90010 Q0011 IP Dd 0 1s 90010 I I IR CONST PV 00080 l R0004 The simple on delay timer TMR function increments while it receives power flow and resets to zero when power flow stops Time may be counted in tenths of a second the default selection hundredths of a second or thousandths of a second The range is 0 to 32 767 time units therefore the timing range is 0 001 to 3 276 7 seconds The state of this timer is retentive on power failure no automatic initialization occurs at power up When the TMR receives power flow the timer starts accumulating time current value The current value is updated when it is encountered in the logic to reflect the total elapsed time the timer has been enabled since it was last reset Note If multiple occurrences of the same timer with the same reference address are enabled during a CPU sweep the current values of the timers will be the same This update occurs as long as the enabling logic remains ON When the current value equals or exceeds the preset value PV the function begins passing power flow to the right The timer continues accumulat
202. ifted out of the output string to the left As bits are shifted out of the high end of the string the same number of bits is shifted in at the low end MSB LSB Be 1 1 0 1 1 1 1 1 1 1 0 0 1 0 00 len The Shift Right SHR function is used to shift all the bits in a word or group of words a specified number of places to the right When the shift occurs the specified number of bits is shifted out of the output string to the right As bits are shifted out of the low end of the string the same number of bits is shifted in at the high end MSB LSB Bi gt 1 10 11 1 111 11 000 1 0 0 0 gt 5B2 A string length of 1 to 256 words can be selected for either function If the number of bits to be shifted N is greater than the number of bits in the array LEN 16 or if the number of bits to be shifted is zero then the array Q is filled with copies of the input bit B1 and the input bit is copied to the output power flow B2 If the number of bits to be shifted is zero then no shifting is performed the input array is copied into the output array and input bit B1 is copied into the power flow The bits being shifted into the beginning of the string are specified via input parameter B1 Ifa length greater than 1 has been specified as the number of bits to be shifted each of the bits is filled with the same value 0 or 1 This can be e The Boolean output of another program functi
203. ight whenever power is received enable ok l l INT l l value to be moved IN Q output parameter Q l l LEN 100001 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Parameters Parameter enable Description When the function is enabled the move is performed IN IN contains the value to be moved For MOVE_BIT any discrete reference may be used it does not need to be byte aligned However 16 bits beginning with the reference address specified are displayed online ok The ok output is energized whenever the function is enabled When the move is performed the value at IN is written to Q For MOVE_BIT any discrete reference may be used it does not need to be byte aligned However 16 bits beginning with the reference address specified are displayed online LEN LEN specifies the number of words or bits to be moved For MOVE_WORD and MOVE INT LEN must be between 1 and 256 words For MOVE BIT when IN is a constant LEN must be between 1 and 16 bits otherwise LEN must be between 1 and 256 Valid Memory Types Note On 351 352 and 36x series CPUs the MOVE INT and MOVE WORD functions do not support overlapping of IN and Q parameters where the IN reference is less than the Q reference For example with the following values IN RO0001 Q 96R0004 LEN 5 words the RO007 and 96R0008 contents will be ind
204. ill not go to RUN mode via Key Switch input when the PLC is in STOP FAULT mode However in the STOP FAULT mode you can clear non fatal faults and put the PLC in RUN mode through the use of the Key Switch If there are faults in the fault tables that are not fatal that is they do not cause the CPU to be placed in the STOP FAULT mode then the CPU will be placed in RUN mode the first time you turn the key from Stop to Run and the fault tables will NOT be cleared If there are faults in the fault table that are fatal CPU in STOP FAULT mode then the first transition of the Key Switch from the STOP position to the RUN position will cause the CPU RUN light to begin to flash at 2 Hz rate and a 5 second timer will begin The flashing RUN light is an indication that there are fatal fault s in the fault tables In which case the CPU will NOT be placed in the RUN state even though the Key Switch is in RUN position GFK 0467L Chapter 2 System Operation 2 15 Clearing the Fault Table with the Key Switch If you turn the key from the RUN to STOP and back to RUN position during the 5 seconds when the RUN light is flashing this will cause the faults to be cleared and the CPU will be placed into RUN mode The light will stop flashing and will go solid ON at this point The switch is required to be kept in either RUN or STOP position for at least 1 2 second before switching back to the other position Note If you allow the 5 second timer to expire RUN
205. ill result in a Kp Error 100 or 450 Error 100 contribution to the PID Output Kp is generally the first gain set when adjusting a PID loop Derivative This INT number determines the change in CV in CV Counts if the Error or PV changes 1 PV Count Gain Kd every 10 milliseconds Entered as a time with the low bit indicating 10 milliseconds it is displayed as 0 00 06 Seconds with an implied decimal point of 2 For example a Kd entered as 120 will be displayed as 1 20 Sec and will result in a Kd delta Error delta time or 120 4 3 contribution to the PID Output if Error was changing by 4 PV Counts every 30 milliseconds Kd can be used to speed up a slow loop response but is very sensitive to PV input noise Integral Rate This INT number determines the change in CV in CV Counts if the Error were a constant 1 PV Count It is Gain Ki displayed as 0 000 Repeats Sec with an implied decimal point of 3 For example a Ki entered as 1400 will 07 be displayed as 1 400 Repeats Sec and will result in a Ki Error dt or 1400 20 50 1000 contribution to PID Output for an Error of 20 PV Counts and a 50 millisecond PLC sweep time Sample Period of 0 Ki is usually the second gain set after Kp CV Bias Output An INT value in CV Counts added to the PID Output before the rate and amplitude clamps It can Offset be used to set non zero CV values if only Kp Proportional gains are used or for feed forward control of 08 this PID loop output from another control loop
206. ilobytes for LD and SFC blocks but in an SFC block some of the 16 KB is used for the internal data block The logic is executed repeatedly by the PLC a45660 Refer to the Series 90 30 Programmable Controller User s Manual GFK 0356 or the Series 90 20 Programmable Controller User s Manual GFK 0551 for a listing of program sizes and reference limits for each model CPU All programs have a variable table that lists the variable and reference descriptions that have been assigned in the user program The block declaration editor lists subroutine blocks declared in the main program Chapter 2 System Operation 2 17 Subroutine Blocks A program can call subroutine blocks as it executes A subroutine must be declared through the block declaration editor before a CALL instruction can be used for that subroutine A maximum of 64 subroutine block declarations in the program and 64 CALL instructions are allowed for each logic block in the program The maximum size of a subroutine block is 16 KB or 3000 rungs but the main program and all subroutines must fit within the logic size constraints for that CPU model Note Subroutine blocks are not available for the Series 90 20 PLC nor for the Micro The use of subroutines is optional Dividing a program into smaller subroutines can simplify programming enhance understanding of the control algorithm and reduce the overall amount of logic needed for the program Examples of Using Subrou
207. inary representation is correct The range of numbers that can be stored in this format is from 1 401298E 45 to 3 402823E 38 and the number zero Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Entering and Displaying Floating Point Numbers In the mantissa up to six or seven significant digits of precision may be entered and stored however the programming software will display only the first six of these digits The mantissa may be preceded by a positive or negative sign If no sign is entered the floating point number is assumed to be positive If an exponent is entered it must be preceded by the letter E or e and the mantissa must contain a decimal point to avoid mistaking it for a hexadecimal number The exponent may be preceded by a sign but if none is provided it is assumed to be positive If no exponent is entered it is assumed to be zero No spaces are allowed in a floating point number To provide ease of use several formats are accepted in both command line and field data entry These formats include an integer a decimal number or a decimal number followed by an exponent These numbers are converted to a standard form for display once the user has entered the data and pressed the Enter key Examples of valid floating point number entries and their normalized display are shown below 250 4 2383019 34 0036209 12 E 9 0004E 11 731 0388 99 20003e 29 250
208. ing time until the maximum value is reached When the enabling parameter transitions from ON to OFF the timer stops accumulating time and the current value is reset to zero a42933 ENABLE dsl i ir nl I I l l l A B c D E ENABLE goes high timer begins accumulating time Current value reaches preset value PV Q goes high and timer continues accumulating time ENABLE goes low Q goes low timer stops accumulating time and current time is cleared ENABLE goes high timer starts accumulating time uwo anaw ll ENABLE goes low before current value reaches preset value PV Q remains low timer stops accumulating time and is cleared to zero Chapter 5 Timers and Counters 5 5 enable i o 0 10s preset value PV __ address 3 words Parameters Parameter Description address The TMR uses three consecutive words registers of R memory to store the following Current value CV word 1 Preset value PV word 2 Control word word 3 When you enter a TMR you must enter an address for the location of these three consecutive words registers directly below the graphic representing the function Note Do not use this address with other instructions Caution Overlapping references will result in erratic operation of the timer enable When enable receives power flow the timer s current value is incremented When the TMR is not enabled the
209. integral gain is Kp Ki and derivative gain is Kp Kd The Error sign DerivAction and Polarity are set by bits in the Config Word user parameter CV Amplitude and Rate Limits The block does not send the calculated PID Output directly to CV Both PID algorithms can impose amplitude and rate of change limits on the output Control Variable The maximum rate of change is determined by dividing the maximum 100 CV value 32000 by the Minimum Slew Time if specified as greater than 0 For example if the Minimum Slew Time is 100 seconds the rate limit will be 320 CV counts per second If the dt solution time was 50 milliseconds the new CV output can not change more than 320 50 1000 or 16 CV counts from the previous CV output The CV output is then compared to the CV Upper and CV Lower Clamp values If either limit is exceeded the CV output is set to the clamped value If either rate or amplitude limits are exceeded modifying CV the internal integrator value is adjusted to match the limited value to avoid reset windup Finally the block checks the Output Polarity 2nd bit of the Config Word Ref 12 and changes the sign of the output if the bit is 1 CV Clamped PID Output or Clamped PID Output if Output Polarity bit set If the block is in Automatic mode the final CV is placed in the Manual Command Ref 13 If the block is in Manual mode the PID equation is skipped as CV is set by the Manual Command but all the rate and amplitude limits
210. ion PSA SB SC only S cannot be used Example In the following example at power up 32 words of Q memory 512 points beginning at QO0001 are filled with zeros FST_SCN I I II BLK_ CLR WORD Q0001 IN LEN 00032 GFK 0467L Chapter 9 Data Move Functions 9 7 oO SHFR BIT WORD Use the Shift Register SHFR function to shift one or more data words or data bits from a reference location into a specified area of memory For example one word might be shifted into an area of memory with a specified length of five words As a result of this shift another word of data would be shifted out of the end of the memory area Note When assigning reference addresses overlapping input and output reference address ranges in multi word functions may produce unexpected results The SHFR function has four input parameters and two output parameters The reset input R takes precedence over the function enable input When the reset is active all references beginning at the shift register ST up to the length specified for LEN are filled with zeros If the function receives power flow and reset is not active each bit or word of the shift register is moved to the next highest reference The last element in the shift register is shifted into Q The highest reference of the shift register element of IN is shifted into the vacated element starting at ST The contents of
211. ion Functions 200001 BSET and BCLR WORD Parameters The Bit Set BSET function is used to set a bit in a bit string to 1 The Bit Clear BCLR function is used to clear a bit within a string by setting that bit to 0 Each sweep that power is received the function sets the specified bit to 1 for the BSET function or to 0 for the BCLR function If a variable register rather than a constant is used to specify the bit number the same function block can set different bits on successive sweeps A string length of 1 to 256 words can be selected The function passes power flow to the right unless the value for BIT is outside the range 1 lt BIT lt 16 LEN Then ok is set OFF enable ok I first word IN l l LEN 1000011 l l bit number of IN BIT __ Parameter Description enable When the function is enabled the bit operation is performed IN IN contains the first word of the data to be operated on BIT BIT contains the bit number of IN that should be set or cleared Valid range is 1 lt BIT 16 LEN ok The ok output is energized whenever enable is energized LEN LEN is the number of words in the bit string Note When using the Bit Test Bit Set Bit Clear or Bit Position function the bits are numbered 1 through 16 NOT 0 through 15 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Valid Memory
212. ion Set Reference Manual June 1999 GFK 0467L SVCREQ 15 Read Last Logged Fault Table Entry Use SVCREQ function 15 in order to read the last entry logged in either the PLC fault table or the I O fault table The SVCREQ output is set ON unless some number other than 0 or 1 is entered as the requested operation see below or the fault table is empty For additional information on fault table entries refer to chapter 3 Fault Explanations and Correction For this function the parameter block has a length of 22 words The input parameter block has this format 0 Read PLC fault table 1 Read I O fault table address The format for the output parameter block depends on whether the function reads data from the PLC fault table or the I O fault table PLC Fault Table Output Format Low Byte High Byte long short address 1 spare address 2 PLC fault address address 3 address 4 fault group and action address 5 error code address 6 address 7 address 8 address 9 address 10 address 11 fault specific data address 12 address 13 address 14 address 15 address 16 address 17 address 18 time stamp address 19 address 20 address 21 GF K 0467L Chapter 12 Control Functions I O Fault Table Output Format Low Byte High Byte 1 long short reference address T O fault address f
213. ion program immediately following the completion of the input scan Solving the logic provides a new set of outputs The logic solution ends when the END instruction is executed the END is invisible unless you are using a Hand Held Monitor The application program is executed by the ISCP and the 80C188 microprocessor In the 313 and higher CPUs the ISCP executes the Boolean instructions and the 80C188 or 80386EX executes the timer counter and function blocks In the Model 311 and 90 20 CPUs the 80C188 executes all Boolean timer counter and function block instructions On the Micro the H8 processor executes all Boolean and function blocks A list of execution times for each programming function can be found in Appendix A Output Scan Outputs are scanned during the output scan portion of the sweep immediately following the logic solution Outputs are updated using data from Q for discrete outputs and AQ for analog outputs memory as appropriate If the Genius Communications Module is configured to transmit global data then data from G memory is sent to the GCM GCM or GBC The Series 90 20 and Micro output scans include discrete outputs only During the output scan all Series 90 30 output modules are scanned in ascending reference address order If the CPU is in the STOP mode and the CPU is configured to not scan I O during STOP mode the output scan is skipped The output scan is completed when all output data has been sent
214. ions Table functions are used to perform the following functions Abbreviation Function Description Page ARRAY MOVE Array Move Copy a specified number of data elements from a source 10 2 array to a destination array SRCH EQ Search Equal Search for all array values equal to a specified value 10 6 SRCH NE Search Not Equal Search for all array values not equal to a specified value 10 6 SRCH GT Search Greater Search for all array values greater than a specified value 10 6 Than SRCH GE Search Greater Search for all array values greater than or equal to a 10 6 Than or Equal specified value SRCH LT Search Less Than Search for all array values less than a specified value 10 6 SRCH LE Search Less Than Search for all array values less than or equal to a 10 6 or Equal specified value The maximum length allowed for these functions is 32 767 bytes or words or 262 136 bits bits are available for ARRAY MOVE only Table functions operate on these types of data Data Type Description INT Signed integer DINT Double precision signed integer BIT Bit data type BYTE Byte data type WORD Word data type Only available for ARRAY MOVE The default data type is signed integer The data type can be changed after selecting the specific data table function To compare data of other types or of two different types first use the appropriate conversion fun
215. iple JUMPs to the same LABEL For differences between the JUMP function and the MCR function refer to the Differences Between MCRs and Jumps section on page 12 23 There can be only one MCR instruction for each ENDMCR instruction The range for non nested MCRs and ENDMCRs cannot overlap or contain the range of any other MCR ENDMCR pair or any JUMP LABEL pair of instructions Non nested MCRs cannot be within the scope of any JUMP LABEL pair Both forms of the MCR function have the same parameters They both have an enable Boolean input EN and a name that identifies the MCR This name is used again with an ENDMCR instruction Neither the MCR nor the MCRN function has any outputs there can be nothing after an MCR in a rung 222222 222222 Differences Between MCRs and J UMPs GFK 0467L With an MCR function function blocks within the scope of the MCR are executed without power flow and coils are turned off In the following example when 9610002 is ON the MCR is enabled When the MCR is enabled even if 9610001 is ON the ADD function block is executed without power flow i e it does not add 1 to 9 R0001 and Q0001 is turned OFF 10002 FIRST I II I I MCR 10001 00001 a a Dj esee 05 ROO01 I1 Q R0001 1 12 ENDMCR With a JUMP function any function blocks between the JUMP and the LABEL are not executed and coils are n
216. iption in Is set the PID Parameter Details table on page 12 76 Ref 0015 Internal SP N A set and Non configurable maintained by the PLC Ref 0016 Internal CV N A set and Non configurable maintained by the PLC Ref 0017 Internal PV N A set and Non configurable maintained by the PLC Ref 0018 Output N A set and Non configurable maintained by the PLC GFK 0467L Chapter 12 Control Functions 12 73 Table 12 8 PID Parameters Overview Continued Register Parameter Low Bit Units Range of Values Ref 0019 Diff Term Storage N A set and Non configurable maintained by the PLC Ref 0020 Int Term Storage N A set and Non configurable and maintained by the Ref 0021 PLC Ref 0022 Slew Term Storage N A set and Non configurable maintained by the PLC Ref 0023 Clock N A set and Ref 0024 maintained by Non configurable Ref 0025 time last executed the PLC Ref 0026 Y Remainder Storage N A set and maintained by the Non configurable PLC Ref 0027 Lower Range for SP PV PV Counts 32000 to 32000 gt Ref 28 for display Ref 0028 Upper Range for SP PV PV Counts 32000 to 32000 lt Ref 27 for display Ref 0029 Reserved for internal use N A Non configurable JRef 0034 Ref 0035 Reserved for external use N A Non configurable Ref 0039 12 74 The RefArray array must be R registers on the 90 30 PLC Note that every PID block call mus
217. is an intelligent module operating asynchronously with the Series 90 30 CPU module Data is exchanged between the CPU and the DSM automatically The DSM can be configured for three different lengths of AI and AQ data A PLC CPU requires time to read and write the data across the backplane with the DSM302 Table 2 2 lists the sweep impact for the different configurations of AI and AQ data For additional timing considerations that apply to the DSM302 module refer to the Motion Mate DSM302 for Series 90 30 PLCs User s Manual GFK 1464 2 12 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Standard Program Sweep Variations In addition to the normal execution of the standard program sweep certain variations can be encountered or forced These variations described in the following paragraphs can be displayed and or changed from the programming software Constant Sweep Time Mode In the standard program sweep each sweep executes as quickly as possible with a varying amount of time consumed each sweep An alternative to this is CONSTANT SWEEP TIME mode where each sweep consumes the same amount of time You can achieve this by setting the Configured Constant Sweep which will then become the default sweep mode thereby taking effect each time the PLC goes from STOP to RUN mode A value from 5 to 200 milliseconds or up to 500 milliseconds for the 35x and 36x series PLC CPUs for the constant sweep timer defau
218. isabled 26 50 Contiguous 8 samples 2011 8 79 94 16 samples I1 16 80 58 24 samples 92011 24 81 56 32 samples 2011 32 81 73 8 8 contiguous samples 2011 8 and Q1 8 111 03 8 8 8 contiguous 2011 8 Q1 8 and 143 38 samples M1 8 8 8 8 8 contiguous 2011 8 Q1 8 and 175 79 samples M1 8 and T1 8 Noncontiguous 11 70M10 Q3 etc 8 samples 299 64 16 samples 552 83 24 samples 806 35 32 samples 1059 85 Reset with 8 samples 162 63 with 16 samples 267 51 with 24 samples 372 73 with 32 samples 4TT 95 Notes Increment for specifying an Input module 46 usec Increment for each group of 8 contiguous samples 32 usec Increment for each group of 8 noncontiguous samples 254 usec Increment for trigger sample using BCD format 29 usec Increment for trigger sample using Posix format 148 usec Times shown for reset are for the maximum buffer size of 1024 samples Reset clears all samples in the sample buffer Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Instruction Sizes for High Performance CPUs Memory size is the number of bytes required by the instruction in a ladder diagram application program Model 351 and 352 CPUs require three bytes for most standard Boolean functions see Table A 3 Table A 4 Instruction Sizes for 350 352 360 363 and 364 CPUs Function Size No operation Pop stack and AND to t
219. ite functions are performed since they can cause the write data to be lost Two functions that write to a module Write or Read Write should not be performed with the same module during the same logic sweep because they can cause the first write data to be lost This Service Request has a variable length as described below The first word of the parameter block determines which function will be used and has the following format 1 Read extra data address 2 Write extra data 3 Read write extra data Read Extra Status Data Function 1 The Read Extra Data function reads a word of extra status data from each of the modules specified by a list in the parameter block and places the status data values into the parameter block The parameter block requires N 4 words of reference memory where N is the number of modules to which the data will be written Use the table on the following page to interpret the output values GFK 0467L Chapter 12 Control Functions 12 65 12 66 Table 12 5 Output Values for Read Extra Data Function module Location Field Meaning Address Function 1 read extra status data Address 1 Error Code An error code is placed here if the function fails because any of the modules is not present inappropriate or not working For details see Error Codes on page 12 69 Address 2 Error rack amp slot The rack amp slot number at which the error occurred Addres
220. its If the Deadband action bit is set to one then deadband action is chosen If the error is within the deadband limits then the error is forced to be zero If however the error is outside the deadband limits then the error is reduced by the deadband limit error error deadband limit Bit 4 Anti reset windup action When this bit is set to zero the anti reset windup action uses a reset back calculation When the output is clamped this replaces the accumulated Y remainder value defined on page 12 78 with whatever value is necessary to produce the clamped output exactly When the bit is set to one this replaces the accumulated Y term with the value of the Y term at the start of the calculation In this way the pre clamp Y value is held as long as the output is clamped NOTE The anti reset windup action bit is only available on release 6 50 or later 90 30 CPUs Remember that the bits are set in powers of 2 For example to set Config Word to 0 for default PID configuration you would add 1 to change the Error Term from SP PV to PV SP or add 2 to change the Output Polarity from CV PID Output to CV PID Output or add 4 to change Derivative Action from Error rate of change to PV rate of change etc GFK 0467L Chapter 12 Control Functions 12 77 12 78 Table 12 9 PID Parameter Details Continued Data Item Description Manual This is an INT value set to the current
221. ius Communications Module or a Programmable Coprocessor Module Note The information presented on the following pages shows the format of the COMMREQ function You will need additional information to program the COMMREQ for each type of device Programming requirements for each module that uses the COMMREQ function are described in the module s documentation The COMMREQ function has three input parameters and one output parameter When the COMMREQ function receives power flow a command block of data is sent to the intelligent module The command block begins at the reference specified using the parameter IN The rack and slot of the intelligent module is specified in SYSID The COMMREQ may either send a message and wait for a reply or send a message and continue without waiting for a reply If the command block specifies that the program will not wait for a reply the command block contents are sent to the receiving device and the program execution resumes immediately The timeout value is ignored This is referred to as NOWAIT mode If the command block specifies that the program will wait for a reply the command block contents are sent to the receiving device and the CPU waits for a reply The maximum length of time the PLC will wait for the device to respond is specified in the command block If the device does not respond within that time program execution resumes This is referred to as WAIT mode The Function Faulted FT outpu
222. k Move WORD 76 48 49 29 59 29 28 15 27 Block Clear 56 28 27 14 43 0 0 0 1 35 1 29 1 40 0 78 9 Shift Register BIT 201 153 153 79 85 36 34 18 0 69 0 68 0 71 0 37 15 Shift Register WORD 103 53 52 29 73 25 23 12 1 62 1 62 2 03 1 31 15 Bit Sequencer 165 101 99 53 96 31 29 16 0 07 0 07 0 08 0 05 15 COMM REQ 1317 1272 1489 884 41 2 0 0 13 Table Array Move INT 230 201 177 104 72 41 40 20 1 29 1 15 10 56 2 06 21 DINT 231 202 181 105 74 44 42 23 324 324 10 53 2 61 21 BIT 290 261 229 135 74 43 42 23 03 03 0 01 0 79 21 BYTE 228 198 176 104 74 42 42 23 0 81 0 82 8 51 1 25 21 WORD 230 201 177 104 72 41 40 20 1 29 1 15 10 56 2 06 21 Search Equal INT 197 158 123 82 78 39 37 20 1 93 1 97 2 55 1 55 19 DINT 206 166 135 87 79 38 36 21 4 33 434 4 55 2 44 19 BYTE 179 141 117 74 78 38 36 21 1 53 1 49 1 83 1 03 19 WORD 197 158 123 82 78 39 37 20 1 93 1 97 2 55 1 55 19 Notes Time in microseconds is based on Release 5 01 of Logicmaster 90 30 20 software for Models 311 313 340 and 341 CPUs Release 7 for the 331 m For table functions increment is in units of length specified for bit operation functions microseconds bit for data move functions microseconds number of bits or words Enabled time for single length units of type R AI and AQ COMMREQ time has been me
223. l operate correctly the PLC will execute one additional sweep after the sweep in which the SVCREQ function 13 was executed Chapter 12 Control Functions 12 53 SVCREQ 14 Clear Fault Tables Use SVCREQ function 14 in order to clear either the PLC fault table or the I O fault table The SVCREQ output is set ON unless some number other than 0 or 1 is entered as the requested operation see below For this function the parameter block has a length of 1 word It is an input parameter block only 0 clear PLC fault table address 1 clear I O fault table Example In the following example when input 2610346 is on and input 9610349 is on the PLC fault table is cleared When input 9610347 is on and input 9610349 is on the I O fault table is cleared When input 2610348 is on and input 2610349 is on both are cleared The parameter block for the PLC fault table is located at RO500 for the I O fault table the parameter block is located at RO550 Both parameter blocks are set up elsewhere in the program 10349 10346 Svc l REQ 10348 CONST FNC 0014 R0500 PARM 1 10349 1I0347 i Sale svc_ REQ CONST FNC 1 10348 0014 R0550 PARM 12 54 Series 90 30 20 Micro PLC CPU Instruct
224. l the information contained in the fault entry 2 Perform the corrections for corrupted memory Error Code 10 Name Invalid Scan Request of the I O Scanner Description The PLC operating software I O Scanner generates this error when the operating system or DO I O function block scan requests neither a full nor a partial scan of the I O This should not occur in a production system Correction Display the PLC fault table on the programmer Contact GE Fanuc PLC Field Service giving them all the information contained in the fault entry Error Code 13 Name PLC Operating Software Error Description The PLC operating software generates this error when certain PLC operating software problems occur This error should not occur in a production system Correction 1 Display the PLC fault table on the programmer Contact GE Fanuc PLC Field Service giving them all the information contained in the fault entry 2 Perform the corrections for corrupted memory GFK 0467L Chapter 3 Fault Explanation and Correction 3 13 3 14 Error Code Name Description Correction 14 27 Corrupted PLC Program Memory The PLC operating software generates these errors when certain PLC operating software problems occur These should not occur in a production system 1 Display the PLC fault table on the programmer Contact GE Fanuc PLC Field Service giving them all the information contained in the fault entry
225. lable the communication request will be faulted and not processed Correction Issue fewer communication requests or otherwise reduce the amount of mail being exchanged within the system Error Code 5A Name User Shut Down Requested Description The PLC operating software function blocks generates this informational alarm when Service Request 13 User Shut Down executes in the application program Correction None required Information only alarm GFK 0467L Chapter 3 Fault Explanation and Correction 3 11 No User Program Present The Fault Group No User Program Present occurs when the PLC CPU is instructed to transition from STOP to RUN mode ora store to the PLC and no user program exists in the PLC The PLC CPU detects the absence of a user program on power up The fault action for this group is Informational Correction Download an application program before attempting to go to RUN mode Corrupted User Program on Power Up The Fault Group Corrupted User Program on Power Up occurs when the PLC CPU detects corrupted user RAM The PLC CPU will remain in STOP mode until a valid user program and configuration file are downloaded The fault action for this group is Fatal Error Code 1 Name Corrupted User RAM on Power Up Description The PLC operating software operating software generates this error when it detects corrupted user RAM on power up Correction 1 Reload the configuration file user pro
226. le to calculate the value of a floating point number from the binary number stored in two registers e Mantissa f Value of Floating Point Number Not a valid number NaN Lu 0 e 255 Any value s x 29e 127 x 1 L9 Jp eese T ee the mantissa The mantissa is a binary fraction the exponent The exponent is an integer E such that E 127 is the power of 2 by which the mantissa must be multiplied to yield the floating point value the sign bit the multiplication operator o uo v uo For example consider the floating point number 12 5 The IEEE floating point binary representation of the number is 01000001 01001000 00000000 00000000 or 41480000 hex The most significant bit the sign bit is zero s 0 The next eight most significant bits are 10000010 or 130 decimal e 130 The mantissa is stored as a decimal binary number with the decimal point preceding the most significant of the 23 bits Thus the most significant bit in the mantissa is a multiple of 2 1 the next most significant bit is a multiple of 272 and so on to the least significant bit which is a multiple of 2723 The final 23 bits the mantissa are 1001000 00000000 00000000 The value of the mantissa then is 5625 that is 27l ped Since e gt 0 and e 255 we use the third formula in the table above number 15 28127 1 10 2130 127 1 5625 21 23 1 5625 8 1 5625 12 5 Thus you can see that the above b
227. lowing for instructions on entering and displaying floating point numbers Note Floating point capabilities are only supported on the 35x and 36x series CPUs Release 9 or later and on all releases of CPU352 Floating Point Numbers The programming software provides the ability to edit display store and retrieve numbers with real values Some functions operate on floating point numbers However to use floating point numbers with the programming software you must have a 35x or 36x series CPU see Note above Floating point numbers are represented in decimal scientific notation with a display of six significant digits Note In this manual the terms floating point and real are used interchangeably to describe the floating point number display entry feature of the programming software The following format is used For numbers in the range 9999999 to 0001 the display has no exponent and up to six or seven significant digits For example 12 345e 2 1234500 Seven digits six or seven significant 1234 1234 000 Seven digits six or seven significant GF K 0467L E 1 E 2 Outside the range listed above only six significant digits are displayed and the display has the form 2 Exponent signed power of 10 Exponent indicator and sign of exponent Five less significant digits Decimal point gt Most significant digit Sign of the
228. lt is 100 milliseconds is supported Due to variations in the time required for various parts of the PLC sweep the constant sweep time should be set at least 10 milliseconds higher than the sweep time that is displayed on the status line when the PLC is in NORMAL SWEEP mode This prevents the occurrence of extraneous oversweep faults Use a constant sweep when I O points or register values must be polled at a constant frequency such as in control algorithms One reason for using CONSTANT SWEEP TIME mode might be to ensure that I O are updated at constant intervals Another reason might be to ensure that a certain amount of time elapses between the output scan and the next sweep s input scan permitting inputs to settle after receiving output data from the program If the constant sweep timer expires before the sweep completes the entire sweep including the windows is completed However an oversweep fault is logged at the beginning of the next sweep Note Unlike the Active Constant Sweep which can be edited only in RUN mode the Configured Constant Sweep Mode can be edited only during STOP mode and you must Store the configuration from the Programmer to the PLC before the change will take effect Once stored this becomes the default sweep mode PLC Sweep When in STOP Mode GFK 0467L When the PLC is in STOP mode the application program is not executed Communications with the programmer and intelligent option modules continue
229. lue passed in via the step number parameter If no step number is passed in step is set to 1 All of the bits in the sequencer are set to 0 except for the bit pointed to by the current step which is set to 1 When EN is active and R is not active the bit pointed to by the current step number is cleared The current step number is either incremented or decremented based on the direction parameter Then the bit pointed to by the new step number is set to 1 e When the step number is being incremented and it goes outside the range of 1 lt step number lt LEN it is set back to 1 e When the step number is being decremented and it goes outside the range of 1 lt step number lt LEN it is set to LEN The parameter ST is optional If it is not used the BITSEQ operates as described above except that no bits are set or cleared Basically the BITSEQ then just cycles the current step number through its legal range Memory Required for a Bit Sequencer Each bit sequencer uses three words registers of R memory to store the following information current step number word 1 length of sequence in bits word 2 control word word 3 When you enter a bit sequencer you must enter a beginning address for these three words registers directly below the graphic representing the function see example on next page GFK 0467L Chapter 9 Data Move Functions 9 11 enable ok i SEQ i reset R LEN
230. lved only if the current PLC elapsed time clock is at or later than the last PID solution time plus this Sample Period Remember that the 90 30 will not use a solution time less than 10 milliseconds see Note on page 12 71 so sweeps will be skipped for smaller sweep times This function compensates for the actual time elapsed since the last execution within 100 microseconds If this value is set to 0 the function is executed each time it is enabled however it is restricted to a minimum of 10 milliseconds as noted above Dead Band INT values defining the upper and lower Dead Band limits in PV Counts If no Dead Band is required these values must be 0 If the PID Error SP PV or PV SP is above the value and below 03 04 the value the PID calculations are solved with an Error of 0 If non zero the value must be greater than 0 and the value less than 0 or the PID block will not function You should leave these at 0 until the PID loop gains are setup or tuned After that you might want to add Dead Band to avoid small CV output changes due to small variations in error perhaps to reduce mechanical wear Proportional This INT number called the Controller gain Kc in the ISA version determines the change in CV in CV Gain Kp Counts for a 100 PV Count change in the Error term It is displayed as 0 00 with an implied decimal 05 point of 2 For example a Kp entered as 450 will be displayed as 4 50 and w
231. ly best case times are when the data used by the block is contained in user RAM word oriented memory and not in the discrete memory Disabled Time required to execute the function when power flows into the function or function block however it is in an inactive state as when a timer is held in the reset state Note Timers and counters are updated each time they are encountered in the logic timers by the amount of time consumed by the last sweep and counters by one count Note For the 350 351 352 and 360 PLC CPUS times are identical except for the MOVE instruction which is different for the 350 CPU tefer to the note at the bottom of the table on page A 6 A 1 Function Group Math Relational A 2 Notes 1 m oO wnRO Table A 1 Instruction Timing Standard Models Enabled Disabled Increment On Delay Timer 146 81 80 42 105 39 38 21 Off Delay Timer Timer Addition INT 4l 1 0 Addition DINT 90 6 6 34 41 1 0 o 13 Subtraction INT 75 46 45 25 1 0 1 0 13 Subtraction DINT 92 62 62 34 41 1 o 13 Multiplication INT 79 49 50 28 4E 0 1 0 13 Multiplication DINT 108 so 101 43 41 1 0 o 1 Division INT 7 s
232. m and configuration cannot be modified and the force and override of point data is not allowed This is activated through the Mem Protect field in the 35x or 36x series CPUs module configuration screen in Logicmaster The default is Disabled Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Section 2 GFK 0467L Program Organization and User References Data The total logic size for the Series 90 30 programmable controllers is listed in the following table User Logic Memory Models Kbytes CPU311 6 CPU313 CPU323 12 CPU331 16 CPU340 32 CPU341 80 CPU350 80 release 9 and later 32 prior to release 9 CPU351 CPU352 CPU360 CPU363 240 release 9 and later CPU364 80 prior to release 9 Beginning with Release 9 CPUs some memory sizes for the 351 352 and 36x series are configurable For detailed instructions and a discussion of memory sizes available refer to the Configurable Memory on 351 and higher CPUs in Chapter 10 Section 3 of the Logicmaster 90 Series 90 30 20 Micro Programming Software User s Manual GFK 0466K or later A program for the Series 90 20 programmable controller can be up to 2 KB in size for a Model 211 CPU The user program contains logic that is used when it is started up The maximum number of rungs allowed per logic block main or subroutine is 3000 for 90 30 PLCs the maximum block size is 80 kilobytes for C blocks and 16 k
233. m being executed Logicmaster programming software provides an END OF PROGRAM LOGIC marker to indicate the end of program execution This marker is used if no END function is programmed in the logic Example In the following example an END is programmed to terminate the end of the current sweep Note Placing an END function in SFC logic or in logic called by SFC produces an END Function Executed from SFC Action fault in Release 7 or later CPUs In pre Release 7 CPUs it did not work correctly but no Fault was generated For information about this fault refer to the System Configuration Mismatch part of Chapter 3 Section 2 GFK 0467L Chapter 12 Control Functions 12 21 12 22 MCRN MCR A Master Control Relay MCR must be used with and End Master Control Relay ENDMCR function The functions must have the same name All rungs between an active MCR and its corresponding ENDMCR function are executed without power flow to coils The ENDMCR function associated with the MCR causes normal program execution to resume Unlike the JUMP instruction MCRs can only occur in the forward direction An ENDMCR instruction must appear after its corresponding MCR instruction in a program The following controls are imposed by an MCR e Timers do not increment or decrement TMR types are reset For an ONDTR function block the accumulator holds its value e Normal outputs are off negated outputs are on Note When an MCR i
234. mats I O fault table EJES B 8 explanations fault action fault actions ers specific faults B 11 fault address B 9 fault group B 10 fault specific data B 11 fault time stamp interpreting a fault long short indicator point EE rack B 10 reference address slo B 10 Sm fault specific data I O structure Series 90 30 PLC px I O system Series 90 30 PLC 2 39 T O system Series 90 20 PLC 2 39 model 20 I O modules 2 43 I O system Series 90 30 PLC default conditions for Model 30 output modules 2 42 diagnostic data global data 2 43 TO data formats 2 42 model 30 I O modules Informational faults 3 4 no user program present password access failure Input references discrete 2 20 Input register references analog 2 20 Input scan Instruction mnemonics ci Instruction set bit operation functions control functions conversion functions data move functions math functions 6 1 relational functions relay functions table functions 10 1 Instruction timing high performance models A 6 SER standard models A 2 Instructions programming bit operation functions control functions conversion functions data move functions instruction mnemonics math functions 6 1 relational functions relay functions table functions INT Internal failures 3 2 Internal references discrete 2 20 Interrogate Vo 12 62 Inverse cosine function 6
235. meter I1 S dis output parameter Q l input parameter I2 I2 Parameters Parameter Description enable When the function is enabled the operation is performed Il I1 contains a constant or reference for the first word to be XORed n I2 contains a constant or reference for the second word to be XORed ok The ok output is energized whenever enable is energized Q Output Q contains the result of 11 XORed with 12 GFK 0467L Chapter 8 Bit Operation Functions 8 5 Valid Memory Types Parameter flow I WQ M T S WG R WAI AQ const none enable I I2 ok Q et e Valid reference or place where power may flow through the function T SA SB or SC only S cannot be used Example In the following example whenever 9610001 is set the bit string represented by the nickname WORDS is cleared set to all zeros 10001 I I I II XOR WORD WORD3 I1 Q WORD3 WORD3 12 os of as also alle yO 2 Pula eo actes aworns oe o o ej o o o o o o v ojo oe 8 6 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L NOT WORD The NOT function is used to set the state of each bit in the output bit string Q to the opposite of the state of the c
236. milliseconds in the 35x and 36x series of PLC CPUs this is a fixed value which cannot be changed The watchdog timer always starts from zero at the beginning of each sweep For 331 and lower model 90 30 CPUs if the watchdog timeout value is exceeded the OK LED goes off the CPU is placed in reset and completely shuts down and outputs go to their default state No communication of any form is possible and all microprocessors on all boards are halted To recover power must be cycled on the rack containing the CPU In the 90 20 Series 90 Micro and 340 and higher 90 30 CPUs a watchdog timeout causes the CPU to reset execute its powerup logic generate a watchdog failure fault and change its mode to STOP Elapsed Power Down Timer The elapsed power down timer is used to determining how long the PLC was powered off When the PLC is powered off it resets to 0 and starts to time When the PLC is powered on timing stops and the value is retained Service Request 29 described in chapter 12 can be used to read the value of this timer Note This function is available only in the 331 or higher Series 90 30 CPUs Constant Sweep Timer The constant sweep timer controls the length of a program sweep when the Series 90 30 PLC operates in CONSTANT SWEEP TIME mode In this mode of operation each sweep consumes the same amount of time Typically for most application programs the input scan application program logic scan and output scan do not req
237. mmnt1 The drive designation is not necessary if the file is located on the same drive as the program folder C Continue editing the program or exit to MS DOS 2 After exiting the programmer create a text file using any MS DOS compatible software package Give the file the file name entered in the comment and place it on the drive specified in the comment GFK 0467L Chapter 12 Control Functions 12 29 12 30 SVCREQ Use the Service Request SVCREQ function to request one of the following special PLC services Table 12 4 Service Request Functions Function Description 1 Change Read Constant Sweep Timer 2 Read Window Values 3 Change Programmer Communications Window Mode and Timer Value 4 Change System Comm Window Mode and Timer Value 6 Change Read Checksum Task State and Number of Words to Checksum 7 Change Read Time of Day Clock 8 Reset Watchdog Timer 9 Read Sweep Time from Beginning of Sweep 10 Read Folder Name 11 Read PLC ID 12 Read PLC Run State 13 Shut Down the PLC 14 Clear Fault Tables 15 Read Last Logged Fault Table Entry 16 Read Elapsed Time Clock 18 Read I O Override Status 23 Read Master Checksum 26 30 Interrogate I O 29 Read Elapsed Power Down Time 45 Skip Next Output and Input Scan Suspend I O 46 Access Fast Backplane Status Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L SVC REQ Overview GFK 0467L The SVCR
238. mp TO_DINT amp BLKM amp BCD4 R Convert to BCD 4 amp BCD4 amp BLKC amp TO REAL DI Convert to REAL amp TO_REAL amp SHF E 7 amp TO_REAL_W Convert to WORD amp TO_W amp BI Truncate to Integer amp TRINT amp COMMR Truncate to Double Integer amp TRDINT C 2 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L GF K 0467L Array Move Search Equal Search Not Equal Search Greater Than Search Greater Than or Equal Search Less Than Search Less Than or Equal Call a Subroutine Do T O SER PID ISA Algorithm PID IND Algorithm SFC Reset End Rung Explanation System Services Request Master Control Relay End Master Control Relay Nested Master Control Relay Nested End Master Cntl Relay Jump Nested Jump Label Nested Label amp AR amp SRCHE amp SRCHN amp SRCHGT amp SRCHGE amp SRCHLT amp SRCHLE amp AR_I amp SRCHE_I amp SRCHN_I amp SRCHGT_I amp SRCHGE_I amp SRCHLT_I amp SRCHLE_I amp AR_DI amp SRCHE_DI amp SRCHN_DI amp DO amp SER amp PIDIS amp PIDIN amp SFCR amp END amp COMME amp SV amp MCR amp ENDMCR amp MCRN amp ENDMCRN amp JUMP amp JUMPN amp LABEL amp LABELN Appendix C Instruction Mnemonics amp SRCHGT DI amp SRCHGE DI amp SRCHLT DI amp SRCHLE DI amp AR BY amp SRCHE BY amp SRCHN BY amp SRCHGT BY amp SRCHGE BY amp SRCHLT BY amp SRCHLE BY Function Mnemonic
239. n o Not valid for DINT_TO_REAL GFK 0467L Chapter 11 Conversion Functions 11 7 Example In the following example the integer value of input IN is 678 The result value placed in 9 T0016 is 678 000 ALW_ON I I INT To_ TOO01 IN Q TO0016 REAL Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L gt WORD REAL The Convert to WORD function is used to output the WORD equivalent of real data The original data is not changed by this function Note This function is only available on the 35x and 36x series CPU When the function receives power flow it performs the conversion making the result available via output Q The function passes power flow when power is received unless the specified conversion would result in a value that is outside the range 0 to FFFFh enable ok TO WORD value to be converted a IN Q E output parameter Q Parameters Parameter Description enable When the function is enabled the conversion is performed IN IN contains a reference for the value to be converted to WORD ok The ok output is energized when the function is performed without error Q Q contains the unsigned integer form of the original value in IN Valid Memory Types Parameter flow 1 Q M T PS G R
240. n Hee ues 5 12 Example E T RUM 5 12 DINIGA H e 225222 nano RANA 5 12 PALAMETELS IHE 5 13 Valid Memory Types niei eae ee eee 5 13 le gehna o WP 5 13 locu Em 5 14 hi nnne lo E a ds 6 1 Standard Math Functions ADD SUB MUL DIV occcnnnnnnnnccccnnnnnnnnnnonocccnnnnnnnnnninincoss 6 2 Parameters iii Aa 6 3 Valid o A A 6 3 Example e ad tet eto DO NO NO MO MOM MOI 6 3 Math Functions and Data Typ8S ooooocccnnooccccononaccnnnonannnnnannnnncononanocnnnnnnncnnnnancccnannanos 6 4 Example is 6 5 MOD INTE DIN Dira ri a see 6 6 Parameters s ut cs de ie usos esed NS e eec ees edis o facon o CC 6 6 Valid Memory Types 1 2 nee eese etes e disse eee d s cede deta cede Sise 6 7 Example ii co tesosos ites o sosote te ESOC Ve Este Kao E OTe e o OSETE E Ere 6 7 SORT INT DINT REAL eee aeS eaa eo eTe ea ce EEEN E TE e 6 8 Parameters oe ona a E E E EE E E N sent 6 8 Valid Memory YDes iia 6 9 Examples 5 eee eee uates 6 9 Trig Functions SIN COS TAN ASIN ACOS ATAN ooccccoocccnooncnonanonannncnnnccnnnncos 6 10 P rameters 5 5 5 52 ei aelsrteteec obedece cele eto En eedr e aei Eoi LE CEP EIE HALE HS ELLE IEEE Dae 6 11 Valid Memory PES 6 11 len A 6 11 Logarithmic Exponential Functions LOG LN EXP EXPT sees 6 12 P tatheters ao dde eeaehhseenaeindun 6 12 Valid Memory Ty pess ista 6 13 Exatnple 3 ein eene GNicHereWenaWseee pen 6 13 Radian Conversion RAD DEG III I nnn nnn nnns 6 14
241. n a valid value for the IN parameter the ASIN_REAL function will produce a result Q such that ASINI lt Q lt 2 2 The ACOS_REAL function will produce a result Q such that ACOS IN 0x 0 lA a The ATAN function accepts the broadest range of input values where lt IN oo Given a valid value for the IN parameter the ATAN_REAL function will produce a result Q such that IA ATAN IN EE Q lt 3 enable ok REAL I l input parameter IN IN Q output parameter Q Note The TRIG functions are only available on the 35x and 36x series CPUs Release 9 or later or on all releases of CPU352 6 10 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Parameters Parameter Description enable When the function is enabled the operation is performed IN IN contains the constant or reference real value to be operated on ok The ok output is energized when the function is performed without overflow unless an invalid operation occurs and or IN is NaN Q Output Q contains the trigonometric value of IN Valid Memory Types Example GFK 0467L Parameter flow PI Q M T S G R WAI AQ const none enable IN ok Q Valid reference or place where power may flow through the function In the following example the COS of the v
242. n on the USD valid Is the PRG SRC parameter in the USD set to Prom meaning to load the PRG and CFG from the USD device Is the PRG SRC parameter in the URAM set to Prom meaning to load the PRG and CFG from the USD device Is the REG SRC parameter in the USD set to Prom meaning to load the REGS from the USD device 6 amp 7 Are the lt LD gt and NOT keys being pressed on the HHP during power up to keep the 8 9 10 11 12 13 14 15 16 17 18 19 PRG CFG and REGS from being loaded from USD Copy PRG CFG and REGS from the USD to URAM COPY PRG and CFG from the USD to URAM Is the PRG or CFG checksums just loaded from USD invalid Is the URAM corrupted Could be due to being powered down with out a battery attached or a low battery Could also be due to updating firmware Is the PRG SRC parameter in the URAM set to Prom meaning to load the PRG and CFG from the USD device Is the USD present Only applicable to models that use EEPROM device Are the lt NOT gt and lt RUN gt keys being pressed on the HHP during power up to unconditionally power up in Stop Mode Is the PWR UP parameter in URAM set to RUN Is the battery low Is the PWR UP parameter in URAM set to STOP Set the power up mode to what ever the power down mode was Clear PRG CFG and REGS Note The first part of this chart on the previous page does not apply to the Series 90 Micro PLC For information about the power
243. n reset the current value of the counter is set to the preset value PV When the enable input transitions from OFF to ON the current value is decremented by one The output is ON whenever the current value is less than or equal to zero The current value of the DNCTR is retentive on power failure no automatic initialization occurs at power up enable Q reset R l l preset value PV address 5 12 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Parameters Parameter address enable Description The DNCTR uses three consecutive words registers of R memory to store the following Current value CV word 1 Preset value PV word 2 Control word word 3 When you enter an DNCTR you must enter an address for the location of these three consecutive words registers directly below the graphic representing the function Note Do not use this address with another down counter up counter or any other instruction or improper operation will result Caution Overlapping references will result in erratic operation of the counter On a positive transition of enable the current value is decremented by one When R receives power flow it resets the current value to the preset value PV is the value to copy into the counter s preset value when the counter is enabled or reset Output Q is energized when the current
244. nauthorized changes to the contents of a PLC There are four security levels available in the PLC The first level which is always available provides only the ability to read PLC data no changes are permitted to the application The other three levels have access to each level protected by a password Each higher privilege level permits greater change capabilities than the lower level s Privilege levels accumulate in that the privileges granted at one level are a combination of that level plus all lower levels The levels and their privileges are Privilege Level Description Level 1 Any data except passwords may be read This includes all data memories I Q AQ R etc fault tables and all program block types data value and constant No values may be changed in the PLC Level2 This level allows write access to the data memories I R etc Level3 This level allows write access to the application program in STOP mode only Level4 This is the default level for systems which have no passwords set The default level for a system with passwords is to the highest unprotected level This level the highest allows read and write access to all memories as well as passwords in both RUN and STOP mode Configuration data cannot be changed in RUN mode Passwords There is one password for each privilege level in the PLC No password can be set for level 1 access Each password may be unique
245. nce the user program for the Micro PLC is in Flash memory it will not be checked for integrity Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L GFK 0467L Table 2 2 I O Scan Time Contributions for the 90 30 35x and 36x Series in milliseconds 35x and 36x Series CPUs Main Expansion Remote Module Type Rack Rack Rack 8 point discrete input 030 055 206 16 point discrete input 030 055 206 32 point discrete input 043 073 269 8 point discrete output 030 053 197 16 point discrete output 030 053 197 32 point discrete output 042 070 259 Combination discrete input output 060 112 405 4 channel analog input 075 105 396 2 channel analog output 058 114 402 16 channel analog input 978 1 446 3 999 current or voltage 8 channel analog output 1 274 1 988 4 472 Combination analog input output 1 220 1 999 4 338 High Speed Counter 1 381 2 106 5 221 I O Processor 1 574 2 402 6 388 Ethernet Interface no connection 038 041 053 Power Mate APM 1 axis 1 527 2 581 6 388 Power Mate APM 2 axis 1 807 2 864 7 805 DSM 302 40 AI 6 AQ 2 143 3 315 9 527 50AL 9 AQ 2 427 3 732 11 092 64 AI 12 AQ 2 864 4 317 13 138 GCM no devices 911 1 637 5 020 8 64 word devices 8 826 16 932 21 179 GCM no devices 567 866 1 830 32 64 word devices 1 714 2 514 5 783 GBC no devices 798
246. nd Time Using Packed ASCII with Embedded Colons Format In Packed ASCII format each digit of the time and date items is an ASCII formatted byte In addition spaces and colons are embedded into the data to permit it to be transferred unchanged to a printing or display device This format requires 12 words High Byte Low Byte 1 change or 0 read 3 year year month space space month day of month day of month hours space hours minutes minutes seconds space seconds day of week day of week Chapter 12 Control Functions address address 1 address 2 address 3 address 4 address 5 address 6 address 7 address 8 address 9 address 10 address 11 Example output parameter block Read Date and Time in Packed ASCII Format Mon Oct 2 1989 at 23 13 00 0 3 39 38 31 20 20 30 32 30 32 20 3A 33 33 31 30 3A 20 30 32 30 12 47 SVCREQ 8 Reset Watchdog Timer Use SVCREQ function 8 to reset the watchdog timer during the sweep Note Of the CPUs discussed in this manual Service Request 8 is supported only by 90 30 CPUs beginning with Release 8 0 When the watchdog timer expires the PLC shuts down without warning This function allows the timer to keep going during a time consuming task for example while waiting for a response from a communications line Caution Be sure that r
247. nd of buffer Sample Sample 513 Sample2 Sample 514 Sampe Sample 515 Sample4 Sample 516 Sample 5 Sample 517 Sample 6 When buffer is filled new samples overwrite initial samples Sample 506 Sample 507 Sample 508 Sample 509 Sample 510 Sample 511 Sample512 f ee Number of Samples Figure 12 2 Example of Mid Trigger SER Sampling GFK 0467L Chapter 12 Control Functions 12 15 Post Trigger Collects sample continuously until Number of Samples is reached To configure this mode set Word 10 to a value equal to the Number of Samples Word 9 When the trigger signal is activated sampling continues until the configured number has been collected All collected after the trigger Enable sampling starts Y Sample Sample 513 Sample 2 Sample 514 Samples Sample 515 When buffer is filled new samples overwrite Trigger SER generates time initial samples stamp and continues sampling Number of Samples After Tigger 512 samsas Sample 595 Sample 1017 Number of Samples parameter gt Sample 506 Sample 507 Sample 508 Sampling stops when Number of Samples Sample 509 After Trigger is satisfied Sample 510 Sample 511 i End of buffer Sample 512 Dee Number of Samples Figure 12 3 Post Trigger SER Sampling Full Buffer Trigger Does Not Control Sampling If the Trigger Mode is set to 1
248. nergized As long as the timer continues to receive power flow it continues accumulating until the maximum value is reached Once the maximum value is reached it is retained and output Q remains energized regardless of the state of the enable input a42931 enapLe Ld L RESET AAA l l l l l p A B c D E FG H ENABLE goes high timer starts accumulating CV reaches PV Q goes high RESET goes high Q goes low accumulated time is reset RESET goes low timer then starts accumulating again ENABLE goes low timer stops accumulating Accumulated time stays the same ENABLE goes high again timer continues accumulating time Q Hl MO tei uw I CV becomes equal to PV Q goes high Timer continues to accumulate time until ENABLE goes low RESET goes high or CV becomes equal to the maximum time H ENABLE goes low timer stops accumulating time When power flow to the timer stops the current value stops incrementing and is retained Output Q if energized will remain energized When the function receives power flow again the current value again increments beginning at the retained value When reset R receives power flow the current value is set back to zero and output Q is de energized On 35x and 36x series PLCs if the enable to the ONDTR is low PV 0 and reset R receives power flow then the output will be low However on the 311 341 PLCs under these same conditions the output will be high GFK 0467L
249. ng a slot is not of the same type that the configuration file indicates should be in that slot or when the configured rack type does not match the actual rack present Correction Identify the mismatch and reconfigure the module or rack Error Code 18 Name Unsupported Hardware Description A PCM or PCM type module is present in a 311 313 or 323 or in an extension rack Correction Physically correct the situation by removing the PCM or PCM type module or install a CPU that does support the PCM Error Code 26 Name Module busy config not yet accept by module Description The module cannot accept new configuration at this time because it is busy with a different process Correction Allow the module to complete the current operation and re store the configuration Error Code 51 Name END Function Executed from SFC Action Description The placement of an END function in SFC logic or in logic called by SFC will produce this fault Correction Remove the END function from the SFC logic or logic being called by the SFC logic GFK 0467L Chapter 3 Fault Explanation and Correction 3 9 Option Module Software Failure The Fault Group Option Module Software Failure occurs when a non recoverable software failure occurs on a PCM or ADC module The fault action for this group is Fatal Error Code All Name COMMREQ Frequency Too High Description COMMREQs are being sent to a module faster than it can process t
250. ng the sweep after the one in which the SVCREQ 45 was executed This function has no parameter block Note The DOIO Function Block is not affected by the use of SVCREQ 45 It will still update the I O when used in the same logic program as the SVCREQ 45 Example In the following example when the Idle contact passes power flow the next Output and Input Scan are skipped IDLE SVC_ REQ CONST 00045 FNC R0001 PARAM Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L SVCREQ 46 Fast Backplane Status Access Use the SVCREQ function 46 to perform one of the following fast backplane access functions 1 Read a word of extra status data from one of more specified smart modules 2 Write a word of extra status data from one of more specified smart modules 3 Read Write Read a word of extra status data from one or more specified modules and write the data value between 0 and 15 to the same module all in one operations Notes This Service Request is available only for use with modules that support it Currently the only module designed to support this function is the DSM Digital Servo Module 312 Version which is not available at the time of publication of this manual It is however scheduled for release soon A COMM_REQ or DOIO function block should not be performed with the specified module s during the same logic sweep during which either of the data wr
251. nius I O bus Ethernet Communications The Model 364 CPU release 9 0 and later supports connection to an Ethernet network through either but not both of two built in Ethernet ports AAUI and 10BaseT ports are provided The Model 364 release 9 10 or later is the only Series 90 30 CPU that supports EGD The Model 364 CPU supports Ethernet Global Data EGD which is similar to Genius Global Data in that it allows one device the producer to transfer data to one or more other devices the consumers on the network EGD is not supported by Logicmaster 90 software requires the Windows based programmer for Series 90 PLCs Model 20 I O Modules GFK 0467L The following I O modules are available for the Series 90 20 PLC Each module is listed by catalog number number of I O points and a brief description The I O is integrated into a baseplate along with the power supply For the specifications and wiring information of each module refer to chapter 5 in the Series 90 20 Programmable Controller User s Manual GFK 0551 Catalog Number Description I O Points IC692MAA541 I O and Power Supply Base Module 16 In 12 Out 120 VAC In 120 VAC Out 120 VAC Power Supply IC692MDR541 I O and Power Supply Base Module 16 In 12 Out 24 VDC In Relay Out 120 VAC Power Supply IC692MDR741 I O and Power Supply Base Module 16 In 12 Out 24V DC In Relay Out 240 VAC Power Supply IC692CPU211 CPU Module Model CPU 211 Not Applicable
252. ns for the 90 30 Series up to 341 in milliseconds 2 6 Table 2 4 Register References oet ecteeesessceeo ti 2 20 Fable 2 5 Discrete Reterenees RES 2 20 Table 2 5 Discrete References Continued eessseesesseeeeseeeeeeneee eene nennen nennen nennen 2 21 Table 2 6 Data Types sissies tees llana ee nensi 2 22 Table 2 7 System Status References is cmis sn 2 23 Table 2 7 System Status References Continued 200 eccecesscceccceeeeeeeennaeeeeeceeseeeennaaeeeceeeeseeeenaeeeeeees 2 24 Table 2 7 System Status References Continued oooooocccnonoccccnononanonononanonnnnnnnnonnnnnanocnnnnnnncnnnnn eren 2 25 Table 2 5 Series 90 30 VO Modules 5 iet a ete ete ete Re Re HR eter Ee ea Ree ees 2 40 Table 2 8 Series 90 30 I O Modules Continued essen ener 2 41 Table 2 8 Series 90 30 I O Modules Continued eese en eene nnne 2 42 Table 3 L Fault Summary 4 5 5 5 t tti e e ed 3 3 Pables3 2 Fault ACUODS s eoe eges een qt ege te ge n te ee gin ete ee Reve eee Pose qo AAA CEEE e EEEE 3 4 Table 4 15 Types of Contacts tee eae eee eee nea aee eee eee anu ee aee eeu ee xxu en aee Ne e RR Na ee EXE En 4 1 Table 4 2 Eypes 0t Coils iia sa ust 4 2 Table 12 1 Function Control Block for SER Example sss enne 12 17 Table 12 2 Sample Contents for SER Example essen enne nennen nnne 12 19 Table 12 3 Data Block for SER Con
253. o PLC CPU Instruction Set Reference Manual June 1999 BLKNMV INT CONST IN1 Q R0010 432767 CONST IN2 32768 CONST IN3 400001 CONST INA 00002 CONST IN5 00002 CONST ING 00001 CONST IN7 400001 GFK 0467L gt BLKCLR WORD Use the Block Clear BLKCLR function to fill a specified block of data with zeros The BLKCLR function has two input parameters and one output parameter When the function receives power flow it writes zeros into the memory location beginning at the reference specified by IN When the data to be cleared is from discrete memory I Q M G or T the transition information associated with the references is also cleared The function passes power to the right enable ok CLR_ WORD IE word to be cleared IN LEN 100001 Parameters Parameter Description enable When the function is enabled the array is cleared IN IN contains the first word of the array to be cleared ok The ok output is energized whenever the function is enabled LEN LEN must be between 1 and 256 words Valid Memory Types Parameter flow I WQ 0M T S G R WAI AQ const none enable IN e ok e Valid reference or place where power may flow through the funct
254. o i 1 1 1 o o o o 1 1 1 1 wos p y pp poppe pn ppp pr After using the Move function INPUT M0033 through M0080 In this example whenever 9610001 is set the three bits 7M0001 M0002 and M0003 are moved to MO0100 70M0101 and M0102 respectively Coil Q0001 is turned on EM 10003 I Q0001 MOVE a BIT M0001 IN Q M0100 100003 LEN oI Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L gt BLKMOV INT WORD REAL Parameters GFK 0467L Use the Block Move BLKMOV function to copy a block of seven constants to a specified location Note The REAL data type is only available on 35x and 36x series CPUs Release 9 or later or on all releases of CPU352 The BLKMOV function has eight input parameters and two output parameters When the function receives power flow it copies the constant values into consecutive locations beginning at the destination specified in output Q Output Q cannot be the input of another program function Note For BLKMOV_INT the values of INI IN7 are displayed as signed decimals For BLKMOV_WORD IN1 IN7 are displayed in hexadecimal For BLKMOV_REAL INI IN7 are displayed in Real format The function passes power to the right whenever power is received enable ok INT l constant value IN1 Q output
255. o o o T o po Valid reference or place where power may flow through the function For ARRAY MOVE BIT discrete user references I Q M and T need not be byte aligned Valid reference for INT BIT BYTE or WORD data only not valid for DINT Valid data type for BIT BYTE or WORD data only not valid for INT or DINT 76S A SB 96SC only 96S cannot be used Chapter 10 Table Functions 10 3 10 4 Example 1 Example 2 In this example RO003 RO0007 of the array RO001 RO0016 is read and then written into R0104 R0108 of the array R0100 RO115 10001 I ARRAY MOVE WORD R0001 SR DS R0100 LEN 100016 CONST SNX 00003 CONST DNX 00005 CONST N 00005 Using bit memory for SR and DS M0011 96M0017 of the array M009 M0024 is read and then written to Q0026 96Q0032 of the array Q0022 Q0037 I0001 l I ARRAY Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 MOVE _BIT M0009 SR DS Q0022 LEN 100016 CONST SNX 00003 CONST DNX 00005 CONST N 00007 GFK 0467L Example 3 Using word memory for SR and DS the third least significant bit of R0001 through the second least significant bit of RO0002 of the array containing all 16 bi
256. ogarithmic Exponential p 6 12 and Truncate p 11 11 functions have been identified for the CPU352 e The Sequential Event Recorder SER discussion has been revised to clarify the capabilities of this function Detailed timing information for this function is provided in Appendix A This function is available on release 9 0 and later of the 35x and 36x series CPUs p 12 8 e Anew service request Skip Next Output and Input Scan SVCREQ 45 is available for release 9 0 and later of the 35x and 36x series CPUs p 12 63 e The parameter block listings for read and write functions of the Fast Backplane Status Access service request SVCREQ 746 have been corrected p 12 64 e Other corrections and clarifications as necessary Content of This Manual GFK 0467L Chapter 1 Introduction provides an overview of the Series 90 30 PLC the Series 90 20 PLC and the Series 90 Micro PLC systems and the Series 90 30 20 Micro instruction set Chapter 2 System Operation describes certain system operations of the Series 90 30 PLC Series 90 20 PLC or Series 90 Micro systems This includes a discussion of the PLC system sweep sequences the system power up and power down sequences clocks and timers security I O and fault handling It also includes general information for a basic understanding of programming ladder logic Chapter 3 Fault Explanations and Correction provides troubleshooting information for a Series 90 30 90 20 or Micro
257. omplish the same thing to interrogate the actual modules present and compare them with the rack slot configuration generating addition loss and mismatch alarms as if a store configuration had been performed This SVCREQ will generate faults on both the PLC and I O fault tables depending on the fault This function has no parameter block and always outputs power flow Note The time for this SVCREQ to execute depends on how many faults exist Therefore execution time of this SVCREQ will be greater for situations where more modules are at fault Example In the following example when input 2610251 is ON the actual modules are interrogated and compared to the rack slot configuration Output Q0001 is turned on after the SVCREQ is complete E 10251 Q0001 I Sl 2 REQ CONST FNC 0026 R0050 PARM Note This Service Request is not available on Micro PLCs 12 62 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L SVCREQ 29 Read Elapsed Power Down Time Use the SVCREQ function 29 to read the amount of time elapsed between the last power down and the most recent power up The SVCREQ output is always set to ON and the output block of information see below starts at the address given in parameter 3 PARM of the SVCREQ function Note This function is available only in the 331 or higher CPUs This function has an output p
258. on e All 1s To do this use the special reference nickname ALW ON as a permissive to input B1 e AllOs To do this use the special reference nickname ALW OFF as a permissive to input Bl The SHL or SHR function passes power flow to the right unless the number of bits specified to be shifted is zero Output Q is the shifted copy of the input string If you want the input string to be shifted the output parameter Q must use the same memory location as the input parameter IN The entire shifted string is written on each scan that power is received Output B2 is the last bit shifted out For example if four bits were shifted B2 would be the fourth bit shifted out enable l WORD l word to be shifted IN B2 last bit shifted out LEN 1000011 l l l l number of bits N Q output parameter Q I l bit shifted in B1 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Parameters Parameter Description enable When the function is enabled the shift is performed IN IN contains the first word to be shifted N N contains the number of places bits that the array is to be shifted Bl B1 contains the bit value to be shifted into the array B2 B2 contains the bit value of the last bit shifted out of the array Q Output Q contains the first word of the shifted array LEN LEN is the number of words in the array to be shifted
259. on signed integer Additional information on data types is provided earlier in this chapter Chapter 2 System Operation 2 27 Function Block Parameters Each line entering the left side of a function block represents an input for that function There are two forms of input that can be passed into a function block constants and references A constant is an explicit value A reference is the address of a value In the following example input parameter I1 comes into the ADD function block as a constant and input parameter I2 comes in as a reference 10001 00001 C CONST 00010 RO001 I2 Each line exiting the right side of the function block represents an output There is only one form of output from a function block or reference Outputs can never be written to constants Where the question marks appear on the left of a function block you will enter either the data itself a reference location where the data is found or a variable representing the reference location where the data is found Where question marks appear on the right of a function block you will usually enter a reference location for data to be output by the function block or a variable that represents the reference location for data to be output by the function block 2 2 I1 Q I2 This is the output parameter Q for the function block These are the input parameters I1 and I2 for the function block
260. onal state information about the SER function See Status Extra Data States on page 12 12 for settings for this parameter Trigger Mode Defines conditions for the SER function block to transition to the triggered state Valid settings are 0 Trigger Input mode 1 Full Buffer mode In Trigger Input mode if the function block is enabled a time stamp is generated when the Trigger signal is activated Sampling continues until the Number of Samples After Trigger has been satisfied When this occurs the OK output is activated In Full Buffer mode the Trigger signal is ignored When the function block is enabled sampling continues until the sample buffer is filled When this happens the OK output is activated The Number of Samples parameter sets buffer size Trigger Time Determines how the Trigger Time will be displayed For BCD display set this parameter to Format 0 For POSIX display set this parameter to 1 For details see page 12 20 Reserved Words 4 through 7 are reserved and should be set to zero Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Word Parameter Description 8 Number of Specifies the number of bits of data that will be sampled and returned to the sample buffer Channels bits per for each execution of the function block Valid choices are 8 16 24 or 32 bits The sample increment is in byte size
261. onanannnnnnnoss 12 59 SVCREQ 18 Read I O Override Status 12 60 SVCREQ 23 Read Master Checksum ocoocccccccnncnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnos 12 61 SVCREQ 26 30 Interrogate W O eese een 12 62 SVCREQ 29 Read Elapsed Power Down Time eene 12 63 SVCREQ 45 Skip Next Output amp Input Scan eene 12 64 SVCREQ 46 Fast Backplane Status Access cooooooccccoooccccnonocnnocononanoconananccnnnnass 12 65 PID eu Gull eB tle e s E Le eo n o Leid 12 71 A TEE 12 72 NEUTER 12 72 PID Parameter Block eren ete reete reete etre reete ER 12 73 Operation of the PID Instruction eeeeeeeeeeeeeeeeeeneenn nee nennen 12 75 Instruction AAA IO ae A 1 Instruction Sizes for High Performance CPUS oocccnnoccccccnonacnccnonannnnnanonnnonnnananocnnns A 11 Boolean Execution Times aam e er e INED neart rei eet be ror Pete PEE e PR bb oe A 11 Interpreting Fault Tablesiiccdicntininiitinnnnannnatinnndinanuiadiiin B 1 PEC Ea lt Table ertet ote tence a T B 1 TO Fault Tableros Rubel ett tet fetta B 8 Instruction Mnemonlies eieace soo sae eee o ic didas C 1 Key EUA COAST D 1 Using Floating Point Numbers coooooooonocccccccnonnnnonannccccccccnnoncnonnccccccccccnoncnnnnos E 1 Floating Point NumMbetIS ooooooocccncccccnnnononnnnnnncnnonnnnannnnnnccnnnnnnnnnnnnnnnncnnnnnnnnnnnnnnnccnnnnnnns E 1 Internal Format of Floating Point Numbers eene E 3 Values of Floating
262. oning the cursor within the instruction you can press F10 to zoom into the subroutine 1 10004 Ih 10006 CALL ASTRO I SUBROUTINE 10003 1I0010 i lth 10001 I 1 T0001 Q0010 Micro PLCs do not accommodate subroutines therefore the CALL function is inappropriate for use with a Micro PLC Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L DOIO The DO I O DOIO function is used to update inputs or outputs for one scan while the program is running The DOIO function can also be used to update selected I O during the program in addition to the normal I O scan If input references are specified the function allows the most recent values of inputs to be obtained for program logic If output references are specified DO I O updates outputs based on the most current values stored in I O memory I O is serviced in increments of entire I O modules the PLC adjusts the references if necessary while the function executes The DOIO function has four input parameters and one output parameter When the function receives power flow and input references are specified the input points at the starting reference ST and ending at END are scanned If a reference is specified for ALT a copy of the new input values is placed in memory beginning at that reference and the real input points are not updated ALT must
263. op Pop stack and OR to top Duplicate top of stack Pop stack Initial stack Label Jump U tU ne Be Be eB ee All other instructions Function blocks see Table A 2 Boolean Execution Times The table below lists execution times of coils and contacts for the Series 90 30 CPU modules Table A 5 Boolean Execution Times CPU Model Execution Time per 1 000 Boolean Contacts Coils Model 350 and 360 Series 0 22 milliseconds Model 340 341 0 3 milliseconds Model 331 0 4 milliseconds Model 313 323 0 6 milliseconds Model 311 18 0 milliseconds GFK 0467L Appendix A Instruction Timing A 11 Appendix B Interpreting Fault Tables The Series 90 30 Series 90 20 and Series 90 Micro PLCs maintain two fault tables the I O fault table for faults generated by I O devices including I O controllers and the PLC fault table for internal PLC faults The information in this appendix will enable you to interpret the message structure format when reading these fault tables Both tables contain similar information e The PLC fault table contains O Fault location O Fault description O Date and time of fault e The T O fault table contains O Fault location O Reference address O Fault category O Fault type LH Date and time of fault PLC Fault Table GFK 0467L Access the PLC fault table through the programming software For information about accessing fault tables refer to the online help Logicmaster 90 Series
264. or 4 Note This Service Request is not available on Micro PLCs 12 42 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Example In the following example when enabling contact FST_SCN is set the parameter blocks for the checksum task function are built Later in the program when input 9610137 turns on the number of words being checksummed is read from the PLC operating system This number is increased by 16 with the results of the ADD INT function being placed in the hold new count for set parameter The second service request block requests the PLC to set the new word count FST SCN XOR_ MovE__ WORD INT RO150 I1 Q R0150 CONST IN Q R0152 00001 LEN 00001 RO150 I2 Pen D 10137 I 1 I SVC ADD 1 SVC A er CONST FNC RO151 I1 Q RO153 CONST FNC 00006 00006 RO150 PARM CONST 12 RO152 PARM I 400016 I I The example parameter blocks are located at address R0150 They have the following content GFK 0467L Chapter 12 Control Functions 0 read current count R0150 hold current count R0151 1 set current count R0152 hold new count for set RO153 12 43 SVCREQ 7 Change R
265. or the accuracy completeness sufficiency or usefulness of the information contained herein No warranties of merchantability or fitness for purpose shall apply The following are trademarks of GE Fanuc Automation North America Inc Alarm Master Genius PROMACRO Series Six CIMPLICITY Helpmate PowerMotion Series Three CIMPLICITY 90 ADS Logicmaster PowerTRAC VersaMax CIMSTAR Modelmaster Series 90 VersaPro Field Control Motion Mate Series Five VuMaster GEnet ProLoop Series One Workmaster Copyright 1989 1999 GE Fanuc Automation North America Inc All Rights Reserved Preface This manual describes the system operation fault handling and Logicmaster 90 programming instructions for the Series 90 30 Series 90 20 and Series 90 Micro programmable logic controllers Series 90 30 PLCs Series 90 20 PLCs and Series 90 Micro PLCs are members of the Series 90 family of programmable logic controllers from GE Fanuc Automation Revisions to This Manual e The Model 364 CPU release 9 0 and later supports connection to an Ethernet network through either of two built in Ethernet ports AAUI and 10BaseT ports are provided The Model 364 is the only Series 90 30 CPU that supports Ethernet Global Data p 2 39 e The Hand Held Programmer does not allow you to change the Time of Day clock while key switch protection is active p 2 14 e Sweep impact figures for DSM configuration have been added to Chapter 2 e Differences in operation for L
266. or the programmer each sweep that is it honors one service request or response to one key press If the programmer makes a request that requires more than 6 or 8 depending on the CPU see Note milliseconds to process the request processing is spread out over several sweeps so that no sweep is impacted by more than 6 or 8 depending on the CPU see Note milliseconds Note The time limit for the communications window is 6 milliseconds for the 340 and higher CPUs and 8 milliseconds for the 311 313 323 and 331 models GFK 0467L Chapter 2 System Operation 2 9 2 10 The following figure is a flow chart for the programmer communications portion of the sweep START a45659 HAND HELD PROGRAMMER PROGRAMMER ATTACHED ATTACHED PROGRAMMER ATTACHED STATUS PREVIOUS NOT PREVIOUS ATTACHED ATTACHED STATUS ATTACHED STATUS 2 NOT b ATTACHED u NO PROGRAMMER ABORT REQUES OPERATION PANG HELD IN PROGRESS PROGRAMMER YES YES PROCESS REQUEST SETUP FOR SEND INITIKE PROCESS KEY SERIES 90 DISPLAY SEND NEW DISPLAY PROTOCOL STOP Figure 2 2 Programmer Communications Window Flow Chart Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L System Communications Window This is the part of the sweep where communications requests from intelligent option modules such as the PCM or DSM are processed see flow chart Requests are serviced on a first come first served basis How
267. ord The low 5 bits of this word are used to modify three standard PID settings The other bits should be set to 0 Set the low bit to 1 to modify the standard PID Error Term from the normal SP PV to PV SP reversing the sign of the feedback term This is for Reverse Acting controls where the CV must go down when the PV goes up Set the second bit to a 1 to invert the Output Polarity so that CV is the negative of the PID output rather than the normal positive value Set the fourth bit to 1 to modify the Derivative Action from using the normal change in the Error term to the change in the PV feedback term The low 5 bits in the Config Word are defined in detail below Bit0 Error Term When this bit is set to 0 the error term is SP PV When this bit is set to 1 the error term is PV SP Biti Output Polarity When this bit is set to 0 the CV output represents the output of the PID calculation When it is set to 1 the CV output represents the negative of the output of the PID calculation Bit 2 Derivative action on PV When this bit is set to 0 the derivative action is applied to the error term When it is set to 1 the derivative action is applied to PV All remaining bits should be zero Bit 3 Deadband action When the Deadband action bit is set to zero then no deadband action is chosen If the error is within the deadband limits then the error is forced to be zero Otherwise the error is not affected by the deadband lim
268. orresponding bit in bit string I1 All bits are altered on each scan that power is received making output string Q the logical complement of I1 The function passes power flow to the right whenever power is received l input parameter I1 I1 Parameters WORD l Q output parameter Q enable ok Parameter Description enable When the function is enabled the operation is performed n I1 contains the constant or reference for the word to be negated ok The ok output is energized whenever enable is energized Q Output Q contains the NOT negation of I1 Valid Memory Types Example GFK 0467L Parameter flow I Q M T S G P R WAI WAQ const none enable I ok Q e e e Valid reference or place where power may flow through the function SA SB or SC only S cannot be used In the following example whenever input 10001 is set the bit string represented by the nickname TAC is set to the inverse of bit string CAT 10001 I I II NOT WORD CAT I1 Q TAC Chapter 8 Bit Operation Functions 8 7 SHL and SHR WORD 8 8 The Shift Left SHL function is used to shift all the bits in a word or group of words to the left by a specified number of places When the shift occurs the specified number of bits is sh
269. ory Could Not Be Allocated Description The PLC operating software memory manager generates these errors when software requests the memory manager to allocate or de allocate a block or blocks of memory from user RAM that are not legal These errors should not occur in a production system Correction Display the PLC fault table on the programmer Contact GE Fanuc PLC Field Service giving them all the information contained in the fault entry Error Code D Name System Memory Unavailable Description The PLC operating software I O Scanner generates this error when its request for a block of system memory is denied by the memory manager because no memory is available from the system memory heap It is Informational if the error occurs during the execution of a DO I O function block It is Fatal if it occurs during power up initialization or autoconfiguration Correction Display the PLC fault table on the programmer Contact GE Fanuc PLC Field Service giving them all the information contained in the fault entry Error Code E Name System Memory Could Not Be Freed Description The PLC operating software I O Scanner generates this error when it requests the memory manager to de allocate a block of system memory and the de allocation fails This error can only occur during the execution of a DO I O function block Correction 1 Display the PLC fault table on the programmer Contact GE Fanuc PLC Field Service giving them al
270. ot affected In the following example when I0002 is ON the JUMP is taken Since the logic between the JUMP and the LABEL is skipped QO001 is unaffected i e if it was ON it remains ON if it was OFF it remains OFF Chapter 12 Control Functions 12 23 12 24 Example 10001 sI0001 I II IlI ADD INT ROO01 I1 Ql ROOO1 1 12 TEST1 gt gt TEST1 200001 The following example shows an MCRN named Second nested inside the MCRN named First Whenever 10002 allows power flow into the MCRN function program execution will continue without power flow to the coils until the associated ENDMCRN is reached If I0001 and 9610003 are ON 96Q0001 is turned OFF and Q0003 remains ON To aid in troubleshooting ladder programs a double power rail identifies logic that is controlled by an MCR 10002 FIRST I MCRN 10004 SECOND I I MCRN 10001 Se 10003 I 1 SECOND ENDMCRN FIRST ENDMCRN Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 Q0001 200003 S GFK 0467L ENDMCRN ENDMCR Example GFK 0467L Use the End Master Control Relay ENDMCR function to resume normal program execution after an MCR function When the MCR associated with the ENDMCR i
271. ough power loss and RUN TO STOP TO RUN transitions Retentive coils include retentive coils M negated retentive coils M retentive SET coils SM and retentive RESET coils RM The last time a Q or M reference is programmed on a coil instruction determines whether the PQ or M reference is retentive or non retentive based on the coil type For example if Q0001 was last programmed as the reference of a retentive coil the 70Q0001 data will be retentive However if 70Q0001 was last programmed on a non retentive coil the QO001 data will be non retentive Chapter 2 System Operation 2 21 Data Types Table 2 6 Data Types Type INT Name Signed Integer Description Signed integers use 16 bit memory data locations and are represented in 2 s complement notation The valid range of an INT data type is 32 768 to 432 767 Data Format Register 1 16 bit positions 16 1 DINT Double Precision Signed Integer Double precision signed integers are stored in 32 bit data memory locations actually two consecutive 16 bit memory locations and represented in 2 s complement notation Bit 32 is the sign bit The valid range of a DINT data type is 2 147 483 648 to 2 147 483 647 Register 2 s 1 1 32 17 Register 1 16 1 Two s Complement Value BIT Bit A Bit data type is the smallest unit of memory It has two states 1 or 0 A BIT string may have len
272. ounter 5 12 Function Block Data Required for Timers and Counters Each timer or counter uses three words registers of R memory to store the following information current value CV word 1 preset value PV word 2 control word word 3 When you enter a timer or counter you must enter a beginning address for these three words registers directly below the graphic representing the function For example enable Q time reset R preset value PV address Enter the beginning address here Note Do not use consecutive registers for the three word timer counter blocks Logicmaster does not check or warn you if register blocks overlap Timers and counters will not work if you place the current value of a block on top of the preset for the previous block GFK 0467L 5 1 5 2 The control word stores the state of the Boolean inputs and outputs of its associated function block as shown in the following format 15 14 13 12 114 10 e 7 e s 8 2 1 o 157 f Reserved E Reserved Reset input Enable input _ previous execution Q counter timer status output EN enable input Bits O through 11 are used for timer accuracy bits O through 11 are not used for counters Note Use care if you use the same address for PV as the second word in the block of three words If PV is not a constant the PV is normally s
273. p 10001 I II DO_Io 10001 ST 200001 10064 END GFK 0467L Chapter 12 Control Functions 12 5 Output Example 1 In the following example when the enabling input 9610001 is ON the values of analog output channels AQOO1 through AQ004 are written to references R0001 through 6R0004 and 26Q0001 is turned on The values at AQOO1 through AQO004 are not written to the analog output modules 10001 po ro AQ001 ST 90001 U0 AQ004 END l l l l l l l l l RO001 ALT Output Example 2 In the following example when the enabling input 10001 is ON the values at references 26AQ001 through AQO004 are written to analog output channels AQOO1 through 6AQ004 and 26Q0001 is turned on ZEE 10001 I I Do ro AQ001 ST Q0001 ee AQ004 END Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Enhanced DO I O Function for 331 and Later CPUs If the Enhanced DO I O function is used in a program the program should not be loaded by a version of Logicmaster 90 30 20 software prior to 4 01 An enhanced version of
274. p the Manual Command in Manual mode the CV output will not change any faster that the Minimum Slew Time Inverse rate limit and will not go above or below the CV Upper or CV Lower Clamp limits Note A specific PID function should not be called more than once per sweep The following table provides more details about the parameters discussed briefly in Table 12 3 The number in parentheses after each parameter name is the offset in the RefArray GFK 0467L Chapter 12 Control Functions 12 75 12 76 Table 12 9 PID Parameter Details Data Item Description Loop Number This is an optional parameter available to identify a PID block It is an unsigned integer that 00 provides a common identification in the PLC with the loop number defined by an operator interface device The loop number is displayed under the block address when logic is monitored from the Logicmaster 90 30 20 Micro software Algorithm 01 An unsigned integer that is set by the PLC to identify what algorithm is being used by the function block The ISA algorithm is defined as algorithm 1 and the independent algorithm is identified as algorithm 2 Sample Period The shortest time in 10 millisecond increments between solutions of the PID algorithm For example 02 use a 10 for a 100 millisecond sample period If it is 0 the algorithm is solved every time the block is called see section below on PID block scheduling The PID algorithm is so
275. per operation will result Caution Overlapping references will result in erratic operation of the counter enable On a positive transition of enable the current count is incremented by one R When R receives power flow it resets the current value back to zero PV PV is the value to copy into the counter s preset value when the counter is enabled or reset Q Output Q is energized when the current value is greater than or equal to the preset value GFK 0467L Chapter 5 Timers and Counters 5 11 Valid Memory Types Parameter flow I WQ 0M T S G PR WAI AQ const none address enable R e PV e e e e e e e e e e Q e Valid reference or place where power may flow through the function Example In the following example every time input 2610012 transitions from OFF to ON up counter PRT CNT counts up by 1 internal coil 7M0001 is energized whenever 100 parts have been counted Whenever 0M0001 is ON the accumulated count is reset to zero M0001 10012 gt UPCTR M0001 I I IR CONST PV 00100 PRT_CNT DNCTR The Down Counter DNCTR function is used to count down from a preset value The minimum preset value is zero the maximum present value is 32 767 counts The minimum current value is 32 768 Whe
276. put will receive power flow unless IN is NaN Not a Number enable MBETVEIE ok l TO l DEG l l input parameter IN IN Q output parameter Q Parameter Description enable When the function is enabled the operation is performed IN IN contains the real value to be operated on ok The ok output is energized when the function is performed without overflow unless IN is NaN Q Output Q contains the converted value of IN Note The Radian conversion functions are only available on the 35x and 36x series CPUs Release 9 or later or on all releases of CPU352 Valid Memory Types 6 14 Parameter flow I Q M T PS G R WAI AQ const none enable IN ok Q Valid reference or place where power may flow through the function Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Example In the following example 1500 is converted to DEG and is placed in ROOO1 ALW ON I 1 I RAD TO DEG CONST 1500 000 IN Q R0001 85943 67 GFK 0467L Chapter 6 Math Functions Chapter Relational Functions 7 Relational functions are used to determine the relationship of two values This chapter describes the following relational functions Abbreviation Function Desc
277. r 6 Math Functions 6 5 a 6 6 MOD Parameters INT DINT The Modulo MOD function is used to divide one value by another value of the same data type to obtain the remainder The sign of the result is always the same as the sign of input parameter I1 The MOD function operates on these types of data Data Type Description INT Signed integer DINT Double precision signed integer The default data type is signed integer however it can be changed after selecting the function For more information on data types please refer to chapter 2 section 2 Program Organization and User References Data When the function receives power flow it divides input parameter I1 by input parameter I2 These parameters must be the same data type Output Q is calculated using the formula Q I1 I1 DIV I2 I2 where DIV produces an integer number Q is the same data type as input parameters I1 and I2 OK is always ON when the function receives power flow unless there is an attempt to divide by zero In that case it is set OFF enable HES ox INT I input parameter I1 I1 Q output parameter Q I I input parameter I2 E 12 l Parameter Description enable When the function is enabled the operation is performed Il I1 contains a constant or reference for the value to be divided by 12 n I2 contains a constant or reference for the value to be divided in
278. r integral analog module fault occurs the reference address refers to the first point on the block where the fault occurred Table B 8 1 0 Reference Address Byte Description Range 0 Memory Type 0 FF 1 2 Offset 0 7FF The memory type byte is one of the following values Table B 9 1 0 Reference Address Memory Type Name Value Hexadecimal Analog input 0A Analog output 0C Analog grouped 0D Discrete input 10 or 46 Discrete output 12 or 48 Discrete grouped 1F 1 0 Fault Address The I O fault address is a six byte address containing rack slot bus block and point address of the I O point which generated the fault The point address is a word all other addresses are one byte each All five values may not be present in a fault When an I O fault address does not contain all five addresses a 7F hex appears in the address to indicate where the significance stops For example if 7F appears in the bus byte then the fault is a module fault Only rack and slot values are significant Appendix B Interpreting Fault Tables B 9 B 10 Rack The rack number ranges from 0 to 7 Zero is the main rack i e the one containing the PLC Racks 1 through 7 are expansion racks Slot The slot number ranges from 0 to 9 The PLC CPU always occupies slot 1 in the main rack rack 0 Point Point ranges from 1 to 1024 decimal It tells which point on the block has the fault w
279. r last state Also analog output modules may be powered from an external power source so that even though the PLC has no power the analog output module will continue to operate in its selected default state Diagnostic Data 2 42 Diagnostic bits are available in S memory that will indicate the loss of an I O module or a mismatch in I O configuration Diagnostic information is not available for individual I O points More information on fault handling can be in Chapter 3 Fault Explanations and Correction Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Global Data Genius Global Data The Series 90 30 PLC supports very fast sharing of data between multiple CPUs using Genius global data The Genius Bus Controller IC693BEM331 in CPU version 5 and later and the Enhanced Genius Communications Module IC693CMM302 can broadcast up to 128 bytes of data to other PLCs or computers They can receive up to 128 bytes from each of the up to 30 other Genius controllers on the network Data can be broadcast from or received into any memory type not just G global bits The original Genius Communications Module IC693CMM301 is limited to fixed G addresses and can only exchange 32 bits per serial bus address from SBA 16 to 23 This module should not be used as the enhanced GCM has over 100 times the capability Global data can be shared between Series Five Series Six and Series 90 PLCs connected to the same Ge
280. r of Ex function Power down 2 33 Power up 2 30 Power up and power down sequences 2 30 power down power up 2 30 Privilege level change requests 2 38 Privilege levels 2 37 change requests 2 38 Program block how blocks are called 2 19 how C blocks are called 2 19 how subroutines are called 2 19 Program block checksum failure Program organization and user data floating point numbers E 1 Program organization and user references data data types function block structure retentiveness of data system status 2 23 transitions and overrides 2 21 user references Program structure how blocks are called how C blocks are called 2 19 how subroutines are called Program sweep standard Programmer communications window 2 9 Programming instructions bit operation functions control functions conversion functions data move functions instruction mnemonics math functions 6 1 relational functions relay functions 4 1 table functions Proportional Integral Deviation PID 12 71 R RAD 6 14 Radian conversion function 6 14 RANGE 7 4 Range function 7 4 Read Elapsed Power Down Time Read Elapsed Time Clock Read Folder Name Read 1 O Override Status Read Last Logged Fault Table Entry 12 55 Read Master Checksum 12 61 Read PLC ID Read PLC Run State 12 52 Read Sweep Time from Beginning of Sweep Read Window Values 12 36 REAL convert to REAL Data type structure 2 22 Using
281. rammable Controller Installation Manual GFK 0356 Series 90 20 Programmable Controller Installation Manual GFK 0551 Series 90 30 I O Module Specifications Manual GFK 0898 Series 90 Programmable Coprocessor Module and Support Software User s Manual GFK 0255 Series 90 PCM Development Software PCOP User s Manual GFK 0487 CIMPLICITY 90 ADS Alphanumeric Display System User s Manual GFK 0499 CIMPLICITY 90 ADS Alphanumeric Display System Reference Manual GFK 0641 Alphanumeric Display Coprocessor Module Data Sheet GFK 0521 Series 90 30 and 90 20 PLC Hand Held Programmer User s Manual GFK 0402 Power Mate APM for Series 90 30 PLC Standard Mode User s Manual GFK 0840 Power Mate APM for Series 90 30 PLC Follower Mode User s Manual GFK 0781 Motion Mate DSM302 for Series 90 30 PLCs User s Manual GFK 1464 Series 90 30 High Speed Counter User s Manual GFK 0293 Series 90 30 Genius Communications Module User s Manual GFK 0412 Genius Communications Module Data Sheet GFK 0272 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Preface Series 90 30 Genius Bus Controller User s Manual GFK 1034 Series 90 70 FIP Bus Controller User s Manual GFK 1038 Series 90 30 FIP Remote I O Scanner User s Manual GFK 1037 Field Control Distributed I O and Control System Genius Bus Interface Unit User s M
282. re MSKCMP function available for Release 4 41 or later CPUs is used to compare the contents of two separate bit strings with the ability to mask selected bits The length of the bit strings to be compared is specified by the LEN parameter where the value of LEN specifies the number of 16 bit words for the MSKCMPW function and 32 bit words for the MSKCMPD function When the logic controlling the enable input to the function passes power flow to the enable EN input the function begins comparing the bits in the first string with the corresponding bits in the second string Comparison continues until a miscompare is found or until the end of the string is reached The BIT input is used to store the bit number where the next comparison should start where a 0 indicates the first bit in the string The BN output is used to store the bit number where the last comparison occurred where a indicates the first bit in the string Using the same reference for BIT and BN causes the compare to start at the next bit position after a miscompare or if all bits compared successfully upon the next invocation of the function block the compare starts at the beginning If you want to start the next comparison at some other location in the string you can enter different references for BIT and BN If the value of BIT is a location that is beyond the end of the string BIT is reset to O before starting the next comparison If All Bits in 11 and I2 are the S
283. results of calculations AI The prefix AI represents an analog input register This prefix is followed by the register address of the reference for example AI0015 An analog input register holds the value of one analog input or other value AQ The prefix WAQ represents an analog output register This prefix is followed by the register address of the reference for example AQ0056 An analog output register holds the value of one analog output or other value Note All register references are retained across a power cycle to the CPU Table 2 5 Discrete References Type Description I The l prefix represents input references This prefix is followed by the reference s address in the input table for example 96100121 I references are located in the input status table which stores the state of all inputs received from input modules during the last input scan A reference address is assigned to discrete input modules using the configuration software or the Hand Held Programmer Until a reference address is assigned no data will be received from the module I data can be retentive or non retentive Q The Q prefix represents physical output references The coil check function of Logicmaster 90 30 20 Micro software checks for multiple uses of Q references with relay coils or outputs on functions Beginning with Release 3 of the software you can select the level of coil checking desired SINGLE
284. rete memory elements is updated to indicate whether or not the MOVE operation caused any discrete memory elements to change state Data at the input parameter does not change unless there is an overlap in the source and destination For the BIT type there is another consideration If a BIT array specified on the Q parameter does not encompass all of the bits in a byte the transition bits associated with that byte which are not in the array will be cleared when the MOVE_BIT receives power flow Input IN can be either a reference for the data to be moved or a constant If a constant is specified then the constant value is placed in the location specified by the output reference For example if a constant value of 4 is specified for IN then 4 is placed in the memory location specified by Q If the length is greater than 1 and a constant is specified then the constant is placed in the memory location specified by Q and the locations following up to the length specified For example if the constant value 9 is specified for IN and the length is 4 then 9 is placed in the memory location specified by Q and the three locations following The LEN operand specifies the number of e Words to be moved for MOVE INT and MOVE WORD e Bits to be moved for MOVE BIT e Reals to be moved for MOVE REAL Note The REAL data type is only available on 35x and 36x series CPUs Release 9 or later or on all releases of CPU352 The function passes power to the r
285. ries of Block Move BLKMV commands See page 12 10 Note PLC to PLC synchronization is not supported The function block has one output and three inputs enable reset and trigger Sample SER Function Block T0003 l 200003 i SER _ 0 TOO01 I I IR TO002 el ATT oi RO100 Note This function requires version 9 00 or higher CPU firmware and is available only on 350 and higher CPUs Channels up to 32 bits 1 32 1024 maximum PT Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Parameters Parameter enable Description Whenever the function is enabled and the reset input is off the SER function block collects one sample from all configured channels R When the reset input receives power flow the SER function is reset regardless of the state of the enable input Sample Buffer Trigger Sample Offset Trigger Time and Current Sample Offset are all cleared to zero The function block remains in the reset state until power flow is removed from the reset input The OK output is turned off while in the reset state When the power flow is removed from the reset input sampling resumes If the Trigger Input mode is selected and the function block is enabled when the trigger input goes on the SER to transition to the triggered state The Trigger Time Trigger Sample Offset and a
286. rigger Timestamp Formats Example trigger time of November 3 1998 at 8 34 05 16 a m BCD Format struct time of day clk rec unsigned char seconds unsigned char minutes unsigned char hours unsigned char day of month unsigned char month unsigned char year Register Parameter Value dec Value hex RO203 Minutes Seconds 13317 3405 R204 Day of Month Hours 776 0308 R205 Year Month 26607 9811 R206 Unused POSIX Format struct timespec long tv_sec Number of seconds since January 1 1970 long tv nsec Number of nanoseconds into next seconds y Register Parameter Value dec Value hex RO203 Seconds Low Word 7811 el7d R204 Seconds High Word 13845 3615 R205 Nano seconds Low Word 26624 6800 R206 Nano seconds High Word 2441 0989 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L END The END function provides a temporary end of logic The program executes from the first rung to the last rung or the END function whichever is encountered first The END function unconditionally terminates program execution There can be nothing after the end function in the rung No logic beyond the END function is executed and control is transferred to the beginning of the program for the next sweep The END function is useful for debugging purposes because it prevents any logic which follows fro
287. riodic Subroutines Version 4 20 or later of the 340 and higher CPUs support periodic subroutines Please note the following restrictions 1 Timer TMR ONDTR and OFDTR function blocks will not execute properly within a periodic subroutine A DOIO function block within a periodic subroutine whose reference range includes references assigned to a Smart I O Module HSC Power Mate APM Genius etc will cause the CPU to lose communication with the module The FST SCN and LST SCN contacts S1 and 96S2 will have an indeterminate value during execution of the periodic subroutine periodic subroutine cannot call or be called by other subroutines 2 The latency for the periodic subroutine that is the maximum interval between the time the periodic subroutine should have executed and the time it actually executes can be around 35 milliseconds if there is no PCM CMM or ADC module in the main rack If there is a PCM CMM or ADC module in the main rack even if it is not configured or used the latency can be almost 2 25 milliseconds For that reason use of the periodic subroutine with PCM based products is not recommended GFK 0467L Chapter 2 System Operation 2 19 User References The data used in an application program is stored as either register or discrete references Table 2 4 Register References Type Description R The prefix R is used to assign system register references which will store program data such as the
288. ription Page EQ Equal Test two numbers for equality 7 2 NE Not Equal Test two numbers for non equality 7 2 GT Greater Than Test for one number greater than another 7 2 GE Greater Than Test for one number greater than or equal to another 7 2 or Equal LT Less Than Test for one number less than another 7 2 LE Less Than Test for one number less than or equal to another 7 2 or Equal RANGE Range Determine whether a number is within a specified range 7 4 available for Release 4 5 or higher CPUs GFK 0467L 7 1 Standard Relational Functions EQ NE GT GE LT LE When the function receives power flow it compares input parameter I1 to input parameter I2 which must be of the same data type Relational functions operate on these types of data Data Type Description INT Signed integer DINT Double precision signed integer REAL Floating Point Note The REAL data type is only available on the 35x and 36x series CPUs Release 9 or later and on all releases of CPU352 The 9680020 bit is set ON when a relational function using REAL data executes successfully It is cleared when either input is NaN Not a Number The Range function block does not accept REAL type The default data type is signed integer To compare either signed integers double precision signed integers or real numbers select the new data type after selecting the relational function To compare data of other types or of two
289. rolled by the flow of power into the coil In this example if power flows into the left side of the coil reference Q0004 is turned ON Q0004 The programming software and the Hand Held Programmer both have a coil check function that checks for multiple uses of Q or M references with relay coils or outputs on functions Format of Program Function Blocks Some functions are very simple like the MCR function which is shown with the abbreviated name of the function within brackets MCR Other functions are more complex They may have several places where you will enter information to be used by the function The generic function block illustrated below is multiplication MUL parameters vary with the type of function block Its parts are typical of many program functions The upper part of the function block shows the name of the function It may also show a data type in this case signed integer 2 26 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L GFK 0467L This is the function block name MUL MUL This is the function block name MUL and data type INT INT signed integer MUL represents the type and size of data to be acted on Many program functions allow you to select the data type for the function after selecting the function For example the data type for the MUL function could be changed to double precisi
290. rom input states or superimpose blinking conditions on status lights The function passes power flow to the right whenever power is received enable EXT ok WORD l l input parameter I1 I1 Q output parameter Q l l l input parameter I2 I2 I Parameters Parameter Description enable When the function is enabled the operation is performed Il Il contains a constant or reference for the first word of the first string n I2 contains a constant or reference for the first word of the second string ok The ok output is energized whenever enable is energized Q Output Q contains the result of the operation GFK 0467L Chapter 8 Bit Operation Functions 8 3 Valid Memory Types Parameter flow I WQ M T S G R PAI AQ const none enable I I2 ok Q e e Valid reference or place where power may flow through the function T PSA SB or SC only S cannot be used Example In the following example whenever input I0001 is set the 16 bit strings represented by nicknames WORD1 and WORD2 are examined The results of the Logical AND are placed in output string RESULT Cv 10001 I II AND WORD WORD1 I1 Q RESULT WORD2 12 WOR
291. rvicing other communications Series 90 30 90 20 and Micro PLCs normally operate in STANDARD PROGRAM SWEEP mode Other operating modes include STOP WITH I O DISABLED mode STOP WITH I O ENABLED mode and CONSTANT SWEEP mode Each of these modes described in this chapter is controlled by external events and application configuration settings The PLC makes the decision regarding its operating mode at the start of every sweep Standard Program Sweep STANDARD PROGRAM SWEEP mode normally runs under all conditions The CPU operates by executing an application program updating I O and performing communications and other tasks This occurs in a repetitive cycle called the CPU sweep There are seven parts to the execution sequence of the Standard Program Sweep 1 Start of sweep housekeeping 2 Input scan read inputs 3 Application program logic solution 4 Output scan update outputs 5 Programmer service 6 Non programmer service 7 Diagnostics Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L All of these steps execute every sweep Although the Programmer Communications Window opens each sweep programmer services only occur if a board fault has been detected or if the programming device issues a service request that is the Programmer Communications Window first checks for work to do and exits if there is none The sequence of the standard program sweep is shown in the following figure
292. s 3 First rack amp slot Rack and slot number in the form RRSS in hexadecimal where RR is the rack number and SS is the slot number of the 1st module from which the data will be read Address 4 Read data from first module The data read from the first module will be place here Address 5 Second rack amp slot Rack and slot number in the form RRSS in hexadecimal where RR is the rack number and SS is the slot number of the 2nd module from which the data will be read Address 6 Read data from second The data read from the second module will be place here Address I 2 1 Ith rack amp slot Rack and slot number in the form RRSS in hexadecimal where RR is the rack number and SS is the slot number of the Ith module from which the data will be read Address I 2 2 Read data from Ith module The data read from the Ith module will be place here Address N 2 1 Last rack amp slot Rack and slot number in the form RRSS in hexadecimal where RR is the rack number and SS is the slot number of the last module from which the data will be read Address N 2 2 Read data from last module The data read from the last module will be place here Address N 2 3 End of list indicator A zero in this word indicates the end of the list of modules Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Write Data Function
293. s microseconds number of bits or words Enabled time for single length units of type R AI and AQ COMMREQ time has been measured between CPU and HSC DOIO is the time to output values to discrete output module Where there is more than one possible case the time indicated above represents the worst possible case For instructions that have an increment value multiply the increment by Length 1 and add that value to the base time MS DIR DAE Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Table A 2 Instruction Timing High Performance Models C ontinued Function Enabled Disabled Increment Enabled Disabled Group Function 350 351 36x 350 351 36x 350 351 36x Search Less Than INT 37 0 1 52 37 0 1 52 19 DINT 41 1 2 27 41 1 2 27 22 BYTE 37 0 1 41 37 0 1 41 19 WORD 37 0 1 52 37 0 1 52 19 Search Less Than Equal INT 38 0 1 48 38 0 1 48 19 DINT 40 1 2 30 40 1 2 30 22 BYTE 37 0 1 24 37 0 1 24 19 WORD 38 0 1 48 38 0 1 48 19 Conversion Convert to INT 19 1 19 1 10 Convert to BCD 4 21 1 21 1 10 Convert to REAL 27 0 21 0 8 Convert to WORD 28 1 30 1 11 Truncate to INT 32 0 32 0 11 Truncate to DINT 63 0 31 0 11 Control Call a Subroutine 72 1 73 1 7 Do I O 114 1 115 1 13 PID ISA Algorithm 162 34 162 34 16 aoe 146 34 146 34 16 End Instruction Service Request 6 22 1
294. s 90 30 PLC I O system 2 39 pal conditions for Model 30 output modules 2 42 Index Index diagnostic data global data 2 43 I O data formats T O structure 2 39 model 30 I O modules 2 40 Service Request change read number of words to checksum 12 42 Service request functions change programmer communications window 3 change system communications window 4 12 40 change read constant sweep timer 1 J 12 33 change read number of words to checksum 1242 change read time of day clock 12 44 clear fault table 12 54 Fast Backplane Status Access 12 65 interrogate I O 12 62 list 12 30 read elapsed power down time read elapsed time clock read folder name 10 12 50 read I O override status read last logged fault table entry 12 55 read master checksum read PLC ID 11 read PLC run state 12 112 52 read sweep time 9 read window values 2 reset watchdog timer 8 shut down PLC skip next output and input scan 12 64 SET coil SFT CPU Shift left function Shift register function 9 8 Shift right function SHL SHR 8 8 Shut Down PLC SVCREQ 12 53 Signed ineger 2 22 SIN 6 10 Sine function 6 10 Skip Next boa amp Input Scan 12 64 2 24 Software failure option module 3 10 SQRT 6 8 Square root function 6 8 SRCH GE SRCH_LE Index 7 Index Index 8 Standard program sweep mode Standard program sweep
295. s OFF when the coil stops receiving power flow the reference is set to ON and any contacts associated with that coil will change state for one sweep Each reference should only be used as a transition coil once in the application program so as to preserve the one shot nature of the coil Transitional coils can be used with references from either retentive or non retentive memory Q M T G SA SB or SC In the following example when reference El goes from OFF to ON coils E2 and E3 receive power flow turning E2 ON for one logic sweep When EI goes from ON to OFF power flow is removed from E2 and E3 turning coil E3 ON for one sweep El E2 ep eee TM El E3 m M 4 SET Coil S RESET Coil GFK 0467L SET and RESET are non retentive coils that can be used to keep latch the state of a reference e g E1 either ON or OFF When a SET coil receives power flow its reference stays ON whether or not the coil itself receives power flow until the reference is reset by another coil SET coils write an undefined result to the transition bit for the given reference Refer to the information on Transitions and Overrides in chapter 2 System Operation R The RESET coil sets a discrete reference OFF if the coil receives power flow The reference remains OFF until the reference i
296. s active the ENDMCR causes program execution to resume with normal power flow When the MCR associated with the ENDMCR is not active the ENDMCR has no effect Logicmaster 90 30 20 Micro software supports two forms of the ENDMCR function a non nested and a nested form The non nested form ENDMCR must be used with the non nested MCR function MCR The nested form ENDMCRN must be used with the nested MCR function MCRN The ENDMCR function has a negated Boolean input EN The instruction enable must be provided by the power rail execution cannot be conditional The ENDMCR function also has a name which identifies the ENDMCR and associates it with the corresponding MCR s The ENDMCR function has no outputs there can be nothing before or after an ENDMCR instruction in a rung 2722722 2722722 ENDMCRN In the following examples an ENDMCR instruction is programmed to terminate MCR range clear Example of a non nested ENDMCR CLEAR ENDMCR Example of a nested ENDMCR CLEAR ENDMCRN Chapter 12 Control Functions 12 25 JUMP Use the JUMP instruction to cause a portion of the program logic to be bypassed Program execution will continue at the LABEL specified When the JUMP is active all coils within its scope are left at their previous states This includes coils associated with timers counters latches and relays Logicmaster 90 30 20 Micro software supports two forms of the JUMP instruction a
297. s are not configurable in the Series 90 30 PLC Series 90 20 or the Series 90 Micro PLC Fault References Fault references in the Series 90 30 are of one type fault summary references Fault summary references are set to indicate what fault occurred The fault reference remains on until the PLC is cleared or until cleared by the application program An example of a fault bit being set and then clearing the bit is shown in the following example In this example the coil light 01 is turned on when an oversweep condition occurs the light and the OV SWP contact remain on until the 10359 contact is closed ov swp I 1 I I0359 I 1 I Fault Reference Definitions The alarm processor maintains the states of the 128 system discrete bits in S memory These fault references can be used to indicate where a fault has occurred and what type of fault it is Fault references are assigned to S SA SB and SC memory and they each have a nickname These references are available for use in the application program as required Refer to Chapter 2 System Operation for a list of the system status references Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Additional Fault Effects Two faults described previously have additional effects associated with them These are described in the following table Side Effect Description PLC CPU Software Failure When a PLC CPU software f
298. s are totally dependent on the process being controlled there are no predetermined values that will work however it is usually a simple iterative procedure to find acceptable loop gain 1 Set all the functional block parameters to O then set the CV Upper and CV Lower Clamps to the highest and lowest CV expected Set the Sample Period to the estimated process time constant above 10 to 100 2 Put block in Manual mode and set Manual Command Ref 13 at different values to check if CV can be moved to Upper and Lower Clamp Record PV value at some CV point and load it into SP 3 Seta small gain such as 100 Maximum CV Maximum PV into Kp and turn off Manual mode Step SP by 2 to 10 of the Maximum PV range and observe PV response Increase Kp if PV step response is too slow or reduce Kp if PV overshoots and oscillates without reaching a steady value 4 Once a Kp is found start increasing Ki to get overshooting that dampens out to a steady value in 2 to 3 cycles This may required reducing Kp Also try different step sizes and CV operating points 5 After suitable Kp and Ki gains are found try adding Kd to get quicker responses to input changes providing it doesn t cause oscillations Kd is often not needed and will not work with noisy PV 6 Check gains over different SP operating points and add Dead Band and Minimum Slew Time if needed Some Reverse Acting processes may need setting Config Word Error Sign or Polarity bits GF
299. s energized the logic it controls is scanned and contact status is displayed but no outputs are energized If you are not aware that an MCR is controlling the logic being observed this might appear to be a faulty condition To indicate that a range of ladder logic is under MCR control the software displays a double power rail on the screen Logicmaster 90 30 20 Micro software supports two forms of the MCR function a non nested and a nested form CPU Compatibility CPU Type Masked Compare Instruction 35x and 36x Series CPUs Use only the nested form MCRN Release 2 and later Release 1 Series 90 CPUs Use only the non nested form MCR MCRN Operation An MCRN function can be placed anywhere within a program as long as it is properly nested with respect to other MCRNs and does not occur in the range of any non nested MCR or non nested JUMP If an MCRN ENDMCRN pair is nested within another MCRN ENDMCRN pair it must be contained completely within the other pair Up to eight levels of nesting are allowed For an example see page 12 24 Note Use only one MCRN for each ENDMCRN with 35x and 36x series CPUs There can be multiple MCRN functions corresponding to a single ENDMCRN except for the 35x and 36x series CPUs as noted above This is analogous to the nested JUMP where you can have Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L MCR Operation Parameters mult
300. s not occur in the range of any non nested MCR or non nested JUMP There can be multiple nested JUMP instructions corresponding to a single nested LABEL Nested JUMPs can be either forward or backward JUMPs Both forms of the JUMP instruction are always placed in columns 9 and 10 of the current rung line there can be nothing after the JUMP instruction in the rung Power flow jumps directly from the instruction to the rung with the named label 12 26 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Non nested JUMP 37777777 Nested JUMP EE EXHI To avoid creating an endless loop with forward and backward JUMP instructions a backward JUMP must contain a way to make it conditional Examples In the following examples whenever JUMP TESTI is active power flow is transferred to LABEL TESTI Example of a non nested JUMP 10001 LL PP TEST 1 I Example of a nested JUMP 10001 1 TEST GFK 0467L Chapter 12 Control Functions 12 27 12 28 LABEL Example The LABEL instruction functions as the target destination of a JUMP Use the LABEL instruction to resume normal program execution after a JUMP instruction There can be only one LABEL with a particular label name in a program Programs without a matched JUMP LABEL pair can be created and stored to the PLC but cannot be executed Logicmaster 90 30 20 Micro software supports two forms of th
301. s or Ti and Td use Kp Kc Ki Kc Ti and Kd Kc Td to convert them to use as PID User Parameter inputs Chapter 12 Control Functions 12 79 12 80 The CV Bias term above is an additive term separate from the PID components It may be required if you are using only Proportional Kp gain and you want the CV to be a non zero value when the PV equals the SP and the Error is 0 In this case set the CV Bias to the desired CV when the PV is at the SP CV Bias can also be used for feed forward control where another PID loop or control algorithm is used to adjust the CV output of this PID loop If an Integral Ki gain is used the CV Bias would normally be 0 as the integrator acts as an automatic bias Just start up in Manual mode and use the Manual Command word Ref 13 to set the integrator to the desired CV then switch to Automatic mode This also works if Ki is 0 except the integrator will not be adjusted based on the Error after going into Automatic mode The following diagram shows how the PID algorithms work a43646 PROPORTIONAL BIAS TERM K SP Error Sign DEAD INTEGRAL Ki SLEW UPPER LOWER POLARITY a La La cv e gt BAND gt ZA TIME uwr CLAMP MA PV Deriv Action 2 VALUE DERIVATIVE gt ATTE TERM Kd Figure 12 4 Independent Term Algorithm PIDIND The ISA Algorithm PIDISA is similar except the Kp gain is factored out of Ki and Kd so that the
302. s power flow to the right unless a mode other than O Limited 1 Constant or 2 Run to Completion is selected The parameter block has a length of one word To disable the system communications window enter SVCREQ function 4 with this parameter block High Byte Low Byte 0 0 address To enable the system communications window enter SVCREQ function 4 with this parameter block High Byte Low Byte Value from 1 to 255 ms address 12 40 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L GFK 0467L Example In the following example when enabling output M0125 transitions on the mode and timer value of the system communications window is read If the timer value is greater than or equal to 25 ms the value is not changed If it is less than 25 ms the value is changed to 25 ms In either case when the rung completes execution the window is enabled The parameter block for all three windows is at location R5051 Since the mode and timer for the system communications window is the second value in the parameter block returned from the Read Window Values function function 32 the location of the existing window time for the system communications window is in the low byte of R5052 10001 M0125 Lg M M0125 SVC_ AND AND REQ WORD WORD CONST FNC R5052 I1 Ql R5060 R5052 I1 O R50061 0002 CONST I2 R5051 PAR
303. s reset by another coil The last solved SET coil or RESET coil of a pair takes precedence RESET coils write an undefined result to the transition bit for the given reference Refer to the information on Transitions and Overrides in chapter 2 System Operation Chapter 4 Relay Functions 4 5 Example In the following example the coil represented by El is turned ON whenever reference E2 or E6 is ON The coil represented by El is turned OFF whenever reference E5 or E3 is ON E2 El hc Ss E6 ne E5 El E YA AAA gt Da E3 Note When the level of coil checking is SINGLE you can use a specific M or Q reference with only one Coil but you can use it with one SET Coil and one RESET Coil simultaneously When the level of coil checking is WARN MULTIPLE or MULTIPLE then each reference can be used with multiple Coils SET Coils and RESET Coils With multiple usage a reference could be turned ON by either a SET Coil or a normal Coil and could be turned OFF by a RESET Coil or by a normal Coil Retentive SET Coil SM Retentive SET and RESET coils are similar to SET and RESET coils but they are retained across power failure or when the PLC transitions from STOP to RUN mode A retentive SET coil sets a discrete reference ON if the coil receives power flow The reference remains ON until
304. s set all attempts to edit the block are denied The permanent locks differ from the regular VIEW LOCK and EDIT LOCK in that once set they cannot be removed Once a PERMANENT EDIT LOCK is set it can only be changed to a PERMANENT VIEW LOCK A PERMANENT VIEW LOCK cannot be changed to any other type of lock Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Section 6 Series 90 30 90 20 and Micro I O System The PLC I O system provides the interface between the Series 90 30 PLC and user supplied devices and equipment Series 90 30 I O is called Series 90 30 I O Series 90 30 I O modules plug directly into slots in the CPU baseplate or into slots in any of the expansion baseplates for the Series 90 30 PLC Model 331 or higher Model 331 340 and 341 I O systems support up to 49 Series 90 30 I O modules 5 racks Model 351 and 352 I O systems support up to 79 Series 90 30 I O modules 8 racks The Series 90 30 PLC Model 311 or Model 313 5 slot baseplate supports up to 5 Series 90 30 I O modules the Model 323 10 slot baseplate supports up to 10 Series 90 30 I O modules The I O structure for the Series 90 30 PLC is shown in the following figure PLC 1 0 System APPLICATION CACHE a43072 MEMORY gt R SERIES 90 30 GENIUS INPUT OUTPUT COMMUNICATIONS MODULE MODULE MODULE MODEL 30 MODEL 30 DISCRETE DISCRETE SERIES SERIES SERIES SERIES SERIES FIVE SIX 90 70 90 30 CPU CPU CPU CP
305. saeecssseaeceeseeeeeeesaes B 9 Table B 10 T O Fault Groups 5 5 ecco eet oe Oe tege tet leon rs B 10 Table B 11 W O Fault Actions 0 ec eeeesseeccesessneeecesseeesessaceecessaeeceecessaeceesaeeceesaeessessaeeeseeeseeeessaes B 11 Table B 12 1 0 Fault Specife Ditto ie e met ete e edes B 11 Fable B 13 TO Fault Time Stamp aee eee eee A eder tae ed tre teer eue ta o te aee ene De eee B 12 Table E 1 General Case of Power Flow for Floating Point Operations eene E 7 xviii Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Chapter Introduction 1 The Series 90 30 90 20 and Micro PLCs are members of the GE Fanuc Series 90 family of Programmable Logic Controllers PLCs They are easy to install and configure offer advanced programming features and are compatible with the Series 90 70 PLCs The Series 90 20 PLC provides a cost effective platform for low I O count applications The primary objectives of the Series 90 20 PLC are as follows e To provide a small PLC that is easy to use install upgrade and maintain e To provide a cost effective family compatible PLC e To provide easier system integration through standard communication hardware and protocols The Series 90 Micro PLC also provides a cost effective platform for lower I O count applications The primary objectives of the Micro PLC are the same as those for the Series 90 20 In addition the Micro offers the
306. se it will be 0x00 Triggered State if the trigger condition defined by Trigger Mode is true Additional Samples are taken depending upon the trigger mode and parameter settings The output is held to no power flow Transition to the Complete state will occur when all sampling is complete If more than the Number of Samples have been taken Status Extra Data will be set to 0x01 otherwise it will be 0x00 Complete All sampling is complete The output receives power flow Only transition to the Reset State is allowed If more than the Number of Samples have been taken then Status Extra Data will be set to 0x01 otherwise it will be 0x00 Overrun Error The Control Data Block has exceeded the end of its memory type The output is held to no power flow Only transition to the Reset State is allowed Status Extra Data has no significance and will be cleared to zero Parameter Error There is an error in the function control block or other operation parameters The output is held to no power flow Only transition to the Reset State is allowed The Status Extra Data word contains the offset into the control block at which the parameter error occurred Status Error The Status Parameter is invalid The output is held to no power flow Only transition to the Reset State is allowed The invalid status value will be stored in the Status Extra Data location in the Control Block Series 90 30 20 Micro PLC
307. sses eene enne enne 2 14 Key Switch on 35x and 36x Series CPUs Change Mode and Flash Protect 2 15 Using the Release 7 and Later Key Switch eene 2 15 Clearing the Fault Table with the Key SWitCh oooooocnnnnnccccnonoccccnnoonanocononcnncnnnnoss 2 16 Enhanced Memory Protect with Release 8 and Later CPUS 2 16 Section 2 Program Organization and User References Data 2 17 Subroutine Blocks eR 2 18 Examples of Using Subroutine Blocks eene 2 18 How Blocks Are Called 2 19 Periodic Subroutines aonane on a e ea E na Aa A OOE DOE A A E DEEE 2 19 User References cn etie b anda cnddes Shan ied eae da 2 20 Transitions and Overrides coooooccnnnonccccnononnnonnnnnnnncnnnnnnncnnnnnnncnnnnnnnonnnnn acc cnnnnanncnnnnnss 2 21 Retentiveness ODA O Wa e RE ES 2 21 Datatypes ae tt S AES Let br tob O NP tA b 2 22 System Status References nonnene e a E E E Ea E E 2 23 Function Block SHUI soseer ee eee eet 2 26 Format of Ladder Logic Relays eese nere nnne 2 26 Format of Program Function Blocks ooooconnnoccccnnnonccccnononcncnnnnnanonononanonnnnranncnnnnnss 2 26 Function Block Parameters cccccccccceeseeeesneeeceeeeeecenaaeeeeeeeeeseeenaaeeeeeeeeeeeeenaeeeeeees 2 28 Power Flow In and Out of a Function eese eene 2 29 Section 3 Power Up and Power Down Sequences eere 2 3
308. strings with 8 18 the ability to mask selected bits available for Release 4 5 or higher CPUS Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L AND and OR WORD Each scan that power is received the AND or OR function examines each bit in bit string I1 and the corresponding bit in bit string I2 beginning at the least significant bit in each For each two bits examined for the AND function if both are 1 then a 1 is placed in the corresponding location in output string Q If either or both bits are 0 then a 0 is placed in string Q in that location The AND function is useful for building masks or screens where only certain bits are passed through those that are opposite a 1 in the mask and all other bits are set to O The function can also be used to clear the selected area of word memory by ANDing the bits with another bit string known to contain all Os The I1 and I2 bit strings specified may overlap For each two bits examined for the OR function if either or both bits are 1 then a 1 is placed in the corresponding location in output string Q If both bits are 0 then a 0 is placed in string Q in that location The OR function is useful for combining strings and to control many outputs through the use of one simple logical structure The function is the equivalent of two relay contacts in parallel multiplied by the number of bits in the string It can be used to drive indicator lamps directly f
309. successfully the data will be in 9 R0004 Z y FST_SCN I BLKMV WORD CONST IN1 Q R0001 1 CONST IN2 0 CONST IN3 0204 CONST IN4 0 CONST IN5 0 CONST IN6 0 CONST IN7 0 1 MOOO1 I 1 1 1 Svc REQ CONST FNC 0046 ROO01 PARM Chapter 12 Control Functions M0002 12 69 12 70 Example 2 This example reads the extra status data from the module in Rack 0 Slot 4 and from the module in Rack 1 Slot 1 It writes a 5 to the first module and a 9 to the second Note that the modules do not need to be listed in order by slot numbers Data read from the module in Rack 0 Slot 4 will be placed into R0007 Data read from the module in Rack 1 Slot 1 will be placed in R0004 A FST_SCN BLKMV WORD CONST IN1 Q R0001 3 CONST IN2 0 CONST IN3 0101 CONST IN4 0 CONST IN5 9 CONST IN6 4 CONST IN7 0 __ ae FST_SCN I II MOvE_ WORD CONST IN Q R0009 0 LEN 00001 MO001 l I II 1 1 sve REQ CONST
310. susuewn 4 4 Negated Retentivo Coil UM 4 4 Positive Transition Coil a 4 4 Negative Transition Coil cx ETETA 4 5 Examples eet E a t UN aE CIC UE 4 5 SEDE R 4 5 RESET Coil R e se eee ee 4 5 Bxampl A A SE ASSURE Se re es Teese eens 4 6 Retentive SET Coil SM ooooononnnnnnnnnnnnnnnnnnnnonnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnss 4 6 Retentive RESET Coil ARM cooooccnonnncnnnnnnnnnnonnnnnonnnnccnnnncnnnnncnnnncnnnnncnnnnncnnnnccnnnna ns 4 6 PIO AAA AAA 4 7 Example 5554 eSI I Ru 4 7 Continuation Coils lt gt and Contacts lt gt Junone dS 4 8 Timers and Counters ieieses eic iii id 5 1 Function Block Data Required for Timers and Counters eene 5 1 OINI DH R E AREA EAREN E Ee eee 5 3 Je SPEM 5 4 Valid Memory Types mn une une uneiunemnede 5 4 Example 5 5 TIMBRE ob cheba ari Hie Shes 5 5 I WT OE ERE a III DL D D D E E TN 5 6 Valid Memory Types seeeesseeeeeeeeeeenee eene enne ener en nenne enn n nnne eene 5 6 ien TR eSis 5 7 Contents ix Contents Chapter 6 NA A ete ae sies eua eod Ree RAS 5 8 E 5 9 Valid Memory Types reran ar re ra rai 5 10 Example etc AL de ted o detal td a 5 10 UPC o e USE 5 11 Parameters cce reete e em eee eie deme 5 11 Valid Memory Vy pes cece uei erret ente tren tete Oven tee Obes Suse Oo sun Heg en Hen Sue
311. sweep time exceeded 3 11 loss of I O module loss of or missing option module 3 8 low battery signal 3 10 En reset of addition of or extra option module 3 8 pint 2 221 115 Discrete references 2 20 discrete inputs 2 20 discrete inputs ot discrete outputs 2 20 discrete temporary 2 20 global duoi 220 system references system status 2 21 2 23 DIV 6 2 Division function 6 2 DNCTR 5 12 Do I O function 12 3 enhanced DO I O function for model 331 and higher CPUs 12 7 DOIO 12 3 enhanced DOIO for model 331 and higher CPUs 12 7 Double precision signed integer 2 22 Down counter 5 12 DSM communications with the PLC 2 12 EDITLOCK 2 38 Elapsed Power Down timer 2 35 Elapsed time clock 2 34 END 1221 End function 12 21 End master control relay function 12 25 ENDMCR 12 25 GFK 0467L Index Enhanced DO T O function for the model 331 password access failure 3 12 and higher CPUs 12 7 PLC CPU system software failure 3 13 EQJ 7 1 PLC fault group B 4 E PLC fault table qual function PLC fault table explanations 3 7 Error codes B 5 CN e A program block checksum failure 3 10 mra 2 reset of addition of or extra option module 3 8 Ethernet Global Data 2 43 system configuration mismatch Examples Fault group eet Fault handling EXP 6 12 alarm processor Exponential functions 6 12 fault action 3 4 power of e Fault referenc
312. t use a different 40 word array even if all 13 user parameters are the same because other words in the array are used for internal PID data storage Make sure the array does not extend beyond the end of memory To configure operating parameters select the PID function and press F10 to zoom in to a screen displaying User Parameters then use arrow keys to select fields and type in desired values You can use 0 for most default values except the CV Upper Clamp which must be greater than the CV Lower Clamp for the PID block to operate Note that the PID block does not pass power if there is an error in User Parameters so monitor with a temporary coil while modifying data Once suitable PID values have been chosen they should be defined as constants in the BLKMOV so that they can be used to reload default PID user parameters if needed Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Operation of the PID Instruction Normal Automatic operation is to call the PID block every sweep with power flow to Enable and no power flow to Manual input contacts The block compares the current PLC elapsed time clock with the last PID solution time stored in the internal RefArray If the time difference is greater than the sample period defined in the third word Ref 2 of the RefArray the PID algorithm is solved using the time difference and both the last solution time and Control Variable output are updated In Automatic mod
313. t Table Full Diagnostic ijo full Application Fault Diagnostic PLC sy flt any flt sy pres apl flt No User Program Informational PLC sy flt any flt sy pres no prog Corrupted User RAM Fatal PLC sy flt any flt sy pres bad ram Password Access Failure Diagnostic PLC sy flt any flt sy pres bad pwd PLC Software Failure Fatal PLC sy flt any flt sy pres sft cpu PLC Store Failure Fatal PLC sy flt any flt Sy pres stor er Constant Sweep Time Exceeded Diagnostic PLC sy flt any flt sy pres ov swp Unknown PLC Fault Fatal PLC sy flt any flt sy pres Unknown I O Fault Fatal VO io fit any flt io pres GFK 0467L Chapter 3 Fault Explanation and Correction 3 3 3 4 Fault Action Faults can be fatal diagnostic or informational Fatal faults cause the fault to be recorded in the appropriate table any diagnostic variables to be set and the system to be halted Diagnostic faults are recorded in the appropriate table and any diagnostic variables are set Informational faults are only recorded in the appropriate table Possible fault actions are listed in the following table Table 3 2 Fault Actions Fault Action Response by CPU Fatal Log fault in fault table Set fault references Go to STOP mode Diagnostic Log fault in fault table Set fault references Informational Log fault in fault table When a fault is detected the CPU uses the fault action for that fault Fault action
314. t a Number Q Output Q contains the integer form of the original value in IN Valid Memory Types Parameter flow I WQ eM T S G R AI AQ const none enable IN ok Q Note For REAL data the only valid types are R AL and AQ e Valid reference or place where power may flow through the function GFK 0467L Chapter 11 Conversion Functions 11 3 Example In the following example whenever input 10002 is set the BCD 4 value in PARTS is converted to a signed integer and passed to the ADD function where it is added to the signed integer value represented by the reference RUNNING The sum is output by the ADD function to the reference TOTAL 10002 l I IBCDA TO INT Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 PARTS IN Q RO001 RO001 I1 Q TOTAL RUNNING 12 GFK 0467L DINT REAL The Convert to Double Precision Signed Integer function is used to output the double precision signed integer equivalent of real data The original data is not changed by this function Note The REAL data type is only available on 35x and 36x series CPUs Release 9 or later or on all releases of CPU352 When the function receives power flow it performs the conversion making the result available
315. t coil or a continuation coil contact combination may be used Coils are always located at the rightmost position of a line of logic A rung may contain up to eight coils The type of coil used will depend on the type of program action desired The states of retentive coils are saved when power is cycled or when the PLC goes from STOP to RUN mode The states of non retentive coils are set to zero when power is cycled or the PLC goes from STOP to RUN mode Table 4 2 Types of Coils Type of Coil Display Power to Coil Result Normally 0 ON Set reference ON Open OFF Set reference OFF Negated n ON Set reference OFF OFF Set reference ON Retentive M ON Set reference ON retentive OFF Set reference OFF retentive Negated M ON Set reference OFF retentive Retentive OFF Set reference ON retentive Positive T OFF gt 0N If reference is OFF set it ON for one sweep Transition Negative h ON lt OFF If reference is OFF set it ON for one sweep Transition SET S ON Set reference ON until reset OFF by R OFF Do not change the coil state RESET R ON Set reference OFF until set ON by S OFF Do not change the coil state Retentive SET SM ON Set reference ON until reset OFF by RM retentive OFF Do not change the coil state Retentive RM ON Set reference OFF until set ON by SM retentive RESET
316. t may be set ON if 1 The specified target address is not present SYSID 2 The specified task is not valid for the device TASK 3 The data length is 0 4 The device s status pointer address part of the command block does not exist This may be due to an incorrect memory type selection or an address within that memory type that is out of range Command Block The command block provides information to the intelligent module on the command to be performed The address of the command block is specified for the IN input to the COMMREQ function This address may be in any word oriented area of memory R AI or AQ The length of the command block depends on the amount of data sent to the device 9 14 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L The command block has the following structure Length in words address Wait No Wait Flag address 1 Status Pointer Memory address 2 Status Pointer Offset address 3 Idle Timeout Value address 4 Maximum Communication Time address 5 address 6 Data Block to address 133 Information required for the command block can be placed in the designated memory area using an appropriate programming function enable REQ first word of Command block E sla rack slot number pr task ID TASK Parameters Parameter Description enable When the function is energized
317. t output module with those of an enhanced DOIO function block Module 8 Pt Discrete Input Module 8 Pt Discrete Output Module Normal DOIO Execution Time 224 microseconds 208 microseconds Enhanced DOIO Execution Time 67 microseconds 48 microseconds 16 Pt Discrete Input Module 16 Pt Discrete Output Module 224 microseconds 211 microseconds 68 microseconds 47 microseconds 32 Pt Discrete Input Module 32 Pt Discrete Output Module 247 microseconds 226 microseconds 91 microseconds 50 microseconds GFK 0467L Chapter 12 Control Functions SER Features e The SER Sequential Event Recorder function block collects a series of samples An SER function block collects up to 32 contiguous or non contiguous bits per sample when the Enable input receives power flow e Each SER can capture up to 1024 samples e Ifthe SER function block is embedded in a periodic subroutine sampling rate is determined by the periodic subroutine execution rate e Only the trigger sample is time stamped The trigger sample can be time stamped in BCD maximum resolution is 1s or POSIX format maximum resolution is 10ms The time stamp is only placed once at the trigger point The SER does not support more than one time stamp per recording e The SER can be configured for pre mid or post trigger modes See page 12 14 e SER operation is configured by a function control block which you can create using a se
318. t register operates on memory locations 70M0001 through MO0100 When the reset reference CLEAR is active the SHFR function fills M0001 through 0M0100 with Zeros When NXT_CYC is active and CLEAR is not the SHFR function shifts the data in M0001 to MO0100 down by one bit The bit in Q0033 is shifted into M0001 while the bit shifted out of MO100 is written to 20M0200 A NXT_CYC M0001 ST I 1 SHFR_ BIT CLEAR I I I IR 0Q M0200 LEN 00100 Q0033 IN Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L gt BITSEQ BIT The Bit Sequencer BITSEQ function performs a bit sequence shift through an array of bits The BITSEQ function has five input parameters and one output parameter The operation of the function depends on the previous value of the parameter EN as shown in the following table R Current EN Previous EN Current Execution Execution Execution Bit Sequencer Execution OFF OFF OFF Bit sequencer does not execute OFF OFF ON Bit sequencer increments decrements by 1 OFF ON OFF Bit sequencer does not execute OFF ON ON Bit sequencer does not execute ON ON OFF ON OFF Bit sequencer resets The reset input R overrides the enable EN and always resets the sequencer When R is active the current step number is set to the va
319. t table and the fault categories which appear in the I O fault table Each fault explanation in this chapter lists the fault description for the PLC fault table or the fault category for the I O fault table Find the fault description or fault category corresponding to the entry on the applicable fault table displayed on your programmer screen Beneath it is a description of the cause of the fault along with instructions to correct the fault Chapter 3 contains the following sections Section Title Description Page 1 Fault Handling Describes the type of faults that may occur in the 3 2 Series 90 30 and how they are displayed in the fault tables Descriptions of the PLC and I O fault table displays are also included 2 PLC Fault Table Provides a fault description of each PLC fault and 3 7 Explanations instructions to correct the fault 3 I O Fault Table Describes the Loss of I O Module and Addition of I O 3 16 Explanations Module fault categories 3 1 Section 1 Fault Handling Note This information on fault handling applies to systems programmed using Logicmaster 90 30 20 Micro software Faults occur in the Series 90 30 90 20 or Series 90 Micro PLC system when certain failures or conditions happen which affect the operation and performance of the system These conditions such as the loss of an I O module or rack may affect the ability of the PLC to control a machine or process These conditions may
320. t the fault Many fault descriptions have multiple causes In these cases the error code displayed with the additional fault information is used to distinguish different fault conditions sharing the same fault description The error code is the first two hexadecimal digits in the fifth group of numbers as shown in the following example 01 000000 01030100 0902 0200 000000000000 Error Code first two hex digits in fifth group Some faults can occur because random access memory on the PLC CPU board has failed These same faults may also occur because the system has been powered off and the battery voltage is or was too low to maintain memory To avoid excessive duplication of instructions when corrupted memory may be a cause of the error the correction simply states Perform the corrections for Corrupted Memory This means 1 If the system has been powered off replace the battery Battery voltage may be insufficient to maintain memory contents 2 Replace the PLC CPU board The integrated circuits on the PLC CPU board may be failing The following table enables you to quickly find a particular PLC fault explanation in this section Each entry is listed as it appears on the programmer screen Fault Description Page Loss of or Missing Option Module 3 8 Reset of Addition of or Extra Option Module 3 8 System Configuration Mismatch 3 9 Option Module Software Failure 3 10 Program Block Checksum Failure 3 10 Low
321. t when the I O fault table fills up Cleared when an entry is removed from the I O fault table and when the I O fault table is cleared S0011 OVR_PRE Set when an override exists in I Q M or G memory S0013 PRG CHK Set when background program check is active S0014 PLC_BAT Set to indicate a bad battery in a Release 4 or later CPU The contact reference is updated once per sweep GFK 0467L Chapter 2 System Operation 2 23 Table 2 7 System Status References Continued Reference Name Definition 2680017 SNPXACT SNP X host is actively attached to the CPU S0018 SNPX RD SNP X host has read data from the CPU S0019 SNPX_WT SNP X host has written data to the CPU S0020 Set ON when a relational function using REAL data executes successfully It is cleared when either input is NaN Not a Number S0032 Reserved for use by the programming software SAO0001 PB SUM _ Set when a checksum calculated on the application program does not match the reference checksum If the fault was due to a temporary failure the discrete bit can be cleared by again storing the program to the CPU If the fault was due to a hard RAM failure the CPU must be replaced SA0002 OV SWP Set when the PLC detects that the previous sweep took longer than the time specified by the user Cleared when the PLC detects that the previous sweep did not take longer than the specified time It is also
322. tate within the function block The time value can be displayed in BCD format default or POSIX format The format is determined by the Trigger Time Format parameter in the Control Block This value is initialized to zero upon activation of the reset input 6 to end of sample buffer Sample Buffer The area of memory that holds the data samples This area is set to zero when the reset parameter is energized The sample buffer size varies depending on the number of channels and sample size The sample buffer is a circular buffer when the last location is written the next sample will overwrite the sample in the first register End of sample buffer 5 of samples to be taken of channels to be sampled 8 1 2 Offset from starting reference defined by Data Block Segment Selector Word 12 and Data Block Offset Word 13 in Function Control Block If the SER is enabled when scanned it reads the configured sample points and puts them in a circular list After the configured number of samples is taken the output is turned on The transition of the output can be used to record the time that the last sample is taken or to initiate additional sampling See Sampling Modes The SER function block must be reset enable the Reset input power flow before sampling is started Resetting initializes the data block area If the function block status is not reset it will execute with the current values in the data
323. te aligned However 16 bits beginning with the reference address specified are displayed online LEN LEN determines the length of the shift register For SHFR_WORD LEN must be between 1 and 256 words For SHFR_BIT LEN must be between 1 and 256 bits Valid Memory Types GFK 0467L Parameter flow I Q M T S G R AT AQ const none enable R IN e e e e e e e e e ST e ok Q ot Valid reference for BIT or WORD data or place where power may flow through the function For SHFR_BIT discrete user references I Q M and T need not be byte aligned T PSA SB SC only S cannot be used Chapter 9 Data Move Functions 9 9 oO 9 10 Example 1 Example 2 In the following example the shift register operates on register memory locations R0001 through RO100 When the reset reference CLEAR is active the shift register words are set to zero When the NXT_CYC reference is active and CLEAR is not active the word from output status table location 70Q0033 is shifted into the shift register at 79 ROO001 The word shifted out of the shift register from RO100 is stored in output MO0005 LL INXT CYC R0001 ST E DS bs WORD CLEAR I I I IR Q M0005 LEN 00100 Q0033 IN In this example the shif
324. ted in an option module Cleared by replacing the module and cycling power on the main rack SA0031 SFT SIO Set when an unrecoverable software fault is detected in an option module Cleared by cycling power on the main rack and when the configuration matches the hardware SB0010 BAD RAM Set when the CPU detects corrupted RAM memory at power up Cleared when the CPU detects that RAM memory is valid at power up 2 24 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Table 2 7 System Status References Continued Reference Nickname Definition SBOO11 BAD PWD _ Set when a password access violation occurs Cleared when the PLC fault table is cleared SB0013 SFT_CPU Set when the CPU detects an unrecoverable error in the software Cleared by clearing the PLC fault table SB0014 STOR_ER Set when an error occurs during a programmer store operation Cleared when a store operation is completed successfully SCO0009 ANY_FLT Set when any fault occurs Cleared when both fault tables have no entries SCO0010 SY_FLT Set when any fault occurs that causes an entry to be placed in the PLC fault table Cleared when the PLC fault table has no entries SC0011 IO_FLT Set when any fault occurs that causes an entry to be placed in the I O fault table Cleared when the I O fault table has no entries SC0012 SY_PRES Set as long as there is at l
325. ted with this category The fault action is Diagnostic Description The PLC operating software generates this error when it detects that a Model 30 T O module is no longer responding to commands from the PLC CPU or when the configuration file indicates an I O module is to occupy a slot and no module exists in the slot Correction 1 Replace the module 2 Correct the configuration file 3 Display the PLC fault table on the programmer Contact GE Fanuc PLC Field Service giving them all the information contained in the fault entry Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Addition of I O Module The Fault Category Addition of I O Module applies to Model 30 discrete and analog I O modules There are no fault types or fault descriptions associated with this category The fault action is Diagnostic Description The PLC operating software generates this error when an I O module which had been faulted returns to operation Correction 1 No action necessary if the module was removed or replaced or the remote rack was power cycled 2 Update the configuration file or remove the module Description The PLC operating software generates this error when it detects a Model 30 I O module in a slot which the configuration file indicates should be empty Correction 1 Remove the module It may be in the wrong slot 2 Update and restore the configuration file to include the
326. th MAN it adjusts the CV up by 1 CV per solution DN If energized along with MAN it adjusts the CV down by 1 CV per solution RefArray Address is the location of the PID control block information user and internal Address parameters Uses 40 R words that cannot be shared ok The ok output is energized when the function is performed without error It is off if error s exist CV CV is the control variable output to the process often a AQ analog output Increments UP parameter or decremented DN parameter by 1 per access of the PID function Valid Memory Types Parameter flow I Q M T S G PR WAI AQ const none enable SP PV MAN UP DN address ok CV e Valid reference or place where power can flow through the function Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L PID Parameter Block Besides the 2 input words and the 3 Manual control contacts the PID block uses 13 of the parameters in the RefArray These parameters must be set before calling the block The other parameters are used by the PLC and are non configurable The Ref shown in the table below is the same RefArray Address at the bottom of the PID block The number after the plus sign is the offset in the array For example if the RefArray starts at R100 the R
327. the Number of Samples After trigger parameter Word 10 is ignored and the Trigger input signal has no effect on function block operation When the function block is enabled sampling continues until the Number of Samples Word 8 is collected filling the sample buffer When the buffer is full sampling stops a Trigger time stamp is generated and the function block OK output goes high SER Example In the following example the function control block has been set up as described in Table 12 1 T0003 l 200003 SER ee BIT TOO01 I I IR TO002 I II 1 IT A RO100 12 16 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Function Control Block Example In this example the system has a 16 point discrete input module in rack 0 slot 4 has been executing for long enough that 572 samples 512 60 have been taken The Enable input is receiving power flow but the Reset and Trigger inputs are not Table 12 1 Function Control Block for SER Example Word Register Parameter Value Value Description dec hex 0 RO100 Status 2 0002 Function block is in the Active state This means the function block is executing normally and taking a sample each time the function block is encountered in program logic Status Extra Data The extra status data indicates that more that 512 samples have been taken and thus the sample buffer has alr
328. the shift register are accessible throughout the program because they are overlaid on absolute locations in logic addressable memory The function passes power to the right whenever power is received through the enable logic enable MERA ok WORD l reset R Q output parameter Q LEN 100001 l l l l l value to be shifted IN l l l l l l first bit or word ST I Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Parameters Parameter Description enable When enable is energized and R is not the shift is performed R When R is energized the shift register located at ST is filled with zeros IN IN contains the value to be shifted into the first bit or word of the shift register For SHFR_BIT any discrete reference may be used it does not need to be byte aligned However 16 bits beginning with the reference address specified are displayed online ST ST contains the first bit or word of the shift register For SHFR_BIT any discrete reference may be used it does not need to be byte aligned However 16 bits beginning with the reference address specified are displayed online ok The ok output is energized whenever the function is enabled and R is not enabled Q Output Q contains the bit or word shifted out of the shift register For SHFR_BIT any discrete reference may be used it does not need to be by
329. through an expansion cable Slot The slot number ranges from 0 to 9 The PLC CPU always occupies slot 1 in the main rack rack 0 Task The task number ranges from 0 to 465 535 Sometimes the task number gives additional information for PLC engineers typically the task can be ignored GFK 0467L Appendix B Interpreting Fault Tables B 3 PLC Fault Group Fault group is the highest classification of a fault It identifies the general category of the fault The fault description text displayed by Logicmaster 90 30 20 Micro software is based on the fault group and the error codes Table B 1 lists the possible fault groups in the PLC fault table The last non maskable fault group Additional PLC Fault Codes is declared for the handling of new fault conditions in the system without the PLC having to specifically know the alarm codes All unrecognized PLC type alarm codes belong to this group Table B 1 PLC Fault Groups Group Number Decimal Hexadecimal Group Name Fault Action 1 1 Loss of or missing rack Fatal 4 4 Loss of or missing option module Diagnostic 5 5 Addition of or extra rack Diagnostic 8 8 Addition of or extra option module Diagnostic 11 B System configuration mismatch Fatal 12 C System bus error Diagnostic 13 D PLC CPU hardware failure Fatal 14 E Non fatal module hardware failure Diagnostic 16 10 Option module software failure Diagnostic 17 11 Program block checksum failure Fatal 1
330. times should also be specified in seconds Once Kp Ki and Kd are determined Kp and Kd can be multiplied by 100 and entered as integer while Ki can be multiplied by 1000 and entered into the User Parameter RefArray 12 84 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Sample PID Call The following example has a Sample Period of 100 millisecond a Kp gain of 4 00 and a Ki gain of 1 500 The Set Point is stored in R1 with the Control Variable output in AQ2 and the Process Variable returned in AI3 CV Upper and CV Lower Clamps must be set in this case to 20000 and 400 and an optional small Dead Band of 5 and 5 has been included The 40 word RefArray starts in R100 Normally User Parameters are set in the RefArray with the PID Zoom key F10 but M6 can be set to initialize the 14 words starting at R102 Ref 2 from constants stored in logic The block can be switched to Manual mode with M1 so that the Manual Command R113 can be adjusted Bits M4 or M5S can be used to increase or decrease R113 and the PID CV and integrator by 1 every 100 millisecond solution For faster manual operation bits M2 and M3 can be used to add or subtract the value in R2 to from R113 every PLC sweep The T1 output is on when the PID is OK GFK 0467L Chapter 12 Control Functions 12 85 o o N d d o o o o o On Q 4 o d oe B oe I l o o gt o E a o d zou N m st i o r H o d H a Z
331. tine Blocks As an example the logic for a program could be divided into three subroutines each of which could be called as needed from the program In this example the program block might contain little logic serving primarily to sequence the subroutine blocks E SUBROUTINE 3 SUBROUTINE 4 A subroutine block can be used many times as the program executes Logic which needs to be repeated several times in a program could be entered in a subroutine block Calls would then be made to that subroutine block to access the logic In this way total program size is reduced PROGRAM a45661 SUBROUTINE 2 a45662 a SUBROUTINE aa 2 2 18 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L In addition to being called from the program subroutine blocks can also be called by other subroutine blocks A subroutine block may even call itself u The PLC will only allow eight nested calls before an Application Stack Overflow fault is logged and the PLC transitions to STOP Fault mode The call level nesting counts the main program as level 1 a45663 How Blocks Are Called A subroutine block executes when called from the program logic in the program or from another block 10004 10006 exp n CALL ASTRO l l SUBROUTINE l 10003 I0010 This example shows the subroutine CALL instruction as it will appear in the calling block Pe
332. to I1 ok The ok output is energized when the function is performed without overflow Q Output Q contains the result of dividing I1 by I2 to obtain a remainder Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Valid Memory Types Parameter flow I WQ M T S G R PAI AQ const none enable n o o o o o ef D o o o o o e ok Q o o o o o e Valid reference or place where power may flow through the function o Valid reference for INT data only not valid for DINT t Constants are limited to values between 32 768 and 32 767 for double precision signed integer operations Example In the following example the remainder of the integer division of BOXES into PALLETS is placed into NT FULL whenever I0001 is ON 10001 I II I II MOD_ INT PALLETS I1 Q NT FULL 00017 BOXES 12 00006 0005 GFK 0467L Chapter 6 Math Functions 6 7 6 8 SQRT Parameters INT DINT REAL The Square Root SQRT function is used to find the square root of a value When the function receives power flow the value of output Q is set to the integer portion of the square root of the input IN The output Q must be the same data type as IN The SQRT function operates on these types of data Data Type Description
333. trol Block Example eene eee 12 19 Table 12 4 Service Request Functions ioneina ee eine AEA nenne rene nenne enne 12 30 Table 12 5 Output Values for Read Extra Data Function sseeeeseeeeeeeeeeeeee nee 12 66 Table 12 6 Output Values for Write Data Function eeeseeeeeeeeeeeeeeeen nennen nennen nennen nenne 12 67 Table 12 7 Output Values for Read Write Data Function essere emere 12 68 Table 12 8 PID Parameters Overview enne enne nnne ee nnne nnn enne enne enn 12 73 Table 12 8 PID Parameters Overview CONTINU cocccccnnnnononnnnnnncnnnonnnnnnnnnnnconnnnnnnnononnncnonnnnnnnnncnnncno 12 74 Table 12 9 PID Parameter Details esssessssesseeeeeeeeeeeneee nennen nennen eee nnnnnnnenes senten erre nen seen 12 76 Table 12 9 PID Parameter Details Continued esee enne ener 12 77 Table 12 9 PID Parameter Details Continued 00 0 eeccccenececceeeeeeeeeneeeeeeeeeeseseaaeeeeeeeeseeeenaeeeeeees 12 78 Table A 1 Instruction Timing Standard Models eene nene A 2 Table A 1 Instruction Timing Standard Models Continued eene A 3 Table A 1 Instruction Timing Standard Models Continued eene ree A 4 Table A 1 Instruction Timing Standard Models Continued eene A 5 Table A 2 Instruction Timing High Performance Models seen A 6 Table A
334. ts of R0001 and four bits of R0002 is read and then written into the fifth least significant bit of RO100 through the fourth least significant bit of RO101 of the array containing all 16 bits of RO100 and four bits of RO101 10001 l I I ARRAY MOVE_ BIT R0001 SR DS R0100 LEN 100020 CONST SNX 00003 CONST DNX 00005 CONST N 00016 GFK 0467L Chapter 10 Table Functions 10 5 Search Functions Use the appropriate Search function listed below to search for all array values for that particular operation Abbreviation Function Description SRCH_EQ Search Equal Search for all array values equal to a specified value SRCH_NE Search Not Equal Search for all array values not equal to a specified value SRCH_GT Search Greater Search for all array values greater than a specified value Than SRCH GE Search Greater Search for all array values greater than or equal to a Than or Equal specified value SRCH LT Search Less Than Search for all array values less than a specified value SRCH LE Search Less Than Search for all array values less than or equal to a specified value or Equal Each function has four input parameters and two output parameters When the function receives power the array is searched starting at AR input NX This is the starting address of the array
335. uction mnemonics for searching or editing a program e Appendix D lists the special keyboard assignments used in the Logicmaster 90 30 20 Micro Software e Appendix E describes the use of floating point math operations Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Chapter System Operation 2 This chapter describes certain system operations of the Series 90 30 90 20 and Micro PLC systems These system operations include e Asummary of PLC sweep sequences Section 1 see 2 2 e Program organization and user references data Section 2 sss 2 17 e Power up and power down sequences Section 3 esee 2 30 e Clocks and timers Section 4 nennen 2 34 e System security through password assignment Section 5 suss 2 37 e Series 90 30 I O modules Section cooooooocccnnonooonconnncccoccconanononononccnonononnnccnonns 2 39 GFK 0467L 2 2 Section 1 PLC Sweep Summary The logic program in the Series 90 30 90 20 and Micro PLCs execute repeatedly until stopped by a command from the programmer or a command from another device The sequence of operations necessary to execute a program one time is called a sweep In addition to executing the logic program the sweep includes obtaining data from input devices sending data to output devices performing internal housekeeping servicing the programmer and se
336. uire exactly the same amount of execution time in each sweep The value of the constant sweep timer is set by the programmer and can be any value from 5 to the value of the watchdog timer default is 100 milliseconds If the constant sweep timer expires before the completion of the sweep and the previous sweep was not oversweep the PLC places an oversweep alarm in the PLC fault table At the beginning of the next sweep the PLC sets the OV_SWP fault contact The OV_SWP contact is reset when the PLC is notin CONSTANT SWEEP TIME mode or the time of the last sweep did not exceed the constant sweep timer GFK 0467L Chapter 2 System Operation 2 35 Time Tick Contacts The Series 90 PLC provides four time tick contacts with time durations of 0 01 second 0 1 second 1 0 second and minute The state of these contacts does not change during the execution of the sweep These contacts provide a pulse having an equal on and off time duration The contacts are referenced as T 10MS 0 01 second T_100MS 0 1 second T SEC 1 0 second and T MIN 1 minute The following timing diagram represents the on off time duration of these contacts 243071 T XXXXX lt A SN ee A 1 x 2 x 2 SEC SEC Figure 2 6 Time Tick Contact Timing Diagram 2 36 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Section 5 System Security Security in Series 90 30 Series 90 20 and in the Micro PLCs is designed to prevent u
337. um Group 11 hex 3 3 Program or program block checksum failure Error Codes for Low Battery Signal 0 0 Failed battery on PLC CPU or other module 1 1 Low battery on PLC CPU or other module Error Codes for User Application Fault Group 16 hex 2 2 PLC Watchdog Timer Timed Out 5 5 COMREQ WAIT mode not available for this command 6 6 COMREQ Bad Task ID 7 7 Application Stack Overflow Error Codes for System Bus Failure Group 80 hex 1 1 Operating system Error Codes for Corrupted User RAM on Powerup Group 82 hex 1 1 Corrupted User RAM on Power up 2 2 Illegal Boolean Opcode Detected 3 3 PLC_ISCP_PC_OVERFLOW 4 4 PRG_SYNTAX_ERR Error Codes for PLC CPU Hardware Faults D hex All codes PLC CPU Hardware Failure Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 Fault Extra Data This field contains details of the fault entry An example of what data may be present are bee Four of the error codes in the System Configuration Mismatch group supply fault Group extra data Table B 5 PLC Fault Data Illegal Boolean Opcode Detected Fault Extra Data Model Number Mismatch 0 ISCP Fault Register Contents 1 Bad OPCODE 2 3 ISCP Program Counter 4 5 Function Number Fora RAM failure in the PLC CPU one of the faults reported as a PLC CPU hardware failure the address of the failure is stored in the first four bytes of the field PLC CPU PLC Fault Time Stamp Hardware Failure RA
338. up and power down sequences for the Micro refer to the Power up and Power down Sequences section of Chapter 5 System Operation in the Series 90 Micro PLC User s Manual GFK 1065 2 32 Series 90 30 20 Micro PLC CPU Instruction Set Reference Manual June 1999 GFK 0467L Power Down System power down occurs when the power supply detects that incoming AC power has dropped for more than one power cycle or the output of the 5 volt power supply has fallen to less than 4 9 volts DC GFK 0467L Chapter 2 System Operation 2 33 2 34 Section 4 Clocks and Timers Clocks and timers provided by the Series 90 30 PLC include an elapsed time clock a time of day clock Models 331 340 341 351 352 and the 28 point Micro a watchdog timer and a constant sweep timer Three types of timer function blocks include an on delay timer an off delay timer and a retentive on delay timer also called a watch clock timer Four time tick contacts cycle on and off for 0 01 second 0 1 second 1 0 second and minute intervals Elapsed Time Clock The elapsed time clock uses 100 microsecond ticks to track the time elapsed since the CPU powered on The clock is not retentive across a power failure it restarts on each power up Once per second the hardware interrupts the CPU to enable a seconds count to be recorded This seconds count rolls over approximately 100 years after the clock begins timing Because the elapsed time clock provides th
339. val can be set to as little as 1ms and the resolution will be highly repeatable at 1ms with little jitter Execution time of one function block with a 1ms periodic subroutine can consume up to 5046 of the CPU s resources You should not plan on execution of more than two SER functions within a 1ms periodic subroutine Sampling Modes The SER sampling mode is determined by the Trigger Mode Word 2 in the Function Control Block and Number of Samples After Trigger Word 10 parameters You will need to interpret the contents of the sample buffer based on how you configured these parameters Trigger Controlled Sampling To configure pre mid and post trigger sampling modes Trigger Mode Word 2 0 is selected The sampling mode is controlled by the Number of Samples After Trigger Word 10 In all cases sampling starts when the Enable signal goes high When the Trigger signal goes high sampling continues until the Number of Samples After Trigger is collected The function block Output signal goes high when sampling is completed If more than the configured Number of Samples Word 9 is collected before the Number of Samples After Trigger condition is satisfied the buffer wraps around meaning that the SER returns to the beginning of the buffer and overwrites the initial samples When the trigger first transitions from off to on the trigger time is placed in a configured location Pre Trigger Collects samples continuously until trig
340. value is less than or equal to zero Example GFK 0467L e Valid reference or place where power may flow through the function In the following example the down counter identified as COUNTP counts 5000 new parts before energizing output 7600005 NEW_PRT 1 Q0005 1 DNCTR NXT_BAT i IR CONST PV 05000 COUNTP Chapter 5 Timers and Counters 5 13 5 14 Example In the following example the PLC is used to keep track of the number of parts contained in a temporary storage area There are two ways of accomplishing this function using the Series 90 30 20 Micro instruction set The first method is to use an up down counter pair with a shared register for the accumulated or current value When the parts enter the storage area the up counter increments by 1 increasing the current value of the parts in storage by a value of 1 When a part leaves the storage area the down counter decrements by 1 decreasing the inventory storage value by 1 To avoid conflict with the shared register both counters use different register addresses When a register counts its current value must be moved to the current value register of the other counter I0003 4 5UP CTR 10001
341. variations Status references system 2 21 2 23 STOP mode STOR_ER 2 25 SUB 6 2 Subroutines locking unlocking 2 38 Subtraction function 6 2 Suspend 10 12 64 SVCREQ See Service request functions Sweep time calculation 2 7 Sweep PLC 2 2 application program logic scan constant sweep time mode 2 13 DSM communications with the PLC 2 12 housekeeping 2 7 input scan logic program checksum calculation 8 logic solution output scan PCM communications with the PLC programmer communications window 2 9 scan time contributions for 35x and 36x series CPUs 2 5 2 6 standard program sweep mode standard program sweep variations STOP mode 2 13 sweep time calculation 2 7 sweep time contribution SY FLT 2 25 SY PRES 2 25 System configuration mismatch 3 9 System operation clocks and timers PLC sweep summary power up and power down sequences 2 30 program organization and user references data 17 Series 90 20 PLC I O system 2 39 Series 90 30 PLC I O system 2 39 system security System references System register references System status references 2 21 2 23 Table functions ARRAY MOVE search less than or equal function 10 6 SRCH GE 10 6 TAN 6 10 Tangent function 6 10 Temporary references discrete 2 20 Time of da clock 2 34 Timers 2 34 constant sweep timer 2 35 Elapsed power down timer 2 35 function block data 5 1 OFDT
342. version Page 9 2 BLKMOV Block Move Copy a block of seven constants to a specified memory location The constants are input as part of the function BLKCLR Block Clear Replace the content of a block of data with all zeros This function can be used to clear an area of bit 901 Q 96M G or 96 T or word 96R AI or AQ memory The maximum length allowed is 256 words 9 7 SHFR Shift Register Shift one or more data words into a table The maximum length allowed is 256 words BITSEQ Bit Sequencer Perform a bit sequence shift through an array of bits The maximum length allowed is 256 words 9 11 COMMREQ Communications Request Allow the program to communicate with an intelligent module such as a Genius Communications Module or a Programmable Coprocessor Module 9 14 9 1 oO MOVE BIT INT WORD REAL 9 2 Use the MOVE function to copy data as individual bits from one location to another Because the data is copied in bit format the new location does not need to be the same data type as the original location The MOVE function has two input parameters and two output parameters When the function receives power flow it copies data from input parameter IN to output parameter Q as bits If data is moved from one location in discrete memory to another for example from I memory to T memory the transition information associated with the disc
343. via output Q The function always passes power flow when power is received unless the real value is out of range enable ok TO DINT value to be converted IN Q output parameter Q Parameters Parameter Description enable When the function is enabled the conversion is performed IN IN contains a reference for the value to be converted to double precision integer ok The ok output is energized whenever enable is energized unless the real value is out of range Q Q contains the double precision signed integer form of the original value in IN Note It is possible for a loss of precision to occur when converting from REAL to DINT since the REAL has 24 significant bits Valid Memory Types Parameter flow I Q eM T S G R WAI AQ const none enable IN o o o o o ok Q Valid reference or place where power may flow through the function GFK 0467L Chapter 11 Conversion Functions 11 5 Example In the following example whenever input I0002 is set the real value at input location R0017 is converted to a double precision signed integer and the result is placed in location R0001 The output Q1001 is set whenever the function executes successfully 10002 I I REAL Q1001 C RO017 IN Q RO001 DINT x2
344. x oe Ae 8 9 ROE and ROR WORD usaran 8 10 Para Meters oo nece e e o deu 8 10 Valid Memory Lypes 252stahaeshanssahsSahasshanshgRs Ree hue 8 11 locu c mE 8 11 BTST WORD ss A ee A a 8 12 Par Met A ge ion ele eines 8 12 Valid Memory Types 55 iE n Ru Un WV 8 13 Example ees esc cM coUe O MOD Mo Mo Mode Ed 8 13 BSEEand BCER WORD cuota nr 8 14 Parameters eee e e tee uet eiie tere ed 8 14 Valid Memory Py pes sca ente ie tek tie iet etis det eL ke eleg ec ke Cep Fog Slap Fee S885 lt 5 8 15 Example SESSION NO fetal e fob Ne fidei dels feet esol es 8 15 BPOS WORD eR RD 8 16 Contents xi Contents Chapter 9 Chapter 10 Parameters a ea ua A ON 8 16 Valid Memory Types nete ue ule nia 8 17 Example nadia tecto ee eie ie 8 17 MSKCMP WORD DWORD a aga e denn 8 18 P tatieters 555889 9 3SRNSSGSGSGRUROR GN SOROR SURG SUVS 8 19 Valid Memory Dy pes tot ree ee eee edema 8 19 EX cnn M H 8 20 Data Move Functions sccssisccsccsnsccactsoieccssassosuducsecnsssoescssventnonssensvonsvonancssvenagsnstoe 9 1 MOVE BIT INT WORD READ cocscisecciaslaccctactsscdenstasedensbascdeeebadcdecudsasigeussasladebsnstaess 9 2 Para cegedavadzaedadelvautetes 9 3 Example Loca etes 9 4 bxatuple E T EAE 9 4 BLKMOV INT WORD REAL e E E AEA ERE REAR E e 9 5 Parameters nenen nnna a A N 9 5 Valid Memory DOS 9 6 Beam ples 5 1 tieu 9 6 BEKCER CW ORD E E EES 9 7 Parameters a eso E E Maat tA oo A Maat aa AE L
345. xis Follower Mode GFK 0781 IC693APU302 Power Mate APM Module 2 Axis Standard Mode GFK 0840 IC693MCS001 2 Power Mate J Motion Control System 1 and 2 Axis GFK 1256 IC693APU305 I O Processor Module GFK 1028 IC693CMM321 Ethernet Communications Module GFK 1084 IC693ADC311 Alphanumeric Display Coprocessor GFK 0521 1C693BEM331 Genius Bus Controller GFK 1034 IC693BEM320 I O Link Interface Module slave GFK 0631 1C693BEM321 T O Link Interface Module master GFK 0823 IC693CMM311 Communications Coprocessor Module GFK 0582 IC693CMM301 Genius Communications Module GFK 0412 IC693CMM302 Enhanced Genius Communications Module GFK 0695 IC693PCM300 PCM 160K Bytes 35KBytes User MegaBasic Program GFK 0255 IC693PCM301 PCM 192K Bytes 47KBytes User MegaBasic Program GFK 0255 IC693PCMG11 PCM 640K Bytes 190KBytes User MegaBasic Program GFK 0255 1 0 Data Formats Discrete inputs and discrete outputs are stored as bits in bit cache status table memory Analog input and analog output data are stored as words and are memory resident in a portion of application RAM memory allocated for that purpose Default Conditions for Series 90 30 Output Modules At power up Series 90 30 discrete output modules default to outputs off They will retain this default condition until the first output scan from the PLC Analog output modules can be configured with a jumper located on the module s removable terminal block to either default to Zero or retain thei

Series 90-30/20/Micro PLC CPU Instruction Set

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