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Twido programmable controllers

1. Re od z7 eee ae oe s i naa 65535 i hi i 20 ee a 7 m 14 S i f VFCO V 0 i a eed F a THO 1 l ai 1 1 1 1 THI _ Reflex i ee output O T 1 r 7 i T 1 7 Reflex Nae cage i i i output 1 1 T 1 i 1 1 T 1 VFCO U 0 because VFC is a down counter change VFCO P to 20 change VFCO0 S1 to 17 S input active makes threshold S1 new value to be granted in next count CROCRCHOMC a catch of the current value is made so VFCO C 17 TWD USE 10AE 471 Advanced Instructions Up Down Counter Operation The following is an example of using VFC in an up down counter mode The following configuration elements have been set for this example FCO P preset value is 17 while the VFCO SO lower threshold value is 14 and the VFCO S1 upper threshold is 20 Reflex value lt VFC SO VFCO0 SO lt value lt VFCO0 S1 value gt VFCO0 S1 Output Q0 0 2 X Q0 0 3 X X 472 TWD USE 10AE Advanced Instructions VVFCO P 17 VFCO SO 14 VFCO S1 20 Example te
2. inputs Examples The following diagrams are examples of Load instructions 10 1 Q0 3 LD 10 1 M0 Q0 2 ST Q0 3 j TAN LDN M0 ST Q0 2 10 2 Q0 4 LDR I0 2 P ST Q04 10 3 Q0 5 LDF 10 3 ie ST Q0 5 U7 Permitted The following table lists the types of load instructions with Ladder equivalents and Operands permitted operands List Instruction Ladder Equivalent Permitted Operands LD 0 1 l IA IWCXx y z Xk Q QA M S X BLK x Xk LDN 0 1 l IA IWCx y z Xk Q QA M S X BLK x Xk LDR l VIA M P LDF l VIA M N 374 TWD USE 10AE Basic Instructions Timing diagram The following diagram displays the timing for Load instructions LD LDN LDR LDF A y l0 1 MO I0 2 l0 3 Q0 3 Q0 2 Q0 4 Q0 5 TWD USE 10AE 375 Basic Instructions Assignment instructions ST STN R S Introduction The assignment instructions ST STN S and R correspond respectively to the direct inverse set and reset coils Examples The following diagrams are examples of assignment instructions 10 1 QO 3 LD 10 1 ST QO0 3 QO 2 l STN Q0 2 S Q0 4 QO 4 s LD 10 2 10 2 QO 4 R RQV R Permitted The
3. General The sort function available is as follows e SORT_ARR performs sorts in ascending or descending order of the elements of a double word or floating word table and stores the result in the same table Structure Ladder language l3 2 SORT_ARR MW0 MFO 6 l1 2 SORT_ARR 1 MD20 6 l11 3 SORT_ARR 0 MD40 8 Instruction List Language LD I3 2 SORT_ARR MW20 MF0 6 LD 11 2 SORT_ARR 1 MD20 6 LD 11 3 SORT_ARR 0 MF40 8 Syntax Syntax of table sort functions Function Syntax SORT_ARR Function direction Tab e the direction parameter gives the order of the sort direction gt 0 the sort is done in ascending order direction lt 0 the sort is done in descending order direction 0 no sort is performed e the result sorted table is returned in the Tab parameter table to sort Parameters of table sort functions Type Sort direction Table Tab Double word tables MWi immediate value MDi L Floating word tables MWi immediate value MFi L 588 TWD USE 10AE Advanced Instructions Floating point table interpolation function Overview Interpolation Rule The LKUP function is used to interpolate a set of X versus Y floating point data for a given X value The LKUP function makes use the linear interpolation rule as defined in the following equation ya vR equation 1 1 I Xi 17X for XiSXSXi 1 where i 1 m 1 X X ass
4. Range NTC Minimum Maximum Units I O Analog Modules sensors User defined User defined Custom with a min of with amax of None All I O Analog Modules 32768 32767 1000 5000 TWDALM3LT Dynamically updated by TWDARI8HT TwidoSoft according to user defined parameters Celsius 0 1 C TNDAMIALT 2000 6000 Pt sensor 500 1500 TWDAMI4AET Ni sensor 1480 9320 TWDALM3LT Dynamically updated by TWDARI8HT TwidoSoft according to user defined parameters Fahrenheit 0 1 F TADAMAET 3280 11120 Pt sensor 580 3020 DAMAGES Ni sensor 100 10000 TWDARI8HT 74 199 TWDAMIALT Ni100 Resistance 742 1987 Ohm TWDAMIALT Ni1000 18 314 TWDAMIALT Pt100 184 3138 TWDAMIALT Pt1000 196 TWD USE 10AE Managing Analog Modules Chart or Formula In TWDARI8HT each channel 0 7 is configured individually within a tab Check the Method Used box then choose between Chart and Formula configuration methods e Chart graphical method R1 T1 and R2 T2 correspond to float format coordinates of two points belonging to the curve R1 default 8700 and R2 default 200 values are expressed in Ohms T1 default 233 15 and T2 default 398 15 values can have their unit set in the Unit list box Kelvin default Celsius or Farenheit Note Changing the temperature unit after setting the T1 and T2 values will not automatically recalculate T1 and T2 values with the
5. TWD USE 10AE 477 Advanced Instructions Parameters The following table lists parameters for the MSGx function block Parameter Label Value Reset input or R At state 1 reinitializes communication MSGx E 0 and instruction MSGx D 1 Comm done MSGx D State 1 comm done if output e End of transmission if transmission e End of reception end character received Error e Reset the block State 0 request in progress Fault Error MSGx E State 1 comm done if output Bad command e Table incorrectly configured e Incorrect character received speed parity etc e Reception table full not updated State 0 message length OK link OK If an error occurs when using an EXCH instruction bits MSGx D and MSGx E are set to 1 and system word SW63 contains the error code for Port 1 and SWE64 contains the error code for Port 2 See System Words SW p 604 Reset Input R When Reset Input set to 1 e Any messages that are being transmitted are stopped e The Fault Error output is reset to 0 e The Done bit is set to 1 A new message can now be sent Fault Error The error output is set to 1 either because of a communications programming error Output or a message transmission error The error output is set to 1 if the number of bytes MSGx E defined in the data block associated with the EXCH instruction word 1 least significant byte is great
6. 474 TWD USE 10AE Advanced Instructions Frequency Meter Operation Special Cases The following is a timing diagram example of using VFC in a frequency meter mode O a Oa eee ee IN Sin i DFA i Ea ae Tea Nay yh Pelee S l a inebase i ame it i VFCO V n fel o i oei i 0 13 t4 ts O The first frequency measurement starts here The current frequency value is updated Input IN is 1 and input S is 1 Change VFCO T to 100 ms this change cancels the current measurement and starts another one The following table shows a list of special operating of the VFC function block Special case Description Effect of cold restart S0 1 Resets all the VFC attributes with the values configured by the user or user application Effect of warm restart S1 1 Has no effect Effect of Controller stop The VFC stops its function and the outputs stay in their current state TWD USE 10AE 475 Advanced Instructions Transmitting Receiving Messages the Exchange Instruction EXCH Introduction A Twido controller can be configured to communicate with Modbus slave devices or can send and or receive messages in character mode ASCII TwidoSoft provides the following functions for these communications e EXCH instruction
7. When used with counting or special functions Outputs Use Q0 0 0 PLSO or PWMO output Q0 0 1 PLS1 or PWM1 output Q0 0 2 Reflex outputs for VFCO Q0 0 3 Q0 0 4 Reflex outputs for VFC1 Q0 0 5 TWD USE 10AE 441 Advanced Instructions Using Dedicated TwidoSoft enforces the following rules for using dedicated inputs and outputs Inputs and e Each function block that uses dedicated I O must be configured and then Outputs referenced in the application The dedicated I O is only allocated when a function block is configured and not when it is referenced in a program e After a function block is configured its dedicated input and output cannot be used by the application or by another function block For example if you configure PLSO you can not use Q0 0 0 in DRO drum controller or in the application logic that is ST Q0 0 0 e f a dedicated input or output is needed by a function block that is already in use by the application or another function block this function block cannot be configured For example if you configure FCO as an up counter you can not configure VFCO to use l0 0 2 as capture input Note To change the use of dedicated I O unconfigure the function block by setting the type of the object to not used and then remove references to the function block in your application 442 TWD USE 10AE Advanced Instructio
8. At a Glance When you open PID from the browser you open the PID configuration window This window allows you to e configure each TWIDO PID e debug each TWIDO PID When you open this screen if you are e in offline mode you will go to the General tab by default and will have access to the configuration parameters e in online mode you will go to the Animation tab and will have access to the debugging and adjustment parameters Note In some cases the grayed out tabs and fields may not be accessible for any of the two reasons listed below The PID only operating mode is selected which prevents access to the AT tab parameters that are no longer needed e The operating mode offline or online which is currently active does not allow you to access these parameters e The PID only operating mode is selected which prevents access to the AT tab parameters that are no longer needed The following paragraphs describe the General tab TWD USE 10AE 525 Advanced Instructions General Tab of the PID Function The screen below is used to enter the general PID parameters PID PID number o 21x General Input PID AT Output Animation Trace M Configured Operating mode Word address lv PID States z PID controller Output Cancel Previous Next Help 526 TWD USE 10AE Advanced Instructions Descripti
9. MF8 MIN_ARR MF40 5 Instruction List Language LD 11 2 MDO MIN_ARR MD20 7 MF8 MIN_ ARR MF40 5 Syntax Syntax of table search instructions for max and min values Function Syntax MAX_ARR Res Function Tab MIN_ARR Parameters of table search instructions for max and min values Type Result Res Table Tab Double word tables MDi MDi L KDi L Floating word tables MFi MFi L KFi L 584 TWD USE 10AE Number of occurrences of a value in a table General Structure Syntax TWD USE 10AE Advanced Instructions This search function e OCCUR_ARR searches in a double word or floating word table for a number of elements equal to a given value Ladder language 13 2 MW5 OCCUR_ARR MF20 7 KFO l1 2 MW0 OCCUR_ARR MD20 7 MD1 Instruction List Language LD 13 2 LD 11 2 SMW5 OCCUR_ARR MF20 7 KFO SMWO OCCUR_ ARR MD20 7 MD1 Syntax of table search instructions for max and min values Function Syntax OCCUR_ARR Res Function Tab Val Parameters of table search instructions for max and min values Type Result Res Table Tab Value Val Double word tables MWi MDi L KDi L MDi KDi Floating word tables MFi MFi L KFi L MFi KFi 585 Advanced Instructions Table rotate s
10. Port 1 PC Serial Port RS485 TSX PCX 1031 EIA RS 232 ic 2 id 1 3 il A i p TSX PCX 3030 Port USB PC Note For this cable the DPT signal on pin 5 is not tied to OV This indicates to the controller that the current connection is a TwidoSoft connection The signal is pulled up internally informing the firmware executive that this is a TwidoSoft connection TWD USE 10AE 87 Communications Pin outs of Male The following figure shows the pin outs of a male 8 pin miniDIN connector and of a and Female terminal Connectors Mini DIN Terminal block TWD NAC232D TWD NAC485D TWD NAC485T TWD NOZ485D TWD NOZ232D TWD NOZ485T SG Pin outs Base RS485 RS485 option RS232 C Pin outs RS485 1 D1 A D1 A RTS A D1 A 2 DO B DO B DTR B DO B 3 NC NC TXD SG oV 4 DE NC RXD 5 DPT NC DSR 6 NC NC GND 7 OV OV GND 8 5V 5V 5V Note Maximum total consumption for 5V mode pin 8 180mA The following figure shows the pin outs of a SubD female 9 pin connector for the TSX PCX 1031 b St Pin outs RS232 a DCD RX TX DTR SG NC RTS CTS NC lOO N A AWN 88 TWD USE 10AE Communications Telephone Line Connection A modem See Communication between TwidoSoft and a Modem p 92 connection enables programming of a
11. I 4 MWO0 SWS50 Be ee FTA Operate blocks are placed in the action zone of the programming grid The block may appear in any row in the action zone The instruction is right justified it appears on the right and ends in the last column Operate blocks are horizontally oriented and occupy four columns by one row of the programming grid The following is an example of an operate block 4 4 pa 1 ahs Les MW 120 SQRT MW15 ote eee Ji 1 ies E TWD USE 10AE 329 Ladder Language Ladder Language Graphic Elements Introduction Contacts Link Elements Instructions in Ladder diagrams consist of graphic elements The contacts graphic elements are programmed in the test zone and take up one cell one row high by one column wide Name Graphic element Instruction Function Normally open contact LD Passing contact when the controlling bit object is at state 1 falling edge Normally closed LDN Passing contact when the contact controlling bit object is at state 0 Contact for detecting a LDR Rising edge detecting the change rising edge from 0 to 1 of the controlling bit object Contact for detecting a LDF Falling edge
12. 0 0 c eee eee eee 324 Programming Principles for Ladder Diagrams 2 220005 326 Ladder Diagram BlocksS 0 c eee cette eee 328 Ladder Language Graphic Elements 0 0 000 eee eee eee 330 Special Ladder Instructions OPEN and SHORT 2 000 ee ee 333 Programming Advice 0 0 eee ete tenes 334 Ladder List Reversibility 0 0 0 0 cece cette 337 Guidelines for Ladder List Reversibility 0 00 00 eee eee eee 338 Program Documentation 0 0 00 cect nee 340 Instruction List Language 00 eee eee e ees 343 Alia Glance ti ose a n BP eth Gate een See ew CRE ee 343 Overview of List Programs 0 c eects 344 Operation of List Instructions 0 0 0 0 0 cee ee 346 List Language Instructions 0 cece eee eee 347 Using Parentheses iriri aspe hii 0 0 eee eee eee 350 Stack Instructions MPS MRD MPP 00000 eee ee eeee 352 Grace o gs ess sins naa eae Bee Sees hee ee eee he ks 355 Ata Glance ss iin rra Wein acini gaa ene ce Mien ee eat eae nua neha 355 Description of Grafcet Instructions 0 0 0 c eee eee 356 Description of Grafcet Program Structure 1 0 0 0 cee eee 359 Actions Associated with Grafcet Steps 000 e ee eee eee 362 Description of Instructions and Functions 365 At aiGlanCe ts cx n e E Sania gat iS phate A aa eee tans Sears eas 365 Basic Instructions ssc estes nd ee
13. Note The Tx Offset 7 will suppress the 5th MMSB byte in the sent frame This also allows a good correspondence of words values in the transmission table TWD USE 10AE 149 Communications Transparent Ready Implementation Class Twido Serial A05 Ethernet A15 Overview The following Modbus Function codes are supported by both serial Modbus and TCP IP Modbus For detailed information about Modbus protocol please refer to document Modbus Application Protocol which is available at http www modbus ida org Twido Supported The following table describes function codes supported by both Twido serial and Modbus TCP IP Modbus Meee codes Supported Supported Sub fc code Function MB FC 1 Read multiple internal bits M 2 Read multiple internal bits M 3 Read multiple internal registers MW 4 Read multiple internal registers MW 5 Force single internal bit M 6 CEN Write single internal register MW 8 00 only Echo diagnostics 15 Write multiple internal bits M 16 Write multiple internal registers MW 23 Read write multiple internal registers MW 43 14 Read device identification regular service 150 TWD USE 10AE Communications Ethernet TCP IP Communications Overview Ethernet The following information describes the Ethernet capable features of the Twido Features TWDLCAE4ODRF base controller Th
14. Step Action Comment 2 From the Controller Communications Note that the 499TWD01100 TwidoPort module cannot be added Setup dialog box set the communication to the Twido hardware if the communication protocol is no set to protocol to Modbus Modbus 3 Configure the Modbus communication The Twido controller s RS 485 Modbus port must be configured parameters to 9600 19200 or 38400 baud to support TwidoPort s autobaud feature See notes 1 and 2 4 From the TwidoSoft Application Browser x untitled right click Hardware Add Option a TWDLCAA24DRF A Constants 5 When the Add an option dialog box All Twido controllers are supported with the exception of appears TWDLCAE40DRF with built in Ethernet e Select 499TWD01100 Add an Option Click Add e Atthis stage you may continue Harowareioption adding any other optional module TWDNOZ485T supported by your Twido controller TWDXGPRTG Note Only one 499TWD01100 ke TWDXOPMFK64 TwidoPort module is allowed E Twoxcronm e Click Done z Description Ethernet interface for Twido controllers Note 1 Any RS 485 Modbus port on Twido can be used Note 2 For the fastest initial autobaud choose 19200 8 N 1 with a Twido Modbus address of 1 282 TWD USE 10AE Configuring the TwidoPort Ethernet Gateway Configuring the EA a Note The Ethernet parameters of TwidoPort can be configured when the Module TwidoSoft application program is in offl
15. i Program I Symbols E41 Animation tables 498 TWD USE 10AE Advanced Instructions Step Action 2 The PID dialog box appears in the foreground and is used to enter the different controller settings as shown in the figure below In offline mode this displays several tabs General Input PID AT Output PID 2 1X PID number lo General Input PID AT Output Animation Trace Operating mode Configured Vv PID Stated Word address m PID Output PID controller Cancel Previous Next Help Important The tabs must be entered in the order in which they appear in the PID dialog box first General Input PID AT then Output Note In online mode this screen displays two more tabs Animation and Trace used respectively for the diagnostics and display of the controller operation Dynamic For the dynamic modification of the PID parameters in operation and in online Modification of mode it is advised to enter the memory addresses in the associated fields thus Parameters avoiding switching to offline mode to make on the fly changes to values TWD USE 10AE 499 Advanced Instructions General Tab The following table shows how to set the General tab in the PID dialog box Setting Step Action 1 In the General tab check theConfigured box to activate the PID and set the following
16. Controller comm settings Type Remote link Address 2 Step 5 Write the applications For the Master controller write the following application program LD 1 eMWO MWO 1 eQNW2 0 MWO MW1 INW2 0 LD I10 0 ST Q1 00 0 LD l1 0 0 ST Q0 0 LD l0 1 ST Q1 0 1 LD l1 0 1 ST Q0 1 For the controller configured as a remote I O do not write any application program For the controller configured as peer write the following application LD 1 QNWO 0 INWO 0 In this example the master application increments an internal memory word and communicates this to the peer controller using a single network word The peer controller takes the word received from the master and echoes it back In the master a different memory word receives and stores this transmission For communication with the remote I O controller the master sends its local inputs to the remote I O s outputs With the external I O hard wiring of the remote I O the signals are returned and retrieved by the master 114 TWD USE 10AE Communications ASCII Communications Introduction ASCII protocol provides Twido controllers a simple half duplex character mode protocol to transmit and or receive data with a simple device This protocol is supported using the EXCHx instruction and controlled using the MSGx function block Three types of communications are possible with the ASCII Prot
17. Examples Example 1 overflow during addition oe LD MO 0 Sa Oh as aA MW0 MW1 MW2 S18 LDN S18 MW 10 MWO MW 10 MWO WSIS LD S18 MW10 32767 MW 10 32767 R S18 S18 R If MW1 23241 and MW2 21853 the real result 45094 cannot be expressed in one 16 bit word bit S18 is set to 1 and the result obtained 20442 is incorrect In this example when the result is greater than 32767 its value is fixed at 32767 TWD USE 10AE 421 Basic Instructions Logic Instructions Introduction The Logic instructions are used to perform a logical operation between two word operands or on one word operand The following table lists the types of Logic instructions Instruction Function AND AND bit wise between two operands OR Logic OR bit wise between two operands XOR Exclusive OR bit wise between two operands NOT Logic complement bit wise of an operand Structure Logic operations are performed as follows ne LD MO IH MWO0 MW 10 AND 16 FFOO MW0 MW 10 AND 16 FFOO LD 1 ae ee ee MW0 KW5 OR MW10 10 3 E MW 102 NOT MW 100 LD I0 3 MW 102 NOT MW100 Syntax The syntax depends on the operators used Operator Syntax Operand 1 Op1 Operands 2 and 3 Op2 amp 3 AND OR XOR Op1 Op2 Operator Op3 MWi QWi Immediate value 1 MWi KWi IW NOT Op1 NOT Op2 PQ
18. S11 Watchdog overflow Normally set to 0 This bit can be set to 1 by the system when the program execution time scan time exceeds the maximum scan time software watchdog Watchdog overflow causes the controller to change to HALT S12 PLC in RUN mode This bit reflects the running state of the controller The systems sets the bit to 1 when the controller is running Or to 0 for stop init or any other state S13 First cycle in RUN Normally at 0 this bit is set to 1 by the system during the first scan after the controller has been changed to RUN S17 Capacity exceeded Normally set to 0 it is set to 1 by the system e During a rotate or shift operation The system switches the bit output to 1 It must be tested by the user program after each operation where there is a risk of an overflow then reset to 0 by the user if an overflow occurs S gt U S18 Arithmetic overflow or error Normally set to 0 It is set to 1 in the case of an overflow when a 16 bit operation is performed that is e A result greater than 32 767 or less than 32 768 in single length e Aresult greater than 2 147 483 647 or less than 2 147 483 648 in double length e A result greater than 3 402824E 38 or less than 3 402824E 38 in floating point e Division by 0 The square root of a negative number e BTI or ITB conversion not significant BCD value out of limits It must be tested by th
19. TWD USE 10AE 37 Twido Language Objects Addressing floating objects Introduction Addressing floating objects except for input output addressing see Addressing Inputs Outputs p 40 and function blocks see Function Block Objects p 43 follows the format described below Syntax Use the following format to address internal and constant floating objects MorK F i Symbol Type of object Syntax Number Description The following table describes the elements in the addressing format Group Item Description Symbol The percent symbol always precedes an internal address Type of object M Internal floating objects store intermediary values while a program is running K Floating constants are used to store constant values Their content can only be written or modified by using TwidoSoft Syntax F 32 bit object Number i The maximum number value depends on the number of objects configured Examples of floating object addresses e MF15 internal floating object number 15 e KF26 constant floating object number 26 38 TWD USE 10AE Twido Language Objects Addressing double word objects Introduction Syntax Description Addressing double word objects except for input output addressing see Addressing Inputs Outputs p 40 and function blocks see Function Block Objects p 43 follows the format described below Use the following format to address i
20. Preset value FCi P FCi PD Initial value may be set gt between 1 and 65635 in standard mode gt between 1 and 4294967295 in double word mode Adjustable Y N If set to Y it is possible to modify the preset value FCi P or FCi PD and the current value FCi V or FCi VD with the Operator Display or Animation Tables Editor If set to N there is no access to the preset Current Value FCI V FCi VD The current value increments or decrements according the up or down counting function selected For up counting the current counting value is updated and can reach 65535 in standard mode FCi V and 4294967295 in double word mode FCi VD For down counting the current value is the preset value FCi P or FCi PD and can count down to zero Enter to enable At state 1 the current value is updated according to the pulses applied to the physical input At state 0 the current value is held at its last value Reset FCI R Used to initialize the block At state 1 the current value is reset to 0 if configured as an up counter or set to FCi P or FCiI PD if configured as a down counter The done bit FCi D is set back to its default value Done FCi D This bit is set to 1 when FCi V or FCi VD reaches the FCi P or FCi PD configured as an up counter or when FCi V or FCi VD reaches zero when configured as a down counter This read only bit is reset only by the setting FCi R
21. TWD USE 10AE 135 Communications MSGx Function Block Limitations The use of the MSGx function block is optional it can be used to manage data exchanges The MSGx function block has three purposes e Communications error checking The error checking verifies that the parameter L length of the Word table programmed with the EXCHx instruction is large enough to contain the length of the message to be sent This is compared with the length programmed in the least significant byte of the first word of the word table e Coordination of multiple messages To ensure the coordination when sending multiple messages the MSGx function block provides the information required to determine when transmission of a previous message is complete e Transmission of priority messages The MSGx function block allows current message transmissions to be stopped in order to allow the immediate sending of an urgent message The MSGx function block has one input and two outputs associated with it Input Output Definition Description R Reset input Set to 1 re initializes communication or resets block MSGx E 0 and MSGx D 1 MSGx D Communication 0 request in progress complete 1 communication done if end of transmission end character received error or reset of block MSGx E Error 0 message length OK and link OK 1 if bad command table incorrectly configured incorrect character received speed parit
22. 2 Select type 6 to display the Serial See the figure that follows this table Statistics screen and press Enter The serial statistics are updated 3 Press C to clear statistics and press All counters are reset to 0 Enter 4 Select R and press Enter The Telnet main menu appears You may have to press Enter again to update the screen The Serial TwidoPort s Serial Statistics screen Statistics Screen Telemecanique 499 TWD i 1080 Configuration and Diagnostics lt c 2004 Schneider Automation Inc SERIAL STATISTICS Serial Bus Statistics Bus Message Count 8284 Bus Comm Error Count Modbus Slave Statistics Slave Message Count 4142 Slave Exception Error Count 3187 Slave No Response Count Commands Enter to Refresh C gt lear Statistics R gt eturn to Main Menu 294 TWD USE 10AE Configuring the TwidoPort Ethernet Gateway Saving the Configuration Saving the Configuration The Save Configuration Confirmation To save the changes to the configuration type the configuration password Step Action Comment 1 Start a Telnet session Use the instructions above to open the Telnet main menu See Telnet Main Menu p 288 Select s and press Enter Enter the configuration password The default password is USERUSER See note below Note For more details on how to set a personalized
23. Animation Tab of The screen below is used to view and debug the PID PID Function PID AEI PID number o General Input PID AT Output Animation Trace Operating mode List of PID states PID 03 04 14 35 Autotuning phase 4 in progress m PID m Output Ts Period 150 el PID controller Pace tte o 0 o Po e Output Output Setpoint 10000 AT Create animation table file Cancel Previous Next Help TWD USE 10AE 541 Advanced Instructions Description The following table describes the different zones of the window Field Description PID number Specify the PID number that you wish to debug here The value is between 0 and 13 14 PID maximum per application Operating mode This field shows the current PID operating mode List of PID states This dropdown list allows you to view the last 15 PID states in real time This list is updated with each change of state indicating the date and time of the change as well as the current state Create an Click on Create an Animation Table to create a file containing all the Animation Table variables shown in the diagram to enable you modify them online and debug your PID 542 TWD USE 10AE Advanced Instructions Trace tab of PID function At a Glance Animation Tab of This tab allows you to view PID operation and to make adjustments to
24. Q0 1 s Q0 2 Q0 3 LD 10 0 MPS AND 01 gt MPS AND 10 3 OR M0 ST Q0 0 MPP ANDN M1 ST Q0 1 MRD AND ST MPP AND ST 10 4 Q0 2 M10 Q0 3 aaa TWD USE 10AE 353 Instruction List Language 354 TWD USE 10AE Grafcet 15 At a Glance Subject of this This chapter describes programming using Grafcet Language Chapter What s in this This chapter contains the following topics Chapter Topic Page Description of Grafcet Instructions 356 Description of Grafcet Program Structure 359 Actions Associated with Grafcet Steps 362 TWD USE 10AE 355 Grafcet Description of Grafcet Instructions Introduction Grafcet instructions in TwidoSoft offer a simple method of translating a control sequence Grafcet chart The maximum number of Grafcet steps depend on the type of Twido controller The number of steps active at any one time is limited only by the total number of steps For the TWDLCAA10DRF and the TWDLCAA16DRF steps 1 through 62 are available Steps 0 and 63 are reserved for pre and post processing For all other controllers steps 1 through 95 are available Grafcet The following table li
25. SMW1 EQUAL ARR MFO 5 KF0O 5 580 TWD USE 10AE Advanced Instructions Syntax Syntax of table comparison instruction Res EQUAL_ARR Tab1 Tab2 Parameters of table comparison instructions Type Result Res Tables Tab1 and Tab2 Double word tables MWi MDi L KDi L Floating word tables MWi MEFi L KFi L Note e itis mandatory that the tables are of the same length and same type Example SMW5 EQUAL ARR MD30 4 KDO0 4 Comparison of 2 tables Rank Word Table Constant word tables Difference 0 MD30 10 KDO 10 1 MD31 20 KD1 20 2 MD32 30 KD2 60 Different 3 MD33 40 KD3 40 The value of the word MWS5 is 2 different first rank TWD USE 10AE 581 Advanced Instructions Table search functions General Structure There are 3 search functions e FIND_EQR searches for the position in a double or floating word table of the first element which is equal to a given value e FIND_GTR searches for the position in a double or floating word table of the first element which is greater than a given value e FIND_LTR searches for the position in a double or floating word table of the first element which is less than a given value The result of these instructions is equal to the rank of the first element which is found or at 1 if the search is unsuccessful Ladder language 13 2 MW5 FIND_EQR MD20 7
26. Step 4 Initialization of Control Set Up Prerequisites for Before set up you must follow the steps below Set Up Step Action 1 Connect the PC to the controller and transfer the application 2 Switch the controller to RUN mode Note Before switching the controller to RUN mode check that the machine s operating conditions allow this for the rest of the application Procedure The steps below must be followed to initialize control set up Step Action 1 Create an animation table containing the main objects needed for diagnostics In the example MWO loop controller setpoint IW1 0 measurement MO enabling of loop controller M1 loop controller action type set by the AT function M2 selection of Automatic or Manual mode MW10 to MW12 PID loop controller coefficients MW13 measurement limit not to be exceeded in AT mode MW 14 loop controller output setpoint in AT mode MW 15 discrete output of the PID loop controller entered by the controller MW1E setting of the PWM period MW17 operating mode selection for the PID controller MW 18 manual setpoint associated with the M2 bit selection 504 TWD USE 10AE Advanced Instructions Step Action 2 Check the consistency of the value measured in the IW1 0 field In the example 1 A measurement of 248 counts is obtained when the system stable and cold 2 This seems cons
27. TWD USE 10AE 65 Controller Operating Modes Illustration The following illustration shows the operating cycles Starting the period Internal processing Acquiring inputs RUN ac U v STOP Program processing V Updating outputs YY AN Internal processing End of period Check Cycle Two checks are carried out e Period overflow e Watchdog 66 TWD USE 10AE Controller Operating Modes Checking Scan Time General Software WatchDog Periodic or Cyclic Operation Check on Periodic Operation Using Master Task Running Time The task cycle is monitored by a watchdog timer called Tmax a maximal duration of the task cycle It permits the showing of application errors infinite loops and so on and assures a maximal duration for output refreshing In periodic or cyclic operation the triggering of the watchdog causes a software error The application passes into a HALT state and sets system bit S11 to 1 The relaunching of the task necessitates a connection to Twido Soft in order to analyze the cause of the error modification of the application to correct the error then reset the program to RUN Note The HALT state is when the application is stopped immediately because of an application software error such as a scan overrun The data retains the current values which allows for an analysis of the cause of the er
28. TWD USE 10AE 291 Configuring the TwidoPort Ethernet Gateway Security Configuration Configuring the Use the following instructions to change the default password Security Settings Step Action Comment 1 Start a Telnet session Use the instructions above to open the Telnet main menu See Telnet Main Menu p 288 Select type 4 and press Enter The Security Configuration Screen appears Select c and press Enter Enter the old password Authorized users will know the old password default is USERUSER Enter a new password Retype the new password See note below Enter the new password again See the note below for acceptable passwords Select R and press Enter The Telnet main menu appears You may have to press Enter again to update the screen Note Password details e minimum length 4 characters e maximum length 10 characters e allowed characters 0 to 9 a to z A to Z no spaces 292 TWD USE 10AE Configuring the TwidoPort Ethernet Gateway Ethernet Statistics Viewing Ethernet To view TwidoPort s Ethernet statistics tatisti Statistics Step Action Comment 1 Start a Telnet session Use the instructions above to open the Telnet main menu See Telnet Main Menu p 288 2 Select type 5 to display the Ethernet See the figure that follows this table Module
29. The TMi Q output bit is set to 1 when the timer starts The current value TMi V of the timer increases from 0 to TMi P in increments of one unit per pulse of the time base TB The TMi Q output bit is set to O when the current value has reached TMi P The current value TMi V is set to 0 when TMi V equals TMi P and input IN returns to 0 6 This timer cannot be reset Once TMi V equals TMi P and input IN is 0 then TMi V is set to 0 394 TWD USE 10AE Basic Instructions Programming and Configuring Timers Introduction Timer function blocks TMi are programmed in the same way regardless of how they are to be used The timer function TON TOF or TP is selected during configuration Examples The following illustration is a timer function block with examples of reversible and non reversible programming N 9 TMi Q0 3 TYPE TON TB Imin ADJ Y TMi P 9999 Reversible programming Non Reversible programming BLK TM1 LD 10 1 LD 10 1 IN TM1 IN LD TM1 Q OUT_BLK ST QO0 3 LD Q ST Q0 3 END_BLK Configuration The following parameters must be entered during configuration Timer type TON TOF or TP Preset value TMi P 0 to 9999 Adjust Checked or Not Checked Timebase 1 min 1 s 100 ms 10 ms or 1 ms TWD USE 10AE 395 Basic Instructions Special Cases Timers with a 1 m
30. 194 TWD USE 10AE Managing Analog Modules For the TWDAMI8HT you can configure the eight input types as Input type 0 10V 0 20mA For the TWDARI8HT you can configure each input channel 0 7 individually from the Operation field in the lower part of the window Directly choose a Mode and a Range if needed You can then view a summary of all information in the Recap tab with a Type column showing Type Not used NTC CTN PTC CTP A CAUTION EQUIPMENT DAMAGE If you have wired your input for a voltage measurement and you configure TwidoSoft for a current type of configuration you may permanently damage the analog module Ensure that the wiring is in agreement with the TwidoSoft configuration Failure to follow this instruction can result in injury or equipment damage Range This identifies the range of values for a channel The choices depend on the specific type of channel and module Once the Type is configured you can set the corresponding Range A table shows the Minimum and Maximum values accepted either fixed or user defined together with the Unit if needed Range NTC Minimum Maximum Units I O Analog Modules sensors TWDALM3LT TWDAMO1HT 0 4095 TWDAMM3HT TWDAMI2HT Normal None TWDAMI4LT 2048 2047 TWDAVO2HT TWDAMI8HT 9 1083 TWDARI8HT TWD USE 10AE 195 Managing Analog Modules
31. Example integer word conversion gt floating 147 gt 1 47e 02 Operators and syntax double conversion of integer word gt floating Operators Syntax DINT_TO_REAL Op1 DINT_TO_REAL Op2 Operands double conversion of integer word gt floating Operand 1 Op1 Operand 2 Op2 MFi MDi KDi Example integer double word conversion gt floating 68905000 gt 6 8905e 07 Operators and syntax floating conversion gt integer word or integer double word Operators Syntax REAL_TO_INT Op1 Operator Op2 REAL_TO_DINT Operators floating conversion gt integer word or integer double word Type Operand 1 Op1 Operand 2 Op2 Words MWi MFi KFi Double words MDi MFi KFi Example floating conversion gt integer word 5978 6 gt 5979 floating conversion gt integer double word 1235978 6 gt 1235979 Note If during a real to integer or real to integer double word conversion the floating value is outside the limits of the word or double word bit S18 is set to 1 576 TWD USE 10AE Advanced Instructions Precision of Rounding Standard IEEE 754 defines 4 rounding modes for floating operations The mode employed by the instructions above is the rounded to the nearest mode if the nearest representable values are at an equal distance from the theoretical result the value given will be
32. Operator Display Operation Time of Day Clock Introduction You can modify the date and time using the operator display if the RTC option cartridge TWDXCPRTC is installed on your Twido controller The Month is displayed in the upper left side of the HMI Display Until a valid time has been entered the month field will contain the value RTC The day of the month is displayed in the upper right corner of the display The time of day is in military format The hours and minutes are shown in the lower right corner of the display and are separated by the letter h The example below shows that the RTC is set to March 28 at 2 22 PM MA R 28 14h 22 Note 1 The TWDLCA 40DPF series of compact controllers have RTC onboard 2 On all other controllers time of day clock and real time correction are only available if the Real Time Clock RTC option cartridge TWDXCPRTC is installed Displaying and To display and modify the Time of Day Clock Modifying Time gt Ste Action of Day Clock p 1 Press the D key until the Time Date Display is shown The month value JAN FEB will be displayed in the upper left corner of the display area The value RTC will be displayed in the upper left corner if no month has been initialized Press the MOD ENTER key to enter the edit mode Press the E gt key until you are in the field that you wish to modify 4 Press the a key increment the val
33. 0 0c eee 543 PID States and Errors Codes 00 00 c eee eee eens 545 PID Tuning With Auto Tuning AT 0 000 e eee tee eee 549 PID parameter adjustment method 0 0 0 eee eee eee 557 Role and influence of PID parameters 0 0 0 cee eee eee 559 Appendix 1 PID Theory Fundamentals 0 0 e eee eee eee 563 Appendix 2 First Order With Time Delay Model 0 0005 565 Floating point instructions auauua aaea 567 At aiGlancesc s p sa ay aana yes glk atk a Roe ee ee pions ARARAS 567 Arithmetic instructions on floating point 0 0 e eee eee ee 568 Trigonometric Instructions 2 0 0 eee tee 572 17 6 Chapter 18 Conversion instructions 0 0 0 0 A E ee eee eee 574 Integer Conversion Instructions lt gt Floating 00 cece eee eee 575 Instructions on Object Tables 0 000 c eee ee eee 578 AttaGlance snc deo henge ailath dae set ane Ae a a Toa ea eles at ate 578 Table summing functions 0 0 sasaaa 579 Table comparison functionS 1 2 0 0 asana eaea 580 Table search functions 0 0c eee ees 582 Table search functions for maxi and mini values 0 0000 584 Number of occurrences of a value in a table 0 eee eee 585 Table rotate shift function 0 0 eee tees 586 Table sort function 4 2s ee eee eel ened Se ee ee eo hee ee Ge eee 588 Floating point table interpolation f
34. 0 000 e eee eee eee 402 Shift Bit Register Function Block SBRi 0 0 e eee 404 Step Counter Function Block SCi 0 0 0 0 cee eee 406 Numerical Processing 0 cece eee ett tees 409 Ata Glance ce 02a ee Hie ete Ged doe eet ee ee 409 Introduction to Numerical Instructions 00 0 e eee eee eee 410 Assignment Instructions 0 2 2 0 00 eee 411 Comparison Instructions 0 060 e ett 416 Arithmetic Instructions on Integers 00 00 eee 418 Logic INStruCtionS 05 ses raids we Ree be ee oe ta iy ee 422 ShiftslnStructions Se ois tee elke ded hen Ste enti aa ie 423 Conversion Instructions 0 0 0 e cette eee 425 Single double word conversion instructions 020eeee eee 427 Program Instructions 0 0 0 0 0 E a Na a eee 428 Alia GlAanCes vec caters ceed nied shatter tae eed yee ee ston E E een ee 428 END Instructions 2 5 2 sc4 0 ea iea a a Pod Rede gle bo pale T 429 NOP JASUrUCtiON fi nota 2 Riva aeia aiden sree A Sal either aca w eani RES 431 Jump Instructions neeese widely Ghee ea eed oe eae ede 432 Subroutine Instructions 0 0 0 cette 433 Advanced Instructions 2 0 eee eee 435 Ata Glance iais gute decent acct octan sate a a a a a A ee NEEE 435 Advanced Function Blocks 0 0 00 eee tees 437 Ata Glance rin cise dae dia tee eee ees cee ee 437 Bit and Word Objects Associated with Advanced Function Blocks 438 Programming Principles for
35. Advanced Instructions Appendix 2 First Order With Time Delay Model Introduction First Order With This section presents the first order with time delay model used to describe a variety of simple but nonetheless important industrial processes including thermal processes It is widely assumed that simple one stimulus thermal processes can be Time Delay adequately approximated by a first order with time delay model Model The transfer function of such first order open loop process has the following form in the Laplace domain equ 2 S k gop U l r p where e k the static gain e t the time constant e 6 the delay time e U the process input this is the output of the PID controller e S the process output TWD USE 10AE 565 Advanced Instructions The Process The key parameter of the process response law equ 2 is the time constant t It is Time Constant t a parameter intrinsic to the process to control The time constant t of a first order system is defined as the time in sec it takes the system output variable to reach 63 of the final output from the time the system started reacting to the step stimulus u t The following figure shows a typical first order process response to a step stimulus Process output s t S 95 of S 86 of S Step response s ty 63 of S AS i x An ae time t O time delay 0 0 0 where e k the static gain compute
36. Advanced Instructions How to access the PID configuration Ata Glance Procedure The following paragraphs describe how to access the PID configuration screens on TWIDO controllers The following table describes the procedure for accessing the PID configuration screens Step Action 1 Check that you are in offline mode 2 Open the browser Result File Edit Display Tools Hardware Software b e Elay mla Ells xxl C no heading fil TWDLMDA4ODUK Hardware J Port 1 Remote Link 1 Expansion bus Software Constants 42 Counters Drum controllers 72 Fast Counters LIFO FIFO registers 4G PLS PWM e7 Schedule blocks A Timers 1423 Very fast counters A P pD z Programs X Symbols Animation tables ka g Documentation 3 Double click on PID Result The PID configuration window opens and displays the General See General tab of PID function p 525 tab by default Note You can also right click on PID and select the Edit option or select Software PID from the menu or use the Program Configuration Editor PID Icon menu or if using the latter method select the PID and click on the Magnifying glass icon to select a specific PID 524 TWD USE 10AE Advanced Instructions General tab of PID function
37. Backup and Restore without Backup Cartridge or Extended Memory Introduction The following information details backup and restore memory functions in modular and compact controllers without a backup cartridge or extended memory plugged in At a Glance Twido programs memory words and configuration data can be backed up using the controllers internal EEPROM Because saving a program to the internal EEPROM clears any previously backed up memory words the program must be backed up first then the configured memory words Dynamic data can be stored in memory words then backed up to the EEPROM If there is no program saved to the internal EEPROM you cannot save memory words to it Memory Here is a diagram of a controller s memory structure The arrows show what can be Structure backed up to the EEPROM from RAM RAM EEPROM Dynamic words MWs C Program l RA RRRS ana Configuration data I MWs lt q Program Wifi Soe Configuration data eg Program Backup Here are the steps for backing up your program into EEPROM Step Action 1 The following must be true There is a valid program in RAM From the Twido software window bring down the menu under Controller scroll down to Backup and click on it 54 TWD USE 10AE User Memory Program Restore Data MWs Backup Data MWs Restore During power u
38. Expansion I O modules Electronic Data Sheet description file for each CAN device provided by the manufacturers Electrically Erasable Programmable Read Only Memory Twido has an internal EEPROM and an optional external EEPROM memory cartridge This command deletes the application in the controller and has two options e To delete the contents of the controller RAM the controller internal EEPROM and the installed optional backup cartridge e To delete the contents of the installed optional backup cartridge only A 32 Bit Windows application used for downloading a new Firmware Executive program to a Twido controller Expansion I O Modules connect to the base controller using this bus Optional Expansion I O Modules are available to add I O points to a Twido controller Not all controller models allow expansion 620 TWD USE 10AE Glossary Fast counters FIFO Firmware executive Forcing Frame Framing types Function block A function block that provides for faster up down counting than available with the Counters function block A Fast Counter can count up to a rate of 5 KHz First In First Out A function block used for queue operations The Firmware Executive is the operating system that executes your applications and manages controller operation Intentionally setting controller inputs and outputs to 0 or 1 values even if the actual values are different Used for debugging while animatin
39. SW and X as follows e Object number in the upper right e Signed value for the objects in the lower portion In the following example memory word number 67 contains the value 123 M W 6 7 123 TWD USE 10AE 315 Operator Display Operation Network Input Output Format Step Counter Format Shift Bit Register Format The network input output objects INW and QNW appear in the display area as follows Object type in the upper left e Controller address in the upper center e Object number in the upper right e Signed value for the object in the lower portion In the following example the first input network word of the remote controller configured at remote address 2 is set to a value 4 I NW 2 0O The step counter SC format displays the object number and the step counter bit as follows e Object name and number in the upper left e Step counter bit in the upper right e The value of the step counter bit in the lower portion of the display In the following example bit number 129 of step counter number 3 is set to 1 C 3 129 1 The shift bit register SBR appears in the display area as follows e Object name and number in the upper left e Register bit number in the upper right e Register bit value in the lower right The following example shows the display of shift bit register number 4 SBR 4 9 316 TWD USE 10AE Operator Display Operation Serial Port Settings Intr
40. e All outputs are represented by coil symbols e Numerical operations are included in the graphical Ladder instruction set The following illustration shows a simplified wiring diagram of a relay logic circuit and the equivalent Ladder diagram LS1 PBI CRI M1 LS1 PB1 CR1 M1 10 0 I0 2 10 4 Q0 4 4 a E LS2 SSI LS2 ssi 10 1 IO 7 Aa Relay logic circuit Ladder diagram Notice that in the above illustration all inputs associated with a switching device in the relay logic diagram are shown as contacts in the Ladder diagram The M1 output coil in the relay logic diagram is represented with an output coil symbol in the Ladder diagram The address numbers appearing above each contact coil symbol in the Ladder diagram are references to the locations of the external input output connections to the controller 324 TWD USE 10AE Ladder Language Ladder Rungs Example of Ladder Rungs A program written in Ladder language is composed of rungs which are sets of graphical instructions drawn between two vertical potential bars The rungs are executed sequentially by the controller The set of graphical instructions represent the following functions Inputs outputs of the controller push buttons sensors relays pilot lights etc Functions of the controller timers counters etc Math and logic operations addition division AND
41. MD11 CONCATW MW10 MWw434 LD 10 3 MD11 CONCATW MW10 MWS Syntax The syntax depends on the operators used as shown in the following table Operator Syntax Operand 1 Op1 Operand 2 Op2 Operand 3 Op3 LW HW Op1 Operator Op2 MWi MDi KDi CONCATW Op1 Operator Op2 Op3 MDi MWi KWi MWi KWi immediate value immediate value DWORD Op1 Operator Op2 MDi MWi KWi TWD USE 10AE 427 Basic Instructions 16 4 Program Instructions At a Glance Aim of this This section provides an introduction to Program Instructions Section What s in this This section contains the following topics ion Section Topic Page END Instructions 429 NOP Instruction 431 Jump Instructions 432 Subroutine Instructions 433 428 TWD USE 10AE Basic Instructions END Instructions Introduction The End instructions define the end of the execution of a program scan END ENDC and Three different end instructions are available ENDCN e END unconditional end of program e ENDC end of program if Boolean result of preceding test instruction is 1 e ENDCN end of program if Boolean result of preceding test instruction is 0 By default normal mode when the end of program is activated the outputs are updated and the next scan is started If scanning is periodic when the end of period is reached t
42. RTC Correction Init E E al Set Time 23 VN HOUOHHHBHHHEHBRHEEBEE EK WE Configure RTC 19 20 21 22 23 Ethernet Advanced VN HBUBHHHBOHRTEBHBEBRHEE EE OUT RUN ERR STAT BATT LAN LAN ACT ST MER EE Help 162 TWD USE 10AE Communications Step Action 3 Click the Ethernet button located in the right portion of the screen to access the connection parameters Result The Control Operations Ethernet table appears displaying MAC current IP Subnet and Gateway information as well as Ethernet connection information as shown in the following figure Controller Operations Ethernet Ethernet MAC Address 00 80 F4 81 00 72 IP Address 85 16 0 114 Default Gateway 85 16 0 114 Sub Mask 255 0 0 0 CH1 status Idle server CH2 status Idle server CH3 status Idle server CH4 status Internal use Package Received 0 Package Sent 0 Error Package received 0 Package sent w o 0 Ethernet STAT Waiting for served IP address Current Connection 100M Note that the unique MAC address of the Twido controller is showing on the first row of the Ethernet table the server more information please refer to When one channel is used as UDP for BootP the channel status shows Internal use e if you selected Configured
43. TWD USE 10AE System Bits and Words Table Abbreviation table Abbreviations Abbreviation Description Described P S Controlled by the system U Controlled by the user U gt S Set to 1 by the user reset to 0 by the system S gt U Set to 1 by the system reset to 0 by the user TWD USE 10AE 603 System Bits and Words System Words SW Introduction The following section provides detailed information about the function of the system words and how they are controlled Detailed The following table provides detailed information about the function of the system Description words and how they are controlled System Function Description Control Words SWO Controller scan Modifies controller scan period defined at configuration through the U period periodic task user program in the Animation Table Editor SW1 Save the value ofa Modifies the cycle time 5 255 ms of a Periodic event without loosing U Periodic event the Period value saved in the Periodic event box of the Scan Mode window Allows you to recover the Period value saved in the Periodic event box incase of a cold start or e if the value you write in SW1 is outside 5 255 range SW1 value can be modified at each end of a cycle in the program or in the Animation table without having to stop the program Cycle times can be correctly observed while the program is running SWE Controller Status Contr
44. There are two ways for the Ethernet capable PC to communicate with the TWDLCAE4ODRF Twido controller RJ 45 port e By direct cable connection via a UTP Cat5 RJ45 Ethernet crossover cable not recommended e By connection to the Ethernet network via a SFTP Cat5 RJ45 Ethernet cable available from the Schneider Electric catalog cable reference 490NTWO0008e A CAUTION EQUIPMENT DAMAGE TwidoSoft may not sense the disconnection when physically moving the TSXPCX1031 TSX PCX 3030 or Ethernet communication cable from a first controller and quickly inserting it in a second controller To avoid this condition use TwidoSoft to disconnect before moving the cable Failure to follow this instruction can result in injury or equipment damage 86 TWD USE 10AE Communications TSXPCX Cable Connection The EIA RS 232C or USB port on your personal computer is connected to the controller s Port 1 using the TSXPCX1031 or TSX PCX 3030 multi function communication cable This cable converts signals between EIA RS 232 and EIA RS 485 for the TSX PCX 1031 and between USB and EIA RS 485 for the TSX PCX 3030 This cable is equipped with a 4 position rotary switch to select different modes of operation The switch designates the four positions as 0 3 and the appropriate setting for TwidoSoft to Twido controller is location 2 This connection is illustrated in the diagram below
45. Valid range for private IP addresses Class A 10 0 0 0 gt 10 255 255 255 Class B 172 16 0 0 gt 172 31 255 255 Class C 192 168 0 0 gt 192 168 255 255 Today s networks are rarely either totally isolated from the Internet or from the rest of the company s Ethernet network Therefore if you are installing and connecting your Twido base controller to an existing network do not assign an arbitrary IP address without prior consulting with your network administrator you should follow the directions outlined below when assigning an IP address to your controller Note It is good practice to use Class C IP addresses on stand alone networks 164 TWD USE 10AE Communications TCP IP Setup Overview The following are detailed instructions on how to set up the Ethernet TCPI IP configuration for your Twido TWDLCAE4ODRF compact controller Note TCP IP setup can be performed when the TwidoSoft application program is in offline mode only UNINTENDED EQUIPMENT OPERATION Having two devices with the same IP address can cause unpredictable operation of your network e Ensure that this device will receive a unique IP address e Always obtain your IP address from your system administrator to avoid the possibility of duplicate address Failure to follow this instruction can result in injury or equipment damage Calling up the The following steps detail how to call up th
46. scroll down to Backup and click on it Data MWs Here are the steps for backing up data memory words into the EEPROM Backup Step Action 1 For this to work the following must be true A valid program is present Memory words are configured in the program 2 Set SW97 to the length of the memory words to be saved Note Length cannot exceed the configured memory word length and it must be greater than 0 but not greater than 512 3 Set SW96 X0 to 1 Data MWs Restore MWs manually by setting system bit S95 to 1 Restore For this to work the following must be true e A valid program is present e The backup memory words are valid TWD USE 10AE 59 User Memory 60 TWD USE 10AE Controller Operating Modes At a Glance Subject of this This chapter describes controller operating modes and cyclic and periodic program Chapter execution Included are details about power outages and restoration What s in this This chapter contains the following topics Chapter Topic Page Cyclic Scan 62 Periodic Scan 64 Checking Scan Time 67 Operating Modes 68 Dealing with Power Cuts and Power Restoration 69 Dealing with a warm restart 71 Dealing with a cold start 73 Initialization of objects 75 TWD USE 10AE 61 Controller Operating Modes Cyclic Scan Introduction Operation Description of the phases of a cycle Cyclic scanning involves linking controlle
47. 000 LD M15 001 AND M5 002 ST QO 0 003 LD MW24 gt MW 12 004 SR8 Jump to subroutine SR8 005 LD 10 4 gt 006 AND M13 007 _ 008 _ 009 _ 010 END 011 SR8 a 012 LD 1 013 IN TMO 014 LD TMO0 Q 015 ST M 15 010 RET Return to main subroutine TWD USE 10AE 433 Basic Instructions Guidelines e A subroutine should not call up another subroutine e Subroutine instructions are not permitted between parentheses and must not be placed between the instructions AND OR and a close parenthesis instruction m e The label can only be placed before a LD or BLK instruction marking the start of a Boolean equation or rung e Calling the subroutine should not be followed by an assignment instruction This is because the subroutine may change the content of the boolean accumulator Therefore upon return it could have a different value than before the call See the following example Example of programming a subroutine 10 0 gt gt SRO Q0 0 LD 10 0 ST Q0 0 SRO 434 TWD USE 10AE Advanced Instructions 17 At a Glance Subject of this This chapter provides details about instructions and function blocks that are used to Chapter create advanced control programs for Twido programmable controllers What s in this This chapter contains the following sections Chapter Section Topic Page 17 1 Advanced Fun
48. 01 Ea 2 2 LD 10 2 10 2 3 3 2 H Q0 2 4 om 3 wl 00 gt AY 7 ied 10 3 1 POST 3 I Q0 3 LD X1 POST ST Q0 1 03 X1 Q0 1 LD X2 ST Q0 2 LD X3 ToX2 Q0 2 ST Q0 3 X3 QO 3 Not supported Twido Ladder Twido Instruction Language program List program Alternative sequence 4 10 3 5 4 _ 10 3 _ _ 10 4 LD 10 3 5 FAO 6 LD 10 4 5 6 6 _ 10 5 _ 10 6 Ss k 5 ae A LD 10 5 7 7 6 a 6 ae 3 LD 10 6 7 Not supported Twido Ladder Twido Instruction Language program List program TWD USE 10AE 357 Grafcet Simultaneous sequences 8 8 ok 8 es 10 7 9 LD 10 7 T 9 E 10 9 10 E3 athe 9 10 8 _ 10 9 9 LD 10 8 10 8 11 11 11 12 i Mo O ae 10 9 12 11 13 1 LD M0 AND X12 F D 12 MO X12 12 E 3 m 7 i 13 aS 12 LD MO AND X11 ee D 11 M0 XI1 11 13 m m 13 Not supported Twido Ladder Twido Instruction Language program List program Note For a Grafcet Chart to be operational at least one active step must be declared using the i instruction initial step or the chart should be pre positioned during preprocessing using system bit S23
49. 10 20 50 100 125 default value 250 500 800 or 1000 Kbit s Note Make sure that each slave device declared on the network is individually configured so that its own Baudrate is strictly identical to the network speed defined above or otherwise the CANopen network communications will not function properly 2 Configure the Life time period This parameter defines the communications cycle time period that will be implemented in the supervision field of each slave device as explained in step 3 below Note Do not enter 0 in this field 3 Click once in the Supervision field to configure the error control protocol options of each slave device declared in the network slaves table Result The available surpervision options supported by the selected device appear in a listbox as shown in the following example 4 MIDU 4012 MIDU 401 V2 1 Guard Time 5 Heart Beat 6 Sie 4 Select the error control protocol you wish to use to manage communications between the TWDNCO1M master module and the selected slave device e Guard Time e Heartbeat e None 5 Ifthe surpervision option is set to None in the network slaves table the outputs will not return to their fallback values in the event of a break in connection between this slave and the TWDNCO1M master module this disconnection can be caused by e disconnection of the expansion bus cable linking the TWONCO1M CANopen master module t
50. 10 2 10 3 10 4 10 0 10 1 10 5 Q0 1 J 10 2 10 3 10 4 In order to execute schematics equivalent to those they must be modified as follows LD 10 0 AND I0 1 10 0 I0 1 QO 1 OR 10 2 AND I0 3 I0 2 10 3 OR I10 4 AND I0 3 10 4 10 3 i ST Q0 1 LD 10 0 AND I0 1 I0 0 10 1 10 5 QO 1 OR I0 2 AND I0 3 I we 910 2 10 3 AND 4IO 5 OR 10 2 AND I0 4 910 2 10 4 I ST Q0 1 336 TWD USE 10AE Ladder Language Ladder List Reversibility Introduction Understanding Reversibility Ensuring Reversibility Program reversibility is a feature of the TwidoSoft programming software that provides conversion of application programs from Ladder to List and from List back to Ladder Use TwidoSoft to set the default display of programs either List or Ladder format by setting user preferences TwidoSoft can also be used to toggle List and Ladder views A key to understanding the program reversibility feature is examining the relationship of a Ladder rung and the associated instruction List sequence e Ladder rung A collection of Ladder instructions that constitute a logical expression e List sequence A collection of List programming instructions that corr
51. 456 TWD USE 10AE Advanced Instructions Programming and Configuring Drum Controllers Introduction Programming The following is an example of programming and configuring a drum controller The first six outputs Q0 0 to Q0 5 are activated in succession each time input l0 1 is set to 1 Input 10 0 resets the outputs to 0 The following illustration is a drum controller function block with examples of Example reversible and non reversible programming 10 0 Q0 8 DR1 R rF I10 1 U STEPS 6 Ladder diagram BLK DR1 LD 10 0 R LD 10 1 U OUT_BLK LD F ST Q0 8 END_BLK TWD USE 10AE 457 Advanced Instructions Configuration The following information is defined during configuration e Number of steps 6 e The output states control bits for each drum controller step Step 1 Step 2 Step 3 0 0 0 0 OoO 1 o o0 oO f Step 4 Step 5 ojojojoj oj ojojoj ojl oJlN 0O0 0 0 0 0 ua gt M JE e SE gt HE e DE D o ojoj ojojlojlolN oljojojojojo O1 O O0O 0 0 0 6 OoO1o o o o o ojojojojojoj O OOl OlT O e E e E S e BE e D ojojojojojoj ojojojojojoj o 1 o Step 6 e Assignment of the control bits 1 Q0 0 4 Q0 1 Q0 2 Q0 3 Q0 4 6 Q0 5 a 458 TW
52. A Twido controller configured to be the Master on a Remote Link network Modbus Application Protocol Optional Backup Memory Cartridges that can be used to backup and restore an application program and configuration data There are two sizes available 32 and 64 Kb A portion of the Status Bar in the TwidoSoft main window that displays a percentage of total controller memory used by an application Provides a warning when memory is low A master slave communications protocol that allows one single master to request responses from slaves Type of Twido controller that offers flexible configuration with expansion capabilities Compact is the other type of Twido controller The operating state of TwidoSoft that is displayed on the Status Bar when a PC is connected to a controller in a non write mode Network Node Interconnected devices sharing a common data path and protocol for communication An addressable device on a communications network TWD USE 10AE 623 Glossary O Offline operation Offline state Online operation Online state Operand Operating states An operation mode of TwidoSoft when a PC is not connected to the controller and the application in PC memory is not the same as the application in controller memory You create and develop an application in Offline operation The operating state of TwidoSoft that is displayed on the Status Bar when a PC is not connected to a controller
53. AUTO TESTS MA Completion of configuration auto tests Yes power cut gt Micro power cut Vv Initialization of No application BOT 4 v Set bit S0 to 1 Set bit S0 to 0 Vv Update outputs le y TWD USE 10AE 73 Controller Operating Modes Operation The table below describes the restart phases for running a program after a cold restart Phase Description 1 At start up the controller is in RUN At a cold restart after a stop due to an error the system forces a cold restart The program execution restarts at the beginning of the cycle 2 The system e Resets internal bits and words and the I O images to 0 e Initializes system bits and words e Initializes function blocks from configuration data 3 For this first restart cycle the system e Relaunches the task with bits S0 cold start indicator and S13 first cycle in RUN set to 1 e Resets bits S0 and S13 to 0 at the end of this first task cycle e Sets bits S31 and S38 event control indicators to their initial state 1 e Resets bits S39 event control indicator and word SW48 counts all events executed except periodic events Processing of a In the event of a cold start if a particular application process is required bit SO Cold Start which is at 1 must be tested during the first cycle of the task Outputs
54. Advanced Instructions Step 1 Configuration of Analog Channels Used for Control Introduction Example of an Analog Measurement Signal How to Add an Analog Card Expansion Module Howto Configure Analog Input Channels In general a PID controller uses an analog feedback signal known as the process value to measure the value to be adjusted This value can be a level a temperature a distance or another value for other applications Let us take the example of a temperature measurement The sensor used sends an analog measurement which depends on the measured value back to the controller For temperature and with sensors like PT100s or Thermocouples the measured signal increases with an increase in current temperature In offline mode once you have selected the base controller add the analog card as a base extension The numbering of the channels will depend on its configuration slot The following table describes the procedure for configuring the analog channels of the expansion module Step Action 1 Right click on Expansion Bus gt Add Module 2 Select the desired card from the list For example TWDALM3LT for measuring temperature using a PT100 or Thermocouple Click on Add then Finish if the configuration is only for a single module Right click on the card you have added then select Configure In the Type column select the input type corresponding to the type of
55. An operation mode of TwidoSoft when a PC is connected to the controller and the application in PC memory is the same as the application in controller memory Online operation can be used to debug an application The operating state of TwidoSoft that is displayed on the Status Bar when a PC is connected to the controller A number address or symbol representing a value that a program can manipulate in an instruction Indicates the TwidoSoft state Displayed in the status bar There are four operating states Initial Offline Online and Monitor Operator A symbol or code specifying the operation to be performed by an instruction P Packet The unit of data sent across a network PC Personal Computer Peer controller PLC A Twido controller configured as a slave on a Remote Link network An application can be executed in the Peer Controller memory and the program can access both local and expansion I O data but I O data can not be passed to the Master Controller The program running in the Peer Controller passes information to the Master Controller by using network words INW and QNW Twido programmable controller There are two types of controllers Compact and Modular 624 TWD USE 10AE Glossary PLS Preferences Program errors viewer Programmable Pulse Generation A function block that generates a square wave with a 50 on and 50 off duty cycle A dialog box with selectable options for settin
56. Configuration OK Auto addressing possible m Slave at address 0 detected O Slaves OK Protected Mode Auto addressing active Network down Cancel Help 216 TWD USE 10AE Installing the AS Interface bus Description of the Debug Screen Displaying Slave Status The Debug screen provides the same information as theconfiguration screen See Description of the Screen in Offline Mode p 208 The differences are listed in the following table Schedule Description AS interface V2 configuration Image of the physical bus Includes slave status e Green indicator lamp the slave with this address is active e Red indicator lamp an error has occurred on the slave at this address and the message informs you of the error type in the Error on the network window Slave xxA B Image of the configuration of the selected slave e Characteristics image of the profile detected grayed out non modifiable e Parameters image of the parameters detected The user can select only the parameter display format e Inputs Outputs the input output values detected are displayed non modifiable Error on the network Informs you of the error type if an error has occurred on the selected slave AS Interface Bus Information resulting from an implicit Read Status command e Shows bus status for example Configuration OK OFF indicates that the configuration sp
57. Introduction to Twido Languages Introduction Twido Languages Instruction List Language A programmable controller reads inputs writes to outputs and solves logic based on a control program Creating a control program for a Twido controller consists of writing a series of instructions in one of the Twido programming languages The following languages can be used to create Twido control programs e Instruction List Language An Instruction List program is a series of logical expressions written as a sequence of Boolean instructions e Ladder Diagrams A Ladder diagram is a graphical means of displaying a logical expression e Grafcet Language Grafcet language is made up of a series of steps and transitions Twido supports the use of Grafcet list instructions but not graphical Grafcet You can use a personal computer PC to create and edit Twido control programs using these programming languages A List Ladder reversibility feature allows you to conveniently reverse a program from Ladder to List and from List to Ladder A program written in Instruction List language consists of a series of instructions executed sequentially by the controller The following is an example of a List program 0 BLK C8 1 LDF 40 1 2 R 3 LD 10 2 4 AND MO 5 CU 6 OUT_BLK 7 LD D 8 AND MI1 9 ST Q0 4 10 END_BLK TWD USE 10AE 21 Twido Software Languages Ladder Diagrams Ladder diagrams are similar to relay
58. KD0O l1 2 MW0 FIND_GTR MD20 7 KD0 MW1 FIND_LTR MF40 5 KF5 Instruction List Language LD 13 2 MW5 FIND EQR MD20 7 KDO LD 11 2 MWO FIND_ GTR MD20 7 KDO MW1 FIND LTR MF40 5 KF5 582 TWD USE 10AE Advanced Instructions Syntax Example Syntax of table search instructions Function Syntax FIND_EQR Res Function Tab Val FIND_GTR FIND_LTR Parameters of floating word and double word table search instructions Type Result Res Table Tab Value val Floating word tables MWi MFi L KFi L MFi KFi Double word tables MWi MDi L KDi L MDi KDi SMW5 FIND EQR MD30 4 KDO Search for the position of the first double word KDO 30 in the table Rank Word Table Result 0 MD30 10 1 MD31 20 2 MD32 30 Value val rank 3 MD33 40 TWD USE 10AE 583 Advanced Instructions Table search functions for maxi and mini values General There are 2 search functions e MAX_ARR search for the maximum value in a double word and floating word table e MIN_ARR search for the minimum value in a double word and floating word table The result of these instructions is equal to the maximum value or minimum found in the table Structure Ladder language l1 2 MIDO MIN_ARR MD20 7
59. MAC address that is a worldwide unique 48 bit address assigned to each Ethernet device Default IP Address The default Ethernet interface IP address of the Twido controller is derived from its unique MAC address The default IP address expressed in dotted decimal notation is defined as follows 085 016 xxx yyy where e 085 016 s a set header shared by all IP addresses derived from MAC address e xxx and yyy are last two numbers of the device MAC address For example the IP address derived from MAC address 00 80 F4 81 01 11is 085 016 001 17 TWD USE 10AE 161 Communications Checking the To check out the MAC address and the current IP address of your Twido controller MAC Address along with IP configuration settings subnetwork mask and gateway addresses and and Current IP Ethernet connection status follows these instructions Address of the Controller Step Action 1 In TwidoSoft application program select PLC from the menu bar 2 Select Check PLC from the menu items list Result The Controller Operations dialogbox appears displaying the Twido LEDs on a soft front panel as shown in the figure below Controller Operations Status Switches Scan Time msec 1 0 Forced mn Potentiometer 0 1023 Longest 2 RAM Executable Fj Potentiometer 1 0 Current 1 Run RAM Protected C Shortest 0 Stop _ Controller Real Time Clock Date dd mm yyyy Time hh mm ss
60. MWi Immediate value MWi double QWi QWAI SWi KWi IW IWAi word bit MWi MWi MDi QWi QWAI SWi string MDi MWij MWi MWi Mi L Qi L Si L KWi MWi MDi Xi L MDI MWj KDi KDI MWj INW Mi L Qi L QNW Si L Xi L li L Floating MFi MFi MWj Immediate floating point point value MFi MFiI MWj KFi KFi MWj Note The abbreviation BLK x for example R3 1 is used to describe any function block word For bit strings Mi L Si L and Xi L the base address of the first of the bit string must be a multiple of 8 0 8 16 96 Assignment operations can be performed on the following object tables see Tables of words p 46 e Immediate whole value gt word table Example 1 or double word table e Word gt word table Example 2 e Word table gt word table Example 3 Table length L should be the same for both tables e Double word gt double word table e Double word table gt double word table Table length L should be the same for both tables e Immediate floating point value gt floating point table e Floating point gt floating point table e Floating point table gt floating point table Table length L should be the same for both tables 414 TWD USE 10AE Basic Instructions Examples Exam
61. OPEN Creates a break in the continuity of a ladder AND 0 rung regardless of the results of the last logical operation SHORT Allows the continuity to pass through the OR 1 rung regardless of the results of the last logical operation In List programming the OR and AND instructions are used to create the OPEN and SHORT instructions using immediate values of 0 and 1 respectively Examples The following are examples of using the OPEN and SHORT instructions 10 1 M3 QO0 1 LD 10 1 ANDN M3 PALI AND 0 ST Q0 1 10 9 Q1 6 LD 10 9 OR 1 ST Q1 6 SHORT TWD USE 10AE 333 Ladder Language Programming Advice Handling Program Jumps Programming of Outputs Using Directly Wired Emergency Stop Sensors Handling Power Returns Time and Schedule Block Management Syntax and Error Checking Use program jumps with caution to avoid long loops that can increase scan time Avoid jumps to instructions that are located upstream An upstream instruction line appears before a jump in a program A downstream instruction line appears after a jump in a program Output bits like internal bits should only be modified once in the program In the case of output bits only the last value scanned is taken into account when the outputs are updated Sensors used directly for emergency stops must not be processed by the contr
62. SR 433 XOR 382 instructions END 429 NOP 431 INT_TO_REAL 575 Integral action 560 IP address 160 BootP 161 Default IP address 161 J JMP 432 Jump Instructions 432 L Labeling Indexed 48 Ladder diagrams blocks 328 graphic elements 330 introduction 324 OPEN and SHORT 333 programming principles 326 Ladder List Rung 339 Ladder program reversing to List 337 Ladder rungs 325 LAN ACT 178 LAN ST 179 LD 374 LDF 371 374 LDN 374 LDR 370 374 TWD USE 10AE 633 Index Life guarding 248 Life time 248 LIFO introduction 443 operation 444 Link elements graphic elements 330 List instructions 347 List Language overview 344 List Line Comments 340 LKUP 589 LN 568 LOG 568 logic instructions 422 M MAC address 161 Marked IP 169 MAX_ARR 584 MEAN 594 Memory 32K cartridge 56 64K cartridge 58 Structure 52 without cartridge 54 Memory bits 27 Memory words 29 MIN_ARR 584 Modbus Communication 84 Communications 126 Configuring the port 130 Hardware configuration 127 master 84 Slave 84 Software configuration 130 Standard requests 144 TCP Client Server 152 TCP Modbus messaging 180 Modbus Link Example 1 138 Example 2 141 Modbus TCP IP Remote devices 173 Mode Operational 244 pre operational 244 MPP 352 MPS 352 MRD 352 Multiply 418 N Network Addressing 42 Node guarding 248 Non reversible programming 440 NOP 431 NOP Ins
63. The Max value process variable is then automatically rescaled within the Min value to Max value interval Note The Min value must always be less than the Max value Min value or Max value can be internal words MW0 to MW2999 internal constants KWO to KW255 or a value between 32768 and 32767 Alarms Check this box if you wish to activate alarms on input variables Note The alarm values should be determined relative to the process variable obtained after the conversion phase They must therefore be between Min value and Max value when conversion is active Otherwise they will be between 0 and 10000 Low Specify the high alarm value in the Low field Output This value can be an internal word MW0O to MW2999 an internal constant KWO to KW255 or a direct value Output must contain the address of the bit which will be set to 1 when the lower limit is reached Output can be either an internal bit MO to M255 or an output Qx 0 to Qx 32 High Specify the low alarm value in the High field Output This value can be an internal word MWO to MW2999 an internal constant KWO to KW255 or a direct value Output must contain the address of the bit which will be set to 1 when the upper limit is reached Output can be either an internal bit MO to M255 or an output Qx 0 to Qx 32 Diagram The diagram allows you to view the different possibilities available for configuring your PID TWD USE 10AE 529
64. Using TwidoSoft an application program is written for both the master and the slave For the slave we simply write some memory words to a set of known values In the master the word table of the EXCHx instruction is initialized to read 4 words from the slave at Modbus address 2 starting at location MWO Note Notice the use of the RX offset set in MW1 of the Modbus master The offset of three will add a byte value 0 at the third position in the reception area of the table This aligns the words in the master so that they fall correctly on word boundaries Without this offset each word of data would be split between two words in the exchange block This offset is used for convenience Before executing the EXCH2 instruction the application checks the communication bit associated with MSG2 Finally the error status of the MSG2 is sensed and stored on the first output bit on the local base controller I O Additional error checking using SW64 could also be added to make this more accurate Step 5 Initialize the animation table editor in the master Address Current Retained Format 1 MW5 0203 0000 Hexadecimal 2 MW6 0008 0000 Hexadecimal 3 MW7 6566 0000 Hexadecimal 4 MW8 6768 0000 Hexadecimal 5 MW9 6970 0000 Hexadecimal 6 MW107172 0000 Hexadecimal After downloading and setting each controller to run open an animation table on the master Examine the response section of the table to check that the response co
65. click once on the device name to select the slave you wish to configure the PDOs 2 Example The DS 401 I O module labeled MIDU 4011 Note that the slave names and node addresses appear in this frame exactly as defined in the previous stage of network configuration see Network CANopen Slave Declaration p 257 Slaves 262 TWD USE 10AE Installing and Configuring the CANopen Fieldbus Step Action Results 1 All of the CANopen objects supported by the selected slave are displayed in the Available Objects frame as shown in the example below Available Objects 2 The PDO frame is showing the predefined Transmit PDOs PDO TX for the selected slave as default You may use the Type toggle list to display the predefined Receive PDOs PDO RX as well In this example the MIDU 4011 DS 401 I O module supports two Transmit PDOs PDO TX and two Receive PDOs PDO RX as shown below r PDO w aT COB ID 181 r PDO COB ID 201 3 The predefined mapping of each selected PDO is showing in the Mapped Objects frame as well r Mapped Object m e EESRREEE Name Index Size TWD USE 10AE 263 Installing and Configuring the CANopen Fieldbus Step Action 4 You may choose to customize the PDO mapping using the Mapped Objects frame A RPDO or TPDO is a 64 byte object that can contain up to eigh
66. or the R set to 1 instruction is inactive 400 TWD USE 10AE Basic Instructions Special Cases The following table shows a list of special operating configuration cases for counters Special case Description Effect of a cold restart S0O 1 e The current value Ci V is set to 0 e Output bits Ci E Ci D and Ci F are set to 0 e The preset value is initialized with the value defined during configuration Effect of a warm restart S1 1 of a controller stop Has no effect on the current value of the counter Ci V Effect of modifying the preset Ci P Modifying the preset value via an instruction or by adjusting it takes effect when the block is processed by the application activation of one of the inputs TWD USE 10AE 401 Basic Instructions Programming and Configuring Counters Introduction Programming The following example is a counter that provides a count of up to 5000 items Each pulse on input l1 2 when internal bit MO is set to 1 increments the counter C8 up to its final preset value bit C8 D 1 The counter is reset by input l1 1 The following illustration is a counter function block with examples of reversible and Example non reversible programming 11 1 R C8 E s 11 2 MO ADJ Y D cu Ci P 9999 CD F C8 D Q0 0 E U7 Ladder diagram BL
67. proportional production Ti integration time and TD diversion time Note This adjustment method provides a very dynamic command which can express itself through unwanted overshootsduring the change of setpoint pulses In this case lower the production value until you get the required behavior TWD USE 10AE 557 Advanced Instructions Open loop adjustment As the regulator is in manual mode you apply a level to the output and make the procedure response start the same as an integrator with pure delay time Output AS Integrator Process response yoy t The intersection point on the right hand side which is representative of the integrator with the time axes determines the time Tu Next Tg time is defined as the time necessary for the controlled variable measurement to have the same variation size of the scale as the regulator output According to the kind of PID or PI regulator the adjustment of the coefficients is executed with the following values Kp Ti Td PID 1 2 Tg Tu 2x Tu 0 5 x Tu PI 0 9 Tg Tu 3 3 x Tu where Kp proportional production Ti integration time and TD diversion time Note Attention to the units If the adjustment is carried out in PL7 multiply the value obtained for KP by 100 This adjustment method also provides a very dynamic command which can express itself through unwanted ov
68. 2 Slave 1 247 15 Request code 3 Number of the first bit to write 4 N Number of bits to write 5 00 byte not sent offset effect No Number of data bytes to write 1 N4 1 8 where means integral part 6 Value of the 13t byte Value of the 2 byte 7 Value of the 3 byte Value of the 4 byte N2 2 5 if N2 is even Value of the No byte No 2 1 5 if No is odd Reception table after Slave 1 247 15 Response code response Address of the 1 bit written Address of bits written N4 Note e The Tx Offset 7 will suppress the 7th byte in the sent frame This also allows a good correspondence of words values in the transmission table 148 TWD USE 10AE Communications Modbus Master Write of N Words This table represents Request 16 Table Most significant byte Least significant byte Index Control table 0 01 Transmission 8 2 N Transmission reception length 1 00 Reception offset 07 Transmission offset Transmission table 2 Slave 1 247 16 Request code 3 Address of the first word to write 4 N Number of words to write 5 00 byte not sent offset 2 N Number of bytes to effect write 6 First word value to write Second value to write N 5 N values to write Reception table N 6 Slave 1 247 16 Response code after response N 7 Address of the first word written N 8 Address of words written N
69. 2 i riea iA take be ye eee i ae ee 294 Saving the Configuration 0 0 0 eects 295 Restoring Default Settings 00 c eee eee 296 Upgrading the TwidoPort Firmware 0c eee eee eee ees 297 Forget Your Password and or IP Configuration 000 eee eee 299 Communication Features 0 0 0 cece ete tees 300 Ata Glance scritur Rel ab he AR he en tae Gat 300 Ethernet Features 0 c ee eee eee tenes 301 Modbus TCP Communications Protocol 0 0 cece eee eee 302 Locally Supported Modbus Function Codes 0 20 cece eee eee 303 Operator Display Operation 00 ce eee eens 305 At a Glances sy lt 5 3h curt are santa han eA ee whe tna a e a pinata aN 305 Operator Display iii aa eti 00 0 e a a aa E a a E e AAE 306 Controller Identification and State Information 0 000 eee eee 309 System Objects and Variables u nan uaaa cece eee ee eee 311 Serial Port Settings 0 0 0 ccc ete 317 Time of Day Clock 1 2 c cece teens 318 Real Time Correction Factor 0 00 eee eee 319 Part Ill Chapter 13 Chapter 14 Chapter 15 Part IV Chapter 16 16 1 Description of Twido Languages 321 Ata Glan er n e sensing ante aig antes E G ANAA es enti O RE A RRR ses 321 Ladder Language 4 iis tek eens dena cece eens ae 323 Ata Glance Tomei candies awh aati E ieee betes oe ee oe ee ee 323 Introduction to Ladder DiagramS
70. 596 S59 600 S10 597 S6 596 S100 601 S66 600 S101 601 S69 600 S103 602 S7 596 S104 602 S75 601 S11 597 S8 596 S110 602 S9 596 S111 602 S95 601 S112 602 S96 601 S113 602 S97 601 S118 602 SBR 404 S119 602 SCi 406 S12 597 SW 604 S13 597 SWO 604 S17 597 SW1 604 S18 597 SW101 613 S19 597 629 TWD USE 10AE Index SW102 613 SW103 614 SW104 614 SW105 614 SW106 614 SW11 605 SW111 614 SW112 615 SW113 615 SW114 615 SW118 615 SW120 615 SW14 605 SW15 606 SW16 606 SW17 606 SW18 606 SW19 606 SW20 SW27 271 606 SW30 606 SW31 607 SW32 607 SW48 607 SW49 608 SW50 608 SW51 608 SW52 608 SW53 608 SW54 608 SW55 608 SW56 608 SW57 608 SW58 608 SW59 609 SWE 604 SW60 609 SWE63 609 SW64 609 SWES 610 SWE7 610 SWEB 610 SW69 610 SW7 605 SW73 611 SW74 611 SW76 611 SW77 611 SW78 611 SW79 611 SW80 611 SW81 SW87 270 611 SW94 612 SW96 612 SW97 613 TM 395 NFC 462 568 568 568 A ABS 568 Absolute value 418 Accessing debugging PID 540 Accessing the configuration PID 524 Accumulator 346 ACOS 572 Action Zone 326 Add 418 Addressing analog I O modules 191 Addressing I O 40 Advanced function blocks Bit and word objects 438 Programming principles 440 Analog Channel 188 Analog Module operating 190 Ana
71. 7 The Break timeout value is the maximum elapsed time allowed between a Modbus TCP IP query and the reception of the response frame If Break timeout is exceeded without receiving the requested response frame the TwidoSoft application breaks the connection between the PC and the controller Note Default Break timeout value is 20 ms You must set a non zero value 8 Click the OK button to save the new connection settings and close the Connections management dialog box Result The names of all newly added connections are added to the dropdown list of connections in the File Preferences dialog box or in the PLC Select a connection menu Modifying and Existing Ethernet TCP IP connections can be deleted or have their parameters DeletingaTCP IP modified as follows Connection e To delete a connection from the Ethernet management dialog box select a connection Name then click the Delete button Note that after deletion all connection parameters are permanently lost e To modify the parameters of an existing connection select the desired field and click the Modify button Then you can enter a new value in the selected field TWD USE 10AE 177 Communications Ethernet LED Indicators Overview LED Status Two Ethernet communications LED indicators are located on the LED panel at the front panel of the TWDLCAE40DRF controller and on the soft front panel accessible via the PLC gt Check PLC path in the TwidoSoft applica
72. AS Interface application you need to define the physical context of the application into which it will integrated expansion bus supply processor modules AS Interface slave devices connected to the bus then ensure its software implementation This second aspect will be carried out from the different TwidoSoft editors e either in local mode e or in online mode AS Interface V2 The AS interface Master module TWDNOI10M3 includes the following Bus functionalities e M3 profile This profile includes all the functionalities defined by the AS Interface V2 standard but does not support the S7 4 analog profiles One AS Interface channel per module Automatic addressing for the slave with the address 0 Management of profiles and parameters Protection from polarity reversion on the bus inputs The AS Interface bus then allows e Up to 31 standard address and 62 extended address slaves e Up to 248 inputs and 186 outputs e Up to 7 analog slaves Max of four 1 0 per slave e Acycle time of 10 ms maximum A maximum of 2 AS Interface Master modules can be connected to a Twido modular controller a TWDLC A24DRF or a TWDLCA 40DRFcompact controller 202 TWD USE 10AE Installing the AS Interface bus General functional description General Introduction For the AS Interface configuration TwidoSoft software allows the user to e Manually configure the bus declaration of slaves and assignment of addresses on the bus e Adapt the conf
73. Addresses are assigned to the analog channels depending on their location on the expansion bus Example of In this example a TWDLMDA40DUK has a built in analog adjusted 10 bit Addressing potentiometer a 9 bit built in analog channel On the expansion bus are the Analog I O following a TWDAMM3HT analog module a TWODMMS8DRT input output digital relay module and a second TWDAMMS3HT analog module are configured nique Zm m ANALOG DC IN ANALOG Relay OUT L DCIN _b Tr OUT Sce Twido en o LARG a 3 e 3 4 il v3 2 m 1y 7 EN j3 i 51 i a l i i ak Ei l i iJ ig a A Base Module 1 Module 2 Module 3 The table below details the addressing for each output Description Base Module 1 Module 2 Module 3 Potentiometer 1 W0 0 0 Built in analog channel WO 0 1 Analog input channel 1 IW0 1 0 WO0 3 0 Analog input channel 2 I WO 1 1 IWO0 3 1 Analog output channel 1 QWO0 1 0 QW0 3 0 Digital input channels 10 2 0 l0 2 3 Digital output channels Q0 2 0 Q0 2 3 TWD USE 10AE 191 Managing Analog Modules Configuring Analog Inputs and Outputs Introduction Configuring Analog I O Title bar and Contents Description This section provides information on configuring analog module s inputs and outputs The Configure Module dialog box is u
74. BootP Configuration 285 TWD USE 10AE 279 Configuring the TwidoPort Ethernet Gateway Normal Configuration with TwidoSoft Foreword If you have TwidoSott v 3 0 or higher configure TwidoPort with these instructions Note Plug n play feature When TwidoPort is configured with TwidoSoft TwidoPort s IP configuration is stored in the Twido controller Therefore maintenance personnel can exchange TwidoPorts without additional configuration To use the plug n play functionality use TwidoSoft version 3 0 or higher and upgrade the Twido firmware to 3 0 or higher Use Telnet to manually configure TwidoPort with older versions of TwidoSoft Installing the To install TwidoPort on a Twido PLC system DIN rail or panel mounting and 499TWD01100 connect it to the Twido PLC internal bus follow these steps TwidoPort Module Step Description Action 1 Installation Preparation Consult the Twido Programmable Controllers Hardware Reference Guide TWD USE 10AE for instructions on correct mounting positions for Twido modules e adding and removing Twido components from a DIN rail e direct mounting on a panel surface minimum clearances for modules in a control panel Grounding 2 Mounting the Install the module on a DIN rail or panel For more details see 499TWD01100 TwidoPort Module 3 Protective Earth PE Attach a grounded wire to the M3 screw terminal on t
75. CAN_CMDn MWx 1 Legend Symbol Description n Expansion address of CANopen master module on the Twido bus 1 to 7 x Number of the first internal word memory word passed in parameter 0 to 254 Length of the instruction in number of words 2 TWD USE 10AE 273 Installing and Configuring the CANopen Fieldbus Using the CAN_CMD Instruction The CAN_CMD instruction allows you to program and manage the CANopen network and to perform diagnostic checks of individual slave devices Command parameters are passed via memory words MWx The following table describes the action of the CAN_CMD instruction according to the value of the parameters MW x to MW x 5 as needed MWx MWx 1 MWx 2 MWx 3 MWx 4 MWx 5 Bit 0 7 Bit 8 15 Bit Bit Bit Bit Bit Bit Bit Bit Action 0 7 8 15 0 7 8 15 0 7 8 15 0 7 8 15 Reset CANopen communication Reset CANopen nodes Switch from operational to pre operational mode Switch to operational mode 3or4 3 gt Start Read SDO command 4 gt Start Write SDO command Node Node 1 16 gt Node address Index PDO object index Sub 0 255 gt Object sub Len Sub index Len Length of data in byte Payload according to the Data length field Len value Payload according to the Data2 length fie
76. CE tie tose orator e E NE abana tablets Ala Bae eas a yeas 490 Purpose of Document 0 c eee eee ees 491 Step 1 Configuration of Analog Channels Used for Control 493 Step 2 Prerequisites for PID Configuration 2000 eee eee 495 Step 3 Configuring the PID nananana cece 497 Step 4 Initialization of Control Set Up 0 6 eee 504 Step 5 Control Set Up AT PID 0 0 cee eee 509 Step 6 Debugging Adjustments 0 000 c eee eee eee 513 PID FUNCUON 24 40 ato bedt p me Gaal hia bid eg tat eee E 516 At aiGlanCe ssi iccnde seth al Vanni athe ease E ANA seat gre RATE A EN 516 OVENICW 3 hack eae ge ghee ak eae cs bee et fal exe ee ee 517 Principal of the Regulation Loop 0 eee eee eee 518 Development Methodology of a Regulation Application 519 Compatibilities and Performances 000 c eee eee eee eee 520 Detailed characteristics of the PID function 02 eee aee 521 How to access the PID configuration 0 0 0 c eee eee eee 524 General tab of PID function 0 0 0 0 00 525 Input tab of the PID 1 Le tee 528 PID tab of PID function 0 0 0 cee 530 AT tab of PID FUNCION i Sn poke a a ha eae PA pe ee wed 532 Output tab of the PID 2 2 tte eee 537 How to access PID debugging eee eee eee eee 540 Animation tab of PID function 0 2 0 0 eee tee 541 Trace tab of PID function
77. Chapter Topic Page Language Object Validation 26 Bit Objects 27 Word Objects 29 Floating point and double word objects 32 Addressing Bit Objects 36 Addressing Word Objects 37 Addressing floating objects 38 Addressing double word objects 39 Addressing Inputs Outputs 40 Network Addressing 42 Function Block Objects 43 Structured Objects 45 Indexed objects 48 Symbolizing Objects 50 TWD USE 10AE 25 Twido Language Objects Language Object Validation Introduction Word and bit objects are valid if they have been allocated memory space in the controller To do this they must be used in the application before downloaded to the controller Example The range of valid objects is from zero to the maximum reference for that object type For example if your application s maximum references for memory words is MW9 then MW0O through MW9 are allocated space MW10 in this example is not valid and can not be accessed either internally or externally 26 TWD USE 10AE Twido Language Objects Bit Objects Introduction Bit objects are bit type software variables that can be used as operands and tested by Boolean instructions The following is a list of bit objects e 1 0 bits System bits Step bits Internal bits memory bits Bits extracted from words List of Operand The following table lists and describes all of the main bit objects that are used as Bits operands
78. Chapter 11 11 1 Chapter 12 Configuration Methodology 00 cece eee tees 254 Declaration of CANopen Master 0 0 cece eee ee 256 Network CANopen Slave Declaration 000 e cece eee eee 257 CANopen Objects Mapping 0 0 0 e eect tees 261 CANopen Objects Linking 0 000 e eee ete 265 CANopen Objects Symbolization 0 0000 e eee eee 267 Addressing PDOs of the CANopen master 0000 cee neces 269 Programming and diagnostics for the CANopen fieldbus 270 Configuring the TwidoPort Ethernet Gateway 277 Ata Glane eerie crak ae Becht ee ae ee Rai eel oe Baie 277 Normal Configuration and Connection of TwidoPort 279 Ata Glance mss a Gist ahh ayant oe ath a a Sonat eae eis atta eat 279 Normal Configuration with TwidoSoft 00 cece eee eee 280 BootP Configuration sas aiaa sai aaa cette ee 285 TwidoPort s Telnet Configuration 00 c eee eee 286 AtarGlancest 3 a aa Sete asset aerate 1 Aa ies oe ae feud 286 Introducing Telnet Configuration 0 0 0 ce eect 287 Telnet Main Menu 0 0 e eee tees 288 IP Ethernet Settings mi e ura ee Hacer bees thea E de eas 289 Serial Parameter Configuration 0 e cee ee 290 Configuring the Gateway 1 0 0 0 eects 291 Security Configuration 0 0 cette 292 Eth rnet Statisties sic 2thwtcal ple ele ida ede were gi nee 293 Serial Statistics 1
79. Description of different event sources 79 Event management 80 TWD USE 10AE 77 Event task management Overview of event tasks Introduction Description of an Event The previous chapter presented periodic See Periodic Scan p 64 and cyclic See Cyclic Scan p 62 tasks in which objects are updated at the start and end of the task Event sources may cause a certain task to be stopped while higher priority event tasks are executed to allow objects to be updated more quickly An event task e is apart of a program executed when a given condition is met event source e has a higher priority than the main program e guarantees a rapid response time enabling the overall response time of the system to be reduced An event is composed of e an event source which can be defined as a software or hardware interrupt condition to interrupt the main program See Description of different event sources p 79 e a section which is a independent programmed entity related to an event e an event queue which can be used to store a list of events until they are executed e a priority level which specifies the order of event execution 78 TWD USE 10AE Event task management Description of different event sources Overview of Different Event Sources Physical Input Events of a Controller Base Output Event ofa VFC Function Block Periodic event An event source needs to be
80. Extracted from is then completed by the bit row extracted according to the following syntax Words WORD X k Word address Position k 0 15 bit rank in the word address Examples e MW5 X6 bit number 6 of internal word MW5 e QW5 1 X10 bit number 10 of output word QW5 1 36 TWD USE 10AE Twido Language Objects Addressing Word Objects Introduction Syntax Description Addressing word objects except for input output addressing see Addressing Inputs Outputs p 40 and function blocks see Function Block Objects p 43 follows the format described below Use the following format to address internal constant and system words M KorS WwW i symbol lobject type Format Number The following table describes the elements in the addressing format Group Item Description Symbol The percent symbol always precedes an internal address Type of object M Internal words store intermediary values while a program is running K Constant words store constant values or alphanumeric messages Their content can only be written or modified by using TwidoSoft S System words provide status and control information for the controller Syntax W 16 bit word Number i The maximum number value depends on the number of objects configured Examples of word object addressing e MW15 internal word number 15 e KW26 constant word number 26 e SW30 system word number 30
81. IP Addressing 160 Assigning IP Addresses 161 TCP IP Setup 165 IP Address Configure Tab 167 Marked IP Tab 169 Time out Tab 171 Remote Devices Tab 173 Viewing the Ethernet Configuration 175 Ethernet Connections Management 176 Ethernet LED Indicators 178 TCP Modbus Messaging 180 TWD USE 10AE Communications Presentation of the different types of communication Ata Glance Twido provides one or two serial communications ports used for communications to remote I O controllers peer controllers or general devices Either port if available can be used for any of the services with the exception of communicating with Twido Soft which can only be performed using the first port Three different base protocols are supported on each Twido controller Remote Link ASCII or Modbus modbus master or modbus slave Moreover the TWDLCAE40DRF compact controller provides one RJ 45 Ethernet communications port It supports the Modbus TCP IP client server protocol for peer to peer communications between controllers over the Ethernet network Remote Link The remote link is a high speed master slave bus designed to communicate a small amount of data between the master controller and up to seven remote slave controllers Application or I O data is transferred depending on the configuration of the remote controllers A mixture of remote controller types is possible where some can be remote I O and some can be peers ASCII
82. In addition to the List of PID States available from the Animation dialog box see Animation tab of PID function p 541 that allows to view and switch back to one of the 15 latest PID states the Twido PID controller also has the ability to record the current state of both the PID controller and the AT process to a user defined memory word To find out how to enable and configure the PID state memory word MWi see General tab of PID function p 525 PID State The PID state memory word can record any of three types of PID information as Memory Word follows e Current state of the PID controller PID State e Current state of the autotuning process AT State e PID and AT error codes Note The PID state memory word is read only PID State The following is the PID controller state versus memory word hexadecimal coding Memory Word concordance table PID State hexadecimal notation Description 0000h PID control is not active 2000h PID control in progress 4000h PID setpoint has been reached TWD USE 10AE 545 Advanced Instructions Description of AT State The autotuning process is divided into 4 consecutive phases Each phase of the process must be fulfilled in order to bring the autotuning to a successful completion The following process response curve and table describe the 4 phases of the Twido PID autotuning PID PID number lo nd of Autotuning m Computing the AT parameters 30 15 45 gPhase 1 pPhase 2 Firs
83. Language Name Equivalent Function graphic element AND I Logic AND 8 parenthesis levels OR Logic OR 8 parenthesis levels XOR XORN KON Exclusive OR XORR XORF XORN XORR XORF MPS Switching to the coils MRD A jz MPP r N Negation NOT 348 TWD USE 10AE Instruction List Language Action instructions Function Block Instructions The following table describes action instructions in List language Name Equivalent Function graphic element ST The associated operand takes the value of the test zone an result STN The associated operand takes the reverse value of the test UY zone result S The associated operand is set to 1 when the result of the S test zone is 1 R The associated operand is set to 0 when the result of the R test zone is 1 JMP Connect unconditionally to a labeled sequence upstream gt gt L or downstream SRn Connection at the beginning of a subroutine gt gt SRi RET Return from a subroutine lt RET gt END End of program lt END gt ENDC End of the conditioned program at a Boolean result of 1 lt ENDC gt ENDCN End of the conditioned program at a Boolean result of 0 lt ENDCN gt The following table describes function blocks in List language Name graphic element Equivale
84. O by modifying system bit S8 see System Bits S p 596 e STP Stopped Once an application is present in the controller the state changes to the STP or Stopped state In this state the application is not running Inputs are updated and data values are held at their last value Outputs are not updated in this state e INI Initial You can choose to change the controller to the INI or initial state only from the STP state The application is not running The controller s inputs are updated and data values are set to their initial state No outputs are updated from this state e RUN Running When in the RUN or running state the application is running The controller s inputs are updated and data values are set according to the application This is the only state where the outputs are updated e HLT Halted User Application Error If the controller has entered an ERR or error state the application is halted Inputs are updated and data values are held at their last value From this state outputs are not updated In this mode the error code is displayed in the lower right portion of the Operator Display as an unsigned decimal value e NEX Not Executable not executable An online modification was made to user logic Consequences The application is no longer executable It will not go back into this state until all causes for the Non Executable state have been resolved Using the Operator Display you can change to the INI state from t
85. P value cannot be modified Enable or IN Starts the timer on rising edge TON or TP types or falling instruction input edge TOF type Timer output Q Associated bit TMi Q is set to 1 depending on the function performed TON TOF or TP Note The larger the preset value the greater the timer accuracy TWD USE 10AE 391 Basic Instructions TOF Type of Timer Introduction Use the TOF Timer Off Delay type of timer to control off delay actions This delay is programmable using TwidoSoft Timing Diagram The following timing diagram illustrates the operation of the TOF type timer 1 1 IN 3 2 65 TMi P rit A TMi V Operation The following table describes the operation of the TOF type timer Phase Description 1 The current value TMi V is set to 0 on a rising edge at input IN even if the timer is running The TMi Q output bit is set to 1 when a rising edge is detected at input N The timer starts on the falling edge of input IN The current value TMi V increases to TMi P in increments of one unit for each pulse of the time base TB 5 The TMi Q output bit is reset to O when the current value reaches TMi P 392 TWD USE 10AE Basic Instructions TON Type of Timer Introduction The TON Timer On Delay type of timer is used to control on delay actions This delay is programmab
86. RTU Slave Attached Broadcasts Disabled Slave Address Source Unit ID Configuration Password USERUSER You must Save the configuration to make it active Returning to Main Menu in 2 Seconds Hit Enter to refresh 296 TWD USE 10AE Configuring the TwidoPort Ethernet Gateway Upgrading the TwidoPort Firmware Foreword Note 1 Obtain a newer version of the TwidoPort firmware before attempting to upgrade the firmware with these instructions 2 Stop the process before upgrading the firmware 3 Modbus communication will not be available during the firmware upgrade procedure Upgrading the To upgrade the current TwidoPort s firmware with the latest firmware release you Firmware have obtained follow this procedure Step Action Comment 1 Start a Telnet session Use the instructions above to open the Telnet main menu See Telnet Main Menu p 288 2 Select type F to initiate the firmware Five seconds after selecting F firmware upgrade TwidoPort upgrade resets and the Telnet connection is lost 3 At the command line type ftp and For example ftp 85 16 44 113 TwidoPort s IP address Enter tptwd At the login name prompt Enter cd fw This takes the user to the w directory Enter put App out A message indicates that the ftp was successful See note 3 See notes 1 and 2 Note 1 File names are case sensitive Note 2 Make sure App out is in the current
87. SW11 Software watchdog value Contains the maximum value of the watchdog The value 10 to 500 ms is defined by the configuration SW14 Commercial version Vxx yy For example if SW14 0232 8 MSB 02 in hexadecimal then xx 2 in decimal e 8 LSB 32 in hexadecimal then yy 50 in decimal As a result Commercial version is V2 50 Note Firmware version must be 2 5 or higher TWD USE 10AE 605 System Bits and Words System Function Description Control Words SW15 Firmware patch Pzz For example if SW15 0005 S e 8 MSB is not used e 8 LSB 05 in hexadecimal then zz 5 in decimal As a result Firmware patch is P05 Note Firmware version must be 2 5 or higher SW16 Firmware version For example if SW16 0232 S Vxx yy e 8 MSB 02 in hexadecimal then xx 2 in decimal e 8 LSB 32 in hexadecimal then yy 50 in decimal As a result Firmware version is V2 50 Note Firmware version must be 2 5 or higher SW17 Default status for When a fault is detected in a floating arithmetic operation bit S18is S and U floating operation set to 1 and the default status of SW17 is updated according to the following coding e Bit 0 Invalid operation result is not a number 1 NAN or 1 NAN Bit 1 Reserved e Bit 2 Divided by 0 result is infinite 1 INF or 1 INF Bit 3 Result greater in absolute value than 3 402824e 38 result is infinite 1 INF or 1 INF
88. SW58 Code of last stop Displays code giving cause of last stop S t Run Stop input edge 2 Stop at software fault controller scan overshoot Stop command Power outage 5 Stop at hardware fault 608 TWD USE 10AE System Bits and Words System Function Description Control Word SW59 Adjust current Adjusts the current date U date Contains two sets of 8 bits to adjust current date The operation is always performed on rising edge of the bit This word is enabled by bit S59 Increment Decrement Parameter bit 0 bit 8 Day of week bit 1 bit 9 Seconds bit 2 bit 10 Minutes bit 3 bit 11 Hours bit 4 bit 12 Days bit 5 bit 13 Month bit 6 bit 14 Years bit 7 bit 15 Centuries SWEO RTC correction RTC correction value U SWE3 EXCH1 block EXCH1 error code S error code 0 operation was successful 1 number of bytes to be transmitted is too great gt 250 2 transmission table too small 3 word table too small 4 receive table overflowed 5 time out elapsed 6 transmission 7 bad command within table 8 selected port not configured available 9 reception error 10 can not use KW if receiving 11 transmission offset larger than transmission table 12 reception offset larger than reception table 13 controller stopped EXCH processing YSW64 EXCH2 block EXCH2 error code See SW63 S error code TWD USE 10AE 609 System B
89. SWi Xk 128 Depends on i Constants KWi Xk 64 No Input lWi j Xk Note 2 No Output VQWI j Xk Note 2 Yes AS Interface Slave Input IWAX y z Xk Note 2 No AS Interface Slave Output YQWAX y z Xk Note 2 Yes Network Input INWi j Xk Note 2 No Network Output QNWi j Xk Note 2 Yes Note 1 Written by the program or by using the Animation Tables Editor 2 Number is determined by the configuration 3 Where x address of the expansion module 0 7 y AS Interface address 0A 31B z channel number 0 3 See Addressing I Os associated with slave devices connected to the AS Interface V2 bus p 228 TWD USE 10AE 31 Twido Language Objects Floating point and double word objects Introduction Floating Point TwidoSoft allows you to perform operations on floating point and double integer word objects A floating point is a mathematical argument which has a decimal in its expression examples 3 4E 38 2 3 or 1 0 A double integer word consists of 4 bytes stored in data memory and containing a value between 2147483648 and 2147483647 The floating format used is the standard IEEE STD 734 1985 equivalent IEC 559 Format and The length of the words is 32 bits which corresponds to the single decimal point Value floating numbers Table showing the format of a floating point value Bit 31 Bits 30 23 Bits 22 0 S Exponent Fractional part The value
90. Same definitions as SW80 S CANopen Master Module Status at Expansion Address 3 Same definitions as SW81 SW84 Expansion I O Module 4 Status Same definitions as SW80 S CANopen Master Module Status at Expansion Address 4 Same definitions as SW81 SW85 Expansion I O Module 5 Status Same definitions as SW80 S CANopen Master Module Status at Expansion Address 5 Same definitions as SW81 SW8E Expansion I O Module 6 Status Same definitions as SW80 S CANopen Master Module Status at Expansion Address 6 Same definitions as SW81 SW87 Expansion I O Module 7 Status Same definitions as SW80 S CANopen Master Module Status at Expansion Address 7 Same definitions as SW81 SWY4 Application s In case of an application change in terms of configuration or programming S signature data the signature sum of all checksums changes consequently If SW94 91F3 in hexadecimal the application s signature is 91F3 in hexadecimal Note Firmware version must be V2 5 or higher SWIE Command and or Bit 0 Indicates that the MW memory words must be saved to S and U diagnostics for EEPROM save restore e Setto 1 if a backup is required function of e Set to 0 if the backup in progress is not complete application e Bit 1 This bit is set by the firmware to indicate when the save is program and complete MW e Set to 1 if the backup is complete e Set to 0 if a new backup request is asked for e Bit 2 Backup error refer to bits 8 9
91. Shift Bit Register function block Special Case Description Effect of a cold restart S0 1 Sets all the bits of the register word to 0 Effect of a warm restart S1 1 Has no effect on the bits of the register word TWD USE 10AE 405 Basic Instructions Step Counter Function Block SCi Introduction A Step Counter function block SCi provides a series of steps to which actions can be assigned Moving from one step to another depends on external or internal events Each time a step is active the associated bit is set to 1 Only one step of a step counter can be active at a time Illustration The following is an example of a Step Counter function block SCi R CU CD Parameters The step function block has the following parameters Parameter Label Value Step counter number SCi 0 7 Step Counter bit SCi j Step counter bits 0 to 255 j 0 to 255 can be tested by a Load logical operation and written by an Assignment instruction Reset input or R When function parameter R is 1 this resets the instruction step counter Increment input or CU On arising edge increments the step counter by instruction one step Decrement input or CD On a rising edge decrements the step counter instruction by one step 406 TWD USE 10AE Basic Instructions Timing Diagram The following timing diagram
92. The ASCII protocol is a simple half duplex character mode protocol used to transmit and or receive a character string to from a simple device printer or terminal This protocol is supported only via the EXCH instruction Modbus The Modbus protocol is a master slave protocol that allows for one and only one master to request responses from slaves or to act based on the request The master can address individual slaves or can initiate a broadcast message to all slaves Slaves return a message response to queries that are addressed to them individually Responses are not returned to broadcast queries from the master Modbus master The modbus master mode allows the Twido controller to send a modbus query to a slave and await its reply The modbus master mode is supported only via the EXCH instruction Both Modbus ASCII and RTU are supported in modbus master mode Modbus Slave The modbus slave mode allows the Twido controller to respond to modbus queries from a modbus master and is the default communications mode if no other type of communication is configured The Twido controller supports the standard modbus data and control functions and service extensions for object access Both Modbus ASCII and RTU are supported in modbus slave mode Note 32 devices without repeaters can be installed on an RS 485 network 1 master and up to 31 slaves the addresses of which can be between 1 and 247 84 TWD USE 10AE Commun
93. The LDF instruction Load Falling Edge is equivalent to a falling edge detection contact The falling edge detects a change of the controlling input from 1 to 0 A negative transition sensing contact is used to detect a falling edge as seen in the following diagram LDF 10 0 10 0 h N Negative transition sensing contact The following table summarizes the instructions and timing for detecting edges Edge Test Ladder Timing diagram Instruction diagram Rising edge LDR l0 0 Rising edge l0 0 Tai A pP 10 2 time gt Boolean T 1 controller result scan time d Falling edge LDF l0 0 ee Falling edge l0 0 hn l0 2 y time T Boolean lt gt result T 1 controller scan time gt Note It is now possible to apply edge instructions to the Mi internal bits TWD USE 10AE 371 Basic Instructions Understanding the Format for Describing Boolean Instructions Introduction Each Boolean instruction in this section is described using the following information e Brief description e Example of the instruction and the corresponding ladder diagram e List of permitted operands e Timing diagram The following explanations provide more detail on how Boolean instructions are described in this section Examples The following illustra
94. Twido Languages At a Glance Subject of this This part provides instructions for using the Ladder List and Grafcet programming Part languages to create control programs for Twido programmable controllers What s in this This part contains the following chapters 2 par Chapter Chapter Name Page 13 Ladder Language 323 14 Instruction List Language 343 15 Grafcet 355 TWD USE 10AE 321 Twido Languages 322 TWD USE 10AE Ladder Language 13 At a Glance Subject of this This chapter describes programming using Ladder Language Chapter What s in this This chapter contains the following topics Chapter Topic Page Introduction to Ladder Diagrams 324 Programming Principles for Ladder Diagrams 326 Ladder Diagram Blocks 328 Ladder Language Graphic Elements 330 Special Ladder Instructions OPEN and SHORT 333 Programming Advice 334 Ladder List Reversibility 337 Guidelines for Ladder List Reversibility 338 Program Documentation 340 TWD USE 10AE 323 Ladder Language Introduction to Ladder Diagrams Introduction Ladder Equivalents to Relay Circuits Ladder diagrams are similar to relay logic diagrams that represent relay control circuits The main differences between the two are the following features of Ladder programming that are not found in relay logic diagrams e All inputs are represented by contact symbols 4 F
95. a 3 wire EIA RS 232 port with a miniDIN connector a 3 wire EIA RS 485 port with a miniDIN connector and a 3 wire EIA RS 485 port with a terminal Note This module is only available for the Modular controllers When the module is attached the controller cannot have a Communication expansion module Note The presence and configuration RS232 or RS485 of Port 2 is checked at power up or at reset by the firmware executive program TWD USE 10AE 127 Communications Nominal Cabling Nominal cable connections are illustrated below for both the EIA RS 232 and the EIA RS 485 types Note If port 1 is used on the Twido controller the DPT signal on pin 5 must be tied to the circuit common COM on pin 7 This signifies to the Twido controller that the communications through port 1 is Modbus and is not the protocol used to communicate with the TwidoSoft software The cable connections made to each remote device are shown below Mini DIN connection RS 232 EIA cable Twido Remote controller peripheral TXD RXD COM TXD RXD COM 3 4 7 RS 485 EIA cable Twido Remote Remote controller peripheral NI peripheral D1 A DO B COM DPT D1 A DO B COM D1 A DO B COM 2 7 5 l Terminal block connection Remote Master
96. according to inputs or instructions CU and CD Can be read and tested but not written by the program Use the Data Editor to modify Ci V Preset value Ci P 0 lt Ci P lt 9999 Word can be read tested and written default value 9999 Edit using the ADJ e Y Yes the preset value can be modified by using Animation Tables the Animation Tables Editor Editor e N No the preset value cannot be modified by using the Animation Tables Editor Reset input or R At state 1 Ci V 0 instruction Reset input or S At state 1 Ci V Ci P instruction Upcount input or CU Increments Ci V on a rising edge instruction Downcount input or CD Decrements Ci V on a rising edge instruction Downcount overflow E Empty The associated bit Ci E 1 when down counter output Ci V changes from 0 to 9999 set to 1 when Ci V reaches 9999 and reset to 0 if the counter continues to count down Preset output reached D Done The associated bit Ci D 1 when Ci V Ci P Upcount overflow F Full The associated bit Ci F 1 when Ci V changes output from 9999 to 0 set to 1 when Ci V reaches 0 and reset to 0 if the counter continues to count up TWD USE 10AE 399 Basic Instructions Operation The following table describes the main stages of up down counter operation Operation Action Result Counting A risin
97. an SDO Types of SDO Client Server Model Service Data Objects SDO allow a device s data to be accessed by using explicit requests The SDO service is available when the device is in Operational or Pre Operational state There are two types of SDO e read SDOs Download SDO e write SDOs Upload SDO The SDO protocol is based on a Client Server model For a Download SDO The client sends a request indicating the object to be read The server return the data contained within the object For an Upload SDO The client sends a request indicating the object to be written to and the desired value After the object has been updated the server returns a confirmation message For an unprocessed SDO In both cases if an SDO was not able to be processed the server returns an error code abort code TWD USE 10AE 247 Installing and Configuring the CANopen Fieldbus Node Guarding and Life Guarding Definition of Life Time Activation of Monitoring Guarantee of Reliable Operation Importance of Monitoring Slave Monitoring The Life time parameter is calculated as follows Life Time Guard Time x Life Time Factor The object 100CH contains the Guard Time parameter expressed in milliseconds The object 100DH contains the Life Time Factor parameter If one of these two parameters is set to 0 default configuration the module does not perform monitoring no Life Gua
98. and Each type of system object is accessed by starting with the Input Object l Modifying sequencing through to the Message object MSG and finally looping back to the Objects and Input Object l Variables To display a system object Step Action 1 Press the key until the Data Display screen is shown The Input object I will be displayed in the upper left corner of the display area The letter I or the name of the object previously viewed as data is not blinking Press the MOD ENTER key to enter edit mode The Input Object I character or previous object name viewed as data begins blinking Press the a key to step sequentially through the list of objects Press the gt key to step sequentially through the field of an object type and press the a key to increment through the value of that field You can use the E gt key and 7 N key to navigate and modify all fields of the displayed object Repeat steps 3 and 4 until editing is complete Press the MOD ENTER key to accept the modified values Note The object s name and address have to be validated before accepting any modifications That is they must exist in the configuration of the controller prior to using the operator display Press ESC to discard any changes made in edit mode TWD USE 10AE 313 Operator Display Operation Data Values and Display Formats Input Output Format AS Interface slaves I O
99. and is intended as an example only Otherwise for other operating systems please refer to TCP IP setup instructions outlined in the user s guide of the particular operating system installed on your PC Step Action Note If your PC is already installed and the Ethernet card is configured over the existing stand alone network you will not need to change the IP address settings skip steps 1 6 and continue to the following section Follow steps 1 6 of this procedure only if you intend to change the PC s TCP IP settings 1 Select Control Panel gt Network Connections from the Windows Start menu 2 Right click on the Local Area Connection the stand alone network on which you are planning to install the Twido controller and select Properties 3 Select TCP IP from the list of network components installed and click Properties Note If TCP IP protocol is not among the list of installed components please refer to the user s manual of your operating system to find out how to install the TCP IP network component 4 The TCP IP Properties dialog box appears and displays the current TCP IP settings of your PC including IP Address and Subnet Mask Note On a stand alone network do not use the Obtain an IP address automatically option The Specify an IP address radio button must be selected and the IP Address and Subnet Mask fields must contain valid IP settings 5 Enter a valid static IP Address in dotted decimal
100. and seconds of the internal clock Hour Minute Second Hours Minutes a Seconds Description of the Commands e The Hours Minutes Seconds switch selects the time display to change using inputs l0 2 10 3 and l0 4 respectively e Push button increments the selected time display using input I0 0 decrements the selected time display using input l0 1 The following program reads the inputs from the panel and sets the internal clock e Push button MO SS59 LD MO ST S59 LD l10 2 Hour 10 2 10 0 SW59 X3 ANDR I0 0 P ST SW59 X3 LD 10 2 ANDR I0 1 I10 2 10 1 SWS59 X11 ST SW59 X11 P LD 103 Minute ANDR I0 0 10 3 10 0 SWS59 X2 ST SWS9I X2 E LD 10 3 ANDR I0 1 10 3 10 1 SW59 X10 ae a Second P ANDR I0 0 ST SW59 X1 10 4 10 0 SWS59I X1 LD 10 4 P ANDR l0 1 ST SW59 X9 10 4 10 1 SWS59 X9 P TWD USE 10AE 489 Advanced Instructions 17 3 Twido PID Quick Start Guide At a Glance Overview This section contains information for getting started with the PID control and Auto Tuning functions available on Twido controllers What s in this This section contains the following topics ion Section Topic Page Purpose of Document 491 Step 1 Configuration of Analog Channels Used for Control 493 Step 2 Prerequisites for PID Configuration 4
101. and the instruction S Xi 358 TWD USE 10AE Grafcet Description of Grafcet Program Structure Introduction Preprocessing A TwidoSoft Grafcet program has three parts e Preprocessing e Sequential processing e Post Processing Preprocessing consists of the following e Power returns e Faults e Changes of operating mode e Pre positioning Grafcet steps e Input logic The rising edge of input l0 6 sets bit S21 to 1 This disables the active steps and enables the inactive steps 10 6 S22 000 LDN 10 6 l s 001 S S22 002 ST MO MO 003 LDR 10 6 004 S S21 10 6 S21 P s Preprocessing begins with the first line of the program and ends with the first occurrence of a or instruction Three system bits are dedicated to Grafcet control S21 S22 and S23 Each of these system bits are set to 1 if needed by the application normally in preprocessing The associated function is performed by the system at the end of preprocessing and the system bit is then reset to 0 by the system System Bit Name Description S21 Grafcet initialization All active steps are deactivated and the initial steps are activated S22 Grafcet re initialization All steps are deactivated S23 Grafcet pre positioning This bit must be set to 1 if Xi objects are explicitly written by the application in preprocessing If this bit is maintained
102. assigns new IP address parameters you will need to enter this information manually in the TwidoSoft application Follow the directions in the TCP IP Setup p 165 section hereafter Note Although direct cable connection using a Ethernet crossover cable is supported between the Twido TWDLCAE4ODRF and the PC running the TwidoSoft programming software we do not recommend it Therefore you should always favor a connection via a network Ethernet hub switch The following figure shows a Twido network connection via an Ethernet hub switch Twido TWDLCAE40DRF RJ 45 Ethernet Port PC Ethernet Network Port Ethernet RJ 45 m Hub Switch SFTP Cat5 RJ45 Ethernet a RJ 45 male RJ 45 male connector connector The Twido TWDLCAE40DRF features a RJ 45 connector to connect to the 100BASE TX network Ethernet with auto negotiation It can accommodate both 100Mbps and 10 Mbps network speeds Note When connecting the Twido controller to a 1O0OBASE TX network you should use at least a category 5 Ethernet cable TWD USE 10AE 159 Communications IP Addressing Overview IP Address IP Subnet Mask Gateway Address This section provides you with information on IP Address notation subnet and gateway concepts as well An IP address is a 32 bit quantity expressed in dotted decimal notation It consists of
103. be either a TWDNOZ485D or a TWDNOZ485T or if you use TWDXCPODM it can be either a TWDNAC485D or a TWDNAC485T On a Compact controller the optional Port 2 can be either a TWDNAC485D or a TWDNAC485T To configure each controller connect the TSXPCX1031 cable to Port 1 of the controller Note The TSXPCX1031 can only be connected to one controller at a time on RS 485 EIA port 1 only Next connect the cable to the COM 1 port of the PC Be sure that the cable is in switch position 2 Download and monitor the application Repeat procedure for second controller 138 TWD USE 10AE Communications Step 2 Connect the Modbus Communications Cable Mini DIN connection Twido Twido Modbus Master Modbus Slave D1 A DO B COM D1 A DO B COM 1 2 Sees r Terminal block connection Twido Twido Modbus Master Modbus Slave D1 A DO B OV D1 A DO B OV A B SG The wiring in this example demonstrates a simple point to point connection The three signals D1 A DO B and COM OV are wired according to the diagram If using Port 1 of the Twido controller the DPT signal pin 5 must be tied to circuit common pin 7 This conditioning of DPT determines if TwidoSoft is connected When tied to the ground the controller will use the port configuration set in the application to determine the type of communication Step 3 Port Confi
104. beginning of the output portion of the block e END_BLK marks the end of the block and the rung The use of the reversible function block instructions are not mandatory for a properly functioning List program For some instructions it is possible to program in List which is not reversible For a description of non reversible List programming of standard function blocks see Standard function blocks programming principles p 388 Avoid the use of certain List instructions or certain combinations of instructions and operands which have no equivalents in Ladder diagrams For example the N instruction inverses the value in the Boolean accumulator has no equivalent Ladder instruction The following table identifies all List programming instructions that will not reverse to Ladder List Instruction Operand Description JMPCN Li Jump Conditional Not N none Negation Not ENDCN none End Conditional Not 338 TWD USE 10AE Ladder Language Unconditional Rungs Ladder List Rungs Programming unconditional rungs also requires following List programming guidelines to ensure List to Ladder reversibility Unconditional rungs do not have tests or conditions The outputs or action instructions are always energized or executed The following diagram provides examples of unconditional rungs and the equivalent List sequence Q0 4 LD 1 ST Q0 4 LD 1 MWS 0 MWS 0 JM
105. brief introduction to TwidoSoft the programming and Chapter configuration software for Twido controllers and to the List Ladder and Grafcet programming languages What s in this This chapter contains the following topics Chapter Topic Page Introduction to TwidoSoft 20 Introduction to Twido Languages 21 TWD USE 10AE 19 Twido Software Languages Introduction to TwidoSoft Introduction TwidoSoft Minimum configuration TwidoSoft is a graphical development environment for creating configuring and maintaining applications for Twido programmable controllers TwidoSoft allows you to create programs with different types of languages See Twido Languages p 21 and then transfer the application to run on a controller TwidoSoft is a 32 bit Windows based program for a personal computer PC running Microsoft Windows 98 Second Edition Microsoft Windows 2000 Professional or Microsoft Windows XP operating systems The main software features of TwidoSoft e Standard Windows user interface e Program and configure Twido controllers e Controller communication and control Note The Controller PC link uses the TCP IP protocol It is essential for this protocol to be installed on the PC The minimum configuration for using TwidoSoft is e Pentium 300MHz e 128 Mb of RAM e 40 Mb of available space on the hard disk 20 TWD USE 10AE Twido Software Languages
106. by manufacturers for each profile family CANopen is a set of profiles for CAN systems with the following specifications open bus system real time data exchange without protocol overload modular design with possibility of resizing interoperability and interchangeability of devices supported by a large number of international manufacturers standardized network configuration access to all device parameters synchronization and circulation of cyclical process data and or event driven data possibility of short system response times All manufacturers offering CANopen certified products on the market are members of the CiA group As an active member of the CiA group Schneider Electric Industries SAS develops its products in compliance with the standardization recommendations set by this association CANopen specifications are defined by the CiA group and can be accessed subject to some restrictions on the group site at http Awww can cia com The sourcecodes for master and slave devices are available from the various suppliers Note To find out more about CANopen standard specifications and mechanisms please visit CiA s home page http www can cia de 240 TWD USE 10AE Installing and Configuring the CANopen Fieldbus Communication on a CANopen Network The communication profile is based on CAL services and protocols It provides the user with access to two types of exchange SDO an
107. coils The MPS MRD and MPP instructions use a temporary storage area called the stack which can store up to eight Boolean expressions Note These instructions can not be used within an expression between parentheses The following table describes the operation of the three stack instructions Instruction Description Function MPS Memory Push onto stack Stores the result of the last logical instruction contents of the accumulator onto the top of stack a push and shifts the other values to the bottom of the stack MRD Memory Read from stack Reads the top of stack into the accumulator MPP Memory Pop from stack Copies the value at the top of stack into the accumulator a pop and shifts the other values towards the top of the stack 352 TWD USE 10AE Instruction List Language Examples of Stack Instructions Examples of Stack Operation The following diagrams are examples of using stack instructions 10 0 M1 10 1 Q0 0 Il a A MPS 10 2 Q0 1 MRD 10 3 QO 2 TA C MPP 10 4 Q0 3 N ony LD AND MPS AND ST MRD AND ST MRD AND ST MPP AND ST 10 0 MI1 10 1 Q0 0 10 2 QO 1 10 3 Q0 2 10 4 Q0 3 The following diagrams display how stack instructions operate 10 0 I0 1 10 3 Q0 0 Ilall PT 10 4 MO M1
108. controller e TWDLC e24DRF e TWDLCA40DRF Modular base e TWDLMDA20 ee TWDLMDA40 ee CANopen master 1 CANopen master module TWDNCO1M CANopen slave devices 16 CANopen slaves maximum CANopen connectors and cables Programming cable for the Twido PLC Software Requirements Twido PLC configuration TwidoSoft V3 0 or higher software CANopen The following procedure will guide you through the installation configuration and Implementation use of your CANopen network Procedure Step Description 1 Hardware Setup Configuration Methodology Declaration of the CANopen Master Network CANopen Slave Declaration CANopen Objects Mapping CANopen Objects Linking NIOJ AJOIN CANopen Objects Symbolization 8 Network CANopen Diagnostics The following sub sections will provide a detailed description of each step of this procedure 252 TWD USE 10AE Installing and Configuring the CANopen Fieldbus Hardware Setup Installing the Install the TWDNCO1M master module on a Twido PLC system DIN rail or panel TWDNCO1M mounting and connect it to the Twido PLC internal bus for more details see Master Module TwdoHW Installing an expansion module Follows these steps Step Action Description 1 Installation Preparation Consult the Twido Programmable Controllers Hardware Reference Guide TWD USE 10AE for instructions on corr
109. does not receive a request from the master within the defined Life Time interval Guarding error it considers the a master failure has occurred Watchdog function In this case the corresponding outputs go into the error state and the slave switches back into Pre Operational mode Note The Remote request from the master obtains a response even if there are no values entered in the Guard Time and Life Time Factor objects Time monitoring is only activated when the values in the two objects are greater than 0 Typical values for the Guard Time parameter are between 250 ms and 2 seconds The value of the Toggle Bit t sent in the first Guarding message is 0 Then the bit changes toggles in each subsequent Guarding message which makes it possible to indicate if a message has been lost The bus head indicates its network state s in the seven remaining bits Network state Response Stopped 0x04 or 0x84 Pre operational Ox7F or OxFF Operational 0x05 or 0x85 TWD USE 10AE 249 Installing and Configuring the CANopen Fieldbus Internal Bus Management Switching the Internal Bus to the Stop State Configuration of The internal bus automatically switches from the Stop to the Run state when the communication module switches from the Pre operational to the Operational state When the internal bus switches to the Stop state all the expansion mod
110. e OUT_BLK Marks the beginning of the output portion of the function block e END _BLK Marks the end of the function block Note The use of these reversible function block instructions is not mandatory for a properly functioning List program For some instructions it is possible to program in List language without being reversible 440 TWD USE 10AE Advanced Instructions Dedicated Inputs The Fast Counter Very Fast Counter PLS and PWM advanced functions use and Outputs dedicated inputs and outputs but these bits are not reserved for exclusive use by any single block Rather the use of these dedicated resources must be managed When using these advanced functions you must manage how the dedicated inputs and outputs are allocated TwidoSoft assists in configuring these resources by displaying input output configuration details and warning if a dedicated input or output is already used by a configured function block The following tables summarizes the dependencies of dedicated inputs and outputs and specific functions When used with counting functions Inputs Use 10 0 0 FCO Up Down management or Phase B 10 0 1 FCO Pulse input or Phase A 10 0 2 FCO Pulse input or VFCO pre set input 10 0 3 FC1 Pulse input or VFCO capture input 10 0 4 FC2 Pulse input or VFC1 capture input 10 0 5 VFC1 pre set input 10 0 6 VFC1 Up Down management or Phase B 10 0 7 VFC1 Pulse input or Phase A
111. entry is used according to the ID code bank B slaves are only available if the ID code is equal to A If an error occurs an error message warns the user for example The slave cannot have this address and the screen is displayed again with the initial values in the profile or address depending on the error Note The software limits the number of analog slave declarations to 7 Note About the Schneider AS Interface catalog when you click Catalog you can create and configure slaves in Private family other than those in the Schneider AS Interface catalog 212 TWD USE 10AE Installing the AS Interface bus AS Interface Catalog The Catalog button can be used to facilitate configuration of slaves on the bus When you use a slave from the Schneider family use this button to simplify and speed up configuration Clicking on Catalog in the window Configure an AS Interface slave opens the following window AS Interface Catalog Families of AS Interface profiles 6 Illuminated columns Ly AS Interface Catalog Illuminated columns Profile AS Interface Name Comment 7 FFF XVBC21A std XVB illuminated column base 8 F F F XVA S102 std XVA illuminated column base Details OK Cancel TWD USE 10AE 213 Installing the AS Interface bus The drop down menu gives you access to all the families of
112. figures and certain graphic and control characters When inserting or modifying List instructions this optional setting allows for program lines to be validated as each is entered for errors and unresolved symbols Each element must be corrected before you can exit the line Selected using the Preferences dialog box Auto load A feature that is always enabled and provides for the automatic transfer of an application from a backup cartridge to the controller RAM in case of a lost or corrupted application At power up the controller compares the application that is presently in the controller RAM to the application in the optional backup memory cartridge if installed If there is a difference then the copy in the backup cartridge is copied to the controller and the internal EEPROM If the backup cartridge is not installed then the application in the internal EEPROM is copied to the controller B Backup A command that copies the application in controller RAM into both the controller internal EEPROM and the optional backup memory cartridge if installed BootP A UDP IP based protocol Bootstrap Protocol which allows a booting host to configure itself dynamically and without user supervision BootP provides a means to notify a host of its assigned IP address Cc CAN Controller Area Network field bus originally developed for automobile applications which is now used in many sectors from industrial to tertiary CiA CAN in Automation
113. following table lists the types of assignment instructions with ladder equivalents Operands and permitted operands List Instruction Ladder Equivalent Permitted Operands ST Q QA M S BLK X Xk STN Q KQA M S BLK x Xk S Q QA M S X BLK x Xk s R Q QA M S X BLK X Xk R 376 TWD USE 10AE Basic Instructions Timing diagram The following diagram displays the timing for assignment instructions ST STN S R l0 1 l0 1 l0 1 l0 2 Q0 3 Q0 2 Q0 4 Q0 4 TWD USE 10AE 377 Basic Instructions Logical AND Instructions AND ANDN ANDR ANDF Introduction The AND instructions perform a logical AND operation between the operand or its inverse or its rising or falling edge and the Boolean result of the preceding instruction Examples The following diagrams are examples of logic AND instructions LD 10 1 M1 I0 1 n 3 AND MI ST Q0 3 M2 I10 2 Q0 2 LD M2 ANDN I0 2 ST Q0 2 10 3 10 4 PQO 4 LD 10 3 P s ANDR I0 4 S Q0 4 M3 I10 5 Q0 5 LD M3 N s ANDF I0 5 S Q0 5 Permitted The following table lists the types of AND instructions with ladder equivalents and Operands permitted operands List Instruction Ladder Equivalent Permitted Ope
114. format In general the data value for an object or variable is shown as a signed or unsigned integer in the lower right of the display area In addition all fields suppress leading zeros for displayed values The address of each object is displayed on the Operator Display in one of the following seven formats e O format AS Interface slaves I O format CANopen slaves I O format Function Block Format Simple Format Network I O format Step Counter Format Shift bit register format The input output objects l Q IW and QW have three part addresses e g IX Y Z and are displayed as follows e Object type and controller address in the upper left e Expansion address in the upper center e I O channel in the upper right In the case of a simple input l and output Q the lower left portion of the display will contain a character that is either U for unforced or F for a forced bit The force value is displayed in the lower right of the screen The output object Q0 3 11 appears in the display area as follows Q 0 3 11 F 1 AS Interface slave I O objects IA QA IWA and QWA have four part addresses e g IAx y z and are displayed as follows e The object type in the upper left e AS Interface master address on the expansion bus in the upper left center e Address of the slave on the AS Interface bus in the upper right center e Slave I O channel in the upper right In the case of a simple input IA a
115. four groups of numbers ranging in value from 0 to 255 and separated from one another by a dot For example 192 168 2 168 is an IP address in dotted decimal notation note that this is a reserved IP address provided as an example only On usual networks IP addresses fall into three categories named Class A B and C networks Classes can be differentiated according to the value of their first number which ranges as described in the following table First decimal group IP class 0 127 Class A 128 191 Class B 192 223 Class C An IP address consists of two parts the network ID and the host ID The subnet mask is used to split the network portion of the IP address to artificially create subnetworks with a larger number of host IDs Thus subnetting is used as a means of connecting multiple physical networks to logical networks All devices on the same subnetwork share the same network ID All devices on the same subnetwork share the same network ID Note If you are part of a large organization then there is a good chance that subnetting is being implemented on your company s networks Check with your network administrator to obtain adequate subnetting information when you are installing your new Twido controller on the existing network The Gateway is the networking device also called router that provides to your network segment access to other network segments on your company s global network acces
116. illustrates the operation of the step function block CU input 4 4 CD input 4 Active step number TWD USE 10AE 407 Basic Instructions Programming Special case The following is an example of a Step Counter function block e Step Counter 0 is incremented by input l0 2 e Step Counter 0 is reset to 0 by input l0 3 or when it arrives at step 3 e Step 0 controls output Q0 1 step 1 controls output Q0 2 and step 2 controls output Q0 3 The following illustration shows both reversible and non reversible programming for this example Reversible programming BLK SCO aoe LD SC0 3 OR I10 3 R 10 3 SCO LD 10 2 CU R END_BLK LD SC0 0 e ST Q0 1 cU LD SC0 1 ST Q0 2 LD SCO 2 CD ST Q0 3 Non reversible SCO O Q0 1 programming LD SC0 3 OR 10 3 SC0 1 Q0 2 R SCO LD I0 2 CU SCO LD SCO 0 SCO 2 Q0 3 ST Q0 1 LD SCO 1 ST Q0 2 LD SCO 2 ST Q0 3 The following table contains a list of special cases for operating the Step Counter function block Special case Description Effect of a cold restart S0 1 Initializes the step counter Effect of a warm restart S1 1 Has no effect on the step counter 408 TWD USE 10AE Basic Instructions 16 3 Numer
117. in Boolean instructions Type Description Address or value Maximum number Write access 1 Immediate 0 or 1 False or True Oor1 values Inputs These bits are the logical images lx y z 2 Note 4 No Outputs of the electrical states of the I O QX y Z 2 Yes They are stored in data memory and updated during each scan of the program logic AS Interface These bits are the logical images Note 5 Inputs of the electrical states of the I O PIAX Y Z No Outputs They are stored in data memory QAX y Z Yes and updated during each scan of the program logic Internal Internal bits are internal memory Mi 128 Yes Memory areas used to store intermediary TWDLCeA10DRF values while a program is running TWDLCe A16DRF Note Unused I O bits can not be 256 All other used as internal bits controllers System System bits S0 to S127 monitor Si 128 According to i the correct operation of the controller and the correct running of the application program Function The function block bits correspond TMi Q Ci P and Note 4 No 3 blocks to the outputs of the function so on blocks These outputs may be either directly connected or used as an object TWD USE 10AE 27 Twido Language Objects Type Description Address or value Maximum number Write access 1 Reversible Function blocks programmed using E D F Q THO TH1 Note 4 No function reversible programming bl
118. is available on all controllers with the exception of the Twido TWDLCeA10DRF controllers 1 Writable only if Adjust is set to one 2 Access available only if configured 3 Read and write access only through the application Not the Operator Display or Animation Tables Editor CM Counting Mode FM Frequency Meter Mode 466 TWD USE 10AE Advanced Instructions Counting The very fast counting function VFC works at a maximum frequency of 20 kHz Function with a range of 0 to 65535 in standard mode and 0 to 4294967295 The pulses to Description be counted are applied in the following way Table Function Description VFCO NFC1 IA IB IA IB Up Down Counter The pulses are applied to the physical input the 10 0 1 10 0 0 10 0 7 l0 0 6 current operation upcount downcount is given by the state of the physical input IB Up Down 2 Phase Counter The two phases of the encoder are applied to 10 0 1 10 0 0 10 0 7 l0 0 6 physical inputs IA and IB Single Up Counter The pulses are applied to the physical input IA IB is 10 0 1 ND 10 0 7 ND not used Single Down The pulses are applied to the physical input IA IB is 10 0 1 ND 10 0 7 ND Counter not used Notes on Upcount or downcount operations are made on the rising edge of pulses and only Function Blocks if the counting block is enabled There are two optional inputs used
119. is enable for this will trigger an error when running your PID application TWD USE 10AE 531 Advanced Instructions AT tab of PID function At a Glance AT Requirements The setting of correct PID parameters may be tedious time consuming and error prone All these make process control difficult to setup for the yet experienced but not necessarily process control professional user Thus optimum tuning may sometimes be difficult to achieve The PID Auto Tuning algorithm is designed to determine autmatically and adequately the following four PID terms e Gain factor e Integral value e Derivative value and e Direct or Reverse action Thus the AT function can provide rapid and optimum tuning for the process loop PID Auto tuning is particularly suited for temperature control processes In a general manner the processes that the AT function can be used to control must meet the following requirements e the process is mostly linear over the entire operating range e the process response to a level change of the analog output follows a transient asymptotic pattern and e there is little disturbance in process variables In the case of a temperature control process this implies there is no abnormally high rate of heat exchange between the process and its environment 532 TWD USE 10AE Advanced Instructions AT Operating The following diagram describes the operating principle
120. jump and call instructions occupy a single cell of the ladder programming grid Function blocks comparison blocks and operate blocks occupy multiple cells The following are examples of a contact and a coil o 1 i i e e sija 4 Contact Coil Function blocks are placed in the test zone of the programming grid The block must appear in the first row no ladder instructions or lines of continuity may appear above or below the function block Ladder test instructions lead to the function block s input side and test instructions and or action instructions lead from the block s output side Function blocks are vertically oriented and occupy two columns by four rows of the programming grid The following is an example of a counter function block ie TF sacs yr CO 1 THR E p g F S ADJY D i a F C0 P 9999 ia aqs 4 CU F h x aTe H re a CD i ae a Er Bi F 328 TWD USE 10AE Ladder Language Comparison Blocks Operate blocks Comparison blocks are placed in the test zone of the programming grid The block may appear in any row or column in the test zone as long as the entire length of the instruction resides in the test zone Comparison blocks are horizontally oriented and occupy two columns by one row of the programming grid See the following example of a comparison block
121. logic diagrams that represent relay control circuits Graphic elements such as coils contacts and blocks represent instructions The following is an example of a Ladder diagram Poult es I t 1 T t t t N R H ee N M1 i 00 4 S ADJ Y Dm F 7 f f a EE E A ES an ae sis Ee ae 10 2 MO C8 P 777 f t f i f 1 CU FR 4 He 4 4 CD F 4 4 4 3 F f 4 J 5 ae 4 i 4 22 TWD USE 10AE Twido Software Languages Grafcet The Grafcet analytical method divides any sequential control system into a series of Language steps with which actions transitions and conditions are associated The following illustration shows examples of Grafcet instructions in List and Ladder programs respectively oO o 3 1 LD M10 2 4 3 5 4 4 5 LD l0 7 6 6 7 5 8 LD M15 9 7 10 SK M10 4 5 4 l0 7 6 la F ate 5 M15 7 K TWD USE 10AE 23 Twido Software Languages 24 TWD USE 10AE Twido Language Objects At a Glance Subject of this This chapter provides details about the language objects used for programming Chapter Twido controllers What s in this This chapter contains the following topics
122. managed by the software to make the sure the main program is properly interrupted by the event and to call the programming section linked to the event The application scan time has no effect on the execution of the events The following 9 event sources are allowed e 4 conditions linked to the VFC function block thresholds 2 events per VFC instance e 4 conditions linked to the physical inputs of a controller base e 1 periodic condition An event source can only be attached to a single event and must be immediately detected by TwidoSoft Once it is detected the software executes the programming section attached to the event each event is attached to a subroutine labeled SRi defined on configuration of the event sources Inputs l0 2 10 3 10 4 and l0 5 can be used as event sources provided they are not locked and that the events are allowed during configuration Event processing can be activated by inputs 2 to 5 of a controller base position 0 on a rising or falling edge For further details on configuring this event refer to the section entitled Hardware Configuration gt Input Configuration in the TwidoSoft Operation Guide on line help Outputs THO and TH1 of the VFC function block are event sources Outputs THO and TH1 are respectively set e to 1 when the value is greater than threshold SO and threshold S1 e to 0 when the value is less than threshold SO and threshold S1 A rising or falling edge
123. new unit e Formula method Provided you know Rref Tref and B parameters you can use this method to define sensor characteristics Rref default 330 is expressed in Ohms B is default 3569 min 1 max 32767 Tref default 298 15 can have its unit set in the Unit list box Kelvin default Celsius or Farenheit Here is a table of corresponding min max Tref values between units Unit Min value Max value Kevin 1 650 Celsius 272 376 Farenheit 457 710 In both Chart and Formula windows you can import values from another channel in the currently configured channel 1 Select a channel number out of the Channel No box 2 Press the Import values button Some error or warning messages can be associated with these windows Note If you start setting values then decide to switch from Chart to Formula or from Formula to Chart a warning message pops up explaining that it will revert to default values and that any modified values will be lost TWD USE 10AE 197 Managing Analog Modules Analog Module Status Information Status Table The following table has the information you need to monitor the status of Analog I O modules System Function Description Word SWS80 Base I O Status Bit 0 Channels in normal operation for all its channels Bit 1 Module under initialization or of initializing information of all channels Bit 2 Hardware failure external power sup
124. not present 1 Remote controller 1 7 present x8 14 0 Remote I O detected at Remote controller 1 7 1 Peer controller detected at Remote controller 1 7 SW112 Remote Link configuration operation error code 0 operations are successful 1 timeout detected slave 2 checksum error detected slave 3 configuration mismatch slave SW113 Remote link configuration two bits for each remote controller master only x0 6 0 Remote controller 1 7 not configured 1 Remote controller 1 7 configured x8 14 0 Remote I O configured as remote controller 1 7 1 Peer controller configured as remote controller 1 7 TWD USE 10AE 111 Communications Remote Link Example To configure a Remote Link you must Configure the hardware Wire the controllers Connect the communications cable between the PC to the controllers Configure the software 5 Write an application The diagrams below illustrate the use of the remote link with remote I O and a peer controller Step 1 Configure the Hardware khOND 10 0 10 1 Master controller Remote I O Peer controller Q0 0 Q0 1 The hardware configuration is three base controllers of any type Port 1 is used for two communication modes One mode is to configure and transfer the application program with TwidoSoft The second mode is for the Remote Link network If available an optional Port 2 on any of the controlle
125. of the restart cycle the system e Unreserves the application if it was reserved and provokes a STOP application in case of debugging e Reinitializes the messages The system carries out a restart cycle in which it e Relaunches the task with bits S1 warm start indicator and S13 first cycle in RUN set to 1 e Resets bits S1 and S13 to 0 at the end of the first task cycle In the event of a warm start if a particular application process is required bit S1 must be tested at the start of the task cycle and the corresponding program called up Once a power outage is detected outputs are set to default fallback status 0 When power is restored outputs are at last state until they are updated again by the task 72 TWD USE 10AE Controller Operating Modes Dealing with a cold start Cause of a Cold Start Illustration A cold start can occur When loading a new application into RAM e When power is restored with loss of application context e When system bit S0 is set to state 1 by the program e From the Operator Display when the controller is in STOP mode The drawing below describes a cold restart operation in RUN mode RUN WAIT IN Vv Acquisition of inputs KT Stop the processor Vv aay 7 Save application Execution of program context TOP if bit S0 1 Y possible process with Restoration of power cold restart
126. of these outputs can activate an event process For further details on configuring this event refer to the section entitled Software Configuration gt Very Fast Counters in the TwidoSoft Operation Guide on line help This event periodically executes a single programming section This task has higher priority than the main task master However this event source has lower priority than the other event sources The period of this task is set on configuration from 5 to 255 ms Only one periodic event can be used For further details on configuring this event refer to the section entitled Configuring Program Parameters gt Scan Mode in the TwidoSoft Operation Guide on line help TWD USE 10AE 79 Event task management Event management Events queue and priority Event Queue Management Event check Events have 2 possible priorities High and Low But only one type of event thus only one event source can have High priority The other events therefore have Low priority and their order of execution depends on the order in which they are detected To manage the execution order of the event tasks there are two event queues e inone up to 16 High priority events can be stored from the same event source e inthe other up to 16 Low priority events can be stored from other event sources These queues are managed on a FIFO basis the first event to be stored is the first to be executed But the
127. remote link and that each slave has a unique address Failure to observe this precaution may lead to corrupted data or unexpected and ambiguous results e Be sure that all slaves have unique addresses No two slaves should have the same address Failure to observe this precaution may lead to corrupted data or unexpected and ambiguous results Failure to follow this instruction can result in injury or equipment damage Note The remote link requires an EIA RS 485 connection and can only run on one communications port at a time 104 TWD USE 10AE Communications Hardware Configuration A remote link must use a minimum 3 wire EIA RS 485 port It can be configured to use either the first or an optional second port if present Note Only one communication port at time can be configured as a remote link The table below lists the devices that can be used Remote Port Specifications TWDLCeA10 16 24DRF 1 Base controller equipped with a 3 wire EIA RS 485 port TWDLCA 40DRF with a miniDIN connector TWDLMDA20 40DUK TWDLMDA20 40DTK TWDLMDA20DRT TWDNOZ485D 2 Communication module equipped with a 3 wire EIA RS 485 port with a miniDIN connector Note This module is only available for the Modular controllers When the module is attached the controller cannot have an Operator Display expansion module TWDNOZ485T 2 Communication module equipped with a 3 wire EIA
128. requests to the server at 15s intervals until it obtains a valid IP address The default Ethernet interface IP address is derived from its MAC address Note that the default IP address will not be changed automatically when any channel excluding the channel for internal use of PLC is active Note To find out more information about BootP and MAC address please refer to Assigning IP Addresses p 161 Configured Check this radio button to configure the IP subnetwork and gateway addresses manually Note Consult with your network or system administrator to obtain valid IP parameters for your network IP Address Enter the static IP address of your Twido in dotted decimal notation Caution For good device communication the IP addresses of the PC running the TwidoSoft application and the Twido controller must share the same network ID Note To allow good communication over the network each connected device must have a unique IP address When connected to the network the Twido controller runs a check for duplicate IP address If a duplicate IP address is located over the network the LAN ST LED of the Twido controller will emit 4 flashes periodically You must then enter a new duplicate free IP address in this field Subnetwork Enter the valid subnet mask assigned to your controller by your network administrator Please note that mask you cannot leave this field blank you must enter a value As default the TwidoSoft application automatically co
129. screen of the Remote Devices tab configured on the Twido controller acting as Modbus TCP IP client Ethernet Configuration IP Address Configure Marked IP Time out Remote Devices Remote Devices Slave IP Connection a P Timeout Index Unit ID Address 100ms 192 168 1 11 255 100 192 168 1 30 5 100 w rm Joj A TWD USE 10AE 173 Communications Configuring the Remote Devices tab The following information describes how to configure the various fields in the Remote Devices tab Field Configuring Index This is a read only field that contains the MBAP Index associated with the Ethernet network IP address of the remote device Modbus TPC IP server specified in the Slave IP Address field The MBAP Index is called by the EXCH3 instruction as one of the function s arguments to identify which remote controller specified in the table is being queried by the Modbus TCP IP client Note You may specify up to 16 different remote devices indexed from 1 to 16 in this table Slave IP Address Enter the IP address of the remote device Modbus TCP IP server controller in this field Note You must configure the slave IP addresses starting at Index 1 and in growing index number in a consecutive manner For example configuring slave IPs of index 1 than 3 is not allowed for you must first configure the e
130. security password please refer to Security Configuration p 292 TwidoPort s Save Configuration confirmation screen Telemecanique 499 TWD i 166 Configuration and Diagnostics lt c 2004 Schneider Automation Inc SAVE CONFIGURATION Screen C SS a Configuration successfully stored to Twido Reboot your module for the new Configuration to he in effect Rebooting in 5 Seconds You will lose your telnet connection Connection to host lost TWD USE 10AE 295 Configuring the TwidoPort Ethernet Gateway Restoring Default Settings Restoring Default Settings The Default Configuration Screen To restore TwidoPort s default settings Configuration screen Step Action Comment 1 Start a Telnet session Use the instructions above to open the Telnet main menu See Telnet Main Menu p 288 2 SelectD to display the Default See the figure that follows this table Press Enter Press Enter is required to display the main menu Save the default configuration See Saving the Configuration See Saving the Configuration p 295 above TwidoPort s Default Configuration screen Sanaa 499 TWD i 1686 Configuration and Diagnostics gt 2064 Schneider Automation Inc DEFAULT CONFIGURATION IP Address 192 168 2 162 Gateway Address 192 168 2 162 Subnet Mask 255 255 0 0 Frame Type Ethernet II Serial Mode 192686 8 N 1 Gateway Mode Modbus
131. sensor used ThermoCouple K if the sensor is of this type 6 In the Range column select the measurement unit for the sensor For temperature sensors it is easier to select Celsius as this makes the number of counts sent back by the analog card a direct factor of the real measurement 7 Provide an address for the input symbol of the configured analog card It will be used to complete the PID fields IW1 0 for this example 8 Do the same for an analog output if an output must be used to drive the control system TWD USE 10AE 493 Advanced Instructions Example of Analog Channel Configuration Several types of configuration are possible depending on the type of measurement used as indicated below e For the application in the example used in this document we have chosen a Type K ThermoCouple 0 200 The process value read will be directly comprehensible 2000 counts 200 as the unit factor is 0 1 e For other types of measurement you choose 0 10V or 4 20 mA in the Type column or Custom in the Range column Then adjust the value scale enter 0 in the Minimum column and 10000 in the Maximum column to be able to read the process value directly 10 V 10000 counts The example below shows a configuration for a ThermoCouple K analog channel Configure Module TWDALM3LT Position 1 Description Expansion module with 2 Analog Inputs RTD Th and 1 Output 0 1
132. serial port for ASCII Step Action 1 Define any additional communication adapters or modules configured to the base 2 Right click the port in the Application browser and select Edit Controller Comm Setup Result The following window opens Controller Communications Setup Port 1 Port 2 Protocol Cancel Address x Parameters Baud Rate Data Bits Parity Stop Bits Response Timeout x 100 ms Time between frames Advanced Select ASCII serial port type out of Protocol Type listbox Set the associated communication parameters Click Advanced button to set the advanced parameters 118 TWD USE 10AE Communications Configuring the Transmission Reception table for ASCII mode Control table The maximum size of the transmitted and or received frames is 256 bytes The word table associated with the EXCHx instruction is composed of the transmission and reception control tables Most significant byte Least significant byte Control table Command Length transmission reception Reserved 0 Reserved 0 Transmission table Transmitted Byte 1 Transmitted Byte 2 Transmitted Byte n Transmitted Byte n 1 Reception table Received Byte 1 Received Byte 2 Received Byte p Received Byte p 1 The Length byte contains the length of the transmission table in bytes 250 max which is overwritten by the number of characters received at
133. set at 80 duration 400 ms Programming Example POL salt LDN I0 0 PWMO R 20 ANDN I0 1 PWMO R 20 10 0 10 1 LD 10 0 PWMO R 50 ANDN I0 1 PWMO R 5S0 710 0 10 1 LD I10 0 F AND I0 1 oE WMOR SRN PWM0 R 80 BLK PWMO 10 2 PWMO LD 10 2 N IN END_BLK TB PWMi0 P The following table shows a list of special operating of the PWM function block Special case Description Effect of a cold restart S0 1 Sets the PWMi R ratio to 0 In addition the value for PWMi P is reset to the configured value and this will supersede any changes made with the Animations Table Editor or the optional Operator Display Effect of a warm restart S1 1 Has no effect Effect due to the fact that outputs are Forcing output Q0 0 0 or Q0 0 1 using a dedicated to the PWM block programming device does not stop the signal generation 450 TWD USE 10AE Advanced Instructions Pulse Generator Output Function Block PLS Introduction The PLS function block is used to generate square wave signals There are two PLS functions available on the dedicated output channels Q0 0 0 or Q0 0 1 The PLS function block allows only a single signal width or duty cycle of 50 You can choose to limit the number of pulses or the period when the pulse train is executed These can be determined at the
134. starts up and automatically enters the gain values Kp Ti Td PID tab and the type of PID action Output tab At the end of the sequence the PID stops and waits The gain values Kp Ti Td PID tab and the type of PID action Output tab are entered e Word address The selection of PID operating mode can be controlled by the program by assigning the desired value to the word address associated to this selection e MWxx 1 The controller operates in simple PID mode e MWxx 2 The controller operates in AT PID e MWxx 3 The controller operates in AT mode only This type of configuration via the word address enables the user to manage the PID controller operating mode via the application program thus making it possible to adapt to the final requirements TWD USE 10AE 497 Advanced Instructions Launching the PID Dialog Box The table below shows the PID dialog box and the procedure for accessing the different PID settings configuration tabs Step Action 1 Double click on the PID item in the configuration browser in the left hand side of the TwidoSoft window as shown in the figure below y Port 2 Modbus 1 f Expansion bus SNe f 1 TWOALMSLT h Ge Software a0 Constants RQ Constants KD Q Constants KF 3 Counters Drum controllers Fast Counters LIFO FIFO registers 2 PLS PWM Schedule blocks Timers Very fast counters PID
135. state with a null process input e g an oven or a furnace shall be at ambient temperature e During operation of the auto tuning make sure that no disturbances enter through the process for either computed parameters will be erroneous or the auto tuning process will simply fail e g the door of the oven shall not be opened not even momentarily e Configure the Twido PLC to scan in Periodic mode Once you have determined the correct sampling period Ts for the auto tuning the scan period must be configured so that the sampling period Ts is an exact multiple of the Twido PLC scan period Note To ensure a correct run of the PID control and of the auto tuning process it is essential that the Twido PLC be configured to execute scans in Periodic mode not Cyclic In Periodic mode each scan of the PLC starts at regular time intervals This way the sampling rate is constant throughout the measurement duration unlike cyclic mode where a scan starts as soon as the previous one ends which makes the sampling period unbalanced from scan to scan TWD USE 10AE 549 Advanced Instructions AT Operating Modes Methods for Determining the Sampling Period Ts Introducing the Process Response Curve Method The auto tuning can be used either independently AT mode or in conjunction with the PID control AT PID e AT mode After convergence of the AT process and successful completion with the determinatio
136. tabs 2 In the Operating mode drop down list select the type of operation desired See Operating Modes p 497 In the example We will select the Memory address mode and enter the word MW 17 in the associated field The PID operating mode will then be linked to the value in MW17 Input Tab Setting The following table shows how to set the Input tab in the PID dialog box Step Action 1 In the Input tab enter the analog channel used as a measurement in the associated field In the example We have chosen IW1 0 as this is used as a temperature measurement 2 Where necessary set alarms on the low and high measurement thresholds by checking the boxes and filling in the associated fields Note The values entered may be fixed values entered in the associated fields or modifiable values by filling in the fields associated with the memory addresses MWxx 500 TWD USE 10AE Advanced Instructions PID Tab Setting Tab Setting for AT The following table shows how to set the PID tab in the PID dialog box Step Action 1 In the PID tab enter the value to be used to set the controller setpoint In general this value is a memory address or setpoint of an analog input In the example We have entered MWO which will be used as a setpoint word Set the Kp Ti Td parameters Important If the AT or AT PID mode is selected it is essential that the Kp Ti and
137. that also contain list instructions 340 TWD USE 10AE Ladder Language Example of Rung The following is an example of a Ladder program with rung header comments Header Comments Reversing Ladder Comments to List RUNG 0 THIS IS THE TITLE OF THE HEADER FOR RUNG 0 THIS IS THE FIRST HEADER COMMENT FOR RUNG 0 E Eoo oot Book huy l0 0 M10 M101 VK eee E 4 4 v0 too tof oF 4 RUNG 1 THIS IS THE HEADER FILE FOR RUNG 1 L5 THIS RUNG CONTAINS A LABEL ee A OMW20 AKW2 16 M101 i F RUNG 2 THIS RUNG CONTAINS ONLY A HEADER FILE 005 Ho too o oo p QOS J EX 1 7 F oo l0 3 a o too When a Ladder diagram is reversed to List instructions rung header comments are displayed in the List Editor according to the following rules Any rung header comments are inserted between the associated List sequences Any labels Li or subroutine declarations SRi are placed on the next line following the header and immediately prior to the List sequence If the List was reversed to Ladder any comments that were ignored will reappear in the List Editor TWD USE 10AE 341 Ladder Language 342 TWD USE 10AE Instruction List Language 14 At a Glance Subject of this This chapter describes programming using Instruction List Language Chapter What s in this This chapter contains
138. the end of the reception if reception is requested The Command byte must contain one of the following e 0 Transmission only e 1 Send receive e 2 Reception Only TWD USE 10AE 119 Communications Transmission reception tables Message Exchange EXCHx Instruction When in Transmit Only mode the Control and Transmission tables are filled in prior to executing the EXCH x instruction and can be of type KW or MW No space is required for the reception of characters in Transmission only mode Once all bytes are transmitted MSGx D is set to 1 and a new EXCHx instruction can be executed When in Transmit Receive mode the Control and Transmission tables are filled in prior to executing the EXCHx instruction and must be of type MW Space for up to 256 reception bytes is required at the end of the Transmission table Once all bytes are transmitted the Twido controller switches to reception mode and waits to receive any bytes When in Reception only mode the Control table is filled in prior to executing the EXCH x instruction and must be of type MW Space for up to 256 reception bytes is required at the end of the Control table Twido controller immediately enters the reception mode and waits to receive any bytes Reception ends when end of frame bytes used have been received or the Reception table is full In this case an error receive table overflowed appears in the word SWE63 and SW6E4 If a non zero
139. the value whose low significance bit is equal to 0 In certain cases the result of the rounding can thus take a default value or an excess value For example Rounding of the value 10 5 gt 10 Rounding of the value 11 5 gt 12 TWD USE 10AE 577 Advanced Instructions 17 6 Instructions on Object Tables At a Glance Aim of this This section describes instructions specific to tables Section e of double words e of floating point objects Assignment instructions for tables are described in the chapter on basic instructions See Assignment of Word Double Word and Floating Point Tables p 414 What s in this This section contains the following topics ion Section Topic Page Table summing functions 579 Table comparison functions 580 Table search functions 582 Table search functions for maxi and mini values 584 Number of occurrences of a value in a table 585 Table rotate shift function 586 Table sort function 588 Floating point table interpolation function 589 Mean function of the values of a floating point table 594 578 TWD USE 10AE Advanced Instructions Table summing functions General The SUM_ARR function adds together all the elements of an object table e if the table is made up of double words the result is given in the form of a double w
140. timeout is configured reception ends when the timeout is completed If a zero timeout value is selected there is no reception timeout Therefore to stop reception MSGx R input must be activated The language offers two services for the communication e EXCHx instruction to transmit receive messages e MSGx Function Block to control the message exchanges Twido controller uses the protocol configured for that port when processing an EXCHx instruction Note Each communications port can be configured for different protocols or the same The EXCHx instruction or MSGx function block for each communications port is accessed by appending the port number 1 or 2 The EXCHx instruction allows the Twido controller to send and or receive information to from ASCII devices The user defines a table of words MWi L or KWi L containing control information and the data to be sent and or received up to 256 bytes in transmission and or reception The format for the word table is described earlier A message exchange is performed using the EXCH x instruction Syntax EXCHx MWi L where x port number 1 or 2 L number of words in the control words and transmission and reception tables The Twido controller must finish the exchange from the first EXCHx instruction before a second can be launched The MSGx function block must be used when sending several messages The processing of the EXCHx list instruction occurs imme
141. to 1 by the preprocessing without any explicit change of the Xi objects Grafcet is frozen no updates are taken into account TWD USE 10AE 359 Grafcet Sequential Sequential processing takes place in the chart instructions representing the chart Processing e Steps e Actions associated with steps e Transitions e Transition conditions Example 1 005 1 10 2 10 3 2 006 LD 10 2 007 ANDN I0 3 008 s 2 PBL x702 2 009 LD 10 3 010 ANDN I0 2 Oll 3 ra 012 2 013 LD 10 4 10 4 1 014 1 4 015 3 016 LD 10 5 07 1 TE 10 5 1 E Sequential processing ends with the execution of the POST instruction or with the end of the program 360 TWD USE 10AE Grafcet Post Processing Post processing consists of the following e Commands from the sequential processing for controlling the outputs e Safety interlocks specific to the outputs Example POST PXI Q0 1 018 POST 019 LD X1 020 ST Q0 1 X2 Q0 2 021 LD X2 P 022 ST Q0 2 023 LD X3 t 024 OR MI m PORI 025 ANDN I0 2 026 AND 07 027 M1 10 2 10 7 028 ST Q0 3 i TWD USE 10AE 361 Grafcet Actions Associated with Grafcet Steps Introduction A TwidoSoft Grafcet program offers two ways to program the actions associated with steps e Inthe
142. twice on the device type listed in the catalog Example a DS 401 I O Modules y DS 401 I O Modules Result MIDU 401 V2 1 2 Click once on the slave profile for example MIDU 401 V2 1 Result The device properties of the selected CANopen slave appear in lower half of the Catalog area showing e the vendor s name for example Crouzet Automatismes 401 e the slave profile for example Description 401 e the author s name for example Author 401 e the creation date for that profile for example 07 09 99 258 TWD USE 10AE Installing and Configuring the CANopen Fieldbus Building the CANopen Network Step Action 6 To delete a slave profile from the Catalog select the device name in the Catalog window and click the Delete icon w Note You may store in the Network CANopen Catalog more device profiles than you actually need for your current CANopen bus configuration Profiles that are already loaded to the Catalog may be provisioned for future use 7 Press the Apply button to confirm changes to the Catalog and save slave profiles to the TwidoSoft project The table below describes how to declare slave devices on the Twido CANopen network Note that you may only declare slaves which EDS profiles have been prior added to or are already stored in the Catalog Step Action 1 From the Catalog area in the Network dialog box select the slave profile from the li
143. value is between 0 and 10000 0 to 100 for PWM output Direct or inverse action Direct or inverse is available and acts directly on the output Auto Tuning AT This function provides automatic tuning of the Kp Ti Td and Direct Reverse Action parameters to achieve optimum convergence of the control process Note For a more in depth explanation of how each of the functions described in the above table works refer to the diagram below 522 TWD USE 10AE Advanced Instructions Operating The following diagram presents the operating principle of the PID function Principles Sampling period y PID CORRECTOR TI SET POINT The Setpoint branch E Integrate y RK Deviat i y gt 66 s o gt lt KP SET POINT XVE S P TD The Measurement branch d dt Derived MEASURE High alarm gt Conversion The PID action PROCESS MEASUREMENT VALUE Low alarm USED P V The PID operation modes High limit 1 A AUTO 3 Limiter gt e gt e Analog output O Low limit 0 __ PWM O Manual Modulation period OPERATOR DIALOGUE Twido Soft PC Note The parameters used are described in the table on the page above and in the configuration screens TWD USE 10AE 523
144. values in the transmission table of the word table so that they fall correctly on word boundaries 142 TWD USE 10AE Communications Before executing the EXCH2 instruction the application checks the communication bit associated with MSG2 Finally the error status of the MSG2 is sensed and stored on the first output bit on the local base controller I O Additional error checking using SW64 could also be added to make this more accurate Step 5 Initialize the Animation Table Editor Create the following animation table on the master Address Current Retained Format 1 MWO 010C 0000 Hexadecimal 2 MW1 0007 0000 Hexadecimal 3 MW2 0210 0000 Hexadecimal 4 MW3 0010 0000 Hexadecimal 5 MW4 0002 0000 Hexadecimal 6 MW5 0004 0000 Hexadecimal 7 MW6 6566 0000 Hexadecimal 8 MW7 6768 0000 Hexadecimal 9 MW8 0210 0000 Hexadecimal 10 MW9 0010 0000 Hexadecimal 11 MW10 0004 0000 Hexadecimal O reate the following animation table on the slave Address Current Retained Format 1 MW16 6566 0000 Hexadecimal 2 MW17 6768 0000 Hexadecimal After downloading and setting each controller to run open an animation table on the slave controller The two values in MW16 and MW17 are written to the slave In the master the animation table can be used to examine the reception table portion of the exchange data This data displays the slave address the response code the first word written and the number of words wri
145. we will simply summarize the functions available indicate measurement values and describe how they integrate into PID in a functional flow diagram Note For use at full scale optimum resolution you can configure your analog input connected to the PID s measurement branch in 0 10000 format However if you use the default configuration 0 4095 the controller will function correctly Note In order for regulation to operate correctly it is essential that the Twido PLC is in periodic mode The PID function is then executed periodically on each cycle and the PID input data sampling complies with the period set in configuration see table below TWD USE 10AE 521 Advanced Instructions Details of The following table indicates the different functions available and their scale Available Functions Function Scale and comment Linear conversion of input Allows you to convert a value in 0 to 10000 format analog input module resolution to a value between 32768 and 32767 Proportional gain Using a factor of 100 its value is between 1 and 10000 This corresponds to a gain value varying between 0 01 and 100 Note If you enter an invalid value of gain negative or null gain TwidoSoft ignores this user setting and automatically assigns the default value of 100 to this factor Integral time Using a timebase of 0 1 seconds its value is between 0 and 20000 This corresponds to an integral
146. working directory of the ftp client Note 3 A message indicates that TwidoPort will automatically reboot 5 seconds after a successful ftp TWD USE 10AE 297 Configuring the TwidoPort Ethernet Gateway Firmware Upgrade In Progress Kernel Mode The following figure shows a typical Firmware Upgrade In Progress screen Telemecanique 499 TWD i 106 Configuration and Diagnostics FIRMWARE UPGRADE IN PROGRESS Module will reboot in 5 Seconds After Reboot Connect via FIP to download new Firmware FIP Instructions gt Connect via FIP ftp 192 168 2 166 2 gt Change to fw directory ftp gt cd fu 3 gt Download new fw ftp gt put App out After the FIP download is complete the module will reboot automatically Rebooting now Goodbye Connection to host lost In the absence of valid firmware TwidoPort goes into Kernel mode If you attempt to use Telnet to connect to TwidoPort while it is in this mode you will see Telemecanique 499 TWD i 166 Kernel Version 96 62d Download valid Exec App out to leave kernel mode To exit type quit QUIT or control D 298 TWD USE 10AE Configuring the TwidoPort Ethernet Gateway Forget Your Password and or IP Configuration Connecting in Use these instructions to connect to TwidoPort in backup mode Backup Mode Step Action Comment 1 Connect pin 3 to pin 6 ground of the Use the Schneider 170 XTS 04 100 RJ 45 serial c
147. 0 0 or Q0 0 1 with variable width and consequently duty cycle Controllers with relay outputs for these two channels do not support this function due to a frequency limitation There are two PWM blocks available PWMO uses dedicated output Q0 0 0 and PMW1 uses dedicated output Q0 0 1 The PLS function blocks contend to use these same dedicated outputs so you must choose between the two functions PWM block and timing diagram PWMO TB PWMi P ae Tp PI fixed period T programmable width configurable 448 TWD USE 10AE Advanced Instructions Parameters Range of Periods The following table lists parameters for the PWM function block Parameter Label Description Timebase TB 0 142 ms 0 57 ms 10 ms 1 s default value Preselection of PWMi P 0 lt PWMi P lt 32767 with time base 10 ms or 1s the period 0 lt PWMi P lt 255 with time base 0 57 ms or 0 142 s 0 Function not in use Duty cycle PWMi R This value gives the percentage of the signal in state 1 in a period The width Tp is thus equal to Tp T PWMi R 100 The user application writes the value for PWAMi R It is this word which controls the duty cycle of the period For T definition see range of periods below The default value is 0 and values greater than 100 are considered to be equal to 100 Pulse IN At state 1 the pulse width modulation signa
148. 000 Note If Kp is mistakenly set to 0 Kp lt 0 is invalid the default value Kp 100 is automatically assigned by the PID function TI 0 1 sec Specify the integral action coefficient here for a timebase of 0 1 seconds This value can be an internal word MWO to MW2999 an internal constant Y KWO to KW255 or a direct value It must be between 0 and 20000 Note To disable the integral action of the PID set this coefficient to 0 Td 0 1 sec Specify the derivative action coefficient here for a timebase of 0 1 seconds This value can be an internal word MW0O to MW2999 an internal constant KWO to KW255 or a direct value It must be between 0 and 10000 Note To disable the derivative action of the PID set this coefficient to 0 Sampling period Specify the PID sampling period here for a timebase of 10 seconds 10 ms This value can be an internal word MWO to MW2999 an internal constant Y KWO to KW255 or a direct value It must be between 1 0 01 s and 10000 100 s Diagram The diagram allows you to view the different possibilities available for configuring your PID Note When AT is enabled Kp Ti and Td parameters are no longer set by the user for they are automatically and programmatically set by the AT algorithm In this case you must enter in these fields an internal word only MWO0 to MW2999 Caution Do not enter an internal constant or a direct value when AT
149. 0AE Ladder Language Entering Instructions in the Grid Rung Headers A Ladder rung provides a seven by eleven programming grid that starts in the first cell in the upper left hand corner of the grid Programming consists of entering instructions into the cells of the grid Test instructions comparisons and functions are entered in cells in the test zone and are left justified The test logic provides continuity to the action zone where coils numerical operations and program flow control instructions are entered and are right justified The rung is solved or executed tests made and outputs assigned within the grid from top to bottom and from left to right In addition to the rung a rung header appears directly above the rung Use the rung header to document the logical purpose of the rung The rung header can contain the following information e Rung number e Labels Li e Subroutine declarations SRi Rung title e Rung comments For more details about using the rung header to document your programs see Program Documentation p 340 TWD USE 10AE 327 Ladder Language Ladder Diagram Blocks Introduction Contacts Coils and Program Flow Function Blocks Ladder diagrams consist of blocks representing program flow and functions such as the following e Contacts Coils Program flow instructions Function blocks Comparison blocks Operate blocks Contacts coils and program flow
150. 0V 4 20mA 12 bits removable screw terminal K J T thermocouple and 3 wire PT100 50mA Cancel Reset Symbol Type Range Minimum Maximum Units 7 Help lW1 0 Thermocouple K Celsius 0 13000 0 1 C lW1 1 Not used Normal 0 4095 None QW1 0 Not used Normal 0 4095 None 494 TWD USE 10AE Advanced Instructions Step 2 Prerequisites for PID Configuration Introduction Before configuring the PID ensure that the following phases have been performed Phase Description 1 PID enabled in the program 2 Scan period configured Enabling PID in The PID controller must be enabled in the program by an instruction This instruction the Program can be permanent or be a condition of an input or internal bit In the following example the PID is enabled by the instruction MO e In Ladder RUNG 0 E PID 0 MO e In Instruction List 0 LD SMO 1 PID 0 Note Ensure that you use correct syntax Check that there is a space between PID and the PID number e g PID lt space gt 0 TWD USE 10AE 495 Advanced Instructions Configuration of Scan Period the scan mode When using PID controllers you are strongly advised to configure the scan mode of the PLC cycle to periodic The table below describes the procedure for configuring Step Action 1 From the TwidoSoft menu bar select Program Ed
151. 1 A DO B COM D1 A DO B COM 1 2 7 5 5 V TWDLCA40eDRF Master o RS 485 EIA Line Polarization Assembly R D1 A DO B R COM 0V 4 where R 600 650 Q resistor External polarization can be performed in any of two ways e Connecting externally the user provided polarization assembly via mini DIN fly cable Please refer to pin definition for connector e Using a polarization tap configured for 2 wire polarization and polarization assembly available soon from the catalog TWD USE 10AE 129 Communications Software Configuration Configuring the Port To configure the controller to use a serial connection to send and receive characters using the Modbus protocol you must Step Description 1 Configure the serial port for Modbus using TwidoSoft 2 Create in your application a transmission reception table that will be used by the EXCHx instruction A Twido controller can use its primary port 1 or an optionally configured port 2 to use the Modbus protocol To configure a serial port for Modbus Step Action 1 Define any additional communication adapters or modules configured to the base 2 Right click on the port and click Edit Controller Comm Setup and change serial port type to Modbus 3 Set the associated communication parameters 130 TWD USE 10AE Communications Modbus Master Modbus m
152. 10 and 14 for further information e Setto 1 if an error appeared e Set to 0 if a new backup request is asked for e Bit 6 Set to 1 if the controller contains an empty application e Bit 8 Indicates that the number of MWs specified in SW97 is greater than the number of MWs configured in the application e Set to 1 if an error is detected e Bit 9 Indicates that the number of MWs specified in SW97 is greater than the maximum number of MWs that can be defined by any application in TwidoSoft e Set to 1 if an error is detected e Bit 10 Difference between internal RAM and internal EEPROM 1 yes e Set to 1 if there is a difference e Bit 14 Indicates if an EEPROM write fault has occurred e Setto 1 if an error is detected 612 TWD USE 10AE System Bits and Words System Function Description Control Words SW9Y7 Command or When saving memory words this value represents the physical number S and U diagnostics for MW to be saved to internal EEPROM When restoring memory words save restore this value is updated with the number of memory words restored to RAM function For the save operation when this number is set to 0 memory words will not be stored The user must define the user logic program Otherwise this program is set to 0 in the controller application except in the following case On cold start this word is set to 1 if the internal Fla
153. 11 SW51 MW12 SWS2 MW13 SWS3 SMW 14 S S50 SWS1 TMW12 SWS2 SMW 13 SWS3 SMW 14 S50 s TWD USE 10AE 487 Advanced Instructions Using SW59 Words MW10 to MW14 will contain the new date and time in BCD format see Review of BCD Code p 425 and will correspond to the coding of words SW49 to SW53 The word table must contain the new date and time Encoding Most significant byte Least significant byte FMW 10 Day of the week MW11 Second MW12 Hour Minute MW13 Month Day MW 14 Century Year Note 1 1 Monday 2 Tuesday 3 Wednesday 4 Thursday 5 Friday 6 Saturday 7 Sunday Example data for Monday 19 April 2002 Word Value hex Meaning MW10 0001 Monday MW11 0030 30 seconds MW12 1340 13 hours 40 minutes MW13 0419 04 April 19th YMW14 2002 2002 Another method of updating the date and time is to use system bit S59 and date adjustment system word SW59 Setting bit S59 to 1 enables adjustment of the current date and time by word SW59 see System Words SW p 604 SW59 increments or decrements each of the date and time components on a rising edge 488 TWD USE 10AE Advanced Instructions Application Example The following front panel is created to modify the hour minutes
154. 2 and issue the EXCH2 instruction only if the port is ready For the EXCH2 instruction a value of 8 words is specified There are 2 Control words MW10 and MW11 2 words to be used for transmit information YMW12 and MW13 and 4 words to receive data MW14 through MW 16 Finally the error status of the MSG2 is sensed and stored on the first output bit on the local base controller I O Additional error checking using SW64 could also be added to make this more accurate Step 5 Initialize the Animation Table Editor Address Current Retained Format 1 MW10 0104 Hexadecimal 2 MW11 0000 Hexadecimal 3 MW12 4F4B Hexadecimal 4 MW13 OAOD Hexadecimal 5 MW14 TW ASCII 6 MW15 ID ASCII 7 MW16 O ASCII The final step is to download this application controller and run it Initialize an Animation Table Editor to animate and display the MW10 through MW16 words On the Terminal Emulator characters O K CR LF A can be displayed as many times as the EXCH block response timeout has elapsed On the Terminal Emulator type in T W I D O A This information is exchanged with Twido controller and displayed in the Animation Table Editor TWD USE 10AE 125 Communications Modbus Communications Introduction The Modbus protocol is a master slave protocol that allows for one and only one master to request responses from slaves or to act based on the request The master can address individual slaves
155. 3 14 15 Unknown i Key e The cross signifies that there are differences between the image of the profile of the transferred slave and the profile initially desired in the configuration screen e The exclamation mark signifies that a new profile was added to the configuration screen Explanation The configuration screen always shows the permanent image of the desired configuration this is why the slave is still present as 3B in spite of the change of address See Modification of Slave Address p 218 completed by the current image of the bus The profiles and parameters of the expected slaves displayed correspond to those which were expected The profiles and parameters of the unknown slaves displayed correspond to the images of those detected 222 TWD USE 10AE Installing the AS Interface bus Procedure for Transferring the Before transferring a new application to the module the user can for each slave accept the detected profile and parameters transferred to the configuration screen Definitive or modify the configuration manually See Procedure for Declaring and Application to Configuring a Slave p 210 the Module The following table describes the steps to follow to confirm and transfer the definitive configuration to the module Step Action 1 V
156. 3 see Addressing I Os associated with slave devices connected to the AS Interface V2 bus p 228 e For TWDNCO1M see Addressing PDOs of the CANopen master p 269 In a program you can have multiple references to a single output or coil Only the result of the last one solved is updated on the hardware outputs For example Q0 0 0 can be used more than once in a program and there will not be a warning for multiple occurrences So it is important to confirm only the equation that will give the required status of the output A CAUTION UNINTENDED OPERATION No duplicate output checking or warnings are provided Review the use of the outputs or coils before making changes to them in your application Failure to follow this instruction can result in injury or equipment damage Use the following format to address inputs outputs LQ x 3 y 3 z Symbol Object type Controller point V O type point Channel number position Use the following format to address inputs output exchange words I Q Ww x Symbol Object type Format Controller point I O Type position 40 TWD USE 10AE Twido Language Objects Description The table below describes the I O addressing format Group Item Value Description Symbol The percent symbol always precedes an internal address Object type I Input The logical image of the electrical state of a controller or expansion I O modu
157. 3 8 Note As a result of the above floating point array s structure Op3 must meet both of the following requirements or otherwise this will trigger an error of the LKUP function e Op3 is an even number and e Op3 gt 6 for there must be at least 2 data points to allow linear interpolation Interpolation operations are performed as follows 13 2 LD B2 MF20 LKUP MF0 KW1 MF20 LKUP MFO0 KW1 11 2 MF22 LKUP MFO 10 LD 12 MF22 LKUP MFO 10 592 TWD USE 10AE Advanced Instructions Example The following is an example use of a LKUP interpolation function SMW20 LKUP MF0 10 In this example MW20 is Op1 the output variable MFO is the user defined X value which corresponding Y value must be computed by linear interpolation MF2 stores the computed value Y resulting from the linear interpolation 10 is Op3 as given by equation 3 above It sets the size of the floating point array The highest ranking item MFu where u 18 is given by equation 4 above There are 4 pairs of data points stored in Op3 array MF4 MF18 e MF4 contains X1 MFE6 contains Y4 MF8 contains X5 MF10 contains Yo MF 12 contains X3 MF14 contains Y3 MF 16 contains X4 MF18 contains Y4 TWD USE 10AE 593 Advanced Instructions Mean function of the values of a floating point table Gene
158. 4 00 XVBC21A 01 a 02 03 ASI20MT4IE NA New Ctrl N Open Ctrl O p12 Cut Ctrl X WXA36 Copy Ctrl C Paste Ctrl V Clear Del Accept Con Ctrl A 1 12 13 14 15 16 v Note A shortcut menu appears This is used to e Configure a new slave on the bus Modify the configuration of the desired slave Copy or Ctrl C cut or Ctrl X paste a slave or Ctrl V Delete a slave or Del 210 TWD USE 10AE Installing the AS Interface bus Step Action In the shortcut menu select e New to create a new slave A slave configuration screen is displayed the Address field shows the selected address the Profile fields are set to F by default and all other fields in the screen are blank Open to create a new slave or to modify the configuration of the selected slave For a new slave a new screen for configuring the slave is displayed the Address field shows the selected address the Profile fields are set to F by default and all other fields in the screen are blank For a modification the slave configuration screen is displayed with fields containing the values previously defined for the selected slave Illustration of a Configuration Screen for a New Slave Name Slave 3A Address Permanent Characteristics Profile 10 ID D1 D2 Permanent Parameters Bits C Decimal o e e e e m row 8 p _Inputs Outputs Inputs Outputs Catal
159. 44 TWD USE 10AE Installing and Configuring the CANopen Fieldbus Process Data Object PDO Transmission Definition of PDO Types of PDO PDO Producers and Consumers PDO Transmission Mode PDOs are objects which provide the communication interface with process data and enable them to be exchanged in real time ACANOpen device s PDO set describes the implicit exchanges between this device and its communication partners on the network The exchange of PDOs is authorized when the device is in Operational mode There are two types of PDO e PDOs transmitted by the device often labeled Transmit PDO or Tx PDO or TPDO e PDOs received by the device often labeled Receive PDO or Rx PDO or RPDO PDOs are based on a Producer Consumer model The device which sends out a PDO is called the producer while one that receives it is known as the consumer Thus writing an output to the TWDNCO1M master module sends a TPDO associated with the master which contains the value of the output to be updated In this case the master is the PDO producer while the slave device is the PDO consumer In contrast an input is updated by the transmission of a RPDO by the master module which is then the consumer In addition to data to be transported it is possible to configure the type of exchange for each PDO PDO can be exchanged by the TWDNCO1M master module in the following transmission mode Mode number Mod
160. 737280 0 for DEG_TO_RAD conversions or between 4096x and 40967 for RAD_TO_DEG conversions For values outside these ranges the displayed result will be 1 4NAN the S18 and SW17 X0 bits being set at 1 574 TWD USE 10AE Advanced Instructions Integer Conversion Instructions lt gt Floating General Four conversion instructions are offered Integer conversion instructions list lt gt floating INT_TO_REAL conversion of an integer word gt floating DINT_TO_REAL conversion of a double word integer gt floating REAL_TO_INT conversation of a floating gt integer word the result is the nearest algebraic value REAL_TO_DINT conversation of a floating gt double integer word the result is the nearest algebraic value Structure Ladder language MFO INT_TO_REAL MW10 MD4 REAL_TO_DINT MF9 Instruction List Language LD TRUE 4MFO INT TO REAL MW10 LD I1 8 MD4 REAL TO DINT MF9 Structured Text language MFO INT TO REAL MW10 IF 11 8 THEN MD4 REAL TO DINT MFQ END_IF TWD USE 10AE 575 Advanced Instructions Syntax Operators and syntax conversion of an integer word gt floating Operators Syntax INT_TO_REAL Op1 INT_TO_REAL Op2 Operands conversion of an integer word gt floating Operand 1 Op1 Operand 2 Op2 MFi MWi KWi
161. 8 result is infinite 1 4INF or 1 INF SW17 X4_ Reserved to X15 usage purposes This word is reset to 0 by the system on cold start and also by the program for re The following table describes floating point and double word objects and Double Word Objects Type of object Description Address Maximum Write access Indexed form number Immediate values Integers or decimal numbers No with identical format to 32 bit objects Internal floating point Objects used to store values MFi 1500 Yes MFi index Internal double word during operation in data MDi 1500 Yes MDilindex memory Floating constant value Used to store constants KFi 128 Yes only using KFilindex TwidoSoft Double constant KDi 128 Yes only using KDi index TwidoSoft 34 TWD USE 10AE Twido Language Objects Possibility of Overlap between Objects Single double length and floating words are stored in the data space in one memory zone Thus the floating word MFi and the double word MDi correspond to the single length words MWi and MWi 1 the word MWi containing the least significant bits and the word MWi 1 the most significant bits of the word MFi The following table shows how floating and double internal words overlap Floating and Double Odd address Internal words MFO MDO MWO MF1 M
162. 95 Yes by program with i multiple of 8 2 Internal bits Mi L 0 lt L lt 17 and i L lt 256 Yes with i multiple of 8 3 Key 1 Only I O bits 0 to 16 can be read in bit string For controllers with 24 inputs and 32 I O modules bits over 16 cannot be read in bit string 2 Maximum of i L for TWWDLCAA10DRF and TWDLCAA16DRF is 62 3 Maximum of i L for TWWDLCAA10DRF and TWDLCAA16DRF is 128 Word tables are a series of adjacent words of the same type and of a defined length L Example Word table KW10 7 KW10 16 bits KW16 Word tables can be used with the Assignment instruction see Assignment Instructions p 411 Available types of words for word tables Type Address Maximum size Write access Internal words MWi L 0 lt L lt 256 and i L lt 3000 Yes Constant words KWi L 0 lt L lt 256 and i L lt 256 No System Words SWi L O lt L and i L lt 128 Depending on i 46 TWD USE 10AE Twido Language Objects Tables of double words Available Types of Double Words Tables of floating words Types of Floating Words Available Double word tables are a series of adjacent words of the same type and of a defined length L Example Double word table KD10 7 KD10 32 Bit KD22 Double word tables can be used with the Assignment instruction see Assignment Instructions p 411 Available types of words f
163. 95 Step 3 Configuring the PID 497 Step 4 Initialization of Control Set Up 504 Step 5 Control Set Up AT PID 509 Step 6 Debugging Adjustments 513 490 TWD USE 10AE Advanced Instructions Purpose of Document Introduction This quick start guide aims to guide you by providing examples through all the steps required to correctly configure and set up your Twido controller s PID control functions Note Implementing the PID function on a Twido does not require any specific knowledge but does demand a certain degree of rigor to ensure that you retain optimum results in the shortest possible time This document This document explains the following steps contains Step Description 1 Configuration of analog channels used for control 2 Prerequisites for PID configuration 3 PID configuration 4 Initialization of control setup 5 AT PID control setup 6 Debugging and adjustments TWD USE 10AE 491 Advanced Instructions Concerning the For this example we have chosen a Type K ThermoCouple 0 200 example used in We will use transistor control with the output therefore being a base controller output this guide controlled directly by the PID controller using PWM see Step 3 Configuring the PID p 497 The diagram below shows the experimental setup used in the example TWDLMDA20DRT Resistor To 0 200 hermoCouple 230 VAC 492 TWD USE 10AE
164. AMW OEB TIAMWI D MW0 BTI MW10 le LD I0 2 MW 10 ITB KW9 MW 10 ITB KW9 TWD USE 10AE 425 Basic Instructions Syntax The syntax depends on the operators used as shown in the table below Operator Syntax BTI ITB Op1 Operator Op2 Operands Type Operand 1 Op1 Operand 2 Op2 Words MWi QWi YMWi KWi IW PQWAI SWi IWAI QW PVQWAI SWi BLK x Double word MDi MDi KDi Application The BTI instruction is used to process a setpoint value at controller inputs via BCD Example encoded thumb wheels The ITB instruction is used to display numerical values for example the result of a calculation the current value of a function block on BCD coded displays 426 TWD USE 10AE Basic Instructions Single double word conversion instructions Introduction The following table describes instructions used to perform conversions between single and double words Instruction Function LW LSB of double word extracted to a word HW MSB of double word extracted to a word CONCATW Concatenates two words into a double word DWORD Converts a 16 bit word into a 32 bit double word Structure Conversion operations are performed as follows MO MW0 HW MD10 LD MO MW0 HW MD10 10 2 LD l0 2 MD10 DWORD KW9 MD 10 DWORD KW9 10 3
165. Advanced Function Blocks 440 LIFO FIFO Register Function Block Ri 2 2 0006 c eee eee ee 443 LIFO Operation si s 03 ce eee oe SL ead ie ee bp ee eae 444 FIFO Operation 2 iee csc t ne ao don ated a ged aa ie pE EnB a edna Bees 445 Programming and Configuring Registers s 0 000 aaaea eee eee 446 Pulse Width Modulation Function Block PWM 0 00e ee aes 448 Pulse Generator Output Function Block PLS 000 0s eee eee 451 Drum Controller Function Block DR 0 0 cece eee eee ee 454 Drum Controller Function Block DRi Operation 0 00 5 455 Programming and Configuring Drum Controllers 000020 eee 457 17 2 17 3 17 4 17 5 Fast Counter Function Block FC 0 0 0 cect eee 459 Very Fast Counter Function Block VFC 0 000 e eee eee eee 462 Transmitting Receiving Messages the Exchange Instruction EXCH 476 Exchange Control Function Block MSGxX 000 cee eee eee 477 Clock FUNCtONS 0 cia ose a tiie eee Wiehe ag tuade E be sco 480 At a Glane s 2 1 tedster oy 2 Pathe Haine nn als AIE a r a e a eta ee 480 Clock Functions Ai 2s bet ee pe ga eee ae Siete eas 481 schedule Blocks anrea iad Guns velar a ainteton casks wet teeta Act 482 Time Date Stamping 0 0 c cect tee e eee 485 Setting the Date and Time 1 0 0 cee eee 487 Twido PID Quick Start Guide 0 0 c eee eee eee 490 AV AIGIAN
166. Advanced Instructions PID tab of PID function Ata Glance The tab is used to enter the internal PID parameters Note It is accessible in offline mode PIDtabofthePID The screen below is used to enter the internal PID parameters Function PID PID number o m Setpoint Parameters Sampling period Kp x 0 01 z 10 ms J mo OCO soo Td 0 1 s i General Input PID AT Output Animation Trace PID Output PID controller eF Cancel Previous Next Help 530 TWD USE 10AE Advanced Instructions Description The table below describes the settings that you may define Field Description PID number Specify the PID number that you wish to configure here The value is between 0 and 13 14 PID maximum per application Setpoint Specify the PID setpoint value here This value can be an internal word MW0 to MW2999 an internal constant KWO to KW255 or a direct value This value must therefore be between 0 and 10000 when conversion is inhibited Otherwise it must be between the Min value and the Max value for the conversion Kp 100 Specify the PID proportional coefficient multiplied by 100 here This value can be an internal word MWO to MW2999 an internal constant Y KWO to KW255 or a direct value The valid range for the Kp parameter is 0 lt Kp lt 10
167. Appendix 4 Reference numbers of the products used in this document Twido product TWD LMDA 20DRT Twidosoft software TWD SPU 1002 V10M TSX PCX 1031 cable TSX PCX 1130 cable RTU modem Westermo TD 33 V90 SR1 MODO1 GSM modem Wavecom WMOD2B SR1 MODo2 Note 1 Certain products may not be compatible and or available in all areas Please contact your local Schneider representative for availability TWD USE 10AE 103 Communications Remote Link Communications Introduction The remote link is a high speed master slave bus designed to communicate a small amount of data between the master controller and up to seven remote slave controllers Application or I O data is transferred depending on the configuration of the remote controllers A mixture of remote controller types is possible where some can be remote I O and some can be peers Note The master controller contains information regarding the address of a remote I O It does not know which specific controller is at the address Therefore the master cannot validate that all the remote inputs and outputs used in the user application actually exist Take care that these remote inputs or outputs actually exist Note The remote I O bus and the protocol used is proprietary and no third party devices are allowed on the network A CAUTION UNEXPECTED EQUIPMENT OPERATION e Be sure that there is only one master controller on a
168. CO P 17 NVFCO SO 14 VFCO S1 20 o O O QA i a T eee 65535 20 17 L 14 VFCO0 V 0 di THO TH1 Reflex output 0 Reflex output 1 i i 1 VFCO U 1 because VFC is an up counter change VFCO S1 to 17 S input active makes threshold S1 new value to be granted in next count CRCROMC a catch of the current value is made so VFCO C 17 TWD USE 10AE 469 Advanced Instructions Single Down Counter Operation The following is an example of using VFC in a single down counter mode The following configuration elements have been set for this example FCO P preset value is 17 while the VFCO SO lower threshold value is 14 and the VFCO S1 upper threshold is 20 Reflex value lt VFC SO VFCO0 SO lt value lt VFCO0 S1 value gt VFCO S1 Output Q0 0 2 X X Q0 0 3 X 470 TWD USE 10AE Advanced Instructions Example VVFCO P 17 VFCO SO 14 NFCO S1 20
169. D USE 10AE Advanced Instructions Fast Counter Function Block FC Introduction The Fast Counter function block FC serves as either an up counter or a down counter It can count the rising edge of digital inputs up to frequencies of 5kHz in single word or double word computational mode Because the Fast Counters are managed by specific hardware interrupts maintaining maximum frequency sampling rates may vary depending on your specific application and hardware configuration The TWDLCA 40DRF Compact controllers can accomodate up to four fast counters while all other series of Compact controllers can be configured to use a maximum of three fast counters Modular controllers can only use a maximum of two The Fast Counter function blocks FC0 FC1 FC2 and FC3 use dedicated inputs l0 0 2 l0 0 3 l0 0 4 and l0 0 5 respectively These bits are not reserved for their exclusive use Their allocation must be considered with the use of other function blocks for these dedicated resources Illustration The following is an example of a Fast Counter function block in single word mode FCO IN D TYPE UP SINGLE ADJ FCO P R TWD USE 10AE 459 Advanced Instructions Parameters The following table lists parameters for the Fast Counter function block Parameter Label Description Function TYPE Set at configuration this can be set to either up count or down count
170. D1 MW1 MF2 MD2 MW2 MF3 MD3 MW3 MF4 MD4 MW4 MW5 MFi MDi MWi MFi 1 MDi 1 MWi 1 The following table s hows how floating and double constants overlap Floating and Double Odd address Internal words KFO KDO KWO KF1 KD1 KW1 KF2 KD2 KW2 KF3 KD3 KW3 KF4 KD4 KW4 KW5 kFi kDi KWi KFi 1 KDi 1 KWi 1 Example MFO corresponds to MW0 and MW1 KF543 corresponds to KW543 and KW544 TWD USE 10AE 35 Twido Language Objects Addressing Bit Objects Syntax Use the following format to address internal system and step bit objects M S or X i symbol lobject type Number Description The following table describes the elements in the addressing format Group Item Description Symbol The percent symbol always precedes a software variable Type of M Internal bits store intermediary values while a program is object running S System bits provide status and control information for the controller X Step bits provide status of step activities Number i The maximum number value depends on the number of objects configured Examples of bit object addressing e M25 internal bit number 25 e S20 system bit number 20 e X6 step bit number 6 Bit Objects TwidoSoft is used to extract one of the 16 bits from words The address of the word
171. E 10AE Basic Instructions Timing Diagram Special Cases The following diagram displays the timing for the XOR instructions XOR l0 1 M1 Q0 3 The following are special precautions for using XOR instructions in Ladder programs e Do not insert XOR contacts in the first position of a rung e Do not insert XOR contacts in parallel with other ladder elements see the following example As shown in the following example inserting an element in parallel with the XOR contact will generate a validation error M13 1 5 Q1 10 lx R XOR M10 TWD USE 10AE 383 Basic Instructions NOT Instruction N Introduction Example Permitted Operands Timing Diagram The NOT N instruction negates the Boolean result of the preceding instruction The following is an example of using the NOT instruction LD 10 1 OR M2 ST Q0 2 N AND M3 ST Q0 3 Note The NOT instruction is not reversible Not applicable The following diagram displays the timing for the NOT instruction NOT l0 1 M2 Q0 2 M3 Q0 3 384 TWD USE 10AE Basic Instructions 16 2 Basic Function Blocks At a Glance Aim of this This section provid
172. ED Indicators 0 0 0 e eee eet 178 TCP Modbus Messaging 0 6 ce eee eects 180 Chapter 7 Chapter 8 Chapter 9 Chapter 10 10 1 10 2 Built In Analog Functions 00 cece ee eee eee 185 Ata Glance es riekot r e i ie Oe a i ee eee ee 185 Analog potentiometer 0 0 e eee tte 186 Analog Channel 0 24 44 einai teat bee hide fae be bee eee 188 Managing Analog Modules 000eee eee e eens 189 At a Glance sx k erae iaie A Lee eae ee ea 189 Analog Module Overview 0 0 cece tte teens 190 Addressing Analog Inputs and Outputs 0 00 0 cece eee 191 Configuring Analog Inputs and Outputs 0 e eee eee 192 Analog Module Status Information 000 cece eee eee ee 198 Example of Using Analog Modules 00 eee eee eee 199 Installing the AS Interface V2 bus 00 200eeees 201 Ata GlanCe rece statin toe heen tia were Sein dele Ae RIA nel 201 Presentation of the AS Interface V2 bus 1 2 0 0 0 0 c eee eee eee 202 General functional description 0 0 0 2 00 c eee ee 203 Software set up principles s sausas anane 206 Description of the configuration screen for the AS Interface bus 207 Configuration of the AS Interface buS s sasaaa aranean 209 Description of the debug Screen 0 0c eee eee 215 Modification of Slave Address 1 0 2 0 0 0 cece eee 218 Updating the AS Interface bus configurati
173. EERE Bh oe PLSI Q D M PLSi D E ee ie Special Cases Special case Description Effect of cold restart S0 1 Sets the PLSi P to that defined during configuration Effect of warm restart Has no effect S1 1 Effect of modifying the preset Takes effect immediately PLSi P Effect due to the fact that Forcing output Q0 0 0 or Q0 0 1 using a programming outputs are dedicated to the device does not stop the signal generation PLS block Note PLSx D is set when the number of desired pulses has been reached It is reset by either setting the IN or the R inputs to 1 TWD USE 10AE 453 Advanced Instructions Drum Controller Function Block DR Introduction The drum controller operates on a principle similar to an electromechanical drum controller which changes step according to external events On each step the high point of acam gives a command which is executed by the controller In the case of a drum controller these high points are symbolized by state 1 for each step and are assigned to output bits Qi j or internal bits Mi known as control bits Illustration The following is an illustration of the drum controller function block DRi R FL U STEPS 8 Drum controller function block Parameters The drum controller function block has the following parameters Parameter Label Value Number DRi 0 to 3 Compact C
174. IAI 12A 2 Digital input 2 of slave 12A of the AS Interface module situated in position 1 on the expansion bus Implicit The objects described below are exchanged implicitly in other words they are Exchanges exchanged automatically on each PLC cycle 228 TWD USE 10AE Installing the AS Interface bus Programming and diagnostics for the AS Interface V2 bus Explicit Exchanges Reserved Specific System Words Objects words and bits associated with the AS Interface bus contribute data for example bus operation slave status etc and additional commands to carry out advanced programming of the AS Interface function These objects are exchanged explicitly between the Twido controller and the AS Interface Master by the expansion bus e At the request of the program user by way of the instruction ASI_CMD see Presentation of the ASI_CMD instruction below e Via the debug screen or the animation table System words reserved in the Twido controller for the AS Interface Master modules enable you to determine the status of the network SW73 is reserved for the first AS Interface expansion module and SW74 for the second Only the first 5 bits of these words are used they are read only The following table shows the bits used System Words Bit Description O0 system status 1 if configuration OK otherwise 0 SW73 1 data exchange 1 data exchange is enabled 0 if in mode Data and Exchange Off See A
175. ID number lo General Input PID AT l Output Animation Trace Operating mode List of PID states PID AT 11 04 2004 19 40 Phase 4 autotuning in progress m PID Output z Ts Period 100 ue PID controller z Kp Ti Td Di i 800 0 IP p 0 0 Output r Input Mes 259 gt AT Output setpoint PV 5000 Limit AT 900 Create a file animation table Note The screens of the PID controller are only refreshed if the controller is enabled and API set to RUN 8 Click on the Trace tab and wait for the system to startAT PID 7 1x PID number ff General Input PID AT Output Animation Trace Operating mode List of PID states PID AT Note The waiting time may last for 10 20 minutes before the AT procedure changes TWD USE 10AE 511 Advanced Instructions Storage of Once the Auto Tuning sequence is complete the memory words assigned to the Kp Calculated Kp Ti Ti and Td coefficients are completed with the calculated values These values are and Td written to the RAM memory and saved in the controller as long as the application is Coefficients valid power down of less than 30 days and no cold start is performed S0 Note If the system is not influenced by outside fluctuations the values may be hard written in the settings of the PID controller and the controller switched to PID mode only Repetition of AT The Auto Tuning sequence is repeated on every switch to R
176. IP 85 Protocols 84 Pulse generation 451 Pulse width modulation 448 Q Queue 443 R RAD_TO_DEG 574 REAL_TO_DINT 575 REAL_TO_INT 575 Real Time correction factor 319 Receiving messages 476 Registers FIFO 445 LIFO 444 programming and configuring 446 Remainder 418 Remote Link Communications 104 Example 112 Hardware configuration 105 Master controller configuration 107 Remote controller configuration 107 Remote controller scan synchronization 107 Remote I O data access 109 Software configuration 106 Remote link Communication 84 RET 433 TWD USE 10AE 635 Index Reversibility guidelines 338 introduction 337 Reversible programming 440 ROL_ARR 586 ROR_ARR 586 RS 485 EIA line 129 RTC correction 481 Run Stop bit 70 Rung Header 327 comments 341 Rungs unconditional 339 S Scan time 67 Scanning Cyclic 62 Periodic 64 Shift bit register 404 Shift instructions 423 SHORT 333 SIN 572 Single double word conversion instructions 427 Software watchdog 67 SORT_ARR 588 SQRT 568 Square root 418 SR 433 Stack 443 Stack instructions 352 Step counter 406 Subnet mask 160 Subroutine instructions 433 Subtract 418 SUM_ARR 579 Symbolizing 50 System bits 596 System words 604 T TAN 572 Task cycle 67 TCP Client Server 152 TCP IP Protocol 85 TCP IP setup 165 Test Zone 326 Time out Ethernet 171 Timers 391 introduction 390 program
177. K C8 LD 11 1 LD 11 1 R C8 R LD 11 2 LD 11 2 AND MO AND MO CU C8 CU LD C8 D END_BLK ST QO 0 LD C8 D ST QO 0 Reversible Programming Non Reversible programming 402 TWD USE 10AE Basic Instructions Configuration The following parameters must be entered during configuration e Preset value Ci P set to 5000 in this example e Adjust Yes Example of an The following illustration is an example of an Up Down Counter function block Up Down Counter AMO I0 0 zmo R C1 E R s MO D s CU MO 10 0 ITT Fr Ladder diagram In this example if we take C1 P 4 the current value of the C1 V counter will be incremented from 0 to 3 then decremented from 3 to 0 Whereas 10 0 1 C1 V oscillates between 0 and 3 TWD USE 10AE 403 Basic Instructions Shift Bit Register Function Block SBRi Introduction Illustration Parameters The Shift Bit Register function block SBRi provides a left or right shift of binary data bits 0 or 1 The following is an example of a Shift Register function block CU CD SBRi The Shift Bit Register function block has the following parameters instruction Parameter Label Value Register number SBRi Oto7 Register bit SBRI j Bits 0 to 15 j 0 to 15 of the shift register can be tested by a Test instruction and written using an As
178. MIDU 4012 MIDU 401 V2 1 Heart Beat None Baudrate 125 w Kbit s Supervision 1000 ms TWD USE 10AE 257 Installing and Configuring the CANopen Fieldbus Importing Slave The table below describes how to import CANopen slaves profiles EDS files into Profiles the CANopen Configuration Tool catalog Step Action 1 From the Catalog area in the Network dialog box click the Import icon l Result The operating system s Open dialogbox appears Browse to the location of the folder containing the EDS files of CANopen slave devices you want to add to the catalog Result The name of available EDS files appears in the Open dialogbox Choose an EDS file filename EDS from the list and click Open Result The CANopen Configuration Tool loads the object dictionary for the selected device Note This process may take several minutes depending on the size of the selected EDS file A progress bar indicates the state of completion of the loading process as shown in the example below MIDU 401 V2 1 Object Dictionary Loading 55 E Wait till the loading process is complete then repeat steps 2 to 3 for any new slave profile you want to add to the catalog Note You only need to perform this process once for all device profiles and object dictionaries listed in the loaded catalog are stored by TwidoSoft To display the device properties of a CANopen slave 1 Click
179. Managing Analog Modules Analog Module Overview Introduction Operating Analog Modules In addition to the built in 10 bit potentiometer and 9 bit analog channel all the Twido controllers that support expansion I O are also able to configure and communicate analog I O modules These analog modules are Name Points Signal Range Encoding TWDAMI2HT 2In 0 10 Volts or 4 20mA 12 Bit TWDAMO1HT 1 Out 0 10 Volts or 4 20mA 12 Bit TWDAMMS3HT_ 2 In 1 Out 0 10 Volts or 4 20 mA 12 Bit TWDALM3LT 2 In 1 Out 0 10 Volts Inputs Th or PT100 12 Bit Outputs 4 20 mA TWDAVOZ2HT 2 Out 10 Volts 11 Bit sign TWDAMI4LT 4 In 0 10 Volts O 20 mA Nl or PT3 12 Bit wire sensors TWDAMI8HT 8 In 0 10 Volts or 0 20 mA 10 Bit TWDARI8HT 8 In NTC or PTC sensors 10 Bit Input and output words IW and QW are used to exchange data between the user application and any of the analog channels The updating of these words is done synchronously with the controller scan during RUN mode A CAUTION UNEXPECTED START UP OF DEVICES When the controller is set to STOP the analog output is set to its fall back position As is the case with digital output the default setpoint is zero Failure to follow this instruction can result in injury or equipment damage 190 TWD USE 10AE Managing Analog Modules Addressing Analog Inputs and Outputs Introduction
180. No effect Run Not configured in software Zero Stop Not configured in software One Run Note For all Compact type of controllers of software version V1 0 if the controller was in Run mode when power was interrupted and the Automatic Start in Run flag was not set from the Scan Mode dialog box the controller will restart in Stop mode when power is restored Otherwise will perform a cold restart Note For all Modular and Compact type of controllers of software version V1 11 if the battery in the controller is operating normally when power was interrupted the controller will startup in the mode that was in effect at the time the power was interrupted The Automatic Start in Run flag that was selected from the Scan Mode dialog will have no effect on the mode when the power is restored The table below describes the processing phases for power cuts Phase Description 1 In the event of a power cut the system stores the application context and the time of the cut All outputs are set to fallback status 0 When power is restored the context saved is compared with the one in progress which defines the type of start to run e Ifthe application context has changed loss of system context or new application the controller initializes the application Cold restart systematic for compact e Ifthe application context is the same the controller restarts without initializing data warm re
181. P L6 gt gt L6 Notice that each of the above unconditional List sequences begin with a load instruction followed by a one except for the JMP instruction This combination sets the Boolean accumulator value to one and therefore sets the coil store instruction to one and sets MWS5 to zero on every scan of the program The exception is the unconditional jump List instruction JMP L6 which is executed regardless of the value of the accumulator and does not need the accumulator set to one If a List program is reversed that is not completely reversible the reversible portions are displayed in the Ladder view and the irreversible portions are displayed in Ladder List Rungs A Ladder List Rung functions just like a small List editor allowing the user to view and modify the irreversible parts of a Ladder program TWD USE 10AE 339 Ladder Language Program Documentation Documenting Your Program Example of List Line Comments Reversing List Comments to You can document your program by entering comments using the List and Ladder editors e Use the List Editor to document your program with List Line Comments These comments may appear on the same line as programming instructions or they may appear on lines of their own e Use the Ladder Editor to document your program using rung headers These are found directly above the rung The TwidoSoft programming software uses these comments for revers
182. P address of TwidoPort is 85 16 44 113 the complete command would be C gt route add 85 0 0 0 mask 255 0 0 0 192 168 10 30 TWD USE 10AE 287 Configuring the TwidoPort Ethernet Gateway Telnet Main Menu Launching the When you start a Telnet session e g by typing telnet 85 16 44 113 ata Telnet Main command prompt or by using Windows Hyperterminal the Telnet main menu Menu appears after your press Enter Telemecanique 499 TWD i 106 Configuration and Diagnostics lt c 2604 Schneider Automation Inc 1 gt IP Ethernet Settings IP Source DEFAULT IP Address 85 16 44 113 Default Gateway 85 16 44 113 Netmask 0 0 0 0 Ethernet Frame Type ETHERNETII 2 gt Serial Configuration Baud Rate 19200 Data Bits 8 Parity NONE Stop Bits 1 Protocol RTU 3 gt Gateway Configuration Slave Address Source UNIT_ID Gateway Mode SLAVE MB Broadcasts ENABLED 4 Security Configuration 5 gt Ethernet Statistics 6 gt Serial Statistics Commands Default settings Save Firmware Upgrade Quit without save Select Command or Parameter 1 6 gt to change 288 TWD USE 10AE Configuring the TwidoPort Ethernet Gateway IP Ethernet Settings Configuring the Use the following instructions to change the IP Ethernet settings IP Ethernet Settings Step Action Comment 1 Start a Telnet session Use the instructions above to open the Telnet main menu See Telnet Main Menu p 288 Selec
183. P1 and OP2 must be double words or floating points TWD USE 10AE 419 Basic Instructions Overflow and Error Conditions Addition e Overflow during word operation If the result exceeds the capacity of the result word bit S18 overflow is set to 1 and the result is not significant see Example 1 next page The user program manages bit S18 Note For double words the limits are 2147483648 and 21474836487 Multiplication e Overflow during operation If the result exceeds the capacity of the result word bit S18 overflow is set to 1 and the result is not significant Division remainder e Division by 0 If the divider is O the division is impossible and system bit S18 is set to 1 The result is then incorrect e Overflow during operation If the division quotient exceeds the capacity of the result word bit S18 is set to 1 Square root extraction e Overflow during operation Square root extraction is only performed on positive values Thus the result is always positive If the square root operand is negative system bit S18 is set to 1 and the result is incorrect Note The user program is responsible for managing system bits S17 and S18 These are set to 1 by the controller and must be reset by the program so that they can be reused see previous page for example 420 TWD USE 10AE Basic Instructions
184. QWAI SWi IWAiI QW QWAiI SWi BLK x Double word MDi MDi KDi 424 TWD USE 10AE Basic Instructions Conversion Instructions Introduction Review of BCD Code Structure Conversion instructions perform conversion between different representations of numbers The following table lists the types of Conversion instructions Instruction Function BTI BCD gt Binary conversion ITB Binary gt BCD conversion Binary Coded Decimal BCD represents a decimal digit 0 to 9 by coding four binary bits A 16 bit word object can thus contain a number expressed in four digits 0000 9999 and a 32 bit double word object can therefore contain an eight figure number During conversion system bit S18 is set to 1 if the value is not BCD This bit must be tested and reset to 0 by the program BCD representation of decimal numbers Decimal 0 1 2 3 4 5 6 7 8 9 BCD 0000 0001 0010 0011 0100 0101 0110 0111 1000 1001 Examples e Word MW5 expresses the BCD value 2450 which corresponds to the binary value 0010 0100 0101 0000 e Word MW12 expresses the decimal value 2450 which corresponds to the binary value 0000 1001 1001 0010 Word MW5 is converted to word MW12 by using instruction BTI Word MW12 is converted to word MWS5 by using instruction ITB Conversion operations are performed as follows MO T m LD M0
185. RS 485 port with a terminal Note This module is only available for the Modular controllers When the module is attached the controller cannot have an Operator Display expansion module TWDNAC485D 2 Communication adapter equipped with a 3 wire EIA RS 485 port with a miniDIN connector Note This adapter is only available for the Compact 16 24 and 40 I O controllers and the Operator Display expansion module TWDNAC485T 2 Communication adapter equipped with a 3 wire EIA RS 485 port with a terminal Note This adapter is only available for the Compact 16 24 and 40 I O controllers and the Operator Display expansion module TWDXCPODM 2 Operator Display expansion module equipped with a 3 wire EIA RS 485 port with a miniDIN connector or a 3 wire EIA RS 485 port with a terminal Note This module is only available for the Modular controllers When the module is attached the controller cannot have a Communication expansion module Note You can only check the presence and configuration RS232 or RS485 of port 2 at power up or reset by the firmware executive program TWD USE 10AE 105 Communications Cable Connection to Each Device Software Configuration Note The DPT signal on pin 5 must be tied to OV on pin 7 in order to signify the use of remote link communications When this signal is not tied to ground the Twido controller as either the master or slave will default to
186. Reads the list of peripheral faults on slaves LPF table with addresses OA to 15A 1 bit per slave 13 Result Reads the list of peripheral faults on slaves LPF table with addresses 16A to 31A 1 bit per slave 14 Result Reads the list of peripheral faults on slaves LPF table with addresses OB to 15B 1 bit per slave 15 Result Reads the list of peripheral faults on slaves LPF table with addresses 16B to 31B 1 bit per slave 16 Result Reads bus status See the results details in the next paragraph Note Bus status is updated on each PLC scan But the result of the ASI_CMD bus reading instruction is available only at the end if the following PLC scan In the case when bus status is read by the ASI_CMD instruction value of the MWx parameter is equal to 16 the format of the result in the MWx 1 word is as follows MWx 1 Designation 1 OK 0 NOK least significant bit O Configuration OK bit 1 LDS O slave present with address 0 bit 2 Auto addressing active bit 3 Auto addressing available bit 4 Configuration Mode active bit 5 Normal operation active bit 6 APF power supply problem bit 7 Offline ready most significant bit 0 Peripheral fault bit 1 Data exchange active bit 2 Offline Mode bit 3 Normal mode 1 bit 4 Communication fault with the AS Interface Master bit 5 ASI_CMD instruction in progress bit 6 ASI_CMD instruction error TWD
187. Remote controller controller controller A B OV A B OV A B OV A B SG 128 TWD USE 10AE Communications EIA RS 485 Line Polarization on TWDLCA 40DRF Controllers There is no internal pre polarization in TWDLCA 40DRF controllers Therefore external line polarization is required when connecting the TWDLCA 40DRF Modbus master controller to the EIA 485 Modbus network When there is no data activity on an EIA 485 balanced pair the lines are not driven and therefore susceptible to external noise or interference To ensure that its receiver stays in a constant state when no data signal is present the Modbus master device needs to bias the network via external line polarization Note EIA RS 485 external line polarization must be implemented on the Modbus Master controller only you must not implement it on any slave device The external line polarization assembly on the TWDLCA 40DRF mini DIN RS 485 EIA line shall consist in e One pull up resistor to a 5V voltage on D1 A circuit e One pull down resistor to the common circuit on DO B circuit The following figure illustrates the external line polarization assembly on the TWDLCA 40DRF mini DIN RS 485 EIA line Mini DIN connection RS 485 EIA cable Twido Master Remote Slave Remote Slave controller peripheral ae peripheral D1 A DO B COM DPT D
188. S Interface V2 bus interface module SW74 operating mode p 233 2 system stopped 1 if the Offline See Offline Mode p 233 mode is enabled otherwise 0 3 ASI_CMD instruction terminated 1 if terminated 0 if in progress 4 ASI_CMD error instruction 1 if there is an error in the instruction otherwise 0 Example of use for the first AS Interface expansion module Before using an ASI_CMD instruction the SW73 X3 bit must be checked to see whether an instruction is not in progress check that SW73 X3 1 To ascertain whether the instruction has then correctly executed check that the SW73 X4 bit equals 0 TWD USE 10AE 229 Installing the AS Interface bus Presentation of the ASI_CMD Instruction Using the ASI_CMD Instruction For each user program the ASI_CMD instruction allows the user to program his network and obtain the slave diagnostics The instruction parameters are passed by internal words memory words MWx The syntax of the instruction is as follows ASI_CMDn MWx 1 Legend Symbol Description n Address of AS Interface expansion module 1 to 7 xX 254 Number of the first internal word memory word passed in parameter 0 to Length of the instruction in number of words 2 The following table describes the action of the ASI_CMD instruction according to the value of the parameters MW x and MW x 1 when n
189. S23 at 1 68 TWD USE 10AE Controller Operating Modes Dealing with Power Cuts and Power Restoration Illustration The following illustration shows the various power restarts detected by the system If the duration of the cut is less than the power supply filtering time about 10 ms for an alternating current supply or 1 ms for a direct current supply this is not noticed by the program which runs normally RUN Run Application y Power outage standby power Power restoration WAIT Power cut DN Auto test detected No Save ma context OK Memory card identical Vv Normal Sxecuomot Warm Start Cold Start program Note The context is saved in a battery backed up RAM At power up the system checks the state of the battery and the saved context to decide if a warm start can occur TWD USE 10AE 69 Controller Operating Modes Run Stop Input Bit Versus Auto Run Operation The Run Stop input bit has priority over the Automatic Start in Run option that is available from the Scan Mode dialog box If the Run Stop bit is set then the controller will restart in the Run Mode when power is restored The mode of the controller is determined as follows Run Stop Input Bit Auto Start in Run Resulting State Zero Zero Stop Zero One Stop Rising edge No effect Run One
190. SSW 18 100 ms absolute The counter works using two words S and U SW19 timer counter e SW18 represents the least significant word e SW19 represents the most significant word SW20 to Provides status for For more details please refer to CANopen Slave Reserved Specific S SW27 CANopen slave System Words p 271 modules with node address 1 to 16 SW30 Last scan time Shows execution time of the last controller scan cycle in ms S Note This time corresponds to the time elapsed between the start acquisition of inputs and the end update of outputs of a scan cycle 606 TWD USE 10AE System Bits and Words System Function Description Control Words SW31 Max scan time Shows execution time of the longest controller scan cycle since the S last cold start in ms Notes e This time corresponds to the time elapsed between the start acquisition of inputs and the end update of outputs of a scan cycle e To allow proper detection of a pulse signal when the latching input option is selected the pulse width Ton and the cyclic period Tpulse Must meet the following two requirements e Ton21ms e The input signal cyclic period must follow the Nyquist Shannon sampling rule stating that the cyclic period Tulse of the input signal must be at least twice the maximum program scan time SW31 Tpulse 2 2 X SW31 Note If this condition is not fulfilled some pulses may be missed SW32 Min scan time S
191. Soft Set to 1 the ASCII protocol is used on Comm 1 S103 or Comm 2 S104 In this case the system words SW103 and SW105 must be previously configured for Comm 1 and SW104 and SW106 for Comm 2 S110 Remote link exchanges This bit is reset to 0 by the program or by the terminal e Setto 1 fora master all remote link exchanges remote I O only are completed e Setto 1 fora slave exchange with master is completed S gt U S111 Single remote link exchange e Setto 0 for a master a single remote link exchange is completed Setto 1 for a master a single remote link exchange is active S112 Remote link connection e Set to 0 for a master the remote link is activated Setto 1 fora master the remote link is deactivated S113 Remote link configuration operation e Set to 0 for a master or slave the remote link configuration operation is OK Set to 1 for a master the remote link configuration operation has an error e Setto 1 fora slave the remote link configuration operation has an error S gt U S118 Remote I O error Normally set to 1 This bit can be set to 0 when an I O fault is detected on the remote link S119 Local I O error Normally set to 1 This bit can be set to 0 when an I O fault is detected on the remote link SW118 determines the nature of the fault Resets to 1 when the fault disappears 602
192. Spear edad BENS L f a Nisei ESEN A S Q 8S fo kK tT oOo 3 O N T a E xy x4 3 2 z 32352 z oO n D E E o o o 473 Input IN is set to 1 and input S set to 1 a catch of the current value is made so VFCO C 17 change VFCO P to 20 change VFCO0 S1 to 17 S input active makes threshold S1 new value to be granted in next count TWD USE 10AE Advanced Instructions Frequency Meter The frequency meter function of a VFC is used to measure the frequency of a Function periodic signal in Hz on input IA The frequency range which can be measured is Description from 10 to 20kHz The user can choose between 2 time bases the choice being made by a new object VFC T Time base A value of 100 time base of 100 ms and a value of 1000 time base of 1 second Time Base Measurement range Accuracy Update 100 ms 100 Hz to 20 kHz 0 05 for 20 kHz 10 for 10 times per second 100 Hz 1s 10 Hz to 20 kHz 0 005 for 20 kHz 10 for Once per second 10 Hz Frequency Meter The following is a frequency meter function diagram Function Diagram IA gt Signal to be measured amp VFC Counter IN VFCi gt VFCi F Overflow output S VFCi NFCI V Set gt Current Value Frequency curent measured value to 0 VFCi T T Select time 1000 ms 100 ms base
193. Statistics screen Press Enter to refresh the screen Press C to clear statistics and press All counters are reset to 0 Enter 5 Select R and press Enter The Telnet main menu appears You may have to press Enter again to update the screen The Ethernet TwidoPort s Ethernet Module Statistics screen Module Statistics Telemecanique 499 TWD 1 166 Configuration and Diagnostics Screen lt c 2004 Schneider Automation Inc ETHERNET MODULE STATISTICS Status 6x9163 IP Address 192 168 1 141 System Log Entry No Mac Address 80 4 0 4c 18 Transmit Speed i BASE T Subnet Mask 255 255 0 0 Full Half Duplex Half Duplex Gateway Address 192 168 1 1 Transmit Statistics Receive Statistics Functioning Errors Transmits 63 Receives 532 Missed Packets Transmit Retries Framing Errors Collision Errors Lost Carrier Overflow Errors Transmit Timeouts Late Collision CRC Errors Memory Errors Ix Buffer Errors Rx Buffer Errors Net Interface Restarts SILO Underf low Broadcast Packets Received 37 Multicast Packets Received 7 Commands Enter to Refresh Clear Statistics Return to Main Menu TWD USE 10AE 293 Configuring the TwidoPort Ethernet Gateway Serial Statistics Viewing Serial To view TwidoPort s serial statistics Statistics Step Action Comment 1 Start a Telnet session Use the instructions above to open the Telnet main menu See Telnet Main Menu p 288
194. T TL 56 e SDO additional memory usage Predefined PDOs and word objects do not use any additional SDO memory However both the removal and the addition of word objects to the PDO mapping structure require the use of additional system memory The current use of SDO memory is in the status bar located at the bottom of the Mapping SDO J L dialogbox Memory space LLI g 5 I1 264 TWD USE 10AE Installing and Configuring the CANopen Fieldbus CANopen Objects Linking Overview The Linking dialogbox of the CANopen Configuration Tool is used to define the physical link between the selected PDOs of the slave devices and the TWDNCO1M CANopen master module PDOs Linking From the TwidoSoft Application Browser right click on the master module name to Dialogbox select Hardware Expansion bus TWDNCO1M Configure then select the Linking tab from the CANopen Configuration Tool Result The CANopen Configuration Tool appears on screen as shown in the following figure CANopen Configuration Tool Network Mapping Linking Symbol Slaves PDO r Master PDO Type Receive v Type Transmit xj Name MIDU 4031 PDO RX 1 Cancel TWD USE 10AE 265 Installing and Configuring the CANopen Fieldbus Objects Linking To find out how to use the Linking dialogbox to define the physical link between slave device and master module PDOs follow these guide
195. TION CAUTION indicates a potentially hazardous situation which can result in personal injury or equipment damage TWD USE 10AE 11 Safety Information PLEASE NOTE Additional Safety Information General Warnings and Cautions Electrical equipment should be serviced only by qualified personnel No responsi bility is assumed by Schneider Electric for any consequences arising out of the use of this material This document is not intended as an instruction manual for untrained persons Assembly and installation instructions are provided in the Twido Hardware Reference Manual TWD USE 10AE c 2002 2005 Schneider Electric All Rights Reserved Those responsible for the application implementation or use of this product must ensure that the necessary design considerations have been incorporated into each application completely adhering to applicable laws performance and safety requirements regulations codes and standards A DANGER HAZARD OF ELECTRIC SHOCK BURN OR EXPLOSION Turn off all power before starting installation removal wiring maintenance or inspection of the smart relay system Failure to follow this instruction will result in death serious injury or equipment damage A WARNING EXPLOSION HAZARD e Substitution of components may impair suitability for Class I Div 2 compliance e Do not disconnect equipment unless power has been switched off or the area is known
196. Td fields be completed with memory addresses to enable the Auto Tuning function to automatically fill in the values found In the example We have entered MW10 for Kp MW11 for Ti and MW12 for Td Note In principle it is rather difficult to determine the optimal adjustment values of Kp Ti and Td for an application that has not yet been created Consequently we strongly recommend you enter the memory words addresses in these fields in order to enter these values in online mode thus avoiding switching to offline mode to make on the fly changes to values Enter the PID Sampling period This value is used by the controller to acquire measurements and update outputs In the example We have set the PID sampling period to 100 or 1s Given that the adjusted system has a time constant of several minutes this sampling period value seems correct Important We advise you set the sampling period to a multiple of the controller scan period and a value consistent with the adjusted system The following table shows how to set the AT tab in the PID dialog box Step Action 1 In the AT tab check the Authorize box if you want to use AT 2 Enter the Measurement limit value This is the limit value that the measurement must not exceed during AT 3 Enter the Output setpoint value which is the controller output value sent to generate AT Special For further details about setting these values refer to the AT tab o
197. Twido programmable controllers Software Reference Guide TWD USE 10AE eng Version 3 2 a brand of Telemecanique Table of Contents Part Chapter 1 Chapter 2 Chapter 3 Safety Information 00 cece ee eee 11 About the Book ico os bee eed ee Pee 15 Description of Twido Software 005 17 Ata Glance acct teen vated ee ey oes bake Dee ec et E a 17 Introduction to Twido Software 00e eens eens 19 Ala GIANCO 2 or seats een Sareea e E a afc EE RSS hacen alah ate atten atta AAA 19 Introduction to TWidoSoft 0 6 eee eee 20 Introduction to Twido Languages 0 eee eee tees 21 Twido Language Objects 00c cece eee eee eee 25 Ata Glance se yoke ranted pa A e a A Ea detainee Gime le 25 Language Object Validation 0 0 0 0 cece tee ee 26 BitObjeCtss oct ete rae a eae asda te gee ten Mees ah ats Re 27 Word Objects e nd4 44 e e ale hide hod aan poked lewd pid 29 Floating point and double word objects 2 000 e eee eee eee 32 Addressing Bit Objects 0 0 0 eect teas 36 Addressing Word Objects 0 00 c cect tte eae 37 Addressing floating objects 2 2 tee 38 Addressing double word objects 0 00 e eee tee 39 Addressing Inputs Outputs 1 0 0 eee 40 Network Addressing 00 e eee eee eens 42 Function Block Objects 0 0 0 0 ccc ttt 43 Structured Objects 2 0 0 0 ce teen eee eee 45 Indexed Objects gt nn
198. UN or cold start S0 You should therefore test the diagnostics words using the program what to do in the event of a restart 512 TWD USE 10AE Advanced Instructions Step 6 Debugging Adjustments Accessing the Animation Table To make it easier to debug the system the animation table can be accessed at any time when the PID controller screens are in the foreground Note accessed via the menu Window Animation Tables Editor Animation When viewing only the setpoint and process value graphs using the Detach button in the Trace tab see Trace tab window below the animation table can then be PID 21x PID number lo General Input PID AT Output Animation Trace Init Setpoint Measurement Cancel Previous Next Help TWD USE 10AE 513 Advanced Instructions Returning to PID Screens To return to the PID controller screens without losing the graph trace history proceed as follows Step Action 1 Double click on the PID item in the browser in the left hand part of the TwidoSoft screen see browser window shown below oF Port 2 Modbus 1 iii Expansion bus TE f 1 TWDALMSLT Software Q Constants A Constants KD Q Constants KF Counters Drum controllers Fast Counters LIFO FIFO registers PLS PWM Schedule blocks Timers Very fast counters PID aha Progra
199. USE 10AE 231 Installing the AS Interface bus Details of the results of the ASI_CMD In the case of slave diagnostics by ASI_CMD instruction MWx value between 4 and 15 the slaves status is returned in the bits 1 OK of the MWx 1 word The following table gives the detail of the results according to the value of the MWx instruction to word read slave status MWx MWx 1 value most significant byte least significant byte bit7 bit6 bitS bit4 bit8 bit2 bit1 bitO bit7 bit6 bitS bit4 bits bit2 bit1 bito 4 8 12 15A 14A 13A 12A 11A 10A 9A 8A 7A 6A 5A 4A 3A 2A 1iA JOA 5 9 13 31A 30A 29A 28A 27A 26A 25A 24A 23A 22A 21A 20A 19A 18A 17A 16A 6 10 14 15B 14B 13B 12B 11B 10B 9B 8B 7B 6B 5B 4B 3B 2B 1B OB 7 11 15 31B 30B 29B 28B 27B 26B 25B 24B 23B 22B 21B 20B 19B 18B 17B 16B Programming Examples for the ASI_CMD Instruction To read whether slave 20B is active the ASI_CMD instruction must be executed with the MW x internal word having a value of 7 The result is returned in the MWx 1 internal word the status of slave 20B is given by the value of bit 4 of the least significant byte If bit 4 is equal to 1 then slave 20B is active To force the AS Interface Master positioned at 1 on the expansion bus to switch to Offlin
200. W69 value When S25 1 the operator keyboard is disabled Note Firmware version must be V3 0 or higher S26 Choosing a signed or You can choose between two value types signed or 0 U unsigned value on the unsigned operator display e f S26 0 then signed value 32768 to 32767 display is enabled signs appear at each start of line If S26 1 then unsigned value 0 to 65535 display is enabled S26 can only be used if S25 1 Note Firmware version must be V3 0 or higher S31 Event mask Normally at 1 1 U gt S e Set to 0 events cannot be executed and are queued e Setto 1 events can be executed This bit can be set to its initial state 1 by the user and the system on cold re start S38 Permission for events to Normally at 1 1 U gt S be placed in the events Set to 0 events cannot be placed in the events queue queue e Set to 1 events are placed in the events queue as soon as they are detected This bit can be set to its initial state 1 by the user and the system on cold re start S39 Saturation of the events Normally at 0 0 U gt S queue e Set to 0 all events are reported Set to 1 at least one event is lost This bit can be set to 0 by the user and the system on cold re start TWD USE 10AE 599 System Bits and Words System Bit Function Description Init state Control S50 Updating the date and time using words SW49 to SW53 Normally on 0 this bit can be set
201. WAI SWi SVIWAI SQW VQWAI SWi BLK x Note 1 With NOT Op2 cannot be an immediate value Example The following is an example of a logical AND instruction SMW15 SMW32 AND MW12 422 TWD USE 10AE Basic Instructions Shift Instructions Introduction Shift instructions move bits of an operand a certain number of positions to the right or to the left The following table lists the types of Shift instructions Instruction Function Logic shift SHL op2 i Logic shift of i positions to the left SHR op2 i Logic shift of i positions to the right S17 S17 Rotate shift ROR op2 i Rotate shift of i positions to the left ROL op2 i Rotate shift of i positions to the right S17 overrun Note System bit S17 See System Bits S p 596 is used for capacity TWD USE 10AE 423 Basic Instructions Structure Shift operations are performed as follows 10 1 LDR I0 1 p MW0 SHL MW10 5 MW0 SHL MW10 5 PINa LDR I0 2 pL MW 10 ROR KW9 8 MW 10 ROR KW9 8 Syntax The syntax depends on the operators used as shown in the table below Operator Syntax SHL SHR Op1 Operator Op2 i ROL ROR Operands Types Operand 1 Op1 Operand 2 Op2 Words MWi QWi MWi KWi IW P
202. XOR etc Comparison operators and other numerical operations A lt B A B shift rotate etc Internal variables in the controller bits words etc These graphical instructions are arranged with vertical and horizontal connections leading eventually to one or several outputs and or actions A rung cannot support more than one group of linked instructions The following diagram is an example of a Ladder program composed of two rungs I10 1 MA42 Example Rung 1 10 3 M42 Q1 2 Example Rung 2 MW22 MW 15 KW I TWD USE 10AE 325 Ladder Language Programming Principles for Ladder Diagrams Programming Each Ladder rung consists of a grid of seven rows by eleven columns that are Grid organized into two zones as shown in the following illustration Columns a oe ee Potential i ie Grid i Bars i Cells a e as Test Zone gt Action Zone Grid Zones The Ladder diagram programming grid is divided into two zones e Test Zone Contains the conditions that are tested in order to perform actions Consists of columns 1 10 and contains contacts function blocks and comparison blocks e Action Zone Contains the output or operation that will be performed according to the results of the tests of the conditions in the Test Zone Consists of columns 8 11 and contains coils and operation blocks 326 TWD USE 1
203. YINWi PQWi QWAi PQANWi SWi BLK x MWi MWi A KWI AMWi MDI MWi KDi MWi Mi L Qi L Si L Xi L li L Note The abbreviation BLK x for example C0 P is used to describe any function block word 412 TWD USE 10AE Basic Instructions Assignment of Words Examples Assignment operations can be performed on the following words and double words Word indexed gt word 2 for example indexed or not Double word indexed gt double word indexed or not Immediate whole value gt word Example 3 or double word indexed or not Bit string gt word or double word Floating point indexed or not gt floating point indexed or not Word or double word gt bit string Immediate floating point value gt floating point indexed or not Examples of word assignments SW 112 MW 100 MWO MW 10 KWO MW20 MW 10 100 LD 1 SW112 MW 100 LD I0 2 MWO MW 10 KWO MW20 LDR I0 3 MW 10 100 Ex 1 Ex 2 Ex 3 TWD USE 10AE 413 Basic Instructions Syntax Assignment of Word Double Word and Floating Point Tables Syntax for word assignments Operator Syntax Op1 Op2 Operand 1 Op1 assumes the value of operand 2 Op2 The following table gives details operands Type Operand 1 Op1 Operand 2 Op2 word BLK x
204. a example appears Note A TWDNCO1M master can be k inserted in any available expansion slot numbered 1 to 7 on the Twido bus TWDLCAA24DRF Hardware D Port 1 Remote Link 1 ih Expansion Bus 1 TWDDDI8DT 2 TWDDDI8DT 3 TWDNCO1M os 256 TWD USE 10AE Installing and Configuring the CANopen Fieldbus Network CANopen Slave Declaration Overview CANopen Configurator Network Dialogbox The network CANopen slave declaration is a three stage process that consists in 1 importing the CANopen slave devices EDS files into the Twido CANopen configurator s catalog 2 building the CANopen network by adding up to 16 slave devices from the catalog to the network 3 configuring the network management parameters network speed and error control protocol parameters From the TwidoSoft Application Browser right click on the master module name to select Hardware Expansion bus gt TWDNCO1M Configure Result The CANopen Configuration Tool appears on screen as shown in the following sub section The network CANopen configuration and slave declaration is performed via the TwidosSoft CANopen Configurator Network dialogbox as shown below CANopen Configuration Tool Network j Mapping Linking Symbol r Catalogue Da Properties Vendor Description Author Creation Supervision
205. a Glance Subject of this Section What s in this Section This section is intended to provide you with general knowledge about the CANopen fieldbus technology and to introduce CAN specific terminology that will be used throughout the remainder of this chapter This section contains the following topics Topic Page CANopen Knowledge Base 238 About CANopen 239 CANOpen Boot Up 242 Process Data Object PDO Transmission 245 Access to Data by Explicit Exchanges SDO 247 Node Guarding and Life Guarding 248 Internal Bus Management 250 TWD USE 10AE 237 Installing and Configuring the CANopen Fieldbus CANopen Knowledge Base Introduction EDS file PDO SDO COB ID The following explanations of technical terms and acronyms are helpful for understanding the basic knowledge of CANopen network communication EDS Electronic Data Sheet An EDS file describes the communication properties of a device on the CAN network baudrates transmission types I O offer It is provided by the device manufacturer It is used in the configuration tool to configure a node like a driver in an operating system PDO Process Data Object CANopen frame containing I O data We distinguish between e Transmit PDOs TPDOs with data provided by a node and e Receive PDOs RPDOs with data to be consumed by a node The transmission direction is always seen from a no
206. a mode of attempting to establish communications with TwidoSoft Note The DPT to OV connection is only necessary if you are connected to a base controller on Port 1 The cable connections made to each remote device are shown below Mini DIN connection Twido Remote Remote controller peripheral S peripheral D1 A DO B OV DPT D1 A DO B OV DPT D1 A DO B OV DPT 1 2 7 5 Terminal block connection Master Remote Remote controller controller controller A B OV A B OV A B _ OV A BSG There must be only one master controller defined on the remote link In addition each remote controller must maintain a unique slave address Multiple masters or slaves using identical addresses can either corrupt transmissions or create ambiguity A CAUTION UNEXPECTED EQUIPMENT OPERATION Be sure that there is only one master controller on a remote link and that each slave has a unique address Failure to observe this precaution may lead to corrupted data or unexpected and ambiguous results Failure to follow this instruction can result in injury or equipment damage 106 TWD USE 10AE Communications Master Controller Configuration Remote Controller Configuration Remote Controller Scan Synchronization The master controller is configu
207. after Once a power outage is detected outputs are set to default fallback status 0 Power Failure When power is restored outputs are at zero until they are updated again by the task 74 TWD USE 10AE Controller Operating Modes Initialization of objects Introduction Cold Start Initialization Initialization of objects identical to cold start on power up using S0 and S1 The controllers can be initialized by Twido Soft by setting system bits S0 a cold restart and S1 a warm restart For a cold start initialization system bit S0 must be set to 1 To initialize objects on power up system bit S1 and SO must be set to 1 The following example shows how to program a warm restart object initialization using system bits LD S1 If S1 1 warm restart set S0 to 1 initialize the controller ST SO These two bits are reset to 0 by the system at the end of the following scan Note Do not set S0 to 1 for more than one controller scan TWD USE 10AE 75 Controller Operating Modes 76 TWD USE 10AE Event task management In Brief At a Glance This chapter describes event tasks and how they are executed in the controller Note Event tasks are not managed by the 10 I O Twido controller TWDLCAA10DRF What s in this This chapter contains the following topics Chapter Topic Page Overview of event tasks 78
208. age symbol prefix For example l0 1 specifies an address within the controller RAM memory containing the value for input channel 1 An applied voltage that can be adjusted and converted into a digital value for use by an application A command that compiles a program and checks for program errors syntax and structure errors symbols without corresponding addresses resources used by the program that are not available and if the program does not fit in available controller memory Errors are displayed in the Program Errors Viewer Table created within a language editor or an operating screen When a PC is connected to the controller provides a view of controller variables and allows values to be forced when debugging Can be saved as a separate file with an extension of tat A specialized window in the TwidoSoft application for viewing and creating Animation Tables TWD USE 10AE 617 Glossary Application Application browser Application file ASCII Auto line validate A TwidoSoft application consists of a program configuration data symbols and documentation A specialized window in the TwidoSoft that displays a graphical tree like view of an application Provides for convenient configuration and viewing of an application Twido applications are stored as file type twd American Standard Code for Information Interchange Communication protocol for representing alphanumeric characters notably letters
209. ain setpoints 484 TWD USE 10AE Advanced Instructions Time Date Stamping Introduction System words SW49 to SW53 contain the current date and time in BCD format see Review of BCD Code p 425 which is useful for display on or transmission to a peripheral device These system words can be used to store the time and date of an event see System Words SW p 604 Note Date and time and also be set by using the optional Operator Display see Time of Day Clock p 318 Dating an Event To date an event it is sufficient to use assignment operations to transfer the contents of system words to internal words and then process these internal words for example transmission to display unit by EXCH instruction Programming The following example shows how to date a rising edge on input l0 1 Example 10 0 r MW11 5 SW49 5 LDR I0 0 MW11 5 SW49 5 Once an event is detected the word table contains Encoding Most significant byte Least significant byte FMW 11 Day of the week MW12 00 Second MW13 Hour Minute MW14 Month Day MW15 Century Year Note 1 1 Monday 2 Tuesday 3 Wednesday 4 Thursday 5 Friday 6 Saturday 7 Sunday TWD USE 10AE 485 Advanced Instructions Example of Word Example data for 13 40 30 on Monday 19 April 2002 Table Word Val
210. alue for information 2000 counts 200 When cold the system starts at a value of 250 counts Check that the controller is RUN mode MO controller validation 1 to be entered in the animation table Double click on the PID item in the configuration browser 506 TWD USE 10AE Advanced Instructions Step Action Activate the Animation tab for the required PID number and check that the animation matches the screen below PID PID number e General Input PID AT Output Animation Trace Operating mode List of PID states PID PID Output Ts 100 PID controller Kp Ti Td 100 o b Period Aee Setpoint 1000 1000 Output 285 Note The screens of the PID controller are only refreshed if the controller is enabled and API set to RUN Activate the Trace tab for the required PID number then 1 Set the time elapse drop down list to 15 min to see a trace of the measurement signal s progress 2 Check that the measurement value remains within the acceptable values for the system The increase in the measurement can be checked in the Trace tab When this has stabilized read the value corresponding to the stabilization of the measurement graph for example 350 counts corresponding to 35 or an increase of 10 compared with the initial state Set the time elapse scroll li
211. ame Page 16 Basic Instructions 367 17 Advanced Instructions 435 18 System Bits and System Words 595 TWD USE 10AE 365 Instructions and Functions 366 TWD USE 10AE Basic Instructions 16 At a Glance Subject of this This chapter provides details about instructions and function blocks that are used to Chapter create basic control programs for Twido controllers What s in this This chapter contains the following sections Chapter Section Topic Page 16 1 Boolean Processing 369 16 2 Basic Function Blocks 385 16 3 Numerical Processing 409 16 4 Program Instructions 428 TWD USE 10AE 367 Basic Instructions 368 TWD USE 10AE Basic Instructions 16 1 Boolean Processing At a Glance Aim of this This section provides an introduction to Boolean processing including descriptions Section and programming guidelines for Boolean instructions What s in this This section contains the following topics Section Topi Page Boolean Instructions 370 Understanding the Format for Describing Boolean Instructions 372 Load Instructions LD LDN LDR LDF 374 Assignment instructions ST STN R S 376 Logical AND Instructions AND ANDN ANDR ANDF 378 Logical OR Instructions OR ORN ORR ORF 380 Exclusive OR instructions XOR XORN XORR XORF 382 NOT Instruction N 384 TWD USE 10AE 369 Basic In
212. ameters for your network Note 2 To allow good communication over the network each connected device must have a unique IP address When connected to the network TwidoPort runs a check for duplicate IP address If a duplicate IP address is located over the network the STATUS LED will emit 4 flashes periodically You must then enter a new duplicate free IP address in this field Note 3 Unless TwidoPort has special need for subnetting use the default subnet mask Note 4 If there is no gateway device on your network simply enter TwidoPort s IP address in the Gateway Address field 284 TWD USE 10AE Configuring the TwidoPort Ethernet Gateway BootP Configuration BootP Process TwidoPort expects a response from the BootP server within two minutes of its BootP request transmission Failing that TwidoPort assumes the default IP configuration that is constructed from a MAC address of this structure 85 16 MAC 4 MACT5 MAC Address The MAC Address has the structure MAC 0 MAC 1 MAC 2 MAC 3 MAC 4 MAC 5 For Example if the MAC address is 0080F4012C71 the default IP address would be 85 16 44 113 TWD USE 10AE 285 Configuring the TwidoPort Ethernet Gateway 11 2 TwidoPort s Telnet Configuration At a Glance Subject of this This section describes how to configure the ConneXium TwidoPort module with a Section Tenet sessio
213. an indeterminate or infinite result and changes bit S18 to 1 the word SW17 indicates the cause of the error TWD USE 10AE 571 Advanced Instructions Trigonometric Instructions General These instructions enable the user to perform trigonometric operations SIN sine of an angle expressed in ASIN radian els T arc sine result within 2 and 2 COS cosine of an angle expressed in ACOS arc cosine result within 0 and 7 radian TAN tangent of an angle expressed ATAN T T in radian arc tangent result within 2 and 2 Structure Ladder language MO MFO SIN MF10 13 2 MF2 TAN MF10 13 3 P MF4 ATAN MF20 Instruction List Language LD MO MFO SIN MF10 LD 13 2 SMF2 TAN MF10 LDR 13 3 SMF 4 ATAN SMF20 Structured text language IF MO THEN SMFO SIN MF10 END_IF IF 13 2 THEN MF2 TAN MF10 END_IF IF 13 3 THEN MF4 ATAN MF20 END_IF 572 TWD USE 10AE Advanced Instructions Syntax Rules of use Operators operands and syntax of instructions for trigonometric operations Operators Syntax Operand 1 Op1 Operand 2 Op2 SIN COS TAN ASIN Op1 Operator Op2 MFi MFi KFi ACOS ATAN e when the operand of the function is an invalid number e g arc cosine of a number greater than 1 it produces an
214. ance A program written in instruction list language IL is composed of a series of language instructions executed sequentially by the controller Each instruction is composed of a line number an instruction code and an operand Internet The global interconnection of TCP IP based computer communication networks IP Internet Protocol A common network layer protocol IP is most often used with TCP IP Address Internet Protocol Address A 32 bit address assigned to hosts using TCP IP L Ladder editor Specialized TwidoSoft window used to edit a Ladder program Ladder language Ladder list rung Latching input A program written in Ladder language is composed of graphical representation of instructions of a controller program with symbols for contacts coils and blocks in a series of rungs executed sequentially by a controller Displays parts of a List program that are not reversible to Ladder language Incoming pulses are captured and recorded for later examination by the application LIFO Last In First Out A function block used for stack operations List editor Simple program editor used to create and edit a List program 622 TWD USE 10AE Glossary MAC Address Master controller MBAP Memory cartridge Memory usage indicator Modbus Modular controller Monitor state Media Access Control address The hardware address of a device A MAC address is assigned to an Ethernet TCP IP module in the factory
215. anguage Modifiers Nesting Parenthesis Examples of Nesting Parentheses The following table lists modifiers that can be assigned to parentheses Modifier Function Example N Negation AND N or OR N F Falling edge AND F or OR F R Rising edge AND R or OR R Comparison See Comparison Instructions p 416 It is possible to nest up to eight levels of parentheses Observe the following rules when nesting parentheses Each open parentheses must have a corresponding closed parentheses Labels Li subroutines SRi jump instructions JMP and function block instructions must not be placed in expressions between parentheses Store instructions ST STN S and R must not be programmed between parentheses Stack instructions MPS MRD and MPP cannot be used between parentheses The following diagrams provide examples of nesting parentheses LD 10 0 sae a a AND I0 1 ORIN I0 2 10 2 M3 AND M3 L ST QO 0 LD 10 1 10 1 10 2 1I0 3 I0 4 QO0 0 AND 10 2 x AND 10 3 OR 10 5 TRR AND I0 6 10 7 10 8 AND 10 4 OR 10 7 AND I0 8 ST Q0 0 TWD USE 10AE 351 Instruction List Language Stack Instructions MPS MRD MPP Introduction Operation of Stack Instructions The Stack instructions process routing to
216. as expressed in the above format is determined by the following equation 32 bit Floating Value 1 20 P sant 127 4 Fractional part Floating values can be represented with or without an exponent but they must always have a decimal point floating point Floating values range from 3 402824e 38 and 1 175494e 38 to 1 175494e 38 and 3 402824e 38 grayed out values on the diagram They also have the value 0 written 0 0 1 INF 1 DN_ 1 DN 1 INF j q __ 3 402824e 38 1 175494e 38 0 1 175494e 38 3 402824e 38 When a calculation result is e Less than 3 402824e 38 the symbol 1 INF for infinite is displayed e Greater than 3 402824e 38 the symbol 1 INF for infinite is displayed e Between 1 175494e 38 and 1 175494e 38 it is rounded off to 0 0 A value within these limits cannot be entered as a floating value e Indefinite for example the square root of a negative number the symbol 1 4 NAN or 1 NAN is displayed Representation precision is 2 24 To display floating point numbers it is unnecessary to display more than 6 digits after the decimal point Note e the value 1285 is interpreted as a whole value in order for it to be recognized as a floating point value it must be written thus 1285 0 32 TWD USE 10AE Twido Language Objects Limit range of Arithmetic Functions on Floating Point Hardware compatibility The following table describes the limit range of arithmetic functions on floatin
217. aster mode allows the controller to send a Modbus query to a slave and to wait for the response The Modbus Master mode is only supported via the EXCHx instruction Both Modbus ASCII and RTU are supported in Modbus Master mode The maximum size of the transmitted and or received frames is 250 bytes Moreover the word table associated with the EXCHx instruction is composed of the control transmission and reception tables Most significant byte Least significant byte Control table Command Length Transmission Reception Reception offset Transmission offset Transmission table Transmitted Byte 1 Transmitted Byte 2 Transmitted Byte n Transmitted Byte n 1 Reception table Received Byte 1 Received Byte 2 Received Byte p Received Byte p 1 Note In addition to queries to invidual slaves the Modbus master controller can initiate a broadcast query to all slaves The command byte in case of a boradcast query must be set to 00 while the slave address must be set to 0 TWD USE 10AE 131 Communications Control table The Length byte contains the length of the transmission table maximum 250 bytes which is overwritten by the number of characters received at the end of the reception if reception is requested This parameter is the length in bytes of the transmission table If the Tx Offset parameter is equal to 0 this parameter will be equa
218. at causes the controller to run an application program A rung is located between two potential bars in a grid and is composed of a group of graphical elements joined to each other by horizontal and vertical links The maximum dimensions of a rung are seven rows and eleven columns A panel that appears directly over a Ladder rung and can be used to document the purpose of the rung Scan A controller scans a program and essentially performs three basic functions First it reads inputs and places these values in memory Next it executes the application program one instruction at a time and stores results in memory Finally it uses the results to update outputs 626 TWD USE 10AE Glossary Scan mode Schedule blocks Server Step Stop Subnet Subnet mask Specifies how the controller scans a program There are two types of scan modes Normal Cyclic the controller scans continuously or Periodic the controller scans for a selected duration range of 2 150 msec before starting another scan A function block used to program Date and Time functions to control events Requires Real Time Clock option A computer process that provides services to clients This term may also refer to the computer process on which the service is based A Grafcet step designates a state of sequential operation of automation A command that causes the controller to stop running an application program A physical or logical networ
219. ay enable disable only on controllers that support an external battery TWDLCA 40DRF controllers This system bit can be set by the user It allows the user to turn on off the BAT LED e Setto 0 BAT LED is enabled it is reset to 0 by the system at power up e Setto 1 BAT LED is disabled LED remains off even if there is a low external battery power or there is no external battery in the compartment S or U gt S S69 User STAT LED display Set to 0 STAT LED is off Set to 1 STAT LED is on 600 TWD USE 10AE System Bits and Words System Bit Function Description Init Control state ST5 External battery status only on controllers that support an external battery TWDLCA 40DRF controllers This system bit is set by the system It indicates the external battery status and is readble by the user e Set to 0 external battery is operating normally e Set to 1 external battery power is low or external battery is absent from compartment 0 S S95 Restore memory words This bit can be set when memory words were previously saved to the internal EEPROM Upon completion the system sets this bit back to 0 and the number of memory words restored is set in SW97 S96 Backup program OK This bit can be read at any time either by the program or while adjusting in particular after a cold start or a warm restart e Set to 0 the backup pr
220. aying the list of connections and their properties Connections management Name Connection type IP Phone P Unit Adress Baudrate Stop Bits Timeout Break timeout COM1 Serial COM1 19200 1 5000 20 TCPIPO1 TCP IP 192 163 1 101 Direct 3000 500 My Modem1 MODEM TOSHIBA 0231858445 19200 1 5000 20 Add OK TWD USE 10AE Communications In this case 2 serial ports are displayed Com1 and Com4 as well as a modem connection showing a TOSHIBA V 90 model configured to compose the number 0231858445 national call You can change the name of each connection for application maintenance purposes COM1 or COM4 cannot be changed This is how you define and select the connection you wish to use for connecting your PC to a modem However this is just part of the process for making an overall connection between the computer and the Twido controller The next step involves the Twido controller The remote Twido must be connected to a modem All modems need to be initialized to establish a connection The Twido controller containing at least version V2 0 firmware is capable on power up of sending an adapted string to the modem if the modem is configured in the application 94 TWD USE 10AE Communications Configuring the Modem The procedure for configuring a modem in a Twido controller i
221. b is used to enter the PID input parameters Note It is accessible in offline mode Input tab of the The screen below is used to enter the PID input parameters PID Function PID PID number o General Input PID AT Output Animation Trace m Measure p Conversion Alarms Authorize Authorize Min value Low Output Max value High Output PID Output A PID controller Cancel Previous Next Help 528 TWD USE 10AE Advanced Instructions Description The table below describes the settings that you may define Field Description PID number Specify the PID number that you wish to configure here The value is between 0 and 13 14 PID maximum per application Measurement Specify the variable that will contain the process value to be controlled here The default scale is 0 to 10000 You can enter either an internal word MWO0 to MW2999 or an analog input IWx 0 to IWx 1 Conversion Check this box if you wish to convert the process variable specified as a PID input If this box is checked both the Min value and Max value fields are accessible The conversion is linear and converts a value between 0 and 10 000 into a value for which the minimum and maximum are between 32768 and 32767 Min value Specify the minimum and maximum of the conversion scale
222. bPhase 3 QPhase 4 Second p Stabilization Step Response Relaxation Step Response Setpoint Measure General Input PID AT Output Animation p Cancel Previous Next Help Trace Initialize Detach Lx The autotuning phases are described in the following table AT Phase Description ensure that the process variable is in steady state process 1 Phase 1 is the stabilization phase It starts at the time the user launches the AT process During this phase the Twido autotuning performs checks to Note The output last applied to the process before start of the autotuning is used as both the starting point and the relaxation point for the autotuning 2 Phase 2 applies the fist step change to the process It produces a process step response similar to the one shown in the above figure 546 TWD USE 10AE Advanced Instructions AT Phase Description 3 Phase 3 is the relaxation phase that starts when the first step response has stabilized Note Relaxation occurs toward equilibrium that is determined as the output last applied to the process before start of the autotuning 4 Phase 4 applies the second step change to the process in the same amount and manner as in Phase 2 described above The autotuning process ends and the AT parameters are computed and stored in their respective memory words upon completion of Phase 4 Note After this phase is co
223. block Mi or Qj k This output is set to 1 when the current date and time are between the setting of the start of the active period and the setting of the end of the active period Start month January to The month to start the schedule block December End month January to The month to end the schedule block December Start date 1 31 The day in the month to start the schedule block End date 1 31 The day in the month to end the schedule block Start time hh mm The time of day hours 0 to 23 and minutes 0 to 59 to start the schedule block Stop time hh mm The time of day hours 0 to 23 and minutes 0 to 59 to end the schedule block Day of week Monday Check boxes that identify the day of the week for Sunday activation of the schedule block 482 TWD USE 10AE Advanced Instructions Enabling Schedule Blocks Output of Schedule Blocks The bits of system word SW114 enable bit set to 1 or disable bit set to 0 the operation of each of the 16 schedule blocks Assignment of schedule blocks in SW114 SW114 Schedule Schedule block 15 block 0 By default or after a cold restart all bits of this system word are set to 1 Use of these bits by the program is optional If the same output Mi or Qj k is assigned by several blocks it is the OR of the results of each of the blocks which is finally assigned to this object it is pos
224. bus 220 C Calculation 418 CAN bus line 239 CAN_CMD 273 CAN high 239 CAN low 239 CANopen Description 239 The protocol 239 CANopen bus configuration methodology 254 CANopen fieldbus Explicit exchanges 270 Implicit exchanges 269 Programming and diagnostics for the CANopen fieldbus 270 CANopen master PDO addressing 269 Checking scan time 67 Clock functions Overview 481 Schedule blocks 482 Setting date and time 487 time and date stamping 485 Closed loop adjustment 557 Coils 328 graphic elements 331 Cold start 73 TWD USE 10AE 631 Index Communication by modem 86 Communication overview 84 Communications ASCII 115 Modbus 126 Remote Link 104 Communications cable connection 86 Comparison block graphic element 332 Comparison blocks 329 Comparison Instructions 416 Configuration PID 524 Configuring A port for ASCII 118 Port for Modbus 130 Transmission Reception table for ASCII 119 Connections management 176 Contacts 328 graphic element 330 Control parameters ASCII 119 Control table Modbus 132 Conversion instructions 425 COS 572 Counters 398 Programming and configuring 402 D Debugging PID 540 Decrement 418 DEG_TO_RAD 574 Derivative action 561 DINT_TO_REAL 575 Direct labeling 48 Divide 418 Documenting your program 340 Double word objects 44 Addressing 39 Overview 32 Drum controller function block 454 Drum controllers programming and configu
225. communicate over the Ethernet network TwidoSoft Select File Preferences from TwidoSoft menu bar to call up Connexions management dialog box Connections management Connection type IP Phone P Unit Address Baudrate Stop Bits Timeout Break timeout Serial COM1 Punit 5000 20 Modify Delete Step Action 1 Click the Add button in the Connections Management dialog box Result A new connection line is added The new line displays suggested default connection settings You will need to change these settings Note To set a new value in a field you have two options e Select the desired field then click the Modify button e Double click the desired field 2 In the Name field enter a descriptive name for the new connection A valid name may contain up to 32 alphnumeric characters 3 In the Connection Type field click to unfold the dropdown list that includes TCP IP Serial Modem if any and USB if any Select TCP IP as you are setting up a new Ethernet connection between your PC and an Ethernet capable Twido controller 4 In the IP Phone field enter a valid IP address which is the IP information of the Twido TWDLCAE40DRF controller you wish to connect to IP Address Enter the static IP address that you have specified for your Twido controller in a previous section TWD USE 10AE 157 Communications Step Act
226. comparison of the analog input is made and a bit is set on the base controller if it is less than or equal to the threshold LD IW1 0 lt 16 Q0 0 ST Q0 0 IW1 0 lt 16 LD IW1 0 lt 32 Q0 1 ST Q0 1 IW1 0 lt 32 LD IW1 0 lt 64 ST Q0 2 Q0 2 IW1 0 lt 64 LD IW1 0 lt 128 ST Q0 3 Q0 3 IWL0 lt 128 LD IW1 0 lt 256 i ST Q0 4 Q0 4 IW1 0 lt 256 TWD USE 10AE 199 Managing Analog Modules Example analog The following program uses an analog card in slot 1 and 2 The card used in slot 1 output has a 10 volt output with a normal range QWOD 1 0 4095 QW0 2 0 MWO LD 1 QW0 1 0 4095 LD 1 QW0 2 0 MWO0 e Example of output values for QW1 0 4095 normal case The following table shows the output voltage value according to the maximum value assigned to QW1 0 numerical value analog value volt Minimum 0 0 Maximum 4095 10 Value 1 100 0 244 Value 2 2460 6 e Example of output values for a customized range minimum 0 maximum 1000 The following table shows the output voltage value according to the maximum value assigned to QW1 0 numerical value analog value volt Minimum 0 0 Maximum 1000 10 Value 1 100 1 Value 2 600 6 200 TWD USE 10AE Installin
227. controller output in the Alarms field This function may be necessary in certain applications for managing process alarms where thresholds are exceeded Set the Manual mode operating mode The drop down list offers several choices e Inhibit no manual mode e Authorize the controller operates in manual mode only e Bit address the value of the bit is used to change the operation of manual mode bit set to 0 automatic mode bit set to 1 manual mode In the example Here we select M2 to activate the choice and MW18 to adjust the value of the manual setpoint Adjust the Digital output word This word is used by the controller to send the control setpoint It can be sent directly to an analog output channel QW or to a memory word MWxx for additional processing Important When using the PWM function enter a memory address MWxx in this field 502 TWD USE 10AE Advanced Instructions PID Configuration Editor Step Action 5 Set the PWM output if required by the system 1 Check the Authorize box if you intend to control the system via a PWM actuator 2 Enter the PWM control Period in the associated field 3 Enter the Output used to control the PWM actuator We recommend you use the base controller transistor outputs for this function for example Q0 0 or Q0 1 for the TWOLMDA20DRT base controller 6 Confirm the controller configuration by clicking OK in the bott
228. ct and Modular Expansion Modules to add I O points and options such as Real Time Clock communications operator display and backup memory cartridges TwidoSoft A 32 Bit Windows graphical development software for configuring and programming Twido controllers U UDP A communications protocol User Datagram Protocol that is the part of the TCP IP suite used by applications to transfer datagrams UDP is also the part of TCP IP responsible for port addresses Unresolved A symbol without a variable address symbol V Variable Memory unit that can be addressed and modified by a program Very fast A function block that provides for faster counting than available with Counters and counter Fast Counters function blocks A Very Fast Counter can count up to a rate of 20 KHz WwW Warm restart A power up by the controller after a power loss without changing the application Controller returns to the state which existed before the power loss and completes the scan which was in progress All of the application data is preserved This feature is only available on modular controllers 628 TWD USE 10AE rj eg Index S20 598 Symbols S21 68 598 568 S22 68 598 Ci 398 S23 68 598 DR 454 S24 598 FC 459 S25 599 INW 42 S26 599 MSG 477 S31 599 MSGB3 function block S38 599 Instruction 180 S39 599 PLS 451 S4 596 PWM 448 S5 596 QNW 42 S50 600 S 596 S51 600 S0 596 S52 600 S1
229. ction 1 M2 1 gt Manual Mode M2 0 gt Automatic Mode MW16 PWM period setting 10 MW17 Operating mode selection for the PID controller 1 PID only e MW18 Manual setpoint associated with the M2 bit selection 1000 This setpoint value can be selected several times on condition that the system be left to return to its initial state In the example We have selected the value 1000 which corresponds to an average temperature increase value for information 2000 counts 200 When cold the system starts at a value of 250 counts 4 Check that the controller is RUN mode MO controller validation 1 to be entered in the animation table 5 Double click on the PID item in the configuration browser TWD USE 10AE 505 Advanced Instructions Step Action 2 Check the consistency of the value measured in the lW1 0 field In the example 1 A measurement of 248 counts is obtained when the system stable and cold 2 This seems consistent as we have a multiplication coefficient of 10 between the temperature and the value read We can also influence the measurement externally to make sure the reading is consistent increase the temperature around the probe to check the measurement also increases Note This test is quite important as the operation of the controller depends essentially on the accuracy of the measurement 3 If you have any doubt about the accuracy of the measure
230. ction before a second can be launched The MSG3 function block must be used when sending several messages The processing of the EXCH list instruction occurs immediately with any transmissions started under interrupt control reception of data is also under interrupt control which is considered background processing Note Usage of the EXCH3 instruction is the same as EXCHx where x 1 or 2 used with legacy Modbus Instruction syntaxes are also identical However there is one major difference in the information carried by Byte1 of the transmission and reception tables While Byte1 of the legacy Modbus conveys the serial link address of the slave controller Byte1 of the TCP Modbus carries the Index number of the Modbus TCP client controller The Index number is specified and stored in the Remote Devices table of the TwidoSoft Ethernet Configuration for more details seeRemote Devices Tab p 173 180 TWD USE 10AE Communications EXCH3 Word Table The maximum size of the transmitted and or received frames is 128 bytes note that this limitation applies to the TCP Modbus client only while the TCP Modbus server supports the standard Modbus PDU length of 256 bytes Moreover the word table associated with the EXCH3 instruction is composed of the control transmission and reception tables as described below Most significant byte Least significant byte Control table Command Length Transmission Rec
231. ction Blocks 437 17 2 Clock Functions 480 17 3 Twido PID Quick Start Guide 490 17 4 PID Function 516 17 5 Floating point instructions 567 17 6 Instructions on Object Tables 578 TWD USE 10AE 435 Advanced Instructions 436 TWD USE 10AE Advanced Instructions 17 1 Advanced Function Blocks At a Glance Aim of this This section provides an introduction to advanced function blocks including Section programming examples What s in this This section contains the following topics Section Topic Page Bit and Word Objects Associated with Advanced Function Blocks 438 Programming Principles for Advanced Function Blocks 440 LIFO FIFO Register Function Block Ri 443 LIFO Operation 444 FIFO operation 445 Programming and Configuring Registers 446 Pulse Width Modulation Function Block PWM 448 Pulse Generator Output Function Block PLS 451 Drum Controller Function Block DR 454 Drum Controller Function Block DRi Operation 455 Programming and Configuring Drum Controllers 457 Fast Counter Function Block FC 459 Very Fast Counter Function Block VFC 462 Transmitting Receiving Messages the Exchange Instruction EXCH 476 Exchange Control Function Block MSGx 477 TWD USE 10AE 437 Advanced Instructions Bit and Word Objects Associated with Advanced Function Blocks Introduction standard function blocks Advanced functi
232. ctions Step Action 1 Select Program gt Configuration Editor from the TwidoSoft menu bar 2 Click on the shortcut labeled ETH in the Configuration Editor taskbar or double click on the Ethernet Port shortcut in the Application Browser 3 The Ethernet TCP IP Configuration parameters appear in a table as shown in the figure below Or See 8 Fe Vij Sr D Pd x Ethernet Configuration IP Address Configuration IP address 192 168 1 101 Subnetwork mask 255 255 255 0 Gateway address 192 168 1 101 Marked IP 192 168 1 50 Remote Server Connection Slave IP address Unit ID Timeout 192 168 1 11 255 100 192 168 1 30 5 100 192 168 1 50 255 1500 192 168 1 16 255 1500 192 168 1 20 255 100 4 Atthis stage if you have just made changes to your Twido s Ethernet TCP IP configuration settings you may still decide to keep the changes or to discard them and restore the previous configuration as explained below e Select Tools gt Accept Changes from the TwidoSoft menu bar to keep the changes you have made to the TCP IP Ethernet configuration e Select Tools gt Cancel Changes to discard the changes and restore the previous TCP IP Ethernet configuration settings e Select Tools gt Edit to return to the Ethernet Configuration dialogbox and modify the TCP IP configuration settings e Select PLC gt Transfer PC gt PLC to download t
233. cts described below are exchanged implicitly in other words they are exchanged automatically on each PLC cycle TWD USE 10AE 269 Installing and Configuring the CANopen Fieldbus Programming and diagnostics for the CANopen fieldbus Explicit Exchanges CANopen Master Reserved Specific System Words Objects words and bits associated with the CANopen fieldbus contribute data for example bus operation slave status etc and additional commands to carry out advanced programming of the CANopen function These objects are exchanged explicitly between the Twido controller and the CANopen Master module via the expansion bus e atthe request of the program user by way of the instruction CAN_CMD see Presentation of the CAN_CMD instruction below e via the debug screen or the animation table System words reserved in the Twido controller for the CANopen Master module enable you to determine the status of the network SW8x x 1 7 is reserved for the CANopen master moduled installed at expansion address x on the Twido bus Only the first 7 bits of these words are used they are read only The following table shows the bits used System Words Bit Description 0 Configuration status of CANopen master 1 if configuration OK SW8x otherwise 0 x 1 7 1 Operational mode of CANopen master 1 data exchange is enabled otherwise 0 System stopped 1 if the Offline mode is enabled oth
234. d System word SW105 Comm 1 or SW106 Comm 2 must be set according to the elements below 15 14 13 7712 11 10 9 8 7 6 5 4 3 2 1 Timeout response Timeout frame in ms in multiple of 100 ms S SW111 Remote link status Indication Bit 0 corresponds to remote controller 1 bit 1 to remote controller 2 etc Bit 0 to 6 Set to 0 remote controller 1 7 absent e Setto 1 remote controller 1 7 present Bit 8 to bit 14 Set to 0 remote I O detected on remote controller 1 7 Set to 1 extension controller detected on remote controller 1 7 614 TW D USE 10AE System Bits and Words System Function Description Control Words SW112 Remote Link 00 successful operations S configuration 01 timeout detected slave operation error code 02 checksum error detected slave 03 configuration mismatch slave This is set to 1 by the system and must be reset by the user SW113 Remote link Indication Bit 0 corresponds to remote controller 1 bit 1 to remote S configuration controller 2 etc Bit 0 to 6 Set to 0 remote controller 1 7 not configured Setto 1 remote controller 1 7 configured Bit 8 to bit 14 e Set to 0 remote I O configured as remote controller 1 7 e Setto 1 peer controller configured as remote controller 1 7 SW114 Enable schedule Enables or disables o
235. d PDO On power up the device enters an initialization phase then goes into pre operational state At this stage only SDO communication is authorized After receiving a startup command the device switches to the operational state PDO exchanges can then be used and SDO communication remains possible TWD USE 10AE 241 Installing and Configuring the CANopen Fieldbus CANOpen Boot Up Boot up Procedure The minimum device configuration specifies a shortened boot procedure This procedure is illustrated in the following diagram Initialization Legend Reset Communication Reset Application Pre operational ome A Operational Stopped n Number Description Module power up After initialization the module automatically goes into PRE OPERATIONAL state NMT service indication START REMOTE NODE NMT service indication PRE OPERATIONAL NMT service indication STOP REMOTE NODE NMT service indication RESET NODE NIOJ IA ow NMT service indication RESET COMMUNICATION 242 TWD USE 10AE Installing and Configuring the CANopen Fieldbus Active CANopen Objects depending on State Machine Reset Application Reset Communication The crosses in the table below indicate which CANopen objects are active for which states of the state machine Initialization Pre operat
236. d array Xm lt Xm 1 2 Interpolation error Op2 out of range X lt X4 4 Interpolation error Op2 out of range X gt Xm 8 Invalid size of data array e Op3 is set as odd number or e Op3 lt 6 Note Op1 does not contain the computed interpolation value Y For a given X value the result of the interpolation Y is contained in MF2 of the Op3 array See Definition of Op3 below Op2 is the floating point variable MFO of the Op floating point array that contains the user defined X value for which to compute the interpolated Y value e Valid range for Op2 is as follows X Op2 lt X TWD USE 10AE 591 Advanced Instructions Definition of Op3 Structure Op3 sets the size Op3 2 of the floating point array where the X Y data pairs are stored Xj and Y data are stored in floating point objects with even indexes starting at MF4 note that MFO and MF2 floating point objects are reserved for the user set point X and the interpolated value Y respectively Given an array of m data pairs X Y the upper index u of the floating point array MFu is set by using the following relationships e equation 3 Op3 2 m 7 e equation 4 Y 2 Op3 1 The floating point array Op3 MFi has a structure similar to that of the following example where Op3 8 x X1 X2 X3 MFO MF4 MF8 MF12 MF2 MF6 MF10 MF14 Y Y1 Y2 Y3 Op
237. d as the ratio AS AU t the time at 63 rise the time constant 2t the time at 86 rise 3t the time at 95 rise Note When auto tuning is implemented the sampling period Ts must be chosen in the following range 1 125 lt Ts lt 1 25 Ideally you should use Ts 1 75 See PID Tuning With Auto Tuning AT p 549 566 TWD USE 10AE Advanced Instructions 17 5 Floating point instructions At a Glance Aim of this This section describes advanced floating point See Floating point and double word Section objects p 32 instructions in TwidoSoft language The Comparison and Assignment instructions are described in the Numerical Processing p 409 What s in this This section contains the following topics Section i Topic Page Arithmetic instructions on floating point 568 Trigonometric Instructions 572 Conversion instructions 574 Integer Conversion Instructions lt gt Floating 575 TWD USE 10AE 567 Advanced Instructions Arithmetic instructions on floating point General These instructions are used to perform an arithmetic operation between two operands or on one operand addition of two operands SQRT square root of an operand subtraction of two operands ABS absolute value of an operand 7 multiplication of two operands TRUNC whole part of a floating point value division of two operands EXP natural e
238. de 9 Flashes Ethernet hardware failure long off TWD USE 10AE 179 Communications TCP Modbus Messaging Overview Message Exchange over the Ethernet Network EXCH3 Instruction You may use TCP Modbus messaging to allow the Modbus TCP Client Master controller to send and receive Ethernet messages to and from the Modbus TCP Server Slave controller As TCP Modbus is a peer to peer communications protocol a Twido Ethernet capable controller can be both Client and Server depending on whether it is querying or answering requests respectively Ethernet messaging is handled by the EXCH3 instruction and the MSG3 function block Routing to an Ethernet host or via a gateway is supported by EXCH3 as well e EXCHS3 instruction to transmit receive messages e MSG3 Function Block to control the message exchanges The EXCH3 instruction allows the Twido controller to send and or receive information to from Ethernet network nodes The user defines a table of words MWi L containing control information and the data to be sent and or received up to 128 bytes in transmission and or reception The format for the word table is described in the following section A message exchange is performed using the EXCHS instruction Syntax EXCH3 MWi L where L number of words in the control words transmission and reception tables The Twido controller must finish the exchange from the first EXCH instru
239. de is 3 and that the correct number of bytes was read Also in this example note that the words read from the slave beginning at MW7 are aligned correctly with the word boundaries in the master 140 TWD USE 10AE Communications Modbus Link The diagram below illustrates the use of Modbus request 16 to write output words to Example 2 a slave This example uses two Twido Controllers Step 1 Configure the Hardware 1 Controller Modbus master 2 Controller Modbus slave The hardware configuration is identical to the previous example RS 485 EIA Port 1 X RS 485 EIA Port 2 RS 485 EIA Port 1 RS 485 EIA Port 2 To serial COM 1 TSXPCX1031 2 B 143 0 Step 2 Connect the Modbus Communications Cable RS 485 Mini DIN connection Modbus Master Twido Modbus Slave Twido D1 A DO B COM D1 A DO B COM 1 2 7 Terminal block connection Twido Twido Modbus Master Modbus Slave D1 A DO B OV D1 A DO B OV A B SG The Modbus communications cabling is identical to the previous example TWD USE 10AE 141 Communications Step 3 Port Configuration Hardware gt Add Option Hardware gt Add Option TWDNOZ485 TWDNOZ485 Hardware gt Controller Comm Setti
240. de s point of view A PDO does not necessarily contain the whole data image of a node for both TPDO and RPDO Normally analog input data and discrete input data are divided onto different TPDOs The same is true for outputs SDO Service Data Object CANopen frames containing parameters SDOs are typically used to read parameters from or write parameters to drives while the application is running COB ID Communication Object Identifier Each CANopen frame starts with a COB ID working as the Identifier in the CAN frame During the configuration phase each node is receiving the COB ID s for the frame s he is the provider or the consumer 238 TWD USE 10AE Installing and Configuring the CANopen Fieldbus About CANopen Introduction CANopen is a standard fieldbus protocol for industrial control systems It is particularly well suited to real time PLCs as it provides an effective low cost solution for integrated and transportable industrial applications The CANopen The CANopen protocol was created as a subset of CAL By defining profiles it is Protocol able to be even more specifically adapted to use with standard industrial components CANopen is a CiA CAN in Automation standard which was taken up very rapidly as soon as it was made available on the market In Europe CANopen is now recognized as the industry standard for industrial systems based on a CAN design Physical Layer CAN uses a differential
241. defined in the configuration The following table shows the procedure for making the automatic insertion of a new slave effective Step Action 1 Add the new slave in the configuration screen in local mode 2 Carry out a configuration transfer to the PLC in connected mode 3 Physically link the new slave with address 0 A to the AS Interface V2 bus Note An application can be modified by carrying out the above manipulation as many times as necessary 226 TWD USE 10AE Installing the AS Interface bus Automatic replacement of a faulty AS Interface V2 slave Principle When a slave has been declared faulty it can be automatically replaced with a slave of the same type This happens without the AS Interface V2 bus having to stop and without requiring any manipulation since the configuration mode s Automatic addressing utility is active See Automatic addressing of an AS Interface V2 slave p 225 Two options are available e The replacement slave is programmed with the same address using the pocket programmer and has the same profile and sub profile as the faulty slave It is thus automatically inserted into the list of detected slaves LDS and into the list of active slaves LAS e The replacement slave is blank address 0 A new slave and has the same profile as the faulty slave It will automatically assume the address of the replaced slave and will then be ins
242. dentified in the following table where i is the location of the module on the expansion bus Module Name Address TWDALM3LT 2 Inputs IWi 0 IWi 1 1 Output QWi 0 TWDAMM3HT 2 Inputs IWi 0 IWi 1 1 Output QWi 0 TWDAMI2HT 2 Inputs IWi 0 IWi 1 TWDAMO1HT 1 Output QWi 0 TWDAVO2HT 2 Outputs QWi 0 QWi 1 TWDAMI4LT 4 Inputs IWi 0 to IWi 3 TWDAMI8HT 8 Inputs IWi 0 to IWi 7 TWDARI8HT 8 Inputs IWi 0 to IWi 7 Symbol This is a read only display of a symbol if assigned for the address TWD USE 10AE 193 Managing Analog Modules Inputtypeand or This identifies the mode of a channel The choices depend on the channel and type Type of module For the TWDAMO1HT TWDAMMSHT and TWDALMSLT you can configure the single output channel type as Type Not used 0 10V 4 20mA For the TWDAMI2HT and TWDAMMSHT you can configure the two input channel types as Type Not used 0 10V 4 20mA For the TWDALM3LT you can configure the two input channel types as Type Not used Thermocouple K Thermocouple J Thermocouple T PT 100 For the TWDAVO2HT there is no type to adjust For the TWDAMIALT you can configure the four input types as Input type Type Not used 0 10 V Not used 0 20 mA Not used PT 100 Temperature PT 1000 NI 100 NI 1000 Voltage Current
243. der High speed master slave bus designed to communicate a small amount of data between a Master Controller and up to seven Remote Controllers slaves There are two types of Remote Controllers that can be configured to transfer data to a Master Controller a Peer Controller that can transfer application data or a Remote I O Controller that can transfer I O data A Remote link network can consist of a mixture of both types A component of TwidoSoft that monitors the memory requirements of an application during programming and configuring by tracking references to software objects made by an application An object is considered to be referenced by the application if it is used as an operand in a list instruction or ladder rung Displays status information about the percentage of total memory used and provides a warning if memory is getting low See Memory Usage Indicator A method of programming that allows instructions to be viewed alternately as List instructions or Ladder rungs A device that connects two or more sections of a network and allows information to flow between them A router examines every packet it receives and decides whether to block the packet from the rest of the network or transmit it The router will attempt to send the packet through the network by the most efficient path See Real Time Clock Remote Terminal Unit A protocol using eight bits that is used for communicating between a controller and a PC A command th
244. describes the operating phases Address Phase Description l P Internal The system implicitly monitors the controller managing system processing bits and words updating current timer values updating status lights detecting RUN STOP switches etc and processes requests from TwidoSoft modifications and animation l IW Acquisition of Writing to the memory the status of discrete and application input specific module inputs Program Running the application program written by the user processing Q Updating of Writing output bits or words associated with discrete and QW output application specific modules 64 TWD USE 10AE Controller Operating Modes Operating mode Controller in RUN the processor carries out e Internal processing e Acquisition of input e Processing the application program e Updating of output If the period has not finished the processor completes its operating cycle until the end of the internal processing period If the operating time is longer than that allocated to the period the controller indicates that the period has been exceeded by setting the system bit S19 to 1 The process continues and is run completely However it must not exceed the watchdog time limit The following scan is linked in after writing the outputs of the scan in progress implicitly Controller in STOP the processor carries out e Internal processing e Acquisition of input
245. detected with different device identity information not error free 10 gt Slave configuration error module has answered SDO Write request of the SDO command table with an error confirmation or has not followed the rules of the SDO protocol error free 11 gt Slave configuration error not error free 12 gt Missing Module Error Control Timeout SDO Timeout a module that was configured is not available has disappeared during operation or does not answer SDO access error free 272 TWD USE 10AE Installing and Configuring the CANopen Fieldbus Presentation of the CAN_CMD Instruction System words Node address slave number Bit 0 7 Bit 8 15 Word content Description e 13 gt Missing Module Error Control Timeout SDO Timeout a module that was configured is not available has disappeared during operation or does not answer SDO access not error free e 14 gt Unexpected module a module was detected that is not in the configuration table error free e 15 gt Unexpected module a module was detected that is not in the configuration table not error free For each user program the CAN_CMD instruction allows the user to program his network and obtain the slave diagnostics The instruction parameters are passed by internal words memory words MWx The syntax of the instruction is as follows
246. detecting the change from 1 to 0 of the controlling bit object The graphic link elements are used to connect the test and action graphic elements Name Graphic element Function Horizontal connection Links in series the test and action graphic elements between the two potential bars Vertical connection Links the test and action graphic elements in parallel 330 TWD USE 10AE Ladder Language Coils The coil graphic elements are programmed in the action zone and take up one cell one row high and one column wide Name Graphic Instruction Function element Direct coil ST The associated bit object takes the OP value of the test zone result Inverse coil STN The associated bit object takes the EOS negated value of the test zone result Set coil S S The associated bit object is set to 1 when the result of the test zone is 1 Reset coil R The associated bit object is set to 0 H when the result of the test zone is 1 Jump or Subroutine JMP Connect to a labeled instruction call gt gt Li SR upstream or downstream gt gt SRi Transition condition Grafcet language Used when the coil programming of the transition HH conditions associated with the transitions causes a changeover to the next step Return from a RET Placed at the end of subroutines to subroutine lt RET gt return to the main program Stop program END Defines the end of the pr
247. diately with any transmissions started under interrupt control reception of data is also under interrupt control which is considered background processing 120 TWD USE 10AE Communications MSGx Function Block Limitations The use of the MSGx function block is optional it can be used to manage data exchanges The MSGx function block has three purposes e Communications error checking The error checking verifies that the parameter L length of the Word table programmed with the EXCHx instruction is large enough to contain the length of the message to be sent This is compared with the length programmed in the least significant byte of the first word of the word table e Coordination of multiple messages To ensure the coordination when sending multiple messages the MSGx function block provides the information required to determine when transmission of a previous message is complete e Transmission of priority messages The MSGx function block allows current message transmissions to be stopped in order to allow the immediate sending of an urgent message The MSGx function block has one input and two outputs associated with it Input Output Definition Description R Reset input Set to 1 re initializes communication or resets block MSGx E 0 and MSGx D 1 MSGx D Communication 0 Request in progress complete 1 communication done if end of transmission end character received error or
248. do instructions for List programming Test Instructions The following table describes test instructions in List language Name Equivalent graphic element Function LD 4H The Boolean result is the same as the status of the operand LDN A The Boolean result is the same as the reverse status of the operand LDR The Boolean result changes to 1 on detection of the operand rising edge changing from 0 to 1 LDF The Boolean result changes to 1 on detection of the operand falling edge changing from 1 to 0 AND The Boolean result is equal to the AND logic between the Boolean result of the previous instruction and the status of the operand ANDN The Boolean result is equal to the AND logic between the Boolean result of the previous instruction and the reverse status of the operand ANDR The Boolean result is equal to the AND logic between the Boolean result of the previous instruction and the detection of the operand s rising edge 1 rising edge ANDF The Boolean result is equal to the AND logic between the Boolean result of the previous instruction and the detection of the operand s falling edge 1 falling edge OR The Boolean result is equal to the OR logic between the Boolean result of the previous instruction and the status of the operand TWD USE 10AE 347 Instruction List
249. dule TWDNAC232D Communication adapter equipped with a 3 wire EIA RS 232 port with a miniDIN connector Note This adapter is only available for the Compact 16 24 and 40 I O controllers and the Operator Display expansion module TWDNAC485D Communication adapter equipped with a 3 wire EIA RS 485 port with a miniDIN connector Note This adapter is only available for the Compact 16 24 and 40 I O controllers and the Operator Display expansion module TWDNAC485T Communication adapter equipped with a 3 wire EIA RS 485 port with a terminal Note This adapter is only available for the Compact 16 24 and 40 I O controllers and the Operator Display expansion module TWDXCPODM Operator Display expansion module equipped with a 3 wire EIA RS 232 port with a miniDIN connector a 3 wire EIA RS 485 port with a miniDIN connector and a 3 wire EIA RS 485 port with a terminal Note This module is only available for the Modular controllers When the module is attached the controller cannot have a Communication expansion module Note You can only check the presence and configuration RS232 or RS485 of port 2 at power up or reset by the firmware executive program 116 TWD USE 10AE Communications Nominal Cabling Nominal cable connections are illustrated below for both the EIA RS 232 and the EIA RS 485 types Note If port 1 is used on the Twido controller the DPT signal on pin 5 must b
250. e e Configuration e and Debug screens associated with a program line operation block in Ladder Language or by simply calling the PID in Instruction List indicating the number of the PID used Example of a program line in Ladder Language PID O Note In any given Twido automation application the maximum number of configurable PID functions is 14 Key Features The key features are as follows Analog input Linear conversion of the configurable measurement High or low configurable input alarm Analog or PWM output Cut off for the configurable output Configurable direct or inverse action TWD USE 10AE 517 Advanced Instructions Principal of the Regulation Loop Ata Glance Illustration The working of a regulation loop has three distinct phases e The acquisition of data e Measurements from the process sensors analog encoders e Setpoint s generally from the controller s internal variables or from data from a TwidoSoft animation table e Execution of the PID regulation algorithm e The sending of orders adapted to the characteristics of the actuators to be driven via the discrete PWM or analog outputs The PID algorithm generates the command signal from e The measurement sampled by the input module e The setpoint value fixed by either the operator or the program e The values of the different corrector parameters The signal from the corrector is either directly handled by a controller analo
251. e Ethernet Configuration dialogbox Ethernet Configuration Dialogbox Step Action 1 Open the Application Browser as shown in the figure below Result EF j No heading ni Ei TWDLCAE40DRF i EH Hardware port 1 Remote Link 1 Expansion Bus TWDXCPRTC Ethernet Port Note Make sure an Ethernet capable device such as TWDLCAE40DRF is selected as the current hardware or otherwise the Ethernet Port hardware option will not appear TWD USE 10AE 165 Communications Step Action 2 Double click on the Ethernet Port icon to bring up the Ethernet Configuration dialogbox as shown below Result Ethernet Configuration IP Address Configure Marked IP Time out Remote Devices f From a Server f Configured IP Address Subnetwork mask Gateway 192 168 1 101 255 255 255 0 192 168 1 101 Cancel Help Note There are two alternate ways to call up the Ethernet Configuration screen 1 Right click on the Ethernet Port icon and select Edit from the popup list 2 Select Hardware gt Ethernet from the TwidoSoft menu bar TCP IP Setup The following sections detail how to configure the Twido TWDLCAE40DRF TCP IP parameters by using the IP Address Configure Marked IP Time out and Remote Devices tabs 166 TWD USE 10AE Communications IP Address Configure Tab Ov
252. e TWDLCAE40DPRF base controller is an Ethernet capable device that implements the Modbus Application Protocol MBAP over TCP IP Modbus TCP IP provides peer to peer communications over the network in a client server topology Frame Format The Twido TWDLCAE40DRF compact controller supports the Ethernet II frame format only It does not accommodate IEEE802 3 framing Note that other PLCs available from Schneider Electric such as the Premium and Quantum series support both Ethernet II and IEEE802 3 frame formats and are frame format selectable Therefore if you are planning to team up your Twido controller with Premium or Quantum PLCs you should configure them as using Ethernet II frame format to allow for optimum compatibility TCP The TWDLCAE40DRF compact controller is a 4 simultaneous channel device Connections capable of communicating over a 100Base TX Ethernet network It implements 100Base TX auto negotiation and can work on a 10Base T network as well Moreover it allows one marked IP connection as configured in the TwidoSoft application program see Marked IP Tab p 169 for more details about Marked IP The maximum number of server transactions supported by the Twido controller is 1 per TCP connection IP Address TWDLCAE4ODRF controllers implement BootP client support to obtain an IP address from a BootP server For increased flexibility you still have the ability to specify a static IP address through TwidoSoft programming soft
253. e Westermo modem and the Twido controller see Appendix 1 p 101 You can also use the TSX PCX 1130 cable RS485 232 conversion and Rx Tx crossing Toshiba Portege 3490CT Cable Modem integrated TSX PCX 1031 Crossed adaptor al Westermo TD 33 v SR1 MOD01 The first test involves using 2 analog telephone lines internal to the company and not using the entire number just the extension hence only 4 digits for the internal Toshiba V 90 modem telephone number For this test the connection parameters Twidosoft menu preferences then Connection management were established with their default value with a timeout of 5000 and break timeout of 20 e Example 2 Twidosoft connected to TWD LMDA 20DRT windows XP Pro e PC Compag Pentium 4 2 4GHz e Modem Lucent Win modem PCI bus e Twido Controller TWD LMDA 20DRT version 2 0 e Modem connected to Twido Type WESTERMO TD 33 V 90 reference SR1 MOD01 available from the new Twido catalog September 03 see Appendix 2 p 102 North American customers only The modem type that is available in your area is TD 33 V 90 US 100 TWD USE 10AE Communications e Cable TSX PCX 1031 connected to Twido communication port 1 and an adaptor 9 pin male 9 pin male in order to cross Rx and Tx during connection between the Westermo modem and the Twido controller see Appendix 1 p 101 You can also use the TSX PCX 1130 cable RS485 232 conve
254. e mode LD 1 MWO 16 0001 MW1 16 0001 LD SW73 X3 ASI_CMD1 MW0 2 To read the table of slaves active for addresses OA to 15A LD 1 MWO 16 0004 MW1 16 0000 LD SW73 X3_ If no ASI_CMD instruction is in progress then continue f no ASI_CMD instruction is in progress then continue Ito force the switch to Offline mode ASI_CMD1 MW0 2 optional to read the LAS table for addresses OA to 15A 232 TWD USE 10AE Installing the AS Interface bus AS Interface V2 bus interface module operating mode At a Glance The AS Interface bus interface module TWDNOI10M3 has three operating modes each of which responds to particular needs These modes are e Protected mode e Offline mode e Data Exchange Off mode Using the ASI_CMD See Presentation of the ASI_CMD Instruction p 230 instruction in a user program allows you to enter or exit these modes Protected Mode The protected operating mode is the mode generally used for an application which is running It assumes that the AS Interface V2 module is configured in TwidoSoft This e continually checks that the list of detected slaves is the same as the list of expected slaves e monitors the power supply In this mode a slave will only be activated if it has been declared in the configuration and been detected At power up or during the configuration phase the Twido controller forces the AS Interface module into protected m
255. e modem configuration com4 Check PLC My modem RUN STOP Ctrl F5 Init Transfer PC gt Controller Protect the application Memory Usage Backup Restore Erase Toggle Animation Ctrl F7 4 Connect TwidoSoft Operating Modes Note If you want to use your modem connection all the time click file preferences and select my modem or the name you have given it Twidosoft will now memorize this preference The Twido controller sends the initialization string to the connected powered up modem When a modem is configured in the Twido application the controller first sends an FF command to establish whether the modem is connected If the controller receives an answer the initialization string is sent to the modem TWD USE 10AE 97 Communications If you are communicating with a Twido controller within your company premises you can use just the line extension needed to dial such as 8445 Internal External and International Calls Connections management Name Connection type IP Phone P Unit Adress Baudrate Stop Bits Timeout Break timeout COM1 Serial COM1 19200 1 5000 20 TCPIPO1 TCP IP 192 163 1 101 Direct 3000 500 My Modem1 MODEM TOSHIBA 8445 19200 1 5000 20 gt Add Delete OK If you are using an internal switchboard to dial telephone numbers outside your company and you have to first press 0 or 9 before t
256. e setting up a new Ethernet connection between your PC and an Ethernet capable Twido controller 4 In the IP Phone field enter a valid IP address which is the IP information of the Twido TWDLCAE40DRF controller you wish to connect to IP Address Enter the static IP address that you have specified for your Twido controller in a previous section 176 TWD USE 10AE Communications Step Action 5 The Punit Address field can be filled in when IP Phone has been selected For a TCP IP Type connection default value is Direct For a Serial Type connection default value is Punit When any of those is selected next three fields Baudrate Parity and Stop Bits are disabled If you do not know the controller address allows you to select it later once the program has been downloaded A window pops up before the first connection to let you choose the controller where you transfer to with a 1 247 range and 1 as the default address value 6 In the Timeout field enter a timeout value in milliseconds ms for establishing a connection with the Twido controller After timeout has elapsed and the PC has failed to connect to the controller the TwidoSoft application will give up trying to establish a connection To resume a new attempt for connection select PLC Select a connection from TwidoSoft menu bar Note Default Timeout value is 500 ms Maximum Timeout value is 65535 x 100 ms 6553 5 s
257. e tied to OV on pin 7 This signifies to the Twido controller that the communications through port 1 is ASCII and is not the protocol used to communicate with the TwidoSoft software Cable connections to each device are illustrated below Mini DIN connection RS 232 EIA cable Twido Remote controller peripheral TXD RXD GND TXD RXD GND 3 4 7 RS 485 EIA cable Twido Master Remote Remote controller peripheral x peripheral D1 A DO B GND DPT D1 A DO B GND D1 A DO B GND 1 2 7 5 Terminal block connection Master Remote Remote controller peripheral peripheral A B OV A B OV A B OV A E Software To configure the controller to use a serial connection to send and receive characters Configuration using the ASCII protocol you must Step Description 1 Configure the serial port for ASCII using TwidoSoft 2 Create in your application a transmission reception table that will be used by the EXCHx instruction TWD USE 10AE 117 Communications Configuring the A Twido controller can use its primary port 1 or an optionally configured port 2 to use Port the ASCII protocol To configure a
258. e type Mode name 254 or 255 Asynchronous Change of state Change of state producer gt consumer s TWD USE 10AE 245 Installing and Configuring the CANopen Fieldbus Change of state Modes 254 and 255 Change of state corresponds to the modification of an input value event control Immediately after the change the data are sent onto the bus Event control makes it possible to make optimal use of bus bandwidth as only the modification is transmitted rather than the whole process image This makes it possible to achieve a very short response time as when an input value is modified it is not necessary to await the next request from the master When selecting change of state PDO transmission you should however bear in mind that it is probable that a number of events may occur at the same time generating delays whilst waiting for a lower priority PDO to be transmitted to the bus You should also avoid a situation where continual modification of an input with a high priority PDO blocks the bus this is known as a babbling idiot Note As a general rule you should only choose to use PDO transmission with analog input modules if the Delta mode object 6426H or the inhibit time objects 1800H to 1804H sub index 3 are set to avoid a bus overload 246 TWD USE 10AE Installing and Configuring the CANopen Fieldbus Access to Data by Explicit Exchanges SDO What is
259. e user program after each operation where there is a risk of an overflow then reset to 0 by the user if an overflow occurs S gt U S19 Scan period overrun periodic scan Normally at 0 this bit is set to 1 by the system in the event of a scan period overrun scan time greater than the period defined by the user at configuration or programmed in SWO This bit is reset to 0 by the user S gt U TWD USE 10AE 597 System Bits and Words System Bit Function Description Init state Control S20 Index overflow Normally at 0 it is set to 1 when the address of the indexed object becomes less than 0 or more than the maximum size of an object It must be tested by the user program after each operation where there is a risk of overflow then reset to 0 if an overflow occurs S gt U S21 GRAFCET initialization Normally set to 0 it is set to 1 by Acold restart SO 1 e The user program in the preprocessing program part only using a Set Instruction S S21 or a set coil S S21 e The terminal At state 1 it causes GRAFCET initialization Active steps are deactivated and initial steps are activated It is reset to 0 by the system after GRAFCET initialization U gt S S22 GRAFCET reset Normally set to 0 it can only be set to 1 by the program in pre processing At state 1 it causes the active steps of the entire GRAFCET t
260. e viewed in the Animation tab in TwidoSoft online mode only 536 TWD USE 10AE Advanced Instructions Output tab of the PID The tab is used to enter the PID output parameters At a Glance Note It is accessible in offline mode Ouput Tab of the The screen below is used to enter the internal PID parameters PID Function PID TX PID number lo General Input PID AT Output Animation Trace Action Limits Manual Mode Output Output PWM Address bi Authorize analog Authorize 3 Period a ce JOM a Zn S output PID Output PID controller Setpoin AT Cancel Previous Next Help 537 TWD USE 10AE Advanced Instructions The table below describes the settings that you may define Field Description PID number Specify the PID number that you wish to configure here The value is between 0 and 13 14 PID maximum per application Action Specify the type of PID action on the process here Three options are available Reverse Direct or bit address If you have selected bit address you can modify this type via the program by modifying the associated bit which is either an internal bit MO to M255 or an input Ix 0 to Ix 32 Action is direct if the bit is set to 1 and reverse if it is not Note When AT is enabled the Auto Tuning alg
261. ear Ethernet statistics 43 14 N A read device ID see note 1 Note 1 TwidoPort supports only the basic object IDs of the read device Note See the Modbus specification at www modbus org for details on message formats and access classes TWD USE 10AE 303 Configuring the TwidoPort Ethernet Gateway 304 TWD USE 10AE Operator Display Operation 12 At a Glance Subject of this This chapter provides details for using the optional Twido Operator Display Chapter What s in this This chapter contains the following topics Chapter Topic Page Operator Display 306 Controller Identification and State Information 309 System Objects and Variables 311 Serial Port Settings 317 Time of Day Clock 318 Real Time Correction Factor 319 TWD USE 10AE 305 Operator Display Operation Operator Display Introduction The Operator Display is a Twido option for displaying and controlling application data and some controller functions such as operating state and the Real Time Clock RTC This option is available as a cartridge TWDXCPODC for the Compact controllers or as an expansion module TWDXCPOD for the Modular controllers The Operator Display has two operating modes e Display Mode only displays data e Edit mode allows you to change data Note The operator display is updated at a specific interval of the controller scan cycle This can cause c
262. ecessary For slave diagnostics requests the result is returned in MW x 1 MWx MWx 1 Action 1 0 Exits Offline mode 1 1 Switches to Offline mode 2 0 Prohibits the exchange of data between the Master and its slaves enters Data Exchange Off mode 2 1 Authorizes the exchange of data between the Master and its slaves exits Data Exchange Off mode 3 Reserved 4 Result Reads the list of active slaves LAS table with addresses from OA to 15A 1 bit per slave 5 Result Reads the list of active slaves LAS table with addresses from 16A to 31A 1 bit per slave 6 Result Reads the list of active slaves LAS table with addresses from OB to 15B 1 bit per slave 7 Result Reads the list of active slaves LAS table with addresses from 16B to 31B 1 bit per slave 8 Result Reads the list of detected slaves LDS table with addresses from 0A to 15A 1 bit per slave 9 Result Reads the list of detected slaves LDS table with addresses from 16A to 31A 1 bit per slave 10 Result Reads the list of detected slaves LDS table with addresses from 0B to 15B 1 bit per slave 11 Result Reads the list of detected slaves LDS table with addresses from 16B to 31B 1 bit per slave 230 TWD USE 10AE Installing the AS Interface bus Details of the results of the ASI_CMD instruction to read bus status MWx MWx 1 Action 12 Result
263. ecified by the user does not correspond to the physical configuration of the bus e Shows the authorized functionalities for the AS Interface Master module for example Automatic addressing active ON indicates that the automatic addressing Master mode is authorized When the indicator lamp associated with an address is red there is an error on the slave associated with this address The Error on the network window then provides the diagnostics of the selected slave Description of errors e The profile specified by the user by the configuration of a given address does not correspond to the actual profile detected for this address on the bus diagnostics Profile error e Anewslave not specified at configuration is detected on the bus a red indicator lamp is then displayed for this address and the slave name displayed is Unknown diagnostics Slave not projected e Peripheral fault if the slave detected supports it diagnostics Peripheral fault e Aconfigured profile is specified but no slave is detected for this address on the bus diagnostics Slave not detected TWD USE 10AE 217 Installing the AS Interface bus Modification of Slave Address At a Glance From the debug screen the user can modify the address of a slave in online mode Modification of Slave Address The following table shows the procedure for modifying a slave address Step Description 1 Access the Deb
264. ecking the Current IP Settings of your PC This Quick TCP IP Setup Guide is intended to provide Ethernet connectivity information and TCP IP configuration information to rapidly setup communication between your PC running the TwidoSoft application and the Twido Controller over a stand alone Ethernet network The following procedure describes how to check the current IP settings of your PC Also this procedure is valid for all versions of the Windows operating system Step Action 1 Select Run from the Windows Start menu 2 Type command in the Open textbox of the Run dialog box Result The C WINDOWS system32 command com prompt appears Type ipconfig at the command prompt The Windows IP Configuration appears and displays the following parameters IP Address Subnet Mask 0 Default Gateway Note The above IP settings cannot be changed directly at the command prompt They are available for consultation only If you plan to change the IP configuration of your PC please refer to the following section TWD USE 10AE 153 Communications Configuring the TCP IP Settings of your PC The following information will help configure the TCP IP settings of your PC running the TwidoSoft application for programming and control of the Twido controller over the network The procedure outlined below is workable on a PC equipped with a Windows XP operating system
265. ect mounting positions for Twido modules e adding and removing Twido components from a DIN rail e direct mounting on a panel surface minimum clearances for modules in a control panel Mounting the TWDNCO1M Module Install the TWDNCO1M master module on a DIN rail or panel For more details see TwdoHW Installing an expansion module Module Connection to the Twido PLC s Bus Connect the CANopen master module to the Twido PLC internal bus for more details see TwdoHW Installing an expansion module CANopen Wiring and Connections Follow the wiring and connections directions outlined in CANopen Wiring and Connections to connect the CAN bus power supply and signal lines TWD USE 10AE 253 Installing and Configuring the CANopen Fieldbus Configuration Methodology Overview The CANopen configuration is performed via the CANopen Configuration tool available on TwidoSoft V3 0 or higher Note 1 CANopen network master and slave configuration as well as configuration of communication parameters is performed only in Offline mode 2 No change to the CANopen configuration is allowed in Online mode 3 In Online mode only certain parameters can be adjusted such as IWC and QWC PDO addressing parameters 254 TWD USE 10AE Installing and Configuring the CANopen Fieldbus Configuration Methodology Precautions Prior to Connection The following table d
266. ect of this This part describes communications built in analog functions managing analog I O Part modules installing the AS Interface V2 bus and the CANopen fieldbus for Twido controllers What s in this This part contains the following chapters Part Chapter Chapter Name Page 6 Communications 83 7 Built In Analog Functions 185 8 Managing Analog Modules 189 9 Installing the AS Interface V2 bus 201 10 Installing and Configuring the CANopen Fieldbus 235 11 Configuring the TwidoPort Ethernet Gateway 277 12 Operator Display Operation 305 TWD USE 10AE 81 Special Functions 82 TWD USE 10AE Communications At a Glance Subject of this This chapter provides an overview of configuring programming and managing Chapter communications available with Twido controllers What s in this This chapter contains the following topics Chapter Topic Page Presentation of the different types of communication 84 TwidoSoft to Controller communications 86 Communication between TwidoSoft and a Modem 92 Remote Link Communications 104 ASCII Communications 115 Modbus Communications 126 Standard Modbus Requests 144 Transparent Ready Implementation Class Twido Serial A05 Ethernet A15 150 Ethernet TCP IP Communications Overview 151 Quick TCP IP Setup Guide for PC to Controller Ethernet Communication 153 Connecting your Controller to the Network 159
267. eheating time Adjusting the duration of a time delay from 5 to 10 s using analog potentiometer 1 For this adjustment practically the entire adjustment range of analog 10s potentiometer 1 from 0 to 1023 is used 5s 0 1023 The following parameters are selected at configuration for the time delay block TMO e Type TON e Timebase 10 ms The preset value of the time delay is calculated from the adjustment value of the potentiometer using the following equation TMO P IW0 0 0 2 500 186 TWD USE 10AE Built In Analog Functions Code for the above example MWO0 IWO0 0 0 2 TMO P MWO0 500 10 0 TMO Q0 0 LD 1 MW0 IW0 0 0 2 TMO0 P MWO0 500 BLK TMO LD I0 0 IN OUT_BLK LD Q ST Q0 0 END_BLK TWD USE 10AE 187 Built In Analog Functions Analog Channel Introduction Principle Programming All Modular controllers TWDLMDA20DTK TWDLMDA20DUK TWDLMDA20DRT TWDLMDA4ODTK and TWDLMDA40DUk have a built in analog channel The voltage input ranges from 0 to 10 V and the digitized signal from 0 to 511 The analog channel takes advantage of a simple averaging scheme that takes place over eight samples An analog to digital converter samples an input voltage from 0 to 10 V to a digital value from 0 to 511 This value is stored in system word IWO0 0 1 The val
268. en a storage request is received rising Storage of the contents of Ri edge at input or activation of instruction at the top of the queue the contents of input word Ri which has already been loaded are stored at the top 20 of the queue Fig a When the queue is i y full output F 1 no further storage is R I possible a a 50 2 When a retrieval request is received rising Retrieval of the first data item edge at input O or activation of instruction which is then loaded into Ri O O the data word lowest in the queue is loaded into output word Ri O and the contents of the register are moved down 20 b one place in the queue Fig b 80 Ri O When the register is empty output E 1 no 50 p 50 further retrieval is possible Output word Ri O does not change and retains its value 20 3 The queue can be reset at any time state 80 1 at input R or activation of instruction R TWD USE 10AE 445 Advanced Instructions Programming and Configuring Registers Introduction Programming The following programming example shows the content of a memory word MW34 being loaded into a register R2 1 on reception of a storage request l0 2 if register R2 is not full R2 F 0 The storage request in the register is made by M1 The retrieval request is made by input l0 3 and R2 0 is loaded into MW20 if the register is not empty R2 E 0 The following illustration is a register fu
269. ent Permitted Operands OR 0 1 I WIA Q QA M S X BLK x e Xk ORN 0 1 I WIA Q QA M S X BLK x e Xk ORR l YIA M P ORF l VIA M N Timing diagram The following diagram displays the timing for the OR instructions OR ORN ORR ORF Yv l0 1 M2 M3 l0 5 A Yy M1 l0 2 l0 4 l0 6 Q0 3 Q0 2 Q0 4 Q0 5 TWD USE 10AE 381 Basic Instructions Exclusive OR instructions KOR XORN XORR XORF Introduction The XOR instructions perform an exclusive OR operation between the operand or its inverse or its rising or falling edge and the Boolean result of the preceding instruction Examples The following example shows the use of XOR instructions Schematic using XOR instruction 10 1 M1 Q0 3 LD I0 1 zol XOR MI1 I Lo 4 ST Q0 3 Schematic NOT using XOR instruction I0 1 M1 Q0 3 LD I0 1 J ANDN MI1 OR M1 M1 I0 1 i i ANDN I0 1 4 ST QO 3 Permitted The following table lists the types of XOR instructions and permitted operands Operands List instruction Permitted Operands XOR l WIA Q PQA M S X BLK X Xk XORN l WIA VQ PQA M S X BLK X Xk XORR l VIA M XORF l VIA M 382 TWD US
270. entering a value to reset the configured elapsed time to 10 minutes click on the Default button 2 To disable the Time out function set the elapsed time to 0 The Twido controller no longer performs idle checks As a result the TCP connections stay up indefinitely 3 The maximum idle time allowed to set is 255 minutes 172 TWD USE 10AE Communications Remote Devices Tab Overview What You Should Know at First Remote Devices Table Remote Devices tab The following information describes how to configure the Remote Devices tab of the Ethernet Configuration dialogbox when you intend to use the EXCH3 instruction for the Twido controller to act as Modbus TCP IP client Note The Remote Devices tab of the Twido controller can be configured when the TwidoSoft application program is in offline mode only You do not need to configure the Remote Devices on any controller other than the controller that you want to use the Modbus TCP IP client legacy Modbus master instruction EXCH3 The Remote Devices table stores information about remote controllers acting as Modbus TCP IP servers over the Ethernet network that can be queried by the Modbus TCP IP client using the EXCH instruction Therefore you must configure the Remote Devices table properly so that the Modbus TCP IP client controller can poll Modbus TCP IP server controllers over the network The following figure presents a sample
271. eption Reception Offset Transmission Offset Transmission table Transmitted Byte 1 Index as Transmitted Byte 2 as Modbus specified in the Remote Device serial Table of the TwidoSoft Ethernet Configuration dialogbox Transmitted Byte n Transmitted Byte n 1 Reception table Received Byte 1 Index as Received Byte 2 as Modbus specified in the Remote Device serial Table of the TwidoSoft Ethernet Configuration dialogbox Received Byte p Received Byte p 1 TWD USE 10AE 181 Communications MSG3Function The use of the MSG3 function is identical to that of MSGx used with legacy Block Modbus MSG3 is used to manage data exchanges by providing e Communications error checking e Coordination of multiple messages e Transmission of priority messages The MSGx function block has one input and two outputs associated with it Input Output Definition Description R Reset input Set to 1 re initializes communication or resets block MSGx E 0 and MSGx D 1 MSGx D Communication 0 request in progress complete 1 communication done if end of transmission end character received error or reset of block MSGx E Error 0 message length OK and link OK 1 if bad command table incorrectly configured incorrect character received speed parity and so on or reception table full 182 TWD USE 10AE Communications EXCHS3 Error When an error occurs with t
272. er provides safety to the control system as AT is an open loop process This value can be an internal word MWO to a maximum of MW2999 depending on amount of system memory available an internal constant KWO to KW255 or a direct value This value must therefore be between 0 and 10000 when conversion is inhibited Otherwise it must be between the Min value and the Max value for the conversion TWD USE 10AE 535 Advanced Instructions Field Description AT Output Specify the AT output value here This is the value of the step change that is setpoint applied to the process This value can be an internal word MWO0 to MW2999 an internal constant KWO to KW255 or a direct value This value must therefore be between 0 and 10000 Note The AT Output Setpoint must always be larger than the output last applied to the process Note When the AT function is enabled constants KWx or direct values are no longer allowed only memory words are allowed in the following set of PID fields e Kp Ti and Td parameters must be set as memory words MWx in the PID tab e Action field is automatically set to Address bit in the OUT tab e Bit box must be filled in with an adequate memory bit Mx in the OUT tab Calculated Kp Once tha AT process is complete the calculated Kp Ti and Td PID coefficients Ti Td e are stored in their respective memory words MWx and Coefficients e can b
273. er than 128 80 in hexadecimal by FA The error output is also set to 1if a problem exists in sending a Modbus message to a Modbus device In this case the user should check wiring and that the destination device supports Modbus communication Communications When the Done output is set to 1 the Twido controller is ready to send another Done output message Use of the MSGx D bit is recommended when multiple messages are MSGx D sent If it is not used messages may be lost 478 TWD USE 10AE Advanced Instructions Transmission of Several Successive Messages Reinitializing Exchanges Special Cases Execution of the EXCH instruction activates a message block in the application program The message is transmitted if the message block is not already active MSGx D 1 If several messages are sent in the same cycle only the first message is transmitted The user is responsible for managing the transmission of several messages using the program Example of a transmission of two messages in succession on port 2 10 0 MSG2 D Pt EXCH2 MW 2 4 LDR I0 0 AND MSG2 D MO EXCH2 MW2 4 Ss S MO MSGD MO LD MSG2 D EXCH2 MW8 3 BND AMY I EXCH2 MW8 3 amo R MO R An exchange is cancelled by activating the input or instruction R This input initializes communication and resets output MSGx E to 0 and output MSGx D to 1 It is
274. eration on the contents of the accumulator and the explicit operand and replaces the contents of the accumulator with the result For example the operation AND l1 2 performs a logical AND between the contents of the accumulator and the Input 1 2 and will replace the contents of the accumulator with this result All Boolean instructions except for Load Store and Not operate on two operands The value of the two operands can be either True or False and program execution of the instructions produces a single value either True or False Load instructions place the value of the operand in the accumulator while Store instructions transfer the value in the accumulator to the operand The Not instruction has no explicit operands and simply inverts the state of the accumulator The following table shows a selection of instructions in List Instruction language Type of Instruction Example Function Bit instruction LD M10 Reads internal bit M10 Block instruction IN TMO Starts the timer TMO Word instruction MW10 MW50 100 Addition operation Program instruction SR5 Calls subroutine 5 Grafcet instruction 8 Step 8 346 TWD USE 10AE Instruction List Language List Language Instructions Introduction List language consists of the following types of instructions e Test Instructions e Action instructions e Function block instructions This section identifies and describes the Twi
275. erivative actions e U the PID controller output later fed as input into the controlled process TWD USE 10AE 563 Advanced Instructions The PID Control The PID controller is comprised of the mixed combination serial parallel of the Law controller gain Kp and the integral Ti and derivative Td time constants Thus the PID control law that is used by the Twido controller is of the following form Eq 1 l n E Ra u i Kp ee AUR T EES j l where e Kp the controller proportional gain Ti the integral time constant Td the derivative time constant Ts the sampling period e i the deviation e i setpoint process variable Note Two different computational algorithms are used depending on the value of the integral time constant Ti e Ti 0 In this case an incremental algortinm is used e Ti 0 This is the case for non integrating processes In this case a positional algotrithm is used along with a 5000 offset that is applied to the PID output variable For a detailed description of Kp Ti and Td please refer to PID tab of PID function p 530 As can be inferred from equ 1 and equ 1 the key parameter for the PID regulation is the sampling period Ts The sampling period depends closely on the time constant t a parameter intrinsic to the process the PID aims to control See Appendix 2 First Order With Time Delay Model p 565 564 TWD USE 10AE
276. ermines what the Data Link Layer is and performs all conversions necessary to process the transmission and response Start end and check characters are not stored in the Transmission Reception tables Once all bytes are transmitted the controller switches to reception mode and waits to receive any bytes Reception is completed in one of several ways e timeout on a character or frame has been detected e end of frame character s received in ASCII mode e the Reception table is full Transmitted byte X entries contain Modbus protocol RTU encoding data that is to be transmitted If the communications port is configured for Modbus ASCII the correct framing characters are appended to the transmission The first byte contains the device address specific or broadcast the second byte contains the function code and the rest contain the information associated with that function code Note This is a typical application but does not define all the possibilities No validation of the data being transmitted will be performed Received Bytes X contain Modbus protocol RTU encoding data that is to be received If the communications port is configured for Modbus ASCIl the correct framing characters are removed from the response The first byte contains the device address the second byte contains the function code or response code and the rest contain the information associated with that function code Note This is a typical a
277. ershoots during the change of setpoints pulses In this case lower the production value until you get the required behavior The method is interesting because it does not require any assumptions about the nature and the order of the procedure You can apply it just as well to the stable procedures as to real integrating procedures It is really interesting in the case of slow procedures glass industry because the user only requires the beginning of the response to regulate the coefficients Kp Ti and Td 558 TWD USE 10AE Advanced Instructions Role and influence of PID parameters Influence of Proportional action is used to influence the process response speed The higher the proportional gain the faster the response and the lower the static error in direct proportion action though the more stability deteriorates A suitable compromise between speed and stability must be found The influence of integral action on process response to a scale division is as follows A Kp too high Kp correct Static error TWD USE 10AE 559 Advanced Instructions Influence of Integral action is used to cancel out static error deviation between the process value integral action and the setpoint The higher the level of integral action low Ti the faster the response and the more stability deteriorates It is also necessary to find a suitable compromise between speed and stability The i
278. erted into the list of detected slaves LDS and the list of active slaves LAS TWD USE 10AE 227 Installing the AS Interface bus Addressing I Os associated with slave devices connected to the AS Interface V2 bus Ata Glance Illustration Specific Values This page presents the details relating to the addressing of digital or analog I Os of slave devices To avoid confusion with Remote I Os new symbols are available with an AS Interface syntax IA for example Reminder of the principles of addressing IA QA IWA QWA X n i Symbol Type of object Expansion slave Channel module address no address The table below gives specific values to AS Interface V2 slave objects Part Values Comment IA Image of the physical digital input of the slave QA Image of the physical digital output of the slave IWA Image of the physical analog input of the slave QWA Image of the physical analog output of the slave x 1to7 Address of AS Interface module on the expansion bus n 0A to 31B Slot 0 cannot be configured i Oto3 Examples The table below shows some examples of I O addressing O object Description IWA4 1A 0 Analog input 0 of slave 1A of the AS Interface module situated in position 4 on the expansion bus QA2 5B 1 Digital output 1 of slave 5B of the AS Interface module situated in position 2 on the expansion bus
279. erview The following information describes how to configure the IP Address Configure tab of the Ethernet Configuration dialogbox Note The IP address of the Twido controller can be configured when the TwidoSoft application program is in offline mode only IP Address The following figure presents a sample screen of the IP Address Configure tab showing Configure tab examples of IP Subnet and Gateway addresses configured manually by the user Ethernet Configuration IP Address Configure Marked IP Time out Remote Devices C From a Server Configured IP Address 192 168 1 101 Subnetwork mask 255 255 255 0 Gateway 192 168 1 101 Cancel Help TWD USE 10AE 167 Communications Configuring the The following information describes how to configure the various fields in the IP IP Address tab Address Configure tab Field Configuring Froma Check this radio button if you do not wish to set the IP address of the Twido controller manually the IP Server Address Subnetwork mask and Gateway textboxes are grayed out The Twido controller BootP client will then use the IP address automatically assigned by the server The Twido controller will choose to use the default IP address fallback state if it cannot obtain a valid served IP address after the three retries at 200 ms intervals Note that the Twido controller periodically sends
280. erwise 0 CAN_CMD instruction complete 1 if command complete otherwise 0 when command is in progress 4 CAN_CMD instruction error 1 if there is an error in the instruction otherwise 0 Initialization error 1 Loss of message power supply error 1 Example of use for the CANopen master module installed at expansion address 1 on the Twido bus Before using an CAN_CMD instruction the SW81 X3 bit must be checked to see whether an instruction is not in progress check that SW81 X3 1 To ascertain whether the instruction has then correctly executed check that the SW81 X4 bit equals 0 270 TWD USE 10AE Installing and Configuring the CANopen Fieldbus CANopen Slave Reserved Specific System Words SW20 to SW27 are reserved system words that allow you to know the current state of the 16 CANopen slaves with node addresses ranging from 1 to 16 The content of these memory words is read only The following table describes system words SW20 to SW27 Node address t slave number Systemi Word content Description words Bit Bit 0 7 8 15 SW20 1 2 When SWex takes the following value SW21 3 4 e 1 gt Unexpected module was present on the network It has signalled itself as not error free before it was SW22 5 6 removed from the network SW23 7 8 e 2 gt Node State Operational module is in oerational SW24 9 10 sta
281. ery e EEPROM maximum of 32 KB Transferring the program from the EEPROM memory to the RAM memory is done automatically when the program is lost in RAM or if there is no battery Manual transfer can also be performed using TwidoSott 52 TWD USE 10AE User Memory Memory Configurations The following tables describe the types of memory configurations possible with Twido compact and modulare controllers Compact Controllers Memory Type 10DRF 16DRF 24DRF 40DRF 40DRF 32k 64k Internal RAM 10KB 10KB 10KB 10KB 10KB Mem 1 External RAM 16KB 32KB 32KB 64KB Mem 2 Internal EEPROM 8KB 16KB 32KB 32KB 32KB External EEPROM 32KB 32KB 32KB 32KB 64KB Maximum program size 8KB 16KB 32KB 32KB 64KB Maximum external 8KB 16KB 32KB 32KB 64KB backup Modular Controllers Memory Type 20DUK 20DRT 20DRT 20DTK 40DUK 40DUK 40DTK 32k 40DTK 64k Internal RAM 10KB 10KB 10KB Mem 1 External RAM 32KB 32KB 64KB Mem 2 Internal EEPROM 32KB 32KB 32KB External EEPROM 32KB 32KB 64KB Maximum program size 32KB 32KB 64KB Maximum external 32KB 32KB 64KB backup Mem 1 and Mem 2 in memory usage in this case the 64KB cartridge must be installed on the Twido and declared in the configuration if it has not already been declared reserved for backup of the first 512 MW words or the first 256 MD double words 53 User Memory
282. es descriptions and programming guidelines for using basic Section function blocks What s in this This section contains the following topics Section Topic Page Basic Function Blocks 386 Standard function blocks programming principles 388 Timer Function Block TMi 390 TOF Type of Timer 392 TON Type of Timer 393 TP Type of Timer 394 Programming and Configuring Timers 395 Up Down Counter Function Block Ci 398 Programming and Configuring Counters 402 Shift Bit Register Function Block SBRi 404 Step Counter Function Block SCi 406 TWD USE 10AE 385 Basic Instructions Basic Function Blocks Introduction Function blocks are the sources for bit objects and specific words that are used by programs Basic function blocks provide simple functions such as timers or up down counting Example of a The following illustration is an example of an up down Counter function block Function Block Ci R EL S ADJ Y p Ci P 9999 U Up down counter block Bit Objects Bit objects correspond to the block outputs These bits can be accessed by Boolean test instructions using either of the following methods e Directly for example LD E if they are wired to the block in reversible programming see Standard function blocks programming principles p 388 e By specifying the block type for example LD Ci E Inputs can be accessed in the form of instructions Word Objects W
283. es these assignments Main inputs Auxiliary inputs Reflex outputs FCO Selected Use IA input IB input IPres Ica Output 0 Output 1 Up down counter 10 0 1 10 0 0 l0 0 2 1 10 0 3 1 Q0 0 2 1 Q0 0 3 1 UP 0 DO 1 Up Down 2 Phase l0 0 1 10 0 0 l0 0 2 1 10 0 3 1 Q0 0 2 1 Q0 0 3 1 Counter Pulse Single Up Counter 10 0 1 2 10 0 2 1 10 0 3 1 Q0 0 2 1 Q0 0 3 1 Single Down Counter 10 0 1 2 l0 0 2 1 10 0 3 1 Q0 0 2 1 Q0 0 3 1 Frequency Meter l0 0 1 2 2 2 2 2 NFC1 Selected Use IA input Input IB IPres Ica Output 0 Output 1 Up down counter l0 0 7 10 0 6 10 0 5 1 10 0 4 1 Q0 0 4 1 Q0 0 5 1 UP 0 DO 1 Up Down 2 Phase l0 0 7 10 0 6 l0 0 5 1 10 0 4 1 Q0 0 4 1 Q0 0 5 1 Counter Pulse Single Up Counter 10 0 7 2 10 0 5 1 10 0 4 1 Q0 0 4 1 Q0 0 5 1 Single Down Counter 10 0 7 2 10 0 5 1 10 0 4 1 Q0 0 4 1 Q0 0 5 1 Frequency Meter l0 0 7 2 2 2 2 2 Comments 1 optional Input IA pulse input 2 not used Input IB pulses or UP DO Ipres preset input UP DO Up Down counting Ica Catch input When not used the input or output remains a normal digital I O available to be managed by the application in the main cycle If l0 0 2 is used FCO is not available If 10 0 3 is used FC2 is n
284. escribes the different software implementation phases of the CANopen bus Mode Phase Description Local Declaration of the Choose an available slot number to install the TWDNCO1M module TWDNCO1M master module on the Twido expansion bus Configuration of the Configure the CANopen network by CANopen network e importing EDS files of all slave device to the network catalog e adding the slave devices from the catalog to the CANopen network PDO mapping Perform the mapping of TPDOs and RPDOs objects of each slave device declared on the network PDO Linking Link each slave PDO to the corresponding master module PDO Local or Symbolization optional Symbolization of the variables associated with the connected slave devices Programming Programming the CANopen function Connected Transfer Transfer of the application to the PLC Debugging Debugging the application with the help of the debug screen used on the one hand to display slaves address parameters and on the other to assign them the desired addresses e diagnostic screens allowing identification of errors added Note The declaration and deletion of the TWDNCO1M CANopen master module on the expansion bus is the same as for any other expansion module However only one CANopen master module is allowed on the Twido expansion bus The TwidoSoft user interface program will not permit any other CANopen module to be Before connecti
285. espond to the Ladder instructions and represents the same logical expression The following illustration displays a common Ladder rung and its equivalent program logic expressed as a sequence of List instructions 710 5 Q0 4 LD I0 5 OR I0 4 710 4 ST Q04 An application program is stored internally as List instructions regardless if the program is written in Ladder language or List language TwidoSoft takes advantage of the program structure similarities between the two languages and uses this internal List image of the program to display it in the List and Ladder viewers and editors as either a List program its basic form or graphically as a Ladder diagram depending upon the selected user preference Programs created in Ladder can always be reversed to List However some List logic may not reverse to Ladder To ensure reversibility from List to Ladder it is important to follow the set of List programming guidelines in Guidelines for Ladder List Reversibility p 338 TWD USE 10AE 337 Ladder Language Guidelines for Ladder List Reversibility Instructions Required for Reversibility Non Equivalent Instructions to Avoid The structure of a reversible function block in List language requires the use of the following instructions e BLK marks the block start and defines the beginning of the rung and the start of the input portion to the block e OUT_BLK marks the
286. et value Read Write Drum Controller DRX S Current Step Number Full Read DRx F Read Step counter SCx n Step Counter bit Read Write Register Rx I Input Read Write Rx O Output Read Write Rx E Empty Read Rx F Full Read Shift bit register SBR x yy Register Bit Read Write Message MSGx D Done Read MSGx E Error Read AS Interface slave input lAX y Z Value Read Force AS Interface analog slave input IWAx y z Value Read AS Interface slave output QAXx y Z Value Read Write Force AS Interface analog slave output QWAx y z Value Read Write CANopen slave PDO input IWCx y z Single word value Read CANopen slave PDO output PQWCx y z Single word value Read Write 312 TWD USE 10AE Operator Display Operation Notes 1 means a 32 bit double word variable The double word option is available on all controllers with the exception of the Twido TWDLC A10DRF controllers 2 Variables will not be displayed if they are not used in an application since Twido uses dynamic memory allocation 3 If the value of MW is greater than 32767 or less than 32768 the operator display will continue to blink 4 Ifthe value of SW is greater than 65535 the operator display continues to blink except for SWO and SW11 If a value is entered that is more than the limit the value will return to the configured value 5 If a value is entered for PLS P that is more than the limit the value written is the saturation value Displaying
287. eved The following table describes LIFO operation Step Description Example 1 When a storage request is received rising Storage of the contents of Ri edge at input or activation of instruction I at the top of the stack the contents of input word Ri which has already been loaded are stored at the top 20 of the stack Fig a When the stack is full t output F 1 no further storage is possible Ri l a 20 80 50 2 When a retrieval request is received rising Retrieval of the data word high edge at input est in the stack O or activation of instruction O the highest data word last word to be entered is Ri O loaded into word Ri 0 Fig b When the register is empty output E 1 no further 20 20 retrieval is possible Output word Ri O 80 b does not change and retains its value 50 3 The stack can be reset at any time state 1 at input R or activation of instruction R The element indicated by the pointer is then 80 the highest in the stack 50 444 TWD USE 10AE Advanced Instructions FIFO operation Introduction Operation In FIFO operation First In First Out the first data item entered is the first to be retrieved The following table describes FIFO operation Step Description Example 1 Wh
288. f PID Note function p 532 section Advice We strongly recommend you enter the memory words addresses in these fields in order to enter these values in online mode thus avoiding switching to offline mode to make on the fly changes to values TWD USE 10AE 501 Advanced Instructions Output Tab Setting The following table shows how to set the Output tab in the PID dialog box A WARNING RISK OF SYSTEM OVERLOAD You are reminded that manual mode has a direct effect on the controller output Consequently sending a manual setpoint Output field acts directly on the open controlled system You should therefore proceed with care in this operating mode Failure to follow this instruction can result in death serious injury or equipment damage Step Action 1 In the Output tab enter the selection from the Action drop down list This selection depends on the configured system e Direct action the controller output decreases as the variation value setpoint measurement increases cold controller e Inverse action Direct action the controller output decreases as the variation value setpoint measurement increases hot controller Important When using the AT function this list automatically selects Bit address The operating mode is determined by the AT function and in this case entered in the bit associated with this field Where necessary enter the threshold values of the
289. fers an automatic slave addressing utility so that an AS Interface console does not have to be used The automatic addressing utility is used for e replacing a faulty slave e inserting a new slave The table below shows the procedure for setting the Automatic addressing parameter Step Action 1 Access the AS Interface V2 master module s configuration screen 2 Click on the Automatic addressing check box found in the Master mode zone Result The Automatic addressing utility will be activated box checked or disabled box not checked Note By default the Automatic addressing parameter has been selected in the configuration screen TWD USE 10AE 225 Installing the AS Interface bus How to insert a slave device into an existing AS Interface V2 configuration Ata Glance Procedure It is possible to insert a device into an existing AS Interface V2 configuration without having to use the pocket programmer This operation is possible once the Automatic addressing utility of configuration mode is active See Automatic addressing of an AS Interface V2 slave p 225 a single slave is absent in the physical configuration the slave which is to be inserted is specified in the configuration screen the slave has the profile expected by the configuration the slave has the address 0 A The AS Interface V2 module will therefore automatically assign to the slave the value pre
290. fers two services for communication Exchange e EXCHx instruction to transmit receive messages e MSGx Function Block to control the message exchanges The Twido controller uses the protocol configured for that port when processing an EXCHx instruction Note Each communications port can be configured for different protocols or the same The EXCHx instruction or MSGx function block for each communications port is accessed by appending the port number 1 or 2 134 TWD USE 10AE Communications EXCHx Instruction The EXCHx instruction allows the Twido controller to send and or receive information to from Modbus devices The user defines a table of words MWi L containing control information and the data to be sent and or received up to 250 bytes in transmission and or reception The format for the word table is described earlier A message exchange is performed using the EXCHx instruction Syntax EXCHx MWi L where x port number 1 or 2 L number of words in the control words transmission and reception tables The Twido controller must finish the exchange from the first EXCHx instruction before a second can be launched The MSGx function block must be used when sending several messages The processing of the EXCHx list instruction occurs immediately with any transmissions started under interrupt control reception of data is also under interrupt control which is considered background processing
291. ficant byte Least significant byte Index Control table 0 01 Transmission 06 Transmission length reception 1 03 Reception Offset 00 Transmission offset Transmission table 2 Slave 1 247 03 or 04 Request code 3 Address of the first word to read 4 N Number of words to read Reception table 5 Slave 1 247 03 or 04 Response code after response 6 00 byte added by Rx 2 N number of bytes read Offset action 7 First word read Second word read if N gt 1 N 6 Word N read if N gt 2 This byte also receives the length of the string transmitted after response Note The Rx offset of three will add a byte value 0 at the third position in the reception table This ensures a good positioning of the number of bytes read and of the read words values in this table TWD USE 10AE 145 Communications Modbus Master Write Bit This table represents Request 05 Table Most significant byte Least significant byte Index Control table 0 01 Transmission 06 Transmission length reception 1 00 Reception offset 00 Transmission offset Transmission table 2 Slave 1 247 05 Request code 3 Address of the bit to write 4 Bit value to write Reception table 5 Slave 1 247 05 Response code after response 6 Address of the bit written 7 Value written This byte also receives the length of the string transmitted after resp
292. formation on the frames exchanged with the remote controller If the Number of timeouts increases or is other than 0 change the value using Connection management accessible using Twidosoft by clicking File then Preferences and Connection management Click on the timeout field then click the modification button and enter a new higher value The default value is 5000 in milliseconds Try again with a new connection Adjust the value until your connection stabilizes tq MODBUS Driver MODBUS01 Configuration Runtime Debu About g g Communication Mode RTU Connections e aa Frames Sent 7 Bytes Sent o Frames Received y Bytes Received o Number of Timeouts o Checksum Errors m Reset Hide TWD USE 10AE 99 Communications Examples e Example 1 Twidosoft connected to a TWD LMDA 20DRT Windows 98 SE e PC Toshiba Portege 3490CT running Windows 98 e Modem internal on PC Toshiba internal V 90 modem e Twido Controller TWD LMDA 20DRT version 2 0 e Modem connected to Twido Type Westermo TD 33 V 90 reference SR1 MOD01 available from the new Twido catalog September 03 see Appendix 2 p 102 North American customers only The modem type that is available in your area is TD 33 V 90 US e Cable TSX PCX 1031 connected to Twido communication port 1 and an adaptor 9 pin male 9 pin male in order to cross Rx and Tx during connection between th
293. from the IP Configure tab the above table displays the current IP address subnet and gateway settings that you have previouly entered in the IP Configure tab Note The remaining fields provide information about the current status of the Ethernet connection To find out The IP information displayed in this table varies depending on the user settings in the IP Configure tab of the Ethernet Configuration dialogbox see P Address Configure Tab p 167 e if you selected From a Server in the IP Configure tab the above table displays the default IP address derived from MAC address of the Twido controller the default subnet and gateway as well Note that the default IP address is used in fallback mode only if no valid BootP served IP address can be obtained from TWD USE 10AE 163 Communications Private IP Addresses Assigning an IP Address to your Controller If your network is stand alone isolated from the Internet you may therefore assign to your network node Twido controller any arbitrary IP address as long as the IP address conforms to the IANA notation rule and it doesn t conflict with the IP address of another device already connected to the network Privates IP addresses meet the need for arbitrary IP addressing over a stand alone network Note that addresses within this private address space will only be unique within the enterprise The following table outlines the private IP address space Network
294. g a program A group of bits which form a discrete block of information Frames contain network control information or data The size and composition of a frame is determined by the network technology being used Two common framing types are Ethernet Il and IEEE 802 3 A program unit of inputs and variables organized to calculate values for outputs based on a defined function such as a timer or a counter G Gateway A device which connects networks with dissimilar network architectures and which operates at the Application Layer This term may refer to a router Grafcet Grafcet is used to represent the functioning of a sequential operation in a structured and graphic form This is an analytical method that divides any sequential control system into a series of steps with which actions transitions and conditions are associated H Host A node on a network Hub A device which connects a series of flexible and centralized modules to create a network TWD USE 10AE 621 Glossary Init state Initialize Instance Instruction List The operating state of TwidoSoft that is displayed on the Status Bar when TwidoSoft is started or does not have an open application A command that sets all data values to initial states The controller must be in Stop or Error mode A unique object in a program that belongs to a specific type of function block For example in the timer format TMi i is a number representing the inst
295. g edge appears at the The Ci V current value is upcounting input CU or incremented by one unit instruction CU is activated The Ci V current value is equal The preset reached output bit Ci D to the Ci P preset value switches to 1 The Ci V current value The output bit Ci F upcounting changes from 9999 to 0 overflow switches to 1 If the counter continues to count The output bit Ci F upcounting up overflow is reset to zero Downcount A rising edge appears at the The current value Ci V is downcounting input CD or decremented by one unit instruction CD is activated The current value Ci V The output bit Ci E downcounting changes from 0 to 9999 overflow switches to 1 If the counter continues to count The output bit Ci F downcounting down overflow is reset to zero Up down count To use both the upcount and downcount functions simultaneously or to activate both instructions CD and CU the two corresponding inputs CU and CD must be controlled simultaneously These two inputs are then scanned in succession If they are both at 1 the current value remains unchanged Reset Input R is set to state 1 or the R The current value Ci V is forced to 0 instruction is activated Outputs Ci E Ci D and Ci F are at 0 The reset input has priority Preset If input S is set to 1 or the S The current value Ci V takes the instruction is activated andthe Ci P value and the Ci D output is reset input is at O
296. g output card linked to the actuator or handled via a PWM adjustment on a discrete output of the controller The following diagram schematizes the principal of a regulation loop Animation Table Running TwidoSoft Corrector Adapter 4 INPUTS OUTPUTS PLC MEASURE ORDER Process to order SENSORS ACTUATORS 518 TWD USE 10AE Advanced Instructions Development Methodology of a Regulation Application Diagram of the The following diagram describes all of the tasks to be carried out during the creation Principal and debugging of a regulation application Note The order defined depends upon your own work methods and is provided as an example PID Application Configuration Configuration of Y Y Application Data Input of constant and mnemonic data and numerical values Programming Ladder List Regulation functions Operator dialogue Y API Connector Transfer of the application in the PLC i i Animation tables Debugging Debugging Variable table program PC and adjustment y y y File Save Operation Operation of the Storing the of control process via PC application loops Documentation Application folder TWD USE 10AE 519 Advanced In
297. g point objects Arithmetic Funtion Limit range and invalid operations Type Syntax QNAN Invalid INF Infinite Square root of an SQRT x x lt 0 x gt 1 7E38 operand Power of an integer EXPT y x x lt 0 y In x gt 88 by a real where EXPT MF MW x4y MWA MF Base 10 logarithm LOG x x lt 0 x gt 2 4E38 Natural logarithm LN x x lt 0 x gt 1 65E38 Natural exponential EXP x x lt 0 x gt 88 0 Floating point and double word operations are not supported by all Twido controllers The following table shows hardware compatibility Twido controller Double words Floating supported points supported TWDLMDA40DUK Yes Yes TWDLMDA40DTK Yes Yes TWDLMDA20DUK Yes No TWDLMDA20DTK Yes No TWDLMDA20DRT Yes Yes TWDLCA 40DRF Yes Yes TWDLC A24DRF Yes No TWDLC A16DRF Yes No TWDLC A10DRF No No TWD USE 10AE 33 Twido Language Objects Validity Check Description of Floating Point When the result is not within the valid range the system bit S18 is set to 1 The status word SW17 bits indicate the cause of an error in a floating operation Different bits of the word SW17 SW17 X0 Invalid operation result is not a number 1 NAN or 1 NAN SW17 X1_ Reserved SW17 X2_ Divided by 0 result is infinite 1 4 INF or 1 INF SW17 X3 Result greater in absolute value than 3 402824e 3
298. g the AS Interface V2 bus 9 At a Glance Subject of this This chapter provides information on the software installation of the AS Interface Chapter Master module TWDNOI10M3 and its slaves What s in this This chapter contains the following topics Chapter Topic Page Presentation of the AS Interface V2 bus 202 General functional description 203 Software set up principles 206 Description of the configuration screen for the AS Interface bus 207 Configuration of the AS Interface bus 209 Description of the debug screen 215 Modification of Slave Address 218 Updating the AS Interface bus configuration in online mode 220 Automatic addressing of an AS Interface V2 slave 225 How to insert a slave device into an existing AS Interface V2 configuration 226 Automatic replacement of a faulty AS Interface V2 slave 227 Addressing I Os associated with slave devices connected to the AS Interface 228 V2 bus Programming and diagnostics for the AS Interface V2 bus 229 AS Interface V2 bus interface module operating mode 233 TWD USE 10AE 201 Installing the AS Interface bus Presentation of the AS Interface V2 bus Introduction The AS Interface Bus Actuator Sensor Interface allows the interconnection on a single cable of sensor devices actuators at the lowest level of automation These sensors actuators will be defined in the documentation as slave devices To implement the
299. g up the List and Ladder program editors Specialized TwidoSoft window used to view program errors and warnings A Twido controller There are two types of controllers Compact and Modular controller Protection Refers to two different types of application protection password protection which provides access control and controller application protection which prevents all reads and writes of the application program Protocol Describes message formats and a set of rules used by two or more devices to communicate using those formats PWM Pulse Width Modulation A function block that generates a rectangular wave with a variable duty cycle that can be set by a program R RAM Random Access Memory Twido applications are downloaded into internal volatile Real time clock Reflex output Registers Remote controller RAM to be executed An option that will keep the time even when the controller is not powered for a limited amount of time In a counting mode the very fast counter s current value VFC V is measured against its configured thresholds to determine the state of these dedicated outputs Special registers internal to the controller dedicated to LIFO FIFO function blocks A Twido controller configured to communicate with a Master Controller on a Remote Link network TWD USE 10AE 625 Glossary Remote link Resource manager Reversible instructions Router RTC RTU Run Rung Rung hea
300. ge of the Unknown slave to the configuration screen Step Description 1 Access the Debug screen Select the desired slave in the AS interface V2 Configuration zone Right click on the mouse to select Transfer Conf Illustration Configuration AS interface V2 Configuration Std A Slaves B Slaves 00 Li XVBC21A 01 02 03 ASI20MTAIE 04 05 INOUT24 12 06 WXA36 07 08 09 12 Transfer Conf Ctrl T 15 Unknown 16 x Result The image of the selected slave image of the profile and parameters is then transferred to the configuration screen 4 Repeat the operation for each of the slaves whose image you would like to transfer to the configuration screen TWD USE 10AE 221 Installing the AS Interface bus Return to the Configuration When the user returns to the configuration screen all the new slaves unexpected which have been transferred are visible Screen Illustration of the configuration screen following the transfer of all slaves AS interface V2 Configuration Std A Slaves B Slaves a 00 j 02 03 ASI20MTAIE 04 05 X INOUT24 12 06 WXA36 07 08 09 10 41 Unknown 12 1
301. guration Hardware gt Add Option Hardware gt Add Option TWDNOZ485 TWDNOZ485 Hardware gt Controller Comm Setting Hardware gt Controller Comm Setting Serial Port 2 Serial Port 2 Protocol Modbus Protocol Modbus Address 1 Address 2 Baud Rate 19200 Baud Rate 19200 Data Bits 8 RTU Data Bits 8 RTU Parity None Parity None Stop Bit 1 Stop Bit 1 Response Timeout x100ms 10 Response Timeout x100ms 100 Time between frames ms 10 Time between frames ms _10 In both master and slave applications the optional EIA RS 485 ports are configured Ensure that the controller s communication parameters are modified in Modbus protocol and at different addresses In this example the master is set to an address of 1 and the slave to 2 The number of bits is set to 8 indicating that we will be using Modbus RTU mode If this had been set to 7 then we would be using Modbus ASCII mode The only other default modified was to increase the response timeout to 1 second TWD USE 10AE 139 Communications Note Since Modbus RTU mode was selected the End of Frame parameter was ignored Step 4 Write the application LD1 LD 1 MWO 1640106 oMWO 16 6566 MW1 1640300 MW1 16 6768 MW2 1640208 MW2 16 6970 MW3 1640000 MW3 16 7172 MW4 1640004 END LD1 AND MSG2 D EXCH2 MW0 1 1 LD MSG2 E ST Q0 0 END
302. he EXCHS instruction Code e bits MSG3 D and MSG3 E are set to 1 and e the Ethernet communication error code is recorded into system word SW65 The following table presents the EXCHS error code EXCH3 Error Code recorded into System Word SW65 Standard error codes common to all EXCHx x 1 2 3 0 operation was successful 1 number of bytes to be transmitted is too great gt 128 2 transmission table too small 3 word table too small 4 receive table overflowed 5 time out elapsed Note that eror code 5 is void with the EXCHS instruction and replaced by the Ethernet specific error codes 109 and 122 described below 6 transmission 7 bad command within table 8 selected port not configured available 9 reception error 10 can not use KW if receiving 11 transmission offset larger than transmission table 12 reception offset larger than reception table 13 controller stopped EXCH processing Ethernet specific error codes for EXCH3 101 no such IP address 102 the TCP connection is broken 103 no socket available all connection channels are busy 104 network is down 105 network cannot be reached 106 network dropped connection on reset 107 connection aborted by peer device 108 connection reset by peer device 109 connection time out elapsed 110 rejection on connection attempt 111 host is down 120 unknown index remote device is not indexed in configuratio
303. he STP state or from STP to RUN or from RUN to STP Do the following to change the state of the controller Step Action 1 Press the gt key until the Operations Display is shown or press ESC The current controller state is displayed in the upper left corner of the display area Press the MOD ENTER key to enter edit mode Press the a key to select a controller state 4 Press the MOD ENTER key to accept the modified value or press the ESC key to discard any modifications made while in edit mode 310 TWD USE 10AE Operator Display Operation System Objects and Variables Introduction System Objects and Variables The optional Operator Display provides these features for monitoring and adjusting application data e Select application data by address such as l or Q e Monitor the value of a selected software object variable e Change the value of the currently displayed data object including forcing inputs and outputs The following table lists the system objects and variables in the order accessed that can be displayed and modified by the Operator Display Object Variable Attribute Description Access Input Ix y Z Value Read Force Output QX Y Z Value Read Write Force Timer TMX V Current Value Read Write TMX P Preset value Read Write TMX Q Done Read Counter Cx V Current Value Read Write Cx P Preset value Read W
304. he bottom of TwidoPort 280 TWD USE 10AE Configuring the TwidoPort Ethernet Gateway Step Description Action 4 Serial and Ethernet Connections Connect the modular plug end of the supplied TwidoPort to Twido cable to ce gt serial na serial port and connect the other end to the Twido PLC s RS 485 serial port LCA ii Connect the RJ 45 plug from a standard Ethernet network cable not supplied into TwidoPort s Ethernet port Bottom plug from Ethernet either a straight or crossover cable Declaring the The table below shows the different stages when declaring the 499TWD01 100 499TWD01100 TwidoPort module TwidoPort Module Step Action Comment 1 While using TwidoSoft v 3 0 or higher 1 x configure the Twido controllers il untitled communication options by performing a Ei TWDLMDA40DUK right click Port 1 xxxxxx 1 gt oH Hardware Edit Controller Comm Setup using aA Port 1 Remote Link 1 the TwidoSoft Application Browser Do See note 1 d Add a modem Note 1 Any RS 485 Modbus port on Twido can be used Note 2 For the fastest initial autobaud choose 19200 8 N 1 with a Twido Modbus address of 1 TWD USE 10AE 281 Configuring the TwidoPort Ethernet Gateway
305. he complete PLC configuration file into the Twido controller TWD USE 10AE 175 Communications Ethernet Connections Management Overview The following information describes how to configure add delete select a PC to controller Ethernet TPC IP connection Setting Upa New To set up an Ethernet TCP IP connection between your PC running the TwidoSoft TCP IP application and a TWDLCAE4ODRF controller installed on your network follow Connection these instructions Select File Preferences from TwidoSoft menu bar to call up Connexions management dialog box Connections management Connection type IP Phone P Unit Address Baudrate Stop Bits Timeout Break timeout Serial COM1 Punit 5000 20 Modify Delete Action Click the Add button in the Connections Management dialog box Result A new connection line is added The new line displays suggested default connection settings You will need to change these settings Note To set a new value in a field you have two options e Select the desired field then click the Modify button e Double click the desired field 2 In the Name field enter a descriptive name for the new connection A valid name may contain up to 32 alphnumeric characters 3 In the Connection Type field click to unfold the dropdown list that includes TCP IP Serial Modem if any and USB if any Select TCP IP as you ar
306. he following Step Action 1 Power down the controller Plug in the backup cartridge 3 Powerup the controller If Auto Start is configured you must power cycle again to get to run mode Power down the controller Remove backup cartridge from controller Data MWs Here are the steps for backing up data memory words into the EEPROM Backup Step Action 1 For this to work the following must be true A valid program in RAM The same valid program already backed up into the EEPROM Memory words configured in the program 2 Set SW97 to the length of the memory words to be saved Note Length cannot exceed the configured memory word length and it must be greater than 0 but not greater than 512 3 Set SW9E6 X0 to 1 Data MWs Restore MWs manually by setting system bit S95 to 1 Restore For this to work the following must be true e A valid backup application is present in the EEPROM e The application in RAM matches the backup application in EEPROM e The backup memory words are valid TWD USE 10AE 57 User Memory Using the 64K Extended Memory Cartridge Introduction The following information details using the memory functions in modular controllers using a 64K extended memory cartridge Ata Glance The 64K extended memory cartridge is used to extend the program memory capability of yo
307. he number use this syntax 0 0231858445 or 9 0231858445 Connections management Name Connection type IP Phone P Unit Adress Baudrate Parity Stop Bits Timeout Break timeout COM1 Serial COM1 19200 None 1 5000 20 TCPIPO1 TCP IP 192 163 1 101 Direct 3000 500 My Modem1 MODEM TOSHIBA 0 0231858445 19200 None 1 5000 20 Add Delete For international calls the syntax is 19788699001 for example And if you are using a switchboard 0 19788699001 Connections management Name Connection type IP Phone P Unit Adress Baudrate Parity Stop Bits Timeout Break timeout COM1 Serial COM1 19200 None 1 5000 20 TCPIPO1 TCP IP 192 163 1 101 Direct 3000 500 My Modem1 MODEM TOSHIBA 0 19788699001 19200 None 1 5000 20 Add OK 98 TWD USE 10AE Communications Frequently When your communication has been established for a few minutes you can Asked Questions experience some communication errors In this case you must adjust the communication parameters Twidosoft uses a modbus driver to communicate via serial ports or internal modems When communication starts the modbus driver is visible in the toolbar Double click on the modbus driver icon to open the window You now have access to the modbus driver parameters and the runtime tab gives you in
308. he outputs are updated and the next scan is started Examples Example of an unconditional END instruction PMI LD MI ST Q0 1 LD M2 ST Q0 2 M2 END TWD USE 10AE 429 Basic Instructions Example of a conditional END instruction M1 QO0 1 M2 QO 2 10 2 END M2 QO 2 MI Q0 1 M2 Q0 2 10 2 gt If 10 2 1 end of M2 program scanning Q0 2 If l0 2 0 continues program scanning until new END instruc tion 430 TWD USE 10AE Basic Instructions NOP Instruction NOP The NOP instruction does not perform any operation Use it to reserve lines ina program so that you can insert instructions later without modifying the line numbers TWD USE 10AE 431 Basic Instructions Jump Instructions Introduction JMP JMPC and JMPCN Jump instructions cause the execution of a program to be interrupted immediately and to be continued from the line after the program line containing label Li i 1 to 16 for a compact and 1 to 63 for the others Three different Jump instructions are available e JMP unconditional program jump e JMPC program jump if Boolean result of preceding logic is 1 e JMPCN program jump if Boolean result of preceding logic is 0 Examples Examples of jump instructions 000 LD M15 001 JMPC L8 Jump to label L8
309. he purpose of the rung Each line can consist of 1 to 64 characters For List programs enter text on n unnumbered program line Comments must be inserted within parenthesis and asterisks such as COMMENTS GO HERE Type of Twido controller that provides a simple all in one configuration with limited expansion Modular is the other type of Twido controller Specialized TwidoSoft window used to manage hardware and software configuration A configured value that cannot be modified by the program being executed A ladder diagram element representing an input to the controller A function block used to count events up or down counting Generation of a list of operands symbols line rung numbers and operators used in an application to simplify creating and managing applications A specialized window in the TwidoSoft application for viewing cross references TWD USE 10AE 619 Glossary Data variable Date Clock functions Default gateway Drum controller See Variable Allow control of events by month day of month and time of day See Schedule Blocks The IP address of the network or host to which all packets addressed to an unknown network or host are sent The default gateway is typically a router or other device A function block that operates similar to an electromechanical drum controller with step changes associated with external events EDS EEPROM Erase Executive loader Expansion bus
310. hey have a positive value Multiple timing can be achieved by successive loading of one of these words or by testing the intermediate values If the value of one of these four words is less than O it will not be modified A timer can be frozen by setting the corresponding bit 15 to 1 and then unfrozen by resetting it to 0 396 TWD USE 10AE Basic Instructions Programming The following is an example of programming a timer function block Example LDR lI0 1 Launching the timer on the rising edge of l0 1 SW76 XXXX XXXX required value LD 10 2 optional management of freeze input 10 2 freezes ST SW76 X15 LD SW76 0 timer end test ST MO 10 1 SW76 XXXX 10 2 SW76 X15 MO g z SW76 0 TWD USE 10AE 397 Basic Instructions Up Down Counter Function Block Ci Introduction The Counter function block Ci provides up and down counting of events These two operations can be done simultaneously Illustration The following is an illustration of the up down Counter function block Ci ADJ Y cpt lcu Ci P 9999 CD E Up down counter function block 398 TWD USE 10AE Basic Instructions Parameters The Counter function block has the following parameters Parameter Label Value Counter number Ci 0 to 127 Current Value Ci V Word is incremented or decremented
311. hift function General There are 2 shift functions e ROL_ARR performs a rotate shift of n positions from top to bottom of the elements in a floating word table Illustration of the ROL_ARR functions OWN O e ROR_ARR performs a rotate shift of n positions from bottom to top of the elements in a floating word table Illustration of the ROR_ARR functions iin 586 TWD USE 10AE Advanced Instructions Structure Ladder language l3 2 P ROL_ARR KW0 MD20 7 l1 2 P ROR_ARR 2 MD20 7 P ROR_ARR 2 MF40 5 Instruction List Language LDR 13 2 ROL ARR KWO MD20 7 LDR 11 2 ROR_ARR 2 MD20 7 LDR 11 3 ROR_ARR 2 MF40 5 Syntax Syntax of rotate shift instructions in floating word or double word tables ROL_ARR and ROR_ARR Function Syntax ROL_ARR Function n Tab ROR_ARR Parameters of rotate shift instructions for floating word tables ROL_ARR and ROR_ARR Type Number of positions n Table Tab Floating word tables MWi immediate value MFi L Double word tables MWi immediate value MDi L Note if the value of n is negative or null no shift is performed TWD USE 10AE 587 Advanced Instructions Table sort function
312. his function allows you to reserve one of the four Ethernet TCP connection channels supported by your Twido controller for a particular client host designated as Marked IP Marked IP can ensure that one TCP channel is reserved and always available for communication with the specified remote device even if the idle timeout is disabled idle timeout is set to 0 The following figure presents a sample screen of the Marked IP tab showing an example of marked IP address entered by the user Ethernet Configuration IP Address Configure Marked IP Time out Remote Devices v Specify a marked Please specify one IP address for marked connection IP Address 192 168 1 50 TWD USE 10AE 169 Communications Configuring the Marked IP tab To configure the Marked IP tab follow these steps Step Action 1 Check the box labeled Specify a marked IP address to enable the Marked IP function Note that Marked IP is disabled as default Result The IP address box becomes active in the right portion of the frame as shown in the previous figure Enter the IP address of the client host you wish to mark the IP in the provided IP address box Note There is no default value in this field You must provide the IP address of the marked device or otherwise uncheck the Specify a marked IP address box to disable this function 170 TWD USE 10AE Co
313. hows execution time of shortest controller scan cycle since the last S cold start in ms Note This time corresponds to the time elapsed between the start acquisition of inputs and the end update of outputs of a scan cycle SW48 Number of events Shows how many events have been executed since the last cold S start Counts all events except periodic events Note Set to 0 after application loading and cold start increments on each event execution TWD USE 10AE 607 System Bits and Words System Function Description Control Words SW4Y Real Time Clock RTC RTC Functions words containing current date and time values in S and U SW50 BCD SW51 SW49 xN Day of the week N 1 for SW52 Monday SW53 SW50 00SS Seconds SW51 HHMM Hour and minute SW52 MMDD Month and day SW53 CCYY Century and year These words are controlled by the system when bit S50 is at 0 These words can be written by the user program or by the terminal when bit S50 is set to 1 On a falling edge of S50 the controller s internal RTC is updated from the values written in these words SW54 Date and time of the System words containing the date and time of the last power failure S SW55 last stop or controller stop in BCD SW56 SW54 SS Seconds SW57 F SW55 HHMM Hour and minute SW56 MMDD Month and day SW57 CCYY Century and year
314. ia the software disconnect the PC from the module Note No modification can be carried out in the configuration screen if the PC is connected to the module Right click on the desired slave 2 choices Select Accept Conf to accept the detected profile of the selected slave Illustration AS interface V2 Configuration Std A Slaves B Slaves 4 00 XVBC21A 01 02 03 ASI20MT4IE 04 05 4 06 New Ctrl N WXA36 07 Open Ctrl O Cut Ctrl X 08 Se Copy Ctrl C 09 Paste Ctrl V 0 Clear Suppr i Accept Cont Ctrl A 12 13 14 15 Unknown 16 I For each of the slaves marked with a cross a message will warn the user that this operation will overwrite the initial profile displayed on screen of the slave Select the other choices in the right click menu to configure the selected slave manually TWD USE 10AE 223 Installing the AS Interface bus Step Action 4 Repeat the operation for each of the desired slaves in the configuration Press the OK button to confirm and create the new application Result Automatic return to the main screen 6 Transfer the application to the module 224 TWD USE 10AE Installing the AS Interface bus Automatic addressing of an AS Interface V2 slave At a Glance Procedure Each slave on the AS Interface bus must be assigned via configuration a unique physical address This must be the same as the one declared in TwidoSoft TwidoSoft software of
315. ibility When reversing a program from List to Ladder TwidoSoft uses some of the List comments to construct a rung header For this the comments inserted between List sequences are used for rung headers The following is an example of a List program with List Line Comments THIS IS THE TITLE OF THE HEADER FOR RUNG 0 THIS IS THE FIRST HEADER COMMENT FOR RUNG 0 THIS IS THE SECOND HEADER COMMENT FOR RUNG 0 0 LD 10 0 THIS IS A LINE COMMENT 1 OR I0 1 ALINE COMMENT IS IGNORED WHEN REVERSING TO LADDER 2 ANDM M10 3 ST M101 THIS IS THE HEADER FOR RUNG 1 THIS RUNG CONTAINS A LABEL THIS IS THE SECOND HEADER COMMENT FOR RUNG THIS IS THE THIRD HEADER COMMENT FOR RUNG THIS IS THE FOURTH HEADER COMMENT FOR RUNG 1 4 LS 5 LD M101 6 MW20 KW2 16 THIS RUNG ONLY CONTAINS A HEADER TITLE 7 LD Q0 5 8 OR I0 3 9 ORR I0 13 10 ST Q0 5 When List instructions are reversed to a Ladder diagram List Line Comments are displayed in the Ladder Editor according to the following rules Ladder e The first comment that is on a line by itself is assigned as the rung header e Any comments found after the first become the body of the rung e Once the body lines of the header are occupied then the rest of the line comments between List sequences are ignored as are any comments that are found on list lines
316. ical Processing At a Glance Aim of this This section provides an introduction to Numerical Processing including descriptions Section and programming guidelines What s in this This section contains the following topics Section Topig Page Introduction to Numerical Instructions 410 Assignment Instructions 411 Comparison Instructions 416 Arithmetic Instructions on Integers 418 Logic Instructions 422 Shift Instructions 423 Conversion Instructions 425 Single double word conversion instructions 427 TWD USE 10AE 409 Basic Instructions Introduction to Numerical Instructions At a Glance Numerical instructions generally apply to 16 bit words see Word Objects p 29 and to 32 bit double words See Floating point and double word objects p 32 They are written between square brackets If the result of the preceding logical operation was true Boolean accumulator 1 the numerical instruction is executed If the result of the preceding logical operation was false Boolean accumulator 0 the numerical instruction is not executed and the operand remains unchanged 410 TWD USE 10AE Basic Instructions Assignment Instructions Introduction Assignment Assignment of Bit Strings Assignment instructions are used to load operand Op2 into operand Op1 Syntax for Assignment instructions Op1 Op2 lt gt Op2 gt Opt Assignment operations can be performed
317. ications Modbus TCP IP Note Modbus TCP IP is solely supported by TWDLCAE40DRF series of compact controllers with built in Ethernet network interface The following information describes the Modbus Application Protocol MBAP The Modbus Application Protocol MBAP is a layer 7 protocol providing peer to peer communication between programmable logic controllers PLCs and other nodes on a LAN The current Twido controller TWDLCAE4ODRF implementation transports Modbus Application Protocol over TCP IP on the Ethernet network Modbus protocol transactions are typical request response message pairs A PLC can be both client and server depending on whether it is querying or answering messages TWD USE 10AE 85 Communications TwidoSoft to Controller communications At a Glance Each Twido controller has on its Port 1 a built in EIA RS 485 terminal port This has its own internal power supply Port 1 must be used to communicate with the TwidoSoft programming software No optional cartridge or communication module can be used for this port A modem however can use this port There are several ways to connect the PC to the Twido controller RS 485 Port 1 e By TSXPCX cable e By telephone line Modem connection Moreover the TWDLCAE40DRF compact controller has a built in RJ 45 Ethernet network connection port that can be used to communicate with the Ethernet capable PC running the TwidoSoft programming software
318. idoPort s gateway Gateway Parameters Step Action Comment 1 Start a Telnet session Use the instructions above to open the Telnet main menu See Telnet Main Menu p 288 Select type 3 to change the gateway parameters See the following figure The following gateway parameters are available 1 Slave Address Source FIXED If the slave address source is FIXED set the address to the value of the Twido controller s Modbus address Valid addresses are in the 1 to 247 range UNIT_ID TheunitID of the Modbus TCP frame will be used 2 Gateway Mode SLAVE Only option for this version 3 MB broadcasts DISABLED No broadcast messages are sent on TwidoPort s serial port ENABLED Broadcast messages are sent from the Twido controller s serial port See note below 4 Select R and press Enter The Telnet main menu appears You may have to press Enter again to update the screen Note Twido does not support any broadcast Modbus messages Example of The following figure shows an example of TwidoPort s gateway settings Gateway Telemecanique 499 TWD i 100 Configuration and Diagnostics Settings lt c 2004 Schneider Automation Inc Gateway Configuration 1 gt Slave Address Source UNIT_ID 2 gt Slave Address 26 3 gt Gateway Mode SLAVE 4 gt MB Broadcasts ENABLED Commands R gt eturn to Main Menu Select Command or Parameter 1 4 gt to change m
319. if M15 002 LD MW24 gt MW 12 is at 1 003 ST M15 004 JMP L12 Unconditional jump to label 005 L8 q L12 006 LD M12 007 AND M13 008 ST M12 009 JMPCN L12 Jump to label L12 if 010 OR M11 M12 is at 0 Oll sS Q0 0 012 L12 lt 013 LD 10 0 Guidelines e Jump instructions are not permitted between parentheses and must not be placed between the instructions AND OR and a close parenthesis instruction es e The label can only be placed before a LD LDN LDR LDF or BLK instruction e The label number of label Li must be defined only once in a program e The program jump is performed to a line of programming which is downstream or upstream When the jump is upstream attention must be paid to the program scan time Extended scan time can cause triggering of the watchdog 432 TWD USE 10AE Basic Instructions Subroutine Instructions Introduction The Subroutine instructions cause a program to perform a subroutine and then return to the main program SRn SRn and The subroutines consist of three steps RET e The SRn instruction calls the subroutine referenced by label SRn if the result of the preceding Boolean instruction is 1 e The subroutine is referenced by a label SRn with n 0 to 15 for TWDLCAA10DRF TWDLCAA16DRF and 0 to 63 for all other controllers e The RET instruction placed at the end of the subroutine returns program flow to the main program Example Examples of subroutine instructions
320. iguration according to what is present on the bus e Acknowledge the slave parameters e Control bus status For this reason all data coming from or going to the AS Interface Master are stored in specific objects words and bits TWD USE 10AE 203 Installing the AS Interface bus AS Interface The AS Interface module includes data fields that allow you to manage the lists of Master Structure slaves and the images of input output data This information is stored in volatile memory The figure below shows TWDNOI10M3 module architecture iti I O data Parameters current Configuration Identification AS Interface bus Key Address Item Description 1 I O data Images of 248 inputs and 186 outputs of AS Interface IDI ODI V2 bus 2 Current parameters Image of the parameters of all the slaves PI PP 3 Configuration This field contains all the I O codes and the Identification identification codes for all the slaves detected CDI PCD LDS List of all slaves detected on the bus 5 LAS List of slaves activated on the bus LPS List of slaves provided on the bus and configured via TwidoSoft 7 LPF List of slaves having a device fault 204 TWD USE 10AE Installing the AS Interface bus Structure of The standard address slaves each have Slave Devices e 4 input output bits e 4parametering bits The slaves with extended addresses each have e 4 input outp
321. in counting mode ICa and IPres ICa is used to capture the current value VFCi V or VFCi VD and stored it in VFCi C or NFCi CD The Ica inputs are specified as l0 0 3 for VFCO and l0 0 4 for VFC1 if available When IPres input is active the current value is affected in the following ways e For up counting VFCi V or VFCi VD is reset to 0 e For downcounting VFCi V or VFCi VD is written with the content of VFCi P or VFCi PD respectively e For frequency counting VFCi V or VFCi PD is set to 0 Warning VFCi F is also set to 0 The IPres inputs are specified as l0 0 2 for NFCO and l0 0 5 for VFC1 if available Notes on For all functions the current value is compared to two thresholds VFCi SO or Function Block NFCi SOD and VFCi S1 or VFCi S1D According to the result of this Outputs comparison two bit objects VFCi THO and VFCi TH1 are set to 1 if the current value is greater or equal to the corresponding threshold or reset to 0 in the opposite case Reflex outputs if configured are set to 1 in accordance with these comparisons Note None 1 or 2 outputs can be configured FC U is an output of the FB it gives the direction of the associated counter variation 1 for UP 0 for DOWN TWD USE 10AE 467 Advanced Instructions Counting Function Diagram IA Up counter input Single signal or phase 1 The following is a counting function diagram in standard mode in double word mode y
322. indeterminate or infinite result and changes bit S18 to 1 the word SW17 See System Words SW p 604 indicates the cause of the error e the functions SIN COS TAN allow as a parameter an angle between _4096r and 49967 but their precision decreases progressively for the angles outside the period _ and 7 because of the imprecision brought by the modulo 27 carried out on the parameter before any operation TWD USE 10AE 573 Advanced Instructions Conversion instructions General These instructions are used to carry out conversion operations DEG_TO_RAD conversion of degrees into radian the result is the value of the angle between 0 and 27 RAD_TO_DEG conversion of an angle expressed in radian the result is the value of the angle between 0 and 360 degrees Structure Ladder language MO MF0 DEG_TO_RAD MF10 M2 MF2 RAD_TO_DEG MF20 Instruction List Language LD MO 4MFO DEG TO RAD MF10 LD M2 MF2 RAD TO DEG MF20 Structured Text language IF MO THEN MFO0 DEG TO RAD MF10 END_IF IF M2 THEN MF2 RAD TO DEG MF20 END IF Syntax Operators operands and syntax of conversion instructions Operators Syntax Operand 1 Op1 Operand 2 Op2 DEG_TO_RAD Op1 Operator Op2 MFi MFi KFi RAD_TO_DEG Rules of use The angle to be converted must be between 737280 0 and
323. ine mode only To configure TwidoPort s Ethernet parameters follow this procedure Step Action Comment Foreword To find out more about IP parameters IP address subnet mask and gateway address please refer to IP Addressing p 160 and Private IP Addresses p 164 1 Right click on TwidoPort Icon inthe Result The Ethernet Configuration dialog box appears as application browser to configure shown in the example below TwidoPort s IP parameters TwidoPort Configuration IP Address Subnetwork mask Gateway Address Cancel 2 Enter TwidoPort s static IP Address Caution For good device communication the IP addresses of in dotted decimal notation the PC running the TwidoSoft application and TwidoPort must See notes 1 and 2 share the same network ID Note 1 Consult with your network or system administrator to obtain valid IP parameters for your network Note 2 To allow good communication over the network each connected device must have a unique IP address When connected to the network TwidoPort runs a check for duplicate IP address If a duplicate IP address is located over the network the STATUS LED will emit 4 flashes periodically You must then enter a new duplicate free IP address in this field Note 3 Unless TwidoPort has special need for subnetting use the default subnet mask Note 4 If there is no gateway device on your network simply ente
324. ing Modes Operating mode Controller in RUN the processor carries out e Internal processing e Acquisition of input e Processing the application program e Updating of output Controller in STOP the processor carries out e Internal processing e Acquisition of input Illustration The following illustration shows the operating cycles Vv Internal Processing Vv Acquiring Inputs RUN J STOP Processing Program V Updating Outputs v Check Cycle The check cycle is performed by watchdog TWD USE 10AE 63 Controller Operating Modes Periodic Scan Introduction Operation Description of Operating Phases In this operating mode acquiring inputs processing the application program and updating outputs are done periodically according to the time defined at configuration from 2 1 50 ms At the beginning of the controller scan a timer the value of which is initialized at the period defined at configuration starts to count down The controller scan must end before the timer has finished and relaunches a new scan The following drawing shows the running phases of the periodic scan time Processing the Processing the program program l Q I P Waiting l Q I P Waiting period period Scan n time Scan n 1 time lt a od Period i p The table below
325. ing the CANopen Fieldbus Pre Operational Stopped Operational The device goes into Pre Operational state e after the Init state e on receiving the Enter Pre Operational NMT indication if it was in Operational state When the device is in this state its configuration can be modified However only SDOs can be used to read or write device related data When configuration is complete the device goes into one of the following states on receiving the corresponding indication e Stopped on receiving the STOP REMOTE NODE NMT indication e Operational on receiving the START REMOTE NODE NMT indication The device goes into the Stopped state on receiving the Node stop indication NMT service if it was in Pre Operational or Operational state In this state the device cannot be configured No service is available to read and write device related data SDO Only the slave monitoring function Node guarding remains active The device goes into the Operational state if it was in the Pre Operational state on receiving the Start Remote Node indication When the CANopen network is started using the Node start NMT services in Operational state all device functionalities can be used Communication can use PDOs or SDOs Note Modifications to the configuration in Operational mode may have unexpected consequences and should therefore only be made in Pre Operational mode 2
326. international organization of users and manufacturers of CAN products 618 TWD USE 10AE Glossary Client COB Coil Cold start or restart Comment lines Comments Compact controller Configuration editor Constants Contact Counter Cross references Cross References Viewer A computer process requesting service from other computer processes Communication OBject transport unit on CAN bus A COB is identified by a unique identifier which is coded on 11 bits 0 2047 A COB contains a maximum of 8 data bytes The priority of a COB transmission is shown by its identifier the weaker the identifier the more priority the associated COB has A ladder diagram element representing an output from the controller A start up by the controller with all data initialized to default values and the program started from the beginning with all variables cleared All software and hardware settings are initialized A cold restart can be caused by loading a new application into controller RAM Any controller without battery backup always powers up in Cold Start In List programs comments can be entered on separate lines from instructions Comments lines do not have line numbers and must be inserted within parenthesis and asterisks such as COMMENTS GO HERE Comments are texts you enter to document the purpose of a program For Ladder programs enter up to three lines of text in the Rung Header to describe t
327. ion 5 The Punit Address field can be filled in when IP Phone has been selected For a TCP IP Type connection default value is Direct For a Serial Type connection default value is Punit When any of those is selected next three fields Baudrate Parity and Stop Bits are disabled If you do not know the controller address allows you to select it later once the program has been downloaded A window pops up before the first connection to let you choose the controller to which you transfer with a 1 247 range and 1 as the default address value 6 Use the default settings in Timeout and Break timeout fields unless you have specific timeout needs For more details please refer to Ethernet Connections Management p 176 7 Click the OK button to save the new connection settings and close the Connections management dialog box Result The names of all newly added connections are added to the dropdown list of connections in the File Preferences dialog box or in the PLC Select a connection menu 158 TWD USE 10AE Communications Connecting your Controller to the Network Overview Determining the Appropriate IP Address Set Ethernet Network Connection The following information describes how to install your TDWLCAE40DRF compact controller on your Ethernet network Consult your network administrator to determine if you must configure a new set of device IP gateway and subnet mask addresses If the administrator
328. ional Operational Stopped PDO object X SDO object X X Emergency X X Boot Up X X NMT X X X The device goes into Reset Application state e after the device starts up e or by using the Reset Node Network management NMT service In this state the device profile is initialized and all the device profile information is reset to default values When initialization is complete the device automatically goes into the Reset Communication state The device goes into the Reset Communication state e after the Reset Application state e or by using the Reset Communication Network management NMT service In this state all the parameters standard value depending on the device configuration of the supported communication objects objects pertaining to device identification such as device type heartbeat etc 1000H 1FFFH are saved in the object directory The device then automatically goes into the Init state Init The device goes into Init mode after being in the Reset Communication state This state enables you to e define the required communication objects SDO PDO Emergency e install the corresponding CAL services e configure the CAN Controller Initialization of the device is complete and the device automatically goes into the Pre Operational state Note The TWDNCO1M CANopen master module does not support SYNC mode TWD USE 10AE 243 Installing and Configur
329. istent as we have a multiplication coefficient of 10 between the temperature and the value read We can also influence the measurement externally to make sure the reading is consistent increase the temperature around the probe to check the measurement also increases Note This test is quite important as the operation of the controller depends essentially on the accuracy of the measurement 3 If you have any doubt about the accuracy of the measurement set the controller to STOP mode and check the wiring to the inputs of the analog card voltmeter or ammeter for inputs 0 10V 4 20mA ohmmeter for the PT100 100 ohms at 20 or Thermocouple a few tens of ohms e First disconnect the probe from the analog card terminals e Check there is no wiring reversal the colors of the wires connected to the inputs compensation cable for the PT100 Warning INO and IN1 input channels have a shared potential at the terminals Check that the analog card is powered by a 24 VDC supply to the first two terminals Check that the 4 20 mA input sensors are supplied The Twido analog input cards are not a source of current 3 To power up the loop controller start by controlling the PID controller in Manual mode in order to increase the limit values needed by the AT function To set the controller to Manual mode 1 Switch the controller to RUN mode 2 Enter the memory addresses with the following values in the animation table e M2 Manual mode sele
330. it Scan Mode Check the Periodic box Set the cycle time as shown in the screen below Scan Mode m Scan Mode O Normal Period 2 150 ms Watchdog 10 150 ms Operating Mode Periodic event Automatic start in Run jv Notused Period 5 255 ms Subprogram number ms ms Note The cycle time should be adjusted to the size of the program and desired performance A time of 50ms is a good compromise 496 TWD USE 10AE Advanced Instructions Step3 Configuring the PID Introduction For this example we have chosen to implement the majority of the PID controller functions for Twido Some selections are not essential and can be simplified Auto Tuning The PID controller has an Auto Tuning function that simplifies the regulation loop AT setting this function is referred to as AT in the rest of the document Operating Modes The Twido PLC PID controller offers four distinct operating modes configurable in the General tab in the PID dialog box e PID Simple PID controller e AT PID The Auto Tuning function is active when the PID starts up and automatically enters the gain values Kp Ti Td PID tab and the type of PID action Output tab At the end of the Auto Tuning sequence the controller switches to PID mode for the adjusted setpoint and using the parameters set by AT e AT The Auto Tuning function is active when the PID
331. it dialog box the Scan Period must be set so that the sampling period Ts is an exact multiple of the scan period as in the following example Scan Period Ts 76 7600 76 100 ms which satisfies the condition 2 ms lt Scan Period lt 150 ms TWD USE 10AE 553 Advanced Instructions Trial and Error The trial and error method consists in providing successive guesses of the sampling Method period to the auto tuning function until the auto tuning algorithm converges successfully towards Kp Ti and Td that are deemed satisfactory by the user Note Unlike the process response curve method the trial and error method is not based on any approximation law of the process response However it has the advantage of converging towards a value of the sampling period that is in the same order of magnitude as the actual value Top perform a trial and error estimation of the auto tuning parameters follow these steps Step Action 1 Select the AT tab from the PID configuration window Set the Output limitation of AT to 10000 Select the PID tab from the PID configuration window AJOJN Provide the first or n guess in the Sampling Period field Note If you do not have any first indication of the possible range for the sampling period set this value to the minimum possible 1 1 unit of 10 ms oa Select PLC gt Transfer PC gt PLC from menu bar to download the application progra
332. itial Sendingy Stinitiaty x63 2 Find out graphically the time abscissa tg3e that corresponds to S 63 3 Find out graphically the initial time tinitian that corresponds the start of the process response rise 4 Compute the time constant t of the control process by using the following relationship T tig3o tinitial Compute the sampling period Ts based the value of t that you have just determined in the previous step using the following rule Ts 1 75 Note The base unit for the sampling period is 10ms Therefore you should round up down the value of Ts to the nearest 10ms 10 Select Program gt Scan mode edit and proceed as follows 1 Set the Scan mode of the Twido PLC to Periodic 2 Set the Scan Period so that the sampling period Ts is an exact multiple of the scan period using the following rule Scan Period Ts n where n is a positive integer Note You must choose n so that the resulting Scan Period is a positive integer in the range 2 150 ms TWD USE 10AE 551 Advanced Instructions Example of Process Response Curve This example shows you how to measure the time constant t of a simple thermal process by using the process response curve method described in the previous subsection The experimental setup for the time constant measurement is as follows e The control process consists in a forced air oven equipped with a heating lamp e Tempera
333. its and Words System Word Function Description Control SW65 EXCH3 block error code EXCH3 error code is implemented on Ethernet capable TWDLCAE40DRF Twido controllers only 1 4 6 13 See SW63 Note that eror code 5 is invalid and replaced by the Ethernet specific error codes 109 and 122 described below The following are Ethernet specific error codes 101 no such IP address 102 the TCP connection is broken 103 no socket available all connection channels are busy 104 network is down 105 network cannot be reached 106 network dropped connection on reset 107 connection aborted by peer device 108 connection reset by peer device 109 connection time out elapsed 110 rejection on connection attempt 111 host is down 120 unknown index remote device is not indexed in configuration table 121 fatal MAC Chip Duplicated IP 122 receiving timed out elapsed after data was sent 123 Ethernet initialization in progress SW67 Function and type of controller Contains the following information Controller type bits 0 11 8B0 TWDLCeA10DRF 8B1 TWDLCeA16DRF 8B2 TWDLMDA20DUK DTK 8B3 TWDLC A24DRF 8B4 TWDLMDA40DUK DTK 8B6 TWDLMDA20DRT 8B8 TWDLCAA4O0DRF 8B9 TWDLCAE40DRF e e e e e e e Bit 12 13 14 15 not used 0 System Words Function Description Control YSWE8 and SWEI Elements to be displayed sim
334. k can be accessed by selecting Schedule Blocks from from the TwidoSoft Software menu Additionally the time of day clock can be set by a program Clock settings continue to operate for up to 30 days when the controller is switched off if the battery has been charged for at least six consecutive hours before the controller is switched off The time of day clock has a 24 hour format and takes leap years into account The RTC Correction value is necessary for the correct operation of the RTC Each RTC unit has its own correction value written on the unit This value is configurable in TwidoSoft by using the Configure RTC option from the Controller Operations dialog box TWD USE 10AE 481 Advanced Instructions Schedule Blocks Introduction Schedule Blocks are used to control actions at a predefined month day and time A maximum of 16 schedule blocks can be used and do not require any program entry Note Check system bit S51 and system word SW1 18 to confirm that the Real Time Clock RTC option is installed see System Bits S p 596 The RTC option is required for using schedule blocks Parameters The following table lists parameters for a schedule block Parameter Format Function Range Schedule block n n 0to 15 number Configured Check box Check this box to configure the selected schedule block number Output bit QX Y Z Output assignment is activated by schedule
335. k within an IP network which shares a network address with other portions of the network A bit mask used to identify or determine which bits in an IP address correspond to the network address and which bits correspond to the subnet portions of the address The subnet mask is the network address plus the bits reserved for identifying the subnetwork Switch A network device which connects two or more separate network segments and allows traffic to be passed between them A switch determines whether a frame should be blocked or transmitted based on its destination address Symbol A symbol is a string of a maximum of 32 alphanumeric characters of which the first character is alphabetic It allows you to personalize a controller object to facilitate the maintainability of the application Symbol table A table of the symbols used in an application Displayed in the Symbol Editor T TCP Transmission Control Protocol TCP IP A protocol suite consisting of the Transmission Control Protocol and the Internet Protocol the suite of communications protocols on which the Internet is based Threshold Coils that are controlled directly by the very fast counter VFC according to the outputs settings established during configuration TWD USE 10AE 627 Glossary Timer A function block used to select a time duration for controlling an event Twido A line of Schneider Electric controllers consisting of two types of controllers Compa
336. l is generated generation input at the output channel At state 0 the output channel is set to 0 The preset value and the time base can be modified during configuration They are used to fix the signal period T PWMi P TB The lower the ratios to be obtained the greater the selected PWMi P must be The range of periods available e 0 142 ms to 36 5 ms in steps of 0 142 ms 27 4Hz to 7kHz 0 57 ms to 146 ms in steps of 0 57 ms 6 84 Hz to 1 75 kHz 10 ms to 5 45 mins in steps of 10 ms 1 sec to 9 1 hours in steps of 1 sec Operation The frequency of the output signal is set during configuration by selecting the time base TB and the preset PWMi P Modifying the PWMi R duty cycle in the program modulates the width of the signal Below is an illustration of a pulse diagram for the PWM function block with varying duty cycles Input IN 80 50 Ratio 20 Dedicated Output I JLIL ALLELE TWD USE 10AE 449 Advanced Instructions Programming and Configuration Special Cases In this example the signal width is modified by the program according to the state of controller inputs l0 0 0 and l0 0 1 If 10 0 1 and 10 0 2 are set to 0 the PWMO R ratio is set at 20 the duration of the signal at state 1 is then 20 x 500 ms 100 ms If 10 0 0 is set to 0 and I0 0 1 is set to 1 the PWMO R ratio is set at 50 duration 250 ms If 10 0 0 and l0 0 1 are set to 1 the PWMO R ratio is
337. l to the length of the transmission frame If the Tx Offset parameter is not equal to 0 one byte of the transmission table indicated by the offset value will not be transmitted and this parameter is equal to the frame length itself plus 1 The Command byte in case of Modbus RTU request except for broadcast must always equal to 1 Tx and Rx The Tx Offset byte contains the rank 1 for the first byte 2 for the second byte and so on within the Transmission Table of the byte to ignore when transmitting the bytes This is used to handle the issues associated with byte word values within the Modbus protocol For example if this byte contains 3 the third byte would be ignored making the fourth byte in the table the third byte to be transmitted The Rx Offset byte contains the rank 1 for the first byte 2 for the second byte and so on within the Reception Table to add when transmitting the packet This is used to handle the issues associated with byte word values within the Modbus protocol For example if this byte contains 3 the third byte within the table would be filled with a ZERO and the third byte was actually received would be entered into the fourth location in the table 132 TWD USE 10AE Communications Transmission reception tables When using either mode Modbus ASCII or Modbus RTU the Transmission table is filled with the request prior to executing the EXCHx instruction At execution time the controller det
338. ld Len value Note Bus status is updated on each PLC scan However the result of the CAN_CMD bus reading instruction is available only at the end if the following PLC scan 274 TWD USE 10AE Installing and Configuring the CANopen Fieldbus Programming Example 1 Examples forthe To force the CANopen Master located at address 1 on the Twido expansion bus to CAN_CMD switch to Init mode Instruction LD 1 MWO 16 0001 MW1 16 0001 LD SW81 X3 lf no CAN_CMD instruction is in progress then continue CAN_CMD1 MW0 2 To force the CANopen master to switch to Init mode LD SW81 X4 optional To know if the CAN_CMD instruction has been succesfully completed before sending a new one Example 2 To read the following variable SDO_Slave 1_index 24576_sub index 1_length 4 LD 1 MWE MW4 Store the result of the last SDO command MW7 MW5 Store the result of the last SDO command LD SW81 X3_ If there is no CAN_CMD instruction in progress then continue MWO 16 0003 MW1 16 0001 SDO read to address node 1 MW2 16 6000 Access to index number 24576 MW3 16 0104 Access to sub index number 1 and length value 4 CAN_CMD1 MW0O 6 Start SDO command Example 3 To write the following variable SDO_Slave 1_index 24576_sub index 1_length 4 LD 1 MWO 16 0004 MW1 16 0001 SDO write to address node 1 MW2 16 6000 Access
339. le 8 selected port not configured available 9 reception error 10 cannot use KW if receiving 11 transmission offset larger than transmission table 12 reception offset larger than reception table 13 controller stopped EXCH processing YSW64 EXCH2 error code See SW63 If a controller restarts one of the following events happens e A cold start 80 1 forces a re initialization of the communications e Awarm start S1 1 forces a re initialization of the communications e In Stop the controller stops all ASCII communications 122 TWD USE 10AE Communications ASCII Link Example To configure an ASCII Link you must 1 Configure the hardware 2 Connect the ASCII communications cable 3 Configure the port 4 Write an application 5 Initialize the Animation Table Editor The diagram below illustrates the use of the ASCII communications with a Terminal Emulator on a PC Step 1 Configure the Hardware RS 232 EIA Port 2 Serial COM 2 Twido controller The hardware configuration is two serial connections from the PC to a Twido controller with an optional EIA RS 232 Port 2 On a Modular controller the optional Port 2 is a TWDNOZ232D or a TWDNAC232D in the TWDXCPODM On the Compact controller the optional Port 2 is a TWDNAC232D To configure the controller connect the TSXPCX1031 cable not shown to Po
340. le input Q Output The logical image of the electrical state of a controller or expansion I O module output Controller x 0 Master controller Remote Link master position 1 7 Remote controller Remote Link slave I O Type y 0 Base I O local I O on controller 1 7 Expansion I O modules Channel Z 0 31 I O channel number on controller or expansion I Number O module Number of available I O points depends on controller model or type of expansion I O module Examples The table below shows some examples of I O addressing I O object Description 10 0 5 Input point number 5 on the base controller local 1 0 Q0 3 4 Output point number 4 on the expansion I O module at address 3 for the controller base expansion I O 10 0 3 Input point number 3 on base controller 13 0 1 Input point number 1 on remote I O controller at address 3 of the remote link 10 3 2 Input point number 2 on the expansion I O module at address 3 for the controller base TWD USE 10AE 41 Twido Language Objects Network Addressing Introduction Format Description of Format Examples Application data is exchanged between peer controllers and the master controller on a Twido Remote Link network by using the network words INW and QNW See Communications p 83 for more details Use the following format for network addressing IN QN WwW x Symbol Object type F
341. le using the TwidoSoft Timing Diagram The following timing diagram illustrates the operation of the TON type timer 1 3 5 TMI P 4 pyar y TMi V Operation The following table describes the operation of the TON type timer Phase Description 1 The timer starts on the rising edge of the IN input 2 The current value TMi V increases from 0 to TMi P in increments of one unit for each pulse of the time base TB The TMi Q output bit is set to 1 when the current value has reached TMi P The TMi Q output bit remains at 1 while the IN input is at 1 When a falling edge is detected at the IN input the timer is stopped even if the timer has not reached TMi P and TMi V is set to 0 TWD USE 10AE 393 Basic Instructions TP Type of Timer Introduction The TP Timer Pulse type of timer is used to create pulses of a precise duration This delay is programmable using the TwidoSoft Timing Diagram The following timing diagram illustrates the operation of the TP type timer 1 2 6 3 5 Operation The following table describes the operation of the TP type timer Phase Description 1 The timer starts on the rising edge of the IN input The current value TMi V is set to 0 if the timer has not already started
342. lines Step Action 1 In the Slave PDOs frame select the PDO Type Receive or Transmit Result All the PDO slaves of the selected type are displayed in the Slave PDOs frame as shown in the following example Slaves PDO Type Receive v gt Slave Name COB ID MIDU 4031 PDO RX2 302 MIDU 4032 PDO RX1 203 MIDU 4032 PDO RX2 303 MIDU 4012 PDO RX 1 204 MIDU 4012 PDO R 04 Note Selecting Receive or Transmit in the Slave PDOs frame automatically toggles the Master PDOs to the opposite type Transmit or Receive respectively From the Slave PDOs frame select the PDO you wish to link to the TWDONCO1M CANopen master and click the Add icon gt to append the PDO to the Master PDOs link list Note The TWDNCO1M master supports a maximum of 16 TPDO links and 16 RPDO links To change the address index of a PDO link within the Master PDOs frame use the Move up down arrow icons t ab To delete an unused PDO link within the Master PDOs frame select the desired PDO indexed 1 to 16 and click the Delete icon w Press the Apply button to confirm changes to the mapped PDO structure and save the PDO mapping to the TwidoSoft project Repeat steps 1 through 5 for each slave PDO you wish to link to the CANopen master 266 TWD USE 10AE Installing and Configuring the CANopen Fieldbus CANopen Objects Symbolization Overview The Symbol dial
343. log module Example 199 Analog Modules Configuring I O 192 Analog modules addressing 191 AND instructions 378 Animation tab PID 541 Arithmetic Instructions 418 630 TWD USE 10AE Index ASCII Communication 84 Communications 115 Configuring the port 118 Hardware configuration 116 Software configuration 117 ASCII Link Example 123 ASIN 572 AS Interface Bus V2 configuration screen 207 AS Interface V2 bus accepting the new configuration 223 Changing a slave address 218 Debug screen 215 Explicit exchanges 229 Faulty slave 227 general functional description 203 I O addressing 228 Implicit exchanges 228 Operating mode 233 Presentation 202 Programming and diagnostics for the AS Interface bus 229 Slave diagnostics 217 Slave insertion 226 software configuration 209 software set up principle 206 transfer of a slave image 221 Assignment instructions 376 Numerical 411 AT tab PID 532 ATAN 572 Backup and restore 32K backup cartridge 56 64K extended memory cartridge 58 memory structure 52 without cartridges 54 Basic function blocks 386 Bit objects 438 Addressing 36 Overview 27 Bit strings 45 BLK 338 Blocks in Ladder diagrams 328 Boolean accumulator 346 Boolean instructions 370 Assignment 376 OR 380 Understanding the format used in this manual 372 BootP 161 Boot up 242 Bus AS Interface V2 automatic slave addressing 225 Bus AS Interface V2 bus debugging the
344. ly applied at the controller output This value can be an internal word MWO0 to MW2999 an internal constant KWO to KW255 or a direct value The value must therefore be between 0 and 10 000 Note The output autotuning setpoint must always be greater than the last output applied to the process e MW15 discrete output of the PID loop controller entered by the controller e MW16 PWM period setting leave 10 as set previously e MW17 operating mode selection for the PID controller 2 AT PID e MW18 manual setpoint associated with the M2 bit selection 0 Configure the Twido controller so that it scans in Periodic mode Set the Time of the Twido controller scanning period so that the Sampling period Ts value of the PID controller is an exact multiple Note For further details on how to determine the sampling period see Auto Tuning Requirements p 549 and Methods for Determining the Sampling Period Ts p 550 Check that the controller is RUN mode Enter the memory bit MO MO controller validation 1 in the animation table 6 Double click on the PID item in the configuration browser 510 TWD USE 10AE Advanced Instructions Step Action 7 Activate the Animation tab for the required PID number and check that the animation matches the screen below PID 21x P
345. ly defined modem or create a new one by clicking Add Modify a Modem Modem Bourgu bus Hayes initialization command ATEOQ1 XXXXXXXXXX Cancel Then give the new profile a name and complete the Hayes initialization commands as described in the modem documentation In the image xxxxxx represents the initialization sequence you must enter to prepare the modem for suitable communication i e the baud rate parity stop bit and receive mode To complete the sequence please refer to your modem documentation The maximum string length is 127 characters When your application is complete or at least when communication port 1 is fully described transfer the application using a point to point connection The Twido controller is now ready to be connected to a PC executing Twidosoft via modems 96 TWD USE 10AE Communications Connection Once Twidosoft and the Twido controller are prepared establish connection as Sequence follows Step Action 1 Power up the Twido controller and modem 2 Start your computer and run Twidosoft 3 Select the PLC menu then Select a connection and select My modem or the name you have given to your modem connection see creation of a connection _TwidoSoft no heading _ I1x File Edit Display Tools Hardware Software Program PLC Window Help Schel SB oc Ie w Connect _ LISconnlect Z COM Chang
346. ly driven two wire bus line common return A CAN signal is the difference between the voltage levels of the CAN high and CAN low wires See figure below The following diagram shows the components of the physical layer of a two wire CAN bus CAN high wire CAN low wire 1 2 3 potential difference between CAN high CAN low signals 4 120 resistance jack 5 node The bus wires can be routed in parallel twisted or shielded form in accordance with electromagnetic compatibility requirements A single line structure minimizes reflection TWD USE 10AE 239 Installing and Configuring the CANopen Fieldbus CANopen Profiles Device Configuration via the CAN Bus General Specifications for CANopen Profiles CANopen Product Certification CAN Standards The communication profile The CANopen profile family is based on a communication profile which specifies the main communication mechanisms and their description DS301 The device profile The most important types of devices used in industrial automation are described in the Device profiles They also define device functionalities Examples of the standard devices described are e digital and analog input output modules DS401 motors DS402 control devices DSP403 closed loop controllers DSP404 PLCs DS405 encoders DS406 The possibility of configuring devices via the CAN bus is one of the basic principles of the autonomy required
347. m so Symbols me Es Animation tables Sos g Documentation 2 When the PID controller window appears select the desired PID number in the General tab 514 TWD USE 10AE Advanced Instructions History of PID In the Animation tab for the PID controllers you can access the last 15 states of the States current controller by making your selection from the drop down list as shown below PID PIX PID number lo General Input PID AT Output Animation Operating mode List of PID states PID 12 04 2004 17 35 The PID setpoint is reached 12 04 2004 17 29 Autotuning process finished 12 04 2004 17 20 Phase 4 autotuning in progress m PID _____ 42 04 2004 17 15 Phase 3 autotuning in progress 12 04 2004 17 10 Phase 2 autotuning in progress 12 04 2004 17 02 Phase 1 autotuning in progress pees mT i E i mT nl P Note The PID states are stored when the PC and TwidoSoft are in online mode TWD USE 10AE 515 Advanced Instructions 17 4 PID Function At a Glance Aim of this This section describes the behavior functionalities and implementation of the PID Section function Note To find out quick setup information about your PID controller as well as the PID autotuning please refer to the Twido PID Quick Start Guide p 490 What s in this This sectio
348. m to the Twido PLC Launch Auto Tuning Select the Animation tab from the PID configuration screen Wait till the auto tuning process ends O O N Oo Two cases may occur e Auto tuning completes successfully You may continue to Step 9 e Auto tuning fails This means the current guess for the sampling period Ts is not correct Try a new Ts guess and repeat steps 3 through 8 as many times as required until the auto tuning process eventually converges Follow these guidelines to provide a new Ts guess e AT ends with the error message The computed time constant is negative This means the sampling period Ts is too large You should decrease the value of Ts to provide as new guess e AT ends with the error message Sampling error This means the sampling period Ts is too small You should increase the value of Ts to provide as new guess 10 You may now view the PID control parameters Kp Ti and Td in Animation tab and adjust them in the PID tab of the PID configuration screen as needed Note If the PID regulation provided by this set of control parameters does not provide results that are totally satisfactory you may still refine the trial and error evaluation of the sampling period until you obtain the right set of Kp Ti and Td control parameters 554 TWD USE 10AE Advanced Instructions Adjusting PID Parameters Limitations on Using the Auto tuning and the PID Control T
349. master controller s scan At the end of the scan cycle the most up to date values are read into the application data to be used for the next program execution This processing is the same for remote I O and peer controllers Any controller can check for general link activity using system bit S111 But to achieve synchronization a master or peer will have to use system bit S110 This bit is set to 1 when a complete update cycle has taken place The application program is responsible for resetting this to 0 The master can enable or disable the remote link using system bit S112 Controllers can check on the proper configuration and correct operation of the remote link using S113 The DPT signal on Port 1 used to determine if TwidoSoft is connected is sensed and reported on S100 TWD USE 10AE 107 Communications Master Controller Restart Slave Controller Restart Master Controller Stop All these are summarized in the following table System Bit Status Indication S100 0 master slave DPT not active TwidoSoft cable NOT connected 1 master slave DPT active TwidoSoft cable connected S110 0 master slave set to 0 by the application 1 master all remote link exchanges completed remote I O only slave exchange with master completed S111 0 master single remote link exchange completed slave single remote link exchange detected 1 master single remote link exchange in progress
350. ment set the controller to STOP mode and check the wiring to the inputs of the analog card voltmeter or ammeter for inputs 0 10V 4 20mA ohmmeter for the PT100 100 ohms at 20 or Thermocouple a few tens of ohms e First disconnect the probe from the analog card terminals e Check there is no wiring reversal the colors of the wires connected to the inputs compensation cable for the PT100 Warning INO and IN1 input channels have a shared potential at the terminals Check that the analog card is powered by a 24 VDC supply to the first two terminals Check that the 4 20 mA input sensors are supplied The Twido analog input cards are not a source of current To power up the loop controller start by controlling the PID controller in Manual mode in order to increase the limit values needed by the AT function To set the controller to Manual mode 1 Switch the controller to RUN mode 2 Enter the memory addresses with the following values in the animation table e M2 Manual mode selection 1 M2 1 gt Manual Mode M2 0 gt Automatic Mode MW16 PWM period setting 10 MW17 Operating mode selection for the PID controller 1 PID only MW18 Manual setpoint associated with the M2 bit selection 1000 This setpoint value can be selected several times on condition that the system be left to return to its initial state In the example We have selected the value 1000 which corresponds to an average temperature increase v
351. ming and configuring 395 time base of 1 ms 396 TOF type 392 TON type 393 TP type 394 TOF timer 392 TON timer 393 TP type timer 394 Trace tab PID 543 Transmitting messages 476 TRUNC 568 TwidoSoft Introduction 20 U Unconditional rungs 339 Unit ID 174 V Very fast counters function block VFC 462 W Warm restart 71 Word Objects 438 Word objects Addressing 37 Overview 29 X XOR 382 636 TWD USE 10AE
352. mmunications Time out Tab Overview Definition of Time out Time out tab The following information describes how to configure the Time out tab of the Ethernet Configuration dialogbox Note The Time out of the Twido controller can be configured when the TwidoSoft application program is in offline mode only Time out applies an idle timeout to all current Ethernet TCP connections of the Twido controller The idle timeout is the amount of time that any of the four Ethernet TCP connection channels may remain idle before the remote client host connection to this channel is dropped Note The idle timer is reset whenever there is data traffic on the monitored connection channel The following figure presents a sample screen of the Time out tab showing the 10 min default value of the idle timer Ethernet Configuration IP Address Configure Marked IP Time out Remote Devices Please set the Maximum idle time of TCP connection pE 1o Default Note PCL will detect active passive TCP connection and close idle one if expire given time here If the maximum idle time is set as 0 minute PCL will not do the detection TWD USE 10AE 171 Communications Configuring the To set the Idle timer enter directly the elapsed time in minutes in the min s textbox Time out tab as shown in the previous figure Note 1 The default elapsed time is 10 minutes After you
353. mplete the process variable is restored to the output level last applied to the process before start of the autotuning AT State Memory The following is the PID controller state versus memory word hexadecimal coding concordance table Word AT State hexadecimal notation Description 0100h Autotuning phase 1 in progress 0200h Autotuning phase 2 in progress 0400h Autotuning phase 3 in progress 0800h Autotuning phase 4 in progress 1000h Autotuning process complete TWD USE 10AE 547 Advanced Instructions PID and AT Error The following table describes the potential execution errors that may be Codes encountered during both PID control and autotuning processes PID AT Error code Processes hexadecimal Description PID Error 8001h Operating mode value out of range 8002h Linear conversion min and max equal 8003h Upper limit for digital output lower than lower limit 8004h Process variable limit out of linear conversion range 8005h Process variable limit less than 0 or greater than 10000 8006h Setpoint out of linear conversion range 8007h Setpoint less than 0 or greater than 10000 8008h Control action different from action determined at AT start Autotuning 8009h Autotuning error the process variable PV limit has been Error reached 800Ah Autotuning error due to either oversampling or output setpoint too low 800Bh Au
354. mputes and displays a default subnet mask based on the class IP that you have provided in the IP Address field above Default subnet mask values according to the category of the Twido network IP address follow this rule Class A network gt Default subnet mask 255 0 0 0 Class B network gt Default subnet mask 255 255 0 0 Class C network gt Default subnet mask 255 255 255 0 Caution For good device communication the subnet mask configured on the PC running the TwidoSoft application and the Twido controllers subnet mask must match Note Unless your Twido controller has special need for subnetting use the default subnet mask Gateway Enter the IP address of the gateway On the LAN the gateway must be on the same segment as your Twido controller This information typically is provided to you by your network administrator Please note that no default value is provided by the application and that you must enter a valid gateway address in this field Note If there is no gateway device on your network simply enter your Twido controller s IP address in the Gateway field 168 TWD USE 10AE Communications Marked IP Tab Overview Definition of the Marked IP Function Marked IP tab The following information describes how to configure the Marked IP tab of the Ethernet Configuration dialogbox Note The Marked IP can be configured when the TwidoSoft application program is in offline mode only T
355. n What s in this This section contains the following topics Section Topic Page Introducing Telnet Configuration 287 Telnet Main Menu 288 IP Ethernet Settings 289 Serial Parameter Configuration 290 Configuring the Gateway 291 Security Configuration 292 Ethernet Statistics 293 Serial Statistics 294 Saving the Configuration 295 Restoring Default Settings 296 Upgrading the TwidoPort Firmware 297 Forget Your Password and or IP Configuration 299 286 TWD USE 10AE Configuring the TwidoPort Ethernet Gateway Introducing Telnet Configuration Overview of Telnet Configuration Preparation to Telnet Configuration Configure TwidoPort with a Telnet session using a VT 100 compatible Telnet client for those cases in which a specific Twido configuration is not found or in which the BootP request is not answered after two minutes resulting in the implementation of the default IP address Note TwidoPort s Telenet requirements While configuring TwidoPort with Telnet make sure e TwidoPort is supplied with power from a Twido controller through its serial connection e Telnet s local echo is set to off To use Telnet add TwidoPort s default IP address or TwidoPort s configured IP address to the PC s routing table using the command C gt route add 85 0 0 0 mask 255 0 0 0 local_IP_address_of PC Example If the IP address of the PC is 192 168 10 30 and the default IP address or the configured I
356. n 20000 Computational limit is reached Autotuning error the limit for Td has been exceeded Computed value of derivative time constant Td is greater than 10000 Computational limit is reached 556 TWD USE 10AE Advanced Instructions PID parameter adjustment method Introduction Closed loop adjustment Numerous methods to adjust the PID parameters exist we suggest Ziegler and Nichols which have two variants e closed loop adjustment e open loop adjustment Before implementing one of these methods you must set the PID action direction e if anincrease in the OUT output causes an increase in the PV measurement make the PID inverted KP gt 0 e onthe other hand if this causes a PV reduction make the PID direct KP lt 0 This principal consists of using a proportional command Ti 0 Td 0 to start the process by increasing production until it starts to oscillate again after having applied a level to the PID corrector setpoint All that is required is to raise the critical production level Kpc which has caused the non damped oscillation and the oscillation period Tc to reduce the values giving an optimal regulation of the regulator Measure According to the kind of PID or PI regulator the adjustment of the coefficients is executed with the following values Kp Ti Td PID Kpc 1 7 Tc 2 Tc 8 Pl Kpc 2 22 0 83xTc l where Kp
357. n contains the following topics Section Topic Page Overview 517 Principal of the Regulation Loop 518 Development Methodology of a Regulation Application 519 Compatibilities and Performances 520 Detailed characteristics of the PID function 521 How to access the PID configuration 524 General tab of PID function 525 Input tab of the PID 528 PID tab of PID function 530 AT tab of PID function 532 Output tab of the PID 537 How to access PID debugging 540 Animation tab of PID function 541 Trace tab of PID function 543 PID States and Errors Codes 545 PID Tuning With Auto Tuning AT 549 PID parameter adjustment method 557 Role and influence of PID parameters 559 Appendix 1 PID Theory Fundamentals 563 Appendix 2 First Order With Time Delay Model 565 516 TWD USE 10AE Advanced Instructions Overview General The PID regulation function is a TwidoSoft programming language function It allows programming of PID regulation loops on controllers compatible with TwidoSoft version 2 0 or higher This function is particularly adapted to e Answering the needs of the sequential process which need the auxiliary adjustment functions examples plastic film packaging machine finishing treatment machine presses etc e Responding to the needs of the simple adjustment process examples metal furnaces ceramic furnaces small refrigerating groups etc It is very easy to install as it is carried out in th
358. n of the PID control parameters Kp Ti and Td or after detection of an error in the AT algorithm the AT numerical output is set to 0 and the following message appears in the List of PID States drop down list Auto tuning complete e AT PID mode The AT is launched first After successful completion of the AT the PID control loop starts based on the Kp TI and Td parameters computed by the AT Note on AT PID If the AT algorithm encounters an error e no PID parameter is computed e the AT numerical output is set to output last applied to the process before start of the autotuning e anerror message appears in the List of PID States drop down list e the PID control is cancelled Note Bumpless transition While in AT PID mode the transition from AT to PID is bumpless As will be explained in the two following sections see Appendix 1 PID Theory Fundamentals p 563 and Appendix 2 First Order With Time Delay Model p 565 the sampling period Ts is a key parameter of the PID control The sampling period can be deduced from the AT time constant 7 There are two methods for evaluating the correct sampling period Ts by using the auto tuning They are described in the following sections e The process response curve method e The trial and error method Both methods are described in the two following subsections This method consists in setting a step change at the control process input and recording the p
359. n slave mode TwidoPort does not require a separate power supply because it gets power from the Twido controller through its serial port This gateway module supports slave mode only Ethernet TwidoPort supports the following Ethernet features Features e Auto negotiation TwidoPort supports 10 100TX auto negotiation It communicates only in half duplex mode e Auto MDI MDI X TwidoPort supports auto switching of transmit and receive wire pairs to establish communications with the end device auto MDI MDI X TwidoPort therefore transparently interconnects infrastructure or end devices with either straight through or crossover cables TWD USE 10AE 301 Configuring the TwidoPort Ethernet Gateway Modbus TCP Communications Protocol About Modbus About Modbus TCP Communications Theory of Operations The Modbus protocol is a master slave protocol that allows one master to request responses from slaves or to take action based on their requests The master can address individual slaves or can initiate a broadcast message to all slaves Slaves return a message response to queries that are addressed to them individually Responses are not returned to broadcast queries from the master TwidoPort supports up to 8 simultaneous Modbus TCP connections Attempting to use more than 8 connections results in a degradation of performance because TwidoPort closes the connection with the longest idle time to accept a new connec
360. n table 121 fatal MAC Chip Duplicated IP 122 receiving timed out elapsed after data was sent 123 Ethernet initialization in progress TWD USE 10AE 183 Communications 184 TWD USE 10AE Built In Analog Functions At a Glance Subject of this This chapter describes how to manage the built in analog channel and Chapter potentiometers What s in this This chapter contains the following topics Chapter Topic Page Analog potentiometer 186 Analog Channel 188 TWD USE 10AE 185 Built In Analog Functions Analog potentiometer Introduction Programming Example Twido controllers have e An analog potentiometer on TWDLC A10DRF TWDLCeA16DREF controllers and on all modular controllers TWDLMDA20DTK TWDLMDA20DUK TWDLMDA20DRT TWDLMDA40DTK and TWDLMDA4ODUK e Two potentiometers on the TWDLC eA24DRF and TWDLCA 40DRF controllers The numerical values from 0 to 1023 for analog potentiometer 1 and from 0 to 511 for analog potentiometer 2 corresponding to the analog values provided by these potentiometers are contained in the following two input words e IWO 0 0 for analog potentiometer 1 on left e IWO0 0 1 for analog potentiometer 2 on right These words can be used in arithmetic operations They can be used for any type of adjustment for example presetting a time delay or a counter adjusting the frequency of the pulse generator or machine pr
361. n this operating mode the controller will automatically adjust the controller to coefficients Kp Ti Td Note During the sequence the system should not be subject to any disturbance due to external variations that would affect the final adjustments Also before launching the AT sequence make sure the system is stabilized Reminder of Kp For operation in AT PID mode to be possible the following two conditions must be Ti and Td met Settings e The Kp Ti Td coefficients must be configured as memory addresses MWxx e The Action type in the Output tab must be set to a memory bit address Mxx TWD USE 10AE 509 Advanced Instructions To set the controller to AT PIDmode proceed as follows Step Action 1 Enter or check the memory addresses with the following values in the animation table M2 selection of Automatic or Manual mode 0 e MWO loop controller setpoint 600 in this example the setpoint is active after the AT sequence and the controller maintains a temperature of 60 e MW10 to MW12 coefficients of the PID controller leave at 0 the AT sequence will fill them in e MW13 measurement limit not to be exceeded in AT mode 900 in the example if 90 is exceeded an error will occur inAT e MW14 controller output setpoint in AT mode 2000 from the test in manual mode This is the step change value applied to the process In AT mode the output setpoint is direct
362. n upper limit Autotuning error due to either oversampling or output setpoint too low Any of two possible causes e Sampling period is too small e AT Output is set too low Increase either the sampling period or the AT Output Setpoint value Autotuning error the time constant is negative The sampling period may be too large For more details please check out PID Tuning With Auto Tuning AT p 549 Autotuning error error calculating Kp The AT algorithm has failed no convergence Check the PID and AT parameters and make adjustments that can improve convergence Check also that there is no disturbance that could affect the process variable constant over delay ratio lt 2 Autotuning error time 7 0 gt 20 PID regulation is no longer guaranteed constant over delay ratio gt For more details please check out PID Tuning With 20 Auto Tuning AT p 549 Autotuning error time w0 lt 2 PID regulation is no longer guaranteed For more details please check out PID Tuning With Auto Tuning AT p 549 Autotuning error the limit for Kp has been exceeded Computed value of static gain Kp is greater than 10000 Measurement sensitivity of some application variables may be too low The application s measurement range must be rescaled within the 0 10000 interval Autotuning error the limit for Ti has been exceeded Computed value of integral time constant Ti is greater tha
363. na erir a ee dee ct ead Bada Hosea ye Pade ad 48 Symbolizing Objects 0 eee eae 50 User MeMO vaia a aaae ee aia anata waren a ee wt Bee a 51 Ata Glance s enion ane betas ane Vet ee Oe ee et 51 User Memory Structure 0 teen 52 Backup and Restore without Backup Cartridge or Extended Memory 54 Backup and Restore with a 32K Backup Cartridge 0 0000 56 Using the 64K Extended Memory Cartridge 0 00 e eee eee eee 58 Chapter 4 Chapter 5 Part Il Chapter 6 Controller Operating Modes 200e cece eeeeee 61 Ata GIANCe temas cx tact tc ito ica dong holt a a Bed et a a ead eee 61 Cyclic Sanies air i ecw Fae bes Ge a ee Vea sued RNE 62 Periodic Scans etn e barca a see hide Cdr a eminent sal 64 Checking Scan Time 2 0 0 c eect tenes 67 Operating Modes e a aera aa e EAEE ete eee 68 Dealing with Power Cuts and Power Restoration 00200000 69 Dealing with a warm restart l a saana uacua eaa 71 Dealing with a cold start 0 0 eee 73 Initialization of objects 6 teens 75 Event task management 0000 e eee eee eee eee 77 INJBri hitsy cncirag a he site Bie eect aes earth tow oes 77 Overview of event taSkS 0 0 0 cece aanne 78 Description of different event Sources 00 00 e eee eee eae 79 Event management 0 0 eee ee eee nee 80 Special Functions 2 5 sv sce eee eee ease ae eee ees 81 AV a Glance 225 gate sie as oe
364. nction block with examples of reversible and Example non reversible programming R R E M1 I FL 10 3 TYPE FIFO 0 10 3 R2 E MW20 R2 0 I0 2 R2 F R2 1 M W 34 M1 U7 Ladder diagram BLK R2 LD M 1 LD M1 I R2 I LD 10 3 LD 10 3 O R2 O ANDN R2 E END_BLK MW20 R2 0 LD 10 3 LD 10 2 ANDN R2 E ANDN R2 F MW20 R2 0 R2 MW34 LD 10 2 ST M 1 ANDN R2 F R2 1 MW34 Reversible program Non reversible program 446 TWD USE 10AE Advanced Instructions Configuration Special Cases The only parameter that must be entered during configuration is the type of register e FIFO default or e LIFO The following table contains a list of special cases for programming the Shift Bit Register function block Special case Description Effect of a cold restart S0 1 Initializes the contents of the register The output bit Ri E associated with the output E is set to 1 Effect of a warm restart S1 1 of a controller stop Has no effect on the current value of the register nor on the state of its output bits TWD USE 10AE 447 Advanced Instructions Pulse Width Modulation Function Block PWM Introduction Illustration The Pulse Width Modulation PWM function block generates a square wave signal on dedicated output channels Q0
365. nd communication with the controller using a telephone line The modem associated with the controller is a receiving modem connected to port 1 of the controller The modem associated with the PC can be internal or external and connected to a COM serial port This connection is illustrated in the diagram below Port 1 PC Serial Port RS485 EIA RS 232 Modem External modem Telephone line TSXPCX1031 position 2 SUB D female with Tx Rx inversion connector Note Only one modem can be connected to port 1 of the controller Note Caution Remember to install the software provided with the modem as TwidoSoft only takes into account the installed modems TWD USE 10AE 89 Communications Ethernet Network Connection Note Although direct cable connection using a Ethernet crossover cable is supported between the Twido TWDLCAE40DRF and the PC running the TwidoSoft programming software we do not recommend it Therefore you should always favor a connection via a network Ethernet hub switch The following figure shows a PC to Twido connection via a network Ethernet hub switch Twido TWDLCAE40DRF RJ 45 Ethernet Port PC Ethernet Network Port z Ethernet RJ 45 fast Hub Switch i SFTP Cat5 RJ45 Ethernet m RJ 45 male RJ 45 male c
366. nd frequency measure Y Yes time base values while running Enter to Used to validate or inhibit the current function 0 No CM or FM Read and enable Write 3 IN Preset input Depending on the configuration at state 1 Oor1 CM or FM Read and S e Up Down or Down Counting initializes the current Write value with the preset value e Single Up Counting resets the current value to zero In addition this also initializes the operation of the threshold outputs and takes into account any user modifications to the threshold values set by the Operator Display or user program VFCi THO Overflow 0 to 65535 or from 65535 to 0 in standard mode Oor1 CM Read output 0 to 4294967295 or from 4294967295 to 0 in double F word mode Threshold Set to 1 when the current value is greater than or equal 0 or 1 CM Read Bit 0 to the threshold value VFCi SO It is advisable to test this bit only once in the program because it is updated in real time The user application is responsible for the validity of the value at its time of use Threshold Bit 1 VFCi TH1 Set to 1 when the current value is greater than or equal 0 or 1 CM Read to the threshold value VFCi S1 It is advisable to test this bit only once in the program because it is updated in real time The user application is responsible for the validity of the value at its time of use Means a 32 bit double word variable The double word option
367. nd output QA the lower left portion of the display will contain a character that is either U for unforced or F for a forced bit The force value is displayed in the lower right of the screen The output object QA1 3A 2 appears in the display area as follows QA 1 3A 2 F 1 314 TWD USE 10AE Operator Display Operation CANopen slaves CANopen slave PDO I O objects IWC and QWC have four part addresses I O format e g IWCx y z and are displayed as follows The object type in the upper left CANopen master address on the expansion bus in the upper left center Address of the slave on the CANopen bus in the upper right center Slave PDO I O channel in the upper right Signed value for the object in the lower portion In the following example the PDO output object QWC1 3 2 contains the signed value 24680 QWC 1 3 2 24680 Function Block The function blocks TM C FC VFC PLS PWM DR R and Format MSGij have two part addresses containing an object number and a variable or attribute name They are displayed as follows e Function block name in the upper left e Function block number or instance in the upper right e The variable or attribute in the lower left e Value for the attribute in the lower right In the following example the current value for timer number 123 is set to 1 234 T M 123 V 1234 Simple Format A simple format is used for objects M MW KW MD KD MF KF S
368. ned in the following domain 2 8 20 t For lt 2 in other words for fast control loops low 9 or for processes with a large delay high t the PID process control is no longer suitable In such cases more complex algorithms should be used T For gt 20 a process control using a threshold plus hysterisis is sufficient 562 TWD USE 10AE Advanced Instructions Appendix 1 PID Theory Fundamentals Introduction The PID control function onboard all Twido controllers provides an efficient control to simple industrial processes that consist of one system stimulus referred to as Setpoint in this document and one measurable property of the system referred to as Measure or Process Variable The PID The Twido PID controller implements a mixed serial parallel PID correction see Controller Model PID Model Diagram below via an analog measurement and setpoint in the 0 10000 format and provides an analog command to the controlled process in the same format The mixed form of the PID controller model is described in the following diagram Ti E gt P k Uy D Tq where where e the integral action acting independently and parallel to the derivative action e D the derivative action acting independently and parallel to the integral action e P the proportional action acting serially on the combined output of the integral and d
369. nfluence of integral action on process response to a scale division is as follows A Ti too high Ti correct ee Ti too low AC Note A low Ti means a high level of integral action where Kp proportional gain Ti integration time and Td derivative time 560 TWD USE 10AE Advanced Instructions Influence of Derivative action is anticipatory In practice it adds a term which takes account of derivative action the speed of variation in the deviation which makes it possible to anticipate changes by accelerating process response times when the deviation increases and by slowing them down when the deviation decreases The higher the level of derivative action high Td the faster the response A suitable compromise between speed and stability must be found The influence of derivative action on process response to a scale division is as follows A Td too high Td too low Td correct TWD USE 10AE 561 Advanced Instructions Limits of the PID control loop If the process is assimilated to a pure delay first order with a transfer function t p e H K H p 1 p where t model delay 0 model time constant 100 Measure Mo pM l Measure Mo P lt 0 gt t T The process control performance depends on the ratio 8 T The suitable PID process control is attai
370. ng Cancel Help TWD USE 10AE 207 Installing the AS Interface bus Description of the Screen in Offline Mode This screen groups all data making up the bus in three blocks of information Blocks Description AS interface configuration Bus image desired by the user view of standard and extended address setting slaves expected on the bus Move the cursor down the vertical bar to access the following addresses Grayed out addresses correspond to addresses not available here for slave configuration If for example a new standard address setting slave is declared with the address 1A the address 1B is automatically grayed out Slave xxA B Configuration of the selected slave e Characteristics IO code ID code ID1 and ID2 codes profiles and comments on the slave e Parameters list of parameters modifiable in binary 4 check boxes or decimal 1 check box form at the discretion of the user e Inputs Outputs list of available I Os and their respective addresses Master mode Activation or deactivation is possible for the two functionalities available for this AS Interface module for example automatic addressing Network down allows you to force the AS Interface bus to enter the offline mode Automatic addressing mode is checked by default Note The Data exchange activation function is not yet available The
371. ng via the software the PC to the controller and to avoid any detection problem e Ensure that no slave is physically present on the bus with address 127 127 is a reserved factory set address assigned to the TWDNCO1M master module e Ensure that there a no slaves installed on the CANopen bus with duplicate addresses TWD USE 10AE 255 Installing and Configuring the CANopen Fieldbus Declaration of CANopen Master Procedure The table below shows the different stages when declaring the master CANopen Step Action Comment 1 From the TwidoSoft Application Browser j right click Expansion Bus gt i x Add a module untitled il TWDLCAA24DRF ad T Hardware D Port 1 Remote Link 1 TE Sofware RW UCERNO UEA 2 When the Add a module dialogbox Only TWDC A24DRF TWDCA 40DRF TWDLMDA20 eee and appears TWDLMDA40eee controllers are supported e Select TWDNCO1M Add Module e Click Add e Atthis stage you may continue Module Expansion Address M adding any other expansion module i zJ il TWDNOI10M3 TWDDDI8DT TWDDAI8DT up to 7 that you want to include into j TWDDRAsRT your Twido system Note Only one TWDNCO1M CANopen master module is allowed e Click Done TWDDDO8UT Description CANopen Master expansion module 50mA 3 An expansion bus structure similar to this ab
372. ng Hardware gt Controller Comm Setting Serial Port 2 Serial Port 2 Protocol Modbus Protocol Modbus Address 1 Address 2 Baud Rate 19200 Baud Rate 19200 Data Bits 8 RTU Data Bits 8 RTU Parity None Parity None Stop Bit 1 Stop Bit 1 Response Timeout x100ms 10 Response Timeout x100ms 100 Time between frames ms 10 Time between frames ms 10 The port configurations are identical to those in the previous example Step 4 Write the application pa LD 1 MW18 16 FFFF MWO 16 010C END MW1 16 0007 MW2 16 0210 MW3 16 0010 MW4 16 0002 MW5 16 0004 MW6 16 6566 MW7 1646768 LD 1 AND MSG2 D EXCH2 MWO0 11 LD MSG2 E ST Q0 0 END Using TwidoSoft an application program is created for both the master and the slave For the slave write a single memory word MW18 This will allocate space on the slave for the memory addresses from MWO through MW18 Without allocating the space the Modbus request would be trying to write to locations that did not exist on the slave In the master the word table of the EXCH2 instruction is initialized to read 4 bytes to the slave at Modbus address 2 at the address MW16 10 hexadecimal Note Notice the use of the TX offset set in MW1 of the Modbus master application The offset of seven will suppress the high byte in the sixth word the value 00 hexadecimal in MW5 This works to align the data
373. ng is an open loop process that is acting directly on the control process without regulation or any limitation other than provided by the Process Variable PV Limit and the Output Setpoint Therefore both values must be carefully selected within the allowable range as specified by the process to prevent potential process overload Failure to follow this instruction can result in death serious injury or equipment damage The table below describes the settings that you may define Field Description Authorize Check this box if you wish to enable the AT mode There are two ways to use this checkbox depending on whether you set the operating mode manually or via a word address in the General tab of the PID function e f you set the Operating mode to PID AT or AT from the General tab see General tab of PID function p 525 then the Authorize option is automatically checked and grayed out it cannot be unchecked e f you set the operating mode via a word address MWx MWx 2 PID AT MWx 3 AT then you must check the Authorize option manually to allow configuring the AT parameters Result In either of the above cases all the fields in this AT tab configuration screen become active and you must fill in the Setpoint and Output fields with the appropriate values Process Variable PV Limit Specify the limit that the measured process variable shall not exceed during the AT process This paramet
374. nomenon is of little consequence in the case of an isolated operation as the resulting error is very low a but it can have unforeseen consequences where the calculation is repeated E g in the case where the instruction MF2 MF2 MFO is repeated indefinitely If the initial conditions are MFO 1 0 and MF2 0 the value MF2 becomes blocked at 16777216 We therefore recommend you take great care when programming repeated calculations If however you wish to program this type of calculation it is up to the client application to manage truncation errors Operands of arithmetic instructions on floating point Operators Operand 1 Op1 Operand 2 Op2 Operand 3 Op3 MFi MFi KFi immediate value MFi KFi immediate value SQRT ABS LOG MFi MEi KFi EXP LN TRUNC MFi MFi KFi EXPT MFi MEi KFi MWi KWi immediate value e Operations on floating point and integer values can not be directly mixed Conversion operations See Integer Conversion Instructions lt gt Floating p 575 convert into one or other of these formats e The system bit S18 is managed in the same way as integer operations See Arithmetic Instructions on Integers p 418 the word SW17 See System Words SW p 604 indicates the cause of the fault e When the operand of the function is an invalid number e g logarithm of a negative number it produces
375. notation Over a stand alone network we suggest you to specify a Class C network IP address see P Addressing p 160 For example 192 168 1 198 is a Class C IP address Note The IP address you specify must be compatible with the network ID of the existing network For example if the existing network supports 192 168 1 xxxIP addresses where 192 168 1 is the network ID and xxx 0 255 is the host ID than you may specify 191 168 1 198 asa valid IP address for your PC Make sure the host ID 198 is unique over the network 6 Enter a valid Subnet Mask in dotted decimal notation If subnetting is not used on your Class C network we suggest you to specify a Class C network default subnet mask such as 255 255 255 0 154 TWD USE 10AE Communications Configuring the Once you have configured the TCP IP settings of your PC hosting the TwidoSoft TCP IP Settings application you will need to configure the TCP P settings of the Twido controller you of your Twido wish TwidoSoft to communicate with over the network as described below Controller Step Action 1 Connect a serial cable TSXPCX1031 from the PC running TwidoSoft to the Twido controller s RS 485 console port Launch the TwidoSoft application program on your PC Select a new Hardware from the TwisoSoft Application Brower and choose the TWDLCAE40DRF controller Select PLC gt Select a connection from the TwidoSoft menu bar and cho
376. nputs and outputs are a simple extension of the master controller s The application must only use the full three digit addressing mechanism provided Note The module number is always zero for remote I O Illustration Remote Controller Address __ Modular Number F Channel Number Q2 0 2 l17 0 4 To communicate with remote I O the master controller uses the standard input and output notation of l and Q To access the third output bit of the remote I O configured at address 2 instruction Q2 0 2 is used Similarly to read the fifth input bit of the remote I O configured at location 7 instruction I7 0 4 is used Note The master is restricted to accessing only the digital I O that is part of the remote s local I O No analog or expansion I O can be transferred unless you use peer communications Illustration Remote link ees e Master controller Remote I O Remote I O Address O Address 2 Address 4 12 0 0 10 0 0 12 0 23 10 0 23 Q2 0 0 Q0 0 0 Q2 0 15 Q0 0 15 14 0 0 a 10 0 0 14 0 23 10 0 23 Q4 0 0 Q0 0 0 Q4 0 15 Q0 0 15 TWD USE 10AE 109 Communications Peer Controller To communicate with peer controllers the master uses network words INW and Data Access QNW to exchange data Each peer on the network is accessed by its remote address j using w
377. ns LIFO FIFO Register Function Block Ri Introduction A register is a memory block which can store up to 16 words of 16 bits each in two different ways e Queue First In First Out known as FIFO e Stack Last In First Out know as LIFO Illustration The following is an illustration of the register function block Ri R E JI F TYPE FIFO 0 Register function block Parameters The Counter function block has the following parameters Parameter Label Value Register number Ri 0 to 3 Type FIFO or LIFO Queue or Stack Input word Ri Register input word Can be read tested and written Output word Ri O Register output word Can be read tested and written Storage Input or instruction In On a rising edge stores the contents of word Ri in the register Retrieval Input or instruction O Out On a rising edge loads a data word of the register into word Ri O Reset input or instruction R Reset At state 1 initializes the register Empty Output E Empty The associated bit Ri E indicates that the register is empty Can be tested Full Output F Full The associated bit Ri F indicates that the register is full Can be tested TWD USE 10AE 443 Advanced Instructions LIFO Operation Introduction Operation In LIFO operation Last In First Out the last data item entered is the first to be retri
378. nt Function Timers counters registers and so on For each of the function blocks there are instructions for controlling the block A structured form is used to hardwire the block inputs and outputs directly Note Outputs of function blocks can not be connected to each other vertical shorts TWD USE 10AE 349 Instruction List Language Using Parentheses Introduction Example Using an AND Instruction Example Using an OR Instruction In AND and OR logical instructions parentheses are use to specify divergences in Ladder Editors Parentheses are associated with instructions as follows e Opening the parentheses is associated with the AND or OR instruction e Closing the parentheses is an instruction which is required for each open parentheses The following diagrams are examples of using a parentheses with an AND instruction AND 10 2 10 0 I0 1 Q0 0 J 10 2 10 0 I0 1 QO0 1 a J LD AND OR ST LD AND OR ST 10 0 10 1 10 2 Q0 0 10 0 10 1 10 2 QO 1 The following diagrams are examples of using parentheses with an OR instruction OR 10 0 I0 1 Q0 0 10 2 10 3 LD AND OR AND ST 10 0 10 1 10 2 10 3 Q0 0 350 TWD USE 10AE Instruction List L
379. nternal and constant double words M or K D i Symbol Type of object Syntax Number The following table describes the elements in the addressing format Group Item Description Symbol The percent symbol always precedes an internal address Type of object M Internal double words are used to store intermediary values while a program is running K Constant double words store constant values or alphanumeric messages Their content can only be written or modified by using TwidoSoft Syntax D 32 bit double word Number i The maximum number value depends on the number of objects configured Examples of double word object addressing e MD15 internal double word number 15 e KD26 constant double word number 26 TWD USE 10AE 39 Twido Language Objects Addressing Inputs Outputs Introduction Multiple References to an Output or Coil Format Each input output I O point in a Twido configuration has a unique address For example the address l0 0 4 is assigned to input 4 of a controller I O addresses can be assigned for the following hardware e Controller configured as Remote Link Master e Controller configured as Remote I O e Expansion I O modules The TWDNOI10M3 AS Interface bus interface module and the TWDNCO1M CANopen fieldbus module each uses its own special address system for addressing the I Os of slave devices connected to its bus e For TWDNOI10M
380. ntry indexed 2 prior to index 3 Unit ID Enter the Modbus Unit ID or Protocol Address in this field A valid Unit ID can range from 0 to 255 The default setting is 255 A Unit ID other than 255 makes communications with a remote device across a Modbus bridge or gateway possible If the target device is another Twido controller or a legacy Modbus device installed on another bus serial link address via a gateway then you may set the Unit ID of that remote device accordingly In the field you should set the Slave IP as the gateway or bridge IP address and the Unit ID as the Modbus serial link address of your target device Connection Timeout 100 ms Specify the elapsed time in units of 100 ms that the Twido controller will keep trying to establish a TCP connection with the remote device If the connection is still not established after Timeout the Twido controller will give up trying until the next connection request by an EXCH3 instruction A valid timeout setting can range from 0 to 65535 which translates to 0 to 6553 5 s The default setting is 100 174 TWD USE 10AE Communications Viewing the Ethernet Configuration Overview Viewing the Ethernet Configuration You may use the TwidoSoft Configuration Editor to view the current Ethernet configuration of the Twido controller To view the current Ethernet configuration settings using the Configuration Editor follow these instru
381. o be deactivated It is reset to 0 by the system at the start of the execution of the sequential processing U gt S S23 Preset and freeze GRAFCET Normally set to 0 it can only be set to 1 by the program in the pre processing program module Set to 1 it validates the pre positioning of GRAFCET Maintaining this bit at 1 freezes the GRAFCET freezes the chart It is reset to 0 by the system at the start of the execution of the sequential processing to ensure that the GRAFCET chart moves on from the frozen situation U gt S S24 Operations Display Normally at 0 this bit can be set to 1 by the user e Atstate 0 the Operator Display is operating normally e Atstate 1 the Operator Display is frozen stays on current display blinking disabled and input key processing stopped U gt S 598 TWD USE 10AE System Bits and Words System Function Description Init Control Bit state S25 Choosing a display You can choose between two display modes on the 2 0 U mode on the operator line operator display data mode and normal mode display f S25 0 then normal mode is enabled On the first line you can write an object name a system word a memory word a system bit etc On the second line you can read its value If S25 1 then data mode is enabled On the first line you can display SW68 value On the second line you can display S
382. o refine the process regulation provided by the PID parameters Kp Ti Td obtained from auto tuning you also have the ability to adjust those parameter values manually directly from the PID tab of the PID configuration screen or via the corresponding memory words MW The auto tuning is best suited for processes whose time constant t and delay time 6 meet the following requirement t 8 lt 2700 s i e 45 min The PID control is best suited for the regulation of processes that satisfy the following condition 2 lt 1 0 lt 20 where t is the time constant of the process and 8 is the delay time Note Depending on the ratio 7 8 e 1 0 lt 2 The PID regulation has reached its limitations more advanced regulation techniques are needed in this case e 1 6 gt 20 In this case a simple on off or two step controller can be used in place of the PID controller TWD USE 10AE 555 Advanced Instructions Troubleshooting Errors of the Auto tuning Function The following table records the auto tuning error messages and describes possible causes as well as troubleshooting actions Error Message Possible Cause Explanation Possible Solution Autotuning error the process variable PV limit has been reached The process variable is reaching the maximum value allowed This is a system safety As the AT is an open loop process the Process Variable PV Limit works as a
383. o the Twido PLC base controller disconnection of this CANopen slave from the Twido CANopen bus a faulty bus cable a TwidoSoft Reset command Online Firmware Reset a TwidoSoft load configuration command Online gt Download a command for firmware download to the TWDNCO1M master module via TwidoSoft Online Firmware Download 6 Press the Apply button to confirm changes and save the network configuration to the TwidoSoft project 260 TWD USE 10AE Installing and Configuring the CANopen Fieldbus CANopen Objects Mapping Overview The Mapping dialogbox of the CANopen Configuration Tool allows you configure the PDOs of each slave device declared on the network Mapping From the TwidoSoft Application Browser right click on the master module name to Dialogbox select Hardware Expansion bus TWDNCO1M Configure then select the Mapping tab from the CANopen Configuration Tool Result The CANopen Configuration Tool appears on screen as shown in the following figure CANopen Configuration Tool Network Mapping Linking Symbol r Slaves Available Objects TWD USE 10AE 261 Installing and Configuring the CANopen Fieldbus Objects Mapping To find out how to use the Mapping dialog box to configure the TPDOs and RPDOs of each slave device follow these guidelines Step Action 1 In the Slaves frame
384. ocks instructions BLK OUT_BLK and END_BLK Word extracts One of the 16 bits in some words Variable Variable Variable can be extracted as operand bits Grafcet steps Bits X1 to Xi are associated X21 62 TWDLC A10DRF Yes with Grafcet steps Step bit Xi is set TWDLCeA16 DRF to 1 when the corresponding step is 96 TWDLC A24DRF active and set to 0 when the step is TWDLCA 40DRF deactivated and Modular controllers Legends See I O Addressing akhOND Written by the program or by using the Animation Tables Editor Except for SBRi j and SCi j these bits can be read and written Number is determined by controller model Where x address of the expansion module 0 7 y AS Interface address 0A 31B z channel number 0 3 See Addressing I Os associated with slave devices connected to the AS Interface V2 bus p 228 28 TWD USE 10AE Twido Language Objects Word Objects Introduction Word objects that are addressed in the form of 16 bit words that are stored in data memory and can contain an integer value between 32768 and 32767 except for the fast counter function block which is between 0 and 65535 Examples of word objects e Immediate values Internal words MWi memory words Constant words KWi I O exchange words IWi QWi AS Interface analog I O words IWAi QWAi System words SWi Function blocks configuration and or runtime data Word Format
385. ocol e Transmission Only e Transmission Reception e Reception Only The maximum size of frames transmitted and or received using the EXCHx instruction is 256 bytes TWD USE 10AE 115 Communications Hardware An ASCII link see system bits S103 and S104 See System Bits S p 596 Configuration can be established on either the EIA RS 232 or EIA RS 485 port and can run on as many as two communications ports at a time The table below lists the devices that can be used Remote Port Specifications TWDLCeA10 16 24DRF TWDLCA 40DRF TWDLMDA20 40DTK TWDLMDA20DRT 1 Base controller equipped with a 3 wire EIA RS 485 port with a miniDIN connector TWDNOZ232D Communication module equipped with a 3 wire EIA RS 232 port with a miniDIN connector Note This module is only available for the Modular controllers When the module is attached the controller cannot have an Operator Display expansion module TWDNOZ485D Communication module equipped with a 3 wire EIA RS 485 port with a miniDIN connector Note This module is only available for the Modular controllers When the module is attached the controller cannot have an Operator Display expansion module TWDNOZ485T Communication module equipped with a 3 wire EIA RS 485 port with a terminal Note This module is only available for the Modular controllers When the module is attached the controller cannot have an Operator Display expansion mo
386. ode Offline Mode When the module is put into Offline mode it first resets all the slaves present to zero and stops exchanges on the bus When in Offline mode the outputs are forced to zero In addition to using the PB2 button on the TWDNOI10M3 AS Interface module Offline mode can also be accessed via the software by using the ASI_CMD See Programming Examples for the ASI_CMD Instruction p 232 instruction which also allows you to exit the mode and return to protected mode Data Exchange When the Data Exchange Off mode is engaged exchanges on the bus continue to Off Mode function but data is no longer refreshed This mode can only be accessed by using the ASI_CMD See Using the ASI_LCMD Instruction p 230 instruction TWD USE 10AE 233 Installing the AS Interface bus 234 TWD USE 10AE Installing and Configuring the CANopen Fieldbus 1 0 A a Glance Subject of this Chapter What s in this Chapter This chapter describes how to install and configure the TWDNCO1M CANopen master module and its slave devices on the CANopen fieldbus This chapter contains the following sections Section Topic Page 10 1 CANopen Fieldbus Overview 237 10 2 Implementing the CANopen Bus 251 TWD USE 10AE 235 Installing and Configuring the CANopen Fieldbus 236 TWD USE 10AE Installing and Configuring the CANopen Fieldbus 10 1 CANopen Fieldbus Overview At
387. oduction Displaying and Modifying Serial Port Settings The operator display allows you to display the protocol settings and change the addresses of all serial ports configured using TwidoSoft The maximum number of serial ports is two In the example below the first port is configured as Modbus protocol with an address 123 The second serial port is configured as a remote link with an address of 4 M 123 R 4 Twido controllers can support up to two serial ports To display the serial port settings using the operator display Step Action 1 Press the gt key until the Communication Display is shown The single letter of the protocol setting of the first serial port M R or A will be displayed in the upper left corner of the operator display Press the MOD ENTER key to enter the edit mode Press the gt key until you are in the field that you wish to modify Press the a key to increment the value of that field Continue steps 3 and 4 until the address settings are complete Oloa A UJN Press the MOD ENTER key to accept the modified values or ESC to discard any modifications made while in edit mode Note The address is part of the configuration data on the Controller Changing its value using the operator display means that you can no longer connect using TwidoSoft as equal TwidoSoft will require that you do a download to become equal again TWD USE 10AE 317
388. of Timer function blocks e TON Timer On Delay this type of timer is used to control on delay actions e TOF Timer Off Delay this type of timer is used to control off delay actions e TP Timer Pulse this type of timer is used to create a pulse of a precise duration The delays or pulse periods are programmable and may be modified using the TwidoSoft Illustration The following is an illustration of the Timer function block TMi TYPE TON TB Imin ADJ Y TMi P 9999 Timer function block 390 TWD USE 10AE Basic Instructions Parameters The Timer function block has the following parameters Parameter Label Value Timer number TMi 0 to 63 TWDLCAA10DRF and TWDLCAA16DRF 0 to 127 for all other controllers Type TON e Timer On Delay default TOF e Timer Off Delay TP e pulse monostable Time base TB 1 min default 1 s 100 ms 10 ms 1 ms Current Value TMi V Word which increments from 0 to TMi P when the timer is running May be read and tested but not written by the program TMi V can be modified using the Animation Tables Editor Preset value TMi P 0 9999 Word which may be read tested and written by the program Default value is 9999 The period or delay generated is TMi P x TB Animation Tables Y N Y Yes the preset TMi P value can be modified using the Editor Animation Tables Editor N No the preset TMi
389. of the AT function and how Principle it interacts with the PID loops SAMPLING PERIOD DIRECT REVERSE ACTION Analog output PID controller Operation mode CONTROL zA PERIOD nf dt P HIGH LMT NUMERICAL p gt sg SETPOINT KP JTPUT mior aa gt P w ho ooir Lmrrer gt OUTPUT H tout VARIABLE Outp JAT SETPOINT 4 md Low Limry ai Operation mode at Derivative JONVERSION Auto manual Autotuning algorithm External MANUAL measurement ALARM OUTPUT LOW ae ALARM HIGH gt f SAMPLING PERIOD TWD USE 10AE 533 Advanced Instructions AT Tab ofthe PID The screen below is used to enable disable the AT function and enter the AT function parameters Note It is accessible in offline mode only PID PID number o LIXI r AT mode WM Authorize General Input PID AT Output Animation Process Variable PV Limit Trace AT Output Setpoint PID controller Output i Cancel Previous Next Help 534 TWD USE 10AE Advanced Instructions Description A WARNING THE PROCESS VARIABLE PV LIMIT AND THE OUTPUT SETPOINT VALUES MUST BE SET CAREFULLY PID Auto Tuni
390. of the drum controller Column 0 1 2 D o F Control bits Q0 1 Q0 3 Q1 5 Q0 6 Q0 5 Q1 0 0 steps 0 0 1 1 1 0 1 steps 1 0 1 1 0 0 5 steps 1 1 1 0 0 6 steps 0 1 1 0 1 7 steps 1 1 1 1 0 In the above example step 5 is the current step control bits Q0 1 Q0 3 and Q1 5 are set to state 1 control bits Q0 6 Q0 5 and Q1 0 are set to state 0 The current step number is incremented on each rising edge at input U or on activation of instruction U The current step can be modified by the program The following diagram illustrates the operation of the drum controller Input U 4 44 vps 4 4 Input R StepNo DRiS O 1 21374 Lt 10 11 127011 Output DRi F TWD USE 10AE 455 Advanced Instructions Special Cases The following table contains a list of special cases for drum controller operation Special case Description Effects of a cold restart Resets the drum controller to step 0 update of control bits S0 1 Effect of a warm restart Updates the control bits after the current step S1 1 Effect of a program jump The fact that the drum controller is no longer scanned means the control bits are not reset Updating the control bits Only occurs when there is a change of step or in the case of a warm or cold restart
391. of the index is less than 0 e The object address plus the content of the index is greater than the largest word directly referenced in the application The maximum number is 2999 for words MWi or 255 for words KWi In the event of an index overflow the system sets system bit S20 to 1 and the object is assigned an index value of 0 Note The user is responsible for monitoring any overflow Bit S20 must be read by the user program for possible processing The user must confirm that it is reset to 0 S20 initial status 0 e On index overflow set to 1 by the system e Acknowledgment of overflow set to 0 by the user after modifying the index TWD USE 10AE 49 Twido Language Objects Symbolizing Objects Introduction Example Guidelines for Defining Symbols Editing Symbols You can use Symbols to address Twido software language objects by name or customized mnemonics Using symbols allows for quick examination and analysis of program logic and greatly simplifies the development and testing of an application For example WASH_END is a symbol that could be used to identify a timer function block that represents the end of a wash cycle Recalling the purpose of this name should be easier than trying to remember the role of a program address such as TM3 The following are guidelines for defining symbols e A maximum of 32 characters e Letters A Z numbers 0 9 or undersc
392. og Cancel Configuring an AS Interface Slave In the slave configuration screen that is then displayed enter or modify e the name of the new profile limited to 13 characters acomment optional Or click Catalog and select a slave from the pre configured AS Interface profile family TWD USE 10AE 211 Installing the AS Interface bus Step Action 4 Enter e the IO code corresponds to the input output configuration e the ID code identifier plus ID1 and for an extended type Note The Inputs and Outputs fields show the number of input and output channels They are automatically implemented when the IO code is entered For each parameter define e the system s acknowledgement box checked in Bits view or decimal value between 0 and 15 in Decimal view e aname that is more meaningful than Parameter X optional Note The selected parameters are the image of permanent parameters to be provided to the AS Interface Master If needed modify Address within the limit of available addresses on the bus by clicking the up down arrows to the left of the address access is then given to authorized addresses or by entering the address using the keyboard Confirm the slave configuration by clicking on the OK button The result is the check that the IO and ID are authorized e the slave address is authorized if keyboard
393. ogbox allows you to define a symbolization of the variables associated with the CANopen master Symbol From the TwidoSoft Application Browser right click on the master module name to Dialogbox select Hardware Expansion bus TWDNCO1M Configure then select the Symbol tab from the CANopen Configuration Tool Result The CANopen Configuration Tool appears on screen as shown in the following figure CANopen Configuration Tool Network Mapping Linking Symbol Symbol _O_MODULE1_WRITE16OQUTPUTS_UESO MIDU 4011 Write 16 Outputs UESO IWC1 0 0 ganea TWD USE 10AE 267 Installing and Configuring the CANopen Fieldbus Objects Symbolization To find out how to use the Symbol dialogbox to define symbols for the CANopen object variables follow these guidelines Step Action 1 In the Symbol field double click the symbol editing icon f on the same line you wish to symbolize the variable Result The symbol textbox is activated and the cursor is right aligned inside this textbox Fill in a descriptive name A valid symbol can have up to 32 characters only letters A Z numbers 0 9 and underscore _ are allowed no space or any other special characters Note For more details about editing symbols please refer to Symbolizing Objects p 50 Press the Apply button to confirm changes to the symbols table and save to the TwidoSoft project Repeat steps 1
394. ogram lt END gt TWD USE 10AE 331 Ladder Language Function blocks Operate and Comparison Blocks The graphic elements of function blocks are programmed in the test zone and require four rows by two columns of cells except for very fast counters which require five rows by two columns Name Graphic element Function Timers counters registers and so on Each of the function blocks uses inputs and outputs that enable links to the other graphic elements Note Outputs of function blocks can not be connected to each other vertical shorts Comparison blocks are programmed in the test zone and operate blocks are programmed in the action zone Name Graphic element Function Comparison block Compares two operands the output changes to 1 when the result is checked Size one row by two columns Operation block Performs arithmetic and logic operations Size one row by four columns 332 TWD USE 10AE Ladder Language Special Ladder Instructions OPEN and SHORT Introduction The OPEN and SHORT instructions provide a convenient method for debugging and troubleshooting Ladder programs These special instructions alter the logic of a rung by either shorting or opening the continuity of a rung as explained in the following table Instruction Description List Instruction
395. ogram is invalid e Set to 1 the backup program is valid S97 Save MW OK This bit can be read at any time either by the program or while adjusting in particular after a cold start or a warm restart e Setto 0 save MW is not OK e Setto 1 save MW is OK S100 TwidoSoft communications cable connection Shows whether the TwidoSoft communication cable is connected Setto 1 TwidoSoft communications cable is either not attached or TwidoSoft is connected Set to 0 TwidoSoft Remote Link cable is connected S101 Changing a port address Modbus protocol Used to change a port address using system words SW101 port 1 and SW102 port 2 To do this S101 must be set to 1 Set to 0 the address cannot be changed The value of SW101 and SW102 matches the current port address e Setto 1 the address can be changed by changing the values of SW101 port 1 and SW102 port 2 Having modified the values of the system words S101 must be set back to 0 TWD USE 10AE 601 System Bits and Words System Bit Function Description Init state Control S103 S104 Using the ASCII protocol Enables the use of the ASCII protocol on Comm 1 S103 or Comm 2 S104 The ASCII protocol is configured using system words SW103 and SW105 for Comm 1 and SW104 and SW106 for Comm 2 e Set to 0 the protocol used is the one configured in Twido
396. ol Use TwidoSoft to configure the controller s port First the hardware option is configured In this example the TWDNOZ232D is added to the Modular base controller Second the Controller Communication Setup is initialized with all of the same parameter settings as the Terminal Emulator on the PC In this example capital letter A is chosen for 1st end character in order to terminate character reception A 10 second timeout is chosen for Response Timeout parameter Only one of these two parameters will be invoked depending on whichever happens first Step 4 Write the application LD 1 MW10 16 0104 MW11 16 0000 MW12 16 4F4B MW13 16 0A0D LD 1 AND MSG2 D EXCH2 MW10 8 LD MSG2 E ST Q0 0 END 124 TWD USE 10AE Communications Use TwidoSoft to create an application program with three primary parts First initialize the Control and Transmission tables to use for the EXCH instruction In this example a command is set up to both send and receive data The amount of data to send will be set to 4 bytes as defined in the application followed by the end of frame character used in this case the first end character A Start and end characters do not display in the Animation table where only data characters show up Anyway those characters are automatically transmitted or checked at reception by SW63 and SW64 when used Next check the status bit associated with MSG
397. oller They must be connected directly to the corresponding outputs Make power returns conditional on a manual operation An automatic restart of the installation could cause unexpected operation of equipment use system bits SO S1 and S9 The state of system bit S51 which indicates any RTC faults should be checked When a program is entered TwidoSoft checks the syntax of the instructions the operands and their association 334 TWD USE 10AE Ladder Language Additional Notes Assignment operations should not be placed within parentheses on Using LD 10 0 Parentheses 100 10 1 Q0 1 AND I0 1 OR 10 2 Vs S 0 0 10 2 10 3 AND 4I0 3 ano ST Q0 1 gt lt U7 In order to perform the same function the following equations must be programmed LD 10 0 I0 0 10 1 Q0 1 MPS AND I0 1 A Sg OR I0 2 0 2 10 3 AND 10 3 10 2 Q0 0 ST Q0 1 MPP If several contacts are parellelized they must be nested within each other or completely separate 10 0 10 1 10 5 QO 1 10 2 10 3 10 6 10 7 I0 0 10 1 10 5 QO 1 7 10 2 10 4 TWD USE 10AE 335 Ladder Language The following schematics cannot be programmed 10 0 X0 1 Q0 1
398. oller Status S 0 NO CONFIG 2 STOP 3 RUN 4 HALT 604 TWD USE 10AE System Bits and Words System Words Function Description Control SW7 Controller state e Bit 0 Backup restore in progress e Set to 1 if backup restore in progress e Set to 0 if backup restore complete or disabled e Bit 1 Controller s configuration OK e Set to 1 if configuration ok e Bit 3 2 EEPROM status bits e 00 No cartridge e 01 32 Kb EEPROM cartridge e 10 64 Kb EEPROM cartridge e 11 Reserved for future use e Bit 4 Application in RAM different than EEPROM e Set to 1 if RAM application different to EEPROM e Bit 5 RAM application different to cartridge e Set to 1 if RAM application different to cartridge e Bit 6 not used status 0 e Bit 7 Controller reserved e Set to 1 if reserved e Bit 8 Application in Write mode e Set to 1 if application is protected e Bit 9 not used status 0 e Bit 10 Second serial port installed e Set to 1 if installed e Bit 11 Second serial port type 0 EIA RS 232 1 EIA RS 485 e Set to 0 EIA RS 232 e Setto 1 EIA RS 485 e Bit 12 application valid in internal memory e Set to 1 if application valid e Bit 13 Valid application in cartridge e Set to 1 if application valid e Bit 14 Valid application in RAM e Set to 1 if application valid e Bit 15 ready for execution e Set to 1 if ready for execution
399. ollers It should be removed from a controller and set aside once the program has been installed or saved Only program and configuration data can be saved to the cartridge MWs cannot be saved to the 32K backup cartridge Dynamic data can be stored in memory words then backed up to the EEPROM When program installation is complete any MWs that were backed up to the internal EEPROM prior to installation will be lost Memory Here is a diagram of a controller s memory structure with the backup cartridge Structure attached The arrows show what can be backed up to the EEPROM and cartridge from RAM Dynamic words MWs _ _ RAM Program phi peat ea Configuration data I MWs a EEPROM Program e 8 bee 2S 2 Sig Configuration data Backup Program Leaf Secs oa gene cartridge Configuration data at 56 TWD USE 10AE User Memory Program Backup Program Restore Here are the steps for backing up your program into the backup cartridge Step Action 1 Power down the controller Plug in the backup cartridge Powerup the controller AJOIN From the Twido software window bring down the menu under Controller scroll down to Backup and click on it oa Power down the controller Remove backup cartridge from controller To load a program saved on a backup cartridge into a controller do t
400. om left of the screen 7 To configure several PID controllers clickNext to increment the number of the PID to be set Once you have confirmed the PID configuration you must then confirm the PID configuration editor which summarizes all the parameters of each PID configured To confirm the configuration editor screen click the Accept icon in the toolbar as shown below 3 As a Zal 1 oOo oO lon Or OARS CC LHe NE EE suey PID 0 configured BE aM FoR cit Siem yan al Sy CE eae TS eee anny GENERAL sesione a od e E A dee wdc tae Sel Operating mode SMW17 1 1 1 1 Pee Sider ee IN hake ey he a ae VENPUT 42 345 e02 isa Bue She Be eee ee as Measurement SIW1 0 K Conversion Inhibit Min Max Alarms Inhibit Low Output Conversion Inhibit High Output f Pee Soe E B Bi eE N PID ma ase Sse Bie A E Ree teeta y Setpoint MWO 1 A Kp sMW10 Ti MW11 Td MW12 P 1 Sampling peri d ai neo E cts E AE EEEN Mode AT Authorize Setpoint SMW13 Output SMW14 Rone Sipe ese SS E Rie aee eee GUPIT nn e Sats Cents pore cece ee eee me Action SM1 i i Limits Inhibit Min 1 Max 1 Manual mode M2 Output MW18 1 Digital output MW15 i PWM Authorize Period MW16 Output QO0 1 porte er eee ee ree eee ae ee ee re ee ee ee ee ee T TWD USE 10AE 503 Advanced Instructions
401. on The table below describes the settings that you may define Field Description PID number Specify the PID number that you wish to configure here The value is between 0 and 13 14 PID maximum per application Configured To configure the PID this box must be checked Otherwise no action can be performed in these screens and the PID though it exists in the application cannot be used Operating mode Specify the desired operating mode here You may choose from three operating modes and a word address as follows e PID e AT e AT PID e Word address Word address You may provide an internal word in this text box MWO0O to MW2999 that is used to programmatically set the operating mode The internal word can take three possible values depending on the operating mode you wish to set e MWx 1 to set PID only MWx 2 to set AT PID e MWx 3 to set AT only PID States If you check to enable this option you may provide a memory word in this text box MWO0 to MW2999 that is used by the PID controller to store the current PID state while running the PID controller and or the autotuning function for more details please refer to PID States and Errors Codes p 545 Diagram The diagram allows you to view the different possibilities available for configuring your PID TWD USE 10AE 527 Advanced Instructions Input tab of the PID At a Glance The ta
402. on Bit strings Words Double words Floating word Word tables Double word tables Floating word tables Operations can be performed on the following bit strings see Structured Objects p 45 e Bit string gt bit string Example 1 e Bit string gt word Example 2 or double word indexed e Word or double word indexed gt bit string Example 3 e Immediate value gt bit string TWD USE 10AE 411 Basic Instructions Examples Bit String Assignments Examples of bit string assignments LD 1 QO 8 M64 8 Q0 8 M64 8 Ex 1 10 2 LD 10 2 MW100 10 16 MW100 1I0 16 Ex 2 10 3 LDR I0 3 P M104 16 KWO M104 16 KWO Ex 3 Usage rules e For bit string gt word assignment The bits in the string are transferred to the word starting on the right first bit in the string to bit O in the word and the word bits which are not involved in the transfer length lt 16 are set to 0 e For word gt bit string assignment The word bits are transferred from the right word bit O to the first bit in the string Syntax for bit string assignments Operator Syntax Operand 1 Op1 Operand 2 Op2 Op1 Op2 Operand 1 Op1 assumes the value of operand 2 Op2 MWI QWi QWAI SWi MWI MWi MDi MDi MWi Mi L Qi L Si L Xi L Immediate value MWi KWi A IW IWAi
403. on about the Modbus TCP messaging instruction EXCH please refer to TCP Modbus Messaging p 180 476 TWD USE 10AE Advanced Instructions Exchange Control Function Block MSGx Introduction Note The x in MSGx signifies the controller port x 1 or 2 e x 1 or 2 signifies the serial port 1 or 2 of the controller respectively x 3 signifies the Ethernet network port of the controller on TWDLCAE40DRF controllers only For more information about the MSG3 function please refer to TCP Modbus Messaging p 180 The MSGx function block manages data exchanges and has three functions e Communications error checking Error checking verifies that the block length word table programmed with the EXCH instruction is large enough to contain the length of the message to be sent compare with length programmed in the least significant byte of the first word of the word table e Coordination of multiple messages To ensure coordination when sending multiple messages the MSGx function block provides the information required to determine when a previous message is complete e Transmission of priority messages The MSGx function block allows the current message transmission to be stopped in order to allow the immediate sending of an urgent message The programming of the MSGx function block is optional Illustration The following is an example of the MSGx function block MSG1 E
404. on blocks include LIFO FIFO registers R Drum controllers DR Fast counters FC Very fast counters VFC Pulse width modulation output PWM Pulse generator output PLS Shift Bit Register SBR Step counter SC Message control block MSG Advanced function blocks use similar types of dedicated words and bits as the Objects Accessible by the Program The table below contains an overview of the words and bits accessible by the program that are associated with the various advanced function blocks Please note that write access in the table below depends on the Adjustable setting selected during configuration Setting this allows or denies access to the words or bits by TwidoSoft or the operator interface Advanced Function Block Associated Words and Bits Address Write Access R Word Register input Ri Yes Word Register output Ri O Yes Bit Register output full Ri F No Bit Register output empty Ri E No DR Word Current step number DRi S Yes Bit Last step equals current step DRi F No FC Word Current Value FCI V Yes Word Preset value FCI P Yes Bit Done FCi D No 438 TWD USE 10AE Advanced Instructions Advanced Function Block Associated Words and Bits Address Write Access VFC Word Current Value NFCI V No Word Preset value NFCI P Yes Bit Coun
405. on in online mode 220 Automatic addressing of an AS Interface V2 slave 220055 225 How to insert a slave device into an existing AS Interface V2 configuration 226 Automatic replacement of a faulty AS Interface V2 slave 227 Addressing I Os associated with slave devices connected to the AS Interface V2 bus 228 Programming and diagnostics for the AS Interface V2 bus 229 AS Interface V2 bus interface module operating mode 233 Installing and Configuring the CANopen Fieldbus 235 Ava Glan Ce jase esr Shug aha a Ea p eee la atten al PEs Vateeen tes Ga 235 CANopen Fieldbus Overview 0 cece eee tenets 237 AvarGlance sti pea te th hata te bent cet he aed ad ek ae 237 CANopen Knowledge Base 0 0 c cece eee eee eee 238 About CANOpe niis konii oi Bia eta SE YE wan et ea eee 239 CANOpen Boot Up 00 0 c ect tet e eee 242 Process Data Object PDO Transmission 000000eeeeeee 245 Access to Data by Explicit Exchanges SDO 00 0 eens 247 Node Guarding and Life Guarding 0 00 0 cece eee eee 248 Internal Bus Management 00 nananana 250 Implementing the CANopen BuS 0 0c e eee eee 251 OVEIVIEW iai anea se aot cee E deais AA a EEEE ete eee Pantin ae alae tea 251 OVerVieW are barnett ee We ae SY ae a a e A e e a 252 Hardware Setup iaieineea aa ce a aAa e a Peels eatin ela ii 253
406. onfusion in interpreting the display of dedicated outputs for PLS or PWM pulses At the time these outputs are sampled their value will always be zero and this value will be displayed Displays and The Operator Display provides the following separate displays with the associated Functions functions you can perform for each display e Controller Identification and State Information Operations Display Display firmware revision and the controller state Change the controller state with the Run Initial and Stop commands e System Objects and Variables Data Display Select application data by the address l Q and all other software objects on the base controller Monitor and change the value of a selected software data object e Serial Port Settings Communication Display Display and modify communication port settings e Time of Day Clock Time Date Display Display and configure the current date and time if the RTC is installed e Real Time Correction RTC Factor Display and modify the RTC Correction value for the optional RTC Note 1 The TWDLCA 40DPRF series of compact controllers have RTC onboard 2 On all other controllers time of day clock and real time correction are only available if the Real Time Clock RTC option cartridge TWDXCPRTC is installed 306 TWD USE 10AE Operator Display Operation Illustration The following illustration shows a view of the Operat
407. onnector T connector See the following illustration 2 Connect via ftp to TwidoPort See note TwidoPort uses the following default IP configuration IP address 192 168 2 102 Subnet mask 255 255 0 0 Gateway address 192 168 2 102 Frame type Ethernet II 3 Get file fw Conf dat Obtain the IP configuration and password 4 Open the Conf dat file in a text editor from the Conf dat file Note No password is required FTP Connection The following illustration shows how to connect to TwidoPort via ftp in backup mode green white green seract status JJunx tooms BetHact Connexium TWD USE 10AE 299 Configuring the TwidoPort Ethernet Gateway 11 3 Communication Features At a Glance Subject of this This section describes the communications features supported by the ConneXium Section TwidoPort Ethernet gateway What s in this This section contains the following topics Section Topic Page Ethernet Features 301 Modbus TCP Communications Protocol 302 Locally Supported Modbus Function Codes 303 300 TWD USE 10AE Configuring the TwidoPort Ethernet Gateway Ethernet Features Introduction The ConneXium TwidoPort adds Ethernet connectivity to Telemecanique s Twido product line It is the gateway between a single Twido Modbus RTU RS 485 device and the physical layer of Modbus TCP networks i
408. onnector connector Note The PC running the TwidoSoft application must be Ethernet capable The Twido TWDLCAE40DRF features a RJ 45 connector to connect to the 100 BASE TX network Ethernet with auto negotiation It can accomodate both 100Mbps and 10 Mbps network speeds The following figure shows the RJ 45 connector of the Twido controller Pins 1 The eight pins of the RJ 45 connector are arranged vertically and numbered in order from bottom to top The pinout for the RJ 45 connector is described in the table below Pinout Function Polarity NC NC RxD NC NC RxD w AJ aloin 90 TWD USE 10AE Communications Pinout Function Polarity 2 TxD 1 TxD Note e The same connector and pinout is used for both 10Base T and 100Base TX e When connecting the Twido controller to a 100Base TX network you should use at least a category 5 Ethernet cable TWD USE 10AE 91 Communications Communication between TwidoSoft and a Modem General A PC executing Twidosoft can be connected to a Twido controller for transferring applications animating objects and executing operator mode commands It is also possible to connect a Twido controller to other devices such as another Twido controller for establishing communication with the application process Installing the All modems the user wishes
409. ons e Test instructions These setup or test for the necessary conditions to perform an action For example LOAD LD and AND e Action instructions These perform actions as a result of setup conditions For example assignment instructions such as STORE ST and RESET R 344 TWD USE 10AE Instruction List Language Operand An operand is a number address or symbol representing a value that a program can manipulate in an instruction For example in the sample program above the operand l0 1 is an address assigned the value of an input to the controller An instruction can have from zero to three operands depending on the type of instruction code Operands can represent the following e Controller inputs and outputs such as sensors push buttons and relays e Predefined system functions such as timers and counters e Arithmetic logical comparison and numerical operations e Controller internal variables such as bits and words TWD USE 10AE 345 Instruction List Language Operation of List Instructions Introduction Operation Supported List Instructions List instructions have only one explicit operand the other operand is implied The implied operand is the value in the Boolean accumulator For example in the instruction LD l0 1 10 1 is the explicit operand An implicit operand is stored in the accumulator and will be written over by value of l0 1 A List instruction performs a specified op
410. onse Note e This request does not need the use of offset e The response frame is the same as the request frame here in a normal case e Fora bit to write 1 the associated word in the transmission table must contain the value FFOOH and 0 for the bit to write 0 146 TWD USE 10AE Communications Modbus Master Write Word This table represents Request 06 Table Most significant byte Least significant byte Index Control table 0 01 Transmission 06 Transmission length reception 1 00 Reception offset 00 Transmission offset Transmission table 2 Slave 1 247 06 Request code 3 Address of the word to write 4 Word value to write Reception table 5 Slave 1 247 06 Response code after response 6 Address of the word written 7 Value written This byte also receives the length of the string transmitted after response Note e This request does not need the use of offset e The response frame is the same as the request frame here in a normal case TWD USE 10AE 147 Communications Modbus Master Write of N Bits This table represents Request 15 Table Index Most significant byte Least significant byte Control table 0 01 Transmission reception 8 number of bytes transmission 1 00 Reception Offset 07 Transmission offset Transmission table
411. ontrollerO to 7 Modular Controllers Current step number DRi S 0 lt DRi S lt 7 Word which can be read and written Written value must be a decimal immediate value When written the effect takes place on the next execution of the function block Number of steps 1 to 8 default Input to return to step O or instruction R Reset At state 1 sets the drum controller to step 0 Advance input or instruction U Upper On a rising edge causes the drum controller to advance by one step and updates the control bits Output F Full Indicates that the current step equals the last step defined The associated bit DRi F can be tested for example DRi F 1 if DRi S number of steps configured 1 Control bits Outputs or internal bits associated with the step 16 control bits and defined in the Configuration Editor 454 TWD USE 10AE Advanced Instructions Drum Controller Function Block DRi Operation Introduction Operation Timing Diagram The drum controller consists of e A matrix of constant data the cams organized in eight steps 0 to 7 and 16 data bits state of the step arranged in columns numbered 0 to F e A list of control bits is associated with a configured output Qi j k or memory word Mi During the current step the control bits take on the binary states defined for this step The example in the following table summarizes the main characteristics
412. or Display which consists of a display area here in Normal mode and four push button input keys we Display area T M 123 V 1234 MOD Esc 4 D ENTER J A Input keys Display area The Operator Display provides an LCD display capable of displaying two lines of characters e The first line of the display has three 13 segment characters and four 7 segment characters e The second line has one 13 segment character one 3 segment character for a plus minus sign and five 7 segment characters Note If in Normal mode the first line indicates an object name and the second line displays its value If in Data mode the first line displays SW68 value and the second line displays SW69 value TWD USE 10AE 307 Operator Display Operation Input keys Selecting and Navigating the Displays The functions of the four input push buttons depend on the Operator Display mode Key In Display Mode In Edit Mode ESC Discard changes and return to previous display a Go to the next value of an object being edited D Advance to next display Go to the next object type to edit MOD Go to edit mode Accept changes and return to previous ENTER display The initial display or screen of the Operator Display shows the controller identifi cation and state information Press the B push button to sequence through each of the displays The screens for the Time of Day Clock or the Real Time Correc
413. or can initiate a broadcast message to all slaves Slaves return a message response to queries that are addressed to them individually Responses are not returned to broadcast queries from the master A CAUTION UNEXPECTED EQUIPMENT OPERATION e Be sure that there is only one Modbus master controller on the bus and that each Modbus slave has a unique address Failure to observe this precaution may lead to corrupted data or unexpected and ambiguous results e Be sure that all Modbus slaves have unique addresses No two slaves should have the same address Failure to observe this precaution may lead to corrupted data or unexpected and ambiguous results Failure to follow this instruction can result in injury or equipment damage 126 TWD USE 10AE Communications Hardware A Modbus link can be established on either the EIA RS 232 or EIA RS 485 port and Configuration can run on as many as two communications ports at a time Each of these ports can be assigned its own Modbus address using system bit S101 and system words SW101 and SW102 See System Bits S p 596 See also System Words SW p 604 The table below lists the devices that can be used Remote Port Specifications TWDLCeA10 16 24DRF 1 Base controller supporting a 3 wire EIA RS 485 port with a miniDIN connector TWDLCAe40DRF TWDLMDA20 40DTK TWDLMDA20DRT TWDNOZ232D 2 Communication module equip
414. or double word tables Type Address Maximum size Write access Internal words MDi L 0 lt L lt 256 and i L lt 3000 Yes Constant words KDi L O lt L and i L lt 256 No Floating word tables are a series of adjacent words of the same type and of a defined length L Example Floating point table KF10 7 KF10 32 Bit KF22 Floating point tables can be used with the Assignment instruction see Advanced instructions Available types of words for floating word tables Type Address Maximum size Write access Internal words MFi L 0 lt L lt 256 and i L lt 3000 Yes Constant words KFi L O lt L and i L lt 256 No TWD USE 10AE 47 Twido Language Objects Indexed objects Introduction Direct Addressing Indexed Addressing Objects Available for Indexed Addressing An indexed word is a single or double word or floating point with an indexed object address There are two types of object addressing e Direct addressing e Indexed addressing A direct address of an object is set and defined when a program is written Example M26 is an internal bit with the direct address 26 An indexed address of an object provides a method of modifying the address of an object by adding an index to the direct address of an object The content of the index is added to the object s direct address The index is defined by an internal w
415. ord MWi The number of index words is unlimited Example MW108 MW2 is a word with an address consisting of the direct address 108 plus the contents of word MW2 If word MW2 has a value of 12 writing to MW108 MW2 is equivalent to writing to MW120 108 plus 12 The following are the available types of objects for indexed addressing Type Address Maximum size Write access Internal words MWi MWj Os i MWj lt 3000 Yes Constant words KWi MW Os i MWj lt 256 No Internal double words MDi MWj Os i MWj lt 2999 Yes Double constant KDi MW Os i MWj lt 255 No words Internal floating MFi MWj Os i MWj lt 2999 Yes points Constant floating KFi MWj Os i MWj lt 255 No points Indexed objects can be used with the assignment instructions see Assignment Instructions p 411 for single and double words and in comparison instructions see Comparison Instructions p 416 for single and double words This type of addressing enables series of objects of the same type such as internal words and constants to be scanned in succession by modifying the content of the index object via the program 48 TWD USE 10AE Twido Language Objects Index Overflow system bit S20 An overflow of the index occurs when the address of an indexed object exceeds the limits of the memory zone containing the same type of object In summary e The object address plus the content
416. ord e if the table is made up of floating words the result is given in the form of a floating word Structure Ladder language I3 2 MD5 SUM_ARR MD3 1 MD5 SUM_ARR KD5 2 MFO SUM_ARR KF8 5 Instruction List Language LD 13 2 MD5 SUM_ARR MD3 1 MD5 SUM_ARR KD5 2 MFO SUM_ARR KF8 5 Syntax Syntax of table summing instruction Res SUM_ARR Tab Parameters of table summing instruction Type Result res Table Tab Double word tables MDi MDi L KDi L Floating word tables MFi MFi L KFi L Note When the result is not within the valid double word format range according to the table operand the system bit S18 is set to 1 Example MD5 SUM MD30 4 where MD30 10 MD31 20 MD32 30 MD33 40 MD5 10 20 30 40 100 TWD USE 10AE 579 Advanced Instructions Table comparison functions General The EQUAL _ARR function carries out a comparison of two tables element by element If a difference is shown the rank of the first dissimilar elements is returned in the form of a word otherwise the returned value is equal to 1 The comparison is carried out on the whole table Structure Ladder language 13 2 MW5 EQUAL_ARR MD20 7 KD0 7 MW0 EQUAL_ARR MD20 7 KFO 7 MW1 EQUAL_ARR MF0 5 KFO0 5 Instruction List Language LD 13 2 MW5 EQUAL ARR MD20 7 KD0 7 Structured Text language MWO EQUAL ARR MD20 7 KFO 7
417. ord memory 16 bits supports e Dynamic words runtime memory stored in RAM only e Memory words MW and double words MD dynamic system data and system data e Program descriptors and executable code for tasks e Configuration data constant words initial values and input output configuration The following are the different types of memory storage for Twido controllers e Random Access Memory Internal volatile memory Contains dynamic words memory words program and configuration data e EEPROM An integrated 32KB EEPROM that provides internal program and data backup Protects program from corruption due to battery failure or a power outage lasting longer than 30 days Contains program and configuration data Holds a maximum of 512 memory words Program is not backed up here If a 64K extended memory cartridge is being used and Twido has been configured to accept the 64K extended memory cartridge e Erase 32K backup cartridge An optional external cartridge used to save a program and transfer that program to other Twido controllers Can be used to update the program in controller RAM Contains program and constants but no memory words e 64K extended memory cartridge An optional external cartridge that stores a program up to 64K Must remain plugged into the controller as long as that program is being used Your controller s program and memory words can be saved in the following e RAM for up to 30 days with good batt
418. ord objects correspond to specified parameters and values as follows e Block configuration parameters Some parameters are accessible by the program for example pre selection parameters and some are inaccessible by the program for example time base e Current values For example Ci V the current count value 386 TWD USE 10AE Basic Instructions Accessible Bit The following table describes the Basic function blocks bit and word objects that can and Word be accessed by the program Objects Basic Function Block Symbol Range i Types of Objects Description Address Write Access Timer TMi 0 127 Word Current Value TMi V no Preset value TMi P yes Bit Timer output TMi Q no Up Down Counter Ci 0 127 Word Current Value Ci V no Preset value Ci P yes Bit Underflow output Ci E no empty Preset output Ci D no reached Overflow output full Ci F no TWD USE 10AE 387 Basic Instructions Standard function blocks programming principles Introduction Use one of the following methods to program standard function blocks e Function block instructions for example BLK TM2 This reversible method of programming ladder language enables operations to be performed on the block in a single place in the program e Specific instructions for example CU Ci This non reversible method enables operations to be performed on the block s inp
419. ords INWj k and QNWj k Each peer controller on the network uses INWO 0 to INWO0 3 and QNWO 0 to QNWO 3 to access data on the master Network words are updated automatically when the controllers are in Run or Stop mode The example below illustrates the exchange of a master with two configured peer controllers Remote link a es eae Master controller Peer controller Peer controller Address 0 Address 1 Address 3 INW1 0 QNWO 0 anws awos QNW1 0 INWO 0 QNW1 3 Fino INW3 0 Pee wnw3a3 Ph NWO QNW3 0 INWO 0 yawes lt S S S There is no peer to peer messaging within the remote link The master application program can be used to manage the network words in order to transfer information between the remote controllers in effect using the master as a bridge 110 TWD USE 10AE Communications Status Information In addition to the system bits explained earlier the master maintains the presence and configuration status of remote controllers This action is performed in system words SW111 and SW113 Either the remote or the master can acquire the value of the last error that occurred while communicating on the remote link in system word SW112 System Use Words SW111 Remote link status two bits for each remote controller master only x0 6 0 Remote controller 1 7
420. ores _ e First character must be an alphabetical or accented character You can not use the percentile sign e Do not use spaces or special characters e Not case sensitive For example Pump1 and PUMP1 are the same symbol and can only be used once in an application Symbols are defined and associated with language objects in the Symbol Editor Symbols and their comments are stored with the application on the PC hard drive but are not stored on the controller Therefore they can not be transferred with the application to the controller 50 TWD USE 10AE User Memory At a Glance Subject of this This chapter describes the structure and usage of Twido user memory Chapter What s in this This chapter contains the following topics Chapter Topic Page User Memory Structure 52 Backup and Restore without Backup Cartridge or Extended Memory 54 Backup and Restore with a 32K Backup Cartridge 56 Using the 64K Extended Memory Cartridge 58 TWD USE 10AE User Memory User Memory Structure Introduction Bit Memory Word Memory Memory Storage Types Saving Memory The controller memory accessible to your application is divided into two distinct sets e Bit values e Word values 16 bit signed values and double word values 32 bit signed values The bit memory is located in the controller s built in RAM It contains the map of 128 bit objects The w
421. orithm automatically determines the correct type of action direct or reverse for the control process In this case only one option is available from the Action dropdown list Address bit You must then enter in the associated Bit textbox an internal word MWO0O to MW2999 Do not attempt to enter an internal constant or a direct value in the Bit textbox for this will trigger an execution error Limits Bit Specify here whether you want to place limits on the PID output Three options are available Enable Disable or bit address If you have selected bit address you can enable bit to 1 or disable bit to 0 limit management by the program by modifying the associated bit which is either an internal bit M0 to M255 or an input Ix 0 to Ix 32 Min Max Set the high and low limits for the PID output here Note The Min must always be less than the Max Min or Max can be internal words MWO0O to MW2999 internal constants KWO to KW255 or a value between 1 and 10000 Manual mode Bit Output Specify here whether you want to change the PID to manual mode Three options are available Enable Disable or bit address If you have selected bit address you can switch to manual mode bit to 1 or switch to automatic mode bit to 0 using the program by modifying the associated bit which is either an internal bit M0 to M255 or an input lx 0 to lx 32 The Output of manual mode must contain the value tha
422. ormat Controller point Word position The table below describes the network addressing format Group Element Value Description Symbol The percent symbol always precedes an internal address Object type IN Network input word Data transfer from master to peer QN Network output word Data transfer from peer to master Format W A16 bit word Controller x 0 Master controller Remote Link master position 1 7 Remote controller Remote Link slave Word j 0 3 Each peer controller uses from one to four words to exchange data with the master controller The table below shows some examples of networking addressing Network object Description INW3 1 Network word number 1 of remote controller number 3 QNWO 3 Network word number 3 of the base controller 42 TWD USE 10AE Twido Language Objects Function Block Objects Introduction Function blocks provide bit objects and specific words that can be accessed by the program Example of a The following illustration shows a counter function block Function Block Ci IR E gt ADJ Y E Ci P 9999 U Up down counter block Bit Objects Bit objects correspond to the block outputs These bits can be accessed by Boolean test instructions using either of the following methods e Directly for example LD E if they are wired to the block in reversible
423. ose the COM1 port oa AJOJN Double click on the Ethernet Port icon in the TwisoSoft Application Browser or select Hardware gt Ethernet from the menu bar to call up the Ethernet Configuration dialog box as shown below Ethernet Configuration IP Address Configure Marked IP Time out Remote Devices C From a Server Configured IP Address 192 168 1 101 Subnetwork mask 255 255 255 0 Gateway 192 168 1 101 Cancel Help From the IP Address Configure tab e Select From a Server radio button to use BootP client support in order to automatically obtain a dynamic IP address from the server Go directly to Step 10 Note The TWDLCAE40DRF controller performs three 200ms interval retries to send BootP requests to the server If no valid response is received the controller uses the fallback default IP address e Select Configured radio button and start configuring the static IP Address Subnetwork mask and Gateway address fields as explained in steps 7 9 Note At this stage we are only dealing with the basic configuration of PC to controller communication over the Ethernet network Therefore you will not need to configure the Marked IP Time out and Remote Devices tabs yet TWD USE 10AE 155 Communications Step Action 7 Enter a valid static IP Address for the Twido controller in dotted decimal notation This IP address mus
424. ot available If 10 0 4 is used FC3 is not available TWD USE 10AE 463 Advanced Instructions Illustration Here is a block representation of the Very Fast Counter VFC in single word mode NFCO IN F TYPE UP DN SINGLE Jy T_OUTO T_OUT1 ADJ VECO P s THI THO 464 TWD USE 10AE Advanced Instructions Specifications The following table lists characteristics for the very fast counter VFC function block Function Description Values NFC Run time Use Access Current Value Current value that is increased or decreased according VFCi V 0 gt CM Read VFCI V to the physical inputs and the function selected This 65535 VFCi VD value can be preset or reset using the preset input NFCI VD 0 gt VFCI S 4294967295 Preset value Only used by the up down counting function and single VFCi P 0 gt CM or FM Read and VFCi P up or down counting 65535 Write 1 VFCi PD NFCIi PD 0 gt 4294967295 Capture Value Only used by the up down counting function and single VFCi C 0 gt CM Read VFCi C up or down counting 65535 VFCi CD VFCi CD 0 gt 4294967295 Counting Set by the system this bit is used by the up down 0 Down CM Read direction counting function to indicate to you the direction of counting VFCi U counting 1 Up counting As a single phase u
425. ou will use the double word function variables accordingly P amp IN VECi P PEON FC Counter Peon IB UP DOWN flag or phase 2 gt amp i NFCI F VFCi P Overflow output IPres Preset Input VFCi V gt 1 gt Current Value p Current S VFCi yale lCa Catch input gt gt VFCi C Catch gt 1 value Read VFCi V instruction B VFCI THO NFCI SO Threshold p p gt Value 0 a NFCI TH1 Comparison VFCI S1 amp m Q0 0 x Threshold __ gt capa 0 Value 1 z 7 amp gt Q0 0 aaa Reflex VFCi S output 1 Enable Note Outputs are managed independently from the controller cycle time The response time is between 0 and 1ms 468 TWD USE 10AE Advanced Instructions Single Up The following is an example of using VFC in a single up counter mode The Counter following configuration elements have been set for this example Operation FCO P preset value is 17 while the VFCO SO lower threshold value is 14 and the VFCO S1 upper threshold is 20 Reflex value lt VFC SO VFCO SO lt value lt VFCO S1 value gt VFCO0 S1 Output Q0 0 2 X Q0 0 3 xX X A timing chart follows NVF
426. owing appropriate sections for a list of objects that are accessible by the program e For Basic Function Blocks see Basic Function Blocks p 386 e For Advanced Function Blocks see Bit and Word Objects Associated with Advanced Function Blocks p 438 44 TWD USE 10AE Twido Language Objects Structured Objects Introduction Structured objects are combinations of adjacent objects Twido supports the following types of structured objects Bit Strings Tables of words Tables of double words Tables of floating words Bit Strings Bit strings are a series of adjacent object bits of the same type and of a defined length L Example Bit string M8 6 M8 M9 M10 M11 M12 M13 Note M8 6 is acceptable 8 is a multiple of 8 while M10 16 is unacceptable 10 is not a multiple of 8 Bit strings can be used with the Assignment instruction see Assignment Instructions p 411 TWD USE 10AE 45 Twido Language Objects Available Types of Bits Tables of words Available Types of Words Available types of bits for bit strings Type Address Maximum size Write access Discrete input bits l0 0 L or 11 0 L 1 O lt L lt 17 No Discrete output bits Q0 0 L or Q1 0 L 1 O lt L lt 17 Yes System bits Si L 0 lt L lt 17 and i L lt 128 Depending on i with i multiple of 8 Grafcet Step bits Xi L 0 lt L lt 17 and i L lt
427. p Action 1 Check that you are in online mode 2 Open the browser Result TwidoSoft no heading File Edit Display Tools Hardware Software Se E 4 amp Sa amp F es xix no heading ffi TWDLMDA40DUK Hardware lt 9 Port 1 Remote Link 1 fi Expansion bus Software P Constants 23 Counters Drum controllers 423 Fast Counters LIFO FIFO registers T PLS PWM 7 Schedule blocks Timers 2 Very fast counters r Programs X Symbols Animation tables Q Documentation 3 Double click on PID Result The PID configuration window opens and displays the Animation See Animation tab of PID function p 541 tab by default Note You can also right click on PID and select the Edit option or select Software gt PID from the menu or use the Program Configuration Editor PID Icon menu or if using the latter method select the PID and click on the Magnifying glass icon to select a specific PID 540 TWD USE 10AE Advanced Instructions Animation tab of PID function At a Glance The tab is used to debug the PID The diagram depends on the type of PID control that you have created Only configured elements are shown The display is dynamic Active links are shown in red and inactive links are shown in black Note It is accessible in online mode
428. p or down counter 10 0 0 decides the direction for VFCO and l0 0 6 for VFC1 For a two phase up down counter it is the phase difference between the two signals that determines the direction For VFCO l0 0 is dedicated to IB and l0 1 to IA For VFC1 l0 6 is dedicated to IB and l0 7 to IA Enable Reflex Validate Reflex Output 0 0 Disable CM Read and Output 0 1 Enable Write 2 VFCi R Enable Reflex Validate Reflex Output 1 0 Disable CM Read and Output 1 1 Enable Write 2 VFCI S Threshold This word contains the value of threshold 0 The NFCI SO 0 gt CM Read and Value SO meaning is defined during configuration of the function 65535 Write 1 VFCI SO block Note This value must be less than VFCi S1 NFCi SOD 0 VFCi SOD gt 4294967295 Threshold This word contains the value of threshold 0 The NFCI S1 0 gt CM Read and Value S1 meaning is defined during configuration of the function 65535 Write 1 VFCI S1 block Note This value must be greater than VFCi SO VFCi S1D 0 VFCi S1D gt 4294967295 TWD USE 10AE 465 Advanced Instructions Function Description Values YN FC Run time Use Access Frequency Configuration item for 100 or 1000 millisecond time base 1000 or 100 FM Read and Measure Time Write 1 Base VFCIi T Adjustable Configurable item that when selected allows the user to N No CM or FM No Y N modify the preset threshold a
429. p there is one way the program will be restored to RAM from the EEPROM assuming there is no cartridge or extended memory in place e The RAM program is not valid To restore a program manually from EEPROM do the following e From the Twido software window bring down the menu under Controller scroll down to Restore and click on it Here are the steps for backing up data memory words into the EEPROM Step Action 1 For this to work the following must be true A valid program in RAM SW96 X6 1 The same valid program already backed up into the EEPROM Memory words configured in the program 2 Set SW97 to the length of the memory words to be saved Note Length cannot exceed the configured memory word length and it must be greater than 0 but not greater than 512 3 Set SW96 X0 to 1 Restore MWs manually by setting system bit S95 to 1 For this to work the following must be true e A valid backup application is present in the EEPROM e The application in RAM matches the backup application in EEPROM e The backup memory words are valid TWD USE 10AE 55 User Memory Backup and Restore with a 32K Backup Cartridge Introduction The following information details backup and restore memory functions in modular and compact controllers using a 32K backup cartridge At a Glance The backup cartridge is used to save a program and transfer that program to other Twido contr
430. ped with a 3 wire EIA RS 232 port with a miniDIN connector Note This module is only available for the Modular controllers When the module is attached the controller cannot have an Operator Display expansion module TWDNOZ485D 2 Communication module equipped with a 3 wire EIA RS 485 port with a miniDIN connector Note This module is only available for the Modular controllers When the module is attached the controller cannot have an Operator Display expansion module TWDNOZ485T 2 Communication module equipped with a 3 wire EIA RS 485 port with a terminal Note This module is only available for the Modular controllers When the module is attached the controller cannot have an Operator Display expansion module TWDNAC232D 2 Communication adapter equipped with a 3 wire EIA RS 232 port with a miniDIN connector Note This adapter is only available for the Compact 16 24 and 40 I O controllers and the Operator Display expansion module TWDNAC485D 2 Communication adapter equipped with a 3 wire EIA RS 485 port with a miniDIN connector Note This adapter is only available for the Compact 16 24 and 40 I O controllers and the Operator Display expansion module TWDNAC485T 2 Communication adapter equipped with a 3 wire EIA RS 485 port with a terminal connector Note This adapter is only available for the Compact 16 24 and 40 I O controllers and the Operator Display expansion module TWDXCPODM 2 Operator Display expansion module equipped with
431. peration of schedule blocks by the user program S and U blocks or operator display Bit 0 1 enables schedule block 0 Bit 15 1 enables schedule block 15 Initially all schedule blocks are enabled If schedule blocks are configured the default value is FFFF If no schedule blocks are configured the default value is 0 SW118 Base controller Shows faults detected on master controller S status word Bit 9 0 External fault or comm Fault Bit 12 0 RTC not installed Bit 13 0 Configuration fault I O extension configured but absent or faulty All the other bits of this word are set to 1 and are reserved For a controller which has no fault the value of this word is FFFFh SW120 Expansion I O One bit per module S module health Address 0 Bit 0 1 Unhealthy 0 OK Table Abbreviation table cal ee Abbreviation Description S Controlled by the system U Controlled by the user TWD USE 10AE 615 System Bits and Words 616 TWD USE 10AE Glossary Prefix that identifies internal memory addresses in the controller that are used to store the value of program variables constants I O and so on A Addresses Analog potentiometer Analyze program Animation table Animation Tables Editor Internal registers in the controller used to store values for program variables constants I O and so on Addresses are identified with a percent
432. ples of word table assignments LD 1 MWO 10 100 MW0 10 100 Ex 1 10 2 LD 10 2 MWO0 10 MW 11 MW0 10 MW11 Ex 2 10 3 LDR 10 3 P MW 10 20 KW30 20 MW 10 20 KW30 20 Ex 3 Syntax Syntax for word double word and floating point table assignments Operator Syntax Op1 Op2 Operand 1 Op1 assumes the value of operand 2 Op2 The following table gives details operands Type Operand 1 Op1 Operand 2 Op2 word table MWi L SWi L MWi L SWi L Immediate whole value MWi KWi IW QW IWA QWA SWi BLK x Double word MDi L Immediate whole value MDi tables KDi gt MDi L KDi L Floating word MFi L Immediate floating point value MFi tables KFi MFi L KFi L Note The abbreviation BLK x for example R3 1 is used to describe any function block word TWD USE 10AE 415 Basic Instructions Comparison Instructions Introduction Comparison instructions are used to compare two operands The following table lists the types of Comparison instructions Instruction Function gt Test if operand 1 is greater than operand 2 gt Test if operand 1 is greater than or equal to operand 2 lt Test if operand 1 is less than operand 2 lt Test if operand 1 is less than or equal to operand 2 Test if operand 1 is equal than operand 2 lt gt Test if operand 1 is different from operand 2 Structure The comparison is executed inside square brackets following in
433. ply failure common to all channels Bit 3 Module configuration fault Bit 4 Converting data input channel 0 in progress Bit 5 Converting data input channel 1 in progress Bit 6 Input thermocouple channel 0 not configured Bit 7 Input thermocouple channel 1 not configured Bit 8 Not used Bit 9 Unused Bit 10 Analog input data channel 0 over range Bit 11 Analog input data channel 1 over range Bit 12 Incorrect wiring analog input data channel 0 below current range current loop open Bit 13 Incorrect wiring analog input data channel 1 below current range current loop open Bit 14 Unused Bit 15 Output channel not available SW81 Expansion I O Module 1 Status Same definitions as SW80 SW82 Expansion I O Module 2 Status Same definitions as SW80 SW83 Expansion I O Module 3 Status Same definitions as SW80 SW84 Expansion I O Module 4 Status Same definitions as SW80 SW85 Expansion I O Module 5 Status Same definitions as SW80 SW86 Expansion I O Module 6 Status Same definitions as SW80 SW87 Expansion I O Module 7 Status Same definitions as SW80 198 TWD USE 10AE Managing Analog Modules Example of Using Analog Modules Introduction This section provides an example of using Analog modules available with Twido Example analog This example compares the analog input signal with five separate threshold values input A
434. possible to reinitialize an exchange if a fault is detected Example of reinitializing an exchange MO MSG1 r D BLK MSG1 LD MO R END_BLK The following table the special operating cases for the MSGx function block Special Case Description Effect of a cold restart S0 1 Forces a reinitialization of the communication Effect of a warm restart S1 1 Has no effect Effect of a controller stop If a message transmission is in progress the controller stops its transfer and reinitializes the outputs MSGx D and MSGx E TWD USE 10AE 479 Advanced Instructions 17 2 Clock Functions At a Glance Aim of this This section describes the time management functions for Twido controllers Section What s in this This section contains the following topics ion Section Topic Page Clock Functions 481 Schedule Blocks 482 Time Date Stamping 485 Setting the Date and Time 487 480 TWD USE 10AE Advanced Instructions Clock Functions Introduction RTC Correction Value Twido controllers have a time of day clock function which requires the Real Time Clock option RTC and provides the following e Schedule blocks are used to control actions at predefined or calculated times e Time date stamping is used to assign time and dates to events and measure event duration The Twido time of day cloc
435. post processing section e Within List instructions or Ladder rungs of the steps themselves Associating If there are security or running mode constraints it is preferable to program actions Actions in Post in the post processing section of a Grafcet application You can use Set and Reset Processing List instructions or energize coils in a Ladder program to activate Grafcet steps xXi Example AXI Oot 018 POST 019 LD X1 020 ST Q0 1 X2 QO 2 021 LD X2 022 ST Q0 2 023 LD X3 XO Q03 024 ST QO0 3 362 TWD USE 10AE Grafcet Associating You can program the actions associated with steps within List instructions or Ladder Actions from an rungs In this case the List instruction or Ladder rung is not scanned unless the step Application is active This is the most efficient readable and maintainable way to use Grafcet Example 3 Q0 5 020 3 021 LD 1 s 022 S QO 5 023 LD MIO 4 024 4 025 4 026 LD 1 027 R Q0 5 4 028 Q0 5 029 P TWD USE 10AE 363 Grafcet 364 TWD USE 10AE Description of Instructions and Functions IV At a Glance Subject of this This part provides detailed descriptions about basic and advanced instructions and Part system bits and words for Twido languages What s in this This part contains the following chapters par Chapter Chapter N
436. pplication but does not define all the possibilities No validation of the data being received will be performed except for checksum verification TWD USE 10AE 133 Communications Modbus Slave Modbus slave mode allows the controller to respond to standard Modbus queries from a Modbus master When TSXPCX1031 cable is attached to the controller TwidoSoft communications are started at the port temporarily disabling the communications mode that was running prior to the cable being connected The Modbus protocol supports two Data Link Layer formats ASCII and RTU Each is defined by the Physical Layer implementation with ASCII using 7 data bits and RTU using 8 data bits When using Modbus ASCII mode each byte in the message is sent as two ASCII characters The Modbus ASCII frame begins with a start character and can end with two end characters CR and LF The end of frame character defaults to OxOA line feed and the user can modify the value of this byte during configuration The check value for the Modbus ASCII frame is a simple two s complement of the frame excluding the start and end characters Modbus RTU mode does not reformat the message prior to transmitting however it uses a different checksum calculation mode specified as a CRC The Modbus Data Link Layer has the following limitations e Address 1 247 e Bits 128 bits on request e Words 125 words of 16 bits on request Message The language of
437. program MWi 3000 Yes Constants Store constants or alphanumeric messages Their content can only be written or modified by using TwidoSoft during configuration Constant words KWO through KW63 are read only by the program KWi 256 Yes only by using TwidoSoft System These 16 bit words have several functions e Provide access to data coming directly from the controller by reading SWi words e Perform operations on the application for example adjusting schedule blocks SWi 128 According to i Function blocks These words correspond to current parameters or values of function blocks TM2 P Ci P etc Yes Network exchange words Assigned to controllers connected as Remote Links These words are used for communication between controllers Network Input INWi j 4 per remote link No Network Output QNW j 4 per remote link Yes Analog I O words Assigned to analog inputs and outputs of AS Interface slave modules Analog Inputs IWAX y Z Note 3 No Analog Outputs PQWAX Y Z Note 3 Yes 30 TWD USE 10AE Twido Language Objects Words Description Address or value Maximum number Write access 1 Extracted It is possible to extract one of the 16 bits bits from the following words Internal MWi Xk 1500 Yes System
438. programming see Standard function blocks programming principles p 388 e By specifying the block type for example LD Ci E Inputs can be accessed in the form of instructions Word Objects Word objects correspond to specified parameters and values as follows e Block configuration parameters some parameters are accessible by the program for example pre selection parameters and some are inaccessible by the program for example time base e Current values for example Ci V the current count value TWD USE 10AE 43 Twido Language Objects Word Objects Objects Accessible by the Program Double word objects increase the computational capability of your Twido controller while executing system functions such as fast counters FC very fast counters VFC and pulse generators PLS Addressing of 32 bit double word objects used with function blocks simply consists in appending the original syntax of the standard word objects with the D character The following example shows how to address the current value of a fast counter in standard format and in double word format e FCi V is current value of the fast counter in standard format e FCi VD is the current value of the fast counter in double word format Note Double word objects are not supported by all Twido controllers Refer to Hardware compatibility p 33 to find out if your Twido controller can accommodate double words See the foll
439. r TwidoPort s IP address in the Gateway Address field TWD USE 10AE 283 Configuring the TwidoPort Ethernet Gateway Step Action Comment 3 Enter the valid Subnetwork mask Caution For good device communication the subnet mask assigned to TwidoPort by your configured on the PC running the TwidoSoft application and network administrator Please note TwidoPort s subnet mask must match that you cannot leave this field blank As default the TwidoSoft application automatically computes and you must enter a value displays a default subnet mask based on the class IP that you See notes 1 and 3 have provided in the IP Address field above Default subnet mask values according to the category of the TwidoPort s network IP address follow this rule Class A network gt Default subnet mask 255 0 0 0 Class B network gt Default subnet mask 255 255 0 0 Class C network gt Default subnet mask 255 255 255 0 4 Enter the IP address of the Gateway On the LAN the gateway must be on the same segment as See notes 1 and 4 TwidoPort This information typically is provided to you by your network administrator Please note that no default value is provided by the application and that you must enter a valid gateway address in this field 5 Validate the configuration and download it to the Twido controller Note 1 Consult with your network or system administrator to obtain valid IP par
440. r U gt S e A power return with loss of data battery fault e The user program or Animation Table Editor e Operations Display This bit is set to 1 during the first complete scan It is reset to 0 by the system before the next scan S1 Warm Start Normally set to 0 it is set to 1 by 0 S or U gt S e A power return with data backup e The user program or Animation Table Editor Operations Display It is reset to 0 by the system at the end of the complete scan S4 Time base 10 ms The rate of status changes is measured by an internal S S5 Time base 100 ms clock They are not synchronized with the controller S6 Time base 1 s scan S7 Time base 1 min Example 84 5ms 5ms S8 Wiring test Initially set to 1 this bit is used to test the wiring when 1 U the controller is in non configured state To modify the value of this bit use the operations display keys to make the required output status changes Set to 1 output reset Set to 0 wiring test authorized S9 Reset outputs Normally set to 0 It can be set to 1 by the program or 0 U by the terminal in the Animation Table Editor e Atstate 1 outputs are forced to O when the controller is in RUN mode e Atstate 0 outputs are updated normally 596 TWD USE 10AE System Bits and Words System Bit Function Description Init state Control S10 I O fault Normally set to 1 This bit can be set to 0 by the system when an I O fault is detected 1
441. r cycles together one after the other After having effected the output update third phase of the task cycle the system executes a certain number of its own tasks and immediately triggers another task cycle Note The scan time of the user program is monitored by the controller watchdog timer and must not exceed 500 ms Otherwise a fault appears causing the controller to stop immediately in Halt mode Outputs in this mode are forced to their default fallback state The following drawing shows the running phases of the cyclical scan time Processing the Processing program the program LP l Q I P l Q Scan n time Scan n 1 time lt a pee a a The following table describes the phases of a cycle input Address Phase Description LP Internal The system implicitly monitors the controller managing system processing bits and words updating current timer values updating status lights detecting RUN STOP switches etc and processes requests from TwidoSoft modifications and animation l IW Acquisition of Writing to the memory the status of discrete and application specific module inputs Program Running the application program written by the user processing Q Updating of Writing output bits or words associated with discrete and QW output application specific modules 62 TWD USE 10AE Controller Operat
442. r of pulses set PLSi N or PLSi ND to zero The number of pulses can always be changed irrespective of the Adjustable setting Adjustable Y N If set to Y it is possible to modify the preset value PLSi P via the HMI or Animation Tables Editor Set to N means that there is no access to the preset Pulse generation input IN At state 1 the pulse generation is produced at the dedicated output channel At state 0 the output channel is set to 0 Reset input R At state 1 outputs PLSi Q and PLSi D are set to 0 The number of pulses generated in period T is set to 0 Current pulse output PLSI Q At state 1 indicates that the pulse signal is generated at the dedicated output generation channel configured Pulse generation done PLSi D At state 1 signal generation is complete The number of desired pulses has output been reached Note Means a double word variable 452 TWD USE 10AE Advanced Instructions Range of Periods The preset value and the time base can be modified during configuration They are used to fix the signal period T PLSi P TB The range of periods available e 0 142 ms to 36 5 ms in steps of 0 142 ms 27 4Hz to 7kHz 0 57 ms to 146 ms in steps of 0 57 ms 6 84 Hz to 1 75 kHz 20 ms to 5 45 mins in steps of 10 ms 2 sec to 9 1 hours in steps of 1 sec Operation The following is an illustration of the PLS function block Input IN I ic Number of pulses Dedicated Output
443. ral The MEAN function is used to calculate the mean average from a given number of values in a floating point table Structure Ladder Language 13 2 H MFO MEAN MF10 5 Instruction List Language LD 13 2 SMFO MEAN SMF10 5 Syntax Syntax of the floating point table mean calculation function Function Syntax MEAN Result Function Op1 Parameters of the calculation function for a given number L of values from a floating point table Operand Op1 Result Res MFi L KFi L MFi 594 TWD USE 10AE System Bits and System Words 18 At a Glance Subject of this This chapter provides an overview of the system bits and system words that can be Chapter used to create control programs for Twido controllers What s in this This chapter contains the following topics Chapter Topic Page System Bits S 596 System Words SW 604 TWD USE 10AE 595 System Bits and Words System Bits S Introduction The following section provides detailed information about the function of system bits and how they are controlled Detailed The following table provides an overview of the system bits and how they are Description controlled System Function Description Init Control Bit state SO Cold Start Normally set to 0 it is set to 1 by 0 S o
444. rands AND 0 1 l VIA Q QA M S X BLK x Xk ANDN 0 1 l VIA Q QA M S X BLK x Xk ANDR Sl WIA M P ANDF l WIA M N 378 TWD USE 10AE Basic Instructions Timing diagram The following diagram displays the timing for the AND instructions AND ANDN ANDR ANDF l0 1 M2 l0 3 M3 A y M1 l0 2 10 4 l0 5 Q0 3 Q0 2 Q0 4 Q0 5 TWD USE 10AE 379 Basic Instructions Logical OR Instructions OR ORN ORR ORF Introduction Examples The OR instructions perform a logical OR operation between the operand or its inverse or its rising or falling edge and the Boolean result of the preceding instruction The following diagrams are examples of logic OR instructions 10 1 Q0 3 oy of M1 oM2 QO 2 ae 10 M3 QO0 4 fs 8 I0 P 10 Q0 5 N s 10 ey LD OR ST LD ORN ST LD ORR LDF ORF 10 1 MI1 Q0 3 M2 1I0 2 Q0 2 M3 710 4 Q0 4 10 5 10 6 Q0 5 380 TWD USE 10AE Basic Instructions Permitted The following table lists the types of OR instructions with Ladder equivalents and Operands permitted operands List Instruction Ladder Equival
445. rding To activate monitoring over time you must at least enter the value 1 in the object 100DH and specify a time in ms in the object 100CH To guarantee reliable operation it is advisable to enter a Life time factor of 2 If not should a delay occur for example due to processing of messages of the highest priority or internal processing on the Node Guarding master the module switches into Pre Operational state without generating an error These two monitoring mechanisms are particularly important to the CANopen system given that devices do not usually operate in event controlled mode Monitoring is performed in the following way Phase Description 1 The master sets Remote Frames remote transmit requests on the Guarding COB IDs of the slaves to be monitored 2 The slaves concerned respond by sending the Guarding message It contains the Status Code of the slave and the Toggle Bit which must change after each message 3 The master compares the Status and Toggle Bit information If they are not in the state expected by the NMT master or if no response is received the master considers that an error has occurred on the slave 248 TWD USE 10AE Installing and Configuring the CANopen Fieldbus Master Monitoring Guarding Protocol If the master requests Guarding messages on a strictly cyclical basis the slave can detect a master failure If the slave
446. red using TwidoSoft to manage a remote link network of up to seven remote controllers These seven remote controllers can be configured either as remote I Os or as peer controllers The address of the master configured using TwidoSoft corresponds to address 0 To configure a controller as a Master Controller use TwidoSoft to configure port 1 or port 2 as remote links and select the address 0 Master Then from the Add remote controller window you can specify the slave controllers either as remote I O or as peer controllers as well as their addresses A remote controller is configured using TwidoSoft by setting port 1 or 2 as a remote link or by assigning the port an address from 1 to 7 The table below summarizes the differences and constraints of each of these types of remote controller configurations Type Application Program Data Access Remote I O No l and Q Not even a simple END Only the local I O of the statement controller is accessible and RUN mode is coupled to the not its I O extension Master s Peer controller Yes INW and QNW Run mode is independent of the Master s A maximum of 4 input words and 4 output words can be transmitted to and from each peer The update cycle of the remote link is not synchronized with the master controller s scan The communications with the remote controllers is interrupt driven and happens as a background task in parallel with the running of the
447. reset of block MSGx E Error 0 message length OK and link OK 1 if bad command table incorrectly configured incorrect character received speed parity and so on or reception table full It is important to note the following limitations e Port 2 availability and type see SW7 is checked only at power up or reset Any message processing on Port 1 is aborted when the TwidoSoft is connected EXCHx or MSG can not be processed on a port configured as Remote Link EXCHx aborts active Modbus Slave processing Processing of EXCHx instructions is not re tried in the event of an error Reset input R can be used to abort EXCH x instruction reception processing EXCHx instructions can be configured with a time out to abort reception Multiple messages are controlled via MSGx D TWD USE 10AE 121 Communications Error and Operating Mode Conditions Consequence of Controller Restart on the Communication If an error occurs when using the EXCHx instruction bits MSGx D and MSGx E are set to 1 and system word SW63 contains the error code for Port 1 and SW64 contains the error code for Port 2 System Use Words SWE3 EXCH1 error code 0 operation was successful 1 number of bytes to be transmitted is too great gt 250 2 transmission table too small 3 word table too small 4 receive table overflowed 5 time out elapsed 6 transmission error 7 bad command within tab
448. ring 457 E Edge detection falling 371 Rising 370 END Instructions 429 END_BLK 338 EQUAL_ARR 580 error 420 Ethernet Connections management 176 Network connection 159 TCP IP setup 165 Event tasks Different event sources 79 Event management 80 Overview 78 Example Up Down Counter 403 EXCH 476 EXCH instruction 476 EXCH3 180 Error code 183 Exchange function block 477 Exclusive OR instructions 382 EXP 568 EXPT 568 F Fast counter function block 459 FIFO introduction 443 operation 445 FIND_ 582 Floating objects Addressing 38 Floating point objects Overview 32 Function Blocks PWM 448 632 TWD USE 10AE Index Function blocks Counters 398 Drum controller 457 drum controller 454 graphic element 332 in programming grid 328 Overview of basic function blocks 386 programming standard function blocks 388 registers 443 Schedule blocks 482 Shift Bit Register SBR 404 Step counter SCi 406 timers 390 395 G Gateway address 160 General tab PID 525 Grafcet associated actions 362 Examples 357 Instructions 356 preprocessing 359 sequential processing 360 Grafcet methods 68 Graphic elements Ladder diagrams 330 1 0 Addressing 40 Increment 418 Index overflow 49 Initialization of objects 75 Input tab PID 528 Instructions AND 378 Arithmetic 418 Comparison 416 Conversion 425 JMP 432 Load 374 logic 422 NOT 384 RET 433
449. rite Cx D Done Read CX E Empty Read CX F Full Read Memory Bit Mx Value Read Write Word Memory MWx Value Read Write Constant Word KWx Value Read System Bit SX Value Read Write System Word SWx Value Read Write Analog Input IWx y z Value Read Analog output QWXx y Z Value Read Write Fast Counter FCx V Current Value Read FCx VD Current Value Read FCx P Preset value Read Write FCx PD Preset value Read Write FCx D Done Read TWD USE 10AE 311 Operator Display Operation Object Variable Attribute Description Access Very Fast Counter NFCX V Current Value Read NFCx VD Current Value Read VFCx P Preset value Read Write VFCx PD Preset value Read Write VFCx U Count Direction Read VFCx C Catch Value Read VFCx CD Catch Value Read VFCx S0 Threshold 0 Value Read Write FCx SOD Threshold 0 Value Read Write NFCx S1 Threshold Value Read Write FCx S1D Threshold Value Read Write VFCx F Overflow Read VFCx T Timebase Read Write VFCx R Reflex Output Enable Read Write VFCx S Reflex Input Enable Read Write Input Network Word INWx z Value Read Output Network Word QNWx zZ Value Read Write Grafcet XX Step Bit Read Pulse Generator PLS N Number of Pulses Read Write PLS ND Number of Pulses Read Write PLS P Preset value Read Write PLS D Done Read PLS Q Current Output Read Pulse Width Modulator PWM R Ratio Read Write PWM P Pres
450. rocess output curve with time The process response curve method makes the following assumption e The control process can be adequately described as a first order with time delay model by the following transfer function S 2 k Op e U l r p For more details see Appendix 2 First Order With Time Delay Model 550 TWD USE 10AE Advanced Instructions Using the Process Response Curve Method To determine the sampling period Ts using the process response curve method follow these steps Step Action 1 It is assumed that you have already configured the various settings in the General Input PID AT and Output tabs of the PID Select the PID gt Output tab from the Application Browser Select Authorize or Address bit from the Manual mode dropdown list to allow manual output and set the Output field to a high level in the 5000 10000 range Select PLC gt Transfer PC gt PLC from menu bar to download the application program to the Twido PLC Within the PID configuration window switch to Trace mode Run the PID and check the response curve rise When the response curve has reached a steady state stop the PID measurement Note Keep the PID Trace window active Use the following graphical method to determine time constant t of the control process 1 Compute the process variable output at 63 rise Sjg32 by using the following formula Sigge Stin
451. rogram each of the controllers a point to point communication with each controller will need to be to established To establish this communication connect to Port 1 of the first controller transfer the configuration and application data and set the controller to the run state Repeat this procedure for each controller Note The cable needs to be moved after each controller configuration and application transfer Step 4 Configure the Software Each of the three controllers uses TwidoSoft to create a configuration and if appropriate the application program For the master controller edit the controller communication setup to set the protocol to Remote Link and the Address to 0 Master Controller comm settings Type Remote link Address 0 Master Configure the remote controller on the master by adding a Remote I O at address 1 and a Peer PLC at address 2 Add Remote Controllers Controller Usage Remote I O Remote Address 1 Controller Usage Peer controller Remote Address 2 TWD USE 10AE 113 Communications For the controller configured as a remote I O verify that the controller communication setup is set to Remote Link and the address is set to 1 Controller comm settings Type Remote link Address 1 For the controller configured as peer verify that the controller communication setup is set to Remote Link and the address is set to 2
452. ror The program stops on the instruction in progress Communication with the controller is open In periodic operation an additional check is used to detect the period being exceeded e S19 indicates that the period has been exceeded It is set to e 1 by the system when the scan time is greater that the task period e 0 by the user e SWO0 contains the period value 0 150 ms It is e Initialized when starting from a cold start by the value selected on the configuration e Able to be modified by the user The following system words are used for information on the controller scan cycle time e SW11 initializes to the maximum watchdog time 10 to 500 ms e SW30 contains the execution time for the last controller scan cycle e SW31 contains the execution time for the longest controller scan cycle since the last cold start e SW32 contains the execution time for the shortest controller scan cycle since the last cold start Note This different information can also be accessed from the configuration editor TWD USE 10AE 67 Controller Operating Modes Operating Modes Introduction Starting through Grafcet Grafcet System Bits Twido Soft is used to take into account the three main operating mode groups e Checking e Running or production e Stopping These different operating modes can be obtained either starting from or using the following Grafcet methods e Grafcet ini
453. rs can be used but a controller only supports a single Remote Link Note In this example the two first inputs on the Remote I O are hard wired to the first two outputs Step 2 Wire the controllers Mini DIN connection Master Remote controller Peer controller controller Address 1 SES Address 2 A B GND DPT A B IGND DPT _ A B GND DPT 1 2 7 5 Terminal block connection Master Remote controller Peer controller controller Address 1 e Address 2 A B OV A B OV A B _ OV A B SG 112 TWD USE 10AE Communications Connect the A and B signal wires together And at each controller the DPT signal is tied to ground Although tying the signal to the ground is not required for use with a remote link on Port 2 optional cartridge or communication module it is good practice Step 3 Connect the Communications Cable between the PC and Controllers Master Peer PC Serial Port controller Remote I O controller TSX PCX 1031 EIA RS 232 2 1 A 3 0 TSX PCX 3030 USB Port The TSXPCX1031 or TSX PCX 3030 multi function programming cable is used to communicate with each of the three base controllers Be sure that the cable is on switch position 2 In order to p
454. rs of a slave are not associated with a name Several slaves with different names can have the same profiles and parameters TWD USE 10AE 219 Installing the AS Interface bus Updating the AS Interface bus configuration in online mode Ata Glance In online mode no modification of the configuration screen is authorized and the physical configuration and software configuration can be different Any difference in profile or parameters for a configured or non configured slave can be taken into account in the configuration screen in fact it is possible to transmit any modification to the configuration screen before transferring the new application to the controller The procedure to follow in order to take the physical configuration into account is the following Step Description 1 Transfer of the desired slave configuration to the configuration screen 2 Acceptance of the configuration in the configuration screen 3 Confirmation of the new configuration 4 Transfer of the application to the module 220 TWD USE 10AE Installing the AS Interface bus Transfer of a Slave Image to the Configuration Screen In the case when a slave that is not specified in the configuration is detected on the bus an Unknown slave appears in the AS interface V2 Configuration zone of the debug screen for the detected address The following table describes the procedure for transferring the ima
455. rsion and Rx Tx crossing Compaq 2 4 GHz pe Lucent with modem Cable TSX PCX 1031 Crossed adaptor eee Westermo TD 33 SR1 MOD01 The first test involves using two analog telephone lines internal to the company and not using the entire number just the extension hence only 4 digits for the internal Toshiba V 90 modem telephone number For this test the connection parameters Twidosoft menu preferences then Connection management were established with their default value with a timeout of 5000 and break timeout of 20 Appendix 1 Crossed adaptor for cable TSX PCX 1031 and Westermo TD 33 modem TWD USE 10AE 101 Communications Appendix 2 Modem Westermo TD 33 Schneider reference number SR1 MODO1 This modem manages four DIP switches which must all be set to OFF Factory Settings Use stored configuration speed amp format etc Disable DTR Hotcall Auto Band Note 1 Certain products may not be compatible and or available in all areas Please contact your local Schneider representative for availability 102 TWD USE 10AE Communications Appendix 3 Wavecom WMOD2B modem Schneider reference number SR1 MODO2 double band 900 1800Hz wins Pwvavecon ms C wisma Note 1 Certain products may not be compatible and or available in all areas Please contact your local Schneider representative for availability
456. rt 1 of the Twido controller Next connect the cable to the COM 1 port of the PC Be sure that the switch is in position 2 Finally connect the COM 2 port of the PC to the optional EIA RS 232 Port 2 on the Twido controller The wiring schematic is provided in the next step Step 2 ASCII Communications Cable EIA RS 232 Wiring Schematic Twido Personal controller computer TXD RXD GND TXD RXD GND 3 4 7 3 2 5 The minimum number of wires used in an ASCII communications cable is 3 Cross the transmit and receive signals Note On the PC side of the cable additional connections such as Data Terminal Ready and Data Set Ready may be needed to satisfy the handshaking No additional connections are required to satisfy the Twido controller TWD USE 10AE 123 Communications Step 3 Port Configuration Hardware gt Add Option Terminal Emulator on a PC TWDNOZ232D Port COM2 Serial Port 2 Baud Rate 19200 Data 8 Bit Protocol ASCII Parity None Address Stop 1 Bit Baud Rate 19200 Flow control None Data Bits 8 Parity None Stop Bit 1 Response Timeout x100ms 100 Time between frames ms Start character 1st end character 65 2nd end character Stop on silence ms Stop on the number of received bytes Use a simple Terminal Emulator application on the PC to configure the COM2 port and to ensure that there is no flow contr
457. s See How to insert a slave device into an existing AS Interface V2 configuration p 226 The following table shows the different software implementation phases of the AS Interface bus Mode Phase Description Local Declaration of module Choice of the slot for the AS Interface Master module TWDNOI10M3 on the expansion bus Configuration of the module Choice of master modes channel Declaration of slave devices Selection for each device of its slot number on the bus e of the type of standard or extended address slave Confirmation of Confirmation at slave level configuration parameters Global confirmation of the Confirmation of application level application Local or Symbolization optional Symbolization of the variables associated with the slave devices connected programming Programming the AS Interface V2 function Connected Transfer Transfer of the application to the PLC Debugging Debugging the application with the help of e the debug screen used on the one hand to display slaves address parameters and on the other to assign them the desired addresses e diagnostic screens allowing identification of errors Precautions Prior to Connection Note The declaration and deletion of the AS Interface Master module on the expansion bus is the same as for another expansion module However once two AS Interface Master modules have been declared on the expansion bus T
458. s The contents of the words or values are stored in user memory in 16 bit binary code two s complement using the following convention FEDCBA9 Bit position ofifo 1fo o 1 76543210 o 1jolo 1 1 o 1 Bitstate 8 0 a o o t O aNgsgexr a w N LO m A L oya Bitvalue 16384 81 40 204 10 In signed binary notation bit 15 is allocated by convention to the sign of the coded value e Bit 15 is set to 0 the content of the word is a positive value e Bit 15 is set to 1 the content of the word is a negative value negative values are expressed in two s complement logic Words and immediate values can be entered or retrieved in the following format e Decimal Min 32768 Max 32767 1579 for example e Hexadecimal Min 16 0000 Max 16 FFFF for example 16 A536 Alternate syntax A536 TWD USE 10AE 29 Twido Language Objects Descriptions of Word Objects The following table describes the word objects Words Description Address or value Maximum number Write access 1 Immediate values These are integer values that are in the same format as the 16 bit words which enables values to be assigned to these words Base 10 32768 to 32767 Base 16 16 0000 to 16 FFFF No Internal Memory Used as working words to store values during operation in data memory Words MWO to MW255 are read or written directly by the
459. s Time Base The following table contains a list of special cases for programming the Timer function block Special case Description Effect of a cold restart S0 1 Forces the current value to 0 Sets output TMi Q to 0 The preset value is reset to the value defined during configuration Effect of a warm restart S1 1 Has no effect on the current and preset values of the timer The current value does not change during a power outage Effect of a controller stop Stopping the controller does not freeze the current value Effect of a program jump Jumping over the timer block does not freeze the timer The timer will continue to increment until it reaches the preset value TMi P At that point the Done bit TMi Q assigned to output Q of the timer block changes state However the associated output wired directly to the block output is not activated and not scanned by the controller Testing by bit TMi Q done bit It is advisable to test bit TMi Q only once in the program Effect of modifying the preset TMi P Modifying the present value by using an instruction or by adjusting the value only takes effect on the next activation of the timer The 1 ms time base is only available with the first five timers The four system words YSW76 SW77 SW78 and SW79 can be used as hourglasses These four words are decremented individually by the system every millisecond if t
460. s as follows E TwidoSoft no HEM g y TWDLMDA40DUK Sho Hardware arg Port 1 Remote Link 1 heading File Edit Display Tools Hardware Software Program PLC Window Help SES 9 I ea e wer nin 37 PE asc v e af SE me RUNG 0 END OF PROGRAM wT Edit Controller Comm Setup Add a modem 1 Counters Once the modem is configured on port 1 the properties must be defined Right click on the modem to reveal the choice of delete or properties Clicking properties lets you either select a known modem create a new modem or modify a modem jE fE eee 4 No heading fil TWOLMDA4ODUK mE Hardware amp Port 1 Remote Link 1 Expansic Dees Software Constants ML Constants KN This means you of the modem s Note The modem is completely managed by the Twido controller through port 1 can connect a modem to communication port 2 but in this case all operating modes and its initialization sequence must be performed manually and cannot be performed in the same way as with communication port 1 TWD USE 10AE 95 Communications Next select properties then Properties of the Modem Modem x Hayes initialization command 9 ATEOQ1 Cancel You can select a previous
461. s to the Internet or to a remote Intranet The gateway address uses the same dotted decimal notation format as the IP address described above Note Check with your network administrator to obtain adequate gateway information when you are installing your new Twido controller on the existing network 160 TWD USE 10AE Communications Assigning IP Addresses Overview Installation ona Stand alone Network Obtaining an Address via BootP MAC Address and Default IP Address of the Controller This section provides you with information on how to determine which type of IP address you can assign to the Twido TWDLCAE40DRF controller that you wish to install on your network Your Twido TWDLCAE40DRPF controller is intended for installation on a stand alone Ethernet network Note A network is called stand alone when it is not linked to the Internet or a company s Intranet BootP Served Address If you choose From a Server in the IP Address Configure tab the Twido controller will try to obtain an IP address from BootP server first BootP process expects a response from the BootP server If no valid IP address is received following the BootP request transmission Twido assumes the default IP configuration that is derived from a MAC address see MAC Address and Default IP Address of the Controller p 161 below MAC Address Each Twido TWDLCAE40DRF controller has its own factory set
462. screen also includes 3 buttons Buttons Description OK Used to save the AS Interface Bus configuration visible on the configuration screen Then return to the main screen The configuration can then be transferred to the Twido controller Cancel Returns to the main screen without acknowledging the changes in progress Help Opens a Help window on screen Note Changes in the configuration screen can only be made in offline mode 208 TWD USE 10AE Installing the AS Interface bus Configuration of the AS Interface bus Introduction AS Interface bus configuration takes place in the configuration screen in local mode Once the AS Interface Master and the master modes have been selected configuration of the AS Interface bus consists of configuring the slave devices TWD USE 10AE 209 Installing the AS Interface bus Procedure for Procedure for creating or modifying a slave on the AS Interface V2 bus Declaring and Configuring a Step Action Slave 1 On the desired address cell not grayed out in the bus image e Double click access to step 3 OR e Right click Result Configure Module TWDNOI10M3 Position 1 Description Master AS Interface expansion module aE AS interface V2 configuration Std A Slaves B Slaves
463. sed to manage the parameters of the analog modules You access it via the Application Browser or the Hardware menu In the Application Browser In the Hardware menu 1 Select a module 1 Select Configure a module 2 Right click Configure to directly open the 2 Choose a module from the Configure Configure Module Module ref and Module Choose Module dialog box position dialog box 3 Adjust the parameters from the Configure Module Module ref and position dialog box that opens Note You can only modify the parameters offline when you are not connected to a controller The Title bar displays the module reference and its position on the expansion bus The upper part of the dialog box shows a Description zone A table shows Address Symbol Type Range Minimum Maximum and Units e In TWDAMI4LT and TWIDAMIS8HT the table is preceded by an Input type list box e In TWDAVOZ2HT and TWDAMI8HT the Type column is replaced by a Used column with check boxes e In TWDARI8HT each channel 0 7 is configured individually within a tab in which you can choose either the Chart or Formula configuration method The table can be seen in a Recap tab The Description zone displays a short summary of the module 192 TWD USE 10AE Managing Analog Modules Address Each row of the spreadsheet represents either an input or output channel of the module The addresses of each of these are i
464. see tetas ae ee ees 367 Atalan eyi ic ni a ieee Putian hE eee ee eet 367 Boolean Processing 00 e eee E E eee eee 369 Ata GIANCO E E ance aSecns ie oN Giga Rr ee ee ge ane nee eS 369 Boolean Instructions 0 0 e eee 370 Understanding the Format for Describing Boolean Instructions 372 Load Instructions LD LDN LDR LDF 00200000ee 374 Assignment instructions ST STN R S 0 0c eee eee ee eee 376 Logical AND Instructions AND ANDN ANDR ANDF 378 Logical OR Instructions OR ORN ORR ORF 2 00 eeu 380 Exclusive OR instructions XOR XORN XORR XORF 382 NOT Instruction N z s aiae 0s daca SG een agape ead ae wea AS 384 16 2 16 3 16 4 Chapter 17 17 1 Basic Function BlockS 0 0 cee ee eee eee es 385 AtiaiGlanCe 7isncwis pict pr toca Hees eee eae ea ie ee 385 Basic Function Blocks asinan sete see eee deo tye gee 386 Standard function blocks programming principles 00 388 Timer Function Block TMi 0 0 0 0 0 cee ects 390 TOR Type of Timers 24 027iag Sean ele a cae tes E a alta wakes 392 TON Type of Timer keisaran ge cette teens 393 TP Type of TIME ss ca ced 8a ee ee See deel Sede E E E Re 394 Programming and Configuring Timers 000 0 c eee ee eee 395 Up Down Counter Function Block Ci 2 0 0 0c eee eee 398 Programming and Configuring Counters
465. sh EEPROM has no saved memory word MW file In the case of a cold start where the internal Flash EEPROM contains a memory word MW list the value of the number of saved memory words in the file must be set in this system word SW97 System Function Description Control Words SW101 Value of the port s When bit S101 is set to 1 you can change the Modbus address of port S SW102 Modbus address 1 or port 2 The address of port 1 is SW101 and that of port 2 is SW102 613 TWD USE 10AE System Bits and Words System Function Words Description Control SW103 SW104 Configuration for use of the ASCII protocol When bit S103 Comm 1 or S104 Comm 2 is set to 1 the ASCII protocol is used System word SW103 Comm 1 or SW104 Comm 2 must be set according to the elements below 15 14 13 12 11 10 9 8 7 5 4 2 1 0 End of the character string Baud rate Parity Data bit Stop bit o RTS CTS Baud rate 0 1200 bauds 1 2400 bauds 2 4800 bauds 3 9600 bauds 4 19200 bauds 5 38400 bauds RTS CTS e 0 disabled e 1 enabled Parity e 00 none e 10 odd e 11 even Stop bit e 0 1 stop bit e 1 2 stop bits Data bits e 0 7 data bits e 1 8 data bits S SW105 SW106 Configuration for use of the ASCII protocol When bit S103 Comm 1 or S104 Comm 2 is set to 1 the ASCII protocol is use
466. shinai a aaa a tn ae tin Sn eR A RNS 81 Communications 22544 scee sie es eseaen ceeiwe Bees 83 Ata Glance ii e ore ei ie eed a abe lace NE E a dt eae ee 83 Presentation of the different types of communication 84 TwidoSoft to Controller communications 0000 c eee ee eee 86 Communication between TwidoSoft and a Modem 00e ee eee 92 Remote Link Communications 0 000 cece eee eee 104 ASCII Communications 00000 c cette 115 Modbus Communications 00000 teens 126 Standard Modbus Requests 0000 c eee eee eee eee 144 Transparent Ready Implementation Class Twido Serial A05 Ethernet A15 150 Ethernet TCP IP Communications Overview 0000e cence eee 151 Quick TCP IP Setup Guide for PC to Controller Ethernet Communication 153 Connecting your Controller to the Network 0 000 e eee eee eee 159 IP Addressing is iiss aos Waid cts ainda be ace a Pees nies cna ea EA 160 Assigning IP Addresses 0 0 0 naana teeta 161 TCPAP Setupss seni a eaa oiana sok edhe Sarkar bP A ee eg ek ede 165 IP Address Configure Tab 2 6 2 ects 167 Marked IP Tabien oera uA ee hier ec ee ech ee ea ag 169 TiMeGOuUl Tab erra podbean he et oe eee en sa eae ee oe 171 Remote Devices Tab 0 cece tee tee 173 Viewing the Ethernet Configuration 0 0 0 0 cece eee 175 Ethernet Connections Management 0 0 cece eee eee eee 176 Ethernet L
467. sible to have several operating ranges for the same output TWD USE 10AE 483 Advanced Instructions Example Time Dating by Program The following table shows the parameters for a summer month spray program example Parameter Value Description Schedule block 6 Schedule block number 6 Output bit Q0 2 Activate output Q0 2 Start month June Start activity in June End month September Stop activity in September Start date 21 Start activity on the 21st day of June End date 21 Stop activity on the 21st day of September Day of week Monday Wednesday Run activity on Monday Wednesday and Friday Friday Start time 21 00 Start activity at 21 00 Stop time 22 00 Stop activity at 22 00 Using the following program the schedule block can be disabled through a switch or a humidity detector wired to input l0 1 10 1 TSW 114 X6 LJ LD 10 1 ST SW 114 X6 The following timing diagram shows the activation of output Q0 2 l0 1 Q0 2 21 June W F MWF Date and time are both available in system words SW50 to SW53 see System Words SW p 604 It is therefore possible to perform time and date stamping in the controller program by making arithmetic comparisons between the current date and time and the immediate values or words MWi or KWi which can cont
468. signment instruction Reset input or R When function parameter R is 1 this sets register instruction bits 0 to 15 SBRi j to 0 Shift to left input or CU On a rising edge shifts a register bit to the left instruction Shift to right input or CD On a rising edge shifts a register bit to the right 404 TWD USE 10AE Basic Instructions Operation Programming Special Cases The following illustration shows a bit pattern before and after a shift operation Bit 0 0 0 0 0 1 1 0 1 1 1 0 0 0 Operation Initial state 11 1 0 Bit 15 CU SBRi performs a shift to the left Bit 15 is lost 1 00 Bit 15 Bit 0 This is also true of a request to shift a bit to the right Bit 15 to Bit 0 using the CD instruction Bit O is lost If a 16 bit register is not adequate it is possible to use the program to cascade several registers In the following example a bit is shifted to the left every second while Bit 0 assumes the opposite state to Bit 15 Reversible programming SBRO 15 SBRO O LDN SBRO 15 1 ST SBR0 0 BLK SBRO LD S6 CU TSBRO END_BLK R S6 Non Reversible CU programming LDN SBRO 15 CD ST SBRO O LD S6 CU SBRO The following table contains a list of special cases for programming the
469. slave single remote link exchange detected S112 0 master remote link disabled 1 master remote link enabled S113 0 master slave remote link configuration operation OK 1 master remote link configuration operation error slave remote link operation error If a master controller restarts one of the following events happens e A cold start 80 1 forces a re initialization of the communications e Awarm start S1 1 forces a re initialization of the communications e In Stop mode the master continues communicating with the slaves If a slave controller restarts one of the following events happens e A cold start S0 1 forces a re initialization of the communications e Awarm start S1 1 forces a re initialization of the communications e In Stop mode the slave continues communicating with the master If the master indicates a Stop state e The remote I Os apply a Stop state e Apeer controller continues in its current state When the master controller enters Stop mode all slave devices continue communicating with the master When the master indicates a Stop is requested then a remote I O controller will Stop but peer controllers will continue in their current Run or Stop state 108 TWD USE 10AE Communications Remote I O Data Access The remote controller configured to be a remote I O does not have or execute its own application program The remote controller s base digital i
470. st of available devices already stored in the catalog Result The Add icon gt appears at the top right corner of the catalog frame Click the Add icon once Result The slave device is added to the network slaves table Notes e A maximum of 16 slaves can be declared on the Twido CANopen network e The newly declared slave device takes the node address with the lowest available index For example if slave devices are declared at node addresses 1 2 and 4 the a newly added slave device with take the available node address 3 as default You may assign a slave device to any available node address 1 to 16 To move a slave device to the desired node address use the Move up down arrow icons Ee 2l Repeat steps 1 to 3 for any new slave device you want to declare on the CANopen network To delete a slave device from the Network select the device name in the slaves table and click the Delete icon i Press the Apply button to confirm changes and save the network configuration to the TwidoSoft project TWD USE 10AE 259 Installing and Configuring the CANopen Fieldbus Configuring the The procedure below describes how to configure network management parameters Network such as the Baudrate network speed life time and error control protocol Management Step Action Parameters 1 In the Network dialog box select the Baudrate network speed from the drop down list
471. st of special operating cases for the FC function block Special case Description Effect of cold restart S0 1 Resets all the FC attributes with the values configured by the user or user application Effect of warm restart S1 1 Has no effect Effect of Controller stop The FC continues to count with the parameter settings enabled at the time the controller was stopped TWD USE 10AE 461 Advanced Instructions Very Fast Counter Function Block VFC Introduction The Very Fast Counter function block VFC can be configured by TwidoSoft to perform any one of the following functions e Up down counter e Up down 2 phase counter Single Up Counter e Single Down Counter e Frequency Meter The VFC supports counting of digital input up to frequencies of 20kHz in single word or double word computational mode The TWDLCA 40DRF Compact controllers can accomodate up to two very fast counters while all other series of Compact controllers can configure one very fast counter VFC Modular controllers can configure up to two very fast counters VFC 462 TWD USE 10AE Advanced Instructions Dedicated I O The Very Fast Counter function blocks VFC use dedicated inputs and auxiliary Assignments inputs and outputs These inputs and outputs are not reserved for their exclusive use Their allocation must be considered with the use of other function blocks for these dedicated resources The following array summariz
472. st to 15min to see a trace of the measurement signal s progress Check that the measurement value remains within the acceptable values for the system We can view the increase in the measurement from the Trace tab When this has stabilized read the value corresponding to the stabilization of the measurement graph for example 350 counts corresponding to 35 or an increase of 10 compared with the initial state TWD USE 10AE 507 Advanced Instructions Step Action 9 If we see that the actuator is not controlled check the output circuit e Foran analog output check the output voltage or current from the analog card e Fora PWM output check e the LED of the output concerned is lit Q0 1 in this example e the wiring of the supplies and OV circuit for the TWDLMDA20DRT base outputs e the actuator power supply 10 Close the PID display screen and stop the manual mode by entering the following values in the animation table e MO Enable loop controller 0 stop the loop controller e M2 Selection of Automatic or Manual mode 0 stop manual mode MW17 Operating mode selection for the PID controller 0 e MW18 Manual setpoint associated with M2 bit selection 0 508 TWD USE 10AE Advanced Instructions Step 5 Control Set Up AT PID Introduction In this section we will be looking at how to configure the controller to start operation in AT PID mode I
473. start 70 TWD USE 10AE Controller Operating Modes Dealing with a warm restart Cause ofa Warm A warm restart can occur Restart e When power is restored without loss of application context e When bit S1 is set to state 1 by the program e From the Operator Display when the controller is in STOP mode Illustration The drawing below describes a warm restart operation in RUN mode RUN WAIT Acquisition of inputs K Stop the processor Save application Execution of program context TOP if bit S1 1 possible process with Restoration of power warm restart Vv Partial configuration auto tests Detection o y Vv es power cut gt Set bit S1 to 1 for only one cycle BOT K Set bit S1 to 0 Vv Update outputs __________ TWD USE 10AE 71 Controller Operating Modes Restart of the Program Execution Processing of a Warm Start Outputs after Power Failure The table below describes the restart phases for running a program after a warm restart Phase Description 1 The program execution resumes from the same element where it was prior to the power cut without updating the outputs Note Only the same element from the user code is restarted The system code for example the updating of outputs is not restarted At the end
474. structions Boolean Instructions Introduction Testing Controller Inputs Rising Edge Detection Boolean instructions can be compared to Ladder language elements These instructions are summarized in the following table Item Instruction Example Description Test elements The Load LD LD I0 0 Contact is closed when bit instruction is equivalent l0 0 is at state 1 to an open contact Action elements The Store ST ST Q0 0 The associated bit object instruction is equivalent to a coil takes a logical value of the bit accumulator result of previous logic The Boolean result of the test elements is applied to the action elements as shown by the following instructions LD I0 0 AND l0 1 ST Q0 0 Boolean test instructions can be used to detect rising or falling edges on the controller inputs An edge is detected when the state of an input has changed between scan n 1 and the current scan n This edge remains detected during the current scan The LDR instruction Load Rising Edge is equivalent to a rising edge detection contact The rising edge detects a change of the input value from 0 to 1 A positive transition sensing contact is used to detect a rising edge as seen in the following diagram 10 0 LDR I0 0 p P Positive transition sensing contact 370 TWD USE 10AE Basic Instructions Falling Edge Detection Edge Detection
475. structions Compatibilities and Performances Ata Glance The Twido PID function is a function that is available for controllers compatible with TwidoSoft version 2 0 or higher which is why its installation is subject to a number of hardware and software compatibilities described in the following paragraphs In addition this function requires the resources presented in the Performances paragraph Compatibility The Twido PID function is available on Twido controllers version 2 0 or higher software If you have Twidos with an earlier version of the software you can update your firmware in order to use this PID function Note The version 1 0 analog input output modules can be used as PID input output modules without needing to be updated In order to configure and program a PID on these different hardware versions you must have version 2 0 or higher of the TwidoSoft software Performance The PID regulation loops have the following performances Description Time Loop execution time 0 4 ms 520 TWD USE 10AE Advanced Instructions Detailed characteristics of the PID function General The PID function completes a PID correction via an analog measurement and setpoint in the default 0 10000 format and provides an analog command in the same format or a Pulse Width Modulation PWM on a digital output All the PID parameters are explained in the windows used to configure them Here
476. structions LD AND and OR The result is 1 when the comparison requested is true Examples of Comparison instructions Q0 3 MW 10 gt 100 MO Q0 2 MW20 lt KW35 10 2 Q0 4 MF30 gt MF40 LD ST LD AND ST LD OR ST MW10 gt 100 Q0 3 MO MW20 lt KW35 Q0 2 10 2 MF30 gt MF40 Q0 4 416 TWD USE 10AE Basic Instructions Syntax Syntax for Comparison instructions Operator Syntax gt gt lt lt lt gt LD Op1 Operator Op2 AND Op1 Operator Op2 OR Op1 Operator Op2 Operands Type Operand 1 Op1 Operand 2 Op2 Words PMWi KWi YINWi Immediate value MWi AIW IWAI SQNWi SKWi INWi IW QWi QWAI IWAI QNWi QW PQNWIi SWi PVQWAI SWi BLK x BLK x MWi MWi KWi gt MWi Double MDi KDi Immediate value MDi words KDi MDi YMWi KD MWi Floating MFi KFi Immediate floating point word value MFi KFi MFi MWi KFi gt MWi Note Comparison instructions can be used within parentheses An example of using Comparison instruction within parentheses LD MO AND MF20 gt 10 0 OR 710 0 ST Q0 1 TWD USE 10AE 417 Basic Instructions Arithmetic Instructions on Integers Introduction Arithmetic instructions are used to perform arithme
477. sts all instructions and objects required to program a Grafcet chart Instructions Graphic representation 1 Transcription in Function TwidoSoft language Illustration j Start the initial step 2 Initial step i Activate step i after deactivating the current step j Start step i and validate the associated transition 2 Transition 3 EE Deactivate the current step without activating any other steps St Di Deactivate step i and the current step ep POST Start post processing and end sequential processing Xi Bit associated with step i can be tested and written maximum number of steps depends on controller i LD Xi LDN Xi Test the activity of step i Xi AND Xi ANDN Xi OR Xi ORN Xi XOR Xi XORN Xi E S Xi Activate step i S Xi R Xi Deactivate step i R 1 The graphic representation is not taken into account 2 The first step i or i written indicates the start of sequential processing and thus the end of preprocessing 356 TWD USE 10AE Grafcet Grafcet Linear sequence Examples 10 5 S21 10 5 i LD 10 5 t ST S21 1 1 j 220 uid 5 LD I0 1 2
478. t type 1 to change the IP source to STORED and press Enter STORED may already be the IP source Set desired IP parameters manually See TwidoPort Ethernet settings following this table Other parameters include IP Address Default Gateway Netmask Ethernet Frame Type Select R and press Enter The Telnet main menu appears You may have to press Enter again to update the screen IP Source Example of is obtained The select IP Source option dictates the location from which the IP configuration e STORED from local flash memory e SERVED from BootP server e TWIDO from the Twido controller The default IP address DEFAULT is derived from the MAC address By definition the default is not selectable Note A valid IP configuration in the Twido controller overrides the user selection Ethernet Settings IP Ethernet Settings DEFAULT 85 16 44 113 1 gt IP Source 2 gt IP Address 3 gt Default Gateway The following figure shows an example of TwidoPort s Ethernet settings Telemecanique 499 TWD i 100 Configuration and Diagnost lt c 2064 Schneider Automation Inc 85 16 44 113 4 gt Netmask 6 6 6 6 5 gt Ethernet Frame Type R gt eturn to Main Menu Commands ETHERNET2 Select Command or Parameter i N gt to change TWD USE 10AE 289 Configuring the TwidoPort Ethernet Gateway Serial Parameter Config
479. t 8 byte word objects or four 16 byte word objects or any combination of those two types of word objects not too exceed the overall 64 byte limit of the PDO To customize PDO mapping continue to step 5 and subsequent below and follow these directions 5 For the desired slave see step 2 select the PDO you wish to modify the mapping from the PDO frame Example Select the first Transmit PDO PDO TX 1 Result The predefined PDO mapping or the current customized mapping appears in the Mapped Object frame 6 To delete an unused word object from the PDO mapping structure select the word object indexed 1 to 8 and click the Delete icon m 7 From the Available Objects frame select the word object in the object family that you wish to map and click the Add icon gt to append the word object to the Mapped Objects structure con WO Note To restore the default mapping structure for the selected PDO click the Default icon 8 To change a word object s address within the mapped PDO structure use the Move up down arrow icons me 9 Press the Apply button to confirm changes to the mapped PDO structure and save the PDO mapping to the TwidoSoft project 10 Repeat steps 5 through 9 for each PDO mapping you wish to configure 11 Notes on memory usage e PDO memory usage Usage of PDO memory can be monitored via the memory status bar located in the upper right corner of the Mapped Objects frame f
480. t be compatible with that of the PC s IP address that you have configured in the previous section Note The IP addresses of the Twido controller and the PC must share the same network ID However the Twido controller s host ID must be different from the PC s host ID and unique over the network For example if the PC s Class C IP address is 192 168 1 198 then a valid address for the Twido controller is 192 168 1 xxx where 192 168 1 is the network ID and xxx 0 197 199 255 is the host ID Enter a valid Subnetwork mask in dotted decimal notation The Twido controller and the PC running TwidoSoft must be on the same network segment Therefore you must enter a subnet mask that is identical to that specified for the PC Note If subnetting is not used on your Class C network we suggest you to specify a Class C network default subnet mask such as 255 255 255 0 Enter a valid Gateway address in dotted decimal notation Note If there is no gateway device on your stand alone network enter the Twido controller s own IP Address that you have just configured in step 6 in this field 10 Click on OK to save the Ethernet configuration settings of your Twido controller 156 TWD USE 10AE Communications Setting Upa New You will now set up anew TCP IP connection in the TwidoSoft application The new TCP IP dedicated TCP IP connection will allow the PC running TwidoSoft and the Twido Connection in controller to
481. t channel 0 in progress 5 Converting data input channel 1 in progress 6 Input thermocouple channel 0 not configured 7 Input thermocouple channel 1 not configured 8 Not used 9 Unused 10 Analog input data channel 0 over range 11 Analog input data channel 1 over range 12 Incorrect wiring analog input data channel 0 below current range current loop open Bit 13 Incorrect wiring analog input data channel 1 below current range current loop open Bit Bit 14 Unused 15 Output channel not available SW81 e Expansion I O Module 1 Status Same definitions as SW80 e CANopen Master Module Status at Expansion Address 1 e Bit 0 Configuration state 1 configuration OK 0 configuration error Bit 1 Operational state 1 PDO exchange ON 0 PDO exchange OFF Bi Bi 2 Init state 1 init state ON 0 init state OFF 3 CAN_CMD instruction complete 1 complete 0 in progress Bit 4 CAN_CMD instruction error 1 error 0 OK Bi Bi 5 Initialization error 1 error 0 OK 6 Loss of message power supply error 1 error 0 OK SW82 Expansion I O Module 2 Status Same definitions as SW80 CANopen Master Module Status at Expansion Address 2 Same definitions as SW81 TWD USE 10AE 611 System Bits and Words System Function Description Control Words SW83 Expansion I O Module 3 Status
482. t larger than reception table 13 controller stopped EXCH processing SW64 EXCH2 error code See SW63 If a master slave controller restarts one of the following events happens e A cold start S0 1 forces a re initialization of the communications e Awarm start S1 1 forces a re initialization of the communications e In Stop mode the controller stops all Modbus communications TWD USE 10AE 137 Communications Modbus Link To configure a Modbus Link you must Example 1 1 Configure the hardware 2 Connect the Modbus communications cable 3 Configure the port 4 Write an application 5 Initialize the Animation Table Editor The diagrams below illustrate the use of Modbus request code 3 to read a slave s output words This example uses two Twido Controllers Step 1 Configure the Hardware 1 Controller RS 485 EIA Port 1 To serial COM 1 Master X Module RS 485EIAPort2 TSXPCX1031 p k 2 143 we 0 2 Controller RS 485 EIA Port 1 8 Slave Modbus RS 485 EIA Port 2 The hardware configuration is two Twido controllers One will be configured as the Modbus Master and the other as the Modbus Slave Note In this example each controller is configured to use EIA RS 485 on Port 1 and an optional EIA RS 485 Port 2 On a Modular controller the optional Port 2 can
483. t values of the selected slaves It also enables the user e To obtain diagnostics of the slaves on which an error has occurred See Displaying Slave Status p 217 e To modify the address of a slave in online mode See Modification of Slave Address p 218 e To transmit the image of the slaves to the configuration screen See Updating the AS Interface bus configuration in online mode p 220 e To address all the slaves with the desired addresses during the first debugging TWD USE 10AE 215 Installing the AS Interface bus Illustration ofthe The illustration of the debug screen in online mode only looks like this Debug Screen Configure Module TWDNOI10M3 Position 2 x Description Master AS Interface expansion module Configuration Debugging AS interface V2 configuration Slave 1A Std A Slaves Slaves E Characteristics 00 Profile orke apek GARI Comment VB iluminated column base 02 03 ASI20MT41E peenes 04 Bits C Decimal 05 INOUT24 12 1e o lt 06 WXA36 07 pale SUE 08 Inputs Outputs 09 Inputs Value Format Outputs Value Format 10 lA1 1A 0 0 Dec QA1 1A 0 0 Dec 1 Unknown lA1 1A 1 0 Dec QA11A 1 0 Dec 12 13 Error on the network 14 15 16 D _ AS Interface Bus
484. t you wish to assign to the analog output when the PID is in manual mode This Output can be either a word MWO0 to MW2999 or a direct value in the 0 10000 format Analog output Specify the PID output in auto mode here This Analog output can be MW type MW0 to MW2999 or QW type QWx 0 TWD USE 10AE Advanced Instructions Field Description PWM output Check this box if you want to use the PWM function of PID enabled Specify the modulation period in Period 0 1s This period must be Period 0 1s between 1 and 500 and can be an internal word MW0 to MW2999 Output or an internal constant KWO to KW255 Specify the PWM output bit as the value in Output This can be either an internal bit MO0 to M255 or an output Qx 0 to Qx 32 Diagram The diagram allows you to view the different possibilities available for configuring your PID Note The term Reverse in the action field is used to reach a high setpoint e g for heating setpoint The term Direct in the action field is used to reach a low setpoint e g for cooling setpoint Ne aan SS TWD USE 10AE 539 Advanced Instructions How to access PID debugging At a Glance The following paragraphs describe how to access the PID debugging screens on TWIDO controllers Procedure The following table describes the procedure for accessing the PID debugging screens Ste
485. te SW25 11 12 error free e 3 gt Node State Operational module is in operational SW26 13 14 state SW27 15 16 not error free e 4 gt Node State Preoperational module is in preoperational state expected modules only those declared as expected in the configuration table module can be set to operational error free e 5 gt Node State Preoperational module is in preoperational state expected modules only those declared as expected in the configuration table module can be set to operational not error free TWD USE 10AE 271 Installing and Configuring the CANopen Fieldbus System words Node address slave number Bit 0 7 Bit 8 15 Word content Description 6 gt Node State Preoperational module is in preoperational state expected modules only those declared as expected in the configuration table module ispresent but its current state dpes not allow to be set it to operational error free 7 gt Node State Preoperational module is in preoperational state expected modules only those declared as expected in the configuration table module ispresent but its current state dpes not allow to be set it to operational not error free 8 gt Wrong module a module was detected with different device identity information error free 9 gt Wrong module a module was
486. the Schneider AS Interface catalog AS Interface Catalog Families of AS Interface profiles 5 Keyboards 5 Keyboards 6 Illuminated columns 7 Command and signaling 4 Motor starters 11 Inductive sensors 9 Phototronic sensors 1 Private family 18 Compact IP20 interfaces 12 Telefast IP20 interfaces E EE Details OK Cancel When you have chosen your family the list of corresponding slaves appears Click on the required slave and validate by clicking OK Note You can display the characteristics of a slave by clicking Details Note You can add and configure slaves that are not part of the Schneider catalog Simply select the private family and configure the new slave 214 TWD USE 10AE Installing the AS Interface bus Description of the debug screen At a Glance When the PC is connected to the controller after uploading the application to the controller the Debug tab appears to the right of that of Configuration it allows the debug screen to be accessed The debug screen dynamically provides an image of the physical bus that includes the e List of expected slaves entered during configuration with their name and the list of detected slaves with unknown names but otherwise expected e Status of the AS Interface module and the slave devices e Image of the profile parameters and input outpu
487. the following topics Chapter Topic Page Overview of List Programs 344 Operation of List Instructions 346 List Language Instructions 347 Using Parentheses 350 Stack Instructions MPS MRD MPP 352 TWD USE 10AE 343 Instruction List Language Overview of List Programs Introduction Example of a List Program Line Number Instruction Code A program written in List language consists of a series of instructions executed sequentially by the controller Each List instruction is represented by a single program line and consists of three components e Line number e Instruction code e Operand s The following is an example of a List program LD I0 1 ST Q0 3 O 0 LD I0 1 2 LDN MO 3 ST Q0 2 L Operand s 4 LDR 10 2 5 ST Q0 4 L Instruction Code 6 LDF 10 3 L Line Number 7 ST P Q0 5 Line numbers are generated automatically when you enter an instruction Blank lines and Comment lines do not have line numbers The instruction code is a symbol for an operator that identifies the operation to be performed using the operand s Typical operators specify Boolean and numerical operations For example in the sample program above LD is the abbreviation for the instruction code for a LOAD instruction The LOAD instruction places loads the value of the operand l0 1 into an internal register called the accumulator There are basically two types of instructi
488. the way it behaves The graphs begin to be traced as soon as the debug window is displayed Note It is accessible in online mode The screen below is used to view the PID control PID Function PID AE PID number lo f General Input PID AT Output Animation Trace 30 min v 60 min 45 min 30 min 15 min Initialize J Detach Setpoint Measure Cancel Previous Next Help TWD USE 10AE 543 Advanced Instructions Description The following table describes the different zones of the window Field Description PID number Specify the PID number that you wish to view here The value is between 0 and 13 14 PID maximum per application Chart This zone displays the setpoint and process value graphs The scale on the horizontal axis X is determined using the menu to the top right of the window The scale on the vertical axis is determined using the PID input configuration values with or without conversion It is automatically optimized so as to obtain the best view of the graphs Horizontal axis scale menu This menu allows you to modify the scale of the horizontal axis You can choose from 4 values 15 30 45 or 60 minutes Initialize This button clears the chart and restarts tracing the graphs 544 TWD USE 10AE Advanced Instructions PID States and Errors Codes At a Glance
489. tialization e Presetting of steps e Maintaining a situation e Freezing charts Preliminary processing and use of system bits ensure effective operating mode management without complicating and overburdening the user program Use of bits S21 S22 and S23 is reserved for preliminary processing only These bits are automatically reset by the system They must be written by Set Instruction S only The following table provides Grafcet related system bits Bit Function Description S21 GRAFCET initialization Normally set to O it is set to 1 by e acold start S0 1 e The user in the pre processing program part only using a Set Instruction S S21 or a set coil S S21 Consequences e Deactivation of all active steps e Activation of all initial steps S22 GRAFCET RESET Normally set to 0 it can only be set to 1 by the program in pre processing Consequences e Deactivation of all active steps e Scanning of sequential processing stopped S23 Preset and freeze Normally set to 0 it can only be set to 1 by the program in GRAFCET pre processing e Prepositioning by setting S22 to 1 e Preposition the steps to be activated by a series of S Xi instructions e Enable prepositioning by setting S23 to 1 Freezing a situation Ininitial situation by maintaining S21 at 1 by program e In an empty situation by maintaining S22 at 1 by program e Ina situation determined by maintaining
490. tic operations between two integer operands or on one integer operand The following table lists the types of Arithmetic instructions Instruction Function Add two operands Subtract two operands ig Multiply two operands Divide two operands REM Remainder of division of the two operands SQRT Square root of an operand INC Increment an operand DEC Decrement an operand ABS Absolute value of an operand Structure Arithmetic operations are performed as follows WMO LD M0 MW0 MW10 100 t MW0 MW 10 100 710 2 LD 10 2 MW0 SQRT MW 10 MW0 SQRT MW 10 10 3 LDR 10 3 P INC MW100 INC MW 100 418 TWD USE 10AE Basic Instructions Syntax The syntax depends on the operators used as shown in the table below Operator Syntax REM Op1 Op 2 Operator Op3 INC DEC Operator Op1 SQRT 1 Op1 SQRT Op2 ABS 1 Op1 ABS Op2 Operands Type Operand 1 Op1 Operands 2 and 3 Op2 amp 3 1 Words MWi VQWi Immediate value RQWAI SWi PMWi KWi INW IW IWAI SQNW QW QWAI SWi BLK x Double words MDi Immediate value MDi KDi Note 1 With this operator Op2 cannot be an immediate value The ABS function can only be used with double words MD and KD and floating points MF and KF Consequently O
491. time of between 0 and 2000 0 seconds Derivative time Using a timebase of 0 1 seconds its value is between 0 and 10000 This corresponds to a derivative time of between 0 and 1000 0 seconds Sampling period Using a timebase of 0 01 seconds its value is between 1 and 10000 This corresponds to a sampling period of between 0 01 and 100 seconds PWM output Using a timebase of 0 1 seconds its value is between 1 and 500 This corresponds to a modulation period of between 0 1 and 50 seconds Analog output Value between 0 and 10000 High level alarm on process variable This alarm is set after conversion It is set to a value between 32768 and 32767 if conversion is activated and to 0 and 10000 if it is not Low level alarm on process variable This alarm is set after conversion It is set to a value between 32768 and 32767 if conversion is activated and to 0 and 10000 if it is not High limit value on output This limit value is between 0 and 10000 for an analog output value When PWM is active the limit corresponds to a percentage of the modulated period 0 for 0 and 100 for 10000 Low limit value on output This limit value is between 0 and 10000 for an analog output value When PWM is active the limit corresponds to a percentage of the modulated period 0 for 0 and 100 for 10000 Manual mode When manual mode is active the output is assigned a fixed value set by the user This output
492. time of configuration and or updated by the user application Note Controllers with relay outputs for these two channels do not support PLS function Representation An example of the pulse generator function block in single word mode PLSO TON IN Q r EES SINGLE ADJ Variable period PLSi P T 1R DL e TON T 2 for the 0 142ms and 0 57ms time bases PLSi P TB 2 e TON whole part PLSi P 2 TB for the 10ms to 1s time bases TWD USE 10AE 451 Advanced Instructions Specifications The table below contains the characteristics of the PLS function block Function Object Description Timebase TB 0 142 ms 0 57 ms 10 ms 1 sec Preset period PLSi P Pulses on output PLS1 are not stopped when PLS1 N or PLS1 ND is reached for time bases 0 142 ms and 0 57 ms 1 lt PLSi P lt 32767 for time base 10 ms or 1 s e 0 lt PLSi P lt 255 for time base 0 57 ms or 0 142 ms e 0 Function not in use To obtain a good level of precision from the duty cycle with time bases of 10ms and 1s you are recommended to have a PLSi gt 100 if P is odd Number of pulses PLSi N The number of pulses to be generated in period T can be limited to the range PLSi ND 0 lt PLSi N lt 32767 in standard mode or 0 lt PLSi ND lt 4294967295 in double word mode The default value is set to 0 To produce an unlimited numbe
493. ting direction NFCI U No Word Capture Value NFCI C No Word Threshold 0 Value VFCi SO Yes Word Threshold Value1 NFCI S1 Yes Bit Overflow NFCI F No Bit Reflex Output 0 Enable NFCI R Yes Bit Reflex Output 1 Enable NFCI S Yes Bit Threshold Output 0 NFCi THO No Bit Threshold Output 1 NFCI TH1 No Bit Frequency Measure Time Base NFCI T Yes PWM Word Percentage of pulse at 1 in relationship to PWMi R Yes the total period Word Preset period PWMi P Yes PLS Word Number of pulses PLSi N Yes Word Preset value PLSi P Yes Bit Current output enabled PLSI Q No Bit Generation done PLSi D No SBR Bit Register Bit SBRi J No SC Bit Step counter Bit SCi j Yes MSG Bit Done MSGi D No Bit Error MSGi E No TWD USE 10AE 439 Advanced Instructions Programming Principles for Advanced Function Blocks Ata Glance All Twido applications are stored in the form of List programs even if written in the Ladder Editor and therefore Twido controllers can be called List machines The term reversibility refers to the ability of TwidoSoft to represent a List application as Ladder and then back again By default all Ladder programs are reversible As with basic function blocks advanced function blocks must also take into consideration reversibility rules The structure of reversible function blocks in List language requires the use of the following instructions e BLK Marks the block start and the input portion of the function block
494. tion Factor are not displayed if the optional RTC cartridge TWDXCPRTC is not detected on the controller As ashortcut press the ESC key to return to the initial display screen For most screens pressing the ESC key will return to the Controller Identification and State Information screen Only when editing System Objects and Variables that are not the initial entry l0 0 0 will pressing ESC take you to the first or initial system object entry To modify an object value instead of pressing the push button to go to the first value digit press the MOD ENTER key again 308 TWD USE 10AE Operator Display Operation Controller Identification and State Information Introduction The initial display or screen of the Twido optional Operator Display shows the Controller Identification and State Information Example The firmware revision is displayed in the upper right corner of the display area and the controller state is displayed in the upper left corner of the display area as seen in the following A Controller state R U N 100 Firmware revision TWD USE 10AE 309 Operator Display Operation Controller States Displaying and Changing Controller States Controller states include any of the following e NCF Not Configured The controller is in the NCF state until an application is loaded No other state is allowed until an application program is loaded You can test the I
495. tion as well They are label as follows e LAN ACT e LAN ST The Ethernet LEDs provide continuous monitoring of the Ethernet port connections status and diagnostics The following table describes the status of both LAN ACT and LAN ST Ethernet LED indicators LED State Color Description LAN ACT Off No Ethernet signal on RJ 45 port Steady Green 10BASE TX link beat signal to indicate a 10 Mbps connection Blinking Data packets sent or received over the 10BASE TX connection Steady Amber 100BASE TX link beat signal to indicate a 100 Mbps connection Blinking Data packets sent or received over the 100BASE TX connection 178 TWD USE 10AE Communications LED State Color Description LAN ST Steady Green Base controller is powered on Ethernet port is ready to communicate over the network Fast Ethernet initialization at power up flashing 2 Flashes No valid MAC address long off 3 Flashes Any of three possible causes long off e No link beat detected e Ethernet network cable is not plugged correctly or faulty cable e Network device hub switch is faulty or not properly configured 4 Flashes Duplicate IP address detected over the network To long off remedy this situation try assigning a different IP address to your Twido controller 6 Flashes Using a valid converted default IP address FDR safe long off mo
496. tion request Modbus TCP clients can communicate with Twido through TwidoPort a bridge between Twido devices Modbus RTU over RS 485 serial link and Modbus TCP over Ethernet networks Note When implementing TwidoPort on a network the system design requirements must account for the inherent limited bandwidth of serial connections Expect a peak performance of approximately 40 Modbus transactions per second Requesting multiple registers in a single request is more efficient than placing a separate request for each register You cannot initiate read or write requests from the Twido controller through TwidoPort 302 TWD USE 10AE Configuring the TwidoPort Ethernet Gateway Locally Supported Modbus Function Codes List Function Codes TwidoPort answers the following locally supported Modbus function codes only when the unit ID is set to 254 Locally supported function codes are those answered directly by TwidoPort and not by the Twido controller identification function code with both stream and individual access Modbus Subfunction OPCODE Description Function Code Code 8 0 N A return query data 8 10 N A clear counters 8 11 N A return bus message count 8 12 N A return bus comm error count 8 13 N A return bus exception error count 8 14 N A return slave message count 8 15 N A return slave no response count 8 21 3 get Ethernet statistics 8 21 4 cl
497. tion shows how examples are given for each instruction LD I0 1 ST__ 00 3 LDN M0 ST Q0 2 LDR I0 1 ST Q0 4 LDF I10 3 ST Q0 5 Ladder diagram equivalents List instructions Permitted The following table defines the types of permitted operands used for Boolean Operands instructions Operand Description 0 1 Immediate value of 0 or 1 l Controller input li j Q Controller output Qi j M Internal bit Mi S System bit Si X Step bit Xi BLK x Function block bit for example TMi Q e Xk Word bit for example MWi Xk Comparison expression for example MWi lt 1000 372 TWD USE 10AE Basic Instructions Timing Diagrams The following illustration shows how timing diagrams are displayed for each instruction LD Input state LDN LDR LDF 4 i l0 1 MO I0 2 I0 3 Output state Q0 2 Q0 4 Q0 5 Q0 3 Timing diagrams for the four types of Timing diagram for the Load instructions are grouped together LD instruction TWD USE 10AE 373 Basic Instructions Load Instructions LD LDN LDR LDF Introduction Load instructions LD LDN LDR and LDF correspond respectively to the opened closed rising edge and falling edge contacts LDR and LDF are used only with controller inputs and internal words and for AS Interface and PDO CANopen slave
498. to 1 Special Note If configured to be adjustable then the application can change the preset value FCi P or FCi PD and current value FCi V or FCi VD at any time But a new value is taken into account only if the input reset is active or at the rising edge of output FCi D This allows for successive different counts without the loss of a single pulse 460 TWD USE 10AE Advanced Instructions Operation If configured to up count when a rising edge appears at the dedicated input the current value is incremented by one When the preset value FCi P or FCi PD is reached the Done output bit FCi D is set to 1 If configured to down count when a rising edge appears at the dedicated input the current value is decreased by one When the value is zero the Done output bit FCi D is set to 1 and the preset value is loaded into the current value FCi V or FCi VD Configuration In this example the application counts a number of items up to 5000 while l1 1 is and set to 1 The input for FCO is the dedicated input l0 0 2 When the preset value Programming is reached FCO D is set to 1 and retains the same value until FCO R is commanded by the result of AND on l11 2 and MO 1A Q0 0 LIN pL FCO FCO I ors LD A IN TYPE UP LD 1 2 I1 2 M0 SINGLE AND MO VFS oe R FCO P 5000 OUT BLK LDD ST Q0 0 END_BLK Special Cases The following table contains a li
499. to 1 or 0 by the program or the Operator Display Set to 0 the date and time can be read Set to 1 the date and time can be updated The controller s internal RTC is updated on a falling edge of S50 U gt S S51 Time of day clock status Normally on 0 this bit can be set to 1 or 0 by the program or the Operator Display Set to 0 the date and time are consistent Setto 1 the date and time must be initialized by the user When this bit is set to 1 the time of day clock data is not valid The date and time may never have been configured the battery may be low or the controller correction constant may be invalid never configured difference between the corrected clock value and the saved value or value out of range State 1 transitioning to state O forces a write of the correction constant to the RTC U gt S S52 RTC error This bit managed by the system indicates that the RTC correction has not been entered and the date and time are false Set to 0 the date and time are consistent Atstate 1 the date and time must be initialized S59 Updating the date and time using word SW59 Normally on 0 this bit can be set to 1 or 0 by the program or the Operator Display Set to 0 the system word SW59 is not managed e Set to 1 the date and time are incremented or decremented according to the rising edges on the control bits set in SW59 S66 BAT LED displ
500. to 3 for each variable you wish to symbolize 268 TWD USE 10AE Installing and Configuring the CANopen Fieldbus Addressing PDOs of the CANopen master At a Glance Illustration Specific Values Example Implicit Exchanges This sub section describes addressing of PDO inputs and PDO outputs of the CANopen master To avoid confusion with Remote I Os a new designation is implemented for CANopen objects syntax IWC for example Reminder of the addressing principles IWC QWC IWCD as n 3 i Symbol awcp IWCF QWCF Expansion PDO Channel Type of object module number number address The table below gives specific values to CANopen slave objects Part Values Comment IWC Image of the physical PDO input QwWC Image of the physical PDO output IWCD Same usage as IWC but in double word format QwCD Same usage as QWC but in double word format IWCF Same usage as IWC but in float format QWCF Same usage as QWC but in float format x 1to7 Address of TWDNCO1M CANopen master module on the Twido expansion bus n Oto 15 PDO number according to PDO index i Oto7 Channel number according to PDO sub index The table below shows an example of PDO addressing I O object Description IWC4 1 0 PDO number 1 sub index 0 input of the CANopen module located at address 4 on the Twido expansion bus The obje
501. to be non hazardous Failure to follow this instruction can result in death serious injury or equipment damage 12 TWD USE 10AE Safety Information Safe Battery Disposal A WARNING UNINTENDED EQUIPMENT OPERATION Turn power off before installing removing wiring or maintaining This product is not intended for use in safety critical machine functions Where personnel and or equipment hazards exist use appropriate safety interlocks Do not disassemble repair or modify the modules This controller is designed for use within an enclosure Install the modules in the operating environment conditions described Use the sensor power supply only for supplying power to sensors connected to the module For power line and output circuits use a fuse designed to Type T standards per IEC60127 The fuse must meet the circuit voltage and current requirements Recommended Littelfuse 218 Series 5x20mm time lag slow blow fuses Failure to follow this instruction can result in death serious injury or equipment damage The TWDLCA 40DRF compact bases use an optional external lithium battery for longer duration of data backup Note The lithium battery is not supplied with the compact bases you must purchase it separately A WARNING EXPLOSION AND TOXIC HAZARD Do not incinerate a lithium battery for it may explode and release toxic substances Do not handle damaged or leaking lithi
502. to index number 24576 MW3 16 0104 Access to sub index number 1 and length value 4 AMW4 16 1234 Data1 value MW5 16 1234 Data 2 value LD SW81 X3_ If there is no CAN_CMD instruction in progress then continue CAN_CMD1 MW0O 6 Start SDO command TWD USE 10AE 275 Installing and Configuring the CANopen Fieldbus 276 TWD USE 10AE Configuring the TwidoPort Ethernet Gateway 11 At a Glance Subject of this Chapter What s in this Chapter This chapter provides information on the software configuration of the ConneXium TwidoPort Ethernet Gateway module This chapter contains the following sections Section Topic Page 11 1 Normal Configuration and Connection of TwidoPort 279 11 2 TwidoPort s Telnet Configuration 286 11 3 Communication Features 300 TWD USE 10AE 277 Configuring the TwidoPort Ethernet Gateway 278 TWD USE 10AE Configuring the TwidoPort Ethernet Gateway 11 1 Normal Configuration and Connection of TwidoPort At a Glance Subject of this Section What s in this Section This section provides information on how to perform a normal configuration of the ConneXium TwidoPort module with the TwidoSoft application program module connectivity and BootP configuration information as well This section contains the following topics Topic Page Normal Configuration with TwidoSoft 280
503. to transmit receive messages e Exchange control function block MSG to control the data exchanges The Twido controller uses the protocol configured for the specified port when processing an EXCH instruction Each communication port can be assigned a different protocol The communication ports are accessed by appending the port number to the EXCH or MSG function EXCH1 EXCH2 MSG1 MSG2 In addition TWDLCAE40DRPRF series controllers implement Modbus TCP messaging over the Ethernet network by using the EXCH3 intruction and MSG3 function EXCH The EXCH instruction allows a Twido controller to send and or receive information Instruction to from ASCII devices The user defines a table of words MWi L containing the data to be sent and or received up to 250 data bytes in transmission and or reception The format for the word table is described in the paragraphs about each protocol A message exchange is performed using the EXCH instruction Syntax The following is the format for the EXCH instruction EXCHx MWi L Where x serial port number 1 or 2 x Ethernet port 3 L total number of words of the word table maximum 121 Values of the internal word table MWi L are such as i L lt 255 The Twido controller must finish the exchange from the first EXCHx instruction before a second exchange instruction can be started The MSG function block must be used when sending several messages Note To find out more informati
504. to use with Twidosoft must be installed running Modem Windows from your PC To install your modems running Windows follow the Windows documentation This installation is independent from Twidosoft 92 TWD USE 10AE Communications The default communication connection between Twidosoft and the Twido controller is made by a serial communication port using the TSX PCX 1031 cable anda crossed adaptater see Appendix 1 p 101 If a modem is used to connect the PC this must be indicated in the Twidosoft software To select a connection using Twidosoft click file then preferences Establishing Connection Preferences m Default Program Editor C List r List Ladder Animation _ OK C Hex Cancel Ladder Decimal Help m Ladder Information C 1 line r Display Attributes C Symbols Addresses a 3 lines symbols AND addresses 5 3 lines symbols OR addresses Automatic save Save message lt 1 7 Close Ladder viewer on Edit Rung Connections management Connection COM j lt I Display Toolbars 4q Automatic validation of configuration editor This screen allows you to select a connection or manage connections creation modification etc To use an existing connection select it from those displayed in the drop down menu If you have to add modify or delete a connection click once on Manage connections a window opens displ
505. totuning error Kp is zero 800Ch Autotuning error the time constant is negative 800Dh Autotuning error delay is negative 800Eh Autotuning error error calculating Kp 800Fh Autotuning error time constant over delay ratio gt 20 8010h Autotuning error time constant over delay ratio lt 2 8011h Autotuning error the limit for Kp has been exceeded 8012h Autotuning error the limit for Ti has been exceeded 8013h Autotuning error the limit for Td has been exceeded 548 TWD USE 10AE Advanced Instructions PID Tuning With Auto Tuning AT Overview of PID Tuning Scope of the Auto Tuning Auto Tuning Requirements The PID control function relies on the following three user defined parameters Kp Ti and Td PID tuning aims at determining these process parameters accurately to provide optimum control of the process TheAT function of the Twido PLC is especially suited for automatic tuning of thermal processes As values of the PID parameters may vary greatly from one control process to another the auto tuning function provided by the Twido PLC can help you determine more accurate values than simply provided by best guesses with less effort When using the auto tuning function make sure the control process and the Twido PLC meet all of the following four requirements e The control process must be an open loop stable system e Atthe start of the auto tuning run the control process must be in steady
506. truction 431 NOT instruction 384 Numerical instructions Assignment 411 shift 423 Numerical processing Overview 410 O Object tables 45 Object validation 26 Objects Bit objects 27 Double word 32 Floating point 32 Function blocks 43 Structured 45 words 29 OCCUR_ARR 585 OPEN 333 Open loop adjustment 558 Operands 346 Operate blocks 329 graphic element 332 Operating modes 68 634 TWD USE 10AE Index Operator Display Controller ID and states 309 Overview 306 Real Time correction 319 Serial port settings 317 System objects and variables 311 Time of day clock 318 OR Instruction 380 OUT_BLK 338 Output tab PID 537 Overflow Index 49 overflow 420 Overview PID 517 P Parameters 391 Parentheses modifiers 351 nesting 351 using in programs 350 Physical layer 239 CAN bus line 239 PID Animation tab 541 AT tab 532 Configuration 524 Debugging 540 General tab 525 Input tab 528 Output tab 537 Overview 517 PID tab 530 Trace tab 543 PID characteristics 521 PID tab PID 530 Pin outs Communications cable female connector 88 Communications cable male connector 88 Polarization external 129 Potentiometer 186 Power cut 69 Power restoration 69 Programming documenting your program 340 Programming advice 334 Programming grid 326 Programming languages overview 21 Programming Principles 440 Proportional action 559 Protocol Modbus TCP
507. tten starting at MW 8 in the example above TWD USE 10AE 143 Communications Standard Modbus Requests Introduction These requests are used to exchange memory words or bits between remote devices The table format is the same for both RTU and ASCII modes Format Reference number Bit Mi Word MWi Modbus Master The following table represents requests 01 and 02 Read N Bits Table Index Most significant byte Least significant byte Control table 0 01 Transmission reception 06 Transmission length 1 03 Reception offset 00 Transmission offset Transmission table 2 Slave 1 247 01 or 02 Request code 3 Address of the first bit to read 4 N Number of bits to read Reception table after 5 Slave 1 247 01 or 02 Response code response 6 00 byte added by Rx Offset action No Number of data bytes to read 1 N 1 8 where means integral part 7 Value of the 15t byte value 00 or 01 Value of the 2 byte if Ny gt 1 8 Value of the 3 byte if Ny gt 1 N2 2 6 if N2 is even Value of the No byte if N4 gt 1 No 2 1 6 if No is odd This byte also receives the length of the string transmitted after response 144 TWD USE 10AE Communications Modbus Master Read N Words The following table represents requests 03 and 04 Table Most signi
508. ture measurements are gathered by the Twido PLC via a Pt100 probe and temperature data are recorded in C e The Twido PLC drives a heating lamp via the PWM discrete output of the PID The experiment is carried out as follows Step Action 1 The PID Output tab is selected from the PID configuration screen Manual mode is selected from the Output tab The manual mode Output is set to 10000 The PID run is launched from the PID Trace tab oa AJ ow Pp The PID run is stopped when the oven s temperature has reached a steady state 552 TWD USE 10AE Advanced Instructions Step Action The following information is obtained directly from the graphical analysis of the response curve as shown in the figure below PID 21x PID number lo General Input PID AT Output Animation Trace 60 min Initialize Detach 15 Setpoint Measure Cancel l Previous Next Help where e Sy initial value of process variable 260 Sja ending value of process variable 660 Sis3 process variable at 63 rise Si Si Ste x 63 260 660 260 x63 512 e t time constant time elapsed from the start of the rise till Sjggoq is reached 9 min 30 s 570 s The sampling period Ts is determined using the following relationship Ts 1 75 570 75 7 6 s 7600 ms In the Program gt Scan mode ed
509. ue hex Meaning MW11 0001 Monday MW12 0030 30 seconds MW13 1340 13 hours 40 minutes MW14 0419 04 April 19th MW15 2002 2002 Date and time of System words SW54 to SW57 contain the date and time of the last stop and the last stop word SW58 contains the code showing the cause of the last stop in BCD format see System Words SW p 604 486 TWD USE 10AE Advanced Instructions Setting the Date and Time Introduction You can update the date and time settings by using one of the following methods e TwidoSoft Use the Set Time dialog box This dialog box is available from the Controller Operations dialog box This is displayed by selecting Controller Operations from the Controller menu e System Words Use system words SW49 to SW53 or system word SW59 The date and time settings can only be updated when the RTC option cartridge TWDXCPRTC is installed on the controller Note that the TWDLCA 40DRF series of compact controllers have RTC onboard Using SW49 to To use system words SW49 to SW53 to set the date and time bit S50 must SW53 be set to 1 This results in the following e Cancels the update of words SW49 to SW53 via the internal clock e Transmits the values written in words SW49 to SW53 to the internal clock Programming Example S5O S50 x LD S50 R R S50 10 1 P SWAY SMW 10 LDR 10 1 SW49 MW10 SWS0 MW11 SW50 MWI
510. ue is linear through the entire range so that each increment is approximately 20 mV 10 V 512 Once the system detects value 511 the channel is considered saturated Controlling the temperature of an oven The cooking temperature is set to 350 C Example A variation of 2 5 C results in tripping of output Q0 0 and Q0 2 respectively Practically all of the possible setting ranges of the analog channel from 0 to 511 is used in this example Analog setting for the temperature set points are Temperature C Voltage System Word IW0 0 1 0 0 0 347 5 7 72 395 350 7 77 398 352 5 7 83 401 450 10 511 Code for the above example see LD IW0 0 1 395 0 Ul IW0 0 1 395 ST Q0 0 or LD IW0 0 1 lt 398 0 UL lt IWO0 0 1 lt 398 __ ST 00 1 Q0 2 LD IW0 0 1 gt 401 IW0 0 1 gt 401 ST Q0 2 188 TWD USE 10AE Managing Analog Modules At a Glance Subject of this Chapter What s in this Chapter This chapter provides an overview of managing analog modules for Twido controllers This chapter contains the following topics Topic Page Analog Module Overview 190 Addressing Analog Inputs and Outputs 191 Configuring Analog Inputs and Outputs 192 Analog Module Status Information 198 Example of Using Analog Modules 199 TWD USE 10AE 189
511. ue of that field Continue steps 3 and 4 until the Time of Day value is complete Press the MOD ENTER key to accept the modified values or ESC to discard any modifications made while in edit mode 318 TWD USE 10AE Operator Display Operation Real Time Correction Factor Introduction Displaying and Modifying RTC You can display and modify the Real Time Correction Factor using the operator display Each Real Time Clock RTC Option module has a RTC Correction Factor value that is used to correct for inaccuracies in the RTC module s crystal The correction factor is an unsigned 3 digit integer from 0 to 127 and is displayed in the lower right corner of the display The example below shows a correction factor of 127 RTC Corr 127 To display and modify the Real Time Correction Factor Step Action Correction 1 Press the E gt key until the RTC Factor Display is shown RTC Corr will be displayed in the upper line of the operator display 2 Press the MOD ENTER key to enter edit mode 3 Press the gt key until you are in the field that you wish to modify 4 Press the 7 N key to increment the value of that field 5 Continue Steps 3 and 4 until the RTC correction value is complete 6 Press the MOD ENTER key to accept the modified values or ESC to discard any modifications made while in edit mode TWD USE 10AE 319 Operator Display Operation 320 TWD USE 10AE Description of
512. ug screen Select a slave in the AS interface V2 Configuration zone 3 Drag and drop the slave to the cell corresponding to the desired address Illustration Dragging and dropping slave 3B to address 15B Configuration _AS interface V2 configuration Std A Slaves B Slaves a 00 a eam EA 03 ASI20MT41E 04 05 F INOUT24 12 06 WXA36 p 07 08 E 09 10 11 i Unknown 12 13 14 15 16 v 218 TWD USE 10AE Installing the AS Interface bus Step Description Result All the slave parameters are automatically checked to see if the operation is possible Illustration of result _AS interface V2 configuration Std A Slaves B Slaves XVBO21A i ot 03 ASI20MTA1E 05 INOUT24 12 WXA36 07 11 Unknown 15 Unknown i m After performing this operation the diagnostics for the slave at address 3B indicate slave not detected meaning that the slave expected at this address is no longer there By selecting the address 15B the profile and the parameters of the moved slave can be re located but the name of the slave remains unknown as it was not expected at this address Note The profile and paramete
513. ule outputs are set to zero The communication module outputs are maintained in their current state The internal bus is used to update the configuration of the discrete and analog Expansion expansion module parameters Modules The parameters are sent to the communication module when the bus is in the Stop state These new configuration parameters are acknowledged when the bus goes into the Run state 250 TWD USE 10AE Installing and Configuring the CANopen Fieldbus 10 2 Implementing the CANopen Bus Overview Introduction This section describes how to implement the CANopen fieldbus on the Twido PLC system using the TWDNCO1M CANopen master module What s in this This section contains the following topics Section Topi Page Overview 252 Hardware Setup 253 Configuration Methodology 254 Declaration of CANopen Master 256 Network CANopen Slave Declaration 257 CANopen Objects Mapping 261 CANopen Objects Linking 265 CANopen Objects Symbolization 267 Addressing PDOs of the CANopen master 269 Programming and diagnostics for the CANopen fieldbus 270 TWD USE 10AE 251 Installing and Configuring the CANopen Fieldbus Overview Hardware and The following hardware and software is required to implement a CANopen bus on Software your Twido PLC system Requirements r q Hardware Requirements Twido PLC compact or modular Compact base base
514. ultaneously on the 2 line operator display If S25 1 then data display mode is enabled The operator keyboard is disabled SW68 and SW69 can be displayed on the 2 line operator display SW68 value on the first line SWE69 value on the second line Note Firmware version must be V3 0 or higher U 610 TWD USE 10AE System Bits and Words System Words Function Description Control SW73 and SW74 AS Interface System State Bit 0 Set to 1 if configuration OK Bit 1 Set to 1 if data exchange enabled Bit 2 Set to 1 if module in Offline mode Bit 3 Set to 1 if ASI_CMD instruction terminated Bit 4 Set to 1 error in ASI_CMD instruction in progress S and U SW76 to SW79 Down counters 1 4 These 4 words serve as 1 ms timers They are decremented individually by the system every ms if they have a positive value This gives 4 down counters down counting in ms which is equal to an operating range of 1 ms to 32767 ms Setting bit 15 to 1 can stop decrementation S and U SW80 Base I O Status Bit Bit 0 Channels in normal operation for all its channels 1 Module under initialization or of initializing information of all channels Bit 2 Hardware failure external power supply failure common to all channels Bit Bi Bi Bi Bi Bi Bi Bit Bit Bit FFF FF F 3 Module configuration fault 4 Converting data inpu
515. um battery Dead batteries shall be disposed of properly for improper disposal of unused batteries can cause harm as well as environmental damage In some areas the disposal of lithium batteries with household or business trash collection may be prohibited In any case it is your responsibility to always conform to local regulations in your area as regard to battery disposal Failure to follow this instruction can result in death serious injury or equipment damage TWD USE 10AE Safety Information Reverse Polarity Warning Reverse Polarity at Transistor Output is Not Allowed The TWDLCA 40DRF compact bases transistor outputs cannot withstand any reverse polarity A CAUTION RISK OF REVERSE POLARITY DAMAGE AT TRANSISTOR OUTPUTS e Make sure to conform to the polarity markings on the transistor output terminals e Use of a reverse polarity can permanently damage or destroy the output circuits Failure to follow this instruction can result in injury or equipment damage 14 TWD USE 10AE About the Book At a Glance Document Scope Validity Note Product Related Warnings User Comments About the Book This is the Software Reference manual for Twido programmable controllers and consists of the following major parts e Description of the Twido programming software and an introduction to the fundamentals needed to program Twido controllers e Description of comm
516. uming X values are ranked in ascending order X S X2S X SXm 1 Xp Note If any of two consecutive Xi values are equal X X 4 X equation 1 yields an invalid exception In this case to cope with this exception the following algorithm is used in place of equation 1 n i 1 vol equation 2 2 for X Xia X where i 1 m 1 k TWD USE 10AE 589 Advanced Instructions Graphical Representation of the Linear Interpolation Rule Syntax of the LKUP Function The following graph illustrates the linear interpolation rule described above bMd i 1 The LKUP function uses three operands two of which are function attributes as described in the following table Syntax Operand 1 Op1 Output variable Operand 2 Op2 User defined X value Operands 3 Op3 User defined X Y variable array Op1 LKUP Op2 0p3 MWi MFO Integer value MWi or KWi 590 TWD USE 10AE Advanced Instructions Definition of Op1 Definition of Op2 Op1 is the memory word that contains the output variable of the interpolation function Depending on the value of Op1 the user can know whether the interpolation was successful or failed and what caused for the failure as outlined in the following table Op1 Mwi Description 0 Successful interpolation 1 Interpolation error Ba
517. unction 0 e eee eee 589 Mean function of the values of a floating point table 594 System Bits and System Words 000e eee eeee 595 Atia Glance s 2 novea rr a eee Sak See ee E ea i eae 595 system BitS YeS As yn eae tae death pata ene a Ana aaa tee 596 System Words SW 0 0 6 cette eee 604 Tete ee Tee ee eee ee ee eee err 617 SeeriTe ce eee ee re ee eee eee ee A ee ares 629 10 Safety Information Important Information NOTICE Read these instructions carefully and look at the equipment to become familiar with the device before trying to install operate or maintain it The following special messages may appear throughout this documentation or on the equipment to warn of potential hazards or to call attention to information that clarifies or simplifies a procedure The addition of this symbol to a Danger or Warning safety label indicates A that an electrical hazard exists which will result in personal injury if the instructions are not followed injury hazards Obey all safety messages that follow this symbol to avoid This is the safety alert symbol It is used to alert you to potential personal possible injury or death A DANGER DANGER indicates a hazardous situation which will result in death serious injury or equipment damage A WARNING WARNING indicates a situation presenting risks liable to provoke death serious injury or equipment damage A CAU
518. unications managing analog I O installing the AS Interface bus interface module the CANopen fieldbus master module and other special functions e Description of the software languages used to create Twido programs e Description of instructions and functions of Twido controllers The information in this manual is applicable only for Twido programmable controllers Schneider Electric assumes no responsibility for any errors that appear in this document No part of this document may be reproduced in any form or means including electronic without prior written permission of Schneider Electric We welcome your comments about this document You can reach us by e mail at techpub schneider electric com TWD USE 10AE 15 About the Book 16 TWD USE 10AE Description of Twido Software At a Glance Subject of this This part provides an introduction to the software languages and the basic Part information required to create control programs for Twido programmable controllers What s in this This part contains the following chapters part Chapter Chapter Name Page 1 Introduction to Twido Software 19 2 Twido Language Objects 25 3 User Memory 51 4 Controller Operating Modes 61 5 Event task management 77 TWD USE 10AE 17 Twido Software 18 TWD USE 10AE Introduction to Twido Software At a Glance Subject of this This chapter provides a
519. ur Twido controller from 32K to 64K It must remain plugged into the controller as long as the extended program is being used If the cartridge is removed the controller will enter the stopped state Memory words are still backed up into the EEPROM in the controller Dynamic data can be stored in memory words then backed up to the EEPROM The 64K extended memory cartridge has the same power up behavior as the 32K backup cartridge Memory Here is a diagram of a controllers memory structure using an extended memory Structure cartridge The arrows show what is backed up into the EEPROM and the 64K extended memory cartridge from RAM Dynamic words MWs _ _ RAM Program 1st l i aes Configuration data I Go l EEPROM MWs a Extended ee memory Program 2nd cartridge E 58 TWD USE 10AE User Memory Configure Software and Install Extended Before you begin writing your extended program you must install the 64K extended memory cartridge into your controller The following four steps show you how Step Action Memory 1 Under the Hardware option menu on you Twido software window enter TWDXCPMFK64 2 Power down the controller Plug in the 64K extended memory cartridge Powerup the controller Save your Once your 64K extended memory cartridge has been installed and your program program written e From the Twido software window bring down the menu under Controller
520. uration Foreword Configuring the Serial Parameters Example of Serial Settings Note Under normal circumstances it is not necessary to configure TwidoPort s serial parameters because the module supports an autobaud algorithm that eliminates the need for serial configuration To configure TwidoPort s serial parameters Step Action Comment 1 Start a Telnet session Use the instructions above to open the Telnet main menu See Telnet Main Menu p 288 2 Select type 2 to change the serial See the following figure settings 3 Verify or reset the settings Other parameters include Baud Rate Data Bits Parity Stop Bits Protocol 4 Select R and press Enter The Telnet main menu appears You may have to press Enter again to update the screen The following figure shows an example of TwidoPort s serial settings Telemecanique 499 TWD i 166 Configuration and Diagnostics lt c 2004 Schneider Automation Inc Serial Configuration gt Baud Rate 19200 2 gt Data Bits 8 3 gt Parity NONE 4 gt Stop Bits Protocol RTU Commands R gt eturn to Main Menu Select Command or Parameter 1 N gt to change 290 TWD USE 10AE Configuring the TwidoPort Ethernet Gateway Configuring the Gateway Foreword Note Usually it is not necessary to configure TwidoPort s gateway parameters Configuring the To configure the Tw
521. ut bits the last bit is reserved for entry only e 3 parametering bits Each slave has its own address profile and sub profile defines variables exchange The figure below shows the structure of an extended address slave AS Interface slave Input Bit Onl Ll psy P s 1 I O data C DO 2 Parameters E P2 m PO 3 Configuration Identification AS Interface bus TE 4 4 Address Key Address Item Description 1 Input output Input data is stored by the slave and made available for the AS data Interface master Output data is updated by the master module 2 Parameters The parameters are used to control and switch internal operating modes to the sensor or the actuator 3 Configuration This field contains Identification the code which corresponds to I O configuration e the slave identification ID code e the slave identification codes ID1 and ID2 4 Address Physical address of slave Note The operating parameters address configuration and identification data are saved in a non volatile memory TWD USE 10AE 205 Installing the AS Interface bus Software set up principles Ata Glance Set up principle To respect the philosophy adopted in TwidoSoft the user should adopt a step by step approach when creating an AS Interface application The user must know how to functionally configure his AS Interface bu
522. uts in several places in the program for example line 100 CU C1 line 174 CD C1 line 209 LD C1 D Reversible Use instructions BLK OUT_BLK and END_BLK for reversible programming Programming e BLK Indicates the beginning of the block e OUT_BLK Is used to directly wire the block outputs e END _BLK Indicates the end of the block Example with The following example shows reversible programming of a counter function block Output Wiring with wired outputs I1 1 NH R 8 EL BLK C8 LDF ll 1 s M1 Q0 4 R Input 11 2 M0 ADJ Y D H I LD 1 2 Processing H cu Ci P 9999 AND MO CU _ il OUT_BLK 2 ag ED 2 Output AND SAMI Processing ST Q0 4 END_BLK 388 TWD USE 10AE Basic Instructions Example without This example shows reversible programming of a counter function block without Output Wiring wired outputs I1 1 NH R oC8 B BLK C8 7 LDF Il l 5 R Input I1 2 MO ADJ Y D LD I1 2 Processing cu Ci P 9999 AND M0 CU END BLK _ FSP s LD C8D Cutout EA PSE C8 D M1 Q0 4 ST PQO 4 9 Note Only test and input instructions on the relevant block can be placed between the BLK and OUT_BLK instructions or between BLK and END_BLK when OUT_BLK is not programmed TWD USE 10AE 389 Basic Instructions Timer Function Block TMi Introduction There are three types
523. ware along with defining the subnetwork and gateway IP addresses In addition if the TWDLCAE4ODRF controller fails to obtain a valid IP address from the BootP server or if it detects a duplicate IP address when you assign a static IP address the controller goes into fallback mode and uses the default IP address Each TWDLCAE4ODRF controller is assigned a unique MAC physical address IEEE Global Address permanently stored in the compact controller The default IP address is derived from the controllers MAC address Note When using the default IP address BootP client service is closed TWD USE 10AE 151 Communications Modbus TCP Client Server A TWDLCAE4ODRF controller can be both Modbus TCP IP Client and Server depending on whether it is querying or answering a remote device respectively TCP messaging service is implemented via TCP port 502 e The Modbus Server implements the Schneider Transparent Ready class messaging TR A15 standard e Modbus Client is implemented via the EXCH instruction and MSG83 function You may program several EXCH3 instructions however one EXCH only can be active at a time The TCP connection is automatically negotiated by the compact controller as soon as the The Modbus Client implements the Schneider Transparent Ready class messaging TR A10 standard 152 TWD USE 10AE Communications Quick TCP IP Setup Guide for PC to Controller Ethernet Communication Scope Ch
524. widoSoft will not permit another one to be declared Before connecting via the software the PC to the controller and to avoid any detection problem e Ensure that no slave is physically present on the bus with address 0 e Ensure that 2 slaves are not physically present with the same address 206 TWD USE 10AE Installing the AS Interface bus Description of the configuration screen for the AS Interface bus At a Glance The configuration screen of the AS Interface master module gives access to the parameters associated with the module and the slave devices It can be used to display and modify parameters in offline mode Illustration of Illustration of the configuration screen in offline mode Offline Mode Configure Module TWDNOI10M3 Position 1 Description Master AS Interface expansion module AS interface configuration Slave 1A Std A Slaves B Slaves a p Characteristics 00 Profile sea o Pad o e 1 Oo Comment XVB iluminated column base SSCS 02 03 ASI20MT41E eres 04 Bits C Decimal 05 INOUT24 12 og ema 2 F Ema 06 WXA36 07 1 E pme a p 08 Inputs Outputs 09 Inputs Number Outputs Number 10 1 lA1 1A 0 1 QA1 1A 0 1 2 lA1 1A 1 2 QA1 1A 1 12 13 m Master mode 14 M Set data exchange active 15 Network down 16 x v7 Automatic addressi
525. xponential LOG base 10 logarithm EXPT power of an integer by a real LN natural logarithm 568 TWD USE 10AE Advanced Instructions Structure Ladder Language MO MFO MF10 129 7 13 2 MF1 SQRT MF10 13 3 P MF2 ABS MF20 13 5 P MF8 TRUNC MF2 Instruction List Language LD MO SMFO MF10 129 7 LD 13 2 SMF 1 SQRT MF10 LDR 13 3 MF2 ABS MF20 LDR 13 5 MF8 TRUNC MF2 Ladder Language MO MFO LOG MF10 13 2 MF2 LN MF20 13 3 P MF4 EXP MF40 13 4 P MF6 EXPT MF50 MW52 TWD USE 10AE 569 Advanced Instructions Instruction List Language LD MO MFO LOG MF10 LD 413 2 SMF2 LN MF20 LDR 13 3 MF4 EXP SMF40 LDR 13 4 SMF 6 EXPT MF50 MW52 570 TWD USE 10AE Advanced Instructions Syntax Rules of use Operators and syntax of arithmetic instructions on floating point Operators Syntax Op1 Op2 Operator Op3 SQRT ABS TRUNC LOG EXP LN Op1 Operator Op2 EXPT Op1 Operator Op2 O0p3 Note When you perform an addition or subtraction between 2 floating point numbers the two operands must comply with the condition Op1 gt Op2 x 274 where Op1 gt Op2 If this condition is not respected the result is equal to operand 1 Op1 This phe
526. y and so on or reception table full It is important to note the following limitations e Port 2 presence and configuration RS232 or RS485 is checked at power up or reset Any message processing on Port 1 is aborted when the TwidoSoft is connected EXCHx or MSG can not be processed on a port configured as Remote Link EXCHx aborts active Modbus Slave processing Processing of EXCHx instructions is not re tried in the event of an error Reset input R can be used to abort EXCHx instruction reception processing EXCHx instructions can be configured with a time out to abort reception Multiple messages are controlled via MSGx D 136 TWD USE 10AE Communications Error and Operating Mode Conditions Master Controller Restart If an error occurs when using the EXCHx instruction bits MSGx D and MSGx E are set to 1 and system word SW63 contains the error code for Port 1 and SW64 contains the error code for Port 2 System Words Use SW63 EXCH1 error code 0 operation was successful 1 number of bytes to be transmitted is too great gt 250 2 transmission table too small 3 word table too small 4 receive table overflowed 5 time out elapsed 6 transmission 7 bad command within table 8 selected port not configured available 9 reception error 10 can not use KW if receiving 11 transmission offset larger than transmission table 12 reception offse
527. y can only hold 16 events and all additional events are lost The Low priority queue is only executed once the High priority queue is empty Each time an interrupt appears linked to an event source the following sequence is launched Step Description 1 Interrupt management recognition of the physical interrupt e event stored in the suitable event queue e verification that no event of the same priority is pending if so the event stays pending in the queue Save context Execution of the programming section subroutine labeled SRi linked to the event 4 Updating of output Restore context Before the context is re established all the events in the queue must be executed System bits and words are used to check the events See System Bits and System Words p 595 S31 used to execute or delay an event S38 used to decide whether or not to place events in the events queue S39 used to find out if events are lost SW48 shows how many events have been executed since the last cold start counts all events except periodic events The value of bit S39 and word SW48 is reset to zero and that of S31 and S38 is set to its initial state 1 on a cold restart or after an application is loaded but remains unchanged after a warm restart In all cases the events queue is reset 80 TWD USE 10AE Special Functions At a Glance Subj

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