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User`s Manual Template - Triangle Research International

1. F series samples 192 168 1 5 FileZilla ok If Fi leZi la has made a File Edit View Transfer in pren successful connection the E DEES Ss Pe elastin status should be Host Username Password Port Quickconnect a Connected and Directory Status Connected o 7 E n ei oo directory listing listing successful i Response 257 paama TYPE I Re is 200 OK Command PORT 192 168 1 180 227 126 Also you should be able to Response 200 OK Command LIST see all three of the preloaded Response 150 Data e j Reponse 2250K files in the remote site atus Directory listing successful j sr 5 directory which is the bottom SAB Compute z right window shown here fy C OS ia F RECOVERY 7 The three files are O HTM TE l 2 HTM and N JS Filename 7 Filesize Filetype Last modified Filename Filesize Filetype Last modified Permissioi amp c Local Disk sii F RECOVERY Local Disk 0 HTM 3 228 Firefox Doc 1 1 2007 PXPX ea S CD Drive X B NJS 10 783 JScript Scri 1 1 2007 PAPAE 4 mm r 4 we r 5 directories 2 files Total size 14 011 bytes Server Local file Direction Remote file Size Priority Status Queued files Failed transfers Successful transfers f Queue empty ee Figure 2 9 3 If you are not able to connect to the Nano 10 server or if you can t get a successful directory listing then you should first double
2. iii 14 13 15 HOST LINK PROTOCOL INTRODUCTION 15 1 15 1 Multiple Communication Protocols 2 rr 15 1 15 2 Native Mode Communication ProtocolS 1111rrrrsesiiei iii eee iii 15 1 15 3 Point To Point Communication Format cccceeeseeeeeeeeeeeeeeeenseeeeeeeeeeeesseeeeeeeeeeoeeeeneeeeees 15 1 15 3 1 Command Response Frame Format Point to Point i 15 2 15 3 2 ENOFASSPOSeE Mii 15 2 15 4 MULTI POINT COMMUNICATION SYSTEM 11 00 rreeeeiiiiieeie 15 3 15 4 1 Command Response Frame Format MuIti point i 15 3 15 4 2 ICA ATO ION Sire 15 4 15 4 3 Communication PYOCO QUIS sc ritiri 15 4 15 4 4 PRIMIS 15 5 15 4 5 COMMIIdEN e ln 15 5 15 4 6 SHOULD YOU USE POINT TO POINT OR MULTI POINT PROTOCOL 15 5 PN lei aa 15 6 15 5 1 RS485 Network Interface Hardware ii 15 6 15 5 2 Protection of RS485 Interface iii 15 6 15 5 3 Single Master RS485 Networking FundamentalS 15 7 15 5 4 Multi Master Peer to Peer RS485 Networking FundamentalS 15 8 15 5 4 1 Multiple Access with Collision Detection 15 8 15 5 4 2 Token Awarding Scheme 15 9 15 5 4 3 Rotating Master Signal ii 15 9 15 5 5 TROUBLE SHOOTING AN RS485 NETWORK cccccccssseeeceeeeeeseeeeeeeeeeeessaeae
3. Description Transmission Control Protocal Intemet Protocol The default wide area network protocol that provides communication across diverse interconnected networks C Show icon in notification area when connected Notify me when this connection has limited or no connectivity Figure 2 8 3 4 Configure IP Address and Gateway Internet Protocol TCP IP Properties JE By default your Ethernet settings will be a configured to be obtained automatically in this General Altemate Configuration case only the IP settings are set to be obtained You can get IP settings assigned automatically if your network supports automatically This setting will not work since this capability Otherwise you need to ask your network administrator for the NANO 1 0 PLC does not have the ability to the appropriate IP settings assign IP address to the PC s Ethernet port So you need to manually set the IP address and the Subnet mask The IP address should be on the same subnet as the IP address you have set for your PLC For example if your PLCs IP address is set to the default address of 192 168 1 5 then you should set your PCs IP address to be Obtain DNS server address automatically 192 168 1 xxx Use the following DNS server addresses Prefered DNS server The xxx can be any number between 1 and 255 except for 5 your PC can t have same IP address as your PLC Altemate DNS server Advanced T
4. 4 3 4 3 Programming timers and counters in Custom FUNCTION ccccccceeseteeeeeeeeeeeeeeenneeeeeeeeenes 4 4 4 3 1 Programming Timers and Counters Present Values 4 4 4 3 2 Accessing Inputs Outputs Relays Timers and Counters Contacts 4 4 4 3 3 Changing The Timer and Counter Set Values in a Custom FunCtion 4 4 4 3 4 Volatility of Nano 10 Timer amp Counter Set ValUues 4 4 4 3 5 Controlling a Timer or Counter in a Custom FUNCHIoN 4 5 4 4 Programming Sequencers on Ladder Logic 1111 2rrrrrrrrriee ein 4 5 44 1 INIFOGUGHON 2i aero orti 4 5 4 4 2 Advance Sequencer AVS g ii 4 6 4 4 3 Resetting Sequencer RSSEQ i 4 6 4 4 4 Setting Sequencer to Step N StepN ccccccceeeseeeeeeeeeeeeeeeeeeeeessseeeeeeeeeeeessaaeaeees 4 6 4 4 5 Reversing a Sequencer 4 7 4 4 6 Program Example nnen 4 7 4 5 Programming Sequencers in Custom FUNCTION 2 cccceeeeeeeeeeeeeeeeneeeeneeeeeeeeeeeeeeeeeeeeennees 4 7 5 ANALOG INPUTS 5 1 5 1 AnaloG POWEFr SUDDN rara 5 1 5 2 PTV CWO Sos stata decpes ee acre ce cae secee E a N AE 5 1 5 2 1 Interfacing to two wire 4 20MA SENSOIMS cccscecccesseeeeeceeeeeseeeeeesaeeeeeseeeeeessaneeeeneeseeesseeeens 5 2 5 2 2 Using Potentiometer to Set ParametersS
5. A B C Z ASCII characters of the string variable length Response Format ws o TRIANGLE I 6 I TRI RESEARCH INTERNATIONAL Chapter 16 Host Link Command Response Format E g To assign the string Super PLC to the string variable P send hostlink command wvsp Super PLC 16 28 Write Variable Data Memory DM 1 to DM 4000 Command Format _w v D 16 16 16 16 16 16 16 16 S 16 bit Index to array 16 bit Integer Data 0001 to OFAO 400010 Response Format wjyjbo gt E g To write the value 1234o 4D26 to DM 1000 send hostlink command WvD03E804D2 100019 3E8416 16 29 Write Variable System Variables System 0 timerPV 06 0D ctrPV Not a system variable in TBASIC Command Format M S type Index 16 bit Integer Data type 01t00D denotes the type of system variable to access index 01 to 1F index into the array starting from 01 Response Format E g To set clk 1 which represents the hour of the RTC to 14 send the command WVS0801000E to the PLC ied RESEARCH 16 12 INTERNATIONAL Chapter 16 Host Link Command Response Format 16 30 Write Variable High Speed Counter HSCPV Command Format 1or2 8 Hexadecimal Digit for 32 bit integer Response Format W V H E g To clear the value of HSCPV 2 send hostlink command wVH20000000
6. TRIANGLE De TR RESEARCH INTERNATIONAL Chapter 2 Ethernet Port 2 2 Connecting Ethernet to the PLC Introduction All FMD PLCs can connect to the PC running TRILOGI many ways as follows a Wired connection to a router that the PC is also connected to PC connection can be wired or wireless b Direct connection to the PCs wired Ethernet port via crossover cable c Wireless connection to a wireless router if the PLC is connected to a wireless bridge adapter Only the first two options which are most common will be described here 2 2 1 Connecting the PLC to a Local Area Network In a typical local area network LAN there would be one router wired or both wired and wireless that the network devices connect to one modem that provides Internet to the router and the devices connected to the router Such as the PLC and PC Before You Begin The first thing you need to do is configure the network settings in the PLC to match those of the LAN This is typically done as follows 1 Find out what your routers gateway address is typically 192 168 1 1 or 192 168 0 1 and what Static IP addresses are free to use with your PLC NOTE if the routers gateway address is 192 168 1 1 the default PLC IP address 192 168 1 5 will most likely work unless it is already used by another device on the same network If it is free to use the next two steps can be skipped as the PLC will already be able to connect to the LAN 2
7. i 5 3 5 2 3 Reading Analog Input Data ii 5 3 52 4 Moving AV OA opin ctacouahveravscinteaunendareetudusvscdansavendeusavatonaapvacceitetasiumcavantinescersuductacbonsetanonncstss 5 4 5 2 5 Scaling of Analog Dal arsesssdecpanscddecatnnvedeatesenees orrori earn 5 4 5 3 Temperature Measurement Using Analog INPUTS nre 5 5 5 3 1 Thermistor Temperature Sensors 5 5 5 3 2 Using LM34 Semiconductor Sensor i 5 6 5 3 3 USING TREFMOCOUPpile irr ii 5 7 5 3 4 Using PT100 Temperature Sensor i 5 7 5 4 Calibration of ADC amp Moving Average Definition 11rrss iii 5 7 DA ADO GID PR RR A A I A E AT 5 8 Sh ADOZEO Oi I nica iii ae 5 9 Ahi AEM reato aiar 5 9 6 SPECIAL DIGITAL I OS 6 1 7 HIGH SPEED COUNTERS 7 1 7 1 INFOGUCHON lni ei iii 7 1 7 2 Enhanced Quadrature DeCOdING c cccssssseeeeeeeeeecensseeeeeeeeeeennseeeeeeeeeoeeseseeeeseoonensseeeesseaoes 7 2 7 3 Configuring HSC as x1 x2 or x4 Counters cccccceeeeeeesenneeeeeeeeeeeesneeeeeeeeeeoensneeeeeeseeooeeeees 7 2 7 4 Interfacing to 5V type Quadrature Encoder ccccccccccsssssseeeeeeeeeenseseeeeeeeeeoesneeeeeeseeooaaes 7 3 1 1 1 1 PA VG gece tetera ant catia E E 1 8 FREQUENCY SPEED MEASUREMENT 8 1 8 1 Programming of PM NDUT sorires E 8 1 8 2 PDD MN AUS i cc 8 2 8 2 1 Measuring RPM Of A Motor 8 2 8 2 2 Measuring Transducer with VC
8. _ _ type Index type 01 to 0D denotes the type of system variable to access index 01 to 1F indexinto the array starting from 01 Response Format JR vs 16 16 16 tet a 4 Hexadecimal Digit for 16 bit integer Example To read the value of DATE 2 which represents the month of the RTC send command RVS0902 and if the PLC responds with Rvs0005 it means the month is May 16 16 Read Variable High Speed Counter HSCPV Command Format RIvIH o fo nn Channel 1 or 2 Response Format LR V H 16 16 16 16 16 16 16 16 O 8 Hexadecimal Digit for 32 bit integer E g To read the value of HSCPV 2 send hostlink command RVH2 If variable HSCPV 2 contains the value 1234560 1E240 g the PLC will send the response string as RVH0001E240 16 17 Write Inputs Command Format wet fn tn fie t jo T y Channel Data 00 to OF Response Format wtit fo TRIANGLE I 6 8 TRI RESEARCH INTERNATIONAL Chapter 16 Host Link Command Response Format 16 18 Write Outputs Command Format wtlotnt n jie fie o Channel Data 00 to OF Response Format wo oOo 16 19 Write Relays Command Format wt Rint n fie iets oO en y en y Channel Data Response Format WR fo 16 20 Write Timer contacts Command Format Channel Data 00 to 07 Response Format 16 21 Write
9. cccccceesscssssssseeeeeeeeeesneeeeeeeeeeeessneeeeesseeoeesnseeeeees 11 3 11 4 1 Using Nano 10 PWM Output To Control RC Servo Non Isolated 11 4 11 4 2 Using Nano 10 PWM Output To Control RC Servo Opto lsolated 11 5 11 4 3 RC Servo Positioning Resolution ii 11 5 12 REAL TIME CLOCK 12 1 2r Introducing 12 1 12 2 TBASIC variables Used for Real Time CIocK rrrrrrrieeiz zizi 12 1 12 3 RIC Error Status On Ladder LOgiC alc 12 1 12 4 Setting the RTC Using TRILOGI Software eeeesseeeeeeeeeeeesseeeeeeeeeenseeeeeeseeeeeenseeeeees 12 2 12 5 Setting the RTC from Internet Time Servel cccceeeeccsseseeeeeeeseceeenssneeeeeeeeeoenseeeeesseoes 12 3 12 6 Setting up an Alarm Event in TBASIC rire 12 3 12 7 Retrieving RTC Clock values using STATUS 18 rire 12 3 12 8 RTC Calibration For FRAMRTC ONlY iii 12 4 129 ControLofRTC HardWar i lla 12 5 12 10 Troubleshooting the FRAMATG ililii ei 12 5 13 LCD DISPLAY PROGRAMMING 13 1 131 SETECCD GO mi iia ic ss atc A ews sweater 13 1 TRIANGLE Upg RESEARCH Page vi INTERNATIONAL USER MANUAL 13 2 Special Commands For LCD Display 11 rire 13 1 13 3 Displaying Numeric Variable With Multiple Digits rr 13 2 13 4
10. You can try out all the Host Link commands using TLServer s Serial Communication Setup However TLServer is designed to accept only multi point protocol commands except the IR command which is necessary to obtain the device ID from the PLC You therefore have to enter all your host link commands in multi point format Since the multi point protocol requires an FCS frame check sequence character to be appended to the end of the command string you may be able to get around it by using the wildcard FCS 00 in place of the actual FCS E g To read input channel 02 from a PLC with ID 01 you can enter the command string as 01RI0200 For TLServer version 2 1 and above there is an FCS button that lets you compute the actual FCS for the string in the command string text field You can then use the actual FCS with the command string to completely test your command E g If you type in the string 01R102 in the command string but do not press Enter and then click on the FCS button the FCS for this string will be computed and shown as FCS 58 as shown in the following figure JD x Port Name comi Baud Rate 38400 Data Bits E stop Bits K Parity None Time Qui ims 500 Open Port Close Port Connect Hang Up Shetlal Modem Auto Answer Prone Mo Command String Press sEnter to Send 01RI02 Response Strings amp Modem Messages E
11. leave only one line of welcome message so that the PLC has less work to do Then click OK to accept the change TRI RESEARCH 18 7 INTERNATIONAL Chapter 18 Extended File System FileZilla Server Options E General settings A RIE Teer ts Welcome messi IP bindings On this page you can modify the welcome message that will be sent to each IP Filter connected client Passive male sellin f you enter no custom message the default message will be used Securty settings Rules for welcome messages Miscellaneous Z Please enter only 75 characters per line additional characters will be removed Admin Interface seti Empty lines at the top or bottom of the message will be removed Logging Custom welcome message GSS Settings Speed Limits Filetranster compres SSL TLS settings Autoban i Format specifiers Sv Displays version of FileZilla Server _ Hide welcome message in log 4 the character 6 Click Edit gt Users in order to setup a user name and password for your test The ExtendedFileSystem PC6 program uses a username PLC and password 1234 so for a quick test you may like to setup the same username and password 7 At the General page of the setup screen click Add button at the Users pane to add a username PLC Since no group has been defined simply leave the default as lt none gt in the second text box as shown in the following diagram Add user a
12. 2 0ms Figure 11 3 RC Servo and Control Signal RC Servo typically only have 3 wires Power typically 4 8 to 6V anda Control input To position the RC Servo to a position within its range of travel Some are 0 to 90 degree and there are those that can go from 0 to 180 degree you send a positive pulse with pulse width between 1 00 ms to 2 00 ms to the Control input once every 20ms The servo will position the actuator to one end when it receives a pulse of 1 00ms and the other end when it receive a pulse of 2 00ms If you send it a pulse of 1 50ms it will position the actuator to the center In PWM term 1 00ms pulse width every 20ms means a duty cycle of 1 00 20 00 5 00 2 00ms pulse width every 20ms means a duty cycle of 2 00 20 00 10 00 duty cycle So to control the position of the actuator one only needs to send it a positive PWM signal with frequency 1 0 02 50Hz and duty cycle between 5 and 10 The gear and servo feedback mechanism within the RC Servo produces a huge amount of torque relative to its weight for positioning the actuator to the position determined by the pulse width at the control input Yet once it is in the correct position the servo draws only minimum current required to maintain its INTERNATIONAL TR RESEARCH 11 3 Chapter 11 Pulse Width Modulated Outputs position Hence being a closed loop controller an RC Servo is actually a much more efficient and effec
13. CHOCis 104 103 102 101 100 99 98 97 a CHIE CHIF The 8 bit inputs of each channel are represented by a two byte ASCII text expression of its hexadecimal value For example if inputs 1 to 3 are logic 0 s inputs 4 to 10 are logic 1 s and all other inputs are logic 0 s then if you send command RI00 you will get the response RIF8 F8 1111 10005 16 4 Read Digital Output Channels Command Format Rfo n n o en 8 bit Channel Hex Response Format en 8 bit data Hex TRI RESEARCH 16 2 INTERNATIONAL Chapter 16 Host Link Command Response Format Please refer to the Input Output vs Channel Number table described in the section 16 3 Read Digital Input Channels for details 16 5 Read Internal Relay Channels Command Format PRU Rino no O S 8 bit Channel Hex Response Format JR TR te 16 o S 8 bit data Hex 16 5 1 Definition of Internal Relay Channel Numbers Nano 10 supports 512 internal relays the channel definition of the first 256 internal relays is the same as the inputs and the outputs The remaining relays and their assigned channels are shown in the following table bit7 Relay numbers bito CH2046 CH2146 CH2246 CH23 6 288 CH24 g 296 289 CH2516 304 297 CH26 6 312 305 CH27 6 320 313 CH28416 328 321 CH29 6 336 329 CH2A e 344 337 CH2Bie 352 345 Le Le a a a ala _ CH3A e 488
14. XE TRILOGI Version 6 13 Untitled Sele File Edit Controller Simulate Circuit Help Circuit 1 ppo Cenne quick Tags Once the component toolbar is shown you can place your input relay contact by selecting the 1 Figure 3 2 Creating Ladder Circuit component from the toolbar dh and then selecting the digital input from the I O Table The contact will then be automatically placed in the ladder logic circuit The same can be done for the output coil by selecting the 7 component from the toolbar and then selecting an output that has been entered into the I O Table After selecting one input and one output the ladder logic circuit should like something like Figure 3 3 below XE TRILOGI Version 6 13 Untitled File Edit Controller Simulate Circuit Help Circuit 1 A HFs Hts 35 dg Fog Fn SE Figure 3 3 Completed Ladder Circuit 3 2 4 3 Example 3 Creating a Latching Relay Circuit The first part of the circuit follows the same procedure as the previous example except that the 7 coll should be a Relay coil So it should look similar to the circuit in Figure 3 3 The next part requires a parallel contact to be added to the Input contact This is done by selecting the Inputi contact or whichever contact was used and then adding the 3 contact E as shown in Figure 3 4 below oO _ TRIANGLE _ URN RESEARCH 3 2 INTERNATIONAL Chapter 3 I O and Internal Relays Programming TRILOGI Version
15. all the RS485 devices to some reference point Failure to provide a common ground is a potential source of serious trouble as signal wires with a floating ground easily induce large voltage differences between nodes when subjected to electromagnetic interference Hence for reliable operation it is important to provide the common ground A grounded shield also has the additional advantage of shielding the electrical signals from EMI 15 5 3 Single Master RS485 Networking Fundamentals RS485 is a half duplex network i e the same two wires are used for both transmission of the command and reception of the response Of course at any one time only one transmitter may be active The Nano 10 PLC implements a master slave network protocol The network requires a master controller which is typically a PC equipped with an RS485 interface In the case of a PC you can purchase an RS 485 adapter or an RS232C to RS485 converter and connect it to the RS232C serial port Any F series M series or even the Nano 10 PLC can be programmed to act as the master it can communicate with other TRIANGLE I Sai TR RESEARCH INTERNATIONAL Chapter 15 Host Link Communication Protocol PLCs by executing the NETCMD function or the READMODBUS or the WRITEMODBUS commands the latter two are for communicating using MODBUS protocols only and are covered in Section 14 8 Only the master can issue commands to the slave PLCs To transmit a co
16. lt 2 50KHz Relevant TBASIC commands SETPWM TRIANGLE TR RESEARCH INTERNATIONAL Chapter 11 Pulse Width Modulated Outputs Unlike in the T100M PLCs which only support 8 fixed frequencies settings the PWM channels in the Nano 10 PLC can generate pulses with frequency ranging from 50Hz all the way to 50KHz At the lower frequency range the output frequency can be extremely accurate less than 0 01 error Even at 10KHz the output frequency error is less than 0 5 This makes it possible to use the PWM channels to generate square wave pulses of a certain frequency Usually it is better to select as high a frequency as possible because the resulting effect is smoother for higher frequencies However some systems may not respond properly if the PWM frequency is too high in such cases a lower frequency should be selected The TBASIC SETPWM statement controls the frequency and duty cycle settings of the PWM channel The Nano 10 PLC features two channels of PWM on its digital outputs 1 and 2 PWM channel 1 and 2 Since both PWM outputs are high voltage high current outputs 24V 4A peak 2A continuous they can be used to directly control the speed of a small DC motor They can also directly drive proportional variable position valves whose opening is dependent on the applied voltage Note When using the PWM output to drive a motor or solenoid valve please take note of the need to add a bypass diode to absorb th
17. 6 and define it as a High Speed Counter see Chapter 7 This is because an input pin that has been defined as an HSC will automatically be enabled for pulse measurement In other words if you need to use the HSC and the Pulse Measurement on the same channel then you don t execute both the HSCDEF and PMON you only need to execute the HSCDEF The HSCDEF function will automatically start the Pulse Measurement hardware so it is not necessary to use the PMON statement If you use only the PMON statement it would not enable the HSC function However if you execute the HSCDEF statement and followed by the PMON statement the HSC will be disabled even though it was previously enabled TRIANGLE 8 3 TR RESEARCH INTERNATIONAL Chapter 9 Interrupts Chapter 9 Interrupts T TRIANGLE RESEARCH INTERNATIONAL Chapter 9 Interrupts 9 INTERRUPTS 9 1 Input Interrupts During normal PLC ladder program execution the CPU scans the entire ladder program starting from the first element progressively solving the logic equation at each circuit until it reaches the last element After which it will update the physical Inputs and Outputs I O at the end of the scan Hence the location of a logic element within the ladder diagram is important because of this sequential nature of the program execution When scanning the ladder program the CPU uses some internal memory variables to represent the logic states of the inputs obtained dur
18. All the Nano 10 PLC I O bits are mapped identically to both the MODBUS Ox and 1x space The bit register offset is shown in the last column of Table 2 1 Although MODBUS names the Ox address space as Coil which means output bits and the 1x address space as Input Status which means input bits only the Nano 10 PLC treats both spaces the same Some MODBUS drivers only allow a read from Ox space and a write to 1x space but you still use the same offset shown on Table 2 1 Example 1 To map an element to the PLC Input 4 you select the MODBUS register address 0 0004 You can also map the element to the PLC s output 2 In that case you should map it to MODBUS register address 0 0258 2 To map an HMI toggle switch symbol to the PLCs input 4 if you are restricted to select only MODBUS 1x address space then you will have to map the switch to 1 0004 and likewise you can map the switch to output 2 using the MOBDUS address 1 0258 However if the driver allows the switch to be mapped to the Ox space then you can use MODBUS register space 1 0258 and 0 0258 for the output 2 mapping with identical result TR RESEARCH 2 22 INTERNATIONAL Chapter 2 Ethernet Port Table 2 1 Memory Mapping of Nano 10 CPU Internal Data to MODBUS Register MODBUS Word Addr MODBUS Bit LASU Mapping Addr Mapping Input on pon 1 to 16 40001 1 to 40001 16 ooh 40002 1 to 40002 16 7 to 32 40003 1 to 4000
19. Filezilla will assign to the PLC to make a data channel connection when it attempts to transfer a file using passive mode The following is an example where two port numbers are assigned so that two PLCs may connect to the Filezilla simultaneously You can add a larger port range if more PLCs may connect to the FTP Server simultaneously FileZilla Server Options E General settings A ESTA SE Welcome mess IP bindings w Use custom port range 41000 41001 1 565535 IP Filter Passive mode setti Security settings _ Miscellaneous External server IP Address for Use custom PASY settings if you Ainin kdexfiace sei passive mode transfers are operating the server from Default behind a NAT router or a firewall sgmng i In that case the IP address of 355 Settings Use the following IP the server is not accessible from Speed Limits Po outside of the router so you Filetransfer compres should fill in the correct address SSL TLS settings You can also enter hostnames here Use the port range to limit o Ww Retrieve external IP address from the number of ports that will need Autoban OR to be forwarded through the Information for users with dynamic IPs If your external IP changes it might take up to 5 minutes after the next failed transfer until FileZilla Server recognizes the changed IP In most cases the IP is updated within 30s after a failed transfer Cancel Don t use external IP for local connections IPy 4 sp
20. Hence a counter is suitable for counting the number of cycles an operation has gone through When the count register hits zero all of the counter s N O contacts will be turned ON These counter contacts will remain ON regardless of whether the counter s coil is energized or not To turn OFF these contacts you have to reset the counter using a special counter reset function RSctr 4 1 3 Sequencers A sequencer is a highly convenient feature for programming machines or processes that operate in fixed sequences These machines operate in a fixed clearly distinguishable step by step order starting from an initial step progressing to the final step and then restarting from the initial step again At any moment there must be a step counter to keep track of the current step number Every step of the sequence must be accessible and can be used to trigger some action such as turning on a motor or solenoid valve etc As an example a simple Pick and Place machine that can pick up a component from point A to point B may operate as follow 0 Wait for Start signal 6 Opengripper_____ 1 2 3 4 le 7 TRIANGLE A TR RESEARCH INTERNATIONAL Chapter 4 Timers Counters amp Sequencers 4 2 Programming timers and counters on Ladder Logic The timers and counters can be programmed in ladder logic in a few simple steps 4 2 1 For Timers Create Edit the label names Place the input contact s into the ladder log
21. I My Sites Servertype FTP File Transfer Protocol The Host should be the IP address of the gonne RE Nano 10 PLC default IP is shown in the example The Port can be left blank and the Servertype can be left as the default Password as shown Account User samples The Logontype should be set to Normal p 7 and the User and Password should be set Newsite New Bolder to the same as for the login to the Nano New Bookmark Mew Bookmark Rename Rename 10 Server in the Ethernet port Delete Delete Copy Copy Connect OK Cancel Figure 2 9 1 Comments Nothing else needs to be configured in this area Next go to the Transfer settings tab were anager Under the Transfer settings tab you need to set the Transfer mode to J My Stes Active and check the box to Limit F series Transfer mode number of simultaneous connections 3 Default Active Passive The maximum number of connections Limit number of simultaneous connections should be 1 Select Entry Maximum number of connections 1 This is everything that needs to be configured so you can now click on connect Mew Site NewEolder New Folder New Bookmark New Bookmark Rename Rename Delete Delete copy Copy Connect DK Cancel Figure 2 9 2 RESEARCH INTERNATIONAL TR TRIANGLE 2 33 Chapter 2 Ethernet Port
22. Since the PLCs also support OMRON C20H Host Link commands which are very similar in construct to our multi point command response format you can also make use of OMRON commands to supplement the native host link commands We will only discuss four of the OMRON host link commands RR WR RD and WD in this section because these commands can be used by users to read write to multiple I O registers and data memory in a single command Note maximum length of command string should be lt 80 characters Note Since the Nano 10 native protocol command set typically only supports read write of single variables and data memory if you want to read write multiple memory locations in a single command you can make use of these OMRON host link commands 16 40 1 Read IR Registers This command refers to Table 14 1 in Chapter 14 to map the PLC s I Os to OMRON IR register space from IRO to IR519 Command Format Device ID Header IR Address Dec IR count Hex S FCS Response Format jafjajR R s sieje _ Nee ee Device ID Header Status 1 Data Hex 00 OK 15 Bad Ne ee Last data FCS E g To read Timer PV 1 to 7 using this command send O1RRO12800074D The PLC will send return a response 01RR00xxxxyyyyzzzz TRIANGLE I 6 J TRI RESEARCH INTERNATIONAL Chapter 16 Host Link Command Response Format 16 40 2 WRITE IR Registers This comm
23. The special bit is called RTC Err and can be obtained from the Special Bits I O Table The RTC Err contact can be used to activate an alarm of some kind The following ladder logic circuit is an example of this using the RTC Err bit as an input that controls an output called RTC_Alarm TRIANGLE I 2 Oo Upg RESEARCH INTERNATIONAL Chapter 12 Real Time Clock RTC Err RTC_Alarm OUT In the circuit above RTC Err is a special bit that cannot be renamed in your program The output RTC_Alarm is a user defined output that could be named to anything If the RTC Error event occurs for any reason the RTC Err bit would activate the RTC_Alarm output 12 4 Setting the RTC Using TRILOGI Software The RTC date and time can be easily set within TRILOGI by selecting Set PLC s Real Time Clock from the Controller menu A window will pop up with default values entered as shown below in Figure 12 1 All of these values can be edited and then written to the PLC by clicking on Set PLC s Clock ike Set Target PLC s Real Time Clock x Month Day Year 1 fday ao 28 2008 Da Tue 12 GE E Hour Set PLe s Glock Cancel Figure 12 1 Set Real Time ClockSetting the RTC Using TBASIC The PLCs RTC can be set from TBASIC using the DATE and TIME registers shown in section 12 2 Figure 12 2 Set Date amp Time in TBASIC shown below is an example of a custom function where the date is set to October 1 2
24. and 64 counters with range of 0 to 9999 You can define timer 1 to n to become high speed timers with 0 01s time base by executing the HSTIMER n command i e High Speed Timer always start from timer 1 up to timer n 4 1 1 Timer Coils A timer is a special kind of relay that when its coil is energized must wait for a fixed length of time before closing its contact The waiting time is dependent on the Set Value SV of the timer Once the delay time is up the timer s N O contacts will be closed for as long as its coil remains energized When the coil is de energized i e turned OFF all the timer s N O contacts will be opened immediately However if the coil is de energized before the delay time is up the timer will be reset and its contact will never be closed When the last aborted timer is re energized the delay timing will restart and use the SV of the timer rather than continue from the last aborted timing operation 4 1 2 Counter Coils A counter is also a special kind of relay that has a programmable Set Value SV When a counter coll is energized for the first time after a reset it will load the value of SV 1 into its count register From there on every time the counter coil is energized from OFF to ON the counter decrements its count register value by 1 Note that the coil must go through an OFF to ON cycle in order to decrement the counter If the coil remains energized all the time the counter will not decrement
25. and the program then calls another custom function to dump these data points to the server The loop then continue for another 9 times and hence altogether 1000 data points from address 12345 to 13344 can be uploaded to the server in a simple FOR NEXT loop TRIANGLE I 7 8 Tri RESEARCH INTERNATIONAL Chapter 18 Extended File System Chapter 18 Extended File System TT fl TRIANGLE R RESEARCH INTERNATIONAL Chapter 18 Extended File System 18 EXTENDED FILE SYSTEM Before you begin please download a sample I TRILOGI program that will be referred to throughout this section from our website http www tri plc com trilogi ExtendedFileSystem zip 18 1 Introduction A Nano 10 or FMD PLC with r77 or later firmware may be used with a new module FRAM RTC 256 which besides adding 11K words of FRAM see Section 1 7 2 and a battery backed RTC module also adds 256K bytes of extended data file space to the PLC Note The I2C EEPROM memory on the I2C FRTC module default 128K bytes user expandable to 256K described in Chapter 17 can also be used as extended data file in exactly the same way as the FRAM RTC 256 However in the rest of this chapter we will only refer to the FRAM RTC 256 Without the FRAM RTC 256 the Nano 10 PLC only has 60K bytes of file memory to be used for storing control web pages as described in Chapter 2 9 Note the default file soace on the Nano 10 PLC before firmware r77 was 64K bytes but it has b
26. assigned to another device on the same network otherwise a conflict would occur and communication is not possible 2 4 Using Fserver Network Services Commands The F Server firmware in the Nano 10 PLC implements a list of Network Services commands similar to what you may have read in the User s Manual of the X Server NS commands and TLServer Files and Email Services These Network Services or NS in short can be used to instruct the Nano 10 PLC s operating system to perform a number of network related client connection via the Ethernet port These commands allow the PLC to connect remotely to another PLC in another building or another part of the world via the Internet This allows peer to peer networking or so called M2M machine to machine communication to take place between the PLCs In the case of the X Server and TLServer the PLC typically communicates with these external hardware or software servers via its COMM1 serial port and thus TBASIC statements and functions such as PRINT 1 INPUT 1 and NETCMD 1 are used since the NS commands are sent through the serial port 1 Since the Ethernet is already built in on the Nano 10 PLCs you do not need to send NS commands via any of its serial port this also means that no serial port is sacrificed in order to have access to Ethernet communication However to help users of the XServer and TLServer migrate easily to the Nano 10 PLC Ethernet port we
27. cost local networking solution via RS485 is desired then the following discussion will be relevant Since any F M or Nano PLC is capable of sending out network commands the obvious question is whether multiple masters are allowed on the RS485 network It is possible to have multiple masters on a single RS485 network provided the issues of collision and arbitration are taken care of There are several means to achieve these objectives 15 5 4 1 Multiple Access with Collision Detection There is nothing to stop any PLC from sending out host link commands to other PLCs However if more than one PLC simultaneously enables their transmitters and send out host link commands then the signals will conflict and the messages will be garbled up If the network traffic is low then the solution may be a matter of having the master check for the correct response after sending out a command string If there is error in the response string the master should back off the network for a short while use different timing for different PLCs and then re send the command until a correct response string is obtained Fortunately the NETCMD function of these PLCs always checks the integrity of the response string for correct FCS Frame Check Sequence characters before returning the string Please refer to the Programmer s Reference for detail description of the NETCMD function However the program must still check the following items in the response
28. optional battery backed FRAMRTC module and the Nano 10 will sense it automatically and use it upon installation NOTE If the RTC battery is not installed or the battery is removed for more than 15 seconds from the FRAMRTC then the PLC will lose its real time clock data when it is powered up even with the FRAMRTC installed When this happens the RTC Err bit in the ladder logic special bit will be ON so that user program can use it to alert the operator The PLC can also use the RTC Err bit to trigger an automatic RTC update from an Internet Time Server or from a TLServer that it connects to 12 2 TBASIC variables Used for Real Time Clock YEAR DATE 1 HOUR TIME 1 MONTH DATE 2 MINUTES TIME 2 DAY DATE 3 SECOND TIME 3 Day of Week DATE E There are 7 registers available in TBASIC that are used to access and configure the date and time These registers which are shown above can be read from and written to just like any other integer variable The data for these registers are in integer format DATE 1 may contain four digits e g 1998 2008 etc DATE 4 1 for Monday 2 for Tuesday 7 for Sunday 12 3 RTC Error Status On Ladder Logic There is a special bit available in TRiLOGI that allows you to notify the PLC program if the RTC Error event occurs and the RTC Error status light is turned on The RIC Error event occurs if the RTC is corrupted or damaged see section 12 8 for more detail or if the battery is not installed
29. s inputs The simplest way is to use an IC driver ULN2003 connected as shown in Figure 7 2 ULN2003A 16 Input 3 1 1 1 1 Nano 10 PIC Figure 7 2 Interfacing 5V type Rotary Encoder O _ 2 TRIANGLE g UR RESEARCH 3 INTERNATIONAL Chapter 8 Frequency Speed Measurement Chapter 8 Frequency Speed Measurement TRIANGLE TR RESEARCH INTERNATIONAL Chapter 8 Frequency Speed Measurement 8 FREQUENCY SPEED MEASUREMENT The Nano 10 PLC provides a very straightforward means to measure the pulse width of the ON cycle the frequency or the period of a rectangular wave pulse train arriving at its Pulse Measurement PM inputs 1 2 3 4 Which are mapped to digital inputs 1 to 4 see Chapter 6 8 1 Programming of PM Input 1 To use the PM input to measure pulse width or frequency execute the PMON statement ONCE to configure the relevant input to become a pulse measurement input You usually put the PMON statement in the init custom function and execute it with a 1st Scan pulse 2 Thereafter the pulse width in us or the pulse frequency in Hz can be easily obtained from the PULSEWIDTH n or PULSEFREQUENCY n functions You can also obtain the pulse period inverse of frequency using the PULSEPERIOD function E g A PULSEWIDTH 1 B PULSEPERIOD 1 C PULSEFREQUNCY 1 3 All PM inputs by default return the measured pulse width and pulse period in unit of microsecond However for those who
30. the Control input is pulled down to about 1 diode drop about 0 7V In other words the RC Servo connected above are controlled by the PLC s PWM output but the duty cycle is inverted l e To send a 5 positive PWM control pulse to the Servo you can run the following statement SETPWM 2 9500 50 Set PWM 2 output to 95 duty cycle at 50 Hz Likewise to send a 10 positive PWM control pulse to the Servo you will need to run the following statement SETPWM 2 9000 50 Set PWM 2 output to 90 duty cycle at 50 Hz 2 TRIANGLE _ T RESEARCH 11 4 INTERNATIONAL Chapter 11 Pulse Width Modulated Outputs 11 4 2 Using Nano 10 PWM Output To Control RC Servo Opto Isolated You can also use the PLC s PWM output to drive an optocoupler such as 4N35 and the output from the optocoupler is use to provide control pulse to the RC Servo as shown in Figure 11 5 4N35 pa DC Optoisolator Poca ower For PLC For Servo OUTPUTS Figure 11 5 Opto Isolated Interace to RC Servo In the opto isolated interface shown above the power supply to the PLC and that to the RC Servo are completely isolated no common ground required Also since the interface inverts the output signal from the PLC no software inversion is necessary i e When the PLC NPN output is OFF the control input to the RC Servo will be OFF and when the PLC NPN output is ON the control input to the RC Servo 6V Hence to send a 5
31. to Seq8 corresponding to the counter numbers For e g if Sequencer 5 is to be used Counter 5 must be defined as Seq5 Next enter the last step number for the program sequence in the Value column of the table A circuit that uses the special function Advance Sequencer AVSeq will need to be constructed The first time the execution condition for the AVseq function goes from OFF to ON the designated sequencer will go from inactive to step 1 Subsequent changes of the sequencer s execution condition from OFF to ON will advance increment the sequencer by one step This operation is actually identical to the UPCtr instruction The upper limit of the step counter is determined by the Set Value SV defined in the Counter table When the SV is reached the next advancement of sequencer will cause it to overflow to step 0 At this time the sequencer s contact will turn ON until the next increment of the sequencer This contact can be used to indicate that a program has completed one cycle and is ready for a new cycle Accessing individual steps of the sequencer is extremely simple when programming with TRILOGI Simply create a contact NC or NO in ladder edit mode When the I O window pops up for you to pick a label scroll to the Special Bits table as follow INTERNATIONAL O UR RESEARCH 4 5 Chapter 4 Timers Counters amp Sequencers XE 1 0 Labels Eg Special Bits v p Label Name Seghix Normally ON Ts
32. 1 to DM 4000 are mapped to the Modbus Holding Registers space The Inputs Outputs Relays Timers and Counters bits are mapped to the MODBUS Bit address space as shown in Table 14 1 Note that input and output bits are always mapped according to Table 14 1 whether it is MODBUS function 01 02 or 05 However 32 bit variables and string variables are not mapped since they are fundamentally quite different in their implementation among different PLCs Internal variables that are not mapped can be still be accessed by copying the contents of these variables to unused data memory DM n this can be easily accomplished within a CusFn so that they can be accessed by these third party protocols 14 6 1 MODBUS ASCII Protocol Support The Nano 10 PLC supports MODBUS ASCII protocols with the following command and response format START LRC Check CRLF chars 2chars chas 2chars 2 chars The following Function Codes are supported 01 02 Read I O bit Use Bit Address Mapping in Table 14 1 03 04 Read I O Word registers Force I O Bit Use Bit Address Mapping in Table 14 1 06 Preset Single Word Register Preset Multiple Word Registers The exact command response format of the MODBUS protocol can be found at http www modbus org However if your only purpose is to interface the PLC to other MODBUS hosts such as an LCD touch panel or SCADA software then there is no need to know the underlying protocol command format All you need
33. 16 Read Variable High Speed Counter HSCPVI rire eee 16 8 1637 WIN pulSain errate 16 8 10 198 WIE OUIPUIS sisepinna SE E EARE 16 9 16 19 Wihe Relays aons ei iii iii iaia 16 9 16 20 Write Timer contacts sieinc tee dcsescnececcccsndccasacaceceut eedaiendeecesaseeoccansceaceinetacdaiescacspeusscuneccuateeccacaacs 16 9 6 21 Write Counter Contacts ccssar a A 16 9 16 22 Write Timer Present ValUe P V crciinirinia ei nnna 16 10 16 23 Write Tim r S t Value SV 16 10 16 24 Write Counter Present Value P V ccsecccsssseeeeseeesseeeeeceenseeesseeasseeessooaasesseonnnseeesees 16 10 16 25 Write Counter Set Value S V e ussnenusnununnunnnuennnnnnunnnnnnunnunnnanunnnnenunnnnunnunnnnannnnnnunnnannnnnnnnna 16 11 16 26 Write Variable Integers A tO Z cccccsssseeceeseeeseenseesenseeeceesseeseonseeseoaseeseoasseesoonseeseonaes 16 11 16 27 Write Variable Strings AG to Z iii 16 11 16 28 Write Variable Data Memory DM 1 to DM 4000 rr 16 12 16 29 Write Variable System Variables rire 16 12 16 30 Write Variable High Speed Counter HSCPVI rire 16 13 1631 Haling he PEC emma 16 13 16 32 RESUME PLC Operations 16 13 16 33 ReadAnalog INpul Lc 16 13 A TRIANGLE iji URgI RESEARCA age vil USER MANUAL 10 94 Read EEPROM integer Data nunnnunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnannnn
34. 7 data bits 2 stop bits and even parity Likewise 8 1 n means 8 data bits 1 stop bit and no parity You can use the table to select the baud number for a certain baud rate and COMM format COMM1 can work at high baud rate of up to 230 4 K bps Baud No Table All numbers in Hexadecimal amp H00 to amp HFF sa an are a10 zan 71e 10 aan ape a20 ran 720 720 FB o oe dB 66 eb ce Lee 16 Lee 78 98 DB a foD 4D eD 8D CP ED 1D 5D 7D 9D DD ED 60 oE 4E SE SE CE EE 1E 5E LIE LO 1200 OF 4F 6F 8F CF EF 1F 5F 7F 2400 01 41 61 81 C1 Et 11 51 71 9 4800 02 42 62 82 C2 E2 12 52 72 9 0 o3 as es ss cs tes pis ss L731 9 19200 04 44 64 84 C4 E4 14 54 74 9 n a o5 45 65 85 ee 55 75 9 s8400 06 46 66 86 C6 E6 16 56 76 9 i 100K__ 08 48 68 88 C8 E8 18 58 78 115K2 09 49 69 89 C9 E9 19 59 79 E g To set the baud rate of COMM1 to 19200 7 data bit 1 stop bit and even parity execute the statement SETBAUD 1 amp HC4 E DE FE s fos TFs 1 Da Fa 5 D5 E5 D6 F6 7 D7 F7 D8 F8 D9 F9 DA FA Important Please note that if you change the baud rate or communication format of the COMM port to something that is different from that set in the TLServer then both the TLServer and TRILOGI will no longer be able
35. Displaying DECIMa PONl aaa 13 3 14 SERIAL COMMUNICATIONS 14 1 141 Introductorio aa a a eak 14 1 14 2 COMM1 Two wire RS485 Port ccccssssccccssssseecssnnsseeccennsseeceenasseececnasseseccnnssseseesnaas 14 1 14 2 1 PROGRAMMING AND MONITORING iii 14 1 14 2 2 Accessing 3 Party RS485 based DEVvices iii 14 2 14 2 3 Interfacing Other Devices to Modbus TCP Host or to the Internet 14 2 14 2 4 Distributed OIE OL eira ed naaanevwitegaanetaitw E AT 14 2 14 3 Changing Baud Rate and Communication Formats Use of the SETBAUD Statement 14 2 14 4 Support of Multiple Communication Protocols ccccsssesseeeeeeeneeeseeeenseeeeeeenneeeeseoeaes 14 4 14 5 Accessing the COMM Port from within TBASIC rei 14 5 14 6 Using The PLC As a Modbus Omron Slave SCADA HMI Applications 14 7 14 6 1 MODBUS ASCII Protocol Support i 14 7 14 6 1 1 BIT ADDRESS MAPPING FROM A MODICON MODBUS DEVICE 14 9 14 6 1 2 WORD ADDRESS MAPPING 14 10 14 6 2 MODBUS RTU Protocol Support i 14 10 14 6 3 OMRON Host Link Command Suppott i 14 11 14 6 4 Application Example Interfacing to SCADA Software 14 11 14 7 Using The PLC As a Modbus Master Getting Data From Power or Flow Meters 14 13 14 7 1 Nano 10 PLC As MODBUS RTU Master
36. Ethernet configuration settings are corrupted and it cannot be connected to your network router 1 2 Physical Mounting amp Wiring The Nano 10 can be easily installed in many kinds of plastic or metal enclosures You need to use 4 PCB standoffs or screws and nuts to support the controller and fasten it to a console box CAUTION DO NOT install the Nano 10 PLC with the mechanical relays in the vertical position as shown in the following two diagrams Top aa HES bie e Bottom Figure 1 2 1 Incorrect Relay Position The manufacturer of the mechanical relays currently used on the Nano 10 PLC part JQ1a 24V F is now specifying that the relay not be installed in the vertical position or it could fail to actuate on occasion typically after many previous switches However the results may vary and it should be assumed that the relay can potentially fail at any time when installed in the specified vertical position According to the relay manufacturers revised documentation When installing with the relay terminals parallel to the ground the contact terminals at the bottom and the coil terminals at the top component friction will occur after numerous switching actions or due to vibration in the non excitation state Since O UR RESEARCH 1 2 INTERNATIONAL Chapter 1 Installation Guide this may cause the relay to stop functioning when the pick up voltage increases even if the nominal voltage is applied ple
37. FServer is accessible by the PC from the network router it will send the response data which will be displayed on the selected spreadsheet cell where the New Web Query was defined earlier The response data shown on the cell could be RIOO The response data includes the command header RI as defined in the HostLink Command protocol described in Chapter 15 The data 00 indicates that none of the inputs 1 to 4 are currently turned ON New Web Query L Enter the address for the Web page that contains the data you want If browsing switch back to Excel once you have located the Web page in your browser http 192 168 1 5 9080 HOSTLINK RI00 Browse Web 2 Choose the part of the Web page that contains the data you want Note that pre formatted sections are treated as tables The entire page Only the tables f One or more specific tables on the page Enter table name s or number s separated by commas 3 Choose how much formatting from the Web page you want your data to keep f None Rich text formatting only C Full HTML formatting Save Query Advanced Figure 2 6 2 To see how the response data changes in response to the actual PLC s input please turn on some of PLC s digital inputs 1 to 8 then right click on the cell where the web query was defined and select te Refresh Data command You should see a new RIXX string appear at the selected cell where XX is the hexadecimal represent
38. Figure 1 7 When switching inductive loads such as a solenoid or a motor always ensure that a bypass diode is connected to absorb inductive kicks which will occur whenever the output driver is turned OFF Although Output 1 and 2 already incorporate intrinsic Zener bypass diodes to protect the driver it only activates when the inductive kick voltage rises above the maximum breakdown voltage about 55VDC This could TRIANGLE 1 7 TRI RESEARCH INTERNATIONAL Chapter 1 Installation Guide result in a large dose of noise being introduced into the system and may have undesirable effects For DC we recommend using a fast recovery diode such as UF4001 to UF4007 connected as shown in the above diagram to absorb the inductive noise For AC loads output 3 amp 4 you ll need to select a suitable Metal Oxide Varistor MOVs to protect the relay contacts as shown below AC b Metal Oxide NANO 10 Varistor MOV Relay Output 1 6 Program and Data Memory Default Configuration With FRAM RTC Add On 8000 e 16000 Program Memory Non Volatile Data Storage Integers 16 bit 1024 words 11000 words strings 40 chars max 51 549 RAM Data Memory DM 1000 words volatile 4000 non volatile A to Z 32 bit Yes ae Yes J1 non A A to Z 70 chars string Yes volatile Yes J1 non volatile EMINT EMLINT EMEVENTI Yes volatile Yes volatile Each word is 16 bit two bytes 1 6 1
39. HOC 21 2 read 2 bytes into DM 21 and DM 22 TRIANGLE 17 4 Tri RESEARCH INTERNATIONAL Chapter 17 12C Communication Comments After sending the START bit the CPU will write the 7 bit slave address amp H60 110 0000 binary and a R W bit set to 1 followed by 16 clock pulses to read 2 bytes of data and store into DM 21 and DM 22 and then the CPU will generate the STOP bit i e there is no need execute the IZ2C_STOP command after an IZC_READ command TRI RESEARCH 17 9 INTERNATIONAL Chapter 17 12C Communication 17 2 3 12C STOP This command has no parameter lt sends a STOP bit to the slave and complete the I2C_WRITE command 17 2 4 Random Write To M24M01 EEPROM The first M24M01 EEPROM on the I2C FRTC U2 has two binary slave device addresses 101 0000 b amp H50 and 101 0001b amp H51 Device address amp H50 is for accessing the first bank of 64K bytes of EEPROM and address amp H51 is for accessing the second bank of 64K bytes of EEPROM There is also a blank solder pad on the bottom layer of the 12C FRTC module which allows you to solder an additional M24M01 U3 to the I2C FRTC PCB When assembled this second M24M01 chip will assume the binary address of 101 0010b amp H52 and 101 0011b amp H53 Device address amp H52 on U3 is for accessing the first bank of 64K bytes while device address amp H53 is for accessing the second bank Please refer to the M24M01 EEPROM data sheet for the detai
40. Ladder LOGIC cccccccssessseeeeesseeeeseeesseeeeeeeesseeeeeonesseesseoenneeeenes 3 1 2 FA cd CIO ene iaia 3 1 3 2 2 For Internal Relays Non LatchihN i 3 1 3 2 3 For Internal Relays La carie aiar 3 1 3 2 4 Programming EXAM ariana ari aiar 3 2 3 2 4 1 Example 1 Editing Label Names e 3 2 3 2 4 2 Example 2 Creating a Simple Ladder Logic CirCUIt 3 2 3 2 4 3 Example 3 Creating a Latching Relay CIFCUIt 3 2 3 3 Programming DIO in a Custom Function 11 rire 3 3 od Ediung LabeliNames aanie aaa 3 3 3 3 2 Controlling I O from Custom FUNCHions 3 3 3 3 3 Example 1 Turn on off an OUTPUT esiseina naaa aa 3 4 0 4 Example 2 Toggle an OUMU eisiea aa 3 5 3 3 5 Example 3 Test the Status of an QUiput 3 5 4 TIMERS COUNTERS AND SEQUENCERS 4 1 4 1 TVET O CUIC TION PE E E E E E A A E E A E E E 4 1 ii He COS E A n 4 1 d1 2 E EE eee EN E E E E E E E E E ee eee 4 1 ES ARR RIA 4 1 4 2 Programming timers and counters on Ladder LOGIC ceeeeeeeeeeeeeeeeeeeeeeeneeeeeeeeeeeeees 4 2 MeN POr DIMO Sinnai ai ee einen 4 2 422 Foot n 4 2 e D TRIANGLE Up RESEARCH Page IV INTERNATIONAL USER MANUAL 4 2 3 Example 1 Creating a Simple Timer Circuit in Ladder Logic n 4 2 4 2 4 Example 2 Creating a Simple Counter Circuit in Ladder LogiC
41. MODBUS TCP server such as flow meters AC DC drives HVAC elements RTUs network sensors etc It is also possible to perform peer to peer networking with other MODBUS TCP controllers e g another Nano 10 or F Series PLC over a LAN or over the Internet 2 5 1 Connecting To The PLC s MODBUS TCP Server By default the Nano 10 CPU supports up to 3 simultaneous MODBUS TCP connections You can change the number of simultaneous MODBUS TCP connections from 2 to 5 using the Ethernet Basic Configuration Tool program as described in Section 2 1 The PLC will listen on the default well known MODBUS TCP port 502 for one or all of the connections However it is also possible to define a secondary port number using the Nano 10 Ethernet Configuration program as described in Section 2 1 7 Note that if you define a secondary port number then only one of the MODBUS TCP connection will listen on port 502 and the remaining connections will only be listening on the secondary port number If you have a MODBUS TCP client program e g you can download a trial version of Modbus Poll from http AWwww modbustools com for testing you simply specify the Nano 10 IP address and connect to it Once connected you will then be able to read from or write to most of the Nano 10 PLC s internal data from the MODBUS TCP client The PLC s I O and internal variables are mapped to the MODBUS device space according to Table 2 1 2 5 1 1 Bit Address Mapping
42. ONIY 2 6 2 1 11 Use Username Password Yes NO i 2 6 2 1 12 PACES SS MCC laan iaia 2 6 2 1 13 Advanced Configuration 2 6 2 1 14 Standalone Version of Ethernet Configuration Software 2 6 2 2 Connecting Ethernet to the PLC 2 8 2 2 1 Connecting the PLC to a Local Area Network 2 8 2 2 2 Setting up Ethernet Communication Directly Between a PC and an FMD PLC 2 10 2 3 On line Monitoring Programming via FSCrvel ccccccccssssssssssssssssseeeeeeeeesseeeeeeeesseeeeeeees 2 16 2 4 Using Fserver Network Services CommandS ccccccsssseeeeeeeeeeeeeceseeeeeeeeeeeeesneeeeees 2 17 2 4 1 Get Our Local IP Address 2 18 2 4 2 DNS command Resolving Domain Name into IP Address i 2 18 oT TRIANGLE tt Up RESEARCH Page iii INTERNATIONAL USER MANUAL 243 SMEG 2 19 2 4 4 Open Connection to Remote FServer or TLServer to Use NETCMD 2 20 2 4 5 Remote File Services E EE E 2 21 2 4 6 Other Network Services Tags 2 21 2 5 MODBUS TCP Server and Client Connection 1111 serie 2 22 2 5 1 Connecting To The PLC s MODBUS TCP Server i 2 22 2 5 1 1 Bit Address Mapping panini ernia 2 22 2 5 1 2 Word Address Mapping ii 2 24 2 5 2 MODBUS TCP Access SECGULity iii 2 24 2 5 3 Making A
43. Open A File For Writing New Data Syntax PRINT 8 lt WRITE Zxxx yyy gt where Zxxx yyy is the file name If successfully executed the lt WRITE gt command will open the file and set the file pointer to the beginning of the file Thereafter the PLC can start writing ASCII data to the file using the PRINT 8 lt string data gt command Note the PRINT 8 command automatically appends a carriage return to the end of the string data unless the string data is terminated with a semi colon When the PLC has completed writing data it must close the file by executing the command PRINT 8 lt gt E g PRINT 8 lt WRITE Z005 TXT gt PRINT 8 The current Greenwich Mean Time is PRINT 8 STR TIME 1 STR TIME 2 00 PRINT 8 lt gt TRIANGLE I 8 4 TRI RESEARCH INTERNATIONAL Chapter 18 Extended File System The CPU should use the STATUS 2 command to check whether the lt WRITE gt has been successfully executed before begin writing data to it STATUS 2 command returns a 1 if lt WRITE gt operation is successful and returns a 0 if the operation failed The following are some possible reasons that could cause the lt WRITE gt command to fail 1 A previously opened File was not closed The CPU can only write to a single file at a time so any opened file must be closed by the PRINT 8 lt gt command before another file can be opene
44. Programs Desktop Uninstall a program 2 Open View Network Status and Tasks Window Next you need to click on the View network status and tasks link under the Network and Internet category above right screenshot which will bring up the Network and Sharing Center window below screenshot E E T S Network and Internet Network and Sharing Center wo SE Sii View your basic network information and set up connections Control Panel Horne View your active networks Change adapter settings Change advanced sharing canadatri 2 settings Private network Access type Int HomeGroup Joi Connections i Ett 3 Click on the Change Adapter Settings Link This will bring up the Network Connections window where you can configure the necessary network settings for the local adapter Follow steps 2 5 in the Windows XP Ethernet Configuration section above to complete the setup as it is the same process INTERNATIONAL TR RESEARCH 2 15 Chapter 2 Ethernet Port 2 3 On line Monitoring Programming via FServer If you have used the i TRILOGI software to connect to TLServer or the X Server previously the procedure is identical To test i TRILOGI communication with the Nano 10 PLC click on Controller gt On Line Monitoring or simply press lt CTRL M gt keys a ee tea Ss pasran Circuit Hel en cia He I ontroer imulate ITCUI eip servers IP Address port Circuit 1 Select Controller Ctrl I
45. The Nano 10 PLC just like the F series and T100M PLCs supports many different communication protocols to allow maximum application flexibility In addition to its own native set of communication protocols the Nano 10 PLC also understands and speaks the following protocols a MODBUS ASCII mode compatible communication protocol b MODBUS RTU mode compatible communication protocol c OMRON Host Link Commands for the C20H PLC family Note all trademarks belong to their respective owners The native host link command protocol will be described in detail in this and the next chapter The MODBUS and OMRON compatible protocols have already been discussed in Section 14 7 15 2 Native Mode Communication Protocols When the Nano 10 receives a native host link command via COMMI it will automatically send a response string corresponding to the command This operation is totally transparent to the user and does not need to be handled by the user s program All Nano 10 PLCs support both the point to point one to one and multi point one to many communication protocols Each protocol has a different command structure as described below 15 3 Point To Point Communication Format In a point to point communication system the host computer s RS485 serial port is connected to the PLC s COMMI At any one time only one controller may be connected to the host computer The host link commands do not need to specify any controller ID code a
46. always return 0 and writing to these address will be ignored With FRAM RTC With addition of tte FRAM RTC module the amount of DM memory is increased to 4000 words making it the same as those on standard T100M or F series PLCs Also since some FRAM memory area is reserved to store these variables it is possible to make variables A to Z A to Z and DM 1 to DM 4000 non volatile by shorting Jump J1 on the Nano 10 circuit board see Section 1 7 This provides for additional non volatile data storage to applications that need them 1 7 Jumpers J1 amp J4 Two jumpers J1 and J4 are provided on the Nano 10 PLC in place of the DIP switches 1 amp 4 that you may already be familiar with on the M and F series PLCs The two jumpers have the following functions when they are closed i e a jumper block is placed over the two pins to short them together J1 All RAM data memory If FRAM RTC is installed then A to Z A to Z and DM 1 are volatile to DM 4000 are non volatile J4 Normal Run mode Suspends execution of the ladder logic program But host communication remains active 1 7 1 Usefulness of Jumper J4 We have taken every effort to ensure that the host communication is always available even when the user program ends up in a dead loop This allows the user to re transfer a new program to the PLC and overwrite the bad program However you may still encounter a situation whereby after transferring a new program to the PLC y
47. and the PLC However it is important to setup the Filezilla server program properly to minimize connection trouble 18 6 1 Download and Setup FTP Server 1 First download the FileZilla server installer from the following website http filezilla project org download php type server 2 Runthe FileZilla Server Interface program which is meant for managing the FTP Server settings J fe i E FileZilla Server 127 0 0 1 Seles File Server Edit Server Address Port A M _ Fa BEE ea o 127 0 0 1 14147 FileZilla Server version 0 9 40 beta Copyright 2001 2011 by Tim Kosse ftim kosse filezilla project ong sak Connecting to server Administration password Connected waiting for authentication Logged on C Always connect to this server Account Transfer siam ic 0 bytes received 3 If the FileZilla Server is running on the same PC that you are running the FileZilla Server Interface program then you can use the localhost IP address which is 127 0 0 1 the Port can be anything since this is a client port that the Interface program is using to interact with the FTP Server don t be confused with the FTP Server listening port which is by default 21 4 If this is the first time you run the program after setting up Filezilla FTP Server there will be no Administration password so you can leave it blank Click OK to connect 5 Click Edit gt Settings and then General Settings gt Welcome message
48. between the FTP Server and the PLC as well as handling of the data transfer from the PLC to the FTP server The following is the syntax PRINT 4 lt FTPUPLD Zxxx yyy destination file name gt Where Zxxx yyy is the file name of the extended file that the PLC has access to The destination file name can be any legal name acceptable to the server so you can attach a date or time stamp to the file name for easy identifications When the above lt FTPUPLD gt command is run the PLC will send the actual STOR command in the background to the FIP server and then obtain the port number from the server and it will then make a data connection to it and file transfer can then begin TRIANGLE I 8 TRI RESEARCH INTERNATIONAL Chapter 18 Extended File System 18 7 3 Monitoring The FTP Upload Progress Once the file transfer begins the PLC firmware will handle the rest of the file transfer until either the file has been completely transferred or the transfer is aborted due to a network or server trouble You can monitor the progress of the file transfer using either the STATUS 4 or STATUS 20 functions O FTP client was idle or last FTP failed 1 FIP data transfer just started 2 1st FIP segment transferred now transferring the rest 3 FTP data transfer completed STATUS 4 STATUS 20 gt 0 Number of bytes uploaded to FTP Server Transfer is in progress lt 0 Total number of bytes uploaded Transfer
49. by the ADC n function Please see explanation of moving average in Section 5 2 5 A larger number of moving Average points has the positive effect of filtering out large noise spikes seen at the analog input but the disadvantage is that the PLC would be slower in noticing a sudden step change at the analog input If you specify a moving average of 1 point that means no moving average will be used and the ADC n function will return the most recently sampled data at the analog input n TRIANGLE 5 9 Iy RESEARCH INTERNATIONAL Chapter 6 Special Digital I Os Chapter 6 Special Digital I Os TRIANGLE TRI RESEARCH INTERNATIONAL Chapter 6 Special Digital I Os 6 SPECIAL DIGITAL I Os All of the 4 digital inputs of the Nano 10 PLC can be configured as special inputs such as High Speed Counters Interrupts and Pulse Measurement 2 of the 4 digital outputs can also be configured as PWM or stepper motor controller pulse outputs If these are not used as special I Os then they can be used as ordinary ON OFF type I O in the ladder diagram The High Speed Counters and Pulse measurement inputs share physical inputs but they can be used simultaneously as HSC and PMON unlike M Series Note that if any other two special functions share the same I O then only one of them can be active at any one time The location of these special I Os are tabulated as follows gt Inputs High Speed Counter Pulse Measurement
50. changed is because a The backup process can take tens of millisecond to complete b the backup involves erasing the flash sector and burning the new data into the flash sector and the flash memory does have a write cycle life of only about 100 000 cycles which should not be exceeded Note The CPU will also automatically backup the pseudo EEPROM memory to the flash memory whenever the PLC executes a software reset or reboot or if the PLC is reset or rebooted via the serial or Ethernet communication Upon power up the CPU automatically loads the data from the flash memory into all the pseudo EEPROM memory and therefore this memory can be used just like the standard EEPROM data memory in the M series and the F series PLCs Important If the PLC program runs any of the following commands SETIPADDR SETTIMERSV SETCTRSV the command should also be followed by the SETSYSTEM 252 0 command or a RESET command at least once before the power to the PLC is turned off to ensure that the new parameters are written to the flash memory separate memory location from the data memory mentioned above In the case of SETIPADDR command the new IP address only take effect after a REBOOT or power on reset Automatic Backup Using Power Failure Interrupt On a Nano 10 PLC an onboard power failure detection circuit detects a power failure when the power supply voltage drops below approximately 16V and you can setup the PLC to execute a user s defined power
51. command is executed with different settings or if the PLC is powered down If the PLC is powered down the STEPSPEED command will need to be executed again before the stepper motor channels can be used However if a software reset executed from online monitoring or within the program the STEPSPEED command does not need to be re executed STEPSPEED ch pps acc The ch parameter should be a 1 Speed pps is based on the no of pulses per second pps output by the pulse generator The pps parameter should be set to a value between 1 and 10000 max rated pps for the Nano 10 PLC The acceleration acc determines the total number of steps taken to reach full soeed from a standstill and the number of steps from full soeed to a complete stop The stepper motor controller calculates and performs the speed trajectory according to these parameters when the STEPMOVE or STEPMOVEABS commands are executed To set stepper motor channel 1 to a speed of 100 pps in 50 steps the command would be as follows STEPSPEED 1 100 50 This would be equivalent to an acceleration of 100 pulses s2 which can be calculated using the following expression A V 2S 100 2 50 100pps TRIANGLE I 0 3 TR RESEARCH INTERNATIONAL Chapter 10 Stepper Motor Control 10 3 3 Using the STEPMOVE Command Once the STEPSPEED command is executed the STEPMOVE command can be used to move the stepper motor forwards or backwards STEPMOVE ch count r The
52. completed For example If 2 345 bytes has been uploaded to the server and the transfer has ended STATUS 20 will return the number 2345 Since file transfer can take substantial amount of time to complete it is not wise to run a loop to wait for the file transfer to complete since this will block the PLC from processing any other part of the program The demo ExtendedFileSystem PC6 shows you how to setup a monitoring function to periodically monitor the progress of the file transfer and report the transfer status on the LCD display Please refer to the comments in the custom function fnConnFTP and fnMonFTP of the ExtendedFileSystem PC6 program for more detailed descriptions of each command involved in the FTP file transfer TRIANGLE I 8 3 TR RESEARCH INTERNATIONAL Chapter 18 Extended File System 18 8 Setting Up A FTP Server Behind a Windows Firewall Please refer to the following Microsoft document describing issues and solutions related to FTP server behind the Windows Firewall http technet microsoft com en us library dd421710 WS 10 aspx Microsoft focuses mainly on the FTP server in their IIS server for obvious reasons instead of Filezilla If you are setting Filezilla as a permanent FTP server behind a software firewall you can try to make the following configuration setup 1 You must specifically setup a range of port number for Passive mode use These are the port number that
53. desire better resolution you can define PM 1 to 4 to return the measured pulse width and pulse period in 0 1 microsecond resolution by executing the following command once only during initialization SETSYSTEM 20 1 Once the above statement is executed if PUSLEWIDTH 1 PULSEWIDTH 4 returns the value 1234 it means the measured pulse width is 123 4 us A sample program can also be found on your i TRILOGI installation folder at CATRILOGI TL6 usr samples PulseMeasurement PC6 INTERNATIONAL oO Toi mas z Chapter 8 Frequency Speed Measurement 8 2 Applications 24V aaa ala alae cla NPN type Optical Sensor Input 3 Nano 10 PLC Figure 8 1 Setting Upa Simple Tachometer or Encoder 8 2 1 Measuring RPM Of A Motor One useful application of the PM capability is to measure the speed of rotation RPM of a motor A simple optical sensor coupled with a rotating disk with slots fitted to the shaft of a motor See Figure 8 1 can be fabricated economically When the motor turns the sensor will generate a series of pulses The frequency of this pulse train directly measures the rotational speed of the motor RPM Frequency x 60 and can be used to provide precise speed control Note that the above setup can also double as a low cost position feedback encoder when used with the high speed counter since the number of pulses counted can be used to determine the displacement With the Nano 10 PLC the pulses
54. dp 8 R W n An I2C_WRITE command begins with the master PLC sending the START bit followed by a 7 bit slave address and then a R W bit set to low which indicates that it is a WRITE command If the slave device with the targeted slave address is present it will send the ACK response to the master on the 9 clock cycle Otherwise the master sends a STOP bit and quits the I2C_WRITE function If the slave does send the ACK bit the master will then send out a number of data bytes to be written to the slave and the slave will respond with the ACK bit with the completion of each byte it received After the last data byte has been written to the slave and if the master is not expecting to read any data from the slave the master must then immediately send the STOP bit by executing the I2C_ STOP command to be described later to indicate the End of Write to the slave The PLC program can determine if the I2C_WRITE is successful by checking with the STATUS 2 command The syntax of the I2C_WRITE command is as follow I2C WRITE 2cslave dmstart count Purpose Special command to execute a 12C WRITE out of the PLC s 12C port if so equipped The CPU will send a I2C START followed by the slave address byte i2cslave and count number of data bytes from the DMl dmstart up to DM dmstart count 1 i2cslave The 7 bit slave address that the CPU is writing to dmstart The starting index of the DM that contains the first data byte coun
55. factor of 1 0146 to the readings it received which would correct the reading to 3230 x 1 0146 3277 Notes 1 We have created an MS Excel spreadsheet file AnalogCalibration xls to facilitate the computations of the correction factor X used in the ADC and DAC Calibration of F series PLC The same file can also be used to compute the calibration factor for the Nano 10 This file can be downloaded from the following web page TRIANGLE 5 8 INTERNATIONAL TRI RESEARCH Chapter 5 Analog Inputs http www tri plc com appnotes F series AnalogCalibration xls 2 Changes to the ADC calibration data only take effect after the PLC has been cold booted You can either power cycle the PLC or simply check the Reboot PLC After Save checkbox and the PLC will re boot after you have transferred the parameters to it 5 4 2 ADC Zero Offset ADC n value 4095 4094 4093 3 Zero 1 Offset 0 Input Voltage 5 00 Figure 5 7 The zero offset error can be corrected by entering a value into the ADC Zero Offset field Any number between 100 and 100 can be entered here The ADC n function would add the zero offset value that you entered here to the measured value and return the total sum to the calling routine 5 4 3 A D Moving Avg This field lets you define the number of points of moving average that the Nano 10 CPU firmware uses to compute the value returned
56. how programs communicate through Windows Firewall Add a Windows Firewall can help prevent hackers or malicious software from gaining access to program or port exception to allow communications through the firewall your computer through the Internet or network Turn Windows Firewall on or Windows Firewall off Allow a program through Windows Firewall A Windows Firewall is currently using settings for the public network location pil _ L A A rT A__ e what are the risks of unblocking a program iV Windows Firewall is helping to protect your computer To enable an exception select its check box h i Program or port Windows Firewall is on Change settings n OBITS Peercaching Inbound connections that do not have an exception are blocked M Bonjour Display a notification when a program is blocked No LICOM Network Access ee aio Core Networking ii e Distributed Transaction Coordinator What are network locations File and Printer Sharing Filezilla FTP Server Discsl Service iTunes O Key Management Service O Netlogon Service MI hinbisimule Disem mes Add program Add port Properties Delete Notify me when Windows Firewall blocks a new program See also f OK j l Cancel Apply Network Center Figure 2 9 4 2 9 3 Transferring and Retrieving Files from the Nano 10 Web Server Now that you have a connection to the PLC s web server and can view the directory listi
57. implement the NS commands using similar command format as that on the XServer and TLServer But instead of sending the commands through COMM1 you will interact with the O S through COMM port 4 d Of course since the Nano 10 PLC doesn t have 4 serial ports COMM port 4 is therefore only a virtual comm port and its creation is merely to simplify implementation of the NS commands The TestEthernet pc6 download from http Awww tri plc com trilogi Nano10Samples zip includes all examples of how to use the NS commands via virtual comm port 4 which serves as a good starting point for you to learn these simple but yet powerful methods for making a client connection over the LAN or the Internet The PLC reserves only a single client socket to implement the Network Services If you use any of the NS commands listed below please ensure that the command is completed so that the client socket can be closed before issuing a different NS command All NS commands begin with a string enclosed within the angle bracket called a tag e g lt EMAIL gt lt CONNECT gt Most NS commands end with a closing tag lt gt except the lt lt REMOTEFS gt tag which ends with a lt lt REMOTEFS gt closing tag Depending on the command type the Nano 10 CPU may return one or more response strings via virtual comm port 4 from which the PLC can read to determine if the NS command has been executed proper
58. ir context sensitive Helps pe Detect ID SIETE e fe 192 168 1 59080 csi 1PLC Only ID Hex E C localhost 127 0 0 1 9080 Use Http Proxy Server Program Transfer to PLC Ctrl T Open Matching Source File Usemame samples Get PLC s Hardware Info o Set PLC s Real Time Clock Password EEPROM Manager lf Memorize Username amp Password Cancel OK Figure 2 2 1 When the Login To TLServer screen pops up enter the IP address port the username and the password that you have defined for the FServer earlier using the configuration tool and click on the Detect ID button to detect the PLC s ID If i TRILOGI is able to connect to the Nano 10 PLC via the Ethernet network then the PLC s ID will appear in the ID box When you click the OK button the on line monitoring screen should appear and you should see the Activity LEDs on the RJ45 connector blinking away You have now successfully connected to the FServer and you can run all the commands under the Controller menu including transferring your new program to the PLC or setting the PLC s Real Time Clock etc For more details on using these commands please refer to i TRILOGI Programmer s Reference Likewise to transfer your new program to the PLC you can click on the Controller menu and select Program Transfer to PLC or press the lt Ctrl T gt keys If i TRILOGI is already connected to the FServer the progra
59. it is thru this command channel that FTP commands are being sent However once the command channel is established FileZilla is connected to the FTP Server a second socket connection known as the data channel needs to be made between FileZilla and the PLC All data such as the directory information and content of any files to be transferred between FileZilla and the PLC will need to go through the data channel They are two possible ways of establishing this data channel one is called the Active Transfer and the other is known as Passive Transfer FileZilla is able to operate in either transfer mode but the PLC FTP Server can only operate in Active Transfer mode Active Transfer mode requires that the client FileZilla provides a listening socket for the server PLC and the server PLC will then try to connect to this socket to establish the data connection So if the FileZilla program sits behind the software firewall and no exception has been configured then the PLC FTP Server will not be able to make a connection to the FileZilla data socket because it is blocked by the firewall and the connection will therefore fail This explains why INTERNATIONAL TR RESEARCH 2 36 2 3 Chapter 2 Ethernet Port FileZilla seemingly able to connect to the PLC but yet is unable to send any data or list the directory because there is no data channel connection for it to do so However sometimes
60. net will resolve its IP address Of course you can only use this smtp server provided your ISP is SBC almost no SMTP server will relay emails from a client that is not its one of its own subscribers If you do not plan to use the FServer to send out emails yet then you can leave the default SMTP Server IP Address 0 0 0 0 You can change the settings anytime later when you need it 2 1 4 DNS Server IP Address DNS Domain Name Server allows the FServer to contact a remote server by means of domain name instead of IP Address The DNS takes in the given domain name such as yahoo com and returns the IP address of the target server You will need to fill in the DNS IP Address if you intend to ask the Fserver to resolve a domain name into an IP address or you intend to contact a client directly by using domain name Instead of using IP Address Note Only Nano 10 PLC with firmware version r72 and above supports the use of domain name when contacting a remote server The DNS server IP address could be the same as the Gateway IP Addr described in section 2 1 3 But it will be more efficient to define the actual DNS server IP address that your ISP provides You can usually obtain the DNS server IP address by going to the Administrator page of your router and pull up information on the WAN E g The DNS server address you can see from the following screen is 64 59 144 92 INTERNATIONAL TRIANGLE 3 Upg RESEARCH 2 4 Chapter 2 Ethern
61. next address byte this allows you to read a large number of data sequentially from the EEPROM with minimum overhead This can be very useful for data dump to the TLServer to rapidly upload the collected data Example To Read 100 bytes from EEPROM address 12345 amp H3039 to 12444 in first 64K bank you need to do the following DM 11 amp H30 DM 12 amp H39 I2C_WRITE amp H50 11 2 write 2 bytes of address in DM 11 to DM 12 I2C READ amp H50 21 100 read 100 bytes data into DM 21 to DM 120 The returned data will be stored in the DM 21 to DM 120 Note There is no need to execute the 12C STOP command after the I2C_READ since the 12C_ READ command automatically sends a STOP bit after the last byte is read 17 2 7 Sequential Read From M24M01 EEPROM Note that after a random read the memory pointer inside the M24M01 will be pointed to the next address following the very last read memory address This means that you could repeatedly execute only the I2C_ READ command to read more data sequentially from the EEPROM memory Example DM 11 amp H30 DM 12 amp H39 I2C WRITE amp H50 11 2 write 2 bytes of address in DM 11 to DM 12 FOR I 1 to 10 I2C_READ amp H50 21 100 read 100 bytes data into DM 21 to DM 120 CALL Datadump call some subroutine to upload data to server NEXT In the above example the I2C_READ command was executed 10 times each time 100 data point is read into DM 21 to DM 120
62. of additional file space using the FRAM RTC 256 module Thanks to its support of the web services commands a programmer can create its own sophisticated control webpages using only standard HTML and JavaScript TRi has created an example control webpage which can be downloaded from http www tri plc com download webapp webapp02 zip When you have successfully unzipped all the files from the Webapp02 zip into your hard disk you will need to transfer the files to the PLC s web server using a FTP client program The following sections describe how to use the free FileZilla FTP program to transfer these files and section 2 10 will describe how to customize the control web pages NOTE The M JS JavaScript file used with the new preloaded 0 HTM file is no longer provided in the new web app download because it is loaded remotely In the past M JS had been stored inside the PLC and was available directly for editing However now the user modifications in the HTML file are more expanded and in order to save space for additional files as well as protect against accidental modification of the M JS file it is now stored outside PLC memory If you are an experienced web programmer or you plan to outsource web programming services to customize your PLCs web interface then you may obtain a copy of this file for more advanced editing by writing to support triplc com and providing your purchase references purchaser s name company nam
63. of the port number One reason why you may want to change the port number is to use the port forwarding capability of an NAT router so that different Nano 10 or F series PLCs may be accessible from the Internet using the same public IP address of the router but with different port numbers 2 1 7 Modbus TCP Secondary Port No According to MODBUS ORG specifications all Modbus TCP servers must listen on port 502 However Modbus org also permits the device to be assigned a different secondary port number As such the Modbus TCP server will always listen on port 502 for all of its connections by default Should you choose to define a secondary port number then the Modbus TCP server will only listen on port 502 on one connection while the additional connections 1 to a maximum of 4 would be listening on the secondary port You may specify any port number between 1024 and 65535 except for the port number already used by the FServer to be the secondary port number Please see the TRILOGI programmers manual for an explanation of the use of the port number One reason why you may want to change the port number is to use the port forwarding capability of an NAT router so that different Nano 10 or F series PLCs may INTERNATIONAL Oo ca TRIANGLE g RI RESEARCH 2 9 Chapter 2 Ethernet Port be accessible from the Internet using the same public IP address of the router but with different port numbers 2 1 8 LAN Speed You can
64. program TestEthernet PC6 2 4 5 Remote File Services Format lt REMOTEFS IP Address of remote TLServer 2 1 amp above gt File Service tag for TLServer lt REMOTEFS gt Response The response strings sent by the remote TLServer in response to the File Service tag sent by this PLC Or ERR 04 Not Connected Failed to connect to remote TLServer Example Please refer to the fnRFS1 and fnRFS2 custom functions in the demo program TestEthernet PC6 Description This commands allows the Nano 10 PLC to connect to a remote TLServer to perform any of the Files amp Email Services that a TLServer normally provides to PLCs that are connected to it This includes creating text files on a remote PC running the TLServer software and writing or appending data to it anytime This makes it very convenient for the PLC to collect large amounts of data and save them to the easily accessible virtually limitless hard disk storage space that is available in today s PCs For detailed descriptions of the available File Service Tags please refer to TRILOGI programmer s reference manual under the chapter File amp Email Services All TLServer s File amp Email Services tags such as lt Email gt lt WRITE gt lt APPEND gt lt READ gt and lt READ RTC gt are available to the Nano 10 PLCs through the use of the lt REMOTEFS gt tag You simply have to wrap the abovementioned command tags between
65. received the command it will send a response frame back to the host computer and this completes the communication session If the controller accepts the command the response frame will start with the same header as the command followed by the information that has been requested by the command and the terminator As you can probably see proper handshaking using the Ctrl E character between the host and the PLC is important to communicate successfully using the Point to point protocol Although the Multi point format discussed in the next section seems more complex the communication exchange using multi point protocol is actually simpler than point to point since it involves only a single exchange of command response string We therefore recommend using the multi point format if you are writing your own communication program Note TBASIC has a built in command NETCMD that lets a Nano 10 PLC access another slave PLC using the multipoint Host link protocol format very easily If an unknown command is received or if the command is illegal such as access to an unavailable output or relay channel the following error response will be received 15 3 2 Error Response Format The host computer program should always check the returned response for possibilities of errors in the command and take necessary actions TRIANGLE I 5 92 TR RESEARCH INTERNATIONAL Chapter 15 Host Link Communication Protocol Host Computer T
66. simplify the 12C communication with the slave devices However you can only use the I2C communication capability provided your Nano 10 meets all the following conditions 1 You have installed the 12C interface module such as the I2C FRTC supplied by TRi on the Nano 10 2 You have upgraded your TRILOGI software to version 6 40 or later 3 The PLC firmware is gt r76 Note The I2C FRIC is intended for advanced users only so it may not be available for general online sales in the shopping cart system If you wish to obtain pricing or would like to place an order please contact sales directly via email sales tri plc com or phone 877 874 7527 to inquire 17 1 The I2C FRTC Module 17 1 1 Installing the I2C FRTC Module i lt standoff Female 2x5 socket To install the I2C FRTC module first ensure that you have turned OFF power to the PLC The 12C FRTC module has a row of 2x5 male header pins that is to be inserted into the single mating 2x5 female socket on the PLC Please ensure that the pins are aligned correctly with the socket There is a Tri RESEARCH 17 1 INTERNATIONAL Chapter 17 12C Communication single mounting hole on other end of the I2C FRTC module which provides support to the module via a nylon standoff included in the I2C FRTC package You should also find a matching hole on the Nano 10 PLC which is aligned with the mounting hole on the I2C FRTC module The nylon standoff has two
67. string You can create a custom function just to clear a particular line E g if you pass the parameter DM 100 to the custom function and inside the custom function you do the following SETLCD DM 100 1 Hence calling this custom function with DM 100 1 2 3 or 4 would clear the corresponding line 2 A quick and lazy way to do it is to add a few more characters to the back of the string to be displayed which will wipe out old characters that could be present adjacent to the new string E g SETLCD 1 1 Money DF STRS D 3 If there is data to the right of the currently displayed string that you cannot overwrite with spaces then you can restrict the number of digits that a numeric variable may be converted to using the two parameters from the STR or HEX command E g SETLCD 1 1 Temp STRS T 4 The STR T 4 function will always return 4 digits of the data stored in T If T is less than 4 digits then one or more preceding 0 s will be added E g if T 12 then this function will return the string 0012 Note that for negative numbers the negative sign is counted as part of the digit count so you TRIANGLE I 3 2 TR RESEARCH INTERNATIONAL Chapter 13 LCD Display Programming need to provide enough spaces to take care of the sign if you need to handle both positive and negative numbers 13 4 Displaying Decimal Point Although the Nano 10 PLC does not handle floating point computation it is st
68. string to verify that the string returned from NETCMD function indeed comes from the PLC that it had talked to and not from another PLC which tries to send a command to someone else I The ID is correct ii The header is identical to the command string iii The length of response string is correct Pros and Cons This method does not incur any hardware cost but it requires careful programming and strict checking of the response string and hence requires more effort to program It is also the least TRIANGLE I 5 8 TR RESEARCH INTERNATIONAL Chapter 15 Host Link Communication Protocol desirable if the network traffic is moderately high as many collisions will occur and there is danger of some undetected error being allowed to pass through 15 5 4 2 Token Awarding Scheme A token is a software means of telling a PLC that it has been given the right to temporarily act as the master A Nano 10 PLC or a host PC can serve as the token master An internal relay bit or a variable of the PLC can be defined as the token The token master will begin by giving the token i e by setting the token relay bit to 1 or the token variable to some fixed value to the first PLC on the list The PLC that has the token can then send host link commands to other PLCs When it has finished the job it can then send a command to the token master to relinquish its token If it is based on a fixed timing scheme the master can assume that
69. such as the i TRILOGI software and TRIi ExcelLink program By default the FServer listens on the default port 9080 2 A MODBUS TCP server that listens on port 502 and supports the industry standard MODBUS TCP protocols e These two servers share the same Ethernet port and therefore the same IP address and gateway addresses described in the following sections e Nano 10 PLCs host both the FServer and the Modbus TCP servers each providing multiple simultaneous connections to external clients This means that it is possible to connect multiple TRILOGI ExcelLink and Modbus TCP clients to the PLC all at the same time Section 2 1 5 shows you how you can change the maximum number of connections for each server TRIANGLE JER TR RESEARCH INTERNATIONAL Chapter 2 Ethernet Port 2 1 1 IP Address One of the most important Ethernet parameters that you must define here is the IP Address field By default every Nano 10 PLC is shipped with the static IP address 192 168 1 5 You will need to assign the PLC s with an IP address that is unique on your network and yet is accessible from your PC If you are on a company network then you must consult your company s system administrator to assign you a useable IP address However if your PC is connected to a small local area network then most likely you will have a LAN IP address of 192 168 XXX YYY For proper networking you should set the PLC s IP address to 192 168 X
70. supporting catches that will mate to the mounting holes on both the 12C FRTC and the PLC and it provides a fairly strong support to the I2C FRTC module 17 1 2 12C FRTC Hardware Overview Device Logic Power 2x5 Male Mounting hole 2V to 1 ay Header Pins for Standoff The 12C FRTC modules adds the following hardware to the Nano 10 a l C communication interface chip b 11K words of FRAM memory Expand program memory to 16K words DM 1001 to DM 4000 and a Battery backed Real Time Clock RTC c 128K bytes of I2C EEPROM memory M24M01 Expandable to 256K bytes by soldering an additional M24M01 chip next to it on the blank solder pad d Additional Analog output channel 3 and 4 0 5V only The FRAM memory and battery backed RTC on the I2C FRTC is identical to that found on the FRAM RTC module 12C FRTC FRAM RTC additional 12C hardware The 12C interface chip allows the Nano 10 PLC to interface to external I2C devices that are of different logic voltage level from the PLC You must connect the positive logic voltage of the target device to the V terminal shown in the above diagram and OV of the target device to the GND terminal Then connect the SCL and SDA signal between the I2C FRTC module and target device and you are good to go A 1 M bits 12C EEPROM chip M24M01 is also included in the I2C FRTC module This allows you to use the new I2C_READ and I2C_WRITE command available only in I TRILOGI versi
71. text characters from 0000 to 9999 Note that this header contains small letter u instead of U in the RU command 16 12 Read Variable Integers A to Z Command Format R v alphabet o A B C Z Response Format LR vt 16 16 16 16 16 16 16 16 O 8 Hexadecimal Digit for 32 bit integer E g To read the value of the variable K send host link command RVIK If variable K contains the value 1234560 1E240 g the PLC will send the response string as RVI0001E240 16 13 Read Variable Strings A to Z Command Format CA JV s apraber JD en oe A B C Z Response Format R vjs a a a afa a 9 ASCII characters of the string variable length E g To read the value of the string variable M send host link command Rv sm If variable M contains the string Hello World the PLC will send the response string as RV Hello World TRI RESEARCH 16 6 INTERNATIONAL Chapter 16 Host Link Command Response Format 16 14 Read Variable Data Memory DM 1 to DM 4000 Command Format _R v o 16 16 16 tet ee 0001 to OFAO 400010 Response Format UR v 0 fte 16 16 tet S 4 Hexadecimal Digit for 16 bit integer E g To read the value of DM 3600 send host link command RVDOE10 If variable DM 3600 contains the value 123450 303916 PLC will send the re
72. the lt REMOTEFS IPAddr port gt and lt REMOTEFS gt tag where IPAddr port is the IP address and listening port of the remote TLServer E g through the lt READ RIC gt tag the PLC can synchronize its Real Time clock with a remote TLServer As you will later see this feature is probably not very useful for the Nano 10 PLC anymore since Nano 10 has the ability to connect to the NIST Time Server to update its real time clock to Atomic clock accurately Note Only TLServer version 2 1 or above can handle the lt REMOTEFS gt command tag sent by the Nano 10 or F series PLC 2 4 6 Other Network Services Tags We will describe two more Network Services commands lt TCOPCONNECT gt and lt MBTCPCONNECT gt in separate sections later in this manual TR TRIANGLE 7 RESEARCH 2 2 l INTERNATIONAL Chapter 2 Ethernet Port 2 5 MODBUS TCP Server and Client Connection The Nano 10 PLC supports both the FServer and the industry standard MODBUS TCP server simultaneously This means that all Nano 10 PLCs are ready to interface directly with many third party industrial control devices that support the MODBUS TCP protocol These include the SCADA software HMI hardware OPC Server HVAC controllers and many other industrial control devices In addition the Nano 10 PLC can be used both as a MODBUS TCP SERVER as well as a MODBUS TCP CLIENT simultaneously This means that the Nano 10 PLC can readily read data from any device that has a
73. the PLC will complete its job after a fixed time say 0 1 seconds and turn off its corresponding token relay bit The token master then passes the token to the next PLC on the list and so on until the last PLC has relinquished its token and the token is passed back to the first PLC on the list again This way at any one time there will only be one active network master the one with the token and hence there is no danger of conflicting signals or garbled messages to handle Pros and Cons This method also does not incur any hardware cost but it requires the programmer to draw up a plan on what internal relay or variable to use as the token and how the PLC can relinquish its token to the token master It could be by fixed timing or by returning a message to relinquish the token It is a challenging job for programmers unfamiliar with networking schemes but with some experimentation it can be achieved readily 15 5 4 3 Rotating Master Signal In this scheme we make use of the digital inputs of the PLC to grant the PLC the right to act as the network master Lets call this input the Be the Master input We can use a low cost H series PLC running a sequencer to activate the Be the Master input line of each PLC one at a time Each PLC is given a fixed amount of time to be the master e g 0 1s each Only when the Be the Master input is ON can the new master PLC start sending out host link commands to other PLCs So at any one time
74. their web browser from anywhere Before connecting the PLC s Ethernet port you should configure it using the configuration tool that is now built into the 6 3x or higher version of the i TRILOGI programming software Previously a standalone Ethernet Configuration program was required to setup the basic and advanced Ethernet ADC and RTC Real Time Clock options This standalone version is still available and more information on this program including where to download it is available at the end of section 2 1 2 14 Standalone Version of Ethernet Configuration Software Now these settings can be configured directly from the TRILOGI programming software as described next 2 1 Configuring The Ethernet Port This tool which is located in the Controller Menu of TRILOGI allows you to configure the Ethernet Port and ADC RTC calibration settings on a TRi s PLC with built in Ethernet port such as the Nano 10 and F series PLCs When the Ethernet amp ADC Calibration is selected from the Controller menu you will see the following screen Ethernet Configuration BASIC The configuration program communicates with the PLC the same way as i TRILOGI which is either dla Factory Default through the TLServer software serial port or Subnet Mask directly through the Ethernet Fserver port Gateway IP Addr SMTP Server IP ee If your i TRILOGI is not yet connected to the DNS Server Fserver TLServ
75. this will require that the PC running TLServer to have an RS485 interface However most new PCs today no longer have any built in serial port Thus the easiest way to install an RS485 interface on the PC is to purchase a USB to RS485 converter e g http www tri plc com U 485 htm Since the USB toRS485 converter is powered by USB port you can simply plug the converter into the PC s USB port and connect two wires to the Nano 10 s RS485 port and immediately communicate with the PLC via serial communication Before you make any changes to the PLC s Ethernet configuration parameters it is a good idea to retrieve the current settings You can do this by clicking on the Retrieve Parameters from PLC button and answer Yes when prompted After you have retrieved the existing parameters from the PLC you will see that various fields in the configuration software screen are filled up The following sections describe the significance of each field Important lf you make changes to any of these fields you must select the Reboot PLC After Save checkbox before clicking the Save Parameters to PLC button so that the new parameters will be saved to the flash memory of the PLC and the new parameter can take effect immediately Note that the Nano 10 PLC has two built in Server programs that listen on a few different ports on the PLC for incoming TCP IP request packets 1 The FServer supports the TRi proprietary programs
76. to communicate with the PLC via this COMM port You will have to either configure the TLServer s serial port setting using its Serial Communication Setup routine to match the PLC or you can cycle the power to the PLC to reset the COMM port to the default format 38 400 8 n 1 If you had used 1st Scan contact to activate the SETBAUD command than you will need to cycle the power to the PLC with Jumper J4 shorted to halt the execution of the SETBAUD command When the PLC is reset this way its COMM1 will power up at the default format of 38 400 8 n 1 only so you will need to configure TLServer s serial port to 38 400bps to communicate with it 2 TRIANGLE 14 3 URN RESEARCH INTERNATIONAL Chapter 14 Serial Communications 14 4 Support of Multiple Communication Protocols The Nano 10 PLC is a real communication wizard It has been designed to understand and speak many different types of serial communication protocols some of which are extremely widely used de facto industry standards as follows a NATIVE HOST LINK COMMAND b MODBUS ASCII Trademark of Modbus org c MODBUS RTU Trademark of Modbus org d OMRON C20H protocols Trademark of Omron Corp of Japan The command and response formats of the NATIVE protocols are described in detail in Chapter 15 and 16 The other protocols and their address mapping to the Nano 10 PLC are described in Section 14 7 Each COMM port can communicate using the same or differ
77. to know is which PLC s system Variable is mapped to which MODBUS register as shown in Table 14 1 TRIANGLE 14 TR RESEARCH INTERNATIONAL Chapter 14 Serial Communications Table 14 1 Memory Mapping of to other PLCs e e e rn mapping Mapping Input S i oa Output oom a wm DODOGOG OGOGOGOGn Timer J NP 514n__ IR32 0 to 1R32 15 IR34 0 to 1R34 15 IR35 0 to 1R35 15 Counter on PB IR48 0 to 1R48 15 IR50 0 to 1R50 15 IR51 0 to 1IR51 15 40052 1 to 40052 16 817 to 832 Relay on J ooo o iozaan O IR66 0 to _IR66 15 IR67 0 to IR67 15 40068 1 to 40068 16 IR71 0 to 1R71 15 40072 1 to 40072 16 1137 to 1152 IR75 0 to IR75 15 40076 1 to 40076 16 a N S ee IR96 0 to _IR96 15 MODBUS is a registered trademark of Groupe Schneider OMRON is a registered trademark of OMRON Corporation TRIANGLE I 4 8 TR RESEARCH INTERNATIONAL Chapter 14 Serial Communications PLC Variables OMRON MODBUS Timer 1 to 64 IR128 to IR191 40129 to 40192 Present Values Counter 1 to 64 IR256 to 1R319 40257 to 40320 Present Values TIME 1 TIME 2 TIME 3 Date DATE 1 DATE 2 DATE 3 DATE 4 Variables A to Z IR714 amp IR715 4 0715 amp 4 0716 32 bit IR715 amp IR716 4 0717 amp 4 0718 Firmware gt 179 Z IR764 amp 765 4 0763 amp 4 0764 Data Memory DMI DM DM 2 DM 2 DM 4000 DM 4000 14 6 1 1 BIT ADDRESS MAPPING FROM A MODICON MODBUS DEVICE The bit register of
78. 0 gt 16 31 Halting the PLC Command Format When the PLC receives this command it temporarily halts the execution of the PLC s ladder program after the current scan However the PLC continues to scan the I Os and processes host link commands sent to it and will report the current I O data and internal variables to the host computer 16 32 Resume PLC Operation Response Format When the PLC receives this command it will resume execution of the ladder program if it had been halted previously by the C2 command Otherwise this command has no effect 16 33 Read Analog Input This command forces the PLC to refresh the value of its ADC data at the analog channel before returning its value in the response string i e no need for the PLC to execute ADC n function to refresh the analog input TRI RESEARCH 16 13 INTERNATIONAL Chapter 16 Host Link Command Response Format Command Format RJA o n foe e 0 fi Starting Analog Channel count Channel 01 08h 01 to 08h Response Format _R_ A 16 16 te 16 o 16 16 tee gt S S Starting channel n Ending channel 16 bit Data Hex 16 bit Data Hex E g To read 4 channels of Analog inputs starting from Ch 2 Send RA0204 The response string will contain 4 sets of data for channel 2 3 4 and 5 16 34 Read EEPROM Integer Data Command Format EEPROM starting Word Count Address Hex 01 to 20h Respons
79. 0 Call Stack Overflow Circular CALL suspected Illegal Opcode Please inform manufacturer System Variable Index out of range This is normally caused by using an unavailable subscript E g DM 0 INPUT 1 DM 5000 etc Check the subscript value especially if it contains a variable e g DM X if X 0 this will lead to a runtime error DAWN All run time errors should be identified and corrected before you proceed any further Tri RESEARCH 1 14 INTERNATIONAL Chapter 2 Ethernet Port Chapter 2 Ethernet Port 2 TRIANGLE Upg RESEARCH INTERNATIONAL Chapter 2 Ethernet Port 2 ETHERNET PORT Ethernet RJ45 port Incredibly every Nano 10 PLC has a single built in 10 100 Base T Ethernet port that does everything that its bigger brother the F series PLCs are designed to do You can easily connect the Nano 10 PLC to your network router switch or hub using the straight CAT 5 cable Whena ivi Connection connection is made the yellow Connection LED on the RJ45 LED connector will light up indicating that the PLC has been Figure 2 1 1 connected to the network router Once connected to the network the i TRILOGI programming software works instantaneously with the PLC allowing remote programming and process monitoring over the LAN or the Internet In addition the Ethernet facility at this port can host web pages and Java applets so that users of the equipment can control monitor their equipment using
80. 0 5V which can then be connected to the PLC s analog input 5 3 4 Using PT100 Temperature Sensor PT100 is a positive temperature coefficient thermistor that is made from platinum It has the advantage of being very stable and highly accurate It is usually connected to a signal conditioner in a balanced bridge configuration and the signal conditioner will convert temperature changes to 0 5V output for the PLC 5 4 Calibration of ADC amp Moving Average Definition The ADC on the Nano 10 are factory calibrated such that a voltage of 2 500V should return a value of 2048 when read by the ADC n function However if there is a need to re calibrate the ADC you can follow the procedure outlined below To perform calibration of an ADC channel you need to supply a precise DC voltage to the ADC channel and then check the analog readings obtained via the ADC n function and compare it to the expected value If there is an error you can apply a correction factor to it To perform the ADC calibration you would need to use the Ethernet Configuration Tool mentioned in Chapter 2 1 Click on the Advanced button on the Basic Configuration screen and open the Advanced TRIANGLE 7 TRI RESEARCH INTERNATIONAL Chapter 5 Analog Inputs Configuration screen The bottom half of the screen contains ADC and DAC calibration constants that you can enter and transfer to the PLC as shown below ADC Calib Chi Che Cha Ch4 Cho Che
81. 008 the day of the week is Wednesday and the time is 14 30 01 2 30 01 pm RE Custom Function 1 SET_RTC X 2008 Year 10 Month 1 Day 3 Day of Week 14 HOUr a0 Minute 1 Second Figure 12 2 Set Date amp Time in TBASIC TRI RESEARCH 12 2 INTERNATIONAL Chapter 12 Real Time Clock 12 5 Setting the RTC from Internet Time Server Please refer to Section 2 5 for more detailed information on how your PLC may be able to automatically set its own real time clock using the time server data available on the Internet A sample program is also included in that section 12 6 Setting up an Alarm Event in TBASIC Since to the TBASIC program the RTC data are simply integer arrays DATE 1 to DATE 4 and TIME 1 to TIME 3 they are fully accessible at any time by your PLC program Therefore if you want your program to execute a certain routine on a specific date and or time you would need to periodically check these variables against the desired settings and activate the action when the RTC variable s reach the set value Example Set up a 1 minute clock pulse to monitor the RTC as follows Clk 41min CheckClock ee Custom Function 1 CheckClock turn on LAMP at 6pm every day except Sunday IF TIME 1 18 AND TIME 2 gt 0 AND DATE 4 lt gt 7 THEN SETIO LAMP ENDIE turn OFF LAMP off at 11 30pm every day IF TIME 1 23 AND TIME 2 gt 30 THEN CLRIO LAMP ENDIF Figure 12 3 Using Real
82. 0192 Present Values Counter 1 to 64 40257 to 40320 Present Values Clock TIME 1 TIME 2 Date DATE 1 DATE 2 DATE 3 DATE 4 Data Memory DM 1 DM 2 DM 4000 2 5 1 2 Word Address Mapping As shown in Table 2 1 to access the PLC s DM 1 you use MODBUS address space 4 1001 and so on To access the Real Time Clock Hour data TIME 1 use 4 0513 The I O channels can also be read or written as 16 bit words by using the addresses from 4 0001 to 4 0320 Some MODBUS drivers such as National Instruments Lookout software even allow you to manipulate individual bits within a 16 bit word So it is also possible to map individual I O bits to the 4x address space E g Input bit 1 can be mapped to 4 0001 1 and output bit 2 is mapped to 4 0257 2 etc This is how it is shown in Table 2 1 However if you do not need to manipulate the individual bit then you simply use the address 4 0001 to access the system variable INPUT 1 and address 4 0257 to access the system variable OUTPUT 1 Note that INPUT 1 and OUTPUT 1 are TBASIC system variables and they each contain 16 bits that reflect the on off status of the actual physical input and output bits 1 to 16 2 5 2 MODBUS TCP Access Security If a Nano 10 PLC is to be accessible only on the local area network then the direct connections offered by MODBUS TCP provide simplicity without time consuming login sequences However if the MODBUS TCP port is to be exposed to the publ
83. 3 16 40004 1 to 40004 16 40005 1 to 40005 16 40006 1 to 40006 16 Output n 1 to 16 40017 1 to 40017 16 57 to 272 MINTO D B W A 40018 1 to 40018 16 40019 1 to 40019 16 40020 1 to 40020 16 40021 1 to 40021 16 40022 1 to 40022 16 Timer n 1 to 16 40033 1 to 40033 16 17 to 32 40034 1 to 40034 16 WININ 21 to 336 337 to 352 512 n 518 to 528 529 to 544 545 to 560 561 to 576 768 n 769 to 84 785 to 800 801 to 816 817 to 832 33 to 48 40035 1 to 40035 16 49 to 64 40036 1 to 40036 16 Counter n 1 to 16 40049 1 to 40049 16 17 to 32 40050 1 to 40050 16 49 to 64 40052 1 to 40052 16 Relay n 1024 n 1 to 16 40065 1 to 40065 16 1025 to 1040 17 to 32 40066 1 to 40066 16 1041 to 1056 33 to 48 40067 1 to 40067 16 1057 to 1072 49 to 64 40068 1 to 40068 16 1073 to 1088 81 to 96 40070 1 to 40070 16 1105 to 1120 97 to 112 40071 1 to 40071 16 1121 to 1136 129 to 144 40073 1 to 40073 16 1153 to 1168 145 to 160 40074 1 to 40074 16 1169 to 1184 33 to 48 40051 1 to 40051 16 65 to 80 40069 1 to 40069 16 1089 to 1104 113 to 128 40072 1 to 40072 16 1137 to 1152 161 to 176 40075 1 to 40075 16 1185 to 1200 177t0 192 40076 1 to 40076 16 1201 to 1216 193 to 208 40077 1 to 40077 16 1217 to 1232 209 to 224 40078 1 to 40078 16 1233 to 1248 ee Ce 497 to 512 40097 1 to 40097 16 1521 to 1536 TRI RESEARCH 2 23 INTERNATIONAL Chapter 2 Ethernet Port Nano 10 PLC s Variables MODBUS Timer 1 to 64 40129 to 4
84. 481 CH3D1 496 489 CH3Ei6 504 497 CH3F 16 505 TRIANGLE I 6 3 TRI RESEARCH INTERNATIONAL Chapter 16 Host Link Command Response Format 16 6 Read Timer Contacts Command Format Rao fo en 8 bit Channel Hex Response Format RT te ie o 8 bit data in Hex 16 6 1 Definition of Timer Contact Channel Numbers A timer contact is a single bit of memory and 8 timer contacts are grouped into one 8 bit channel similar to that of the inputs outputs etc The following table shows the timer numbers defined in TRILOGl s Timer entry table and their corresponding channel numbers bit7 Timer Contact numbers bito cHo 8 7 6 5 4 3 2 1i CHi 16 15 14 13 12 1 10 9 CH2 24 23 22 21 20 19 18 17 CH3 32 31 30 29 28 27 26 25 CH4 40 39 38 37 36 35 34 33 CHS 48 57 56 45 44 43 42 4 CH6 CH7 64 63 62 61 60 59 58 57 16 7 Read Counter Contacts Command Format R e n n o en 8 bit channel Hex Response Format _R e ie ie n 8 bit data in Hex_ 16 7 1 Definition of Counter Contact Channel Numbers The 64 counter contacts are assigned channel s in exactly the same way as the 64 timers Please refer to the last section 16 6 Read Timer Contacts for details TRI RESEARCH 16 4 INTERNATIONAL Chapter 16 Host Link Command Response Format 16 8 Read Timer Present Value P V Comm
85. 6 13 Untitled File Edit Controller Simulate Circuit Help Circuit 1 HA H Ha H s A 13 da Fn Fna SY Figure 3 4 Completed Latching Circuit 3 3 Programming DIO in a Custom Function In order to program digital I O or anything in a custom function a custom function must be created in the I O Table and added in a ladder logic circuit Custom functions act the same way as coils in ladder logic in that that they need a contact to activate them Once they are activated the code inside them will execute To create a custom function circuit follow these 3 steps 1 Edit the name of the custom function in the I O Table 2 Place the activating contact in the ladder logic circuit 3 Place the custom function at the end of the circuit 3 3 1 Editing Label Names This is the same as for the digital I O except that the I O table window needs to be scrolled to the custom function area for editing custom function names Placing the custom function in the circuit is done the same way as other ladder logic contacts and coils by selecting the ene and then choosing the Differential custom function dCusF from the pop up D CusFn Custom Function E dCusF Diff Up Custom Funcs window IF maRsT Master Reset The circuit should look something like below XE TRILOGI Version 6 13 Untitled Seles File Edit Controller Simulate Circuit Help _cireuit t AHH HH HA o m dg Frio Geni FF RSS Figure 3 5 Circuit with
86. C unless you have specifically set up to forward all TCP IP messages sent to that port to a specific PC b If you really want to use the Filezilla FTP Server as a permanent server on a PC to receive files and still want to have the Windows Firewall enabled you can refer to the last section in this chapter which describes how to do it TRIANGLE I 8 I Tri RESEARCH INTERNATIONAL Chapter 18 Extended File System 18 7 Uploading File From PLC to FileZilla FTP Server Directory 18 7 1 Overview of The FTP Protocol The FTP protocol requires two socket connections between the devices performing the file transfer One connection is the command channel where FTP commands such as STOR or DELE and the responses are sent as plain ASCII text strings between the FTP client and the FTP server The second connection is the data channel where only the file content or the file directory data are being transferred There are two transfer modes Active mode and Passive mode Active mode requires that the server establish a data connection back to the client Passive mode on the other hand requires that the client also be the one to establish the data connection i e For passive mode both the command and the data connections are performed by the client the PLC in this case The PLC has been designed to use only passive mode to transfer file to the FTP server Passive mode is preferred because that is the only way to tran
87. Ch 1 Phase A 1 Ch 1 2 Ch 1 PhaseB Ch 2 Ch 2 Ch 2 Phase A Ch 3 Ch 3 Ch 2 Phase B Ch 4 Ch 4 Note While inputs 1 4 can be used simultaneously as High Speed Counters and Pulse Measurement pins any pins defined as interrupts can only be interrupts Special Outputs Output Stepper Pulse Dir outouts PWM output Ch 1 Direction Ch 1 Pulse These special I Os therefore share the same electrical specifications as the ON OFF type I Os which have already been described in the Chapter 1 Installation Guide We will describe each of these special I Os in greater details in the following chapters 2 TRIANGLE 6 1 ri i Upg RESEARCH a INTERNATIONAL Chapter 7 High Speed Counters Chapter 7 High Speed Counters INTERNATIONAL pa fl TRIANGLE URI RESEARCH Chapter 7 High Speed Counters 7 HIGH SPEED COUNTERS Technical Specifications No of Channels Maximum acceptable pulse rate 10KHz per channel Quadrature signal decoding Relevant TBASIC Commands HSCDEF HSCOFF HSCPVI 7 1 Introduction Digital inputs 1 2 3 4 form two channels of high speed counter inputs which can interface directly to a rotary encoder that produces quadrature outputs A quadrature encoder produces two pulse trains at a 90 phase shift from each other as follows Direction of Rotation 90 _______ Phase A Phase B lt lt 90 Direction of Rotation Figure 7 1 When the encoder s
88. Ch Cha tooo 20 100 25 eo so so 30 eo ero Offset o o o o o o o o DAC Calib 0000 ia d ja fo A D Moving Avg 3 piu No of pts 1 9 ero Offset 0 0 0 0 Figure 5 6 5 4 1 ADC Calib These fields are used to apply a multiplication factor to the value returned by ADC function The multiplication factor 1 x 10000 Example 1 If you apply 2 500V to ADC 1 you would expect the value returned by ADC 1 to be 2048 But the actual average reading centers around 2060 Proportional Error 2060 2048 1 005859 Multiplication factor required to correct this error 1 1 005859 0 9942 1 58 10000 gt X 58 You should therefore enter a value of 58 into the ADC Calib field for Ch 1 and save it to the PLC After the PLC has rebooted the CPU would apply the multiplication factor of 0 9942 to the readings it received which would correct the reading to 2060 x 0 9942 2048 Example 2 If you apply 4 000V to ADC 2 you would expect the ADC 2 function to return a value of 4 000 5 000 x 4096 3277 However your program returned a value of 3230 from ADC 2 Proportional Error 3230 3277 0 985658 Multiplication factor required to correct this error 1 0 985658 1 0146 1 146 10000 gt X 146 To compensate for this error enter a value of 146 in the ADC Calib for Ch 2 and save it to the PLC After the PLC has rebooted the CPU would apply the multiplication
89. Connect to the PLCs serial port from the PC with TRILOGI and TLServer 3 Edit the PLC network settings using the Ethernet amp ADC Configuration tool from the Controller menu in TRiLOGI Only the IP address is necessary to configure for basic connection to the LAN Please refer to the Quick Connection guide in appendix 1 of the i TRILOGI Programmers Reference Manual to connect the PLC to your PC via serial port Please refer to section 2 1 of this manual for more detailed information on network configuration Network Wiring You will likely already have a network available that consists of an Internet modem that provides Internet to a wired or wireless router which has at least one PC connected to it In this case all that needs to be done is connect the PLC to the router with standard Ethernet cable The final network configuration will likely resemble the below simple network diagram TRIANGLE 2 8 TR RESEARCH INTERNATIONAL Chapter 2 Ethernet Port If you are on a corporate network then you will need to consult the IT administrator to get the PLC connected to the network Modem Router IP 192 168 1 1 RJ45 terminated straight through CAT5 Ethernet Cable a Super PLC IP 192 168 1 5 IP 192 168 1 100 LESELLILLI Oo gt TRIANGLE i ERY RESEARCH 2 9 INTERNATIONAL Chapter 2 Ethernet Port 2 2 2 Setting up Ethernet Communication Directly Between a PC and an FMD PLC It is po
90. Counter contacts Command Format EsESERERESEIER ES dia ora 00 to 07 TRI RESEARCH 16 9 INTERNATIONAL Chapter 16 Host Link Command Response Format Response Format 16 22 Write Timer Present Value P V Command Format Timer1 00 New timer PV Timer64 3F Hex Response Format Please note that the timer number starts from 00 which represent timer 1 then 01 represents timer 2 and so on 16 23 Write Timer Set Value S V Command Format Timer1 00 New timer SV Timer64 3F Hex Response Format Note the 2nd character is a lower case m instead of the upper case M of WM command 16 24 Write Counter Present Value P V Command Format rr Counter1 00 New PV Counter64 3F Hex TRI RESEARCH 16 10 INTERNATIONAL Chapter 16 Host Link Command Response Format Response Format 16 25 Write Counter Set Value S V Command Format n ni Counter1 00 New Counter SV Counter64 3F Hex Response Format Note the 2nd character is a lower case u instead of the upper case U of the WU command 16 26 Write Variable Integers A to Z Command Format A B C Z2 8 Hexadecimal Digit for 32 bit integer Response Format E g To assign variable K to number 56789 0DD5 e send hositlink command NWVIK00000DD5 16 27 Write Variable Strings A to Z Command Format w v alphabet
91. Cs to be connected to a single host computer or a master PLC for networking or to implement a distributed control system 14 2 COMM1 Two wire RS485 Port This half duplex RS485 ports is meant for serial bus type networking or for connecting to optional peripherals such as a serial LCD message display unit e g MDS100 BW external analog modules e g l 7018 touch panel HMI or it can be used for inter communication between PLCs Up to 255 RS232 RS485 peripheral devices may be linked together in an RS485 network on this port The RS485 port signal is carried on a 2 way screw terminal connector please refer to Chapter 1 Installation Guide For successful communication using the RS485 port you need to correctly connect the and terminals to the RS485 equipment using a twisted pair cable If you are using the PC as the network host you will need an USB to RS485 converter such as the U 485 converter The following describes some possible uses of the RS485 ports 14 2 1 PROGRAMMING AND MONITORING The Nano 10 PLC can be programmed via its RS485 port on a one to one or multi drop manner If your PC already has an RS232 port or your already own a USB to RS232 converter then you can convert the RS232 port into RS485 port using the Auto485 adapter in order to communicate with the PLC If your PC only has USB ports then the easiest way is to purchase a USB to RS485 adapter U 485 which is port powered so you only need to connec
92. DA software or MMI hardware that speaks MODBUS The Nano 10 PLC also makes it easy for these devices to be controlled or monitored over the Internet The master Nano 10 will use its RS485 port to pull data from these devices into its data memory The data memory in the Nano 10 is in turn accessible by a SCADA program using the Modbus TCP protocol Through the Nano 10 PLC these other connected devices thus become accessible from the Internet 14 2 4 Distributed Control Another important use of the RS485 port will be to connect a Nano 10 PLC to other Nano 10 F Series M series H series or E10 PLCs One of these PLCs will act as the master and all other PLCs will act as slaves Each PLC must be given a unique ID The master will send commands to all the slaves using the NETCMD or READMODBUS WRITEMODBUS READMB2 WRITEMB2 statements and coordinate information flow between the PLCs In this way a big system can be built by employing multiple units of Nano F M E or H series PLCs connected in a network This results in more elegant implementation of complex control systems and simplifies maintenance jobs 14 3 Changing Baud Rate and Communication Formats Use of the SETBAUD Statement The Nano 10 PLC s COMM port is highly configurable It can be set to a wide range of baud rates You can also program it to communicate in either 7 or 8 data bits 1 or 2 stop bits odd even or no parity The baud rate and communication formats of the serial po
93. FTP setup is done correctly Note that the welcome message from the FTP Server shows only one line 220 Filezilla Server Version x xx which is what we have set it up to be You can now disconnect from the FTP server by typing Quit at the command prompt 3 There is one more things you need to do before you proceed to test the FTP upload features of the PLC to avoid connection problem that is to temporarily TURN OFF the Windows Firewall and any software firewall setup by anti virus software during your test You can always re enable your software firewall s after the test if you wish PC operating system are designed to run client program normally instead of acting as a server so Windows Firewall by default is to block all incoming Tri nuce 18 10 INTERNATIONAL Chapter 18 Extended File System connections to the FTP Server Thus it can give you a lot of headache when you are trying to connect to the FTP server operating behind the Windows Firewall Notes a The main purpose of Windows Firewall is to protect your PC when you are connected to say a public wi fi network But if your PC is connected to the Internet via a router at work or at home the router hardware itself would act as a firewall to isolate your PCs and a software Firewall is actually redundant If a hacker tried to connect to a port using your public Internet IP address what he reached would be the port on the router and he would not be able to reach your P
94. INTERNATIONAL Chapter 14 Serial Communications 14 6 3 OMRON Host Link Command Support Command Type Level of Support d IRAreaREAD RR Fullsupport 0000to 1000 R S W e HR AR LR Area RH Dummy always returns 0000 amp TC Status READ f DM AREA READ g PV READ Full support Dummy always returns 0000 j HR AR LR Area Dummy always OK amp TC Status WRITE WL WG KRCIO Dummy for other areas for Channel or Bit QQIR Dummy for other areas always 0000 Some OMRON host link commands are described in Section 16 40 For other commands please refer to the Omron C20H C40H PLC Operation manual published by OMRON Corporation If your purpose is only to use the PLC s OMRON mode with SCADA or HMI then there is no need to learn the actual command response format F RD h Status Write Dummy always OK 14 6 4 Application Example Interfacing to SCADA Software SCADA software or MMI systems also known as LCD Touch Panels normally use an object oriented programming method Graphical objects such as switches indicator lights or meters etc are picked from the library and then assigned to a certain I O or internal data address of the PLC When designing a SCADA system first you need to define the PLC type You can choose the MODBUS ASCII MODBUS RTU or OMRON C20H Once a graphical object has been created you will need to edit its connection and at this point you will be presented with a selection table t
95. INTERNATIONAL TT 2 TRIANGLE R RESEARCH Nano 10 Ladder BASIC Super PLC USER S Revision 7 0 MANUAL USER MANUAL Copyright Notice and Disclaimer All rights reserved With the exception of legitimate TRi PLC users who may print or make copies of this manual for reference purposes no parts of this manual may be reproduced in any form without the express written permission of TRi Triangle Research International Inc TRi makes no representations or warranties with respect to the contents hereof In addition information contained herein is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless TRi assumes no responsibility for errors or omissions or any damages resulting from the use of the information contained in this publication MS DOS and Windows are trademarks of Microsoft Inc MODBUS is a trademark of Mobdus org All other trademarks belong to their respective owners Revision Sheet Release No Date _ 1 Revision Description eee or inconsistent numbering of figures e D TRIANGLE Upi RESEARCH Page INTERNATIONAL USER MANUAL Conditions of Sale and Product Warranty Triangle Research International Inc TRi and the Buyer agree to the following terms and conditions of Sale and Purchase 1 The TRi Products are guaranteed against defects in materials or workmanship for a period of one year from the date of registered purchas
96. L Chapter 14 Serial Communications Please refer to the TBASIC Programmer s Reference manual for a detailed description of the SETPROTOCOL command Note If you fix a COMM port to a non native non auto mode TRILOGI will not be able to communicate with the PLC anymore You may have to power cycle the PLC to reset the COMM mode If you use the 1st Scan contact to activate the SETPROTOCOL command then you will need to cycle the power to the PLC with Jumper J4 shorted to halt the execution of the SETPROTOCOL command Also remember that when the PLC is reset this way its COMM1 will power up at default format of 38 400 8 n 1 only so you will need to configure TLServer s serial port to 38 400bps to communicate with it 14 5 Accessing the COMM Port from within TBASIC Besides responding automatically to specific communication protocols described in section 14 5 the COMM 1 is fully accessible by the user program using the TBASIC commands INPUT INCOMM PRINT and OUTCOMM It is necessary to understand how these commands interact with the operating system as follow When a COMM port receives serial data the operating system of the Nano 10 automatically stores them into a 256 bytes circular buffer so that user programs can retrieve them later The serial data are buffered even if they are incoming commands of one of the supported protocols described in section 14 5 In addition processing of a recognized protocol command does not
97. Modbus TCP Client Connection to Other Modbus TCP Server 2 25 2 6 Getting data from Internet Connecting to The Internet Time Server 2 27 2 7 Web Service Accessing PLC s data from MS Excel sr rire 2 28 2 8 Accessing The PLC from INternet caiicioriviciiiiiniia 2 30 2 8 1 Small Local Area Network Using Consumer Grade Network Router 2 30 2 8 2 Large Corporate Local Area Network cccccccsssseeecceeeeeeaeeeeeeeeeeeeeeeeeseeeeseessueaaeeeeeeeeeeaaas 2 31 2 9 Installing a Web Page or Web Applet into the Nano 10 PLC using FileZilla 2 32 2 9 1 Installing the FileZilla program i 2 32 2 9 2 Configuring FileZilla to Communicate with the Nano 10 2 32 2 9 3 Transferring and Retrieving Files from the Nano 10 Web Servetl cccccccseseseeeeeeeeeees 2 35 2 9 4 Download the Web Page F les 2 36 2 9 5 Troubleshooting FileZilla File Transfer Problems 2 36 2 10 Accessing and Customizing the HTML Web Interface for Control and Monitoring 2 39 2 10 1 Next Generation of Super PLC Web Control ccccccccccceccsesseeeeeeeeeseeeeeeeeeeeeesaaeeeees 2 39 2 10 2 Advanced Customization sci ir 2 40 3 DIGITAL I O AND INTERNAL RELAYS PROGRAMMING 3 1 3 1 PVE GUC UO g PIENENEE EE EE retin prin peli ricicla trial iniettato 3 1 3 2 Programming DIO with
98. O Outputs 8 2 TRIANGLE Up RESEARCH Page v INTERNATIONAL USER MANUAL 8 2 3 Measuring Transducer with PWM Outputs i 8 2 8 3 Frequency Measurement on High Speed Counter Inputs 1 srrrrrrrrrrennno 8 3 9 INTERRUPTS 9 1 9 1 pOr MEUD IS es ee ee ee eee me reece eames 9 1 9 2 Periodic Timer Interrupt PT iii apri 9 2 9 3 POWEeFFallure IMEenTUDi Pr risi lil aaa 9 3 10 STEPPER MOTOR CONTROL 10 1 101 TechmicalSpecilicatioisS in 10 1 10 2 Nano 10 As Stepper Motor Controller 1 rr 10 1 10 2 1 Interfacing to 5V Stepper Motor Driver Inputs 10 2 10 3 Programming Stepper Control Channel 1rrrsss iii 10 3 10 3 1 PUTO E e11 PRA RR E E EE 10 3 10 3 2 Setting the Acceleration Properties 10 3 10 3 3 Using the STEPMOVE Command ccccccsseseeecceceeeeaeeeeeeeeeeeseaeeseeeeeeeesesuaaaeeeeeeeeseaaas 10 4 10 3 4 Using the STEPMOVEABS Command iii 10 4 LEPRE oceans 10 5 10 3 5 Demo Program for Stepper Motor Control i 10 5 11 PULSE WIDTH MODULATED OUTPUTS 11 1 iii nfedbtclio i La a dicci 11 1 11 2 Na a no 10 PLC PWM OUTPUTS o niinonnnsiiunian anaana ini 11 1 11 3 Increasing Output Drive Current Opto lsolated 21rrrrrrreniiiiii 11 2 11 4 Position Control Of RC Servo Motor
99. ODBUS ASCII or RTU commands to access any other Nano 10 F series or T100M series PLC or any third party MODBUS slave devices The READMODBUS or READMB2 commands use MODBUS Function 03 this can be changed to function 04 using SETSYSTEM 6 4 command to read from the slave and WRITEMODBUS or WRITEMB2 use MODBUS Function 16 to write to the slave Note that when using the READMODBUS or WRITEMODBUS commands the 40001 address stated in Table 14 1 should be interpreted as address 0000 and 40002 as address 0001 and 41001 as address 1000 etc This is in accordance with the specifications stated in MODBUS protocol MODICON defined zero offset addresses for the MODBUS protocol yet in their holding register definition these are supposed to start from address 40001 hence the unusual correspondence But to maintain compatibility with the MODBUS specifications we have to adhere to their definitions 14 7 1 Nano 10 PLC As MODBUS RTU Master The Nano 10 PLC can also act as a MODBUS RTU master The same READMODBUS and WRITEMOBUS commands can be used to send and receive MODBUS RTU commands What you need to do is add 10 decimal to the COMM port number to signal to the processor that you wish to use MODBUS RTU instead of MODBUS ASCII to talk to the slaves In other words you should specify port 11 to use RTU commands on COMM 1 E g the statement DM 10 READMODBUS 11 8 16 will access via COMM1 the slave with ID 08 and read the content of registe
100. PLC Keep the power supply wires as short as possible and avoid running them along side high current cables in the same cable conduit The Nano 10 PLC will enter a shut down procedure when the power supply voltage dips below approximately 16V It is a good idea to connect a 470uF to 1000uF 50V electrolytic capacitor near the power supply connector to suppress any undesirable voltage glitches from conducting into the PLC If other high current devices such as a frequency inverter were to affect the operation of the PLC you should then also connect a diode before the capacitor to prevent reverse current which might flow back to the power supply as shown in the following diagram Surge suppressor Recommended 470uF 50V OV Figure 1 4 If the AC main is affected by nearby machines drawing large amounts of current such as large three phase motors you should use a surge suppressor to prevent any unwanted noise voltage from being coupled into the Nano 10 power supply The required current rating for the power supply depends mainly on the total output current taking into consideration the peak current demand and the duty cycle of the operation 1 4 Digital Input Circuits All 4 digital inputs are NPN type with green colored LED indicators meaning that to turn ON an input you should connect it to the low voltage rail OV terminal of the power supply as shown in the following diagram The input numbers are marked on the PCB along
101. Program Memory Standard Nano 10 PLC can store up to 8000 16 bit words of program memory stored in the CPU Flash memory area This can be expanded to 16 000 words with the addition of an optional FRAM RTC module Each ladder logic element contacts or coils takes up 1 word of memory A TBASIC statement or function takes up half a word to four or five words depending on the number of parameters the statement or function has The program memory can be erased and reprogrammed more than one hundred thousand times which is a limit that you are unlikely to ever reach However unlike on the T100M PLCs the program memory of the Nano 10 is not stored in an easily removable IC so it is not possible to upgrade your customer s PLC program by swapping out a single IC such as the M2017P or M2018P on a T100M PLC O UR RESEARCH 1 8 INTERNATIONAL Chapter 1 Installation Guide 1 6 2 Non Volatile Data Storage Users of the M Series PLCs T100MD and T100MX PLCs may be familiar with the PLCs EEPROM memory as well as some of its limitations Standard Nano 10 PLC does not have any built in EEPROM on board An optional FRAMRTC module can be added to the Nano 10 to provide up to 11K words of non volatile high speed ferromagnetic memory that behave just like EEPROM to the PLC However if you have only limited use of the EEPROM memory say to store some non volatile parameters once in a while and you do not wish to incur the expens
102. REVIOUS PLC instead of the new PLC using data in its ARP cache memory When FileZilla tries to connect to the right IP address but a wrong MACID it of course would not be able to connect properly In such a scenario you must clear the Windows ARP cache first using a command prompt as follow TRIANGLE 2 37 TR RESEARCH INTERNATIONAL Chapter 2 Ethernet Port e Command Prompt C Documents and Settings Duner gt arp d C 5 Documents and Settings Duner gt The arp d command tells windows to delete its ARP cache data So when you use FileZilla to connect to a new PLC Windows will do the necessary to properly connect to the new PLC that has a different MACID from the previous PLC Note that the same issue applies to using I TRILOGI to transfer program to multiple PLCs that are all set to the same default IP address even though only one PLC will be connected to the network at a time You will need to clear the ARP cache after every transfer to avoid problem Or else you have to wait for windows to expire its ARP cache data before connecting the next PLC INTERNATIONAL TRI RESEARCH 2 38 Chapter 2 Ethernet Port 2 10 Accessing and Customizing the HTML Web Interface for Control and Monitoring The second generation of Web control application is now available free for any TRi PLC user to download and install into their PLC In the previous section 2 9 Installing a Control Web Page Into the FMD PLC you were sh
103. RNATIONAL Chapter 14 Serial Communications output 2 using MOBDUS address 1 0258 But if the driver allows the switch to be mapped to Ox space then you can use MODBUS register space 0 0004 and 0 0258 for the mapping with identical results Example 2 Standard Modbus Variation To map a lamp symbol to PLC Input 4 you select the MODBUS register address 0 0003 You can also map a lamp symbol to the PLC s output 2 In that case you should map it to MODBUS register address 0 0257 To map a toggle switch symbol to the PLC input 4 if you are restricted to select only MODBUS 1x address space then you will have to map the switch to 1 0003 and likewise you can map the switch to output 2 using MOBDUS address 1 0257 But if the driver allows the switch to be mapped to Ox space then you can use MODBUS register space 0 0003 and 0 0257 for the mapping with identical results 14 6 1 2 WORD ADDRESS MAPPING As shown in Table 14 1 to access DM 1 from the PLC you use MODBUS address space 4 1001 and so on To access the Real Time Clock Hour data TIME 1 use 4 0513 The I O channels can also be read or written as 16 bit words by using the addresses from 4 0001 to 4 0320 Some MODBUS drivers such as National Instruments Lookout software even allow you to manipulate individual bit within a 16 bit word So it is also possible to map individual I O bits to the 4x address space E g Input bit 1 can be mapped to 4 0001 1 and out
104. Serial Communication Setup amp Test Change PLCID Close You now can enter the complete command string as 01R1I0258 and it will be accepted by TLServer Note If the PLC has executed a SETPROTOCOL n 5 to configure its serial port into pure native mode then wildcard FCS will not be accepted and you must use the actual FCS with your command The FCS button makes it much easier than computation by hand If you have changed some data using the write command then activate On Line Monitoring and examine the changes made using the View Variables window Tri RESEARCH 16 20 INTERNATIONAL Chapter 16 Host Link Command Response Format 16 42 Visual Basic Sample Program To help users get started writing their own Visual Basic program to communicate with the PLC we have created a sample Visual Basic program with full source code listing Please visit the following web page to download the visual basic sample program http Awww tri plc com applications VBsample htm 16 43 Inter PLC Networking Using NETCMD Command Nano 10 is able to send out host link commands to another Nano 10 FMD F series M series or even the E10 PLCs using the built in TBASIC function NETCMDS This function accepts host link commands in multi point format and automatically computes the Frame Check Sequence FCS characters appends them to the command string and sends out the whole command string together with the terminators The functi
105. TION GUIDE FOR NANO 10 PLC 1 1 1 1 OVEN WIS W is iui 1 1 1 2 Physical Mounting amp Wiring svcnicsnccnsicicncincsisnscninnicseecaaeeeeeceninisecesanscuenanuecuamanseanssvennsisxacunandesccassseececs 1 2 1 2 1 Digital Inputs Analog Input and RS485 Communication Ports 1 3 1 2 2 Power Supply and Digital Output Ports 1 4 1 3 POW CE SUD ONY ea 1 4 1 4 Digital input Cire US saaana EEA 1 5 1 5 Digtal OUT CICUS suisui RT 1 6 lo Eleciical SSC ICA ONS meae E E 1 6 162 Digit l Output Wining Diagiamli aisi 1 7 Too Aea LOR oloni iaia ai imate 1 7 1 6 Program and Data Memory ices lc 1 8 1 6 1 Program Memory 1 8 1 6 2 Non Volatile Data Storage i 1 9 1 6 3 RAM Data Memory 1 11 1 7 JUDES JI kiedere ii 1 11 1 7 1 Usefulness of Jumper 4 ara 1 11 1 8 Real THING CIOCK orr Pus iormanaccieetavscvetsuciesstasiwens 1 13 1 9 CPU SlatuS MdiCat rS susson nannaa a E E E a i AA E a 1 13 ETHERNET PORT 2 1 2 1 Configuring The Ethernet Port rrrese iii 2 1 c d PASS 2 3 212 Gateway IPF CID cis nella 2 3 2 1 9 SMTP Server IP Adress scctcsoe t scctbesccndetiones i iii 2 3 2 1 4 DNS Server IP Address 2 4 2 1 5 No of Connections FServer Modbus TCP 2 5 2 10 FOSNES PONO ee E 2 5 2 1 7 Modbus TCP Secondary Port NO iii 2 5 2 1 0 EAN 6 ee a oiran ee eee 2 6 2 0 9 NOC SING niro reno istoni 2 6 2 1 10 Username and Password FServer
106. Time Clock Example 12 7 Retrieving RTC Clock values using STATUS 18 For Nano 10 PLC with firmware version r72 and above you can read the hour minute and second of the Nano 10 RTC in a single STATUS 18 function The RTC hours minutes and second values are returned as a single integer in the following format hhmmss This could be faster and more convenient to use than to perform 3 comparison statements using TIME 1 TIME 2 and TIME 3 However please note that this function is not available on the M series PLC or F series PLC with older firmware version and it is currently not supported by the i TRILOGI version 6 30 simulator You will need to transfer your program to the PLC in order to test it Tri RESEARCH 12 3 INTERNATIONAL Chapter 12 Real Time Clock Example STATUSTA 0 0 0 Or 10 5 3 100503 23 59 59 235959 You can therefore easily test the value of the RTC using a single command E g IF STATUS 18 gt 100000 After 10 am in the morning SETIO Pump ENDIF 12 8 RTC Calibration For FRAMRTC only The RTC calibration routine is only applicable to the FRAMRTC module installed on a Nano 10 PLC The FRAMRTC uses a battery back real time clock that derived its clock from a 32 768KHz crystal which should provide reasonably good accuracy for normal use However if you like the FRAMRTC to be of greater accuracy you can calibrate it using the Advanced Configuration page of the Ethernet Configu
107. XX ZZZ i e The first three numbers should match each other The fourth number ZZZ should be an IP address that is not used by any other devices on your network Note that majority of small LANs are built using a network router that assigns dynamic IP addresses called DHCP server to the PC You should enter the administrator page of the router and define the range of DHCP for use by the PCs and then you may assign the PLC with any IP address that is outside of the DHCP range E g If you define the DHCP address range to be 192 168 1 100 to 192 168 1 150 then you may assign the PLC with any IP address between 192 168 1 2 to 192 168 99 Usually the router itself would have the IP address 192 168 1 1 so that address is not available and also between 192 168 151 to 192 168 1 254 again making sure that 192 168 1 254 is not already used by your router 2 1 2 GateWay IP Addr The Gateway IP address lets the Nano 10 PLC communicate with other LAN segments or connect to the Internet The gateway address is usually the local IP address of the router where the PLC is connected For small local networks with no plan for connection to the Internet the Gateway IP Address is not needed and can be set to 0 0 0 0 But if you plan to use the FServer s email capability then you must fill in the correct Gateway IP Address Ask your system administrator if you have any question about this 2 1 3 SMTP Server IP Address The SMTP Simple Mail Transport Protoco
108. address 192 168 1 168 and listening at port 21 Please replace the IP address with the actual IP address of your PC The following screen shot captures the test sequence Note that the same command response sequence with the server is also shown on the FileZilla Server Interface program front panel USER PLC FileZilla Server 127 0 0 1 PASS 1234 File Server Edit e Telnet 192 168 1 168 IEE ee FP ec ea 224 FileZilla Server version 4 9 48 beta 000009 12 13 2011 10 31 01 AM not logged in 192 168 1 168 gt Connected sending USER PLC welcome message 331 Password required for plc 000009 12 13 2011 10 31 01 AM not logged in 192 168 1 168 gt 220 FileZlla Server PASS 1234 version 0 9 40 beta 230 Logged on 000009 12 13 2011 10 31 01 AM not logged in 192 162 1 168 gt 220 written by Tim osse Tim Kosse gmx de 000005 12 13 2011 10 31 01 AM not logged in 192 168 1 168 gt 220 Please visit http sourceforge net projects Tilezilla 000005 12 13 2011 10 31 04 AM not logged in 192 168 1 168 gt USER PLC 000009 12 13 2011 10 31 04 AM not logged in 192 168 1 168 gt 331 Password required for plc 000005 12 13 2011 10 31 09 AM not logged in 192 168 1 168 gt PASS 000009 12 13 2011 10 31 09 AM ple 197 168 1 168 gt 230 Logged on ID Account IF Transfer lt 000009 plc 192 168 1 168 52 bytes receir 2 Once you get the 230 Logged On message you know that the
109. after the timer coil is activated Placing a timer contact in a circuit is the same as placing any contact in a ladder circuit except that the corresponding timer should be selected from the Timers section of the I O table After creating a ladder circuit that contains one input and one timer output and another ladder circuit that contains one timer contact and one output the ladder logic circuit should like something like Figure 4 2 below INTERNATIONAL SF TRIANGLE _ Upg RESEARCH 4 2 Chapter 4 Timers Counters amp Sequencers ES TRILOGI Version 6 14 Untitled File Edit Controller Simulate Circuit Help Circuit 2 A H Ha H HAs da dg Fna AF np A Output OUT Figure 4 2 Completed Timer Circuit 4 2 4 Example 2 Creating a Simple Counter Circuit in Ladder Logic You can place components in the circuit by clicking in the green area to the right of the red arrow as shown in Figure 4 3 below This will bring up the component tool bar in the gray area above the green circuit area XE TRILOGI Version 6 13 Untitled SE File Edit Controller Simulate Circuit Help Circuit 1 ER ER ER ERE Cenne quick Tags Figure 4 3 Creating Ladder Circuit Once the component toolbar is shown you can place your activating contact by selecting the 1 component from the toolbar Hi and then selecting the activating input from the I O Table The contact will then be automatically placed in the ladder logic circuit The
110. ages of up to 60V The LT1785AIN8 is a 1 4 power RS485 driver which means up to 128 PLCs can be connected together Unfortunately this IC is much more expensive than 75HVD3082 and hence it is not provided as standard component on the PLC You can purchase the IC from any major electronic catalog company such as www digikey com 2 When using non fault tolerant RS485 drivers such as SN75176 or SN75HVD3082 we strongly recommend the following protection circuit to be added between every PLC s RS485 and the twisted pair multi drop network cable RS485 Network A 100 1 2W 0 1A Fuses O 9 sans S A 9V 1W Zener _ a ower O OV Ground the Shield Figure 15 3 Note As can be seen from the circuit the two 9V Zener diodes clamp the signal voltage on the PLC s RS485 interface to between 9V and 0 7V If the high voltage persists the 0 1A fuse will blow effectively disconnecting the PLC from the offending voltage on the network Even if you choose to replace the RS485 driver by an LT1785AIN8 IC instead of using the zener fuse pair wiring you should still use shielded twisted pair cables as the multi drop network backbone and connect the shield to the OV DC ground power terminal of every PLC The grounded shield then provides a common ground reference for all the different PLCs power supplies Even though the RS485 network may still work without a common ground reference because the signal wire pair will somehow pull
111. and Format RImin o lt 09 en nn Timer1 00 Timer16 0F Timer64 3F Response Format OR mM 10 10 to froth PD Timer present value in Decimal The present value PV of the specified timer is returned in decimal form as four byte ASCII text characters from 0000 to 9999 16 9 Read Timer Set Value S V Command Format Rimi no no O S nn Timer1 00 Timer16 0F Timer64 3F Response Format Rm 10 10 to 10 Timer Set Value in Decimal The Set Value S V of the specified timer is returned in decimal form as four byte ASCII text characters from 0000 to 9999 Note that this command header contains small letter m instead of M in the RM command 16 10 Read Counter Present Value P V Command Format RIU n o lt 09 S nn Counteri 00 Counter16 0F Counter64 3F Response Format R u fiji o Counter present value in Decimal The Present Value of the specified counter is returned in decimal form as four byte ASCII text characters from 0000 to 9999 TRI RESEARCH 16 5 INTERNATIONAL Chapter 16 Host Link Command Response Format 16 11 Read Counter Set Value S V Command Format PRiEufto no oO S se nn Counter1 00 Counter16 0F Counter64 3F Response Format HR iu fijo o Counter Set Value in Decimal The Set Value of the specified counter is returned in decimal form as four byte ASCII
112. and for multi point system simply add the device ID nn before the command header and the FCS at the end of the data See Chapter 3 for detailed descriptions of multi point communication command format 16 1 Device ID Read Command Format Rido Response Format R ie 160 Device ID 00 to FF The device ID is to be used for the multi point communication protocol so that the host computer can selectively communicate with any controller connected to a common RS485 bus see Chapter 3 for details The ID has no effect for point to point communication The device ID is stored in the PLC s non volatile memory and therefore will remain with the controller until it is next changed 16 2 Device ID Write Command Format wie te o T New Device ID 00 to FF Response Format E g To set the PLC s ID to OA send command string 1w0a to PLC 16 3 Read Digital Input Channels Command Format PRUE tint no 0 S 8 bit Channel Hex TRIANGLE 6 TRI RESEARCH INTERNATIONAL Chapter 16 Host Link Command Response Format Response Format RI fie te o T 8 bit Data Hex 16 3 1 Definition of Input Channels The following table shows the input numbers as defined in TRILOGI s Input entry table corresponding to the input channel number Bit7 npt Output Numbers BitO CHOO CHO1 CHO2 CH03 CHO4 CHO5 CHO6 CHO7 CHO8 CHO9 CHOA e CHOB e 96 95 94 93 2 1
113. and refers to Table 14 1 in Chapter 14 to map the PLC s I Os to OMRON IR register space from IROOO to IR519 Command Format a a w R n n n n 16 16 16 16 Sii iii Tr Device ID Header IR Start Addr Dec i data Last data FCS Response Format E g To Write to CtrPV 1 to 2 using this command send O1WRO256xxxxyyyyff where xxxx and yyyy are the hex values to be written to CtrPV 1 amp 2 16 40 3 Read Data Memory DM 1 to DM 4000 Command Format Device ID Header DM Address Dec DM count Hex _ FCS Response Format d da R D s s ijijiji wQ _ OO ee Device ID Header Status 1 Data Hex 00 OK x Last data FCS amp ruucu c _ mse gt TRI RESEARCH 16 18 INTERNATIONAL Chapter 16 Host Link Command Response Format E g To read DM 112 to 130 19 words send 01RD0112001357 The PLC will send return a response O1RDOOxxxxyyyyZzZZz 16 40 4 WRITE Data Memory DM 1 to DM 4000 Command Format L a a w p n n n nft6 16 16 16 S Vma Device ID Header DM Start Addr Dec 1 data E g To Write to DM 1200 to 1201 using this command send QOIWD1200xxxxyyyyff where xxxx and yyyy are the values to be written to DM 1200 amp DM 1201 Tri RESEARCH 16 19 INTERNATIONAL Chapter 16 Host Link Command Response Format 16 41 Testing of Host Link Commands
114. ans that INPUT n will not suspend the CPU and wait for a valid string from the COMM port However in real world communication very often you will need to send a command to a device and it takes a while for the device to be able to send back a response string TRIANGLE I 4 5 TR RESEARCH INTERNATIONAL Chapter 14 Serial Communications The most efficient way of handling such serial communication exchange with other devices is to send a command string using the PRINT n and then start a timer and let the PLC program continue to scan the ladder program When timer times out the timer contact is used to activate a custom function and use INPUT n to read the return message from the device This is most efficient use of the CPU time since the program will not have to waste time to wait for response string from the device and that s the reason for INPUT n to default to non blocking mode Another way to deal with this is to use the NETCMD function terminated with NETCMD sends a command string and will return immediately when it receives a response string or if more than 0 15s has passed If the device is slow to response the CPU basically sits in a loop to wait for the response for up to a maximum of 0 15s NETCMD function also re tries the communication several times if it does not receive a response in the first try A third way of handling serial exchange with other devices is to use the INPUT n command in blocking mo
115. any time by the STEPCOUNTABS function Once the STEPMOVEABS command is executed re execution of this command or the STEPMOVE command will have no effect until the entire motion is completed or aborted by the STEPSTOP command The STEPMOVEABS command is also used to specify whether the PLC is a motor controller a full step motor driver or a half step motor driver STEPMOVEABS ch position r The ch parameter would specify which stepper motor channel is being used and should be a 1 on Nano 10 The position parameter specifies how many pulses the motor will move relative to its home position TRIANGLE I 0 4 TR RESEARCH INTERNATIONAL Chapter 10 Stepper Motor Control The r parameter specifies which internal relay will be activated once the motor has moved to its new position This relay would be cleared when the STEPMOVEABS command is executed in case it was already activated Example STEPMOVEABS 1 500 101 Stepper 1 to move fwd 500 steps from home and turn on relay 101 10 3 5 Demo Program for Stepper Motor Control A demo program for programming the Stepper Motor Controller and Driver StepperMotor PC6 can be found in the Nano10Samples zip file which can be downloaded from http www tri plc com trilogi Nano10Samples zip TR RESEARCH 10 9 INTERNATIONAL Chapter 11 Pulse Width Modulated Outputs Chapter 11 Pulse Width Modulated Outputs TRIANGLE TR RESEARCH INTERNATIONAL Chapt
116. ase do not install using this orientation This is demonstrated in Figure 1 2 1 above On the Nano 10 the relays will be orientated this way when the PLC is installed in the following position demonstrated in figure 1 2 2 This position should be avoided when the relays are being used aa rs EE PAUSE gt Pi DH I wr ANI AN2 50 ea GIRL die in i mag A Tih te ff LI N Ww i Li 4 ah a pf 5 i ARTIOLI 1 11111 rr F cip urla ly gt all x if or rr ior lew E INI IN2 ING ai ta 2 Mi Ha i Poggi Figure 1 2 2 Incorrect NANO 10 Orientation The following subsections show some hardware details of the I Os that are available on the Nano 10 PLC model Separate chapters in this manual will be devoted to discussing the programming methods for this hardware 1 2 1 Digital Inputs Analog Input and RS485 Communication Ports The two wire RS485 port 4 digital inputs and 2 analog inputs as well as a 5V analog reference voltage are all available on a bank of screw terminal blocks along the lower edge of the PLC RS485 INl IN2 IN3 IN4 AN1 AN2 5V QSSIS SS dba Two Wire 4 Digital Inputs 2Analog 5V Analog RS485 Port 24V NPN Inputs 0 5V Reference Figure 1 2 2 TRIANGLE 1 3 URN RESEARCH INTERNATIONAL Chapter 1 Installation Guide Please refer to Section 1 4 regarding the specifications of the Digital Inputs The specificat
117. aster Otherwise the master sends a STOP bit and quit the 12C_WRITE function If the slave does send the ACK bit the master will then toggle the SCL clock signal and the slave will send the data byte one bit at a time in response to the SCL pulses After an 8 bit byte has been received the master will automatically send the ACK bit to the slave and the slave will continue to send the next byte sequentially out to the master After the last data byte has been read from the slave the master will not send the ACK bit but will automatically send the STOP bit to the slave This indicates the End of Read to the slave and the communication is complete I2C READ 2cslave dmstart count Purpose Special command to execute a I2C_READ out of the PLC s 12C port if so equipped The CPU will send a I2C START bit followed by the slave address byte i2cslave with R W bit set to high and then send out the number of clock pulses required to read count number of data bytes from the the slave The data bytes received from the slave will be stored in the memory location DM damstari to DM dmstart count 1 After receiving all the required data bytes the CPU automatically send the 12C STOP bit to the slave to end the communication i2cslave The 7 bit slave address that the CPU is reading from dmstart The starting index of the DM that is to receive the first data count number of byte data bytes to read from the slave Examples l I2C_READ amp
118. ation of the 8 input bits 1 8 E g if only inputs 2 and 8 are turned ON then the binary pattern is 1000 0010 which in hexadecimal form is 82 and the response string would therefore be RI82 You can then write an excel formula to extract the data 82 and use it for your other computation purpose By using a different Host Link command the Excel spreadsheet can read and write to the PLC s internal data very easily Notes 1 If you have enabled Use Username Password for the FServer you will be prompted by your Excel program to enter the Username and password before you can receive the response data 2 We have provided a more complete Excel spreadsheet example ExcelQuery xls which can be downloaded from _ http www tri plc com appnotes F series ExcelQuery xls The macro in this file converts the RIXX data it receives into ON OFF indicators on the Excel Spreadsheet cells Note that this spreadsheet file uses the HEX2DEC function that is not normally available when you first install the Excel program But you can add it in by installing the Analysis Toolpak Please search your INTERNATIONAL TR RESEARCH 2 29 Chapter 2 Ethernet Port Excel Help file for the specific method of adding in this toolpak as it may change from one version of Excel to another On Excel 2000 you can click on the Tools gt Add Ins check the Analysis Tookpak check box and then click OK MS Excel will automatically ins
119. begins with the ERR followed by the reason for the error Although the sender s email address does not have to be a valid email address it is good to at least use a valid domain name as the sender address TRIANGLE RESEARCH 2 l INTERNATIONAL Chapter 2 Ethernet Port Otherwise the SMTP server may refuse to send the email because it may deduce that an email with an invalid domain name is likely to be a Spam mail Example Please refer to the fnEmail function in the TestEthernet PC6 file 2 4 4 Open Connection to Remote FServer or TLServer to Use NETCMD Format lt CONNECT IP address port of TLServer or XServer gt username string password string lt CONNECTED gt Successfully connected to remote FServer TLServer or XServer at the IP address ERR 05 Prev Conn ON Another NS command has been executed and left Response the client socket opened but did not execute the PRINT 4 lt gt to close the client socket ERR 04 Not Connected Failed to connect to remote Fserver or TLServer STATUS 3 This TBASIC function returns 1 if the connection is active and returns 0 if the connection has ended You can test the connection status to determine if the connection is still alive Description This service allows your PLC to log in to another Nano 10 an F Series PLC or a T100MD PLC connected via TLServer or XServer through the Internet You execute this command by first sending the stri
120. by two ASCII characters 00 to FF It is a result of performing an Exclusive OR on each character in the frame sequentially starting from in the device number to the last character in the data An example is as follows Device ID Header Data FCS 0100 0000 XOR O 0011 0000 XOR 4 0011 0100 XOR R 0101 0010 XOR V 0101 0110 XOR 0100 1001 XOR A 0100 0001 0100 1000 48 16 Value 4846 is then converted to ASCII characters 4 0011 0100 and 8 0011 1000 and placed in the FCS field FCS calculation program example The following C function will compute and return the FCS for the string passed to it unsigned char compute_FCS unsigned char string unsigned char result result string first byte of string while string result stringt XOR operation return result A Visual Basic routine for FCS computation is included in the source code of a sample communication program you can download from http Awww tri plc com applications VBsample htm VB6sample 15 4 3 Communication Procedure Unlike the point to point Communication protocol the host computer must NOT send the CTRL E character before sending the command frame After the host computer has sent out the multi point host link command frame only the controller with the correct device ID will respond Hence it is essential to ensure that every controller on the RS485 network assumes a different ID If a master PLC is used
121. cal distributor then you should contact the distributor for assistance TR RESEARCH 12 5 INTERNATIONAL Chapter 13 LCD Display Programming Chapter 13 LCD Display Programming TRIANGLE TR RESEARCH INTERNATIONAL Chapter 13 LCD Display Programming 13 LCD DISPLAY PROGRAMMING Although the Nano 10 PLC lacks a connector for connecting to a physical LCD display it does support the SETLCD command available to all the M series and F series PLC The content of the non existent LCD display however can still be displayed as a Virtual LCD screen using the I TRiLOGI On line monitoring function Thus the SETLCD command can still be an effective debugging tool for the PLC to display internal or computed data The LCD content is also accessible from a web browser using the appropriate web services commands Hence it can still be extremely useful for a Nano 10 to use the SETLCD command to manipulate its virtual LCD display and the content is visible on the user configurable control web page described in Section 2 10 for controlling the Nano 10 PLC using a web browser The virtual LCD would then become a real display on the web browser If you require a physical LCD display to be used with the Nano 10 PLC then there are many options One of which is to purchase an RS485 based MDS100 BW that is produced by TRi However it is important to note that what we describe in this chapter is not applicable to MDS100 BW MDS100 BW is a periphe
122. can be both counted and measured simultaneously on the same input 8 2 2 Measuring Transducer with VCO Outputs Some transducers incorporate a Voltage Controlled Oscillator VCO type of output that represents the measured quantities in terms of varying frequency of the output waveform Such transducers may be used conveniently by the Nano 10 PLCs using the pulse measurement capability However the frequency of such signals should be below the maximum input pulse rate 8 2 3 Measuring Transducer with PWM Outputs Some transducers may output the readings of their measurands the quantity that is being measured in the form of pulse width modulated outputs This means that the transducer would send rectangular pulses with varying duty cycles that are proportional to the measured quantities You can then easily use the PULSEWIDTH and PULSEPERIOD functions to compute the duty cycle of the incoming PWM pulses and readily convert it to the actual units of the measurands The Nano 10 PLC should be able to measure with reasonable accuracy the pulse width of incoming pulses not exceeding 10KHz INTERNATIONAL a a TRIANGLE _ RI RESEARCH 9 2 Chapter 8 Frequency Speed Measurement 8 3 Frequency Measurement on High Speed Counter Inputs For applications that require frequency measurement and pulse counting of the same signal you only need to feed the pulse input into any pair of the inputs 1 amp 2 or inputs 3 amp 4 or inputs 5 amp
123. cation Protocol Since an RS485 network links many PLCs together electrically and in a daisy chain fashion problems occurring along the RS485 network sometimes affect the operation of the entire network For example a broken wire at the terminal of one node may mean that all the PLCs connected after this node become inaccessible by the master If the RS485 interface of one of the PLCs has short circuited because of component failure then the entire network goes down with it too This is because no other node is able to assert proper signals on the two wires that are also common to the shorted device Hence when trouble shooting a faulty RS485 network it may be necessary to isolate all the PLCs from the network Thereafter reconnect one PLC at a time to the network starting from the node nearest to the host computer Use the TRiLOGI program to check communication with each PLC until the faulty unit has been identified TR RESEARCH 15 10 INTERNATIONAL Chapter 16 Host Link Command Response Format Chapter 16 Host Link Protocol Format TRIANGLE TRI RESEARCH INTERNATIONAL Chapter 16 Host Link Command Response Format 16 HOST LINK PROTOCOL FORMAT This chapter describes the detailed formats of the command and response frames for Nano 10 PLC host link commands Only the formats for the point to point communication protocol are presented but all these commands are available to the multi point protocol as well To use a comm
124. ccess a time server on the Internet or on the local LAN upon power up This means that the PLC is able to synchronize its time accurately to that of the atomic clock source that the Internet Time Server s are often based on This technique is described in Section 2 5 FRAM RTC As its name implies the FRAM RTC module adds a lithium battery backed Real Time Clock module to the Nano 10 PLC The Nano 10 CPU automatically detects the presence of the FRAM RTC module and will set its built in RTC using the battery backed RTC data in the FRAM RTC module The FRAM RTC therefore is useful to applications that are not connected to the LAN or the Internet to set the RTC but requires non volatile RTC to control time based events When the FRAMRTC is present the Nano 10 PLC also tries to take advantage of the FRAMRTC s more accurate real time clock by updating its internal RTC every hour when the seconds and minutes both become zero This can be optionally disabled by using the SETSYSTEM command described in Chapter 12 1 9 CPU Status Indicators There is a single red LED indicator on Nano 10 board marked PAUSE This indicator will light up for about 0 5 seconds during power on Thereafter it should go off The PAUSE indicator will be turned ON if one of the following has occurred 1 The PLC s program is corrupted 2 A PAUSE statement has been executed 3 The user halts the PLC by pressing the lt P gt key during On Line Monitoring 4 Jumpe
125. ccount Please enterthe name of the user account that should be added PLC User should be member of the following group none gt 8 Next click Shared folders page and you must setup a folder that is to be used to receive uploaded file Click Add at the Directories pane to add the folder You can choose any folder on your PC to be used for the FTP upload and you just have to remember the location so that you can look for the uploaded file later in the test However make sure that you check all the check boxes for Read Write Append etc as shown in the diagram INTERNATIONAL TR RESEARCH 18 6 Chapter 18 Extended File System Page Shared folders Users General i H A J Files ur EE Aliases Pec Shared folders Read Speed Limits IP Filter Delete Append Directories Create Delete List LA directory alias will also appear at the specified location Aliases must contain the full local path Separate multiple aliases for one directory with the pipe character H C Program Fest 4 Write L f using aliases please avoid cyclic directory structures it will only confuse FTP clients IK Cancel 9 Click OK to complete the setup The FTP server should now be waiting for connection 18 6 2 Testing Connection To The FTP Server Using Telnet You can now test the FTP Server using the FileZilla client as mentioned in C
126. ch parameter specifies which stepper motor channel is being used and should be 1 on Nano 10 PLC The count parameter specifies how many pulses the motor will move If the motor were in half step driver mode then count would be in half steps The r parameter specifies which internal relay will be activated once the motor has moved count number of steps This relay would be cleared when the STEPMOVE command is executed in case it was already activated Example 1 Moving Forwards STEPMOVE 1 500 101 channel 1 would send 500 pulses to a driver and then turn on relay 101 Example 2 Moving Backwards STEPMOVE 1 500 101 channel 1 would send 500 pulses to a driver and then turn on relay 101 10 3 4 Using the STEPMOVEABS Command This command allows you to move the stepper motor ch to an absolute position indicated by the position parameter At the end of the move the relay r will be turned ON Position can be between 2 to 2 i e about 2 x 10 The absolute position is calculated with respect to the last move from the HOME position The HOME position is set when the STEPHOME command is executed The speed and acceleration profile are determined by the STEPSPEED command as in the original command set This command automatically computes the number of pulses and the direction required to move the stepper motor to the new position with respect to the current location The current location can be determined at
127. channel the following error response will be received Error Response Format Device ID Header FCS Terminator The host computer program should always check the returned response for possibilities of errors in the command and take necessary action 15 4 6 SHOULD YOU USE POINT TO POINT OR MULTI POINT PROTOCOL Although at first the point to point protocol appears simpler in format having no ID and no FCS computation the communication procedure is actually more complex since it involves the need to synchronize the two communicating devices by exchanging the Control E character The lack of error checking also makes the protocol less reliable especially in noisy environment In fact the TLServer software will only accept multi point communication protocol from the client software with the exception of the IR command which is needed to obtain the ID of a PLC with unknown ID Hence if you were to write your own communication program to talk to the PLCs we would strongly recommend using only the multi point protocol exclusively due to its simplicity and built in error checking capability TRIANGLE 5 5 TR RESEARCH INTERNATIONAL Chapter 15 Host Link Communication Protocol 15 5 RS485 Primer 15 5 1 RS485 Network Interface Hardware The built in RS 485 interface allows the Nano 10 PLC to be networked together using very low cost twisted pair cables Since the Nano 10 PLCs are fitted with a 1 8 power RS485 driver suc
128. check the settings you have configured for FileZilla compared to the settings configured in the Nano 10 server The next thing to check is your Windows firewall You can disable the firewall temporarily to check if it is affecting your FileZilla connection but it is not recommended to leave your firewall disabled If you have confirmed that disabling the firewall allows you to successfully connect to the Nano 10 server and view the directory listing then you can add FileZilla to the firewall exception list so that you can leave your firewall enabled To add FileZilla to the Windows firewall exception list you will need to open the Windows firewall from your network settings configuration area Then you will need to click on Change settings which will open up a new window You will need to go to the Exceptions tab in the new window and look for FileZilla in the list of programs If you see FileZilla in the list then you will need to check the box beside it to add it to the exception list Otherwise you will need to manually add it to the list by clicking Add program and searching for FileZilla in its installation directory Here is a picture of the Windows Firewall status window and the Change settings window with the Exceptions tab TRI RESEARCH 2 34 INTERNATIONAL Chapter 2 Ethernet Port SS ee a Windows Firewall P Windows Firewall Settings General Exceptions Advanced 7 R ne pa Exceptions control
129. completely unattended The data uploaded by the PLC to the external web server can be viewed or downloaded into a PC using any web browser anywhere in the world This allows you to carry out analysis of past logged data file for performance or diagnostic analysis at any time without having to physically access the PLC to retrieve the logged data TRIANGLE I 8 2 TRI RESEARCH INTERNATIONAL Chapter 18 Extended File System Advantage of Data Uploading 1 Although it is possible to directly access the PLC s internal web server to download the data file it has created this require active action by the user and to ensure that the data are retrieved before the file is full and has to be deleted by the PLC to create space to log new data By programming the PLC to upload the data periodically the PLC can delete the file after it has successfully uploaded the data file to free up space to accept new data In other words the PLC will never run out of data space to log data since it can store the logged files on any server including the Cloud To directly access the file stored on the PLC from outside of the LAN you will need to setup the router or firewall to forward the PLC s server port e g 9080 to the PLC If you have multiple PLCs logging data then each PLC will need to have a different port number in order to properly forward the port This not only complicates the setup but also is often frown upon by System Administ
130. ct To set the sequencer to step 0 use the StepN function described next 4 4 4 Setting Sequencer to Step N StepN In certain applications it may be more convenient to be able to set the sequencer to a known step asynchronously This function will set the selected sequencer to step N regardless of its current step number or logic state The ability to jump steps is a very powerful feature of the sequencers 2 TRIANGLE T RESEARCH 4 6 INTERNATIONAL Chapter 4 Timers Counters amp Sequencers 4 4 5 Reversing a Sequencer Although not available as a unique special function a Sequencer may be stepped backward by decrementing its step counter using the DNctr command on the counter that has been defined as a sequencer This is useful for creating a reversible sequencer or for replacing a reversible drum controller 4 4 6 Program Example Assume that we wish to create a running light pattern which turns on the LED of Outputs 1 to 4 one ata time every second in the following order LED1 LED2 LED3 LED4 LED4 LED3 LED2 LED1 all LED OFF and then restart the cycle again This can be easily accomplished with the program shown in Figure 4 5 The 1 0s clock pulse bit will advance increment Sequencer 2 by one step every second Sequencer 2 should be defined with Set Value 8 Each step of the sequencer is used as a normally open contact to turn on the desired LED for the step A Stop input resets the sequencer async
131. custom function dCusF 3 3 2 Controlling I O from Custom Functions An empty custom function looks like this INTERNATIONAL Oo i gt TRIANGLE f TRN RESEARCH 3 3 Chapter 3 I O and Internal Relays Programming i Custom Function 1 Func_1 nn LT New Release TRILOGI 6 30 Build 02 F series PLOs users should upgrade to version 6 30 to take advantage of the integrated Ethernet amp ADC Configuration Tool This allows you to i change the PLC s IP address and other settings remotely his version also fixed a bua that afe proaram transfer to F series F TBASIC code is entered into the custom function which allows the possibility of total control of all of the PLCs functions and hardware There are 7 TBASIC functions available to control all of the digital I O which are SETIO labelname CLRIO abelname TOGGLEIO labelname TESTIO abelname SETBIT v n CLRBIT v n TESTBIT v n AIR Each function has its own advantage depending on what needs to be done to a digital I O Each of these functions is explained in the programmer s reference manual which should be referred to for further information Here are some examples of how to control digital I O using these functions 3 3 3 Example 1 Turn on off an Output This can be done using both the SETBIT v n CLRBIT v n command and the SETIO abelname CLRIO labelname command 1 Using SETBIT v n CLRBIT v n SETBIT OUTPUT 1 0 This will turn on the fi
132. d for writing 2 The FRAM RTC 256 is not installed The PLC can only write data to the extended data file space i e file name Zxxx yyy which are only available if an FRAM RTC 256 is installed 18 5 Open A File For Appending Data To The End Of The File Syntax PRINT 8 lt APPEND Zxxx yyy gt where Zxxx yyy is the file name If successfully executed the lt lt APPEND gt command will open the file and set the file pointer to the end of the file Thereafter any string data following a PRINT 8 command will be appended to the end of the file When the PLC has completed appending data it must close the file by executing the command PRINT 8 lt gt As per the lt WRITE gt command the CPU should also use the STATUS 2 command to check whether the lt APPEND gt command has been successfully executed before begin writing data to it Since the same reasons that could cause a lt WRITE gt command to fail would also cause the lt APPEND gt command to fail please refer to the last section on a list of possible causes of failure Example PRINT 8 lt APPEND Z STR F 3 txt gt S STATUS 2 Status 2 returns 1 if successful IF S lt gt 1 RETURN ENDIF FOR I 1 to 100 PRINT 8 STR I 4 This is the Appended first line PRINT 8 STR I 4 This is the Appended second line SETLCD 1 1 Append STR I 4 NEXT PRINT 8 lt gt close the file 18 5 1 Delete A File Sy
133. d a sample TBASIC program that you can download from the following URL http www tri plc com appnotes Nano1 0 ThermistorSensor zip This example uses the R T Resistance Temperature graph of the Precon Type Ill thermistor to implement the temperature look up We have provided an Excel file that computes the ADC reading vs ambient temperature for this thermistor type The TBASIC program uses these ADC readings to determine the temperature The sample program is structured such that the lookup table values are stored in DM area and you can readily adapt it to other types of thermistors with a different R T graph The program only implements lookup for a temperature range of 10 F to 110 F but you can also easily change the temperature range of interest 5 3 2 Using LM34 Semiconductor Sensor Vg Vs 5V to 30V CHOOSE Ry Vs 50 pA LM34 Vour Vour 3 000 mV AT 300 F 750 mV AT 75 F 500 mV AT 50 F R LM34 Vout 10 0 mV F Vs Full Range Fahrenheit Temperature Sensor Figure 5 4 The LM34 is a wonderful low cost semiconductor temperature sensor with a range of 50 F to 300 F It is extremely easy to use for measuring temperature above 0 F You simply connect one pin to the TRIANGLE 5 6 TRI RESEARCH INTERNATIONAL Chapter 5 Analog Inputs positive voltage 5 to 30V and the other pin to OV and the signal pin will output a voltage that is directly proportional to the ambien
134. d internal relays can be programmed in ladder logic in a few simple steps 3 2 1 For Physical I O 1 Create or Edit the label names 2 Place the input contact s into the ladder logic circuit 3 Place the output coil at the end of the ladder logic circuit 3 2 2 For Internal Relays Non Latching Create or Edit the label names Place the relay contact s into the ladder logic circuit Place the relay coil at the end of the ladder logic circuit ANA 3 2 3 For Internal Relays Latching Create or Edit the label names Place the activating input relay contact into the ladder logic circuit Place the latching relay in parallel with the activating contact Place the relay coil at the end of the ladder logic circuit R TRI RESEARCH 3 1 INTERNATIONAL Chapter 3 I O and Internal Relays Programming 3 2 4 Programming Examples Re 1 0 Labels Ed Inputs F Label Marne Input 3 2 4 1 Example 1 Editing Label Names The Digital I O can be named by selecting I O Table from the Edit menu and choosing the particular digital I O that you want to name In Figure 3 1 physical input 1 is being named Input1 Figure 3 1 I O Table 3 2 4 2 Example 2 Creating a Simple Ladder Logic Circuit You can place components in the circuit by clicking in the green area to the right of the red arrow as shown in Figure 3 2 below This will bring up the component tool bar in the gray area above the green circuit area
135. de Starting from CPU firmware r72 and above if you run the command SETSYSTEM 19 t This will configure the INPUT n command to block the CPU for up to maximum of t x 10 milliseconds to wait for a valid string from 3 party device Although this command also wastes CPU cycles to wait for a response and hence it is not as efficient compared to using the timer activated method mentioned above it nonetheless is very simple to implement and can be used for non time critical applications You only need to execute SETSYSTEM 19 t once and INPUT n will block for the same t x 10 millisecond every time it is executed until SETSYSTEM 19 t is run again To return the INPUT n to non blocking mode run SETSYSTEM 19 0 PRINT n The PRINT statement transfers its entire argument to a 256 byte serial out buffer which is separate from the serial in buffer The PRINT statement therefore does not affect the content of the serial buffer for incoming characters The operating system handles the actual transfer of each byte of data out of the serial out buffer in a timely manner Note that the PLC automatically enables the RS485 transmit driver when it sends serial characters out of its RS485 port When the stop bit of the last character in the serial out buffer has been sent out the operating system immediately disables the RS485 driver and enables the receiver This greatly eases the use of the RS485 port since there is no need for a user to bother w
136. e parameters ch channel number fn_num Custom Function to execute when interrupt edge occurred This is the Interrupt Service Routine ISR edge 1 rising edge triggered 1 falling edge triggered 0 both rising and falling edge triggered When the defined edges occur the defined CusFn will be immediately executed irrespective of the current state of execution of the ladder program TRIANGLE 9 TR RESEARCH INTERNATIONAL Chapter 9 Interrupts A simple interrupt test function is as follow Custom Function 1 fnINTRDEF TRILOGI Version 6 14 DANTESTINTRDEF PC6 lennlal2Is mem INTRDEF 9 10 1 Define input 9 as File Edit Controller Simulate Circuit Help interrupt and Cicutti DAAMA Cenne quick Tags Custom Fn 10 to service it Custom Function 10 Variable A will be incremented on every rising edge sensed on Input 9 not available on Nano but available on F series PLCs Note 1 Since inputs 1 to 4 can also be used as other special inputs such as High Speed Counter HSC inputs and or Pulse Measurement PM as described in Chapter 6 7 and 8 if these inputs are defined as interrupts using the INTRDEF statement then they will lose their other special function i e they can only be defined either as a HSC PM or as an interrupt input and not both 2 When the digital inputs are used as interrupt inputs the PLC operating system does not perform software filtering on these
137. e Any unit found during this time to have manufacturing defect s will at the discretion of TRi be repaired or replaced TRi will not be responsible for the repair or replacement of any unit damaged by user modification negligence abuse improper installation or mishandling TRI is not responsible to the Buyer for any special consequential indirect or similar damages including any lost profits or loss data arising from the use or the loss of use of TRi products In no case shall TRi s liability exceed the purchase price for the products TRi products are NOT certified to be FAILSAFE and hence must NOT be used in applications where failure of the product could lead to physical harm or loss of human life Buyer is responsible to conduct their own tests to meet the safety regulation of their respective industry Products distributed but not manufactured by TRi carry the full original manufacturers warranty Such products include but are not limited to power supplies sensors I O modules and battery backed RAM TRi reserves the right to alter any feature or specification at any time with each product revision release Notes to Buyer If you disagree with any of the above terms or conditions you should prompily return the unit to the manufacturer or distributor within 30 days from date of purchase for a full refund TRIANGLE Upg RESEARCH Page I INTERNATIONAL 1 USER MANUAL TABLE OF CONTENTS Page INSTALLA
138. e PRINT 4 lt gt to close the client socket ERR 04 Not Connected Failed to connect to the targeted Modbus TCP Server This TBASIC function returns 1 if the Modbus TCP connection is live and returns 0 if the connection has ended You can test the connection status to determine if the connection is still alive This service allows your PLC to log in to any device that supports a Modbus TCP server and is connected to the same LAN or to the Internet Of course you may also use it to connect to another Nano 10 or F Series PLC on the Internet since every these PLCs all have MODBUS TCP server too Once the connection with the Modbus TCP server is established the CPU will return the response string lt CONNECTED gt to the users program which can read it using the INPUT 4 function The STATUS 3 function can also be used to determine if the connection is successful and alive When the program gets the confirmed connection it can then use any one of the four TBASIC commands READMODBUS WRITEMODBUS READMB2 WRITEMB2 to read or write data to the remote devices via the virtual comm port 4 as if a Modbus slave device has been locally connected to a COMM4 port of this PLC You do not need to distinguish between Modbus ASCII and RTU in this case simply use comm port 4 in your all your commands Multiple Modbus master commands can be sent as long as the connection is live You can test the connection status by checking the resu
139. e invoice etc Of course you may also like to build your own HTML and JavaScript Jquery control structure which is entirely feasible for any experience web programmer Users only need to refer to chapter 16 in this manual for the list of Hostlink commands to be sent in web query form refer to section 2 7 in order to implement web based data exchange with TRi PLCs 2 9 1 Installing the FileZilla program First please download the FileZilla client from http filezilla project org Once you have gone to the web page from the above link you will need to select the client version to download Then you need to select the software version for your computers platform typically the Windows version and download it to your computer This is the installation setup file which you will need to execute after it has downloaded Please perform a default installation by following the installation steps 2 9 2 Configuring FileZilla to Communicate with the Nano 10 After installing the FileZilla client please open it from the start menu or desktop icon and then go to the File menu and select Site Manager The following menu will then pop up TR RESEARCH 2 32 INTERNATIONAL Chapter 2 Ethernet Port site Manager Select Entry Under the default General tab you will General Advanced Transfer settings Charset _ need to enter the Host IP address and Host 192 168 1 5 Port configure the Logontype
140. e Format Rx 1 16 16 16 16 16 16 16 gt gt 1 EEPROM Integer Last EEPROM 16 bit Data Hex 16 bit Data Hex Maximum allowable word count per command is 32 01 to 20 Hex If count is gt 32 only the first 32 words will be returned E g To read the 10 words of EEPROM data starting from address 100 send host link command RXI00640A The response string will contain 10 sets of 16 bit data 4 ASCII hex digit per set 16 35 Read EEPROM String Data r47 Firmware Only Command Format S EEPROM String starting Address Hex INTERNATIONAL TRI RESEARCH 16 14 Chapter 16 Host Link Command Response Format Response Format pix sfala o afafa 9 E g To read the string data stored at EEPROM address 10 send host link command Rx 000A The response string will contain string data stored in the EEPROM maximum 40 characters 16 36 Write Analog Output Upon receiving this command the PLC updates the value of its DAC data at the analog output channel i e no need for PLC to execute SETDAC to update the analog output Command Format LW JA n n o c t6 16 16 16 16 16 eee S Starting Analog channel DAC output data DAC output data channel 01 02h count of 1 channel for subsequent ch Hex Response Format a oe channel count Hex 16 37 Write EEPROM Integer Data Command Format S Star
141. e LCD manufacturer s data sheet for the detailed commands Some of the most useful commands are listed below TRIANGLE I 3 I TR RESEARCH INTERNATIONAL Chapter 13 LCD Display Programming po Action Command 1 Clear screen SETLCD 0 1 CHR 1 2 No cursor SETLCD 0 1 CHR 12 3 Underline Cursor SETLCD 0 1 CHR 14 4 Blinking Cursor SETLCD 0 1 CHR 13 5 Underline Blinking SETLCD 0 1 CHR 15 Cursor 13 3 Displaying Numeric Variable With Multiple Digits The SETLCD y x string command only overwrites the exact number of characters in the string parameter to the LCD display and thereafter the cursor is placed back to the location specified by the x and y parameters Thus if there exists some old characters right after the last character it can cause confusion especially if you are displaying a number E g If you first display the following string at row 1 and column 1 Pressure 12345 And if you subsequently display the string Pressure 983 at the same location without first clearing the line then you will see the following string being displayed Pressure 98345 What happens is that the string Pressure 983 Is correctly displayed but the two old characters 45 left over from previous display would appear to be part of the new data This can cause confusion There are several ways you can eliminate such a display problem 1 Clear the line first before overwriting with a new
142. e Nano 10 and F series PLC to be easily accessible by enterprise software using what is known as Web Query methods The enterprise software only needs to know the format of the host link command required to read the target data and then they can use their web query capability to query the PLC and extract the required data from the response string One example which you can try immediately is to use the Microsoft Excel 2000 or later version spreadsheet program First open a blank spreadsheet then click on the Data menu and select Get External Data gt New Web Query as shown below Microsoft Excel Book1 File Edit View Insert Format Tools Data Window Help Adobe PDF ae he SAY amp aa 2 Sor db 100 2 m E Filter _ Subtotals Validation Text to Columns PivotTable and PivotChart Report Get External Data ce Run Saved Query a New Web Query New Database Query EJ Import Text File TR RESEARCH 2 28 INTERNATIONAL Chapter 2 Ethernet Port Figure 2 6 1 Next please enter the text as shown in the following diagram and then click OK This will command the Excel spreadsheet to send the web query string RIOO to the Nano 10 PLC that is connected to the network with IP address 192 168 1 5 and port 9080 The query string RIOO is for reading the status of 8 bit input channel 0 which covers the logic states of input bit 1 to 8 If the
143. e PLC But if for whatever reason the PLC were to miss the disconnection information it will be left in a half open state and will not be able to accept a new connection When this happens and if you try to reconnect to the PLC again after the connection has been dropped by FileZilla you will most likely be unable to connect to the PLC again until after the PLC time out its FTP connection due to no activity The only quick fix is to power on reset the PLC so that it starts up fresh and can accept new connection again You can set the FileZilla timeout settings to a larger number e g 300 seconds using the FileZilla s Edit gt Settings menu item so that it will not time out automatically too quickly You should always select disconnect after a file transfer to properly close the connection and then the PLC will be properly disconnected and is ready to accept new connection Problem Using FileZilla To Transfer Files to Multiple PLCs Configured To The Same Default IP Address Even Though Only One PLC Is Connected To The Router At A Time When you connect FileZilla to a PLC with a particular IP address e g 192 168 1 5 for the first time Windows will memorize the MAC ID address of that PLC and associate it with this IP address in its ARP cache ARP Address Resolution Protocol So when you power off one PLC and immediately plug another PLC with the same IP address to the network then Windows will pass to FileZilla the MACID of the P
144. e inductive kick that will occur when the output current to the load is turned OFF as mentioned in Chapter 1 5 3 11 3 Increasing Output Drive Current Opto lsolated The advantage of using the PWM is that you can easily amplify the drive current to a larger load such as a larger permanent magnet DC motor by using a power transistor or power MOSFET to boost the current switching capability If the load is of a different voltage and the load current is high you should use an opto isolator to isolate the PLC from the load as in Figure 11 2 Flyback Diode Bridge AN35 rs Rectifier 24V DC Optoisolator M Power For PLC gt OUTPUTS 2K2 Do eee N channel Power MOSFET Voltage divider to obtain approx e g IRF530 can sink 12A DC 10V DC at gate G For DC48V at up to DC100V max load choose R1 3 9K R2 1K Figure 11 2 PWM Speed Control of a large DC Motor Note 1 The opto isolator must be able to operate at a frequency matching that of the PWM frequency otherwise the resulting output waveform will be distorted and effective speed control cannot be attained m TRIANGLE 11 2 T 3 RESEARCH INTERNATIONAL Chapter 11 Pulse Width Modulated Outputs 2 The simple PWM speed control scheme described above is the open loop type and does not regulate the speed with respect to changing load torque Closed loop speed control is attainable if a tachometer either digital or analog is used which feeds back to the CPU the ac
145. e of acting as stepper motor controller to supply the direction and pulse control signals to an external stepper motor driver 10 2 Nano 10 As Stepper Motor Controller When configured as a Stepper Motor Controller the PLC would generate the required number of pulses and sets the direction signal according to the defined acceleration and maximum pulsing rate specified by STEPSPEED and STEPMOVE commands The pulse and direction outputs are not meant to be connected directly to the stepper motor Instead you will need a stepper motor driver which you can buy from the motor vendor Depending on the power output the number of phases of the stepper motor and whether you need micro stepping the driver can vary in size and cost Most stepper motor drivers have opto isolated inputs which accept a direction signal and stepping pulse signal from the Stepper Motor Controller In this case the F Series PLC is the Stepper Motor Controller which will supply the required pulse and direction select signals to the driver Note that the digital output 1 automatically becomes the direction select signals for the Stepper controller channels 1 and digital output 2 automatically becomes the pulse signal output when the stepper controller is being used The direction pin is turned ON when the motor moves in the negative direction and turned OFF when the stepper motor moves in the positive direction The STEPMOVEABS command makes it extremely si
146. e of buying the FRAMRTC module then you will be glad to learn that the Nano 10 CPU cleverly uses its static RAM to shadow a flash memory area in the CPU to provide up to 1024 words of pseudo EEPROM that allows user to read and write to from these memory using the standard TBASIC SAVE_EEP LOAD _EEP SAVE_EEP LOAD _EEP commands The pseudo EEPROM data are normally stored in static RAM memory This implies you can read write to the pseudo EEPROM at full speed with no limitation to the read write life of the pseudo EEPROM area since these are actually just RAM memory However since data stored in RAM are volatile they need to be saved into the non volatile flash memory before power down Nano 10 allows you to do so easily using a single SETSYSTEM command as follow SETSYSTEM 252 0 Upon execution of the above command the Nano 10 CPU will erase a special flash memory area used to backup the pseudo EEPROM and it will then copy the entire pseudo EEPROM memory data to the flash memory However the CPU will perform the backup only if there are any changes made to the pseudo EEPROM area This is to prevent unnecessary erase write of the flash memory It is the responsibility of the programmer to determine when and how often to run the abovementioned SETSYSTEM command before power to the Nano 10 is removed in order not to lose data The reason why the programmer should not backup the pseudo EEPROM space to the flash memory every time a data has
147. ecific Next open up Windows Firewall and add to the Exception list the port 21 Command port and ports 41000 to 41001 or whatever range limit you have set to in the FileZilla Setup screen This should allow the FTP Server to receive connection from these ports that the PLC will be using to make the command and data connections INTERNATIONAL TRI TRIANGLE 18 14 Chapter 18 Extended File System Windows Firewall General Exceptions Advanced Windows Firewall is blocking incoming network connections except for the programs and services selected below Adding exceptions allows some programs to work better but might increase your security risk Programs and Services Mame Skype Skype Extras Manager Skyped SlingPlayer Test_USB ML CF Hardware UPnP Framework Visual Cafe Executable Windows Home Server Connector Windows Live Call Windows Live Messenger wl Windewe Meceenner ee a Display a notification when Windows Firewall blocks a program What are the risks of allowing exceptions Add a Port Use these settings to open a port through Windows Firewall To find the port number and protocol consult the documentation for the program or service you want to use Name FTP Server Port Port number 2 Change scope OF TR RESEARCH 18 18 INTERNATIONAL Chapter 19 Using PLC As a Modbus TCP Gateway Chapter 19 PLC As A Modbus TCP Gateway TRIANGLE TRI RESEARCH INTERNATIONAL C
148. eeeeeees 15 9 1S TRIANGLE x Up RESEARCH Page vii INTERNATIONAL USER MANUAL 16 HOST LINK PROTOCOL FORMAT 16 1 10 1 Device ID CAO iison E a aa 16 1 1692 DEVICeID Will dc E EOR 16 1 16 3 Read Digital Input Chahhels ai iii 16 1 16 3 1 Definition of Input ChannelSs i 16 2 16 4 Read Digital Output Channel s ccssscsseeeeeeeeceessnseeeeeeceeesseeeeeeseeceesnseseeeeseeooenssseeesenees 16 2 16 5 Read Internal Relay ChanhelS rire 16 3 16 5 1 Definition of Internal Relay Channel Numbers i 16 3 166 Re d Timer Contaci Sinussa aaa a ione 16 4 16 6 1 Definition of Timer Contact Channel NUMbErS ii 16 4 16 7 Read CounterConiaciS arci 16 4 16 7 1 Definition of Counter Contact Channel Numbers 16 4 16 8 Read Timer Present Value P V rire 16 5 16 9 Read Timer Set Value SV rilanciata aprira 16 5 16 10 Read Counter Present Value P V rs rire 16 5 16 11 Read Counter Set Valte SV 16 6 16 12 Read Variable Integers A tO Z rr rrrrrreea iii ieri rei 16 6 16 13 Read Variable Strings A to Z c cc iiss sss ssasaaaaaaaaaieeeeseeeeseseeeseseeseeseseseseseeeeeeeees 16 6 16 14 Read Variable Data Memory DM 1 to DM 4000 rr 16 7 16 15 Read Variable System Variables r rire 16 7 16
149. een reduced to 60K to make space for the new r77 firmware FRAM RTC 256 adds an additional 256K bytes of file space to the PLC You can use the extended file space for storing additional web pages But more importantly a PLC with a new r77 or later firmware can open a local data file in this file space and write append data to it The PLC can therefore log a large amount of data into one or more data files which can be retrieved for analysis There are two ways to retrieve the stored data files from the PLC 1 Download the file from the PLC s built in web server The file created by the PLC can be downloaded from the PLC s built in web server using any web browser This allows the user to access the data file at any time of the day 2 Automatic FTP upload from the PLC to an external web server You can program the PLC to make an FTP client connection to any web server on the local network or on the Internet Cloud and upload the data file it has created to the web server using any filename Imagine what the Nano 10 or FMD PLC can do with this new uploading capability The ability to log data locally and automatically upload the data to a web server transforms the FMD PLC into a potent data logger The PLC can be programmed to capture daily weekly or monthly data and then periodically upload the data file to an Internet web server with a unique time stamped filename E g temperaturelog2012 01 01 xls This allows the PLC to log data
150. ent protocols independent of the other The most wonderful feature of Nano 10 PLCs is that the support of all the above mentioned protocols can be fully automatic and totally transparent to the users There is no DIPswitch to set and no special configuration software to run to configure the port for a specific communication protocol The following describes how the automatic protocol recognition scheme works 1 When the PLC is powered ON the COMM1 port is set to the AUTO mode which means that they are open minded and listen to all serial data coming through the COMM ports The CPU tries to determine if the serial data conforms to a certain protocol and if so tte COMM mode is determined automatically 2 Once the protocol is recognized the CPU sets that COMM port to a specific COMM mode which enables it to process and respond only to commands that conform to that protocol Error detection data such as the FCS LRC or CRC are computed accordingly which method is used to verify the integrity of the received commands If errors are detected in the command the CPU responds in accordance with the action specified in the respective protocols 3 When the COMM port enters a specific COMM mode it will regard commands of other protocol as errors and will not accept them Hence for example if COMM 1 has received a valid MODBUS RTU command which puts it in an RTU mode it will no longer respond to TRILOGl s attempts to commun
151. er 11 Pulse Width Modulated Outputs 11 PULSE WIDTH MODULATED OUTPUTS 11 1 Introduction Pulse Width Modulation PWM is a highly efficient and convenient way of controlling output voltage to devices with large time constants such as controlling the speed of a DC motor the power to a heating element or the position of a proportional valve The PWM works by first turning on the output to full voltage for a short while and then shutting it off for another short while and then turning it on again and so on in consistent and accurate time intervals This can be illustrated with the following diagram Load Voltage Vra Average a X V Ful po T a b Figure 11 1 The average voltage seen by the load is determined by the duty cycle of the PWM waveform The duty cycle is defined as follow a Duty Cycle 9 yvy rr x 100 Period a b Frequency 1 period Hz Average voltage duty cycle multiplied by the full load voltage Vey Since the voltage applied to the load is either Fully ON or Fully OFF it is highly efficient because the switching transistors are working in their saturated and cut off region and dissipate very little power when it is fully turned ON 11 2 Nano 10 PLC PWM Outputs Technical Specifications No of Channels Duty Cycle range 0 00 to 100 00 Worst case resolution Available Frequencies Hz 50Hz to 50 KHz Frequency Errors lt 0 01 100Hz lt 0 5 10KHz
152. er logic scan This is to ensure that the CPU is not completely bogged down by its Modbus gateway job and will have time to run its own program If the Modbus TCP clients attempt to overload the PLC with more requests than it can handle the PLC will frequently return SLAVE DEVICE BUSY error response packets back to the client i e It will set the 7 bit of the function code to 1 and send back an exception code 06 19 4 Fine Tuning The Modbus TCP Gateway Function It is important to know that every time the PLC runs a Modbus TCP to Modbus RTU translation its own program scan time increases due to the need for the CPU to wait for a response from the slave Modbus RTU devices The delay becomes much more pronounced when a Modbus slave device fails to respond e g not online The system designer must therefore take this into consideration when designing the system 1 The Modbus TCP client should not overload the Modbus gateway with unnecessarily frequent Modbus requests Whenever the PLC report a TARGET DEVICED FAILED TO RESPOND function the client program should back off for a while before re trying communication with the Modbus RTU slaves again 2 You can change the number of wait states the gateway will wait for a response from the Modbus RTU slave by running SETSYSTEM 1 w Where w number of serial port wait states for each COMM port as follow COMM3 COMM2 COMM1 Thus each COMM port could be configured to wa
153. er software or directly to the PLC s built in F FServer Port Number of Server then you will be prompted to login to the Connections PLC s server MET CP Fort i ioomene Je See the i TRILOGI Programmers Reference Manual for more information on this Username Lise uzernamefpassyword Password jenecenscccesed C TES E Mo J AccessLevel 1 Programmer a a Help Retrieve Parameters from PLC le Reboot PLC after Save rome Figure 2 1 2 T TRIANGLE 2 1 T RESEARCH INTERNATIONAL Chapter 2 Ethernet Port Notes to New Users If this is the first time that you are configuring the PLC s Ethernet port and if your PC is not on the same default subnet of 192 168 1 xxx as the Nano 10 then you may not be able to communicate with the Nano 10 Ethernet port using its default IP address of 192 168 1 5 9080 In that case you can only communicate with the Nano 10 PLC through a serial port connection until you have changed the PLC s IP address to match that of your network s address However In order to communicate with the Nano 10 PLC via serial port connection you will need to run the TLServer software on your PC TLServer acts as a serial to Ethernet gateway such that the commands it receives from I TRILOGI software via TCP IP are conveyed to the PLC via the PC s serial port and vice versa Since the Nano 10 PLC only has 1 RS485 serial port
154. eries Ethernet Basic Configuration Bo Reset PLC After Save Exit xl Successfully Retrieved Setup Data Figure 2 1 o Next click on the Retrieve Parameters from F PLC so that you can capture a copy of the current configuration stored in the Nano 10 PLC You can then selectively modify the parameters of interest The main difference between this standalone version of the F series Ethernet Configuration software and the built in version on i TRILOGI 6 3x is that the stand alone version can only communicate directly with the PLC via the serial port and it does not require the i TRILOGI or TLServer software The built in version in i TRILOGI on the other hand can communicate with the PLC through either locally via the serial port or remotely via the Ethernet connection The standalone version can be useful for OEMs who want to provide their customers a way to configure the Ethernet settings and or calibrate the ADC and RTC settings but don t want to provide access to the programming software However the OEMs must remember that their customers PC would require the RS485 interface converter to use this standalone software with the Nano 10 PLC Important lf you make changes to any of these fields you must select the Reboot PLC After Save checkbox before clicking the Save Parameters to PLC button so that the new parameters will be saved to the flash memory of the PLC and the new parameter can take effect immediately
155. es or Nano PLC then you should use the biasing resistor to fix the logic states to a known state Although in a lab environment the PLCs may be able to communicate without the biasing resistors their use is strongly recommended for industrial applications 15 5 2 Protection of RS485 Interface The simple direct multi drop wiring shown in Figure 15 2 will work well if all the networked PLCs are in close proximity and they all share a common power supply They will even work for long distance as long as there are no wiring errors However in an industrial environment the PLCs are most likely far apart and may each have their own power supply Since processes are often modified regularly should somebody on one occasion by mistake short one of the PLC s RS485 to high voltage all the PLCs connected to the same RS485 wiring will be fried simultaneously This can result in very costly down time for the whole process because all of the PLCs connected to the network will need to be repaired Hence for networking over long distances and involving more than a few PLCs it is important to either strengthen or protect the RS485 interface as described below TRIANGLE I 5 6 TR RESEARCH INTERNATIONAL Chapter 15 Host Link Communication Protocol 1 You can replace the standard RS485 driver 75HVD3082 on the PLC with a fault tolerant RS485 driver IC part number LT1785AIN8 This 8 pin IC is made by Linear Technology and can withstand wrong volt
156. esign LLC for browser app control design services 2 Request the JavaScript Files If you are an experienced web programmer or you plan to outsource web programming services to customize your PLCs web interface then you may obtain a copy of this file for more advanced editing by writing to support triplc com and providing your purchase references purchasers name company name invoice etc Of course you may also like to build your own HTML and JavaScript Jquery control structure which is entirely feasible for any experience web programmer Users only need to refer to chapter 16 in this manual for the list of Hostlink commands to be sent in web query form refer to section 2 7 in order to implement web based data exchange with TRi PLCs TRIANGLE 2 4 TRI RESEARCH INTERNATIONAL Chapter 3 I O and Internal Relays Programming Chapter 3 Digital I O and Internal Relays Programming TRIANGLE TRI RESEARCH INTERNATIONAL Chapter 3 I O and Internal Relays Programming 3 DIGITAL I O AND INTERNAL RELAYS PROGRAMMING 3 1 Introduction Although the Nano 10 PLC has only 4 physical Digital Inputs and 4 Digital Outputs all additional input and output bits that are supported by the i TRILOGI software are still available to the Nano 10 PLCs as internal inputs and output bits Nano 10 also supports all 512 internal relays available in both ladder logic and BASIC 3 2 Programming DIO with Ladder Logic The physical I O an
157. et Port Connection Type DHCP Client QoS Engine Active Cable Status Connected Network Status Established Connection Up Time 4 Day 16 Hour 58 Min 51 Sec Release MAC Address 00 0F E0 01 00 10 IP Address 24 91 71 204 Subnet Mask 255 255 252 0 Default Gateway 24 91 68 1 Primary DNS Server 64 59 144 92 Secondary DNS Server 64 59 144 953 Figure 2 1 4 2 1 5 No of Connections FServer Modbus TCP The Nano 10 CPU assigns sufficient memory to support up to a maximum of 6 simultaneous TCP IP connections to the FServer and Modbus TCP server By default each server is assigned a maximum of 3 connections each However to improve flexibility you can re assign the mix of maximum connections between the two servers as long as the number of Modbus TCP connections does not exceed 5 and the number of FServer connections does not exceed 4 This means that you can define 1 to 4 FServer connections and 2 to 5 Modbus TCP connections When you change the number in one box the other box will change automatically so that the total number of possible connections remains at 6 2 1 6 FServer Port No The Port number is a 16 bit integer range 0 to 65535 that needs to be specified on top of the IP address when accessing the FServer from across the network The default value is 9080 which is the same default value used by the TLServer and TRILOGI client software Please see the TRILOGI programmer s manual for an explanation of the use
158. failure interrupt custom function It is therefore tempting and indeed possible to include the SETSYSTEM 252 0 function inside the power failure interrupt custom function to automatically backup the pseudo EEPROM data during power failure This is actually possible provided you are using a good power supply that provides a gradual decay of supply voltage during power down O UR RESEARCH 1 9 INTERNATIONAL Chapter 1 Installation Guide This is because the process of backing up the shadow RAM to the flash memory as well as executing other user s power failure interrupt service routine would require an execution time of at least tens of milliseconds It is therefore very important for the power supply voltage to the PLC to gradually decrease to zero over several hundred milliseconds during power down l e a nice power down voltage gradient is required This ensures that the CPU has sufficient time before it loses its operating voltage required for it to properly backup the pseudo EEPROM data to the flash memory If you simply cut off the DC voltage to the PLC e g by disconnecting the power supply terminal to the PLC abruptly then what could happen is that the PLC may only have time to erase the flash memory sector for backing up the pseudo EEPROM but does not have enough time to backup the pseudo EEPROM data to the flash memory The result could be loss of all the EEPROM data when the power is returned to the PLC You will know that
159. for the output load Note that if you choose to use two separate power supplies for non isolated output 1 and 2 their OV terminals should be tied together to provide a common ground reference for the two power supplies The two power supplies are also recommended to be of the same output voltage Otherwise if the voltage of the load power is lower than the voltage of the CPU power the output LED will light up even when the output driver is not energized This is because the current could flow out of the PLC s output TRIANGLE 1 4 Tri RESEARCH INTERNATIONAL Chapter 1 Installation Guide into the lower voltage load power supply and therefore light up the LED This can be very confusing to users even though it should not damage the LED Should this happen you will need to add a series diode to the output terminal to block the output LED currents from flowing through the load and back to the load power Please use only an industrial grade linear or switching regulated power supply from established manufacturers Using a poorly made switching power supply can give rise to a lot of problems if the noisy high frequency switching signals are not filtered properly Note If your application demands very stable analog I Os you should choose a linear power supply instead of a switching power source for the CPU Always place the power supply as close to the PLC as possible and use a separate pair of wires to connect the power to the
160. forward a specific port number to a specific device on the private network For example if your PLC static IP address is 192 168 1 5 and you wish to open its FServer port 9080 but not its Modbus TCP port 502 to the public internet you would configure your router such that it will forward the incoming TCP IP packet destined for port number 9080 to the device at IP address 192 168 1 5 Once you have done that you will then be able to access the FServer from the Internet using the router s public IP address this is typically assigned by the Internet Service Provider and the port number 9080 However the Modbus TCP port is not accessible from the Internet since this port number is not opened and not mapped by the router You should read your routers User s Manual to find out how to configure the router to perform the port forwarding described above since each router model has a different user interface For example on the D Link DI 624 router you configure the router by clicking on the Advanced tab and selecting Virtual Server from the router configuration page as shown below TRI RESEARCH 2 30 INTERNATIONAL Chapter 2 Ethernet Port DLink T ARPS n High Speed 2 4GHz Wireless Ro Advancec IPAE JOLE WINIA DE ggi Virtual Server is used to allow Internet users access to LAN semices Enabled Disabled Name Clear Applications Private IP Protocol Type TCP Filters Private P
161. fset is shown in the last column of Table 14 1 Note that this is the Modicon addressing style which uses 1 based addressing When the Modicon variation of the Modbus protocol is used to access the Nano 10 from software or a master device the above bit addressing should be used When the standard Modbus protocol is used 0 based addressing is required This means that the addresses should be one less than indicated in the last column of Table 14 1 Meaning you would use address 0 to access input 1 on the Nano 10 instead of address 1 All the Nano 10 I O bits are mapped identically to both the MODBUS Ox and 1x space Although MODBUS names the 0x address space as Coil which means output bits and the 1x address space as Input Status which means input bits only the Nano 10 PLCs treat both spaces the same Some MODBUS drivers only allow you to read from Ox space and write to 1x space but you still use the same offset shown on Table 14 1 Example 1 Modicon Variation To map a lamp symbol to PLC Input 4 you select the MODBUS register address 0 0004 You can also map a lamp symbol to the PLC s output 2 In that case you should map it to MODBUS register address 0 0258 To map a toggle switch symbol to the PLC input 4 if you are restricted to select only MODBUS 1x address space then you will have to map the switch to 1 0004 and likewise you can map the switch to TRIANGLE I 4 9 TR RESEARCH INTE
162. ge readings of 0 to 5000 which represents 0 to 5 000V is shown as follow TRILOGI Version 6 14 Di ReadADC PC6 File Edit Controller Simulate Circuit inimiz DM 11 to DM 14 contains Circuit 1 oBEaEDE Define Quick Tags readings from Analog input 1 to 4 Clk Os ReadADC dCusF FOR I 1 to 4 DM I 10 ADC I 5000 4096 Figure 5 3 You can examine the readings of DM 11 to DM 12 from the Online Monitoring View Variables DM n screen These readings represent the voltages measured at the analog input pins You can also read the raw ADC readings which will change in the range between 0 to 4095 from the View Variables integer screen 5 2 4 Moving Average The Nano 10 PLC offers a built in Moving Average computation routine for each ADC channel When moving average is enabled the PLC firmware would store the past analog readings for each channel in its own historical memory array and each new instantaneous reading would overwrite the oldest reading When you run the ADC n function the PLC firmware would return the average of these past readings instead of the instantaneous new reading You can define a moving average of 1 to 9 points using the procedure described in Section 5 4 3 Defining a larger moving average can better help to even out fluctuations in ADC readings that can be caused by interference from digital noise However the larger the moving average the slower the ADC n function ca
163. gnal you should use a 253 16 ohm resistor which when paralleled with the 20K ohm of internal impedance will yield a 250 0 ohm total resistance You can obtain 253 16 ohm by combining a 250 ohm and a 3 16 ohm metal film resistor 5 2 1 Interfacing to two wire 4 20mA sensors Many 4 20mA analog sensors only have two wire connections and are designed to be powered by the 4 20mA output current that flows through it These types of sensors can be interfaced easily to the 0 5V analog inputs of the PLC as shown in the following diagram 2 TRIANGLE i Upg RESEARCH 5 2 INTERNATIONAL Chapter 5 Analog Inputs PLC s V Va C s Pa 24V P S for PLC And Sensors 4 20mA ADC Input Sensor 253 16 Q Los Use a 250 0 3 16 ohm resistors in series to obtain 253 16 ohm Again due to the 20 00K ohm internal resistance on the PLC s ADC inputs you need to wire a 253 16 ohm resistor formed by a 250 ohm and 3 16 ohm resistors in series to the circuit in order to convert the 4 20mA signal to 1 00 5 00V analog voltage and can be read by the PLC using the ADC n statement which will return readings of between 819 and 4095 5 2 2 Using Potentiometer to Set Parameters A potentiometer can provide a very low cost means for users to input parameters to the PLC such as temperature settings timer or counter preset values etc The diagram above shows how easy it is to implement such a device using the 5V reference output and an ana
164. gured as 1 PWM outputs to drive heating elements or proportional valves using the SETPWM command please see Chapter 11 for more information 2 Stepper Motor Controller to send pulse and direction signals to an external stepper motor driver in order to control motion of a stepper motor See Chapter 10 for more details O UR RESEARCH 1 0 INTERNATIONAL Chapter 1 Installation Guide 1 5 2 Digital Output Wiring Diagram 24V DC Power Supply for PLC 24V OY ov OO OUT Q OUT2 _ Q Powert OUT4 3 AC DC Power2 OUT4 NASL Figure 1 6 Nano 10 Output Interfacing to Load All digital outputs are directly programmable in Ladder Logic as well as in TBASIC custom functions Some programming examples are detailed in Chapter 3 Digital I Os and Internal Relays Note that it is possible to wire the four outputs to become a H bridge relay outputs 3 and 4 as high side switch and MOSFET output 1 and 2 as low side switch which can drive a DC motor in both forward and reverse directions You can even use the PWM outputs to control the speed of the motor and therefore make it possible to use the Nano 10 as an internet accessible bi directional motor speed controller 1 5 3 Inductive Load O 24V Inductive bypass diode DC only Diode s reverse break down voltage should be at least 2 x load voltage PLC NPN Digital Output
165. gy OUTPUTS To 5V CMOS stepper driver input 5mA max 2K2 resistor 2 2K Figure 10 2 Conversion of Nano 10 outputs to 5V logic level INTERNATIONAL TR RESEARCH 10 2 Chapter 10 Stepper Motor Control 10 3 Programming Stepper Control Channel 10 3 1 Introduction The PLC s stepper motor controller channel 1 is controlled by the PLC program using the STEPMOVE and STEPMOVEABS commands These commands have the same parameters as they did when they were used on M Series PLCs For example STEPMOVE ch count r STEPMOVEABS ch position r The ch parameter is the channel This is how the PLC knows which stepper motor channel to turn on Now this parameter is also used to set the stepper motor channel to controller mode full step driver mode or half step driver mode To set the stepper motor channel to controller mode the ch parameter should be a 1 The same format should be used for STEPMOVEABS except that the count parameter is changed to the position parameter more details provided in the Programmers Reference manual and also in the program examples section of this chapter 10 3 2 Setting the Acceleration Properties Before the stepper motor channel can be used to control a stepper motor driver the STEPSPEED command must be executed first in order to define the acceleration settings Once this command has been executed the acceleration settings will not change until another STEPSPEED
166. h as the 75HVD3082 up to 256 devices can be connected together The twisted pair cable goes from node to node in a daisy chain fashion and should be terminated by a 120 ohm resistor as shown below o 5V Terminating resistor F series RS 485 or RS485 Nano 10 PLC Figure 15 2 Note that the two wires are not interchangeable so they must be wired the same way to each controller The maximum wire length should not be more than 1200 meters 4000 feet RS 485 uses balanced or differential drivers and receivers which means that the logic state of the transmitted signal depends on the differential voltage between the two wires and not on the voltage with respect to a common ground As there will be times when no transmitters are active which leaves the wires in floating state it is good practice to ensure that the RS 485 receivers will indicate to the CPUs that there is no data to receive In order to do this we should hold the twisted pair in the logic 1 state by applying a differential bias to the lines using a pair of 5600 to 1KQ biasing resistors connected to a 9V at least 5V and OV supply as shown in Figure 15 2 Otherwise random noise on the pair could be falsely interpreted as data The two biasing resistors are necessary to ensure robust data communication in actual applications Some RS485 converters may already have biasing built in so the biasing resistors may not be needed However if the master is an F series M seri
167. haft rotates in one direction phase A leads phase B by 90 degrees When the shaft rotates in the opposite direction phase B will lead phase A by 90 degrees The quadrature signals therefore provide an indication of the direction of rotation The F Series PLC handles the quadrature signals as follows if the pulse train arriving at input 1 leads the pulse train at input 2 the High Speed Counter HSC 1 increments on every pulse If the pulse train arriving at input 1 lags the pulse trains at input 2 then the HSC 1 decrements Note that if input 2 is OFF then pulse trains arriving at input 1 are considered to lead the input 2 and HSC 1 will be incremented Likewise if input 1 is OFF then pulse trains arriving at input 2 will decrement HSC 1 Inputs 3 and 4 form the inputs for High Speed Counter channel 2 which operates in the same way as HSC 1 described above The fact that the Nano 10 PLC automatically takes care of the direction of rotation of the quadrature encoder greatly simplifies the programmer s task of handling high speed encoder feedback The HSCDEF statement can be used to define a CusFn to be executed when the HSC reaches a certain pre defined value Within this CusFn you can define the actions to be taken and define the next CusFn to be executed when the HSC reaches another value Please note that the HSDDEF statement will also activate the Pulse Measurement hardware as described in the Pulse Measurement section A pr
168. hapter 19 Using PLC As a Modbus TCP Gateway 19 USING PLC AS A MODBUS TCP GATEWAY 19 1 Introduction A Nano 10 FMD or F series PLC with r77 firmware or later can be configured to act as the MODBUS TCP GATEWAY for other Modbus serial devices while continue to function as a Super PLC A Modbus TCP gateway essentially translates a Modbus TCP command packet it receives from its Ethernet port into a Modbus RTU serial command and sends it out of its serial port RS232 or RS485 If the Modbus RTU slave sends back a serial response the gateway will in turn translate the RTU response data back to Modbus TCP response packet and return to the client via the Ethernet port As such the Modbus TCP gateway enables any non Ethernet equipped both TRi or 3rd party serial Modbus slave device to be directly accessible by a Modbus TCP client via the Ethernet or the Internet In addition the user PLC program does not need to handle the gateway function at all as the CPU performs the translation functions automatically and transparently to the PLC s program Best of all while acting as a gateway the Nano 10 FMD or F series PLC program can simultaneously act as a Modbus master PLC and read write to any registers inside any of the attached Modbus RTU slave The CPU firmware automatically schedules the order of the command response packets whether it is originated from the client or from the PLC itself so that the Modbus TCP command from the client will be res
169. hapter 2 9 of the PLC User s Manual But a better way to test is to use the Telnet program on your PC if you are running Windows Vista or Windows 7 you may need to enable the Telnet program since it is disabled by default do a quick Google search on how to enable the Telnet client software on your PC Also you may want to find out the IP address of your PC that is running the FileZilla Server If you have TLServer running on your PC your IP address is reported on the TLServer s front panel You can also get the IP address from the Windows Network Connection Status as shown below Our test PC has an IP address 192 168 1 168 which will be used in the following tests as well as used in the PLC program to connect to the FTP Server Tri RESEARCH 18 9 INTERNATIONAL Chapter 18 Extended File System gt PLC WebServer i Wireless Network Connection 4 Status General Support Internet TRILOGI Server Connection status Address Type Assigned by DHCP IP Address 192 168 1 168 Subnet Mask 255 255 250 0 Default Gateway 192 168 1 1 Configure Users setup Emails Windows did not detect problems with this connection ff you cannot connect click Copyright c Triangle Research Intl Inc Repair 2001 2011 All Rights Reserved Help Version 3 16 E 1 First open a command prompt window and then type telnet 192 168 1 168 21 this will open a telnet connection to the FTP server on our test PC with IP
170. hat corresponds to the memory map of that PLC type Example 1 To connect an indicator lamp to Input 9 of the PLC You will need to program the switch to connect to IR00 8 for the OMRON protocol However If you have defined the PLC as MODBUS type then this indicator lamp should be connected to bit address 1 0265 In either case there is no need to learn about the actual command format of the protocol itself as the SCADA software will automatically generate the required commands to access the input address that has been chosen for the object Example 2 To display readings from ADC 2 as a bar graph on SCADA Since the data from ADC 2 is not directly mapped to MODBUS or OMRON in Table 14 1 you need to add a statement in the custom function that reads ADC 2 and copies it into a data memory e g TRIANGLE 14 1 TRI RESEARCH INTERNATIONAL Chapter 14 Serial Communications DM 100 ADC 2 Now you can program the bar graph on the SCADA screen to be connected to DM 100 if you use the OMRON protocol For the MODBUS protocol the object should be connected to the address 4 1100 TR RESEARCH 14 12 INTERNATIONAL Chapter 14 Serial Communications 14 7 Using The PLC As a Modbus Master Getting Data From Power or Flow Meters The Nano 10 PLC support for the MODBUS protocol goes beyond being a MODBUS slave only You can use the TBASIC READMOBUS and WRITEMODBUS commands as well as READMB2 and WRITEMB2 to send out M
171. he F Series PLC Send Ctrl E 05H and wait for echo Ready to process command return Ctrl E 05H Send Command string to controlle Wait for response Execute command Return Response string to host Accept Response Check for errors Figure 15 1 15 4 MULTI POINT COMMUNICATION SYSTEM In this system one host computer may be connected to either a single PLC via RS485 or multiple PLCs on an RS485 network 15 4 1 Command Response Frame Format Multi point efebi HAA PPIE Device ID Header Data FCS Terminator Each command frame starts with the character and two byte hexadecimal representation of the controller s ID 00 to FF and ends with a two byte Frame Check Sequence FCS and the terminator FCS is provided for detecting communication errors in the serial bit stream If desired the command frame may omit calculating the FCS simply by putting the characters 00 in place of the FCS Note we call 00 the wildcard FCS which is available when the PLC is in auto protocol mode This is to facilitate easy testing of the multi point protocol However the wildcard FCS can be disabled if the PLC has executed the SETPROTOCOL n 5 to put its COMM port n into pure native mode In that case you will have to supply the actual FCS to your command string TR RESEARCH 15 3 INTERNATIONAL Chapter 15 Host Link Communication Protocol 15 4 2 Calculation of FCS The FCS is 8 bit data represented
172. he Subnet mask should be set to 255 255 255 0 no matter what and the other settings should be left blank because you won t be connecting this Ethernet port to the Internet Figure 2 8 4 TR RESEARCH 2 12 INTERNATIONAL Chapter 2 Ethernet Port 5 Sample Configuration General if your PLC has an IP address of 192 168 1 xxx where xxx is anything from 1 255 except 2 You can get P settings assigned automatically if your network supports this capability Otherwise you need to ask your network administrator for an Ay ni Once you have set the IP address and Subnet mask you can click on OK and then click on OK Obtain an IP address automatically again to close the Local Area Connection Properties window shown in Figure 2 8 5 IP address Subnet mask Default gateway Use the following DNS server addresses Prefered ONS server Altemate ONS server Figure 2 8 5 Now your Ethernet port has been configured and you can try to connect to your PLC from TRILOGI using your PLCs IP address and port number Note 1 Connecting the PC s Ethernet port directly to the PLC only establishes a private network connection between the two devices That is to say the PLC connected this way is ONLY accessible to this PC Even if the PC is connected to a LAN e g via Wi Fi connection the PLC connected to this PC via direct Ethernet connection will not be accessible by any other devices
173. hese 11000 words of EEPROM data can also be used to store up to 549 strings of 40 characters per string Since these FRAM are truly non volatile and they do not have to be backed up to any flash memory the data are therefore not easily corrupted by any unplanned power disruptions Also these FRAM memories allow an unlimited number of read and write cycles at full soeed and they are thus much better than the traditional EEPROM memory on the M series PLC However for legacy reasons we are still calling them EEPROM memory since they are to be accessed using the TBASIC s SAVE_EEP LOAD_EEP SAVE_EEP and LOAD_EEP commands TRI RESEARCH 1 10 INTERNATIONAL Chapter 1 Installation Guide 1 6 3 RAM Data Memory All the TBASIC variables used in the Nano 10 PLC A to Z DM 1 to DM 1000 and string A to Z EMINT 1 to EMINT 16 and EMLINT 1 to EMLINT 16 are normally stored in the CPU RAM area and therefore they fall into the category of volatile data memory meaning when you turn off power to the PLC the memory content will be lost and they will be reset to zero when the PLC is powered up again Hence you should use the SAVE_EEP command to save any data that must be preserved after the PLC is powered down Also note that in a standard Nano 10 PLC only the first 1000 DM memory locations are available This means that your program would not be able to access any DM beyond DM 1 to DM 1000 Reading from DM 1001 DM 4000 will
174. hronously When the sequencer counts to eight it will become Step 0 Since none of the LEDs are turned ON by Step 0 all LEDs will be OFF Clki Us Sede IAN seq Sege LED OUT S04Y2 2 LEDI OUT segg Segz 1 LED Sege LEDA OUT Stop Sal WS 2g Figure 4 5 4 5 Programming Sequencers in Custom Function You can change the current step of Sequencer easily from within a Custom Function by changing the present value of their equivalent counter E g Sequencer 3 is the same as Counter 3 thus if you wish to assign Sequencer 3 to Step 10 you can achieve it as follows CTRPV 3 10 TRIANGLE A TR RESEARCH INTERNATIONAL Chapter 5 Analog Inputs Chapter 5 Analog Inputs om 2 TRIANGLE Upg RESEARCH INTERNATIONAL Chapter 5 Analog Inputs 5 ANALOG INPUTS 5 1 Analog Power Supply The analog power of the PLC is derived from the same 24VDC power supply as the CPU It will generate a 5V regulated DC voltage source that will be used internally as voltage reference and is available externally for use by other analog input devices The reference voltage output is available on the analog I O connector terminal block and may be used as the source voltage for connecting to potentiometers Its current is limited to 30mA Thus if you need more current for your analog device you will need to supply your own 5V DC source 5 2 Analog Inputs Each Nano 10 has two channels of built in 0 5V 12 bit A
175. ht saving time automatically Note Some NIST time servers have strict policy against abuse so you should avoid sending repeated request within a short period of time otherwise further connections may be denied once you are considered to have violated their connection policy TRIANGLE 2 27 TRI RESEARCH INTERNATIONAL Chapter 2 Ethernet Port 2 7 Web Service Accessing PLC s data from MS Excel The FServer provides an extremely useful feature called Web Service You can actually use your web browser to access the Nano 10 PLC internal data by specifying the following URL lt IP Address portno of FServer gt HOSTLINK lt Point to point hostlink command without gt E g Please enter the following URL into your web browser URL address space 192 168 1 5 9080 HOSTLINK IR You will see the following data appear on your browser screen IRO1 IR is one of the many host link commands that allows a host computer to read or write to the PLC s internal data space using ASCII strings This particular command IR is for reading the PLC s ID and in this case the PLC returns 01 by default For more details on the list of host link commands please refer to Chapter 15 of this manual Normally the host link commands are sent to the PLC via the serial port as per all other PLC models produced by TRi The FServer however permits these host link commands to be sent using the HTTP protocol which enables th
176. ib 1 0000x 20 Note The FServer can also be enabled to only allow connections from devices that DAC Calib match one of the Trusted IP defined in tp 000x b lo this panel This is on top of the username password login sequence that can be enabled disabled from the Basic ADC Moving Avg a of data points 3 Configuration screen In other words you can choose either security method to Retrieve Parameters from PLC Reboot PLC after Save access the FServer or implement both security methods at the same time cose After you have defined the list of trusted ARRARARRARERRREREES Ty el IP addresses and checked the Use Trusted IP radio button click on the Save Parameters to PLC to save your Figure 2 4 1 data to the PLC s non volatile memory When MODBUS TCP Use Trusted IP is enabled it means that only TCP IP packets that come from a client whose IP address matches one of the Trusted IP would be allowed connection to the MODBUS TCP server 2 5 3 Making A Modbus TCP Client Connection to Other Modbus TCP Server By using the Network Services commands described in Section 2 4 it is unbelievably easy for the Nano 10 PLC to be used as a MODBUS TCP client to access any industrial control or HVAC device and sensors that support a MODBUS TCP server Best of all you can do it without learning any specifics of TCP IP programming To open a client socket and connect to a Modbus TCP Server tha
177. ic Internet then you ought to consider the security issues associated with MODBUS TCP connections Since a MODBUS TCP connection does not require a username password login sequence unlike the FServer login the only way to protect against unauthorized access is through the Trusted IP addresses defined using the Ethernet Configuration software TR RESEARCH 2 24 INTERNATIONAL Chapter 2 Ethernet Port You can use either the Ethernet Configuration Tool mentioned in Section 2 1 or the standalone F series Ethernet Configuration program mentioned in Section 2 1 14 to define a list of Trusted IP addresses Please click on the Advanced button on the Basic Configuration screen as shown in Figure 2 4 1 and you should see the following Advanced Configuration screen The first thing you should do is to click on the Retrieve Parameters from PLC so that you can capture a copy of the current _40 976 44_ 97 Factory Default M a aa aS __ Factor Defaut configuration in the PLC and you can then Trusted IP 1 192 169 1 105 2 2463173123 modify selectively Trusted IP 3 nooo 4 ooo You can define a list of up to 6 Trusted Trusted IP 5 0 0 0 0 6 0 0 0 0 IP addresses in this panel To enable the PEE EO are eee ane Modbus TCP Trusted IP click on the oT CE on Yes button next to the Modbus TCP ke Yes Mo ke Yes Mo vi Use Trusted IP Advanced Configuration ADC Cal
178. ic circuit Place the timer coil at the end of the ladder logic circuit Place the timer contact in one or more ladder logic circuits ro 4 2 2 For Counters Create Edit the label names Place the input contact s into the ladder logic circuit Place the counter coil at the end of the ladder logic circuit Place the counter contact in one or more ladder logic circuits optional cn ae 4 2 3 Example 1 Creating a Simple Timer Circuit in Ladder Logic You can place components in the circuit by clicking in the green area to the right of the red arrow as shown in Figure 4 1 below This will bring up the component tool bar in the gray area above the green circuit area XE TRILOGI Version 6 13 Untitled Bo File Edit Controller Simulate Circuit Help Circuit 1 OBEDE Cetine quick Tags Figure 4 1 Creating Timer Circuit Once the component toolbar is shown you can place your activating contact by selecting the 1 component from the toolbar He and then selecting the activating contact from the I O Table The contact will then be automatically placed in the ladder logic circuit The same can be done for the timer x coil by selecting the 7 component from the toolbar and then selecting a timer that has been entered into the I O Table Then a timer contact needs to be added as an input to a ladder logic circuit This contact will activate once the timer counts down This could be used to turn on an output a certain amount of time
179. icate with it using the NATIVE mode You will receive a communication error if you try to use TRILOGI to access a PLC COMM port that has just been communicating in other protocol modes 4 To improve the flexibility of switching from one COMM mode to another The Nano 10 incorporates a COMM mode self reset timer such that a specific COMM mode will time out automatically and enters into AUTO mode after 10 seconds if no more commands are received from that COMM port When a user wants to switch from one COMM mode to another he she often will be changing the serial connector from one device to another During this time there is no data received by the COMM port which presents an opportunity for it to reset its COMM mode However the surest way to reset the specific COMM mode is to cycle the power to the PLC so that its COMM port will be reset to AUTO mode and ready to communicate with any supported protocols 5 If you wish to use the COMM port for serial data input only you can use the SETPROTOCOL command to set the COMM port to NO PROTOCOL This can prevent the PLC from erroneously treating some serial data as the header of an incoming communication protocol and respond to it automatically The SETPROTOCOL command can also be used to set the PLC to a specific protocol This may be desirable if the COMM port has a specific role and you do not want it to enter other modes by mistake TRIANGLE 14 4 TRI RESEARCH INTERNATIONA
180. ill possible to perform computations involving fractions by using fixed point notation E g If each unit represents 0 01 then the number 1234 represents the value 12 34 It is quite simple to display a number on the LCD display with a decimal point as follows You first divide the numeric variable by 100 to obtain the integer component i e the portion to the left of the decimal point and use the MODULUS operator to obtain the decimal component i e the portion to the right of the decimal point of the number So to display a number contained in X with two decimal places do the following Esge S amp FLCD Ly Li Data STRe X7100 4 7 STR X MOD 100 Hence if the number X 12345 then X 100 123 and X MOD 100 45 and the above would display the string Data 123 45 TRIANGLE 3 3 TR RESEARCH INTERNATIONAL Chapter 14 Serial Communications Chapter 14 Serial Communications TRIANGLE TRI RESEARCH INTERNATIONAL Chapter 14 Serial Communications 14 SERIAL COMMUNICATIONS 14 1 Introduction There is only a single RS485 serial port on the Nano 10 PLC This serial port supports full Modbus ASCII RTU and Host Link Protocol drivers and it can also be programmed to accept or send ASCII or binary data using the TBASIC built in commands such as INPUT n INCOMM n PRINT n OUTCOMM n d This serial port is designated as COMM1 to the TBASIC and it is a two wire RS485 port that allows multiple PL
181. in 18 12 18 7 1 Overview of The FTP Protocol 18 12 18 7 2 PLC FTP Upload Procedure 18 12 18 7 3 Monitoring The FTP Upload Progress i 18 13 e D TRIANGLE UR RESEARCH Page ix INTERNATIONAL USER MANUAL 18 8 Setting Up A FTP Server Behind a Windows Firewall cccsssssseeeeessseeesceenseeeeees 18 14 19 USING PLC AS A MODBUS TCP GATEWAY 19 1 ISS INTOdUGIIONi lll cicala 19 1 19 2 Application Ideas for Modbus TCP GateWaY iiiiiiiiiii 19 1 19 3 Configuring The PLC As Modbus TCP GateWay rrrrrrrrrieeez zii 19 1 19 4 Fine Tuning The Modbus TCP Gateway Function erre 19 2 19 5 Modbus TCP Gateway Sample Program c cccssscssseeeessceessseeeesseeeeesseeeeeeeeeooeesneeeesseons 19 3 A TRIANGLE URRY RESEARCH rage x Chapter 1 Installation Guide Chapter 1 Installation Guide for Nano 10 PLC TRIANGLE URN RESEARCH INTERNATIONAL Chapter 1 Installation Guide 1 INSTALLATION GUIDE FOR NANO 10 PLC 24V DC Power Supply for PLC NO bt ix e Output LED Indicators mea j Reserved Ethernet RJ 45 ___ Modbus TCP Remote programming Email peer to peer etc PAUSE 3 o_0 J4 loo o 0 ICI O Tuoi Wire suli Inputs sob 5V Analog RS485 Port 24V NPN Inputs 0 5V Reference Input LED Indicators Green Figure 1 1 1 1 Over
182. ing the last I O refresh cycle Likewise any changes to the logic state of the outputs are temporarily stored in the output memory variable not the actual output pin and will only be updated to the physical output during the next I O refresh You can see that the CPU will only notice any change to the input logic state when it has completed the current scan and starts to refresh its input variables The input logic state must also persist for at least one scan time to be recognized by the CPU In some situations this may not be desirable because any response to the event will take at least one scan time or more An interrupt input on the other hand may occur randomly and the CPU will have to suspend whatever it is doing as soon as it can and start servicing the interrupt Hence the CPU responds much faster to an interrupt input In addition interrupts are edge triggered meaning that the interrupt condition occurs when the input either changes from ON to OFF or from OFF to ON Consequently the input logic state need not persist for longer than the logic scan time for it to be recognized by the CPU Any one or all of the Nano 10 s digital inputs 1 to 4 can be defined as interrupt inputs using the INTRDEF statement The Interrupt inputs may also be defined as either rising edge triggered input goes from OFF to ON or falling edge triggered input goes from ON to OFF or both using the following statement INTRDEF ch fn_num edg
183. inputs That means these interrupt inputs are extremely sensitive and will trigger the interrupt service routine even with the shortest input pulse While the high sensitivity could be useful for some applications that need to capture events that produce very short sharp pulses it could be problematic for other applications that need to filter out such narrow pulses since they can trigger the interrupt inputs multiple times You can add in some hardware filtering by connecting a small 100pF or large capacitor across the interrupt input and the power supply ground OV 9 2 Periodic Timer Interrupt PTI The Periodic Timer Interrupt PTI not available on T100M PLC lets you define a custom function that will be executed by the CPU precisely every x number of milliseconds ms The syntax for setting up a PTI is as follow INTRDEF 18 cfnum x Interrupt 18 is reserved for PTI cfnum custom function number to execute when PTI event takes place x The period in number of milliseconds between two PTI events E g INTRDEF 18 101 15 call function 101 every 15 ms The Periodic Timer Interrupt runs independently of the ladder logic and its execution is therefore not affected by the total PLC program scan time INTERNATIONAL oO UR RESEARCH 7 2 Chapter 9 Interrupts When the PTI timer times up the CPU will suspend the execution of the ladder logic or a non interrupt TBASIC function and immediately calls up the cust
184. ions and programming methods for the analog inputs are detailed in Chapter 5 of this manual Chapter 14 describes the use of the RS485 serial communication port Note that the screw terminal block is actually detachable from its soldered pins to the PCB which permits easy replacement of the controller board when necessary as shown below wire Insulated crimp ferrules Figure 1 3 Using Ferrules to connect to screw terminal block Although wires may be connected directly to the screw terminal insulated crimp ferrules should be used to provide a good end termination to multi stranded wires Use of ferrules reduces the possibility of stray wire strands short circuiting adjacent terminals and their use is therefore highly recommended 1 2 2 Power Supply and Digital Output Ports The Nano 10 power supply and 4 digital outputs are available on the detachable screw terminal block along the top edge of the Nano 10 PCB 24V OUT1 e Do The following sections describe the specifications of the PLC power supply as well as digital I Os 1 3 Power Supply The Nano 10 PLC requires a single regulated 24V 5 ripple DC power supply The PLC typically consumes less than 100mA and thus you may also use the same power supply to power the PLC and a small output load as long as the total load current is within the power supply maximum limit If the loads require higher current then it is recommended that a separate power supply be used
185. istor Temperature Sensors A thermistor is a kind of resistor whose resistance decreases when its surrounding temperature increases It is a very low cost and stable device that can be used to measure a wide range of ambient temperature from freezers to hot water boilers which are commonly used in HVAC applications In order to convert the resistance changes into voltage readings to be read by the PLC s analog input you can use it to form an arm of a voltage divider circuit which would present a variable voltage to the analog input when the temperature changes A type of thermistor that measures 10 0K ohm at 25 degree C simply called 10K thermistor is especially suitable for use with the Nano 10 PLC because you can simply connect the 10K thermistor directly to the analog input due to its internal impedance of 20 00K ohm 0 1 accuracy TRIANGLE 5 5 TR RESEARCH INTERNATIONAL Chapter 5 Analog Inputs A D 1 2 Internal Figure 5 6 Connecting 10K Thermistor to NANO 10 ADC 1 2 Note that since the thermistor resistance value vs temperature change is a non linear function you cannot simply use a formula to calculate the temperature from the voltage value For better accuracy you need to use a look up table plus a linear interpolation technique to determine the temperature based on the ADC readings The look up table and interpolation method can be implemented using TBASIC quite easily For your convenience we have provide
186. it from 0 to 3 wait states for a response The default settings for w amp H55 or 01010101 binary which means each COMM port as well as the Ethernet port uses 1 wait state of about 150ms 3 You can change the number of retries default 2 the gateway will attempt to get a response from the Modbus RTU slave by running TRIANGLE I 9 2 TR RESEARCH INTERNATIONAL Chapter 19 Using PLC As a Modbus TCP Gateway SETSYSTEM 2 n Where n number of retries for each COMM port as follow COMM3 COMM2 COMM1 Thus each COMM port could be configured to re attempt to send the command from 0 to 3 times if it does not get a response from a Modbus RTU slave The default settings for n amp HAA or 10101010 binary which means each COMM port as well as the Ethernet port will retry twice making a total of 3 attempts E g If you run SETSYSTEM 2 0 the gateway will not resend the RTU command on any of its COMM port if does not receive a response on the first attempt This can help to reduce the CPU scan time if a Modbus RTC slave does not respond 4 We strongly recommend that the serial port n that is to be used as a gateway serial port be configured to be No protocol by running the SETPROTOCOL n 10 statement once This is to ensure that the serial data returned from the RTU slaves will never be interpreted wrongly by the master PLC as incoming commands which could lead to errors The same advise applies to PLC programs that
187. ith the often critical timing of controlling the RS485 driver receiver direction OUTCOMM This command sends only a single byte out of the serial COMM port without going through the serial out buffer It enables the RS485 transmitter before sending the character and disables it immediately after the last stop bit has been sent out TR RESEARCH 14 6 INTERNATIONAL Chapter 14 Serial Communications 14 6 Using The PLC As a Modbus Omron Slave SCADA HMI Applications The Nano 10 PLC supports a subset of the OMRON C20H and MODBUS Both ASCII and RTU modes are supported compatible communication protocols so that it can be easily linked to third party control software hardware products such as SCADA software LCD touch panels etc The PLC automatically recognizes the type of command format and will generate a proper response These are accomplished without any user intervention and without any need to configure the PLC at all Both MODBUS and Omron protocols use the same device ID address 00 to FF as used by the native Hostlink Command protocol described in Chapter 15 Since the addresses of I O and internal variables in the Nano 10 PLC are organized very differently from the OMRON or Modicon PLCs we need to map these addresses to the corresponding memory areas in the Modbus address space so that they can be easily accessed by their corresponding protocols All I Os timers counters internal relays and data memory DM
188. k 3 Change settings of this connection 2 Back Search Folders 35 w O Bis iil from the Network Tasks sidebar as shown above When you do this the following window will open File Edit View Favorites Tools Advanced Help ES LAN or High Speed Internet a RE Wireless Network Connection A Connect ted shared 1 Lot Il IZL ole connection Broadcom 802 11b g WLAN if Set up a home or small office network Local Area Connecti Change Windows Network cable 1 Firewall settings a 3 Lai tas el Disable this network device 1394 Connection mj Rename this connection Connected i 1394 Net Adapter Change settings of this gl ie connection Figure 2 8 2 Tri nuce 2 11 INTERNATIONAL Chapter 2 Ethernet Port 3 Edit TCP IP Properties Now you want to highlight the Internet Protocol TCP IP item and click on Properties This will General Advanced open up a new window that allows you to change the network settings for the Ethernet port that you selected The Ethernet hardware you are E Realtek RTL8139 810x Family Fast configuring is shown under Connect using in the current window Local Area Connection Properties Connect using This connection uses the following items M E Client for Microsoft Networks fmt File and Printer Sharing for Microsoft Networks JE dos Packet Scheduler
189. l Server field lets you define the IP address of the email server that the PLC can use to send out emails from user s program please see section 2 4 2 for more details on how to program the PLC to send emails This is the same SMTP server that your normal email client software such as Thunderbird or MS Outlook uses to send out email You can ask your Internet Service Provider ISP for the IP address of their SMTP server The ISP usually provides the SMTP server in domain name form such as mail sbceglobal net but you should also be able to request the numerical IP address of the SMTP server from the ISP For Windows XP or Vista users you can resolve the IP address as follows First launch the Command Prompt window Then enter the command nslookup lt smtpserver name gt to get the IP address An example is shown below where the IP address of mail sbcglobal net is resolved to the IP address 207 115 36 120 TRIANGLE 2 3 TRI RESEARCH INTERNATIONAL Chapter 2 Ethernet Port ca Command Prompt Ci ever pae mall sbegqlobal net ee st Wi shawcable net Server Address Hon authori Hane Address iF Figure 2 1 3 Windows users may also search the Internet for a free host exe tool that lets you resolve the IP address from a given domain name one host exe tool that we found to work was downloaded from http pigtail net LRP dig For example executing the command line host mail sbcglobal
190. led description of the addressing scheme for writing a byte of data to a random EEPROM address The following picture depict the necessary command ACK ACK ACK NO ACK Byte Write a a R W n Example To write a byte of data XX to the EEPROM address 54321 amp HD431 in first 64K bank you need to do the following DM 11 amp HD4 DM 12 amp H31 DM 13 xx your data byte I2C WRITE amp H50 11 3 write 3 bytes of data from DM 11 to DM 13 I2C_STOP necessary to end the byte write The data XX will be written to the EEPROM address 54321 If you want to store the data to second bank of EEPROM address then replace the I2C_WRITE line with I2C WRITE amp H51 11 3 17 2 5 Page Write To M24M01 EEPROM As you can see writing a single byte of data to a random location involves 4 bytes of data transfer which is not very efficient Fortunately the EEPROM allows you to write more than one byte to the EEPROM and the EEPROM will write to the subsequent location sequentially This is Known as Page Write and you can write up to 256 bytes in the same page A page is defined as the memory location having the TRI RESEARCH 17 6 INTERNATIONAL Chapter 17 12C Communication same upper address byte bit 8 to bit 15 E g Address amp HA011 and amp HAOFF are in the same page But address amp HAOFF and amp HA100 are NOT in the same page even though they are adjacent memory location So you have to keep the
191. log input Very accurate parameters can be set if an external LCD display e g MDS100 BW is used as visual feedback of the settings Alternatively a paper scale can be printed to give approximate set value at various angles of the potentiometer s rotating arm A D 1 to 8 10KQ Potentiometer s Figure 5 2 5 2 3 Reading Analog Input Data The 2 analog input signals are read by the TBASIC command ADC 1 to ADC 2 The ADC n function will return a number between 0 and 4095 12 bit resolution which corresponds to the measured voltage at any of the analog inputs n The resolution of a 12 bit ADC is 1 4096 this means that for the 0 5V ADC range the resolution is 5 4096V 1 22mV That means that if you apply a 2 500V to the PLC s analog input 3 ADC 3 should return a value of 2 500 5 000 x 4096 2048 Note that the CPU only accesses the analog input n when the TBASIC function ADC n is called Hence in order to monitor the analog input you have to execute the ADC function periodically The frequency that the ADC function is called is known as the sampling rate and it depends on how fast the analog INTERNATIONAL 2 TRIANGLE _ Upg RESEARCH 0 3 Chapter 5 Analog Inputs data changes If the analog data changes slowly such as room temperature then there may be no need to sample the analog at high frequency A very simple example of sampling the analog input 1 to 2 every second and converting the data into volta
192. lt of the STATUS 3 function at any time Once all the command exchanges have been completed you should send a lt gt tag to close the client connection to the remote server so that other NS commands can be executed in other parts of the program Please refer to the fnMBTCP fnRdMBTCP and fnWrtMBTCP custom functions in the demo program TestEthernet PC6 2 26 Chapter 2 Ethernet Port 2 6 Getting data from Internet Connecting to The Internet Time Server The Nano 10 PLC features a special NS command tag lt TCPCONNECT xxx xxx xxx xxx portno gt that allows you to connect to any server to download data However since the PLC does not have a lot of memory for storing incoming text data it is not suitable for downloading information from a commercial website that sends many kilobytes of data in a single download It can however be very useful to connect to some servers that send small amounts of information For example there are many Internet Time Servers on the Internet that allow users to synchronize their computer clocks via the Internet The service responds to time requests from any Internet client in several formats including the DAYTIME TIME and NTP protocols The simplest are those that send responses in ASCII data and you can extract the date and time information from the response ASCII string once you know the format You can search on the Internet for a suitable timeserver and use the TELNET pr
193. ly TRIANGLE pf 17 TR RESEARCH INTERNATIONAL Chapter 2 Ethernet Port The PLC can operate the Ethernet port by means of TBASIC INPUT and PRINT commands operating on COMM 4 It uses the PRINT 4 command to send out NS commands and the INPUT 4 command to receive response data via the Ethernet port Notes 1 UNLIKE the case of T100MD PLC XServer the CPU does not route communication data that the FServer or Modbus TCP server is exchanging with external clients to the virtual comm port 4 This means that there would not be interference to the NS command response being sent and received by the PLC program via virtual comm port 4 As such there is no need to implement the arbitration method mentioned in the XServer User s Manual for this PLC 2 Only PRINT 4 and INPUT 4 are implemented on virtual COMM port 4 Nano 10 PLC DOES NOT support the INCOMM 4 and OUTCOMM 4 commands However you may send any non zero ASCII data using the PRINT 4 command The following subsections describe the various Network Service commands available to the Nano 10 PLC 2 4 1 Get Our Local IP Address Format lt IP gt Response xxx xxx xxx xxx nnnn IP address port of FServer Example PRINT 4 lt IP gt SETLCD 1 1 0ur IP INPUTS 4 Note This IP address is returned instantly so there is no need to wait for INPUT 4 There is also no need for the closing tag lt gt 2 4 2 DNS command Resolving Domain Na
194. m transfer will begin immediately after you ve confirmed your action Otherwise the same Login to TLServer screen as shown on Figure 2 2 1 will appear for you to complete the login sequence Note 1 Unlike the TLServer software that runs on the PC which allows unlimited connection time the FServer on the Nano 10 PLC will disconnect the client if there is no activity for more than 10 minutes The older version of the i TRILOGI program may not detect that the connection has been closed and it may instead think that the PLC is not present When this happens you should click on Controller menu and select Disconnect to properly shut down the connection that has already been reset by the PLC 2 If you are unable to connect to the PLC then check that both the PLC and the PC running your i TRILOGI software are connected to the same local area network LAN and are on the same subnet Generally for a subnet mask of 255 255 255 0 if the PC s IP address is 192 168 1 xxx then the PLC should have an IP address of 192 168 1 yyy and it will not work if the PLC has IP address such as 192 168 0 yyy or 192 168 2 yyy since this means that the two devices are on different subnets Likewise if your PC s IP address is 192 168 0 xxx then please change your PLC s IP address to 192 168 0 yyy Also ensure that the PLC s IP address is not already TRIANGLE pf I 6 TR RESEARCH INTERNATIONAL Chapter 2 Ethernet Port
195. me into IP Address In order to use this command successfully you must first correctly define the DNS Server IP address mentioned in Section 2 1 4 Format lt DNS domain name gt XXX XXX XXX XXX IP address string returned by DNS server Response ERR 07 DNS Unresolved Either DNS server not properly defined or the domain name does not exist Response xxx XXx XXx XXx IP address string returned by domain name server STATUS 3 This function returns 1 on success and 0 on failure Example PRINT 4 lt DNS tri plc com gt FOR I 1 to 10000 AS INPUTS 4 TRIANGLE Di I 8 TR RESEARCH INTERNATIONAL Chapter 2 Ethernet Port IF LEN AS lt gt 0 SETLCD 1 1 IP As RETURN ENDIE NEXT Notes There is no need for the closing tag lt gt to end this command If your DNS server has been correctly defined the above program should return the IP address as a string such as 130 94 216 144 You can then use this IP address string in all the other NS commands to be described in the following sub sections The DNS server may take some time to resolve the domain name If it is unable to resolve the domain name then it will return an error string so your program should test to see if it receives the ERRO7 error message to determine whether the returned string is useable Although it is possible to embed the domain name directly in the NS command in place of IP address it is usually much more efficient t
196. mmand the master controller must first enable its RS 485 transmitter and then send a multi point command to the network of controllers After the last stop bit has been sent the master controller must relinquish the RS485 bus by disabling its RS485 transmitter and enabling its receiver At this point the master will wait for a response from the slave controller that is being addressed Since the command contains the ID of the target controller only the controller with the correct ID would respond to the command by sending back a response string For the network to function properly it is obvious that no two nodes can have the same ID You can use the Setup Serial Port command in TLServer to set the ID for each PLC on the node You can also use the IW Host Link command to set the device ID Also all nodes must be configured to the same baud rate and communication format Care should be taken to ensure that the power supplies for all the controllers are properly isolated from the main so that no large ground potential differences exist between any controllers on the network 15 5 4 Multi Master Peer to Peer RS485 Networking Fundamentals The built in Ethernet port of Nano 10 PLC inherently supports multi master peer to peer network connection without any arbitration Therefore if there is a need to perform peer to peer networking it will be much easier to do it via the Ethernet port However if the Nano 10 is not connected to LAN or a low
197. mple to position the motor at an absolute location while tte STEPMOVE command lets you implement incremental moves in either direction for each channel TRIANGLE I 0 1 TR RESEARCH INTERNATIONAL Chapter 10 Stepper Motor Control 10 2 1 Interfacing to 5V Stepper Motor Driver Inputs Some stepper motor drivers accept only 5V signals from the stepper motor controller In such a case you need to determine whether the driver s inputs are opto isolated If they are then you can simply connect a 2 2K current limiting resistor in series with the path from the PLC s output to the driver s inputs as shown in Figure 10 1 Stepper Motor Driver Nano 10 PLC OUTPUTS Calculation Ip 10mA R V 5 0 01 e g for V 24V R 24 5 0 01 1 9K Select R 2K2 Rating 19 2200 0 16W Use 0 5W resistor Eee ere eee rete eee CIC II MI CIC ICI rere te eee eee eee eee eee III PLC s Power Supply GND Figure 10 1 However if the stepper motor driver input is only 5V CMOS level and non opto isolated then you need to convert the 24V NPN PLC outputs to 5V This can be achieved using a low cost transistor such as a 2N4403 A better way is to use an opto isolator with a logic level output as shown in Figure 10 2 This provides a galvanic isolation between the PLC and the stepper motor driver 5V OV Stepper s supply Logic output oe 24V DC Optoisolator Power Supply e for PLC Quality Technolo
198. n detect a sudden change in the amplitude of the analog signal due to the averaging effect For a system that needs to quickly detect a signal change consider using either a smaller number of moving average points or call the ADC n function more frequently so that a sudden change can be detected earlier 5 2 5 Scaling of Analog Data The 12 bit analog inputs on the Nano 10 PLC returns data in the range of 0 to 4095 which corresponds to the full range of the voltage input presented at the analog pin However very often a user needs a formula to translate this numeric data into units meaningful to the process e g degree C or F psi etc To do so you need to know at least two reference points of how the native unit maps to the PLC s ADC reading Reference Point ADC Reading TRI RESEARCH 9 4 INTERNATIONAL Chapter 5 Analog Inputs x1 al x2 a2 Hence for any reading A ADC 1 the corresponding X is derived from X x1 A al gt X x2 x1 A a1 a2 a1 x1 x2 x1 a2 al Note that since x1 x2 a1 and a2 are all constants the actual formula is much simpler then it appears above E g Temperature measurement Temp ADC n 30 200 100 3000 So for any ADC readings A the temperature is X 70 A 200 2800 30 Note To get better resolution you can represent 30 degree as 300 and 100 degree as 1000 so if X 123 it means 12 3 degree 5 3 Temperature Measurement Using Analog Inputs 5 3 1 Therm
199. nalog inputs The terminal block location for these analog inputs is described in Section 1 2 1 Electrical Characteristics No of A D channel 12 Input Impedance Ch 1 to 2 20 00K Ohms Moving Average 1 to 9 points user definable lt 4 us per channel ADC n value O N O 4095 4094 4093 Input Voltage 5 00 Figure 5 1 Transfer Function for 12 bit ADC The DC input impedance of Analog inputs 1 to 2 are all 20 00K ohms 0 1 This is not a problem when connected to a 0 5V low impedance analog source TRIANGLE 5 O Ut RESEARCH INTERNATIONAL Chapter 5 Analog Inputs However if you need to connect to 0 10V inputs or a 4 20mA analog source to either channel you have to take into consideration the low A D input impedance in your design The following figures show how to connect 4 20mA current source signals and 0 10V signals to the A D inputs 1 to 2 A D 1 2 A D 1 2 0 20MA or 4 20MA Current loop 2500 1 Internal 20 00K 3 160 1 Converting 20mA current loop to 0 5V Converting 0 10V signal to 0 5V Figure 5 1 You can see that interfacing to a 0 10V analog signal is extremely simple since all you need is to add a 20 0K ohm series resistor and it will be divided into 0 5V when it enters the AD 1 or 2 However to convert a 0 20mA or 4 20mA current source into 0 5V or 1 5V voltage si
200. nd are therefore of a simpler format as shown below TRIANGLE I 5 O Ut RESEARCH INTERNATIONAL Chapter 15 Host Link Communication Protocol 15 3 1 Command Response Frame Format Point to Point A pepe pep pe a Header Data Terminator Each command frame starts with a two byte ASCII character header followed by a number of ASCII data and ends with a terminator which is comprised of a character and a carriage return ASCII value 13 de The header denotes the purpose of the command For example RI for Read Input WO for Write Output etc The data is usually the hexadecimal representation of numeric data Each byte of binary data is represented by two ASCII characters 00 to FF To begin a communication session the host computer must first send one byte of ASCII character Ctrl E 05Hex via its serial port to the controller This informs the controller that the host computer wishes to send a point to point host link command to it Thereafter the host computer must wait to receive an echo of the Ctrl E character from the controller Reception of the echoed Ctrl E character indicates that the controller is ready to respond to the command from the host computer At this moment the host computer must immediately send the command frame to the controller and then wait to receive the response frame from the controller The entire communication session is depicted in Figure 15 1 After the controller has
201. ng lt CONNECT XXX XXX XXX XXX 9080 gt using the PRINT 4 command where xxx xxx XXxXX XXX is the IP address of the remote FServer or TLServer followed by sending the username and password needed to log in to the remote server Each line should be terminated with a CR carriage return character The PRINT 4 command automatically appends the CR character Once a connection with the remote server is established the CPU will return the response string lt CONNECTEDs gt to the user program which can read it using the INPUT 4 function The STATUS 3 function can also be used to test if the connection is successful and alive When the program gets the confirmation of connection it can then use the TBASIC NETCMD 4 x command to read or write data to the remote PLCs as if the remote PLC is locally connected to COMM4 port of this PLC as shown in the following example A NETCMD 4 01RI00 Multiple NETCMD commands can be executed as long as the connection is alive You can test the connection status by checking the result of the STATUS 3 function Once all the command exchanges have been completed you should send a lt gt tag to close the client connection to the remote server so that other NS commands can be executed in other parts of the program TRI RESEARCH 2 20 INTERNATIONAL Chapter 2 Ethernet Port Example Please refer to the fnConnect and fnNetCmd custom functions in the demo
202. ng you should be able to see the three preloaded files 0 HTM 2 HTM and N JS Downloading Files The first thing to do is download the preloaded files from the Nano 10 server and store them somewhere on your computer To do this you will need to open up the folder on your computer that you want to store the files in Then you can drag the files from the Nano 10 web server via FileZilla into your destination folder It is best to make a copy of these files as a backup on your computer so that you have the original copies available in case you need them Now you can make any necessary changes to the 0 HTM file and or 2 HTM file this is explained further in section 2 10 but the N JS file shouldn t be changed unless you are very experienced with JavaScript File Names Note that the filenames are important and the N JS file should not be renamed or it will not work The O HTM file and 2 HTM can be renamed outside of the PLC s Web Server with or without the HTM extension but there are limitations There is a very simple pre configured file system in the Nano 10 web server that is implemented as follows e Files can have the name 0 through 9 one digit or A through M one character e Files can have any extension HTM is used for the pre loaded files but only a few MIME types are respected These include HTM JPG GIF CSS JS BIN TXT JAR From firmware version r77 onwards the foll
203. ng its own Modbus TCP response TRIANGLE I 0_ Tri RESEARCH INTERNATIONAL Chapter 19 Using PLC As a Modbus TCP Gateway packet back to the client The PLC will not send any RTU command out of the gateway serial port This means that the client can access the master PLC s own register as per normal However if the client send a Modbus TCP packet with a different ID from that of the gateway PLC s ID then the gateway PLC will translate the command into a Modbus RTU command and send it out of the gateway serial port n defined by the SETSYSTEM 12 n statement The PLC will also wait for a response from the RTU slave via the gateway serial port and if it does receive a response it will translate it into Modbus TCP response packet and return to the client Note 1 If the Modbus RTU slave being addressed does not respond to the RTU command then the gateway PLC will wait till time out default is about 150ms and then resend the Modbus RTU command and wait for a response again By default the gateway PLC will repeat this procedure twice and if it still doesn t receive a response after repeated attempts it will send back a TARGET DEVICE FAILED TO RESPOND error packet back to the Modbus TCP client i e It will set the 7 bit of the function code to 1 and send back an exception code OB hex 2 The CPU firmware is designed to handle only one Modbus gateway translation for each Modbus TCP connection per ladd
204. nnnn annann nannan nnana nananana 16 14 16 35 Read EEPROM String Data r47 Firmware ONlY ri 16 14 16 36 Wrile Analog QUIpuUl ai 16 15 16 37 Write EEPROM Integer Data ivisssccscsieedccceceicsdecadeivcceneisidecastandanectesdarcstendcswastsadenssteadecnetvedens 16 15 16 38 WRITE EEPROM String Data 16 16 16 39 Force Set Clear Single lO Bit ia 16 16 16 40 Using OMRON Host Link COMMANGG ccccceeseeeeeeeeeeeeeeceeeeenneeeeeeeeeeeensneeeeeeeeeooenneeeees 16 17 16 40 1 Read IR RegistersS i 16 17 16 40 2 WRITE IR RegistersS ii 16 18 16 40 3 Read Data Memory DM 1 to DM 4000 eeee eee eeeeeeeeaeeeeeeeeeaaeeeeeeesaaees 16 18 16 40 4 WRITE Data Memory DM 1 to DM 4000 ccccecceeeeeeeeesseseeeeeeeeeeeeeeeeeeeeenaaaes 16 19 16 41 Testing of Host Link CommandsS cscceeeeeeeeeeeneneeeeeeeeeeeeesneeeeeeeeeeesneeeeeseeeooeesneeeeees 16 20 16 42 Visual Basic Sample Program 16 21 16 43 Inter PLC Networking Using NETCMD Command rire 16 21 16 44 Inter PLC Networking Using MODBUS Protocols 1rrrrrrreiiiiiie 16 21 17 1 C COMMUNICATION 17 1 17 1 The1i20 FRTCMbodule ine 17 1 17 1 1 Installing the I2C FRTC Module cccccecccccccsssseeeeecseesececceeaeeeeessaueeceeseseaseeessssaseeess 17 1 17 1 2 I2C FRTC Hardware OV GIview scssisscincadavsasnccdcartsenagtaavardapsaunaguanbadautsanineueeraug
205. ntax PRINT 8 lt DELETE Zxxx yyy gt where Zxxx yyy is the file name of the file to be deleted There is no need to close a deleted file 18 5 2 Open A File For Reading Syntax PRINT 8 lt READ Zxxx yyy gt TRIANGLE I 8 5 TR RESEARCH INTERNATIONAL Chapter 18 Extended File System where Zxxx yyy is the file name of the file to be opened for reading If the file has been successfully opened for reading after execution of the PRINT 8 lt READ gt command the PLC can start to retrieve ASCII data from the file line by line using the INPUTS 8 Command A line is either a string that is terminated with a Carriage Return character ASCII 13 or is a 70 character long string which is the maximum length of any string variables A to Z without carriage return In either case the return string does not contain the CR character itself The PLC can check if a file has been successfully opened for reading using the STATUS 2 function AFTER executing the PRINT 8 lt READ gt command STATUS 2 will only return a 1 if a file has been successfully opened The PLC can determine if the End of File EOF has been reached using the STATUS 2 function after every INPUTS 8 Command has been executed STATUS 2 returns a 255 if the EOF has been reached The PLC should then close the file by executing the PRINT 8 lt gt command AS lt READ Z STRS F 3 txt gt S STATUS 2 IF S l
206. o use the IP address directly if it is known in advance This is because the DNS server may take some time to resolve the domain name into IP address each time it is called and there is a possibility that the domain name server may be overloaded or down momentarily when it is needed and hence complicating the attempt for the PLC to connect to a remote server Therefore we recommend that you use the lt DNS domain gt tag to resolve the domain name into IP address first and then use the resulting IP address for all Network Services commands via the Internet 2 4 3 Send Email TR Format lt EMAIL recipient email address gt SENDER sender email address SUBJECT whatever text string body of the email line 1 body of the email line 2 Do Response Email successfully sent ERR 04 Not Connected Failed to connect to SMTP server Section 2 1 3 ERR 06 Email Failure Failed to complete email transmission STATUS 3 This function returns 1 on success and 0 on failure Note that this function only returns the email status after the closing tag lt gt has been sent If the function is polled before the last closing tag is sent the status is indeterminate Description You can use this command to send out an email for you at any time The FServer uses the SMTP server and Gateway IP addresses defined by the Nano 10 See Section 2 1 to perform this task If it encounters any errors it will send back an error string which
207. ogram on your PC to access them to examine their display format Most timeservers listen either on port 13 or port 123 so you need to specify the port number together with their IP address when sending the lt TCPCONNECT gt command Format lt ITCPCONNECT IP address portno of time server gt none Successfully connected to the Modbus TCP server of the specified IP address ERR 05 Prev Conn ON Another NS command has been executed and left Response the client socket opened but did not execute the PRINT 4 lt gt to close the client socket ERR 04 Not Connected Failed to connect to the targeted server STATUS 3 This TBASIC function returns 1 if connected or 0 if connection fails Description Once a connection is made you can then interact with the remote server using the PRINT 4 and INPUT 4 command You use the INPUT 4 command to read CR terminated text strings sent by the server You can also send data to the remote server using the PRINT 4 command Example Please refer to the fnTCPconni custom function in the demo program TestEthernet PC6 to see an example of how the PLC can connect to an NIST timer server and use the returned data to update the PLC s real time clock A better standalone program TimeServer PC6 can also be found in the Nano10Samples zip folder This program not only updates the time but also updates the calendar and computes the time zone and adjust for daylig
208. ogramming example of the HSC can be found in your iT RiILOGI program folder C TRiLOGI TL6 usr samples HighSpeedCtr PC6 TRIANGLE Fal TR RESEARCH INTERNATIONAL Chapter 7 High Speed Counters 7 2 Enhanced Quadrature Decoding The default method in which the PLC handles quadrature signals as described above is somewhat simplistic It does not take into consideration the jiggling effect that occurs when the encoder is positioned at the transition edge of a phase Mechanical vibration could cause multiple counts if the rotor shaft jiggles at the transition edge of the phase resulting in multiple triggering of the counter This simplistic implementation however does have the advantage that the HSC can also be used for single phase high speed counting For the Nano 10 PLC an enhanced quadrature decoding routine is provided which will lock out multiple counting by examining the co relationship between the two phases You can configure the Nano 10 PLC to use the enhanced quadrature counting by using the SETSYSTEM command as follows SETSYTEM 4 n The value of n at bit 0 1 and 2 respectively defines if the HSC channel 1 2 and 3 is to run in Simple when the bit is 0 or Enhanced when the bit is 1 mode As such N bit 1 0 HSC 2 HSC 1 Simple Simple Enhanced Enhanced Enhanced 7 3 Configuring HSC as x1 x2 or x4 Counters By default the HSC in Nano 10 only increment or decrement the counter b
209. om function defined by the INTRDEF 18 statement However if the CPU is currently executing a user interrupt service routine e g an input interrupt or HSC interrupt then the CPU will have to complete the current interrupt service routine before it will run the PTI interrupt function Notes 1 Limit the use of PTI only for critical code that requires precise timing between two events Program bugs that occur due to problems in the PTI interrupt routine may be quite hard to debug 2 For normal periodic routines such as checking for temperature or checking serial port for incoming bar code data every few seconds it is better to use the system clock pulses e g Clk 1 0s to trigger a dCusF 3 Always try to keep your interrupt service routine short and simple and ensure that it will not end up in an endless loop The TBASIC custom function execution time should be much shorter than the period of the PTI events Otherwise you may find that the CPU will be spending most of its time servicing the PTI interrupt routine leaving very little time for scanning the ladder program and that will have an adverse impact on the CPU performance 9 3 Power Failure Interrupt PFI The Nano 10 CPU has a built in power failure sensing circuit that will call a custom function when it detects an impending power failure This allows you to perform such critical function such as saving critical data to the PLC s non volatile memory see Section 1 6 2 ju
210. on 6 40 or later to store and retrieve up to 128K bytes of non volatile EEPROM memory to store additional data This will be described in the next section 17 1 3 12C FRTC Availability The I2C FRTC is intended for advanced users only so it may not be available for general online sales in the shopping cart system If you wish to obtain pricing or would like to place an order please contact sales directly via email sales tri plc com or phone 877 874 7527 to inquire 17 2 New TBASIC Commands I2C_ READ I2C WRITE and I2C STOP TRIANGLE I T TRI RESEARCH INTERNATIONAL Chapter 17 12C Communication These 3 new TBASIC commands are only available on i TRILOGI version 6 40 and above and they are only enabled on Nano 10 or FMD PLCs that are installed with 12C FRTC If you are still running the older version of I TRILOGI you can get a free update by clicking on the Help menu on your production version of I TRiLOGI software and follow the Upgrade TRILOGI link to download the latest I TRiLOGI software in order to use these 3 newly added commands Both I2C_WRITE and Il2C_ READ commands use a range of data memory DMI to transmit the data to be written into the device or to be read from the device The parameters comprise the I2C slave address the starting index of the DM memory location to use and the number of bytes to be sent received from the slave 17 2 1 12C WRITE ACK ACK ACK NO ACK an
211. on the same LAN and the PLC will not be able to open network connection to any other devices beyond the PC that it is connect to this way Sometimes the PC that is connected directly to the PLC via Direct Ethernet Connection may lose its Internet connection via Wi Fi This is because the O S thinks that the direct Ethernet connection to the PLC is a real network connection and attempt to route TCP IP packets through it That will result in a connection failure If this occurs and you need to access the Internet then please temporarily remove the Ethernet cable from the PLC and the PC should then be able to access the Internet again Windows 7 Ethernet Configuration 1 Open the Network Window The first thing you will need to do is open the Network window from the Start menu by selecting Network as shown here INTERNATIONAL TR RESEARCH 2 13 Chapter 2 Ethernet Port Lorn puter POWERPNT EXE a calc exe Connect To Control Panel a photopnt exe Tis P P Default Prograrns filezilla exe Help and Support fg WindowsPhotoGallery exe aj notepad exe Windows Security Kita rt Search 2 Open Network and Sharing Center In the Network window click on the Network and Sharing Center option on the top pane as in the below picture File Edit YWiew Tools Help By Organize BZ Views RS Network and sharing Center ia Ad 3 Manage Network Connections In the Network and Sharing Center wind
212. on then waits for a response string and checks the integrity of the received response string for errors This function returns a string only if a proper response string has been received Please refer to the TBASIC Reference for a detailed explanation of this command The NETCMDS function therefore greatly simplifies the programming tasks for handling networking between PLCs The programmer only needs to construct the correct command string according to the formats described in this chapter pass the formatted string to the NETCMD function and then check for the response string The Nano 10 PLC may use the NETCMD to map the I O of another PLC into its internal relays and use the other PLC as its remote I O There are some programming examples in your TRILOGI TL6 usr samples folder that illustrate the use of NETCMD to map I Os of a slave PLC to the master Please study the two examples RemotelO Hseries PC6 and RemotelO Mseries PC6 carefully to understand the mechanism of mapping I Os between the PLCs The TRILOGI program REMOTE Hseries PC6 will work on the H series M series or F series PLCs as slaves whereas the program REMOTE Mseries PC6 will only work with another FMD F series Nano 10 or M series slaves This is because the F series and M series host link command set is a superset of the H series host link command set and this example uses the more efficient M series host link commands to read write 16 bit da
213. ort On the Linksys WRT54G router you would configure it from the Applications amp Gaming menu under the Port Range Forward tab as shown below LINKSYS A Division of Cisco Systems Inc Wireless G Broad Applications Access Applications amp Gaming Setup Wireless Security Restrictions amp Gaming Port Range Forward Port Triggering DMZ Port Range Forward Port Range 2 8 2 Large Corporate Local Area Network In the case of a medium to large corporate LAN whether incoming and outgoing TCP IP packets are allowed to go through the corporate firewall is entirely decided by the System Administrator according to the company s security policy Most corporate LANs will not allow incoming packets from reaching an internal server until the System Administrator has given the permission to do so Some company s network may not even allow devices such as the PLC to open a connection to the Internet to access external data If your application requires the PLC to access the Internet or to be accessible from the Internet then you would need to consult your system administrator on the required procedure TR RESEARCH 2 3 INTERNATIONAL Chapter 2 Ethernet Port 2 9 Installing a Web Page or Web Applet into the Nano 10 PLC using FileZilla The Nano 10 PLC web server space can host up to 60 kilobytes of data files which can be HTML JPG JS JavaScript files etc This can be expanded by 256kb
214. ou have installed the configuration program please click on the Windows Start button and open the F series PLC Configuration group and select the Ethernet Configuration Utility program The following screen should appear This configuration program can only communicate with the PLC via its serial port RS485 in the case of Nano 10 If you PC already has an RS232 port IP Address fig2 fies e or USB RS232 adapter you can purchase an Subnet Mask 255 255 Her Auto485 adapter to obtain the required RS485 interface Otherwise it may be more convenient to Gateway P ddr 1 g2 1 purchase a USB to RS485 adapter e g SMTP Server g fo i http www tri plc com U 485 htm for the program DNS Sewer fo Jo din to work with the Nano 10 PLC F Server Port 9080 NOTE F Server First click on the Serial Setup button and set the Modbus TCP agp Mot BT PC s COM port to the same settings as the PLC s peecngeubete CIS ae ea RS485 port default settings are 38 400bps 8 data bit 1 stop bit and no parity It is important that you select a valid COM port on the PC Usemame Use Usermame Password otherwise the program will report an error when it Password PI fails to open the COM port The selected COM port RI Serial number is shown in a small text box below the Access Level 1 Programmer aE Serial Setup button so that you can see the COMS currently selected COM port readily m F S
215. ou keep encountering communication errors and you are unable to erase the bad program This is especially common if you have been experimenting with the communication commands such as SETBAUD SETPROTOCOL PRINT or OUTCOMM These commands may modify the communication baud rate format or protocol or set the PLC to send data out of a COMM port that conflict with i TRILOGI In such cases you can short the jumper J4 and perform a power on reset for the PLC The PLC will not execute the bad program that causes communication problems and you can then transfer a new program into the PLC to clear up the problem Note that when the PLC has been power reset with Jumper J4 closed the COMM1 RS485 serial port will boot up with default baud rate and communication format of 38 400 8 n 1 This differs from the T100M PLC TRIANGLE 1 TRI RESEARCH INTERNATIONAL Chapter 1 Installation Guide TRI RESEARCH 1 12 INTERNATIONAL Chapter 1 Installation Guide 1 8 Real Time Clock The Nano 10 PLC has a built in Real Time clock RTC that keeps track of the time and date and can be used to trigger time based events readily However on the standard Nano 10 there is no battery backup of the RTC This means that when the Nano 10 is powered up the real time clock is set to the factory default date of 2000 1 1 and time at 0 00 00 On the other hand if you have connected the Nano 10 PLC to the LAN you can program the PLC to automatically a
216. ow click on the Manage network connections option under the tasks pane on the left side of the window as in the below picture i ry ih RE Control Panel Network and Sharing Center File Edit View Tools Help Tasks Network and Sharir View computers and devices Connect to a network Set up a connection or network Manage network connections TRI RICHMI 4 Follow steps 2 5 in the Windows XP Ethernet Configuration section above to complete the setup as it is the same process TR RESEARCH 2 14 INTERNATIONAL Chapter 2 Ethernet Port Windows 8 Ethernet Configuration 1 Open the Network Window The first thing you will need to do is open the Control Panel from the Start menu by right clicking in the bottom left corner of the screen where the Start Menu is accessed below left screenshot E e a Control Panel Programs and Features t amp Mobility Center Power Options Adjust your computer s settings Event Viewer or System and Security Device Manager Review your computer s status Disk Management Save backup copies of your files with File History Computer Management Find and fix problems Network and Internet View network status and tasks Command Prompt Command Prompt Admin i Choose homegroup and sharing options Task Manager n Hardware and Sound es View devices and printers File Explorer Add a device Search Adjust commonly used mobility settings nu
217. owing MIME type are also supported ZIP XLS Any unsupported extension will be converted to e There is 2Kb of reserved space for each File 0 through 9 and A through T e Ifthe HTML file is more than 2kb then more than one file space will be used e fa file takes up multiple 2kb locations and another file is added within one of the used locations the larger file will be corrupted and no longer accessible For Example the file O HTM is about 3 5kb so it takes up two 2kb locations 0 and 1 which is why the second preloaded file is 2 HTM If you attempted to add a file named 1 HTM it would corrupt O HTM but 1 HTM would work TR RESEARCH 2 39 INTERNATIONAL Chapter 2 Ethernet Port Uploading Files When you are ready to transfer your modified HTM file you just need to drag it from the folder it is saved to on your computer into the bottom right window of FileZilla where the current files are shown If you didn t change the filename you can tell the new file to overwrite the old file Otherwise you will need to manually delete the old file O HTM or 2 HTM from the Nano 10 web server in FileZilla by right clicking on it and selecting Delete 2 9 4 Download the Web Page Files If you have modified the original O htm and 2 htm or N JS files that were preloaded in the Nano 10 server and need to retrieve the original files it is
218. own how to transfer html files to the FServer Click on the following link to download this new web application http www tri plc com download webapp webapp02 zip The Webapp02 zip file you downloaded above or in Section 2 9 for the Nano 10 PLC contains two folders 1 WebApp FMD amp Nano10 2 WebApp FxPLC Select 1 WebApp FMD amp Nano10 which contains the following Sample control web page 0 HTM A readme file Readme txt A download link UserGuide htm for the quickstart modification guide PLC program file for TRILOGI 6 webAppTest PC6 that can be loaded in the PLC The user guide describing how you can modify the control webpage can be downloaded directly from http www triplc com documents WebApp UserGuide pdf This is also discussed on the TRi support forum htto www triplc com yabbse index pho board 2 action display threadid 2090 2 10 1 Next Generation of Super PLC Web Control These web files can be accessed from any standard web browser that supports AJAX technology Internet Explorer Firefox Chrome Safari locally as long as your NANO 10 PLC is connected to the LAN local area network or from anywhere in the world as long as your NANO 10 PLC is connected to the Internet Even the iPhone Android phones and other smartphones that support AJAX can be used to access these web pages which means your application can be controlled and monitored from anywhere while on the go This new version make
219. page boundary in mind when performing a page write The following picture depict the page write command T g g RAN ACK ACK ACK ACK ra Data in 2 J Page Write ACK ACK aT Page Write cont d i ad stop Example To write 4 byte of data XX to the EEPROM address 19876 to 19879 amp H4DA4 in first 64K bank you need to do the following DM 11 amp H4D DM 12 amp HA4 DM 13 xx your data byte 1 DM 14 yy your data byte 2 DM 15 zz your data byte 3 DM 16 ww your data byte 4 I2C WRITE amp H50 11 6 write 6 bytes of data from DM 11 to DM 16 I2C_STOP necessary to end the write cycles The data contained in DM 13 to DM 16 will be written to the EEPROM address amp H4DA4 to amp H4DA7 17 2 6 Random Read From M24M01 EEPROM ACK ACK ACK ACK ACK Sequention TE aA BZ T Read z E in R W in RAW ACK NO ACK ani Data out N d Stop LC TRIANGLE 17 7 TR RESEARCH INTERNATIONAL Chapter 17 12C Communication Reading data from a random EEPROM location is slightly more involved than writing You need to first use the I2C_ WRITE command to set the memory pointer inside the M24M01 to point to the memory address location then immediately followed by I2C_READ command to read one or more data bytes starting from the pointer address After every byte is read the internal pointer will be incremented automatically and point to the
220. ponded to in the correct order and in a timely manner 19 2 Application Ideas for Modbus TCP Gateway The Modbus TCP gateway function can be very useful for many large area control systems such as a building automation system A master FMD or F series PLC is linked to many Modbus RTU slave controllers via RS485 bus distributed across an entire building The master PLC can perform sophisticated control functions since it has read write access to ALL the Modbus RTU slaves it connects to At the same time a Modbus TCP client software such as a Building Management System BMS can access any registers in the master PLC or ANY of the slave Modbus RTU controller directly via the master PLC acting as a gateway for the slave PLCs 19 3 Configuring The PLC As Modbus TCP Gateway The command used to define a serial port to become Modbus TCP Gateway serial port is as follow SETSYSTEM 12 n Where n 1 2 or 3 for COMM1 COMM2 and COMMS port This statement must be run once could be during start up via 1st Scan pulse to configure the serial port n to be used to send out RTU commands and received RTU responses If SETSYSTEM 12 n is not run then the Modbus gateway function will be disabled Here is how it works A Modbus TCP client such as a SCADA HMI etc would send a Modbus TCP request with a specific 8 bit Modbus slave ID to the gateway PLC If the ID matches the native ID that is assigned to the gateway PLC then the PLC will react normally by sendi
221. positive PWM control pulse to the Servo you can run the following statement SETPWM 2 500 50 Set PWM 2 output to 5 duty cycle at 50 Hz Likewise to send a 10 positive PWM control pulse to the Servo you can run the following statement SETPWM 2 1000 50 Set PWM 2 output to 10 duty cycle at 50 Hz Of course you can replace the duty cycle with a value e g DM 1 and run statement such as SETPWM 2 DM 1 50 Set PWM 2 output to DM 1 100 duty cycle at 50 Hz 11 4 3 RC Servo Positioning Resolution Since the resolution on the Nano 10 PLC s PWM output is precise to 0 01 at 50Hz this means that you can get a maximum of 500 discrete positions within the travel range of the RC Servo This should be sufficiently accurate for many applications such as HVAC damper control or control of proportional valves The actual positioning accuracy and precision however will depend on the quality of the RC Servo 2 TRIANGLE _ T RESEARCH 1 9 INTERNATIONAL Chapter 12 Real Time Clock Chapter 12 Real Time Clock T TRIANGLE T RESEARCH INTERNATIONAL Chapter 12 Real Time Clock 12 REAL TIME CLOCK 12 1 Introduction A Real Time Clock RTC is a device that keeps accurate date and time information down to the second The Nano 10 has a built in Real Time Clock that provides calendar and time data for year month date day of week hour minute and second but it is not battery backed You can however easily add an
222. possible to download them from the following web page http www tri plc com nano updates nanoHMI zip Note that the N JS file within the above zip file is password protected so you will need the password to open it This information is stored at the beginning of the N JS file which can be opened with any standard text editor such as Notepad If you have lost this file then you will need to email support support tri plc com with proof of purchase of the Nano 10 PLC and the password will be provided 2 9 5 Troubleshooting FileZilla File Transfer Problems 1 FileZilla appears to have connected to the PLC s FTP server but it cannot list the directory or transfer any file to the PLC The reason almost always have something to do with the PC s software firewall You need to configure the Windows Firewall and any software anti virus firewall on your PC to allow incoming connections to the FileZilla program You can try to disable the firewall temporarily to test the connection and if does work you can then be sure that it is the firewall configuration issue that need to be resolved The following paragraphs explain how the firewall can affect the FIP communications for those who are interested The File Transfer Protocol is unique in that it requires two socket connections between two devices that are communicating via FTP When FileZilla is connected to the PLC s FTP server on port 21 it establishes a command channel and
223. put bit 2 is mapped to 4 0257 2 etc This is how it is shown in Table 14 1 However if you do not need to manipulate the individual bit then you simply use the address 4 0001 to access the system variable INPUT 1 and address 4 0257 to access the system variable OUTPUT 1 Note that INPUT 1 and OUTPUT 1 are TBASIC system variables and they each contain 16 bits that reflect the on off status of the actual physical or internal input and output bits 1 to 16 14 6 2 MODBUS RTU Protocol Support The Nano 10 PLC also supports the MODBUS RTU protocol The difference between the ASCII and RTU protocols is that the latter transmits binary data directly instead of converting one byte of binary data into two ASCII characters A message frame is determined by the silent interval of 3 5 character times between characters received at the COMM port Other than that the function codes and memory mappings are identical to the MODBUS ASCII protocol Table 14 1 therefore applies to the MODBUS RTU protocol as well MOBBUS RTU has the ae command and response format Address Function Data CRC16 at of 3 5 1 byte 1 byte byte 2 bytes te of 3 5 char times char times The following Function Codes are supported 01 02 Read I O bit Use Bit Address Mapping in Table 14 1 03 04 Read I O Word registers Force I O Bit Use Bit Address Mapping in Table 14 1 06 Preset Single Word Register Preset Multiple Word Registers TR RESEARCH 14 10
224. r 16 This register corresponds to MODICON address 40017 and is the OUTPUT 1 of the slave PLC The ability to speak MODBUS RTU greatly extends the type of peripherals that can be used with a Nano 10 PLC You can now make use of many off the shelf third party RTU devices to extend the PLC capability TR RESEARCH 14 13 INTERNATIONAL Chapter 15 Host Link Communication Protocol Chapter 15 Host Link Communication Protocol TRIANGLE TR RESEARCH INTERNATIONAL Chapter 15 Host Link Communication Protocol 15 HOST LINK PROTOCOL INTRODUCTION While a Nano 10 PLC is running it may receive ASCII string commands that read or write to its inputs outputs relays timers counters and all the internal variables from a host computer or another Nano 10 F Series or T100M PLC These ASCII commands are known as the Host link commands and are to be serially transmitted via RS485 port to and from the controller The default serial port settings of the Nano 10 PLC for host link communication are 38400 baud 8 data bit 1 stop bit no parity The baud rate and the communication format may be changed using the SetBAUD TBASIC command described in the i TRILOGI Programmer s Reference Nano 10 PLC supports the full set of Host Link command protocol found on F series and M series PLCs Hence if you are already familiar with the F or M series host link protocol the command formats are identical 15 1 Multiple Communication Protocols
225. r J4 is turned ON which halts the program 5 A run time error has occurred If this light is ON please connect the host computer running i TRILOGI to the PLC and run the On Line Monitoring program You will be informed of the reason that caused the PAUSE condition Except for condition 1 and 4 you can release the PLC from the PAUSE state by clicking on the Pause button or by pressing the lt P gt key during On Line Monitoring If the PLC s program is corrupted then you must re transfer your program to the PLC If a run time error has occurred the PLC will halt at the CusFn where the error took place If the programmer now executes the On Line Monitoring command in I TRILOGI the cause of the run time error and the CusFn where the error occurred will be reported on TRILOGI screen Although the Nano 10 PLC does not have built in LCD port you will still be able to view the virtual LCD display on the Online Monitoring View Variable screen that displays the cause of the runtime error and the function where it occurred The TBASIC simulator captures many possible run time errors including out of range values but in the Nano 10 only a few most important run time errors are reported The remaining errors are ignored The following are the few run time errors that will be reported in the Nano 10 PLC TRI RESEARCH I 13 INTERNATIONAL Chapter 1 Installation Guide Divide By Zero FOR NEXT loop with STEP
226. ral device and it is controlled by a set of communication protocol described in the MDS100 BW installation guide 13 1 SETLCD Command The SETLCD y x string TBASIC command allows you to easily display any string of up to 20 characters on the y line starting from the x column E g to display the message Super Nano 10 on the 3 line starting from the 5th character position from the left end of the screen you use the command SETLCD 3 5 Super Nano 10 Normally y 1 2 3 4 x 1 2 20 Integers must be converted to strings using the STR or HEX function before they can be displayed using SETLCD You can use the concatenation operator to combine a few components together in the command E g SETLCD 1 1 Rm Temp STR ADC 1 100 3 CHR 223 C The function STR ADC 1 100 3 reads the content of ADC channel 1 divides it by 100 and converts the result into a 3 digit string The CHR 223 appends a special character which corresponds to the symbol E g if ADC 1 returns the value 1234 the final string being displayed will be Rm Temp 012 C 13 2 Special Commands For LCD Display If you use the SETLCD command with line 0 then the strings will be treated as special instructions to be sent to the LCD module to program it for various modes of operation This includes blinking cursor underline cursor or no cursor as well as display shift mode You have to refer to th
227. ration Tool in the PLC configuration routine mentioned in Chapter 2 The data field to be used is the RTC Calib textbox as shown below RTC Calib seconds 72 hours In the above field you will need to enter the number of seconds that you want the PLC to add or subtract over a period of 72 hours Therefore first you must check the PLC s RTC reading against a super accurate clock source e g a clock that regularly updates itself with atomic clock data in the airwaves and find out how many seconds the clock would have gained or lost over 72 hours For example if the RTC is too slow and it loses 5 seconds over 72 hours you would want the RTC to add 5 seconds over 72 hours and you therefore should enter the value of 5 in the RTC Calib field If the RTC is too fast and gains 8 seconds over the 72 hours then you should enter a value of 8 in this field to compensate for the inaccuracy Note that the RTC does not compensate for temperature variation Hence its accuracy is temperature dependent If you require the PLC s RTC to be very accurate you should keep the PLC under a constant operating temperature If your Nano 10 is connected to a LAN then you also have the option of having the RTC periodically set itself using the very accurate RTC data that can be obtained from a time server on the Internet See Section 2 5 TRI RESEARCH 12 4 INTERNATIONAL Chapter 12 Real Time Clock 12 9 Control of RTC Ha
228. rator and may not even be permitted by the corporate network security policy The PLC is designed to upload data to any web server via FTP passive mode by providing the login username and password Using FTP passive mode allows the PLC to open a network connection to an external web server to upload a file and then close the connection immediately lt does not require opening a port on your router firewall to permit external access to the PLC from the Internet Hence there is no complicated router setup involved as there is no port forwarding required It also eliminates the security risk from someone trying to take control of the PLC from outside of your LAN and is generally much more acceptable to the System Administrator If you have multiple PLCs in use you can program each PLC to upload data to a different directory or append a different file name prefix or to different servers and once programmed all PLCs will happily log data unattended indefinitely 18 2 File Structure and File Naming of The Extended File System All of the information in chapters 2 9 and 2 10 of this manual regarding the built in 60K bytes of web server space will apply to the extended 256K bytes of data file storage on the FRAM RTC 256 with exception on the naming scheme which will be explained below All files in the Extended File space can only use the file name Zxxx yyy The xxx part of the beginning of the filename is a 3 digit decimal number which can be an
229. rdware On Nano 10 PLC with r72 and above firmware you can use the following command to control the RTC hardware SOETSXSTEM 255 N n 0 otop baile RIC 1 Bun pailt in RIC 2 Disable auto RTC update from FRAMRTC 3 Enable auto RTC update from FRAMRTC An example program RTCcontrol PC6 is included in the Nano10Samples zip file that you can download from http www tri plc com trilogi Nano10Samples zip 12 10 Troubleshooting the FRAMRTC If the RTC Err bit is ON indicating a bad RTC and the battery is properly installed on the FRAMRTC then the RTC component on the FRAMRTC could be corrupted or damaged This could happen if there was any damage to the components on the board such as I O drivers communications drivers or any of the IC s or PCB circuitry Also if a voltage spike came into the PLC through its I O power supply or communications ports that could cause some corruption even if there was no component damage If the RTC is only corrupted then you should only have to set the RTC to resolve the problem This can be done most easily by using the TRILOGI method of setting the RTC that was described in section 12 4 After setting the RTC the PLC should be powered off and then powered on again The RTC Err bit should be off at this point but if it isn t then there is a possibility of damage to the PLC At this point you should contact Triangle Research tech support or if you have purchased the unit from a lo
230. re backup to the flash memory O UR RESEARCH 4 4 INTERNATIONAL Chapter 4 Timers Counters amp Sequencers As described in section 1 6 2 the backup process only occurs when the PLC is reset rebooted or when the SETSYSTEM 252 0 command has been executed Therefore if you want the new SVs to be permanently stored in the PLC you will have to either run the SETSYSTEM 252 0 command once or perform a software reset to backup these new data to the flash memory so that the changes can become permanent 4 3 5 Controlling a Timer or Counter in a Custom Function You can activate a timer or a counter directly from within a custom function simply by assigning their present value counter to a desired value E g To start a 50 seconds timer TIMERPV 2 500 Timer 2 will time out 50 0 seconds later E g To decrement a counter or a sequencer CTRPY 10 CTRPV 10 1 Counter 10 as decremented by 1 4 4 Programming Sequencers on Ladder Logic 4 4 1 Introduction TRILOGI Version 6 xx supports eight sequencers of 32 steps each Each sequencer uses one of the first eight counters Counter 1 to Counter 8 as its step counter Any one or all of the first eight counters can be used as sequencers Seqi to Seg8 To use a sequencer first define the sequencer name in the Counter table by pressing the lt F2 gt key and scroll to the Counter Table Any counter to be used by the sequencer can only assume label names Seg1
231. remove the characters from the serial buffer queue so these data are still visible to the user s program As long as the user program retrieves the data before the 256 byte buffer is filled up no data will be lost If more than 256 bytes have been stored the buffer wraps around and the oldest data is overwritten first and so on The following describes how INCOMM and INPUT PRINT and OUTCOMM functions interact with the serial buffer a INCOMM n Every execution of the INCOMM n function removes one character from the circular buffer When no more data is available in the buffer this function returns a 1 The data removed by INCOMM will no longer be available for the INPUT 1 command b INPUT n When the INPUT 1 function is executed the CPU checks the COMM1 buffer to see if there is a byte with the value 13 the ASCII CR character which acts as a terminator for the string If a string is present all the characters that make up the string will be removed from the COMM1 buffer If a completed string is not present then the COMM1 buffer will not be affected and INPUT 1 returns an empty string This ensures that before a complete string is received the serial characters will not be lost because of the unsuccessful execution of the INPUT 1 function c INPUT n in Blocking Mode INPUT n is designed to be non blocking and to return immediately i e either it returns a complete string or it returns an empty string This me
232. rst output using the output register CLRBIT OUTPUT 1 7 This will turn off the 8th output using the output register 2 Using SETIO labelname CLRIO labelname SETIO out This will turn on the output out1 CLRIO out5 This will turn off the output out5 INTERNATIONAL a TRIANGLE _ URN RESEARCH 3 4 Chapter 3 I O and Internal Relays Programming In this case out and out5 would need to be entered in the I O Table as an output Otherwise there will be a compilation error 3 3 4 Example 2 Toggle an Output TOGGLEIO light This will change the output light from off to on or on to off The output light would need to be entered into the I O Table as an output as well and could represent any desired output 3 3 5 Example 3 Test the Status of an Output This can be done using both the TESTBIT v n and TESTIO abelname command Using TESTBIT v n X TESTBIT INPUT 2 1 status of input 10 on 1 off 0 is stored in variable X Using TESTIO abelname X TESIO button status of input button defined in the I O table is stored in variable X TRIANGLE 3 5 TRI RESEARCH INTERNATIONAL Chapter 4 Timers Counters amp Sequencers Chapter 4 Timers Counters amp Sequencers TRIANGLE TRI RESEARCH INTERNATIONAL Chapter 4 Timers Counters amp Sequencers 4 TIMERS COUNTERS AND SEQUENCERS 4 1 Introduction The Nano 10 PLC supports 64 timers with 0 1s or 0 01s time base
233. rt are set by the following command SETBAUD ch baud_no ch represents the COMM port number 1 only The baud_no parameter takes a value from 0 255 amp HO to amp HFF which allows for additional configuration of the communication format The upper 4 bits of baud_no specify the communication format number of data bits number of stop bits and parity and the lower 4 bits represent the baud rate Hence the baud_no for 8 data bit 1 stop bit and no parity is the same as the old models providing compatibility across the PLC families Once the new baud rate has been set it will not be changed until execution of another SETBAUD statement The baud rate is not affected by a software RESET but the settings will be lost when the power is turned OFF The available baud rates and their corresponding baud rate numbers for COMM1 2 and 3 are shown below Format baudno Format _ baud no TRIANGLE 14 2 TR RESEARCH INTERNATIONAL Chapter 14 Serial Communications 0000 xxxx ie 0001 xxxx 1 0100 xxxx 0101 xxxx r 82o omiwx 1 1 Where xxxx represents the baud rate of the comm port as follow xxxx 0000 Baud Rate 2400 2400 4800 9600 19200 31250 38400 57600 xxxx 1000 1001 1010 1011 1100 1101 1110 1111 110 150 300 600 1200 A table of all the available baud rates and COMM formats is shown in the following page The communication format written as 7 2 e which means
234. s Timers and Counters Contacts The bit addressable I Os elements are organized into 16 bit integer variables TIMERBIT n and CTRBIT n so that they may be easily accessed from within a CusFn These I Os are arranged as shown in the following diagram VO numbers 33 32 17 16 TIMERBIT 3 TIMERBIT 2Z TIMERBIT 1 CTRBIT 3 CTRBIT 2Z CTRBIT 1 4 3 3 Changing The Timer and Counter Set Values in a Custom Function You can use the SetTimerSV and SetCtrSV functions to change the Set Value SV for a timer and counter respectively An example of this is shown below SetTimerSV 1 500 Define Timer 1 to have a Set Value of 500 SetCersv 10 1000 Define Counter 10 to have a Set Value of 1000 4 3 4 Volatility of Nano 10 Timer amp Counter Set Values It is important to know that regardless of whether an FRAMRTC is installed all the Set Values SV of timers and counters in Nano 10 PLC are stored at special pseudo EEPROM areas reserved for storing configuration data We have described in detail how the pseudo EEPROM are implemented in the Nano 10 PLC see section 1 6 2 Although this pseudo EEPROM area for storing configuration data is separate from the user EEPROM area that you access with the SAVE_EEP and LOAD_EEP commands the underlying mechanism works the same way That is to say if your TBASIC program changes the SVs using the SetTimerSV and SetCtrSV command the new SVs are only temporarily stored in the PLC RAM area until they a
235. s use of the newer Jquery UI and no longer utilizes the M JS JavaScript file Instead it calls the Jquery file remotely no longer stored inside the PLC Either way the web files are only accessible from standard browsers that support AJAX technology However the HTML files are designed to be easily modified by anyone even if you don t have any programming experience The purpose is to be able to easily customize the web page layout for your specific application by defining some label names and a background image without having to worry about the programming required to interface to the PLC which is already taken care of TR RESEARCH 2 39 INTERNATIONAL Chapter 2 Ethernet Port The basic HTML file O HTM is the file where simple modifications can be made All of the provided HTML files are actually 0 HTM because only the first character of the name is used so 0 C001 02 HTM becomes 0 HTM this example refers to the files in the Fx Web App folder The first release of this new Web control application accepts up to 16 I O buttons linked to Relay 128 to 144 16 floating point FP variables only supported on Fx and EZWire PLCs 16 DMI variables and 8 sliders that can be attached to display and or control any of the FP 1 to FP 16 not applicable to NANO 10 PLCs or DM 1 to DM 16 variables Any of these control elements can be selectively displayed and their position size and color are all user customizable using a simple
236. same can be done for the counter coil by selecting the 7 component from the toolbar x and then selecting a counter that has been entered into the I O Table Then a counter contact needs to be added as an input to a ladder logic circuit This contact will activate once the counter counts down This could be used to turn on an output after a certain count is reached Placing a counter contact in a circuit is the same as placing any contact in a ladder circuit except that the corresponding counter should be selected from the Counters section of the I O table After creating a ladder circuit that contains one input and one counter output and another ladder circuit that contains one counter contact and one output the ladder logic circuit should like something like Figure 4 4 below ie TRILOGI Version 6 14 Untitled File Edit Controller Simulate Circuit Help _cireuit 2 AH HHH H 1 m dg Serle Gri 7 RSI Counter Figure 4 4 Completed Counter Circuit RESEARCH LF INTERNATIONAL TT TRIANGLE 4 3 Chapter 4 Timers Counters amp Sequencers 4 3 Programming timers and counters in Custom Function 4 3 1 Programming Timers and Counters Present Values The present values PV of the 64 timers and 64 counters in the PLC can be accessed directly as system variables timerPV 1 to timerPV 64 for timers present value ctrPV 1 to ctrPV 64 for counters present value 4 3 2 Accessing Inputs Outputs Relay
237. set the LAN speed of the Nano 10 PLC to be either 10 Mbps or 100 Mbps default per second using this menu option Most modern Ethernet switch or router will automatically connect to the PLC using its default LAN speed and there is usually no need for user to configure this option except in very special application where the devices are connected via a 10Mbps Ethernet hub which demands all connected device to be set to the same 10Mbps LAN speed 2 1 9 Node Name You can assign up to 16 ASCII characters any character in naming a PLC The node name is currently not used by the network router so it is merely a convenient name for user to identify a PLC 2 1 10 Username and Password FServer only You can use the username and password feature to prevent unauthorized access to the FServer It adopts the same proprietary encryption scheme used in the TLServer and TRILOGI software to encrypt the password transmission However unlike the TLServer software that allows you to define unlimited number of usernames and passwords the FServer only permits a single username and password and this is limited to a length of 16 characters each 2 1 11 Use Username Password Yes No In applications where there is no danger of unauthorized access to the PLC via FServer you can elect not to use the username password With the No option selected the TRILOGI client or Java Applet can log in to the FServer using whatever username and password since FSer
238. sfer file if the FTP Server is located on the Internet The alternative active mode transfer requires the server to make a data connection back to the PLC that is sitting behind a router firewall and that can be problematic unless the router is specifically configured to forward the data port to the PLC 18 7 2 PLC FTP Upload Procedure In order to upload file to the FIP Server the PLC would use the PRINT 4 lt TCPConnect XXX XXX XXX XXX 21 gt command tag to connect to the FIP server port 21 to establish the command connection to the FTP Server The PLC uses its PRINT 4 to send and INPUT 4 to receive ASCII text strings from the FTP server via the command channel The PLC would then send the command PASV to inform the FTP server that it wants to transfer a file in passive mode At this point you can use the PRINT 4 command to send any valid FTP command to the server including changing directory CWD command make sure the directory exist deleting a file DELE command beware of what you are deleting etc When the PLC is ready to start a file transfer to the FTP server the server will in turn provide the PLC with the port number that it has opened for the PLC to connect to establish a data connection Upon receiving this port number the PLC will make a second TCP connection to the given port and then the actual file transfer will begin A new network service command tag named FTPUPLD handles the negotiation
239. side the side of the screw terminal block All digital inputs are directly programmable in Ladder Logic as well as in TBASIC custom functions Some programming examples are detailed in Chapter 3 Digital I Os and Internal Relays TRIANGLE I H TRI RESEARCH INTERNATIONAL Chapter 1 Installation Guide 24V NANO 10 NANO 10 Limit Switch Normally Open NPN sensor Input O OV OV Input logic 1 when Limit Switch is closed Input logic 1 when object is sensed Input Voltage for Logic 0 Open Circuit or 10V to 24VDC Input Voltage for Logic 1 OV to 2 5V DC Figure 1 5 Interfacing to Limit Switch and NPN Sensor 1 5 Digital Output Circuits 1 5 1 Electrical Specifications Output 1 amp 2 Output 3 amp 4 Output Driver type NPN Darlington Voltage free Contacts Transistors Isolated pair per output Maximum Breakdown Voltage 1000V RMS 1 min Maximum Output Current 4A 5A 24V 120VAC 2A 250VAC Continuous Output Current 2A 5A 24V 120VAC 2A 250VAC Output Voltage when OFF Resistor pulled up to None 24V power rail Output Voltage when ON 0 2V 2A OV 2A Inductive Back EMF Bypass Yes None Intrinsic Zener 55V All outputs have red colored LED indicators The Nano 10 PLC employs sinking NPN type power MOSFET on its two solid state output 1 and 2 that turn ON by sinking current from the load to the OV terminal Note Output 1 and 2 can also be confi
240. sponse string as RVD3039 16 15 Read Variable System Variables This command allows you to read all the Nano 10 PLC s 16 bit system variables such as the inputs outputs relays counters timers timers P V counters P V CLK and DATE Although inputs outputs etc are also accessible via the RI RO RR commands the RVS command can access them as 16 bit words instead of as 8 bit bytes in those commands For the 32 bit system variable HSCPV use the RVH command described in the next section to access it It may be more conventional for some SCADA software driver to use a single header command RVS to access all the I O varying only the type number to access different I O types The RVS command also can be used to access the internal variables used to store ADC DAC and PWM values obtained during the latest execution of the ADC setDAC or setPWM statement These are however not system variables in the TBASIC sense E g it is illegal to use ADC 2 to access the ADC channel 2 in TBASIC you have to use the ADC 2 function instead An 8 bit hexadecimal number is used to denote the type of system variable as shown in the following table System ctrPV 07 Not a system variable in TBASIC but readable TRIANGLE I 6 TRI RESEARCH INTERNATIONAL Chapter 16 Host Link Command Response Format Command Format R Iv Ss n n jie te gt
241. ssible for your PC to communicate directly with an NANO 10 PLC through the Ethernet port This means that you can have a peer to peer connection between the NANO 10 PLC and your PC without an Internet connection or any additional network equipment The PC being used would need a spare Ethernet port in order to do this What You Will Need 1 APC with a spare Ethernet port RJ45 connection 2 An Ethernet cable 3 ANANO 10 PLC There are two types of Ethernet cables A standard straight through cable which is used in most situations and a crossover cable which is required when there is no auto switching hardware in either of the two Ethernet ports PC and PLC The NANO 10 PLC does NOT have auto switching capabilities so it will depend on the PCs Ethernet port whether or not a crossover cable is required If you are not sure if your PC s Ethernet port is able to perform auto switching most modern PC has auto switching built in then it is best to use a crossover cable A crossover Ethernet cable will work in both situations but a straight through Ethernet cable will only work if one or both of the Ethernet ports can perform auto switching How to Set Up Your PC Before you can communicate with the PLC you will need to configure the Ethernet port on your PC to match the settings that you configured in the PLC default IP is 192 168 1 5 For more information on configuring the PLC Ethernet settings see section 2 1 Configuring The Etherne
242. st before power failure The syntax for the PFI is as follow INTRDEF 17 cfnum 1 Interrupt 17 is reserved for PFI cfnum custom function number to execute when PTI event takes place E g INTRDEF 17 256 1 call function 256 when power failure occur TRIANGLE 9 3 TR RESEARCH INTERNATIONAL Chapter 10 Stepper Motor Control Chapter 10 Stepper Motor Control TRIANGLE TR RESEARCH INTERNATIONAL Chapter 10 Stepper Motor Control 10 STEPPER MOTOR CONTROL 10 1 Technical Specifications No of Channels control signal Max Pulse Rate pps 10000 2A 24V DC Driver Breakdown Voltage 55V Velocity Profile Trapezoidal Defined by STEPSPEED accelerate from 1 8 max pps to max pps decelerate from max pps to 1 8 max pps Maximum number of steps 2 2 2 1x 10 Maximum number of steps TBASIC commands STEPSPEED STEPMOVEABS STEPCOUNTABS STEPMOVE STEPSTOP STEPCOUNT It is essential to understand the difference between a stepper motor Controller and a stepper motor Driver A stepper motor Driver comprises the power electronics circuitry that provides the voltage current and phase rotation to the stepper motor coils A stepper motor controller on the other hand only supply the direction and output a number of pulses to an external stepper motor driver to actually drive the stepper motor Since the Nano 10 PLC only has two high speed digital outputs the PLC is only capabl
243. t number of byte data to send maximum is dependent on the slave Examples DM 5 12 DM 6 34 DM 7 56 I2C WRITE amp H60 5 3 I12C STOP Comments Following the START bit the CPU will write the 7 bit slave address amp H60 110 0000 binary and a R W bit set to 0 followed by the byte data stored in DM 5 DM 6 and DM 7 Tho rnammand Autamaticali chocke far ACK roroiwod fram tho clave dowiro and tho ricor TRI RESEARCH 17 3 INTERNATIONAL Chapter 17 12C Communication program can check the status of this operation by testing the STATUS 2 function STATUS 2 returns a 1 if ACK is received and 0 if no ACK is received after time out Note This command does not automatically generate the I2C STOP bit this is to allow the CPU to perform a I2C_READ following a LC_WRITE 12C READ after WRITE is commonly encountered in I2C protocol which requires using the I2C_WRITE to set the internal pointer address in the slave device and then followed by the IZ2C_READ command Therefore if your command involves only I2C_WRITE you must end the WRITE command by executing a 12C_STOP statement 17 2 2 1I2C READ ACK ACK ACK NO ACK i CL 2 an An I2C_READ command begins with the master PLC sending the START bit followed by a 7 bit slave address and then a R W bit set to high which indicates that it is a READ command If the slave device with the targeted slave address is present it will send the ACK response to the m
244. t 0 5VDC 4 digital Inputs and 4 digital outputs 2 of the digital outputs 1 and 2 can each sink up to 4A peak and 2A continuous 24VDC current from the load and can be used to output stepper motor pulse direction signals or used as Pulse Width Modulated PWM output driver The other 2 digital outputs each comprises a pair of voltage free contacts allowing switching of two isolated loads of up to 5A current per channel 24VDC AC or 120VAC In addition all 4 of the digital inputs can be used for decoding and measuring pulses received from up to 2 digital encoders allowing you to measure position and velocity of 2 moving objects in real time All 4 of the digital inputs can also be defined as interrupt inputs allowing fast events to be handled in the shortest possible time and to not be constrained by the program scan time The Nano 10 built in RS485 port allows it to interface to many peripheral devices such as an LCD display e g MDS100 BW hittp Awww tri plc com mds100bw htm or a serial touch panel e g Maple System HMI The RS485 port is conversant in MODBUS protocol and can be used as a MODBUS master or slave to construct a highly sophisticated control system You can also use it to interface to bar code readers serial printers RFID readers or use it for programming monitoring via the TLServer software part of the i TRILOGI software suite The Nano 10 s RS485 port is also the only means to communicate with the Nano 10 CPU if your
245. t gt 0 SETLCD 1 1 Failed to Open File GOTO 100 ENDIF C 0 PRINT 8 AS SETLCD 1 1 AS WHILE 1 AS INPUTS 8 S STATUS 2 IF S 255 EXIT ENDIF S 255 means EOF SETLCD 2 1 A DELAY 50 So that reader can read from the screen C Ctl ENDWHILE SETLCD 1 1 Read STR C lines 100 PRINT 8 lt gt close the opened file INTERNATIONAL Tri RESEARCH 18 6 Chapter 18 Extended File System 18 6 Setting Up The FileZilla FTP Server One important capability of the Nano 10 PLC with r77 firmware is the ability to upload files created by the PLC to an external server on a local area network or on the Internet via the FTP protocol If you have access to an FTP username and password on your company s server or if the SysAdmin is authorized to set up an account for you you can certainly use your own account for testing If not you can download the free Filezilla FTP Server and set it up for testing The ExtendedFileSystem PC6 has an FTP upload demo and it was configured to work with a FileZilla FTP server Using Filezilla has the advantage that you can see the login sequence performed by the PLC when it attempts to connect to the FTP Server so that it is easier to troubleshoot connection problem For professional grade troubleshooting one handy program to have is the Wireshark program which is a TCP IP packet sniffer that allows you to look at the actual TCP IP packets sent between your PC
246. t Port Once you have configured your PLC s Ethernet settings If you decided to change the default IP you will need to set your PCs Ethernet port to have a static IP address that is on the same subnet as the IP address that is set for your PLC How you do this is a bit different depending on your operating system so the following sections will show step by step instructions for configuring your PCs Ethernet settings on Windows XP Windows 7 and Windows 8 Windows XP Ethernet Configuration 1 Open Network Connections The first thing you will need to do is open the Network Connections window from the Start menu by selecting Show all connections from the Connect To menu as shown here TRIANGLE Di I O TRI RESEARCH INTERNATIONAL Chapter 2 Ethernet Port HyperTerminal EF My Documents Mii My Pictures Internet Mozilla Firefox n n 4 My Music E mail Outlook Express 49 My Computer e Hy Network Places a Control Panel Set Program Access and Calculator Defaults v Connect To b 0 Wireless Network Connection Help and Support i Show all connections L Search go Run All Programs gt Figure 2 8 1 2 Local Area Network Properties Next the Network Connections window should open which will display all of your network connections Ne tae elk Now you can either right click on the a Local Area Connection and select Properties or highlight it and click on Bac
247. t is listening on port 502 default Modbus TCP port you only need to send the command tags lt MBTCPCONNECT xxx xxx xxx xxx 502 gt to the CPU via virtual COMM port 4 E g PRINT 4 lt MBTCPCONNECT 192 168 1 105 502 gt If connection is successful the system will return the string lt CONNECTED gt on virtual comm port 4 which you can check with the INPUT 4 command TR RESEARCH 2 29 INTERNATIONAL Chapter 2 Ethernet Port Once the connection is successfully established you can begin to use the built in TBASIC commands READMODBUS WRITEMODBUS READMB2 and WRITEMB2 operating on virtual comm port 4 to send MODBUS commands and receive processed dresponses from a remote MODBUS TCP Server This greatly simplifies your programming task since it is very similar to communicating with a Modbus RTU slave that is connected to the serial port 1 2 or 3 Although in this case the Modbus TCP device could be located in the other hemisphere and connected via the Internet The full syntax for the lt MBTCPCONNECT gt tag is described below Format Response STATUS 3 Description Example TRIANGLE TRI RESEARCH INTERNATIONAL lt MBTCPCONNECT IP address 502 of another Modbus TCP Server gt lt CONNECTED gt Successfully connected to the Modbus TCP server of the specified IP address ERR 05 Prev Conn ON Another NS command has been executed and left the client socket opened but did not execute th
248. t temperature in F The output voltage is 10mV per degree F So at room temperature of 72 degrees F the device will output a voltage of 72 x 0 01 0 72V If you connect this to the PLC s analog input you can obtain the temperature in degree F or degree C using the formula F ADC 1 500 4096 in degree F OR C F 32 5 9 in degree C Although another part number LM35 can output temperature in 10mV per degree C the output falls into even lower ADC range for ambient temperature measurement since the same 72 degree F is only 22 degree C which means LM35 only outputs 22 x 0 01 0 22V Hence for better accuracy and resolution we recommend using LM34 instead of LM35 and if need be then convert it to degree C using TBASIC Another advantage for using LM34 instead of LM35 is that you can measure down to 0 F 17 degree C without using a negative voltage source as shown in the circuit on the right in Figure 5 5 5 3 3 Using Thermocouple Thermocouples are very rugged devices that are widely used in the industry because of their stability accuracy and wide functional temperature range They are commonly used in measuring temperature in ovens that may go up to several hundred degrees C However thermocouple output signals are in the range of tens of microvolts to mille volts which is too small to be measured by the Nano 10 s analog input directly You will need a signal conditioner that can amplify the thermocouple output to
249. t two wires from the U 485 to the PLC s RS485 port to establish communication Programming via COMM1 is particularly useful if the Nano 10 PLC is not yet connected to the LAN and if your PC does not have a spare Ethernet port for direct connection see Section 2 8 that can be used for programming Another reason for programming via RS485 is if your Ethernet port default IP address is not compatible with the subnet of your network You will then need to connect i TRILOGI to the PLC via RS485 port in order to change the IP address TRIANGLE 14 1 TR RESEARCH INTERNATIONAL Chapter 14 Serial Communications 14 2 2 Accessing 3 Party RS485 based Devices There are more and more industrial devices such as electric power meters analog I O modules e g the I 70xx modules by ICPDAS variable frequency drives servo controller etc that allows data communication via their RS485 port The Nano 10 PLC can readily use its RS485 port to communicate with these devices The PLC has many built in commands for reading writing to the serial port including built in commands for communicating with devices that deploy the MODBUS ASCII or RTU protocols 14 2 3 Interfacing Other Devices to Modbus TCP Host or to the Internet Since the Nano 10 PLC supports serial MODBUS protocols it can operate as a master PLC and serve as a gateway to interface non MODBUS enabled PLCs such as the H series and E10 PLCs or the I 7000 analog modules to third party SCA
250. tScan 0 01s Clock 0 025 Clock 0 05s Clock 0 15 Clock 0 25 Clock 0 55 Clock 1 05 Clock 1 min Clock RTC Error The Special Bits table is located after the Counters table and before the Inputs table Click on the SegN x item to insert a sequencer bit You will be prompted to select a sequencer from a pop up menu Choose the desired sequencer 1 to 8 and another dialog box will open up for you to enter the specific step number for this sequencer Each step of the sequencer can be programmed as a contact on the ladder diagram as SeqN X where N Sequencers 1 to 8 and X Steps 0 31 e g Seq2 4 Step 4 of Sequencer 2 Seq5 25 Step 25 of Sequencer 5 Although a sequencer may go beyond Step 31 if you define a larger SV for it only the first 32 steps can be used as contacts to the ladder logic Hence it is necessary to limit the maximum step number to not more than 31 Quite a few of the ladder logic special functions are related to the use of the sequencer These are described below 4 4 2 Advance Sequencer AVseq Increment the sequencer s step counter by one until it overflows This function is identical to and hence interchangeable with the UpCtr function 4 4 3 Resetting Sequencer RSseq The sequencer can also be reset to become inactive by the RSseq function at any time Note that a sequencer that is inactive is not the same as sequencer at Step 0 as the former does not activate the SeqN 0 conta
251. ta for networking between M series PLCs An application note and example programs demonstrating how to use our other PLC models as slave remote I O for the F or M series PLC can be found at the following web page http www tri plc com appnotes AppnoteMain htm 16 44 Inter PLC Networking Using MODBUS Protocols The PLCs may also pass data to each other using special MODBUS commands which are even simpler to use than NETCMD but are restricted to accessing variables that are mapped into MODBUS address structure Please refer to the Section 14 7 and 14 8 as well as the TBASIC Reference manual for details on using the READMODUS WRITEMODBUS READMB2 and WRITEMB2 commands TRI TRANGLE 16 21 INTERNATIONAL Chapter 17 12C Communication Chapter 17 1 C Communication TRIANGLE TR RESEARCH INTERNATIONAL Chapter 17 12C Communication 17 1 C COMMUNICATION The Nano 10 PLC with firmware r76 or later supports the Inter Integrated Circuit IIC also commonly known by the acronym IC or 12C bus Please refer to the 12C specifications of your device for detailed explanation of the 12C protocol Nano 10 only supports the I2C as a master and operates at 100KHz which allows it to connect to many off the shelve components such as GPS accelerometers thermometer analog I O chips etc The PLC can connect to multiple 12C slaves in a multi drop 12C bus which greatly expands its capability The built in TBASIC commands also greatly
252. tall the toolpak for you 2 8 Accessing The PLC from Internet 2 8 1 Small Local Area Network Using Consumer Grade Network Router When you connect an Nano 10 PLC to your home Ethernet router the PLC would have joined a private local area network LAN It is accessible through its private static IP address by other devices on the same LAN as long as each device is on the same subnet See section 2 1 for an explanation of subnet settings The PLC is also able to access the Internet through the router because the router would translate a private TCP IP packet sent from the PLC into a public TCP IP packet out of the Internet and if there is any return data from the Internet meant for the PLC the router would know that and automatically routes the return packet back to the PLC The router performs what is known as Network Address Translation NAT and such routers are called NAT routers However the same FServer and Modbus TCP servers on the PLC are typically inaccessible from the public Internet This is because the router has a built in firewall that does not permit external TCP IP packets from the public Internet to reach the devices on the private LAN In other words the NAT router allows the PLC outgoing access to the Internet but by default does not allow incoming access Most small NAT routers for home use such as those produced by Linksys Netgear D Link or Belkin do allow you to configure the router to open and
253. ted to each data file Note The file name restriction only applies to files stored on the PLC s internal file space When you use the FTP upload function described later you can specify any destination filename as long as they are acceptable to the external FTP server 18 3 Transferring Files To The PLC s Web Server If you are only using the extended file space for the purpose of storing additional web pages on the built in web server then you can use the FTP client software such as FileZilla client to transfer the program to the PLC Section 2 9 of this Manual describes in details how to configure the FileZilla client to communicate with the PLC Please take note that files that are name 0 yyy 1 yyy to T yyy are only stored on the PLC s on chip flash memory Only files that are named Z000 yyy Z001 yyy Z127 yyy are stored on the FRAM RTC 256 as explained in the last section 18 4 Accessing The Extended Data Files Using TBASIC A Nano 10 PLC with r77 firmware can access the extended data file space i e only file names from Z000 yyy to Z128 yyy from within TBASIC The PLC can open a new file for writing new data essentially deleting the old file content or open an existing file and append data to the end of the file It can also open a file and read data from the file as ASCII strings It can achieve this by using the PRINT 8 and INPUTS 8 functions which will be described in details in the following sections 18 4 1
254. text editor with no programming required at all See below for a screenshot of 0 HTM h Most Visited Banks Bills TRi PLC _ Mobile Songs F Nev Continuous Update Cycle 19 Loc x 356 y 259 Los Angeles 0 30 45 New York 3 30 46 London 8 30 46 Tokyo 1530 48 RLY129 RLY 30 RLY 31 RUS R133 RLY s4 RU 345 RLY Sh RLS RLY 38 FLYI39 FLY140 RLY 41 RLY1 42 RLY 43 RLY1 44 FP 2 62 0000 FP 4 4 DG 7 FP1 Slider 234500 200 500 FR Slider 52 00000 3 01000 DMS Slider 505 I RMD DMBSlider _ 500 1000 Refer to the user guide linked above for more information on the available user modifications 2 10 2 Advanced Customization The M JS JavaScript file used with the new preloaded 0 HTM file is no longer provided in the new web app download because it is loaded remotely In the past M JS had been stored inside the PLC and was available directly for editing However now the user modifications in the HTML file are more expanded TR RESEARCH 2 40 INTERNATIONAL Chapter 2 Ethernet Port and in order to save space for additional files as well as protect against accidental modification of the M JS file it is now stored outside PLC memory If additional modifications need to be made beyond what can be done in the HTML file then the following two options are available 1 Enlist Design Services Contact our Solution Partner Sparrow D
255. the backup area of the EEPROM has been erased but not re written if all the EEPROM data reads only 1 upon power up The additional diode and 470uF or larger capacitor connected to the PLC s power supply input screw terminal as shown in Figure 1 4 also shown below would also help to obtain a good voltage decay gradient during power down and is therefore highly recommended if you need to execute any power failure interrupt service routines Surge suppressor Recommended To ensure that the power supply provides a slow voltage gradient during power down the power switch must be connected to the AC side of the power supply instead of to the DC side of the power supply All industrial DC power supplies usually have large filtering capacitors at the DC output which means that the power supply to the load would normally decrease slowly when power supply to the AC side has been cut Note if the user intends to execute the SAVE_EEP or SAVE_EEP commands during power failure then these commands must be executed BEFORE executing the SETSYSTEM 252 0 command so that they can be backed up to the flash memory FRAMRTC Based Non Volatile Memory The optional FRAMRTC module provides a large array of state of the art Ferromagnetic RAM FRAM memory to the Nano 10 PLC and these FRAM memories will be used as primary storage for the user s EEPROM data With FRAMRTC the PLC would have a total of 11 000 words of all FRAM based EEPROM memory T
256. the problem could persist after disabling all firewalls and in that case the only option is to revert to an older version of FileZilla and then transfer the files by doing a right click download or right click upload if drag and drop doesn t work You can do this as follows a Download the FileZilla client version 3 1 5 1 from http www oldapps com filezilla php b Remove the current version and then install version 3 1 5 1 c Connect to the PLC d There should be two directories same as always local site your PC and remote site Nano 10 You should see your files in the Nano 10 directory e Open the folder in the local site that you would like to save the Nano 10 files to f Right click on a file in the Nano 10 directory such as 0 HTM and select download You should see the file in the folder on your local site g To move files from the PC to the Nano 10 open the folder in the local site where the file is located and right click it to select upload You should see it in the Nano 10 or you will be asked to overwrite it if the same file name is there already FileZilla Can Connect The First Time But Could Not Re connect After Time Out FileZilla is normally setup to time out after 1 minutes of no activity However Since the PLC s FTP server can only handle a single FTP connection at a time it is good to avoid letting FileZilla time out due to no activity This is because when FileZilla times out it cutoff the connection to th
257. then TRIANGLE I 5 4 TR RESEARCH INTERNATIONAL Chapter 15 Host Link Communication Protocol the master PLC should also have a different ID from all the slaves Otherwise contention may occur i e two controllers simultaneously sending data on the receiver bus resulting in garbage data being received by the host On the other hand if none of the controller IDs match that specified in the command frame then the host computer will receive no response at all The PLC automatically recognizes the type of command protocols point to point or multi point sent by the host computer and it will respond accordingly If a multi point command is accepted by the controller the response frame will start with a character followed by its device ID and the same header as the command This will be followed by the data requested by the command a response frame FCS and the terminator 15 4 4 Framing Errors When the controller receives a multi point host link command frame it computes the FCS of the command and compares it with the FCS field received in the command frame If the two do not match then a framing error has occurred The controller will send the following Framing Error Response to the host Framing Error Response Frame Multi point only yu eyes i 1 yu Device ID Header FCS Terminator 15 4 5 Command Errors If an unknown command is received or if the command is illegal such as an attempt to access an unavailable
258. there will only be one master on the network and no conflict will occur as a result Pros and Cons This method is the easiest to program since there is no need to handle the token with the token master or perform extensive error check on the response string However this method uses one input of each PLC and as many outputs on the master signal generator PLC as there are PLC masters It also requires wiring the PLCs to the master signal generator PLC 15 5 5 TROUBLE SHOOTING AN RS485 NETWORK 1 Single faulty device If a single device on the RS485 network becomes inaccessible problems can be isolated to this particular device Check for loose or broken wiring or wrong DIP switch settings Also double check the device ID using the host link command IR sent via the RS232C port of the PLC If all attempts fail either replace the entire PLC or the 75HVD3082 chip that handles the RS485 interfacing and try again 2 Multiple faulty devices If all the PLCs are inaccessible by the host computer it may possibly be due to a faulty RS232C to RS485 converter at the host computer If this is the case disconnect the RS485 converter from the network and check it using a single PLC Replace the converter if it is confirmed to be faulty Next check the wire from the converter to the beginning of the network A broken wire here can lead to the failure of the entire network TRIANGLE I 5 9 TR RESEARCH INTERNATIONAL Chapter 15 Host Link Communi
259. ting EEPROM count Hex data for starting Address 0001 xxxx 01 10h EEPROM address 16 16 16 fiefie 9 data for subsequent EEPROM addresses Response Format Maximum allowable word count per command is 16 01 to 10 Hex TRI RESEARCH 16 15 INTERNATIONAL Chapter 16 Host Link Command Response Format 16 38 WRITE EEPROM Siring Data Command Format w x s n n ofn fa a f a o EEPROM String ASCII characters Address Hex max 40 characters Response Format wjxis gt o E g To write the string data Hello TRi at EEPROM String address 12 send host link command RX 000CHello TRix 16 39 Force Set Clear Single I O Bit This new Wbnnnnxx command allows you to change a single I O bit on the PLC You can force set or clear any single input output relay timer or counter bit This has an advantage over other write commands such as WI WO etc that affects the entire group of 8 or 16 bits organized into channels Command Format ee I O Bit address 00 Clear I O bit OFF Hex FF SET I O bit ON Response W Format wie oO O Type Bit address nnnn Hex Input 1 to 256 0000 to OOFF Output 1 to 256 0100 to 01FF E g To force output 1 to ON send wb0100FF To turn it OFF send wb010000 Tri RESEARCH 16 16 INTERNATIONAL Chapter 16 Host Link Command Response Format 16 40 Using OMRON Host Link Commands
260. tive positional control device for a limited range than a stepper motor which relies on a constant current in its winding to provide the holding torque for positioning The open loop nature of stepper motor means that it does not know if the device is actually being knocked out of its desired location whereas in the Servo any deviation from its desired location is instantly being corrected by the servo mechanism 11 4 1 Using Nano 10 PWM Output To Control RC Servo Non Isolated As you probably have realized by now that you can use a single PWM output to very easily position the RC Servo to whatever position within its range of travel However since the Nano 10 power supply is 24V vs 4 8 to 6V on the typical RC Servo and the PWM output is NPN current sink type the signal to the servo is actually inverted if you connect the PLC s output to the Servo s control input directly 24V DC 4 8V to 6V For PLC For Servo Control OUTPUTS 1N4001 Figure 11 4 Non isolated Interace to RC Servo As shown in the above figure we use a 1K ohm resistor to pull up the Control input to the RC Servo s power supply so that when the PLC s output is OFF the Control input is 6V and when the PLC output is ON the Control input is pulled to low The 1N4001 diode is to prevent the 24V weak pullup signal at the PLC output from entering the servo s Control inout As such when the PLC output is ON
261. tual speed Based on the error between the set point speed and the actual speed the software can then adjust the PWM duty cycle accordingly to offset speed variation caused by the varying load torque A PID function may also be invoked to provide sophisticated PID type of speed control 3 The Nano 10 PWM can be used to control the speed of small motors only up to the maximum current limit that the PLCs output can safely drive For larger motors industrial grade variable speed drives should be used instead 11 4 Position Control Of RC Servo Motor RC Servo is a class of DC servo motor commonly used in remote control hence the term RC for positioning a device at a desired location It is often termed proportional control because the position where the motor will turn to is directly proportional to the pulse width of the control signal When chosen appropriately RC Servo can provide an extremely inexpensive and versatile solution for positioning a device For example for controling the percentage opening of a HVAC damper or to rotate the angle of window blinds or to position a solar panel to track the sun light There are many sizes of RC Servo available in the market from those that weigh just a few grams to those for controlling an industrial scale unmanned vehicle e g UAV or unmanned submarine A small self contained RC servo typically cost less than 20 retail price and is incredibly easy to control using the Nano 10 sa
262. udasaniugudiaen ns 17 2 17 1 3 PROFR OS FAW AN IN os scesarsgracsssasianaiese E E O 17 2 17 2 New TBASIC Commands I2C_READ 12C_WRITE and 12C_STOP 17 2 17 2 1 PE WANE e oe sooo gases lente ieee scat gs aeiaereenen tenes pqeeaectgsaneecse 17 3 17 2 2 PRE ina 17 4 17 2 3 Ceo 4 E IZ 17 6 17 2 4 Random Write To M24M01 EEPROM iii 17 6 17 2 5 Page Write To M24M01 EEPROM 17 6 17 2 6 Random Read From M24M01 EEPROM ii 17 7 17 2 7 Sequential Read From M24M01 EEPROM 17 8 18 EXTENDED FILE SYSTEM 18 2 191 Droduch ice cca 18 2 18 2 File Structure and File Naming of The Extended File System rn 18 3 18 3 Transferring Files To The PLC s Web Server ccccccccssssssssssnnsseeeeeeeeeeeeeeneeeeeeensaseeeeeeeeeeees 18 4 18 4 Accessing The Extended Data Files Using TBASIC rr 18 4 18 4 1 Open A File For Writing New Data ii 18 4 18 5 Open A File For Appending Data To The End Of The File rin 18 5 18 5 1 Delete A FIIE i 18 5 18 5 2 Open A File For Reading i 18 5 18 6 setting Up The FileZilla FTPSerVver z c in irrigare 18 7 18 6 1 Download and Setup FTP Server ii 18 7 18 6 2 Testing Connection To The FTP Server Using Telnet 18 9 18 7 Uploading File From PLC to FileZilla FTP Server DIrectory t
263. use the serial port to run READMODBUS WRITEMODBUS READMB2 and WRITEMB2 commands 19 5 Modbus TCP Gateway Sample Program Please download the following self explanatory I TRiLOGI sample program that demonstrates the new Modbus TCP Gateway capability via any of the selected COMM port http www tri plc com trilogi modbusgateway zip TRIANGLE I 9 3 TR RESEARCH INTERNATIONAL
264. ver will bypass the username and password authentication and allow the client to log in 2 1 12 Access Level You can define the access level that the TRILOGI client is permitted to operate on the PLC Three access levels are currently defined 1 for Programmer 2 for User and 3 for Guest Choose 1 Programmer if you wish to be able to program the PLC Please see the i TRILOGI Programmer s Reference manual for the definition of the access levels 2 1 13 Advanced Configuration The Advanced Configuration button lets you configure other more advanced beyond the basic Ethernet configuration but less often used features of the PLC This includes definition of the Trusted IP addresses see Section 2 4 2 as well as calibrations of the PLCs Analog I Os and RTC see Section 5 4 2 1 14 Standalone Version of Ethernet Configuration Software The standalone version of the Ethernet Configuration software which was previously the only option for configuring the Ethernet port and advanced settings on the F series PLCs can also be used to configure the Nano 10 PLC s Ethernet port You can download the software from our website at the following URL http www tri plc com download FserverConfig index htm TRIANGLE 2 6 TR RESEARCH INTERNATIONAL Chapter 2 Ethernet Port Please download and run the SetupFPLCConfig exe file from the above URL to install the F series Ethernet Configuration Utility program After y
265. view The new TRi s Nano 10 is quite possibly the world s most powerful Nano class PLC Although measuring only 2 75 x 3 25 and spots just 10 digital analog I Os it comes with a built in Ethernet port that can be connected directly to a network router switch or hub for access to the LAN or to the Internet The Ethernet port supports the FServer for remote programming or monitoring and a Modbus TCP server for access by third party devices with up to 6 simultaneous connections The user can also easily program the Nano 10 to connect to another PLC peer to peer networking or to Modbus TCP slave devices via the Internet It can email real time data to any email address es or connect to the Internet Time Server to get the most accurate real time information The Ethernet port also supports Web Services allowing enterprise software such as a database program or MS Excel to query for information from multiple PLCs instantaneously This also means that you can even create your own Ajax based web page to monitor control your PLC using an internet TRIANGLE Weel TR RESEARCH INTERNATIONAL Chapter 1 Installation Guide browser on a smart phone such as the Apple s i Phone or just about any PC Mac browser An example template will be provided to demonstrate this ability and you can easily modify the template to create the web page that is specific to your own application The Nano 10 PLC comprises 2 analog inputs 12 bi
266. y number from 000 to 127 The yyy part of the file name is the extension and only the following MIME extension are accepted by the PLC HTM JPG GIF CSS JS BIN TXT JAR ZIP XLS Any other extension names will be replaced with The MIME extension are respected by the web browser when you download a file from the built in web server so you should always only store files with one of the above extension The file space is divided into 128 slots with each slot occupying 2K bytes The file Z000 yyy occupies the first slot Z001 yyy occupies the 2 slot and the file Z127 yyy the last 2K slot TRIANGLE I 8 3 TR RESEARCH INTERNATIONAL Chapter 18 Extended File System 5 Any file may occupy more than 1 slot so you can specify Z000 yyy to occupy the entire 256K bytes of the file space Or you can configure Z000 yyy to occupy the first 5 slots 10K total and the next valid file should start from Z005 yyy which can occupy the next 10 slots 20K bytes total i e If you want to allocate 10K bytes of file space to file Z000 yyy you cannot not use name any file Z001 Z002 Z003 and Z004 otherwise these file will corrupt the file space of Z000 yyy 6 This means that the programmer will have to design the file space carefully and determine how to best use the file structure to provide the right balance between the number of data files and the amount of data space alloca
267. y 1 for each full cycle of pulses However since there are two pulse trains and therefore a full cycle produces 4 rising and falling edges in total It is possible to configure the HSC to either count by 1 for every two transition edges x2 or to count every transition edge x4 A new special SETSYSTEM 24 N command can be used to configure the 2 channels of HSCs on the Nano 10 PLC so that they can become simple x1 x2 or x4 quadrature high speed counters This new command not available to T100M PLCs overwrites the settings performed by SETSYSTEM 4 xx mentioned in Section 7 2 and is the new preferred method for configuring the HSC channel N is defined as a two byte integer Upper byte channel number amp H01 or amp H02 Lower byte amp H00 simple amp HO1 x1 amp H02 x2 amp HO3 x4 E g To define HSC 1 as x2 HSC N amp H0102 To define HSC 2 as x4 HSC N amp H0203 An example program HSC x4 PC6 that uses this command is included in the Nano10Samples zip file that you can download from http www tri plc com trilogi Nano10Samples zip O UR RESEARCH 2 INTERNATIONAL Chapter 7 High Speed Counters 7 4 Interfacing to 5V type Quadrature Encoder If you have a choice you should select an encoder that can produce 12V or 24V output pulses so that they can drive the inputs 1 2 3 4 directly If you have a 5V type of encoder only then you need to add a transistor driver to interface to the PLC

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