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GLOFA GM6 Series

1. _IO_RWER and restart the system during run Abnormal special link Special link module interface error module data access Refer to the flags _SP_IFER IP_IFER_N IP IFER during run and restart the system During run Scan time 40 over than the scan delay time specified by parameters Unreadable instructions 7 Refer to the external device fatal error 50 device fatal Aags ANNUN ER ANC ERR n and correct the STOP 04sec fault devices and then re start the system i Correct the program so that the error elements that invoked the E_STOP function can be eliminated inthe STOP program and re start the system Cold re start Communications Pere module configuration If the number of computer 4communications module is STOP 04 sec Snor included then adjust the maximum number with in 8 Special Communications Adjust the number of high speed communications module initialization modules loaded failure wi memory backup If the battery has no error RUN e ATC data error has no error re set the time using the Lower battery voltage Replace the battery which the power is being applied Check the scan delay time specified by parameters and correct the parameters or the program and then re STOP 0 4 sec startthe program 12 11 When power is applied When power is applie When power is appli When power is appli
2. APP4 2 Appendix 4 Outer Dimensions APP4 3
3. When power is appli When power is app During run When power is appli When power is appli Change into the RUN mode Change into the RUN mode Cold Change into the RUN mode When scan completes Cold When power is applied When scan completes During execution of progran During execution of cold progran During execution of When scan completes cold During execution of i When power is app When power is appli When power is applie When power is appli When scan complete When power is applied When scan completes Chapter 13 Dedicated Cnet communication for GM6 Chapter 13 Dedicated Cnet communication for GM6 13 1 Introduction The GM6 CPU module provides some basic Cnet communication functions without Cnet module Although all functions of Cnet module are not supported it will be very useful functions for users to perform simple Cnet communication If your needs are read write variables I Q M devices and Monitoring you don t need to buy Cnet module It will save your money and slot for Cnet module The Cnet functions provided by CPU A type module are as following Indivi Conti Indivi Conti dual read instruction nuous read instruction dual write instruction nuous write instruction RS 2 module Monitoring variables registration Monitoring execution 1 1 communication only dedicated protocol 32 communication only Because t
4. END processing REMARK 1 1 In the GLOFA PLC the time driven interrupt task programs and event driven interrupt task programs are called task program Event driven programs are classified into single task internal interrupt or interrupt task external interrupt according to the S W and H W interrupt signaling method Chapter 4 CPU module 1 Initialization program 1 Function e The Initialization program initializes the program to execute scan and task programs e The initialization can be executed with the restart mode which has been specified for program 2 Restart mode execution conditions e The initialization tasks can be specified as below complying with the purpose of the initialization task Program for Cold Worm restart started by the _INIT task 3 Cold Warm Restart program e The initialization program specified to INIT task is executed with cold or warm restart mode when the operation starts e This initialization program executes the operations repeatedly until the setting conditions are satisfied that is until the Flag INIT DONE in the initialization program turns on However the 1 0 refresh is still executed 4 Flag e INIT RUN flag is on during executing the initialization program 2 Scan program 1 Function e n order to process signals which repeats constantly the program executes its sequential operation repeatedly from the first step to the end step e f the interrupt task executio
5. IKILZILZTEN mais sir ra isl Chapter 7 INPUT AND OUTPUT MODULES 7 24 32 points 12 24 VDC input module source sink type DC Input Module Specifications G6I D24A Number of input points Maximum simultaneous input points Input impedance Response time Intemal Circuit a LH 26 OD OW o O0 5 Oxy 90 5 o0 7 5 Chapter 7 INPUT AND OUTPUT MODULES 7 2 5 32 points 24 VDC input module source type DC Input Module Specifications G6I D24B np po Maximum simultaneous input points 60 simultaneously ON ON voltage ON current 15 VDC or higher 4 3 mA or higher OFF voltage OFF current 5 VDC or lower 1 7 mA or lower Input impedance Approx 3 3 kQ me 2 ON Response time ON OFF 32 points COM Operating indicator LED turns on at ON state of input External connections 37 point terminal block connector M3 x 6 screws Weight 0 11 kg tema curent consumo Intemal Circuit X7 Connector Pin Number 7 6 Chapter 7 INPUT AND OUTPUT MODULES 7 2 6 8 points 110 VAC input module AC Input Module Specifications Number of input points 8 points nsulation method Photo coupler Rated input voltage 100 to 120 VAC 50 60 Hz Rated input current 11 mA 110 VAC 60 Hz Operating voltage range 85 to 132 VAC 50 6
6. cce ort te le eR eee den dnte bei ta aae 4 38 4 8 Names of Parte is ere E eet cede eret e tote e e av ee ER deer uie bei e a aae 4 39 Chapter 5 BATTERY oti csc Ae E ea a A E ente 5 1 XA ESTILOS Im 5 1 5 3 Replacement ioi cas eder ene eor e Ld ny adits 5 1 Chapter 6 USING THE USER PROGRAM IN FLASH MEMORY Or SUCHE 6 1 OS HANGING TEE 6 1 7 DIGITAL INPUT AND OUTPUT MODULES 7 1 Notes on Selecting Input and Output Modules _ 1 1 7 2 Digital Input Module Specifications cesses HH 1 2 7 2 1 16 point 24VDC input module source sink type 1 2 7 2 2 16 point 24VDC input module source type 1 3 7 2 3 32 point 24VDC input module source sink type 1 4 7 2 4 32 point 24VDC input module source type 1 5 1 2 5 8 point L10VAC input Mod le 25 2 ene roc erede re studie 1 6 7 2 6 8 point 220VAC input module sess mmm 1 1 7 3 Digital Output Module Specifications esse 1 8 7 3 1 16 point relay output module eissi ninan EnEn mmm 1 8 7 3 2 16 point transistor output module sink type 1 9
7. 7 3 3 32 point transistor output module sink type 1 10 7 3 4 8 point mac output module sss m 1 11 Chapter 8 POWER SUPPLY MODULE 8 1 Selection of power supply module sssssssssseeee mm 8 1 9 25 pecifiCaliO is irem ten ose E en niae Pe dre due 8 2 8 3 Namies of P arte uoce AERE XP Meu a 8 3 Chapter 9 BASE BOARD 9 1 Specifications eiieeii denti Edo DER Edu pao di dude 9 1 9 2 Names sciiicet eme eta va eed ates ERRORS RES 9 1 Chapter 10 INSTALLATION AND WIRING mienne m 10 1 10 11 Installatiort Environments sucio a nir err e eu e len St dne 10 1 10 1 2 Handling Instructions eea A Ea a ARETE ANANA AAR 10 4 10 1 3 Module Loading and Unloading 10 7 eT T 10 9 10 2 1 Power Supply Wiring esses mmm 10 9 10 2 2 Input and Output Devices Wiring sess 10 11 10 2 3 GFOUNGING curis cea rr Y R does 10 11 10 2 4 Cable Specification for wiring scseeem 10 12 Chapter 11 MAINTENANCE 11 1 Maintenance and mmn 11 1 11 2 Daily InSpecuOh 2 2 terri tad ect eo nati eM d cree lan RD 11 1 11 3 Penodi Ins peiin neers a ceat e cri eo Mt e E 11 2 Chapter 12 TROUBLESHOOTING 12 1 Basic Procedures of Troubleshooting 12 1 1222 Troubles et asec cs t Re
8. e Station number commands and type of command are the same as computer request format e BCC When main command is lower case like t only one lower byte of the value resulted by adding ASCII values from NAK to ETX is converted into ASCII added to BCC and sent When main command is upper case like t BCC is not used e Error code is hex and 2 Bytes ASCII code 4 Bytes which indicates type of error For the details see Appendix B Error Code Table 13 15 Chapter 13 Dedicated Cnet communication for GM6 5 Example of use This example supposes when 2 DOUBLE WORDs from MDO of station No 10 are read Also it is supposed that the following data are entered in MDO and MD1 MD0 2 H12345678 MD1 H9ABCDEFO Computer request format n Number Format eco Variable Variable a ENQ HOA R r SB MDO Ho2 BCC n Hos aoa H52 72 H5342 H3034 H254D4430 H3032 For PLC ACK response after execution of command Format ais Apes ue Header Command of Tail name blocks f f mf CORN CN over H3031 es For PLC NAK response after execution of command mae Header i Command Command type Error code Tail Frame Error code 2 ETX BCC Ex value 13 16 Chapter 13 Dedicated Cnet communication for GM6 3 Separate writing of direct variable WSS 1 Introduction This is a function that directly specifies PLC device memory and writes in accord with data type Device memory can be se
9. User s Manual LG Programmable Logic Controller GLOFA GM6 Series LG Industrial Systems CONTENTS Chapter 1 GENERAL 1 1 Guide to User s Manual ssssssseseee mme nene 1 1 IA Lc EIE 1 2 UNT MEE 1 3 Chapter 2 SYSTEM CONFIGURATION 2 1 Overall dedi ed E ER 2 1 PX aN gt XE 2 2 2 2 1 GM6 series Configuration esssssessseeenm mmm 2 2 2 3 System Configuration Types eTEN mmm 2 3 2 3 1 Basic SyStem vss tae eec er teri or dae leat Pads a 2 3 2 3 2 Computer Link SYSTEM Ri mmm nnne 2 3 2 3 3 NetWork S 2 4 Chapter 3 GENERAL SPECIFICATION 3 1 Generali SpeciiicatiOns 2 52 5 Eon due 3 1 Chapter 4 CPU MODULE 4 1 Performance Specifications mmm 4 1 4 2 Operation processing pea aee diel cae 4 2 4 2 1 Operation processing Methods cceceseeeceeeeeeeeeeeeeeeeeaeeeeeeeaeeeeeeeeeeaeaes 4 2 4 2 2 Operation processing at momentary power failure occurrence _ 4 3 4 2 3 Scar IME cris EA n E ERE 4 4 4 24 Scan Watchdog ic aiia tee oce tror e rete e ee ra e 4 4 4 2 5 TiffigE PrOCeSSING c 22 5 o ote er t ert RE Rr OTT 4 5 4 2 6 Counter processing eee eoe rr e Pere d
10. cm6 MB QB IB AMW MD QD ID ML QL IL 3 Request format for ACK response Format name Header Station No Command Command type Tail Frame check ASCII value H3130 H57 77 H5342 e Station number command and command type are the same as computer request format e BCC When command is one of lower case w only one lower byte of the value resulted by adding 1 Byte each to ASCII values from ACK to ETX is converted into ASCII added to BCC and sent 4 Response format for PLC NAK response Format Command Command Error code Tail name type Hex 2 Bytes ENO Wi amm woo uuum ms e Station number command and command type are the same as computer request format e BCC When command is one of lower case w only one lower byte of the value resulted by adding 1 Byte each to ASCII values from ACK to ETX is converted into ASCII added to BCC and sent e Error code is hex and 2 Bytes ASCII code 4 Bytes which indicates type of error For the details see Appendix B Error Code Table 13 21 Chapter 13 Dedicated Cnet communication for GM6 5 Example of use This supposes that HAA15056F is written in 000 0 0 of No 1 address Computer request format Format ie Variable Variable Number Frame Data Tail name length name of data check ia i HAA150 H414131 AM H05 H3031 H57 77 H5342 H3038 Lio 3503536 H04 va
11. 1 The items marked with has following meaning 1 The size of the program memory which a program occupies when it uses the function once 2 The size of the program memory which a program occupies only one time though it uses the function many times 3 of IL programs 2 input variables 10 strings 2 The above shows the function list when programs are written with IL Instruction List language If programs are written with LD Ladder diagram the following differences occur 1 16 byte will be added to the size of the PB 2 non execution 0 4 will be added to the processing speed In execution 0 8 usec will be added APP3 1 Appendix 3 Function Function Block List 2 Function Block List Size of PB Size of ILI e Processing speed usec byte 1 Size byte 2 3 REMARK 1 The items marked with has following meaning 1 The size of the program memory which a program occupies when it uses the function once 2 The size of the program memory which a program occupies only one time though it uses the function many times 3 The size of the program memory which a program occupies whenever it uses the function block once 2 The occupied memory size and processing speed of IL programs are same as LD programs APP3 2 Appendix 4 Outer Dimensions Appendix 4 Dimensions Unit mm 1 CPU module 2 0 Module APP4 1 Appendix 4 Outer Dimensions 3 Power Supply Module POWER Unit mm
12. CPU module 8 Example of program configuration and processing When the task and program have been registered as below e Task registration T SLOW interval T 10ms priority 0 PROC 1 single priority 3 E_INT1 interrupt 1X0 0 1 priority 0 e program registration program P 0 program P1 with the task T SLOW program P2 with the task PROC 1 program with the task E INT1 If program execution time is equal to external interrupt occurrence time e Execution time for each program PO 17 ms P1 22 ms P2 27 ms P322 ms Interrupt E INT occurrence time Occurred at the 6 7 20 ms after the operation started e PROC 1 Invoked during execution of scan program Program execution is shown as below Scan start first start Scan program One scan complete complete A new scan start i Y S Titi Execution of P1 T_SLOW invoked Execution of P2 PROC 1 detected Execution of INTI ee i invoked Time 0 678 12 30 32 34 ms Program execution without stop Et Temporary stop during prgram execution m Program execution delayed e Processing with time 0 ms Scan starts and the scan program PO starts its execution 0 to 6 ms The program is being executed 6 to 8 ms Execution request for P 3 is input and PO is stopped and is executed Execution request for P1 by E_INT1 at the 7 ms is ignored as the
13. Error counter and code M422 ERR CNT M422 ERR Slave PLC 8422 STATE 14 5 Chapter 14 The RS422 485 communication of GM6 CPUB 14 6 Communication method and termination resistor 1 Data type Data bit 8bits Stop bit 1 bit Parity None 2 Communication speed Baud rate Selectable one of 9600 19200 38400 bps 3 Termination resistor When use a long cable for connecting two or more PLCs a termination resistor should be connected at the both ends of network Otherwise the communication can be disturbed by the reflected wave of cable The termination resistor should be 1 2W grade and have the equivalent resistance with the characteristic impedance of cable When use the RS 422 protocol connect two termination resistors between SDA and SDB RDA and RDB With the RS 485 protocol connect a termination resistor between RDA and RDB or SDA and SDB 14 7 RS 422 485 pin assignment 1 The RS 422 network is connected with 5 pin connector The following table shows the name and description of each pins and direction of signal MASTER Signal direction 2 When using RS 485 interface connect cable as RS 422 interface then interconnect RDA and SDA RDB and SDB With the RS 485 interface the send receive signals share one line and communication is performed as half duplex method 14 6 15 1 15 2 15 3 15 4 Chapter 15 The PID function IntrodUuc Bons eee ee sees Ser ae eae ate nee epee eee
14. Refer to FUSE ER FUSE ER n 1 0 module This representative flag indicates that a I O module does normally IO BOOL executes read write Refer to _IP_RWER_N and IP IFER n Special communicat This representative flag indicates that special or communications module _SP BOOL i ions module has failed in initialization or normal interface is impossible due to module interface error malfunction Refer to IP IFER N and IP IFER n External device fatal This representative flag indicates that an external device has fatal error ET ER fault detection error error code has been written to ANC 1 E eE n es ee Scan watch dog This flag indicates that the scan time of a program has overrun the scan BOOL watchdog time specified by the parameter This flag indicates that an unreadable instruction has been met while CODE ER BOOL Program code error an user program his flag indicates that program execution is impossible due to destroyed APP2 1 Appendix 2 Flag List 3 Representative System Warning Flag List CNF WAR WORD io System warning This flag treats the below warning flags relating to continuous operation cr s in batch keyword n D BCK ER BOOL Data backup error This flag indicates This flag indicates that the program had been stopped during restore from power failure due to causes such as power off and then cold
15. g MV MAX MV MIN MVMAN MV MAX 4000 MC MIN 0 MAMAN 2000 h S TIME S_TIME 100 sampling time 10 seconds 2 Auto tuning parameters a PV setting 1600 100 C b S TIME S_TIME 100 sampling time 10 seconds 15 22 Chapter 15 The PID functions 3 A D module setting a Channel setting use channel 0 b Output data type 48 4047 c Input processing Sampling 4 D A module setting a Channel setting use channel 0 15 4 3 Program description 15 4 3 1 Use only PID operation without A T function 1 Convert the measured temperature 0 250 C to current signal 4 20mA and input the current signal to the channel O of A D module Then the A D module converts the analog signal to digital value 0 4000 2 PID6CAL function block will calculate manipulate value MV 0 4000 based on PID parameter settings P GAIN I TIME D TIME etc and PV from A D module Then the calculated MV is output to the channel 0 of D A module 3 D A module will convert the MV 0 4000 to analog signal 4 20mA and output to the actuator power converter 15 4 3 2 Use PID operation with A T function 1 Convert the measured temperature 0 250 C to current signal 4 20mA and input the current signal to the channel 0 of A D module Then the A D module converts the analog signal to digital value 0 4000 2 A T function block will calculate manipulate value MV 0 4000 based on the SV and PV from A
16. n 0 to 15 Error history Stop time DATE amp TIME 8 bytes e Error code UINT 2 bytes The times operation modes and restart modes of the latest sixteen operation mode changes are written to this flag MODE HiS n n 0to 15 s e Change time DATE amp TIME 8 bytes 0 y e Operation mode UINT 2 bytes Restart UINT 2 bytes Write is available in user programs APP2 4 Appendix 2 Flag List 5 System Operation status Information Flag List GM1 0 GM2 1 GM3 2 GM4 3 GM 4 CEUZTYPE System type FSM 5 6 Twofold 16 Unt O SversionNo SystemO S version No _MEM_TYPE oe Type of program memory module 0 Unloading state type 0 to 5 Representa PLC mode and 1 operation status System operation mode and operation state information Local control Operation mode change is possible only by mode change switch or GMWIIN STOP odule operation state DEBUG Operati d 5s MERE Operation mode change by mode change switch t5 1 Operation mode Bit 6 change factor Operation mode change by GMWIN 1 Operation mode _SYS_STATE change factor Operation mode change by remote GMWIN Operation mode m factor Operation mode change by communications Bit 9 STOP by STOP Operation in the RUN mode is stopped by STOP function after the scan has function finished Bit 10 Input junction force On Off Is being executed Bit 11 Ou
17. point 5 A COM 220 VAC 2A COS V 1 point 5A COM Surge absorber None Mechanical 20 million times or more Rated load voltage current 100000 times or more Service life Electrical 200 VAC 1 5 A 240 VAC 1A COS Y 0 7 100000 times or more 200 VAC 1A 240 VAC 0 5 A COS 20 35 100000 times or more 24 VAC 1 5 A 100 VDC 0 1 A L R 7 lt 100000 times or more 10 ms or less 12 ms or less 1 points COM 250mA LED turns on at ON state of output 18 point terminal block connector M3 x 6 screws 0 19 kg Intemal Circuit Terminal Block No 7 9 Chapter 7 INPUT AND OUTPUT MODULES 7 3 2 16 point relay output module Relay Output Module Specifications G6Q RY2A 16 points Photo coupler 24 VDC 2A resistance point 5 A COM 220 2A COSW 1 point 5A COM 5 VDC 1 mA 250 VAC 110 VDC Maximum switching frequency 1200 times per hour Surge absorber None 20 million times or more Rated load voltage current 100000 times or more Service life 200 VAC 1 5 A 240 COS 0 7 100000 times or more 200 VAC 1A 240 VAC 0 5 A COS 0 35 100000 times or more 24 VAC 1 5A 100 VDC 0 1 A L R 7 ms 100000 times or more 10 ms or less 12 ms or less 8 points COM 415mA LED turns on at ON state of output External connections 18 point terminal block connector M3 x 6 screws Weight 0 19 kg TES i Internal Circuit Terminal Block Number Chapter 7 INPUT AND OUTPUT MODULES 7 3 3 16
18. time Three types of On Delay Timer TON Off Delay Timer TOF and Pulse Timer TP are available Its measuring range is 0 001 to 4 294 967 295 sec 1 193 hours by 1 ms For details refer to GLOFA GM Programming BOOL 1 IN Q BOOL TIME PT ET TIME 1 On Delay Timer Process Time Change and Contact On Off Timer Process time is newly changed when the timer function block is executed When the process time reaches the setting time process time setting time the Timer output contact turns on On Delay Timer Timing Diagramis shown as below 2 Off Delay Timer Process Time Change and Contact On Off e f input condition turns on timer output contact Q turns on If input condition turns off timer process time change starts e The process time is newly changed when the timer function block is executed When the process time reaches the setting time process time setting time the contact Q turns off The following diagram shows Off Delay Timer Timing 4 5 Chapter 4 CPU module 3 Pulse Timer Process Time Change and Contact On Off If input condition turns on output contact Q turns on The process time is newly changed when the timer function block is executed When the process time reaches the setting time process time setting time the contact Q turns off The contact turns off after the setting time regardless of input condition off status The following diagram shows
19. where the PLC stops its operation and ordinary fault warning where operation continues 2 The flag is used to indicate error The flag ANC WN n is used to indicate warning 2 External Device Fatal fault Error Processing 1 If an error of external device is detected and the error type where other value than 0 is used is written to the system flag ERR n the flag will checked at the time that scan program finishes its execution If an error is indicated on the flag it will be also indicated on the ANNUN ER ofthe representative system error flag CNF ER the PLC turns all output modules off and the error state will be same as the PLC self diagnosis 2 The user can know the cause of error by use of the GMWIN and also by direct monitoring of the flag ANC ERR n 3 As the flag ANC ERR n has sixteen elements n 0 to 15 the user can classify error states largely User defined error No can be written to the elements A number of 1 to 65535 is usable Error detection Example 10 Chapter 4 CPU module 3 External device Ordinary fault Warning Processing 1 If a warning of external device is detected and the corresponding flag of the system flag ANC WB n is set to on the flag will checked from the WB 0 at the time that scan program finishes its execution If an error is indicated on the flag it will be also indicated on the ANNUN_WR of the representative system warning flag WAR
20. 1 current val ue of HSC wll be cleared as 0 when the CT E counter enable is 0 16 6 Chapter 16 Built in high speed counter of GM6 CPUC RD Read the current value and operation status of HSC p Eu ee FUNCT ON BLOCK Descri pti on Input REQ Request signal for F B execution CHSC_RD REQ DONE Turns on after the F Bis executed wth no error Indicates the operation status of F B STAT The current val ue of HSC 0 16 777 215 CNT Garry flag 0 CF 1 ON 16 7 Chapter 16 Built in high speed counter of GM6 CPUC PRE Set the preset value of HSC Descri pti on Input REQ Request signal for F B execution PSET Set the preset val ue 0 16 777 215 CHSC_PRE REQ DONE Turns on after the F B is executed wth no error PSET STAT Indicates the operation status of F B Wen the PRE I E is set as 0 Preset input by sequence program the current val ue of HSC is changed as the assi gned preset val ue wth the rising edge of REQ i nput the 1 is set as 1 Preset input by external preset input the current val ue of HSC is changed as the assi gned preset val ue wth the rising edge of external preset input At this tine the REQ input of GSC PRE is ignored The CY output is set off while the GSC F B is executi ng The CHSC PRE F B is disabled while the input of GSC VR F B is O C
21. 10 40 50 60 and 75 of WB n are tuned on ANC WAR n will be 0 shown as left _ANC e WARI0 0 The No 10 warning has been released the content of WAR 0 will 0 be cleared and the contents of _ANC_WAR I 7 will shift into the lower 0 elements The content of _ANC_WAR 7 will has been cleared by the ANC 0 shifting and the content of ANC_WB 75 will be written to ANC WAR 7 _WAR I 0 ANNUN WR 1 If all warnings indicated on the WB n are released during 10 operation the ANNUN WR and ANC WAR n will be shown as left ANC _WAR 0 9 0 0 _ANC lt 0 _WAR I 0 Chapter 4 CPU module 4 6 Memory Configuration The CPU module includes two types of memory that are available by the user One is program memory which is used to store the user programs written to implement a system by the user The other is data memory which stores data during operation 1 Program memory configuration The table given below shows the contents to be stored and the storage capacity of program memory Overall program memory area 68 k bytes Parameter area e Basic parameter area 1 0 parameter area 2 k bytes e High speed link parameter area e Interrupt setting information area Program area e Scan program area e Task program area e User defined function function block area 66 k bytes e Standard library area e Access variable are e Variable initialization information area e Protective var
22. 15 1 PID controli ice optinere eid eee 15 2 15 2 1 COntrOl ACtiONS ax E cb o toi a 15 2 15 2 2 Realization of PID control on the PLO sees 15 13 Function DIOCKS eoe ee eer ere 15 15 15 3 1 The function block for PID operation PID6CAL 15 16 15 3 2 The error code of PID6CAL F B seen 15 18 15 3 3 Auto tuning function block PIDGAT nnn 15 19 15 3 4 Error codes of auto tuning function block PIDGAT 15 21 Programming o edito ione ae 15 22 15 4 1 System configuration sss 15 22 15 42 Initial setting 15 22 15 4 3 Program description a 15 23 Chapter 15 The PID functions 15 The PID functions 15 1 Introductions This chapter will provide information about the built in PID Proportional Integral Differential function of B and C type CPU module GM6 CPUB and GM6 CPUC The GM6 series does not have separated PID module like GM3 and GM4 series and the PID function is integrated into the CPU module B and C type The PID control means a control action in order to keep the object at a set value SV It compares the SV with a sensor measured value PV Present Value and when a difference between them E the deviation is detected the controller output the manipulate value MV to the actuator
23. 17 Chapter 13 Dedicated Cnet communication for GM6 The following shows direct variables available according to PLC type Type BOOL Byte WORD DOUBLE WORD GM1 2 96M X 96Q X 961X MB QB IB 99MW 96QW 96IW MD QD ID GM3 4 5 MX QX IX MB QB IB MW QW IW MD QD ID GM4 MX QX IX MB QB IB MW QW IW MD QD ID GM5 MX QX IX MB QB IB MW QW IW MD QD ID GM6 MX QX IX MB QB IB MW QW IW MD QD ID Ex 1 If type of data to be currently written is DOUBLE WORD the data is H12345678 ASCII code converted value of this is 3132333435363738 and this content must be entered in data area Namely most significant value must be sent first least significant value must be last 1 Device data types of each blocks must be same 2 If data type is BOOL the data to be written is indicated by 1 Byte of hex Namely if Bit value is 0 it must be indicated by H00 3030 and if 1 by H01 3031 3 Response format for ACK response Formatname Header Station No Command Command type Tail Frame check ASCII value HO6 H3230 H57 77 H5353 Ho e Station number commands and type of command are the same as computer request format e BCC When command is one of lower case w only one lower byte of the value resulted by adding 1 Byte each to ASCII values from ACK to ETX is converted into ASCII added to BCC and sent 13 18 Chapter 13 Dedicated Cnet commu
24. 2 Power consumption of each part 1 Power consumption of a power supply module Approximately 70 of the power supply module current is converted into power and 30 of that 70 dissipated as heat i e 3 7 of the output power is actually used Wow 3 7 x 5 bay x 24 W where ly 5 VDC circuit current consumption of each module 24 VDC circuit average current consumption of output modules with points simultaneously switched ON Not for 24 VDC power supplied from external or power supply modules that has no 24 VDC output 2 Total 5 VDC power consumption The total power consumption of all modules is the power of the 5 VDC output circuit of the power supply module Wey l x 5 W 3 Average 24 VDC power consumption with points simultaneously switched ON The total power consumption of all modules is the average power of the 24 VDC output circuit of the power supply module Wray 124 x 24 W 4 Average power consumption by voltage drop of output modules with points simultaneously switched ON Wout lout x x output points x the rate of points switched on simultaneously W lout output current actual operating current A Vdrop voltage dropped across each output load V Chapter 10 INSTALLATION AND WIRING 5 Average power consumption of input circuits if input modules with points simultaneously switched ON e Win lin x E x input points x the rate of points switched on simultaneously W l
25. 4 3 PAUSE mode In this mode the program operation is temporarily stopped If it returns to the RUN mode the operation continues from the state before the stop 1 Processing when the operation mode changes Data area clear and input image clear are not executed and the operating conditions just before the mode change is maintain 2 Operation processing contents 1 1 0 refresh is executed 2 Normal or abnormal operation and mounting conditions of the loaded module are checked 3 Communications service or other internal operations are processed 4 4 4 DEBUG mode In this mode errors of a program are searched and the operation sequence is traced Changing into this mode is only possible in the STOP mode In this mode a program can be checked with examination on its execution state and contents of each data 1 Processing when the operation mode changes 1 Data area is initialized at the starting time of the mode change complying with the restart mode which has been set on the parameters 2 The output image area is cleared and output refresh is executed 2 Operation processing contents 1 1 0 refresh is executed by one time every scan 2 Communications service or other internal operations are processed Chapter 4 CPU module 3 Debug operation conditions e Two or more of the following four operation conditions can be simultaneously specified Executed by the one If an operation command is ordered the system operat
26. Ab restart has been executed and the continuous operation which retains AB SD ER BOOL i the data is impossible Usable in the initialization program Automatically reset when the initialization program has finished The same things given above will be applied when the program has been stopped by the ESTOP function Task collision This flag indicates that task collision has occurred as execution request TASK_ERR BOOL i plus cycle and for a same task had been repeatedly invoked Refer to the flag E external tasks TC BMAP n and This flag detects and indicates that the voltage of the battery which is BAT ERR BOOL i Battery fault used to backup user programs and data memory is lower than the defined value This representative flag indicates that the user program has detected an ordinary fault of extemal devices and has written it to the flag ANC WB ANNUN WR External device 7 7 warning detection gt LINE NE speed link HSPMT2 ER LM This representative flag detects error of each high speed link parameter when the high link has been enabled and indicates that high speed link High speed link eSI HSPMT3 BOOL Bit 10 parameter 3 error cannot be executed It will be reset when the high speed link is disabled High speed link HSPMT4 ER BOOL Bit 11 parameter 4 error APP2 2 Appendix 2 Flag List Data setting ET The number of slot This flag detects that 1 0 configuration par
27. Do not allow the transformer or noise filter across the duct 10 10 Chapter 10 INSTALLATION AND WIRING 10 2 2 Input and Output Devices Wiring 1 Applicable size of wire for I O wiring is 0 3 to 2 mm However it is recommended to use wire of 0 3mm for convenience 2 Separate the input and output lines 3 1 0 signal wires must be at least 100 mm away from high voltage and large current main circuit wires 4 When the 1 0 signal wires cannot be separated from the main circuit wires and power wires ground on the PLC side with batch shielded cables Shielded cable 5 If wiring has been done with a piping ground the piping 6 Separate the 24 VDC 1 0 cables from the 110 VAC and 220 VAC cables 7 If wiring over 200 m or longer distance problems can be caused by leakage currents due to line capacity Refer to the Section 12 4 Examples 10 2 3 Grounding 1 This PLC has sufficient protection against noise so it can be used without grounding except for special much noise However when grounding it should be done conforming to below items 2 Ground the PLC as independently as possible Class 3 grounding should be used grounding resistance 100 Q or less 3 When independent grounding is impossible use the joint grounding method as shown in the figure below B PLC Other Other device device Class 3 grounding Class 3 grounding A Independent grounding Best B J oint grounding Good Joint gr
28. PID action with a constant deviation 15 7 Chapter 15 The PID functions 15 2 1 5 Forward Reverse action 1 PID control has two kind of action forward action and reverse action The forward action makes the PV reaches to SV by outputting a positive MV when the PV is less than SV 2 A diagram in which forward and reverse actions are drawn using MV PV and SV is shown as Fig 2 9 Reverse action i Forward action Fig 2 9 MV of forward reverse action 3 Fig 2 10 shows examples of process control by forward and reverse actions respectively temperatu temperature PV 34 ee SV SV A PV time Reverse action for Cooling Forward action for Heating ime Fig 2 10 PV of forward reverse action 15 8 Chapter 15 The PID functions 15 2 1 6 Reference value In general feedback control system shown as the Figure 2 10 the deviation value is obtained by the difference of PV and SV I and D operations are performed based on this deviation value However each of P 1 and D operations use different deviation values according to the characteristics of each control actions The expression of PID control is as following MV K Ep ae Bits ds d Ti dt MV Manipulate value K Proportional gain Ti Integral time Td Derivative time Ep Deviation value for proportional action Ei Deviation value for integral action Ed Deviation value for derivative action The deviatio
29. Program end The contents stored in the output image area is output to output modules when Output image area refresh operation processing of a program is finished le Stage for return processing after the CPU module has finished 1 scan The END processing following processing are executed Self diagnosis Change of the present values of timer and counter etc Processing data communications between computer link module and communications module Checking the switch for mode setting 4 2 Chapter 4 CPU module 2 Time driven interrupt operation method In time driven interrupt operation method operations are processed not repeatedly but at every pre set interval Interval in the GM6 CPU module can be set to between 0 01 to 4294967 29 sec This operation is used to process operation with a constant cycle 3 Event driven interruptoperation method If a situation occurs which is requested to be urgently processed during execution of a PLC program this operation method processes immediately the operation which corresponds to interrupt program The signal which informs the CPU module of those urgent conditions is called interrupt signal The GM6 CPU module has two kind of interrupt operation methods which are internal and external interrupt signal methods 4 2 2 Operation processing at momentary power failure occurrence The CPU module detects any momentary power failure when the input line voltage to the power supply modu
30. SHOOTING 12 2 4 Troubleshooting flowchart used when the output load of the output module does not turns on The following flowchart explains corrective action procedure used when the output load of the output module does not turn ON during operation Output load does not turn ON No Is the indicator LED of the output module ON Check the output status in monitor Measure the voltage across module input terminal and CPU terminal Is the indicator LED Of the input module ON Check the input signal OFF in monitor mode with the peripheral devices Is the voltage of power supply for load applied Check the wiring load of the power supply for load and restore the power Is the voltage of power ly for lied supply for load applied Check external wiring and external input equipment Output module defect Check the wiring load of the power supply for load and restore the power Contact the nearest service center REMARK 1 If the input or load signals are not switched OFF see Section 12 4 1 Chapter 12 TROUBLE SHOOTING 12 2 5 Troubleshooting flowchart used when a program cannot be written to the CPU module The following flowchart shows the corrective action procedure used when a program cannot be written to the PLC module Program cannot be written to the PC CPU Set the mode setting switch to the 15 the mode setting switch remote STOP mode and execute set the remote S
31. Set by 1 as base number Chapter 4 CPU module 4 8 Names of Parts The following describes the names and functions of parts of the CPU module LIN Indicates the operation status of the CPU module e On when the CPU module operates with the mode setting switch in the local or remote RUN state 1 RUN LED e Off when the followings occur The voltage is not normally supplied to the SPU module The mode setting switch is in the STOP or PAU REM state An error which makes operation stop is detected e On when the mode setting switch is in the local or remote STOP state e Off when the followings occur 2 STOP LED The mode setting switch is in the local RUN or local PAUSE state The operation state is in the RUM PAUSE DEBUG state e Flickering when an error is detected by self diagnosis during operation Battery installing connector It used to connect to the backup battery Sets the operation mode of the CPU module e RUN Program operation is executed e STOP Program operation is temporarily stopped e PAU REM PAUSE Program operation is temporarily stopped REMOTE Used for the remote operation DIP S W for flash memory See chap 6 Mode setting switch Chapter 4 CPU module GM6 CPUA N A The terminal block is not installed GM6 CPUB RS 422 485 interface terminal block GM6 CPUC High speed counter input terminal block Terminal block for built in Special function It used to connect to
32. The digitized formula is as following I n 1 I n _ e n h sampling period h Ti I nt 1 jon a Ti 15 13 Chapter 15 The PID functions 15 2 2 3 D control The continuous formula of derivative term is as following Inv N dt dt N high frequency noise depression ration y the object to be controlled PV The digitized formula is as following Use Tustin approximation method _ 2Td hN 2KTdN oma env DU 7D Saye D n 15 2 2 4 Pseudo code of PID control The pseudo code of PID control is as following Step 1 Get constants that are used for PID operation h Bi K x integral gain Ti 2xTd Nx h i derivation gain 2xTd Nxh T 2 XN xTd 2xTd N xh h 10 A0 anti windup gain Tt Step 2 Read SV and PV value PV adin ch1 Step 3 Calculate the proportional term bx SV Step 4 Update the derivative term initial value of D 0 D As x D Bd x PV PV_old Step 5 Calculate the MV initial value of 0 MV P 1 D Step 6 Check the actuator is saturated or not U sat MV U_low U_high Step 7 Output the MV value to the D A module Step 8 Update the integral term bi x SV PV 0 U MV Step 9 Update the PV old value PV old PV 15 14 Chapter 15 The PID functions 15 3 Function blocks For the PID operation of GM6 CPUB and GM6 CPUC following 2 function blocks
33. are included in the GMWIN software version 3 2 or later PID6CAL Perform the PID operation PID6AT Perform the auto tuning operation Remarks 1 GM6 PID function blocks do not support array type 2 Refer the GMWIN manual for the registration and running of function block 3 GM6 CPUA does not support PID operation 15 15 Chapter 15 The PID functions 15 3 1 The function block for PID operation PID6CAL Input EN enable signal of the PID6CAL F B MAN manual operation mode 0 auto 1 manual D R select direction of operation 0 forward 1 reverse SV set value data input input range 0 4000 PV present value data input BIAS feed forward or offset value input for disturbance compensation input range 0 4000 PID6CAL EN_P enable signal of proportional control EN DONE 0 disable 13 enable MAN MV EN I enable signal of integral control D R STAT 0 disable 1 enable SV Q MAX EN D enable signal of derivative control 0 disable 1 enable PV Q MIN BIAS E P GAIN the proportional gain constant EN P range 0 01 100 00 TIME the integration time ENS range 0 0 2000 0 D_TIME 1 deviation time range 0 0 2000 0 P_GAIN MV_MAX the maximum value of MV TIME range 0 4000 D_TIME MV MIN the minimum value of MV REF range 0 4000 MVMAN the input data of manual operation mode N range 0 4000 S_TIME operatio
34. by the time internal set before e Single internal task program The corresponding program will be executed at the rising edge and on state of internal contact in the program The detection of the start up condition will be executed after the scan program has been processed e Interrupt external task program gt The program is executed according to the external signal a input to the interrupt module REMARK 1 Refer to section 4 3 3 task for details of task program 2 For interrupt signal processing the GM6 series use general digital input module instead of external interrupt input module Refer 4 3 3 task for details Chapter 4 CPU module 4 3 3 Task The followings explain the program structure and tasks of the GMWIN that is the GLOFA GM programming S W in order to give an understanding of the task function Program 1 Program Block program 1 Program 2 Function Program Block Program 4 Task 2 Function Block program 3 Program Block Task 3 Program 6 program 7 Function Program 1 Program Block REMARK 1 A task executes the some function as the control panel which are used to execute programs Each task consists of one or more program blocks in the three types of program Those programs are called task programs A program to which a task has not been specified as marked with 1 will be automatically specified to scan program Chapter 4 CPU module 1 Task types and functio
35. communication parameters of the Basic Parameters of GMWIN software Set the High speed link 1 of the High Speed Link Parameters Enable the high speed link 1 with Link Enable menu 1 Basic parameter setup Basic Parameter Configuration PLC Name UNNAMED PLC Ver v1 0 Remote Access Right Communication 4 Station Number o Baud Rate 38400 Can t pause by key Restart Mode Master C Slave Cold Restart Timeout 500 10m Warm Restart Iv Read Status of Slave PLC Resource CPU Property Name Scan W D Timer Resource RESO 200 ms a Station number Assign the station number of master station in the range of 0 31 b Baud rate Select the communication as 9600 19200 or 38400 bps c Master Slave Only GM6 CPUB can be set as master station If the CPU is selected as master station the network type of high speed link 1 is automatically set as GLOFA 422 485 d Timeout Set the period that the interval until a timeout error occurs The default value is 500msec and minimum value is 10msec 1x10msec e Read status of slave PLC If check this item the master station reads the status of slave PLCs and store the status at the corresponding flags 14 2 Chapter 14 The RS422 485 communication of GM6 CPUB 2 High speed link parameter setup OM ral ams Hep High Spe
36. enu E niae Eus 12 1 12 2 1 Troubleshooting flowchart used when the POWER LED turns OFF 12 2 12 2 2 Troubleshooting flowchart used when the STOP LED is flickering 12 3 12 2 3 Troubleshooting flowchart used when the RUN and STOP LEDs turns off 12 4 12 2 4 Troubleshooting flowchart used when the output load of the output module does not tums on 12 5 12 2 5 Troubleshooting flowchart used when a program cannot be written to the CPU module esee 12 6 12 3 Troubleshooting Questionnaire s essem 12 7 12 4 Troubleshooting Examples essem 12 8 12 4 1 Input circuit troubles and corrective actions 12 8 12 4 2 Output circuit troubles and corrective actions see 12 9 5 m tL 12 11 Chapter 13 Dedicated Cnet communication for GM6 13 1 IntrodUction s see teh x Re Sead RR T RE n 13 1 13 2 The example of system configuration sse 13 2 13 3 The pin assignment of RS 232C connector of the GM6 dedicated Cnet communication 13 3 13 4 Frame Structure 32d tas esce tert toos O ad Vas M ede ded cae Meenas 13 4 13 5 LisEof commands teni eet noe edt ek ri ti d 13 7 13 6 Data type arses Et IEEE SCRIBE REIN ERRORI DIN Ms 13 8 13 7 Execution of commlarids
37. has been changed into the PAUSE mode while operating with the RUN mode and then the operation mode has been changed again into the RUN mode the operation time spent with the PAUSE mode will be ignored e When setting the execution cycle for a time driven task program be cautious that execution requests for many time driven task programs can occur If four time driven task programs of cycle 2 4 10 and 20sec are used four execution requests will occur every 20 sec and scan time can be momentarily extended Chapter 4 CPU module 4 External contact program processing method The following explains in the case that the task start up condition of a task program has been set to an external input signal 1 Settings that have to be set for the input module e A contact of input module can be used as interrupt input 2 Settings that have to be set for the task e Set the contact No of input module and priority for the task that will be used as start up conditions of the task programs to be executed Priority will be the task number 3 External contact task processing e The CPU module checks the occurrence of interrupt input every 1ms and executes the task program which are designated by the contact at which the signal has been occurred 4 Precautions for using an external contact task e While a task program which are designated by an input module having interrupt input contact is being executed or ready for its execution if an execution
38. method etc It defines the hardware characteristics and only one time execution at system start is sufficient 1 As the initialization should be finished before the scan program starts its execution its program should be written in the restart program initialization task program 3 Control of special modules In control the operations of special modules write the program using function blocks which correspond to the operations that have to be controlled These function blocks can locate at any place within the program 1 If a power failure occurs in the base unit where special units are loaded special modules data are removed Therefore data should be newly written down in the program Chapter 4 CPU module 4 Restart Program Example 1 System Configuration The followings give an example for writing the initialization program of the system where a special module has been loaded onto its basic base unit shown as below figure The followings describe an example for writing the cold warm restart program and scan program for the scan program where the D A 02 outputs data every scan and the D A 03 outputs data only when the data has been changed DC 32 32 point DC input module A D A D conversion module D A D A conversion module RY 32 32 point relay output module e As cold warm restart makes the whole system restart the cold warm restart program consists of only initialization program
39. of special module 2 program e Project Configuration Restart prj 63 c Womwinsltt source WdefO000 prj f PROJECT PLC Type GM6 CONFIGURATIONCPLC gt Configuration Name UNNAMED ACCESS VARIABLES variables declared RESOURCECCPU gt Name RES B TASK DEFINITIONS 1 tasks defined 0 LD 1 PROGRAM INSTA c Ugmuin38lisourcetinoname BB src COMMENTS for DIRECT VARIABLES gt B variables declared PARAMETERS BASIC PARAMETERS RESOURCE GLOBALS variables declared E 1 0 PARAMETERS E LINK PARAMETERS INCLUDED LIBRARIES Chapter 4 CPU module e Program cw_rst src cold warm restart initialization program Variable Name i Data type Initial value INL START VAR BOOL Starcondiionofiniialzaton AD2INLACT VAR ARRAYMJOFBOOL Showsacivechanel AD2INI VAR FBimtame y AD2NISTAT VAR USINT Showsemorsatis ADOl FE VAR ARRAY 4 OFBOOL X jEnablejDisable average function Setby parameter o Chapter 4 CPU module e Program scan src scan program REA AD2ARD READ DONE Row 1 REQ Ni Cr Row2 0 3 1 510 ACT READ ACT Row 4 AD CH CH li ii Row 5 Row WRITE 1 WRITE 1 0 D 2AUR ONE Row REQ DONE 1 WRITE_1 8 Row B 0 BASE STAT TAT Row 9 2 Row 10 D O1 DT DATA Row 11 Row 12 WRITE_2 WRITE_2
40. one power supply e Connect a sneak current prevention diode as shown below Chapter 12 TROUBLE SHOOTING 12 42 Output circuit troubles and corrective actions The following desires possible troubles with output circuits as well as corrective actions Condition When the output is Off excessive voltage is applied to the load The load does not turn OFF When the load is C R type timer time constant fluctuates The load does not turn OFF Cause Load is half wave rectified inside in some cases it is true of a solenoid e When the polarity of the power supply is as shown in C is charged When the polarity is as shown the voltage charged in C plus the line voltage are applied across D Max voltage is approx If a resistor is used in this way it does not pose a problem to the output element But it may make the performance of the diode D which is built in the load drop to cause problems e Leakage current by surge absorbing circuit which is connected to output element in parallel Output Leakage current e Leakage current by surge absorbing circuit which is connected to output element in parallel e Sneak current due to the use of two different power supplies Output eE1 E2 sneak current e Elis switched Off and E2 is switched ON sneak current Corrective Action e Connect registers of tens to hundreds kQ across the load in parallel e Connect C and R across the load
41. peripheral devices GMWIN etc GM6 CPUA and GM6 CPUC have built in RS 232C interface function and it shares the RS 232C connector with peripheral device interface Refer the chapter 13 for details RS 232C connector REMARK The followings shows the LED status complying with the operation mode and the operation mode complying with the position of the mode setting switch 1 LED status complying with the operation mode 2 Operation mode complying with the position of the mode setting switch Position of Mode switch Operation Mode STOP PAU REM gt Remote Stop RUN PAU REM Local Pause Change of remote mode is available only after the operation mode has entered into the remote STOP mode caution 1 In case of local pause disable it operated as Remote Run 5 Chapter5 BATTERY 5 1 Specifications 1 5 2 Handling Instructions 1 Do not heat or solder its terminals Normal voltage 3 0 VDC 2 Do not measure its voltage with a tester or short circuit 3 Do not disassemble 5 3 Battery Replacement Backup battery needs periodic exchange When the battery exchange it should be done at power on otherwise some or all data will be lost The following shows the battery replacement procedure Battery replacement Open the cover of the CPU module Release the existing battery from the holder and disconnect the connector Insert a new battery
42. pulse timer timing 4 Timer error The maximum timer error is 1 scan time time from the start of scan to execution of the timer function 4 6 Chapter 4 CPU module 4 2 6 Counter Processing The CPU module counter increment decrement the present counting value by the detection of rising edge off gt on of input signal Three types of counter are increment counter Decrement counter and Increment Decrement Counter For details refer to GLOFA GM Programming e The Increment counter is a counter which increment the present counting value e The Decrement counter is a counter which decrement the present counting value e The Increment Decrement counter is a counter which compares the counting values of two input conditions 1 Counter Present Value Change and Contact On Off 1 Increment Counter e t should have Input condition CU reset condition and setting value PV NAME CTU BOOL BOOL BOOL INT e f the counting value CV increments and reaches the setting value P V the output contact Q turns on When the reset signal is turn on the counting value is set to 0 and the output contact Q turns off Decrement Counter e t should have inputcondition CD load LD and setting value P V NAME BOOL BOOL BOOL INT INT e f the counting value CV decrements and reaches 0 the output contact Q turns on If the load LD signal is turned on the counting value is set to t
43. request of a task program has been occurred to the same input contact then the newly invoked task will be ignored the representative task collision warning flag TASK ERR will be set to ON the detailed system error flag TC BAMP n will be set to ON at its corresponding location and the occurrence time of the external task whose execution request has been congested e Execution request for a task program can be accepted only when the operation mode is in the RUN mode That is if the RUN mode has been changed into the PAUSE mode while operating with the RUN mode and the operation mode has been changed into the RUN mode again all execution requests occurred during the operation with the PAUSE mode will be ignored 5 Internal task program processing method The following explains the processing method when the task start up condition of a task program has been set to the contact of direct variable area I Q or M or automatic variable area 1 Settings that have to be set for the task e Set the contact No of input module and priority for the task that will be used as start up conditions of the task programs to be executed Priority will be the task number 2 Internal contact task processing e After the execution of scan program has been completed in the CPU module the internal contacts that are the start up conditions of the task program will be checked and the internal task programs where rising edge or on state has been occurred will be e
44. restart will be executed at the first execution of a program after it has been stopped due to its download or error 4 Though the parameter has been set to the warm restart mode cold restart will be executed if data contents are abnormal i e the data does not remain at a power failure Chapter 4 CPU module Restart mode is executed as the figure given below when the power has been re applied during execution of the CPU module STOP Operation in the STOP mode Operation mode Abnormal Data that remains at power failure Normal Cold Restart Restart mode Warm Restart Warm Restart execution RUN mode Cold Restart execution 4 Data initialization according to the restart mode The variables relating to the restart mode are classified into three types i e default variable initialization variable and retain variable The following table shows the initialization method for each type variable Variable Default Initialized with 0 Initialized with 0 Initialized with 0 Previous value is retained Initialization Initialized with the user Initialized with the user defined defined value value Retain amp Initialization 118129 with the user pio value is retained defined value REMARK 1 Definitions 1 Default variable A variable whose initial value is not defined or previous value will not be retained 2 Initialization variable A variable
45. that input modules of a slot cannot be normally 10 RWER N where 1 0 module read from or written to and indicates the lowest slot No of the read write occurred detected slot numbers The location of slot This flag detects that input modules of a slot cannot be normally 10 RWERR n BYTE n 0to 1 where I O module read from or written to and indicates the slot locations in the bit map read write occurred of base units 4 Detailed System Error and Warning Flag List This flag detects that initialization cannot be executed for special or IP IFER N UINT 0 to 15 Special link module link module of a slot or normal interface is impossible due to module COEM NI interface error slot No malfunction and indicates the lowest slot No of the detected slot numbers This flag detects that initialization cannot be executed for special or Special link module link module of a slot or normal interface is impossible due to module oF ERR IN BATE eue interface error location malfunction and indicates the slot locations in the bit map of base units Extemal device fatal This flag detects fatal error of extemal devices and its content is ANC_ERR n UINT n 0to7 Oe vice le written to this flag A number that identifies error type will be written to each of the sixteen locations The number 0 is not allowed If the user program indicates a warning on flag WB n the ANC WAR n External device bit locations are seq
46. the operation function FN or function block FB 288 BOOL Enable It is newly changed whenever an operation is executed Tm o0 These clock signals are used in the user programs toggles on off eve T100MS5 BOOL i00msClck cycle The clock signal can be deed of distorted in AS T200MS BOOL 200msClck with program execution time as the signal toggles after scan has been T1S X BOO isClock_ finished therefore it is recommended that clock of enough longer than T25 BOOL 2sClock scan time be used Clock signals starts from Off when the initialization Rs Fs Crock program or scan program stars eoo Exaile 71005 cock AWwason Usemwerpugam 0rt feor amason Ushemwerpngms First scan On Turn On only during te fstscan afr the operation has sared I0FF BO00L _ Fistscan OF Tum Off only during the frst scan after the operation has sared Toggles On Off at every scan while a user program is being executed On _STOG BOOL EM Scan Toggle at first scan Initialization Program If this flag is set to on in the initialization program in an user program the INT DONE BOOL Enable Complete initialization program stop its operation and the scan program will starts INT DATE DATE RTC present date
47. which are of registers of tens When the wiring distance from the output module to the load is long there may be a leakage current due to the line capacity e Drive the relay using a contact and drive the C R type timer using the since contact e Use other timer than the C R contact Some timers have half ware rectified internal circuits therefore be cautious x 279 M 2 D Use only one power supply e Connect a sneak current prevention diode Figure below Output If the load is the relay etc connect a counter electromotive voltage absorbing code as show by the dot line Chapter 12 TROUBLE SHOOTING Output circuit troubles and corrective actions continued Condition The load off response time is long Output transistor is destroyed Cause e Over current at Off state The large solenoid current fluidic load L R is large such as is directly driven with the transistor output Output Off current e The off response time can be delayed by one or more second as some loads make the current flow across the diode at the off time of the transistor output Surge current of the white lamp Output A surge current of 10 times or more when turned ON 12 10 Corrective Action e Insert a small L R magnetic contact and drive the load using the same contact Output e To suppress the surge current make the dark current of 1 3 to 1 5 rated current flow Output Sour
48. whose initial value is defined 3 Retain variable A variable whose previous value will be retained Chapter 4 CPU module 4 5 2 Self diagnosis 1 Functions 1 The self diagnosis function permits the CPU module to detect its own errors 2 Self diagnosis is carried out when the PLC power supply is turned on and when an error occurs the PLC is in the RUN state If an error is detected the system stops operation to prevent faulty PLC operation 2 Error flag If an error occurs it will be stored to the following flags and the STOP LED flickers e Representative system error CNT ER e Representative system warning flag CNF WAR 1 Refer to 12 5 Error Code List of Chapter 12 Troubleshooting for details of contents of self diagnosis and corrective actions Chapter 4 CPU module 4 5 3 Remote function The CPU module can be controlled by external operations from GMWIN and computer link module etc For remote operation set the mode setting switch of CPU module to remote position 1 Remote RUN STOP 1 The remote RUN STOP permits external operations to RUN STOP the CPU module under the condition that the mode setting switch of CPU module is in the remote position 2 This function is convenient when the CPU module is located on the place where it is difficult to control the CPU module or the user want to control the CPU module in the control panel from outside 2 Remote PAUSE 1 The remote PAUSE permits e
49. 0 DAZAWR ONE Row 13 DONE Ci WRITE_2 8 Row 14 D BASESTAT TAT Row 15 3 SLOT Row 16 DA02_DT DATA Row 17 Assign a channel of AD module to be used Indicates the reading operation is completed Shows the error status of AD read FB Shows the error status of AD read FB Digital data converted from analog input Digital data to be output Indicates the write operation is completed Shows the error status of DA write FB Variable Name Data type Description igital data to be output Indicates the write operation is completed hows the error status of DA write FB Chapter 4 CPU module 44 Operation Modes The CPU module operates in one of the four modes the RUN STOP PAUSE and DEBUG mode The following describes the PLC operation processing in each operation mode 4 4 1 RUN mode In this mode programs are normally operated The first scan start in the RUN mode If the operation mode is the RUN mode d when the power is applied Mode condition at the start If the operation mode has been changed Data area initialization complying with the restart mode set from the STOP mode to the RUN mode Data area initialization complying with the restart mode Check on the effectiveness of the program and decision on the possibility of the execution 2 Execution of input refresh Execution of programs and task programs Check on the normal operation of the loaded modules a
50. 0 Hz 3 Hz Maximum simultaneous input points 100 8 points COM simultaneously ON nrush current 300 mA 0 3 ms or lower 132 VAC ON voltage ON current 80 VAC or higher 5 mA or higher OFF voltage OFF current 30 VAC or lower 2 mA or lower nput impedance Approx 15 OFF ON 15 ms or less ON gt OFF 25 ms or less Common terminal 8 points COM nternal current consumption 60 mA Operating indicator LED turns on at ON state of input External connections 9 point terminal block connector M3 x 6 screws Weight 0 14 kg Response time Intemal Circuit AC 110V Terminal Block Number 7 7 Chapter 7 INPUT AND OUTPUT MODULES 7 2 7 8 points 220 VAC input module Specifications 0 Number of input points points hoto coupler 00 to 240 VAC 50 60 Hz 1 mA 220 VAC 60 Hz 70 to 264 VAC 50 60 Hz 3 Hz Maximum simultaneous input points 00 8 points COM simultaneously ON Surge input current 00 mA 0 12 ms or lower 264 VAC 0 VAC or higher 5 mA or higher 30 VAC or lower 2 mA or lower Input impedance Approx 20 Response time 25 ms or less S porsIcon E mA LED turns on at ON state of input 9 point terminal block connector M3 x 6 screws I m Internal Circuit AC 220V 7 8 Chapter 7 INPUT AND OUTPUT MODULES 7 3 Digital Output Module Specifications 7 3 1 8 point relay output module Relay Output Module Specifications G6Q RY1A 24 VDC 2A resistance
51. 2 485 communication of GM6 CPUB 14 1 14 2 14 3 14 4 14 5 14 6 14 7 INTOCUCTIONS Heo Peters 14 1 Features ee EE pe EO ERE E eere 14 1 Parameter setup eese teen 14 2 The status flag x ite tocum rede 14 4 Monitoring eere t n HER d Geet 14 5 Communication method and termination resistor 14 6 RS 422 485 pin 14 6 Chapter 14 The RS422 485 communication of GM6 CPUB 14 The RS422 485 communication of GM6 CPUB 14 1 Introductions 1 The GM6 CPUB module can be used as the master station of RS422 485 network and applicable for the 1 N network of GLOFA PLCs and or PC 2 To operate the GM6 CPUB as the master station basic parameters and high speed link parameters should be set properly 3 The dedicated GLOFA Cnet protocol is used for transmission control 4 The GM6 CPUA and GM6 CPUC does not support the master station function 14 2 Features 1 Max 64 high speed link items can be assigned 2 Max 32 stations can be linked 3 According to the parameter setting the operation mode and error code of slave stations is stored at the relevant flag 4 The communication status can be monitored with the monitoring function of GMWIN software Chapter 14 The RS422 485 communication of GM6 CPUB 14 3 Parameter setup To start RS422 485 communication The CPU module type should be a B type CPU GM6 CPUB Set the
52. 3 5 List of commands Commands used in dedicated communication service are as below Table Table 13 2 List of commands Command Command ype L Eg ASCII code Reads direct variables of Bit Byte Word Dword and var Reads direct variables of Byte Word Dword and Reading Contin r R 5342 Lword type in block unit esa Continuous reading Bit is unavailable mn Reads data according to data type of named variable Indivi 3030 3134 Variable to be read must be one registered in access Named us H14 Var variable area Reading Reads data of array named variable Array 3135 3237 Variable to be read must be one registered in access Hes H27 variable area Writes data to direct variable of Bit Byte Word Direct d LIES Dword Lword type var Writes data to direct variable of Byte Word Dword Writing Contin w W 5342 Lword type in block unit em Continuous reading Bit is unavailable Writes variable of each data type using variable H00 name Named Ina us H14 Variable to be read must be one registered in access Var variable area Writing 5 mem Writes data to array named variable Array w W 3135 3237 Variable to be read must be one registered in access Wo H27 variable area Monitor H00 Register variable to be monitored If registered Var H31 3030 3331 variable is named one variable to be read must be Register one registered in access variable area Monitor 3030 3331 Carries
53. 4 Troubleshooting Examples Possible troubles with various circuits and their corrective actions are explained 12 4 1 Input circuit troubles and corrective actions The followings describe possible troubles with input circuits as well as corrective actions Corrective Action Input signal close not Leakage current of external device such as a drive by non contact switch v Leakage current external device Input signal does not Leakage current of external device tum OFF Drive by a limit switch with neon lamp Leakage current External device Input signal does not Leakage current due to line capacity of turn OFF wiring cable AC input Leakage current e turn OFF External device Input signal does Sneak current due to the use of two different power supplies E1 E2 eE1 2 Sneaked DC input e Connect an appropriate register and capacity which will make the voltage across the terminals of the input module lower than AC input e C and R values are determined by the leakage current value Reminded value C 0 1 0 47 R 47 120 1 2W Or make up another independent display circuit e Power supply is located on the external device side as shown below exteranl device e Connect an appropriate register which will make the voltage across input module terminal and common higher than the OFF voltage as shown below DC input e Use only
54. 5VDC 15 VDC 0 5 Over current 15 VDC 0 55 A Voltage status indicator LED turns On at normal output voltage Used wire specifications 0 75 to 2 mm REMARK To use A D and D A modules G6F AD2A G6F DA2V G6F DA21 choose the GM6 PAFB power module 8 2 Chapter 8 POWER SUPPLY MODULES 8 3 Names of Parts The followings describe names of parts and their purposes of the power supply module 1 1 Power LED It used to indicate the 5 VDC power supply Connect 110 or 220 VAC power GM6 PAFA GM6 PAFB 2 Power input terminal Connect 12 24VDC power GM6 P DFA Connect 24VDC power GM6 PD3A Ground Frame Ground 2 24 VDC and DC24G terminal GM6 PAFA Itused the 24 VDC power to supply to the other module 5 GM6 PAFB No connection GM6 PDFA No connection GM6 PD3A 8 3 Chapter 9 BASE BOARD AND EXPANSION CABLE Chapter 9 BASE BOARD GM6 B04M GM6 B06M GM6 B08M 9 1 Specifications 1 GM6 VO modules Outer dimensions mm 244 x 110 x 62 314 x 110 x 62 384 x 110 x 62 Panel installation hole size 4 5 for M4 screw n 9 2 Names of Parts Hok 04 fem ZZ 7 jm ZZ 0 LL ETAT E eee ee E Se Ee ES Modul e Mounting Gui de Fail Power Modul e Connect or Chapter 10 INSTALLATION AND WIRING Chapter 10 INSTALLATION AND WIRING 10 1 Installation 10 1 Installation Environment This unit has high
55. Chapter 7 INPUT AND OUTPUT MODULES 7 3 6 32 transistor output module source type Transistor Output Module Specifications G6Q TR4B 12 24 VDC 10 2 to 26 4 VDC 0 1 A point 2 A COM 0 1 mA or less 4 A 10 ms or less 1 0 VDC None Response 2 ms or less time 2 ms or less 32 points COM 139 mA External 24 VDC 10 ripple voltage 4VP P or less power supply 36 mA orless 24 VDC COM LED turns on at ON state of output 37 pin D Sub connector 011kg Internal circuit OOCOOGCOOOOCOOOCOOOO Connector Pin No The total current of each 8 points 0 7 8 15 16 23 and 24 31 should be lower than 600mA Chapter 7 INPUT AND OUTPUT MODULES 7 3 8 point triac output module Models Triac Output Module Specifications 8 points Photo coupler 100 to 240 VAC 50 to 60 Hz 264 VAC point 4 A 1 COM 2 5 mA 220 VAC 60 Hz Maximum inrush current 40 A 10 ms or less 1 5 VAC or less 2 A Varistor 387 to 473 V C R absorber 1ms or less Repone 8 1ms 0 5 cycle or less 8 points COM 210 mA LED turns on at ON state of output 9 point terminal block connector M3 x 6 screws 0 16 kg N gt Internal Circuit Terminal Block Number Chapter 8 POWER SUPPLY MODULES Chapter 8 POWER SUPPLY MODULE This chapter describes the selection method type and specifications of the power supply module 8 1 Selection of power supply modu
56. D module Simultaneously the A T module will calculate and D parameters 3 The END output of A T module will be 1 when the A T operation is completed Then PID module will start operation with PID parameters that are calculated by A T module 4 D A module will convert the MV 0 4000 to analog signal 4 20mA and output to the actuator power converter 15 23 Chapter 15 The PID functions Example program of 15 4 3 1 O GMWIN for Windows c tgmwinttsourcetdef0001 prj ctgmwinttsourcetnonameDd src alele wele a ol Luj wle Fil oe Chapter 15 The PID functions Example program of 15 4 3 2 continue to next page 15 25 Chapter 15 The PID functions Example program of 15 4 3 2 continued 15 26 Chapter 16 Built in high speed counter of GM6 CPUC 16 1 16 2 16 3 16 4 16 5 Introductions niece eere a eraa Ta a aA 16 16 1 Performance 16 16 2 Input nnne nnn 16 16 3 16 3 1 Function of input terminals eene 16 16 3 16 3 2 Names of wiring terminals eene 16 16 3 16 3 3 External interface circuit essent 16 16 4 INDE 16 16 5 16 4 1 Wiringlnistructions e ertt PP 16 16 5 16 4 2 Wiring examp
57. Date Data of standard format Reference date J an 1 1984 _RTC_TOD TOD present time Time Data Reference time 00 00 00 UNIT 3 d RTC present day EN d 2 Wednesday 3 Thursday 4 Friday 1 Flags with the mark are initialized when the initialization program starts and after its execution has been competed the flags will change in accordance with the restart mode set e If cold or warm restart has been set the flags will be initialized when the scan program starts its execution If hot restart has been set the flags will be restored to the state before the last stop when the scan program starts its execution 2 Representative System Error Flag List Representati System error 2 CNF ER WORD ve keyword fatal error This flag handles the following operation stop error flags in batch Modul This representative flag indicates that 1 0 configuration parameters differ 10 TYER BOOL Bi Module type from the real loaded module or that a certain module is loaded onto a slot Li Inconsistency eror Where it should not be loaded Referto 0 TYER IO DEERIn Module This representative flag indicates that module configuration of each slot BOOL Bi loading unloading has been changed during operation Refer to 1O DEER and error 10 DEERIR Fuse disconnection This representative flag indicates that one of fuses of slots including them as has disconnection
58. EX 2 23 ede E E ER ee led ete oed ds 13 9 13 8 Error code during NAK occurrence for GM6 dedicated communication 13 29 APPENDICES Appendix 1 System Definitions mmm APP 1 1 Appendbc2 Flag EISE c2 a Loo RE de E RR ER ERR ras APP2 1 Appendix 3 Function F unction Block List APP 3 1 Appendix DIMENSIONS axes eoo Ex exe kp Rr exe exe een certs APP 4 1 Chapter 2 SYSTEM CONFIGURATION Chapter 2 SYSTEM CONFIGURATION The GLOFA GM6 series has various modules suitable to configuration of the basic computer link and network systems This chapter describes the configuration and features of each system 2 1 Overall Configuration The following shows the overall configuration of the GLOFA GM6 series M CPU Module RS 232C Cable Battery Discket Power S upply Base board GM6 B0 1M Module GM6 PAF Input Module Output Module Special Module Communication 66 50000 G6Q OODA G6F OOO0 Module G6L OOOD Chapter 2 SYSTEM CONFIGURATION 22 Product List The following table shows product listof GLOFA GM6 series 2 2 1 GM6 series Configuration e Maximum 1 0 points 256 e Special functions RS 232 communication e Maximum I O points e Special functions RS 422 485 communication RTC PID e Maximum I O points e Special functio
59. External device waning numbers will be written to from ANC WAR 0 to ANC WAR 7 according to occurrence sequence 2 The user can know the cause of error by use of the GMWIN and also by direct monitoring of the flags _ANC_WAR n and ANC 3 If an external device waning is removed that is the elements of are released from warning the corresponding ANC WAR n will be automatically cleared If all element flags are cleared the flag ANNUN WR of the system flag CNF WAR will be reset Chapter 4 CPU module Example Error detection l ANNUN WR 1 If the user program had detected a system fault and set 7 B 0 WB 10 to ON the states of ANNUN WR and 0 _ANN_WAR 0 7 will be shown as left after the scan has been _ANC Ai 0 finished 0 0 0 _ANC 0 _WAR I 0 ANNUN WR 1 After the next scan has been finished if the numbers 1 2 3 10 15 10 40 50 60 and 75 of ANC WB n are tuned on WAR n will be ANC 4 shown as left WARIO0 E 0 As the number 10 has turned on has occurred in the previous scan 0 though the number 10 has lower priority than the numbers 1 2 and 3 it 0 will be the lower element of WAR n The ANC_WB 75 is not ANC 0 indicated as it is turned on and the warning that occurred before has 0 written to the 1 _ANNUN WR 1 After the next scan has been finished if the numbers 1 2 3 10 15
60. F module G6L FUEA e 1 Mbps base band e For twisted cable e For Fnet remote I F G6L RBEA e 1 Mbps base band e For twisted cable Computer Link G6L CUEB e RS 232C module e Dnet I F master module a G6L DUEA e Complying with ODVA Open Devicenet Vendor Association 2 0 standard e Dnet I F slave input module G6L DslA 12 24 VDC input 16 points Dnet I F module e Complying with ODVA Open Devicenet Vendor Association 2 0 standard e Dnet I F slave output module e Relay output 16 points eee e Complying with ODVA Open Devicenet Vendor Association 2 0 standard Others Bust GM6 DMMA e Protect empty slot for dust Module Fnet remote I F module 2 3 Chapter 2 SYSTEM CONFIGURATION 23 System Configuration Types System configuration is classified into 3 types that Basic system Computer link system executing data communications between the CPU module and a computer by use of a computer link module G6L CUEB C and Network systemcontrolling the PLC and remote 1 0 modules 2 3 1 Basic System The following describes basic system Slot number Example of System configuration Base Board The above figure shows the configuration where 16 input output modules are loaded pU mods tmo e 16 point module mounted 128 points Maximum number of Input Output points e 32 point module mounted 256 points CPU module GM 6 CPUA GM6 CPUB GM6 CPUC P ower Supply m
61. No SelfStation No 1 Network type Used to set the type of the communications module 2 SlotNo Location number of slot where the communications module has been mounted 3 Local No Local number of the module which executes high speed link communications High Link 1 item 0 Edit r Station Type Station No Mode Block No Local fib Send fo Remote Receive r rea Send Period F PT m D 200ms v fom 030 Size To A s C a Cow cC zaw haoo D Cancel Help 1 Station type Type of the communications module in the opposite station Local or remote will be set 2 Station No Used to indicate the station that has invoked data during communications 3 Mode Used to set the communications mode to Send or Receive 4 Block No Designating number for identification of a data block in the same communications module 5 Data communications cycle Used to set the cycle of sending and receiving of data 6 Area 1 Q and M areas should be set by the decimal number or word 7 Size Number of words that will be sent and received APP1 5 Appendix 2 Flag List Appendix 2 Flag List 1 User Flag List Coo 01 TEE S IET TUER LER BOOL Enable ia error latch Operation error flag by the program block BP Error indication occurred while executing a program block error latch Operation error flag by
62. P2 is being executed 8 to 10 lt finishes its execution and the stopped continues its execution 10 to 12 ms PO is stopped and P1 is executed due to execution request for P 1 12 to 20 ms P2 finishes its execution and the PO stopped continues its execution 20 ms Execution requests for P1 and P3 are simultaneously exist but the higher priority P1 is executed and P3 is ready for its execution 20 to 22 ms PO is stopped and P 1 is executed 22 to 24 ms P1 finishes its execution and the higher priority is executed before P 0 24 to 25 ms P3 finishes its execution and the PO stopped completes its execution 25 ms Execution request for P2 is checked at the finish time of the scan program P 0 and P2 is executed 25 to 30 ms The program P2 is executed 30 to 32 ms Execution request for P1 is input and P2 is stopped and P 1 finishes its execution 32 to 34 ms P1 finishes its execution and the P2 stopped finishes its execution 34 ms A new scan starts PO starts its execution Chapter 4 CPU module 4 3 4 Error Handling 1 Error Classification Errors occur due to various causes such as PLC system defect system configuration fault or abnormal operation result Errors are classified into fatal error mode which stops system operation for system Stability and ordinary error mode which continues system operation with informing the user of its error warning The main factors t
63. TOP the program write Read the error code using the peripheral devices and correct the contents 15 the STOP LED flickering Chapter 12 TROUBLE SHOOTING 12 3 Troubleshooting Questionnaire When problems have been met during operation of the GM6 series PLC please write down this questionnaires and contact the service center via telephone or facsimile e For errors relating to special or communications modules use the questionnaire included in the user s Manual of the unit 1 Telephone amp FAX No Tel FAX 2 Used Equipment 3 Details of used Equipment CPU module OS version No Serial No GMWIN version No used to compile programs 4 General description of the device or system used as the control object 5 Operations used by the CPU module Operation by the mode setting switch Operation by the GMWIN or communications 6 Is the STOP LED of the CPU module turned ON Yes No 7 GMWIN error message 8 Used initialization program initialization program 9 History of corrective actions for the error message in the article 7 10 Other tried corrective actions 11 Error character sties e Repetiive Periodic Related to a particular sequence Related to environment eSometimes General error assurance interval 12 Detailed Description of error contents 13 Configuration Diagram for the applied system Chapter 12 TROUBLE SHOOTING 12
64. UN STOP PAUSE and DEBUG Restart modes Cold Warm Self di fic functi Watch dog timer Memory eror detection I O error detection Battery tuncuons error detection P ower supply error detection etc Data protection method at power failure Setto Retain variables at data declaration RS 422 485 ir Built in special functions RS 232C RTC PID control PID control oe Internal current consumption 170mA 210mA Weight 0 11Kg 0 11 Kg 4 1 Chapter 4 CPU module 4 2 Operation Processing 4 2 1 Operation Processing Method 1 Cyclic operation A PLC program is sequentially executed from the first step to the last step which is called scan This sequential processing is called cyclic operation Cyclic operation of the PLC continues as long as conditions do not change for interrupt processing during program execution This processing is classified into the following stages SE Operationstat C Operationstat le Stage for the start of a scan processing it is executed only one time when he power is applied or reset is executed It executes the following processing itt gt 1 0 modules reset gt Execution of self diagnosis Data clear gt 1 0 module address allocation or type registration Input module conditions are read and stored into the input image area before operation processing of a program le Program is sequentially executed from the first step to the last step Program operation processing Program start
65. VDC to 28 8 VDC ripple less than 596 Maximum simultaneous input points 100 8 points COM simultaneously ON ON voltage ON current 9 5 VDC or higher 3 5 mA or higher OFF voltage OFF current 5 VDC or lower 1 5 mA or lower nput impedance Approx 3 3 OFF ON 5 ms or less ON gt OFF 5 ms or less Common terminal 8 points COM nternal current consumption 70 mA Operating indicator LED turns on at ON state of input External connections 18 points terminal block connector M3 x 6 screws Weight 0 15 kg Response time Internal Circuit i Terminal Block Number DC12 24V 7 3 Chapter 7 INPUT AND OUTPUT MODULES 7 2 3 16 points 24 VDC input module source type DC Input Module Specifications G6I D22B Number of input points 16 points nsulation method Photo coupler Rated input voltage 24 VDC Rated input current mA Operating voltage range 20 4 VDC to 28 8 VDC ripple less than 596 Maximum simultaneous input points 100 8 points COM simultaneously ON ON voltage ON current 15 VDC or higher 4 3 mA or higher OFF voltage OFF current 5 VDC or lower 1 7 mA or lower nput impedance Approx 3 3 kQ OFF ON 5 ms or less ON gt OFF 5 ms or less Common terminal 8 points COM nternal current consumption 70 mA Operating indicator LED turns on at ON state of input External connections 18 points terminal block connector M3 x 6 screws Weight 0 15 kg Response time Internal Circuit Terminal Block Number 7 4
66. a MX QX IX P M L K F T C D S X 1 Only lowest bit of these is available Byte B MB QB IB P M L K F 1 C D 5 W WORD W 9e MW 96QW 6I P6 P M L K F T C D S W DOUBLE WORD D 6MD 96QD 96ID 96 P M L K F T C D S W e n data area there are the values of hex data converted to ASCII code Ex 1 The fact that number of data is H04 ASCII code value H 3034 means that there is hex data of 4 Bytes in data DOUBLE WORD Hex data of 4 Bytes is converted into ASCII code in data Ex 2 If number of data is H04 and the data is H12345678 ASCII code converted value of this is 31 32 33 34 35 36 37 38 and this contents is entered in data area Namely highest value is first lowest value is last If data type is BOOL data read is indicated by one Byte of hex Namely if Bit value is 0 it indicated by and if 1 by H01 4 Response format for NAK response Format Error code Frame Ex NAK SS H1132 ETX BCC ASCII value H15 30 H5272 H5353 H31313332 e Station number commands and type of command are the same as computer request format e BCC When command is one of lower case r only one lower byte of the value resulted by adding 1 Byte each to ASCII values from NAK to ETX is converted into ASCII added to BCC and sent e Error code is hex and 2 Bytes ASCII code 4 Bytes which indicates type of error For the details see Appendix B Error Code Table 13 11 Chapter 13 D
67. a type Separate device memory can be read up to 4 ata time 2 Request format P C gt PLC Format Comman duas Variable Variable Header Command of Tail name d type blocks length name BCC ASCII value BU H20 bes snnm Ex T gems 1 block Setting can be repeated up to 4 block e BCC When command is one of lower case r only one lower byte of the value resulted by adding 1 Byte each to ASCII values from ENQ to EOT is converted into ASCII and added to BCC e Number of blocks This specifies how much of the blocks composed of Variable length Variable name are in this request format This can be set up to 4 Therefore the value of Number of blocks must be HO1 ASCII value 3031 HO4 AS CII value 3034 e Variable length Name length of direct variable This indicates the number of name s characters that means direct variable which is allowable up to 16 characters This value is one of ASCII converted from hex type and the range is from HO1 ASCII value 3031 to H10 ASCII value 3130 e Direct variables Address to be actually read is entered This must be ASCII value within 16 characters and in this name digits upper lower case and only are allowable to be entered 1 Numerical data of frame Ex is hex value and H is unnecessary during preparing real frame Chapter 13 Dedicated Cnet communication for GM6 Direct variables available according to PLC type are as follows Table 13 4 Type of di
68. alteration of SV or external disturbances D action restrains the changes of the deviation by producing MV which is proportioned with the change velocity a velocity whose deviation changes at every constant interval in order to eliminate the deviation action gives quick response to control action and has an effect to reduce swiftly the deviation by applying a large control action in the direction that the deviation will be eliminated at the earlier time that the deviation occurs D action can prevent the large changes of control object due to external conditions 2 The period of time from when the deviation has occurred to when the MV of D action become the MV of P action is called derivative time and represented as Kd 3 The D action when a constant deviation occurred is shown as Fig 2 7 Deviation Manipulation quantity in D action Manipulation quantity Fig 2 7 Derivative action with a constant deviation 4 The expression of D action is as following dE MV KpxTd dt 5 Derivative action is used only in PID action in which P and actions combine with 15 6 Chapter 15 The PID functions D action 15 2 1 4 PID action 1 PID action controls the control object with the manipulation quantity produced by 1 0 action 2 PID action when a given deviation has occurred is shown as the following Fig 2 8 Deviation PID action _ action oss P action Fig 2 8
69. ameters of each slot differ from the real loaded module configuration or a particular module is EINER EN VINT 0 to 15 eee 5 loaded onto the slot where modules cannot be loaded and indicates the lowest slot No of the detected slot numbers Thekefonofsht fom te loaded module confgatan ora parcuar mode ng Oond 5 loaded onto the slot where modules cannot be loaded and indicates the slot locations in the bit map of base units The number of slot This flag detects that module configuration of each slot has been UINT 0 to 15 where module changed that is module mounting dismounting error has been mounting dismounting occurred and indicates the lowest slot No of the detected slot error occurred numbers The location of slot This flag detects that module configuration of each slot has been R where module changed that is module mounting dismounting error has been 3E DEERRIM REO mounting dismounting occurred and indicates the slot locations in the bit map of base error occurred units The number of slot This flag detects that fuses of fuse mounted modules has broken 0098 where fuse breaks and indicates the lowest slot No of the detected slot numbers The location of slot This flag detects that fuses of fuse mounted modules has broken SEES E BTE nro 1 where fuse breaks and indicates the slot locations in the bit map of base units The number of slot This flag detects
70. apacity Check battery replacement time and the specified source reduction is not Battery time and battery capacity life indicated Change the reduction e Battery capacity reduction battery when specified should not be indicated service life is exceeded cM If fuse melting disconnection change Fuse Visual check No melting disconnection the fuse periodically because a surge current can cause heat Chapter 12 TROUBLE SHOOTING Chapter 12 TROUBLE SHOOTING The following explains contents diagnosis and corrective actions for various errors that can occur during system operation 12 1 Basic Procedures of Troubleshooting System reliability not only depends on reliable equipmentbut also on short down times in the event of faults The short discovery and corrective action is needed for speedy operation of system The following shows the basic instructions for troubleshooting 1 Visual checks Check the following points e Machine motion In stop and operating status e Power ON or OFF e Status of I O devices e Condition of wiring I O wires extension and communications cables e Display states of various indicators such as POWER LED RUN LED STOP LED and I O LED After checking them connect the peripheral devices and check the operation status of the PLC and the program contents 2 Trouble Check Observe any change in the error conditions during the following e Set the mode setting switch to the STOP position and then turn t
71. are available with GM6 CPUB and GM6 CPUC Please change the setting of EN P EN 1 and EN D by reference to the chapter 15 3 1 DUMP Replace the CPU module with GM6 CPU type is mismatched CPUB or GM6 CPUC EN I and or EN D is set as 1 when EN P is 0 1 Please be careful to input 100 times scaled up values for P GAIN and TT 2 TIME D TIME S TIME and REF are 10 times scaled up not 100 times 15 18 Chapter 15 The PID functions 15 3 3 Auto tuning function block PID6AT Input EN enable input of function block SV set value goal value data input range 0 4000 PV present value input range 0 4000 S TIME scan time input sampling interval range 0 100 RIPPLE RIPPLE select the wave form to be used for auto PID6AT EN SP tuning operation Select 1 in general case Output PV DONE Turn on whenever the auto tuning operation is completed END Turns on when the F B operation is completed with no error and keep the status until next F B execution STAT shows the error code MV the manipulated value of current loop on which the auto tuning operation is performed range 0 4000 P the proportional gain constant obtained by auto tuning operation range 0 01 100 00 the integral time constant obtained by auto tuning operation D the derivative time constant obtained by auto tuning operation 15 19 Chapter 15 The PID functions 1 80 o
72. ated TIME value is 1889 4 The range of actual input is 0 20000 6 S TIME is the period of reading data sampling and also 10 times scaled up Generally it should be synchronized with external trigger input EN input of function block to perform proper PID operation The range of sampling time is 0 1 10 seconds and actual input range is 0 100 7 REF may be useful parameter according to the control system type especially velocity pressure or flux control system The REF input is also 10 times scaled up and the actual range is 0 10 8 TT tracking time constant parameter is used to cancel anti windup operation The range of TT is 0 01 10 and the actual input range that are 100 times scaled up is O 1000 9 N high frequency noise depression ratio parameter is used for derivative control operation and shows the ratio of high frequency noise depression If there is a lot of high frequency noise in the control system select the N value as higher value Otherwise leave the N parameter as 1 The range of N is 0 10 and it is not scaled up so input the designated value directly 15 17 Chapter 15 The PID functions 15 3 2 The error code of PID6CAL F B The following table shows error codes and descriptions of PID6CAL function block CS SV is out of range Change the SV within 0 4000 MVMAN is out of range Change the MVMAN within 0 4000 Change the N within 0 1000 Only P Pl and PID controls
73. ce type transistor output Chapter 12 TROUBLE SHOOTING 12 5 Error code list STOP Error LED Cause Corrective Action code Flickerin ycle gc Contact the service center if it reactively occurs when 05 ROW err ATC rau E 6 Program memory faut Data memory faut Watch dog error due to Check and correct the memory module mounting 21 Memory module defect condition Re apply the power and if an error occurs STOP 0 4 sec replace the memory module Memory module Correctthe memory module program and re operate ES program fault the system STOP 0 4 sec 2 1 2 2 0 Replace the battery if ithas error check the program 0 Program memory after cc loading it and if an error is detected replace STOP 0 4 sec backup error the CPU module 2 3 An normal program Re load the program and start it STOP 0 4 sec Module type inconsistency error the specified modules Refertotheflags IO TYER IO DEER by parameters and the O TYER n and correct the incorrective slot and re loaded modules start the system Module mounting dismounting error Module dismounting or E 31 additional mounting M BEER A EROS DEER STOP 0 4 sec and correct the in corrective slot and re startthe system ection error Fuse disconnection 0 theflags FUSE ER FUSE ER during run _ER n and correct the in corrective slot and re tart the system 0 module read write error Refer to the 1 05 10
74. e same as computer request format e BCC When command is one of lower case y only one lower byte of the value resulted by adding 1 Byte each to ASCII values from NAK to ETX is converted into ASCII added to BCC and sent e Error code is hex and 2 Bytes ASCII code 4 Bytes which indicates type of error For the details see Appendix A2 Error Code Table 13 27 Chapter 13 Dedicated Cnet communication for GM6 5 Example of use This supposes that reading the variable registered with register No 1 in station No 1 is carried out It is also Supposed that the one registered is a named variable reading the number of blocks is 1 and the data type is DINT Computer request format Format i y ASCII vale H05 H303 H59 79 H3031 For PLC ACK response after execution of command Format Header ion Command Number of ashi Data Tail Frame name blocks check 218 ASCII H3233343232 For PLC NAK response after execution of command Frame Ex eee 2 ETX sci is 13 26 Chapter 13 Dedicated Cnet communication for GM6 13 8 Error code during occurrence for GM6 dedicated communication code H0001 PLC system error Interface with PLC impossible Power On Off Check whether another character than Error occurred when ASCII data I S H0011 Data error upper and lower cas
75. e upper part of the module for easy module replacement 2 Do not mount the PLC in a vertical or horizontal position because it affects on ventilation 3 Do not mount the base board together with a large sized electromagnetic contact or no fuse breaker which produces vibration on the same panel Mount them on different panels or keep the base board away from such a vibration source 4 Mount the wire duct as itis needed If the clearances are less than those in Fig 10 1 follow the instructions shown below e If the wire duct is mounted on the upper part of the PLC make the wiring duct clearance 50mm or less for good ventilation Also allow the distance enough to press the hook in the upper part from the upper part of the PLC e If the wire duct is mounted on the lower part of the PLC make optic or coaxial cables contact it and consider the minimum diameter of the cable 5 To protect the PLC from radiating noise or heat allow 100 mm or more clearances between it and parts Left or right clearance and clearance from other device in the left or right side should be 50 mm or 100mm or more Base uboard High voltage 100mm or more device Heat generating device X Fig 10 1 PLC mounting SOmm or more Chapter 10 INSTALLATION AND WIRING 7 SN rey relay etc 1 x 100mm m
76. e who establishes international standards in area of electric s and electronics 2 Pollution An indicator which indicates pollution degree which determine insulation performance of equipment Pollution 2 means that non conductive pollution usually occurs but temporal conduction occurs with condensing Chapter 4 CPU module Chapter 4 CPU MODULE 41 Performance specifications The following shows the general specifications of the GLOFA GM series Opine Cyc operat of red progam empr skmesn We contarmaion Sean process Ladder Diagram LD Programming language Instruction List IL Sequential Function Char SFC Www Bi meg 14 instructions Basic function block 11 Exc peal nadie Refer to Append C speed Pagamino 1 0 points 256 points Direct variable area 2 to 8 k bytes up Data memory Symbolic variable area 30 k bytes Direct variable area heel Timer No limitations in points 1 point occupies 20 bytes Time range 0 01 to 4294967 29 sec 1193 hours of symbolic variable area Counter No limitations in points 1 point occupies 8 bytes Counting range 32768 to 32767 of symbolic variable area 10 types Initialization programs 1 INIT Time driven tasks Total 8 Task The type of task is Programs Extemal interrupt tasks variable however total Operation modes R
77. ed to process a user program that is not specified to a task program e Task program processing time Total of the processing times of task programs executed during one scan e PLC internal processing time Self diagnosis time 1 0 refresh time Intemal data processing time Communications Service processing time 2 Scan time differs in accordance with the execution or non execution of task programs and communications processing etc 2 Flag 1 Scan time is stored in the following system flag area e SCAN MAX Maximum scan time unit 1 ms e SCAN MIN Minimum scan time unit 1 ms e SCAN CUR Currntscan time unit 1 ms 4 2 4 Scan Watchdog Timer 1 Watchdog timer is used to detect a delay of abnormal operation of sequence program Watchdog time is set in menu of basic parameter of GMWIN 2 When watchdog timer detects an exceeding of preset watchdog time the operation of PLC is stopped Immediately and all output is off 3 If an exceeding of preset watchdog time is expected in sequence program use WDT_RST function WDT RST function make elapsed watchdog time as zero 4 In order to clear watchdog error using manual reset switch restarting the PLC and mode change to STOP mode are available REMARK Setting range of watchdog 1 65 535ms 1ms base 4 4 Chapter 4 CPU module 4 2 5 Timer Processing The CPU module timer is on incremental timer which increase its present value according to the measuring
78. edicated Cnet communication for GM6 5 Example of use e This example supposes when 1 WORD from MW20 of station No 1 and 1 WORD from QWO0 2 1 address are read Also it is supposed that H1234 is entered in MW20 and data of H5678 is entered in QW0 2 1 Variable Variable name H255157 302E 322 Computer request format Numbe Number Comman Comman Number bee of Tail BCC d dtype of blocks data data ASCII H3132 H3536 H3031 H52 72 H5353 H3032 H3032 3334 H3032 3738 H03 For PLC NAK response after execution of command Format Header Staton Command Error code Tail BCC name No type e je qe H3031 52 72 5353 Error code 4 13 12 Chapter 13 Dedicated Cnet communication for GM6 2 Continuous reading RSB of direct variable 1 Introduction This is a function that reads the PLC device memory directly specified in accord with memory data type With this data is read from specified address as much as specified Request format el ENQ SB H06 MD100 HOS EOT Bcc ASCII H254D44 Number of data specifies the number according to the type of direct variable Namely if the data type of direct variable is double word and number of data is 5 it means that read 5 DOUBLE WORDs e BCC When command is one of lower case r only one lower byte of the value resulted by adding 1 Byte each to ASCII values from ENQ to EOT is converted into ASCII added to BCC e Name le
79. edlLink Otem Edit 0 le E AU Iu 0 a Only the High speed link 1 can set as GLOFA 422 485 network type b The setup is similar as the high speed link parameter setup with other communication modules such as Fnet module Max 64 items can be assigned The size of data block is assigned by the unit of word and the Max size is 60 words Area setup Send From 1 Q M To Q M Receive From 1 Q M To Q M 14 8 Chapter 14 The RS422 485 communication of GM6 CPUB 14 4 The status flag 1 Communication error counter flag name M422 ERR_CNT n Array Byte Type n 0 31 A Description Each byte of the M422 ERR ONT n array indicates how many times communication errors occurred at the relevant station For example the _M422_ERR_CNT 5 is the error counter of station 5 2 The error code Flag name M422 ERR n Array Byte Type n 2 0 31 A Description 0 No error 1 Timeout error 2 NAK 3 Operation mode and error of slave station name S422 STATE n Array Byte n 0 31 Description Bit 0 Indicates an error of slave PLC 0 No error 1 Error occurred Bit 1 Bit 3 Reserved Bit 4 Bit 7 Indicates the operation mode of slave PLC Bit4 STOP Bit 5 RUN Bit 6 PAUSE Bit 7 DEBUG 4 The status flag of master station name M422 STATE Byte n 0 31 Description Bit 0 Turn on when the CPU module is assigned as master station bu
80. ee ee ane Ee Deve eue dur eines 4 7 4 3 PKOQKAM te ost Sok Greed deer Ar SR EPOR IAS RU 4 9 43 1 Program Conflguratioli 1 4 9 4 3 2 Program Execution Procedures meme 4 10 43 3 NaS Kae ite nere eene exter Fb eA EA E ve ERR RN ER en EVE UTE Lx a EX M d Rs 4 13 43 4 Emror Handling sso rec eerie te etudes ree one emi ee ede nte ae BA ER 4 19 4 3 5 Precautions when using special modules 4 20 4 4 Qperation Modes ea eed tates Uic E ER 4 24 LEN AU NI Mr 4 24 AAD STOP Mde cisci cere eire Eae re Ere ra E i epe eH d eiai 4 25 44 3 PAUSE mode 4 25 444 DEBUG MOIE ceo co teo a EY Rena Eee EE MEX MERE d 4 25 4 4 5 Operation Mode Change csse mmm emnes 4 26 4 SURUNCUONS css exi one e EE 4 28 4 5 T Restart mode ie ror ect eed ete aed eL t ex d ee e ee aa Ee 4 28 E rr e o e Pr ERR E RR On HA 4 30 4 5 3 Remote NND ei iex ee eR ERE ne Ex XR Eee Ea EE UE LN NA E ELM Rage 4 31 4 5 4 110 Force On Off function cssssssssee nm mmm 4 32 4 5 5 Direct I O Operation function a mm mmm 4 33 4 5 6 External Device Error Diagnosis function 4 33 4 6 Memory Configuration n e 4 36 4 10 No Allocation Method
81. er format Number Variable Variable ofblocks length name ENO Wi fw ASCII value wann H58 78 H3031 i H3031 H3034 ELE H04 E 13 24 Chapter 13 Dedicated Cnet communication for GM6 For PLC ACK response after execution of command Fomstrame Header Station No Command Register No IEA ASCII value H3031 H58 78 H3031 For PLC NAK response after execution of command Formatname Header Command a 2 Frame Ex NAK A ETX iSc is 13 25 Chapter 13 Dedicated Cnet communication for GM6 6 Monitor execution Y 1 Introduction This is a function that carries out the writing of the variable registered by monitor register This also specifies registered No and carries out the writing of the variable registered in the No 2 Request format C Formatname Header Station No Command Registern Y ASCII value H3130 H59 79 H3146 e Register No uses the same No as the No registered during monitor register for monitor execution e BCC When main command is one of lower case y only one lower byte of the value resulted by adding 1 Byte each to ASCII values from ENQ to EOT is converted into ASCII added to BCC and sent e In computer request format register No can be set to 00 31 H00 H1F 3 Response format for PLC ACK response In case that the register forma
82. es and digits value is converted into digits has been used correct and execute again H0021 Using wrong instruction Inspect instruction H0031 Instruction type error Instruction is used in wrong type Inspect instruction type Device memory error Wrong specified device memory Inspect device type H1232 Data size error Sot S UNO SEN Correct data length ceeding 120 Bytes H2432 Data type error Data type mismatch with actual Equalize variable and data type of PLC variable program H7132 Variable request format error 90 is missing dee sana hen execute Area exceeding error 0 area exceeding error Inspect area difinition and execute again H0190 Monitor execution error Registered number exceeding range EXC ogai aner registration number to 31 or less H0290 Monitor registration error Registered number exceeding range registration number to 31 or less H6001 Syntax error 6001 Not available instruction is used H6010 Syntax error 6010 Check the system is in stop mode H6020 Syntax error 6020 Time out error Check the connection of RS 232C port H6030 Syntax error 6030 Instructino syntax error Check each frame has ENQ EOT H6040 Syntax error 6040 Text of one frame exceed 256byte Devide the text into several frames as a text does not exceed 256 byte H6050 Syntax error 6050 Check the BCC is correct 13 29 Chapter 14 The RS42
83. es one operation unit operation unit step over and stops Executed to the specified f break step is specified in the program the operation stops at those step breakpoint before execution e Up to 8 breakpoints can be specified Executed according to If the contact area to be watched and the condition Read Write Value the contact state where the operation has to stop are specified the operation stops when the specified operation occurs at the specified contact after execution Executed by the specified If the number of scan that will be operated is specified the operation stops scan number after it has operated by the specified scan number 4 Operation method 1 Execute the operation after the debug operation conditions have been set in the GMWIN 2 In task programs each task can be specified to operation enable disable For detailed operation method refer to the GMWIN User s Manual Chapter 9 4 4 5 Operation mode change 1 Operation mode change methods The following method are used to change the operation mode 1 Change by the mode setting switch of CPU module 2 Change by the GMWIN connected with the CPU module communications port 3 Change by the GMWIN connected to the remote CPU module through F net 4 Change by the user s command using FAM or computer link module etc 5 Change by the STOP function ESTOP function during program execution 2 Operation mode change by the mode setting switch
84. f PV SV setting value the designated value and PV process value present value of GM6 PID operation have the range O 4000 The range is set with the consideration of the resolution of A D and D A module of GM6 series 12 bits and offset value When setting the SV or PV please be careful convert the analog value of control object temperature velocity etc to digital value that are the output of A D convert module For example assume that PID control is used for temperature control with Pt100 operation range 0 250 C and the goal value is 100 C The equivalent digital output of A D module voltage output range 1 5V is 1600 if the A D module outputs 0 1V with O C and 4000 5V with 250 C Therefore the input of SV should be 1600 not 2 S_TIME is the period of reading data sampling and 10 times scaled up for more precious operation Generally it should be synchronized with external trigger input EN input of function block to perform proper PID operation The range of sampling time is 0 1 10 seconds and actual input range is 0 100 The GM6 CPUB and GM6 CPUC module perform auto tuning operation based on the frequency response method PID parameters are obtained by On Off operation during 1 cycle of PV variation The RIPPLE parameter shows at which cycle the CPU module will perform auto tuning operation If 0 is selected the CPU will get PID parameters during the first cycle of PV variation If 1 is selec
85. fied length 2 Request format Number of data Max 120 Bytes Number of data specifies the number according to the type of direct variable Namely if the data type of direct variable is DOUBLE WORD and number of data is 5 it means that write 5 DOUBLE WORDs e BCC When command is one of lower case w only one lower byte of the value resulted by adding 1 Byte each to ASCII values from ENQ to EOT is converted into ASCII added to BCC e Protocol of continuous writing function of direct variable has not Number of blocks e Name length of direct variable This indicates the number of name s characters that means direct variable which is allowable up to 16 characters This value is one of ASCII converted from hex type and the range is from HO1 ASCII value 3031 to H10 ASCII value 3130 e Direct variables Address to be actually read is entered in this This must be ASCII value within 16 characters and in this name digits upper lower case and only are allowable to be entered Direct variables available according to PLC type are as follows 13 20 Chapter 13 Dedicated Cnet communication for GM6 BOOL Byte WORD DOUBLE WORD LONG WORD MB QB IB MW QW IW MD QD ID ML QL IL x MB QB IB MW QW IW MD QD ID ML QL IL 3 MB QB IB MW QW IW MD QD ID ML QL IL MB QB IB MW QW IW MD QD ID ML QL IL GM5 MB QB IB AMW QW IW MD QD ID ML QL IL
86. h setting No Received 1 Station No APP2 MD Description e Communications module 0 5 version No e Indicates the number which is set on communications module station switch Mnet MAC station No marked on the front of communication module Fnet Station switch No marked on the front of communications module Cnet Station No set by the frame editor _CnSTNOH Station No set on the side of RS 232C CnSTNOL Station No set on the side of RS 422 e Increments by one whenever sending error of communications frame occurs e Connection condition of network is evaluated by this value e In Cnet this value is the sum of errors occurred during receiving through RS 232 and RS 422 e Increments by one whenever communications service fails e Connection condition of network is evaluated by this value Overall network communications quantity and program stability are also evaluated by this value service e Indicates the maximum time that is spent until every station connected to network has the token at least one time and sends a sending frame Indicates the average time that is spent until every station connected to network has the token at least one time and sends a sending frame Indicates operation state of communications module with a word Indicates that operation mode of communications module is in the normal operation mode or test mode e Indica with 0 es that the communications module can com
87. h speed link 5 Direct variable area The user can use this area to access direct memory data through the variable names such as MX0 MBO MWO MDO which was pre defined by the system Memory size is defined when program is made by user and it refers to App1 System Definitions 6 Symbolic variable area It used to store the variables that the user created that is whose names the user defined when writing a program Global variables and instance memory are located in this area The variables used in program blocks locates in the PB instance memory of the program and the memory used in function block locates in the FB instance memory The maximum size of the PB instance memory is 32 Kbytes If the used size overruns the maximum size divide the program blocks or use global variables Chapter 4 CPU module 4 1 0 No Allocation Method 1 110 No allocation means to give an address to each module in order to read data from input modules and output data to output modules 2 Fixed 64 points are allocated to each module for I O points 3 Fixed 64 points are allocated regardless of mounting dismounting or type of modules 4 The following shows I O No allocation method Input X 0 0 0 Output Q X 0 1 15 Contact number on 1 0 module Slot number of Base 0 7 Base number 2 0 1 REMARK 1 Although there is no expansion base A base having more than 8 1 0 slot which has a plan to develop
88. hat occurs the PLC system error are given as followings e PLC hardware defect e System configuration error eOperation error during execution of the user programs e External device malfunction 2 Operation mode at error occurrence In case of error occurrence the PLC system write the error contents the corresponding flags and stops or continues its operation complying with its operation mode 1 PLC hardware defect The system enters into the STOP state if a fatal error such as the CPU module defect has occurred and continues its operation if an ordinary error such as battery error has occurred 2 System configuration error This error occurs when the PLC hardware configuration differs from the configuration defined in the Software The system enter into the STOP state 3 Operation error during execution of the user programs If the numeric operation error of these errors occurs during execution of the user programs its contents are marked on the error flags and the system continues its operation If operation time overruns the watch dog time or I O modules loaded are not normally controlled the system enters into the STOP state 4 External device malfunction The PLC user program detects malfunctions of external devices If a fatal error is detected the system enters into the STOP state and if an ordinary error is detected the system continues its operation 1 In occurrence of a fatal error the state is to be stored in the repre
89. he dedicated Cnet communication for GM6 does not support all functions of Cnet there are some limitations as following comparison with using Cnet module 1 At the pressing time the RS 422 protocol is not supported Only RS 232C protocol is supported RS422 protocol will be available with the next version of GM6 CPU 2 Only the 1 1 communication is available The 1 N communication multi drop which have Master amp Slave Station will be available with the next version of GM6 CPU 3 Because the GM6 CPUA module has only one serial port supports RS 232C the general RS 232C cable can not be used Also the cable for Cnet module can not be used with GM6 CPUA module See the chapter 13 3 of this manual for the detailed pin assign for GM6 CPUA module Chapter 13 Dedicated Cnet communication for GM6 13 2 The example of system configuration Generally the system configuration have two types the 1 1 communication with PC and the connection with monitoring device like PMU The configuration when connected to PC With this configuration the communication program of PC can be a user s own program written in C or other programming language or a commercial software like FAM or CIMON GLOFA PLC GM6 Compatible PC RS 232C Interface The example of 1 1 connection Cnet connection with PC The configuration when connected to PMU GLOFA PLC GM6 PMU LGIS RS 232C Interface The example of 1 1 connec
90. he power ON and OFF 3 Narrow down the possible causes of the trouble Deduce where the fault lies i e e Inside or outside of the PLC 1 0 module or another module e PLC program 12 2 Troubleshooting This section explains the procedure for determining the cause of troubles as well as the errors and corrective actions for the error codes Occurrence of error yA Is the power LED turned OFF Flowchart used when the POWER LED is tumed OFF Is the stop LED flickering Flowchart used when the STOP LED is flickering Flowchart used when the RUN and STOP LED is tumed OFF Are the RUN and STOP LED turned OFF module dose not operate properly Flowchart used when the output load of the output module dose not turn on Program cannot be written Flowchart used when a program cannot be written to the PLC Chapter 12 TROUBLE SHOOTING 12 2 1 Troubleshooting flowchart used when the POWER LED turns OFF The following flowchart explains corrective action procedure used when the power is all lied or the POWER LED turns OFF during operation Power LED is turned OFF singly operatig Apply the power supply Does the Power LED turn ON See the supply power to within the rated power Does the Power LED turn ON Replace the fuse Does the Power LED turn ON Is the power supply module Fix the power supply module correctly Fixed to the base Does the Power LED turn ON 1 Eliminate the excess curre
91. he setting value and the output contact Q turns off 4 7 Chapter 4 CPU module 3 Increment Decrement Counter e Itshould have Increment inputcondition CU Decrement input condition CD load LD and setting value PV BOOL BOOL INT e f reset signal R turns on counting value CV is set to 0 If load signal LD turns on counting value is set to setting value PV e tis increased by lat the rising edge of increment input CU and decreased by 1 at the edge of decrement input CD If counting value CV is equal or larger than setting value PV QU will be on and if counting value CV is equal or less than setting value PV QD will be on 2 Counting speed e The counting speed is decided by scan time and it will be counted when on time or off time of input condition is larger than each scan time Max Counting speed Cmax 2n 100 x 1 6 s n Duty ts scan time s e Duty is percent of on time off time on La PT Tl lt T2 n T1 T1472 x 100 T1 D T2 n2 T2 T14T2 x 100 4 8 Chapter 4 CPU module 4 3 Program 4 3 1 Program Configuration A program consists of all of the function elements that is needed to execute a particular control It is to be stored in the internal RAM of the CPU module or the flash memory of the memory module The function elements are classified as below Function Processing Operation e Executed when the power is applied or the CPU operati
92. he settings in the FSMn_st_no BIT _FSMn_io_reset Fnet Remote 1 0 station digital output Requests output reset for remote 1 0 station Write is enabled reset Request can be done individually or wholly complying with the settings in the FSMn_st_no _FSMn_hs_reset Fnet Remote 1 0 station high speed f a momentary power failure occurs in the remote 0 station the operation link information initialization mode bit of high speed link information turns off and link trouble has the value 1 If the bit is turned on to clear that bit the operation mode bit turns on and ink trouble is cleared with 0 e Request can be done individually or wholly complying with the settings in the FSMn_st_no Mn_st_no stations where e Sets the numbers of 1 0 stations where FSMn_reset FSMn io reset and FSMn reset FSMn io reset FSMn hs reset will be executed Write is enabled and FSMn hs reset will be 00to 63 sb individual station No setting executed Write is enabled 255 Whole station No setting 2 Detailed High Speed Link Information Flag List _HSmRLINK Bit Fnet Mnet High speed link RUN link Indicates that all stations are normally operating complying with the parameter information set in the high speed link This flag turns on under the following conditions 1 All stations set in the parameter are in the RUN mode and have no error and 2 All blocks set in the parameter normally communicate and 3 The parameter
93. iable specification information area 2 Data memory Configuration The table given below shows the contents to be stored and the storage capacity of program memory Memory Capacity Overall data memory area 32 k bytes System area 1k bytes e O information table e Force 1 0 table System flag area 1 5 k bytes Input image area IX 128 bytes Output image area QX 128 bytes Direct variable area M 2 to 8 k bytes Symbolic variable area maximum 29 k bytes the size of direct variable area Stack area 3 k bytes Chapter 4 CPU module 3 Purpose 1 System area it used to store the self created data of the CPU module for system management and GMWIN system control data 2 System flag area it used to user flags and system flags The user operates it with flag name 3 Input image area It used to store input data read from input modules Overall size is 1X0 0 0 to 961X1 7 63 The redundant area Actual input module is not installed can be used as auxiliary relay in user program Especially it is convenient to use the data storing area of remote input through high speed link 4 Output image area It used to store operation results The stored data are automatically output to output modules Overall size is QX0 0 0 to QX1 7 63 The redundant area Actual output module is not installed can be used as auxiliary relay in user program Especially itis convenient to use the data storing area of remote output through hig
94. ies the execution of task programs can be partly perverted For program protection use the DI function Task program start up disable or EI function task program start up enable 3 Time driven task program processing method The followings explain the processing method of a task program when its task condition start up condition has been setto be driven by time 1 Settings that have to be set for the task e Set the task execution cycle and its priority which are used as start up conditions for the task programs to be executed Priority number will be assigned as task number automatically 2 Time driven task processing e The corresponding time driven interrupt task program will be executed every setting time internal execution cycle 3 Precautions for using the time driven task program e While a time driven task program is being executed or ready for its execution if a same priority task program has been invoked to be executed the newly invoked task will be ignored the representative task collision warning flag TASK ERR will be set to ON the detailed system error flag TC BMAP n will be set to ON at its corresponding location and occurrence time of the time driven tasks whose execution requests have been ignored will be written at its corresponding location of the flag TC CNTI n e The timer that invokes the execution request for time driven task programs will be incremented only when the operation mode is in the RUN mode If the RUN mode
95. ime and represented as Ki e Integral action when a constant deviation has occurred is shown as the following Fig 2 4 Deviation _ MN of P action 1 action MV of 1 acton MV ime Fig 2 4 The integral action with constant deviation 4 The expression of action is as following K MV 22 Ti As shown in the expression Integral action can be made stronger or weaker by adjusting integration time Ki in action That is the more the integration time the longer the integration time as shown in Fig 2 5 the lesser the quantity added to or subtracted from the MV and the longer the time needed for the PV to reach the SV As shown in Fig 2 6 when the integration time given is short the PV will approach the SV in short time since the quantity added or subtracted become increased But If the integration time is too short then oscillations occur therefore the proper P and value is requested 15 4 Chapter 15 The PID functions 5 Integral action is used in either PI action in which P action combines with action or PID action in which P and D actions combine with action Time Fig 2 5 The system response when a long integration time given Fig 2 6 The system response when a short integration time given 15 5 Chapter 15 The PID functions 15 2 1 3 Derivative operation D action 1 When a deviation occurs due to
96. in input current effective value for AC A E input voltage actual operating voltage V 6 Power consumption of the special module power supply e Ws 5 lay X 24 lg x 100 W The sum of the above values is the power consumption of the entire PLC system W Woy Wey Woay Wout We W Check the temperature rise within the control panel with calculation of that total power consumption W The temperature rise in the control panel is expressed as T W UA C W Power consumption of the entire PLC system obtained as shown above A Control panel inside surface area m2 U 6 ifthe control panel temperature is controlled by a fan etc 4 if control panel air is not circulated Chapter 10 INSTALLATION AND WIRING 10 1 2 Handling Instructions To installing the temperature measuring resistor input module be sure to check the following e Do not drop it off and make sure that strong shock should not be applied e Do not unload the PCB from its case It can cause faults e During wiring be sure to check any foreign matter like wire scraps should not enter into the upper side of the PLC If any foreign matter has entered into it always eliminate it e Do not load or unload the module while the power supply is being connected 1 I O module handling instructions The followings explains instructions for handling or installing the input module 1 1 0 module specifications re check Re check the input v
97. ing the actuator model As shown in the Fig 2 13 the anti windup system feedback the multiplication of gain 1 Tt and Es to the input of integral term The Es is obtained as the difference value between actuator output U and manipulation value of PID controller MV The Tt of the feedback gain is tracking time constant and it is in inverse proportion with the resetting speed of integral term Smaller Tt will cancel the windup of actuator faster but too small Tt can cause anti windup operation in derivative operation The Fig 2 14 shows several Tt value and PV in the PI control system B id Actuator model U T Actuator Time Fig 2 14 The PV output characteristics with different Tt values 15 12 Chapter 15 The PID functions 15 2 2 Realization of PID control on the PLC In this chapter it will described that how to get the digitized formula of the P I and D terms Then the pseudo code of PID control will be shown 15 2 2 1 P control The digitized formula of P control is as following P n K bx SV n PV n n sampling number K proportional gain constant b reference value SV set value PV present value 15 2 2 2 I control The continuous formula of control is as following K rt 1 Zr e s ds I t integral term i K proportional gain constant Ti integral time e s deviation value By deviation about t we can obtain dia LU e SV PV deviation value dt Ti
98. into the holder in the exact direction and connect the connector Stop LED flickering Yes Complete Battery error Chapter 6 MEMORY MODULE Chapter 6 USING THE USER PROGRAM IN FLASH MEMORY This chapter describes user program storage and operation it Flash memory is used to store a user program and installed in PLC Dip switch for operation Flash memory 6 2 How to use Read Write is available to flash memory in accordance with selection of DIP switch Selection of DIP switch for flash Operation memory perang PLC is operated by the program in flash memory when power on or PLC reset PLC recognize that no program is in flash memory Caution Lower switch should be at the off position User program can be written to flash memory at the PLC stop mode and then the selection of switch is ignored Chapter 7 INPUT AND OUTPUT MODULES Chapter 7 DIGITAL INPUT AND OUTPUT MODULES 7 1 Notes on Selecting Input and Output Modules The followings describe instructions for selection of digital 1 0 modules that will be used in the GLOFA GM6 series 1 The types of digital input are current sink input and current source input When selecting DC input modules consider the specifications of those input devices as the wiring method of the external input power supply varies complying with the type of digital input In the GM6 series the types are dedicated source input and source sink c
99. ion of DT type into TOD type 12 R j 12 8 48 5 8 jp 16 16 DT TO STRING Conversion of DT type into string 524 9 P a 3 1D 16 R 68 205 9 gt o 446 9 12 NI mR co ml DWORD TO WORD Conversion of DWORD type into WORD type INT TO DINT Conversion of INT type into DINT type 129 9 INT TO BCD Conversion of INT type into BCD type NUM TO STRING in Conversion of number into string 159 9 SINT TO BCD Conversion of SINT type into BCD type 138 2813 STRING TO INT CONCAT To concatenate strings 28 DELETE To delete string 298 Equaliy comparison X 78 To find string 4 32 To inserta sting e ee To obtain the left part of a string 56 19 To obtain the length of a string 16 48 8 76 CO O Co e a Uy Co Lo S e oon Ae LO o o wo Conversion of string into INT type N N wo S Co CO FIND INSERT LEFT Dl O LIMIT str MAX str To output upper or lower limits To output the maximum input value To obtain the middle part of a string 64 23 REPLACE To replace a string with another 97 9 12 12 12 12 8 12 12 52 12 12 20 26 16 16 64 3 2 REMARK
100. ions Base OSlot 0 0 Parameter Type Select Paints aras MODULE gt Cancel Help lt I O Parameters Setting List Keywords Description Applicable Modules DC input DC input module G6l D22A 16 points 6l D24A 32 points G6l D22B 16 points 661 0248 32 points G6I A11A 8 points G6F AD2A 4 channels G6F DA2V 4channels voltage type G6F DA2I 4channels current type module GLOFA Fnet GLOFA Fnet G6l D22A 16 points 61 024 32 points G6l D22B 16 points G6lI D24B 32 points G6l A11A 8 points G6l A21A 8 points DEF 0 All output modules G6Q RY2A 16 points G6Q SS1A 8 points G6Q TR2A 16 points G6Q TR4A 32 points DEF IO All mixed I O modules CC O special modules e All communications modules DEF MODULE All modules input modules output modules mixed 1 0 modules special modules communications modules DEF EMPTY Empty sit Pees ed APP1 4 Appendix 1 System definitions 3 Communications Parameters These high speed link parameters are used to set the opposite station for data communications data and communications cycle when communicating a defined data repeatedly through communication modules For detailed descriptions refer to the User s Manual relating to data communications High Link 1 Set fete C GLOFA Mnet Cancel C GLOFA Enet Help GLOFA Fdnet Network GLOFA Fdnet Cable C GLOFA Dnet Slot
101. ke t only one lower byte of the value resulted by adding ASCII values from ACK to ETX is converted into ASCII added to BCC and sent When main command is upper case like t BCC is not used e Number of data means Byte number of hex type and is converted into ASCII This number is determined by multiplying the data number of computer request format by the data size in below Table according to memory type B W D L included in direct variable name of computer request format 13 14 Chapter 13 Dedicated Cnet communication for GM6 Table 13 7 Available direct variables iia Available direct variable Number of data Byte B MB QB IB 1 WORD W AMW QW 6IW P M L K F T C D 5 W DOUBLE WORDID BND 600 10 1 When memory type included in direct variable name of computer request format is W WORD and data number of computer request format is 03 data number of PLC ACK response after execution of command is indicated by e n data area the value converted from hex data to ASCII code is entered Ex 2 In just above example when data contents of 3 WORDs are 1234 5678 and 9ABC in order actual ASCII code converted values are 31323334 35363738 39414243 and the contents is to be entered in data area 4 Response format for PLC NAK response Format Error code Header Command Command type Tail Dane station o command Command type Hex 2 Bytes EE ASCII H15 H3130 H52 72 H5342 H31313332 H03 NE
102. le Selection of the power supply module is determined by the total current consumption of digital input modules Special modules and communications modules etc whose powers are supplied by the power supply module If total load overrun the rated output capacity the system will not normally operate When configuring a system select a power supply module with due consideration of current consumption of each module 1 Current consumption GM6 series modules unit mA Current Current Consumption Consumption GM6 CPUA 170 G6Q TR2A 180 ensce m Transistor output 45 G6I D21A G6Q TR4B 1 G6l D22A A D conversion module G6F AD2A module D A conversion module High speed counting G6l A11A 35 G6L CUEB 140 Computer link module module Relay output module Fnet I F module Triac output module G6Q SS1A G6L DUEA Positioning module G6F POPA Dnet I F module G6L DSIA 8 1 Chapter 8 POWER SUPPLY MODULES 8 2 Specifications GM6 PAFA GM6 PAFB GM6 PDFA GM6 PD3A Input 50 60 Hz 47 to 63 Hz Input curent current 0 7 0 35A 0 7 0 35 A 1 5A 12VDC 0 7A 24VDC Input 30 A or less 40A or less Efficiency 70 or more rated load 110 220 VAC 60 or more rated input rated load Input fuse 250 VAC 2A 250VAC 3A Allowable momentary 20 ms or less Ims or less power failure Output voltage 5 VDC Output Output current 5VDC 2A 5 VDC 2 2 A or more protection Output voltage 24 VDC 1
103. le S ciere ree E 16 16 5 Programming 16 16 6 16 51 Function block F B dein cu eee fedet ates 16 16 6 Chapter 16 Built in high speed counter of GM6 CPUC 16 Built in high speed counter of GM6 CPUC 16 1 Introductions This chapter describes the specification handling and programming of built in high speed counter of GM6 CPUC module The built in high speed counter of GM6 CPUC Hereafter called HSC has the following features 3 counter functions as followings 1 phase up down counter Up down is selected by user program 1 phase up down counter Up down is selected by external B phase input 2 phase up down counter Up down is automatically selected by he phase difference between phase A and B Multiplication 1 2 or 4 with 2 phase counter 2 phase pulse input multiplied by one Counts the pulse at the leading edge of phase A 2 phase pulse input multiplied by two Counts the pulse at the leading falling edge of phase A 2 phase pulse input multiplied by four Counts the pulse at the leading falling edge of phase A and B Chapter 16 Built in high speed counter of GM6 CPUC 16 2 Performance specifications Phase A Phase B Preset Input signal Rated level 24VDC 13mA Signal type Voltage input 0 16 777 215 Binary 24 bits Max counting speed 50k pps Sud Sequence program or B phase input own selection Aut
104. le falls down below the defined value When the CPU module detects any momentary power failure the following operations will be executed 1 Momentary power failure within 20 ms 1 The operation processing is stopped with the output retained D 2 The operation processing is resumed when normal status is restored 3 The output voltage of the power supply module retains the defined value Momentary power failure within 20 ms 4 The watch dog timer WDT keeps timing and interrupt timing normally while the operations is at a stop 2 Momentary power failure exceeding 20 ms The re start processing is executed as the power is applied Sewn input power Momentary power failure exceeding 20 ms REMARK 1 Momentary power failure The PLC defining power failure is a state that the voltage of power has been lowered outside the allowable variation range of it The momentary power failure is a power failure of short interval several to tens ms 4 3 Chapter 4 CPU module 4 2 3 Scan Time The processing time from a 0 step to the next0 step is called scan time 1 Expression for scan time Scan time is the addition value of the processing time of scan program that the user has written of the task program processing time and the PLC internal processing time 1 Scan time Scan program processing time Task program processing time internal processing time Scan program processing time The processing time us
105. lue E302E30 16 For PLC ACK response after execution of command name E ASCII H06 H3031 H57 77 H5342 H03 value For PLC NAK response after execution of command eer Header et Command Command type Error code Tail Frame check Frame Error code 2 Ex value 13 22 Chapter 13 Dedicated Cnet communication for GM6 5 Monitor register X 1 Introduction Monitor register can separately register up to 32 in combination with actual variable reading command and carries out the registered one through monitor command after registration 2 Request format Frame Ex value ENQ H10 X x H1F See register format EOT BCC e BCC When command is one of lower case x only one lower byte of the value resulted by adding 1 Byte each to ASCII values from ENQ to EOT is converted into ASCII added to BCC and sent e Register No This can be registered up to 32 0 31 H00 H1F and if an already registered No is registered again the one of current execution is registered e Register format This is used to before EOT in command of formats of separate reading of direct variable continuous reading and named variable reading X Register format Register format of request formats must select and use only one of the followings Q Separate reading of direct variable Number of blocks 2 Bytes Variable length 2 Bytes Variable name 16 Bytes 2 1 block Max 4 blocks Continuous reading of di
106. municates IN_RING 1 her station or not Indicates that interface with communications modules has been stopped ndicates that service cannot be offered due to insufficient common RAM ndicates communications module hardware defect or system 0 5 error ndicates whether k remote station or local PLC is connected to the network or not The state value is written to each bit These values shows present state of the network Write is disabled ndicates re connected stations which had been disconnected before on a bitmap Because this value has been replaced with I when re connected the user program has to clear this value with 0 so that next re connection can be detected Write is enabled When a receiving frame is received through RS 232C while the part of RS 232C in Cnet is operating in the user defined mode the bit corresponding to setting No is turned ON If RCV_MSG F B has read that that bit will be cleared with 0 When a receiving frame is received through RS 422 while the part of RS 232C in Cnet is operating in the user defined mode the bit corresponding to setting No is turned ON If RCV_MSG F B has read that that bit will be cleared with 0 7 Appendix 2 Flag List 1 Communications Module Information Flag List continued a ue 0 _FSMn_reset BIT Fnet Remote 1 0 station S W reset Requests reset for remote 1 0 station Write is enabled Request can be done individually or wholly complying with t
107. n condition has been satisfied by a time driven task or event driven task module during scan program execution the program that is under execution will be temporary stopped and the corresponding task program will be executed e f the scan program has been completely executed the single task internal interrupt execution condition will be checked and the corresponding task program will be executed 2 configuration e Up to 100 scan programs can be used If task programs are used the usable number is reduced as many as that of the used task programs e Program has been not specified to initialization or task program when writing that program it will be automatically specified to scan program e Scan program has lowest execution priority and the priorities of scan program are determined their registration sequence in the GMWIN screen when writing those programs Chapter 4 CPU module 3 Task program 1 Function e n order to process internal external signal which occurs periodically or non periodically the task program temporarily stop the operation of scan program and processes first the corresponding function 2 Types e Task programs are classified into the three types as below Time driven task program Up to 8 programs are applicable Single internal task program Up to 8 programs are applicable gt Interrupt external task program Up to 8 programs are applicable e Time driven task program gt The program is executed
108. n scan time range 0 1 10 REF the reference value range 0 1 1 TT tracking time constant range 0 01 10 00 N high frequency noise depression ratio range 1 10 Output DONE completion flag of PID operation MV output manipulation value range 0 4000 STAT error code output MAX shows MV is limited with maximum value Q MIN shows MV is limited with minimum value 15 16 Chapter 15 The PID functions 1 SV setting value the designated value and PV process value present value of GM6 PID operation have the range 0 4000 The range is set with the consideration of the resolution of A D and D A module of GM6 series 12 bits and offset value 2 The BIAS data is used for the compensation of offset in the proportional control 3 In GM6 CPUB and GM6 CPUC only the following 4 operation modes are available Other operation modes such as PD or l are not permitted 1 0 disable 0 disable 0 disable On Off operation 4 The GM6 CPU module can handle only integer not the floating point type Therefore to enhance the accuracy of PID operation the PID6CAL function block is designed to input the P GAIN data as the 100 times scaled up For example if the designated P GAIN is 98 actual input data of P GAIN should be 9800 If the designated P GAIN is 10 99 input 1099 to the P GAIN 5 TIME and D TIME are 10 times scaled up For example input 18894 if the design
109. n values of P I and D action is described as following equations Ep bx SV PV Ei SV PV Ed PV The b of the first equation is called as reference value It can be varied according to the load disturbance of measurement noise PID controller Fig 2 10 Diagram of simple feedback system 15 9 Chapter 15 The PID functions The figure 2 11 shows the variation of PV according to the several different reference values b As shown in the Fig 2 11 the small reference value produces small deviation value and it makes the control system response be slow In general control system is required to be adaptable to various external internal changes Especially it should shows a stable transient response with the sudden change of the SV to be robust to load disturbances and or measurement noise Time Figure 2 11 The Pl control with several reference values 15 2 1 7 Integral windup All devices to be controlled actuator has limitation of operation The motor has speed limit the valve can not flow over the maximum value When the control system has wide PV range the PV can be over the maximum output value of actuator At this time the actuator keeps the maximum output regardless the change of PV while the PV is over the maximum output value of actuator It can shorten the lifetime of actuator When the control action is used the deviation term is integrated continuously It makes the output of contr
110. nal screws Change rate of input voltage 15 to 15 Hold it with the allowable range Spare parts Check the number of spare parts Cover the shortage and improve the storage and their storage conditions condition 11 2 Daily Inspection The following table shows the inspection and items which are to be checked daily Lem tae o men TE Screws ze m extension cable terminals Correct feo Chek atte LED uns OW ad OFF 7 ON when output is ON Output LED Check that the LED tums ON and OFF OFF when output is OFF ee Chapter 11 MAINTENACE 11 3 Periodic Inspection Check the following items once or twice every six months and perform the needed corrective actions Check Items Checking Methods Corrective Actions Ambient Measure with thermometer Ambient humidity and hygrometer Measure 5 to 95 RH environment corrosive gas j Ambience g There should be no corrosive gases Looseness Move the unit The module should be play mounted securely im duse of Retighten screws foreign Visual check No dust or foreign material material Loose Screws Connecting Distance conditions between Visual check Proper clearance Correct terminals Loose Visual check Connectors should not be Retighten connector connector loose mounting screws 85 264VAC GM6 PAFA B 10 20 i E 10 5 28VDC GM6 PDFA Change supply power 20 28VDC GM6 PD3A e Check total power failure If battery c
111. nd their mounting conditions Processing the communications service or other internal operations Execution of output refresh The RUN mode is maintained Is the operation mode changed Changed into another mode Operation with the operation mode changed 1 Processing when the operation mode changes Initialization of data area is executed when the first scan starts 1 If the PLC is in the RUN mode when applying the power 2 If the operation mode has been changed into from the STOP mode into the RUN mode the initialization is executed complying with the restart mode set cold warm 3 The possibility of execution of the program is decided with check on its effectiveness 2 Operation processing contents 1 0 refresh and program operation are executed 1 Task programs are executed with the detection of their start up conditions 2 Normal or abnormal operation and mounting conditions of the loaded module are checked 3 Communications service or other internal operations are processed 4 24 Chapter 4 CPU module 4 4 2 STOP mode In this mode programs are not operated 1 Processing when the operation mode changes The output image area is cleared and output refresh is executed 2 Operation processing contents 1 1 0 refresh is executed 2 Normal or abnormal operation and mounting conditions of the loaded module are checked 3 Communications service or other internal operations are processed 4
112. ne If tasks are invoked more frequently than necessary or several tasks are invoked simultaneously within one scan the scan time become longer and irregular In case that the task setting cannot be changed check the maximum scan time 2 Task priorities are properly arranged The lower priority tasks still may not be processed after its time due to delay by higher priority tasks In some cases if the prior tasks have been delayed and next task occurs task collision can occur Set the priority with due consideration of items such as urgency and execution time of a task 3 Task programs are written as shortly as possible If execution time of a task program is long the scan time may become longer and irregular and also collision of task programs may occur Therefore write task programs as shortly as possible 4 Protection of lower priority programs against higher priority program isn t needed during execution of those programs If the priority of a task program or a scan program has been set to lower priority and other tasks must not interrupt during its execution use the function DI and El to protect the program partly When processing global variables used commonly in other programs special modules or communications modules problems can occur 1 For examination on processing speed of scan program and task program refer to the Scan time Calculation Example in the Section 4 2 3 Scan Time Chapter 4
113. ngth of direct variable This indicates the number of name s characters that means direct variable which is allowable up to 16 characters This value is one of ASCII converted from hex type and the range is from HO1 ASCII value 3031 to H10 ASCII value 3130 e Direct variables Address to be actually read is entered in this This must be ASCII value within 16 characters and in this name digits upper lower case and only are allowable to be entered Continuous reading of direct variables available according to PLC type are as follows 13 13 Chapter 13 Dedicated Cnet communication for GM6 Table 13 6 Readable continuous variable area wow f _DOUBLEWORD LONG WORD GM1 MB QB IB AMW QW IW MD QD ID ML QL IL GM2 MB QB IB MW QW IW MD QD ID ML QL IL MB QB IB MW QW IW MD QD ID ML QL IL MB QB IB MW QW IW MD QD ID ML QL IL GM5 MB QB IB MW QW IW MD QD ID ML QL IL GM6 MB QB IB MW QW IW MD QD ID ML QL IL 3 For PLC ACK response after execution of command Format Header Command Command Number Tail name type of data Frame H112233445566778899AABBC OT H313132323333343435353636 ASCII 3737383839394141424243434 value iM E s n 4444545464631313232333334 Dd 343535 e Station number main commands and type of command are the same as computer request format e BCC When main command is lower case li
114. nication for GM6 4 Response format for response pd Error code Format name Header Command Hex 2 Bytes Frame Ex SS H4252 ETX ASCII value a aes iUm H5353 H34323532 e Station number commands and type of command are the same as computer request format e BCC When command is one of lower case w only one lower byte of the value resulted by adding 1 Byte each to ASCII values from NAK to ETX is converted into ASCII added to BCC and sent e Error code is hex and 2 Bytes ASCII code 4 Bytes which indicates type of error For the details see Appendix B Error Code Table 5 Example of use This supposes that HOOFF is written in MW230 address Computer request format Format Ld C d Number of eres Variable Tail BCC name blocks name al length ENQ Ho1 55 MW230 HOOFF EOT BCC m H254D573 H303046 EMITE H3031 H57 77 H5353 H3031 H3036 23330 PLZ For PLC ACK response after execution of command mms mm mE de ASCII H06 H3031 H57 77 H5353 H03 value For PLC NAK response after execution of command ae Header sea Command Command type Error code Tail Frame Error code 2 ETX BCC Ex value 13 19 Chapter 13 Dedicated Cnet communication for GM6 4 Continuous writing of direct variable WSB 1 Introduction This is a function that directly specifies PLC device memory and continuously writes data from specified address as much as speci
115. nly the resource 0 6 Unable to Pause by mode setting switch e Set When switch mode is changed from run to pause remote RUN gt PAU REM PLC is operated as Local Pause mode e Default do not se When switch mode is changed from run to pause remote RUN gt PAU REM PLC is operated as Remote RUN mode APP1 2 Appendix 1 System definitions 2 1 0 Configuration Parameters These parameters are used to set the configuration of a system that will be operated They set the modules that will be mounted and operated onto their own slot in the base unit If a parameter that has been set and the real mounted module are different the operation will not be executed When writing a new project I O configuration parameters will be all set to default DEF MODULE If 1 0 configuration parameters are set to default the operation starts on the basis of the configuration of the real mounted module when the power is applied Therefore though a power failure had occurred during normal operation or the system configuration had been changed due to slip out of a mounted module operation starts and continues when the power has been re applied because the system considers that it is a normal operation state To prevent this error be sure to set correctly the 1 0 configuration parameters complying with the real modules that shall be mounted and operated Base 0 0 Parameter I Hi TS I m E E I APP1 3 Appendix 1 System definit
116. not k Station No abnormal 0 Fnet Mnet K Data Block communications ndicates that communications of the K data block of parameters are normally k 0 to 63 y state information Normal 1 operating as set or not APP2 8 Appendix 3 Function Function Block List Appendix 3 Function Function Block List 1 Function List Size of Processing speed i byte em ASQ 12 An FAND word 18 SC 1 43 Division pe 3 EQ in comam 23 S To outputthe maximum inputvaue 48 738 129 WovE Tonp t 7 19 WU Mui 69 PMUL in Mutpication X 35 9 RO Temweet 180 97 BCD TO DINT Conversion of BCD type into DINT type 1 213 9 4 2 BCD TO INT Conversion of BCD type into INT type 111 9 BCD TO SINT Conversion of BCD type into SINT type BYTE TO SINT Conversion of BCD type into SINT type DATE TO STRING Conversion of DATE type into string DINT TO INT Conversion of DINT type into INT type DINT TO BCD Conversion of DINT type into BCD type DT TO DATE Conversion of DT type into DATE type DT TO TOD Convers
117. ns RS 232C communication RTC PID HSC G6l D21A e8 point 12 24 VDC input module current source amp sink input 6 0224 66 0228 Digtal input module 66 0284 G6 0248 CPU module GM6 CPUB GM6 CPUC e G6l A11A G6l A21A G6Q RY2A 16 outputmodule 2A G6Q TR2A 16 point transistor output module 0 5A sink output Digital output module G6Q TR2B 16 point transistor output module 0 5A source output 37 poirt tarsi e 32 point transistor output module 0 1A source output G6Q SS1A e 8 point triac output modulet GM6 B04M e Upto 4 1 0 modules can be mounted Se 1 GM6 B08M eUpto8lO modulescanbemounted f GM6 PAFA Free Voltage 5 VDC 2A 24 VDC 0 3A 1004 Je5VDC 2A M6 PAFB Power supply module 240VAC Je 15VDC 0 5A 15VDC 0 2A GM6 PD3A DC24V 5VDC 2A GM6 PDFA DC12 24V 2 2 Chapter 2 SYSTEM CONFIGURATION Description conversion e Voltage current input 4 channels Se e DC 10 to 10V DC 20 to 20 mA Voltage output 4 channels G6F DA2V D A conversion e DC 10 to 10V module e Current output 4 channels Special modules G6F DA1A Girona DC 4 to 20 mA High speed G6F HSCA l Counting range 0 to 16 777 215 24 bit binary counter module e 50 kHz 1 channel G6F POPA Pulse output 2 axes control module e For Fnet I F Fnet I
118. ns The following table show the types and functions of tasks Time driven task External interrupt task Internal interrupt task Numer Time driven interrupt Start up condition up to 4 294 967 29sec by the 10msec The rising edge or on Atthe rising edge of input state of the BOOL variable contact on the designated slot data which has been specified of buffer data Immediately executed when Executed with edge detection after scan an edge occurs in the has interrupt module program nas geen finished Maximum 1msec delay E Delayed for the same time Detection delay time Up to 1msec delay Input E UM Level 0 to 7 Execution priority Level 0 has highest Level 0 to 7 Level 0 to 7 priority 1 Up to 8 task programs are available Detection and Executed periodically execution as setting time 2 Task program processing Method The following explains the common processing method and instructions for task programs 1 Task program characteristics e The task program will be executed when a execution condition is satisfied while the scan program is repeatedly processed at every scan Be sure to consider that point when writing a task program e For example if a timer and a counter have been used in a 10 sec cycle time driven task program the timer can occur up to 10 sec error and an input which has been changed within 10 sec will not be counted because the counter checks its input statu
119. nse frame NAK Header H15 Not acknowledge Start code of NAK response frame rri Tail HM End of text End ASCII code of request frame ETX Tail End Text End ASCII code of response frame Chapter 13 Dedicated Cnet communication for GM6 Numerical data of all frames is ASCII code of hex value as long as there is not any definition The contents that is indicated into hex decimals are as follows Station number Command type in case that command type is numerical means data type when main commands are R r and W w All items indicating data size of data area structurized Command type register number for monitor register and execution command M n All contents of data Frame number of domain For hex decimal data H such as H01 H12345 H34 H12 or H89AB indicates that the data is a type of hex decimal Chapter 13 Dedicated Cnet communication for GM6 2 Sequence of command frame 1 Sequence of command request frame ENQ Station No Formatted data PLC ACK response Station No Data or null PLC NAK response 2 Sequence of Download upload frame Station No Start Command Station No Data or nul Down upload command frame No H0001 Station No Data or null ENQ Station No Formatted data Down upload end command frame No HFFFF ENQ Station No Formatted data Suton No Imm Chapter 13 Dedicated Cnet communication for GM6 1
120. nsformer 3 When wiring separate the PLC power supply from the 1 0 and power device as shown below Main power PLC power supply E c a LIRIE DE Chapter 10 INSTALLATION AND WIRING 4 Notes on using 24 VDC output of the power supply module To protect the power supply modules do not supply one 1 0 module with 24 VDDC from several power supply modules connected in parallel f 24 VDC output capacity is sufficient for one power supply module supply 24 VDC from the external 24 VDC power supply as shown below 5 Twist the 110 VAC 220 VAC and 24 VDC cables as closely as possible Connect modules with the shortest possible wire lengths 7 To minimize voltage drop use the thickest max 2 mm wires possible for the 100 VAC 200VAC and 24 VDC cables 8 Do not bundles the 100 VAC and 24 VDC cables with main circuit high voltage large current wires or the 1 0 signal wires If possible provide more than 100 mm distance between the cables and wires 8 As a lightning protection measure connect a surge absorber as shown below device Surge absorber for lightening REMARK 1 Ground the surge absorber E1 and the PLC E2 separately from each other 2 Select a surge absorber making allowances for power voltage rises 9 Use a insulating transformer or noise filter for protection against noise 10 Twist every input power supply wires as closely as possible
121. nt 2 Switch the input power OFF then ON ls the line voltage 85 to 264VAC Is Fuse disconnected Yes Over current protection Device activated Does the Power LED turn ON Write down the troubleshooting questionnaires and contact the nearest service center Complete 12 2 Chapter 12 TROUBLE SHOOTING 12 2 2 Troubleshooting flowchart used when the STOP LED is flickering The following flowchart explains corrective action procedure use when the power is applied starts or the STOP LED is flickering during operation Stop LED goes OFF Read the error code in the system flag S W error Correct the program Program error Set the operation mode to the STOP mode Correct in accordance with the error contents Write the program newly Set the operation mode to the RUN mode Program error Write down the troubleshooting questionnaires and contact the nearest Complete service center Chapter 12 TROUBLE SHOOTING 12 2 3 Troubleshooting flowchart used when the RUN and STOP LEDs turns off The following flowchart explains corrective action procedure use when the power is applied starts or the RUN and STOP LED is turned OFF is flickering during operation RUN and STOP LED is turned OFF Tum the power supply module from OFF to ON Are RUN and STOP LED Turned OFF contact the nearest service center Complete Chapter 12 TROUBLE
122. o select by phase difference of phase A and B Multiplication 1 2 0r4 Preset input Sequence program or external preset input 16 2 Chapter 16 Built in high speed counter of GM6 CPUC 16 3 Input specifications 16 3 1 Function of input terminals 24VDC 13mA Off voltage 2 5VDC or lower 24VDC 10mA On voltage 19VDC or higher Off voltage 6V or lower On delay time Less than 1 5ms Off delay time Less than 2ms 16 3 2 Names of wiring terminals RUN o STOP O GM6 CPUC No of terminal 1 A phase input B phase input ROM MODE Input signal TEST MODE Preset COM 16 3 Chapter 16 Built in high speed counter of GM6 CPUC 16 3 3 External interface circuit EN Internal circuit Signal type voltage 26 4 A phase pulse input 24VDC B phase pulse input 24VDC 16 4 Chapter 16 Built in high speed counter of GM6 CPUC 16 4 Wiring 16 4 1 Wiring instructions A high speed pulse input is sensitive to the external noise and should be handled with special care When wiring the built in high speed counter of GM6 CPUC take the following precautions against wiring noise 1 Be sure to use shielded twisted pair cables Also provide Class 3 grounding 2 Do not run a twisted pair cable in parallel with power cables or other I O lines which may generate noise 3 Before applying a power source for pulse generator be sure to use a noise protected power supply 4 Fo
123. odule GM6 PAF A GM GPAFB GM6 PD3A GM 6 BOA 06 08M 660000 Special module G6F 0000 Communication module 64 points are allocated to each slotin a base board whatever it is empty or not There s no limitation for the location and the number of special modules on base board Special modules do not have fixed I O numbers while a fixed 1 0 number is allocated to digital I O module dedicated function block controls a special module and memory is allocated automatically 1 0 number allocation e To use A D D A conversion module be sure to select GM6 PAFB power supply Note for power supply module selection module that supplies 15VDC instead of 24VDC 15VDC power is need for operation of internal analog circuit of A D and D A conversion modules 2 4 Chapter 2 SYSTEM CONFIGURATION 2 2 Computer Link System Computer Link System communicates data between the CPU module and peripheral devices like a computer or a printer by use of RS 232C and RS 422 or RS 485 interface of the computer link module The G6L CUEB or G6L CUEC are the computer link module for GM6 series For details of computer link module refer to related User s Manual 2 3 3 Network System The Network system adapted in the GLOFA series a Fnet system that satisfies the IEC ISA field bus Specifications Fnet system as a network system is used for data communications between CPU modules and control of remote 1 0 modules
124. of CPU module The following shows the operation mode change by the mode setting switch of CPU module REMARK 1 If the operation mode changes from RUN mode to local RUN mode by the mode setting switch the PLC operates continuously without stop 2 If Local PAUSE disable or Local PAUSE enable is set by parameter in GMWIN it operated as Remote RUN or Local PAUSE Chapter 4 CPU module 3 Remote operation mode change Remote operation mode change is available only when the operation mode is set to the remote STOP mode i e the mode setting switch position is in the STOP PAU REM Mode setting Mode change by Mode change using FAM switch Mode Change the GMWIN or computer link etc position Renate STOP 9 9 Reme RUN Remote Remote RUN PAU REM Renate PAUSE gt Remo RUN oo 9 Remote PAUSE Remote o J o MBs 9 9 4 4 Remote operation mode change enable disable It is possible to disable the mode change for system protection so that some parts of the operation mode sources cannot change the mode If remote operation mode change has been disabled the operation mode change is possible only by the mode setting switch and GMWIN To enable the remote operation change set the parameter Enabling the PLC control by communications to enable For details refer to the Appendix 1 Sy
125. ol action very large especially when the response characteristic of system is slow This situation that the output of actuator is saturated is called as windup It takes a long time that the actuator returns to normal operating state after the windup was occurred 15 10 Chapter 15 The PID functions The Fig 2 12 shows the PV and MV of PI control system when the windup occurs As shown as the Fig 2 12 the actuator is saturated because of the large initial deviation The integral term increase until the PV reaches to the SV deviation 0 and then start to decrease while the PV is larger than SV deviation lt 0 However the MV keeps the saturated status until the integral term is small enough to cancel the windup of actuator As the result of the windup the actuator will output positive value for a while after the PV reached to the SV and the system show a large overshoot A large initial deviation load disturbance or mis operation of devices can cause windup of actuator SV Time SV Time MV without windup MV with windup Integral tem sess Proportional term 15 11 Chapter 15 The PID functions There are several methods to avoid the windup of actuator The most popular two methods are adding another feedback system to actuator and using the model of actuator The Fig 2 13 shows the block diagram of the anti windup control system us
126. oltage for the input module If a voltage over the maximum switching capacity is applied it can cause faults destruction or fire 2 Used wire Selectthe wire with due consideration of ambient temperature and rated current Its minimum specifications should be AWG22 0 3 mm or more 3 Environment When wiring the I O module if it locates near a device generating an cause short circuit destruction or malfunction 4 P olarity Before applying the power to a module that has polarities be sure to check its polarities 5 Wiring e Wiring I O wires with high voltage cable or power supply line can cause malfunction or disorder e Be sure that any wire does not pass across during input LED I O status will not be clearly identified e f an inductive load has been connected to output module connect parallel surge killer or diode to a load Connect the cathode part of diode to the part of the power supply Induction load OUT COM Q OUT O Output module duction loa n Chapter 10 INSTALLATION AND WIRING 6 Terminal block Check its fixing During drilling or wiring do not allow any wire scraps to enter into the PLC It can cause malfunction and fault 7 Be cautious that strong shock does not applied to the 1 0 module Do not separate the PCB from its case 2 Base board mounting instructions The following explains instructions for mounting the PLC onto the control panel 1 Allow sufficient distance from th
127. ommon DC input 2 Maximum simultaneous input points differs with the type of a module Check the specifications of the input module to be applied before use 3 Use transistor or triac output modules with a load that is frequently opened and closed or with an inductive load as in those cases the life span of a relay output module will become shorter than specified 7 1 Chapter 7 INPUT AND OUTPUT MODULES 7 2 Digital Input Module Specifications 7 2 1 8 points 12 24 VDC input module source sink type DC Input Module Specifications Number of input points 8 points Insulation method Photo coupler Rated input voltage 1VDC Rated input current Operating voltage range 10 2 VDC to 28 8 VDC ripple less than 596 Maximum simultaneous input points 10096 8 points COM simultaneously ON ON voltage ON current 9 5 VDC or higher 3 5 mA or higher OFF voltage OFF current 5 VDC 1 5 mA or lower nput impedance Approx 3 3 OFF ON 5 ms or less ON gt OFF 5 ms or less 8 points COM 40 mA LED turns on at ON state of input 9 points terminal block connector M3 x 6 screws 0 12 kg Response time Internal Circuit 7 2 Chapter 7 INPUT AND OUTPUT MODULES 7 2 2 16 points 12 24 VDC input module source sink type DC Input Module Specifications Number of input points 16 points nsulation method Photo coupler Rated input voltage 12 VDC 4 VDC Rated input curent Operating voltage range 10 2
128. on is transited to the RUN Initialization mode program e Executes the initial fixes data setting for execution of scan program and the initialization of peripheral devices on special modules e Processes the constantly repeated signals which are executed every scan e When the following time conditional processing is required the program is executed complying with the time interval setting gt n case that the processing need a shorter interval than that of average one scan processing time gt n case that the processing need a longer interval than that of average one scan processing time gt n case that the processing should be executed by the specified time interval Event driven task er e A shorter processing is executed for internal or external interrupt Time driven task program 4 9 Chapter 4 CPU module 4 3 2 Program Execution Procedure The followings explain the program execution procedure when the power is applied or the mode setting switch of CPU module is in the RUN status Program operation processing is executed as the procedure given below Operation start Initialization program e Executed when the power has been applied or the CPU operation is in the Run mode Restart operation is executed complying with the initialization task _INIT HINIT Executed only when the condition has been satisfied Scan program Executed only when the condition has been satisfied
129. ore 10 10 2 Clearance from the front device Fig 10 3 Vertical mounting Fig 10 4 Horizontal mounting Chapter 10 INSTALLATION AND WIRING 10 13 Mounting and Dismounting of module The following explains the mounting and dismounting of various modules 1 Module mounting e Insert the module to mounting slot with sliding guide e Check that the module is firmly mounted onto the base board Locking part for Hook Sliding Locked Hook l l eh c A ah anh KA n ETT 7 Smp _ 1 A EE 7 SPI T LL SE 7 ST A SNNT L7 Note The CPU module should be mounted on the next of the power module If the CPU module is mounted other slot when a power module that has 15VDC output GM6 PAFB the CPU module will be damaged Therefore please be sure to mount CPU module on the proper slot Chapter 10 INSTALLATION AND WIRING 2 Module dismounting e First push the locked hook and pull the module with direction of arrow Chapter 10 INSTALLATION AND WIRING The followings explains the wiring instructions for use of the system 10 2 1 Power Supply Wiring 1 When voltage fluctuations are larger than the specified value connect a constant voltage transformer Base Constant voltage transformer 2 Use a power supply which generates minimal noise across wire and across PLC and ground When excessive noise is generated connect an insulating tra
130. ounding Not allowed 4 Use 2 mn or more wire for grounding line Make the distance as short as possible with the grounding point located to nearest to the PLC 10 11 Chapter 10 INSTALLATION AND WIRING 5 Ground LG Power Supply Module separately with FG Base board Power Supply a E E D B F E d Independent grounding BEST Joint grounding GOOD C Joint Grounding Not Allowed 6 If a malfunction occurs depend on grounding point separate FG Base Board with ground 10 2 4 Cable Specifications for wiring 10 12 11 Chapter 11 MAINTENANCE Be sure to perform daily and periodic maintenance and inspection in order to maintain the PLC in the best conditions 111 Maintenance and Inspection The 1 0 module mainly consist of semiconductor devices and its service life is semi permanent However periodic inspection is requested for ambient environment may cause damage to the devices When inspecting one or two times per six months check the following items Check Items ss Judgment Corrective Actions Ambient 0 to 55 C Adjust the operating temperature and environment 5 to 95 RH humidity with the defined range Vibration No vibration Use vibration resisting rubber or the vibration prevention method Play of modules No play allowed Securely enrage the hook Connecting conditions of No loose allowed Retighten terminal screws termi
131. ounter di sabl ed 16 8 Chapter 16 Built in high speed counter of GM6 CPUC GEC SET Assign a setting value to be compared ae with the current value of HSC p qp e Input REQ Request signal for F B execution SET Set a setting value 0 16 777 215 CHSC_SET REQ DONE DONE Turns on after the F B is executed wth no error STAT STAT Indicates the operation status of F B Run a task programwhen the current val of HSC reaches to the setti ng val ue To run a task program define a hi gh speed counter task programas fol ow ng fi gure and wite a task program Define Task Task Hsc TASH OK Task Number Cancel Condition Help C Single Edge Level Priority Interval Interrupt e 16 9 Chapter 16 Built in high speed counter of GM6 CPUC 16 5 2 Error code of F B The foll ow ng table shows error codes appear at the STAT output Error code Descri pti on 00 vero 01 Built in hi gh speed counter is not found 7 oema Sew o OU ire 2 Phase 1 2 4000 000 0 PSET CHSC PRE or SET CHSC SET is out of specified range 0 16 777 215 Execute Preset conmand while the C iss disabled status 16 10 Appendix 1 System definitions Appendix 1 System Definitions 1 Basic Parameters The basic parameters are necessary for operation of the PLC and used to alloca
132. out the registered variable to monitor Executi In the main command the capital and small letter have different meaning In other field however it doesn t care letters Contents a H59 on are capital or small For example mW100 and mw100 are exactly same command The CP U A type does not support this function Chapter 13 Dedicated Cnet communication for GM6 13 6 Data type When direct variables and named variables are read written attention must be paid to data type of direct and named variables 1 Data type of direct variables Memory device type of GLOFA GM PLC M Internal memory Q Output I Input Memory device type of GLOFA GK PLC P M L K C D T S F Data type for direct variables is indicated next to direct variable indicating character Table 13 3 List of data types of direct variables Datatype Ind chaac Exampeofue MX0 QX0 0 0 961X0 0 0 PX0 LX0 0 MB10 QB0 0 0 1 0 0 0 MW10 QWO 0 0 96 10 0 0 PWO LWO FWO DWO MD10 QD0 0 0 1D0 0 0 1 The read write of named variables will be available with the next version of CPU A type The CPU A type does not support this function Chapter 13 Dedicated Cnet communication for GM6 137 Execution of commands Ex 1 Separately reading RSS direct variables 1 Introduction This is a function that reads PLC device memory directly specified in accord with memory dat
133. parately written up to 4 memories at a time 2 Request format Command Variable Variable Command type of lenath name Tail P blocks 9 Format name EO H57 H254D57 H3030 1 blocks can be repeatedly set up to 4 blocks ASCII value e BCC When command is one of lower case w only one lower byte of the value resulted by adding 1 Byte each to ASCII values from ENQ to EOT is converted into ASCII added to BCC and sent e Number of blocks This specifies how much of the blocks composed of Variable length Variable are in this request format This can set up to 4 blocks Therefore the value of Number of blocks must be HO1 ASCII value 3031 HO4 ASCII value 3034 e Variable length Name length of direct variable This indicates the number of the name s characters that registered in direct variable of PLC which is allowable up to 16 characters This value is one of ASCII converted from hex type and the range is from HOI ASCII value 3031 to H10 ASCII value 3130 e Direct variable This is an address of variable to be actually read This must be ASCII value within 16 characters and in this name digits upper lower case and only are allowable to be entered e Data Ifthe value to be written in MW100 area is H A the data format must be H000A If the value to be written in MD100 area is H A the data format must be H0000000A In data area the ASCII value converted from hex data is entered 13
134. point transistor output module sink type Transistor Output Module Specifications G6Q TR2A Number of output points 16 points time 2 ms or less 16 points COM 185 mA 24 VDC 10 ripple voltage 4VP P or less power supply 48 mA or less all points ON LED turns on at ON state of output 18 point terminal block connector M3 x 6 screws 0 18 kg Internal Circuit Terminal Block Number Chapter 7 INPUT AND OUTPUT MODULES 7 34 Specifications EL ime Photo Coupler Internal Circuit 16 point transistor output module source type Clamp Diode 2 ms or less 2 ms or less 16 points COM 185 mA 24 VDC 10 ripple voltage 4VP P or less 48 mA or less all points ON LED turns on at ON state of output 18 point terminal block connector M3 x 6 screws 0 18 kg Transistor alis lar NY Terminal Block No Chapter 7 INPUT AND OUTPUT MODULES 7 3 5 Specifications ae Response time External power supply Operation indicator External connections 32 point transistor output module sink type Transistor Output Module G6Q TR4A Photo coupler 12 24 VDC 10 2 to 26 4 VDC 0 1A point 2 A COM 0 1 mA or less 4 A 10 ms or less 1 0 VDC None 2 ms or less 2 ms or less 32 points COM 139 mA 24 VDC 10 ripple voltage 4VP P or less 36 mA or less 24 VDC COM LED turns on at ON state of output 37 pin D Sub connector 0 11 kg Connector Pin Number
135. r 1 phase input connect the count input signal only to the phase A input for 2 phase input connect to phases A and 16 4 2 Wiring examples 1 Voltage output pulse generator 24V Pulse Generator ee a aa a n Ga 16 5 Chapter 16 Built in high speed counter of GM6 CPUC 16 5 Programming 16 5 1 Function block F B CHSC_WR CHSC WR FUNCTION BLOCK Input REQ Request signal of F B executi on PHS Cperati on nodes sel ecti on O 1 phase counter 1 2 phase counter MLT Assign the nul ti pl i cati on f actor MLT 1 2 or 4 UDI E Assign the count di recti up down sel ector O Set by sequence program 1 Set by B phase input si gnal 1 up count 0 down count Garry reset signal 1 reset Select the count di recti on 0 up 1 down when the counter is set as 1 phase counter and up down is sel ected by sequence program PH5 0 amp UD 1 E 9 Counter enable si gnal 0 Counter disable 1 Enable I E Assi gn PRESET i nput PRESET by sequence program 1 PRESET by external input at the PRESET terni nal CHSC WR Out put DONE Turns on after the F B is executed wth no error STAT Indi cate the operati on status of F B The input wll be dumy input when the HSC is set as 1 phase counter PHS 0 Wien the HSC is set as 2 phase counter the U DI E and DOWN input wll be dunmy input 5
136. rect variable Variable length 2 Bytes Variable name 16 Bytes Number of data 1 block Max 4 blocks 13 23 Chapter 13 Dedicated Cnet communication for GM6 3 Response format for PLC ACK response Header Staton No Command RegisterNo Tai Framecheck ASCII value H3130 H58 78 H3146 fs e Station number command and resister No are the same as computer request format e When command is one of lower case x only one lower byte of the value resulted by adding 1 Bye each to ASCII values from NAK to ETX is converted into ASCII added to BCC and sent 4 Response format for PLC NAK response Format Station name be fe Header No Command Register No Error code Hex 2 Bytes Tail Frame check zu H06 H3130 H58 78 H3146 H31313332 H03 EE e Station number main commands and resister No are the same as computer request format e When command is one of lower case x only one lower byte of the value resulted by adding 1 Byte each to ASCII values from NAK to ETX is converted into ASCII added to BCC and sent e Error code is hex and 2 Bytes ASCII code 4 Bytes which indicates type of error For the details see Appendix A2 Error Code Table 5 Example of use This supposes that the variable which data type of station No 1 is UINT and the variable name is ASDF is monitor registered with No T Computer request format Regist
137. rect variables LONG GM1 96MX 96QX 96IX MB QB IB MW QW IW MD QD ID ML QL IL 0 0 MX QX IX MB QB IB MW QW IW MD QD ID bem 70 MX QX IX MB QB 1B MW QW IW MD QD ID MX QX IX MB QB IB MW QW IW MD QD ID MX QX IX MB QB IB MW QW IW MD QD ID MX QX 96IX MB QB I1B MD QD ID For how to specify the area of each device in GLOFA GM and GK series see GLOFA PLC technical data Device data type of each must be same If data type of the first block is WORD and the second block is DOUBLE WORD error occurs 3 Response formatfor PLC of ACK response 3 Format Head C d s nd Variable name acer omman length blocks aos Lace H3230 H52 72 H5353 H3031 H3032 1 block Max 4 blocks e Station number commands type of command and number of blocks are the same as computer request format e BCC When command is one of lower case r only one lower byte of the value resulted by adding 1 Byte each to ASCII values from ACK to ETX is converted into ASCII added to BCC and sent e Number of data means Byte number of hex type and is converted into ASCII This number is determined according to memory type X B W D L included in direct variable name of computer request format 13 10 Chapter 13 Dedicated Cnet communication for GM6 Table 13 5 Number of data according to variables remi Available direct variable Number of dat
138. reliability regardless of its installation environment but be sure to check the following for System reliability and stability 1 Environment requirements Avoid installing this unit in locations which are subjected or exposed to 1 Water leakage and dust 2 Continuous shocks or vibrations 3 Direct sunlight 4 Dew condensation due to rapid temperature change 5 6 7 Higher or lower temperatures outside the range of 0 to 55 Relative humidity outside the range of 5 to 95 Corrosive or flammable gases 2 Precautions during installing 1 During drilling or wiring do not allow any wire scraps to enter into the PLC 2 Install it on locations that are convenient for operation 3 Make sure that it is not located on the same panel that high voltage equipment located 4 Make sure that the distance from the walls of duct and external equipment be 50 mm or more 5 Be sure to be grounded to locations that have good ambient noise immunity 3 Heat protection design of control box 1 When installing the PLC in a closed control box be sure to design heat protection of control box with consideration of the heat generated by the PLC itself and other devices 2 It is recommended that filters or closed heat exchangers be used Chapter 10 INSTALLATION AND WIRING The following shows the procedure for calculating the PLC system power consumption 1 PLC system power consumption block diagram
139. s every 10 sec 2 Execution priority e The higher priority task program will be executed firstly f a newly invoked task has higher priority than that of existing tasks which are under execution they are temporary stopped and task has higher priority will be executed e When determining the priority of a task program consider the characteristics importance and urgency of the program 3 Processing delay time The following factors influence on the processing delay of task program consider the characteristics importance and urgency of the program e Task detection delay Refer to the detailed description of each task e Execution delay due to the execution of prior task programs Delay due to the execution of higher priority task programs while executing task programs Chapter 4 CPU module 4 Relationship of task program to initialization or scan program User defined tasks will not start while the initialization task program is being executed e As scan program has the lowest priority if a task is invoked the scan program will be stopped and the task programs will be processed prior to them Therefore if tasks are invoked many times or concentrated sometimes the scan time may be extended abnormally Be cautious when setting task conditions 5 Protection of the programs under execution from task programs f problems can be occur in case that program lose its execution continuousness by the task programs which have higher propriet
140. sentative system error flags and an ordinary error in the representative system warning flags 2 For details of flags refer to Appendix 2 Flag List Chapter 4 CPU module 4 3 5 Precautions when using special modules This system offers convenience and high performance in using special modules compared with the existing methods Therefore take some precautions when composing the system Check the system after the following items have been thoroughly understood 1 Special module programming 1 Special function block is offered for each special module to make programs concise and to prevent errors in writing down the user program 2 Function blocks are largely of two types Initialization function block for initializing special modules and control function block for control of the operations of special modules Function block functions as an interface between the user program data and the special modules As it includes the function that watches the operation status of special modules and indicates the error status other separate error detection program does not have to be written For detailed description of function block refer to the User s Manuals of special modules and GLOFA GM instructions 2 Special Module Initialization This means to define the operations of a special module It is done with initialization function block Generally it specifies the data range to used channel resolution or filtering
141. set in all stations which are set in the parameter normally communicate e Once this flag is turned on it maintains that state as long as link enable does not make that state stopped B HSmLTRBL it Fnet Mnet High speed link trouble e This flag turns on when under the condition that _HSmRLINK is turned on information communications of the stations and data blocks set in the parameter is under the following conditions 1 A station set in the parameter is not in RUN mode or 2 A station set in the parameter has an error or 3 The communications of data blocks set in the parameter does not normally operate e This flag turns on if the above conditions 1 2 and 3 occur If those conditions are restored it will turn off again HSmSTATEIk Bi Fnet Mnet K Block overall Indicates overall communications state of every blocks of the parameters set k 0 to 63 Array communications state HSmSTATE k HSmMODI Kk amp HSmTRX k amp HSmERRIk Station No information Fne _HSmMODIk Bi Fnet Mnet K Data Block setting stations e Indicates the operation modes of stations set the K data block of parameters k 0 to 63 Array mode information RUN 1 Station No others 0 i Fne k Station No abnormal 0 HSmERR k i Fnet Mnet K Data Block setting stations Indicates that the stations set in the K data block of parameters have an error k 0 to 63 state information Normal 1 or
142. slots where 1 0 modules are loaded are indicated in APP2 6 Appendix 2 Flag List 7 Communications Flag GLOFA Mnet Fnet Cnet Flag List 1 Communication Module Information Flag List enis the number of slot where a communications module is loaded n 0 to 7 Keyword _CnVERNO Mnet Fnet Cnet Communications module version No Mnet Fnet Cnet Mnet Fnet Cne Mnet Fnet Cne Mnet Fnet Cne CnSTNOL Communications frame sending error Communications frame receiving error ommunications processing error CnRXECNT V N n _CnTXECNT ANAV N Mnet Fnet Cne Maximum communications scan ime unit 1 ms _CnSCANMN Mnet Fnet Cne Average communications scan ime unit 1 ms _CnLINF UINT Mnet F net Cne Minimum communications scan ime unit 1 ms _CnLNKMOD BIT 15 Operation mode RUN 1 TEST 0 _CnINRING BIT 14 n ring IN RING 1 _CnIFERR BIT 13 nterface error error 1 _CnSVBSY BIT 12 nsufficient common RAM Insufficient 1 _CnCRDER BIT 11 Communications module System error error 1 n LIV B net tations connected 0 to 63 network 1 connected Station No 0 disconnected Re connection of a station 1 re connected 0 no changed Station No condition NETn 232 The indication that the user defined frame has been received Indicated at each setting No Received 1 k 0 to 63 tation No defined frame has been received Indicated at eac
143. so that distribution of control and concentration of supervision could be easy For details refer to Fnet system user s manual 2 5 Chapter 3 GENERAL SPECIFICATIONS Chapter 3 GENERAL SPECIFICATION 3 1 General specifications The following shows the general specifications of the GLOFA GM series No Specifications References 1 Operating ambient 0 55 temperature Storage ambient i temperature au x ES oR 5 95 RH non condensing 5 95 RH non condensing Occasional vibration Amplitude 10 lt amp 57Hz 0075mm 2 5 Vibration 10 times IEC 1131 2 Ss M losfe7Hz 005mm 49 8 956 Maximum shock acceleration 147 m s 15G Shocks Duration time 11 ms IEC 11312 Pulse wave half sine pulse 3 shocks per axis on X Y Z axis Square wave 1 500 V Impulse Noise Electronic IEC 1131 2 discharge IEC 801 3 Radiated 1131 2 Noise Immunity field 27 500 MHz 10 V m IEC 801 3 Digital JO Power Digitalo lt av IEC 11312 Fast transientfburst ltem Supply 24 Analog VO IEC 801 4 NODS interface Voltage 025W E Operating Free of corrosive gases and excessive dust IEC 1131 2 ambience 9 Altitude 2 000 m or less Pollution 2 jo Cooling method Air cooling EE REMARK 1 IEC International Electromechanical Commission An international civilian institut
144. so thatif operation restarts with the program in the flash memory the on off setting data will be also cleared e When setting new data disable every 1 0 settings using the setting data clear function and set the new data REMARK 1 For detailed operation refer to the GMWIN User s Manual Chapter 7 Force 1 0 setting Chapter 4 CPU module 4 5 5 History Log In The GM6 CPU stores 3 operation histories such as error occurrence mode change and power shut down Each history log in contains the last 16 operation histories 1 Error occurrence e Record occurrence time and error code when an error occurred while the CPU is in RUN mode 2 Mode change e Record the mode change time operation mode and restart mode when a operation mode is changed 3 Power failure e Record the occurrence time and total occurrence number when the AC failure occur while the CPU is in RUN mode 4 5 6 External Device Error Diagnosis function Flags are given for the user to implement easily the program in which the error detection of external devices and system stop and warning are coded By use of these flags error indication of external devices is possible without complex programming and monitoring of the error location can be done without special tools GMWIN etc or source programs 1 External device fault detection and classification 1 The user program detects external device faults The faults are classified into fatal fault error
145. stem Definitions Chapter 4 CPU module 4 5 1 Restart mode The restart mode defines how to initialize variables and the system and how to operate in the RUN mode when the system starts its operation with the RUN mode by re application of the power or mode change Two restart modes cold and warm restart are available and the execution condition for each restart mode is given below For details refer to the 4 5 1 Basic Parameters Edit of the GMWIN User s Manual Section 4 5 Parameters Edit 1 Cold Restart 1 It is executed when the restart mode parameter has been set to the cold restart mode 2 All data are cleared with 0 and only the variables to which their initial value has been defined will be set to their initial value 3 Though the parameter has been set to the warm restart mode cold restart will be executed at the first execution of a program after it has been changed 4 In case of selection Reset command in the GMWIN it restarts in accordance with setting in parameter and in case of selection Overall Reset command it restarts as cold restart mode 2 Warm Restart 1 It is executed when the restart mode parameter has been set to the warm restart mode 2 A data which set as retain amp initial will be retain and a data which set as initial value will be set with default value during the warm restart All other data will be cleared with 0 3 Though the parameter has been set to the warm restart mode cold
146. t it is not B type GM6 CPUB Bit 1 Turn on when the master station number of basic parameter setting is duplicated with one of the slave station numbers of high speed link parameters setting Bit 2 Turn on when the M area of high speed link parameter setting is out of the range 5 The scan time of RS422 485 communication A Description _ 422 SCAN MAX Time Type The maximum scan time Ma22 SCAN MIN Time Type The minimum scan time _ 422 SCAN CUR Time Type The current scan time Remark Scan time A total time of the processing time of the all parameter settings From the execution of the first parameter setting to the next execution 14 4 Chapter 14 The RS422 485 communication of GM6 CPUB 14 5 Monitoring Users can monitor the communication status of RS422 485 network with the monitor function of the GMWIN software The high speed link parameter 1 monitoring screen is used for monitoring the RS422 485 network status The CPU module should be a B type and assigned as master station in the basic parameter setting Otherwise the monitor screen will show the status of high speed link service Inthe monitoring screen the following flags are shown Master PLC parameter _M422 STATE On Off The scan time of communication _ 422 SCAN MAX Maximum scan time M4A22 SCAN MIN Minimum scan time _ 422 SCAN CUR Current scan time No Type From To Size The contents of high speed link 1 parameters
147. t of register No is the separate reading of direct variable Format Register Number of Number oes ey es teas oer a Ex ASCII H3931383341 H3130 H59 79 H313F H3031 H3034 414242 BI n case that register format of register No is the continuous reading of direct variable Format Header Command Register Number of Tail name No data F H3130 H59 79 H313F H3034 H3931383341414242 m 13 26 Chapter 13 Dedicated Cnet communication for GM6 Incase that the register format of register No is the reading of named variable Format Register Number of Number of FALE UE TH Chr us ACK H10 Y y H1F H01 H04 H9183AABB ETX BCC ASCII H3931383341 ame H3130 H59 79 H313F H3031 H3034 414242 e Data format such as number of blocks and number of data is the same as the contents of variable writing e Station number commands and register No are the same as computer request format e BCC When main command is one of lower case y only one lower byte of the value resulted by adding 1 Byte each to ASCII values from ACK to ETX is converted into ASCII added to BCC and sent 4 Response format for PLC NAK response Ay Header Station No Command Register No Error code Hex 2 Bytes Tail ds e ww jm qe o queo gem ic s H3130 H59 79 H3146 H31313332 value e Station number commands and register No are th
148. te memory set the restart mode and set the scan watch dog time etc Basic Parameter GLOFA GM6 M 1 Configuration PLC Name e t is a representative name for the PLC system It is used to designate this PLC system when a network system is configured using communication modules 2 Enabling Disabling the control of the PLC via communications e This parameter is used to enable or disable the remote control of this PLC system through the FAM or computer link module etc except for the GMWIN If this parameter has been set to enable change of the operation mode and download of programs are available via communications 3 Restart Mode e This parameter is used to set the restart mode in the PLC system When the system re starts one of the cold restart or warm restart is selected in compliance with the parameter setting APP1 1 Appendix 1 System definitions 4 Resource CPU Name e Resource Name is the name that each CPU module configuring the PLC has When configuring a network system the name is used to designate each CPU module thatis used the system e Only one CPU module can be mounted in the GM3 4 series therefore only the resource 0 is valid 5 Scan Watch Dog Time e This parameter is used to set the maximum allowable execution time of an user program in order to supervisor its normal or abnormal operation e Only one CPU module can be mounted in the GM3 4 series therefore scan watch dog is valid to o
149. ted the second cycle will be used refer Fig 12 15 for detailed information Other choice of RIPPLE parameter is not allowed In general case select 1 for proper auto tuning operation The On Off operation will be occur at the 80 of PV value Perform A T operation at the 2 cycle Perform A T operation at the 2 cycle When the RIPPLE 0 When the RIPPLE 1 15 20 Chapter 15 The PID functions 15 3 4 Error codes of auto tuning function block PID6AT The following table shows error codes and descriptions of PID6AT function block Error code STAT output PV ie It may caused by fault of A D module Local g Check the A D module S_TIME is out of range Change the S_TIME within 0 100 Replace the CPU module with GM6 CPU type is mismatched CPUB or GM6 CPUC SV is out of range Change the SV within 0 4000 15 21 Chapter 15 The PID functions 15 4 Programming 15 4 1 System configuration GMWIN V3 2 or later PV DC4 20mA MV DC4 20mA Temperature sensor Electric oven 0 200 C heater Power converter 15 4 2 Initial setting 1 PID operation parameters a Auto Manual operation setting Auto b Forward Reverse operation Forward c SV setting 1600 100 C d BIAS setting 0 If only P control is used input proper value other 0 EN P EN 1 EN D setting EN 1 EN 1 1 EN D 1 PID operation f REF TT N REF 10 TT 5 1
150. timing and method 1 Force Input e After data have been read from input modules at the time of input refresh the data of the junctions which have been set to force on off will be replaced with force setting data to change the input image area And then the user program will be executed with real input data and force setting data 2 Force output e When a user program has finished its execution the output image area has the operation results At the time of output refresh the data of the junctions which have been set to force on off will be replaced with force setting data and the replaced data will be output However the force on off setting does not change the output image area data while it changes the input image area data 3 Force on off processing area e Input output areas for force on off setting are larger than the real 1 0 areas If remote 1 0 is specified using this area the force on off function is as just available in it as in the basic I O areas 4 Precautions e Turning the power off and on change of the operation mode or operation by reset switch GM3 does not change the previous force on off setting data They remain within the CPU module and operation is executed with the same data e Force 1 0 data will not be cleared even in the STOP mode e f a program is downloaded or its backup breaks the force on off setting data will be cleared The operating program in memory differs from the program in the flash memory
151. tion with LGIS protocol Cnet connection with PMU Chapter 13 Dedicated Cnet communication for GM6 13 3 The pin assignment of RS 232C connector of the GM6 dedicated Cnet communication The 1 1 connection with PC PLC GM6 The pin assignment of RS232C connector which are used the connection of PC and GM6 CPU The 1 1 connection with the monitoring unit like P MU PLC GM6 The pin assignment of RS232C connector which are used the connection of PMU and GM6 CPU Chapter 13 Dedicated Cnet communication for GM6 Frame structure I e M 1 Basic structure of frame 1 Request frame external communication devices Cnet module Max 256 Bytes Header Station Pi of Tail Frame ENQ Structurized data area cory check BCC 2 ACK response frame Cnet module external communication devices when data is normally received Max 256 Bytes Header Station Type of Tail Frame ENQ Structurized data area or null ETX check BCC 3 response frame Cnet module external communication devices when data is abnormally received Max 256 Bytes Ad Station Type of Tail Frame The contents of the code used are as below Table Control characters are importantly used during serial communication so they must be well acquainted Table 13 1 Control characters Code Original word Contents ENQ Header Enquire Start code of request frame ACK Header Acknowledge Start code of ACK respo
152. to eliminate the difference The PID control consists of three control actions that are proportional integral 1 and differential The characteristics of the PID function of GM6 is as following the PID function is integrated into the CPU module Therefore all PID control action can be performed with F B Function Block without any separated PID module Forward reverse operations are available operation operation PID operation and On Off operation can be selected easily The manual output the user defined forced output is available By proper parameter setting it can keep stable operation regardless of external disturbance The operation scan time the interval that PID controller gets a sampling data from actuator is changeable for optimizing to the system characteristics Chapter 15 The PID functions 15 2 PID control 15 2 1 Control actions 15 2 1 1 Proportional operation P operation 1 P action means a control action that obtain a manipulate value which is proportional to the deviation E the difference between SV and PV 2 The deviation E is obtained by multiplying a reference value to the actual difference between SV and PV It prevents the deviation from a sudden change or alteration caused by external disturbance The formula of deviation is as following MV Kpx bx SV Pv Kp the proportional constant gain b reference value SV set value PV present val
153. tput junction force On Off is being executed ESTOP Operation in the RUN mode is directly stopped by ESTOP function BRS ee Bit 14 During monitoring External monitoring 5 being executed for programs or variables Bit 15 Remote mode ON Operation in the remote mode Representat GMWIN ve keyword connection state Connection state between CPU module and GMWIN Local GMWIN Bit 0 connacti n Local GMWIN connection state _GMWIN_CNF Byte Remote GMWIN Remote GMWIN connection state Remote Bit 2 communications Remote communications connection state connection Representat Restart mode ve keyword information See the Section 4 5 1 INIT_RUN Bool During An initialization program written by the user is being executed i initialization Maximum scan _5 _ Unit time ms Maximum scan time is written during operation Minimum scan quu SCAN MIN Unit time ms Minimum scan time is written during operation _SCAN_CUR ica Present scan time is continuously updated during operation Restart type of program which is being executed in present History BCD data of present time of RTC Example 96 01 12 00 00 00 XX _TIME 0 year TIME 1 month RTC _TIME 2 day RTC_TIME n BCD N Oto7 Presenttime RTC TIME 3 hour RTC minute RTC TIME 5 second TIME 6 day of the week RTC _TIME 7 unused Day of the
154. ue 3 If the Kp is too large the PV reaches to the SV swiftly but it may causes a bad effect like oscillations shown in the Fig 2 1 4 If the Kp is too small oscillation will not occur However the PV reaches to the SV slowly and an offset may appear between PV and SV shown in the Fig 2 2 5 The manipulation value MV varies from 0 to 4 000 User can define the maximum value of MV MV_MAX and minimum value MV_MIN within the range 0 4 000 6 When an offset remains after the system is stabilized the PV can be reached to the SV by adding a certain value This value is called as bias value and user can define the bias value with GM WIN software Chapter 15 The PID functions Fig 2 1 When the proportional constant Kp is large Fig 2 1 When the proportional constant Kp is small 15 3 Chapter 15 The PID functions 15 2 1 2 Integral operation I action 1 With integral operation the manipulate value MV is increased or decreased continuously in accordance time in order to eliminate the deviation between the SV and PV When the deviation is very small the proportional operation can not produce a proper manipulate value and an offset remains between PV and SV The integral operation can eliminate the offset value even the deviation is very small Y The period of the time from when the deviation has occurred in action to when the MV of action become that of P action is called Integration t
155. uentially written to ANC WAR n from ordinary error ANC WAR 0 complying with their occurrence sequence External device The user program detects ordinary error of external device and the ANC WEIN iln ordinary error bit map errors are indicated on a bit map The number 0 is not allowed _ i The flag detects that task collision has occurred because while a SEE task was being executed or ready for execution an execution XT BMAPINI pir MOT Task olson request has occurred for the same task indicates the errors on a bit map This flag detects task collision occurrence time for each task when _TC_CNT n UINT n 0to7 Task collision counter executing a user program indicates the task collision occurrence time APP2 3 Appendix 2 Flag List 4 Detailed System Error and Warning Flag List continued Data setting ae DATE amp The first detection date and time of battery voltage drop are written eee TIME Batter voltage drop time to this flag It will be reset if the battery voltage has been restored AC F CNT UINT 0 to 65535 Momentary power The accumulated momentary power failure occurrence times during failure occurrence count operation in RUN mode is written to this flag DATE amp Momentary power a AC TM n TIME n 0to 15 failure history The times ofthe latest sixteen momentary power failures are written The times and error codes of the latest sixteen errors are written to A this flag _ERR_HIS n
156. week 0 Mon 1 Tue 2 Wed 3 Thur 4 Fri 5 Sat 6 Sun _SYS_ERR See the Section 12 5 Error Code List APP2 5 Appendix 2 Flag List 6 System Configuration status Information Flag 1 User Program Status Information Representative System S W GM1 0 GM2 1 GM3 2 GM4 3 GM 4 keyword configuration information FSM 5 6 Twofold 16 LM Basic parameter error Checks and indicates Basic parameter error 1 0 configuration m T _DOMAN ST BYTE C Checks and indicates 1 0 configuration parameter error Checks and indicates P rogram error Access variable error Checks and indicates Access variable error High speed link Bit 4 Checks and indicates High speed link parameter error 2 Operation Mode change switch Status Information Data Setting Keyword Type range Name Description Representative Mode setting switch Indicates the state mode setting switch of CPU module KEY STATE KEY_STOP Indicates that the mode setting switch is in the STOP state that the mode Indicates that the mode setting switch is in the STOP state Switch is in the STOP state Bit 1 KEY_RUN Indicates that the mode setting switch is in the RUN state KEY PAUSE REMOTE ME that the mode setting switch is in the PAUSE REMOTE 3 1 0 Module Installation Status Information Data Setting Keyword Type range Name Description 1 0 module installation Locations of
157. xecuted in accordance with its parameter 3 Precautions when using an internal task program e The internal task program is executed when scan program has finished its execution Therefore though the execution condition for the internal task program has been invoked in the scan program or task program time driven external the task start up condition will not be immediately executed but will be executed when scan program has finished its execution Chapter 4 CPU module e f execution of an internal task program is requested the execution conditions will be checked when scan program has finished its execution Therefore if an internal task execution conditions during one scan has been occurred and disappeared if the specified contact has been turned from OFF to ON and then from ON to OFF by scan program or time driven or external task program the task will not be executed as the execution condition can not be detected at the time that execution conditions are being checked 6 Task processing at momentary power failure In case of the power failure of 20 ms or less the ready tasks before the power failure will be executed time driven task will be invoked with calculation of the power failure time and time driven tasks invoked repeatedly before the power failure will be ignored 7 Examination on task program After writing down a task program be sure to examine the following items 1 Task setting has been correctly do
158. xternal operations to execute PAUSE operations under the condition that the mode setting switch of CPU module is in the remote position The PAUSE operations stop the CPU module operation processing while maintaining the On Off state of the output module 2 This function is convenient when the user wants to maintain the ON state of the output module under the condition the CPU module has been stopped 3 Remote DEBUG 1 This function permits external operations to execute DEBUG operations under the condition that the mode setting switch of CPU module is in the remote position The DEBUG operations execute programs complying with the specified operation conditions 2 This function is convenient when program execution or contents of any data are checked for debugging of the program 4 Remote reset 1 This function permits remote operations to reset the CPU module which locates in the place where direct operations cannot be applied when an error has occurred REMARK 1 For remote function operations refer to the GMWIN User s Manual Chapter 7 On line Chapter 4 CPU module 4 5 4 1 0 Force On Off function 1 Force On Off setting method Force on off setting is applied to input area and output area Force on off should be set for each input and output the setting operates from the time that Force 1 0 setting enable is set This setting can be done when I O modules are not really loaded 2 Force on off Processing

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