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C120F User's Manual

1. VO of SYSMAC C Uomo QUE c j IN ai x Bit Channel nth CH nth 1 CH es nth 2 CH nth 3 CH i50 Counter preset Preset data 1 x10 Carry Present count data 1 x10 1 Bet count value pre Preset data 2 Borrow Present count data 2 se Count gate Preset data 4 Present count value gt set Present count data 4 8 count value UP DOWN count command Preset data 8 Fr count value set Present count data 8 count value Carry reset Preset data 1 10 Present count value lt set Present count data 1 x10 count value Borrow reset Preset data 2 Normally ON Present count data 2 Coincidence reset Preset data 4 Normally ON Present count data 4 Output enable Preset data 8 Normally ON Present count data 8 Preset data 1 X10 Preset data 1 x10 count data 1 x10 Present count data 1 x10 Preset data 2 Preset data 2 Present count data 2 Present count data 2 Preset data 4 Presetdata4 Present count data 4 Present count data 4 Preset data 8 Preset data 8 Present count data 8 Present count data 8 Preset data 1 x10 Preset data 1 10 Present count data 1 10 Present count data 1 x10 Preset data 2 Preset data 2 Present count data 2 Present count data 2 14 Preset data 4 Preset data 4 Present count data 4 Present count data 4 15 Preset data 8 Preset data 8 Present count data 8 Present count data 8 Note The term set count v
2. e When the present value of the TIM TMS or CNT instruction is reset the set value is checked for BCD e When special auxiliary relay 6303 error flag is turned ON no instruction except the TIM TMS CNT and CNR is executed e When special auxiliary relay 6303 is turned ON the states of the other special auxiliary relays 6304 to 6307 are not changed e The states of the special auxiliary relays are not changed by the execution of instructions other than those listed above e Changed Vacant Not changed Appendix D Ordering information The following products are available for configuring a SYSMAC C120F system to meet your particular requirements Use the following table to select and order the products desired Classification a Specifications d Weight max Type name 110 120 VAC ROM RAM 2 5kg 3G2C4 SCA22 E OPU raek 220 240 VAC ROM RAM 2 5kg 3G2C4 SCA24 E 4j 110 120 VAC for mounting I O unit 2 5 kg 3G2C4 S1021 220 240 VAC for mounting I O unit 2 5 kg 392 4 51022 110 120 VAC for mounting I O link unit 2 5kg 3G2C4 SI023 7 i 220 240 VAC for mounting I O link unit 2 5kg 3G2C4 SI024 Expansion UO rack 110 120 VAC for mounting A D conversion input D A conversion 2 5kg 3G2C4 SI025 lt output or high speed counter unit 220 240 VAC for mounting A D co
3. Instructions The only channels that can be indirectly addressed are data memories DMO to DM511 if the contents of the indirectly addressed area are other than BCD data or greater than the maximum data memory channel an error will occur this will cause special auxiliary relay 6303 to turn ON and the program to be not executed For details refer to Compare instruction ROTATE LEFT ROL channel number Flowchart The ROL instruction is used to rotate 16 bit data one bit with carry The ROL instruction requires two addresses for programming 0100 ROL 0101 DM10 Coding chart 0100 ROL 70 0101 DM10 Contents of data Linkrelay LRO to 31 Holding relay HRO to 31 DMO to 511 Indirectly addressed data DMO to 511 WOirelay internal auxiliary relay When the ROL instruction is executed 16 bit data is rotated one bit to the left with carry In the above program all the 16 bit contents of DM10 are rotated one bit to the left with carry 6304 If the result of the operation is 0000 special auxiliary relay 6306 is turned ON 113 Instructions 1 Data 2 Tow 1 memo 0 DMIOL 2 1 E T n 0 ws js DE E E CE LE 2 UE un 2 p T 2 s a b DE 715 2 0 T 913 iE T m T E v zt SD Cany c
4. Data memory Data memory Data memory Data memory DM10 v DMM DM10 DM 11 s PT re 2 70 ET BO x10 Result of 2 o execution 2 1 gt T 2 T x10 gt 2 2910107 2 ay 07 22 27 07 xi 27 2 2 o 25 2 o 1234 1234 2340 2341 121 Instructions The data shifting takes place from the least significant digit of the start channel to the most significant digit of the end channel The data area for the SLD instruction is specified by a start channel number and an end channel number both of which can be determined freely provided these conditions are satisfied Start channel number lt End channel number Both channels must be within the same data area If these data conditions are not satisfied an error will occur this will cause special auxiliary relay 6303 to turn ON and the program to be not executed The only channels that can be indirectly addressed are data memories DMO to DM511 Use data memory area for the start and end channels If the contents of the indirectly addressed area are other than BCD data or more than the maximum data memory channel an error will occur this will cause special auxiliary relay 6303 to turn ON and the instruction to be processed as NOP For details refer to Compare instruction ONE DIGIT SHIFT RIGHT SRD FUN start channel end channel Flowchart Pbi The SRD instruction is used to shift data between the st
5. I O relay internal auxili ary relay Linkrelay LRO to 31 Holding relay _ HRO to 31 Timer counter TIM CNTO TIM CNTO a to 127 to 127 Data memory to 511 Indirectly addressed DMO to 511 data d E Constant The constant is determined according to the content of digit designation Instructions This instruction converts the specified 4 bit 1 digit binary data in a channel into 8 bit data for 7 segment display and then transfers to the specified channel Numeric value 8 bit data of 4 bits The digit designation data is used to specify the digit position at which the data to be converted exists the number of digits to be converted and the destination channel to which the converted data is to be transferred MSB LSB Digit from which data is transferred 0 to 3 No of digits 0 to 3 Destination channel 0 to 1 The actual number of digits whose data are to be converted is the desig nated number of digits plus one digit The designated digit from which the data is to be transferred specifies the digit from which the data conversion starts 3 2 1 0 Digit designation The designated destination channel specifies whether the converted 8 bit data is to be stored to the higher 8 bits or lower 8 bits of the specified channel 1 0 Destination channel designation 131 132 Instructions Example 1 When 1 is design
6. os o8 os os o9 o9 o9 o9 os o9 os o 09 09 o9 o9 o9 o9 o9 10 10 10 10 10 10 10 10 10 10 10 10 qo 10 10 12 12 12 12 12 12 12 12 12 12 12 12 12 1 13 13 13 i3 8 i2 18 13 8 13 13 14 14 14 4 Ta 14 14 ta aa 14 ia 14 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 List of relay numbers No of Name points Relay number d LR0000 to 3115 01CH 2 04CH 06CH 07CH OBCH O9CH 10CH 11CH 12CH 13CH 14CH 15CH 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 01 01 01 01 01 01 01 01 01 01 01 01 01 01 01 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 03 03 03 03 03 03 03 03 03 03 03 03 03 03 03 03 04 04 04 04 04 04 04 04 04 04 04 04 04 04 04 04 05 05 05 05 05 05 05 05 05 05 05 05 05 05 05 05 06 07 06 06 06 06 06 06 06 06 06 06 06 06 06 06 06 07 07 07 07 07 07 07 07 07 07 07 07 07 07 07 08 08 08 08 08 08 08 08 08 08 08 08 08 08 08 08 09 09 09 09 09 09 09 09 09 09 09 og 09 09 09 09 10 10 10 10 10 10 10 10 10 10 10
7. Specifies the up count or down count operation by the user program when the high speed counter unit is in the command input 1 mode When this relay is turned ON the down count operation is specified When it is OFF the up count operation is specified On power application the up count command is given UP DOWN count command Resets the Carry signal of the counter Once the Carry signal has been reset it will not be set again until the count gate relay is turned ON anda counting operation is performed Resets the Borrow signal of the counter Once the Borrow signal is reset it will not be set again until the counter gate relay is turned ON and a counting operation is performed Resets the present count value set count value signal of the counter Once the present count value set count value signal has been reset it will not be set again until the counter gate relay is turned ON and a counting operation is performed If this relay is turned ON while the present count value coincides with the set count value the present count value set count value relay i e bit No 3 of n 2 CH will not be turned ON Enables the external output signals coincidence output and present count value gt set count value output to be output On power application the output is disabled and therefore both the contact and transistor outputs are turned OFF Represent the preset data of the counter or the set co
8. 100 pA max 1 5 V max 0 2 ms max 0 3 ms max 64 450g max 5 VDC 300 mA max Jisump nstant voltage Fuse is not provided voltage to iritei 24 VDC 10 10 50 mA max constant voltage cuit OUT 00 5 S 8 5 3 Z 5 STBO Eye iT fai STB7 COM 24 VDC OUT positive logic output STB negative logic output The terminal numbers and I O channel numbers of an I O unit are changed according to the position on the CPU or expansion I O rack on which the I O unit is mounted The terminal connections shown above are for when the I O unit is mounted on the UNIT 1 position A 12 Specifications Unit designation Input output Point designation 16 32 64 points Weight 450 g max Current consumption of 5 VDC 35 mA max internal constant voltage circuit Supply voltage to inter 24 VDC 10 10 30 mA max nal const nt voltage cir cuit Selection function Circuit configurati T Short circuit input Open output Terminal number 3 4 16 points Open Short circuit 64 points Open 32 points Terminal connections The terminal numbers and I O channel numbers of an I O unit are changed according to the position on the CPU or expansion I O rack on which the I O unit is mounted The terminal connections shown ab
9. Contents of data Interruptunit No Constat 00 to FF 1 0 relay internal auxili Oto 60 ary relay Link relay LRO to 31 Holding relay HRO to 31 Data memory DMO to 511 Indirectly addressed DMOto 511 data 0 5 transfer data S destination channel D MOV Flowchart 5 transfer data S destination channel D MVN The MOV instruction is used to transfer 16 bit channel data or hexadecimal 4 digit 16 bit binary constant to a specified channel If the transferred data are all 0 special auxiliary relay 6306 flag turns o203 HR20 ON 0206 assi Coding chart 0206 pee 0100 AND 20 0101 CJP LBL 100 0200 LBL 100 0201 MOV 50 MVN 51 88 Instructions Contents of data VO relay internal auxili Oto 60 ary relay Link relay E LRO to 31 Holding relay HRO to 31 Timer counter TIM CNTO to 127 Data memory DM0to 511 Indirectly addressed DMO to 511 data Constant 0 to FFFF The MOV instruction is used to transfer data as is whereas the MVN instruction is used to inverse and then transfer data When the above program is executed the 16 bit data of OCH 0000 to 0015 is transferred to HR20CH HR2000 to HR2015 then inverted to be further transferred to LR20CH LR2000 to LR2015 VO relay Ho
10. Md 2 End RSU POWER indicator End RUN POWER indicator setting setting E AC input i Supply AC input 250V 1A circuit F AC 250 1A circuit Channel setting switch Chanel setting 171 96 Switch o6 416 T R ERR indicator Short circuit End RSU Short circuit End RSU Open Unit other than RSU Open Unit other than end RSU RUN output RUN output H pee pom PT b 5 o I I s 121024 L RS 121024 1 VACNDC 1 o VACNDCT 5 B I o i_ 14 Power supply Power supply 110 120 VAC 220 240 VAC 201 Special I O units Input voltage 110 VAC 10 15 50 60 Hz AGinp ut nit 3G5A2 IA221 E lt i z 220 VAC 10 15 50 60 Hz Input impedances 9 7 kQ 50 Hz 8 KO 60 Hz 22 50 Hz 18 60 Hz Inp t current 10 mA typ 100 VAC 10 mA typ 200 VAC ON delay time 10 ms max 10 ms max OFF delay time 15 ms max 15 ms max Number of circuits 8 8 points common 8 8 points common ON voltage 60 VAC max 120 VAC max OFF voltag 20 VAC min 40 VAC min Power supply 110 120 VAC 50 60 Hz 110 120 VAC 50 60 Hz Power consumption 20 VA max 20 VA max Weight 580 g max 600 g max 3300 0 334F 9100 0 154F r IN00 IN00 T w lt INO 01 be INO W02
11. Input Resistance Input Line4 Shield Note Be sure to use a twisted pair shielded cable for input Short circuit the Shield Input and Input terminals of the circuit that is not used 171 Special I O units Note 4 channel type Channel A D converted data 2 Assignment of relay number Output from A D conversion input unit 2 channel type A D converted data 2 A D converted data 2 A D converted data 2 A D converted data 2 A D converted data 2 A D converted data 2 A D converted data 2 A D converted data 2 7 A D converted data 2 A D converted data 2 A D converted data 25 A D converted data 2 AID converted data 2 A D converted data 2 A D converted data 2 A D converted data 2 A D converted data 28 A D converted data 2 A D converted data 2 A D converted data 2 AID converted data 2 A D converted data 2 A D converted data 2 A D converted data 2 0 Line 1 input Line 2 input Bit No 11 is used as either A D converted data or the sign bit When used as the sign bit the level of this bit becomes 1 when the level of the input signal is high and becomes 0 when the level of the input signal is low Bit No 15 of Type 3G2A6 ADO01 A D conversion input unit 1 t
12. iissiisisis sisisialaizisla E 5 L e e e LAE E D 2 0 The only channels that can be indirectly addressed are data memories to DM511 If the contents of the indirectly addressed area are other than BCD data or greater than the maximum data memory channel an error will occur this will cause special auxiliary relay 6303 to tum ON and the program to be not executed For details refer to Compare instruction Instructions ARITHMETIC SHIFT LEFT ASL Flowchart 0100 0101 DM10 5 channel data The ASL instruction is used to shift 16 bit data one bit to the left with carry The ASL instruction requires two addresses for programming Coding chart Address Instruction 0100 ASL 63 0101 DM10 i 1 Contents of data VO relay Internat auxiliary relay Oto 60 Link relay LRO to 31 Data memory lt Indirectly addressed data Holding relay 2 HROto 31 DMO to 511 DMOto 511 When the ASL instruction is executed 16 bit data is shifted one bit to the left with carry In the above program all the 16 bit contents of DM010 are shifted one bit to the left with carry 6304 If the result of the operation is 0000 special auxiliary relay 6306 is turned ON Data 2 memory T DM10 _ 2 2 HE 2 25 pe pe Carry 634 o Carry 6304 712 The only channels th
13. ACTI fm 4 Momentary power failure pes failure detection detection i555 Signal time GRE power reset x RUN relay Be sure to process the C120F I O lines separately from other control lines Do not share the conductors of the I O cable with the other cables To lay the cables for the C120F with power cables rated at 400 V 10 A max or 220 V 20 Amax pay attention to these points Provide a minimum distance of 300 mm between the cables when their racks are placed in parallel If two cables share the same duct at the end of cable processing place a metal plate between the cables at the point at which they emerge from the duct SYSMAC I O circuit 2 General control circuit Power circuit Metal plate iron F eoo mm min Grounding at a resistance of less than 100 0 145 Installation and mounting Notes on input output 146 Noise suppression measures Be sure to take appropriate noise suppression measures when any electri cal device likely to produce noise is employed as a load of the PC For example electromagnetic relays and valves generating noise of more than 1 200 VAC require noise suppression For AC operated noise sources connect a surge suppressor in parallel with the coil of each device For DC operated noise sources connect a diode in parallel with the coil of each device AC power source DC power source C 0 5
14. U SYSMAC CSOOF I O link unit 3G2A5 LK010 E SYSMAC C500F remote SYSMAC C500F V O link unit VO master unit Type 3G2A5 LKO10 E Type 382A5 RMOO1 E 4 SYSMAC C120F CPU rack 16 programmable controllers max Connecting I O link unit optical transmitting unit and remote I O slave unit to remote I O master unit SYSBUS OMRON original fiber optics cable 800 m max 800 m max 800 m max 800 m max SYSMAC C120F expansion rack SYSMAC C500F CPU rack SYSMAC C500F SYSMAC CS500F expansion VO rack SYSMAC C120F VO link unit Type 3G2A6 LKO10 E SYSMAC C500F V O link unit SYSMAC C500F remote SYSMAC CS00F remote VO master unit Optical transmitti 8G2A5 LK010 E VO slave unit Type 3G2A5 RM001 E om 3G2AS RTO02 E 800 m max SYSBUS T line a SYSMAC CSOQF 1 0 link unit Optical transmitting 3G2A5 LK010 E VO units SYSBUS system Communication method bidirectional half duplex Transmission format multipoint Transmission rate 187 5K bps Transmission system TDM Time Division Multiplex system Synchronization start stop synchronization Transmission control procedure exclusive transmission cyclic control sys tem Maximum number of programmable controllers connectable 64 transmis Sion capacity 8 points unit Transmission cable 2 core fiber optics cable quartz polymer 250 um dia core 228 Chapter 10 Perip
15. 100 to 120 VAC 2 200 to 240 VAC GO The terminal numbers and I O channel numbers of an I O unit are changed according to the position on the CPU or expansion I O rack on which the I O unit is mounted The terminal connections shown above are for when the I O unit is mounted on the UNIT 1 position Specifications Inputvoltage 510 12 VDC 10 5 12to 24 VDC 10 15 Inputimpedance 5600 2 2kQ Input current 16 mA typ 12 VDC 10 mA typ 24 VDC On delay time 1 5ms max 1 5 ms max OEF delay time 1 5 ms max 1 5 ms max Number of circuits _ 16 points 8 points common 16 points 8 points common Weight 450g max 450 g max On voltage 4 0 VDC max 10 2 VDC max OFF voltage 1 5 VDC min 3 0 VDC min Current consumption of internal constant Voltage circuit 5 VDC 10 mA max 5 VDC 20 mA max Internal circuit Two wire sensors cannot be connected Internal circuit sem Terminal connections 5 to 12 VDC 5 to 12 VDC The terminal numbers and I O channel numbers of an UO unit are changed according to the 12 to 24 VDC gt 4 position on the CPU or expansion I O rack on which the I O unit is mounted The terminal connections shown above are for when the I O unit is mounted on th
16. Programmable TG as Controller A OFA SswcC120F Flowchart Programming Introduction This user s manual provides all the information you need to install operate and maintain the OMRON SYSMAC C120F Flowchart Program ming Type Programmable Controller which can be used for a wide range of industrial applications The C120F represents the cream of OMRON s control components technology which we used to respond to the demand for a low cost versatile industrial control system that can be quickly installed and easily operated by technicians with little or no experience with programmable controllers Here are several of its many features Easy to understand programming technique Unlike most of the existing programmable controllers the C120F uses the Flowchart Programming technique developed with OMRON ingenuity With this programming technique even those who don t know or understand the circuit logic the programming technique required for other programmable controllers can easily become good program mers All that is required is to draw a flowchart representing the movement of the equipment to be controlled and then hit the keys on the programming console Automatic address management The C120F adopts the labeling concept for automatic management of the address in memory The addresses are autornatically managed by designating a label when you have modified the program by adding or deleting
17. 232 Peripheral devices Appendix A Specifications Ratings 110 120 220 240 VAC 50 60 Hz 85 to 110 of rated voltage Power corisump tion CPU rack 50 VA max Expansion I O rack 35 VA max Insulation resis lt tance 5 min at 500 VDC between external terminal and outer casing Dielectric 1 500 VAC 50 60 Hz for 1 minute between external terminal and outer casing strength Noise immuni 1 000 Vp p Rise time 1 ns Pulse width 100 ns to 1 us 16 7 Hz 3mm double amplitude in X Y Z directions respec tively 30 min 1 10G in X Y Z directions respectively 3 times Ambient temper ate 72 Operating 0 to 50 C Storage 20 to 65 C Humidity 35 to 85 RH without condensation Atmosphere Mustbe free from corrosive gases Degree of pro tection kai IP30 Specifications Characteristics Stored program system 9 MPU CMOS LS TTL Flowchart 16 bits address 1 to 4 addresses instruction Number ofin 22 1 71 kinds structions 50 us average of execution times for AND OR and OUT instructions 5 8 ms When parallel processing of 32 group programs is performed 4K address RAM ROM 1K words 0 to 1023 Main program 32 group programs 0 to 31 processing Number Gt Input 256 Relay Nos 0000
18. Data memory DM1 DMO VO relay high order digits low order digits 1CH 0 eTo To EU o T N Gac 0102 2 0 0103 o EN 0104 1 UE E 0105 2 o oios TY 2 0 0107 0 2 o7 0108 TO LZ 07 0109 2 70 ono ajas om Fo 2 o one 7 ACIER 0113 707 XU UR o ons 07 0152 2800 1234 Instructions AND WORD ANDW Flowchart The only channels that can be indirectly addressed are data memories DMO to DM511 If the contents of the indirectly addressed area are other than BCD data or greater than the maximum data memory channel an error will occur this will cause special auxiliary relay 6303 to turn ON and the program to be not executed The CPU checks whether the data to be computed is 4 digit BCD If not an error will occur this will cause special auxiliary relay 6303 to turn ON and the program to be not executed For details referto Compare instruction data 1 data 2 result channel The ANDW instruction is used to perform a logical AND operation between two specified data 16 bits each Coding chart Da o MERE 0 R os 20 MH 07U DM2 Contents of data VO relay internal auxili ary relay Linkrelay oo LRO to 31 Holding relay 7 HR0 to 31 Timer counter T
19. These pulses are input as data to contacts 0 to 7 of channel n Data 0 to 7 4ms spo l F EL STB1 STB2 STB3 STB4 STB5 STB6 STB7 21 Ap 32ms A 15 Specifications DC output 64 point unit Note Since this unit is of dynamic output type the wiring of a device to be connected to it such as a numeric display device can be simplified This unit outputs positive logic data Therefore when data is output it is logical 1 and the terminal output becomes high level The strobe output is negative logic Therefore when the strobe signal is output the terminal output becomes low level Connection example H a pgpeed Relay number 15 14 13 12 11 10 09 08 07 06 05 04 03 02 O1 00 Chaneln 0 1 0 0 0 0 1 0 1 Channel n 2 Channel n 3 In this example channel n is determined according to the sequence in which the DC input unit is mounted on the C120F For details refer to Free location concept in Chapter 4 Since the DC output unit is operated on an extremely small current provide adequate distance between the wires of the unit and high tension equipment or power lines when performing wiring otherwise use shielded cables Also keep the length of the wires below 10 m In the above diagram a voltage of 24 VDC must be applied at the same time or before applying a voltage of 12 V
20. When I O relays and timers exist between a specified group and the next or between a specified subroutine and the end address this instruction resets the I O relay state specified by the OUT instruction and the present value of the timer The other instructions are regarded as NOP no operation instructions GOFF FUN15 This instruction allows the execution of a group program which has been stopped by a Gc power failure to be resumed upon power FUN 16 recovery provided that the group program has turned ON the data retention flag before the power failure This instruction causes the program execution to jump to another group program When the execution is returned to the original group program the step before which the execution jumped is executed GJ FUN17 List of instructions Special instructions Instruction Symbol iH Mnemonic E Opgrand mot ad Function Remarks TIMER NO This instruction is used to start the timing TIMER NO VALUE operation of a specified timer Timer numbers are shared by the TIM and TMS instructions TIMOOO to 127 SET VALUE Constant TMS 0 to 9999 FUN30 Externally set 00CH to 63CH LROOCH to 31CH HROOCH to 31CH DMOOO to 511 DOWN timer SBN k This instruction is used to identify the begin FUN31 ning of a subrout
21. with connector used commonly for E optical transmitting I O unit 809 3G5A2 0F301 5 m long with connector used commonly for M optical transmitting I O unit 120g max 3G5A2 OF501 10 m long with connector used commonly for me _ optical transmitting I O unit 220g max 3G5A2 0F111 20 m long with connector used commonly for optical transmitting I O unit 420 g max 3G5A2 OF211 30 m long with connector used commonly for optical transmitting I O unit 620 g max 3G5A2 OF311 50 m long with connector used commonly for EN 1 kg 3G5A2 OF511 optical transmitting unit 161 Special VO units Mounting positions of 1 0 unit on CPU expansion 1 0 rack UNIT 0 position NIT C HEA i lower position upper position CPU rack zd 3G2C4 SC023 E Basic input unit Basic input unit OI 3G2C4 SC024 E Basic output unit 3G2C4 SC021 E 3G2C4 SC022 E 3G2C4 SI021 Basic input unit Basic input unit 3G2C4 S1022 Basic output unit Basic output unit 3G2C4 SI023 Basic input unit 1 0 link unit Lac 3G2C4 S1024 Basic output unit Expansioi yo 72 3G2C4 S1025 Basic input unit A D conversion input unit Z 3G2C4 SI026 Basic output unit D A conversion output unit High speed counter unit 3G2C4 S1027 Basic input unit Remote master unit 3G2C4 SI028 Basic output unit Names of parts A D conversion input unit Type 382A6 ADQ0L1 D A conversion output
22. Number of circuits 16 points 8 points common 32 points 8 points common Weight 450 g max 500 g max ONvoltage 10 2 VDC max 16 0 VDC max OFF voltage 3 0 VDC min 3 0 VDC min Current consumption of iriternal constant 5 VDC 10 mA max 5 VDC 200 mA max voltage circuit Internal circuit internal circuit Terminal connections o pe aE L 2 24 lt g o r 4 terminal numbers and I O channel numbers of i O unit are changed according to the position on the CPU or expansion 1 0 rack on which the I O unit is mounted The terminal connections shown above are for when the I O unit is mounted on the UNIT 1 position A 6 Specifications DC input unit 3G246 ID212 NPN Circuit configuration Max switch capacity 90 p Leak ge current Saturation voltage 1 5 V max i5 ON delay time 0 2 ms max delay time 3 0 ms max S T Fuse capacit No fuse is provided S Supply voltage to 24 VDC 10 10 internal co stant voltage circuit ing 24 VDC 10 1576 0 1 A Number of circuits 64 Weight 450 g max Current consump 5 VDC 300 mA max tion of internal
23. The terminal numbers and I O channel numbers of an O unit are changed according to the position on the CPU or expansion I O rack on which the I O unit is mounted The terminal connections shown above are for when the I O unit is mounted on the UNIT 1 position STB7 31 COM Internal circuit Input Voltage 24 VDC 10 15 Inputimpedance 2 2 KO Input current 10 mA typ 24 VDC ON delay time 1 5 ms COM E OFF delay time 1 5 ms max ON voltage 10 2 VDC max IN 00 2 OFF voltage 3 0 VDC min o 7 IN 07 2 KO E 24 V 5 STB0 Terminal conne Specifications 12 to 24 VDC 10 5 nonpolar 1 5kQ 13 mA typ 24 VDC 1ms max 1 5 ms max Number of circuits 8 independent common Weight 350 voltage 10 2 VDC max OF 2 3 0 VDC min 5 VDC 200 mA max Internal circuit Terminal connections 121024VDC T The terminal numbers and I O channel numbers of an I O unit are changed according to the position on the CPU or expansion I O rack on which the I O unit is mounted The terminal connections shown above are for when the I O unit is mounted on the UNIT 1 position A 8 Specifications Output unit specifications Max switching capacity 250 VAC 2 A p f 1 24 VDC 2 A 8 A commo
24. 5 X109 Cowo MSB When the operation mode is changed by the mode selector switch of the programming console the timers are reset and the present values are reset tothesetvalues COUNTER WAIT counter number set count value count input where counter number 0 to 127 set count value 0000 to 9999 counts count input 0 to 6315 LRO to 3115 or HRO to 3115 Flowchart 0100 CNT 10 F Counter number 0101 9999 Set count value 0103 WAIT instruction WAIT 0104 61 Instructions COUNTER BRANCH 62 A CNT WAIT instruction consists of four words a counter number a set value a count input and a WAIT instruction This instruction causes the specified value to be set in the counter The set value is decremented at the leading edge of each count input signal The instruction causes the program execution to wait until the set value is decremented to 0 When the set count value is up the count up state is stored in the memory and the program execution proceeds to the next step Coding chart Contents of data vo o relay internal T internal auxiliary relay Oto63 Link linkrelay LRO to 31 Holding relay HRO to 31 DM0 to 511 Constant 0000 to 9999 The counters used in the SYSMAC C120F are of a decrementing type If the same counter is used again after its set count value is up reset it on
25. Min switching capacity 10 mA 100 VAC EN LES Saturation voltage 1 2V max 1 5 V max ON delay time 1 ms max 0 2 ms max OFF delay time 1 2 load frequency max 0 3 ms max Number of circuits 8 8 points common 8 8 points common Fuse capacity 5 A 8 points No fuse is provided Supply voltage 110 120 220 240 VAC 50 60 Hz 110 120 220 240 VAC 50 60 Hz Power consumption 20 VA max 20 VA max Weight 600 g max 600 g max F OUT 00 OUT 00 5 OUT 01 OUT 01 3 OUT 02 OUT 02 T OUT 07 OUT 07 g 3 COM E com E Circuit configuration x o 0 RUN output t RUN output End RSU es POWER indicator setting AC POWER indicator Sid S g EAM input HO pwa H supply AC input L 39x AC input PE 250 VAC 1 A 50 VAC 1 A gt 14 Channel e Channel _ gt 14 setting FH setting i swil tc Switch 3e ERR indicator dr ERR indicator Terminal connection Short circuit RSU Open Unit other than end RSU L RUN output 8510250 VAC Power supply 110 120 220 240 VAC Short circuit End RSU Open Unit other than end RSU RUN output 12to 48 VDC Power supply 110 120 220 240 VAC 205 206 Special I O units Caution Channel and end RSU
26. Refer to user s manual for PC link unit 6109 ON F9 Check program 6113 ON F8 Check program 157 Maintenance and inspection Abnormal symptom possible cause and corrective action CPU rack Abnormal symptom Possible cause Corrective action Remarks 7 Fuse blows repeatedly Circuit board is short circuited or damaged by burning Replace CPU rack Output DC voltage is abnormal fective Constant voltage circuit is de supply Replace CPU rack power RUN output contact does not turn ON RUN indicator ON Power circuit is defective supply Replace CPU rack power RUN indicator does not illumi nate Abnormal symptom Relays following particular relay number do not operate 1 DC voltage is not supplied 2 Programming error END instruction is missing supply Possible cause 1 Circuit board pattern is broken 1 Replace CPU rack power 2 Correct program Check each bus line by buzzer 2 Improper soldering Resolder Abnormal relay numbers of expansion I O rack are in units of 8 1 Cable wiring is broken Check each bus line by buzzer 2 Improper soldering _ Resolder All input units do not turn on V O of particular relay number erroneously turns on All relays of particular I O unit do not operate Abnormal symptom All relays of specific input unit do no
27. VO unit 90 5 244 5 A 19 Specifications Appendix B List of relay numbers No of points Relay number 0000 to 3115 03CH 04CH O5CH 06CH 07CH O8CH O9CH 10CH 11CH 12CH 13CH TACH T5CH Input output relay v Relay numbers 1600 16CH to 3115 31CH can be used as internal auxiliary relays List of relay numbers Internal auxiliary relay B 2 No of gt points 459 points Relay number lt 3200 to 6010 33CH 34CH 1 2 43CH 44CH 45CH 6 47 00 oo oo oo oo oo oo oo oo oo oo oo or o 01 or on on o o 02 02 02 02 02 o2 02 02 02 o2 02 02 02 02 02 0 o3 o 03 os o3 03 os 0a os 03 o4 04 04 04 04 04 04 04 04 04 05 05 05 05 05 05 05 05 os 05 05 os 05 o5 os 06 06 06 06 06 o6 o6 o6 o6 o o7 o o 07 o o 07 o 07 o o o 07 07 os
28. x10 LR2013 x10 LR2014 LR2015 99 Instructions The result of the conversion will be LR20CH 0 6306 1 LR20CH 0 6306 0 If the converted decimal data exceeds 9999 an error will occur this will cause special auxiliary relay 6303 to turn ON and the program to be not executed The only channels that can be indirectly addressed are data memories DMO to DM511 If the contents of the indirectly addressed area are other than BCD data or greater than maximum data memory channel an error will occur this will cause special auxiliary relay 6303 to turn ON and the program to be not executed For details refer to Compare instruction ZERO JUDGE BRZ iabel no channel These instructions cause the CPU to judge whether the contents of the specified channel are 0 If so the program execution jumps to the destination specified by a label Flowchart 0100 0101 0102 BRZ 59 0101 10 0102 OUT NOT 200 0200 LBL 100 OUT Contents of data O relay internal auxiliary relay Oto 63 Link relay LRO to 31 Holding relay HRO to 31 Data memory DMO to 511 100 Instructions When the BRZ instruction is executed the CPU judges whether the contents of the specified channel are 0 so the program execution jumps to the destination specified by a label if not it proceeds to the next step If the specified label
29. 5V Oto 10 V Oto 5V 173 Special I O units Output from A D conversion input unit digital output i 1 I 1 I gt Input to A D conversion OV 1V 5V Input unit analog input 4mA 20 mA 110 5 V 410 20mA Bipolar input signal only for 2 channel type Input range 5 to 5 Vor 10to 10 V Converted output Sign bit 1 bit and A D converted 11 bit binary data Note Bit No 11 is the sign bit The level of this bit becomes 0 when the analog signal input to the A D conversion input unit is positive and becomes 1 when a negative analog signal is input Conversion code Sign magnitude method Relation between analog input signal and A D converted data Output from A D conversion input unit digital output 2047 input to A D 10 V conversion input unit 5V analog input 174 Special I O units Programming example In this example two types of analog signals are input to the A D conversion input unit from external devices and are converted by the unit into decimal 4 digits less than 4095 A D conversion input unit Output unit Output unit Output unit Analog input Analog input Z Per Md decimal digit decimal sc 2CH o 00 Analog input Q 1 01 1 01 Input fai
30. Sequence control programming example 2 Hopper Forward Backward Trap door Internal auxiliary relay 3200 is used to record the operating status of the system when the control action has been once completed When pushbutton switch PB is depressed the truck moves forward When limit switch LS2 is turned on the truck stops and the hopper opens for 8 seconds After 8 seconds the truck moves backward Limit switch LS1 then turns on and the truck stops to open its trap door for 5 seconds Atthe end of 5 seconds the truck closes the trap door and one operation cycle is complete This cycle is repeated twice Flowchart programming concept Parallel control programming example 1 If an emergency stop signal is required in sequence control programming 2 described in earlier a step to stop the truck during the operation can be programmed in this manner The emergency stop will be processed by the main program and the group program 0 will be used for the normal truck operation Main program Group program 0 2 Output OFF Group stops The number of operations will not be reset The timer value will be reset The truck must be returned manaully to its original position Emergency pushbutton switch PB2 03 Manual pushbutton switch PB3 04 Manual Auto selector switch CS 05 YES 114 NO JMP L10 OUT NOT 202 JMP L10 E 1 Because the main pro
31. 0103 AND 6305 AND CJP LBL AND CJP LBL 0106 0107 200 6307 Contents of data 0 to 63 LRO to 31 HRO to 31 TIM CNTO to 127 DMO to 511 DMO to 511 0000 to 9999 VO relay internal auxiliary relay Link relay Holding relay Timer counter Data memory Indirectly addressed data Constant When the above program is executed the 16 bit data of OCH 0000 to 0015 are compared against the 16 bit data of HR2OCH HR2000 to 2015 and the results are output to the result area of special auxiliary relays 6305 to 6307 Instructions Result of comparison VO relay OCH 6305 6306 6307 oo JV OCH HR20CH 0 0 23 000i x16 OCH HR20CH 1 0 PLE OCH HR20CH 0 1 N2 0003 2 0004 2 0005 2 16 t Le f 2 07 Constant is compared with the 4 digit hexadecimal binary 16 bit data 2n 0008 A 0009 ie The only channels that can be indirectly addressed are data memories DMO A 10511 2 NIS If the contents of the indirectly addressed data are not in BCD or if they 2 004 greater than the maximum data memory channel an error will occur this will cause special auxiliary relay 6303 to turn ON and the program to be not executed DM20 o o 2 18cD 16bits pus l 16 bits Constant F 6 7 8 16bits Because DM20 is indirectly addressed the data 21 decim
32. 7 ee Uae euet YES 2 Suspend Flowchart NO jconcerning temporary suspension of control Aj Temporarily suspends the processing of group 0 program Control YES Hend r __ La Za AT Z p 225 NO Flowchart end of jcontrol H 270 7 ___Stops the GS instruction of group 7 Control YES Arestan m NO Flowchart concerning restart of Jumps to another group Returns from another group 73 Instructions Note TIMER START TMS Flowchart 0100 0101 0125 0126 0127 0128 0129 74 TMS 0 9999 YES LBL100 Flowchart example of power application Main program Processing YES tobe continued lt Data retention YES flag ON ec o Continues execution of group programs 0to6 Data reten tion flag is reset GC 0 Data reten tion flag GOFF 7 Stops Out instruction of group 7 d OFF Starts timing JMP If the data retention flag is turned ON all the output relays are automatically turned off until the load off flag is turned OFF on power application D E where timer number O to 127 Set value 0000 to 999 9 99 99 s timer number set value This instruction is used to start timers and is shared by the TIM area The concept of free location applies to this instruction Coding chart Instruction D
33. set value flag Is any of YES uU Continued on next page 192 Multidigit preset UP counter more than 6 digits In this example count value 87654321 is processed with a multidigit preset UP counter The counter unit is assigned to Channel Nos 2 to 5 of the CPU rack DM10 is used for internal counter Auxiliary relays 50CH 51CH and No 5207 are used AND START input WAIT Carry reset borrow reset and coincidence MOV reset commands are turned ON 0071 Counter preset command is turned ON and Moy 22 presetvalue 015 set to 10 and 10 Present value 0000 is set 0000 consists of 0000 esent ve 3 10 to 10 MOV Counter preset command is turned OFF and 2102 set value present command is turned ON 2 Set value 21 is set 21 consists of 101 and 10 MOV 6543 value 6543 is set 6543 consists of 10 to MOV 0000 10 is cleared to 0 DM 10 OUT NOT 5207 MOV oop4 Setvalue preset command is turned OFF 2 and count gate is turned ON LBL 100 XFER Counter unit inputs CH4 and CH5 are 9902 transferred to auxiliary relays CH50 and CH51 respectively OR 5000 Carry OR 5001 Borrow OR 5003 Present value Set value CJP LBL 101 JMP LBL 100 Special I O units Programming examples Double preset counter In this example two count values 052200 and 112300 are processed with a double preset counter The counter unit is assigne
34. 1 1 1 1 4mA ov 1__ Input Input 0 4095 data 0 4095 data Oto 10 5 V 140 5 Vor 4to 20 mA output signal range output signal ranqe Note that an input binary data exceeding 12 bits decimal 4095 cannot be converted into an analog signal Bipolar output signai Output range 10to 10 V 5to 5 V D A converted data A binary 11 bit data with one sign bit is input to the unit we Note Bit 11 is a sign bit The level of this bit becomes 0 when the digital data input to the D A conversion output unit is positive and it becomes 1 when the input digital signal is negative Relation between input digital and output analog signal The digital data input to the D A conversion output unit which exceeds decimal 2048 or is less than 2048 cannot be converted into an analog signal Output from A D conversion output unit 179 Special I O units Input unit Input data G decimal 4 digits 2 001CH z OF 0 rox 1 01 E 2 3 o 5 4 04 Er mme pu C2 I anma 71 07 xo i 9 08 2 L 09 2 C3 Tu a IL X10 gt x 13 12 r N 5 _ 14 2 15 COM 180 Input data decimal 4 digits Y o 2 X10 lx The digital data input to the D A conversion output unit which is in a range of decimal 2048 to 4095 i e when the sign bit is 1 is trea
35. 3 and 10 OUT NOT 201 OUT NOT 206 1ststage coincidence processing LBL 200 4 the CPU 34 ANDNOT 3403 Present value Set value flag is checked CJP LBL 200 2nd stage coincidence processing XFER 0002 Data of the counter unit are transferred to 191 Special I O units Muitidigit preset UP counter more than 6 digits In this example count value 87654321 is processed with a multidigit preset UP counter The counter unit is assigned to Channel Nos 2 to 5 of the CPU rack DM10 is used for internal counter Auxiliary relays 50CH 51CH and No 5207 are used AND START input TM WAIT Carry reset borrow reset and coincidence MOV reset commands are turned ON Waiting for 0071 Counter preset command is turned ON and START input MOV 22 presetvalue 0 is set to 101 and 10 0000 Present value 0000 is set 0000 consists of ON 3 10 to 102 MOV Counter preset command is turned OFF and Counter preset com 2102 setvalue present command is turned ON 2 Set value 21 is set 21 consists of 10 and jo Present value 000000 MOV 10 5 is set 000000 consists 6543 Set value 6543 is set 6543 consists of 105 of 10 to 10 3 102 MOV 0000 DM10 is cleared to 0 Counter preset com DM 10 mand OFF OUT NOT 5207 Mov ooo4 Setvalue preset command is turned OFF Set value preset com 2 and count gate is turned ON LoL 109 XFER Counter unit inputs CH4
36. AND CJP LBL JMP LBL LBL BIN LBL AND OR OR OR CJP LBL JMP LBL LBL OUT LBL 210 2 DM O DM 0 4096 6307 220 230 220 DM 0 6 230 6306 6305 401 6303 240 300 240 401 300 Special auxiliary relay No 6303 of a SYSMAC C120F programmable con troller serves as an error flag The level of this flag becomes 1 if an input data is not a BCD code 181 Special I O units High speed counter unit 182 The high speed counter unit is a 6 digit BCD high speed reversible counter that is connected to a SYSMAC C Series programmable controller and sensor such as a rotary encoder and is capable of counting clock pulses at a rate of 50K counts per second This unit is ideal for positioning control or high speed measurement operations and can be connected with various sensors Specifications Count input 1 Count input 2 Voltage level of H 6to 12 V input signal L 0to4V Input signal Input modes Command input 1 command input 2 DEI UP DOWN count command is to be executed by a program or count input 2 Phase differential inputs Specifies wheter UP DOWN count command is to be executed by the phase difference between count inputs 1 and 2 as follows UP When count input 1 leads count input 2 by 90 DOWN When count input 1 lags count input 2 by 90 The above three modes are selectable by using the DIP switch in the unit i Count
37. CPU rack 00CH 0015 0000 01CH 0115 0100 06CH 0615 0600 07CH 0715 0700 Expansion VO rack 04CH 0415 0400 05CH 0515 0500 When 16 point I O units and 32 point I O units are mounted on the CPU rack in combination the relation among I O unit locations I O channels and relay numbers is as follows 02CH 0215 0200 CPU rack 00CH 0015 0000 016 0115 0100 04CH 0415 0400 05CH 0515 0500 Expansion VO rack 03CH Assignment of relay numbers Note Note Further the FAL No is output to this area should an abnormal alarm output occur such as one caused by battery failure In that event the abnormal state will be reset through execution of the FAL 00 instruction or by means of the abnormal clear procedure using the programming console FAL No 00 out to this area indicates the normal state Relay No 6108 This relay operates when a battery failure occurs and releases when the battery is returned to normal To transmit the BATTERY FAILURE signal externally prepare and program a circuit using the contacts of this relay Relay No 6109 This relay operates if the destination label of the indirect JMP instruction is undefined or if the label number is not specified in BCD Relay No 6110 This relay operates when the number of VO units actually mounted dis agrees with those registered by means of a free location concept Relay No 6113 Thi
38. Retighten screw terminals loose 3 Faulty contact of jack Clean contact with alcohol moistened cloth 4 Fuse is blown Replace blown fuse 5 Internal circuit is defective Replace defective unit 3 Allrelays of specific output unit do not turn off 1 Faulty contact of jack and Clean contact with alcohol moistened cioth connector 2 Gate circuit is defective Replace defective unit J 4 Output of specific relay number does not turn on Operation indicator LED Correct program does not illuminate 1 ON time duration of output is short 2 Relay numbers of OUT in Correct program struction in program are used in duplicate 3 Power circuit is defective Replace defective unit Operating indicator LED is Replace defective external load illuminating 1 Broken connection of exter nal load 2 porews of terminal block are Retighten screw terminals loose 3 Pattern is broken Replace defective unit Output of specific relay number does not turn off Operation indicator LED Replace defective external load or add dummy does not illuminate resistor 1 Contact does not release due to leakage current 2 Relay numbers of OUT in Correct program Struction in program are used in duplicate 3 Power circuit is defective Replace defective unit 6 Abnormal relay number is in units of 8 points 1 Data bus signal is faulty Remove all I O units being used and reinsert gt them one by one to f
39. Same as XFER instruction Digit designation 0000 to 0003 MULTI OUTPUT TIMER FUN80 Flag Present time Set time This instruction is used as an UP type timer to set eight values to a single timer It compares the contents of the present value channel against the set value channel and sets a time up flag in the flag channel when the present value is equal to or greater than the set value FLAG CHANNEL PRESENT VALUE Same as D of MOV instruction SET VALUE 00 to 53 LROO to 24 MROO to 24 DMOOO to 511 DMOOO to 511 These are reserved instructions for expansion including options and processed as NOP in the standard SYSMAC C120F cw 81 to 93 97 to 99 List of instructions instruction TIM Turns ON if the re sult when the com pare instruction is executed is less than Turns ON if the re sult when the com pare instruction is executed is equal Turns ON if the re sult when the com pare instruction is executed is more than 6304 CY Turns ON if a carry exists in the result of an arithmetic operation 6303 ER Turns ON if the data is not in BCD or if an error occurs in in direct addressing or jump designation TIMS CNT CNR TIM CNRICNT JMP CaP MOV MVN CMP ADD
40. set count value signal of the counter Once the present count value set count value signal has been reset it will not be set again until the counter gate relay is turned ON and a counting operation is performed If this relay is turned ON while the present count value coincides with the set count value the present count value set count value relay i e bit No 3 of n 2 CH will not be turned ON Enables the external output signals coincidence output and present count value gt set count value output to be output On power application the output is disabled and therefore both the contact and transistor outputs are turned OFF Represent the preset data of the counter or the set count value memory If these relays represent the data of the counter those data are the present count value The value of the data can be 000000 to 999999 On power application the data are 000000 Output enable Preset data 10 through 10 The following signals are input to the programmable controller from the high speed counter unit Turns ON when the present count value changes from 999999 to 000000 during the Add operation This relay is turned OFF by the carry reset relay or an external reset signal Borrow Turns ON when the present count value changes from 000000 to 999999 This relay is turned OFF by the borrow reset relay of an external reset signal Present count value gt Turns
41. FALS XX ERR program L e e JMPerror Destination label of JMP in Y gt oe JMPERR 5 _ struction is undefined e O O 5 Program error User program exceeding mem O w PROGRAM ERR lt ory capacity is executed A A RTI error RTI instruction is executed for RTI ERR purpose other than interrupt N e O servicing Remote I O error Error is detected during data x RMTE IO ERR N transmission between CPU and e o remote I O units VO verify error units are removed IO VERIFY ERR FAL instruction is executed by FAL XX ERR program Battery voltage is lower than that rated or no battery is in serted Host link error Error is detected during data transmission between PC and host computer PC link error Error is detected during data transmission between PC and the other PC JMP destination error Indirect JMP instruction is ex ecuted without destination e label defined or BCD error occurs in label DM number error Data memory number or chan nel number exceeding max imum number is spe System failure Battery error BATTERY ERR A failure that does not cause the CPU to stop JMP IND ERR DM NUMBER ERR O O O O OO denotes that the indicator illuminates O denotes that the indicator goes off These examples of LED indicator are while the PC is in operation Q to denote rack num
42. Line 2 Current output GD Current output 1 Shielded cable S Connection for current output Load side Voltage output GO Voltage output 0 V Current output Current output C Line 1 Voltage output G Voltage output 0 V Line2 Current output Current output 0 1 2 3 4 5 6 7 8 9 Twisted pair shielded cable 177 178 Special I O units Note Note Be sure to use a twisted pair shielded cable for external output connection Use the shielded cable at the load outputs Assignment of relay number inputs to D A conversion output unit M Channel l D A converted data 2 side for both current and voltage D A converted data 2 D A converted data 2 D A converted data 2 D A converted data 2 D A converted data 2 D A converted data 2 D A converted data 2 D A converted data 2 D A converted data 2 D A converted data 25 D A converted data 2 D A converted data 2 D A converted data 2 D A converted data 2 D A converted data 27 D A converted data 29 D A converted data 29 D A converted data 2 D A converted data 2 D A converted data 21 D A converted data 2 D A converted data 2 D A converted data 21 1 Line 1 input Line 2 input During the D A conversion the contents o bits 12 to 15 ar
43. or PCs evolved as industries sought economical ways to automate their production lines particularly those involved in the manufacturing of equipment and other heavy industry products The PCs took the place of relay based control systems which were comparatively slower less reliable and which presented formidable wiring and mainte nance requirements PCs operate by monitoring input signals from such sources as pushbuttons sensors and limit switches When changes are detected in the signals the controller system reacts through user programmed internal logic to pro duce output signals These signals operate the external loads of the controlled system such as relays monitor controls indicator lights and alarms This type of control system eliminates much of the wiring and rewiring that was necessary with the conventional relay based system Instead the programmed logic provides the wiring network which can be changed as required by simply reprogramming the PC Thus the automated processes of a production line can be controlled and modified at wili to achieve highly economical adaptability in a changing manufacturing environment Atypical programmable controller has three basic components an input output section a central processing unit CPU and a programming device Input output section This section consists of wiring and interfacing relays that connect the PC to the equipment being controlled Central processing u
44. unit refer to Channel and end RSU settings of optical transmitting I O unit Special I O units Assignment of I O channels Example 1 Connection between SYSMAC C500F and remote I O units 28CH TI 26CH 27CH Ree PETERE t brasi Expansion VO rack 18CH 19CH 16CH 17CH Expansion 2 rack 24CH 25CH id 23CH 20CH Expansion VO rack 2CH 8CH 9CH 10CH 11CH When an 1 0 unit is mounted to an expansion I O rack mounting a remote I O unit the programmable controller automatically assigns a channel to the I O unit Refer to Free location concept in Chapter 4 211 Special I O units Example 2 Connection between SYSMAC C500F and optical transmitting unit CPU rack Optical Optical Optical Optical transmitting transmitting transmitting transmitting VO unit VO unit VO unit unit 7 7CH 5 H 6CH 30 channel L 30 channel H 31 channel L 31 channel H 1CH 2CH 3CH 4CH ICH Setthe channels of each optical transmitting 7 VO unit by its DIP switch 00 Channel 170 unit mounted to the CPU rack Because the channel is automatically assigned to the I O unit s mounted 01 Channel MO unit mounted to the remote rack t5 the CPU rack of the programmable controller or to the expansion I O annel k pi 03 Channel rack in sequence starting from channel 00 the chan
45. x10 x10 X10 E 2 Carry 1234 6304 LS 5 2 LR2109 x10 I 355 d e Lraiio 10 2 LR2111 2 LR2112 2 LR2113 x10 asa z trai 10 NL LR2115 Before executing an ADD instruction the carry register 6304 must always be cleared using a CLEAR CARRY CLC instruction Execution of CLC is omitted in multistage addition The CPU checks whether the data for BCD addition are in four BCD digits If not an error will occur this will cause special auxiliary relay 6303 to turn ON and the program to be not executed The constant can be only specified in BCD The only channels that can be indirectly addressed are data memories DMO to DM511 Instructions SUBTRACT SUB Flowchart f the contents of the indirectiy addressed area are other than BCD data or greater than the maximum memory channel an error will occur this will cause special auxiliary relay 6303 to turn ON and the program to be not executed The program shown above is executed when the NO contact of 0100tums ON Constant 1 2 3 4 16bits DM22 2 o 16 bits Because DM22 is indirectly addressed the data 200 decimal in DM22 specifies DM200 and the result of addition of the contents of DM20 to the 4 digit constant 1234 is output to DM200 For details refer to Compare instruction subtrahend minuend result channel The SUB instruction is used to execute BCD subtraction bet
46. 0 unit 209 210 Special I O units An I O channel of the SYSMAC C Series programmable controller consists of 16 points and that of an optical transmitting I O unit 8 points When setting the I O channel of an optical transmitting 1 0 unit pay attention to these two items First the channel of the programmable controller to which the optical transmitting I O unit is assigned must be determined Unlike the remote slave unit that is automatically assigned an I O channel when it is mounted to the expansion I O rack the channel of each optical transmitting I O unit must be set by using the DIP switch incorporated in the unit Second as stated an I O channel of the SYSMAC C Series program mable controller consists of 16 points whereas that of an optical transmitting unit consists of 8 points Therefore relay numbers 00 to 07 of a specific I O channel are regarded as lower order L addresses relay numbers 08 to 15 are treated as higher order H addresses and an optical transmitting I O unit is connected to each of the L and H addresses VO channel N chanel 7 N channel L 07 VO channel of the optical transmitting UO channel consists of 8 points N channel H E llef Note however that an optical transmitting input and output unit must not be assigned to the L and H addresses of the same channel To set the DIP switch of the optical transmitting
47. 000 is used timer 000 cannot be used 47 Assignment of relay numbers Data memories Special auxiliary relay functions 48 Note Note The maximum time that can be set for the timers assigned number TIMO00 to 117 is 999 9 seconds whereas the timers with numbers TIM118 to 127 can be set to 99 99 seconds maximum Data memory Nos DM000 to 511 A data memory consists of 16 bits and is used in units of channels to process data or perform arithmetic operation The C120F is provided with 512 channels of data memories The C120F has 45 special auxiliary relays Some operate or release accord ing to internal conditions controlled by the hardware regardless of the conditions of I O devices The operations of the others are controlled by the software FAL instruction Relay No 6011 In case of a power failure this relay must be turned ON to resume the instruction execution upon power restoration It can be turned ON or OFF by the OUT instruction When turning this relay ON be sure to turn ON special auxiliary relay 6012 aiso Relay No 6012 This relay serves as a data retention flag that can be turned ON or OFF by an OUT instruction If the flag is turned OFF all the data in the I O relay internal auxiliary relay link relay and timer counter areas are cleared on starting the RUN operation When this flag is turned ON the previous data in those relay areas are retained When a power failure occurs
48. 0100 0101 0102 22 age Timer number Re Set value rae YES LBL100 Branch instruction 0103 OUTNOT 200 First execution of this instruction causes the specified value to be set in the timer Program execution proceeds to the next step when the set time has not yet elapsed When it has already elapsed the program execution jumps to the label specified in the CJP instruction If the specified label is not found in the program all the output relays will be turned OFF and the CPU will halt Coding chart TIM CJP LBL OUT NOT LBL OUT Timer numbers are shared by the TMS and CNT instructions Contents of data W O relay internal auxiliary relay Link relay LRO to 31 Holding relay HR0 to 31 Data memory DMO to 511 Constant 0000 to 9999 59 60 Instructions If a timer whose set time has not yet elapsed is used again the decrement ing operation of the timer starts with the present value Once a timer is set it operates by itself while the CPU is scanning other programs The timer operation stops on the lapse of the set time and the time up state is stored in the memory If a timer is specified by a CNR Counter Reset instruction the timer will be reset on execution regardiess of whether the timer is in operation or the set time of the timer has already elapsed If a power failure occurs the present values of the timers will be reset Howev
49. 16 4 ENCODER DMPX 130 7 SEGMENT DECODER SDEC 134 MULTI OUTPUT TIMER 137 Instructions for expansion Chapter 6 Installation and mounting 139 Control panel mounting 140 Control panel wiring 142 Wiring of CPU rack power supply Contents Chapter 7 Chapter 8 Chapter 9 Chapter 10 Appendix A Appendix B Appendix C Appendix D 143 Wiring of expansion I O rack 144 unit wiring 144 Protection against power failure 145 CPU run stop timing chart 145 External wiring 146 Noises on input output Maintenance and inspection 147 Inspection 151 Troubleshooting 155 Self diagnostic function 158 Abnormal symptoms possible cause and corrective action Special 1 0 units 161 Available types 167 A D conversion input unit 178 D A conversion output unit 184 High speed counter unit 197 Remote unit 200 Optical transmitting I O unit 224 Handling of fiber optics cable Guide for system 227 Host computer linkage system 229 1 0 linkage system Peripheral devices 231 Available types Specifications List of relay numbers List of instructions Ordering information Chapter 1 Introduction to C120F Overview PC basics This introductory chapter explains why programmable controllers have become such a valuable part of modern factories In this chapter the SYSMAC C120F is described including its basic components and operat ing procedure Programmable controllers
50. 2 LBL 100 XFER 0002 4 34 ANDNOT 3403 CJP LBL 100 OUT 206 OUT 201 MOV 1123 3 OUT NOT 201 Carry borrow coincidence reset and count er preset commands are turned ON and present count value 00 is preset Present count value 0000 is set 0000 consists of 10 to 102 Set value preset command ON Set value 0522 is set 0522 consists of 10 to 102 Set value preset carry borrow and coinci dence reset commands are turned OFF and count gate is turned ON Data of the counter unit on 4CH and 5CH are transferred to auxiliary relays 34CH and 35CH respectively Present value Set value flag is checked Set value 1122 is set 1122 consists of 10 and 102 OUT NOT 206 1st stage coincidence processing LBL 200 XFER 0002 4 34 ANDNOT 3403 CJP LBL 200 2nd stage coincidence processing Data of the counter unit are transferred to the CPU Present value Set value flag is checked Special I O units Waiting for START input Counter preset com mand ON Present value 000000 is set 000000 consists of 105 to 10 Counter preset com mand OFF Set value preset com mand ON Setvalue 654321 is set 654321 consists of 10 to 109 Internal counter is cleared Count gate ON Count data on 4CH and BCH are transferred to auxiliary relays 50CH and 51CH respecitvely Waiting for carry bor row or present value
51. 3300 0 334F 1 07 IN 074 S1010 9 IF 330Kf Co IMR amp lt COM COM 5 Circuit configuration E T Wie 9 5 S ors RUN output RUN output we x End RSU POWER indicator End RSU POWER indicator i I setting or setting E i Power Power C AC input MESES c Acain m SEVE AC 250V 1A n 2 eur Channel setting v setting 2 T R ERR indicator 202 Short circuit End RSU pen Unit other than end RSU RUN output novac O Power supply 110 120 VAC Short circuit End RSU Open Unit other than end RSU RUN output Power supply 110 120 VAC Special I O units mF AC input unit 220 VAC 1096 15 50 60 Hz 22 50 Hz 18 60 Hz 10 mA typ 200 VAC 10 ms max Input voltage Input impedance Input current ON delay time OFF delay time Number of circuits ON voltage OFF voltage Power supply 15 ms max 8 8 points common 120 VAC max 40 VAC min 220 240 VAC 50 60 Hz 20 VA max 600 g max Power consumption Weight 9100 0 154F f 1 COM Circuit configuration Internal circuit RUN output End RSU setting AC inpu
52. 600 g max 3G2A6 DA003 ERATUM vs se 10to 10V 600 g max 3G2A6 DA004 2E BAe vt 5to 5V 600 g max 3G2A6 DA005 High speed counter unit assigned to fo t channels of PO S hn 700 g max 3G2A6 CTOO1 E Remote I O master unit i 500 g max 3G2A6 RMOO1 E Rem it With one fiber optics connector for connecting only one slave unit to master unit 500g max 3G2A5 RT001 E With two fiber optics connectors for connecting two slave units to master unit Z 500 9 3G2A5 RT002 E No voltage contact 10 mA 8 points 110 120 VAC 580g max 3G5A2 ID001 E 220 240 VAC 580g max 3G5A2 ID002 E 12 to 24 VAC VDC 10 mA 8 points 110 120 VAC 580g max 3G5A2 IM211 E 220 240 VAC 580g max 3G5A2 IM212 E 110 120 VAC 10 mA 8 points 110 120 VAC 580g max 3G5A2 IA121 E 220 240 VAC 10 mA 8 points 110 120 VAC 600g max 3G5A2 IA221 E A 220 240 VAC 600g max 3G5A2 IA222 E Relay contact 250 VAC 24 VDC 2 A 8 points 600 g max 3G5A2 0C221 E 85 to 250 VAC TA 8 points 600g max 3G5A2 OA222 E Transistor 12 to 48 VDC 0 3 A 8 points 600 g max 3G5A2 OD411 E 0 1 m long with connector used commonly for optical transmitting unit 20gmax 3G5A2 0F011 1 m long with connector used commonly for optical transmitting I O unit 409 3G5A2 0F101 2m long with connector used commonly for optical transmitting UO unit CX 609 3G5AZ OF201
53. A This kind of robot is seen in many automated factories As is apparent from the figure this robot picks up a work being carried on conveyor A and places it on conveyor B Although seemingly simple executing this series of operations with electric devices and circuitry is harder than realized Looking at the above figure closely will disclose that the robot performs one operation at a time when a given condition is met Let s analyze these operations and conditions 1 When the start button is pressed the robot rotates its arm clockwise 2 When the robot arm has moved to the position of the work on conveyor A the arm grasps the work 3 When the arm has grasped the work it rotates counterclockwise 4 When the arm has rotated to the position of conveyor B it releases the work 11 Operating procedure Since the programmable controller receives input signals and in response to which performs the intended control action by producing outputs these conditions and operations can be considered as the input and output of the programmable controller respectively In other words when conditions given to the programmable controller by input devices are satisifed the controller causes the output device to operate to achieve the required control action Now let s look at what input and output devices are used in this example First the movement of the robot is initiated by the human operator when he presses pushbut
54. Caution Transfer data output from the A D conversion unit to auxiliary relays by using the XFER instruction FUN72 and then perform data processing by using the transferred data When using the A D conversion unit to convert data in bit units as Input Failure flag transfer data output from the unit to a relay in the internal auxiliary relay area 175 Special I O units D A Conversion output unit Note 176 The D A conversion output unit is capable of converting a 12 bit binary data from a SYSMAC C Series programmable controller into an analog output signal A wide variation of output signal ranges are available 0 to 10V Oto 5V 110 5 V 10to 10 V 5to 5 V for voltage output and 4 to 20 mA for current output The D A conversion output unit has an identical circuitry for each of the two channels Line 1 and Line 2 Specifications Ra aaa 77 External output range Voltage output Oto 10 V Y LESE S irs Oto LBV is 1to 5V 10to 10 V 5to 5V Current output 4 to 20 mA Voltage output 0 5 O max External output impe dance Max current for exter nal output TA Permissible load resist ance for external c Voltage output 15 mA Current output 550 max rResolution Input signal from SYSMAC C Series 2 1 4 095 of full scale Binary 12 bits 1 2 LSB max at 25 C 0 2 max of fu
55. NOT PHASE DIFFERENTIAL 0 1 INPUT WHEN NOT EMITTER FOLLOWER SENSOR 1 CONNECTION WHEN NOT EMITTER FOLLOWER SENSOR 1 CONNECTION 185 Special I O units z s a o gt om om sm pis Setting of count input mode Command input 1 mode This mode is used to specify UP DOWN count command signal by a program Command input 2 mode This mode is used to specify UP DOWN count command signal by count input 2 Phase differential input mode This mode is used to identify whether up count or down count operation is to be performed by the phase difference between count input 1 and 2 Setting of frequency response 30 cps contact input With the pin set in the ON position the counter unit can be operated in command input 1 mode only and the response frequency of count input 1issetto 30 cps 50K cps Solid state input With this pin set in the OFF position the counter unit can be operated in all input modes and the response frequency of both count inputs 1 and 2 is set to 50K cps Setting of sensor output Set this pin in the OFF position when the output from the sensor that is connected to count input 1 is of the emitter foliower type Otherwise set the pin in the ON position Set this pin in the OFF position when the output from the sensor that is connected to count input 2 is of the emitter follower type Otherwise
56. RIGHT ROR 112 RPT 80 RTI 87 error 154 RUN operation 9 SBN 76 SBS 76 SBS 77 SBT 77 SBT BRANCH instruction 78 SBT WAIT instruction 78 SDEC 130 Self diagnostic function 154 Sequence programming example 1 32 Sequence programming example 2 33 SET CARRY 117 SFT 67 SHIFT REGISTER SFT 67 Simulation 44 Simulation test run program storage 44 SLD 121 Special auxiliary relay functions 47 Special auxiliary relay B 6 Special lO units 161 Special instruction C 3 Specifications A 1 SQUARE ROOT ROOT 105 SRD 122 Start input wait 154 STC 117 SUB 93 SUBROUTINE NUMBER 76 SUBROUTINE START 77 SUBROUTINE TEST 77 SUBTRACT 93 Supply voltage drop 144 SYSBUS 223 SYSFLOW 21 index System configuration 6 System failure 154 System failure 154 erminal 153 Testrun 45 Timer B 4 TIMER BRANCH 59 TIMER START 74 TIMER WAIT 58 Timer counter B 4 Timer counter Nos TIM S CNTOOO to 127 42 Tools and testing devices for maintenance 148 Tools and testing devices fortroubleshooting 148 Transistor output unit A 12 Transmission error 223 Triac output unit A 10 A 11 Troubleshooting 151 TS 74 When I O units are fully mounted in order 51 Wiring of CPU rack power supply 142 Wiring of expansion I O rack 143 WORD SHIFT 115 WSFT 115 XCHG 120 XFER 117 XNRW 110 XORW 109 ZERO JUDGE BRZ 100 OMRON OMRON TATEISI ELECTRONICS CO Control Components H Q Sth F
57. RSU in the same manner as the other remote I O slave units Be sure to perform the setting with the power turned OFF lf the same address is specified to plural remote I O slave units in duplication e g two slave units are assigned address 0 data will compete for the SYSBUS causing a transmission error to occur Therefore never specify the address in duplication Hints on correct use A maximum of four remote I O master units can be connected to the CPU or the expansion I O rack of the SYSMAC C500F and three to the expansion VO rack of the SYSMAC C120F The remote I O slave unit must be inserted to the leftmost slot of the expansion I O rack of the SYSMAC C500F 3G2A5 RT001 E or 3G2A5 RTOO2 E Special I O units The remote I O master unit must not be mounted to the SYSMAC C500F to which a remote I O slave unit is already mounted 3G2A5 RM001 E INCORRECT 3G2A5 RT001 E or 382A5 RTO02 E The expansion I O rack of the SYSMAC C500F must not be connected for the purpose of system expansion to the SYSMAC C500F to which a remote l O slave unit is already mounted G2A5 RT001 E or 3G2A5 RT002 E INCORRECT 1 3G2A5 IlI002 Optical transmitting 1 0 unit By connecting the optical I O transmitting unit to the remote I O master unit with a fiber optics cable high speed optical data transmission can be performed The remote I O master unit which serves as the primary station
58. The data of a block settting instruction that must be specified are the start and end channels of the setting operation and the data to be set Any number of channels within the limitation of the hardware can be specified for setting and the data must satisfy these conditions Start channel number End channel number Both channels must be within the same data area 119 Instructions If these data conditions are not satisfied an error will occur this will cause special auxiliary relay 6303 to turn ON and the program to be not executed Any set data can be selected and hexadecimal 4 digit binary 16 bit data can be specified for the constant DATA EXCHANGE XCHG channel number 1 channel number 2 Flowchart i The XCHG instruction is used to exchange one channel 16 bits data with another i i ool omo brn instruction XCHG 74 Contents of data VO relay internal auxiliary relay Link relay LRO to 31 Holding relay HR0to31 When the XCHG instruction is executed 16 bit data of one channel is exchanged with another in the above program the contents of 1CH 0100 10 0115 are exchanged with the 16 bit contents of DM10 Orelay 1CH Data memory DM10 relay 1CH Data memory DM10 0101 2 o x
59. Use these terminals to supply power to RUN START 24vDC expansion I O racks etc OUTPUT INPUT 0 1A OUTPUT l This relay turns ON during RUN operation To input output T control circuit ub Power consumption Power consumption of the maximum C120F system is 60 VA However upon power application inrush current of about five times the steady state current flows through the programmable controller Power supply wiring For the power line of the C120F use a wire having a conductor cross sectional area of 2 mm AWG14 minimum to prevent voltage drop Use twisted pair wires Noise For general noise on the power line the built in noise suppressor in the C120F is sufficient However supplying power through a transformer with a voltage ratio of 1 1 helps to greatly reduce equipment to ground noise installation of such a transformer is recommended 142 Installation and mounting SYSMAC C120F CPU bine equipment CORRECT SYSMAC C120F CPU 1 Other equipment INCORRECT Grounding Terminal FG is a ground terminal used for prevention of electric shock Use a dedicated ground wire having a conductor cross sectional area of 2 mm2Q AWG14 min or grounding at a resistance of less than 100 Terminal LG is a noise filter neutral terminai which does not normally require grounding When electrical noise is a problem however short circuit this termi
60. a JMP Jump instruction to repeat all the programmed operations from the beginning A label number must be assigned to where the JMP instruc tion is used Write the program directly from the programming console When the program needs to be executed from the specified step e g L2 in Detailed flowchart below for debugging assign a label number to that Step irrespective of the JMP instruction so that the step can be searched by the label number Flowchart programming concept General flowchart 151 ON PB ON MV1 ON Ls2 MVI OFF 158 MV2 ON LS1 ON OFF Mv2 OFF instruction 0101 0 1 55 Detailed flowchart OUT NOT 100 OUT NOT 101 To control the operation of the controlled system by using the program and addresses write the addresses instructions and data on a coding sheet LBL i onstruction hiz Data gt AND AND WAIT OUT AND WAIT OUT NOT TIM o ojm s5io m 2 o 10 WAIT 11 LBL 12 OUT 13 AND 14 WAIT OUT NOT JMP 33 Flowchart programming concept PB ON WAIT Truck goes forward LS2 ON WAIT Truck stops Hopper opens Timer 8s Hopper closes Truck reverses LS1 ON WAIT Truck stops Trap door opens Timer 5 s Trap door closes YES 2nd time
61. and flat bladed VOM or digital voltmeter Industrial alcohol and all cotton cloth Tools and testing devices for troubleshooting Oscilloscope Pen recording oscilloscope Thermometer hygrometer Maintenance parts To ensure continuous operation of the controlled system in the event of failure it is advisable to keep at least one spare I O unit on hand Consumables Fuse For the CPU rack power supply and expansion I O rack power supply 3 for AC power source To replace the fuse follow these three steps 1 Turn off the power 2 Remove the terminal blocks from the CPU rack power supply 3 Remove the cover from the power supply 4 Replace the blown fuse with a new one Power fuse KZ LLY lt lt ZZ i MTT ZZ 2728 ZZ LUM Lele 7777 Z Nsmac cs Lore NE 7 Power supply cover y EUR eee block cover of power supply Battery Type 3G2A9 BATO8 The service life of the battery is approximately 5 years Toward the end of this period the message BATT LOW is displayed on the programming console If this happens replace the battery with a new one within a week Caution Replace the battery within 3 minutes from turning the power off SYSMAC C 20 San Note When the AC power is not supplied to the C120F apply the AC power for more than 10 seconds before replacing the battery then turn it off 149 150 Maintenance and inspecti
62. and the counting is resumed from the retained value upon power recovery Atthe leading edge i e from OFF to ON of a count input signal the counter decrements the count value by 1 J Start of operation Execution timing of CNT instruction 7 ON OFF mm p MS IDEE input relay Qi Count No Yes No Yes No No No No Yes When the operation mode is changed by the mode selector switch of the programming console the counters are reset and the present count values are reset to the set count value 64 Instructions OUT OUT NOT Flowchart 0100 0101 OUT NOT 201 JUMP JMP CJP The OUT instruction causes the specified relay to turn ON and the program execution to proceed to the next step The OUT NOT instruction causes the specified relay to turn OFF and the program execution to proceed to the next step Coding chart 0100 OUT 200 0101 OUTNOT 201 Use the OUT instruction to turn ON an output relay and the OUT NOT instruction to turn it OFF These relays can be used as the data of the OUT or OUT NOT instruction One point of the relays can be specified to turn ON or OFF by the OUT or OUT NOT instruction W O relays internal auxiliary relays O to 6015 6304 Link relays LRO to 3115 Holding relays HRO to 3115 When GOFF instruction is executed In the group program specified by a GOFF instruction all the output relays specifie
63. are other than BCD data or greater than the maximum data memory channel an error will occur this will cause special auxiliary relay 6303 to turn ON and the program to be not executed For details refer to Comparison of indirectly addressed data in 3 20 Compare instruction The constant can be specified as 4 digit hex adecimal binary 16 bit data aE The XORW instruction is used to perform an exclusive logical OR operation between two specified data 16 bits each data 1 data 2 result CH Coding chart XORW 67 Contents of data Data 1 and 2 Result CH relay internal auxili ary relay lt Link relay LRO to 31 Holding relay HRO to 31 Timer counter TIM CNTOto 127 Data memory DMO to 511 Indirectly addressed DMO to 511 data Constant 0000 to FFFF 109 Instructions When the XORW instruction is executed an exclusive logical OR operation is performed between two 16 bit data In the above program the 16 bit contents of OCH are exclusively ORed with the 16 bit contents of LR11 and the result of the OR operation is stored in DM12 If the result of the operation is 0000 special auxiliary relay 6306 is turned ON VO relay Link relay Data memory LR11CH DM12 296 2 o 2 1 22 o IFE 2 o 2 27 o 28 77 2 0 29 LP a 2 1 2 0 The only chan
64. connectable peripheral devices 2 max Memory cassette option 3G2A5 MSB01 E Supply voltage 220 240 VAC No of connectable peripheral devices 2 max Programmable controller connectable Memory cassette option For SYSMAC V8 programming console or MSB interface For flowchart programming type SYSMAC C series For flowchart programming type SYSMAC C series 2m for programming console and multisupport base 3G2A5 MSB02 E 3G2A5 AP002 3G2A5 MP007 E 3G2A5 MP008 E 3G2A2 CN221 350g 220g 229 Peripheral devices RS 422 On line connection with C series Multisupport base Peripheral interface Programming console base Programming console adapter for C series Horizontal type programming console i Printer interface Cassette interface PROM writer Vertical type programming console Printer Cassette tape recorder 230 Peripheral devices Connections SYSMAC C500F Programming console horizontal type nm ae x vertical type lt Programming console adapter for SYSMAC C series lt lass Cassette tape recorder Programming console base for SYSMAC C series PROM writer SYSMAC C120F Memory 7 cassette l Printer d Peripheral interface Multisupport base 231
65. control system use a dummy O unit s 83G2A6 DUM01 to reserve desired channels so that the program will not have to be changed 53 Assignment of relay numbers 54 Assignment of relay numbers If a mounted I O unit is replaced with one having a different number of points or if an additional I O unit is mounted the relay numbers assigned to the 1 0 unit already mounted to the channel higher than the new unit will be reassigned in sequence The same applies when a mounted I O unit is removed from the CPU rack resulting in a vacancy The relay numbers will not be changed however if a new I O unit is mounted to the channel next to the unit that has been mounted on the last position of the existing I O unit row After the replacement addition or removal of an I O unit the relay numbers will not be changed unless the mounted I O units have been registered in the CPU memory At this point however an yo verify error or VO setting error occurs If a vacant position s is required to mount additional I O unit s in the future because of modifications in the design and specfications of the control system use a dummy UO unit s 8G2A6 DUM01 to reserve desired channels so that the program will not have to be changed 53 Assignment of relay numbers 54 Chapter 5 Instructions This chapter describes the instructions used by the C120F The information incl
66. count data 4 Output enable Preset data 8 Normally ON Present count data 8 Preset data 1 Preset data 1 Present count data 1 Present count data 1 Preset data 2 Preset data 2 Present count data 2 Present count data 2 Preset data 4 Preset data 4 Present count data 4 Present count data 4 2 Preset data 8 Preset data 8 Present count data 8 Preset data 1 Preset data 1 Preset data 2 Preset data 4 Note Preset data 8 Present count data 8 Present count data 1 Present count data 1 Present count data 2 Present count data 4 Present count data 8 The term set count value is synonymous with preset data 187 188 Special I O units Note Function of relays The following signals are input to the high speed counter unit from the programmable controller Name of ley Counter preset Presets the data set as a preset data to the counter in other words modifies a currently set value Set count value preset Presets data set as a preset data to the set count value memory Controls starting and stopping the counter When this relay is turned ON the counting operation starts and when it is turned OFF the counting operation stops On power application the count gate relay specifies that the counting operation is stopped Count gate
67. in BCD Relay No 6110 This relay operates when the number of I O units actually mounted dis agrees with those registered by means of a free location concept Relay No 6113 This relay is normally ON Relay No 6114 This relay is normally OFF Relay No 6115 This relay operates if an error occurs in the channel number of a data memory when expansion data memories are used Relay No 6300 This relay is used to generate a 0 1 second clock When used in conjunction with a counter it functions as a timer for memory retention during a power failure Note The ON time of a 0 1 second clock is 50 ms Therefore if too long a time is required for program execution the CPU may fail to read the clock 50 Assignment of relay numbers Relay No 6301 This relay is used to generate a 1 second clock When used in conjunction with a counter it functions as a timer for memory retention during a power failure or as a long time timer ut Relay No 6302 This relay is used to generate a 1 minute clock When used in conjunction with a counter it functions as a timer for memory retention during a power failure or as a long time timer The relay output can also be used as a cycle time signal Relay No 6303 This relay operates ON when the result of an arithmetic operation is not output in BCD or when an address higher than 511 is specified in indirectly addressing the data memory R
68. monitoring program operation It also displays error messages Keypad The program is written in the CPU rack s memory with these keys Mode selector switch This three position switch selects one of the three operation modes of the C120F PROGRAM MONITOR and RUN Jacks for connecting cassette tape recorder Programs may be saved to a standard cassette tape recorder connected to the output MIC jack Previously written programs can also be supplied to the CPU rack s memory via the input EAR jack Introduction to C120F System configuration This figure shows the full system possible with the C120F Three expansion 1 0 racks are connected to a single CPU rack With this system configura tion the maximum number of I O points the C120F offers i e 256 I O points can be obtained In the slots of each expansion I O rack any I O units can be mounted Input Output unit CPU rack Expansion I O rack Lor Expansion I O rack Expansion I O rack Introduction to C120F Internal circuit configuration The following diagram shows the internal circuit configurations of the CPU rack and expansion I O rack ing regulator Interface Circuit Internal Battery memory CPU rack AC power source 1 CPU rack power supply Power sequence circuit Programming Interface Micro System lai
69. number FAL where number 0 to 99 where number 1 to 99 Instructions Flowchart 0100 0101 0102 LBL200 0103 FAL 0301 FAL 50 0104 OUT NOT 200 0302 OUT ILBL201 0105 LBL201 The Diagnostic instructions are divided into a FAL instruction and a FALS instruction These instructions are written in the portions of the program that especially must be monitored If an error occurs in those portions the instructions are executed causing the CPU to output error codes The FAL instruction can be used to display the occurrence of a failure and is assigned with any numbers from 01 to 99 to identify a failure that has occurred If a failure occurs and thus the FAL instruction is executed the instruction can be reset by executing the FALOO instruction Coding chart Instruction Data 0100 AND g 0 0101 AND 1 T CJP LBL 200 FAL 35 0 OUT NOT 200 LBL 201 LBL 200 FAL 35 50 OUT JMP LBL Contents of data 0to99 FAL 1to 99 FALS When the FAL instruction is executed the corresponding FAL number is outputto the FAL area special auxiliary relays 6100 to 6107 The ALARM LED indicator on the front panel of the CPU rack lights up The CPU continues its operation however 79 Instructions 6107 6106 6105 6104 6103 6102 6101 6100 When FAL10 is pm or o n output to the 9 R
70. number is not found in the program special auxiliary relay 6303 is turned ON causing all the output relays to turn OFF and the CPU to halt INCREMENT INC aE vare T 5 channel number 0101 The INC instruction is used to increment 4 digit BCD data by one Coding chart 0100 1 60 L H DM10 Si Jj Contents of data When the INC instruction is executed the specified 4 digit BCD data is incremented by one In the above program the 16 bit contents of DM10 are incremented by one and the result of the increment operation is stored in DM10 If the result of the operation is 0000 special auxiliary relay 6306 is turned ON Data memory Data memory DM10 1234 DM10 1235 RRR EE L islets is 8118 818 HHISIISI 101 Instructions The CPU checks whether the data to be incremented is 4 digit BCD If not an error will occur this will cause special auxiliary relay 6303 to turn ON and the program to be not executed The only channels that can be indirectly addressed are data memories DMO to DM511 If the contents of the indirectly addressed area are other than BCD data or greater than maximum data memory channel an error will occur this will cause special auxiliary relay 6303 to turn ON and the program to be not executed For details refer to Compare instruction DM10 o t6bits DM100 16 bits Ji B DM100 e 9 16bits Because
71. number must be written at the beginning of each group program and the GE instruction must be written at the end of each program In this example oniy a few manual operations are involved thus the main program is sufficient to process those operations In general however manual operations are programmed as shown below With a manual opera tion program pushbutton switches are depressed at random and therefore only the programs for sequential control cannot handle the randomly input Signals For this reason Branch instructions are used The GE instruction of each group should be also inserted at the beginning of the manual opera tion program To change the mode between Automatic and Manual a program to turn OFF the output relays is required Manual operation program Branch instruc tion Main program Group program To control two or more trucks in the same manner as mentioned above the same group programs and the main program are required and indicated by the above figures To interlock between the main program and a group program and between a group program and another internal auxiliary relays are useful Flowchart programming concept Parallel control programming example 2 The following program is used to temporarily stop a group program under execution and retain the operation steps of the group program 1 All the output relays specified by the OUT instructions in
72. of digits 0 to 3 The actual number of digits to be decoded is the designated number of digits plus one digit The designated digit specifies the digit from which the decoding starts MSB LSB 2 4 O Digit designation Example 1 When 0 is designated as both the digit and the number of digits MSB LSB Conversion data CH TERR RR 3 2 1 0 Example 2 When 2 is designated as the digit and 3 as the number of digits Conversion data CH 3 2 1 0 Destination CH Destination CH 1 Destination CH 2 Destination CH 3 With the initial program the decoding will be performed as follows 125 126 Instructions 3 2 E om SE T2 2 2s EES ES EE 29 LTT Tite o Jen 12 7 6 5 4 3 2 0 0 1 0j0 0 0 010 The destination channel to which the decoded data is to be transferred must be within the same relay area as the channel at which the data conversion is performed For example if tne MLPX instruction is pro grammed as follows the channel that decodes and stores digit O does not exist As a result special auxiliary relay 6303 will tum ON and the MLPX instruction will be processed as NOP MLPX DM100 0022 LR 30 Should 4 or a higher number be specified as the digit or the number of digits special auxiliary relay 6303 will turn ON and the instruction will be processed as NOP Therefore be careful not to exceed 4 when designating achannel as the digi
73. point of the I O assignment The serial channel and relay numbers assigned from the righi to the left starting from this point The assignment continues in the same manner from the lower to the upper I O unit mounting position on the CPU rack The I O unit s mounted on an expansion rack connected to the CPU rack is also assigned with serial I O channel and relay numbers in exactly the same manner The I O channel and relay numbers are determined by registering the mounted I O unit in the CPU memory This registration is initiated by using the programming console For details refer to I O table generation operation described in the user s manual for the programming console 51 52 Assignment of relay numbers The vacant space is not registered as a channel if an I O unit is later mounted additionally to a vacant position the I O unit location will disagree with the registered location and cause an l O verify error to occur If this happens register the I O unit location again When the table is generated contents of channels 0 to 15 are cleared regardless of whether the special auxiliary relay 6012 data retention flag is turned ON or OFF When 1 0 units are fully mounted in order When only 32 point I O units are mounted on the CPU rack and the expansion l O rack the relation between the I O unit mounting positions and channel and relay numbers is as follows 02H 0215 0200 03H 0315 0300
74. power supply YES Has fuse blown out Is unit related power supply voltage within the tated range Make sure it is within rated range Check I O con necting cable for proper connec tion 181 Maintenance and inspection AND 0100 LS1 AND NOT 0102 LS3 gt YES OUT 0200 SOL1 SOL1 malfunctions Check operation indicator of relay No 0200 on the output unit Abnormal Check voltage at terminal of relay No 0200 using a tester Abnormal Normal Check operation indicators Abnormal ofrelay Nos 0100 0101 and 0102 on input unit Normal Check voltage at terminal of relay Nos 0100 0101 and 0102 using a tester Abnormal 152 Input output unit The foliowing flowchart is shown on the assumption that the user keeps the maintenance spare parts at hand If no spare part is at hand first check devices thoroughly Power Input CPU External in the flowchart below the description is based on the program example on the left Perform TRACE check in Abnormal MONITOR mode using programming console Check voltage at terminal Abnormal of relay No 0200 using a tester LED or I O unit is defective Disconnect external wiring and recheck Replace defective output Abnormal unit Check SOL1 Abnormal Check volta
75. range specified by two relay channe numbers It can aiso reset the data of the shift register 68 Instructions 0100 CNR 0101 DMO 0102 DM 10 CNR TIM 0 TIM 127 GROUP NUMBER GN Flowchart Group A processing program Data memory reset DMO to 511 The CNR instruction is also used to reset the data memory contents within the range specified by two data memory channels Coding chart 0100 CNR 0101 DM 0 0102 DM 10 Contents of data 1 0 relay internal auxiliary relay Oto 60 Link relay LRO to 31 Holding relay HRO to 31 Timer counter TIM CNTO to 127 Data memory DMO to 511 This instruction can also be used to reset the counters or timers in the specified range where group number 0 to 31 group number This instruction is used to register a group number in memory and is written at the beginning of each group program The registered group number will then be referenced by the group instructions explained in the following sections Coding chart 0100 GN 10 10 69 Instructions GROUP START GS Flowchart where group number 0 to 31 0200 This instruction places the specified group program in the ready to run state and causes the program execution to proceed to the next step This instruction is also used to place in the ready to run state again the group program whose execution has been stop
76. relay Link relay Data memory LR11CH DM12 p p 22 17 2 o 27 0 1 NN g 2 o N E ng O E EE 9 gt 51 21 16 The only channels that can be indirectly addressed data memories to DM511 If the contents of the indirectly addressed area are other than BCD data or greater than the maximum data memory channel an error will occur this will cause special auxiliary relay 6306 to turn ON and the program to be not executed For details refer to Compare instruction The constant can be specified as hexadecimal 4 digit binary 16 bit data 111 Instructions ROTATE RIGHT ROR 5 The instruction is used to rotate 16 bit data one bit with carry The 1 instruction requires two addresses for programming 0100 ROR 0101 DM10 Coding chart Contents of data MO relay internal auxiliary relay Link relay E Holding relay Data memory Indirectly addressed data When the ROR instruction is executed 16 bit data including a carry is rotated one bit to the right with carry In the above program all the 16 bit contents of DM10 are rotated one bit to the right with carry 6304 If the result of the operation is 0000 special auxiliary relay 6306 is turned ON Data 29 memory DM10L 2
77. settings Channel setting POWER 0 ERR 2 Channel setting DIP switch Remove the operation indicator panel of the optical transmitting I O unit with a flat blade screwdriver Set the channel by using the 6 pin DIP switch mounted on the PC board The channel number is set as a binary number Set the channel by referring to the examples shown on the right Be sure to perform the setting with the power turned OFF When the same channels are specified in duplication for the input or output of an optical transmitting unit the data will compete for the SYSBUS causing a transmission error to occur Therefore never set the same channel in duplication Special I O units Setting example 168421 123456 0 channel L To set channel To specify HorL 0 channel H 1 channel L 1 channel H 12 channel L 12 channel 27 channel 1 27 channel 207 208 Special I O units End RSU setting To specify an optical transmitting I O unit as the end RSU short circuit terminal Nos 0 and 1 as shown in the above figure Put the protective cap attached as an accessory on one of the fiber optics connectors to prevent a malfunction caused by an external interference light Special I O units Operation diagnostic functions and failure detect
78. supply terminal for input points 0000 to 0007 24 V supply terminal for input points 0108 t 0115 24 V supply terminal for input points 0008 to 0015 Note that the terminal numbers A0 to A18 and BO to B18 inscribed on the erminal blocks of the input unit inversely correspond to the input numbers 0000 to 0018 and 0100 to 0115 For example the input number 00 of channel 00 i e 0000 corresponds to terminal number B18 1 M3 5 qi vis OF Lm L When connecting the input output devices to the input output units on the C120F use wires having a conductor cross sectional area of 1 25 mm and M3 5 solderless terminals For details on the wiring and relation information refer to Chapter 6 Installation and mounting LI 15 16 Operating procedure External power supply To each of the input and output units on the C120F an external power source by which the input or output device operates must be connected In the case of input unit 10217 connect the positive terminal of the external power source 24 VDC to the common terminal of the input unit terminal number B10 Connect the negative terminal of the power supply to one of the two lines of the input device Connect the other line of the input device to the terminal having the terminal number assigned to that input device In the case of output unit OC222 the positive line of the external power supply is branched with one of its two
79. the CPU regards the Subroutine Start SBS instruction as a NOP instruction and executes nothing 0108 ILC When the specified I O relay is turned ON the CPU regards the IL instruc tion as a NOP instruction and executes nothing 82 Instructions INTERLOCK CLEAR ILC DIFFERENTIATION UP DIFU DIFFERENTIATION DOWN DIFD WAIT Flowchart for DIFU Flowchart for DIFD Coding chart Instruction Data TIM WAIT our OUT ICL 39 Contents of data Output relay internal auxiliary relay 0 to 6315 Link relay LRO to 3115 Holding relay HRO to 3115 This instruction is used in combination with IL instruction to determine the range within which the IL instruction can be executed differentiation number relay number DIFD These instructions are used to execute the next step only once when a given condition is satisfied and skip that step afterward differentiation number relay number DIFU When the DIFU or DIFD WAIT instruction is executed the program execution is caused to wait until the leading or the trailing edge of the specified relay If the GS instruction is executed for another group program however the program execution will jump to that group program The program execution proceeds to the next step at the leading or the trailing edge of the specified I O relay Coding chart for DIFU DIFU 40 WAIT O
80. the PROM chip For details on the actual operation of the PROM writer read the user s manual for Type 3G2A5 PRWO4 E PROM writer Remove the PROM writer from the CPU rack Mount the PROM chip to the CPU rack Mount the PROM chip to the CPU rack 45 Chapter 4 Assignment of relay numbers Input output relays Internal auxiliary relays Holding relays Link relays Timers counters The SYSMAC C120F is internally provided with many relays The number of these relays that can be obtained from your control system varies depend ing on the system configuration The full system configuration of the C120F offers 256 input output relays 459 internal auxiliary relays 45 special auxiliary relays 512 holding retentive relays 128 timers counters and 512 channels of data memories The list of each relay is provided in Appendix B This chapter describes the functions of each internal relay and free location concept based on which the C120F automatically assigns the I O numbers toits I O channels Relay Nos 0000 to 1515 The full system of the C120F offers a maximum of 256 points of I O relays These relays are used to input signals from external sources to the C120F s CPU or output signals from the CPU to external devices Sixteen of input output relays form one input output channel which is assigned a 2 digit number for identification This identification number or channel number is used by the CPU to mana
81. the remote I O slave unit mounted to the expansion I O rack number 0 Number 1 indicates that a failure has occurred in the remote I O slave unit mounted to the expansion I O racknumber 1 Number 0 indicates that optical transmitting unit specified as an L channel Number 1 indicates the optical transmitting unit specified as an H channel Failure display incrementing flag When a failure has occurred in plural units the displayed failure code can be incremented by turning this flag Remote I O failure flag This flag indicates that a failure has occurred in a remote 220 ONand OFF unit or an optical transmitting I O unit Examples of identifying abnormal unit Optical Optical Optical i Optica transmitting transmitting transmitting LS Ount m Ount wm l Ounit VO unit 30 channel L 30 channel H 31 channel L 31 channel H Special units 1 in the above system if a failure occurs in the optical transmitting I O unit specified as channel number 31 with lower order addresses 31CH L the contents of number 251 channel will be as follows 15 o son os eos es identifying abnormal 1 0 unit when transmission error occurs in SYSBUS Failure before remote I O main unit recognizes end RSU On some occasions the T R ERR indicator on the remote I O master unit blinks while the END RS CHK indicator remains ill
82. to 1515 output relays Number of nter 459 Relay Nos 3200 to 6010 nal auxiliary re lays EE Number of link 512 Relay Nos LR0000 to 3115 Can be used as internal relays auxiliary relays Number of hold 512 Relay Nos HR0000 to 3115 ing retentive re lays Number of 22 128 Timer Nos TIMOOO to 127 and counter Nos CNTOOO to timers counters 127 Timer 0 to 999 9 s TIMOOO to 117 0 to 99 99 s TIM118 to 127 Counter 0 to 9999 counts Number of sp 45 Relay Nos 6011 to 6315 cial auxiliary re Jays Number of data 512 DM000 to 511 memories Expansion data Not provided memoris Control input START INPUT In RUN mode PC operates this when contact signal is closed and stops when it is opened Contra output RUN OUTPUT This contact is closed during PC operation signal DC power supply 24 VDC 0 1 A incorporated Memory protec Data in holding relays timers counters and data memories tive function before power failure are retained in the memory against power failure Battery Service life of built in battery is about 5 years at a temperature z of 25 C If ambient temperature at which battery is to be used exceeds 25 C battery life will be shortened Replace battery within one week after message BATTERY ERR is displayed on programming console Replace battery 2 within approx 5 minutes after turning off power switch Diagnostic f nc e CPU failure watchdog
83. uF 20 min Select a diode with break Nonpolarity down voltage and current Withstand voltage 1 500 V min ratings according to the R 500 30 0 5 W load Since the output elements of the C120F are packaged on a printed circuit board and connected to the terminal board short circuiting any of the loads connected to the output elements may damage the PC board Fuses are thus recommended for protecting the output elements Chapter 7 Maintenance and inspection Regular inspections and appropriate maintenance of the PC are essential to ensure the full life of the PC and trouble free operation of the controlled system Safety measures to protect the system and minimize system down time in the event of PC failure must also be taken This chapter covers those topics in detail First inspection items are presented in a table to be used for periodic check off inspections This is followed by a brief review of basic mainte nance procedures Using a flowchart format atroubleshooting guide then presents actions that should be taken in the event of typical failures that might occur At the end of the chapter a list of programming console error N messages is given along with the corrective action to be taken in response Inspection Inspection items Nearly trouble free semiconductor elements are employed as the main components of the C120F Semiconductors are however subject to deterioration under rigorous environmental
84. which the program execution is to jump This is a no operation instruction Auxiliary instructions Instruction Symbol Mnemonic Operand Function i Rem rks This instruction is used in pairs with the AND OR or OUT instruction to inverse the state of 1 0 relays This instruction is used to specify an indirectly addressed data Remarks n Operand This instruction indicates the beginning of a FUN10 group program This instruction starts executing a specified group program from the beginning of the group FUN11 If the group program has been already under execution this instruction is regarded as no operation instruction This instruction is used to end and initialize the execution of a specified group program If the subroutine in the group program is under execution when this instruction is executed the subroutine is also initialized GE FUN12 This instruction is used to suspend the execu GP tion of a specified group program If this FUN13 instruction is executed while the subroutine in the group program is under execution the subroutine execution is inhibited This instruction resumes executing the group 50 program from where the group program has been suspended by the GP instruction GR FUN14 01031
85. 00000 to 999999 This relay is turned OFF by the borrow reset relay of an external reset signal Carry Borrow Present count value gt set count value Turns ON when the present count value is greater than the set count value Turns ON when the present count value coincides with the set count value This relay is turned OFF by the coincidence reset relay or an external reset signal Present count value set count value Turns ON when the present count value is less than the set count value Present count value 000000 to 999999 Present count value lt set count value Present count value data On power application all the relays are turned OFF Special I O units Assignment of relay numbers Counter preset Preset data 1 nth 1 CH nth 2 CH nth 3 CH Present count data 1 Set count value pre set Preset data 2 Present count data 2 Count gate Preset data 4 Present count value gt set count value Present count data 4 UP DOWN count command Preset data 8 Present count value set count value Present count data 8 Carry reset Preset data 1 Present count value set count value Present count data 1 Borrow reset Preset data 2 Normally ON Present count data 2 Coincidence reset Preset data 4 Normally ON Present
86. 022 OUT JMP LBL LBL OUT JMP LBL LBL QUT NOT OUT NOT JMP LBL LBL OUT NOT OUT NOT OUT NOT JMP LBL w o e o 5 co 2i Jo o oin oi 0 1 N o sN Mm ole AIN Slo 27 Flowchart programming concept Group instruction parallel processing The program comprising only Wait instructions can control only a single controlled system and thus is not capable of simultaneously controlling the operations of any other controlled system To simultaneously control plural controlled systems of which each must be sequentially controlled either several controllers or a controller capable of parallel processing is required However the Group instruction provided to the C120F enables more than one sequential control to be processed at the same time The Group instruction of the C120F permits a maximum of 32 sequential control programs to be executed simultaneously Therefore using a single C120F a powerful control system as though 32 programmable controllers were being used can be configured For example if you wish to create a control system like the one shown below in which two robots are controlled at the same time at least two independent programs are required to control the respective robots In such case you can use the Group instruction SOLS for C 3 LS6for backward movement movement limit detection LS1 for clock
87. 03 Present value Set value CJP LBL 101 JMP LBL 100 Count gate ON Count data on 4CH and BCH are transferred to auxiliary relays 50CH and 51CH respecitvely Waiting for carry bor row or present value set value flag NO Is any of them ON YES CJ Continued on next page 192 Special I O units LBL 101 uy AND 5003 flag CJP LBL 130 ANDNOT 5000 Carry flag CJP LBL 110 OUT 204 YES OUT NOT 204 INC Contents of DM10 is incremented by 1 DM 10 LBL 110 NO ANDNOT 5001 Borrow flag CJP LBL 120 NO OUT 205 OUT NOT 205 DEC Contents of DM10 is decremented by 1 YES DM 10 LBL 120 CMP DM 10 AND 6307 DM10 87 CJP LBL 100 Giot bi OUT 207 utput enable DM10 1 DM10 OUT 5207 Auxiliary data of output enable e JMP LBL 100 LBL 130 AND 5207 Output enable CJP LBL 200 Is borrow 1 OUT 206 Coincidence reset ON OUT NOT 206 JMP LBL 100 LBL 200 YES Borrow reset DM10 1 DM10 NO DM10 87 YES Output enable ON 15 output YES enable 1 NO Coincidence reset ON L 8 digit coincidence pro cessing 193 194 Special I O units Precautions on using high speed counter To read data on an input channel carry borrow present value gt set value present value set value present value lt set value and present value data of the counter unit transfer the necessary data to the interna
88. 1 Timer counter TIM CNTO to 127 Data memory DMO to 511 Indirectly addressed DMO to 511 data sed Constant 0000 to LT 4095 117 Instructions BLOCK SET BSET Flowchart 118 Note When the XFER instruction is executed channel data are consecutively transferred at one time In the above program data of 3 channels 48 bits OCH to 2CH 0 to 215 are consecutively transferred to DM11 to 13 by channel unit relay Data memory 1 2 3 4 11 T 2 3 4 1CH 90 0 0 0 DMi2 0 0 0 0 2CH F F F DM13 F F F F The transfer operation is consecutively executed from the start channelto a specified channel Be sure not to specify the same block in duplicate though both the channel from which data is to be transferred and the destination channel can be specified within the same area The only channels that can be indirectly addressed are data memories DMO to DM511 If the contents of the indirectly addressed area are other than BCD or greater than the maximum data memory channel an error will occur causing special auxiliary relay 6303 to turn ON and the program to be not executed For details refer to Compare instruction The data for the Block Move instruction that must be specified are the start channels of the source and destinauun of the transfer operation and the number of channels to be transferred Any number of channels within t
89. 1 Should 2 or a higher number be specified as the destination channel and 4 or ahigher number as the digit or the number of digits special auxiliary relay will turn ON and the SDEC instruction will be processed as NOP Therefore be careful when specifying a channel as the digit designation data K The only channels that can be indirectly addressed are data memories DMO to 511 If the contents of the indirectly addressed area are other than BCD data or more than the maximum data memory channel an error will occur this will cause special auxiliary relay 6303 to turn ON and the SDEC instruction to be processed as NOP For details refer to Compare instruction is Instructions MULTI OUTPUT TIMER Flowchart 134 flag present value set value This instruction allows eight values to be set in a single timer The range of the set values is from 0 1 second to 999 9 seconds Coding chart instruction lt Contents of data VO relay internal auxili 0 to 60 0to53 ary relay HRO to 31 HRO to 24 DMO to 511 Indirectly addressed DMO to 511 Constant This instruction can be used as an incrementing type timer whose timing operation can be controlled by controlling the corresponding flag That is when the flag is turned ON the timing operation of the timer is started The flag is turned OFF to stop the operation Since eight values can be set i
90. 1 11 11 11 11 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 13 13 13 13 13 13 13 13 13 13 13 13 13 13 13 13 14 L 14 14 14 14 14 14 14 14 14 14 14 14 14 14 14 y 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 All the link relays of the C120F are used as internal auxiliary relays B 3 List of relay numbers 4 vee S wo GE T Relay number ES 7 HR0000 to 3115 STOR a OCH SE 07CH 08CH 09CH 10CH 11CH 12CH 13CH 14CH 15CH These relays retain the da id beds Timer Counter number S 128 Timer Co nter points Because same timer or counter number is shared by the TIM CNT and TIMS instructions no timer or counter number can be assigned to those instructions in duplicate Therefore do not program a circuit in which timers or counters having the same number may be simultaneously turned ON B 4 List of relay numbers No of Name _ points Data memory number DMOOO to 511 Data memory l Th sedata 3 mime 512 memories gt retain the data during E aipower x 16 piis failure 364 384 375 385 395 405 415 425 435
91. 10 0102 D 0103 2v 0104 71 2 0 0105 2 o xio 0106 0 0107 07 0108 0 22 n7 0109 1 I2 m 0110 aid 2 0 0111 2 1 0112 2 0 0113 2 1 0114 o X0 a2 gs per Fo epo 1234 ABCD 120 Instructions The only channels that can be indirectly addressed are data memories DMO to DM511 If the contents of the indirectly addressed area are other than BCD data or more than the maximum data memory channel an error will occur this will cause special auxiliary relay 6303 to turn ON and the program to be not executed For details refer to Compare instruction ONE DIGIT SHIFT SLD r FUN start channel end channel Flowchart The SLD instruction is used to shift data between the start and end channels J by four bits to the left 0100 0101 0102 Start Coding chart End Address Instruction iss d SLD 79 Ecc oc X DM10 oz 3 3 Contents of data relay inter Link relay Holding relay Data memory Indirectly addressed data ums 7 When the SLD instruction is executed data between the start and end channels are shifted by 4 bits to the left in the above program the contents of DM10 to DM11 are shifted by 4 bits 1 bitx4 times to the left In this case 0 is inserted as the first digit of the start channel
92. 10 10 10 10 10 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 12 12 12 12 12 12 12 i2 12 12 12 12 12 12 12 12 L 13 13 33 13 13 13 23 13 23 23 13 13 13 14 14 14 14 14 14 14 14 14 14 14 14 14 14 14 14 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 16CH 17CH 18CH 19CH 20CH 21CH 22CH 23CH 24CH 25CH 26CH 27CH 28CH 29CH 30CH 31CH oo oo oo 00 oo oo oo oo OO OO OO io 5e 01 01 o 01 O1 OF Ot Ot Ot OT i gt h o2 o2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 3 js E 03 i 04 04 04 04 04 04 04 04 04 04 04 04 04 04 04 04 opos 05 05 o5 05 05 05 05 05 O5 05 O5 05 Ob 05 O5 05 06 06 06 06 06 06 06 06 06 06 07 07 07 07 07 07 07 07 07 07 07 07 07 07 07 08 08 08 08 O8 OB OB OB 09 10 09 09 09 09 09 09 09 B 09 09 09 09 09 09 09 09 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 11 11 11 11 11 11 11 11 11 11 11 1
93. 115 0100 06CH 0615 0600 07CH 0715 0700 Expansion VO rack 04CH 0415 0400 05CH 0515 0500 When 16 point I O units and 32 point I O units are mounted on the CPU rack in combination the relation among I O unit locations I O channels and relay numbers is as follows 02CH 0215 0200 CPU rack 00CH 0015 0000 01CH 0115 0100 04CH 0415 0400 05H 0515 0500 Expansion VO rack 03CH 0315 0300 Assignment of relay numbers if a mounted I O unit is replaced with one having a different number of points or if an additional I O unit is mounted the relay numbers assigned to the I O unit already mounted to the channel higher than the new Vo unit will be reassigned in sequence The same applies when a mounted I O unit is removed from the CPU rack resulting in a vacancy The relay numbers will not be changed however if a new I O unit is mounted to the channel next to the unit that has been mounted on the last position of the existing VO unit row After the replacement addition or removal of an I O unit the relay numbers will not be changed unless the mounted units have been registered in the CPU memory At this point however an VO verify error or I O setting error occurs If a vacant position s is required to mount additional unit s in the future because of modifications in the design and specfications of the
94. 2 233 Program storage 45 Programing examples 32 Programming 9 Programming concept 22 Programming console 4 231 232 233 Programming console adapter 231 232 233 Programming console base 231 232 233 Programming console connecting cable 231 Programming device 1 Programming example with branch instruction 41 Programming procedure using SYSFLOW 21 PROM writer 231 232 233 Protection against power failure 144 Remote I O unit 197 RAM chip D 1 Ratings A 1 Relay Nos 6100 to 6107 48 Relation between special auxiliary relay and instructions C 8 Relay No 6011 48 Relay No 6012 48 Relay No 6015 48 Relay No 6108 49 Relay No 6109 49 Relay No 6110 49 Relay No 6113 49 Relay No 6114 49 Relay No 6115 49 Relay No 6300 49 Relay No 6301 50 Relay No 6302 50 Relay No 6303 50 Relay No 6304 50 Relay No 6305 50 Relay No 6305 50 Relay No 6307 50 Relay Nos HR0000 to 3115 47 Relay Nos LRO000 to 3115 47 Relay Nos 0000 to 1515 47 Relay Nos 1600to 6010 47 Relay Nos 6308 to 6315 50 Remote error 154 Remote I O master unit 162 164 197 Remote I O slave unit 163 165 197 Remote I O unit 197 Remote unit power ON wait 154 Index REPEAT RPT 80 Resetting of holding relay 68 Resetting of IO relay 65 Resetting of internal auxiliary relay 68 Resetting of link relay 68 Resetting of relay channel 68 RET 77 RETURN RET 77 RETURN RTI 87 ROL 113 ROOT 105 ROR 112 ROTATE LEFT ROL 113 ROTATE
95. 315 Link relay LR0000 to 3115 This instruction causes the program execution to AND NS RELAY SO jump to a specified label if the specified number of Holding relay 000 t9 3135 BRANCH END i AND conditions are satisfied If the conditions are 55 or LABECNO not satisfied the program execution proceeds to LABELNO Oto 1023 the next step NOTE OR This instruction causes the program execution to 1 Because data memories to OR WAIT T E wait until one or more OR conditions are satisfied 511 and expansion data memories 4 wT are channels the data in them cannot be used by these instructions 2 CNT instructions cannot be used in This program execution causes the program execu mael i E on REURYWG tion io jump to a specified label if one or more OR combination with AND or OR instruc BRANCH D i conditions are satisfied If the conditions are not fons 57 oH satisfied the program execution proceeds to the next step TR Mekko This instruction causes a specified timer to stand TIMER NO TIM n LEER me program execution to wait until the set time TIMER NO Oto 127 WAIT o elapses Ser VALUE T This instruction causes a specified timer toserend Gonstant I 0199999 ICH T TW MEAND the program execution to proceed until the set v set TROOCH to 31CH BRANCH SET VALUE time elapses When the set time has elapsed the HROOCH to 31CH ce time up fl
96. 365 346 356 366 376 386 396 406 416 426 436 367 347 357 377 387 397 407 417 427 437 L 358 378 388 398 408 418 428 438 349 sso 369 379 389 309 a09 a19 429 439 500 510 s su j 502 503 504 505 506 507 508 509 16 bit configuration 000 15 14 13 1211 10 9 8 7 6 5 43 2 1 O 001 15 14 13 12 1110 9 8 7 6 5 4 3 2 1 002 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 003 15 14 13 12 11 1 98765 43210 Data memory area B __ 0 510 151413121110 9 8 7 6 5 4 S 2 1 511 15 14 13 12 11 10 9 8 o I Note data memories cannot be used with bit designation instructions for example AND OR OUT or SFT instruction The data memories are specified by the DM instruction in units of 16 bits List of relay numbers Description 6011 When a power failure occurs this relay is used to resume instruction Inpuvoutput execution after power recovery 6012 This relay serves as a data retention flag and is turned ON at the start of These relays the RUN operation when the states of the I O relays internal auxiliary are for both relays link relays and timers or counters are to be retained If the states off input and those relays are to be cleared this relay is turned OFF output and can be 4 turned ON or OF
97. 4 V max 1 5 V max ON delay time 2 7 0 2 ms max 0 2 ms max OFE delay time 0 3 ms max 0 3 ms max N mber of circuits 16 8 common 32 8 common Weight 500 g max 530 g max Current consumption of 5 VDC 160 mA max 5 VDC 230 mA max internal constant voltage circuit 3 Fuse capacity 5 A 8 points Fuse is not provided Supply voltage to inter nal constant voltage cir 1210 48 VDC 1096 10 50 mA max 12 to 48 VDC 10 10 80 mA max cuit OUT 00 T OUT 00 MIN K Y OUT07 OUT 07 COM ir 3 T COM OUTO8 5 5 i j 2 OUT15 i 3 E E 5 S COM Circuit configuration t z 5 OUTOO NOE SK H OUT 08 5 1 OUTO7 d C COM iT fa ew alka ij OUT 15 d OUT15 COM COM 12 to 48 e 42 to 48 Fuse7f blowout voc detection circuit OUT negative logic output 12 to 48 VDC Terminal connections terminal numbers and I O channel numbers of an I O unit are changed according to the position on the CPU or expansion I O rack on which the I O unit is mounted The terminal connections shown above are for when the I O unit is mounted on the UNIT 1 position A 11 Specifications Transistor output arcad 3G2A6 OD211 Max switching Cap 24 VDC 10 15 0 1 A
98. 50 us max 50 us max __ Note Insert the high speed counter unit to the upper slot of an expansion rack when mounting the unit to the SYSMAC C120F To mount the unit to the SYSMAC C120F use Type 3G2C4 S1025 or 3G2C4 51026 Ye e Indicators T Function Lights up when count input 1 is L and goes out when count input 1 is H isvpdndicator Lights up while the counter is performing an up count operation Lights up while the counter is performing an up count operation Lights up when a present count value is greater than a set count value present count value gt set cout value Lights up when a present count value is equal to a set count value present count value set count 3 value This indicator however unconditionally goes out when the Output enable relay is turned OFF Lights up when a present count value is less than a set count value present count value set count value Lights up when the power supply for sensor is 12 V DIP switch for count input mode setting Specifies the count input mode of the counter 0 BBBBBBBB 12345678 183 Special I O units Block diagram UP indicator COUNT Counter preset indicator DOWN indicator Preset data BCD counter Present count value memory
99. 9 0 9 o FAL area po og 21 p D pp gt p x10 1 A maximum of two FAL errors be stored in memory when another FAL error is detected before the first FAL error has been removed To reset the FAL area output remove the cause of the FAL error and then execute the FALO instruction Ifthe programming console is connected to the C120F FAL area outputs can also be reset by performing the FAILURE READ operation Each time the FALO instruction is executed the FAL area output is reset and another FAL error retained in the memory is output Note Other alarms and failures such as battery error and remote I O error are also output to the FAL area in addition to FAL and FALS instructions When the FALS instruction is executed the corresponding FALS number is output to the FAL area and the ERROR indicator LED on the front panel of the CPU rack iliuminates The the CPU stops its operation To reset the FALS output remove the cause of the FALS errors and then perform a FAILURE READ operation using the programming console with the mode selector switch set to the PROGRAM position The FALS output can also be reset by restarting the C120F using the mode selector switch RUN to PROGRAM to RUN after removing the cause of the FALS error If a FALS error or any other error that causes the C120F to stop has occurred while a FAL error is being detected that FALS or failure number is output in place of the FAL number Priority of
100. A6 DUMO1 EPROM chip 64 bits 2764 50g ROM H RAM chip 64 bits 6264 50g RAN H Optional Battery 9 100g 3G2A9 BATOS Products T Gaver plates Covers vacant slot on C120F 50g 3G2A6 COVO1 DINrail For mounting C120F to DIN rail 500g 3G2A9 DINO1 attachment ON delay time 35 ms OFF delay time 55 ms ON delay time 15 ms OFF delay time 15 ms ON delay time 1 5 ms OFF delay time 1 5 ms The EPROM and RAM chips are optional Ordering information Index Abnormal symptoms 158 AC input unit A 4 A 7 AC DC input unit 5 A D conversion input unit 164 165 167 A D conversion input unit 167 ADD 91 AND BRANCH 55 AND WAIT 55 AND WORD 97 ANDW 97 ARITHMETIC SHIFT RIGHT ASR 103 ARITHMETIC SHIFT RIGHT ASL 104 ASL 104 ASR 103 Assignment of relay numbers 47 Automatic recovery 144 Auxiliary instructions C 2 Available peripheral devices 231 Available types 161 Basic instructions C 1 Battery 149 D 1 Battery compartment 3 BCD 99 BCD TO BIN CONVERSION 97 BIN 97 BIN TO BCD CONVERSION 99 BLOCKMOVE 117 BLOCKSET 118 Branch instruction flowchart processing 25 BRZ 100 BSET 118 Cassette deck connecting cable 231 Cassette interface 231 232 233 Central processing unit 1 CJP 65 CLC 117 CLEAR CARRY 117 CLEAR INTERRUPT CLI 86 CLI 86 CMP 90 CNR 68 COM 114 COMPARE CMP 90 COMPLEMENT COM 114 Concept of parallel control during sequence con
101. Because the remote l O master unit can be used as a primary station of the remote slave unit and an optical transmitting I O unit Type 3G5A2 XXX E as well a variety of system configurations are possible by using the master unit such as connecting the master unit to the optical transmitting I O unit s only or to a combination of the remote I O slave unit and optical transmitting 1 O unit s The remote I O master and slave units are capable of transmitting a maximum of 2 048 VO points at a transmission speed of 128 points per 16ms Specifications Transmission system Time division multiplexing cyclic system Communication 4 wire half duplex system method Transmisson speed Transmission delay 187 5K bps 128 points per 16 ms Polymer clad quartz core fiber optics Transmission line Line distance No of I Os that can be transmitted External RUN output 800 m max 2048 I O points max including special VO unit G6B SPST NO relay contact closed during RUN mode Contact capacity 250 VAC 2 A p f 1 24 VDC2A 5 750 mA max 5 V 550 mA max 500 g max Internal power supply Weight 500 g max Special 1 0 units Configuration tight Data Count AES Sorial System Se
102. Brief descriptions of some of the C120F s unique instructions are also included Chapter 4 to Chapter 7 These three chapters discuss the hardware of the programmable controller The discussion includes relay number assignment installation maintenance and troubleshooting Introduction Appendixes The many peripheral devices available to expand the C120F control System and provide valuable support services are introduced Also Covered are the basic and special instructions in programming as well as product specifications A comprehensive index is provided for easy reference Contents Chapter 1 Chapter 2 Chapter 3 Chapter 4 Chapter 5 Introduction to C120F Overview PC basics C120F components CPU rack Expansion I O rack input output unit Programming console System configuration Internal circuit configuration GQ MM Operating procedure 11 Control system design Flowchart programming concept 21 Fundamentals 22 Programming concept 32 Programing examples 44 Simulation test run program storage Assignment of relay numbers 47 Input output relays 47 Internal auxiliary relays 47 Holding relays 47 Link relays 47 Timers counters 48 Data memories 48 Special auxiliary relay functions 51 Free location concept Instructions 55 AND WAIT 55 ANDBRANCH 56 ORWAIT 57 OR BRANCH 58 TIMER WAIT 59 TIMER BRANCH 61 COUNTER WAIT 62 COUNTER B
103. CJP 64 Keypad 5 LABEL LBL 86 Language 21 LBL 86 LCD 5 LED indicators 3 LG and FG terminals 2 LG terminal 143 Link relay 46 B 3 List of error messages and alarm outputs 155 List of instructions C 1 Index Main power supply connection 17 Maintenance and inspection 147 Maintenance parts 148 MASK READ MSKR 87 Memory cassette for multisupport base 231 Memory cassette for printer interface 231 Memory error 155 Memory mounting 18 MLPX 123 Mode selector switch 5 Momentary power failure 144 Mounting dimensions 141 Mounting screws 5 MOV 88 MOVE 88 MOVENOT 88 MSKR 87 MSKS 85 MUL 95 MULTI OUTPUT TIMER 134 Multidigit preset counter 194 165 200 MULTIPLY 95 Multisupport base 231 232 233 MVN 88 Names of parts 162 Noise 142 Noise suppression measures 146 Noises on input output 146 ONE DIGIT SHIFT LEFT SLD 121 ONE DIGIT SHIFT RIGHT SRD 122 Operating procedure 9 Optical transmitting unit 200 Optional products D 1 OR WORD ORW 108 Ordering information D 1 ORW 108 OUT 65 OUTNOT 65 Output unit 158 A 8 D 1 Overview 1 Parallel control programming example 1 34 Parallel control programming example 2 35 PC basics 1 PC link error 155 Peripheral device 231 Index Peripheral device connector 3 Peripheral interface 231 232 233 Power terminals 2 Precautions on using high speed counter 196 Printer connecting cable 231 Printer interface 231 23
104. DC The 24 VDC supply voltage must be turned off at the same time or after turning off the 12 VDC supply voltage Specifications A Timing Data 0 Data 1 Data2 Data3 Data 4 Data5 Data 6 Data 7 STBO STB1 STB2 STB3 STB4 STBS STB6 STB7 C KX SS Se ee ee ee eee C C E OT CEE SS GD a A aa E GET d eee ims RE 4ms 32ms Data of contacts 0 to 7 of channel n are output as these pulses Specifications 1 0 number assignment to The terminal connections shown in the preceding section I O unit terminals specifications are when the I O unit is mounted on the UNIT 1 position top slot of the CPU or expansion I O rack The terminai connections are as follows when the I O unit is mounted on the UNIT 0 bottom slot position 32 point input unit 8G2A6 ID217 3G2A6 IM111 3G2A6 IM213 32 point output unit 3G2A6 0D412 Relay No Nth channel Terminal block No 1 th channel 121048 gt VDC 16 point 170 unit 3G2A6 1A121 3G2A6 1A222 3G2A6 ID112 AS Dal r 3G2A6 0C222 3G2A6 0C221 3G2A6 0D411 3G2A6 0A222 24 point output unit 9 TO m A lt Q O 4 o A 18 Specifications Dimensions CPU rack Expansion 1 0 rack 1 0 120
105. DM10 is indirectly addressed data 100 in DM10 specifies DM100 and the 16 bit contents of DM100 5678 are incremented by one The result of the increment operation 5679 is stored in DM100 For details refer to Compare instruction DECREMENT DEC 5 hard anon Flowchart The DEC instruction is used to decrement 4 digit BCD data by one 0100 DEG Coding chart 0101 DM10 l Address nstructi n 0100 DEC 61 0101 Contents of data VO r lay internal auxiliary relay 01060 Link relay Sa ia LRO to 31 Holdingrelay HRO to 31 Data memory pu H DMO to 511 Indirectly addressed data DMO0 to 511 Instructions When the DEC instruction is executed the specified 4 digit BCD data is decremented by one In the above program the 16 bit contents of DM10 are decremented by one and the result of the decrement operation is stored in DM10 If the result of the operation is 0000 special auxiliary relay 6306 is turned ON Data memory Data memory DM10 1234 DM10 1234 rr ep Cara e ere m e e po The CPU checks whether the data to be decremented is 4 digit BCD If not an error will occur this will cause special auxiliary relay 6303 to turn ON and the program to be not executed The only channels that can be indirectly addressed are data memories DMO to DM511 Ifthe contents of the indirectly addres
106. F by the 3 OUT instruc This relay serves as a load off flag If it is turned ON all outputs will be tion turned OFF and if this flag is turned OFF all outputs will continue 1 x10 When the FAL or FALS diagnositc instruction is executed the FAL No 01 to 99 is output in each of these relays x10 This relay turns ON when the battery in the CPU rack is abnormal Special auxili This relay is turned ON when the destination label for the indirect JMP Input only ary relay instruction is undefined or when a BCD error occurs in the label number This relay turns ON when the number of I O units mounted to the PC disagrees with that registered Cannot be used 2 This relay is normally ON This relay is normally OFF This relay is turned ON when an error occurs in the channel number of the data memories Cannot be used This relay is used to generate 0 1 second clock pulse This relay is used to generate 1 0 second clock pulse This relay is used to generate 1 0 minute clock pulse This relay turns ON when the result of an arithmetic operation is not output in BCD or when an error is detected in indirectly addressed data error flag This relay turns ON if a carry exists in the result of an arithmetic operation Input output carry flag This relay turns ON if the result when the Compare CMP instruction is executed is more than flag 6306 This relay turns ON if the
107. I Osaka Center Bldg 4 68 Kitakyutaro Higashiku Osaka 541 Japan Phone 06 282 2706 Fax 06 244 1909 Telex 522 2484 OMRONELCO OSAKA OMRON ELECTRONICS INC 1 East Commerce Drive Schaumburg IL 60195 U S A Phone 312 843 7900 Fax 312 843 7787 TWX 910 291 0426 OMRONELEC SHBU CARLO GAVAZZI OMRON G m b H Karl Hohmannstrasse P O Box 3505 4000 D sseldorf 13 Germany Phone 211 74860 Fax 49 211 7486149 Telex 8581890 OMRON ELECTRONICS H K LTD Unit 1605 6 Silvercord Tower 2 30 Canton Road Tsimshatsui Kowloon Hong Kong Phone 3 7233827 PBX Fax 3 7231475 Telex 41092 OMRON HX OMRON SINGAPORE PTE LTD 1298 Lorong 1 Toa Payoh 402 01 Singapore 1231 Phone 2556988 Fax 65 250 8245 Telex RS23403 OMRON TATEISI ELECTRONICS CO Taipei Branch 3rd FI Ming Huei Commercial Bldg No 164 Fu Hsing North Road Taipei Taiwan ROC Phone 02 715 3331 Fax 886 2 712 6712 NOTE Specifications subject to change withowt notice Authorized distributor Printed in Japan 1285 3M
108. IM CNTOto 127 Data memory DMO to 511 Indirectly addressed DMO to 511 Constant i 0000 to 9999 When the ANDW instruction is executed a logical AND operation is per formed between two 16 bit data In the above program the 16 bit contents of OCH are ANDed with the 16 bit contents of LR11 and the result of the AND operation is stored in DM12 If the result of the operation is 0000 special auxiliary relay 6306 is turned ON 107 Instructions OR WORD ORW Flowchart 0100 ORW 0101 0 0102 LR11 0103 DM12 108 VO relay Link relay Data memory OCH LR11CH DM12 0000 2 1 hl wisa 0001 2 o 2 0 0002 2 o 2 0003 25 1 22 0004 2 i 2 0005 2 0 2 0008 2 0 2 0007 27 27 0008 2 2 0009 2 0 22 0010 2 o 2 0011 2 1 2 0012 2 1 2t 0013 2 0 2s 0014 2 0 z 9015 2 17 2m The only channels that can be indirectly addressed are data memories DMO to DM511 If the contents of the indirectly addressed area are other than BCD data or greater than the maximum data memory channel an error will occur this will cause special auxiliary relay 6303 to turn ON and the program to be not executed For details refer to Compare instruction 5 datat data2 result channel The ORW instru
109. LROOCH to 31CH HROOCH to 31CH TIM CNTOOO to 127 DM000 to 511 DM000 to 511 Constant 000 to 9999 9 Same as MOV MUL This instruction is used to perform BCD multi 55 plication of channe data by another channel data or a constant S D D LSB MSB DIV FUNSG This instruction is used to perform BCD division of channel data by another channel data or a constant S S D Remainder D 1 Csi J s2 Same as ADD 57 to 59CH LROOCH to 30CH HROOCH to 30CH DMOOO to 511 DMOOO to 511 BIN This instruction is used to convert BCD data FUNS7 BCD FUNSS BRZ FUNS9 into BIN data 8 BCD BIN This instruction is used to convert BIN data into BCD data s D BIN BCD LABEL NO This instruction causes the program execution to jump to a specified label if the contents of a em specified channel are 0 s to 63CH LROOCH to 31H HROOCH to 31H TIM CNTOOO to 127 DM000 to 511 DMOOO to 511 Of these two instructions only the BIN instruction can use the timers or counters 51 CH 00CH to 63CH LROOCH to 31CH HROOCH to 31CH DM000 to 511 This instruction is used to increment specified INC FUNGO BCD channel data by one D gt D DEC FUN61 This instruction is us
110. O units actually mounted dis agrees with those registered by means of a free location concept Relay No 6113 This relay is normally ON Relay No 6114 This relay is normally OFF Relay No 6115 This relay operates if an error occurs in the channel number of a data memory when expansion data memories are used Relay No 6300 This relay is used to generate a 0 1 second clock When used in conjunction with a counter it functions as a timer for memory retention during a power failure The ON time of a 0 1 second clock is 50 ms Therefore if too long a time is required for program execution the CPU may fail to read the clock 50 Assignment of relay numbers Relay No 6301 This relay is used to generate a 1 second clock When used in conjunction with a counter it functions as a timer f r memory retention during a power failure or as a long time timer Relay No 6302 This relay is used to generate a 1 minute clock When used in conjunction with a counter it functions as a timer for mernory retention during a power failure or as a long time timer The relay output can also be used as a cycle time signal Relay No 6303 This relay operates ON when the result of an arithmetic operation is not output in BCD or when an address higher than 511 is specified in indirectly addressing the data memory Relay No 6304 This relay serves as a carry flag and op
111. ON when the present count value is greater than set count value the set count value Present count value Turns ON when the present count value coincides with set count value the set count value This relay is turned OFF by the coincidence reset relay or an external reset signal Present count value lt Turns ON when the present count value is less than the set count value set count value Present count value Present count value 000000 to 999999 ata On power application ali the relays are turned OFF Special I O units Assignment of relay numbers 1 n2 CH nth 3 CH x10 count value Counter preset Preset data 1 Carry Present count data 1 Set count value pre Preset data 2 Borrow Present count data 2 set Count gate Preset data 4 Present count value gt set Present count data 4 UP DOWN count command Preset data 8 count value Present count value set Present count data 8 ad Carry reset Preset data 1 Present count value lt set Present count data 1 x10 count value Borrow reset Preset data 2 Normally ON Present count data 2 Coincidence reset Preset data 4 Normally ON Present count data 4 Output enable Preset data 8 Normally ON Present count data 8 Preset data 1 x10 Preset data 1 x10 Pres
112. OO ANDO satisfied if YES The program execution proceeds to the next step if any of BIOTCANDNOT 1 Bic of these conditions is not satisfied if NO ofos AND 10 if the labe specified by the CJP instruction is not found in the program all 0106 lt YES LBE100 the output relays will be turned OFF and the CPU will hait NO 0201 0107 OUT NOT 200 OUT 200 i 55 Instructions OR WAIT Flowchart 0100 0101 0105 0106 0107 56 OR ORNOT OR WAIT 10 war _ OUT 200 i n number of inputs Coding chart AND AND NOT AND CJP LBL OUT NOT LBL OUT Use AND for NO contacts and AND NOT for NC contacts Contents of data um e LR 3115 Holding y LEE Timer K Because to DMS11 are for channel data storage the data in this area cannot be handled by an AND BRANCH instruction CNT instructions cannot be used in combination with AND or OR instruction Label numbers for use with the CJP instruction are 0 to 1023 decimal An OR WAIT instruction consists of a series of OR or OR NOT instructions for the specified number of input signals with a WAIT instruction written at the end of the series This instruction causes the program execution to wait until one or more of the conditions for the specified input signals are satisfied at which time the program execution proceed
113. OUTPUT INPUT lt Operating procedure Memory mounting Earlier we have decided the memory capacity necessary for our example and therefore we should mount the memory in the programmable controller In the case of C120F two types of memories RAM H equivalent to 6264 and ROM H equivalent to 2764 are available Select the one suited to your application and then mount it observing the following procedure 1 Remove the mounting screws from the terminal blocks to detach the terminal blocks from the CPU rack 2 Remove the screws from the cover of the CPU rack to detach the cover 3 Now several printed circuit boards are visible The one having a battery connected to it is called the CPU board 3G2C4 CPUA1 1 Pull out this CPU card from the CPU rack Terminal blocks 4 Onthe CPU card an IC socket is mounted as shown below Mount the memory chip on this IC socket 5 Inthe vicinity of the IC socket there is a jumper This jumper must be set according to whether the RAM H or ROM H is mounted Short circuit this jumper as illustrated Operating procedure PERIPHERAL connector 3G2C4 CPUAI 1 RAM H or ROM H el Insert here Jumper setting b ERA a When RAM H is mounted Weir u a When ROM H is mounted Chapter 3 Flowchart programming concept Fundamentals Language SYSFLOW The
114. RANCH 65 OUT OUT NOT 65 JUMP JMP CJP 67 SHIFT REGISTER SFT 68 COUNTER RESET CNR 69 GROUP NUMBER GN 70 GROUP START GS 70 GROUP END GE 71 GROUP PAUSE GP 71 GROUP RESTART GR 71 GROUP OFF GOFF 72 GROUP CONTINUE GC 72 GROUP JUMP GJ 74 TIMER START TS Contents 76 SUB ROUTINE NUMBER SBN SBS 77 RETURN RET 77 SUBROUTINE START SBS 77 SUBROUTINE TEST SBT 78 DIAGNOSTIC FAL FALS 80 REPEAT RPT 82 INTERLOCK IL 83 INTERLOCK CLEAR ILC 84 DIFFERENTIATION UP DIFU DIFFERENTIATION DOWN 85 DIFU DIFD BRANCH 85 INTERRUPT MASK MSKS 86 CLEAR INTERRUPT CLI 86 LABEL LBL 87 RETURN RTI 87 MASK READ MSKR 88 MOVE MOV and MOVE NOT MVN 90 COMPARE CMP 91 ADD ADD 93 SUBTRACT SUB 95 MULTIPLY MUL 96 DIVIDE DIV 97 BCD TO BIN CONVERSION BIN 99 BIN TO BCD CONVERSION BCD 101 ZERO JUDGE BRZ 102 INCREMENT INC 103 DECREMENT DEC 104 A ARITHMETIC SHIFT RIGHT ASR 105 ARITHMETIC SHIFT RIGHT ASL 106 SQUARE ROOT ROOT 107 AND WORD ANDW 108 OR WORD ORW 109 EXCLUSIVE OR WORD XORW 110 EXCLUSIVE OR NOT WORD XNRW 112 ROTATE RIGHT ROR 113 ROTATELEFT ROL 114 COMPLEMENT 115 NORD SHIFT WSFT 117 SET CARRY STC CLEAR CARRY CLC 117 BLOCK MOVE XFER 118 BLOCK SET BSET 120 EXCHANGE XCHG 121 ONE DIGIT SHIFT LEFT SLD 122 ONE DIGIT SHIFT RIGHT SRD 123 4 0 16 DECODER MLPX 127
115. ROOCH to 31CH 65 specified by using the contents of a specified DM000 to 511 channel or data memory as a label This instruction shifts data in two adjacent PUT DAT INPUT DATA xx a al channels by 1 bit and places input data in the INFUT DATA LSB 0000 to 6315 Link relay LROOOD to 3115 67 SFT Bie e S Holding relay HR0000 to 3115 Input l sg MSB CH 00 to 60 CH daia UA LROO to 31 CH Bbits bits HR00 to 31 CH This iastruction causes the present value of a E RELAYNO ecified timer or counter to be reset while the RELAY timer or counter is in operation i e to return to TIM CNTOOO to 127 the initial value set by the program CNR CNR This instruction causes the data or present value in H ENR s adjacent two areas such as two CH DM TIM or cn GOGH iS SICH 68 cH CNT areas to be reset HROOCH to 31CH TIM CNTOOO to 127 DMOOO to 511 List of instructions Instruction Mnemonic Operand Function Remarks This instruction is used at the end of the AND OR TIM CNT DIFU DIFD or SBT instruc tion so that these instructions can be used as wait instructions This instruction is used at the end of the AND OR TIM CNT DIFU DIFD or SBT LABEL N instruction so that these instructions can be Oto 1023 used as branch instructions This instruction is used to identify the begin ning of the program specified by the JMP CJP BRZ or RPT instruction to
116. S instruction which is described next the required number of times A subroutine allows the number of words in the program to be reduced A maximum of 32 subroutines can be registered The SBN instruction indicates the beginning of a subroutine and is written at the beginning of a program that is used frequently and thus should be used as a subroutine Coding chart Instruction Data 0100 SBS 32 Program 0120 SBS 32 0 Program SBN 31 0 Subroutine RET 33 Instructions RETURN RET SUBROUTINE START SBS SUBROUTINE TEST SBT Because the decides to ex ecute another operation YES 1100 ethe gram for data itializati decides to wait Dueb ne ar Initialization handling panes until the execu group the CPU program e quired before ton of the sub quired before subroutine pro cessing C ES subroutine number where subroutine number 0 to 31 This instruction indicates the end of a subroutine and is used in pairs with the SBS instruction FUN d subroutine number This instruction causes the execution of the specified subroutine to start When the SBS instruction is executed the CPU executes the subroutine registered using a subroutine number When the execution continues up to the RET instruction it returns to the step next to the SBS instruction in the original program If the specified subroutine n
117. Special I O units Note Insert the A D conversion input unit to the upper slot of an expansion I O rack when mounting the unit to the SYSMAC C120F To mount the unit to the SYSMAC C120F use Type 3G2C4 S1025 or 3G2C4 1026 167 Special I O units Block diagram Input failure detection input range setting circuit circuit Bus interface Isolation Input uu Resis 3 tance 99 Line 1 E Input gt Shield d 5 s Input 5 Resis d 3 tance a Line2 lt a Input Shield E 3 poe ieee 3 gt Input z E I Resis E 1 tance I Line 3 l Input O Shield 2 l 1 Input 3 1 o I Resis 2 tance E Line4 1 I I input l 1 l i I Shield Isolation l I Analog 0 V Analog 5V oe eee ee Eo 2 Power supply DC DC converter T analog input 1 The circuitry for these two lines are not provided to the 2 channel type A D conversion input unit 2 The input failure detection circuit is not provided to the 4 channel type A D conversion input unit Note input failure is detected by only Type 3G2A6 AD001 1 to 5 for voitage input or 4 to 20 mA for current input 168 Special I O units External connection diagram 2 channel type Connection for voltage input 1 When the signal is a common mo
118. The only channels that can be indirectly addressed are data memories DMO to DM511 If the contents of the indirectly addressed area are other than BCD data or greater than the maximum memory channel an error will occur this will cause special auxiliary relay 6303 to turn ON and the program to be not executed For details refer to the Compare instruction divisor dividend result channel The DIV instruction is used to execute BCD division between two specified 4 digit BCD data This instruction uses two channels 16 bitsx2 for the result area of the arithmetic operation Coding chart Contents of data VO relay internal auxili Oto 63 01059 relay Link relay LRO to 31 LRO to 30 Holding relay HRO to 31 HRO to 30 Timer counter TIM CNTO to 127 Datamemory DMO to 511 DMO to 510 Indirectly addressed DMO to 511 Constant 0000 to 9999 When the DIV instruction is executed 4 digit BCD division is performed Two channels are required for the operation result area In the above program the 16 bit contents of OCH 0 to 15 are divided by the 16 bits of LR20CH LR2000 to LR2015 in units of four BCD digits and the result of the division is output to the two 16 bit channels HR21CH and HR22CH HR2100 to HR2215 If the result of the division is 0000 special auxiliary relay 6306 is turned ON Instruc
119. This instruction is used to perform an exclusive logical NOR operation in units of channels between specified channel data and another channel data or a constant S S gt D ROR FUN69 ROL FUN70 COM FUN71 WSFT FUN94 This instruction is used to rotate to the right the bits of a specified channel including the carry This instruction s used to rotate to the left the bits of a specified channel including the carry EH This instruction is used to invert the bits of a specified channel D gt D This instruction is used to shift data in units of channels Remarks Same as MOV v Same as MOV Same as MOV e Start channel lt End channel The start and end channels must be within the same relay area STC 0 95 CLC FUN96 This instruction is used to reset the carry to 0 0 cv BLOCK TRANS FER XFER FUN72 No of words This instruction is used to transfer a series of specified channel data to specified channels No of words EH No of words 0000 to 4095 Ls Same as BIN instruction BLOCK SET BSET FUN73 This instruction is used to set the same data ina series of specified channels Data Sameas S of MOV
120. UT 83 Instructions Coding chart for DIFD Instruction Data DIFD 41 WAIT QUT Contents of data Output relay internal auxiliary relay 0 to 6315 Link relay LRO to 3115 Holding relay HRO to 3115 DIFU DIFD BRANCH Flawchart for DIFU BRANCH When the DIFU or DIFD BRANCH instruction is executed the program execution jumps to the destination specified by a label at the leading or the trailing edge of the specified I O relay If the state of the I O relay remains unchanged the program execution proceeds to the next step Coding chart for DIFU BRANCH 0300 DIFU 40 2 0301 14 0302 CJP LBL 0303 OUT NOT 0400 LBL OUT 0800 0501 s 0502 YES Coding chart for DIFD BRANCH LBL200 0503 OUT NOT 103 Instruction DIFD 41 i 0601 Tm OUT 103 CUPIB 500 H OUT NOT 103 LBL 200 OUT 84 Instructions INTERRUPT MASK MSKS Flowchart i 0100 CuI 0 0101 0081 __ 0200 MSKS 0 0201 FOOAS A Differentiation instruction is detected at the leading or trailing edge of a specified I O relay K 7 Start of operation Differentiation instruction LI LLLI execution timing ON OFF state of I O relay 15 Detection at DIFU execution No Yes No Yes No B interrupt unit number data The interrupt inputs
121. ag is set and the program execution DM000 to 511 jumps to a specified label 59 LABELNO 0 1023 DOWN timer COUNTER This instruction causes a specified counter to COUNTER NO J CNT TNT count in a descending order the inputs to a COUNTER NO 61 WAIT s PUT RELAY specified relay and the program execution to wait Constant 0 to 9999 L Dwar until the set value reaches 0 Externally set to 63CH ENT EGUNTER NO This instruction causes a specified counter to ys count in descending order the inputs to DM000 to 511 GNT INPUT RELAY specified relay and the program execution to BRANCH proceed to the next step until the set value reaches 0 When the set value reaches 0 the count INPUT RELAY up flag is set and the program execution jumps to 0000 62 en to 6315 ica labat Link relay LROOOO to 3115 Holding relay HROO00 10 3115 LABEL 0101023 DOWN counter OUT IT RETAY NO This instruction causes a specified relay to turn p i netavwo ON or OFF RELAY NO OUT 0000 to 6015 and 6304 65 Link relay LR0000 to 3115 L Holding relay HR0000 to 3115 ame LABEL NO This is a direct jump instruction that causes the LABEL NO program execution to jump to any destination LABELNO 0101023 65 k specified by a label 00CH to 63CH JMP IMP JP CH This is an indirect jump instruction that causes the LROOCH to 31CH program execution to jump to a destination H
122. al in DM20 Sans specifies DM21 and the contents of DM21 are compared with the 4 digit constant F678 16 bits ADD ADD 5 e 5 s addend augend resuit channel Flowchart The ADD instruction is used to execute the addition between two specified 4 digit BCD data 0100 0101 0102 0103 When the Clear Carry CLC instruction is executed the carry flag special auxiliary relay 6304 is cleared Coding chart 91 92 Instructions Contents of data Addend augend Result CH VO relay internal auxili ary relay Link relay LRO Holding relay HRO Timer counter TIM CNTO to 127 Data memory DMO Indirectly addressed DMO Constant 0000 to 9999 When the ADD instruction is executed addition of a 4 digit BCD data to a 4 digit BCD data including a carry 6304 is performed If the result of the addition is 0000 special auxiliary relay 6306 is turned ON and if there is a carry in the result 6304 is turned ON In the above program the 16 bit contents of OCH 0000 to 0015 are added in units of four BCD digits to the 16 bit contents of the 4 digit constant 1234 including a carry 6304 and the result of the addition is output to the 16 bit channel LR21CH LR2100 to LR2115 If there is a carry in the result 6304 is turned ON and if the result of the addition is 0000 6306 is turned ON VO relay Contents of OCH LR21CH LR2100
123. alue is synonymous with preset data 187 188 Special I O units Note Function of relays The following signals are input to the high speed counter unit from the programmable controller Name of relay Counter preset c Function Presets the data set as a preset data to the counter in other words modifies a currently set value Presets data set as a preset data to the set count value memory Controls starting and stopping the counter When this relay is turned ON the counting operation starts and when it is turned OFF the counting operation stops On power application the count gate relay specifies that the counting operation is stopped Set count value preset Count gate UP DOWN count command Specifies the up count or down count operation by the user program when the high speed counter unit is in the command input 1 mode When this relay is turned ON the down count operation is specified When it is OFF the up count operation is specified On power application the up count command is given Resets the Carry signal of the counter Oncethe Carry signal has been reset it will not be set again until the count gate relay is turned ON and a counting operation is performed Resets the Borrow signal of the counter Once the Borrow signal is reset it will not be set again until the counter gate relay is turned ON and a counting op
124. and CH5 are Set value 654321 is set 9002 transferred to auxiliary relays CH50 and 654321 consists of 10 50 CHS1 respectively 305 OR 5000 OR 5001 Borrow OR 5003 Present value Set value Internal counter is cleared CJP LBL 101 JMP LBL 100 Count gate ON Count data on 4CH and 5CH are transferred to auxiliary relays 50CH and 51CH respecitvely Waiting for carry bor row or present value set value flag Is any of them ON Continued on next page 192 Special I O units Programming examples Double preset counter In this example two count values 052200 and 112300 are processed with a double preset counter The counter unit is assigned to Channel Nos 2 to 5 of the CPU Channel No 34 is an auxiliary relay aiting for START input ON Counter preset com mand ON Present count value is set Counter preset com mand OFF Set value preset com mand OFF Set value is set Set value preset com mand OFF Count gate ON Counter data is trans ferred to the CPU ls flag ON NO YES Coincidence reset ON Setvalue preset ON Set value is set Set value preset OFF 1st stage coincidence processing Counter data is trans ferred to the CPU YES 2nd stage coincidence processing AND START input WAIT MOV 0071 2 MOV 0000 3 OUT NOT 200 OUT 201 MOV 0522 3 MOV 0004
125. ange is 90 45 189 Special I O units Timing charis of carry borrow and coincidence signals Carry signal Carry Carry reset The level of the carry signal becomes high when the present count value of the counter changes from 999999 to 000000 This high level will be retained until the level of the carry reset or external reset signal becomes high Borrow signal Present count value 000001 X 000000 X 999999 X 999998 000001 000000 999999X 999998 X 999997 Borrow ee Borrow reset E The level of the borrow signal becomes high when the present count value of the counter changes from 000000 to 999999 This high level will be retained until the level of the borrow reset or external reset signal becomes high Coincidence signal Present count value 000519 X 000520 X 000521 000522 X 000523 eren came 001124 Set count value preset data 001123 001123 Coincidence Coincidence external output Output enable Coincidence reset The level of the coincidence signal becomes high when the present count value of the counter coincides with the set count value This high level will be retained until the level of the coincidence reset or external reset signal becomes high The coincidence signal is not output until the level of the output enable signal becomes high 190 Special I O units Programming examples Dou
126. art and end channels by four bits to the right 0100 SRD ds 0101 Start Coding chart 0102 DM11 Endi 0100 SRD 76 0101 DM10 0102 DM11 Contents of data 0to 60 LRO to 31 HR01031 DMOto 511 Data memory 5 Indirectly addressed data lt DMO to 511 When the SRD instruction is executed data between the start and end channels are shifted by four bits to the right In the above program the contents of DM10 to DM11 are shifted by four bits 1 bit x 4 times to the right In this case 0 is inserted as the last digit of the end channei 122 Instructions 4 0 16 DECODER MLPX Flowchart Data memory Data memory Data memory Data memory DM 10 DM11 DM10 DM11 L2 2 2 2 Result of 2 execution 2 27 _ gt 2 2s 729 2 LEES 25 et v 2 0 4123 0123 The data shifting takes place from the most significant digit of the end channel to the least significant digit of the start channel The data area for the SLD instruction is specified by a start channel number and an end channel number both of which can be determined freely provided these conditions are satisfied Start channel number End channel number Both channels must be within the same data area If these data conditions are not satisfied an error wil
127. ary LRS The only channels that can be indirectly addressed data memories to 511 If the contents of the indirectly addressed area are other than BCD data or greater than the maximum data memory channel an error will occur this will cause special auxiliary relay 6303 to turn ON and the program to be not executed For details refer to Compare instruction COMPLEMENT COM ps channel number Flowchart The COM instruction is used to invert 16 bit data The COM instruction J requires two addresses for programming 0100 COM 0101 DM10 Coding chart 0100 CMP 71 0101 DM10 n Contents of data VO relay internal auxiliary relay Oto 60 Link relay 222 LROto31 Holding relay gt 77 4 HROto31 Data memory gt DMO to 511 Indirectly addressed data DMO to 511 114 Instructions WORD SHIFT WSFT Flowchart 0100 0101 0102 0103 Start channel End channel When the COM instruction is executed the 16 bit data in the specified data memory is inverted In the above program the 16 bit contents of DM10 are inverted and the result of the COMPLEMENT operation is stored in DM10 If the result of the operation is 0000 6306 is turned ON Data memory DM10 HERE 3 c EE T O The only channels that can be indi
128. ary relay 6012 is turned ON the present values of the timers are retained during the power failure The timers will resume the operation from the retained value when the power is restored There are two types of timers whose values can be set by the TIM instruction The value of one type timers 0 to 117 is set in units of 0 1 second whereas that of the other timers 118 to 127 can be set in units of 0 01 second TIM10 0128 TIM120 0128 128 0 1 5 128 s 128x0 01s 1 28s Since the data in all the relay areas are retained when the data retention flag is turned ON reset unnecessary relays by the CNR instruction Externally set timer data Externally set timer data must be in four BCD digits and the CPU checks whether it is or not If it is not special auxiliary relay 6303 is turned ON indicating an error In this case the program can still be executed but the time up operation may not be accurate External time setting In this example a value i e 581 4 seconds is set in timer 011 by an external time setting device connected to channel 01 of the input unit Instructions input unit External time setting device X10 x10 x10 x10 TIM 1 If DMO is specified as the second word of a TIM instruction the set time of the timer will be the content of the data memory TIM 10 DM50 X103 X10 Y 10
129. at can be indirectly addressed data memories DMO to DM511 If the contents of the indirectly addressed area are other than BCD data or greater than the maximum data memory channel an error will occur this will cause special auxiliary relay 6303 to turn ON and the program to be not executed For details refer to Compare instruction 105 Instructions SQUARE ROOT ROOT Flowchart l 0101 7 106 channel number result channel The ROOT instruction is used to compute the square root of 8 digit BCD data This instruction requires two channels 16 bitsx2 as the arithmetic operation area Coding chart ROOT 64 Contents of data Converted CH Destination CH 10 relay internal auxili 0 to 62 01060 ary relay Link relay i LRO to 30 LRO to 31 Holding relay HROto30 HRO to 31 Sfimercounter lt TIM to 127 Data memory DMO to 510 to 511 Indirectly addressed DMO to 511 When the ROOT instruction is executed the square root of a BCD 8 digit integer is computed In the above program the square root of BCD data 16 bitsx2 in DMO and DM1 is computed and the result 4 digit BCD integer is output to O1CH 16 bits If the result is 0000 special auxiliary relay 6306 turns ON Only a 4 digit integer is output as a result data and a fraction is rounded off at the decimal point
130. ata TMS 30 lt tr gt YES LBL200 NO Instructions Contents of data I O relay internal auxiliary relay Oto 63 Link relay LROto 31 Holding relay HROto 31 Data memory E DM0to511 Constant 0000 to 9999 The TMS instruction is used to start a timer This instruction functions as follows the same as when the TIM BRANCH instruction is programmed TMS 000 10K Other than the above the TMS instruction functions the same as the TIM instruction TMS numbers are shared by the TIM and CNT numbers There are two types of timers whose values can be set by the TMS instruction The value of one type timers 0 to 117 is set in units of 0 1 second whereas that of the other timers 118 to 127 can be set in units of 0 01 second Instruction TIM10 0128 TIM120 0128 Time up 128x0 1s 12 85 128x0 01s 1 28 s 75 Instructions SUBROUTINE NUMBER SBN SBS 76 subroutine number where subroutine number 0 to 31 Flowchart Programs are executed in the order of 1 2 7 Ifthe same sequence of instructions is used over and over again in a program it may be placed between this instruction and the RET instruction to be explained later This portion of the program between the two instruc tions is called a subroutine A subroutine can be executed as many times as required by executing the SB
131. ated as the digit as the number of digits and 1 as the destination channel MSB LSB Conversion data CH Destination CH Example 2 When 2 is designated as the digit 2 as the number of channels and O as the destination channel Conversion data CH Destination CH Destination CH 1 1 0 2 2 La CN TS LR LS ojojojo This table shows the relation between the input data and output data Instructions nversion 22 22 21 2 h xade Input data for eg 0011111 0000011 0101101 0100111 011001 011011 011111 001001 011111 011011 011101 01111100 00111001 01011110 01111001 01110001 o Bc Doct va l va l ra lra lra lra la lelelelelelel e Fa D a ra lra lelelelelra lra ojojo 2 ojol i Jojlo io o o tu cjo j9 vioj jojo sie mw lo 2 ol oj j joj o joj lo loi 7 The destination channel to which the converted 8 bit data is to be transfer red must be within the same relay area as the channel at which the data conversion is performed For example if the SDEC instruction is pro grammed as follows the channel that conveys and stores digit 1 does not exist As a result special auxiliary relay 6303 will turn ON and the SDEC instruction will be processed as NOP SDEC DM100 0120 LR 31 DM100 LR3
132. bers 0 to 3 denote remote I O expansion cable numbers 156 Maintenance and inspection Failure code Turn ON power of remote I O Short circuit START input terminals Apply power again Set mode selector switch to PROGRAM position and turn off power Check program 6108 ON F1 Check RAM or ROM unit for correct mounting Correct lt gt in program After correction error reset operation must be performed C0 to C3 Check bus line between CPU and I O unit Confirm secure mounting of VO unit or I O before power application E1 Confirm I O channels by reading I O table and then reassign I O channels After reassignment generate I O table EQ Confirm I O channels by performing verify operation and then reassign VO channels After reassignment generate I O table 110 99 Check program F2 Check program F3 Check program F4 Check program 6112 ON to B3 Check transmission line between CPU and remote l O slave unit Check remote I O slave station for normal operation 6110 ON Confirm I O channels by performin 15 verify operation and then reassign O channels i After reassignment generate I O ta 1to 99 Check program Check whether battery is correctly inserted in battery socket Replace battery with new one 6111 ON Refer to user s manual for computer link unit
133. ble preset counter In this example two count values 052200 and 112300 are processed with a double preset counter The counter unit is assigned to Channel Nos 2105 of the CPU Channel No 34 is an auxiliary relay aiting for START input ON Counter preset com mand ON Present count value is set Counter preset com mand OFF Set value preset com mand OFF Set value is set Set value preset com mand OFF Count gate ON Counter data is trans ferred to the CPU YES Coincidence reset ON Set value preset ON Set value is set Set value preset OFF 1st stage coincidence processing ferred to the CPU AND START input WAIT ne MOV Carry borrow coincidence reset and count 0071 er preset commands are turned ON and MOV 2 present count value 00 is preset 0000 Present count value 0000 is set 0000 3 consists of 10 to 10 OUT NOT 200 OUT 201 Set value preset command ON MOV Set value 0522 is set 0522 consists of 10 to 0522 T5 3 MOV Set value preset carry borrow and coinci 9004 dence reset commands are turned OFF and LBL 100 count gate is turned ON XFER 0002 Data of the counter unit on 4CH and 5CH are 4 transferred to auxiliary relays 34CH and 34 35CH respectively ANDNOT 3403 CJP LBL 100 Present value Set value flag is checked OUT 206 OUT 201 MOV Set value 1122 is set 1122 consists of 10 1123 et value is set
134. ce with a CNR instruction counter number set count value count input where counter number 0 to 127 set count value 0000 to 9999 counts count input 0 to 6315 LRO to 3115 or HRO to 3115 Flowchart 0100 ONTO GR Counter number Set count value i i Count input ii instruction Branch instruction LBL100 200 YES NO 0201 ourNor 20 our I Instructions A CNT BRANCH instruction consists of four words a counter number a set value a count input and a CJP Conditional Jump instruction This instruction causes the specified count value to be set in the specified counter The set value of the counter is decremented at the leading edge of each count input signal When the set count is not yet up the program execution proceeds to the next step When the set count is up the program execution jumps to the specified label in the CJP instruction If the label specified by the CJP instruction is not found in the program all the output relays will be turned OFF and the CPU will halt Coding chart aes sion 7 oo OUT NOT o pour 200 Contents of data VO relay internal auxiliary relay Oto 63 Link relay LRO to 31 Holding relay 3 HR0 to 31 Datam mory 11 DMO to 511 Constant gt Tui 0000 to 9999 If a counter whose set count value has not been up is re
135. conditions and should be inspected periodically The standard inspection cycle is 6 months to 1 year More frequent inspections may be called for depending on factory condi tions If the C120F is found to be outside the criteria shown in the following table corrections should be made so that the criteria are met Particulars of inspection Criteria 1 Is the rated voltage available when measured at the termi Supply voltage must Voltmeter Voltage block of the CPU rack be within rated oper 2 Fluctuation ating voltage range LEUR 2 Does a momentary power failure occur frequently or is there The supply voltage any sharp rise or drop in the supply voltage must be within the rated operating vol 1 tage range Are the temperature and humidity within the required range 1 0 to 55 C Thermometers When the PC is installed in a control panel the temperature within 2 35 0 85 RH hygrometers the panel may be regarded as the ambient temperature of the PC 3 Must De free from vibration 4 Must be free from dust En unit power Is the supply voltage including its fluctuation within the rated Mustconformtothe Voltmeter Source operating voltage range when measured at the terminal block of voltage specification 1 Voltage each l O unit of each I O unit 2 Fluctuation 4 T Mounting condi 1 Are the CPU and UO units attached firmly T
136. ction is used to perform a logical OR operation between two specified data 16 bits each Coding chart instruction 0100 ORW 66 0101 0102 Contents of data Data Tand2 Result CH VO relay internal auxili aryrelay E Link relay LRO Holding relay HRO Timer counter TIM CNTO to 127 Data memory DMO Indirectly addressed DMO Constant 0000 to FFFF When the ORW instruction is executed a logical OR operation is performed between two 16 bit data In the above program the 16 bit contents of OOCH are ORed with the 16 bit contents of LR11 and the result of the OR operation is stored in DM12 If the result of the operation is 0000 special auxiliary relay 6306 is turned ON Instructions EXCLUSIVE OR WORD XORW Flowchart 0100 XORW 0101 0 0102 LR11 0103 DM12 VO relay Link relay Data memory LR11CH DM12 0000 ey 2 Iu oc 2 0 2 000212 O 2 0003 2 0 2 004 24 EN 24 0005 22 0 2 0006 2 RE 2 0007 27 0 2 0008 2 EH 28 0009 2 0T 2 0010 2 uU 2 foo 2 0 2n 0012 2 EB 2 0013 2 9 2 o 0014 25 17 gu S 0015 2 6 8 The only channels that can be indirectly addressed data memories DM000 to 511 If the contents of the indirectly addressed area
137. cution is temporarily suspended by the GP instruction the group program will b executed the specified number of times on restarting the program execution When a power failure occurs during the execution of the RPT instruction the group program can be executed the specified number of times To do this special auxiliary relay 6012 must be turned ON before the power failure and the GC instruction must be executed after recovery of the power The repetitious program execution is resumed if the GS instruction is executed however the execution starts from the initially set value When the GE instruction is executed the remaining number of repetitions i e present value returns to the initial value If another GS instruction is executed in the group program whose execution has already started the CPU regards the second GS instruction as a NOP instruction and executes nothing The number of repetitions therefore will not return to the initial value Totally the program is executed once more than the specified number of times 81 Instructions 0100 LBL 100 Program A If the number of times is specified as two the execution of program A will be repeated three times Before the first execution of the RPT instruc tion Program A is executed for the first time The CPU jumps to label 100 on execution of the RPT instruction Following the execution of Program A the RPT instruction is
138. d destination FUN 5 7 channel The BIN instruction is used to convert 4 digit decimal data into 16 bit binary data and to output the converted data to the specified channel If the converted data is 0000 special auxiliary relay 6306 is turned ON Coding chart Address instruction BIN 57 97 98 Instructions Contents of data Converted CH VO relay internal auxili ary relay F Linkrelay LRO to 31 Holding relay HRO to 31 Timer counter_ TIM CNTO to 127 memory DMO to 511 Indirectly addressed DMO to 511 When the BIN instruction is executed 4 digit decimal data in the specified channel is converted into 16 bit binary data In the above program the 16 bit contents of the 4 digit decimal data in OCH 0 to 15 are converted into 16 bit binary data then output to the 16 bits of HR20CH HR2000 to HR2015 Holding relay HR20CH 0 2 0 2 0 x10 2 _0002 17 2 HR2002 0 2 0003 0 2 HR2003 0 5 _00041 1 2 HR2004 0 eu 2 Beas on 2 0 2 2006 07 2 27 HR2007 0 29 2 2008 o 2 2 2 2 XU aeneae 2 2 HR2011 2 2 HR2012 2 T 251 HR2013 2 2 HR2014 22 2 HR2015 The result of the conversion will be HR20CH 0 6306 1 HR20CH 0 6306 0 The CPU will check whether
139. d by OUT instructions will be turned OFF on execution of the GOFF instruction Flowchart YES LBL100 0103 OUTNOT 200 0104 JMP LBL 50 0201 Direct jump The JMP instruction causes the program execution to jump directly toa destination specified by a label Indirect jump If 0 is specified to the JMP instruction the CPU refers to the externally set label If DMO is specified the label will be the contents of the specified data memory 65 66 Instructions Coding chart OUTNOT JMP LBL LBL OUT Contents of data 7101063 to 31 HRO to 31 DMO to 511 ys LBLO to 1023 VO relay internal auxiliary relay Linkrelay DEED Holding relay Data memory Externally set value or the data memory contents must be specified in BCD The CPU checks whether the externally set value or the data memory contents are specified in BCD If an error is found during the BCD check special auxiliary relays 6303 and 6109 are turned ON and the indirect jump instruction is treated as a NOP instruction If the specified label is not found in the program the load is turned OFF and the CPU will halt JMP 7 Input unit X10 x10 e e x10 X107 X10 10 Cows T T T T TL TEI LT Instructions In case the label specified in the indirect jump instruction is not fou
140. d to Channel Nos 2 to 5 of the CPU Channel No 34 is an auxiliary relay AND START input WAIT MOV Carry borrow coincidence reset and count 0071 er preset commands are turned ON and ng 2 present count value 00 is preset 0000 Present count value 0000 is set 0000 3 consists of 10 to 102 OUT NOT 200 OUT NOT 206 1ststage coincidence processing LBL 200 mand OFF OUT 201 Set value preset command ON mand ON MOV 0522 Set value 0522 is set 0522 consists of 10 to x 2 Present count value is 3 105 set MOV Set value preset carry borrow and coinci 0003 dence reset commands are turned OFF and count gate is turned ON EB DM mand OFF Data of the counter unit on 4CH and 5CH are 0002 dt 4 transferred to auxiliary relays 34CH and Set value preset com AND NOT 3 yos 35CH respectively mand OFF CJP LBL 100 Present value Set value flag is checked OUT 206 Got vale is sal OUT 201 value 259 MOV Set value 1122 is set 1122 consists of 10 1123 G 3 and 10 Set value preset com OUTNOT 201 Count gate ON d the CPU 4 ANDNOT 3403 Present value Set value flag is checked CJP LBL 200 2nd stage coincidence processing XFER S Data of the counter unit are transferred to Counter data is trans ferred to the CPU Is flag ON YES Coincidence reset ON Set value preset ON Set value is set Set value preset OFF processing Counter data is tra
141. de input Input side KH 0 v gt Input Resistance G Line 1 Input Shield Input Resistance Input O Shield Line 2 OV Twisted pair ae shielded cable V Input Resistance Input Shield Line 1 Input Resistance Line2 Input Shield 1 Twisted pair ove shielded cable 169 170 Special I O units Note Connection for current input Input side Input Resistance Line 1 Fr t us n V Input O Shield Input Resistance 3 tinea T Twisted pair shielded cable Input O Shield Be sure to use a twisted pair shielded cable for input Short circuit the Shield Input and Input O terminals of the circuit that is not used 4 channel type Connection for voltage input Input side Input Resistance shielded cable Li Input ine 1 Shield Input Resistance Line 2 Input Shield Special I O units Input side gt Input Resistance Input Shield Line3 Input Resistance Line 4 input o Shield Twisted pair shielded cable Connection for current input Input Resistance Line 1 Input Shield Input Resistance Input Line 2 Shield Input Resistance Line 3 Input Shield
142. e UNIT 1 position 4 Specifications Input voltage DC input unit AC DC input unit 24 VDC 10 15 3G2A6 ID217 3G2A6 IM111 12 VAC VDC 10 15 Input impedance 3 3kQ 1 2kQ Input current 7 typ 24 VDC 7 mA typ 12 VOC ON delay time 1 5ms max 15ms max _ OFE delay time 1 5 ms max 15 ms max 32 points 8 poinis common 32 points 8 points common Number of circuits Weight 500 g max 500 g max ON voltage 16 0 V max 8 0 V max 5 0 V max 3 0 V max OFF voltage Current consumption of Internal constant 5 VDC 160 mA max 5 VDC 200 mA max voltage circuit ES I i Internal circuit Internal circuit The terminal numbers and channel numbers of an I O unit are changed according to the position on the CPU or expansion I O rack on which the I O unit is mounted The terminal connections shown above are for when the I O unit is mounted on the UNIT 1 position Specifications Input voltage 12 to 24 VAC VDC 10 15 AC DC input unit 7 8G2A6 IM213 24 VACNDC 10 1596 input impedance 1 8kQ 2 2kQ Input current 10 mA typ 24 VDC 7 mA typ 24 VDC ON delay times 15 ms max 15 ms max OFF delay time 15 ms max 15 ms max
143. e channel of each optical transmitting 4 VO unit by its DIP switch 213 214 Special I O units Note Mounting procedures of remote 1 0 units and optical transmitting 1 0 units Mounting remote i O units and optical transmitting units Observe the following procedures when newly mounting remote I O unit s or optical transmitting I O unit s to the CPU rack 1 Check the O units currently mounted to the CPU rack for the last I O channel number 2 Set the address of the newly mounted remote I O slave unit Also set the channel of the newly mounted optical transmitting I O unit in so doing pay particular attention that the set channel number does not overlap with the last channel number of the I O unit mounted to the CPU rack Note that the number of I O points of the set channel must not exceed the maximum number of I O relays provided to the PC In case the number of the I O points of the set channel exceeds the maximum number of the programmable controller s I O relays an unit over error occurs 3 Sequentially connect the fiber optics cables SYSBUS to the connector of each unit starting from the remote I O master unit Type 3G2A5 RTOO2 E remote I O slave unit and the optical transmitting unit have two fiber optics connectors The fiber optics cable from the remote I O master unit can be connected to either of them 4 Specify the I O unit that has been connected last to the SYSBUS as the END statio
144. e forward end the limit switch LS2 turns on causing the solenoid valve MV2 for reversing the piston to turn on after the lapse of the set time When MV2 turns on the piston moves back and stops atthe reverse end LS1 Specifications Backward Forward 4 Flowchart programming concept AND 1 51 Solenoid valve for forwarding position out H me Solenoid vlave for reversing position OUT MV2 AND LSI Piston moves backward and stops OUT NOT MV2 instruction Select the ON OFF condition for each load ON condition of MV1 AND of LS1 and PB e OFF condition of MV1 LS2 e ON condition of MV2 TIM e OFF condition of MV2 LS1 Based on these conditions program as shown below using Branch instruc tions In coding attention must be paid to the timer program If a timer is programmed on the vertical baseline of the flowchart it will always operate The timer must be programmed to operate only when MV2 is not operating and when a given condition is satisfied If the timer is programmed as shown below it operates again after the lapse of the set time until LS2 turns off 42 The step numbers must be assigned in the direction of NO of each branch instruction i e in vertical direction and then to the steps in the direction of YES of the instruction i e in horizontal dir
145. e ignored These bits can thus be used as internal auxiliary relays The function bit 11 performs changes depending on whether the unit in use is designed for unipolar output or bipolar output That is bit 11 of a unipolar output type unit is a D A converted data and bit 11 of a bipolar output type serves as a sign bit The level of the sign bit becomes 0 when the unit outputs a negative analog signal and becomes 1 when the unit outputs a positive analog signal Operation Converted data and output signal The D A conversion output unit converts an input digital data into an analog data It converts a 12 bit binary data output from a SYSMAC C Series programmable controller into a voltage or a current Five types of units with different output signal ranges are available Make a correct Choice from these five types The converted analog signal may be output from only a positive pole of the terminals or from both the positive and negative poles depending on the signal range of the used unit Note that the resolution of the signal also differs depending on this signal range Special units Unipolar output signal Output range 0 to 10 V Oto 5 V 1 to 5 V 410 20 mA D A converted data A 12 bit binary data is input to the unit Relation between input digital signal and output analog signal Output from Output from D A conversion D A conversion output unit output unit 10V 5 1 1 1 i 1 i 41V i
146. e interrupt masking state of a specified interrupt unit to the lower 8 bits of an area specified by D The higher 8 bits of D are always O This instruction is used to transfer channel data or a constant to a specified channel SD MVN FUNS1 35 xu 2827 This instruction is used to transfer inversed channel data or a constant to a specified channel 5 0 FUNS2 C 4 This instruction is used to compare two specified data channel data or constants S lt s gt Interrupt unit No 0103 5 00CH to 63CH LROOCH to 31CH HROOCH to 31CH DMOQ to 511 DM000 to 511 Interrupt unit No 0102 LS 00CH to 63CH LROOCH to 31CH HROOCH to 31CH DMOOO0 to 511 DMOOO to 511 s 51 J s2 00 to 63CH LROOCH to 31CH HROOCH to 31CH TIM CNTOOO to 127 DMOOO to 511 DM000 to 511 Constant 0000 to FFFF p 00CH to 63CH LR00CH to 31CH HR00CH to 31CH DM000 to 511 DM000 to 511 List of instructions Symbot ADD FUNS3 Mnemonic Operand is instruction is used to perform BCD addi N n of channe data to another channel data or a constant S1 S2 SUB FUN54 This instruction is used to perform BCD subtraction of channel data from another channel data or a constant S s CY D CY 1 s2 00CH to 63CH
147. e may be used to increase the number of I O points per control system This module is called expansion I O rack A maximum of three expansion I O racks can be connected per CPU rack of the C120F to thereby increase the total number of I O points to 256 in the full system Here is the appearance of the expansion I O rack Introduction to C120F Input output unit Programming console LCD Mode selector switch Mounting screw In both the CPU rack and expansion I O rack input output units are mounted in the top and bottom slots Both the output unit and input unit can be mounted in the top slot of the CPU rack but only the input unit can be mounted in the bottom slot When pulled out from the slots they look like this mnm o ibm This is the standard programming device used with the C120F The program written by the programming console are stored in the memory of the CPU rack and executed The operation of the programming console is explained in detail in its user s manual separately available PRO20 PROGRAMMING CONSOLE Mounting screw Jacks for connecting cassette tape recorder Keypad Introduction to C120F Mounting screws These two screws secure the detachable programming console to the CPU rack LCD This displays the program as it is being written and is used for checking and
148. e set count value memory If these relays represent the data of the counter those data are the present count value The value of the data can be 000000 to 999999 On power application the data are 000000 Coincidence reset Output enable Preset data 10 through 10 The following signals are input to the programmable controller from the high speed counter unit Turns ON when the present count value changes from 999999 to 000000 during the Add operation This relay is turned OFF by the carry reset relay or an external reset signal Turns ON when the present count value changes from 000000 to 999999 This relay is turned OFF bythe borrow reset relay of an external reset signal Carry Borrow Turns ON when the present count value is greater than the set count value Turns ON when the present count value coincides with the set count value This relay is turned OFF by the coincidence reset relay or an external reset signal Present count value gt setcount value Present count value set count value Present count value lt set count value Turns ON when the present count value is less than the set count value Present count value 000000 to 999999 Present count value data On power application all the relays are turned OFF Special I O units Assignment of relay numbers
149. easily understood flowchart were developed by several manufacturers of programmable controllers Of the flowchart pro gramming languages developed by OMRON the one provided to the C120F is the latest version and is named SYSFLOW Programming procedure using SYSFLOW The programming in SYSFLOW is carried out in four steps First a flowchart illustrating what task the control system performs and what role the programmable controller plays in that system should be drawn This flowchart called a process flowchart is used to understand the movement of the entire contro system in the designing stage Second a general flowchart must be drawn to express as simply and clearly as possible the sequence in which the program is to be executed and thus the control action is performed Third a flowchart more detailed than the general flowchart should be drawn This so called detailed flowchart is the final flowchart which is then encoded into the instructions of the C120F Lastly a coding sheet on which basis the detailed flowchart is encoded into the programmable controller s instructions must be created This coding sheet is written in a table format and contains the instructions and their addresses and data When this coding sheet has been completed the program can be written into the C120F s memory through the programming console 21 Flowchart programming concept Programming concep
150. ection The JMP instruction must be added at the end of the program Assign step Nos in the order of 1 to 4 No 1 lt yes Branch u S SSES Branci lt CE J No 3 De The jump destination of A in the above figure is the first step of branch program No 1 The number of steps required per Branch instruction is the number of Branch conditions 1 43 Flowchart programming concept Simulation test run program storage 44 On some occasions the program does not cause the C120F to operate and thus to control the target equipment or system as you have envisioned The abnormal operation of the controlled system can always be very dangerous and therefore it is always good practice to thoroughly check your program before actually executing it to let the C120F operate The program can be checked in many ways Under normal circumstances you will first have to check and if necessary correct your program immedi ately after you have written it to the C120F memory This process of program checking is known as debugging of the program To debug the program the C120F offers various methods all of which are fully explained in the separately available user s manual for the programming console Since the main purpose of this manual is to explain the C120F s CPU rack for information concerning the programming console refer to its user s manual In this section we focus our att
151. ed flowchart WAIT QUT NOT 200 OUT 202 ae AND 3 WAIT OUT 201 S ANO 2 OUT NOT 201 OUT NOT 202 JMP LBL 0 Program execution returns to the start of the program The start of program LBL 0 AND 0 If the control action of the robot s movement is drawn as a flowchart it will be like this As you can see this flowchart is written using only boxes Notice the four digit numbers in each box These numbers are I O numbers we have assigned to each input output devices used in the robot Let s review what number was assigned to which I O device Input number 0000 was assigned to pushbutton switch PB1 and 0001 to 0003 were assigned to three limit switches LS1 to LS3 Output numbers 0200 to 0202 were assigned to three solenoids SOL1 to SOL3 Now look at the second box In addition to input number 0000 it has an AND instruction in it and immediately below the second box a WAIT instruction follows The WAIT instruction and also the BRANCH instruction for that matter is often used in combination with another instruction and this is an example when it is used with the AND instruction This combination of instructions causes program execution to wait until a given condition is satisfied In this case the condition means depression of the start switch PB1 Therefore the program will neither be executed nor will it proceed to the next step until PB1 is pressed When 1 is pressed the program is e
152. ed into an SBT WAIT and an SBT BRANCH instruction Contents of data SBT WAIT instruction This instruction consists of two words SBT and WAIT If the subroutine specified by the SBT instruction is being executed by any other group the CPU will not execute the subroutine in the specified program but will wait until the execution of the subroutine has been completed Then the CPU executes the subroutine for the specified group program and proceeds to the next step SBT BRANCH instruction This instruction consists of two words SBT and CJP If the subroutine specified by the SBT instruction is being executed by any other group the CPU proceeds to the next step If not the CPU jumps to the destination whose label is specified by the CJP instruction If the subroutine number specified by the SBT instruction is not found in the program the CPU will perform the subroutine processing as if the jump condition were satisfied When arithmetic operations are to be performed using a subroutine the data for arithmetic operations are usually initialized before the execution of the subroutine If the subroutine for arithmetic operations is to be shared by more than one program it is necessary to check whether the specified Subroutine is not in use by any program other than those specified before executing the initialization program The Subroutine Test SBT instructions inform the CPU whether the specified subroutine is under execution
153. ed to decrement specified BCD channel data by one 0 1 0 5 to 60CH LROOCH to 31CH HROOCH to 31CH DMO00 to 511 DMOOO0 to 511 ASR This instruction is used to shift specified FUN62 channel data to the right This instruction is used to shift specified ASL FUN63 channel data to the left This instruction is used to compute the square ROOT FUN64 root of 8 digit BCD data VS S D LSB MSB s 00CH to 62CH LR00CH to 30CH HR00CH to 31CH TIM CNTOOO to 126 DMOOO to 510 DMOOO to 511 2 Same as MOV List of instructions Instruction Mnemonic ANDW FUNGS5 ANDW Operand Function This instruction is used to perform a logica AND operation in units of channels between specified channel data and another channel data or a constant 5 8 0 ORW FUN66 This instfuction is used to perform a logical OR operation in units of channels between specified channel data and another channe data or a constant S vS gt D XORW FUN67 This instruction is used to perform an exclusive logical OR operation in units of channels between specified channel data and another channel data or constant 5 4 S gt D XNRW FUN68
154. ed to the PC is 256 In terms of optical transmitting I O unit the maximum number of units that can be connected to the SYSMAC C500F is 64 because eight I O points are provided per optical transmitting I O unit If more than 32 units of the optical transmitting and remote I O slave units are to be connected to the programmable controller a repeater Type 3G5A2 RPTO1 must be connected as the 33rd unit In this case disregarding the number of I O points the remote I O slave unit possesses count it as one unit Special I O units Diagnostic functions The SYSMAC C Series programmable controller is manufactured with a consistent design philosophy supported by high technology for integra tion of components under the most advanced quality control system As a result of these excellent manufacturing conditions the PC is capable of minimizing time required for troubleshooting should a failure occur This is because the PC is provided with various diagnostic functions Diagnostic functions for hardware Checks CPU I O unit bus and SYSBUS System diagnosis Checks the remote I O unit system for correct use These abnormal statuses can be monitored by messages and FAL numbers displayed on the LCD of the programming console In addition the PC has the special auxiliary relays each of which is assigned to output an abnormal status These relays associated with the user program allow the PC to provide flexible countermeasure
155. elay No 6304 This relay serves as a carry flag and operates or releases ON or OFF according to the result of an arithmetic operation This relay is forcibly turned ON by an STC Set Carry instruction and OFF by a CLC Clear Carry instruction Relay No 6305 This relay operates if the result of a Compare operation CMP instruction executed is more than gt Relay No 6306 This relay operates if the result of a Compare operation CMP instruction executed is equal The relay may operate if the result of an arithmetic operation is O Relay No 6307 This relay operates if the result of a Compare operation CMP instruction executed is less than lt Relay Nos 6308 to 6315 These relays are normally OFF Assignment of relay numbers Free location concept The C120F employs a free location concept for I O unit mounting Any type of UO unit can be mounted in any order to the CPU rack and the expansion UO rack except for the bottom slot of the CPU rack and channel and relay numbers are assigned serially according to the mounting order of the O units In the bottom slot of the CPU rack only the input unit can be mounted CPU rack Starting position of UO relay number assignment Expansion I O rack ee I The rightmost point 0000 channel 00 bit 00 of the I O unit mounted on the lower I O unit mounting position of the CPU rack is regarded as the starting
156. els consists of 16 points and is expressed as four digits of decimal numbers The four digit number used to identify an I O point therefore can be broken down into the left two digits which identify the channel and the right two digits which identify the point within the channel For example 0000 identifies the first point of the first channel and 0104 identifies the fifth point of the second channel Now all the input output devices to be connected to the C120F are not actually connected to the programmable controller directly Instead they are connected via the input output unit mounted on the C120F As the I O units for the C120F 16 point 32 point and 64 point units are available If a 32 point I O unit is mounted the C120F for example this means that the O unit occupies the 32 points or two channels of C120F s internal relays and that a maximum of 32 points of input output devices can be connected to this unit Determining memory capacity When the number of I O points is being determined one important point to be noted is the capacity of the program memory The program memory is used to store the user program and its capacity the number of addresses varies depending on the application of the programmable controller The more complicated the control action performed by the programmable controller the greater the memory capacity that is required Generally the memory capacity required for a particular applicat
157. ends connected to terminal B18 of the output unit and the other end connected to terminal A8 which is the common terminal The negative terminal of the power supply is connected to terminal A18 To this negative terminal of the power supply one line of the output device is connected The other line of the output device is connected to the terminal having the output number assigned to that output device To visualize this discussion look at the following figure In this figure as an example one input device PB1 and one output device SOL1 are respec tively connected to the input and output units 222 PERIPHERAL 1D217 Operating procedure Main power supply connection Now the CPU rack power supply should be connected to the commercial power source Connect a 100 to 120 200 to 240 VAC power source across the AC IN terminals of the power supply on the CPU rack To make this connection use a wire having a conductor cross sectional area of 2 mmm or more and M4 solderless terminals Also on the CPU rack power supply are two ground terminals LG and FG Although it is recommended to ground both the terminals especially ground the FG terminal at a resistance of 100 Q or less with a 2 mm wire to prevent electric shock For more details refer to Chapter 5 Installation Ground 100 to 120 VAC power source O POWER SYSMAC C120F omron PROGRAMMABLE CONTROLLER RUN START 24vDC
158. ent count data 1 x10 Present count data 1 x10 Preset data 2 Preset data 2 Present count data 2 Present count data 2 Preset data 4 Preset data 4 count data 4 Present count data 4 Preset data 8 Preset data 8 Present count data 8 Present count data 8 Preset data 1 10 Preset data 1 ae fae count data 1 X10 Present count data 1 d Preset data 2 Preset data 2 Present count data 2 Present count data 2 Preset data 4 Preset data 4 Present count data 4 Present count data 4 Preset data 8 Preset data 8 Present count data 8 Present count data 8 Note The term set count value is synonymous with preset data 187 188 Special I O units Note Function of relays The following signals are input to the high speed counter unit from the programmable controller of relay 1 Counter preset Function Presets the data set as a preset data to the counter in other words modifies a currently set value Presets data set as a preset data to the set count value memory Controls starting and stopping the counter When this relay is turned ON the counting operation starts and when it is turned OFF the counting operation stops On power application the count gate relay specifies that the counting operation is stopped Set count value preset Count gat UP DOWN count command Specifies t
159. ent to the rear sides of the C120F and expansion I O racks Use Type PFP 100N2 DIN rail and Type 3G2A9 DINO1 DIN rail attachment Pay attention to the following points for wiring within a control panel Provide a distance of 200 mm or more between high tension lines or power lines and the C120F Avoid running the I O connecting cable in the same duct as other wiring Arrange the wiring so that mounting and removing I O units is not obstructed and that their operation indicators are easily visible Installation and mounting Vertical mounting Horizontal mounting NS SSRN SES Mounting dimensions The dimensions of the CPU rack and expansion I O rack when they are mounted on the intermediate plate in a control panel are as follows Mounting holes for M4 screws 141 Installation and mounting Wiring of CPU rack power supply Perform the wiring of the CPU rack power supply by referring to this diagram L Ground this terminat at a resistance of less 110 120 220 than 100 Q for prevention of electric shock 240 VAC Ground this terminal at a resistance of less than 100 Q when noise is great causing the C120F to malfunction To start or stop th PC by external signals remove the bracket and connect the external signal source across these terminals Normally leave them short circuited
160. ention to the significance and procedure of simulation and test run on the assumption that you have already written and debugged the program Simulation The purpose of the simulation is to confirm whether the correct output signal is produced by the C120F in response to the correct input signal and thus the output device operates correctly In case a mismatch of the input signal and output signal is found during the simulation the cause of the mismatch must be discovered and corrected The cause can be an error in designing the flowchart misoperation of the programming console in writing the program assignment of a wrong I O number or error in wiring the I O devices To simulate the program execution note the following points 1 Turn off the power supply to the outputs so that none of the loads of the C120F operate even if the output signals are present on the output terminals of the C120F Connect a switch box to the input terminals for simulating the input signal of the C120F Sometimes however it is easier to use the switches that have already been connected to the C120F s input terminals 3 Apply power to the CPU rack and switch box Using the mode selector switch on the programming console set the C120F in the MONITOR or RUN mode Then operate the switch box and confirm the relation be tween the input signals and output signals by observing the input and output LEDs on the right of the CPU rack N Flowchart programm
161. er set value where timer number 0 to 127 set value 0000 to 999 9 99 99 seconds Flowchart 0100 Timer number 0101 Setvalue 3 word instruction 0102 WAIT instruction 0103 A TIM WAIT instruction consists of three words a timer number a set value and a Wait instruction This instruction causes the specified value to be set in the specified timer Program execution waits until the set value of the timer becomes 0 When the set value of the timer has elapsed the time up flag is set and the program execution proceeds to the next step The timers used in the SYSMAC C120F are of a decrementing type If the same timer is used again after the lapse of its set time the original set value will be restored The timers having TIM numbers 0 to 117 can be set to a maximum of 999 9 Seconds whereas TIM118 to 127 can be set to 99 99 seconds maximum Coding chart Timer numbers are shared by the TMS and CNT instructions Contents of data UO relay internal auxiliary relay Link relay Ba LRO to 31 Holding relay HRO to 31 Data memory DMO to 511 Constants 0000 to 9999 Instructions TIMER BRANCH timer number set value where timer number Oto 127 set value 0000 to 999 9 99 99 seconds A TIM BRANCH instruction consists of three words a timer number a set value and a CJP Conditional Jump instruction Flowchart
162. er if the data retention flag special auxiliary relay 6012 is turned ON the present values of the timers are retained during the power failure The timers will resume the operation from the retained value when the power is restored There are two types of timers whose values can be set by the TIM instruction The value of one type timers 0 to 117 is set in units of 0 1 second whereas that of the other timers 118 to 127 can be set in units of 0 01 second TIM10 0128 TIM120 0128 128x0 1 s 128 s 128x0 01s 128 s Since the data in all the relay areas are retained when the data retention flag is turned ON reset unnecessary relays by the CNR instruction Externally set timer data Externally set timer data must be in four BCD digits and the CPU checks whether it is or not If itis not special auxiliary relay 6303 is turned ON indicating an error In this case the program can still be executed but the time up operation may not be accurate External time setting In this example a value i e 581 4 seconds is set in timer 011 by an external time setting device connected to channel 01 of the input unit Instructions TIMER BRANCH timer number set value where timer number 0 to 127 set value 0000 to 999 9 99 99 seconds A TIM BRANCH instruction consists of three words a timer number a set value and a CJP Conditional Jump instruction Flowchart 0100 0101 0102 d bid Timer n
163. er unit recognizes the I O units currently connected to the SYSBUS The remote l O slave unit transmits data to and from the I O units connected to the SYSBUS The I O units not connected to the SYSBUS or the optical transmitting I O units connected after the end RSU are consequently ignored by the remote master unit To prevent this specify the I O unit with the greatest I O channel number as the end RSU Example 1 When the rack No for remote I O master unit is set to 0 2282 CPU rack S Expansion I O rack 8888 eise 12CH 13CH ITIL 11 10CH 11CH oh 5 9CH Tol L 8CH L n S Optical Optical Optical Optical transmitting transmitting transmitting transmitting VO unit WO unit N UO unit VO urit 30 channel L 30 channel H 31 channel L 31 channel H Set the channel of each optical transmitting P VO unit by its DIP switch This remote VO slave unitis specified as the end RSU Expansion I O rack 19CH 18CH Ka e 14CH 15CH 16CH 17CH Example 2 1 E i ie oi ni This optical transmitting I O unit is specified as the end station Optical Optica transmitting E F E es L transmitting transmitting transmitting Zei VOunt W VO unit VOunit LE VO unit 5CH 6CH 30 channel L 30 channel H 31 channel L 31 channel H 1CH 2CH 3CH 4CH _ OCH e ane Setth
164. erates or releases ON or OFF according to the result of an arithmetic operation This relay is forcibly turned ON by an STC Set Carry instruction and OFF by a CLC Clear Carry instruction Relay No 6305 This relay operates if the result of a Compare operation CMP instruction executed is more than gt Relay No 6306 This relay operates if the result of a Compare operation CMP instruction executed is equal The relay may operate if the result of an arithmetic operation is 0 Relay No 6307 This relay operates if the result of a Compare operation CMP instruction executed is less than Relay Nos 6308 to 6315 These relays are normally OFF Assignment of relay numbers Free location concept The C120F employs a free location concept for I O unit mounting Any type of I O unit can be mounted in any order to the CPU rack and the expansion I O rack except for the bottom slot of the CPU rack and VO channel and relay numbers are assigned serially according to the mounting order of the U O units In the bottom slot of the CPU rack only the input unit can be mounted CPU rack Starting position of I O relay number assignment Expansion rack F The rightmost point 0000 channel 00 bit 00 of the I O unit mounted on the lower VO unit mounting position of the CPU rack is regarded as the starting point of the I O assignment The serial cha
165. eration is performed Carry reset Borrow reset Coincidence reset Resets the present count value set count value signal ofthe counter Once the present count value set count value signal has been reset it will not be set again until the counter gate relay is turned ON and a counting operation is performed If this relay is turned ON while the present count value coincides with the set count value the present count value set count value relay i e bit No 3 of n 2 CH will not be turned ON Enables the external output signals coincidence output and present count value gt set count value output to be output On power application the output is disabled and therefore both the contact and transistor outputs are turned OFF Represent the preset data of the counter or the set count value memory If these relays represent the data of the counter those data are the present count value The value of the data can be 000000 to 999999 On power application the data are 000000 Output enable Preset data 105 through 10 The following signals are input to the programmable controller from the high speed counter unit Turns ON when the present count value changes from 999999 to 000000 during the Add operation This relay is turned OFF by the carry reset relay or an external reset signal Turns ON when the present count value changes from 0
166. et value bit may turn ON depending on the data value For this reason create a program so that the output enable bit turns ON after completing the preset Special I O units Do not use an instruction by which data are read from an output channel of the high speed counter unit Incorrect example The counter unit is assigned to Channel Nos 2 to 5 AND 202 Mov 2 50 When data from an output channel are required in the program provide a subarea for the output channel in the internal auxiliary relay area and use the data transferred to the specified auxiliary relay s Example In the programming example of multidigit preset counter more than 6 digits auxiliary relay No 5027 is used as a dummy of the output enable flag 207 When using the counter unit with a remote O slave unit take into account a delay of 20 ms min for ON or OFF of preset and reset outputs 195 Special I O units Remote 1 0 unit 196 Two remote I O units are used to control units remotely situated from a SYSMAC C Series programmable controller the one serving as a master station Type 3G2A5 RM001 E or 3G2A6 RMO001 is called the remote master unit RMU and the other serving as a slave station Type 3G2A5 RTOO2 E or 382A5 RTOO1 E is the remote slave unit RSU The two stations are connected with SYSBUS a pair of fiber optics cables and can optically transmit data to each other at a high speed
167. ew These input output devices are in fact connected to the programmable controller However conceptually they are assigned the numbers corre sponding to the input output relays with which the programmable controller is internally provided Although the actual wiring of the input output devices can be performed before or after programming this assignment of input output numbers must always be carried out before programming because the numbers are essential to programming 3 Programming Now you can apply power to the C120F If it is the first power application after the product has been delivered to you or since you changed the input output configuration you must perform an operation to register the input output devices in the programmable controller s memory in other words generate the I O table This operation is easily accomplished by pressing Some keys on the programming console in a fixed sequence described in detail in the user s manual for the programming console After you have generated the I O table you can write your program in the memory using the programming console After you have written the program it should be checked for errors by means of simulation or test run and corrected if necessary The completed program can be stored in a permanent storage device such as a cassette tape or PROM so that the program is protected from unauthorized access or inadvertent erasure The detailed discussion of programm
168. executed for the first time and the repeat counter is decremented to one Program A is executed for the second time The CPU again jumps to label 100 on execution of the RPT instruction The RPT instruction is executed for the second time following execution of program A and the repeat counter is decremented to 0 Then the program execution proceeds to the next step Program is executed for the third time VO relay No 15 is turned ON INTERLOCK IL B relay number Flowchart AERE The IL instruction is always used in pairs with ILC Interlock Clear instruc tion which is expained next to turn OFF the output relays specified by the otoo ic OUT instructions within a sequence of instructions in a program 0101 0 Paid els X This instruction is executed while the specified I O relay is turned OFF bios four o When the IL instruction is executed the I O relays internal auxiliary relays vU IL and link relays specified by the OUT or OUT NOT instructions in the program TIM between the IL and ILC instructions are reset and the present values of the otoa 0600 timers are reset to the set value 0105 WAIT When the IL instruction is executed the program execution does not jump to 0106 Four 201 another group program and the present value of a counter and the states of the holding relay data memory relay and special internal auxiliary relay 0107 OUT 200 areas are retained Moreover
169. following signals are input to the high speed counter unit from the programmable controller Name of relay Counter preset Function Presets the data set as a preset data to the counter in other words modifies a currently set value Presets data set as a preset data to the set count value Set count Value preset i memory Controls starting and stopping the counter When this relay is turned ON the counting operation starts and when it is turned OFF the counting operation stops On power application the count gate relay specifies that the counting operation is stopped Count g te Specifies the up count or down count operation by the user program when the high speed counter unit is in the command input 1 mode When this relay is turned ON the down count operation is specified When it is OFF the up count operation is specified On power application the up count command is given UP DOWN count command Resets the Carry signal ofthe counter Once the Carry signal has been reset it will not be set again until the count gate relay is turned ON and a counting operation is performed Resets the Borrow signal of the counter Once the Borrow signal is reset it will not be set again until the counter gate relay is turned ON and a counting operation is performed Carry reset Ji Borrow resets Coincidence reset Resets the present count value
170. g g 8 L ed E s o N lt z Photocoupler Count input VF Command input 1 1 1 e Command input 2 Phase differential c input 30 cps 50Kcps Carry flag Input UP Flag reset Borrow Borrow flag check Flag reset 5 Reset input Reset input Photocoupler Reset Counter gate input output I F SYSMAC C Series I O bus SYSMAC C Series CPU Set count value preset gt output Q Coincidence output ks Coincidence reset Output enable V value memory i Coincidence output 184 Special I O units Externa connections 12V Count input 1 Count input 2 t Reset input Power supply Present count for load value gt set count vatue output Power supply for load Coincidence Power supply for load output Count input signal sta L ass 03 12V E zs jo aC n ov i i O A Note Because the high speed counter unit performs its operation at a counting speed of 50K counts per second avoid connecting loads and wirings that may generate much noise to the coincidence output terminals Setting DIP switch for count input mode DIP sw setting position COMMAND INPUT PHASE DIFFEREN TIAL INPUT NO VOLTAGE CONTACT NPUT WHEN PHASE DIF 110 FERENTIAL INPUT WHEN
171. g operation indicators neon lamps is con nected to the input unit a certain amount of voltage is applied to the input unit via the indicators of the input device Connect a bleeder resistor in parallel with the input signal line so that this voltage becomes equal to or less than the OFF voltage of the input unit When the triac output unit is used to drive a low current load the load may not be turned off due to leakage current To prevent this connect a bleeder resistor in parallel with the load Supply power to the C120F so that the supply voitage is within the rated operating voltage range A power sequence circuit is incorporated in the power supply for the C120F o prevent it from malfunctioning due to momentary power failure or supply voltage drop Supply voltage drop fthe supply voltage drops below 85 of the rated operating voltage the C120F stops operating causing the output relays to turn OFF Momentary power failure The C120F ignores a momentary power failure of less than 10 ms and the CPU continues to operate A power failure of 10 ms or longer and shorter than 25 ms may or may not be detected If a power failure lasts longer than 25 ms the CPU stops operating and its output relays are turned OFF Automatic recovery The C120F automatically starts operating when 8596 or more of the rated supply voltage is restored y Installation and mounting External wiring CPU run stop timing chart
172. ge at terminal of relay Nos 0100 0101 and 0102 using a tester The LED on the input unit is defective Abnormal Disconnect external wiring and connect dummy input and then recheck Replace defective input unit Check input devices LS1 LS2 and L S3 Maintenance and inspection Terminal 1 Check each I O unit for loose terminals 2 Checkthe power supply terminals for loose connection 3 Check each unit for loose mounting screws 4 Check the I O connecting cable for proper connection CPU rack External environment Is OUT INH Check external LED ON devices Is RUN LED ON Turn off OUT INH input 6015 Is START input Apply START applied input signal Does CPU stop due to failure FALO1 CPU rack is abnormal 153 154 Maintenance and inspection External environment environment Install fan air conditioner etc Ambient temperature over 50 C NO Ambient temperature below 0 C Humidity within 35 to 85 RH Adequate countermeasures against noise YES Atmosphere OK Maintenance and inspection Self diagnostic functions The C120F s various diagnostic functions help to prevent and limit expen Sive system downtime caused by failures If an error occurs it can be determined by the message and FAL number displayed on the pr
173. ge the input and output channels To the 2 digit channel number is appended another 2 digit number identifying a relay Therefore 4 digit input output numbers are usually used to identify not only a relay but also the channel to which the relay belongs The channel numbers are automatically assigned to the input output units according to the position on the CPU rack where the units are mounted This automatic channel number assignment is described in detail later in this chapter Relay Nos 1600 to 6010 The 715 points of internal auxiliary relays provided to the C120F form an area where th program and data are processed These relays cannot be used directly to control external output devices Relay Nos HR0000 to 3115 These relays are also called retentive relays If a power failure occurs they retain the present operating status during the power failure A maximum of 512 points of holding relays are available from C120F Relay Nos 180000 to 3115 Normally these relays are used to link two or more programmable con trollers However in the case of the C120F they serve as internal auxiliary relays Timer counter Nos TIM S CNTOCO to 127 The C120F is provided with 128 points of counters that can also function as timers Therefore the timers and counters are assigned the same identifica tion numbers 000 to 127 This means that the same number cannot be assigned to both the timer and counter For exampie if counter number
174. generating source such as a heater transformer or high capacity resistor Mount the PC as far away as possible from high tension equipment or power devices for the sake of safety in maintenance and operation If the ambient temperature is above 50 C within the panel you must install a fan for forced air ventilation However the operating temperature range of the PC with the programming console mounted to it is from 0 to 45 C Avoid mounting the PC in a panel in which high tension wiring or equipment is also installed Provide a distance of more than 200 mm between the high tension equip ment or power lines and the PC The C120F can be installed either directly to the mounting panel within a control panel or on a DIN rail When connecting expansion I O racks to the CPU rack for system expansion avoid employment of more than three expansion I O racks and use an expansion I O rack connecting cable 2 m long in maximum 139 Installation and mounting Control panel wiring 140 Input duct Output duct Z Power duct Va mm N N Transformer w SS aT SYSMAC terminal block Power terminal block Do not install any power or heat generating source such as fuse output relay timer etc When installing the C120F within a control panel mount the programmable controller on a DIN rail or on an intermediate plate When mounting it on a DIN rail secure the DIN rail attachm
175. gram For example GS 0 instruction starts executing group program 0 and GS 1 instruction starts group program 1 Below the Group start instructions are GOFF instructions which turns OFF all the outputs specified by the OUT instructions in the specified group program Therefore for example the GOFF 0 instruction when executed turns OFF all the outputs in group program 0 The step immediately before the last step has a GJ instruction It is when this instruction is executed that execution of the group programs is started To enable the operation of the sample control system to stop when PB3 0008 is pressed and to restart when PB4 0009 is pressed this program is necessary 30 EI Stop button PB3 is pressed 0008 YES LBL 5 GP I PB3 is pressed the ongoing execution of the specified group program is stop JMP LBL ped Restart button 4 is pressed 009 YES LBL 7 When PB4 is pressed execution of the group instruclion stopped by GP instruc tion is restarted aR 0 28 GR JMP LBL 8 JMP LBL 0 In this program two new Group instructions are used GP and GR The GP Group Pause instruction temporarily stops ongoing execution of the specified group program In this case for example when PB3 is pressed group programs 0 and 1 which are respectively specified by GP 0 and 1 instructions are stopped The GR Group Restart ins
176. gram uses only Branch instructions and therefore forms a cl sed loop the program execution cannot jump to another group program For this reason the GJ instruction is necessary to cause the program execution to forcibly jump to another group program Within a group program if a closed loop is formed as a result of using the Branch instruction the GJ instruction must be used 2 When the GOFF instruction is executed all the output relays specified by OUT instructions in a group program are caused to release In this case the present values of counters shift registers and the data memories will not be reset To reset them use the CNR instruction 8 When the GE instruction is executed incrementing the step in a group program is stopped and reset causing the program execution to return to its first step For this reason when the GS instruction is executed again the group program is executed from its first step Operations such as the emergency stop of the truck which must take precedence over execution of the group program are processed by the main program In the group program the GOFF instruction is required to turn OFF the output relays reset the present values of the timers counters and stop the execution of the group program 35 36 Flowchart programming concept Because the start of a group program must be specified by the main program be sure to insert the GS instruction in the main program A group
177. hannel number is written in the user program as the operand set value Series of eight channels If 0000 is written as data in the set value area consisting of the eight channels the subsequent data will be ignored The set value can be specified up to 999 9 seconds in units of 0 1 second Therefore to specify 15 5 seconds as the set value for example 155 is written Application lt Flag CH designation Present value CH designation rts Set value CH designation Instructions When the Multi Output Timer instruction is programmed as shown above the relation between the flag channe and the channels data memories for the present and set values is as follows 15 9 8 7 6 5 4 3 2 1 0 HR18 ojojojojojojojojij Flag Time up flag Reset flag Count stop flag Present Suam value DM 202 DM 203 DM 204 Set val DM205 area m DM 206 DM 207 DM 208 In this example the contents of the data memories following DM207 are ignored Instructions for expansion In case a total of 72 kinds of basic and special instructions provided to the Flowchart C120F are not sufficient for a particular application instructions that realize a special system program or new instructions that are expected to be standardized in updated versions of the programmable controller can be FUN 8 supplied upon your request Coding chart Address Instr
178. he limitation of the hardware can be specified for transference and the data must satisfy these conditions Only BCD data are acceptable when specifying the number of channels Block area must be within the same data area Start channel number Number of channels 1 lt Maximum channel number of data channel area FUN S D1 D2 where S set data D1 set start channel number D2 set end channel number The BSET instruction is used to transfer the same data to all consecutive channels Instructions Coding chart BSET 73 Contents of data VO relay internal auxili ary relay Linkr lay LRO to 31 Holding relay HRO to 31 Timer counter TIM CNTO to 127 Data memory DMO to 511 Indirectly addressed DMO to 511 data 50000109999 When the BSET instruction is executed the same data is transferred to all consecutive channels In the above program constant 1234 16 bit data is transferred to DMO to 511 Data memory Constant 1234 DMO DM1 DM511 The only data that can be indirectly addressed are data memories DMO to DM511 If the contents of the indirectly addressed area are other than BCD or greater than the maximum data memory channel an error will occur this will cause special auxiliary relay 6303 to turn ON and the program to be not executed For details refer to Compare instruction
179. he mounting screws Phillips screwdriver tions x must not be loose 2 Is each VO unit fixed firmly The mounting screws Phillips screwdriver must not be loose 3 Is the I O connecting cable connected firmly The connecting cable Visual inspection must not be loose 4 Is there a loose screw the external wiring Theterminal screws Visual inspection must not be loose t d S Is there a broken cable in the external wiring The external wiring Visual inspection must be free from any abnormalities in 5 Service life 1 Output relay Electrically Refer to Mode G6B 300 10 operations relay catalog Mechanically 20 000x 10 opera tions 4years Refer to the next page Caution Be sure to turn off the power before repiacing any unit of the SYSMAC C120F l C 147 148 Maintenance and inspection Remember If a defective unit is discovered and replaced do another check to deter mine whether the replaced unit is abnormal When returning a defective unit to OMRON please enclose a written description of the problem if the problem is faulty contact wipe the PCB terminals with a clean all cotton cloth moistened with industrial alcohol Make certain there is no cloth fragments remaining on the terminals before plugging it in Tools and testing devices for maintenance Screwdrivers Phillips
180. he up count or down count operation by the user program when the high speed counter unit is in the command input 1 mode When this relay is turned ON the down count operation is specified When it is OFF the up count operation is specified On power application the up count command is given Resets the Carry signal of the counter Once the Carry signal has been reset it will not be set again until the count gate relay is turned ON and a counting operation is performed C rry reset Borrow reset Resets the Borrow signal of the counter Once the Borrow signal is reset it will not be set again until the counter gate relay is turned ON and a counting operation is performed Resets the present count value set count value signal of the counter Once the present count value set count value signal has been reset it will not be set again until the counter gate relay is turned ON and a counting operation is performed If this relay is turned ON while the present count value coincides with the set count value the present count value set count value relay i e bit No 3 of n 2 CH will not be turned ON Enables the external output signals coincidence output and present count value gt set count value output to be output On power application the output is disabled and therefore both the contact and transistor outputs are turned OFF Represent the preset data of the counter or th
181. heral devices Available types Programming console Specifications Vertical type for SYSMAC C500F Current consumption 260 mA max 3G2A5 PRO19 E Weight max Horizontal type for SYSMAC C120F Current consumption 260 mA max 3G2A6 PRO20 E Programming console adap ter Connct this adapter to the PC when the programming console is connected to the controller via a connecting cable 3G2A5 AP001 E Programming console base Mount this base to the programming console when the programming console is connected to the controller via a connecting cable 3G2A5 BP001 PROM writer For PROM ROM GA 2732A ROM H 2764 ROM I 27128 Current consumption 850 mA max 3G2A5 PRW04 E Printer interface Interface for X Y plotter or printer Memory cassette option Current consumption 400 mA max 3G2A5 PRT01 E Peripheral interface Interface between programmable controller and graphic programming console CRT or multisupport base MSB 3G2A5 IP004 E Cassette interface For SYSMAC V8 M1R M5R POR and S6 Current consumption 160 mA max 3G2A5 CMT01 E Multisupport base Programming console Memory cassette for multi support base Memory cassette for printer interface unit Programming console con necting cable Printer connecting cable SCY CN201 Cassette deck connecting cori Supply voltage 110 120 VAC No of
182. implified thereby significantly reducing the installation cost The maximum transmission distance between the PCs is 800 m By using the user program of the PC to which the remote I O master unit is mounted and the user program of the controller to which an I O link unit is connected the data of the I O base can be transmitted received among a maximum of 16 PCs The PC to which the remote I O master unit is connected functions as the primary station that controls the flow of data The PCs to which an I O unit is connected functions as a secondary station that actually transmits and receives data The maximum number of I O link units that can be controlled by the remote O master unit differs depending on the maximum number of I O points provided to the PC to which the remote I O master unit is connected and the number of i O points of each I O link unit connected 227 Guide for system The number of the I O link units is determined as follows The maximum number of I O points of the programmable controller to which the remote I O master unit is mounted the total number of I O points of each I O link unit connected Connecting 1 0 link units only to remote 1 0 master unit SYSBUS 800 m max 800 m max 800 max OMRON original fiber optics cable SYSMAC CS00F SYSMAC CS00F 7 sew CPU rack CPU rack d CPU rack BERN sl FILE SYSMAC C120F UO link unit Type 3G2A6 LKO10 E
183. inates LABEL NO This instruction causes the program execution LABEL NO RPT servate to be repeated by the specified number of LABEL NO times and then to proceed to the next step Oto 1023 FUN37 SET VALUE 01 to 99 This IL and ILC instructions are used in pairs RELAY NO 9 When the relay specified by the IL instruction RELAY NO is turned OFF the states of the output relays 0000 to 6315 specified by the OUT instruction and the LROOOO to 3115 present values of the timers or counters HR0000 to 3115 IL specified by the TIM or CNT instructions that FUNS38 exist between the IL and ILC instructions are reset The instructions other than the OUT and TIM or CNT are treated as NOP instructions When the relay specified by the IL instruction is turned ON both the IL and ILC instructions are regarded as NOP instructions FALS FUN36 ILC FUN39 List of instructions Instruction DIFU WAIT FUN40 Symbol Mnemonic Operand Function This instruction causes the program execution to wait until the input relay specified by the Differentiation instruction is turned ON 000 to 127 DIFU BRANCH FUNAO DIFNO RELAY NO LABEL NO This instruction causes the program execution to jump to a specified label only whe
184. ind defective unit 2 IC RAM of CPU is defective Replace CPU 1 Supply voltage for external Raise external supply voltage load is low 2 Relay numbers of OUT in Correct program struction in program are used in duplicate 3 Malfunction due to noise Countermeasures against noise Install surge suppressor install insulating transformer Wire with shielded cable 8 Output operation indicator does not illuminate 1 LED indicator is defective Since this type of defect does not impede normal Operation is normal operation repair it in your spare time or at the next periodic inspection 7 Outputs turn on and off irregularly 159 Maintenance and inspection 160 Chapter 8 Special I O units Available types Specifications 110 5 410 20 mA 6009 3G2A6 AD001 Oto 10V 600 g max 3G2A6 AD002 Oto 5 gt 600 g max 3G2A6 AD003 10to 10V 600 g max 3G2A6 AD004 5to 5V 600 g max 3G2A6 AD005 1to 5 410 20 650 g max 3G2A6 DA006 Oto 10V 650 g max 3G2A6 DA007 DIA conversion 1to 5 V 410 20 600 g max 3G2A6 DAO01 o channel Oto 10V 600 g max SG2A6 DAO02 j0to 45V
185. ine so Oto 31 This instruction causes the program execution SBS S to jump to a specified subroutine and to FUN32 proceed to the next step on completion of the subroutine This program is used to identify the end of a RET specified subroutine and causes the program FUN33 execution to return to the step of the original program before which the execution jumped to the subroutine se This instruction is used to check whether a SBT specified subroutine is being executed by WAIT another group program and causes the program 0 to 31 FUN34 execution to wait until completion of the ongoing subroutine execution 0 to 1023 E This instruction causes the program execution SBT to jump to a specified tabel if a specified BRANCH subroutine is not executed by another group FUN34 program If the subroutine is under execution the program execution proceeds to the next step This is a failure processing instruction which allows the CPU to continue operating When FAL this instruction is executed the FAL No is 00 to 99 FUN35 output to the FAL output relay area and the NOTE FAL indicator on the CPU rack illuminates FALO is an instruc tion to clear the FAL This is a failure processing instruction which causes the CPU to stop When this instruction No is executed the FAL No is output to the FAL 01 to 99 output relay area and the FAL indicator on the CPU rack illum
186. ing concept Test run After the simulation supply power to the output devices This time the movement of each of the output devices must be checked by actually inputting the signal that causes the corresponding output device to operate When the output devices actually operate they may make unexpected movements which you could not find during debugging or simulation If any abnormality is found as a result of the test run discover its cause and correct it Program storage After execution of all the checking and corrective actions for the program your program is completed The completed program can be stored to either a cassette tape or PROM chip It is usually good practice to store the completed program in one of these storage devices to prevent its inadver tent erasure by misoperation of the C120F Here as an example let s store the program in a PROM chip For details on how to store the program on a cassette tape read the user s manual for the programming console To do so you need a PROM writer Type 3G2A5 PRWO4A optionally available First set the C120F in the PROGRAM mode and then remove the program ming console from the CPU rack Then mount the PROM writer on the CPU rack On the PROM writer should be mounted a PROM chip ROM H Check the PROM chip to see whether its contents are completely erased If not use an ultraviolet ray ROM eraser commercially available Then write the contents of the C120F s memory to
187. ing may be found in Chapter 3 4 RUN operation When the above three steps have been completed the actual operation of the programmable controller can be started This operation is called RUN operation Operating procedure The foliowing flowchart summarizes the above discussion Draw flowchart Assign I O numbers Design program Apply power to PC Generate I O table Wire I O devices to PC Testrun amp debugging Correct amp store program 10 Operating procedure Now let s discuss each of the above steps in greater detail using a simple controlled system as an example However emphasis is placed on the first two steps in this chapter with the third step explained in the next chapter Control system design As mentioned earlier the control system created with the C120F must be first determined However since possible variations in application of the C120F are almost infinite this section explains the control system design and I O assignment procedures taking a specific example to deepen your understanding of the programmable controller Suppose you wish to control the following robot s movement J Start button PB1 LS1 for LS2 for clockwise counterclockwise rotation rotation LS3 for checking 0 D grasped work 3 9 E ade 5013 for grasping work A SOL1 for counterclockwise clockwise rotation Ag h 3 rotation Conveyor B Conveyor
188. ing speed Solid state input 50K cps max 20K cps max for phase differential input Contact input 30 cps max The above two counting speeds are so ecole by using the DIP switch in the unit Reset Voltagelevelof H 12V input input signal L 0to4V ON delay time 1 5 ms max OFF delay tim 2ms max Output by hardware Coincidence signal Relay contact output and transistor open collector output Present count value 7 set count value output signal transistor open collector output Output signals Internal power supply 5 5 V 300 mA max Terminal for external Terminal block cannot be dismounted connection i Power supply for sensor 12 VDC 10 100 mA per point Power supply to outside 24 VDC 10 500 mA circuit E REA Weight 0 os 700g max Count input 1 can be connected to both the solid state and contact inputs Count input 2 can be connected to the solid state input only Relay output specifications Output switching Relay contact output G6B capacity 250 VAC 2 A p f 1 24VDC 2A On delay time 10 max OFF delaytime 15 ms max Service life l Electrically 300x 10 operations Mechanically 20x 10 operations Special I O units Open collector type transistor output specifications Max switching ability 24 VDC 200 mA nt 500 uA max 1 3 V max
189. instruction D 51 52 00 60 LROO to 31 HROO to 31 TIM CNTOOO to 127 DMOOO to 511 DMOOO to 511 List of instructions Syrie DATA EX CHANGE XCHG FUN74 Mnemonic This instruction is used to exchange data between two specified channels D D lt gt Remarks D1 P2 Same as XFER instruction ONE DIGIT SHIFT LEFT SLD FUN75 This instruction is used to shift 1 digit 4 bits to the left ONE DIGIT SHIFT RIGHT SRD FUN76 This instruction is used to shift 1 digit 4 bits to the right 470 16 DE CODER MLPX FUN77 16 TO 4 EN CODER FUN78 7 SEG MENT DE CODER SDEC FUN79 L s Digit designation This instruction is used to convert decode 1 digit 4 bits data into 16 bit channel data Only 1 bit i 1 Digit designation This instruction is used to convert encode 16 bit channel data into 1 digit 4 bits data 10f MSB side i Los This instruction is used to convert 1 digit 4 bits data of a specified channel into 8 bit data for 7 segment display 3 0 sjea E data s Same as BIN instruction 51 2
190. instructions Parallel contro of 32 systems Another unique aspect of the C120F or the flowchart programmable controller is that it can readily control up to 32 systems at one time as though you have 32 independent programmable controllers in your control system This capability is something difficult if not impossible to achieve with conventional ladder diagram type programmable control lers Ideal to configure small and medium scale control system All functions for a smail and medium scale control system are integrated in a single compact housing measuring only 100 mm in depth The basic unit offers 48 56 or 64 I O points and the number of I O points can be increased up to 256 in the full system configuration Compatibility among the SYSMAC C series PCs The instructions are fully compatible with the other versions in the flowchart type SYSMAC C series Therefore the program you have written with the C120F can be executed by say a SYSMAC C500F the highest version of the flowchart type C series or vice versa Not only the instructions but also all the peripheral devices are compatible among the fiowchart type C series PCs Introduction About the manual Wide variations 011 0 units The terminal block of the I O units can be removed for easy wiring Besides I O units come in wide variations to enhance the capability of your control system In addition to the general purpose I O units for example many s
191. ion is calculated by multiplying the total number of required I O points by 8 to 12 This is because the memory stores not only the user program but also the data for arithmetic operations Additionally the memory should be ready for future modification in the specifications or expansion of the control system In our example the total number of I O points is seven For convenience sake assuming that one I O point requires eight addresses multiply seven by say eight The answer is 56 which means that a memory of more than 56 address capacity should be used for this example In reality however you can t calculate the memory capacity by such a simple procedure There are many other factors to be considered and you may need an engineer s help to determine the memory capacity Operating procedure Usually all SYSMAC C series programmable controllers do not have a program memory when they are delivered This is because as easily seen from the above discussion the required memory capacity varies depending on the user s intended application The C120F is no exception and you should decide the memory capacity necessary for your control system and order the memory separately Two types of memories are available One is a random access memory RAM whose data can be read or written as you like The other is a read only memory ROM which allows data to be read as many times as required but to be written only once You can
192. ion of remote 1 0 unit and optical transmitting 1 0 unit Address and channel setting and assignment of 1 0 channels Significance of address setting Up to two remote I O slave units each of which functions as a slave station or 64 optical transmitting I O units can be connected to a remote master unit that serves as a master station The maximum number of I O points of the optical transmitting units that can be connected to a SYSMAC C120F programmable controller is 32 units 256 points Because the remote I O master unit must recognize the addresses and the channels of each I O unit connected to the master unit setting the addresses and channels of these I O units is important to facilitate the managing of the connected I O units by the master unit Address of remote i O slave units Two remote I O slave units can be connected to a remote I O master unit Set the address of each connected remote I O slave unit so that the remote I O master unit identifies the address of each expansion I O rack to which each i O slave unit is mounted For details on DIP switch setting of the remote I O slave unit refer to Setting address and end RSU remote slave unit emote I O mee unit LIII controller Remote I O slave unit 1 Expansion I O rack No 1 Channel setting for optical transmitting I O unit Remote VO master unit Programmable controller i Ls N optical transmitting 1
193. is defective Replace defective unit 3 Input relay number is incor Correct program rectly assigned to OUT in struction of program 6 Abnormal relay numbers are in units of 8 points 1 Data bus signal is faulty Remove all I O units being used and reinsert them one by one to find defective unit 2 IC RAM of CPU is defective Replace CPU T Inputs turn ON and OFF irregularly 1 External input voltage is low Raise externai voitage 2 Malfunction due to noise Countermeasures against noise Install surge suppressor Install insulating transformer Wire with shielded cable 158 Input operation indicator does not illuminate Operation is normal 1 LED indicator is defective Since this type of defect does not impede normal operation repair it in your spare time or at the time of the next periodic inspection Maintenance and inspection Output unit No k s 2 Abnormal symptom 2 2 27 Possible cause Corrective action 1 All output units do not turn on 1 Supply voltage for load is not Apply voltage Raise voltage applied 2 Signal level within unit is Remove all I O units being used and insert them defective one by one to find defective unit 2 Allrelays of specific output unit do not turn on 1 Same as 1 1 Same as above 2 Screws of terminal block are
194. jump to the specified step of the flowchart The destination is specified by LBL 0 The LBL is a Label instruction which identifies the destination step to which the program execution is to jump 23 24 Flowchart programming concept Now look at the first step of the flowchart There is another LBL instruction The number 0 it has matches the number the LBL instruction in the JMP instruction has Therefore in this program the execution jumps from the last step to the first step Thus the robot will not stop after it has performed one cycle of operation Instead it will repeat the operation as long as itis supplied with power After your program has been devised it must be stored in the C120F s memory using the programming console Storing the program of the step advanced processing like this is relatively easy All you have to do isto create a coding sheet on which each step of the flowchart is assigned a memory address and press buttons on the programming console by referring to the coding sheet Here is the coding sheet of the program discussed in this section Address s instruction 0001 AND 0003 0006 0007 OUT 202 OUT NOT 202 JMP LBL 0 Flowchart programming concept Branch instruction flowchart processing Let s express the movement of the same robot using the Branch instruction ofthe C120F The Branch instruction causes the program execution to proceed to
195. l appears This symboi represents the Branch instruction Like the Wait instruction the Branch instruction is often used in combination with another instruction In this case the Branch instruction causes the program execution to proceed to the next step if PB1 is not pressed contrary to the condition specified by the AND instruction If the PB1 is pressed the program execution branches to the OUT 0000 and JMP LBL 2 instructions The other steps of this flowchart are similarly executed and the robot operates in exactly the same manner as when the program is written using Wait instructions only i e without Branch instructions Flowchart programming concept Writing a program using Branch instructions or Group instruction to be explained next to the C120F s memory is slightly more complicated than a program using Wait instructions only in that you have to write in all the NO conditions that is the left portion of the sample flowchart Then starting from the address next to the last one of the already written portion of the program write in the YES conditions of the program i e the right portion Here is the coding sheet of the program we have discussed in this section AND CJP LBL AND CJP LBL LBL AND CJPLBL LBL 0010 o0 7 012 tB 2L C OO 8 AND 1 0 J 4 0014 cB 0 s 05 LBL 0016 JMPLBL 0017 LBL 0019 JMP LBL LBL OUT NOT 0
196. l auxiliary relay s by using the XFER instruction FUN72 and use the transferred data XFER 0002 Number of channels whose Input 0002 to specify the num data are transferred ber of channels 4 Starting channel source from Starting channel of input data in which data are transferred the high speed counter 50 Starting channel destination Auxiliary relay to which data are transferred AND 5003 Present value Set value bit To process input signals such as carry borrow present value gt set value present value set value and present value set value in bit units by using instructions such as AND and OR transfer the data to the internal auxiliary relay s To perform in parallel another processing while the count value reaches the set value use the GJ instruction No Data on input channel ofthe high speed count er unit are transferred Another processing Is Present value et value ON2 NO YES GJ instruction Coincidence processing Example LBL 100 XFER 0002 4 Starting channel of input data 50 AND 5003 Present value Set value CJP LBL 110 GJ JMP LBL 100 LBL 110 Coincidence processing To preset a present value or set value turn ON the counter preset command or set value preset command prior to or simultaneously with a preset data While presetting a preset value or set value carry borrow or preset value S
197. l occur causing special auxiliary relay 6303 to turn ON and the program to be not executed The only channels that can be indirectly addressed are data memories DMO to DM511 If the contents of the indirectly addressed area are other than BCD data or greater than the maximum data memory channel an error will occur this will cause special auxiliary relay 6303 to turn ON and the program to be not executed For details referto Compare instruction CER ERE where S conversion start channel number K digit designation D destination channel number The MLPX instruction is used to decode 4 bit binary data of 16 bit data to 16 bit decimal data 123 124 Instructions Coding chart Contents of data 010 60 LRO to 31 HRO to 31 TIM CNTO to 127 TIM CNTO to 127 DM511 DM511 The constant is determined according to the content of digit designation This instruction converts decodes a decimal numeric value represented by 4 bit data into 16 bit data whose bit at the bit position corresponding to the numeric value is 1 and then transfers the decoded data to a specified channel All the other bits are 0 Numeric value 16 bit data of 4 bit data Bit position Data Instructions The digit designation data K is used to designate the position of the bit and the number of digits to be decoded MSB LSB Digit designation 0 to 3 No
198. lding relay Link relay HR20CH LR20CH The result of the transfer will be when HR20CH 0 6306 1 when LR20CH 0 6306 0 In constant designation hexadecimal 4 digit binary 16 bit data is either transferred or inverted and then transferred The only channels that can be indirectly addressed are data memories DMO to DM511 If the contents of the indirectly addressed area are not in BCD or if they are greater than the maximum data memory channel an error will occur this will cause specia auxiliary relay 6303 to turn ON and the program will not be executed 89 Instructions COMPARE CMP Flowchart 0104 YES LBL100 00 gt HR20 0105 0106 YES LBL200 00 HR20 0107 6307 0108 YES LBL300 00 lt HR20 90 vov 3F678 DM 20 2 o 2 16 bits F 7 16 bits Because DM20 is indirectly addressed the data 21 decimal in DM20 specifies DM21 and a 4 digit constant F678 is transferred to DM21 As a result the contents of DM021 become F678 For details refer to Compare instruction comparing data compared data The CMP Instruction is used to compare a 16 bit channel data or a hexadecimal 4 digit 16 bit binary constant against another 16 bit channel data The result of the comparison is output to special auxiliary relay 6305 6306 or 6307 Coding 010 CMP 52 0101 J 0102 HR20
199. lears all the internally registered interrupt inputs when power is applied to the C120F However the interrupt masks are not cleared Clearing the mask for the interrupt inputs and executing the CLI instruction must be performed by the program To clear the masking of the interrupt inputs 0 to 7 of interrupt input unit number 0 and the internally registered interrupt inputs when power is applied to the C120F program as follows CLI 0 3 00FF MSKS 0 0000 LABEL LBL LBL label number Flowchart n 8 The LBL instructions are used to indicate the beginning of interrupt servicing routines A maximum of 32 LBL instructions namely LBLO to LBL31 are 0100 available which respectively correspond to a maximum of 32 interrupt inputs These LBL instructions can be used as labels when no interrupt unit QUSS 1 is mounted to the C120F I 1 1 Coding chart cin Address Instruction 0100 LBL 0150 RTI 44 When two interrupt units are mounted to channels O and 1 of the C120F label numbers correspond to I O numbers as follows 86 Instructions RETURN RTI MASK READ MSKR Flowchart 0201 MSKR 1 DMO Label Nos corresponding to UO Nos CH Bit 00 LBLO 0 07 LBL7 2 00 LBL8 07 LBL15 Bits 8 to 15 of each interrupt unit can be used as internal auxiliary relays When the WAIT or CJP instruction is execu
200. lector a amala cu pal memory creuit EUM ra Series in CPU Z Work La Mr TIR EBR memory F M TEST OK ec E RS TEST switch 4 Remote VO master unit p LTM Ed Serial System Data parallel CPU paral memory series jeries interlace Vo unit Werk bon 74 TIRERR Ra ERR O AUN output oi 390 EAr Soga a sabida Remote WO slave unit Setting address and end RSU Setting address and end RSU of remote I O slave unit Remove the indication panel from the remote i O slave unit with a flat blade screwdriver and a 4 pin DIP switch will be found on a PC board Set the DiP switch by referring to the following figure and table 197 198 Special units Note Caution DIP switch Function Address End RSU setting DIP switch m ip Peg lom mmm To specify sub unit B E n other than No 0 as 1 2 3 4 Whe en RSU To specify sub unit Maga other than No 1 as 1 23 4 theend RSU a A protective cap is attached as an accessory Put it on the unused fiber optics connector of the remote I O slave unit specified as the end RSU to prevent a malfunction of the unit from external interference light Although Type 3G2A5 RT001 E is exclusively used as the end RSU perform the setting for the end
201. ll scale at 25 C 50 PPM C 5ms max Program execution cycle of SYSMAC C Series Terminal block cannot be dismounted 5 550 mA max 600 g max 1 Specify the external output range when placing your order refer to Available types Current output is available only in Type 3G2A6 DA001 whose voltage output range is 1 to 5 V 2 The binary code output from the types with the voltage output ranges consists of 1 sign bit and 11 bits Insert the D A conversion output unit to the upper slot of an expansion I O rack when mounting the unit to the SYSMAC C120F To mount the unit to the SYSMAC C120F use Type 3G2C4 SI025 or 3G2C4 81026 Special I O units Block diagram Line 1 Isolation Voltage z output C H Current H 2 1 output O E et From SYSMAC C Series Line2 5 VO bus Voltage 3 m output 5 KA KH Current output z i ip s 2 Isolation DC DC 5 sapore av The current output 4 to 20 mA is available only in the unit with the voltage output range 1 to 5 V The terminal for the current output of the unit with the other voltage range is therefore opened Connection for voltage output Voltage output Voltage output 0 V Current output Current output Line 1 Voltage output Voltage output 0 V
202. lure 2 o 2 02 1 3 Ld x10 4 x10 5 05 5 05 e 06 e 06 Analog input Ex 7 07 7 0 xi 8 xio 8 COM s 9 08 Analoginput 10 09 Input failure Y n 10 i 2 1 Analog input 2 E T xi d E 14 13 4 15 14 16 15 x10 xv 17 COM 18 19 XFER 0001 The contents of 1CH are transferred to The contents of 01CH are transferred to auxili S auxiliary relay 32CH ary relays ANDW ai 32 Only the data to be converted from analog din Only th Gata tobe core to digital are transferred to verted from analog to BCD i digital are transferred ooo The contents of DMO are converted into to DMO decimal data and output to O3CH AND B 3215 Input Failure flag check The contents of DMO OUT NOT 501 a w are converted into dec JMP LBL 110 Input Failure output OFF imal data and output LBL 100 E 3 x j OUT 501 Input Failure output ON LBL 110 ls Input Failure output 07 XFER 0001 The contents of 2CH are transferred to auxiliary relay 32CH 32 ANDW 32 Only the data to be converted from analog OFF ON BED 001 The contents of DM1 are converted into decimal data and output to 4CH AND 345 u Juro GJP LBL 200 Input Failure flag check O ON 508 Input Failure output OFF LBL 200 OUT 509 S ilure output ON 210 Input Failure output
203. mand input mode 1 Initial condition setting by program Count input 1 xe UP DOWN count command p x program 03 Present count value 000000 X 999999 999998 X 999997 X 999998 X 999999 X 000000 X 000001 X 000002 000003 Up T Down Up In this mode the counter counts each leading edge of count input 1 The user program specifies either the UP or DOWN operation The signal of countinput 2 is ignored Command input mode 2 Initial condition setting by program Count input 1 Count input 2 UP DOWN count command Present count value In this mode the counter counts each leading edge of count input 1 Count input 2 specifies either the UP or DOWN operation That is the UP operation is performed when the input level of count input 2 is high and if itis low the DOWN operation is specified Phase differential input mode Initial condition setting by program Countinput 1 Countinput2 se Present count value In this mode whether the UP or DOWN operation is performed is specified by the phase difference between count inputs 1 and 2 When count input 1 leads count input 2 by 90 at the leading edge of count input 1 the UP operation is specified at the trailing edge of count input 1 The DOWN operation on the other hand is specified when count input 1 lags count input 2 by 90 at the leading edge of count input 1 Permissible phase differential error r
204. mbers of an I O unit are changed according to the position on the CPU or expansion I O rack on which the I O unit is mounted The terminal connections shown above are for when the I O unit is mounted on the UNIT 1 position Specifications 5 A unit 10 mA 100 VAG 3mA 100 VAC max Saturation voltag 1 2 V max delay time 1 ms max OFF d lay time 1 2 of load frequency max 16 8 common 500g max Current consumptiori o circuit rentconsu T 5 VDC 300 mA max internal constant voltag Fuse capacity i y 5 A 8 points configuration Fuse fuse blowout detection circuit Internal circuit Fuse fuse blowout detection circuit 85 to 120 VAC 85 to 120 we The terminal numbers and channel numbers of an I O unit are changed according to the position on the CPU or expansion I O rack on which the I O unit is mounted The terminal connections shown above are for when the I O unit is mounted on the UNIT 1 position A 10 Specifications Max switching capacity 3G2A6 0D414 x 1210 48 VDC L 1096 1596 1 A 4 A common 5 A unit 5 Alunit G2A6 OD412 12 to 48 VDC 10 15 0 3 A 4 A common Leakage current 100 uA max 100 HA max Saturation voltage 1
205. mitting unit the maximum number of units that can be connected to the SYSMAC C120F is 32 because eight I O points are provided per optical transmitting I O unit When mounting Type 3G2A6 RMOO1 E remote I O master unit to the SYSMAC C120F expansion I O rack use Type 3G2C4 S1027 S1028 215 216 Special I O units SYSMAC CS00F CPU rack When connecting the remote 1 0 units and or optical transmitting 1 0 units to the SYSMAC C500F SYSBUS exclusive fiber optics cable SYSMAC C500F expansion O rack Transmission distance 800 m max Remote I O slave unit d d Remote VO masterunit Optical transmitting V O units Type 3G2A5 RT002 E Repeater ome oe VO unit Type 5 5 Type 3G2A5 RM001 E 6A IO units max Typ Count the number of I O units the remote I O slave unit in units of 8 VO points in the same manner as the optical transmitting unit For example a unit provided with 16 points is counted as two units The number of I O points provided to the system 2 048 max The remote I O master unit can be connected to any 1 O connector on the SYSMAC C500F CPU rack or to the SYSMAC C500F expansion I O rack Up to two remote O slave units or 64 optical transmitting I O units can be connected to a remote I O master unit Note however that I O units cannot be connected to the SYSMAC C500F exceeding 512 1 0 points because the maximum number of I O relays provid
206. mote 1 0 slave unit I O unit and base unit mounted to expansion VO rack Replace faulty remote I O slave unit or optical transmitting 1 O unit with o o x o new one Replace faulty remote I O master unit with new one e Assign address either 0 or 1 to remote I O slave unit If 2 or 3 is specified as address of remote I O slave unit this address will be ignored When cause of failure is removed unit will recover from abnormal state automatically If not replace power supply of each unit or unit itself with new one For details on this refer to Identifying abnormal I O unit when transmisison error occurs in SYSBUS 9 gt 6120N E B7 Check remote I O slave unit I O units and expansion I O rack Replace remote I O master unit with new one After verifying I O table by using programming console assign channel number to each l O unit correctly e 6110 ON E7 After verifying I O table by using programming console e Return input and output units to their original mounting positions e Generate I O table again Ifthe same address is assigned to two remote I O slave units or the same channel is assigned to plural optical transmitting I O units in duplication the data will compete for the SYSBUS Consequently a transmission error will frequently occur The transmission error also occurs because of infl
207. n 16 A unit 250 VAC 2 A p f 1 24 VDC 2 A 8 A common 24 A unit Min switching capacity 5 VDC 10 mA 5 VDC 10 mA Supply voltage to inter constant voltage cir cuit for relay driving gt Voltage 24 VDC 10 10 6 Current 10 mA point 160 mA unit Voltage 24 VDC 10 10 Current 10 mA point 160 mA unit ON delay time 15 ms max 15 ms max OFF delay time 15 ms max 15 ms max Number of circuits 16 8 common 24 8 common Weight 450 g max 500 g max Current consumption of internal constant voltage circuit 5 VDC 5 5 100 mA max 24 VDC 10 10 160 mA max 5 VDC 5 5 180 mA max 24 VDC 10 10956 240 mA max Service life i Electrically 300 000 operations Mechanically 20 000 000 operations Type G6B 1114 Electrically 300 000 operations Mechanically 20 000 000 operations Type G6B 1114P Circuit configuration Internal circuit internal circuit Relays are mounted on sockets and are replaceable o OUT 00 OUT 07 COM Internal circuit zx O OUT 08 Internal circuit Terminal connections pl 4 p 4 24 VDC 250 Z o poses lt n 58 aes L 1 The terminal numbers and UO channel nu
208. n When doing so confirm that any other I O unit connected to the SYSBUS is not specified as the END station 5 Turn on the power of each unit in the system This may be done in any order 6 After the END STA CHECK indicator of the remote I O master unit goes out generate an I O table by using the programming console of the PC 7 With the programming console check whether the newly mounted remote O slave unit and optical transmitting I O unit have been correctly registered to the CPU of the PC Once the above procedures have been performed the system is ready for operation on power application Should the system not operate normally after the above procedures have been correctly observed refer to List of error messages and alarm output Generate or check the I O table by using the programming console Special I O units System configuration examples When connecting remote I O slave unit and optical transmitting I O units to SYSMAC C120F via remote I O master unit SYSMAC C120F SYSBUS exclusive fiber optics cable CPU rack SYSMAC C120F expansion I O rack 3G2C4 SI027 Slo28 SYSMAC C120F remote master unit Type 3G2A6 RMOO1 E SYSMAC C500F 1 DOR SYSMAC C500F expansion UO rack Transmission distance 800 m max remote UO slave unit s Optical transmitting VO units Type 3G2A6 RT002 E Optical transmitting VO units The number of UO poi
209. n Vacant Vacant Vacant Vacant Channel 3 Input unit 0010 ee 0005 0004 nn aaa 0001 0000 channel0 11 Pure 0103 0100 Channel i 1 3 3 LS3 LS2 b GL 0 Operating procedure 1 0 device wiring When all the I O numbers have been assigned the input and output devices must be respectively connected to the input and output units Although there many I O units available for connection to the C120F let s continue to the already mentioned 10217 input unit and Type OC222 output unit The following figure shows the C120F to which the I O units mentioned above are mounted Note that an input unit must be always mounted in the bottom slot of the CPU rack in the top slot however both an input and an output unit can be mounted 0 V supply terminal of OC222 24 V supply terminal of OC222 i Common terminal for output points 0208 to 0215 Common terminal for output points 0300 to 0307 Common terminal for output points 0200 to 0207 Output numbers Output unit 24 points 382A6 OC222 POWER Channel numbers SYSMAC C120F PROGRAMMABLE CONTROLLER PERIPHERAL RUN START 24VDC BATTERY OUTPUT INPUT O IAQUTPUT Input unit 32 points 36246 10217 0108 24 V supply terminal for input points 0100100107 24 V
210. n the input relay specified by the Differentiation instruction is turned ON otherwise the program execution proceeds to the next step DIFD WAIT FUN41 OIF NO RELAY NO This instruction causes the program execution to wait until the input relay specified by the Differentiation instruction is turned OFF DIFD BRANCH FUN41 DIF NO RELAY NO LABEL NO This instruction causes the program execution to jump to a specified label only when the input relay specified by the Differentiation instruc tion is turned OFF otherwise the program execution proceeds to the next step RELAY NO 0000 to 6315 LROOOO to 3115 HR0000 to 3115 MSKS FUN42 Interrupt unit No This instruction is used to mask the interrupt on the lower 8 bits of the input from a specified interrupt input unit The higher 8 bits of the input are ignored FUN43 RTI FUN44 MSKR FUN45 MOV FUNSO Interrupt unit C2 This instruction is used to clear the interrupt masks set on the lower 8 bits of the input by the MSKS instruction the higher 8 bits of the input are ignored This instruction indicates the completion of the interrupt servicing and causes the interrupted program execution to be resumed Tnterrupt unit No This instruction is used to read th
211. n the timer this instruction can function as if there were eight timers When the present value of the timer reaches or exceeds each of the set values present value z set value the corresponding time up flag in the specified channel becomes logical 1 When this instruction is used for the timing control of external devices the required number of timers can be significantly decreased leading to reduction in the cost of the control system Description of operands As the operands of the Multi Output Timer instruction a total of 10 channels for flags present values and set values are specified The channels that can be specified as the operands are as shown in Contents of data Flag One channel is required for the flags The following tabie illustrates the relation between the reset flag and count stop flag Instructions Cannot 1 used NUS flags Lum flag Count stop flag Count stop fiag EDT MEE Resetflag The present value as itis being updated is compared against the set LAM De values When the present value coin cideds with one of the set values the corresponding time up flag is turned ON The present value and the time up flags are cleared and the timer is stopped Bits 10to 15 in the flag channel are used as a system work area If anything is written in this area by the user program the normal operation of the Multi Output Timer instruction cannot be performed To
212. n units of points This point unit is also used to count the number of relays with which the programmable controller is provided internally Therefore all the input output devices connected to the programmable controller is actually connected to each of the internal relays of the pro grammable controller The programmable controller should be able to accommodate about 10 more input output I O points than the existing number to provide for future expansion of the system In other words the programmable controller should have that number of internal relays Operating procedure Let s see how many l O points are used in our example For the input four points of devices are used one pushbutton and three limit switches LS1 to LS3 For the output three points of devices are used SOL1 to SOL3 Therefore the example system consists of seven I O points in all and therefore a programmable controller having more than 10 points can form this control system in the case of the C120F its CPU rack alone provides a maximum of 128 I O points and the number of I O points can be further increased up to 256 points by connecting a maximum of three expansion I O racks to the CPU rack Therefore for the example system even the number of I O points the CPU rack itself has is more than enough The programmable controllers of the SYSMAC C series all use the concept of I O channels to identify individual I O points Each of these chann
213. nal to terminal FG The PC may not operate correctly if its grounding wire is shared by other equipment or if grounding is attempted by attaching the grounding terminal to the metal superstructure of a building Do not use a grounding wire longer than 20 m Care must be taken because ground resistance is affected by the nature of the ground water content season and the amount of time that has elapsed since the wire was laid underground Wiring of expansion 1 0 rack Use twisted pair wires having a conductor cross sectional area of 2mm AWG14 for the expansion I O rack wiring Separate the power line from the VO line Connect the ground lines of terminals LG and FG of the expansion VO rack power supply to terminals LG and FG of the CPU rack with a line having a conductor cross sectional area of 2 mm AWG14 Use Type 3G2A5 CNS511 50 cm or 3G2A5 CN121 1 m connecting cable to connect the expansion I O rack to the CPU rack AC power source Expansion I O rack connecting cable Expansion I O rack power supply gt F Note Avoid running the VO connecting cable in the same duct as other wiring Limit the cumulative length of the connecting cables to 2 m 143 Installation and mounting V 0 unit wiring Note Protection against power failure 144 Use lead wires having a conductor cross sectional area of 1 25 mm or less for wiring the 1 O unit When an input device havin
214. nd in the program special auxiliary relay 6109 is turned ON and the instruction is processed as NOP SHIFT REGISTER SFT input data start channel end channel Flowchart where input data 0 to 6315 LRO to 3115 or HRO to 3115 start channel 0 to 60 LRO to 31 or HRO to 31 0100 end channel 0 to 60 LRO to 31 or HRO to 31 OO 0 Inputdata 0102 O p Statchamel i ali Mtn 00 1H End NUI This instruction can be used as a serial input shift register Program the SFT instruction starting with input data a start channel and then an end channel Coding chart Each execution of this instruction causes the input data specified by an I O SFT relay number to shift by one bit from the specified start channel to the end channel In the above program input relay 0 turns ON at the first third and fourth executions of the SFR instruction and OFF at the second execution The contents of the channels are as shown below showsthe ON state and the OFF state Output unit x2 00CH OICH 00CH OICH 00CH OICH 00CH 0009 0109 1st execution 2nd execution 3rd execution 4th execution 67 Instructions Neither clock input nor reset input is used for the shift register The register contents are shifted each time the SFT instruction is executed To reset the shift register use a CNR Counter Reset ins
215. nel to optical Qs Channel transmitting I O unit s must be assigned in reverse sequence starting from channel 31 In so doing pay special attention so that the 1 0 channels of the programmable controller and those of the optical i transmitting I O units do not overlap 1 31 Channel Optical transmitting 170 units Example 3 Connecting between SYSMAC C500F remote I O units and optical transmitting I O units r 16 points 1 r 64 points 0CH Optical Optical Optical i transmitting transmitting transmitting VO unit VO unit VO unit VO unit 30 channel L 30 channet H 31 channel L 31 channel H Set the channel of each optical transmitting VO unit by its DIP switch Note In both examples 2 and 3 the rack No for the remote VO master unit is set to 0 T a great number of I O points are required set the rack number for the remote I O master unit to 3 to prevent I O channel numbers from overlapping At this time set the channel number of the optical I O transmitting unit to 31 so that the O number becomes channel 127 212 Special I O units Meaning of end station On power application the remote O master unit checks whether a remote 1 O slave unit or an optical transmitting I O unit that is specified as the end RSU is connected to it If an i O unit specified as the END station exists the remote I O mast
216. nels that can be indirectly addressed are data memories to DM511 If the contents of the indirectly addressed area are other than BCD data or greater than the maximum data memory channel an error will occur this will cause special auxiliary relay 6303 to turn ON and the program to be not executed For details refer to Compare instruction The constant can be specified as hexadecimal 4 digit binary 16 bit data EXCLUSIVE OR NOT WORD XNRW EUN data 1 data 2 result channel Flowchart The XNRW instruction is to perform an exclusive logical OR NOT operation between two specified data 16 bits each 0100 NRW Coding chart 0101 0 0102 LR11 0103 DM12 Instruction I XNRW 68 110 Instructions Contents of data Datatand2 Result CH UO relay internal auxili ary relay Linkrelay ROto31 Holding relay HROto 31 Timer counter TIM CNTOto 127 Data memory to 511 Indirectly addressed DMOto 511 data Qul e Constant 0000 to FFFF When the XNRW instruction is executed an exclusive logical OR NOT operation is performed between two 16 bit data in the above program the 16 bit contents of OCH are exclusively ORed with the 16 bit contents of LR11 and the result of the OR operation is inverted and then stored in DM12 If the result of the operation is 0000 special auxiliary relay 6306 is turned ON VO
217. nit The CPU contains the control circuitry as well as the memory that stores the control plan that guides equipment operation It is the heart of the PC and organizes all controller activity by scanning the control plan along with the status of the inputs and executes specified commands to specified outputs Programming device This device is used to enter the control plan into the CPU s memory The user keys in the instructions are used to sequentially control the application process There are several programming methods in the case of the SYSMAC C120F it is flowchart programming a unique programming technique described in detail in the next chapter ig Introduction to C120F C120F components CPU rack Power indicator Control input output terminals SYSMAC C120F omon ind Due to its compact design the C120F incorporates the detachable I O terminals microprocessor functions and power supply in a single housing called the CPU rack The detachable programming console functions as the programming device Additionally various optional peripheral devices are available to support system expansion These components are explained and illustrated in the next several pages Power terminals Input output unit LED indicators Battery compartment Peripheral device connector Input unit Power terminals Connect commercial power source 100 to 120 200 to 240 VAC 50 60 Hz to the CPU rack from the
218. nnel and relay numbers are assigned from the right to the left starting from this point The assignment continues in the same manner from the lower to the upper I O unit mounting position on the CPU rack The I O unit s mounted on an expansion I O rack connected to the CPU rack is also assigned with serial UO channel and relay numbers in exactly the same manner The I O channel and relay numbers are determined by registering the mounted unit in the CPU memory This registration is initiated by using the programming console For details refer to I O table generation operation described in the user s manual for the programming console 51 52 Assignment of relay numbers The vacant space is not registered as a channel If an I O unit is later mounted additionally to a vacant position the I O unit location will disagree with the registered location and cause an 1 0 verify error to occur If this happens register the I O unit location again When the I O table is generated contents of channels 0 to 15 are cleared regardless of whether the special auxiliary relay 6012 data retention flag is turned ON or OFF When 1 0 units are fully mounted in order When only 32 point I O units are mounted on the CPU rack and the expansion I O rack the relation between the I O unit mounting positions and VO channel and relay numbers is as follows 02CH 0215 0200 03CH 0315 0300 CPU rack 00H 0015 0000 01CH 0
219. nnels Lines 1 to 4 Specifications Input channel 2 channels 4 chanriels External input range 1 Voltage input Voltage input Oto 10V Oto 10V Oto 5V 1to 5V 1to 5V 5to 5V 10to 10 V Current input 4 to 20 mA External input impe t Voltage input 1 MQ min i Current 250 Q Resolution 1 4 095 of full scale 1 1 023 Seres 5 575 Binary 12 bits Binary 10 bits Linearity 30 196 max 0 2 max Accuracy 0 2 max of full scale at 25 Temp coefficient X 100PPM C of full X 150PPMPC of full 5 scale Conversion time 2 5 ms point max Conversion cycle 5 ms max 10 ms max Conversion mode Sequential comparison Max permissible exter Voltage input 15 V max nal input Current input 60 mA max Terminal for external connection Terminal block cannot be dismounted Internal power supply 5 V 300 mA max 5 V 750 mA max Weight 600 g max 650 g max 1 Select and use the type with a desired input signal range by referring to Available types The current input function is provided to only Types 3G2A6 AD001 and 3G2A6 AD006 whose voltage input ranges are both 1 to 5 V 2 An input analog signal is converted into a 12 bit binary data consisting of a sign bit and 11 bit data when the A D conversion input unit 2 channel type only with input signal range of 5 to 5 V or 10 to 10 V is used
220. not change or erase the data from a ROM once they have been written to the memory unless you use a special device For the C120F Models ROM H and RAM H are available as a ROM and RAM respectively 1 0 assignment After you have determined the input output devices hence the number of VO points required and the memory capacity you should assign the I O numbers to the I O points In our example let s assign I O numbers 0000 to 0003 to the four inputs that is 0000 to PB1 0001 to LS1 0002 to LS2 and 0003 to LS3 For the outputs at least the channel number of the output points should be different from that of the input points Therefore let s assign output numbers 0200 to 0202 to the three output points that is 0200 to SOL1 0201 to SOL2 and 0202 to SOLS These I O numbers as stated earlier represent the I O points or more specifically the I O terminals of the O units mounted to the C120F Therefore by assigning of the I O numbers to all the I O devices you can know which I O device should be connected to which terminal of the I O unit For example when the input unit Type ID217 32 points and output unit Type OC222 24 points are mounted on the C120F the I O assignment or actual wiring of the I O devices can be as shown in the following figure SOL3 5012 501 Ed VO numbers wal Output unit 0209 0208 1 0207 203 0202 0201 0200 Channel 2 terminal 03 0302 0301 0300 Me
221. ns ferred to the CPU 1st stage coincidence i YES 2nd stage coincidence processing 191 Special I O units Multidigit preset UP counter more than 6 digits In this example count value 87654321 is processed with a multidigit preset UP counter The counter unit is assigned to Channel Nos 2 to 5 of the CPU rack DM10 is used for internal counter Auxiliary relays 50CH 51CH and No 5207 are used AND START input WAIT Carry reset borrow reset and coincidence MOV reset commands are turned ON Waiting for 0071 Counter preset command is turned ON and START input MOV 2 preset value 0 is set to 10 and 10 0000 Present value 0000 is set 0000 consists of ON 3 105 to 102 MOV Counter preset command is turned OFF and Count t com 2102 set value present command is turned ON 2 Setvalue2i is set 21 consists of 10 and jo Present value 000000 MOV 10 gt is set 000000 consists 6543 Set value 6543 is set 6543 consists of 10 to of 10 to 10 3 102 MOV 0000 DM10 is cleared to 0 Counter preset com DM 10 mand OFF OUT NOT 5207 MOV 0004 Set value preset command is turned OFF Set value preset com 2 and count gate is turned ON T 100 XFER Counter unit inputs CH4 and CH5 are Set value 654321 is set 9907 transferred to auxiliary relays CH50 and 654321 consists of 10 50 CH51 respectively 5000 Carry OR 5001 Borrow OR 50
222. nsent s0000t09999 When the MUL instruction is executed multiplication of 4 digit BCD data by 4 digit BCD data is performed Two channels are required for the result area of the arithmetic operation In the above program the 16 bit contents of OCH 0 to 0015 are multiplied by the 16 bit contents of the 4 digit constant 1234 in units of four BCD digits the result is output to the two 16 bit channels LR21CH and LR22CH LR2100 to LR2215 If the result of the multiplication is 00000000 special auxiliary relay 6306 is turned ON VO relay Link relay LR21CH Link relay LR22CH low order digits high oder digits 2 LR2100 2 CR2200 sige LR2101 2 LRZ201 c 27T LR2102 2 LR2202 LR2103 2 LR2203 2 LR2104 2 LR2204 2 LR2105 2 LR2205 X10 0 19 ras 11 Constant N2 LR2107 25T LR2207 x 1234 Aof LR2108 LR2208 2 LR2109 2 LR2209 la X10 x10 Mid 7 LR2110 10 3e LR2210 2 LR2111 z LR2211 2 LR2112 hof LR2212 2 LR213 2 LR2213 10 mro 1 9618 a 2 LR2114 22 LR2214 2 LR2115 2 LR2215 95 Instructions DIVIDE DIV Flowchart 96 The CPU checks whether the data for BCD multiplication is in four BCD digits If not an error will occur this will cause special auxiliary relay 6303 to turn ON and the program to be not executed
223. nts provided N 88 VO units max tothe system 256 max Count the number of l O units on the remote I O slave unit in units of 8 points in the same manner as the optical transmitting VO unit For example a unit provided with 16 points is counted as two units SYSMAC C120F SYSBUS exclusive fiber optics cable CPU rack SYSMAC C500F expansion VO rack SYSMAC CS500F remote VO master unit Transmission distance Type 3G2A5 RM001 E SYSMAC C500F remoteVO 9 800mmax Optical transmitting VO units slave unit Type 3G2A5 AT002 E Optical transmitting units The number of I O points provided NL 32 VO units max to the system 256 max Count the number of I O units on the remote slave unit in units of 8 points in the same manner as the optica transmitting I O unit For example a unit provided with 16 points is counted as two units The remote I O master unit can be inserted in the upper slot of the SYSMAC C120F expansion I O rack or in any I O connector of the SYSMAC C500F expansion I O rack it cannot however be directly connected to the SYSMAC C120F rack Up to two remote l O slave units or 64 optical transmitting I O units can be connected to a remote I O main unit Note however that I O units cannot be mounted to the SYSMAC C120F exceeding 256 I O points because the maximum number of I O relays provided to the PC is 256 In terms of the optical trans
224. nversion input D A conversion 2 5kg 3G2C4 S1026 output or high speed counter unit 110 120 VAC for mounting remote unit 2 5 kg 3G2C4 SI027 220 240 VAC for mounting remote 1 O unit 2 5kg 3G2C4 SIO28 Cable length 50 cm 300g 3G2A5 CN811 connecting cable Cable length 100 cm 400g 3G2A5 CN121 2 100 to 120 VAC 10 mA 16 points 450g 3G2A6 lA121 200 to 240 VAC 10 mA 16 points 450g 3G2A6 lA222 121024 VAC VDC 10 mA 16 points PNP NPN input 450g 3G2A6 IM211 12 VAC VDC 7 mA 32 points PNP NPN input 500g 3G2A6 IM111 Input unit 24 VAC VDC 7 mA 32 points PNP NPN input 450g 3G2A6 IM213 i 510 12 VDC 16 mA 16 points NPN input 450g 3G2A6 ID112 12 to 24 VDC 10 mA 16 points NPN input 450g 3G2A6 ID213 Interrupt input unit 12 to 24 VDC 8 points PNP NPN 4509 3G2A6 ID216 BeOS a 24 VDC 7 mA 32 points NPN input 450g 3G2A6 ID217 VO unit 24 VDC 10 mA 64 points dynamic scan method 450g 3G2A6 ID212 lt j H Relay contact 250 VAC 24 VDC 2 A 16 points with relay socket 450g 3G2A6 OC221 Relay contact 250 VAC 24 VDC 2 A 24 points without relay socket 500g 3G2A6 OC222 Out put unit Triac 85 to 250 VAC 1 A 16 points 500g 3G2A6 OA222 N Transistor 12 to 48 VDC 1 A 16 points 500g 3G2A6 OD411 Transistor 12 to 48 VDC 0 3 A 32 points 530 9 3G2A6 OD412 Transistor 24 VDC 0 1 A 64 points dynamic scan method 450g 3G2A6 OD211 D mmy VO unit 16 32 64 points common 4509 3G2
225. o 5 V for voltage input or 4 to 20 mA for current input detects an input failure The level of this bit becomes 1 when an input failure occurs and remains O during normal operation of the unit The signal level of bit No 15 of other A D conversion input units remains O n 1 CH A D converted data 2 i A D converted data 2 nS CH A D converted data 2 A D converted data 2 A D converted data 2 A D converted data 2 A D converted data 2 A D converted data 2 A D converted data 2 A D converted data 2 A D converted data 2 A D converted data 2 A D converted data 2 A D converted data 23 A D converted data 2 A D converted data 2 A D converted data 2 A D converted data 2 A D converted data 2 A D converted data 2 A D converted data 25 A D converted data 2 A D converted data 2 A D converted data 2 A D converted data 2 A D converted data 25 A D converted data 29 A D converted data 2 A D converted data 2 A D converted data 2 A D converted data 2 o A D converted data 25 A D converted data 28 A D converted data 28 A D converted data 29 A D converted data 2 A D converted data 2 A D converted data 2 A D converted data 2 172 Line 1 Line2 Line 3 Line 4 Special O units Inp
226. of 5 seconds 7 The water jets of group C turn ON after the lapse of 2 seconds 8 Steps 2 through 7 are repeated 9 When pushbutton switch PB2 is depressed the water jets of all the groups turn OFF PB2 is depressed at undefined intervals The water jet control steps from 1 to 7 and the water jet stop step 9 must be programmed separately 39 Flowchart programming concept e Detailed flowchart AND 2 AND WAIT PB2 AND ANDWAIT PB1 L2 OUT NOT 200 Instruction Remarks OUT NOT OUT NOT 201 OUT NOT 202 CNR 0 GE 0 JMP LBL 1 GN 0 AND 0 1 12 WAIT 13 LBL 2 14 OUT 200 15 TIM 0 16 0050 55s 17 WAIT TIM WAIT JMP 40 Flowchart programming concept Steps 1 through 7 are subject to sequence control and can be programmed easily with Wait instructions All the outputs of groups A B and C must be turned off and the water jet control program must be halted when Stop pushbutton switch PB2 is depressed The above two independent programs must be executed in parallel Programming example with branch instructions In a cylinder in which a piston moves in two directions backward and forward the solenoid valve MV1 for forwarding the piston turns on when pushbutton switch PB is depressed and the piston moves to the forward end When the piston reaches th
227. of a data transmission system configured thereby can be connected to plural optical O transmitting units only or to a combination of the remote I O slave unit and optical I O transmitting units Since the number of 1 0 points per optical I O transmitting unit is 8 a maximum of 64 optical I O transmitting units can be connected per remote master unit when the SYSMAC C500F which possesses 512 points of input output relays is used However the maximum number of units con nectable to the SYSMAC C120F is 32 because this programmable controller has 256 I O points 199 Special I O units Input voltage Specifications Optical transmitting input unit No voltage contact input unit 3G5A2 IDOO1 E 36542 10002 No voltage contact No voltage contact Input impedance Input current 10 mA typ 10 mA type ON delay time 10 ms max 10ms max OFF delay time 15 ms max 15 ms max Number of circuits 8 8 points common 8 8 points common ON voltage m OFF voltage a Supply voltage 110 120 VAC 50 60 Hz 220 240 VAC 50 60 Hz Power consumption 20 VA max 20 VA max Weight 580 g max 580 g max E 50 d L De yr IN 00 2 2K 3 9kQ l 00 N M IN 02 1 Ls I IN 8 IN 07 E 07 o COM T TRS COI Circuit configura
228. ogramming console in addition ihe C120F has special auxiliary relays some of which are used as a failure code output area Therefore the operation of the C120F can be continued or stopped by the user program as required enabling flexible countermeasures to be taken against failures 155 Maintenance and inspection LIST OF ERROR MESSAGES AND ALARM OUTPUTS LED indicators on CPU front panel Message on program POWER RUN ALARM OUT i j Jos INH ming console display Description Remote 1 0 unit power ON Power not applied to remote CPUWAITING wait unit e O O Start input wait START INPUT terminals are w _ CPU WAITING open 9 Power failure Power failure has occurred for 10ms or longer CPU failure Watchdog timer 120ms w w 8 e e O Memory error Checksum error occurs or in a oe MEMORY ERR 2 correct instruction exists e g VO bus error Error is detected during data qu BUS ERR N 5 transfer between CPU and I O O unit VO unit over error The number of mounted I O T w IO UNIT OVER 5 points exceeds that registered e e 9 setting error Input unit is replaced with out w IO SETTING ERR 8 put unit or vice versa e _ e System failure FALS instruction is executed w
229. on 1 0 unit To replace the I O unit follow these steps 1 Turn off the power 2 Remove the mounting screws from the terminal blocks on the CPU rack Remove the terminal blocks 3 Remove the mounting screws of the CPU rack cover Remove the cover 4 Pull out the I O unit VO unit 7222 E Z 27772777 222222222721 2 mounting screw CPU cover Terminal block mounting screw Terminal block Note Do not hold the LED section of the I O unit Maintenance and inspection Troubleshooting If any abnormality occurs in the C120F thoroughly learn what the trouble is check whether the symptom is reproducible or is caused through relation ship with other equipment then follow the troubleshooting flowcharts shown below Power Ext Power supply checking 1 Check whether the AC power being supplied to the C120F is within the rated value Make sure that it is within rated range Is supply voltage within rated range Supply voltage _ Supply voltage 110 120V AC version 85 to 132V AC 110 120V AC version 85 to 132V AC 220 240V AC version 170 to 264V AC 220 240V AC version 170 to 264V AC Replace blown fuse 2 The power supply for loads is connected to the terminals of each I O unit Should any abnormality occur in this power supply the I O devices connected to the l O unit will not operate Check this
230. on VA Tests the transmission for normal operation repeatedly while this switch is being held down when the pro grammable controller is in the PROGRAM mode TEST switch Master unit Address Nos 1 and 2 pins of this DIP switch specifies the address END sta of the remote I O slave unit No 4 pin specifies the end tion set RSU No 3 pin is independent ting DIP switch RUN OUT PUT Slave unit Turns ON when no transmission error occurs with the programmable controller in the RUN or MONITOR mode and turns OFF under other condition e g when the programmable controller is in the PROGRAM mode or when a transmission error occurs with the controller in the RUN or MONITOR mode 163 Special I O units Optical transmitting 1 0 unit 3G5A2 IDO0D E IM210 E IA E OC221 E OA221 E OD411 E Operation indicator Operation indicator panel Fiber optics connectors End RSU setting terminals RUN output terminals VO terminals Power supply terminals 110 120 or 220 240 VAC Dimensions A D conversion input unit Type 382A6 AD00 3 D A conversion output unit 3G2A6 DAO0CT High speed counter input unit Type 3G2A6 CT001 E G9 ere T X eaque x ooo 29 gt i Remote 1 0 units Remote I O maste
231. ontrol of factory automation by linking a host computer to the PC Connecting plural programmable controllers to host computer SYSWAY All internally controlled data of the programmable controller such as the SYSMAC C120F or C500F can be transmitted to from the host computer such as a personal computer or minicomputer The data transmission rate is selectable from 300 600 1 2K 2 4K 4 8K 9 6K and 19 2K bps The RS 232C or RS 422 interface can be used to connect the host computer with the programmable controller For data transmission between the host computer and programmable controller an exclusive synchronization is employed Therefore the data transmission rate of the host computer must be synchronized with that of the programmable controller Type 3G2A5 LK008 E 3G2A6 LK012 E LKO13 E LKO14 E host link unit must be mounted to the programmable controller SYSMAC C500F and C120F The number of Type 3G2A9 AL001 link adapters that serve as the dis tributor for the data transmission cables is determined by the number of pieces of equipment linked with the programmable controller That is where the number of those pieces of equipment is represented as n n 1 link adapters are required The twisted pair shielded cable of the RS 422 interface provides an extension of 500 m Systems configured of remote I O I O or PC link unit can be used in parallel with the system of the host computer linkage SYSWAY system Comm
232. ormed For example if the DMPX instruction is pro grammed as follows the channel from which encoded data is to be transferred does not exist As a result special auxiliary relay 6303 will turn ON and the DMPX instruction will be processed as NOP DMPX LR31 DM10 0010 DMIO 129 Instructions 7 SEGMENT DECODER SDEC Flowchart 130 If 0 exists in the channel from which data is to be transferred special auxiliary relay 6303 will turn ON and the instruction will be processed as NOP Should 4 or a higher number be specified as the digit or the number of channels special auxiliary relay 6303 will turn ON and the instruction will be processed as NOP Therefore be careful not to exceed 3 when designating a channel as the digit designation data The only channels that can be indirectly addressed are data memories DMO to DM511 If the contents of the indirectly addressed area are other than BCD data or more than the maximum data memory channel an error will occur this will cause special auxiliary relay 6303 to turn ON and the DMPX instruction to be processed as NOP For details refer to Compare instruction e SKND where S conversion start channel K digit designation D destination channel FUN The SDEC instruction is used to convert 4 bits of 16 bit data into 8 bit data for 7 segment display Coding SDEC 79 Contents of data
233. ose T R ERR indicator is blinking This transmission line is defective IS CPU rack The T R ERR indicator The T R ERR indicator of this I O units is of this VO unitis blinking blinking Xn Remote I O unit or optical I O unit Although the fiber optics cable possesses adequate mechanical durabil ity be careful not to drop any heavy object on it Connect or disconnect the fiber optics connector by holding its plug and never by the fiber optics cable The fiber optics connector cannot be connected in the reverse direction so confirm its direction when connecting it and be sure to insert the connector until it locks Be careful not to soil the connecting portion of the fiber optics connector Place the protective cap attached as an accessory on the connector when not in use Should the connector be soiled wipe it off gently with absorbent cotton soaked with ethyl alcohol or a clean tissue paper Do not use an organic solvent other than ethyl alcohol The fiber optics capable is very flexible and has a minimum bending radius of 15 mm but avoid using it with small bending radius Special I O units Fiber optics cord Fiber optics connector plug Protective cap 223 Special I O units Chapter 9 Guide for system Host computer linkage system configuration The SYSMAC C Sereis realizes an efficient as well as effective decentralized c
234. output The output of the FALS or the failures that cause the CPU to stop take precedence over the FAL or those that do not REPEAT RPT label number set value Flowchart where label number 0 to 1023 0100 LBL 100 set value 01 to 99 The RPT instruction is used to repeat the execution of a specified program the specified number of times The program execution can be repeated 99 times maximum Program to be repeated RPT LBL 100 Desired number of repeats minus 1 Instructions Coding chart Address instruction LBL RPT 37 LBL Contents of data Label No 0 to 1023 lt Set value 0001 to 0099 When this instruction is executed the CPU repeats execution of the program the specified number of times Then the program execution proceeds to the next step If the specified label is not found in the program all the output relays are turned OFF and the CPU stops Even if the program execution jumps from one group program to another during the execution of the RPT instruction and then returns to the initial group program the program is executed the specified number of times Because the number of repetitions can be specified in each group the specified number of repetitions will be performed in one group program even if a RPT instruction in another group program is executed Even if the execution of a group program in which the RPT instruction is under exe
235. ove are for when the I O unit is mounted on the UNIT 1 position A 13 Specifications DC input 64 point unit Note A 14 Since this unit is of dynamic input type a maximum of 16 digits of data can be input to the programmable controller via this unit from thumbwheel Switches or a keyboard with simplified wiring Connection example 1 Ex BE 91 1 91 N Relay number 15 14 13 12 1 10 09 08 07 06 05 04 03 02 01 O0 Channel n Channel n1 Channel n 2 Channel n 3 When the key corresponding to A is depressed relay 00 of channel n is turned on i e becomes logical 1 In this example channel n is determined according to the sequence in which the DC input unit is mounted on the C120F For details referto Free location concept in Chapter 4 Insert a diode to each key as follows if more than one key is depressed at the same time Since the DC input unit is operated on an extremely small current provide adequate distance between the wires of the unit and high tension equipment or power lines when performing wiring otherwise use shielded cables Also keep the length of the wires below 10 m Specifications Connection example 2 Channel n Channel n 1 Channel n 2 Channel n3 Timing
236. pecial units are optionally available the interrupt input unit A D conversion input unit D A conversion output unit high speed counter units to name a few Optical fiber link system When configuring a somewhat large control system ensuring the reliability of the data transmitted within the system may be a headache But you don t have to worry about it with a control system using the C120F because the optionally available remote I O units employ fiber optics which provide superb noise immunity Hence the reliability of the data transmission is now raised almost to the upper limit This manual was designed written and illustrated to be highly useful to people at all levels of understanding and experience with programmable controllers including the first time user It has also been organized and indexed to allow easy access to specification information The only special knowledge you need is an understanding of flowcharts using familiar symbols in this computer age Here s what you will find in the following chapters and appendixes Chapter 1 and Chapter 2 Flowchart programmable controllers in general and the C120F in particular are introduced Each part of the C120F is illustrated and explained Chapter 3 This chapter mainly covers the software aspect of the flowchart programmable controller and the concept of the flowchart programming technique is discussed in comparison with the ladder diagram program ming technique
237. ped by the GE instruction If an attempt is made to execute the GS instruction for the group program that has already been executed the CPU regards this instruction as a NOP instruction and executes nothing Coding chart Address Instruction ee T o2z00 esm 0 s p C ae eee GROUP END GE group number Flowchart where group number 0 to 31 5 0 This instruction is used to end the specified group program On execution of this instruction the program will not be executed At the same time the present states of I O relays and the present values of counters in the executed group program are retained and the timers continue to operate To stop the timer operation use the CNR instruction When execution of the group program is specified to end by the GE instruction written in the same program the execution of the program is ended and then the program execution jumps to another group program After the GE instruction specifying that group program has been executed the program execution proceeds to the next step Coding chart Address instruction 0300 GE 12 0 70 Instructions GROUP PAUSE GP Flowchart GROUP RESTART GR Flowchart 0500 GROUP OFF GOFF Flowchart 0600 GOFF 0 group number where group number 0 to 31 This instruction causes execution of the specified group program
238. programming language is a set of characters and rules with which people can tell the programmable controller what to do and how to do it As with computers many types of programming languages have been developed for programmable controllers Each language has merits and demerits and therefore is selected according to such factors as the control led system available hardware and the experience and preference of the System designer Of all the programming languages for programmable controllers ladder diagrams which use relay symbols are currently dominant This is because ladder diagrams are easy to understand and use for circuit engineers who most of the time design the control system One of the demerits of this programming language is that it is difficult to understand for laymen namely technicians inspectors etc who work in the same factory as the designer but don t understand relay symbols More often than not only the designer can fully comprehend the movement of the control system However in the course of designing developing inspecting and maintain ing a particular control system there are some people with no knowledge of ladder diagrams and it takes too much time to explain the movement flow of the control system Forthis reason the demand for a programming language that is easy to understand for any one has grown in recent years To satisfy such a demand languages that express the movement of a control system using an
239. r station troller connectable Cable used Twisted pair shielded cable Data transmission Approx 25 ms 64 points x 8 prog time rammable controllers Transmission dis 500 m max branch cable 10 m max tance Total cable length Diagnostic func CPU watchdog timer transmission tions error check Maximum no of I O When 8 programmable controllers points to be trans linked 64 points controller mitted when SYS When 4 programmable controllers MAC C500F serves linked 128 points controller as a master station When 2 programmable controllers linked 256 points controller Note When the system is configured of SYSMAC C series programmable con trollers only the number of controllers to be linked can be specified by using a selector switch 226 Guide for system TEN ERN CPU rack SYSMAC C500F PC link unit Type 3G2A5 LK003 E When the SYSMAC C500F serves as a remote I O master station a maximum of 8 programmable controllers can be con Link adapter nected Le Type 3G2A9 ALO01 SYSMAC C500F de Pad zm n aaa qur SYSMAC CS00F PC link unit Type SYSMAC C50 SG2AD UKODS E 3G2A5 LK003 E PC link unit 3G2A5 LK003 E 1 0 linkage system configuration The employment of fiber optics cables has improved noise immunity of the PC resulting in higher reliability of the system The wiring procedure has been s
240. r unit 8G2A6 RM001 E 164 Special I O units Remote slave unit 3G2A5 RTOOC E Optical transmitting 1 0 unit 3G5A2 IDOOLI E IM210 E IACICLI E 0C221 E O A221 E OD411 E za m a C 4 E Ko 165 Special I O units A D conversion input unit 166 The A D conversion input units available are broadly divided into two types by the number of channels 2 channel type and 4 channel type The 2 channel type A D conversion input unit is capable of converting an analog input signal into a 12 bit binary data Various input signal ranges are available For voltage input the signal range can be 0 to 10 V Oto 5V 1to 5 5to 5V or 10 to 10 V For current input a signal range of 4 to 20 mA is available This type of A D conversion input unit has identical circuitry for each of the two channels Line 1 and Line 2 The 4 channel type A D conversion input unit converts an analog input signal into 10 bit binary data For voltage input the signal range can be 0 to 10 Vor 1 to 5 V For current input the signal range is 4 to 20 mA This type of A D conversion input unit has identical circuitry for each of the four cha
241. rectly addressed are data memories DMO to DM511 If the contents of the indirectly addressed area are other than BCD data or greater than the maximum data memory channel an error will occur this will cause special auxiliary relay 6303 to turn ON and the program to be not executed For details refer to Compare instruction 3 e data channel start channel end channel The WSFT instruction is used to shift data between the start and end channels in units of 16 bits Coding chart Instruction WSFT 94 115 116 Instructions Contents of data 01063 LRO to 31 HRO to 31 DMO to 511 DMO to 511 _ VO relay internal auxiliary relay Link relay s Holding relay Data memory Indirectly addressed data When the WSFT instruction is executed the data between the start and the end channels are shifted in units of 16 bits In the above program the 16 bit contents of DM10 to DM12 are shifted in units of 16 bits and the contents of LR10 is input to the start channel Data Data memory memory DM10 T B The data for the WSFT instruction contain a start channel number and an end channel number by which the range of word shifting can be specified The start channel must be less than or equal to the end channel and both the channel numbers must be within the
242. result when the Compare CMP instruction is executed is equal or 0 flag 6307 This relay turns ON if the result when the Compare CMP instruction is executed is less than flag 6308 This relay is normally OFF Input only 6309 This relay is normally OFF Normally OFF 6315 This relay is normally OFF 1 The data retention can be performed only when the operation mode is changed from PROGRAM to MONITOR or RUN For the functions of the special auxiliary relays marked 2 to 4 and how to use them refer to the following 2 User s manual for remote I O unit 3 User s manual for PC link unit 4 User s manual for host link unit B 6 Appendix C List of instructions Basic instructions Instruction Symbol T Mnemonic Operand Function Remarks Page This instruction causes the program execution to AND l RELAY NG AND cs 5 DT wait until the specified number of AND conditions L RELAY NO WAIT Tu are satisfied relay and internal auxiliary relay 0000 to 6
243. rocessing 73 Flowchart example of power application 74 Flowchart programming concept 21 Free location concept 51 Fuse 148 GC 72 GE 70 GJ 72 GN 69 GOFF 71 GP 71 GR 71 GROUP CONTINUE 72 GROUP END 70 Group instruction parallel processing 28 Group instructions C 2 GROUP JUMP 72 GROUP NUMBER 69 GROUPOFF 71 GROUP PAUSE 71 GROUPRESTART 71 GROUP START 70 GS 70 Guide for system 227 Handling of fiber optics cable 224 High speed counter unit 162 165 184 Holding relay 47 B 4 Host computer linkage system 227 Host link error 155 VO assignment 9 14 bus error 155 O connecting cable D t I O device wiring 15 Index linkage system 229 number assignment to terminals A 18 VO setting error 155 VO unit D 1 VO unit dimensions A 19 VO unit over error 155 VO unit specifications A 3 unit wiring 144 verify error 155 IL 82 ILC 83 Indirect jump 65 Input unit 3 158 A 4 A 14 A 16 D 1 Input output relay 47 B 1 Input output section 1 Input outputunit 3 4 Inspection 147 Inspection item 147 Installation and mounting 139 Instructions for expansion 137 Instructions 55 INTERLOCK IL 82 INTERLOCK CLEAR ILC 83 Internal auxiliary relay 47 222 B 2 Internal circuit configuration 7 Interrupt input unit A 8 INTERRUPT MASK MSKS 85 Introduction toC120F 1 Jacks for connecting cassette tape recorder 5 JMP 64 JMP destination error 155 JMP error 155 JUMP JMP
244. ructions are to be executed Since the subtract operation is performed using BCD data the data are checked If the data are not in BCD an error occurs causing special auxiliary relay to turn ON and the instruction to be not executed The constants can be designated by using BCD only The only channels that can be indirectly addressed are data memories DMO to DM511 If the contents of the indirectly addressed area are other than BCD data or greater than the maximum data memory channel an error will occur this will cause special auxiliary relay 6303 to turn ON and the program to be not executed For details refer to Compare instruction If the carry flag 6304 turns ON as a result of the operation the data are output as tens complements To obtain a true complement subtract the tens complement from 0000 0000 tens complement true complement Instructions MULTIPLY MUL Flowchart multiplier multiplicand result channel The MUL instruction is used to execute BCD multiplication between two special 4 digit BCD data This instruction uses two channels 16 bits x 2 for the result area of the arithmetic operation Coding chart Instruction 55 Data MUL 41 Contents of data Multiplier multi Result CH plicand UO relay imd 01063 0to59 ary relay Link relay LRO to 31 LRO to 30 Holding relay HRO to 31 HR0 to 30 Timercounter TIWCNTOto127 Co
245. s against failure because the decision can be made whether to continue or stop the operation of the system 217 Special I O units Message LED indicators on remote xs et on master unit escripuon program m i E S OUT ming END POWER RUN ERR ALARM Nip console RERR TESTOK RS Ed P Qoo Fas v T Cia CHK Power of expansion O rack is turned OFF Transmisison line SYS BUS is disconnected x lt No END station is specified A fail ie Remote apemisison error occurs SCREEN that power occurs ON wait Failure has occurred in I O x gt EN before d bus of expansion I O rack m WAITG the CPU Failure has occurred in re mote l O slave unit or optical x lt transmitting I O unit Operates Failure has occurred in re 5 mote I O master unit Wrong address has been set v for remote VO slave unit Transmission error occurs in SYSBUS SYSBUS is disconnected iPower of remote unit or optical transmitting unitis turned OFF Failure has occurred in CPU RMTE i Remote ERR VO error ENS Failure has occurred in bus of expansion I O rack not causel Failure has occurred in re the CPU i mote I O master unit tostop UO unit or optical transmit ting UO unit is remo
246. s p circuit processor program peripheral inter face unit or programming console adap ter VO control Circuit Expansion rack AC power source RUN output START input Input output unit interface circuit To next expan sion VO rack 3 expansion VO racks max con nectable Chapter 2 Operating procedure The procedure for actually operating the C120F can be broadly divided into the following four steps 1 Control system design First the equipment or system to be controlled must be decided The ultimate purpose of the programmable controller is to control an external system This system to be controlled can be a machine equipment or process and is often generically called the controlled system The movement of the controlled system is constantly monitored by the devices that when a given condition is satisfied send a signal to the programmable controller In response the programmable controller outputs a signal to the device that actually controls the movement of the controlled system as required and thus achieves the intended control action 2 1 0 assignment Second the input output devices to be connected to the programmable controller must be determined The input devices can be various switches sensors etc The output devices can be a solenoid electromagnetic valve or a motor to name a f
247. s relay is forcibly turned ON by an STC Set Carry instruction and OFF by a CLC Clear Carry instruction Relay No 6305 This relay operates if the result of a Compare operation CMP instruction executed is more than gt Relay No 6306 This relay operates if the result of a Compare operation CMP instruction executed is equal The relay may operate if the result of an arithmetic operation is 0 Relay No 6307 This relay operates if the result of a Compare operation CMP instruction executed is less than lt Relay Nos 6308 to 6315 These relays are normally OFF Assignment of relay numbers Note Note Further the FAL No is output to this area should an abnormal alarm output occur such as one caused by battery failure In that event the abnormal state will be reset through execution of the FAL 00 instruction or by means of the abnormal clear procedure using the programming console FAL No 00 out to this area indicates the normal state Relay No 6108 This relay operates when a battery failure occurs and releases when the battery is returned to normal To transmit the BATTERY FAILURE signal externally prepare and program a circuit using the contacts of this relay Relay No 6109 This relay operates if the destination label of the indirect JMP instruction is undefined or if the label number is not specified in BCD Relay No 6110 This relay operates when the number of I
248. s relay is normally ON Relay No 6114 This relay is normally OFF Relay No 6115 This relay operates if an error occurs in the channel number of a data memory when expansion data memories are used Relay No 6300 This relay is used to generate a 0 1 second clock When used in conjunction with a counter it functions as a timer for memory retention during a power failure pee 05 ess 0 05 0 1s TIMEMUS The ON time of a 0 1 second clock is 50 ms Therefore if too long a time is required for program execution the CPU may fail to read the clock 50 Assignment of relay numbers Relay No 6301 This relay is used to generate a 1 second clock When used in conjunction with a counter it functions as a timer for memory retention during a power failure or as a long time timer p Het Relay No 6302 This relay is used to generate a 1 minute clock When used in conjunction with a counter it functions as a timer for memory retention during a power failure or as a long time timer The relay output can also be used as a cycle time signal Relay No 6303 This relay operates ON when the result of an arithmetic operation is not output in BCD or when an address higher than 511 is specified in indirectly addressing the data memory Relay No 6304 This relay serves as a carry flag and operates or releases ON or OFF according to the result of an arithmetic operation Thi
249. s to the next step Coding chart Instructions Use OR for NO contacts and OR NOT for NC contacts Contents of data VO relay internal auxiliary relay 0 to 6315 Link relay LRO to 3115 Holding relay HRO to 3115 Timer TIMO to 127 OR BRANCH An OR BRANCH instruction consists of a series of OR or OR NOT instruc Flowchart tions forthe specified number of input signals with a CJP Conditional Jump instruction written at the end of the series This instruction causes the program execution to jump to the label specified in the CJP instruction if one or more the conditions for the specified input eto on o signals are satisfied if YES The program execution proceeds to the next 1 of step if all of these conditions are not satisfied if NO 9195 If the label specified by the CJP instruction is not found in the program all 0106 XES CELOM output relays are turned OFF and the CPU halts NO 0107 0201 200 Coding chart OR NOT OR CJP LBL OUT NOT LBL OUT Use OR for NO contacts and OR NOT for NC contacts Contents of data V O relay internal auxiliary relay 0 to 6315 Link relay soc LRO to 3115 Holding relay HRO to 3115 Timer TIMO to 127 Label numbers for use with the CJP instruction are 0 to 1023 decimal 57 Instructions TIMER WAIT 58 TIM timer numb
250. same data area Note that a WSFT instruction cannot be programmed and special auxiliary relay 6303 turns ON if this condition is not satisfied The only channels that can be indirectly addressed are data memories DMO to DM511 Use the data memory area for start and end channels when addressing relays indirectly If the contents of the indirectly addressed area are not in BCD if the abovementioned condition is not satisfied or if a data memory number greater than the maximum data memory channel is addressed an error will occur causing special auxiliary relay 6303 to turn ON and the program to be not executed For details refer to Compare instruction Instructions SET CARRY STC CLEAR CARRY CLC Flowchart 0100 STC 0101j CLC BLOCK MOVE XFER Flowchart ank a The STC instruction is used to set the carry flag special auxiliary relay 6304 to 1 and the CLC instruction is used to reset the carry flag to 0 Coding chart 0100 STC 95 0101 CLC 96 C W S D where W number of channels words S data transfer start channel number D destination channel start number The XFER instruction is used to transfer channel data consecutively at one time Coding chart lt gt Instruction Data XFER 72 Contents of data relay internal auxili ary relay 1 Linkrelay LRO to 31 Holding relay gt HRO to 3
251. se terminals Use M4 screw terminals or M4 solderless terminals for wiring the power source LG and FG terminais These terminals are ground terminals and should be grounded at a resis tance of 100 Q or less to prevent electric shock Control input output terminals These three pairs of terminals are used to receive or produce control input output signals The RUN OUTPUT terminals are used to provide to an external device the output signal indicating the C120F s operation The START INPUT terminals are used when you wish to start or stop the C120F by an external signal The DC 24V 0 1A OUTPUT terminals output a signal rated at 24 VDC 0 1 A Introduction to C120F Expansion 1 0 rack Input output unit To the input or output unit mounted here connect the input device or load in your control system Battery compartment When a RAM is mounted inside the CPU rack as the program memory a battery must be also mounted to back up the memory This compartment accommodates the backup battery Input unit The bottom slot of the CPU rack allows only an input unit to be mounted Peripheral device connector Various peripheral devices including the programming console are con nected to this connector either directly or via a connecting cable LED indicators POWER RUN ERR ALARM OUT INH These indicators light up to indicate the operating status of the CPU Aside from the input output units mounted onthe CPU rack a modul
252. sed area are other than BCD data or greater than maximum data memory channel an error will occur this will cause special auxiliary relay 6303 to turn ON and the program to be not executed DM10 J omo 5 7 DM10 16bits om B DM100 Because DM10 is indirectly addressed data 100 in DM10 specifies DM100 and the 16 bit contents of DM100 5678 are decremented by one The result of the decrement operation 5677 is stored in DM100 For details refer to Compare instruction 103 Instructions ARITHMETIC SHIFT RIGHT ASR Flowchart 1 0100 1 104 E The ASR instruction is used to shift 16 bit data one bit to the right with carry The ASR instruction requires two addresses for programming channel number Coding chart 0100 ASR 62 0101 DM10 Contents of data VO relay internal auxiliary relay 01060 Linkrelay LRO to 31 Holding relay HRO to 31 DMO0to511 Indirectly addressed data DMO 511 When the ASR instruction is executed 16 bit data is shifted one bit to the right with carry In the above program ali the 16 bit contents of DM10 are shifted one bit to the right with carry 6304 If the result of the operation is 0000 special auxiliary relay 6306 is turned ON Carry 6 4 vc Cary 304 IH U Data gt 1 memory DM10 S ii L 1 L
253. set the pin in the ON position Special I O units Assignment of relay numbers VO of SYSMAC C be hannel an RET i nth 3 CH Counter preset Preset data 1 Present count data 1 Set count value pre Preset data 2 Present count data 2 set Count gate Preset data 4 Present count value gt set Present count data 4 count value UP DOWN count command Preset data 8 Present count value set Present count data 8 T count value Preset data 1 1 Present count value lt set Present count data 1 count value Borrow reset Preset data 2 Normally ON Present count data 2 Coincidence reset Preset data 4 Normally ON Present count data 4 Output enable Preset data 8 Normally ON Present count data 8 Preset data 1 Preset data 1 Present count data 1 Present count data 1 j Preset data 2 Preset data 2 Present count data 2 Present count data 2 Preset data 4 Preset data 4 Present count data 4 Present count data 4 Preset data 8 Present count data 8 Present count data 8 Preset data 1 Present count data 1 Present count data 1 Preset data 2 Present count data 2 Present count data 2 Preset data 4 Present count data 4 Preset data 8 Present count data 8 Note The term set count value is synonymous with preset data 187 188 Special I O units Note Function of relays The
254. struction causes the execution of the specified group program to be resumed upon recovery of the power failure provided the data retention flags special auxiliary relays 6011 and 6012 are turned ON before the power is applied to the SYSMAC C120F again In any other condition the CPU regards this instruction as a NOP instruction and executes nothing The GC32 instruction is used to execute an interrupt servicing routine When this instruction is executed an interrupt servicing routine whose execution has been halted due to a power failure is resumed With special auxiliary relay 6011 turned ON the timer does not start the timing operation even if the program execution is started To start the timer the GJ instruction explained next is used Coding chart 0700 GC 16 GROUP JUMP GJ omen Flowchart where group number 0 to 31 0800 This instruction causes the program execution to jump to the next group program that is in the ready to run state or to the main program When the 72 Instructions program execution returns to the original group program the step before which the program execution jumped is resumed Coding chart instruction Data GJ 17 Flowchart example of parallel processing Main program Group 0 Group 1 Group 7 program program program m Gn wT 3 S rores Flowchart lof control A lof control of control H a8
255. t AC 250V 1A supply circuit Channel setting switch Short circuit End RSU Open Unit other than end RSU RUN output Terminal connection Power supply 220 240 VAC 203 Special I O units Optical transmitting output unit Contact output unit 3G5A2 0C221 E 250 VAC 2 A p f 1 24 VDC 2 A 8 A common Min Switching capacity 5 VDC 100 mA Max switching capacity ON delay time 15 ms max OFF delay time 15ms max Number of circuits 8 8 points common Service life Electrical 300 000 operations Mechanical 50 000 000 operations Power supply 110 120 220 240 VAC 50 60 Hz Power consumption 20 VA max Weight 600 g max 5e OUT 00 8 Out01 o OUT 02 5 OUT 07 g o Circuit configuration E lt 4 I RUN output POWER indicator End RSU F setting supply AC input circuit AC 250V 1A Channel setting 4 switch 2 T R ERR indicator Short circuit End RSU Open Unit other than end RSU RUN output Terminal connection kekeeke Power supply 110 120 220 240 VAC 204 Special I O units Max switching capacity Triac output unit Transistor output unit 3G5A2 OA222 E 85 to 250 VAC 10 15 1 A 50 60 Hz 3G5A2 0D411 E 12 to 48 VDC 10 15 0 3 A
256. t LS3 for checking grasped work Conveyor A 22 Now we have understood the background and actual sequence of the flowchart programming technique let s make a program using the example controlled system discussed in the preceding chapter Remember the 1 O assignment that was determined in Chapter 2 Using that I O assignment the following discussion is presented Start button PB1 LS2 for counterclockwise rotation LS1 for clockwise rotation counterclockwise 3 rotation Conveyor B The control processes that can be realized by the flowchart programming technique can be broadly divided into three step advanced process parallel process and flow processing These processes can be respectively performed using the Wait Branch and Group instructions of the C120F The control application example discussed in the preceding chapter can also be achieved by using these three instructions Wait instruction step advanced processing In applications where the process must advance with time such as when controlling an assembly line plating process or water jet the sequential contro method by which the machinery is controlled on a step by step basis is required In our example also the robot s movement can be controlled sequentially This type of control processing is called step advanced processing and can be realized by using the Wait instruction Flowchart programming concept Detail
257. t designation data K The only channels that can be indirectly addressed are data memories DMO to511 If the contents of the indirectly addressed area are other than BCD data or more than the maximum data memory channel an error will occur this will cause special auxiliary relay 6303 to turn ON and the instruction to be processed as NOP For details refer to Compare instruction Instructions 16 TO 4 ENCODER DMPX Flowchart where S conversion start channel number D destination channel number K digit designation The DMPX instruction is used to encode 16 bit decimal data into 4 bits of another 16 bit binary data Coding chart Instruction Data 12 DMPX 78 Contents of data i relay internal auxili 0to 60 ry relay L5 LRO to 31 Holding relay s HRO to 31 Timer counter TIM CNTO TIM CNTO to 127 to 127 0 5 Indir ctly addressed DM0to 511 data ME Constant The constant is determined according to the designated digit This instruction converts encodes the most significant bit 0 to 15 of the bits in 16 bit data that are logical 1 into a numeric value represented by 4 bit data and then transfers the encoded data to the specified channel Bitposition Data Numberic value of 4 bits 2 22 23 lt la le 127 128 Ins
258. t turn on Improper soldering of con nector improper soldering of connector Operation indicators LEDs do not illuminate External in put voltage is not supplied or is low Check each bus line by buzzer Possible cause Corrective action Check each bus line by buzzer Supply power or raise supply voltage Operation indicators LEDs are illuminating Signal level within unit is faulty Remove all I O units being used and reinsert them one by one to find defective unit LQ Same as above Same as above Replace defective input unit 2 Screws of terminal block are loose Retighten terminal screws 3__ All relays of specific input unit do not turn off Gate circuit is defective Replace defective input unit 4 Input of particular relay number does not turn on 1 Gate circuit is defective Replace defective input unit 2 pares of terminal block are Retighten screw terminals loose 3 ON time duration of external Adjust external device input is short 4 Input circuit photocoupler Replace defective input unit for example is defective S Input relay number is incor Correct program rectly assigned to OUT in struction of program 5 Input of particular relay number does not turn off 1 Faulty contact of jack Clean contact with alcohol moistened cloth 2 Input circuit
259. ted as being in the range of decimal 1 to 2047 Therefore the voltage output range in this case is Oto 5 Vor 0 to 10 V Programming examples In this example two types of 4 digit decimal data less than 4095 are input to the D A conversion output unit from external devices and are converted into an analog signal D A convertion Input unit Input unit Output unit Output unit Input data 1 002CH check Input data lonconvertible 006CH O O output oO Oo Input data 2 Input data Nonconvertibl che output Input data Q is output as an analog data Input data 2 is output as an analog data sls slels ele Q pE gus alag a geuogRGOSIZOo0o onosom s o Le Special I O units Is Input data 1 check ON Input data 1 is com pared with decimal 4096 Input data 1 is con verted to 12 bit binary data and output to the D A unit Input data 1 incon vertible output turns ON Note AND 300 CJP LBL 100 JMP LBL 200 LBL 100 MOV 1 DM 0 CMP DM 0 4096 AND 6307 CJP LBL 110 JMP LBL 120 LBL 110 BIN DM O 5 LBL 120 AND 6306 OR 6305 OR 400 OR 6303 CJP LBL 130 JMP LBL 200 LBL 130 OUT 400 LBL 200 AND 301 CJP LBL 210 JMP LBL 300 When input 300 is OFF lt flag flag gt flag Self holding Error flag Output impossible LBL MOV CMP
260. ted while an interrupt is being serviced the program execution returns to the parallel processing of ordinary group programs Therefore the interrupt servicing will be delayed While an interrupt is serviced the other interrupts are disabled This instruction is used to indicate the end of an interrupt servicing and must be used in pairs with the LBL instruction If the RTI instruction is executed for a purpose other than servicing interrupts special auxiliary relay 6303 is turned ON causing all output relays to turn OFF and the CPU to halt The interrupt servicing routine executed when an interrupt input is gener ated from the interrupt unit is placed between the LBL and RTI instructions Since a maximum of 32 points of interrupt inputs can be used LBLO to LBL31 instructions are available corresponding to the respective interrupts The interrupt masking state of the specified interrupt unit is output to the specified relay area F interrupt unit number data This instruction is used to output in bit units the current interrupt masking state of the specified interrupt unit to the specified channel Logical 1 of abit indicates that the corresponding interrupt input is disabled whereas logical 0 of the bit indicates the enabled interrupt input The most significant 8 bits of the channel are always logical 0 however 87 Instructions Coding chart instruction Data 0200 45 1 0201 DMO
261. the data to be converted is in four digit BCD If not an error will occur this will cause special auxiliary relay 6303 to turn ON and the program to be not executed The only channels that can be indirectly addressed are data memories DMO to 511 If the contents of the indirectly addressed area are greater than maximum data memory channel an error will occur this will cause special auxiliary relay 6303 to turn ON and the program wili not be executed For details refer to Compare instruction Instructions BIN TO BCD CONVERSION BCD Flowchart i em 0101 0102 EX channel to be converted destination channel The BCD instruction is used to convert 16 bit binary data into 4 digit decimal data and to output the converted data to the specified channel When the converted data is 0000 special auxiliary relay 6306 is turned ON Coding chart s Instruction lt gt 0100 BCD 58 0101 0102 Contents of data Converted CH VO relay internal auxili 0 to 63 0 to 60 ary relay Indirectly addressed gt When the BCD instruction is executed 16 bit binary data in the specified I O channel is converted into 4 digit decimal data In the above program the 16 bit binary data in OCH 0 to 15 is converted into 4 digit decimal data and then output to the 16 bits of LR20CH LR2000 to 2015 VO relay Link relay LR20CH x10
262. the group program specified by the GOFF instruction are released and the timers are reset However the output relays specified by the other instructions including the SFT instruction are not turned OFF by the GOFF instruction Use the CNR instruction to reset these output relays if this GOFF instruction is executed for an emergency stop the states of the relays that have turned ON OFF before the GOFF instruction execu tion are not retained 37 38 Flowchart programming concept 2 When the GP instruction is executed the execution of each group program halts at that point and both the steps and the states of the output relays before the execution are retained The execution of the GR instruction causes each group program to restart from where the group program has stopped Even while the group program is in the halt state the timer continues to operate Concept of parallel control during sequence control In general when controlling a single machine sequence control may be initially performed but parallel control will in many instances become necessary in the course of the sequence control In this case the same principle of group program control can be applied with the exception that Group program in the following example must be started or stopped within the Group program A Specifications Start Process 1 to 3 amp 5 Group A Process 4 Group B o at 9 209 i Gro
263. the next step of the flowchart when a given condition is not satisfied If the condition is satisified the program execution branches to the predetermined destina tion Therefore unlike the Wait instruction which causes the program execu tion to wait until a given condition is satisified the Branch instruction does not stop the program execution This instruction is used especially when satisfaction of a certain condition must be constantly checked For example suppose we add an emergency Stop button to the example robot Whenever this button is pressed the movement of the robot should be stopped To enable this kind of control action this Branch instruction is useful The general flowchart of our example using the Branch instruction will be as follows Arm rotates clockwise Start button pressed NO Arm arrives at work pickup position Arm grasped work NO Arm arrives at YES work release position Arm stops and releases work NO Emergency stop button pressed Arm stops and picks up work All robot operations stopped 25 26 Flowchart programming concept Now the detailed flowchart from which the coding sheet is to be created is as follows OUT NOT LBL Input number 0004 is assigned to emergency stop OUT NOT button OUT NOT 202 Immediately below the AND instruction at the first step a diamond shaped symbo
264. this flag will retain the data stored earlier Relay No 6015 This relay serves as a LOAD OFF flag that can be turned ON or OFF by an OUT instruction If this flag is turned OFF the contents of the I O relays are newly output to the output units If the flag is turned ON all output units are turned OFF and the OUT INH indicator LED on the front panel of the CPU rack illuminates When a power failure occurs the LOAD OFF flag retains the data stored earlier Relay Nos 6100 to 6107 When Diagnostic FAL FALS instruction is executed a FAL No 01 to 99 is output in BCD to this relay area 6197 tos etos 6104 6108 6102 6101 aT J d x10 x10 Assignment of relay numbers Further the FAL No is output to this area should an abnormal alarm output occur such as one caused by battery failure In that event the abnormal state will be reset through execution of the FAL 00 instruction or by means of the abnormal clear procedure using the programming console Note FAL No 00 out to this area indicates the normal state Relay No 6108 This relay operates when a battery failure occurs and releases when the battery is returned to normal To transmit the BATTERY FAILURE signal externally prepare and program a circuit using the contacts of this relay Relay No 6109 This relay operates if the destination label of the indirect JMP instruction is undefined or if the label number is not specified
265. timer tions g e Battery failure suc Memory failure O bus failure Program check 1 Jump destination error check 2 Label number group number subroutine number timer counter number and differentiation instruction duplication checks 3 Instruction error check 4 Label group number subroutine number and timer counter 5 6 definition checks IL ILC and SBN RET error checks Syntax error check For details refer to Special auxiliary relays in Chapter 4 For details refer to List of error messages and alarm outputs in Chapter 7 A 2 Specifications V 0 unit specifications Input unit specifications 5 AC input unit 8G2A6 IA121 3G2A6 lA222 Input voltage 85 to 132 VAC 50 60 Hz 170 to 264 VAC 50 60 Hz Input impedance 9 7 50 Hz 8 60 Hz 22 50 Hz 18 60 Hz Input current 10 mA typ 100 VAC 10 mA typ 200 VAC ON delay time OFF delay time 55 ms max Number of circuits 16 8 common Weight 450 g max ON voltage 60 VAC max OFF voltage 20 VAC min Current consumption of 5 VDC 10 mA max internal constant voltage circuit Pa 35 ms max 55 ms max 16 8 common 450 g max 120 VAC max 40 VAC min 5 VDC 12 mA max 35 ms max 330 Q 0 33 YF 680 Q 0 15 uF 330 Q 0 33 uF 330 c Internal circuit Internal circuit
266. tion M RUN output RUN output E End RSU End RSU setting setting Power Powe T Ps meu dest AC 250V 1A AC 250V 1A Channel setting HE Channel soning R EY S MAJ TIR ERR indicator TIR ERR indicator Terminal connection 200 Short circuit End RSU Open Unit other than end RSU RUN output EB Power supply 110 120 VAC Short circuit End RSU Open Unit other than end RSU RUN output 5 7 Power supply 220 240 VAC Special I O units AC DC input unit Y d j AC DC inputunit 3G5A2 IM211 E SG5A2 IM212 E Inputvoltage 12 to 24 VAC VDC 1096 15 12to 24 VAC VDC L 1096 15 Input impedance 1 8kQ 1 8kQ Input current 10 mA typ 24 VDC 10 mA typ 24 VDC ON delay time 10 ms max 10 ms max OFF delay time 15 ms max 15 ms max Number of circuits 8 8 points common 8 8 points common ON voltage 10 2 V max 10 2 V max OFF voltage 3 0 V min 3 0 V min Supply voltage 110 120 VAC 50 60 Hz 220 240 VAC 50 60 Hz Power consumption 20 VA max 20 VA max Weight 580 g max 580 g max IN 00 1 8KQ iN Ga 18K L D Oray p WS s IN o d sav d 49 n 07 6 8K d N J L 1 8K0 Kr es COM internal circuit Internal circuit i RUN output RUN output E bS N
267. tions BCD TO BIN CONVERSION BIN Flowchart owo BN 0 0102 VO relay Link relay Holding relay Holding relay LR20CH HR21CH quotient 22 remainder LR2000 2 HR2100 2 HR2200 LR2001 1 2 HR2101 x10 2 HR2201 10 LR2002 24 HR2102 2 HR2202 LR2003 2 HR2103 23 HR2203 LR2004 Sal HR2104 HR2204 LR2005 2 HR2105 2 HR2205 10 LR2006 23 2 HR2206 LR2007 NP HR2I07 2 HR2207 LR2008 2 HR2108 gt HR2208 LR2009 2 HR2109 2 HR2209 2 82010 2 2 HR2210 LR2011 2 mai sn LR2012 2 HR2112 HR2212 LR2013 2 HR2113 2 HR2213 3 H x LR2014 O7 22 2 10 21 HR2214 L R2015 AOL 2115 Z 2 HR2215 The CPU checks whether the data for BCD division are in four BCD digits If not an error will occur this will cause special auxiliary relay 6303 to turn ON and the program to be not executed The only channels that can be indirectly addressed are data memories DMO to DM511 f the contents of the indirectly addressed area are other than BCD data or greater than maximum data memory channel an error will occur this will cause special auxiliary relay 6303 to turn ON and the program not to be executed For details refer to Compare instruction channel to be converte
268. to be temporarily suspended The execution will be resumed on execution of the GR Group Restart instruction When the GP instruction is executed the states of all the output relays are retained and the timers continue to operate Coding chart TTE 0400 13 group number where group number 0 to 31 This instruction is used to start again the group program whose execution has been temporarily suspended by the GP instruction If the GS or GP instruction has not been applied to the specified group the CPU regards the GR instruction as a NOP instruction and executes nothing Coding chart 0500 6 14 5 group number where group number 0 to 31 This instruction is used to reset the I O and auxiliary relays specified by the OUT or OUT NOT instruction in the specified group program and to reset the present values of timers to the set values When the GOFF instruction is executed the relays and timers in the range from the beginning of the 71 Instructions specified group program to the beginning of the next group program to the SBN instruction or to the GE instruction in the specified group are reset The GOFF instruction also causes the execution of the specified group program to stop Coding chart Instruction 0600 GOFF 15 GROUP CONTINUE GC IE n Flowchart where 0700 group number 0 to 31 If a power failure occurs this in
269. ton switch PB1 As stated before when this button is pressed the arm rotates clockwise This is because solenoid SOL1 for clockwise rotation operates Therefore in the first stage of the robot opera tion described above PB1 serves as the input device and the SOL1 as the output device of the programmable controller Second when the robot arm has rotated to a predetermined point it stops and grasps the work on conveyor A The arrival of the arm at the predeter mined point must be detected This is done by limit switch LS1 which inputs asignal to the programmable controller In response the programmable controller stops SOL1 and starts SOLS that is used to make the arm grasp the work Third when the arm has grasped the work it rotates counterclockwise But before letting the arm rotate whether the arm has securely grasped the work must be checked In this example LS3 does this checking When LS3 is turned ON indicating that the arm has securely grasped the work the programmable controller turns ON SOL2 which rotates the arm counter clockwise When the arm has rotated to the predetermined position on conveyor B the armis detected by LS2 input When LS2 is turned ON SOL2 is turned OFF thus the counterclockwise rotation of the arm is stopped At the same time SOL3 is also turned OFF to release the work from the robot arm Determining No of 1 0 points The input output devices connected to the programmable controller is counted i
270. trol 38 Contact output unit 8 Index Control input output terminals 2 Control panel mounting 139 Control panel wiring 140 Control system design 9 11 Corrective action 158 Counter B 4 COUNTER BRANCH 62 COUNTER RESET CNR 68 COUNTER WAIT 61 CPU failure 154 CPU rack 2 153 158 D 1 CPU rack dimensions A 19 CPU run stop timing chart 145 C120F components 2 5 D A conversion output unit 162 164 178 DATA EXCHANGE XCHG 120 Datamemory 48 B 5 Data memory Nos DM000to 511 48 DC input unit A 4 5 A 14 DEC 102 DECREMENT DEC 102 Determining memory capacity 13 Determining No of O points 12 DIAGNOSTIC 78 DIFD 83 DIFD BRANCH 84 DIFD WAIT 83 DIFFERENTIATION DOWN 83 DIFFERENTIATION UP 83 DIFU 83 DIFU BRANCH 84 DIFU WAIT 83 Dimensions 165 A 19 DIN rail attachment D 1 Directjump 65 DIV 96 DIVIDE 96 DM number error 155 DMPX 127 Double preset counter 193 Dummy I O unit A 13 EPROM chip D 1 Example of water jet control programming 39 EXCLUSIVE OR NOT WORD XNRW 110 EXCLUSIVE OR WORD XORW 99 Expansion I O rack 3 158 D 1 Expansion I O rack dimensions A 19 External count setting 63 Index External environment 154 External power supply 16 External time setting 60 External wiring 145 Externally set counter data 63 Externally set timer data 61 Failure code 222 FAL 78 FALS 78 FG terminal 143 Fiber optics cable 224 Flowchart example of parallel p
271. truction Always specify the end channel number which is equal to or greater than the start channel number Also the start and end channels must be specified in the same relay area For example if an HR relay channel is specified as the start channel the end channel must be also an HR relay channel COUNTER RESET CNR Although this instruction is used to reset the present count value of the Flowchart specified counter it can also reset the present value of the specified timer the present state of the specified input output relay channel internal auxili ary relay channel link relay channel or holding relay channel and the 0100 contents of the specified data memory To allow the instruction to reset relay s other than the counter use the TIM key on the programming console The relay to be reset is also indicated by the message TIM displayed on the programming console Timer Reset TIMO to 127 The CNR instruction causes the specified timer to return to its initial state Coding chart L Address Instruction Data 000 CNR TIM 1 10 Lo l i f ll 0100 The CNR instruction causes the specified counter to return to its initial state 0101 0 0102 10 Coding chart Address instruction 0100 CNR 0101 0 0102 10 Resetting 011 0 relay internal auxiliary relay link relay and holding relay channels 0 to 60 LRO to 31 HRO to 31 The CNR instruction is also used to reset the relays within the
272. truction restarts the group program whose execution has been temporarily stopped when a given condition i e depression of PB4 is met Combining this program with the main program described earlier we have the complete main program for the sample control system 31 Flowchart programming concept Programming examples 32 Now that you have already acquired a fair amount of knowledge as to how to program by reading up to here this section provides you with more program examples to deepen your understanding Sequence control programming example 1 in a cylinder in which a piston moves in two directions back and forth the solenoid valve MV1 for forwarding the piston turns on when the pushbutton switch PB is depressed and the piston moves to the forward end When the piston reaches the forward end the limit switch LS2 turns on causing the solenoid valve MV2 for reversing the piston to turn on after the lapse of the set time of a timer When MV2 turns on the piston moves back and stops atthe reverse end LS1 Specifications Backward Forward Normally when writing a flowchart for programming a general flowchart depicting the outline of the operations is first written Prepare an I O No assignment table and associate an I O number with each operation written in the flowchart Prepare a detailed flowchart that can be written with the programming console of the SYSMAC C120F Use
273. tructions H the DMPX instruction is executed when there is more than one bit that is logical 1 the most significant bit of those bits takes precedence over the others In the above example bit 13 is given the priority Bits 10 9 2 and O are ignored The digit designation K is used to designate the number of channels whose contents are to be encoded and the digit position to which the data is to be stored MSB LSB Digit designation 0 to 3 No of channels 0 to 3 The actual number of channels whose contents are to be encoded is the designated number of channels plus one channel The designated digit specifies the digit to which the encoded data is to be stored MSB LSB 3 2 1 0 Digit designation Example 1 When 2 is designated as the digit and 0 as the number of channels Conversion CH 16 bit data Destination CH The bits of the digits other than that designated will remain unchanged Example 2 When 1 is designated as the digit and 3 as the number of channels Instructions Conversion data CH Conversion data CH 1 Conversion data CH 2 Conversion data CH 3 Designation CH With the initial program the data in the specified channel is encoded as follows 1CH 2CH 30H This data remains unchanged The destination channel to which the encoded data is to be transferred must be withiri the same relay area as the channel at which the data conversion is perf
274. ts for LS5 input OUT NOT 203 Turns OFF SOLA Tums ON SOLS Waits for LS3 input Turns ON SOL2 Waits for LS6 input Waits for LS2 input OUT NOT 204 Turns OFF SOLS OUT NOT 201 Turns OFF SOL2 OUT NOT 202 Turns OFF SOL3 UO assignment of group program 0 e assignment of group program 1 29 Flowchart programming concept Execution of these group programs is initiated by the main program which consists principally of Branch instructions and manages the starting stop ping and restarting of each group program The i O assignment and the flowchart of the main program that manages the two group programs will be as follows e 1 0 assignment Main program etes Start button PB1 is pressed 0000 YES LBL1 JMP LBL 2 stop button PB2 is pressed 0007 YES LBL 3 Program execution jumps to the spe cified group program when this instruc lion is executed Luces Starts executing the group program In the example group programs 0 and 1 are executed on depression of PBI 2 Turns OFF the outputs specified by the OUT instruction in the specified group program nthe step on the right of the main program flowchart you see instructions named GS This stands for Group Start and the instruction starts execut ing the specified group pro
275. uction Data 0100 FUN 81 As the instructions for expansion 17 instructions are available FUN81 to 93 and FUN97 to 99 If these instructions are used in the standard C120F they are processed as NOP 137 138 Instructions Chapter 6 Installation and mounting Control panel mounting Control panel SYSMAC C120F Power lines 200 mm min SYSMAC C120F 200 mm min When you are ready to install the C120F first give attention to the environ mental conditions under which it will normally operate The PC has been made for reliable use under tough conditions but you still need to avoid using it in these areas Where the ambient temperature is below 0 or above 50 C Where abrupt temperature changes may cause condensation Where relative humidity is below 3596 or above 8596 Where corrosive or flammable gas may occur In extremely dusty conditions or where subject to salt or iron particles Where subject to abnormal vibration or shock In direct sunlight Where it can be splattered with water oil or chemical substances Two of the main considerations when mounting the PC in a control panel are how accessible it will be for operation and maintenance and whether the PC is properly protected against heat These are some of the things you should consider Provide the PC with adequate space for ventilation Avoid mounting the PC directly above any heat
276. udes the name key input sequence symbol and function of each instruction along with a flowchart and coding chart AND WAIT An AND WAIT instruction consists of a series of AND or AND NOT instruc Flowchart tions for the specified number of input signals with a WAIT instruction written atthe end of the series This instruction causes the program execution to wait until all the specified ANG 0 conditions for the input signals are satisfied at which time the program AND NOT 1 n number of inputs execution proceeds to the next step Coding chart AND 0 AND NOT Use AND for NO contacts and AND NOT for NC contacts Contents of data V O relay internal auxiliary relay 0 to 6315 Link relay LRO to 3115 Holding retentive rey HRO to 3115 TIMO to 127 Because to DM511 are for channel data storage the data in this area cannot be handled by an AND WAIT instruction CNT instructions cannot be used in combination with AND or OR instruction Label numbers for use with the CJP instruction are 0 to 1023 decimal AND BRANCH An AND BRANCH instruction consists of a series of AND or AND NOT Flowchart instructions for the specified number of input signals with a CJP Conditional Jump instruction written at the end of the series This instruction causes the program execution to jump to the label specified 4 in the CUP instruction if all the conditions for the specified input signals are O
277. uence of external interference light when no protective cap is put on the unused of the two fiber optics connectors on the end RSU 219 Special I O units Internal auxiliary relays and failure code In case a failure listed in List of failures and alarm outputs occurs in any of the remote or optical transmitting i o units connected to a SYSMAC C120F programmable controller the abnormal unit can be identified by monitoring the internal auxiliary relays of channel number 59 of the PC The following figure and table show the relation between how each relay of channel number 59 is used to identify the abnormal unit and what each failure code displayed on the programming console of the controller means Configuration of 59CH Location of failure Remote 1 0 unit Optical transmit ting WO unit Relay number 15 14 13 12 11 10 09 08 07 59CH Low order 06 05 04 03 02 01 00 Failure display Meaning of failure code The failure code BO to B3 are sequentially assigned to the remote I O master units mounted to the CPU rack of the PC or an expansion I O rack starting from the unit assigned the lower order channel number Number 00 to 31 indicates the channel num bers assigned to the optical transmitting 1 0 unit in use incrementing flag Remote I O failure flag Number 8 indicates that a failure has occurred in a remote I O master unit Number 0 indicates that a failure has occurred in
278. umber mer Sama P YES LBL100 Branch instruction 0103 OUTNOT 200 First execution of this instruction causes the specified value to be set in the timer Program execution proceeds to the next step when the set time has not yet elapsed When it has already elapsed the program execution jumps to the label specified in the CJP instruction If the specified label is not found in the program all the output relays will be turned OFF and the CPU will halt Coding chart TIM CJP LBL OUT NOT LBL OUT Timer numbers are shared by the TMS and CNT instructions Contents of data VO relay internal auxiliary relay 0to63 Link relay LRO to 31 Holding relay HRO to 31 Data memory DMO to 511 Constant 0000 to 9999 59 Instructions 60 If a timer whose set time has not yet elapsed is used again the decrement ing operation of the timer starts with the present value Once a timer is set it operates by itself while the CPU is scanning other programs The timer operation stops on the lapse of the set time and the time up state is stored in tne memory if a timer is specified by a CNR Counter Reset instruction the timer will be reset on execution regardless of whether the timer is in operation or the set time of the timer has already elapsed If a power failure occurs the present values of the timers will be reset However if the data retention flag special auxili
279. umber is not found in the program the CPU regards the SBS instruction as a NOP instruction and executes nothing If the subroutine specified by the SBS instruction is under execution in the specified group program or another group program the CPU will not execute the subroutine but instead will wait If the execution of another group program has already been started when the CPU is in the wait state the CPU will automatically execute that group program In other words the specified subroutine wili be executed if it is not under execution by another group program where subroutine number 0 to 31 labe number 0 to 1023 subroutine number label number Flowchart Because the specified sub routine is in use by another group the CPU Subroutine pro toutine is com subroutine pro pleted cessing i SBS 0 Instructions Note DIAGNOSTIC FAL FALS 78 In the above example program if WAIT instruction s and a program for arithmetic operations exist in the specified subroutine both the programs share the data memories for the arithmetic operations In this case before executing the subroutine initialization program the SBT instruction is used to examine whether the execution of the subroutine has already started In this way the subroutine can be used without erasing the contents of the data memories The SBT instructions are divid
280. uminated even though the end RSU is specified In such case chances are that the transmission line SYSBUS may be disconnected or the power of the expansion I O rack or optical transmitting I O unit may be turned OFF To spot the location of the failure observe the following procedures 1 Specify I O unit immediately before the one specified as the end RSU 2 Check that the END RS indicator on the remote I O master unit extinguishes Repeat this procedure until the END STA CHECK indicator goes out When the END STA CHECK indicator extinguishes it means that the failure occurred in the transmission line between the I O unit being specified as the end RSU when the indicator goes out and the I O unit that was specified as the end RSU immediately before 221 Special 1 0 units Handling of fiber optics cable 222 This transmission line is defective E LI CPUrack 3 I The END RSCHK END RS CHK J O unit that was indicator goes out indicator does not originally specified when this unit go out when this I O asthe end RSU is specified as the unit is specified as end ASU the end RSU N Remote unit or optical transmitting VO unit After remote I O main unit recognizes RSU Check the units one after another The failure has occurred between the I O unit whose T R ERR indicator is illuminating and the one wh
281. unication method 4 wire half duplex system Transmission format multipoint RS 422 or point to point RS 232C Transmission rate 300 600 1 2K 2 4K 4 8K 9 6K or 19 2 K bps select able Synchronization system Start stop synchronization system independent synchronization system Transmission control procedure Exclusive control procedure multipoint or OMRON original protocol point to point Maximum No of programmable controllers connectable 32 when the multipoint control procedure is used Transmission line Twisted pair shielded cable 225 Guide for system Personal computer or minicomputer RS 232C RS 422 Link gt RS 422 lt RS 422 ey RS 422 ER adapte e ER rm ter lt s E SQV 3G2A9 AL001 3G2A9 AL004 E Tx SYSMAC C500F SYSMAC C500F SYSMAC C500F CPU rack CPU rack CPU rack SYSMAC C120F CO OOT penu UR Co Programmable controller linkage system configuration Iii 3G2A5 nic E a LKO14 3G2A5 LKO08 E 3G2A6 LK014 E 3G2A5 LKOO8 E 3G2A6 LK014 E m This system is designed for the purpose of decentralized control and allows data transmission between programmable controllers to be easily per formed by using an exclusive relay area The wiring procedure has been simplified thereby significantly reducing the installation cost Transmission speed 128K bps Maximum no f 8 when SYSMAC C500F serves as a programmable con maste
282. unit Type 3G2A6 DA00 L High speed counter input unit Type 362 6 001 SA SE Terminal block connector Remote 1 0 master unit Type 62 6 001 Fiberoptics TEST Indicator connector switch 162 Special I O units Remote 1 0 slave unit Type 3G2A5 RT002 E RT001 E OFF ON Address setting DIP switch pins NC End RSU setting DIP switch pin T R ERR indicator ERR indicator DIP switch for specifying address and end RSU Fiber optics connectors Type 3G2A5 RTOO1 E remote I O slave unit is provided with only one connector RUN OUTPUT terminals Indications Function Masteri XE T R Blinks 3X during normal data transmission and lights Slave unit 4 up when a transmission error occurs Master y Lights up 39 if the transmission line is normal and does unit not if itis abnormal when the transmission line is tested by using the TEST switch This test can be repeatedly conducted while the TEST switch is being held down but the TEST OK indicator goes out if a failure in the transmission line is detected Lights up amp if no end RSU is found and does not O if the end RSU is found Slave unit y Lights up when a failure occurs in the VO bus of the slave unit or when the input or output to from the slave unit is incorrectly recognized by the programmable controller Controls Functi
283. unt value memory If these relays represent the data of the counter those data are the present count value The value of the data can be 000000 to 999999 On power application the data are 000000 Carry reset Borrow reset Coincidence reset Output enable Preset data 10 through 10 The following signals are input to the programmable controller from the high speed counter unit Turns ON when the present count value changes from 999999 to 000000 during the Add operation This relay is turned OFF by the carry reset relay or an external reset signal Turns ON when the present count value changes from 000000 to 999999 This relay is turned OFF by the borrow reset relay of an external reset signal Borrow Turns ON when the present count value is greater than the set count value Present count value gt set count value Turns ON when the present count value coincides with the set count value This relay is turned OFF by the coincidence reset relay or an external reset signal Present count value set count value Turns ON when the present count value is less than the set count value Present count value 000000 to 999999 Present count value lt set count value Present count value data On power application all the relays are turned OFF Special I O units Operation Timing charts of count mode Com
284. upB Main program Group program A Group programs A and B stop Process 4 Aux relay ON Aux relay wait Waits for end of process 4 Aux relay OFF End of group program A End of group program B Flowchart programming concept Another group program can be started or stopped within a group program Internal auxiliary relays can be used to confirm the operation in progress between group programs and the end of each group Branch instructions can be used within a group program If only Branch instructions are to be used however be sure to insert the GJ instruction in the program For example Branch instructions can be used in processes 1 through 5 Example of water jet control programming e Timing chart PBI n 0000 0200 0202 B 0201 PB2 0002 Timer 0 is repeatedly used zu When pushbutton switch PB1 is depressed the water jets of group C turn ON 2 The water jets of group C turn OFF after the lapse of 5 seconds at which time the water jets of groups A and B turn ON 3 The water jets of group A turn OFF after the lapse of 5 seconds the water jets of group B turn OFF 5 seconds later 4 Asthe water jets of group B turn OFF the water jets of group C and A turn ON 5 The water jets of group B turn ON after the lapse of 2 seconds The water jets of all the groups are now ON 6 The water jets of all the groups turn OFF after the lapse
285. used the counter operation wili start from the present value While the CPU is scanning other programs it cannot control any input signals to the counter The present value of the counter will therefore remain unchanged If the CNR Counter Reset instruction is executed the specified counter will be reset regardless of whether the counter is in operation or its set count is up Externally set counter data Externally set counter data must be in four BCD digits The CPU checks whether the externally set counter data is in four BCD digits or not If not in BCD digits special auxiliary relay 6303 is turned ON indicating an error External count setting In this example a value i e 5 814 counts is set in counter 011 by an external count setting device connected to channel 01 of the input unit E Instructions Input unit 10 X10 xl0x10 External count setting device If a data memory number is specified as the second word of a CNT instruction the set count value of the counter will be the contents of the data memory X103 3 XK 10 X10 X10 When a power failure occurs the present count value of the counter is reset to O unless special auxiliary relays 6011 and 6012 are turned ON If they are turned ON at the time of the power failure the present value will be retained
286. ut signal and converted data The A D conversion input unit is capable of converting an analog input signal into a digital data Note that five types of units are available and that their input signal ranges are different from each other In terms of input signal two types of analog input signals are available one is a unipolar signal input only to the terminal of the unit and the other is a bipolar signal input to both the and terminals The resolution differs depending on which input signal range is employed Unipolar input signal Input range 2 channel type Oto 10 V Oto 5 V 1to 5V or 4 to 20 mA 4 channel type Oto 10 V 1 to 5 V or 4 to 20 mA Converted output 2 channel type A D converted 12 bit binary data 4 channel type A D converted 10 bit binary data SS Note Bit No 15 of Type 3G2A6 AD001 1 to 5 V for voltage output or 4 to 20 mA for current output is an input failure detection bit The level of this bit becomes 1 when an input failure occurs and becomes 0 during normal operation lf the voltage input signal decreases below 0 5 V or if the current input signal decreases below 2 mA an input failure is detected and therefore the level of bit No 15 becomes 1 Relation between analog input signal and A D converted data Output from A D conversion input unit digital output 4095 Input to A D conversion ov HOV input unit analog input
287. ved from or mounted to ex pansion V O rack VO ls Channel number assigned N vO verify to I O unit of programm E VER zd j error able controller and that ERR assigned to optical trans mitting I O unit are over lapped Mounting positions of input failure and output units mounted to that WQ set XPansion VO rack are ex VO causes ting changed x x SET the CPU error Both optical transmitting in ERR to stop put and output units are EN aH d assigned to same channel Note illumination extinguished flashing Failure codes BO to B7 are assigned to remote I O master units in sequence starting from the unit assigned with the lowest order channel number These numbers indicate the special auxiliary relay numbers of the PG 218 Special I O units LED indicators LED indicators on remote I O on optical trans I CP slave unit mitting O unit Special Failure auxiliary code T R UR relay ERR POWER ERR Turn on power of expansion I O rack and optical transmitting 1 0 unit one after another Specify remote I O slave unit or optical transmitting I O unit assigned with the greatest channel number as end RSU 6112 ON For details on specifying RSU refer to identifying abnormal I O unit when transmission error occurs in SYSBUS 2 E Check re
288. via the interrupt input unit can be masked disabled in units of 1 point bit However when a channel number is specified data the most significant 8 bits are ignored No No No Yes Coding chart 0100 MSKS 42 o 0101 pes e 0081 See T Se ee cur 0 03 9 0081 Contents of data Interruptunit No Data 00 to FF 0 to 63 Constant relay internal auxili ary relay Link relay LRO to 31 Holding relay HRO to 31 Data memory DMO to 511 Indirectly addressed DMO to 511 This instruction is used to disable the interrupt inputs from an interrupt unit The interrupt inputs are recorded however The interrupt inputs can be disabled in units of 1 point In the above example assuming interrupt unit 0 is mounted to channel 0 of the C120F interrupt inputs for 0 2 5 and 7 are disabled whereas those for 1 3 4 and 6 are enabled Interrupt input Mask pattern Interrupt disabled 85 Instructions CLEAR INTERRUPT CLI interrupt unit number data This instruction is used to clear the interrupt inputs internally recorded Whether the interrupt mask is cleared can be specified in units of 1 point In the above example the interrupt inputs 0 and 7 that are internally recorded are cleared when the CLI instruction is executed When this instruction is executed it c
289. ween two specified 4 dibit data the CLC instruction is used to clear the carry flag special auxiliary relay 6304 Coding chart Address _Instruction Data SUB 54 Contents of data Subtrahend Result CH minuend VO relay interna auxili ary relay Link relay LRO Holding relay HRO Timer counter TIM CNTO to 127 Data memory DMO Indirectly addressed DMO Constant 0000 to 9999 93 94 Instructions The SUB instruction is used to subtract 4 digit BCD data from another 4 digit BCD data including the carry flag special auxiliary relay 6304 If the result of the subtraction is 0000 special auxiliary relay 6306 turns ON If a carry is generated special auxiliary relay 6304 turns ON In the above program the 16 bit contents of LR20CH LR2000 to 2015 are subtracted from the 16 bit contents of OCH 0000 to 0015 including the carry The result of the subtraction is output to HR21CH HR2100 to 2115 If a carry is generated 6304 turns ON if the result of the operation is 0000 6306 turns ON VO relay Link relay Holding relay LR20CH HR21CH HR2100 HR2101 x10 10 x10 HR2102 x10 2103 x10 x10 X10 Carry Carry 7 HR2108 xi x10 bao x10 X10 Be sure to clear the carry flag by the Carry Clear CLC instruction prior to execution of the SUB instruction However clearing the carry flag is not necessary if multiple SUB Inst
290. wise rotation limit detection 562 LS2 for counterclockwise rotation limit detection Pe 1 55 for forward movement limit Conveyor A Conveyor B Conveyor C Sequence control A Sequence control 28 Flowchart programming concept Stretch arm when work approaches Programming the sequence control A in this figure has been already discussed in the preceding section Therefore our attention is focused on sequence conirol B Here is its general flowchart In this manner two programs for sequence control have been completed However both the programs represent only a part of the control system Therefore this type of program is called group program These group programs are placed under management of a program called main pro gram to be discussed shortly For easy identification let s assign number 0 to sequence control A and 1 to B These identification numbers are used for the GN instructions of the respective group programs The GN instruction indicates the start of a group program and should be always used in pairs with GE instruction which indicates the end of the group program Now the I O assignments and flowcharts of these two group programs are as follows Group program 0 Group program 1 Turns ON SOL1 Waits for LS4 input Waits for LS1 input Turns ON SOLA OUT NOT _ 200 Turns OFF SOL1 7 OUT 202 Turns ON SOL3 Wai
291. write data into the reset flag or count stop flag use the OUT or OUT NOT instruction In a program in which a data memory is used as the flag channel the OUT and OUT NOT instruction cannot be used In this case write the data into flags as illustrated in the following table Example Example When 1 is written When 0 is written Count stop flag Present value One channel is required for the present value When the Multi Output Timer instruction is executed the timing operation is performed in units of 0 1 second The operation can be continued to a maximum of 999 9 seconds depending on the set value 185 Instructions 136 If the cycle at which the user program executes the Multi Output Timer instruction is 1 5 seconds or longer the present value of the timer coincides with no set value In this case the timer stops its operation as is until the instruction is executed the next time which likely causes an error in the operation Therefore be sure to program so that the Multi Output Timer instruction is executed at a cycle of less than 1 5 seconds Set value Eight channels are required for the set values The set values are assigned to a series of eight channels i Set Value area i Set Value area i Set Value area Set Value area i 1 Set Value area Set Value area Set Value area Set Value area The first c
292. xecuted and the next step is executed Therefore the OUT instruction is executed When this OUT instruction is executed the output device assigned the output number of the instruction operates Therefore SOL1 which causes the robot arm to rotate clockwise operates Atthe next step there is another combination of AND and WAIT instructions This means that the program execution waits until the input 0000 which is limit switch LS1 to detect the clockwise rotation limit of the robot arm is activated When LS1 is turned ON it indicates that the robot arm has rotated to the position where it should stop rotating and pick up the work from conveyor A In the next step of the flowchart you see OUT NOT and OUT instructions Note that the same output number as the OUT 0200 instruction in the third step is assigned to the OUT NOT instruction This means that the output previously activated by the OUT 0200 instruction must be canceled There fore SOL1 which has been activated by the OUT 0200 instruction is now turned OFF by the OUT NOT 0200 instruction instead OUT 0202 instruction is executed activating SOL3 and causing the robot arm to pick up the work from the conveyor You can easily visualize how the other steps of the flowchart are executed except for the first and last steps In the last step of the flowchart you see a character string JMP LBL 0 This step has a Jump instruction JMP which causes the program execution to

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